From a1d01220e787b160f2be153e02c172c938a491e5 Mon Sep 17 00:00:00 2001
From: Shane Smiskol <shane@smiskol.com>
Date: Fri, 31 Mar 2023 12:15:59 -0700
Subject: [PATCH 01/88] bump panda (#27768)

---
 panda | 2 +-
 1 file changed, 1 insertion(+), 1 deletion(-)

diff --git a/panda b/panda
index 7933635b54..09fee3e7ea 160000
--- a/panda
+++ b/panda
@@ -1 +1 @@
-Subproject commit 7933635b54b68eda3f8a906d5e2c3ca30dbed279
+Subproject commit 09fee3e7ead96a6a9613430c81bb2d3e095aa0fe

From 15a4b60ee6e78d16646db1535c5840cc4fd56932 Mon Sep 17 00:00:00 2001
From: Dean Lee <deanlee3@gmail.com>
Date: Sat, 1 Apr 2023 03:48:31 +0800
Subject: [PATCH 02/88] cabana: display signal value in all charts on mouse
 hover (#27749)

* display all values

* cleanup

* cleanup

* emit hoverd if tip is visible
---
 tools/cabana/chartswidget.cc | 119 +++++++++++++++++++++++++----------
 tools/cabana/chartswidget.h  |  12 ++++
 2 files changed, 97 insertions(+), 34 deletions(-)

diff --git a/tools/cabana/chartswidget.cc b/tools/cabana/chartswidget.cc
index 2c9a01b752..4ae83c05d7 100644
--- a/tools/cabana/chartswidget.cc
+++ b/tools/cabana/chartswidget.cc
@@ -12,6 +12,7 @@
 #include <QOpenGLWidget>
 #include <QPushButton>
 #include <QRubberBand>
+#include <QStylePainter>
 #include <QToolBar>
 #include <QToolTip>
 #include <QtConcurrent>
@@ -157,6 +158,12 @@ void ChartsWidget::zoomUndo() {
   }
 }
 
+void ChartsWidget::showValueTip(double sec) {
+  for (auto c : charts) {
+    sec >= 0 ? c->showTip(sec) : c->hideTip();
+  }
+}
+
 void ChartsWidget::updateState() {
   if (charts.isEmpty()) return;
 
@@ -226,6 +233,7 @@ ChartView *ChartsWidget::createChart() {
   QObject::connect(chart, &ChartView::seriesRemoved, this, &ChartsWidget::seriesChanged);
   QObject::connect(chart, &ChartView::seriesAdded, this, &ChartsWidget::seriesChanged);
   QObject::connect(chart, &ChartView::axisYLabelWidthChanged, &align_timer, qOverload<>(&QTimer::start));
+  QObject::connect(chart, &ChartView::hovered, this, &ChartsWidget::showValueTip);
   charts.push_back(chart);
   updateLayout();
   return chart;
@@ -346,7 +354,7 @@ bool ChartsWidget::event(QEvent *event) {
 
 // ChartView
 
-ChartView::ChartView(QWidget *parent) : QChartView(nullptr, parent) {
+ChartView::ChartView(QWidget *parent) : tip_label(this), QChartView(nullptr, parent) {
   series_type = (SeriesType)settings.chart_series_type;
   QChart *chart = new QChart();
   chart->setBackgroundVisible(false);
@@ -542,7 +550,11 @@ void ChartView::updateSeriesPoints() {
       double pixels_per_point = (chart()->mapToPosition(right_pt).x() - chart()->mapToPosition(*begin).x()) / num_points;
 
       if (series_type == SeriesType::Scatter) {
-        ((QScatterSeries *)s.series)->setMarkerSize(std::clamp(pixels_per_point / 2.0, 2.0, 8.0) * devicePixelRatioF());
+        qreal size = std::clamp(pixels_per_point / 2.0, 2.0, 8.0);
+        if (s.series->useOpenGL()) {
+          size *= devicePixelRatioF();
+        }
+        ((QScatterSeries *)s.series)->setMarkerSize(size);
       } else {
         s.series->setPointsVisible(pixels_per_point > 20);
       }
@@ -672,8 +684,9 @@ qreal ChartView::niceNumber(qreal x, bool ceiling) {
 }
 
 void ChartView::leaveEvent(QEvent *event) {
-  clearTrackPoints();
-  scene()->update();
+  if (tip_label.isVisible()) {
+    emit hovered(-1);
+  }
   QChartView::leaveEvent(event);
 }
 
@@ -745,44 +758,17 @@ void ChartView::mouseMoveEvent(QMouseEvent *ev) {
     if (plot_area.contains(ev->pos())) {
       can->seekTo(std::clamp(chart()->mapToValue(ev->pos()).x(), 0., can->totalSeconds()));
     }
-    return;
   }
 
   auto rubber = findChild<QRubberBand *>();
   bool is_zooming = rubber && rubber->isVisible();
-  is_scrubbing = false;
   clearTrackPoints();
 
   if (!is_zooming && plot_area.contains(ev->pos())) {
-    QStringList text_list;
     const double sec = chart()->mapToValue(ev->pos()).x();
-    qreal x = -1;
-    for (auto &s : sigs) {
-      if (!s.series->isVisible()) continue;
-
-      // use reverse iterator to find last item <= sec.
-      double value = 0;
-      auto it = std::lower_bound(s.vals.rbegin(), s.vals.rend(), sec, [](auto &p, double x) { return p.x() > x; });
-      if (it != s.vals.rend() && it->x() >= axis_x->min()) {
-        value = it->y();
-        s.track_pt = chart()->mapToPosition(*it);
-        x = std::max(x, s.track_pt.x());
-      }
-      text_list.push_back(QString("<span style=\"color:%1;\">■ </span>%2: <b>%3</b> (%4 - %5)")
-                              .arg(s.series->color().name(), s.sig->name,
-                                   s.track_pt.isNull() ? "--" : QString::number(value),
-                                   QString::number(s.min), QString::number(s.max)));
-
-    }
-    if (x < 0) {
-      x = ev->pos().x();
-    }
-    text_list.push_front(QString::number(chart()->mapToValue({x, 0}).x(), 'f', 3));
-    QPointF tooltip_pt(x + 12, plot_area.top() - 20);
-    QToolTip::showText(mapToGlobal(tooltip_pt.toPoint()), "<p style='white-space:pre'>" + text_list.join("<br />"), this, plot_area.toRect());
-    scene()->invalidate({}, QGraphicsScene::ForegroundLayer);
-  } else {
-    QToolTip::hideText();
+    emit hovered(sec);
+  } else if (tip_label.isVisible()) {
+    emit hovered(-1);
   }
 
   QChartView::mouseMoveEvent(ev);
@@ -797,6 +783,35 @@ void ChartView::mouseMoveEvent(QMouseEvent *ev) {
   }
 }
 
+void ChartView::showTip(double sec) {
+  qreal x = chart()->mapToPosition({sec, 0}).x();
+  QStringList text_list(QString::number(chart()->mapToValue({x, 0}).x(), 'f', 3));
+  for (auto &s : sigs) {
+    if (s.series->isVisible()) {
+      QString value = "--";
+      // use reverse iterator to find last item <= sec.
+      auto it = std::lower_bound(s.vals.rbegin(), s.vals.rend(), sec, [](auto &p, double x) { return p.x() > x; });
+      if (it != s.vals.rend() && it->x() >= axis_x->min()) {
+        value = QString::number(it->y());
+        s.track_pt = chart()->mapToPosition(*it);
+        x = std::max(x, s.track_pt.x());
+      }
+      text_list << QString("<span style=\"color:%1;\">■ </span>%2: <b>%3</b> (%4 - %5)")
+                       .arg(s.series->color().name(), s.sig->name, value, QString::number(s.min), QString::number(s.max));
+    }
+  }
+  QPointF tooltip_pt(x, chart()->plotArea().top());
+  int plot_right = mapToGlobal(chart()->plotArea().topRight().toPoint()).x();
+  tip_label.showText(mapToGlobal(tooltip_pt.toPoint()), "<p style='white-space:pre'>" + text_list.join("<br />") + "</p>", plot_right);
+  scene()->update();
+}
+
+void ChartView::hideTip() {
+  clearTrackPoints();
+  tip_label.hide();
+  scene()->update();
+}
+
 void ChartView::dragMoveEvent(QDragMoveEvent *event) {
   if (event->mimeData()->hasFormat(mime_type)) {
     event->setDropAction(event->source() == this ? Qt::MoveAction : Qt::CopyAction);
@@ -1039,3 +1054,39 @@ QList<SeriesSelector::ListItem *> SeriesSelector::seletedItems() {
   for (int i = 0; i < selected_list->count(); ++i) ret.push_back((ListItem *)selected_list->item(i));
   return ret;
 }
+
+// ValueTipLabel
+
+ValueTipLabel::ValueTipLabel(QWidget *parent) : QLabel(parent, Qt::Tool | Qt::FramelessWindowHint) {
+  setForegroundRole(QPalette::ToolTipText);
+  setBackgroundRole(QPalette::ToolTipBase);
+  setPalette(QToolTip::palette());
+  ensurePolished();
+  setMargin(1 + style()->pixelMetric(QStyle::PM_ToolTipLabelFrameWidth, nullptr, this));
+  setAttribute(Qt::WA_ShowWithoutActivating);
+  setTextFormat(Qt::RichText);
+  setVisible(false);
+}
+
+void ValueTipLabel::showText(const QPoint &pt, const QString &text, int right_edge) {
+  setText(text);
+  if (!text.isEmpty()) {
+    QSize extra(1, 1);
+    resize(sizeHint() + extra);
+    QPoint tip_pos(pt.x() + 12, pt.y());
+    if (tip_pos.x() + size().width() >= right_edge) {
+      tip_pos.rx() = pt.x() - size().width() - 12;
+    }
+    move(tip_pos);
+  }
+  setVisible(!text.isEmpty());
+}
+
+void ValueTipLabel::paintEvent(QPaintEvent *ev) {
+  QStylePainter p(this);
+  QStyleOptionFrame opt;
+  opt.init(this);
+  p.drawPrimitive(QStyle::PE_PanelTipLabel, opt);
+  p.end();
+  QLabel::paintEvent(ev);
+}
diff --git a/tools/cabana/chartswidget.h b/tools/cabana/chartswidget.h
index 592e063163..fad345ae34 100644
--- a/tools/cabana/chartswidget.h
+++ b/tools/cabana/chartswidget.h
@@ -25,6 +25,13 @@ enum class SeriesType {
   Scatter
 };
 
+class ValueTipLabel : public QLabel {
+public:
+  ValueTipLabel(QWidget *parent = nullptr);
+  void showText(const QPoint &pt, const QString &sec, int right_edge);
+  void paintEvent(QPaintEvent *ev) override;
+};
+
 class ChartView : public QChartView {
   Q_OBJECT
 
@@ -36,6 +43,8 @@ public:
   void updatePlot(double cur, double min, double max);
   void setSeriesType(SeriesType type);
   void updatePlotArea(int left);
+  void showTip(double sec);
+  void hideTip();
 
   struct SigItem {
     MessageId msg_id;
@@ -57,6 +66,7 @@ signals:
   void zoomUndo();
   void remove();
   void axisYLabelWidthChanged(int w);
+  void hovered(double sec);
 
 private slots:
   void signalUpdated(const cabana::Signal *sig);
@@ -94,6 +104,7 @@ private:
   QGraphicsProxyWidget *close_btn_proxy;
   QGraphicsProxyWidget *manage_btn_proxy;
   QGraphicsRectItem *background;
+  ValueTipLabel tip_label;
   QList<SigItem> sigs;
   double cur_sec = 0;
   const QString mime_type = "application/x-cabanachartview";
@@ -137,6 +148,7 @@ private:
   void setMaxChartRange(int value);
   void updateLayout();
   void settingChanged();
+  void showValueTip(double sec);
   bool eventFilter(QObject *obj, QEvent *event) override;
   ChartView *findChart(const MessageId &id, const cabana::Signal *sig);
 

From aa3b8e5f300f992c69b4924a7c94994ce13db5c4 Mon Sep 17 00:00:00 2001
From: Dean Lee <deanlee3@gmail.com>
Date: Sat, 1 Apr 2023 04:58:50 +0800
Subject: [PATCH 03/88] cabana: fixed chat tool tips was displayed outside of
 the viewport (#27770)

---
 tools/cabana/chartswidget.cc | 11 ++++++++---
 tools/cabana/chartswidget.h  |  2 ++
 2 files changed, 10 insertions(+), 3 deletions(-)

diff --git a/tools/cabana/chartswidget.cc b/tools/cabana/chartswidget.cc
index 4ae83c05d7..845667bad7 100644
--- a/tools/cabana/chartswidget.cc
+++ b/tools/cabana/chartswidget.cc
@@ -71,13 +71,13 @@ ChartsWidget::ChartsWidget(QWidget *parent) : align_timer(this), QFrame(parent)
   charts_layout = new QGridLayout();
   charts_layout->setSpacing(10);
 
-  QWidget *charts_container = new QWidget(this);
+  charts_container = new QWidget(this);
   QVBoxLayout *charts_main_layout = new QVBoxLayout(charts_container);
   charts_main_layout->setContentsMargins(0, 0, 0, 0);
   charts_main_layout->addLayout(charts_layout);
   charts_main_layout->addStretch(0);
 
-  QScrollArea *charts_scroll = new QScrollArea(this);
+  charts_scroll = new QScrollArea(this);
   charts_scroll->setFrameStyle(QFrame::NoFrame);
   charts_scroll->setWidgetResizable(true);
   charts_scroll->setWidget(charts_container);
@@ -159,8 +159,13 @@ void ChartsWidget::zoomUndo() {
 }
 
 void ChartsWidget::showValueTip(double sec) {
+  const QRect visible_rect(-charts_container->pos(), charts_scroll->viewport()->size());
   for (auto c : charts) {
-    sec >= 0 ? c->showTip(sec) : c->hideTip();
+    if (sec >= 0 && visible_rect.contains(QRect(c->mapTo(charts_container, QPoint(0, 0)), c->size()))) {
+      c->showTip(sec);
+    } else {
+      c->hideTip();
+    }
   }
 }
 
diff --git a/tools/cabana/chartswidget.h b/tools/cabana/chartswidget.h
index fad345ae34..98ceb02674 100644
--- a/tools/cabana/chartswidget.h
+++ b/tools/cabana/chartswidget.h
@@ -164,6 +164,8 @@ private:
   QAction *remove_all_btn;
   QGridLayout *charts_layout;
   QList<ChartView *> charts;
+  QWidget *charts_container;
+  QScrollArea *charts_scroll;
   uint32_t max_chart_range = 0;
   bool is_zoomed = false;
   std::pair<double, double> display_range;

From e82d7a10d37cbcec54918a05f2233e20ee755ce2 Mon Sep 17 00:00:00 2001
From: Dean Lee <deanlee3@gmail.com>
Date: Sat, 1 Apr 2023 04:59:08 +0800
Subject: [PATCH 04/88] cabana: show min and max values in sparkline on hover
 (#27769)

---
 tools/cabana/signalview.cc | 29 +++++++++++++++++++++++++++--
 tools/cabana/signalview.h  |  1 +
 2 files changed, 28 insertions(+), 2 deletions(-)

diff --git a/tools/cabana/signalview.cc b/tools/cabana/signalview.cc
index 4eb1456b1e..4f841a2866 100644
--- a/tools/cabana/signalview.cc
+++ b/tools/cabana/signalview.cc
@@ -344,6 +344,17 @@ bool SignalItemDelegate::helpEvent(QHelpEvent *event, QAbstractItemView *view, c
   return QStyledItemDelegate::helpEvent(event, view, option, index);
 }
 
+void SignalItemDelegate::updateEditorGeometry(QWidget *editor, const QStyleOptionViewItem &option, const QModelIndex &index) const {
+  auto item = (SignalModel::Item *)index.internalPointer();
+  if (editor && item->type == SignalModel::Item::Sig && index.column() == 1) {
+    QRect geom = option.widget->style()->subElementRect(QStyle::SE_ItemViewItemText, &option);
+    geom.setLeft(geom.right() - editor->sizeHint().width());
+    editor->setGeometry(geom);
+    return;
+  }
+  QStyledItemDelegate::updateEditorGeometry(editor, option, index);
+}
+
 void SignalItemDelegate::paint(QPainter *painter, const QStyleOptionViewItem &option, const QModelIndex &index) const {
   int h_margin = option.widget->style()->pixelMetric(QStyle::PM_FocusFrameHMargin) + 1;
   int v_margin = option.widget->style()->pixelMetric(QStyle::PM_FocusFrameVMargin);
@@ -375,6 +386,7 @@ void SignalItemDelegate::paint(QPainter *painter, const QStyleOptionViewItem &op
     painter->drawText(text_rect, option.displayAlignment, text);
     painter->restore();
   } else if (index.column() == 1 && item && item->type == SignalModel::Item::Sig) {
+    painter->save();
     if (option.state & QStyle::State_Selected) {
       painter->fillRect(option.rect, option.palette.highlight());
     }
@@ -389,6 +401,7 @@ void SignalItemDelegate::paint(QPainter *painter, const QStyleOptionViewItem &op
 
     QRect sparkline_rect = r.adjusted(0, 0, -r.width() * 0.4 - h_margin, 0);
     drawSparkline(painter, sparkline_rect, index);
+    painter->restore();
   } else {
     QStyledItemDelegate::paint(painter, option, index);
   }
@@ -406,7 +419,8 @@ void SignalItemDelegate::drawSparkline(QPainter *painter, const QRect &rect, con
   if (first != last) {
     double min = std::numeric_limits<double>::max();
     double max = std::numeric_limits<double>::lowest();
-    const auto sig = ((SignalModel::Item *)index.internalPointer())->sig;
+    const auto item = (const SignalModel::Item *)index.internalPointer();
+    const auto sig = item->sig;
     points.clear();
     for (auto it = first; it != last; ++it) {
       double value = get_raw_value(it->dat, it->size, *sig);
@@ -435,6 +449,17 @@ void SignalItemDelegate::drawSparkline(QPainter *painter, const QRect &rect, con
         painter->drawEllipse(pt, 2, 2);
       }
     }
+
+    if (item->highlight) {
+      QFont font;
+      font.setPixelSize(10);
+      painter->setFont(font);
+      painter->setPen(Qt::darkGray);
+      painter->drawLine(rect.topRight(), rect.bottomRight());
+      QRect minmax_rect{rect.right() + 3, rect.top(), 1000, rect.height()};
+      painter->drawText(minmax_rect, Qt::AlignLeft | Qt::AlignTop, QString::number(max));
+      painter->drawText(minmax_rect, Qt::AlignLeft | Qt::AlignBottom, QString::number(min));
+    }
   }
 }
 
@@ -552,7 +577,6 @@ void SignalView::rowsChanged() {
       int h_margin = style()->pixelMetric(QStyle::PM_FocusFrameHMargin);
       h->setContentsMargins(0, v_margin, -h_margin, v_margin);
       h->setSpacing(style()->pixelMetric(QStyle::PM_ToolBarItemSpacing));
-      h->addStretch(0);
 
       auto remove_btn = toolButton("x", tr("Remove signal"));
       auto plot_btn = toolButton("graph-up", "");
@@ -612,6 +636,7 @@ void SignalView::signalHovered(const cabana::Signal *sig) {
     bool highlight = children[i]->sig == sig;
     if (std::exchange(children[i]->highlight, highlight) != highlight) {
       emit model->dataChanged(model->index(i, 0), model->index(i, 0), {Qt::DecorationRole});
+      emit model->dataChanged(model->index(i, 1), model->index(i, 1), {Qt::DisplayRole});
     }
   }
 }
diff --git a/tools/cabana/signalview.h b/tools/cabana/signalview.h
index 8bc9477888..711748937a 100644
--- a/tools/cabana/signalview.h
+++ b/tools/cabana/signalview.h
@@ -85,6 +85,7 @@ public:
   QWidget *createEditor(QWidget *parent, const QStyleOptionViewItem &option, const QModelIndex &index) const override;
   bool helpEvent(QHelpEvent *event, QAbstractItemView *view, const QStyleOptionViewItem &option, const QModelIndex &index) override;
   void drawSparkline(QPainter *painter, const QRect &rect, const QModelIndex &index) const;
+  void 	updateEditorGeometry(QWidget *editor, const QStyleOptionViewItem &option, const QModelIndex &index) const override;
   QValidator *name_validator, *double_validator;
   QFont small_font;
   const int color_label_width = 18;

From 1ee4f41d5a6c8643301e197063c7934eae952c11 Mon Sep 17 00:00:00 2001
From: Shane Smiskol <shane@smiskol.com>
Date: Fri, 31 Mar 2023 20:00:49 -0700
Subject: [PATCH 05/88] bump panda: iso-tp bugfixes (#27772)

bumppanda
---
 panda | 2 +-
 1 file changed, 1 insertion(+), 1 deletion(-)

diff --git a/panda b/panda
index 09fee3e7ea..a12c0a7956 160000
--- a/panda
+++ b/panda
@@ -1 +1 @@
-Subproject commit 09fee3e7ead96a6a9613430c81bb2d3e095aa0fe
+Subproject commit a12c0a795678373d946b644b43d9402b72e502a9

From a0f33658f283072fe86d18b06d0c4c98728d507a Mon Sep 17 00:00:00 2001
From: Shane Smiskol <shane@smiskol.com>
Date: Fri, 31 Mar 2023 20:57:32 -0700
Subject: [PATCH 06/88] IsoTpParallelQuery: extend timeouts when receiving
 consecutive frames (#27762)

* change to rx_in_progress

* bump panda

* bump panda
---
 panda                                 | 2 +-
 selfdrive/car/isotp_parallel_query.py | 6 ++++--
 2 files changed, 5 insertions(+), 3 deletions(-)

diff --git a/panda b/panda
index a12c0a7956..8efbcf041c 160000
--- a/panda
+++ b/panda
@@ -1 +1 @@
-Subproject commit a12c0a795678373d946b644b43d9402b72e502a9
+Subproject commit 8efbcf041c1b6da1764bb56f822609fd4bb0758f
diff --git a/selfdrive/car/isotp_parallel_query.py b/selfdrive/car/isotp_parallel_query.py
index 70f8b5f50d..1b115c665d 100644
--- a/selfdrive/car/isotp_parallel_query.py
+++ b/selfdrive/car/isotp_parallel_query.py
@@ -105,13 +105,14 @@ class IsoTpParallelQuery:
 
       for tx_addr, msg in msgs.items():
         try:
-          dat, updated = msg.recv()
+          dat, rx_in_progress = msg.recv()
         except Exception:
           cloudlog.exception(f"Error processing UDS response: {tx_addr}")
           request_done[tx_addr] = True
           continue
 
-        if updated:
+        # Extend timeout for each consecutive ISO-TP frame to avoid timing out on long responses
+        if rx_in_progress:
           response_timeouts[tx_addr] = time.monotonic() + timeout
 
         if not dat:
@@ -123,6 +124,7 @@ class IsoTpParallelQuery:
 
         if response_valid:
           if counter + 1 < len(self.request):
+            response_timeouts[tx_addr] = time.monotonic() + timeout
             msg.send(self.request[counter + 1])
             request_counter[tx_addr] += 1
           else:

From 64f9b13871f83593e84becd3beeef82945f550c8 Mon Sep 17 00:00:00 2001
From: Cameron Clough <cameronjclough@gmail.com>
Date: Sat, 1 Apr 2023 21:20:47 +0100
Subject: [PATCH 07/88] Ford: add Maverick 2023 FW (#27781)

Ford Maverick 2023 Lariat Lux (added radar)

VIN: 3FTTW8E31PRA18806

bd37e43731e5964b|2023-04-01--15-13-06--0
---
 selfdrive/car/ford/values.py | 4 +++-
 1 file changed, 3 insertions(+), 1 deletion(-)

diff --git a/selfdrive/car/ford/values.py b/selfdrive/car/ford/values.py
index 50c7d93987..110bf59d55 100644
--- a/selfdrive/car/ford/values.py
+++ b/selfdrive/car/ford/values.py
@@ -84,7 +84,7 @@ CAR_INFO: Dict[str, Union[CarInfo, List[CarInfo]]] = {
     FordCarInfo("Lincoln Aviator Plug-in Hybrid 2021", "Co-Pilot360 Plus"),
   ],
   CAR.FOCUS_MK4: FordCarInfo("Ford Focus EU 2019", "Driver Assistance Pack"),
-  CAR.MAVERICK_MK1: FordCarInfo("Ford Maverick 2022", "Co-Pilot360 Assist"),
+  CAR.MAVERICK_MK1: FordCarInfo("Ford Maverick 2022-23", "Co-Pilot360 Assist"),
 }
 
 FW_QUERY_CONFIG = FwQueryConfig(
@@ -217,6 +217,7 @@ FW_VERSIONS = {
     ],
     (Ecu.abs, 0x760, None): [
       b'NZ6C-2D053-AG\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00',
+      b'PZ6C-2D053-ED\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00',
     ],
     (Ecu.fwdRadar, 0x764, None): [
       b'NZ6T-14D049-AA\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00',
@@ -228,6 +229,7 @@ FW_VERSIONS = {
       b'NZ6A-14C204-AAA\x00\x00\x00\x00\x00\x00\x00\x00\x00',
       b'NZ6A-14C204-PA\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00',
       b'NZ6A-14C204-ZA\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00',
+      b'PZ6A-14C204-JC\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00',
     ],
     (Ecu.shiftByWire, 0x732, None): [
       b'NZ6P-14G395-AD\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00',

From 6bbcbab3f7705a750e90e99a8de22b191e177184 Mon Sep 17 00:00:00 2001
From: Dean Lee <deanlee3@gmail.com>
Date: Sun, 2 Apr 2023 06:20:47 +0800
Subject: [PATCH 08/88] cabana: fix chart tooltip issues (#27778)

---
 tools/cabana/chartswidget.cc | 34 ++++++++++++++++++++++++----------
 1 file changed, 24 insertions(+), 10 deletions(-)

diff --git a/tools/cabana/chartswidget.cc b/tools/cabana/chartswidget.cc
index 845667bad7..df6bf0c8b7 100644
--- a/tools/cabana/chartswidget.cc
+++ b/tools/cabana/chartswidget.cc
@@ -342,12 +342,26 @@ bool ChartsWidget::eventFilter(QObject *obj, QEvent *event) {
 
 bool ChartsWidget::event(QEvent *event) {
   bool back_button = false;
-  if (event->type() == QEvent::MouseButtonPress) {
-    QMouseEvent *ev = static_cast<QMouseEvent *>(event);
-    back_button = ev->button() == Qt::BackButton;
-  } else if (event->type() == QEvent::NativeGesture) { // MacOS emulates a back swipe on pressing the mouse back button
-    QNativeGestureEvent *ev = static_cast<QNativeGestureEvent *>(event);
-    back_button = (ev->value() == 180);
+  switch (event->type()) {
+    case QEvent::MouseButtonPress: {
+      QMouseEvent *ev = static_cast<QMouseEvent *>(event);
+      back_button = ev->button() == Qt::BackButton;
+      break;
+    }
+
+    case QEvent::NativeGesture: {
+      QNativeGestureEvent *ev = static_cast<QNativeGestureEvent *>(event);
+      back_button = (ev->value() == 180);
+      break;
+    }
+    case QEvent::WindowActivate:
+    case QEvent::WindowDeactivate:
+    case QEvent::FocusIn:
+    case QEvent::FocusOut:
+      showValueTip(-1);
+      break;
+    default:
+      break;
   }
 
   if (back_button) {
@@ -541,7 +555,7 @@ void ChartView::updatePlot(double cur, double min, double max) {
     updateAxisY();
     updateSeriesPoints();
   }
-  scene()->invalidate({}, QGraphicsScene::ForegroundLayer);
+  scene()->update();
 }
 
 void ChartView::updateSeriesPoints() {
@@ -738,7 +752,7 @@ void ChartView::mouseReleaseEvent(QMouseEvent *event) {
     } else if (rubber->width() > 10) {
       emit zoomIn(min_rounded, max_rounded);
     } else {
-      scene()->invalidate({}, QGraphicsScene::ForegroundLayer);
+      scene()->update();
     }
     event->accept();
   } else if (!can->liveStreaming() && event->button() == Qt::RightButton) {
@@ -784,7 +798,7 @@ void ChartView::mouseMoveEvent(QMouseEvent *ev) {
     if (rubber_rect != rubber->geometry()) {
       rubber->setGeometry(rubber_rect);
     }
-    scene()->invalidate({}, QGraphicsScene::ForegroundLayer);
+    scene()->update();
   }
 }
 
@@ -1062,7 +1076,7 @@ QList<SeriesSelector::ListItem *> SeriesSelector::seletedItems() {
 
 // ValueTipLabel
 
-ValueTipLabel::ValueTipLabel(QWidget *parent) : QLabel(parent, Qt::Tool | Qt::FramelessWindowHint) {
+ValueTipLabel::ValueTipLabel(QWidget *parent) : QLabel(parent, Qt::ToolTip | Qt::FramelessWindowHint) {
   setForegroundRole(QPalette::ToolTipText);
   setBackgroundRole(QPalette::ToolTipBase);
   setPalette(QToolTip::palette());

From a50fbe17c8b56acd3f61f2fa71fbaa8f9faa3a44 Mon Sep 17 00:00:00 2001
From: eFini <ricklan@gmail.com>
Date: Sun, 2 Apr 2023 06:21:26 +0800
Subject: [PATCH 09/88] Cleanup: Honda interface already checks vehicle model
 for BSM (#27775)

---
 selfdrive/car/honda/carstate.py | 4 ++--
 1 file changed, 2 insertions(+), 2 deletions(-)

diff --git a/selfdrive/car/honda/carstate.py b/selfdrive/car/honda/carstate.py
index 8189800368..eea78758a8 100644
--- a/selfdrive/car/honda/carstate.py
+++ b/selfdrive/car/honda/carstate.py
@@ -293,7 +293,7 @@ class CarState(CarStateBase):
     if self.CP.carFingerprint in HONDA_BOSCH_RADARLESS:
       self.lkas_hud = cp_cam.vl["LKAS_HUD"]
 
-    if self.CP.enableBsm and self.CP.carFingerprint in (CAR.CRV_5G, ):
+    if self.CP.enableBsm:
       # BSM messages are on B-CAN, requires a panda forwarding B-CAN messages to CAN 0
       # more info here: https://github.com/commaai/openpilot/pull/1867
       ret.leftBlindspot = cp_body.vl["BSM_STATUS_LEFT"]["BSM_ALERT"] == 1
@@ -340,7 +340,7 @@ class CarState(CarStateBase):
 
   @staticmethod
   def get_body_can_parser(CP):
-    if CP.enableBsm and CP.carFingerprint == CAR.CRV_5G:
+    if CP.enableBsm:
       signals = [("BSM_ALERT", "BSM_STATUS_RIGHT"),
                  ("BSM_ALERT", "BSM_STATUS_LEFT")]
 

From 2ab05f96c3e535938533dd877968a7f6ae79f583 Mon Sep 17 00:00:00 2001
From: royjr <royjr96@gmail.com>
Date: Sat, 1 Apr 2023 18:24:29 -0400
Subject: [PATCH 10/88] Cleanup: GM remove unnecessary variable (#27779)

---
 selfdrive/car/gm/interface.py | 1 -
 1 file changed, 1 deletion(-)

diff --git a/selfdrive/car/gm/interface.py b/selfdrive/car/gm/interface.py
index 6e2797ce24..e7fc0abb1a 100755
--- a/selfdrive/car/gm/interface.py
+++ b/selfdrive/car/gm/interface.py
@@ -98,7 +98,6 @@ class CarInterface(CarInterfaceBase):
       # Tuning for experimental long
       ret.longitudinalTuning.kpV = [2.0, 1.5]
       ret.longitudinalTuning.kiV = [0.72]
-      ret.stopAccel = -2.0
       ret.stoppingDecelRate = 2.0  # reach brake quickly after enabling
       ret.vEgoStopping = 0.25
       ret.vEgoStarting = 0.25

From 133721aafc0f8220a993a14fcade6ee8fc05c747 Mon Sep 17 00:00:00 2001
From: eFini <ricklan@gmail.com>
Date: Sun, 2 Apr 2023 06:34:55 +0800
Subject: [PATCH 11/88] Toyota: support openpilot long with a smartDSU on nodsu
 models (#27417)

* init

* fix syntax

* add test route

* syntax

* cleanup

* bool

---------

Co-authored-by: Adeeb Shihadeh <adeebshihadeh@gmail.com>
---
 selfdrive/car/tests/routes.py     |  1 +
 selfdrive/car/toyota/carstate.py  | 12 +++++++++---
 selfdrive/car/toyota/interface.py | 14 +++++++++-----
 selfdrive/car/toyota/values.py    |  1 +
 4 files changed, 20 insertions(+), 8 deletions(-)

diff --git a/selfdrive/car/tests/routes.py b/selfdrive/car/tests/routes.py
index 4dd19d24e3..40ed0ea047 100644
--- a/selfdrive/car/tests/routes.py
+++ b/selfdrive/car/tests/routes.py
@@ -185,6 +185,7 @@ routes = [
   CarTestRoute("9b36accae406390e|2021-03-30--10-41-38", TOYOTA.MIRAI),
   CarTestRoute("cd9cff4b0b26c435|2021-05-13--15-12-39", TOYOTA.CHR),
   CarTestRoute("ea8fbe72b96a185c|2023-02-08--15-11-46", TOYOTA.CHR_TSS2),
+  CarTestRoute("ea8fbe72b96a185c|2023-02-22--09-20-34", TOYOTA.CHR_TSS2),  # openpilot longitudinal, with smartDSU
   CarTestRoute("57858ede0369a261|2021-05-18--20-34-20", TOYOTA.CHRH),
   CarTestRoute("6719965b0e1d1737|2023-02-09--22-44-05", TOYOTA.CHRH_TSS2),
   CarTestRoute("14623aae37e549f3|2021-10-24--01-20-49", TOYOTA.PRIUS_V),
diff --git a/selfdrive/car/toyota/carstate.py b/selfdrive/car/toyota/carstate.py
index 050f8747a2..68adc2ee57 100644
--- a/selfdrive/car/toyota/carstate.py
+++ b/selfdrive/car/toyota/carstate.py
@@ -115,7 +115,8 @@ class CarState(CarStateBase):
     cp_acc = cp_cam if self.CP.carFingerprint in (TSS2_CAR - RADAR_ACC_CAR) else cp
 
     if self.CP.carFingerprint in (TSS2_CAR | RADAR_ACC_CAR):
-      self.acc_type = cp_acc.vl["ACC_CONTROL"]["ACC_TYPE"]
+      if not (self.CP.flags & ToyotaFlags.SMART_DSU.value):
+        self.acc_type = cp_acc.vl["ACC_CONTROL"]["ACC_TYPE"]
       ret.stockFcw = bool(cp_acc.vl["ACC_HUD"]["FCW"])
 
     # some TSS2 cars have low speed lockout permanently set, so ignore on those cars
@@ -235,12 +236,17 @@ class CarState(CarStateBase):
       checks.append(("BSM", 1))
 
     if CP.carFingerprint in RADAR_ACC_CAR:
+      if not CP.flags & ToyotaFlags.SMART_DSU.value:
+        signals += [
+          ("ACC_TYPE", "ACC_CONTROL"),
+        ]
+        checks += [
+          ("ACC_CONTROL", 33),
+        ]
       signals += [
-        ("ACC_TYPE", "ACC_CONTROL"),
         ("FCW", "ACC_HUD"),
       ]
       checks += [
-        ("ACC_CONTROL", 33),
         ("ACC_HUD", 1),
       ]
 
diff --git a/selfdrive/car/toyota/interface.py b/selfdrive/car/toyota/interface.py
index 33a87451e9..6e8664c340 100644
--- a/selfdrive/car/toyota/interface.py
+++ b/selfdrive/car/toyota/interface.py
@@ -201,14 +201,18 @@ class CarInterface(CarInterfaceBase):
                                                                          tire_stiffness_factor=tire_stiffness_factor)
 
     ret.enableBsm = 0x3F6 in fingerprint[0] and candidate in TSS2_CAR
-    # Detect smartDSU, which intercepts ACC_CMD from the DSU allowing openpilot to send it
-    smartDsu = 0x2FF in fingerprint[0]
-    # In TSS2 cars the camera does long control
+
+    # Detect smartDSU, which intercepts ACC_CMD from the DSU (or radar) allowing openpilot to send it
+    if 0x2FF in fingerprint[0]:
+      ret.flags |= ToyotaFlags.SMART_DSU.value
+
+    # In TSS2 cars, the camera does long control
     found_ecus = [fw.ecu for fw in car_fw]
-    ret.enableDsu = len(found_ecus) > 0 and Ecu.dsu not in found_ecus and candidate not in (NO_DSU_CAR | UNSUPPORTED_DSU_CAR) and not smartDsu
+    ret.enableDsu = len(found_ecus) > 0 and Ecu.dsu not in found_ecus and candidate not in (NO_DSU_CAR | UNSUPPORTED_DSU_CAR) and not (ret.flags & ToyotaFlags.SMART_DSU)
     ret.enableGasInterceptor = 0x201 in fingerprint[0]
+
     # if the smartDSU is detected, openpilot can send ACC_CMD (and the smartDSU will block it from the DSU) or not (the DSU is "connected")
-    ret.openpilotLongitudinalControl = smartDsu or ret.enableDsu or candidate in (TSS2_CAR - RADAR_ACC_CAR)
+    ret.openpilotLongitudinalControl = bool(ret.flags & ToyotaFlags.SMART_DSU) or ret.enableDsu or candidate in (TSS2_CAR - RADAR_ACC_CAR)
     ret.autoResumeSng = ret.openpilotLongitudinalControl and candidate in NO_STOP_TIMER_CAR
 
     if not ret.openpilotLongitudinalControl:
diff --git a/selfdrive/car/toyota/values.py b/selfdrive/car/toyota/values.py
index f0e846cc54..8584c6b078 100644
--- a/selfdrive/car/toyota/values.py
+++ b/selfdrive/car/toyota/values.py
@@ -33,6 +33,7 @@ class CarControllerParams:
 
 class ToyotaFlags(IntFlag):
   HYBRID = 1
+  SMART_DSU = 2
 
 
 class CAR:

From cddb7c37e6a3e267d568725f6ed70a1dd24ff3b7 Mon Sep 17 00:00:00 2001
From: Adeeb Shihadeh <adeebshihadeh@gmail.com>
Date: Sat, 1 Apr 2023 16:05:51 -0700
Subject: [PATCH 12/88] ci: locationd cpu has increased a bit

---
 selfdrive/test/test_onroad.py | 2 +-
 1 file changed, 1 insertion(+), 1 deletion(-)

diff --git a/selfdrive/test/test_onroad.py b/selfdrive/test/test_onroad.py
index 07a3c61bc5..81d68aa877 100755
--- a/selfdrive/test/test_onroad.py
+++ b/selfdrive/test/test_onroad.py
@@ -25,7 +25,7 @@ PROCS = {
   "./loggerd": 10.0,
   "./encoderd": 17.0,
   "./camerad": 14.5,
-  "./locationd": 9.1,
+  "./locationd": 11.0,
   "selfdrive.controls.plannerd": 16.5,
   "./_ui": 19.2,
   "selfdrive.locationd.paramsd": 9.0,

From a0364303906380def2d686e57b3e415e1dda74d2 Mon Sep 17 00:00:00 2001
From: Dean Lee <deanlee3@gmail.com>
Date: Sun, 2 Apr 2023 07:29:06 +0800
Subject: [PATCH 13/88] cabana: static link to opendbc (#27409)

* static link to opendbc

* bump opendbc

* cleanup

* bump opendbc

---------

Co-authored-by: Adeeb Shihadeh <adeebshihadeh@gmail.com>
---
 SConstruct                     |  3 ---
 opendbc                        |  2 +-
 tools/cabana/.gitignore        |  4 ++--
 tools/cabana/README.md         |  2 +-
 tools/cabana/SConscript        | 12 +++++-------
 tools/cabana/cabana            |  4 ----
 tools/cabana/tests/test_cabana |  4 ----
 7 files changed, 9 insertions(+), 22 deletions(-)
 delete mode 100755 tools/cabana/cabana
 delete mode 100755 tools/cabana/tests/test_cabana

diff --git a/SConstruct b/SConstruct
index 387d2e76f4..4ff4cf487f 100644
--- a/SConstruct
+++ b/SConstruct
@@ -434,9 +434,6 @@ SConscript(['selfdrive/navd/SConscript'])
 
 if arch in ['x86_64', 'Darwin'] or GetOption('extras'):
   SConscript(['tools/replay/SConscript'])
-
-  opendbc = abspath([File('opendbc/can/libdbc.so')])
-  Export('opendbc')
   SConscript(['tools/cabana/SConscript'])
 
 external_sconscript = GetOption('external_sconscript')
diff --git a/opendbc b/opendbc
index b7d4a6e271..9a1de83e4b 160000
--- a/opendbc
+++ b/opendbc
@@ -1 +1 @@
-Subproject commit b7d4a6e2718d9ec3cf436441696528bedb1d44cf
+Subproject commit 9a1de83e4b0625c38c6bc677a762528b7026aa5e
diff --git a/tools/cabana/.gitignore b/tools/cabana/.gitignore
index c74ab7483c..c3f5ef2b69 100644
--- a/tools/cabana/.gitignore
+++ b/tools/cabana/.gitignore
@@ -1,7 +1,7 @@
 moc_*
 *.moc
 
-_cabana
+cabana
 settings
 dbc/car_fingerprint_to_dbc.json
-tests/_test_cabana
+tests/test_cabana
diff --git a/tools/cabana/README.md b/tools/cabana/README.md
index db247c39c5..4faa7c61d0 100644
--- a/tools/cabana/README.md
+++ b/tools/cabana/README.md
@@ -8,7 +8,7 @@ Cabana is a tool developed to view raw CAN data. One use for this is creating an
 
 ```bash
 $ ./cabana -h
-Usage: ./_cabana [options] route
+Usage: ./cabana [options] route
 
 Options:
   -h, --help             Displays this help.
diff --git a/tools/cabana/SConscript b/tools/cabana/SConscript
index 7d5129fc16..d6c2779ac3 100644
--- a/tools/cabana/SConscript
+++ b/tools/cabana/SConscript
@@ -1,6 +1,6 @@
 import os
 Import('env', 'qt_env', 'arch', 'common', 'messaging', 'visionipc', 'replay_lib',
-       'cereal', 'transformations', 'widgets', 'opendbc')
+       'cereal', 'transformations', 'widgets')
 
 base_frameworks = qt_env['FRAMEWORKS']
 base_libs = [common, messaging, cereal, visionipc, transformations, 'zmq',
@@ -15,8 +15,9 @@ else:
 
 qt_libs = ['qt_util'] + base_libs
 
-cabana_libs = [widgets, cereal, messaging, visionipc, replay_lib, opendbc,'avutil', 'avcodec', 'avformat', 'bz2', 'curl', 'yuv'] + qt_libs
 cabana_env = qt_env.Clone()
+cabana_env["LIBPATH"] += ['../../opendbc/can']
+cabana_libs = [widgets, cereal, messaging, visionipc, replay_lib, 'libdbc_static', 'avutil', 'avcodec', 'avformat', 'bz2', 'curl', 'yuv'] + qt_libs
 opendbc_path = '-DOPENDBC_FILE_PATH=\'"%s"\'' % (cabana_env.Dir("../../opendbc").abspath)
 cabana_env['CXXFLAGS'] += [opendbc_path]
 
@@ -31,13 +32,10 @@ cabana_env['QT_MOCHPREFIX'] = os.path.dirname(prev_moc_path) + '/cabana/moc_'
 cabana_lib = cabana_env.Library("cabana_lib", ['mainwin.cc', 'streams/livestream.cc', 'streams/abstractstream.cc', 'streams/replaystream.cc', 'binaryview.cc', 'chartswidget.cc', 'historylog.cc', 'videowidget.cc', 'signalview.cc', 
                                                'dbc/dbc.cc', 'dbc/dbcfile.cc', 'dbc/dbcmanager.cc',
                                                'commands.cc', 'messageswidget.cc', 'route.cc', 'settings.cc', 'util.cc', 'detailwidget.cc', 'tools/findsimilarbits.cc'], LIBS=cabana_libs, FRAMEWORKS=base_frameworks)
-cabana_env.Program('_cabana', ['cabana.cc', cabana_lib, assets], LIBS=cabana_libs, FRAMEWORKS=base_frameworks)
-
-if arch == "Darwin":
-  cabana_env.Execute('install_name_tool -change opendbc/can/libdbc.dylib @loader_path/../../opendbc/can/libdbc.dylib ./_cabana')
+cabana_env.Program('cabana', ['cabana.cc', cabana_lib, assets], LIBS=cabana_libs, FRAMEWORKS=base_frameworks)
 
 if GetOption('test'):
-  cabana_env.Program('tests/_test_cabana', ['tests/test_runner.cc', 'tests/test_cabana.cc', cabana_lib], LIBS=[cabana_libs])
+  cabana_env.Program('tests/test_cabana', ['tests/test_runner.cc', 'tests/test_cabana.cc', cabana_lib], LIBS=[cabana_libs])
 
 def generate_dbc_json(target, source, env):
   env.Execute('tools/cabana/dbc/generate_dbc_json.py --out tools/cabana/dbc/car_fingerprint_to_dbc.json')
diff --git a/tools/cabana/cabana b/tools/cabana/cabana
deleted file mode 100755
index 14647b6a10..0000000000
--- a/tools/cabana/cabana
+++ /dev/null
@@ -1,4 +0,0 @@
-#!/bin/sh
-cd "$(dirname "$0")"
-export LD_LIBRARY_PATH="../../opendbc/can:$LD_LIBRARY_PATH"
-exec ./_cabana "$@"
diff --git a/tools/cabana/tests/test_cabana b/tools/cabana/tests/test_cabana
deleted file mode 100755
index bac242fbdd..0000000000
--- a/tools/cabana/tests/test_cabana
+++ /dev/null
@@ -1,4 +0,0 @@
-#!/bin/sh
-cd "$(dirname "$0")"
-export LD_LIBRARY_PATH="../../../opendbc/can:$LD_LIBRARY_PATH"
-exec ./_test_cabana "$1"

From 0cee9d4e789d2daa1c6da85231912b53576fd00d Mon Sep 17 00:00:00 2001
From: Dean Lee <deanlee3@gmail.com>
Date: Mon, 3 Apr 2023 02:34:01 +0800
Subject: [PATCH 14/88] cabana: significantly reduce CPU usage by caching chart
 to pixmap (#27786)

* caching chart to pixmap

* cleanup

* fill with QPalette::Base
---
 tools/cabana/chartswidget.cc | 62 +++++++++++++++++++++++++-----------
 tools/cabana/chartswidget.h  |  6 ++--
 2 files changed, 48 insertions(+), 20 deletions(-)

diff --git a/tools/cabana/chartswidget.cc b/tools/cabana/chartswidget.cc
index df6bf0c8b7..7fae43ceb9 100644
--- a/tools/cabana/chartswidget.cc
+++ b/tools/cabana/chartswidget.cc
@@ -385,19 +385,18 @@ ChartView::ChartView(QWidget *parent) : tip_label(this), QChartView(nullptr, par
   chart->legend()->setShowToolTips(true);
   chart->setMargins({0, 0, 0, 0});
 
-  background = new QGraphicsRectItem(chart);
-  background->setBrush(QApplication::palette().color(QPalette::Base));
-  background->setPen(Qt::NoPen);
-  background->setZValue(chart->zValue() - 1);
-
   setChart(chart);
 
   createToolButtons();
-  setRenderHint(QPainter::Antialiasing);
   // TODO: enable zoomIn/seekTo in live streaming mode.
   setRubberBand(can->liveStreaming() ? QChartView::NoRubberBand : QChartView::HorizontalRubberBand);
   setMouseTracking(true);
 
+  QObject::connect(axis_x, &QValueAxis::rangeChanged, [this]() { resetChartCache(); });
+  QObject::connect(axis_y, &QValueAxis::rangeChanged, [this]() { resetChartCache(); });
+  QObject::connect(axis_y, &QAbstractAxis::titleTextChanged, [this]() { resetChartCache(); });
+  QObject::connect(chart, &QChart::plotAreaChanged, [this]() { resetChartCache(); });
+
   QObject::connect(dbc(), &DBCManager::signalRemoved, this, &ChartView::signalRemoved);
   QObject::connect(dbc(), &DBCManager::signalUpdated, this, &ChartView::signalUpdated);
   QObject::connect(dbc(), &DBCManager::msgRemoved, this, &ChartView::msgRemoved);
@@ -474,6 +473,7 @@ void ChartView::removeIf(std::function<bool(const SigItem &s)> predicate) {
     emit remove();
   } else if (sigs.size() != prev_size) {
     updateAxisY();
+    resetChartCache();
   }
 }
 
@@ -515,15 +515,14 @@ void ChartView::resizeEvent(QResizeEvent *event) {
   manage_btn_proxy->setPos(x, top);
   chart()->legend()->setGeometry({move_icon->sceneBoundingRect().topRight(), manage_btn_proxy->sceneBoundingRect().bottomLeft()});
   if (align_to > 0) {
-    updatePlotArea(align_to);
+    updatePlotArea(align_to, true);
   }
   QChartView::resizeEvent(event);
 }
 
-void ChartView::updatePlotArea(int left_pos) {
-  if (align_to != left_pos || rect() != background->rect()) {
+void ChartView::updatePlotArea(int left_pos, bool force) {
+  if (align_to != left_pos || force) {
     align_to = left_pos;
-    background->setRect(rect());
 
     qreal left, top, right, bottom;
     chart()->layout()->getContentsMargins(&left, &top, &right, &bottom);
@@ -532,9 +531,6 @@ void ChartView::updatePlotArea(int left_pos) {
     int adjust_top = chart()->legend()->geometry().height() + style()->pixelMetric(QStyle::PM_LayoutTopMargin);
     chart()->setPlotArea(rect().adjusted(align_to + left, adjust_top + top, -x_label_size.width() / 2 - right, -x_label_size.height() - bottom));
     chart()->layout()->invalidate();
-    if (can->isPaused()) {
-      update();
-    }
   }
 }
 
@@ -546,6 +542,7 @@ void ChartView::updateTitle() {
     auto decoration = s.series->isVisible() ? "none" : "line-through";
     s.series->setName(QString("<span style=\"text-decoration:%1\"><b>%2</b> <font color=\"gray\">%3 %4</font></span>").arg(decoration, s.sig->name, msgName(s.msg_id), s.msg_id.toString()));
   }
+  resetChartCache();
 }
 
 void ChartView::updatePlot(double cur, double min, double max) {
@@ -555,7 +552,7 @@ void ChartView::updatePlot(double cur, double min, double max) {
     updateAxisY();
     updateSeriesPoints();
   }
-  scene()->update();
+  viewport()->update();
 }
 
 void ChartView::updateSeriesPoints() {
@@ -617,6 +614,7 @@ void ChartView::updateSeries(const cabana::Signal *sig) {
     }
   }
   updateAxisY();
+  resetChartCache();
 }
 
 // auto zoom on yaxis
@@ -752,7 +750,7 @@ void ChartView::mouseReleaseEvent(QMouseEvent *event) {
     } else if (rubber->width() > 10) {
       emit zoomIn(min_rounded, max_rounded);
     } else {
-      scene()->update();
+      viewport()->update();
     }
     event->accept();
   } else if (!can->liveStreaming() && event->button() == Qt::RightButton) {
@@ -798,7 +796,7 @@ void ChartView::mouseMoveEvent(QMouseEvent *ev) {
     if (rubber_rect != rubber->geometry()) {
       rubber->setGeometry(rubber_rect);
     }
-    scene()->update();
+    viewport()->update();
   }
 }
 
@@ -822,13 +820,13 @@ void ChartView::showTip(double sec) {
   QPointF tooltip_pt(x, chart()->plotArea().top());
   int plot_right = mapToGlobal(chart()->plotArea().topRight().toPoint()).x();
   tip_label.showText(mapToGlobal(tooltip_pt.toPoint()), "<p style='white-space:pre'>" + text_list.join("<br />") + "</p>", plot_right);
-  scene()->update();
+  viewport()->update();
 }
 
 void ChartView::hideTip() {
   clearTrackPoints();
   tip_label.hide();
-  scene()->update();
+  viewport()->update();
 }
 
 void ChartView::dragMoveEvent(QDragMoveEvent *event) {
@@ -858,6 +856,34 @@ void ChartView::dropEvent(QDropEvent *event) {
   }
 }
 
+void ChartView::resetChartCache() {
+  chart_pixmap = QPixmap();
+  viewport()->update();
+}
+
+void ChartView::paintEvent(QPaintEvent *event) {
+  if (!can->liveStreaming()) {
+    if (chart_pixmap.isNull()) {
+      const qreal dpr = viewport()->devicePixelRatioF();
+      chart_pixmap = QPixmap(viewport()->size() * dpr);
+      chart_pixmap.setDevicePixelRatio(dpr);
+      chart_pixmap.fill(palette().color(QPalette::Base));
+      QPainter p(&chart_pixmap);
+      p.setRenderHints(QPainter::Antialiasing);
+      scene()->setSceneRect(viewport()->rect());
+      scene()->render(&p);
+    }
+
+    QPainter painter(viewport());
+    painter.setRenderHints(QPainter::Antialiasing);
+    painter.drawPixmap(QPoint(), chart_pixmap);
+    QRectF exposed_rect = mapToScene(event->region().boundingRect()).boundingRect();
+    drawForeground(&painter, exposed_rect);
+  } else {
+    QChartView::paintEvent(event);
+  }
+}
+
 void ChartView::drawForeground(QPainter *painter, const QRectF &rect) {
   // draw time line
   qreal x = chart()->mapToPosition(QPointF{cur_sec, 0}).x();
diff --git a/tools/cabana/chartswidget.h b/tools/cabana/chartswidget.h
index 98ceb02674..f4cc681ff0 100644
--- a/tools/cabana/chartswidget.h
+++ b/tools/cabana/chartswidget.h
@@ -42,7 +42,7 @@ public:
   void updateSeries(const cabana::Signal *sig = nullptr);
   void updatePlot(double cur, double min, double max);
   void setSeriesType(SeriesType type);
-  void updatePlotArea(int left);
+  void updatePlotArea(int left, bool force = false);
   void showTip(double sec);
   void hideTip();
 
@@ -88,6 +88,8 @@ private:
   QSize sizeHint() const override { return {CHART_MIN_WIDTH, settings.chart_height}; }
   void updateAxisY();
   void updateTitle();
+  void resetChartCache();
+  void paintEvent(QPaintEvent *event) override;
   void drawForeground(QPainter *painter, const QRectF &rect) override;
   std::tuple<double, double, int> getNiceAxisNumbers(qreal min, qreal max, int tick_count);
   qreal niceNumber(qreal x, bool ceiling);
@@ -103,7 +105,6 @@ private:
   QGraphicsPixmapItem *move_icon;
   QGraphicsProxyWidget *close_btn_proxy;
   QGraphicsProxyWidget *manage_btn_proxy;
-  QGraphicsRectItem *background;
   ValueTipLabel tip_label;
   QList<SigItem> sigs;
   double cur_sec = 0;
@@ -111,6 +112,7 @@ private:
   SeriesType series_type = SeriesType::Line;
   bool is_scrubbing = false;
   bool resume_after_scrub = false;
+  QPixmap chart_pixmap;
   friend class ChartsWidget;
  };
 

From c56872265a126a0e8feda8bb21225e885ea6e941 Mon Sep 17 00:00:00 2001
From: Dean Lee <deanlee3@gmail.com>
Date: Mon, 3 Apr 2023 02:34:10 +0800
Subject: [PATCH 15/88] cabana: support toggle between light / dark theme
 (#27787)

add dark theme
---
 tools/cabana/cabana.cc       |  1 +
 tools/cabana/chartswidget.cc |  4 +---
 tools/cabana/chartswidget.h  |  1 -
 tools/cabana/mainwin.cc      |  1 +
 tools/cabana/settings.cc     |  9 +++++++++
 tools/cabana/settings.h      |  2 ++
 tools/cabana/util.cc         | 38 +++++++++++++++++++++++++++++++++---
 tools/cabana/util.h          |  1 +
 8 files changed, 50 insertions(+), 7 deletions(-)

diff --git a/tools/cabana/cabana.cc b/tools/cabana/cabana.cc
index 5c182f435f..329b6070ae 100644
--- a/tools/cabana/cabana.cc
+++ b/tools/cabana/cabana.cc
@@ -15,6 +15,7 @@ int main(int argc, char *argv[]) {
   QApplication app(argc, argv);
   app.setApplicationDisplayName("Cabana");
   app.setWindowIcon(QIcon(":cabana-icon.png"));
+  utils::setTheme(settings.theme);
 
   QCommandLineParser cmd_parser;
   cmd_parser.addHelpOption();
diff --git a/tools/cabana/chartswidget.cc b/tools/cabana/chartswidget.cc
index 7fae43ceb9..c2ef7c17c1 100644
--- a/tools/cabana/chartswidget.cc
+++ b/tools/cabana/chartswidget.cc
@@ -85,8 +85,6 @@ ChartsWidget::ChartsWidget(QWidget *parent) : align_timer(this), QFrame(parent)
   main_layout->addWidget(charts_scroll);
 
   // init settings
-  use_dark_theme = QApplication::palette().color(QPalette::WindowText).value() >
-                   QApplication::palette().color(QPalette::Background).value();
   column_count = std::clamp(settings.chart_column_count, 1, MAX_COLUMN_COUNT);
   max_chart_range = std::clamp(settings.chart_range, 1, settings.max_cached_minutes * 60);
   display_range = {0, max_chart_range};
@@ -231,7 +229,7 @@ ChartView *ChartsWidget::createChart() {
   chart->setFixedHeight(settings.chart_height);
   chart->setMinimumWidth(CHART_MIN_WIDTH);
   chart->setSizePolicy(QSizePolicy::MinimumExpanding, QSizePolicy::Fixed);
-  chart->chart()->setTheme(use_dark_theme ? QChart::QChart::ChartThemeDark : QChart::ChartThemeLight);
+  chart->chart()->setTheme(settings.theme == 2 ? QChart::QChart::ChartThemeDark : QChart::ChartThemeLight);
   QObject::connect(chart, &ChartView::remove, [=]() { removeChart(chart); });
   QObject::connect(chart, &ChartView::zoomIn, this, &ChartsWidget::zoomIn);
   QObject::connect(chart, &ChartView::zoomUndo, this, &ChartsWidget::zoomUndo);
diff --git a/tools/cabana/chartswidget.h b/tools/cabana/chartswidget.h
index f4cc681ff0..a88b3185af 100644
--- a/tools/cabana/chartswidget.h
+++ b/tools/cabana/chartswidget.h
@@ -173,7 +173,6 @@ private:
   std::pair<double, double> display_range;
   std::pair<double, double> zoomed_range;
   QStack<QPair<double, double>> zoom_stack;
-  bool use_dark_theme = false;
   QAction *columns_action;
   int column_count = 1;
   int current_column_count = 0;
diff --git a/tools/cabana/mainwin.cc b/tools/cabana/mainwin.cc
index c979a20f16..892dfdb91f 100644
--- a/tools/cabana/mainwin.cc
+++ b/tools/cabana/mainwin.cc
@@ -541,6 +541,7 @@ void MainWindow::updateDownloadProgress(uint64_t cur, uint64_t total, bool succe
 
 void MainWindow::updateStatus() {
   status_label->setText(tr("Cached Minutes:%1 FPS:%2").arg(settings.max_cached_minutes).arg(settings.fps));
+  utils::setTheme(settings.theme);
 }
 
 void MainWindow::dockCharts(bool dock) {
diff --git a/tools/cabana/settings.cc b/tools/cabana/settings.cc
index 9e829708b1..a18b8a9ad6 100644
--- a/tools/cabana/settings.cc
+++ b/tools/cabana/settings.cc
@@ -27,6 +27,7 @@ void Settings::save() {
   s.setValue("recent_files", recent_files);
   s.setValue("message_header_state", message_header_state);
   s.setValue("chart_series_type", chart_series_type);
+  s.setValue("theme", theme);
   s.setValue("sparkline_range", sparkline_range);
 }
 
@@ -45,6 +46,7 @@ void Settings::load() {
   recent_files = s.value("recent_files").toStringList();
   message_header_state = s.value("message_header_state").toByteArray();
   chart_series_type = s.value("chart_series_type", 0).toInt();
+  theme = s.value("theme", 0).toInt();
   sparkline_range = s.value("sparkline_range", 15).toInt();
 }
 
@@ -54,6 +56,12 @@ SettingsDlg::SettingsDlg(QWidget *parent) : QDialog(parent) {
   setWindowTitle(tr("Settings"));
   QFormLayout *form_layout = new QFormLayout(this);
 
+  theme = new QComboBox(this);
+  theme->setToolTip(tr("You may need to restart cabana after changes theme"));
+  theme->addItems({tr("Automatic"), tr("Light"), tr("Dark")});
+  theme->setCurrentIndex(settings.theme);
+  form_layout->addRow(tr("Color Theme"), theme);
+
   fps = new QSpinBox(this);
   fps->setRange(10, 100);
   fps->setSingleStep(10);
@@ -87,6 +95,7 @@ SettingsDlg::SettingsDlg(QWidget *parent) : QDialog(parent) {
 
 void SettingsDlg::save() {
   settings.fps = fps->value();
+  settings.theme = theme->currentIndex();
   settings.max_cached_minutes = cached_minutes->value();
   settings.chart_series_type = chart_series_type->currentIndex();
   settings.chart_height = chart_height->value();
diff --git a/tools/cabana/settings.h b/tools/cabana/settings.h
index a8b6d189a5..8076cbf36d 100644
--- a/tools/cabana/settings.h
+++ b/tools/cabana/settings.h
@@ -19,6 +19,7 @@ public:
   int chart_column_count = 1;
   int chart_range = 3 * 60; // 3 minutes
   int chart_series_type = 0;
+  int theme = 0;
   int sparkline_range = 15; // 15 seconds
   QString last_dir;
   QString last_route_dir;
@@ -42,6 +43,7 @@ public:
   QSpinBox *cached_minutes;
   QSpinBox *chart_height;
   QComboBox *chart_series_type;
+  QComboBox *theme;
 };
 
 extern Settings settings;
diff --git a/tools/cabana/util.cc b/tools/cabana/util.cc
index e5a9749103..8a25b11cbf 100644
--- a/tools/cabana/util.cc
+++ b/tools/cabana/util.cc
@@ -8,6 +8,7 @@
 #include <limits>
 
 #include "selfdrive/ui/qt/util.h"
+#include "tools/cabana/settings.h"
 
 static QColor blend(QColor a, QColor b) {
   return QColor((a.red() + b.red()) / 2, (a.green() + b.green()) / 2, (a.blue() + b.blue()) / 2, (a.alpha() + b.alpha()) / 2);
@@ -145,8 +146,7 @@ QValidator::State NameValidator::validate(QString &input, int &pos) const {
 
 namespace utils {
 QPixmap icon(const QString &id) {
-  static bool dark_theme = QApplication::palette().color(QPalette::WindowText).value() >
-                           QApplication::palette().color(QPalette::Background).value();
+  bool dark_theme = settings.theme == 2;
   QPixmap pm;
   QString key = "bootstrap_" % id % (dark_theme ? "1" : "0");
   if (!QPixmapCache::find(key, &pm)) {
@@ -154,12 +154,44 @@ QPixmap icon(const QString &id) {
     if (dark_theme) {
       QPainter p(&pm);
       p.setCompositionMode(QPainter::CompositionMode_SourceIn);
-      p.fillRect(pm.rect(), Qt::lightGray);
+      p.fillRect(pm.rect(), Qt::white);
     }
     QPixmapCache::insert(key, pm);
   }
   return pm;
 }
+
+void setTheme(int theme) {
+  auto style = QApplication::style();
+  if (!style) return;
+
+  static int prev_theme = 0;
+  if (theme != prev_theme) {
+    prev_theme = theme;
+    if (theme == 2) {
+      // modify palette to dark
+      QPalette darkPalette;
+      darkPalette.setColor(QPalette::Window, QColor(53, 53, 53));
+      darkPalette.setColor(QPalette::WindowText, Qt::white);
+      darkPalette.setColor(QPalette::Base, QColor(25, 25, 25));
+      darkPalette.setColor(QPalette::AlternateBase, QColor(53, 53, 53));
+      darkPalette.setColor(QPalette::ToolTipBase, Qt::white);
+      darkPalette.setColor(QPalette::ToolTipText, QColor(41, 41, 41));
+      darkPalette.setColor(QPalette::Text, Qt::white);
+      darkPalette.setColor(QPalette::Button, QColor(53, 53, 53));
+      darkPalette.setColor(QPalette::ButtonText, Qt::white);
+      darkPalette.setColor(QPalette::BrightText, Qt::red);
+      darkPalette.setColor(QPalette::Link, QColor(42, 130, 218));
+      darkPalette.setColor(QPalette::Highlight, QColor(42, 130, 218));
+      darkPalette.setColor(QPalette::HighlightedText, Qt::black);
+      qApp->setPalette(darkPalette);
+    } else {
+      qApp->setPalette(style->standardPalette());
+    }
+    style->polish(qApp);
+  }
+}
+
 }  // namespace utils
 
 QToolButton *toolButton(const QString &icon, const QString &tooltip) {
diff --git a/tools/cabana/util.h b/tools/cabana/util.h
index e90a838af8..e0fe4ad036 100644
--- a/tools/cabana/util.h
+++ b/tools/cabana/util.h
@@ -98,6 +98,7 @@ public:
 
 namespace utils {
 QPixmap icon(const QString &id);
+void setTheme(int theme);
 inline QString formatSeconds(int seconds) {
   return QDateTime::fromTime_t(seconds).toString(seconds > 60 * 60 ? "hh:mm:ss" : "mm:ss");
 }

From d16ee6ecc8f38c90da4798f0eeacbfd0c3118de4 Mon Sep 17 00:00:00 2001
From: Adeeb Shihadeh <adeebshihadeh@gmail.com>
Date: Sun, 2 Apr 2023 12:59:13 -0700
Subject: [PATCH 16/88] boardd: log voltage and current from panda (#27789)

* boardd: log voltage and current from panda

* bump cereal
---
 cereal                     | 2 +-
 selfdrive/boardd/boardd.cc | 2 ++
 2 files changed, 3 insertions(+), 1 deletion(-)

diff --git a/cereal b/cereal
index d70d215de6..5827c4e17e 160000
--- a/cereal
+++ b/cereal
@@ -1 +1 @@
-Subproject commit d70d215de6c584f671272d2de2f46a4f778e9f14
+Subproject commit 5827c4e17ef0c6bb3de24f987ca2f5e0fb3f464b
diff --git a/selfdrive/boardd/boardd.cc b/selfdrive/boardd/boardd.cc
index 8f045c2a69..ec8be95f94 100644
--- a/selfdrive/boardd/boardd.cc
+++ b/selfdrive/boardd/boardd.cc
@@ -363,6 +363,8 @@ std::optional<bool> send_panda_states(PubMaster *pm, const std::vector<Panda *>
     }
 
     auto ps = pss[i];
+    ps.setVoltage(health.voltage_pkt);
+    ps.setCurrent(health.current_pkt);
     ps.setUptime(health.uptime_pkt);
     ps.setSafetyTxBlocked(health.safety_tx_blocked_pkt);
     ps.setSafetyRxInvalid(health.safety_rx_invalid_pkt);

From 7c7347a9e6e108386bc5f85e214ca07a2e3ea0ee Mon Sep 17 00:00:00 2001
From: Dean Lee <deanlee3@gmail.com>
Date: Tue, 4 Apr 2023 03:50:29 +0800
Subject: [PATCH 17/88] cabana: dynamic update chart tooltip (#27790)

dynamic update tooltip

dont emit serieschanged if no charts
---
 tools/cabana/chartswidget.cc | 38 +++++++++++++++++++++++-------------
 tools/cabana/chartswidget.h  |  1 +
 2 files changed, 25 insertions(+), 14 deletions(-)

diff --git a/tools/cabana/chartswidget.cc b/tools/cabana/chartswidget.cc
index c2ef7c17c1..a221cbe445 100644
--- a/tools/cabana/chartswidget.cc
+++ b/tools/cabana/chartswidget.cc
@@ -311,12 +311,14 @@ void ChartsWidget::removeChart(ChartView *chart) {
 }
 
 void ChartsWidget::removeAll() {
-  for (auto c : charts) {
-    c->deleteLater();
+  if (!charts.isEmpty()) {
+    for (auto c : charts) {
+      c->deleteLater();
+    }
+    charts.clear();
+    updateToolBar();
+    emit seriesChanged();
   }
-  charts.clear();
-  updateToolBar();
-  emit seriesChanged();
 }
 
 void ChartsWidget::alignCharts() {
@@ -390,10 +392,8 @@ ChartView::ChartView(QWidget *parent) : tip_label(this), QChartView(nullptr, par
   setRubberBand(can->liveStreaming() ? QChartView::NoRubberBand : QChartView::HorizontalRubberBand);
   setMouseTracking(true);
 
-  QObject::connect(axis_x, &QValueAxis::rangeChanged, [this]() { resetChartCache(); });
   QObject::connect(axis_y, &QValueAxis::rangeChanged, [this]() { resetChartCache(); });
   QObject::connect(axis_y, &QAbstractAxis::titleTextChanged, [this]() { resetChartCache(); });
-  QObject::connect(chart, &QChart::plotAreaChanged, [this]() { resetChartCache(); });
 
   QObject::connect(dbc(), &DBCManager::signalRemoved, this, &ChartView::signalRemoved);
   QObject::connect(dbc(), &DBCManager::signalUpdated, this, &ChartView::signalUpdated);
@@ -529,6 +529,7 @@ void ChartView::updatePlotArea(int left_pos, bool force) {
     int adjust_top = chart()->legend()->geometry().height() + style()->pixelMetric(QStyle::PM_LayoutTopMargin);
     chart()->setPlotArea(rect().adjusted(align_to + left, adjust_top + top, -x_label_size.width() / 2 - right, -x_label_size.height() - bottom));
     chart()->layout()->invalidate();
+    resetChartCache();
   }
 }
 
@@ -549,6 +550,11 @@ void ChartView::updatePlot(double cur, double min, double max) {
     axis_x->setRange(min, max);
     updateAxisY();
     updateSeriesPoints();
+    // update tooltip
+    if (tooltip_x >= 0) {
+      showTip(chart()->mapToValue({tooltip_x, 0}).x());
+    }
+    resetChartCache();
   }
   viewport()->update();
 }
@@ -799,7 +805,8 @@ void ChartView::mouseMoveEvent(QMouseEvent *ev) {
 }
 
 void ChartView::showTip(double sec) {
-  qreal x = chart()->mapToPosition({sec, 0}).x();
+  tooltip_x = chart()->mapToPosition({sec, 0}).x();
+  qreal x = tooltip_x;
   QStringList text_list(QString::number(chart()->mapToValue({x, 0}).x(), 'f', 3));
   for (auto &s : sigs) {
     if (s.series->isVisible()) {
@@ -808,11 +815,12 @@ void ChartView::showTip(double sec) {
       auto it = std::lower_bound(s.vals.rbegin(), s.vals.rend(), sec, [](auto &p, double x) { return p.x() > x; });
       if (it != s.vals.rend() && it->x() >= axis_x->min()) {
         value = QString::number(it->y());
-        s.track_pt = chart()->mapToPosition(*it);
-        x = std::max(x, s.track_pt.x());
+        s.track_pt = *it;
+        x = std::max(x, chart()->mapToPosition(*it).x());
       }
-      text_list << QString("<span style=\"color:%1;\">■ </span>%2: <b>%3</b> (%4 - %5)")
-                       .arg(s.series->color().name(), s.sig->name, value, QString::number(s.min), QString::number(s.max));
+      QString name = sigs.size() > 1 ? s.sig->name + ": " : "";
+      text_list << QString("<span style=\"color:%1;\">■ </span>%2<b>%3</b> (%4 - %5)")
+                       .arg(s.series->color().name(), name, value, QString::number(s.min), QString::number(s.max));
     }
   }
   QPointF tooltip_pt(x, chart()->plotArea().top());
@@ -823,6 +831,7 @@ void ChartView::showTip(double sec) {
 
 void ChartView::hideTip() {
   clearTrackPoints();
+  tooltip_x = -1;
   tip_label.hide();
   viewport()->update();
 }
@@ -897,8 +906,9 @@ void ChartView::drawForeground(QPainter *painter, const QRectF &rect) {
   for (auto &s : sigs) {
     if (!s.track_pt.isNull() && s.series->isVisible()) {
       painter->setBrush(s.series->color().darker(125));
-      painter->drawEllipse(s.track_pt, 5.5, 5.5);
-      track_line_x = std::max(track_line_x, s.track_pt.x());
+      QPointF pos = chart()->mapToPosition(s.track_pt);
+      painter->drawEllipse(pos, 5.5, 5.5);
+      track_line_x = std::max(track_line_x, pos.x());
     }
   }
   if (track_line_x > 0) {
diff --git a/tools/cabana/chartswidget.h b/tools/cabana/chartswidget.h
index a88b3185af..c3af11eb5d 100644
--- a/tools/cabana/chartswidget.h
+++ b/tools/cabana/chartswidget.h
@@ -113,6 +113,7 @@ private:
   bool is_scrubbing = false;
   bool resume_after_scrub = false;
   QPixmap chart_pixmap;
+  double tooltip_x = -1;
   friend class ChartsWidget;
  };
 

From ea91532ac1d346d4bf8112c11f00ff1889576d63 Mon Sep 17 00:00:00 2001
From: Dean Lee <deanlee3@gmail.com>
Date: Tue, 4 Apr 2023 04:05:49 +0800
Subject: [PATCH 18/88] cabana: fix chart background issue in live mode
 (#27793)

* fix background

* Update tools/cabana/chartswidget.cc

---------

Co-authored-by: Shane Smiskol <shane@smiskol.com>
---
 tools/cabana/chartswidget.cc | 9 +++++++--
 tools/cabana/chartswidget.h  | 1 +
 2 files changed, 8 insertions(+), 2 deletions(-)

diff --git a/tools/cabana/chartswidget.cc b/tools/cabana/chartswidget.cc
index a221cbe445..c072f7d257 100644
--- a/tools/cabana/chartswidget.cc
+++ b/tools/cabana/chartswidget.cc
@@ -358,6 +358,7 @@ bool ChartsWidget::event(QEvent *event) {
     case QEvent::WindowDeactivate:
     case QEvent::FocusIn:
     case QEvent::FocusOut:
+    case QEvent::Leave:
       showValueTip(-1);
       break;
     default:
@@ -618,7 +619,7 @@ void ChartView::updateSeries(const cabana::Signal *sig) {
     }
   }
   updateAxisY();
-  resetChartCache();
+  chart_pixmap = QPixmap();
 }
 
 // auto zoom on yaxis
@@ -874,9 +875,9 @@ void ChartView::paintEvent(QPaintEvent *event) {
       const qreal dpr = viewport()->devicePixelRatioF();
       chart_pixmap = QPixmap(viewport()->size() * dpr);
       chart_pixmap.setDevicePixelRatio(dpr);
-      chart_pixmap.fill(palette().color(QPalette::Base));
       QPainter p(&chart_pixmap);
       p.setRenderHints(QPainter::Antialiasing);
+      drawBackground(&p, viewport()->rect());
       scene()->setSceneRect(viewport()->rect());
       scene()->render(&p);
     }
@@ -891,6 +892,10 @@ void ChartView::paintEvent(QPaintEvent *event) {
   }
 }
 
+void ChartView::drawBackground(QPainter *painter, const QRectF &rect) {
+  painter->fillRect(rect, palette().color(QPalette::Base));
+}
+
 void ChartView::drawForeground(QPainter *painter, const QRectF &rect) {
   // draw time line
   qreal x = chart()->mapToPosition(QPointF{cur_sec, 0}).x();
diff --git a/tools/cabana/chartswidget.h b/tools/cabana/chartswidget.h
index c3af11eb5d..771230e9df 100644
--- a/tools/cabana/chartswidget.h
+++ b/tools/cabana/chartswidget.h
@@ -91,6 +91,7 @@ private:
   void resetChartCache();
   void paintEvent(QPaintEvent *event) override;
   void drawForeground(QPainter *painter, const QRectF &rect) override;
+  void drawBackground(QPainter *painter, const QRectF &rect) override;
   std::tuple<double, double, int> getNiceAxisNumbers(qreal min, qreal max, int tick_count);
   qreal niceNumber(qreal x, bool ceiling);
   QXYSeries *createSeries(SeriesType type, QColor color);

From 8aa03746deb5fddfcdd1b40d9acd327cafb38330 Mon Sep 17 00:00:00 2001
From: Kevin Mahoney <belay.00.theorem@icloud.com>
Date: Mon, 3 Apr 2023 16:18:38 -0400
Subject: [PATCH 19/88] Toyota: add missing HIGHLANDERH_TSS2 FW (#27784)

---
 selfdrive/car/toyota/values.py | 1 +
 1 file changed, 1 insertion(+)

diff --git a/selfdrive/car/toyota/values.py b/selfdrive/car/toyota/values.py
index 8584c6b078..8bae0a3fde 100644
--- a/selfdrive/car/toyota/values.py
+++ b/selfdrive/car/toyota/values.py
@@ -1108,6 +1108,7 @@ FW_VERSIONS = {
       b'\x01F152648J4000\x00\x00\x00\x00',
       b'\x01F152648J5000\x00\x00\x00\x00',
       b'\x01F152648J6000\x00\x00\x00\x00',
+      b'\x01F15264872700\x00\x00\x00\x00',
     ],
     (Ecu.engine, 0x700, None): [
       b'\x01896630E67000\x00\x00\x00\x00',

From 71efca0007f06e368fb00e6af2d53bb2c3373e54 Mon Sep 17 00:00:00 2001
From: Adeeb Shihadeh <adeebshihadeh@gmail.com>
Date: Mon, 3 Apr 2023 13:23:10 -0700
Subject: [PATCH 20/88] bump panda (#27795)

---
 panda | 2 +-
 1 file changed, 1 insertion(+), 1 deletion(-)

diff --git a/panda b/panda
index 8efbcf041c..79708f912d 160000
--- a/panda
+++ b/panda
@@ -1 +1 @@
-Subproject commit 8efbcf041c1b6da1764bb56f822609fd4bb0758f
+Subproject commit 79708f912dc1681c99569b59624de74fa9341a31

From 7471e0b9a70a6d7fd14a3abc661b275b467cfb28 Mon Sep 17 00:00:00 2001
From: John Belmonte <john@neggie.net>
Date: Tue, 4 Apr 2023 05:24:40 +0900
Subject: [PATCH 21/88] Toyota: fingerprint for Japan C-HR hybrid TSS2 (#27776)

fingerprint for Japan C-HR hybrid TSS2

car model: 6AA-ZYX11-AHXNB

route: 2c4292a5cd10536c|2023-04-01--07-13-01
---
 selfdrive/car/toyota/values.py | 2 ++
 1 file changed, 2 insertions(+)

diff --git a/selfdrive/car/toyota/values.py b/selfdrive/car/toyota/values.py
index 8bae0a3fde..0627122bd8 100644
--- a/selfdrive/car/toyota/values.py
+++ b/selfdrive/car/toyota/values.py
@@ -733,12 +733,14 @@ FW_VERSIONS = {
     (Ecu.eps, 0x7a1, None): [
       b'8965B10092\x00\x00\x00\x00\x00\x00',
       b'8965B10091\x00\x00\x00\x00\x00\x00',
+      b'8965B10111\x00\x00\x00\x00\x00\x00',
     ],
     (Ecu.abs, 0x7b0, None): [
       b'F152610041\x00\x00\x00\x00\x00\x00',
     ],
     (Ecu.engine, 0x700, None): [
       b'\x0189663F438000\x00\x00\x00\x00',
+      b'\x02896631025000\x00\x00\x00\x008966A4703000\x00\x00\x00\x00',
       b'\x0289663F453000\x00\x00\x00\x008966A4703000\x00\x00\x00\x00',
     ],
     (Ecu.fwdRadar, 0x750, 15): [

From ef06780e3c09a61fa4016178f687ee22ada89097 Mon Sep 17 00:00:00 2001
From: Saber422 <81108166+Saber422@users.noreply.github.com>
Date: Tue, 4 Apr 2023 04:34:25 +0800
Subject: [PATCH 22/88] VW MQB: add missing FW 2021 TROC MK1 (#27774)
MIME-Version: 1.0
Content-Type: text/plain; charset=UTF-8
Content-Transfer-Encoding: 8bit

I setup my C3 on this TROC to get FW.
Route name：0bbe367c98fa1538|2023-04-01--10-24-01--0
---
 selfdrive/car/volkswagen/values.py | 2 ++
 1 file changed, 2 insertions(+)

diff --git a/selfdrive/car/volkswagen/values.py b/selfdrive/car/volkswagen/values.py
index 9873b628cd..53927ad46e 100755
--- a/selfdrive/car/volkswagen/values.py
+++ b/selfdrive/car/volkswagen/values.py
@@ -837,9 +837,11 @@ FW_VERSIONS = {
       b'\xf1\x8705E906018AT\xf1\x899640',
     ],
     (Ecu.transmission, 0x7e1, None): [
+      b'\xf1\x870CW300050J \xf1\x891911',
       b'\xf1\x870CW300051M \xf1\x891925',
     ],
     (Ecu.srs, 0x715, None): [
+      b'\xf1\x875Q0959655BT\xf1\x890403\xf1\x82\x1311110012333300314240681152119333463100',
       b'\xf1\x875Q0959655CG\xf1\x890421\xf1\x82\x13111100123333003142404M1152119333613100',
     ],
     (Ecu.eps, 0x712, None): [

From 61e718fe5fc270603462cea7fd7ece462802b7b6 Mon Sep 17 00:00:00 2001
From: seven121-ym <73690896+seven121-ym@users.noreply.github.com>
Date: Tue, 4 Apr 2023 05:40:02 +0900
Subject: [PATCH 23/88] Subaru: add FW for 2019 Subaru Impreza (#27771)

* Update values.py

* Update values.py

* Update values.py

* Update values.py

* Add missing engine

---------

Co-authored-by: Shane Smiskol <shane@smiskol.com>
---
 selfdrive/car/subaru/values.py | 2 ++
 1 file changed, 2 insertions(+)

diff --git a/selfdrive/car/subaru/values.py b/selfdrive/car/subaru/values.py
index 9c4447631d..16735acab0 100644
--- a/selfdrive/car/subaru/values.py
+++ b/selfdrive/car/subaru/values.py
@@ -205,6 +205,7 @@ FW_VERSIONS = {
       b'\xc5!dr\x07',
       b'\xaa!aw\x07',
       b'\xaa!av\x07',
+      b'\xaa\x01bt\x07',
     ],
     (Ecu.transmission, 0x7e1, None): [
       b'\xe3\xe5\x46\x31\x00',
@@ -220,6 +221,7 @@ FW_VERSIONS = {
       b'\xe4\xf5\002\000\000',
       b'\xe3\xd0\x081\x00',
       b'\xe3\xf5\x06\x00\x00',
+      b'\xe3\xd5\x161\x00',
     ],
   },
   CAR.IMPREZA_2020: {

From ec39d0515d75e471bf8cfe09832a134113680a09 Mon Sep 17 00:00:00 2001
From: blantona22 <128981671+blantona22@users.noreply.github.com>
Date: Mon, 3 Apr 2023 18:06:21 -0400
Subject: [PATCH 24/88] 2023 Hyundai Sonata FW - Fingerprint (#27782)

* Update values.py

* Update values.py

* Update values.py

Added 2023 Sonata FW

* duplicate

* more duplicates

* remove a multi query duplicate

---------

Co-authored-by: Shane Smiskol <shane@smiskol.com>
---
 selfdrive/car/hyundai/values.py | 4 +++-
 1 file changed, 3 insertions(+), 1 deletion(-)

diff --git a/selfdrive/car/hyundai/values.py b/selfdrive/car/hyundai/values.py
index 7fcc5b9140..94dd35082d 100644
--- a/selfdrive/car/hyundai/values.py
+++ b/selfdrive/car/hyundai/values.py
@@ -540,7 +540,6 @@ FW_VERSIONS = {
       b'\xf1\x00DN8_ SCC FHCUP      1.00 1.00 99110-L0000         ',
       b'\xf1\x00DN8_ SCC FHCUP      1.00 1.01 99110-L1000         ',
       b'\xf1\x00DN89110-L0000         \xaa\xaa\xaa\xaa\xaa\xaa\xaa     ',
-      b'\xf1\x8799110L0000\xf1\x00DN8_ SCC F-CUP      1.00 1.00 99110-L0000         ',
     ],
     (Ecu.abs, 0x7d1, None): [
       b'\xf1\x00DN ESC \x07 106 \x07\x01 58910-L0100',
@@ -549,6 +548,7 @@ FW_VERSIONS = {
       b'\xf1\x00DN ESC \x06 104\x19\x08\x01 58910-L0100',
       b'\xf1\x00DN ESC \x07 104\x19\x08\x01 58910-L0100',
       b'\xf1\x00DN ESC \x08 103\x19\x06\x01 58910-L1300',
+      b'\xf1\x00DN ESC \x07 107"\x08\x07 58910-L0100',
       b'\xf1\x8758910-L0100\xf1\x00DN ESC \x07 106 \x07\x01 58910-L0100',
       b'\xf1\x8758910-L0100\xf1\x00DN ESC \x06 104\x19\x08\x01 58910-L0100',
       b'\xf1\x8758910-L0100\xf1\x00DN ESC \x06 106 \x07\x01 58910-L0100',
@@ -572,6 +572,7 @@ FW_VERSIONS = {
       b'HM6M2_0a0_BD0',
       b'\xf1\x8739110-2S278\xf1\x82DNDVD5GMCCXXXL5B',
       b'\xf1\x8739110-2S041\xf1\x81HM6M1_0a0_M00',
+      b'\xf1\x8739110-2S042\xf1\x81HM6M1_0a0_M00',
       b'\xf1\x81HM6M1_0a0_G20',
     ],
     (Ecu.eps, 0x7d4, None): [
@@ -591,6 +592,7 @@ FW_VERSIONS = {
       b'\xf1\x8757700-L0000\xf1\x00DN8 MDPS R 1.00 1.00 57700-L0000 4DNAP100',
       b'\xf1\x00DN8 MDPS R 1.00 1.00 57700-L0000 4DNAP101',
       b'\xf1\x00DN8 MDPS C 1.00 1.01 56310-L0210 4DNAC102',
+      b'\xf1\x00DN8 MDPS C 1.00 1.01 56310L0200\x00 4DNAC102',
     ],
     (Ecu.fwdCamera, 0x7c4, None): [
       b'\xf1\x00DN8 MFC  AT KOR LHD 1.00 1.02 99211-L1000 190422',

From c5f5a3b5f2063be36497c81526c3a4c42d84beb7 Mon Sep 17 00:00:00 2001
From: Dean Lee <deanlee3@gmail.com>
Date: Wed, 5 Apr 2023 01:46:36 +0800
Subject: [PATCH 25/88] cabana: support undo/redo zoom (#27799)

* support updo/redo zoom

* cleanup eventsMerged

* init axis_x when create chart

* update tool bar after create chart

* align charts after updatelayout
---
 tools/cabana/chartswidget.cc | 62 +++++++++++++++---------------------
 tools/cabana/chartswidget.h  | 26 ++++++++++++---
 2 files changed, 46 insertions(+), 42 deletions(-)

diff --git a/tools/cabana/chartswidget.cc b/tools/cabana/chartswidget.cc
index c072f7d257..20a115ccb6 100644
--- a/tools/cabana/chartswidget.cc
+++ b/tools/cabana/chartswidget.cc
@@ -57,10 +57,16 @@ ChartsWidget::ChartsWidget(QWidget *parent) : align_timer(this), QFrame(parent)
   range_slider->setPageStep(60);  // 1 min
   range_slider_action = toolbar->addWidget(range_slider);
 
-  undo_zoom_action = toolbar->addAction(utils::icon("arrow-counterclockwise"), tr("Previous zoom"));
-  qobject_cast<QToolButton*>(toolbar->widgetForAction(undo_zoom_action))->setToolButtonStyle(Qt::ToolButtonTextBesideIcon);
-
-  reset_zoom_action = toolbar->addAction(utils::icon("zoom-out"), tr("Reset Zoom"));
+  // zoom controls
+  zoom_undo_stack = new QUndoStack(this);
+  undo_zoom_action = zoom_undo_stack->createUndoAction(this);
+  undo_zoom_action->setIcon(utils::icon("arrow-counterclockwise"));
+  toolbar->addAction(undo_zoom_action);
+  redo_zoom_action = zoom_undo_stack->createRedoAction(this);
+  redo_zoom_action->setIcon(utils::icon("arrow-clockwise"));
+  toolbar->addAction(redo_zoom_action);
+  reset_zoom_action = toolbar->addAction(utils::icon("zoom-out"), "");
+  reset_zoom_action->setToolTip(tr("Reset zoom"));
   qobject_cast<QToolButton*>(toolbar->widgetForAction(reset_zoom_action))->setToolButtonStyle(Qt::ToolButtonTextBesideIcon);
 
   remove_all_btn = toolbar->addAction(utils::icon("x"), tr("Remove all charts"));
@@ -99,7 +105,6 @@ ChartsWidget::ChartsWidget(QWidget *parent) : align_timer(this), QFrame(parent)
   QObject::connect(range_slider, &QSlider::valueChanged, this, &ChartsWidget::setMaxChartRange);
   QObject::connect(new_plot_btn, &QAction::triggered, this, &ChartsWidget::newChart);
   QObject::connect(remove_all_btn, &QAction::triggered, this, &ChartsWidget::removeAll);
-  QObject::connect(undo_zoom_action, &QAction::triggered, this, &ChartsWidget::zoomUndo);
   QObject::connect(reset_zoom_action, &QAction::triggered, this, &ChartsWidget::zoomReset);
   QObject::connect(&settings, &Settings::changed, this, &ChartsWidget::settingChanged);
   QObject::connect(dock_btn, &QAction::triggered, [this]() {
@@ -115,14 +120,9 @@ ChartsWidget::ChartsWidget(QWidget *parent) : align_timer(this), QFrame(parent)
 }
 
 void ChartsWidget::eventsMerged() {
-  {
-    QFutureSynchronizer<void> future_synchronizer;
-    for (auto c : charts) {
-      future_synchronizer.addFuture(QtConcurrent::run(c, &ChartView::updateSeries, nullptr));
-    }
-  }
-  if (can->isPaused()) {
-    updateState();
+  QFutureSynchronizer<void> future_synchronizer;
+  for (auto c : charts) {
+    future_synchronizer.addFuture(QtConcurrent::run(c, &ChartView::updateSeries, nullptr));
   }
 }
 
@@ -135,25 +135,12 @@ void ChartsWidget::setZoom(double min, double max) {
 }
 
 void ChartsWidget::zoomIn(double min, double max) {
-  // Save previous zoom on undo stack
-  if (is_zoomed) {
-    zoom_stack.push({zoomed_range.first, zoomed_range.second});
-  }
-  setZoom(min, max);
+  zoom_undo_stack->push(new ZoomCommand(this, {min, max}));
 }
 
 void ChartsWidget::zoomReset() {
   setZoom(display_range.first, display_range.second);
-  zoom_stack.clear();
-}
-
-void ChartsWidget::zoomUndo() {
-  if (!zoom_stack.isEmpty()) {
-    auto r = zoom_stack.pop();
-    setZoom(r.first, r.second);
-  } else {
-    zoomReset();
-  }
+  zoom_undo_stack->clear();
 }
 
 void ChartsWidget::showValueTip(double sec) {
@@ -199,12 +186,13 @@ void ChartsWidget::setMaxChartRange(int value) {
 void ChartsWidget::updateToolBar() {
   title_label->setText(tr("Charts: %1").arg(charts.size()));
   columns_action->setText(tr("Column: %1").arg(column_count));
-  range_lb->setText(QString("Range: %1 ").arg(utils::formatSeconds(max_chart_range)));
+  range_lb->setText(utils::formatSeconds(max_chart_range));
   range_lb_action->setVisible(!is_zoomed);
   range_slider_action->setVisible(!is_zoomed);
   undo_zoom_action->setVisible(is_zoomed);
+  redo_zoom_action->setVisible(is_zoomed);
   reset_zoom_action->setVisible(is_zoomed);
-  reset_zoom_action->setText(is_zoomed ? tr("Zoomin: %1-%2").arg(zoomed_range.first, 0, 'f', 1).arg(zoomed_range.second, 0, 'f', 1) : "");
+  reset_zoom_action->setText(is_zoomed ? tr("%1-%2").arg(zoomed_range.first, 0, 'f', 1).arg(zoomed_range.second, 0, 'f', 1) : "");
   remove_all_btn->setEnabled(!charts.isEmpty());
   dock_btn->setIcon(utils::icon(docking ? "arrow-up-right-square" : "arrow-down-left-square"));
   dock_btn->setToolTip(docking ? tr("Undock charts") : tr("Dock charts"));
@@ -225,20 +213,21 @@ ChartView *ChartsWidget::findChart(const MessageId &id, const cabana::Signal *si
 }
 
 ChartView *ChartsWidget::createChart() {
-  auto chart = new ChartView(this);
+  auto chart = new ChartView(is_zoomed ? zoomed_range : display_range, this);
   chart->setFixedHeight(settings.chart_height);
   chart->setMinimumWidth(CHART_MIN_WIDTH);
   chart->setSizePolicy(QSizePolicy::MinimumExpanding, QSizePolicy::Fixed);
   chart->chart()->setTheme(settings.theme == 2 ? QChart::QChart::ChartThemeDark : QChart::ChartThemeLight);
   QObject::connect(chart, &ChartView::remove, [=]() { removeChart(chart); });
   QObject::connect(chart, &ChartView::zoomIn, this, &ChartsWidget::zoomIn);
-  QObject::connect(chart, &ChartView::zoomUndo, this, &ChartsWidget::zoomUndo);
+  QObject::connect(chart, &ChartView::zoomUndo, undo_zoom_action, &QAction::trigger);
   QObject::connect(chart, &ChartView::seriesRemoved, this, &ChartsWidget::seriesChanged);
   QObject::connect(chart, &ChartView::seriesAdded, this, &ChartsWidget::seriesChanged);
   QObject::connect(chart, &ChartView::axisYLabelWidthChanged, &align_timer, qOverload<>(&QTimer::start));
   QObject::connect(chart, &ChartView::hovered, this, &ChartsWidget::showValueTip);
   charts.push_back(chart);
   updateLayout();
+  updateToolBar();
   return chart;
 }
 
@@ -247,11 +236,9 @@ void ChartsWidget::showChart(const MessageId &id, const cabana::Signal *sig, boo
   if (show && !chart) {
     chart = merge && charts.size() > 0 ? charts.back() : createChart();
     chart->addSeries(id, sig);
-    updateState();
   } else if (!show && chart) {
     chart->removeIf([&](auto &s) { return s.msg_id == id && s.sig == sig; });
   }
-  updateToolBar();
 }
 
 void ChartsWidget::setColumnCount(int n) {
@@ -305,8 +292,8 @@ void ChartsWidget::removeChart(ChartView *chart) {
   charts.removeOne(chart);
   chart->deleteLater();
   updateToolBar();
-  alignCharts();
   updateLayout();
+  alignCharts();
   emit seriesChanged();
 }
 
@@ -366,7 +353,7 @@ bool ChartsWidget::event(QEvent *event) {
   }
 
   if (back_button) {
-    zoomUndo();
+    emit undo_zoom_action->triggered();
     return true;
   }
   return QFrame::event(event);
@@ -374,7 +361,7 @@ bool ChartsWidget::event(QEvent *event) {
 
 // ChartView
 
-ChartView::ChartView(QWidget *parent) : tip_label(this), QChartView(nullptr, parent) {
+ChartView::ChartView(const std::pair<double, double> &x_range, QWidget *parent) : tip_label(this), QChartView(nullptr, parent) {
   series_type = (SeriesType)settings.chart_series_type;
   QChart *chart = new QChart();
   chart->setBackgroundVisible(false);
@@ -386,6 +373,7 @@ ChartView::ChartView(QWidget *parent) : tip_label(this), QChartView(nullptr, par
   chart->legend()->setShowToolTips(true);
   chart->setMargins({0, 0, 0, 0});
 
+  axis_x->setRange(x_range.first, x_range.second);
   setChart(chart);
 
   createToolButtons();
diff --git a/tools/cabana/chartswidget.h b/tools/cabana/chartswidget.h
index 771230e9df..0a2f76202e 100644
--- a/tools/cabana/chartswidget.h
+++ b/tools/cabana/chartswidget.h
@@ -5,8 +5,9 @@
 #include <QListWidget>
 #include <QGraphicsPixmapItem>
 #include <QGraphicsProxyWidget>
-#include <QStack>
 #include <QTimer>
+#include <QUndoCommand>
+#include <QUndoStack>
 #include <QtCharts/QChartView>
 #include <QtCharts/QLegendMarker>
 #include <QtCharts/QLineSeries>
@@ -36,7 +37,7 @@ class ChartView : public QChartView {
   Q_OBJECT
 
 public:
-  ChartView(QWidget *parent = nullptr);
+  ChartView(const std::pair<double, double> &x_range, QWidget *parent = nullptr);
   void addSeries(const MessageId &msg_id, const cabana::Signal *sig);
   bool hasSeries(const MessageId &msg_id, const cabana::Signal *sig) const;
   void updateSeries(const cabana::Signal *sig = nullptr);
@@ -129,6 +130,7 @@ public:
 public slots:
   void setColumnCount(int n);
   void removeAll();
+  void setZoom(double min, double max);
 
 signals:
   void dock(bool floating);
@@ -146,8 +148,6 @@ private:
   void updateState();
   void zoomIn(double min, double max);
   void zoomReset();
-  void zoomUndo();
-  void setZoom(double min, double max);
   void updateToolBar();
   void setMaxChartRange(int value);
   void updateLayout();
@@ -163,8 +163,12 @@ private:
   QAction *range_slider_action;
   bool docking = true;
   QAction *dock_btn;
+
   QAction *undo_zoom_action;
+  QAction *redo_zoom_action;
   QAction *reset_zoom_action;
+  QUndoStack *zoom_undo_stack;
+
   QAction *remove_all_btn;
   QGridLayout *charts_layout;
   QList<ChartView *> charts;
@@ -174,11 +178,23 @@ private:
   bool is_zoomed = false;
   std::pair<double, double> display_range;
   std::pair<double, double> zoomed_range;
-  QStack<QPair<double, double>> zoom_stack;
   QAction *columns_action;
   int column_count = 1;
   int current_column_count = 0;
   QTimer align_timer;
+  friend class ZoomCommand;
+};
+
+class ZoomCommand : public QUndoCommand {
+public:
+  ZoomCommand(ChartsWidget *charts, std::pair<double, double> range) : charts(charts), range(range), QUndoCommand() {
+    prev_range = charts->is_zoomed ? charts->zoomed_range : charts->display_range;
+    setText(QObject::tr("Zoom to %1-%2").arg(range.first, 0, 'f', 1).arg(range.second, 0, 'f', 1));
+  }
+  void undo() override { charts->setZoom(prev_range.first, prev_range.second); }
+  void redo() override { charts->setZoom(range.first, range.second); }
+  ChartsWidget *charts;
+  std::pair<double, double> prev_range, range;
 };
 
 class SeriesSelector : public QDialog {

From 493d20994a1a4e41c11c33b73550a0d120a2bdb8 Mon Sep 17 00:00:00 2001
From: Dean Lee <deanlee3@gmail.com>
Date: Wed, 5 Apr 2023 01:47:54 +0800
Subject: [PATCH 26/88] cabana: do not emit DBCFileChanged if no file changes
 (#27800)

---
 tools/cabana/dbc/dbcmanager.cc | 2 ++
 1 file changed, 2 insertions(+)

diff --git a/tools/cabana/dbc/dbcmanager.cc b/tools/cabana/dbc/dbcmanager.cc
index 49527765a8..24803a303f 100644
--- a/tools/cabana/dbc/dbcmanager.cc
+++ b/tools/cabana/dbc/dbcmanager.cc
@@ -59,6 +59,8 @@ bool DBCManager::open(SourceSet s, const QString &name, const QString &content,
 }
 
 void DBCManager::closeAll() {
+  if (dbc_files.isEmpty()) return;
+
   while (dbc_files.size()) {
     DBCFile *dbc_file = dbc_files.back().second;
     dbc_files.pop_back();

From 68c4184df70219e3ea4ffda81eb7543c0ba8dfd8 Mon Sep 17 00:00:00 2001
From: Dean Lee <deanlee3@gmail.com>
Date: Wed, 5 Apr 2023 01:48:19 +0800
Subject: [PATCH 27/88] cabana: fix text overlapping in sparkline (#27801)

---
 tools/cabana/signalview.cc | 54 ++++++++++++++++++++------------------
 tools/cabana/signalview.h  |  6 +++--
 2 files changed, 33 insertions(+), 27 deletions(-)

diff --git a/tools/cabana/signalview.cc b/tools/cabana/signalview.cc
index 4f841a2866..ee1c154483 100644
--- a/tools/cabana/signalview.cc
+++ b/tools/cabana/signalview.cc
@@ -35,6 +35,7 @@ void SignalModel::insertItem(SignalModel::Item *parent_item, int pos, const caba
 void SignalModel::setMessage(const MessageId &id) {
   msg_id = id;
   filter_str = "";
+  value_width = 0;
   refresh();
   updateState(nullptr);
 }
@@ -60,7 +61,6 @@ void SignalModel::refresh() {
 void SignalModel::updateState(const QHash<MessageId, CanData> *msgs) {
   if (!msgs || msgs->contains(msg_id)) {
     auto &dat = can->lastMessage(msg_id).dat;
-    int row = 0;
     for (auto item : root->children) {
       double value = get_raw_value((uint8_t *)dat.constData(), dat.size(), *item->sig);
       item->sig_val = QString::number(value, 'f', item->sig->precision);
@@ -76,9 +76,11 @@ void SignalModel::updateState(const QHash<MessageId, CanData> *msgs) {
           item->sig_val = desc;
         }
       }
+      value_width = std::max(value_width, QFontMetrics(QFont()).width(item->sig_val));
+    }
 
-      emit dataChanged(index(row, 1), index(row, 1), {Qt::DisplayRole});
-      ++row;
+    for (int i = 0; i < root->children.size(); ++i) {
+      emit dataChanged(index(i, 1), index(i, 1), {Qt::DisplayRole});
     }
   }
 }
@@ -313,7 +315,8 @@ SignalItemDelegate::SignalItemDelegate(QObject *parent) : QStyledItemDelegate(pa
   name_validator = new NameValidator(this);
   double_validator = new QDoubleValidator(this);
   double_validator->setLocale(QLocale::C);  // Match locale of QString::toDouble() instead of system
-  small_font.setPointSize(8);
+  label_font.setPointSize(8);
+  minmax_font.setPixelSize(10);
 }
 
 QSize SignalItemDelegate::sizeHint(const QStyleOptionViewItem &option, const QModelIndex &index) const {
@@ -373,7 +376,7 @@ void SignalItemDelegate::paint(QPainter *painter, const QStyleOptionViewItem &op
     painter->setBrush(item->highlight ? bg_color.darker(125) : bg_color);
     painter->drawRoundedRect(rc.adjusted(0, v_margin, 0, -v_margin), 3, 3);
     painter->setPen(item->highlight ? Qt::white : Qt::black);
-    painter->setFont(small_font);
+    painter->setFont(label_font);
     painter->drawText(rc, Qt::AlignCenter, QString::number(item->row() + 1));
 
     // signal name
@@ -391,23 +394,23 @@ void SignalItemDelegate::paint(QPainter *painter, const QStyleOptionViewItem &op
       painter->fillRect(option.rect, option.palette.highlight());
     }
 
+    SignalModel *model = (SignalModel*)index.model();
     int adjust_right = ((SignalView *)parent())->tree->indexWidget(index)->sizeHint().width() + 2 * h_margin;
     QRect r = option.rect.adjusted(h_margin, v_margin, -adjust_right, -v_margin);
-    // draw signal value
-    QRect value_rect = r.adjusted(r.width() * 0.6 + h_margin, 0, 0, 0);
+
+    int value_width = std::min<int>(model->value_width, r.width() * 0.4);
+    QRect value_rect = r.adjusted(r.width() - value_width - h_margin, 0, 0, 0);
     auto text = painter->fontMetrics().elidedText(index.data(Qt::DisplayRole).toString(), Qt::ElideRight, value_rect.width());
     painter->setPen(option.palette.color(option.state & QStyle::State_Selected ? QPalette::HighlightedText : QPalette::Text));
     painter->drawText(value_rect, Qt::AlignRight | Qt::AlignVCenter, text);
-
-    QRect sparkline_rect = r.adjusted(0, 0, -r.width() * 0.4 - h_margin, 0);
-    drawSparkline(painter, sparkline_rect, index);
+    drawSparkline(painter, r.adjusted(0, 0, -value_width, 0), option, index);
     painter->restore();
   } else {
     QStyledItemDelegate::paint(painter, option, index);
   }
 }
 
-void SignalItemDelegate::drawSparkline(QPainter *painter, const QRect &rect, const QModelIndex &index) const {
+void SignalItemDelegate::drawSparkline(QPainter *painter, const QRect &rect, const QStyleOptionViewItem &option, const QModelIndex &index) const {
   static std::vector<QPointF> points;
   const auto &msg_id = ((SignalView *)parent())->msg_id;
   const auto &msgs = can->events().at(msg_id);
@@ -433,30 +436,31 @@ void SignalItemDelegate::drawSparkline(QPainter *painter, const QRect &rect, con
       max += 1;
     }
 
-    const double xscale = rect.width() / (double)settings.sparkline_range;
-    const double yscale = rect.height() / (max - min);
+    const double min_max_width = std::min(rect.width() - 10, QFontMetrics(minmax_font).width("000.00") + 5);
+    const QRect r = rect.adjusted(0, 0, -min_max_width, 0);
+    const double xscale = r.width() / (double)settings.sparkline_range;
+    const double yscale = r.height() / (max - min);
     for (auto &pt : points) {
-      pt.rx() = rect.left() + pt.x() * xscale;
-      pt.ry() = rect.top() + std::abs(pt.y() - max) * yscale;
+      pt.rx() = r.left() + pt.x() * xscale;
+      pt.ry() = r.top() + std::abs(pt.y() - max) * yscale;
     }
 
-    painter->setPen(getColor(sig));
+    auto color = item->highlight ? getColor(sig).darker(125) : getColor(sig);
+    painter->setPen(color);
     painter->drawPolyline(points.data(), points.size());
     if ((points.back().x() - points.front().x()) / points.size() > 10) {
       painter->setPen(Qt::NoPen);
-      painter->setBrush(getColor(sig));
+      painter->setBrush(color);
       for (const auto &pt : points) {
         painter->drawEllipse(pt, 2, 2);
       }
     }
 
-    if (item->highlight) {
-      QFont font;
-      font.setPixelSize(10);
-      painter->setFont(font);
-      painter->setPen(Qt::darkGray);
-      painter->drawLine(rect.topRight(), rect.bottomRight());
-      QRect minmax_rect{rect.right() + 3, rect.top(), 1000, rect.height()};
+    if (item->highlight || option.state & QStyle::State_Selected) {
+      painter->setFont(minmax_font);
+      painter->setPen(option.state & QStyle::State_Selected ? option.palette.color(QPalette::HighlightedText) : Qt::darkGray);
+      painter->drawLine(r.topRight(), r.bottomRight());
+      QRect minmax_rect{r.right() + 5, r.top(), 1000, r.height()};
       painter->drawText(minmax_rect, Qt::AlignLeft | Qt::AlignTop, QString::number(max));
       painter->drawText(minmax_rect, Qt::AlignLeft | Qt::AlignBottom, QString::number(min));
     }
@@ -643,7 +647,7 @@ void SignalView::signalHovered(const cabana::Signal *sig) {
 
 void SignalView::updateToolBar() {
   signal_count_lb->setText(tr("Signals: %1").arg(model->rowCount()));
-  sparkline_label->setText(QString("Range: %1 ").arg(utils::formatSeconds(settings.sparkline_range)));
+  sparkline_label->setText(utils::formatSeconds(settings.sparkline_range));
 }
 
 void SignalView::setSparklineRange(int value) {
diff --git a/tools/cabana/signalview.h b/tools/cabana/signalview.h
index 711748937a..9711ae47bc 100644
--- a/tools/cabana/signalview.h
+++ b/tools/cabana/signalview.h
@@ -59,7 +59,9 @@ private:
   MessageId msg_id;
   QString filter_str;
   std::unique_ptr<Item> root;
+  int value_width = 0;
   friend class SignalView;
+  friend class SignalItemDelegate;
 };
 
 class ValueDescriptionDlg : public QDialog {
@@ -84,10 +86,10 @@ public:
   QSize sizeHint(const QStyleOptionViewItem &option, const QModelIndex &index) const;
   QWidget *createEditor(QWidget *parent, const QStyleOptionViewItem &option, const QModelIndex &index) const override;
   bool helpEvent(QHelpEvent *event, QAbstractItemView *view, const QStyleOptionViewItem &option, const QModelIndex &index) override;
-  void drawSparkline(QPainter *painter, const QRect &rect, const QModelIndex &index) const;
+  void drawSparkline(QPainter *painter, const QRect &rect, const QStyleOptionViewItem &option, const QModelIndex &index) const;
   void 	updateEditorGeometry(QWidget *editor, const QStyleOptionViewItem &option, const QModelIndex &index) const override;
   QValidator *name_validator, *double_validator;
-  QFont small_font;
+  QFont label_font, minmax_font;
   const int color_label_width = 18;
   mutable QHash<QString, int> width_cache;
 };

From e7c0db457a5269cbc66e086e1295cef7152b0c30 Mon Sep 17 00:00:00 2001
From: Adeeb Shihadeh <adeebshihadeh@gmail.com>
Date: Tue, 4 Apr 2023 11:28:13 -0700
Subject: [PATCH 28/88] don't show temp steering faults while overriding
 (#27797)

Co-authored-by: Comma Device <device@comma.ai>
---
 selfdrive/car/interfaces.py | 17 ++++++++++++-----
 1 file changed, 12 insertions(+), 5 deletions(-)

diff --git a/selfdrive/car/interfaces.py b/selfdrive/car/interfaces.py
index cf6d7280fa..8b1159f361 100644
--- a/selfdrive/car/interfaces.py
+++ b/selfdrive/car/interfaces.py
@@ -64,6 +64,7 @@ class CarInterfaceBase(ABC):
     self.frame = 0
     self.steering_unpressed = 0
     self.low_speed_alert = False
+    self.no_steer_warning = False
     self.silent_steer_warning = True
     self.v_ego_cluster_seen = False
 
@@ -278,13 +279,19 @@ class CarInterfaceBase(ABC):
     # Handle permanent and temporary steering faults
     self.steering_unpressed = 0 if cs_out.steeringPressed else self.steering_unpressed + 1
     if cs_out.steerFaultTemporary:
-      # if the user overrode recently, show a less harsh alert
-      if self.silent_steer_warning or cs_out.standstill or self.steering_unpressed < int(1.5 / DT_CTRL):
-        self.silent_steer_warning = True
-        events.add(EventName.steerTempUnavailableSilent)
+      if cs_out.steeringPressed and (not self.CS.out.steerFaultTemporary or self.no_steer_warning):
+        self.no_steer_warning = True
       else:
-        events.add(EventName.steerTempUnavailable)
+        self.no_steer_warning = False
+
+        # if the user overrode recently, show a less harsh alert
+        if self.silent_steer_warning or cs_out.standstill or self.steering_unpressed < int(1.5 / DT_CTRL):
+          self.silent_steer_warning = True
+          events.add(EventName.steerTempUnavailableSilent)
+        else:
+          events.add(EventName.steerTempUnavailable)
     else:
+      self.no_steer_warning = False
       self.silent_steer_warning = False
     if cs_out.steerFaultPermanent:
       events.add(EventName.steerUnavailable)

From 5666968d6d59835d2864ab17f98c540e1481dfae Mon Sep 17 00:00:00 2001
From: Jason Young <46612682+jyoung8607@users.noreply.github.com>
Date: Tue, 4 Apr 2023 14:44:33 -0400
Subject: [PATCH 29/88] VW: Long control message builder cleanup (#27802)

* VW: Cleanup long control parameters

* use long_enabled instead

* bikeshed
---
 selfdrive/car/volkswagen/mqbcan.py | 14 +++++++-------
 selfdrive/car/volkswagen/pqcan.py  |  8 ++++----
 2 files changed, 11 insertions(+), 11 deletions(-)

diff --git a/selfdrive/car/volkswagen/mqbcan.py b/selfdrive/car/volkswagen/mqbcan.py
index 30a51f6fe6..89de933ae8 100644
--- a/selfdrive/car/volkswagen/mqbcan.py
+++ b/selfdrive/car/volkswagen/mqbcan.py
@@ -56,18 +56,18 @@ def acc_hud_status_value(main_switch_on, acc_faulted, long_active):
   return acc_control_value(main_switch_on, acc_faulted, long_active)
 
 
-def create_acc_accel_control(packer, bus, acc_type, enabled, accel, acc_control, stopping, starting, esp_hold):
+def create_acc_accel_control(packer, bus, acc_type, acc_enabled, accel, acc_control, stopping, starting, esp_hold):
   commands = []
 
   acc_06_values = {
     "ACC_Typ": acc_type,
     "ACC_Status_ACC": acc_control,
-    "ACC_StartStopp_Info": enabled,
-    "ACC_Sollbeschleunigung_02": accel if enabled else 3.01,
+    "ACC_StartStopp_Info": acc_enabled,
+    "ACC_Sollbeschleunigung_02": accel if acc_enabled else 3.01,
     "ACC_zul_Regelabw_unten": 0.2,  # TODO: dynamic adjustment of comfort-band
     "ACC_zul_Regelabw_oben": 0.2,  # TODO: dynamic adjustment of comfort-band
-    "ACC_neg_Sollbeschl_Grad_02": 4.0 if enabled else 0,  # TODO: dynamic adjustment of jerk limits
-    "ACC_pos_Sollbeschl_Grad_02": 4.0 if enabled else 0,  # TODO: dynamic adjustment of jerk limits
+    "ACC_neg_Sollbeschl_Grad_02": 4.0 if acc_enabled else 0,  # TODO: dynamic adjustment of jerk limits
+    "ACC_pos_Sollbeschl_Grad_02": 4.0 if acc_enabled else 0,  # TODO: dynamic adjustment of jerk limits
     "ACC_Anfahren": starting,
     "ACC_Anhalten": stopping,
   }
@@ -84,9 +84,9 @@ def create_acc_accel_control(packer, bus, acc_type, enabled, accel, acc_control,
 
   acc_07_values = {
     "ACC_Anhalteweg": 0.75 if stopping else 20.46,  # Distance to stop (stopping coordinator handles terminal roll-out)
-    "ACC_Freilauf_Info": 2 if enabled else 0,
+    "ACC_Freilauf_Info": 2 if acc_enabled else 0,
     "ACC_Folgebeschl": 3.02,  # Not using secondary controller accel unless and until we understand its impact
-    "ACC_Sollbeschleunigung_02": accel if enabled else 3.01,
+    "ACC_Sollbeschleunigung_02": accel if acc_enabled else 3.01,
     "ACC_Anforderung_HMS": acc_hold_type,
     "ACC_Anfahren": starting,
     "ACC_Anhalten": stopping,
diff --git a/selfdrive/car/volkswagen/pqcan.py b/selfdrive/car/volkswagen/pqcan.py
index 84200c2921..7c797dcee4 100644
--- a/selfdrive/car/volkswagen/pqcan.py
+++ b/selfdrive/car/volkswagen/pqcan.py
@@ -59,7 +59,7 @@ def acc_hud_status_value(main_switch_on, acc_faulted, long_active):
   return hud_status
 
 
-def create_acc_accel_control(packer, bus, acc_type, enabled, accel, acc_control, stopping, starting, esp_hold):
+def create_acc_accel_control(packer, bus, acc_type, acc_enabled, accel, acc_control, stopping, starting, esp_hold):
   commands = []
 
   values = {
@@ -67,9 +67,9 @@ def create_acc_accel_control(packer, bus, acc_type, enabled, accel, acc_control,
     "ACS_StSt_Info": acc_control != 1,
     "ACS_Typ_ACC": acc_type,
     "ACS_Anhaltewunsch": acc_type == 1 and stopping,
-    "ACS_Sollbeschl": accel if acc_control == 1 else 3.01,
-    "ACS_zul_Regelabw": 0.2 if acc_control == 1 else 1.27,
-    "ACS_max_AendGrad": 3.0 if acc_control == 1 else 5.08,
+    "ACS_Sollbeschl": accel if acc_enabled else 3.01,
+    "ACS_zul_Regelabw": 0.2 if acc_enabled else 1.27,
+    "ACS_max_AendGrad": 3.0 if acc_enabled else 5.08,
   }
 
   commands.append(packer.make_can_msg("ACC_System", bus, values))

From a556d23483e6d2bae44e56893595ed113c8acade Mon Sep 17 00:00:00 2001
From: Dean Lee <deanlee3@gmail.com>
Date: Wed, 5 Apr 2023 02:44:51 +0800
Subject: [PATCH 30/88] cababa: display '--' in chart tooltip if no min max
 values (#27798)

---
 tools/cabana/chartswidget.cc | 6 ++++--
 1 file changed, 4 insertions(+), 2 deletions(-)

diff --git a/tools/cabana/chartswidget.cc b/tools/cabana/chartswidget.cc
index 20a115ccb6..4c91ab8e3d 100644
--- a/tools/cabana/chartswidget.cc
+++ b/tools/cabana/chartswidget.cc
@@ -808,8 +808,10 @@ void ChartView::showTip(double sec) {
         x = std::max(x, chart()->mapToPosition(*it).x());
       }
       QString name = sigs.size() > 1 ? s.sig->name + ": " : "";
-      text_list << QString("<span style=\"color:%1;\">■ </span>%2<b>%3</b> (%4 - %5)")
-                       .arg(s.series->color().name(), name, value, QString::number(s.min), QString::number(s.max));
+      QString min = s.min == std::numeric_limits<double>::max() ? "--" : QString::number(s.min);
+      QString max = s.max == std::numeric_limits<double>::lowest() ? "--" : QString::number(s.max);
+      text_list << QString("<span style=\"color:%1;\">■ </span>%2<b>%3</b> (%4, %5)")
+                       .arg(s.series->color().name(), name, value, min, max);
     }
   }
   QPointF tooltip_pt(x, chart()->plotArea().top());

From 088cbfc9d506ab24fe79e37c0ca4dd76f3883e45 Mon Sep 17 00:00:00 2001
From: Adeeb Shihadeh <adeebshihadeh@gmail.com>
Date: Tue, 4 Apr 2023 17:47:49 -0700
Subject: [PATCH 31/88] car docs: add field for min compatibility requirements
 (#27805)

---
 selfdrive/car/docs_definitions.py | 12 ++++++++++++
 selfdrive/car/gm/values.py        |  4 ++--
 selfdrive/car/honda/values.py     |  4 ++--
 selfdrive/car/hyundai/values.py   | 16 ++++++++--------
 selfdrive/car/toyota/values.py    |  4 ++--
 5 files changed, 26 insertions(+), 14 deletions(-)

diff --git a/selfdrive/car/docs_definitions.py b/selfdrive/car/docs_definitions.py
index c0fb4420df..fa95b03fd8 100644
--- a/selfdrive/car/docs_definitions.py
+++ b/selfdrive/car/docs_definitions.py
@@ -117,8 +117,20 @@ def split_name(name: str) -> Tuple[str, str, str]:
 
 @dataclass
 class CarInfo:
+  # make + model + model years
   name: str
+
+  # Example for Toyota Corolla MY20
+  # requirements: Lane Tracing Assist (LTA) and Dynamic Radar Cruise Control (DRCC)
+  # US Market reference: "All", since all Corolla in the US come standard with LTA and DRCC
+
+  # the simplest description of the requirements for the US market
   package: str
+
+  # the minimum compatibility requirements for this model, regardless
+  # of market. can be a package, trim, or list of features
+  requirements: Optional[str] = None
+
   video_link: Optional[str] = None
   footnotes: List[Enum] = field(default_factory=list)
   min_steer_speed: Optional[float] = None
diff --git a/selfdrive/car/gm/values.py b/selfdrive/car/gm/values.py
index 1b814e00b2..5e2f490a9b 100644
--- a/selfdrive/car/gm/values.py
+++ b/selfdrive/car/gm/values.py
@@ -105,12 +105,12 @@ CAR_INFO: Dict[str, Union[GMCarInfo, List[GMCarInfo]]] = {
   CAR.ESCALADE: GMCarInfo("Cadillac Escalade 2017", "Driver Assist Package"),
   CAR.ESCALADE_ESV: GMCarInfo("Cadillac Escalade ESV 2016", "Adaptive Cruise Control (ACC) & LKAS"),
   CAR.BOLT_EUV: [
-    GMCarInfo("Chevrolet Bolt EUV 2022-23", "Premier or Premier Redline Trim without Super Cruise Package", "https://youtu.be/xvwzGMUA210"),
+    GMCarInfo("Chevrolet Bolt EUV 2022-23", "Premier or Premier Redline Trim without Super Cruise Package", video_link="https://youtu.be/xvwzGMUA210"),
     GMCarInfo("Chevrolet Bolt EV 2022-23", "2LT Trim with Adaptive Cruise Control Package"),
   ],
   CAR.SILVERADO: [
     GMCarInfo("Chevrolet Silverado 1500 2020-21", "Safety Package II"),
-    GMCarInfo("GMC Sierra 1500 2020-21", "Driver Alert Package II", "https://youtu.be/5HbNoBLzRwE"),
+    GMCarInfo("GMC Sierra 1500 2020-21", "Driver Alert Package II", video_link="https://youtu.be/5HbNoBLzRwE"),
   ],
   CAR.EQUINOX: GMCarInfo("Chevrolet Equinox 2019-22"),
 }
diff --git a/selfdrive/car/honda/values.py b/selfdrive/car/honda/values.py
index 009a549afd..d9137458a9 100644
--- a/selfdrive/car/honda/values.py
+++ b/selfdrive/car/honda/values.py
@@ -116,13 +116,13 @@ class HondaCarInfo(CarInfo):
 
 CAR_INFO: Dict[str, Optional[Union[HondaCarInfo, List[HondaCarInfo]]]] = {
   CAR.ACCORD: [
-    HondaCarInfo("Honda Accord 2018-22", "All", "https://www.youtube.com/watch?v=mrUwlj3Mi58", min_steer_speed=3. * CV.MPH_TO_MS),
+    HondaCarInfo("Honda Accord 2018-22", "All", video_link="https://www.youtube.com/watch?v=mrUwlj3Mi58", min_steer_speed=3. * CV.MPH_TO_MS),
     HondaCarInfo("Honda Inspire 2018", "All", min_steer_speed=3. * CV.MPH_TO_MS),
   ],
   CAR.ACCORDH: HondaCarInfo("Honda Accord Hybrid 2018-22", "All", min_steer_speed=3. * CV.MPH_TO_MS),
   CAR.CIVIC: HondaCarInfo("Honda Civic 2016-18", min_steer_speed=12. * CV.MPH_TO_MS, video_link="https://youtu.be/-IkImTe1NYE"),
   CAR.CIVIC_BOSCH: [
-    HondaCarInfo("Honda Civic 2019-21", "All", "https://www.youtube.com/watch?v=4Iz1Mz5LGF8", [Footnote.CIVIC_DIESEL], 2. * CV.MPH_TO_MS),
+    HondaCarInfo("Honda Civic 2019-21", "All", video_link="https://www.youtube.com/watch?v=4Iz1Mz5LGF8", footnotes=[Footnote.CIVIC_DIESEL], min_steer_speed=2. * CV.MPH_TO_MS),
     HondaCarInfo("Honda Civic Hatchback 2017-21", min_steer_speed=12. * CV.MPH_TO_MS),
   ],
   CAR.CIVIC_BOSCH_DIESEL: None,  # same platform
diff --git a/selfdrive/car/hyundai/values.py b/selfdrive/car/hyundai/values.py
index 94dd35082d..7417d6c208 100644
--- a/selfdrive/car/hyundai/values.py
+++ b/selfdrive/car/hyundai/values.py
@@ -166,17 +166,17 @@ CAR_INFO: Dict[str, Optional[Union[HyundaiCarInfo, List[HyundaiCarInfo]]]] = {
   CAR.KONA_EV_2022: HyundaiCarInfo("Hyundai Kona Electric 2022", harness=Harness.hyundai_o),
   CAR.KONA_HEV: HyundaiCarInfo("Hyundai Kona Hybrid 2020", video_link="https://youtu.be/0dwpAHiZgFo", harness=Harness.hyundai_i),  # TODO: check packages
   CAR.SANTA_FE: HyundaiCarInfo("Hyundai Santa Fe 2019-20", "All", harness=Harness.hyundai_d),
-  CAR.SANTA_FE_2022: HyundaiCarInfo("Hyundai Santa Fe 2021-22", "All", "https://youtu.be/VnHzSTygTS4", harness=Harness.hyundai_l),
+  CAR.SANTA_FE_2022: HyundaiCarInfo("Hyundai Santa Fe 2021-22", "All", video_link="https://youtu.be/VnHzSTygTS4", harness=Harness.hyundai_l),
   CAR.SANTA_FE_HEV_2022: HyundaiCarInfo("Hyundai Santa Fe Hybrid 2022", "All", harness=Harness.hyundai_l),
   CAR.SANTA_FE_PHEV_2022: HyundaiCarInfo("Hyundai Santa Fe Plug-in Hybrid 2022", "All", harness=Harness.hyundai_l),
-  CAR.SONATA: HyundaiCarInfo("Hyundai Sonata 2020-23", "All", "https://www.youtube.com/watch?v=ix63r9kE3Fw", harness=Harness.hyundai_a),
+  CAR.SONATA: HyundaiCarInfo("Hyundai Sonata 2020-23", "All", video_link="https://www.youtube.com/watch?v=ix63r9kE3Fw", harness=Harness.hyundai_a),
   CAR.SONATA_LF: HyundaiCarInfo("Hyundai Sonata 2018-19", harness=Harness.hyundai_e),
   CAR.TUCSON: [
     HyundaiCarInfo("Hyundai Tucson 2021", min_enable_speed=19 * CV.MPH_TO_MS, harness=Harness.hyundai_l),
     HyundaiCarInfo("Hyundai Tucson Diesel 2019", harness=Harness.hyundai_l),
   ],
   CAR.PALISADE: [
-    HyundaiCarInfo("Hyundai Palisade 2020-22", "All", "https://youtu.be/TAnDqjF4fDY?t=456", harness=Harness.hyundai_h),
+    HyundaiCarInfo("Hyundai Palisade 2020-22", "All", video_link="https://youtu.be/TAnDqjF4fDY?t=456", harness=Harness.hyundai_h),
     HyundaiCarInfo("Kia Telluride 2020-22", "All", harness=Harness.hyundai_h),
   ],
   CAR.VELOSTER: HyundaiCarInfo("Hyundai Veloster 2019-20", min_enable_speed=5. * CV.MPH_TO_MS, harness=Harness.hyundai_e),
@@ -198,10 +198,10 @@ CAR_INFO: Dict[str, Optional[Union[HyundaiCarInfo, List[HyundaiCarInfo]]]] = {
   CAR.KIA_K5_2021: HyundaiCarInfo("Kia K5 2021-22", harness=Harness.hyundai_a),
   CAR.KIA_K5_HEV_2020: HyundaiCarInfo("Kia K5 Hybrid 2020", harness=Harness.hyundai_a),
   CAR.KIA_NIRO_EV: [
-    HyundaiCarInfo("Kia Niro EV 2019", "All", "https://www.youtube.com/watch?v=lT7zcG6ZpGo", harness=Harness.hyundai_h),
-    HyundaiCarInfo("Kia Niro EV 2020", "All", "https://www.youtube.com/watch?v=lT7zcG6ZpGo", harness=Harness.hyundai_f),
-    HyundaiCarInfo("Kia Niro EV 2021", "All", "https://www.youtube.com/watch?v=lT7zcG6ZpGo", harness=Harness.hyundai_c),
-    HyundaiCarInfo("Kia Niro EV 2022", "All", "https://www.youtube.com/watch?v=lT7zcG6ZpGo", harness=Harness.hyundai_h),
+    HyundaiCarInfo("Kia Niro EV 2019", "All", video_link="https://www.youtube.com/watch?v=lT7zcG6ZpGo", harness=Harness.hyundai_h),
+    HyundaiCarInfo("Kia Niro EV 2020", "All", video_link="https://www.youtube.com/watch?v=lT7zcG6ZpGo", harness=Harness.hyundai_f),
+    HyundaiCarInfo("Kia Niro EV 2021", "All", video_link="https://www.youtube.com/watch?v=lT7zcG6ZpGo", harness=Harness.hyundai_c),
+    HyundaiCarInfo("Kia Niro EV 2022", "All", video_link="https://www.youtube.com/watch?v=lT7zcG6ZpGo", harness=Harness.hyundai_h),
   ],
   CAR.KIA_NIRO_PHEV: [
     HyundaiCarInfo("Kia Niro Plug-in Hybrid 2018-19", "All", min_enable_speed=10. * CV.MPH_TO_MS, harness=Harness.hyundai_c),
@@ -221,7 +221,7 @@ CAR_INFO: Dict[str, Optional[Union[HyundaiCarInfo, List[HyundaiCarInfo]]]] = {
   CAR.KIA_SELTOS: HyundaiCarInfo("Kia Seltos 2021", harness=Harness.hyundai_a),
   CAR.KIA_SPORTAGE_5TH_GEN: HyundaiCarInfo("Kia Sportage 2023", harness=Harness.hyundai_n),
   CAR.KIA_SORENTO: [
-    HyundaiCarInfo("Kia Sorento 2018", "Advanced Smart Cruise Control", "https://www.youtube.com/watch?v=Fkh3s6WHJz8", harness=Harness.hyundai_c),
+    HyundaiCarInfo("Kia Sorento 2018", "Advanced Smart Cruise Control", video_link="https://www.youtube.com/watch?v=Fkh3s6WHJz8", harness=Harness.hyundai_c),
     HyundaiCarInfo("Kia Sorento 2019", video_link="https://www.youtube.com/watch?v=Fkh3s6WHJz8", harness=Harness.hyundai_e),
   ],
   CAR.KIA_SORENTO_4TH_GEN: HyundaiCarInfo("Kia Sorento 2021-23", harness=Harness.hyundai_k),
diff --git a/selfdrive/car/toyota/values.py b/selfdrive/car/toyota/values.py
index 0627122bd8..795b4cdde3 100644
--- a/selfdrive/car/toyota/values.py
+++ b/selfdrive/car/toyota/values.py
@@ -141,7 +141,7 @@ CAR_INFO: Dict[str, Union[ToyotaCarInfo, List[ToyotaCarInfo]]] = {
   CAR.HIGHLANDERH: ToyotaCarInfo("Toyota Highlander Hybrid 2017-19"),
   CAR.HIGHLANDERH_TSS2: ToyotaCarInfo("Toyota Highlander Hybrid 2020-23"),
   CAR.PRIUS: [
-    ToyotaCarInfo("Toyota Prius 2016", "Toyota Safety Sense P", "https://www.youtube.com/watch?v=8zopPJI8XQ0"),
+    ToyotaCarInfo("Toyota Prius 2016", "Toyota Safety Sense P", video_link="https://www.youtube.com/watch?v=8zopPJI8XQ0"),
     ToyotaCarInfo("Toyota Prius 2017-20", video_link="https://www.youtube.com/watch?v=8zopPJI8XQ0"),
     ToyotaCarInfo("Toyota Prius Prime 2017-20", video_link="https://www.youtube.com/watch?v=8zopPJI8XQ0"),
   ],
@@ -155,7 +155,7 @@ CAR_INFO: Dict[str, Union[ToyotaCarInfo, List[ToyotaCarInfo]]] = {
     ToyotaCarInfo("Toyota RAV4 2017-18")
   ],
   CAR.RAV4H: [
-    ToyotaCarInfo("Toyota RAV4 Hybrid 2016", "Toyota Safety Sense P", "https://youtu.be/LhT5VzJVfNI?t=26"),
+    ToyotaCarInfo("Toyota RAV4 Hybrid 2016", "Toyota Safety Sense P", video_link="https://youtu.be/LhT5VzJVfNI?t=26"),
     ToyotaCarInfo("Toyota RAV4 Hybrid 2017-18", video_link="https://youtu.be/LhT5VzJVfNI?t=26")
   ],
   CAR.RAV4_TSS2: ToyotaCarInfo("Toyota RAV4 2019-21", video_link="https://www.youtube.com/watch?v=wJxjDd42gGA"),

From ad16b445285451f0375ee850a365214999448b47 Mon Sep 17 00:00:00 2001
From: Adeeb Shihadeh <adeebshihadeh@gmail.com>
Date: Tue, 4 Apr 2023 19:21:30 -0700
Subject: [PATCH 32/88] add panda watchdog fault (#27808)

---
 cereal                     | 2 +-
 panda                      | 2 +-
 selfdrive/boardd/boardd.cc | 2 +-
 3 files changed, 3 insertions(+), 3 deletions(-)

diff --git a/cereal b/cereal
index 5827c4e17e..9baf462ce8 160000
--- a/cereal
+++ b/cereal
@@ -1 +1 @@
-Subproject commit 5827c4e17ef0c6bb3de24f987ca2f5e0fb3f464b
+Subproject commit 9baf462ce897182f57054322ef229485d6df9031
diff --git a/panda b/panda
index 79708f912d..e516a5752b 160000
--- a/panda
+++ b/panda
@@ -1 +1 @@
-Subproject commit 79708f912dc1681c99569b59624de74fa9341a31
+Subproject commit e516a5752b56d9b95229042c5cca8c74b6a9feb0
diff --git a/selfdrive/boardd/boardd.cc b/selfdrive/boardd/boardd.cc
index ec8be95f94..12b90ef64f 100644
--- a/selfdrive/boardd/boardd.cc
+++ b/selfdrive/boardd/boardd.cc
@@ -420,7 +420,7 @@ std::optional<bool> send_panda_states(PubMaster *pm, const std::vector<Panda *>
 
     size_t j = 0;
     for (size_t f = size_t(cereal::PandaState::FaultType::RELAY_MALFUNCTION);
-         f <= size_t(cereal::PandaState::FaultType::SIREN_MALFUNCTION); f++) {
+         f <= size_t(cereal::PandaState::FaultType::HEARTBEAT_LOOP_WATCHDOG); f++) {
       if (fault_bits.test(f)) {
         faults.set(j, cereal::PandaState::FaultType(f));
         j++;

From f7d6b903b33a49c90cbede08730dde2ca9ab7743 Mon Sep 17 00:00:00 2001
From: Jason Young <46612682+jyoung8607@users.noreply.github.com>
Date: Wed, 5 Apr 2023 12:26:41 -0400
Subject: [PATCH 33/88] VW PQ: Miscellaneous longitudinal bug fixes (#27803)

* VW PQ: Miscellaneous longitudinal fixes

* touch up TODO comments
---
 selfdrive/car/volkswagen/pqcan.py | 9 +++++----
 1 file changed, 5 insertions(+), 4 deletions(-)

diff --git a/selfdrive/car/volkswagen/pqcan.py b/selfdrive/car/volkswagen/pqcan.py
index 7c797dcee4..bac3ca121d 100644
--- a/selfdrive/car/volkswagen/pqcan.py
+++ b/selfdrive/car/volkswagen/pqcan.py
@@ -64,9 +64,10 @@ def create_acc_accel_control(packer, bus, acc_type, acc_enabled, accel, acc_cont
 
   values = {
     "ACS_Sta_ADR": acc_control,
-    "ACS_StSt_Info": acc_control != 1,
+    "ACS_StSt_Info": acc_enabled,
     "ACS_Typ_ACC": acc_type,
     "ACS_Anhaltewunsch": acc_type == 1 and stopping,
+    "ACS_FreigSollB": acc_enabled,
     "ACS_Sollbeschl": accel if acc_enabled else 3.01,
     "ACS_zul_Regelabw": 0.2 if acc_enabled else 1.27,
     "ACS_max_AendGrad": 3.0 if acc_enabled else 5.08,
@@ -83,9 +84,9 @@ def create_acc_hud_control(packer, bus, acc_hud_status, set_speed, lead_distance
     "ACA_Zeitluecke": 2,
     "ACA_V_Wunsch": set_speed,
     "ACA_gemZeitl": lead_distance,
-    # TODO: ACA_ID_StaACC, ACA_AnzDisplay, ACA_kmh_mph, ACA_PrioDisp, ACA_Aend_Zeitluecke
-    # display/display-prio handling probably needed to stop confusing the instrument cluster
-    # kmh_mph handling probably needed to resolve rounding errors in displayed setpoint
+    "ACA_PrioDisp": 3,
+    # TODO: restore dynamic pop-to-foreground/highlight behavior with ACA_PrioDisp and ACA_AnzDisplay
+    # TODO: ACA_kmh_mph handling probably needed to resolve rounding errors in displayed setpoint
   }
 
   return packer.make_can_msg("ACC_GRA_Anzeige", bus, values)

From 8aedbad24f75941340cf6268655f87a9ff28f587 Mon Sep 17 00:00:00 2001
From: Adeeb Shihadeh <adeebshihadeh@gmail.com>
Date: Wed, 5 Apr 2023 11:06:32 -0700
Subject: [PATCH 34/88] plotjuggler: ublox debug layout

---
 tools/plotjuggler/layouts/ublox-debug.xml | 44 +++++++++++++++++++++++
 1 file changed, 44 insertions(+)
 create mode 100644 tools/plotjuggler/layouts/ublox-debug.xml

diff --git a/tools/plotjuggler/layouts/ublox-debug.xml b/tools/plotjuggler/layouts/ublox-debug.xml
new file mode 100644
index 0000000000..d595a9ecc7
--- /dev/null
+++ b/tools/plotjuggler/layouts/ublox-debug.xml
@@ -0,0 +1,44 @@
+<?xml version='1.0' encoding='UTF-8'?>
+<root>
+ <tabbed_widget name="Main Window" parent="main_window">
+  <Tab containers="1" tab_name="tab1">
+   <Container>
+    <DockSplitter orientation="-" sizes="0.333333;0.333333;0.333333" count="3">
+     <DockArea name="...">
+      <plot style="Lines" flip_x="false" flip_y="false" mode="TimeSeries">
+       <range right="134.825489" top="4402341.574525" bottom="-107369.555525" left="0.000000"/>
+       <limitY/>
+       <curve name="/gpsLocationExternal/accuracy" color="#1f77b4"/>
+      </plot>
+     </DockArea>
+     <DockArea name="...">
+      <plot style="Lines" flip_x="false" flip_y="false" mode="TimeSeries">
+       <range right="134.825489" top="1.025000" bottom="-0.025000" left="0.000000"/>
+       <limitY/>
+       <curve name="/gpsLocationExternal/flags" color="#d62728"/>
+      </plot>
+     </DockArea>
+     <DockArea name="...">
+      <plot style="Lines" flip_x="false" flip_y="false" mode="TimeSeries">
+       <range right="134.825489" top="6.150000" bottom="-0.150000" left="0.000000"/>
+       <limitY/>
+       <curve name="/ubloxGnss/measurementReport/numMeas" color="#1ac938"/>
+      </plot>
+     </DockArea>
+    </DockSplitter>
+   </Container>
+  </Tab>
+  <currentTabIndex index="0"/>
+ </tabbed_widget>
+ <use_relative_time_offset enabled="1"/>
+ <!-- - - - - - - - - - - - - - - -->
+ <!-- - - - - - - - - - - - - - - -->
+ <Plugins>
+  <plugin ID="DataLoad Rlog"/>
+  <plugin ID="Cereal Subscriber"/>
+ </Plugins>
+ <customMathEquations/>
+ <snippets/>
+ <!-- - - - - - - - - - - - - - - -->
+</root>
+

From ff89184823c7c2a72ba1afd871ac9ccabafacbc1 Mon Sep 17 00:00:00 2001
From: Adeeb Shihadeh <adeebshihadeh@gmail.com>
Date: Wed, 5 Apr 2023 11:07:42 -0700
Subject: [PATCH 35/88] tizi tests in jenkins (#27810)

* add

* mv there for now

* mv

* single panda

* move into parallel

* longer timeout for dfu

---------

Co-authored-by: Comma Device <device@comma.ai>
---
 Jenkinsfile                                    | 14 ++++++++++++++
 selfdrive/boardd/tests/test_boardd_loopback.py |  5 +++--
 selfdrive/boardd/tests/test_pandad.py          |  6 +++---
 3 files changed, 20 insertions(+), 5 deletions(-)

diff --git a/Jenkinsfile b/Jenkinsfile
index 4e80b5fa3c..74c76d1323 100644
--- a/Jenkinsfile
+++ b/Jenkinsfile
@@ -125,6 +125,20 @@ pipeline {
         }
         */
 
+        stage('tizi-tests') {
+          agent { docker { image 'ghcr.io/commaai/alpine-ssh'; args '--user=root' } }
+          steps {
+            phone_steps("tizi", [
+              ["build openpilot", "cd selfdrive/manager && ./build.py"],
+              ["test boardd loopback", "SINGLE_PANDA=1 python selfdrive/boardd/tests/test_boardd_loopback.py"],
+              ["test pandad", "python selfdrive/boardd/tests/test_pandad.py"],
+              ["test sensord", "cd system/sensord/tests && python -m unittest test_sensord.py"],
+              ["test camerad", "python system/camerad/test/test_camerad.py"],
+              ["test exposure", "python system/camerad/test/test_exposure.py"],
+            ])
+          }
+        }
+
         stage('build') {
           agent { docker { image 'ghcr.io/commaai/alpine-ssh'; args '--user=root' } }
           environment {
diff --git a/selfdrive/boardd/tests/test_boardd_loopback.py b/selfdrive/boardd/tests/test_boardd_loopback.py
index d614f0b126..6217561bd1 100755
--- a/selfdrive/boardd/tests/test_boardd_loopback.py
+++ b/selfdrive/boardd/tests/test_boardd_loopback.py
@@ -40,8 +40,9 @@ class TestBoardd(unittest.TestCase):
         sm.update(1000)
 
     num_pandas = len(sm['pandaStates'])
-    if TICI:
-      self.assertGreater(num_pandas, 1, "connect another panda for multipanda tests")
+    expected_pandas = 2 if TICI and "SINGLE_PANDA" not in os.environ else 1
+    self.assertEqual(num_pandas, expected_pandas, "connected pandas ({num_pandas}) doesn't match expected panda count ({expected_pandas}). \
+                                                   connect another panda for multipanda tests.")
 
     # boardd blocks on CarVin and CarParams
     cp = car.CarParams.new_message()
diff --git a/selfdrive/boardd/tests/test_pandad.py b/selfdrive/boardd/tests/test_pandad.py
index 3b2369b39b..94da43edf7 100755
--- a/selfdrive/boardd/tests/test_pandad.py
+++ b/selfdrive/boardd/tests/test_pandad.py
@@ -14,9 +14,9 @@ class TestPandad(unittest.TestCase):
   def tearDown(self):
     managed_processes['pandad'].stop()
 
-  def _wait_for_boardd(self):
+  def _wait_for_boardd(self, timeout=30):
     sm = messaging.SubMaster(['peripheralState'])
-    for _ in range(30):
+    for _ in range(timeout):
       sm.update(1000)
       if sm.updated['peripheralState']:
         break
@@ -30,7 +30,7 @@ class TestPandad(unittest.TestCase):
     time.sleep(1)
 
     managed_processes['pandad'].start()
-    self._wait_for_boardd()
+    self._wait_for_boardd(60)
 
   @phone_only
   def test_in_bootstub(self):

From 038d34aa7f25bff127d1265f6b1446cf40fe414b Mon Sep 17 00:00:00 2001
From: Adeeb Shihadeh <adeebshihadeh@gmail.com>
Date: Wed, 5 Apr 2023 16:35:27 -0700
Subject: [PATCH 36/88] tizi: affine IRQ by action instead of number (#27811)

* tizi: affine IRQ by action instead of number

* do camera irqs

* debug script

---------

Co-authored-by: Comma Device <device@comma.ai>
---
 common/gpio.py                          | 13 ++++++++-
 selfdrive/debug/profiling/watch-irqs.sh |  4 +++
 system/hardware/tici/hardware.py        | 39 +++++++++++++++++--------
 system/sensord/tests/test_sensord.py    | 10 ++-----
 4 files changed, 45 insertions(+), 21 deletions(-)
 create mode 100755 selfdrive/debug/profiling/watch-irqs.sh

diff --git a/common/gpio.py b/common/gpio.py
index 260f8898a1..711fcff85d 100644
--- a/common/gpio.py
+++ b/common/gpio.py
@@ -1,4 +1,5 @@
-from typing import Optional
+import glob
+from typing import Optional, List
 
 def gpio_init(pin: int, output: bool) -> None:
   try:
@@ -23,3 +24,13 @@ def gpio_read(pin: int) -> Optional[bool]:
     print(f"Failed to set gpio {pin} value: {e}")
 
   return val
+
+def get_irq_for_action(action: str) -> List[int]:
+  ret = []
+  for fn in glob.glob('/sys/kernel/irq/*/actions'):
+    with open(fn) as f:
+      actions = f.read().strip().split(',')
+      if action in actions:
+        irq = int(fn.split('/')[-2])
+        ret.append(irq)
+  return ret
diff --git a/selfdrive/debug/profiling/watch-irqs.sh b/selfdrive/debug/profiling/watch-irqs.sh
new file mode 100755
index 0000000000..34cc4596f4
--- /dev/null
+++ b/selfdrive/debug/profiling/watch-irqs.sh
@@ -0,0 +1,4 @@
+#!/usr/bin/bash
+set -e
+
+RUBYOPT="-W0" irqtop -d1 -R
diff --git a/system/hardware/tici/hardware.py b/system/hardware/tici/hardware.py
index 46db097da1..1def397823 100644
--- a/system/hardware/tici/hardware.py
+++ b/system/hardware/tici/hardware.py
@@ -8,7 +8,7 @@ from functools import cached_property
 from pathlib import Path
 
 from cereal import log
-from common.gpio import gpio_set, gpio_init
+from common.gpio import gpio_set, gpio_init, get_irq_for_action
 from system.hardware.base import HardwareBase, ThermalConfig
 from system.hardware.tici import iwlist
 from system.hardware.tici.pins import GPIO
@@ -63,8 +63,14 @@ MM_MODEM_ACCESS_TECHNOLOGY_LTE = 1 << 14
 def sudo_write(val, path):
   os.system(f"sudo su -c 'echo {val} > {path}'")
 
-def affine_irq(val, irq):
-  sudo_write(str(val), f"/proc/irq/{irq}/smp_affinity_list")
+
+def affine_irq(val, action):
+  irq = get_irq_for_action(action)
+  if len(irq) == 0:
+    print(f"No IRQs found for '{action}'")
+    return
+  for i in irq:
+    sudo_write(str(val), f"/proc/irq/{i}/smp_affinity_list")
 
 
 class Tici(HardwareBase):
@@ -432,12 +438,19 @@ class Tici(HardwareBase):
       sudo_write(gov, f'/sys/devices/system/cpu/cpufreq/policy{n}/scaling_governor')
 
     # *** IRQ config ***
-    affine_irq(5, 565)   # kgsl-3d0
-    affine_irq(4, 126)   # SPI goes on boardd core
-    affine_irq(4, 740)   # xhci-hcd:usb1 goes on the boardd core
-    affine_irq(4, 1069)  # xhci-hcd:usb3 goes on the boardd core
-    for irq in range(237, 246):
-      affine_irq(5, irq) # camerad
+
+    # GPU
+    affine_irq(5, "kgsl-3d0")
+
+    # boardd core
+    affine_irq(4, "spi_geni")        # SPI
+    affine_irq(4, "xhci-hcd:usb1")   # internal panda USB
+    affine_irq(4, "xhci-hcd:usb3")   # aux panda USB (or potentially anything else on USB)
+
+    # camerad core
+    camera_irqs = ("cci", "cpas_camnoc", "cpas-cdm", "csid", "ife", "csid", "csid-lite", "ife-lite")
+    for n in camera_irqs:
+      affine_irq(5, n)
 
   def get_gpu_usage_percent(self):
     try:
@@ -461,9 +474,11 @@ class Tici(HardwareBase):
     # *** IRQ config ***
 
     # move these off the default core
-    affine_irq(1, 7)    # msm_drm
-    affine_irq(1, 250)  # msm_vidc
-    affine_irq(1, 8)    # i2c_geni (sensord)
+    affine_irq(1, "msm_drm")
+    affine_irq(1, "msm_vidc")
+    affine_irq(1, "i2c_geni")
+
+    # mask off big cluster from default affinity
     sudo_write("f", "/proc/irq/default_smp_affinity")
 
     # *** GPU config ***
diff --git a/system/sensord/tests/test_sensord.py b/system/sensord/tests/test_sensord.py
index 21b67271d6..6e8dda79bb 100755
--- a/system/sensord/tests/test_sensord.py
+++ b/system/sensord/tests/test_sensord.py
@@ -1,6 +1,5 @@
 #!/usr/bin/env python3
 import os
-import glob
 import time
 import unittest
 import numpy as np
@@ -8,6 +7,7 @@ from collections import namedtuple, defaultdict
 
 import cereal.messaging as messaging
 from cereal import log
+from common.gpio import get_irq_for_action
 from system.hardware import TICI
 from selfdrive.manager.process_config import managed_processes
 
@@ -113,13 +113,7 @@ class TestSensord(unittest.TestCase):
       cls.events = read_sensor_events(cls.sample_secs)
 
       # determine sensord's irq
-      cls.sensord_irq = None
-      for fn in glob.glob('/sys/kernel/irq/*/actions'):
-        with open(fn) as f:
-          if "sensord" in f.read():
-            cls.sensord_irq = int(fn.split('/')[-2])
-            break
-      assert cls.sensord_irq is not None
+      cls.sensord_irq = get_irq_for_action("sensord")[0]
     finally:
       # teardown won't run if this doesn't succeed
       managed_processes["sensord"].stop()

From 4b1f77d54ab550c94e70bc374eaf3b887ae0ed84 Mon Sep 17 00:00:00 2001
From: ZwX1616 <zwx1616@gmail.com>
Date: Wed, 5 Apr 2023 19:46:04 -0700
Subject: [PATCH 37/88] OX03C10: improve tone mapping (#27754)

Co-authored-by: Comma Dev1ce & Y. Yousfi <device@comma.ai>
---
 system/camerad/cameras/camera_qcom2.cc | 4 ++--
 system/camerad/cameras/real_debayer.cl | 4 ++++
 2 files changed, 6 insertions(+), 2 deletions(-)

diff --git a/system/camerad/cameras/camera_qcom2.cc b/system/camerad/cameras/camera_qcom2.cc
index 94116b11cd..e8b8bdc77a 100644
--- a/system/camerad/cameras/camera_qcom2.cc
+++ b/system/camerad/cameras/camera_qcom2.cc
@@ -71,7 +71,7 @@ const int DC_GAIN_MIN_WEIGHT_OX03C10 = 1; // always on is fine
 const int DC_GAIN_MAX_WEIGHT_OX03C10 = 1;
 
 const float TARGET_GREY_FACTOR_AR0231 = 1.0;
-const float TARGET_GREY_FACTOR_OX03C10 = 0.02;
+const float TARGET_GREY_FACTOR_OX03C10 = 0.01;
 
 const float sensor_analog_gains_AR0231[] = {
   1.0/8.0, 2.0/8.0, 2.0/7.0, 3.0/7.0, // 0, 1, 2, 3
@@ -101,7 +101,7 @@ const float ANALOG_GAIN_COST_LOW_AR0231 = 0.1;
 const float ANALOG_GAIN_COST_HIGH_AR0231 = 5.0;
 
 const int ANALOG_GAIN_MIN_IDX_OX03C10 = 0x0;
-const int ANALOG_GAIN_REC_IDX_OX03C10 = 0x11; // 2.5x
+const int ANALOG_GAIN_REC_IDX_OX03C10 = 0x0; // 1x
 const int ANALOG_GAIN_MAX_IDX_OX03C10 = 0x36;
 const int ANALOG_GAIN_COST_DELTA_OX03C10 = -1;
 const float ANALOG_GAIN_COST_LOW_OX03C10 = 0.4;
diff --git a/system/camerad/cameras/real_debayer.cl b/system/camerad/cameras/real_debayer.cl
index cff5ae455b..e15a873d6d 100644
--- a/system/camerad/cameras/real_debayer.cl
+++ b/system/camerad/cameras/real_debayer.cl
@@ -18,6 +18,9 @@ float3 color_correct(float3 rgb) {
   x += rgb.z * (float3)(-0.25277411, -0.05627105, 1.45875782);
   #endif
 
+  #if IS_OX
+  return -0.507089*exp(-12.54124638*x)+0.9655*powr(x,0.5)-0.472597*x+0.507089;
+  #else
   // tone mapping params
   const float gamma_k = 0.75;
   const float gamma_b = 0.125;
@@ -28,6 +31,7 @@ float3 color_correct(float3 rgb) {
   return (x > mp) ?
     ((rk * (x-mp) * (1-(gamma_k*mp+gamma_b)) * (1+1/(rk*(1-mp))) / (1+rk*(x-mp))) + gamma_k*mp + gamma_b) :
     ((rk * (x-mp) * (gamma_k*mp+gamma_b) * (1+1/(rk*mp)) / (1-rk*(x-mp))) + gamma_k*mp + gamma_b);
+  #endif
 }
 
 float get_vignetting_s(float r) {

From fdb3488f6bbe34500e1694abd56160168937e5e3 Mon Sep 17 00:00:00 2001
From: Adeeb Shihadeh <adeebshihadeh@gmail.com>
Date: Wed, 5 Apr 2023 21:08:14 -0700
Subject: [PATCH 38/88] tizi: only affine panda USB IRQ when it's used (#27816)

only affine panda USB IRQ when it's used

Co-authored-by: Comma Device <device@comma.ai>
---
 system/hardware/tici/hardware.py | 7 ++++---
 1 file changed, 4 insertions(+), 3 deletions(-)

diff --git a/system/hardware/tici/hardware.py b/system/hardware/tici/hardware.py
index 1def397823..fdddf4d063 100644
--- a/system/hardware/tici/hardware.py
+++ b/system/hardware/tici/hardware.py
@@ -443,9 +443,10 @@ class Tici(HardwareBase):
     affine_irq(5, "kgsl-3d0")
 
     # boardd core
-    affine_irq(4, "spi_geni")        # SPI
-    affine_irq(4, "xhci-hcd:usb1")   # internal panda USB
-    affine_irq(4, "xhci-hcd:usb3")   # aux panda USB (or potentially anything else on USB)
+    affine_irq(4, "spi_geni")         # SPI
+    affine_irq(4, "xhci-hcd:usb3")    # aux panda USB (or potentially anything else on USB)
+    if "tici" in self.model:
+      affine_irq(4, "xhci-hcd:usb1")  # internal panda USB
 
     # camerad core
     camera_irqs = ("cci", "cpas_camnoc", "cpas-cdm", "csid", "ife", "csid", "csid-lite", "ife-lite")

From c8c458f0e7d9a5cb355deb376ef770c3f0b86111 Mon Sep 17 00:00:00 2001
From: Adeeb Shihadeh <adeebshihadeh@gmail.com>
Date: Wed, 5 Apr 2023 22:16:44 -0700
Subject: [PATCH 39/88] boardd: log SPI checksum errors (#27818)

* boardd: log SPI checksum errors

* bump panda
---
 cereal                     | 2 +-
 panda                      | 2 +-
 selfdrive/boardd/boardd.cc | 1 +
 3 files changed, 3 insertions(+), 2 deletions(-)

diff --git a/cereal b/cereal
index 9baf462ce8..4f5502c865 160000
--- a/cereal
+++ b/cereal
@@ -1 +1 @@
-Subproject commit 9baf462ce897182f57054322ef229485d6df9031
+Subproject commit 4f5502c8657813ccb538e9575ca1a7b258b17af9
diff --git a/panda b/panda
index e516a5752b..6f852b44a9 160000
--- a/panda
+++ b/panda
@@ -1 +1 @@
-Subproject commit e516a5752b56d9b95229042c5cca8c74b6a9feb0
+Subproject commit 6f852b44a9ef1ee119fabf6aa2a9c477ed594a46
diff --git a/selfdrive/boardd/boardd.cc b/selfdrive/boardd/boardd.cc
index 12b90ef64f..2454ee51d8 100644
--- a/selfdrive/boardd/boardd.cc
+++ b/selfdrive/boardd/boardd.cc
@@ -386,6 +386,7 @@ std::optional<bool> send_panda_states(PubMaster *pm, const std::vector<Panda *>
     ps.setInterruptLoad(health.interrupt_load);
     ps.setFanPower(health.fan_power);
     ps.setSafetyRxChecksInvalid((bool)(health.safety_rx_checks_invalid));
+    ps.setSpiChecksumErrorCount(health.spi_checksum_error_count);
 
     std::array<cereal::PandaState::PandaCanState::Builder, PANDA_CAN_CNT> cs = {ps.initCanState0(), ps.initCanState1(), ps.initCanState2()};
 

From 39a1a917e78280ce654135944bb342ca923d8bc3 Mon Sep 17 00:00:00 2001
From: Adeeb Shihadeh <adeebshihadeh@gmail.com>
Date: Wed, 5 Apr 2023 22:17:57 -0700
Subject: [PATCH 40/88] tici: move tests to tests/

---
 Jenkinsfile                                            | 2 +-
 system/hardware/tici/{ => tests}/test_agnos_updater.py | 0
 system/hardware/tici/{ => tests}/test_power_draw.py    | 0
 3 files changed, 1 insertion(+), 1 deletion(-)
 rename system/hardware/tici/{ => tests}/test_agnos_updater.py (100%)
 rename system/hardware/tici/{ => tests}/test_power_draw.py (100%)

diff --git a/Jenkinsfile b/Jenkinsfile
index 74c76d1323..af017d6b8f 100644
--- a/Jenkinsfile
+++ b/Jenkinsfile
@@ -170,7 +170,7 @@ pipeline {
           steps {
             phone_steps("tici-common", [
               ["build", "cd selfdrive/manager && ./build.py"],
-              ["test power draw", "python system/hardware/tici/test_power_draw.py"],
+              ["test power draw", "python system/hardware/tici/tests/test_power_draw.py"],
               ["test loggerd", "python system/loggerd/tests/test_loggerd.py"],
               ["test encoder", "LD_LIBRARY_PATH=/usr/local/lib python system/loggerd/tests/test_encoder.py"],
               ["test pigeond", "python system/sensord/tests/test_pigeond.py"],
diff --git a/system/hardware/tici/test_agnos_updater.py b/system/hardware/tici/tests/test_agnos_updater.py
similarity index 100%
rename from system/hardware/tici/test_agnos_updater.py
rename to system/hardware/tici/tests/test_agnos_updater.py
diff --git a/system/hardware/tici/test_power_draw.py b/system/hardware/tici/tests/test_power_draw.py
similarity index 100%
rename from system/hardware/tici/test_power_draw.py
rename to system/hardware/tici/tests/test_power_draw.py

From 9eda72d8712d3bd2a56b66d61ae99c1952c97272 Mon Sep 17 00:00:00 2001
From: Adeeb Shihadeh <adeebshihadeh@gmail.com>
Date: Wed, 5 Apr 2023 22:39:57 -0700
Subject: [PATCH 41/88] update manifest path in test

---
 system/hardware/tici/tests/test_agnos_updater.py | 4 ++--
 1 file changed, 2 insertions(+), 2 deletions(-)

diff --git a/system/hardware/tici/tests/test_agnos_updater.py b/system/hardware/tici/tests/test_agnos_updater.py
index e0d6ed8814..86bc78881e 100755
--- a/system/hardware/tici/tests/test_agnos_updater.py
+++ b/system/hardware/tici/tests/test_agnos_updater.py
@@ -4,8 +4,8 @@ import os
 import unittest
 import requests
 
-AGNOS_DIR = os.path.join(os.path.dirname(os.path.abspath(__file__)))
-MANIFEST = os.path.join(AGNOS_DIR, "agnos.json")
+TEST_DIR = os.path.join(os.path.dirname(os.path.abspath(__file__)))
+MANIFEST = os.path.join(TEST_DIR, "../agnos.json")
 
 
 class TestAgnosUpdater(unittest.TestCase):

From 248cc46f4765c3a9c6a355567365e42198f48f1a Mon Sep 17 00:00:00 2001
From: Adeeb Shihadeh <adeebshihadeh@gmail.com>
Date: Thu, 6 Apr 2023 12:42:44 -0700
Subject: [PATCH 42/88] plotjuggler: camera timings layout

---
 tools/plotjuggler/layouts/camera-timings.xml | 100 +++++++++++++++++++
 1 file changed, 100 insertions(+)
 create mode 100644 tools/plotjuggler/layouts/camera-timings.xml

diff --git a/tools/plotjuggler/layouts/camera-timings.xml b/tools/plotjuggler/layouts/camera-timings.xml
new file mode 100644
index 0000000000..bef2adb00b
--- /dev/null
+++ b/tools/plotjuggler/layouts/camera-timings.xml
@@ -0,0 +1,100 @@
+<?xml version='1.0' encoding='UTF-8'?>
+<root>
+ <tabbed_widget parent="main_window" name="Main Window">
+  <Tab containers="1" tab_name="SOF / EOF">
+   <Container>
+    <DockSplitter orientation="-" sizes="0.500885;0.499115" count="2">
+     <DockArea name="...">
+      <plot flip_x="false" mode="TimeSeries" style="Lines" flip_y="false">
+       <range right="780.030468" bottom="35000000.000000" top="65000000.000000" left="0.108134"/>
+       <limitY max="6.5e+07" min="3.5e+07"/>
+       <curve color="#1f77b4" name="/driverEncodeIdx/timestampSof">
+        <transform alias="/driverEncodeIdx/timestampSof[Derivative]" name="Derivative">
+         <options lineEdit="1.0" radioChecked="radioCustom"/>
+        </transform>
+       </curve>
+       <curve color="#d62728" name="/roadEncodeIdx/timestampSof">
+        <transform alias="/roadEncodeIdx/timestampSof[Derivative]" name="Derivative">
+         <options lineEdit="1.0" radioChecked="radioCustom"/>
+        </transform>
+       </curve>
+       <curve color="#1ac938" name="/wideRoadEncodeIdx/timestampSof">
+        <transform alias="/wideRoadEncodeIdx/timestampSof[Derivative]" name="Derivative">
+         <options lineEdit="1.0" radioChecked="radioCustom"/>
+        </transform>
+       </curve>
+      </plot>
+     </DockArea>
+     <DockArea name="...">
+      <plot flip_x="false" mode="TimeSeries" style="Lines" flip_y="false">
+       <range right="780.030468" bottom="35000000.000000" top="65000000.000000" left="0.108134"/>
+       <limitY max="6.5e+07" min="3.5e+07"/>
+       <curve color="#f14cc1" name="/driverEncodeIdx/timestampEof">
+        <transform alias="/driverEncodeIdx/timestampEof[Derivative]" name="Derivative">
+         <options lineEdit="1.0" radioChecked="radioCustom"/>
+        </transform>
+       </curve>
+       <curve color="#9467bd" name="/roadEncodeIdx/timestampEof">
+        <transform alias="/roadEncodeIdx/timestampEof[Derivative]" name="Derivative">
+         <options lineEdit="1.0" radioChecked="radioCustom"/>
+        </transform>
+       </curve>
+       <curve color="#17becf" name="/wideRoadEncodeIdx/timestampEof">
+        <transform alias="/wideRoadEncodeIdx/timestampEof[Derivative]" name="Derivative">
+         <options lineEdit="1.0" radioChecked="radioCustom"/>
+        </transform>
+       </curve>
+      </plot>
+     </DockArea>
+    </DockSplitter>
+   </Container>
+  </Tab>
+  <Tab containers="1" tab_name="model timings">
+   <Container>
+    <DockSplitter orientation="-" sizes="0.5;0.5" count="2">
+     <DockArea name="...">
+      <plot flip_x="false" mode="TimeSeries" style="Lines" flip_y="false">
+       <range right="780.030468" bottom="0.018421" top="0.030813" left="0.108134"/>
+       <limitY/>
+       <curve color="#ff7f0e" name="/modelV2/modelExecutionTime"/>
+      </plot>
+     </DockArea>
+     <DockArea name="...">
+      <plot flip_x="false" mode="TimeSeries" style="Lines" flip_y="false">
+       <range right="780.030468" bottom="-0.100000" top="0.100000" left="0.108134"/>
+       <limitY/>
+       <curve color="#f14cc1" name="/modelV2/frameDropPerc"/>
+      </plot>
+     </DockArea>
+    </DockSplitter>
+   </Container>
+  </Tab>
+  <Tab containers="1" tab_name="sensor info">
+   <Container>
+    <DockSplitter orientation="-" sizes="1" count="1">
+     <DockArea name="...">
+      <plot flip_x="false" mode="TimeSeries" style="Lines" flip_y="false">
+       <range right="780.030468" bottom="1.900000" top="2.100000" left="0.108134"/>
+       <limitY/>
+       <curve color="#bcbd22" name="/driverCameraState/sensor"/>
+       <curve color="#1f77b4" name="/roadCameraState/sensor"/>
+       <curve color="#d62728" name="/wideRoadCameraState/sensor"/>
+      </plot>
+     </DockArea>
+    </DockSplitter>
+   </Container>
+  </Tab>
+  <currentTabIndex index="0"/>
+ </tabbed_widget>
+ <use_relative_time_offset enabled="1"/>
+ <!-- - - - - - - - - - - - - - - -->
+ <!-- - - - - - - - - - - - - - - -->
+ <Plugins>
+  <plugin ID="DataLoad Rlog"/>
+  <plugin ID="Cereal Subscriber"/>
+ </Plugins>
+ <customMathEquations/>
+ <snippets/>
+ <!-- - - - - - - - - - - - - - - -->
+</root>
+

From 71819b2282919b95616a986e58ddb91996826075 Mon Sep 17 00:00:00 2001
From: Adeeb Shihadeh <adeebshihadeh@gmail.com>
Date: Thu, 6 Apr 2023 12:51:30 -0700
Subject: [PATCH 43/88] boardd: bump spi to 50MHz

---
 selfdrive/boardd/spi.cc | 5 ++++-
 1 file changed, 4 insertions(+), 1 deletion(-)

diff --git a/selfdrive/boardd/spi.cc b/selfdrive/boardd/spi.cc
index 9a10e30f95..d418d2bdac 100644
--- a/selfdrive/boardd/spi.cc
+++ b/selfdrive/boardd/spi.cc
@@ -57,9 +57,12 @@ PandaSpiHandle::PandaSpiHandle(std::string serial) : PandaCommsHandle(serial) {
   uint8_t uid[uid_len] = {0};
 
   uint32_t spi_mode = SPI_MODE_0;
-  uint32_t spi_speed = 30000000;
   uint8_t spi_bits_per_word = 8;
 
+  // 50MHz is the max of the 845. note that some older
+  // revs of the comma three may not support this speed
+  uint32_t spi_speed = 50000000;
+
   spi_fd = open(SPI_DEVICE.c_str(), O_RDWR);
   if (spi_fd < 0) {
     LOGE("failed opening SPI device %d", spi_fd);

From 23e420448b5713875bf2fd17fb9f0c1c804ec010 Mon Sep 17 00:00:00 2001
From: Dean Lee <deanlee3@gmail.com>
Date: Fri, 7 Apr 2023 04:37:09 +0800
Subject: [PATCH 44/88] cabana: improve chart drag and drop (#27820)

* improve drag/drop

* change alpha to 180

* cleanup

* cleanup

* draw drop indicator
---
 tools/cabana/chartswidget.cc | 79 ++++++++++++++++++++++++++++++++----
 tools/cabana/chartswidget.h  | 13 +++++-
 2 files changed, 82 insertions(+), 10 deletions(-)

diff --git a/tools/cabana/chartswidget.cc b/tools/cabana/chartswidget.cc
index 4c91ab8e3d..e9ff72a987 100644
--- a/tools/cabana/chartswidget.cc
+++ b/tools/cabana/chartswidget.cc
@@ -12,6 +12,7 @@
 #include <QOpenGLWidget>
 #include <QPushButton>
 #include <QRubberBand>
+#include <QScrollBar>
 #include <QStylePainter>
 #include <QToolBar>
 #include <QToolTip>
@@ -22,7 +23,7 @@ static inline bool xLessThan(const QPointF &p, float x) { return p.x() < x; }
 
 // ChartsWidget
 
-ChartsWidget::ChartsWidget(QWidget *parent) : align_timer(this), QFrame(parent) {
+ChartsWidget::ChartsWidget(QWidget *parent) : align_timer(this), auto_scroll_timer(this), QFrame(parent) {
   setFrameStyle(QFrame::StyledPanel | QFrame::Plain);
   QVBoxLayout *main_layout = new QVBoxLayout(this);
   main_layout->setContentsMargins(0, 0, 0, 0);
@@ -99,6 +100,7 @@ ChartsWidget::ChartsWidget(QWidget *parent) : align_timer(this), QFrame(parent)
 
   align_timer.setSingleShot(true);
   QObject::connect(&align_timer, &QTimer::timeout, this, &ChartsWidget::alignCharts);
+  QObject::connect(&auto_scroll_timer, &QTimer::timeout, this, &ChartsWidget::doAutoScroll);
   QObject::connect(dbc(), &DBCManager::DBCFileChanged, this, &ChartsWidget::removeAll);
   QObject::connect(can, &AbstractStream::eventsMerged, this, &ChartsWidget::eventsMerged);
   QObject::connect(can, &AbstractStream::updated, this, &ChartsWidget::updateState);
@@ -270,6 +272,36 @@ void ChartsWidget::updateLayout() {
   }
 }
 
+void ChartsWidget::startAutoScroll() {
+  auto_scroll_timer.start(50);
+}
+
+void ChartsWidget::stopAutoScroll() {
+  auto_scroll_timer.stop();
+  auto_scroll_count = 0;
+}
+
+void ChartsWidget::doAutoScroll() {
+  QScrollBar *scroll = charts_scroll->verticalScrollBar();
+  if (auto_scroll_count < scroll->pageStep()) {
+    ++auto_scroll_count;
+  }
+
+  int value = scroll->value();
+  QPoint pos = charts_scroll->viewport()->mapFromGlobal(QCursor::pos());
+  QRect area = charts_scroll->viewport()->rect();
+
+  if (pos.y() - area.top() < settings.chart_height / 2) {
+    scroll->setValue(value - auto_scroll_count);
+  } else if (area.bottom() - pos.y() < settings.chart_height / 2) {
+    scroll->setValue(value + auto_scroll_count);
+  }
+  bool vertical_unchanged = value == scroll->value();
+  if (vertical_unchanged) {
+    stopAutoScroll();
+  }
+}
+
 void ChartsWidget::resizeEvent(QResizeEvent *event) {
   QWidget::resizeEvent(event);
   updateLayout();
@@ -335,7 +367,6 @@ bool ChartsWidget::event(QEvent *event) {
       back_button = ev->button() == Qt::BackButton;
       break;
     }
-
     case QEvent::NativeGesture: {
       QNativeGestureEvent *ev = static_cast<QNativeGestureEvent *>(event);
       back_button = (ev->value() == 180);
@@ -361,7 +392,7 @@ bool ChartsWidget::event(QEvent *event) {
 
 // ChartView
 
-ChartView::ChartView(const std::pair<double, double> &x_range, QWidget *parent) : tip_label(this), QChartView(nullptr, parent) {
+ChartView::ChartView(const std::pair<double, double> &x_range, ChartsWidget *parent) : charts_widget(parent), tip_label(this), QChartView(nullptr, parent) {
   series_type = (SeriesType)settings.chart_series_type;
   QChart *chart = new QChart();
   chart->setBackgroundVisible(false);
@@ -514,7 +545,7 @@ void ChartView::updatePlotArea(int left_pos, bool force) {
     qreal left, top, right, bottom;
     chart()->layout()->getContentsMargins(&left, &top, &right, &bottom);
     QSizeF x_label_size = QFontMetrics(axis_x->labelsFont()).size(Qt::TextSingleLine, QString::number(axis_x->max(), 'f', 2));
-    x_label_size += QSizeF{5 * devicePixelRatioF(), 5 * devicePixelRatioF()};
+    x_label_size += QSizeF{5, 5};
     int adjust_top = chart()->legend()->geometry().height() + style()->pixelMetric(QStyle::PM_LayoutTopMargin);
     chart()->setPlotArea(rect().adjusted(align_to + left, adjust_top + top, -x_label_size.width() / 2 - right, -x_label_size.height() - bottom));
     chart()->layout()->invalidate();
@@ -704,11 +735,18 @@ void ChartView::mousePressEvent(QMouseEvent *event) {
   if (event->button() == Qt::LeftButton && move_icon->sceneBoundingRect().contains(event->pos())) {
     QMimeData *mimeData = new QMimeData;
     mimeData->setData(mime_type, QByteArray::number((qulonglong)this));
+    QPixmap pm = grab();
+    QPainter p(&pm);
+    p.setCompositionMode(QPainter::CompositionMode_DestinationIn);
+    p.fillRect(pm.rect(), QColor(0, 0, 0, 180));
+    p.end();
+
     QDrag *drag = new QDrag(this);
     drag->setMimeData(mimeData);
-    drag->setPixmap(grab());
+    drag->setPixmap(pm);
     drag->setHotSpot(event->pos());
     drag->exec(Qt::CopyAction | Qt::MoveAction, Qt::MoveAction);
+    charts_widget->stopAutoScroll();
   } else if (event->button() == Qt::LeftButton && QApplication::keyboardModifiers().testFlag(Qt::ShiftModifier)) {
     if (!can->liveStreaming()) {
       // Save current playback state when scrubbing
@@ -735,13 +773,11 @@ void ChartView::mouseReleaseEvent(QMouseEvent *event) {
     min = std::clamp(min, 0., can->totalSeconds());
     max = std::clamp(max, 0., can->totalSeconds());
 
-    double min_rounded = std::floor(min * 10.0) / 10.0;
-    double max_rounded = std::floor(max * 10.0) / 10.0;
     if (rubber->width() <= 0) {
       // no rubber dragged, seek to mouse position
       can->seekTo(min);
     } else if (rubber->width() > 10) {
-      emit zoomIn(min_rounded, max_rounded);
+      emit zoomIn(min, max);
     } else {
       viewport()->update();
     }
@@ -827,6 +863,17 @@ void ChartView::hideTip() {
   viewport()->update();
 }
 
+void ChartView::dragEnterEvent(QDragEnterEvent *event) {
+  can_drop = event->source() != this;
+  viewport()->update();
+  QChartView::dragEnterEvent(event);
+}
+void ChartView::dragLeaveEvent(QDragLeaveEvent *event) {
+  can_drop = false;
+  viewport()->update();
+  QChartView::dragLeaveEvent(event);
+}
+
 void ChartView::dragMoveEvent(QDragMoveEvent *event) {
   if (event->mimeData()->hasFormat(mime_type)) {
     event->setDropAction(event->source() == this ? Qt::MoveAction : Qt::CopyAction);
@@ -834,6 +881,7 @@ void ChartView::dragMoveEvent(QDragMoveEvent *event) {
   } else {
     event->ignore();
   }
+  charts_widget->startAutoScroll();
 }
 
 void ChartView::dropEvent(QDropEvent *event) {
@@ -844,11 +892,20 @@ void ChartView::dropEvent(QDropEvent *event) {
     } else {
       ChartView *source_chart = (ChartView *)event->source();
       for (auto &s : source_chart->sigs) {
-        addSeries(s.msg_id, s.sig);
+        source_chart->chart()->removeSeries(s.series);
+        chart()->addSeries(s.series);
+        s.series->attachAxis(axis_x);
+        s.series->attachAxis(axis_y);
       }
+      sigs.append(source_chart->sigs);
+      updateAxisY();
+      updateTitle();
+
+      source_chart->sigs.clear();
       emit source_chart->remove();
       event->acceptProposedAction();
     }
+    can_drop = false;
   } else {
     event->ignore();
   }
@@ -875,6 +932,10 @@ void ChartView::paintEvent(QPaintEvent *event) {
     QPainter painter(viewport());
     painter.setRenderHints(QPainter::Antialiasing);
     painter.drawPixmap(QPoint(), chart_pixmap);
+    if (can_drop) {
+      painter.setPen(QPen(palette().color(QPalette::Highlight), 4));
+      painter.drawRect(viewport()->rect());
+    }
     QRectF exposed_rect = mapToScene(event->region().boundingRect()).boundingRect();
     drawForeground(&painter, exposed_rect);
   } else {
diff --git a/tools/cabana/chartswidget.h b/tools/cabana/chartswidget.h
index 0a2f76202e..01bdf1437c 100644
--- a/tools/cabana/chartswidget.h
+++ b/tools/cabana/chartswidget.h
@@ -33,11 +33,12 @@ public:
   void paintEvent(QPaintEvent *ev) override;
 };
 
+class ChartsWidget;
 class ChartView : public QChartView {
   Q_OBJECT
 
 public:
-  ChartView(const std::pair<double, double> &x_range, QWidget *parent = nullptr);
+  ChartView(const std::pair<double, double> &x_range, ChartsWidget *parent = nullptr);
   void addSeries(const MessageId &msg_id, const cabana::Signal *sig);
   bool hasSeries(const MessageId &msg_id, const cabana::Signal *sig) const;
   void updateSeries(const cabana::Signal *sig = nullptr);
@@ -82,6 +83,8 @@ private:
   void mousePressEvent(QMouseEvent *event) override;
   void mouseReleaseEvent(QMouseEvent *event) override;
   void mouseMoveEvent(QMouseEvent *ev) override;
+  void dragEnterEvent(QDragEnterEvent *event) override;
+  void dragLeaveEvent(QDragLeaveEvent *event) override;
   void dragMoveEvent(QDragMoveEvent *event) override;
   void dropEvent(QDropEvent *event) override;
   void leaveEvent(QEvent *event) override;
@@ -115,7 +118,9 @@ private:
   bool is_scrubbing = false;
   bool resume_after_scrub = false;
   QPixmap chart_pixmap;
+  bool can_drop = false;
   double tooltip_x = -1;
+  ChartsWidget *charts_widget;
   friend class ChartsWidget;
  };
 
@@ -148,6 +153,9 @@ private:
   void updateState();
   void zoomIn(double min, double max);
   void zoomReset();
+  void startAutoScroll();
+  void stopAutoScroll();
+  void doAutoScroll();
   void updateToolBar();
   void setMaxChartRange(int value);
   void updateLayout();
@@ -181,8 +189,11 @@ private:
   QAction *columns_action;
   int column_count = 1;
   int current_column_count = 0;
+  int auto_scroll_count = 0;
+  QTimer auto_scroll_timer;
   QTimer align_timer;
   friend class ZoomCommand;
+  friend class ChartView;
 };
 
 class ZoomCommand : public QUndoCommand {

From 558da046dbc4e865fef7358d3cd737f77be925e0 Mon Sep 17 00:00:00 2001
From: Adeeb Shihadeh <adeebshihadeh@gmail.com>
Date: Thu, 6 Apr 2023 20:42:19 -0700
Subject: [PATCH 45/88] update scons qt tool (#27825)

* update scons qt tool

* support old and new

---------

Co-authored-by: Comma Device <device@comma.ai>
---
 SConstruct | 8 +++++++-
 1 file changed, 7 insertions(+), 1 deletion(-)

diff --git a/SConstruct b/SConstruct
index 4ff4cf487f..1c9ce74853 100644
--- a/SConstruct
+++ b/SConstruct
@@ -5,6 +5,8 @@ import sysconfig
 import platform
 import numpy as np
 
+import SCons.Errors
+
 TICI = os.path.isfile('/TICI')
 AGNOS = TICI
 
@@ -311,7 +313,11 @@ else:
   elif arch != "Darwin":
     qt_libs += ["GL"]
 
-qt_env.Tool('qt')
+try:
+  qt_env.Tool('qt3')
+except SCons.Errors.UserError:
+  qt_env.Tool('qt')
+
 qt_env['CPPPATH'] += qt_dirs + ["#selfdrive/ui/qt/"]
 qt_flags = [
   "-D_REENTRANT",

From 5f6a122c24554ded52be5c6c1bf5598133e81dbc Mon Sep 17 00:00:00 2001
From: Adeeb Shihadeh <adeebshihadeh@gmail.com>
Date: Thu, 6 Apr 2023 21:12:32 -0700
Subject: [PATCH 46/88] add scons-contrib package (#27826)

---
 poetry.lock    | 89 ++++++++++++++++++++++++++++++++------------------
 pyproject.toml |  1 +
 2 files changed, 59 insertions(+), 31 deletions(-)

diff --git a/poetry.lock b/poetry.lock
index b7554ac03a..6733b9d172 100644
--- a/poetry.lock
+++ b/poetry.lock
@@ -55,7 +55,7 @@ frozenlist = ">=1.1.0"
 name = "alabaster"
 version = "0.7.12"
 description = "A configurable sidebar-enabled Sphinx theme"
-category = "dev"
+category = "main"
 optional = false
 python-versions = "*"
 
@@ -374,7 +374,7 @@ azure-nspkg = ">=2.0.0"
 name = "babel"
 version = "2.10.3"
 description = "Internationalization utilities"
-category = "dev"
+category = "main"
 optional = false
 python-versions = ">=3.6"
 
@@ -856,7 +856,7 @@ python-versions = "*"
 name = "docutils"
 version = "0.17.1"
 description = "Docutils -- Python Documentation Utilities"
-category = "dev"
+category = "main"
 optional = false
 python-versions = ">=2.7, !=3.0.*, !=3.1.*, !=3.2.*, !=3.3.*, !=3.4.*"
 
@@ -1390,7 +1390,7 @@ tifffile = ["tifffile"]
 name = "imagesize"
 version = "1.4.1"
 description = "Getting image size from png/jpeg/jpeg2000/gif file"
-category = "dev"
+category = "main"
 optional = false
 python-versions = ">=2.7, !=3.0.*, !=3.1.*, !=3.2.*, !=3.3.*"
 
@@ -2703,6 +2703,23 @@ category = "dev"
 optional = false
 python-versions = ">=2.7, !=3.0.*, !=3.1.*, !=3.2.*, !=3.3.*"
 
+[[package]]
+name = "panflute"
+version = "2.3.0"
+description = "Pythonic Pandoc filters"
+category = "main"
+optional = false
+python-versions = ">=3.6"
+
+[package.dependencies]
+click = ">=6,<9"
+pyyaml = ">=3,<7"
+
+[package.extras]
+dev = ["configparser", "coverage", "flake8", "pandocfilters", "pytest", "pytest-cov", "requests"]
+extras = ["yamlloader (>=1,<2)"]
+pypi = ["Pygments", "docutils", "twine", "wheel"]
+
 [[package]]
 name = "parameterized"
 version = "0.8.1"
@@ -3115,7 +3132,7 @@ python-versions = ">=3.6"
 name = "pygments"
 version = "2.13.0"
 description = "Pygments is a syntax highlighting package written in Python."
-category = "dev"
+category = "main"
 optional = false
 python-versions = ">=3.6"
 
@@ -3426,7 +3443,7 @@ numpy = ["numpy (>=1.6.0)"]
 name = "pytz"
 version = "2022.5"
 description = "World timezone definitions, modern and historical"
-category = "dev"
+category = "main"
 optional = false
 python-versions = "*"
 
@@ -3714,6 +3731,27 @@ python-versions = ">=3.6"
 [package.dependencies]
 setuptools = "*"
 
+[[package]]
+name = "sconscontrib"
+version = "1.0"
+description = ""
+category = "main"
+optional = false
+python-versions = ">=3.6, <4"
+develop = false
+
+[package.dependencies]
+docutils = "*"
+panflute = "*"
+SCons = ">=4"
+sphinx = "*"
+
+[package.source]
+type = "git"
+url = "https://github.com/SCons/scons-contrib.git"
+reference = "HEAD"
+resolved_reference = "f3b0100d3a628e4d18f496815903660a99489bae"
+
 [[package]]
 name = "secretstorage"
 version = "3.3.3"
@@ -3892,7 +3930,7 @@ python-versions = ">=3.7"
 name = "snowballstemmer"
 version = "2.2.0"
 description = "This package provides 29 stemmers for 28 languages generated from Snowball algorithms."
-category = "dev"
+category = "main"
 optional = false
 python-versions = "*"
 
@@ -3930,7 +3968,7 @@ python-versions = ">=3.6"
 name = "sphinx"
 version = "5.3.0"
 description = "Python documentation generator"
-category = "dev"
+category = "main"
 optional = false
 python-versions = ">=3.6"
 
@@ -3989,7 +4027,7 @@ sphinx = ">=1.2"
 name = "sphinxcontrib-applehelp"
 version = "1.0.2"
 description = "sphinxcontrib-applehelp is a sphinx extension which outputs Apple help books"
-category = "dev"
+category = "main"
 optional = false
 python-versions = ">=3.5"
 
@@ -4001,7 +4039,7 @@ test = ["pytest"]
 name = "sphinxcontrib-devhelp"
 version = "1.0.2"
 description = "sphinxcontrib-devhelp is a sphinx extension which outputs Devhelp document."
-category = "dev"
+category = "main"
 optional = false
 python-versions = ">=3.5"
 
@@ -4013,7 +4051,7 @@ test = ["pytest"]
 name = "sphinxcontrib-htmlhelp"
 version = "2.0.0"
 description = "sphinxcontrib-htmlhelp is a sphinx extension which renders HTML help files"
-category = "dev"
+category = "main"
 optional = false
 python-versions = ">=3.6"
 
@@ -4025,7 +4063,7 @@ test = ["html5lib", "pytest"]
 name = "sphinxcontrib-jsmath"
 version = "1.0.1"
 description = "A sphinx extension which renders display math in HTML via JavaScript"
-category = "dev"
+category = "main"
 optional = false
 python-versions = ">=3.5"
 
@@ -4036,7 +4074,7 @@ test = ["flake8", "mypy", "pytest"]
 name = "sphinxcontrib-qthelp"
 version = "1.0.3"
 description = "sphinxcontrib-qthelp is a sphinx extension which outputs QtHelp document."
-category = "dev"
+category = "main"
 optional = false
 python-versions = ">=3.5"
 
@@ -4048,7 +4086,7 @@ test = ["pytest"]
 name = "sphinxcontrib-serializinghtml"
 version = "1.1.5"
 description = "sphinxcontrib-serializinghtml is a sphinx extension which outputs \"serialized\" HTML files (json and pickle)."
-category = "dev"
+category = "main"
 optional = false
 python-versions = ">=3.5"
 
@@ -4659,7 +4697,7 @@ testing = ["coverage (>=5.0.3)", "zope.event", "zope.testing"]
 [metadata]
 lock-version = "1.1"
 python-versions = "~3.8"
-content-hash = "b7cd75dfa0dcddff224696ccc7f41d87aac64652f744ab386321c1eee920fbe9"
+content-hash = "562996977917001bad838c79b9276451d97ab632ae9e2b0f7357c6aa2c50f3d8"
 
 [metadata.files]
 adal = [
@@ -6896,7 +6934,6 @@ onnx = [
 ]
 onnx2torch = [
     {file = "onnx2torch-1.5.4-py3-none-any.whl", hash = "sha256:fd1a0fe05072bfb9f3d86d9330299b130b41f11bd4ae634db17078974e711725"},
-    {file = "onnx2torch-1.5.4.tar.gz", hash = "sha256:df837b557a63540223d85fde4a1d679fde0ca8d8bb89d5379c030b01eddc9c24"},
 ]
 onnxoptimizer = [
     {file = "onnxoptimizer-0.3.1-cp37-cp37m-macosx_10_15_x86_64.whl", hash = "sha256:e73a5e2e3ca4db9bff54f7131768749c861677b97ee811a136fcf1a52783cf6e"},
@@ -6980,6 +7017,10 @@ pandocfilters = [
     {file = "pandocfilters-1.5.0-py2.py3-none-any.whl", hash = "sha256:33aae3f25fd1a026079f5d27bdd52496f0e0803b3469282162bafdcbdf6ef14f"},
     {file = "pandocfilters-1.5.0.tar.gz", hash = "sha256:0b679503337d233b4339a817bfc8c50064e2eff681314376a47cb582305a7a38"},
 ]
+panflute = [
+    {file = "panflute-2.3.0-py3-none-any.whl", hash = "sha256:02673bcbdb521a805f08a2ca0ce864de86ad409ad406a01b3700fcf2aca81635"},
+    {file = "panflute-2.3.0.tar.gz", hash = "sha256:cefd9dfc48ccd9732a53db57610701d22806da397a8a97e5cc8dc070b55865ca"},
+]
 parameterized = [
     {file = "parameterized-0.8.1-py2.py3-none-any.whl", hash = "sha256:9cbb0b69a03e8695d68b3399a8a5825200976536fe1cb79db60ed6a4c8c9efe9"},
     {file = "parameterized-0.8.1.tar.gz", hash = "sha256:41bbff37d6186430f77f900d777e5bb6a24928a1c46fb1de692f8b52b8833b5c"},
@@ -7282,7 +7323,6 @@ pycryptodome = [
     {file = "pycryptodome-3.15.0-cp27-cp27m-manylinux2010_i686.whl", hash = "sha256:7c9ed8aa31c146bef65d89a1b655f5f4eab5e1120f55fc297713c89c9e56ff0b"},
     {file = "pycryptodome-3.15.0-cp27-cp27m-manylinux2010_x86_64.whl", hash = "sha256:5099c9ca345b2f252f0c28e96904643153bae9258647585e5e6f649bb7a1844a"},
     {file = "pycryptodome-3.15.0-cp27-cp27m-manylinux2014_aarch64.whl", hash = "sha256:2ec709b0a58b539a4f9d33fb8508264c3678d7edb33a68b8906ba914f71e8c13"},
-    {file = "pycryptodome-3.15.0-cp27-cp27m-musllinux_1_1_aarch64.whl", hash = "sha256:2ae53125de5b0d2c95194d957db9bb2681da8c24d0fb0fe3b056de2bcaf5d837"},
     {file = "pycryptodome-3.15.0-cp27-cp27m-win32.whl", hash = "sha256:fd2184aae6ee2a944aaa49113e6f5787cdc5e4db1eb8edb1aea914bd75f33a0c"},
     {file = "pycryptodome-3.15.0-cp27-cp27m-win_amd64.whl", hash = "sha256:7e3a8f6ee405b3bd1c4da371b93c31f7027944b2bcce0697022801db93120d83"},
     {file = "pycryptodome-3.15.0-cp27-cp27mu-manylinux1_i686.whl", hash = "sha256:b9c5b1a1977491533dfd31e01550ee36ae0249d78aae7f632590db833a5012b8"},
@@ -7290,14 +7330,12 @@ pycryptodome = [
     {file = "pycryptodome-3.15.0-cp27-cp27mu-manylinux2010_i686.whl", hash = "sha256:2aa55aae81f935a08d5a3c2042eb81741a43e044bd8a81ea7239448ad751f763"},
     {file = "pycryptodome-3.15.0-cp27-cp27mu-manylinux2010_x86_64.whl", hash = "sha256:c3640deff4197fa064295aaac10ab49a0d55ef3d6a54ae1499c40d646655c89f"},
     {file = "pycryptodome-3.15.0-cp27-cp27mu-manylinux2014_aarch64.whl", hash = "sha256:045d75527241d17e6ef13636d845a12e54660aa82e823b3b3341bcf5af03fa79"},
-    {file = "pycryptodome-3.15.0-cp27-cp27mu-musllinux_1_1_aarch64.whl", hash = "sha256:eb6fce570869e70cc8ebe68eaa1c26bed56d40ad0f93431ee61d400525433c54"},
     {file = "pycryptodome-3.15.0-cp35-abi3-macosx_10_9_x86_64.whl", hash = "sha256:9ee40e2168f1348ae476676a2e938ca80a2f57b14a249d8fe0d3cdf803e5a676"},
     {file = "pycryptodome-3.15.0-cp35-abi3-manylinux1_i686.whl", hash = "sha256:4c3ccad74eeb7b001f3538643c4225eac398c77d617ebb3e57571a897943c667"},
     {file = "pycryptodome-3.15.0-cp35-abi3-manylinux1_x86_64.whl", hash = "sha256:1b22bcd9ec55e9c74927f6b1f69843cb256fb5a465088ce62837f793d9ffea88"},
     {file = "pycryptodome-3.15.0-cp35-abi3-manylinux2010_i686.whl", hash = "sha256:57f565acd2f0cf6fb3e1ba553d0cb1f33405ec1f9c5ded9b9a0a5320f2c0bd3d"},
     {file = "pycryptodome-3.15.0-cp35-abi3-manylinux2010_x86_64.whl", hash = "sha256:4b52cb18b0ad46087caeb37a15e08040f3b4c2d444d58371b6f5d786d95534c2"},
     {file = "pycryptodome-3.15.0-cp35-abi3-manylinux2014_aarch64.whl", hash = "sha256:092a26e78b73f2530b8bd6b3898e7453ab2f36e42fd85097d705d6aba2ec3e5e"},
-    {file = "pycryptodome-3.15.0-cp35-abi3-musllinux_1_1_aarch64.whl", hash = "sha256:50ca7e587b8e541eb6c192acf92449d95377d1f88908c0a32ac5ac2703ebe28b"},
     {file = "pycryptodome-3.15.0-cp35-abi3-win32.whl", hash = "sha256:e244ab85c422260de91cda6379e8e986405b4f13dc97d2876497178707f87fc1"},
     {file = "pycryptodome-3.15.0-cp35-abi3-win_amd64.whl", hash = "sha256:c77126899c4b9c9827ddf50565e93955cb3996813c18900c16b2ea0474e130e9"},
     {file = "pycryptodome-3.15.0-pp27-pypy_73-macosx_10_9_x86_64.whl", hash = "sha256:9eaadc058106344a566dc51d3d3a758ab07f8edde013712bc8d22032a86b264f"},
@@ -7968,6 +8006,7 @@ scons = [
     {file = "SCons-4.4.0-py3-none-any.whl", hash = "sha256:cbbd73b83cf85f1aaaf986370359de1bbfd3af97a765cb3554734f6dcec734e1"},
     {file = "SCons-4.4.0.tar.gz", hash = "sha256:7703c4e9d2200b4854a31800c1dbd4587e1fa86e75f58795c740bcfa7eca7eaa"},
 ]
+sconscontrib = []
 secretstorage = [
     {file = "SecretStorage-3.3.3-py3-none-any.whl", hash = "sha256:f356e6628222568e3af06f2eba8df495efa13b3b63081dafd4f7d9a7b7bc9f99"},
     {file = "SecretStorage-3.3.3.tar.gz", hash = "sha256:2403533ef369eca6d2ba81718576c5e0f564d5cca1b58f73a8b23e7d4eeebd77"},
@@ -7997,18 +8036,6 @@ setproctitle = [
     {file = "setproctitle-1.3.2-cp310-cp310-musllinux_1_1_x86_64.whl", hash = "sha256:7f2719a398e1a2c01c2a63bf30377a34d0b6ef61946ab9cf4d550733af8f1ef1"},
     {file = "setproctitle-1.3.2-cp310-cp310-win32.whl", hash = "sha256:e425be62524dc0c593985da794ee73eb8a17abb10fe692ee43bb39e201d7a099"},
     {file = "setproctitle-1.3.2-cp310-cp310-win_amd64.whl", hash = "sha256:e85e50b9c67854f89635a86247412f3ad66b132a4d8534ac017547197c88f27d"},
-    {file = "setproctitle-1.3.2-cp311-cp311-macosx_10_9_universal2.whl", hash = "sha256:2a97d51c17d438cf5be284775a322d57b7ca9505bb7e118c28b1824ecaf8aeaa"},
-    {file = "setproctitle-1.3.2-cp311-cp311-macosx_10_9_x86_64.whl", hash = "sha256:587c7d6780109fbd8a627758063d08ab0421377c0853780e5c356873cdf0f077"},
-    {file = "setproctitle-1.3.2-cp311-cp311-manylinux_2_17_aarch64.manylinux2014_aarch64.whl", hash = "sha256:d7d17c8bd073cbf8d141993db45145a70b307385b69171d6b54bcf23e5d644de"},
-    {file = "setproctitle-1.3.2-cp311-cp311-manylinux_2_17_ppc64le.manylinux2014_ppc64le.whl", hash = "sha256:e932089c35a396dc31a5a1fc49889dd559548d14cb2237adae260382a090382e"},
-    {file = "setproctitle-1.3.2-cp311-cp311-manylinux_2_5_i686.manylinux1_i686.manylinux_2_17_i686.manylinux2014_i686.whl", hash = "sha256:8e4f8f12258a8739c565292a551c3db62cca4ed4f6b6126664e2381acb4931bf"},
-    {file = "setproctitle-1.3.2-cp311-cp311-manylinux_2_5_x86_64.manylinux1_x86_64.manylinux_2_17_x86_64.manylinux2014_x86_64.whl", hash = "sha256:570d255fd99c7f14d8f91363c3ea96bd54f8742275796bca67e1414aeca7d8c3"},
-    {file = "setproctitle-1.3.2-cp311-cp311-musllinux_1_1_aarch64.whl", hash = "sha256:a8e0881568c5e6beff91ef73c0ec8ac2a9d3ecc9edd6bd83c31ca34f770910c4"},
-    {file = "setproctitle-1.3.2-cp311-cp311-musllinux_1_1_i686.whl", hash = "sha256:4bba3be4c1fabf170595b71f3af46c6d482fbe7d9e0563999b49999a31876f77"},
-    {file = "setproctitle-1.3.2-cp311-cp311-musllinux_1_1_ppc64le.whl", hash = "sha256:37ece938110cab2bb3957e3910af8152ca15f2b6efdf4f2612e3f6b7e5459b80"},
-    {file = "setproctitle-1.3.2-cp311-cp311-musllinux_1_1_x86_64.whl", hash = "sha256:db684d6bbb735a80bcbc3737856385b55d53f8a44ce9b46e9a5682c5133a9bf7"},
-    {file = "setproctitle-1.3.2-cp311-cp311-win32.whl", hash = "sha256:ca58cd260ea02759238d994cfae844fc8b1e206c684beb8f38877dcab8451dfc"},
-    {file = "setproctitle-1.3.2-cp311-cp311-win_amd64.whl", hash = "sha256:88486e6cce2a18a033013d17b30a594f1c5cb42520c49c19e6ade40b864bb7ff"},
     {file = "setproctitle-1.3.2-cp37-cp37m-macosx_10_9_x86_64.whl", hash = "sha256:92c626edc66169a1b09e9541b9c0c9f10488447d8a2b1d87c8f0672e771bc927"},
     {file = "setproctitle-1.3.2-cp37-cp37m-manylinux_2_17_aarch64.manylinux2014_aarch64.whl", hash = "sha256:710e16fa3bade3b026907e4a5e841124983620046166f355bbb84be364bf2a02"},
     {file = "setproctitle-1.3.2-cp37-cp37m-manylinux_2_17_ppc64le.manylinux2014_ppc64le.whl", hash = "sha256:1f29b75e86260b0ab59adb12661ef9f113d2f93a59951373eb6d68a852b13e83"},
diff --git a/pyproject.toml b/pyproject.toml
index 47994779b2..b852374a38 100644
--- a/pyproject.toml
+++ b/pyproject.toml
@@ -59,6 +59,7 @@ urllib3 = "^1.26.10"
 utm = "^0.7.0"
 websocket_client = "^1.3.3"
 polyline = "^1.4.0"
+sconscontrib = {git = "https://github.com/SCons/scons-contrib.git"}
 
 
 [tool.poetry.group.dev.dependencies]

From d551a4c18e2afeddc2c7f70432f0d272297b16e5 Mon Sep 17 00:00:00 2001
From: Adeeb Shihadeh <adeebshihadeh@gmail.com>
Date: Thu, 6 Apr 2023 21:28:06 -0700
Subject: [PATCH 47/88] set_time: use python library (#27827)

* set_time: use python library

* unused import

---------

Co-authored-by: Comma Device <device@comma.ai>
---
 panda                        |  2 +-
 selfdrive/boardd/set_time.py | 38 +++++++++++++++++++-----------------
 2 files changed, 21 insertions(+), 19 deletions(-)

diff --git a/panda b/panda
index 6f852b44a9..878e0077ac 160000
--- a/panda
+++ b/panda
@@ -1 +1 @@
-Subproject commit 6f852b44a9ef1ee119fabf6aa2a9c477ed594a46
+Subproject commit 878e0077ac077c5325b37710b8df856468d85674
diff --git a/selfdrive/boardd/set_time.py b/selfdrive/boardd/set_time.py
index 7d17be4de9..790baa094f 100755
--- a/selfdrive/boardd/set_time.py
+++ b/selfdrive/boardd/set_time.py
@@ -1,11 +1,9 @@
 #!/usr/bin/env python3
-import datetime
 import os
-import struct
-import usb1
+import datetime
+from panda import Panda
 
-REQUEST_IN = usb1.ENDPOINT_IN | usb1.TYPE_VENDOR | usb1.RECIPIENT_DEVICE
-MIN_DATE = datetime.datetime(year=2021, month=4, day=1)
+MIN_DATE = datetime.datetime(year=2023, month=4, day=1)
 
 def set_time(logger):
   sys_time = datetime.datetime.today()
@@ -14,24 +12,28 @@ def set_time(logger):
     return
 
   try:
-    ctx = usb1.USBContext()
-    dev = ctx.openByVendorIDAndProductID(0xbbaa, 0xddcc)
-    if dev is None:
-      logger.info("No panda found")
+    ps = Panda.list()
+    if len(ps) == 0:
+      logger.error("Failed to set time, no pandas found")
       return
 
-    # Set system time from panda RTC time
-    dat = dev.controlRead(REQUEST_IN, 0xa0, 0, 0, 8)
-    a = struct.unpack("HBBBBBB", dat)
-    panda_time = datetime.datetime(a[0], a[1], a[2], a[4], a[5], a[6])
-    if panda_time > MIN_DATE:
-      logger.info(f"adjusting time from '{sys_time}' to '{panda_time}'")
-      os.system(f"TZ=UTC date -s '{panda_time}'")
+    for s in ps:
+      with Panda(serial=s) as p:
+        if not p.is_internal():
+          continue
+
+        # Set system time from panda RTC time
+        panda_time = p.get_datetime()
+        logger.info(f"adjusting time from '{sys_time}' to '{panda_time}'")
+        if panda_time > MIN_DATE:
+          logger.info(f"adjusting time from '{sys_time}' to '{panda_time}'")
+          os.system(f"TZ=UTC date -s '{panda_time}'")
+        break
   except Exception:
-    logger.warn("Failed to fetch time from panda")
+    logger.exception("Failed to fetch time from panda")
 
 if __name__ == "__main__":
   import logging
-  logging.basicConfig(level=logging.INFO)
+  logging.basicConfig(level=logging.DEBUG)
 
   set_time(logging)

From f8d9263eae3525a0a535c38f04f64f88010cabad Mon Sep 17 00:00:00 2001
From: Justin Newberry <jnewberry0502@gmail.com>
Date: Fri, 7 Apr 2023 00:31:04 -0400
Subject: [PATCH 48/88] cabana: sort events based on priority (#27809)

* sort events based on priority

* cleanup for pr

* pr cleanup 2

* pr cleanup 3
---
 tools/cabana/videowidget.cc | 17 +++++++++++++++++
 1 file changed, 17 insertions(+)

diff --git a/tools/cabana/videowidget.cc b/tools/cabana/videowidget.cc
index fe9e00bc45..228c8d6b2c 100644
--- a/tools/cabana/videowidget.cc
+++ b/tools/cabana/videowidget.cc
@@ -19,6 +19,20 @@ static const QColor timeline_colors[] = {
   [(int)TimelineType::AlertCritical] = QColor(199, 0, 57),
 };
 
+
+bool sortTimelineBasedOnEventPriority(const std::tuple<int, int, TimelineType> &left, const std::tuple<int, int, TimelineType> &right){
+  const static std::map<TimelineType, int> timelinePriority = {
+    {  TimelineType::None, 0 },
+    {  TimelineType::Engaged, 10 },
+    {  TimelineType::AlertInfo, 20 },
+    {  TimelineType::AlertWarning, 30 },
+    {  TimelineType::AlertCritical, 40 },
+    {  TimelineType::UserFlag, 35 }
+  };
+
+  return timelinePriority.at(std::get<2>(left)) < timelinePriority.at(std::get<2>(right));
+}
+
 VideoWidget::VideoWidget(QWidget *parent) : QFrame(parent) {
   setFrameStyle(QFrame::StyledPanel | QFrame::Plain);
   auto main_layout = new QVBoxLayout(this);
@@ -129,6 +143,8 @@ void VideoWidget::updatePlayBtnState() {
 Slider::Slider(QWidget *parent) : timer(this), thumbnail_label(this), QSlider(Qt::Horizontal, parent) {
   timer.callOnTimeout([this]() {
     timeline = can->getTimeline();
+    std::sort(timeline.begin(), timeline.end(), sortTimelineBasedOnEventPriority);
+
     update();
   });
   setMouseTracking(true);
@@ -189,6 +205,7 @@ void Slider::paintEvent(QPaintEvent *ev) {
   p.fillRect(r, timeline_colors[(int)TimelineType::None]);
   double min = minimum() / 1000.0;
   double max = maximum() / 1000.0;
+
   for (auto [begin, end, type] : timeline) {
     if (begin > max || end < min)
       continue;

From 6381546075f75c32bd6f4a2a064ee3614b021118 Mon Sep 17 00:00:00 2001
From: royjr <royjr96@gmail.com>
Date: Fri, 7 Apr 2023 00:38:13 -0400
Subject: [PATCH 49/88] Honda: Added fingerprints for a 2022 Acura RDX (#27812)

* Added fingerprints for a 2022 Acura RDX

* whoops
---
 selfdrive/car/honda/values.py | 13 ++++++++++++-
 1 file changed, 12 insertions(+), 1 deletion(-)

diff --git a/selfdrive/car/honda/values.py b/selfdrive/car/honda/values.py
index d9137458a9..9ddc3ca396 100644
--- a/selfdrive/car/honda/values.py
+++ b/selfdrive/car/honda/values.py
@@ -1246,6 +1246,7 @@ FW_VERSIONS = {
       b'37805-5YF-A750\x00\x00',
       b'37805-5YF-A850\x00\x00',
       b'37805-5YF-A870\x00\x00',
+      b'37805-5YF-AD20\x00\x00',
       b'37805-5YF-C210\x00\x00',
       b'37805-5YF-C220\x00\x00',
       b'37805-5YF-C410\000\000',
@@ -1254,16 +1255,20 @@ FW_VERSIONS = {
     (Ecu.vsa, 0x18da28f1, None): [
       b'57114-TJB-A030\x00\x00',
       b'57114-TJB-A040\x00\x00',
+      b'57114-TJB-A120\x00\x00',
     ],
     (Ecu.fwdRadar, 0x18dab0f1, None): [
       b'36802-TJB-A040\x00\x00',
       b'36802-TJB-A050\x00\x00',
+      b'36802-TJB-A540\x00\x00',
     ],
     (Ecu.fwdCamera, 0x18dab5f1, None): [
       b'36161-TJB-A040\x00\x00',
+      b'36161-TJB-A530\x00\x00',
     ],
     (Ecu.shiftByWire, 0x18da0bf1, None): [
       b'54008-TJB-A520\x00\x00',
+      b'54008-TJB-A530\x00\x00',
     ],
     (Ecu.transmission, 0x18da1ef1, None): [
       b'28102-5YK-A610\x00\x00',
@@ -1271,6 +1276,7 @@ FW_VERSIONS = {
       b'28102-5YK-A630\x00\x00',
       b'28102-5YK-A700\x00\x00',
       b'28102-5YK-A711\x00\x00',
+      b'28102-5YK-A800\x00\x00',
       b'28102-5YL-A620\x00\x00',
       b'28102-5YL-A700\x00\x00',
       b'28102-5YL-A711\x00\x00',
@@ -1282,6 +1288,7 @@ FW_VERSIONS = {
       b'78109-TJB-AB10\x00\x00',
       b'78109-TJB-AD10\x00\x00',
       b'78109-TJB-AF10\x00\x00',
+      b'78109-TJB-AQ20\x00\x00',
       b'78109-TJB-AR10\x00\x00',
       b'78109-TJB-AS10\000\000',
       b'78109-TJB-AU10\x00\x00',
@@ -1293,22 +1300,26 @@ FW_VERSIONS = {
     ],
     (Ecu.srs, 0x18da53f1, None): [
       b'77959-TJB-A040\x00\x00',
+      b'77959-TJB-A120\x00\x00',
       b'77959-TJB-A210\x00\x00',
     ],
     (Ecu.electricBrakeBooster, 0x18da2bf1, None): [
       b'46114-TJB-A040\x00\x00',
       b'46114-TJB-A050\x00\x00',
       b'46114-TJB-A060\x00\x00',
+      b'46114-TJB-A120\x00\x00',
     ],
     (Ecu.gateway, 0x18daeff1, None): [
       b'38897-TJB-A040\x00\x00',
       b'38897-TJB-A110\x00\x00',
       b'38897-TJB-A120\x00\x00',
+      b'38897-TJB-A220\x00\x00',
     ],
     (Ecu.eps, 0x18da30f1, None): [
       b'39990-TJB-A030\x00\x00',
       b'39990-TJB-A040\x00\x00',
-      b'39990-TJB-A130\x00\x00'
+      b'39990-TJB-A070\x00\x00',
+      b'39990-TJB-A130\x00\x00',
     ],
   },
   CAR.RIDGELINE: {

From 767ed4295f9924a98df5dcd79b8bd71d73511d73 Mon Sep 17 00:00:00 2001
From: Adeeb Shihadeh <adeebshihadeh@gmail.com>
Date: Thu, 6 Apr 2023 23:38:16 -0700
Subject: [PATCH 50/88] tizi: retry amp comms (#27735)

* tizi: retry amp comms

* ensure all config is written together

* simple test

* check errors

* test shutdown

* a tici exclusive

---------

Co-authored-by: Comma Device <device@comma.ai>
---
 Jenkinsfile                                  |  1 +
 system/hardware/tici/amplifier.py            | 63 +++++++++++-------
 system/hardware/tici/tests/test_amplifier.py | 70 ++++++++++++++++++++
 3 files changed, 110 insertions(+), 24 deletions(-)
 create mode 100755 system/hardware/tici/tests/test_amplifier.py

diff --git a/Jenkinsfile b/Jenkinsfile
index af017d6b8f..88f98f33e9 100644
--- a/Jenkinsfile
+++ b/Jenkinsfile
@@ -135,6 +135,7 @@ pipeline {
               ["test sensord", "cd system/sensord/tests && python -m unittest test_sensord.py"],
               ["test camerad", "python system/camerad/test/test_camerad.py"],
               ["test exposure", "python system/camerad/test/test_exposure.py"],
+              ["test amp", "python system/hardware/tici/tests/test_amplifier.py"],
             ])
           }
         }
diff --git a/system/hardware/tici/amplifier.py b/system/hardware/tici/amplifier.py
index 9725cd689c..979bc757f6 100755
--- a/system/hardware/tici/amplifier.py
+++ b/system/hardware/tici/amplifier.py
@@ -1,5 +1,7 @@
+import time
 from smbus2 import SMBus
 from collections import namedtuple
+from typing import List
 
 # https://datasheets.maximintegrated.com/en/ds/MAX98089.pdf
 
@@ -104,31 +106,44 @@ class Amplifier:
   def __init__(self, debug=False):
     self.debug = debug
 
-  def set_config(self, config):
-    with SMBus(self.AMP_I2C_BUS) as bus:
-      if self.debug:
-        print(f"Setting \"{config.name}\" to {config.value}:")
-
-      old_value = bus.read_byte_data(self.AMP_ADDRESS, config.register, force=True)
-      new_value = (old_value & (~config.mask)) | ((config.value << config.offset) & config.mask)
-      bus.write_byte_data(self.AMP_ADDRESS, config.register, new_value, force=True)
-
-      if self.debug:
-        print(f"  Changed {hex(config.register)}: {hex(old_value)} -> {hex(new_value)}")
-
-  def set_global_shutdown(self, amp_disabled):
-    self.set_config(AmpConfig("Global shutdown", 0b0 if amp_disabled else 0b1, 0x51, 7, 0b10000000))
+  def _get_shutdown_config(self, amp_disabled: bool) -> AmpConfig:
+    return AmpConfig("Global shutdown", 0b0 if amp_disabled else 0b1, 0x51, 7, 0b10000000)
 
-  def initialize_configuration(self, model):
-    self.set_global_shutdown(amp_disabled=True)
-
-    for config in BASE_CONFIG:
-      self.set_config(config)
-
-    for config in CONFIGS[model]:
-      self.set_config(config)
-
-    self.set_global_shutdown(amp_disabled=False)
+  def _set_configs(self, configs: List[AmpConfig]) -> None:
+    with SMBus(self.AMP_I2C_BUS) as bus:
+      for config in configs:
+        if self.debug:
+          print(f"Setting \"{config.name}\" to {config.value}:")
+
+        old_value = bus.read_byte_data(self.AMP_ADDRESS, config.register, force=True)
+        new_value = (old_value & (~config.mask)) | ((config.value << config.offset) & config.mask)
+        bus.write_byte_data(self.AMP_ADDRESS, config.register, new_value, force=True)
+
+        if self.debug:
+          print(f"  Changed {hex(config.register)}: {hex(old_value)} -> {hex(new_value)}")
+
+  def set_configs(self, configs: List[AmpConfig]) -> bool:
+    # retry in case panda is using the amp
+    for _ in range(10):
+      try:
+        self._set_configs(configs)
+        return True
+      except OSError:
+        print("Failed to set amp config, retrying...")
+        time.sleep(0.02)
+    return False
+
+  def set_global_shutdown(self, amp_disabled: bool) -> bool:
+    return self.set_configs([self._get_shutdown_config(amp_disabled), ])
+
+  def initialize_configuration(self, model: str) -> bool:
+    cfgs = [
+      self._get_shutdown_config(True),
+      *BASE_CONFIG,
+      *CONFIGS[model],
+      self._get_shutdown_config(False),
+    ]
+    return self.set_configs(cfgs)
 
 
 if __name__ == "__main__":
diff --git a/system/hardware/tici/tests/test_amplifier.py b/system/hardware/tici/tests/test_amplifier.py
new file mode 100755
index 0000000000..1cad6cfd6b
--- /dev/null
+++ b/system/hardware/tici/tests/test_amplifier.py
@@ -0,0 +1,70 @@
+#!/usr/bin/env python3
+import time
+import random
+import unittest
+import subprocess
+
+from panda import Panda
+from system.hardware import TICI
+from system.hardware.tici.hardware import Tici
+from system.hardware.tici.amplifier import Amplifier
+
+
+class TestAmplifier(unittest.TestCase):
+
+  @classmethod
+  def setUpClass(cls):
+    if not TICI:
+      raise unittest.SkipTest
+
+  def setUp(self):
+    # clear dmesg
+    subprocess.check_call("sudo dmesg -C", shell=True)
+
+    self.panda = Panda()
+    self.panda.reset()
+
+  def tearDown(self):
+    self.panda.reset(reconnect=False)
+
+  def _check_for_i2c_errors(self, expected):
+    dmesg = subprocess.check_output("dmesg", shell=True, encoding='utf8')
+    i2c_lines = [l for l in dmesg.strip().splitlines() if 'i2c_geni a88000.i2c' in l]
+    i2c_str = '\n'.join(i2c_lines)
+    if not expected:
+      assert len(i2c_lines) == 0
+    else:
+      assert "i2c error :-107" in i2c_str or "Bus arbitration lost" in i2c_str
+
+  def test_init(self):
+    amp = Amplifier(debug=True)
+    r = amp.initialize_configuration(Tici().model)
+    assert r
+    self._check_for_i2c_errors(False)
+
+  def test_shutdown(self):
+    amp = Amplifier(debug=True)
+    for _ in range(10):
+      r = amp.set_global_shutdown(True)
+      r = amp.set_global_shutdown(False)
+      assert r
+      self._check_for_i2c_errors(False)
+
+  def test_init_while_siren_play(self):
+    for _ in range(5):
+      self.panda.set_siren(False)
+      time.sleep(0.1)
+
+      self.panda.set_siren(True)
+      time.sleep(random.randint(0, 5))
+
+      amp = Amplifier(debug=True)
+      r = amp.initialize_configuration(Tici().model)
+      assert r
+
+    # make sure we're a good test
+    self._check_for_i2c_errors(True)
+
+
+if __name__ == "__main__":
+  unittest.main()

From 08b143997b7c73503281595526e68adcdeec4951 Mon Sep 17 00:00:00 2001
From: Shane Smiskol <shane@smiskol.com>
Date: Fri, 7 Apr 2023 00:30:52 -0700
Subject: [PATCH 51/88] bump opendbc (#27828)

---
 opendbc | 2 +-
 1 file changed, 1 insertion(+), 1 deletion(-)

diff --git a/opendbc b/opendbc
index 9a1de83e4b..8a3c9a7251 160000
--- a/opendbc
+++ b/opendbc
@@ -1 +1 @@
-Subproject commit 9a1de83e4b0625c38c6bc677a762528b7026aa5e
+Subproject commit 8a3c9a72519d90d12a6c7705ee0daaa3ba5662c4

From 409bfcacb754253d53c9da616baeccfcbb05e682 Mon Sep 17 00:00:00 2001
From: Dean Lee <deanlee3@gmail.com>
Date: Sat, 8 Apr 2023 01:47:06 +0800
Subject: [PATCH 52/88] cabana: drag&drop to change chart order (#27832)

---
 tools/cabana/chartswidget.cc | 107 ++++++++++++++++++++++++-----------
 tools/cabana/chartswidget.h  |  27 +++++++--
 2 files changed, 96 insertions(+), 38 deletions(-)

diff --git a/tools/cabana/chartswidget.cc b/tools/cabana/chartswidget.cc
index e9ff72a987..ccb8957ed0 100644
--- a/tools/cabana/chartswidget.cc
+++ b/tools/cabana/chartswidget.cc
@@ -19,6 +19,7 @@
 #include <QtConcurrent>
 
 const int MAX_COLUMN_COUNT = 4;
+const QString mime_type = "application/x-cabanachartview";
 static inline bool xLessThan(const QPointF &p, float x) { return p.x() < x; }
 
 // ChartsWidget
@@ -75,14 +76,7 @@ ChartsWidget::ChartsWidget(QWidget *parent) : align_timer(this), auto_scroll_tim
   main_layout->addWidget(toolbar);
 
   // charts
-  charts_layout = new QGridLayout();
-  charts_layout->setSpacing(10);
-
-  charts_container = new QWidget(this);
-  QVBoxLayout *charts_main_layout = new QVBoxLayout(charts_container);
-  charts_main_layout->setContentsMargins(0, 0, 0, 0);
-  charts_main_layout->addLayout(charts_layout);
-  charts_main_layout->addStretch(0);
+  charts_container = new ChartsContainer(this);
 
   charts_scroll = new QScrollArea(this);
   charts_scroll->setFrameStyle(QFrame::NoFrame);
@@ -227,7 +221,7 @@ ChartView *ChartsWidget::createChart() {
   QObject::connect(chart, &ChartView::seriesAdded, this, &ChartsWidget::seriesChanged);
   QObject::connect(chart, &ChartView::axisYLabelWidthChanged, &align_timer, qOverload<>(&QTimer::start));
   QObject::connect(chart, &ChartView::hovered, this, &ChartsWidget::showValueTip);
-  charts.push_back(chart);
+  charts.push_front(chart);
   updateLayout();
   updateToolBar();
   return chart;
@@ -236,7 +230,7 @@ ChartView *ChartsWidget::createChart() {
 void ChartsWidget::showChart(const MessageId &id, const cabana::Signal *sig, bool show, bool merge) {
   ChartView *chart = findChart(id, sig);
   if (show && !chart) {
-    chart = merge && charts.size() > 0 ? charts.back() : createChart();
+    chart = merge && charts.size() > 0 ? charts.front() : createChart();
     chart->addSeries(id, sig);
   } else if (!show && chart) {
     chart->removeIf([&](auto &s) { return s.msg_id == id && s.sig == sig; });
@@ -252,7 +246,8 @@ void ChartsWidget::setColumnCount(int n) {
   }
 }
 
-void ChartsWidget::updateLayout() {
+void ChartsWidget::updateLayout(bool force) {
+  auto charts_layout = charts_container->charts_layout;
   int n = MAX_COLUMN_COUNT;
   for (; n > 1; --n) {
     if ((n * CHART_MIN_WIDTH + (n - 1) * charts_layout->spacing()) < charts_layout->geometry().width()) break;
@@ -262,13 +257,13 @@ void ChartsWidget::updateLayout() {
   columns_action->setVisible(show_column_cb);
 
   n = std::min(column_count, n);
-  if (charts.size() != charts_layout->count() || n != current_column_count) {
+  if ((charts.size() != charts_layout->count() || n != current_column_count) || force) {
     current_column_count = n;
-    charts_layout->parentWidget()->setUpdatesEnabled(false);
+    charts_container->setUpdatesEnabled(false);
     for (int i = 0; i < charts.size(); ++i) {
-      charts_layout->addWidget(charts[charts.size() - i - 1], i / n, i % n);
+      charts_layout->addWidget(charts[i], i / n, i % n);
     }
-    QTimer::singleShot(0, [this]() { charts_layout->parentWidget()->setUpdatesEnabled(true); });
+    QTimer::singleShot(0, [this]() { charts_container->setUpdatesEnabled(true); });
   }
 }
 
@@ -299,6 +294,13 @@ void ChartsWidget::doAutoScroll() {
   bool vertical_unchanged = value == scroll->value();
   if (vertical_unchanged) {
     stopAutoScroll();
+  } else {
+    // mouseMoveEvent to updates the drag-selection rectangle
+    const QPoint globalPos = charts_scroll->viewport()->mapToGlobal(pos);
+    const QPoint windowPos = charts_scroll->window()->mapFromGlobal(globalPos);
+    QMouseEvent mm(QEvent::MouseMove, pos, windowPos, globalPos,
+                   Qt::NoButton, Qt::LeftButton, Qt::NoModifier, Qt::MouseEventSynthesizedByQt);
+    QApplication::sendEvent(charts_scroll->viewport(), &mm);
   }
 }
 
@@ -423,7 +425,7 @@ ChartView::ChartView(const std::pair<double, double> &x_range, ChartsWidget *par
 
 void ChartView::createToolButtons() {
   move_icon = new QGraphicsPixmapItem(utils::icon("grip-horizontal"), chart());
-  move_icon->setToolTip(tr("Drag and drop to combine charts"));
+  move_icon->setToolTip(tr("Drag and drop to move chart"));
 
   QToolButton *remove_btn = toolButton("x", tr("Remove Chart"));
   close_btn_proxy = new QGraphicsProxyWidget(chart());
@@ -864,32 +866,23 @@ void ChartView::hideTip() {
 }
 
 void ChartView::dragEnterEvent(QDragEnterEvent *event) {
-  can_drop = event->source() != this;
-  viewport()->update();
-  QChartView::dragEnterEvent(event);
-}
-void ChartView::dragLeaveEvent(QDragLeaveEvent *event) {
-  can_drop = false;
-  viewport()->update();
-  QChartView::dragLeaveEvent(event);
+  if (event->mimeData()->hasFormat(mime_type)) {
+    drawDropIndicator(event->source() != this);
+    event->acceptProposedAction();
+  }
 }
 
 void ChartView::dragMoveEvent(QDragMoveEvent *event) {
   if (event->mimeData()->hasFormat(mime_type)) {
     event->setDropAction(event->source() == this ? Qt::MoveAction : Qt::CopyAction);
     event->accept();
-  } else {
-    event->ignore();
   }
   charts_widget->startAutoScroll();
 }
 
 void ChartView::dropEvent(QDropEvent *event) {
   if (event->mimeData()->hasFormat(mime_type)) {
-    if (event->source() == this) {
-      event->setDropAction(Qt::MoveAction);
-      event->accept();
-    } else {
+    if (event->source() != this) {
       ChartView *source_chart = (ChartView *)event->source();
       for (auto &s : source_chart->sigs) {
         source_chart->chart()->removeSeries(s.series);
@@ -906,8 +899,6 @@ void ChartView::dropEvent(QDropEvent *event) {
       event->acceptProposedAction();
     }
     can_drop = false;
-  } else {
-    event->ignore();
   }
 }
 
@@ -1199,3 +1190,55 @@ void ValueTipLabel::paintEvent(QPaintEvent *ev) {
   p.end();
   QLabel::paintEvent(ev);
 }
+
+// ChartsContainer
+
+ChartsContainer::ChartsContainer(ChartsWidget *parent) : charts_widget(parent), QWidget(parent) {
+  setAcceptDrops(true);
+  QVBoxLayout *charts_main_layout = new QVBoxLayout(this);
+  charts_main_layout->setContentsMargins(0, 0, 0, 0);
+  charts_layout = new QGridLayout();
+  charts_layout->setSpacing(10);
+  charts_main_layout->addLayout(charts_layout);
+  charts_main_layout->addStretch(0);
+}
+
+void ChartsContainer::dragEnterEvent(QDragEnterEvent *event) {
+  if (event->mimeData()->hasFormat(mime_type)) {
+    event->acceptProposedAction();
+    drawDropIndicator(event->pos());
+  }
+}
+
+void ChartsContainer::dropEvent(QDropEvent *event) {
+  if (event->mimeData()->hasFormat(mime_type)) {
+    auto w = getDropBefore(event->pos());
+    auto chart = qobject_cast<ChartView *>(event->source());
+    if (w != chart) {
+      charts_widget->charts.removeOne(chart);
+      int to = w ? charts_widget->charts.indexOf(w) : charts_widget->charts.size();
+      charts_widget->charts.insert(to, chart);
+      charts_widget->updateLayout(true);
+      event->acceptProposedAction();
+    }
+    drawDropIndicator({});
+  }
+}
+
+void ChartsContainer::paintEvent(QPaintEvent *ev) {
+  if (!drop_indictor_pos.isNull() && !childAt(drop_indictor_pos)) {
+    if (auto insert_after = getDropBefore(drop_indictor_pos)) {
+      auto area = insert_after->geometry();
+      QRect r = QRect(area.left(), area.top() - 10, area.width(), 10);
+      QPainter(this).fillRect(r, qApp->palette().highlight());
+    }
+  }
+}
+
+ChartView *ChartsContainer::getDropBefore(const QPoint &pos) const {
+  auto it = std::find_if(charts_widget->charts.cbegin(), charts_widget->charts.cend(), [&pos](auto c) {
+    auto area = c->geometry();
+    return pos.x() >= area.left() && pos.x() <= area.right() && pos.y() < area.top();
+  });
+  return it == charts_widget->charts.cend() ? nullptr : *it;
+}
diff --git a/tools/cabana/chartswidget.h b/tools/cabana/chartswidget.h
index 01bdf1437c..631dbcfbd6 100644
--- a/tools/cabana/chartswidget.h
+++ b/tools/cabana/chartswidget.h
@@ -84,7 +84,7 @@ private:
   void mouseReleaseEvent(QMouseEvent *event) override;
   void mouseMoveEvent(QMouseEvent *ev) override;
   void dragEnterEvent(QDragEnterEvent *event) override;
-  void dragLeaveEvent(QDragLeaveEvent *event) override;
+  void dragLeaveEvent(QDragLeaveEvent *event) override { drawDropIndicator(false); }
   void dragMoveEvent(QDragMoveEvent *event) override;
   void dropEvent(QDropEvent *event) override;
   void leaveEvent(QEvent *event) override;
@@ -96,6 +96,7 @@ private:
   void paintEvent(QPaintEvent *event) override;
   void drawForeground(QPainter *painter, const QRectF &rect) override;
   void drawBackground(QPainter *painter, const QRectF &rect) override;
+  void drawDropIndicator(bool draw) { can_drop = draw; viewport()->update(); }
   std::tuple<double, double, int> getNiceAxisNumbers(qreal min, qreal max, int tick_count);
   qreal niceNumber(qreal x, bool ceiling);
   QXYSeries *createSeries(SeriesType type, QColor color);
@@ -113,7 +114,6 @@ private:
   ValueTipLabel tip_label;
   QList<SigItem> sigs;
   double cur_sec = 0;
-  const QString mime_type = "application/x-cabanachartview";
   SeriesType series_type = SeriesType::Line;
   bool is_scrubbing = false;
   bool resume_after_scrub = false;
@@ -122,7 +122,22 @@ private:
   double tooltip_x = -1;
   ChartsWidget *charts_widget;
   friend class ChartsWidget;
- };
+};
+
+class ChartsContainer : public QWidget {
+public:
+  ChartsContainer(ChartsWidget *parent);
+  void dragEnterEvent(QDragEnterEvent *event) override;
+  void dropEvent(QDropEvent *event) override;
+  void dragLeaveEvent(QDragLeaveEvent *event) override { drawDropIndicator({}); }
+  void drawDropIndicator(const QPoint &pt) { drop_indictor_pos = pt; update(); }
+  void paintEvent(QPaintEvent *ev) override;
+  ChartView *getDropBefore(const QPoint &pos) const;
+
+  QGridLayout *charts_layout;
+  ChartsWidget *charts_widget;
+  QPoint drop_indictor_pos;
+};
 
 class ChartsWidget : public QFrame {
   Q_OBJECT
@@ -158,7 +173,7 @@ private:
   void doAutoScroll();
   void updateToolBar();
   void setMaxChartRange(int value);
-  void updateLayout();
+  void updateLayout(bool force = false);
   void settingChanged();
   void showValueTip(double sec);
   bool eventFilter(QObject *obj, QEvent *event) override;
@@ -178,9 +193,8 @@ private:
   QUndoStack *zoom_undo_stack;
 
   QAction *remove_all_btn;
-  QGridLayout *charts_layout;
   QList<ChartView *> charts;
-  QWidget *charts_container;
+  ChartsContainer *charts_container;
   QScrollArea *charts_scroll;
   uint32_t max_chart_range = 0;
   bool is_zoomed = false;
@@ -194,6 +208,7 @@ private:
   QTimer align_timer;
   friend class ZoomCommand;
   friend class ChartView;
+  friend class ChartsContainer;
 };
 
 class ZoomCommand : public QUndoCommand {

From 0b6f7be9938e9877e4548cddcede03415e84998d Mon Sep 17 00:00:00 2001
From: ntegan1 <ntegan1@gmail.com>
Date: Fri, 7 Apr 2023 14:00:57 -0400
Subject: [PATCH 53/88] fix missing include <cstdarg> (#27831)

---
 common/statlog.cc | 1 +
 common/swaglog.cc | 1 +
 2 files changed, 2 insertions(+)

diff --git a/common/statlog.cc b/common/statlog.cc
index 26945882d9..587f3e8620 100644
--- a/common/statlog.cc
+++ b/common/statlog.cc
@@ -5,6 +5,7 @@
 #include "common/statlog.h"
 #include "common/util.h"
 
+#include <cstdarg>
 #include <stdio.h>
 #include <mutex>
 #include <zmq.h>
diff --git a/common/swaglog.cc b/common/swaglog.cc
index 22682dc54c..54f1c3478a 100644
--- a/common/swaglog.cc
+++ b/common/swaglog.cc
@@ -5,6 +5,7 @@
 #include "common/swaglog.h"
 
 #include <cassert>
+#include <cstdarg>
 #include <cstring>
 #include <limits>
 #include <mutex>

From eb6112e94e64857e8b80ed679d889eaf4b904e78 Mon Sep 17 00:00:00 2001
From: royjr <royjr96@gmail.com>
Date: Fri, 7 Apr 2023 14:20:32 -0400
Subject: [PATCH 54/88] Honda: add 2022 civic video link (#27821)

---
 docs/CARS.md                  | 4 ++--
 selfdrive/car/honda/values.py | 4 ++--
 2 files changed, 4 insertions(+), 4 deletions(-)

diff --git a/docs/CARS.md b/docs/CARS.md
index 7c8170c275..a0d2cf388d 100644
--- a/docs/CARS.md
+++ b/docs/CARS.md
@@ -44,9 +44,9 @@ A supported vehicle is one that just works when you install a comma three. All s
 |Honda|Accord Hybrid 2018-22|All|openpilot available[<sup>1</sup>](#footnotes)|0 mph|3 mph|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<a href="https://comma.ai/shop/comma-three.html?make=Honda&model=Accord Hybrid 2018-22">Honda Bosch A</a>||
 |Honda|Civic 2016-18|Honda Sensing|openpilot|0 mph|12 mph|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<a href="https://comma.ai/shop/comma-three.html?make=Honda&model=Civic 2016-18">Honda Nidec</a>|<a href="https://youtu.be/-IkImTe1NYE" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>|
 |Honda|Civic 2019-21|All|openpilot available[<sup>1</sup>](#footnotes)|0 mph|2 mph[<sup>4</sup>](#footnotes)|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<a href="https://comma.ai/shop/comma-three.html?make=Honda&model=Civic 2019-21">Honda Bosch A</a>|<a href="https://www.youtube.com/watch?v=4Iz1Mz5LGF8" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>|
-|Honda|Civic 2022|All|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<a href="https://comma.ai/shop/comma-three.html?make=Honda&model=Civic 2022">Honda Bosch B</a>||
+|Honda|Civic 2022|All|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<a href="https://comma.ai/shop/comma-three.html?make=Honda&model=Civic 2022">Honda Bosch B</a>|<a href="https://youtu.be/ytiOT5lcp6Q" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>|
 |Honda|Civic Hatchback 2017-21|Honda Sensing|openpilot available[<sup>1</sup>](#footnotes)|0 mph|12 mph|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<a href="https://comma.ai/shop/comma-three.html?make=Honda&model=Civic Hatchback 2017-21">Honda Bosch A</a>||
-|Honda|Civic Hatchback 2022|All|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<a href="https://comma.ai/shop/comma-three.html?make=Honda&model=Civic Hatchback 2022">Honda Bosch B</a>||
+|Honda|Civic Hatchback 2022|All|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<a href="https://comma.ai/shop/comma-three.html?make=Honda&model=Civic Hatchback 2022">Honda Bosch B</a>|<a href="https://youtu.be/ytiOT5lcp6Q" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>|
 |Honda|CR-V 2015-16|Touring Trim|openpilot|25 mph|12 mph|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<a href="https://comma.ai/shop/comma-three.html?make=Honda&model=CR-V 2015-16">Honda Nidec</a>||
 |Honda|CR-V 2017-22|Honda Sensing|openpilot available[<sup>1</sup>](#footnotes)|0 mph|12 mph|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<a href="https://comma.ai/shop/comma-three.html?make=Honda&model=CR-V 2017-22">Honda Bosch A</a>||
 |Honda|CR-V Hybrid 2017-19|Honda Sensing|openpilot available[<sup>1</sup>](#footnotes)|0 mph|12 mph|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<a href="https://comma.ai/shop/comma-three.html?make=Honda&model=CR-V Hybrid 2017-19">Honda Bosch A</a>||
diff --git a/selfdrive/car/honda/values.py b/selfdrive/car/honda/values.py
index 9ddc3ca396..f6be1b1e3a 100644
--- a/selfdrive/car/honda/values.py
+++ b/selfdrive/car/honda/values.py
@@ -127,8 +127,8 @@ CAR_INFO: Dict[str, Optional[Union[HondaCarInfo, List[HondaCarInfo]]]] = {
   ],
   CAR.CIVIC_BOSCH_DIESEL: None,  # same platform
   CAR.CIVIC_2022: [
-    HondaCarInfo("Honda Civic 2022", "All"),
-    HondaCarInfo("Honda Civic Hatchback 2022", "All"),
+    HondaCarInfo("Honda Civic 2022", "All", video_link="https://youtu.be/ytiOT5lcp6Q"),
+    HondaCarInfo("Honda Civic Hatchback 2022", "All", video_link="https://youtu.be/ytiOT5lcp6Q"),
   ],
   CAR.ACURA_ILX: HondaCarInfo("Acura ILX 2016-19", "AcuraWatch Plus", min_steer_speed=25. * CV.MPH_TO_MS),
   CAR.CRV: HondaCarInfo("Honda CR-V 2015-16", "Touring Trim", min_steer_speed=12. * CV.MPH_TO_MS),

From 99f785cc3b04dfa91b65c19da3fabb0c0d4c7a87 Mon Sep 17 00:00:00 2001
From: mansunsang <98508072+mansunsang@users.noreply.github.com>
Date: Sat, 8 Apr 2023 05:23:37 +0900
Subject: [PATCH 55/88] fingerprint for KIA STINGER 2022 (#27777)

* Update values.py

fingerprint for KIA Stinger 2022 sold in South Korea

* remove duplicates

---------

Co-authored-by: Shane Smiskol <shane@smiskol.com>
---
 selfdrive/car/hyundai/values.py | 5 +++++
 1 file changed, 5 insertions(+)

diff --git a/selfdrive/car/hyundai/values.py b/selfdrive/car/hyundai/values.py
index 7417d6c208..c85931fc7a 100644
--- a/selfdrive/car/hyundai/values.py
+++ b/selfdrive/car/hyundai/values.py
@@ -913,18 +913,23 @@ FW_VERSIONS = {
   CAR.KIA_STINGER_2022: {
     (Ecu.fwdRadar, 0x7d0, None): [
       b'\xf1\x00CK__ SCC F-CUP      1.00 1.00 99110-J5500         ',
+      b'\xf1\x00CK__ SCC FHCUP      1.00 1.00 99110-J5500         ',
     ],
     (Ecu.engine, 0x7e0, None): [
       b'\xf1\x81640R0051\x00\x00\x00\x00\x00\x00\x00\x00',
+      b'\xf1\x81HM6M1_0a0_H00',
     ],
     (Ecu.eps, 0x7d4, None): [
       b'\xf1\x00CK  MDPS R 1.00 5.03 57700-J5380 4C2VR503',
+      b'\xf1\x00CK  MDPS R 1.00 5.03 57700-J5300 4C2CL503',
     ],
     (Ecu.fwdCamera, 0x7c4, None): [
       b'\xf1\x00CK  MFC  AT AUS RHD 1.00 1.00 99211-J5500 210622',
+      b'\xf1\x00CK  MFC  AT KOR LHD 1.00 1.00 99211-J5500 210622',
     ],
     (Ecu.transmission, 0x7e1, None): [
       b'\xf1\x87VCNLF11383972DK1vffV\x99\x99\x89\x98\x86eUU\x88wg\x89vfff\x97fff\x99\x87o\xff"\xc1\xf1\x81E30\x00\x00\x00\x00\x00\x00\x00\xf1\x00bcsh8p54  E30\x00\x00\x00\x00\x00\x00\x00SCK0T33GH0\xbe`\xfb\xc6',
+      b'\xf1\x00bcsh8p54  E31\x00\x00\x00\x00\x00\x00\x00SCK0T25KH2B\xfbI\xe2',
     ],
   },
   CAR.PALISADE: {

From 757ce360a550a57f2737207b821504e6a4ce9b5d Mon Sep 17 00:00:00 2001
From: Shane Smiskol <shane@smiskol.com>
Date: Fri, 7 Apr 2023 14:14:48 -0700
Subject: [PATCH 56/88] Car docs: references US market (#27836)

add language to specify us market
---
 docs/CARS.md                   | 2 +-
 selfdrive/car/CARS_template.md | 2 +-
 2 files changed, 2 insertions(+), 2 deletions(-)

diff --git a/docs/CARS.md b/docs/CARS.md
index a0d2cf388d..10952fdb9a 100644
--- a/docs/CARS.md
+++ b/docs/CARS.md
@@ -2,7 +2,7 @@
 
 # Supported Cars
 
-A supported vehicle is one that just works when you install a comma three. All supported cars provide a better experience than any stock system.
+A supported vehicle is one that just works when you install a comma three. All supported cars provide a better experience than any stock system. Supported vehicles reference the US market unless otherwise specified.
 
 # 239 Supported Cars
 
diff --git a/selfdrive/car/CARS_template.md b/selfdrive/car/CARS_template.md
index 1c80ea3d93..8a879954fa 100644
--- a/selfdrive/car/CARS_template.md
+++ b/selfdrive/car/CARS_template.md
@@ -6,7 +6,7 @@
 
 # Supported Cars
 
-A supported vehicle is one that just works when you install a comma three. All supported cars provide a better experience than any stock system.
+A supported vehicle is one that just works when you install a comma three. All supported cars provide a better experience than any stock system. Supported vehicles reference the US market unless otherwise specified.
 
 # {{all_car_info | length}} Supported Cars
 

From 75b2c5a2a45e48f44fef25f6922bad1d65ae10ee Mon Sep 17 00:00:00 2001
From: Shane Smiskol <shane@smiskol.com>
Date: Fri, 7 Apr 2023 14:15:14 -0700
Subject: [PATCH 57/88] Hyundai: rename gears feature list (#27835)

just rename
---
 selfdrive/car/hyundai/carstate.py           | 18 +++++++++---------
 selfdrive/car/hyundai/tests/test_hyundai.py |  2 +-
 selfdrive/car/hyundai/values.py             |  2 +-
 3 files changed, 11 insertions(+), 11 deletions(-)

diff --git a/selfdrive/car/hyundai/carstate.py b/selfdrive/car/hyundai/carstate.py
index 22934c05b2..427f8cedb1 100644
--- a/selfdrive/car/hyundai/carstate.py
+++ b/selfdrive/car/hyundai/carstate.py
@@ -7,7 +7,7 @@ from common.conversions import Conversions as CV
 from opendbc.can.parser import CANParser
 from opendbc.can.can_define import CANDefine
 from selfdrive.car.hyundai.hyundaicanfd import get_e_can_bus
-from selfdrive.car.hyundai.values import HyundaiFlags, CAR, DBC, FEATURES, CAMERA_SCC_CAR, CANFD_CAR, EV_CAR, HYBRID_CAR, Buttons, CarControllerParams
+from selfdrive.car.hyundai.values import HyundaiFlags, CAR, DBC, CAN_GEARS, CAMERA_SCC_CAR, CANFD_CAR, EV_CAR, HYBRID_CAR, Buttons, CarControllerParams
 from selfdrive.car.interfaces import CarStateBase
 
 PREV_BUTTON_SAMPLES = 8
@@ -27,9 +27,9 @@ class CarState(CarStateBase):
                           "GEAR_SHIFTER"
     if CP.carFingerprint in CANFD_CAR:
       self.shifter_values = can_define.dv[self.gear_msg_canfd]["GEAR"]
-    elif self.CP.carFingerprint in FEATURES["use_cluster_gears"]:
+    elif self.CP.carFingerprint in CAN_GEARS["use_cluster_gears"]:
       self.shifter_values = can_define.dv["CLU15"]["CF_Clu_Gear"]
-    elif self.CP.carFingerprint in FEATURES["use_tcu_gears"]:
+    elif self.CP.carFingerprint in CAN_GEARS["use_tcu_gears"]:
       self.shifter_values = can_define.dv["TCU12"]["CUR_GR"]
     else:  # preferred and elect gear methods use same definition
       self.shifter_values = can_define.dv["LVR12"]["CF_Lvr_Gear"]
@@ -123,11 +123,11 @@ class CarState(CarStateBase):
 
     # Gear Selection via Cluster - For those Kia/Hyundai which are not fully discovered, we can use the Cluster Indicator for Gear Selection,
     # as this seems to be standard over all cars, but is not the preferred method.
-    if self.CP.carFingerprint in FEATURES["use_cluster_gears"]:
+    if self.CP.carFingerprint in CAN_GEARS["use_cluster_gears"]:
       gear = cp.vl["CLU15"]["CF_Clu_Gear"]
-    elif self.CP.carFingerprint in FEATURES["use_tcu_gears"]:
+    elif self.CP.carFingerprint in CAN_GEARS["use_tcu_gears"]:
       gear = cp.vl["TCU12"]["CUR_GR"]
-    elif self.CP.carFingerprint in FEATURES["use_elect_gears"]:
+    elif self.CP.carFingerprint in CAN_GEARS["use_elect_gears"]:
       gear = cp.vl["ELECT_GEAR"]["Elect_Gear_Shifter"]
     else:
       gear = cp.vl["LVR12"]["CF_Lvr_Gear"]
@@ -354,12 +354,12 @@ class CarState(CarStateBase):
         ("EMS16", 100),
       ]
 
-    if CP.carFingerprint in FEATURES["use_cluster_gears"]:
+    if CP.carFingerprint in CAN_GEARS["use_cluster_gears"]:
       signals.append(("CF_Clu_Gear", "CLU15"))
-    elif CP.carFingerprint in FEATURES["use_tcu_gears"]:
+    elif CP.carFingerprint in CAN_GEARS["use_tcu_gears"]:
       signals.append(("CUR_GR", "TCU12"))
       checks.append(("TCU12", 100))
-    elif CP.carFingerprint in FEATURES["use_elect_gears"]:
+    elif CP.carFingerprint in CAN_GEARS["use_elect_gears"]:
       signals.append(("Elect_Gear_Shifter", "ELECT_GEAR"))
       checks.append(("ELECT_GEAR", 20))
     else:
diff --git a/selfdrive/car/hyundai/tests/test_hyundai.py b/selfdrive/car/hyundai/tests/test_hyundai.py
index 6ecfa03796..8982ac8a1b 100755
--- a/selfdrive/car/hyundai/tests/test_hyundai.py
+++ b/selfdrive/car/hyundai/tests/test_hyundai.py
@@ -11,7 +11,7 @@ ECU_NAME = {v: k for k, v in Ecu.schema.enumerants.items()}
 class TestHyundaiFingerprint(unittest.TestCase):
   def test_auxiliary_request_ecu_whitelist(self):
     # Asserts only auxiliary Ecus can exist in database for CAN-FD cars
-    whitelisted_ecus = {ecu for r in FW_QUERY_CONFIG.requests for ecu in r.whitelist_ecus if r.bus > 3}
+    whitelisted_ecus = {ecu for r in FW_QUERY_CONFIG.requests for ecu in r.whitelist_ecus if r.auxiliary}
 
     for car_model in CANFD_CAR:
       ecus = {fw[0] for fw in FW_VERSIONS[car_model].keys()}
diff --git a/selfdrive/car/hyundai/values.py b/selfdrive/car/hyundai/values.py
index c85931fc7a..77a591963c 100644
--- a/selfdrive/car/hyundai/values.py
+++ b/selfdrive/car/hyundai/values.py
@@ -1717,7 +1717,7 @@ CHECKSUM = {
   "6B": [CAR.KIA_SORENTO, CAR.HYUNDAI_GENESIS],
 }
 
-FEATURES = {
+CAN_GEARS = {
   # which message has the gear
   "use_cluster_gears": {CAR.ELANTRA, CAR.KONA},
   "use_tcu_gears": {CAR.KIA_OPTIMA_G4, CAR.KIA_OPTIMA_G4_FL, CAR.SONATA_LF, CAR.VELOSTER, CAR.TUCSON},

From 2b6a3dcfd015de45018f49718475c4e2f8efb738 Mon Sep 17 00:00:00 2001
From: Shane Smiskol <shane@smiskol.com>
Date: Fri, 7 Apr 2023 14:16:48 -0700
Subject: [PATCH 58/88] Hyundai: add CAN FD feature test (#27834)

* rename two can-specific feature lists

* the other lists don't say CAN_

* like to be safe
---
 selfdrive/car/hyundai/tests/test_hyundai.py | 7 ++++++-
 1 file changed, 6 insertions(+), 1 deletion(-)

diff --git a/selfdrive/car/hyundai/tests/test_hyundai.py b/selfdrive/car/hyundai/tests/test_hyundai.py
index 8982ac8a1b..fba99ae74d 100755
--- a/selfdrive/car/hyundai/tests/test_hyundai.py
+++ b/selfdrive/car/hyundai/tests/test_hyundai.py
@@ -2,13 +2,18 @@
 import unittest
 
 from cereal import car
-from selfdrive.car.hyundai.values import CANFD_CAR, FW_QUERY_CONFIG, FW_VERSIONS
+from selfdrive.car.hyundai.values import CANFD_CAR, FW_QUERY_CONFIG, FW_VERSIONS, CAN_GEARS, LEGACY_SAFETY_MODE_CAR, CHECKSUM, CAMERA_SCC_CAR
 
 Ecu = car.CarParams.Ecu
 ECU_NAME = {v: k for k, v in Ecu.schema.enumerants.items()}
 
 
 class TestHyundaiFingerprint(unittest.TestCase):
+  def test_canfd_not_in_can_features(self):
+    can_specific_feature_list = set.union(*CAN_GEARS.values(), *CHECKSUM.values(), LEGACY_SAFETY_MODE_CAR, CAMERA_SCC_CAR)
+    for car_model in CANFD_CAR:
+      self.assertNotIn(car_model, can_specific_feature_list, "CAN FD car unexpectedly found in a CAN feature list")
+
   def test_auxiliary_request_ecu_whitelist(self):
     # Asserts only auxiliary Ecus can exist in database for CAN-FD cars
     whitelisted_ecus = {ecu for r in FW_QUERY_CONFIG.requests for ecu in r.whitelist_ecus if r.auxiliary}

From 424bd0c0b69043ced3b773555e0603b0e3ead396 Mon Sep 17 00:00:00 2001
From: Dean Lee <deanlee3@gmail.com>
Date: Sat, 8 Apr 2023 05:55:00 +0800
Subject: [PATCH 59/88] cabana: support multiple tabs in ChartsView (#27833)

* support multiple tabs charts

* new tab button right
---
 tools/cabana/chartswidget.cc | 75 +++++++++++++++++++++++++++++-------
 tools/cabana/chartswidget.h  |  6 +++
 2 files changed, 68 insertions(+), 13 deletions(-)

diff --git a/tools/cabana/chartswidget.cc b/tools/cabana/chartswidget.cc
index ccb8957ed0..fe96e588d5 100644
--- a/tools/cabana/chartswidget.cc
+++ b/tools/cabana/chartswidget.cc
@@ -28,13 +28,15 @@ ChartsWidget::ChartsWidget(QWidget *parent) : align_timer(this), auto_scroll_tim
   setFrameStyle(QFrame::StyledPanel | QFrame::Plain);
   QVBoxLayout *main_layout = new QVBoxLayout(this);
   main_layout->setContentsMargins(0, 0, 0, 0);
+  main_layout->setSpacing(0);
 
   // toolbar
   QToolBar *toolbar = new QToolBar(tr("Charts"), this);
   int icon_size = style()->pixelMetric(QStyle::PM_SmallIconSize);
   toolbar->setIconSize({icon_size, icon_size});
 
-  QAction *new_plot_btn = toolbar->addAction(utils::icon("file-plus"), tr("New Plot"));
+  QAction *new_plot_btn = toolbar->addAction(utils::icon("file-plus"), tr("New Chart"));
+  QAction *new_tab_btn = toolbar->addAction(utils::icon("window-stack"), tr("New Tab"));
   toolbar->addWidget(title_label = new QLabel());
   title_label->setContentsMargins(0, 0, style()->pixelMetric(QStyle::PM_LayoutHorizontalSpacing), 0);
 
@@ -75,6 +77,15 @@ ChartsWidget::ChartsWidget(QWidget *parent) : align_timer(this), auto_scroll_tim
   dock_btn = toolbar->addAction("");
   main_layout->addWidget(toolbar);
 
+  // tabbar
+  QHBoxLayout *tab_layout = new QHBoxLayout();
+  tab_layout->addWidget(tabbar = new QTabBar(this));
+  tabbar->setAutoHide(true);
+  tabbar->setTabsClosable(true);
+  tabbar->setUsesScrollButtons(true);
+  tab_layout->addStretch(0);
+  main_layout->addLayout(tab_layout);
+
   // charts
   charts_container = new ChartsContainer(this);
 
@@ -103,18 +114,43 @@ ChartsWidget::ChartsWidget(QWidget *parent) : align_timer(this), auto_scroll_tim
   QObject::connect(remove_all_btn, &QAction::triggered, this, &ChartsWidget::removeAll);
   QObject::connect(reset_zoom_action, &QAction::triggered, this, &ChartsWidget::zoomReset);
   QObject::connect(&settings, &Settings::changed, this, &ChartsWidget::settingChanged);
+  QObject::connect(new_tab_btn, &QAction::triggered, this, &ChartsWidget::newTab);
+  QObject::connect(tabbar, &QTabBar::tabCloseRequested, this, &ChartsWidget::removeTab);
+  QObject::connect(tabbar, &QTabBar::currentChanged, [this](int index) {
+    if (index != -1) updateLayout(true);
+  });
   QObject::connect(dock_btn, &QAction::triggered, [this]() {
     emit dock(!docking);
     docking = !docking;
     updateToolBar();
   });
 
+  newTab();
   setWhatsThis(tr(R"(
     <b>Chart view</b><br />
     <!-- TODO: add descprition here -->
   )"));
 }
 
+void ChartsWidget::newTab() {
+  static int tab_unique_id = 0;
+  int idx = tabbar->addTab("");
+  tabbar->setTabData(idx, tab_unique_id++);
+  for (int i = 0; i < tabbar->count(); ++i) {
+    tabbar->setTabText(i, QString("Tab %1").arg(i + 1));
+  }
+  tabbar->setCurrentIndex(idx);
+}
+
+void ChartsWidget::removeTab(int index) {
+  int id = tabbar->tabData(index).toInt();
+  for (auto &c : tab_charts[id]) {
+    removeChart(c);
+  }
+  tab_charts.erase(id);
+  tabbar->removeTab(index);
+}
+
 void ChartsWidget::eventsMerged() {
   QFutureSynchronizer<void> future_synchronizer;
   for (auto c : charts) {
@@ -141,7 +177,7 @@ void ChartsWidget::zoomReset() {
 
 void ChartsWidget::showValueTip(double sec) {
   const QRect visible_rect(-charts_container->pos(), charts_scroll->viewport()->size());
-  for (auto c : charts) {
+  for (auto c : currentCharts()) {
     if (sec >= 0 && visible_rect.contains(QRect(c->mapTo(charts_container, QPoint(0, 0)), c->size()))) {
       c->showTip(sec);
     } else {
@@ -222,7 +258,8 @@ ChartView *ChartsWidget::createChart() {
   QObject::connect(chart, &ChartView::axisYLabelWidthChanged, &align_timer, qOverload<>(&QTimer::start));
   QObject::connect(chart, &ChartView::hovered, this, &ChartsWidget::showValueTip);
   charts.push_front(chart);
-  updateLayout();
+  currentCharts().push_front(chart);
+  updateLayout(true);
   updateToolBar();
   return chart;
 }
@@ -230,7 +267,7 @@ ChartView *ChartsWidget::createChart() {
 void ChartsWidget::showChart(const MessageId &id, const cabana::Signal *sig, bool show, bool merge) {
   ChartView *chart = findChart(id, sig);
   if (show && !chart) {
-    chart = merge && charts.size() > 0 ? charts.front() : createChart();
+    chart = merge && currentCharts().size() > 0 ? currentCharts().front() : createChart();
     chart->addSeries(id, sig);
   } else if (!show && chart) {
     chart->removeIf([&](auto &s) { return s.msg_id == id && s.sig == sig; });
@@ -257,11 +294,16 @@ void ChartsWidget::updateLayout(bool force) {
   columns_action->setVisible(show_column_cb);
 
   n = std::min(column_count, n);
-  if ((charts.size() != charts_layout->count() || n != current_column_count) || force) {
+  auto &current_charts = currentCharts();
+  if ((current_charts.size() != charts_layout->count() || n != current_column_count) || force) {
     current_column_count = n;
     charts_container->setUpdatesEnabled(false);
-    for (int i = 0; i < charts.size(); ++i) {
-      charts_layout->addWidget(charts[i], i / n, i % n);
+    for (auto c : charts) {
+      c->setVisible(false);
+    }
+    for (int i = 0; i < current_charts.size(); ++i) {
+      charts_layout->addWidget(current_charts[i], i / n, i % n);
+      current_charts[i]->setVisible(true);
     }
     QTimer::singleShot(0, [this]() { charts_container->setUpdatesEnabled(true); });
   }
@@ -325,8 +367,11 @@ void ChartsWidget::newChart() {
 void ChartsWidget::removeChart(ChartView *chart) {
   charts.removeOne(chart);
   chart->deleteLater();
+  for (auto &[_, list] : tab_charts) {
+    list.removeOne(chart);
+  }
   updateToolBar();
-  updateLayout();
+  updateLayout(true);
   alignCharts();
   emit seriesChanged();
 }
@@ -337,9 +382,13 @@ void ChartsWidget::removeAll() {
       c->deleteLater();
     }
     charts.clear();
+    tab_charts.clear();
     updateToolBar();
     emit seriesChanged();
   }
+  while (tabbar->count() > 1) {
+    tabbar->removeTab(1);
+  }
 }
 
 void ChartsWidget::alignCharts() {
@@ -1215,9 +1264,9 @@ void ChartsContainer::dropEvent(QDropEvent *event) {
     auto w = getDropBefore(event->pos());
     auto chart = qobject_cast<ChartView *>(event->source());
     if (w != chart) {
-      charts_widget->charts.removeOne(chart);
-      int to = w ? charts_widget->charts.indexOf(w) : charts_widget->charts.size();
-      charts_widget->charts.insert(to, chart);
+      charts_widget->currentCharts().removeOne(chart);
+      int to = w ? charts_widget->currentCharts().indexOf(w) : charts_widget->currentCharts().size();
+      charts_widget->currentCharts().insert(to, chart);
       charts_widget->updateLayout(true);
       event->acceptProposedAction();
     }
@@ -1236,9 +1285,9 @@ void ChartsContainer::paintEvent(QPaintEvent *ev) {
 }
 
 ChartView *ChartsContainer::getDropBefore(const QPoint &pos) const {
-  auto it = std::find_if(charts_widget->charts.cbegin(), charts_widget->charts.cend(), [&pos](auto c) {
+  auto it = std::find_if(charts_widget->currentCharts().cbegin(), charts_widget->currentCharts().cend(), [&pos](auto c) {
     auto area = c->geometry();
     return pos.x() >= area.left() && pos.x() <= area.right() && pos.y() < area.top();
   });
-  return it == charts_widget->charts.cend() ? nullptr : *it;
+  return it == charts_widget->currentCharts().cend() ? nullptr : *it;
 }
diff --git a/tools/cabana/chartswidget.h b/tools/cabana/chartswidget.h
index 631dbcfbd6..22af411b0d 100644
--- a/tools/cabana/chartswidget.h
+++ b/tools/cabana/chartswidget.h
@@ -5,6 +5,7 @@
 #include <QListWidget>
 #include <QGraphicsPixmapItem>
 #include <QGraphicsProxyWidget>
+#include <QTabBar>
 #include <QTimer>
 #include <QUndoCommand>
 #include <QUndoStack>
@@ -177,6 +178,9 @@ private:
   void settingChanged();
   void showValueTip(double sec);
   bool eventFilter(QObject *obj, QEvent *event) override;
+  void newTab();
+  void removeTab(int index);
+  inline QList<ChartView *> &currentCharts() { return tab_charts[tabbar->tabData(tabbar->currentIndex()).toInt()]; }
   ChartView *findChart(const MessageId &id, const cabana::Signal *sig);
 
   QLabel *title_label;
@@ -194,6 +198,8 @@ private:
 
   QAction *remove_all_btn;
   QList<ChartView *> charts;
+  std::unordered_map<int, QList<ChartView *>> tab_charts;
+  QTabBar *tabbar;
   ChartsContainer *charts_container;
   QScrollArea *charts_scroll;
   uint32_t max_chart_range = 0;

From e8d8304548b5b00a80e7170028d4fb146e448d72 Mon Sep 17 00:00:00 2001
From: Josselin Lecocq <josselin+github@lecocq.io>
Date: Sat, 8 Apr 2023 00:15:10 +0200
Subject: [PATCH 60/88] HKG: Car Port for Kia Niro EV 2023 (HDA1, European
 version) (#27788)

* Update values.py for 2023 Kia Niro EV

* Update interface.py for 2023 Kia Niro EV

* Update params.yaml for 2023 Kia Niro EV

* Update RELEASES.md for 2023 Kia Niro EV

* Update interface.py for 2023 Kia Niro EV

* Update routes.py for 2023 Kia Niro EV

* Update CARS.md for 2023 Kia Niro EV

* Update CARS.md for 2023 Kia Niro EV

* Put 2023 Kia Niro EV in CANFD_RADAR_SCC_CAR

* New values in params.yaml for 2023 Kia Niro EV

* Rollback - Remove CAR.KIA_NIRO_EV_2ND_GEN from CANFD_RADAR_SCC_CAR

* Update routes.py for 2023 Kia Niro EV

* Apply suggestions from code review

* use new route

* update cars

* test

* pass test

* add params, rename

* use average

use average

use average

use average

* around 2.05

* Update selfdrive/car/hyundai/interface.py

* Update selfdrive/car/hyundai/interface.py

* lower

---------

Co-authored-by: Shane Smiskol <shane@smiskol.com>
---
 RELEASES.md                             |  1 +
 docs/CARS.md                            |  3 ++-
 selfdrive/car/hyundai/interface.py      |  6 +++---
 selfdrive/car/hyundai/values.py         | 15 +++++++++++++--
 selfdrive/car/tests/routes.py           |  1 +
 selfdrive/car/torque_data/override.yaml |  1 +
 6 files changed, 21 insertions(+), 6 deletions(-)

diff --git a/RELEASES.md b/RELEASES.md
index 55edc47c27..1bc151fb8b 100644
--- a/RELEASES.md
+++ b/RELEASES.md
@@ -3,6 +3,7 @@ Version 0.9.2 (2023-03-XX)
 * New driving model, trained on a new dataset
 * Draw MPC path instead of model predicted path, this is a more accurate representation of what the car will do.
 * Buick LaCrosse 2017-19 support thanks to koch-cf!
+* Kia Niro EV 2023 support thanks to JosselinLecocq!
 * Škoda Fabia 2022-23 support thanks to jyoung8607!
 
 Version 0.9.1 (2023-02-28)
diff --git a/docs/CARS.md b/docs/CARS.md
index 10952fdb9a..e37df8cf3a 100644
--- a/docs/CARS.md
+++ b/docs/CARS.md
@@ -4,7 +4,7 @@
 
 A supported vehicle is one that just works when you install a comma three. All supported cars provide a better experience than any stock system. Supported vehicles reference the US market unless otherwise specified.
 
-# 239 Supported Cars
+# 240 Supported Cars
 
 |Make|Model|Supported Package|ACC|No ACC accel below|No ALC below|Steering Torque|Resume from stop|Harness|Video|
 |---|---|---|:---:|:---:|:---:|:---:|:---:|:---:|:---:|
@@ -107,6 +107,7 @@ A supported vehicle is one that just works when you install a comma three. All s
 |Kia|Niro EV 2020|All|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<a href="https://comma.ai/shop/comma-three.html?make=Kia&model=Niro EV 2020">Hyundai F</a>|<a href="https://www.youtube.com/watch?v=lT7zcG6ZpGo" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>|
 |Kia|Niro EV 2021|All|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<a href="https://comma.ai/shop/comma-three.html?make=Kia&model=Niro EV 2021">Hyundai C</a>|<a href="https://www.youtube.com/watch?v=lT7zcG6ZpGo" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>|
 |Kia|Niro EV 2022|All|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<a href="https://comma.ai/shop/comma-three.html?make=Kia&model=Niro EV 2022">Hyundai H</a>|<a href="https://www.youtube.com/watch?v=lT7zcG6ZpGo" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>|
+|Kia|Niro EV 2023[<sup>5</sup>](#footnotes)|All|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<a href="https://comma.ai/shop/comma-three.html?make=Kia&model=Niro EV 2023">Hyundai A</a>||
 |Kia|Niro Hybrid 2021|Smart Cruise Control (SCC)|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<a href="https://comma.ai/shop/comma-three.html?make=Kia&model=Niro Hybrid 2021">Hyundai F</a>||
 |Kia|Niro Hybrid 2022|Smart Cruise Control (SCC)|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<a href="https://comma.ai/shop/comma-three.html?make=Kia&model=Niro Hybrid 2022">Hyundai H</a>||
 |Kia|Niro Hybrid 2023[<sup>5</sup>](#footnotes)|Smart Cruise Control (SCC)|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<a href="https://comma.ai/shop/comma-three.html?make=Kia&model=Niro Hybrid 2023">Hyundai A</a>||
diff --git a/selfdrive/car/hyundai/interface.py b/selfdrive/car/hyundai/interface.py
index 1dd91ac888..bdb75c1fb9 100644
--- a/selfdrive/car/hyundai/interface.py
+++ b/selfdrive/car/hyundai/interface.py
@@ -136,10 +136,10 @@ class CarInterface(CarInterfaceBase):
       ret.mass = 1985. + STD_CARGO_KG
       ret.wheelbase = 2.78
       ret.steerRatio = 14.4 * 1.1   # 10% higher at the center seems reasonable
-    elif candidate in (CAR.KIA_NIRO_EV, CAR.KIA_NIRO_PHEV, CAR.KIA_NIRO_HEV_2021, CAR.KIA_NIRO_HEV_2ND_GEN):
-      ret.mass = 3452. * CV.LB_TO_KG + STD_CARGO_KG  # average of all the cars
+    elif candidate in (CAR.KIA_NIRO_EV, CAR.KIA_NIRO_EV_2ND_GEN, CAR.KIA_NIRO_PHEV, CAR.KIA_NIRO_HEV_2021, CAR.KIA_NIRO_HEV_2ND_GEN):
+      ret.mass = 3543. * CV.LB_TO_KG + STD_CARGO_KG  # average of all the cars
       ret.wheelbase = 2.7
-      ret.steerRatio = 13.9 if CAR.KIA_NIRO_HEV_2021 else 13.73  # Spec
+      ret.steerRatio = 13.6  # average of all the cars
       tire_stiffness_factor = 0.385
       if candidate == CAR.KIA_NIRO_PHEV:
         ret.minSteerSpeed = 32 * CV.MPH_TO_MS
diff --git a/selfdrive/car/hyundai/values.py b/selfdrive/car/hyundai/values.py
index 77a591963c..d965d8dfad 100644
--- a/selfdrive/car/hyundai/values.py
+++ b/selfdrive/car/hyundai/values.py
@@ -100,6 +100,7 @@ class CAR:
   KIA_K5_2021 = "KIA K5 2021"
   KIA_K5_HEV_2020 = "KIA K5 HYBRID 2020"
   KIA_NIRO_EV = "KIA NIRO EV 2020"
+  KIA_NIRO_EV_2ND_GEN = "KIA NIRO EV 2ND GEN"
   KIA_NIRO_PHEV = "KIA NIRO HYBRID 2019"
   KIA_NIRO_HEV_2021 = "KIA NIRO HYBRID 2021"
   KIA_NIRO_HEV_2ND_GEN = "KIA NIRO HYBRID 2ND GEN"
@@ -203,6 +204,7 @@ CAR_INFO: Dict[str, Optional[Union[HyundaiCarInfo, List[HyundaiCarInfo]]]] = {
     HyundaiCarInfo("Kia Niro EV 2021", "All", video_link="https://www.youtube.com/watch?v=lT7zcG6ZpGo", harness=Harness.hyundai_c),
     HyundaiCarInfo("Kia Niro EV 2022", "All", video_link="https://www.youtube.com/watch?v=lT7zcG6ZpGo", harness=Harness.hyundai_h),
   ],
+  CAR.KIA_NIRO_EV_2ND_GEN: HyundaiCarInfo("Kia Niro EV 2023", "All", harness=Harness.hyundai_a),
   CAR.KIA_NIRO_PHEV: [
     HyundaiCarInfo("Kia Niro Plug-in Hybrid 2018-19", "All", min_enable_speed=10. * CV.MPH_TO_MS, harness=Harness.hyundai_c),
     HyundaiCarInfo("Kia Niro Plug-in Hybrid 2020", "All", harness=Harness.hyundai_d),
@@ -1311,6 +1313,14 @@ FW_VERSIONS = {
       b'\xf1\x00DEE MFC  AT KOR LHD 1.00 1.03 95740-Q4000 180821',
     ],
   },
+  CAR.KIA_NIRO_EV_2ND_GEN: {
+    (Ecu.fwdRadar, 0x7d0, None): [
+      b'\xf1\x00SG2_ RDR -----      1.00 1.01 99110-AT000         ',
+    ],
+    (Ecu.fwdCamera, 0x7c4, None): [
+      b'\xf1\x00SG2EMFC  AT EUR LHD 1.01 1.09 99211-AT000 220801',
+    ],
+  },
   CAR.KIA_NIRO_PHEV: {
     (Ecu.engine, 0x7e0, None): [
       b'\xf1\x816H6F4051\x00\x00\x00\x00\x00\x00\x00\x00',
@@ -1724,7 +1734,7 @@ CAN_GEARS = {
   "use_elect_gears": {CAR.KIA_NIRO_EV, CAR.KIA_NIRO_PHEV, CAR.KIA_NIRO_HEV_2021, CAR.KIA_OPTIMA_H, CAR.IONIQ_EV_LTD, CAR.KONA_EV, CAR.IONIQ, CAR.IONIQ_EV_2020, CAR.IONIQ_PHEV, CAR.ELANTRA_HEV_2021, CAR.SONATA_HYBRID, CAR.KONA_HEV, CAR.IONIQ_HEV_2022, CAR.SANTA_FE_HEV_2022, CAR.SANTA_FE_PHEV_2022, CAR.IONIQ_PHEV_2019, CAR.KONA_EV_2022, CAR.KIA_K5_HEV_2020},
 }
 
-CANFD_CAR = {CAR.KIA_EV6, CAR.IONIQ_5, CAR.TUCSON_4TH_GEN, CAR.TUCSON_HYBRID_4TH_GEN, CAR.KIA_SPORTAGE_HYBRID_5TH_GEN, CAR.SANTA_CRUZ_1ST_GEN, CAR.KIA_SPORTAGE_5TH_GEN, CAR.GENESIS_GV70_1ST_GEN, CAR.KIA_SORENTO_PHEV_4TH_GEN, CAR.GENESIS_GV60_EV_1ST_GEN, CAR.KIA_SORENTO_4TH_GEN, CAR.KIA_NIRO_HEV_2ND_GEN}
+CANFD_CAR = {CAR.KIA_EV6, CAR.IONIQ_5, CAR.TUCSON_4TH_GEN, CAR.TUCSON_HYBRID_4TH_GEN, CAR.KIA_SPORTAGE_HYBRID_5TH_GEN, CAR.SANTA_CRUZ_1ST_GEN, CAR.KIA_SPORTAGE_5TH_GEN, CAR.GENESIS_GV70_1ST_GEN, CAR.KIA_SORENTO_PHEV_4TH_GEN, CAR.GENESIS_GV60_EV_1ST_GEN, CAR.KIA_SORENTO_4TH_GEN, CAR.KIA_NIRO_HEV_2ND_GEN, CAR.KIA_NIRO_EV_2ND_GEN}
 
 # The radar does SCC on these cars when HDA I, rather than the camera
 CANFD_RADAR_SCC_CAR = {CAR.GENESIS_GV70_1ST_GEN, CAR.KIA_SORENTO_PHEV_4TH_GEN, CAR.KIA_SORENTO_4TH_GEN}
@@ -1733,7 +1743,7 @@ CANFD_RADAR_SCC_CAR = {CAR.GENESIS_GV70_1ST_GEN, CAR.KIA_SORENTO_PHEV_4TH_GEN, C
 CAMERA_SCC_CAR = {CAR.KONA_EV_2022, }
 
 HYBRID_CAR = {CAR.IONIQ_PHEV, CAR.ELANTRA_HEV_2021, CAR.KIA_NIRO_PHEV, CAR.KIA_NIRO_HEV_2021, CAR.SONATA_HYBRID, CAR.KONA_HEV, CAR.IONIQ, CAR.IONIQ_HEV_2022, CAR.SANTA_FE_HEV_2022, CAR.SANTA_FE_PHEV_2022, CAR.IONIQ_PHEV_2019, CAR.TUCSON_HYBRID_4TH_GEN, CAR.KIA_SPORTAGE_HYBRID_5TH_GEN, CAR.KIA_SORENTO_PHEV_4TH_GEN, CAR.KIA_K5_HEV_2020, CAR.KIA_NIRO_HEV_2ND_GEN}  # these cars use a different gas signal
-EV_CAR = {CAR.IONIQ_EV_2020, CAR.IONIQ_EV_LTD, CAR.KONA_EV, CAR.KIA_NIRO_EV, CAR.KONA_EV_2022, CAR.KIA_EV6, CAR.IONIQ_5, CAR.GENESIS_GV60_EV_1ST_GEN}
+EV_CAR = {CAR.IONIQ_EV_2020, CAR.IONIQ_EV_LTD, CAR.KONA_EV, CAR.KIA_NIRO_EV, CAR.KIA_NIRO_EV_2ND_GEN, CAR.KONA_EV_2022, CAR.KIA_EV6, CAR.IONIQ_5, CAR.GENESIS_GV60_EV_1ST_GEN}
 
 # these cars require a special panda safety mode due to missing counters and checksums in the messages
 LEGACY_SAFETY_MODE_CAR = {CAR.HYUNDAI_GENESIS, CAR.IONIQ_EV_2020, CAR.IONIQ_EV_LTD, CAR.IONIQ_PHEV, CAR.IONIQ, CAR.KONA_EV, CAR.KIA_SORENTO, CAR.SONATA_LF, CAR.KIA_OPTIMA_G4, CAR.KIA_OPTIMA_G4_FL, CAR.VELOSTER,
@@ -1796,4 +1806,5 @@ DBC = {
   CAR.GENESIS_GV60_EV_1ST_GEN: dbc_dict('hyundai_canfd', None),
   CAR.KIA_SORENTO_4TH_GEN: dbc_dict('hyundai_canfd', None),
   CAR.KIA_NIRO_HEV_2ND_GEN: dbc_dict('hyundai_canfd', None),
+  CAR.KIA_NIRO_EV_2ND_GEN: dbc_dict('hyundai_canfd', None),
 }
diff --git a/selfdrive/car/tests/routes.py b/selfdrive/car/tests/routes.py
index 40ed0ea047..12eb2c5ed5 100644
--- a/selfdrive/car/tests/routes.py
+++ b/selfdrive/car/tests/routes.py
@@ -129,6 +129,7 @@ routes = [
   CarTestRoute("007d5e4ad9f86d13|2021-09-30--15-09-23", HYUNDAI.KIA_K5_2021),
   CarTestRoute("c58dfc9fc16590e0|2023-01-14--13-51-48", HYUNDAI.KIA_K5_HEV_2020),
   CarTestRoute("50c6c9b85fd1ff03|2020-10-26--17-56-06", HYUNDAI.KIA_NIRO_EV),
+  CarTestRoute("b153671049a867b3|2023-04-05--10-00-30", HYUNDAI.KIA_NIRO_EV_2ND_GEN),
   CarTestRoute("173219cf50acdd7b|2021-07-05--10-27-41", HYUNDAI.KIA_NIRO_PHEV),
   CarTestRoute("34a875f29f69841a|2021-07-29--13-02-09", HYUNDAI.KIA_NIRO_HEV_2021),
   CarTestRoute("db04d2c63990e3ba|2023-02-08--16-52-39", HYUNDAI.KIA_NIRO_HEV_2ND_GEN),
diff --git a/selfdrive/car/torque_data/override.yaml b/selfdrive/car/torque_data/override.yaml
index 75051316fa..65ca9fc5c9 100644
--- a/selfdrive/car/torque_data/override.yaml
+++ b/selfdrive/car/torque_data/override.yaml
@@ -44,6 +44,7 @@ KIA SORENTO PLUG-IN HYBRID 4TH GEN: [2.5, 2.5, 0.1]
 GENESIS GV60 ELECTRIC 1ST GEN: [2.5, 2.5, 0.1]
 KIA SORENTO 4TH GEN: [2.5, 2.5, 0.1]
 KIA NIRO HYBRID 2ND GEN: [2.42, 2.5, 0.12]
+KIA NIRO EV 2ND GEN: [2.05, 2.5, 0.14]
 
 # Dashcam or fallback configured as ideal car
 mock: [10.0, 10, 0.0]

From f4f836e2a9f0362f237321ec3d8c9be5703ec77b Mon Sep 17 00:00:00 2001
From: Dean Lee <deanlee3@gmail.com>
Date: Sat, 8 Apr 2023 06:16:57 +0800
Subject: [PATCH 61/88] cabana: support dragging chart between tabs (#27838)

drag chart between tabs
---
 tools/cabana/chartswidget.cc | 6 +++++-
 1 file changed, 5 insertions(+), 1 deletion(-)

diff --git a/tools/cabana/chartswidget.cc b/tools/cabana/chartswidget.cc
index fe96e588d5..1658ff8b68 100644
--- a/tools/cabana/chartswidget.cc
+++ b/tools/cabana/chartswidget.cc
@@ -81,6 +81,8 @@ ChartsWidget::ChartsWidget(QWidget *parent) : align_timer(this), auto_scroll_tim
   QHBoxLayout *tab_layout = new QHBoxLayout();
   tab_layout->addWidget(tabbar = new QTabBar(this));
   tabbar->setAutoHide(true);
+  tabbar->setAcceptDrops(true);
+  tabbar->setChangeCurrentOnDrag(true);
   tabbar->setTabsClosable(true);
   tabbar->setUsesScrollButtons(true);
   tab_layout->addStretch(0);
@@ -1264,7 +1266,9 @@ void ChartsContainer::dropEvent(QDropEvent *event) {
     auto w = getDropBefore(event->pos());
     auto chart = qobject_cast<ChartView *>(event->source());
     if (w != chart) {
-      charts_widget->currentCharts().removeOne(chart);
+      for (auto &[_, list] : charts_widget->tab_charts) {
+        list.removeOne(chart);
+      }
       int to = w ? charts_widget->currentCharts().indexOf(w) : charts_widget->currentCharts().size();
       charts_widget->currentCharts().insert(to, chart);
       charts_widget->updateLayout(true);

From f1d7dead308df550f3fec8d5a79735e8ffad9c31 Mon Sep 17 00:00:00 2001
From: Jason Young <46612682+jyoung8607@users.noreply.github.com>
Date: Fri, 7 Apr 2023 22:38:38 -0400
Subject: [PATCH 62/88] VW MQB: Update model years for Volkswagen Polo (#27840)

---
 docs/CARS.md                       | 4 ++--
 selfdrive/car/volkswagen/values.py | 4 ++--
 2 files changed, 4 insertions(+), 4 deletions(-)

diff --git a/docs/CARS.md b/docs/CARS.md
index e37df8cf3a..d1e388ca7e 100644
--- a/docs/CARS.md
+++ b/docs/CARS.md
@@ -238,8 +238,8 @@ A supported vehicle is one that just works when you install a comma three. All s
 |Volkswagen|Passat 2015-22[<sup>8</sup>](#footnotes)|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,9</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<a href="https://comma.ai/shop/comma-three.html?make=Volkswagen&model=Passat 2015-22">J533</a>||
 |Volkswagen|Passat Alltrack 2015-22|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,9</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<a href="https://comma.ai/shop/comma-three.html?make=Volkswagen&model=Passat Alltrack 2015-22">J533</a>||
 |Volkswagen|Passat GTE 2015-22|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,9</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<a href="https://comma.ai/shop/comma-three.html?make=Volkswagen&model=Passat GTE 2015-22">J533</a>||
-|Volkswagen|Polo 2020-22|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,9</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<a href="https://comma.ai/shop/comma-three.html?make=Volkswagen&model=Polo 2020-22">J533</a>[<sup>10</sup>](#footnotes)||
-|Volkswagen|Polo GTI 2020-22|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,9</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<a href="https://comma.ai/shop/comma-three.html?make=Volkswagen&model=Polo GTI 2020-22">J533</a>[<sup>10</sup>](#footnotes)||
+|Volkswagen|Polo 2018-23|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,9</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<a href="https://comma.ai/shop/comma-three.html?make=Volkswagen&model=Polo 2018-23">J533</a>[<sup>10</sup>](#footnotes)||
+|Volkswagen|Polo GTI 2018-23|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,9</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<a href="https://comma.ai/shop/comma-three.html?make=Volkswagen&model=Polo GTI 2018-23">J533</a>[<sup>10</sup>](#footnotes)||
 |Volkswagen|T-Cross 2021|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,9</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<a href="https://comma.ai/shop/comma-three.html?make=Volkswagen&model=T-Cross 2021">J533</a>[<sup>10</sup>](#footnotes)||
 |Volkswagen|T-Roc 2021|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,9</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<a href="https://comma.ai/shop/comma-three.html?make=Volkswagen&model=T-Roc 2021">J533</a>[<sup>10</sup>](#footnotes)||
 |Volkswagen|Taos 2022|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,9</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<a href="https://comma.ai/shop/comma-three.html?make=Volkswagen&model=Taos 2022">J533</a>||
diff --git a/selfdrive/car/volkswagen/values.py b/selfdrive/car/volkswagen/values.py
index 53927ad46e..5b547fb614 100755
--- a/selfdrive/car/volkswagen/values.py
+++ b/selfdrive/car/volkswagen/values.py
@@ -214,8 +214,8 @@ CAR_INFO: Dict[str, Union[VWCarInfo, List[VWCarInfo]]] = {
   ],
   CAR.PASSAT_NMS: VWCarInfo("Volkswagen Passat NMS 2017-22"),
   CAR.POLO_MK6: [
-    VWCarInfo("Volkswagen Polo 2020-22", footnotes=[Footnote.VW_MQB_A0]),
-    VWCarInfo("Volkswagen Polo GTI 2020-22", footnotes=[Footnote.VW_MQB_A0]),
+    VWCarInfo("Volkswagen Polo 2018-23", footnotes=[Footnote.VW_MQB_A0]),
+    VWCarInfo("Volkswagen Polo GTI 2018-23", footnotes=[Footnote.VW_MQB_A0]),
   ],
   CAR.SHARAN_MK2: [
     VWCarInfo("Volkswagen Sharan 2018-22"),

From 2d061e2041574e250d3fa6b487fd9b4a2958864a Mon Sep 17 00:00:00 2001
From: Dean Lee <deanlee3@gmail.com>
Date: Sun, 9 Apr 2023 02:34:37 +0800
Subject: [PATCH 63/88] cabana: dispaly alert info in thumbnail&video player
 (#27837)

* show alert info in thumbnail

* dispaly alert info in video
---
 tools/cabana/videowidget.cc | 94 +++++++++++++++++++++++++++++--------
 tools/cabana/videowidget.h  | 19 ++++++--
 2 files changed, 90 insertions(+), 23 deletions(-)

diff --git a/tools/cabana/videowidget.cc b/tools/cabana/videowidget.cc
index 228c8d6b2c..42aa7d4f57 100644
--- a/tools/cabana/videowidget.cc
+++ b/tools/cabana/videowidget.cc
@@ -3,6 +3,7 @@
 #include <QButtonGroup>
 #include <QMouseEvent>
 #include <QPainter>
+#include <QStackedLayout>
 #include <QStyleOptionSlider>
 #include <QVBoxLayout>
 #include <QtConcurrent>
@@ -19,7 +20,6 @@ static const QColor timeline_colors[] = {
   [(int)TimelineType::AlertCritical] = QColor(199, 0, 57),
 };
 
-
 bool sortTimelineBasedOnEventPriority(const std::tuple<int, int, TimelineType> &left, const std::tuple<int, int, TimelineType> &right){
   const static std::map<TimelineType, int> timelinePriority = {
     {  TimelineType::None, 0 },
@@ -29,7 +29,6 @@ bool sortTimelineBasedOnEventPriority(const std::tuple<int, int, TimelineType> &
     {  TimelineType::AlertCritical, 40 },
     {  TimelineType::UserFlag, 35 }
   };
-
   return timelinePriority.at(std::get<2>(left)) < timelinePriority.at(std::get<2>(right));
 }
 
@@ -92,10 +91,14 @@ QWidget *VideoWidget::createCameraWidget() {
   QWidget *w = new QWidget(this);
   QVBoxLayout *l = new QVBoxLayout(w);
   l->setContentsMargins(0, 0, 0, 0);
-  cam_widget = new CameraWidget("camerad", can->visionStreamType(), false);
+
+  QStackedLayout *stacked = new QStackedLayout();
+  stacked->setStackingMode(QStackedLayout::StackAll);
+  stacked->addWidget(cam_widget = new CameraWidget("camerad", can->visionStreamType(), false));
   cam_widget->setMinimumHeight(MIN_VIDEO_HEIGHT);
   cam_widget->setSizePolicy(QSizePolicy::Preferred, QSizePolicy::MinimumExpanding);
-  l->addWidget(cam_widget);
+  stacked->addWidget(alert_label = new InfoLabel(this));
+  l->addLayout(stacked);
 
   // slider controls
   slider_layout = new QHBoxLayout();
@@ -130,8 +133,17 @@ void VideoWidget::rangeChanged(double min, double max, bool is_zoomed) {
 }
 
 void VideoWidget::updateState() {
-  if (!slider->isSliderDown())
+  if (!slider->isSliderDown()) {
     slider->setValue(can->currentSec() * 1000);
+  }
+  std::lock_guard lk(slider->thumbnail_lock);
+  uint64_t mono_time = (can->currentSec() + can->routeStartTime()) * 1e9;
+  auto it = slider->alerts.lower_bound(mono_time);
+  if (it != slider->alerts.end() && (it->first - mono_time) < 1e9) {
+    alert_label->showAlert(it->second);
+  } else {
+    alert_label->showAlert({});
+  }
 }
 
 void VideoWidget::updatePlayBtnState() {
@@ -144,7 +156,6 @@ Slider::Slider(QWidget *parent) : timer(this), thumbnail_label(this), QSlider(Qt
   timer.callOnTimeout([this]() {
     timeline = can->getTimeline();
     std::sort(timeline.begin(), timeline.end(), sortTimelineBasedOnEventPriority);
-
     update();
   });
   setMouseTracking(true);
@@ -169,11 +180,11 @@ void Slider::streamStarted() {
 void Slider::loadThumbnails() {
   const auto &segments = can->route()->segments();
   for (auto it = segments.rbegin(); it != segments.rend() && !abort_load_thumbnail; ++it) {
+    LogReader log;
     std::string qlog = it->second.qlog.toStdString();
-    if (!qlog.empty()) {
-      LogReader log;
-      if (log.load(qlog, &abort_load_thumbnail, {cereal::Event::Which::THUMBNAIL}, true, 0, 3)) {
-        for (auto ev = log.events.cbegin(); ev != log.events.cend() && !abort_load_thumbnail; ++ev) {
+    if (!qlog.empty() && log.load(qlog, &abort_load_thumbnail, {cereal::Event::Which::THUMBNAIL, cereal::Event::Which::CONTROLS_STATE}, true, 0, 3)) {
+      for (auto ev = log.events.cbegin(); ev != log.events.cend() && !abort_load_thumbnail; ++ev) {
+        if ((*ev)->which == cereal::Event::Which::THUMBNAIL) {
           auto thumb = (*ev)->event.getThumbnail();
           auto data = thumb.getThumbnail();
           if (QPixmap pm; pm.loadFromData(data.begin(), data.size(), "jpeg")) {
@@ -181,6 +192,12 @@ void Slider::loadThumbnails() {
             std::lock_guard lk(thumbnail_lock);
             thumbnails[thumb.getTimestampEof()] = pm;
           }
+        } else if ((*ev)->which == cereal::Event::Which::CONTROLS_STATE) {
+          auto cs = (*ev)->event.getControlsState();
+          if (cs.getAlertType().size() > 0 && cs.getAlertText1().size() > 0) {
+            std::lock_guard lk(thumbnail_lock);
+            alerts.emplace((*ev)->mono_time, AlertInfo{cs.getAlertStatus(), cs.getAlertText1().cStr(), cs.getAlertText2().cStr()});
+          }
         }
       }
     }
@@ -234,15 +251,21 @@ void Slider::mousePressEvent(QMouseEvent *e) {
 
 void Slider::mouseMoveEvent(QMouseEvent *e) {
   QPixmap thumb;
+  AlertInfo alert;
   double seconds = (minimum() + e->pos().x() * ((maximum() - minimum()) / (double)width())) / 1000.0;
   {
     std::lock_guard lk(thumbnail_lock);
-    auto it = thumbnails.lowerBound((seconds + can->routeStartTime()) * 1e9);
+    uint64_t mono_time = (seconds + can->routeStartTime()) * 1e9;
+    auto it = thumbnails.lowerBound(mono_time);
     if (it != thumbnails.end()) thumb = it.value();
+    auto alert_it = alerts.lower_bound(mono_time);
+    if (alert_it != alerts.end() && (alert_it->first - mono_time) < 1e9) {
+      alert = alert_it->second;
+    }
   }
   int x = std::clamp(e->pos().x() - thumb.width() / 2, THUMBNAIL_MARGIN, rect().right() - thumb.width() - THUMBNAIL_MARGIN);
   int y = -thumb.height() - THUMBNAIL_MARGIN - style()->pixelMetric(QStyle::PM_LayoutVerticalSpacing);
-  thumbnail_label.showPixmap(mapToGlobal({x, y}), utils::formatSeconds(seconds), thumb);
+  thumbnail_label.showPixmap(mapToGlobal({x, y}), utils::formatSeconds(seconds), thumb, alert);
   QSlider::mouseMoveEvent(e);
 }
 
@@ -251,16 +274,17 @@ void Slider::leaveEvent(QEvent *event) {
   QSlider::leaveEvent(event);
 }
 
-// ThumbnailLabel
+// InfoLabel
 
-ThumbnailLabel::ThumbnailLabel(QWidget *parent) : QWidget(parent, Qt::Tool | Qt::FramelessWindowHint) {
+InfoLabel::InfoLabel(QWidget *parent) : QWidget(parent, Qt::Tool | Qt::FramelessWindowHint) {
   setAttribute(Qt::WA_ShowWithoutActivating);
   setVisible(false);
 }
 
-void ThumbnailLabel::showPixmap(const QPoint &pt, const QString &sec, const QPixmap &pm) {
+void InfoLabel::showPixmap(const QPoint &pt, const QString &sec, const QPixmap &pm, const AlertInfo &alert) {
   pixmap = pm;
   second = sec;
+  alert_info = alert;
   setVisible(!pm.isNull());
   if (isVisible()) {
     setGeometry({pt, pm.size()});
@@ -268,10 +292,42 @@ void ThumbnailLabel::showPixmap(const QPoint &pt, const QString &sec, const QPix
   }
 }
 
-void ThumbnailLabel::paintEvent(QPaintEvent *event) {
+void InfoLabel::showAlert(const AlertInfo &alert) {
+  alert_info = alert;
+  pixmap = {};
+  setVisible(!alert_info.text1.isEmpty());
+  if (isVisible()) {
+    update();
+  }
+}
+
+void InfoLabel::paintEvent(QPaintEvent *event) {
   QPainter p(this);
-  p.drawPixmap(0, 0, pixmap);
   p.setPen(QPen(Qt::white, 2));
-  p.drawRect(rect());
-  p.drawText(rect().adjusted(0, 0, 0, -THUMBNAIL_MARGIN), second, Qt::AlignHCenter | Qt::AlignBottom);
+  if (!pixmap.isNull()) {
+    p.drawPixmap(0, 0, pixmap);
+    p.drawRect(rect());
+    p.drawText(rect().adjusted(0, 0, 0, -THUMBNAIL_MARGIN), second, Qt::AlignHCenter | Qt::AlignBottom);
+  }
+  if (alert_info.text1.size() > 0) {
+    QColor color = timeline_colors[(int)TimelineType::AlertInfo];
+    if (alert_info.status == cereal::ControlsState::AlertStatus::USER_PROMPT) {
+      color = timeline_colors[(int)TimelineType::AlertWarning];
+    } else if (alert_info.status == cereal::ControlsState::AlertStatus::CRITICAL) {
+      color = timeline_colors[(int)TimelineType::AlertCritical];
+    }
+    color.setAlphaF(0.5);
+    QString text = alert_info.text1;
+    if (!alert_info.text2.isEmpty()) {
+      text += "\n" + alert_info.text2;
+    }
+
+    QFont font;
+    font.setPixelSize(!pixmap.isNull() ? 11 : QFont().pixelSize());
+    p.setFont(font);
+    QRect text_rect = rect().adjusted(2, 2, -2, -2);
+    QRect r = p.fontMetrics().boundingRect(text_rect, Qt::AlignTop | Qt::AlignHCenter | Qt::TextWordWrap, text);
+    p.fillRect(text_rect.left(), r.top(), text_rect.width(), r.height(), color);
+    p.drawText(text_rect, Qt::AlignTop | Qt::AlignHCenter | Qt::TextWordWrap, text);
+  }
 }
diff --git a/tools/cabana/videowidget.h b/tools/cabana/videowidget.h
index 00b059428d..3e2cbc8e50 100644
--- a/tools/cabana/videowidget.h
+++ b/tools/cabana/videowidget.h
@@ -13,13 +13,21 @@
 #include "selfdrive/ui/qt/widgets/cameraview.h"
 #include "tools/cabana/streams/abstractstream.h"
 
-class ThumbnailLabel : public QWidget {
+struct AlertInfo {
+  cereal::ControlsState::AlertStatus status;
+  QString text1;
+  QString text2;
+};
+
+class InfoLabel : public QWidget {
 public:
-  ThumbnailLabel(QWidget *parent);
-  void showPixmap(const QPoint &pt, const QString &sec, const QPixmap &pm);
+  InfoLabel(QWidget *parent);
+  void showPixmap(const QPoint &pt, const QString &sec, const QPixmap &pm, const AlertInfo &alert);
+  void showAlert(const AlertInfo &alert);
   void paintEvent(QPaintEvent *event) override;
   QPixmap pixmap;
   QString second;
+  AlertInfo alert_info;
 };
 
 class Slider : public QSlider {
@@ -43,9 +51,11 @@ private:
   std::mutex thumbnail_lock;
   std::atomic<bool> abort_load_thumbnail = false;
   QMap<uint64_t, QPixmap> thumbnails;
+  std::map<uint64_t, AlertInfo> alerts;
   QFuture<void> thumnail_future;
-  ThumbnailLabel thumbnail_label;
+  InfoLabel thumbnail_label;
   QTimer timer;
+  friend class VideoWidget;
 };
 
 class VideoWidget : public QFrame {
@@ -65,5 +75,6 @@ protected:
   QLabel *time_label;
   QHBoxLayout *slider_layout;
   QPushButton *play_btn;
+  InfoLabel *alert_label;
   Slider *slider;
 };

From 8f118220e6d5c38d7f4f5cf13817e9268e870541 Mon Sep 17 00:00:00 2001
From: Dean Lee <deanlee3@gmail.com>
Date: Sun, 9 Apr 2023 02:35:28 +0800
Subject: [PATCH 64/88] cabana: improve drag&drop (#27842)

improve drag&drop

draw shadow effect
---
 tools/cabana/chartswidget.cc | 96 ++++++++++++++++++++++++++----------
 tools/cabana/chartswidget.h  |  4 +-
 2 files changed, 73 insertions(+), 27 deletions(-)

diff --git a/tools/cabana/chartswidget.cc b/tools/cabana/chartswidget.cc
index 1658ff8b68..0dbac8b484 100644
--- a/tools/cabana/chartswidget.cc
+++ b/tools/cabana/chartswidget.cc
@@ -6,6 +6,7 @@
 #include <QDialogButtonBox>
 #include <QDrag>
 #include <QFutureSynchronizer>
+#include <QGraphicsDropShadowEffect>
 #include <QGraphicsLayout>
 #include <QLineEdit>
 #include <QMenu>
@@ -19,6 +20,7 @@
 #include <QtConcurrent>
 
 const int MAX_COLUMN_COUNT = 4;
+const int CHART_SPACING = 10;
 const QString mime_type = "application/x-cabanachartview";
 static inline bool xLessThan(const QPointF &p, float x) { return p.x() < x; }
 
@@ -78,15 +80,15 @@ ChartsWidget::ChartsWidget(QWidget *parent) : align_timer(this), auto_scroll_tim
   main_layout->addWidget(toolbar);
 
   // tabbar
-  QHBoxLayout *tab_layout = new QHBoxLayout();
-  tab_layout->addWidget(tabbar = new QTabBar(this));
+  tabbar = new QTabBar(this);
   tabbar->setAutoHide(true);
+  tabbar->setExpanding(false);
+  tabbar->setDrawBase(true);
   tabbar->setAcceptDrops(true);
   tabbar->setChangeCurrentOnDrag(true);
   tabbar->setTabsClosable(true);
   tabbar->setUsesScrollButtons(true);
-  tab_layout->addStretch(0);
-  main_layout->addLayout(tab_layout);
+  main_layout->addWidget(tabbar);
 
   // charts
   charts_container = new ChartsContainer(this);
@@ -307,7 +309,7 @@ void ChartsWidget::updateLayout(bool force) {
       charts_layout->addWidget(current_charts[i], i / n, i % n);
       current_charts[i]->setVisible(true);
     }
-    QTimer::singleShot(0, [this]() { charts_container->setUpdatesEnabled(true); });
+    charts_container->setUpdatesEnabled(true);
   }
 }
 
@@ -784,20 +786,51 @@ void ChartView::leaveEvent(QEvent *event) {
   QChartView::leaveEvent(event);
 }
 
+QPixmap getBlankShadowPixmap(const QSize &size, int extent) {
+  QGraphicsDropShadowEffect *e = new QGraphicsDropShadowEffect;
+  e->setColor(QColor(40, 40, 40, 245));
+  e->setOffset(0, 2);
+  e->setBlurRadius(10);
+
+  QGraphicsScene scene;
+  QGraphicsPixmapItem item;
+  QPixmap src(size);
+  src.fill(Qt::white);
+  item.setPixmap(src);
+  item.setGraphicsEffect(e);
+  scene.addItem(&item);
+  QImage target(src.size() + QSize(extent * 2, extent * 2), QImage::Format_ARGB32);
+  target.fill(Qt::transparent);
+  QPainter p(&target);
+  scene.render(&p, QRectF(), QRectF(-extent, -extent, src.width() + extent * 2, src.height() + extent * 2));
+  return QPixmap::fromImage(target);
+}
+
+static QPixmap getDropPixmap(const QPixmap &src) {
+  static QPixmap shadow_px;
+  const int extent = 10;
+  if (shadow_px.size() != src.size() + QSize(extent * 2, extent * 2)) {
+    shadow_px = getBlankShadowPixmap(src.size(), extent);
+  }
+  QPixmap px = shadow_px;
+  QPainter p(&px);
+  int delta_w = px.width() - src.width();
+  int delta_h = px.height() - src.height();
+  p.drawPixmap(QPoint(delta_w / 2, delta_h / 2), src);
+  p.setCompositionMode(QPainter::CompositionMode_DestinationIn);
+  p.fillRect(delta_w / 2, delta_h / 2, src.width(), src.height(), QColor(0, 0, 0, 200));
+  return px;
+}
+
 void ChartView::mousePressEvent(QMouseEvent *event) {
   if (event->button() == Qt::LeftButton && move_icon->sceneBoundingRect().contains(event->pos())) {
     QMimeData *mimeData = new QMimeData;
     mimeData->setData(mime_type, QByteArray::number((qulonglong)this));
-    QPixmap pm = grab();
-    QPainter p(&pm);
-    p.setCompositionMode(QPainter::CompositionMode_DestinationIn);
-    p.fillRect(pm.rect(), QColor(0, 0, 0, 180));
-    p.end();
-
+    QPixmap px = grab().scaledToWidth(CHART_MIN_WIDTH, Qt::SmoothTransformation);
     QDrag *drag = new QDrag(this);
     drag->setMimeData(mimeData);
-    drag->setPixmap(pm);
-    drag->setHotSpot(event->pos());
+    drag->setPixmap(getDropPixmap(px));
+    drag->setHotSpot(-QPoint(5, 5));
     drag->exec(Qt::CopyAction | Qt::MoveAction, Qt::MoveAction);
     charts_widget->stopAutoScroll();
   } else if (event->button() == Qt::LeftButton && QApplication::keyboardModifiers().testFlag(Qt::ShiftModifier)) {
@@ -1247,9 +1280,9 @@ void ValueTipLabel::paintEvent(QPaintEvent *ev) {
 ChartsContainer::ChartsContainer(ChartsWidget *parent) : charts_widget(parent), QWidget(parent) {
   setAcceptDrops(true);
   QVBoxLayout *charts_main_layout = new QVBoxLayout(this);
-  charts_main_layout->setContentsMargins(0, 0, 0, 0);
+  charts_main_layout->setContentsMargins(0, 10, 0, 0);
   charts_layout = new QGridLayout();
-  charts_layout->setSpacing(10);
+  charts_layout->setSpacing(CHART_SPACING);
   charts_main_layout->addLayout(charts_layout);
   charts_main_layout->addStretch(0);
 }
@@ -1263,13 +1296,13 @@ void ChartsContainer::dragEnterEvent(QDragEnterEvent *event) {
 
 void ChartsContainer::dropEvent(QDropEvent *event) {
   if (event->mimeData()->hasFormat(mime_type)) {
-    auto w = getDropBefore(event->pos());
+    auto w = getDropAfter(event->pos());
     auto chart = qobject_cast<ChartView *>(event->source());
     if (w != chart) {
       for (auto &[_, list] : charts_widget->tab_charts) {
         list.removeOne(chart);
       }
-      int to = w ? charts_widget->currentCharts().indexOf(w) : charts_widget->currentCharts().size();
+      int to = w ? charts_widget->currentCharts().indexOf(w) + 1 : 0;
       charts_widget->currentCharts().insert(to, chart);
       charts_widget->updateLayout(true);
       event->acceptProposedAction();
@@ -1280,18 +1313,31 @@ void ChartsContainer::dropEvent(QDropEvent *event) {
 
 void ChartsContainer::paintEvent(QPaintEvent *ev) {
   if (!drop_indictor_pos.isNull() && !childAt(drop_indictor_pos)) {
-    if (auto insert_after = getDropBefore(drop_indictor_pos)) {
-      auto area = insert_after->geometry();
-      QRect r = QRect(area.left(), area.top() - 10, area.width(), 10);
-      QPainter(this).fillRect(r, qApp->palette().highlight());
+    QRect r;
+    if (auto insert_after = getDropAfter(drop_indictor_pos)) {
+      QRect area = insert_after->geometry();
+      r = QRect(area.left(), area.bottom() + 1, area.width(), CHART_SPACING);
+    } else {
+      r = geometry();
+      r.setHeight(CHART_SPACING);
     }
+
+    const int margin = (CHART_SPACING - 2) / 2;
+    QPainterPath path;
+    path.addPolygon(QPolygonF({r.topLeft(), QPointF(r.left() + CHART_SPACING, r.top() + r.height() / 2), r.bottomLeft()}));
+    path.addPolygon(QPolygonF({r.topRight(), QPointF(r.right() - CHART_SPACING, r.top() + r.height() / 2), r.bottomRight()}));
+
+    QPainter p(this);
+    p.setRenderHint(QPainter::Antialiasing);
+    p.fillPath(path, palette().highlight());
+    p.fillRect(r.adjusted(2, margin, -2, -margin), palette().highlight());
   }
 }
 
-ChartView *ChartsContainer::getDropBefore(const QPoint &pos) const {
-  auto it = std::find_if(charts_widget->currentCharts().cbegin(), charts_widget->currentCharts().cend(), [&pos](auto c) {
+ChartView *ChartsContainer::getDropAfter(const QPoint &pos) const {
+  auto it = std::find_if(charts_widget->currentCharts().crbegin(), charts_widget->currentCharts().crend(), [&pos](auto c) {
     auto area = c->geometry();
-    return pos.x() >= area.left() && pos.x() <= area.right() && pos.y() < area.top();
+    return pos.x() >= area.left() && pos.x() <= area.right() && pos.y() >= area.bottom();
   });
-  return it == charts_widget->currentCharts().cend() ? nullptr : *it;
+  return it == charts_widget->currentCharts().crend() ? nullptr : *it;
 }
diff --git a/tools/cabana/chartswidget.h b/tools/cabana/chartswidget.h
index 22af411b0d..0a693cf69c 100644
--- a/tools/cabana/chartswidget.h
+++ b/tools/cabana/chartswidget.h
@@ -97,7 +97,7 @@ private:
   void paintEvent(QPaintEvent *event) override;
   void drawForeground(QPainter *painter, const QRectF &rect) override;
   void drawBackground(QPainter *painter, const QRectF &rect) override;
-  void drawDropIndicator(bool draw) { can_drop = draw; viewport()->update(); }
+  void drawDropIndicator(bool draw) { if (std::exchange(can_drop, draw) != can_drop) viewport()->update(); }
   std::tuple<double, double, int> getNiceAxisNumbers(qreal min, qreal max, int tick_count);
   qreal niceNumber(qreal x, bool ceiling);
   QXYSeries *createSeries(SeriesType type, QColor color);
@@ -133,7 +133,7 @@ public:
   void dragLeaveEvent(QDragLeaveEvent *event) override { drawDropIndicator({}); }
   void drawDropIndicator(const QPoint &pt) { drop_indictor_pos = pt; update(); }
   void paintEvent(QPaintEvent *ev) override;
-  ChartView *getDropBefore(const QPoint &pos) const;
+  ChartView *getDropAfter(const QPoint &pos) const;
 
   QGridLayout *charts_layout;
   ChartsWidget *charts_widget;

From 3aa5d02990e291dc42e74dcc79fe2a9713ec89ea Mon Sep 17 00:00:00 2001
From: Stephen Harrison <jake.harrison@gmail.com>
Date: Sun, 9 Apr 2023 00:12:00 -0400
Subject: [PATCH 65/88] Hyundai Tucson 2023 fingerpint (#27849)

Update values.py

Hyundai Tucson 2023 fwdCamera fwVersion added for fingerprint
---
 selfdrive/car/hyundai/values.py | 1 +
 1 file changed, 1 insertion(+)

diff --git a/selfdrive/car/hyundai/values.py b/selfdrive/car/hyundai/values.py
index d965d8dfad..3d1c0d0a92 100644
--- a/selfdrive/car/hyundai/values.py
+++ b/selfdrive/car/hyundai/values.py
@@ -1637,6 +1637,7 @@ FW_VERSIONS = {
     (Ecu.fwdCamera, 0x7c4, None): [
       b'\xf1\x00NX4 FR_CMR AT USA LHD 1.00 1.00 99211-N9210 14G',
       b'\xf1\x00NX4 FR_CMR AT USA LHD 1.00 1.01 99211-N9240 14T',
+      b'\xf1\x00NX4 FR_CMR AT USA LHD 1.00 1.00 99211-CW010 14X',
     ],
     (Ecu.fwdRadar, 0x7d0, None): [
       b'\xf1\x00NX4__               1.00 1.00 99110-N9100         ',

From 2b32b07bbbd6bd66916abbebcdb75f88fe11343c Mon Sep 17 00:00:00 2001
From: Erich Moraga <33645296+ErichMoraga@users.noreply.github.com>
Date: Mon, 10 Apr 2023 17:47:00 -0500
Subject: [PATCH 66/88] Add missing KIA_SPORTAGE_HYBRID_5TH_GEN fwdCamera f/w
 (#27864)

Bassam#9056 2023 Kia Sportage Hybrid  DongleID/route 5780f2cf75339e9f|2023-04-10--20-47-53
---
 selfdrive/car/hyundai/values.py | 1 +
 1 file changed, 1 insertion(+)

diff --git a/selfdrive/car/hyundai/values.py b/selfdrive/car/hyundai/values.py
index 3d1c0d0a92..51717eb957 100644
--- a/selfdrive/car/hyundai/values.py
+++ b/selfdrive/car/hyundai/values.py
@@ -1656,6 +1656,7 @@ FW_VERSIONS = {
   },
   CAR.KIA_SPORTAGE_HYBRID_5TH_GEN: {
     (Ecu.fwdCamera, 0x7c4, None): [
+      b'\xf1\x00NQ5 FR_CMR AT GEN LHD 1.00 1.00 99211-P1060 665',
       b'\xf1\x00NQ5 FR_CMR AT USA LHD 1.00 1.00 99211-P1060 665',
     ],
     (Ecu.fwdRadar, 0x7d0, None): [

From fc90814199d10b4419574f0e5a01102ec55c9cdb Mon Sep 17 00:00:00 2001
From: Dean Lee <deanlee3@gmail.com>
Date: Tue, 11 Apr 2023 06:53:50 +0800
Subject: [PATCH 67/88] cabana: switch theme on the fly (#27855)

* switch theme on the fly

* better chart theme

* Darcula like dark theme

* add TODO

* use theme aware toolbutton in ChartView

* add margin to text title

* lighter activity colors

* fix historylog header

* replace hardcoded color

* improve chart tooltip color

* use macro

* space

* remove function toolbutton

* fix remove all btn

* remove menu arrow

* improve chart::removeIf

* cleanup charts
---
 tools/cabana/chartswidget.cc | 109 ++++++++++++++++++++---------------
 tools/cabana/chartswidget.h  |  14 ++---
 tools/cabana/detailwidget.cc |   6 +-
 tools/cabana/historylog.cc   |   1 +
 tools/cabana/mainwin.cc      |   1 -
 tools/cabana/settings.cc     |  25 ++++++--
 tools/cabana/settings.h      |   3 +
 tools/cabana/signalview.cc   |   6 +-
 tools/cabana/util.cc         |  73 +++++++++++------------
 tools/cabana/util.h          |  26 ++++++++-
 tools/cabana/videowidget.cc  |  11 ++--
 11 files changed, 164 insertions(+), 111 deletions(-)

diff --git a/tools/cabana/chartswidget.cc b/tools/cabana/chartswidget.cc
index 0dbac8b484..0d34d0ddcc 100644
--- a/tools/cabana/chartswidget.cc
+++ b/tools/cabana/chartswidget.cc
@@ -37,8 +37,10 @@ ChartsWidget::ChartsWidget(QWidget *parent) : align_timer(this), auto_scroll_tim
   int icon_size = style()->pixelMetric(QStyle::PM_SmallIconSize);
   toolbar->setIconSize({icon_size, icon_size});
 
-  QAction *new_plot_btn = toolbar->addAction(utils::icon("file-plus"), tr("New Chart"));
-  QAction *new_tab_btn = toolbar->addAction(utils::icon("window-stack"), tr("New Tab"));
+  auto new_plot_btn = new ToolButton("file-plus", tr("New Chart"));
+  auto new_tab_btn = new ToolButton("window-stack", tr("New Tab"));
+  toolbar->addWidget(new_plot_btn);
+  toolbar->addWidget(new_tab_btn);
   toolbar->addWidget(title_label = new QLabel());
   title_label->setContentsMargins(0, 0, style()->pixelMetric(QStyle::PM_LayoutHorizontalSpacing), 0);
 
@@ -65,18 +67,15 @@ ChartsWidget::ChartsWidget(QWidget *parent) : align_timer(this), auto_scroll_tim
 
   // zoom controls
   zoom_undo_stack = new QUndoStack(this);
-  undo_zoom_action = zoom_undo_stack->createUndoAction(this);
+  toolbar->addAction(undo_zoom_action = zoom_undo_stack->createUndoAction(this));
   undo_zoom_action->setIcon(utils::icon("arrow-counterclockwise"));
-  toolbar->addAction(undo_zoom_action);
-  redo_zoom_action = zoom_undo_stack->createRedoAction(this);
+  toolbar->addAction(redo_zoom_action = zoom_undo_stack->createRedoAction(this));
   redo_zoom_action->setIcon(utils::icon("arrow-clockwise"));
-  toolbar->addAction(redo_zoom_action);
-  reset_zoom_action = toolbar->addAction(utils::icon("zoom-out"), "");
-  reset_zoom_action->setToolTip(tr("Reset zoom"));
-  qobject_cast<QToolButton*>(toolbar->widgetForAction(reset_zoom_action))->setToolButtonStyle(Qt::ToolButtonTextBesideIcon);
+  reset_zoom_action = toolbar->addWidget(reset_zoom_btn = new ToolButton("zoom-out", tr("Reset Zoom")));
+  reset_zoom_btn->setToolButtonStyle(Qt::ToolButtonTextBesideIcon);
 
-  remove_all_btn = toolbar->addAction(utils::icon("x"), tr("Remove all charts"));
-  dock_btn = toolbar->addAction("");
+  toolbar->addWidget(remove_all_btn = new ToolButton("x", tr("Remove all charts")));
+  toolbar->addWidget(dock_btn = new ToolButton(""));
   main_layout->addWidget(toolbar);
 
   // tabbar
@@ -101,6 +100,7 @@ ChartsWidget::ChartsWidget(QWidget *parent) : align_timer(this), auto_scroll_tim
   main_layout->addWidget(charts_scroll);
 
   // init settings
+  current_theme = settings.theme;
   column_count = std::clamp(settings.chart_column_count, 1, MAX_COLUMN_COUNT);
   max_chart_range = std::clamp(settings.chart_range, 1, settings.max_cached_minutes * 60);
   display_range = {0, max_chart_range};
@@ -114,16 +114,16 @@ ChartsWidget::ChartsWidget(QWidget *parent) : align_timer(this), auto_scroll_tim
   QObject::connect(can, &AbstractStream::eventsMerged, this, &ChartsWidget::eventsMerged);
   QObject::connect(can, &AbstractStream::updated, this, &ChartsWidget::updateState);
   QObject::connect(range_slider, &QSlider::valueChanged, this, &ChartsWidget::setMaxChartRange);
-  QObject::connect(new_plot_btn, &QAction::triggered, this, &ChartsWidget::newChart);
-  QObject::connect(remove_all_btn, &QAction::triggered, this, &ChartsWidget::removeAll);
-  QObject::connect(reset_zoom_action, &QAction::triggered, this, &ChartsWidget::zoomReset);
+  QObject::connect(new_plot_btn, &QToolButton::clicked, this, &ChartsWidget::newChart);
+  QObject::connect(remove_all_btn, &QToolButton::clicked, this, &ChartsWidget::removeAll);
+  QObject::connect(reset_zoom_btn, &QToolButton::clicked, this, &ChartsWidget::zoomReset);
   QObject::connect(&settings, &Settings::changed, this, &ChartsWidget::settingChanged);
-  QObject::connect(new_tab_btn, &QAction::triggered, this, &ChartsWidget::newTab);
+  QObject::connect(new_tab_btn, &QToolButton::clicked, this, &ChartsWidget::newTab);
   QObject::connect(tabbar, &QTabBar::tabCloseRequested, this, &ChartsWidget::removeTab);
   QObject::connect(tabbar, &QTabBar::currentChanged, [this](int index) {
     if (index != -1) updateLayout(true);
   });
-  QObject::connect(dock_btn, &QAction::triggered, [this]() {
+  QObject::connect(dock_btn, &QToolButton::clicked, [this]() {
     emit dock(!docking);
     docking = !docking;
     updateToolBar();
@@ -170,10 +170,6 @@ void ChartsWidget::setZoom(double min, double max) {
   emit rangeChanged(min, max, is_zoomed);
 }
 
-void ChartsWidget::zoomIn(double min, double max) {
-  zoom_undo_stack->push(new ZoomCommand(this, {min, max}));
-}
-
 void ChartsWidget::zoomReset() {
   setZoom(display_range.first, display_range.second);
   zoom_undo_stack->clear();
@@ -228,17 +224,26 @@ void ChartsWidget::updateToolBar() {
   undo_zoom_action->setVisible(is_zoomed);
   redo_zoom_action->setVisible(is_zoomed);
   reset_zoom_action->setVisible(is_zoomed);
-  reset_zoom_action->setText(is_zoomed ? tr("%1-%2").arg(zoomed_range.first, 0, 'f', 1).arg(zoomed_range.second, 0, 'f', 1) : "");
+  reset_zoom_btn->setText(is_zoomed ? tr("%1-%2").arg(zoomed_range.first, 0, 'f', 1).arg(zoomed_range.second, 0, 'f', 1) : "");
   remove_all_btn->setEnabled(!charts.isEmpty());
-  dock_btn->setIcon(utils::icon(docking ? "arrow-up-right-square" : "arrow-down-left-square"));
+  dock_btn->setIcon(docking ? "arrow-up-right-square" : "arrow-down-left-square");
   dock_btn->setToolTip(docking ? tr("Undock charts") : tr("Dock charts"));
 }
 
 void ChartsWidget::settingChanged() {
+  if (std::exchange(current_theme, settings.theme) != current_theme) {
+    undo_zoom_action->setIcon(utils::icon("arrow-counterclockwise"));
+    redo_zoom_action->setIcon(utils::icon("arrow-clockwise"));
+    auto theme = settings.theme == DARK_THEME ? QChart::QChart::ChartThemeDark : QChart::ChartThemeLight;
+    for (auto c : charts) {
+      c->setTheme(theme);
+    }
+  }
   range_slider->setRange(1, settings.max_cached_minutes * 60);
   for (auto c : charts) {
     c->setFixedHeight(settings.chart_height);
     c->setSeriesType((SeriesType)settings.chart_series_type);
+    c->resetChartCache();
   }
 }
 
@@ -253,14 +258,7 @@ ChartView *ChartsWidget::createChart() {
   chart->setFixedHeight(settings.chart_height);
   chart->setMinimumWidth(CHART_MIN_WIDTH);
   chart->setSizePolicy(QSizePolicy::MinimumExpanding, QSizePolicy::Fixed);
-  chart->chart()->setTheme(settings.theme == 2 ? QChart::QChart::ChartThemeDark : QChart::ChartThemeLight);
-  QObject::connect(chart, &ChartView::remove, [=]() { removeChart(chart); });
-  QObject::connect(chart, &ChartView::zoomIn, this, &ChartsWidget::zoomIn);
-  QObject::connect(chart, &ChartView::zoomUndo, undo_zoom_action, &QAction::trigger);
-  QObject::connect(chart, &ChartView::seriesRemoved, this, &ChartsWidget::seriesChanged);
-  QObject::connect(chart, &ChartView::seriesAdded, this, &ChartsWidget::seriesChanged);
   QObject::connect(chart, &ChartView::axisYLabelWidthChanged, &align_timer, qOverload<>(&QTimer::start));
-  QObject::connect(chart, &ChartView::hovered, this, &ChartsWidget::showValueTip);
   charts.push_front(chart);
   currentCharts().push_front(chart);
   updateLayout(true);
@@ -408,7 +406,7 @@ void ChartsWidget::alignCharts() {
 
 bool ChartsWidget::eventFilter(QObject *obj, QEvent *event) {
   if (obj != this && event->type() == QEvent::Close) {
-    emit dock_btn->triggered();
+    emit dock_btn->clicked();
     return true;
   }
   return false;
@@ -439,7 +437,7 @@ bool ChartsWidget::event(QEvent *event) {
   }
 
   if (back_button) {
-    emit undo_zoom_action->triggered();
+    zoom_undo_stack->undo();
     return true;
   }
   return QFrame::event(event);
@@ -466,6 +464,7 @@ ChartView::ChartView(const std::pair<double, double> &x_range, ChartsWidget *par
   // TODO: enable zoomIn/seekTo in live streaming mode.
   setRubberBand(can->liveStreaming() ? QChartView::NoRubberBand : QChartView::HorizontalRubberBand);
   setMouseTracking(true);
+  setTheme(settings.theme == DARK_THEME ? QChart::QChart::ChartThemeDark : QChart::ChartThemeLight);
 
   QObject::connect(axis_y, &QValueAxis::rangeChanged, [this]() { resetChartCache(); });
   QObject::connect(axis_y, &QAbstractAxis::titleTextChanged, [this]() { resetChartCache(); });
@@ -480,7 +479,7 @@ void ChartView::createToolButtons() {
   move_icon = new QGraphicsPixmapItem(utils::icon("grip-horizontal"), chart());
   move_icon->setToolTip(tr("Drag and drop to move chart"));
 
-  QToolButton *remove_btn = toolButton("x", tr("Remove Chart"));
+  QToolButton *remove_btn = new ToolButton("x", tr("Remove Chart"));
   close_btn_proxy = new QGraphicsProxyWidget(chart());
   close_btn_proxy->setWidget(remove_btn);
   close_btn_proxy->setZValue(chart()->zValue() + 11);
@@ -500,19 +499,34 @@ void ChartView::createToolButtons() {
   menu->addSeparator();
   menu->addAction(tr("Manage series"), this, &ChartView::manageSeries);
 
-  QToolButton *manage_btn = toolButton("list", "");
+  QToolButton *manage_btn = new ToolButton("list", "");
   manage_btn->setMenu(menu);
   manage_btn->setPopupMode(QToolButton::InstantPopup);
+  manage_btn->setStyleSheet("QToolButton::menu-indicator { image: none; }");
   manage_btn_proxy = new QGraphicsProxyWidget(chart());
   manage_btn_proxy->setWidget(manage_btn);
   manage_btn_proxy->setZValue(chart()->zValue() + 11);
 
-  QObject::connect(remove_btn, &QToolButton::clicked, this, &ChartView::remove);
+  QObject::connect(remove_btn, &QToolButton::clicked, [this]() { charts_widget->removeChart(this); });
   QObject::connect(change_series_group, &QActionGroup::triggered, [this](QAction *action) {
     setSeriesType((SeriesType)action->data().toInt());
   });
 }
 
+void ChartView::setTheme(QChart::ChartTheme theme) {
+  chart()->setTheme(theme);
+  if (theme == QChart::ChartThemeDark) {
+    axis_x->setTitleBrush(palette().color(QPalette::Text));
+    axis_x->setLabelsBrush(palette().color(QPalette::Text));
+    axis_y->setTitleBrush(palette().color(QPalette::Text));
+    axis_y->setLabelsBrush(palette().color(QPalette::Text));
+    chart()->legend()->setLabelColor(palette().color(QPalette::Text));
+  }
+  for (auto &s : sigs) {
+    s.series->setColor(getColor(s.sig));
+  }
+}
+
 void ChartView::addSeries(const MessageId &msg_id, const cabana::Signal *sig) {
   if (hasSeries(msg_id, sig)) return;
 
@@ -521,7 +535,7 @@ void ChartView::addSeries(const MessageId &msg_id, const cabana::Signal *sig) {
   updateTitle();
   updateSeries(sig);
   updateSeriesPoints();
-  emit seriesAdded(msg_id, sig);
+  emit charts_widget->seriesChanged();
 }
 
 bool ChartView::hasSeries(const MessageId &msg_id, const cabana::Signal *sig) const {
@@ -534,17 +548,15 @@ void ChartView::removeIf(std::function<bool(const SigItem &s)> predicate) {
     if (predicate(*it)) {
       chart()->removeSeries(it->series);
       it->series->deleteLater();
-      auto msg_id = it->msg_id;
-      auto sig = it->sig;
       it = sigs.erase(it);
-      emit seriesRemoved(msg_id, sig);
     } else {
       ++it;
     }
   }
   if (sigs.empty()) {
-    emit remove();
+    charts_widget->removeChart(this);
   } else if (sigs.size() != prev_size) {
+    emit charts_widget->seriesChanged();
     updateAxisY();
     resetChartCache();
   }
@@ -781,7 +793,7 @@ qreal ChartView::niceNumber(qreal x, bool ceiling) {
 
 void ChartView::leaveEvent(QEvent *event) {
   if (tip_label.isVisible()) {
-    emit hovered(-1);
+    charts_widget->showValueTip(-1);
   }
   QChartView::leaveEvent(event);
 }
@@ -863,13 +875,13 @@ void ChartView::mouseReleaseEvent(QMouseEvent *event) {
       // no rubber dragged, seek to mouse position
       can->seekTo(min);
     } else if (rubber->width() > 10) {
-      emit zoomIn(min, max);
+      charts_widget->zoom_undo_stack->push(new ZoomCommand(charts_widget, {min, max}));
     } else {
       viewport()->update();
     }
     event->accept();
   } else if (!can->liveStreaming() && event->button() == Qt::RightButton) {
-    emit zoomUndo();
+    charts_widget->zoom_undo_stack->undo();
     event->accept();
   } else {
     QGraphicsView::mouseReleaseEvent(event);
@@ -898,9 +910,9 @@ void ChartView::mouseMoveEvent(QMouseEvent *ev) {
 
   if (!is_zooming && plot_area.contains(ev->pos())) {
     const double sec = chart()->mapToValue(ev->pos()).x();
-    emit hovered(sec);
+    charts_widget->showValueTip(sec);
   } else if (tip_label.isVisible()) {
-    emit hovered(-1);
+    charts_widget->showValueTip(-1);
   }
 
   QChartView::mouseMoveEvent(ev);
@@ -979,7 +991,7 @@ void ChartView::dropEvent(QDropEvent *event) {
       updateTitle();
 
       source_chart->sigs.clear();
-      emit source_chart->remove();
+      charts_widget->removeChart(source_chart);
       event->acceptProposedAction();
     }
     can_drop = false;
@@ -1244,7 +1256,12 @@ QList<SeriesSelector::ListItem *> SeriesSelector::seletedItems() {
 ValueTipLabel::ValueTipLabel(QWidget *parent) : QLabel(parent, Qt::ToolTip | Qt::FramelessWindowHint) {
   setForegroundRole(QPalette::ToolTipText);
   setBackgroundRole(QPalette::ToolTipBase);
-  setPalette(QToolTip::palette());
+  auto palette = QToolTip::palette();
+  if (settings.theme != DARK_THEME) {
+    palette.setColor(QPalette::ToolTipBase, QApplication::palette().color(QPalette::Base));
+    palette.setColor(QPalette::ToolTipText, QRgb(0x404044)); // same color as chart label brush
+  }
+  setPalette(palette);
   ensurePolished();
   setMargin(1 + style()->pixelMetric(QStyle::PM_ToolTipLabelFrameWidth, nullptr, this));
   setAttribute(Qt::WA_ShowWithoutActivating);
diff --git a/tools/cabana/chartswidget.h b/tools/cabana/chartswidget.h
index 0a693cf69c..8ad440b876 100644
--- a/tools/cabana/chartswidget.h
+++ b/tools/cabana/chartswidget.h
@@ -63,13 +63,7 @@ public:
   };
 
 signals:
-  void seriesRemoved(const MessageId &id, const cabana::Signal *sig);
-  void seriesAdded(const MessageId &id, const cabana::Signal *sig);
-  void zoomIn(double min, double max);
-  void zoomUndo();
-  void remove();
   void axisYLabelWidthChanged(int w);
-  void hovered(double sec);
 
 private slots:
   void signalUpdated(const cabana::Signal *sig);
@@ -94,6 +88,7 @@ private:
   void updateAxisY();
   void updateTitle();
   void resetChartCache();
+  void setTheme(QChart::ChartTheme theme);
   void paintEvent(QPaintEvent *event) override;
   void drawForeground(QPainter *painter, const QRectF &rect) override;
   void drawBackground(QPainter *painter, const QRectF &rect) override;
@@ -167,7 +162,6 @@ private:
   void removeChart(ChartView *chart);
   void eventsMerged();
   void updateState();
-  void zoomIn(double min, double max);
   void zoomReset();
   void startAutoScroll();
   void stopAutoScroll();
@@ -189,14 +183,15 @@ private:
   QAction *range_lb_action;
   QAction *range_slider_action;
   bool docking = true;
-  QAction *dock_btn;
+  ToolButton *dock_btn;
 
   QAction *undo_zoom_action;
   QAction *redo_zoom_action;
   QAction *reset_zoom_action;
+  ToolButton *reset_zoom_btn;
   QUndoStack *zoom_undo_stack;
 
-  QAction *remove_all_btn;
+  ToolButton *remove_all_btn;
   QList<ChartView *> charts;
   std::unordered_map<int, QList<ChartView *>> tab_charts;
   QTabBar *tabbar;
@@ -212,6 +207,7 @@ private:
   int auto_scroll_count = 0;
   QTimer auto_scroll_timer;
   QTimer align_timer;
+  int current_theme = 0;
   friend class ZoomCommand;
   friend class ChartView;
   friend class ChartsContainer;
diff --git a/tools/cabana/detailwidget.cc b/tools/cabana/detailwidget.cc
index 543946b19a..dd12d4c8a3 100644
--- a/tools/cabana/detailwidget.cc
+++ b/tools/cabana/detailwidget.cc
@@ -22,7 +22,7 @@ DetailWidget::DetailWidget(ChartsWidget *charts, QWidget *parent) : charts(chart
 
   // message title
   QHBoxLayout *title_layout = new QHBoxLayout();
-  title_layout->setContentsMargins(0, 6, 0, 0);
+  title_layout->setContentsMargins(3, 6, 3, 0);
   time_label = new QLabel(this);
   time_label->setToolTip(tr("Current time"));
   time_label->setStyleSheet("QLabel{font-weight:bold;}");
@@ -32,9 +32,9 @@ DetailWidget::DetailWidget(ChartsWidget *charts, QWidget *parent) : charts(chart
   name_label->setAlignment(Qt::AlignCenter);
   name_label->setSizePolicy(QSizePolicy::Expanding, QSizePolicy::Preferred);
   title_layout->addWidget(name_label);
-  auto edit_btn = toolButton("pencil", tr("Edit Message"));
+  auto edit_btn = new ToolButton("pencil", tr("Edit Message"));
   title_layout->addWidget(edit_btn);
-  remove_btn = toolButton("x-lg", tr("Remove Message"));
+  remove_btn = new ToolButton("x-lg", tr("Remove Message"));
   title_layout->addWidget(remove_btn);
   main_layout->addLayout(title_layout);
 
diff --git a/tools/cabana/historylog.cc b/tools/cabana/historylog.cc
index 4ebe8e0473..ec64880124 100644
--- a/tools/cabana/historylog.cc
+++ b/tools/cabana/historylog.cc
@@ -186,6 +186,7 @@ void HeaderView::paintSection(QPainter *painter, const QRect &rect, int logicalI
     painter->fillRect(rect, bg_role.value<QBrush>());
   }
   QString text = model()->headerData(logicalIndex, Qt::Horizontal, Qt::DisplayRole).toString();
+  painter->setPen(palette().color(settings.theme == DARK_THEME ? QPalette::BrightText : QPalette::Text));
   painter->drawText(rect.adjusted(5, 3, -5, -3), defaultAlignment(), text.replace(QChar('_'), ' '));
 }
 
diff --git a/tools/cabana/mainwin.cc b/tools/cabana/mainwin.cc
index 892dfdb91f..c979a20f16 100644
--- a/tools/cabana/mainwin.cc
+++ b/tools/cabana/mainwin.cc
@@ -541,7 +541,6 @@ void MainWindow::updateDownloadProgress(uint64_t cur, uint64_t total, bool succe
 
 void MainWindow::updateStatus() {
   status_label->setText(tr("Cached Minutes:%1 FPS:%2").arg(settings.max_cached_minutes).arg(settings.fps));
-  utils::setTheme(settings.theme);
 }
 
 void MainWindow::dockCharts(bool dock) {
diff --git a/tools/cabana/settings.cc b/tools/cabana/settings.cc
index a18b8a9ad6..3a1fc14751 100644
--- a/tools/cabana/settings.cc
+++ b/tools/cabana/settings.cc
@@ -1,11 +1,13 @@
 #include "tools/cabana/settings.h"
 
+#include <QAbstractButton>
 #include <QDialogButtonBox>
 #include <QDir>
 #include <QFormLayout>
 #include <QSettings>
 
-// Settings
+#include "tools/cabana/util.h"
+
 Settings settings;
 
 Settings::Settings() {
@@ -85,21 +87,32 @@ SettingsDlg::SettingsDlg(QWidget *parent) : QDialog(parent) {
   chart_height->setValue(settings.chart_height);
   form_layout->addRow(tr("Chart Height"), chart_height);
 
-  auto buttonBox = new QDialogButtonBox(QDialogButtonBox::Ok | QDialogButtonBox::Cancel);
+  auto buttonBox = new QDialogButtonBox(QDialogButtonBox::Ok | QDialogButtonBox::Cancel | QDialogButtonBox::Apply);
   form_layout->addRow(buttonBox);
 
   setFixedWidth(360);
-  connect(buttonBox, &QDialogButtonBox::accepted, this, &SettingsDlg::save);
-  connect(buttonBox, &QDialogButtonBox::rejected, this, &QDialog::reject);
+  connect(buttonBox, &QDialogButtonBox::clicked, [=](QAbstractButton *button) {
+    auto role = buttonBox->buttonRole(button);
+    if (role == QDialogButtonBox::AcceptRole) {
+      save();
+      accept();
+    } else if (role == QDialogButtonBox::ApplyRole) {
+      save();
+    } else if (role == QDialogButtonBox::RejectRole) {
+      reject();
+    }
+  });
 }
 
 void SettingsDlg::save() {
   settings.fps = fps->value();
-  settings.theme = theme->currentIndex();
+  if (std::exchange(settings.theme, theme->currentIndex()) != settings.theme) {
+    // set theme before emit changed
+    utils::setTheme(settings.theme);
+  }
   settings.max_cached_minutes = cached_minutes->value();
   settings.chart_series_type = chart_series_type->currentIndex();
   settings.chart_height = chart_height->value();
   settings.save();
-  accept();
   emit settings.changed();
 }
diff --git a/tools/cabana/settings.h b/tools/cabana/settings.h
index 8076cbf36d..dd01b602e7 100644
--- a/tools/cabana/settings.h
+++ b/tools/cabana/settings.h
@@ -5,6 +5,9 @@
 #include <QDialog>
 #include <QSpinBox>
 
+#define LIGHT_THEME 1
+#define DARK_THEME 2
+
 class Settings : public QObject {
   Q_OBJECT
 
diff --git a/tools/cabana/signalview.cc b/tools/cabana/signalview.cc
index ee1c154483..c40a0f176c 100644
--- a/tools/cabana/signalview.cc
+++ b/tools/cabana/signalview.cc
@@ -525,7 +525,7 @@ SignalView::SignalView(ChartsWidget *charts, QWidget *parent) : charts(charts),
   sparkline_range_slider->setValue(settings.sparkline_range);
   sparkline_range_slider->setToolTip(tr("Sparkline time range"));
 
-  auto collapse_btn = toolButton("dash-square", tr("Collapse All"));
+  auto collapse_btn = new ToolButton("dash-square", tr("Collapse All"));
   collapse_btn->setIconSize({12, 12});
   hl->addWidget(collapse_btn);
 
@@ -582,8 +582,8 @@ void SignalView::rowsChanged() {
       h->setContentsMargins(0, v_margin, -h_margin, v_margin);
       h->setSpacing(style()->pixelMetric(QStyle::PM_ToolBarItemSpacing));
 
-      auto remove_btn = toolButton("x", tr("Remove signal"));
-      auto plot_btn = toolButton("graph-up", "");
+      auto remove_btn = new ToolButton("x", tr("Remove signal"));
+      auto plot_btn = new ToolButton("graph-up", "");
       plot_btn->setCheckable(true);
       h->addWidget(plot_btn);
       h->addWidget(remove_btn);
diff --git a/tools/cabana/util.cc b/tools/cabana/util.cc
index 8a25b11cbf..8d22d93f9a 100644
--- a/tools/cabana/util.cc
+++ b/tools/cabana/util.cc
@@ -8,9 +8,8 @@
 #include <limits>
 
 #include "selfdrive/ui/qt/util.h"
-#include "tools/cabana/settings.h"
 
-static QColor blend(QColor a, QColor b) {
+static inline QColor blend(const QColor &a, const QColor &b) {
   return QColor((a.red() + b.red()) / 2, (a.green() + b.green()) / 2, (a.blue() + b.blue()) / 2, (a.alpha() + b.alpha()) / 2);
 }
 
@@ -22,6 +21,11 @@ void ChangeTracker::compute(const QByteArray &dat, double ts, uint32_t freq) {
     std::fill(colors.begin(), colors.end(), QColor(0, 0, 0, 0));
     std::fill(last_change_t.begin(), last_change_t.end(), ts);
   } else {
+    int factor = settings.theme == DARK_THEME ? 135 : 0;
+    QColor cyan = QColor(0, 187, 255, start_alpha).lighter(factor);
+    QColor red = QColor(255, 0, 0, start_alpha).lighter(factor);
+    QColor greyish_blue = QColor(102, 86, 169, start_alpha / 2).lighter(factor);
+
     for (int i = 0; i < dat.size(); ++i) {
       const uint8_t last = prev_dat[i];
       const uint8_t cur = dat[i];
@@ -30,14 +34,10 @@ void ChangeTracker::compute(const QByteArray &dat, double ts, uint32_t freq) {
         double delta_t = ts - last_change_t[i];
         if (delta_t * freq > periodic_threshold) {
           // Last change was while ago, choose color based on delta up or down
-          if (cur > last) {
-            colors[i] = QColor(0, 187, 255, start_alpha);  // Cyan
-          } else {
-            colors[i] = QColor(255, 0, 0, start_alpha);  // Red
-          }
+          colors[i] = (cur > last) ? cyan : red;
         } else {
           // Periodic changes
-          colors[i] = blend(colors[i], QColor(102, 86, 169, start_alpha / 2));  // Greyish/Blue
+          colors[i] = blend(colors[i], greyish_blue);
         }
 
         // Track bit level changes
@@ -146,7 +146,7 @@ QValidator::State NameValidator::validate(QString &input, int &pos) const {
 
 namespace utils {
 QPixmap icon(const QString &id) {
-  bool dark_theme = settings.theme == 2;
+  bool dark_theme = settings.theme == DARK_THEME;
   QPixmap pm;
   QString key = "bootstrap_" % id % (dark_theme ? "1" : "0");
   if (!QPixmapCache::find(key, &pm)) {
@@ -154,7 +154,7 @@ QPixmap icon(const QString &id) {
     if (dark_theme) {
       QPainter p(&pm);
       p.setCompositionMode(QPainter::CompositionMode_SourceIn);
-      p.fillRect(pm.rect(), Qt::white);
+      p.fillRect(pm.rect(), QColor("#bbbbbb"));
     }
     QPixmapCache::insert(key, pm);
   }
@@ -168,42 +168,39 @@ void setTheme(int theme) {
   static int prev_theme = 0;
   if (theme != prev_theme) {
     prev_theme = theme;
-    if (theme == 2) {
-      // modify palette to dark
-      QPalette darkPalette;
-      darkPalette.setColor(QPalette::Window, QColor(53, 53, 53));
-      darkPalette.setColor(QPalette::WindowText, Qt::white);
-      darkPalette.setColor(QPalette::Base, QColor(25, 25, 25));
-      darkPalette.setColor(QPalette::AlternateBase, QColor(53, 53, 53));
-      darkPalette.setColor(QPalette::ToolTipBase, Qt::white);
-      darkPalette.setColor(QPalette::ToolTipText, QColor(41, 41, 41));
-      darkPalette.setColor(QPalette::Text, Qt::white);
-      darkPalette.setColor(QPalette::Button, QColor(53, 53, 53));
-      darkPalette.setColor(QPalette::ButtonText, Qt::white);
-      darkPalette.setColor(QPalette::BrightText, Qt::red);
-      darkPalette.setColor(QPalette::Link, QColor(42, 130, 218));
-      darkPalette.setColor(QPalette::Highlight, QColor(42, 130, 218));
-      darkPalette.setColor(QPalette::HighlightedText, Qt::black);
-      qApp->setPalette(darkPalette);
+    QPalette new_palette;
+    if (theme == DARK_THEME) {
+      // "Darcula" like dark theme
+      new_palette.setColor(QPalette::Window, QColor("#353535"));
+      new_palette.setColor(QPalette::WindowText, QColor("#bbbbbb"));
+      new_palette.setColor(QPalette::Base, QColor("#3c3f41"));
+      new_palette.setColor(QPalette::AlternateBase, QColor("#3c3f41"));
+      new_palette.setColor(QPalette::ToolTipBase, QColor("#3c3f41"));
+      new_palette.setColor(QPalette::ToolTipText, QColor("#bbb"));
+      new_palette.setColor(QPalette::Text, QColor("#bbbbbb"));
+      new_palette.setColor(QPalette::Button, QColor("#3c3f41"));
+      new_palette.setColor(QPalette::ButtonText, QColor("#bbbbbb"));
+      new_palette.setColor(QPalette::Highlight, QColor("#2f65ca"));
+      new_palette.setColor(QPalette::HighlightedText, QColor("#bbbbbb"));
+      new_palette.setColor(QPalette::BrightText, QColor("#f0f0f0"));
+      new_palette.setColor(QPalette::Disabled, QPalette::ButtonText, QColor("#777777"));
+      new_palette.setColor(QPalette::Disabled, QPalette::WindowText, QColor("#777777"));
+      new_palette.setColor(QPalette::Disabled, QPalette::Text, QColor("#777777"));;
+      new_palette.setColor(QPalette::Light, QColor("#3c3f41"));
+      new_palette.setColor(QPalette::Dark, QColor("#353535"));
     } else {
-      qApp->setPalette(style->standardPalette());
+      new_palette = style->standardPalette();
     }
+    qApp->setPalette(new_palette);
     style->polish(qApp);
+    for (auto w : QApplication::allWidgets()) {
+      w->setPalette(new_palette);
+    }
   }
 }
 
 }  // namespace utils
 
-QToolButton *toolButton(const QString &icon, const QString &tooltip) {
-  auto btn = new QToolButton();
-  btn->setIcon(utils::icon(icon));
-  btn->setToolTip(tooltip);
-  btn->setAutoRaise(true);
-  const int metric = qApp->style()->pixelMetric(QStyle::PM_SmallIconSize);
-  btn->setIconSize({metric, metric});
-  return btn;
-};
-
 QString toHex(uint8_t byte) {
   static std::array<QString, 256> hex = []() {
     std::array<QString, 256> ret;
diff --git a/tools/cabana/util.h b/tools/cabana/util.h
index e0fe4ad036..1f0f54d6b5 100644
--- a/tools/cabana/util.h
+++ b/tools/cabana/util.h
@@ -3,6 +3,7 @@
 #include <array>
 #include <cmath>
 
+#include <QApplication>
 #include <QByteArray>
 #include <QDateTime>
 #include <QColor>
@@ -14,6 +15,7 @@
 #include <QVector>
 
 #include "tools/cabana/dbc/dbc.h"
+#include "tools/cabana/settings.h"
 
 class ChangeTracker {
 public:
@@ -104,5 +106,27 @@ inline QString formatSeconds(int seconds) {
 }
 }
 
-QToolButton *toolButton(const QString &icon, const QString &tooltip);
+class ToolButton : public QToolButton {
+  Q_OBJECT
+public:
+  ToolButton(const QString &icon, const QString &tooltip = {}, QWidget *parent = nullptr) : QToolButton(parent) {
+    setIcon(icon);
+    setToolTip(tooltip);
+    setAutoRaise(true);
+    const int metric = QApplication::style()->pixelMetric(QStyle::PM_SmallIconSize);
+    setIconSize({metric, metric});
+    theme = settings.theme;
+    connect(&settings, &Settings::changed, this, &ToolButton::updateIcon);
+  }
+  void setIcon(const QString &icon) {
+    icon_str = icon;
+    QToolButton::setIcon(utils::icon(icon_str));
+  }
+
+private:
+  void updateIcon() { if (std::exchange(theme, settings.theme) != theme) setIcon(icon_str); }
+  QString icon_str;
+  int theme;
+};
+
 int num_decimals(double num);
diff --git a/tools/cabana/videowidget.cc b/tools/cabana/videowidget.cc
index 42aa7d4f57..54a2dd6f8f 100644
--- a/tools/cabana/videowidget.cc
+++ b/tools/cabana/videowidget.cc
@@ -63,6 +63,7 @@ VideoWidget::VideoWidget(QWidget *parent) : QFrame(parent) {
   QObject::connect(play_btn, &QPushButton::clicked, []() { can->pause(!can->isPaused()); });
   QObject::connect(can, &AbstractStream::paused, this, &VideoWidget::updatePlayBtnState);
   QObject::connect(can, &AbstractStream::resume, this, &VideoWidget::updatePlayBtnState);
+  QObject::connect(&settings, &Settings::changed, this, &VideoWidget::updatePlayBtnState);
   updatePlayBtnState();
 
   setWhatsThis(tr(R"(
@@ -303,7 +304,7 @@ void InfoLabel::showAlert(const AlertInfo &alert) {
 
 void InfoLabel::paintEvent(QPaintEvent *event) {
   QPainter p(this);
-  p.setPen(QPen(Qt::white, 2));
+  p.setPen(QPen(palette().color(QPalette::BrightText), 2));
   if (!pixmap.isNull()) {
     p.drawPixmap(0, 0, pixmap);
     p.drawRect(rect());
@@ -322,9 +323,11 @@ void InfoLabel::paintEvent(QPaintEvent *event) {
       text += "\n" + alert_info.text2;
     }
 
-    QFont font;
-    font.setPixelSize(!pixmap.isNull() ? 11 : QFont().pixelSize());
-    p.setFont(font);
+    if (!pixmap.isNull()) {
+      QFont font;
+      font.setPixelSize(11);
+      p.setFont(font);
+    }
     QRect text_rect = rect().adjusted(2, 2, -2, -2);
     QRect r = p.fontMetrics().boundingRect(text_rect, Qt::AlignTop | Qt::AlignHCenter | Qt::TextWordWrap, text);
     p.fillRect(text_rect.left(), r.top(), text_rect.width(), r.height(), color);

From 7fff874755bb0abddb8e0b1dd667bd3a7cf272f5 Mon Sep 17 00:00:00 2001
From: Dean Lee <deanlee3@gmail.com>
Date: Tue, 11 Apr 2023 08:33:27 +0800
Subject: [PATCH 68/88] cabana: fix thumbnail position issue  (#27852)

* fix thumbnail position issue on WSL

* continue

* remove Qt::tool

* set parent
---
 tools/cabana/videowidget.cc | 27 +++++++++++++++++++--------
 tools/cabana/videowidget.h  |  2 +-
 2 files changed, 20 insertions(+), 9 deletions(-)

diff --git a/tools/cabana/videowidget.cc b/tools/cabana/videowidget.cc
index 54a2dd6f8f..99992907c5 100644
--- a/tools/cabana/videowidget.cc
+++ b/tools/cabana/videowidget.cc
@@ -153,7 +153,7 @@ void VideoWidget::updatePlayBtnState() {
 }
 
 // Slider
-Slider::Slider(QWidget *parent) : timer(this), thumbnail_label(this), QSlider(Qt::Horizontal, parent) {
+Slider::Slider(QWidget *parent) : timer(this), thumbnail_label(parent), QSlider(Qt::Horizontal, parent) {
   timer.callOnTimeout([this]() {
     timeline = can->getTimeline();
     std::sort(timeline.begin(), timeline.end(), sortTimelineBasedOnEventPriority);
@@ -265,19 +265,29 @@ void Slider::mouseMoveEvent(QMouseEvent *e) {
     }
   }
   int x = std::clamp(e->pos().x() - thumb.width() / 2, THUMBNAIL_MARGIN, rect().right() - thumb.width() - THUMBNAIL_MARGIN);
-  int y = -thumb.height() - THUMBNAIL_MARGIN - style()->pixelMetric(QStyle::PM_LayoutVerticalSpacing);
-  thumbnail_label.showPixmap(mapToGlobal({x, y}), utils::formatSeconds(seconds), thumb, alert);
+  int y = -thumb.height();
+  thumbnail_label.showPixmap(mapToParent({x, y}), utils::formatSeconds(seconds), thumb, alert);
   QSlider::mouseMoveEvent(e);
 }
 
-void Slider::leaveEvent(QEvent *event) {
-  thumbnail_label.hide();
-  QSlider::leaveEvent(event);
+bool Slider::event(QEvent *event) {
+  switch (event->type()) {
+    case QEvent::WindowActivate:
+    case QEvent::WindowDeactivate:
+    case QEvent::FocusIn:
+    case QEvent::FocusOut:
+    case QEvent::Leave:
+      thumbnail_label.hide();
+      break;
+    default:
+      break;
+  }
+  return QSlider::event(event);
 }
 
 // InfoLabel
 
-InfoLabel::InfoLabel(QWidget *parent) : QWidget(parent, Qt::Tool | Qt::FramelessWindowHint) {
+InfoLabel::InfoLabel(QWidget *parent) : QWidget(parent, Qt::WindowStaysOnTopHint) {
   setAttribute(Qt::WA_ShowWithoutActivating);
   setVisible(false);
 }
@@ -288,7 +298,8 @@ void InfoLabel::showPixmap(const QPoint &pt, const QString &sec, const QPixmap &
   alert_info = alert;
   setVisible(!pm.isNull());
   if (isVisible()) {
-    setGeometry({pt, pm.size()});
+    resize(pm.size());
+    move(pt);
     update();
   }
 }
diff --git a/tools/cabana/videowidget.h b/tools/cabana/videowidget.h
index 3e2cbc8e50..960053f9a3 100644
--- a/tools/cabana/videowidget.h
+++ b/tools/cabana/videowidget.h
@@ -40,7 +40,7 @@ public:
 private:
   void mousePressEvent(QMouseEvent *e) override;
   void mouseMoveEvent(QMouseEvent *e) override;
-  void leaveEvent(QEvent *event) override;
+  bool event(QEvent *event) override;
   void sliderChange(QAbstractSlider::SliderChange change) override;
   void paintEvent(QPaintEvent *ev) override;
   void streamStarted();

From 50d382884da193b7a0cd5fbc1ea6e42cca6b04a1 Mon Sep 17 00:00:00 2001
From: Shane Smiskol <shane@smiskol.com>
Date: Mon, 10 Apr 2023 18:56:49 -0700
Subject: [PATCH 69/88] test_car_model: allow route or segment name (#27866)

* allow route or segment name

* fix

* fixes

* fixes
---
 selfdrive/debug/test_car_model.py | 8 +++++---
 1 file changed, 5 insertions(+), 3 deletions(-)

diff --git a/selfdrive/debug/test_car_model.py b/selfdrive/debug/test_car_model.py
index 4de5b26762..c2f51c9355 100755
--- a/selfdrive/debug/test_car_model.py
+++ b/selfdrive/debug/test_car_model.py
@@ -6,6 +6,7 @@ import unittest
 
 from selfdrive.car.tests.routes import CarTestRoute
 from selfdrive.car.tests.test_models import TestCarModel
+from tools.lib.route import SegmentName
 
 
 def create_test_models_suite(routes: List[Tuple[str, CarTestRoute]], ci=False) -> unittest.TestSuite:
@@ -21,16 +22,17 @@ def create_test_models_suite(routes: List[Tuple[str, CarTestRoute]], ci=False) -
 if __name__ == "__main__":
   parser = argparse.ArgumentParser(description="Test any route against common issues with a new car port. " +
                                                "Uses selfdrive/car/tests/test_models.py")
-  parser.add_argument("route", help="Specify route to run tests on")
+  parser.add_argument("route_or_segment_name", help="Specify route to run tests on")
   parser.add_argument("--car", help="Specify car model for test route")
-  parser.add_argument("--segment", type=int, nargs="?", help="Specify segment of route to test")
   parser.add_argument("--ci", action="store_true", help="Attempt to get logs using openpilotci, need to specify car")
   args = parser.parse_args()
   if len(sys.argv) == 1:
     parser.print_help()
     sys.exit()
 
-  test_route = CarTestRoute(args.route, args.car, segment=args.segment)
+  route_or_segment_name = SegmentName(args.route_or_segment_name.strip(), allow_route_name=True)
+  segment_num = route_or_segment_name.segment_num if route_or_segment_name.segment_num != -1 else None
+  test_route = CarTestRoute(route_or_segment_name.route_name.canonical_name, args.car, segment=segment_num)
   test_suite = create_test_models_suite([(args.car, test_route)], ci=args.ci)
 
   unittest.TextTestRunner().run(test_suite)

From c63aa939092455673358d196d0d5768b862f123a Mon Sep 17 00:00:00 2001
From: Saber422 <81108166+Saber422@users.noreply.github.com>
Date: Tue, 11 Apr 2023 09:59:05 +0800
Subject: [PATCH 70/88] VW MQB: add missing 2019 Polo MK6 FW (#27822)
MIME-Version: 1.0
Content-Type: text/plain; charset=UTF-8
Content-Transfer-Encoding: 8bit

Route No1 ：0bbe367c98fa1538|2023-04-06--13-28-30--0
Route No2 ：0bbe367c98fa1538|2023-04-06--13-35-01--0

Co-authored-by: Shane Smiskol <shane@smiskol.com>
---
 selfdrive/car/volkswagen/values.py | 2 ++
 1 file changed, 2 insertions(+)

diff --git a/selfdrive/car/volkswagen/values.py b/selfdrive/car/volkswagen/values.py
index 5b547fb614..ebd5bbf45a 100755
--- a/selfdrive/car/volkswagen/values.py
+++ b/selfdrive/car/volkswagen/values.py
@@ -672,9 +672,11 @@ FW_VERSIONS = {
       b'\xf1\x8704C906025H \xf1\x895177',
     ],
     (Ecu.transmission, 0x7e1, None): [
+      b'\xf1\x870CW300042D \xf1\x891612',
       b'\xf1\x870CW300050D \xf1\x891908',
     ],
     (Ecu.srs, 0x715, None): [
+      b'\xf1\x872Q0959655AG\xf1\x890248\xf1\x82\x1218130411110411--04040404231811152H14',
       b'\xf1\x872Q0959655AJ\xf1\x890250\xf1\x82\x1248130411110416--04040404784811152H14',
     ],
     (Ecu.eps, 0x712, None): [

From abeea66f83154d1697a1c657f6e29e399a732a94 Mon Sep 17 00:00:00 2001
From: mdweinstein <mweinstein@gmail.com>
Date: Mon, 10 Apr 2023 21:06:55 -0500
Subject: [PATCH 71/88] LEXUS_RX_TSS2 update for Ecu.Engine values (#27843)

Update values.py
---
 selfdrive/car/toyota/values.py | 1 +
 1 file changed, 1 insertion(+)

diff --git a/selfdrive/car/toyota/values.py b/selfdrive/car/toyota/values.py
index 795b4cdde3..3c9fd1931c 100644
--- a/selfdrive/car/toyota/values.py
+++ b/selfdrive/car/toyota/values.py
@@ -1995,6 +1995,7 @@ FW_VERSIONS = {
       b'\x01896634D12100\x00\x00\x00\x00',
       b'\x01896634D43000\x00\x00\x00\x00',
       b'\x01896634D44000\x00\x00\x00\x00',
+      b'\x018966348X0000\x00\x00\x00\x00',
     ],
     (Ecu.abs, 0x7b0, None): [
       b'\x01F15260E031\x00\x00\x00\x00\x00\x00',

From deeb7cff9fcdd9d8e2f282db56b3bb16b3c49550 Mon Sep 17 00:00:00 2001
From: Dean Lee <deanlee3@gmail.com>
Date: Tue, 11 Apr 2023 10:07:05 +0800
Subject: [PATCH 72/88] cabana: fix valgrind warnings related to uninitialized
 values (#27851)

fix valgrind warnings related to uninitialized values
---
 tools/cabana/dbc/dbc.h | 4 ++--
 1 file changed, 2 insertions(+), 2 deletions(-)

diff --git a/tools/cabana/dbc/dbc.h b/tools/cabana/dbc/dbc.h
index 701908112f..8b1e5a16e9 100644
--- a/tools/cabana/dbc/dbc.h
+++ b/tools/cabana/dbc/dbc.h
@@ -11,8 +11,8 @@
 const QString UNTITLED = "untitled";
 
 struct MessageId {
-  uint8_t source;
-  uint32_t address;
+  uint8_t source = 0;
+  uint32_t address = 0;
 
   QString toString() const {
     return QString("%1:%2").arg(source).arg(address, 1, 16);

From 18f49b454119edb23a230a424dfd8db435d9dcb8 Mon Sep 17 00:00:00 2001
From: Saber422 <81108166+Saber422@users.noreply.github.com>
Date: Tue, 11 Apr 2023 10:10:36 +0800
Subject: [PATCH 73/88] MAZDA: add missing 2018 Mazda6 wagon FW (#27863)
MIME-Version: 1.0
Content-Type: text/plain; charset=UTF-8
Content-Transfer-Encoding: 8bit

route name：79e2c7ffb9ae445d|2023-04-10--21-58-55--0
---
 selfdrive/car/mazda/values.py | 5 +++++
 1 file changed, 5 insertions(+)

diff --git a/selfdrive/car/mazda/values.py b/selfdrive/car/mazda/values.py
index 598b598a16..4e235fba72 100644
--- a/selfdrive/car/mazda/values.py
+++ b/selfdrive/car/mazda/values.py
@@ -258,9 +258,11 @@ FW_VERSIONS = {
   CAR.MAZDA6: {
     (Ecu.eps, 0x730, None): [
       b'GBEF-3210X-B-00\x00\x00\x00\x00\x00\x00\x00\x00\x00',
+      b'GBEF-3210X-C-00\x00\x00\x00\x00\x00\x00\x00\x00\x00',
       b'GFBC-3210X-A-00\000\000\000\000\000\000\000\000\000',
     ],
     (Ecu.engine, 0x7e0, None): [
+      b'PA34-188K2-A\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00',
       b'PX4F-188K2-D\000\000\000\000\000\000\000\000\000\000\000\000',
       b'PYH7-188K2-C\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00',
     ],
@@ -270,13 +272,16 @@ FW_VERSIONS = {
     ],
     (Ecu.abs, 0x760, None): [
       b'GBVH-437K2-B\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00',
+      b'GBVH-437K2-C\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00',
       b'GDDM-437K2-A\000\000\000\000\000\000\000\000\000\000\000\000',
     ],
     (Ecu.fwdCamera, 0x706, None): [
       b'B61L-67XK2-S\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00',
+      b'B61L-67XK2-T\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00',
       b'GSH7-67XK2-P\000\000\000\000\000\000\000\000\000\000\000\000',
     ],
     (Ecu.transmission, 0x7e1, None): [
+      b'PA28-21PS1-A\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00',
       b'PYH3-21PS1-D\000\000\000\000\000\000\000\000\000\000\000\000',
       b'PYH7-21PS1-B\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00',
     ],

From cd3a72e8f3039eb6780d2ba6812b82fdfde51793 Mon Sep 17 00:00:00 2001
From: martinl <martin@mlp.ee>
Date: Tue, 11 Apr 2023 06:03:21 +0300
Subject: [PATCH 74/88] Add FPv2: Subaru Forester 2020 (#27854)

* Add FPv2: Subaru Forester 2020

* missing FW

---------

Co-authored-by: Shane Smiskol <shane@smiskol.com>
---
 selfdrive/car/subaru/values.py | 4 ++++
 1 file changed, 4 insertions(+)

diff --git a/selfdrive/car/subaru/values.py b/selfdrive/car/subaru/values.py
index 16735acab0..f77de3b34b 100644
--- a/selfdrive/car/subaru/values.py
+++ b/selfdrive/car/subaru/values.py
@@ -276,6 +276,7 @@ FW_VERSIONS = {
       b'\xa3  \x14\x01',
       b'\xf1\x00\xbb\r\x05',
       b'\xa3 \x18&\x00',
+      b'\xa3 \x19&\x00',
     ],
     (Ecu.eps, 0x746, None): [
       b'\x8d\xc0\x04\x00',
@@ -288,6 +289,8 @@ FW_VERSIONS = {
       b'\xf1\x00\xac\x02\x00',
       b'\x00\x00e!\x00\x00\x00\x00',
       b'\x00\x00e\x97\x00\x00\x00\x00',
+      b'\x00\x00e^\x1f@ !',
+      b'\x00\x00e^\x00\x00\x00\x00',
     ],
     (Ecu.engine, 0x7e0, None): [
       b'\xb6"`A\x07',
@@ -305,6 +308,7 @@ FW_VERSIONS = {
       b'\x1a\xf6B`\x00',
       b'\x1a\xf6b0\x00',
       b'\x1a\xe6B1\x00',
+      b'\x1a\xe6F1\x00',
     ],
   },
   CAR.FORESTER_PREGLOBAL: {

From aefd84a3ee1e287220c2a29c51d4135e8edb8b24 Mon Sep 17 00:00:00 2001
From: kyoma22 <127007252+kyoma22@users.noreply.github.com>
Date: Tue, 11 Apr 2023 12:16:04 +0900
Subject: [PATCH 75/88] Toyota: missing Corolla Cross Hybrid FW (#27783)

Update values.py

add corolla cross HV

Co-authored-by: Shane Smiskol <shane@smiskol.com>
---
 selfdrive/car/toyota/values.py | 3 +++
 1 file changed, 3 insertions(+)

diff --git a/selfdrive/car/toyota/values.py b/selfdrive/car/toyota/values.py
index 3c9fd1931c..60450b9fe5 100644
--- a/selfdrive/car/toyota/values.py
+++ b/selfdrive/car/toyota/values.py
@@ -919,6 +919,7 @@ FW_VERSIONS = {
       b'\x028966312K6000\x00\x00\x00\x008966A4703000\x00\x00\x00\x00',
       b'\x028966312L0000\x00\x00\x00\x008966A4703000\x00\x00\x00\x00',
       b'\x028966312Q3000\x00\x00\x00\x008966A4703000\x00\x00\x00\x00',
+      b'\x028966312Q3100\x00\x00\x00\x008966A4703000\x00\x00\x00\x00',
       b'\x028966312Q4000\x00\x00\x00\x008966A4703000\x00\x00\x00\x00',
       b'\x038966312L7000\x00\x00\x00\x008966A4703000\x00\x00\x00\x00897CF1205001\x00\x00\x00\x00',
       b'\x038966312N1000\x00\x00\x00\x008966A4703000\x00\x00\x00\x00897CF1203001\x00\x00\x00\x00',
@@ -929,6 +930,7 @@ FW_VERSIONS = {
       b'8965B12451\x00\x00\x00\x00\x00\x00',
       b'8965B16011\x00\x00\x00\x00\x00\x00',
       b'8965B16101\x00\x00\x00\x00\x00\x00',
+      b'8965B16170\x00\x00\x00\x00\x00\x00',
       b'8965B76012\x00\x00\x00\x00\x00\x00',
       b'8965B76050\x00\x00\x00\x00\x00\x00',
       b'\x018965B12350\x00\x00\x00\x00\x00\x00',
@@ -956,6 +958,7 @@ FW_VERSIONS = {
       b'F152612D00\x00\x00\x00\x00\x00\x00',
       b'F152616011\x00\x00\x00\x00\x00\x00',
       b'F152616060\x00\x00\x00\x00\x00\x00',
+      b'F152616030\x00\x00\x00\x00\x00\x00',
       b'F152642540\x00\x00\x00\x00\x00\x00',
       b'F152676293\x00\x00\x00\x00\x00\x00',
       b'F152676303\x00\x00\x00\x00\x00\x00',

From c9804f8ec20fd60a42c17d61d07da83406c5ff31 Mon Sep 17 00:00:00 2001
From: Shane Smiskol <shane@smiskol.com>
Date: Mon, 10 Apr 2023 20:46:12 -0700
Subject: [PATCH 76/88] quectel: move vertical accuracy sanity check (#27819)

* Update rawgpsd.py

* remove from locationd

* Update system/sensord/rawgps/rawgpsd.py

* flip
---
 selfdrive/locationd/locationd.cc | 8 +-------
 system/sensord/rawgps/rawgpsd.py | 3 ++-
 2 files changed, 3 insertions(+), 8 deletions(-)

diff --git a/selfdrive/locationd/locationd.cc b/selfdrive/locationd/locationd.cc
index 87c5f644c5..de2373c1da 100755
--- a/selfdrive/locationd/locationd.cc
+++ b/selfdrive/locationd/locationd.cc
@@ -303,13 +303,7 @@ void Localizer::handle_gps(double current_time, const cereal::GpsLocationData::R
   bool gps_lat_lng_alt_insane = ((std::abs(log.getLatitude()) > 90) || (std::abs(log.getLongitude()) > 180) || (std::abs(log.getAltitude()) > ALTITUDE_SANITY_CHECK));
   bool gps_vel_insane = (floatlist2vector(log.getVNED()).norm() > TRANS_SANITY_CHECK);
 
-  // quectel gps verticalAccuracy is clipped to 500
-  bool gps_accuracy_insane_quectel = false;
-  if (!ublox_available) {
-    gps_accuracy_insane_quectel = log.getVerticalAccuracy() == 500;
-  }
-
-  if (gps_invalid_flag || gps_unreasonable || gps_accuracy_insane || gps_lat_lng_alt_insane || gps_vel_insane || gps_accuracy_insane_quectel) {
+  if (gps_invalid_flag || gps_unreasonable || gps_accuracy_insane || gps_lat_lng_alt_insane || gps_vel_insane) {
     //this->gps_valid = false;
     this->determine_gps_mode(current_time);
     return;
diff --git a/system/sensord/rawgps/rawgpsd.py b/system/sensord/rawgps/rawgpsd.py
index f75ceee7ed..8f243af9a5 100755
--- a/system/sensord/rawgps/rawgpsd.py
+++ b/system/sensord/rawgps/rawgpsd.py
@@ -270,7 +270,6 @@ def main() -> NoReturn:
 
       msg = messaging.new_message('gpsLocation')
       gps = msg.gpsLocation
-      gps.flags = 1
       gps.latitude = report["t_DblFinalPosLatLon[0]"] * 180/math.pi
       gps.longitude = report["t_DblFinalPosLatLon[1]"] * 180/math.pi
       gps.altitude = report["q_FltFinalPosAlt"]
@@ -283,6 +282,8 @@ def main() -> NoReturn:
       gps.verticalAccuracy = report["q_FltVdop"]
       gps.bearingAccuracyDeg = report["q_FltHeadingUncRad"] * 180/math.pi
       gps.speedAccuracy = math.sqrt(sum([x**2 for x in vNEDsigma]))
+      # quectel gps verticalAccuracy is clipped to 500, set invalid if so
+      gps.flags = 1 if gps.verticalAccuracy != 500 else 0
 
       pm.send('gpsLocation', msg)
 

From 2b680821a925f0e32aefe270db57bb6084e36906 Mon Sep 17 00:00:00 2001
From: Jason Young <46612682+jyoung8607@users.noreply.github.com>
Date: Tue, 11 Apr 2023 20:33:57 -0400
Subject: [PATCH 77/88] VW MQB: Add FW for 2023 Audi Q3 (#27876)

---
 selfdrive/car/volkswagen/values.py | 5 +++++
 1 file changed, 5 insertions(+)

diff --git a/selfdrive/car/volkswagen/values.py b/selfdrive/car/volkswagen/values.py
index ebd5bbf45a..4f7e7095c5 100755
--- a/selfdrive/car/volkswagen/values.py
+++ b/selfdrive/car/volkswagen/values.py
@@ -951,14 +951,17 @@ FW_VERSIONS = {
       b'\xf1\x8705L906022M \xf1\x890901',
       b'\xf1\x8783A906259  \xf1\x890001',
       b'\xf1\x8783A906259  \xf1\x890005',
+      b'\xf1\x8783A906259F \xf1\x890001',
     ],
     (Ecu.transmission, 0x7e1, None): [
       b'\xf1\x8709G927158CN\xf1\x893608',
+      b'\xf1\x8709G927158GP\xf1\x893937',
       b'\xf1\x870GC300045D \xf1\x892802',
       b'\xf1\x870GC300046F \xf1\x892701',
     ],
     (Ecu.srs, 0x715, None): [
       b'\xf1\x875Q0959655BF\xf1\x890403\xf1\x82\x1321211111211200311121232152219321422111',
+      b'\xf1\x875Q0959655BQ\xf1\x890421\xf1\x82\x132121111121120031112124218C219321532111',
       b'\xf1\x875Q0959655CC\xf1\x890421\xf1\x82\x131111111111120031111224118A119321532111',
       b'\xf1\x875Q0959655CC\xf1\x890421\xf1\x82\x131111111111120031111237116A119321532111',
     ],
@@ -966,8 +969,10 @@ FW_VERSIONS = {
       b'\xf1\x875Q0910143C \xf1\x892211\xf1\x82\x0567G6000300',
       b'\xf1\x875Q0910143C \xf1\x892211\xf1\x82\x0567G6000800',
       b'\xf1\x875QF909144B \xf1\x895582\xf1\x82\x0571G60533A1',
+      b'\xf1\x875TA907145D \xf1\x891051\xf1\x82\x001PG60A1P7N',
     ],
     (Ecu.fwdRadar, 0x757, None): [
+      b'\xf1\x872Q0907572AA\xf1\x890396',
       b'\xf1\x872Q0907572R \xf1\x890372',
       b'\xf1\x872Q0907572T \xf1\x890383',
     ],

From cca654cfa994b4837437c90b9bdc629e05f92457 Mon Sep 17 00:00:00 2001
From: Saber422 <81108166+Saber422@users.noreply.github.com>
Date: Wed, 12 Apr 2023 08:38:13 +0800
Subject: [PATCH 78/88] VW MQB: add missing 2021 TRANSPORTER T6.1 FW (#27875)

* VW MQB: add missing 2021 TRANSPORTER T6.1 FW

route name: f9fa13485e6df75c|2023-04-10--08-21-09--0

* rm octal

---------

Co-authored-by: Shane Smiskol <shane@smiskol.com>
---
 selfdrive/car/volkswagen/values.py | 4 +++-
 1 file changed, 3 insertions(+), 1 deletion(-)

diff --git a/selfdrive/car/volkswagen/values.py b/selfdrive/car/volkswagen/values.py
index 4f7e7095c5..4d8ca5afb7 100755
--- a/selfdrive/car/volkswagen/values.py
+++ b/selfdrive/car/volkswagen/values.py
@@ -816,6 +816,7 @@ FW_VERSIONS = {
   },
   CAR.TRANSPORTER_T61: {
     (Ecu.engine, 0x7e0, None): [
+      b'\xf1\x8704L906056AL\xf1\x899970',
       b'\xf1\x8704L906057AP\xf1\x891186',
       b'\xf1\x8704L906057N \xf1\x890413',
     ],
@@ -824,10 +825,11 @@ FW_VERSIONS = {
       b'\xf1\x870BT300012E \xf1\x893105',
     ],
     (Ecu.srs, 0x715, None): [
-      b'\xf1\x872Q0959655AE\xf1\x890506\xf1\x82\02316170411110411--04041704161611152S1411',
+      b'\xf1\x872Q0959655AE\xf1\x890506\xf1\x82\x1316170411110411--04041704161611152S1411',
       b'\xf1\x872Q0959655AF\xf1\x890506\xf1\x82\x1316171111110411--04041711121211152S1413',
     ],
     (Ecu.eps, 0x712, None): [
+      b'\xf1\x877LA909144G \xf1\x897160\xf1\x82\x05333A5519A2',
       b'\xf1\x877LA909144F \xf1\x897150\xf1\x82\005323A5519A2',
     ],
     (Ecu.fwdRadar, 0x757, None): [

From f15cb01137ca4eb9bad0d134795919739969e04d Mon Sep 17 00:00:00 2001
From: Dean Lee <deanlee3@gmail.com>
Date: Wed, 12 Apr 2023 10:35:11 +0800
Subject: [PATCH 79/88] cabana: speed up parsing can events (#27874)

speed up parsing can events

cleanup include
---
 tools/cabana/historylog.cc             |   6 +-
 tools/cabana/historylog.h              |   2 +-
 tools/cabana/streams/abstractstream.cc | 121 ++++++++++++++++++-------
 tools/cabana/streams/abstractstream.h  |  12 ++-
 tools/cabana/util.cc                   |  60 ------------
 tools/cabana/util.h                    |  17 ----
 6 files changed, 101 insertions(+), 117 deletions(-)

diff --git a/tools/cabana/historylog.cc b/tools/cabana/historylog.cc
index ec64880124..5d09d8a90b 100644
--- a/tools/cabana/historylog.cc
+++ b/tools/cabana/historylog.cc
@@ -39,7 +39,7 @@ void HistoryLogModel::refresh(bool fetch_message) {
   last_fetch_time = 0;
   has_more_data = true;
   messages.clear();
-  hex_colors.clear();
+  hex_colors = {};
   if (fetch_message) {
     updateState();
   }
@@ -146,7 +146,7 @@ std::deque<HistoryLogModel::Message> HistoryLogModel::fetchData(uint64_t from_ti
     auto msgs = fetchData(first, events.rend(), min_time);
     if (update_colors && (min_time > 0 || messages.empty())) {
       for (auto it = msgs.rbegin(); it != msgs.rend(); ++it) {
-        hex_colors.compute(it->data, it->mono_time / (double)1e9, freq);
+        hex_colors.compute(it->data.data(), it->data.size(), it->mono_time / (double)1e9, freq);
         it->colors = hex_colors.colors;
       }
     }
@@ -157,7 +157,7 @@ std::deque<HistoryLogModel::Message> HistoryLogModel::fetchData(uint64_t from_ti
     auto msgs = fetchData(first, events.end(), 0);
     if (update_colors) {
       for (auto it = msgs.begin(); it != msgs.end(); ++it) {
-        hex_colors.compute(it->data, it->mono_time / (double)1e9, freq);
+        hex_colors.compute(it->data.data(), it->data.size(), it->mono_time / (double)1e9, freq);
         it->colors = hex_colors.colors;
       }
     }
diff --git a/tools/cabana/historylog.h b/tools/cabana/historylog.h
index 8b8d1b06d2..1f8c157f21 100644
--- a/tools/cabana/historylog.h
+++ b/tools/cabana/historylog.h
@@ -54,7 +54,7 @@ public:
   std::deque<Message> fetchData(uint64_t from_time, uint64_t min_time = 0);
 
   MessageId msg_id;
-  ChangeTracker hex_colors;
+  CanData hex_colors;
   bool has_more_data = true;
   const int batch_size = 50;
   int filter_sig_idx = -1;
diff --git a/tools/cabana/streams/abstractstream.cc b/tools/cabana/streams/abstractstream.cc
index d60beed0c8..bab8777580 100644
--- a/tools/cabana/streams/abstractstream.cc
+++ b/tools/cabana/streams/abstractstream.cc
@@ -11,8 +11,14 @@ AbstractStream::AbstractStream(QObject *parent, bool is_live_streaming) : is_liv
 }
 
 void AbstractStream::process(QHash<MessageId, CanData> *messages) {
+  auto prev_src_size = sources.size();
   for (auto it = messages->begin(); it != messages->end(); ++it) {
-    last_msgs[it.key()] = it.value();
+    const auto &id = it.key();
+    last_msgs[id] = it.value();
+    sources.insert(id.source);
+  }
+  if (sources.size() != prev_src_size) {
+    emit sourcesUpdated(sources);
   }
   emit updated();
   emit msgsReceived(messages);
@@ -22,34 +28,24 @@ void AbstractStream::process(QHash<MessageId, CanData> *messages) {
 
 bool AbstractStream::updateEvent(const Event *event) {
   static double prev_update_ts = 0;
-
   if (event->which == cereal::Event::Which::CAN) {
     double current_sec = event->mono_time / 1e9 - routeStartTime();
     for (const auto &c : event->event.getCan()) {
       MessageId id = {.source = c.getSrc(), .address = c.getAddress()};
-      CanData &data = (*new_msgs)[id];
-      data.ts = current_sec;
-      data.dat = QByteArray((char *)c.getDat().begin(), c.getDat().size());
-      data.count = ++counters[id];
-      data.freq = data.count / std::max(1.0, current_sec);
-
-      auto &tracker = change_trackers[id];
-      tracker.compute(data.dat, data.ts, data.freq);
-      data.colors = tracker.colors;
-      data.last_change_t = tracker.last_change_t;
-      data.bit_change_counts = tracker.bit_change_counts;
-
-      if (!sources.contains(id.source)) {
-        sources.insert(id.source);
-        emit sourcesUpdated(sources);
+      const auto dat = c.getDat();
+      all_msgs[id].compute((const char *)dat.begin(), dat.size(), current_sec);
+      if (!new_msgs->contains(id)) {
+        new_msgs->insert(id, {});
       }
     }
-
     double ts = millis_since_boot();
+    // delay posting CAN message if UI thread is busy
     if ((ts - prev_update_ts) > (1000.0 / settings.fps) && !processing && !new_msgs->isEmpty()) {
-      // delay posting CAN message if UI thread is busy
       processing = true;
       prev_update_ts = ts;
+      for (auto it = new_msgs->begin(); it != new_msgs->end(); ++it) {
+        it.value() = all_msgs[it.key()];
+      }
       // use pointer to avoid data copy in queued connection.
       emit received(new_msgs.release());
       new_msgs.reset(new QHash<MessageId, CanData>);
@@ -69,25 +65,22 @@ const CanData &AbstractStream::lastMessage(const MessageId &id) {
 // updateEvent will not be called before replayStream::seekedTo return.
 void AbstractStream::updateLastMsgsTo(double sec) {
   new_msgs->clear();
-  change_trackers.clear();
+  all_msgs.clear();
   last_msgs.clear();
-  counters.clear();
 
   CanEvent last_event = {.mono_time = uint64_t((sec + routeStartTime()) * 1e9)};
   for (auto &[id, e] : events_) {
     auto it = std::lower_bound(e.crbegin(), e.crend(), last_event, std::greater<CanEvent>());
     if (it != e.crend()) {
-      auto &m = last_msgs[id];
-      m.dat = QByteArray((const char *)it->dat, it->size);
-      m.ts = it->mono_time / 1e9 - routeStartTime();
+      double ts = it->mono_time / 1e9 - routeStartTime();
+      auto &m = all_msgs[id];
+      m.compute((const char *)it->dat, it->size, ts);
       m.count = std::distance(it, e.crend());
-      m.freq = m.count / std::max(1.0, m.ts);
-      m.last_change_t = QVector<double>(m.dat.size(), m.ts);
-      m.colors = QVector<QColor>(m.dat.size(), QColor(0, 0, 0, 0));
-      m.bit_change_counts = QVector<std::array<uint32_t, 8>>(m.dat.size());
-      counters[id] = m.count;
+      m.freq = m.count / std::max(1.0, ts);
     }
   }
+  last_msgs = all_msgs;
+  // use a timer to prevent recursive calls
   QTimer::singleShot(0, [this]() {
     emit updated();
     emit msgsReceived(&last_msgs);
@@ -96,18 +89,20 @@ void AbstractStream::updateLastMsgsTo(double sec) {
 
 void AbstractStream::parseEvents(std::unordered_map<MessageId, std::deque<CanEvent>> &msgs,
                                  std::vector<Event *>::const_iterator first, std::vector<Event *>::const_iterator last) {
+  uint64_t ts = 0;
   for (; first != last; ++first) {
     if ((*first)->which == cereal::Event::Which::CAN) {
+      ts = (*first)->mono_time;
       for (const auto &c : (*first)->event.getCan()) {
         auto dat = c.getDat();
         auto &m = msgs[{.source = c.getSrc(), .address = c.getAddress()}].emplace_back();
         m.size = std::min(dat.size(), std::size(m.dat));
         memcpy(m.dat, (uint8_t *)dat.begin(), m.size);
-        m.mono_time = (*first)->mono_time;
+        m.mono_time = ts;
       }
-      last_event_ts = std::max(last_event_ts, (*first)->mono_time);
     }
   }
+  last_event_ts = std::max(last_event_ts, ts);
 }
 
 void AbstractStream::mergeEvents(std::vector<Event *>::const_iterator first, std::vector<Event *>::const_iterator last, bool append) {
@@ -126,3 +121,67 @@ void AbstractStream::mergeEvents(std::vector<Event *>::const_iterator first, std
   }
   emit eventsMerged();
 }
+
+// CanData
+
+constexpr int periodic_threshold = 10;
+constexpr int start_alpha = 128;
+constexpr float fade_time = 2.0;
+const QColor CYAN = QColor(0, 187, 255, start_alpha);
+const QColor RED = QColor(255, 0, 0, start_alpha);
+const QColor GREYISH_BLUE = QColor(102, 86, 169, start_alpha / 2);
+const QColor CYAN_LIGHTER = QColor(0, 187, 255, start_alpha).lighter(135);
+const QColor RED_LIGHTER = QColor(255, 0, 0, start_alpha).lighter(135);
+const QColor GREYISH_BLUE_LIGHTER = QColor(102, 86, 169, start_alpha / 2).lighter(135);
+
+static inline QColor blend(const QColor &a, const QColor &b) {
+  return QColor((a.red() + b.red()) / 2, (a.green() + b.green()) / 2, (a.blue() + b.blue()) / 2, (a.alpha() + b.alpha()) / 2);
+}
+
+void CanData::compute(const char *can_data, const int size, double current_sec, uint32_t in_freq) {
+  ts = current_sec;
+  ++count;
+  freq = in_freq == 0 ? count / std::max(1.0, current_sec) : in_freq;
+  if (dat.size() != size) {
+    dat.resize(size);
+    bit_change_counts.resize(size);
+    colors = QVector(size, QColor(0, 0, 0, 0));
+    last_change_t = QVector(size, ts);
+  } else {
+    bool lighter = settings.theme == DARK_THEME;
+    const QColor &cyan = !lighter ? CYAN : CYAN_LIGHTER;
+    const QColor &red = !lighter ? RED : RED_LIGHTER;
+    const QColor &greyish_blue = !lighter ? GREYISH_BLUE : GREYISH_BLUE_LIGHTER;
+
+    for (int i = 0; i < size; ++i) {
+      const uint8_t last = dat[i];
+      const uint8_t cur = can_data[i];
+
+      if (last != cur) {
+        double delta_t = ts - last_change_t[i];
+        if (delta_t * freq > periodic_threshold) {
+          // Last change was while ago, choose color based on delta up or down
+          colors[i] = (cur > last) ? cyan : red;
+        } else {
+          // Periodic changes
+          colors[i] = blend(colors[i], greyish_blue);
+        }
+
+        // Track bit level changes
+        const uint8_t tmp = (cur ^ last);
+        for (int bit = 0; bit < 8; bit++) {
+          if (tmp & (1 << bit)) {
+            bit_change_counts[i][bit] += 1;
+          }
+        }
+
+        last_change_t[i] = ts;
+      } else {
+        // Fade out
+        float alpha_delta = 1.0 / (freq + 1) / fade_time;
+        colors[i].setAlphaF(std::max(0.0, colors[i].alphaF() - alpha_delta));
+      }
+    }
+  }
+  memcpy(dat.data(), can_data, size);
+}
diff --git a/tools/cabana/streams/abstractstream.h b/tools/cabana/streams/abstractstream.h
index 0515f7c7e8..caa17ab177 100644
--- a/tools/cabana/streams/abstractstream.h
+++ b/tools/cabana/streams/abstractstream.h
@@ -1,5 +1,6 @@
 #pragma once
 
+#include <array>
 #include <atomic>
 #include <deque>
 #include <unordered_map>
@@ -12,6 +13,8 @@
 #include "tools/replay/replay.h"
 
 struct CanData {
+  void compute(const char *dat, const int size, double current_sec, uint32_t in_freq = 0);
+
   double ts = 0.;
   uint32_t count = 0;
   uint32_t freq = 0;
@@ -22,9 +25,9 @@ struct CanData {
 };
 
 struct CanEvent {
-  uint64_t mono_time;
-  uint8_t size;
-  uint8_t dat[64];
+  uint64_t mono_time = 0;
+  uint8_t size = 0;
+  uint8_t dat[64] = {};
   inline bool operator<(const CanEvent &r) const { return mono_time < r.mono_time; }
   inline bool operator>(const CanEvent &r) const { return mono_time > r.mono_time; }
 };
@@ -78,9 +81,8 @@ protected:
 
   bool is_live_streaming = false;
   std::atomic<bool> processing = false;
-  QHash<MessageId, uint32_t> counters;
   std::unique_ptr<QHash<MessageId, CanData>> new_msgs;
-  QHash<MessageId, ChangeTracker> change_trackers;
+  QHash<MessageId, CanData> all_msgs;
   std::unordered_map<MessageId, std::deque<CanEvent>> events_;
   uint64_t last_event_ts = 0;
 };
diff --git a/tools/cabana/util.cc b/tools/cabana/util.cc
index 8d22d93f9a..58c1deb349 100644
--- a/tools/cabana/util.cc
+++ b/tools/cabana/util.cc
@@ -1,71 +1,11 @@
 #include "tools/cabana/util.h"
 
-#include <QApplication>
 #include <QFontDatabase>
 #include <QPainter>
 #include <QPixmapCache>
-#include <cmath>
-#include <limits>
 
 #include "selfdrive/ui/qt/util.h"
 
-static inline QColor blend(const QColor &a, const QColor &b) {
-  return QColor((a.red() + b.red()) / 2, (a.green() + b.green()) / 2, (a.blue() + b.blue()) / 2, (a.alpha() + b.alpha()) / 2);
-}
-
-void ChangeTracker::compute(const QByteArray &dat, double ts, uint32_t freq) {
-  if (prev_dat.size() != dat.size()) {
-    colors.resize(dat.size());
-    last_change_t.resize(dat.size());
-    bit_change_counts.resize(dat.size());
-    std::fill(colors.begin(), colors.end(), QColor(0, 0, 0, 0));
-    std::fill(last_change_t.begin(), last_change_t.end(), ts);
-  } else {
-    int factor = settings.theme == DARK_THEME ? 135 : 0;
-    QColor cyan = QColor(0, 187, 255, start_alpha).lighter(factor);
-    QColor red = QColor(255, 0, 0, start_alpha).lighter(factor);
-    QColor greyish_blue = QColor(102, 86, 169, start_alpha / 2).lighter(factor);
-
-    for (int i = 0; i < dat.size(); ++i) {
-      const uint8_t last = prev_dat[i];
-      const uint8_t cur = dat[i];
-
-      if (last != cur) {
-        double delta_t = ts - last_change_t[i];
-        if (delta_t * freq > periodic_threshold) {
-          // Last change was while ago, choose color based on delta up or down
-          colors[i] = (cur > last) ? cyan : red;
-        } else {
-          // Periodic changes
-          colors[i] = blend(colors[i], greyish_blue);
-        }
-
-        // Track bit level changes
-        for (int bit = 0; bit < 8; bit++) {
-          if ((cur ^ last) & (1 << bit)) {
-            bit_change_counts[i][bit] += 1;
-          }
-        }
-
-        last_change_t[i] = ts;
-      } else {
-        // Fade out
-        float alpha_delta = 1.0 / (freq + 1) / fade_time;
-        colors[i].setAlphaF(std::max(0.0, colors[i].alphaF() - alpha_delta));
-      }
-    }
-  }
-
-  prev_dat = dat;
-}
-
-void ChangeTracker::clear() {
-  prev_dat.clear();
-  last_change_t.clear();
-  bit_change_counts.clear();
-  colors.clear();
-}
-
 // SegmentTree
 
 void SegmentTree::build(const QVector<QPointF> &arr) {
diff --git a/tools/cabana/util.h b/tools/cabana/util.h
index 1f0f54d6b5..3b3a10ea17 100644
--- a/tools/cabana/util.h
+++ b/tools/cabana/util.h
@@ -1,6 +1,5 @@
 #pragma once
 
-#include <array>
 #include <cmath>
 
 #include <QApplication>
@@ -17,22 +16,6 @@
 #include "tools/cabana/dbc/dbc.h"
 #include "tools/cabana/settings.h"
 
-class ChangeTracker {
-public:
-  void compute(const QByteArray &dat, double ts, uint32_t freq);
-  void clear();
-
-  QVector<double> last_change_t;
-  QVector<QColor> colors;
-  QVector<std::array<uint32_t, 8>> bit_change_counts;
-
-private:
-  const int periodic_threshold = 10;
-  const int start_alpha = 128;
-  const float fade_time = 2.0;
-  QByteArray prev_dat;
-};
-
 class LogSlider : public QSlider {
   Q_OBJECT
 

From 02798513afa14abad1bc9b461859b8ada634ab50 Mon Sep 17 00:00:00 2001
From: Shane Smiskol <shane@smiskol.com>
Date: Tue, 11 Apr 2023 20:59:03 -0700
Subject: [PATCH 80/88] IsoTpParallelQuery: log response pending (#27881)

we really should log this
---
 selfdrive/car/isotp_parallel_query.py | 3 +--
 1 file changed, 1 insertion(+), 2 deletions(-)

diff --git a/selfdrive/car/isotp_parallel_query.py b/selfdrive/car/isotp_parallel_query.py
index 1b115c665d..2e8a210c64 100644
--- a/selfdrive/car/isotp_parallel_query.py
+++ b/selfdrive/car/isotp_parallel_query.py
@@ -134,8 +134,7 @@ class IsoTpParallelQuery:
           error_code = dat[2] if len(dat) > 2 else -1
           if error_code == 0x78:
             response_timeouts[tx_addr] = time.monotonic() + self.response_pending_timeout
-            if self.debug:
-              cloudlog.warning(f"iso-tp query response pending: {tx_addr}")
+            cloudlog.error(f"iso-tp query response pending: {tx_addr}")
           else:
             response_timeouts[tx_addr] = 0
             request_done[tx_addr] = True

From 74f709a59fbd2e564db19eba7ab0717149c2875c Mon Sep 17 00:00:00 2001
From: Shane Smiskol <shane@smiskol.com>
Date: Tue, 11 Apr 2023 21:05:07 -0700
Subject: [PATCH 81/88] IsoTpParallelQuery: break earlier and add comment
 (#27883)

* better ordering and comments

* one comment one dream
---
 selfdrive/car/isotp_parallel_query.py | 7 ++++---
 1 file changed, 4 insertions(+), 3 deletions(-)

diff --git a/selfdrive/car/isotp_parallel_query.py b/selfdrive/car/isotp_parallel_query.py
index 2e8a210c64..84ddde360d 100644
--- a/selfdrive/car/isotp_parallel_query.py
+++ b/selfdrive/car/isotp_parallel_query.py
@@ -100,9 +100,6 @@ class IsoTpParallelQuery:
     while True:
       self.rx()
 
-      if all(request_done.values()):
-        break
-
       for tx_addr, msg in msgs.items():
         try:
           dat, rx_in_progress = msg.recv()
@@ -140,6 +137,10 @@ class IsoTpParallelQuery:
             request_done[tx_addr] = True
             cloudlog.error(f"iso-tp query bad response: {tx_addr} - 0x{dat.hex()}")
 
+      # Break if all requests are done, we've timed out on all requests, or we've hit a max total timeout
+      if all(request_done.values()):
+        break
+
       cur_time = time.monotonic()
       if cur_time - max(response_timeouts.values()) > 0:
         for tx_addr in msgs:

From f5519fdca8a5008e7ddcbc32d003bcf91db31bd2 Mon Sep 17 00:00:00 2001
From: Shane Smiskol <shane@smiskol.com>
Date: Tue, 11 Apr 2023 22:05:00 -0700
Subject: [PATCH 82/88] IsoTpParallelQuery: set timed out requests done
 (#27764)

* better ordering and comments

* remove

* mark done if timed out

* response_timeouts should be only for extending timeouts, not marking done

* so the print still works

* more clear comment

* that can be removed
---
 selfdrive/car/isotp_parallel_query.py | 14 +++++++-------
 1 file changed, 7 insertions(+), 7 deletions(-)

diff --git a/selfdrive/car/isotp_parallel_query.py b/selfdrive/car/isotp_parallel_query.py
index 84ddde360d..965d2e1836 100644
--- a/selfdrive/car/isotp_parallel_query.py
+++ b/selfdrive/car/isotp_parallel_query.py
@@ -133,19 +133,19 @@ class IsoTpParallelQuery:
             response_timeouts[tx_addr] = time.monotonic() + self.response_pending_timeout
             cloudlog.error(f"iso-tp query response pending: {tx_addr}")
           else:
-            response_timeouts[tx_addr] = 0
             request_done[tx_addr] = True
             cloudlog.error(f"iso-tp query bad response: {tx_addr} - 0x{dat.hex()}")
 
-      # Break if all requests are done, we've timed out on all requests, or we've hit a max total timeout
-      if all(request_done.values()):
-        break
-
+      # Mark request done if address timed out
       cur_time = time.monotonic()
-      if cur_time - max(response_timeouts.values()) > 0:
-        for tx_addr in msgs:
+      for tx_addr in response_timeouts:
+        if cur_time - response_timeouts[tx_addr] > 0:
           if request_counter[tx_addr] > 0 and not request_done[tx_addr]:
             cloudlog.error(f"iso-tp query timeout after receiving response: {tx_addr}")
+          request_done[tx_addr] = True
+
+      # Break if all requests are done (finished or timed out)
+      if all(request_done.values()):
         break
 
       if cur_time - start_time > total_timeout:

From 57bf782872461a3328bbd9121c7bbd207abec2e5 Mon Sep 17 00:00:00 2001
From: Dean Lee <deanlee3@gmail.com>
Date: Wed, 12 Apr 2023 13:30:15 +0800
Subject: [PATCH 83/88] cabana: split chart to multiple files (#27871)

* git mv

* split file

* fix includes

* split tiplabel out
---
 tools/cabana/SConscript                       |   3 +-
 .../{chartswidget.cc => chart/chart.cc}       | 663 +-----------------
 tools/cabana/chart/chart.h                    | 106 +++
 tools/cabana/chart/chartswidget.cc            | 497 +++++++++++++
 tools/cabana/chart/chartswidget.h             | 125 ++++
 tools/cabana/chart/signalselector.cc          | 108 +++
 tools/cabana/chart/signalselector.h           |  30 +
 tools/cabana/chart/tiplabel.cc                |  46 ++
 tools/cabana/chart/tiplabel.h                 |  10 +
 tools/cabana/chartswidget.h                   | 249 -------
 tools/cabana/detailwidget.h                   |   2 +-
 tools/cabana/mainwin.h                        |   2 +-
 tools/cabana/signalview.cc                    |   1 +
 tools/cabana/signalview.h                     |   2 +-
 14 files changed, 943 insertions(+), 901 deletions(-)
 rename tools/cabana/{chartswidget.cc => chart/chart.cc} (52%)
 create mode 100644 tools/cabana/chart/chart.h
 create mode 100644 tools/cabana/chart/chartswidget.cc
 create mode 100644 tools/cabana/chart/chartswidget.h
 create mode 100644 tools/cabana/chart/signalselector.cc
 create mode 100644 tools/cabana/chart/signalselector.h
 create mode 100644 tools/cabana/chart/tiplabel.cc
 create mode 100644 tools/cabana/chart/tiplabel.h
 delete mode 100644 tools/cabana/chartswidget.h

diff --git a/tools/cabana/SConscript b/tools/cabana/SConscript
index d6c2779ac3..77738afae3 100644
--- a/tools/cabana/SConscript
+++ b/tools/cabana/SConscript
@@ -29,8 +29,9 @@ cabana_env.Depends(assets, Glob('/assets/*', exclude=[assets, assets_src, "asset
 
 prev_moc_path = cabana_env['QT_MOCHPREFIX']
 cabana_env['QT_MOCHPREFIX'] = os.path.dirname(prev_moc_path) + '/cabana/moc_'
-cabana_lib = cabana_env.Library("cabana_lib", ['mainwin.cc', 'streams/livestream.cc', 'streams/abstractstream.cc', 'streams/replaystream.cc', 'binaryview.cc', 'chartswidget.cc', 'historylog.cc', 'videowidget.cc', 'signalview.cc', 
+cabana_lib = cabana_env.Library("cabana_lib", ['mainwin.cc', 'streams/livestream.cc', 'streams/abstractstream.cc', 'streams/replaystream.cc', 'binaryview.cc', 'historylog.cc', 'videowidget.cc', 'signalview.cc', 
                                                'dbc/dbc.cc', 'dbc/dbcfile.cc', 'dbc/dbcmanager.cc',
+                                               'chart/chartswidget.cc', 'chart/chart.cc', 'chart/signalselector.cc', 'chart/tiplabel.cc',
                                                'commands.cc', 'messageswidget.cc', 'route.cc', 'settings.cc', 'util.cc', 'detailwidget.cc', 'tools/findsimilarbits.cc'], LIBS=cabana_libs, FRAMEWORKS=base_frameworks)
 cabana_env.Program('cabana', ['cabana.cc', cabana_lib, assets], LIBS=cabana_libs, FRAMEWORKS=base_frameworks)
 
diff --git a/tools/cabana/chartswidget.cc b/tools/cabana/chart/chart.cc
similarity index 52%
rename from tools/cabana/chartswidget.cc
rename to tools/cabana/chart/chart.cc
index 0d34d0ddcc..d01a4882b2 100644
--- a/tools/cabana/chartswidget.cc
+++ b/tools/cabana/chart/chart.cc
@@ -1,449 +1,19 @@
-#include "tools/cabana/chartswidget.h"
+#include "tools/cabana/chart/chart.h"
 
 #include <QActionGroup>
 #include <QApplication>
-#include <QCompleter>
-#include <QDialogButtonBox>
 #include <QDrag>
-#include <QFutureSynchronizer>
-#include <QGraphicsDropShadowEffect>
 #include <QGraphicsLayout>
-#include <QLineEdit>
+#include <QGraphicsDropShadowEffect>
 #include <QMenu>
+#include <QMimeData>
 #include <QOpenGLWidget>
-#include <QPushButton>
 #include <QRubberBand>
-#include <QScrollBar>
-#include <QStylePainter>
-#include <QToolBar>
-#include <QToolTip>
-#include <QtConcurrent>
-
-const int MAX_COLUMN_COUNT = 4;
-const int CHART_SPACING = 10;
-const QString mime_type = "application/x-cabanachartview";
-static inline bool xLessThan(const QPointF &p, float x) { return p.x() < x; }
-
-// ChartsWidget
-
-ChartsWidget::ChartsWidget(QWidget *parent) : align_timer(this), auto_scroll_timer(this), QFrame(parent) {
-  setFrameStyle(QFrame::StyledPanel | QFrame::Plain);
-  QVBoxLayout *main_layout = new QVBoxLayout(this);
-  main_layout->setContentsMargins(0, 0, 0, 0);
-  main_layout->setSpacing(0);
-
-  // toolbar
-  QToolBar *toolbar = new QToolBar(tr("Charts"), this);
-  int icon_size = style()->pixelMetric(QStyle::PM_SmallIconSize);
-  toolbar->setIconSize({icon_size, icon_size});
-
-  auto new_plot_btn = new ToolButton("file-plus", tr("New Chart"));
-  auto new_tab_btn = new ToolButton("window-stack", tr("New Tab"));
-  toolbar->addWidget(new_plot_btn);
-  toolbar->addWidget(new_tab_btn);
-  toolbar->addWidget(title_label = new QLabel());
-  title_label->setContentsMargins(0, 0, style()->pixelMetric(QStyle::PM_LayoutHorizontalSpacing), 0);
-
-  QMenu *menu = new QMenu(this);
-  for (int i = 0; i < MAX_COLUMN_COUNT; ++i) {
-    menu->addAction(tr("%1").arg(i + 1), [=]() { setColumnCount(i + 1); });
-  }
-  columns_action = toolbar->addAction("");
-  columns_action->setMenu(menu);
-  qobject_cast<QToolButton*>(toolbar->widgetForAction(columns_action))->setPopupMode(QToolButton::InstantPopup);
-
-  QLabel *stretch_label = new QLabel(this);
-  stretch_label->setSizePolicy(QSizePolicy::Expanding, QSizePolicy::Preferred);
-  toolbar->addWidget(stretch_label);
-
-  range_lb_action = toolbar->addWidget(range_lb = new QLabel(this));
-  range_slider = new LogSlider(1000, Qt::Horizontal, this);
-  range_slider->setMaximumWidth(200);
-  range_slider->setToolTip(tr("Set the chart range"));
-  range_slider->setRange(1, settings.max_cached_minutes * 60);
-  range_slider->setSingleStep(1);
-  range_slider->setPageStep(60);  // 1 min
-  range_slider_action = toolbar->addWidget(range_slider);
-
-  // zoom controls
-  zoom_undo_stack = new QUndoStack(this);
-  toolbar->addAction(undo_zoom_action = zoom_undo_stack->createUndoAction(this));
-  undo_zoom_action->setIcon(utils::icon("arrow-counterclockwise"));
-  toolbar->addAction(redo_zoom_action = zoom_undo_stack->createRedoAction(this));
-  redo_zoom_action->setIcon(utils::icon("arrow-clockwise"));
-  reset_zoom_action = toolbar->addWidget(reset_zoom_btn = new ToolButton("zoom-out", tr("Reset Zoom")));
-  reset_zoom_btn->setToolButtonStyle(Qt::ToolButtonTextBesideIcon);
-
-  toolbar->addWidget(remove_all_btn = new ToolButton("x", tr("Remove all charts")));
-  toolbar->addWidget(dock_btn = new ToolButton(""));
-  main_layout->addWidget(toolbar);
-
-  // tabbar
-  tabbar = new QTabBar(this);
-  tabbar->setAutoHide(true);
-  tabbar->setExpanding(false);
-  tabbar->setDrawBase(true);
-  tabbar->setAcceptDrops(true);
-  tabbar->setChangeCurrentOnDrag(true);
-  tabbar->setTabsClosable(true);
-  tabbar->setUsesScrollButtons(true);
-  main_layout->addWidget(tabbar);
-
-  // charts
-  charts_container = new ChartsContainer(this);
-
-  charts_scroll = new QScrollArea(this);
-  charts_scroll->setFrameStyle(QFrame::NoFrame);
-  charts_scroll->setWidgetResizable(true);
-  charts_scroll->setWidget(charts_container);
-  charts_scroll->setHorizontalScrollBarPolicy(Qt::ScrollBarAlwaysOff);
-  main_layout->addWidget(charts_scroll);
-
-  // init settings
-  current_theme = settings.theme;
-  column_count = std::clamp(settings.chart_column_count, 1, MAX_COLUMN_COUNT);
-  max_chart_range = std::clamp(settings.chart_range, 1, settings.max_cached_minutes * 60);
-  display_range = {0, max_chart_range};
-  range_slider->setValue(max_chart_range);
-  updateToolBar();
-
-  align_timer.setSingleShot(true);
-  QObject::connect(&align_timer, &QTimer::timeout, this, &ChartsWidget::alignCharts);
-  QObject::connect(&auto_scroll_timer, &QTimer::timeout, this, &ChartsWidget::doAutoScroll);
-  QObject::connect(dbc(), &DBCManager::DBCFileChanged, this, &ChartsWidget::removeAll);
-  QObject::connect(can, &AbstractStream::eventsMerged, this, &ChartsWidget::eventsMerged);
-  QObject::connect(can, &AbstractStream::updated, this, &ChartsWidget::updateState);
-  QObject::connect(range_slider, &QSlider::valueChanged, this, &ChartsWidget::setMaxChartRange);
-  QObject::connect(new_plot_btn, &QToolButton::clicked, this, &ChartsWidget::newChart);
-  QObject::connect(remove_all_btn, &QToolButton::clicked, this, &ChartsWidget::removeAll);
-  QObject::connect(reset_zoom_btn, &QToolButton::clicked, this, &ChartsWidget::zoomReset);
-  QObject::connect(&settings, &Settings::changed, this, &ChartsWidget::settingChanged);
-  QObject::connect(new_tab_btn, &QToolButton::clicked, this, &ChartsWidget::newTab);
-  QObject::connect(tabbar, &QTabBar::tabCloseRequested, this, &ChartsWidget::removeTab);
-  QObject::connect(tabbar, &QTabBar::currentChanged, [this](int index) {
-    if (index != -1) updateLayout(true);
-  });
-  QObject::connect(dock_btn, &QToolButton::clicked, [this]() {
-    emit dock(!docking);
-    docking = !docking;
-    updateToolBar();
-  });
-
-  newTab();
-  setWhatsThis(tr(R"(
-    <b>Chart view</b><br />
-    <!-- TODO: add descprition here -->
-  )"));
-}
-
-void ChartsWidget::newTab() {
-  static int tab_unique_id = 0;
-  int idx = tabbar->addTab("");
-  tabbar->setTabData(idx, tab_unique_id++);
-  for (int i = 0; i < tabbar->count(); ++i) {
-    tabbar->setTabText(i, QString("Tab %1").arg(i + 1));
-  }
-  tabbar->setCurrentIndex(idx);
-}
-
-void ChartsWidget::removeTab(int index) {
-  int id = tabbar->tabData(index).toInt();
-  for (auto &c : tab_charts[id]) {
-    removeChart(c);
-  }
-  tab_charts.erase(id);
-  tabbar->removeTab(index);
-}
-
-void ChartsWidget::eventsMerged() {
-  QFutureSynchronizer<void> future_synchronizer;
-  for (auto c : charts) {
-    future_synchronizer.addFuture(QtConcurrent::run(c, &ChartView::updateSeries, nullptr));
-  }
-}
-
-void ChartsWidget::setZoom(double min, double max) {
-  zoomed_range = {min, max};
-  is_zoomed = zoomed_range != display_range;
-  updateToolBar();
-  updateState();
-  emit rangeChanged(min, max, is_zoomed);
-}
-
-void ChartsWidget::zoomReset() {
-  setZoom(display_range.first, display_range.second);
-  zoom_undo_stack->clear();
-}
-
-void ChartsWidget::showValueTip(double sec) {
-  const QRect visible_rect(-charts_container->pos(), charts_scroll->viewport()->size());
-  for (auto c : currentCharts()) {
-    if (sec >= 0 && visible_rect.contains(QRect(c->mapTo(charts_container, QPoint(0, 0)), c->size()))) {
-      c->showTip(sec);
-    } else {
-      c->hideTip();
-    }
-  }
-}
-
-void ChartsWidget::updateState() {
-  if (charts.isEmpty()) return;
-
-  const double cur_sec = can->currentSec();
-  if (!is_zoomed) {
-    double pos = (cur_sec - display_range.first) / std::max<float>(1.0, max_chart_range);
-    if (pos < 0 || pos > 0.8) {
-      display_range.first = std::max(0.0, cur_sec - max_chart_range * 0.1);
-    }
-    double max_sec = std::min(std::floor(display_range.first + max_chart_range), can->lastEventSecond());
-    display_range.first = std::max(0.0, max_sec - max_chart_range);
-    display_range.second = display_range.first + max_chart_range;
-  } else if (cur_sec < zoomed_range.first || cur_sec >= zoomed_range.second) {
-    // loop in zoomed range
-    can->seekTo(zoomed_range.first);
-  }
-
-  const auto &range = is_zoomed ? zoomed_range : display_range;
-  for (auto c : charts) {
-    c->updatePlot(cur_sec, range.first, range.second);
-  }
-}
-
-void ChartsWidget::setMaxChartRange(int value) {
-  max_chart_range = settings.chart_range = range_slider->value();
-  updateToolBar();
-  updateState();
-}
-
-void ChartsWidget::updateToolBar() {
-  title_label->setText(tr("Charts: %1").arg(charts.size()));
-  columns_action->setText(tr("Column: %1").arg(column_count));
-  range_lb->setText(utils::formatSeconds(max_chart_range));
-  range_lb_action->setVisible(!is_zoomed);
-  range_slider_action->setVisible(!is_zoomed);
-  undo_zoom_action->setVisible(is_zoomed);
-  redo_zoom_action->setVisible(is_zoomed);
-  reset_zoom_action->setVisible(is_zoomed);
-  reset_zoom_btn->setText(is_zoomed ? tr("%1-%2").arg(zoomed_range.first, 0, 'f', 1).arg(zoomed_range.second, 0, 'f', 1) : "");
-  remove_all_btn->setEnabled(!charts.isEmpty());
-  dock_btn->setIcon(docking ? "arrow-up-right-square" : "arrow-down-left-square");
-  dock_btn->setToolTip(docking ? tr("Undock charts") : tr("Dock charts"));
-}
-
-void ChartsWidget::settingChanged() {
-  if (std::exchange(current_theme, settings.theme) != current_theme) {
-    undo_zoom_action->setIcon(utils::icon("arrow-counterclockwise"));
-    redo_zoom_action->setIcon(utils::icon("arrow-clockwise"));
-    auto theme = settings.theme == DARK_THEME ? QChart::QChart::ChartThemeDark : QChart::ChartThemeLight;
-    for (auto c : charts) {
-      c->setTheme(theme);
-    }
-  }
-  range_slider->setRange(1, settings.max_cached_minutes * 60);
-  for (auto c : charts) {
-    c->setFixedHeight(settings.chart_height);
-    c->setSeriesType((SeriesType)settings.chart_series_type);
-    c->resetChartCache();
-  }
-}
-
-ChartView *ChartsWidget::findChart(const MessageId &id, const cabana::Signal *sig) {
-  for (auto c : charts)
-    if (c->hasSeries(id, sig)) return c;
-  return nullptr;
-}
-
-ChartView *ChartsWidget::createChart() {
-  auto chart = new ChartView(is_zoomed ? zoomed_range : display_range, this);
-  chart->setFixedHeight(settings.chart_height);
-  chart->setMinimumWidth(CHART_MIN_WIDTH);
-  chart->setSizePolicy(QSizePolicy::MinimumExpanding, QSizePolicy::Fixed);
-  QObject::connect(chart, &ChartView::axisYLabelWidthChanged, &align_timer, qOverload<>(&QTimer::start));
-  charts.push_front(chart);
-  currentCharts().push_front(chart);
-  updateLayout(true);
-  updateToolBar();
-  return chart;
-}
-
-void ChartsWidget::showChart(const MessageId &id, const cabana::Signal *sig, bool show, bool merge) {
-  ChartView *chart = findChart(id, sig);
-  if (show && !chart) {
-    chart = merge && currentCharts().size() > 0 ? currentCharts().front() : createChart();
-    chart->addSeries(id, sig);
-  } else if (!show && chart) {
-    chart->removeIf([&](auto &s) { return s.msg_id == id && s.sig == sig; });
-  }
-}
-
-void ChartsWidget::setColumnCount(int n) {
-  n = std::clamp(n, 1, MAX_COLUMN_COUNT);
-  if (column_count != n) {
-    column_count = settings.chart_column_count = n;
-    updateToolBar();
-    updateLayout();
-  }
-}
-
-void ChartsWidget::updateLayout(bool force) {
-  auto charts_layout = charts_container->charts_layout;
-  int n = MAX_COLUMN_COUNT;
-  for (; n > 1; --n) {
-    if ((n * CHART_MIN_WIDTH + (n - 1) * charts_layout->spacing()) < charts_layout->geometry().width()) break;
-  }
-
-  bool show_column_cb = n > 1;
-  columns_action->setVisible(show_column_cb);
-
-  n = std::min(column_count, n);
-  auto &current_charts = currentCharts();
-  if ((current_charts.size() != charts_layout->count() || n != current_column_count) || force) {
-    current_column_count = n;
-    charts_container->setUpdatesEnabled(false);
-    for (auto c : charts) {
-      c->setVisible(false);
-    }
-    for (int i = 0; i < current_charts.size(); ++i) {
-      charts_layout->addWidget(current_charts[i], i / n, i % n);
-      current_charts[i]->setVisible(true);
-    }
-    charts_container->setUpdatesEnabled(true);
-  }
-}
-
-void ChartsWidget::startAutoScroll() {
-  auto_scroll_timer.start(50);
-}
-
-void ChartsWidget::stopAutoScroll() {
-  auto_scroll_timer.stop();
-  auto_scroll_count = 0;
-}
-
-void ChartsWidget::doAutoScroll() {
-  QScrollBar *scroll = charts_scroll->verticalScrollBar();
-  if (auto_scroll_count < scroll->pageStep()) {
-    ++auto_scroll_count;
-  }
-
-  int value = scroll->value();
-  QPoint pos = charts_scroll->viewport()->mapFromGlobal(QCursor::pos());
-  QRect area = charts_scroll->viewport()->rect();
-
-  if (pos.y() - area.top() < settings.chart_height / 2) {
-    scroll->setValue(value - auto_scroll_count);
-  } else if (area.bottom() - pos.y() < settings.chart_height / 2) {
-    scroll->setValue(value + auto_scroll_count);
-  }
-  bool vertical_unchanged = value == scroll->value();
-  if (vertical_unchanged) {
-    stopAutoScroll();
-  } else {
-    // mouseMoveEvent to updates the drag-selection rectangle
-    const QPoint globalPos = charts_scroll->viewport()->mapToGlobal(pos);
-    const QPoint windowPos = charts_scroll->window()->mapFromGlobal(globalPos);
-    QMouseEvent mm(QEvent::MouseMove, pos, windowPos, globalPos,
-                   Qt::NoButton, Qt::LeftButton, Qt::NoModifier, Qt::MouseEventSynthesizedByQt);
-    QApplication::sendEvent(charts_scroll->viewport(), &mm);
-  }
-}
-
-void ChartsWidget::resizeEvent(QResizeEvent *event) {
-  QWidget::resizeEvent(event);
-  updateLayout();
-}
-
-void ChartsWidget::newChart() {
-  SeriesSelector dlg(tr("New Chart"), this);
-  if (dlg.exec() == QDialog::Accepted) {
-    auto items = dlg.seletedItems();
-    if (!items.isEmpty()) {
-      auto c = createChart();
-      for (auto it : items) {
-        c->addSeries(it->msg_id, it->sig);
-      }
-    }
-  }
-}
+#include <QtMath>
 
-void ChartsWidget::removeChart(ChartView *chart) {
-  charts.removeOne(chart);
-  chart->deleteLater();
-  for (auto &[_, list] : tab_charts) {
-    list.removeOne(chart);
-  }
-  updateToolBar();
-  updateLayout(true);
-  alignCharts();
-  emit seriesChanged();
-}
+#include "tools/cabana/chart/chartswidget.h"
 
-void ChartsWidget::removeAll() {
-  if (!charts.isEmpty()) {
-    for (auto c : charts) {
-      c->deleteLater();
-    }
-    charts.clear();
-    tab_charts.clear();
-    updateToolBar();
-    emit seriesChanged();
-  }
-  while (tabbar->count() > 1) {
-    tabbar->removeTab(1);
-  }
-}
-
-void ChartsWidget::alignCharts() {
-  int plot_left = 0;
-  for (auto c : charts) {
-    plot_left = std::max(plot_left, c->y_label_width);
-  }
-  plot_left = std::max((plot_left / 10) * 10 + 10, 50);
-  for (auto c : charts) {
-    c->updatePlotArea(plot_left);
-  }
-}
-
-bool ChartsWidget::eventFilter(QObject *obj, QEvent *event) {
-  if (obj != this && event->type() == QEvent::Close) {
-    emit dock_btn->clicked();
-    return true;
-  }
-  return false;
-}
-
-bool ChartsWidget::event(QEvent *event) {
-  bool back_button = false;
-  switch (event->type()) {
-    case QEvent::MouseButtonPress: {
-      QMouseEvent *ev = static_cast<QMouseEvent *>(event);
-      back_button = ev->button() == Qt::BackButton;
-      break;
-    }
-    case QEvent::NativeGesture: {
-      QNativeGestureEvent *ev = static_cast<QNativeGestureEvent *>(event);
-      back_button = (ev->value() == 180);
-      break;
-    }
-    case QEvent::WindowActivate:
-    case QEvent::WindowDeactivate:
-    case QEvent::FocusIn:
-    case QEvent::FocusOut:
-    case QEvent::Leave:
-      showValueTip(-1);
-      break;
-    default:
-      break;
-  }
-
-  if (back_button) {
-    zoom_undo_stack->undo();
-    return true;
-  }
-  return QFrame::event(event);
-}
-
-// ChartView
+static inline bool xLessThan(const QPointF &p, float x) { return p.x() < x; }
 
 ChartView::ChartView(const std::pair<double, double> &x_range, ChartsWidget *parent) : charts_widget(parent), tip_label(this), QChartView(nullptr, parent) {
   series_type = (SeriesType)settings.chart_series_type;
@@ -513,6 +83,10 @@ void ChartView::createToolButtons() {
   });
 }
 
+QSize ChartView::sizeHint() const {
+  return {CHART_MIN_WIDTH, settings.chart_height};
+}
+
 void ChartView::setTheme(QChart::ChartTheme theme) {
   chart()->setTheme(theme);
   if (theme == QChart::ChartThemeDark) {
@@ -576,7 +150,7 @@ void ChartView::msgUpdated(MessageId id) {
 }
 
 void ChartView::manageSeries() {
-  SeriesSelector dlg(tr("Mange Chart"), this);
+  SignalSelector dlg(tr("Mange Chart"), this);
   for (auto &s : sigs) {
     dlg.addSelected(s.msg_id, s.sig);
   }
@@ -837,7 +411,7 @@ static QPixmap getDropPixmap(const QPixmap &src) {
 void ChartView::mousePressEvent(QMouseEvent *event) {
   if (event->button() == Qt::LeftButton && move_icon->sceneBoundingRect().contains(event->pos())) {
     QMimeData *mimeData = new QMimeData;
-    mimeData->setData(mime_type, QByteArray::number((qulonglong)this));
+    mimeData->setData(CHART_MIME_TYPE, QByteArray::number((qulonglong)this));
     QPixmap px = grab().scaledToWidth(CHART_MIN_WIDTH, Qt::SmoothTransformation);
     QDrag *drag = new QDrag(this);
     drag->setMimeData(mimeData);
@@ -962,14 +536,14 @@ void ChartView::hideTip() {
 }
 
 void ChartView::dragEnterEvent(QDragEnterEvent *event) {
-  if (event->mimeData()->hasFormat(mime_type)) {
+  if (event->mimeData()->hasFormat(CHART_MIME_TYPE)) {
     drawDropIndicator(event->source() != this);
     event->acceptProposedAction();
   }
 }
 
 void ChartView::dragMoveEvent(QDragMoveEvent *event) {
-  if (event->mimeData()->hasFormat(mime_type)) {
+  if (event->mimeData()->hasFormat(CHART_MIME_TYPE)) {
     event->setDropAction(event->source() == this ? Qt::MoveAction : Qt::CopyAction);
     event->accept();
   }
@@ -977,7 +551,7 @@ void ChartView::dragMoveEvent(QDragMoveEvent *event) {
 }
 
 void ChartView::dropEvent(QDropEvent *event) {
-  if (event->mimeData()->hasFormat(mime_type)) {
+  if (event->mimeData()->hasFormat(CHART_MIME_TYPE)) {
     if (event->source() != this) {
       ChartView *source_chart = (ChartView *)event->source();
       for (auto &s : source_chart->sigs) {
@@ -1151,210 +725,3 @@ void ChartView::handleMarkerClicked() {
     updateTitle();
   }
 }
-
-// SeriesSelector
-
-SeriesSelector::SeriesSelector(QString title, QWidget *parent) : QDialog(parent) {
-  setWindowTitle(title);
-  QGridLayout *main_layout = new QGridLayout(this);
-
-  // left column
-  main_layout->addWidget(new QLabel(tr("Available Signals")), 0, 0);
-  main_layout->addWidget(msgs_combo = new QComboBox(this), 1, 0);
-  msgs_combo->setEditable(true);
-  msgs_combo->lineEdit()->setPlaceholderText(tr("Select a msg..."));
-  msgs_combo->setInsertPolicy(QComboBox::NoInsert);
-  msgs_combo->completer()->setCompletionMode(QCompleter::PopupCompletion);
-  msgs_combo->completer()->setFilterMode(Qt::MatchContains);
-
-  main_layout->addWidget(available_list = new QListWidget(this), 2, 0);
-
-  // buttons
-  QVBoxLayout *btn_layout = new QVBoxLayout();
-  QPushButton *add_btn = new QPushButton(utils::icon("chevron-right"), "", this);
-  add_btn->setEnabled(false);
-  QPushButton *remove_btn = new QPushButton(utils::icon("chevron-left"), "", this);
-  remove_btn->setEnabled(false);
-  btn_layout->addStretch(0);
-  btn_layout->addWidget(add_btn);
-  btn_layout->addWidget(remove_btn);
-  btn_layout->addStretch(0);
-  main_layout->addLayout(btn_layout, 0, 1, 3, 1);
-
-  // right column
-  main_layout->addWidget(new QLabel(tr("Selected Signals")), 0, 2);
-  main_layout->addWidget(selected_list = new QListWidget(this), 1, 2, 2, 1);
-
-  auto buttonBox = new QDialogButtonBox(QDialogButtonBox::Ok | QDialogButtonBox::Cancel);
-  main_layout->addWidget(buttonBox, 3, 2);
-
-  for (auto it = can->last_msgs.cbegin(); it != can->last_msgs.cend(); ++it) {
-    if (auto m = dbc()->msg(it.key())) {
-      msgs_combo->addItem(QString("%1 (%2)").arg(m->name).arg(it.key().toString()), QVariant::fromValue(it.key()));
-    }
-  }
-  msgs_combo->model()->sort(0);
-  msgs_combo->setCurrentIndex(-1);
-
-  QObject::connect(msgs_combo, qOverload<int>(&QComboBox::currentIndexChanged), this, &SeriesSelector::updateAvailableList);
-  QObject::connect(available_list, &QListWidget::currentRowChanged, [=](int row) { add_btn->setEnabled(row != -1); });
-  QObject::connect(selected_list, &QListWidget::currentRowChanged, [=](int row) { remove_btn->setEnabled(row != -1); });
-  QObject::connect(available_list, &QListWidget::itemDoubleClicked, this, &SeriesSelector::add);
-  QObject::connect(selected_list, &QListWidget::itemDoubleClicked, this, &SeriesSelector::remove);
-  QObject::connect(add_btn, &QPushButton::clicked, [this]() { if (auto item = available_list->currentItem()) add(item); });
-  QObject::connect(remove_btn, &QPushButton::clicked, [this]() { if (auto item = selected_list->currentItem()) remove(item); });
-  QObject::connect(buttonBox, &QDialogButtonBox::accepted, this, &QDialog::accept);
-  QObject::connect(buttonBox, &QDialogButtonBox::rejected, this, &QDialog::reject);
-}
-
-void SeriesSelector::add(QListWidgetItem *item) {
-  auto it = (ListItem *)item;
-  addItemToList(selected_list, it->msg_id, it->sig, true);
-  delete item;
-}
-
-void SeriesSelector::remove(QListWidgetItem *item) {
-  auto it = (ListItem *)item;
-  if (it->msg_id == msgs_combo->currentData().value<MessageId>()) {
-    addItemToList(available_list, it->msg_id, it->sig);
-  }
-  delete item;
-}
-
-void SeriesSelector::updateAvailableList(int index) {
-  if (index == -1) return;
-  available_list->clear();
-  MessageId msg_id = msgs_combo->itemData(index).value<MessageId>();
-  auto selected_items = seletedItems();
-  for (auto s : dbc()->msg(msg_id)->getSignals()) {
-    bool is_selected = std::any_of(selected_items.begin(), selected_items.end(), [=, sig=s](auto it) { return it->msg_id == msg_id && it->sig == sig; });
-    if (!is_selected) {
-      addItemToList(available_list, msg_id, s);
-    }
-  }
-}
-
-void SeriesSelector::addItemToList(QListWidget *parent, const MessageId id, const cabana::Signal *sig, bool show_msg_name) {
-  QString text = QString("<span style=\"color:%0;\">■ </span> %1").arg(getColor(sig).name(), sig->name);
-  if (show_msg_name) text += QString(" <font color=\"gray\">%0 %1</font>").arg(msgName(id), id.toString());
-
-  QLabel *label = new QLabel(text);
-  label->setContentsMargins(5, 0, 5, 0);
-  auto new_item = new ListItem(id, sig, parent);
-  new_item->setSizeHint(label->sizeHint());
-  parent->setItemWidget(new_item, label);
-}
-
-QList<SeriesSelector::ListItem *> SeriesSelector::seletedItems() {
-  QList<SeriesSelector::ListItem *> ret;
-  for (int i = 0; i < selected_list->count(); ++i) ret.push_back((ListItem *)selected_list->item(i));
-  return ret;
-}
-
-// ValueTipLabel
-
-ValueTipLabel::ValueTipLabel(QWidget *parent) : QLabel(parent, Qt::ToolTip | Qt::FramelessWindowHint) {
-  setForegroundRole(QPalette::ToolTipText);
-  setBackgroundRole(QPalette::ToolTipBase);
-  auto palette = QToolTip::palette();
-  if (settings.theme != DARK_THEME) {
-    palette.setColor(QPalette::ToolTipBase, QApplication::palette().color(QPalette::Base));
-    palette.setColor(QPalette::ToolTipText, QRgb(0x404044)); // same color as chart label brush
-  }
-  setPalette(palette);
-  ensurePolished();
-  setMargin(1 + style()->pixelMetric(QStyle::PM_ToolTipLabelFrameWidth, nullptr, this));
-  setAttribute(Qt::WA_ShowWithoutActivating);
-  setTextFormat(Qt::RichText);
-  setVisible(false);
-}
-
-void ValueTipLabel::showText(const QPoint &pt, const QString &text, int right_edge) {
-  setText(text);
-  if (!text.isEmpty()) {
-    QSize extra(1, 1);
-    resize(sizeHint() + extra);
-    QPoint tip_pos(pt.x() + 12, pt.y());
-    if (tip_pos.x() + size().width() >= right_edge) {
-      tip_pos.rx() = pt.x() - size().width() - 12;
-    }
-    move(tip_pos);
-  }
-  setVisible(!text.isEmpty());
-}
-
-void ValueTipLabel::paintEvent(QPaintEvent *ev) {
-  QStylePainter p(this);
-  QStyleOptionFrame opt;
-  opt.init(this);
-  p.drawPrimitive(QStyle::PE_PanelTipLabel, opt);
-  p.end();
-  QLabel::paintEvent(ev);
-}
-
-// ChartsContainer
-
-ChartsContainer::ChartsContainer(ChartsWidget *parent) : charts_widget(parent), QWidget(parent) {
-  setAcceptDrops(true);
-  QVBoxLayout *charts_main_layout = new QVBoxLayout(this);
-  charts_main_layout->setContentsMargins(0, 10, 0, 0);
-  charts_layout = new QGridLayout();
-  charts_layout->setSpacing(CHART_SPACING);
-  charts_main_layout->addLayout(charts_layout);
-  charts_main_layout->addStretch(0);
-}
-
-void ChartsContainer::dragEnterEvent(QDragEnterEvent *event) {
-  if (event->mimeData()->hasFormat(mime_type)) {
-    event->acceptProposedAction();
-    drawDropIndicator(event->pos());
-  }
-}
-
-void ChartsContainer::dropEvent(QDropEvent *event) {
-  if (event->mimeData()->hasFormat(mime_type)) {
-    auto w = getDropAfter(event->pos());
-    auto chart = qobject_cast<ChartView *>(event->source());
-    if (w != chart) {
-      for (auto &[_, list] : charts_widget->tab_charts) {
-        list.removeOne(chart);
-      }
-      int to = w ? charts_widget->currentCharts().indexOf(w) + 1 : 0;
-      charts_widget->currentCharts().insert(to, chart);
-      charts_widget->updateLayout(true);
-      event->acceptProposedAction();
-    }
-    drawDropIndicator({});
-  }
-}
-
-void ChartsContainer::paintEvent(QPaintEvent *ev) {
-  if (!drop_indictor_pos.isNull() && !childAt(drop_indictor_pos)) {
-    QRect r;
-    if (auto insert_after = getDropAfter(drop_indictor_pos)) {
-      QRect area = insert_after->geometry();
-      r = QRect(area.left(), area.bottom() + 1, area.width(), CHART_SPACING);
-    } else {
-      r = geometry();
-      r.setHeight(CHART_SPACING);
-    }
-
-    const int margin = (CHART_SPACING - 2) / 2;
-    QPainterPath path;
-    path.addPolygon(QPolygonF({r.topLeft(), QPointF(r.left() + CHART_SPACING, r.top() + r.height() / 2), r.bottomLeft()}));
-    path.addPolygon(QPolygonF({r.topRight(), QPointF(r.right() - CHART_SPACING, r.top() + r.height() / 2), r.bottomRight()}));
-
-    QPainter p(this);
-    p.setRenderHint(QPainter::Antialiasing);
-    p.fillPath(path, palette().highlight());
-    p.fillRect(r.adjusted(2, margin, -2, -margin), palette().highlight());
-  }
-}
-
-ChartView *ChartsContainer::getDropAfter(const QPoint &pos) const {
-  auto it = std::find_if(charts_widget->currentCharts().crbegin(), charts_widget->currentCharts().crend(), [&pos](auto c) {
-    auto area = c->geometry();
-    return pos.x() >= area.left() && pos.x() <= area.right() && pos.y() >= area.bottom();
-  });
-  return it == charts_widget->currentCharts().crend() ? nullptr : *it;
-}
diff --git a/tools/cabana/chart/chart.h b/tools/cabana/chart/chart.h
new file mode 100644
index 0000000000..d00ead0f9f
--- /dev/null
+++ b/tools/cabana/chart/chart.h
@@ -0,0 +1,106 @@
+#pragma once
+
+#include <QGraphicsPixmapItem>
+#include <QGraphicsProxyWidget>
+#include <QtCharts/QChartView>
+#include <QtCharts/QLegendMarker>
+#include <QtCharts/QLineSeries>
+#include <QtCharts/QScatterSeries>
+#include <QtCharts/QValueAxis>
+using namespace QtCharts;
+
+#include "tools/cabana/chart/tiplabel.h"
+#include "tools/cabana/dbc/dbcmanager.h"
+#include "tools/cabana/streams/abstractstream.h"
+
+enum class SeriesType {
+  Line = 0,
+  StepLine,
+  Scatter
+};
+
+class ChartsWidget;
+class ChartView : public QChartView {
+  Q_OBJECT
+
+public:
+  ChartView(const std::pair<double, double> &x_range, ChartsWidget *parent = nullptr);
+  void addSeries(const MessageId &msg_id, const cabana::Signal *sig);
+  bool hasSeries(const MessageId &msg_id, const cabana::Signal *sig) const;
+  void updateSeries(const cabana::Signal *sig = nullptr);
+  void updatePlot(double cur, double min, double max);
+  void setSeriesType(SeriesType type);
+  void updatePlotArea(int left, bool force = false);
+  void showTip(double sec);
+  void hideTip();
+
+  struct SigItem {
+    MessageId msg_id;
+    const cabana::Signal *sig = nullptr;
+    QXYSeries *series = nullptr;
+    QVector<QPointF> vals;
+    QVector<QPointF> step_vals;
+    uint64_t last_value_mono_time = 0;
+    QPointF track_pt{};
+    SegmentTree segment_tree;
+    double min = 0;
+    double max = 0;
+  };
+
+signals:
+  void axisYLabelWidthChanged(int w);
+
+private slots:
+  void signalUpdated(const cabana::Signal *sig);
+  void manageSeries();
+  void handleMarkerClicked();
+  void msgUpdated(MessageId id);
+  void msgRemoved(MessageId id) { removeIf([=](auto &s) { return s.msg_id == id; }); }
+  void signalRemoved(const cabana::Signal *sig) { removeIf([=](auto &s) { return s.sig == sig; }); }
+
+private:
+  void createToolButtons();
+  void mousePressEvent(QMouseEvent *event) override;
+  void mouseReleaseEvent(QMouseEvent *event) override;
+  void mouseMoveEvent(QMouseEvent *ev) override;
+  void dragEnterEvent(QDragEnterEvent *event) override;
+  void dragLeaveEvent(QDragLeaveEvent *event) override { drawDropIndicator(false); }
+  void dragMoveEvent(QDragMoveEvent *event) override;
+  void dropEvent(QDropEvent *event) override;
+  void leaveEvent(QEvent *event) override;
+  void resizeEvent(QResizeEvent *event) override;
+  QSize sizeHint() const override;
+  void updateAxisY();
+  void updateTitle();
+  void resetChartCache();
+  void setTheme(QChart::ChartTheme theme);
+  void paintEvent(QPaintEvent *event) override;
+  void drawForeground(QPainter *painter, const QRectF &rect) override;
+  void drawBackground(QPainter *painter, const QRectF &rect) override;
+  void drawDropIndicator(bool draw) { if (std::exchange(can_drop, draw) != can_drop) viewport()->update(); }
+  std::tuple<double, double, int> getNiceAxisNumbers(qreal min, qreal max, int tick_count);
+  qreal niceNumber(qreal x, bool ceiling);
+  QXYSeries *createSeries(SeriesType type, QColor color);
+  void updateSeriesPoints();
+  void removeIf(std::function<bool(const SigItem &)> predicate);
+  inline void clearTrackPoints() { for (auto &s : sigs) s.track_pt = {}; }
+
+  int y_label_width = 0;
+  int align_to = 0;
+  QValueAxis *axis_x;
+  QValueAxis *axis_y;
+  QGraphicsPixmapItem *move_icon;
+  QGraphicsProxyWidget *close_btn_proxy;
+  QGraphicsProxyWidget *manage_btn_proxy;
+  TipLabel tip_label;
+  QList<SigItem> sigs;
+  double cur_sec = 0;
+  SeriesType series_type = SeriesType::Line;
+  bool is_scrubbing = false;
+  bool resume_after_scrub = false;
+  QPixmap chart_pixmap;
+  bool can_drop = false;
+  double tooltip_x = -1;
+  ChartsWidget *charts_widget;
+  friend class ChartsWidget;
+};
diff --git a/tools/cabana/chart/chartswidget.cc b/tools/cabana/chart/chartswidget.cc
new file mode 100644
index 0000000000..dab9687b5a
--- /dev/null
+++ b/tools/cabana/chart/chartswidget.cc
@@ -0,0 +1,497 @@
+#include "tools/cabana/chart/chartswidget.h"
+
+#include <QApplication>
+#include <QFutureSynchronizer>
+#include <QMenu>
+#include <QScrollBar>
+#include <QToolBar>
+#include <QtConcurrent>
+
+#include "tools/cabana/chart/chart.h"
+
+const int MAX_COLUMN_COUNT = 4;
+const int CHART_SPACING = 10;
+
+ChartsWidget::ChartsWidget(QWidget *parent) : align_timer(this), auto_scroll_timer(this), QFrame(parent) {
+  setFrameStyle(QFrame::StyledPanel | QFrame::Plain);
+  QVBoxLayout *main_layout = new QVBoxLayout(this);
+  main_layout->setContentsMargins(0, 0, 0, 0);
+  main_layout->setSpacing(0);
+
+  // toolbar
+  QToolBar *toolbar = new QToolBar(tr("Charts"), this);
+  int icon_size = style()->pixelMetric(QStyle::PM_SmallIconSize);
+  toolbar->setIconSize({icon_size, icon_size});
+
+  auto new_plot_btn = new ToolButton("file-plus", tr("New Chart"));
+  auto new_tab_btn = new ToolButton("window-stack", tr("New Tab"));
+  toolbar->addWidget(new_plot_btn);
+  toolbar->addWidget(new_tab_btn);
+  toolbar->addWidget(title_label = new QLabel());
+  title_label->setContentsMargins(0, 0, style()->pixelMetric(QStyle::PM_LayoutHorizontalSpacing), 0);
+
+  QMenu *menu = new QMenu(this);
+  for (int i = 0; i < MAX_COLUMN_COUNT; ++i) {
+    menu->addAction(tr("%1").arg(i + 1), [=]() { setColumnCount(i + 1); });
+  }
+  columns_action = toolbar->addAction("");
+  columns_action->setMenu(menu);
+  qobject_cast<QToolButton*>(toolbar->widgetForAction(columns_action))->setPopupMode(QToolButton::InstantPopup);
+
+  QLabel *stretch_label = new QLabel(this);
+  stretch_label->setSizePolicy(QSizePolicy::Expanding, QSizePolicy::Preferred);
+  toolbar->addWidget(stretch_label);
+
+  range_lb_action = toolbar->addWidget(range_lb = new QLabel(this));
+  range_slider = new LogSlider(1000, Qt::Horizontal, this);
+  range_slider->setMaximumWidth(200);
+  range_slider->setToolTip(tr("Set the chart range"));
+  range_slider->setRange(1, settings.max_cached_minutes * 60);
+  range_slider->setSingleStep(1);
+  range_slider->setPageStep(60);  // 1 min
+  range_slider_action = toolbar->addWidget(range_slider);
+
+  // zoom controls
+  zoom_undo_stack = new QUndoStack(this);
+  toolbar->addAction(undo_zoom_action = zoom_undo_stack->createUndoAction(this));
+  undo_zoom_action->setIcon(utils::icon("arrow-counterclockwise"));
+  toolbar->addAction(redo_zoom_action = zoom_undo_stack->createRedoAction(this));
+  redo_zoom_action->setIcon(utils::icon("arrow-clockwise"));
+  reset_zoom_action = toolbar->addWidget(reset_zoom_btn = new ToolButton("zoom-out", tr("Reset Zoom")));
+  reset_zoom_btn->setToolButtonStyle(Qt::ToolButtonTextBesideIcon);
+
+  toolbar->addWidget(remove_all_btn = new ToolButton("x", tr("Remove all charts")));
+  toolbar->addWidget(dock_btn = new ToolButton(""));
+  main_layout->addWidget(toolbar);
+
+  // tabbar
+  tabbar = new QTabBar(this);
+  tabbar->setAutoHide(true);
+  tabbar->setExpanding(false);
+  tabbar->setDrawBase(true);
+  tabbar->setAcceptDrops(true);
+  tabbar->setChangeCurrentOnDrag(true);
+  tabbar->setTabsClosable(true);
+  tabbar->setUsesScrollButtons(true);
+  main_layout->addWidget(tabbar);
+
+  // charts
+  charts_container = new ChartsContainer(this);
+
+  charts_scroll = new QScrollArea(this);
+  charts_scroll->setFrameStyle(QFrame::NoFrame);
+  charts_scroll->setWidgetResizable(true);
+  charts_scroll->setWidget(charts_container);
+  charts_scroll->setHorizontalScrollBarPolicy(Qt::ScrollBarAlwaysOff);
+  main_layout->addWidget(charts_scroll);
+
+  // init settings
+  current_theme = settings.theme;
+  column_count = std::clamp(settings.chart_column_count, 1, MAX_COLUMN_COUNT);
+  max_chart_range = std::clamp(settings.chart_range, 1, settings.max_cached_minutes * 60);
+  display_range = {0, max_chart_range};
+  range_slider->setValue(max_chart_range);
+  updateToolBar();
+
+  align_timer.setSingleShot(true);
+  QObject::connect(&align_timer, &QTimer::timeout, this, &ChartsWidget::alignCharts);
+  QObject::connect(&auto_scroll_timer, &QTimer::timeout, this, &ChartsWidget::doAutoScroll);
+  QObject::connect(dbc(), &DBCManager::DBCFileChanged, this, &ChartsWidget::removeAll);
+  QObject::connect(can, &AbstractStream::eventsMerged, this, &ChartsWidget::eventsMerged);
+  QObject::connect(can, &AbstractStream::updated, this, &ChartsWidget::updateState);
+  QObject::connect(range_slider, &QSlider::valueChanged, this, &ChartsWidget::setMaxChartRange);
+  QObject::connect(new_plot_btn, &QToolButton::clicked, this, &ChartsWidget::newChart);
+  QObject::connect(remove_all_btn, &QToolButton::clicked, this, &ChartsWidget::removeAll);
+  QObject::connect(reset_zoom_btn, &QToolButton::clicked, this, &ChartsWidget::zoomReset);
+  QObject::connect(&settings, &Settings::changed, this, &ChartsWidget::settingChanged);
+  QObject::connect(new_tab_btn, &QToolButton::clicked, this, &ChartsWidget::newTab);
+  QObject::connect(tabbar, &QTabBar::tabCloseRequested, this, &ChartsWidget::removeTab);
+  QObject::connect(tabbar, &QTabBar::currentChanged, [this](int index) {
+    if (index != -1) updateLayout(true);
+  });
+  QObject::connect(dock_btn, &QToolButton::clicked, [this]() {
+    emit dock(!docking);
+    docking = !docking;
+    updateToolBar();
+  });
+
+  newTab();
+  setWhatsThis(tr(R"(
+    <b>Chart view</b><br />
+    <!-- TODO: add descprition here -->
+  )"));
+}
+
+void ChartsWidget::newTab() {
+  static int tab_unique_id = 0;
+  int idx = tabbar->addTab("");
+  tabbar->setTabData(idx, tab_unique_id++);
+  for (int i = 0; i < tabbar->count(); ++i) {
+    tabbar->setTabText(i, QString("Tab %1").arg(i + 1));
+  }
+  tabbar->setCurrentIndex(idx);
+}
+
+void ChartsWidget::removeTab(int index) {
+  int id = tabbar->tabData(index).toInt();
+  for (auto &c : tab_charts[id]) {
+    removeChart(c);
+  }
+  tab_charts.erase(id);
+  tabbar->removeTab(index);
+}
+
+void ChartsWidget::eventsMerged() {
+  QFutureSynchronizer<void> future_synchronizer;
+  for (auto c : charts) {
+    future_synchronizer.addFuture(QtConcurrent::run(c, &ChartView::updateSeries, nullptr));
+  }
+}
+
+void ChartsWidget::setZoom(double min, double max) {
+  zoomed_range = {min, max};
+  is_zoomed = zoomed_range != display_range;
+  updateToolBar();
+  updateState();
+  emit rangeChanged(min, max, is_zoomed);
+}
+
+void ChartsWidget::zoomReset() {
+  setZoom(display_range.first, display_range.second);
+  zoom_undo_stack->clear();
+}
+
+void ChartsWidget::showValueTip(double sec) {
+  const QRect visible_rect(-charts_container->pos(), charts_scroll->viewport()->size());
+  for (auto c : currentCharts()) {
+    if (sec >= 0 && visible_rect.contains(QRect(c->mapTo(charts_container, QPoint(0, 0)), c->size()))) {
+      c->showTip(sec);
+    } else {
+      c->hideTip();
+    }
+  }
+}
+
+void ChartsWidget::updateState() {
+  if (charts.isEmpty()) return;
+
+  const double cur_sec = can->currentSec();
+  if (!is_zoomed) {
+    double pos = (cur_sec - display_range.first) / std::max<float>(1.0, max_chart_range);
+    if (pos < 0 || pos > 0.8) {
+      display_range.first = std::max(0.0, cur_sec - max_chart_range * 0.1);
+    }
+    double max_sec = std::min(std::floor(display_range.first + max_chart_range), can->lastEventSecond());
+    display_range.first = std::max(0.0, max_sec - max_chart_range);
+    display_range.second = display_range.first + max_chart_range;
+  } else if (cur_sec < zoomed_range.first || cur_sec >= zoomed_range.second) {
+    // loop in zoomed range
+    can->seekTo(zoomed_range.first);
+  }
+
+  const auto &range = is_zoomed ? zoomed_range : display_range;
+  for (auto c : charts) {
+    c->updatePlot(cur_sec, range.first, range.second);
+  }
+}
+
+void ChartsWidget::setMaxChartRange(int value) {
+  max_chart_range = settings.chart_range = range_slider->value();
+  updateToolBar();
+  updateState();
+}
+
+void ChartsWidget::updateToolBar() {
+  title_label->setText(tr("Charts: %1").arg(charts.size()));
+  columns_action->setText(tr("Column: %1").arg(column_count));
+  range_lb->setText(utils::formatSeconds(max_chart_range));
+  range_lb_action->setVisible(!is_zoomed);
+  range_slider_action->setVisible(!is_zoomed);
+  undo_zoom_action->setVisible(is_zoomed);
+  redo_zoom_action->setVisible(is_zoomed);
+  reset_zoom_action->setVisible(is_zoomed);
+  reset_zoom_btn->setText(is_zoomed ? tr("%1-%2").arg(zoomed_range.first, 0, 'f', 1).arg(zoomed_range.second, 0, 'f', 1) : "");
+  remove_all_btn->setEnabled(!charts.isEmpty());
+  dock_btn->setIcon(docking ? "arrow-up-right-square" : "arrow-down-left-square");
+  dock_btn->setToolTip(docking ? tr("Undock charts") : tr("Dock charts"));
+}
+
+void ChartsWidget::settingChanged() {
+  if (std::exchange(current_theme, settings.theme) != current_theme) {
+    undo_zoom_action->setIcon(utils::icon("arrow-counterclockwise"));
+    redo_zoom_action->setIcon(utils::icon("arrow-clockwise"));
+    auto theme = settings.theme == DARK_THEME ? QChart::QChart::ChartThemeDark : QChart::ChartThemeLight;
+    for (auto c : charts) {
+      c->setTheme(theme);
+    }
+  }
+  range_slider->setRange(1, settings.max_cached_minutes * 60);
+  for (auto c : charts) {
+    c->setFixedHeight(settings.chart_height);
+    c->setSeriesType((SeriesType)settings.chart_series_type);
+    c->resetChartCache();
+  }
+}
+
+ChartView *ChartsWidget::findChart(const MessageId &id, const cabana::Signal *sig) {
+  for (auto c : charts)
+    if (c->hasSeries(id, sig)) return c;
+  return nullptr;
+}
+
+ChartView *ChartsWidget::createChart() {
+  auto chart = new ChartView(is_zoomed ? zoomed_range : display_range, this);
+  chart->setFixedHeight(settings.chart_height);
+  chart->setMinimumWidth(CHART_MIN_WIDTH);
+  chart->setSizePolicy(QSizePolicy::MinimumExpanding, QSizePolicy::Fixed);
+  QObject::connect(chart, &ChartView::axisYLabelWidthChanged, &align_timer, qOverload<>(&QTimer::start));
+  charts.push_front(chart);
+  currentCharts().push_front(chart);
+  updateLayout(true);
+  updateToolBar();
+  return chart;
+}
+
+void ChartsWidget::showChart(const MessageId &id, const cabana::Signal *sig, bool show, bool merge) {
+  ChartView *chart = findChart(id, sig);
+  if (show && !chart) {
+    chart = merge && currentCharts().size() > 0 ? currentCharts().front() : createChart();
+    chart->addSeries(id, sig);
+  } else if (!show && chart) {
+    chart->removeIf([&](auto &s) { return s.msg_id == id && s.sig == sig; });
+  }
+}
+
+void ChartsWidget::setColumnCount(int n) {
+  n = std::clamp(n, 1, MAX_COLUMN_COUNT);
+  if (column_count != n) {
+    column_count = settings.chart_column_count = n;
+    updateToolBar();
+    updateLayout();
+  }
+}
+
+void ChartsWidget::updateLayout(bool force) {
+  auto charts_layout = charts_container->charts_layout;
+  int n = MAX_COLUMN_COUNT;
+  for (; n > 1; --n) {
+    if ((n * CHART_MIN_WIDTH + (n - 1) * charts_layout->spacing()) < charts_layout->geometry().width()) break;
+  }
+
+  bool show_column_cb = n > 1;
+  columns_action->setVisible(show_column_cb);
+
+  n = std::min(column_count, n);
+  auto &current_charts = currentCharts();
+  if ((current_charts.size() != charts_layout->count() || n != current_column_count) || force) {
+    current_column_count = n;
+    charts_container->setUpdatesEnabled(false);
+    for (auto c : charts) {
+      c->setVisible(false);
+    }
+    for (int i = 0; i < current_charts.size(); ++i) {
+      charts_layout->addWidget(current_charts[i], i / n, i % n);
+      current_charts[i]->setVisible(true);
+    }
+    charts_container->setUpdatesEnabled(true);
+  }
+}
+
+void ChartsWidget::startAutoScroll() {
+  auto_scroll_timer.start(50);
+}
+
+void ChartsWidget::stopAutoScroll() {
+  auto_scroll_timer.stop();
+  auto_scroll_count = 0;
+}
+
+void ChartsWidget::doAutoScroll() {
+  QScrollBar *scroll = charts_scroll->verticalScrollBar();
+  if (auto_scroll_count < scroll->pageStep()) {
+    ++auto_scroll_count;
+  }
+
+  int value = scroll->value();
+  QPoint pos = charts_scroll->viewport()->mapFromGlobal(QCursor::pos());
+  QRect area = charts_scroll->viewport()->rect();
+
+  if (pos.y() - area.top() < settings.chart_height / 2) {
+    scroll->setValue(value - auto_scroll_count);
+  } else if (area.bottom() - pos.y() < settings.chart_height / 2) {
+    scroll->setValue(value + auto_scroll_count);
+  }
+  bool vertical_unchanged = value == scroll->value();
+  if (vertical_unchanged) {
+    stopAutoScroll();
+  } else {
+    // mouseMoveEvent to updates the drag-selection rectangle
+    const QPoint globalPos = charts_scroll->viewport()->mapToGlobal(pos);
+    const QPoint windowPos = charts_scroll->window()->mapFromGlobal(globalPos);
+    QMouseEvent mm(QEvent::MouseMove, pos, windowPos, globalPos,
+                   Qt::NoButton, Qt::LeftButton, Qt::NoModifier, Qt::MouseEventSynthesizedByQt);
+    QApplication::sendEvent(charts_scroll->viewport(), &mm);
+  }
+}
+
+void ChartsWidget::resizeEvent(QResizeEvent *event) {
+  QWidget::resizeEvent(event);
+  updateLayout();
+}
+
+void ChartsWidget::newChart() {
+  SignalSelector dlg(tr("New Chart"), this);
+  if (dlg.exec() == QDialog::Accepted) {
+    auto items = dlg.seletedItems();
+    if (!items.isEmpty()) {
+      auto c = createChart();
+      for (auto it : items) {
+        c->addSeries(it->msg_id, it->sig);
+      }
+    }
+  }
+}
+
+void ChartsWidget::removeChart(ChartView *chart) {
+  charts.removeOne(chart);
+  chart->deleteLater();
+  for (auto &[_, list] : tab_charts) {
+    list.removeOne(chart);
+  }
+  updateToolBar();
+  updateLayout(true);
+  alignCharts();
+  emit seriesChanged();
+}
+
+void ChartsWidget::removeAll() {
+  if (!charts.isEmpty()) {
+    for (auto c : charts) {
+      c->deleteLater();
+    }
+    charts.clear();
+    tab_charts.clear();
+    updateToolBar();
+    emit seriesChanged();
+  }
+  while (tabbar->count() > 1) {
+    tabbar->removeTab(1);
+  }
+}
+
+void ChartsWidget::alignCharts() {
+  int plot_left = 0;
+  for (auto c : charts) {
+    plot_left = std::max(plot_left, c->y_label_width);
+  }
+  plot_left = std::max((plot_left / 10) * 10 + 10, 50);
+  for (auto c : charts) {
+    c->updatePlotArea(plot_left);
+  }
+}
+
+bool ChartsWidget::eventFilter(QObject *obj, QEvent *event) {
+  if (obj != this && event->type() == QEvent::Close) {
+    emit dock_btn->clicked();
+    return true;
+  }
+  return false;
+}
+
+bool ChartsWidget::event(QEvent *event) {
+  bool back_button = false;
+  switch (event->type()) {
+    case QEvent::MouseButtonPress: {
+      QMouseEvent *ev = static_cast<QMouseEvent *>(event);
+      back_button = ev->button() == Qt::BackButton;
+      break;
+    }
+    case QEvent::NativeGesture: {
+      QNativeGestureEvent *ev = static_cast<QNativeGestureEvent *>(event);
+      back_button = (ev->value() == 180);
+      break;
+    }
+    case QEvent::WindowActivate:
+    case QEvent::WindowDeactivate:
+    case QEvent::FocusIn:
+    case QEvent::FocusOut:
+    case QEvent::Leave:
+      showValueTip(-1);
+      break;
+    default:
+      break;
+  }
+
+  if (back_button) {
+    zoom_undo_stack->undo();
+    return true;
+  }
+  return QFrame::event(event);
+}
+
+// ChartsContainer
+
+ChartsContainer::ChartsContainer(ChartsWidget *parent) : charts_widget(parent), QWidget(parent) {
+  setAcceptDrops(true);
+  QVBoxLayout *charts_main_layout = new QVBoxLayout(this);
+  charts_main_layout->setContentsMargins(0, 10, 0, 0);
+  charts_layout = new QGridLayout();
+  charts_layout->setSpacing(CHART_SPACING);
+  charts_main_layout->addLayout(charts_layout);
+  charts_main_layout->addStretch(0);
+}
+
+void ChartsContainer::dragEnterEvent(QDragEnterEvent *event) {
+  if (event->mimeData()->hasFormat(CHART_MIME_TYPE)) {
+    event->acceptProposedAction();
+    drawDropIndicator(event->pos());
+  }
+}
+
+void ChartsContainer::dropEvent(QDropEvent *event) {
+  if (event->mimeData()->hasFormat(CHART_MIME_TYPE)) {
+    auto w = getDropAfter(event->pos());
+    auto chart = qobject_cast<ChartView *>(event->source());
+    if (w != chart) {
+      for (auto &[_, list] : charts_widget->tab_charts) {
+        list.removeOne(chart);
+      }
+      int to = w ? charts_widget->currentCharts().indexOf(w) + 1 : 0;
+      charts_widget->currentCharts().insert(to, chart);
+      charts_widget->updateLayout(true);
+      event->acceptProposedAction();
+    }
+    drawDropIndicator({});
+  }
+}
+
+void ChartsContainer::paintEvent(QPaintEvent *ev) {
+  if (!drop_indictor_pos.isNull() && !childAt(drop_indictor_pos)) {
+    QRect r;
+    if (auto insert_after = getDropAfter(drop_indictor_pos)) {
+      QRect area = insert_after->geometry();
+      r = QRect(area.left(), area.bottom() + 1, area.width(), CHART_SPACING);
+    } else {
+      r = geometry();
+      r.setHeight(CHART_SPACING);
+    }
+
+    const int margin = (CHART_SPACING - 2) / 2;
+    QPainterPath path;
+    path.addPolygon(QPolygonF({r.topLeft(), QPointF(r.left() + CHART_SPACING, r.top() + r.height() / 2), r.bottomLeft()}));
+    path.addPolygon(QPolygonF({r.topRight(), QPointF(r.right() - CHART_SPACING, r.top() + r.height() / 2), r.bottomRight()}));
+
+    QPainter p(this);
+    p.setRenderHint(QPainter::Antialiasing);
+    p.fillPath(path, palette().highlight());
+    p.fillRect(r.adjusted(2, margin, -2, -margin), palette().highlight());
+  }
+}
+
+ChartView *ChartsContainer::getDropAfter(const QPoint &pos) const {
+  auto it = std::find_if(charts_widget->currentCharts().crbegin(), charts_widget->currentCharts().crend(), [&pos](auto c) {
+    auto area = c->geometry();
+    return pos.x() >= area.left() && pos.x() <= area.right() && pos.y() >= area.bottom();
+  });
+  return it == charts_widget->currentCharts().crend() ? nullptr : *it;
+}
diff --git a/tools/cabana/chart/chartswidget.h b/tools/cabana/chart/chartswidget.h
new file mode 100644
index 0000000000..8fd0e87e51
--- /dev/null
+++ b/tools/cabana/chart/chartswidget.h
@@ -0,0 +1,125 @@
+#pragma once
+
+#include <QGridLayout>
+#include <QLabel>
+#include <QScrollArea>
+#include <QTabBar>
+#include <QTimer>
+#include <QUndoCommand>
+#include <QUndoStack>
+
+#include "tools/cabana/chart/signalselector.h"
+#include "tools/cabana/dbc/dbcmanager.h"
+#include "tools/cabana/streams/abstractstream.h"
+
+const int CHART_MIN_WIDTH = 300;
+const QString CHART_MIME_TYPE = "application/x-cabanachartview";
+
+class ChartView;
+class ChartsWidget;
+
+class ChartsContainer : public QWidget {
+public:
+  ChartsContainer(ChartsWidget *parent);
+  void dragEnterEvent(QDragEnterEvent *event) override;
+  void dropEvent(QDropEvent *event) override;
+  void dragLeaveEvent(QDragLeaveEvent *event) override { drawDropIndicator({}); }
+  void drawDropIndicator(const QPoint &pt) { drop_indictor_pos = pt; update(); }
+  void paintEvent(QPaintEvent *ev) override;
+  ChartView *getDropAfter(const QPoint &pos) const;
+
+  QGridLayout *charts_layout;
+  ChartsWidget *charts_widget;
+  QPoint drop_indictor_pos;
+};
+
+class ChartsWidget : public QFrame {
+  Q_OBJECT
+
+public:
+  ChartsWidget(QWidget *parent = nullptr);
+  void showChart(const MessageId &id, const cabana::Signal *sig, bool show, bool merge);
+  inline bool hasSignal(const MessageId &id, const cabana::Signal *sig) { return findChart(id, sig) != nullptr; }
+
+public slots:
+  void setColumnCount(int n);
+  void removeAll();
+  void setZoom(double min, double max);
+
+signals:
+  void dock(bool floating);
+  void rangeChanged(double min, double max, bool is_zommed);
+  void seriesChanged();
+
+private:
+  void resizeEvent(QResizeEvent *event) override;
+  bool event(QEvent *event) override;
+  void alignCharts();
+  void newChart();
+  ChartView *createChart();
+  void removeChart(ChartView *chart);
+  void eventsMerged();
+  void updateState();
+  void zoomReset();
+  void startAutoScroll();
+  void stopAutoScroll();
+  void doAutoScroll();
+  void updateToolBar();
+  void setMaxChartRange(int value);
+  void updateLayout(bool force = false);
+  void settingChanged();
+  void showValueTip(double sec);
+  bool eventFilter(QObject *obj, QEvent *event) override;
+  void newTab();
+  void removeTab(int index);
+  inline QList<ChartView *> &currentCharts() { return tab_charts[tabbar->tabData(tabbar->currentIndex()).toInt()]; }
+  ChartView *findChart(const MessageId &id, const cabana::Signal *sig);
+
+  QLabel *title_label;
+  QLabel *range_lb;
+  LogSlider *range_slider;
+  QAction *range_lb_action;
+  QAction *range_slider_action;
+  bool docking = true;
+  ToolButton *dock_btn;
+
+  QAction *undo_zoom_action;
+  QAction *redo_zoom_action;
+  QAction *reset_zoom_action;
+  ToolButton *reset_zoom_btn;
+  QUndoStack *zoom_undo_stack;
+
+  ToolButton *remove_all_btn;
+  QList<ChartView *> charts;
+  std::unordered_map<int, QList<ChartView *>> tab_charts;
+  QTabBar *tabbar;
+  ChartsContainer *charts_container;
+  QScrollArea *charts_scroll;
+  uint32_t max_chart_range = 0;
+  bool is_zoomed = false;
+  std::pair<double, double> display_range;
+  std::pair<double, double> zoomed_range;
+  QAction *columns_action;
+  int column_count = 1;
+  int current_column_count = 0;
+  int auto_scroll_count = 0;
+  QTimer auto_scroll_timer;
+  QTimer align_timer;
+  int current_theme = 0;
+  friend class ZoomCommand;
+  friend class ChartView;
+  friend class ChartsContainer;
+};
+
+class ZoomCommand : public QUndoCommand {
+public:
+  ZoomCommand(ChartsWidget *charts, std::pair<double, double> range) : charts(charts), range(range), QUndoCommand() {
+    prev_range = charts->is_zoomed ? charts->zoomed_range : charts->display_range;
+    setText(QObject::tr("Zoom to %1-%2").arg(range.first, 0, 'f', 1).arg(range.second, 0, 'f', 1));
+  }
+  void undo() override { charts->setZoom(prev_range.first, prev_range.second); }
+  void redo() override { charts->setZoom(range.first, range.second); }
+  ChartsWidget *charts;
+  std::pair<double, double> prev_range, range;
+};
+
diff --git a/tools/cabana/chart/signalselector.cc b/tools/cabana/chart/signalselector.cc
new file mode 100644
index 0000000000..1aa8fc5016
--- /dev/null
+++ b/tools/cabana/chart/signalselector.cc
@@ -0,0 +1,108 @@
+#include "tools/cabana/chart/signalselector.h"
+
+#include <QCompleter>
+#include <QDialogButtonBox>
+#include <QGridLayout>
+#include <QLabel>
+#include <QLineEdit>
+#include <QPushButton>
+#include <QVBoxLayout>
+
+#include "tools/cabana/streams/abstractstream.h"
+
+SignalSelector::SignalSelector(QString title, QWidget *parent) : QDialog(parent) {
+  setWindowTitle(title);
+  QGridLayout *main_layout = new QGridLayout(this);
+
+  // left column
+  main_layout->addWidget(new QLabel(tr("Available Signals")), 0, 0);
+  main_layout->addWidget(msgs_combo = new QComboBox(this), 1, 0);
+  msgs_combo->setEditable(true);
+  msgs_combo->lineEdit()->setPlaceholderText(tr("Select a msg..."));
+  msgs_combo->setInsertPolicy(QComboBox::NoInsert);
+  msgs_combo->completer()->setCompletionMode(QCompleter::PopupCompletion);
+  msgs_combo->completer()->setFilterMode(Qt::MatchContains);
+
+  main_layout->addWidget(available_list = new QListWidget(this), 2, 0);
+
+  // buttons
+  QVBoxLayout *btn_layout = new QVBoxLayout();
+  QPushButton *add_btn = new QPushButton(utils::icon("chevron-right"), "", this);
+  add_btn->setEnabled(false);
+  QPushButton *remove_btn = new QPushButton(utils::icon("chevron-left"), "", this);
+  remove_btn->setEnabled(false);
+  btn_layout->addStretch(0);
+  btn_layout->addWidget(add_btn);
+  btn_layout->addWidget(remove_btn);
+  btn_layout->addStretch(0);
+  main_layout->addLayout(btn_layout, 0, 1, 3, 1);
+
+  // right column
+  main_layout->addWidget(new QLabel(tr("Selected Signals")), 0, 2);
+  main_layout->addWidget(selected_list = new QListWidget(this), 1, 2, 2, 1);
+
+  auto buttonBox = new QDialogButtonBox(QDialogButtonBox::Ok | QDialogButtonBox::Cancel);
+  main_layout->addWidget(buttonBox, 3, 2);
+
+  for (auto it = can->last_msgs.cbegin(); it != can->last_msgs.cend(); ++it) {
+    if (auto m = dbc()->msg(it.key())) {
+      msgs_combo->addItem(QString("%1 (%2)").arg(m->name).arg(it.key().toString()), QVariant::fromValue(it.key()));
+    }
+  }
+  msgs_combo->model()->sort(0);
+  msgs_combo->setCurrentIndex(-1);
+
+  QObject::connect(msgs_combo, qOverload<int>(&QComboBox::currentIndexChanged), this, &SignalSelector::updateAvailableList);
+  QObject::connect(available_list, &QListWidget::currentRowChanged, [=](int row) { add_btn->setEnabled(row != -1); });
+  QObject::connect(selected_list, &QListWidget::currentRowChanged, [=](int row) { remove_btn->setEnabled(row != -1); });
+  QObject::connect(available_list, &QListWidget::itemDoubleClicked, this, &SignalSelector::add);
+  QObject::connect(selected_list, &QListWidget::itemDoubleClicked, this, &SignalSelector::remove);
+  QObject::connect(add_btn, &QPushButton::clicked, [this]() { if (auto item = available_list->currentItem()) add(item); });
+  QObject::connect(remove_btn, &QPushButton::clicked, [this]() { if (auto item = selected_list->currentItem()) remove(item); });
+  QObject::connect(buttonBox, &QDialogButtonBox::accepted, this, &QDialog::accept);
+  QObject::connect(buttonBox, &QDialogButtonBox::rejected, this, &QDialog::reject);
+}
+
+void SignalSelector::add(QListWidgetItem *item) {
+  auto it = (ListItem *)item;
+  addItemToList(selected_list, it->msg_id, it->sig, true);
+  delete item;
+}
+
+void SignalSelector::remove(QListWidgetItem *item) {
+  auto it = (ListItem *)item;
+  if (it->msg_id == msgs_combo->currentData().value<MessageId>()) {
+    addItemToList(available_list, it->msg_id, it->sig);
+  }
+  delete item;
+}
+
+void SignalSelector::updateAvailableList(int index) {
+  if (index == -1) return;
+  available_list->clear();
+  MessageId msg_id = msgs_combo->itemData(index).value<MessageId>();
+  auto selected_items = seletedItems();
+  for (auto s : dbc()->msg(msg_id)->getSignals()) {
+    bool is_selected = std::any_of(selected_items.begin(), selected_items.end(), [=, sig = s](auto it) { return it->msg_id == msg_id && it->sig == sig; });
+    if (!is_selected) {
+      addItemToList(available_list, msg_id, s);
+    }
+  }
+}
+
+void SignalSelector::addItemToList(QListWidget *parent, const MessageId id, const cabana::Signal *sig, bool show_msg_name) {
+  QString text = QString("<span style=\"color:%0;\">■ </span> %1").arg(getColor(sig).name(), sig->name);
+  if (show_msg_name) text += QString(" <font color=\"gray\">%0 %1</font>").arg(msgName(id), id.toString());
+
+  QLabel *label = new QLabel(text);
+  label->setContentsMargins(5, 0, 5, 0);
+  auto new_item = new ListItem(id, sig, parent);
+  new_item->setSizeHint(label->sizeHint());
+  parent->setItemWidget(new_item, label);
+}
+
+QList<SignalSelector::ListItem *> SignalSelector::seletedItems() {
+  QList<SignalSelector::ListItem *> ret;
+  for (int i = 0; i < selected_list->count(); ++i) ret.push_back((ListItem *)selected_list->item(i));
+  return ret;
+}
diff --git a/tools/cabana/chart/signalselector.h b/tools/cabana/chart/signalselector.h
new file mode 100644
index 0000000000..f46779f044
--- /dev/null
+++ b/tools/cabana/chart/signalselector.h
@@ -0,0 +1,30 @@
+#pragma once
+
+#include <QComboBox>
+#include <QDialog>
+#include <QListWidget>
+
+#include "tools/cabana/dbc/dbcmanager.h"
+
+class SignalSelector : public QDialog {
+public:
+  struct ListItem : public QListWidgetItem {
+    ListItem(const MessageId &msg_id, const cabana::Signal *sig, QListWidget *parent) : msg_id(msg_id), sig(sig), QListWidgetItem(parent) {}
+    MessageId msg_id;
+    const cabana::Signal *sig;
+  };
+
+  SignalSelector(QString title, QWidget *parent);
+  QList<ListItem *> seletedItems();
+  inline void addSelected(const MessageId &id, const cabana::Signal *sig) { addItemToList(selected_list, id, sig, true); }
+
+private:
+  void updateAvailableList(int index);
+  void addItemToList(QListWidget *parent, const MessageId id, const cabana::Signal *sig, bool show_msg_name = false);
+  void add(QListWidgetItem *item);
+  void remove(QListWidgetItem *item);
+
+  QComboBox *msgs_combo;
+  QListWidget *available_list;
+  QListWidget *selected_list;
+};
diff --git a/tools/cabana/chart/tiplabel.cc b/tools/cabana/chart/tiplabel.cc
new file mode 100644
index 0000000000..db686e44fa
--- /dev/null
+++ b/tools/cabana/chart/tiplabel.cc
@@ -0,0 +1,46 @@
+#include "tools/cabana/chart/tiplabel.h"
+
+#include <QApplication>
+#include <QStylePainter>
+#include <QToolTip>
+
+#include "tools/cabana/settings.h"
+
+TipLabel::TipLabel(QWidget *parent) : QLabel(parent, Qt::ToolTip | Qt::FramelessWindowHint) {
+  setForegroundRole(QPalette::ToolTipText);
+  setBackgroundRole(QPalette::ToolTipBase);
+  auto palette = QToolTip::palette();
+  if (settings.theme != DARK_THEME) {
+    palette.setColor(QPalette::ToolTipBase, QApplication::palette().color(QPalette::Base));
+    palette.setColor(QPalette::ToolTipText, QRgb(0x404044));  // same color as chart label brush
+  }
+  setPalette(palette);
+  ensurePolished();
+  setMargin(1 + style()->pixelMetric(QStyle::PM_ToolTipLabelFrameWidth, nullptr, this));
+  setAttribute(Qt::WA_ShowWithoutActivating);
+  setTextFormat(Qt::RichText);
+  setVisible(false);
+}
+
+void TipLabel::showText(const QPoint &pt, const QString &text, int right_edge) {
+  setText(text);
+  if (!text.isEmpty()) {
+    QSize extra(1, 1);
+    resize(sizeHint() + extra);
+    QPoint tip_pos(pt.x() + 12, pt.y());
+    if (tip_pos.x() + size().width() >= right_edge) {
+      tip_pos.rx() = pt.x() - size().width() - 12;
+    }
+    move(tip_pos);
+  }
+  setVisible(!text.isEmpty());
+}
+
+void TipLabel::paintEvent(QPaintEvent *ev) {
+  QStylePainter p(this);
+  QStyleOptionFrame opt;
+  opt.init(this);
+  p.drawPrimitive(QStyle::PE_PanelTipLabel, opt);
+  p.end();
+  QLabel::paintEvent(ev);
+}
diff --git a/tools/cabana/chart/tiplabel.h b/tools/cabana/chart/tiplabel.h
new file mode 100644
index 0000000000..568aa3d726
--- /dev/null
+++ b/tools/cabana/chart/tiplabel.h
@@ -0,0 +1,10 @@
+#pragma once
+
+#include <QLabel>
+
+class TipLabel : public QLabel {
+public:
+  TipLabel(QWidget *parent = nullptr);
+  void showText(const QPoint &pt, const QString &sec, int right_edge);
+  void paintEvent(QPaintEvent *ev) override;
+};
diff --git a/tools/cabana/chartswidget.h b/tools/cabana/chartswidget.h
deleted file mode 100644
index 8ad440b876..0000000000
--- a/tools/cabana/chartswidget.h
+++ /dev/null
@@ -1,249 +0,0 @@
-#pragma once
-
-#include <QGridLayout>
-#include <QLabel>
-#include <QListWidget>
-#include <QGraphicsPixmapItem>
-#include <QGraphicsProxyWidget>
-#include <QTabBar>
-#include <QTimer>
-#include <QUndoCommand>
-#include <QUndoStack>
-#include <QtCharts/QChartView>
-#include <QtCharts/QLegendMarker>
-#include <QtCharts/QLineSeries>
-#include <QtCharts/QScatterSeries>
-#include <QtCharts/QValueAxis>
-
-#include "tools/cabana/dbc/dbcmanager.h"
-#include "tools/cabana/streams/abstractstream.h"
-using namespace QtCharts;
-
-const int CHART_MIN_WIDTH = 300;
-
-enum class SeriesType {
-  Line = 0,
-  StepLine,
-  Scatter
-};
-
-class ValueTipLabel : public QLabel {
-public:
-  ValueTipLabel(QWidget *parent = nullptr);
-  void showText(const QPoint &pt, const QString &sec, int right_edge);
-  void paintEvent(QPaintEvent *ev) override;
-};
-
-class ChartsWidget;
-class ChartView : public QChartView {
-  Q_OBJECT
-
-public:
-  ChartView(const std::pair<double, double> &x_range, ChartsWidget *parent = nullptr);
-  void addSeries(const MessageId &msg_id, const cabana::Signal *sig);
-  bool hasSeries(const MessageId &msg_id, const cabana::Signal *sig) const;
-  void updateSeries(const cabana::Signal *sig = nullptr);
-  void updatePlot(double cur, double min, double max);
-  void setSeriesType(SeriesType type);
-  void updatePlotArea(int left, bool force = false);
-  void showTip(double sec);
-  void hideTip();
-
-  struct SigItem {
-    MessageId msg_id;
-    const cabana::Signal *sig = nullptr;
-    QXYSeries *series = nullptr;
-    QVector<QPointF> vals;
-    QVector<QPointF> step_vals;
-    uint64_t last_value_mono_time = 0;
-    QPointF track_pt{};
-    SegmentTree segment_tree;
-    double min = 0;
-    double max = 0;
-  };
-
-signals:
-  void axisYLabelWidthChanged(int w);
-
-private slots:
-  void signalUpdated(const cabana::Signal *sig);
-  void manageSeries();
-  void handleMarkerClicked();
-  void msgUpdated(MessageId id);
-  void msgRemoved(MessageId id) { removeIf([=](auto &s) { return s.msg_id == id; }); }
-  void signalRemoved(const cabana::Signal *sig) { removeIf([=](auto &s) { return s.sig == sig; }); }
-
-private:
-  void createToolButtons();
-  void mousePressEvent(QMouseEvent *event) override;
-  void mouseReleaseEvent(QMouseEvent *event) override;
-  void mouseMoveEvent(QMouseEvent *ev) override;
-  void dragEnterEvent(QDragEnterEvent *event) override;
-  void dragLeaveEvent(QDragLeaveEvent *event) override { drawDropIndicator(false); }
-  void dragMoveEvent(QDragMoveEvent *event) override;
-  void dropEvent(QDropEvent *event) override;
-  void leaveEvent(QEvent *event) override;
-  void resizeEvent(QResizeEvent *event) override;
-  QSize sizeHint() const override { return {CHART_MIN_WIDTH, settings.chart_height}; }
-  void updateAxisY();
-  void updateTitle();
-  void resetChartCache();
-  void setTheme(QChart::ChartTheme theme);
-  void paintEvent(QPaintEvent *event) override;
-  void drawForeground(QPainter *painter, const QRectF &rect) override;
-  void drawBackground(QPainter *painter, const QRectF &rect) override;
-  void drawDropIndicator(bool draw) { if (std::exchange(can_drop, draw) != can_drop) viewport()->update(); }
-  std::tuple<double, double, int> getNiceAxisNumbers(qreal min, qreal max, int tick_count);
-  qreal niceNumber(qreal x, bool ceiling);
-  QXYSeries *createSeries(SeriesType type, QColor color);
-  void updateSeriesPoints();
-  void removeIf(std::function<bool(const SigItem &)> predicate);
-  inline void clearTrackPoints() { for (auto &s : sigs) s.track_pt = {}; }
-
-  int y_label_width = 0;
-  int align_to = 0;
-  QValueAxis *axis_x;
-  QValueAxis *axis_y;
-  QGraphicsPixmapItem *move_icon;
-  QGraphicsProxyWidget *close_btn_proxy;
-  QGraphicsProxyWidget *manage_btn_proxy;
-  ValueTipLabel tip_label;
-  QList<SigItem> sigs;
-  double cur_sec = 0;
-  SeriesType series_type = SeriesType::Line;
-  bool is_scrubbing = false;
-  bool resume_after_scrub = false;
-  QPixmap chart_pixmap;
-  bool can_drop = false;
-  double tooltip_x = -1;
-  ChartsWidget *charts_widget;
-  friend class ChartsWidget;
-};
-
-class ChartsContainer : public QWidget {
-public:
-  ChartsContainer(ChartsWidget *parent);
-  void dragEnterEvent(QDragEnterEvent *event) override;
-  void dropEvent(QDropEvent *event) override;
-  void dragLeaveEvent(QDragLeaveEvent *event) override { drawDropIndicator({}); }
-  void drawDropIndicator(const QPoint &pt) { drop_indictor_pos = pt; update(); }
-  void paintEvent(QPaintEvent *ev) override;
-  ChartView *getDropAfter(const QPoint &pos) const;
-
-  QGridLayout *charts_layout;
-  ChartsWidget *charts_widget;
-  QPoint drop_indictor_pos;
-};
-
-class ChartsWidget : public QFrame {
-  Q_OBJECT
-
-public:
-  ChartsWidget(QWidget *parent = nullptr);
-  void showChart(const MessageId &id, const cabana::Signal *sig, bool show, bool merge);
-  inline bool hasSignal(const MessageId &id, const cabana::Signal *sig) { return findChart(id, sig) != nullptr; }
-
-public slots:
-  void setColumnCount(int n);
-  void removeAll();
-  void setZoom(double min, double max);
-
-signals:
-  void dock(bool floating);
-  void rangeChanged(double min, double max, bool is_zommed);
-  void seriesChanged();
-
-private:
-  void resizeEvent(QResizeEvent *event) override;
-  bool event(QEvent *event) override;
-  void alignCharts();
-  void newChart();
-  ChartView *createChart();
-  void removeChart(ChartView *chart);
-  void eventsMerged();
-  void updateState();
-  void zoomReset();
-  void startAutoScroll();
-  void stopAutoScroll();
-  void doAutoScroll();
-  void updateToolBar();
-  void setMaxChartRange(int value);
-  void updateLayout(bool force = false);
-  void settingChanged();
-  void showValueTip(double sec);
-  bool eventFilter(QObject *obj, QEvent *event) override;
-  void newTab();
-  void removeTab(int index);
-  inline QList<ChartView *> &currentCharts() { return tab_charts[tabbar->tabData(tabbar->currentIndex()).toInt()]; }
-  ChartView *findChart(const MessageId &id, const cabana::Signal *sig);
-
-  QLabel *title_label;
-  QLabel *range_lb;
-  LogSlider *range_slider;
-  QAction *range_lb_action;
-  QAction *range_slider_action;
-  bool docking = true;
-  ToolButton *dock_btn;
-
-  QAction *undo_zoom_action;
-  QAction *redo_zoom_action;
-  QAction *reset_zoom_action;
-  ToolButton *reset_zoom_btn;
-  QUndoStack *zoom_undo_stack;
-
-  ToolButton *remove_all_btn;
-  QList<ChartView *> charts;
-  std::unordered_map<int, QList<ChartView *>> tab_charts;
-  QTabBar *tabbar;
-  ChartsContainer *charts_container;
-  QScrollArea *charts_scroll;
-  uint32_t max_chart_range = 0;
-  bool is_zoomed = false;
-  std::pair<double, double> display_range;
-  std::pair<double, double> zoomed_range;
-  QAction *columns_action;
-  int column_count = 1;
-  int current_column_count = 0;
-  int auto_scroll_count = 0;
-  QTimer auto_scroll_timer;
-  QTimer align_timer;
-  int current_theme = 0;
-  friend class ZoomCommand;
-  friend class ChartView;
-  friend class ChartsContainer;
-};
-
-class ZoomCommand : public QUndoCommand {
-public:
-  ZoomCommand(ChartsWidget *charts, std::pair<double, double> range) : charts(charts), range(range), QUndoCommand() {
-    prev_range = charts->is_zoomed ? charts->zoomed_range : charts->display_range;
-    setText(QObject::tr("Zoom to %1-%2").arg(range.first, 0, 'f', 1).arg(range.second, 0, 'f', 1));
-  }
-  void undo() override { charts->setZoom(prev_range.first, prev_range.second); }
-  void redo() override { charts->setZoom(range.first, range.second); }
-  ChartsWidget *charts;
-  std::pair<double, double> prev_range, range;
-};
-
-class SeriesSelector : public QDialog {
-public:
-  struct ListItem : public QListWidgetItem {
-    ListItem(const MessageId &msg_id, const cabana::Signal *sig, QListWidget *parent) : msg_id(msg_id), sig(sig), QListWidgetItem(parent) {}
-    MessageId msg_id;
-    const cabana::Signal *sig;
-  };
-
-  SeriesSelector(QString title, QWidget *parent);
-  QList<ListItem *> seletedItems();
-  inline void addSelected(const MessageId &id, const cabana::Signal *sig) { addItemToList(selected_list, id, sig, true); }
-
-private:
-  void updateAvailableList(int index);
-  void addItemToList(QListWidget *parent, const MessageId id, const cabana::Signal *sig, bool show_msg_name = false);
-  void add(QListWidgetItem *item);
-  void remove(QListWidgetItem *item);
-
-  QComboBox *msgs_combo;
-  QListWidget *available_list;
-  QListWidget *selected_list;
-};
diff --git a/tools/cabana/detailwidget.h b/tools/cabana/detailwidget.h
index b7cfed376c..074ce3b4d3 100644
--- a/tools/cabana/detailwidget.h
+++ b/tools/cabana/detailwidget.h
@@ -6,7 +6,7 @@
 
 #include "selfdrive/ui/qt/widgets/controls.h"
 #include "tools/cabana/binaryview.h"
-#include "tools/cabana/chartswidget.h"
+#include "tools/cabana/chart/chartswidget.h"
 #include "tools/cabana/historylog.h"
 #include "tools/cabana/signalview.h"
 
diff --git a/tools/cabana/mainwin.h b/tools/cabana/mainwin.h
index 991a34931d..3445642d4d 100644
--- a/tools/cabana/mainwin.h
+++ b/tools/cabana/mainwin.h
@@ -7,7 +7,7 @@
 #include <QSplitter>
 #include <QStatusBar>
 
-#include "tools/cabana/chartswidget.h"
+#include "tools/cabana/chart/chartswidget.h"
 #include "tools/cabana/dbc/dbcmanager.h"
 #include "tools/cabana/detailwidget.h"
 #include "tools/cabana/messageswidget.h"
diff --git a/tools/cabana/signalview.cc b/tools/cabana/signalview.cc
index c40a0f176c..f404dd3346 100644
--- a/tools/cabana/signalview.cc
+++ b/tools/cabana/signalview.cc
@@ -6,6 +6,7 @@
 #include <QHBoxLayout>
 #include <QHeaderView>
 #include <QMessageBox>
+#include <QPainter>
 #include <QPushButton>
 #include <QVBoxLayout>
 
diff --git a/tools/cabana/signalview.h b/tools/cabana/signalview.h
index 9711ae47bc..a2102ff9a7 100644
--- a/tools/cabana/signalview.h
+++ b/tools/cabana/signalview.h
@@ -8,7 +8,7 @@
 #include <QTableWidget>
 #include <QTreeView>
 
-#include "tools/cabana/chartswidget.h"
+#include "tools/cabana/chart/chartswidget.h"
 
 class SignalModel : public QAbstractItemModel {
   Q_OBJECT

From 36bd49ea979cad6c993306d2aa89c1edbbb4f3b0 Mon Sep 17 00:00:00 2001
From: Adeeb Shihadeh <adeebshihadeh@gmail.com>
Date: Wed, 12 Apr 2023 15:50:00 -0700
Subject: [PATCH 84/88] bump panda

---
 panda | 2 +-
 1 file changed, 1 insertion(+), 1 deletion(-)

diff --git a/panda b/panda
index 878e0077ac..0832d65347 160000
--- a/panda
+++ b/panda
@@ -1 +1 @@
-Subproject commit 878e0077ac077c5325b37710b8df856468d85674
+Subproject commit 0832d65347619439137900599d92cdd2b8d8d194

From f63fe156379cc225f7685a692ed9e3d1965fc5dc Mon Sep 17 00:00:00 2001
From: Dean Lee <deanlee3@gmail.com>
Date: Thu, 13 Apr 2023 06:59:44 +0800
Subject: [PATCH 85/88] cabana: support splitting chart (#27887)

* split chart

* fixed elided axisY label issues

* fade in chart
---
 tools/cabana/chart/chart.cc        | 68 ++++++++++++++++++++----------
 tools/cabana/chart/chart.h         |  9 ++--
 tools/cabana/chart/chartswidget.cc | 23 ++++++++--
 tools/cabana/chart/chartswidget.h  |  1 +
 4 files changed, 73 insertions(+), 28 deletions(-)

diff --git a/tools/cabana/chart/chart.cc b/tools/cabana/chart/chart.cc
index d01a4882b2..ee1cdab6d2 100644
--- a/tools/cabana/chart/chart.cc
+++ b/tools/cabana/chart/chart.cc
@@ -5,9 +5,11 @@
 #include <QDrag>
 #include <QGraphicsLayout>
 #include <QGraphicsDropShadowEffect>
+#include <QGraphicsOpacityEffect>
 #include <QMenu>
 #include <QMimeData>
 #include <QOpenGLWidget>
+#include <QPropertyAnimation>
 #include <QRubberBand>
 #include <QtMath>
 
@@ -58,7 +60,7 @@ void ChartView::createToolButtons() {
   QMenu *menu = new QMenu(this);
   auto change_series_group = new QActionGroup(menu);
   change_series_group->setExclusive(true);
-  QStringList types{tr("line"), tr("Step Line"), tr("Scatter")};
+  QStringList types{tr("Line"), tr("Step Line"), tr("Scatter")};
   for (int i = 0; i < types.size(); ++i) {
     QAction *act = new QAction(types[i], change_series_group);
     act->setData(i);
@@ -67,7 +69,8 @@ void ChartView::createToolButtons() {
     menu->addAction(act);
   }
   menu->addSeparator();
-  menu->addAction(tr("Manage series"), this, &ChartView::manageSeries);
+  menu->addAction(tr("Manage Signals"), this, &ChartView::manageSignals);
+  split_chart_act = menu->addAction(tr("Split Chart"), [this]() { charts_widget->splitChart(this); });
 
   QToolButton *manage_btn = new ToolButton("list", "");
   manage_btn->setMenu(menu);
@@ -90,10 +93,10 @@ QSize ChartView::sizeHint() const {
 void ChartView::setTheme(QChart::ChartTheme theme) {
   chart()->setTheme(theme);
   if (theme == QChart::ChartThemeDark) {
-    axis_x->setTitleBrush(palette().color(QPalette::Text));
-    axis_x->setLabelsBrush(palette().color(QPalette::Text));
-    axis_y->setTitleBrush(palette().color(QPalette::Text));
-    axis_y->setLabelsBrush(palette().color(QPalette::Text));
+    axis_x->setTitleBrush(palette().text());
+    axis_x->setLabelsBrush(palette().text());
+    axis_y->setTitleBrush(palette().text());
+    axis_y->setLabelsBrush(palette().text());
     chart()->legend()->setLabelColor(palette().color(QPalette::Text));
   }
   for (auto &s : sigs) {
@@ -101,18 +104,18 @@ void ChartView::setTheme(QChart::ChartTheme theme) {
   }
 }
 
-void ChartView::addSeries(const MessageId &msg_id, const cabana::Signal *sig) {
-  if (hasSeries(msg_id, sig)) return;
+void ChartView::addSignal(const MessageId &msg_id, const cabana::Signal *sig) {
+  if (hasSignal(msg_id, sig)) return;
 
   QXYSeries *series = createSeries(series_type, getColor(sig));
   sigs.push_back({.msg_id = msg_id, .sig = sig, .series = series});
-  updateTitle();
   updateSeries(sig);
   updateSeriesPoints();
+  updateTitle();
   emit charts_widget->seriesChanged();
 }
 
-bool ChartView::hasSeries(const MessageId &msg_id, const cabana::Signal *sig) const {
+bool ChartView::hasSignal(const MessageId &msg_id, const cabana::Signal *sig) const {
   return std::any_of(sigs.begin(), sigs.end(), [&](auto &s) { return s.msg_id == msg_id && s.sig == sig; });
 }
 
@@ -139,7 +142,6 @@ void ChartView::removeIf(std::function<bool(const SigItem &s)> predicate) {
 void ChartView::signalUpdated(const cabana::Signal *sig) {
   if (std::any_of(sigs.begin(), sigs.end(), [=](auto &s) { return s.sig == sig; })) {
     updateTitle();
-    // TODO: don't update series if only name changed.
     updateSeries(sig);
   }
 }
@@ -149,7 +151,7 @@ void ChartView::msgUpdated(MessageId id) {
     updateTitle();
 }
 
-void ChartView::manageSeries() {
+void ChartView::manageSignals() {
   SignalSelector dlg(tr("Mange Chart"), this);
   for (auto &s : sigs) {
     dlg.addSelected(s.msg_id, s.sig);
@@ -157,7 +159,7 @@ void ChartView::manageSeries() {
   if (dlg.exec() == QDialog::Accepted) {
     auto items = dlg.seletedItems();
     for (auto s : items) {
-      addSeries(s->msg_id, s->sig);
+      addSignal(s->msg_id, s->sig);
     }
     removeIf([&](auto &s) {
       return std::none_of(items.cbegin(), items.cend(), [&](auto &it) { return s.msg_id == it->msg_id && s.sig == it->sig; });
@@ -172,7 +174,6 @@ void ChartView::resizeEvent(QResizeEvent *event) {
   close_btn_proxy->setPos(rect().right() - right - close_btn_proxy->size().width(), top);
   int x = close_btn_proxy->pos().x() - manage_btn_proxy->size().width() - style()->pixelMetric(QStyle::PM_LayoutHorizontalSpacing);
   manage_btn_proxy->setPos(x, top);
-  chart()->legend()->setGeometry({move_icon->sceneBoundingRect().topRight(), manage_btn_proxy->sceneBoundingRect().bottomLeft()});
   if (align_to > 0) {
     updatePlotArea(align_to, true);
   }
@@ -185,6 +186,7 @@ void ChartView::updatePlotArea(int left_pos, bool force) {
 
     qreal left, top, right, bottom;
     chart()->layout()->getContentsMargins(&left, &top, &right, &bottom);
+    chart()->legend()->setGeometry({move_icon->sceneBoundingRect().topRight(), manage_btn_proxy->sceneBoundingRect().bottomLeft()});
     QSizeF x_label_size = QFontMetrics(axis_x->labelsFont()).size(Qt::TextSingleLine, QString::number(axis_x->max(), 'f', 2));
     x_label_size += QSizeF{5, 5};
     int adjust_top = chart()->legend()->geometry().height() + style()->pixelMetric(QStyle::PM_LayoutTopMargin);
@@ -202,6 +204,7 @@ void ChartView::updateTitle() {
     auto decoration = s.series->isVisible() ? "none" : "line-through";
     s.series->setName(QString("<span style=\"text-decoration:%1\"><b>%2</b> <font color=\"gray\">%3 %4</font></span>").arg(decoration, s.sig->name, msgName(s.msg_id), s.msg_id.toString()));
   }
+  split_chart_act->setEnabled(sigs.size() > 1);
   resetChartCache();
 }
 
@@ -279,7 +282,8 @@ void ChartView::updateSeries(const cabana::Signal *sig) {
     }
   }
   updateAxisY();
-  chart_pixmap = QPixmap();
+  // invoke resetChartCache in ui thread
+  QMetaObject::invokeMethod(this, &ChartView::resetChartCache, Qt::QueuedConnection);
 }
 
 // auto zoom on yaxis
@@ -329,10 +333,16 @@ void ChartView::updateAxisY() {
     axis_y->setRange(min_y, max_y);
     axis_y->setTickCount(tick_count);
 
-    int title_spacing = unit.isEmpty() ? 0 : QFontMetrics(axis_y->titleFont()).size(Qt::TextSingleLine, unit).height();
-    QFontMetrics fm(axis_y->labelsFont());
     int n = qMax(int(-qFloor(std::log10((max_y - min_y) / (tick_count - 1)))), 0) + 1;
-    y_label_width = title_spacing + qMax(fm.width(QString::number(min_y, 'f', n)), fm.width(QString::number(max_y, 'f', n))) + 15;
+    int max_label_width = 0;
+    QFontMetrics fm(axis_y->labelsFont());
+    for (int i = 0; i < tick_count; i++) {
+      qreal value = min_y + (i * (max_y - min_y) / (tick_count - 1));
+      max_label_width = std::max(max_label_width, fm.width(QString::number(value, 'f', n)));
+    }
+
+    int title_spacing = unit.isEmpty() ? 0 : QFontMetrics(axis_y->titleFont()).size(Qt::TextSingleLine, unit).height();
+    y_label_width = title_spacing + max_label_width + 15;
     axis_y->setLabelFormat(QString("%.%1f").arg(n));
     emit axisYLabelWidthChanged(y_label_width);
   }
@@ -556,13 +566,12 @@ void ChartView::dropEvent(QDropEvent *event) {
       ChartView *source_chart = (ChartView *)event->source();
       for (auto &s : source_chart->sigs) {
         source_chart->chart()->removeSeries(s.series);
-        chart()->addSeries(s.series);
-        s.series->attachAxis(axis_x);
-        s.series->attachAxis(axis_y);
+        addSeries(s.series);
       }
       sigs.append(source_chart->sigs);
       updateAxisY();
       updateTitle();
+      startAnimation();
 
       source_chart->sigs.clear();
       charts_widget->removeChart(source_chart);
@@ -577,6 +586,17 @@ void ChartView::resetChartCache() {
   viewport()->update();
 }
 
+void ChartView::startAnimation() {
+  QGraphicsOpacityEffect *eff = new QGraphicsOpacityEffect(this);
+  viewport()->setGraphicsEffect(eff);
+  QPropertyAnimation *a = new QPropertyAnimation(eff, "opacity");
+  a->setDuration(250);
+  a->setStartValue(0.3);
+  a->setEndValue(1);
+  a->setEasingCurve(QEasingCurve::InBack);
+  a->start(QPropertyAnimation::DeleteWhenStopped);
+}
+
 void ChartView::paintEvent(QPaintEvent *event) {
   if (!can->liveStreaming()) {
     if (chart_pixmap.isNull()) {
@@ -684,6 +704,11 @@ QXYSeries *ChartView::createSeries(SeriesType type, QColor color) {
   pen.setWidthF(2.0 * devicePixelRatioF());
   series->setPen(pen);
 #endif
+  addSeries(series);
+  return series;
+}
+
+void ChartView::addSeries(QXYSeries *series) {
   chart()->addSeries(series);
   series->attachAxis(axis_x);
   series->attachAxis(axis_y);
@@ -694,7 +719,6 @@ QXYSeries *ChartView::createSeries(SeriesType type, QColor color) {
   if (glwidget && !glwidget->testAttribute(Qt::WA_TransparentForMouseEvents)) {
     glwidget->setAttribute(Qt::WA_TransparentForMouseEvents);
   }
-  return series;
 }
 
 void ChartView::setSeriesType(SeriesType type) {
diff --git a/tools/cabana/chart/chart.h b/tools/cabana/chart/chart.h
index d00ead0f9f..fda9271560 100644
--- a/tools/cabana/chart/chart.h
+++ b/tools/cabana/chart/chart.h
@@ -25,14 +25,15 @@ class ChartView : public QChartView {
 
 public:
   ChartView(const std::pair<double, double> &x_range, ChartsWidget *parent = nullptr);
-  void addSeries(const MessageId &msg_id, const cabana::Signal *sig);
-  bool hasSeries(const MessageId &msg_id, const cabana::Signal *sig) const;
+  void addSignal(const MessageId &msg_id, const cabana::Signal *sig);
+  bool hasSignal(const MessageId &msg_id, const cabana::Signal *sig) const;
   void updateSeries(const cabana::Signal *sig = nullptr);
   void updatePlot(double cur, double min, double max);
   void setSeriesType(SeriesType type);
   void updatePlotArea(int left, bool force = false);
   void showTip(double sec);
   void hideTip();
+  void startAnimation();
 
   struct SigItem {
     MessageId msg_id;
@@ -52,7 +53,7 @@ signals:
 
 private slots:
   void signalUpdated(const cabana::Signal *sig);
-  void manageSeries();
+  void manageSignals();
   void handleMarkerClicked();
   void msgUpdated(MessageId id);
   void msgRemoved(MessageId id) { removeIf([=](auto &s) { return s.msg_id == id; }); }
@@ -60,6 +61,7 @@ private slots:
 
 private:
   void createToolButtons();
+  void addSeries(QXYSeries *series);
   void mousePressEvent(QMouseEvent *event) override;
   void mouseReleaseEvent(QMouseEvent *event) override;
   void mouseMoveEvent(QMouseEvent *ev) override;
@@ -89,6 +91,7 @@ private:
   int align_to = 0;
   QValueAxis *axis_x;
   QValueAxis *axis_y;
+  QAction *split_chart_act;
   QGraphicsPixmapItem *move_icon;
   QGraphicsProxyWidget *close_btn_proxy;
   QGraphicsProxyWidget *manage_btn_proxy;
diff --git a/tools/cabana/chart/chartswidget.cc b/tools/cabana/chart/chartswidget.cc
index dab9687b5a..2700f6519e 100644
--- a/tools/cabana/chart/chartswidget.cc
+++ b/tools/cabana/chart/chartswidget.cc
@@ -235,7 +235,7 @@ void ChartsWidget::settingChanged() {
 
 ChartView *ChartsWidget::findChart(const MessageId &id, const cabana::Signal *sig) {
   for (auto c : charts)
-    if (c->hasSeries(id, sig)) return c;
+    if (c->hasSignal(id, sig)) return c;
   return nullptr;
 }
 
@@ -256,12 +256,28 @@ void ChartsWidget::showChart(const MessageId &id, const cabana::Signal *sig, boo
   ChartView *chart = findChart(id, sig);
   if (show && !chart) {
     chart = merge && currentCharts().size() > 0 ? currentCharts().front() : createChart();
-    chart->addSeries(id, sig);
+    chart->addSignal(id, sig);
   } else if (!show && chart) {
     chart->removeIf([&](auto &s) { return s.msg_id == id && s.sig == sig; });
   }
 }
 
+void ChartsWidget::splitChart(ChartView *src_chart) {
+  if (src_chart->sigs.size() > 1) {
+    for (auto it = src_chart->sigs.begin() + 1; it != src_chart->sigs.end(); /**/) {
+      auto c = createChart();
+      src_chart->chart()->removeSeries(it->series);
+      c->addSeries(it->series);
+      c->sigs.push_back(*it);
+      c->updateAxisY();
+      c->updateTitle();
+      it = src_chart->sigs.erase(it);
+    }
+    src_chart->updateAxisY();
+    src_chart->updateTitle();
+  }
+}
+
 void ChartsWidget::setColumnCount(int n) {
   n = std::clamp(n, 1, MAX_COLUMN_COUNT);
   if (column_count != n) {
@@ -346,7 +362,7 @@ void ChartsWidget::newChart() {
     if (!items.isEmpty()) {
       auto c = createChart();
       for (auto it : items) {
-        c->addSeries(it->msg_id, it->sig);
+        c->addSignal(it->msg_id, it->sig);
       }
     }
   }
@@ -460,6 +476,7 @@ void ChartsContainer::dropEvent(QDropEvent *event) {
       charts_widget->currentCharts().insert(to, chart);
       charts_widget->updateLayout(true);
       event->acceptProposedAction();
+      chart->startAnimation();
     }
     drawDropIndicator({});
   }
diff --git a/tools/cabana/chart/chartswidget.h b/tools/cabana/chart/chartswidget.h
index 8fd0e87e51..5fe227b156 100644
--- a/tools/cabana/chart/chartswidget.h
+++ b/tools/cabana/chart/chartswidget.h
@@ -58,6 +58,7 @@ private:
   void newChart();
   ChartView *createChart();
   void removeChart(ChartView *chart);
+  void splitChart(ChartView *chart);
   void eventsMerged();
   void updateState();
   void zoomReset();

From 210dd942f04bc85a31dda0df0b545017bb964479 Mon Sep 17 00:00:00 2001
From: Shane Smiskol <shane@smiskol.com>
Date: Wed, 12 Apr 2023 16:37:53 -0700
Subject: [PATCH 86/88] Hyundai CAN FD: query hvac with alt request (#27891)

Update values.py
---
 selfdrive/car/hyundai/values.py | 4 ++--
 1 file changed, 2 insertions(+), 2 deletions(-)

diff --git a/selfdrive/car/hyundai/values.py b/selfdrive/car/hyundai/values.py
index 51717eb957..a793774937 100644
--- a/selfdrive/car/hyundai/values.py
+++ b/selfdrive/car/hyundai/values.py
@@ -385,14 +385,14 @@ FW_QUERY_CONFIG = FwQueryConfig(
     Request(
       [HYUNDAI_VERSION_REQUEST_ALT],
       [HYUNDAI_VERSION_RESPONSE],
-      whitelist_ecus=[Ecu.parkingAdas],
+      whitelist_ecus=[Ecu.parkingAdas, Ecu.hvac],
       bus=0,
       auxiliary=True,
     ),
     Request(
       [HYUNDAI_VERSION_REQUEST_ALT],
       [HYUNDAI_VERSION_RESPONSE],
-      whitelist_ecus=[Ecu.parkingAdas],
+      whitelist_ecus=[Ecu.parkingAdas, Ecu.hvac],
       bus=1,
       auxiliary=True,
       obd_multiplexing=False,

From 406840c37730d81584ea95cf8a8dcb92711da452 Mon Sep 17 00:00:00 2001
From: YassineYousfi <yyousfi1@binghamton.edu>
Date: Wed, 12 Apr 2023 22:18:51 -0700
Subject: [PATCH 87/88] add tensorrt dependency (#27893)

---
 poetry.lock    | 87 +++++++++++++++++++++++++++++++++++++++++++++++++-
 pyproject.toml |  1 +
 2 files changed, 87 insertions(+), 1 deletion(-)

diff --git a/poetry.lock b/poetry.lock
index 6733b9d172..5d60353f80 100644
--- a/poetry.lock
+++ b/poetry.lock
@@ -2519,6 +2519,33 @@ category = "main"
 optional = false
 python-versions = ">=3.8"
 
+[[package]]
+name = "nvidia-cublas-cu12"
+version = "12.1.0.26"
+description = "CUBLAS native runtime libraries"
+category = "dev"
+optional = false
+python-versions = ">=3"
+
+[[package]]
+name = "nvidia-cuda-runtime-cu12"
+version = "12.1.55"
+description = "CUDA Runtime native Libraries"
+category = "dev"
+optional = false
+python-versions = ">=3"
+
+[[package]]
+name = "nvidia-cudnn-cu12"
+version = "8.9.0.131"
+description = "cuDNN runtime libraries"
+category = "dev"
+optional = false
+python-versions = ">=3"
+
+[package.dependencies]
+nvidia-cublas-cu12 = "*"
+
 [[package]]
 name = "nvidia-ml-py3"
 version = "7.352.0"
@@ -4202,6 +4229,22 @@ python-versions = ">=3.6"
 [package.extras]
 doc = ["reno", "sphinx", "tornado (>=4.5)"]
 
+[[package]]
+name = "tensorrt"
+version = "8.6.0"
+description = "A high performance deep learning inference library"
+category = "dev"
+optional = false
+python-versions = "*"
+
+[package.dependencies]
+nvidia-cublas-cu12 = "*"
+nvidia-cuda-runtime-cu12 = "*"
+nvidia-cudnn-cu12 = "*"
+
+[package.extras]
+numpy = ["numpy"]
+
 [[package]]
 name = "terminado"
 version = "0.16.0"
@@ -4697,7 +4740,7 @@ testing = ["coverage (>=5.0.3)", "zope.event", "zope.testing"]
 [metadata]
 lock-version = "1.1"
 python-versions = "~3.8"
-content-hash = "562996977917001bad838c79b9276451d97ab632ae9e2b0f7357c6aa2c50f3d8"
+content-hash = "774e90b7d2bef68c6d219c8afc3d5717a104a04b9cd7b1b215655eb48fa62d04"
 
 [metadata.files]
 adal = [
@@ -5617,6 +5660,14 @@ fastcluster = [
     {file = "fastcluster-1.2.6-cp310-cp310-manylinux_2_5_x86_64.manylinux1_x86_64.manylinux_2_17_x86_64.manylinux2014_x86_64.whl", hash = "sha256:9020899b67fe492d0ed87a3e993ec9962c5a0b51ea2df71d86b1766f065f1cef"},
     {file = "fastcluster-1.2.6-cp310-cp310-win32.whl", hash = "sha256:6cf156d4203708348522393c523c2e61c81f5a6a500e0411dcba2b064551ea2f"},
     {file = "fastcluster-1.2.6-cp310-cp310-win_amd64.whl", hash = "sha256:1801c9daa9aa5bbbb0830efe8bd3034b4b7a417e4b8dd353683999be29797df2"},
+    {file = "fastcluster-1.2.6-cp311-cp311-macosx_10_9_universal2.whl", hash = "sha256:ce70c743490f6778b463524d1767a9ecccd31c8bd2dbb5739bb2174168c15d39"},
+    {file = "fastcluster-1.2.6-cp311-cp311-macosx_10_9_x86_64.whl", hash = "sha256:ac1b84d4b28456a379a71451d13995eb3242143452ce9c861f8913360de842a3"},
+    {file = "fastcluster-1.2.6-cp311-cp311-macosx_11_0_arm64.whl", hash = "sha256:55b49f6033c45a28f93540847b495ed0f718b5c3f4fef446cf77e3726662e1d5"},
+    {file = "fastcluster-1.2.6-cp311-cp311-manylinux_2_17_aarch64.manylinux2014_aarch64.whl", hash = "sha256:c1c776a4ec7594f47cd2e1e2da73a30134f1d402d7c93a81e3cb7c3d8e191173"},
+    {file = "fastcluster-1.2.6-cp311-cp311-manylinux_2_5_i686.manylinux1_i686.manylinux_2_17_i686.manylinux2014_i686.whl", hash = "sha256:aca61d16435bb7aea3901939d7d7d7e36aff9bb538123e649166a3014b280054"},
+    {file = "fastcluster-1.2.6-cp311-cp311-manylinux_2_5_x86_64.manylinux1_x86_64.manylinux_2_17_x86_64.manylinux2014_x86_64.whl", hash = "sha256:04ea4a68e0675072ca761bad33322a0e998cb43693fd41165bc420d7db40429a"},
+    {file = "fastcluster-1.2.6-cp311-cp311-win32.whl", hash = "sha256:773043d5db2790e1ff2a4e1eae0b6a60afb2a93ad2c74897a56c80bc800db04f"},
+    {file = "fastcluster-1.2.6-cp311-cp311-win_amd64.whl", hash = "sha256:841d128daa6597d13781793eb482b0b566bbd58d2a9d1e2cf1b58838773beb14"},
     {file = "fastcluster-1.2.6-cp36-cp36m-macosx_10_9_x86_64.whl", hash = "sha256:cf5acfe1156849279ebd44a8d1fbcbe8b8e21334f7538eda782ae31e7dade9e2"},
     {file = "fastcluster-1.2.6-cp36-cp36m-manylinux_2_17_aarch64.manylinux2014_aarch64.whl", hash = "sha256:cb27c13225f5f77f3c5986a27ca27277cce7db12844330cf535019cd38021257"},
     {file = "fastcluster-1.2.6-cp36-cp36m-manylinux_2_5_i686.manylinux1_i686.manylinux_2_17_i686.manylinux2014_i686.whl", hash = "sha256:5fe543b6d45da27e84e5af6248722475b88943d8ef40d835cbabbb0ba5ee786b"},
@@ -6898,6 +6949,17 @@ numpy = [
     {file = "numpy-1.23.4-pp38-pypy38_pp73-win_amd64.whl", hash = "sha256:4d52914c88b4930dafb6c48ba5115a96cbab40f45740239d9f4159c4ba779962"},
     {file = "numpy-1.23.4.tar.gz", hash = "sha256:ed2cc92af0efad20198638c69bb0fc2870a58dabfba6eb722c933b48556c686c"},
 ]
+nvidia-cublas-cu12 = [
+    {file = "nvidia_cublas_cu12-12.1.0.26-py3-none-manylinux1_x86_64.whl", hash = "sha256:4fd00bd12d442f53929616f45ba67552a13d8940f6e766d11d83973a21ada910"},
+    {file = "nvidia_cublas_cu12-12.1.0.26-py3-none-win_amd64.whl", hash = "sha256:5c668dcb5cbf49e1add058328300aa90fd012eb958a646a8777d55da2eca5eaa"},
+]
+nvidia-cuda-runtime-cu12 = [
+    {file = "nvidia_cuda_runtime_cu12-12.1.55-py3-none-manylinux1_x86_64.whl", hash = "sha256:a485693383c7a28ba022587c5a640353ef61a21eb2e87382d0a76340bda92e2e"},
+    {file = "nvidia_cuda_runtime_cu12-12.1.55-py3-none-win_amd64.whl", hash = "sha256:6939e48161354dbc096dcc6f7910cb2387227f0bac462c2cff51a7d5b50ad200"},
+]
+nvidia-cudnn-cu12 = [
+    {file = "nvidia_cudnn_cu12-8.9.0.131-py3-none-manylinux1_x86_64.whl", hash = "sha256:2a95c2e0201187509021270f52971435d171e65627a482b9ebdfdde6749ad485"},
+]
 nvidia-ml-py3 = [
     {file = "nvidia-ml-py3-7.352.0.tar.gz", hash = "sha256:390f02919ee9d73fe63a98c73101061a6b37fa694a793abf56673320f1f51277"},
 ]
@@ -6934,6 +6996,7 @@ onnx = [
 ]
 onnx2torch = [
     {file = "onnx2torch-1.5.4-py3-none-any.whl", hash = "sha256:fd1a0fe05072bfb9f3d86d9330299b130b41f11bd4ae634db17078974e711725"},
+    {file = "onnx2torch-1.5.4.tar.gz", hash = "sha256:df837b557a63540223d85fde4a1d679fde0ca8d8bb89d5379c030b01eddc9c24"},
 ]
 onnxoptimizer = [
     {file = "onnxoptimizer-0.3.1-cp37-cp37m-macosx_10_15_x86_64.whl", hash = "sha256:e73a5e2e3ca4db9bff54f7131768749c861677b97ee811a136fcf1a52783cf6e"},
@@ -7323,6 +7386,7 @@ pycryptodome = [
     {file = "pycryptodome-3.15.0-cp27-cp27m-manylinux2010_i686.whl", hash = "sha256:7c9ed8aa31c146bef65d89a1b655f5f4eab5e1120f55fc297713c89c9e56ff0b"},
     {file = "pycryptodome-3.15.0-cp27-cp27m-manylinux2010_x86_64.whl", hash = "sha256:5099c9ca345b2f252f0c28e96904643153bae9258647585e5e6f649bb7a1844a"},
     {file = "pycryptodome-3.15.0-cp27-cp27m-manylinux2014_aarch64.whl", hash = "sha256:2ec709b0a58b539a4f9d33fb8508264c3678d7edb33a68b8906ba914f71e8c13"},
+    {file = "pycryptodome-3.15.0-cp27-cp27m-musllinux_1_1_aarch64.whl", hash = "sha256:2ae53125de5b0d2c95194d957db9bb2681da8c24d0fb0fe3b056de2bcaf5d837"},
     {file = "pycryptodome-3.15.0-cp27-cp27m-win32.whl", hash = "sha256:fd2184aae6ee2a944aaa49113e6f5787cdc5e4db1eb8edb1aea914bd75f33a0c"},
     {file = "pycryptodome-3.15.0-cp27-cp27m-win_amd64.whl", hash = "sha256:7e3a8f6ee405b3bd1c4da371b93c31f7027944b2bcce0697022801db93120d83"},
     {file = "pycryptodome-3.15.0-cp27-cp27mu-manylinux1_i686.whl", hash = "sha256:b9c5b1a1977491533dfd31e01550ee36ae0249d78aae7f632590db833a5012b8"},
@@ -7330,12 +7394,14 @@ pycryptodome = [
     {file = "pycryptodome-3.15.0-cp27-cp27mu-manylinux2010_i686.whl", hash = "sha256:2aa55aae81f935a08d5a3c2042eb81741a43e044bd8a81ea7239448ad751f763"},
     {file = "pycryptodome-3.15.0-cp27-cp27mu-manylinux2010_x86_64.whl", hash = "sha256:c3640deff4197fa064295aaac10ab49a0d55ef3d6a54ae1499c40d646655c89f"},
     {file = "pycryptodome-3.15.0-cp27-cp27mu-manylinux2014_aarch64.whl", hash = "sha256:045d75527241d17e6ef13636d845a12e54660aa82e823b3b3341bcf5af03fa79"},
+    {file = "pycryptodome-3.15.0-cp27-cp27mu-musllinux_1_1_aarch64.whl", hash = "sha256:eb6fce570869e70cc8ebe68eaa1c26bed56d40ad0f93431ee61d400525433c54"},
     {file = "pycryptodome-3.15.0-cp35-abi3-macosx_10_9_x86_64.whl", hash = "sha256:9ee40e2168f1348ae476676a2e938ca80a2f57b14a249d8fe0d3cdf803e5a676"},
     {file = "pycryptodome-3.15.0-cp35-abi3-manylinux1_i686.whl", hash = "sha256:4c3ccad74eeb7b001f3538643c4225eac398c77d617ebb3e57571a897943c667"},
     {file = "pycryptodome-3.15.0-cp35-abi3-manylinux1_x86_64.whl", hash = "sha256:1b22bcd9ec55e9c74927f6b1f69843cb256fb5a465088ce62837f793d9ffea88"},
     {file = "pycryptodome-3.15.0-cp35-abi3-manylinux2010_i686.whl", hash = "sha256:57f565acd2f0cf6fb3e1ba553d0cb1f33405ec1f9c5ded9b9a0a5320f2c0bd3d"},
     {file = "pycryptodome-3.15.0-cp35-abi3-manylinux2010_x86_64.whl", hash = "sha256:4b52cb18b0ad46087caeb37a15e08040f3b4c2d444d58371b6f5d786d95534c2"},
     {file = "pycryptodome-3.15.0-cp35-abi3-manylinux2014_aarch64.whl", hash = "sha256:092a26e78b73f2530b8bd6b3898e7453ab2f36e42fd85097d705d6aba2ec3e5e"},
+    {file = "pycryptodome-3.15.0-cp35-abi3-musllinux_1_1_aarch64.whl", hash = "sha256:50ca7e587b8e541eb6c192acf92449d95377d1f88908c0a32ac5ac2703ebe28b"},
     {file = "pycryptodome-3.15.0-cp35-abi3-win32.whl", hash = "sha256:e244ab85c422260de91cda6379e8e986405b4f13dc97d2876497178707f87fc1"},
     {file = "pycryptodome-3.15.0-cp35-abi3-win_amd64.whl", hash = "sha256:c77126899c4b9c9827ddf50565e93955cb3996813c18900c16b2ea0474e130e9"},
     {file = "pycryptodome-3.15.0-pp27-pypy_73-macosx_10_9_x86_64.whl", hash = "sha256:9eaadc058106344a566dc51d3d3a758ab07f8edde013712bc8d22032a86b264f"},
@@ -8036,6 +8102,18 @@ setproctitle = [
     {file = "setproctitle-1.3.2-cp310-cp310-musllinux_1_1_x86_64.whl", hash = "sha256:7f2719a398e1a2c01c2a63bf30377a34d0b6ef61946ab9cf4d550733af8f1ef1"},
     {file = "setproctitle-1.3.2-cp310-cp310-win32.whl", hash = "sha256:e425be62524dc0c593985da794ee73eb8a17abb10fe692ee43bb39e201d7a099"},
     {file = "setproctitle-1.3.2-cp310-cp310-win_amd64.whl", hash = "sha256:e85e50b9c67854f89635a86247412f3ad66b132a4d8534ac017547197c88f27d"},
+    {file = "setproctitle-1.3.2-cp311-cp311-macosx_10_9_universal2.whl", hash = "sha256:2a97d51c17d438cf5be284775a322d57b7ca9505bb7e118c28b1824ecaf8aeaa"},
+    {file = "setproctitle-1.3.2-cp311-cp311-macosx_10_9_x86_64.whl", hash = "sha256:587c7d6780109fbd8a627758063d08ab0421377c0853780e5c356873cdf0f077"},
+    {file = "setproctitle-1.3.2-cp311-cp311-manylinux_2_17_aarch64.manylinux2014_aarch64.whl", hash = "sha256:d7d17c8bd073cbf8d141993db45145a70b307385b69171d6b54bcf23e5d644de"},
+    {file = "setproctitle-1.3.2-cp311-cp311-manylinux_2_17_ppc64le.manylinux2014_ppc64le.whl", hash = "sha256:e932089c35a396dc31a5a1fc49889dd559548d14cb2237adae260382a090382e"},
+    {file = "setproctitle-1.3.2-cp311-cp311-manylinux_2_5_i686.manylinux1_i686.manylinux_2_17_i686.manylinux2014_i686.whl", hash = "sha256:8e4f8f12258a8739c565292a551c3db62cca4ed4f6b6126664e2381acb4931bf"},
+    {file = "setproctitle-1.3.2-cp311-cp311-manylinux_2_5_x86_64.manylinux1_x86_64.manylinux_2_17_x86_64.manylinux2014_x86_64.whl", hash = "sha256:570d255fd99c7f14d8f91363c3ea96bd54f8742275796bca67e1414aeca7d8c3"},
+    {file = "setproctitle-1.3.2-cp311-cp311-musllinux_1_1_aarch64.whl", hash = "sha256:a8e0881568c5e6beff91ef73c0ec8ac2a9d3ecc9edd6bd83c31ca34f770910c4"},
+    {file = "setproctitle-1.3.2-cp311-cp311-musllinux_1_1_i686.whl", hash = "sha256:4bba3be4c1fabf170595b71f3af46c6d482fbe7d9e0563999b49999a31876f77"},
+    {file = "setproctitle-1.3.2-cp311-cp311-musllinux_1_1_ppc64le.whl", hash = "sha256:37ece938110cab2bb3957e3910af8152ca15f2b6efdf4f2612e3f6b7e5459b80"},
+    {file = "setproctitle-1.3.2-cp311-cp311-musllinux_1_1_x86_64.whl", hash = "sha256:db684d6bbb735a80bcbc3737856385b55d53f8a44ce9b46e9a5682c5133a9bf7"},
+    {file = "setproctitle-1.3.2-cp311-cp311-win32.whl", hash = "sha256:ca58cd260ea02759238d994cfae844fc8b1e206c684beb8f38877dcab8451dfc"},
+    {file = "setproctitle-1.3.2-cp311-cp311-win_amd64.whl", hash = "sha256:88486e6cce2a18a033013d17b30a594f1c5cb42520c49c19e6ade40b864bb7ff"},
     {file = "setproctitle-1.3.2-cp37-cp37m-macosx_10_9_x86_64.whl", hash = "sha256:92c626edc66169a1b09e9541b9c0c9f10488447d8a2b1d87c8f0672e771bc927"},
     {file = "setproctitle-1.3.2-cp37-cp37m-manylinux_2_17_aarch64.manylinux2014_aarch64.whl", hash = "sha256:710e16fa3bade3b026907e4a5e841124983620046166f355bbb84be364bf2a02"},
     {file = "setproctitle-1.3.2-cp37-cp37m-manylinux_2_17_ppc64le.manylinux2014_ppc64le.whl", hash = "sha256:1f29b75e86260b0ab59adb12661ef9f113d2f93a59951373eb6d68a852b13e83"},
@@ -8341,6 +8419,13 @@ tenacity = [
     {file = "tenacity-8.1.0-py3-none-any.whl", hash = "sha256:35525cd47f82830069f0d6b73f7eb83bc5b73ee2fff0437952cedf98b27653ac"},
     {file = "tenacity-8.1.0.tar.gz", hash = "sha256:e48c437fdf9340f5666b92cd7990e96bc5fc955e1298baf4a907e3972067a445"},
 ]
+tensorrt = [
+    {file = "tensorrt-8.6.0-cp310-none-manylinux_2_17_x86_64.whl", hash = "sha256:8850d470a92e17e65686fce2a5105dc51fc89f2b438d60d66027288a165732ba"},
+    {file = "tensorrt-8.6.0-cp36-none-manylinux_2_17_x86_64.whl", hash = "sha256:1eb0b9b29f3f6c9a6f737b95d1edfe63353dd6b5427478b1c580c9cb72340749"},
+    {file = "tensorrt-8.6.0-cp37-none-manylinux_2_17_x86_64.whl", hash = "sha256:ae2e99fb98952d71d6a7443335f7f8e1a8c471b8136e33bb491f11e410dea3cd"},
+    {file = "tensorrt-8.6.0-cp38-none-manylinux_2_17_x86_64.whl", hash = "sha256:ba9eb8d1a7c32c63981b4203b72b90b38402ad000ec554fb8dd85a7401de60dd"},
+    {file = "tensorrt-8.6.0-cp39-none-manylinux_2_17_x86_64.whl", hash = "sha256:4dc971cd8def3b41086c34d93ca8bff56f5d7d9a2ab5f8738307d040b0bf751e"},
+]
 terminado = [
     {file = "terminado-0.16.0-py3-none-any.whl", hash = "sha256:3e995072a7178a104c41134548ce9b03e4e7f0a538e9c29df4f1fbc81c7cfc75"},
     {file = "terminado-0.16.0.tar.gz", hash = "sha256:fac14374eb5498bdc157ed32e510b1f60d5c3c7981a9f5ba018bb9a64cec0c25"},
diff --git a/pyproject.toml b/pyproject.toml
index b852374a38..25b61eb50b 100644
--- a/pyproject.toml
+++ b/pyproject.toml
@@ -176,6 +176,7 @@ zerorpc = { git = "https://github.com/commaai/zerorpc-python.git", branch = "mas
 omegaconf = "^2.3.0"
 osmnx = "==1.2.2"
 tritonclient = {version = "2.28.0", extras = ["http"]}
+tensorrt = "^8.6.0"
 
 
 [build-system]

From e1ad8df5192c9273688ced8f4a379f6d65d09f4d Mon Sep 17 00:00:00 2001
From: "Yong-seok, Jang" <turboce@gmail.com>
Date: Thu, 13 Apr 2023 15:32:03 +0900
Subject: [PATCH 88/88] GM: Trailblazer 2021-22 support  (#27830)

* Add trailblazer support

* Update routes.py

* Update routes.py

* Update CARS.md

* Fix incorrect torque name

* Update values.py and CARS.md

* Change to update another route

* update docs

* only 2021 https://en.wikipedia.org/wiki/Chevrolet_Trailblazer_(crossover)

only 2021

* new FP with missing addrs

* Update selfdrive/car/gm/interface.py

* tune the torque params

* update docs

* remove as a new platform

* Revert "remove as a new platform"

This reverts commit c9c65f29dbb1e1a5926540bb75433928325d6c0e.

* add comment and comment out FP

* need it to be in all_known_cars to test_model

* add to releases

---------

Co-authored-by: Shane Smiskol <shane@smiskol.com>
---
 RELEASES.md                             |  1 +
 docs/CARS.md                            |  3 ++-
 selfdrive/car/gm/interface.py           |  9 +++++++++
 selfdrive/car/gm/values.py              | 10 +++++++++-
 selfdrive/car/tests/routes.py           |  1 +
 selfdrive/car/torque_data/override.yaml |  1 +
 6 files changed, 23 insertions(+), 2 deletions(-)

diff --git a/RELEASES.md b/RELEASES.md
index 1bc151fb8b..34ca0338ed 100644
--- a/RELEASES.md
+++ b/RELEASES.md
@@ -2,6 +2,7 @@ Version 0.9.2 (2023-03-XX)
 ========================
 * New driving model, trained on a new dataset
 * Draw MPC path instead of model predicted path, this is a more accurate representation of what the car will do.
+* Chevrolet Trailblazer 2021-22 support thanks to TurboCE!
 * Buick LaCrosse 2017-19 support thanks to koch-cf!
 * Kia Niro EV 2023 support thanks to JosselinLecocq!
 * Škoda Fabia 2022-23 support thanks to jyoung8607!
diff --git a/docs/CARS.md b/docs/CARS.md
index d1e388ca7e..96b30fcf1c 100644
--- a/docs/CARS.md
+++ b/docs/CARS.md
@@ -4,7 +4,7 @@
 
 A supported vehicle is one that just works when you install a comma three. All supported cars provide a better experience than any stock system. Supported vehicles reference the US market unless otherwise specified.
 
-# 240 Supported Cars
+# 241 Supported Cars
 
 |Make|Model|Supported Package|ACC|No ACC accel below|No ALC below|Steering Torque|Resume from stop|Harness|Video|
 |---|---|---|:---:|:---:|:---:|:---:|:---:|:---:|:---:|
@@ -23,6 +23,7 @@ A supported vehicle is one that just works when you install a comma three. All s
 |Chevrolet|Bolt EUV 2022-23|Premier or Premier Redline Trim without Super Cruise Package|openpilot available[<sup>1</sup>](#footnotes)|3 mph|6 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|<a href="https://comma.ai/shop/comma-three.html?make=Chevrolet&model=Bolt EUV 2022-23">GM</a>|<a href="https://youtu.be/xvwzGMUA210" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>|
 |Chevrolet|Bolt EV 2022-23|2LT Trim with Adaptive Cruise Control Package|openpilot available[<sup>1</sup>](#footnotes)|3 mph|6 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|<a href="https://comma.ai/shop/comma-three.html?make=Chevrolet&model=Bolt EV 2022-23">GM</a>||
 |Chevrolet|Silverado 1500 2020-21|Safety Package II|openpilot available[<sup>1</sup>](#footnotes)|3 mph|6 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|<a href="https://comma.ai/shop/comma-three.html?make=Chevrolet&model=Silverado 1500 2020-21">GM</a>||
+|Chevrolet|Trailblazer 2021-22|Adaptive Cruise Control (ACC)|openpilot available[<sup>1</sup>](#footnotes)|3 mph|6 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|<a href="https://comma.ai/shop/comma-three.html?make=Chevrolet&model=Trailblazer 2021-22">GM</a>||
 |Chevrolet|Volt 2017-18[<sup>3</sup>](#footnotes)|Adaptive Cruise Control (ACC)|openpilot|0 mph|7 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|<a href="https://comma.ai/shop/comma-three.html?make=Chevrolet&model=Volt 2017-18">OBD-II</a>|<a href="https://youtu.be/QeMCN_4TFfQ" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>|
 |Chrysler|Pacifica 2017-18|Adaptive Cruise Control (ACC)|Stock|0 mph|9 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<a href="https://comma.ai/shop/comma-three.html?make=Chrysler&model=Pacifica 2017-18">FCA</a>||
 |Chrysler|Pacifica 2019-20|Adaptive Cruise Control (ACC)|Stock|0 mph|39 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<a href="https://comma.ai/shop/comma-three.html?make=Chrysler&model=Pacifica 2019-20">FCA</a>||
diff --git a/selfdrive/car/gm/interface.py b/selfdrive/car/gm/interface.py
index e7fc0abb1a..a5425953d2 100755
--- a/selfdrive/car/gm/interface.py
+++ b/selfdrive/car/gm/interface.py
@@ -234,6 +234,15 @@ class CarInterface(CarInterfaceBase):
       ret.centerToFront = ret.wheelbase * 0.4
       CarInterfaceBase.configure_torque_tune(candidate, ret.lateralTuning)
 
+    elif candidate == CAR.TRAILBLAZER:
+      ret.mass = 1345. + STD_CARGO_KG
+      ret.wheelbase = 2.64
+      ret.steerRatio = 16.8
+      ret.centerToFront = ret.wheelbase * 0.4
+      tire_stiffness_factor = 1.0
+      ret.steerActuatorDelay = 0.2
+      CarInterfaceBase.configure_torque_tune(candidate, ret.lateralTuning)
+
     # TODO: start from empirically derived lateral slip stiffness for the civic and scale by
     # mass and CG position, so all cars will have approximately similar dyn behaviors
     ret.tireStiffnessFront, ret.tireStiffnessRear = scale_tire_stiffness(ret.mass, ret.wheelbase, ret.centerToFront,
diff --git a/selfdrive/car/gm/values.py b/selfdrive/car/gm/values.py
index 5e2f490a9b..bc2858a667 100644
--- a/selfdrive/car/gm/values.py
+++ b/selfdrive/car/gm/values.py
@@ -73,6 +73,7 @@ class CAR:
   BOLT_EUV = "CHEVROLET BOLT EUV 2022"
   SILVERADO = "CHEVROLET SILVERADO 1500 2020"
   EQUINOX = "CHEVROLET EQUINOX 2019"
+  TRAILBLAZER = "CHEVROLET TRAILBLAZER 2021"
 
 
 class Footnote(Enum):
@@ -113,6 +114,7 @@ CAR_INFO: Dict[str, Union[GMCarInfo, List[GMCarInfo]]] = {
     GMCarInfo("GMC Sierra 1500 2020-21", "Driver Alert Package II", video_link="https://youtu.be/5HbNoBLzRwE"),
   ],
   CAR.EQUINOX: GMCarInfo("Chevrolet Equinox 2019-22"),
+  CAR.TRAILBLAZER: GMCarInfo("Chevrolet Trailblazer 2021-22"),
 }
 
 
@@ -207,6 +209,12 @@ FINGERPRINTS = {
   {
     190: 6, 193: 8, 197: 8, 201: 8, 209: 7, 211: 2, 241: 6, 249: 8, 257: 8, 288: 5, 289: 8, 298: 8, 304: 1, 309: 8, 311: 8, 313: 8, 320: 3, 328: 1, 352: 5, 381: 8, 384: 4, 386: 8, 388: 8, 413: 8, 451: 8, 452: 8, 453: 6, 455: 7, 463: 3, 479: 3, 481: 7, 485: 8, 489: 8, 497: 8, 500: 6, 501: 8, 510: 8, 528: 5, 532: 6, 560: 8, 562: 8, 563: 5, 565: 5, 608: 8, 609: 6, 610: 6, 611: 6, 612: 8, 613: 8, 707: 8, 715: 8, 717: 5, 753: 5, 761: 7, 789: 5, 800: 6, 810: 8, 840: 5, 842: 5, 844: 8, 869: 4, 880: 6, 977: 8, 1001: 8, 1011: 6, 1017: 8, 1020: 8, 1033: 7, 1034: 7, 1217: 8, 1221: 5, 1233: 8, 1249: 8, 1259: 8, 1261: 7, 1263: 4, 1265: 8, 1267: 1, 1271: 8, 1280: 4, 1296: 4, 1300: 8, 1930: 7
   }],
+  # Trailblazer also matches as a Silverado, so comment out to avoid conflicts.
+  # TODO: split with FW versions
+  CAR.TRAILBLAZER: [
+  {
+  #   190: 6, 193: 8, 197: 8, 201: 8, 209: 7, 211: 2, 241: 6, 249: 8, 288: 5, 289: 8, 298: 8, 304: 3, 309: 8, 311: 8, 313: 8, 320: 4, 328: 1, 352: 5, 381: 8, 384: 4, 386: 8, 388: 8, 413: 8, 451: 8, 452: 8, 453: 6, 455: 7, 479: 3, 481: 7, 485: 8, 489: 8, 497: 8, 500: 6, 501: 8, 532: 6, 560: 8, 562: 8, 563: 5, 565: 5, 707: 8, 715: 8, 717: 5, 761: 7, 789: 5, 800: 6, 810: 8, 840: 5, 842: 5, 844: 8, 869: 4, 880: 6, 977: 8, 1001: 8, 1011: 6, 1017: 8, 1020: 8, 1217: 8, 1221: 5, 1233: 8, 1249: 8, 1259: 8, 1261: 7, 1263: 4, 1265: 8, 1267: 1, 1271: 8, 1280: 4, 1296: 4, 1300: 8, 1609: 8, 1613: 8, 1649: 8, 1792: 8, 1798: 8, 1824: 8, 1825: 8, 1840: 8, 1842: 8, 1858: 8, 1860: 8, 1863: 8, 1872: 8, 1875: 8, 1882: 8, 1888: 8, 1889: 8, 1892: 8, 1930: 7, 1937: 8, 1953: 8, 1968: 8, 2001: 8, 2017: 8, 2018: 8, 2020: 8
+  }],
 }
 
 DBC: Dict[str, Dict[str, str]] = defaultdict(lambda: dbc_dict('gm_global_a_powertrain_generated', 'gm_global_a_object', chassis_dbc='gm_global_a_chassis'))
@@ -214,6 +222,6 @@ DBC: Dict[str, Dict[str, str]] = defaultdict(lambda: dbc_dict('gm_global_a_power
 EV_CAR = {CAR.VOLT, CAR.BOLT_EUV}
 
 # We're integrated at the camera with VOACC on these cars (instead of ASCM w/ OBD-II harness)
-CAMERA_ACC_CAR = {CAR.BOLT_EUV, CAR.SILVERADO, CAR.EQUINOX}
+CAMERA_ACC_CAR = {CAR.BOLT_EUV, CAR.SILVERADO, CAR.EQUINOX, CAR.TRAILBLAZER}
 
 STEER_THRESHOLD = 1.0
diff --git a/selfdrive/car/tests/routes.py b/selfdrive/car/tests/routes.py
index 12eb2c5ed5..921bed5406 100644
--- a/selfdrive/car/tests/routes.py
+++ b/selfdrive/car/tests/routes.py
@@ -59,6 +59,7 @@ routes = [
   CarTestRoute("f08912a233c1584f|2022-08-11--18-02-41", GM.BOLT_EUV, segment=1),
   CarTestRoute("555d4087cf86aa91|2022-12-02--12-15-07", GM.BOLT_EUV, segment=14),  # Bolt EV
   CarTestRoute("38aa7da107d5d252|2022-08-15--16-01-12", GM.SILVERADO),
+  CarTestRoute("5085c761395d1fe6|2023-04-07--18-20-06", GM.TRAILBLAZER),
 
   CarTestRoute("0e7a2ba168465df5|2020-10-18--14-14-22", HONDA.ACURA_RDX_3G),
   CarTestRoute("a74b011b32b51b56|2020-07-26--17-09-36", HONDA.CIVIC),
diff --git a/selfdrive/car/torque_data/override.yaml b/selfdrive/car/torque_data/override.yaml
index 65ca9fc5c9..02b586d578 100644
--- a/selfdrive/car/torque_data/override.yaml
+++ b/selfdrive/car/torque_data/override.yaml
@@ -33,6 +33,7 @@ SUBARU OUTBACK 6TH GEN: [2.3, 2.3, 0.11]
 CADILLAC ESCALADE 2017: [1.899999976158142, 1.842270016670227, 0.1120000034570694]
 CHEVROLET BOLT EUV 2022: [2.0, 2.0, 0.05]
 CHEVROLET SILVERADO 1500 2020: [1.9, 1.9, 0.112]
+CHEVROLET TRAILBLAZER 2021: [1.33, 1.9, 0.16]
 CHEVROLET EQUINOX 2019: [2.0, 2.0, 0.05]
 VOLKSWAGEN PASSAT NMS: [2.5, 2.5, 0.1]
 VOLKSWAGEN SHARAN 2ND GEN: [2.5, 2.5, 0.1]