From db98566084278cd60f3a00588d52809b6ab3b265 Mon Sep 17 00:00:00 2001
From: Maxime Desroches <desroches.maxime@gmail.com>
Date: Tue, 29 Oct 2024 16:59:48 -0700
Subject: [PATCH] ci: faster sim test (#33888)

* sim

* no more
---
 .github/workflows/selfdrive_tests.yaml        | 20 +++++++++++++++++++
 .github/workflows/tools_tests.yaml            | 18 -----------------
 tools/sim/bridge/metadrive/metadrive_world.py |  2 +-
 tools/sim/tests/test_metadrive_bridge.py      |  5 +----
 tools/sim/tests/test_sim_bridge.py            |  5 +----
 5 files changed, 23 insertions(+), 27 deletions(-)

diff --git a/.github/workflows/selfdrive_tests.yaml b/.github/workflows/selfdrive_tests.yaml
index 9456914371..9d37714c17 100644
--- a/.github/workflows/selfdrive_tests.yaml
+++ b/.github/workflows/selfdrive_tests.yaml
@@ -327,6 +327,26 @@ jobs:
               comment_id: ${{ steps.fc.outputs.comment-id }}
             })
 
+  simulator_driving:
+    name: simulator driving
+    runs-on: ${{ ((github.repository == 'commaai/openpilot') &&
+                   ((github.event_name != 'pull_request') ||
+                    (github.event.pull_request.head.repo.full_name == 'commaai/openpilot'))) && 'namespace-profile-amd64-8x16' || 'ubuntu-24.04' }}
+    steps:
+    - uses: actions/checkout@v4
+      with:
+        submodules: true
+    - uses: ./.github/workflows/setup-with-retry
+    - name: Build openpilot
+      run: |
+        ${{ env.RUN }} "scons -j$(nproc)"
+    - name: Driving test
+      timeout-minutes: 1
+      run: |
+        ${{ env.RUN }} "source selfdrive/test/setup_xvfb.sh && \
+                        source selfdrive/test/setup_vsound.sh && \
+                        CI=1 pytest tools/sim/tests/test_metadrive_bridge.py"
+
   create_ui_report:
     # This job name needs to be the same as UI_JOB_NAME in ui_preview.yaml
     name: Create UI Report
diff --git a/.github/workflows/tools_tests.yaml b/.github/workflows/tools_tests.yaml
index c1c3552472..493671051f 100644
--- a/.github/workflows/tools_tests.yaml
+++ b/.github/workflows/tools_tests.yaml
@@ -25,24 +25,6 @@ env:
 
 
 jobs:
-  simulator_driving:
-    name: simulator driving
-    runs-on: ubuntu-latest
-    timeout-minutes: 20
-    steps:
-    - uses: actions/checkout@v4
-      with:
-        submodules: true
-    - uses: ./.github/workflows/setup-with-retry
-    - name: Build openpilot
-      run: |
-        ${{ env.RUN }} "scons -j$(nproc)"
-    - name: Run bridge test
-      run: |
-        ${{ env.RUN }} "source selfdrive/test/setup_xvfb.sh && \
-                        source selfdrive/test/setup_vsound.sh && \
-                        CI=1 pytest tools/sim/tests/test_metadrive_bridge.py"
-
   devcontainer:
     name: devcontainer
     runs-on: ubuntu-latest
diff --git a/tools/sim/bridge/metadrive/metadrive_world.py b/tools/sim/bridge/metadrive/metadrive_world.py
index 5bb4555dc1..a34d270994 100644
--- a/tools/sim/bridge/metadrive/metadrive_world.py
+++ b/tools/sim/bridge/metadrive/metadrive_world.py
@@ -105,7 +105,7 @@ class MetaDriveWorld(World):
       if x_dist >= dist_threshold or y_dist >= dist_threshold: # position not the same during staying still, > threshold is considered moving
         self.distance_moved += x_dist + y_dist
 
-      time_check_threshold = 30
+      time_check_threshold = 15
       current_time = time.monotonic()
       since_last_check = current_time - self.last_check_timestamp
       if since_last_check >= time_check_threshold:
diff --git a/tools/sim/tests/test_metadrive_bridge.py b/tools/sim/tests/test_metadrive_bridge.py
index 8849e901cb..04ce5d584f 100644
--- a/tools/sim/tests/test_metadrive_bridge.py
+++ b/tools/sim/tests/test_metadrive_bridge.py
@@ -12,10 +12,7 @@ from openpilot.tools.sim.tests.test_sim_bridge import TestSimBridgeBase
 class TestMetaDriveBridge(TestSimBridgeBase):
   @pytest.fixture(autouse=True)
   def setup_create_bridge(self, test_duration):
-    # run bridge test for at least 60s, since not-moving check runs every 30s
-    if test_duration < 60:
-      test_duration = 60
-    self.test_duration = test_duration
+    self.test_duration = 30
 
   def create_bridge(self):
     return MetaDriveBridge(False, False, self.test_duration, True)
diff --git a/tools/sim/tests/test_sim_bridge.py b/tools/sim/tests/test_sim_bridge.py
index 12f38b86c3..d58cddff7f 100644
--- a/tools/sim/tests/test_sim_bridge.py
+++ b/tools/sim/tests/test_sim_bridge.py
@@ -89,7 +89,4 @@ class TestSimBridgeBase:
       p.terminate()
 
     for p in reversed(self.processes):
-      if isinstance(p, subprocess.Popen):
-        p.wait(15)
-      else:
-        p.join(15)
+      p.kill()