Merge remote-tracking branch 'upstream/master' into big-test-models

opendbc

@@ -1 +1 @@
-Subproject commit 296f190000a2e71408e207ba21a2257cc853ec15
+Subproject commit 871e054d9a94629d92c22fe89cae71af5b0d3823

panda

@@ -1 +1 @@
-Subproject commit 2e90b6f308dc09bf1734f6cb5cc990cb8149486d
+Subproject commit c075050d5df70570cfadd8c0d7507f25fe67d247

selfdrive/boardd/boardd.cc

@@ -528,9 +528,6 @@ void peripheral_control_thread(Panda *panda, bool no_fan_control) {
     cnt++;
     sm.update(1000); // TODO: what happens if EINTR is sent while in sm.update?
 
-    // Other pandas don't have fan/IR to control
-    if (panda->hw_type != cereal::PandaState::PandaType::UNO && panda->hw_type != cereal::PandaState::PandaType::DOS) continue;
-
     if (sm.updated("deviceState") && !no_fan_control) {
       // Fan speed
       uint16_t fan_speed = sm["deviceState"].getDeviceState().getFanSpeedPercentDesired();

selfdrive/boardd/panda.cc

@@ -24,7 +24,8 @@ Panda::Panda(std::string serial, uint32_t bus_offset) : bus_offset(bus_offset) {
          (hw_type != cereal::PandaState::PandaType::GREY_PANDA));
 
   has_rtc = (hw_type == cereal::PandaState::PandaType::UNO) ||
-            (hw_type == cereal::PandaState::PandaType::DOS);
+            (hw_type == cereal::PandaState::PandaType::DOS) ||
+            (hw_type == cereal::PandaState::PandaType::TRES);
 
   return;
 }

selfdrive/car/gm/carstate.py

@@ -100,6 +100,9 @@ class CarState(CarStateBase):
     if self.CP.networkLocation == NetworkLocation.fwdCamera:
       ret.cruiseState.speed = cam_cp.vl["ASCMActiveCruiseControlStatus"]["ACCSpeedSetpoint"] * CV.KPH_TO_MS
       ret.stockAeb = cam_cp.vl["AEBCmd"]["AEBCmdActive"] != 0
+      # openpilot controls nonAdaptive when not pcmCruise
+      if self.CP.pcmCruise:
+        ret.cruiseState.nonAdaptive = cam_cp.vl["ASCMActiveCruiseControlStatus"]["ACCCruiseState"] not in (2, 3)
 
     return ret
 
@@ -112,6 +115,7 @@ class CarState(CarStateBase):
         ("AEBCmdActive", "AEBCmd"),
         ("RollingCounter", "ASCMLKASteeringCmd"),
         ("ACCSpeedSetpoint", "ASCMActiveCruiseControlStatus"),
+        ("ACCCruiseState", "ASCMActiveCruiseControlStatus"),
       ]
       checks += [
         ("AEBCmd", 10),

selfdrive/controls/controlsd.py

@@ -275,7 +275,7 @@ class Controls:
     #  self.events.add(EventName.highCpuUsage)
 
     # Alert if fan isn't spinning for 5 seconds
-    if self.sm['peripheralState'].pandaType == PandaType.dos:
+    if self.sm['peripheralState'].pandaType != log.PandaState.PandaType.unknown:
       if self.sm['peripheralState'].fanSpeedRpm == 0 and self.sm['deviceState'].fanSpeedPercentDesired > 50:
         if (self.sm.frame - self.last_functional_fan_frame) * DT_CTRL > 5.0:
           self.events.add(EventName.fanMalfunction)

selfdrive/controls/lib/events.py

@@ -250,10 +250,9 @@ def calibration_incomplete_alert(CP: car.CarParams, CS: car.CarState, sm: messag
 
 
 def no_gps_alert(CP: car.CarParams, CS: car.CarState, sm: messaging.SubMaster, metric: bool, soft_disable_time: int) -> Alert:
-  gps_integrated = sm['peripheralState'].pandaType in (log.PandaState.PandaType.uno, log.PandaState.PandaType.dos)
   return Alert(
     "Poor GPS reception",
-    "Hardware malfunctioning if sky is visible" if gps_integrated else "Check GPS antenna placement",
+    "Hardware malfunctioning if sky is visible",
     AlertStatus.normal, AlertSize.mid,
     Priority.LOWER, VisualAlert.none, AudibleAlert.none, .2, creation_delay=300.)
 

selfdrive/debug/test_fw_query_on_routes.py

@@ -68,7 +68,7 @@ if __name__ == "__main__":
       CP = None
       for msg in lr:
         if msg.which() == "pandaStates":
-          if msg.pandaStates[0].pandaType not in ('uno', 'blackPanda', 'dos'):
+          if msg.pandaStates[0].pandaType in ('unknown', 'whitePanda', 'greyPanda', 'pedal'):
             print("wrong panda type")
             break
 

selfdrive/modeld/models/supercombo.onnx

@@ -1,3 +1,3 @@
 version https://git-lfs.github.com/spec/v1
-oid sha256:c73998c9f428380dd2282b451de6011469b717498ae83578cbf7aa95948910f7
+oid sha256:db746e3753de84367595fedd089c2bd41b06bd401ea28e085663533d0e63d74b
 size 45962473

selfdrive/test/process_replay/model_replay_ref_commit

@@ -1 +1 @@
-ca02aa240e629920ad88a6510213cb0a153af92b
+30efb4238327d723e17a3bda7e7c19c18f8a3b18

selfdrive/test/process_replay/ref_commit

@@ -1 +1 @@
-959e63af52d9efdb62156cab4b773f88b154fd75
+ff508a46616a1a3d66e8d1154d123ffd11025003

selfdrive/test/setup_device_ci.sh

@@ -29,6 +29,7 @@ sudo abctl --set_success
 
 # patch sshd config
 sudo mount -o rw,remount /
+echo tici-$(cat /proc/cmdline | sed -e 's/^.*androidboot.serialno=//' -e 's/ .*$//') | sudo tee /etc/hostname
 sudo sed -i "s,/data/params/d/GithubSshKeys,/usr/comma/setup_keys," /etc/ssh/sshd_config
 sudo systemctl daemon-reload
 sudo systemctl restart ssh

selfdrive/thermald/power_monitoring.py

@@ -1,7 +1,6 @@
 import threading
 from typing import Optional
 
-from cereal import log
 from common.params import Params, put_nonblocking
 from common.realtime import sec_since_boot
 from system.hardware import HARDWARE
@@ -39,12 +38,12 @@ class PowerMonitoring:
     self.car_battery_capacity_uWh = max((CAR_BATTERY_CAPACITY_uWh / 10), int(car_battery_capacity_uWh))
 
   # Calculation tick
-  def calculate(self, peripheralState, ignition):
+  def calculate(self, voltage: Optional[int], ignition: bool):
     try:
       now = sec_since_boot()
 
       # If peripheralState is None, we're probably not in a car, so we don't care
-      if peripheralState is None or peripheralState.pandaType == log.PandaState.PandaType.unknown:
+      if voltage is None:
         with self.integration_lock:
           self.last_measurement_time = None
           self.next_pulsed_measurement_time = None
@@ -52,8 +51,8 @@ class PowerMonitoring:
         return
 
       # Low-pass battery voltage
-      self.car_voltage_instant_mV = peripheralState.voltage
+      self.car_voltage_instant_mV = voltage
-      self.car_voltage_mV = ((peripheralState.voltage * CAR_VOLTAGE_LOW_PASS_K) + (self.car_voltage_mV * (1 - CAR_VOLTAGE_LOW_PASS_K)))
+      self.car_voltage_mV = ((voltage * CAR_VOLTAGE_LOW_PASS_K) + (self.car_voltage_mV * (1 - CAR_VOLTAGE_LOW_PASS_K)))
       statlog.gauge("car_voltage", self.car_voltage_mV / 1e3)
 
       # Cap the car battery power and save it in a param every 10-ish seconds

selfdrive/thermald/tests/test_power_monitoring.py

@@ -1,10 +1,7 @@
 #!/usr/bin/env python3
 import unittest
 from unittest.mock import patch
-from parameterized import parameterized
 
-from cereal import log
-import cereal.messaging as messaging
 from common.params import Params
 params = Params()
 
@@ -21,7 +18,8 @@ with patch("common.realtime.sec_since_boot", new=mock_sec_since_boot):
                                                     CAR_CHARGING_RATE_W, VBATT_PAUSE_CHARGING
 
 TEST_DURATION_S = 50
-ALL_PANDA_TYPES = [(log.PandaState.PandaType.dos,)]
+GOOD_VOLTAGE = 12 * 1e3
+VOLTAGE_BELOW_PAUSE_CHARGING = (VBATT_PAUSE_CHARGING - 1) * 1e3
 
 def pm_patch(name, value, constant=False):
   if constant:
@@ -34,12 +32,6 @@ class TestPowerMonitoring(unittest.TestCase):
     params.remove("CarBatteryCapacity")
     params.remove("DisablePowerDown")
 
-  def mock_peripheralState(self, hw_type, car_voltage=12):
-    ps = messaging.new_message('peripheralState').peripheralState
-    ps.pandaType = hw_type
-    ps.voltage = car_voltage * 1e3
-    return ps
-
   # Test to see that it doesn't do anything when pandaState is None
   def test_pandaState_present(self):
     pm = PowerMonitoring()
@@ -49,75 +41,68 @@ class TestPowerMonitoring(unittest.TestCase):
     self.assertEqual(pm.get_car_battery_capacity(), (CAR_BATTERY_CAPACITY_uWh / 10))
 
   # Test to see that it doesn't integrate offroad when ignition is True
-  @parameterized.expand(ALL_PANDA_TYPES)
+  def test_offroad_ignition(self):
-  def test_offroad_ignition(self, hw_type):
     pm = PowerMonitoring()
     for _ in range(10):
-      pm.calculate(self.mock_peripheralState(hw_type), True)
+      pm.calculate(GOOD_VOLTAGE, True)
     self.assertEqual(pm.get_power_used(), 0)
 
   # Test to see that it integrates with discharging battery
-  @parameterized.expand(ALL_PANDA_TYPES)
+  def test_offroad_integration_discharging(self):
-  def test_offroad_integration_discharging(self, hw_type):
     POWER_DRAW = 4
     with pm_patch("HARDWARE.get_current_power_draw", POWER_DRAW):
       pm = PowerMonitoring()
       for _ in range(TEST_DURATION_S + 1):
-        pm.calculate(self.mock_peripheralState(hw_type), False)
+        pm.calculate(GOOD_VOLTAGE, False)
       expected_power_usage = ((TEST_DURATION_S/3600) * POWER_DRAW * 1e6)
       self.assertLess(abs(pm.get_power_used() - expected_power_usage), 10)
 
   # Test to check positive integration of car_battery_capacity
-  @parameterized.expand(ALL_PANDA_TYPES)
+  def test_car_battery_integration_onroad(self):
-  def test_car_battery_integration_onroad(self, hw_type):
     POWER_DRAW = 4
     with pm_patch("HARDWARE.get_current_power_draw", POWER_DRAW):
       pm = PowerMonitoring()
       pm.car_battery_capacity_uWh = 0
       for _ in range(TEST_DURATION_S + 1):
-        pm.calculate(self.mock_peripheralState(hw_type), True)
+        pm.calculate(GOOD_VOLTAGE, True)
       expected_capacity = ((TEST_DURATION_S/3600) * CAR_CHARGING_RATE_W * 1e6)
       self.assertLess(abs(pm.get_car_battery_capacity() - expected_capacity), 10)
 
   # Test to check positive integration upper limit
-  @parameterized.expand(ALL_PANDA_TYPES)
+  def test_car_battery_integration_upper_limit(self):
-  def test_car_battery_integration_upper_limit(self, hw_type):
     POWER_DRAW = 4
     with pm_patch("HARDWARE.get_current_power_draw", POWER_DRAW):
       pm = PowerMonitoring()
       pm.car_battery_capacity_uWh = CAR_BATTERY_CAPACITY_uWh - 1000
       for _ in range(TEST_DURATION_S + 1):
-        pm.calculate(self.mock_peripheralState(hw_type), True)
+        pm.calculate(GOOD_VOLTAGE, True)
       estimated_capacity = CAR_BATTERY_CAPACITY_uWh + (CAR_CHARGING_RATE_W / 3600 * 1e6)
       self.assertLess(abs(pm.get_car_battery_capacity() - estimated_capacity), 10)
 
   # Test to check negative integration of car_battery_capacity
-  @parameterized.expand(ALL_PANDA_TYPES)
+  def test_car_battery_integration_offroad(self):
-  def test_car_battery_integration_offroad(self, hw_type):
     POWER_DRAW = 4
     with pm_patch("HARDWARE.get_current_power_draw", POWER_DRAW):
       pm = PowerMonitoring()
       pm.car_battery_capacity_uWh = CAR_BATTERY_CAPACITY_uWh
       for _ in range(TEST_DURATION_S + 1):
-        pm.calculate(self.mock_peripheralState(hw_type), False)
+        pm.calculate(GOOD_VOLTAGE, False)
       expected_capacity = CAR_BATTERY_CAPACITY_uWh - ((TEST_DURATION_S/3600) * POWER_DRAW * 1e6)
       self.assertLess(abs(pm.get_car_battery_capacity() - expected_capacity), 10)
 
   # Test to check negative integration lower limit
-  @parameterized.expand(ALL_PANDA_TYPES)
+  def test_car_battery_integration_lower_limit(self):
-  def test_car_battery_integration_lower_limit(self, hw_type):
     POWER_DRAW = 4
     with pm_patch("HARDWARE.get_current_power_draw", POWER_DRAW):
       pm = PowerMonitoring()
       pm.car_battery_capacity_uWh = 1000
       for _ in range(TEST_DURATION_S + 1):
-        pm.calculate(self.mock_peripheralState(hw_type), False)
+        pm.calculate(GOOD_VOLTAGE, False)
       estimated_capacity = 0 - ((1/3600) * POWER_DRAW * 1e6)
       self.assertLess(abs(pm.get_car_battery_capacity() - estimated_capacity), 10)
 
   # Test to check policy of stopping charging after MAX_TIME_OFFROAD_S
-  @parameterized.expand(ALL_PANDA_TYPES)
+  def test_max_time_offroad(self):
-  def test_max_time_offroad(self, hw_type):
     MOCKED_MAX_OFFROAD_TIME = 3600
     POWER_DRAW = 0 # To stop shutting down for other reasons
     with pm_patch("MAX_TIME_OFFROAD_S", MOCKED_MAX_OFFROAD_TIME, constant=True), pm_patch("HARDWARE.get_current_power_draw", POWER_DRAW):
@@ -125,25 +110,22 @@ class TestPowerMonitoring(unittest.TestCase):
       pm.car_battery_capacity_uWh = CAR_BATTERY_CAPACITY_uWh
       start_time = ssb
       ignition = False
-      peripheralState = self.mock_peripheralState(hw_type)
       while ssb <= start_time + MOCKED_MAX_OFFROAD_TIME:
-        pm.calculate(peripheralState, ignition)
+        pm.calculate(GOOD_VOLTAGE, ignition)
         if (ssb - start_time) % 1000 == 0 and ssb < start_time + MOCKED_MAX_OFFROAD_TIME:
           self.assertFalse(pm.should_shutdown(ignition, True, start_time, False))
       self.assertTrue(pm.should_shutdown(ignition, True, start_time, False))
 
   # Test to check policy of stopping charging when the car voltage is too low
-  @parameterized.expand(ALL_PANDA_TYPES)
+  def test_car_voltage(self):
-  def test_car_voltage(self, hw_type):
     POWER_DRAW = 0 # To stop shutting down for other reasons
     TEST_TIME = 100
     with pm_patch("HARDWARE.get_current_power_draw", POWER_DRAW):
       pm = PowerMonitoring()
       pm.car_battery_capacity_uWh = CAR_BATTERY_CAPACITY_uWh
       ignition = False
-      peripheralState = self.mock_peripheralState(hw_type, car_voltage=(VBATT_PAUSE_CHARGING - 1))
       for i in range(TEST_TIME):
-        pm.calculate(peripheralState, ignition)
+        pm.calculate(VOLTAGE_BELOW_PAUSE_CHARGING, ignition)
         if i % 10 == 0:
           self.assertEqual(pm.should_shutdown(ignition, True, ssb, True), (pm.car_voltage_mV < VBATT_PAUSE_CHARGING*1e3))
       self.assertTrue(pm.should_shutdown(ignition, True, ssb, True))
@@ -157,9 +139,8 @@ class TestPowerMonitoring(unittest.TestCase):
       pm = PowerMonitoring()
       pm.car_battery_capacity_uWh = CAR_BATTERY_CAPACITY_uWh
       ignition = False
-      peripheralState = self.mock_peripheralState(log.PandaState.PandaType.uno, car_voltage=(VBATT_PAUSE_CHARGING - 1))
       for i in range(TEST_TIME):
-        pm.calculate(peripheralState, ignition)
+        pm.calculate(VOLTAGE_BELOW_PAUSE_CHARGING, ignition)
         if i % 10 == 0:
           self.assertFalse(pm.should_shutdown(ignition, True, ssb, False))
       self.assertFalse(pm.should_shutdown(ignition, True, ssb, False))
@@ -172,9 +153,8 @@ class TestPowerMonitoring(unittest.TestCase):
       pm = PowerMonitoring()
       pm.car_battery_capacity_uWh = CAR_BATTERY_CAPACITY_uWh
       ignition = True
-      peripheralState = self.mock_peripheralState(log.PandaState.PandaType.uno, car_voltage=(VBATT_PAUSE_CHARGING - 1))
       for i in range(TEST_TIME):
-        pm.calculate(peripheralState, ignition)
+        pm.calculate(VOLTAGE_BELOW_PAUSE_CHARGING, ignition)
         if i % 10 == 0:
           self.assertFalse(pm.should_shutdown(ignition, True, ssb, False))
       self.assertFalse(pm.should_shutdown(ignition, True, ssb, False))
@@ -188,9 +168,8 @@ class TestPowerMonitoring(unittest.TestCase):
       pm.car_battery_capacity_uWh = CAR_BATTERY_CAPACITY_uWh
 
       ignition = False
-      peripheralState = self.mock_peripheralState(log.PandaState.PandaType.uno, car_voltage=(VBATT_PAUSE_CHARGING - 1))
       for i in range(TEST_TIME):
-        pm.calculate(peripheralState, ignition)
+        pm.calculate(VOLTAGE_BELOW_PAUSE_CHARGING, ignition)
         if i % 10 == 0:
           self.assertFalse(pm.should_shutdown(ignition, False, ssb, False))
       self.assertFalse(pm.should_shutdown(ignition, False, ssb, False))

selfdrive/thermald/thermald.py

@@ -347,7 +347,8 @@ def thermald_thread(end_event, hw_queue):
         off_ts = sec_since_boot()
 
     # Offroad power monitoring
-    power_monitor.calculate(peripheralState, onroad_conditions["ignition"])
+    voltage = None if peripheralState.pandaType == log.PandaState.PandaType.unknown else peripheralState.voltage
+    power_monitor.calculate(voltage, onroad_conditions["ignition"])
     msg.deviceState.offroadPowerUsageUwh = power_monitor.get_power_used()
     msg.deviceState.carBatteryCapacityUwh = max(0, power_monitor.get_car_battery_capacity())
     current_power_draw = HARDWARE.get_current_power_draw()

tools/cabana/binaryview.cc

@@ -1,6 +1,5 @@
 #include "tools/cabana/binaryview.h"
 
-#include <QApplication>
 #include <QFontDatabase>
 #include <QHeaderView>
 #include <QMouseEvent>
@@ -74,14 +73,18 @@ void BinaryView::mousePressEvent(QMouseEvent *event) {
   event->accept();
 }
 
-void BinaryView::mouseMoveEvent(QMouseEvent *event) {
+void BinaryView::highlightPosition(const QPoint &pos) {
-  if (auto index = indexAt(event->pos()); index.isValid()) {
+  if (auto index = indexAt(viewport()->mapFromGlobal(pos)); index.isValid()) {
     auto item = (BinaryViewModel::Item *)index.internalPointer();
     const Signal *sig = item->sigs.isEmpty() ? nullptr : item->sigs.back();
     highlight(sig);
-    sig ? QToolTip::showText(event->globalPos(), sig->name.c_str(), this, rect())
+    sig ? QToolTip::showText(pos, sig->name.c_str(), this, rect())
         : QToolTip::hideText();
   }
+}
+
+void BinaryView::mouseMoveEvent(QMouseEvent *event) {
+  highlightPosition(event->globalPos());
   QTableView::mouseMoveEvent(event);
 }
 
@@ -116,6 +119,7 @@ void BinaryView::setMessage(const QString &message_id) {
   anchor_index = QModelIndex();
   resize_sig = nullptr;
   hovered_sig = nullptr;
+  highlightPosition(QCursor::pos());
   updateState();
 }
 
@@ -232,19 +236,18 @@ void BinaryItemDelegate::paint(QPainter *painter, const QStyleOptionViewItem &op
   BinaryView *bin_view = (BinaryView *)parent();
   painter->save();
 
-  // background
+  if (index.column() == 8) {
-  if (option.state & QStyle::State_Selected) {
+    painter->setFont(hex_font);
+  } else if (option.state & QStyle::State_Selected) {
     painter->fillRect(option.rect, selection_color);
-  } else if (!bin_view->selectionModel()->hasSelection() || !item->sigs.contains(bin_view->resize_sig)) {
+    painter->setPen(QApplication::style()->standardPalette().color(QPalette::BrightText));
+  } else if (!item->sigs.isEmpty() && (!bin_view->selectionModel()->hasSelection() || !item->sigs.contains(bin_view->resize_sig))) {
     painter->fillRect(option.rect, item->bg_color);
+    painter->setPen(item->sigs.contains(bin_view->hovered_sig)
+                        ? QApplication::style()->standardPalette().color(QPalette::BrightText)
+                        : Qt::black);
   }
 
-  // text
-  if (index.column() == 8) {  // hex column
-    painter->setFont(hex_font);
-  } else if (option.state & QStyle::State_Selected || (!bin_view->resize_sig && item->sigs.contains(bin_view->hovered_sig))) {
-    painter->setPen(Qt::white);
-  }
   painter->drawText(option.rect, Qt::AlignCenter, item->val);
   if (item->is_msb || item->is_lsb) {
     painter->setFont(small_font);

tools/cabana/binaryview.h

@@ -1,5 +1,6 @@
 #pragma once
 
+#include <QApplication>
 #include <QList>
 #include <QSet>
 #include <QStyledItemDelegate>
@@ -41,7 +42,7 @@ public:
   }
 
   struct Item {
-    QColor bg_color = QColor(Qt::white);
+    QColor bg_color = QApplication::style()->standardPalette().color(QPalette::Base);
     bool is_msb = false;
     bool is_lsb = false;
     QString val = "0";
@@ -79,6 +80,7 @@ private:
   void mouseMoveEvent(QMouseEvent *event) override;
   void mouseReleaseEvent(QMouseEvent *event) override;
   void leaveEvent(QEvent *event) override;
+  void highlightPosition(const QPoint &pt);
 
   QModelIndex anchor_index;
   BinaryViewModel *model;

tools/cabana/cabana.cc

@@ -1,6 +1,5 @@
 #include <QApplication>
 #include <QCommandLineParser>
-#include <QStyleFactory>
 
 #include "selfdrive/ui/qt/util.h"
 #include "tools/cabana/mainwin.h"
@@ -8,7 +7,6 @@
 int main(int argc, char *argv[]) {
   initApp(argc, argv);
   QApplication app(argc, argv);
-  app.setStyle(QStyleFactory::create("Fusion"));
 
   QCommandLineParser cmd_parser;
   cmd_parser.addHelpOption();

tools/cabana/chartswidget.cc

@@ -40,6 +40,8 @@ ChartsWidget::ChartsWidget(QWidget *parent) : QWidget(parent) {
 
   main_layout->addWidget(charts_scroll);
 
+  use_dark_theme = palette().color(QPalette::WindowText).value() > palette().color(QPalette::Background).value();
+
   QObject::connect(dbc(), &DBCManager::DBCFileChanged, this, &ChartsWidget::removeAll);
   QObject::connect(can, &CANMessages::eventsMerged, this, &ChartsWidget::eventsMerged);
   QObject::connect(can, &CANMessages::updated, this, &ChartsWidget::updateState);
@@ -125,6 +127,7 @@ void ChartsWidget::showChart(const QString &id, const Signal *sig, bool show, bo
     ChartView *chart = merge && charts.size() > 0 ? charts.back() : nullptr;
     if (!chart) {
       chart = new ChartView(this);
+      chart->chart()->setTheme(use_dark_theme ? QChart::QChart::ChartThemeDark : QChart::ChartThemeLight);
       chart->setEventsRange(display_range);
       auto range = is_zoomed ? zoomed_range : display_range;
       chart->setDisplayRange(range.first, range.second);
@@ -288,7 +291,6 @@ void ChartView::updateTitle() {
 
 void ChartView::updateFromSettings() {
   setFixedHeight(settings.chart_height);
-  chart()->setTheme(settings.chart_theme == 0 ? QChart::ChartThemeLight : QChart::QChart::ChartThemeDark);
 }
 
 void ChartView::setEventsRange(const std::pair<double, double> &range) {

tools/cabana/chartswidget.h

@@ -112,4 +112,5 @@ private:
   std::pair<double, double> event_range;
   std::pair<double, double> display_range;
   std::pair<double, double> zoomed_range;
+  bool use_dark_theme = false;
 };

tools/cabana/detailwidget.cc

@@ -25,7 +25,6 @@ DetailWidget::DetailWidget(ChartsWidget *charts, QWidget *parent) : charts(chart
   // tabbar
   tabbar = new QTabBar(this);
   tabbar->setTabsClosable(true);
-  tabbar->setDrawBase(false);
   tabbar->setUsesScrollButtons(true);
   tabbar->setAutoHide(true);
   tabbar->setContextMenuPolicy(Qt::CustomContextMenu);
@@ -57,7 +56,7 @@ DetailWidget::DetailWidget(ChartsWidget *charts, QWidget *parent) : charts(chart
   QHBoxLayout *warning_hlayout = new QHBoxLayout(warning_widget);
   warning_hlayout->setContentsMargins(0, 0, 0, 0);
   QLabel *warning_icon = new QLabel(this);
-  warning_icon->setPixmap(style()->standardPixmap(QStyle::SP_MessageBoxWarning));
+  warning_icon->setPixmap(style()->standardPixmap(QStyle::SP_MessageBoxWarning).scaledToWidth(24, Qt::SmoothTransformation));
   warning_hlayout->addWidget(warning_icon, 0, Qt::AlignTop);
   warning_label = new QLabel(this);
   warning_hlayout->addWidget(warning_label, 1, Qt::AlignLeft);

tools/cabana/historylog.cc

@@ -1,6 +1,7 @@
 #include "tools/cabana/historylog.h"
 
 #include <QFontDatabase>
+#include <QPainter>
 
 // HistoryLogModel
 
@@ -44,6 +45,8 @@ QVariant HistoryLogModel::headerData(int section, Qt::Orientation orientation, i
       return has_signal ? QString::fromStdString(get_signal(dbc_msg, section - 1).name).replace('_', ' ') : "Data";
     } else if (role == Qt::BackgroundRole && section > 0 && has_signal) {
       return QBrush(QColor(getColor(section - 1)));
+    } else if (role == Qt::ForegroundRole && section > 0 && has_signal) {
+      return QBrush(Qt::black);
     }
   }
   return {};
@@ -73,7 +76,18 @@ void HistoryLogModel::updateState() {
 QSize HeaderView::sectionSizeFromContents(int logicalIndex) const {
   const QString text = model()->headerData(logicalIndex, this->orientation(), Qt::DisplayRole).toString();
   const QRect rect = fontMetrics().boundingRect(QRect(0, 0, sectionSize(logicalIndex), 1000), defaultAlignment(), text);
-  return rect.size() + QSize{10, 5};
+  return rect.size() + QSize{10, 6};
+}
+
+void HeaderView::paintSection(QPainter *painter, const QRect &rect, int logicalIndex) const {
+  auto bg_role = model()->headerData(logicalIndex, Qt::Horizontal, Qt::BackgroundRole);
+  if (bg_role.isValid()) {
+    QPen pen(model()->headerData(logicalIndex, Qt::Horizontal, Qt::ForegroundRole).value<QBrush>(), 1);
+    painter->setPen(pen);
+    painter->fillRect(rect, bg_role.value<QBrush>());
+  }
+  QString text = model()->headerData(logicalIndex, Qt::Horizontal, Qt::DisplayRole).toString();
+  painter->drawText(rect.adjusted(5, 3, 5, 3), defaultAlignment(), text);
 }
 
 // HistoryLog
@@ -88,7 +102,6 @@ HistoryLog::HistoryLog(QWidget *parent) : QTableView(parent) {
   verticalHeader()->setVisible(false);
   setFrameShape(QFrame::NoFrame);
   setSizePolicy(QSizePolicy::Preferred, QSizePolicy::Expanding);
-  setStyleSheet("QTableView::item { border:0px; padding-left:5px; padding-right:5px; }");
 }
 
 int HistoryLog::sizeHintForColumn(int column) const {

tools/cabana/historylog.h

@@ -10,6 +10,7 @@ class HeaderView : public QHeaderView {
 public:
   HeaderView(Qt::Orientation orientation, QWidget *parent = nullptr) : QHeaderView(orientation, parent) {}
   QSize sectionSizeFromContents(int logicalIndex) const override;
+  void paintSection(QPainter *painter, const QRect &rect, int logicalIndex) const;
 };
 
 class HistoryLogModel : public QAbstractTableModel {

tools/cabana/settings.cc

@@ -18,7 +18,6 @@ void Settings::save() {
   s.setValue("log_size", can_msg_log_size);
   s.setValue("cached_segment", cached_segment_limit);
   s.setValue("chart_height", chart_height);
-  s.setValue("chart_theme", chart_theme);
   s.setValue("max_chart_x_range", max_chart_x_range);
   s.setValue("last_dir", last_dir);
   s.setValue("splitter_state", splitter_state);
@@ -30,7 +29,6 @@ void Settings::load() {
   can_msg_log_size = s.value("log_size", 50).toInt();
   cached_segment_limit = s.value("cached_segment", 3).toInt();
   chart_height = s.value("chart_height", 200).toInt();
-  chart_theme = s.value("chart_theme", 0).toInt();
   max_chart_x_range = s.value("max_chart_x_range", 3 * 60).toInt();
   last_dir = s.value("last_dir", QDir::homePath()).toString();
   splitter_state = s.value("splitter_state").toByteArray();
@@ -72,11 +70,6 @@ SettingsDlg::SettingsDlg(QWidget *parent) : QDialog(parent) {
   chart_height->setValue(settings.chart_height);
   form_layout->addRow(tr("Chart height"), chart_height);
 
-  chart_theme = new QComboBox();
-  chart_theme->addItems({"Light", "Dark"});
-  chart_theme->setCurrentIndex(settings.chart_theme == 1 ? 1 : 0);
-  form_layout->addRow(tr("Chart theme"), chart_theme);
-
   auto buttonBox = new QDialogButtonBox(QDialogButtonBox::Ok | QDialogButtonBox::Cancel);
   form_layout->addRow(buttonBox);
 
@@ -90,7 +83,6 @@ void SettingsDlg::save() {
   settings.can_msg_log_size = log_size->value();
   settings.cached_segment_limit = cached_segment->value();
   settings.chart_height = chart_height->value();
-  settings.chart_theme = chart_theme->currentIndex();
   settings.max_chart_x_range = max_chart_x_range->value() * 60;
   settings.save();
   accept();

tools/cabana/settings.h

@@ -17,7 +17,6 @@ public:
   int can_msg_log_size = 50;
   int cached_segment_limit = 3;
   int chart_height = 200;
-  int chart_theme = 0;
   int max_chart_x_range = 3 * 60; // 3 minutes
   QString last_dir;
   QByteArray splitter_state;
@@ -36,7 +35,6 @@ public:
   QSpinBox *log_size ;
   QSpinBox *cached_segment;
   QSpinBox *chart_height;
-  QComboBox *chart_theme;
   QSpinBox *max_chart_x_range;
 };
 

tools/cabana/signaledit.cc

@@ -137,7 +137,7 @@ void SignalEdit::setSignal(const QString &message_id, const Signal *signal) {
   updateForm(msg_id == message_id && form->isVisible());
   msg_id = message_id;
   color_label->setText(QString::number(form_idx + 1));
-  color_label->setStyleSheet(QString("background-color:%1").arg(getColor(form_idx)));
+  color_label->setStyleSheet(QString("color:black; background-color:%2").arg(getColor(form_idx)));
   title->setText(sig->name.c_str());
   show();
 }