Simulator: standardize queue messages

[bongbui321]

prereq for: #32308.

This PR make it so that there is only one queue created from ./run_bridge.py, which will be used for reading termination reason for CI

Before, the message put into the queue in the Simulator were of type dict with different number of fields, and str. This PR standardize the message put into the queue to be of type namedtuple named QueueMessage.

There will be 4 types of QueueMessage
start_status: "starting" and "started"
control_command: IO control commands (up, down, left, right)
termination_info: reason for termination
close_status: closing status

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