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>
2020-09-10 03:14:49 -07:00 · 2020-09-10 03:14:49 -07:00 · c5dfbe7a72
parent 0ebc037be7
commit c5dfbe7a72
19 changed files with 453 additions and 202 deletions
--- a/.dockerignore
+++ b/.dockerignore
@ -38,3 +38,5 @@ xx/projects
 !xx/projects/map3d
 xx/ops
 xx/junk
+tools/sim/carla
+tools/sim/*.tar.gz
--- a/.github/workflows/sim_tests.yaml
+++ b/.github/workflows/sim_tests.yaml
@ -0,0 +1,26 @@
+name: simulator
+on:
+  push:
+
+  # TODO: remove the push trigger, and only run on schedule
+  #schedule:
+  #- cron: '0 * * * *'
+
+jobs:
+  docker_build:
+    name: build container
+    runs-on: ubuntu-16.04
+    timeout-minutes: 50
+    steps:
+    - uses: actions/checkout@v2
+      with:
+        submodules: true
+        lfs: true
+    - name: Docker build
+      run: |
+        tools/sim/build_container.sh
+    - name: Push to dockerhub
+      run: |
+        docker login -u wmelching -p ${{ secrets.COMMA_DOCKERHUB_TOKEN }}
+        docker tag commaai/openpilot-sim docker.io/commaai/openpilot-sim:latest
+        docker push docker.io/commaai/openpilot-sim:latest
--- a/selfdrive/controls/controlsd.py
+++ b/selfdrive/controls/controlsd.py
@ -27,6 +27,7 @@ LDW_MIN_SPEED = 31 * CV.MPH_TO_MS
 LANE_DEPARTURE_THRESHOLD = 0.1
 STEER_ANGLE_SATURATION_TIMEOUT = 1.0 / DT_CTRL
 STEER_ANGLE_SATURATION_THRESHOLD = 2.5  # Degrees
+SIMULATION = "SIMULATION" in os.environ

 ThermalStatus = log.ThermalData.ThermalStatus
 State = log.ControlsState.OpenpilotState
@ -193,7 +194,7 @@ class Controls:
    elif self.sm['pathPlan'].laneChangeState in [LaneChangeState.laneChangeStarting,
                                        LaneChangeState.laneChangeFinishing]:
      self.events.add(EventName.laneChange)
-
+    
    if self.can_rcv_error or (not CS.canValid and self.sm.frame > 5 / DT_CTRL):
      self.events.add(EventName.canError)
    if self.mismatch_counter >= 200:
@ -210,7 +211,9 @@ class Controls:
        self.events.add(EventName.sensorDataInvalid)
    if not self.sm['liveLocationKalman'].gpsOK and (self.distance_traveled > 1000) and os.getenv("NOSENSOR") is None:
      # Not show in first 1 km to allow for driving out of garage. This event shows after 5 minutes
-      self.events.add(EventName.noGps)
+      # GPS is not yet working in a simulation
+      if not SIMULATION:
+        self.events.add(EventName.noGps)
    if not self.sm['pathPlan'].paramsValid:
      self.events.add(EventName.vehicleModelInvalid)
    if not self.sm['liveLocationKalman'].posenetOK:
@ -229,11 +232,12 @@ class Controls:
    if self.sm['plan'].fcw:
      self.events.add(EventName.fcw)
    if self.sm['model'].frameDropPerc > 1:
-      self.events.add(EventName.modeldLagging)
+      if not SIMULATION:
+        self.events.add(EventName.modeldLagging)

    # Only allow engagement with brake pressed when stopped behind another stopped car
    if CS.brakePressed and self.sm['plan'].vTargetFuture >= STARTING_TARGET_SPEED \
-       and not self.CP.radarOffCan and CS.vEgo < 0.3:
+      and not self.CP.radarOffCan and CS.vEgo < 0.3:
      self.events.add(EventName.noTarget)

  def data_sample(self):
--- a/selfdrive/manager.py
+++ b/selfdrive/manager.py
@ -234,31 +234,31 @@ car_started_processes = [
  'plannerd',
  'loggerd',
  'radard',
-  'dmonitoringd',
  'calibrationd',
  'paramsd',
  'camerad',
  'modeld',
  'proclogd',
-  'ubloxd',
  'locationd',
  'clocksd',
 ]

 driver_view_processes = [
  'camerad',
-  'dmonitoringd',
  'dmonitoringmodeld'
 ]

 if WEBCAM:
  car_started_processes += [
+    'dmonitoringd',
    'dmonitoringmodeld',
  ]

 if not PC:
  car_started_processes += [
+    'ubloxd',
    'sensord',
+    'dmonitoringd',
    'dmonitoringmodeld',
  ]

--- a/selfdrive/modeld/modeld
+++ b/selfdrive/modeld/modeld
@ -1,8 +1,7 @@
 #!/bin/sh
 if [ -d /system ]; then
-  export LD_LIBRARY_PATH="/data/pythonpath/phonelibs/snpe/aarch64/:$LD_LIBRARY_PATH"
+    export LD_LIBRARY_PATH="/data/pythonpath/phonelibs/snpe/aarch64/:$LD_LIBRARY_PATH"
 else
-  export LD_LIBRARY_PATH="/usr/lib/aarch64-linux-gnu:/data/pythonpath/phonelibs/snpe/larch64:$HOME/openpilot/phonelibs/snpe/x86_64-linux-clang:$LD_LIBRARY_PATH"
+    export LD_LIBRARY_PATH="/usr/lib/aarch64-linux-gnu:/data/pythonpath/phonelibs/snpe/larch64:$HOME/openpilot/phonelibs/snpe/x86_64-linux-clang:/openpilot/phonelibs/snpe/x86_64:$HOME/openpilot/phonelibs/snpe/x86_64:$LD_LIBRARY_PATH"
 fi
 exec ./_modeld
-
--- a/tools/sim/Dockerfile.sim
+++ b/tools/sim/Dockerfile.sim
@ -0,0 +1,104 @@
+FROM commaai/openpilot-base:latest
+#Carla
+
+COPY ./tools/sim/install_carla.sh /tmp
+RUN /tmp/install_carla.sh
+
+#Intel openCL- run openCL on CPU
+RUN apt-get update && apt-get install -y \
+    apt-utils \
+    unzip \
+    tar \
+    curl \
+    xz-utils \
+
+    beignet-opencl-icd \
+
+    alien \
+    clinfo \
+    dbus \
+    gcc-arm-none-eabi \
+    tmux \
+    vim \
+
+    # libglvnd dependencies
+    automake \
+    libtool \
+    libxext-dev \
+    libx11-dev \
+    x11proto-gl-dev \
+    libpng16-16 \
+  && rm -rf /var/lib/apt/lists/*
+
+
+ARG INTEL_DRIVER=opencl_runtime_16.1.1_x64_ubuntu_6.4.0.25.tgz
+ARG INTEL_DRIVER_URL=http://registrationcenter-download.intel.com/akdlm/irc_nas/9019
+RUN mkdir -p /tmp/opencl-driver-intel
+WORKDIR /tmp/opencl-driver-intel
+RUN echo INTEL_DRIVER is $INTEL_DRIVER; \
+    curl -O $INTEL_DRIVER_URL/$INTEL_DRIVER; \
+    if echo $INTEL_DRIVER | grep -q "[.]zip$"; then \
+        unzip $INTEL_DRIVER; \
+        mkdir fakeroot; \
+        for f in intel-opencl-*.tar.xz; do tar -C fakeroot -Jxvf $f; done; \
+        cp -R fakeroot/* /; \
+        ldconfig; \
+    else \
+        tar -xzf $INTEL_DRIVER; \
+        for i in $(basename $INTEL_DRIVER .tgz)/rpm/*.rpm; do alien --to-deb $i; done; \
+        dpkg -i *.deb; \
+        rm -rf $INTEL_DRIVER $(basename $INTEL_DRIVER .tgz) *.deb; \
+        mkdir -p /etc/OpenCL/vendors; \
+        echo /opt/intel/*/lib64/libintelocl.so > /etc/OpenCL/vendors/intel.icd; \
+    fi; \
+    rm -rf /tmp/opencl-driver-intel;
+
+
+#Open[GL,CL] for gpu
+ENV NVIDIA_DRIVER_CAPABILITIES ${NVIDIA_DRIVER_CAPABILITIES},display
+RUN apt-get update && apt-get install -y --no-install-recommends \
+        mesa-utils \
+        ocl-icd-libopencl1 \
+        clinfo && \
+    rm -rf /var/lib/apt/lists/*
+RUN mkdir -p /etc/OpenCL/vendors && \
+    echo "libnvidia-opencl.so.1" > /etc/OpenCL/vendors/nvidia.icd
+ENV NVIDIA_VISIBLE_DEVICES all
+ENV NVIDIA_DRIVER_CAPABILITIES compute,utility,display
+
+#Python
+ENV PYTHONPATH $HOME/openpilot:${PYTHONPATH}
+RUN dbus-uuidgen > /etc/machine-id
+
+# we can apt-get after moving to a newer ubuntu
+WORKDIR /opt/libglvnd
+RUN git clone --branch="0.1.1" https://github.com/NVIDIA/libglvnd.git . && \
+    ./autogen.sh && \
+    ./configure --prefix=/usr/local --libdir=/usr/local/lib/x86_64-linux-gnu && \
+    make -j"$(nproc)" install-strip && \
+    find /usr/local/lib/x86_64-linux-gnu -type f -name 'lib*.la' -delete
+
+ENV LD_LIBRARY_PATH /usr/local/lib/x86_64-linux-gnu:/usr/local/lib/i386-linux-gnu${LD_LIBRARY_PATH:+:${LD_LIBRARY_PATH}}
+
+# get same tmux config used on NEOS for debugging
+RUN cd $HOME && \
+    wget https://raw.githubusercontent.com/commaai/eon-neos-builder/master/devices/eon/home/.tmux.conf
+
+RUN mkdir -p $HOME/openpilot
+
+COPY SConstruct $HOME/openpilot/
+
+COPY ./phonelibs $HOME/openpilot/phonelibs
+COPY ./laika $HOME/openpilot/laika
+COPY ./laika_repo $HOME/openpilot/laika_repo
+COPY ./rednose $HOME/openpilot/rednose
+COPY ./common $HOME/openpilot/common
+COPY ./models $HOME/openpilot/models
+COPY ./opendbc $HOME/openpilot/opendbc
+COPY ./cereal $HOME/openpilot/cereal
+COPY ./panda $HOME/openpilot/panda
+COPY ./selfdrive $HOME/openpilot/selfdrive
+COPY ./tools $HOME/openpilot/tools
+
+WORKDIR $HOME/openpilot
+RUN scons -j40
--- a/tools/sim/README.md
+++ b/tools/sim/README.md
@ -1,32 +1,25 @@
 openpilot in simulator
 =====================
-Needs Ubuntu 16.04

-## Checkout openpilot
-```
-cd ~/
-git clone https://github.com/commaai/openpilot.git
+## Setup

-# Add export PYTHONPATH=$HOME/openpilot to your bashrc
-# Have a working tensorflow+keras in python3.7.3 (with [packages] in openpilot/Pipfile)
+Checkout openpilot
 ```
-## Install (in terminal 1)
+cd ~/ && git clone https://github.com/commaai/openpilot.git
+```
+
+## Running the simulator
+
+First, start the CARLA server.
 ```
 cd ~/openpilot/tools/sim
-./start_carla.sh  # install CARLA 0.9.7 and start the server
-```
-## openpilot (in terminal 2)
-```
-cd ~/openpilot/selfdrive/
-PASSIVE=0 NOBOARD=1 ./manager.py
-```
-## bridge (in terminal 3)
-```
-# links carla to openpilot, will "start the car" according to manager
-cd ~/openpilot/tools/sim
-./bridge.py
+./start_carla.sh
 ```
+
+Then use `start_openpilot_docker.sh` to start the docker container. 
+
 ## Controls
+
 Now put the focus on the terminal running bridge.py and you can control
 openpilot driving in the simulation with the following keys

@ -37,4 +30,3 @@ openpilot driving in the simulation with the following keys
 |   3   |   Cruise cancel   |
 |   q   |     Exit all      |

-
--- a/tools/sim/bridge.py
+++ b/tools/sim/bridge.py
@ -1,45 +1,65 @@
 #!/usr/bin/env python3
 # type: ignore
+import carla # pylint: disable=import-error
 import time
 import math
 import atexit
 import numpy as np
 import threading
-import random
 import cereal.messaging as messaging
 import argparse
 from common.params import Params
-from common.realtime import Ratekeeper
-from lib.can import can_function, sendcan_function
-from lib.helpers import FakeSteeringWheel
+from common.realtime import Ratekeeper, DT_DMON
+from lib.can import can_function
 from selfdrive.car.honda.values import CruiseButtons
+from selfdrive.test.helpers import set_params_enabled

 parser = argparse.ArgumentParser(description='Bridge between CARLA and openpilot.')
-parser.add_argument('--autopilot', action='store_true')
 parser.add_argument('--joystick', action='store_true')
-parser.add_argument('--realmonitoring', action='store_true')
 args = parser.parse_args()

-pm = messaging.PubMaster(['frame', 'sensorEvents', 'can'])
-
 W, H = 1164, 874
+REPEAT_COUNTER = 5
+PRINT_DECIMATION = 100
+STEER_RATIO = 15.

+pm = messaging.PubMaster(['frame', 'sensorEvents', 'can'])
+sm = messaging.SubMaster(['carControl','controlsState'])
+
+class VehicleState:
+  def __init__(self):
+    self.speed = 0
+    self.angle = 0
+    self.cruise_button= 0
+    self.is_engaged=False
+
+def steer_rate_limit(old, new):
+  # Rate limiting to 0.5 degrees per step
+  limit = 0.5
+  if new > old + limit:
+    return old + limit
+  elif new < old - limit:
+    return old - limit
+  else:
+    return new
+
+frame_id = 0
 def cam_callback(image):
+  global frame_id
  img = np.frombuffer(image.raw_data, dtype=np.dtype("uint8"))
  img = np.reshape(img, (H, W, 4))
  img = img[:, :, [0, 1, 2]].copy()

  dat = messaging.new_message('frame')
  dat.frame = {
-    "frameId": image.frame,
+    "frameId": frame_id, # TODO: can we get frame ID from the CARLA camera?
    "image": img.tostring(),
    "transform": [1.0, 0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, 1.0]
  }
  pm.send('frame', dat)
+  frame_id += 1

 def imu_callback(imu):
-  #print(imu, imu.accelerometer)
-
  dat = messaging.new_message('sensorEvents', 2)
  dat.sensorEvents[0].sensor = 4
  dat.sensorEvents[0].type = 0x10
@ -54,7 +74,6 @@ def imu_callback(imu):

 def health_function():
  pm = messaging.PubMaster(['health'])
-  rk = Ratekeeper(1.0)
  while 1:
    dat = messaging.new_message('health')
    dat.valid = True
@ -64,60 +83,79 @@ def health_function():
      'controlsAllowed': True
    }
    pm.send('health', dat)
-    rk.keep_time()
+    time.sleep(0.5)
+
+def fake_gps():
+  # TODO: read GPS from CARLA
+  pm = messaging.PubMaster(['gpsLocationExternal'])
+  while 1:
+    dat = messaging.new_message('gpsLocationExternal')
+    pm.send('gpsLocationExternal', dat)
+    time.sleep(0.01)

 def fake_driver_monitoring():
-  if args.realmonitoring:
-    return
-  pm = messaging.PubMaster(['driverState'])
+  pm = messaging.PubMaster(['driverState','dMonitoringState'])
  while 1:
+
+    # dmonitoringmodeld output
    dat = messaging.new_message('driverState')
    dat.driverState.faceProb = 1.0
    pm.send('driverState', dat)
-    time.sleep(0.1)
+
+    # 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
+

 def go(q):
-  threading.Thread(target=health_function).start()
-  threading.Thread(target=fake_driver_monitoring).start()

+  # setup CARLA
  client = carla.Client("127.0.0.1", 2000)
-  client.set_timeout(5.0)
+  client.set_timeout(10.0)
  world = client.load_world('Town04')
-  settings = world.get_settings()
-  settings.fixed_delta_seconds = 0.05
-  world.apply_settings(settings)
-
-  weather = carla.WeatherParameters(
-      cloudyness=0.1,
-      precipitation=0.0,
-      precipitation_deposits=0.0,
-      wind_intensity=0.0,
-      sun_azimuth_angle=15.0,
-      sun_altitude_angle=75.0)
-  world.set_weather(weather)
+  world.set_weather(carla.WeatherParameters(
+    cloudyness=0.1,
+    precipitation=0.0,
+    precipitation_deposits=0.0,
+    wind_intensity=0.0,
+    sun_azimuth_angle=15.0,
+    sun_altitude_angle=75.0
+  ))

  blueprint_library = world.get_blueprint_library()
-  # for blueprint in blueprint_library.filter('sensor.*'):
-  #    print(blueprint.id)
-  # exit(0)

  world_map = world.get_map()
-  vehicle_bp = random.choice(blueprint_library.filter('vehicle.tesla.*'))
+
+  vehicle_bp = blueprint_library.filter('vehicle.tesla.*')[0]
+  # vehicle = world.spawn_actor(vehicle_bp, world_map.get_spawn_points()[16])
  vehicle = world.spawn_actor(vehicle_bp, world_map.get_spawn_points()[16])

+  max_steer_angle = vehicle.get_physics_control().wheels[0].max_steer_angle
+
  # make tires less slippery
-  wheel_control = carla.WheelPhysicsControl(tire_friction=5)
+  # wheel_control = carla.WheelPhysicsControl(tire_friction=5)
  physics_control = vehicle.get_physics_control()
-  physics_control.mass = 1326
-  physics_control.wheels = [wheel_control]*4
+  physics_control.mass = 2326
+  # physics_control.wheels = [wheel_control]*4
  physics_control.torque_curve = [[20.0, 500.0], [5000.0, 500.0]]
  physics_control.gear_switch_time = 0.0
  vehicle.apply_physics_control(physics_control)

-  if args.autopilot:
-    vehicle.set_autopilot(True)
-  # print(vehicle.get_speed_limit())
-
  blueprint = blueprint_library.find('sensor.camera.rgb')
  blueprint.set_attribute('image_size_x', str(W))
  blueprint.set_attribute('image_size_y', str(H))
@ -140,47 +178,62 @@ def go(q):
    print("done")
  atexit.register(destroy)

+
+  vehicle_state = VehicleState()
+
+  # launch fake car threads
+  threading.Thread(target=health_function).start()
+  threading.Thread(target=fake_driver_monitoring).start()
+  threading.Thread(target=fake_gps).start()
+  threading.Thread(target=can_function_runner, args=(vehicle_state,)).start()
+
  # can loop
-  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_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
+  throttle_out = steer_out = brake_out = 0
+  throttle_op = steer_op = brake_op = 0
+  throttle_manual = steer_manual = brake_manual = 0
+
+  old_steer = old_brake = old_throttle = 0
+  throttle_manual_multiplier = 0.7 #keyboard signal is always 1
+  brake_manual_multiplier = 0.7 #keyboard signal is always 1
+  steer_manual_multiplier = 45 * STEER_RATIO  #keyboard signal is always 1

-  throttle_out = 0
-  brake_out = 0
-  steer_angle_out = 0

  while 1:
+    # 1. Read the throttle, steer and brake from op or manual controls
+    # 2. Set instructions in Carla
+    # 3. Send current carstate to op via can
+
    cruise_button = 0
+    throttle_out = steer_out = brake_out = 0
+    throttle_op = steer_op = brake_op = 0
+    throttle_manual = steer_manual = brake_manual = 0

-    # check for a input message, this will not block
+    # --------------Step 1-------------------------------
    if not q.empty():
-      print("here")
      message = q.get()
-
      m = message.split('_')
      if m[0] == "steer":
-        steer_angle_out = float(m[1])
-        fake_wheel.set_angle(steer_angle_out)  # touching the wheel overrides fake wheel angle
-        # print(" === steering overriden === ")
+        steer_manual = float(m[1])
+        is_openpilot_engaged = False
      if m[0] == "throttle":
-        throttle_out = float(m[1]) / 100.
-        if throttle_out > 0.3:
-          cruise_button = CruiseButtons.CANCEL
-          is_openpilot_engaged = False
+        throttle_manual = float(m[1])
+        is_openpilot_engaged = False
      if m[0] == "brake":
-        brake_out = float(m[1]) / 100.
-        if brake_out > 0.3:
-          cruise_button = CruiseButtons.CANCEL
-          is_openpilot_engaged = False
+        brake_manual = float(m[1])
+        is_openpilot_engaged = False
      if m[0] == "reverse":
-        in_reverse = not in_reverse
+        #in_reverse = not in_reverse
        cruise_button = CruiseButtons.CANCEL
        is_openpilot_engaged = False
      if m[0] == "cruise":
@ -194,41 +247,101 @@ def go(q):
          cruise_button = CruiseButtons.CANCEL
          is_openpilot_engaged = False

-    vel = vehicle.get_velocity()
-    speed = math.sqrt(vel.x**2 + vel.y**2 + vel.z**2) * 3.6
-    can_function(pm, speed, fake_wheel.angle, rk.frame, cruise_button=cruise_button, is_engaged=is_openpilot_engaged)
+      throttle_out = throttle_manual * throttle_manual_multiplier
+      steer_out = steer_manual * steer_manual_multiplier
+      brake_out = brake_manual * brake_manual_multiplier

-    if rk.frame % 1 == 0:  # 20Hz?
-      throttle_op, brake_op, steer_torque_op = sendcan_function(sendcan)
-      # print(" === torq, ",steer_torque_op, " ===")
-      if is_openpilot_engaged:
-        fake_wheel.response(steer_torque_op * A_steer_torque, speed)
-        throttle_out = throttle_op * A_throttle
-        brake_out = brake_op * A_brake
-        steer_angle_out = fake_wheel.angle
-        # print(steer_torque_op)
-      # print(steer_angle_out)
-      vc = carla.VehicleControl(throttle=throttle_out, steer=steer_angle_out / 3.14, brake=brake_out, reverse=in_reverse)
-      vehicle.apply_control(vc)
+      #steer_out = steer_out
+      # steer_out = steer_rate_limit(old_steer, steer_out)
+      old_steer = steer_out
+      old_throttle = throttle_out
+      old_brake = brake_out
+
+      # print('message',old_throttle, old_steer, old_brake)
+
+    if is_openpilot_engaged:
+      sm.update(0)
+      throttle_op = sm['carControl'].actuators.gas #[0,1]
+      brake_op = sm['carControl'].actuators.brake #[0,1]
+      steer_op = sm['controlsState'].angleSteersDes # degrees [-180,180]
+
+      throttle_out = throttle_op
+      steer_out = steer_op
+      brake_out = brake_op
+
+      steer_out = steer_rate_limit(old_steer, steer_out)
+      old_steer = steer_out
+
+    # OP Exit conditions
+    # if throttle_out > 0.3:
+    #   cruise_button = CruiseButtons.CANCEL
+    #   is_openpilot_engaged = False
+    # if brake_out > 0.3:
+    #   cruise_button = CruiseButtons.CANCEL
+    #   is_openpilot_engaged = False
+    # if steer_out > 0.3:
+    #   cruise_button = CruiseButtons.CANCEL
+    #   is_openpilot_engaged = False
+
+    else:
+      if throttle_out==0 and old_throttle>0:
+        if throttle_ease_out_counter>0:
+          throttle_out = old_throttle
+          throttle_ease_out_counter += -1
+        else:
+          throttle_ease_out_counter = REPEAT_COUNTER
+          old_throttle = 0
+
+      if brake_out==0 and old_brake>0:
+        if brake_ease_out_counter>0:
+          brake_out = old_brake
+          brake_ease_out_counter += -1
+        else:
+          brake_ease_out_counter = REPEAT_COUNTER
+          old_brake = 0
+
+      if steer_out==0 and old_steer!=0:
+        if steer_ease_out_counter>0:
+          steer_out = old_steer
+          steer_ease_out_counter += -1
+        else:
+          steer_ease_out_counter = REPEAT_COUNTER
+          old_steer = 0
+
+    # --------------Step 2-------------------------------
+
+    steer_carla = steer_out / (max_steer_angle * STEER_RATIO * -1)
+
+    steer_carla = np.clip(steer_carla, -1,1)
+    steer_out = steer_carla * (max_steer_angle * STEER_RATIO * -1)
+    old_steer = steer_carla * (max_steer_angle * STEER_RATIO * -1)
+
+    vc.throttle = throttle_out/0.6
+    vc.steer = steer_carla
+    vc.brake = brake_out
+    vehicle.apply_control(vc)
+
+    # --------------Step 3-------------------------------
+    vel = vehicle.get_velocity()
+    speed = math.sqrt(vel.x**2 + vel.y**2 + vel.z**2) # in m/s
+    vehicle_state.speed = speed
+    vehicle_state.angle = steer_out
+    vehicle_state.cruise_button = cruise_button
+    vehicle_state.is_engaged = is_openpilot_engaged
+
+    if rk.frame%PRINT_DECIMATION == 0:
+      print("frame: ", "engaged:", is_openpilot_engaged, "; throttle: ", round(vc.throttle, 3), "; steer(c/deg): ", round(vc.steer, 3), round(steer_out, 3), "; brake: ", round(vc.brake, 3))

    rk.keep_time()

 if __name__ == "__main__":
-  params = Params()
-  params.delete("Offroad_ConnectivityNeeded")
-  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)
+  # make sure params are in a good state
+  params = Params()
+  params.clear_all()
+  set_params_enabled()
+  params.delete("Offroad_ConnectivityNeeded")
+  params.put("CalibrationParams", '{"calib_radians": [0,0,0], "valid_blocks": 20}')

  from multiprocessing import Process, Queue
  q = Queue()
--- a/tools/sim/build_container.sh
+++ b/tools/sim/build_container.sh
@ -0,0 +1,10 @@
+#!/bin/bash
+
+DIR="$( cd "$( dirname "${BASH_SOURCE[0]}" )" && pwd )"
+cd $DIR/../../
+
+docker pull commaai/openpilot-base:latest
+docker build \
+  --cache-from commaai/openpilot-sim:latest \
+  -t commaai/openpilot-sim:latest \
+  -f tools/sim/Dockerfile.sim .
--- a/tools/sim/install_carla.sh
+++ b/tools/sim/install_carla.sh
@ -0,0 +1,15 @@
+#!/usr/bin/env bash
+
+cd /tmp
+FILE=CARLA_0.9.7.tar.gz
+rm -f $FILE
+curl -O http://carla-assets-internal.s3.amazonaws.com/Releases/Linux/$FILE
+
+rm -rf carla_tmp
+mkdir -p carla_tmp
+cd carla_tmp
+tar xvf ../$FILE
+easy_install PythonAPI/carla/dist/carla-0.9.7-py3.5-linux-x86_64.egg || true
+cd ..
+rm -rf /tmp/$FILE
+rm -rf carla_tmp
--- a/tools/sim/launch_openpilot.sh
+++ b/tools/sim/launch_openpilot.sh
@ -2,6 +2,7 @@

 export PASSIVE="0"
 export NOBOARD="1"
+export SIMULATION="1"

 DIR="$( cd "$( dirname "${BASH_SOURCE[0]}" )" >/dev/null && pwd )"
 cd ../../selfdrive && ./manager.py
--- a/tools/sim/lib/can.py
+++ b/tools/sim/lib/can.py
@ -4,7 +4,6 @@ from opendbc.can.packer import CANPacker
 from selfdrive.boardd.boardd_api_impl import can_list_to_can_capnp  # pylint: disable=no-name-in-module,import-error
 from selfdrive.car.honda.values import FINGERPRINTS, CAR
 from selfdrive.car import crc8_pedal
-import math

 from selfdrive.test.longitudinal_maneuvers.plant import get_car_can_parser
 cp = get_car_can_parser()
@ -12,19 +11,20 @@ cp = get_car_can_parser()
 packer = CANPacker("honda_civic_touring_2016_can_generated")
 rpacker = CANPacker("acura_ilx_2016_nidec")

-SR = 7.5
+def can_function(pm, speed, angle, idx, cruise_button, is_engaged):

-def angle_to_sangle(angle):
-  return - math.degrees(angle) * SR
-
-def can_function(pm, speed, angle, idx, cruise_button=0, is_engaged=False):
  msg = []
+
+  # *** powertrain bus ***
+
+  speed = speed * 3.6 # convert m/s to kph
  msg.append(packer.make_can_msg("ENGINE_DATA", 0, {"XMISSION_SPEED": speed}, idx))
-  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))
+  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))

  msg.append(packer.make_can_msg("SCM_BUTTONS", 0, {"CRUISE_BUTTONS": cruise_button}, idx))

@ -37,7 +37,7 @@ def can_function(pm, speed, angle, idx, cruise_button=0, is_engaged=False):
  msg.append(packer.make_can_msg("GAS_PEDAL_2", 0, {}, idx))
  msg.append(packer.make_can_msg("SEATBELT_STATUS", 0, {"SEATBELT_DRIVER_LATCHED": 1}, idx))
  msg.append(packer.make_can_msg("STEER_STATUS", 0, {}, idx))
-  msg.append(packer.make_can_msg("STEERING_SENSORS", 0, {"STEER_ANGLE": angle_to_sangle(angle)}, idx))
+  msg.append(packer.make_can_msg("STEERING_SENSORS", 0, {"STEER_ANGLE": angle}, idx))
  msg.append(packer.make_can_msg("VSA_STATUS", 0, {}, idx))
  msg.append(packer.make_can_msg("STANDSTILL", 0, {}, idx))
  msg.append(packer.make_can_msg("STEER_MOTOR_TORQUE", 0, {}, idx))
@ -47,14 +47,13 @@ def can_function(pm, speed, angle, idx, cruise_button=0, is_engaged=False):
  msg.append(packer.make_can_msg("CRUISE", 0, {}, idx))
  msg.append(packer.make_can_msg("SCM_FEEDBACK", 0, {"MAIN_ON": 1}, idx))
  msg.append(packer.make_can_msg("POWERTRAIN_DATA", 0, {"ACC_STATUS": int(is_engaged)}, idx))
-  #print(msg)

-  # cam bus
+  # *** cam 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
+  # *** radar bus ***
  if idx % 5 == 0:
    msg.append(rpacker.make_can_msg("RADAR_DIAGNOSTIC", 1, {"RADAR_STATE": 0x79}, -1))
    for i in range(16):
@ -65,6 +64,7 @@ def can_function(pm, speed, angle, idx, cruise_button=0, is_engaged=False):
  for k, v in FINGERPRINTS[CAR.CIVIC][0].items():
    if k not in done and k not in [0xE4, 0x194]:
      msg.append([k, 0, b'\x00'*v, 0])
+
  pm.send('can', can_list_to_can_capnp(msg))

 def sendcan_function(sendcan):
@ -72,18 +72,18 @@ def sendcan_function(sendcan):
  cp.update_strings(sc, sendcan=True)

  if cp.vl[0x1fa]['COMPUTER_BRAKE_REQUEST']:
-    brake = cp.vl[0x1fa]['COMPUTER_BRAKE'] * 0.003906248
+    brake = cp.vl[0x1fa]['COMPUTER_BRAKE'] / 1024.
  else:
    brake = 0.0

  if cp.vl[0x200]['GAS_COMMAND'] > 0:
-    gas = cp.vl[0x200]['GAS_COMMAND'] / 256.0
+    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
+    steer_torque = cp.vl[0xe4]['STEER_TORQUE']/3840
  else:
    steer_torque = 0.0

-  return (gas, brake, steer_torque)
+  return gas, brake, steer_torque
--- a/tools/sim/lib/helpers.py
+++ b/tools/sim/lib/helpers.py
@ -1,34 +0,0 @@
-class FakeSteeringWheel():
-  def __init__(self, dt=0.01):
-    # physical params
-    self.DAC = 4. / 0.625  # convert torque value from can to Nm
-    self.k = 0.035
-    self.centering_k = 4.1 * 0.9
-    self.b = 0.1 * 0.8
-    self.I = 1 * 1.36 * (0.175**2)
-    self.dt = dt
-    # ...
-
-    self.angle = 0.  # start centered
-    # self.omega = 0.
-
-  def response(self, torque, vego=0):
-    exerted_torque = torque * self.DAC
-    # centering_torque = np.clip(-(self.centering_k * self.angle), -1.1, 1.1)
-    # damping_torque = -(self.b * self.omega)
-    # self.omega += self.dt * (exerted_torque + centering_torque + damping_torque) / self.I
-    # self.omega = np.clip(self.omega, -1.1, 1.1)
-    # self.angle += self.dt * self.omega
-    self.angle += self.dt * self.k * exerted_torque  # aristotle
-
-    # print(" ========== ")
-    # print("angle,", self.angle)
-    # print("omega,", self.omega)
-    # print("torque,", exerted_torque)
-    # print("centering torque,", centering_torque)
-    # print("damping torque,", damping_torque)
-    # print(" ========== ")
-
-  def set_angle(self, target):
-    self.angle = target
-    # self.omega = 0.
--- a/tools/sim/lib/keyboard_ctrl.py
+++ b/tools/sim/lib/keyboard_ctrl.py
@ -37,7 +37,7 @@ def getch():
 def keyboard_poll_thread(q):
  while True:
    c = getch()
-    print("got %s" % c)
+    # print("got %s" % c)
    if c == '1':
      q.put(str("cruise_up"))
    if c == '2':
--- a/tools/sim/start_carla.sh
+++ b/tools/sim/start_carla.sh
@ -1,18 +1,19 @@
-#!/bin/bash -e
+#!/bin/bash

-FILE=CARLA_0.9.7.tar.gz
-if [ ! -f $FILE ]; then
-  curl -O http://carla-assets-internal.s3.amazonaws.com/Releases/Linux/$FILE
-fi
-if [ ! -d carla ]; then
-  rm -rf carla_tmp
-  mkdir -p carla_tmp
-  cd carla_tmp
-  tar xvf ../$FILE
-  easy_install PythonAPI/carla/dist/carla-0.9.7-py3.5-linux-x86_64.egg || true
-  cd ../
-  mv carla_tmp carla
+#Requires nvidia docker - https://github.com/NVIDIA/nvidia-docker
+if ! $(apt list --installed | grep -q nvidia-container-toolkit); then
+  if [ -z "$INSTALL" ]; then
+    echo "Nvidia docker is required. Re-run with INSTALL=1 to automatically install."
+    exit 0
+  else
+    distribution=$(. /etc/os-release;echo $ID$VERSION_ID)
+    echo $distribution
+    curl -s -L https://nvidia.github.io/nvidia-docker/gpgkey | sudo apt-key add -
+    curl -s -L https://nvidia.github.io/nvidia-docker/$distribution/nvidia-docker.list | sudo tee /etc/apt/sources.list.d/nvidia-docker.list
+    sudo apt-get update && sudo apt-get install -y nvidia-container-toolkit
+    sudo systemctl restart docker
+  fi
 fi

-cd carla
-./CarlaUE4.sh
+docker pull carlasim/carla:0.9.7
+docker run --net=host --gpus all carlasim/carla:0.9.7 
--- a/tools/sim/start_carla_docker.sh
+++ b/tools/sim/start_carla_docker.sh
@ -1,5 +0,0 @@
-#!/bin/bash
-
-# Requires nvidia docker - https://github.com/NVIDIA/nvidia-docker
-docker pull carlasim/carla:0.9.7
-docker run -p 2000-2002:2000-2002 --runtime=nvidia --gpus all carlasim/carla:0.9.7
--- a/tools/sim/start_openpilot_docker.sh
+++ b/tools/sim/start_openpilot_docker.sh
@ -0,0 +1,16 @@
+#!/bin/bash
+
+# expose X to the container
+xhost +local:root
+docker pull commaai/openpilot-sim:latest
+
+docker run --net=host\
+  --rm \
+  -it \
+  --gpus all \
+  --device=/dev/dri/  \
+  -v /tmp/.X11-unix:/tmp/.X11-unix \
+  --shm-size 1G \
+  -e DISPLAY=$DISPLAY \
+  commaai/openpilot-sim:latest \
+  /bin/bash -c "cd tools && cd sim && sh tmux_script.sh"
--- a/tools/sim/tmux_script.sh
+++ b/tools/sim/tmux_script.sh
@ -0,0 +1,6 @@
+#!/bin/bash
+tmux new -d -s htop
+tmux send-keys "./launch_openpilot.sh" ENTER
+tmux neww
+tmux send-keys "./bridge.py" ENTER
+tmux a
--- a/tools/ubuntu_setup.sh
+++ b/tools/ubuntu_setup.sh
@ -1,5 +1,6 @@
 #!/bin/bash -e

+
 sudo apt-get update && sudo apt-get install -y \
    autoconf \
    build-essential \