  #!/usr/bin/env python3
  # type: ignore
  import time
  import math
  import atexit
  import numpy as np
  import threading
 
</s> remove import random
 </s> add  </s> remove from common.realtime import Ratekeeper
from lib.can import can_function, sendcan_function
from lib.helpers import FakeSteeringWheel
 </s> add from common.realtime import Ratekeeper, DT_DMON
from lib.can import can_function </s> remove   from selfdrive.version import terms_version, training_version
  params.put("HasAcceptedTerms", terms_version)
  params.put("CompletedTrainingVersion", training_version)
  params.put("CommunityFeaturesToggle", "1")
  params.put("CalibrationParams", '{"vanishing_point": [582.06, 442.78], "valid_blocks": 20}')

  # no carla, still run
  try:
    import carla
  except ImportError:
    print("WARNING: NO CARLA")
    while 1:
      time.sleep(1)
 </s> add   params.put("CalibrationParams", '{"calib_radians": [0,0,0], "valid_blocks": 20}') </s> remove   # cam bus
 </s> add   # *** cam bus ***
import carla # pylint: disable=import-error
  #!/usr/bin/env python3
  # type: ignore
import carla # pylint: disable=import-error
  import time
  import math
  import atexit
  import numpy as np
  import threading
keep add 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/bridge.py