    msg.append(packer.make_can_msg("STEERING_CONTROL", 2, {}, idx))
    msg.append(packer.make_can_msg("ACC_HUD", 2, {}, idx))
    msg.append(packer.make_can_msg("BRAKE_COMMAND", 2, {}, idx))
  
    # radar
    if idx % 5 == 0:
      msg.append(rpacker.make_can_msg("RADAR_DIAGNOSTIC", 1, {"RADAR_STATE": 0x79}, -1))
      for i in range(16):
        msg.append(rpacker.make_can_msg("TRACK_%d" % i, 1, {"LONG_DIST": 255.5}, -1))
  
 
</s> remove   # cam bus
 </s> add   # *** cam bus *** </s> remove   #print(msg)
 </s> add  </s> remove   msg.append(packer.make_can_msg("STEERING_SENSORS", 0, {"STEER_ANGLE": angle_to_sangle(angle)}, idx))
 </s> add   msg.append(packer.make_can_msg("STEERING_SENSORS", 0, {"STEER_ANGLE": angle}, idx)) </s> remove   msg.append(packer.make_can_msg("WHEEL_SPEEDS", 0,
    {"WHEEL_SPEED_FL": speed,
     "WHEEL_SPEED_FR": speed,
     "WHEEL_SPEED_RL": speed,
     "WHEEL_SPEED_RR": speed}, -1))
 </s> add   msg.append(packer.make_can_msg("WHEEL_SPEEDS", 0, {
    "WHEEL_SPEED_FL": speed,
    "WHEEL_SPEED_FR": speed,
    "WHEEL_SPEED_RL": speed,
    "WHEEL_SPEED_RR": speed
  }, -1)) </s> remove     print("got %s" % c)
 </s> add     # print("got %s" % c)
  # *** radar bus ***
    msg.append(packer.make_can_msg("STEERING_CONTROL", 2, {}, idx))
    msg.append(packer.make_can_msg("ACC_HUD", 2, {}, idx))
    msg.append(packer.make_can_msg("BRAKE_COMMAND", 2, {}, idx))
  
  # *** radar bus ***
    if idx % 5 == 0:
      msg.append(rpacker.make_can_msg("RADAR_DIAGNOSTIC", 1, {"RADAR_STATE": 0x79}, -1))
      for i in range(16):
        msg.append(rpacker.make_can_msg("TRACK_%d" % i, 1, {"LONG_DIST": 255.5}, -1))
  
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