From c61f40c34fec475aaedf5d66b527940954b3e31d Mon Sep 17 00:00:00 2001
From: Justin Newberry <justin@comma.ai>
Date: Mon, 29 Jan 2024 13:11:02 -0500
Subject: [PATCH] Simulator: prepare to make bridge a PythonProcess (#31201)

* sim services

* clean
old-commit-hash: e49eb4c54fcac8bd8a4a136d8e116b654efa73ba
---
 tools/sim/bridge/common.py                    |  6 +++---
 .../sim/bridge/metadrive/metadrive_bridge.py  |  4 ++--
 tools/sim/run_bridge.py                       | 21 +++++++++++++------
 3 files changed, 20 insertions(+), 11 deletions(-)

diff --git a/tools/sim/bridge/common.py b/tools/sim/bridge/common.py
index 35656f39f3..bdd53852c0 100644
--- a/tools/sim/bridge/common.py
+++ b/tools/sim/bridge/common.py
@@ -27,14 +27,14 @@ def rk_loop(function, hz, exit_event: threading.Event):
 class SimulatorBridge(ABC):
   TICKS_PER_FRAME = 5
 
-  def __init__(self, arguments):
+  def __init__(self, dual_camera, high_quality):
     set_params_enabled()
     self.params = Params()
 
     self.rk = Ratekeeper(100, None)
 
-    self.dual_camera = arguments.dual_camera
-    self.high_quality = arguments.high_quality
+    self.dual_camera = dual_camera
+    self.high_quality = high_quality
 
     self._exit_event = threading.Event()
     self._threads = []
diff --git a/tools/sim/bridge/metadrive/metadrive_bridge.py b/tools/sim/bridge/metadrive/metadrive_bridge.py
index 821af7c7f7..1b1e5ffea6 100644
--- a/tools/sim/bridge/metadrive/metadrive_bridge.py
+++ b/tools/sim/bridge/metadrive/metadrive_bridge.py
@@ -82,10 +82,10 @@ def create_map(track_size=60):
 class MetaDriveBridge(SimulatorBridge):
   TICKS_PER_FRAME = 5
 
-  def __init__(self, args):
+  def __init__(self, dual_camera, high_quality):
     self.should_render = False
 
-    super(MetaDriveBridge, self).__init__(args)
+    super(MetaDriveBridge, self).__init__(dual_camera, high_quality)
 
   def spawn_world(self):
     sensors = {
diff --git a/tools/sim/run_bridge.py b/tools/sim/run_bridge.py
index 5f0f0d5e99..0992ef4bfe 100755
--- a/tools/sim/run_bridge.py
+++ b/tools/sim/run_bridge.py
@@ -6,6 +6,17 @@ from multiprocessing import Queue
 
 from openpilot.tools.sim.bridge.metadrive.metadrive_bridge import MetaDriveBridge
 
+def create_bridge(dual_camera, high_quality):
+  queue: Any = Queue()
+
+  simulator_bridge = MetaDriveBridge(dual_camera, high_quality)
+  simulator_process = simulator_bridge.run(queue)
+
+  return queue, simulator_process, simulator_bridge
+
+def main():
+  _, simulator_process, _ = create_bridge(True, False)
+  simulator_process.join()
 
 def parse_args(add_args=None):
   parser = argparse.ArgumentParser(description='Bridge between the simulator and openpilot.')
@@ -16,23 +27,21 @@ def parse_args(add_args=None):
   return parser.parse_args(add_args)
 
 if __name__ == "__main__":
-  q: Any = Queue()
   args = parse_args()
 
-  simulator_bridge = MetaDriveBridge(args)
-  p = simulator_bridge.run(q)
+  queue, simulator_process, simulator_bridge = create_bridge(args.dual_camera, args.high_quality)
 
   if args.joystick:
     # start input poll for joystick
     from openpilot.tools.sim.lib.manual_ctrl import wheel_poll_thread
 
-    wheel_poll_thread(q)
+    wheel_poll_thread(queue)
   else:
     # start input poll for keyboard
     from openpilot.tools.sim.lib.keyboard_ctrl import keyboard_poll_thread
 
-    keyboard_poll_thread(q)
+    keyboard_poll_thread(queue)
 
   simulator_bridge.shutdown()
 
-  p.join()
+  simulator_process.join()