CI/Simulator: Add Metadrive test to CI (#32352)

* works consistently

* ci gha

* fix

* navd

* fix

* cleanup

* change button

* cleanup

---------

Co-authored-by: Adeeb Shihadeh <adeebshihadeh@gmail.com>

.github/workflows/tools_tests.yaml

@@ -37,8 +37,8 @@ jobs:
       run: |
         ${{ env.RUN }} "pytest tools/plotjuggler/"
 
-  simulator:
-    name: simulator
+  simulator_build:
+    name: simulator docker build
     runs-on: ubuntu-latest
     if: github.repository == 'commaai/openpilot'
     timeout-minutes: 45
@@ -56,6 +56,28 @@ jobs:
       run: |
         selfdrive/test/docker_build.sh sim
 
+  simulator_driving:
+    name: simulator driving
+    runs-on: ubuntu-latest
+    timeout-minutes: 20
+    steps:
+    - uses: actions/checkout@v4
+      with:
+        submodules: true
+    - run: git lfs pull
+    - uses: ./.github/workflows/setup-with-retry
+    - name: Build base docker image
+      run: eval "$BUILD"
+    - name: Build openpilot
+      run: |
+        ${{ env.RUN }} "scons -j$(nproc)"
+    - name: Run bridge test
+      run: |
+        ${{ env.RUN }} "export MAPBOX_TOKEN='pk.eyJ1Ijoiam5ld2IiLCJhIjoiY2xxNW8zZXprMGw1ZzJwbzZneHd2NHljbSJ9.gV7VPRfbXFetD-1OVF0XZg' && \
+                        source selfdrive/test/setup_xvfb.sh && \
+                        source selfdrive/test/setup_vsound.sh && \
+                        CI=1 tools/sim/tests/test_metadrive_bridge.py"
+
   devcontainer:
     name: devcontainer
     runs-on: ubuntu-latest

tools/sim/bridge/common.py

@@ -46,6 +46,7 @@ class SimulatorBridge(ABC):
     self.world: World | None = None
 
     self.past_startup_engaged = False
+    self.startup_button_prev = True
 
   def _on_shutdown(self, signal, frame):
     self.shutdown()
@@ -161,7 +162,8 @@ Ignition: {self.simulator_state.ignition} Engaged: {self.simulator_state.is_enga
 
         self.past_startup_engaged = True
       elif not self.past_startup_engaged and controlsState.engageable:
-        self.simulator_state.cruise_button = CruiseButtons.DECEL_SET # force engagement on startup
+        self.simulator_state.cruise_button = CruiseButtons.DECEL_SET if self.startup_button_prev else CruiseButtons.MAIN # force engagement on startup
+        self.startup_button_prev = not self.startup_button_prev
 
       throttle_out = throttle_op if self.simulator_state.is_engaged else throttle_manual
       brake_out = brake_op if self.simulator_state.is_engaged else brake_manual

tools/sim/tests/test_sim_bridge.py

@@ -62,8 +62,6 @@ class TestSimBridgeBase(unittest.TestCase):
     while time.monotonic() < start_time + max_time_per_step:
       sm.update()
 
-      q.put("cruise_down")  # Try engaging
-
       if sm.all_alive() and sm['controlsState'].active:
         control_active += 1