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Merge branch 'upstream/openpilot/master' into sync-20251213
# Conflicts: # README.md # common/api.py # docs/CARS.md # opendbc_repo # panda # selfdrive/ui/mici/layouts/offroad_alerts.py # system/ui/README.md # system/version.py
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Jason Wen
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@@ -20,7 +20,7 @@ A supported vehicle is one that just works when you install a comma device. All
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|Audi|Q3 2019-24|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,15</sup>](#footnotes)|0 mph|0 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 USB-C coupler<br>- 1 VW J533 connector<br>- 1 comma four<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Audi Q3 2019-24">Buy Here</a></sub></details>|||
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|Audi|RS3 2018|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,15</sup>](#footnotes)|0 mph|0 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 USB-C coupler<br>- 1 VW J533 connector<br>- 1 comma four<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Audi RS3 2018">Buy Here</a></sub></details>|||
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|Audi|S3 2015-17|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,15</sup>](#footnotes)|0 mph|0 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 USB-C coupler<br>- 1 VW J533 connector<br>- 1 comma four<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Audi S3 2015-17">Buy Here</a></sub></details>|||
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|Chevrolet|Bolt EUV 2022-23|Premier or Premier Redline Trim without Super Cruise Package|openpilot available[<sup>1</sup>](#footnotes)|3 mph|6 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 GM connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Chevrolet Bolt EUV 2022-23">Buy Here</a></sub></details>|<a href="https://youtu.be/xvwzGMUA210" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>||
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|Chevrolet|Bolt EUV 2022-23|Premier or Premier Redline Trim, without Super Cruise Package|openpilot available[<sup>1</sup>](#footnotes)|3 mph|6 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 GM connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Chevrolet Bolt EUV 2022-23">Buy Here</a></sub></details>|<a href="https://youtu.be/xvwzGMUA210" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>||
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|Chevrolet|Bolt EV 2022-23|2LT Trim with Adaptive Cruise Control Package|openpilot available[<sup>1</sup>](#footnotes)|3 mph|6 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 GM connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Chevrolet Bolt EV 2022-23">Buy Here</a></sub></details>|||
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|Chevrolet|Bolt EV Non-ACC 2017|Adaptive Cruise Control (ACC)|Stock|24 mph|7 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 GM connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Chevrolet Bolt EV Non-ACC 2017">Buy Here</a></sub></details>|||
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|Chevrolet|Bolt EV Non-ACC 2018-21|Adaptive Cruise Control (ACC)|Stock|24 mph|7 mph|[](##)|[](##)|<details><summary>Parts</summary><sub>- 1 GM connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Chevrolet Bolt EV Non-ACC 2018-21">Buy Here</a></sub></details>|||
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@@ -384,7 +384,7 @@ If your car has the following packages or features, then it's a good candidate f
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| Make | Required Package/Features |
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| ---- | ------------------------- |
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| Acura | Any car with AcuraWatch Plus will work. AcuraWatch Plus comes standard on many newer models. |
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| Acura | Any car with AcuraWatch will work. AcuraWatch comes standard on many newer models. |
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| Ford | Any car with Lane Centering will likely work. |
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| Honda | Any car with Honda Sensing will work. Honda Sensing comes standard on many newer models. |
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| Subaru | Any car with EyeSight will work. EyeSight comes standard on many newer models. |
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@@ -31,7 +31,7 @@ We'll run the `replay` tool with the demo route to get data streaming for testin
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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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./selfdrive/ui/ui.py
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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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@@ -43,39 +43,36 @@ If you have your own comma device, you can replace `--demo` with one of your own
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Now let’s update the speed display color in the UI.
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Search for the function responsible for rendering UI text:
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Search for the function responsible for rendering the current speed:
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```bash
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git grep "drawText" selfdrive/ui/qt/onroad/hud.cc
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git grep "_draw_current_speed" selfdrive/ui/onroad/hud_renderer.py
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```
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You’ll find the relevant code inside `selfdrive/ui/qt/onroad/hud.cc`, in this function:
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You'll find the relevant code inside `selfdrive/ui/onroad/hud_renderer.py`, in this function:
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```cpp
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void HudRenderer::drawText(QPainter &p, int x, int y, const QString &text, int alpha) {
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QRect real_rect = p.fontMetrics().boundingRect(text);
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real_rect.moveCenter({x, y - real_rect.height() / 2});
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p.setPen(QColor(0xff, 0xff, 0xff, alpha)); // <- this sets the speed text color
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p.drawText(real_rect.x(), real_rect.bottom(), text);
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}
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```python
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def _draw_current_speed(self, rect: rl.Rectangle) -> None:
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"""Draw the current vehicle speed and unit."""
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speed_text = str(round(self.speed))
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speed_text_size = measure_text_cached(self._font_bold, speed_text, FONT_SIZES.current_speed)
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speed_pos = rl.Vector2(rect.x + rect.width / 2 - speed_text_size.x / 2, 180 - speed_text_size.y / 2)
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rl.draw_text_ex(self._font_bold, speed_text, speed_pos, FONT_SIZES.current_speed, 0, COLORS.white) # <- this sets the speed text color
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```
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Change the `QColor(...)` line to make it **blue** instead of white. A nice soft blue is `#8080FF`, which translates to:
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Change `COLORS.white` to make it **blue** instead of white. A nice soft blue is `#8080FF`, which you can change inline:
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```diff
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- p.setPen(QColor(0xff, 0xff, 0xff, alpha));
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+ p.setPen(QColor(0x80, 0x80, 0xFF, alpha));
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- rl.draw_text_ex(self._font_bold, speed_text, speed_pos, FONT_SIZES.current_speed, 0, COLORS.white)
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+ rl.draw_text_ex(self._font_bold, speed_text, speed_pos, FONT_SIZES.current_speed, 0, rl.Color(0x80, 0x80, 0xFF, 255))
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```
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This change will tint all speed-related UI text to blue with the same transparency (`alpha`).
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---
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## 4. Rebuild the UI
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## 4. Re-run the UI
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After making changes, rebuild Openpilot so your new UI is compiled:
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After making changes, re-run the UI to see your new UI:
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```bash
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scons -j$(nproc) && selfdrive/ui/ui
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./selfdrive/ui/ui.py
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```
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