@ -20,7 +20,7 @@ source .venv/bin/activate
Then, compile openpilot:
```bash
scons -j8
scons -j$(nproc)
```
## 2. Run replay
@ -38,61 +38,77 @@ The openpilot UI should launch and show a replay of the demo route.
If you have your own comma device, you can replace `--demo` with one of your own routes from comma connect.
## 3. Make the speed blue
Search for “mph” with git grep in the `ui` folder.
```bash
$ git grep "mph" selfdrive/ui/
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");
```
Now let’s update the speed display color in the UI.
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 .
Search for the function responsible for rendering UI text:
```bash
$ git diff
diff --git a/selfdrive/ui/paint.cc b/selfdrive/ui/paint.cc
index 821d95115..cc996eaa1 100644
--- a/selfdrive/ui/paint.cc
+++ b/selfdrive/ui/paint.cc
@@ -175,8 +175,8 @@ static void ui_draw_vision_speed(UIState *s) {
const float speed = std::max(0.0, (*s->sm)["carState"].getCarState().getVEgo() * (s->scene.is_metric ? 3.6 : 2.2369363));
const std::string speed_str = std::to_string((int)std::nearbyint(speed));
nvgTextAlign(s->vg, NVG_ALIGN_CENTER | NVG_ALIGN_BASELINE);
- ui_draw_text(s, s->fb_w/2, 210, speed_str.c_str(), 96 * 2.5, COLOR_WHITE, "sans-bold");
- 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");
+ ui_draw_text(s, s->fb_w/2, 210, speed_str.c_str(), 96 * 2.5, nvgRGBA(128, 128, 255, 255), "sans-bold");
+ 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");
}
static void ui_draw_vision_event(UIState *s) {
git grep "drawText" selfdrive/ui/qt/onroad/hud.cc
```
You’ll find the relevant code inside `selfdrive/ui/qt/onroad/hud.cc` , in this function:
## 4. Rebuild UI, and admire your work
```cpp
void HudRenderer::drawText(QPainter & p, int x, int y, const QString & text, int alpha) {
QRect real_rect = p.fontMetrics().boundingRect(text);
real_rect.moveCenter({x, y - real_rect.height() / 2});
p.setPen(QColor(0xff, 0xff, 0xff, alpha)); // < - this sets the speed text color
p.drawText(real_rect.x(), real_rect.bottom(), text);
}
```
scons -j8 & & selfdrive/ui/ui
Change the `QColor(...)` line to make it **blue** instead of white. A nice soft blue is `#8080FF` , which translates to:
```diff
- p.setPen(QColor(0xff, 0xff, 0xff, alpha));
+ p.setPen(QColor(0x80, 0x80, 0xFF, alpha));
```
This change will tint all speed-related UI text to blue with the same transparency (`alpha`).
---
## 4. Rebuild the UI
After making changes, rebuild Openpilot so your new UI is compiled:
```bash
scons -j$(nproc) & & selfdrive/ui/ui
```
You should now see the speed displayed in a nice blue shade during the demo replay.
---
## 5. Push your fork to GitHub
Click fork on GitHub. Then, push with:
Click ** "Fork"** on the [Openpilot GitHub repo ](https://github.com/commaai/openpilot ). Then
```bash
git remote rm origin
git remote add origin git@github.com:< your-github-username > /openpilot.git
git add .
git commit -m "Make the speed blue."
git commit -m "Make the speed display blue"
git push --set-upstream origin master
```
## 6. Run your fork on device in your car!
---
Uninstall openpilot from your device through the settings. Then, enter the URL for your very own installer:
## 6. Run your fork on your comma device
Uninstall Openpilot through the settings on your device.
Then reinstall using your own GitHub-hosted fork:
```
installer.comma.ai/< your-github-username > /master
```
## 7. Admire your work IRL
---
## 7. Admire your work IRL 🚗💨
You’ve now successfully modified Openpilot’s UI and deployed it to your own car!
William Bonilla
6 months ago
committed by
GitHub