Fix CARLA simulation (#28541)

* logmessaged conflicts with onnxrunner

* More fixes, now engages

* Fix can properly

* Otherwise it faults

* Put check back

* remove more hacks

* remove more hacks

* Not relevant anymore

* Narrow camera default
old-commit-hash: c5c9d5b921

tools/sim/bridge.py

@@ -68,13 +68,14 @@ def steer_rate_limit(old, new):
 
 
 class Camerad:
-  def __init__(self):
+  def __init__(self, dual_camera):
     self.frame_road_id = 0
     self.frame_wide_id = 0
     self.vipc_server = VisionIpcServer("camerad")
 
     self.vipc_server.create_buffers(VisionStreamType.VISION_STREAM_ROAD, 5, False, W, H)
-    self.vipc_server.create_buffers(VisionStreamType.VISION_STREAM_WIDE_ROAD, 5, False, W, H)
+    if dual_camera:
+      self.vipc_server.create_buffers(VisionStreamType.VISION_STREAM_WIDE_ROAD, 5, False, W, H)
     self.vipc_server.start_listener()
 
     # set up for pyopencl rgb to yuv conversion
@@ -254,6 +255,7 @@ class CarlaBridge:
     msg.liveCalibration.validBlocks = 20
     msg.liveCalibration.rpyCalib = [0.0, 0.0, 0.0]
     self.params.put("CalibrationParams", msg.to_bytes())
+    self.params.put_bool("DisengageOnAccelerator", True)
 
     self._args = arguments
     self._carla_objects = []
@@ -348,14 +350,13 @@ class CarlaBridge:
       camera.listen(callback)
       return camera
 
-    self._camerad = Camerad()
+    self._camerad = Camerad(self._args.dual_camera)
 
     if self._args.dual_camera:
-      road_camera = create_camera(fov=40, callback=self._camerad.cam_callback_road)
-      self._carla_objects.append(road_camera)
-
-    road_wide_camera = create_camera(fov=120, callback=self._camerad.cam_callback_wide_road)  # fov bigger than 120 shows unwanted artifacts
-    self._carla_objects.append(road_wide_camera)
+      road_wide_camera = create_camera(fov=120, callback=self._camerad.cam_callback_wide_road)  # fov bigger than 120 shows unwanted artifacts
+      self._carla_objects.append(road_wide_camera)
+    road_camera = create_camera(fov=40, callback=self._camerad.cam_callback_road)
+    self._carla_objects.append(road_camera)
 
     vehicle_state = VehicleState()
 

tools/sim/launch_openpilot.sh

@@ -6,7 +6,7 @@ export SIMULATION="1"
 export SKIP_FW_QUERY="1"
 export FINGERPRINT="HONDA CIVIC 2016"
 
-export BLOCK="camerad,loggerd,encoderd,micd"
+export BLOCK="camerad,loggerd,encoderd,micd,logmessaged"
 if [[ "$CI" ]]; then
   # TODO: offscreen UI should work
   export BLOCK="${BLOCK},ui"

tools/sim/lib/can.py

@@ -68,6 +68,7 @@ def can_function(pm, speed, angle, idx, cruise_button, is_engaged):
   # *** cam bus ***
   msg.append(packer.make_can_msg("STEERING_CONTROL", 2, {}))
   msg.append(packer.make_can_msg("ACC_HUD", 2, {}))
+  msg.append(packer.make_can_msg("LKAS_HUD", 2, {}))
   msg.append(packer.make_can_msg("BRAKE_COMMAND", 2, {}))
 
   # *** radar bus ***