add webcam to cameras (#1201)

tools/sim/bridge.py

@@ -19,6 +19,7 @@ from selfdrive.car.honda.values import CruiseButtons
 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'])
@@ -68,6 +69,8 @@ def health_function():
     rk.keep_time()
 
 def fake_driver_monitoring():
+  if args.realmonitoring:
+    return
   pm = messaging.PubMaster(['driverState'])
   while 1:
     dat = messaging.new_message('driverState')
@@ -198,7 +201,7 @@ def go(q):
 
     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)
+    can_function(pm, speed, fake_wheel.angle, rk.frame, cruise_button=cruise_button, is_engaged=is_openpilot_engaged)
 
     if rk.frame%1 == 0: # 20Hz?
       throttle_op, brake_op, steer_torque_op = sendcan_function(sendcan)

tools/sim/lib/can.py

@@ -20,7 +20,7 @@ SR = 7.5
 def angle_to_sangle(angle):
   return - math.degrees(angle) * SR
 
-def can_function(pm, speed, angle, idx, cruise_button=0):
+def can_function(pm, speed, angle, idx, cruise_button=0, is_engaged=False):
   msg = []
   msg.append(packer.make_can_msg("ENGINE_DATA", 0, {"XMISSION_SPEED": speed}, idx))
   msg.append(packer.make_can_msg("WHEEL_SPEEDS", 0,
@@ -50,6 +50,7 @@ def can_function(pm, speed, angle, idx, cruise_button=0):
   msg.append(packer.make_can_msg("CRUISE_PARAMS", 0, {}, idx))
   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