Merge remote-tracking branch 'origin/master' into master3

2026-09-30 11:23:44 +08:00 · 2024-07-15 14:22:47 +08:00
parent bcaf05d542 cbee4421da
commit e16e1d93b5
45 changed files with 969 additions and 1140 deletions
@@ -107,7 +107,6 @@ dev = [
  "parameterized >=0.8, <0.9",
  #pprofile = "*"
  "pyautogui",
-  "pygame",
  "pyopencl; platform_machine != 'aarch64'", # broken on arm64
  "pywinctl",
  "pyprof2calltree",
@@ -115,6 +114,7 @@ dev = [
  "tabulate",
  "types-requests",
  "types-tabulate",
+  "hexdump",

  # this is only pinned since 5.15.11 is broken
  "pyqt5 ==5.15.2; platform_machine == 'x86_64'", # no aarch64 wheels for macOS/linux
@@ -1,15 +1,40 @@
-#!/bin/bash
-set -e
-
-DIR="$(cd "$(dirname "${BASH_SOURCE[0]}")" >/dev/null && pwd)"
-cd $DIR
+#!/bin/bash -e

 SRC=/tmp/openpilot/
 SRC_CLONE=/tmp/openpilot-clone/
 OUT=/tmp/openpilot-tiny/

-LOG_FILE=$DIR/git-rewrite-log-$(date +"%Y-%m-%dT%H:%M:%S%z").txt
-exec > >(tee -a "$LOG_FILE") 2>&1
+REWRITE_IGNORE_BRANCHES=(
+  dashcam3
+  devel
+  master-ci
+  nightly
+  release2
+  release3
+  release3-staging
+)
+
+VALIDATE_IGNORE_FILES=(
+  ".github/ISSUE_TEMPLATE/bug_report.md"
+  ".github/pull_request_template.md"
+)
+
+DIR="$(cd "$(dirname "${BASH_SOURCE[0]}")" >/dev/null && pwd)"
+cd $DIR
+
+LOGS_DIR=$DIR/git-rewrite-$(date +"%Y-%m-%dT%H:%M:%S%z")
+mkdir -p $LOGS_DIR
+
+GIT_REWRITE_LOG=$LOGS_DIR/git-rewrite-log.txt
+BRANCH_DIFF_LOG=$LOGS_DIR/branch-diff-log.txt
+COMMIT_DIFF_LOG=$LOGS_DIR/commit-diff-log.txt
+
+START_TIME=$(date +%s)
+exec > >(while IFS= read -r line; do
+  CURRENT_TIME=$(date +%s)
+  ELAPSED_TIME=$((CURRENT_TIME - START_TIME))
+  echo "[${ELAPSED_TIME}s] $line"
+done | tee -a "$GIT_REWRITE_LOG") 2>&1

 # INSTALL git-filter-repo
 if [ ! -f /tmp/git-filter-repo ]; then
@@ -40,7 +65,7 @@ if [ ! -d $SRC ]; then
  git push --prune $ARCHIVE_REPO +refs/heads/*:refs/heads/* # 956.39 MiB (110725 objects)
  git push --prune $ARCHIVE_REPO +refs/tags/*:refs/tags/* # 1.75 GiB (21694 objects)
  # git push --mirror $ARCHIVE_REPO || true # fails to push refs/pull/* (deny updating a hidden ref) for pull requests
-  # we fail and continue - more reading: https://stackoverflow.com/a/34266401/639708
+  # we fail and continue - more reading: https://stackoverflow.com/a/34266401/639708 and https://blog.plataformatec.com.br/2013/05/how-to-properly-mirror-a-git-repository/
 fi

 # REWRITE master and tags
@@ -52,7 +77,7 @@ if [ ! -d $SRC_CLONE ]; then

  echo "Checking out old history..."

-  git checkout tags/v0.7.1
+  git checkout tags/v0.7.1 > /dev/null 2>&1
  # checkout as main, since we need master ref later
  git checkout -b main

@@ -60,22 +85,26 @@ if [ ! -d $SRC_CLONE ]; then

  # rm these so we don't get conflicts later
  git rm -r cereal opendbc panda selfdrive/ui/ui > /dev/null
-  git commit -m "removed conflicting files"
+  git commit -m "removed conflicting files" > /dev/null

  # skip-smudge to get rid of some lfs errors that it can't find the reference of some lfs files
  # we don't care about fetching/pushing lfs right now
  git lfs install --skip-smudge --local

  # squash initial setup commits
-  git cherry-pick -n -X theirs 6c33a5c..59b3d06
-  git commit -m "switching to master" -m "$(git log --reverse --format=%B 6c33a5c..59b3d06)"
+  git cherry-pick -n -X theirs 6c33a5c..59b3d06 > /dev/null
+  git commit -m "switching to master" > /dev/null
+
+  # squash the two commits
+  git reset --soft HEAD~2
+  git commit -m "switching to master" -m "$(git log --reverse --format=%B 6c33a5c..59b3d06)" -m "removed conflicting files" > /dev/null

  # get commits we want to cherry-pick
  # will start with the next commit after #59b3d06 tools is local now
  COMMITS=$(git rev-list --reverse 59b3d06..master)

  # we need this for logging
-  TOTAL_COMMITS=$(echo $COMMITS | wc -w)
+  TOTAL_COMMITS=$(echo $COMMITS | wc -w | xargs)
  CURRENT_COMMIT_NUMBER=0

  # empty this file
@@ -85,7 +114,8 @@ if [ ! -d $SRC_CLONE ]; then

  for COMMIT in $COMMITS; do
      CURRENT_COMMIT_NUMBER=$((CURRENT_COMMIT_NUMBER + 1))
-      echo -ne "[$CURRENT_COMMIT_NUMBER/$TOTAL_COMMITS] Cherry-picking commit: $COMMIT"\\r
+      # echo -ne "[$CURRENT_COMMIT_NUMBER/$TOTAL_COMMITS] Cherry-picking commit: $COMMIT"\\r
+      echo "[$CURRENT_COMMIT_NUMBER/$TOTAL_COMMITS] Cherry-picking commit: $COMMIT"

      # set environment variables to preserve author/committer and dates
      export GIT_AUTHOR_NAME=$(git show -s --format='%an' $COMMIT)
@@ -119,6 +149,12 @@ if [ ! -d $SRC_CLONE ]; then
        # append the old commit ID to the commit message
        git commit --amend -m "$(git log -1 --pretty=%B)" -m "Former-commit-id: $COMMIT" > /dev/null
      fi
+
+    # prune every 3000 commits to avoid gc errors
+    if [ $((CURRENT_COMMIT_NUMBER % 3000)) -eq 0 ]; then
+      echo "Pruning repo..."
+      git gc
+    fi
  done

  echo "Rewriting tags..."
@@ -137,7 +173,7 @@ if [ ! -d $SRC_CLONE ]; then
      NEW_COMMIT=$OLD_COMMIT
    fi

-    printf "Rewriting tag %s from commit %s\n" "$TAG" "$NEW_COMMIT"
+    echo "Rewriting tag $TAG from commit $NEW_COMMIT"
    git tag -f "$TAG" "$NEW_COMMIT"
  done < "$DIR/tag-commit-map.txt"

@@ -153,19 +189,20 @@ if [ ! -d $SRC_CLONE ]; then
 fi

 # REWRITE branches based on master
-if [ ! -f "$SRC_CLONE/branch-diff.txt" ]; then
+if [ ! -f "$SRC_CLONE/rewrite-branches-done" ]; then
  cd $SRC_CLONE
+  > rewrite-branches-done

  # empty file
-  > branch-diff.txt
+  > $BRANCH_DIFF_LOG

  echo "Rewriting branches based on master..."

  # will store raw diffs here, if exist
  mkdir -p differences

-  # get a list of all branches except master
-  BRANCHES=$(git branch -r | grep -v ' -> ' | sed 's/origin\///' | grep -v '^master$')
+  # get a list of all branches except master and REWRITE_IGNORE_BRANCHES
+  BRANCHES=$(git branch -r | grep -v ' -> ' | sed 's/.*origin\///' | grep -v '^master$' | grep -v -f <(echo "${REWRITE_IGNORE_BRANCHES[*]}" | tr ' ' '\n'))

  for BRANCH in $BRANCHES; do
    # check if the branch is based on master history
@@ -176,7 +213,7 @@ if [ ! -f "$SRC_CLONE/branch-diff.txt" ]; then
      # create a new branch based on the new master
      NEW_MERGE_BASE=$(grep "^$MERGE_BASE " "commit-map.txt" | awk '{print $2}')
      if [ -z "$NEW_MERGE_BASE" ]; then
-        echo "Error: could not find new merge base for branch $BRANCH" >> branch-diff.txt
+        echo "Error: could not find new merge base for branch $BRANCH" >> $BRANCH_DIFF_LOG
        continue
      fi
      git checkout -b ${BRANCH}_new $NEW_MERGE_BASE
@@ -208,8 +245,8 @@ if [ ! -f "$SRC_CLONE/branch-diff.txt" ]; then
            echo "$COMMIT EMPTY" >> commit-map.txt
          else
            # handle other errors or conflicts
-            echo "Cherry-pick of ${BRANCH} branch failed. Removing branch upstream..." >> branch-diff.txt
-            echo "$GIT_OUTPUT" > "differences/branch-${BRANCH}"
+            echo "Cherry-pick of ${BRANCH} branch failed. Removing branch upstream..." >> $BRANCH_DIFF_LOG
+            echo "$GIT_OUTPUT" > "$LOGS_DIR/branch-${BRANCH}"
            git cherry-pick --abort
            git push --delete origin ${BRANCH}
            HAS_ERROR=1
@@ -239,28 +276,24 @@ if [ ! -f "$SRC_CLONE/branch-diff.txt" ]; then
      git checkout master > /dev/null
      git branch -D ${BRANCH}_new > /dev/null
    else
-      # echo "Skipping branch $BRANCH as it's not based on master history" >> branch-diff.txt
-       echo "Deleting branch $BRANCH as it's not based on master history" >> branch-diff.txt
-       git push --delete origin ${BRANCH}
+      echo "Deleting branch $BRANCH as it's not based on master history" >> $BRANCH_DIFF_LOG
+      git push --delete origin ${BRANCH}
    fi
  done
 fi

 # VALIDATE cherry-pick
-if [ ! -f "$SRC_CLONE/commit-diff.txt" ]; then
+if [ ! -f "$SRC_CLONE/validation-done" ]; then
  cd $SRC_CLONE
+  > validation-done

  TOTAL_COMMITS=$(grep -cve '^\s*$' commit-map.txt)
  CURRENT_COMMIT_NUMBER=0
  COUNT_SAME=0
  COUNT_DIFF=0
-  VALIDATE_IGNORE_FILES=(
-    ".github/ISSUE_TEMPLATE/bug_report.md"
-    ".github/pull_request_template.md"
-  )

  # empty file
-  > commit-diff.txt
+  > $COMMIT_DIFF_LOG

  echo "Validating commits..."

@@ -273,7 +306,7 @@ if [ ! -f "$SRC_CLONE/commit-diff.txt" ]; then
      continue
    fi
    if [ "$OLD_COMMIT" == "BRANCH" ]; then
-      echo "Branch ${NEW_COMMIT} below:" >> commit-diff.txt
+      echo "Branch ${NEW_COMMIT} below:" >> $COMMIT_DIFF_LOG
      continue
    fi
    CURRENT_COMMIT_NUMBER=$((CURRENT_COMMIT_NUMBER + 1))
@@ -283,7 +316,8 @@ if [ ! -f "$SRC_CLONE/commit-diff.txt" ]; then
    OLD_DATE=$(git show -s --format='%cd' $OLD_COMMIT)
    NEW_DATE=$(git show -s --format='%cd' $NEW_COMMIT)

-    echo -ne "[$CURRENT_COMMIT_NUMBER/$TOTAL_COMMITS] Comparing old commit $OLD_COMMIT_SHORT ($OLD_DATE) with new commit $NEW_COMMIT_SHORT ($NEW_DATE)"\\r
+    # echo -ne "[$CURRENT_COMMIT_NUMBER/$TOTAL_COMMITS] Comparing old commit $OLD_COMMIT_SHORT ($OLD_DATE) with new commit $NEW_COMMIT_SHORT ($NEW_DATE)"\\r
+    echo "[$CURRENT_COMMIT_NUMBER/$TOTAL_COMMITS] Comparing old commit $OLD_COMMIT_SHORT ($OLD_DATE) with new commit $NEW_COMMIT_SHORT ($NEW_DATE)"
    
    # generate lists of files and their hashes for the old and new commits, excluding ignored files
    OLD_FILES=$(git ls-tree -r $OLD_COMMIT | grep -vE "$(IFS='|'; echo "${VALIDATE_IGNORE_FILES[*]}")")
@@ -294,17 +328,17 @@ if [ ! -f "$SRC_CLONE/commit-diff.txt" ]; then
      # echo "Old commit $OLD_COMMIT_SHORT and new commit $NEW_COMMIT_SHORT are equivalent."
      COUNT_SAME=$((COUNT_SAME + 1))
    else
-      echo "[$CURRENT_COMMIT_NUMBER/$TOTAL_COMMITS] Difference found between old commit $OLD_COMMIT_SHORT and new commit $NEW_COMMIT_SHORT" >> commit-diff.txt
+      echo "[$CURRENT_COMMIT_NUMBER/$TOTAL_COMMITS] Difference found between old commit $OLD_COMMIT_SHORT and new commit $NEW_COMMIT_SHORT" >> $COMMIT_DIFF_LOG
      COUNT_DIFF=$((COUNT_DIFF + 1))
      set +e
-      diff -u <(echo "$OLD_FILES") <(echo "$NEW_FILES") > "differences/$CURRENT_COMMIT_NUMBER-$OLD_COMMIT_SHORT-$NEW_COMMIT_SHORT"
+      diff -u <(echo "$OLD_FILES") <(echo "$NEW_FILES") > "$LOGS_DIR/commit-$CURRENT_COMMIT_NUMBER-$OLD_COMMIT_SHORT-$NEW_COMMIT_SHORT"
      set -e
    fi
  done < "commit-map.txt"

-  echo "Summary:" >> commit-diff.txt
-  echo "Equivalent commits: $COUNT_SAME" >> commit-diff.txt
-  echo "Different commits: $COUNT_DIFF" >> commit-diff.txt
+  echo "Summary:" >> $COMMIT_DIFF_LOG
+  echo "Equivalent commits: $COUNT_SAME" >> $COMMIT_DIFF_LOG
+  echo "Different commits: $COUNT_DIFF" >> $COMMIT_DIFF_LOG
 fi

 if [ ! -d $OUT ]; then
@@ -313,7 +347,6 @@ if [ ! -d $OUT ]; then
  cd $OUT

  # remove all non-master branches
-  # TODO: need to see if we "redo" the other branches (except master, master-ci, devel, devel-staging, release3, release3-staging, dashcam3, dashcam3-staging, testing-closet*, hotfix-*)
  # git branch | grep -v "^  master$" | grep -v "\*" | xargs git branch -D

  # echo "cleaning up refs"
@@ -322,7 +355,8 @@ if [ ! -d $OUT ]; then

  echo "importing new lfs files"
  # import "almost" everything to lfs
-  git lfs migrate import --everything --include="*.dlc,*.onnx,*.svg,*.png,*.gif,*.ttf,*.wav,selfdrive/car/tests/test_models_segs.txt,system/hardware/tici/updater,selfdrive/ui/qt/spinner_larch64,selfdrive/ui/qt/text_larch64,third_party/**/*.a,third_party/**/*.so,third_party/**/*.so.*,third_party/**/*.dylib,third_party/acados/*/t_renderer,third_party/qt5/larch64/bin/lrelease,third_party/qt5/larch64/bin/lupdate,third_party/catch2/include/catch2/catch.hpp,*.apk,*.apkpatch,*.jar,*.pdf,*.jpg,*.mp3,*.thneed,*.tar.gz,*.npy,*.csv,*.a,*.so*,*.dylib,*.o,*.b64,selfdrive/hardware/tici/updater,selfdrive/boardd/tests/test_boardd,selfdrive/ui/qt/spinner_aarch64,installer/updater/updater,selfdrive/debug/profiling/simpleperf/**/*,selfdrive/hardware/eon/updater,selfdrive/ui/qt/text_aarch64,selfdrive/debug/profiling/pyflame/**/*,installer/installers/installer_openpilot,installer/installers/installer_dashcam,selfdrive/ui/text/text,selfdrive/ui/android/text/text,selfdrive/ui/spinner/spinner,selfdrive/visiond/visiond,selfdrive/loggerd/loggerd,selfdrive/sensord/sensord,selfdrive/sensord/gpsd,selfdrive/ui/android/spinner/spinner,selfdrive/ui/qt/spinner,selfdrive/ui/qt/text,_stringdefs.py,dfu-util-aarch64-linux,dfu-util-aarch64,dfu-util-x86_64-linux,dfu-util-x86_64,stb_image.h,clpeak3,clwaste,apk/**/*,external/**/*,phonelibs/**/*,third_party/boringssl/**/*,flask/**/*,panda/**/*,board/**/*,messaging/**/*,opendbc/**/*,tools/cabana/chartswidget.cc,third_party/nanovg/**/*,selfdrive/controls/lib/lateral_mpc/lib_mpc_export/**/*,selfdrive/ui/paint.cc,werkzeug/**/*,pyextra/**/*,third_party/android_hardware_libhardware/**/*,selfdrive/controls/lib/lead_mpc_lib/lib_mpc_export/**/*,selfdrive/locationd/laikad.py,selfdrive/locationd/test/test_laikad.py,tools/gpstest/test_laikad.py,selfdrive/locationd/laikad_helpers.py,tools/nui/**/*,jsonrpc/**/*,selfdrive/controls/lib/longitudinal_mpc/lib_mpc_export/**/*,selfdrive/controls/lib/lateral_mpc/mpc_export/**/*,selfdrive/camerad/cameras/camera_qcom.cc,selfdrive/manager.py,selfdrive/modeld/models/driving.cc,third_party/curl/**/*,selfdrive/modeld/thneed/debug/**/*,selfdrive/modeld/thneed/include/**/*,third_party/openmax/**/*,selfdrive/controls/lib/longitudinal_mpc/mpc_export/**/*,selfdrive/controls/lib/longitudinal_mpc_model/lib_mpc_export/**/*,Pipfile,Pipfile.lock,gunicorn/**/*,*.qm,jinja2/**/*,click/**/*,dbcs/**/*,websocket/**/*"
+  BRANCHES=$(git for-each-ref --format='%(refname)' refs/heads/ | sed 's%refs/heads/%%g' | grep -v -f <(echo "${REWRITE_IGNORE_BRANCHES[*]}" | tr ' ' '\n') | tr '\n' ' ')
+  git lfs migrate import --include="*.dlc,*.onnx,*.svg,*.png,*.gif,*.ttf,*.wav,selfdrive/car/tests/test_models_segs.txt,system/hardware/tici/updater,selfdrive/ui/qt/spinner_larch64,selfdrive/ui/qt/text_larch64,third_party/**/*.a,third_party/**/*.so,third_party/**/*.so.*,third_party/**/*.dylib,third_party/acados/*/t_renderer,third_party/qt5/larch64/bin/lrelease,third_party/qt5/larch64/bin/lupdate,third_party/catch2/include/catch2/catch.hpp,*.apk,*.apkpatch,*.jar,*.pdf,*.jpg,*.mp3,*.thneed,*.tar.gz,*.npy,*.csv,*.a,*.so*,*.dylib,*.o,*.b64,selfdrive/hardware/tici/updater,selfdrive/boardd/tests/test_boardd,selfdrive/ui/qt/spinner_aarch64,installer/updater/updater,selfdrive/debug/profiling/simpleperf/**/*,selfdrive/hardware/eon/updater,selfdrive/ui/qt/text_aarch64,selfdrive/debug/profiling/pyflame/**/*,installer/installers/installer_openpilot,installer/installers/installer_dashcam,selfdrive/ui/text/text,selfdrive/ui/android/text/text,selfdrive/ui/spinner/spinner,selfdrive/visiond/visiond,selfdrive/loggerd/loggerd,selfdrive/sensord/sensord,selfdrive/sensord/gpsd,selfdrive/ui/android/spinner/spinner,selfdrive/ui/qt/spinner,selfdrive/ui/qt/text,_stringdefs.py,dfu-util-aarch64-linux,dfu-util-aarch64,dfu-util-x86_64-linux,dfu-util-x86_64,stb_image.h,clpeak3,clwaste,apk/**/*,external/**/*,phonelibs/**/*,third_party/boringssl/**/*,flask/**/*,panda/**/*,board/**/*,messaging/**/*,opendbc/**/*,tools/cabana/chartswidget.cc,third_party/nanovg/**/*,selfdrive/controls/lib/lateral_mpc/lib_mpc_export/**/*,selfdrive/ui/paint.cc,werkzeug/**/*,pyextra/**/*,third_party/android_hardware_libhardware/**/*,selfdrive/controls/lib/lead_mpc_lib/lib_mpc_export/**/*,selfdrive/locationd/laikad.py,selfdrive/locationd/test/test_laikad.py,tools/gpstest/test_laikad.py,selfdrive/locationd/laikad_helpers.py,tools/nui/**/*,jsonrpc/**/*,selfdrive/controls/lib/longitudinal_mpc/lib_mpc_export/**/*,selfdrive/controls/lib/lateral_mpc/mpc_export/**/*,selfdrive/camerad/cameras/camera_qcom.cc,selfdrive/manager.py,selfdrive/modeld/models/driving.cc,third_party/curl/**/*,selfdrive/modeld/thneed/debug/**/*,selfdrive/modeld/thneed/include/**/*,third_party/openmax/**/*,selfdrive/controls/lib/longitudinal_mpc/mpc_export/**/*,selfdrive/controls/lib/longitudinal_mpc_model/lib_mpc_export/**/*,Pipfile,Pipfile.lock,gunicorn/**/*,*.qm,jinja2/**/*,click/**/*,dbcs/**/*,websocket/**/*" $BRANCHES

  echo "reflog and gc"
  # this is needed after lfs import
@@ -351,7 +385,6 @@ git lfs fetch --all || true

 # final push - will also push lfs
 # TODO: switch to git@github.com:commaai/openpilot.git when ready
-# if using mirror, it will also delete non-master branches (master-ci, nightly, devel, release3, release3-staging, dashcam3, release2)
 # git push --mirror git@github.com:commaai/openpilot-tiny.git
-# using this instead - since this is also what --mirror does - https://blog.plataformatec.com.br/2013/05/how-to-properly-mirror-a-git-repository/
-git push git@github.com:commaai/openpilot-tiny.git +refs/heads/*:refs/heads/* +refs/tags/*:refs/tags/*
+# using this instead to ignore refs/pull/* - since this is also what --mirror does - https://blog.plataformatec.com.br/2013/05/how-to-properly-mirror-a-git-repository/
+git push --prune git@github.com:commaai/openpilot-tiny.git +refs/heads/*:refs/heads/* +refs/tags/*:refs/tags/*
@@ -51,22 +51,21 @@ def limit_accel_in_turns(v_ego, angle_steers, a_target, CP):


 def get_accel_from_plan(CP, speeds, accels):
-    if len(speeds) == CONTROL_N:
-      v_target_now = interp(DT_MDL, CONTROL_N_T_IDX, speeds)
-      a_target_now = interp(DT_MDL, CONTROL_N_T_IDX, accels)
+  if len(speeds) == CONTROL_N:
+    v_target_now = interp(DT_MDL, CONTROL_N_T_IDX, speeds)
+    a_target_now = interp(DT_MDL, CONTROL_N_T_IDX, accels)

-      v_target = interp(CP.longitudinalActuatorDelay + DT_MDL, CONTROL_N_T_IDX, speeds)
-      a_target = 2 * (v_target - v_target_now) / CP.longitudinalActuatorDelay - a_target_now
+    v_target = interp(CP.longitudinalActuatorDelay + DT_MDL, CONTROL_N_T_IDX, speeds)
+    a_target = 2 * (v_target - v_target_now) / CP.longitudinalActuatorDelay - a_target_now

-      v_target_1sec = interp(CP.longitudinalActuatorDelay + DT_MDL + 1.0, CONTROL_N_T_IDX, speeds)
-    else:
-      v_target = 0.0
-      v_target_now = 0.0
-      v_target_1sec = 0.0
-      a_target = 0.0
-    should_stop = (v_target < CP.vEgoStopping and
-                    v_target_1sec < CP.vEgoStopping)
-    return a_target, should_stop
+    v_target_1sec = interp(CP.longitudinalActuatorDelay + DT_MDL + 1.0, CONTROL_N_T_IDX, speeds)
+  else:
+    v_target = 0.0
+    v_target_1sec = 0.0
+    a_target = 0.0
+  should_stop = (v_target < CP.vEgoStopping and
+                 v_target_1sec < CP.vEgoStopping)
+  return a_target, should_stop


 class LongitudinalPlanner:
@@ -95,8 +94,8 @@ class LongitudinalPlanner:
  @staticmethod
  def parse_model(model_msg, model_error):
    if (len(model_msg.position.x) == ModelConstants.IDX_N and
-       len(model_msg.velocity.x) == ModelConstants.IDX_N and
-       len(model_msg.acceleration.x) == ModelConstants.IDX_N):
+      len(model_msg.velocity.x) == ModelConstants.IDX_N and
+      len(model_msg.acceleration.x) == ModelConstants.IDX_N):
      x = np.interp(T_IDXS_MPC, ModelConstants.T_IDXS, model_msg.position.x) - model_error * T_IDXS_MPC
      v = np.interp(T_IDXS_MPC, ModelConstants.T_IDXS, model_msg.velocity.x) - model_error
      a = np.interp(T_IDXS_MPC, ModelConstants.T_IDXS, model_msg.acceleration.x)
@@ -177,8 +177,11 @@ class TorqueEstimator(ParameterEstimator):
      if len(self.raw_points['steer_torque']) == self.hist_len:
        yaw_rate = msg.angularVelocityCalibrated.value[2]
        roll = msg.orientationNED.value[0]
-        lat_active = np.interp(np.arange(t - MIN_ENGAGE_BUFFER, t, DT_MDL), self.raw_points['carControl_t'], self.raw_points['lat_active']).astype(bool)
-        steer_override = np.interp(np.arange(t - MIN_ENGAGE_BUFFER, t, DT_MDL), self.raw_points['carState_t'], self.raw_points['steer_override']).astype(bool)
+        # check lat active up to now (without lag compensation)
+        lat_active = np.interp(np.arange(t - MIN_ENGAGE_BUFFER, t + self.lag, DT_MDL),
+                               self.raw_points['carControl_t'], self.raw_points['lat_active']).astype(bool)
+        steer_override = np.interp(np.arange(t - MIN_ENGAGE_BUFFER, t + self.lag, DT_MDL),
+                                   self.raw_points['carState_t'], self.raw_points['steer_override']).astype(bool)
        vego = np.interp(t, self.raw_points['carState_t'], self.raw_points['vego'])
        steer = np.interp(t, self.raw_points['carOutput_t'], self.raw_points['steer_torque']).item()
        lateral_acc = (vego * yaw_rate) - (np.sin(roll) * ACCELERATION_DUE_TO_GRAVITY).item()
@@ -26,8 +26,6 @@ Panda::Panda(std::string serial, uint32_t bus_offset) : bus_offset(bus_offset) {

  hw_type = get_hw_type();
  can_reset_communications();
-
-  return;
 }

 bool Panda::connected() {
@@ -1 +1 @@
-f6ff3601bd0496e78d8bc3b019d58bb7739f096b
+0adff03d45c99dcfb330c48b2aa9d2093ce674a2
@@ -60,11 +60,13 @@ void AnnotatedCameraWidget::updateState(const UIState &s) {
  const auto cs = sm["controlsState"].getControlsState();
  const auto car_state = sm["carState"].getCarState();

+  is_metric = s.scene.is_metric;
+
  // Handle older routes where vCruiseCluster is not set
  float v_cruise = cs.getVCruiseCluster() == 0.0 ? cs.getVCruise() : cs.getVCruiseCluster();
  setSpeed = cs_alive ? v_cruise : SET_SPEED_NA;
  is_cruise_set = setSpeed > 0 && (int)setSpeed != SET_SPEED_NA;
-  if (is_cruise_set && !s.scene.is_metric) {
+  if (is_cruise_set && !is_metric) {
    setSpeed *= KM_TO_MILE;
  }

@@ -72,10 +74,9 @@ void AnnotatedCameraWidget::updateState(const UIState &s) {
  v_ego_cluster_seen = v_ego_cluster_seen || car_state.getVEgoCluster() != 0.0;
  float v_ego = v_ego_cluster_seen ? car_state.getVEgoCluster() : car_state.getVEgo();
  speed = cs_alive ? std::max<float>(0.0, v_ego) : 0.0;
-  speed *= s.scene.is_metric ? MS_TO_KPH : MS_TO_MPH;
+  speed *= is_metric ? MS_TO_KPH : MS_TO_MPH;

-  is_metric = s.scene.is_metric;
-  speedUnit =  s.scene.is_metric ? tr("km/h") : tr("mph");
+  speedUnit = is_metric ? tr("km/h") : tr("mph");
  hideBottomIcons = (cs.getAlertSize() != cereal::ControlsState::AlertSize::NONE);
  status = s.status;

@@ -235,8 +235,8 @@ def hardware_thread(end_event, hw_queue) -> None:
        onroad_conditions["ignition"] = False
        cloudlog.error("panda timed out onroad")

-    # Run at 2Hz, plus rising edge of ignition
-    ign_edge = started_ts is None and onroad_conditions["ignition"]
+    # Run at 2Hz, plus either edge of ignition
+    ign_edge = (started_ts is not None) != onroad_conditions["ignition"]
    if (sm.frame % round(SERVICE_LIST['pandaStates'].frequency * DT_HW) != 0) and not ign_edge:
      continue

@@ -29,4 +29,72 @@ Arguments:
                                 connect.comma.ai
 ```

-See [openpilot wiki](https://github.com/commaai/openpilot/wiki/Cabana)
+## Examples
+
+### Running Cabana in Demo Mode
+To run Cabana using a built-in demo route, use the following command:
+
+```shell
+cabana --demo
+```
+
+### Loading a Specific Route
+
+To load a specific route for replay, provide the route as an argument:
+
+```shell
+cabana "a2a0ccea32023010|2023-07-27--13-01-19"
+```
+
+Replace "0ccea32023010|2023-07-27--13-01-19" with your desired route identifier.
+
+
+### Running Cabana with multiple cameras
+To run Cabana with multiple cameras, use the following command:
+
+```shell
+cabana "a2a0ccea32023010|2023-07-27--13-01-19" --dcam --ecam
+```
+
+### Streaming CAN Messages from a comma Device
+
+[SSH into your device](https://github.com/commaai/openpilot/wiki/SSH) and start the bridge with the following command:
+
+```shell
+cd /data/openpilot/cereal/messaging/
+./bridge &
+```
+
+Then Run Cabana with the device's IP address:
+
+```shell
+cabana --stream <ipaddress>
+```
+
+Replace &lt;ipaddress&gt; with your comma device's IP address.
+
+While streaming from the device, Cabana will log the CAN messages to a local directory. By default, this directory is ~/cabana_live_stream/. You can change the log directory in Cabana by navigating to menu -> tools -> settings.
+
+After disconnecting from the device, you can replay the logged CAN messages from the stream selector dialog -> browse local route.
+
+### Streaming CAN Messages from Panda
+
+To read CAN messages from a connected Panda, use the following command:
+
+```shell
+cabana --panda
+```
+
+### Using the Stream Selector Dialog
+
+If you run Cabana without any arguments, a stream selector dialog will pop up, allowing you to choose the stream.
+
+```shell
+cabana
+```
+
+## Additional Information
+
+For more information, see the [openpilot wiki](https://github.com/commaai/openpilot/wiki/Cabana)
+
+If you encounter any issues or have feature requests, please contribute bug reports or discussions at: [new cabana feedback](https://github.com/commaai/openpilot/discussions/26091)
@@ -38,26 +38,19 @@ int main(int argc, char *argv[]) {
  cmd_parser.addOption({"dbc", "dbc file to open", "dbc"});
  cmd_parser.process(app);

-  QString dbc_file = cmd_parser.isSet("dbc") ? cmd_parser.value("dbc") : "";
-
  AbstractStream *stream = nullptr;
+
  if (cmd_parser.isSet("stream")) {
    stream = new DeviceStream(&app, cmd_parser.value("zmq"));
  } else if (cmd_parser.isSet("panda") || cmd_parser.isSet("panda-serial")) {
-    PandaStreamConfig config = {};
-    if (cmd_parser.isSet("panda-serial")) {
-      config.serial = cmd_parser.value("panda-serial");
-    }
    try {
-      stream = new PandaStream(&app, config);
+      stream = new PandaStream(&app, {.serial = cmd_parser.value("panda-serial")});
    } catch (std::exception &e) {
      qWarning() << e.what();
      return 0;
    }
  } else if (cmd_parser.isSet("socketcan")) {
-    SocketCanStreamConfig config = {};
-    config.device = cmd_parser.value("socketcan");
-    stream = new SocketCanStream(&app, config);
+    stream = new SocketCanStream(&app, {.device = cmd_parser.value("socketcan")});
  } else {
    uint32_t replay_flags = REPLAY_FLAG_NONE;
    if (cmd_parser.isSet("ecam")) replay_flags |= REPLAY_FLAG_ECAM;
@@ -73,24 +66,14 @@ int main(int argc, char *argv[]) {
      route = DEMO_ROUTE;
    }
    if (!route.isEmpty()) {
-      auto replay_stream = new ReplayStream(&app);
+      auto replay_stream = std::make_unique<ReplayStream>(&app);
      if (!replay_stream->loadRoute(route, cmd_parser.value("data_dir"), replay_flags)) {
        return 0;
      }
-      stream = replay_stream;
+      stream = replay_stream.release();
    }
  }

-  MainWindow w;
-  if (stream) {
-    stream->start();
-    if (!dbc_file.isEmpty()) {
-      w.loadFile(dbc_file);
-    }
-  } else {
-    w.openStream();
-  }
-  w.show();
-
+  MainWindow w(stream, cmd_parser.value("dbc"));
  return app.exec();
 }
@@ -155,11 +155,10 @@ void ChartView::removeIf(std::function<bool(const SigItem &s)> predicate) {
 }

 void ChartView::signalUpdated(const cabana::Signal *sig) {
-  if (std::any_of(sigs.cbegin(), sigs.cend(), [=](auto &s) { return s.sig == sig; })) {
-    for (const auto &s : sigs) {
-      if (s.sig == sig && s.series->color() != sig->color) {
-        setSeriesColor(s.series, sig->color);
-      }
+  auto it = std::find_if(sigs.begin(), sigs.end(), [sig](auto &s) { return s.sig == sig; });
+  if (it != sigs.end()) {
+    if (it->series->color() != sig->color) {
+      setSeriesColor(it->series, sig->color);
    }
    updateTitle();
    updateSeries(sig);
@@ -110,7 +110,6 @@ private:
  QTimer *align_timer;
  int current_theme = 0;
  bool value_tip_visible_ = false;
-  friend class ZoomCommand;
  friend class ChartView;
  friend class ChartsContainer;
 };
@@ -83,7 +83,8 @@ void SignalSelector::updateAvailableList(int index) {
  MessageId msg_id = msgs_combo->itemData(index).value<MessageId>();
  auto selected_items = seletedItems();
  for (auto s : dbc()->msg(msg_id)->getSignals()) {
-    bool is_selected = std::any_of(selected_items.begin(), selected_items.end(), [=, sig = s](auto it) { return it->msg_id == msg_id && it->sig == sig; });
+    bool is_selected = std::any_of(selected_items.begin(), selected_items.end(),
+                                   [sig = s, &msg_id](auto it) { return it->msg_id == msg_id && it->sig == sig; });
    if (!is_selected) {
      addItemToList(available_list, msg_id, s);
    }
@@ -4,8 +4,6 @@
 #include <limits>
 #include <QPainter>

-#include "tools/cabana/streams/abstractstream.h"
-
 void Sparkline::update(const MessageId &msg_id, const cabana::Signal *sig, double last_msg_ts, int range, QSize size) {
  const auto &msgs = can->events(msg_id);

@@ -14,11 +12,6 @@ void Sparkline::update(const MessageId &msg_id, const cabana::Signal *sig, doubl
  auto first = std::lower_bound(msgs.cbegin(), msgs.cend(), range_start, CompareCanEvent());
  auto last = std::upper_bound(first, msgs.cend(), range_end, CompareCanEvent());

-  if (first == last || size.isEmpty()) {
-    pixmap = QPixmap();
-    return;
-  }
-
  points.clear();
  double value = 0;
  for (auto it = first; it != last; ++it) {
@@ -27,7 +20,7 @@ void Sparkline::update(const MessageId &msg_id, const cabana::Signal *sig, doubl
    }
  }

-  if (points.empty()) {
+  if (points.empty() || size.isEmpty()) {
    pixmap = QPixmap();
    return;
  }
@@ -5,6 +5,7 @@
 #include <vector>

 #include "tools/cabana/dbc/dbc.h"
+#include "tools/cabana/streams/abstractstream.h"

 class Sparkline {
 public:
@@ -9,10 +9,6 @@ DBCFile::DBCFile(const QString &dbc_file_name) {
  if (file.open(QIODevice::ReadOnly)) {
    name_ = QFileInfo(dbc_file_name).baseName();
    filename = dbc_file_name;
-    // Remove auto save file extension
-    if (dbc_file_name.endsWith(AUTO_SAVE_EXTENSION)) {
-      filename.chop(AUTO_SAVE_EXTENSION.length());
-    }
    parse(file.readAll());
  } else {
    throw std::runtime_error("Failed to open file.");
@@ -20,17 +16,12 @@ DBCFile::DBCFile(const QString &dbc_file_name) {
 }

 DBCFile::DBCFile(const QString &name, const QString &content) : name_(name), filename("") {
-  // Open from clipboard
  parse(content);
 }

 bool DBCFile::save() {
  assert(!filename.isEmpty());
-  if (writeContents(filename)) {
-    cleanupAutoSaveFile();
-    return true;
-  }
-  return false;
+  return writeContents(filename);
 }

 bool DBCFile::saveAs(const QString &new_filename) {
@@ -38,16 +29,6 @@ bool DBCFile::saveAs(const QString &new_filename) {
  return save();
 }

-bool DBCFile::autoSave() {
-  return !filename.isEmpty() && writeContents(filename + AUTO_SAVE_EXTENSION);
-}
-
-void DBCFile::cleanupAutoSaveFile() {
-  if (!filename.isEmpty()) {
-    QFile::remove(filename + AUTO_SAVE_EXTENSION);
-  }
-}
-
 bool DBCFile::writeContents(const QString &fn) {
  QFile file(fn);
  if (file.open(QIODevice::WriteOnly)) {
@@ -75,7 +56,7 @@ cabana::Msg *DBCFile::msg(const QString &name) {
  return it != msgs.end() ? &(it->second) : nullptr;
 }

-cabana::Signal *DBCFile::signal(uint32_t address, const QString name) {
+cabana::Signal *DBCFile::signal(uint32_t address, const QString &name) {
  auto m = msg(address);
  return m ? (cabana::Signal *)m->sig(name) : nullptr;
 }
@@ -5,8 +5,6 @@

 #include "tools/cabana/dbc/dbc.h"

-const QString AUTO_SAVE_EXTENSION = ".tmp";
-
 class DBCFile {
 public:
  DBCFile(const QString &dbc_file_name);
@@ -15,9 +13,7 @@ public:

  bool save();
  bool saveAs(const QString &new_filename);
-  bool autoSave();
  bool writeContents(const QString &fn);
-  void cleanupAutoSaveFile();
  QString generateDBC();

  void updateMsg(const MessageId &id, const QString &name, uint32_t size, const QString &node, const QString &comment);
@@ -27,7 +23,7 @@ public:
  cabana::Msg *msg(uint32_t address);
  cabana::Msg *msg(const QString &name);
  inline cabana::Msg *msg(const MessageId &id) { return msg(id.address); }
-  cabana::Signal *signal(uint32_t address, const QString name);
+  cabana::Signal *signal(uint32_t address, const QString &name);

  inline QString name() const { return name_.isEmpty() ? "untitled" : name_; }
  inline bool isEmpty() const { return msgs.empty() && name_.isEmpty(); }
@@ -12,6 +12,7 @@
 #include <QJsonObject>
 #include <QMenuBar>
 #include <QMessageBox>
+#include <QProgressDialog>
 #include <QResizeEvent>
 #include <QShortcut>
 #include <QTextDocument>
@@ -23,9 +24,8 @@
 #include "tools/cabana/streamselector.h"
 #include "tools/cabana/tools/findsignal.h"
 #include "tools/cabana/utils/export.h"
-#include "tools/replay/replay.h"

-MainWindow::MainWindow() : QMainWindow() {
+MainWindow::MainWindow(AbstractStream *stream, const QString &dbc_file) : QMainWindow() {
  loadFingerprints();
  createDockWindows();
  setCentralWidget(center_widget = new CenterWidget(this));
@@ -65,10 +65,10 @@ MainWindow::MainWindow() : QMainWindow() {
  QObject::connect(this, &MainWindow::updateProgressBar, this, &MainWindow::updateDownloadProgress);
  QObject::connect(dbc(), &DBCManager::DBCFileChanged, this, &MainWindow::DBCFileChanged);
  QObject::connect(UndoStack::instance(), &QUndoStack::cleanChanged, this, &MainWindow::undoStackCleanChanged);
-  QObject::connect(UndoStack::instance(), &QUndoStack::indexChanged, this, &MainWindow::undoStackIndexChanged);
  QObject::connect(&settings, &Settings::changed, this, &MainWindow::updateStatus);
-  QObject::connect(StreamNotifier::instance(), &StreamNotifier::changingStream, this, &MainWindow::changingStream);
-  QObject::connect(StreamNotifier::instance(), &StreamNotifier::streamStarted, this, &MainWindow::streamStarted);
+
+  QTimer::singleShot(0, this, [=]() { stream ? openStream(stream, dbc_file) : selectAndOpenStream(); });
+  show();
 }

 void MainWindow::loadFingerprints() {
@@ -76,16 +76,12 @@ void MainWindow::loadFingerprints() {
  if (json_file.open(QIODevice::ReadOnly)) {
    fingerprint_to_dbc = QJsonDocument::fromJson(json_file.readAll());
  }
-  // get opendbc names
-  for (auto fn : QDir(OPENDBC_FILE_PATH).entryList({"*.dbc"}, QDir::Files, QDir::Name)) {
-    opendbc_names << QFileInfo(fn).baseName();
-  }
 }

 void MainWindow::createActions() {
  // File menu
  QMenu *file_menu = menuBar()->addMenu(tr("&File"));
-  file_menu->addAction(tr("Open Stream..."), this, &MainWindow::openStream);
+  file_menu->addAction(tr("Open Stream..."), this, &MainWindow::selectAndOpenStream);
  close_stream_act = file_menu->addAction(tr("Close stream"), this, &MainWindow::closeStream);
  export_to_csv_act = file_menu->addAction(tr("Export to CSV..."), this, &MainWindow::exportToCSV);
  close_stream_act->setEnabled(false);
@@ -96,20 +92,15 @@ void MainWindow::createActions() {
  file_menu->addAction(tr("Open DBC File..."), [this]() { openFile(); }, QKeySequence::Open);

  manage_dbcs_menu = file_menu->addMenu(tr("Manage &DBC Files"));
+  QObject::connect(manage_dbcs_menu, &QMenu::aboutToShow, this, &MainWindow::updateLoadSaveMenus);

  open_recent_menu = file_menu->addMenu(tr("Open &Recent"));
-  for (int i = 0; i < MAX_RECENT_FILES; ++i) {
-    recent_files_acts[i] = new QAction(this);
-    recent_files_acts[i]->setVisible(false);
-    QObject::connect(recent_files_acts[i], &QAction::triggered, this, &MainWindow::openRecentFile);
-    open_recent_menu->addAction(recent_files_acts[i]);
-  }
-  updateRecentFileActions();
+  QObject::connect(open_recent_menu, &QMenu::aboutToShow, this, &MainWindow::updateRecentFileMenu);

  file_menu->addSeparator();
  QMenu *load_opendbc_menu = file_menu->addMenu(tr("Load DBC from commaai/opendbc"));
  // load_opendbc_menu->setStyleSheet("QMenu { menu-scrollable: true; }");
-  for (const auto &dbc_name : opendbc_names) {
+  for (const auto &dbc_name : QDir(OPENDBC_FILE_PATH).entryList({"*.dbc"}, QDir::Files, QDir::Name)) {
    load_opendbc_menu->addAction(dbc_name, [this, name = dbc_name]() { loadDBCFromOpendbc(name); });
  }

@@ -180,6 +171,7 @@ void MainWindow::createDockWidgets() {
  messages_widget = new MessagesWidget(this);
  messages_dock->setWidget(messages_widget);
  QObject::connect(messages_widget, &MessagesWidget::titleChanged, messages_dock, &QDockWidget::setWindowTitle);
+  QObject::connect(messages_widget, &MessagesWidget::msgSelectionChanged, center_widget, &CenterWidget::setMessage);

  // right panel
  charts_widget = new ChartsWidget(this);
@@ -209,67 +201,52 @@ void MainWindow::createStatusBar() {
  progress_bar->setVisible(false);
  statusBar()->addWidget(new QLabel(tr("For Help, Press F1")));
  statusBar()->addPermanentWidget(progress_bar);
-
  statusBar()->addPermanentWidget(status_label = new QLabel(this));
  updateStatus();
 }

 void MainWindow::createShortcuts() {
  auto shortcut = new QShortcut(QKeySequence(Qt::Key_Space), this, nullptr, nullptr, Qt::ApplicationShortcut);
-  QObject::connect(shortcut, &QShortcut::activated, []() { can->pause(!can->isPaused()); });
+  QObject::connect(shortcut, &QShortcut::activated, this, []() {
+    if (can) can->pause(!can->isPaused());
+  });
  // TODO: add more shortcuts here.
 }

-void MainWindow::undoStackIndexChanged(int index) {
-  int count = UndoStack::instance()->count();
-  if (count >= 0) {
-    QString command_text;
-    if (index == count) {
-      command_text = (count == prev_undostack_count ? "Redo " : "") + UndoStack::instance()->text(index - 1);
-    } else if (index < prev_undostack_index) {
-      command_text = tr("Undo %1").arg(UndoStack::instance()->text(index));
-    } else if (index > prev_undostack_index) {
-      command_text = tr("Redo %1").arg(UndoStack::instance()->text(index - 1));
-    }
-    statusBar()->showMessage(command_text, 2000);
-  }
-  prev_undostack_index = index;
-  prev_undostack_count = count;
-  autoSave();
-  updateLoadSaveMenus();
-}
-
 void MainWindow::undoStackCleanChanged(bool clean) {
-  if (clean) {
-    prev_undostack_index = 0;
-    prev_undostack_count = 0;
-  }
  setWindowModified(!clean);
 }

 void MainWindow::DBCFileChanged() {
  UndoStack::instance()->clear();
-  updateLoadSaveMenus();
+
+  // Update file menu
+  int cnt = dbc()->nonEmptyDBCCount();
+  save_dbc->setText(cnt > 1 ? tr("Save %1 DBCs...").arg(cnt) : tr("Save DBC..."));
+  save_dbc->setEnabled(cnt > 0);
+  save_dbc_as->setEnabled(cnt == 1);
+  // TODO: Support clipboard for multiple files
+  copy_dbc_to_clipboard->setEnabled(cnt == 1);
+  manage_dbcs_menu->setEnabled(dynamic_cast<DummyStream *>(can) == nullptr);
+
+  QStringList title;
+  for (auto f : dbc()->allDBCFiles()) {
+    title.push_back(tr("(%1) %2").arg(toString(dbc()->sources(f)), f->name()));
+  }
+  setWindowFilePath(title.join(" | "));
 }

-void MainWindow::openStream() {
-  AbstractStream *stream = nullptr;
-  StreamSelector dlg(&stream, this);
+void MainWindow::selectAndOpenStream() {
+  StreamSelector dlg(this);
  if (dlg.exec()) {
-    if (!dlg.dbcFile().isEmpty()) {
-      loadFile(dlg.dbcFile());
-    }
-    stream->start();
-    statusBar()->showMessage(tr("Route %1 loaded").arg(can->routeName()), 2000);
+    openStream(dlg.stream(), dlg.dbcFile());
  } else if (!can) {
-    stream = new DummyStream(this);
-    stream->start();
+    openStream(new DummyStream(this));
  }
 }

 void MainWindow::closeStream() {
-  AbstractStream *stream = new DummyStream(this);
-  stream->start();
+  openStream(new DummyStream(this));
  if (dbc()->nonEmptyDBCCount() > 0) {
    emit dbc()->DBCFileChanged();
  }
@@ -301,18 +278,8 @@ void MainWindow::loadFile(const QString &fn, SourceSet s) {
  if (!fn.isEmpty()) {
    closeFile(s);

-    QString dbc_fn = fn;
-    // Prompt user to load auto saved file if it exists.
-    if (QFile::exists(fn + AUTO_SAVE_EXTENSION)) {
-      auto ret = QMessageBox::question(this, tr("Auto saved DBC found"), tr("Auto saved DBC file from previous session found. Do you want to load it instead?"));
-      if (ret == QMessageBox::Yes) {
-        dbc_fn += AUTO_SAVE_EXTENSION;
-        UndoStack::instance()->resetClean(); // Force user to save on close so the auto saved file is not lost
-      }
-    }
-
    QString error;
-    if (dbc()->open(s, dbc_fn, &error)) {
+    if (dbc()->open(s, fn, &error)) {
      updateRecentFiles(fn);
      statusBar()->showMessage(tr("DBC File %1 loaded").arg(fn), 2000);
    } else {
@@ -323,15 +290,8 @@ void MainWindow::loadFile(const QString &fn, SourceSet s) {
  }
 }

-void MainWindow::openRecentFile() {
-  if (auto action = qobject_cast<QAction *>(sender())) {
-    loadFile(action->data().toString());
-  }
-}
-
 void MainWindow::loadDBCFromOpendbc(const QString &name) {
-  QString opendbc_file_path = QString("%1/%2.dbc").arg(OPENDBC_FILE_PATH, name);
-  loadFile(opendbc_file_path);
+  loadFile(QString("%1/%2").arg(OPENDBC_FILE_PATH, name));
 }

 void MainWindow::loadFromClipboard(SourceSet s, bool close_all) {
@@ -349,13 +309,19 @@ void MainWindow::loadFromClipboard(SourceSet s, bool close_all) {
  }
 }

-void MainWindow::changingStream() {
+void MainWindow::openStream(AbstractStream *stream, const QString &dbc_file) {
  center_widget->clear();
  delete messages_widget;
  delete video_splitter;
-}

-void MainWindow::streamStarted() {
+  delete can;
+  can = stream;
+  can->setParent(this);  // take ownership
+  can->start();
+
+  loadFile(dbc_file);
+  statusBar()->showMessage(tr("Stream [%1] started").arg(can->routeName()), 2000);
+
  bool has_stream = dynamic_cast<DummyStream *>(can) == nullptr;
  close_stream_act->setEnabled(has_stream);
  export_to_csv_act->setEnabled(has_stream);
@@ -372,9 +338,20 @@ void MainWindow::streamStarted() {
    newFile();
  }

-  QObject::connect(messages_widget, &MessagesWidget::msgSelectionChanged, center_widget, &CenterWidget::setMessage);
  QObject::connect(can, &AbstractStream::eventsMerged, this, &MainWindow::eventsMerged);
-  QObject::connect(can, &AbstractStream::sourcesUpdated, this, &MainWindow::updateLoadSaveMenus);
+
+  if (has_stream) {
+    auto wait_dlg = new QProgressDialog(
+        can->liveStreaming() ? tr("Waiting for the live stream to start...") : tr("Loading segment data..."),
+        tr("&Abort"), 0, 100, this);
+    wait_dlg->setWindowModality(Qt::WindowModal);
+    wait_dlg->setFixedSize(400, wait_dlg->sizeHint().height());
+    QObject::connect(wait_dlg, &QProgressDialog::canceled, this, &MainWindow::close);
+    QObject::connect(can, &AbstractStream::eventsMerged, wait_dlg, &QProgressDialog::deleteLater);
+    QObject::connect(this, &MainWindow::updateProgressBar, wait_dlg, [=](uint64_t cur, uint64_t total, bool success) {
+      wait_dlg->setValue((int)((cur / (double)total) * 100));
+    });
+  }
 }

 void MainWindow::eventsMerged() {
@@ -383,12 +360,8 @@ void MainWindow::eventsMerged() {
                                    .arg(can->routeName())
                                    .arg(car_fingerprint.isEmpty() ? tr("Unknown Car") : car_fingerprint));
    // Don't overwrite already loaded DBC
-    if (!dbc()->nonEmptyDBCCount() && !car_fingerprint.isEmpty()) {
-      auto dbc_name = fingerprint_to_dbc[car_fingerprint];
-      if (dbc_name != QJsonValue::Undefined) {
-        // Prevent dialog that load autosaved file from blocking replay->start().
-        QTimer::singleShot(0, this, [dbc_name, this]() { loadDBCFromOpendbc(dbc_name.toString()); });
-      }
+    if (!dbc()->nonEmptyDBCCount() && fingerprint_to_dbc.object().contains(car_fingerprint)) {
+      QTimer::singleShot(0, this, [this]() { loadDBCFromOpendbc(fingerprint_to_dbc[car_fingerprint].toString() + ".dbc"); });
    }
  }
 }
@@ -409,22 +382,6 @@ void MainWindow::saveAs() {
  }
 }

-void MainWindow::autoSave() {
-  if (!UndoStack::instance()->isClean()) {
-    for (auto dbc_file : dbc()->allDBCFiles()) {
-      if (!dbc_file->filename.isEmpty()) {
-        dbc_file->autoSave();
-      }
-    }
-  }
-}
-
-void MainWindow::cleanupAutoSaveFile() {
-  for (auto dbc_file : dbc()->allDBCFiles()) {
-    dbc_file->cleanupAutoSaveFile();
-  }
-}
-
 void MainWindow::closeFile(SourceSet s) {
  remindSaveChanges();
  if (s == SOURCE_ALL) {
@@ -448,7 +405,6 @@ void MainWindow::saveFile(DBCFile *dbc_file) {
  assert(dbc_file != nullptr);
  if (!dbc_file->filename.isEmpty()) {
    dbc_file->save();
-    updateLoadSaveMenus();
    UndoStack::instance()->setClean();
    statusBar()->showMessage(tr("File saved"), 2000);
  } else if (!dbc_file->isEmpty()) {
@@ -464,7 +420,6 @@ void MainWindow::saveFileAs(DBCFile *dbc_file) {
    UndoStack::instance()->setClean();
    statusBar()->showMessage(tr("File saved as %1").arg(fn), 2000);
    updateRecentFiles(fn);
-    updateLoadSaveMenus();
  }
 }

@@ -483,16 +438,7 @@ void MainWindow::saveFileToClipboard(DBCFile *dbc_file) {
 }

 void MainWindow::updateLoadSaveMenus() {
-  int cnt = dbc()->nonEmptyDBCCount();
-  save_dbc->setText(cnt > 1 ? tr("Save %1 DBCs...").arg(cnt) : tr("Save DBC..."));
-  save_dbc->setEnabled(cnt > 0);
-  save_dbc_as->setEnabled(cnt == 1);
-
-  // TODO: Support clipboard for multiple files
-  copy_dbc_to_clipboard->setEnabled(cnt == 1);
-
  manage_dbcs_menu->clear();
-  manage_dbcs_menu->setEnabled(dynamic_cast<DummyStream *>(can) == nullptr);

  for (int source : can->sources) {
    if (source >= 64) continue; // Sent and blocked buses are handled implicitly
@@ -505,8 +451,8 @@ void MainWindow::updateLoadSaveMenus() {
    bus_menu->addAction(tr("Load DBC From Clipboard..."), [=]() { loadFromClipboard(ss, false); });

    // Show sub-menu for each dbc for this source.
-    QString file_name = "No DBCs loaded";
-    if (auto dbc_file = dbc()->findDBCFile(source)) {
+    auto dbc_file = dbc()->findDBCFile(source);
+    if (dbc_file) {
      bus_menu->addSeparator();
      bus_menu->addAction(dbc_file->name() + " (" + toString(dbc()->sources(dbc_file)) + ")")->setEnabled(false);
      bus_menu->addAction(tr("Save..."), [=]() { saveFile(dbc_file); });
@@ -514,19 +460,11 @@ void MainWindow::updateLoadSaveMenus() {
      bus_menu->addAction(tr("Copy to Clipboard..."), [=]() { saveFileToClipboard(dbc_file); });
      bus_menu->addAction(tr("Remove from this bus..."), [=]() { closeFile(ss); });
      bus_menu->addAction(tr("Remove from all buses..."), [=]() { closeFile(dbc_file); });
-
-      file_name = dbc_file->name();
    }
+    bus_menu->setTitle(tr("Bus %1 (%2)").arg(source).arg(dbc_file ? dbc_file->name() : "No DBCs loaded"));

    manage_dbcs_menu->addMenu(bus_menu);
-    bus_menu->setTitle(tr("Bus %1 (%2)").arg(source).arg(file_name));
  }
-
-  QStringList title;
-  for (auto f : dbc()->allDBCFiles()) {
-    title.push_back(tr("(%1) %2").arg(toString(dbc()->sources(f)), f->name()));
-  }
-  setWindowFilePath(title.join(" | "));
 }

 void MainWindow::updateRecentFiles(const QString &fn) {
@@ -536,21 +474,21 @@ void MainWindow::updateRecentFiles(const QString &fn) {
    settings.recent_files.removeLast();
  }
  settings.last_dir = QFileInfo(fn).absolutePath();
-  updateRecentFileActions();
 }

-void MainWindow::updateRecentFileActions() {
+void MainWindow::updateRecentFileMenu() {
+  open_recent_menu->clear();
+
  int num_recent_files = std::min<int>(settings.recent_files.size(), MAX_RECENT_FILES);
+  if (!num_recent_files) {
+    open_recent_menu->addAction(tr("No Recent Files"))->setEnabled(false);
+    return;
+  }
+
  for (int i = 0; i < num_recent_files; ++i) {
    QString text = tr("&%1 %2").arg(i + 1).arg(QFileInfo(settings.recent_files[i]).fileName());
-    recent_files_acts[i]->setText(text);
-    recent_files_acts[i]->setData(settings.recent_files[i]);
-    recent_files_acts[i]->setVisible(true);
+    open_recent_menu->addAction(text, this, [this, file = settings.recent_files[i]]() { loadFile(file); });
  }
-  for (int i = num_recent_files; i < MAX_RECENT_FILES; ++i) {
-    recent_files_acts[i]->setVisible(false);
-  }
-  open_recent_menu->setEnabled(num_recent_files > 0);
 }

 void MainWindow::remindSaveChanges() {
@@ -606,7 +544,6 @@ void MainWindow::toggleChartsDocking() {
 }

 void MainWindow::closeEvent(QCloseEvent *event) {
-  cleanupAutoSaveFile();
  remindSaveChanges();

  installDownloadProgressHandler(nullptr);
@@ -618,7 +555,7 @@ void MainWindow::closeEvent(QCloseEvent *event) {
  // save states
  settings.geometry = saveGeometry();
  settings.window_state = saveState();
-  if (!can->liveStreaming()) {
+  if (can && !can->liveStreaming()) {
    settings.video_splitter_state = video_splitter->saveState();
  }
  settings.message_header_state = messages_widget->saveHeaderState();
@@ -20,22 +20,20 @@ class MainWindow : public QMainWindow {
  Q_OBJECT

 public:
-  MainWindow();
+  MainWindow(AbstractStream *stream, const QString &dbc_file);
  void toggleChartsDocking();
  void showStatusMessage(const QString &msg, int timeout = 0) { statusBar()->showMessage(msg, timeout); }
  void loadFile(const QString &fn, SourceSet s = SOURCE_ALL);
  ChartsWidget *charts_widget = nullptr;

 public slots:
-  void openStream();
+  void selectAndOpenStream();
+  void openStream(AbstractStream *stream, const QString &dbc_file = {});
  void closeStream();
  void exportToCSV();
-  void changingStream();
-  void streamStarted();

  void newFile(SourceSet s = SOURCE_ALL);
  void openFile(SourceSet s = SOURCE_ALL);
-  void openRecentFile();
  void loadDBCFromOpendbc(const QString &name);
  void save();
  void saveAs();
@@ -55,10 +53,8 @@ protected:
  void saveFileToClipboard(DBCFile *dbc_file);
  void loadFingerprints();
  void loadFromClipboard(SourceSet s = SOURCE_ALL, bool close_all = true);
-  void autoSave();
-  void cleanupAutoSaveFile();
  void updateRecentFiles(const QString &fn);
-  void updateRecentFileActions();
+  void updateRecentFileMenu();
  void createActions();
  void createDockWindows();
  void createStatusBar();
@@ -70,7 +66,6 @@ protected:
  void findSimilarBits();
  void findSignal();
  void undoStackCleanChanged(bool clean);
-  void undoStackIndexChanged(int index);
  void onlineHelp();
  void toggleFullScreen();
  void updateStatus();
@@ -88,10 +83,8 @@ protected:
  QProgressBar *progress_bar;
  QLabel *status_label;
  QJsonDocument fingerprint_to_dbc;
-  QStringList opendbc_names;
  QSplitter *video_splitter = nullptr;
  enum { MAX_RECENT_FILES = 15 };
-  QAction *recent_files_acts[MAX_RECENT_FILES] = {};
  QMenu *open_recent_menu = nullptr;
  QMenu *manage_dbcs_menu = nullptr;
  QMenu *tools_menu = nullptr;
@@ -101,8 +94,6 @@ protected:
  QAction *save_dbc_as = nullptr;
  QAction *copy_dbc_to_clipboard = nullptr;
  QString car_fingerprint;
-  int prev_undostack_index = 0;
-  int prev_undostack_count = 0;
  QByteArray default_state;
 };

@@ -494,6 +494,7 @@ SignalView::SignalView(ChartsWidget *charts, QWidget *parent) : charts(charts),
 }

 void SignalView::setMessage(const MessageId &id) {
+  max_value_width = 0;
  filter_edit->clear();
  model->setMessage(id);
 }
@@ -617,7 +618,6 @@ void SignalView::updateState(const std::set<MessageId> *msgs) {
  const auto &last_msg = can->lastMessage(model->msg_id);
  if (model->rowCount() == 0 || (msgs && !msgs->count(model->msg_id)) || last_msg.dat.size() == 0) return;

-  int max_value_width = 0;
  for (auto item : model->root->children) {
    double value = 0;
    if (item->sig->getValue(last_msg.dat.data(), last_msg.dat.size(), &value)) {
@@ -135,6 +135,7 @@ private:
      QTreeView::leaveEvent(event);
    }
  };
+  int max_value_width = 0;
  int value_column_width = 0;
  TreeView *tree;
  QLabel *sparkline_label;
@@ -10,11 +10,6 @@ static const int EVENT_NEXT_BUFFER_SIZE = 6 * 1024 * 1024;  // 6MB

 AbstractStream *can = nullptr;

-StreamNotifier *StreamNotifier::instance() {
-  static StreamNotifier notifier;
-  return &notifier;
-}
-
 AbstractStream::AbstractStream(QObject *parent) : QObject(parent) {
  assert(parent != nullptr);
  event_buffer_ = std::make_unique<MonotonicBuffer>(EVENT_NEXT_BUFFER_SIZE);
@@ -24,12 +19,6 @@ AbstractStream::AbstractStream(QObject *parent) : QObject(parent) {
  QObject::connect(this, &AbstractStream::seeking, this, [this](double sec) { current_sec_ = sec; });
  QObject::connect(dbc(), &DBCManager::DBCFileChanged, this, &AbstractStream::updateMasks);
  QObject::connect(dbc(), &DBCManager::maskUpdated, this, &AbstractStream::updateMasks);
-  QObject::connect(this, &AbstractStream::streamStarted, [this]() {
-    emit StreamNotifier::instance()->changingStream();
-    delete can;
-    can = this;
-    emit StreamNotifier::instance()->streamStarted();
-  });
 }

 void AbstractStream::updateMasks() {
@@ -96,7 +96,6 @@ signals:
  void seeking(double sec);
  void seekedTo(double sec);
  void timeRangeChanged(const std::optional<std::pair<double, double>> &range);
-  void streamStarted();
  void eventsMerged(const MessageEventsMap &events_map);
  void msgsReceived(const std::set<MessageId> *new_msgs, bool has_new_ids);
  void sourcesUpdated(const SourceSet &s);
@@ -133,15 +132,11 @@ private:
 class AbstractOpenStreamWidget : public QWidget {
  Q_OBJECT
 public:
-  AbstractOpenStreamWidget(AbstractStream **stream, QWidget *parent = nullptr) : stream(stream), QWidget(parent) {}
-  virtual bool open() = 0;
-  virtual QString title() = 0;
+  AbstractOpenStreamWidget(QWidget *parent = nullptr) : QWidget(parent) {}
+  virtual AbstractStream *open() = 0;

 signals:
  void enableOpenButton(bool);
-
-protected:
-  AbstractStream **stream = nullptr;
 };

 class DummyStream : public AbstractStream {
@@ -149,17 +144,7 @@ class DummyStream : public AbstractStream {
 public:
  DummyStream(QObject *parent) : AbstractStream(parent) {}
  QString routeName() const override { return tr("No Stream"); }
-  void start() override { emit streamStarted(); }
-};
-
-class StreamNotifier : public QObject {
-  Q_OBJECT
-public:
-  StreamNotifier(QObject *parent = nullptr) : QObject(parent) {}
-  static StreamNotifier* instance();
-signals:
-  void streamStarted();
-  void changingStream();
+  void start() override {}
 };

 // A global pointer referring to the unique AbstractStream object
@@ -33,13 +33,9 @@ void DeviceStream::streamThread() {
  }
 }

-AbstractOpenStreamWidget *DeviceStream::widget(AbstractStream **stream) {
-  return new OpenDeviceWidget(stream);
-}
-
 // OpenDeviceWidget

-OpenDeviceWidget::OpenDeviceWidget(AbstractStream **stream) : AbstractOpenStreamWidget(stream) {
+OpenDeviceWidget::OpenDeviceWidget(QWidget *parent) : AbstractOpenStreamWidget(parent) {
  QRadioButton *msgq = new QRadioButton(tr("MSGQ"));
  QRadioButton *zmq = new QRadioButton(tr("ZMQ"));
  ip_address = new QLineEdit(this);
@@ -62,9 +58,8 @@ OpenDeviceWidget::OpenDeviceWidget(AbstractStream **stream) : AbstractOpenStream
  zmq->setChecked(true);
 }

-bool OpenDeviceWidget::open() {
+AbstractStream *OpenDeviceWidget::open() {
  QString ip = ip_address->text().isEmpty() ? "127.0.0.1" : ip_address->text();
  bool msgq = group->checkedId() == 0;
-  *stream = new DeviceStream(qApp, msgq ? "" : ip);
-  return true;
+  return new DeviceStream(qApp, msgq ? "" : ip);
 }
@@ -6,7 +6,6 @@ class DeviceStream : public LiveStream {
  Q_OBJECT
 public:
  DeviceStream(QObject *parent, QString address = {});
-  static AbstractOpenStreamWidget *widget(AbstractStream **stream);
  inline QString routeName() const override {
    return QString("Live Streaming From %1").arg(zmq_address.isEmpty() ? "127.0.0.1" : zmq_address);
  }
@@ -20,9 +19,8 @@ class OpenDeviceWidget : public AbstractOpenStreamWidget {
  Q_OBJECT

 public:
-  OpenDeviceWidget(AbstractStream **stream);
-  bool open() override;
-  QString title() override { return tr("&Device"); }
+  OpenDeviceWidget(QWidget *parent = nullptr);
+  AbstractStream *open() override;

 private:
  QLineEdit *ip_address;
@@ -53,7 +53,6 @@ void LiveStream::startUpdateTimer() {
 }

 void LiveStream::start() {
-  emit streamStarted();
  stream_thread->start();
  startUpdateTimer();
  begin_date_time = QDateTime::currentDateTime();
@@ -77,13 +77,9 @@ void PandaStream::streamThread() {
  }
 }

-AbstractOpenStreamWidget *PandaStream::widget(AbstractStream **stream) {
-  return new OpenPandaWidget(stream);
-}
-
 // OpenPandaWidget

-OpenPandaWidget::OpenPandaWidget(AbstractStream **stream) : AbstractOpenStreamWidget(stream) {
+OpenPandaWidget::OpenPandaWidget(QWidget *parent) : AbstractOpenStreamWidget(parent) {
  form_layout = new QFormLayout(this);
  if (can && dynamic_cast<PandaStream *>(can) != nullptr) {
    form_layout->addWidget(new QLabel(tr("Already connected to %1.").arg(can->routeName())));
@@ -182,12 +178,11 @@ void OpenPandaWidget::buildConfigForm() {
  }
 }

-bool OpenPandaWidget::open() {
+AbstractStream *OpenPandaWidget::open() {
  try {
-    *stream = new PandaStream(qApp, config);
-    return true;
+    return new PandaStream(qApp, config);
  } catch (std::exception &e) {
    QMessageBox::warning(nullptr, tr("Warning"), tr("Failed to connect to panda: '%1'").arg(e.what()));
-    return false;
+    return nullptr;
  }
 }
@@ -28,7 +28,6 @@ class PandaStream : public LiveStream {
 public:
  PandaStream(QObject *parent, PandaStreamConfig config_ = {});
  ~PandaStream() { stop(); }
-  static AbstractOpenStreamWidget *widget(AbstractStream **stream);
  inline QString routeName() const override {
    return QString("Panda: %1").arg(config.serial);
  }
@@ -45,9 +44,8 @@ class OpenPandaWidget : public AbstractOpenStreamWidget {
  Q_OBJECT

 public:
-  OpenPandaWidget(AbstractStream **stream);
-  bool open() override;
-  QString title() override { return tr("&Panda"); }
+  OpenPandaWidget(QWidget *parent = nullptr);
+  AbstractStream *open() override;

 private:
  void refreshSerials();
@@ -83,11 +83,6 @@ bool ReplayStream::loadRoute(const QString &route, const QString &data_dir, uint
  return success;
 }

-void ReplayStream::start() {
-  emit streamStarted();
-  replay->start();
-}
-
 bool ReplayStream::eventFilter(const Event *event) {
  static double prev_update_ts = 0;
  if (event->which == cereal::Event::Which::CAN) {
@@ -115,13 +110,9 @@ void ReplayStream::pause(bool pause) {
 }


-AbstractOpenStreamWidget *ReplayStream::widget(AbstractStream **stream) {
-  return new OpenReplayWidget(stream);
-}
-
 // OpenReplayWidget

-OpenReplayWidget::OpenReplayWidget(AbstractStream **stream) : AbstractOpenStreamWidget(stream) {
+OpenReplayWidget::OpenReplayWidget(QWidget *parent) : AbstractOpenStreamWidget(parent) {
  QGridLayout *grid_layout = new QGridLayout(this);
  grid_layout->addWidget(new QLabel(tr("Route")), 0, 0);
  grid_layout->addWidget(route_edit = new QLineEdit(this), 0, 1);
@@ -154,7 +145,7 @@ OpenReplayWidget::OpenReplayWidget(AbstractStream **stream) : AbstractOpenStream
  });
 }

-bool OpenReplayWidget::open() {
+AbstractStream *OpenReplayWidget::open() {
  QString route = route_edit->text();
  QString data_dir;
  if (int idx = route.lastIndexOf('/'); idx != -1 && util::file_exists(route.toStdString())) {
@@ -173,8 +164,8 @@ bool OpenReplayWidget::open() {
    if (flags == REPLAY_FLAG_NONE && !cameras[0]->isChecked()) flags = REPLAY_FLAG_NO_VIPC;

    if (replay_stream->loadRoute(route, data_dir, flags)) {
-      *stream = replay_stream.release();
+      return replay_stream.release();
    }
  }
-  return *stream != nullptr;
+  return nullptr;
 }
@@ -15,7 +15,7 @@ class ReplayStream : public AbstractStream {

 public:
  ReplayStream(QObject *parent);
-  void start() override;
+  void start() override { replay->start(); }
  bool loadRoute(const QString &route, const QString &data_dir, uint32_t replay_flags = REPLAY_FLAG_NONE);
  bool eventFilter(const Event *event);
  void seekTo(double ts) override { replay->seekTo(std::max(double(0), ts), false); }
@@ -31,7 +31,6 @@ public:
  inline Replay *getReplay() const { return replay.get(); }
  inline bool isPaused() const override { return replay->isPaused(); }
  void pause(bool pause) override;
-  static AbstractOpenStreamWidget *widget(AbstractStream **stream);

 private:
  void mergeSegments();
@@ -44,9 +43,8 @@ class OpenReplayWidget : public AbstractOpenStreamWidget {
  Q_OBJECT

 public:
-  OpenReplayWidget(AbstractStream **stream);
-  bool open() override;
-  QString title() override { return tr("&Replay"); }
+  OpenReplayWidget(QWidget *parent = nullptr);
+  AbstractStream *open() override;

 private:
  QLineEdit *route_edit;
@@ -66,11 +66,7 @@ void SocketCanStream::streamThread() {
  }
 }

-AbstractOpenStreamWidget *SocketCanStream::widget(AbstractStream **stream) {
-  return new OpenSocketCanWidget(stream);
-}
-
-OpenSocketCanWidget::OpenSocketCanWidget(AbstractStream **stream) : AbstractOpenStreamWidget(stream) {
+OpenSocketCanWidget::OpenSocketCanWidget(QWidget *parent) : AbstractOpenStreamWidget(parent) {
  QVBoxLayout *main_layout = new QVBoxLayout(this);
  main_layout->addStretch(1);

@@ -104,12 +100,11 @@ void OpenSocketCanWidget::refreshDevices() {
 }


-bool OpenSocketCanWidget::open() {
+AbstractStream *OpenSocketCanWidget::open() {
  try {
-    *stream = new SocketCanStream(qApp, config);
+    return new SocketCanStream(qApp, config);
  } catch (std::exception &e) {
    QMessageBox::warning(nullptr, tr("Warning"), tr("Failed to connect to SocketCAN device: '%1'").arg(e.what()));
-    return false;
+    return nullptr;
  }
-  return true;
 }
@@ -18,7 +18,6 @@ class SocketCanStream : public LiveStream {
 public:
  SocketCanStream(QObject *parent, SocketCanStreamConfig config_ = {});
  ~SocketCanStream() { stop(); }
-  static AbstractOpenStreamWidget *widget(AbstractStream **stream);
  static bool available();

  inline QString routeName() const override {
@@ -37,9 +36,8 @@ class OpenSocketCanWidget : public AbstractOpenStreamWidget {
  Q_OBJECT

 public:
-  OpenSocketCanWidget(AbstractStream **stream);
-  bool open() override;
-  QString title() override { return tr("&SocketCAN"); }
+  OpenSocketCanWidget(QWidget *parent = nullptr);
+  AbstractStream *open() override;

 private:
  void refreshDevices();
@@ -10,7 +10,7 @@
 #include "tools/cabana/streams/replaystream.h"
 #include "tools/cabana/streams/socketcanstream.h"

-StreamSelector::StreamSelector(AbstractStream **stream, QWidget *parent) : QDialog(parent) {
+StreamSelector::StreamSelector(QWidget *parent) : QDialog(parent) {
  setWindowTitle(tr("Open stream"));
  QVBoxLayout *layout = new QVBoxLayout(this);
  tab = new QTabWidget(this);
@@ -33,17 +33,17 @@ StreamSelector::StreamSelector(AbstractStream **stream, QWidget *parent) : QDial
  btn_box = new QDialogButtonBox(QDialogButtonBox::Open | QDialogButtonBox::Cancel);
  layout->addWidget(btn_box);

-  addStreamWidget(ReplayStream::widget(stream));
-  addStreamWidget(PandaStream::widget(stream));
+  addStreamWidget(new OpenReplayWidget, tr("&Replay"));
+  addStreamWidget(new OpenPandaWidget, tr("&Panda"));
  if (SocketCanStream::available()) {
-    addStreamWidget(SocketCanStream::widget(stream));
+    addStreamWidget(new OpenSocketCanWidget, tr("&SocketCAN"));
  }
-  addStreamWidget(DeviceStream::widget(stream));
+  addStreamWidget(new OpenDeviceWidget, tr("&Device"));

  QObject::connect(btn_box, &QDialogButtonBox::rejected, this, &QDialog::reject);
  QObject::connect(btn_box, &QDialogButtonBox::accepted, [=]() {
    setEnabled(false);
-    if (((AbstractOpenStreamWidget *)tab->currentWidget())->open()) {
+    if (stream_ = ((AbstractOpenStreamWidget *)tab->currentWidget())->open(); stream_) {
      accept();
    }
    setEnabled(true);
@@ -57,8 +57,8 @@ StreamSelector::StreamSelector(AbstractStream **stream, QWidget *parent) : QDial
  });
 }

-void StreamSelector::addStreamWidget(AbstractOpenStreamWidget *w) {
-  tab->addTab(w, w->title());
+void StreamSelector::addStreamWidget(AbstractOpenStreamWidget *w, const QString &title) {
+  tab->addTab(w, title);
  auto open_btn = btn_box->button(QDialogButtonBox::Open);
  QObject::connect(w, &AbstractOpenStreamWidget::enableOpenButton, open_btn, &QPushButton::setEnabled);
 }
@@ -11,11 +11,13 @@ class StreamSelector : public QDialog {
  Q_OBJECT

 public:
-  StreamSelector(AbstractStream **stream, QWidget *parent = nullptr);
-  void addStreamWidget(AbstractOpenStreamWidget *w);
+  StreamSelector(QWidget *parent = nullptr);
+  void addStreamWidget(AbstractOpenStreamWidget *w, const QString &title);
  QString dbcFile() const { return dbc_file->text(); }
+  AbstractStream *stream() const { return stream_; }

 private:
+  AbstractStream *stream_ = nullptr;
  QLineEdit *dbc_file;
  QTabWidget *tab;
  QDialogButtonBox *btn_box;
@@ -1,45 +1,193 @@
 <?xml version='1.0' encoding='UTF-8'?>
 <root>
- <tabbed_widget name="Main Window" parent="main_window">
-  <Tab tab_name="tab1" containers="1">
+ <tabbed_widget parent="main_window" name="Main Window">
+  <Tab containers="1" tab_name="Lateral Plan Conformance">
   <Container>
-    <DockSplitter sizes="0.250298;0.250298;0.249106;0.250298" orientation="-" count="4">
-     <DockArea name="...">
-      <plot style="Lines" flip_x="false" flip_y="false" mode="TimeSeries">
-       <range bottom="-2.900899" top="3.526047" left="825.563261" right="1415.827546"/>
+    <DockSplitter count="4" sizes="0.25;0.25;0.25;0.25" orientation="-">
+     <DockArea name="desired vs actual lateral acceleration (closer means better conformance to plan)">
+      <plot flip_x="false" style="Lines" flip_y="false" mode="TimeSeries">
+       <range top="3.586831" right="269.643117" left="0.000140" bottom="-2.354077"/>
       <limitY/>
-       <curve name="/controlsState/lateralControlState/torqueState/actualLateralAccel" color="#1f77b4"/>
-       <curve name="/controlsState/lateralControlState/torqueState/desiredLateralAccel" color="#d62728"/>
+       <curve color="#1f77b4" name="/controlsState/lateralControlState/torqueState/actualLateralAccel"/>
+       <curve color="#d62728" name="/controlsState/lateralControlState/torqueState/desiredLateralAccel"/>
      </plot>
     </DockArea>
-     <DockArea name="...">
-      <plot style="Lines" flip_x="false" flip_y="false" mode="TimeSeries">
-       <range bottom="-4.577789" top="3.642392" left="825.563261" right="1415.827546"/>
+     <DockArea name="desired vs actual lateral acceleration, road-roll factored out (closer means better conformance to plan)">
+      <plot flip_x="false" style="Lines" flip_y="false" mode="TimeSeries">
+       <range top="3.445087" right="269.643117" left="0.000140" bottom="-2.654874"/>
       <limitY/>
-       <curve name="Actual lateral accel (roll compensated)" color="#1ac938"/>
-       <curve name="Desired lateral accel (roll compensated)" color="#ff7f0e"/>
+       <curve color="#1ac938" name="Actual lateral accel (roll compensated)"/>
+       <curve color="#ff7f0e" name="Desired lateral accel (roll compensated)"/>
      </plot>
     </DockArea>
-     <DockArea name="...">
-      <plot style="Lines" flip_x="false" flip_y="false" mode="TimeSeries">
-       <range bottom="-1.134948" top="1.052072" left="825.563261" right="1415.827546"/>
+     <DockArea name="controller feed-forward vs actuator output (closer means controller prediction is more accurate)">
+      <plot flip_x="false" style="Lines" flip_y="false" mode="TimeSeries">
+       <range top="1.082031" right="269.643117" left="0.000140" bottom="-1.050781"/>
       <limitY/>
-       <curve name="/carOutput/actuatorsOutput/steer" color="#9467bd">
-        <transform name="Scale/Offset" alias="/carOutput/actuatorsOutput/steer[Scale/Offset]">
-         <options time_offset="0" value_scale="-1" value_offset="0"/>
+       <curve color="#9467bd" name="/carOutput/actuatorsOutput/steer">
+        <transform alias="/carOutput/actuatorsOutput/steer[Scale/Offset]" name="Scale/Offset">
+         <options value_scale="-1" time_offset="0" value_offset="0"/>
        </transform>
       </curve>
-       <curve name="/controlsState/lateralControlState/torqueState/f" color="#1f77b4"/>
-       <curve name="/carState/steeringPressed" color="#ff000f"/>
+       <curve color="#1f77b4" name="/controlsState/lateralControlState/torqueState/f"/>
+       <curve color="#ff000f" name="/carState/steeringPressed"/>
      </plot>
     </DockArea>
-     <DockArea name="...">
-      <plot style="Lines" flip_x="false" flip_y="false" mode="TimeSeries">
-       <range bottom="-1.373608" top="56.208012" left="825.563261" right="1415.827546"/>
+     <DockArea name="vehicle speed">
+      <plot flip_x="false" style="Lines" flip_y="false" mode="TimeSeries">
+       <range top="101.506277" right="269.643117" left="0.000140" bottom="-2.475763"/>
       <limitY/>
-       <curve name="carState.vEgo mph" color="#d62728"/>
-       <curve name="carState.vEgo kmh" color="#1ac938"/>
-       <curve name="/carState/vEgo" color="#ff7f0e"/>
+       <curve color="#d62728" name="carState.vEgo mph"/>
+       <curve color="#1ac938" name="carState.vEgo kmh"/>
+       <curve color="#ff7f0e" name="/carState/vEgo"/>
+      </plot>
+     </DockArea>
+    </DockSplitter>
+   </Container>
+  </Tab>
+  <Tab containers="1" tab_name="Actuator Performance">
+   <Container>
+    <DockSplitter count="3" sizes="0.33361;0.33278;0.33361" orientation="-">
+     <DockArea name="offline-calculated vs online-learned lateral accel scaling factor, accel obtained from 100% actuator output">
+      <plot flip_x="false" style="Lines" flip_y="false" mode="TimeSeries">
+       <range top="4.186453" right="269.490213" left="0.000000" bottom="3.175940"/>
+       <limitY/>
+       <curve color="#1f77b4" name="/liveTorqueParameters/latAccelFactorFiltered"/>
+       <curve color="#d62728" name="/liveTorqueParameters/latAccelFactorRaw"/>
+       <curve color="#1c9222" name="/carParams/lateralTuning/torque/latAccelFactor"/>
+      </plot>
+     </DockArea>
+     <DockArea name="learned lateral accel offset, vehicle-specific compensation to obtain true zero lateral accel">
+      <plot flip_x="false" style="Lines" flip_y="false" mode="TimeSeries">
+       <range top="0.003035" right="269.490213" left="0.000000" bottom="-0.124417"/>
+       <limitY/>
+       <curve color="#1ac938" name="/liveTorqueParameters/latAccelOffsetFiltered"/>
+       <curve color="#ff7f0e" name="/liveTorqueParameters/latAccelOffsetRaw"/>
+      </plot>
+     </DockArea>
+     <DockArea name="offline-calculated vs online-learned EPS friction factor, necessary to start moving the steering wheel">
+      <plot flip_x="false" style="Lines" flip_y="false" mode="TimeSeries">
+       <range top="0.121143" right="269.490213" left="0.000000" bottom="-0.002955"/>
+       <limitY/>
+       <curve color="#f14cc1" name="/liveTorqueParameters/frictionCoefficientFiltered"/>
+       <curve color="#9467bd" name="/liveTorqueParameters/frictionCoefficientRaw"/>
+       <curve color="#1c9222" name="/carParams/lateralTuning/torque/friction"/>
+      </plot>
+     </DockArea>
+    </DockSplitter>
+   </Container>
+  </Tab>
+  <Tab containers="1" tab_name="Vehicle Dynamics">
+   <Container>
+    <DockSplitter count="3" sizes="0.33361;0.33278;0.33361" orientation="-">
+     <DockArea name="configured-initial vs online-learned steerRatio, set configured value to match learned">
+      <plot flip_x="false" style="Lines" flip_y="false" mode="TimeSeries">
+       <range top="12.903705" right="269.638801" left="0.000000" bottom="12.748092"/>
+       <limitY/>
+       <curve color="#1f77b4" name="/carParams/steerRatio"/>
+       <curve color="#1ac938" name="/liveParameters/steerRatio"/>
+      </plot>
+     </DockArea>
+     <DockArea name="configured-initial vs online-learned tireStiffnessRatio, set configured value to match learned">
+      <plot flip_x="false" style="Lines" flip_y="false" mode="TimeSeries">
+       <range top="1.000520" right="269.638801" left="0.000000" bottom="0.999718"/>
+       <limitY/>
+       <curve color="#d62728" name="/carParams/tireStiffnessFactor"/>
+       <curve color="#ff7f0e" name="/liveParameters/stiffnessFactor"/>
+      </plot>
+     </DockArea>
+     <DockArea name="live steering angle offsets for straight-ahead driving, large values here may indicate alignment problems">
+      <plot flip_x="false" style="Lines" flip_y="false" mode="TimeSeries">
+       <range top="-0.332067" right="269.638801" left="0.000000" bottom="-3.149970"/>
+       <limitY/>
+       <curve color="#f14cc1" name="/liveParameters/angleOffsetAverageDeg"/>
+       <curve color="#9467bd" name="/liveParameters/angleOffsetDeg"/>
+      </plot>
+     </DockArea>
+    </DockSplitter>
+   </Container>
+  </Tab>
+  <Tab containers="1" tab_name="Controller PIF Terms">
+   <Container>
+    <DockSplitter count="3" sizes="0.33361;0.33278;0.33361" orientation="-">
+     <DockArea name="controller feed-forward vs actuator output (closer means controller prediction is more accurate)">
+      <plot flip_x="false" style="Lines" flip_y="false" mode="TimeSeries">
+       <range top="1.082031" right="269.643117" left="0.000140" bottom="-1.050781"/>
+       <limitY/>
+       <curve color="#9467bd" name="/carOutput/actuatorsOutput/steer">
+        <transform alias="/carOutput/actuatorsOutput/steer[Scale/Offset]" name="Scale/Offset">
+         <options value_scale="-1.0" time_offset="0" value_offset="0"/>
+        </transform>
+       </curve>
+       <curve color="#1f77b4" name="/controlsState/lateralControlState/torqueState/f"/>
+       <curve color="#ff000f" name="/carState/steeringPressed"/>
+      </plot>
+     </DockArea>
+     <DockArea name="proportional, integral, and feed-forward terms (actuator output = sum of PIF terms)">
+      <plot flip_x="false" style="Lines" flip_y="false" mode="TimeSeries">
+       <range top="1.572946" right="269.643117" left="0.000140" bottom="-3.822608"/>
+       <limitY/>
+       <curve color="#0ab027" name="/controlsState/lateralControlState/torqueState/f"/>
+       <curve color="#d62728" name="/controlsState/lateralControlState/torqueState/p"/>
+       <curve color="#ffaf00" name="/controlsState/lateralControlState/torqueState/i"/>
+       <curve color="#756a6a" name="Zero"/>
+      </plot>
+     </DockArea>
+     <DockArea name="road roll angle, from openpilot localizer">
+      <plot flip_x="false" style="Lines" flip_y="false" mode="TimeSeries">
+       <range top="0.059127" right="269.643117" left="0.000140" bottom="-0.031841"/>
+       <limitY/>
+       <curve color="#f14cc1" name="/liveParameters/roll"/>
+      </plot>
+     </DockArea>
+    </DockSplitter>
+   </Container>
+  </Tab>
+  <Tab containers="1" tab_name="Actuator Delay Estimation">
+   <Container>
+    <DockSplitter count="4" sizes="0.25;0.25;0.25;0.25" orientation="-">
+     <DockArea name="desired vs actual lateral acceleration (baseline)">
+      <plot flip_x="false" style="Lines" flip_y="false" mode="TimeSeries">
+       <range top="3.586831" right="269.943117" left="0.134774" bottom="-2.354077"/>
+       <limitY/>
+       <curve color="#d62728" name="/controlsState/lateralControlState/torqueState/desiredLateralAccel"/>
+       <curve color="#1f77b4" name="/controlsState/lateralControlState/torqueState/actualLateralAccel"/>
+      </plot>
+     </DockArea>
+     <DockArea name="desired vs actual lateral acceleration (desired shifted by +0.1s)">
+      <plot flip_x="false" style="Lines" flip_y="false" mode="TimeSeries">
+       <range top="3.586831" right="269.943117" left="0.134774" bottom="-2.354077"/>
+       <limitY/>
+       <curve color="#1ac938" name="/controlsState/lateralControlState/torqueState/desiredLateralAccel">
+        <transform alias="/controlsState/lateralControlState/torqueState/desiredLateralAccel[Scale/Offset]" name="Scale/Offset">
+         <options value_scale="1.0" time_offset="0.1" value_offset="0"/>
+        </transform>
+       </curve>
+       <curve color="#ff7f0e" name="/controlsState/lateralControlState/torqueState/actualLateralAccel"/>
+      </plot>
+     </DockArea>
+     <DockArea name="desired vs actual lateral acceleration (desired shifted by +0.2s)">
+      <plot flip_x="false" style="Lines" flip_y="false" mode="TimeSeries">
+       <range top="3.586831" right="269.943117" left="0.134774" bottom="-2.354077"/>
+       <limitY/>
+       <curve color="#1ac938" name="/controlsState/lateralControlState/torqueState/desiredLateralAccel">
+        <transform alias="/controlsState/lateralControlState/torqueState/desiredLateralAccel[Scale/Offset]" name="Scale/Offset">
+         <options value_scale="1.0" time_offset="0.2" value_offset="0"/>
+        </transform>
+       </curve>
+       <curve color="#ff7f0e" name="/controlsState/lateralControlState/torqueState/actualLateralAccel"/>
+      </plot>
+     </DockArea>
+     <DockArea name="desired vs actual lateral acceleration (desired shifted by +0.3s)">
+      <plot flip_x="false" style="Lines" flip_y="false" mode="TimeSeries">
+       <range top="3.586831" right="269.943117" left="0.134774" bottom="-2.354077"/>
+       <limitY/>
+       <curve color="#1ac938" name="/controlsState/lateralControlState/torqueState/desiredLateralAccel">
+        <transform alias="/controlsState/lateralControlState/torqueState/desiredLateralAccel[Scale/Offset]" name="Scale/Offset">
+         <options value_scale="1.0" time_offset="0.3" value_offset="0"/>
+        </transform>
+       </curve>
+       <curve color="#ff7f0e" name="/controlsState/lateralControlState/torqueState/actualLateralAccel"/>
      </plot>
     </DockArea>
    </DockSplitter>
@@ -57,24 +205,10 @@
 <!-- - - - - - - - - - - - - - - -->
 <!-- - - - - - - - - - - - - - - -->
 <customMathEquations>
-  <snippet name="carState.vEgo kmh">
+  <snippet name="Zero">
   <global></global>
-   <function>return value * 3.6</function>
-   <linked_source>/carState/vEgo</linked_source>
-  </snippet>
-  <snippet name="carState.vEgo mph">
-   <global></global>
-   <function>return value * 2.23694</function>
-   <linked_source>/carState/vEgo</linked_source>
-  </snippet>
-  <snippet name="Desired lateral accel (roll compensated)">
-   <global></global>
-   <function>return (value * v1 ^ 2) - (v2 * 9.81)</function>
-   <linked_source>/controlsState/desiredCurvature</linked_source>
-   <additional_sources>
-    <v1>/carState/vEgo</v1>
-    <v2>/liveParameters/roll</v2>
-   </additional_sources>
+   <function>return (0)</function>
+   <linked_source>/carState/canValid</linked_source>
  </snippet>
  <snippet name="Actual lateral accel (roll compensated)">
   <global></global>
@@ -85,6 +219,25 @@
    <v2>/liveParameters/roll</v2>
   </additional_sources>
  </snippet>
+  <snippet name="Desired lateral accel (roll compensated)">
+   <global></global>
+   <function>return (value * v1 ^ 2) - (v2 * 9.81)</function>
+   <linked_source>/controlsState/desiredCurvature</linked_source>
+   <additional_sources>
+    <v1>/carState/vEgo</v1>
+    <v2>/liveParameters/roll</v2>
+   </additional_sources>
+  </snippet>
+  <snippet name="carState.vEgo mph">
+   <global></global>
+   <function>return value * 2.23694</function>
+   <linked_source>/carState/vEgo</linked_source>
+  </snippet>
+  <snippet name="carState.vEgo kmh">
+   <global></global>
+   <function>return value * 3.6</function>
+   <linked_source>/carState/vEgo</linked_source>
+  </snippet>
 </customMathEquations>
 <snippets/>
 <!-- - - - - - - - - - - - - - - -->
@@ -19,8 +19,10 @@ tools/replay/replay --demo
 # watch the replay with the normal openpilot UI
 cd selfdrive/ui && ./ui

-# or try out a debug visualizer:
-python replay/ui.py
+# or try out radar point visualization in Rerun:
+python replay/rp_visualization.py
+
+# NOTE: To visualize radar points, make sure tools/replay/replay is running.
 ```

 ## usage
@@ -34,10 +36,21 @@ Options:
  -h, --help             Displays this help.
  -a, --allow <allow>    whitelist of services to send
  -b, --block <block>    blacklist of services to send
+  -c, --cache <n>        cache <n> segments in memory. default is 5
  -s, --start <seconds>  start from <seconds>
+  -x <speed>             playback <speed>. between 0.2 - 3
  --demo                 use a demo route instead of providing your own
+  --data_dir <data_dir>  local directory with routes
+  --prefix <prefix>      set OPENPILOT_PREFIX
  --dcam                 load driver camera
  --ecam                 load wide road camera
+  --no-loop              stop at the end of the route
+  --no-cache             turn off local cache
+  --qcam                 load qcamera
+  --no-hw-decoder        disable HW video decoding
+  --no-vipc              do not output video
+  --all                  do output all messages including uiDebug, userFlag.
+                         this may causes issues when used along with UI

 Arguments:
  route                  the drive to replay. find your drives at
@@ -0,0 +1,108 @@
+import numpy as np
+from openpilot.selfdrive.controls.radard import RADAR_TO_CAMERA
+
+# Color palette used for rerun AnnotationContext
+rerunColorPalette = [(96, "red", (255, 0, 0)),
+                     (100, "pink", (255, 36, 0)),
+                     (124, "yellow", (255, 255, 0)),
+                     (230, "vibrantpink", (255, 36, 170)),
+                     (240, "orange", (255, 146, 0)),
+                     (255, "white", (255, 255, 255)),
+                     (110, "carColor", (255,0,127))]
+
+
+class UIParams:
+  lidar_x, lidar_y, lidar_zoom = 384, 960, 6
+  lidar_car_x, lidar_car_y = lidar_x / 2., lidar_y / 1.1
+  car_hwidth = 1.7272 / 2 * lidar_zoom
+  car_front = 2.6924 * lidar_zoom
+  car_back = 1.8796 * lidar_zoom
+  car_color = rerunColorPalette[6][0]
+UP = UIParams
+
+
+def to_topdown_pt(y, x):
+  px, py = x * UP.lidar_zoom + UP.lidar_car_x, -y * UP.lidar_zoom + UP.lidar_car_y
+  if px > 0 and py > 0 and px < UP.lidar_x and py < UP.lidar_y:
+    return int(px), int(py)
+  return -1, -1
+
+
+def draw_path(path, lid_overlay, lid_color=None):
+  x, y = np.asarray(path.x), np.asarray(path.y)
+  # draw lidar path point on lidar
+  if lid_color is not None and lid_overlay is not None:
+    for i in range(len(x)):
+      px, py = to_topdown_pt(x[i], y[i])
+      if px != -1:
+        lid_overlay[px, py] = lid_color
+
+
+def plot_model(m, lid_overlay):
+  if lid_overlay is None:
+    return
+  for lead in m.leadsV3:
+    if lead.prob < 0.5:
+      continue
+    x, y = lead.x[0], lead.y[0]
+    x_std = lead.xStd[0]
+    x -= RADAR_TO_CAMERA
+    _, py_top = to_topdown_pt(x + x_std, y)
+    px, py_bottom = to_topdown_pt(x - x_std, y)
+    lid_overlay[int(round(px - 4)):int(round(px + 4)), py_top:py_bottom] = rerunColorPalette[2][0]
+
+  for path in m.laneLines:
+    draw_path(path, lid_overlay, rerunColorPalette[2][0])
+  for edge in m.roadEdges:
+    draw_path(edge, lid_overlay, rerunColorPalette[0][0])
+  draw_path(m.position, lid_overlay, rerunColorPalette[0][0])
+
+
+def plot_lead(rs, lid_overlay):
+  for lead in [rs.leadOne, rs.leadTwo]:
+    if not lead.status:
+      continue
+    x = lead.dRel
+    px_left, py = to_topdown_pt(x, -10)
+    px_right, _ = to_topdown_pt(x, 10)
+    lid_overlay[px_left:px_right, py] = rerunColorPalette[0][0]
+
+
+def maybe_update_radar_points(lt, lid_overlay):
+  ar_pts = []
+  if lt is not None:
+    ar_pts = {}
+    for track in lt:
+      ar_pts[track.trackId] = [track.dRel, track.yRel, track.vRel, track.aRel, track.oncoming, track.stationary]
+  for ids, pt in ar_pts.items():
+    # negative here since radar is left positive
+    px, py = to_topdown_pt(pt[0], -pt[1])
+    if px != -1:
+      if pt[-1]:
+        color = rerunColorPalette[4][0]
+      elif pt[-2]:
+        color = rerunColorPalette[3][0]
+      else:
+        color = rerunColorPalette[5][0]
+      if int(ids) == 1:
+        lid_overlay[px - 2:px + 2, py - 10:py + 10] = rerunColorPalette[1][0]
+      else:
+        lid_overlay[px - 2:px + 2, py - 2:py + 2] = color
+
+
+def get_blank_lid_overlay(UP):
+  lid_overlay = np.zeros((UP.lidar_x, UP.lidar_y), 'uint8')
+  # Draw the car.
+  lid_overlay[int(round(UP.lidar_car_x - UP.car_hwidth)):int(
+    round(UP.lidar_car_x + UP.car_hwidth)), int(round(UP.lidar_car_y -
+                                                      UP.car_front))] = UP.car_color
+  lid_overlay[int(round(UP.lidar_car_x - UP.car_hwidth)):int(
+    round(UP.lidar_car_x + UP.car_hwidth)), int(round(UP.lidar_car_y +
+                                                      UP.car_back))] = UP.car_color
+  lid_overlay[int(round(UP.lidar_car_x - UP.car_hwidth)), int(
+    round(UP.lidar_car_y - UP.car_front)):int(round(
+      UP.lidar_car_y + UP.car_back))] = UP.car_color
+  lid_overlay[int(round(UP.lidar_car_x + UP.car_hwidth)), int(
+    round(UP.lidar_car_y - UP.car_front)):int(round(
+      UP.lidar_car_y + UP.car_back))] = UP.car_color
+  return lid_overlay
@@ -1,231 +0,0 @@
-import itertools
-from typing import Any
-
-import matplotlib.pyplot as plt
-import numpy as np
-import pygame
-
-from matplotlib.backends.backend_agg import FigureCanvasAgg
-
-from openpilot.common.transformations.camera import get_view_frame_from_calib_frame
-from openpilot.selfdrive.controls.radard import RADAR_TO_CAMERA
-
-
-RED = (255, 0, 0)
-GREEN = (0, 255, 0)
-BLUE = (0, 0, 255)
-YELLOW = (255, 255, 0)
-BLACK = (0, 0, 0)
-WHITE = (255, 255, 255)
-
-class UIParams:
-  lidar_x, lidar_y, lidar_zoom = 384, 960, 6
-  lidar_car_x, lidar_car_y = lidar_x / 2., lidar_y / 1.1
-  car_hwidth = 1.7272 / 2 * lidar_zoom
-  car_front = 2.6924 * lidar_zoom
-  car_back = 1.8796 * lidar_zoom
-  car_color = 110
-UP = UIParams
-
-METER_WIDTH = 20
-
-class Calibration:
-  def __init__(self, num_px, rpy, intrinsic, calib_scale):
-    self.intrinsic = intrinsic
-    self.extrinsics_matrix = get_view_frame_from_calib_frame(rpy[0], rpy[1], rpy[2], 0.0)[:,:3]
-    self.zoom = calib_scale
-
-  def car_space_to_ff(self, x, y, z):
-    car_space_projective = np.column_stack((x, y, z)).T
-
-    ep = self.extrinsics_matrix.dot(car_space_projective)
-    kep = self.intrinsic.dot(ep)
-    return (kep[:-1, :] / kep[-1, :]).T
-
-  def car_space_to_bb(self, x, y, z):
-    pts = self.car_space_to_ff(x, y, z)
-    return pts / self.zoom
-
-
-_COLOR_CACHE : dict[tuple[int, int, int], Any] = {}
-def find_color(lidar_surface, color):
-  if color in _COLOR_CACHE:
-    return _COLOR_CACHE[color]
-  tcolor = 0
-  ret = 255
-  for x in lidar_surface.get_palette():
-    if x[0:3] == color:
-      ret = tcolor
-      break
-    tcolor += 1
-  _COLOR_CACHE[color] = ret
-  return ret
-
-
-def to_topdown_pt(y, x):
-  px, py = x * UP.lidar_zoom + UP.lidar_car_x, -y * UP.lidar_zoom + UP.lidar_car_y
-  if px > 0 and py > 0 and px < UP.lidar_x and py < UP.lidar_y:
-    return int(px), int(py)
-  return -1, -1
-
-
-def draw_path(path, color, img, calibration, top_down, lid_color=None, z_off=0):
-  x, y, z = np.asarray(path.x), np.asarray(path.y), np.asarray(path.z) + z_off
-  pts = calibration.car_space_to_bb(x, y, z)
-  pts = np.round(pts).astype(int)
-
-  # draw lidar path point on lidar
-  # find color in 8 bit
-  if lid_color is not None and top_down is not None:
-    tcolor = find_color(top_down[0], lid_color)
-    for i in range(len(x)):
-      px, py = to_topdown_pt(x[i], y[i])
-      if px != -1:
-        top_down[1][px, py] = tcolor
-
-  height, width = img.shape[:2]
-  for x, y in pts:
-    if 1 < x < width - 1 and 1 < y < height - 1:
-      for a, b in itertools.permutations([-1, 0, -1], 2):
-        img[y + a, x + b] = color
-
-
-def init_plots(arr, name_to_arr_idx, plot_xlims, plot_ylims, plot_names, plot_colors, plot_styles):
-  color_palette = { "r": (1, 0, 0),
-                    "g": (0, 1, 0),
-                    "b": (0, 0, 1),
-                    "k": (0, 0, 0),
-                    "y": (1, 1, 0),
-                    "p": (0, 1, 1),
-                    "m": (1, 0, 1)}
-
-  dpi = 90
-  fig = plt.figure(figsize=(575 / dpi, 600 / dpi), dpi=dpi)
-  canvas = FigureCanvasAgg(fig)
-
-  fig.set_facecolor((0.2, 0.2, 0.2))
-
-  axs = []
-  for pn in range(len(plot_ylims)):
-    ax = fig.add_subplot(len(plot_ylims), 1, len(axs)+1)
-    ax.set_xlim(plot_xlims[pn][0], plot_xlims[pn][1])
-    ax.set_ylim(plot_ylims[pn][0], plot_ylims[pn][1])
-    ax.patch.set_facecolor((0.4, 0.4, 0.4))
-    axs.append(ax)
-
-  plots, idxs, plot_select = [], [], []
-  for i, pl_list in enumerate(plot_names):
-    for j, item in enumerate(pl_list):
-      plot, = axs[i].plot(arr[:, name_to_arr_idx[item]],
-                          label=item,
-                          color=color_palette[plot_colors[i][j]],
-                          linestyle=plot_styles[i][j])
-      plots.append(plot)
-      idxs.append(name_to_arr_idx[item])
-      plot_select.append(i)
-    axs[i].set_title(", ".join(f"{nm} ({cl})"
-                               for (nm, cl) in zip(pl_list, plot_colors[i], strict=False)), fontsize=10)
-    axs[i].tick_params(axis="x", colors="white")
-    axs[i].tick_params(axis="y", colors="white")
-    axs[i].title.set_color("white")
-
-    if i < len(plot_ylims) - 1:
-      axs[i].set_xticks([])
-
-  canvas.draw()
-
-  def draw_plots(arr):
-    for ax in axs:
-      ax.draw_artist(ax.patch)
-    for i in range(len(plots)):
-      plots[i].set_ydata(arr[:, idxs[i]])
-      axs[plot_select[i]].draw_artist(plots[i])
-
-    raw_data = canvas.buffer_rgba()
-    plot_surface = pygame.image.frombuffer(raw_data, canvas.get_width_height(), "RGBA").convert()
-    return plot_surface
-
-  return draw_plots
-
-
-def pygame_modules_have_loaded():
-  return pygame.display.get_init() and pygame.font.get_init()
-
-
-def plot_model(m, img, calibration, top_down):
-  if calibration is None or top_down is None:
-    return
-
-  for lead in m.leadsV3:
-    if lead.prob < 0.5:
-      continue
-
-    x, y = lead.x[0], lead.y[0]
-    x_std = lead.xStd[0]
-    x -= RADAR_TO_CAMERA
-
-    _, py_top = to_topdown_pt(x + x_std, y)
-    px, py_bottom = to_topdown_pt(x - x_std, y)
-    top_down[1][int(round(px - 4)):int(round(px + 4)), py_top:py_bottom] = find_color(top_down[0], YELLOW)
-
-  for path, prob, _ in zip(m.laneLines, m.laneLineProbs, m.laneLineStds, strict=True):
-    color = (0, int(255 * prob), 0)
-    draw_path(path, color, img, calibration, top_down, YELLOW)
-
-  for edge, std in zip(m.roadEdges, m.roadEdgeStds, strict=True):
-    prob = max(1 - std, 0)
-    color = (int(255 * prob), 0, 0)
-    draw_path(edge, color, img, calibration, top_down, RED)
-
-  color = (255, 0, 0)
-  draw_path(m.position, color, img, calibration, top_down, RED, 1.22)
-
-
-def plot_lead(rs, top_down):
-  for lead in [rs.leadOne, rs.leadTwo]:
-    if not lead.status:
-      continue
-
-    x = lead.dRel
-    px_left, py = to_topdown_pt(x, -10)
-    px_right, _ = to_topdown_pt(x, 10)
-    top_down[1][px_left:px_right, py] = find_color(top_down[0], RED)
-
-
-def maybe_update_radar_points(lt, lid_overlay):
-  ar_pts = []
-  if lt is not None:
-    ar_pts = {}
-    for track in lt:
-      ar_pts[track.trackId] = [track.dRel, track.yRel, track.vRel, track.aRel, track.oncoming, track.stationary]
-  for ids, pt in ar_pts.items():
-    # negative here since radar is left positive
-    px, py = to_topdown_pt(pt[0], -pt[1])
-    if px != -1:
-      if pt[-1]:
-        color = 240
-      elif pt[-2]:
-        color = 230
-      else:
-        color = 255
-      if int(ids) == 1:
-        lid_overlay[px - 2:px + 2, py - 10:py + 10] = 100
-      else:
-        lid_overlay[px - 2:px + 2, py - 2:py + 2] = color
-
-def get_blank_lid_overlay(UP):
-  lid_overlay = np.zeros((UP.lidar_x, UP.lidar_y), 'uint8')
-  # Draw the car.
-  lid_overlay[int(round(UP.lidar_car_x - UP.car_hwidth)):int(
-    round(UP.lidar_car_x + UP.car_hwidth)), int(round(UP.lidar_car_y -
-                                                      UP.car_front))] = UP.car_color
-  lid_overlay[int(round(UP.lidar_car_x - UP.car_hwidth)):int(
-    round(UP.lidar_car_x + UP.car_hwidth)), int(round(UP.lidar_car_y +
-                                                      UP.car_back))] = UP.car_color
-  lid_overlay[int(round(UP.lidar_car_x - UP.car_hwidth)), int(
-    round(UP.lidar_car_y - UP.car_front)):int(round(
-      UP.lidar_car_y + UP.car_back))] = UP.car_color
-  lid_overlay[int(round(UP.lidar_car_x + UP.car_hwidth)), int(
-    round(UP.lidar_car_y - UP.car_front)):int(round(
-      UP.lidar_car_y + UP.car_back))] = UP.car_color
-  return lid_overlay
@@ -0,0 +1,59 @@
+#!/usr/bin/env python3
+import argparse
+import os
+import sys
+import numpy as np
+import rerun as rr
+import cereal.messaging as messaging
+from openpilot.common.basedir import BASEDIR
+from openpilot.tools.replay.lib.rp_helpers import (UP, rerunColorPalette,
+                                         get_blank_lid_overlay,
+                                         maybe_update_radar_points, plot_lead,
+                                         plot_model)
+from msgq.visionipc import VisionIpcClient, VisionStreamType
+
+os.environ['BASEDIR'] = BASEDIR
+
+UP.lidar_zoom = 6
+
+def visualize(addr):
+  sm = messaging.SubMaster(['radarState', 'liveTracks', 'modelV2'], addr=addr)
+  vipc_client = VisionIpcClient("camerad", VisionStreamType.VISION_STREAM_ROAD, True)
+  while True:
+    if not vipc_client.is_connected():
+      vipc_client.connect(True)
+    new_data = vipc_client.recv()
+    if new_data is None or not new_data.data.any():
+      continue
+
+    sm.update(0)
+    lid_overlay = get_blank_lid_overlay(UP)
+    if sm.recv_frame['modelV2']:
+      plot_model(sm['modelV2'], lid_overlay)
+    if sm.recv_frame['radarState']:
+      plot_lead(sm['radarState'], lid_overlay)
+    liveTracksTime = sm.logMonoTime['liveTracks']
+    maybe_update_radar_points(sm['liveTracks'], lid_overlay)
+    rr.set_time_nanos("TIMELINE", liveTracksTime)
+    rr.log("tracks", rr.SegmentationImage(np.flip(np.rot90(lid_overlay, k=-1), axis=1)))
+
+
+def get_arg_parser():
+  parser = argparse.ArgumentParser(
+    description="Show replay data in a UI.",
+    formatter_class=argparse.ArgumentDefaultsHelpFormatter)
+  parser.add_argument("ip_address", nargs="?", default="127.0.0.1",
+                      help="The ip address on which to receive zmq messages.")
+  parser.add_argument("--frame-address", default=None,
+                      help="The frame address (fully qualified ZMQ endpoint for frames) on which to receive zmq messages.")
+  return parser
+
+
+if __name__ == "__main__":
+  args = get_arg_parser().parse_args(sys.argv[1:])
+  if args.ip_address != "127.0.0.1":
+    os.environ["ZMQ"] = "1"
+    messaging.context = messaging.Context()
+  rr.init("RadarPoints", spawn= True)
+  rr.log("tracks", rr.AnnotationContext(rerunColorPalette), static=True)
+  visualize(args.ip_address)
@@ -1,238 +0,0 @@
-#!/usr/bin/env python3
-import argparse
-import os
-import sys
-
-import cv2
-import numpy as np
-import pygame
-
-import cereal.messaging as messaging
-from openpilot.common.numpy_fast import clip
-from openpilot.common.basedir import BASEDIR
-from openpilot.common.transformations.camera import DEVICE_CAMERAS
-from openpilot.tools.replay.lib.ui_helpers import (UP,
-                                         BLACK, GREEN,
-                                         YELLOW, Calibration,
-                                         get_blank_lid_overlay, init_plots,
-                                         maybe_update_radar_points, plot_lead,
-                                         plot_model,
-                                         pygame_modules_have_loaded)
-from msgq.visionipc import VisionIpcClient, VisionStreamType
-
-os.environ['BASEDIR'] = BASEDIR
-
-ANGLE_SCALE = 5.0
-
-def ui_thread(addr):
-  cv2.setNumThreads(1)
-  pygame.init()
-  pygame.font.init()
-  assert pygame_modules_have_loaded()
-
-  disp_info = pygame.display.Info()
-  max_height = disp_info.current_h
-
-  hor_mode = os.getenv("HORIZONTAL") is not None
-  hor_mode = True if max_height < 960+300 else hor_mode
-
-  if hor_mode:
-    size = (640+384+640, 960)
-    write_x = 5
-    write_y = 680
-  else:
-    size = (640+384, 960+300)
-    write_x = 645
-    write_y = 970
-
-  pygame.display.set_caption("openpilot debug UI")
-  screen = pygame.display.set_mode(size, pygame.DOUBLEBUF)
-
-  alert1_font = pygame.font.SysFont("arial", 30)
-  alert2_font = pygame.font.SysFont("arial", 20)
-  info_font = pygame.font.SysFont("arial", 15)
-
-  camera_surface = pygame.surface.Surface((640, 480), 0, 24).convert()
-  top_down_surface = pygame.surface.Surface((UP.lidar_x, UP.lidar_y), 0, 8)
-
-  sm = messaging.SubMaster(['carState', 'longitudinalPlan', 'carControl', 'radarState', 'liveCalibration', 'controlsState',
-                            'liveTracks', 'modelV2', 'liveParameters', 'roadCameraState'], addr=addr)
-
-  img = np.zeros((480, 640, 3), dtype='uint8')
-  imgff = None
-  num_px = 0
-  calibration = None
-
-  lid_overlay_blank = get_blank_lid_overlay(UP)
-
-  # plots
-  name_to_arr_idx = { "gas": 0,
-                      "computer_gas": 1,
-                      "user_brake": 2,
-                      "computer_brake": 3,
-                      "v_ego": 4,
-                      "v_pid": 5,
-                      "angle_steers_des": 6,
-                      "angle_steers": 7,
-                      "angle_steers_k": 8,
-                      "steer_torque": 9,
-                      "v_override": 10,
-                      "v_cruise": 11,
-                      "a_ego": 12,
-                      "a_target": 13}
-
-  plot_arr = np.zeros((100, len(name_to_arr_idx.values())))
-
-  plot_xlims = [(0, plot_arr.shape[0]), (0, plot_arr.shape[0]), (0, plot_arr.shape[0]), (0, plot_arr.shape[0])]
-  plot_ylims = [(-0.1, 1.1), (-ANGLE_SCALE, ANGLE_SCALE), (0., 75.), (-3.0, 2.0)]
-  plot_names = [["gas", "computer_gas", "user_brake", "computer_brake"],
-                ["angle_steers", "angle_steers_des", "angle_steers_k", "steer_torque"],
-                ["v_ego", "v_override", "v_pid", "v_cruise"],
-                ["a_ego", "a_target"]]
-  plot_colors = [["b", "b", "g", "r", "y"],
-                 ["b", "g", "y", "r"],
-                 ["b", "g", "r", "y"],
-                 ["b", "r"]]
-  plot_styles = [["-", "-", "-", "-", "-"],
-                 ["-", "-", "-", "-"],
-                 ["-", "-", "-", "-"],
-                 ["-", "-"]]
-
-  draw_plots = init_plots(plot_arr, name_to_arr_idx, plot_xlims, plot_ylims, plot_names, plot_colors, plot_styles)
-
-  vipc_client = VisionIpcClient("camerad", VisionStreamType.VISION_STREAM_ROAD, True)
-  while True:
-    for event in pygame.event.get():
-      if event.type == pygame.QUIT:
-        pygame.quit()
-        sys.exit()
-
-    screen.fill((64, 64, 64))
-    lid_overlay = lid_overlay_blank.copy()
-    top_down = top_down_surface, lid_overlay
-
-    # ***** frame *****
-    if not vipc_client.is_connected():
-      vipc_client.connect(True)
-
-    yuv_img_raw = vipc_client.recv()
-    if yuv_img_raw is None or not yuv_img_raw.data.any():
-      continue
-
-    sm.update(0)
-
-    camera = DEVICE_CAMERAS[("tici", str(sm['roadCameraState'].sensor))]
-
-    imgff = np.frombuffer(yuv_img_raw.data, dtype=np.uint8).reshape((len(yuv_img_raw.data) // vipc_client.stride, vipc_client.stride))
-    num_px = vipc_client.width * vipc_client.height
-    rgb = cv2.cvtColor(imgff[:vipc_client.height * 3 // 2, :vipc_client.width], cv2.COLOR_YUV2RGB_NV12)
-
-    qcam = "QCAM" in os.environ
-    bb_scale = (528 if qcam else camera.fcam.width) / 640.
-    calib_scale = camera.fcam.width / 640.
-    zoom_matrix = np.asarray([
-        [bb_scale, 0., 0.],
-        [0., bb_scale, 0.],
-        [0., 0., 1.]])
-    cv2.warpAffine(rgb, zoom_matrix[:2], (img.shape[1], img.shape[0]), dst=img, flags=cv2.WARP_INVERSE_MAP)
-
-    intrinsic_matrix = camera.fcam.intrinsics
-
-    w = sm['controlsState'].lateralControlState.which()
-    if w == 'lqrStateDEPRECATED':
-      angle_steers_k = sm['controlsState'].lateralControlState.lqrStateDEPRECATED.steeringAngleDeg
-    elif w == 'indiState':
-      angle_steers_k = sm['controlsState'].lateralControlState.indiState.steeringAngleDeg
-    else:
-      angle_steers_k = np.inf
-
-    plot_arr[:-1] = plot_arr[1:]
-    plot_arr[-1, name_to_arr_idx['angle_steers']] = sm['carState'].steeringAngleDeg
-    plot_arr[-1, name_to_arr_idx['angle_steers_des']] = sm['carControl'].actuators.steeringAngleDeg
-    plot_arr[-1, name_to_arr_idx['angle_steers_k']] = angle_steers_k
-    plot_arr[-1, name_to_arr_idx['gas']] = sm['carState'].gas
-    # TODO gas is deprecated
-    plot_arr[-1, name_to_arr_idx['computer_gas']] = clip(sm['carControl'].actuators.accel/4.0, 0.0, 1.0)
-    plot_arr[-1, name_to_arr_idx['user_brake']] = sm['carState'].brake
-    plot_arr[-1, name_to_arr_idx['steer_torque']] = sm['carControl'].actuators.steer * ANGLE_SCALE
-    # TODO brake is deprecated
-    plot_arr[-1, name_to_arr_idx['computer_brake']] = clip(-sm['carControl'].actuators.accel/4.0, 0.0, 1.0)
-    plot_arr[-1, name_to_arr_idx['v_ego']] = sm['carState'].vEgo
-    plot_arr[-1, name_to_arr_idx['v_cruise']] = sm['carState'].cruiseState.speed
-    plot_arr[-1, name_to_arr_idx['a_ego']] = sm['carState'].aEgo
-
-    if len(sm['longitudinalPlan'].accels):
-      plot_arr[-1, name_to_arr_idx['a_target']] = sm['longitudinalPlan'].accels[0]
-
-    if sm.recv_frame['modelV2']:
-      plot_model(sm['modelV2'], img, calibration, top_down)
-
-    if sm.recv_frame['radarState']:
-      plot_lead(sm['radarState'], top_down)
-
-    # draw all radar points
-    maybe_update_radar_points(sm['liveTracks'], top_down[1])
-
-    if sm.updated['liveCalibration'] and num_px:
-      rpyCalib = np.asarray(sm['liveCalibration'].rpyCalib)
-      calibration = Calibration(num_px, rpyCalib, intrinsic_matrix, calib_scale)
-
-    # *** blits ***
-    pygame.surfarray.blit_array(camera_surface, img.swapaxes(0, 1))
-    screen.blit(camera_surface, (0, 0))
-
-    # display alerts
-    alert_line1 = alert1_font.render(sm['controlsState'].alertText1, True, (255, 0, 0))
-    alert_line2 = alert2_font.render(sm['controlsState'].alertText2, True, (255, 0, 0))
-    screen.blit(alert_line1, (180, 150))
-    screen.blit(alert_line2, (180, 190))
-
-    if hor_mode:
-      screen.blit(draw_plots(plot_arr), (640+384, 0))
-    else:
-      screen.blit(draw_plots(plot_arr), (0, 600))
-
-    pygame.surfarray.blit_array(*top_down)
-    screen.blit(top_down[0], (640, 0))
-
-    SPACING = 25
-
-    lines = [
-      info_font.render("ENABLED", True, GREEN if sm['controlsState'].enabled else BLACK),
-      info_font.render("SPEED: " + str(round(sm['carState'].vEgo, 1)) + " m/s", True, YELLOW),
-      info_font.render("LONG CONTROL STATE: " + str(sm['controlsState'].longControlState), True, YELLOW),
-      info_font.render("LONG MPC SOURCE: " + str(sm['longitudinalPlan'].longitudinalPlanSource), True, YELLOW),
-      None,
-      info_font.render("ANGLE OFFSET (AVG): " + str(round(sm['liveParameters'].angleOffsetAverageDeg, 2)) + " deg", True, YELLOW),
-      info_font.render("ANGLE OFFSET (INSTANT): " + str(round(sm['liveParameters'].angleOffsetDeg, 2)) + " deg", True, YELLOW),
-      info_font.render("STIFFNESS: " + str(round(sm['liveParameters'].stiffnessFactor * 100., 2)) + " %", True, YELLOW),
-      info_font.render("STEER RATIO: " + str(round(sm['liveParameters'].steerRatio, 2)), True, YELLOW)
-    ]
-
-    for i, line in enumerate(lines):
-      if line is not None:
-        screen.blit(line, (write_x, write_y + i * SPACING))
-
-    # this takes time...vsync or something
-    pygame.display.flip()
-
-def get_arg_parser():
-  parser = argparse.ArgumentParser(
-    description="Show replay data in a UI.",
-    formatter_class=argparse.ArgumentDefaultsHelpFormatter)
-
-  parser.add_argument("ip_address", nargs="?", default="127.0.0.1",
-                      help="The ip address on which to receive zmq messages.")
-
-  parser.add_argument("--frame-address", default=None,
-                      help="The frame address (fully qualified ZMQ endpoint for frames) on which to receive zmq messages.")
-  return parser
-
-if __name__ == "__main__":
-  args = get_arg_parser().parse_args(sys.argv[1:])
-
-  if args.ip_address != "127.0.0.1":
-    os.environ["ZMQ"] = "1"
-    messaging.context = messaging.Context()
-
-  ui_thread(args.ip_address)
@@ -0,0 +1,32 @@
+#!/usr/bin/env bash
+
+set -e
+
+if [ ! -f launch_openpilot.sh ]; then
+  if [ ! -d openpilot ]; then
+    git clone --single-branch --recurse-submodules https://github.com/commaai/openpilot.git
+  fi
+  cd openpilot
+fi
+
+if [[ "$OSTYPE" == "darwin"* ]]; then
+  tools/mac_setup.sh
+else
+  tools/ubuntu_setup.sh
+fi
+
+git lfs pull
+
+source .venv/bin/activate
+
+echo "Building openpilot"
+scons -u -j$(nproc)
+
+echo
+echo "----   OPENPILOT BUILDING DONE   ----"
+echo "To push changes to your fork, run the following commands:"
+echo "git remote remove origin"
+echo "git remote add origin git@github.com:<YOUR_USERNAME>/openpilot.git"
+echo "git fetch"
+echo "git commit -m \"first commit\""
+echo "git push"