Merge remote-tracking branch 'upstream/commaai/openpilot/master'

# Conflicts: # cereal # panda
2026-06-27 11:42:10 +08:00 · 2023-03-30 23:07:29 -04:00
parent cb865a7b18 08be9eed08
commit 89e2a6ea9b
40 changed files with 300 additions and 172 deletions
@@ -262,7 +262,7 @@ jobs:
        name: process_replay_diff.txt
        path: selfdrive/test/process_replay/diff.txt
    - name: Upload reference logs
-      if: ${{ failure() && steps.print-diff.outcome == 'success' && github.event_name == 'pull_request' && github.repository == 'commaai/openpilot' && env.AZURE_TOKEN != '' }}
+      if: ${{ failure() && steps.print-diff.outcome == 'success' && github.repository == 'commaai/openpilot' && env.AZURE_TOKEN != '' }}
      run: |
        ${{ env.RUN }} "CI=1 AZURE_TOKEN='$AZURE_TOKEN' python selfdrive/test/process_replay/test_processes.py -j$(nproc) --upload-only"
    - name: "Upload coverage to Codecov"
@@ -418,7 +418,7 @@ std::optional<bool> send_panda_states(PubMaster *pm, const std::vector<Panda *>

    size_t j = 0;
    for (size_t f = size_t(cereal::PandaState::FaultType::RELAY_MALFUNCTION);
-        f <= size_t(cereal::PandaState::FaultType::INTERRUPT_RATE_EXTI); f++) {
+         f <= size_t(cereal::PandaState::FaultType::SIREN_MALFUNCTION); f++) {
      if (fault_bits.test(f)) {
        faults.set(j, cereal::PandaState::FaultType(f));
        j++;
@@ -1,13 +1,14 @@
 #!/usr/bin/env python3
 from cereal import car
-from math import fabs
+from math import fabs, exp
 from panda import Panda

 from common.conversions import Conversions as CV
 from selfdrive.car import STD_CARGO_KG, create_button_event, scale_tire_stiffness, get_safety_config
 from selfdrive.car.gm.radar_interface import RADAR_HEADER_MSG
 from selfdrive.car.gm.values import CAR, CruiseButtons, CarControllerParams, EV_CAR, CAMERA_ACC_CAR, CanBus
-from selfdrive.car.interfaces import CarInterfaceBase
+from selfdrive.car.interfaces import CarInterfaceBase, TorqueFromLateralAccelCallbackType, FRICTION_THRESHOLD
+from selfdrive.controls.lib.drive_helpers import get_friction

 ButtonType = car.CarState.ButtonEvent.Type
 EventName = car.CarEvent.EventName
@@ -44,6 +45,29 @@ class CarInterface(CarInterfaceBase):
    else:
      return CarInterfaceBase.get_steer_feedforward_default

+  @staticmethod
+  def torque_from_lateral_accel_bolt(lateral_accel_value: float, torque_params: car.CarParams.LateralTorqueTuning,
+                                     lateral_accel_error: float, lateral_accel_deadzone: float, friction_compensation: bool) -> float:
+    friction = get_friction(lateral_accel_error, lateral_accel_deadzone, FRICTION_THRESHOLD, torque_params, friction_compensation)
+
+    def sig(val):
+      return 1 / (1 + exp(-val)) - 0.5
+
+    # The "lat_accel vs torque" relationship is assumed to be the sum of "sigmoid + linear" curves
+    # An important thing to consider is that the slope at 0 should be > 0 (ideally >1)
+    # This has big effect on the stability about 0 (noise when going straight)
+    # ToDo: To generalize to other GMs, explore tanh function as the nonlinear
+    a, b, c, _ = [2.6531724862969748, 1.0, 0.1919764879840985, 0.009054123646805178]  # weights computed offline
+
+    steer_torque = (sig(lateral_accel_value * a) * b) + (lateral_accel_value * c)
+    return float(steer_torque) + friction
+
+  def torque_from_lateral_accel(self) -> TorqueFromLateralAccelCallbackType:
+    if self.CP.carFingerprint == CAR.BOLT_EUV:
+      return self.torque_from_lateral_accel_bolt
+    else:
+      return self.torque_from_lateral_accel_linear
+
  @staticmethod
  def _get_params(ret, candidate, fingerprint, car_fw, experimental_long):
    ret.carName = "gm"
@@ -14,8 +14,8 @@ class CarControllerParams:
  STEER_STEP = 3  # Active control frames per command (~33hz)
  INACTIVE_STEER_STEP = 10  # Inactive control frames per command (10hz)
  STEER_DELTA_UP = 10  # Delta rates require review due to observed EPS weakness
-  STEER_DELTA_DOWN = 25
-  STEER_DRIVER_ALLOWANCE = 50
+  STEER_DELTA_DOWN = 15
+  STEER_DRIVER_ALLOWANCE = 65
  STEER_DRIVER_MULTIPLIER = 4
  STEER_DRIVER_FACTOR = 100
  NEAR_STOP_BRAKE_PHASE = 0.5  # m/s
@@ -116,6 +116,7 @@ class CarController:
    self.brake_last = 0.
    self.apply_brake_last = 0
    self.last_pump_ts = 0.
+    self.stopping_counter = 0

    self.accel = 0.0
    self.speed = 0.0
@@ -217,8 +218,9 @@ class CarController:
          self.gas = interp(accel, self.params.BOSCH_GAS_LOOKUP_BP, self.params.BOSCH_GAS_LOOKUP_V)

          stopping = actuators.longControlState == LongCtrlState.stopping
+          self.stopping_counter = self.stopping_counter + 1 if stopping else 0
          can_sends.extend(hondacan.create_acc_commands(self.packer, CC.enabled, CC.longActive, self.accel, self.gas,
-                                                        stopping, self.CP.carFingerprint))
+                                                        self.stopping_counter, self.CP.carFingerprint))
        else:
          apply_brake = clip(self.brake_last - wind_brake, 0.0, 1.0)
          apply_brake = int(clip(apply_brake * self.params.NIDEC_BRAKE_MAX, 0, self.params.NIDEC_BRAKE_MAX - 1))
@@ -51,7 +51,7 @@ def create_brake_command(packer, apply_brake, pump_on, pcm_override, pcm_cancel_
  return packer.make_can_msg("BRAKE_COMMAND", bus, values)


-def create_acc_commands(packer, enabled, active, accel, gas, stopping, car_fingerprint):
+def create_acc_commands(packer, enabled, active, accel, gas, stopping_counter, car_fingerprint):
  commands = []
  bus = get_pt_bus(car_fingerprint)
  min_gas_accel = CarControllerParams.BOSCH_GAS_LOOKUP_BP[0]
@@ -60,8 +60,8 @@ def create_acc_commands(packer, enabled, active, accel, gas, stopping, car_finge
  gas_command = gas if active and accel > min_gas_accel else -30000
  accel_command = accel if active else 0
  braking = 1 if active and accel < min_gas_accel else 0
-  standstill = 1 if active and stopping else 0
-  standstill_release = 1 if active and not stopping else 0
+  standstill = 1 if active and stopping_counter > 0 else 0
+  standstill_release = 1 if active and stopping_counter == 0 else 0

  # common ACC_CONTROL values
  acc_control_values = {
@@ -72,7 +72,7 @@ def create_acc_commands(packer, enabled, active, accel, gas, stopping, car_finge
  if car_fingerprint in HONDA_BOSCH_RADARLESS:
    acc_control_values.update({
      "CONTROL_ON": enabled,
-      "IDLESTOP_ALLOW": 0,  # disallows idle stop
+      "IDLESTOP_ALLOW": stopping_counter > 200,  # allow idle stop after 4 seconds (50 Hz)
    })
  else:
    acc_control_values.update({
@@ -74,7 +74,7 @@ class CarInterface(CarInterfaceBase):
      ret.longitudinalTuning.kiV = [0.05]
      ret.longitudinalActuatorDelayUpperBound = 0.5 # s
      if candidate in HONDA_BOSCH_RADARLESS:
-        ret.stopAccel = -4.0
+        ret.stopAccel = CarControllerParams.BOSCH_ACCEL_MIN  # stock uses -4.0 m/s^2 once stopped but limited by safety model
    else:
      # default longitudinal tuning for all hondas
      ret.longitudinalTuning.kpBP = [0., 5., 35.]
@@ -8,10 +8,10 @@ from cereal import car
 from common.basedir import BASEDIR
 from common.conversions import Conversions as CV
 from common.kalman.simple_kalman import KF1D
-from common.numpy_fast import clip, interp
+from common.numpy_fast import clip
 from common.realtime import DT_CTRL
 from selfdrive.car import apply_hysteresis, gen_empty_fingerprint, scale_rot_inertia, scale_tire_stiffness
-from selfdrive.controls.lib.drive_helpers import V_CRUISE_MAX, apply_center_deadzone
+from selfdrive.controls.lib.drive_helpers import V_CRUISE_MAX, get_friction
 from selfdrive.controls.lib.events import Events
 from selfdrive.controls.lib.vehicle_model import VehicleModel

@@ -131,15 +131,11 @@ class CarInterfaceBase(ABC):
    return self.get_steer_feedforward_default

  @staticmethod
-  def torque_from_lateral_accel_linear(lateral_accel_value, torque_params, lateral_accel_error, lateral_accel_deadzone, friction_compensation):
+  def torque_from_lateral_accel_linear(lateral_accel_value: float, torque_params: car.CarParams.LateralTorqueTuning,
+                                       lateral_accel_error: float, lateral_accel_deadzone: float, friction_compensation: bool) -> float:
    # The default is a linear relationship between torque and lateral acceleration (accounting for road roll and steering friction)
-    friction_interp = interp(
-      apply_center_deadzone(lateral_accel_error, lateral_accel_deadzone),
-      [-FRICTION_THRESHOLD, FRICTION_THRESHOLD],
-      [-torque_params.friction, torque_params.friction]
-    )
-    friction = friction_interp if friction_compensation else 0.0
-    return (lateral_accel_value / torque_params.latAccelFactor) + friction
+    friction = get_friction(lateral_accel_error, lateral_accel_deadzone, FRICTION_THRESHOLD, torque_params, friction_compensation)
+    return (lateral_accel_value / float(torque_params.latAccelFactor)) + friction

  def torque_from_lateral_accel(self) -> TorqueFromLateralAccelCallbackType:
    return self.torque_from_lateral_accel_linear
@@ -329,6 +329,7 @@ FW_VERSIONS = {
  CAR.AVALON_TSS2: {
    (Ecu.abs, 0x7b0, None): [
      b'\x01F152607240\x00\x00\x00\x00\x00\x00',
+      b'\x01F152607250\x00\x00\x00\x00\x00\x00',
      b'\x01F152607280\x00\x00\x00\x00\x00\x00',
    ],
    (Ecu.eps, 0x7a1, None): [
@@ -336,6 +337,7 @@ FW_VERSIONS = {
    ],
    (Ecu.engine, 0x700, None): [
      b'\x01896630742000\x00\x00\x00\x00',
+      b'\x01896630743000\x00\x00\x00\x00',
    ],
    (Ecu.fwdRadar, 0x750, 0xf): [
      b'\x018821F6201200\x00\x00\x00\x00',
@@ -201,3 +201,13 @@ def get_lag_adjusted_curvature(CP, v_ego, psis, curvatures, curvature_rates):
                                current_curvature_desired + max_curvature_rate * DT_MDL)

  return safe_desired_curvature, safe_desired_curvature_rate
+
+
+def get_friction(lateral_accel_error: float, lateral_accel_deadzone: float, friction_threshold: float, torque_params: car.CarParams.LateralTorqueTuning, friction_compensation: bool) -> float:
+  friction_interp = interp(
+    apply_center_deadzone(lateral_accel_error, lateral_accel_deadzone),
+    [-friction_threshold, friction_threshold],
+    [-torque_params.friction, torque_params.friction]
+  )
+  friction = float(friction_interp) if friction_compensation else 0.0
+  return friction
@@ -700,6 +700,11 @@ EVENTS: Dict[int, Dict[str, Union[Alert, AlertCallbackType]]] = {
    ET.NO_ENTRY: NoEntryAlert("Steering Temporarily Unavailable"),
  },

+  EventName.steerTimeLimit: {
+    ET.SOFT_DISABLE: soft_disable_alert("Vehicle Steering Time Limit"),
+    ET.NO_ENTRY: NoEntryAlert("Vehicle Steering Time Limit"),
+  },
+
  EventName.outOfSpace: {
    ET.PERMANENT: out_of_space_alert,
    ET.NO_ENTRY: NoEntryAlert("Out of Storage"),
@@ -853,10 +858,6 @@ EVENTS: Dict[int, Dict[str, Union[Alert, AlertCallbackType]]] = {
    ET.NO_ENTRY: NoEntryAlert("Cruise Fault: Restart the Car"),
  },

-  EventName.accFaultedTemp: {
-    ET.NO_ENTRY: NoEntryAlert("Cruise Temporarily Faulted"),
-  },
-
  EventName.controlsMismatch: {
    ET.IMMEDIATE_DISABLE: ImmediateDisableAlert("Controls Mismatch"),
    ET.NO_ENTRY: NoEntryAlert("Controls Mismatch"),
@@ -61,10 +61,12 @@ class LatControlTorque(LatControl):
      low_speed_factor = interp(CS.vEgo, LOW_SPEED_X, LOW_SPEED_Y)**2
      setpoint = desired_lateral_accel + low_speed_factor * desired_curvature
      measurement = actual_lateral_accel + low_speed_factor * actual_curvature
-      error = setpoint - measurement
      gravity_adjusted_lateral_accel = desired_lateral_accel - params.roll * ACCELERATION_DUE_TO_GRAVITY
-      pid_log.error = self.torque_from_lateral_accel(error, self.torque_params, error,
+      torque_from_setpoint = self.torque_from_lateral_accel(setpoint, self.torque_params, setpoint,
                                                     lateral_accel_deadzone, friction_compensation=False)
+      torque_from_measurement = self.torque_from_lateral_accel(measurement, self.torque_params, measurement,
+                                                     lateral_accel_deadzone, friction_compensation=False)
+      pid_log.error = torque_from_setpoint - torque_from_measurement
      ff = self.torque_from_lateral_accel(gravity_adjusted_lateral_accel, self.torque_params,
                                          desired_lateral_accel - actual_lateral_accel,
                                          lateral_accel_deadzone, friction_compensation=True)
@@ -27,7 +27,6 @@ const double MAX_FILTER_REWIND_TIME = 0.8; // s
 // They should be replaced with synced time from a real clock
 const double GPS_QUECTEL_SENSOR_TIME_OFFSET = 0.630; // s
 const double GPS_UBLOX_SENSOR_TIME_OFFSET = 0.095; // s
-const float  GPS_MUL_FACTOR = 10.0;
 const float  GPS_POS_STD_THRESHOLD = 50.0;
 const float  GPS_VEL_STD_THRESHOLD = 5.0;
 const float  GPS_POS_ERROR_RESET_THRESHOLD = 300.0;
@@ -326,8 +325,14 @@ void Localizer::handle_gps(double current_time, const cereal::GpsLocationData::R

  VectorXd ecef_pos = this->converter->ned2ecef({ 0.0, 0.0, 0.0 }).to_vector();
  VectorXd ecef_vel = this->converter->ned2ecef({ log.getVNED()[0], log.getVNED()[1], log.getVNED()[2] }).to_vector() - ecef_pos;
-  MatrixXdr ecef_pos_R = Vector3d::Constant(std::pow(GPS_MUL_FACTOR * log.getAccuracy(),2) + std::pow(GPS_MUL_FACTOR * log.getVerticalAccuracy(),2)).asDiagonal();
-  MatrixXdr ecef_vel_R = Vector3d::Constant(std::pow(GPS_MUL_FACTOR * log.getSpeedAccuracy(), 2)).asDiagonal();
+  float ecef_pos_std;
+  if (ublox_available) {
+    ecef_pos_std = std::sqrt(std::pow(log.getAccuracy(), 2) + std::pow(log.getVerticalAccuracy(), 2));
+  } else {
+    ecef_pos_std = std::sqrt(3 * std::pow(log.getVerticalAccuracy(), 2));
+  }
+  MatrixXdr ecef_pos_R = Vector3d::Constant(std::pow(this->gps_std_factor * ecef_pos_std, 2)).asDiagonal();
+  MatrixXdr ecef_vel_R = Vector3d::Constant(std::pow(this->gps_std_factor * log.getSpeedAccuracy(), 2)).asDiagonal();

  this->unix_timestamp_millis = log.getUnixTimestampMillis();
  double gps_est_error = (this->kf->get_x().segment<STATE_ECEF_POS_LEN>(STATE_ECEF_POS_START) - ecef_pos).norm();
@@ -377,14 +382,14 @@ void Localizer::handle_gnss(double current_time, const cereal::GnssMeasurements:

  // indexed at 0 cause all std values are the same MAE
  auto ecef_pos_std = log.getPositionECEF().getStd()[0];
-  MatrixXdr ecef_pos_R = Vector3d::Constant(pow(GPS_MUL_FACTOR*ecef_pos_std, 2)).asDiagonal();
+  MatrixXdr ecef_pos_R = Vector3d::Constant(pow(this->gps_std_factor*ecef_pos_std, 2)).asDiagonal();

  auto ecef_vel_v = log.getVelocityECEF().getValue();
  VectorXd ecef_vel = Vector3d(ecef_vel_v[0], ecef_vel_v[1], ecef_vel_v[2]);

  // indexed at 0 cause all std values are the same MAE
  auto ecef_vel_std = log.getVelocityECEF().getStd()[0];
-  MatrixXdr ecef_vel_R = Vector3d::Constant(pow(GPS_MUL_FACTOR*ecef_vel_std, 2)).asDiagonal();
+  MatrixXdr ecef_vel_R = Vector3d::Constant(pow(this->gps_std_factor*ecef_vel_std, 2)).asDiagonal();

  double gps_est_error = (this->kf->get_x().segment<STATE_ECEF_POS_LEN>(STATE_ECEF_POS_START) - ecef_pos).norm();

@@ -661,8 +666,10 @@ int Localizer::locationd_thread() {
  const char* gps_location_socket;
  if (ublox_available) {
    gps_location_socket = "gpsLocationExternal";
+    this->gps_std_factor = 10.0;
  } else {
    gps_location_socket = "gpsLocation";
+    this->gps_std_factor = 2.0;
  }
  const std::initializer_list<const char *> service_list = {gps_location_socket, "cameraOdometry", "liveCalibration",
                                                          "carState", "carParams", "accelerometer", "gyroscope"};
@@ -84,4 +84,5 @@ private:
  std::map<std::string, double> observation_values_invalid;
  bool standstill = true;
  int32_t orientation_reset_count = 0;
+  float gps_std_factor;
 };
@@ -5,7 +5,8 @@ import sys
 import threading
 import time
 import signal
-from collections import namedtuple
+from dataclasses import dataclass, field
+from typing import Dict, List, Optional, Callable

 import capnp

@@ -28,7 +29,20 @@ TIMEOUT = 15
 PROC_REPLAY_DIR = os.path.dirname(os.path.abspath(__file__))
 FAKEDATA = os.path.join(PROC_REPLAY_DIR, "fakedata/")

-ProcessConfig = namedtuple('ProcessConfig', ['proc_name', 'pub_sub', 'ignore', 'init_callback', 'should_recv_callback', 'tolerance', 'fake_pubsubmaster', 'submaster_config', 'environ', 'subtest_name', "field_tolerances"], defaults=({}, {}, "", {}))
+@dataclass
+class ProcessConfig:
+  proc_name: str
+  pub_sub: Dict[str, List[str]]
+  ignore: List[str]
+  init_callback: Optional[Callable]
+  should_recv_callback: Optional[Callable]
+  tolerance: Optional[float]
+  fake_pubsubmaster: bool
+  submaster_config: Dict[str, List[str]] = field(default_factory=dict)
+  environ: Dict[str, str] = field(default_factory=dict)
+  subtest_name: str = ""
+  field_tolerances: Dict[str, float] = field(default_factory=dict)
+  timeout: int = 30


 def wait_for_event(evt):
@@ -365,6 +379,7 @@ CONFIGS = [
    should_recv_callback=None,
    tolerance=NUMPY_TOLERANCE,
    fake_pubsubmaster=False,
+    timeout=60*10,  # first messages are blocked on internet assistance
  ),
  ProcessConfig(
    proc_name="torqued",
@@ -532,8 +547,9 @@ def python_replay_process(cfg, lr, fingerprint=None):


 def replay_process_with_sockets(cfg, lr, fingerprint=None):
-  sub_sockets = [s for _, sub in cfg.pub_sub.items() for s in sub]
  pm = messaging.PubMaster(cfg.pub_sub.keys())
+  sub_sockets = [s for _, sub in cfg.pub_sub.items() for s in sub]
+  sockets = {s: messaging.sub_sock(s, timeout=100) for s in sub_sockets}

  all_msgs = sorted(lr, key=lambda msg: msg.logMonoTime)
  pub_msgs = [msg for msg in all_msgs if msg.which() in list(cfg.pub_sub.keys())]
@@ -556,22 +572,26 @@ def replay_process_with_sockets(cfg, lr, fingerprint=None):
      while not any(pm.all_readers_updated(s) for s in cfg.pub_sub.keys()):
        time.sleep(0)

-    # Make sure all subscribers are connected
-    sockets = {s: messaging.sub_sock(s, timeout=2000) for s in sub_sockets}
-    for s in sub_sockets:
-      messaging.recv_one_or_none(sockets[s])
+    for s in sockets.values():
+      messaging.recv_one_or_none(s)

    # Do the replay
    cnt = 0
    for msg in pub_msgs:
-      with Timeout(TIMEOUT, error_msg=f"timed out testing process {repr(cfg.proc_name)}, {cnt}/{len(pub_msgs)} msgs done"):
+      with Timeout(cfg.timeout, error_msg=f"timed out testing process {repr(cfg.proc_name)}, {cnt}/{len(pub_msgs)} msgs done"):
+        resp_sockets = cfg.pub_sub[msg.which()]
+        if cfg.should_recv_callback is not None:
+          resp_sockets, _ = cfg.should_recv_callback(msg, None, None, None)
+
+        # Make sure all subscribers are connected
+        if len(log_msgs) == 0 and len(resp_sockets) > 0:
+          for s in sockets.values():
+            messaging.recv_one_or_none(s)
+
        pm.send(msg.which(), msg.as_builder())
        while not pm.all_readers_updated(msg.which()):
          time.sleep(0)

-        resp_sockets = cfg.pub_sub[msg.which()]
-        if cfg.should_recv_callback is not None:
-          resp_sockets, _ = cfg.should_recv_callback(msg, None, None, None)
        for s in resp_sockets:
          m = messaging.recv_one_retry(sockets[s])
          m = m.as_builder()
@@ -1 +1 @@
-50f1e873095fe2462d2aadb9c401bda76759c01c
+1bb3f665191e1b75c1b786f60e76d51b274f98ae
@@ -43,10 +43,10 @@ TogglesPanel::TogglesPanel(SettingsWindow *parent) : ListWidget(parent) {
    },
    {
      "ExperimentalLongitudinalEnabled",
-      tr("Experimental openpilot Longitudinal Control"),
-      QString("<b>%1</b><br>%2")
-      .arg(tr("WARNING: openpilot longitudinal control is experimental for this car and will disable Automatic Emergency Braking (AEB)."))
-      .arg(tr("On this car, openpilot defaults to the car's built-in ACC instead of openpilot's longitudinal control. Enable this to switch to openpilot longitudinal control. Enabling Experimental mode is recommended when using experimental openpilot longitudinal control.")),
+      tr("openpilot Longitudinal Control (Alpha)"),
+      QString("<b>%1</b><br><br>%2")
+      .arg(tr("WARNING: openpilot longitudinal control is in alpha for this car and will disable Automatic Emergency Braking (AEB)."))
+      .arg(tr("On this car, openpilot defaults to the car's built-in ACC instead of openpilot's longitudinal control. Enable this to switch to openpilot longitudinal control. Enabling Experimental mode is recommended when enabling openpilot longitudinal control alpha.")),
      "../assets/offroad/icon_speed_limit.png",
    },
    {
@@ -193,6 +193,7 @@ DevicePanel::DevicePanel(SettingsWindow *parent) : ListWidget(parent) {
  connect(resetCalibBtn, &ButtonControl::clicked, [&]() {
    if (ConfirmationDialog::confirm(tr("Are you sure you want to reset calibration?"), tr("Reset"), this)) {
      params.remove("CalibrationParams");
+      params.remove("LiveTorqueParameters");
    }
  });
  addItem(resetCalibBtn);
@@ -992,22 +992,10 @@ This may take up to a minute.</source>
        <source>Experimental Mode</source>
        <translation>Experimenteller Modus</translation>
    </message>
-    <message>
-        <source>Experimental openpilot Longitudinal Control</source>
-        <translation>Experimenteller Openpilot Tempomat</translation>
-    </message>
-    <message>
-        <source>WARNING: openpilot longitudinal control is experimental for this car and will disable Automatic Emergency Braking (AEB).</source>
-        <translation>WARNUNG: Der Openpilot Tempomat ist für dieses Auto experimentell und deaktiviert den Notbremsassistenten.</translation>
-    </message>
    <message>
        <source>Disengage on Accelerator Pedal</source>
        <translation>Bei Gasbetätigung ausschalten</translation>
    </message>
-    <message>
-        <source>On this car, openpilot defaults to the car&apos;s built-in ACC instead of openpilot&apos;s longitudinal control. Enable this to switch to openpilot longitudinal control. Enabling Experimental mode is recommended when using experimental openpilot longitudinal control.</source>
-        <translation>Bei diesem auto wird standardmäßig der im Auto eingebaute adaptive Tempomat anstelle des Openpilot Tempomats benutzt. Aktiviere diesen Schalter, um zum Openpilot Tempomaten zu wechseln. Es ist empfohlen den Experimentellen Modus bei Nutzung des Openpilot Tempomats zu aktivieren.</translation>
-    </message>
    <message>
        <source>openpilot defaults to driving in &lt;b&gt;chill mode&lt;/b&gt;. Experimental mode enables &lt;b&gt;alpha-level features&lt;/b&gt; that aren&apos;t ready for chill mode. Experimental features are listed below:</source>
        <translation>Openpilot fährt standardmäßig im &lt;b&gt;entspannten Modus&lt;/b&gt;. Der Experimentelle Modus aktiviert&lt;b&gt;Alpha-level Funktionen&lt;/b&gt;, die noch nicht für den entspannten Modus bereit sind. Die experimentellen Funktionen sind die Folgenden:</translation>
@@ -1044,6 +1032,18 @@ This may take up to a minute.</source>
        <source>Enable experimental longitudinal control to allow Experimental mode.</source>
        <translation>Aktiviere den experimentellen Openpilot Tempomaten für experimentelle Funktionen.</translation>
    </message>
+    <message>
+        <source>openpilot Longitudinal Control (Alpha)</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>WARNING: openpilot longitudinal control is in alpha for this car and will disable Automatic Emergency Braking (AEB).</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>On this car, openpilot defaults to the car&apos;s built-in ACC instead of openpilot&apos;s longitudinal control. Enable this to switch to openpilot longitudinal control. Enabling Experimental mode is recommended when enabling openpilot longitudinal control alpha.</source>
+        <translation type="unfinished"></translation>
+    </message>
 </context>
 <context>
    <name>Updater</name>
@@ -962,10 +962,6 @@ This may take up to a minute.</source>
        <source>Upload data from the driver facing camera and help improve the driver monitoring algorithm.</source>
        <translation>車内カメラの映像をアップロードし、ドライバー監視システムのアルゴリズムの向上に役立てます。</translation>
    </message>
-    <message>
-        <source>Experimental openpilot Longitudinal Control</source>
-        <translation>実験段階のopenpilotによるアクセル制御</translation>
-    </message>
    <message>
        <source>Disengage on Accelerator Pedal</source>
        <translation>ｱｸｾﾙを踏むと openpilot を中断</translation>
@@ -994,14 +990,6 @@ This may take up to a minute.</source>
        <source>Experimental Mode</source>
        <translation>実験モード</translation>
    </message>
-    <message>
-        <source>WARNING: openpilot longitudinal control is experimental for this car and will disable Automatic Emergency Braking (AEB).</source>
-        <translation>警告: この車種でのopenpilotによるアクセル制御は実験段階であり、衝突被害軽減ブレーキ(AEB)を無効化します。</translation>
-    </message>
-    <message>
-        <source>On this car, openpilot defaults to the car&apos;s built-in ACC instead of openpilot&apos;s longitudinal control. Enable this to switch to openpilot longitudinal control. Enabling Experimental mode is recommended when using experimental openpilot longitudinal control.</source>
-        <translation>openpilotはこの車の場合、車に内蔵されているACCを標準で利用します。この機能を有効にすることで実験段階のopenpilotによるアクセル制御を利用できます。実験モードと合わせて利用することをお勧めします。</translation>
-    </message>
    <message>
        <source>openpilot defaults to driving in &lt;b&gt;chill mode&lt;/b&gt;. Experimental mode enables &lt;b&gt;alpha-level features&lt;/b&gt; that aren&apos;t ready for chill mode. Experimental features are listed below:</source>
        <translation>openpilotは標準ではゆっくりとくつろげる運転を提供します。この実験モードを有効にすると、以下のくつろげる段階ではない開発中の機能を利用する事ができます。</translation>
@@ -1038,6 +1026,18 @@ This may take up to a minute.</source>
        <source>Enable experimental longitudinal control to allow Experimental mode.</source>
        <translation>実験段階のopenpilotによるアクセル制御を有効にしてください。</translation>
    </message>
+    <message>
+        <source>openpilot Longitudinal Control (Alpha)</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>WARNING: openpilot longitudinal control is in alpha for this car and will disable Automatic Emergency Braking (AEB).</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>On this car, openpilot defaults to the car&apos;s built-in ACC instead of openpilot&apos;s longitudinal control. Enable this to switch to openpilot longitudinal control. Enabling Experimental mode is recommended when enabling openpilot longitudinal control alpha.</source>
+        <translation type="unfinished"></translation>
+    </message>
 </context>
 <context>
    <name>Updater</name>
@@ -963,10 +963,6 @@ This may take up to a minute.</source>
        <source>Upload data from the driver facing camera and help improve the driver monitoring algorithm.</source>
        <translation>운전자 카메라에서 데이터를 업로드하고 운전자 모니터링 알고리즘을 개선합니다.</translation>
    </message>
-    <message>
-        <source>Experimental openpilot Longitudinal Control</source>
-        <translation>openpilot 롱컨트롤 (실험적)</translation>
-    </message>
    <message>
        <source>Disengage on Accelerator Pedal</source>
        <translation>가속페달 조작시 해제</translation>
@@ -995,14 +991,6 @@ This may take up to a minute.</source>
        <source>Experimental Mode</source>
        <translation>실험적 모드</translation>
    </message>
-    <message>
-        <source>WARNING: openpilot longitudinal control is experimental for this car and will disable Automatic Emergency Braking (AEB).</source>
-        <translation>경고: openpilot 롱컨트롤은 실험적인 기능으로 차량의 자동긴급제동(AEB)를 비활성화합니다.</translation>
-    </message>
-    <message>
-        <source>On this car, openpilot defaults to the car&apos;s built-in ACC instead of openpilot&apos;s longitudinal control. Enable this to switch to openpilot longitudinal control. Enabling Experimental mode is recommended when using experimental openpilot longitudinal control.</source>
-        <translation>이 차량은 openpilot 롱컨트롤 대신 차량의 내장 ACC로 기본 설정됩니다. openpilot 롱컨트롤을 사용하려면 이 옵션을 활성화하세요. 실험적 openpilot 롱컨트롤을 사용하는 경우 실험적 모드를 활성화 하세요.</translation>
-    </message>
    <message>
        <source>openpilot defaults to driving in &lt;b&gt;chill mode&lt;/b&gt;. Experimental mode enables &lt;b&gt;alpha-level features&lt;/b&gt; that aren&apos;t ready for chill mode. Experimental features are listed below:</source>
        <translation>openpilot은 기본적으로 &lt;b&gt;안정적 모드&lt;/b&gt;로 주행합니다. 실험적 모드는 안정적 모드에 준비되지 않은 &lt;b&gt;알파 수준 기능&lt;/b&gt;을 활성화 합니다. 실험적 모드의 특징은 아래에 나열되어 있습니다</translation>
@@ -1039,6 +1027,18 @@ This may take up to a minute.</source>
        <source>Enable experimental longitudinal control to allow Experimental mode.</source>
        <translation>실험적 롱컨트롤을 사용하려면 실험적 모드를 활성화 하세요.</translation>
    </message>
+    <message>
+        <source>openpilot Longitudinal Control (Alpha)</source>
+        <translation>openpilot 롱컨트롤 (알파)</translation>
+    </message>
+    <message>
+        <source>WARNING: openpilot longitudinal control is in alpha for this car and will disable Automatic Emergency Braking (AEB).</source>
+        <translation>경고: openpilot 롱컨트롤은 알파 기능으로 차량의 자동긴급제동(AEB)를 비활성화합니다.</translation>
+    </message>
+    <message>
+        <source>On this car, openpilot defaults to the car&apos;s built-in ACC instead of openpilot&apos;s longitudinal control. Enable this to switch to openpilot longitudinal control. Enabling Experimental mode is recommended when enabling openpilot longitudinal control alpha.</source>
+        <translation>이 차량은 openpilot 롱컨트롤 대신 차량의 내장 ACC로 기본 설정됩니다. openpilot 롱컨트롤으로 전환하려면 이 기능을 활성화하세요. openpilot 롱컨트롤 알파를 활성화하는경우 실험적 모드 활성화를 권장합니다.</translation>
+    </message>
 </context>
 <context>
    <name>Updater</name>
@@ -967,10 +967,6 @@ Isso pode levar até um minuto.</translation>
        <source>Upload data from the driver facing camera and help improve the driver monitoring algorithm.</source>
        <translation>Upload dados da câmera voltada para o motorista e ajude a melhorar o algoritmo de monitoramentor.</translation>
    </message>
-    <message>
-        <source>Experimental openpilot Longitudinal Control</source>
-        <translation>Controle longitudinal experimental openpilot</translation>
-    </message>
    <message>
        <source>Disengage on Accelerator Pedal</source>
        <translation>Desacionar com Pedal do Acelerador</translation>
@@ -999,14 +995,6 @@ Isso pode levar até um minuto.</translation>
        <source>Experimental Mode</source>
        <translation>Modo Experimental</translation>
    </message>
-    <message>
-        <source>WARNING: openpilot longitudinal control is experimental for this car and will disable Automatic Emergency Braking (AEB).</source>
-        <translation>ATENÇÃO: o controle longitudinal do openpilot é experimental para este carro e desativará a Frenagem Automática de Emergência (AEB).</translation>
-    </message>
-    <message>
-        <source>On this car, openpilot defaults to the car&apos;s built-in ACC instead of openpilot&apos;s longitudinal control. Enable this to switch to openpilot longitudinal control. Enabling Experimental mode is recommended when using experimental openpilot longitudinal control.</source>
-        <translation>Neste carro o penpilot por padrão utiliza o ACC nativo do veículo ao invés de controlar longitudinalmente. Ative isto para mudar para o controle longitudinal do openpilot. Ativar o Modo Experimental é recomendado quando em uso do controle longitudinal experimental do openpilot.</translation>
-    </message>
    <message>
        <source>openpilot defaults to driving in &lt;b&gt;chill mode&lt;/b&gt;. Experimental mode enables &lt;b&gt;alpha-level features&lt;/b&gt; that aren&apos;t ready for chill mode. Experimental features are listed below:</source>
        <translation>openpilot por padrão funciona em &lt;b&gt;modo chill&lt;/b&gt;. modo Experimental ativa &lt;b&gt;recursos de nível-alfa&lt;/b&gt; que não estão prontos para o modo chill. Recursos experimentais estão listados abaixo:</translation>
@@ -1043,6 +1031,18 @@ Isso pode levar até um minuto.</translation>
        <source>Enable experimental longitudinal control to allow Experimental mode.</source>
        <translation>Ative o controle longitudinal experimental para permitir o modo Experimental.</translation>
    </message>
+    <message>
+        <source>openpilot Longitudinal Control (Alpha)</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>WARNING: openpilot longitudinal control is in alpha for this car and will disable Automatic Emergency Braking (AEB).</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>On this car, openpilot defaults to the car&apos;s built-in ACC instead of openpilot&apos;s longitudinal control. Enable this to switch to openpilot longitudinal control. Enabling Experimental mode is recommended when enabling openpilot longitudinal control alpha.</source>
+        <translation type="unfinished"></translation>
+    </message>
 </context>
 <context>
    <name>Updater</name>
@@ -960,10 +960,6 @@ This may take up to a minute.</source>
        <source>Upload data from the driver facing camera and help improve the driver monitoring algorithm.</source>
        <translation>上传驾驶员摄像头的数据，帮助改进驾驶员监控算法。</translation>
    </message>
-    <message>
-        <source>Experimental openpilot Longitudinal Control</source>
-        <translation>试验性的openpilot纵向控制</translation>
-    </message>
    <message>
        <source>Disengage on Accelerator Pedal</source>
        <translation>踩油门时取消控制</translation>
@@ -992,14 +988,6 @@ This may take up to a minute.</source>
        <source>Experimental Mode</source>
        <translation>测试模式</translation>
    </message>
-    <message>
-        <source>WARNING: openpilot longitudinal control is experimental for this car and will disable Automatic Emergency Braking (AEB).</source>
-        <translation>警告： 此车辆的openpilot纵向控制是试验性功能，且将禁用AEB自动刹车功能。</translation>
-    </message>
-    <message>
-        <source>On this car, openpilot defaults to the car&apos;s built-in ACC instead of openpilot&apos;s longitudinal control. Enable this to switch to openpilot longitudinal control. Enabling Experimental mode is recommended when using experimental openpilot longitudinal control.</source>
-        <translation>针对此车辆，openpilot默认使用车辆自带的ACC，而非openpilot的纵向控制。启用此选项将切换到openpilot纵向控制。当使用试验性的openpilot纵向控制时，建议同时启用试验模式。</translation>
-    </message>
    <message>
        <source>openpilot defaults to driving in &lt;b&gt;chill mode&lt;/b&gt;. Experimental mode enables &lt;b&gt;alpha-level features&lt;/b&gt; that aren&apos;t ready for chill mode. Experimental features are listed below:</source>
        <translation>openpilot 默认 &lt;b&gt;轻松模式&lt;/b&gt;驾驶车辆。试验模式启用一些轻松模式之外的 &lt;b&gt;试验性功能&lt;/b&gt;。试验性功能包括：</translation>
@@ -1036,6 +1024,18 @@ This may take up to a minute.</source>
        <source>Enable experimental longitudinal control to allow Experimental mode.</source>
        <translation>启用试验性的纵向控制，以便允许使用试验模式。</translation>
    </message>
+    <message>
+        <source>openpilot Longitudinal Control (Alpha)</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>WARNING: openpilot longitudinal control is in alpha for this car and will disable Automatic Emergency Braking (AEB).</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>On this car, openpilot defaults to the car&apos;s built-in ACC instead of openpilot&apos;s longitudinal control. Enable this to switch to openpilot longitudinal control. Enabling Experimental mode is recommended when enabling openpilot longitudinal control alpha.</source>
+        <translation type="unfinished"></translation>
+    </message>
 </context>
 <context>
    <name>Updater</name>
@@ -962,10 +962,6 @@ This may take up to a minute.</source>
        <source>Upload data from the driver facing camera and help improve the driver monitoring algorithm.</source>
        <translation>上傳駕駛監控的錄像來協助我們提升駕駛監控的準確率。</translation>
    </message>
-    <message>
-        <source>Experimental openpilot Longitudinal Control</source>
-        <translation>使用 openpilot 縱向控制（實驗）</translation>
-    </message>
    <message>
        <source>Disengage on Accelerator Pedal</source>
        <translation>油門取消控車</translation>
@@ -994,14 +990,6 @@ This may take up to a minute.</source>
        <source>Experimental Mode</source>
        <translation>實驗模式</translation>
    </message>
-    <message>
-        <source>WARNING: openpilot longitudinal control is experimental for this car and will disable Automatic Emergency Braking (AEB).</source>
-        <translation>警告：openpilot 縱向控制在這輛車上仍屬實驗性質，啟用後會喪失自動緊急煞車 (AEB) 功能。</translation>
-    </message>
-    <message>
-        <source>On this car, openpilot defaults to the car&apos;s built-in ACC instead of openpilot&apos;s longitudinal control. Enable this to switch to openpilot longitudinal control. Enabling Experimental mode is recommended when using experimental openpilot longitudinal control.</source>
-        <translation>在本車輛中，openpilot預設將使用原車內建的ACC系統，而非openpilot縱向控制。開啟此開關來啟用openpilot縱向控制，使用此選項時建議一併啟用實驗模式。</translation>
-    </message>
    <message>
        <source>openpilot defaults to driving in &lt;b&gt;chill mode&lt;/b&gt;. Experimental mode enables &lt;b&gt;alpha-level features&lt;/b&gt; that aren&apos;t ready for chill mode. Experimental features are listed below:</source>
        <translation>openpilot 預設以 &lt;b&gt;輕鬆模式&lt;/b&gt; 駕駛。    實驗模式啟用了尚未準備好進入輕鬆模式的 &lt;b&gt;alpha 級功能&lt;/b&gt;。實驗功能如下：</translation>
@@ -1038,6 +1026,18 @@ This may take up to a minute.</source>
        <source>Enable experimental longitudinal control to allow Experimental mode.</source>
        <translation>啟用實驗性縱向控制以使用實驗模式。</translation>
    </message>
+    <message>
+        <source>openpilot Longitudinal Control (Alpha)</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>WARNING: openpilot longitudinal control is in alpha for this car and will disable Automatic Emergency Braking (AEB).</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>On this car, openpilot defaults to the car&apos;s built-in ACC instead of openpilot&apos;s longitudinal control. Enable this to switch to openpilot longitudinal control. Enabling Experimental mode is recommended when enabling openpilot longitudinal control alpha.</source>
+        <translation type="unfinished"></translation>
+    </message>
 </context>
 <context>
    <name>Updater</name>
@@ -1,5 +1,6 @@
 #!/usr/bin/env python3
 import os
+import glob
 import time
 import unittest
 import numpy as np
@@ -7,7 +8,7 @@ from collections import namedtuple, defaultdict

 import cereal.messaging as messaging
 from cereal import log
-from system.hardware import TICI, HARDWARE
+from system.hardware import TICI
 from selfdrive.manager.process_config import managed_processes

 BMX = {
@@ -70,7 +71,6 @@ ALL_SENSORS = {
  }
 }

-LSM_IRQ = 336

 def get_irq_count(irq: int):
  with open(f"/sys/kernel/irq/{irq}/per_cpu_count") as f:
@@ -101,9 +101,6 @@ class TestSensord(unittest.TestCase):
    if not TICI:
      raise unittest.SkipTest

-    # make sure gpiochip0 is readable
-    HARDWARE.initialize_hardware()
-
    # enable LSM self test
    os.environ["LSM_SELF_TEST"] = "1"

@@ -114,6 +111,15 @@ class TestSensord(unittest.TestCase):
      time.sleep(3)
      cls.sample_secs = 10
      cls.events = read_sensor_events(cls.sample_secs)
+
+      # determine sensord's irq
+      cls.sensord_irq = None
+      for fn in glob.glob('/sys/kernel/irq/*/actions'):
+        with open(fn) as f:
+          if "sensord" in f.read():
+            cls.sensord_irq = int(fn.split('/')[-2])
+            break
+      assert cls.sensord_irq is not None
    finally:
      # teardown won't run if this doesn't succeed
      managed_processes["sensord"].stop()
@@ -121,8 +127,6 @@ class TestSensord(unittest.TestCase):
  @classmethod
  def tearDownClass(cls):
    managed_processes["sensord"].stop()
-    if "LSM_SELF_TEST" in os.environ:
-      del os.environ['LSM_SELF_TEST']

  def tearDown(self):
    managed_processes["sensord"].stop()
@@ -250,9 +254,9 @@ class TestSensord(unittest.TestCase):
    time.sleep(3)

    # read /proc/interrupts to verify interrupts are received
-    state_one = get_irq_count(LSM_IRQ)
+    state_one = get_irq_count(self.sensord_irq)
    time.sleep(1)
-    state_two = get_irq_count(LSM_IRQ)
+    state_two = get_irq_count(self.sensord_irq)

    error_msg = f"no interrupts received after sensord start!\n{state_one} {state_two}"
    assert state_one != state_two, error_msg
@@ -261,9 +265,9 @@ class TestSensord(unittest.TestCase):
    time.sleep(1)

    # read /proc/interrupts to verify no more interrupts are received
-    state_one = get_irq_count(LSM_IRQ)
+    state_one = get_irq_count(self.sensord_irq)
    time.sleep(1)
-    state_two = get_irq_count(LSM_IRQ)
+    state_two = get_irq_count(self.sensord_irq)
    assert state_one == state_two, "Interrupts received after sensord stop!"


@@ -28,7 +28,7 @@ cabana_env.Depends(assets, Glob('/assets/*', exclude=[assets, assets_src, "asset

 prev_moc_path = cabana_env['QT_MOCHPREFIX']
 cabana_env['QT_MOCHPREFIX'] = os.path.dirname(prev_moc_path) + '/cabana/moc_'
-cabana_lib = cabana_env.Library("cabana_lib", ['mainwin.cc', 'streams/livestream.cc', 'streams/abstractstream.cc', 'streams/replaystream.cc', 'binaryview.cc', 'chartswidget.cc', 'historylog.cc', 'videowidget.cc', 'signaledit.cc', 
+cabana_lib = cabana_env.Library("cabana_lib", ['mainwin.cc', 'streams/livestream.cc', 'streams/abstractstream.cc', 'streams/replaystream.cc', 'binaryview.cc', 'chartswidget.cc', 'historylog.cc', 'videowidget.cc', 'signalview.cc', 
                                               'dbc/dbc.cc', 'dbc/dbcfile.cc', 'dbc/dbcmanager.cc',
                                               'commands.cc', 'messageswidget.cc', 'route.cc', 'settings.cc', 'util.cc', 'detailwidget.cc', 'tools/findsimilarbits.cc'], LIBS=cabana_libs, FRAMEWORKS=base_frameworks)
 cabana_env.Program('_cabana', ['cabana.cc', cabana_lib, assets], LIBS=cabana_libs, FRAMEWORKS=base_frameworks)
@@ -11,7 +11,7 @@
 #include <QToolTip>

 #include "tools/cabana/commands.h"
-#include "tools/cabana/signaledit.h"
+#include "tools/cabana/signalview.h"

 // BinaryView

@@ -273,6 +273,10 @@ void BinaryViewModel::refresh() {
    row_count = can->lastMessage(msg_id).dat.size();
    items.resize(row_count * column_count);
  }
+  int valid_rows = std::min(can->lastMessage(msg_id).dat.size(), row_count);
+  for (int i = 0; i < valid_rows * column_count; ++i) {
+    items[i].valid = true;
+  }
  endResetModel();
  updateState();
 }
@@ -307,9 +311,6 @@ void BinaryViewModel::updateState() {
    items[i * column_count + 8].val = toHex(binary[i]);
    items[i * column_count + 8].bg_color = last_msg.colors[i];
  }
-  for (int i = binary.size() * column_count; i < items.size(); ++i) {
-    items[i].val = "-";
-  }

  for (int i = 0; i < items.size(); ++i) {
    if (i >= prev_items.size() || prev_items[i].val != items[i].val || prev_items[i].bg_color != items[i].bg_color) {
@@ -376,6 +377,9 @@ void BinaryItemDelegate::paint(QPainter *painter, const QStyleOptionViewItem &op
    }
  }

+  if (!item->valid) {
+    painter->fillRect(option.rect, QBrush(Qt::darkGray, Qt::BDiagPattern));
+  }
  painter->drawText(option.rect, Qt::AlignCenter, item->val);
  if (item->is_msb || item->is_lsb) {
    painter->setFont(small_font);
@@ -42,8 +42,9 @@ public:
    QColor bg_color = QColor(102, 86, 169, 0);
    bool is_msb = false;
    bool is_lsb = false;
-    QString val = "-";
+    QString val;
    QList<const cabana::Signal *> sigs;
+    bool valid = false;
  };
  std::vector<Item> items;

@@ -189,7 +189,7 @@ void ChartsWidget::setMaxChartRange(int value) {
 void ChartsWidget::updateToolBar() {
  title_label->setText(tr("Charts: %1").arg(charts.size()));
  columns_action->setText(tr("Column: %1").arg(column_count));
-  range_lb->setText(QString("Range: %1:%2 ").arg(max_chart_range / 60, 2, 10, QLatin1Char('0')).arg(max_chart_range % 60, 2, 10, QLatin1Char('0')));
+  range_lb->setText(QString("Range: %1 ").arg(utils::formatSeconds(max_chart_range)));
  range_lb_action->setVisible(!is_zoomed);
  range_slider_action->setVisible(!is_zoomed);
  undo_zoom_action->setVisible(is_zoomed);
@@ -536,14 +536,16 @@ void ChartView::updateSeriesPoints() {
  for (auto &s : sigs) {
    auto begin = std::lower_bound(s.vals.begin(), s.vals.end(), axis_x->min(), xLessThan);
    auto end = std::lower_bound(begin, s.vals.end(), axis_x->max(), xLessThan);
+    if (begin != end) {
+      int num_points = std::max<int>((end - begin), 1);
+      QPointF right_pt = end == s.vals.end() ? s.vals.back() : *end;
+      double pixels_per_point = (chart()->mapToPosition(right_pt).x() - chart()->mapToPosition(*begin).x()) / num_points;

-    int num_points = std::max<int>(end - begin, 1);
-    int pixels_per_point = width() / num_points;
-
-    if (series_type == SeriesType::Scatter) {
-      ((QScatterSeries *)s.series)->setMarkerSize(std::clamp(pixels_per_point / 3, 2, 8) * devicePixelRatioF());
-    } else {
-      s.series->setPointsVisible(pixels_per_point > 20);
+      if (series_type == SeriesType::Scatter) {
+        ((QScatterSeries *)s.series)->setMarkerSize(std::clamp(pixels_per_point / 2.0, 2.0, 8.0) * devicePixelRatioF());
+      } else {
+        s.series->setPointsVisible(pixels_per_point > 20);
+      }
    }
  }
 }
@@ -711,8 +713,7 @@ void ChartView::mouseReleaseEvent(QMouseEvent *event) {
    if (rubber->width() <= 0) {
      // no rubber dragged, seek to mouse position
      can->seekTo(min);
-    } else if ((max_rounded - min_rounded) >= 0.5) {
-      // zoom in if selected range is greater than 0.5s
+    } else if (rubber->width() > 10) {
      emit zoomIn(min_rounded, max_rounded);
    } else {
      scene()->invalidate({}, QGraphicsScene::ForegroundLayer);
@@ -847,8 +848,8 @@ void ChartView::drawForeground(QPainter *painter, const QRectF &rect) {
    if (s.series->useOpenGL() && s.series->isVisible() && s.series->pointsVisible()) {
      auto first = std::lower_bound(s.vals.begin(), s.vals.end(), axis_x->min(), xLessThan);
      auto last = std::lower_bound(first, s.vals.end(), axis_x->max(), xLessThan);
+      painter->setBrush(s.series->color());
      for (auto it = first; it != last; ++it) {
-        painter->setBrush(s.series->color());
        painter->drawEllipse(chart()->mapToPosition(*it), 4, 4);
      }
    }
@@ -14,7 +14,8 @@ bool DBCManager::open(SourceSet s, const QString &dbc_file_name, QString *error)

    // Check if file is already open, and merge sources
    if (dbc_file->filename == dbc_file_name) {
-      ss |= s;
+      dbc_files[i] = {ss | s, dbc_file};
+
      emit DBCFileChanged();
      return true;
    }
@@ -1,6 +1,8 @@
 #pragma once

 #include <map>
+#include <optional>
+
 #include <QList>
 #include <QMetaType>
 #include <QObject>
@@ -8,7 +8,7 @@
 #include "tools/cabana/binaryview.h"
 #include "tools/cabana/chartswidget.h"
 #include "tools/cabana/historylog.h"
-#include "tools/cabana/signaledit.h"
+#include "tools/cabana/signalview.h"

 class EditMessageDialog : public QDialog {
 public:
@@ -27,6 +27,7 @@ void Settings::save() {
  s.setValue("recent_files", recent_files);
  s.setValue("message_header_state", message_header_state);
  s.setValue("chart_series_type", chart_series_type);
+  s.setValue("sparkline_range", sparkline_range);
 }

 void Settings::load() {
@@ -44,6 +45,7 @@ void Settings::load() {
  recent_files = s.value("recent_files").toStringList();
  message_header_state = s.value("message_header_state").toByteArray();
  chart_series_type = s.value("chart_series_type", 0).toInt();
+  sparkline_range = s.value("sparkline_range", 15).toInt();
 }

 // SettingsDlg
@@ -17,8 +17,9 @@ public:
  int max_cached_minutes = 30;
  int chart_height = 200;
  int chart_column_count = 1;
-  int chart_range = 3 * 60; // e minutes
+  int chart_range = 3 * 60; // 3 minutes
  int chart_series_type = 0;
+  int sparkline_range = 15; // 15 seconds
  QString last_dir;
  QString last_route_dir;
  QByteArray geometry;
@@ -1,4 +1,4 @@
-#include "tools/cabana/signaledit.h"
+#include "tools/cabana/signalview.h"

 #include <QApplication>
 #include <QCompleter>
@@ -62,10 +62,21 @@ void SignalModel::updateState(const QHash<MessageId, CanData> *msgs) {
    auto &dat = can->lastMessage(msg_id).dat;
    int row = 0;
    for (auto item : root->children) {
-      item->sig_val = QString::number(get_raw_value((uint8_t *)dat.constData(), dat.size(), *item->sig), 'f', item->sig->precision);
+      double value = get_raw_value((uint8_t *)dat.constData(), dat.size(), *item->sig);
+      item->sig_val = QString::number(value, 'f', item->sig->precision);
+
+      // Show unit
      if (!item->sig->unit.isEmpty()) {
        item->sig_val += " " + item->sig->unit;
      }
+
+      // Show enum string
+      for (auto &[val, desc] : item->sig->val_desc) {
+        if (std::abs(value - val.toInt()) < 1e-6) {
+          item->sig_val = desc;
+        }
+      }
+
      emit dataChanged(index(row, 1), index(row, 1), {Qt::DisplayRole});
      ++row;
    }
@@ -366,17 +377,15 @@ void SignalItemDelegate::paint(QPainter *painter, const QStyleOptionViewItem &op

 void SignalItemDelegate::drawSparkline(QPainter *painter, const QStyleOptionViewItem &option, const QModelIndex &index) const {
  static std::vector<QPointF> points;
-  // TODO: get seconds from settings.
-  const uint64_t chart_seconds = 15;  // seconds
  const auto &msg_id = ((SignalView *)parent())->msg_id;
  const auto &msgs = can->events().at(msg_id);
  uint64_t ts = (can->lastMessage(msg_id).ts + can->routeStartTime()) * 1e9;
-  auto first = std::lower_bound(msgs.cbegin(), msgs.cend(), CanEvent{.mono_time = (uint64_t)std::max<int64_t>(ts - chart_seconds * 1e9, 0)});
-  if (first != msgs.cend()) {
+  auto first = std::lower_bound(msgs.cbegin(), msgs.cend(), CanEvent{.mono_time = (uint64_t)std::max<int64_t>(ts - settings.sparkline_range * 1e9, 0)});
+  auto last = std::upper_bound(first, msgs.cend(), CanEvent{.mono_time = ts});
+  if (first != last) {
    double min = std::numeric_limits<double>::max();
    double max = std::numeric_limits<double>::lowest();
    const auto sig = ((SignalModel::Item *)index.internalPointer())->sig;
-    auto last = std::lower_bound(first, msgs.cend(), CanEvent{.mono_time = ts});
    points.clear();
    for (auto it = first; it != last; ++it) {
      double value = get_raw_value(it->dat, it->size, *sig);
@@ -391,7 +400,7 @@ void SignalItemDelegate::drawSparkline(QPainter *painter, const QStyleOptionView

    int h_margin = option.widget->style()->pixelMetric(QStyle::PM_FocusFrameHMargin);
    int v_margin = std::max(option.widget->style()->pixelMetric(QStyle::PM_FocusFrameVMargin) + 2, 4);
-    const double xscale = (option.rect.width() - 175.0 * option.widget->devicePixelRatioF() - h_margin * 2) / chart_seconds;
+    const double xscale = (option.rect.width() - 175.0 - h_margin * 2) / settings.sparkline_range;
    const double yscale = (option.rect.height() - v_margin * 2) / (max - min);
    const int left = option.rect.left();
    const int top = option.rect.top() + v_margin;
@@ -401,6 +410,13 @@ void SignalItemDelegate::drawSparkline(QPainter *painter, const QStyleOptionView
    }
    painter->setPen(getColor(sig));
    painter->drawPolyline(points.data(), points.size());
+    if ((points.back().x() - points.front().x()) / points.size() > 10) {
+      painter->setPen(Qt::NoPen);
+      painter->setBrush(getColor(sig));
+      for (const auto &pt : points) {
+        painter->drawEllipse(pt, 2, 2);
+      }
+    }
  }
 }

@@ -451,6 +467,17 @@ SignalView::SignalView(ChartsWidget *charts, QWidget *parent) : charts(charts),
  filter_edit->setPlaceholderText(tr("filter signals"));
  hl->addWidget(filter_edit);
  hl->addStretch(1);
+
+  // WARNING: increasing the maximum range can result in severe performance degradation.
+  // 30s is a reasonable value at present.
+  const int max_range = 30; // 30s
+  settings.sparkline_range = std::clamp(settings.sparkline_range, 1, max_range);
+  hl->addWidget(sparkline_label = new QLabel());
+  hl->addWidget(sparkline_range_slider = new QSlider(Qt::Horizontal, this));
+  sparkline_range_slider->setRange(1, max_range);
+  sparkline_range_slider->setValue(settings.sparkline_range);
+  sparkline_range_slider->setToolTip(tr("Sparkline time range"));
+
  auto collapse_btn = toolButton("dash-square", tr("Collapse All"));
  collapse_btn->setIconSize({12, 12});
  hl->addWidget(collapse_btn);
@@ -473,8 +500,10 @@ SignalView::SignalView(ChartsWidget *charts, QWidget *parent) : charts(charts),
  main_layout->setSpacing(0);
  main_layout->addWidget(title_bar);
  main_layout->addWidget(tree);
+  updateToolBar();

  QObject::connect(filter_edit, &QLineEdit::textEdited, model, &SignalModel::setFilter);
+  QObject::connect(sparkline_range_slider, &QSlider::valueChanged, this, &SignalView::setSparklineRange);
  QObject::connect(collapse_btn, &QPushButton::clicked, tree, &QTreeView::collapseAll);
  QObject::connect(tree, &QAbstractItemView::clicked, this, &SignalView::rowClicked);
  QObject::connect(tree, &QTreeView::viewportEntered, [this]() { emit highlight(nullptr); });
@@ -521,7 +550,7 @@ void SignalView::rowsChanged() {
      });
    }
  }
-  signal_count_lb->setText(tr("Signals: %1").arg(model->rowCount()));
+  updateToolBar();
  updateChartState();
 }

@@ -569,6 +598,17 @@ void SignalView::signalHovered(const cabana::Signal *sig) {
  }
 }

+void SignalView::updateToolBar() {
+  signal_count_lb->setText(tr("Signals: %1").arg(model->rowCount()));
+  sparkline_label->setText(QString("Range: %1 ").arg(utils::formatSeconds(settings.sparkline_range)));
+}
+
+void SignalView::setSparklineRange(int value) {
+  settings.sparkline_range = value;
+  updateToolBar();
+  model->updateState(nullptr);
+}
+
 void SignalView::leaveEvent(QEvent *event) {
  emit highlight(nullptr);
  QWidget::leaveEvent(event);
@@ -3,6 +3,7 @@
 #include <QAbstractItemModel>
 #include <QLabel>
 #include <QLineEdit>
+#include <QSlider>
 #include <QStyledItemDelegate>
 #include <QTableWidget>
 #include <QTreeView>
@@ -109,6 +110,8 @@ signals:
 private:
  void rowsChanged();
  void leaveEvent(QEvent *event);
+  void updateToolBar();
+  void setSparklineRange(int value);

  struct TreeView : public QTreeView {
    TreeView(QWidget *parent) : QTreeView(parent) {}
@@ -120,6 +123,8 @@ private:
  };

  TreeView *tree;
+  QLabel *sparkline_label;
+  QSlider *sparkline_range_slider;
  QLineEdit *filter_edit;
  ChartsWidget *charts;
  QLabel *signal_count_lb;
@@ -4,6 +4,7 @@
 #include <cmath>

 #include <QByteArray>
+#include <QDateTime>
 #include <QColor>
 #include <QFont>
 #include <QRegExpValidator>
@@ -97,6 +98,9 @@ public:

 namespace utils {
 QPixmap icon(const QString &id);
+inline QString formatSeconds(int seconds) {
+  return QDateTime::fromTime_t(seconds).toString(seconds > 60 * 60 ? "hh:mm:ss" : "mm:ss");
+}
 }

 QToolButton *toolButton(const QString &icon, const QString &tooltip);
@@ -1,7 +1,6 @@
 #include "tools/cabana/videowidget.h"

 #include <QButtonGroup>
-#include <QDateTime>
 #include <QMouseEvent>
 #include <QPainter>
 #include <QStyleOptionSlider>
@@ -20,10 +19,6 @@ static const QColor timeline_colors[] = {
  [(int)TimelineType::AlertCritical] = QColor(199, 0, 57),
 };

-static inline QString formatTime(int seconds) {
-  return QDateTime::fromTime_t(seconds).toString(seconds > 60 * 60 ? "hh:mm:ss" : "mm:ss");
-}
-
 VideoWidget::VideoWidget(QWidget *parent) : QFrame(parent) {
  setFrameStyle(QFrame::StyledPanel | QFrame::Plain);
  auto main_layout = new QVBoxLayout(this);
@@ -101,11 +96,11 @@ QWidget *VideoWidget::createCameraWidget() {
  slider_layout->addWidget(end_time_label);
  l->addLayout(slider_layout);
  QObject::connect(slider, &QSlider::sliderReleased, [this]() { can->seekTo(slider->value() / 1000.0); });
-  QObject::connect(slider, &QSlider::valueChanged, [=](int value) { time_label->setText(formatTime(value / 1000)); });
+  QObject::connect(slider, &QSlider::valueChanged, [=](int value) { time_label->setText(utils::formatSeconds(value / 1000)); });
  QObject::connect(cam_widget, &CameraWidget::clicked, []() { can->pause(!can->isPaused()); });
  QObject::connect(can, &AbstractStream::updated, this, &VideoWidget::updateState);
  QObject::connect(can, &AbstractStream::streamStarted, [this]() {
-    end_time_label->setText(formatTime(can->totalSeconds()));
+    end_time_label->setText(utils::formatSeconds(can->totalSeconds()));
    slider->setRange(0, can->totalSeconds() * 1000);
  });
  return w;
@@ -116,7 +111,7 @@ void VideoWidget::rangeChanged(double min, double max, bool is_zoomed) {
    min = 0;
    max = can->totalSeconds();
  }
-  end_time_label->setText(formatTime(max));
+  end_time_label->setText(utils::formatSeconds(max));
  slider->setRange(min * 1000, max * 1000);
 }

@@ -230,7 +225,7 @@ void Slider::mouseMoveEvent(QMouseEvent *e) {
  }
  int x = std::clamp(e->pos().x() - thumb.width() / 2, THUMBNAIL_MARGIN, rect().right() - thumb.width() - THUMBNAIL_MARGIN);
  int y = -thumb.height() - THUMBNAIL_MARGIN - style()->pixelMetric(QStyle::PM_LayoutVerticalSpacing);
-  thumbnail_label.showPixmap(mapToGlobal({x, y}), formatTime(seconds), thumb);
+  thumbnail_label.showPixmap(mapToGlobal({x, y}), utils::formatSeconds(seconds), thumb);
  QSlider::mouseMoveEvent(e);
 }

@@ -53,6 +53,8 @@ function install_ubuntu_common_requirements() {
    libgles2-mesa-dev \
    libglfw3-dev \
    libglib2.0-0 \
+    libncurses5-dev \
+    libncursesw5-dev \
    libomp-dev \
    libopencv-dev \
    libpng16-16 \