    sendcan = messaging.sub_sock('sendcan')
    rk = Ratekeeper(100, print_delay_threshold=0.05)
  
    # init
    A_throttle = 2.
    A_brake = 2.
    A_steer_torque = 1.
    fake_wheel = FakeSteeringWheel()
    is_openpilot_engaged = False
    in_reverse = False
  
    throttle_out = 0
    brake_out = 0
 
</s> remove   rk = Ratekeeper(1.0)
 </s> add  </s> remove     time.sleep(0.1)
 </s> add     # dmonitoringd output
    dat = messaging.new_message('dMonitoringState')
    dat.dMonitoringState = {
      "faceDetected": True,
      "isDistracted": False,
      "awarenessStatus": 1.,
      "isRHD": False,
    }
    pm.send('dMonitoringState', dat)

    time.sleep(DT_DMON)

def can_function_runner(vs):
  i = 0
  while 1:
    can_function(pm, vs.speed, vs.angle, i, vs.cruise_button, vs.is_engaged)
    time.sleep(0.01)
    i+=1
 </s> remove     steer_torque = cp.vl[0xe4]['STEER_TORQUE']*1.0/0x1000
 </s> add     steer_torque = cp.vl[0xe4]['STEER_TORQUE']/3840 </s> remove pm = messaging.PubMaster(['frame', 'sensorEvents', 'can'])

 </s> add 
  throttle_ease_out_counter = REPEAT_COUNTER
  brake_ease_out_counter = REPEAT_COUNTER
  steer_ease_out_counter = REPEAT_COUNTER


  vc = carla.VehicleControl(throttle=0, steer=0, brake=0, reverse=False)

    sendcan = messaging.sub_sock('sendcan')
    rk = Ratekeeper(100, print_delay_threshold=0.05)
  
    # init
  throttle_ease_out_counter = REPEAT_COUNTER
  brake_ease_out_counter = REPEAT_COUNTER
  steer_ease_out_counter = REPEAT_COUNTER


  vc = carla.VehicleControl(throttle=0, steer=0, brake=0, reverse=False)

  throttle_ease_out_counter = REPEAT_COUNTER
  brake_ease_out_counter = REPEAT_COUNTER
  steer_ease_out_counter = REPEAT_COUNTER


  vc = carla.VehicleControl(throttle=0, steer=0, brake=0, reverse=False)

  throttle_ease_out_counter = REPEAT_COUNTER
  brake_ease_out_counter = REPEAT_COUNTER
  steer_ease_out_counter = REPEAT_COUNTER


  vc = carla.VehicleControl(throttle=0, steer=0, brake=0, reverse=False)

  throttle_ease_out_counter = REPEAT_COUNTER
  brake_ease_out_counter = REPEAT_COUNTER
  steer_ease_out_counter = REPEAT_COUNTER


  vc = carla.VehicleControl(throttle=0, steer=0, brake=0, reverse=False)

    is_openpilot_engaged = False
    in_reverse = False
  
    throttle_out = 0
    brake_out = 0
keep keep keep keep replace replace replace 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/bridge.py