Merge remote-tracking branch 'upstream/master' into gm-inactive-rate

3 years ago · 1e59cad383
parent f6da8a2b16 c00afb51be
commit 1e59cad383
25 changed files with 631 additions and 1387 deletions
--- a/2
+++ b/2
@ -1 +1 @@
-Subproject commit 79e6e4c26dd12ba979a5fb872b4e68a707c32203
+Subproject commit 38133307b2e6036e76684b39878e79212e545e06
--- a/poetry.lock
+++ b/poetry.lock
@ -108,6 +108,7 @@ python-versions = "*"
 [package.source]
 type = "url"
 url = "https://github.com/commaai/apex/releases/download/pytorch1.10.0%2Bcu11.1/apex-0.1-cp38-cp38-linux_x86_64.whl"
+
 [[package]]
 name = "appdirs"
 version = "1.4.4"
@ -229,7 +230,7 @@ python-versions = ">=3.5"
 dev = ["cloudpickle", "coverage[toml] (>=5.0.2)", "furo", "hypothesis", "mypy (>=0.900,!=0.940)", "pre-commit", "pympler", "pytest (>=4.3.0)", "pytest-mypy-plugins", "sphinx", "sphinx-notfound-page", "zope.interface"]
 docs = ["furo", "sphinx", "sphinx-notfound-page", "zope.interface"]
 tests = ["cloudpickle", "coverage[toml] (>=5.0.2)", "hypothesis", "mypy (>=0.900,!=0.940)", "pympler", "pytest (>=4.3.0)", "pytest-mypy-plugins", "zope.interface"]
-tests-no-zope = ["cloudpickle", "coverage[toml] (>=5.0.2)", "hypothesis", "mypy (>=0.900,!=0.940)", "pympler", "pytest (>=4.3.0)", "pytest-mypy-plugins"]
+tests_no_zope = ["cloudpickle", "coverage[toml] (>=5.0.2)", "hypothesis", "mypy (>=0.900,!=0.940)", "pympler", "pytest (>=4.3.0)", "pytest-mypy-plugins"]

 [[package]]
 name = "av"
@ -530,7 +531,7 @@ optional = false
 python-versions = ">=3.6.0"

 [package.extras]
-unicode-backport = ["unicodedata2"]
+unicode_backport = ["unicodedata2"]

 [[package]]
 name = "cleo"
@ -837,6 +838,14 @@ python-versions = ">=3.5.0"
 [package.dependencies]
 torch = "*"

+[[package]]
+name = "einops"
+version = "0.5.0"
+description = "A new flavour of deep learning operations"
+category = "dev"
+optional = false
+python-versions = ">=3.7"
+
 [[package]]
 name = "elastic-transport"
 version = "8.4.0"
@ -1401,7 +1410,7 @@ notebook = ["ipywidgets", "notebook"]
 parallel = ["ipyparallel"]
 qtconsole = ["qtconsole"]
 test = ["pytest (<7.1)", "pytest-asyncio", "testpath"]
-test-extra = ["curio", "matplotlib (!=3.2.0)", "nbformat", "numpy (>=1.19)", "pandas", "pytest (<7.1)", "pytest-asyncio", "testpath", "trio"]
+test_extra = ["curio", "matplotlib (!=3.2.0)", "nbformat", "numpy (>=1.19)", "pandas", "pytest (<7.1)", "pytest-asyncio", "testpath", "trio"]

 [[package]]
 name = "ipython-genutils"
@ -1450,9 +1459,9 @@ python-versions = ">=3.6.1,<4.0"

 [package.extras]
 colors = ["colorama (>=0.4.3,<0.5.0)"]
-pipfile-deprecated-finder = ["pipreqs", "requirementslib"]
+pipfile_deprecated_finder = ["pipreqs", "requirementslib"]
 plugins = ["setuptools"]
-requirements-deprecated-finder = ["pip-api", "pipreqs"]
+requirements_deprecated_finder = ["pip-api", "pipreqs"]

 [[package]]
 name = "itsdangerous"
@ -1883,7 +1892,7 @@ mdurl = ">=0.1,<1.0"

 [package.extras]
 benchmarking = ["psutil", "pytest", "pytest-benchmark (>=3.2,<4.0)"]
-code-style = ["pre-commit (==2.6)"]
+code_style = ["pre-commit (==2.6)"]
 compare = ["commonmark (>=0.9.1,<0.10.0)", "markdown (>=3.3.6,<3.4.0)", "mistletoe (>=0.8.1,<0.9.0)", "mistune (>=2.0.2,<2.1.0)", "panflute (>=2.1.3,<2.2.0)"]
 linkify = ["linkify-it-py (>=1.0,<2.0)"]
 plugins = ["mdit-py-plugins"]
@ -1950,7 +1959,7 @@ python-versions = ">=3.7"
 markdown-it-py = ">=1.0.0,<3.0.0"

 [package.extras]
-code-style = ["pre-commit"]
+code_style = ["pre-commit"]
 rtd = ["attrs", "myst-parser (>=0.16.1,<0.17.0)", "sphinx-book-theme (>=0.1.0,<0.2.0)"]
 testing = ["coverage", "pytest", "pytest-cov", "pytest-regressions"]

@ -2160,7 +2169,7 @@ sphinx = ">=4,<6"
 typing-extensions = "*"

 [package.extras]
-code-style = ["pre-commit (>=2.12,<3.0)"]
+code_style = ["pre-commit (>=2.12,<3.0)"]
 linkify = ["linkify-it-py (>=1.0,<2.0)"]
 rtd = ["ipython", "sphinx-book-theme", "sphinx-design", "sphinxcontrib.mermaid (>=0.7.1,<0.8.0)", "sphinxext-opengraph (>=0.6.3,<0.7.0)", "sphinxext-rediraffe (>=0.2.7,<0.3.0)"]
 testing = ["beautifulsoup4", "coverage[toml]", "pytest (>=6,<7)", "pytest-cov", "pytest-param-files (>=0.3.4,<0.4.0)", "pytest-regressions", "sphinx (<5.2)", "sphinx-pytest"]
@ -2432,7 +2441,7 @@ lint = ["clang-format (==13.0.0)", "flake8", "mypy (==0.782)", "types-protobuf (

 [[package]]
 name = "onnxoptimizer"
-version = "0.2.7"
+version = "0.3.1"
 description = "Open Neural Network Exchange"
 category = "dev"
 optional = false
@ -2479,6 +2488,7 @@ numpy = [
 [package.source]
 type = "url"
 url = "https://github.com/commaai/opencv-python-builder/releases/download/4.5.5.64%2Bcu113/opencv_python_headless-4.5.5.64-cp38-cp38-manylinux_2_31_x86_64.whl"
+
 [[package]]
 name = "osmium"
 version = "3.4.1"
@ -3183,7 +3193,7 @@ optional = false
 python-versions = ">=3.6"

 [package.extras]
-asyncio-client = ["aiohttp (>=3.4)"]
+asyncio_client = ["aiohttp (>=3.4)"]
 client = ["requests (>=2.21.0)", "websocket-client (>=0.54.0)"]

 [[package]]
@ -3207,7 +3217,7 @@ bidict = ">=0.21.0"
 python-engineio = ">=4.3.0"

 [package.extras]
-asyncio-client = ["aiohttp (>=3.4)"]
+asyncio_client = ["aiohttp (>=3.4)"]
 client = ["requests (>=2.21.0)", "websocket-client (>=0.54.0)"]

 [[package]]
@ -3383,7 +3393,7 @@ urllib3 = ">=1.21.1,<1.27"

 [package.extras]
 socks = ["PySocks (>=1.5.6,!=1.5.7)"]
-use-chardet-on-py3 = ["chardet (>=3.0.2,<6)"]
+use_chardet_on_py3 = ["chardet (>=3.0.2,<6)"]

 [[package]]
 name = "requests-oauthlib"
@ -3574,7 +3584,7 @@ falcon = ["falcon (>=1.4)"]
 fastapi = ["fastapi (>=0.79.0)"]
 flask = ["blinker (>=1.1)", "flask (>=0.11)"]
 httpx = ["httpx (>=0.16.0)"]
-pure-eval = ["asttokens", "executing", "pure-eval"]
+pure_eval = ["asttokens", "executing", "pure-eval"]
 pyspark = ["pyspark (>=2.4.4)"]
 quart = ["blinker (>=1.1)", "quart (>=0.16.1)"]
 rq = ["rq (>=0.6)"]
@ -3840,19 +3850,19 @@ aiomysql = ["aiomysql", "greenlet (!=0.4.17)"]
 aiosqlite = ["aiosqlite", "greenlet (!=0.4.17)", "typing_extensions (!=3.10.0.1)"]
 asyncio = ["greenlet (!=0.4.17)"]
 asyncmy = ["asyncmy (>=0.2.3,!=0.2.4)", "greenlet (!=0.4.17)"]
-mariadb-connector = ["mariadb (>=1.0.1,!=1.1.2)"]
+mariadb_connector = ["mariadb (>=1.0.1,!=1.1.2)"]
 mssql = ["pyodbc"]
-mssql-pymssql = ["pymssql"]
-mssql-pyodbc = ["pyodbc"]
+mssql_pymssql = ["pymssql"]
+mssql_pyodbc = ["pyodbc"]
 mypy = ["mypy (>=0.910)", "sqlalchemy2-stubs"]
 mysql = ["mysqlclient (>=1.4.0)", "mysqlclient (>=1.4.0,<2)"]
-mysql-connector = ["mysql-connector-python"]
+mysql_connector = ["mysql-connector-python"]
 oracle = ["cx_oracle (>=7)", "cx_oracle (>=7,<8)"]
 postgresql = ["psycopg2 (>=2.7)"]
-postgresql-asyncpg = ["asyncpg", "greenlet (!=0.4.17)"]
-postgresql-pg8000 = ["pg8000 (>=1.16.6,!=1.29.0)"]
-postgresql-psycopg2binary = ["psycopg2-binary"]
-postgresql-psycopg2cffi = ["psycopg2cffi"]
+postgresql_asyncpg = ["asyncpg", "greenlet (!=0.4.17)"]
+postgresql_pg8000 = ["pg8000 (>=1.16.6,!=1.29.0)"]
+postgresql_psycopg2binary = ["psycopg2-binary"]
+postgresql_psycopg2cffi = ["psycopg2cffi"]
 pymysql = ["pymysql", "pymysql (<1)"]
 sqlcipher = ["sqlcipher3_binary"]

@ -4033,6 +4043,7 @@ typing-extensions = "*"
 [package.source]
 type = "url"
 url = "https://download.pytorch.org/whl/cu113/torch-1.11.0%2Bcu113-cp38-cp38-linux_x86_64.whl"
+
 [[package]]
 name = "torchsummary"
 version = "1.5.1"
@ -4062,6 +4073,7 @@ scipy = ["scipy"]
 [package.source]
 type = "url"
 url = "https://download.pytorch.org/whl/cu113/torchvision-0.12.0%2Bcu113-cp38-cp38-linux_x86_64.whl"
+
 [[package]]
 name = "tornado"
 version = "6.2"
@ -4316,7 +4328,7 @@ pyzmq = ">=13.1.0"

 [package.source]
 type = "git"
-url = "git@github.com:commaai/zerorpc-python.git"
+url = "https://github.com/commaai/zerorpc-python.git"
 reference = "master"
 resolved_reference = "0e27fd795bb9a7ec9cab81a771a2e35a91e397c9"

@ -4366,7 +4378,7 @@ testing = ["coverage (>=5.0.3)", "zope.event", "zope.testing"]
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 python-versions = "~3.8"
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+content-hash = "76f06d46b1c308e59968994e42193599d8ba3cab6d552460c9c48f282313b64d"

 [metadata.files]
 adal = [
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    {file = "pyproj-3.4.0-cp310-cp310-win_amd64.whl", hash = "sha256:4a23d84c5ffc383c7d9f0bde3a06fc1f6697b1b96725597f8f01e7b4bef0a2b5"},
    {file = "pyproj-3.4.0-cp311-cp311-macosx_10_9_x86_64.whl", hash = "sha256:1f9c100fd0fd80edbc7e4daa303600a8cbef6f0de43d005617acb38276b88dc0"},
-    {file = "pyproj-3.4.0-cp311-cp311-macosx_11_0_arm64.whl", hash = "sha256:aa5171f700f174777a9e9ed8f4655583243967c0f9cf2c90e3f54e54ff740134"},
    {file = "pyproj-3.4.0-cp311-cp311-manylinux_2_17_aarch64.manylinux2014_aarch64.whl", hash = "sha256:9a496d9057b2128db9d733e66b206f2d5954bbae6b800d412f562d780561478c"},
    {file = "pyproj-3.4.0-cp311-cp311-manylinux_2_17_i686.manylinux2014_i686.whl", hash = "sha256:52e54796e2d9554a5eb8f11df4748af1fbbc47f76aa234d6faf09216a84554c5"},
    {file = "pyproj-3.4.0-cp311-cp311-manylinux_2_17_x86_64.manylinux2014_x86_64.whl", hash = "sha256:a454a7c4423faa2a14e939d08ef293ee347fa529c9df79022b0585a6e1d8310c"},
@ -6951,7 +6957,6 @@ pyproj = [
    {file = "pyproj-3.4.0-cp38-cp38-manylinux_2_17_x86_64.manylinux2014_x86_64.whl", hash = "sha256:f80adda8c54b84271a93829477a01aa57bc178c834362e9f74e1de1b5033c74c"},
    {file = "pyproj-3.4.0-cp38-cp38-win_amd64.whl", hash = "sha256:221d8939685e0c43ee594c9f04b6a73a10e8e1cc0e85f28be0b4eb2f1bc8777d"},
    {file = "pyproj-3.4.0-cp39-cp39-macosx_10_9_x86_64.whl", hash = "sha256:d94afed99f31673d3d19fe750283621e193e2a53ca9e0443bf9d092c3905833b"},
-    {file = "pyproj-3.4.0-cp39-cp39-macosx_11_0_arm64.whl", hash = "sha256:0fff9c3a991508f16027be27d153f6c5583d03799443639d13c681e60f49e2d7"},
    {file = "pyproj-3.4.0-cp39-cp39-manylinux_2_17_aarch64.manylinux2014_aarch64.whl", hash = "sha256:3b85acf09e5a9e35cd9ee72989793adb7089b4e611be02a43d3d0bda50ad116b"},
    {file = "pyproj-3.4.0-cp39-cp39-manylinux_2_17_i686.manylinux2014_i686.whl", hash = "sha256:45554f47d1a12a84b0620e4abc08a2a1b5d9f273a4759eaef75e74788ec7162a"},
    {file = "pyproj-3.4.0-cp39-cp39-manylinux_2_17_x86_64.manylinux2014_x86_64.whl", hash = "sha256:12f62c20656ac9b6076ebb213e9a635d52f4f01fef95310121d337e62e910cb6"},
--- a/pyproject.toml
+++ b/pyproject.toml
@ -126,6 +126,7 @@ configargparse = "^1.5.3"
 cupy-cuda113 = "^10.6.0"
 datadog = "^0.44.0"
 dotmap = "^1.3.30"
+einops = "^0.5.0"
 elasticsearch = "^8.3.1"
 Flask-Cors = "^3.0.10"
 Flask-SocketIO = "^5.2.0"
@ -144,7 +145,7 @@ mpld3 = "^0.5.8"
 msgpack-python = "^0.5.6"
 networkx = "~2.3"
 nvidia-ml-py3 = "^7.352.0"
-onnxoptimizer = "^0.2.6"
+onnxoptimizer = "^0.3.1"
 opencv-python-headless = { url = "https://github.com/commaai/opencv-python-builder/releases/download/4.5.5.64%2Bcu113/opencv_python_headless-4.5.5.64-cp38-cp38-manylinux_2_31_x86_64.whl" }
 osmium = "^3.3.0"
 pandas = "^1.4.3"
@ -168,7 +169,7 @@ torchsummary = "^1.5.1"
 torchvision = { url = "https://download.pytorch.org/whl/cu113/torchvision-0.12.0%2Bcu113-cp38-cp38-linux_x86_64.whl" }
 triton = "^1.1.1"
 Werkzeug = "^2.1.2"
-zerorpc = { git = "git@github.com:commaai/zerorpc-python.git", branch = "master" }
+zerorpc = { git = "https://github.com/commaai/zerorpc-python.git", branch = "master" }


 [build-system]
--- a/selfdrive/car/gm/carcontroller.py
+++ b/selfdrive/car/gm/carcontroller.py
@ -129,6 +129,7 @@ class CarController:
          self.last_button_frame = self.frame
          can_sends.append(gmcan.create_buttons(self.packer_pt, CanBus.CAMERA, CS.buttons_counter, CruiseButtons.CANCEL))

+    if self.CP.networkLocation == NetworkLocation.fwdCamera:
      # Silence "Take Steering" alert sent by camera, forward PSCMStatus with HandsOffSWlDetectionStatus=1
      if self.frame % 10 == 0:
        can_sends.append(gmcan.create_pscm_status(self.packer_pt, CanBus.CAMERA, CS.pscm_status))
--- a/selfdrive/car/gm/gmcan.py
+++ b/selfdrive/car/gm/gmcan.py
@ -1,5 +1,6 @@
 from selfdrive.car import make_can_msg

+
 def create_buttons(packer, bus, idx, button):
  values = {
    "ACCButtons": button,
@ -7,14 +8,15 @@ def create_buttons(packer, bus, idx, button):
  }
  return packer.make_can_msg("ASCMSteeringButton", bus, values)

+
 def create_pscm_status(packer, bus, pscm_status):
  checksum_mod = int(1 - pscm_status["HandsOffSWlDetectionStatus"]) << 5
  pscm_status["HandsOffSWlDetectionStatus"] = 1
  pscm_status["PSCMStatusChecksum"] += checksum_mod
  return packer.make_can_msg("PSCMStatus", bus, pscm_status)

-def create_steering_control(packer, bus, apply_steer, idx, lkas_active):

+def create_steering_control(packer, bus, apply_steer, idx, lkas_active):
  values = {
    "LKASteeringCmdActive": lkas_active,
    "LKASteeringCmd": apply_steer,
@ -24,15 +26,17 @@ def create_steering_control(packer, bus, apply_steer, idx, lkas_active):

  return packer.make_can_msg("ASCMLKASteeringCmd", bus, values)

+
 def create_adas_keepalive(bus):
  dat = b"\x00\x00\x00\x00\x00\x00\x00"
  return [make_can_msg(0x409, dat, bus), make_can_msg(0x40a, dat, bus)]

-def create_gas_regen_command(packer, bus, throttle, idx, acc_engaged, at_full_stop):
+
+def create_gas_regen_command(packer, bus, throttle, idx, enabled, at_full_stop):
  values = {
-    "GasRegenCmdActive": acc_engaged,
+    "GasRegenCmdActive": enabled,
    "RollingCounter": idx,
-    "GasRegenCmdActiveInv": 1 - acc_engaged,
+    "GasRegenCmdActiveInv": 1 - enabled,
    "GasRegenCmd": throttle,
    "GasRegenFullStopActive": at_full_stop,
    "GasRegenAlwaysOne": 1,
@ -47,6 +51,7 @@ def create_gas_regen_command(packer, bus, throttle, idx, acc_engaged, at_full_st

  return packer.make_can_msg("ASCMGasRegenCmd", bus, values)

+
 def create_friction_brake_command(packer, bus, apply_brake, idx, near_stop, at_full_stop):
  mode = 0x1
  if apply_brake > 0:
@ -63,44 +68,48 @@ def create_friction_brake_command(packer, bus, apply_brake, idx, near_stop, at_f
  checksum = (0x10000 - (mode << 12) - brake - idx) & 0xffff

  values = {
-    "RollingCounter" : idx,
-    "FrictionBrakeMode" : mode,
+    "RollingCounter": idx,
+    "FrictionBrakeMode": mode,
    "FrictionBrakeChecksum": checksum,
-    "FrictionBrakeCmd" : -apply_brake
+    "FrictionBrakeCmd": -apply_brake
  }

  return packer.make_can_msg("EBCMFrictionBrakeCmd", bus, values)

-def create_acc_dashboard_command(packer, bus, acc_engaged, target_speed_kph, lead_car_in_sight, fcw):
+
+def create_acc_dashboard_command(packer, bus, enabled, target_speed_kph, lead_car_in_sight, fcw):
  target_speed = min(target_speed_kph, 255)

  values = {
-    "ACCAlwaysOne" : 1,
-    "ACCResumeButton" : 0,
-    "ACCSpeedSetpoint" : target_speed,
-    "ACCGapLevel" : 3 * acc_engaged,  # 3 "far", 0 "inactive"
-    "ACCCmdActive" : acc_engaged,
-    "ACCAlwaysOne2" : 1,
-    "ACCLeadCar" : lead_car_in_sight,
+    "ACCAlwaysOne": 1,
+    "ACCResumeButton": 0,
+    "ACCSpeedSetpoint": target_speed,
+    "ACCGapLevel": 3 * enabled,  # 3 "far", 0 "inactive"
+    "ACCCmdActive": enabled,
+    "ACCAlwaysOne2": 1,
+    "ACCLeadCar": lead_car_in_sight,
    "FCWAlert": 0x3 if fcw else 0
  }

  return packer.make_can_msg("ASCMActiveCruiseControlStatus", bus, values)

+
 def create_adas_time_status(bus, tt, idx):
  dat = [(tt >> 20) & 0xff, (tt >> 12) & 0xff, (tt >> 4) & 0xff,
-    ((tt & 0xf) << 4) + (idx << 2)]
+         ((tt & 0xf) << 4) + (idx << 2)]
  chksum = 0x1000 - dat[0] - dat[1] - dat[2] - dat[3]
  chksum = chksum & 0xfff
  dat += [0x40 + (chksum >> 8), chksum & 0xff, 0x12]
  return make_can_msg(0xa1, bytes(dat), bus)

+
 def create_adas_steering_status(bus, idx):
  dat = [idx << 6, 0xf0, 0x20, 0, 0, 0]
  chksum = 0x60 + sum(dat)
  dat += [chksum >> 8, chksum & 0xff]
  return make_can_msg(0x306, bytes(dat), bus)

+
 def create_adas_accelerometer_speed_status(bus, speed_ms, idx):
  spd = int(speed_ms * 16) & 0xfff
  accel = 0 & 0xfff
@ -114,6 +123,7 @@ def create_adas_accelerometer_speed_status(bus, speed_ms, idx):
  dat += [(idx << 5) + (far_range_mode << 4) + (near_range_mode << 3) + (chksum >> 8), chksum & 0xff]
  return make_can_msg(0x308, bytes(dat), bus)

+
 def create_adas_headlights_status(packer, bus):
  values = {
    "Always42": 0x42,
@ -121,6 +131,7 @@ def create_adas_headlights_status(packer, bus):
  }
  return packer.make_can_msg("ASCMHeadlight", bus, values)

+
 def create_lka_icon_command(bus, active, critical, steer):
  if active and steer == 1:
    if critical:
--- a/selfdrive/car/volkswagen/values.py
+++ b/selfdrive/car/volkswagen/values.py
@ -555,6 +555,7 @@ FW_VERSIONS = {
      b'\xf1\x8703N906026E \xf1\x892114',
      b'\xf1\x8704E906023AH\xf1\x893379',
      b'\xf1\x8704L906026ET\xf1\x891990',
+      b'\xf1\x8704L906026FP\xf1\x892012',
      b'\xf1\x8704L906026GA\xf1\x892013',
      b'\xf1\x8704L906026KD\xf1\x894798',
      b'\xf1\x873G0906264  \xf1\x890004',
@ -562,6 +563,7 @@ FW_VERSIONS = {
    (Ecu.transmission, 0x7e1, None): [
      b'\xf1\x870CW300043H \xf1\x891601',
      b'\xf1\x870CW300048R \xf1\x890610',
+      b'\xf1\x870D9300013A \xf1\x894905',
      b'\xf1\x870D9300014L \xf1\x895002',
      b'\xf1\x870D9300041A \xf1\x894801',
      b'\xf1\x870DD300045T \xf1\x891601',
@ -579,6 +581,7 @@ FW_VERSIONS = {
    ],
    (Ecu.eps, 0x712, None): [
      b'\xf1\x873Q0909144J \xf1\x895063\xf1\x82\x0566B00611A1',
+      b'\xf1\x873Q0909144J \xf1\x895063\xf1\x82\x0566B00711A1',
      b'\xf1\x875Q0909143M \xf1\x892041\xf1\x820522B0060803',
      b'\xf1\x875Q0909143M \xf1\x892041\xf1\x820522B0080803',
      b'\xf1\x875Q0909144AB\xf1\x891082\xf1\x82\00521B00606A1',
--- a/selfdrive/locationd/calibrationd.py
+++ b/selfdrive/locationd/calibrationd.py
@ -31,7 +31,6 @@ INPUTS_NEEDED = 5   # Minimum blocks needed for valid calibration
 INPUTS_WANTED = 50   # We want a little bit more than we need for stability
 MAX_ALLOWED_SPREAD = np.radians(2)
 RPY_INIT = np.array([0.0,0.0,0.0])
-WIDE_FROM_DEVICE_EULER_INIT = np.array([0.0, 0.0, 0.0])

 # These values are needed to accommodate biggest modelframe
 PITCH_LIMITS = np.array([-0.09074112085129739, 0.14907572052989657])
@ -68,7 +67,6 @@ class Calibrator:
    calibration_params = params.get("CalibrationParams")
    self.wide_camera = params.get_bool('WideCameraOnly')
    rpy_init = RPY_INIT
-    wide_from_device_euler = WIDE_FROM_DEVICE_EULER_INIT
    valid_blocks = 0

    if param_put and calibration_params:
@ -76,34 +74,24 @@ class Calibrator:
        msg = log.Event.from_bytes(calibration_params)
        rpy_init = np.array(msg.liveCalibration.rpyCalib)
        valid_blocks = msg.liveCalibration.validBlocks
-        wide_from_device_euler = np.array(msg.liveCalibration.wideFromDeviceEuler)
      except Exception:
        cloudlog.exception("Error reading cached CalibrationParams")

-    self.reset(rpy_init, valid_blocks, wide_from_device_euler)
+    self.reset(rpy_init, valid_blocks)
    self.update_status()

-  def reset(self, rpy_init: np.ndarray = RPY_INIT,
-                  valid_blocks: int = 0,
-                  wide_from_device_euler: np.ndarray = WIDE_FROM_DEVICE_EULER_INIT,
-                  smooth_from: Optional[np.ndarray] = None) -> None:
+  def reset(self, rpy_init: np.ndarray = RPY_INIT, valid_blocks: int = 0, smooth_from: Optional[np.ndarray] = None) -> None:
    if not np.isfinite(rpy_init).all():
      self.rpy = RPY_INIT.copy()
    else:
      self.rpy = rpy_init.copy()

-    if not np.isfinite(wide_from_device_euler).all():
-      self.wide_from_device_euler = WIDE_FROM_DEVICE_EULER_INIT.copy()
-    else:
-      self.wide_from_device_euler = wide_from_device_euler.copy()
-
    if not np.isfinite(valid_blocks) or valid_blocks < 0:
      self.valid_blocks = 0
    else:
      self.valid_blocks = valid_blocks

    self.rpys = np.tile(self.rpy, (INPUTS_WANTED, 1))
-    self.wide_from_device_eulers = np.tile(wide_from_device_euler, (INPUTS_WANTED, 1))

    self.idx = 0
    self.block_idx = 0
@ -127,8 +115,6 @@ class Calibrator:
    if valid_idxs:
      rpys = self.rpys[valid_idxs]
      self.rpy = np.mean(rpys, axis=0)
-      wide_from_device_eulers = self.wide_from_device_eulers[valid_idxs]
-      self.wide_from_device_euler = np.mean(wide_from_device_eulers, axis=0)
      max_rpy_calib = np.array(np.max(rpys, axis=0))
      min_rpy_calib = np.array(np.min(rpys, axis=0))
      self.calib_spread = np.abs(max_rpy_calib - min_rpy_calib)
@ -160,10 +146,7 @@ class Calibrator:
    else:
      return self.rpy

-  def handle_cam_odom(self, trans: List[float],
-                            rot: List[float],
-                            wide_from_device_euler: List[float],
-                            trans_std: List[float]) -> Optional[np.ndarray]:
+  def handle_cam_odom(self, trans: List[float], rot: List[float], trans_std: List[float]) -> Optional[np.ndarray]:
    self.old_rpy_weight = min(0.0, self.old_rpy_weight - 1/SMOOTH_CYCLES)

    straight_and_fast = ((self.v_ego > MIN_SPEED_FILTER) and (trans[0] > MIN_SPEED_FILTER) and (abs(rot[2]) < MAX_YAW_RATE_FILTER))
@ -182,15 +165,7 @@ class Calibrator:
    new_rpy = euler_from_rot(rot_from_euler(self.get_smooth_rpy()).dot(rot_from_euler(observed_rpy)))
    new_rpy = sanity_clip(new_rpy)

-    if len(wide_from_device_euler):
-      new_wide_from_device_euler = np.array(wide_from_device_euler)
-    else:
-      new_wide_from_device_euler = WIDE_FROM_DEVICE_EULER_INIT
-
-    self.rpys[self.block_idx] = (self.idx*self.rpys[self.block_idx] +
-                                 (BLOCK_SIZE - self.idx) * new_rpy) / float(BLOCK_SIZE)
-    self.wide_from_device_eulers[self.block_idx] = (self.idx*self.wide_from_device_eulers[self.block_idx] +
-                                                    (BLOCK_SIZE - self.idx) * new_wide_from_device_euler) / float(BLOCK_SIZE)
+    self.rpys[self.block_idx] = (self.idx*self.rpys[self.block_idx] + (BLOCK_SIZE - self.idx) * new_rpy) / float(BLOCK_SIZE)
    self.idx = (self.idx + 1) % BLOCK_SIZE
    if self.idx == 0:
      self.block_idx += 1
@ -212,7 +187,6 @@ class Calibrator:
    liveCalibration.calPerc = min(100 * (self.valid_blocks * BLOCK_SIZE + self.idx) // (INPUTS_NEEDED * BLOCK_SIZE), 100)
    liveCalibration.rpyCalib = smooth_rpy.tolist()
    liveCalibration.rpyCalibSpread = self.calib_spread.tolist()
-    liveCalibration.wideFromDeviceEuler = self.wide_from_device_euler.tolist()

    if self.not_car:
      liveCalibration.validBlocks = INPUTS_NEEDED
@ -249,7 +223,6 @@ def calibrationd_thread(sm: Optional[messaging.SubMaster] = None, pm: Optional[m
      calibrator.handle_v_ego(sm['carState'].vEgo)
      new_rpy = calibrator.handle_cam_odom(sm['cameraOdometry'].trans,
                                           sm['cameraOdometry'].rot,
-                                           sm['cameraOdometry'].wideFromDeviceEuler,
                                           sm['cameraOdometry'].transStd)

      if DEBUG and new_rpy is not None:
--- a/selfdrive/test/process_replay/ref_commit
+++ b/selfdrive/test/process_replay/ref_commit
@ -1 +1 @@
-a5c77655fba5563e8128fb655f69b1bbd02198aa
+f5a352666728344ca5065bb44c47c1f5650b4243
--- a/selfdrive/ui/translations/main_ar.ts
+++ b/selfdrive/ui/translations/main_ar.ts
--- a/selfdrive/ui/translations/main_nl.ts
+++ b/selfdrive/ui/translations/main_nl.ts
--- a/selfdrive/ui/translations/main_pl.ts
+++ b/selfdrive/ui/translations/main_pl.ts
--- a/selfdrive/ui/translations/main_th.ts
+++ b/selfdrive/ui/translations/main_th.ts
--- a/tools/cabana/binaryview.cc
+++ b/tools/cabana/binaryview.cc
@ -13,12 +13,6 @@

 const int CELL_HEIGHT = 30;

-static std::pair<int, int> getSignalRange(const Signal *s) {
-  int from = s->is_little_endian ? s->start_bit : bigEndianBitIndex(s->start_bit);
-  int to = from + s->size - 1;
-  return {from, to};
-}
-
 BinaryView::BinaryView(QWidget *parent) : QTableView(parent) {
  model = new BinaryViewModel(this);
  setModel(model);
@ -76,9 +70,10 @@ void BinaryView::mousePressEvent(QMouseEvent *event) {
 void BinaryView::mouseMoveEvent(QMouseEvent *event) {
  if (auto index = indexAt(event->pos()); index.isValid()) {
    auto item = (BinaryViewModel::Item *)index.internalPointer();
-    highlight(item->sig);
-    item->sig ? QToolTip::showText(event->globalPos(), item->sig->name.c_str(), this, rect())
-              : QToolTip::hideText();
+    const Signal *sig = item->sigs.isEmpty() ? nullptr : item->sigs.back();
+    highlight(sig);
+    sig ? QToolTip::showText(event->globalPos(), sig->name.c_str(), this, rect())
+        : QToolTip::hideText();
  }
  QTableView::mouseMoveEvent(event);
 }
@ -92,7 +87,8 @@ void BinaryView::mouseReleaseEvent(QMouseEvent *event) {
    if (auto sig = getResizingSignal()) {
      auto [sig_from, sig_to] = getSignalRange(sig);
      if (from >= sig_from && to <= sig_to) {  // reduce size
-        emit(from == sig_from ? resizeSignal(sig, to, sig_to) : resizeSignal(sig, sig_from, from));
+        emit(from == sig_from ? resizeSignal(sig, std::min(to + 1, sig_to), sig_to)
+                              : resizeSignal(sig, sig_from, std::max(from - 1, sig_from)));
      } else {  // increase size
        emit resizeSignal(sig, std::min(from, sig_from), std::max(to, sig_to));
      }
@ -124,11 +120,13 @@ void BinaryView::updateState() {
 const Signal *BinaryView::getResizingSignal() const {
  if (anchor_index.isValid()) {
    auto item = (const BinaryViewModel::Item *)anchor_index.internalPointer();
-    if (item && item->sig) {
+    if (item && item->sigs.size() > 0) {
      int archor_pos = anchor_index.row() * 8 + anchor_index.column();
-      auto [sig_from, sig_to] = getSignalRange(item->sig);
-      if (archor_pos == sig_from || archor_pos == sig_to)
-        return item->sig;
+      for (auto s : item->sigs) {
+        auto [sig_from, sig_to] = getSignalRange(s);
+        if (archor_pos == sig_from || archor_pos == sig_to)
+          return s;
+      }
    }
  }
  return nullptr;
@ -162,7 +160,7 @@ void BinaryViewModel::setMessage(const QString &message_id) {
          sig.is_little_endian ? items[idx].is_msb = true : items[idx].is_lsb = true;
        }
        items[idx].bg_color = getColor(i);
-        items[idx].sig = &dbc_msg->sigs[i];
+        items[idx].sigs.push_back(&dbc_msg->sigs[i]);
      }
    }
  }
@ -212,7 +210,7 @@ void BinaryViewModel::updateState() {
 QVariant BinaryViewModel::headerData(int section, Qt::Orientation orientation, int role) const {
  if (orientation == Qt::Vertical) {
    switch (role) {
-      case Qt::DisplayRole: return section + 1;
+      case Qt::DisplayRole: return section;
      case Qt::SizeHintRole: return QSize(30, CELL_HEIGHT);
      case Qt::TextAlignmentRole: return Qt::AlignCenter;
    }
@ -240,7 +238,8 @@ void BinaryItemDelegate::paint(QPainter *painter, const QStyleOptionViewItem &op
  BinaryView *bin_view = (BinaryView *)parent();
  painter->save();

-  bool hover = item->sig && bin_view->hoveredSignal() == item->sig;
+  bool hover = std::find_if(item->sigs.begin(), item->sigs.end(), [=](auto s) { return s == bin_view->hoveredSignal(); }) !=
+               item->sigs.end();
  // background
  QColor bg_color = hover ? hoverColor(item->bg_color) : item->bg_color;
  if (option.state & QStyle::State_Selected) {
--- a/tools/cabana/binaryview.h
+++ b/tools/cabana/binaryview.h
@ -1,5 +1,6 @@
 #pragma once

+#include <QList>
 #include <QStyledItemDelegate>
 #include <QTableView>

@ -38,7 +39,7 @@ public:
    bool is_msb = false;
    bool is_lsb = false;
    QString val = "0";
-    const Signal *sig = nullptr;
+    QList<const Signal *> sigs;
  };

 private:
--- a/tools/cabana/canmessages.cc
+++ b/tools/cabana/canmessages.cc
@ -54,9 +54,9 @@ QList<QPointF> CANMessages::findSignalValues(const QString &id, const Signal *si
        double val = get_raw_value((uint8_t *)c.getDat().begin(), c.getDat().size(), *signal);
        if ((flag == EQ && val == value) || (flag == LT && val < value) || (flag == GT && val > value)) {
          ret.push_back({(evt->mono_time / (double)1e9) - can->routeStartTime(), val});
+          if (ret.size() >= max_count)
+            return ret;
        }
-        if (ret.size() >= max_count)
-          return ret;
      }
    }
  }
@ -65,15 +65,14 @@ QList<QPointF> CANMessages::findSignalValues(const QString &id, const Signal *si

 void CANMessages::process(QHash<QString, std::deque<CanData>> *messages) {
  for (auto it = messages->begin(); it != messages->end(); ++it) {
-    ++counters[it.key()];
    auto &msgs = can_msgs[it.key()];
    const auto &new_msgs = it.value();
    if (new_msgs.size() == settings.can_msg_log_size || msgs.empty()) {
      msgs = std::move(new_msgs);
    } else {
      msgs.insert(msgs.begin(), std::make_move_iterator(new_msgs.begin()), std::make_move_iterator(new_msgs.end()));
-      while (msgs.size() >= settings.can_msg_log_size) {
-        msgs.pop_back();
+      if (msgs.size() > settings.can_msg_log_size) {
+        msgs.resize(settings.can_msg_log_size);
      }
    }
  }
--- a/tools/cabana/dbcmanager.cc
+++ b/tools/cabana/dbcmanager.cc
@ -121,3 +121,21 @@ double get_raw_value(uint8_t *data, size_t data_size, const Signal &sig) {
  double value = val * sig.factor + sig.offset;
  return value;
 }
+
+void updateSigSizeParamsFromRange(Signal &s, int from, int to) {
+  s.start_bit = s.is_little_endian ? from : bigEndianBitIndex(from);
+  s.size = to - from + 1;
+  if (s.is_little_endian) {
+    s.lsb = s.start_bit;
+    s.msb = s.start_bit + s.size - 1;
+  } else {
+    s.lsb = bigEndianStartBitsIndex(bigEndianBitIndex(s.start_bit) + s.size - 1);
+    s.msb = s.start_bit;
+  }
+}
+
+std::pair<int, int> getSignalRange(const Signal *s) {
+  int from = s->is_little_endian ? s->start_bit : bigEndianBitIndex(s->start_bit);
+  int to = from + s->size - 1;
+  return {from, to};
+}
--- a/tools/cabana/dbcmanager.h
+++ b/tools/cabana/dbcmanager.h
@ -47,5 +47,7 @@ private:
 double get_raw_value(uint8_t *data, size_t data_size, const Signal &sig);
 int bigEndianStartBitsIndex(int start_bit);
 int bigEndianBitIndex(int index);
+void updateSigSizeParamsFromRange(Signal &s, int from, int to);
+std::pair<int, int> getSignalRange(const Signal *s);

 DBCManager *dbc();
--- a/tools/cabana/detailwidget.cc
+++ b/tools/cabana/detailwidget.cc
@ -48,7 +48,7 @@ DetailWidget::DetailWidget(QWidget *parent) : QWidget(parent) {
  warning_widget = new QWidget(this);
  QHBoxLayout *warning_hlayout = new QHBoxLayout(warning_widget);
  QLabel *warning_icon = new QLabel(this);
-  warning_icon->setPixmap(style()->standardIcon(QStyle::SP_MessageBoxWarning).pixmap({16, 16}));
+  warning_icon->setPixmap(style()->standardPixmap(QStyle::SP_MessageBoxWarning));
  warning_hlayout->addWidget(warning_icon);
  warning_label = new QLabel(this);
  warning_hlayout->addWidget(warning_label, 1, Qt::AlignLeft);
@ -78,7 +78,7 @@ DetailWidget::DetailWidget(QWidget *parent) : QWidget(parent) {
  QObject::connect(binary_view, &BinaryView::resizeSignal, this, &DetailWidget::resizeSignal);
  QObject::connect(binary_view, &BinaryView::addSignal, this, &DetailWidget::addSignal);
  QObject::connect(can, &CANMessages::updated, this, &DetailWidget::updateState);
-  QObject::connect(dbc(), &DBCManager::DBCFileChanged, this, &DetailWidget::dbcMsgChanged);
+  QObject::connect(dbc(), &DBCManager::DBCFileChanged, [this]() { dbcMsgChanged(); });
  QObject::connect(tabbar, &QTabBar::currentChanged, [this](int index) { setMessage(messages[index]); });
  QObject::connect(tabbar, &QTabBar::tabCloseRequested, [=](int index) {
    messages.removeAt(index);
@ -103,7 +103,7 @@ void DetailWidget::setMessage(const QString &message_id) {
  dbcMsgChanged();
 }

-void DetailWidget::dbcMsgChanged() {
+void DetailWidget::dbcMsgChanged(int show_form_idx) {
  if (msg_id.isEmpty()) return;

  warning_widget->hide();
@ -111,7 +111,7 @@ void DetailWidget::dbcMsgChanged() {
  QString msg_name = tr("untitled");
  if (auto msg = dbc()->msg(msg_id)) {
    for (int i = 0; i < msg->sigs.size(); ++i) {
-      auto form = new SignalEdit(i, msg_id, msg->sigs[i]);
+      auto form = new SignalEdit(i, msg_id, &(msg->sigs[i]));
      signals_container->layout()->addWidget(form);
      QObject::connect(form, &SignalEdit::showChart, [this, sig = &msg->sigs[i]]() { emit showChart(msg_id, sig); });
      QObject::connect(form, &SignalEdit::showFormClicked, this, &DetailWidget::showForm);
@ -119,6 +119,9 @@ void DetailWidget::dbcMsgChanged() {
      QObject::connect(form, &SignalEdit::save, this, &DetailWidget::saveSignal);
      QObject::connect(form, &SignalEdit::highlight, binary_view, &BinaryView::highlight);
      QObject::connect(binary_view, &BinaryView::signalHovered, form, &SignalEdit::signalHovered);
+      if (i == show_form_idx) {
+        QTimer::singleShot(0, [=]() { emit form->showFormClicked(); });
+      }
    }
    msg_name = msg->name.c_str();
    if (msg->size != can->lastMessage(msg_id).dat.size()) {
@ -162,46 +165,54 @@ void DetailWidget::editMsg() {
  }
 }

-void DetailWidget::addSignal(int start_bit, int to) {
-  if (dbc()->msg(msg_id)) {
-    AddSignalDialog dlg(msg_id, start_bit, to - start_bit + 1, this);
-    if (dlg.exec()) {
-      dbc()->addSignal(msg_id, dlg.form->getSignal());
-      dbcMsgChanged();
+void DetailWidget::addSignal(int from, int to) {
+  if (auto msg = dbc()->msg(msg_id)) {
+    Signal sig = {};
+    for (int i = 1; /**/; ++i) {
+      sig.name = "NEW_SIGNAL_" + std::to_string(i);
+      auto it = std::find_if(msg->sigs.begin(), msg->sigs.end(), [&](auto &s) { return sig.name == s.name; });
+      if (it == msg->sigs.end()) break;
    }
+    sig.is_little_endian = false,
+    updateSigSizeParamsFromRange(sig, from, to);
+    dbc()->addSignal(msg_id, sig);
+    dbcMsgChanged(msg->sigs.size() - 1);
  }
 }

 void DetailWidget::resizeSignal(const Signal *sig, int from, int to) {
-  assert(sig != nullptr);
  Signal s = *sig;
-  s.start_bit = s.is_little_endian ? from : bigEndianBitIndex(from);;
-  s.size = to - from + 1;
-  if (s.is_little_endian) {
-    s.lsb = s.start_bit;
-    s.msb = s.start_bit + s.size - 1;
-  } else {
-    s.lsb = bigEndianStartBitsIndex(bigEndianBitIndex(s.start_bit) + s.size - 1);
-    s.msb = s.start_bit;
-  }
-  dbc()->updateSignal(msg_id, s.name.c_str(), s);
-  dbcMsgChanged();
+  updateSigSizeParamsFromRange(s, from, to);
+  saveSignal(sig, s);
 }

-void DetailWidget::saveSignal() {
-  SignalEdit *sig_form = qobject_cast<SignalEdit *>(QObject::sender());
-  auto s = sig_form->form->getSignal();
-  dbc()->updateSignal(msg_id, sig_form->sig_name, s);
+void DetailWidget::saveSignal(const Signal *sig, const Signal &new_sig) {
+  auto msg = dbc()->msg(msg_id);
+  if (new_sig.name != sig->name) {
+    auto it = std::find_if(msg->sigs.begin(), msg->sigs.end(), [&](auto &s) { return s.name == new_sig.name; });
+    if (it != msg->sigs.end()) {
+      QString warning_str = tr("There is already a signal with the same name '%1'").arg(new_sig.name.c_str());
+      QMessageBox::warning(this, tr("Failed to save signal"), warning_str);
+      return;
+    }
+  }
+
+  auto [start, end] = getSignalRange(&new_sig);
+  if (start < 0 || end >= msg->size * 8) {
+    QString warning_str = tr("Signal size [%1] exceed limit").arg(new_sig.size);
+    QMessageBox::warning(this, tr("Failed to save signal"), warning_str);
+    return;
+  }
+
+  dbc()->updateSignal(msg_id, sig->name.c_str(), new_sig);
  // update binary view and history log
-  binary_view->setMessage(msg_id);
-  history_log->setMessage(msg_id);
+  dbcMsgChanged();
 }

-void DetailWidget::removeSignal() {
-  SignalEdit *sig_form = qobject_cast<SignalEdit *>(QObject::sender());
-  QString text = tr("Are you sure you want to remove signal '%1'").arg(sig_form->sig_name);
+void DetailWidget::removeSignal(const Signal *sig) {
+  QString text = tr("Are you sure you want to remove signal '%1'").arg(sig->name.c_str());
  if (QMessageBox::Yes == QMessageBox::question(this, tr("Remove signal"), text)) {
-    dbc()->removeSignal(msg_id, sig_form->sig_name);
+    dbc()->removeSignal(msg_id, sig->name.c_str());
    dbcMsgChanged();
  }
 }
--- a/tools/cabana/detailwidget.h
+++ b/tools/cabana/detailwidget.h
@ -32,7 +32,7 @@ class DetailWidget : public QWidget {
 public:
  DetailWidget(QWidget *parent);
  void setMessage(const QString &message_id);
-  void dbcMsgChanged();
+  void dbcMsgChanged(int show_form_idx = -1);

 signals:
  void showChart(const QString &msg_id, const Signal *sig);
@ -41,8 +41,8 @@ signals:
 private:
  void addSignal(int start_bit, int to);
  void resizeSignal(const Signal *sig, int from, int to);
-  void saveSignal();
-  void removeSignal();
+  void saveSignal(const Signal *sig, const Signal &new_sig);
+  void removeSignal(const Signal *sig);
  void editMsg();
  void showForm();
  void updateState();
--- a/tools/cabana/mainwin.cc
+++ b/tools/cabana/mainwin.cc
@ -14,9 +14,6 @@ void qLogMessageHandler(QtMsgType type, const QMessageLogContext &context, const
 }

 MainWindow::MainWindow() : QWidget() {
-  main_win = this;
-  qInstallMessageHandler(qLogMessageHandler);
-
  QVBoxLayout *main_layout = new QVBoxLayout(this);
  main_layout->setContentsMargins(11, 11, 11, 5);
  main_layout->setSpacing(0);
@ -88,6 +85,9 @@ MainWindow::MainWindow() : QWidget() {
  QObject::connect(charts_widget, &ChartsWidget::dock, this, &MainWindow::dockCharts);
  QObject::connect(settings_btn, &QPushButton::clicked, this, &MainWindow::setOption);
  QObject::connect(can, &CANMessages::eventsMerged, [=]() { fingerprint_label->setText(can->carFingerprint() ); });
+
+  main_win = this;
+  qInstallMessageHandler(qLogMessageHandler);
 }

 void MainWindow::updateDownloadProgress(uint64_t cur, uint64_t total, bool success) {
--- a/tools/cabana/messageswidget.cc
+++ b/tools/cabana/messageswidget.cc
@ -2,6 +2,7 @@

 #include <QCompleter>
 #include <QDialogButtonBox>
+#include <QFile>
 #include <QFontDatabase>
 #include <QHeaderView>
 #include <QLineEdit>
--- a/tools/cabana/signaledit.cc
+++ b/tools/cabana/signaledit.cc
@ -3,6 +3,7 @@
 #include <QDialogButtonBox>
 #include <QFormLayout>
 #include <QHBoxLayout>
+#include <QMessageBox>
 #include <QRadioButton>
 #include <QScrollArea>
 #include <QVBoxLayout>
@ -11,7 +12,7 @@

 // SignalForm

-SignalForm::SignalForm(const Signal &sig, QWidget *parent) : start_bit(sig.start_bit), QWidget(parent) {
+SignalForm::SignalForm(const Signal &sig, QWidget *parent) : QWidget(parent) {
  QFormLayout *form_layout = new QFormLayout(this);

  name = new QLineEdit(sig.name.c_str());
@ -59,30 +60,9 @@ SignalForm::SignalForm(const Signal &sig, QWidget *parent) : start_bit(sig.start
  form_layout->addRow(tr("Value descriptions"), val_desc);
 }

-Signal SignalForm::getSignal() {
-  // TODO: Check if the size is valid, and no duplicate name
-  Signal sig = {};
-  sig.start_bit = start_bit;
-  sig.name = name->text().toStdString();
-  sig.size = size->text().toInt();
-  sig.offset = offset->text().toDouble();
-  sig.factor = factor->text().toDouble();
-  sig.is_signed = sign->currentIndex() == 0;
-  sig.is_little_endian = endianness->currentIndex() == 0;
-  if (sig.is_little_endian) {
-    sig.lsb = sig.start_bit;
-    sig.msb = sig.start_bit + sig.size - 1;
-  } else {
-    sig.lsb = bigEndianStartBitsIndex(bigEndianBitIndex(sig.start_bit) + sig.size - 1);
-    sig.msb = sig.start_bit;
-  }
-  return sig;
-}
-
 // SignalEdit

-SignalEdit::SignalEdit(int index, const QString &msg_id, const Signal &sig, QWidget *parent)
-    : sig(&sig), form_idx(index), sig_name(sig.name.c_str()), QWidget(parent) {
+SignalEdit::SignalEdit(int index, const QString &msg_id, const Signal *sig, QWidget *parent) : msg_id(msg_id), sig(sig), form_idx(index), QWidget(parent) {
  QVBoxLayout *main_layout = new QVBoxLayout(this);
  main_layout->setContentsMargins(0, 0, 0, 0);

@ -93,7 +73,7 @@ SignalEdit::SignalEdit(int index, const QString &msg_id, const Signal &sig, QWid
  title_layout->addWidget(icon);
  title = new ElidedLabel(this);
  title->setSizePolicy(QSizePolicy::Preferred, QSizePolicy::MinimumExpanding);
-  title->setText(QString("%1. %2").arg(index + 1).arg(sig_name));
+  title->setText(QString("%1. %2").arg(index + 1).arg(sig->name.c_str()));
  title->setStyleSheet(QString("font-weight:bold; color:%1").arg(getColor(index)));
  title_layout->addWidget(title, 1);

@ -113,7 +93,7 @@ SignalEdit::SignalEdit(int index, const QString &msg_id, const Signal &sig, QWid
  // signal form
  form_container = new QWidget(this);
  QVBoxLayout *v_layout = new QVBoxLayout(form_container);
-  form = new SignalForm(sig, this);
+  form = new SignalForm(*sig, this);
  v_layout->addWidget(form);

  QHBoxLayout *h = new QHBoxLayout();
@ -133,20 +113,34 @@ SignalEdit::SignalEdit(int index, const QString &msg_id, const Signal &sig, QWid
  hline->setFrameShadow(QFrame::Sunken);
  main_layout->addWidget(hline);

-  QObject::connect(remove_btn, &QPushButton::clicked, this, &SignalEdit::remove);
+  QObject::connect(remove_btn, &QPushButton::clicked, [this]() { emit remove(this->sig); });
  QObject::connect(title, &ElidedLabel::clicked, this, &SignalEdit::showFormClicked);
-  QObject::connect(save_btn, &QPushButton::clicked, [=]() {
-    QString new_name = form->getSignal().name.c_str();
-    title->setText(QString("%1. %2").arg(index + 1).arg(new_name));
-    emit save();
-    sig_name = new_name;
-  });
-  QObject::connect(seek_btn, &QPushButton::clicked, [this, msg_id, s = &sig]() {
-    SignalFindDlg dlg(msg_id, s, this);
+  QObject::connect(save_btn, &QPushButton::clicked, this, &SignalEdit::saveSignal);
+  QObject::connect(seek_btn, &QPushButton::clicked, [this, msg_id]() {
+    SignalFindDlg dlg(msg_id, this->sig, this);
    dlg.exec();
  });
 }

+void SignalEdit::saveSignal() {
+  Signal s = *sig;
+  s.name = form->name->text().toStdString();
+  s.size = form->size->text().toInt();
+  s.offset = form->offset->text().toDouble();
+  s.factor = form->factor->text().toDouble();
+  s.is_signed = form->sign->currentIndex() == 0;
+  s.is_little_endian = form->endianness->currentIndex() == 0;
+  if (s.is_little_endian) {
+    s.lsb = s.start_bit;
+    s.msb = s.start_bit + s.size - 1;
+  } else {
+    s.lsb = bigEndianStartBitsIndex(bigEndianBitIndex(s.start_bit) + s.size - 1);
+    s.msb = s.start_bit;
+  }
+  title->setText(QString("%1. %2").arg(form_idx + 1).arg(form->name->text()));
+  emit save(this->sig, s);
+}
+
 void SignalEdit::setFormVisible(bool visible) {
  form_container->setVisible(visible);
  icon->setText(visible ? "▼" : ">");
@ -167,27 +161,7 @@ void SignalEdit::leaveEvent(QEvent *event) {
  QWidget::leaveEvent(event);
 }

-// AddSignalDialog
-
-AddSignalDialog::AddSignalDialog(const QString &id, int start_bit, int size, QWidget *parent) : QDialog(parent) {
-  setWindowTitle(tr("Add signal to %1").arg(dbc()->msg(id)->name.c_str()));
-  QVBoxLayout *main_layout = new QVBoxLayout(this);
-
-  Signal sig = {
-    .name = "untitled",
-    .start_bit = bigEndianBitIndex(start_bit),
-    .is_little_endian = false,
-    .size = size,
-  };
-  form = new SignalForm(sig, this);
-  main_layout->addWidget(form);
-  auto buttonBox = new QDialogButtonBox(QDialogButtonBox::Ok | QDialogButtonBox::Cancel);
-  main_layout->addWidget(buttonBox);
-  setFixedWidth(parent->width() * 0.9);
-
-  connect(buttonBox, &QDialogButtonBox::rejected, this, &QDialog::reject);
-  connect(buttonBox, &QDialogButtonBox::accepted, this, &QDialog::accept);
-}
+// SignalFindDlg

 SignalFindDlg::SignalFindDlg(const QString &id, const Signal *signal, QWidget *parent) : QDialog(parent) {
  setWindowTitle(tr("Find signal values"));
--- a/tools/cabana/signaledit.h
+++ b/tools/cabana/signaledit.h
@ -15,48 +15,41 @@
 class SignalForm : public QWidget {
 public:
  SignalForm(const Signal &sig, QWidget *parent);
-  Signal getSignal();

  QLineEdit *name, *unit, *comment, *val_desc;
  QSpinBox *size, *offset;
  QDoubleSpinBox *factor, *min_val, *max_val;
  QComboBox *sign, *endianness;
-  int start_bit = 0;
 };

 class SignalEdit : public QWidget {
  Q_OBJECT

 public:
-  SignalEdit(int index, const QString &msg_id, const Signal &sig, QWidget *parent = nullptr);
+  SignalEdit(int index, const QString &msg_id, const Signal *sig, QWidget *parent = nullptr);
  void setFormVisible(bool show);
  void signalHovered(const Signal *sig);
  inline bool isFormVisible() const { return form_container->isVisible(); }
-  QString sig_name;
-  SignalForm *form;
-  int form_idx = 0;
-  const Signal *sig = nullptr;

 signals:
  void highlight(const Signal *sig);
  void showChart();
  void showFormClicked();
-  void remove();
-  void save();
+  void remove(const Signal *sig);
+  void save(const Signal *sig, const Signal &new_sig);

 protected:
  void enterEvent(QEvent *event) override;
  void leaveEvent(QEvent *event) override;
+  void saveSignal();

+  SignalForm *form;
  ElidedLabel *title;
  QWidget *form_container;
  QLabel *icon;
-};
-
-class AddSignalDialog : public QDialog {
-public:
-  AddSignalDialog(const QString &id, int start_bit, int size, QWidget *parent);
-  SignalForm *form;
+  int form_idx = 0;
+  QString msg_id;
+  const Signal *sig = nullptr;
 };

 class SignalFindDlg : public QDialog {
--- a/tools/replay/tests/test_replay.cc
+++ b/tools/replay/tests/test_replay.cc
@ -197,8 +197,8 @@ void TestReplay::test_seek() {
  stream_thread_ = new QThread(this);
  QEventLoop loop;
  std::thread thread = std::thread([&]() {
-    for (int i = 0; i < 50; ++i) {
-      testSeekTo(random_int(0, 3 * 60));
+    for (int i = 0; i < 10; ++i) {
+      testSeekTo(random_int(0, 1 * 60));
    }
    loop.quit();
  });
@ -207,8 +207,7 @@ void TestReplay::test_seek() {
 }

 TEST_CASE("Replay") {
-  auto flag = GENERATE(REPLAY_FLAG_NO_FILE_CACHE, REPLAY_FLAG_NONE);
-  TestReplay replay(DEMO_ROUTE, flag);
+  TestReplay replay(DEMO_ROUTE);
  REQUIRE(replay.load());
  replay.test_seek();
 }
--- a/update_requirements.sh
+++ b/update_requirements.sh
@ -46,7 +46,7 @@ pip install poetry==1.2.2
 poetry config virtualenvs.prefer-active-python true --local

 POETRY_INSTALL_ARGS=""
-if [ -d "./xx" ]; then
+if [ -d "./xx" ] || [ -n "$XX" ]; then
  echo "WARNING: using xx dependency group, installing globally"
  poetry config virtualenvs.create false --local
  POETRY_INSTALL_ARGS="--with xx --sync"
@ -60,6 +60,7 @@ if [ -d "./xx" ] || [ -n "$POETRY_VIRTUALENVS_CREATE" ]; then
  RUN=""
 else
  echo "PYTHONPATH=${PWD}" > .env
+  poetry self add poetry-dotenv-plugin@^0.1.0
  RUN="poetry run"
 fi