99 lines
3.1 KiB
Markdown
99 lines
3.1 KiB
Markdown
# Turn the speed blue
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*A getting started guide for openpilot development*
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In 30 minutes, we'll get an openpilot development environment setup on your computer and make some changes to openpilot's UI.
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And if you have a comma 3/3X, we'll deploy the change to your device for testing.
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## 1. Setup your development environment
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Run this to clone openpilot and install all the dependencies:
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```bash
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bash <(curl -fsSL openpilot.comma.ai)
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```
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Navigate to openpilot folder & activate a Python virtual environment
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```bash
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cd openpilot
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source .venv/bin/activate
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```
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Then, compile openpilot:
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```bash
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scons -j8
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```
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## 2. Run replay
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We'll run the `replay` tool with the demo route to get data streaming for testing our UI changes.
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```bash
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# in terminal 1
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tools/replay/replay --demo
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# in terminal 2
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selfdrive/ui/ui
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```
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The openpilot UI should launch and show a replay of the demo route.
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If you have your own comma device, you can replace `--demo` with one of your own routes from comma connect.
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## 3. Make the speed blue
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Search for “mph” with git grep in the `ui` folder.
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```bash
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$ git grep "mph" selfdrive/ui/
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paint.cc: ui_draw_text(s, s->fb_w/2, 290, s->scene.is_metric ? "km/h" : "mph", 36 * 2.5, COLOR_WHITE_ALPHA(200), "sans-regular");
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```
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The line right above contains the actual speed. Unfortunately, COLOR_BLUE isn’t defined, but a git grep of COLOR_WHITE shows it’s nvgRGBA(255, 255, 255, 255). Personally, I like a lighter blue, so I went with #8080FF.
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```bash
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$ git diff
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diff --git a/selfdrive/ui/paint.cc b/selfdrive/ui/paint.cc
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index 821d95115..cc996eaa1 100644
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--- a/selfdrive/ui/paint.cc
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+++ b/selfdrive/ui/paint.cc
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@@ -175,8 +175,8 @@ static void ui_draw_vision_speed(UIState *s) {
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const float speed = std::max(0.0, (*s->sm)["carState"].getCarState().getVEgo() * (s->scene.is_metric ? 3.6 : 2.2369363));
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const std::string speed_str = std::to_string((int)std::nearbyint(speed));
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nvgTextAlign(s->vg, NVG_ALIGN_CENTER | NVG_ALIGN_BASELINE);
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- ui_draw_text(s, s->fb_w/2, 210, speed_str.c_str(), 96 * 2.5, COLOR_WHITE, "sans-bold");
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- ui_draw_text(s, s->fb_w/2, 290, s->scene.is_metric ? "km/h" : "mph", 36 * 2.5, COLOR_WHITE_ALPHA(200), "sans-regular");
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+ ui_draw_text(s, s->fb_w/2, 210, speed_str.c_str(), 96 * 2.5, nvgRGBA(128, 128, 255, 255), "sans-bold");
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+ ui_draw_text(s, s->fb_w/2, 290, s->scene.is_metric ? "km/h" : "mph", 36 * 2.5, nvgRGBA(128, 128, 255, 200), "sans-regular");
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}
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static void ui_draw_vision_event(UIState *s) {
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```
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## 4. Rebuild UI, and admire your work
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```
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scons -j8 && selfdrive/ui/ui
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```
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## 5. Push your fork to GitHub
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Click fork on GitHub. Then, push with:
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```bash
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git remote rm origin
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git remote add origin git@github.com:<your-github-username>/openpilot.git
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git add .
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git commit -m "Make the speed blue."
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git push --set-upstream origin master
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```
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## 6. Run your fork on device in your car!
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Uninstall openpilot from your device through the settings. Then, enter the URL for your very own installer:
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```
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installer.comma.ai/<your-github-username>/master
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```
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## 7. Admire your work IRL
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