From d4bf764d99830482de01c04e3ad70a64fedd99cd Mon Sep 17 00:00:00 2001
From: Adeeb Shihadeh <adeebshihadeh@gmail.com>
Date: Wed, 18 Nov 2020 13:10:37 -0800
Subject: [PATCH] update simulator to ubuntu 20.04 (#2463)

* fix sim build in 20.04

* run ci

* fix docker build

* restore ci cofnig

Co-authored-by: Willem Melching <willem.melching@gmail.com>
old-commit-hash: cc1bca542d8a12acc381fc3d284d37b57b12c6ee
---
 .github/workflows/sim_tests.yaml |  2 +-
 tools/sim/Dockerfile.sim         | 24 ++----------------------
 tools/sim/README.md              |  2 ++
 tools/sim/lib/replay.sh          |  3 ++-
 4 files changed, 7 insertions(+), 24 deletions(-)

diff --git a/.github/workflows/sim_tests.yaml b/.github/workflows/sim_tests.yaml
index bac6239cb8..3d703e506b 100644
--- a/.github/workflows/sim_tests.yaml
+++ b/.github/workflows/sim_tests.yaml
@@ -8,7 +8,7 @@ jobs:
     name: build container
     runs-on: ubuntu-20.04
     timeout-minutes: 50
-    if: github.event_name == 'schedule' && github.repository == 'commaai/openpilot'
+    if: github.repository == 'commaai/openpilot'
     steps:
     - uses: actions/checkout@v2
       with:
diff --git a/tools/sim/Dockerfile.sim b/tools/sim/Dockerfile.sim
index 02e59455bd..9488a22b1d 100644
--- a/tools/sim/Dockerfile.sim
+++ b/tools/sim/Dockerfile.sim
@@ -6,22 +6,13 @@ RUN apt-get update && apt-get install -y \
     tar \
     curl \
     xz-utils \
-
     beignet-opencl-icd \
-
+    libglvnd-dev \
     alien \
     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/*
 
 # Intel OpenCL driver
@@ -52,16 +43,6 @@ ENV NVIDIA_DRIVER_CAPABILITIES compute,utility,display
 
 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}}
-
 # CARLA python api
 COPY ./tools/sim/install_carla.sh /tmp
 RUN /tmp/install_carla.sh
@@ -76,8 +57,7 @@ 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 ./site_scons $HOME/openpilot/site_scons
 COPY ./rednose $HOME/openpilot/rednose
 COPY ./common $HOME/openpilot/common
 COPY ./models $HOME/openpilot/models
diff --git a/tools/sim/README.md b/tools/sim/README.md
index 0dfda1bfc0..4d271cb4de 100644
--- a/tools/sim/README.md
+++ b/tools/sim/README.md
@@ -3,6 +3,7 @@ openpilot in simulator
 
 
 ## Running the simulator
+
 First, start the CARLA server.
 ```
 ./start_carla.sh
@@ -14,6 +15,7 @@ Then start bridge and openpilot.
 ```
 
 To engage openpilot press 1 a few times while focused on bridge.py to increase the cruise speed.
+
 ## Controls
 
 You can control openpilot driving in the simulation with the following keys
diff --git a/tools/sim/lib/replay.sh b/tools/sim/lib/replay.sh
index 38c2140096..6a48d0412e 100755
--- a/tools/sim/lib/replay.sh
+++ b/tools/sim/lib/replay.sh
@@ -1,5 +1,6 @@
 #!/bin/bash
+
 cd ~/openpilot/tools/nui
+
 # vision, boardd, sensorsd, gpsd
 ALLOW=frame,can,ubloxRaw,health,sensorEvents,gpsNMEA,gpsLocation ./nui "02ec6bea180a4d36/2019-10-25--10-18-09"
-