| + | Job | +✅ Passing | +❌ Failure Details | +
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| {% for i in range(5) %}{% if i+1 <= (5 * jobs[key]["successes"]|length // ${{ env.CI_RUNS }}) %}🟩{% else %}🟥{% endif %}{% endfor%} | +{{ key }} | +{{ 100 * jobs[key]["successes"]|length // ${{ env.CI_RUNS }} }}% | +{% if jobs[key]["failures"]|length > 0 %} {% for failure in jobs[key]["failures"] %}Log for run #{{ failure['run_number'] }} {% else %}{% endif %}{% endfor %} |
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|Video| |---|---|---|:---:|:---:|:---:|:---:|:---:|:---:|:---:| @@ -25,8 +25,7 @@ A supported vehicle is one that just works when you install a comma device. All |Chrysler|Pacifica 2017-18|Adaptive Cruise Control (ACC)|Stock|0 mph|9 mph|[](##)|[](##)|
Parts
- 1 FCA connector- 1 RJ45 cable (7 ft)
- 1 comma 3X
- 1 comma power v2
- 1 harness box
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
Buy Here
Parts
- 1 FCA connector- 1 RJ45 cable (7 ft)
- 1 comma 3X
- 1 comma power v2
- 1 harness box
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
Buy Here
Parts
- 1 FCA connector- 1 RJ45 cable (7 ft)
- 1 comma 3X
- 1 comma power v2
- 1 harness box
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
Buy Here
Parts
- 1 FCA connector- 1 RJ45 cable (7 ft)
- 1 comma 3X
- 1 comma power v2
- 1 harness box
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
Buy Here
Parts
- 1 FCA connector- 1 RJ45 cable (7 ft)
- 1 comma 3X
- 1 comma power v2
- 1 harness box
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
Buy Here
Parts
- 1 FCA connector- 1 RJ45 cable (7 ft)
- 1 comma 3X
- 1 comma power v2
- 1 harness box
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
Buy Here
Parts
- 1 FCA connector- 1 RJ45 cable (7 ft)
- 1 comma 3X
- 1 comma power v2
- 1 harness box
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
Buy Here
Parts
- 1 USB-C coupler- 1 VW J533 connector
- 1 comma 3X
- 1 harness box
- 1 long OBD-C cable
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
Buy Here
`ssh comma@192.168.43.1` For doing development work on device, it's recommended to use [SSH agent forwarding](https://docs.github.com/en/developers/overview/using-ssh-agent-forwarding). -## Notes +### Notes The public keys are only fetched from your GitHub account once. In order to update your device's authorized keys, you'll need to re-enter your GitHub username. The `id_rsa` key in this directory only works while your device is in the setup state with no software installed. After installation, that default key will be removed. -See the [community wiki](https://github.com/commaai/openpilot/wiki/SSH) for more detailed instructions and information. +#### ssh.comma.ai proxy -# Connecting to ssh.comma.ai -SSH into your comma device from anywhere with `ssh.comma.ai`. Requires a [comma prime subscription](https://comma.ai/connect). +With a [comma prime subscription](https://comma.ai/connect), you can SSH into your comma device from anywhere. -## Setup - -With software version 0.6.1 or newer, enter your GitHub username on your device under Developer Settings. Your GitHub authorized public keys will become your authorized SSH keys for `ssh.comma.ai`. You can add any additional keys in `/system/comma/home/.ssh/authorized_keys.persist`. - -## Recommended .ssh/config - -With the below SSH configuration, you can type `ssh comma-{dongleid}` to connect to your device through `ssh.comma.ai`.
-For example: `ssh comma-ffffffffffffffff` +With the below SSH configuration, you can type `ssh comma-{dongleid}` to connect to your device through `ssh.comma.ai`. ``` Host comma-* @@ -41,20 +44,21 @@ Host comma-* User comma IdentityFile ~/.ssh/my_github_key ProxyCommand ssh %h@ssh.comma.ai -W %h:%p + Host ssh.comma.ai Hostname ssh.comma.ai Port 22 IdentityFile ~/.ssh/my_github_key ``` -## One-off connection +### One-off connection ``` ssh -i ~/.ssh/my_github_key -o ProxyCommand="ssh -i ~/.ssh/my_github_key -W %h:%p -p %p %h@ssh.comma.ai" comma@ffffffffffffffff ``` (Replace `ffffffffffffffff` with your dongle_id) -## ssh.comma.ai host key fingerprint +### ssh.comma.ai host key fingerprint ``` Host key fingerprint is SHA256:X22GOmfjGb9J04IA2+egtdaJ7vW9Fbtmpz9/x8/W1X4 diff --git a/docs/how-to/replay-a-drive.md b/docs/how-to/replay-a-drive.md new file mode 100644 index 000000000..084b6bf82 --- /dev/null +++ b/docs/how-to/replay-a-drive.md @@ -0,0 +1,14 @@ +# Replay + +Replaying is a critical tool for openpilot development and debugging. + +## Replaying a route +*Hardware required: none* + +Just run `tools/replay/replay --demo`. + +## Replaying CAN data +*Hardware required: jungle and comma 3/3X* + +1. Connect your PC to a jungle. +2. diff --git a/docs/how-to/turn-the-speed-blue.md b/docs/how-to/turn-the-speed-blue.md new file mode 100644 index 000000000..643023fdf --- /dev/null +++ b/docs/how-to/turn-the-speed-blue.md @@ -0,0 +1,98 @@ +# Turn the speed blue +*A getting started guide for openpilot development* + +In 30 minutes, we'll get an openpilot development environment setup on your computer and make some changes to openpilot's UI. + +And if you have a comma 3/3X, we'll deploy the change to your device for testing. + +## 1. Setup your development environment + +Run this to clone openpilot and install all the dependencies: +```bash +curl -fsSL openpilot.comma.ai | bash +``` + +Navigate to openpilot folder & activate a Python virtual environment +```bash +cd openpilot +source .venv/bin/activate +``` + +Then, compile openpilot: +```bash +scons -j8 +``` + +## 2. Run replay + +We'll run the `replay` tool with the demo route to get data streaming for testing our UI changes. +```bash +# in terminal 1 +tools/replay/replay --demo + +# in terminal 2 +selfdrive/ui/ui +``` + +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"); +``` + +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. +```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) { +``` + + +## 4. Rebuild UI, and admire your work + +``` +scons -j8 && selfdrive/ui/ui +``` + + + +## 5. Push your fork to GitHub + +Click fork on GitHub. Then, push with: +```bash +git remote rm origin +git remote add origin git@github.com: