From 2852e61e40d086bb147b4424fdb8c722521e18b0 Mon Sep 17 00:00:00 2001
From: Hoang Bui <47828508+bongbui321@users.noreply.github.com>
Date: Fri, 2 Feb 2024 15:06:05 -0500
Subject: [PATCH] Fix self.started value pass in metadrive test (#31153)

* fix value pass

* fix test

---------

Co-authored-by: Justin Newberry <justin@comma.ai>
old-commit-hash: 71236204bb78d64feb3d46680176dfb37741dc5d
---
 tools/sim/bridge/common.py               | 8 ++++----
 tools/sim/tests/test_metadrive_bridge.py | 3 +--
 tools/sim/tests/test_sim_bridge.py       | 5 ++---
 3 files changed, 7 insertions(+), 9 deletions(-)

diff --git a/tools/sim/bridge/common.py b/tools/sim/bridge/common.py
index bdd53852c0..91ab0b6f07 100644
--- a/tools/sim/bridge/common.py
+++ b/tools/sim/bridge/common.py
@@ -2,7 +2,7 @@ import signal
 import threading
 import functools
 
-from multiprocessing import Process, Queue
+from multiprocessing import Process, Queue, Value
 from abc import ABC, abstractmethod
 from typing import Optional
 
@@ -39,7 +39,7 @@ class SimulatorBridge(ABC):
     self._exit_event = threading.Event()
     self._threads = []
     self._keep_alive = True
-    self.started = False
+    self.started = Value('i', False)
     signal.signal(signal.SIGTERM, self._on_shutdown)
     self._exit = threading.Event()
     self.simulator_state = SimulatorState()
@@ -61,7 +61,7 @@ class SimulatorBridge(ABC):
       self.close()
 
   def close(self):
-    self.started = False
+    self.started.value = False
     self._exit_event.set()
 
     if self.world is not None:
@@ -181,6 +181,6 @@ Ignition: {self.simulator_state.ignition} Engaged: {self.simulator_state.is_enga
       if self.rk.frame % 25 == 0:
         self.print_status()
 
-      self.started = True
+      self.started.value = True
 
       self.rk.keep_time()
diff --git a/tools/sim/tests/test_metadrive_bridge.py b/tools/sim/tests/test_metadrive_bridge.py
index 4d784956d2..6cb8e1465e 100755
--- a/tools/sim/tests/test_metadrive_bridge.py
+++ b/tools/sim/tests/test_metadrive_bridge.py
@@ -2,14 +2,13 @@
 import pytest
 import unittest
 
-from openpilot.tools.sim.run_bridge import parse_args
 from openpilot.tools.sim.bridge.metadrive.metadrive_bridge import MetaDriveBridge
 from openpilot.tools.sim.tests.test_sim_bridge import TestSimBridgeBase
 
 @pytest.mark.slow
 class TestMetaDriveBridge(TestSimBridgeBase):
   def create_bridge(self):
-    return MetaDriveBridge(parse_args([]))
+    return MetaDriveBridge(False, False)
 
 
 if __name__ == "__main__":
diff --git a/tools/sim/tests/test_sim_bridge.py b/tools/sim/tests/test_sim_bridge.py
index 850fd83bac..504914c562 100644
--- a/tools/sim/tests/test_sim_bridge.py
+++ b/tools/sim/tests/test_sim_bridge.py
@@ -3,7 +3,7 @@ import subprocess
 import time
 import unittest
 
-from multiprocessing import Queue, Value
+from multiprocessing import Queue
 
 from cereal import messaging
 from openpilot.common.basedir import BASEDIR
@@ -27,7 +27,6 @@ class TestSimBridgeBase(unittest.TestCase):
     sm = messaging.SubMaster(['controlsState', 'onroadEvents', 'managerState'])
     q = Queue()
     bridge = self.create_bridge()
-    bridge.started = Value('b', False)
     p_bridge = bridge.run(q, retries=10)
     self.processes.append(p_bridge)
 
@@ -35,7 +34,7 @@ class TestSimBridgeBase(unittest.TestCase):
 
     # Wait for bridge to startup
     start_waiting = time.monotonic()
-    while not bridge.started and time.monotonic() < start_waiting + max_time_per_step:
+    while not bridge.started.value and time.monotonic() < start_waiting + max_time_per_step:
       time.sleep(0.1)
     self.assertEqual(p_bridge.exitcode, None, f"Bridge process should be running, but exited with code {p_bridge.exitcode}")