From bf5a6565c0f2d6791606ff906f6ddb4cba27fb18 Mon Sep 17 00:00:00 2001
From: Adeeb Shihadeh <adeebshihadeh@gmail.com>
Date: Sat, 15 Oct 2022 16:05:52 -0700
Subject: [PATCH 01/34] cabana: misc touchups (#26092)

* fix time formatting

* disable vertical resize

* Update tools/cabana/videowidget.cc
---
 tools/cabana/detailwidget.cc | 2 +-
 tools/cabana/videowidget.cc  | 2 +-
 2 files changed, 2 insertions(+), 2 deletions(-)

diff --git a/tools/cabana/detailwidget.cc b/tools/cabana/detailwidget.cc
index 531cd4c665..4127b6c3ed 100644
--- a/tools/cabana/detailwidget.cc
+++ b/tools/cabana/detailwidget.cc
@@ -1,4 +1,3 @@
-
 #include "tools/cabana/detailwidget.h"
 
 #include <QDialogButtonBox>
@@ -138,6 +137,7 @@ BinaryView::BinaryView(QWidget *parent) {
   QVBoxLayout *main_layout = new QVBoxLayout(this);
   main_layout->setContentsMargins(0, 0, 0, 0);
   table = new QTableWidget(this);
+  table->verticalHeader()->setSectionResizeMode(QHeaderView::Stretch);
   table->horizontalHeader()->setSectionResizeMode(QHeaderView::Stretch);
   table->horizontalHeader()->hide();
   table->setHorizontalScrollBarPolicy(Qt::ScrollBarAlwaysOff);
diff --git a/tools/cabana/videowidget.cc b/tools/cabana/videowidget.cc
index 193a6f8788..9e2129afaf 100644
--- a/tools/cabana/videowidget.cc
+++ b/tools/cabana/videowidget.cc
@@ -11,7 +11,7 @@
 #include <QVBoxLayout>
 
 inline QString formatTime(int seconds) {
-  return QDateTime::fromTime_t(seconds).toString(seconds > 60 * 60 ? "hh::mm::ss" : "mm::ss");
+  return QDateTime::fromTime_t(seconds).toString(seconds > 60 * 60 ? "hh:mm:ss" : "mm:ss");
 }
 
 VideoWidget::VideoWidget(QWidget *parent) : QWidget(parent) {

From b654ebdd25bb3903e94ca5cc6f55d53a256f5c06 Mon Sep 17 00:00:00 2001
From: HaraldSchafer <harald.the.engineer@gmail.com>
Date: Sat, 15 Oct 2022 20:04:35 -0700
Subject: [PATCH 02/34] Refactor model: no klblock (#26035)

* ff138dc0-d097-4818-b40e-dba5ba89d5d6/449 13274b7d-b546-4b91-a587-33b4af7dec6a/700

* b1bb39be-c6ce-4744-8e63-92969fda6bfc/449 f3ebfba1-f686-448f-be9b-b4d5010be91c/700

* model ref

Co-authored-by: Yassine Yousfi <yyousfi1@binghamton.edu>
---
 selfdrive/modeld/models/supercombo.onnx               | 4 ++--
 selfdrive/test/process_replay/model_replay_ref_commit | 2 +-
 2 files changed, 3 insertions(+), 3 deletions(-)

diff --git a/selfdrive/modeld/models/supercombo.onnx b/selfdrive/modeld/models/supercombo.onnx
index aee0ac37ff..59b8883d2a 100644
--- a/selfdrive/modeld/models/supercombo.onnx
+++ b/selfdrive/modeld/models/supercombo.onnx
@@ -1,3 +1,3 @@
 version https://git-lfs.github.com/spec/v1
-oid sha256:c4d37af666344af6bb218e0b939b1152ad3784c15ac79e37bcf0124643c8286a
-size 58539563
+oid sha256:022a830c39267f378f45204682060c93e3aa304bbd8cfa6b2dfe4fa8f419102d
+size 56972617
diff --git a/selfdrive/test/process_replay/model_replay_ref_commit b/selfdrive/test/process_replay/model_replay_ref_commit
index 2446ec061d..b3e9c8c488 100644
--- a/selfdrive/test/process_replay/model_replay_ref_commit
+++ b/selfdrive/test/process_replay/model_replay_ref_commit
@@ -1 +1 @@
-c171250d2cc013b3eca1cda4fb62f3d0dda28d4d
+bfb0a2a52212d2aa1619d999aaae97fa7f7ff788

From e25ea8529698053f4c1b915b7e014ebdc499e56a Mon Sep 17 00:00:00 2001
From: Dean Lee <deanlee3@gmail.com>
Date: Sun, 16 Oct 2022 22:55:53 +0800
Subject: [PATCH 03/34] Cabana: complete edit functions (#26097)

complete forms
---
 tools/cabana/chartswidget.cc   | 105 ++++++++--------
 tools/cabana/chartswidget.h    |  25 ++--
 tools/cabana/dbcmanager.cc     |  22 ++--
 tools/cabana/dbcmanager.h      |   7 +-
 tools/cabana/detailwidget.cc   | 215 ++++++++++++++++++---------------
 tools/cabana/detailwidget.h    |  42 +++----
 tools/cabana/historylog.cc     |   5 +-
 tools/cabana/messageswidget.cc |  20 +--
 tools/cabana/signaledit.cc     |  74 +++++-------
 tools/cabana/signaledit.h      |  29 ++---
 10 files changed, 260 insertions(+), 284 deletions(-)

diff --git a/tools/cabana/chartswidget.cc b/tools/cabana/chartswidget.cc
index 5dafd8ec37..d0f5356fac 100644
--- a/tools/cabana/chartswidget.cc
+++ b/tools/cabana/chartswidget.cc
@@ -1,7 +1,6 @@
 #include "tools/cabana/chartswidget.h"
 
 #include <QGraphicsLayout>
-#include <QLabel>
 #include <QRubberBand>
 #include <QtCharts/QLineSeries>
 #include <QtCharts/QValueAxis>
@@ -14,6 +13,7 @@ ChartsWidget::ChartsWidget(QWidget *parent) : QWidget(parent) {
 
   // title bar
   title_bar = new QWidget(this);
+  title_bar->setVisible(false);
   QHBoxLayout *title_layout = new QHBoxLayout(title_bar);
   title_layout->setContentsMargins(0, 0, 0, 0);
   title_label = new QLabel(tr("Charts"));
@@ -25,13 +25,11 @@ ChartsWidget::ChartsWidget(QWidget *parent) : QWidget(parent) {
   title_layout->addWidget(range_label);
 
   reset_zoom_btn = new QPushButton("⟲", this);
-  reset_zoom_btn->setVisible(false);
   reset_zoom_btn->setFixedSize(30, 30);
   reset_zoom_btn->setToolTip(tr("Reset zoom (drag on chart to zoom X-Axis)"));
   title_layout->addWidget(reset_zoom_btn);
 
   remove_all_btn = new QPushButton("✖", this);
-  remove_all_btn->setVisible(false);
   remove_all_btn->setToolTip(tr("Remove all charts"));
   remove_all_btn->setFixedSize(30, 30);
   title_layout->addWidget(remove_all_btn);
@@ -56,10 +54,20 @@ ChartsWidget::ChartsWidget(QWidget *parent) : QWidget(parent) {
 
   main_layout->addWidget(charts_scroll);
 
-  updateTitleBar();
-
-  QObject::connect(dbc(), &DBCManager::signalRemoved, this, &ChartsWidget::removeChart);
   QObject::connect(dbc(), &DBCManager::DBCFileChanged, this, &ChartsWidget::removeAll);
+  QObject::connect(dbc(), &DBCManager::signalRemoved, this, &ChartsWidget::removeChart);
+  QObject::connect(dbc(), &DBCManager::signalUpdated, [this](const Signal *sig) {
+    if (auto it = charts.find(sig); it != charts.end()) {
+      it.value()->chart_view->updateSeries();
+    }
+  });
+  QObject::connect(dbc(), &DBCManager::msgUpdated, [this](const QString &id) {
+    for (auto chart : charts) {
+      if (chart->id == id)
+        chart->updateTitle();
+    }
+  });
+
   QObject::connect(can, &CANMessages::rangeChanged, [this]() { updateTitleBar(); });
   QObject::connect(reset_zoom_btn, &QPushButton::clicked, can, &CANMessages::resetRange);
   QObject::connect(remove_all_btn, &QPushButton::clicked, this, &ChartsWidget::removeAll);
@@ -71,54 +79,43 @@ ChartsWidget::ChartsWidget(QWidget *parent) : QWidget(parent) {
 }
 
 void ChartsWidget::updateTitleBar() {
-  if (!charts.size()) {
-    title_bar->setVisible(false);
-    return;
-  }
-
-  title_label->setText(tr("Charts (%1)").arg(charts.size()));
+  title_bar->setVisible(!charts.isEmpty());
+  if (charts.isEmpty()) return;
 
   // show select range
+  range_label->setVisible(can->isZoomed());
+  reset_zoom_btn->setEnabled(can->isZoomed());
   if (can->isZoomed()) {
     auto [min, max] = can->range();
     range_label->setText(tr("%1 - %2").arg(min, 0, 'f', 2).arg(max, 0, 'f', 2));
-    range_label->setVisible(true);
-    reset_zoom_btn->setEnabled(true);
-  } else {
-    reset_zoom_btn->setEnabled(false);
-    range_label->setVisible(false);
   }
 
+  title_label->setText(tr("Charts (%1)").arg(charts.size()));
   dock_btn->setText(docking ? "⬈" : "⬋");
   dock_btn->setToolTip(docking ? tr("Undock charts") : tr("Dock charts"));
-  remove_all_btn->setVisible(!charts.empty());
-  reset_zoom_btn->setVisible(!charts.empty());
-  title_bar->setVisible(true);
 }
 
-void ChartsWidget::addChart(const QString &id, const QString &sig_name) {
-  const QString char_name = id + ":" + sig_name;
-  if (charts.find(char_name) == charts.end()) {
-    auto chart = new ChartWidget(id, sig_name, this);
-    QObject::connect(chart, &ChartWidget::remove, [=]() {
-      removeChart(id, sig_name);
-    });
+void ChartsWidget::addChart(const QString &id, const Signal *sig) {
+  if (!charts.contains(sig)) {
+    auto chart = new ChartWidget(id, sig, this);
+    QObject::connect(chart, &ChartWidget::remove, [=]() { removeChart(sig); });
     charts_layout->insertWidget(0, chart);
-    charts[char_name] = chart;
+    charts.insert(sig, chart);
   }
   updateTitleBar();
 }
 
-void ChartsWidget::removeChart(const QString &id, const QString &sig_name) {
-  if (auto it = charts.find(id + ":" + sig_name); it != charts.end()) {
-    it->second->deleteLater();
-    charts.erase(it);
+void ChartsWidget::removeChart(const Signal *sig) {
+  auto it = charts.find(sig);
+  if (it != charts.end()) {
+    it.value()->deleteLater();
+    charts.remove(sig);
   }
   updateTitleBar();
 }
 
 void ChartsWidget::removeAll() {
-  for (auto [_, chart] : charts)
+  for (auto chart : charts)
     chart->deleteLater();
   charts.clear();
   updateTitleBar();
@@ -134,19 +131,16 @@ bool ChartsWidget::eventFilter(QObject *obj, QEvent *event) {
 
 // ChartWidget
 
-ChartWidget::ChartWidget(const QString &id, const QString &sig_name, QWidget *parent) : id(id), sig_name(sig_name), QWidget(parent) {
+ChartWidget::ChartWidget(const QString &id, const Signal *sig, QWidget *parent) : id(id), signal(sig), QWidget(parent) {
   QVBoxLayout *main_layout = new QVBoxLayout(this);
-
-  QWidget *chart_widget = new QWidget(this);
-  QVBoxLayout *chart_layout = new QVBoxLayout(chart_widget);
-  chart_layout->setSpacing(0);
-  chart_layout->setContentsMargins(0, 0, 0, 0);
+  main_layout->setSpacing(0);
+  main_layout->setContentsMargins(0, 0, 0, 0);
 
   QWidget *header = new QWidget(this);
   header->setStyleSheet("background-color:white");
   QHBoxLayout *header_layout = new QHBoxLayout(header);
   header_layout->setContentsMargins(11, 11, 11, 0);
-  QLabel *title = new QLabel(tr("%1 %2").arg(dbc()->msg(id)->name.c_str()).arg(id));
+  title = new QLabel(tr("%1 %2").arg(dbc()->msg(id)->name.c_str()).arg(id));
   header_layout->addWidget(title);
   header_layout->addStretch();
 
@@ -155,26 +149,28 @@ ChartWidget::ChartWidget(const QString &id, const QString &sig_name, QWidget *pa
   remove_btn->setToolTip(tr("Remove chart"));
   QObject::connect(remove_btn, &QPushButton::clicked, this, &ChartWidget::remove);
   header_layout->addWidget(remove_btn);
-  chart_layout->addWidget(header);
+  main_layout->addWidget(header);
 
-  chart_view = new ChartView(id, sig_name, this);
+  chart_view = new ChartView(id, sig, this);
   chart_view->setFixedHeight(300);
-  chart_layout->addWidget(chart_view);
-  chart_layout->addStretch();
-
-  main_layout->addWidget(chart_widget);
+  main_layout->addWidget(chart_view);
+  main_layout->addStretch();
 
   setSizePolicy(QSizePolicy::Expanding, QSizePolicy::Fixed);
 }
 
+void ChartWidget::updateTitle() {
+  title->setText(tr("%1 %2").arg(dbc()->msg(id)->name.c_str()).arg(id));
+}
+
 // ChartView
 
-ChartView::ChartView(const QString &id, const QString &sig_name, QWidget *parent)
-    : id(id), sig_name(sig_name), QChartView(nullptr, parent) {
+ChartView::ChartView(const QString &id, const Signal *sig, QWidget *parent)
+    : id(id), signal(sig), QChartView(nullptr, parent) {
   QLineSeries *series = new QLineSeries();
   series->setUseOpenGL(true);
   QChart *chart = new QChart();
-  chart->setTitle(sig_name);
+  chart->setTitle(sig->name.c_str());
   chart->addSeries(series);
   chart->createDefaultAxes();
   chart->legend()->hide();
@@ -205,10 +201,7 @@ ChartView::ChartView(const QString &id, const QString &sig_name, QWidget *parent
   QObject::connect(can, &CANMessages::rangeChanged, this, &ChartView::rangeChanged);
   QObject::connect(can, &CANMessages::eventsMerged, this, &ChartView::updateSeries);
   QObject::connect(dynamic_cast<QValueAxis *>(chart->axisX()), &QValueAxis::rangeChanged, can, &CANMessages::setRange);
-  QObject::connect(dbc(), &DBCManager::signalUpdated, [this](const QString &msg_id, const QString &sig_name) {
-    if (this->id == msg_id && this->sig_name == sig_name)
-      updateSeries();
-  });
+
   updateSeries();
 }
 
@@ -219,9 +212,9 @@ void ChartView::updateState() {
 }
 
 void ChartView::updateSeries() {
-  const Signal *sig = dbc()->signal(id, sig_name);
+  chart()->setTitle(signal->name.c_str());
   auto events = can->events();
-  if (!sig || !events) return;
+  if (!events) return;
 
   auto l = id.split(':');
   int bus = l[0].toInt();
@@ -235,7 +228,7 @@ void ChartView::updateSeries() {
       for (auto c : evt->event.getCan()) {
         if (bus == c.getSrc() && address == c.getAddress()) {
           auto dat = c.getDat();
-          double value = get_raw_value((uint8_t *)dat.begin(), dat.size(), *sig);
+          double value = get_raw_value((uint8_t *)dat.begin(), dat.size(), *signal);
           double ts = (evt->mono_time / (double)1e9) - route_start_time;  // seconds
           vals.push_back({ts, value});
         }
diff --git a/tools/cabana/chartswidget.h b/tools/cabana/chartswidget.h
index af12560cc9..a3c470e960 100644
--- a/tools/cabana/chartswidget.h
+++ b/tools/cabana/chartswidget.h
@@ -9,7 +9,6 @@
 #include <QVBoxLayout>
 #include <QWidget>
 #include <QtCharts/QChartView>
-#include <QtCharts/QLineSeries>
 
 #include "tools/cabana/canmessages.h"
 #include "tools/cabana/dbcmanager.h"
@@ -20,7 +19,8 @@ class ChartView : public QChartView {
   Q_OBJECT
 
 public:
-  ChartView(const QString &id, const QString &sig_name, QWidget *parent = nullptr);
+  ChartView(const QString &id, const Signal *sig, QWidget *parent = nullptr);
+  void updateSeries();
 
 private:
   void mouseReleaseEvent(QMouseEvent *event) override;
@@ -28,7 +28,6 @@ private:
   void enterEvent(QEvent *event) override;
   void leaveEvent(QEvent *event) override;
 
-  void updateSeries();
   void rangeChanged(qreal min, qreal max);
   void updateAxisY();
   void updateState();
@@ -38,22 +37,23 @@ private:
   QGraphicsLineItem *line_marker;
   QList<QPointF> vals;
   QString id;
-  QString sig_name;
+  const Signal *signal;
 };
 
 class ChartWidget : public QWidget {
 Q_OBJECT
 
 public:
-  ChartWidget(const QString &id, const QString &sig_name, QWidget *parent);
-  inline QChart *chart() const { return chart_view->chart(); }
+  ChartWidget(const QString &id, const Signal *sig, QWidget *parent);
+  void updateTitle();
 
 signals:
   void remove();
 
-protected:
+public:
   QString id;
-  QString sig_name;
+  const Signal *signal;
+  QLabel *title;
   ChartView *chart_view = nullptr;
 };
 
@@ -62,11 +62,8 @@ class ChartsWidget : public QWidget {
 
 public:
   ChartsWidget(QWidget *parent = nullptr);
-  void addChart(const QString &id, const QString &sig_name);
-  void removeChart(const QString &id, const QString &sig_name);
-  inline bool hasChart(const QString &id, const QString &sig_name) {
-    return charts.find(id + sig_name) != charts.end();
-  }
+  void addChart(const QString &id, const Signal *sig);
+  void removeChart(const Signal *sig);
 
 signals:
   void dock(bool floating);
@@ -85,5 +82,5 @@ private:
   QPushButton *reset_zoom_btn;
   QPushButton *remove_all_btn;
   QVBoxLayout *charts_layout;
-  std::map<QString, ChartWidget *> charts;
+  QHash<const Signal *, ChartWidget *> charts;
 };
diff --git a/tools/cabana/dbcmanager.cc b/tools/cabana/dbcmanager.cc
index 1cb6da7fb5..5b1bddcabe 100644
--- a/tools/cabana/dbcmanager.cc
+++ b/tools/cabana/dbcmanager.cc
@@ -36,14 +36,17 @@ void DBCManager::updateMsg(const QString &id, const QString &name, uint32_t size
 void DBCManager::addSignal(const QString &id, const Signal &sig) {
   if (Msg *m = const_cast<Msg *>(msg(id))) {
     m->sigs.push_back(sig);
-    emit signalAdded(id, QString::fromStdString(sig.name));
+    emit signalAdded(&m->sigs.back());
   }
 }
 
 void DBCManager::updateSignal(const QString &id, const QString &sig_name, const Signal &sig) {
-  if (Signal *s = const_cast<Signal *>(signal(id, sig_name))) {
-    *s = sig;
-    emit signalUpdated(id, sig_name);
+  if (Msg *m = const_cast<Msg *>(msg(id))) {
+    auto it = std::find_if(m->sigs.begin(), m->sigs.end(), [=](auto &sig) { return sig_name == sig.name.c_str(); });
+    if (it != m->sigs.end()) {
+      *it = sig;
+      emit signalUpdated(&(*it));
+    }
   }
 }
 
@@ -51,21 +54,12 @@ void DBCManager::removeSignal(const QString &id, const QString &sig_name) {
   if (Msg *m = const_cast<Msg *>(msg(id))) {
     auto it = std::find_if(m->sigs.begin(), m->sigs.end(), [=](auto &sig) { return sig_name == sig.name.c_str(); });
     if (it != m->sigs.end()) {
+      emit signalRemoved(&(*it));
       m->sigs.erase(it);
-      emit signalRemoved(id, sig_name);
     }
   }
 }
 
-const Signal *DBCManager::signal(const QString &id, const QString &sig_name) const {
-  if (auto m = msg(id)) {
-    auto it = std::find_if(m->sigs.begin(), m->sigs.end(), [&](auto &s) { return sig_name == s.name.c_str(); });
-    if (it != m->sigs.end())
-      return &(*it);
-  }
-  return nullptr;
-}
-
 uint32_t DBCManager::addressFromId(const QString &id) {
   return id.mid(id.indexOf(':') + 1).toUInt(nullptr, 16);
 }
diff --git a/tools/cabana/dbcmanager.h b/tools/cabana/dbcmanager.h
index 06c071be82..1f890a39db 100644
--- a/tools/cabana/dbcmanager.h
+++ b/tools/cabana/dbcmanager.h
@@ -14,7 +14,6 @@ public:
   void open(const QString &dbc_file_name);
   void save(const QString &dbc_file_name);
 
-  const Signal *signal(const QString &id, const QString &sig_name) const;
   void addSignal(const QString &id, const Signal &sig);
   void updateSignal(const QString &id, const QString &sig_name, const Signal &sig);
   void removeSignal(const QString &id, const QString &sig_name);
@@ -31,9 +30,9 @@ public:
   }
 
 signals:
-  void signalAdded(const QString &id, const QString &sig_name);
-  void signalRemoved(const QString &id, const QString &sig_name);
-  void signalUpdated(const QString &id, const QString &sig_name);
+  void signalAdded(const Signal *sig);
+  void signalRemoved(const Signal *sig);
+  void signalUpdated(const Signal *sig);
   void msgUpdated(const QString &id);
   void DBCFileChanged();
 
diff --git a/tools/cabana/detailwidget.cc b/tools/cabana/detailwidget.cc
index 4127b6c3ed..021e1b73cf 100644
--- a/tools/cabana/detailwidget.cc
+++ b/tools/cabana/detailwidget.cc
@@ -3,9 +3,9 @@
 #include <QDialogButtonBox>
 #include <QFormLayout>
 #include <QHeaderView>
+#include <QMessageBox>
 #include <QScrollBar>
 #include <QTimer>
-#include <QVBoxLayout>
 
 // DetailWidget
 
@@ -32,60 +32,52 @@ DetailWidget::DetailWidget(QWidget *parent) : QWidget(parent) {
   binary_view = new BinaryView(this);
   main_layout->addWidget(binary_view, 0, Qt::AlignTop);
 
-  // signal header
-  signals_header = new QWidget(this);
-  QHBoxLayout *signals_header_layout = new QHBoxLayout(signals_header);
-  signals_header_layout->addWidget(new QLabel(tr("Signals")));
-  signals_header_layout->addStretch();
-  QPushButton *add_sig_btn = new QPushButton(tr("Add signal"), this);
-  signals_header_layout->addWidget(add_sig_btn);
-  signals_header->setVisible(false);
-  main_layout->addWidget(signals_header);
-
-  // scroll area
+  // signals
+  signals_container = new QWidget(this);
+  signals_container->setLayout(new QVBoxLayout);
+  signals_container->setSizePolicy(QSizePolicy::Preferred, QSizePolicy::Maximum);
+
   scroll = new ScrollArea(this);
-  QWidget *container = new QWidget(this);
-  container->setSizePolicy(QSizePolicy::Preferred, QSizePolicy::Maximum);
-  QVBoxLayout *container_layout = new QVBoxLayout(container);
-  signal_edit_layout = new QVBoxLayout();
-  signal_edit_layout->setSpacing(2);
-  container_layout->addLayout(signal_edit_layout);
-
-  scroll->setWidget(container);
+  scroll->setWidget(signals_container);
   scroll->setWidgetResizable(true);
   scroll->setHorizontalScrollBarPolicy(Qt::ScrollBarAlwaysOff);
   main_layout->addWidget(scroll);
 
+  // history log
   history_log = new HistoryLog(this);
   main_layout->addWidget(history_log);
 
-  QObject::connect(add_sig_btn, &QPushButton::clicked, this, &DetailWidget::addSignal);
   QObject::connect(edit_btn, &QPushButton::clicked, this, &DetailWidget::editMsg);
+  QObject::connect(binary_view, &BinaryView::cellsSelected, this, &DetailWidget::addSignal);
   QObject::connect(can, &CANMessages::updated, this, &DetailWidget::updateState);
+  QObject::connect(dbc(), &DBCManager::DBCFileChanged, this, &DetailWidget::dbcMsgChanged);
 }
 
 void DetailWidget::setMessage(const QString &message_id) {
-  msg_id = message_id;
-  for (auto f : signal_forms) {
-    f->deleteLater();
+  if (msg_id != message_id) {
+    msg_id = message_id;
+    dbcMsgChanged();
   }
-  signal_forms.clear();
+}
+
+void DetailWidget::dbcMsgChanged() {
+  if (msg_id.isEmpty()) return;
 
+  qDeleteAll(signals_container->findChildren<SignalEdit *>());
+  QString msg_name = tr("untitled");
   if (auto msg = dbc()->msg(msg_id)) {
     for (int i = 0; i < msg->sigs.size(); ++i) {
-      auto form = new SignalEdit(i, msg_id, msg->sigs[i], getColor(i));
-      signal_edit_layout->addWidget(form);
-      QObject::connect(form, &SignalEdit::showChart, this, &DetailWidget::showChart);
+      auto form = new SignalEdit(i, msg_id, msg->sigs[i]);
+      signals_container->layout()->addWidget(form);
+      QObject::connect(form, &SignalEdit::showChart, [this, sig = &msg->sigs[i]]() { emit showChart(msg_id, sig); });
       QObject::connect(form, &SignalEdit::showFormClicked, this, &DetailWidget::showForm);
-      signal_forms.push_back(form);
+      QObject::connect(form, &SignalEdit::remove, this, &DetailWidget::removeSignal);
+      QObject::connect(form, &SignalEdit::save, this, &DetailWidget::saveSignal);
     }
-    name_label->setText(msg->name.c_str());
-    signals_header->setVisible(true);
-  } else {
-    name_label->setText(tr("untitled"));
-    signals_header->setVisible(false);
+    msg_name = msg->name.c_str();
   }
   edit_btn->setVisible(true);
+  name_label->setText(msg_name);
 
   binary_view->setMessage(msg_id);
   history_log->setMessage(msg_id);
@@ -99,60 +91,90 @@ void DetailWidget::updateState() {
   history_log->updateState();
 }
 
-void DetailWidget::editMsg() {
-  EditMessageDialog dlg(msg_id, this);
-  if (dlg.exec()) {
-    setMessage(msg_id);
+void DetailWidget::showForm() {
+  SignalEdit *sender = qobject_cast<SignalEdit *>(QObject::sender());
+  for (auto f : signals_container->findChildren<SignalEdit *>()) {
+    f->setFormVisible(f == sender && !f->isFormVisible());
+    if (f == sender) {
+      QTimer::singleShot(0, [=]() { scroll->ensureWidgetVisible(f); });
+    }
   }
 }
 
-void DetailWidget::addSignal() {
-  AddSignalDialog dlg(msg_id, this);
+void DetailWidget::editMsg() {
+  auto msg = dbc()->msg(msg_id);
+  QString name = msg ? msg->name.c_str() : "untitled";
+  int size = msg ? msg->size : can->lastMessage(msg_id).dat.size();
+  EditMessageDialog dlg(msg_id, name, size, this);
   if (dlg.exec()) {
-    setMessage(msg_id);
+    dbc()->updateMsg(msg_id, dlg.name_edit->text(), dlg.size_spin->value());
+    dbcMsgChanged();
   }
 }
 
-void DetailWidget::showForm() {
-  SignalEdit *sender = qobject_cast<SignalEdit *>(QObject::sender());
-  if (sender->isFormVisible()) {
-    sender->setFormVisible(false);
-  } else {
-    for (auto f : signal_forms) {
-      f->setFormVisible(f == sender);
-      if (f == sender) {
-        // scroll to header
-        QTimer::singleShot(0, [=]() {
-          const QPoint p = f->mapTo(scroll, QPoint(0, 0));
-          scroll->verticalScrollBar()->setValue(p.y() + scroll->verticalScrollBar()->value());
-        });
-      }
+void DetailWidget::addSignal(int start_bit, int size) {
+  if (dbc()->msg(msg_id)) {
+    AddSignalDialog dlg(msg_id, start_bit, size, this);
+    if (dlg.exec()) {
+      dbc()->addSignal(msg_id, dlg.form->getSignal());
+      dbcMsgChanged();
     }
   }
 }
 
+void DetailWidget::saveSignal() {
+  SignalEdit *sig_form = qobject_cast<SignalEdit *>(QObject::sender());
+  auto s = sig_form->form->getSignal();
+  dbc()->updateSignal(msg_id, sig_form->sig_name, s);
+  // update binary view and history log
+  binary_view->setMessage(msg_id);
+  history_log->setMessage(msg_id);
+}
+
+void DetailWidget::removeSignal() {
+  SignalEdit *sig_form = qobject_cast<SignalEdit *>(QObject::sender());
+  QString text = tr("Are you sure you want to remove signal '%1'").arg(sig_form->sig_name);
+  if (QMessageBox::Yes == QMessageBox::question(this, tr("Remove signal"), text)) {
+    dbc()->removeSignal(msg_id, sig_form->sig_name);
+    dbcMsgChanged();
+  }
+}
+
 // BinaryView
 
-BinaryView::BinaryView(QWidget *parent) {
-  QVBoxLayout *main_layout = new QVBoxLayout(this);
-  main_layout->setContentsMargins(0, 0, 0, 0);
-  table = new QTableWidget(this);
-  table->verticalHeader()->setSectionResizeMode(QHeaderView::Stretch);
-  table->horizontalHeader()->setSectionResizeMode(QHeaderView::Stretch);
-  table->horizontalHeader()->hide();
-  table->setHorizontalScrollBarPolicy(Qt::ScrollBarAlwaysOff);
-  main_layout->addWidget(table);
-  table->setColumnCount(9);
+BinaryView::BinaryView(QWidget *parent) : QTableWidget(parent) {
+  horizontalHeader()->setSectionResizeMode(QHeaderView::Stretch);
+  verticalHeader()->setSectionResizeMode(QHeaderView::Stretch);
+  horizontalHeader()->hide();
+  setHorizontalScrollBarPolicy(Qt::ScrollBarAlwaysOff);
+  setColumnCount(9);
+
+  // replace selection model
+  auto old_model = selectionModel();
+  setSelectionModel(new BinarySelectionModel(model()));
+  delete old_model;
+}
+
+void BinaryView::mouseReleaseEvent(QMouseEvent *event) {
+  QTableWidget::mouseReleaseEvent(event);
+
+  if (auto items = selectedItems(); !items.isEmpty()) {
+    int start_bit = items.first()->row() * 8 + items.first()->column();
+    int size = items.back()->row() * 8 + items.back()->column() - start_bit + 1;
+    emit cellsSelected(start_bit, size);
+  }
 }
 
 void BinaryView::setMessage(const QString &message_id) {
   msg_id = message_id;
+  if (msg_id.isEmpty()) return;
+
   const Msg *msg = dbc()->msg(msg_id);
-  const int row_count = msg ? msg->size : can->lastMessage(msg_id).dat.size();
-  table->setRowCount(row_count);
-  table->setColumnCount(9);
-  for (int i = 0; i < table->rowCount(); ++i) {
-    for (int j = 0; j < table->columnCount(); ++j) {
+  int row_count = msg ? msg->size : can->lastMessage(msg_id).dat.size();
+  setRowCount(row_count);
+  setColumnCount(9);
+  for (int i = 0; i < rowCount(); ++i) {
+    for (int j = 0; j < columnCount(); ++j) {
       auto item = new QTableWidgetItem();
       item->setFlags(item->flags() ^ Qt::ItemIsEditable);
       item->setTextAlignment(Qt::AlignCenter);
@@ -160,8 +182,9 @@ void BinaryView::setMessage(const QString &message_id) {
         QFont font;
         font.setBold(true);
         item->setFont(font);
+        item->setFlags(item->flags() ^ Qt::ItemIsSelectable);
       }
-      table->setItem(i, j, item);
+      setItem(i, j, item);
     }
   }
 
@@ -170,71 +193,73 @@ void BinaryView::setMessage(const QString &message_id) {
     for (int i = 0; i < msg->sigs.size(); ++i) {
       const auto &sig = msg->sigs[i];
       int start = sig.is_little_endian ? sig.start_bit : bigEndianBitIndex(sig.start_bit);
-      for (int j = start; j <= start + sig.size - 1; ++j) {
-        table->item(j / 8, j % 8)->setBackground(QColor(getColor(i)));
+      for (int j = start; j <= std::min(start + sig.size - 1, rowCount() * columnCount() - 1); ++j) {
+        item(j / 8, j % 8)->setBackground(QColor(getColor(i)));
       }
     }
   }
-  table->setFixedHeight(table->rowHeight(0) * std::min(row_count, 8) + 2);
+
+  setFixedHeight(rowHeight(0) * std::min(row_count, 8) + 2);
+  clearSelection();
   updateState();
 }
 
 void BinaryView::updateState() {
-  if (msg_id.isEmpty()) return;
-
   const auto &binary = can->lastMessage(msg_id).dat;
-
   setUpdatesEnabled(false);
   char hex[3] = {'\0'};
   for (int i = 0; i < binary.size(); ++i) {
     for (int j = 0; j < 8; ++j) {
-      table->item(i, j)->setText(QChar((binary[i] >> (7 - j)) & 1 ? '1' : '0'));
+      item(i, j)->setText(QChar((binary[i] >> (7 - j)) & 1 ? '1' : '0'));
     }
     hex[0] = toHex(binary[i] >> 4);
     hex[1] = toHex(binary[i] & 0xf);
-    table->item(i, 8)->setText(hex);
+    item(i, 8)->setText(hex);
   }
   setUpdatesEnabled(true);
 }
 
+void BinarySelectionModel::select(const QItemSelection &selection, QItemSelectionModel::SelectionFlags command) {
+  QItemSelection new_selection = selection;
+  if (auto indexes = selection.indexes(); !indexes.isEmpty()) {
+    auto [begin_idx, end_idx] = (QModelIndex[]){indexes.first(), indexes.back()};
+    for (int row = begin_idx.row(); row <= end_idx.row(); ++row) {
+      int left_col = (row == begin_idx.row()) ? begin_idx.column() : 0;
+      int right_col = (row == end_idx.row()) ? end_idx.column() : 7;
+      new_selection.merge({model()->index(row, left_col), model()->index(row, right_col)}, command);
+    }
+  }
+  QItemSelectionModel::select(new_selection, command);
+}
+
 // EditMessageDialog
 
-EditMessageDialog::EditMessageDialog(const QString &msg_id, QWidget *parent) : msg_id(msg_id), QDialog(parent) {
+EditMessageDialog::EditMessageDialog(const QString &msg_id, const QString &title, int size, QWidget *parent) : QDialog(parent) {
   setWindowTitle(tr("Edit message"));
   QVBoxLayout *main_layout = new QVBoxLayout(this);
 
   QFormLayout *form_layout = new QFormLayout();
   form_layout->addRow("ID", new QLabel(msg_id));
 
-  const auto msg = dbc()->msg(msg_id);
-  name_edit = new QLineEdit(this);
-  name_edit->setText(msg ? msg->name.c_str() : "untitled");
+  name_edit = new QLineEdit(title, this);
   form_layout->addRow(tr("Name"), name_edit);
 
   size_spin = new QSpinBox(this);
-  size_spin->setValue(msg ? msg->size : can->lastMessage(msg_id).dat.size());
+  // TODO: limit the maximum?
+  size_spin->setMinimum(1);
+  size_spin->setValue(size);
   form_layout->addRow(tr("Size"), size_spin);
 
   main_layout->addLayout(form_layout);
 
   auto buttonBox = new QDialogButtonBox(QDialogButtonBox::Ok | QDialogButtonBox::Cancel);
   main_layout->addWidget(buttonBox);
-
   setFixedWidth(parent->width() * 0.9);
 
-  connect(buttonBox, &QDialogButtonBox::accepted, this, &EditMessageDialog::save);
+  connect(buttonBox, &QDialogButtonBox::accepted, this, &QDialog::accept);
   connect(buttonBox, &QDialogButtonBox::rejected, this, &QDialog::reject);
 }
 
-void EditMessageDialog::save() {
-  const QString name = name_edit->text();
-  if (size_spin->value() <= 0 || name_edit->text().isEmpty() || name == tr("untitled"))
-    return;
-
-  dbc()->updateMsg(msg_id, name, size_spin->value());
-  QDialog::accept();
-}
-
 // ScrollArea
 
 bool ScrollArea::eventFilter(QObject *obj, QEvent *ev) {
diff --git a/tools/cabana/detailwidget.h b/tools/cabana/detailwidget.h
index 99fe321012..db174873f7 100644
--- a/tools/cabana/detailwidget.h
+++ b/tools/cabana/detailwidget.h
@@ -1,12 +1,7 @@
 #pragma once
 
-#include <QDialog>
-#include <QLabel>
-#include <QPushButton>
 #include <QScrollArea>
 #include <QTableWidget>
-#include <QVBoxLayout>
-#include <QWidget>
 
 #include "opendbc/can/common.h"
 #include "opendbc/can/common_dbc.h"
@@ -15,29 +10,32 @@
 #include "tools/cabana/historylog.h"
 #include "tools/cabana/signaledit.h"
 
-class BinaryView : public QWidget {
-  Q_OBJECT
+class BinarySelectionModel : public QItemSelectionModel {
+public:
+  BinarySelectionModel(QAbstractItemModel *model = nullptr) : QItemSelectionModel(model) {}
+  void select(const QItemSelection &selection, QItemSelectionModel::SelectionFlags command) override;
+};
 
+class BinaryView : public QTableWidget {
+  Q_OBJECT
 public:
-  BinaryView(QWidget *parent);
+  BinaryView(QWidget *parent = nullptr);
+  void mouseReleaseEvent(QMouseEvent *event) override;
   void setMessage(const QString &message_id);
   void updateState();
+signals:
+  void cellsSelected(int start_bit, int size);
 
 private:
   QString msg_id;
-  QTableWidget *table;
 };
 
 class EditMessageDialog : public QDialog {
   Q_OBJECT
 
 public:
-  EditMessageDialog(const QString &msg_id, QWidget *parent);
+  EditMessageDialog(const QString &msg_id, const QString &title, int size, QWidget *parent);
 
-protected:
-  void save();
-
-  QString msg_id;
   QLineEdit *name_edit;
   QSpinBox *size_spin;
 };
@@ -57,24 +55,24 @@ class DetailWidget : public QWidget {
 public:
   DetailWidget(QWidget *parent);
   void setMessage(const QString &message_id);
+  void dbcMsgChanged();
 
 signals:
-  void showChart(const QString &msg_id, const QString &sig_name);
-
-private slots:
-  void showForm();
+  void showChart(const QString &msg_id, const Signal *sig);
+  void removeChart(const Signal *sig);
 
 private:
-  void addSignal();
+  void addSignal(int start_bit, int size);
+  void saveSignal();
+  void removeSignal();
   void editMsg();
+  void showForm();
   void updateState();
 
   QString msg_id;
   QLabel *name_label, *time_label;
   QPushButton *edit_btn;
-  QVBoxLayout *signal_edit_layout;
-  QWidget *signals_header;
-  QList<SignalEdit *> signal_forms;
+  QWidget *signals_container;
   HistoryLog *history_log;
   BinaryView *binary_view;
   ScrollArea *scroll;
diff --git a/tools/cabana/historylog.cc b/tools/cabana/historylog.cc
index 494e281cb1..5a77b5aa9e 100644
--- a/tools/cabana/historylog.cc
+++ b/tools/cabana/historylog.cc
@@ -52,9 +52,8 @@ QVariant HistoryLogModel::headerData(int section, Qt::Orientation orientation, i
 void HistoryLogModel::updateState() {
   if (msg_id.isEmpty()) return;
 
-  const auto &can_msgs = can->messages(msg_id);
   int prev_row_count = row_count;
-  row_count = can_msgs.size();
+  row_count = can->messages(msg_id).size();
   int delta = row_count - prev_row_count;
   if (delta > 0) {
     beginInsertRows({}, prev_row_count, row_count - 1);
@@ -64,7 +63,7 @@ void HistoryLogModel::updateState() {
     endRemoveRows();
   }
   if (row_count > 0) {
-    emit dataChanged(index(0, 0), index(row_count - 1, column_count - 1));
+    emit dataChanged(index(0, 0), index(row_count - 1, column_count - 1), {Qt::DisplayRole});
     emit headerDataChanged(Qt::Vertical, 0, row_count - 1);
   }
 }
diff --git a/tools/cabana/messageswidget.cc b/tools/cabana/messageswidget.cc
index eaf84fbace..f10cbf44b4 100644
--- a/tools/cabana/messageswidget.cc
+++ b/tools/cabana/messageswidget.cc
@@ -68,7 +68,7 @@ MessagesWidget::MessagesWidget(QWidget *parent) : QWidget(parent) {
   });
   QObject::connect(table_widget->selectionModel(), &QItemSelectionModel::currentChanged, [=](const QModelIndex &current, const QModelIndex &previous) {
     if (current.isValid()) {
-      emit msgSelectionChanged(table_widget->model()->data(current, Qt::UserRole).toString());
+      emit msgSelectionChanged(current.data(Qt::UserRole).toString());
     }
   });
 
@@ -78,11 +78,8 @@ MessagesWidget::MessagesWidget(QWidget *parent) : QWidget(parent) {
 
 void MessagesWidget::dbcSelectionChanged(const QString &dbc_file) {
   dbc()->open(dbc_file);
-  // update detailwidget
-  auto current = table_widget->selectionModel()->currentIndex();
-  if (current.isValid()) {
-    emit msgSelectionChanged(table_widget->model()->data(current, Qt::UserRole).toString());
-  }
+  // TODO: reset model?
+  table_widget->sortByColumn(0, Qt::AscendingOrder);
 }
 
 // MessageListModel
@@ -90,9 +87,6 @@ void MessagesWidget::dbcSelectionChanged(const QString &dbc_file) {
 QVariant MessageListModel::headerData(int section, Qt::Orientation orientation, int role) const {
   if (orientation == Qt::Horizontal && role == Qt::DisplayRole)
     return (QString[]){"Name", "ID", "Count", "Bytes"}[section];
-  else if (orientation == Qt::Vertical && role == Qt::DisplayRole) {
-    // return QString::number(section);
-  }
   return {};
 }
 
@@ -100,17 +94,15 @@ QVariant MessageListModel::data(const QModelIndex &index, int role) const {
   if (role == Qt::DisplayRole) {
     auto it = std::next(can->can_msgs.begin(), index.row());
     if (it != can->can_msgs.end() && !it.value().empty()) {
-      const auto &d = it.value().front();
       const QString &msg_id = it.key();
       switch (index.column()) {
         case 0: {
           auto msg = dbc()->msg(msg_id);
-          QString name = msg ? msg->name.c_str() : "untitled";
-          return name;
+          return msg ? msg->name.c_str() : "untitled";
         }
         case 1: return msg_id;
         case 2: return can->counters[msg_id];
-        case 3: return toHex(d.dat);
+        case 3: return toHex(it.value().front().dat);
       }
     }
   } else if (role == Qt::UserRole) {
@@ -132,6 +124,6 @@ void MessageListModel::updateState() {
   }
 
   if (row_count > 0) {
-    emit dataChanged(index(0, 0), index(row_count - 1, 3));
+    emit dataChanged(index(0, 0), index(row_count - 1, 3), {Qt::DisplayRole});
   }
 }
diff --git a/tools/cabana/signaledit.cc b/tools/cabana/signaledit.cc
index 3f48450195..2da3e2eec2 100644
--- a/tools/cabana/signaledit.cc
+++ b/tools/cabana/signaledit.cc
@@ -3,7 +3,6 @@
 #include <QDialogButtonBox>
 #include <QFormLayout>
 #include <QHBoxLayout>
-#include <QMessageBox>
 #include <QVBoxLayout>
 
 // SignalForm
@@ -15,13 +14,10 @@ SignalForm::SignalForm(const Signal &sig, QWidget *parent) : start_bit(sig.start
   form_layout->addRow(tr("Name"), name);
 
   size = new QSpinBox();
+  size->setMinimum(1);
   size->setValue(sig.size);
   form_layout->addRow(tr("Size"), size);
 
-  msb = new QSpinBox();
-  msb->setValue(sig.msb);
-  form_layout->addRow(tr("Most significant bit"), msb);
-
   endianness = new QComboBox();
   endianness->addItems({"Little", "Big"});
   endianness->setCurrentIndex(sig.is_little_endian ? 0 : 1);
@@ -56,7 +52,8 @@ SignalForm::SignalForm(const Signal &sig, QWidget *parent) : start_bit(sig.start
   form_layout->addRow(tr("Value descriptions"), val_desc);
 }
 
-std::optional<Signal> SignalForm::getSignal() {
+Signal SignalForm::getSignal() {
+  // TODO: Check if the size is valid, and no duplicate name
   Signal sig = {};
   sig.start_bit = start_bit;
   sig.name = name->text().toStdString();
@@ -72,17 +69,17 @@ std::optional<Signal> SignalForm::getSignal() {
     sig.lsb = bigEndianStartBitsIndex(bigEndianBitIndex(sig.start_bit) + sig.size - 1);
     sig.msb = sig.start_bit;
   }
-  return (sig.name.empty() || sig.size <= 0) ? std::nullopt : std::optional(sig);
+  return sig;
 }
 
 // SignalEdit
 
-SignalEdit::SignalEdit(int index, const QString &id, const Signal &sig, const QString &color, QWidget *parent)
-    : id(id), name_(sig.name.c_str()), QWidget(parent) {
+SignalEdit::SignalEdit(int index, const QString &msg_id, const Signal &sig, QWidget *parent)
+    : sig_name(sig.name.c_str()), QWidget(parent) {
   QVBoxLayout *main_layout = new QVBoxLayout(this);
   main_layout->setContentsMargins(0, 0, 0, 0);
 
-  // title
+  // title bar
   QHBoxLayout *title_layout = new QHBoxLayout();
   icon = new QLabel(">");
   icon->setFixedSize(15, 30);
@@ -90,24 +87,25 @@ SignalEdit::SignalEdit(int index, const QString &id, const Signal &sig, const QS
   title_layout->addWidget(icon);
   title = new ElidedLabel(this);
   title->setSizePolicy(QSizePolicy::Preferred, QSizePolicy::MinimumExpanding);
-  title->setText(QString("%1. %2").arg(index + 1).arg(sig.name.c_str()));
-  title->setStyleSheet(QString("font-weight:bold; color:%1").arg(color));
+  title->setText(QString("%1. %2").arg(index + 1).arg(sig_name));
+  title->setStyleSheet(QString("font-weight:bold; color:%1").arg(getColor(index)));
   title_layout->addWidget(title);
 
-  plot_btn = new QPushButton("📈");
+  QPushButton *plot_btn = new QPushButton("📈");
   plot_btn->setToolTip(tr("Show Plot"));
   plot_btn->setFixedSize(30, 30);
-  QObject::connect(plot_btn, &QPushButton::clicked, [=]() { emit showChart(id, name_); });
+  QObject::connect(plot_btn, &QPushButton::clicked, this, &SignalEdit::showChart);
   title_layout->addWidget(plot_btn);
   main_layout->addLayout(title_layout);
 
+  // signal form
   form_container = new QWidget(this);
   QVBoxLayout *v_layout = new QVBoxLayout(form_container);
   form = new SignalForm(sig, this);
   v_layout->addWidget(form);
 
   QHBoxLayout *h = new QHBoxLayout();
-  remove_btn = new QPushButton(tr("Remove Signal"));
+  QPushButton *remove_btn = new QPushButton(tr("Remove Signal"));
   h->addWidget(remove_btn);
   h->addStretch();
   QPushButton *save_btn = new QPushButton(tr("Save"));
@@ -117,13 +115,19 @@ SignalEdit::SignalEdit(int index, const QString &id, const Signal &sig, const QS
   form_container->setVisible(false);
   main_layout->addWidget(form_container);
 
-  QFrame* hline = new QFrame();
+  // bottom line
+  QFrame *hline = new QFrame();
   hline->setFrameShape(QFrame::HLine);
   hline->setFrameShadow(QFrame::Sunken);
   main_layout->addWidget(hline);
 
   QObject::connect(remove_btn, &QPushButton::clicked, this, &SignalEdit::remove);
-  QObject::connect(save_btn, &QPushButton::clicked, this, &SignalEdit::save);
+  QObject::connect(save_btn, &QPushButton::clicked, [=]() {
+    QString new_name = form->getSignal().name.c_str();
+    title->setText(QString("%1. %2").arg(index + 1).arg(new_name));
+    emit save();
+    sig_name = new_name;
+  });
   QObject::connect(title, &ElidedLabel::clicked, this, &SignalEdit::showFormClicked);
 }
 
@@ -132,40 +136,24 @@ void SignalEdit::setFormVisible(bool visible) {
   icon->setText(visible ? "▼" : ">");
 }
 
-void SignalEdit::save() {
-  if (auto s = form->getSignal())
-    dbc()->updateSignal(id, name_, *s);
-}
-
-void SignalEdit::remove() {
-  QMessageBox msgbox;
-  msgbox.setText(tr("Remove signal"));
-  msgbox.setInformativeText(tr("Are you sure you want to remove signal '%1'").arg(name_));
-  msgbox.setStandardButtons(QMessageBox::Ok | QMessageBox::Cancel);
-  msgbox.setDefaultButton(QMessageBox::Cancel);
-  if (msgbox.exec()) {
-    dbc()->removeSignal(id, name_);
-    deleteLater();
-  }
-}
-
 // AddSignalDialog
 
-AddSignalDialog::AddSignalDialog(const QString &id, QWidget *parent) : QDialog(parent) {
+AddSignalDialog::AddSignalDialog(const QString &id, int start_bit, int size, QWidget *parent) : QDialog(parent) {
   setWindowTitle(tr("Add signal to %1").arg(dbc()->msg(id)->name.c_str()));
   QVBoxLayout *main_layout = new QVBoxLayout(this);
-  Signal sig = {.name = "untitled"};
-  auto form = new SignalForm(sig, this);
+
+  Signal sig = {
+    .name = "untitled",
+    .start_bit = bigEndianBitIndex(start_bit),
+    .is_little_endian = false,
+    .size = size,
+  };
+  form = new SignalForm(sig, this);
   main_layout->addWidget(form);
   auto buttonBox = new QDialogButtonBox(QDialogButtonBox::Ok | QDialogButtonBox::Cancel);
   main_layout->addWidget(buttonBox);
   setFixedWidth(parent->width() * 0.9);
 
   connect(buttonBox, &QDialogButtonBox::rejected, this, &QDialog::reject);
-  connect(buttonBox, &QDialogButtonBox::accepted, [=]() {
-    if (auto signal = form->getSignal()) {
-      dbc()->addSignal(id, *signal);
-    }
-    QDialog::accept();
-  });
+  connect(buttonBox, &QDialogButtonBox::accepted, this, &QDialog::accept);
 }
diff --git a/tools/cabana/signaledit.h b/tools/cabana/signaledit.h
index 00c13948b7..f31408657f 100644
--- a/tools/cabana/signaledit.h
+++ b/tools/cabana/signaledit.h
@@ -1,7 +1,5 @@
 #pragma once
 
-#include <optional>
-
 #include <QComboBox>
 #include <QDialog>
 #include <QLabel>
@@ -15,14 +13,12 @@
 #include "tools/cabana/dbcmanager.h"
 
 class SignalForm : public QWidget {
-  Q_OBJECT
-
 public:
   SignalForm(const Signal &sig, QWidget *parent);
-  std::optional<Signal> getSignal();
+  Signal getSignal();
 
   QLineEdit *name, *unit, *comment, *val_desc;
-  QSpinBox *size, *msb, *lsb, *offset;
+  QSpinBox *size, *offset;
   QDoubleSpinBox *factor, *min_val, *max_val;
   QComboBox *sign, *endianness;
   int start_bit = 0;
@@ -32,31 +28,26 @@ class SignalEdit : public QWidget {
   Q_OBJECT
 
 public:
-  SignalEdit(int index, const QString &id, const Signal &sig, const QString &color, QWidget *parent = nullptr);
+  SignalEdit(int index, const QString &msg_id, const Signal &sig, QWidget *parent = nullptr);
   void setFormVisible(bool show);
   inline bool isFormVisible() const { return form_container->isVisible(); }
-  void save();
+  QString sig_name;
+  SignalForm *form;
 
 signals:
-  void showChart(const QString &msg_id, const QString &sig_name);
+  void showChart();
   void showFormClicked();
-
-protected:
   void remove();
+  void save();
 
-  QString id;
-  QString name_;
-  QPushButton *plot_btn;
+protected:
   ElidedLabel *title;
-  SignalForm *form;
   QWidget *form_container;
-  QPushButton *remove_btn;
   QLabel *icon;
 };
 
 class AddSignalDialog : public QDialog {
-  Q_OBJECT
-
 public:
-  AddSignalDialog(const QString &id, QWidget *parent);
+  AddSignalDialog(const QString &id, int start_bit, int size, QWidget *parent);
+  SignalForm *form;
 };

From e3268d88c5226afaf5a300a775b8989bcff18b20 Mon Sep 17 00:00:00 2001
From: Dean Lee <deanlee3@gmail.com>
Date: Sun, 16 Oct 2022 23:24:34 +0800
Subject: [PATCH 04/34] cabana: use monospace font for hex string (#26102)

specify monospace font for hex string
---
 tools/cabana/detailwidget.cc   | 3 ++-
 tools/cabana/historylog.cc     | 7 ++++++-
 tools/cabana/messageswidget.cc | 5 +++++
 3 files changed, 13 insertions(+), 2 deletions(-)

diff --git a/tools/cabana/detailwidget.cc b/tools/cabana/detailwidget.cc
index 021e1b73cf..a9899ec650 100644
--- a/tools/cabana/detailwidget.cc
+++ b/tools/cabana/detailwidget.cc
@@ -1,6 +1,7 @@
 #include "tools/cabana/detailwidget.h"
 
 #include <QDialogButtonBox>
+#include <QFontDatabase>
 #include <QFormLayout>
 #include <QHeaderView>
 #include <QMessageBox>
@@ -179,7 +180,7 @@ void BinaryView::setMessage(const QString &message_id) {
       item->setFlags(item->flags() ^ Qt::ItemIsEditable);
       item->setTextAlignment(Qt::AlignCenter);
       if (j == 8) {
-        QFont font;
+        QFont font = QFontDatabase::systemFont(QFontDatabase::FixedFont);
         font.setBold(true);
         item->setFont(font);
         item->setFlags(item->flags() ^ Qt::ItemIsSelectable);
diff --git a/tools/cabana/historylog.cc b/tools/cabana/historylog.cc
index 5a77b5aa9e..cbb3b6e882 100644
--- a/tools/cabana/historylog.cc
+++ b/tools/cabana/historylog.cc
@@ -1,20 +1,25 @@
 #include "tools/cabana/historylog.h"
 
+#include <QFontDatabase>
 #include <QHeaderView>
 #include <QVBoxLayout>
 
 QVariant HistoryLogModel::data(const QModelIndex &index, int role) const {
+  auto msg = dbc()->msg(msg_id);
   if (role == Qt::DisplayRole) {
     const auto &can_msgs = can->messages(msg_id);
     if (index.row() < can_msgs.size()) {
       const auto &can_data = can_msgs[index.row()];
-      auto msg = dbc()->msg(msg_id);
       if (msg && index.column() < msg->sigs.size()) {
         return get_raw_value((uint8_t *)can_data.dat.begin(), can_data.dat.size(), msg->sigs[index.column()]);
       } else {
         return toHex(can_data.dat);
       }
     }
+  } else if (role == Qt::FontRole) {
+    if (index.column() == 0 && !(msg && msg->sigs.size() > 0)) {
+      return QFontDatabase::systemFont(QFontDatabase::FixedFont);
+    }
   }
   return {};
 }
diff --git a/tools/cabana/messageswidget.cc b/tools/cabana/messageswidget.cc
index f10cbf44b4..3c9af67ea6 100644
--- a/tools/cabana/messageswidget.cc
+++ b/tools/cabana/messageswidget.cc
@@ -2,6 +2,7 @@
 
 #include <QComboBox>
 #include <QCompleter>
+#include <QFontDatabase>
 #include <QHeaderView>
 #include <QLineEdit>
 #include <QPushButton>
@@ -107,6 +108,10 @@ QVariant MessageListModel::data(const QModelIndex &index, int role) const {
     }
   } else if (role == Qt::UserRole) {
     return std::next(can->can_msgs.begin(), index.row()).key();
+  } else if (role == Qt::FontRole) {
+    if (index.column() == 3) {
+      return QFontDatabase::systemFont(QFontDatabase::FixedFont);
+    }
   }
   return {};
 }

From d4f9343a2c1f5345dec07a93b25594b588cd9963 Mon Sep 17 00:00:00 2001
From: Dean Lee <deanlee3@gmail.com>
Date: Mon, 17 Oct 2022 03:30:23 +0800
Subject: [PATCH 05/34] Cabana: load from high quality video by default
 (#26100)

---
 tools/cabana/cabana.cc | 3 ++-
 1 file changed, 2 insertions(+), 1 deletion(-)

diff --git a/tools/cabana/cabana.cc b/tools/cabana/cabana.cc
index 88b175663f..1096487973 100644
--- a/tools/cabana/cabana.cc
+++ b/tools/cabana/cabana.cc
@@ -14,6 +14,7 @@ int main(int argc, char *argv[]) {
   cmd_parser.addHelpOption();
   cmd_parser.addPositionalArgument("route", "the drive to replay. find your drives at connect.comma.ai");
   cmd_parser.addOption({"demo", "use a demo route instead of providing your own"});
+  cmd_parser.addOption({"qcam", "load qcamera"});
   cmd_parser.addOption({"data_dir", "local directory with routes", "data_dir"});
   cmd_parser.process(app);
   const QStringList args = cmd_parser.positionalArguments();
@@ -23,7 +24,7 @@ int main(int argc, char *argv[]) {
 
   const QString route = args.empty() ? DEMO_ROUTE : args.first();
   CANMessages p(&app);
-  if (!p.loadRoute(route, cmd_parser.value("data_dir"), true)) {
+  if (!p.loadRoute(route, cmd_parser.value("data_dir"), cmd_parser.isSet("qcam"))) {
     return 0;
   }
   MainWindow w;

From d109dda720b502a94f914c1a29ffdea6d01fbc6f Mon Sep 17 00:00:00 2001
From: Dean Lee <deanlee3@gmail.com>
Date: Mon, 17 Oct 2022 03:31:26 +0800
Subject: [PATCH 06/34] Cabana: click on video to play/pause (#26099)

---
 tools/cabana/videowidget.cc | 19 ++++++++++---------
 tools/cabana/videowidget.h  |  3 +++
 2 files changed, 13 insertions(+), 9 deletions(-)

diff --git a/tools/cabana/videowidget.cc b/tools/cabana/videowidget.cc
index 9e2129afaf..b6fe8de3e2 100644
--- a/tools/cabana/videowidget.cc
+++ b/tools/cabana/videowidget.cc
@@ -5,7 +5,6 @@
 #include <QHBoxLayout>
 #include <QMouseEvent>
 #include <QPainter>
-#include <QPushButton>
 #include <QStyleOptionSlider>
 #include <QTimer>
 #include <QVBoxLayout>
@@ -39,9 +38,9 @@ VideoWidget::VideoWidget(QWidget *parent) : QWidget(parent) {
 
   // btn controls
   QHBoxLayout *control_layout = new QHBoxLayout();
-  QPushButton *play = new QPushButton("⏸");
-  play->setStyleSheet("font-weight:bold");
-  control_layout->addWidget(play);
+  play_btn = new QPushButton("⏸");
+  play_btn->setStyleSheet("font-weight:bold");
+  control_layout->addWidget(play_btn);
 
   QButtonGroup *group = new QButtonGroup(this);
   group->setExclusive(true);
@@ -61,11 +60,13 @@ VideoWidget::VideoWidget(QWidget *parent) : QWidget(parent) {
   QObject::connect(can, &CANMessages::updated, this, &VideoWidget::updateState);
   QObject::connect(slider, &QSlider::sliderReleased, [this]() { can->seekTo(slider->value() / 1000.0); });
   QObject::connect(slider, &QSlider::valueChanged, [=](int value) { time_label->setText(formatTime(value / 1000)); });
-  QObject::connect(play, &QPushButton::clicked, [=]() {
-    bool is_paused = can->isPaused();
-    play->setText(is_paused ? "⏸" : "▶");
-    can->pause(!is_paused);
-  });
+  QObject::connect(cam_widget, &CameraViewWidget::clicked, [this]() { pause(!can->isPaused()); });
+  QObject::connect(play_btn, &QPushButton::clicked, [=]() { pause(!can->isPaused()); });
+}
+
+void VideoWidget::pause(bool pause) {
+  play_btn->setText(!pause ? "⏸" : "▶");
+  can->pause(pause);
 }
 
 void VideoWidget::rangeChanged(double min, double max) {
diff --git a/tools/cabana/videowidget.h b/tools/cabana/videowidget.h
index e80e3b48f9..fd896f1e11 100644
--- a/tools/cabana/videowidget.h
+++ b/tools/cabana/videowidget.h
@@ -1,6 +1,7 @@
 #pragma once
 
 #include <QLabel>
+#include <QPushButton>
 #include <QSlider>
 #include <QWidget>
 
@@ -29,8 +30,10 @@ public:
 protected:
   void rangeChanged(double min, double max);
   void updateState();
+  void pause(bool pause);
 
   CameraViewWidget *cam_widget;
   QLabel *end_time_label;
+  QPushButton *play_btn;
   Slider *slider;
 };

From 00494a44f4fb8f9e18ce82e22bf40fbe6bc1a805 Mon Sep 17 00:00:00 2001
From: Adeeb Shihadeh <adeebshihadeh@gmail.com>
Date: Sun, 16 Oct 2022 15:54:36 -0700
Subject: [PATCH 07/34] CI speedup (#26096)

* CI speedup

* use the new stuff

* push

* no regressions

* try that

* don't let this slip

* fix modeld tests

* fix linter

* modernize prebuilt

* cleanup

* fix those

* increase a bit
---
 .github/workflows/prebuilt.yaml               |   8 +-
 .github/workflows/selfdrive_tests.yaml        | 109 +++++++++---------
 .github/workflows/setup/action.yaml           |   8 +-
 .github/workflows/tools_tests.yaml            |  45 +++++---
 .pre-commit-config.yaml                       |   1 +
 release/build_devel.sh                        |   4 +-
 selfdrive/modeld/tests/__init__.py            |   0
 .../modeld/{test => tests}/dmon_lag/repro.cc  |   0
 .../{test => tests}/snpe_benchmark/.gitignore |   0
 .../snpe_benchmark/benchmark.cc               |   1 +
 .../snpe_benchmark/benchmark.sh               |   0
 .../modeld/{test => tests}/test_modeld.py     |   0
 .../modeld/{test => tests}/tf_test/build.sh   |   0
 .../modeld/{test => tests}/tf_test/main.cc    |   0
 .../{test => tests}/tf_test/pb_loader.py      |   0
 .../{test => tests}/timing/benchmark.py       |   0
 16 files changed, 95 insertions(+), 81 deletions(-)
 create mode 100644 selfdrive/modeld/tests/__init__.py
 rename selfdrive/modeld/{test => tests}/dmon_lag/repro.cc (100%)
 rename selfdrive/modeld/{test => tests}/snpe_benchmark/.gitignore (100%)
 rename selfdrive/modeld/{test => tests}/snpe_benchmark/benchmark.cc (99%)
 rename selfdrive/modeld/{test => tests}/snpe_benchmark/benchmark.sh (100%)
 rename selfdrive/modeld/{test => tests}/test_modeld.py (100%)
 rename selfdrive/modeld/{test => tests}/tf_test/build.sh (100%)
 rename selfdrive/modeld/{test => tests}/tf_test/main.cc (100%)
 rename selfdrive/modeld/{test => tests}/tf_test/pb_loader.py (100%)
 rename selfdrive/modeld/{test => tests}/timing/benchmark.py (100%)

diff --git a/.github/workflows/prebuilt.yaml b/.github/workflows/prebuilt.yaml
index b659d4ceee..c8b4c51e38 100644
--- a/.github/workflows/prebuilt.yaml
+++ b/.github/workflows/prebuilt.yaml
@@ -2,7 +2,6 @@ name: prebuilt
 on:
   schedule:
     - cron: '0 * * * *'
-
   workflow_dispatch:
 
 env:
@@ -11,9 +10,7 @@ env:
 
   DOCKER_LOGIN: docker login ghcr.io -u ${{ github.actor }} -p ${{ secrets.GITHUB_TOKEN }}
   BUILD: |
-      docker pull $(grep -iohP '(?<=^from)\s+\S+' Dockerfile.openpilot_base) || true
-      docker pull $DOCKER_REGISTRY/$BASE_IMAGE:latest || true
-      docker build --cache-from $DOCKER_REGISTRY/$BASE_IMAGE:latest -t $DOCKER_REGISTRY/$BASE_IMAGE:latest -t $BASE_IMAGE:latest -f Dockerfile.openpilot_base .
+      DOCKER_BUILDKIT=1 docker build --pull --build-arg BUILDKIT_INLINE_CACHE=1 --cache-from $DOCKER_REGISTRY/$BASE_IMAGE:latest -t $DOCKER_REGISTRY/$BASE_IMAGE:latest -t $BASE_IMAGE:latest -f Dockerfile.openpilot_base .
 
 jobs:
   build_prebuilt:
@@ -37,8 +34,7 @@ jobs:
     - name: Build Docker image
       run: |
         eval "$BUILD"
-        docker pull $DOCKER_REGISTRY/$IMAGE_NAME:latest || true
-        docker build --cache-from $DOCKER_REGISTRY/$IMAGE_NAME:latest -t $DOCKER_REGISTRY/$IMAGE_NAME:latest -f Dockerfile.openpilot .
+        DOCKER_BUILDKIT=1 docker build --pull --build-arg BUILDKIT_INLINE_CACHE=1 --cache-from $DOCKER_REGISTRY/$IMAGE_NAME:latest -t $DOCKER_REGISTRY/$IMAGE_NAME:latest -f Dockerfile.openpilot .
     - name: Push to container registry
       run: |
         $DOCKER_LOGIN
diff --git a/.github/workflows/selfdrive_tests.yaml b/.github/workflows/selfdrive_tests.yaml
index cd34c6d27c..d84779103b 100644
--- a/.github/workflows/selfdrive_tests.yaml
+++ b/.github/workflows/selfdrive_tests.yaml
@@ -18,15 +18,12 @@ env:
 
   DOCKER_LOGIN: docker login ghcr.io -u ${{ github.actor }} -p ${{ secrets.GITHUB_TOKEN }}
   BUILD: |
-      docker pull $(grep -iohP '(?<=^from)\s+\S+' Dockerfile.openpilot_base) || true
-      docker pull $DOCKER_REGISTRY/$BASE_IMAGE:latest || true
-      docker build --cache-from $DOCKER_REGISTRY/$BASE_IMAGE:latest -t $DOCKER_REGISTRY/$BASE_IMAGE:latest -t $BASE_IMAGE:latest -f Dockerfile.openpilot_base .
+      DOCKER_BUILDKIT=1 docker build --pull --build-arg BUILDKIT_INLINE_CACHE=1 --cache-from $DOCKER_REGISTRY/$BASE_IMAGE:latest -t $DOCKER_REGISTRY/$BASE_IMAGE:latest -t $BASE_IMAGE:latest -f Dockerfile.openpilot_base .
 
   RUN: docker run --shm-size 1G -v $PWD:/tmp/openpilot -w /tmp/openpilot -e FILEREADER_CACHE=1 -e PYTHONPATH=/tmp/openpilot -e NUM_JOBS -e JOB_ID -e GITHUB_ACTION -e GITHUB_REF -e GITHUB_HEAD_REF -e GITHUB_SHA -e GITHUB_REPOSITORY -e GITHUB_RUN_ID -v /tmp/scons_cache:/tmp/scons_cache -v /tmp/comma_download_cache:/tmp/comma_download_cache -v /tmp/openpilot_cache:/tmp/openpilot_cache $BASE_IMAGE /bin/sh -c
 
   BUILD_CL: |
-      docker pull $DOCKER_REGISTRY/$CL_BASE_IMAGE:latest || true
-      docker build --cache-from $DOCKER_REGISTRY/$CL_BASE_IMAGE:latest -t $DOCKER_REGISTRY/$CL_BASE_IMAGE:latest -t $CL_BASE_IMAGE:latest -f Dockerfile.openpilot_base_cl .
+      DOCKER_BUILDKIT=1 docker build --pull --build-arg BUILDKIT_INLINE_CACHE=1 --cache-from $DOCKER_REGISTRY/$CL_BASE_IMAGE:latest -t $DOCKER_REGISTRY/$CL_BASE_IMAGE:latest -t $CL_BASE_IMAGE:latest -f Dockerfile.openpilot_base_cl .
   RUN_CL: docker run --shm-size 1G -v $PWD:/tmp/openpilot -w /tmp/openpilot -e PYTHONPATH=/tmp/openpilot -e NUM_JOBS -e JOB_ID -e GITHUB_ACTION -e GITHUB_REF -e GITHUB_HEAD_REF -e GITHUB_SHA -e GITHUB_REPOSITORY -e GITHUB_RUN_ID -v /tmp/scons_cache:/tmp/scons_cache -v /tmp/comma_download_cache:/tmp/comma_download_cache -v /tmp/openpilot_cache:/tmp/openpilot_cache $CL_BASE_IMAGE /bin/sh -c
 
   UNIT_TEST: coverage run --append -m unittest discover
@@ -41,13 +38,10 @@ jobs:
     steps:
     - uses: actions/checkout@v3
       with:
-        fetch-depth: 0
         submodules: true
     - name: Build devel
       run: TARGET_DIR=$STRIPPED_DIR release/build_devel.sh
     - uses: ./.github/workflows/setup
-      with:
-        save-cache: true
     - name: Check submodules
       if: github.ref == 'refs/heads/master' && github.repository == 'commaai/openpilot'
       run: release/check-submodules.sh
@@ -72,18 +66,20 @@ jobs:
   build_all:
     name: build all
     runs-on: ubuntu-20.04
-    timeout-minutes: 50
+    timeout-minutes: 30
     steps:
     - uses: actions/checkout@v3
       with:
         submodules: true
     - uses: ./.github/workflows/setup
+      with:
+        save-cache: true
     - name: Build openpilot with all flags
       run: ${{ env.RUN }} "scons -j$(nproc) --extras && release/check-dirty.sh"
     - name: Cleanup scons cache
       run: |
           ${{ env.RUN }} "rm -rf /tmp/scons_cache/* && \
-                          scons -j$(nproc) --extras --cache-populate"
+                          scons -j$(nproc) --cache-populate"
 
   #build_mac:
   #  name: build macos
@@ -145,7 +141,7 @@ jobs:
   docker_push:
     name: docker push
     runs-on: ubuntu-20.04
-    timeout-minutes: 50
+    timeout-minutes: 22
     if: github.ref == 'refs/heads/master' && github.event_name != 'pull_request' && github.repository == 'commaai/openpilot'
     needs: static_analysis # hack to ensure slow tests run first since this and static_analysis are fast
     steps:
@@ -154,12 +150,14 @@ jobs:
         submodules: true
     - name: Build Docker image
       run: eval "$BUILD"
+      timeout-minutes: 13
     - name: Push to container registry
       run: |
         $DOCKER_LOGIN
         docker push $DOCKER_REGISTRY/$BASE_IMAGE:latest
     - name: Build CL Docker image
       run: eval "$BUILD_CL"
+      timeout-minutes: 4
     - name: Push to container registry
       run: |
         $DOCKER_LOGIN
@@ -168,7 +166,7 @@ jobs:
   static_analysis:
     name: static analysis
     runs-on: ubuntu-20.04
-    timeout-minutes: 50
+    timeout-minutes: 20
     steps:
     - uses: actions/checkout@v3
       with:
@@ -176,21 +174,23 @@ jobs:
     - name: Build Docker image
       run: eval "$BUILD"
     - name: pre-commit
+      timeout-minutes: 5
       run: ${{ env.RUN }} "pre-commit run --all"
 
   valgrind:
     name: valgrind
     runs-on: ubuntu-20.04
-    timeout-minutes: 50
+    timeout-minutes: 20
     steps:
     - uses: actions/checkout@v3
       with:
         submodules: true
     - uses: ./.github/workflows/setup
+    - name: Build openpilot
+      run: ${{ env.RUN }} "scons -j$(nproc)"
     - name: Run valgrind
       run: |
-        ${{ env.RUN }} "scons -j$(nproc) && \
-                        python selfdrive/test/test_valgrind_replay.py"
+        ${{ env.RUN }} "python selfdrive/test/test_valgrind_replay.py"
     - name: Print logs
       if: always()
       run: cat selfdrive/test/valgrind_logs.txt
@@ -198,16 +198,18 @@ jobs:
   unit_tests:
     name: unit tests
     runs-on: ubuntu-20.04
-    timeout-minutes: 50
+    timeout-minutes: 30
     steps:
     - uses: actions/checkout@v3
       with:
         submodules: true
     - uses: ./.github/workflows/setup
+    - name: Build openpilot
+      run: ${{ env.RUN }} "scons -j$(nproc)"
     - name: Run unit tests
+      timeout-minutes: 15
       run: |
         ${{ env.RUN }} "export SKIP_LONG_TESTS=1 && \
-                        scons -j$(nproc) && \
                         $UNIT_TEST common && \
                         $UNIT_TEST opendbc/can && \
                         $UNIT_TEST selfdrive/boardd && \
@@ -220,7 +222,6 @@ jobs:
                         $UNIT_TEST selfdrive/athena && \
                         $UNIT_TEST selfdrive/thermald && \
                         $UNIT_TEST system/hardware/tici && \
-                        $UNIT_TEST selfdrive/modeld && \
                         $UNIT_TEST tools/lib/tests && \
                         ./selfdrive/ui/tests/create_test_translations.sh && \
                         QT_QPA_PLATFORM=offscreen ./selfdrive/ui/tests/test_translations && \
@@ -239,7 +240,7 @@ jobs:
   process_replay:
     name: process replay
     runs-on: ubuntu-20.04
-    timeout-minutes: 50
+    timeout-minutes: 25
     steps:
     - uses: actions/checkout@v3
       with:
@@ -251,10 +252,12 @@ jobs:
       with:
         path: /tmp/comma_download_cache
         key: proc-replay-${{ hashFiles('.github/workflows/selfdrive_tests.yaml', 'selfdrive/test/process_replay/ref_commit') }}
+    - name: Build openpilot
+      run: |
+        ${{ env.RUN }} "scons -j$(nproc)"
     - name: Run replay
       run: |
-        ${{ env.RUN }} "scons -j$(nproc) && \
-                        CI=1 coverage run selfdrive/test/process_replay/test_processes.py -j$(nproc) && \
+        ${{ env.RUN }} "CI=1 coverage run selfdrive/test/process_replay/test_processes.py -j$(nproc) && \
                         coverage xml"
     - name: Print diff
       if: always()
@@ -268,15 +271,14 @@ jobs:
     - name: Upload reference logs
       if: ${{ failure() && github.event_name == 'pull_request' && github.repository == 'commaai/openpilot' && env.AZURE_TOKEN != '' }}
       run: |
-        ${{ env.RUN }} "scons -j$(nproc) && \
-                        CI=1 AZURE_TOKEN='$AZURE_TOKEN' python selfdrive/test/process_replay/test_processes.py -j$(nproc) --upload-only"
+        ${{ env.RUN }} "CI=1 AZURE_TOKEN='$AZURE_TOKEN' python selfdrive/test/process_replay/test_processes.py -j$(nproc) --upload-only"
     - name: "Upload coverage to Codecov"
       uses: codecov/codecov-action@v2
 
-  model_replay_onnx:
-    name: model replay onnx
+  test_modeld:
+    name: model tests
     runs-on: ubuntu-20.04
-    timeout-minutes: 50
+    timeout-minutes: 20
     steps:
     - uses: actions/checkout@v3
       with:
@@ -285,29 +287,41 @@ jobs:
     - name: Build Docker image
       # Sim docker is needed to get the OpenCL drivers
       run: eval "$BUILD_CL"
-    - name: Run replay
+    - name: Build openpilot
+      run: |
+        ${{ env.RUN }} "scons -j$(nproc)"
+    - name: Run model replay with ONNX
+      timeout-minutes: 2
+      run: |
+        ${{ env.RUN_CL }} "ONNXCPU=1 CI=1 coverage run selfdrive/test/process_replay/model_replay.py && \
+                           coverage xml"
+    - name: Run unit tests
+      timeout-minutes: 5
       run: |
-        ${{ env.RUN_CL }} "scons -j$(nproc) && \
-                           ONNXCPU=1 CI=1 coverage run \
-                           selfdrive/test/process_replay/model_replay.py -j$(nproc) && \
+        ${{ env.RUN_CL }} "$UNIT_TEST selfdrive/modeld && \
                            coverage xml"
+    - name: "Upload coverage to Codecov"
+      uses: codecov/codecov-action@v2
 
   test_longitudinal:
     name: longitudinal
     runs-on: ubuntu-20.04
-    timeout-minutes: 50
+    timeout-minutes: 20
     steps:
     - uses: actions/checkout@v3
       with:
         submodules: true
     - uses: ./.github/workflows/setup
+    - name: Build openpilot
+      run: |
+        ${{ env.RUN }} "scons -j$(nproc)"
     - name: Test longitudinal
       run: |
         ${{ env.RUN }} "mkdir -p selfdrive/test/out && \
-                        scons -j$(nproc) && \
                         cd selfdrive/test/longitudinal_maneuvers && \
                         coverage run ./test_longitudinal.py && \
                         coverage xml"
+      timeout-minutes: 2
     - name: "Upload coverage to Codecov"
       uses: codecov/codecov-action@v2
     - uses: actions/upload-artifact@v2
@@ -320,7 +334,7 @@ jobs:
   test_cars:
     name: cars
     runs-on: ubuntu-20.04
-    timeout-minutes: 50
+    timeout-minutes: 20
     strategy:
       fail-fast: false
       matrix:
@@ -336,10 +350,12 @@ jobs:
       with:
         path: /tmp/comma_download_cache
         key: car_models-${{ hashFiles('selfdrive/car/tests/test_models.py', 'selfdrive/car/tests/routes.py') }}-${{ matrix.job }}
+    - name: Build openpilot
+      run: ${{ env.RUN }} "scons -j$(nproc)"
     - name: Test car models
+      timeout-minutes: 12
       run: |
-        ${{ env.RUN }} "scons -j$(nproc) && \
-                        coverage run -m pytest selfdrive/car/tests/test_models.py && \
+        ${{ env.RUN }} "coverage run -m pytest selfdrive/car/tests/test_models.py && \
                         coverage xml && \
                         chmod -R 777 /tmp/comma_download_cache"
       env:
@@ -348,29 +364,10 @@ jobs:
     - name: "Upload coverage to Codecov"
       uses: codecov/codecov-action@v2
 
-  docs:
-    name: build docs
-    runs-on: ubuntu-20.04
-    timeout-minutes: 50
-    steps:
-    - uses: actions/checkout@v3
-      with:
-        submodules: true
-    - name: Build docker container
-      run: |
-        docker pull $DOCKER_REGISTRY/$BASE_IMAGE:latest || true
-        docker pull $DOCKER_REGISTRY/openpilot-docs:latest || true
-        DOCKER_BUILDKIT=1 docker build --cache-from $DOCKER_REGISTRY/openpilot-docs:latest -t $DOCKER_REGISTRY/openpilot-docs:latest -f docs/docker/Dockerfile .
-    - name: Push docker container
-      if: github.ref == 'refs/heads/master' && github.event_name != 'pull_request' && github.repository == 'commaai/openpilot'
-      run: |
-        $DOCKER_LOGIN
-        docker push $DOCKER_REGISTRY/openpilot-docs:latest
-
   car_docs_diff:
-    name: comment on PR with car docs diff
+    name: PR comments
     runs-on: ubuntu-20.04
-    timeout-minutes: 50
+    timeout-minutes: 20
     if: github.event_name == 'pull_request'
     steps:
       - uses: actions/checkout@v3
diff --git a/.github/workflows/setup/action.yaml b/.github/workflows/setup/action.yaml
index 79c4c890ab..186a9d9095 100644
--- a/.github/workflows/setup/action.yaml
+++ b/.github/workflows/setup/action.yaml
@@ -15,9 +15,9 @@ runs:
     # build cache
     - id: date
       shell: bash
-      run: echo "::set-output name=date::$(git log -1 --pretty='format:%cd' --date=format:'%Y-%m-%d')"
+      run: echo "CACHE_COMMIT_DATE=$(git log -1 --pretty='format:%cd' --date=format:'%Y-%m-%d-%H:%M')" >> $GITHUB_ENV
     - shell: bash
-      run: echo "${{ steps.date.outputs.date }}"
+      run: echo "$CACHE_COMMIT_DATE"
     - shell: bash
       run: echo "CACHE_SKIP_SAVE=true" >> $GITHUB_ENV
       if: github.ref != 'refs/heads/master' || inputs.save-cache == 'false'
@@ -27,9 +27,9 @@ runs:
       uses: actions/cache@03e00da99d75a2204924908e1cca7902cafce66b
       with:
         path: /tmp/scons_cache
-        key: scons-${{ steps.date.outputs.date }}-${{ github.sha }}
+        key: scons-${{ env.CACHE_COMMIT_DATE }}-${{ github.sha }}
         restore-keys: |
-          scons-${{ steps.date.outputs.date }}-
+          scons-${{ env.CACHE_COMMIT_DATE }}-
           scons-
 
     # build our docker image
diff --git a/.github/workflows/tools_tests.yaml b/.github/workflows/tools_tests.yaml
index 9dc5c05837..549a2f4195 100644
--- a/.github/workflows/tools_tests.yaml
+++ b/.github/workflows/tools_tests.yaml
@@ -2,6 +2,8 @@ name: tools
 
 on:
   push:
+    branches-ignore:
+      - 'testing-closet*'
   pull_request:
 
 concurrency:
@@ -15,21 +17,20 @@ env:
   DOCKER_LOGIN: docker login ghcr.io -u ${{ github.actor }} -p ${{ secrets.GITHUB_TOKEN }}
 
   BUILD: |
-      docker pull $(grep -iohP '(?<=^from)\s+\S+' Dockerfile.openpilot_base) || true
-      docker pull $DOCKER_REGISTRY/$BASE_IMAGE:latest || true
-      docker build --cache-from $DOCKER_REGISTRY/$BASE_IMAGE:latest -t $DOCKER_REGISTRY/$BASE_IMAGE:latest -t $BASE_IMAGE:latest -f Dockerfile.openpilot_base .
+      DOCKER_BUILDKIT=1 docker build --pull --build-arg BUILDKIT_INLINE_CACHE=1 --cache-from $DOCKER_REGISTRY/$BASE_IMAGE:latest -t $DOCKER_REGISTRY/$BASE_IMAGE:latest -t $BASE_IMAGE:latest -f Dockerfile.openpilot_base .
+
+  RUN: docker run --shm-size 1G -v $GITHUB_WORKSPACE:/tmp/openpilot -w /tmp/openpilot -e FILEREADER_CACHE=1 -e PYTHONPATH=/tmp/openpilot -e NUM_JOBS -e JOB_ID -e GITHUB_ACTION -e GITHUB_REF -e GITHUB_HEAD_REF -e GITHUB_SHA -e GITHUB_REPOSITORY -e GITHUB_RUN_ID -v /tmp/scons_cache:/tmp/scons_cache -v /tmp/comma_download_cache:/tmp/comma_download_cache -v /tmp/openpilot_cache:/tmp/openpilot_cache $BASE_IMAGE /bin/sh -c
+
   BUILD_CL: |
-      docker pull $(grep -iohP '(?<=^from)\s+\S+' Dockerfile.openpilot_base_cl) || true
-      docker pull $DOCKER_REGISTRY/$BASE_IMAGE:latest || true
-      docker build --cache-from $DOCKER_REGISTRY/$CL_BASE_IMAGE:latest -t $DOCKER_REGISTRY/$CL_BASE_IMAGE:latest -t $CL_BASE_IMAGE:latest -f Dockerfile.openpilot_base_cl .
-  RUN: docker run --shm-size 1G -v $PWD:/tmp/openpilot -e PYTHONPATH=/tmp/openpilot -e GITHUB_ACTION -e GITHUB_REF -e GITHUB_HEAD_REF -e GITHUB_SHA -e \
-       GITHUB_REPOSITORY -e GITHUB_RUN_ID -v /tmp/comma_download_cache:/tmp/comma_download_cache $BASE_IMAGE /bin/sh -c
+      DOCKER_BUILDKIT=1 docker build --pull --build-arg BUILDKIT_INLINE_CACHE=1 --cache-from $DOCKER_REGISTRY/$CL_BASE_IMAGE:latest -t $DOCKER_REGISTRY/$CL_BASE_IMAGE:latest -t $CL_BASE_IMAGE:latest -f Dockerfile.openpilot_base_cl .
+  RUN_CL: docker run --shm-size 1G -v $GITHUB_WORKSPACE:/tmp/openpilot -w /tmp/openpilot -e PYTHONPATH=/tmp/openpilot -e NUM_JOBS -e JOB_ID -e GITHUB_ACTION -e GITHUB_REF -e GITHUB_HEAD_REF -e GITHUB_SHA -e GITHUB_REPOSITORY -e GITHUB_RUN_ID -v /tmp/scons_cache:/tmp/scons_cache -v /tmp/comma_download_cache:/tmp/comma_download_cache -v /tmp/openpilot_cache:/tmp/openpilot_cache $CL_BASE_IMAGE /bin/sh -c
+
 
 jobs:
   plotjuggler:
     name: plotjuggler
     runs-on: ubuntu-20.04
-    timeout-minutes: 30
+    timeout-minutes: 20
     steps:
     - uses: actions/checkout@v3
       with:
@@ -37,6 +38,7 @@ jobs:
     - name: Build Docker image
       run: eval "$BUILD"
     - name: Unit test
+      timeout-minutes: 2
       run: |
         ${{ env.RUN }} "scons -j$(nproc) --directory=/tmp/openpilot/cereal && \
                         apt-get update && \
@@ -47,7 +49,7 @@ jobs:
   simulator:
     name: simulator
     runs-on: ubuntu-20.04
-    timeout-minutes: 50
+    timeout-minutes: 30
     env:
       IMAGE_NAME: openpilot-sim
     if: github.repository == 'commaai/openpilot'
@@ -61,12 +63,29 @@ jobs:
       run: eval "$BUILD"
     - name: Build base cl image
       run: eval "$BUILD_CL"
-    - name: Pull latest simulator image
-      run: docker pull $DOCKER_REGISTRY/$IMAGE_NAME:latest || true
     - name: Build simulator image
-      run: docker build --cache-from $DOCKER_REGISTRY/$IMAGE_NAME:latest -t $DOCKER_REGISTRY/$IMAGE_NAME:latest -f tools/sim/Dockerfile.sim .
+      run: DOCKER_BUILDKIT=1 docker build --pull --build-arg BUILDKIT_INLINE_CACHE=1 --cache-from $DOCKER_REGISTRY/$IMAGE_NAME:latest -t $DOCKER_REGISTRY/$IMAGE_NAME:latest -f tools/sim/Dockerfile.sim .
     - name: Push to container registry
       if: github.ref == 'refs/heads/master' && github.repository == 'commaai/openpilot'
       run: |
         $DOCKER_LOGIN
         docker push $DOCKER_REGISTRY/$IMAGE_NAME:latest
+
+  docs:
+    name: build docs
+    runs-on: ubuntu-20.04
+    timeout-minutes: 25
+    steps:
+    - uses: actions/checkout@v3
+      with:
+        submodules: true
+    - name: Build docker container
+      run: |
+        DOCKER_BUILDKIT=1 docker build --pull --build-arg BUILDKIT_INLINE_CACHE=1 --cache-from $DOCKER_REGISTRY/openpilot-docs:latest -t $DOCKER_REGISTRY/openpilot-docs:latest -f docs/docker/Dockerfile .
+    - name: Push docker container
+      if: github.ref == 'refs/heads/master' && github.event_name != 'pull_request' && github.repository == 'commaai/openpilot'
+      run: |
+        $DOCKER_LOGIN
+        docker push $DOCKER_REGISTRY/openpilot-docs:latest
+
+
diff --git a/.pre-commit-config.yaml b/.pre-commit-config.yaml
index 25b8490f92..85c24b911b 100644
--- a/.pre-commit-config.yaml
+++ b/.pre-commit-config.yaml
@@ -53,6 +53,7 @@ repos:
         types: [python]
         exclude: '^(pyextra/)|(cereal/)|(rednose/)|(panda/)|(laika/)|(laika_repo/)|(rednose_repo/)|(tinygrad/)|(tinygrad_repo/)'
         args:
+        - -j0
         - -rn
         - -sn
         - --rcfile=.pylintrc
diff --git a/release/build_devel.sh b/release/build_devel.sh
index 7108334808..668ac0de19 100755
--- a/release/build_devel.sh
+++ b/release/build_devel.sh
@@ -22,8 +22,8 @@ pre-commit uninstall || true
 
 echo "[-] bringing master-ci and devel in sync T=$SECONDS"
 cd $TARGET_DIR
-git fetch origin master-ci
-git fetch origin devel
+git fetch --depth 1 origin master-ci
+git fetch --depth 1 origin devel
 
 git checkout -f --track origin/master-ci
 git reset --hard master-ci
diff --git a/selfdrive/modeld/tests/__init__.py b/selfdrive/modeld/tests/__init__.py
new file mode 100644
index 0000000000..e69de29bb2
diff --git a/selfdrive/modeld/test/dmon_lag/repro.cc b/selfdrive/modeld/tests/dmon_lag/repro.cc
similarity index 100%
rename from selfdrive/modeld/test/dmon_lag/repro.cc
rename to selfdrive/modeld/tests/dmon_lag/repro.cc
diff --git a/selfdrive/modeld/test/snpe_benchmark/.gitignore b/selfdrive/modeld/tests/snpe_benchmark/.gitignore
similarity index 100%
rename from selfdrive/modeld/test/snpe_benchmark/.gitignore
rename to selfdrive/modeld/tests/snpe_benchmark/.gitignore
diff --git a/selfdrive/modeld/test/snpe_benchmark/benchmark.cc b/selfdrive/modeld/tests/snpe_benchmark/benchmark.cc
similarity index 99%
rename from selfdrive/modeld/test/snpe_benchmark/benchmark.cc
rename to selfdrive/modeld/tests/snpe_benchmark/benchmark.cc
index 1e2072eea1..021e065d81 100644
--- a/selfdrive/modeld/test/snpe_benchmark/benchmark.cc
+++ b/selfdrive/modeld/tests/snpe_benchmark/benchmark.cc
@@ -102,6 +102,7 @@ void get_testframe(int index, std::unique_ptr<zdl::DlSystem::ITensor> &input) {
   fread(frame_buffer, length, 1, pFile);
   // std::cout << *(frame_buffer+length/4-1) << std::endl;
   std::copy(frame_buffer, frame_buffer+(length/4), input->begin());
+  fclose(pFile);
 }
 
 void SaveITensor(const std::string& path, const zdl::DlSystem::ITensor* tensor)
diff --git a/selfdrive/modeld/test/snpe_benchmark/benchmark.sh b/selfdrive/modeld/tests/snpe_benchmark/benchmark.sh
similarity index 100%
rename from selfdrive/modeld/test/snpe_benchmark/benchmark.sh
rename to selfdrive/modeld/tests/snpe_benchmark/benchmark.sh
diff --git a/selfdrive/modeld/test/test_modeld.py b/selfdrive/modeld/tests/test_modeld.py
similarity index 100%
rename from selfdrive/modeld/test/test_modeld.py
rename to selfdrive/modeld/tests/test_modeld.py
diff --git a/selfdrive/modeld/test/tf_test/build.sh b/selfdrive/modeld/tests/tf_test/build.sh
similarity index 100%
rename from selfdrive/modeld/test/tf_test/build.sh
rename to selfdrive/modeld/tests/tf_test/build.sh
diff --git a/selfdrive/modeld/test/tf_test/main.cc b/selfdrive/modeld/tests/tf_test/main.cc
similarity index 100%
rename from selfdrive/modeld/test/tf_test/main.cc
rename to selfdrive/modeld/tests/tf_test/main.cc
diff --git a/selfdrive/modeld/test/tf_test/pb_loader.py b/selfdrive/modeld/tests/tf_test/pb_loader.py
similarity index 100%
rename from selfdrive/modeld/test/tf_test/pb_loader.py
rename to selfdrive/modeld/tests/tf_test/pb_loader.py
diff --git a/selfdrive/modeld/test/timing/benchmark.py b/selfdrive/modeld/tests/timing/benchmark.py
similarity index 100%
rename from selfdrive/modeld/test/timing/benchmark.py
rename to selfdrive/modeld/tests/timing/benchmark.py

From f8091837c92ed096ef3b886d1b09fe758d6ae9f2 Mon Sep 17 00:00:00 2001
From: Lee Jong Mun <43285072+crwusiz@users.noreply.github.com>
Date: Tue, 18 Oct 2022 02:15:03 +0900
Subject: [PATCH 08/34] kor translation update (#26111)

---
 selfdrive/ui/translations/main_ko.ts | 4 ++--
 1 file changed, 2 insertions(+), 2 deletions(-)

diff --git a/selfdrive/ui/translations/main_ko.ts b/selfdrive/ui/translations/main_ko.ts
index 86cd8f990a..f84797eb60 100644
--- a/selfdrive/ui/translations/main_ko.ts
+++ b/selfdrive/ui/translations/main_ko.ts
@@ -60,11 +60,11 @@
     </message>
     <message>
         <source>Cellular Metered</source>
-        <translation type="unfinished"></translation>
+        <translation>데이터 요금제</translation>
     </message>
     <message>
         <source>Prevent large data uploads when on a metered connection</source>
-        <translation type="unfinished"></translation>
+        <translation>데이터 요금제 연결 시 대용량 데이터 업로드 방지</translation>
     </message>
 </context>
 <context>

From 93346c31d3728d27eaff56a3068690a47eac86ef Mon Sep 17 00:00:00 2001
From: Dean Lee <deanlee3@gmail.com>
Date: Tue, 18 Oct 2022 01:20:27 +0800
Subject: [PATCH 09/34] Cabana: add chart_height setting (#26066)

add chart_height setting
---
 tools/cabana/canmessages.cc  |  5 ++++-
 tools/cabana/canmessages.h   |  1 +
 tools/cabana/chartswidget.cc | 11 ++++++++++-
 tools/cabana/chartswidget.h  |  1 +
 tools/cabana/mainwin.cc      |  7 +++++++
 tools/cabana/mainwin.h       |  1 +
 6 files changed, 24 insertions(+), 2 deletions(-)

diff --git a/tools/cabana/canmessages.cc b/tools/cabana/canmessages.cc
index b717424ece..3cf08eaaa0 100644
--- a/tools/cabana/canmessages.cc
+++ b/tools/cabana/canmessages.cc
@@ -141,11 +141,14 @@ void Settings::save() {
   s.setValue("fps", fps);
   s.setValue("log_size", can_msg_log_size);
   s.setValue("cached_segment", cached_segment_limit);
+  s.setValue("chart_height", chart_height);
+  emit changed();
 }
 
 void Settings::load() {
   QSettings s("settings", QSettings::IniFormat);
   fps = s.value("fps", 10).toInt();
   can_msg_log_size = s.value("log_size", 100).toInt();
-  cached_segment_limit = s.value("cached_segment", 3.).toInt();
+  cached_segment_limit = s.value("cached_segment", 3).toInt();
+  chart_height = s.value("chart_height", 200).toInt();
 }
diff --git a/tools/cabana/canmessages.h b/tools/cabana/canmessages.h
index 3d33f801a7..7f6955369b 100644
--- a/tools/cabana/canmessages.h
+++ b/tools/cabana/canmessages.h
@@ -19,6 +19,7 @@ public:
   int fps = 10;
   int can_msg_log_size = 100;
   int cached_segment_limit = 3;
+  int chart_height = 200;
 
 signals:
   void changed();
diff --git a/tools/cabana/chartswidget.cc b/tools/cabana/chartswidget.cc
index d0f5356fac..e69729c03a 100644
--- a/tools/cabana/chartswidget.cc
+++ b/tools/cabana/chartswidget.cc
@@ -76,6 +76,11 @@ ChartsWidget::ChartsWidget(QWidget *parent) : QWidget(parent) {
     docking = !docking;
     updateTitleBar();
   });
+  QObject::connect(&settings, &Settings::changed, [this]() {
+    for (auto chart : charts) {
+      chart->setHeight(settings.chart_height);
+    }
+  });
 }
 
 void ChartsWidget::updateTitleBar() {
@@ -152,7 +157,7 @@ ChartWidget::ChartWidget(const QString &id, const Signal *sig, QWidget *parent)
   main_layout->addWidget(header);
 
   chart_view = new ChartView(id, sig, this);
-  chart_view->setFixedHeight(300);
+  chart_view->setFixedHeight(settings.chart_height);
   main_layout->addWidget(chart_view);
   main_layout->addStretch();
 
@@ -205,6 +210,10 @@ ChartView::ChartView(const QString &id, const Signal *sig, QWidget *parent)
   updateSeries();
 }
 
+void ChartWidget::setHeight(int height) {
+  chart_view->setFixedHeight(height);
+}
+
 void ChartView::updateState() {
   auto axis_x = dynamic_cast<QValueAxis *>(chart()->axisX());
   int x = chart()->plotArea().left() + chart()->plotArea().width() * (can->currentSec() - axis_x->min()) / (axis_x->max() - axis_x->min());
diff --git a/tools/cabana/chartswidget.h b/tools/cabana/chartswidget.h
index a3c470e960..3e43409dc4 100644
--- a/tools/cabana/chartswidget.h
+++ b/tools/cabana/chartswidget.h
@@ -46,6 +46,7 @@ Q_OBJECT
 public:
   ChartWidget(const QString &id, const Signal *sig, QWidget *parent);
   void updateTitle();
+  void setHeight(int height);
 
 signals:
   void remove();
diff --git a/tools/cabana/mainwin.cc b/tools/cabana/mainwin.cc
index c9d9c85141..999a4816b0 100644
--- a/tools/cabana/mainwin.cc
+++ b/tools/cabana/mainwin.cc
@@ -96,6 +96,12 @@ SettingsDlg::SettingsDlg(QWidget *parent) : QDialog(parent) {
   cached_segment->setValue(settings.cached_segment_limit);
   form_layout->addRow(tr("Cached segments limit"), cached_segment);
 
+  chart_height = new QSpinBox(this);
+  chart_height->setRange(100, 500);
+  chart_height->setSingleStep(10);
+  chart_height->setValue(settings.chart_height);
+  form_layout->addRow(tr("Chart height"), chart_height);
+
   main_layout->addLayout(form_layout);
 
   auto buttonBox = new QDialogButtonBox(QDialogButtonBox::Ok | QDialogButtonBox::Cancel);
@@ -110,6 +116,7 @@ void SettingsDlg::save() {
   settings.fps = fps->value();
   settings.can_msg_log_size = log_size->value();
   settings.cached_segment_limit = cached_segment->value();
+  settings.chart_height = chart_height->value();
   settings.save();
   accept();
 }
diff --git a/tools/cabana/mainwin.h b/tools/cabana/mainwin.h
index 14c4b1dfa9..594e608b59 100644
--- a/tools/cabana/mainwin.h
+++ b/tools/cabana/mainwin.h
@@ -33,4 +33,5 @@ public:
   QSpinBox *fps;
   QSpinBox *log_size ;
   QSpinBox *cached_segment;
+  QSpinBox *chart_height;
 };

From 3a8ddc191fd9a7537254399e3b9e49217de9bf16 Mon Sep 17 00:00:00 2001
From: Dean Lee <deanlee3@gmail.com>
Date: Tue, 18 Oct 2022 01:32:31 +0800
Subject: [PATCH 10/34] Move Qt moc files to scons cache directory (#26109)

---
 SConstruct | 1 +
 1 file changed, 1 insertion(+)

diff --git a/SConstruct b/SConstruct
index 23ab37dc1e..74680c0598 100644
--- a/SConstruct
+++ b/SConstruct
@@ -327,6 +327,7 @@ qt_flags = [
 qt_env['CXXFLAGS'] += qt_flags
 qt_env['LIBPATH'] += ['#selfdrive/ui']
 qt_env['LIBS'] = qt_libs
+qt_env['QT_MOCHPREFIX'] = cache_dir + '/moc_files/moc_'
 
 if GetOption("clazy"):
   checks = [

From 6d07268ee5b385010961eab206b0b42a0ae6b5f8 Mon Sep 17 00:00:00 2001
From: Dean Lee <deanlee3@gmail.com>
Date: Tue, 18 Oct 2022 01:39:07 +0800
Subject: [PATCH 11/34] tools/replay: reduce test running time (#26110)

---
 tools/replay/tests/test_replay.cc | 3 +--
 1 file changed, 1 insertion(+), 2 deletions(-)

diff --git a/tools/replay/tests/test_replay.cc b/tools/replay/tests/test_replay.cc
index 5b61b6b6f2..3fd410bb6e 100644
--- a/tools/replay/tests/test_replay.cc
+++ b/tools/replay/tests/test_replay.cc
@@ -207,8 +207,7 @@ void TestReplay::test_seek() {
 }
 
 TEST_CASE("Replay") {
-  auto flag = GENERATE(REPLAY_FLAG_NO_FILE_CACHE, REPLAY_FLAG_NONE);
-  TestReplay replay(DEMO_ROUTE, flag);
+  TestReplay replay(DEMO_ROUTE, (uint8_t)REPLAY_FLAG_NO_VIPC);
   REQUIRE(replay.load());
   replay.test_seek();
 }

From 1dffbb629a6b629b3079bcea195f64f389fc5d1d Mon Sep 17 00:00:00 2001
From: Shane Smiskol <shane@smiskol.com>
Date: Mon, 17 Oct 2022 10:47:54 -0700
Subject: [PATCH 12/34] GM camera ACC: revert FCW logging (#26114)

Revert FCW logging
---
 selfdrive/car/gm/carstate.py | 3 ---
 1 file changed, 3 deletions(-)

diff --git a/selfdrive/car/gm/carstate.py b/selfdrive/car/gm/carstate.py
index 21eb440d7f..b67b97093a 100644
--- a/selfdrive/car/gm/carstate.py
+++ b/selfdrive/car/gm/carstate.py
@@ -96,9 +96,7 @@ class CarState(CarStateBase):
     ret.cruiseState.standstill = pt_cp.vl["AcceleratorPedal2"]["CruiseState"] == AccState.STANDSTILL
     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
-      ret.stockFcw = cam_cp.vl["ASCMActiveCruiseControlStatus"]["FCWAlert"] != 0
 
     return ret
 
@@ -110,7 +108,6 @@ class CarState(CarStateBase):
       signals += [
         ("AEBCmdActive", "AEBCmd"),
         ("RollingCounter", "ASCMLKASteeringCmd"),
-        ("FCWAlert", "ASCMActiveCruiseControlStatus"),
         ("ACCSpeedSetpoint", "ASCMActiveCruiseControlStatus"),
       ]
       checks += [

From 9e2a1121ea1103efaceaf52cca83370da73ba988 Mon Sep 17 00:00:00 2001
From: Cameron Clough <cameronjclough@gmail.com>
Date: Mon, 17 Oct 2022 12:55:40 -0700
Subject: [PATCH 13/34] athenad: small tests cleanup (#26037)

* test helpers

* create file helper

* clearer

* type

* fix default create path

* static methods
---
 selfdrive/athena/tests/test_athenad.py | 68 ++++++++++++++------------
 1 file changed, 36 insertions(+), 32 deletions(-)

diff --git a/selfdrive/athena/tests/test_athenad.py b/selfdrive/athena/tests/test_athenad.py
index 7f511eecf6..5e86a2e821 100755
--- a/selfdrive/athena/tests/test_athenad.py
+++ b/selfdrive/athena/tests/test_athenad.py
@@ -9,6 +9,7 @@ import threading
 import queue
 import unittest
 from datetime import datetime, timedelta
+from typing import Optional
 
 from multiprocessing import Process
 from pathlib import Path
@@ -46,12 +47,26 @@ class TestAthenadMethods(unittest.TestCase):
       else:
         os.unlink(p)
 
-  def wait_for_upload(self):
+
+  # *** test helpers ***
+
+  @staticmethod
+  def _wait_for_upload():
     now = time.time()
     while time.time() - now < 5:
       if athenad.upload_queue.qsize() == 0:
         break
 
+  @staticmethod
+  def _create_file(file: str, parent: Optional[str] = None) -> str:
+    fn = os.path.join(athenad.ROOT if parent is None else parent, file)
+    os.makedirs(os.path.dirname(fn), exist_ok=True)
+    Path(fn).touch()
+    return fn
+
+
+  # *** test cases ***
+
   def test_echo(self):
     assert dispatcher["echo"]("bob") == "bob"
 
@@ -85,9 +100,7 @@ class TestAthenadMethods(unittest.TestCase):
     filenames = ['qlog', 'qcamera.ts', 'rlog', 'fcamera.hevc', 'ecamera.hevc', 'dcamera.hevc']
     files = [f'{route}--{s}/{f}' for s in segments for f in filenames]
     for file in files:
-      fn = os.path.join(athenad.ROOT, file)
-      os.makedirs(os.path.dirname(fn), exist_ok=True)
-      Path(fn).touch()
+      self._create_file(file)
 
     resp = dispatcher["listDataDirectory"]()
     self.assertTrue(resp, 'list empty!')
@@ -121,16 +134,14 @@ class TestAthenadMethods(unittest.TestCase):
     self.assertCountEqual(resp, expected)
 
   def test_strip_bz2_extension(self):
-    fn = os.path.join(athenad.ROOT, 'qlog.bz2')
-    Path(fn).touch()
+    fn = self._create_file('qlog.bz2')
     if fn.endswith('.bz2'):
       self.assertEqual(athenad.strip_bz2_extension(fn), fn[:-4])
 
 
   @with_http_server
   def test_do_upload(self, host):
-    fn = os.path.join(athenad.ROOT, 'qlog.bz2')
-    Path(fn).touch()
+    fn = self._create_file('qlog.bz2')
 
     item = athenad.UploadItem(path=fn, url="http://localhost:1238", headers={}, created_at=int(time.time()*1000), id='')
     with self.assertRaises(requests.exceptions.ConnectionError):
@@ -142,8 +153,7 @@ class TestAthenadMethods(unittest.TestCase):
 
   @with_http_server
   def test_uploadFileToUrl(self, host):
-    fn = os.path.join(athenad.ROOT, 'qlog.bz2')
-    Path(fn).touch()
+    fn = self._create_file('qlog.bz2')
 
     resp = dispatcher["uploadFileToUrl"]("qlog.bz2", f"{host}/qlog.bz2", {})
     self.assertEqual(resp['enqueued'], 1)
@@ -154,8 +164,7 @@ class TestAthenadMethods(unittest.TestCase):
 
   @with_http_server
   def test_uploadFileToUrl_duplicate(self, host):
-    fn = os.path.join(athenad.ROOT, 'qlog.bz2')
-    Path(fn).touch()
+    self._create_file('qlog.bz2')
 
     url1 = f"{host}/qlog.bz2?sig=sig1"
     dispatcher["uploadFileToUrl"]("qlog.bz2", url1, {})
@@ -172,8 +181,7 @@ class TestAthenadMethods(unittest.TestCase):
 
   @with_http_server
   def test_upload_handler(self, host):
-    fn = os.path.join(athenad.ROOT, 'qlog.bz2')
-    Path(fn).touch()
+    fn = self._create_file('qlog.bz2')
     item = athenad.UploadItem(path=fn, url=f"{host}/qlog.bz2", headers={}, created_at=int(time.time()*1000), id='', allow_cellular=True)
 
     end_event = threading.Event()
@@ -182,7 +190,7 @@ class TestAthenadMethods(unittest.TestCase):
 
     athenad.upload_queue.put_nowait(item)
     try:
-      self.wait_for_upload()
+      self._wait_for_upload()
       time.sleep(0.1)
 
       # TODO: verify that upload actually succeeded
@@ -195,8 +203,7 @@ class TestAthenadMethods(unittest.TestCase):
   def test_upload_handler_retry(self, host, mock_put):
     for status, retry in ((500, True), (412, False)):
       mock_put.return_value.status_code = status
-      fn = os.path.join(athenad.ROOT, 'qlog.bz2')
-      Path(fn).touch()
+      fn = self._create_file('qlog.bz2')
       item = athenad.UploadItem(path=fn, url=f"{host}/qlog.bz2", headers={}, created_at=int(time.time()*1000), id='', allow_cellular=True)
 
       end_event = threading.Event()
@@ -205,7 +212,7 @@ class TestAthenadMethods(unittest.TestCase):
 
       athenad.upload_queue.put_nowait(item)
       try:
-        self.wait_for_upload()
+        self._wait_for_upload()
         time.sleep(0.1)
 
         self.assertEqual(athenad.upload_queue.qsize(), 1 if retry else 0)
@@ -217,8 +224,7 @@ class TestAthenadMethods(unittest.TestCase):
 
   def test_upload_handler_timeout(self):
     """When an upload times out or fails to connect it should be placed back in the queue"""
-    fn = os.path.join(athenad.ROOT, 'qlog.bz2')
-    Path(fn).touch()
+    fn = self._create_file('qlog.bz2')
     item = athenad.UploadItem(path=fn, url="http://localhost:44444/qlog.bz2", headers={}, created_at=int(time.time()*1000), id='', allow_cellular=True)
     item_no_retry = item._replace(retry_count=MAX_RETRY_COUNT)
 
@@ -228,14 +234,14 @@ class TestAthenadMethods(unittest.TestCase):
 
     try:
       athenad.upload_queue.put_nowait(item_no_retry)
-      self.wait_for_upload()
+      self._wait_for_upload()
       time.sleep(0.1)
 
       # Check that upload with retry count exceeded is not put back
       self.assertEqual(athenad.upload_queue.qsize(), 0)
 
       athenad.upload_queue.put_nowait(item)
-      self.wait_for_upload()
+      self._wait_for_upload()
       time.sleep(0.1)
 
       # Check that upload item was put back in the queue with incremented retry count
@@ -256,7 +262,7 @@ class TestAthenadMethods(unittest.TestCase):
     thread = threading.Thread(target=athenad.upload_handler, args=(end_event,))
     thread.start()
     try:
-      self.wait_for_upload()
+      self._wait_for_upload()
       time.sleep(0.1)
 
       self.assertEqual(athenad.upload_queue.qsize(), 0)
@@ -269,8 +275,7 @@ class TestAthenadMethods(unittest.TestCase):
     ts = int(t_future.strftime("%s")) * 1000
 
     # Item that would time out if actually uploaded
-    fn = os.path.join(athenad.ROOT, 'qlog.bz2')
-    Path(fn).touch()
+    fn = self._create_file('qlog.bz2')
     item = athenad.UploadItem(path=fn, url="http://localhost:44444/qlog.bz2", headers={}, created_at=ts, id='', allow_cellular=True)
 
 
@@ -279,7 +284,7 @@ class TestAthenadMethods(unittest.TestCase):
     thread.start()
     try:
       athenad.upload_queue.put_nowait(item)
-      self.wait_for_upload()
+      self._wait_for_upload()
       time.sleep(0.1)
 
       self.assertEqual(athenad.upload_queue.qsize(), 0)
@@ -292,8 +297,7 @@ class TestAthenadMethods(unittest.TestCase):
 
   @with_http_server
   def test_listUploadQueueCurrent(self, host):
-    fn = os.path.join(athenad.ROOT, 'qlog.bz2')
-    Path(fn).touch()
+    fn = self._create_file('qlog.bz2')
     item = athenad.UploadItem(path=fn, url=f"{host}/qlog.bz2", headers={}, created_at=int(time.time()*1000), id='', allow_cellular=True)
 
     end_event = threading.Event()
@@ -302,7 +306,7 @@ class TestAthenadMethods(unittest.TestCase):
 
     try:
       athenad.upload_queue.put_nowait(item)
-      self.wait_for_upload()
+      self._wait_for_upload()
 
       items = dispatcher["listUploadQueue"]()
       self.assertEqual(len(items), 1)
@@ -405,9 +409,9 @@ class TestAthenadMethods(unittest.TestCase):
   def test_get_logs_to_send_sorted(self):
     fl = list()
     for i in range(10):
-      fn = os.path.join(swaglog.SWAGLOG_DIR, f'swaglog.{i:010}')
-      Path(fn).touch()
-      fl.append(os.path.basename(fn))
+      file = f'swaglog.{i:010}'
+      self._create_file(file, athenad.SWAGLOG_DIR)
+      fl.append(file)
 
     # ensure the list is all logs except most recent
     sl = athenad.get_logs_to_send_sorted()

From 6c65e9bf9837cb00c5feeb3744232597c5b421bb Mon Sep 17 00:00:00 2001
From: Shane Smiskol <shane@smiskol.com>
Date: Mon, 17 Oct 2022 13:50:56 -0700
Subject: [PATCH 14/34] HKG FPv2: whitelist queried Ecus (#26115)

* whitelist all ecus

* remove engine and fwdCamera from queries they never return to
---
 selfdrive/car/hyundai/values.py | 2 ++
 1 file changed, 2 insertions(+)

diff --git a/selfdrive/car/hyundai/values.py b/selfdrive/car/hyundai/values.py
index 734e56c033..3585fcc313 100644
--- a/selfdrive/car/hyundai/values.py
+++ b/selfdrive/car/hyundai/values.py
@@ -293,10 +293,12 @@ FW_QUERY_CONFIG = FwQueryConfig(
     Request(
       [HYUNDAI_VERSION_REQUEST_LONG],
       [HYUNDAI_VERSION_RESPONSE],
+      whitelist_ecus=[Ecu.transmission, Ecu.eps, Ecu.abs, Ecu.fwdRadar, Ecu.fwdCamera],
     ),
     Request(
       [HYUNDAI_VERSION_REQUEST_MULTI],
       [HYUNDAI_VERSION_RESPONSE],
+      whitelist_ecus=[Ecu.engine, Ecu.transmission, Ecu.eps, Ecu.abs, Ecu.fwdRadar],
     ),
   ],
   extra_ecus=[

From 581835df80dc2cf4d3c0e18fdf9f2772e643da5a Mon Sep 17 00:00:00 2001
From: Shane Smiskol <shane@smiskol.com>
Date: Mon, 17 Oct 2022 14:04:29 -0700
Subject: [PATCH 15/34] 2018 Kia Stinger: add missing FW versions (#26117)

add missing versions from 1ce52d9487767eae
---
 selfdrive/car/hyundai/values.py | 3 +++
 1 file changed, 3 insertions(+)

diff --git a/selfdrive/car/hyundai/values.py b/selfdrive/car/hyundai/values.py
index 3585fcc313..856bf1abd9 100644
--- a/selfdrive/car/hyundai/values.py
+++ b/selfdrive/car/hyundai/values.py
@@ -743,6 +743,7 @@ FW_VERSIONS = {
       b'\xf1\x81640E0051\x00\x00\x00\x00\x00\x00\x00\x00',
       b'\xf1\x82CKJN3TMSDE0B\x00\x00\x00\x00',
       b'\xf1\x82CKKN3TMD_H0A\x00\x00\x00\x00',
+      b'\xe0\x19\xff\xe7\xe7g\x01\xa2\x00\x0f\x00\x9e\x00\x06\x00\xff\xff\xff\xff\xff\xff\x00\x00\xff\xff\xff\xff\xff\xff\x00\x00\x0f\x0e\x0f\x0f\x0e\r\x00\x00\x7f\x02.\xff\x00\x00~p\x00\x00\x00\x00u\xff\xf9\xff\x00\x00\x00\x00V\t\xd5\x01\xc0\x00\x00\x00\x007\xfb\xfc\x0b\x8d\x00',
     ],
     (Ecu.eps, 0x7d4, None): [
       b'\xf1\x00CK  MDPS R 1.00 1.04 57700-J5200 4C2CL104',
@@ -765,6 +766,8 @@ FW_VERSIONS = {
       b'\xf1\x87VDKLJ18675252DK6\x89vhgwwwwveVU\x88w\x87w\x99vgf\x97vXfgw_\xff\xc2\xfb\xf1\x89E25\x00\x00\x00\x00\x00\x00\x00\xf1\x82TCK0T33NB2',
       b'\xf1\x87WAJTE17552812CH4vfFffvfVeT5DwvvVVdFeegeg\x88\x88o\xff\x1a]\xf1\x81E21\x00\x00\x00\x00\x00\x00\x00\xf1\x00bcsh8p54  E21\x00\x00\x00\x00\x00\x00\x00TCK2T20NB1\x19\xd2\x00\x94',
       b'\xf1\x87VDHLG17274082DK2wfFf\x89x\x98wUT5T\x88v\x97xgeGefTGTVvO\xff\x1c\x14\xf1\x81E19\x00\x00\x00\x00\x00\x00\x00\xf1\x00bcsh8p54  E19\x00\x00\x00\x00\x00\x00\x00SCK0T33UB2\xee[\x97S',
+      b'\xf1\x87VDHLG17000192DK2xdFffT\xa5VUD$DwT\x86wveVeeD&T\x99\xba\x8f\xff\xcc\x99\xf1\x81E21\x00\x00\x00\x00\x00\x00\x00\xf1\x00bcsh8p54  E21\x00\x00\x00\x00\x00\x00\x00SCK0T33NB0\t\xb7\x17\xf5',
+      b'\xf1\x00bcsh8p54  E21\x00\x00\x00\x00\x00\x00\x00SCK0T33NB0\t\xb7\x17\xf5',
     ],
   },
   CAR.PALISADE: {

From 60586e0d5835dbb3928321700c9d4d99cdeec216 Mon Sep 17 00:00:00 2001
From: Dean Lee <deanlee3@gmail.com>
Date: Tue, 18 Oct 2022 05:39:18 +0800
Subject: [PATCH 16/34] Cabana: align the charts properly (#26116)

---
 tools/cabana/chartswidget.cc | 20 +++++++++++++++++++-
 tools/cabana/chartswidget.h  |  1 +
 2 files changed, 20 insertions(+), 1 deletion(-)

diff --git a/tools/cabana/chartswidget.cc b/tools/cabana/chartswidget.cc
index e69729c03a..3652720e12 100644
--- a/tools/cabana/chartswidget.cc
+++ b/tools/cabana/chartswidget.cc
@@ -2,6 +2,7 @@
 
 #include <QGraphicsLayout>
 #include <QRubberBand>
+#include <QTimer>
 #include <QtCharts/QLineSeries>
 #include <QtCharts/QValueAxis>
 
@@ -183,7 +184,6 @@ ChartView::ChartView(const QString &id, const Signal *sig, QWidget *parent)
   font.setBold(true);
   chart->setTitleFont(font);
   chart->setMargins({0, 0, 0, 0});
-  chart->layout()->setContentsMargins(0, 0, 0, 0);
 
   track_line = new QGraphicsLineItem(chart);
   track_line->setPen(QPen(Qt::gray, 1, Qt::DashLine));
@@ -202,14 +202,32 @@ ChartView::ChartView(const QString &id, const Signal *sig, QWidget *parent)
     rubber->setPalette(pal);
   }
 
+  QTimer *timer = new QTimer(this);
+  timer->setInterval(100);
+  timer->setSingleShot(true);
+  timer->callOnTimeout(this, &ChartView::adjustChartMargins);
+
   QObject::connect(can, &CANMessages::updated, this, &ChartView::updateState);
   QObject::connect(can, &CANMessages::rangeChanged, this, &ChartView::rangeChanged);
   QObject::connect(can, &CANMessages::eventsMerged, this, &ChartView::updateSeries);
   QObject::connect(dynamic_cast<QValueAxis *>(chart->axisX()), &QValueAxis::rangeChanged, can, &CANMessages::setRange);
+  QObject::connect(chart, &QChart::plotAreaChanged, [=](const QRectF &plotArea) {
+    // use a singleshot timer to avoid recursion call.
+    timer->start();
+  });
 
   updateSeries();
 }
 
+void ChartView::adjustChartMargins() {
+  // TODO: Remove hardcoded aligned_pos
+  const int aligned_pos = 60;
+  if (chart()->plotArea().left() != aligned_pos) {
+    const float left_margin = chart()->margins().left() + aligned_pos - chart()->plotArea().left();
+    chart()->setMargins(QMargins(left_margin, 0, 0, 0));
+  }
+}
+
 void ChartWidget::setHeight(int height) {
   chart_view->setFixedHeight(height);
 }
diff --git a/tools/cabana/chartswidget.h b/tools/cabana/chartswidget.h
index 3e43409dc4..fe2e14db9f 100644
--- a/tools/cabana/chartswidget.h
+++ b/tools/cabana/chartswidget.h
@@ -27,6 +27,7 @@ private:
   void mouseMoveEvent(QMouseEvent *ev) override;
   void enterEvent(QEvent *event) override;
   void leaveEvent(QEvent *event) override;
+  void adjustChartMargins();
 
   void rangeChanged(qreal min, qreal max);
   void updateAxisY();

From c6b8a253e68fc62cd9eb3261e7f08d3cb3d3414d Mon Sep 17 00:00:00 2001
From: Cameron Clough <cameronjclough@gmail.com>
Date: Mon, 17 Oct 2022 15:36:29 -0700
Subject: [PATCH 17/34] networking: fix metered setting (#26113)

when metered set unknown, when unmetered set no
---
 selfdrive/ui/qt/offroad/wifiManager.cc | 2 +-
 1 file changed, 1 insertion(+), 1 deletion(-)

diff --git a/selfdrive/ui/qt/offroad/wifiManager.cc b/selfdrive/ui/qt/offroad/wifiManager.cc
index 62de3041b9..fde8645586 100644
--- a/selfdrive/ui/qt/offroad/wifiManager.cc
+++ b/selfdrive/ui/qt/offroad/wifiManager.cc
@@ -368,7 +368,7 @@ void WifiManager::updateGsmSettings(bool roaming, QString apn, bool metered) {
       changes = true;
     }
 
-    int meteredInt = metered ? NM_METERED_NO : NM_METERED_UNKNOWN;
+    int meteredInt = metered ? NM_METERED_UNKNOWN : NM_METERED_NO;
     if (settings.value("connection").value("metered").toInt() != meteredInt) {
       qWarning() << "Changing connection.metered to" << meteredInt;
       settings["connection"]["metered"] = meteredInt;

From e6cab24e08323ce1e8d846365a6ca1770a54f851 Mon Sep 17 00:00:00 2001
From: Cameron Clough <cameronjclough@gmail.com>
Date: Mon, 17 Oct 2022 15:38:31 -0700
Subject: [PATCH 18/34] updated: sync submodules (#26121)

---
 selfdrive/updated.py | 1 +
 1 file changed, 1 insertion(+)

diff --git a/selfdrive/updated.py b/selfdrive/updated.py
index 9568b28ae3..57f957cfff 100755
--- a/selfdrive/updated.py
+++ b/selfdrive/updated.py
@@ -365,6 +365,7 @@ class Updater:
       ["git", "checkout", "--force", "--no-recurse-submodules", "-B", branch, "FETCH_HEAD"],
       ["git", "reset", "--hard"],
       ["git", "clean", "-xdff"],
+      ["git", "submodule", "sync"],
       ["git", "submodule", "init"],
       ["git", "submodule", "update"],
     ]

From 15b8c7d1dc3a75d78c0bbaa4f6b866374f6e8672 Mon Sep 17 00:00:00 2001
From: Adeeb Shihadeh <adeebshihadeh@gmail.com>
Date: Mon, 17 Oct 2022 17:14:38 -0700
Subject: [PATCH 19/34] ui: publish draw times + add test (#26119)

* ui: publish draw times + add test

* add some checks

* adjust

* fix linter

* update max

Co-authored-by: Comma Device <device@comma.ai>
---
 cereal                           |  2 +-
 selfdrive/debug/check_timings.py |  2 +-
 selfdrive/test/test_onroad.py    | 23 +++++++++++++++++++++--
 selfdrive/ui/qt/onroad.cc        | 10 ++++++++++
 selfdrive/ui/qt/onroad.h         |  1 +
 5 files changed, 34 insertions(+), 4 deletions(-)

diff --git a/cereal b/cereal
index 5766e645f2..107048c83e 160000
--- a/cereal
+++ b/cereal
@@ -1 +1 @@
-Subproject commit 5766e645f2ee2a131b145fb1ea9e3b7c55a4a740
+Subproject commit 107048c83ec2f488286a1be314e7aece0a20a6b1
diff --git a/selfdrive/debug/check_timings.py b/selfdrive/debug/check_timings.py
index 083e084ca7..fb8467a3c4 100755
--- a/selfdrive/debug/check_timings.py
+++ b/selfdrive/debug/check_timings.py
@@ -19,7 +19,7 @@ if __name__ == "__main__":
       for m in msgs:
         ts[s].append(m.logMonoTime / 1e6)
 
-      if len(ts[s]):
+      if len(ts[s]) > 2:
         d = np.diff(ts[s])
         print(f"{s:25} {np.mean(d):.2f} {np.std(d):.2f} {np.max(d):.2f} {np.min(d):.2f}")
     time.sleep(1)
diff --git a/selfdrive/test/test_onroad.py b/selfdrive/test/test_onroad.py
index b29ca5d35b..0d3d7b367a 100755
--- a/selfdrive/test/test_onroad.py
+++ b/selfdrive/test/test_onroad.py
@@ -120,8 +120,8 @@ class TestOnroad(unittest.TestCase):
     if "DEBUG" in os.environ:
       segs = filter(lambda x: os.path.exists(os.path.join(x, "rlog")), Path(ROOT).iterdir())
       segs = sorted(segs, key=lambda x: x.stat().st_mtime)
-      print(segs[-1])
-      cls.lr = list(LogReader(os.path.join(segs[-1], "rlog")))
+      print(segs[-2])
+      cls.lr = list(LogReader(os.path.join(segs[-2], "rlog")))
       return
 
     # setup env
@@ -187,6 +187,25 @@ class TestOnroad(unittest.TestCase):
     big_logs = [f for f, n in cnt.most_common(3) if n / sum(cnt.values()) > 30.]
     self.assertEqual(len(big_logs), 0, f"Log spam: {big_logs}")
 
+  def test_ui_timings(self):
+    result = "\n"
+    result += "------------------------------------------------\n"
+    result += "-------------- UI Draw Timing ------------------\n"
+    result += "------------------------------------------------\n"
+
+    ts = [m.uiDebug.drawTimeMillis for m in self.lr if m.which() == 'uiDebug']
+    result += f"min  {min(ts):.2f}ms\n"
+    result += f"max  {max(ts):.2f}ms\n"
+    result += f"std  {np.std(ts):.2f}ms\n"
+    result += f"mean {np.mean(ts):.2f}ms\n"
+    result += "------------------------------------------------\n"
+    print(result)
+
+    self.assertGreater(len(ts), 20*50, "insufficient samples")
+    self.assertLess(max(ts), 30.)
+    self.assertLess(np.mean(ts), 10.)
+    self.assertLess(np.std(ts), 5.)
+
   def test_cpu_usage(self):
     proclogs = [m for m in self.lr if m.which() == 'procLog']
     self.assertGreater(len(proclogs), service_list['procLog'].frequency * 45, "insufficient samples")
diff --git a/selfdrive/ui/qt/onroad.cc b/selfdrive/ui/qt/onroad.cc
index 0fbfb0cfc2..66bc38dbfc 100644
--- a/selfdrive/ui/qt/onroad.cc
+++ b/selfdrive/ui/qt/onroad.cc
@@ -176,6 +176,8 @@ void OnroadAlerts::paintEvent(QPaintEvent *event) {
 // NvgWindow
 
 NvgWindow::NvgWindow(VisionStreamType type, QWidget* parent) : fps_filter(UI_FREQ, 3, 1. / UI_FREQ), CameraViewWidget("camerad", type, true, parent) {
+  pm = std::make_unique<PubMaster, const std::initializer_list<const char *>>({"uiDebug"});
+
   engage_img = loadPixmap("../assets/img_chffr_wheel.png", {img_size, img_size});
   dm_img = loadPixmap("../assets/img_driver_face.png", {img_size, img_size});
 }
@@ -542,6 +544,8 @@ void NvgWindow::drawLead(QPainter &painter, const cereal::ModelDataV2::LeadDataV
 }
 
 void NvgWindow::paintGL() {
+  const double start_draw_t = millis_since_boot();
+
   UIState *s = uiState();
   const cereal::ModelDataV2::Reader &model = (*s->sm)["modelV2"].getModelV2();
   CameraViewWidget::setFrameId(model.getFrameId());
@@ -575,6 +579,12 @@ void NvgWindow::paintGL() {
     LOGW("slow frame rate: %.2f fps", fps);
   }
   prev_draw_t = cur_draw_t;
+
+  // publish debug msg
+  MessageBuilder msg;
+  auto m = msg.initEvent().initUiDebug();
+  m.setDrawTimeMillis(cur_draw_t - start_draw_t);
+  pm->send("uiDebug", msg);
 }
 
 void NvgWindow::showEvent(QShowEvent *event) {
diff --git a/selfdrive/ui/qt/onroad.h b/selfdrive/ui/qt/onroad.h
index 25920ccc6a..7ed2c9cc4a 100644
--- a/selfdrive/ui/qt/onroad.h
+++ b/selfdrive/ui/qt/onroad.h
@@ -68,6 +68,7 @@ private:
   bool has_eu_speed_limit = false;
   bool v_ego_cluster_seen = false;
   int status = STATUS_DISENGAGED;
+  std::unique_ptr<PubMaster> pm;
 
 protected:
   void paintGL() override;

From cd12ef4aa19a83f88532f5c1a8c3f290b87fcbf8 Mon Sep 17 00:00:00 2001
From: Dean Lee <deanlee3@gmail.com>
Date: Tue, 18 Oct 2022 08:18:04 +0800
Subject: [PATCH 20/34] cabana: add a splitter between message lists and
 detailview (#26118)

* add a splitter between message lists and detailview

* space
---
 tools/cabana/mainwin.cc | 11 ++++++++---
 1 file changed, 8 insertions(+), 3 deletions(-)

diff --git a/tools/cabana/mainwin.cc b/tools/cabana/mainwin.cc
index 999a4816b0..7aea8097cf 100644
--- a/tools/cabana/mainwin.cc
+++ b/tools/cabana/mainwin.cc
@@ -5,6 +5,7 @@
 #include <QHBoxLayout>
 #include <QFormLayout>
 #include <QScreen>
+#include <QSplitter>
 #include <QVBoxLayout>
 
 MainWindow::MainWindow() : QWidget() {
@@ -13,12 +14,16 @@ MainWindow::MainWindow() : QWidget() {
   QHBoxLayout *h_layout = new QHBoxLayout();
   main_layout->addLayout(h_layout);
 
+  QSplitter *splitter = new QSplitter(Qt::Horizontal, this);
+
   messages_widget = new MessagesWidget(this);
-  h_layout->addWidget(messages_widget);
+  splitter->addWidget(messages_widget);
 
   detail_widget = new DetailWidget(this);
-  detail_widget->setFixedWidth(600);
-  h_layout->addWidget(detail_widget);
+  splitter->addWidget(detail_widget);
+
+  splitter->setSizes({100, 500});
+  h_layout->addWidget(splitter);
 
   // right widgets
   QWidget *right_container = new QWidget(this);

From 409e8f5f89a38f9893a1f28f8fabd3bf526b46eb Mon Sep 17 00:00:00 2001
From: Dean Lee <deanlee3@gmail.com>
Date: Tue, 18 Oct 2022 08:18:24 +0800
Subject: [PATCH 21/34] cabana: faster history log with better stretch mode
 (#26112)

---
 tools/cabana/historylog.cc | 59 ++++++++++++++------------------------
 tools/cabana/historylog.h  | 13 +++++----
 2 files changed, 28 insertions(+), 44 deletions(-)

diff --git a/tools/cabana/historylog.cc b/tools/cabana/historylog.cc
index cbb3b6e882..c0efbca280 100644
--- a/tools/cabana/historylog.cc
+++ b/tools/cabana/historylog.cc
@@ -5,21 +5,16 @@
 #include <QVBoxLayout>
 
 QVariant HistoryLogModel::data(const QModelIndex &index, int role) const {
-  auto msg = dbc()->msg(msg_id);
+  bool has_signal = dbc_msg && !dbc_msg->sigs.empty();
   if (role == Qt::DisplayRole) {
-    const auto &can_msgs = can->messages(msg_id);
-    if (index.row() < can_msgs.size()) {
-      const auto &can_data = can_msgs[index.row()];
-      if (msg && index.column() < msg->sigs.size()) {
-        return get_raw_value((uint8_t *)can_data.dat.begin(), can_data.dat.size(), msg->sigs[index.column()]);
-      } else {
-        return toHex(can_data.dat);
-      }
-    }
-  } else if (role == Qt::FontRole) {
-    if (index.column() == 0 && !(msg && msg->sigs.size() > 0)) {
-      return QFontDatabase::systemFont(QFontDatabase::FixedFont);
+    const auto &m = can->messages(msg_id)[index.row()];
+    if (index.column() == 0) {
+      return QString::number(m.ts, 'f', 2);
     }
+    return has_signal ? QString::number(get_raw_value((uint8_t *)m.dat.begin(), m.dat.size(), dbc_msg->sigs[index.column() - 1]))
+                      : toHex(m.dat);
+  } else if (role == Qt::FontRole && index.column() == 1 && !has_signal) {
+    return QFontDatabase::systemFont(QFontDatabase::FixedFont);
   }
   return {};
 }
@@ -27,8 +22,8 @@ QVariant HistoryLogModel::data(const QModelIndex &index, int role) const {
 void HistoryLogModel::setMessage(const QString &message_id) {
   beginResetModel();
   msg_id = message_id;
-  const auto msg = dbc()->msg(message_id);
-  column_count = msg && !msg->sigs.empty() ? msg->sigs.size() : 1;
+  dbc_msg = dbc()->msg(message_id);
+  column_count = (dbc_msg && !dbc_msg->sigs.empty() ? dbc_msg->sigs.size() : 1) + 1;
   row_count = 0;
   endResetModel();
 
@@ -37,18 +32,14 @@ void HistoryLogModel::setMessage(const QString &message_id) {
 
 QVariant HistoryLogModel::headerData(int section, Qt::Orientation orientation, int role) const {
   if (orientation == Qt::Horizontal) {
-    auto msg = dbc()->msg(msg_id);
-    if (msg && section < msg->sigs.size()) {
-      if (role == Qt::BackgroundRole) {
-        return QBrush(QColor(getColor(section)));
-      } else if (role == Qt::DisplayRole || role == Qt::ToolTipRole) {
-        return QString::fromStdString(msg->sigs[section].name);
+    bool has_signal = dbc_msg && !dbc_msg->sigs.empty();
+    if (role == Qt::DisplayRole || role == Qt::ToolTipRole) {
+      if (section == 0) {
+        return "Time";
       }
-    }
-  } else if (role == Qt::DisplayRole) {
-    const auto &can_msgs = can->messages(msg_id);
-    if (section < can_msgs.size()) {
-      return QString::number(can_msgs[section].ts, 'f', 2);
+      return has_signal ? dbc_msg->sigs[section - 1].name.c_str() : "Data";
+    } else if (role == Qt::BackgroundRole && section > 0 && has_signal) {
+      return QBrush(QColor(getColor(section - 1)));
     }
   }
   return {};
@@ -69,7 +60,6 @@ void HistoryLogModel::updateState() {
   }
   if (row_count > 0) {
     emit dataChanged(index(0, 0), index(row_count - 1, column_count - 1), {Qt::DisplayRole});
-    emit headerDataChanged(Qt::Vertical, 0, row_count - 1);
   }
 }
 
@@ -79,17 +69,10 @@ HistoryLog::HistoryLog(QWidget *parent) : QWidget(parent) {
   model = new HistoryLogModel(this);
   table = new QTableView(this);
   table->setModel(model);
-  table->horizontalHeader()->setStretchLastSection(true);
-  table->setEditTriggers(QAbstractItemView::NoEditTriggers);
+  table->horizontalHeader()->setSectionResizeMode(QHeaderView::Stretch);
+  table->horizontalHeader()->setSectionResizeMode(0, QHeaderView::Fixed);
+  table->setColumnWidth(0, 60);
+  table->verticalHeader()->setVisible(false);
   table->setStyleSheet("QTableView::item { border:0px; padding-left:5px; padding-right:5px; }");
-  table->verticalHeader()->setStyleSheet("QHeaderView::section {padding-left: 5px; padding-right: 5px;min-width:40px;}");
   main_layout->addWidget(table);
 }
-
-void HistoryLog::setMessage(const QString &message_id) {
-  model->setMessage(message_id);
-}
-
-void HistoryLog::updateState() {
-  model->updateState();
-}
diff --git a/tools/cabana/historylog.h b/tools/cabana/historylog.h
index f3a9046bfa..bc6d1f9376 100644
--- a/tools/cabana/historylog.h
+++ b/tools/cabana/historylog.h
@@ -6,21 +6,22 @@
 #include "tools/cabana/dbcmanager.h"
 
 class HistoryLogModel : public QAbstractTableModel {
-Q_OBJECT
+  Q_OBJECT
 
 public:
   HistoryLogModel(QObject *parent) : QAbstractTableModel(parent) {}
   void setMessage(const QString &message_id);
   void updateState();
   QVariant headerData(int section, Qt::Orientation orientation, int role = Qt::DisplayRole) const override;
-  int columnCount(const QModelIndex &parent = QModelIndex()) const override { return column_count; }
-  QVariant data(const QModelIndex &index, int role = Qt::DisplayRole) const;
+  QVariant data(const QModelIndex &index, int role = Qt::DisplayRole) const override;
   int rowCount(const QModelIndex &parent = QModelIndex()) const override { return row_count; }
+  int columnCount(const QModelIndex &parent = QModelIndex()) const override { return column_count; }
 
 private:
   QString msg_id;
   int row_count = 0;
-  int column_count = 0;
+  int column_count = 2;
+  const Msg *dbc_msg = nullptr;
 };
 
 class HistoryLog : public QWidget {
@@ -28,8 +29,8 @@ class HistoryLog : public QWidget {
 
 public:
   HistoryLog(QWidget *parent);
-  void setMessage(const QString &message_id);
-  void updateState();
+  void setMessage(const QString &message_id) { model->setMessage(message_id); }
+  void updateState() { model->updateState(); }
 
 private:
   QTableView *table;

From 99b16151fcc621832d573b9f7858eb5020f6503a Mon Sep 17 00:00:00 2001
From: Dean Lee <deanlee3@gmail.com>
Date: Tue, 18 Oct 2022 08:19:41 +0800
Subject: [PATCH 22/34] Cabana: show MSB/LSB of signals in the BinaryView
 (#26103)

* dispaly msb and lsb in binary view

* draw at bottom

* move binaryview to seperate files

* increase the width of vertical header

* re-draw changed cells only

* correct lsb/msb position

* check bounds

* todo
---
 tools/cabana/SConscript      |   2 +-
 tools/cabana/binaryview.cc   | 184 +++++++++++++++++++++++++++++++++++
 tools/cabana/binaryview.h    |  72 ++++++++++++++
 tools/cabana/canmessages.h   |   1 +
 tools/cabana/detailwidget.cc |  98 +------------------
 tools/cabana/detailwidget.h  |  26 +----
 tools/cabana/signaledit.cc   |   3 +
 7 files changed, 265 insertions(+), 121 deletions(-)
 create mode 100644 tools/cabana/binaryview.cc
 create mode 100644 tools/cabana/binaryview.h

diff --git a/tools/cabana/SConscript b/tools/cabana/SConscript
index 8dbd4f1d1c..fd44ecd138 100644
--- a/tools/cabana/SConscript
+++ b/tools/cabana/SConscript
@@ -12,5 +12,5 @@ else:
 
 qt_libs = ['qt_util', 'Qt5Charts'] + base_libs
 cabana_libs = [widgets, cereal, messaging, visionipc, replay_lib, opendbc,'avutil', 'avcodec', 'avformat', 'bz2', 'curl', 'yuv'] + qt_libs
-qt_env.Program('_cabana', ['cabana.cc', 'mainwin.cc', 'chartswidget.cc', 'historylog.cc', 'videowidget.cc', 'signaledit.cc', 'dbcmanager.cc',
+qt_env.Program('_cabana', ['cabana.cc', 'mainwin.cc', 'binaryview.cc', 'chartswidget.cc', 'historylog.cc', 'videowidget.cc', 'signaledit.cc', 'dbcmanager.cc',
                             'canmessages.cc', 'messageswidget.cc', 'detailwidget.cc'], LIBS=cabana_libs, FRAMEWORKS=base_frameworks)
diff --git a/tools/cabana/binaryview.cc b/tools/cabana/binaryview.cc
new file mode 100644
index 0000000000..3b962b6de1
--- /dev/null
+++ b/tools/cabana/binaryview.cc
@@ -0,0 +1,184 @@
+#include "tools/cabana/binaryview.h"
+
+#include <QApplication>
+#include <QHeaderView>
+#include <QPainter>
+
+#include "tools/cabana/canmessages.h"
+
+// BinaryView
+
+const int CELL_HEIGHT = 35;
+
+BinaryView::BinaryView(QWidget *parent) : QTableView(parent) {
+  model = new BinaryViewModel(this);
+  setModel(model);
+  setItemDelegate(new BinaryItemDelegate(this));
+  horizontalHeader()->setSectionResizeMode(QHeaderView::Stretch);
+  horizontalHeader()->hide();
+  verticalHeader()->setSectionResizeMode(QHeaderView::Stretch);
+  setHorizontalScrollBarPolicy(Qt::ScrollBarAlwaysOff);
+
+  // replace selection model
+  auto old_model = selectionModel();
+  setSelectionModel(new BinarySelectionModel(model));
+  delete old_model;
+
+  QObject::connect(model, &QAbstractItemModel::modelReset, [this]() {
+    setFixedHeight((CELL_HEIGHT + 1) * std::min(model->rowCount(), 8) + 2);
+  });
+}
+
+void BinaryView::mouseReleaseEvent(QMouseEvent *event) {
+  QTableView::mouseReleaseEvent(event);
+
+  if (auto indexes = selectedIndexes(); !indexes.isEmpty()) {
+    int start_bit = indexes.first().row() * 8 + indexes.first().column();
+    int size = indexes.back().row() * 8 + indexes.back().column() - start_bit + 1;
+    emit cellsSelected(start_bit, size);
+  }
+}
+
+void BinaryView::setMessage(const QString &message_id) {
+  msg_id = message_id;
+  model->setMessage(message_id);
+  resizeRowsToContents();
+  clearSelection();
+  updateState();
+}
+
+void BinaryView::updateState() {
+  model->updateState();
+}
+
+// BinaryViewModel
+
+void BinaryViewModel::setMessage(const QString &message_id) {
+  msg_id = message_id;
+
+  beginResetModel();
+  items.clear();
+  row_count = 0;
+
+  dbc_msg = dbc()->msg(msg_id);
+  if (dbc_msg) {
+    row_count = dbc_msg->size;
+    items.resize(row_count * column_count);
+    for (int i = 0; i < dbc_msg->sigs.size(); ++i) {
+      const auto &sig = dbc_msg->sigs[i];
+      const int start = sig.is_little_endian ? sig.start_bit : bigEndianBitIndex(sig.start_bit);
+      const int end = start + sig.size - 1;
+      for (int j = start; j <= end; ++j) {
+        int idx = column_count * (j / 8) + j % 8;
+        if (idx >= items.size()) {
+          qWarning() << "signal " << sig.name.c_str() << "out of bounds.start_bit:" << sig.start_bit << "size:" << sig.size;
+          break;
+        }
+        if (j == start) {
+          sig.is_little_endian ? items[idx].is_lsb = true : items[idx].is_msb = true;
+        } else if (j == end) {
+          sig.is_little_endian ? items[idx].is_msb = true : items[idx].is_lsb = true;
+        }
+        items[idx].bg_color = QColor(getColor(i));
+      }
+    }
+  }
+
+  endResetModel();
+}
+
+QModelIndex BinaryViewModel::index(int row, int column, const QModelIndex &parent) const {
+  return createIndex(row, column, (void *)&items[row * column_count + column]);
+}
+
+Qt::ItemFlags BinaryViewModel::flags(const QModelIndex &index) const {
+  return (index.column() == column_count - 1) ? Qt::ItemIsEnabled : Qt::ItemIsEnabled | Qt::ItemIsSelectable;
+}
+
+void BinaryViewModel::updateState() {
+  auto prev_items = items;
+
+  const auto &binary = can->lastMessage(msg_id).dat;
+  // data size may changed.
+  if (!dbc_msg && binary.size() != row_count) {
+    beginResetModel();
+    row_count = binary.size();
+    items.clear();
+    items.resize(row_count * column_count);
+    endResetModel();
+  }
+
+  char hex[3] = {'\0'};
+  for (int i = 0; i < std::min(binary.size(), row_count); ++i) {
+    for (int j = 0; j < column_count - 1; ++j) {
+      items[i * column_count + j].val = QChar((binary[i] >> (7 - j)) & 1 ? '1' : '0');
+    }
+    hex[0] = toHex(binary[i] >> 4);
+    hex[1] = toHex(binary[i] & 0xf);
+    items[i * column_count + 8].val = hex;
+  }
+
+  for (int i = 0; i < items.size(); ++i) {
+    if (i >= prev_items.size() || prev_items[i].val != items[i].val) {
+      auto idx = index(i / column_count, i % column_count);
+      emit dataChanged(idx, idx);
+    }
+  }
+}
+
+QVariant BinaryViewModel::headerData(int section, Qt::Orientation orientation, int role) const {
+  if (orientation == Qt::Vertical) {
+    switch (role) {
+      case Qt::DisplayRole: return section + 1;
+      case Qt::SizeHintRole: return QSize(30, CELL_HEIGHT);
+      case Qt::TextAlignmentRole: return Qt::AlignCenter;
+    }
+  }
+  return {};
+}
+
+// BinarySelectionModel
+
+void BinarySelectionModel::select(const QItemSelection &selection, QItemSelectionModel::SelectionFlags command) {
+  QItemSelection new_selection = selection;
+  if (auto indexes = selection.indexes(); !indexes.isEmpty()) {
+    auto [begin_idx, end_idx] = (QModelIndex[]){indexes.first(), indexes.back()};
+    for (int row = begin_idx.row(); row <= end_idx.row(); ++row) {
+      int left_col = (row == begin_idx.row()) ? begin_idx.column() : 0;
+      int right_col = (row == end_idx.row()) ? end_idx.column() : 7;
+      new_selection.merge({model()->index(row, left_col), model()->index(row, right_col)}, command);
+    }
+  }
+  QItemSelectionModel::select(new_selection, command);
+}
+
+// BinaryItemDelegate
+
+BinaryItemDelegate::BinaryItemDelegate(QObject *parent) : QStyledItemDelegate(parent) {
+  // cache fonts and color
+  small_font.setPointSize(7);
+  bold_font.setBold(true);
+  highlight_color = QApplication::style()->standardPalette().color(QPalette::Active, QPalette::Highlight);
+}
+
+QSize BinaryItemDelegate::sizeHint(const QStyleOptionViewItem &option, const QModelIndex &index) const {
+  QSize sz = QStyledItemDelegate::sizeHint(option, index);
+  return {sz.width(), CELL_HEIGHT};
+}
+
+void BinaryItemDelegate::paint(QPainter *painter, const QStyleOptionViewItem &option, const QModelIndex &index) const {
+  auto item = (const BinaryViewModel::Item *)index.internalPointer();
+  painter->save();
+  // TODO: highlight signal cells on mouse over
+  painter->fillRect(option.rect, option.state & QStyle::State_Selected ? highlight_color : item->bg_color);
+  if (index.column() == 8) {
+    painter->setFont(bold_font);
+  }
+  painter->drawText(option.rect, Qt::AlignCenter, item->val);
+  if (item->is_msb || item->is_lsb) {
+    painter->setFont(small_font);
+    painter->drawText(option.rect, Qt::AlignHCenter | Qt::AlignBottom, item->is_msb ? "MSB" : "LSB");
+  }
+
+  painter->restore();
+}
diff --git a/tools/cabana/binaryview.h b/tools/cabana/binaryview.h
new file mode 100644
index 0000000000..631797ca48
--- /dev/null
+++ b/tools/cabana/binaryview.h
@@ -0,0 +1,72 @@
+#pragma once
+
+#include <QStyledItemDelegate>
+#include <QTableView>
+
+#include "tools/cabana/dbcmanager.h"
+
+class BinaryItemDelegate : public QStyledItemDelegate {
+  Q_OBJECT
+
+public:
+  BinaryItemDelegate(QObject *parent);
+  void paint(QPainter *painter, const QStyleOptionViewItem &option, const QModelIndex &index) const override;
+  QSize sizeHint(const QStyleOptionViewItem &option, const QModelIndex &index) const override;
+
+private:
+  QFont small_font, bold_font;
+  QColor highlight_color;
+};
+
+class BinaryViewModel : public QAbstractTableModel {
+  Q_OBJECT
+
+public:
+  BinaryViewModel(QObject *parent) : QAbstractTableModel(parent) {}
+  void setMessage(const QString &message_id);
+  void updateState();
+  Qt::ItemFlags flags(const QModelIndex &index) const;
+  QVariant headerData(int section, Qt::Orientation orientation, int role = Qt::DisplayRole) const override;
+  QModelIndex index(int row, int column, const QModelIndex &parent = QModelIndex()) const;
+  QVariant data(const QModelIndex &index, int role = Qt::DisplayRole) const { return {}; }
+  int rowCount(const QModelIndex &parent = QModelIndex()) const override { return row_count; }
+  int columnCount(const QModelIndex &parent = QModelIndex()) const override { return column_count; }
+
+  struct Item {
+    QColor bg_color = QColor(Qt::white);
+    bool is_msb = false;
+    bool is_lsb = false;
+    QString val = "0";
+  };
+
+private:
+  QString msg_id;
+  const Msg *dbc_msg;
+  int row_count = 0;
+  const int column_count = 9;
+  std::vector<Item> items;
+};
+
+// the default QItemSelectionModel does not support our selection mode.
+class BinarySelectionModel : public QItemSelectionModel {
+ public:
+  BinarySelectionModel(QAbstractItemModel *model = nullptr) : QItemSelectionModel(model) {}
+  void select(const QItemSelection &selection, QItemSelectionModel::SelectionFlags command) override;
+};
+
+class BinaryView : public QTableView {
+  Q_OBJECT
+
+public:
+  BinaryView(QWidget *parent = nullptr);
+  void mouseReleaseEvent(QMouseEvent *event) override;
+  void setMessage(const QString &message_id);
+  void updateState();
+
+signals:
+  void cellsSelected(int start_bit, int size);
+
+private:
+  QString msg_id;
+  BinaryViewModel *model;
+};
diff --git a/tools/cabana/canmessages.h b/tools/cabana/canmessages.h
index 7f6955369b..fe71840d74 100644
--- a/tools/cabana/canmessages.h
+++ b/tools/cabana/canmessages.h
@@ -91,6 +91,7 @@ inline char toHex(uint value) {
 }
 
 inline const QString &getColor(int i) {
+  // TODO: add more colors
   static const QString SIGNAL_COLORS[] = {"#9FE2BF", "#40E0D0", "#6495ED", "#CCCCFF", "#FF7F50", "#FFBF00"};
   return SIGNAL_COLORS[i % std::size(SIGNAL_COLORS)];
 }
diff --git a/tools/cabana/detailwidget.cc b/tools/cabana/detailwidget.cc
index a9899ec650..60d0632d4c 100644
--- a/tools/cabana/detailwidget.cc
+++ b/tools/cabana/detailwidget.cc
@@ -1,13 +1,13 @@
 #include "tools/cabana/detailwidget.h"
 
 #include <QDialogButtonBox>
-#include <QFontDatabase>
 #include <QFormLayout>
-#include <QHeaderView>
 #include <QMessageBox>
-#include <QScrollBar>
 #include <QTimer>
 
+#include "tools/cabana/canmessages.h"
+#include "tools/cabana/dbcmanager.h"
+
 // DetailWidget
 
 DetailWidget::DetailWidget(QWidget *parent) : QWidget(parent) {
@@ -141,98 +141,6 @@ void DetailWidget::removeSignal() {
   }
 }
 
-// BinaryView
-
-BinaryView::BinaryView(QWidget *parent) : QTableWidget(parent) {
-  horizontalHeader()->setSectionResizeMode(QHeaderView::Stretch);
-  verticalHeader()->setSectionResizeMode(QHeaderView::Stretch);
-  horizontalHeader()->hide();
-  setHorizontalScrollBarPolicy(Qt::ScrollBarAlwaysOff);
-  setColumnCount(9);
-
-  // replace selection model
-  auto old_model = selectionModel();
-  setSelectionModel(new BinarySelectionModel(model()));
-  delete old_model;
-}
-
-void BinaryView::mouseReleaseEvent(QMouseEvent *event) {
-  QTableWidget::mouseReleaseEvent(event);
-
-  if (auto items = selectedItems(); !items.isEmpty()) {
-    int start_bit = items.first()->row() * 8 + items.first()->column();
-    int size = items.back()->row() * 8 + items.back()->column() - start_bit + 1;
-    emit cellsSelected(start_bit, size);
-  }
-}
-
-void BinaryView::setMessage(const QString &message_id) {
-  msg_id = message_id;
-  if (msg_id.isEmpty()) return;
-
-  const Msg *msg = dbc()->msg(msg_id);
-  int row_count = msg ? msg->size : can->lastMessage(msg_id).dat.size();
-  setRowCount(row_count);
-  setColumnCount(9);
-  for (int i = 0; i < rowCount(); ++i) {
-    for (int j = 0; j < columnCount(); ++j) {
-      auto item = new QTableWidgetItem();
-      item->setFlags(item->flags() ^ Qt::ItemIsEditable);
-      item->setTextAlignment(Qt::AlignCenter);
-      if (j == 8) {
-        QFont font = QFontDatabase::systemFont(QFontDatabase::FixedFont);
-        font.setBold(true);
-        item->setFont(font);
-        item->setFlags(item->flags() ^ Qt::ItemIsSelectable);
-      }
-      setItem(i, j, item);
-    }
-  }
-
-  // set background color
-  if (msg) {
-    for (int i = 0; i < msg->sigs.size(); ++i) {
-      const auto &sig = msg->sigs[i];
-      int start = sig.is_little_endian ? sig.start_bit : bigEndianBitIndex(sig.start_bit);
-      for (int j = start; j <= std::min(start + sig.size - 1, rowCount() * columnCount() - 1); ++j) {
-        item(j / 8, j % 8)->setBackground(QColor(getColor(i)));
-      }
-    }
-  }
-
-  setFixedHeight(rowHeight(0) * std::min(row_count, 8) + 2);
-  clearSelection();
-  updateState();
-}
-
-void BinaryView::updateState() {
-  const auto &binary = can->lastMessage(msg_id).dat;
-  setUpdatesEnabled(false);
-  char hex[3] = {'\0'};
-  for (int i = 0; i < binary.size(); ++i) {
-    for (int j = 0; j < 8; ++j) {
-      item(i, j)->setText(QChar((binary[i] >> (7 - j)) & 1 ? '1' : '0'));
-    }
-    hex[0] = toHex(binary[i] >> 4);
-    hex[1] = toHex(binary[i] & 0xf);
-    item(i, 8)->setText(hex);
-  }
-  setUpdatesEnabled(true);
-}
-
-void BinarySelectionModel::select(const QItemSelection &selection, QItemSelectionModel::SelectionFlags command) {
-  QItemSelection new_selection = selection;
-  if (auto indexes = selection.indexes(); !indexes.isEmpty()) {
-    auto [begin_idx, end_idx] = (QModelIndex[]){indexes.first(), indexes.back()};
-    for (int row = begin_idx.row(); row <= end_idx.row(); ++row) {
-      int left_col = (row == begin_idx.row()) ? begin_idx.column() : 0;
-      int right_col = (row == end_idx.row()) ? end_idx.column() : 7;
-      new_selection.merge({model()->index(row, left_col), model()->index(row, right_col)}, command);
-    }
-  }
-  QItemSelectionModel::select(new_selection, command);
-}
-
 // EditMessageDialog
 
 EditMessageDialog::EditMessageDialog(const QString &msg_id, const QString &title, int size, QWidget *parent) : QDialog(parent) {
diff --git a/tools/cabana/detailwidget.h b/tools/cabana/detailwidget.h
index db174873f7..9d3b81dcb0 100644
--- a/tools/cabana/detailwidget.h
+++ b/tools/cabana/detailwidget.h
@@ -1,35 +1,11 @@
 #pragma once
 
 #include <QScrollArea>
-#include <QTableWidget>
 
-#include "opendbc/can/common.h"
-#include "opendbc/can/common_dbc.h"
-#include "tools/cabana/canmessages.h"
-#include "tools/cabana/dbcmanager.h"
+#include "tools/cabana/binaryview.h"
 #include "tools/cabana/historylog.h"
 #include "tools/cabana/signaledit.h"
 
-class BinarySelectionModel : public QItemSelectionModel {
-public:
-  BinarySelectionModel(QAbstractItemModel *model = nullptr) : QItemSelectionModel(model) {}
-  void select(const QItemSelection &selection, QItemSelectionModel::SelectionFlags command) override;
-};
-
-class BinaryView : public QTableWidget {
-  Q_OBJECT
-public:
-  BinaryView(QWidget *parent = nullptr);
-  void mouseReleaseEvent(QMouseEvent *event) override;
-  void setMessage(const QString &message_id);
-  void updateState();
-signals:
-  void cellsSelected(int start_bit, int size);
-
-private:
-  QString msg_id;
-};
-
 class EditMessageDialog : public QDialog {
   Q_OBJECT
 
diff --git a/tools/cabana/signaledit.cc b/tools/cabana/signaledit.cc
index 2da3e2eec2..b52f83dab6 100644
--- a/tools/cabana/signaledit.cc
+++ b/tools/cabana/signaledit.cc
@@ -23,6 +23,9 @@ SignalForm::SignalForm(const Signal &sig, QWidget *parent) : start_bit(sig.start
   endianness->setCurrentIndex(sig.is_little_endian ? 0 : 1);
   form_layout->addRow(tr("Endianness"), endianness);
 
+  form_layout->addRow(tr("lsb"), new QLabel(QString::number(sig.lsb)));
+  form_layout->addRow(tr("msb"), new QLabel(QString::number(sig.msb)));
+
   sign = new QComboBox();
   sign->addItems({"Signed", "Unsigned"});
   sign->setCurrentIndex(sig.is_signed ? 0 : 1);

From c782e4d796e0981b3717222cb5551911fe40cb7a Mon Sep 17 00:00:00 2001
From: Jake Poznanski <jakepoz@gmail.com>
Date: Mon, 17 Oct 2022 17:22:47 -0700
Subject: [PATCH 23/34] loggerd: fix length of ArrayPtr in handle_encoder_msg
 (#26077)

---
 selfdrive/loggerd/loggerd.cc | 2 +-
 1 file changed, 1 insertion(+), 1 deletion(-)

diff --git a/selfdrive/loggerd/loggerd.cc b/selfdrive/loggerd/loggerd.cc
index e0892e68b4..9beb3c3bf1 100644
--- a/selfdrive/loggerd/loggerd.cc
+++ b/selfdrive/loggerd/loggerd.cc
@@ -55,7 +55,7 @@ int handle_encoder_msg(LoggerdState *s, Message *msg, std::string &name, struct
   int bytes_count = 0;
 
   // extract the message
-  capnp::FlatArrayMessageReader cmsg(kj::ArrayPtr<capnp::word>((capnp::word *)msg->getData(), msg->getSize()));
+  capnp::FlatArrayMessageReader cmsg(kj::ArrayPtr<capnp::word>((capnp::word *)msg->getData(), msg->getSize() / sizeof(capnp::word)));
   auto event = cmsg.getRoot<cereal::Event>();
   auto edata = (name == "driverEncodeData") ? event.getDriverEncodeData() :
     ((name == "wideRoadEncodeData") ? event.getWideRoadEncodeData() :

From baca1cae1f71c70162374c887cf36d5cf828f2f3 Mon Sep 17 00:00:00 2001
From: HaraldSchafer <harald.the.engineer@gmail.com>
Date: Mon, 17 Oct 2022 18:18:01 -0700
Subject: [PATCH 24/34] UI Onroad widget renames (#26124)

Consistent widget naming
---
 selfdrive/ui/qt/offroad/driverview.cc    |  4 +--
 selfdrive/ui/qt/offroad/driverview.h     |  2 +-
 selfdrive/ui/qt/onroad.cc                | 45 ++++++++++++-----------
 selfdrive/ui/qt/onroad.h                 |  6 ++--
 selfdrive/ui/qt/widgets/cameraview.cc    | 26 +++++++-------
 selfdrive/ui/qt/widgets/cameraview.h     |  6 ++--
 selfdrive/ui/translations/main_ar.ts     |  2 +-
 selfdrive/ui/translations/main_ja.ts     | 46 ++++++++++++------------
 selfdrive/ui/translations/main_ko.ts     | 46 ++++++++++++------------
 selfdrive/ui/translations/main_nl.ts     |  2 +-
 selfdrive/ui/translations/main_pl.ts     |  2 +-
 selfdrive/ui/translations/main_pt-BR.ts  | 46 ++++++++++++------------
 selfdrive/ui/translations/main_th.ts     |  2 +-
 selfdrive/ui/translations/main_zh-CHS.ts | 46 ++++++++++++------------
 selfdrive/ui/translations/main_zh-CHT.ts | 46 ++++++++++++------------
 selfdrive/ui/watch3.cc                   |  8 ++---
 tools/cabana/videowidget.cc              |  6 ++--
 tools/cabana/videowidget.h               |  2 +-
 18 files changed, 173 insertions(+), 170 deletions(-)

diff --git a/selfdrive/ui/qt/offroad/driverview.cc b/selfdrive/ui/qt/offroad/driverview.cc
index be8b84d45e..0ff786fb91 100644
--- a/selfdrive/ui/qt/offroad/driverview.cc
+++ b/selfdrive/ui/qt/offroad/driverview.cc
@@ -12,11 +12,11 @@ DriverViewWindow::DriverViewWindow(QWidget* parent) : QWidget(parent) {
   layout = new QStackedLayout(this);
   layout->setStackingMode(QStackedLayout::StackAll);
 
-  cameraView = new CameraViewWidget("camerad", VISION_STREAM_DRIVER, true, this);
+  cameraView = new CameraWidget("camerad", VISION_STREAM_DRIVER, true, this);
   layout->addWidget(cameraView);
 
   scene = new DriverViewScene(this);
-  connect(cameraView, &CameraViewWidget::vipcThreadFrameReceived, scene, &DriverViewScene::frameUpdated);
+  connect(cameraView, &CameraWidget::vipcThreadFrameReceived, scene, &DriverViewScene::frameUpdated);
   layout->addWidget(scene);
   layout->setCurrentWidget(scene);
 }
diff --git a/selfdrive/ui/qt/offroad/driverview.h b/selfdrive/ui/qt/offroad/driverview.h
index 5d090ad772..255857970d 100644
--- a/selfdrive/ui/qt/offroad/driverview.h
+++ b/selfdrive/ui/qt/offroad/driverview.h
@@ -42,7 +42,7 @@ protected:
   void mouseReleaseEvent(QMouseEvent* e) override;
 
 private:
-  CameraViewWidget *cameraView;
+  CameraWidget *cameraView;
   DriverViewScene *scene;
   QStackedLayout *layout;
 };
diff --git a/selfdrive/ui/qt/onroad.cc b/selfdrive/ui/qt/onroad.cc
index 66bc38dbfc..1f677fc92d 100644
--- a/selfdrive/ui/qt/onroad.cc
+++ b/selfdrive/ui/qt/onroad.cc
@@ -18,7 +18,7 @@ OnroadWindow::OnroadWindow(QWidget *parent) : QWidget(parent) {
   stacked_layout->setStackingMode(QStackedLayout::StackAll);
   main_layout->addLayout(stacked_layout);
 
-  nvg = new NvgWindow(VISION_STREAM_ROAD, this);
+  nvg = new AnnotatedCameraWidget(VISION_STREAM_ROAD, this);
 
   QWidget * split_wrapper = new QWidget;
   split = new QHBoxLayout(split_wrapper);
@@ -27,7 +27,7 @@ OnroadWindow::OnroadWindow(QWidget *parent) : QWidget(parent) {
   split->addWidget(nvg);
 
   if (getenv("DUAL_CAMERA_VIEW")) {
-    CameraViewWidget *arCam = new CameraViewWidget("camerad", VISION_STREAM_ROAD, true, this);
+    CameraWidget *arCam = new CameraWidget("camerad", VISION_STREAM_ROAD, true, this);
     split->insertWidget(0, arCam);
   }
 
@@ -173,16 +173,15 @@ void OnroadAlerts::paintEvent(QPaintEvent *event) {
   }
 }
 
-// NvgWindow
 
-NvgWindow::NvgWindow(VisionStreamType type, QWidget* parent) : fps_filter(UI_FREQ, 3, 1. / UI_FREQ), CameraViewWidget("camerad", type, true, parent) {
+AnnotatedCameraWidget::AnnotatedCameraWidget(VisionStreamType type, QWidget* parent) : fps_filter(UI_FREQ, 3, 1. / UI_FREQ), CameraWidget("camerad", type, true, parent) {
   pm = std::make_unique<PubMaster, const std::initializer_list<const char *>>({"uiDebug"});
 
   engage_img = loadPixmap("../assets/img_chffr_wheel.png", {img_size, img_size});
   dm_img = loadPixmap("../assets/img_driver_face.png", {img_size, img_size});
 }
 
-void NvgWindow::updateState(const UIState &s) {
+void AnnotatedCameraWidget::updateState(const UIState &s) {
   const int SET_SPEED_NA = 255;
   const SubMaster &sm = *(s.sm);
 
@@ -234,13 +233,13 @@ void NvgWindow::updateState(const UIState &s) {
   }
 
   if (s.scene.calibration_valid) {
-    CameraViewWidget::updateCalibration(s.scene.view_from_calib);
+    CameraWidget::updateCalibration(s.scene.view_from_calib);
   } else {
-    CameraViewWidget::updateCalibration(DEFAULT_CALIBRATION);
+    CameraWidget::updateCalibration(DEFAULT_CALIBRATION);
   }
 }
 
-void NvgWindow::drawHud(QPainter &p) {
+void AnnotatedCameraWidget::drawHud(QPainter &p) {
   p.save();
 
   // Header gradient
@@ -402,7 +401,11 @@ void NvgWindow::drawHud(QPainter &p) {
   p.restore();
 }
 
-void NvgWindow::drawText(QPainter &p, int x, int y, const QString &text, int alpha) {
+
+// Window that shows camera view and variety of
+// info drawn on top
+
+void AnnotatedCameraWidget::drawText(QPainter &p, int x, int y, const QString &text, int alpha) {
   QRect real_rect = getTextRect(p, 0, text);
   real_rect.moveCenter({x, y - real_rect.height() / 2});
 
@@ -410,7 +413,7 @@ void NvgWindow::drawText(QPainter &p, int x, int y, const QString &text, int alp
   p.drawText(real_rect.x(), real_rect.bottom(), text);
 }
 
-void NvgWindow::drawIcon(QPainter &p, int x, int y, QPixmap &img, QBrush bg, float opacity) {
+void AnnotatedCameraWidget::drawIcon(QPainter &p, int x, int y, QPixmap &img, QBrush bg, float opacity) {
   p.setPen(Qt::NoPen);
   p.setBrush(bg);
   p.drawEllipse(x - radius / 2, y - radius / 2, radius, radius);
@@ -419,8 +422,8 @@ void NvgWindow::drawIcon(QPainter &p, int x, int y, QPixmap &img, QBrush bg, flo
 }
 
 
-void NvgWindow::initializeGL() {
-  CameraViewWidget::initializeGL();
+void AnnotatedCameraWidget::initializeGL() {
+  CameraWidget::initializeGL();
   qInfo() << "OpenGL version:" << QString((const char*)glGetString(GL_VERSION));
   qInfo() << "OpenGL vendor:" << QString((const char*)glGetString(GL_VENDOR));
   qInfo() << "OpenGL renderer:" << QString((const char*)glGetString(GL_RENDERER));
@@ -430,8 +433,8 @@ void NvgWindow::initializeGL() {
   setBackgroundColor(bg_colors[STATUS_DISENGAGED]);
 }
 
-void NvgWindow::updateFrameMat() {
-  CameraViewWidget::updateFrameMat();
+void AnnotatedCameraWidget::updateFrameMat() {
+  CameraWidget::updateFrameMat();
   UIState *s = uiState();
   int w = width(), h = height();
 
@@ -448,7 +451,7 @@ void NvgWindow::updateFrameMat() {
       .translate(-intrinsic_matrix.v[2], -intrinsic_matrix.v[5]);
 }
 
-void NvgWindow::drawLaneLines(QPainter &painter, const UIState *s) {
+void AnnotatedCameraWidget::drawLaneLines(QPainter &painter, const UIState *s) {
   painter.save();
 
   const UIScene &scene = s->scene;
@@ -507,7 +510,7 @@ void NvgWindow::drawLaneLines(QPainter &painter, const UIState *s) {
   painter.restore();
 }
 
-void NvgWindow::drawLead(QPainter &painter, const cereal::ModelDataV2::LeadDataV3::Reader &lead_data, const QPointF &vd) {
+void AnnotatedCameraWidget::drawLead(QPainter &painter, const cereal::ModelDataV2::LeadDataV3::Reader &lead_data, const QPointF &vd) {
   painter.save();
 
   const float speedBuff = 10.;
@@ -543,13 +546,13 @@ void NvgWindow::drawLead(QPainter &painter, const cereal::ModelDataV2::LeadDataV
   painter.restore();
 }
 
-void NvgWindow::paintGL() {
+void AnnotatedCameraWidget::paintGL() {
   const double start_draw_t = millis_since_boot();
 
   UIState *s = uiState();
   const cereal::ModelDataV2::Reader &model = (*s->sm)["modelV2"].getModelV2();
-  CameraViewWidget::setFrameId(model.getFrameId());
-  CameraViewWidget::paintGL();
+  CameraWidget::setFrameId(model.getFrameId());
+  CameraWidget::paintGL();
 
   QPainter painter(this);
   painter.setRenderHint(QPainter::Antialiasing);
@@ -587,8 +590,8 @@ void NvgWindow::paintGL() {
   pm->send("uiDebug", msg);
 }
 
-void NvgWindow::showEvent(QShowEvent *event) {
-  CameraViewWidget::showEvent(event);
+void AnnotatedCameraWidget::showEvent(QShowEvent *event) {
+  CameraWidget::showEvent(event);
 
   ui_update_params(uiState());
   prev_draw_t = millis_since_boot();
diff --git a/selfdrive/ui/qt/onroad.h b/selfdrive/ui/qt/onroad.h
index 7ed2c9cc4a..2a663185f4 100644
--- a/selfdrive/ui/qt/onroad.h
+++ b/selfdrive/ui/qt/onroad.h
@@ -25,7 +25,7 @@ private:
 };
 
 // container window for the NVG UI
-class NvgWindow : public CameraViewWidget {
+class AnnotatedCameraWidget : public CameraWidget {
   Q_OBJECT
   Q_PROPERTY(float speed MEMBER speed);
   Q_PROPERTY(QString speedUnit MEMBER speedUnit);
@@ -43,7 +43,7 @@ class NvgWindow : public CameraViewWidget {
   Q_PROPERTY(int status MEMBER status);
 
 public:
-  explicit NvgWindow(VisionStreamType type, QWidget* parent = 0);
+  explicit AnnotatedCameraWidget(VisionStreamType type, QWidget* parent = 0);
   void updateState(const UIState &s);
 
 private:
@@ -98,7 +98,7 @@ private:
   void paintEvent(QPaintEvent *event);
   void mousePressEvent(QMouseEvent* e) override;
   OnroadAlerts *alerts;
-  NvgWindow *nvg;
+  AnnotatedCameraWidget *nvg;
   QColor bg = bg_colors[STATUS_DISENGAGED];
   QWidget *map = nullptr;
   QHBoxLayout* split;
diff --git a/selfdrive/ui/qt/widgets/cameraview.cc b/selfdrive/ui/qt/widgets/cameraview.cc
index 63d15660a0..200257235d 100644
--- a/selfdrive/ui/qt/widgets/cameraview.cc
+++ b/selfdrive/ui/qt/widgets/cameraview.cc
@@ -93,14 +93,14 @@ mat4 get_fit_view_transform(float widget_aspect_ratio, float frame_aspect_ratio)
 
 } // namespace
 
-CameraViewWidget::CameraViewWidget(std::string stream_name, VisionStreamType type, bool zoom, QWidget* parent) :
+CameraWidget::CameraWidget(std::string stream_name, VisionStreamType type, bool zoom, QWidget* parent) :
                                    stream_name(stream_name), stream_type(type), zoomed_view(zoom), QOpenGLWidget(parent) {
   setAttribute(Qt::WA_OpaquePaintEvent);
-  connect(this, &CameraViewWidget::vipcThreadConnected, this, &CameraViewWidget::vipcConnected, Qt::BlockingQueuedConnection);
-  connect(this, &CameraViewWidget::vipcThreadFrameReceived, this, &CameraViewWidget::vipcFrameReceived);
+  connect(this, &CameraWidget::vipcThreadConnected, this, &CameraWidget::vipcConnected, Qt::BlockingQueuedConnection);
+  connect(this, &CameraWidget::vipcThreadFrameReceived, this, &CameraWidget::vipcFrameReceived);
 }
 
-CameraViewWidget::~CameraViewWidget() {
+CameraWidget::~CameraWidget() {
   makeCurrent();
   if (isValid()) {
     glDeleteVertexArrays(1, &frame_vao);
@@ -111,7 +111,7 @@ CameraViewWidget::~CameraViewWidget() {
   doneCurrent();
 }
 
-void CameraViewWidget::initializeGL() {
+void CameraWidget::initializeGL() {
   initializeOpenGLFunctions();
 
   program = std::make_unique<QOpenGLShaderProgram>(context());
@@ -161,7 +161,7 @@ void CameraViewWidget::initializeGL() {
 #endif
 }
 
-void CameraViewWidget::showEvent(QShowEvent *event) {
+void CameraWidget::showEvent(QShowEvent *event) {
   frames.clear();
   if (!vipc_thread) {
     vipc_thread = new QThread();
@@ -171,7 +171,7 @@ void CameraViewWidget::showEvent(QShowEvent *event) {
   }
 }
 
-void CameraViewWidget::hideEvent(QHideEvent *event) {
+void CameraWidget::hideEvent(QHideEvent *event) {
   if (vipc_thread) {
     vipc_thread->requestInterruption();
     vipc_thread->quit();
@@ -180,7 +180,7 @@ void CameraViewWidget::hideEvent(QHideEvent *event) {
   }
 }
 
-void CameraViewWidget::updateFrameMat() {
+void CameraWidget::updateFrameMat() {
   int w = width(), h = height();
 
   if (zoomed_view) {
@@ -224,12 +224,12 @@ void CameraViewWidget::updateFrameMat() {
   }
 }
 
-void CameraViewWidget::updateCalibration(const mat3 &calib) {
+void CameraWidget::updateCalibration(const mat3 &calib) {
   calibration = calib;
   updateFrameMat();
 }
 
-void CameraViewWidget::paintGL() {
+void CameraWidget::paintGL() {
   glClearColor(bg.redF(), bg.greenF(), bg.blueF(), bg.alphaF());
   glClear(GL_STENCIL_BUFFER_BIT | GL_COLOR_BUFFER_BIT);
 
@@ -286,7 +286,7 @@ void CameraViewWidget::paintGL() {
   glPixelStorei(GL_UNPACK_ROW_LENGTH, 0);
 }
 
-void CameraViewWidget::vipcConnected(VisionIpcClient *vipc_client) {
+void CameraWidget::vipcConnected(VisionIpcClient *vipc_client) {
   makeCurrent();
   frames.clear();
   stream_width = vipc_client->buffers[0].width;
@@ -339,7 +339,7 @@ void CameraViewWidget::vipcConnected(VisionIpcClient *vipc_client) {
   updateFrameMat();
 }
 
-void CameraViewWidget::vipcFrameReceived(VisionBuf *buf, uint32_t frame_id) {
+void CameraWidget::vipcFrameReceived(VisionBuf *buf, uint32_t frame_id) {
   frames.push_back(std::make_pair(frame_id, buf));
   while (frames.size() > FRAME_BUFFER_SIZE) {
     frames.pop_front();
@@ -347,7 +347,7 @@ void CameraViewWidget::vipcFrameReceived(VisionBuf *buf, uint32_t frame_id) {
   update();
 }
 
-void CameraViewWidget::vipcThread() {
+void CameraWidget::vipcThread() {
   VisionStreamType cur_stream_type = stream_type;
   std::unique_ptr<VisionIpcClient> vipc_client;
   VisionIpcBufExtra meta_main = {0};
diff --git a/selfdrive/ui/qt/widgets/cameraview.h b/selfdrive/ui/qt/widgets/cameraview.h
index 081483b649..9bcad935c0 100644
--- a/selfdrive/ui/qt/widgets/cameraview.h
+++ b/selfdrive/ui/qt/widgets/cameraview.h
@@ -23,13 +23,13 @@
 const int FRAME_BUFFER_SIZE = 5;
 static_assert(FRAME_BUFFER_SIZE <= YUV_BUFFER_COUNT);
 
-class CameraViewWidget : public QOpenGLWidget, protected QOpenGLFunctions {
+class CameraWidget : public QOpenGLWidget, protected QOpenGLFunctions {
   Q_OBJECT
 
 public:
   using QOpenGLWidget::QOpenGLWidget;
-  explicit CameraViewWidget(std::string stream_name, VisionStreamType stream_type, bool zoom, QWidget* parent = nullptr);
-  ~CameraViewWidget();
+  explicit CameraWidget(std::string stream_name, VisionStreamType stream_type, bool zoom, QWidget* parent = nullptr);
+  ~CameraWidget();
   void setStreamType(VisionStreamType type) { stream_type = type; }
   void setBackgroundColor(const QColor &color) { bg = color; }
   void setFrameId(int frame_id) { draw_frame_id = frame_id; }
diff --git a/selfdrive/ui/translations/main_ar.ts b/selfdrive/ui/translations/main_ar.ts
index 284208720b..a94d2fbc05 100644
--- a/selfdrive/ui/translations/main_ar.ts
+++ b/selfdrive/ui/translations/main_ar.ts
@@ -493,7 +493,7 @@ location set</source>
     </message>
 </context>
 <context>
-    <name>NvgWindow</name>
+    <name>AnnotatedCameraWidget</name>
     <message>
         <location filename="../qt/onroad.cc" line="218"/>
         <source>km/h</source>
diff --git a/selfdrive/ui/translations/main_ja.ts b/selfdrive/ui/translations/main_ja.ts
index b39c83c098..314a6b8338 100644
--- a/selfdrive/ui/translations/main_ja.ts
+++ b/selfdrive/ui/translations/main_ja.ts
@@ -67,6 +67,29 @@
         <translation type="unfinished"></translation>
     </message>
 </context>
+<context>
+    <name>AnnotatedCameraWidget</name>
+    <message>
+        <source>km/h</source>
+        <translation>km/h</translation>
+    </message>
+    <message>
+        <source>mph</source>
+        <translation>mph</translation>
+    </message>
+    <message>
+        <source>MAX</source>
+        <translation>最高速度</translation>
+    </message>
+    <message>
+        <source>SPEED</source>
+        <translation>速度</translation>
+    </message>
+    <message>
+        <source>LIMIT</source>
+        <translation>制限速度</translation>
+    </message>
+</context>
 <context>
     <name>ConfirmationDialog</name>
     <message>
@@ -406,29 +429,6 @@ location set</source>
         <translation>ﾊﾟｽﾜｰﾄﾞが間違っています</translation>
     </message>
 </context>
-<context>
-    <name>NvgWindow</name>
-    <message>
-        <source>km/h</source>
-        <translation>km/h</translation>
-    </message>
-    <message>
-        <source>mph</source>
-        <translation>mph</translation>
-    </message>
-    <message>
-        <source>MAX</source>
-        <translation>最高速度</translation>
-    </message>
-    <message>
-        <source>SPEED</source>
-        <translation>速度</translation>
-    </message>
-    <message>
-        <source>LIMIT</source>
-        <translation>制限速度</translation>
-    </message>
-</context>
 <context>
     <name>OffroadHome</name>
     <message>
diff --git a/selfdrive/ui/translations/main_ko.ts b/selfdrive/ui/translations/main_ko.ts
index f84797eb60..021243595e 100644
--- a/selfdrive/ui/translations/main_ko.ts
+++ b/selfdrive/ui/translations/main_ko.ts
@@ -67,6 +67,29 @@
         <translation>데이터 요금제 연결 시 대용량 데이터 업로드 방지</translation>
     </message>
 </context>
+<context>
+    <name>AnnotatedCameraWidget</name>
+    <message>
+        <source>km/h</source>
+        <translation>km/h</translation>
+    </message>
+    <message>
+        <source>mph</source>
+        <translation>mph</translation>
+    </message>
+    <message>
+        <source>MAX</source>
+        <translation>MAX</translation>
+    </message>
+    <message>
+        <source>SPEED</source>
+        <translation>SPEED</translation>
+    </message>
+    <message>
+        <source>LIMIT</source>
+        <translation>LIMIT</translation>
+    </message>
+</context>
 <context>
     <name>ConfirmationDialog</name>
     <message>
@@ -406,29 +429,6 @@ location set</source>
         <translation>비밀번호가 틀렸습니다</translation>
     </message>
 </context>
-<context>
-    <name>NvgWindow</name>
-    <message>
-        <source>km/h</source>
-        <translation>km/h</translation>
-    </message>
-    <message>
-        <source>mph</source>
-        <translation>mph</translation>
-    </message>
-    <message>
-        <source>MAX</source>
-        <translation>MAX</translation>
-    </message>
-    <message>
-        <source>SPEED</source>
-        <translation>SPEED</translation>
-    </message>
-    <message>
-        <source>LIMIT</source>
-        <translation>LIMIT</translation>
-    </message>
-</context>
 <context>
     <name>OffroadHome</name>
     <message>
diff --git a/selfdrive/ui/translations/main_nl.ts b/selfdrive/ui/translations/main_nl.ts
index 99646ed749..21bb66d356 100644
--- a/selfdrive/ui/translations/main_nl.ts
+++ b/selfdrive/ui/translations/main_nl.ts
@@ -489,7 +489,7 @@ ingesteld</translation>
     </message>
 </context>
 <context>
-    <name>NvgWindow</name>
+    <name>AnnotatedCameraWidget</name>
     <message>
         <location filename="../qt/onroad.cc" line="218"/>
         <source>km/h</source>
diff --git a/selfdrive/ui/translations/main_pl.ts b/selfdrive/ui/translations/main_pl.ts
index 8593d68261..92902d04a9 100644
--- a/selfdrive/ui/translations/main_pl.ts
+++ b/selfdrive/ui/translations/main_pl.ts
@@ -490,7 +490,7 @@ nie zostało ustawione</translation>
     </message>
 </context>
 <context>
-    <name>NvgWindow</name>
+    <name>AnnotatedCameraWidget</name>
     <message>
         <location filename="../qt/onroad.cc" line="218"/>
         <source>km/h</source>
diff --git a/selfdrive/ui/translations/main_pt-BR.ts b/selfdrive/ui/translations/main_pt-BR.ts
index 8f59bf4715..2afdaf3388 100644
--- a/selfdrive/ui/translations/main_pt-BR.ts
+++ b/selfdrive/ui/translations/main_pt-BR.ts
@@ -67,6 +67,29 @@
         <translation>Evite grandes uploads de dados quando estiver em uma conexão limitada</translation>
     </message>
 </context>
+<context>
+    <name>AnnotatedCameraWidget</name>
+    <message>
+        <source>km/h</source>
+        <translation>km/h</translation>
+    </message>
+    <message>
+        <source>mph</source>
+        <translation>mph</translation>
+    </message>
+    <message>
+        <source>MAX</source>
+        <translation>LIMITE</translation>
+    </message>
+    <message>
+        <source>SPEED</source>
+        <translation>MAX</translation>
+    </message>
+    <message>
+        <source>LIMIT</source>
+        <translation>VELO</translation>
+    </message>
+</context>
 <context>
     <name>ConfirmationDialog</name>
     <message>
@@ -407,29 +430,6 @@ trabalho definido</translation>
         <translation>Senha incorreta</translation>
     </message>
 </context>
-<context>
-    <name>NvgWindow</name>
-    <message>
-        <source>km/h</source>
-        <translation>km/h</translation>
-    </message>
-    <message>
-        <source>mph</source>
-        <translation>mph</translation>
-    </message>
-    <message>
-        <source>MAX</source>
-        <translation>LIMITE</translation>
-    </message>
-    <message>
-        <source>SPEED</source>
-        <translation>MAX</translation>
-    </message>
-    <message>
-        <source>LIMIT</source>
-        <translation>VELO</translation>
-    </message>
-</context>
 <context>
     <name>OffroadHome</name>
     <message>
diff --git a/selfdrive/ui/translations/main_th.ts b/selfdrive/ui/translations/main_th.ts
index 7e7fcf2788..d502c3fce1 100644
--- a/selfdrive/ui/translations/main_th.ts
+++ b/selfdrive/ui/translations/main_th.ts
@@ -488,7 +488,7 @@ location set</source>
     </message>
 </context>
 <context>
-    <name>NvgWindow</name>
+    <name>AnnotatedCameraWidget</name>
     <message>
         <location filename="../qt/onroad.cc" line="218"/>
         <source>km/h</source>
diff --git a/selfdrive/ui/translations/main_zh-CHS.ts b/selfdrive/ui/translations/main_zh-CHS.ts
index 1d942387e0..9e7c354444 100644
--- a/selfdrive/ui/translations/main_zh-CHS.ts
+++ b/selfdrive/ui/translations/main_zh-CHS.ts
@@ -67,6 +67,29 @@
         <translation type="unfinished"></translation>
     </message>
 </context>
+<context>
+    <name>AnnotatedCameraWidget</name>
+    <message>
+        <source>km/h</source>
+        <translation>km/h</translation>
+    </message>
+    <message>
+        <source>mph</source>
+        <translation>mph</translation>
+    </message>
+    <message>
+        <source>MAX</source>
+        <translation>最高定速</translation>
+    </message>
+    <message>
+        <source>SPEED</source>
+        <translation>SPEED</translation>
+    </message>
+    <message>
+        <source>LIMIT</source>
+        <translation>LIMIT</translation>
+    </message>
+</context>
 <context>
     <name>ConfirmationDialog</name>
     <message>
@@ -404,29 +427,6 @@ location set</source>
         <translation>密码错误</translation>
     </message>
 </context>
-<context>
-    <name>NvgWindow</name>
-    <message>
-        <source>km/h</source>
-        <translation>km/h</translation>
-    </message>
-    <message>
-        <source>mph</source>
-        <translation>mph</translation>
-    </message>
-    <message>
-        <source>MAX</source>
-        <translation>最高定速</translation>
-    </message>
-    <message>
-        <source>SPEED</source>
-        <translation>SPEED</translation>
-    </message>
-    <message>
-        <source>LIMIT</source>
-        <translation>LIMIT</translation>
-    </message>
-</context>
 <context>
     <name>OffroadHome</name>
     <message>
diff --git a/selfdrive/ui/translations/main_zh-CHT.ts b/selfdrive/ui/translations/main_zh-CHT.ts
index 816d4fd3cc..513135c7f4 100644
--- a/selfdrive/ui/translations/main_zh-CHT.ts
+++ b/selfdrive/ui/translations/main_zh-CHT.ts
@@ -67,6 +67,29 @@
         <translation type="unfinished"></translation>
     </message>
 </context>
+<context>
+    <name>AnnotatedCameraWidget</name>
+    <message>
+        <source>km/h</source>
+        <translation>km/h</translation>
+    </message>
+    <message>
+        <source>mph</source>
+        <translation>mph</translation>
+    </message>
+    <message>
+        <source>MAX</source>
+        <translation>最高</translation>
+    </message>
+    <message>
+        <source>SPEED</source>
+        <translation>速度</translation>
+    </message>
+    <message>
+        <source>LIMIT</source>
+        <translation>速限</translation>
+    </message>
+</context>
 <context>
     <name>ConfirmationDialog</name>
     <message>
@@ -406,29 +429,6 @@ location set</source>
         <translation>密碼錯誤</translation>
     </message>
 </context>
-<context>
-    <name>NvgWindow</name>
-    <message>
-        <source>km/h</source>
-        <translation>km/h</translation>
-    </message>
-    <message>
-        <source>mph</source>
-        <translation>mph</translation>
-    </message>
-    <message>
-        <source>MAX</source>
-        <translation>最高</translation>
-    </message>
-    <message>
-        <source>SPEED</source>
-        <translation>速度</translation>
-    </message>
-    <message>
-        <source>LIMIT</source>
-        <translation>速限</translation>
-    </message>
-</context>
 <context>
     <name>OffroadHome</name>
     <message>
diff --git a/selfdrive/ui/watch3.cc b/selfdrive/ui/watch3.cc
index d6b5cc67a7..ec35c29b6b 100644
--- a/selfdrive/ui/watch3.cc
+++ b/selfdrive/ui/watch3.cc
@@ -19,15 +19,15 @@ int main(int argc, char *argv[]) {
   {
     QHBoxLayout *hlayout = new QHBoxLayout();
     layout->addLayout(hlayout);
-    hlayout->addWidget(new CameraViewWidget("navd", VISION_STREAM_MAP, false));
-    hlayout->addWidget(new CameraViewWidget("camerad", VISION_STREAM_ROAD, false));
+    hlayout->addWidget(new CameraWidget("navd", VISION_STREAM_MAP, false));
+    hlayout->addWidget(new CameraWidget("camerad", VISION_STREAM_ROAD, false));
   }
 
   {
     QHBoxLayout *hlayout = new QHBoxLayout();
     layout->addLayout(hlayout);
-    hlayout->addWidget(new CameraViewWidget("camerad", VISION_STREAM_DRIVER, false));
-    hlayout->addWidget(new CameraViewWidget("camerad", VISION_STREAM_WIDE_ROAD, false));
+    hlayout->addWidget(new CameraWidget("camerad", VISION_STREAM_DRIVER, false));
+    hlayout->addWidget(new CameraWidget("camerad", VISION_STREAM_WIDE_ROAD, false));
   }
 
   return a.exec();
diff --git a/tools/cabana/videowidget.cc b/tools/cabana/videowidget.cc
index b6fe8de3e2..bb90d56570 100644
--- a/tools/cabana/videowidget.cc
+++ b/tools/cabana/videowidget.cc
@@ -16,8 +16,8 @@ inline QString formatTime(int seconds) {
 VideoWidget::VideoWidget(QWidget *parent) : QWidget(parent) {
   QVBoxLayout *main_layout = new QVBoxLayout(this);
 
-  // TODO: figure out why the CameraViewWidget crashed occasionally.
-  cam_widget = new CameraViewWidget("camerad", VISION_STREAM_ROAD, false, this);
+  // TODO: figure out why the CameraWidget crashed occasionally.
+  cam_widget = new CameraWidget("camerad", VISION_STREAM_ROAD, false, this);
   cam_widget->setFixedSize(parent->width(), parent->width() / 1.596);
   main_layout->addWidget(cam_widget);
 
@@ -60,7 +60,7 @@ VideoWidget::VideoWidget(QWidget *parent) : QWidget(parent) {
   QObject::connect(can, &CANMessages::updated, this, &VideoWidget::updateState);
   QObject::connect(slider, &QSlider::sliderReleased, [this]() { can->seekTo(slider->value() / 1000.0); });
   QObject::connect(slider, &QSlider::valueChanged, [=](int value) { time_label->setText(formatTime(value / 1000)); });
-  QObject::connect(cam_widget, &CameraViewWidget::clicked, [this]() { pause(!can->isPaused()); });
+  QObject::connect(cam_widget, &CameraWidget::clicked, [this]() { pause(!can->isPaused()); });
   QObject::connect(play_btn, &QPushButton::clicked, [=]() { pause(!can->isPaused()); });
 }
 
diff --git a/tools/cabana/videowidget.h b/tools/cabana/videowidget.h
index fd896f1e11..d6d036c461 100644
--- a/tools/cabana/videowidget.h
+++ b/tools/cabana/videowidget.h
@@ -32,7 +32,7 @@ protected:
   void updateState();
   void pause(bool pause);
 
-  CameraViewWidget *cam_widget;
+  CameraWidget *cam_widget;
   QLabel *end_time_label;
   QPushButton *play_btn;
   Slider *slider;

From 755a6c0a46f07cdadb06821ced904af458fbf4e3 Mon Sep 17 00:00:00 2001
From: Adeeb Shihadeh <adeebshihadeh@gmail.com>
Date: Mon, 17 Oct 2022 19:15:21 -0700
Subject: [PATCH 25/34] Revert "tools/replay: reduce test running time
 (#26110)"

This reverts commit 6d07268ee5b385010961eab206b0b42a0ae6b5f8.
---
 tools/replay/tests/test_replay.cc | 3 ++-
 1 file changed, 2 insertions(+), 1 deletion(-)

diff --git a/tools/replay/tests/test_replay.cc b/tools/replay/tests/test_replay.cc
index 3fd410bb6e..5b61b6b6f2 100644
--- a/tools/replay/tests/test_replay.cc
+++ b/tools/replay/tests/test_replay.cc
@@ -207,7 +207,8 @@ void TestReplay::test_seek() {
 }
 
 TEST_CASE("Replay") {
-  TestReplay replay(DEMO_ROUTE, (uint8_t)REPLAY_FLAG_NO_VIPC);
+  auto flag = GENERATE(REPLAY_FLAG_NO_FILE_CACHE, REPLAY_FLAG_NONE);
+  TestReplay replay(DEMO_ROUTE, flag);
   REQUIRE(replay.load());
   replay.test_seek();
 }

From d522492ba0b80928adc475c1f37b995834c31a90 Mon Sep 17 00:00:00 2001
From: ZwX1616 <zwx1616@gmail.com>
Date: Mon, 17 Oct 2022 19:40:06 -0700
Subject: [PATCH 26/34] DM: add use of e2e preds (#26078)

* try ml

* de56

* j914ef75a

* jd1124586

* jd1124586

* d112

* oops

* set

* update ref

* use offset

* bump DM power usage

* new ref
---
 .../modeld/models/dmonitoring_model.current   |  4 ++--
 .../modeld/models/dmonitoring_model.onnx      |  4 ++--
 .../modeld/models/dmonitoring_model_q.dlc     |  4 ++--
 selfdrive/monitoring/driver_monitor.py        | 21 +++++++++----------
 .../process_replay/model_replay_ref_commit    |  2 +-
 selfdrive/test/process_replay/ref_commit      |  2 +-
 system/hardware/tici/test_power_draw.py       |  2 +-
 7 files changed, 19 insertions(+), 20 deletions(-)

diff --git a/selfdrive/modeld/models/dmonitoring_model.current b/selfdrive/modeld/models/dmonitoring_model.current
index d1e7d1136f..065bc7d489 100644
--- a/selfdrive/modeld/models/dmonitoring_model.current
+++ b/selfdrive/modeld/models/dmonitoring_model.current
@@ -1,2 +1,2 @@
-ee8f830b-d6a1-42ef-9b1b-50fd0b2faae4
-cac8f7b69d420506707ff7a19d573d5011ef2533
\ No newline at end of file
+d1124586-761e-4e18-a771-6b5ef35124fe
+6fec774f513a19e44d4316e46ad38277197d45ea
\ No newline at end of file
diff --git a/selfdrive/modeld/models/dmonitoring_model.onnx b/selfdrive/modeld/models/dmonitoring_model.onnx
index 4cbd6bb7dd..f8bf94c061 100644
--- a/selfdrive/modeld/models/dmonitoring_model.onnx
+++ b/selfdrive/modeld/models/dmonitoring_model.onnx
@@ -1,3 +1,3 @@
 version https://git-lfs.github.com/spec/v1
-oid sha256:932e589e5cce66e5d9f48492426a33c74cd7f352a870d3ddafcede3e9156f30d
-size 9157561
+oid sha256:517262fa9f1ad3cc8049ad3722903f40356d87ea423ee5cf011226fb6cfc3d5b
+size 16072278
diff --git a/selfdrive/modeld/models/dmonitoring_model_q.dlc b/selfdrive/modeld/models/dmonitoring_model_q.dlc
index 94632030ed..e4e6fb3347 100644
--- a/selfdrive/modeld/models/dmonitoring_model_q.dlc
+++ b/selfdrive/modeld/models/dmonitoring_model_q.dlc
@@ -1,3 +1,3 @@
 version https://git-lfs.github.com/spec/v1
-oid sha256:3587976a8b7e3be274fa86c2e2233e3e464cad713f5077c4394cd1ddd3c7c6c5
-size 2636965
+oid sha256:64b94659226a1e3c6594a13c2e5d029465d5803a5c3005121ec7217acdbbef20
+size 4443461
diff --git a/selfdrive/monitoring/driver_monitor.py b/selfdrive/monitoring/driver_monitor.py
index 9ff3125c15..30781f4d1b 100644
--- a/selfdrive/monitoring/driver_monitor.py
+++ b/selfdrive/monitoring/driver_monitor.py
@@ -29,10 +29,10 @@ class DRIVER_MONITOR_SETTINGS():
     self._FACE_THRESHOLD = 0.7
     self._EYE_THRESHOLD = 0.65
     self._SG_THRESHOLD = 0.9
-    self._BLINK_THRESHOLD = 0.87
+    self._BLINK_THRESHOLD = 0.895
 
-    self._EE_THRESH11 = 0.75
-    self._EE_THRESH12 = 3.25
+    self._EE_THRESH11 = 0.275
+    self._EE_THRESH12 = 3.0
     self._EE_THRESH21 = 0.01
     self._EE_THRESH22 = 0.35
 
@@ -207,11 +207,11 @@ class DriverStatus():
       ee1_dist = self.eev1 > self.ee1_offseter.filtered_stat.M * self.settings._EE_THRESH12
     else:
       ee1_dist = self.eev1 > self.settings._EE_THRESH11
-    if self.ee2_calibrated:
-      ee2_dist = self.eev2 < self.ee2_offseter.filtered_stat.M * self.settings._EE_THRESH22
-    else:
-      ee2_dist = self.eev2 < self.settings._EE_THRESH21
-    if ee1_dist or ee2_dist:
+    # if self.ee2_calibrated:
+    #   ee2_dist = self.eev2 < self.ee2_offseter.filtered_stat.M * self.settings._EE_THRESH22
+    # else:
+    #   ee2_dist = self.eev2 < self.settings._EE_THRESH21
+    if ee1_dist:
       distracted_types.append(DistractedType.DISTRACTED_E2E)
 
     return distracted_types
@@ -257,12 +257,11 @@ class DriverStatus():
     self.pose.low_std = model_std_max < self.settings._POSESTD_THRESHOLD
     self.blink.left_blink = driver_data.leftBlinkProb * (driver_data.leftEyeProb > self.settings._EYE_THRESHOLD) * (driver_data.sunglassesProb < self.settings._SG_THRESHOLD)
     self.blink.right_blink = driver_data.rightBlinkProb * (driver_data.rightEyeProb > self.settings._EYE_THRESHOLD) * (driver_data.sunglassesProb < self.settings._SG_THRESHOLD)
-    self.eev1 = driver_data.notReadyProb[1]
+    self.eev1 = driver_data.notReadyProb[0]
     self.eev2 = driver_data.readyProb[0]
 
     self.distracted_types = self._get_distracted_types()
-    self.driver_distracted = (DistractedType.DISTRACTED_POSE in self.distracted_types or
-                                            DistractedType.DISTRACTED_BLINK in self.distracted_types) and \
+    self.driver_distracted = (DistractedType.DISTRACTED_E2E in self.distracted_types or DistractedType.DISTRACTED_POSE in self.distracted_types or DistractedType.DISTRACTED_BLINK in self.distracted_types) and \
                                           driver_data.faceProb > self.settings._FACE_THRESHOLD and self.pose.low_std
     self.driver_distraction_filter.update(self.driver_distracted)
 
diff --git a/selfdrive/test/process_replay/model_replay_ref_commit b/selfdrive/test/process_replay/model_replay_ref_commit
index b3e9c8c488..5bb045ec29 100644
--- a/selfdrive/test/process_replay/model_replay_ref_commit
+++ b/selfdrive/test/process_replay/model_replay_ref_commit
@@ -1 +1 @@
-bfb0a2a52212d2aa1619d999aaae97fa7f7ff788
+865885fc49b2766326568e5cc7ec06be8a3f6fad
diff --git a/selfdrive/test/process_replay/ref_commit b/selfdrive/test/process_replay/ref_commit
index 864b7019a0..998bf4e756 100644
--- a/selfdrive/test/process_replay/ref_commit
+++ b/selfdrive/test/process_replay/ref_commit
@@ -1 +1 @@
-e5a86c14e2318f2dd218b3985cdbea6f875f7d83
+6bb7d8baae51d88dd61f0baf561e386664ddd266
\ No newline at end of file
diff --git a/system/hardware/tici/test_power_draw.py b/system/hardware/tici/test_power_draw.py
index 4830975917..2460152998 100755
--- a/system/hardware/tici/test_power_draw.py
+++ b/system/hardware/tici/test_power_draw.py
@@ -21,7 +21,7 @@ class Proc:
 PROCS = [
   Proc('camerad', 2.15),
   Proc('modeld', 1.15, atol=0.2),
-  Proc('dmonitoringmodeld', 0.35),
+  Proc('dmonitoringmodeld', 0.4),
   Proc('encoderd', 0.23),
 ]
 

From 988fede1858486ec0679f208540a88533e9296e3 Mon Sep 17 00:00:00 2001
From: Dean Lee <deanlee3@gmail.com>
Date: Tue, 18 Oct 2022 12:00:07 +0800
Subject: [PATCH 27/34] cabana: reduce the padding in DetailsView (#26126)

---
 tools/cabana/binaryview.cc | 4 ++--
 tools/cabana/signaledit.cc | 5 ++---
 2 files changed, 4 insertions(+), 5 deletions(-)

diff --git a/tools/cabana/binaryview.cc b/tools/cabana/binaryview.cc
index 3b962b6de1..71175e783e 100644
--- a/tools/cabana/binaryview.cc
+++ b/tools/cabana/binaryview.cc
@@ -8,7 +8,7 @@
 
 // BinaryView
 
-const int CELL_HEIGHT = 35;
+const int CELL_HEIGHT = 30;
 
 BinaryView::BinaryView(QWidget *parent) : QTableView(parent) {
   model = new BinaryViewModel(this);
@@ -156,7 +156,7 @@ void BinarySelectionModel::select(const QItemSelection &selection, QItemSelectio
 
 BinaryItemDelegate::BinaryItemDelegate(QObject *parent) : QStyledItemDelegate(parent) {
   // cache fonts and color
-  small_font.setPointSize(7);
+  small_font.setPointSize(6);
   bold_font.setBold(true);
   highlight_color = QApplication::style()->standardPalette().color(QPalette::Active, QPalette::Highlight);
 }
diff --git a/tools/cabana/signaledit.cc b/tools/cabana/signaledit.cc
index b52f83dab6..7cace48402 100644
--- a/tools/cabana/signaledit.cc
+++ b/tools/cabana/signaledit.cc
@@ -85,18 +85,17 @@ SignalEdit::SignalEdit(int index, const QString &msg_id, const Signal &sig, QWid
   // title bar
   QHBoxLayout *title_layout = new QHBoxLayout();
   icon = new QLabel(">");
-  icon->setFixedSize(15, 30);
   icon->setStyleSheet("font-weight:bold");
   title_layout->addWidget(icon);
   title = new ElidedLabel(this);
   title->setSizePolicy(QSizePolicy::Preferred, QSizePolicy::MinimumExpanding);
   title->setText(QString("%1. %2").arg(index + 1).arg(sig_name));
   title->setStyleSheet(QString("font-weight:bold; color:%1").arg(getColor(index)));
-  title_layout->addWidget(title);
+  title_layout->addWidget(title, 1);
 
   QPushButton *plot_btn = new QPushButton("📈");
   plot_btn->setToolTip(tr("Show Plot"));
-  plot_btn->setFixedSize(30, 30);
+  plot_btn->setFixedSize(20, 20);
   QObject::connect(plot_btn, &QPushButton::clicked, this, &SignalEdit::showChart);
   title_layout->addWidget(plot_btn);
   main_layout->addLayout(title_layout);

From b89b881bdccb0fb844c597e9d26b64d36ba4af99 Mon Sep 17 00:00:00 2001
From: Dean Lee <deanlee3@gmail.com>
Date: Tue, 18 Oct 2022 12:00:20 +0800
Subject: [PATCH 28/34] cabana: sort DBC list alphabetically (#26127)

---
 tools/cabana/messageswidget.cc | 1 +
 1 file changed, 1 insertion(+)

diff --git a/tools/cabana/messageswidget.cc b/tools/cabana/messageswidget.cc
index 3c9af67ea6..878a852e13 100644
--- a/tools/cabana/messageswidget.cc
+++ b/tools/cabana/messageswidget.cc
@@ -21,6 +21,7 @@ MessagesWidget::MessagesWidget(QWidget *parent) : QWidget(parent) {
   for (const auto &name : dbc_names) {
     combo->addItem(QString::fromStdString(name));
   }
+  combo->model()->sort(0);
   combo->setEditable(true);
   combo->setCurrentText(QString());
   combo->setInsertPolicy(QComboBox::NoInsert);

From 544526edeb343d4b6f9c7c6f2521659c34d37012 Mon Sep 17 00:00:00 2001
From: Dean Lee <deanlee3@gmail.com>
Date: Tue, 18 Oct 2022 12:00:36 +0800
Subject: [PATCH 29/34] cabana: fix chart margins (#26125)

---
 tools/cabana/chartswidget.cc | 1 +
 1 file changed, 1 insertion(+)

diff --git a/tools/cabana/chartswidget.cc b/tools/cabana/chartswidget.cc
index 3652720e12..811eae68cb 100644
--- a/tools/cabana/chartswidget.cc
+++ b/tools/cabana/chartswidget.cc
@@ -184,6 +184,7 @@ ChartView::ChartView(const QString &id, const Signal *sig, QWidget *parent)
   font.setBold(true);
   chart->setTitleFont(font);
   chart->setMargins({0, 0, 0, 0});
+  chart->layout()->setContentsMargins(0, 0, 0, 0);
 
   track_line = new QGraphicsLineItem(chart);
   track_line->setPen(QPen(Qt::gray, 1, Qt::DashLine));

From 60fc7274eb631559f772ea0969e0ec28026e1426 Mon Sep 17 00:00:00 2001
From: Shane Smiskol <shane@smiskol.com>
Date: Mon, 17 Oct 2022 21:15:57 -0700
Subject: [PATCH 30/34] =?UTF-8?q?Hyundai=20CAN-FD:=20remove=2090=C2=B0=20s?=
 =?UTF-8?q?teering=20lockout=20(#26045)?=
MIME-Version: 1.0
Content-Type: text/plain; charset=UTF-8
Content-Transfer-Encoding: 8bit

* bump panda

* bump panda

* for CAN-FD too

* clean up

* bump

* adjust safety

* fix lat active

* bump panda to master

* same limits

* rm line

* bump panda to master
---
 panda                                  |  2 +-
 selfdrive/car/hyundai/carcontroller.py | 29 +++++++++++++-------------
 2 files changed, 16 insertions(+), 15 deletions(-)

diff --git a/panda b/panda
index 62868c36a8..9ed3f75f67 160000
--- a/panda
+++ b/panda
@@ -1 +1 @@
-Subproject commit 62868c36a80d1f44064da7b47423f0ef331f64e9
+Subproject commit 9ed3f75f67c3e5f00f910c8d7497ebed63851b5a
diff --git a/selfdrive/car/hyundai/carcontroller.py b/selfdrive/car/hyundai/carcontroller.py
index a5d995df25..6b38297eb9 100644
--- a/selfdrive/car/hyundai/carcontroller.py
+++ b/selfdrive/car/hyundai/carcontroller.py
@@ -90,13 +90,27 @@ class CarController:
         addr, bus = 0x730, 5
       can_sends.append([addr, 0, b"\x02\x3E\x80\x00\x00\x00\x00\x00", bus])
 
+    # >90 degree steering fault prevention
+    # Count up to MAX_ANGLE_FRAMES, at which point we need to cut torque to avoid a steering fault
+    if CC.latActive and abs(CS.out.steeringAngleDeg) >= MAX_ANGLE:
+      self.angle_limit_counter += 1
+    else:
+      self.angle_limit_counter = 0
+
+    # Cut steer actuation bit for two frames and hold torque with induced temporary fault
+    torque_fault = CC.latActive and self.angle_limit_counter > MAX_ANGLE_FRAMES
+    lat_active = CC.latActive and not torque_fault
+
+    if self.angle_limit_counter >= MAX_ANGLE_FRAMES + MAX_ANGLE_CONSECUTIVE_FRAMES:
+      self.angle_limit_counter = 0
+
     # CAN-FD platforms
     if self.CP.carFingerprint in CANFD_CAR:
       hda2 = self.CP.flags & HyundaiFlags.CANFD_HDA2
       hda2_long = hda2 and self.CP.openpilotLongitudinalControl
 
       # steering control
-      can_sends.extend(hyundaicanfd.create_steering_messages(self.packer, self.CP, CC.enabled, CC.latActive, apply_steer))
+      can_sends.extend(hyundaicanfd.create_steering_messages(self.packer, self.CP, CC.enabled, lat_active, apply_steer))
 
       # disable LFA on HDA2
       if self.frame % 5 == 0 and hda2:
@@ -131,19 +145,6 @@ class CarController:
                 can_sends.append(hyundaicanfd.create_buttons(self.packer, CS.buttons_counter+1, Buttons.RES_ACCEL))
               self.last_button_frame = self.frame
     else:
-      # Count up to MAX_ANGLE_FRAMES, at which point we need to cut torque to avoid a steering fault
-      if CC.latActive and abs(CS.out.steeringAngleDeg) >= MAX_ANGLE:
-        self.angle_limit_counter += 1
-      else:
-        self.angle_limit_counter = 0
-
-      # Cut steer actuation bit for two frames and hold torque with induced temporary fault
-      torque_fault = CC.latActive and self.angle_limit_counter > MAX_ANGLE_FRAMES
-      lat_active = CC.latActive and not torque_fault
-
-      if self.angle_limit_counter >= MAX_ANGLE_FRAMES + MAX_ANGLE_CONSECUTIVE_FRAMES:
-        self.angle_limit_counter = 0
-
       can_sends.append(hyundaican.create_lkas11(self.packer, self.frame, self.car_fingerprint, apply_steer, lat_active,
                                                 torque_fault, CS.lkas11, sys_warning, sys_state, CC.enabled,
                                                 hud_control.leftLaneVisible, hud_control.rightLaneVisible,

From 12058c21c73c7777e260334827b30f4d24c8313d Mon Sep 17 00:00:00 2001
From: Dean Lee <deanlee3@gmail.com>
Date: Tue, 18 Oct 2022 12:44:56 +0800
Subject: [PATCH 31/34] cabana: load dbc from paste (#26098)

---
 opendbc                        |  2 +-
 tools/cabana/dbcmanager.cc     | 12 ++++++++
 tools/cabana/dbcmanager.h      |  1 +
 tools/cabana/messageswidget.cc | 51 ++++++++++++++++++++++++++--------
 tools/cabana/messageswidget.h  | 13 +++++++++
 5 files changed, 66 insertions(+), 13 deletions(-)

diff --git a/opendbc b/opendbc
index dde0ff6f44..e37ef84f1a 160000
--- a/opendbc
+++ b/opendbc
@@ -1 +1 @@
-Subproject commit dde0ff6f4456c167df204bf5ac1e3f2979c844c9
+Subproject commit e37ef84f1ab848e2bf37f2c755f9e56213ce14e2
diff --git a/tools/cabana/dbcmanager.cc b/tools/cabana/dbcmanager.cc
index 5b1bddcabe..fc40fc58e4 100644
--- a/tools/cabana/dbcmanager.cc
+++ b/tools/cabana/dbcmanager.cc
@@ -1,5 +1,6 @@
 #include "tools/cabana/dbcmanager.h"
 
+#include <sstream>
 #include <QVector>
 
 DBCManager::DBCManager(QObject *parent) : QObject(parent) {}
@@ -16,6 +17,17 @@ void DBCManager::open(const QString &dbc_file_name) {
   emit DBCFileChanged();
 }
 
+void DBCManager::open(const QString &name, const QString &content) {
+  this->dbc_name = name;
+  std::istringstream stream(content.toStdString());
+  dbc = const_cast<DBC *>(dbc_parse_from_stream(name.toStdString(), stream));
+  msg_map.clear();
+  for (auto &msg : dbc->msgs) {
+    msg_map[msg.address] = &msg;
+  }
+  emit DBCFileChanged();
+}
+
 void save(const QString &dbc_file_name) {
   // TODO: save DBC to file
 }
diff --git a/tools/cabana/dbcmanager.h b/tools/cabana/dbcmanager.h
index 1f890a39db..74d935119a 100644
--- a/tools/cabana/dbcmanager.h
+++ b/tools/cabana/dbcmanager.h
@@ -12,6 +12,7 @@ public:
   ~DBCManager();
 
   void open(const QString &dbc_file_name);
+  void open(const QString &name, const QString &content);
   void save(const QString &dbc_file_name);
 
   void addSignal(const QString &id, const Signal &sig);
diff --git a/tools/cabana/messageswidget.cc b/tools/cabana/messageswidget.cc
index 878a852e13..28f79adad3 100644
--- a/tools/cabana/messageswidget.cc
+++ b/tools/cabana/messageswidget.cc
@@ -1,12 +1,13 @@
 #include "tools/cabana/messageswidget.h"
 
-#include <QComboBox>
 #include <QCompleter>
+#include <QDialogButtonBox>
 #include <QFontDatabase>
 #include <QHeaderView>
 #include <QLineEdit>
 #include <QPushButton>
 #include <QSortFilterProxyModel>
+#include <QTextEdit>
 #include <QVBoxLayout>
 
 #include "tools/cabana/dbcmanager.h"
@@ -16,20 +17,23 @@ MessagesWidget::MessagesWidget(QWidget *parent) : QWidget(parent) {
 
   // DBC file selector
   QHBoxLayout *dbc_file_layout = new QHBoxLayout();
-  QComboBox *combo = new QComboBox(this);
+  dbc_combo = new QComboBox(this);
   auto dbc_names = dbc()->allDBCNames();
   for (const auto &name : dbc_names) {
-    combo->addItem(QString::fromStdString(name));
+    dbc_combo->addItem(QString::fromStdString(name));
   }
-  combo->model()->sort(0);
-  combo->setEditable(true);
-  combo->setCurrentText(QString());
-  combo->setInsertPolicy(QComboBox::NoInsert);
-  combo->completer()->setCompletionMode(QCompleter::PopupCompletion);
+  dbc_combo->model()->sort(0);
+  dbc_combo->setEditable(true);
+  dbc_combo->setCurrentText(QString());
+  dbc_combo->setInsertPolicy(QComboBox::NoInsert);
+  dbc_combo->completer()->setCompletionMode(QCompleter::PopupCompletion);
   QFont font;
   font.setBold(true);
-  combo->lineEdit()->setFont(font);
-  dbc_file_layout->addWidget(combo);
+  dbc_combo->lineEdit()->setFont(font);
+  dbc_file_layout->addWidget(dbc_combo);
+
+  QPushButton *load_from_paste = new QPushButton(tr("Load from paste"), this);
+  dbc_file_layout->addWidget(load_from_paste);
 
   dbc_file_layout->addStretch();
   QPushButton *save_btn = new QPushButton(tr("Save DBC"), this);
@@ -64,7 +68,8 @@ MessagesWidget::MessagesWidget(QWidget *parent) : QWidget(parent) {
   // signals/slots
   QObject::connect(filter, &QLineEdit::textChanged, proxy_model, &QSortFilterProxyModel::setFilterFixedString);
   QObject::connect(can, &CANMessages::updated, model, &MessageListModel::updateState);
-  QObject::connect(combo, SIGNAL(activated(const QString &)), SLOT(dbcSelectionChanged(const QString &)));
+  QObject::connect(dbc_combo, SIGNAL(activated(const QString &)), SLOT(dbcSelectionChanged(const QString &)));
+  QObject::connect(load_from_paste, &QPushButton::clicked, this, &MessagesWidget::loadFromPaste);
   QObject::connect(save_btn, &QPushButton::clicked, [=]() {
     // TODO: save DBC to file
   });
@@ -75,7 +80,7 @@ MessagesWidget::MessagesWidget(QWidget *parent) : QWidget(parent) {
   });
 
   // For test purpose
-  combo->setCurrentText("toyota_nodsu_pt_generated");
+  dbc_combo->setCurrentText("toyota_nodsu_pt_generated");
 }
 
 void MessagesWidget::dbcSelectionChanged(const QString &dbc_file) {
@@ -84,6 +89,14 @@ void MessagesWidget::dbcSelectionChanged(const QString &dbc_file) {
   table_widget->sortByColumn(0, Qt::AscendingOrder);
 }
 
+void MessagesWidget::loadFromPaste() {
+  LoadDBCDialog dlg(this);
+  if (dlg.exec()) {
+    dbc()->open("from paste", dlg.dbc_edit->toPlainText());
+    dbc_combo->setCurrentText("loaded from paste");
+  }
+}
+
 // MessageListModel
 
 QVariant MessageListModel::headerData(int section, Qt::Orientation orientation, int role) const {
@@ -133,3 +146,17 @@ void MessageListModel::updateState() {
     emit dataChanged(index(0, 0), index(row_count - 1, 3), {Qt::DisplayRole});
   }
 }
+
+LoadDBCDialog::LoadDBCDialog(QWidget *parent) : QDialog(parent) {
+  QVBoxLayout *main_layout = new QVBoxLayout(this);
+  dbc_edit = new QTextEdit(this);
+  dbc_edit->setAcceptRichText(false);
+  dbc_edit->setPlaceholderText(tr("paste DBC file here"));
+  main_layout->addWidget(dbc_edit);
+  auto buttonBox = new QDialogButtonBox(QDialogButtonBox::Ok | QDialogButtonBox::Cancel);
+  main_layout->addWidget(buttonBox);
+
+  setFixedWidth(640);
+  connect(buttonBox, &QDialogButtonBox::accepted, this, &QDialog::accept);
+  connect(buttonBox, &QDialogButtonBox::rejected, this, &QDialog::reject);
+}
diff --git a/tools/cabana/messageswidget.h b/tools/cabana/messageswidget.h
index f6487ba2bd..1184772f3b 100644
--- a/tools/cabana/messageswidget.h
+++ b/tools/cabana/messageswidget.h
@@ -1,10 +1,21 @@
 #pragma once
 
 #include <QAbstractTableModel>
+#include <QComboBox>
+#include <QDialog>
 #include <QTableView>
+#include <QTextEdit>
 
 #include "tools/cabana/canmessages.h"
 
+class LoadDBCDialog : public QDialog {
+  Q_OBJECT
+
+public:
+  LoadDBCDialog(QWidget *parent);
+  QTextEdit *dbc_edit;
+};
+
 class MessageListModel : public QAbstractTableModel {
 Q_OBJECT
 
@@ -28,11 +39,13 @@ public:
 
 public slots:
   void dbcSelectionChanged(const QString &dbc_file);
+  void loadFromPaste();
 
 signals:
   void msgSelectionChanged(const QString &message_id);
 
 protected:
   QTableView *table_widget;
+  QComboBox *dbc_combo;
   MessageListModel *model;
 };

From dcd804e2bfe2c29287749eb5777ced5a641c5e62 Mon Sep 17 00:00:00 2001
From: Shane Smiskol <shane@smiskol.com>
Date: Mon, 17 Oct 2022 22:47:54 -0700
Subject: [PATCH 32/34] bump opendbc

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

diff --git a/opendbc b/opendbc
index e37ef84f1a..8f245e6ef5 160000
--- a/opendbc
+++ b/opendbc
@@ -1 +1 @@
-Subproject commit e37ef84f1ab848e2bf37f2c755f9e56213ce14e2
+Subproject commit 8f245e6ef5e25814d8e6e1f096221f6dfeefe86b

From 7bf70bf7d8aaccd23ad0b0a9af8235eb939a617e Mon Sep 17 00:00:00 2001
From: Shane Smiskol <shane@smiskol.com>
Date: Mon, 17 Oct 2022 23:04:06 -0700
Subject: [PATCH 33/34] CAN-FD HKG: query FW versions from camera (#26063)

* add adas essential ecus

* add adas ecu and query

* add queries

* add name

* after

* presence of adas ecu

* Revert "presence of adas ecu" (POC)

This reverts commit ab88a7e7df32e1c02a175b81848bd4112b2e5c69.

* no whitelist for debugging

* Apply suggestions from code review

* add adas response

* remove adas version

* temp

* read pandaStates

* works in debug script

* only fwdCamera on tucson

* fix pandaStates reading

* fix test_startup

* fix

* simpler

* use existing socket

* pass in number of pandas

* need to create sm using outcome of fingerprinting, which uses sm

fix

* move default argument

* use sock

* always ignore

always ignore

* add canfd fingerprint test

* Update selfdrive/car/hyundai/tests/test_hyundai.py

* set
---
 selfdrive/car/car_helpers.py                |  8 ++--
 selfdrive/car/fw_versions.py                | 14 +++++--
 selfdrive/car/hyundai/tests/test_hyundai.py | 29 ++++++++++++++
 selfdrive/car/hyundai/values.py             | 42 +++++++--------------
 selfdrive/controls/controlsd.py             | 30 +++++++--------
 selfdrive/controls/tests/test_startup.py    |  3 ++
 6 files changed, 74 insertions(+), 52 deletions(-)
 create mode 100755 selfdrive/car/hyundai/tests/test_hyundai.py

diff --git a/selfdrive/car/car_helpers.py b/selfdrive/car/car_helpers.py
index 4a8fd5fbd9..61e7a3d55d 100644
--- a/selfdrive/car/car_helpers.py
+++ b/selfdrive/car/car_helpers.py
@@ -76,7 +76,7 @@ interfaces = load_interfaces(interface_names)
 
 
 # **** for use live only ****
-def fingerprint(logcan, sendcan):
+def fingerprint(logcan, sendcan, num_pandas):
   fixed_fingerprint = os.environ.get('FINGERPRINT', "")
   skip_fw_query = os.environ.get('SKIP_FW_QUERY', False)
   ecu_rx_addrs = set()
@@ -100,7 +100,7 @@ def fingerprint(logcan, sendcan):
       cloudlog.warning("Getting VIN & FW versions")
       vin_rx_addr, vin = get_vin(logcan, sendcan, bus)
       ecu_rx_addrs = get_present_ecus(logcan, sendcan)
-      car_fw = get_fw_versions_ordered(logcan, sendcan, ecu_rx_addrs)
+      car_fw = get_fw_versions_ordered(logcan, sendcan, ecu_rx_addrs, num_pandas=num_pandas)
       cached = False
 
     exact_fw_match, fw_candidates = match_fw_to_car(car_fw)
@@ -173,8 +173,8 @@ def fingerprint(logcan, sendcan):
   return car_fingerprint, finger, vin, car_fw, source, exact_match
 
 
-def get_car(logcan, sendcan):
-  candidate, fingerprints, vin, car_fw, source, exact_match = fingerprint(logcan, sendcan)
+def get_car(logcan, sendcan, num_pandas=1):
+  candidate, fingerprints, vin, car_fw, source, exact_match = fingerprint(logcan, sendcan, num_pandas)
 
   if candidate is None:
     cloudlog.warning("car doesn't match any fingerprints: %r", fingerprints)
diff --git a/selfdrive/car/fw_versions.py b/selfdrive/car/fw_versions.py
index d3e8eae0de..f4d92ab960 100755
--- a/selfdrive/car/fw_versions.py
+++ b/selfdrive/car/fw_versions.py
@@ -194,14 +194,14 @@ def get_brand_ecu_matches(ecu_rx_addrs):
   return brand_matches
 
 
-def get_fw_versions_ordered(logcan, sendcan, ecu_rx_addrs, timeout=0.1, debug=False, progress=False):
+def get_fw_versions_ordered(logcan, sendcan, ecu_rx_addrs, timeout=0.1, num_pandas=1, debug=False, progress=False):
   """Queries for FW versions ordering brands by likelihood, breaks when exact match is found"""
 
   all_car_fw = []
   brand_matches = get_brand_ecu_matches(ecu_rx_addrs)
 
   for brand in sorted(brand_matches, key=lambda b: len(brand_matches[b]), reverse=True):
-    car_fw = get_fw_versions(logcan, sendcan, query_brand=brand, timeout=timeout, debug=debug, progress=progress)
+    car_fw = get_fw_versions(logcan, sendcan, query_brand=brand, timeout=timeout, num_pandas=num_pandas, debug=debug, progress=progress)
     all_car_fw.extend(car_fw)
     # Try to match using FW returned from this brand only
     matches = match_fw_to_car_exact(build_fw_dict(car_fw))
@@ -211,7 +211,7 @@ def get_fw_versions_ordered(logcan, sendcan, ecu_rx_addrs, timeout=0.1, debug=Fa
   return all_car_fw
 
 
-def get_fw_versions(logcan, sendcan, query_brand=None, extra=None, timeout=0.1, debug=False, progress=False):
+def get_fw_versions(logcan, sendcan, query_brand=None, extra=None, timeout=0.1, num_pandas=1, debug=False, progress=False):
   versions = VERSIONS.copy()
 
   # Each brand can define extra ECUs to query for data collection
@@ -252,6 +252,10 @@ def get_fw_versions(logcan, sendcan, query_brand=None, extra=None, timeout=0.1,
   for addr in tqdm(addrs, disable=not progress):
     for addr_chunk in chunks(addr):
       for brand, r in requests:
+        # Skip query if no panda available
+        if r.bus > num_pandas * 4 - 1:
+          continue
+
         try:
           addrs = [(a, s) for (b, a, s) in addr_chunk if b in (brand, 'any') and
                    (len(r.whitelist_ecus) == 0 or ecu_types[(b, a, s)] in r.whitelist_ecus)]
@@ -292,6 +296,7 @@ if __name__ == "__main__":
   args = parser.parse_args()
 
   logcan = messaging.sub_sock('can')
+  pandaStates_sock = messaging.sub_sock('pandaStates')
   sendcan = messaging.pub_sock('sendcan')
 
   extra: Any = None
@@ -305,6 +310,7 @@ if __name__ == "__main__":
     extra = {"any": {"debug": extra}}
 
   time.sleep(1.)
+  num_pandas = len(messaging.recv_one_retry(pandaStates_sock).pandaStates)
 
   t = time.time()
   print("Getting vin...")
@@ -314,7 +320,7 @@ if __name__ == "__main__":
   print()
 
   t = time.time()
-  fw_vers = get_fw_versions(logcan, sendcan, query_brand=args.brand, extra=extra, debug=args.debug, progress=True)
+  fw_vers = get_fw_versions(logcan, sendcan, query_brand=args.brand, extra=extra, num_pandas=num_pandas, debug=args.debug, progress=True)
   _, candidates = match_fw_to_car(fw_vers)
 
   print()
diff --git a/selfdrive/car/hyundai/tests/test_hyundai.py b/selfdrive/car/hyundai/tests/test_hyundai.py
new file mode 100755
index 0000000000..a52027f448
--- /dev/null
+++ b/selfdrive/car/hyundai/tests/test_hyundai.py
@@ -0,0 +1,29 @@
+#!/usr/bin/env python3
+import unittest
+
+from cereal import car
+from selfdrive.car.car_helpers import get_interface_attr
+from selfdrive.car.fw_versions import FW_QUERY_CONFIGS
+from selfdrive.car.hyundai.values import CANFD_CAR
+
+Ecu = car.CarParams.Ecu
+
+ECU_NAME = {v: k for k, v in Ecu.schema.enumerants.items()}
+VERSIONS = get_interface_attr("FW_VERSIONS", ignore_none=True)
+
+
+class TestHyundaiFingerprint(unittest.TestCase):
+  def test_auxiliary_request_ecu_whitelist(self):
+    # Asserts only auxiliary Ecus can exist in database for CAN-FD cars
+    config = FW_QUERY_CONFIGS['hyundai']
+    whitelisted_ecus = {ecu for r in config.requests for ecu in r.whitelist_ecus if r.bus > 3}
+
+    for car_model in CANFD_CAR:
+      ecus = {fw[0] for fw in VERSIONS['hyundai'][car_model].keys()}
+      ecus_not_in_whitelist = ecus - whitelisted_ecus
+      ecu_strings = ", ".join([f'Ecu.{ECU_NAME[ecu]}' for ecu in ecus_not_in_whitelist])
+      self.assertEqual(len(ecus_not_in_whitelist), 0, f'{car_model}: Car model has ECUs not in auxiliary request whitelists: {ecu_strings}')
+
+
+if __name__ == "__main__":
+  unittest.main()
diff --git a/selfdrive/car/hyundai/values.py b/selfdrive/car/hyundai/values.py
index 856bf1abd9..1599005d1c 100644
--- a/selfdrive/car/hyundai/values.py
+++ b/selfdrive/car/hyundai/values.py
@@ -300,6 +300,19 @@ FW_QUERY_CONFIG = FwQueryConfig(
       [HYUNDAI_VERSION_RESPONSE],
       whitelist_ecus=[Ecu.engine, Ecu.transmission, Ecu.eps, Ecu.abs, Ecu.fwdRadar],
     ),
+    # CAN-FD queries
+    Request(
+      [HYUNDAI_VERSION_REQUEST_LONG],
+      [HYUNDAI_VERSION_RESPONSE],
+      whitelist_ecus=[Ecu.fwdRadar],
+      bus=4,
+    ),
+    Request(
+      [HYUNDAI_VERSION_REQUEST_LONG],
+      [HYUNDAI_VERSION_RESPONSE],
+      whitelist_ecus=[Ecu.fwdCamera, Ecu.adas],
+      bus=5,
+    ),
   ],
   extra_ecus=[
     (Ecu.adas, 0x730, None),  # ADAS Driving ECU on HDA2 platforms
@@ -1326,15 +1339,6 @@ FW_VERSIONS = {
     ],
   },
   CAR.KIA_EV6: {
-    (Ecu.abs, 0x7d1, None): [
-      b'\xf1\x00CV  IEB \x02 101!\x10\x18 58520-CV100',
-      b'\xf1\x00CV  IEB \x03 101!\x10\x18 58520-CV100',
-      b'\xf1\x8758520CV100\xf1\x00CV  IEB \x02 101!\x10\x18 58520-CV100',
-    ],
-    (Ecu.eps, 0x7d4, None): [
-      b'\xf1\x00CV1 MDPS R 1.00 1.04 57700-CV000 1B30',
-      b'\xf1\x00CV1 MDPS R 1.00 1.05 57700-CV000 2425',
-    ],
     (Ecu.fwdRadar, 0x7d0, None): [
       b'\xf1\x00CV1_ RDR -----      1.00 1.01 99110-CV000         ',
       b'\xf1\x8799110CV000\xf1\x00CV1_ RDR -----      1.00 1.01 99110-CV000         ',
@@ -1346,16 +1350,6 @@ FW_VERSIONS = {
     ],
   },
   CAR.IONIQ_5: {
-    (Ecu.abs, 0x7d1, None): [
-      b'\xf1\x00NE1 IEB \x07 106!\x11) 58520-GI010',
-      b'\xf1\x8758520GI010\xf1\x00NE1 IEB \x07 106!\x11) 58520-GI010',
-      b'\xf1\x00NE1 IEB \x08 104!\x04\x05 58520-GI000',
-      b'\xf1\x8758520GI000\xf1\x00NE1 IEB \x08 104!\x04\x05 58520-GI000',
-    ],
-    (Ecu.eps, 0x7d4, None): [
-      b'\xf1\x00NE  MDPS R 1.00 1.06 57700GI000  4NEDR106',
-      b'\xf1\x8757700GI000 \xf1\x00NE  MDPS R 1.00 1.06 57700GI000  4NEDR106',
-    ],
     (Ecu.fwdRadar, 0x7d0, None): [
       b'\xf1\x00NE1_ RDR -----      1.00 1.00 99110-GI000         ',
       b'\xf1\x8799110GI000\xf1\x00NE1_ RDR -----      1.00 1.00 99110-GI000         ',
@@ -1369,16 +1363,6 @@ FW_VERSIONS = {
     (Ecu.fwdCamera, 0x7c4, None): [
       b'\xf1\x00NX4 FR_CMR AT USA LHD 1.00 1.00 99211-N9240 14Q',
     ],
-    (Ecu.eps, 0x7d4, None): [
-      b'\xf1\x00NX4 MDPS C 1.00 1.01 56300-P0100 2228',
-    ],
-    (Ecu.engine, 0x7e0, None): [
-      b'\xf1\x87391312MND0',
-    ],
-    (Ecu.transmission, 0x7e1, None): [
-      b'\xf1\x00PSBG2441  G19_Rev\x00\x00\x00SNX4T16XXHS01NS2lS\xdfa',
-      b'\xf1\x8795441-3D220\x00\xf1\x81G19_Rev\x00\x00\x00\xf1\x00PSBG2441  G19_Rev\x00\x00\x00SNX4T16XXHS01NS2lS\xdfa',
-    ],
   },
 }
 
diff --git a/selfdrive/controls/controlsd.py b/selfdrive/controls/controlsd.py
index 8abb1a02a6..cbc54eadb8 100755
--- a/selfdrive/controls/controlsd.py
+++ b/selfdrive/controls/controlsd.py
@@ -82,30 +82,30 @@ class Controls:
 
     self.log_sock = messaging.sub_sock('androidLog')
 
-    if CI is None:
-      # wait for one pandaState and one CAN packet
-      print("Waiting for CAN messages...")
-      get_one_can(self.can_sock)
-
-      self.CI, self.CP = get_car(self.can_sock, self.pm.sock['sendcan'])
-    else:
-      self.CI, self.CP = CI, CI.CP
-
     params = Params()
-    self.joystick_mode = params.get_bool("JoystickDebugMode") or (self.CP.notCar and sm is None)
-    joystick_packet = ['testJoystick'] if self.joystick_mode else []
-
     self.sm = sm
     if self.sm is None:
-      ignore = []
+      ignore = ['testJoystick']
       if SIMULATION:
         ignore += ['driverCameraState', 'managerState']
       if params.get_bool('WideCameraOnly'):
         ignore += ['roadCameraState']
       self.sm = messaging.SubMaster(['deviceState', 'pandaStates', 'peripheralState', 'modelV2', 'liveCalibration',
                                      'driverMonitoringState', 'longitudinalPlan', 'lateralPlan', 'liveLocationKalman',
-                                     'managerState', 'liveParameters', 'radarState', 'liveTorqueParameters'] + self.camera_packets + joystick_packet,
-                                    ignore_alive=ignore, ignore_avg_freq=['radarState', 'longitudinalPlan'])
+                                     'managerState', 'liveParameters', 'radarState', 'liveTorqueParameters', 'testJoystick'] + self.camera_packets,
+                                    ignore_alive=ignore, ignore_avg_freq=['radarState', 'longitudinalPlan', 'testJoystick'])
+
+    if CI is None:
+      # wait for one pandaState and one CAN packet
+      print("Waiting for CAN messages...")
+      get_one_can(self.can_sock)
+
+      num_pandas = len(messaging.recv_one_retry(self.sm.sock['pandaStates']).pandaStates)
+      self.CI, self.CP = get_car(self.can_sock, self.pm.sock['sendcan'], num_pandas)
+    else:
+      self.CI, self.CP = CI, CI.CP
+
+    self.joystick_mode = params.get_bool("JoystickDebugMode") or (self.CP.notCar and sm is None)
 
     # set alternative experiences from parameters
     self.disengage_on_accelerator = params.get_bool("DisengageOnAccelerator")
diff --git a/selfdrive/controls/tests/test_startup.py b/selfdrive/controls/tests/test_startup.py
index 63af4c7d95..ba2d2f5c02 100755
--- a/selfdrive/controls/tests/test_startup.py
+++ b/selfdrive/controls/tests/test_startup.py
@@ -94,6 +94,9 @@ class TestStartup(unittest.TestCase):
 
     time.sleep(2) # wait for controlsd to be ready
 
+    pm.send('can', can_list_to_can_capnp([[0, 0, b"", 0]]))
+    time.sleep(0.1)
+
     msg = messaging.new_message('pandaStates', 1)
     msg.pandaStates[0].pandaType = log.PandaState.PandaType.uno
     pm.send('pandaStates', msg)

From 5b85c2df4e2d855dc8fcb572bda33d2d456841d9 Mon Sep 17 00:00:00 2001
From: Shane Smiskol <shane@smiskol.com>
Date: Mon, 17 Oct 2022 23:24:34 -0700
Subject: [PATCH 34/34] Tucson Hybrid 4th gen: add missing fwdRadar (#26128)

add missing fwdRadar
---
 selfdrive/car/hyundai/values.py | 3 +++
 1 file changed, 3 insertions(+)

diff --git a/selfdrive/car/hyundai/values.py b/selfdrive/car/hyundai/values.py
index 1599005d1c..f69273ba55 100644
--- a/selfdrive/car/hyundai/values.py
+++ b/selfdrive/car/hyundai/values.py
@@ -1363,6 +1363,9 @@ FW_VERSIONS = {
     (Ecu.fwdCamera, 0x7c4, None): [
       b'\xf1\x00NX4 FR_CMR AT USA LHD 1.00 1.00 99211-N9240 14Q',
     ],
+    (Ecu.fwdRadar, 0x7d0, None): [
+      b'\xf1\x00NX4__               1.00 1.00 99110-N9100         ',
+    ],
   },
 }