Merge branch 'master' into dev-priv/master

# Conflicts: # selfdrive/car/car_helpers.py
2026-09-29 21:33:42 +08:00 · 2023-02-17 01:28:52 -05:00
parent c533f185ae b2465c3494
commit cc9a8e7d2c
50 changed files with 508 additions and 323 deletions
@@ -7,6 +7,7 @@ Version 0.9.1 (2023-02-23)
  * Adjust alert volume using ambient noise level
  * Driver monitoring icon shows driver's head pose
  * German translation thanks to Vrabetz and CzokNorris!
+* Cadillac Escalade 2017 support thanks to rickygilleland!
 * Chevrolet Bolt EV 2022-23 support thanks to JasonJShuler!
 * Genesis GV60 2023 support thanks to sunnyhaibin!
 * Hyundai Tucson 2022-23 support
@@ -155,6 +155,7 @@ std::unordered_map<std::string, uint32_t> keys = {
    {"NavSettingTime24h", PERSISTENT},
    {"NavSettingLeftSide", PERSISTENT},
    {"NavdRender", PERSISTENT},
+    {"ObdMultiplexingDisabled", CLEAR_ON_MANAGER_START | CLEAR_ON_IGNITION_ON},
    {"OpenpilotEnabledToggle", PERSISTENT},
    {"PandaHeartbeatLost", CLEAR_ON_MANAGER_START | CLEAR_ON_IGNITION_OFF},
    {"PandaSignatures", CLEAR_ON_MANAGER_START},
@@ -4,7 +4,7 @@

 A supported vehicle is one that just works when you install a comma three. All supported cars provide a better experience than any stock system.

-# 236 Supported Cars
+# 237 Supported Cars

 |Make|Model|Supported Package|ACC|No ACC accel below|No ALC below|Steering Torque|Resume from stop|Harness|Video|
 |---|---|---|:---:|:---:|:---:|:---:|:---:|:---:|:---:|
@@ -17,6 +17,7 @@ A supported vehicle is one that just works when you install a comma three. All s
 |Audi|Q3 2019-23|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,9</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<a href="https://comma.ai/shop/comma-three.html?make=Audi&model=Q3 2019-23">J533</a>||
 |Audi|RS3 2018|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,9</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<a href="https://comma.ai/shop/comma-three.html?make=Audi&model=RS3 2018">J533</a>||
 |Audi|S3 2015-17|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,9</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<a href="https://comma.ai/shop/comma-three.html?make=Audi&model=S3 2015-17">J533</a>||
+|Cadillac|Escalade 2017[<sup>3</sup>](#footnotes)|Driver Assist Package|openpilot|0 mph|7 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|<a href="https://comma.ai/shop/comma-three.html?make=Cadillac&model=Escalade 2017">OBD-II</a>||
 |Cadillac|Escalade ESV 2016[<sup>3</sup>](#footnotes)|Adaptive Cruise Control (ACC) & LKAS|openpilot|0 mph|7 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|<a href="https://comma.ai/shop/comma-three.html?make=Cadillac&model=Escalade ESV 2016">OBD-II</a>||
 |Chevrolet|Bolt EUV 2022-23|Premier or Premier Redline Trim without Super Cruise Package|openpilot available[<sup>1</sup>](#footnotes)|3 mph|6 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|<a href="https://comma.ai/shop/comma-three.html?make=Chevrolet&model=Bolt EUV 2022-23">GM</a>|<a href="https://youtu.be/xvwzGMUA210" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>|
 |Chevrolet|Bolt EV 2022-23|2LT Trim with Adaptive Cruise Control Package|openpilot available[<sup>1</sup>](#footnotes)|3 mph|6 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|<a href="https://comma.ai/shop/comma-three.html?make=Chevrolet&model=Bolt EV 2022-23">GM</a>||
@@ -137,6 +137,8 @@ bool safety_setter_thread(std::vector<Panda *> pandas) {
    panda->set_safety_model(cereal::CarParams::SafetyModel::ELM327, 1U);
  }

+  p.putBool("ObdMultiplexingDisabled", true);
+
  std::string params;
  LOGW("waiting for params to set safety model");
  while (true) {
@@ -11,7 +11,7 @@ from system.version import is_comma_remote, is_tested_branch
 from selfdrive.car.interfaces import get_interface_attr
 from selfdrive.car.fingerprints import eliminate_incompatible_cars, all_legacy_fingerprint_cars
 from selfdrive.car.vin import get_vin, is_valid_vin, VIN_UNKNOWN
-from selfdrive.car.fw_versions import get_fw_versions_ordered, match_fw_to_car, get_present_ecus
+from selfdrive.car.fw_versions import disable_obd_multiplexing, get_fw_versions_ordered, match_fw_to_car, get_present_ecus
 import selfdrive.sentry as sentry
 from system.swaglog import cloudlog
 import cereal.messaging as messaging
@@ -120,7 +120,7 @@ def fingerprint(logcan, sendcan, num_pandas):

  params = Params()
  params.put("CarVin", vin)
-  params.put_bool("FirmwareObdQueryDone", True)
+  disable_obd_multiplexing(params)

  finger = gen_empty_fingerprint()
  candidate_cars = {i: all_legacy_fingerprint_cars() for i in [0, 1]}  # attempt fingerprint on both bus 0 and 1
@@ -59,6 +59,8 @@ class Request:
  bus: int = 1
  # FW responses from these queries will not be used for fingerprinting
  logging: bool = False
+  # These requests are done once OBD multiplexing is disabled, after all others
+  non_obd: bool = False


@dataclass
@@ -5,6 +5,7 @@ from tqdm import tqdm

 import panda.python.uds as uds
 from cereal import car
+from common.params import Params
 from selfdrive.car.ecu_addrs import get_ecu_addrs
 from selfdrive.car.interfaces import get_interface_attr
 from selfdrive.car.fingerprints import FW_VERSIONS
@@ -89,7 +90,7 @@ def match_fw_to_car_fuzzy(fw_versions_dict, log=True, exclude=None):
    return set()


-def match_fw_to_car_exact(fw_versions_dict):
+def match_fw_to_car_exact(fw_versions_dict) -> Set[str]:
  """Do an exact FW match. Returns all cars that match the given
  FW versions for a list of "essential" ECUs. If an ECU is not considered
  essential the FW version can be missing to get a fingerprint, but if it's present it
@@ -197,11 +198,21 @@ def get_brand_ecu_matches(ecu_rx_addrs):
  return brand_matches


+def disable_obd_multiplexing(params):
+  if not params.get_bool("ObdMultiplexingDisabled"):
+    params.put_bool("FirmwareObdQueryDone", True)
+
+    cloudlog.warning("Waiting for OBD multiplexing to be disabled")
+    params.get_bool("ObdMultiplexingDisabled", block=True)
+    cloudlog.warning("OBD multiplexing disabled")
+
+
 def get_fw_versions_ordered(logcan, sendcan, ecu_rx_addrs, timeout=0.1, num_pandas=1, debug=False, progress=False):
  """Queries for FW versions ordering brands by likelihood, breaks when exact match is found"""

  all_car_fw = []
  brand_matches = get_brand_ecu_matches(ecu_rx_addrs)
+  matched_brand: Optional[str] = None

  for brand in sorted(brand_matches, key=lambda b: len(brand_matches[b]), reverse=True):
    car_fw = get_fw_versions(logcan, sendcan, query_brand=brand, timeout=timeout, num_pandas=num_pandas, debug=debug, progress=progress)
@@ -209,12 +220,20 @@ def get_fw_versions_ordered(logcan, sendcan, ecu_rx_addrs, timeout=0.1, num_pand
    # Try to match using FW returned from this brand only
    matches = match_fw_to_car_exact(build_fw_dict(car_fw))
    if len(matches) == 1:
+      matched_brand = brand
      break

+  disable_obd_multiplexing(Params())
+
+  # Do non-OBD queries for matched brand, or all if no match is found
+  for brand in FW_QUERY_CONFIGS.keys():
+    if brand == matched_brand or matched_brand is None:
+      all_car_fw.extend(get_fw_versions(logcan, sendcan, query_brand=brand, timeout=timeout, num_pandas=num_pandas, obd_multiplexed=False, debug=debug, progress=progress))
+
  return all_car_fw


-def get_fw_versions(logcan, sendcan, query_brand=None, extra=None, timeout=0.1, num_pandas=1, debug=False, progress=False):
+def get_fw_versions(logcan, sendcan, query_brand=None, extra=None, timeout=0.1, num_pandas=1, obd_multiplexed=True, debug=False, progress=False):
  versions = VERSIONS.copy()

  # Each brand can define extra ECUs to query for data collection
@@ -262,6 +281,9 @@ def get_fw_versions(logcan, sendcan, query_brand=None, extra=None, timeout=0.1,
        # Skip query if no panda available
        if r.bus > num_pandas * 4 - 1:
          continue
+        # Or if request is not designated for current multiplexing mode
+        elif r.non_obd == obd_multiplexed:
+          continue

        try:
          addrs = [(a, s) for (b, a, s) in addr_chunk if b in (brand, 'any') and
@@ -1,5 +1,4 @@
 #!/usr/bin/env python3
-import numpy as np
 from cereal import car
 from math import fabs
 from panda import Panda
@@ -59,23 +58,23 @@ class CarInterface(CarInterfaceBase):
    # TODO:
    # 1. Learn the correction factors from data
    # 2. Generalize the logic to other GM torque control platforms
-    steer_break_pts = np.array([-1.0, -0.9, -0.75, -0.5, 0.0, 0.5, 0.75, 0.9, 1.0])
-    steer_lataccel_factors = np.array([1.5, 1.15, 1.02, 1.0, 1.0, 1.0, 1.02, 1.15, 1.5])
-    steer_correction_factor = np.interp(
+    steer_break_pts = [-1.0, -0.9, -0.75, -0.5, 0.0, 0.5, 0.75, 0.9, 1.0]
+    steer_lataccel_factors = [1.5, 1.15, 1.02, 1.0, 1.0, 1.0, 1.02, 1.15, 1.5]
+    steer_correction_factor = interp(
      steer_torque,
      steer_break_pts,
      steer_lataccel_factors
    )

-    vego_break_pts = np.array([0.0, 10.0, 15.0, 20.0, 100.0])
-    vego_lataccel_factors = np.array([1.5, 1.5, 1.25, 1.0, 1.0])
-    vego_correction_factor = np.interp(
+    vego_break_pts = [0.0, 10.0, 15.0, 20.0, 100.0]
+    vego_lataccel_factors = [1.5, 1.5, 1.25, 1.0, 1.0]
+    vego_correction_factor = interp(
      vego,
      vego_break_pts,
      vego_lataccel_factors,
    )

-    return float((steer_torque + friction) / (steer_correction_factor * vego_correction_factor))
+    return (steer_torque + friction) / (steer_correction_factor * vego_correction_factor)

  def torque_from_lateral_accel(self) -> TorqueFromLateralAccelCallbackType:
    if self.CP.carFingerprint == CAR.BOLT_EUV:
@@ -199,6 +198,14 @@ class CarInterface(CarInterfaceBase):
      ret.steerRatio = 15.3
      ret.centerToFront = ret.wheelbase * 0.5

+    elif candidate == CAR.ESCALADE:
+      ret.minEnableSpeed = -1.  # engage speed is decided by pcm
+      ret.mass = 5653. * CV.LB_TO_KG + STD_CARGO_KG  # (5552+5815)/2
+      ret.wheelbase = 2.95  # 116 inches in meters
+      ret.steerRatio = 17.3
+      ret.centerToFront = ret.wheelbase * 0.5
+      CarInterfaceBase.configure_torque_tune(candidate, ret.lateralTuning)
+
    elif candidate == CAR.ESCALADE_ESV:
      ret.minEnableSpeed = -1.  # engage speed is decided by pcm
      ret.mass = 2739. + STD_CARGO_KG
@@ -214,7 +221,7 @@ class CarInterface(CarInterfaceBase):
      ret.mass = 1669. + STD_CARGO_KG
      ret.wheelbase = 2.63779
      ret.steerRatio = 16.8
-      ret.centerToFront = 2.15  # measured
+      ret.centerToFront = ret.wheelbase * 0.4
      tire_stiffness_factor = 1.0
      ret.steerActuatorDelay = 0.12
      CarInterfaceBase.configure_torque_tune(candidate, ret.lateralTuning)
@@ -67,6 +67,7 @@ class CAR:
  MALIBU = "CHEVROLET MALIBU PREMIER 2017"
  ACADIA = "GMC ACADIA DENALI 2018"
  BUICK_REGAL = "BUICK REGAL ESSENCE 2018"
+  ESCALADE = "CADILLAC ESCALADE 2017"
  ESCALADE_ESV = "CADILLAC ESCALADE ESV 2016"
  BOLT_EUV = "CHEVROLET BOLT EUV 2022"
  SILVERADO = "CHEVROLET SILVERADO 1500 2020"
@@ -99,6 +100,7 @@ CAR_INFO: Dict[str, Union[GMCarInfo, List[GMCarInfo]]] = {
  CAR.MALIBU: GMCarInfo("Chevrolet Malibu Premier 2017"),
  CAR.ACADIA: GMCarInfo("GMC Acadia 2018", video_link="https://www.youtube.com/watch?v=0ZN6DdsBUZo"),
  CAR.BUICK_REGAL: GMCarInfo("Buick Regal Essence 2018"),
+  CAR.ESCALADE: GMCarInfo("Cadillac Escalade 2017", "Driver Assist Package"),
  CAR.ESCALADE_ESV: GMCarInfo("Cadillac Escalade ESV 2016", "Adaptive Cruise Control (ACC) & LKAS"),
  CAR.BOLT_EUV: [
    GMCarInfo("Chevrolet Bolt EUV 2022-23", "Premier or Premier Redline Trim without Super Cruise Package", "https://youtu.be/xvwzGMUA210"),
@@ -174,6 +176,10 @@ FINGERPRINTS = {
  {
    190: 6, 193: 8, 197: 8, 199: 4, 201: 8, 208: 8, 209: 7, 211: 2, 241: 6, 249: 8, 288: 5, 289: 8, 298: 8, 304: 1, 309: 8, 313: 8, 320: 3, 322: 7, 328: 1, 338: 6, 340: 6, 352: 5, 381: 8, 384: 4, 386: 8, 388: 8, 393: 8, 398: 8, 413: 8, 417: 7, 419: 1, 422: 4, 426: 7, 431: 8, 442: 8, 451: 8, 452: 8, 453: 6, 454: 8, 455: 7, 462: 4, 463: 3, 479: 3, 481: 7, 485: 8, 489: 8, 497: 8, 499: 3, 500: 6, 501: 8, 508: 8, 510: 8, 532: 6, 554: 3, 560: 8, 562: 8, 563: 5, 564: 5, 567: 5, 573: 1, 577: 8, 608: 8, 609: 6, 610: 6, 611: 6, 612: 8, 613: 8, 647: 6, 707: 8, 715: 8, 717: 5, 753: 5, 761: 7, 840: 5, 842: 5, 844: 8, 866: 4, 869: 4, 880: 6, 961: 8, 969: 8, 977: 8, 979: 8, 985: 5, 1001: 8, 1005: 6, 1009: 8, 1017: 8, 1020: 8, 1033: 7, 1034: 7, 1105: 6, 1217: 8, 1221: 5, 1225: 8, 1233: 8, 1249: 8, 1257: 6, 1265: 8, 1267: 1, 1280: 4, 1296: 4, 1300: 8, 1322: 6, 1328: 4, 1417: 8, 1601: 8, 1906: 7, 1907: 7, 1912: 7, 1914: 7, 1919: 7, 1920: 7, 1930: 7, 2016: 8, 2024: 8
  }],
+  CAR.ESCALADE: [
+  {
+    170: 8, 190: 6, 193: 8, 197: 8, 199: 4, 201: 8, 208: 8, 209: 7, 211: 2, 241: 6, 249: 8, 288: 5, 298: 8, 304: 1, 309: 8, 311: 8, 313: 8, 320: 3, 322: 7, 328: 1, 352: 5, 381: 6, 384: 4, 386: 8, 388: 8, 393: 7, 398: 8, 407: 4, 413: 8, 417: 7, 419: 1, 422: 4, 426: 7, 431: 8, 442: 8, 451: 8, 452: 8, 453: 6, 454: 8, 455: 7, 460: 5, 462: 4, 463: 3, 479: 3, 481: 7, 485: 8, 487: 8, 489: 8, 497: 8, 499: 3, 500: 6, 501: 8, 508: 8, 510: 8, 532: 6, 534: 2, 554: 3, 560: 8, 562: 8, 563: 5, 564: 5, 573: 1, 608: 8, 609: 6, 610: 6, 611: 6, 612: 8, 613: 8, 647: 6, 707: 8, 715: 8, 717: 5, 719: 5, 761: 7, 801: 8, 804: 3, 810: 8, 840: 5, 842: 5, 844: 8, 866: 4, 869: 4, 880: 6, 961: 8, 967: 4, 969: 8, 977: 8, 979: 8, 985: 5, 1001: 8, 1005: 6, 1009: 8, 1017: 8, 1019: 2, 1020: 8, 1033: 7, 1034: 7, 1105: 6, 1217: 8, 1221: 5, 1223: 2, 1225: 7, 1233: 8, 1249: 8, 1257: 6, 1265: 8, 1267: 1, 1280: 4, 1296: 4, 1300: 8, 1322: 6, 1323: 4, 1328: 4, 1417: 8, 1609: 8, 1613: 8, 1649: 8, 1792: 8, 1798: 8, 1824: 8, 1825: 8, 1840: 8, 1842: 8, 1858: 8, 1860: 8, 1863: 8, 1872: 8, 1875: 8, 1882: 8, 1888: 8, 1889: 8, 1892: 8, 1906: 7, 1907: 7, 1912: 7, 1914: 7, 1917: 7, 1918: 7, 1919: 7, 1920: 7, 1930: 7, 1937: 8, 1953: 8, 1968: 8, 2001: 8, 2017: 8, 2018: 8, 2020: 8, 2026: 8
+  }],
  CAR.ESCALADE_ESV: [
  {
    309: 1, 848: 8, 849: 8, 850: 8, 851: 8, 852: 8, 853: 8, 854: 3, 1056: 6, 1057: 8, 1058: 8, 1059: 8, 1060: 8, 1061: 8, 1062: 8, 1063: 8, 1064: 8, 1065: 8, 1066: 8, 1067: 8, 1068: 8, 1120: 8, 1121: 8, 1122: 8, 1123: 8, 1124: 8, 1125: 8, 1126: 8, 1127: 8, 1128: 8, 1129: 8, 1130: 8, 1131: 8, 1132: 8, 1133: 8, 1134: 8, 1135: 8, 1136: 8, 1137: 8, 1138: 8, 1139: 8, 1140: 8, 1141: 8, 1142: 8, 1143: 8, 1146: 8, 1147: 8, 1148: 8, 1149: 8, 1150: 8, 1151: 8, 1216: 8, 1217: 8, 1218: 8, 1219: 8, 1220: 8, 1221: 8, 1222: 8, 1223: 8, 1224: 8, 1225: 8, 1226: 8, 1232: 8, 1233: 8, 1234: 8, 1235: 8, 1236: 8, 1237: 8, 1238: 8, 1239: 8, 1240: 8, 1241: 8, 1242: 8, 1787: 8, 1788: 8
@@ -22,6 +22,8 @@ class CarInterface(CarInterfaceBase):
  def get_pid_accel_limits(CP, current_speed, cruise_speed):
    if CP.carFingerprint in HONDA_BOSCH:
      return CarControllerParams.BOSCH_ACCEL_MIN, CarControllerParams.BOSCH_ACCEL_MAX
+    elif CP.enableGasInterceptor:
+      return CarControllerParams.NIDEC_ACCEL_MIN, CarControllerParams.NIDEC_ACCEL_MAX
    else:
      # NIDECs don't allow acceleration near cruise_speed,
      # so limit limits of pid to prevent windup
@@ -171,14 +171,22 @@ FW_QUERY_CONFIG = FwQueryConfig(
      [HONDA_VERSION_REQUEST],
      [HONDA_VERSION_RESPONSE],
      bus=1,
-      logging=True
+      logging=True,
    ),
-    # Query Nidec PT bus from camera for data collection
+    # Nidec PT bus
    Request(
      [StdQueries.UDS_VERSION_REQUEST],
      [StdQueries.UDS_VERSION_RESPONSE],
      bus=0,
-      logging=True
+      logging=True,
+    ),
+    # Bosch PT bus
+    Request(
+      [StdQueries.UDS_VERSION_REQUEST],
+      [StdQueries.UDS_VERSION_RESPONSE],
+      bus=1,
+      logging=True,
+      non_obd=True,
    ),
  ],
  extra_ecus=[
@@ -190,7 +190,8 @@ class CarController:
          if (self.frame - self.last_button_frame) * DT_CTRL > 0.1:
            # send 25 messages at a time to increases the likelihood of resume being accepted
            can_sends.extend([hyundaican.create_clu11(self.packer, self.frame, CS.clu11, Buttons.RES_ACCEL, self.CP.carFingerprint)] * 25)
-            self.last_button_frame = self.frame
+            if (self.frame - self.last_button_frame) * DT_CTRL >= 0.15:
+              self.last_button_frame = self.frame

      if self.frame % 2 == 0 and self.CP.openpilotLongitudinalControl:
        # TODO: unclear if this is needed
@@ -140,8 +140,8 @@ class CarState(CarStateBase):
    ret.gearShifter = self.parse_gear_shifter(self.shifter_values.get(gear))

    if not self.CP.openpilotLongitudinalControl:
-      aeb_src = "FCA11" if self.CP.carFingerprint in FEATURES["use_fca"] else "SCC12"
-      aeb_sig = "FCA_CmdAct" if self.CP.carFingerprint in FEATURES["use_fca"] else "AEB_CmdAct"
+      aeb_src = "FCA11" if self.CP.flags & HyundaiFlags.USE_FCA.value else "SCC12"
+      aeb_sig = "FCA_CmdAct" if self.CP.flags & HyundaiFlags.USE_FCA.value else "AEB_CmdAct"
      aeb_warning = cp_cruise.vl[aeb_src]["CF_VSM_Warn"] != 0
      aeb_braking = cp_cruise.vl[aeb_src]["CF_VSM_DecCmdAct"] != 0 or cp_cruise.vl[aeb_src][aeb_sig] != 0
      ret.stockFcw = aeb_warning and not aeb_braking
@@ -337,7 +337,7 @@ class CarState(CarStateBase):
        ("SCC12", 50),
      ]

-      if CP.carFingerprint in FEATURES["use_fca"]:
+      if CP.flags & HyundaiFlags.USE_FCA.value:
        signals += [
          ("FCA_CmdAct", "FCA11"),
          ("CF_VSM_Warn", "FCA11"),
@@ -432,7 +432,7 @@ class CarState(CarStateBase):
        ("SCC12", 50),
      ]

-      if CP.carFingerprint in FEATURES["use_fca"]:
+      if CP.flags & HyundaiFlags.USE_FCA.value:
        signals += [
          ("FCA_CmdAct", "FCA11"),
          ("CF_VSM_Warn", "FCA11"),
@@ -49,6 +49,10 @@ class CarInterface(CarInterfaceBase):
      if 0x485 in fingerprint[2]:
        ret.flags |= HyundaiFlags.SEND_LFA.value

+      # These cars use the FCA11 message for the AEB and FCW signals, all others use SCC12
+      if 0x38d in fingerprint[0] or 0x38d in fingerprint[2]:
+        ret.flags |= HyundaiFlags.USE_FCA.value
+
    ret.steerActuatorDelay = 0.1  # Default delay
    ret.steerLimitTimer = 0.4
    tire_stiffness_factor = 1.
@@ -61,6 +61,7 @@ class HyundaiFlags(IntFlag):
  ENABLE_BLINKERS = 32
  CANFD_ALT_GEARS_2 = 64
  SEND_LFA = 128
+  USE_FCA = 256

  SP_CAN_LFA_BTN = 128

@@ -439,13 +440,14 @@ FW_VERSIONS = {
    (Ecu.engine, 0x7e0, None): [
      b'\xf1\x816H6F6051\x00\x00\x00\x00\x00\x00\x00\x00',
      b'\xf1\x816H6G6051\x00\x00\x00\x00\x00\x00\x00\x00',
+      b'\xf1\x816H6G5051\x00\x00\x00\x00\x00\x00\x00\x00',
    ],
    (Ecu.transmission, 0x7e1, None): [
      b'\xf1\x816U3J9051\000\000\xf1\0006U3H1_C2\000\0006U3J9051\000\000PAE0G16NL0\x82zT\xd2',
      b'\xf1\x816U3J8051\x00\x00\xf1\x006U3H1_C2\x00\x006U3J8051\x00\x00PAETG16UL0\x00\x00\x00\x00',
-      b'\xf1\x816U3J9051\x00\x00\xf1\x006U3H1_C2\x00\x006U3J9051\x00\x00PAE0G16NL2\xad\xeb\xabt',
      b'\xf1\x816U3J9051\x00\x00\xf1\x006U3H1_C2\x00\x006U3J9051\x00\x00PAE0G16NL2\x00\x00\x00\x00',
      b'\xf1\x006U3H1_C2\x00\x006U3J9051\x00\x00PAE0G16NL0\x00\x00\x00\x00',
+      b'\xf1\x006U3H1_C2\x00\x006U3J9051\x00\x00PAE0G16NL2\xad\xeb\xabt',
    ],
  },
  CAR.IONIQ_EV_2020: {
@@ -485,6 +487,7 @@ FW_VERSIONS = {
  CAR.IONIQ_HEV_2022: {
    (Ecu.fwdRadar, 0x7d0, None): [
      b'\xf1\x00AEhe SCC F-CUP      1.00 1.00 99110-G2600         ',
+      b'\xf1\x00AEhe SCC FHCUP      1.00 1.00 99110-G2600         ',
    ],
    (Ecu.eps, 0x7d4, None): [
      b'\xf1\x00AE  MDPS C 1.00 1.01 56310G2510\x00 4APHC101',
@@ -497,6 +500,7 @@ FW_VERSIONS = {
    ],
    (Ecu.transmission, 0x7e1, None): [
      b'\xf1\x816U3J9051\x00\x00\xf1\x006U3H1_C2\x00\x006U3J9051\x00\x00HAE0G16NL2\x00\x00\x00\x00',
+      b'\xf1\x006U3H1_C2\x00\x006U3J9051\x00\x00HAE0G16NL2\x96\xda\xd4\xee',
    ],
  },
  CAR.SONATA: {
@@ -684,12 +688,14 @@ FW_VERSIONS = {
  },
  CAR.SANTA_FE: {
    (Ecu.fwdRadar, 0x7d0, None): [
+      b'\xf1\x00TM__ SCC F-CUP      1.00 1.00 99110-S1210         ',
      b'\xf1\x00TM__ SCC F-CUP      1.00 1.01 99110-S2000         ',
      b'\xf1\x00TM__ SCC F-CUP      1.00 1.02 99110-S2000         ',
      b'\xf1\x00TM__ SCC F-CUP      1.00 1.03 99110-S2000         ',
    ],
    (Ecu.abs, 0x7d1, None): [
      b'\xf1\x00TM ESC \r 100\x18\x031 58910-S2650',
+      b'\xf1\x00TM ESC \r 105\x19\x05# 58910-S1500',
      b'\xf1\x00TM ESC \r 103\x18\x11\x08 58910-S2650',
      b'\xf1\x00TM ESC \r 104\x19\x07\x08 58910-S2650',
      b'\xf1\x00TM ESC \x02 100\x18\x030 58910-S2600',
@@ -708,11 +714,14 @@ FW_VERSIONS = {
      b'\xf1\x00TM  MDPS C 1.00 1.00 56340-S2000 8409',
      b'\xf1\x00TM  MDPS C 1.00 1.00 56340-S2000 8A12',
      b'\xf1\x00TM  MDPS C 1.00 1.01 56340-S2000 9129',
+      b'\xf1\x00TM  MDPS R 1.00 1.02 57700-S1100 4TMDP102'
    ],
    (Ecu.fwdCamera, 0x7c4, None): [
+      b'\xf1\x00TM  MFC  AT EUR LHD 1.00 1.01 99211-S1010 181207',
      b'\xf1\x00TM  MFC  AT USA LHD 1.00 1.00 99211-S2000 180409',
    ],
    (Ecu.transmission, 0x7e1, None): [
+      b'\xf1\x00bcsh8p54  U833\x00\x00\x00\x00\x00\x00TTM4V22US3_<]\xf1',
      b'\xf1\x006W351_C2\x00\x006W3E1051\x00\x00TTM4T20NS5\x00\x00\x00\x00',
      b'\xf1\x87LBJSGA7082574HG0\x87www\x98\x88\x88\x88\x99\xaa\xb9\x9afw\x86gx\x99\xa7\x89co\xf8\xffvU_\xffR\xaf\xf1\x816W3C2051\x00\x00\xf1\x006W351_C2\x00\x006W3C2051\x00\x00TTM2T20NS1\x00\xa6\xe0\x91',
      b'\xf1\x87LBKSGA0458404HG0vfvg\x87www\x89\x99\xa8\x99y\xaa\xa7\x9ax\x88\xa7\x88t_\xf9\xff\x86w\x8f\xff\x15x\xf1\x816W3C2051\x00\x00\xf1\x006W351_C2\x00\x006W3C2051\x00\x00TTM2T20NS1\x00\x00\x00\x00',
@@ -1652,9 +1661,6 @@ FEATURES = {
  "use_cluster_gears": {CAR.ELANTRA, CAR.KONA},
  "use_tcu_gears": {CAR.KIA_OPTIMA_G4, CAR.KIA_OPTIMA_G4_FL, CAR.SONATA_LF, CAR.VELOSTER, CAR.TUCSON},
  "use_elect_gears": {CAR.KIA_NIRO_EV, CAR.KIA_NIRO_PHEV, CAR.KIA_NIRO_HEV_2021, CAR.KIA_OPTIMA_H, CAR.IONIQ_EV_LTD, CAR.KONA_EV, CAR.IONIQ, CAR.IONIQ_EV_2020, CAR.IONIQ_PHEV, CAR.ELANTRA_HEV_2021, CAR.SONATA_HYBRID, CAR.KONA_HEV, CAR.IONIQ_HEV_2022, CAR.SANTA_FE_HEV_2022, CAR.SANTA_FE_PHEV_2022, CAR.IONIQ_PHEV_2019, CAR.KONA_EV_2022, CAR.KIA_K5_HEV_2020},
-
-  # these cars use the FCA11 message for the AEB and FCW signals, all others use SCC12
-  "use_fca": {CAR.SONATA, CAR.SONATA_HYBRID, CAR.ELANTRA, CAR.ELANTRA_2021, CAR.ELANTRA_HEV_2021, CAR.KIA_STINGER, CAR.IONIQ_EV_2020, CAR.IONIQ_PHEV, CAR.KONA_EV, CAR.KIA_FORTE, CAR.KIA_NIRO_EV, CAR.KIA_NIRO_HEV_2021, CAR.PALISADE, CAR.GENESIS_G70, CAR.GENESIS_G70_2020, CAR.KONA, CAR.SANTA_FE, CAR.KIA_SELTOS, CAR.KONA_HEV, CAR.SANTA_FE_2022, CAR.KIA_K5_2021, CAR.IONIQ_HEV_2022, CAR.SANTA_FE_HEV_2022, CAR.SANTA_FE_PHEV_2022, CAR.TUCSON, CAR.KONA_EV_2022, CAR.KIA_STINGER_2022, CAR.KIA_K5_HEV_2020, CAR.KIA_OPTIMA_G4_FL},
 }

 CANFD_CAR = {CAR.KIA_EV6, CAR.IONIQ_5, CAR.TUCSON_4TH_GEN, CAR.TUCSON_HYBRID_4TH_GEN, CAR.KIA_SPORTAGE_HYBRID_5TH_GEN, CAR.SANTA_CRUZ_1ST_GEN, CAR.KIA_SPORTAGE_5TH_GEN, CAR.GENESIS_GV70_1ST_GEN, CAR.KIA_SORENTO_PHEV_4TH_GEN, CAR.GENESIS_GV60_EV_1ST_GEN, CAR.KIA_SORENTO_4TH_GEN, CAR.KIA_NIRO_HEV_2ND_GEN}
@@ -50,6 +50,7 @@ routes = [

  CarTestRoute("7cc2a8365b4dd8a9|2018-12-02--12-10-44", GM.ACADIA),
  CarTestRoute("aa20e335f61ba898|2019-02-05--16-59-04", GM.BUICK_REGAL),
+  CarTestRoute("ef8f2185104d862e|2023-02-09--18-37-13", GM.ESCALADE),
  CarTestRoute("46460f0da08e621e|2021-10-26--07-21-46", GM.ESCALADE_ESV),
  CarTestRoute("c950e28c26b5b168|2018-05-30--22-03-41", GM.VOLT),
  CarTestRoute("f08912a233c1584f|2022-08-11--18-02-41", GM.BOLT_EUV, segment=1),
@@ -32,7 +32,8 @@ class TestCarInterfaces(unittest.TestCase):

    self.assertGreater(car_params.mass, 1)
    self.assertGreater(car_params.wheelbase, 0)
-    self.assertGreater(car_params.centerToFront, 0)
+    # centerToFront is center of gravity to front wheels, assert a reasonable range
+    self.assertTrue(car_params.wheelbase * 0.3 < car_params.centerToFront < car_params.wheelbase * 0.7)
    self.assertGreater(car_params.maxLateralAccel, 0)

    # Longitudinal sanity checks
@@ -26,6 +26,7 @@ COMMA BODY: [.nan, 1000, .nan]
 RAM 1500 5TH GEN: [2.0, 2.0, 0.0]
 RAM HD 5TH GEN: [1.4, 1.4, 0.0]
 SUBARU OUTBACK 6TH GEN: [2.3, 2.3, 0.11]
+CADILLAC ESCALADE 2017: [1.899999976158142, 1.842270016670227, 0.1120000034570694]
 CHEVROLET BOLT EUV 2022: [2.0, 2.0, 0.05]
 CHEVROLET SILVERADO 1500 2020: [1.9, 1.9, 0.112]
 CHEVROLET EQUINOX 2019: [2.0, 2.0, 0.05]
@@ -72,6 +72,7 @@ class TestStartup(unittest.TestCase):
    params.clear_all()
    params.put_bool("Passive", False)
    params.put_bool("OpenpilotEnabledToggle", True)
+    params.put_bool("ObdMultiplexingDisabled", True)

    # Build capnn version of FW array
    if fw_versions is not None:
@@ -17,7 +17,7 @@ def get_fingerprint(lr):
      for c in msg.can:
        # read also msgs sent by EON on CAN bus 0x80 and filter out the
        # addr with more than 11 bits
-        if c.src % 0x80 == 0 and c.address < 0x800:
+        if c.src % 0x80 == 0 and c.address < 0x800 and c.address not in (0x7df, 0x7e0, 0x7e8):
          msgs[c.address] = len(c.dat)

  # show CAN fingerprint
@@ -22,7 +22,7 @@ while True:
  for c in lc.can:
    # read also msgs sent by EON on CAN bus 0x80 and filter out the
    # addr with more than 11 bits
-    if c.src in [0, 2] and c.address < 0x800:
+    if c.src % 0x80 == 0 and c.address < 0x800 and c.address not in (0x7df, 0x7e0, 0x7e8):
      msgs[c.address] = len(c.dat)

  fingerprint = ', '.join("%d: %d" % v for v in sorted(msgs.items()))
@@ -619,7 +619,7 @@ kj::ArrayPtr<capnp::byte> Localizer::get_message_bytes(MessageBuilder& msg_build
 }

 bool Localizer::is_gps_ok() {
-  return (this->kf->get_filter_time() - this->last_gps_msg) < 1.0;
+  return (this->kf->get_filter_time() - this->last_gps_msg) < 2.0;
 }

 bool Localizer::critical_services_valid(std::map<std::string, double> critical_services) {
@@ -407,6 +407,7 @@ def setup_env(simulation=False, CP=None, cfg=None, controlsState=None):
  params.put_bool("WideCameraOnly", False)
  params.put_bool("DisableLogging", False)
  params.put_bool("UbloxAvailable", True)
+  params.put_bool("ObdMultiplexingDisabled", True)

  os.environ["NO_RADAR_SLEEP"] = "1"
  os.environ["REPLAY"] = "1"
@@ -1 +1 @@
-3e53ce81f1ce26409fdc4479e650ef5626130876
+8883c476d5abc12b4b2949e04c6d7c0cd7c8b9fa
@@ -42,6 +42,21 @@ BinaryView::BinaryView(QWidget *parent) : QTableView(parent) {
  QObject::connect(UndoStack::instance(), &QUndoStack::indexChanged, this, &BinaryView::refresh);

  addShortcuts();
+  setWhatsThis(R"(
+    <b>Binary View</b><br/>
+    <!-- TODO: add descprition here -->
+    Shortcuts:<br />
+    Delete Signal:
+      <span style="background-color:lightGray;color:gray"> x </span>,
+      <span style="background-color:lightGray;color:gray"> Backspace </span>,
+      <span style="background-color:lightGray;color:gray"> Delete</span><br />
+    Change endianness: <span style="background-color:lightGray;color:gray"> e </span><br />
+    Change singedness: <span style="background-color:lightGray;color:gray"> s </span><br />
+    Open chart:
+      <span style="background-color:lightGray;color:gray"> c </span>,
+      <span style="background-color:lightGray;color:gray"> p </span>,
+      <span style="background-color:lightGray;color:gray"> g </span><br />
+  )");
 }

 void BinaryView::addShortcuts() {
@@ -94,7 +109,7 @@ void BinaryView::addShortcuts() {
  QObject::connect(shortcut_plot_c, &QShortcut::activated, shortcut_plot, &QShortcut::activated);
  QObject::connect(shortcut_plot, &QShortcut::activated, [=]{
    if (hovered_sig != nullptr) {
-      emit showChart(model->msg_id, hovered_sig, true, false);
+      emit showChart(*model->msg_id, hovered_sig, true, false);
    }
  });
 }
@@ -189,14 +204,14 @@ void BinaryView::leaveEvent(QEvent *event) {
  QTableView::leaveEvent(event);
 }

-void BinaryView::setMessage(const QString &message_id) {
+void BinaryView::setMessage(const MessageId &message_id) {
  model->msg_id = message_id;
  verticalScrollBar()->setValue(0);
  refresh();
 }

 void BinaryView::refresh() {
-  if (model->msg_id.isEmpty()) return;
+  if (!model->msg_id) return;

  clearSelection();
  anchor_index = QModelIndex();
@@ -231,7 +246,7 @@ std::tuple<int, int, bool> BinaryView::getSelection(QModelIndex index) {
 void BinaryViewModel::refresh() {
  beginResetModel();
  items.clear();
-  if ((dbc_msg = dbc()->msg(msg_id))) {
+  if ((dbc_msg = dbc()->msg(*msg_id))) {
    row_count = dbc_msg->size;
    items.resize(row_count * column_count);
    for (auto sig : dbc_msg->getSignals()) {
@@ -250,7 +265,7 @@ void BinaryViewModel::refresh() {
      }
    }
  } else {
-    row_count = can->lastMessage(msg_id).dat.size();
+    row_count = can->lastMessage(*msg_id).dat.size();
    items.resize(row_count * column_count);
  }
  endResetModel();
@@ -259,7 +274,7 @@ void BinaryViewModel::refresh() {

 void BinaryViewModel::updateState() {
  auto prev_items = items;
-  const auto &last_msg = can->lastMessage(msg_id);
+  const auto &last_msg = can->lastMessage(*msg_id);
  const auto &binary = last_msg.dat;

  // data size may changed.
@@ -1,5 +1,7 @@
 #pragma once

+#include <optional>
+
 #include <QApplication>
 #include <QList>
 #include <QSet>
@@ -46,7 +48,7 @@ public:
  };
  std::vector<Item> items;

-  QString msg_id;
+  std::optional<MessageId> msg_id;
  const DBCMsg *dbc_msg = nullptr;
  int row_count = 0;
  const int column_count = 9;
@@ -57,7 +59,7 @@ class BinaryView : public QTableView {

 public:
  BinaryView(QWidget *parent = nullptr);
-  void setMessage(const QString &message_id);
+  void setMessage(const MessageId &message_id);
  void highlight(const Signal *sig);
  QSet<const Signal*> getOverlappingSignals() const;
  inline void updateState() { model->updateState(); }
@@ -70,7 +72,7 @@ signals:
  void resizeSignal(const Signal *sig, int from, int size);
  void removeSignal(const Signal *sig);
  void editSignal(const Signal *origin_s, Signal &s);
-  void showChart(const QString &name, const Signal *sig, bool show, bool merge);
+  void showChart(const MessageId &id, const Signal *sig, bool show, bool merge);

 private:
  void addShortcuts();
@@ -11,9 +11,11 @@
 #include <QRubberBand>
 #include <QPushButton>
 #include <QToolBar>
+#include <QToolButton>
 #include <QToolTip>
 #include <QtConcurrent>

+const int MAX_COLUMN_COUNT = 4;
 // ChartsWidget

 ChartsWidget::ChartsWidget(QWidget *parent) : QWidget(parent) {
@@ -23,14 +25,17 @@ ChartsWidget::ChartsWidget(QWidget *parent) : QWidget(parent) {
  QToolBar *toolbar = new QToolBar(tr("Charts"), this);
  toolbar->setIconSize({16, 16});

-  QAction *new_plot_btn = toolbar->addAction(utils::icon("file-plus"), "");
-  new_plot_btn->setToolTip(tr("New Plot"));
+  QAction *new_plot_btn = toolbar->addAction(utils::icon("file-plus"), tr("New Plot"));
  toolbar->addWidget(title_label = new QLabel());
  title_label->setContentsMargins(0, 0, 12, 0);
-  columns_cb = new QComboBox(this);
-  columns_cb->addItems({"1", "2", "3", "4"});
-  columns_lb_action = toolbar->addWidget(new QLabel(tr("Columns:")));
-  columns_cb_action = toolbar->addWidget(columns_cb);
+
+  QMenu *menu = new QMenu(this);
+  for (int i = 0; i < MAX_COLUMN_COUNT; ++i) {
+    menu->addAction(tr("%1").arg(i + 1), [=]() { setColumnCount(i + 1); });
+  }
+  columns_action = toolbar->addAction("");
+  columns_action->setMenu(menu);
+  qobject_cast<QToolButton*>(toolbar->widgetForAction(columns_action))->setPopupMode(QToolButton::InstantPopup);

  QLabel *stretch_label = new QLabel(this);
  stretch_label->setSizePolicy(QSizePolicy::Expanding, QSizePolicy::Preferred);
@@ -44,13 +49,10 @@ ChartsWidget::ChartsWidget(QWidget *parent) : QWidget(parent) {
  range_slider->setPageStep(60);  // 1 min
  range_slider_action = toolbar->addWidget(range_slider);

-  reset_zoom_action = toolbar->addWidget(reset_zoom_btn = new QToolButton());
-  reset_zoom_btn->setIcon(utils::icon("zoom-out"));
-  reset_zoom_btn->setToolTip(tr("Reset zoom"));
-  reset_zoom_btn->setToolButtonStyle(Qt::ToolButtonTextBesideIcon);
+  reset_zoom_action = toolbar->addAction(utils::icon("zoom-out"), tr("Reset Zoom"));
+  qobject_cast<QToolButton*>(toolbar->widgetForAction(reset_zoom_action))->setToolButtonStyle(Qt::ToolButtonTextBesideIcon);

-  remove_all_btn = toolbar->addAction(utils::icon("x"), "");
-  remove_all_btn->setToolTip(tr("Remove all charts"));
+  remove_all_btn = toolbar->addAction(utils::icon("x"), tr("Remove all charts"));
  dock_btn = toolbar->addAction("");
  main_layout->addWidget(toolbar);

@@ -73,10 +75,9 @@ ChartsWidget::ChartsWidget(QWidget *parent) : QWidget(parent) {
  // init settings
  use_dark_theme = QApplication::style()->standardPalette().color(QPalette::WindowText).value() >
                   QApplication::style()->standardPalette().color(QPalette::Background).value();
-  column_count = std::clamp(settings.chart_column_count, 1, columns_cb->count());
+  column_count = std::clamp(settings.chart_column_count, 1, MAX_COLUMN_COUNT);
  max_chart_range = std::clamp(settings.chart_range, 1, settings.max_cached_minutes * 60);
  display_range = {0, max_chart_range};
-  columns_cb->setCurrentIndex(column_count - 1);
  range_slider->setValue(max_chart_range);
  updateToolBar();

@@ -86,14 +87,18 @@ ChartsWidget::ChartsWidget(QWidget *parent) : QWidget(parent) {
  QObject::connect(range_slider, &QSlider::valueChanged, this, &ChartsWidget::setMaxChartRange);
  QObject::connect(new_plot_btn, &QAction::triggered, this, &ChartsWidget::newChart);
  QObject::connect(remove_all_btn, &QAction::triggered, this, &ChartsWidget::removeAll);
-  QObject::connect(reset_zoom_btn, &QToolButton::clicked, this, &ChartsWidget::zoomReset);
-  QObject::connect(columns_cb, SIGNAL(activated(int)), SLOT(setColumnCount(int)));
+  QObject::connect(reset_zoom_action, &QAction::triggered, this, &ChartsWidget::zoomReset);
  QObject::connect(&settings, &Settings::changed, this, &ChartsWidget::settingChanged);
  QObject::connect(dock_btn, &QAction::triggered, [this]() {
    emit dock(!docking);
    docking = !docking;
    updateToolBar();
  });
+
+  setWhatsThis(tr(R"(
+    <b>Chart view</b><br />
+    <!-- TODO: add descprition here -->
+  )"));
 }

 void ChartsWidget::eventsMerged() {
@@ -162,11 +167,12 @@ 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_action->setVisible(!is_zoomed);
  range_slider_action->setVisible(!is_zoomed);
  reset_zoom_action->setVisible(is_zoomed);
-  reset_zoom_btn->setText(is_zoomed ? tr("Zoomin: %1-%2").arg(zoomed_range.first, 0, 'f', 1).arg(zoomed_range.second, 0, 'f', 1) : "");
+  reset_zoom_action->setText(is_zoomed ? tr("Zoomin: %1-%2").arg(zoomed_range.first, 0, 'f', 1).arg(zoomed_range.second, 0, 'f', 1) : "");
  remove_all_btn->setEnabled(!charts.isEmpty());
  dock_btn->setIcon(utils::icon(docking ? "arrow-up-right-square" : "arrow-down-left-square"));
  dock_btn->setToolTip(docking ? tr("Undock charts") : tr("Dock charts"));
@@ -180,7 +186,7 @@ void ChartsWidget::settingChanged() {
  }
 }

-ChartView *ChartsWidget::findChart(const QString &id, const Signal *sig) {
+ChartView *ChartsWidget::findChart(const MessageId &id, const Signal *sig) {
  for (auto c : charts)
    if (c->hasSeries(id, sig)) return c;
  return nullptr;
@@ -203,7 +209,7 @@ ChartView *ChartsWidget::createChart() {
  return chart;
 }

-void ChartsWidget::showChart(const QString &id, const Signal *sig, bool show, bool merge) {
+void ChartsWidget::showChart(const MessageId &id, const Signal *sig, bool show, bool merge) {
  setUpdatesEnabled(false);
  ChartView *chart = findChart(id, sig);
  if (show && !chart) {
@@ -211,29 +217,29 @@ void ChartsWidget::showChart(const QString &id, const Signal *sig, bool show, bo
    chart->addSeries(id, sig);
    updateState();
  } else if (!show && chart) {
-    chart->removeSeries(id, sig);
+    chart->removeIf([&](auto &s) { return s.msg_id == id && s.sig == sig; });
  }
  updateToolBar();
  setUpdatesEnabled(true);
 }

 void ChartsWidget::setColumnCount(int n) {
-  n = std::clamp(n + 1, 1, columns_cb->count());
+  n = std::clamp(n, 1, MAX_COLUMN_COUNT);
  if (column_count != n) {
    column_count = settings.chart_column_count = n;
+    updateToolBar();
    updateLayout();
  }
 }

 void ChartsWidget::updateLayout() {
-  int n = columns_cb->count();
+  int n = MAX_COLUMN_COUNT;
  for (; n > 1; --n) {
    if ((n * CHART_MIN_WIDTH + (n - 1) * charts_layout->spacing()) < charts_layout->geometry().width()) break;
  }

  bool show_column_cb = n > 1;
-  columns_lb_action->setVisible(show_column_cb);
-  columns_cb_action->setVisible(show_column_cb);
+  columns_action->setVisible(show_column_cb);

  n = std::min(column_count, n);
  if (charts.size() != charts_layout->count() || n != current_column_count) {
@@ -305,7 +311,6 @@ bool ChartsWidget::eventFilter(QObject *obj, QEvent *event) {

 ChartView::ChartView(QWidget *parent) : QChartView(nullptr, parent) {
  series_type = settings.chart_series_type == 0 ? QAbstractSeries::SeriesTypeLine : QAbstractSeries::SeriesTypeScatter;
-
  QChart *chart = new QChart();
  chart->setBackgroundVisible(false);
  axis_x = new QValueAxis(this);
@@ -363,45 +368,40 @@ ChartView::ChartView(QWidget *parent) : QChartView(nullptr, parent) {
  QObject::connect(remove_btn, &QToolButton::clicked, this, &ChartView::remove);
 }

-void ChartView::addSeries(const QString &msg_id, const Signal *sig) {
+void ChartView::addSeries(const MessageId &msg_id, const Signal *sig) {
  if (hasSeries(msg_id, sig)) return;

  QXYSeries *series = createSeries(series_type, getColor(sig));
-  chart()->addSeries(series);
-  series->attachAxis(axis_x);
-  series->attachAxis(axis_y);
-  auto [source, address] = DBCManager::parseId(msg_id);
-  sigs.push_back({.msg_id = msg_id, .address = address, .source = source, .sig = sig, .series = series});
+  sigs.push_back({.msg_id = msg_id, .sig = sig, .series = series});
  updateTitle();
  updateSeries(sig);
  updateSeriesPoints();
  emit seriesAdded(msg_id, sig);
 }

-void ChartView::removeSeries(const QString &msg_id, const Signal *sig) {
-  auto it = std::find_if(sigs.begin(), sigs.end(), [&](auto &s) { return s.msg_id == msg_id && s.sig == sig; });
-  if (it != sigs.end()) {
-    it = removeItem(it);
-  }
-}
-
-bool ChartView::hasSeries(const QString &msg_id, const Signal *sig) const {
+bool ChartView::hasSeries(const MessageId &msg_id, const Signal *sig) const {
  return std::any_of(sigs.begin(), sigs.end(), [&](auto &s) { return s.msg_id == msg_id && s.sig == sig; });
 }

-QList<ChartView::SigItem>::iterator ChartView::removeItem(const QList<ChartView::SigItem>::iterator &it) {
-  chart()->removeSeries(it->series);
-  it->series->deleteLater();
-  QString msg_id = it->msg_id;
-  const Signal *sig = it->sig;
-  auto ret = sigs.erase(it);
-  emit seriesRemoved(msg_id, sig);
-  if (!sigs.isEmpty()) {
+void ChartView::removeIf(std::function<bool(const SigItem &s)> predicate) {
+  int prev_size = sigs.size();
+  for (auto it = sigs.begin(); it != sigs.end(); /**/) {
+    if (predicate(*it)) {
+      chart()->removeSeries(it->series);
+      it->series->deleteLater();
+      auto msg_id = it->msg_id;
+      auto sig = it->sig;
+      it = sigs.erase(it);
+      emit seriesRemoved(msg_id, sig);
+    } else {
+      ++it;
+    }
+  }
+  if (sigs.empty()) {
+    emit remove();
+  } else if (sigs.size() != prev_size) {
    updateAxisY();
-  } else {
-    emit remove();
  }
-  return ret;
 }

 void ChartView::signalUpdated(const Signal *sig) {
@@ -412,23 +412,11 @@ void ChartView::signalUpdated(const Signal *sig) {
  }
 }

-void ChartView::signalRemoved(const Signal *sig) {
-  for (auto it = sigs.begin(); it != sigs.end(); /**/) {
-    it = (it->sig == sig) ? removeItem(it) : ++it;
-  }
-}
-
 void ChartView::msgUpdated(uint32_t address) {
-  if (std::any_of(sigs.begin(), sigs.end(), [=](auto &s) { return s.address == address; }))
+  if (std::any_of(sigs.begin(), sigs.end(), [=](auto &s) { return s.msg_id.address == address; }))
    updateTitle();
 }

-void ChartView::msgRemoved(uint32_t address) {
-  for (auto it = sigs.begin(); it != sigs.end(); /**/) {
-    it = (it->address == address) ? removeItem(it) : ++it;
-  }
-}
-
 void ChartView::manageSeries() {
  SeriesSelector dlg(tr("Mange Chart"), this);
  for (auto &s : sigs) {
@@ -436,19 +424,12 @@ void ChartView::manageSeries() {
  }
  if (dlg.exec() == QDialog::Accepted) {
    auto items = dlg.seletedItems();
-    if (items.isEmpty()) {
-      emit remove();
-    } else {
-      for (auto s : items) {
-        addSeries(s->msg_id, s->sig);
-      }
-      for (auto it = sigs.begin(); it != sigs.end(); /**/) {
-        bool exists = std::any_of(items.cbegin(), items.cend(), [&](auto &s) {
-          return s->msg_id == it->msg_id && s->sig == it->sig;
-        });
-        it = exists ? ++it : removeItem(it);
-      }
+    for (auto s : items) {
+      addSeries(s->msg_id, s->sig);
    }
+    removeIf([&](auto &s) {
+      return std::none_of(items.cbegin(), items.cend(), [&](auto &it) { return s.msg_id == it->msg_id && s.sig == it->sig; });
+    });
  }
 }

@@ -478,7 +459,7 @@ void ChartView::updateTitle() {
  }
  for (auto &s : sigs) {
    auto decoration = s.series->isVisible() ? "none" : "line-through";
-    s.series->setName(QString("<span style=\"text-decoration:%1\"><b>%2</b> <font color=\"gray\">%3 %4</font></span>").arg(decoration, s.sig->name.c_str(), msgName(s.msg_id), s.msg_id));
+    s.series->setName(QString("<span style=\"text-decoration:%1\"><b>%2</b> <font color=\"gray\">%3 %4</font></span>").arg(decoration, s.sig->name.c_str(), msgName(s.msg_id), s.msg_id.toString()));
  }
 }

@@ -503,7 +484,7 @@ void ChartView::updateSeriesPoints() {
    int pixels_per_point = width() / num_points;

    if (series_type == QAbstractSeries::SeriesTypeScatter) {
-      ((QScatterSeries *)s.series)->setMarkerSize(std::clamp(pixels_per_point / 3, 1, 8));
+      ((QScatterSeries *)s.series)->setMarkerSize(std::clamp(pixels_per_point / 3, 2, 8));
    } else {
      s.series->setPointsVisible(pixels_per_point > 20);
    }
@@ -540,7 +521,7 @@ void ChartView::updateSeries(const Signal *sig, const std::vector<Event *> *even
        for (auto it = chunk.first; it != chunk.second; ++it) {
          if ((*it)->which == cereal::Event::Which::CAN) {
            for (const auto &c : (*it)->event.getCan()) {
-              if (s.address == c.getAddress() && s.source == c.getSrc()) {
+              if (s.msg_id.address == c.getAddress() && s.msg_id.source == c.getSrc()) {
                auto dat = c.getDat();
                double value = get_raw_value((uint8_t *)dat.begin(), dat.size(), *s.sig);
                double ts = ((*it)->mono_time / (double)1e9) - route_start_time;  // seconds
@@ -698,7 +679,7 @@ void ChartView::mouseMoveEvent(QMouseEvent *ev) {
    text_list.push_front(QString::number(chart()->mapToValue(pt).x(), 'f', 3));
    QPointF tooltip_pt(pt.x() + 12, plot_area.top() - 20);
    QToolTip::showText(mapToGlobal(tooltip_pt.toPoint()), pt.isNull() ? "" : text_list.join("<br />"), this, plot_area.toRect());
-    scene()->update();
+    scene()->invalidate({}, QGraphicsScene::ForegroundLayer);
  } else {
    QToolTip::hideText();
  }
@@ -795,6 +776,9 @@ QXYSeries *ChartView::createSeries(QAbstractSeries::SeriesType type, QColor colo
  pen.setWidth(2.0 * qApp->devicePixelRatio());
  series->setPen(pen);
 #endif
+  chart()->addSeries(series);
+  series->attachAxis(axis_x);
+  series->attachAxis(axis_y);
  return series;
 }

@@ -809,9 +793,6 @@ void ChartView::setSeriesType(QAbstractSeries::SeriesType type) {
    }
    for (auto &s : sigs) {
      auto series = createSeries(series_type, getColor(s.sig));
-      chart()->addSeries(series);
-      series->attachAxis(axis_x);
-      series->attachAxis(axis_y);
      series->replace(s.vals);
      s.series = series;
    }
@@ -870,7 +851,7 @@ SeriesSelector::SeriesSelector(QString title, QWidget *parent) : QDialog(parent)

  for (auto it = can->can_msgs.cbegin(); it != can->can_msgs.cend(); ++it) {
    if (auto m = dbc()->msg(it.key())) {
-      msgs_combo->addItem(QString("%1 (%2)").arg(m->name).arg(it.key()), it.key());
+      msgs_combo->addItem(QString("%1 (%2)").arg(m->name).arg(it.key().toString()), QVariant::fromValue(it.key()));
    }
  }
  msgs_combo->model()->sort(0);
@@ -895,7 +876,7 @@ void SeriesSelector::add(QListWidgetItem *item) {

 void SeriesSelector::remove(QListWidgetItem *item) {
  auto it = (ListItem *)item;
-  if (it->msg_id == msgs_combo->currentData().toString()) {
+  if (it->msg_id == msgs_combo->currentData().value<MessageId>()) {
    addItemToList(available_list, it->msg_id, it->sig);
  }
  delete item;
@@ -904,7 +885,7 @@ void SeriesSelector::remove(QListWidgetItem *item) {
 void SeriesSelector::updateAvailableList(int index) {
  if (index == -1) return;
  available_list->clear();
-  QString msg_id = msgs_combo->itemData(index).toString();
+  MessageId msg_id = msgs_combo->itemData(index).value<MessageId>();
  auto selected_items = seletedItems();
  for (auto &[name, s] : dbc()->msg(msg_id)->sigs) {
    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; });
@@ -914,9 +895,9 @@ void SeriesSelector::updateAvailableList(int index) {
  }
 }

-void SeriesSelector::addItemToList(QListWidget *parent, const QString id, const Signal *sig, bool show_msg_name) {
+void SeriesSelector::addItemToList(QListWidget *parent, const MessageId id, const Signal *sig, bool show_msg_name) {
  QString text = QString("<span style=\"color:%0;\">■ </span> %1").arg(getColor(sig).name(), sig->name.c_str());
-  if (show_msg_name) text += QString(" <font color=\"gray\">%0 %1</font>").arg(msgName(id), id);
+  if (show_msg_name) text += QString(" <font color=\"gray\">%0 %1</font>").arg(msgName(id), id.toString());

  QLabel *label = new QLabel(text);
  label->setContentsMargins(5, 0, 5, 0);
@@ -1,6 +1,5 @@
 #pragma once

-#include <QComboBox>
 #include <QDragEnterEvent>
 #include <QGridLayout>
 #include <QLabel>
@@ -8,7 +7,6 @@
 #include <QGraphicsPixmapItem>
 #include <QGraphicsProxyWidget>
 #include <QSlider>
-#include <QToolButton>
 #include <QtCharts/QChartView>
 #include <QtCharts/QLegendMarker>
 #include <QtCharts/QLineSeries>
@@ -27,18 +25,15 @@ class ChartView : public QChartView {

 public:
  ChartView(QWidget *parent = nullptr);
-  void addSeries(const QString &msg_id, const Signal *sig);
-  void removeSeries(const QString &msg_id, const Signal *sig);
-  bool hasSeries(const QString &msg_id, const Signal *sig) const;
+  void addSeries(const MessageId &msg_id, const Signal *sig);
+  bool hasSeries(const MessageId &msg_id, const Signal *sig) const;
  void updateSeries(const Signal *sig = nullptr, const std::vector<Event*> *events = nullptr, bool clear = true);
  void updatePlot(double cur, double min, double max);
  void setSeriesType(QAbstractSeries::SeriesType type);
  void updatePlotArea(int left);

  struct SigItem {
-    QString msg_id;
-    uint8_t source = 0;
-    uint32_t address = 0;
+    MessageId msg_id;
    const Signal *sig = nullptr;
    QXYSeries *series = nullptr;
    QVector<QPointF> vals;
@@ -46,23 +41,22 @@ public:
  };

 signals:
-  void seriesRemoved(const QString &id, const Signal *sig);
-  void seriesAdded(const QString &id, const Signal *sig);
+  void seriesRemoved(const MessageId &id, const Signal *sig);
+  void seriesAdded(const MessageId &id, const Signal *sig);
  void zoomIn(double min, double max);
  void zoomReset();
  void remove();
  void axisYLabelWidthChanged(int w);

 private slots:
-  void msgRemoved(uint32_t address);
  void msgUpdated(uint32_t address);
  void signalUpdated(const Signal *sig);
-  void signalRemoved(const Signal *sig);
  void manageSeries();
  void handleMarkerClicked();
+  void msgRemoved(uint32_t address) { removeIf([=](auto &s) { return s.msg_id.address == address; }); }
+  void signalRemoved(const Signal *sig) { removeIf([=](auto &s) { return s.sig == sig; }); }

 private:
-  QList<ChartView::SigItem>::iterator removeItem(const QList<ChartView::SigItem>::iterator &it);
  void mousePressEvent(QMouseEvent *event) override;
  void mouseReleaseEvent(QMouseEvent *event) override;
  void mouseMoveEvent(QMouseEvent *ev) override;
@@ -78,6 +72,7 @@ private:
  qreal niceNumber(qreal x, bool ceiling);
  QXYSeries *createSeries(QAbstractSeries::SeriesType type, QColor color);
  void updateSeriesPoints();
+  void removeIf(std::function<bool(const SigItem &)> predicate);

  int y_label_width = 0;
  int align_to = 0;
@@ -102,8 +97,8 @@ class ChartsWidget : public QWidget {

 public:
  ChartsWidget(QWidget *parent = nullptr);
-  void showChart(const QString &id, const Signal *sig, bool show, bool merge);
-  inline bool hasSignal(const QString &id, const Signal *sig) { return findChart(id, sig) != nullptr; }
+  void showChart(const MessageId &id, const Signal *sig, bool show, bool merge);
+  inline bool hasSignal(const MessageId &id, const Signal *sig) { return findChart(id, sig) != nullptr; }

 public slots:
  void setColumnCount(int n);
@@ -129,7 +124,7 @@ private:
  void updateLayout();
  void settingChanged();
  bool eventFilter(QObject *obj, QEvent *event) override;
-  ChartView *findChart(const QString &id, const Signal *sig);
+  ChartView *findChart(const MessageId &id, const Signal *sig);

  QLabel *title_label;
  QLabel *range_lb;
@@ -139,7 +134,6 @@ private:
  bool docking = true;
  QAction *dock_btn;
  QAction *reset_zoom_action;
-  QToolButton *reset_zoom_btn;
  QAction *remove_all_btn;
  QGridLayout *charts_layout;
  QList<ChartView *> charts;
@@ -148,9 +142,7 @@ private:
  std::pair<double, double> display_range;
  std::pair<double, double> zoomed_range;
  bool use_dark_theme = false;
-  QAction *columns_lb_action;
-  QAction *columns_cb_action;
-  QComboBox *columns_cb;
+  QAction *columns_action;
  int column_count = 1;
  int current_column_count = 0;
 };
@@ -158,18 +150,18 @@ private:
 class SeriesSelector : public QDialog {
 public:
  struct ListItem : public QListWidgetItem {
-    ListItem(const QString &msg_id, const Signal *sig, QListWidget *parent) : msg_id(msg_id), sig(sig), QListWidgetItem(parent) {}
-    QString msg_id;
+    ListItem(const MessageId &msg_id, const Signal *sig, QListWidget *parent) : msg_id(msg_id), sig(sig), QListWidgetItem(parent) {}
+    MessageId msg_id;
    const Signal *sig;
  };

  SeriesSelector(QString title, QWidget *parent);
  QList<ListItem *> seletedItems();
-  inline void addSelected(const QString &id, const Signal *sig) { addItemToList(selected_list, id, sig, true); }
+  inline void addSelected(const MessageId &id, const Signal *sig) { addItemToList(selected_list, id, sig, true); }

 private:
  void updateAvailableList(int index);
-  void addItemToList(QListWidget *parent, const QString id, const Signal *sig, bool show_msg_name = false);
+  void addItemToList(QListWidget *parent, const MessageId id, const Signal *sig, bool show_msg_name = false);
  void add(QListWidgetItem *item);
  void remove(QListWidgetItem *item);

@@ -4,13 +4,13 @@

 // EditMsgCommand

-EditMsgCommand::EditMsgCommand(const QString &id, const QString &title, int size, QUndoCommand *parent)
+EditMsgCommand::EditMsgCommand(const MessageId &id, const QString &title, int size, QUndoCommand *parent)
    : id(id), new_title(title), new_size(size), QUndoCommand(parent) {
  if (auto msg = dbc()->msg(id)) {
    old_title = msg->name;
    old_size = msg->size;
  }
-  setText(QObject::tr("Edit message %1:%2").arg(DBCManager::parseId(id).second).arg(title));
+  setText(QObject::tr("Edit message %1:%2").arg(id.address).arg(title));
 }

 void EditMsgCommand::undo() {
@@ -26,10 +26,10 @@ void EditMsgCommand::redo() {

 // RemoveMsgCommand

-RemoveMsgCommand::RemoveMsgCommand(const QString &id, QUndoCommand *parent) : id(id), QUndoCommand(parent) {
+RemoveMsgCommand::RemoveMsgCommand(const MessageId &id, QUndoCommand *parent) : id(id), QUndoCommand(parent) {
  if (auto msg = dbc()->msg(id)) {
    message = *msg;
-    setText(QObject::tr("Remove message %1:%2").arg(DBCManager::parseId(id).second).arg(message.name));
+    setText(QObject::tr("Remove message %1:%2").arg(id.address).arg(message.name));
  }
 }

@@ -48,9 +48,9 @@ void RemoveMsgCommand::redo() {

 // AddSigCommand

-AddSigCommand::AddSigCommand(const QString &id, const Signal &sig, QUndoCommand *parent)
+AddSigCommand::AddSigCommand(const MessageId &id, const Signal &sig, QUndoCommand *parent)
    : id(id), signal(sig), QUndoCommand(parent) {
-  setText(QObject::tr("Add signal %1 to %2").arg(sig.name.c_str()).arg(DBCManager::parseId(id).second));
+  setText(QObject::tr("Add signal %1 to %2").arg(sig.name.c_str()).arg(id.address));
 }

 void AddSigCommand::undo() { dbc()->removeSignal(id, signal.name.c_str()); }
@@ -58,9 +58,9 @@ void AddSigCommand::redo() { dbc()->addSignal(id, signal); }

 // RemoveSigCommand

-RemoveSigCommand::RemoveSigCommand(const QString &id, const Signal *sig, QUndoCommand *parent)
+RemoveSigCommand::RemoveSigCommand(const MessageId &id, const Signal *sig, QUndoCommand *parent)
    : id(id), signal(*sig), QUndoCommand(parent) {
-  setText(QObject::tr("Remove signal %1 from %2").arg(signal.name.c_str()).arg(DBCManager::parseId(id).second));
+  setText(QObject::tr("Remove signal %1 from %2").arg(signal.name.c_str()).arg(id.address));
 }

 void RemoveSigCommand::undo() { dbc()->addSignal(id, signal); }
@@ -68,7 +68,7 @@ void RemoveSigCommand::redo() { dbc()->removeSignal(id, signal.name.c_str()); }

 // EditSignalCommand

-EditSignalCommand::EditSignalCommand(const QString &id, const Signal *sig, const Signal &new_sig, QUndoCommand *parent)
+EditSignalCommand::EditSignalCommand(const MessageId &id, const Signal *sig, const Signal &new_sig, QUndoCommand *parent)
    : id(id), old_signal(*sig), new_signal(new_sig), QUndoCommand(parent) {
  setText(QObject::tr("Edit signal %1").arg(old_signal.name.c_str()));
 }
@@ -7,57 +7,57 @@

 class EditMsgCommand : public QUndoCommand {
 public:
-  EditMsgCommand(const QString &id, const QString &title, int size, QUndoCommand *parent = nullptr);
+  EditMsgCommand(const MessageId &id, const QString &title, int size, QUndoCommand *parent = nullptr);
  void undo() override;
  void redo() override;

 private:
-  const QString id;
+  const MessageId id;
  QString old_title, new_title;
  int old_size = 0, new_size = 0;
 };

 class RemoveMsgCommand : public QUndoCommand {
 public:
-  RemoveMsgCommand(const QString &id, QUndoCommand *parent = nullptr);
+  RemoveMsgCommand(const MessageId &id, QUndoCommand *parent = nullptr);
  void undo() override;
  void redo() override;

 private:
-  const QString id;
+  const MessageId id;
  DBCMsg message;
 };

 class AddSigCommand : public QUndoCommand {
 public:
-  AddSigCommand(const QString &id, const Signal &sig, QUndoCommand *parent = nullptr);
+  AddSigCommand(const MessageId &id, const Signal &sig, QUndoCommand *parent = nullptr);
  void undo() override;
  void redo() override;

 private:
-  const QString id;
+  const MessageId id;
  Signal signal = {};
 };

 class RemoveSigCommand : public QUndoCommand {
 public:
-  RemoveSigCommand(const QString &id, const Signal *sig, QUndoCommand *parent = nullptr);
+  RemoveSigCommand(const MessageId &id, const Signal *sig, QUndoCommand *parent = nullptr);
  void undo() override;
  void redo() override;

 private:
-  const QString id;
+  const MessageId id;
  Signal signal = {};
 };

 class EditSignalCommand : public QUndoCommand {
 public:
-  EditSignalCommand(const QString &id, const Signal *sig, const Signal &new_sig, QUndoCommand *parent = nullptr);
+  EditSignalCommand(const MessageId &id, const Signal *sig, const Signal &new_sig, QUndoCommand *parent = nullptr);
  void undo() override;
  void redo() override;

 private:
-  const QString id;
+  const MessageId id;
  Signal old_signal = {};
  Signal new_signal = {};
 };
@@ -4,6 +4,10 @@
 #include <sstream>
 #include <QVector>

+uint qHash(const MessageId &item) {
+  return qHash(item.source) ^ qHash(item.address);
+}
+
 DBCManager::DBCManager(QObject *parent) : QObject(parent) {}

 DBCManager::~DBCManager() {}
@@ -56,29 +60,27 @@ QString DBCManager::generateDBC() {
  return dbc_string;
 }

-void DBCManager::updateMsg(const QString &id, const QString &name, uint32_t size) {
-  auto [_, address] = parseId(id);
-  auto &m = msgs[address];
+void DBCManager::updateMsg(const MessageId &id, const QString &name, uint32_t size) {
+  auto &m = msgs[id.address];
  m.name = name;
  m.size = size;
-  emit msgUpdated(address);
+  emit msgUpdated(id.address);
 }

-void DBCManager::removeMsg(const QString &id) {
-  uint32_t address = parseId(id).second;
-  msgs.erase(address);
-  emit msgRemoved(address);
+void DBCManager::removeMsg(const MessageId &id) {
+  msgs.erase(id.address);
+  emit msgRemoved(id.address);
 }

-void DBCManager::addSignal(const QString &id, const Signal &sig) {
-  if (auto m = const_cast<DBCMsg *>(msg(id))) {
+void DBCManager::addSignal(const MessageId &id, const Signal &sig) {
+  if (auto m = const_cast<DBCMsg *>(msg(id.address))) {
    auto &s = m->sigs[sig.name.c_str()];
    s = sig;
-    emit signalAdded(parseId(id).second, &s);
+    emit signalAdded(id.address, &s);
  }
 }

-void DBCManager::updateSignal(const QString &id, const QString &sig_name, const Signal &sig) {
+void DBCManager::updateSignal(const MessageId &id, const QString &sig_name, const Signal &sig) {
  if (auto m = const_cast<DBCMsg *>(msg(id))) {
    // change key name
    QString new_name = QString::fromStdString(sig.name);
@@ -91,7 +93,7 @@ void DBCManager::updateSignal(const QString &id, const QString &sig_name, const
  }
 }

-void DBCManager::removeSignal(const QString &id, const QString &sig_name) {
+void DBCManager::removeSignal(const MessageId &id, const QString &sig_name) {
  if (auto m = const_cast<DBCMsg *>(msg(id))) {
    auto it = m->sigs.find(sig_name);
    if (it != m->sigs.end()) {
@@ -101,12 +103,6 @@ void DBCManager::removeSignal(const QString &id, const QString &sig_name) {
  }
 }

-std::pair<uint8_t, uint32_t> DBCManager::parseId(const QString &id) {
-  const auto list = id.split(':');
-  if (list.size() != 2) return {0, 0};
-  return {list[0].toInt(), list[1].toUInt(nullptr, 16)};
-}
-
 DBCManager *dbc() {
  static DBCManager dbc_manager(nullptr);
  return &dbc_manager;
@@ -5,6 +5,35 @@
 #include <QString>
 #include "opendbc/can/common_dbc.h"

+struct MessageId {
+  uint8_t source;
+  uint32_t address;
+
+  QString toString() const {
+    return QString("%1:%2").arg(source).arg(address, 1, 16);
+  }
+
+  bool operator==(const MessageId &other) const {
+    return source == other.source && address == other.address;
+  }
+
+  bool operator!=(const MessageId &other) const {
+    return !(*this == other);
+  }
+
+  bool operator<(const MessageId &other) const {
+    return std::pair{source, address} < std::pair{other.source, other.address};
+  }
+
+  bool operator>(const MessageId &other) const {
+    return std::pair{source, address} > std::pair{other.source, other.address};
+  }
+};
+
+Q_DECLARE_METATYPE(MessageId);
+
+uint qHash(const MessageId &item);
+
 struct DBCMsg {
  QString name;
  uint32_t size;
@@ -24,17 +53,16 @@ public:
  void open(const QString &dbc_file_name);
  bool open(const QString &name, const QString &content, QString *error = nullptr);
  QString generateDBC();
-  void addSignal(const QString &id, const Signal &sig);
-  void updateSignal(const QString &id, const QString &sig_name, const Signal &sig);
-  void removeSignal(const QString &id, const QString &sig_name);
+  void addSignal(const MessageId &id, const Signal &sig);
+  void updateSignal(const MessageId &id, const QString &sig_name, const Signal &sig);
+  void removeSignal(const MessageId &id, const QString &sig_name);

-  static std::pair<uint8_t, uint32_t> parseId(const QString &id);
  inline static std::vector<std::string> allDBCNames() { return get_dbc_names(); }
  inline QString name() const { return dbc ? dbc->name.c_str() : ""; }
-  void updateMsg(const QString &id, const QString &name, uint32_t size);
-  void removeMsg(const QString &id);
+  void updateMsg(const MessageId &id, const QString &name, uint32_t size);
+  void removeMsg(const MessageId &id);
  inline const std::map<uint32_t, DBCMsg> &messages() const { return msgs; }
-  inline const DBCMsg *msg(const QString &id) const { return msg(parseId(id).second); }
+  inline const DBCMsg *msg(const MessageId &id) const { return msg(id.address); }
  inline const DBCMsg *msg(uint32_t address) const {
    auto it = msgs.find(address);
    return it != msgs.end() ? &it->second : nullptr;
@@ -65,7 +93,7 @@ int bigEndianBitIndex(int index);
 void updateSigSizeParamsFromRange(Signal &s, int start_bit, int size);
 std::pair<int, int> getSignalRange(const Signal *s);
 DBCManager *dbc();
-inline QString msgName(const QString &id) {
+inline QString msgName(const MessageId &id) {
  auto msg = dbc()->msg(id);
  return msg ? msg->name : UNTITLED;
 }
@@ -85,11 +85,15 @@ DetailWidget::DetailWidget(ChartsWidget *charts, QWidget *parent) : charts(chart
  QObject::connect(UndoStack::instance(), &QUndoStack::indexChanged, this, &DetailWidget::refresh);
  QObject::connect(tabbar, &QTabBar::customContextMenuRequested, this, &DetailWidget::showTabBarContextMenu);
  QObject::connect(tabbar, &QTabBar::currentChanged, [this](int index) {
-    if (index != -1 && tabbar->tabText(index) != msg_id) {
-      setMessage(tabbar->tabText(index));
+    if (index != -1) {
+      setMessage(tabbar_ids[index]);
    }
  });
-  QObject::connect(tabbar, &QTabBar::tabCloseRequested, tabbar, &QTabBar::removeTab);
+  QObject::connect(tabbar, &QTabBar::tabCloseRequested, [this](int index) {
+    tabbar_ids.removeAt(index);
+    tabbar->removeTab(index);
+    assert(tabbar_ids.size() == tabbar->count());
+  });
  QObject::connect(charts, &ChartsWidget::seriesChanged, signal_view, &SignalView::updateChartState);
 }

@@ -99,38 +103,45 @@ void DetailWidget::showTabBarContextMenu(const QPoint &pt) {
    QMenu menu(this);
    menu.addAction(tr("Close Other Tabs"));
    if (menu.exec(tabbar->mapToGlobal(pt))) {
+      tabbar_ids.move(index, 0);
      tabbar->moveTab(index, 0);
      tabbar->setCurrentIndex(0);
-      while (tabbar->count() > 1)
+      while (tabbar->count() > 1) {
+        tabbar_ids.removeAt(1);
        tabbar->removeTab(1);
+      }
+      assert(tabbar_ids.size() == tabbar->count());
    }
  }
 }

 void DetailWidget::removeAll() {
-  msg_id = "";
+  msg_id = std::nullopt;
  tabbar->blockSignals(true);
  while (tabbar->count() > 0) {
    tabbar->removeTab(0);
  }
+  tabbar_ids.clear();
  tabbar->blockSignals(false);
  stacked_layout->setCurrentIndex(0);
 }

-void DetailWidget::setMessage(const QString &message_id) {
+void DetailWidget::setMessage(const MessageId &message_id) {
  msg_id = message_id;
-  int index = tabbar->count() - 1;
-  for (/**/; index >= 0 && tabbar->tabText(index) != msg_id; --index) { /**/ }
+  int index = tabbar_ids.indexOf(*msg_id);
+
  if (index == -1) {
-    index = tabbar->addTab(message_id);
+    tabbar_ids.append(*msg_id);
+    index = tabbar->addTab(message_id.toString());
    tabbar->setTabToolTip(index, msgName(message_id));
  }
+  assert(tabbar->count() == tabbar_ids.size());

  setUpdatesEnabled(false);

-  signal_view->setMessage(msg_id);
-  binary_view->setMessage(msg_id);
-  history_log->setMessage(msg_id);
+  signal_view->setMessage(*msg_id);
+  binary_view->setMessage(*msg_id);
+  history_log->setMessage(*msg_id);

  stacked_layout->setCurrentIndex(1);
  tabbar->setCurrentIndex(index);
@@ -141,12 +152,12 @@ void DetailWidget::setMessage(const QString &message_id) {
 }

 void DetailWidget::refresh() {
-  if (msg_id.isEmpty()) return;
+  if (!msg_id) return;

  QStringList warnings;
-  const DBCMsg *msg = dbc()->msg(msg_id);
+  const DBCMsg *msg = dbc()->msg(*msg_id);
  if (msg) {
-    if (msg->size != can->lastMessage(msg_id).dat.size()) {
+    if (msg->size != can->lastMessage(*msg_id).dat.size()) {
      warnings.push_back(tr("Message size (%1) is incorrect.").arg(msg->size));
    }
    for (auto s : binary_view->getOverlappingSignals()) {
@@ -156,7 +167,7 @@ void DetailWidget::refresh() {
    warnings.push_back(tr("Drag-Select in binary view to create new signal."));
  }
  remove_msg_act->setEnabled(msg != nullptr);
-  name_label->setText(msgName(msg_id));
+  name_label->setText(msgName(*msg_id));

  if (!warnings.isEmpty()) {
    warning_label->setText(warnings.join('\n'));
@@ -165,9 +176,9 @@ void DetailWidget::refresh() {
  warning_widget->setVisible(!warnings.isEmpty());
 }

-void DetailWidget::updateState(const QHash<QString, CanData> *msgs) {
+void DetailWidget::updateState(const QHash<MessageId, CanData> *msgs) {
  time_label->setText(QString::number(can->currentSec(), 'f', 3));
-  if (msg_id.isEmpty() || (msgs && !msgs->contains(msg_id)))
+  if (!msg_id || (msgs && !msgs->contains(*msg_id)))
    return;

  if (tab_widget->currentIndex() == 0)
@@ -177,24 +188,24 @@ void DetailWidget::updateState(const QHash<QString, CanData> *msgs) {
 }

 void DetailWidget::editMsg() {
-  QString id = msg_id;
+  MessageId id = *msg_id;
  auto msg = dbc()->msg(id);
  int size = msg ? msg->size : can->lastMessage(id).dat.size();
  EditMessageDialog dlg(id, msgName(id), size, this);
  if (dlg.exec()) {
-    UndoStack::push(new EditMsgCommand(msg_id, dlg.name_edit->text(), dlg.size_spin->value()));
+    UndoStack::push(new EditMsgCommand(*msg_id, dlg.name_edit->text(), dlg.size_spin->value()));
  }
 }

 void DetailWidget::removeMsg() {
-  UndoStack::push(new RemoveMsgCommand(msg_id));
+  UndoStack::push(new RemoveMsgCommand(*msg_id));
 }

 // EditMessageDialog

-EditMessageDialog::EditMessageDialog(const QString &msg_id, const QString &title, int size, QWidget *parent)
+EditMessageDialog::EditMessageDialog(const MessageId &msg_id, const QString &title, int size, QWidget *parent)
    : original_name(title), QDialog(parent) {
-  setWindowTitle(tr("Edit message: %1").arg(msg_id));
+  setWindowTitle(tr("Edit message: %1").arg(msg_id.toString()));
  QFormLayout *form_layout = new QFormLayout(this);

  form_layout->addRow("", error_label = new QLabel);
@@ -253,11 +264,12 @@ WelcomeWidget::WelcomeWidget(QWidget *parent) : QWidget(parent) {
    return hlayout;
  };

-  auto lb = new QLabel(tr("<-Select a message to to view details"));
+  auto lb = new QLabel(tr("<-Select a message to view details"));
  lb->setAlignment(Qt::AlignHCenter);
  main_layout->addWidget(lb);
  main_layout->addLayout(newShortcutRow("Pause", "Space"));
-  main_layout->addLayout(newShortcutRow("Help", "Alt + H"));
+  main_layout->addLayout(newShortcutRow("Help", "F1"));
+  main_layout->addLayout(newShortcutRow("WhatsThis", "Shift+F1"));
  main_layout->addStretch(0);

  setStyleSheet("QLabel{color:darkGray;}");
@@ -14,7 +14,7 @@

 class EditMessageDialog : public QDialog {
 public:
-  EditMessageDialog(const QString &msg_id, const QString &title, int size, QWidget *parent);
+  EditMessageDialog(const MessageId &msg_id, const QString &title, int size, QWidget *parent);
  void validateName(const QString &text);

  QString original_name;
@@ -34,7 +34,7 @@ class DetailWidget : public QWidget {

 public:
  DetailWidget(ChartsWidget *charts, QWidget *parent);
-  void setMessage(const QString &message_id);
+  void setMessage(const MessageId &message_id);
  void refresh();
  void removeAll();
  QSize minimumSizeHint() const override { return binary_view->minimumSizeHint(); }
@@ -43,13 +43,14 @@ private:
  void showTabBarContextMenu(const QPoint &pt);
  void editMsg();
  void removeMsg();
-  void updateState(const QHash<QString, CanData> * msgs = nullptr);
+  void updateState(const QHash<MessageId, CanData> * msgs = nullptr);

-  QString msg_id;
+  std::optional<MessageId> msg_id;
  QLabel *time_label, *warning_icon, *warning_label;
  ElidedLabel *name_label;
  QWidget *warning_widget;
  QTabBar *tabbar;
+  QList<MessageId> tabbar_ids;
  QTabWidget *tab_widget;
  QAction *remove_msg_act;
  LogsWidget *history_log;
@@ -17,19 +17,19 @@ QVariant HistoryLogModel::data(const QModelIndex &index, int role) const {
    }
    return show_signals ? QString::number(m.sig_values[index.column() - 1]) : toHex(m.data);
  } else if (role == Qt::UserRole && index.column() == 1 && !show_signals) {
-    return ChangeTracker::toVariantList(m.colors);
+    return QVariant::fromValue(m.colors);
  }
  return {};
 }

-void HistoryLogModel::setMessage(const QString &message_id) {
+void HistoryLogModel::setMessage(const MessageId &message_id) {
  msg_id = message_id;
 }

 void HistoryLogModel::refresh() {
  beginResetModel();
  sigs.clear();
-  if (auto dbc_msg = dbc()->msg(msg_id)) {
+  if (auto dbc_msg = dbc()->msg(*msg_id)) {
    sigs = dbc_msg->getSignals();
  }
  last_fetch_time = 0;
@@ -78,8 +78,8 @@ void HistoryLogModel::setFilter(int sig_idx, const QString &value, std::function
 }

 void HistoryLogModel::updateState() {
-  if (!msg_id.isEmpty()) {
-    uint64_t current_time = (can->lastMessage(msg_id).ts + can->routeStartTime()) * 1e9 + 1;
+  if (msg_id) {
+    uint64_t current_time = (can->lastMessage(*msg_id).ts + can->routeStartTime()) * 1e9 + 1;
    auto new_msgs = dynamic_mode ? fetchData(current_time, last_fetch_time) : fetchData(0);
    if (!new_msgs.empty()) {
      beginInsertRows({}, 0, new_msgs.size() - 1);
@@ -106,12 +106,11 @@ void HistoryLogModel::fetchMore(const QModelIndex &parent) {
 template <class InputIt>
 std::deque<HistoryLogModel::Message> HistoryLogModel::fetchData(InputIt first, InputIt last, uint64_t min_time) {
  std::deque<HistoryLogModel::Message> msgs;
-  const auto [src, address] = DBCManager::parseId(msg_id);
  QVector<double> values(sigs.size());
  for (auto it = first; it != last && (*it)->mono_time > min_time; ++it) {
    if ((*it)->which == cereal::Event::Which::CAN) {
      for (const auto &c : (*it)->event.getCan()) {
-        if (address == c.getAddress() && src == c.getSrc()) {
+        if (msg_id->address == c.getAddress() && msg_id->source == c.getSrc()) {
          const auto dat = c.getDat();
          for (int i = 0; i < sigs.size(); ++i) {
            values[i] = get_raw_value((uint8_t *)dat.begin(), dat.size(), *(sigs[i]));
@@ -136,7 +135,7 @@ template std::deque<HistoryLogModel::Message> HistoryLogModel::fetchData<>(std::

 std::deque<HistoryLogModel::Message> HistoryLogModel::fetchData(uint64_t from_time, uint64_t min_time) {
  auto events = can->events();
-  const auto freq = can->lastMessage(msg_id).freq;
+  const auto freq = can->lastMessage(*msg_id).freq;
  const bool update_colors = !display_signals_mode || sigs.empty();

  if (dynamic_mode) {
@@ -241,13 +240,13 @@ LogsWidget::LogsWidget(QWidget *parent) : QWidget(parent) {
  QObject::connect(can, &AbstractStream::eventsMerged, model, &HistoryLogModel::segmentsMerged);
 }

-void LogsWidget::setMessage(const QString &message_id) {
+void LogsWidget::setMessage(const MessageId &message_id) {
  model->setMessage(message_id);
  refresh();
 }

 void LogsWidget::refresh() {
-  if (model->msg_id.isEmpty()) return;
+  if (!model->msg_id) return;

  model->setFilter(0, "", nullptr);
  model->refresh();
@@ -1,6 +1,8 @@
 #pragma once

 #include <deque>
+#include <optional>
+
 #include <QCheckBox>
 #include <QComboBox>
 #include <QHeaderView>
@@ -22,7 +24,7 @@ class HistoryLogModel : public QAbstractTableModel {

 public:
  HistoryLogModel(QObject *parent) : QAbstractTableModel(parent) {}
-  void setMessage(const QString &message_id);
+  void setMessage(const MessageId &message_id);
  void updateState();
  void setFilter(int sig_idx, const QString &value, std::function<bool(double, double)> cmp);
  QVariant headerData(int section, Qt::Orientation orientation, int role = Qt::DisplayRole) const override;
@@ -52,7 +54,7 @@ public:
  std::deque<HistoryLogModel::Message> fetchData(InputIt first, InputIt last, uint64_t min_time);
  std::deque<Message> fetchData(uint64_t from_time, uint64_t min_time = 0);

-  QString msg_id;
+  std::optional<MessageId> msg_id;
  ChangeTracker hex_colors;
  bool has_more_data = true;
  const int batch_size = 50;
@@ -71,7 +73,7 @@ class LogsWidget : public QWidget {

 public:
  LogsWidget(QWidget *parent);
-  void setMessage(const QString &message_id);
+  void setMessage(const MessageId &message_id);
  void updateState() {if (dynamic_mode->isChecked()) model->updateState(); }
  void showEvent(QShowEvent *event) override { if (dynamic_mode->isChecked()) model->refresh(); }

@@ -9,7 +9,9 @@
 #include <QMenu>
 #include <QMenuBar>
 #include <QMessageBox>
+#include <QResizeEvent>
 #include <QShortcut>
+#include <QTextDocument>
 #include <QUndoView>
 #include <QVBoxLayout>
 #include <QWidgetAction>
@@ -20,7 +22,7 @@
 static MainWindow *main_win = nullptr;
 void qLogMessageHandler(QtMsgType type, const QMessageLogContext &context, const QString &msg) {
  if (type == QtDebugMsg) std::cout << msg.toStdString() << std::endl;
-  if (main_win) emit main_win->showMessage(msg, 0);
+  if (main_win) emit main_win->showMessage(msg, 2000);
 }

 MainWindow::MainWindow() : QMainWindow() {
@@ -43,7 +45,7 @@ MainWindow::MainWindow() : QMainWindow() {
  qRegisterMetaType<ReplyMsgType>("ReplyMsgType");
  installMessageHandler([this](ReplyMsgType type, const std::string msg) {
    // use queued connection to recv the log messages from replay.
-    emit showMessage(QString::fromStdString(msg), 3000);
+    emit showMessage(QString::fromStdString(msg), 2000);
  });
  installDownloadProgressHandler([this](uint64_t cur, uint64_t total, bool success) {
    emit updateProgressBar(cur, total, success);
@@ -125,6 +127,7 @@ void MainWindow::createActions() {
  tools_menu->addAction(tr("Find &Similar Bits"), this, &MainWindow::findSimilarBits);

  QMenu *help_menu = menuBar()->addMenu(tr("&Help"));
+  help_menu->addAction(tr("Help"), this, &MainWindow::onlineHelp)->setShortcuts(QKeySequence::HelpContents);
  help_menu->addAction(tr("About &Qt"), qApp, &QApplication::aboutQt);
 }

@@ -173,6 +176,7 @@ void MainWindow::createStatusBar() {
  progress_bar->setTextVisible(true);
  progress_bar->setFixedSize({230, 16});
  progress_bar->setVisible(false);
+  statusBar()->addWidget(new QLabel(tr("For Help,Press F1")));
  statusBar()->addPermanentWidget(progress_bar);
 }

@@ -422,3 +426,61 @@ void MainWindow::findSimilarBits() {
  QObject::connect(dlg, &FindSimilarBitsDlg::openMessage, messages_widget, &MessagesWidget::selectMessage);
  dlg->show();
 }
+
+void MainWindow::onlineHelp() {
+  if (auto help = findChild<HelpOverlay*>()) {
+    help->close();
+  } else {
+    help = new HelpOverlay(this);
+    help->setGeometry(rect());
+    help->show();
+    help->raise();
+  }
+}
+
+// HelpOverlay
+HelpOverlay::HelpOverlay(MainWindow *parent) : QWidget(parent) {
+  setAttribute(Qt::WA_NoSystemBackground, true);
+  setAttribute(Qt::WA_TranslucentBackground, true);
+  setAttribute(Qt::WA_DeleteOnClose);
+  parent->installEventFilter(this);
+}
+
+void HelpOverlay::paintEvent(QPaintEvent *event) {
+  QPainter painter(this);
+  painter.fillRect(rect(), QColor(0, 0, 0, 50));
+  MainWindow *parent = (MainWindow *)parentWidget();
+  drawHelpForWidget(painter, parent->findChild<MessagesWidget *>());
+  drawHelpForWidget(painter, parent->findChild<BinaryView *>());
+  drawHelpForWidget(painter, parent->findChild<SignalView *>());
+  drawHelpForWidget(painter, parent->findChild<ChartsWidget *>());
+  drawHelpForWidget(painter, parent->findChild<VideoWidget *>());
+}
+
+void HelpOverlay::drawHelpForWidget(QPainter &painter, QWidget *w) {
+  if (w && w->isVisible() && !w->whatsThis().isEmpty()) {
+    QPoint pt = mapFromGlobal(w->mapToGlobal(w->rect().center()));
+    if (rect().contains(pt)) {
+      QTextDocument document;
+      document.setHtml(w->whatsThis());
+      QSize doc_size = document.size().toSize();
+      QPoint topleft = {pt.x() - doc_size.width() / 2, pt.y() - doc_size.height() / 2};
+      painter.translate(topleft);
+      painter.fillRect(QRect{{0, 0}, doc_size}, palette().toolTipBase());
+      document.drawContents(&painter);
+      painter.translate(-topleft);
+    }
+  }
+}
+
+bool HelpOverlay::eventFilter(QObject *obj, QEvent *event) {
+  if (obj == parentWidget() && event->type() == QEvent::Resize) {
+    QResizeEvent *resize_event = (QResizeEvent *)(event);
+    setGeometry(QRect{QPoint(0, 0), resize_event->size()});
+  }
+  return false;
+}
+
+void HelpOverlay::mouseReleaseEvent(QMouseEvent *event) {
+  close();
+}
@@ -54,6 +54,7 @@ protected:
  void setOption();
  void findSimilarBits();
  void undoStackCleanChanged(bool clean);
+  void onlineHelp();

  VideoWidget *video_widget = nullptr;
  QDockWidget *video_dock;
@@ -69,4 +70,17 @@ protected:
  enum { MAX_RECENT_FILES = 15 };
  QAction *recent_files_acts[MAX_RECENT_FILES] = {};
  QMenu *open_recent_menu = nullptr;
+  friend class OnlineHelp;
+};
+
+class HelpOverlay : public QWidget {
+  Q_OBJECT
+public:
+  HelpOverlay(MainWindow *parent);
+
+protected:
+  void drawHelpForWidget(QPainter &painter, QWidget *w);
+  void paintEvent(QPaintEvent *event) override;
+  void mouseReleaseEvent(QMouseEvent *event) override;
+  bool eventFilter(QObject *obj, QEvent *event) override;
 };
@@ -46,12 +46,12 @@ MessagesWidget::MessagesWidget(QWidget *parent) : QWidget(parent) {
  QObject::connect(dbc(), &DBCManager::DBCFileChanged, model, &MessageListModel::sortMessages);
  QObject::connect(dbc(), &DBCManager::msgUpdated, model, &MessageListModel::sortMessages);
  QObject::connect(dbc(), &DBCManager::msgRemoved, model, &MessageListModel::sortMessages);
-  QObject::connect(model, &MessageListModel::modelReset, [this]() { selectMessage(current_msg_id); });
+  QObject::connect(model, &MessageListModel::modelReset, [this]() { selectMessage(*current_msg_id); });
  QObject::connect(table_widget->selectionModel(), &QItemSelectionModel::currentChanged, [=](const QModelIndex &current, const QModelIndex &previous) {
    if (current.isValid() && current.row() < model->msgs.size()) {
-      if (model->msgs[current.row()] != current_msg_id) {
+      if (model->msgs[current.row()] != *current_msg_id) {
        current_msg_id = model->msgs[current.row()];
-        emit msgSelectionChanged(current_msg_id);
+        emit msgSelectionChanged(*current_msg_id);
      }
    }
  });
@@ -65,9 +65,18 @@ MessagesWidget::MessagesWidget(QWidget *parent) : QWidget(parent) {
  });

  updateSuppressedButtons();
+
+  setWhatsThis(tr(R"(
+    <b>Message View</b><br/>
+    <!-- TODO: add descprition here -->
+    Byte color: <br />
+    <span style="color:gray;">■ </span> constant changing<br />
+    <span style="color:blue;">■ </span> increasing<br />
+    <span style="color:red;">■ </span> decreasing <br />
+  )"));
 }

-void MessagesWidget::selectMessage(const QString &msg_id) {
+void MessagesWidget::selectMessage(const MessageId &msg_id) {
  if (int row = model->msgs.indexOf(msg_id); row != -1) {
    table_widget->selectionModel()->setCurrentIndex(model->index(row, 0), QItemSelectionModel::Rows | QItemSelectionModel::ClearAndSelect);
  }
@@ -86,7 +95,7 @@ void MessagesWidget::updateSuppressedButtons() {
 void MessagesWidget::reset() {
  model->reset();
  filter->clear();
-  current_msg_id = "";
+  current_msg_id = std::nullopt;
  updateSuppressedButtons();
 }

@@ -106,31 +115,29 @@ QVariant MessageListModel::data(const QModelIndex &index, int role) const {
  if (role == Qt::DisplayRole) {
    switch (index.column()) {
      case 0: return msgName(id);
-      case 1: return id;
+      case 1: return id.toString(); // TODO: put source and address in separate columns
      case 2: return can_data.freq;
      case 3: return can_data.count;
      case 4: return toHex(can_data.dat);
    }
  } else if (role == Qt::UserRole && index.column() == 4) {
-    QList<QVariant> colors;
-    colors.reserve(can_data.dat.size());
-    for (int i = 0; i < can_data.dat.size(); i++){
-      if (suppressed_bytes.contains({id, i})) {
-        colors.append(QColor(255, 255, 255, 0));
-      } else {
-        colors.append(i < can_data.colors.size() ? can_data.colors[i] : QColor(255, 255, 255, 0));
+    QVector<QColor> colors = can_data.colors;
+    if (!suppressed_bytes.empty()) {
+      for (int i = 0; i < colors.size(); i++) {
+        if (suppressed_bytes.contains({id, i})) {
+          colors[i] = QColor(255, 255, 255, 0);
+        }
      }
    }
-    return colors;
-
+    return QVariant::fromValue(colors);
  }
  return {};
 }

 void MessageListModel::setFilterString(const QString &string) {
-  auto contains = [](const QString &id, const QString &txt) {
+  auto contains = [](const MessageId &id, const QString &txt) {
    auto cs = Qt::CaseInsensitive;
-    if (id.contains(txt, cs) || msgName(id).contains(txt, cs)) return true;
+    if (id.toString().contains(txt, cs) || msgName(id).contains(txt, cs)) return true;
    // Search by signal name
    if (const auto msg = dbc()->msg(id)) {
      for (auto &signal : msg->getSignals()) {
@@ -160,9 +167,7 @@ void MessageListModel::sortMessages() {
    });
  } else if (sort_column == 1) {
    std::sort(msgs.begin(), msgs.end(), [this](auto &l, auto &r) {
-      auto ll = DBCManager::parseId(l);
-      auto rr = DBCManager::parseId(r);
-      return sort_order == Qt::AscendingOrder ? ll < rr : ll > rr;
+      return sort_order == Qt::AscendingOrder ? l < r : l > r;
    });
  } else if (sort_column == 2) {
    std::sort(msgs.begin(), msgs.end(), [this](auto &l, auto &r) {
@@ -180,7 +185,7 @@ void MessageListModel::sortMessages() {
  endResetModel();
 }

-void MessageListModel::msgsReceived(const QHash<QString, CanData> *new_msgs) {
+void MessageListModel::msgsReceived(const QHash<MessageId, CanData> *new_msgs) {
  int prev_row_count = msgs.size();
  if (filter_str.isEmpty() && msgs.size() != can->can_msgs.size()) {
    msgs = can->can_msgs.keys();
@@ -1,5 +1,7 @@
 #pragma once

+#include <optional>
+
 #include <QAbstractTableModel>
 #include <QHeaderView>
 #include <QLineEdit>
@@ -20,13 +22,13 @@ public:
  int rowCount(const QModelIndex &parent = QModelIndex()) const override { return msgs.size(); }
  void sort(int column, Qt::SortOrder order = Qt::AscendingOrder) override;
  void setFilterString(const QString &string);
-  void msgsReceived(const QHash<QString, CanData> *new_msgs = nullptr);
+  void msgsReceived(const QHash<MessageId, CanData> *new_msgs = nullptr);
  void sortMessages();
  void suppress();
  void clearSuppress();
  void reset();
-  QStringList msgs;
-  QSet<std::pair<QString, int>> suppressed_bytes;
+  QList<MessageId> msgs;
+  QSet<std::pair<MessageId, int>> suppressed_bytes;

 private:
  QString filter_str;
@@ -39,18 +41,18 @@ class MessagesWidget : public QWidget {

 public:
  MessagesWidget(QWidget *parent);
-  void selectMessage(const QString &message_id);
+  void selectMessage(const MessageId &message_id);
  QByteArray saveHeaderState() const { return table_widget->horizontalHeader()->saveState(); }
  bool restoreHeaderState(const QByteArray &state) const { return table_widget->horizontalHeader()->restoreState(state); }
  void updateSuppressedButtons();
  void reset();

 signals:
-  void msgSelectionChanged(const QString &message_id);
+  void msgSelectionChanged(const MessageId &message_id);

 protected:
  QTableView *table_widget;
-  QString current_msg_id;
+  std::optional<MessageId> current_msg_id;
  QLineEdit *filter;
  MessageListModel *model;
  QPushButton *suppress_add;
@@ -31,7 +31,7 @@ void SignalModel::insertItem(SignalModel::Item *parent_item, int pos, const Sign
  }
 }

-void SignalModel::setMessage(const QString &id) {
+void SignalModel::setMessage(const MessageId &id) {
  msg_id = id;
  filter_str = "";
  refresh();
@@ -56,7 +56,7 @@ void SignalModel::refresh() {
  endResetModel();
 }

-void SignalModel::updateState(const QHash<QString, CanData> *msgs) {
+void SignalModel::updateState(const QHash<MessageId, CanData> *msgs) {
  if (!msgs || (msgs->contains(msg_id))) {
    auto &dat = can->lastMessage(msg_id).dat;
    int row = 0;
@@ -230,13 +230,13 @@ void SignalModel::removeSignal(const Signal *sig) {
 }

 void SignalModel::handleMsgChanged(uint32_t address) {
-  if (address == DBCManager::parseId(msg_id).second) {
+  if (address == msg_id.address) {
    refresh();
  }
 }

 void SignalModel::handleSignalAdded(uint32_t address, const Signal *sig) {
-  if (address == DBCManager::parseId(msg_id).second) {
+  if (address == msg_id.address) {
    int i = 0;
    for (; i < root->children.size(); ++i) {
      if (sig->start_bit < root->children[i]->sig->start_bit) break;
@@ -365,9 +365,14 @@ SignalView::SignalView(ChartsWidget *charts, QWidget *parent) : charts(charts),
  QObject::connect(model, &QAbstractItemModel::rowsInserted, this, &SignalView::rowsChanged);
  QObject::connect(model, &QAbstractItemModel::rowsRemoved, this, &SignalView::rowsChanged);
  QObject::connect(dbc(), &DBCManager::signalAdded, [this](uint32_t address, const Signal *sig) { expandSignal(sig); });
+
+  setWhatsThis(tr(R"(
+    <b>Signal view</b><br />
+    <!-- TODO: add descprition here -->
+  )"));
 }

-void SignalView::setMessage(const QString &id) {
+void SignalView::setMessage(const MessageId &id) {
  msg_id = id;
  filter_edit->clear();
  model->setMessage(id);
@@ -37,7 +37,7 @@ public:
  QModelIndex parent(const QModelIndex &index) const override;
  Qt::ItemFlags flags(const QModelIndex &index) const override;
  bool setData(const QModelIndex &index, const QVariant &value, int role = Qt::EditRole) override;
-  void setMessage(const QString &id);
+  void setMessage(const MessageId &id);
  void setFilter(const QString &txt);
  void addSignal(int start_bit, int size, bool little_endian);
  bool saveSignal(const Signal *origin_s, Signal &s);
@@ -54,9 +54,9 @@ private:
  void handleSignalRemoved(const Signal *sig);
  void handleMsgChanged(uint32_t address);
  void refresh();
-  void updateState(const QHash<QString, CanData> *msgs);
+  void updateState(const QHash<MessageId, CanData> *msgs);

-  QString msg_id;
+  MessageId msg_id;
  QString filter_str;
  std::unique_ptr<Item> root;
  friend class SignalView;
@@ -76,7 +76,7 @@ class SignalView : public QWidget {

 public:
  SignalView(ChartsWidget *charts, QWidget *parent);
-  void setMessage(const QString &id);
+  void setMessage(const MessageId &id);
  void signalHovered(const Signal *sig);
  void updateChartState();
  void expandSignal(const Signal *sig);
@@ -85,13 +85,13 @@ public:

 signals:
  void highlight(const Signal *sig);
-  void showChart(const QString &name, const Signal *sig, bool show, bool merge);
+  void showChart(const MessageId &id, const Signal *sig, bool show, bool merge);

 private:
  void rowsChanged();
  void leaveEvent(QEvent *event);

-  QString msg_id;
+  MessageId msg_id;
  QTreeView *tree;
  QLineEdit *filter_edit;
  ChartsWidget *charts;
@@ -4,12 +4,12 @@ AbstractStream *can = nullptr;

 AbstractStream::AbstractStream(QObject *parent, bool is_live_streaming) : is_live_streaming(is_live_streaming), QObject(parent) {
  can = this;
-  new_msgs = std::make_unique<QHash<QString, CanData>>();
+  new_msgs = std::make_unique<QHash<MessageId, CanData>>();
  QObject::connect(this, &AbstractStream::received, this, &AbstractStream::process, Qt::QueuedConnection);
  QObject::connect(this, &AbstractStream::seekedTo, this, &AbstractStream::updateLastMsgsTo);
 }

-void AbstractStream::process(QHash<QString, CanData> *messages) {
+void AbstractStream::process(QHash<MessageId, CanData> *messages) {
  for (auto it = messages->begin(); it != messages->end(); ++it) {
    can_msgs[it.key()] = it.value();
  }
@@ -25,7 +25,7 @@ bool AbstractStream::updateEvent(const Event *event) {
  if (event->which == cereal::Event::Which::CAN) {
    double current_sec = event->mono_time / 1e9 - routeStartTime();
    for (const auto &c : event->event.getCan()) {
-      QString id = QString("%1:%2").arg(c.getSrc()).arg(c.getAddress(), 1, 16);
+      MessageId id = {.source = c.getSrc(), .address = c.getAddress()};
      CanData &data = (*new_msgs)[id];
      data.ts = current_sec;
      data.dat = QByteArray((char *)c.getDat().begin(), c.getDat().size());
@@ -44,29 +44,30 @@ bool AbstractStream::updateEvent(const Event *event) {
      prev_update_ts = ts;
      // use pointer to avoid data copy in queued connection.
      emit received(new_msgs.release());
-      new_msgs.reset(new QHash<QString, CanData>);
+      new_msgs.reset(new QHash<MessageId, CanData>);
      new_msgs->reserve(100);
    }
  }
  return true;
 }

-const CanData &AbstractStream::lastMessage(const QString &id) {
+const CanData &AbstractStream::lastMessage(const MessageId &id) {
  static CanData empty_data;
  auto it = can_msgs.find(id);
  return it != can_msgs.end() ? it.value() : empty_data;
 }

 void AbstractStream::updateLastMsgsTo(double sec) {
-  QHash<std::pair<uint8_t, uint32_t>, CanData> last_msgs;  // Much faster than QHash<String, CanData>
+  QHash<MessageId, CanData> last_msgs;
  last_msgs.reserve(can_msgs.size());
  double route_start_time = routeStartTime();
  uint64_t last_ts = (sec + route_start_time) * 1e9;
-  auto last = std::upper_bound(events()->rbegin(), events()->rend(), last_ts, [](uint64_t ts, auto &e) { return e->mono_time < ts; });
-  for (auto it = last; it != events()->rend(); ++it) {
+  auto evs = events();
+  auto last = std::upper_bound(evs->rbegin(), evs->rend(), last_ts, [](uint64_t ts, auto &e) { return e->mono_time < ts; });
+  for (auto it = last; it != evs->rend(); ++it) {
    if ((*it)->which == cereal::Event::Which::CAN) {
      for (const auto &c : (*it)->event.getCan()) {
-        auto &m = last_msgs[{c.getSrc(), c.getAddress()}];
+        auto &m = last_msgs[{.source = c.getSrc(), .address = c.getAddress()}];
        if (++m.count == 1) {
          m.ts = ((*it)->mono_time / 1e9) - route_start_time;
          m.dat = QByteArray((char *)c.getDat().begin(), c.getDat().size());
@@ -87,9 +88,8 @@ void AbstractStream::updateLastMsgsTo(double sec) {
  counters.clear();
  can_msgs.clear();
  for (auto it = last_msgs.cbegin(); it != last_msgs.cend(); ++it) {
-    QString msg_id = QString("%1:%2").arg(it.key().first).arg(it.key().second, 1, 16);
-    can_msgs[msg_id] = it.value();
-    counters[msg_id] = it.value().count;
+    can_msgs[it.key()] = it.value();
+    counters[it.key()] = it.value().count;
  }
  emit updated();
  emit msgsReceived(&can_msgs);
@@ -5,6 +5,7 @@
 #include <QColor>
 #include <QHash>

+#include "tools/cabana/dbcmanager.h"
 #include "tools/cabana/settings.h"
 #include "tools/cabana/util.h"
 #include "tools/replay/replay.h"
@@ -33,7 +34,7 @@ public:
  virtual double routeStartTime() const { return 0; }
  virtual double currentSec() const = 0;
  virtual QDateTime currentDateTime() const { return {}; }
-  virtual const CanData &lastMessage(const QString &id);
+  virtual const CanData &lastMessage(const MessageId &id);
  virtual VisionStreamType visionStreamType() const { return VISION_STREAM_ROAD; }
  virtual const Route *route() const { return nullptr; }
  virtual const std::vector<Event *> *events() const = 0;
@@ -49,22 +50,22 @@ signals:
  void streamStarted();
  void eventsMerged();
  void updated();
-  void msgsReceived(const QHash<QString, CanData> *);
-  void received(QHash<QString, CanData> *);
+  void msgsReceived(const QHash<MessageId, CanData> *);
+  void received(QHash<MessageId, CanData> *);

 public:
-  QHash<QString, CanData> can_msgs;
+  QHash<MessageId, CanData> can_msgs;

 protected:
-  void process(QHash<QString, CanData> *);
+  void process(QHash<MessageId, CanData> *);
  bool updateEvent(const Event *event);
  void updateLastMsgsTo(double sec);

  bool is_live_streaming = false;
  std::atomic<bool> processing = false;
-  QHash<QString, uint32_t> counters;
-  std::unique_ptr<QHash<QString, CanData>> new_msgs;
-  QHash<QString, ChangeTracker> change_trackers;
+  QHash<MessageId, uint32_t> counters;
+  std::unique_ptr<QHash<MessageId, CanData>> new_msgs;
+  QHash<MessageId, ChangeTracker> change_trackers;
 };

 // A global pointer referring to the unique AbstractStream object
@@ -20,10 +20,10 @@ FindSimilarBitsDlg::FindSimilarBitsDlg(QWidget *parent) : QDialog(parent, Qt::Wi
  bus_combo = new QComboBox(this);
  QSet<uint8_t> bus_set;
  for (auto it = can->can_msgs.begin(); it != can->can_msgs.end(); ++it) {
-    bus_set << DBCManager::parseId(it.key()).first;
+    bus_set << it.key().source;
  }
  for (uint8_t bus : bus_set) {
-    bus_combo->addItem(QString::number(bus));
+    bus_combo->addItem(QString::number(bus), bus);
  }
  bus_combo->model()->sort(0);
  bus_combo->setCurrentIndex(0);
@@ -69,9 +69,11 @@ FindSimilarBitsDlg::FindSimilarBitsDlg(QWidget *parent) : QDialog(parent, Qt::Wi

  setMinimumSize({700, 500});
  QObject::connect(search_btn, &QPushButton::clicked, this, &FindSimilarBitsDlg::find);
+
  QObject::connect(table, &QTableWidget::doubleClicked, [this](const QModelIndex &index) {
    if (index.isValid()) {
-      emit openMessage(bus_combo->currentText() + ":" + table->item(index.row(), 0)->text());
+      MessageId msg_id = {.source = (uint8_t)bus_combo->currentData().toUInt(), .address = table->item(index.row(), 0)->text().toUInt(0, 16)};
+      emit openMessage(msg_id);
    }
  });
 }
@@ -6,6 +6,8 @@
 #include <QSpinBox>
 #include <QTableWidget>

+#include "tools/cabana/dbcmanager.h"
+
 class FindSimilarBitsDlg : public QDialog {
  Q_OBJECT

@@ -13,7 +15,7 @@ public:
  FindSimilarBitsDlg(QWidget *parent);

 signals:
-  void openMessage(const QString &msg_id);
+  void openMessage(const MessageId &msg_id);

 private:
  struct mismatched_struct {
@@ -66,13 +66,6 @@ void ChangeTracker::clear() {
  colors.clear();
 }

-QList<QVariant> ChangeTracker::toVariantList(const QVector<QColor> &colors) {
-  QList<QVariant> ret;
-  ret.reserve(colors.size());
-  for (auto &c : colors) ret.append(c);
-  return ret;
-}
-
 // MessageBytesDelegate

 MessageBytesDelegate::MessageBytesDelegate(QObject *parent) : QStyledItemDelegate(parent) {
@@ -89,12 +82,8 @@ void MessageBytesDelegate::paint(QPainter *painter, const QStyleOptionViewItem &
    return;
  }

-  if ((option.state & QStyle::State_Selected) && (option.state & QStyle::State_Active)) {
-    painter->setPen(option.palette.color(QPalette::HighlightedText));
-  } else {
-    painter->setPen(option.palette.color(QPalette::Text));
-  }
-
+  auto color_role = option.state & QStyle::State_Selected ? QPalette::HighlightedText: QPalette::Text;
+  painter->setPen(option.palette.color(color_role));
  painter->setFont(fixed_font);
  QRect space = painter->boundingRect(opt.rect, opt.displayAlignment, " ");
  QRect pos = painter->boundingRect(opt.rect, opt.displayAlignment, "00");
@@ -103,15 +92,13 @@ void MessageBytesDelegate::paint(QPainter *painter, const QStyleOptionViewItem &
  int m = space.width() / 2;
  const QMargins margins(m, m, m, m);

-  QList<QVariant> colors = index.data(Qt::UserRole).toList();
-  int i = 0;
-  for (auto &byte : byte_list) {
+  auto colors = index.data(Qt::UserRole).value<QVector<QColor>>();
+  for (int i = 0; i < byte_list.size(); ++i) {
    if (i < colors.size()) {
-      painter->fillRect(pos.marginsAdded(margins), colors[i].value<QColor>());
+      painter->fillRect(pos.marginsAdded(margins), colors[i]);
    }
-    painter->drawText(pos, opt.displayAlignment, byte);
+    painter->drawText(pos, opt.displayAlignment, byte_list[i]);
    pos.moveLeft(pos.right() + space.width());
-    i++;
  }
 }

@@ -14,7 +14,6 @@
 class ChangeTracker {
 public:
  void compute(const QByteArray &dat, double ts, uint32_t freq);
-  static QList<QVariant> toVariantList(const QVector<QColor> &colors);
  void clear();

  QVector<double> last_change_t;
@@ -53,6 +53,13 @@ VideoWidget::VideoWidget(QWidget *parent) : QWidget(parent) {
  QObject::connect(can, &AbstractStream::paused, this, &VideoWidget::updatePlayBtnState);
  QObject::connect(can, &AbstractStream::resume, this, &VideoWidget::updatePlayBtnState);
  updatePlayBtnState();
+
+  setWhatsThis(tr(R"(
+    <b>Video</b><br />
+    <!-- TODO: add descprition here -->
+    Shortcuts:<br />
+    Pause/Resume: <span style="background-color:lightGray;color:gray"> space </span></br>
+  )"));
 }

 QWidget *VideoWidget::createCameraWidget() {
@@ -211,7 +211,10 @@ def fake_driver_monitoring(exit_event: threading.Event):
  while not exit_event.is_set():
    # dmonitoringmodeld output
    dat = messaging.new_message('driverStateV2')
+    dat.driverStateV2.leftDriverData.faceOrientation = [0., 0., 0.]
    dat.driverStateV2.leftDriverData.faceProb = 1.0
+    dat.driverStateV2.rightDriverData.faceOrientation = [0., 0., 0.]
+    dat.driverStateV2.rightDriverData.faceProb = 1.0
    pm.send('driverStateV2', dat)

    # dmonitoringd output