sim: add ignition toggling (#24043)

tools/sim/bridge.py

@@ -48,6 +48,7 @@ class VehicleState:
     self.vel = carla.Vector3D()
     self.cruise_button = 0
     self.is_engaged = False
+    self.ignition = True
 
 
 def steer_rate_limit(old, new):
@@ -126,13 +127,13 @@ def imu_callback(imu, vehicle_state):
   pm.send('sensorEvents', dat)
 
 
-def panda_state_function(exit_event: threading.Event):
+def panda_state_function(vs: VehicleState, exit_event: threading.Event):
   pm = messaging.PubMaster(['pandaStates'])
   while not exit_event.is_set():
     dat = messaging.new_message('pandaStates', 1)
     dat.valid = True
     dat.pandaStates[0] = {
-      'ignitionLine': True,
+      'ignitionLine': vs.ignition,
       'pandaType': "blackPanda",
       'controlsAllowed': True,
       'safetyModel': 'hondaNidec'
@@ -283,7 +284,7 @@ def bridge(q):
   # launch fake car threads
   threads = []
   exit_event = threading.Event()
-  threads.append(threading.Thread(target=panda_state_function, args=(exit_event,)))
+  threads.append(threading.Thread(target=panda_state_function, args=(vehicle_state, exit_event,)))
   threads.append(threading.Thread(target=peripheral_state_function, args=(exit_event,)))
   threads.append(threading.Thread(target=fake_driver_monitoring, args=(exit_event,)))
   threads.append(threading.Thread(target=can_function_runner, args=(vehicle_state, exit_event,)))
@@ -346,6 +347,8 @@ def bridge(q):
         elif m[1] == "cancel":
           cruise_button = CruiseButtons.CANCEL
           is_openpilot_engaged = False
+      elif m[0] == "ignition":
+        vehicle_state.ignition = not vehicle_state.ignition
       elif m[0] == "quit":
         break
 

tools/sim/lib/keyboard_ctrl.py

@@ -53,6 +53,8 @@ def keyboard_poll_thread(q: 'Queue[str]'):
       q.put("brake_%f" % 1.0)
     elif c == 'd':
       q.put("steer_%f" % -0.15)
+    elif c == 'i':
+      q.put("ignition")
     elif c == 'q':
       q.put("quit")
       break