    else:
      brake = 0.0
  
    if cp.vl[0x200]['GAS_COMMAND'] > 0:
      gas = cp.vl[0x200]['GAS_COMMAND'] / 256.0
    else:
      gas = 0.0
  
    if cp.vl[0xe4]['STEER_TORQUE_REQUEST']:
      steer_torque = cp.vl[0xe4]['STEER_TORQUE']*1.0/0x1000
 
</s> remove     brake = cp.vl[0x1fa]['COMPUTER_BRAKE'] * 0.003906248
 </s> add     brake = cp.vl[0x1fa]['COMPUTER_BRAKE'] / 1024. </s> remove     steer_torque = cp.vl[0xe4]['STEER_TORQUE']*1.0/0x1000
 </s> add     steer_torque = cp.vl[0xe4]['STEER_TORQUE']/3840 </s> remove   return (gas, brake, steer_torque)
 </s> add   return gas, brake, steer_torque </s> remove   if args.realmonitoring:
    return
  pm = messaging.PubMaster(['driverState'])
 </s> add   pm = messaging.PubMaster(['driverState','dMonitoringState'])
    gas = ( cp.vl[0x200]['GAS_COMMAND'] + 83.3 ) / (0.253984064 * 2**16)
    else:
      brake = 0.0
  
    if cp.vl[0x200]['GAS_COMMAND'] > 0:
    gas = ( cp.vl[0x200]['GAS_COMMAND'] + 83.3 ) / (0.253984064 * 2**16)
    else:
      gas = 0.0
  
    if cp.vl[0xe4]['STEER_TORQUE_REQUEST']:
      steer_torque = cp.vl[0xe4]['STEER_TORQUE']*1.0/0x1000
keep keep keep keep replace keep keep keep keep keep
 dockerize carla + openpilot (#2011)

* dockerize carla + openpilot

* separate dockerfile

* bring back CI dockerfile

* cleanup bridge

* add op docker build and start script

* build container in CI

* fix camerad hack

* remove most magic numbers from bridge.py

* openpilot-sim docker build and run scripts

* fix dmonitoring hacks

* revert controlsd hacks

* clean up build scripts

* singular

* fix path

* fix image name

* modify sim readme

* sim readme and start script changes

* dockerfile with working opengl

* working opengl + passing panda build_st in docker

* fix bug in sim docker file

* bugfix sim docker file

* bugfix all op-sim docker issues

* modify readme + run script

* IT DRIVES

* clean this up

* more cleanup

* cleanup docker stuff

* more cleanup

* start with openpilot-base

* install carla python package

* Script is not in lib

* chmod

* everything should be running in docker now, the code may not be nice though

* works locally...

* rhdChecked is deprecated

* Checkout using git lfs when building sim container

* try to pass the tests

* pull latest docker

* gps should not throw an error on openpilot launch in bridge.py

* fixed a coding style error

* Only start ubloxd in car

* fixed more style problems

* revert typo

* Use enviromental variable to prevent errors in a simulator

* Remove unused import

* Attempt to fix missing enviromental variable

* fix typo

* less work for users, auto tmux engagement

* less work for users, auto tmux engagement

* fix check for nvidia

* clean up nvidia check

* remove typo, shorted dockerfile

Co-authored-by: Adeeb Shihadeh <adeebshihadeh@gmail.com>
Co-authored-by: Willem Melching <willem.melching@gmail.com>
Co-authored-by: Bruce Wayne <batman@workstation-eu-gregor.eu.local>
Co-authored-by: Gregor Kikelj <gregor1234567890@gmail.com> 
tools/sim/lib/can.py