Update opendbc_repo

* fixed missing internal panda

* lets do it like that

* cleanup

* move up

---------

Co-authored-by: Jason Wen <haibin.wen3@gmail.com>

.github/workflows/release.yaml

@@ -22,7 +22,7 @@ jobs:
         running-workflow-name: 'build __nightly'
         repo-token: ${{ secrets.GITHUB_TOKEN }}
         check-regexp: ^((?!.*(build prebuilt|create badges).*).)*$
-    - uses: actions/checkout@v6
+    - uses: actions/checkout@v4
       with:
         submodules: true
         fetch-depth: 0

SConstruct

@@ -46,11 +46,10 @@ if arch != "larch64":
   import libjpeg
   import libyuv
   import ncurses
-  import openssl3
   import python3_dev
   import zeromq
   import zstd
-  pkgs = [bzip2, capnproto, eigen, ffmpeg_pkg, libjpeg, libyuv, ncurses, openssl3, zeromq, zstd]
+  pkgs = [bzip2, capnproto, eigen, ffmpeg_pkg, libjpeg, libyuv, ncurses, zeromq, zstd]
   py_include = python3_dev.INCLUDE_DIR
 else:
   # TODO: remove when AGNOS has our new vendor pkgs

pyproject.toml

@@ -32,12 +32,12 @@ dependencies = [
   "ffmpeg @ git+https://github.com/commaai/dependencies.git@releases#subdirectory=ffmpeg",
   "libjpeg @ git+https://github.com/commaai/dependencies.git@releases#subdirectory=libjpeg",
   "libyuv @ git+https://github.com/commaai/dependencies.git@releases#subdirectory=libyuv",
-  "openssl3 @ git+https://github.com/commaai/dependencies.git@releases#subdirectory=openssl3",
   "python3-dev @ git+https://github.com/commaai/dependencies.git@releases#subdirectory=python3-dev",
   "zstd @ git+https://github.com/commaai/dependencies.git@releases#subdirectory=zstd",
   "ncurses @ git+https://github.com/commaai/dependencies.git@releases#subdirectory=ncurses",
   "zeromq @ git+https://github.com/commaai/dependencies.git@releases#subdirectory=zeromq",
   "git-lfs @ git+https://github.com/commaai/dependencies.git@releases#subdirectory=git-lfs",
+  "gcc-arm-none-eabi @ git+https://github.com/commaai/dependencies.git@releases#subdirectory=gcc-arm-none-eabi",
 
   # body / webrtcd
   "av",
@@ -76,6 +76,7 @@ dependencies = [
   "raylib > 5.5.0.3",
   "qrcode",
   "jeepney",
+  "pillow",
 ]
 
 [project.optional-dependencies]
@@ -103,12 +104,10 @@ testing = [
 dev = [
   "matplotlib",
   "opencv-python-headless",
-  "gcc-arm-none-eabi @ git+https://github.com/commaai/dependencies.git@releases#subdirectory=gcc-arm-none-eabi",
 ]
 
 tools = [
   "metadrive-simulator @ git+https://github.com/commaai/metadrive.git@minimal ; (platform_machine != 'aarch64')",
-  "dearpygui>=2.1.0; (sys_platform != 'linux' or platform_machine != 'aarch64')", # not vended for linux aarch64
 ]
 
 [project.urls]

release/pack.py

@@ -12,7 +12,7 @@ from openpilot.common.basedir import BASEDIR
 
 
 DIRS = ['cereal', 'openpilot']
-EXTS = ['.png', '.py', '.ttf', '.capnp', '.json', '.fnt', '.mo']
+EXTS = ['.png', '.py', '.ttf', '.capnp', '.json', '.fnt', '.mo', '.po']
 INTERPRETER = '/usr/bin/env python3'
 
 

selfdrive/pandad/pandad.py

@@ -32,8 +32,7 @@ def flash_panda(panda_serial: str) -> Panda:
     raise
 
   # skip flashing if the detected panda is not supported
-  supported_panda = check_panda_support(panda)
-  if not supported_panda:
+  if panda.get_type() not in Panda.SUPPORTED_DEVICES:
     cloudlog.warning(f"Panda {panda_serial} is not supported (hw_type: {panda.get_type()}), skipping flash...")
     return panda
 
@@ -69,10 +68,19 @@ def flash_panda(panda_serial: str) -> Panda:
   return panda
 
 
-def check_panda_support(panda) -> bool:
-  hw_type = panda.get_type()
-  if hw_type in Panda.SUPPORTED_DEVICES:
-    return True
+def check_panda_support(panda_serials: list[str]) -> bool:
+  unsupported = []
+  for serial in panda_serials:
+    panda = Panda(serial)
+    hw_type = panda.get_type()
+    panda.close()
+    if hw_type in Panda.SUPPORTED_DEVICES:
+      return True
+
+    unsupported.append((serial, hw_type))
+
+  for serial, hw_type in unsupported:
+    cloudlog.warning(f"Panda {serial} is not supported (hw_type: {hw_type}), skipping...")
 
   return False
 
@@ -126,13 +134,17 @@ def main() -> None:
 
       cloudlog.info(f"{len(panda_serials)} panda(s) found, connecting - {panda_serials}")
 
+      # custom flasher for xnor's Rivian Longitudinal Upgrade Kit
+      flash_rivian_long(panda_serials)
+
+      # skip flashing and health check if no supported panda is detected
+      if not check_panda_support(panda_serials):
+        continue
+
       # Flash the first panda
       panda_serial = panda_serials[0]
       panda = flash_panda(panda_serial)
 
-      # flash Rivian longitudinal upgrade panda
-      flash_rivian_long(panda)
-
       # Ensure internal panda is present if expected
       if HARDWARE.has_internal_panda() and not panda.is_internal():
         cloudlog.error("Internal panda is missing, trying again")
@@ -143,12 +155,6 @@ def main() -> None:
       # log panda fw version
       params.put("PandaSignatures", panda.get_signature())
 
-      # skip health check if the detected panda is not supported
-      supported_panda = check_panda_support(panda)
-      if not supported_panda:
-        cloudlog.warning(f"Panda {panda.get_usb_serial()} is not supported (hw_type: {panda.get_type()}), skipping health check...")
-        continue
-
       # check health for lost heartbeat
       health = panda.health()
       if health["heartbeat_lost"]:

selfdrive/ui/installer/installer.cc

@@ -81,16 +81,14 @@ void run(const char* cmd) {
 }
 
 void finishInstall() {
-  BeginDrawing();
-    ClearBackground(BLACK);
-    if (tici_device) {
+  if (tici_device) {
+    BeginDrawing();
+      ClearBackground(BLACK);
       const char *m = "Finishing install...";
       int text_width = MeasureText(m, FONT_SIZE);
       DrawTextEx(font_display, m, (Vector2){(float)(GetScreenWidth() - text_width)/2 + FONT_SIZE, (float)(GetScreenHeight() - FONT_SIZE)/2}, FONT_SIZE, 0, WHITE);
-    } else {
-      DrawTextEx(font_display, "finishing setup", (Vector2){12, 0}, 77, 0, (Color){255, 255, 255, (unsigned char)(255 * 0.9)});
-    }
-  EndDrawing();
+    EndDrawing();
+  }
   util::sleep_for(60 * 1000);
 }
 

selfdrive/ui/mici/layouts/main.py

@@ -56,7 +56,7 @@ class MiciMainLayout(Scroller):
     gui_app.push_widget(self)
 
     # Start onboarding if terms or training not completed, make sure to push after self
-    self._onboarding_window = OnboardingWindow()
+    self._onboarding_window = OnboardingWindow(lambda: gui_app.pop_widgets_to(self))
     if not self._onboarding_window.completed:
       gui_app.push_widget(self._onboarding_window)
 
@@ -82,7 +82,7 @@ class MiciMainLayout(Scroller):
 
   def _handle_transitions(self):
     # Don't pop if onboarding
-    if gui_app.get_active_widget() == self._onboarding_window:
+    if gui_app.widget_in_stack(self._onboarding_window):
       return
 
     if ui_state.started != self._prev_onroad:
@@ -108,7 +108,7 @@ class MiciMainLayout(Scroller):
 
   def _on_interactive_timeout(self):
     # Don't pop if onboarding
-    if gui_app.get_active_widget() == self._onboarding_window:
+    if gui_app.widget_in_stack(self._onboarding_window):
       return
 
     if ui_state.started:

selfdrive/ui/mici/layouts/onboarding.py

@@ -1,32 +1,25 @@
-from enum import IntEnum
-
-import weakref
 import math
 import numpy as np
+import qrcode
 import pyray as rl
+from collections.abc import Callable
 from openpilot.common.filter_simple import FirstOrderFilter
-from openpilot.system.hardware import HARDWARE
 from openpilot.system.ui.lib.application import FontWeight, gui_app
 from openpilot.system.ui.widgets import Widget
-from openpilot.system.ui.widgets.button import SmallButton, SmallCircleIconButton
-from openpilot.system.ui.widgets.label import UnifiedLabel
-from openpilot.system.ui.widgets.slider import SmallSlider
-from openpilot.system.ui.mici_setup import TermsHeader, TermsPage as SetupTermsPage
-from openpilot.selfdrive.ui.ui_state import ui_state, device
-from openpilot.selfdrive.ui.mici.onroad.driver_state import DriverStateRenderer
-from openpilot.selfdrive.ui.mici.onroad.driver_camera_dialog import BaseDriverCameraDialog
+from openpilot.system.ui.widgets.button import SmallCircleIconButton
+from openpilot.system.ui.widgets.scroller import NavScroller, Scroller
+from openpilot.system.ui.widgets.nav_widget import NavWidget
+from openpilot.system.ui.mici_setup import GreyBigButton, BigPillButton
 from openpilot.system.ui.widgets.label import gui_label
 from openpilot.system.ui.lib.multilang import tr
 from openpilot.system.version import terms_version, training_version, terms_version_sp
-
-from openpilot.selfdrive.ui.sunnypilot.mici.layouts.onboarding import SunnylinkOnboarding
-
-
-class OnboardingState(IntEnum):
-  TERMS = 0
-  ONBOARDING = 1
-  DECLINE = 2
-  SUNNYLINK_CONSENT = 3
+from openpilot.system.version import sunnylink_consent_version, sunnylink_consent_declined
+from openpilot.selfdrive.ui.ui_state import ui_state, device
+from openpilot.selfdrive.ui.mici.widgets.button import BigCircleButton
+from openpilot.selfdrive.ui.mici.widgets.dialog import BigConfirmationDialogV2
+from openpilot.selfdrive.ui.mici.onroad.driver_state import DriverStateRenderer
+from openpilot.selfdrive.ui.mici.onroad.driver_camera_dialog import BaseDriverCameraDialog
+from openpilot.selfdrive.ui.sunnypilot.mici.layouts.onboarding import SunnylinkConsentPage
 
 
 class DriverCameraSetupDialog(BaseDriverCameraDialog):
@@ -60,91 +53,62 @@ class DriverCameraSetupDialog(BaseDriverCameraDialog):
     rl.end_scissor_mode()
 
 
-class TrainingGuidePreDMTutorial(SetupTermsPage):
-  def __init__(self, continue_callback):
-    super().__init__(continue_callback, continue_text="continue")
-    self._title_header = TermsHeader("driver monitoring setup", gui_app.texture("icons_mici/setup/green_dm.png", 60, 60))
+class TrainingGuidePreDMTutorial(NavScroller):
+  def __init__(self, continue_callback: Callable[[], None]):
+    super().__init__()
 
-    self._dm_label = UnifiedLabel("Next, we'll ensure comma four is mounted properly.\n\nIf it does not have a clear view of the driver, " +
-                                  "unplug and remount before continuing.", 42,
-                                  FontWeight.ROMAN)
+    continue_button = BigPillButton("next")
+    continue_button.set_click_callback(continue_callback)
+
+    self._scroller.add_widgets([
+      GreyBigButton("driver monitoring\ncheck", "scroll to continue",
+                    gui_app.texture("icons_mici/setup/green_dm.png", 64, 64)),
+      GreyBigButton("", "Next, we'll check if comma four can detect the driver properly."),
+      GreyBigButton("", "sunnypilot uses the cabin camera to check if the driver is distracted."),
+      GreyBigButton("", "If it does not have a clear view of the driver, unplug and remount before continuing."),
+      continue_button,
+    ])
 
   def show_event(self):
     super().show_event()
     # Get driver monitoring model ready for next step
-    ui_state.params.put_bool("IsDriverViewEnabled", True)
-
-  @property
-  def _content_height(self):
-    return self._dm_label.rect.y + self._dm_label.rect.height - self._scroll_panel.get_offset()
-
-  def _render_content(self, scroll_offset):
-    self._title_header.render(rl.Rectangle(
-      self._rect.x + 16,
-      self._rect.y + 16 + scroll_offset,
-      self._title_header.rect.width,
-      self._title_header.rect.height,
-    ))
-
-    self._dm_label.render(rl.Rectangle(
-      self._rect.x + 16,
-      self._title_header.rect.y + self._title_header.rect.height + 16,
-      self._rect.width - 32,
-      self._dm_label.get_content_height(int(self._rect.width - 32)),
-    ))
+    ui_state.params.put_bool_nonblocking("IsDriverViewEnabled", True)
 
 
-class DMBadFaceDetected(SetupTermsPage):
-  def __init__(self, continue_callback, back_callback):
-    super().__init__(continue_callback, back_callback, continue_text="power off")
-    self._title_header = TermsHeader("make sure comma four can see your face", gui_app.texture("icons_mici/setup/orange_dm.png", 60, 60))
-    self._dm_label = UnifiedLabel("Re-mount if your face is occluded or driver monitoring has difficulty tracking your face.", 42, FontWeight.ROMAN)
+class DMBadFaceDetected(NavScroller):
+  def __init__(self):
+    super().__init__()
 
-  @property
-  def _content_height(self):
-    return self._dm_label.rect.y + self._dm_label.rect.height - self._scroll_panel.get_offset()
+    back_button = BigPillButton("back")
+    back_button.set_click_callback(self.dismiss)
 
-  def _render_content(self, scroll_offset):
-    self._title_header.render(rl.Rectangle(
-      self._rect.x + 16,
-      self._rect.y + 16 + scroll_offset,
-      self._title_header.rect.width,
-      self._title_header.rect.height,
-    ))
-
-    self._dm_label.render(rl.Rectangle(
-      self._rect.x + 16,
-      self._title_header.rect.y + self._title_header.rect.height + 16,
-      self._rect.width - 32,
-      self._dm_label.get_content_height(int(self._rect.width - 32)),
-    ))
+    self._scroller.add_widgets([
+      GreyBigButton("looking for driver", "make sure comma\nfour can see your face",
+                    gui_app.texture("icons_mici/setup/orange_dm.png", 64, 64)),
+      GreyBigButton("", "Remount if your face is blocked, or driver monitoring has difficulty tracking your face."),
+      back_button,
+    ])
 
 
-class TrainingGuideDMTutorial(Widget):
+class TrainingGuideDMTutorial(NavWidget):
   PROGRESS_DURATION = 4
   LOOKING_THRESHOLD_DEG = 30.0
 
-  def __init__(self, continue_callback):
+  def __init__(self, continue_callback: Callable[[], None]):
     super().__init__()
 
-    self_ref = weakref.ref(self)
-
     self._back_button = SmallCircleIconButton(gui_app.texture("icons_mici/setup/driver_monitoring/dm_question.png", 28, 48))
-    self._back_button.set_click_callback(lambda: self_ref() and self_ref()._show_bad_face_page())
+    self._back_button.set_click_callback(lambda: gui_app.push_widget(self._bad_face_page))
+    self._back_button.set_touch_valid_callback(lambda: self.enabled and not self.is_dismissing)  # for nav stack
     self._good_button = SmallCircleIconButton(gui_app.texture("icons_mici/setup/driver_monitoring/dm_check.png", 42, 42))
+    self._good_button.set_touch_valid_callback(lambda: self.enabled and not self.is_dismissing)  # for nav stack
 
-    # Wrap the continue callback to restore settings
-    def wrapped_continue_callback():
-      device.set_offroad_brightness(None)
-      continue_callback()
-
-    self._good_button.set_click_callback(wrapped_continue_callback)
+    self._good_button.set_click_callback(continue_callback)
     self._good_button.set_enabled(False)
 
     self._progress = FirstOrderFilter(0.0, 0.5, 1 / gui_app.target_fps)
     self._dialog = DriverCameraSetupDialog()
-    self._bad_face_page = DMBadFaceDetected(HARDWARE.shutdown, lambda: self_ref() and self_ref()._hide_bad_face_page())
-    self._should_show_bad_face_page = False
+    self._bad_face_page = DMBadFaceDetected()
 
     # Disable driver monitoring model when device times out for inactivity
     def inactivity_callback():
@@ -152,23 +116,11 @@ class TrainingGuideDMTutorial(Widget):
 
     device.add_interactive_timeout_callback(inactivity_callback)
 
-  def _show_bad_face_page(self):
-    self._bad_face_page.show_event()
-    self.hide_event()
-    self._should_show_bad_face_page = True
-
-  def _hide_bad_face_page(self):
-    self._bad_face_page.hide_event()
-    self.show_event()
-    self._should_show_bad_face_page = False
-
   def show_event(self):
     super().show_event()
     self._dialog.show_event()
     self._progress.x = 0.0
 
-    device.set_offroad_brightness(100)
-
   def _update_state(self):
     super()._update_state()
     if device.awake and not ui_state.params.get_bool("IsDriverViewEnabled"):
@@ -188,7 +140,8 @@ class TrainingGuideDMTutorial(Widget):
       looking_center = False
 
     # stay at 100% once reached
-    if (dm_state.faceDetected and looking_center) or self._progress.x > 0.99:
+    in_bad_face = gui_app.get_active_widget() == self._bad_face_page
+    if ((dm_state.faceDetected and looking_center) or self._progress.x > 0.99) and not in_bad_face:
       slow = self._progress.x < 0.25
       duration = self.PROGRESS_DURATION * 2 if slow else self.PROGRESS_DURATION
       self._progress.x += 1.0 / (duration * gui_app.target_fps)
@@ -199,9 +152,6 @@ class TrainingGuideDMTutorial(Widget):
     self._good_button.set_enabled(self._progress.x >= 0.999)
 
   def _render(self, _):
-    if self._should_show_bad_face_page:
-      return self._bad_face_page.render(self._rect)
-
     self._dialog.render(self._rect)
 
     rl.draw_rectangle_gradient_v(int(self._rect.x), int(self._rect.y + self._rect.height - 80),
@@ -258,266 +208,246 @@ class TrainingGuideDMTutorial(Widget):
       ))
 
     # rounded border
+    rl.begin_scissor_mode(int(self._rect.x), int(self._rect.y), int(self._rect.width), int(self._rect.height))
     rl.draw_rectangle_rounded_lines_ex(self._rect, 0.2 * 1.02, 10, 50, rl.BLACK)
+    rl.end_scissor_mode()
 
 
-class TrainingGuideRecordFront(SetupTermsPage):
-  def __init__(self, continue_callback):
-    def on_back():
-      ui_state.params.put_bool("RecordFront", False)
-      continue_callback()
-
-    def on_continue():
-      ui_state.params.put_bool("RecordFront", True)
-      continue_callback()
-
-    super().__init__(on_continue, back_callback=on_back, back_text="no", continue_text="yes")
-    self._title_header = TermsHeader("improve driver monitoring", gui_app.texture("icons_mici/setup/green_dm.png", 60, 60))
-
-    self._dm_label = UnifiedLabel("Do you want to upload driver camera data?", 42,
-                                  FontWeight.ROMAN)
-
-  def show_event(self):
-    super().show_event()
-    # Disable driver monitoring model after last step
-    ui_state.params.put_bool("IsDriverViewEnabled", False)
-
-  @property
-  def _content_height(self):
-    return self._dm_label.rect.y + self._dm_label.rect.height - self._scroll_panel.get_offset()
-
-  def _render_content(self, scroll_offset):
-    self._title_header.render(rl.Rectangle(
-      self._rect.x + 16,
-      self._rect.y + 16 + scroll_offset,
-      self._title_header.rect.width,
-      self._title_header.rect.height,
-    ))
-
-    self._dm_label.render(rl.Rectangle(
-      self._rect.x + 16,
-      self._title_header.rect.y + self._title_header.rect.height + 16,
-      self._rect.width - 32,
-      self._dm_label.get_content_height(int(self._rect.width - 32)),
-    ))
-
-
-class TrainingGuideAttentionNotice(SetupTermsPage):
-  def __init__(self, continue_callback):
-    super().__init__(continue_callback, continue_text="continue")
-    self._title_header = TermsHeader("driver assistance", gui_app.texture("icons_mici/setup/warning.png", 60, 60))
-    self._warning_label = UnifiedLabel("1. sunnypilot is a driver assistance system.\n\n" +
-                                       "2. You must pay attention at all times.\n\n" +
-                                       "3. You must be ready to take over at any time.\n\n" +
-                                       "4. You are fully responsible for driving the car.", 42,
-                                       FontWeight.ROMAN)
-
-  @property
-  def _content_height(self):
-    return self._warning_label.rect.y + self._warning_label.rect.height - self._scroll_panel.get_offset()
-
-  def _render_content(self, scroll_offset):
-    self._title_header.render(rl.Rectangle(
-      self._rect.x + 16,
-      self._rect.y + 16 + scroll_offset,
-      self._title_header.rect.width,
-      self._title_header.rect.height,
-    ))
-
-    self._warning_label.render(rl.Rectangle(
-      self._rect.x + 16,
-      self._title_header.rect.y + self._title_header.rect.height + 16,
-      self._rect.width - 32,
-      self._warning_label.get_content_height(int(self._rect.width - 32)),
-    ))
-
-
-class TrainingGuide(Widget):
-  def __init__(self, completed_callback=None):
+class TrainingGuideRecordFront(NavScroller):
+  def __init__(self, continue_callback: Callable[[], None]):
     super().__init__()
-    self._completed_callback = completed_callback
-    self._step = 0
 
-    self_ref = weakref.ref(self)
+    def show_accept_dialog():
+      def on_accept():
+        ui_state.params.put_bool_nonblocking("RecordFront", True)
+        continue_callback()
 
-    def on_continue():
-      if obj := self_ref():
-        obj._advance_step()
+      gui_app.push_widget(BigConfirmationDialogV2("allow data uploading", "icons_mici/setup/driver_monitoring/dm_check.png", exit_on_confirm=False,
+                                                  confirm_callback=on_accept))
+
+    def show_decline_dialog():
+      def on_decline():
+        ui_state.params.put_bool_nonblocking("RecordFront", False)
+        continue_callback()
+
+      gui_app.push_widget(BigConfirmationDialogV2("no, don't upload", "icons_mici/setup/cancel.png", exit_on_confirm=False, confirm_callback=on_decline))
+
+    self._accept_button = BigCircleButton("icons_mici/setup/driver_monitoring/dm_check.png")
+    self._accept_button.set_click_callback(show_accept_dialog)
+
+    self._decline_button = BigCircleButton("icons_mici/setup/cancel.png")
+    self._decline_button.set_click_callback(show_decline_dialog)
+
+    self._scroller.add_widgets([
+      GreyBigButton("driver camera data", "do you want to share video data for training?",
+                    gui_app.texture("icons_mici/setup/green_dm.png", 64, 64)),
+      GreyBigButton("", "Sharing your data with comma helps improve openpilot and sunnypilot for everyone."),
+      self._accept_button,
+      self._decline_button,
+    ])
+
+
+class TrainingGuideAttentionNotice(Scroller):
+  def __init__(self, continue_callback: Callable[[], None]):
+    super().__init__()
+
+    continue_button = BigPillButton("next")
+    continue_button.set_click_callback(continue_callback)
+
+    self._scroller.add_widgets([
+      GreyBigButton("what is sunnypilot?", "scroll to continue",
+                    gui_app.texture("icons_mici/setup/green_info.png", 64, 64)),
+      GreyBigButton("", "1. sunnypilot is a driver assistance system."),
+      GreyBigButton("", "2. You must pay attention at all times."),
+      GreyBigButton("", "3. You must be ready to take over at any time."),
+      GreyBigButton("", "4. You are fully responsible for driving the car."),
+      continue_button,
+    ])
+
+
+class TrainingGuide(NavWidget):
+  def __init__(self, completed_callback: Callable[[], None]):
+    super().__init__()
 
     self._steps = [
-      TrainingGuideAttentionNotice(continue_callback=on_continue),
-      TrainingGuidePreDMTutorial(continue_callback=on_continue),
-      TrainingGuideDMTutorial(continue_callback=on_continue),
-      TrainingGuideRecordFront(continue_callback=on_continue),
+      TrainingGuideAttentionNotice(continue_callback=lambda: gui_app.push_widget(self._steps[1])),
+      TrainingGuidePreDMTutorial(continue_callback=lambda: gui_app.push_widget(self._steps[2])),
+      TrainingGuideDMTutorial(continue_callback=lambda: gui_app.push_widget(self._steps[3])),
+      TrainingGuideRecordFront(continue_callback=completed_callback),
     ]
 
+    self._steps[0].set_enabled(lambda: self.enabled and not self.is_dismissing)  # for nav stack
+
   def show_event(self):
     super().show_event()
-    device.set_override_interactive_timeout(300)
+    self._steps[0].show_event()
 
-  def hide_event(self):
-    super().hide_event()
-    device.set_override_interactive_timeout(None)
+  def _render(self, _):
+    self._steps[0].render(self._rect)
 
-  def _advance_step(self):
-    if self._step < len(self._steps) - 1:
-      self._step += 1
-      self._steps[self._step].show_event()
-    else:
-      self._step = 0
-      if self._completed_callback:
-        self._completed_callback()
+
+class QRCodeWidget(Widget):
+  def __init__(self, url: str, size: int = 170):
+    super().__init__()
+    self.set_rect(rl.Rectangle(0, 0, size, size))
+    self._size = size
+    self._qr_texture: rl.Texture | None = None
+    self._generate_qr(url)
+
+  def _generate_qr(self, url: str):
+    qr = qrcode.QRCode(version=1, error_correction=qrcode.constants.ERROR_CORRECT_L, box_size=10, border=0)
+    qr.add_data(url)
+    qr.make(fit=True)
+
+    pil_img = qr.make_image(fill_color="white", back_color="black").convert('RGBA')
+    img_array = np.array(pil_img, dtype=np.uint8)
+
+    rl_image = rl.Image()
+    rl_image.data = rl.ffi.cast("void *", img_array.ctypes.data)
+    rl_image.width = pil_img.width
+    rl_image.height = pil_img.height
+    rl_image.mipmaps = 1
+    rl_image.format = rl.PixelFormat.PIXELFORMAT_UNCOMPRESSED_R8G8B8A8
+
+    self._qr_texture = rl.load_texture_from_image(rl_image)
+
+  def _render(self, _):
+    if self._qr_texture:
+      scale = self._size / self._qr_texture.height
+      rl.draw_texture_ex(self._qr_texture, rl.Vector2(self._rect.x, self._rect.y), 0.0, scale, rl.WHITE)
+
+  def __del__(self):
+    if self._qr_texture and self._qr_texture.id != 0:
+      rl.unload_texture(self._qr_texture)
+
+
+class TermsPage(Scroller):
+  def __init__(self, on_accept, on_decline):
+    super().__init__()
+
+    def show_accept_dialog():
+      gui_app.push_widget(BigConfirmationDialogV2("accept\nterms", "icons_mici/setup/driver_monitoring/dm_check.png",
+                                                  confirm_callback=on_accept))
+
+    def show_decline_dialog():
+      gui_app.push_widget(BigConfirmationDialogV2("decline &\nuninstall", "icons_mici/setup/cancel.png",
+                                                  red=True, exit_on_confirm=False, confirm_callback=on_decline))
+
+    self._accept_button = BigCircleButton("icons_mici/setup/driver_monitoring/dm_check.png")
+    self._accept_button.set_click_callback(show_accept_dialog)
+
+    self._decline_button = BigCircleButton("icons_mici/setup/cancel.png", red=True)
+    self._decline_button.set_click_callback(show_decline_dialog)
+
+    self._scroller.add_widgets([
+      GreyBigButton("terms and\nconditions", "scroll to continue",
+                    gui_app.texture("icons_mici/setup/green_info.png", 64, 64)),
+      GreyBigButton("swipe for QR code", "or go to https://sunnypilot.ai/terms",
+                    gui_app.texture("icons_mici/setup/small_slider/slider_arrow.png", 64, 56, flip_x=True)),
+      QRCodeWidget("https://sunnypilot.ai/terms"),
+      GreyBigButton("", "You must accept the Terms & Conditions to use sunnypilot."),
+      self._accept_button,
+      self._decline_button,
+    ])
 
   def _render(self, _):
     rl.draw_rectangle_rec(self._rect, rl.BLACK)
-    if self._step < len(self._steps):
-      self._steps[self._step].render(self._rect)
-
-
-class DeclinePage(Widget):
-  def __init__(self, back_callback=None):
-    super().__init__()
-    self._uninstall_slider = SmallSlider("uninstall sunnypilot", self._on_uninstall)
-
-    self._back_button = SmallButton("back")
-    self._back_button.set_click_callback(back_callback)
-
-    self._warning_header = TermsHeader("you must accept the\nterms to use sunnypilot",
-                                       gui_app.texture("icons_mici/setup/red_warning.png", 66, 60))
-
-  def _on_uninstall(self):
-    ui_state.params.put_bool("DoUninstall", True)
-    gui_app.request_close()
-
-  def _render(self, _):
-    self._warning_header.render(rl.Rectangle(
-      self._rect.x + 16,
-      self._rect.y + 16,
-      self._warning_header.rect.width,
-      self._warning_header.rect.height,
-    ))
-
-    self._back_button.set_opacity(1 - self._uninstall_slider.slider_percentage)
-    self._back_button.render(rl.Rectangle(
-      self._rect.x + 8,
-      self._rect.y + self._rect.height - self._back_button.rect.height,
-      self._back_button.rect.width,
-      self._back_button.rect.height,
-    ))
-
-    self._uninstall_slider.render(rl.Rectangle(
-      self._rect.x + self._rect.width - self._uninstall_slider.rect.width,
-      self._rect.y + self._rect.height - self._uninstall_slider.rect.height,
-      self._uninstall_slider.rect.width,
-      self._uninstall_slider.rect.height,
-    ))
-
-
-class TermsPage(SetupTermsPage):
-  def __init__(self, on_accept=None, on_decline=None):
-    super().__init__(on_accept, on_decline, "decline")
-
-    info_txt = gui_app.texture("icons_mici/setup/green_info.png", 60, 60)
-    self._title_header = TermsHeader("terms of service", info_txt)
-
-    self._terms_label = UnifiedLabel("You must accept the Terms of Service to use sunnypilot. " +
-                                     "Read the latest terms at https://sunnypilot.ai/terms before continuing.", 36,
-                                     FontWeight.ROMAN)
-
-  @property
-  def _content_height(self):
-    return self._terms_label.rect.y + self._terms_label.rect.height - self._scroll_panel.get_offset()
-
-  def _render_content(self, scroll_offset):
-    self._title_header.set_position(self._rect.x + 16, self._rect.y + 12 + scroll_offset)
-    self._title_header.render()
-
-    self._terms_label.render(rl.Rectangle(
-      self._rect.x + 16,
-      self._title_header.rect.y + self._title_header.rect.height + self.ITEM_SPACING,
-      self._rect.width - 100,
-      self._terms_label.get_content_height(int(self._rect.width - 100)),
-    ))
+    super()._render(_)
 
 
 class OnboardingWindow(Widget):
-  def __init__(self):
+  def __init__(self, completed_callback: Callable[[], None]):
     super().__init__()
-    self._accepted_terms: bool = ui_state.params.get("HasAcceptedTerms") == terms_version
+    self._completed_callback = completed_callback
+    self._accepted_terms: bool = (ui_state.params.get("HasAcceptedTerms") == terms_version and
+                                  ui_state.params.get("HasAcceptedTermsSP") == terms_version_sp)
     self._training_done: bool = ui_state.params.get("CompletedTrainingVersion") == training_version
+    self._sunnylink_consent_done: bool = ui_state.params.get("CompletedSunnylinkConsentVersion") in {
+      sunnylink_consent_version, sunnylink_consent_declined
+    }
 
-    self._state = OnboardingState.TERMS if not self._accepted_terms else OnboardingState.ONBOARDING
+    self.set_rect(rl.Rectangle(0, 0, gui_app.width, gui_app.height))
 
-    self.set_rect(rl.Rectangle(0, 0, 458, gui_app.height))
+    # Windows — all pushed onto nav stack, _terms is always rendered as base layer
+    self._terms = TermsPage(on_accept=self._on_terms_accepted, on_decline=self._on_uninstall)
+    self._terms.set_enabled(lambda: self.enabled)  # for nav stack
+
+    self._sunnylink_consent = SunnylinkConsentPage(
+      on_accept=self._on_sunnylink_accepted,
+      on_decline=self._on_sunnylink_declined,
+    )
 
-    # Windows
-    self._terms = TermsPage(on_accept=self._on_terms_accepted, on_decline=self._on_terms_declined)
     self._training_guide = TrainingGuide(completed_callback=self._on_completed_training)
-    self._decline_page = DeclinePage(back_callback=self._on_decline_back)
+    self._training_guide.set_enabled(lambda: self.enabled)  # for nav stack
 
-    # sunnylink consent pages
-    self._accepted_terms = self._accepted_terms and ui_state.params.get("HasAcceptedTermsSP") == terms_version_sp
-    self._sunnylink = SunnylinkOnboarding()
-    if not self._accepted_terms:
-      self._state = OnboardingState.TERMS
-    elif not self._sunnylink.completed:
-      self._state = OnboardingState.SUNNYLINK_CONSENT
-    elif not self._training_done:
-      self._state = OnboardingState.ONBOARDING
-    else:
-      self._state = OnboardingState.ONBOARDING
+    self._needs_initial_push = False
+
+  def _on_uninstall(self):
+    ui_state.params.put_bool("DoUninstall", True)
 
   def show_event(self):
     super().show_event()
     device.set_override_interactive_timeout(300)
+    device.set_offroad_brightness(100)
+    self._needs_initial_push = True
 
   def hide_event(self):
     super().hide_event()
+    # FIXME: when nav stack sends hide event to widget 2 below on push, this needs to be moved
     device.set_override_interactive_timeout(None)
+    device.set_offroad_brightness(None)
 
   @property
   def completed(self) -> bool:
-    return self._accepted_terms and self._sunnylink.completed and self._training_done
-
-  def _on_terms_declined(self):
-    self._state = OnboardingState.DECLINE
-
-  def _on_decline_back(self):
-    self._state = OnboardingState.TERMS
+    return self._accepted_terms and self._sunnylink_consent_done and self._training_done
 
   def close(self):
-    ui_state.params.put_bool("IsDriverViewEnabled", False)
-    gui_app.pop_widget()
+    ui_state.params.put_bool_nonblocking("IsDriverViewEnabled", False)
+    self._completed_callback()
 
   def _on_terms_accepted(self):
     ui_state.params.put("HasAcceptedTerms", terms_version)
     ui_state.params.put("HasAcceptedTermsSP", terms_version_sp)
-    if not self._sunnylink.completed:
-      self._state = OnboardingState.SUNNYLINK_CONSENT
+    self._accepted_terms = True
+    if not self._sunnylink_consent_done:
+      gui_app.push_widget(self._sunnylink_consent)
     elif not self._training_done:
-      self._state = OnboardingState.ONBOARDING
+      gui_app.push_widget(self._training_guide)
+    else:
+      self.close()
+
+  def _on_sunnylink_accepted(self):
+    ui_state.params.put("CompletedSunnylinkConsentVersion", sunnylink_consent_version)
+    ui_state.params.put_bool("SunnylinkEnabled", True)
+    self._sunnylink_consent_done = True
+    if not self._training_done:
+      gui_app.push_widget(self._training_guide)
+    else:
+      self.close()
+
+  def _on_sunnylink_declined(self):
+    ui_state.params.put("CompletedSunnylinkConsentVersion", sunnylink_consent_declined)
+    ui_state.params.put_bool("SunnylinkEnabled", False)
+    self._sunnylink_consent_done = True
+    if not self._training_done:
+      gui_app.push_widget(self._training_guide)
     else:
       self.close()
 
   def _on_completed_training(self):
     ui_state.params.put("CompletedTrainingVersion", training_version)
+    self._training_done = True
     self.close()
 
   def _render(self, _):
     rl.draw_rectangle_rec(self._rect, rl.BLACK)
-    if self._state == OnboardingState.TERMS:
-      self._terms.render(self._rect)
-    elif self._state == OnboardingState.SUNNYLINK_CONSENT:
-      self._sunnylink.render(self._rect)
-      if self._sunnylink.completed:
-        if not self._training_done:
-          self._state = OnboardingState.ONBOARDING
-        else:
-          self.close()
-    elif self._state == OnboardingState.ONBOARDING:
-      if not self._training_done:
-        self._training_guide.render(self._rect)
-      else:
-        self.close()
-    elif self._state == OnboardingState.DECLINE:
-      self._decline_page.render(self._rect)
+
+    # Deferred from show_event to avoid nested push_widget re-enable bug
+    if self._needs_initial_push:
+      self._needs_initial_push = False
+      if self._accepted_terms and not self._sunnylink_consent_done:
+        gui_app.push_widget(self._sunnylink_consent)
+      elif self._accepted_terms and self._sunnylink_consent_done and not self._training_done:
+        gui_app.push_widget(self._training_guide)
+
+    self._terms.render(self._rect)

selfdrive/ui/mici/layouts/settings/device.py

@@ -13,15 +13,39 @@ from openpilot.selfdrive.ui.mici.widgets.dialog import BigDialog, BigConfirmatio
 from openpilot.selfdrive.ui.mici.widgets.pairing_dialog import PairingDialog
 from openpilot.selfdrive.ui.mici.onroad.driver_camera_dialog import DriverCameraDialog
 from openpilot.selfdrive.ui.mici.layouts.onboarding import TrainingGuide, TermsPage
+from openpilot.system.ui.mici_setup import BigPillButton
 from openpilot.system.ui.lib.application import gui_app, FontWeight, MousePos
 from openpilot.system.ui.lib.multilang import tr
 from openpilot.system.ui.widgets import Widget
-from openpilot.selfdrive.ui.ui_state import ui_state
+from openpilot.selfdrive.ui.ui_state import device, ui_state
 from openpilot.system.ui.widgets.label import MiciLabel
 from openpilot.system.ui.widgets.html_render import HtmlModal, HtmlRenderer
 from openpilot.system.athena.registration import UNREGISTERED_DONGLE_ID
 
 
+class ReviewTermsPage(TermsPage, NavScroller):
+  """TermsPage with NavWidget swipe-to-dismiss for reviewing in device settings."""
+  def __init__(self):
+    super().__init__(on_accept=self.dismiss, on_decline=self.dismiss)
+    self._accept_button.set_visible(False)
+    self._decline_button.set_visible(False)
+
+    close_button = BigPillButton("close")
+    close_button.set_click_callback(self.dismiss)
+    self._scroller.add_widget(close_button)
+
+
+class ReviewTrainingGuide(TrainingGuide):
+  def show_event(self):
+    super().show_event()
+    device.set_override_interactive_timeout(300)
+
+  def hide_event(self):
+    super().hide_event()
+    device.set_override_interactive_timeout(None)
+    ui_state.params.put_bool_nonblocking("IsDriverViewEnabled", False)
+
+
 class MiciFccModal(NavRawScrollPanel):
   def __init__(self, file_path: str | None = None, text: str | None = None):
     super().__init__()
@@ -311,11 +335,11 @@ class DeviceLayoutMici(NavScroller):
     driver_cam_btn.set_enabled(lambda: ui_state.is_offroad())
 
     review_training_guide_btn = BigButton("review\ntraining guide", "", "icons_mici/settings/device/info.png")
-    review_training_guide_btn.set_click_callback(lambda: gui_app.push_widget(TrainingGuide(completed_callback=gui_app.pop_widget)))
+    review_training_guide_btn.set_click_callback(lambda: gui_app.push_widget(ReviewTrainingGuide(completed_callback=lambda: gui_app.pop_widgets_to(self))))
     review_training_guide_btn.set_enabled(lambda: ui_state.is_offroad())
 
     terms_btn = BigButton("terms &\nconditions", "", "icons_mici/settings/device/info.png")
-    terms_btn.set_click_callback(lambda: gui_app.push_widget(TermsPage(on_accept=gui_app.pop_widget)))
+    terms_btn.set_click_callback(lambda: gui_app.push_widget(ReviewTermsPage()))
     terms_btn.set_enabled(lambda: ui_state.is_offroad())
 
     self._scroller.add_widgets([

selfdrive/ui/mici/layouts/settings/network/__init__.py

@@ -1,13 +1,9 @@
 import pyray as rl
 
-from openpilot.system.ui.widgets.scroller import NavScroller
-from openpilot.selfdrive.ui.mici.layouts.settings.network.wifi_ui import WifiUIMici, WifiIcon
-from openpilot.selfdrive.ui.mici.widgets.button import BigButton, BigMultiToggle, BigParamControl, BigToggle
-from openpilot.selfdrive.ui.mici.widgets.dialog import BigInputDialog
-from openpilot.selfdrive.ui.ui_state import ui_state
-from openpilot.selfdrive.ui.lib.prime_state import PrimeType
+from openpilot.selfdrive.ui.mici.layouts.settings.network.wifi_ui import WifiIcon
+from openpilot.selfdrive.ui.mici.widgets.button import BigButton
 from openpilot.system.ui.lib.application import gui_app
-from openpilot.system.ui.lib.wifi_manager import WifiManager, Network, MeteredType, ConnectStatus, SecurityType, normalize_ssid
+from openpilot.system.ui.lib.wifi_manager import WifiManager, ConnectStatus, SecurityType, normalize_ssid
 
 
 class WifiNetworkButton(BigButton):
@@ -62,148 +58,3 @@ class WifiNetworkButton(BigButton):
       lock_x = icon_x + self._txt_icon.width - self._lock_txt.width + 7
       lock_y = icon_y + self._txt_icon.height - self._lock_txt.height + 8
       rl.draw_texture_ex(self._lock_txt, (lock_x, lock_y), 0.0, 1.0, rl.WHITE)
-
-
-class NetworkLayoutMici(NavScroller):
-  def __init__(self):
-    super().__init__()
-
-    self._wifi_manager = WifiManager()
-    self._wifi_manager.set_active(False)
-    self._wifi_ui = WifiUIMici(self._wifi_manager)
-
-    self._wifi_manager.add_callbacks(
-      networks_updated=self._on_network_updated,
-    )
-
-    # ******** Tethering ********
-    def tethering_toggle_callback(checked: bool):
-      self._tethering_toggle_btn.set_enabled(False)
-      self._tethering_password_btn.set_enabled(False)
-      self._network_metered_btn.set_enabled(False)
-      self._wifi_manager.set_tethering_active(checked)
-
-    self._tethering_toggle_btn = BigToggle("enable tethering", "", toggle_callback=tethering_toggle_callback)
-
-    def tethering_password_callback(password: str):
-      if password:
-        self._tethering_toggle_btn.set_enabled(False)
-        self._tethering_password_btn.set_enabled(False)
-        self._wifi_manager.set_tethering_password(password)
-
-    def tethering_password_clicked():
-      tethering_password = self._wifi_manager.tethering_password
-      dlg = BigInputDialog("enter password...", tethering_password, minimum_length=8,
-                           confirm_callback=tethering_password_callback)
-      gui_app.push_widget(dlg)
-
-    txt_tethering = gui_app.texture("icons_mici/settings/network/tethering.png", 64, 54)
-    self._tethering_password_btn = BigButton("tethering password", "", txt_tethering)
-    self._tethering_password_btn.set_click_callback(tethering_password_clicked)
-
-    # ******** Network Metered ********
-    def network_metered_callback(value: str):
-      self._network_metered_btn.set_enabled(False)
-      metered = {
-        'default': MeteredType.UNKNOWN,
-        'metered': MeteredType.YES,
-        'unmetered': MeteredType.NO
-      }.get(value, MeteredType.UNKNOWN)
-      self._wifi_manager.set_current_network_metered(metered)
-
-    # TODO: signal for current network metered type when changing networks, this is wrong until you press it once
-    # TODO: disable when not connected
-    self._network_metered_btn = BigMultiToggle("network usage", ["default", "metered", "unmetered"], select_callback=network_metered_callback)
-    self._network_metered_btn.set_enabled(False)
-
-    self._wifi_button = WifiNetworkButton(self._wifi_manager)
-    self._wifi_button.set_click_callback(lambda: gui_app.push_widget(self._wifi_ui))
-
-    # ******** Advanced settings ********
-    # ******** Roaming toggle ********
-    self._roaming_btn = BigParamControl("enable roaming", "GsmRoaming", toggle_callback=self._toggle_roaming)
-
-    # ******** APN settings ********
-    self._apn_btn = BigButton("apn settings", "edit")
-    self._apn_btn.set_click_callback(self._edit_apn)
-
-    # ******** Cellular metered toggle ********
-    self._cellular_metered_btn = BigParamControl("cellular metered", "GsmMetered", toggle_callback=self._toggle_cellular_metered)
-
-    # Main scroller ----------------------------------
-    self._scroller.add_widgets([
-      self._wifi_button,
-      self._network_metered_btn,
-      self._tethering_toggle_btn,
-      self._tethering_password_btn,
-      # /* Advanced settings
-      self._roaming_btn,
-      self._apn_btn,
-      self._cellular_metered_btn,
-      # */
-    ])
-
-    # Set initial config
-    roaming_enabled = ui_state.params.get_bool("GsmRoaming")
-    metered = ui_state.params.get_bool("GsmMetered")
-    self._wifi_manager.update_gsm_settings(roaming_enabled, ui_state.params.get("GsmApn") or "", metered)
-
-  def _update_state(self):
-    super()._update_state()
-
-    # If not using prime SIM, show GSM settings and enable IPv4 forwarding
-    show_cell_settings = ui_state.prime_state.get_type() in (PrimeType.NONE, PrimeType.LITE)
-    self._wifi_manager.set_ipv4_forward(show_cell_settings)
-    self._roaming_btn.set_visible(show_cell_settings)
-    self._apn_btn.set_visible(show_cell_settings)
-    self._cellular_metered_btn.set_visible(show_cell_settings)
-
-  def show_event(self):
-    super().show_event()
-    self._wifi_manager.set_active(True)
-
-    # Process wifi callbacks while at any point in the nav stack
-    gui_app.add_nav_stack_tick(self._wifi_manager.process_callbacks)
-
-  def hide_event(self):
-    super().hide_event()
-    self._wifi_manager.set_active(False)
-
-    gui_app.remove_nav_stack_tick(self._wifi_manager.process_callbacks)
-
-  def _toggle_roaming(self, checked: bool):
-    self._wifi_manager.update_gsm_settings(checked, ui_state.params.get("GsmApn") or "", ui_state.params.get_bool("GsmMetered"))
-
-  def _edit_apn(self):
-    def update_apn(apn: str):
-      apn = apn.strip()
-      if apn == "":
-        ui_state.params.remove("GsmApn")
-      else:
-        ui_state.params.put("GsmApn", apn)
-
-      self._wifi_manager.update_gsm_settings(ui_state.params.get_bool("GsmRoaming"), apn, ui_state.params.get_bool("GsmMetered"))
-
-    current_apn = ui_state.params.get("GsmApn") or ""
-    dlg = BigInputDialog("enter APN...", current_apn, minimum_length=0, confirm_callback=update_apn)
-    gui_app.push_widget(dlg)
-
-  def _toggle_cellular_metered(self, checked: bool):
-    self._wifi_manager.update_gsm_settings(ui_state.params.get_bool("GsmRoaming"), ui_state.params.get("GsmApn") or "", checked)
-
-  def _on_network_updated(self, networks: list[Network]):
-    # Update tethering state
-    tethering_active = self._wifi_manager.is_tethering_active()
-    # TODO: use real signals (like activated/settings changed, etc.) to speed up re-enabling buttons
-    self._tethering_toggle_btn.set_enabled(True)
-    self._tethering_password_btn.set_enabled(True)
-    self._network_metered_btn.set_enabled(lambda: not tethering_active and bool(self._wifi_manager.ipv4_address))
-    self._tethering_toggle_btn.set_checked(tethering_active)
-
-    # Update network metered
-    self._network_metered_btn.set_value(
-      {
-        MeteredType.UNKNOWN: 'default',
-        MeteredType.YES: 'metered',
-        MeteredType.NO: 'unmetered'
-      }.get(self._wifi_manager.current_network_metered, 'default'))

selfdrive/ui/mici/layouts/settings/network/network_layout.py

@@ -0,0 +1,154 @@
+from openpilot.system.ui.widgets.scroller import NavScroller
+from openpilot.selfdrive.ui.mici.layouts.settings.network import WifiNetworkButton
+from openpilot.selfdrive.ui.mici.layouts.settings.network.wifi_ui import WifiUIMici
+from openpilot.selfdrive.ui.mici.widgets.button import BigButton, BigMultiToggle, BigParamControl, BigToggle
+from openpilot.selfdrive.ui.mici.widgets.dialog import BigInputDialog
+from openpilot.selfdrive.ui.ui_state import ui_state
+from openpilot.selfdrive.ui.lib.prime_state import PrimeType
+from openpilot.system.ui.lib.application import gui_app
+from openpilot.system.ui.lib.wifi_manager import WifiManager, Network, MeteredType
+
+
+class NetworkLayoutMici(NavScroller):
+  def __init__(self):
+    super().__init__()
+
+    self._wifi_manager = WifiManager()
+    self._wifi_manager.set_active(False)
+    self._wifi_ui = WifiUIMici(self._wifi_manager)
+
+    self._wifi_manager.add_callbacks(
+      networks_updated=self._on_network_updated,
+    )
+
+    # ******** Tethering ********
+    def tethering_toggle_callback(checked: bool):
+      self._tethering_toggle_btn.set_enabled(False)
+      self._tethering_password_btn.set_enabled(False)
+      self._network_metered_btn.set_enabled(False)
+      self._wifi_manager.set_tethering_active(checked)
+
+    self._tethering_toggle_btn = BigToggle("enable tethering", "", toggle_callback=tethering_toggle_callback)
+
+    def tethering_password_callback(password: str):
+      if password:
+        self._tethering_toggle_btn.set_enabled(False)
+        self._tethering_password_btn.set_enabled(False)
+        self._wifi_manager.set_tethering_password(password)
+
+    def tethering_password_clicked():
+      tethering_password = self._wifi_manager.tethering_password
+      dlg = BigInputDialog("enter password...", tethering_password, minimum_length=8,
+                           confirm_callback=tethering_password_callback)
+      gui_app.push_widget(dlg)
+
+    txt_tethering = gui_app.texture("icons_mici/settings/network/tethering.png", 64, 54)
+    self._tethering_password_btn = BigButton("tethering password", "", txt_tethering)
+    self._tethering_password_btn.set_click_callback(tethering_password_clicked)
+
+    # ******** Network Metered ********
+    def network_metered_callback(value: str):
+      self._network_metered_btn.set_enabled(False)
+      metered = {
+        'default': MeteredType.UNKNOWN,
+        'metered': MeteredType.YES,
+        'unmetered': MeteredType.NO
+      }.get(value, MeteredType.UNKNOWN)
+      self._wifi_manager.set_current_network_metered(metered)
+
+    # TODO: signal for current network metered type when changing networks, this is wrong until you press it once
+    # TODO: disable when not connected
+    self._network_metered_btn = BigMultiToggle("network usage", ["default", "metered", "unmetered"], select_callback=network_metered_callback)
+    self._network_metered_btn.set_enabled(False)
+
+    self._wifi_button = WifiNetworkButton(self._wifi_manager)
+    self._wifi_button.set_click_callback(lambda: gui_app.push_widget(self._wifi_ui))
+
+    # ******** Advanced settings ********
+    # ******** Roaming toggle ********
+    self._roaming_btn = BigParamControl("enable roaming", "GsmRoaming", toggle_callback=self._toggle_roaming)
+
+    # ******** APN settings ********
+    self._apn_btn = BigButton("apn settings", "edit")
+    self._apn_btn.set_click_callback(self._edit_apn)
+
+    # ******** Cellular metered toggle ********
+    self._cellular_metered_btn = BigParamControl("cellular metered", "GsmMetered", toggle_callback=self._toggle_cellular_metered)
+
+    # Main scroller ----------------------------------
+    self._scroller.add_widgets([
+      self._wifi_button,
+      self._network_metered_btn,
+      self._tethering_toggle_btn,
+      self._tethering_password_btn,
+      # /* Advanced settings
+      self._roaming_btn,
+      self._apn_btn,
+      self._cellular_metered_btn,
+      # */
+    ])
+
+    # Set initial config
+    roaming_enabled = ui_state.params.get_bool("GsmRoaming")
+    metered = ui_state.params.get_bool("GsmMetered")
+    self._wifi_manager.update_gsm_settings(roaming_enabled, ui_state.params.get("GsmApn") or "", metered)
+
+  def _update_state(self):
+    super()._update_state()
+
+    # If not using prime SIM, show GSM settings and enable IPv4 forwarding
+    show_cell_settings = ui_state.prime_state.get_type() in (PrimeType.NONE, PrimeType.LITE)
+    self._wifi_manager.set_ipv4_forward(show_cell_settings)
+    self._roaming_btn.set_visible(show_cell_settings)
+    self._apn_btn.set_visible(show_cell_settings)
+    self._cellular_metered_btn.set_visible(show_cell_settings)
+
+  def show_event(self):
+    super().show_event()
+    self._wifi_manager.set_active(True)
+
+    # Process wifi callbacks while at any point in the nav stack
+    gui_app.add_nav_stack_tick(self._wifi_manager.process_callbacks)
+
+  def hide_event(self):
+    super().hide_event()
+    self._wifi_manager.set_active(False)
+
+    gui_app.remove_nav_stack_tick(self._wifi_manager.process_callbacks)
+
+  def _toggle_roaming(self, checked: bool):
+    self._wifi_manager.update_gsm_settings(checked, ui_state.params.get("GsmApn") or "", ui_state.params.get_bool("GsmMetered"))
+
+  def _edit_apn(self):
+    def update_apn(apn: str):
+      apn = apn.strip()
+      if apn == "":
+        ui_state.params.remove("GsmApn")
+      else:
+        ui_state.params.put("GsmApn", apn)
+
+      self._wifi_manager.update_gsm_settings(ui_state.params.get_bool("GsmRoaming"), apn, ui_state.params.get_bool("GsmMetered"))
+
+    current_apn = ui_state.params.get("GsmApn") or ""
+    dlg = BigInputDialog("enter APN...", current_apn, minimum_length=0, confirm_callback=update_apn)
+    gui_app.push_widget(dlg)
+
+  def _toggle_cellular_metered(self, checked: bool):
+    self._wifi_manager.update_gsm_settings(ui_state.params.get_bool("GsmRoaming"), ui_state.params.get("GsmApn") or "", checked)
+
+  def _on_network_updated(self, networks: list[Network]):
+    # Update tethering state
+    tethering_active = self._wifi_manager.is_tethering_active()
+    # TODO: use real signals (like activated/settings changed, etc.) to speed up re-enabling buttons
+    self._tethering_toggle_btn.set_enabled(True)
+    self._tethering_password_btn.set_enabled(True)
+    self._network_metered_btn.set_enabled(lambda: not tethering_active and bool(self._wifi_manager.ipv4_address))
+    self._tethering_toggle_btn.set_checked(tethering_active)
+
+    # Update network metered
+    self._network_metered_btn.set_value(
+      {
+        MeteredType.UNKNOWN: 'default',
+        MeteredType.YES: 'metered',
+        MeteredType.NO: 'unmetered'
+      }.get(self._wifi_manager.current_network_metered, 'default'))

selfdrive/ui/mici/layouts/settings/settings.py

@@ -2,7 +2,7 @@ from openpilot.common.params import Params
 from openpilot.system.ui.widgets.scroller import NavScroller
 from openpilot.selfdrive.ui.mici.widgets.button import BigButton
 from openpilot.selfdrive.ui.mici.layouts.settings.toggles import TogglesLayoutMici
-from openpilot.selfdrive.ui.mici.layouts.settings.network import NetworkLayoutMici
+from openpilot.selfdrive.ui.mici.layouts.settings.network.network_layout import NetworkLayoutMici
 from openpilot.selfdrive.ui.mici.layouts.settings.device import DeviceLayoutMici, PairBigButton
 from openpilot.selfdrive.ui.mici.layouts.settings.developer import DeveloperLayoutMici
 from openpilot.selfdrive.ui.mici.layouts.settings.firehose import FirehoseLayout

selfdrive/ui/mici/onroad/augmented_road_view.py

@@ -251,7 +251,7 @@ class AugmentedRoadView(CameraView):
     # Draw darkened background and text if not onroad
     if not ui_state.started:
       rl.draw_rectangle(int(self.rect.x), int(self.rect.y), int(self.rect.width), int(self.rect.height), rl.Color(0, 0, 0, 175))
-      self._offroad_label.render(self._content_rect)
+      self._offroad_label.render(self._rect)
 
     # publish uiDebug
     msg = messaging.new_message('uiDebug')

selfdrive/ui/mici/onroad/cameraview.py

@@ -155,11 +155,11 @@ class CameraView(Widget):
       # Prevent old frames from showing when going onroad. Qt has a separate thread
       # which drains the VisionIpcClient SubSocket for us. Re-connecting is not enough
       # and only clears internal buffers, not the message queue.
-      self.frame = None
       self.available_streams.clear()
       if self.client:
         del self.client
       self.client = VisionIpcClient(self._name, self._stream_type, conflate=True)
+    self.frame = None
 
   def _set_placeholder_color(self, color: rl.Color):
     """Set a placeholder color to be drawn when no frame is available."""

selfdrive/ui/mici/onroad/hud_renderer.py

@@ -172,8 +172,7 @@ class HudRenderer(Widget):
   def _render(self, rect: rl.Rectangle) -> None:
     """Render HUD elements to the screen."""
 
-    if ui_state.sm['controlsState'].lateralControlState.which() != 'angleState':
-      self._torque_bar.render(rect)
+    self._torque_bar.render(rect)
 
     if self.is_cruise_set:
       self._draw_set_speed(rect)

selfdrive/ui/mici/onroad/torque_bar.py

@@ -145,6 +145,9 @@ def arc_bar_pts(cx: float, cy: float,
   return pts
 
 
+DEFAULT_MAX_LAT_ACCEL = 3.0  # m/s^2
+
+
 class TorqueBar(Widget):
   def __init__(self, demo: bool = False, scale: float = 1.0, always: bool = False):
     super().__init__()
@@ -167,16 +170,23 @@ class TorqueBar(Widget):
       controls_state = ui_state.sm['controlsState']
       car_state = ui_state.sm['carState']
       live_parameters = ui_state.sm['liveParameters']
-      lateral_acceleration = controls_state.curvature * car_state.vEgo ** 2 - live_parameters.roll * ACCELERATION_DUE_TO_GRAVITY
-      # TODO: pull from carparams
-      max_lateral_acceleration = 3
+      car_control = ui_state.sm['carControl']
 
-      # from selfdrived
+      # Include lateral accel error in estimated torque utilization
       actual_lateral_accel = controls_state.curvature * car_state.vEgo ** 2
       desired_lateral_accel = controls_state.desiredCurvature * car_state.vEgo ** 2
       accel_diff = (desired_lateral_accel - actual_lateral_accel)
 
-      self._torque_filter.update(min(max(lateral_acceleration / max_lateral_acceleration + accel_diff, -1), 1))
+      # Include road roll in estimated torque utilization
+      # Roll is less accurate near standstill, so reduce its effect at low speed
+      roll_compensation = live_parameters.roll * ACCELERATION_DUE_TO_GRAVITY * np.interp(car_state.vEgo, [5, 15], [0.0, 1.0])
+      lateral_acceleration = actual_lateral_accel - roll_compensation
+      max_lateral_acceleration = ui_state.CP.maxLateralAccel if ui_state.CP else DEFAULT_MAX_LAT_ACCEL
+
+      if not car_control.latActive:
+        self._torque_filter.update(0.0)
+      else:
+        self._torque_filter.update(np.clip((lateral_acceleration + accel_diff) / max_lateral_acceleration, -1, 1))
     else:
       self._torque_filter.update(-ui_state.sm['carOutput'].actuatorsOutput.torque)
 

selfdrive/ui/mici/tests/test_widget_leaks.py

@@ -68,7 +68,9 @@ def test_dialogs_do_not_leak():
 
   for ctor in (
     # mici
-    MiciDriverCameraDialog, MiciTrainingGuide, MiciOnboardingWindow, MiciPairingDialog,
+    MiciDriverCameraDialog, MiciPairingDialog,
+    lambda: MiciTrainingGuide(lambda: None),
+    lambda: MiciOnboardingWindow(lambda: None),
     lambda: BigDialog("test", "test"),
     lambda: BigConfirmationDialogV2("test", "icons_mici/settings/network/new/trash.png"),
     lambda: BigInputDialog("test"),

selfdrive/ui/mici/widgets/button.py

@@ -120,6 +120,7 @@ class BigButton(Widget):
     self._scale_filter = BounceFilter(1.0, 0.1, 1 / gui_app.target_fps)
     self._click_delay = 0.075
     self._shake_start: float | None = None
+    self._grow_animation_until: float | None = None
 
     self._rotate_icon_t: float | None = None
 
@@ -145,6 +146,9 @@ class BigButton(Widget):
     self._txt_pressed_bg = gui_app.texture("icons_mici/buttons/button_rectangle_pressed.png", 402, 180)
     self._txt_disabled_bg = gui_app.texture("icons_mici/buttons/button_rectangle_disabled.png", 402, 180)
 
+  def set_touch_valid_callback(self, touch_callback: Callable[[], bool]) -> None:
+    super().set_touch_valid_callback(lambda: touch_callback() and self._grow_animation_until is None)
+
   def _width_hint(self) -> int:
     # Single line if scrolling, so hide behind icon if exists
     icon_size = self._icon_size[0] if self._txt_icon and self._scroll and self.value else 0
@@ -182,6 +186,9 @@ class BigButton(Widget):
   def trigger_shake(self):
     self._shake_start = rl.get_time()
 
+  def trigger_grow_animation(self, duration: float = 0.65):
+    self._grow_animation_until = rl.get_time() + duration
+
   @property
   def _shake_offset(self) -> float:
     SHAKE_DURATION = 0.5
@@ -197,6 +204,10 @@ class BigButton(Widget):
     super().set_position(x + self._shake_offset, y)
 
   def _handle_background(self) -> tuple[rl.Texture, float, float, float]:
+    if self._grow_animation_until is not None:
+      if rl.get_time() >= self._grow_animation_until:
+        self._grow_animation_until = None
+
     # draw _txt_default_bg
     txt_bg = self._txt_default_bg
     if not self.enabled:
@@ -204,7 +215,7 @@ class BigButton(Widget):
     elif self.is_pressed:
       txt_bg = self._txt_pressed_bg
 
-    scale = self._scale_filter.update(PRESSED_SCALE if self.is_pressed else 1.0)
+    scale = self._scale_filter.update(PRESSED_SCALE if self.is_pressed or self._grow_animation_until is not None else 1.0)
     btn_x = self._rect.x + (self._rect.width * (1 - scale)) / 2
     btn_y = self._rect.y + (self._rect.height * (1 - scale)) / 2
     return txt_bg, btn_x, btn_y, scale

selfdrive/ui/mici/widgets/dialog.py

@@ -103,11 +103,12 @@ class BigInputDialog(BigDialogBase):
                hint: str,
                default_text: str = "",
                minimum_length: int = 1,
-               confirm_callback: Callable[[str], None] | None = None):
+               confirm_callback: Callable[[str], None] | None = None,
+               auto_return_to_letters: str = ""):
     super().__init__()
     self._hint_label = UnifiedLabel(hint, font_size=35, text_color=rl.Color(255, 255, 255, int(255 * 0.35)),
                                     font_weight=FontWeight.MEDIUM)
-    self._keyboard = MiciKeyboard()
+    self._keyboard = MiciKeyboard(auto_return_to_letters=auto_return_to_letters)
     self._keyboard.set_text(default_text)
     self._keyboard.set_enabled(lambda: self.enabled and not self.is_dismissing)  # for nav stack + NavWidget
     self._minimum_length = minimum_length

selfdrive/ui/sunnypilot/mici/layouts/onboarding.py

@@ -4,90 +4,37 @@ Copyright (c) 2021-, Haibin Wen, sunnypilot, and a number of other contributors.
 This file is part of sunnypilot and is licensed under the MIT License.
 See the LICENSE.md file in the root directory for more details.
 """
-import pyray as rl
-from openpilot.system.ui.lib.application import FontWeight, gui_app
-from openpilot.system.ui.widgets.label import UnifiedLabel
-from openpilot.system.ui.widgets.slider import SmallSlider
-from openpilot.system.ui.mici_setup import TermsHeader, TermsPage as SetupTermsPage
-from openpilot.system.version import sunnylink_consent_version, sunnylink_consent_declined
-from openpilot.selfdrive.ui.ui_state import ui_state
+from collections.abc import Callable
+
+from openpilot.selfdrive.ui.mici.widgets.button import BigCircleButton
+from openpilot.selfdrive.ui.mici.widgets.dialog import BigConfirmationDialogV2
+from openpilot.system.ui.lib.application import gui_app
+from openpilot.system.ui.mici_setup import GreyBigButton
+from openpilot.system.ui.widgets.scroller import NavScroller
 
 
-class SunnylinkConsentPage(SetupTermsPage):
-  def __init__(self, on_accept=None, on_decline=None, left_text: str = "disable", right_text: str = "enable"):
-    super().__init__(on_accept, on_decline, left_text, continue_text=right_text)
+class SunnylinkConsentPage(NavScroller):
+  def __init__(self, on_accept: Callable | None = None, on_decline: Callable | None = None):
+    super().__init__()
 
-    self._title_header = TermsHeader("sunnylink",
-                                     gui_app.texture("../../sunnypilot/selfdrive/assets/logo.png", 66, 60))
+    def show_accept_dialog():
+      gui_app.push_widget(BigConfirmationDialogV2("enable\nsunnylink", "icons_mici/setup/driver_monitoring/dm_check.png",
+                                                  confirm_callback=on_accept))
 
-    self._terms_label = UnifiedLabel("sunnylink enables secured remote access to your comma device from anywhere, " +
-                                     "including settings management, remote monitoring, real-time dashboard, etc.",
-                                     36, FontWeight.ROMAN)
+    def show_decline_dialog():
+      gui_app.push_widget(BigConfirmationDialogV2("disable\nsunnylink", "icons_mici/setup/cancel.png",
+                                                  red=True, confirm_callback=on_decline))
 
-  @property
-  def _content_height(self):
-    return self._terms_label.rect.y + self._terms_label.rect.height - self._scroll_panel.get_offset()
+    self._accept_button = BigCircleButton("icons_mici/setup/driver_monitoring/dm_check.png")
+    self._accept_button.set_click_callback(show_accept_dialog)
 
-  def _render_content(self, scroll_offset):
-    self._title_header.set_position(self._rect.x + 16, self._rect.y + 12 + scroll_offset)
-    self._title_header.render()
+    self._decline_button = BigCircleButton("icons_mici/setup/cancel.png", red=True)
+    self._decline_button.set_click_callback(show_decline_dialog)
 
-    self._terms_label.render(rl.Rectangle(
-      self._rect.x + 16,
-      self._title_header.rect.y + self._title_header.rect.height + self.ITEM_SPACING,
-      self._rect.width - 100,
-      self._terms_label.get_content_height(int(self._rect.width - 100)),
-    ))
-
-
-class SunnylinkConsentDisableConfirmPage(SunnylinkConsentPage):
-  def __init__(self, on_accept=None, on_decline=None):
-    super().__init__(on_accept=on_decline, on_decline=on_accept, left_text="enable", right_text="disable")
-
-    # we flip the continue & disable buttons to use slider for disable
-    self._continue_slider = True
-    self._continue_button = SmallSlider("disable", confirm_callback=on_decline)
-    self._scroll_panel.set_enabled(lambda: not self._continue_button.is_pressed)
-
-    self._title_header = TermsHeader("disable sunnylink?",
-                                     gui_app.texture("icons_mici/setup/red_warning.png", 66, 60))
-
-    self._terms_label = UnifiedLabel("sunnylink is designed to be enabled as part of sunnypilot's core functionality. " +
-                                     "If sunnylink is disabled, features such as settings management, " +
-                                     "remote monitoring, real-time dashboards will be unavailable.",
-                                     36, FontWeight.ROMAN)
-
-
-class SunnylinkOnboarding:
-  def __init__(self):
-    self.consent_done: bool = ui_state.params.get("CompletedSunnylinkConsentVersion") in {sunnylink_consent_version, sunnylink_consent_declined}
-    self.disable_confirm = False
-
-    self.consent_page = SunnylinkConsentPage(on_decline=self._on_decline, on_accept=self._on_accept)
-    self.confirm_page = SunnylinkConsentDisableConfirmPage(on_decline=self._on_confirm_decline, on_accept=self._on_accept)
-
-  @property
-  def completed(self) -> bool:
-    return self.consent_done
-
-  def _on_accept(self):
-    ui_state.params.put("CompletedSunnylinkConsentVersion", sunnylink_consent_version)
-    ui_state.params.put_bool("SunnylinkEnabled", True)
-    self.consent_done = True
-
-  def _on_decline(self):
-    self.disable_confirm = True
-
-  def _on_confirm_decline(self):
-    ui_state.params.put_bool("SunnylinkEnabled", False)
-    ui_state.params.put("CompletedSunnylinkConsentVersion", sunnylink_consent_declined)
-    self.consent_done = True
-
-  def render(self, rect):
-    if self.consent_done:
-      return
-
-    if self.disable_confirm:
-      self.confirm_page.render(rect)
-    else:
-      self.consent_page.render(rect)
+    self._scroller.add_widgets([
+      GreyBigButton("sunnylink", "scroll to continue",
+                    gui_app.texture("../../sunnypilot/selfdrive/assets/logo.png", 64, 64)),
+      GreyBigButton("", "sunnylink enables secured remote access to your comma device from anywhere."),
+      self._accept_button,
+      self._decline_button,
+    ])

selfdrive/ui/sunnypilot/onroad/augmented_road_view.py

@@ -23,7 +23,7 @@ class AugmentedRoadViewSP:
   def update_fade_out_bottom_overlay(self, _content_rect):
     # Fade out bottom of overlays for looks (only when engaged)
     fade_alpha = self._fade_alpha_filter.update(ui_state.status != UIStatus.DISENGAGED)
-    if ui_state.torque_bar and ui_state.sm['controlsState'].lateralControlState.which() != 'angleState' and fade_alpha > 1e-2:
+    if ui_state.torque_bar and fade_alpha > 1e-2:
       # Scale the fade texture to the content rect
       rl.draw_texture_pro(self._fade_texture,
                           rl.Rectangle(0, 0, self._fade_texture.width, self._fade_texture.height),

selfdrive/ui/sunnypilot/onroad/hud_renderer.py

@@ -131,7 +131,7 @@ class HudRendererSP(HudRenderer):
   def _render(self, rect: rl.Rectangle) -> None:
     super()._render(rect)
 
-    if ui_state.torque_bar and ui_state.sm['controlsState'].lateralControlState.which() != 'angleState':
+    if ui_state.torque_bar:
       torque_rect = rect
       if ui_state.developer_ui in (DeveloperUiState.BOTTOM, DeveloperUiState.BOTH):
         torque_rect = rl.Rectangle(rect.x, rect.y, rect.width, rect.height - get_bottom_dev_ui_offset())

sunnypilot/selfdrive/pandad/rivian_long_flasher.py

@@ -72,9 +72,10 @@ def _flash_panda(panda: Panda) -> None:
 
   _flash_static(panda._handle, code)
   panda.reconnect()
+  cloudlog.info(f"Successfully flashed xnor's Rivian Longitudinal Upgrade Kit: {panda.get_usb_serial()}")
 
 
-def flash_rivian_long(panda: Panda) -> None:
+def flash_rivian_long(panda_serials: list[str]) -> None:
   if not os.path.isfile(FW_PATH):
     cloudlog.error(f"Rivian longitudinal upgrade firmware not found at {FW_PATH}")
     return
@@ -83,13 +84,18 @@ def flash_rivian_long(panda: Panda) -> None:
     cloudlog.info("Not a Rivian, skipping longitudinal upgrade...")
     return
 
-  # only flash external black pandas (HW_TYPE_BLACK = 0x03)
-  if panda.get_type() == b'\x03' and not panda.is_internal():
-    try:
-      _flash_panda(panda)
-    except Exception:
-      cloudlog.exception(f"Failed to flash F4 panda {panda.get_usb_serial()}")
+  for serial in panda_serials:
+    panda = Panda(serial)
+    # only flash external black pandas (HW_TYPE_BLACK = 0x03)
+    if panda.get_type() == b'\x03' and not panda.is_internal():
+      try:
+        _flash_panda(panda)
+      except Exception:
+        cloudlog.exception(f"Failed to flash xnor's Rivian Longitudinal Upgrade Kit: {serial}")
+    panda.close()
+
+  return
 
 
 if __name__ == '__main__':
-  flash_rivian_long(Panda())
+  flash_rivian_long(Panda.list())

system/ui/lib/application.py

@@ -436,6 +436,9 @@ class GuiApplication(GuiApplicationExt):
       return self._nav_stack[-1]
     return None
 
+  def widget_in_stack(self, widget: object) -> bool:
+    return widget in self._nav_stack
+
   def add_nav_stack_tick(self, tick_function: Callable[[], None]):
     if tick_function not in self._nav_stack_ticks:
       self._nav_stack_ticks.append(tick_function)

system/ui/lib/emoji.py

@@ -1,12 +1,13 @@
 import io
 import re
+import functools
+from importlib.resources import as_file
 
 from PIL import Image, ImageDraw, ImageFont
 import pyray as rl
 
 from openpilot.system.ui.lib.application import FONT_DIR
 
-_emoji_font: ImageFont.FreeTypeFont | None = None
 _cache: dict[str, rl.Texture] = {}
 
 EMOJI_REGEX = re.compile(
@@ -33,11 +34,10 @@ EMOJI_REGEX = re.compile(
   flags=re.UNICODE
 )
 
-def _load_emoji_font() -> ImageFont.FreeTypeFont | None:
-  global _emoji_font
-  if _emoji_font is None:
-    _emoji_font = ImageFont.truetype(str(FONT_DIR.joinpath("NotoColorEmoji.ttf")), 109)
-  return _emoji_font
+@functools.cache
+def _load_emoji_font() -> ImageFont.FreeTypeFont:
+  with as_file(FONT_DIR.joinpath("NotoColorEmoji.ttf")) as font_path:
+    return ImageFont.truetype(io.BytesIO(font_path.read_bytes()), 109)
 
 def find_emoji(text):
   return [(m.start(), m.end(), m.group()) for m in EMOJI_REGEX.finditer(text)]

system/ui/lib/multilang.py

@@ -74,7 +74,7 @@ def load_translations(path) -> tuple[dict[str, str], dict[str, list[str]]]:
   translations: msgid -> msgstr
   plurals: msgid -> [msgstr[0], msgstr[1], ...]
   """
-  with open(str(path), encoding='utf-8') as f:
+  with path.open(encoding='utf-8') as f:
     lines = f.readlines()
 
   translations: dict[str, str] = {}

system/ui/mici_reset.py

@@ -91,6 +91,7 @@ class Reset(Widget):
 
       if self._mode == ResetMode.RECOVER:
         self._cancel_button.set_text("reboot")
+        self._cancel_button.set_click_callback(self._do_reboot)
         self._cancel_button.render(rl.Rectangle(
           rect.x + 8,
           rect.y + rect.height - self._cancel_button.rect.height,

system/ui/mici_setup.py

@@ -1,5 +1,4 @@
 #!/usr/bin/env python3
-from abc import abstractmethod
 import os
 import re
 import threading
@@ -14,21 +13,22 @@ import pyray as rl
 
 from cereal import log
 from openpilot.common.filter_simple import FirstOrderFilter
+from openpilot.system.hardware import HARDWARE, TICI
 from openpilot.common.realtime import config_realtime_process, set_core_affinity
 from openpilot.common.swaglog import cloudlog
 from openpilot.common.utils import run_cmd
-from openpilot.system.hardware import HARDWARE, TICI
 from openpilot.system.ui.lib.application import gui_app, FontWeight
 from openpilot.system.ui.lib.wifi_manager import WifiManager
-from openpilot.system.ui.lib.scroll_panel2 import GuiScrollPanel2
 from openpilot.system.ui.widgets import Widget
 from openpilot.system.ui.widgets.nav_widget import NavWidget
-from openpilot.system.ui.widgets.button import (IconButton, SmallButton, WideRoundedButton, SmallerRoundedButton,
-                                                SmallCircleIconButton, WidishRoundedButton, FullRoundedButton)
+from openpilot.system.ui.widgets.button import SmallButton
 from openpilot.system.ui.widgets.label import UnifiedLabel
+from openpilot.system.ui.widgets.scroller import Scroller, NavScroller, ITEM_SPACING
 from openpilot.system.ui.widgets.slider import LargerSlider, SmallSlider
-from openpilot.selfdrive.ui.mici.layouts.settings.network import WifiUIMici
+from openpilot.selfdrive.ui.mici.layouts.settings.network import WifiNetworkButton
+from openpilot.selfdrive.ui.mici.layouts.settings.network.wifi_ui import WifiUIMici
 from openpilot.selfdrive.ui.mici.widgets.dialog import BigInputDialog
+from openpilot.selfdrive.ui.mici.widgets.button import BigButton
 
 NetworkType = log.DeviceState.NetworkType
 
@@ -122,9 +122,9 @@ class SoftwareSelectionPage(NavWidget):
                use_custom_software_callback: Callable):
     super().__init__()
 
-    self._openpilot_slider = LargerSlider("slide to use\nopenpilot", use_openpilot_callback)
+    self._openpilot_slider = LargerSlider("slide to install\nopenpilot", use_openpilot_callback)
     self._openpilot_slider.set_enabled(lambda: self.enabled and not self.is_dismissing)
-    self._custom_software_slider = LargerSlider("slide to use\ncustom software", use_custom_software_callback, green=False)
+    self._custom_software_slider = LargerSlider("slide to install\nother software", use_custom_software_callback, green=False)
     self._custom_software_slider.set_enabled(lambda: self.enabled and not self.is_dismissing)
 
   def show_event(self):
@@ -161,199 +161,24 @@ class SoftwareSelectionPage(NavWidget):
     self._custom_software_slider.render(custom_software_rect)
 
 
-class TermsHeader(Widget):
-  def __init__(self, text: str, icon_texture: rl.Texture):
-    super().__init__()
-
-    self._title = UnifiedLabel(text, 36, text_color=rl.Color(255, 255, 255, int(255 * 0.9)),
-                               font_weight=FontWeight.BOLD, alignment_vertical=rl.GuiTextAlignmentVertical.TEXT_ALIGN_MIDDLE,
-                               line_height=0.8)
-    self._icon_texture = icon_texture
-
-    self.set_rect(rl.Rectangle(0, 0, gui_app.width - 16 * 2, self._icon_texture.height))
-
-  def set_title(self, text: str):
-    self._title.set_text(text)
-
-  def set_icon(self, icon_texture: rl.Texture):
-    self._icon_texture = icon_texture
-
-  def _render(self, _):
-    rl.draw_texture_ex(self._icon_texture, rl.Vector2(self._rect.x, self._rect.y),
-                       0.0, 1.0, rl.WHITE)
-
-    # May expand outside parent rect
-    title_content_height = self._title.get_content_height(int(self._rect.width - self._icon_texture.width - 16))
-    title_rect = rl.Rectangle(
-      self._rect.x + self._icon_texture.width + 16,
-      self._rect.y + (self._rect.height - title_content_height) / 2,
-      self._rect.width - self._icon_texture.width - 16,
-      title_content_height,
-    )
-    self._title.render(title_rect)
-
-
-class TermsPage(Widget):
-  ITEM_SPACING = 20
-
-  def __init__(self, continue_callback: Callable, back_callback: Callable | None = None,
-               back_text: str = "back", continue_text: str = "accept"):
-    super().__init__()
-
-    # TODO: use Scroller
-    self._scroll_panel = GuiScrollPanel2(horizontal=False)
-
-    self._continue_text = continue_text
-    self._continue_slider: bool = continue_text in ("reboot", "power off")
-    self._continue_button: WideRoundedButton | FullRoundedButton | SmallSlider
-    if self._continue_slider:
-      self._continue_button = SmallSlider(continue_text, confirm_callback=continue_callback)
-      self._scroll_panel.set_enabled(lambda: not self._continue_button.is_pressed)
-    elif back_callback is not None:
-      self._continue_button = WideRoundedButton(continue_text)
-    else:
-      self._continue_button = FullRoundedButton(continue_text)
-    self._continue_button.set_enabled(False)
-    self._continue_button.set_opacity(0.0)
-    self._continue_button.set_touch_valid_callback(self._scroll_panel.is_touch_valid)
-    if not self._continue_slider:
-      self._continue_button.set_click_callback(continue_callback)
-
-    self._enable_back = back_callback is not None
-    self._back_button = SmallButton(back_text)
-    self._back_button.set_opacity(0.0)
-    self._back_button.set_touch_valid_callback(self._scroll_panel.is_touch_valid)
-    self._back_button.set_click_callback(back_callback)
-
-    self._scroll_down_indicator = IconButton(gui_app.texture("icons_mici/setup/scroll_down_indicator.png", 64, 78))
-    self._scroll_down_indicator.set_enabled(False)
-
-  def reset(self):
-    self._scroll_panel.set_offset(0)
-    self._continue_button.set_enabled(False)
-    self._continue_button.set_opacity(0.0)
-    self._back_button.set_enabled(False)
-    self._back_button.set_opacity(0.0)
-    self._scroll_down_indicator.set_opacity(1.0)
-
-  def show_event(self):
-    super().show_event()
-    self.reset()
-
-  @property
-  @abstractmethod
-  def _content_height(self):
-    pass
-
-  @property
-  def _scrolled_down_offset(self):
-    return -self._content_height + (self._continue_button.rect.height + 16 + 30)
-
-  @abstractmethod
-  def _render_content(self, scroll_offset):
-    pass
-
-  def _render(self, _):
-    rl.draw_rectangle_rec(self._rect, rl.BLACK)
-    scroll_offset = round(self._scroll_panel.update(self._rect, self._content_height + self._continue_button.rect.height + 16))
-
-    if scroll_offset <= self._scrolled_down_offset:
-      # don't show back if not enabled
-      if self._enable_back:
-        self._back_button.set_enabled(True)
-        self._back_button.set_opacity(1.0, smooth=True)
-      self._continue_button.set_enabled(True)
-      self._continue_button.set_opacity(1.0, smooth=True)
-      self._scroll_down_indicator.set_opacity(0.0, smooth=True)
-    else:
-      self._back_button.set_enabled(False)
-      self._back_button.set_opacity(0.0, smooth=True)
-      self._continue_button.set_enabled(False)
-      self._continue_button.set_opacity(0.0, smooth=True)
-      self._scroll_down_indicator.set_opacity(1.0, smooth=True)
-
-    # Render content
-    self._render_content(scroll_offset)
-
-    # black gradient at top and bottom for scrolling content
-    rl.draw_rectangle_gradient_v(int(self._rect.x), int(self._rect.y),
-                                 int(self._rect.width), 20, rl.BLACK, rl.BLANK)
-    rl.draw_rectangle_gradient_v(int(self._rect.x), int(self._rect.y + self._rect.height - 20),
-                                 int(self._rect.width), 20, rl.BLANK, rl.BLACK)
-
-    # fade out back button as slider is moved
-    if self._continue_slider and scroll_offset <= self._scrolled_down_offset:
-      self._back_button.set_opacity(1.0 - self._continue_button.slider_percentage)
-      self._back_button.set_visible(self._continue_button.slider_percentage < 0.99)
-
-    self._back_button.render(rl.Rectangle(
-      self._rect.x + 8,
-      self._rect.y + self._rect.height - self._back_button.rect.height,
-      self._back_button.rect.width,
-      self._back_button.rect.height,
-    ))
-
-    continue_x = self._rect.x + 8
-    if self._enable_back:
-      continue_x = self._rect.x + self._rect.width - self._continue_button.rect.width - 8
-    if self._continue_slider:
-      continue_x += 8
-    self._continue_button.render(rl.Rectangle(
-      continue_x,
-      self._rect.y + self._rect.height - self._continue_button.rect.height,
-      self._continue_button.rect.width,
-      self._continue_button.rect.height,
-    ))
-
-    self._scroll_down_indicator.render(rl.Rectangle(
-      self._rect.x + self._rect.width - self._scroll_down_indicator.rect.width - 8,
-      self._rect.y + self._rect.height - self._scroll_down_indicator.rect.height - 8,
-      self._scroll_down_indicator.rect.width,
-      self._scroll_down_indicator.rect.height,
-    ))
-
-
-class CustomSoftwareWarningPage(TermsPage):
+class CustomSoftwareWarningPage(NavScroller):
   def __init__(self, continue_callback: Callable, back_callback: Callable):
-    super().__init__(continue_callback, back_callback)
+    super().__init__()
+    self.set_back_callback(back_callback)
 
-    self._title_header = TermsHeader("use caution installing\n3rd party software",
-                                     gui_app.texture("icons_mici/setup/warning.png", 66, 60))
-    self._body = UnifiedLabel("• It has not been tested by comma.\n" +
-                              "• It may not comply with relevant safety standards.\n" +
-                              "• It may cause damage to your device and/or vehicle.\n", 36, text_color=rl.Color(255, 255, 255, int(255 * 0.9)),
-                              font_weight=FontWeight.ROMAN)
+    self._continue_button = BigPillButton("next")
+    self._continue_button.set_click_callback(continue_callback)
 
-    self._restore_header = TermsHeader("how to backup &\nrestore", gui_app.texture("icons_mici/setup/restore.png", 60, 60))
-    self._restore_body = UnifiedLabel("To restore your device to a factory state later, use https://flash.comma.ai",
-                                      36, text_color=rl.Color(255, 255, 255, int(255 * 0.9)),
-                                      font_weight=FontWeight.ROMAN)
-
-  @property
-  def _content_height(self):
-    return self._restore_body.rect.y + self._restore_body.rect.height - self._scroll_panel.get_offset()
-
-  def _render_content(self, scroll_offset):
-    self._title_header.set_position(self._rect.x + 16, self._rect.y + 8 + scroll_offset)
-    self._title_header.render()
-
-    body_rect = rl.Rectangle(
-      self._rect.x + 8,
-      self._title_header.rect.y + self._title_header.rect.height + self.ITEM_SPACING,
-      self._rect.width - 50,
-      self._body.get_content_height(int(self._rect.width - 50)),
-    )
-    self._body.render(body_rect)
-
-    self._restore_header.set_position(self._rect.x + 16, self._body.rect.y + self._body.rect.height + self.ITEM_SPACING)
-    self._restore_header.render()
-
-    self._restore_body.render(rl.Rectangle(
-      self._rect.x + 8,
-      self._restore_header.rect.y + self._restore_header.rect.height + self.ITEM_SPACING,
-      self._rect.width - 50,
-      self._restore_body.get_content_height(int(self._rect.width - 50)),
-    ))
+    self._scroller.add_widgets([
+      GreyBigButton("use caution", "when installing\n3rd party software",
+                    gui_app.texture("icons_mici/setup/warning.png", 64, 58)),
+      GreyBigButton("", "• It has not been tested by comma"),
+      GreyBigButton("", "• It may not comply with relevant safety standards."),
+      GreyBigButton("", "• It may cause damage to your device and/or vehicle."),
+      GreyBigButton("how to restore to a\nfactory state later", "https://flash.comma.ai",
+                    gui_app.texture("icons_mici/setup/restore.png", 64, 64)),
+      self._continue_button,
+    ])
 
 
 class DownloadingPage(Widget):
@@ -391,11 +216,9 @@ class DownloadingPage(Widget):
     ))
 
 
-class FailedPage(NavWidget):
+class FailedPageBase(Widget):
   def __init__(self, reboot_callback: Callable, retry_callback: Callable, title: str = "download failed"):
     super().__init__()
-    self.set_back_callback(retry_callback)
-
     self._title_label = UnifiedLabel(title, 64, text_color=rl.Color(255, 255, 255, int(255 * 0.9)),
                                      font_weight=FontWeight.DISPLAY)
     self._reason_label = UnifiedLabel("", 36, text_color=rl.Color(255, 255, 255, int(255 * 0.9 * 0.65)),
@@ -446,11 +269,86 @@ class FailedPage(NavWidget):
     ))
 
 
-class NetworkSetupPage(NavWidget):
+class FailedPage(FailedPageBase, NavWidget):
+  def __init__(self, reboot_callback: Callable, retry_callback: Callable, title: str = "download failed"):
+    super().__init__(reboot_callback, retry_callback, title)
+    self.set_back_callback(retry_callback)
+
+
+class GreyBigButton(BigButton):
+  """Users should manage newlines with this class themselves"""
+
+  LABEL_HORIZONTAL_PADDING = 30
+
+  def __init__(self, *args, **kwargs):
+    super().__init__(*args, **kwargs)
+    self.set_touch_valid_callback(lambda: False)
+
+    self._rect.width = 476
+
+    self._label.set_font_size(36)
+    self._label.set_font_weight(FontWeight.BOLD)
+    self._label.set_line_height(1.0)
+
+    self._sub_label.set_font_size(36)
+    self._sub_label.set_text_color(rl.Color(255, 255, 255, int(255 * 0.9)))
+    self._sub_label.set_font_weight(FontWeight.DISPLAY_REGULAR)
+    self._sub_label.set_alignment_vertical(rl.GuiTextAlignmentVertical.TEXT_ALIGN_MIDDLE if not self._label.text else
+                                           rl.GuiTextAlignmentVertical.TEXT_ALIGN_BOTTOM)
+    self._sub_label.set_line_height(0.95)
+
+  @property
+  def LABEL_VERTICAL_PADDING(self):
+    return BigButton.LABEL_VERTICAL_PADDING if self._label.text else 18
+
+  def _width_hint(self) -> int:
+    return int(self._rect.width - self.LABEL_HORIZONTAL_PADDING * 2)
+
+  def _render(self, _):
+    rl.draw_rectangle_rounded(self._rect, 0.4, 10, rl.Color(255, 255, 255, int(255 * 0.15)))
+    self._draw_content(self._rect.y)
+
+
+class BigPillButton(BigButton):
+  def __init__(self, *args, green: bool = False, disabled_background: bool = False, **kwargs):
+    self._green = green
+    self._disabled_background = disabled_background
+    super().__init__(*args, **kwargs)
+
+    self._label.set_font_size(48)
+    self._label.set_alignment(rl.GuiTextAlignment.TEXT_ALIGN_CENTER)
+    self._label.set_alignment_vertical(rl.GuiTextAlignmentVertical.TEXT_ALIGN_MIDDLE)
+
+  def _load_images(self):
+    if self._green:
+      self._txt_default_bg = gui_app.texture("icons_mici/setup/start_button.png", 402, 180)
+      self._txt_pressed_bg = gui_app.texture("icons_mici/setup/start_button_pressed.png", 402, 180)
+    else:
+      self._txt_default_bg = gui_app.texture("icons_mici/setup/continue.png", 402, 180)
+      self._txt_pressed_bg = gui_app.texture("icons_mici/setup/continue_pressed.png", 402, 180)
+    self._txt_disabled_bg = gui_app.texture("icons_mici/setup/continue_disabled.png", 402, 180)
+
+  def set_green(self, green: bool):
+    if self._green != green:
+      self._green = green
+      self._load_images()
+
+  def _update_label_layout(self):
+    # Don't change label text size
+    pass
+
+  def _handle_background(self) -> tuple[rl.Texture, float, float, float]:
+    txt_bg, btn_x, btn_y, scale = super()._handle_background()
+
+    if self._disabled_background:
+      txt_bg = self._txt_disabled_bg
+    return txt_bg, btn_x, btn_y, scale
+
+
+class NetworkSetupPageBase(Scroller):
   def __init__(self, network_monitor: NetworkConnectivityMonitor, continue_callback: Callable[[bool], None],
-               back_callback: Callable[[], None] | None):
+               disable_connect_hint: bool = False):
     super().__init__()
-    self.set_back_callback(back_callback)
 
     self._wifi_manager = WifiManager()
     self._wifi_manager.set_active(True)
@@ -459,83 +357,106 @@ class NetworkSetupPage(NavWidget):
     self._prev_has_internet = False
     self._wifi_ui = WifiUIMici(self._wifi_manager)
 
-    self._no_wifi_txt = gui_app.texture("icons_mici/settings/network/wifi_strength_slash.png", 58, 50)
-    self._wifi_full_txt = gui_app.texture("icons_mici/settings/network/wifi_strength_full.png", 58, 50)
-    self._waiting_text = "waiting for internet..."
-    self._network_header = TermsHeader(self._waiting_text, self._no_wifi_txt)
+    self._connect_button = GreyBigButton("connect to\ninternet", "swipe down to go back",
+                                         gui_app.texture("icons_mici/setup/small_slider/slider_arrow.png", 64, 56, flip_x=True))
+    self._connect_button.set_visible(not disable_connect_hint)
 
-    back_txt = gui_app.texture("icons_mici/setup/back_new.png", 37, 32)
-    self._back_button = SmallCircleIconButton(back_txt)
-    self._back_button.set_click_callback(back_callback)
-    self._back_button.set_enabled(lambda: self.enabled)  # for nav stack
-
-    self._wifi_button = SmallerRoundedButton("wifi")
+    self._wifi_button = WifiNetworkButton(self._wifi_manager)
     self._wifi_button.set_click_callback(lambda: gui_app.push_widget(self._wifi_ui))
-    self._wifi_button.set_enabled(lambda: self.enabled)
 
-    self._continue_button = WidishRoundedButton("continue")
-    self._continue_button.set_enabled(False)
+    self._show_time = 0.0
+    self._pending_has_internet_scroll = False
+    self._pending_continue_grow_animation = False
+    self._pending_wifi_grow_animation = False
+
+    def on_waiting_click():
+      offset = (self._wifi_button.rect.x + self._wifi_button.rect.width / 2) - (self._rect.x + self._rect.width / 2)
+      self._scroller.scroll_to(offset, smooth=True, block_interaction=True)
+      # trigger grow when wifi button in view
+      self._pending_wifi_grow_animation = True
+
+    self._waiting_button = BigPillButton("waiting for\ninternet...", disabled_background=True)
+    self._waiting_button.set_click_callback(on_waiting_click)
+    self._continue_button = BigPillButton("install openpilot", green=True)
     self._continue_button.set_click_callback(lambda: continue_callback(self._custom_software))
 
+    self._scroller.add_widgets([
+      self._connect_button,
+      self._wifi_button,
+      self._continue_button,
+      self._waiting_button,
+    ])
+
     gui_app.add_nav_stack_tick(self._nav_stack_tick)
 
   def show_event(self):
     super().show_event()
+    self._show_time = rl.get_time()
     self._prev_has_internet = False
-    self._network_monitor.reset()
-    self._set_has_internet(False)
+    self._pending_has_internet_scroll = False
+    self._pending_continue_grow_animation = False
+    self._pending_wifi_grow_animation = False
 
   def _nav_stack_tick(self):
     self._wifi_manager.process_callbacks()
 
     has_internet = self._network_monitor.network_connected.is_set()
-    if has_internet != self._prev_has_internet:
-      self._set_has_internet(has_internet)
-      if has_internet:
-        gui_app.pop_widgets_to(self)
-      self._prev_has_internet = has_internet
+    if has_internet and not self._prev_has_internet:
+      self._pending_has_internet_scroll = True
+    self._prev_has_internet = has_internet
 
-  def _set_has_internet(self, has_internet: bool):
-    if has_internet:
-      self._network_header.set_title("connected to internet")
-      self._network_header.set_icon(self._wifi_full_txt)
-      self._continue_button.set_enabled(lambda: self.enabled)
-    else:
-      self._network_header.set_title(self._waiting_text)
-      self._network_header.set_icon(self._no_wifi_txt)
-      self._continue_button.set_enabled(False)
+    if self._pending_has_internet_scroll:
+      # Scrolls over to continue button, then grows once in view
+      elapsed = rl.get_time() - self._show_time
+      if elapsed > 0.5:
+        self._pending_has_internet_scroll = False
+
+        def scroll_to_download():
+          self._scroller._layout()
+          end_offset = -(self._scroller.content_size - self._rect.width)
+          remaining = self._scroller.scroll_panel.get_offset() - end_offset
+          self._scroller.scroll_to(remaining, smooth=True, block_interaction=True)
+          self._pending_continue_grow_animation = True
+
+        # Animate WifiUi down first before scroll
+        gui_app.pop_widgets_to(self, scroll_to_download)
 
   def set_custom_software(self, custom_software: bool):
     self._custom_software = custom_software
+    self._continue_button.set_text("install openpilot" if not custom_software else "choose software")
+    self._continue_button.set_green(not custom_software)
 
-  def _render(self, _):
-    self._network_header.render(rl.Rectangle(
-      self._rect.x + 16,
-      self._rect.y + 16,
-      self._rect.width - 32,
-      self._network_header.rect.height,
-    ))
+  def set_is_updater(self):
+    self._continue_button.set_text("download\n& install")
+    self._continue_button.set_green(False)
 
-    self._back_button.render(rl.Rectangle(
-      self._rect.x + 8,
-      self._rect.y + self._rect.height - self._back_button.rect.height,
-      self._back_button.rect.width,
-      self._back_button.rect.height,
-    ))
+  def _update_state(self):
+    super()._update_state()
 
-    self._wifi_button.render(rl.Rectangle(
-      self._rect.x + 8 + self._back_button.rect.width + 10,
-      self._rect.y + self._rect.height - self._wifi_button.rect.height,
-      self._wifi_button.rect.width,
-      self._wifi_button.rect.height,
-    ))
+    if self._pending_continue_grow_animation:
+      btn_right = self._continue_button.rect.x + self._continue_button.rect.width
+      visible_right = self._rect.x + self._rect.width
+      if btn_right < visible_right + 50:
+        self._pending_continue_grow_animation = False
+        self._continue_button.trigger_grow_animation()
 
-    self._continue_button.render(rl.Rectangle(
-      self._rect.x + self._rect.width - self._continue_button.rect.width - 8,
-      self._rect.y + self._rect.height - self._continue_button.rect.height,
-      self._continue_button.rect.width,
-      self._continue_button.rect.height,
-    ))
+    if self._pending_wifi_grow_animation and abs(self._wifi_button.rect.x - ITEM_SPACING) < 50:
+      self._pending_wifi_grow_animation = False
+      self._wifi_button.trigger_grow_animation()
+
+    if self._network_monitor.network_connected.is_set():
+      self._continue_button.set_visible(True)
+      self._waiting_button.set_visible(False)
+    else:
+      self._continue_button.set_visible(False)
+      self._waiting_button.set_visible(True)
+
+
+class NetworkSetupPage(NetworkSetupPageBase, NavScroller):
+  def __init__(self, network_monitor: NetworkConnectivityMonitor, continue_callback: Callable[[bool], None],
+               back_callback: Callable[[], None] | None):
+    super().__init__(network_monitor, continue_callback)
+    self.set_back_callback(back_callback)
 
 
 class Setup(Widget):
@@ -557,13 +478,13 @@ class Setup(Widget):
     self._start_page.set_click_callback(getting_started_button_callback)
     self._start_page.set_enabled(lambda: self.enabled)  # for nav stack
 
-    self._network_setup_page = NetworkSetupPage(self._network_monitor, self._network_setup_continue_button_callback,
-                                                self._pop_to_software_selection)
+    self._network_setup_page = NetworkSetupPage(self._network_monitor, self._network_setup_continue_callback, self._pop_to_software_selection)
+
     self._software_selection_page = SoftwareSelectionPage(self._use_openpilot, lambda: gui_app.push_widget(self._custom_software_warning_page))
 
     self._download_failed_page = FailedPage(HARDWARE.reboot, self._pop_to_software_selection)
 
-    self._custom_software_warning_page = CustomSoftwareWarningPage(self._software_selection_custom_software_continue, self._pop_to_software_selection)
+    self._custom_software_warning_page = CustomSoftwareWarningPage(lambda: self._push_network_setup(True), self._pop_to_software_selection)
 
     self._downloading_page = DownloadingPage()
 
@@ -602,17 +523,14 @@ class Setup(Widget):
       time.sleep(0.1)
       gui_app.request_close()
     else:
-      self._push_network_setup(custom_software=False)
+      self._push_network_setup()
 
-  def _push_network_setup(self, custom_software: bool):
+  def _push_network_setup(self, custom_software: bool = False):
+    # to fire the correct continue callback later
     self._network_setup_page.set_custom_software(custom_software)
-    gui_app.push_widget(self._network_setup_page)
+    gui_app.pop_widgets_to(self._software_selection_page, lambda: gui_app.push_widget(self._network_setup_page))
 
-  def _software_selection_custom_software_continue(self):
-    gui_app.pop_widgets_to(self._software_selection_page, instant=True)  # don't reset sliders
-    self._push_network_setup(custom_software=True)
-
-  def _network_setup_continue_button_callback(self, custom_software):
+  def _network_setup_continue_callback(self, custom_software: bool):
     if not custom_software:
       gui_app.pop_widgets_to(self._software_selection_page, instant=True)  # don't reset sliders
       self._download(OPENPILOT_URL)
@@ -623,7 +541,7 @@ class Setup(Widget):
           gui_app.pop_widgets_to(self._software_selection_page, instant=True)  # don't reset sliders
           self._download(url)
 
-      keyboard = BigInputDialog("custom software URL", confirm_callback=handle_keyboard_result)
+      keyboard = BigInputDialog("custom software URL...", confirm_callback=handle_keyboard_result, auto_return_to_letters="./")
       gui_app.push_widget(keyboard)
 
   def _download(self, url: str):

system/ui/mici_updater.py

@@ -5,13 +5,14 @@ import threading
 import pyray as rl
 from enum import IntEnum
 
-from openpilot.system.hardware import HARDWARE
+from openpilot.common.realtime import config_realtime_process, set_core_affinity
+from openpilot.system.hardware import HARDWARE, TICI
+from openpilot.common.swaglog import cloudlog
 from openpilot.system.ui.lib.application import gui_app, FontWeight
-from openpilot.system.ui.lib.wifi_manager import WifiManager
 from openpilot.system.ui.widgets import Widget
 from openpilot.system.ui.widgets.label import UnifiedLabel
 from openpilot.system.ui.widgets.button import FullRoundedButton
-from openpilot.system.ui.mici_setup import NetworkSetupPage, FailedPage, NetworkConnectivityMonitor
+from openpilot.system.ui.mici_setup import NetworkSetupPageBase, FailedPageBase, NetworkConnectivityMonitor
 
 
 class Screen(IntEnum):
@@ -32,16 +33,15 @@ class Updater(Widget):
     self.progress_text = "loading"
     self.process = None
     self.update_thread = None
-    self._wifi_manager = WifiManager()
-    self._wifi_manager.set_active(True)
-
-    self._network_setup_page = NetworkSetupPage(self._wifi_manager, self._network_setup_continue_callback,
-                                                self._network_setup_back_callback)
-    self._network_setup_page.set_enabled(lambda: self.enabled)  # for nav stack
-
     self._network_monitor = NetworkConnectivityMonitor()
     self._network_monitor.start()
 
+    # TODO: network page is rendered inline, not pushed on nav stack, so auto-dismiss on internet connect doesn't work
+    self._network_setup_page = NetworkSetupPageBase(self._network_monitor, self._network_setup_continue_callback,
+                                                    disable_connect_hint=True)
+    self._network_setup_page.set_is_updater()
+    self._network_setup_page.set_enabled(lambda: self.enabled)  # for nav stack
+
     # Buttons
     self._continue_button = FullRoundedButton("continue")
     self._continue_button.set_click_callback(lambda: self.set_current_screen(Screen.WIFI))
@@ -52,8 +52,8 @@ class Updater(Widget):
                                         text_color=rl.Color(255, 255, 255, int(255 * 0.9)),
                                         font_weight=FontWeight.ROMAN)
 
-    self._update_failed_page = FailedPage(HARDWARE.reboot, self._update_failed_retry_callback,
-                                          title="update failed")
+    self._update_failed_page = FailedPageBase(HARDWARE.reboot, self._update_failed_retry_callback,
+                                              title="update failed")
 
     self._progress_title_label = UnifiedLabel("", 64, text_color=rl.Color(255, 255, 255, int(255 * 0.9)),
                                               font_weight=FontWeight.DISPLAY, line_height=0.8)
@@ -61,10 +61,7 @@ class Updater(Widget):
                                                 font_weight=FontWeight.ROMAN,
                                                 alignment_vertical=rl.GuiTextAlignmentVertical.TEXT_ALIGN_BOTTOM)
 
-  def _network_setup_back_callback(self):
-    self.set_current_screen(Screen.PROMPT)
-
-  def _network_setup_continue_callback(self):
+  def _network_setup_continue_callback(self, _):
     self.install_update()
 
   def _update_failed_retry_callback(self):
@@ -99,9 +96,13 @@ class Updater(Widget):
 
   def _run_update_process(self):
     # TODO: just import it and run in a thread without a subprocess
-    cmd = [self.updater, "--swap", self.manifest]
-    self.process = subprocess.Popen(cmd, stdout=subprocess.PIPE, stderr=subprocess.PIPE,
-                                    text=True, bufsize=1, universal_newlines=True)
+    try:
+      cmd = [self.updater, "--swap", self.manifest]
+      self.process = subprocess.Popen(cmd, stdout=subprocess.PIPE,
+                                      text=True, bufsize=1, universal_newlines=True)
+    except Exception:
+      self.set_current_screen(Screen.FAILED)
+      return
 
     if self.process.stdout is not None:
       for line in self.process.stdout:
@@ -160,14 +161,10 @@ class Updater(Widget):
       rect.height,
     ))
 
-  def _update_state(self):
-    self._wifi_manager.process_callbacks()
-
   def _render(self, rect: rl.Rectangle):
     if self.current_screen == Screen.PROMPT:
       self.render_prompt_screen(rect)
     elif self.current_screen == Screen.WIFI:
-      self._network_setup_page.set_has_internet(self._network_monitor.network_connected.is_set())
       self._network_setup_page.render(rect)
     elif self.current_screen == Screen.PROGRESS:
       self.render_progress_screen(rect)
@@ -179,6 +176,14 @@ class Updater(Widget):
 
 
 def main():
+  config_realtime_process(0, 51)
+  # attempt to affine. AGNOS will start setup with all cores, should only fail when manually launching with screen off
+  if TICI:
+    try:
+      set_core_affinity([5])
+    except OSError:
+      cloudlog.exception("Failed to set core affinity for updater process")
+
   if len(sys.argv) < 3:
     print("Usage: updater.py <updater_path> <manifest_path>")
     sys.exit(1)

system/ui/tici_updater.py

@@ -67,9 +67,14 @@ class Updater(Widget):
 
   def _run_update_process(self):
     # TODO: just import it and run in a thread without a subprocess
-    cmd = [self.updater, "--swap", self.manifest]
-    self.process = subprocess.Popen(cmd, stdout=subprocess.PIPE, stderr=subprocess.PIPE,
-                                    text=True, bufsize=1, universal_newlines=True)
+    try:
+      cmd = [self.updater, "--swap", self.manifest]
+      self.process = subprocess.Popen(cmd, stdout=subprocess.PIPE,
+                                      text=True, bufsize=1, universal_newlines=True)
+    except Exception:
+      self.progress_text = "Update failed"
+      self.show_reboot_button = True
+      return
 
     if self.process.stdout is not None:
       for line in self.process.stdout:

system/ui/widgets/button.py

@@ -228,6 +228,7 @@ class SmallCircleIconButton(Widget):
 class SmallButton(Widget):
   def __init__(self, text: str):
     super().__init__()
+    self._click_delay = 0.075
     self._opacity_filter = FirstOrderFilter(1.0, 0.1, 1 / gui_app.target_fps)
 
     self._load_assets()

system/ui/widgets/mici_keyboard.py

@@ -146,8 +146,9 @@ class CapsState(IntEnum):
 
 
 class MiciKeyboard(Widget):
-  def __init__(self):
+  def __init__(self, auto_return_to_letters: str = ""):
     super().__init__()
+    self._auto_return_to_letters = auto_return_to_letters
 
     lower_chars = [
       "qwertyuiop",
@@ -305,6 +306,10 @@ class MiciKeyboard(Widget):
         if self._caps_state == CapsState.UPPER:
           self._set_uppercase(False)
 
+        # Switch back to letters after common URL delimiters
+        if self._closest_key[0].char in self._auto_return_to_letters and self._current_keys in (self._special_keys, self._super_special_keys):
+          self._set_uppercase(False)
+
     # ensure minimum selected animation time
     key_selected_dt = rl.get_time() - (self._selected_key_t or 0)
     cur_t = rl.get_time()

system/ui/widgets/nav_widget.py

@@ -63,7 +63,7 @@ class NavWidget(Widget, abc.ABC):
     self._playing_dismiss_animation = False  # released and animating away
     self._y_pos_filter = BounceFilter(0.0, 0.1, 1 / gui_app.target_fps, bounce=1)
 
-    self._back_callback: Callable[[], None] | None = None  # persistent callback for any back navigation
+    self._back_callback: Callable[[], None] | None = None  # persistent callback for user-initiated back navigation
     self._dismiss_callback: Callable[[], None] | None = None  # transient callback for programmatic dismiss
 
     # TODO: move this state into NavBar
@@ -150,12 +150,12 @@ class NavWidget(Widget, abc.ABC):
     if new_y > self._rect.height + DISMISS_PUSH_OFFSET - 10:
       gui_app.pop_widget()
 
-      if self._back_callback is not None:
-        self._back_callback()
-
+      # Only one callback should ever be fired
       if self._dismiss_callback is not None:
         self._dismiss_callback()
         self._dismiss_callback = None
+      elif self._back_callback is not None:
+        self._back_callback()
 
       self._playing_dismiss_animation = False
       self._drag_start_pos = None

tools/cabana/SConscript

@@ -13,7 +13,6 @@ if arch == "Darwin":
     has_qt = False
 else:
   has_qt = shutil.which('qmake') is not None
-
 if not has_qt:
   Return()
 
@@ -21,7 +20,7 @@ SConscript(['#tools/replay/SConscript'])
 Import('replay_lib')
 
 qt_env = env.Clone()
-qt_modules = ["Widgets", "Gui", "Core", "Network", "Concurrent", "DBus", "Xml"]
+qt_modules = ["Widgets", "Gui", "Core"]
 
 qt_libs = []
 if arch == "Darwin":
@@ -51,7 +50,7 @@ else:
 qt_env['QT3DIR'] = qt_env['QTDIR']
 qt_env.Tool('qt3')
 
-qt_env['CPPPATH'] += qt_dirs + ["#third_party/qrcode"]
+qt_env['CPPPATH'] += qt_dirs
 qt_flags = [
   "-D_REENTRANT",
   "-DQT_NO_DEBUG",
@@ -69,10 +68,8 @@ base_libs = [common, messaging, cereal, visionipc, 'm', 'ssl', 'crypto', 'pthrea
 
 if arch == "Darwin":
   base_frameworks.append('QtCharts')
-  base_frameworks.append('QtSerialBus')
 else:
   base_libs.append('Qt5Charts')
-  base_libs.append('Qt5SerialBus')
 
 qt_libs = base_libs
 

tools/cabana/binaryview.cc

@@ -111,7 +111,8 @@ void BinaryView::highlight(const cabana::Signal *sig) {
   if (sig != hovered_sig) {
     for (int i = 0; i < model->items.size(); ++i) {
       auto &item_sigs = model->items[i].sigs;
-      if ((sig && item_sigs.contains(sig)) || (hovered_sig && item_sigs.contains(hovered_sig))) {
+      auto has = [](const auto &v, auto p) { return std::find(v.begin(), v.end(), p) != v.end(); };
+      if ((sig && has(item_sigs, sig)) || (hovered_sig && has(item_sigs, hovered_sig))) {
         auto index = model->index(i / model->columnCount(), i % model->columnCount());
         emit model->dataChanged(index, index, {Qt::DisplayRole});
       }
@@ -157,7 +158,7 @@ void BinaryView::mousePressEvent(QMouseEvent *event) {
 void BinaryView::highlightPosition(const QPoint &pos) {
   if (auto index = indexAt(viewport()->mapFromGlobal(pos)); index.isValid()) {
     auto item = (BinaryViewModel::Item *)index.internalPointer();
-    const cabana::Signal *sig = item->sigs.isEmpty() ? nullptr : item->sigs.back();
+    const cabana::Signal *sig = item->sigs.empty() ? nullptr : item->sigs.back();
     highlight(sig);
   }
 }
@@ -208,12 +209,12 @@ void BinaryView::refresh() {
   highlightPosition(QCursor::pos());
 }
 
-QSet<const cabana::Signal *> BinaryView::getOverlappingSignals() const {
-  QSet<const cabana::Signal *> overlapping;
+std::set<const cabana::Signal *> BinaryView::getOverlappingSignals() const {
+  std::set<const cabana::Signal *> overlapping;
   for (const auto &item : model->items) {
     if (item.sigs.size() > 1) {
       for (auto s : item.sigs) {
-        if (s->type == cabana::Signal::Type::Normal) overlapping += s;
+        if (s->type == cabana::Signal::Type::Normal) overlapping.insert(s);
       }
     }
   }
@@ -258,7 +259,7 @@ void BinaryViewModel::refresh() {
         int pos = sig->is_little_endian ? flipBitPos(sig->start_bit + j) : flipBitPos(sig->start_bit) + j;
         int idx = column_count * (pos / 8) + pos % 8;
         if (idx >= items.size()) {
-          qWarning() << "signal " << sig->name << "out of bounds.start_bit:" << sig->start_bit << "size:" << sig->size;
+          qWarning() << "signal " << sig->name.c_str() << "out of bounds.start_bit:" << sig->start_bit << "size:" << sig->size;
           break;
         }
         if (j == 0) sig->is_little_endian ? items[idx].is_lsb = true : items[idx].is_msb = true;
@@ -404,7 +405,9 @@ bool BinaryItemDelegate::hasSignal(const QModelIndex &index, int dx, int dy, con
   if (!index.isValid()) return false;
   auto model = (const BinaryViewModel*)(index.model());
   int idx = (index.row() + dy) * model->columnCount() + index.column() + dx;
-  return (idx >=0 && idx < model->items.size()) ? model->items[idx].sigs.contains(sig) : false;
+  if (idx < 0 || idx >= (int)model->items.size()) return false;
+  auto &s = model->items[idx].sigs;
+  return std::find(s.begin(), s.end(), sig) != s.end();
 }
 
 void BinaryItemDelegate::paint(QPainter *painter, const QStyleOptionViewItem &option, const QModelIndex &index) const {
@@ -421,7 +424,7 @@ void BinaryItemDelegate::paint(QPainter *painter, const QStyleOptionViewItem &op
     auto color = bin_view->resize_sig ? bin_view->resize_sig->color : option.palette.color(QPalette::Active, QPalette::Highlight);
     painter->fillRect(option.rect, color);
     painter->setPen(option.palette.color(QPalette::BrightText));
-  } else if (!bin_view->selectionModel()->hasSelection() || !item->sigs.contains(bin_view->resize_sig)) {  // not resizing
+  } else if (!bin_view->selectionModel()->hasSelection() || std::find(item->sigs.begin(), item->sigs.end(), bin_view->resize_sig) == item->sigs.end()) {  // not resizing
     if (item->sigs.size() > 0) {
       for (auto &s : item->sigs) {
         if (s == bin_view->hovered_sig) {
@@ -433,7 +436,7 @@ void BinaryItemDelegate::paint(QPainter *painter, const QStyleOptionViewItem &op
     } else if (item->valid && item->bg_color.alpha() > 0) {
       painter->fillRect(option.rect, item->bg_color);
     }
-    auto color_role = item->sigs.contains(bin_view->hovered_sig) ? QPalette::BrightText : QPalette::Text;
+    auto color_role = (std::find(item->sigs.begin(), item->sigs.end(), bin_view->hovered_sig) != item->sigs.end()) ? QPalette::BrightText : QPalette::Text;
     painter->setPen(option.palette.color(bin_view->is_message_active ? QPalette::Normal : QPalette::Disabled, color_role));
   }
 

tools/cabana/binaryview.h

@@ -1,10 +1,9 @@
 #pragma once
 
+#include <set>
 #include <tuple>
 #include <vector>
 
-#include <QList>
-#include <QSet>
 #include <QStyledItemDelegate>
 #include <QTableView>
 
@@ -51,7 +50,7 @@ public:
     bool is_msb = false;
     bool is_lsb = false;
     uint8_t val;
-    QList<const cabana::Signal *> sigs;
+    std::vector<const cabana::Signal *> sigs;
     bool valid = false;
   };
   std::vector<Item> items;
@@ -68,7 +67,7 @@ public:
   BinaryView(QWidget *parent = nullptr);
   void setMessage(const MessageId &message_id);
   void highlight(const cabana::Signal *sig);
-  QSet<const cabana::Signal*> getOverlappingSignals() const;
+  std::set<const cabana::Signal*> getOverlappingSignals() const;
   void updateState() { model->updateState(); }
   void paintEvent(QPaintEvent *event) override {
     is_message_active = can->isMessageActive(model->msg_id);

tools/cabana/cabana.cc

@@ -46,13 +46,13 @@ int main(int argc, char *argv[]) {
     stream = new DeviceStream(&app, cmd_parser.value("zmq"));
   } else if (cmd_parser.isSet("panda") || cmd_parser.isSet("panda-serial")) {
     try {
-      stream = new PandaStream(&app, {.serial = cmd_parser.value("panda-serial")});
+      stream = new PandaStream(&app, {.serial = cmd_parser.value("panda-serial").toStdString()});
     } catch (std::exception &e) {
       qWarning() << e.what();
       return 0;
     }
   } else if (SocketCanStream::available() && cmd_parser.isSet("socketcan")) {
-    stream = new SocketCanStream(&app, {.device = cmd_parser.value("socketcan")});
+    stream = new SocketCanStream(&app, {.device = cmd_parser.value("socketcan").toStdString()});
   } else {
     uint32_t replay_flags = REPLAY_FLAG_NONE;
     if (cmd_parser.isSet("ecam")) replay_flags |= REPLAY_FLAG_ECAM;
@@ -70,7 +70,7 @@ int main(int argc, char *argv[]) {
     if (!route.isEmpty()) {
       auto replay_stream = std::make_unique<ReplayStream>(&app);
       bool auto_source = cmd_parser.isSet("auto");
-      if (!replay_stream->loadRoute(route, cmd_parser.value("data_dir"), replay_flags, auto_source)) {
+      if (!replay_stream->loadRoute(route.toStdString(), cmd_parser.value("data_dir").toStdString(), replay_flags, auto_source)) {
         return 0;
       }
       stream = replay_stream.release();

tools/cabana/chart/chart.cc

@@ -237,8 +237,8 @@ void ChartView::updateTitle() {
   for (auto &s : sigs) {
     auto decoration = s.series->isVisible() ? "none" : "line-through";
     s.series->setName(QString("<span style=\"text-decoration:%1; color:%2\"><b>%3</b> <font color=\"%4\">%5 %6</font></span>")
-                      .arg(decoration, titleColorCss, s.sig->name,
-                           msgColorCss, msgName(s.msg_id), s.msg_id.toString()));
+                      .arg(decoration, titleColorCss, QString::fromStdString(s.sig->name),
+                           msgColorCss, QString::fromStdString(msgName(s.msg_id)), QString::fromStdString(s.msg_id.toString())));
   }
   split_chart_act->setEnabled(sigs.size() > 1);
   resetChartCache();
@@ -339,13 +339,13 @@ void ChartView::updateAxisY() {
 
   double min = std::numeric_limits<double>::max();
   double max = std::numeric_limits<double>::lowest();
-  QString unit = sigs[0].sig->unit;
+  QString unit = QString::fromStdString(sigs[0].sig->unit);
 
   for (auto &s : sigs) {
     if (!s.series->isVisible()) continue;
 
     // Only show unit when all signals have the same unit
-    if (unit != s.sig->unit) {
+    if (unit != QString::fromStdString(s.sig->unit)) {
       unit.clear();
     }
 
@@ -573,11 +573,11 @@ void ChartView::showTip(double sec) {
       // use reverse iterator to find last item <= sec.
       auto it = std::lower_bound(s.vals.crbegin(), s.vals.crend(), sec, [](auto &p, double v) { return p.x() > v; });
       if (it != s.vals.crend() && it->x() >= axis_x->min()) {
-        value = s.sig->formatValue(it->y(), false);
+        value = QString::fromStdString(s.sig->formatValue(it->y(), false));
         s.track_pt = *it;
         x = std::max(x, chart()->mapToPosition(*it).x());
       }
-      QString name = sigs.size() > 1 ? s.sig->name + ": " : "";
+      QString name = sigs.size() > 1 ? QString::fromStdString(s.sig->name) + ": " : "";
       QString min = s.min == std::numeric_limits<double>::max() ? "--" : QString::number(s.min);
       QString max = s.max == std::numeric_limits<double>::lowest() ? "--" : QString::number(s.max);
       text_list << QString("<span style=\"color:%1;\">■ </span>%2<b>%3</b> (%4, %5)")
@@ -766,7 +766,7 @@ void ChartView::drawSignalValue(QPainter *painter) {
   for (auto &s : sigs) {
     auto it = std::lower_bound(s.vals.crbegin(), s.vals.crend(), cur_sec,
                                [](auto &p, double x) { return p.x() > x + EPSILON; });
-    QString value = (it != s.vals.crend() && it->x() >= axis_x->min()) ? s.sig->formatValue(it->y()) : "--";
+    QString value = (it != s.vals.crend() && it->x() >= axis_x->min()) ? QString::fromStdString(s.sig->formatValue(it->y())) : "--";
     QRectF marker_rect = legend_markers[i++]->sceneBoundingRect();
     QRectF value_rect(marker_rect.bottomLeft() - QPoint(0, 1), marker_rect.size());
     QString elided_val = painter->fontMetrics().elidedText(value, Qt::ElideRight, value_rect.width());

tools/cabana/chart/chartswidget.cc

@@ -1,13 +1,13 @@
 #include "tools/cabana/chart/chartswidget.h"
 
 #include <algorithm>
+#include <future>
 
 #include <QApplication>
-#include <QFutureSynchronizer>
 #include <QMenu>
+#include <QMimeData>
 #include <QScrollBar>
 #include <QToolBar>
-#include <QtConcurrent>
 
 #include "tools/cabana/chart/chart.h"
 
@@ -166,15 +166,16 @@ void ChartsWidget::removeTab(int index) {
 void ChartsWidget::updateTabBar() {
   for (int i = 0; i < tabbar->count(); ++i) {
     const auto &charts_in_tab = tab_charts[tabbar->tabData(i).toInt()];
-    tabbar->setTabText(i, QString("Tab %1 (%2)").arg(i + 1).arg(charts_in_tab.count()));
+    tabbar->setTabText(i, QString("Tab %1 (%2)").arg(i + 1).arg((int)charts_in_tab.size()));
   }
 }
 
 void ChartsWidget::eventsMerged(const MessageEventsMap &new_events) {
-  QFutureSynchronizer<void> future_synchronizer;
+  std::vector<std::future<void>> futures;
   for (auto c : charts) {
-    future_synchronizer.addFuture(QtConcurrent::run(c, &ChartView::updateSeries, nullptr, &new_events));
+    futures.push_back(std::async(std::launch::async, &ChartView::updateSeries, c, nullptr, &new_events));
   }
+  for (auto &f : futures) f.get();
 }
 
 void ChartsWidget::timeRangeChanged(const std::optional<std::pair<double, double>> &time_range) {
@@ -203,7 +204,7 @@ void ChartsWidget::showValueTip(double sec) {
 }
 
 void ChartsWidget::updateState() {
-  if (charts.isEmpty()) return;
+  if (charts.empty()) return;
 
   const auto &time_range = can->timeRange();
   const double cur_sec = can->currentSec();
@@ -247,7 +248,7 @@ void ChartsWidget::updateToolBar() {
   redo_zoom_action->setVisible(is_zoomed);
   reset_zoom_action->setVisible(is_zoomed);
   reset_zoom_btn->setText(is_zoomed ? tr("%1-%2").arg(can->timeRange()->first, 0, 'f', 2).arg(can->timeRange()->second, 0, 'f', 2) : "");
-  remove_all_btn->setEnabled(!charts.isEmpty());
+  remove_all_btn->setEnabled(!charts.empty());
 }
 
 void ChartsWidget::settingChanged() {
@@ -281,9 +282,9 @@ ChartView *ChartsWidget::createChart(int pos) {
   chart->setMinimumWidth(CHART_MIN_WIDTH);
   chart->setSizePolicy(QSizePolicy::MinimumExpanding, QSizePolicy::Fixed);
   QObject::connect(chart, &ChartView::axisYLabelWidthChanged, align_timer, qOverload<>(&QTimer::start));
-  pos = std::clamp(pos, 0, charts.size());
-  charts.insert(pos, chart);
-  currentCharts().insert(pos, chart);
+  pos = std::clamp(pos, 0, (int)charts.size());
+  charts.insert(charts.begin() + pos, chart);
+  currentCharts().insert(currentCharts().begin() + pos, chart);
   updateLayout(true);
   updateToolBar();
   return chart;
@@ -302,7 +303,7 @@ void ChartsWidget::showChart(const MessageId &id, const cabana::Signal *sig, boo
 
 void ChartsWidget::splitChart(ChartView *src_chart) {
   if (src_chart->sigs.size() > 1) {
-    int pos = charts.indexOf(src_chart) + 1;
+    int pos = std::find(charts.begin(), charts.end(), src_chart) - charts.begin() + 1;
     for (auto it = src_chart->sigs.begin() + 1; it != src_chart->sigs.end(); /**/) {
       auto c = createChart(pos);
       src_chart->chart()->removeSeries(it->series);
@@ -327,7 +328,7 @@ QStringList ChartsWidget::serializeChartIds() const {
   for (auto c : charts) {
     QStringList ids;
     for (const auto& s : c->sigs)
-      ids += QString("%1|%2").arg(s.msg_id.toString(), s.sig->name);
+      ids += QString("%1|%2").arg(QString::fromStdString(s.msg_id.toString()), QString::fromStdString(s.sig->name));
     chart_ids += ids.join(',');
   }
   std::reverse(chart_ids.begin(), chart_ids.end());
@@ -340,9 +341,9 @@ void ChartsWidget::restoreChartsFromIds(const QStringList& chart_ids) {
     for (const auto& part : chart_id.split(',')) {
       const auto sig_parts = part.split('|');
       if (sig_parts.size() != 2) continue;
-      MessageId msg_id = MessageId::fromString(sig_parts[0]);
+      MessageId msg_id = MessageId::fromString(sig_parts[0].toStdString());
       if (auto* msg = dbc()->msg(msg_id))
-        if (auto* sig = msg->sig(sig_parts[1]))
+        if (auto* sig = msg->sig(sig_parts[1].toStdString()))
           showChart(msg_id, sig, true, index++ > 0);
     }
   }
@@ -426,14 +427,14 @@ void ChartsWidget::doAutoScroll() {
 }
 
 QSize ChartsWidget::minimumSizeHint() const {
-  return QSize(CHART_MIN_WIDTH * 1.5 * qApp->devicePixelRatio(), QWidget::minimumSizeHint().height());
+  return QSize(CHART_MIN_WIDTH * 1.5, QWidget::minimumSizeHint().height());
 }
 
 void ChartsWidget::newChart() {
   SignalSelector dlg(tr("New Chart"), this);
   if (dlg.exec() == QDialog::Accepted) {
     auto items = dlg.seletedItems();
-    if (!items.isEmpty()) {
+    if (!items.empty()) {
       auto c = createChart();
       for (auto it : items) {
         c->addSignal(it->msg_id, it->sig);
@@ -443,10 +444,10 @@ void ChartsWidget::newChart() {
 }
 
 void ChartsWidget::removeChart(ChartView *chart) {
-  charts.removeOne(chart);
+  charts.erase(std::remove(charts.begin(), charts.end(), chart), charts.end());
   chart->deleteLater();
   for (auto &[_, list] : tab_charts) {
-    list.removeOne(chart);
+    list.erase(std::remove(list.begin(), list.end(), chart), list.end());
   }
   updateToolBar();
   updateLayout(true);
@@ -460,7 +461,7 @@ void ChartsWidget::removeAll() {
   }
   tab_charts.clear();
 
-  if (!charts.isEmpty()) {
+  if (!charts.empty()) {
     for (auto c : charts) {
       delete c;
     }
@@ -560,10 +561,11 @@ void ChartsContainer::dropEvent(QDropEvent *event) {
     auto chart = qobject_cast<ChartView *>(event->source());
     if (w != chart) {
       for (auto &[_, list] : charts_widget->tab_charts) {
-        list.removeOne(chart);
+        list.erase(std::remove(list.begin(), list.end(), chart), list.end());
       }
-      int to = w ? charts_widget->currentCharts().indexOf(w) + 1 : 0;
-      charts_widget->currentCharts().insert(to, chart);
+      auto &cur = charts_widget->currentCharts();
+      int to = w ? std::find(cur.begin(), cur.end(), w) - cur.begin() + 1 : 0;
+      cur.insert(cur.begin() + to, chart);
       charts_widget->updateLayout(true);
       charts_widget->updateTabBar();
       event->acceptProposedAction();

tools/cabana/chart/chartswidget.h

@@ -81,7 +81,7 @@ private:
   bool eventFilter(QObject *obj, QEvent *event) override;
   void newTab();
   void removeTab(int index);
-  inline QList<ChartView *> &currentCharts() { return tab_charts[tabbar->tabData(tabbar->currentIndex()).toInt()]; }
+  inline std::vector<ChartView *> &currentCharts() { return tab_charts[tabbar->tabData(tabbar->currentIndex()).toInt()]; }
   ChartView *findChart(const MessageId &id, const cabana::Signal *sig);
 
   QLabel *title_label;
@@ -100,8 +100,8 @@ private:
   QUndoStack *zoom_undo_stack;
 
   ToolButton *remove_all_btn;
-  QList<ChartView *> charts;
-  std::unordered_map<int, QList<ChartView *>> tab_charts;
+  std::vector<ChartView *> charts;
+  std::unordered_map<int, std::vector<ChartView *>> tab_charts;
   TabBar *tabbar;
   ChartsContainer *charts_container;
   QScrollArea *charts_scroll;

tools/cabana/chart/signalselector.cc

@@ -46,7 +46,7 @@ SignalSelector::SignalSelector(QString title, QWidget *parent) : QDialog(parent)
 
   for (const auto &[id, _] : can->lastMessages()) {
     if (auto m = dbc()->msg(id)) {
-      msgs_combo->addItem(QString("%1 (%2)").arg(m->name).arg(id.toString()), QVariant::fromValue(id));
+      msgs_combo->addItem(QString("%1 (%2)").arg(QString::fromStdString(m->name)).arg(QString::fromStdString(id.toString())), QVariant::fromValue(id));
     }
   }
   msgs_combo->model()->sort(0);
@@ -92,8 +92,8 @@ void SignalSelector::updateAvailableList(int index) {
 }
 
 void SignalSelector::addItemToList(QListWidget *parent, const MessageId id, const cabana::Signal *sig, bool show_msg_name) {
-  QString text = QString("<span style=\"color:%0;\">■ </span> %1").arg(sig->color.name(), sig->name);
-  if (show_msg_name) text += QString(" <font color=\"gray\">%0 %1</font>").arg(msgName(id), id.toString());
+  QString text = QString("<span style=\"color:%0;\">■ </span> %1").arg(sig->color.name(), QString::fromStdString(sig->name));
+  if (show_msg_name) text += QString(" <font color=\"gray\">%0 %1</font>").arg(QString::fromStdString(msgName(id)), QString::fromStdString(id.toString()));
 
   QLabel *label = new QLabel(text);
   label->setContentsMargins(5, 0, 5, 0);
@@ -102,8 +102,8 @@ void SignalSelector::addItemToList(QListWidget *parent, const MessageId id, cons
   parent->setItemWidget(new_item, label);
 }
 
-QList<SignalSelector::ListItem *> SignalSelector::seletedItems() {
-  QList<SignalSelector::ListItem *> ret;
+std::vector<SignalSelector::ListItem *> SignalSelector::seletedItems() {
+  std::vector<SignalSelector::ListItem *> ret;
   for (int i = 0; i < selected_list->count(); ++i) ret.push_back((ListItem *)selected_list->item(i));
   return ret;
 }

tools/cabana/chart/signalselector.h

@@ -15,7 +15,7 @@ public:
   };
 
   SignalSelector(QString title, QWidget *parent);
-  QList<ListItem *> seletedItems();
+  std::vector<ListItem *> seletedItems();
   inline void addSelected(const MessageId &id, const cabana::Signal *sig) { addItemToList(selected_list, id, sig, true); }
 
 private:

tools/cabana/commands.cc

@@ -4,22 +4,22 @@
 
 // EditMsgCommand
 
-EditMsgCommand::EditMsgCommand(const MessageId &id, const QString &name, int size,
-                               const QString &node, const QString &comment, QUndoCommand *parent)
+EditMsgCommand::EditMsgCommand(const MessageId &id, const std::string &name, int size,
+                               const std::string &node, const std::string &comment, QUndoCommand *parent)
     : id(id), new_name(name), new_size(size), new_node(node), new_comment(comment), QUndoCommand(parent) {
   if (auto msg = dbc()->msg(id)) {
     old_name = msg->name;
     old_size = msg->size;
     old_node = msg->transmitter;
     old_comment = msg->comment;
-    setText(QObject::tr("edit message %1:%2").arg(name).arg(id.address));
+    setText(QObject::tr("edit message %1:%2").arg(QString::fromStdString(name)).arg(id.address));
   } else {
-    setText(QObject::tr("new message %1:%2").arg(name).arg(id.address));
+    setText(QObject::tr("new message %1:%2").arg(QString::fromStdString(name)).arg(id.address));
   }
 }
 
 void EditMsgCommand::undo() {
-  if (old_name.isEmpty())
+  if (old_name.empty())
     dbc()->removeMsg(id);
   else
     dbc()->updateMsg(id, old_name, old_size, old_node, old_comment);
@@ -34,12 +34,12 @@ void EditMsgCommand::redo() {
 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(message.name).arg(id.address));
+    setText(QObject::tr("remove message %1:%2").arg(QString::fromStdString(message.name)).arg(id.address));
   }
 }
 
 void RemoveMsgCommand::undo() {
-  if (!message.name.isEmpty()) {
+  if (!message.name.empty()) {
     dbc()->updateMsg(id, message.name, message.size, message.transmitter, message.comment);
     for (auto s : message.getSignals())
       dbc()->addSignal(id, *s);
@@ -47,7 +47,7 @@ void RemoveMsgCommand::undo() {
 }
 
 void RemoveMsgCommand::redo() {
-  if (!message.name.isEmpty())
+  if (!message.name.empty())
     dbc()->removeMsg(id);
 }
 
@@ -55,7 +55,7 @@ void RemoveMsgCommand::redo() {
 
 AddSigCommand::AddSigCommand(const MessageId &id, const cabana::Signal &sig, QUndoCommand *parent)
     : id(id), signal(sig), QUndoCommand(parent) {
-  setText(QObject::tr("add signal %1 to %2:%3").arg(sig.name).arg(msgName(id)).arg(id.address));
+  setText(QObject::tr("add signal %1 to %2:%3").arg(QString::fromStdString(sig.name)).arg(QString::fromStdString(msgName(id))).arg(id.address));
 }
 
 void AddSigCommand::undo() {
@@ -85,7 +85,7 @@ RemoveSigCommand::RemoveSigCommand(const MessageId &id, const cabana::Signal *si
       }
     }
   }
-  setText(QObject::tr("remove signal %1 from %2:%3").arg(sig->name).arg(msgName(id)).arg(id.address));
+  setText(QObject::tr("remove signal %1 from %2:%3").arg(QString::fromStdString(sig->name)).arg(QString::fromStdString(msgName(id))).arg(id.address));
 }
 
 void RemoveSigCommand::undo() { for (const auto &s : sigs) dbc()->addSignal(id, s); }
@@ -108,7 +108,7 @@ EditSignalCommand::EditSignalCommand(const MessageId &id, const cabana::Signal *
       }
     }
   }
-  setText(QObject::tr("edit signal %1 in %2:%3").arg(sig->name).arg(msgName(id)).arg(id.address));
+  setText(QObject::tr("edit signal %1 in %2:%3").arg(QString::fromStdString(sig->name)).arg(QString::fromStdString(msgName(id))).arg(id.address));
 }
 
 void EditSignalCommand::undo() { for (const auto &s : sigs) dbc()->updateSignal(id, s.second.name, s.first); }

tools/cabana/commands.h

@@ -1,6 +1,8 @@
 #pragma once
 
+#include <string>
 #include <utility>
+#include <vector>
 
 #include <QUndoCommand>
 #include <QUndoStack>
@@ -10,14 +12,14 @@
 
 class EditMsgCommand : public QUndoCommand {
 public:
-  EditMsgCommand(const MessageId &id, const QString &name, int size, const QString &node,
-                 const QString &comment, QUndoCommand *parent = nullptr);
+  EditMsgCommand(const MessageId &id, const std::string &name, int size, const std::string &node,
+                 const std::string &comment, QUndoCommand *parent = nullptr);
   void undo() override;
   void redo() override;
 
 private:
   const MessageId id;
-  QString old_name, new_name, old_comment, new_comment, old_node, new_node;
+  std::string old_name, new_name, old_comment, new_comment, old_node, new_node;
   int old_size = 0, new_size = 0;
 };
 
@@ -52,7 +54,7 @@ public:
 
 private:
   const MessageId id;
-  QList<cabana::Signal> sigs;
+  std::vector<cabana::Signal> sigs;
 };
 
 class EditSignalCommand : public QUndoCommand {
@@ -63,7 +65,7 @@ public:
 
 private:
   const MessageId id;
-  QList<std::pair<cabana::Signal, cabana::Signal>> sigs; // QList<{old_sig, new_sig}>
+  std::vector<std::pair<cabana::Signal, cabana::Signal>> sigs; // {old_sig, new_sig}
 };
 
 namespace UndoStack {

tools/cabana/dbc/dbc.cc

@@ -4,10 +4,6 @@
 
 #include "tools/cabana/utils/util.h"
 
-uint qHash(const MessageId &item) {
-  return qHash(item.source) ^ qHash(item.address);
-}
-
 // cabana::Msg
 
 cabana::Msg::~Msg() {
@@ -22,7 +18,7 @@ cabana::Signal *cabana::Msg::addSignal(const cabana::Signal &sig) {
   return s;
 }
 
-cabana::Signal *cabana::Msg::updateSignal(const QString &sig_name, const cabana::Signal &new_sig) {
+cabana::Signal *cabana::Msg::updateSignal(const std::string &sig_name, const cabana::Signal &new_sig) {
   auto s = sig(sig_name);
   if (s) {
     *s = new_sig;
@@ -31,7 +27,7 @@ cabana::Signal *cabana::Msg::updateSignal(const QString &sig_name, const cabana:
   return s;
 }
 
-void cabana::Msg::removeSignal(const QString &sig_name) {
+void cabana::Msg::removeSignal(const std::string &sig_name) {
   auto it = std::find_if(sigs.begin(), sigs.end(), [&](auto &s) { return s->name == sig_name; });
   if (it != sigs.end()) {
     delete *it;
@@ -57,7 +53,7 @@ cabana::Msg &cabana::Msg::operator=(const cabana::Msg &other) {
   return *this;
 }
 
-cabana::Signal *cabana::Msg::sig(const QString &sig_name) const {
+cabana::Signal *cabana::Msg::sig(const std::string &sig_name) const {
   auto it = std::find_if(sigs.begin(), sigs.end(), [&](auto &s) { return s->name == sig_name; });
   return it != sigs.end() ? *it : nullptr;
 }
@@ -69,17 +65,17 @@ int cabana::Msg::indexOf(const cabana::Signal *sig) const {
   return -1;
 }
 
-QString cabana::Msg::newSignalName() {
-  QString new_name;
+std::string cabana::Msg::newSignalName() {
+  std::string new_name;
   for (int i = 1; /**/; ++i) {
-    new_name = QString("NEW_SIGNAL_%1").arg(i);
+    new_name = "NEW_SIGNAL_" + std::to_string(i);
     if (sig(new_name) == nullptr) break;
   }
   return new_name;
 }
 
 void cabana::Msg::update() {
-  if (transmitter.isEmpty()) {
+  if (transmitter.empty()) {
     transmitter = DEFAULT_NODE_NAME;
   }
   mask.assign(size, 0x00);
@@ -129,13 +125,13 @@ void cabana::Msg::update() {
 
 void cabana::Signal::update() {
   updateMsbLsb(*this);
-  if (receiver_name.isEmpty()) {
+  if (receiver_name.empty()) {
     receiver_name = DEFAULT_NODE_NAME;
   }
 
   float h = 19 * (float)lsb / 64.0;
   h = fmod(h, 1.0);
-  size_t hash = qHash(name);
+  size_t hash = std::hash<std::string>{}(name);
   float s = 0.25 + 0.25 * (float)(hash & 0xff) / 255.0;
   float v = 0.75 + 0.25 * (float)((hash >> 8) & 0xff) / 255.0;
 
@@ -143,7 +139,7 @@ void cabana::Signal::update() {
   precision = std::max(num_decimals(factor), num_decimals(offset));
 }
 
-QString cabana::Signal::formatValue(double value, bool with_unit) const {
+std::string cabana::Signal::formatValue(double value, bool with_unit) const {
   // Show enum string
   int64_t raw_value = round((value - offset) / factor);
   for (const auto &[val, desc] : val_desc) {
@@ -152,8 +148,10 @@ QString cabana::Signal::formatValue(double value, bool with_unit) const {
     }
   }
 
-  QString val_str = QString::number(value, 'f', precision);
-  if (with_unit && !unit.isEmpty()) {
+  char buf[64];
+  snprintf(buf, sizeof(buf), "%.*f", precision, value);
+  std::string val_str(buf);
+  if (with_unit && !unit.empty()) {
     val_str += " " + unit;
   }
   return val_str;

tools/cabana/dbc/dbc.h

@@ -1,29 +1,35 @@
 #pragma once
 
+#include <cstdio>
+#include <cstdlib>
+#include <functional>
 #include <limits>
+#include <string>
 #include <utility>
 #include <vector>
 
 #include <QColor>
 #include <QMetaType>
-#include <QString>
 
-const QString UNTITLED = "untitled";
-const QString DEFAULT_NODE_NAME = "XXX";
+const std::string UNTITLED = "untitled";
+const std::string DEFAULT_NODE_NAME = "XXX";
 constexpr int CAN_MAX_DATA_BYTES = 64;
 
 struct MessageId {
   uint8_t source = 0;
   uint32_t address = 0;
 
-  QString toString() const {
-    return QString("%1:%2").arg(source).arg(QString::number(address, 16).toUpper());
+  std::string toString() const {
+    char buf[64];
+    snprintf(buf, sizeof(buf), "%u:%X", source, address);
+    return buf;
   }
 
-  inline static MessageId fromString(const QString &str) {
-    auto parts = str.split(':');
-    if (parts.size() != 2) return {};
-    return MessageId{.source = uint8_t(parts[0].toUInt()), .address = parts[1].toUInt(nullptr, 16)};
+  inline static MessageId fromString(const std::string &str) {
+    auto pos = str.find(':');
+    if (pos == std::string::npos) return {};
+    return MessageId{.source = uint8_t(std::stoul(str.substr(0, pos))),
+                     .address = uint32_t(std::stoul(str.substr(pos + 1), nullptr, 16))};
   }
 
   bool operator==(const MessageId &other) const {
@@ -43,15 +49,17 @@ struct MessageId {
   }
 };
 
-uint qHash(const MessageId &item);
 Q_DECLARE_METATYPE(MessageId);
 
 template <>
 struct std::hash<MessageId> {
-  std::size_t operator()(const MessageId &k) const noexcept { return qHash(k); }
+  std::size_t operator()(const MessageId &k) const noexcept {
+    return std::hash<uint8_t>{}(k.source) ^ (std::hash<uint32_t>{}(k.address) << 1);
+  }
 };
 
-typedef std::vector<std::pair<double, QString>> ValueDescription;
+typedef std::vector<std::pair<double, std::string>> ValueDescription;
+Q_DECLARE_METATYPE(ValueDescription);
 
 namespace cabana {
 
@@ -61,7 +69,7 @@ public:
   Signal(const Signal &other) = default;
   void update();
   bool getValue(const uint8_t *data, size_t data_size, double *val) const;
-  QString formatValue(double value, bool with_unit = true) const;
+  std::string formatValue(double value, bool with_unit = true) const;
   bool operator==(const cabana::Signal &other) const;
   inline bool operator!=(const cabana::Signal &other) const { return !(*this == other); }
 
@@ -72,16 +80,16 @@ public:
   };
 
   Type type = Type::Normal;
-  QString name;
+  std::string name;
   int start_bit, msb, lsb, size;
   double factor = 1.0;
   double offset = 0;
   bool is_signed;
   bool is_little_endian;
   double min, max;
-  QString unit;
-  QString comment;
-  QString receiver_name;
+  std::string unit;
+  std::string comment;
+  std::string receiver_name;
   ValueDescription val_desc;
   int precision = 0;
   QColor color;
@@ -97,20 +105,20 @@ public:
   Msg(const Msg &other) { *this = other; }
   ~Msg();
   cabana::Signal *addSignal(const cabana::Signal &sig);
-  cabana::Signal *updateSignal(const QString &sig_name, const cabana::Signal &sig);
-  void removeSignal(const QString &sig_name);
+  cabana::Signal *updateSignal(const std::string &sig_name, const cabana::Signal &sig);
+  void removeSignal(const std::string &sig_name);
   Msg &operator=(const Msg &other);
   int indexOf(const cabana::Signal *sig) const;
-  cabana::Signal *sig(const QString &sig_name) const;
-  QString newSignalName();
+  cabana::Signal *sig(const std::string &sig_name) const;
+  std::string newSignalName();
   void update();
   inline const std::vector<cabana::Signal *> &getSignals() const { return sigs; }
 
   uint32_t address;
-  QString name;
+  std::string name;
   uint32_t size;
-  QString comment;
-  QString transmitter;
+  std::string comment;
+  std::string transmitter;
   std::vector<cabana::Signal *> sigs;
 
   std::vector<uint8_t> mask;
@@ -123,4 +131,8 @@ public:
 double get_raw_value(const uint8_t *data, size_t data_size, const cabana::Signal &sig);
 void updateMsbLsb(cabana::Signal &s);
 inline int flipBitPos(int start_bit) { return 8 * (start_bit / 8) + 7 - start_bit % 8; }
-inline QString doubleToString(double value) { return QString::number(value, 'g', std::numeric_limits<double>::digits10); }
+inline std::string doubleToString(double value) {
+  char buf[64];
+  snprintf(buf, sizeof(buf), "%.*g", std::numeric_limits<double>::digits10, value);
+  return buf;
+}

tools/cabana/dbc/dbcfile.cc

@@ -3,11 +3,12 @@
 #include <QFile>
 #include <QFileInfo>
 #include <QRegularExpression>
+#include <QString>
 
-DBCFile::DBCFile(const QString &dbc_file_name) {
-  QFile file(dbc_file_name);
+DBCFile::DBCFile(const std::string &dbc_file_name) {
+  QFile file(QString::fromStdString(dbc_file_name));
   if (file.open(QIODevice::ReadOnly)) {
-    name_ = QFileInfo(dbc_file_name).baseName();
+    name_ = QFileInfo(QString::fromStdString(dbc_file_name)).baseName().toStdString();
     filename = dbc_file_name;
     parse(file.readAll());
   } else {
@@ -15,34 +16,35 @@ DBCFile::DBCFile(const QString &dbc_file_name) {
   }
 }
 
-DBCFile::DBCFile(const QString &name, const QString &content) : name_(name), filename("") {
-  parse(content);
+DBCFile::DBCFile(const std::string &name, const std::string &content) : name_(name), filename("") {
+  parse(QString::fromStdString(content));
 }
 
 bool DBCFile::save() {
-  assert(!filename.isEmpty());
+  assert(!filename.empty());
   return writeContents(filename);
 }
 
-bool DBCFile::saveAs(const QString &new_filename) {
+bool DBCFile::saveAs(const std::string &new_filename) {
   filename = new_filename;
   return save();
 }
 
-bool DBCFile::writeContents(const QString &fn) {
-  QFile file(fn);
+bool DBCFile::writeContents(const std::string &fn) {
+  QFile file(QString::fromStdString(fn));
   if (file.open(QIODevice::WriteOnly)) {
-    return file.write(generateDBC().toUtf8()) >= 0;
+    std::string content = generateDBC();
+    return file.write(content.c_str(), content.size()) >= 0;
   }
   return false;
 }
 
-void DBCFile::updateMsg(const MessageId &id, const QString &name, uint32_t size, const QString &node, const QString &comment) {
+void DBCFile::updateMsg(const MessageId &id, const std::string &name, uint32_t size, const std::string &node, const std::string &comment) {
   auto &m = msgs[id.address];
   m.address = id.address;
   m.name = name;
   m.size = size;
-  m.transmitter = node.isEmpty() ? DEFAULT_NODE_NAME : node;
+  m.transmitter = node.empty() ? DEFAULT_NODE_NAME : node;
   m.comment = comment;
 }
 
@@ -51,12 +53,12 @@ cabana::Msg *DBCFile::msg(uint32_t address) {
   return it != msgs.end() ? &it->second : nullptr;
 }
 
-cabana::Msg *DBCFile::msg(const QString &name) {
+cabana::Msg *DBCFile::msg(const std::string &name) {
   auto it = std::find_if(msgs.begin(), msgs.end(), [&name](auto &m) { return m.second.name == name; });
   return it != msgs.end() ? &(it->second) : nullptr;
 }
 
-cabana::Signal *DBCFile::signal(uint32_t address, const QString &name) {
+cabana::Signal *DBCFile::signal(uint32_t address, const std::string &name) {
   auto m = msg(address);
   return m ? (cabana::Signal *)m->sig(name) : nullptr;
 }
@@ -93,13 +95,13 @@ void DBCFile::parse(const QString &content) {
         seen = false;
       }
     } catch (std::exception &e) {
-      throw std::runtime_error(QString("[%1:%2]%3: %4").arg(filename).arg(line_num).arg(e.what()).arg(line).toStdString());
+      throw std::runtime_error(QString("[%1:%2]%3: %4").arg(QString::fromStdString(filename)).arg(line_num).arg(e.what()).arg(line).toStdString());
     }
 
     if (seen) {
       seen_first = true;
     } else if (!seen_first) {
-      header += raw_line + "\n";
+      header += raw_line.toStdString() + "\n";
     }
   }
 
@@ -122,9 +124,9 @@ cabana::Msg *DBCFile::parseBO(const QString &line) {
   // Create a new message object
   cabana::Msg *msg = &msgs[address];
   msg->address = address;
-  msg->name = match.captured("name");
+  msg->name = match.captured("name").toStdString();
   msg->size = match.captured("size").toULong();
-  msg->transmitter = match.captured("transmitter").trimmed();
+  msg->transmitter = match.captured("transmitter").trimmed().toStdString();
   return msg;
 }
 
@@ -141,7 +143,7 @@ void DBCFile::parseCM_BO(const QString &line, const QString &content, const QStr
     throw std::runtime_error("Invalid message comment format");
 
   if (auto m = (cabana::Msg *)msg(match.captured("address").toUInt()))
-    m->comment = match.captured("comment").trimmed().replace("\\\"", "\"");
+    m->comment = match.captured("comment").trimmed().replace("\\\"", "\"").toStdString();
 }
 
 void DBCFile::parseSG(const QString &line, cabana::Msg *current_msg, int &multiplexor_cnt) {
@@ -160,7 +162,7 @@ void DBCFile::parseSG(const QString &line, cabana::Msg *current_msg, int &multip
   if (!match.hasMatch())
     throw std::runtime_error("Invalid SG_ line format");
 
-  QString name = match.captured(1);
+  std::string name = match.captured(1).toStdString();
   if (current_msg->sig(name) != nullptr)
     throw std::runtime_error("Duplicate signal name");
 
@@ -188,8 +190,8 @@ void DBCFile::parseSG(const QString &line, cabana::Msg *current_msg, int &multip
   s.offset = match.captured(offset + 7).toDouble();
   s.min = match.captured(8 + offset).toDouble();
   s.max = match.captured(9 + offset).toDouble();
-  s.unit = match.captured(10 + offset);
-  s.receiver_name = match.captured(11 + offset).trimmed();
+  s.unit = match.captured(10 + offset).toStdString();
+  s.receiver_name = match.captured(11 + offset).trimmed().toStdString();
   current_msg->sigs.push_back(new cabana::Signal(s));
 }
 
@@ -205,8 +207,8 @@ void DBCFile::parseCM_SG(const QString &line, const QString &content, const QStr
   if (!match.hasMatch())
     throw std::runtime_error("Invalid CM_ SG_ line format");
 
-  if (auto s = signal(match.captured(1).toUInt(), match.captured(2))) {
-    s->comment = match.captured(3).trimmed().replace("\\\"", "\"");
+  if (auto s = signal(match.captured(1).toUInt(), match.captured(2).toStdString())) {
+    s->comment = match.captured(3).trimmed().replace("\\\"", "\"").toStdString();
   }
 }
 
@@ -217,55 +219,60 @@ void DBCFile::parseVAL(const QString &line) {
   if (!match.hasMatch())
     throw std::runtime_error("invalid VAL_ line format");
 
-  if (auto s = signal(match.captured(1).toUInt(), match.captured(2))) {
+  if (auto s = signal(match.captured(1).toUInt(), match.captured(2).toStdString())) {
     QStringList desc_list = match.captured(3).trimmed().split('"');
     for (int i = 0; i < desc_list.size(); i += 2) {
       auto val = desc_list[i].trimmed();
       if (!val.isEmpty() && (i + 1) < desc_list.size()) {
         auto desc = desc_list[i + 1].trimmed();
-        s->val_desc.push_back({val.toDouble(), desc});
+        s->val_desc.push_back({val.toDouble(), desc.toStdString()});
       }
     }
   }
 }
 
-QString DBCFile::generateDBC() {
-  QString dbc_string, comment, val_desc;
+std::string DBCFile::generateDBC() {
+  std::string dbc_string, comment, val_desc;
   for (const auto &[address, m] : msgs) {
-    const QString transmitter = m.transmitter.isEmpty() ? DEFAULT_NODE_NAME : m.transmitter;
-    dbc_string += QString("BO_ %1 %2: %3 %4\n").arg(address).arg(m.name).arg(m.size).arg(transmitter);
-    if (!m.comment.isEmpty()) {
-      comment += QString("CM_ BO_ %1 \"%2\";\n").arg(address).arg(QString(m.comment).replace("\"", "\\\""));
+    const std::string &transmitter = m.transmitter.empty() ? DEFAULT_NODE_NAME : m.transmitter;
+    dbc_string += "BO_ " + std::to_string(address) + " " + m.name + ": " + std::to_string(m.size) + " " + transmitter + "\n";
+    if (!m.comment.empty()) {
+      std::string escaped_comment = m.comment;
+      // Replace " with \"
+      for (size_t pos = 0; (pos = escaped_comment.find('"', pos)) != std::string::npos; pos += 2)
+        escaped_comment.replace(pos, 1, "\\\"");
+      comment += "CM_ BO_ " + std::to_string(address) + " \"" + escaped_comment + "\";\n";
     }
     for (auto sig : m.getSignals()) {
-      QString multiplexer_indicator;
+      std::string multiplexer_indicator;
       if (sig->type == cabana::Signal::Type::Multiplexor) {
         multiplexer_indicator = "M ";
       } else if (sig->type == cabana::Signal::Type::Multiplexed) {
-        multiplexer_indicator = QString("m%1 ").arg(sig->multiplex_value);
+        multiplexer_indicator = "m" + std::to_string(sig->multiplex_value) + " ";
       }
-      dbc_string += QString(" SG_ %1 %2: %3|%4@%5%6 (%7,%8) [%9|%10] \"%11\" %12\n")
-                        .arg(sig->name)
-                        .arg(multiplexer_indicator)
-                        .arg(sig->start_bit)
-                        .arg(sig->size)
-                        .arg(sig->is_little_endian ? '1' : '0')
-                        .arg(sig->is_signed ? '-' : '+')
-                        .arg(doubleToString(sig->factor))
-                        .arg(doubleToString(sig->offset))
-                        .arg(doubleToString(sig->min))
-                        .arg(doubleToString(sig->max))
-                        .arg(sig->unit)
-                        .arg(sig->receiver_name.isEmpty() ? DEFAULT_NODE_NAME : sig->receiver_name);
-      if (!sig->comment.isEmpty()) {
-        comment += QString("CM_ SG_ %1 %2 \"%3\";\n").arg(address).arg(sig->name).arg(QString(sig->comment).replace("\"", "\\\""));
+      const std::string &recv = sig->receiver_name.empty() ? DEFAULT_NODE_NAME : sig->receiver_name;
+      dbc_string += " SG_ " + sig->name + " " + multiplexer_indicator + ": " +
+                    std::to_string(sig->start_bit) + "|" + std::to_string(sig->size) + "@" +
+                    std::string(1, sig->is_little_endian ? '1' : '0') +
+                    std::string(1, sig->is_signed ? '-' : '+') +
+                    " (" + doubleToString(sig->factor) + "," + doubleToString(sig->offset) + ")" +
+                    " [" + doubleToString(sig->min) + "|" + doubleToString(sig->max) + "]" +
+                    " \"" + sig->unit + "\" " + recv + "\n";
+      if (!sig->comment.empty()) {
+        std::string escaped_comment = sig->comment;
+        for (size_t pos = 0; (pos = escaped_comment.find('"', pos)) != std::string::npos; pos += 2)
+          escaped_comment.replace(pos, 1, "\\\"");
+        comment += "CM_ SG_ " + std::to_string(address) + " " + sig->name + " \"" + escaped_comment + "\";\n";
       }
       if (!sig->val_desc.empty()) {
-        QStringList text;
+        std::string text;
         for (auto &[val, desc] : sig->val_desc) {
-          text << QString("%1 \"%2\"").arg(val).arg(desc);
+          if (!text.empty()) text += " ";
+          char val_buf[64];
+          snprintf(val_buf, sizeof(val_buf), "%g", val);
+          text += std::string(val_buf) + " \"" + desc + "\"";
         }
-        val_desc += QString("VAL_ %1 %2 %3;\n").arg(address).arg(sig->name).arg(text.join(" "));
+        val_desc += "VAL_ " + std::to_string(address) + " " + sig->name + " " + text + ";\n";
       }
     }
     dbc_string += "\n";

tools/cabana/dbc/dbcfile.h

@@ -1,34 +1,35 @@
 #pragma once
 
 #include <map>
+#include <string>
 #include <QTextStream>
 
 #include "tools/cabana/dbc/dbc.h"
 
 class DBCFile {
 public:
-  DBCFile(const QString &dbc_file_name);
-  DBCFile(const QString &name, const QString &content);
+  DBCFile(const std::string &dbc_file_name);
+  DBCFile(const std::string &name, const std::string &content);
   ~DBCFile() {}
 
   bool save();
-  bool saveAs(const QString &new_filename);
-  bool writeContents(const QString &fn);
-  QString generateDBC();
+  bool saveAs(const std::string &new_filename);
+  bool writeContents(const std::string &fn);
+  std::string generateDBC();
 
-  void updateMsg(const MessageId &id, const QString &name, uint32_t size, const QString &node, const QString &comment);
+  void updateMsg(const MessageId &id, const std::string &name, uint32_t size, const std::string &node, const std::string &comment);
   inline void removeMsg(const MessageId &id) { msgs.erase(id.address); }
 
   inline const std::map<uint32_t, cabana::Msg> &getMessages() const { return msgs; }
   cabana::Msg *msg(uint32_t address);
-  cabana::Msg *msg(const QString &name);
+  cabana::Msg *msg(const std::string &name);
   inline cabana::Msg *msg(const MessageId &id) { return msg(id.address); }
-  cabana::Signal *signal(uint32_t address, const QString &name);
+  cabana::Signal *signal(uint32_t address, const std::string &name);
 
-  inline QString name() const { return name_.isEmpty() ? "untitled" : name_; }
-  inline bool isEmpty() const { return msgs.empty() && name_.isEmpty(); }
+  inline std::string name() const { return name_.empty() ? "untitled" : name_; }
+  inline bool isEmpty() const { return msgs.empty() && name_.empty(); }
 
-  QString filename;
+  std::string filename;
 
 private:
   void parse(const QString &content);
@@ -38,7 +39,7 @@ private:
   void parseCM_SG(const QString &line, const QString &content, const QString &raw_line, const QTextStream &stream);
   void parseVAL(const QString &line);
 
-  QString header;
+  std::string header;
   std::map<uint32_t, cabana::Msg> msgs;
-  QString name_;
+  std::string name_;
 };

tools/cabana/dbc/dbcmanager.cc

@@ -1,10 +1,9 @@
 #include "tools/cabana/dbc/dbcmanager.h"
 
-#include <QSet>
 #include <algorithm>
-#include <numeric>
+#include <set>
 
-bool DBCManager::open(const SourceSet &sources, const QString &dbc_file_name, QString *error) {
+bool DBCManager::open(const SourceSet &sources, const std::string &dbc_file_name, QString *error) {
   try {
     auto it = std::find_if(dbc_files.begin(), dbc_files.end(),
                            [&](auto &f) { return f.second && f.second->filename == dbc_file_name; });
@@ -21,7 +20,7 @@ bool DBCManager::open(const SourceSet &sources, const QString &dbc_file_name, QS
   return true;
 }
 
-bool DBCManager::open(const SourceSet &sources, const QString &name, const QString &content, QString *error) {
+bool DBCManager::open(const SourceSet &sources, const std::string &name, const std::string &content, QString *error) {
   try {
     auto file = std::make_shared<DBCFile>(name, content);
     for (auto s : sources) {
@@ -64,7 +63,7 @@ void DBCManager::addSignal(const MessageId &id, const cabana::Signal &sig) {
   }
 }
 
-void DBCManager::updateSignal(const MessageId &id, const QString &sig_name, const cabana::Signal &sig) {
+void DBCManager::updateSignal(const MessageId &id, const std::string &sig_name, const cabana::Signal &sig) {
   if (auto m = msg(id)) {
     if (auto s = m->updateSignal(sig_name, sig)) {
       emit signalUpdated(s);
@@ -73,7 +72,7 @@ void DBCManager::updateSignal(const MessageId &id, const QString &sig_name, cons
   }
 }
 
-void DBCManager::removeSignal(const MessageId &id, const QString &sig_name) {
+void DBCManager::removeSignal(const MessageId &id, const std::string &sig_name) {
   if (auto m = msg(id)) {
     if (auto s = m->sig(sig_name)) {
       emit signalRemoved(s);
@@ -83,7 +82,7 @@ void DBCManager::removeSignal(const MessageId &id, const QString &sig_name) {
   }
 }
 
-void DBCManager::updateMsg(const MessageId &id, const QString &name, uint32_t size, const QString &node, const QString &comment) {
+void DBCManager::updateMsg(const MessageId &id, const std::string &name, uint32_t size, const std::string &node, const std::string &comment) {
   auto dbc_file = findDBCFile(id);
   assert(dbc_file);  // This should be impossible
   dbc_file->updateMsg(id, name, size, node, comment);
@@ -98,11 +97,13 @@ void DBCManager::removeMsg(const MessageId &id) {
   emit maskUpdated();
 }
 
-QString DBCManager::newMsgName(const MessageId &id) {
-  return QString("NEW_MSG_") + QString::number(id.address, 16).toUpper();
+std::string DBCManager::newMsgName(const MessageId &id) {
+  char buf[64];
+  snprintf(buf, sizeof(buf), "NEW_MSG_%X", id.address);
+  return buf;
 }
 
-QString DBCManager::newSignalName(const MessageId &id) {
+std::string DBCManager::newSignalName(const MessageId &id) {
   auto m = msg(id);
   return m ? m->newSignalName() : "";
 }
@@ -118,14 +119,14 @@ cabana::Msg *DBCManager::msg(const MessageId &id) {
   return dbc_file ? dbc_file->msg(id) : nullptr;
 }
 
-cabana::Msg *DBCManager::msg(uint8_t source, const QString &name) {
+cabana::Msg *DBCManager::msg(uint8_t source, const std::string &name) {
   auto dbc_file = findDBCFile(source);
   return dbc_file ? dbc_file->msg(name) : nullptr;
 }
 
-QStringList DBCManager::signalNames() {
+std::vector<std::string> DBCManager::signalNames() {
   // Used for autocompletion
-  QSet<QString> names;
+  std::set<std::string> names;
   for (auto &f : allDBCFiles()) {
     for (auto &[_, m] : f->getMessages()) {
       for (auto sig : m.getSignals()) {
@@ -133,8 +134,8 @@ QStringList DBCManager::signalNames() {
       }
     }
   }
-  QStringList ret = names.values();
-  ret.sort();
+  std::vector<std::string> ret(names.begin(), names.end());
+  std::sort(ret.begin(), ret.end());
   return ret;
 }
 
@@ -165,11 +166,13 @@ const SourceSet DBCManager::sources(const DBCFile *dbc_file) const {
   return sources;
 }
 
-QString toString(const SourceSet &ss) {
-  return std::accumulate(ss.cbegin(), ss.cend(), QString(), [](QString str, int source) {
-    if (!str.isEmpty()) str += ", ";
-    return str + (source == -1 ? QStringLiteral("all") : QString::number(source));
-  });
+std::string toString(const SourceSet &ss) {
+  std::string result;
+  for (int source : ss) {
+    if (!result.empty()) result += ", ";
+    result += (source == -1) ? "all" : std::to_string(source);
+  }
+  return result;
 }
 
 DBCManager *dbc() {

tools/cabana/dbc/dbcmanager.h

@@ -4,6 +4,8 @@
 #include <memory>
 #include <map>
 #include <set>
+#include <string>
+#include <vector>
 
 #include "tools/cabana/dbc/dbcfile.h"
 
@@ -18,27 +20,27 @@ class DBCManager : public QObject {
 public:
   DBCManager(QObject *parent) : QObject(parent) {}
   ~DBCManager() {}
-  bool open(const SourceSet &sources, const QString &dbc_file_name, QString *error = nullptr);
-  bool open(const SourceSet &sources, const QString &name, const QString &content, QString *error = nullptr);
+  bool open(const SourceSet &sources, const std::string &dbc_file_name, QString *error = nullptr);
+  bool open(const SourceSet &sources, const std::string &name, const std::string &content, QString *error = nullptr);
   void close(const SourceSet &sources);
   void close(DBCFile *dbc_file);
   void closeAll();
 
   void addSignal(const MessageId &id, const cabana::Signal &sig);
-  void updateSignal(const MessageId &id, const QString &sig_name, const cabana::Signal &sig);
-  void removeSignal(const MessageId &id, const QString &sig_name);
+  void updateSignal(const MessageId &id, const std::string &sig_name, const cabana::Signal &sig);
+  void removeSignal(const MessageId &id, const std::string &sig_name);
 
-  void updateMsg(const MessageId &id, const QString &name, uint32_t size, const QString &node, const QString &comment);
+  void updateMsg(const MessageId &id, const std::string &name, uint32_t size, const std::string &node, const std::string &comment);
   void removeMsg(const MessageId &id);
 
-  QString newMsgName(const MessageId &id);
-  QString newSignalName(const MessageId &id);
+  std::string newMsgName(const MessageId &id);
+  std::string newSignalName(const MessageId &id);
 
   const std::map<uint32_t, cabana::Msg> &getMessages(uint8_t source);
   cabana::Msg *msg(const MessageId &id);
-  cabana::Msg* msg(uint8_t source, const QString &name);
+  cabana::Msg* msg(uint8_t source, const std::string &name);
 
-  QStringList signalNames();
+  std::vector<std::string> signalNames();
   inline int dbcCount() { return allDBCFiles().size(); }
   int nonEmptyDBCCount();
 
@@ -62,8 +64,8 @@ private:
 
 DBCManager *dbc();
 
-QString toString(const SourceSet &ss);
-inline QString msgName(const MessageId &id) {
+std::string toString(const SourceSet &ss);
+inline std::string msgName(const MessageId &id) {
   auto msg = dbc()->msg(id);
   return msg ? msg->name : UNTITLED;
 }

tools/cabana/detailwidget.cc

@@ -124,9 +124,9 @@ int DetailWidget::findOrAddTab(const MessageId& message_id) {
     if (tabbar->tabData(index).value<MessageId>() == message_id) break;
   }
   if (index == -1) {
-    index = tabbar->addTab(message_id.toString());
+    index = tabbar->addTab(QString::fromStdString(message_id.toString()));
     tabbar->setTabData(index, QVariant::fromValue(message_id));
-    tabbar->setTabToolTip(index, msgName(message_id));
+    tabbar->setTabToolTip(index, QString::fromStdString(msgName(message_id)));
   }
   return index;
 }
@@ -151,21 +151,21 @@ std::pair<QString, QStringList> DetailWidget::serializeMessageIds() const {
   QStringList msgs;
   for (int i = 0; i < tabbar->count(); ++i) {
     MessageId id = tabbar->tabData(i).value<MessageId>();
-    msgs.append(id.toString());
+    msgs.append(QString::fromStdString(id.toString()));
   }
-  return std::make_pair(msg_id.toString(), msgs);
+  return std::make_pair(QString::fromStdString(msg_id.toString()), msgs);
 }
 
 void DetailWidget::restoreTabs(const QString active_msg_id, const QStringList& msg_ids) {
   tabbar->blockSignals(true);
   for (const auto& str_id : msg_ids) {
-    MessageId id = MessageId::fromString(str_id);
+    MessageId id = MessageId::fromString(str_id.toStdString());
     if (dbc()->msg(id) != nullptr)
       findOrAddTab(id);
   }
   tabbar->blockSignals(false);
 
-  auto active_id = MessageId::fromString(active_msg_id);
+  auto active_id = MessageId::fromString(active_msg_id.toStdString());
   if (dbc()->msg(active_id) != nullptr)
     setMessage(active_id);
 }
@@ -180,10 +180,10 @@ void DetailWidget::refresh() {
       warnings.push_back(tr("Message size (%1) is incorrect.").arg(msg->size));
     }
     for (auto s : binary_view->getOverlappingSignals()) {
-      warnings.push_back(tr("%1 has overlapping bits.").arg(s->name));
+      warnings.push_back(tr("%1 has overlapping bits.").arg(QString::fromStdString(s->name)));
     }
   }
-  QString msg_name = msg ? QString("%1 (%2)").arg(msg->name, msg->transmitter) : msgName(msg_id);
+  QString msg_name = msg ? QString("%1 (%2)").arg(QString::fromStdString(msg->name), QString::fromStdString(msg->transmitter)) : QString::fromStdString(msgName(msg_id));
   name_label->setText(msg_name);
   name_label->setToolTip(msg_name);
   action_remove_msg->setEnabled(msg != nullptr);
@@ -208,10 +208,10 @@ void DetailWidget::updateState(const std::set<MessageId> *msgs) {
 void DetailWidget::editMsg() {
   auto msg = dbc()->msg(msg_id);
   int size = msg ? msg->size : can->lastMessage(msg_id).dat.size();
-  EditMessageDialog dlg(msg_id, msgName(msg_id), size, this);
+  EditMessageDialog dlg(msg_id, QString::fromStdString(msgName(msg_id)), size, this);
   if (dlg.exec()) {
-    UndoStack::push(new EditMsgCommand(msg_id, dlg.name_edit->text().trimmed(), dlg.size_spin->value(),
-                                       dlg.node->text().trimmed(), dlg.comment_edit->toPlainText().trimmed()));
+    UndoStack::push(new EditMsgCommand(msg_id, dlg.name_edit->text().trimmed().toStdString(), dlg.size_spin->value(),
+                                       dlg.node->text().trimmed().toStdString(), dlg.comment_edit->toPlainText().trimmed().toStdString()));
   }
 }
 
@@ -223,7 +223,7 @@ void DetailWidget::removeMsg() {
 
 EditMessageDialog::EditMessageDialog(const MessageId &msg_id, const QString &title, int size, QWidget *parent)
     : original_name(title), msg_id(msg_id), QDialog(parent) {
-  setWindowTitle(tr("Edit message: %1").arg(msg_id.toString()));
+  setWindowTitle(tr("Edit message: %1").arg(QString::fromStdString(msg_id.toString())));
   QFormLayout *form_layout = new QFormLayout(this);
 
   form_layout->addRow("", error_label = new QLabel);
@@ -241,8 +241,8 @@ EditMessageDialog::EditMessageDialog(const MessageId &msg_id, const QString &tit
   form_layout->addRow(btn_box = new QDialogButtonBox(QDialogButtonBox::Ok | QDialogButtonBox::Cancel));
 
   if (auto msg = dbc()->msg(msg_id)) {
-    node->setText(msg->transmitter);
-    comment_edit->setText(msg->comment);
+    node->setText(QString::fromStdString(msg->transmitter));
+    comment_edit->setText(QString::fromStdString(msg->comment));
   }
   validateName(name_edit->text());
   setFixedWidth(parent->width() * 0.9);
@@ -252,10 +252,10 @@ EditMessageDialog::EditMessageDialog(const MessageId &msg_id, const QString &tit
 }
 
 void EditMessageDialog::validateName(const QString &text) {
-  bool valid = text.compare(UNTITLED, Qt::CaseInsensitive) != 0;
+  bool valid = text.compare(QString::fromStdString(UNTITLED), Qt::CaseInsensitive) != 0;
   error_label->setVisible(false);
   if (!text.isEmpty() && valid && text != original_name) {
-    valid = dbc()->msg(msg_id.source, text) == nullptr;
+    valid = dbc()->msg(msg_id.source, text.toStdString()) == nullptr;
     if (!valid) {
       error_label->setText(tr("Name already exists"));
       error_label->setVisible(true);

tools/cabana/historylog.cc

@@ -14,7 +14,7 @@ QVariant HistoryLogModel::data(const QModelIndex &index, int role) const {
   const int col = index.column();
   if (role == Qt::DisplayRole) {
     if (col == 0) return QString::number(can->toSeconds(m.mono_time), 'f', 3);
-    if (!isHexMode()) return sigs[col - 1]->formatValue(m.sig_values[col - 1], false);
+    if (!isHexMode()) return QString::fromStdString(sigs[col - 1]->formatValue(m.sig_values[col - 1], false));
   } else if (role == Qt::TextAlignmentRole) {
     return (uint32_t)(Qt::AlignRight | Qt::AlignVCenter);
   }
@@ -49,8 +49,8 @@ QVariant HistoryLogModel::headerData(int section, Qt::Orientation orientation, i
       if (section == 0) return "Time";
       if (isHexMode()) return "Data";
 
-      QString name = sigs[section - 1]->name;
-      QString unit = sigs[section - 1]->unit;
+      QString name = QString::fromStdString(sigs[section - 1]->name);
+      QString unit = QString::fromStdString(sigs[section - 1]->unit);
       return unit.isEmpty() ? name : QString("%1 (%2)").arg(name, unit);
     } else if (role == Qt::BackgroundRole && section > 0 && !isHexMode()) {
       // Alpha-blend the signal color with the background to ensure contrast
@@ -216,7 +216,7 @@ LogsWidget::LogsWidget(QWidget *parent) : QFrame(parent) {
 void LogsWidget::modelReset() {
   signals_cb->clear();
   for (auto s : model->sigs) {
-    signals_cb->addItem(s->name);
+    signals_cb->addItem(QString::fromStdString(s->name));
   }
   export_btn->setEnabled(false);
   value_edit->clear();
@@ -238,8 +238,8 @@ void LogsWidget::filterChanged() {
 }
 
 void LogsWidget::exportToCSV() {
-  QString dir = QString("%1/%2_%3.csv").arg(settings.last_dir).arg(can->routeName()).arg(msgName(model->msg_id));
-  QString fn = QFileDialog::getSaveFileName(this, QString("Export %1 to CSV file").arg(msgName(model->msg_id)),
+  QString dir = QString("%1/%2_%3.csv").arg(settings.last_dir).arg(QString::fromStdString(can->routeName())).arg(QString::fromStdString(msgName(model->msg_id)));
+  QString fn = QFileDialog::getSaveFileName(this, QString("Export %1 to CSV file").arg(QString::fromStdString(msgName(model->msg_id))),
                                             dir, tr("csv (*.csv)"));
   if (!fn.isEmpty()) {
     model->isHexMode() ? utils::exportToCSV(fn, model->msg_id)

tools/cabana/mainwin.cc

@@ -234,7 +234,7 @@ void MainWindow::DBCFileChanged() {
 
   QStringList title;
   for (auto f : dbc()->allDBCFiles()) {
-    title.push_back(tr("(%1) %2").arg(toString(dbc()->sources(f)), f->name()));
+    title.push_back(tr("(%1) %2").arg(QString::fromStdString(toString(dbc()->sources(f))), QString::fromStdString(f->name())));
   }
   setWindowFilePath(title.join(" | "));
 
@@ -259,7 +259,7 @@ void MainWindow::closeStream() {
 }
 
 void MainWindow::exportToCSV() {
-  QString dir = QString("%1/%2.csv").arg(settings.last_dir).arg(can->routeName());
+  QString dir = QString("%1/%2.csv").arg(settings.last_dir).arg(QString::fromStdString(can->routeName()));
   QString fn = QFileDialog::getSaveFileName(this, "Export stream to CSV file", dir, tr("csv (*.csv)"));
   if (!fn.isEmpty()) {
     utils::exportToCSV(fn);
@@ -268,7 +268,7 @@ void MainWindow::exportToCSV() {
 
 void MainWindow::newFile(SourceSet s) {
   closeFile(s);
-  dbc()->open(s, "", "");
+  dbc()->open(s, std::string(""), std::string(""));
 }
 
 void MainWindow::openFile(SourceSet s) {
@@ -284,7 +284,7 @@ void MainWindow::loadFile(const QString &fn, SourceSet s) {
     closeFile(s);
 
     QString error;
-    if (dbc()->open(s, fn, &error)) {
+    if (dbc()->open(s, fn.toStdString(), &error)) {
       updateRecentFiles(fn);
       statusBar()->showMessage(tr("DBC File %1 loaded").arg(fn), 2000);
     } else {
@@ -304,7 +304,7 @@ void MainWindow::loadFromClipboard(SourceSet s, bool close_all) {
 
   QString dbc_str = QGuiApplication::clipboard()->text();
   QString error;
-  bool ret = dbc()->open(s, "", dbc_str, &error);
+  bool ret = dbc()->open(s, std::string(""), dbc_str.toStdString(), &error);
   if (ret && dbc()->nonEmptyDBCCount() > 0) {
     QMessageBox::information(this, tr("Load From Clipboard"), tr("DBC Successfully Loaded!"));
   } else {
@@ -333,7 +333,7 @@ void MainWindow::startStream(AbstractStream *stream, QString dbc_file) {
   can->start();
 
   loadFile(dbc_file);
-  statusBar()->showMessage(tr("Stream [%1] started").arg(can->routeName()), 2000);
+  statusBar()->showMessage(tr("Stream [%1] started").arg(QString::fromStdString(can->routeName())), 2000);
 
   bool has_stream = dynamic_cast<DummyStream *>(can) == nullptr;
   close_stream_act->setEnabled(has_stream);
@@ -341,7 +341,7 @@ void MainWindow::startStream(AbstractStream *stream, QString dbc_file) {
   tools_menu->setEnabled(has_stream);
   createDockWidgets();
 
-  video_dock->setWindowTitle(can->routeName());
+  video_dock->setWindowTitle(QString::fromStdString(can->routeName()));
   if (can->liveStreaming() || video_splitter->sizes()[0] == 0) {
     // display video at minimum size.
     video_splitter->setSizes({1, 1});
@@ -368,9 +368,9 @@ void MainWindow::startStream(AbstractStream *stream, QString dbc_file) {
 }
 
 void MainWindow::eventsMerged() {
-  if (!can->liveStreaming() && std::exchange(car_fingerprint, can->carFingerprint()) != car_fingerprint) {
+  if (!can->liveStreaming() && std::exchange(car_fingerprint, QString::fromStdString(can->carFingerprint())) != car_fingerprint) {
     video_dock->setWindowTitle(tr("ROUTE: %1  FINGERPRINT: %2")
-                                    .arg(can->routeName())
+                                    .arg(QString::fromStdString(can->routeName()))
                                     .arg(car_fingerprint.isEmpty() ? tr("Unknown Car") : car_fingerprint));
     // Don't overwrite already loaded DBC
     if (!dbc()->nonEmptyDBCCount() && fingerprint_to_dbc.object().contains(car_fingerprint)) {
@@ -416,7 +416,7 @@ void MainWindow::closeFile(DBCFile *dbc_file) {
 
 void MainWindow::saveFile(DBCFile *dbc_file) {
   assert(dbc_file != nullptr);
-  if (!dbc_file->filename.isEmpty()) {
+  if (!dbc_file->filename.empty()) {
     dbc_file->save();
     UndoStack::instance()->setClean();
     statusBar()->showMessage(tr("File saved"), 2000);
@@ -426,10 +426,10 @@ void MainWindow::saveFile(DBCFile *dbc_file) {
 }
 
 void MainWindow::saveFileAs(DBCFile *dbc_file) {
-  QString title = tr("Save File (bus: %1)").arg(toString(dbc()->sources(dbc_file)));
+  QString title = tr("Save File (bus: %1)").arg(QString::fromStdString(toString(dbc()->sources(dbc_file))));
   QString fn = QFileDialog::getSaveFileName(this, title, QDir::cleanPath(settings.last_dir + "/untitled.dbc"), tr("DBC (*.dbc)"));
   if (!fn.isEmpty()) {
-    dbc_file->saveAs(fn);
+    dbc_file->saveAs(fn.toStdString());
     UndoStack::instance()->setClean();
     statusBar()->showMessage(tr("File saved as %1").arg(fn), 2000);
     updateRecentFiles(fn);
@@ -446,7 +446,7 @@ void MainWindow::saveToClipboard() {
 
 void MainWindow::saveFileToClipboard(DBCFile *dbc_file) {
   assert(dbc_file != nullptr);
-  QGuiApplication::clipboard()->setText(dbc_file->generateDBC());
+  QGuiApplication::clipboard()->setText(QString::fromStdString(dbc_file->generateDBC()));
   QMessageBox::information(this, tr("Copy To Clipboard"), tr("DBC Successfully copied!"));
 }
 
@@ -467,14 +467,14 @@ void MainWindow::updateLoadSaveMenus() {
     auto dbc_file = dbc()->findDBCFile(source);
     if (dbc_file) {
       bus_menu->addSeparator();
-      bus_menu->addAction(dbc_file->name() + " (" + toString(dbc()->sources(dbc_file)) + ")")->setEnabled(false);
+      bus_menu->addAction(QString::fromStdString(dbc_file->name()) + " (" + QString::fromStdString(toString(dbc()->sources(dbc_file))) + ")")->setEnabled(false);
       bus_menu->addAction(tr("Save..."), [=]() { saveFile(dbc_file); });
       bus_menu->addAction(tr("Save As..."), [=]() { saveFileAs(dbc_file); });
       bus_menu->addAction(tr("Copy to Clipboard..."), [=]() { saveFileToClipboard(dbc_file); });
       bus_menu->addAction(tr("Remove from this bus..."), [=]() { closeFile(ss); });
       bus_menu->addAction(tr("Remove from all buses..."), [=]() { closeFile(dbc_file); });
     }
-    bus_menu->setTitle(tr("Bus %1 (%2)").arg(source).arg(dbc_file ? dbc_file->name() : "No DBCs loaded"));
+    bus_menu->setTitle(tr("Bus %1 (%2)").arg(source).arg(dbc_file ? QString::fromStdString(dbc_file->name()) : "No DBCs loaded"));
 
     manage_dbcs_menu->addMenu(bus_menu);
   }
@@ -627,7 +627,7 @@ void MainWindow::saveSessionState() {
   settings.active_charts.clear();
 
   for (auto &f : dbc()->allDBCFiles())
-    if (!f->isEmpty()) { settings.recent_dbc_file = f->filename; break; }
+    if (!f->isEmpty()) { settings.recent_dbc_file = QString::fromStdString(f->filename); break; }
 
   if (auto *detail = center_widget->getDetailWidget()) {
     auto [active_id, ids] = detail->serializeMessageIds();
@@ -643,7 +643,7 @@ void MainWindow::restoreSessionState() {
 
   QString dbc_file;
   for (auto& f : dbc()->allDBCFiles())
-    if (!f->isEmpty()) { dbc_file = f->filename; break; }
+    if (!f->isEmpty()) { dbc_file = QString::fromStdString(f->filename); break; }
   if (dbc_file != settings.recent_dbc_file) return;
 
   if (!settings.selected_msg_ids.isEmpty())

tools/cabana/messageswidget.cc

@@ -205,7 +205,7 @@ QVariant MessageListModel::data(const QModelIndex &index, int role) const {
   } else if (role == Qt::ToolTipRole && index.column() == Column::NAME) {
     auto msg = dbc()->msg(item.id);
     auto tooltip = item.name;
-    if (msg && !msg->comment.isEmpty()) tooltip += "<br /><span style=\"color:gray;\">" + msg->comment + "</span>";
+    if (msg && !msg->comment.empty()) tooltip += "<br /><span style=\"color:gray;\">" + QString::fromStdString(msg->comment) + "</span>";
     return tooltip;
   }
   return {};
@@ -277,7 +277,7 @@ bool MessageListModel::match(const MessageListModel::Item &item) {
         if (!match) {
           const auto m = dbc()->msg(item.id);
           match = m && std::any_of(m->sigs.cbegin(), m->sigs.cend(),
-                                   [&txt](const auto &s) { return s->name.contains(txt, Qt::CaseInsensitive); });
+                                   [&txt](const auto &s) { return QString::fromStdString(s->name).contains(txt, Qt::CaseInsensitive); });
         }
         break;
       }
@@ -323,8 +323,8 @@ bool MessageListModel::filterAndSort() {
     if (show_inactive_messages || can->isMessageActive(id)) {
       auto msg = dbc()->msg(id);
       Item item = {.id = id,
-                  .name = msg ? msg->name : UNTITLED,
-                  .node = msg ? msg->transmitter : QString()};
+                  .name = msg ? QString::fromStdString(msg->name) : QString::fromStdString(UNTITLED),
+                  .node = msg ? QString::fromStdString(msg->transmitter) : QString()};
       if (match(item))
         items.emplace_back(item);
     }

tools/cabana/signalview.cc

@@ -1,6 +1,7 @@
 #include "tools/cabana/signalview.h"
 
 #include <algorithm>
+#include <future>
 
 #include <QCompleter>
 #include <QDialogButtonBox>
@@ -11,7 +12,6 @@
 #include <QPainterPath>
 #include <QPushButton>
 #include <QScrollBar>
-#include <QtConcurrent>
 #include <QVBoxLayout>
 
 #include "tools/cabana/commands.h"
@@ -34,8 +34,8 @@ SignalModel::SignalModel(QObject *parent) : root(new Item), QAbstractItemModel(p
 }
 
 void SignalModel::insertItem(SignalModel::Item *root_item, int pos, const cabana::Signal *sig) {
-  Item *parent_item = new Item{.type = Item::Sig, .parent = root_item, .sig = sig, .title = sig->name};
-  root_item->children.insert(pos, parent_item);
+  Item *parent_item = new Item{.type = Item::Sig, .parent = root_item, .sig = sig, .title = QString::fromStdString(sig->name)};
+  root_item->children.insert(root_item->children.begin() + pos, parent_item);
   QString titles[]{"Name", "Size", "Receiver Nodes", "Little Endian", "Signed", "Offset", "Factor", "Type",
                    "Multiplex Value", "Extra Info", "Unit", "Comment", "Minimum Value", "Maximum Value", "Value Table"};
   for (int i = 0; i < std::size(titles); ++i) {
@@ -63,7 +63,7 @@ void SignalModel::refresh() {
   root.reset(new SignalModel::Item);
   if (auto msg = dbc()->msg(msg_id)) {
     for (auto s : msg->getSignals()) {
-      if (filter_str.isEmpty() || s->name.contains(filter_str, Qt::CaseInsensitive)) {
+      if (filter_str.isEmpty() || QString::fromStdString(s->name).contains(filter_str, Qt::CaseInsensitive)) {
         insertItem(root.get(), root->children.size(), s);
       }
     }
@@ -124,25 +124,25 @@ QVariant SignalModel::data(const QModelIndex &index, int role) const {
     const Item *item = getItem(index);
     if (role == Qt::DisplayRole || role == Qt::EditRole) {
       if (index.column() == 0) {
-        return item->type == Item::Sig ? item->sig->name : item->title;
+        return item->type == Item::Sig ? QString::fromStdString(item->sig->name) : item->title;
       } else {
         switch (item->type) {
           case Item::Sig: return item->sig_val;
-          case Item::Name: return item->sig->name;
+          case Item::Name: return QString::fromStdString(item->sig->name);
           case Item::Size: return item->sig->size;
-          case Item::Node: return item->sig->receiver_name;
+          case Item::Node: return QString::fromStdString(item->sig->receiver_name);
           case Item::SignalType: return signalTypeToString(item->sig->type);
           case Item::MultiplexValue: return item->sig->multiplex_value;
-          case Item::Offset: return doubleToString(item->sig->offset);
-          case Item::Factor: return doubleToString(item->sig->factor);
-          case Item::Unit: return item->sig->unit;
-          case Item::Comment: return item->sig->comment;
-          case Item::Min: return doubleToString(item->sig->min);
-          case Item::Max: return doubleToString(item->sig->max);
+          case Item::Offset: return QString::fromStdString(doubleToString(item->sig->offset));
+          case Item::Factor: return QString::fromStdString(doubleToString(item->sig->factor));
+          case Item::Unit: return QString::fromStdString(item->sig->unit);
+          case Item::Comment: return QString::fromStdString(item->sig->comment);
+          case Item::Min: return QString::fromStdString(doubleToString(item->sig->min));
+          case Item::Max: return QString::fromStdString(doubleToString(item->sig->max));
           case Item::Desc: {
             QStringList val_desc;
             for (auto &[val, desc] : item->sig->val_desc) {
-              val_desc << QString("%1 \"%2\"").arg(val).arg(desc);
+              val_desc << QString("%1 \"%2\"").arg(val).arg(QString::fromStdString(desc));
             }
             return val_desc.join(" ");
           }
@@ -165,17 +165,17 @@ bool SignalModel::setData(const QModelIndex &index, const QVariant &value, int r
   Item *item = getItem(index);
   cabana::Signal s = *item->sig;
   switch (item->type) {
-    case Item::Name: s.name = value.toString(); break;
+    case Item::Name: s.name = value.toString().toStdString(); break;
     case Item::Size: s.size = value.toInt(); break;
-    case Item::Node: s.receiver_name = value.toString().trimmed(); break;
+    case Item::Node: s.receiver_name = value.toString().trimmed().toStdString(); break;
     case Item::SignalType: s.type = (cabana::Signal::Type)value.toInt(); break;
     case Item::MultiplexValue: s.multiplex_value = value.toInt(); break;
     case Item::Endian: s.is_little_endian = value.toBool(); break;
     case Item::Signed: s.is_signed = value.toBool(); break;
     case Item::Offset: s.offset = value.toDouble(); break;
     case Item::Factor: s.factor = value.toDouble(); break;
-    case Item::Unit: s.unit = value.toString(); break;
-    case Item::Comment: s.comment = value.toString(); break;
+    case Item::Unit: s.unit = value.toString().toStdString(); break;
+    case Item::Comment: s.comment = value.toString().toStdString(); break;
     case Item::Min: s.min = value.toDouble(); break;
     case Item::Max: s.max = value.toDouble(); break;
     case Item::Desc: s.val_desc = value.value<ValueDescription>(); break;
@@ -189,7 +189,7 @@ bool SignalModel::setData(const QModelIndex &index, const QVariant &value, int r
 bool SignalModel::saveSignal(const cabana::Signal *origin_s, cabana::Signal &s) {
   auto msg = dbc()->msg(msg_id);
   if (s.name != origin_s->name && msg->sig(s.name) != nullptr) {
-    QString text = tr("There is already a signal with the same name '%1'").arg(s.name);
+    QString text = tr("There is already a signal with the same name '%1'").arg(QString::fromStdString(s.name));
     QMessageBox::warning(nullptr, tr("Failed to save signal"), text);
     return false;
   }
@@ -214,7 +214,7 @@ void SignalModel::handleSignalAdded(MessageId id, const cabana::Signal *sig) {
       beginInsertRows({}, i, i);
       insertItem(root.get(), i, sig);
       endInsertRows();
-    } else if (sig->name.contains(filter_str, Qt::CaseInsensitive)) {
+    } else if (QString::fromStdString(sig->name).contains(filter_str, Qt::CaseInsensitive)) {
       refresh();
     }
   }
@@ -229,7 +229,9 @@ void SignalModel::handleSignalUpdated(const cabana::Signal *sig) {
       int to = dbc()->msg(msg_id)->indexOf(sig);
       if (to != row) {
         beginMoveRows({}, row, row, {}, to > row ? to + 1 : to);
-        root->children.move(row, to);
+        auto item = root->children[row];
+        root->children.erase(root->children.begin() + row);
+        root->children.insert(root->children.begin() + to, item);
         endMoveRows();
       }
     }
@@ -239,7 +241,8 @@ void SignalModel::handleSignalUpdated(const cabana::Signal *sig) {
 void SignalModel::handleSignalRemoved(const cabana::Signal *sig) {
   if (int row = signalRow(sig); row != -1) {
     beginRemoveRows({}, row, row);
-    delete root->children.takeAt(row);
+    delete root->children[row];
+    root->children.erase(root->children.begin() + row);
     endRemoveRows();
   }
 }
@@ -373,7 +376,10 @@ QWidget *SignalItemDelegate::createEditor(QWidget *parent, const QStyleOptionVie
     else e->setValidator(double_validator);
 
     if (item->type == SignalModel::Item::Name) {
-      QCompleter *completer = new QCompleter(dbc()->signalNames(), e);
+      auto names = dbc()->signalNames();
+      QStringList qnames;
+      for (const auto &n : names) qnames.push_back(QString::fromStdString(n));
+      QCompleter *completer = new QCompleter(qnames, e);
       completer->setCaseSensitivity(Qt::CaseInsensitive);
       completer->setFilterMode(Qt::MatchContains);
       e->setCompleter(completer);
@@ -395,7 +401,7 @@ QWidget *SignalItemDelegate::createEditor(QWidget *parent, const QStyleOptionVie
     return c;
   } else if (item->type == SignalModel::Item::Desc) {
     ValueDescriptionDlg dlg(item->sig->val_desc, parent);
-    dlg.setWindowTitle(item->sig->name);
+    dlg.setWindowTitle(QString::fromStdString(item->sig->name));
     if (dlg.exec()) {
       ((QAbstractItemModel *)index.model())->setData(index, QVariant::fromValue(dlg.val_desc));
     }
@@ -621,7 +627,7 @@ void SignalView::updateState(const std::set<MessageId> *msgs) {
   for (auto item : model->root->children) {
     double value = 0;
     if (item->sig->getValue(last_msg.dat.data(), last_msg.dat.size(), &value)) {
-      item->sig_val = item->sig->formatValue(value);
+      item->sig_val = QString::fromStdString(item->sig->formatValue(value));
       max_value_width = std::max(max_value_width, fontMetrics().horizontalAdvance(item->sig_val));
     }
   }
@@ -635,13 +641,13 @@ void SignalView::updateState(const std::set<MessageId> *msgs) {
                delegate->button_size.height() - style()->pixelMetric(QStyle::PM_FocusFrameVMargin) * 2);
 
     auto [first, last] = can->eventsInRange(model->msg_id, std::make_pair(last_msg.ts -settings.sparkline_range, last_msg.ts));
-    QFutureSynchronizer<void> synchronizer;
+    std::vector<std::future<void>> futures;
     for (int i = first_visible.row(); i <= last_visible.row(); ++i) {
       auto item = model->getItem(model->index(i, 1));
-      synchronizer.addFuture(QtConcurrent::run(
-          &item->sparkline, &Sparkline::update, item->sig, first, last, settings.sparkline_range, size));
+      futures.push_back(std::async(std::launch::async,
+          &Sparkline::update, &item->sparkline, item->sig, first, last, settings.sparkline_range, size));
     }
-    synchronizer.waitForFinished();
+    for (auto &f : futures) f.get();
   }
 
   for (int i = 0; i < model->rowCount(); ++i) {
@@ -677,7 +683,7 @@ ValueDescriptionDlg::ValueDescriptionDlg(const ValueDescription &descriptions, Q
   int row = 0;
   for (auto &[val, desc] : descriptions) {
     table->setItem(row, 0, new QTableWidgetItem(QString::number(val)));
-    table->setItem(row, 1, new QTableWidgetItem(desc));
+    table->setItem(row, 1, new QTableWidgetItem(QString::fromStdString(desc)));
     ++row;
   }
 
@@ -706,7 +712,7 @@ void ValueDescriptionDlg::save() {
     QString val = table->item(i, 0)->text().trimmed();
     QString desc = table->item(i, 1)->text().trimmed();
     if (!val.isEmpty() && !desc.isEmpty()) {
-      val_desc.push_back({val.toDouble(), desc});
+      val_desc.push_back({val.toDouble(), desc.toStdString()});
     }
   }
   QDialog::accept();

tools/cabana/signalview.h

@@ -20,12 +20,15 @@ class SignalModel : public QAbstractItemModel {
 public:
   struct Item {
     enum Type {Root, Sig, Name, Size, Node, Endian, Signed, Offset, Factor, SignalType, MultiplexValue, ExtraInfo, Unit, Comment, Min, Max, Desc };
-    ~Item() { qDeleteAll(children); }
-    inline int row() { return parent->children.indexOf(this); }
+    ~Item() { for (auto c : children) delete c; }
+    inline int row() {
+      auto it = std::find(parent->children.begin(), parent->children.end(), this);
+      return it != parent->children.end() ? std::distance(parent->children.begin(), it) : -1;
+    }
 
     Type type = Type::Root;
     Item *parent = nullptr;
-    QList<Item *> children;
+    std::vector<Item *> children;
 
     const cabana::Signal *sig = nullptr;
     QString title;

tools/cabana/streams/abstractstream.h

@@ -65,8 +65,8 @@ public:
   virtual void start() = 0;
   virtual bool liveStreaming() const { return true; }
   virtual void seekTo(double ts) {}
-  virtual QString routeName() const = 0;
-  virtual QString carFingerprint() const { return ""; }
+  virtual std::string routeName() const = 0;
+  virtual std::string carFingerprint() const { return ""; }
   virtual QDateTime beginDateTime() const { return {}; }
   virtual uint64_t beginMonoTime() const { return 0; }
   virtual double minSeconds() const { return 0; }
@@ -149,7 +149,7 @@ class DummyStream : public AbstractStream {
   Q_OBJECT
 public:
   DummyStream(QObject *parent) : AbstractStream(parent) {}
-  QString routeName() const override { return tr("No Stream"); }
+  std::string routeName() const override { return "No Stream"; }
   void start() override {}
 };
 

tools/cabana/streams/devicestream.h

@@ -9,8 +9,8 @@ class DeviceStream : public LiveStream {
 public:
   DeviceStream(QObject *parent, QString address = {});
   ~DeviceStream();
-  inline QString routeName() const override {
-    return QString("Live Streaming From %1").arg(zmq_address.isEmpty() ? "127.0.0.1" : zmq_address);
+  inline std::string routeName() const override {
+    return "Live Streaming From " + (zmq_address.isEmpty() ? std::string("127.0.0.1") : zmq_address.toStdString());
   }
 
 protected:

tools/cabana/streams/pandastream.cc

@@ -16,8 +16,8 @@ PandaStream::PandaStream(QObject *parent, PandaStreamConfig config_) : config(co
 
 bool PandaStream::connect() {
   try {
-    qDebug() << "Connecting to panda " << config.serial;
-    panda.reset(new Panda(config.serial.toStdString()));
+    qDebug() << "Connecting to panda " << config.serial.c_str();
+    panda.reset(new Panda(config.serial));
     config.bus_config.resize(3);
     qDebug() << "Connected";
   } catch (const std::exception& e) {
@@ -81,7 +81,7 @@ void PandaStream::streamThread() {
 OpenPandaWidget::OpenPandaWidget(QWidget *parent) : AbstractOpenStreamWidget(parent) {
   form_layout = new QFormLayout(this);
   if (can && dynamic_cast<PandaStream *>(can) != nullptr) {
-    form_layout->addWidget(new QLabel(tr("Already connected to %1.").arg(can->routeName())));
+    form_layout->addWidget(new QLabel(tr("Already connected to %1.").arg(QString::fromStdString(can->routeName()))));
     form_layout->addWidget(new QLabel("Close the current connection via [File menu -> Close Stream] before connecting to another Panda."));
     QTimer::singleShot(0, [this]() { emit enableOpenButton(false); });
     return;
@@ -129,7 +129,7 @@ void OpenPandaWidget::buildConfigForm() {
   }
 
   if (has_panda) {
-    config.serial = serial;
+    config.serial = serial.toStdString();
     config.bus_config.resize(3);
     for (int i = 0; i < config.bus_config.size(); i++) {
       QHBoxLayout *bus_layout = new QHBoxLayout;

tools/cabana/streams/pandastream.h

@@ -19,7 +19,7 @@ struct BusConfig {
 };
 
 struct PandaStreamConfig {
-  QString serial = "";
+  std::string serial = "";
   std::vector<BusConfig> bus_config;
 };
 
@@ -28,8 +28,8 @@ class PandaStream : public LiveStream {
 public:
   PandaStream(QObject *parent, PandaStreamConfig config_ = {});
   ~PandaStream() { stop(); }
-  inline QString routeName() const override {
-    return QString("Panda: %1").arg(config.serial);
+  inline std::string routeName() const override {
+    return "Panda: " + config.serial;
   }
 
 protected:

tools/cabana/streams/replaystream.cc

@@ -46,9 +46,9 @@ void ReplayStream::mergeSegments() {
   }
 }
 
-bool ReplayStream::loadRoute(const QString &route, const QString &data_dir, uint32_t replay_flags, bool auto_source) {
-  replay.reset(new Replay(route.toStdString(), {"can", "roadEncodeIdx", "driverEncodeIdx", "wideRoadEncodeIdx", "carParams"},
-                          {}, nullptr, replay_flags, data_dir.toStdString(), auto_source));
+bool ReplayStream::loadRoute(const std::string &route, const std::string &data_dir, uint32_t replay_flags, bool auto_source) {
+  replay.reset(new Replay(route, {"can", "roadEncodeIdx", "driverEncodeIdx", "wideRoadEncodeIdx", "carParams"},
+                          {}, nullptr, replay_flags, data_dir, auto_source));
   replay->setSegmentCacheLimit(settings.max_cached_minutes);
   replay->installEventFilter([this](const Event *event) { return eventFilter(event); });
 
@@ -72,17 +72,17 @@ bool ReplayStream::loadRoute(const QString &route, const QString &data_dir, uint
                   "This will grant access to routes from your comma account.";
       } else {
         message = tr("Access Denied. You do not have permission to access route:\n\n%1\n\n"
-                     "This is likely a private route.").arg(route);
+                     "This is likely a private route.").arg(QString::fromStdString(route));
       }
       QMessageBox::warning(nullptr, tr("Access Denied"), message);
     } else if (replay->lastRouteError() == RouteLoadError::NetworkError) {
       QMessageBox::warning(nullptr, tr("Network Error"),
-                          tr("Unable to load the route:\n\n %1.\n\nPlease check your network connection and try again.").arg(route));
+                          tr("Unable to load the route:\n\n %1.\n\nPlease check your network connection and try again.").arg(QString::fromStdString(route)));
     } else if (replay->lastRouteError() == RouteLoadError::FileNotFound) {
       QMessageBox::warning(nullptr, tr("Route Not Found"),
-                           tr("The specified route could not be found:\n\n %1.\n\nPlease check the route name and try again.").arg(route));
+                           tr("The specified route could not be found:\n\n %1.\n\nPlease check the route name and try again.").arg(QString::fromStdString(route)));
     } else {
-      QMessageBox::warning(nullptr, tr("Route Load Failed"), tr("Failed to load route: '%1'").arg(route));
+      QMessageBox::warning(nullptr, tr("Route Load Failed"), tr("Failed to load route: '%1'").arg(QString::fromStdString(route)));
     }
   }
   return success;
@@ -168,7 +168,7 @@ AbstractStream *OpenReplayWidget::open() {
     if (cameras[2]->isChecked()) flags |= REPLAY_FLAG_ECAM;
     if (flags == REPLAY_FLAG_NONE && !cameras[0]->isChecked()) flags = REPLAY_FLAG_NO_VIPC;
 
-    if (replay_stream->loadRoute(route, data_dir, flags)) {
+    if (replay_stream->loadRoute(route.toStdString(), data_dir.toStdString(), flags)) {
       return replay_stream.release();
     }
   }

tools/cabana/streams/replaystream.h

@@ -18,12 +18,12 @@ class ReplayStream : public AbstractStream {
 public:
   ReplayStream(QObject *parent);
   void start() override { replay->start(); }
-  bool loadRoute(const QString &route, const QString &data_dir, uint32_t replay_flags = REPLAY_FLAG_NONE, bool auto_source = false);
+  bool loadRoute(const std::string &route, const std::string &data_dir, uint32_t replay_flags = REPLAY_FLAG_NONE, bool auto_source = false);
   bool eventFilter(const Event *event);
   void seekTo(double ts) override { replay->seekTo(std::max(double(0), ts), false); }
   bool liveStreaming() const override { return false; }
-  inline QString routeName() const override { return QString::fromStdString(replay->route().name()); }
-  inline QString carFingerprint() const override { return replay->carFingerprint().c_str(); }
+  inline std::string routeName() const override { return replay->route().name(); }
+  inline std::string carFingerprint() const override { return replay->carFingerprint(); }
   double minSeconds() const override { return replay->minSeconds(); }
   double maxSeconds() const { return replay->maxSeconds(); }
   inline QDateTime beginDateTime() const { return QDateTime::fromSecsSinceEpoch(replay->routeDateTime()); }

tools/cabana/streams/routes.cc

@@ -11,7 +11,7 @@
 #include <QMessageBox>
 #include <QPainter>
 #include <QPointer>
-#include <QtConcurrent>
+#include <thread>
 
 #include "tools/replay/py_downloader.h"
 
@@ -72,13 +72,12 @@ RoutesDialog::RoutesDialog(QWidget *parent) : QDialog(parent) {
 
   // Fetch devices
   QPointer<RoutesDialog> self = this;
-  QtConcurrent::run([self]() {
+  std::thread([self]() {
     std::string result = PyDownloader::getDevices();
-    auto [success, error_code] = checkApiResponse(result);
-    QMetaObject::invokeMethod(qApp, [self, r = QString::fromStdString(result), success, error_code]() {
-      if (self) self->parseDeviceList(r, success, error_code);
+    QMetaObject::invokeMethod(qApp, [self, r = QString::fromStdString(result), response = checkApiResponse(result)]() {
+      if (self) self->parseDeviceList(r, response.first, response.second);
     }, Qt::QueuedConnection);
-  });
+  }).detach();
 }
 
 void RoutesDialog::parseDeviceList(const QString &json, bool success, int error_code) {
@@ -114,14 +113,13 @@ void RoutesDialog::fetchRoutes() {
 
   int request_id = ++fetch_id_;
   QPointer<RoutesDialog> self = this;
-  QtConcurrent::run([self, did, start_ms, end_ms, preserved, request_id]() {
+  std::thread([self, did, start_ms, end_ms, preserved, request_id]() {
     std::string result = PyDownloader::getDeviceRoutes(did, start_ms, end_ms, preserved);
     if (!self || self->fetch_id_ != request_id) return;
-    auto [success, error_code] = checkApiResponse(result);
-    QMetaObject::invokeMethod(qApp, [self, r = QString::fromStdString(result), success, error_code, request_id]() {
-      if (self && self->fetch_id_ == request_id) self->parseRouteList(r, success, error_code);
+    QMetaObject::invokeMethod(qApp, [self, r = QString::fromStdString(result), response = checkApiResponse(result), request_id]() {
+      if (self && self->fetch_id_ == request_id) self->parseRouteList(r, response.first, response.second);
     }, Qt::QueuedConnection);
-  });
+  }).detach();
 }
 
 void RoutesDialog::parseRouteList(const QString &json, bool success, int error_code) {

tools/cabana/streams/socketcanstream.cc

@@ -1,6 +1,14 @@
 #include "tools/cabana/streams/socketcanstream.h"
 
+#include <linux/can.h>
+#include <linux/can/raw.h>
+#include <net/if.h>
+#include <sys/ioctl.h>
+#include <sys/socket.h>
+#include <unistd.h>
+
 #include <QDebug>
+#include <QDir>
 #include <QFormLayout>
 #include <QHBoxLayout>
 #include <QMessageBox>
@@ -9,59 +17,82 @@
 
 SocketCanStream::SocketCanStream(QObject *parent, SocketCanStreamConfig config_) : config(config_), LiveStream(parent) {
   if (!available()) {
-    throw std::runtime_error("SocketCAN plugin not available");
+    throw std::runtime_error("SocketCAN not available");
   }
 
-  qDebug() << "Connecting to SocketCAN device" << config.device;
+  qDebug() << "Connecting to SocketCAN device" << config.device.c_str();
   if (!connect()) {
     throw std::runtime_error("Failed to connect to SocketCAN device");
   }
 }
 
+SocketCanStream::~SocketCanStream() {
+  stop();
+  if (sock_fd >= 0) {
+    ::close(sock_fd);
+    sock_fd = -1;
+  }
+}
+
 bool SocketCanStream::available() {
-  return QCanBus::instance()->plugins().contains("socketcan");
+  int fd = socket(PF_CAN, SOCK_RAW, CAN_RAW);
+  if (fd < 0) return false;
+  ::close(fd);
+  return true;
 }
 
 bool SocketCanStream::connect() {
-  // Connecting might generate some warnings about missing socketcan/libsocketcan libraries
-  // These are expected and can be ignored, we don't need the advanced features of libsocketcan
-  QString errorString;
-  device.reset(QCanBus::instance()->createDevice("socketcan", config.device, &errorString));
-  device->setConfigurationParameter(QCanBusDevice::CanFdKey, true);
-
-  if (!device) {
-    qDebug() << "Failed to create SocketCAN device" << errorString;
+  sock_fd = socket(PF_CAN, SOCK_RAW, CAN_RAW);
+  if (sock_fd < 0) {
+    qDebug() << "Failed to create CAN socket";
     return false;
   }
 
-  if (!device->connectDevice()) {
-    qDebug() << "Failed to connect to device";
+  // Enable CAN-FD
+  int fd_enable = 1;
+  setsockopt(sock_fd, SOL_CAN_RAW, CAN_RAW_FD_FRAMES, &fd_enable, sizeof(fd_enable));
+
+  struct ifreq ifr = {};
+  strncpy(ifr.ifr_name, config.device.c_str(), IFNAMSIZ - 1);
+  if (ioctl(sock_fd, SIOCGIFINDEX, &ifr) < 0) {
+    qDebug() << "Failed to get interface index for" << config.device.c_str();
+    ::close(sock_fd);
+    sock_fd = -1;
     return false;
   }
 
+  struct sockaddr_can addr = {};
+  addr.can_family = AF_CAN;
+  addr.can_ifindex = ifr.ifr_ifindex;
+  if (bind(sock_fd, (struct sockaddr *)&addr, sizeof(addr)) < 0) {
+    qDebug() << "Failed to bind CAN socket";
+    ::close(sock_fd);
+    sock_fd = -1;
+    return false;
+  }
+
+  // Set read timeout so the thread can check for interruption
+  struct timeval tv = {.tv_sec = 0, .tv_usec = 100000};  // 100ms
+  setsockopt(sock_fd, SOL_SOCKET, SO_RCVTIMEO, &tv, sizeof(tv));
+
   return true;
 }
 
 void SocketCanStream::streamThread() {
-  while (!QThread::currentThread()->isInterruptionRequested()) {
-    QThread::msleep(1);
+  struct canfd_frame frame;
 
-    auto frames = device->readAllFrames();
-    if (frames.size() == 0) continue;
+  while (!QThread::currentThread()->isInterruptionRequested()) {
+    ssize_t nbytes = read(sock_fd, &frame, sizeof(frame));
+    if (nbytes <= 0) continue;
+
+    uint8_t len = (nbytes == CAN_MTU) ? frame.len : frame.len;  // works for both CAN and CAN-FD
 
     MessageBuilder msg;
     auto evt = msg.initEvent();
-    auto canData = evt.initCan(frames.size());
-
-    for (uint i = 0; i < frames.size(); i++) {
-      if (!frames[i].isValid()) continue;
-
-      canData[i].setAddress(frames[i].frameId());
-      canData[i].setSrc(0);
-
-      auto payload = frames[i].payload();
-      canData[i].setDat(kj::arrayPtr((uint8_t*)payload.data(), payload.size()));
-    }
+    auto canData = evt.initCan(1);
+    canData[0].setAddress(frame.can_id & CAN_EFF_MASK);
+    canData[0].setSrc(0);
+    canData[0].setDat(kj::arrayPtr(frame.data, len));
 
     handleEvent(capnp::messageToFlatArray(msg));
   }
@@ -87,7 +118,7 @@ OpenSocketCanWidget::OpenSocketCanWidget(QWidget *parent) : AbstractOpenStreamWi
   main_layout->addStretch(1);
 
   QObject::connect(refresh, &QPushButton::clicked, this, &OpenSocketCanWidget::refreshDevices);
-  QObject::connect(device_edit, &QComboBox::currentTextChanged, this, [=]{ config.device = device_edit->currentText(); });
+  QObject::connect(device_edit, &QComboBox::currentTextChanged, this, [=]{ config.device = device_edit->currentText().toStdString(); });
 
   // Populate devices
   refreshDevices();
@@ -95,12 +126,19 @@ OpenSocketCanWidget::OpenSocketCanWidget(QWidget *parent) : AbstractOpenStreamWi
 
 void OpenSocketCanWidget::refreshDevices() {
   device_edit->clear();
-  for (auto device : QCanBus::instance()->availableDevices(QStringLiteral("socketcan"))) {
-    device_edit->addItem(device.name());
+  // Scan /sys/class/net/ for CAN interfaces (type 280 = ARPHRD_CAN)
+  QDir net_dir("/sys/class/net");
+  for (const auto &iface : net_dir.entryList(QDir::Dirs | QDir::NoDotAndDotDot)) {
+    QFile type_file(net_dir.filePath(iface) + "/type");
+    if (type_file.open(QIODevice::ReadOnly)) {
+      int type = type_file.readAll().trimmed().toInt();
+      if (type == 280) {
+        device_edit->addItem(iface);
+      }
+    }
   }
 }
 
-
 AbstractStream *OpenSocketCanWidget::open() {
   try {
     return new SocketCanStream(qApp, config);

tools/cabana/streams/socketcanstream.h

@@ -1,27 +1,22 @@
 #pragma once
 
-#include <memory>
-
-#include <QtSerialBus/QCanBus>
-#include <QtSerialBus/QCanBusDevice>
-#include <QtSerialBus/QCanBusDeviceInfo>
 #include <QComboBox>
 
 #include "tools/cabana/streams/livestream.h"
 
 struct SocketCanStreamConfig {
-  QString device = ""; // TODO: support multiple devices/buses at once
+  std::string device = ""; // TODO: support multiple devices/buses at once
 };
 
 class SocketCanStream : public LiveStream {
   Q_OBJECT
 public:
   SocketCanStream(QObject *parent, SocketCanStreamConfig config_ = {});
-  ~SocketCanStream() { stop(); }
+  ~SocketCanStream();
   static bool available();
 
-  inline QString routeName() const override {
-    return QString("Live Streaming From Socket CAN %1").arg(config.device);
+  inline std::string routeName() const override {
+    return "Live Streaming From Socket CAN " + config.device;
   }
 
 protected:
@@ -29,7 +24,7 @@ protected:
   bool connect();
 
   SocketCanStreamConfig config = {};
-  std::unique_ptr<QCanBusDevice> device;
+  int sock_fd = -1;
 };
 
 class OpenSocketCanWidget : public AbstractOpenStreamWidget {

tools/cabana/tests/test_cabana.cc

@@ -8,7 +8,7 @@
 const std::string TEST_RLOG_URL = "https://commadataci.blob.core.windows.net/openpilotci/0c94aa1e1296d7c6/2021-05-05--19-48-37/0/rlog.bz2";
 
 TEST_CASE("DBCFile::generateDBC") {
-  QString fn = QString("%1/%2.dbc").arg(OPENDBC_FILE_PATH, "tesla_can");
+  std::string fn = std::string(OPENDBC_FILE_PATH) + "/tesla_can.dbc";
   DBCFile dbc_origin(fn);
   DBCFile dbc_from_generated("", dbc_origin.generateDBC());
 
@@ -30,7 +30,7 @@ TEST_CASE("DBCFile::generateDBC") {
 
 TEST_CASE("DBCFile::generateDBC - comment order") {
   // Ensure that message comments are followed by signal comments and in the correct order
-  auto content = R"(BO_ 160 message_1: 8 EON
+  std::string content = R"(BO_ 160 message_1: 8 EON
  SG_ signal_1 : 0|12@1+ (1,0) [0|4095] "unit" XXX
 
 BO_ 162 message_2: 8 EON
@@ -46,7 +46,7 @@ CM_ SG_ 162 signal_2 "signal comment";
 }
 
 TEST_CASE("DBCFile::generateDBC -- preserve original header") {
-  QString content = R"(VERSION "1.0"
+  std::string content = R"(VERSION "1.0"
 
 NS_ :
  CM_
@@ -66,7 +66,7 @@ CM_ SG_ 160 signal_1 "signal comment";
 }
 
 TEST_CASE("DBCFile::generateDBC - escaped quotes") {
-  QString content = R"(BO_ 160 message_1: 8 EON
+  std::string content = R"(BO_ 160 message_1: 8 EON
  SG_ signal_1 : 0|12@1+ (1,0) [0|4095] "unit" XXX
 
 CM_ BO_ 160 "message comment with \"escaped quotes\"";
@@ -77,7 +77,7 @@ CM_ SG_ 160 signal_1 "signal comment with \"escaped quotes\"";
 }
 
 TEST_CASE("parse_dbc") {
-  QString content = R"(
+  std::string content = R"(
 BO_ 160 message_1: 8 EON
   SG_ signal_1 : 0|12@1+ (1,0) [0|4095] "unit"  XXX
   SG_ signal_2 : 12|1@1+ (1.0,0.0) [0.0|1] ""  XXX
@@ -119,9 +119,9 @@ CM_ SG_ 162 signal_1 "signal comment with \"escaped quotes\"";
   REQUIRE(sig_1->comment == "signal comment");
   REQUIRE(sig_1->receiver_name == "XXX");
   REQUIRE(sig_1->val_desc.size() == 3);
-  REQUIRE(sig_1->val_desc[0] == std::pair<double, QString>{0, "disabled"});
-  REQUIRE(sig_1->val_desc[1] == std::pair<double, QString>{1.2, "initializing"});
-  REQUIRE(sig_1->val_desc[2] == std::pair<double, QString>{2, "fault"});
+  REQUIRE(sig_1->val_desc[0] == std::pair<double, std::string>{0, "disabled"});
+  REQUIRE(sig_1->val_desc[1] == std::pair<double, std::string>{1.2, "initializing"});
+  REQUIRE(sig_1->val_desc[2] == std::pair<double, std::string>{2, "fault"});
 
   auto &sig_2 = msg->sigs[1];
   REQUIRE(sig_2->comment == "multiple line comment \n1\n2");
@@ -147,7 +147,7 @@ TEST_CASE("parse_opendbc") {
   QStringList errors;
   for (auto fn : dir.entryList({"*.dbc"}, QDir::Files, QDir::Name)) {
     try {
-      auto dbc = DBCFile(dir.filePath(fn));
+      auto dbc = DBCFile(dir.filePath(fn).toStdString());
     } catch (std::exception &e) {
       errors.push_back(e.what());
     }

tools/cabana/tools/findsignal.cc

@@ -1,10 +1,11 @@
 #include "tools/cabana/tools/findsignal.h"
 
+#include <thread>
+
 #include <QFormLayout>
 #include <QHBoxLayout>
 #include <QHeaderView>
 #include <QMenu>
-#include <QtConcurrent>
 #include <QTimer>
 #include <QVBoxLayout>
 
@@ -20,7 +21,7 @@ QVariant FindSignalModel::data(const QModelIndex &index, int role) const {
   if (role == Qt::DisplayRole) {
     const auto &s = filtered_signals[index.row()];
     switch (index.column()) {
-      case 0: return s.id.toString();
+      case 0: return QString::fromStdString(s.id.toString());
       case 1: return QString("%1, %2").arg(s.sig.start_bit).arg(s.sig.size);
       case 2: return s.values.join(" ");
     }
@@ -32,36 +33,49 @@ void FindSignalModel::search(std::function<bool(double)> cmp) {
   beginResetModel();
 
   std::mutex lock;
-  const auto prev_sigs = !histories.isEmpty() ? histories.back() : initial_signals;
+  const auto prev_sigs = !histories.empty() ? histories.back() : initial_signals;
   filtered_signals.clear();
   filtered_signals.reserve(prev_sigs.size());
-  QtConcurrent::blockingMap(prev_sigs, [&](auto &s) {
-    const auto &events = can->events(s.id);
-    auto first = std::upper_bound(events.cbegin(), events.cend(), s.mono_time, CompareCanEvent());
-    auto last = events.cend();
-    if (last_time < std::numeric_limits<uint64_t>::max()) {
-      last = std::upper_bound(events.cbegin(), events.cend(), last_time, CompareCanEvent());
-    }
 
-    auto it = std::find_if(first, last, [&](const CanEvent *e) { return cmp(get_raw_value(e->dat, e->size, s.sig)); });
-    if (it != last) {
-      auto values = s.values;
-      values += QString("(%1, %2)").arg(can->toSeconds((*it)->mono_time), 0, 'f', 3).arg(get_raw_value((*it)->dat, (*it)->size, s.sig));
-      std::lock_guard lk(lock);
-      filtered_signals.push_back({.id = s.id, .mono_time = (*it)->mono_time, .sig = s.sig, .values = values});
-    }
-  });
+  unsigned int num_threads = std::max(1u, std::thread::hardware_concurrency());
+  size_t chunk = (prev_sigs.size() + num_threads - 1) / num_threads;
+  std::vector<std::thread> threads;
+  for (unsigned int t = 0; t < num_threads && t * chunk < (size_t)prev_sigs.size(); ++t) {
+    size_t start = t * chunk;
+    size_t end = std::min(start + chunk, (size_t)prev_sigs.size());
+    threads.emplace_back([&, start, end]() {
+      for (size_t i = start; i < end; ++i) {
+        const auto &s = prev_sigs[i];
+        const auto &events = can->events(s.id);
+        auto first = std::upper_bound(events.cbegin(), events.cend(), s.mono_time, CompareCanEvent());
+        auto last = events.cend();
+        if (last_time < std::numeric_limits<uint64_t>::max()) {
+          last = std::upper_bound(events.cbegin(), events.cend(), last_time, CompareCanEvent());
+        }
+
+        auto it = std::find_if(first, last, [&](const CanEvent *e) { return cmp(get_raw_value(e->dat, e->size, s.sig)); });
+        if (it != last) {
+          auto values = s.values;
+          values += QString("(%1, %2)").arg(can->toSeconds((*it)->mono_time), 0, 'f', 3).arg(get_raw_value((*it)->dat, (*it)->size, s.sig));
+          std::lock_guard lk(lock);
+          filtered_signals.push_back({.id = s.id, .mono_time = (*it)->mono_time, .sig = s.sig, .values = values});
+        }
+      }
+    });
+  }
+  for (auto &th : threads) th.join();
+
   histories.push_back(filtered_signals);
 
   endResetModel();
 }
 
 void FindSignalModel::undo() {
-  if (!histories.isEmpty()) {
+  if (!histories.empty()) {
     beginResetModel();
     histories.pop_back();
     filtered_signals.clear();
-    if (!histories.isEmpty()) filtered_signals = histories.back();
+    if (!histories.empty()) filtered_signals = histories.back();
     endResetModel();
   }
 }
@@ -172,7 +186,7 @@ FindSignalDlg::FindSignalDlg(QWidget *parent) : QDialog(parent, Qt::WindowFlags(
 }
 
 void FindSignalDlg::search() {
-  if (model->histories.isEmpty()) {
+  if (model->histories.empty()) {
     setInitialSignals();
   }
   auto v1 = value1->text().toDouble();
@@ -246,12 +260,12 @@ void FindSignalDlg::setInitialSignals() {
 }
 
 void FindSignalDlg::modelReset() {
-  properties_group->setEnabled(model->histories.isEmpty());
-  message_group->setEnabled(model->histories.isEmpty());
-  search_btn->setText(model->histories.isEmpty() ? tr("Find") : tr("Find Next"));
-  reset_btn->setEnabled(!model->histories.isEmpty());
+  properties_group->setEnabled(model->histories.empty());
+  message_group->setEnabled(model->histories.empty());
+  search_btn->setText(model->histories.empty() ? tr("Find") : tr("Find Next"));
+  reset_btn->setEnabled(!model->histories.empty());
   undo_btn->setEnabled(model->histories.size() > 1);
-  search_btn->setEnabled(model->rowCount() > 0 || model->histories.isEmpty());
+  search_btn->setEnabled(model->rowCount() > 0 || model->histories.empty());
   stats_label->setVisible(true);
   stats_label->setText(tr("%1 matches. right click on an item to create signal. double click to open message").arg(model->filtered_signals.size()));
 }

tools/cabana/tools/findsignal.h

@@ -2,6 +2,8 @@
 
 #include <algorithm>
 #include <limits>
+#include <string>
+#include <vector>
 
 #include <QAbstractTableModel>
 #include <QCheckBox>
@@ -26,14 +28,14 @@ public:
   QVariant headerData(int section, Qt::Orientation orientation, int role = Qt::DisplayRole) const override;
   QVariant data(const QModelIndex &index, int role = Qt::DisplayRole) const override;
   int columnCount(const QModelIndex &parent = QModelIndex()) const override { return 3; }
-  int rowCount(const QModelIndex &parent = QModelIndex()) const override { return std::min(filtered_signals.size(), 300); }
+  int rowCount(const QModelIndex &parent = QModelIndex()) const override { return std::min((int)filtered_signals.size(), 300); }
   void search(std::function<bool(double)> cmp);
   void reset();
   void undo();
 
-  QList<SearchSignal> filtered_signals;
-  QList<SearchSignal> initial_signals;
-  QList<QList<SearchSignal>> histories;
+  std::vector<SearchSignal> filtered_signals;
+  std::vector<SearchSignal> initial_signals;
+  std::vector<std::vector<SearchSignal>> histories;
   uint64_t last_time = std::numeric_limits<uint64_t>::max();
 };
 

tools/cabana/tools/findsimilarbits.cc

@@ -1,6 +1,7 @@
 #include "tools/cabana/tools/findsimilarbits.h"
 
 #include <algorithm>
+#include <unordered_map>
 
 #include <QGridLayout>
 #include <QHeaderView>
@@ -31,7 +32,7 @@ FindSimilarBitsDlg::FindSimilarBitsDlg(QWidget *parent) : QDialog(parent, Qt::Wi
   msg_cb = new QComboBox(this);
   // TODO: update when src_bus_combo changes
   for (auto &[address, msg] : dbc()->getMessages(-1)) {
-    msg_cb->addItem(msg.name, address);
+    msg_cb->addItem(QString::fromStdString(msg.name), address);
   }
   msg_cb->model()->sort(0);
   msg_cb->setCurrentIndex(0);
@@ -114,10 +115,10 @@ void FindSimilarBitsDlg::find() {
   search_btn->setEnabled(true);
 }
 
-QList<FindSimilarBitsDlg::mismatched_struct> FindSimilarBitsDlg::calcBits(uint8_t bus, uint32_t selected_address, int byte_idx,
-                                                                          int bit_idx, uint8_t find_bus, bool equal, int min_msgs_cnt) {
-  QHash<uint32_t, QVector<uint32_t>> mismatches;
-  QHash<uint32_t, uint32_t> msg_count;
+std::vector<FindSimilarBitsDlg::mismatched_struct> FindSimilarBitsDlg::calcBits(uint8_t bus, uint32_t selected_address, int byte_idx,
+                                                                               int bit_idx, uint8_t find_bus, bool equal, int min_msgs_cnt) {
+  std::unordered_map<uint32_t, std::vector<uint32_t>> mismatches;
+  std::unordered_map<uint32_t, uint32_t> msg_count;
   const auto &events = can->allEvents();
   int bit_to_find = -1;
   for (const CanEvent *e : events) {
@@ -143,14 +144,14 @@ QList<FindSimilarBitsDlg::mismatched_struct> FindSimilarBitsDlg::calcBits(uint8_
     }
   }
 
-  QList<mismatched_struct> result;
+  std::vector<mismatched_struct> result;
   result.reserve(mismatches.size());
   for (auto it = mismatches.begin(); it != mismatches.end(); ++it) {
-    if (auto cnt = msg_count[it.key()]; cnt > min_msgs_cnt) {
-      auto &mismatched = it.value();
-      for (int i = 0; i < mismatched.size(); ++i) {
+    if (auto cnt = msg_count[it->first]; cnt > (uint32_t)min_msgs_cnt) {
+      auto &mismatched = it->second;
+      for (int i = 0; i < (int)mismatched.size(); ++i) {
         if (float perc = (mismatched[i] / (double)cnt) * 100; perc < 50) {
-          result.push_back({it.key(), (uint32_t)i / 8, (uint32_t)i % 8, mismatched[i], cnt, perc});
+          result.push_back({it->first, (uint32_t)i / 8, (uint32_t)i % 8, mismatched[i], cnt, perc});
         }
       }
     }

tools/cabana/tools/findsimilarbits.h

@@ -1,5 +1,7 @@
 #pragma once
 
+#include <vector>
+
 #include <QComboBox>
 #include <QDialog>
 #include <QLineEdit>
@@ -22,7 +24,7 @@ private:
     uint32_t address, byte_idx, bit_idx, mismatches, total;
     float perc;
   };
-  QList<mismatched_struct> calcBits(uint8_t bus, uint32_t selected_address, int byte_idx, int bit_idx, uint8_t find_bus,
+  std::vector<mismatched_struct> calcBits(uint8_t bus, uint32_t selected_address, int byte_idx, int bit_idx, uint8_t find_bus,
                                     bool equal, int min_msgs_cnt);
   void find();
 

tools/cabana/utils/export.cc

@@ -26,7 +26,7 @@ void exportSignalsToCSV(const QString &file_name, const MessageId &msg_id) {
     QTextStream stream(&file);
     stream << "time,addr,bus";
     for (auto s : msg->sigs)
-      stream << "," << s->name;
+      stream << "," << s->name.c_str();
     stream << "\n";
 
     for (auto e : can->events(msg_id)) {

tools/cabana/utils/util.cc

@@ -17,8 +17,7 @@
 #include <QSurfaceFormat>
 #include <QFileInfo>
 #include <QPainterPath>
-#include <QTextStream>
-#include <QtXml/QDomDocument>
+#include <unordered_map>
 #include "common/util.h"
 
 // SegmentTree
@@ -278,7 +277,7 @@ QString signalToolTip(const cabana::Signal *sig) {
     Start Bit: %2 Size: %3<br />
     MSB: %4 LSB: %5<br />
     Little Endian: %6 Signed: %7</span>
-  )").arg(sig->name).arg(sig->start_bit).arg(sig->size).arg(sig->msb).arg(sig->lsb)
+  )").arg(QString::fromStdString(sig->name)).arg(sig->start_bit).arg(sig->size).arg(sig->msb).arg(sig->lsb)
      .arg(sig->is_little_endian ? "Y" : "N").arg(sig->is_signed ? "Y" : "N");
 }
 
@@ -325,36 +324,49 @@ void initApp(int argc, char *argv[], bool disable_hidpi) {
   setSurfaceFormat();
 }
 
-static QHash<QString, QByteArray> load_bootstrap_icons() {
-  QHash<QString, QByteArray> icons;
+static std::unordered_map<std::string, std::string> load_bootstrap_icons() {
+  std::unordered_map<std::string, std::string> icons;
 
   QFile f(":/bootstrap-icons.svg");
   if (f.open(QIODevice::ReadOnly | QIODevice::Text)) {
-    QDomDocument xml;
-    xml.setContent(&f);
-    QDomNode n = xml.documentElement().firstChild();
-    while (!n.isNull()) {
-      QDomElement e = n.toElement();
-      if (!e.isNull() && e.hasAttribute("id")) {
-        QString svg_str;
-        QTextStream stream(&svg_str);
-        n.save(stream, 0);
-        svg_str.replace("<symbol", "<svg");
-        svg_str.replace("</symbol>", "</svg>");
-        icons[e.attribute("id")] = svg_str.toUtf8();
+    std::string content = f.readAll().toStdString();
+    const std::string sym_open = "<symbol ";
+    const std::string sym_close = "</symbol>";
+    const std::string id_attr = "id=\"";
+
+    size_t pos = 0;
+    while ((pos = content.find(sym_open, pos)) != std::string::npos) {
+      size_t end = content.find(sym_close, pos);
+      if (end == std::string::npos) break;
+      end += sym_close.size();
+
+      // extract id
+      size_t id_start = content.find(id_attr, pos);
+      if (id_start != std::string::npos && id_start < end) {
+        id_start += id_attr.size();
+        size_t id_end = content.find('"', id_start);
+        if (id_end != std::string::npos && id_end < end) {
+          std::string id = content.substr(id_start, id_end - id_start);
+          std::string svg_str = content.substr(pos, end - pos);
+          // replace <symbol with <svg, </symbol> with </svg>
+          svg_str.replace(0, 7, "<svg");               // "<symbol" (7) -> "<svg" (4)
+          svg_str.replace(svg_str.size() - 9, 9, "</svg>");  // "</symbol>" (9) -> "</svg>" (6)
+          icons[id] = std::move(svg_str);
+        }
       }
-      n = n.nextSibling();
+      pos = end;
     }
   }
   return icons;
 }
 
 QPixmap bootstrapPixmap(const QString &id) {
-  static QHash<QString, QByteArray> icons = load_bootstrap_icons();
+  static auto icons = load_bootstrap_icons();
 
   QPixmap pixmap;
-  if (auto it = icons.find(id); it != icons.end()) {
-    pixmap.loadFromData(it.value(), "svg");
+  auto it = icons.find(id.toStdString());
+  if (it != icons.end()) {
+    pixmap.loadFromData((const uchar *)it->second.data(), it->second.size(), "svg");
   }
   return pixmap;
 }

tools/cabana/videowidget.cc

@@ -1,6 +1,7 @@
 #include "tools/cabana/videowidget.h"
 
 #include <algorithm>
+#include <thread>
 
 #include <QAction>
 #include <QActionGroup>
@@ -9,7 +10,6 @@
 #include <QPainter>
 #include <QStyleOptionSlider>
 #include <QVBoxLayout>
-#include <QtConcurrent>
 
 #include "tools/cabana/tools/routeinfo.h"
 
@@ -334,19 +334,31 @@ StreamCameraView::StreamCameraView(std::string stream_name, VisionStreamType str
 
 void StreamCameraView::parseQLog(std::shared_ptr<LogReader> qlog) {
   std::mutex mutex;
-  QtConcurrent::blockingMap(qlog->events.cbegin(), qlog->events.cend(), [this, &mutex](const Event &e) {
-    if (e.which == cereal::Event::Which::THUMBNAIL) {
-      capnp::FlatArrayMessageReader reader(e.data);
-      auto thumb_data = reader.getRoot<cereal::Event>().getThumbnail();
-      auto image_data = thumb_data.getThumbnail();
-      if (QPixmap thumb; thumb.loadFromData(image_data.begin(), image_data.size(), "jpeg")) {
-        QPixmap generated_thumb = generateThumbnail(thumb, can->toSeconds(thumb_data.getTimestampEof()));
-        std::lock_guard lock(mutex);
-        thumbnails[thumb_data.getTimestampEof()] = generated_thumb;
-        big_thumbnails[thumb_data.getTimestampEof()] = thumb;
+  const auto &events = qlog->events;
+  unsigned int num_threads = std::max(1u, std::thread::hardware_concurrency());
+  size_t chunk = (events.size() + num_threads - 1) / num_threads;
+  std::vector<std::thread> threads;
+  for (unsigned int t = 0; t < num_threads && t * chunk < events.size(); ++t) {
+    size_t start = t * chunk;
+    size_t end = std::min(start + chunk, events.size());
+    threads.emplace_back([this, &mutex, &events, start, end]() {
+      for (size_t i = start; i < end; ++i) {
+        const Event &e = events[i];
+        if (e.which == cereal::Event::Which::THUMBNAIL) {
+          capnp::FlatArrayMessageReader reader(e.data);
+          auto thumb_data = reader.getRoot<cereal::Event>().getThumbnail();
+          auto image_data = thumb_data.getThumbnail();
+          if (QPixmap thumb; thumb.loadFromData(image_data.begin(), image_data.size(), "jpeg")) {
+            QPixmap generated_thumb = generateThumbnail(thumb, can->toSeconds(thumb_data.getTimestampEof()));
+            std::lock_guard lock(mutex);
+            thumbnails[thumb_data.getTimestampEof()] = generated_thumb;
+            big_thumbnails[thumb_data.getTimestampEof()] = thumb;
+          }
+        }
       }
-    }
-  });
+    });
+  }
+  for (auto &th : threads) th.join();
   update();
 }
 
@@ -384,9 +396,9 @@ QPixmap StreamCameraView::generateThumbnail(QPixmap thumb, double seconds) {
 
 void StreamCameraView::drawScrubThumbnail(QPainter &p) {
   p.fillRect(rect(), Qt::black);
-  auto it = big_thumbnails.lowerBound(can->toMonoTime(thumbnail_dispaly_time));
+  auto it = big_thumbnails.lower_bound(can->toMonoTime(thumbnail_dispaly_time));
   if (it != big_thumbnails.end()) {
-    QPixmap scaled_thumb = it.value().scaled(rect().size(), Qt::KeepAspectRatio, Qt::SmoothTransformation);
+    QPixmap scaled_thumb = it->second.scaled(rect().size(), Qt::KeepAspectRatio, Qt::SmoothTransformation);
     QRect thumb_rect(rect().center() - scaled_thumb.rect().center(), scaled_thumb.size());
     p.drawPixmap(thumb_rect.topLeft(), scaled_thumb);
     drawTime(p, thumb_rect, thumbnail_dispaly_time);
@@ -394,9 +406,9 @@ void StreamCameraView::drawScrubThumbnail(QPainter &p) {
 }
 
 void StreamCameraView::drawThumbnail(QPainter &p) {
-  auto it = thumbnails.lowerBound(can->toMonoTime(thumbnail_dispaly_time));
+  auto it = thumbnails.lower_bound(can->toMonoTime(thumbnail_dispaly_time));
   if (it != thumbnails.end()) {
-    const QPixmap &thumb = it.value();
+    const QPixmap &thumb = it->second;
     auto [min_sec, max_sec] = can->timeRange().value_or(std::make_pair(can->minSeconds(), can->maxSeconds()));
     int pos = (thumbnail_dispaly_time - min_sec) * width() / (max_sec - min_sec);
     int x = std::clamp(pos - thumb.width() / 2, THUMBNAIL_MARGIN, width() - thumb.width() - THUMBNAIL_MARGIN + 1);

tools/cabana/videowidget.h

@@ -1,5 +1,6 @@
 #pragma once
 
+#include <map>
 #include <memory>
 #include <set>
 #include <string>
@@ -47,8 +48,8 @@ private:
   void drawTime(QPainter &p, const QRect &rect, double seconds);
 
   QPropertyAnimation *fade_animation;
-  QMap<uint64_t, QPixmap> big_thumbnails;
-  QMap<uint64_t, QPixmap> thumbnails;
+  std::map<uint64_t, QPixmap> big_thumbnails;
+  std::map<uint64_t, QPixmap> thumbnails;
   double thumbnail_dispaly_time = -1;
   friend class VideoWidget;
 };

tools/jotpluggler/README.md

@@ -1,67 +0,0 @@
-# JotPluggler
-
-JotPluggler is a tool to quickly visualize openpilot logs.
-
-## Usage
-
-```
-$ ./jotpluggler/pluggle.py -h
-usage: pluggle.py [-h] [--demo] [--layout LAYOUT] [route]
-
-A tool for visualizing openpilot logs.
-
-positional arguments:
-  route            Optional route name to load on startup.
-
-options:
-  -h, --help       show this help message and exit
-  --demo           Use the demo route instead of providing one
-  --layout LAYOUT  Path to YAML layout file to load on startup
-```
-
-Example using route name:
-
-`./pluggle.py "5beb9b58bd12b691/0000010a--a51155e496"`
-
-Examples using segment:
-
-`./pluggle.py "5beb9b58bd12b691/0000010a--a51155e496/1"`
-
-`./pluggle.py "5beb9b58bd12b691/0000010a--a51155e496/1/q" # use qlogs`
-
-Example using segment range:
-
-`./pluggle.py "5beb9b58bd12b691/0000010a--a51155e496/0:1"`
-
-## Demo
-
-For a quick demo, run this command:
-
-`./pluggle.py --demo --layout=layouts/torque-controller.yaml`
-
-
-## Basic Usage/Features:
-- The text box to load a route is a the top left of the page, accepts standard openpilot format routes (e.g. `5beb9b58bd12b691/0000010a--a51155e496/0:1`, `https://connect.comma.ai/5beb9b58bd12b691/0000010a--a51155e496/`)
-- The Play/Pause button is at the bottom of the screen, you can drag the bottom slider to seek. The timeline in timeseries plots are synced with the slider.
-- The Timeseries List sidebar has several dropdowns, the fields each show the field name and value, synced with the timeline (will show N/A until the time of the first message in that field is reached).
-- There is a search bar for the timeseries list, you can search for structs or fields, or both by separating with a "/"
-- You can drag and drop any numeric/boolean field from the timeseries list into a timeseries panel.
-- You can create more panels with the split buttons (buttons with two rectangles, either horizontal or vertical). You can resize the panels by dragging the grip in between any panel.
-- You can load and save layouts with the corresponding buttons. Layouts will save all tabs, panels, titles, timeseries, etc.
-
-## Layouts
-
-If you create a layout that's useful for others, consider upstreaming it.
-
-## Plot Interaction Controls
-
-- **Left click and drag within the plot area** to pan X
-  - Left click and drag on an axis to pan an individual axis (disabled for Y-axis)
-- **Scroll in the plot area** to zoom in X axes, Y-axis is autofit
-  - Scroll on an axis to zoom an individual axis
-- **Right click and drag** to select data and zoom into the selected data
-  - Left click while box selecting to cancel the selection
-- **Double left click** to fit all visible data
-  - Double left click on an axis to fit the individual axis (disabled for Y-axis, always autofit)
-- **Double right click** to open the plot context menu
-- **Click legend label icons** to show/hide plot items

tools/jotpluggler/data.py

@@ -1,360 +0,0 @@
-import numpy as np
-import threading
-import multiprocessing
-import bisect
-from collections import defaultdict
-from tqdm import tqdm
-from openpilot.common.swaglog import cloudlog
-from openpilot.selfdrive.test.process_replay.migration import migrate_all
-from openpilot.tools.lib.logreader import _LogFileReader, LogReader
-
-
-def flatten_dict(d: dict, sep: str = "/", prefix: str | None = None) -> dict:
-  result = {}
-  stack: list[tuple] = [(d, prefix)]
-
-  while stack:
-    obj, current_prefix = stack.pop()
-
-    if isinstance(obj, dict):
-      for key, val in obj.items():
-        new_prefix = key if current_prefix is None else f"{current_prefix}{sep}{key}"
-        if isinstance(val, (dict, list)):
-          stack.append((val, new_prefix))
-        else:
-          result[new_prefix] = val
-    elif isinstance(obj, list):
-      for i, item in enumerate(obj):
-        new_prefix = f"{current_prefix}{sep}{i}"
-        if isinstance(item, (dict, list)):
-          stack.append((item, new_prefix))
-        else:
-          result[new_prefix] = item
-    else:
-      if current_prefix is not None:
-        result[current_prefix] = obj
-  return result
-
-
-def extract_field_types(schema, prefix, field_types_dict):
-  stack = [(schema, prefix)]
-
-  while stack:
-    current_schema, current_prefix = stack.pop()
-
-    for field in current_schema.fields_list:
-      field_name = field.proto.name
-      field_path = f"{current_prefix}/{field_name}"
-      field_proto = field.proto
-      field_which = field_proto.which()
-
-      field_type = field_proto.slot.type.which() if field_which == 'slot' else field_which
-      field_types_dict[field_path] = field_type
-
-      if field_which == 'slot':
-        slot_type = field_proto.slot.type
-        type_which = slot_type.which()
-
-        if type_which == 'list':
-          element_type = slot_type.list.elementType.which()
-          list_path = f"{field_path}/*"
-          field_types_dict[list_path] = element_type
-
-          if element_type == 'struct':
-            stack.append((field.schema.elementType, list_path))
-
-        elif type_which == 'struct':
-          stack.append((field.schema, field_path))
-
-      elif field_which == 'group':
-        stack.append((field.schema, field_path))
-
-
-def _convert_to_optimal_dtype(values_list, capnp_type):
-  dtype_mapping = {
-    'bool': np.bool_, 'int8': np.int8, 'int16': np.int16, 'int32': np.int32, 'int64': np.int64,
-    'uint8': np.uint8, 'uint16': np.uint16, 'uint32': np.uint32, 'uint64': np.uint64,
-    'float32': np.float32, 'float64': np.float64, 'text': object, 'data': object,
-    'enum': object, 'anyPointer': object,
-  }
-
-  target_dtype = dtype_mapping.get(capnp_type, object)
-  return np.array(values_list, dtype=target_dtype)
-
-
-def _match_field_type(field_path, field_types):
-  if field_path in field_types:
-    return field_types[field_path]
-
-  path_parts = field_path.split('/')
-  template_parts = [p if not p.isdigit() else '*' for p in path_parts]
-  template_path = '/'.join(template_parts)
-  return field_types.get(template_path)
-
-
-def _get_field_times_values(segment, field_name):
-  if field_name not in segment:
-    return None, None
-
-  field_data = segment[field_name]
-  segment_times = segment['t']
-
-  if field_data['sparse']:
-    if len(field_data['t_index']) == 0:
-      return None, None
-    return segment_times[field_data['t_index']], field_data['values']
-  else:
-    return segment_times, field_data['values']
-
-
-def msgs_to_time_series(msgs):
-  """Extract scalar fields and return (time_series_data, start_time, end_time)."""
-  collected_data = defaultdict(lambda: {'timestamps': [], 'columns': defaultdict(list), 'sparse_fields': set()})
-  field_types = {}
-  extracted_schemas = set()
-  min_time = max_time = None
-
-  for msg in msgs:
-    typ = msg.which()
-    timestamp = msg.logMonoTime * 1e-9
-    if typ != 'initData':
-      if min_time is None:
-        min_time = timestamp
-      max_time = timestamp
-
-    sub_msg = getattr(msg, typ)
-    if not hasattr(sub_msg, 'to_dict'):
-      continue
-
-    if hasattr(sub_msg, 'schema') and typ not in extracted_schemas:
-      extract_field_types(sub_msg.schema, typ, field_types)
-      extracted_schemas.add(typ)
-
-    try:
-      msg_dict = sub_msg.to_dict(verbose=True)
-    except Exception as e:
-      cloudlog.warning(f"Failed to convert sub_msg.to_dict() for message of type: {typ}: {e}")
-      continue
-
-    flat_dict = flatten_dict(msg_dict)
-    flat_dict['_valid'] = msg.valid
-    field_types[f"{typ}/_valid"] = 'bool'
-
-    type_data = collected_data[typ]
-    columns, sparse_fields = type_data['columns'], type_data['sparse_fields']
-    known_fields = set(columns.keys())
-    missing_fields = known_fields - flat_dict.keys()
-
-    for field, value in flat_dict.items():
-      if field not in known_fields and type_data['timestamps']:
-        sparse_fields.add(field)
-      columns[field].append(value)
-      if value is None:
-        sparse_fields.add(field)
-
-    for field in missing_fields:
-      columns[field].append(None)
-      sparse_fields.add(field)
-
-    type_data['timestamps'].append(timestamp)
-
-  final_result = {}
-  for typ, data in collected_data.items():
-    if not data['timestamps']:
-      continue
-
-    typ_result = {'t': np.array(data['timestamps'], dtype=np.float64)}
-    sparse_fields = data['sparse_fields']
-
-    for field_name, values in data['columns'].items():
-      if len(values) < len(data['timestamps']):
-        values = [None] * (len(data['timestamps']) - len(values)) + values
-        sparse_fields.add(field_name)
-
-      capnp_type = _match_field_type(f"{typ}/{field_name}", field_types)
-
-      if field_name in sparse_fields:  # extract non-None values and their indices
-        non_none_indices = []
-        non_none_values = []
-        for i, value in enumerate(values):
-          if value is not None:
-            non_none_indices.append(i)
-            non_none_values.append(value)
-
-        if non_none_values: # check if indices > uint16 max, currently would require a 1000+ Hz signal since indices are within segments
-          assert max(non_none_indices) <= 65535, f"Sparse field {typ}/{field_name} has timestamp indices exceeding uint16 max. Max: {max(non_none_indices)}"
-
-        typ_result[field_name] = {
-          'values': _convert_to_optimal_dtype(non_none_values, capnp_type),
-          'sparse': True,
-          't_index': np.array(non_none_indices, dtype=np.uint16),
-        }
-      else:  # dense representation
-        typ_result[field_name] = {'values': _convert_to_optimal_dtype(values, capnp_type), 'sparse': False}
-
-    final_result[typ] = typ_result
-
-  return final_result, min_time or 0.0, max_time or 0.0
-
-
-def _process_segment(segment_identifier: str):
-  try:
-    lr = _LogFileReader(segment_identifier, sort_by_time=True)
-    migrated_msgs = migrate_all(lr)
-    return msgs_to_time_series(migrated_msgs)
-  except Exception as e:
-    cloudlog.warning(f"Warning: Failed to process segment {segment_identifier}: {e}")
-    return {}, 0.0, 0.0
-
-
-class DataManager:
-  def __init__(self):
-    self._segments = []
-    self._segment_starts = []
-    self._start_time = 0.0
-    self._duration = 0.0
-    self._paths = set()
-    self._observers = []
-    self._loading = False
-    self._lock = threading.RLock()
-
-  def load_route(self, route: str) -> None:
-    if self._loading:
-      return
-    self._reset()
-    threading.Thread(target=self._load_async, args=(route,), daemon=True).start()
-
-  def get_timeseries(self, path: str):
-    with self._lock:
-      msg_type, field = path.split('/', 1)
-      times, values = [], []
-
-      for segment in self._segments:
-        if msg_type in segment:
-          field_times, field_values = _get_field_times_values(segment[msg_type], field)
-          if field_times is not None:
-            times.append(field_times)
-            values.append(field_values)
-
-      if not times:
-        return np.array([]), np.array([])
-
-      combined_times = np.concatenate(times) - self._start_time
-
-      if len(values) > 1:
-        first_dtype = values[0].dtype
-        if all(arr.dtype == first_dtype for arr in values):  # check if all arrays have compatible dtypes
-          combined_values = np.concatenate(values)
-        else:
-          combined_values = np.concatenate([arr.astype(object) for arr in values])
-      else:
-        combined_values = values[0] if values else np.array([])
-
-      return combined_times, combined_values
-
-  def get_value_at(self, path: str, time: float):
-    with self._lock:
-      MAX_LOOKBACK = 5.0  # seconds
-      absolute_time = self._start_time + time
-      message_type, field = path.split('/', 1)
-      current_index = bisect.bisect_right(self._segment_starts, absolute_time) - 1
-      for index in (current_index, current_index - 1):
-        if not 0 <= index < len(self._segments):
-          continue
-        segment = self._segments[index].get(message_type)
-        if not segment:
-          continue
-        times, values = _get_field_times_values(segment, field)
-        if times is None or len(times) == 0 or (index != current_index and absolute_time - times[-1] > MAX_LOOKBACK):
-          continue
-        position = np.searchsorted(times, absolute_time, 'right') - 1
-        if position >= 0 and absolute_time - times[position] <= MAX_LOOKBACK:
-          return values[position]
-      return None
-
-  def get_all_paths(self):
-    with self._lock:
-      return sorted(self._paths)
-
-  def get_duration(self):
-    with self._lock:
-      return self._duration
-
-  def is_plottable(self, path: str):
-    _, values = self.get_timeseries(path)
-    if len(values) == 0:
-      return False
-    return np.issubdtype(values.dtype, np.number) or np.issubdtype(values.dtype, np.bool_)
-
-  def add_observer(self, callback):
-    with self._lock:
-      self._observers.append(callback)
-
-  def remove_observer(self, callback):
-    with self._lock:
-      if callback in self._observers:
-        self._observers.remove(callback)
-
-  def _reset(self):
-    with self._lock:
-      self._loading = True
-      self._segments.clear()
-      self._segment_starts.clear()
-      self._paths.clear()
-      self._start_time = self._duration = 0.0
-      observers = self._observers.copy()
-
-    for callback in observers:
-      callback({'reset': True})
-
-  def _load_async(self, route: str):
-    try:
-      lr = LogReader(route, sort_by_time=True)
-      if not lr.logreader_identifiers:
-        cloudlog.warning(f"Warning: No log segments found for route: {route}")
-        return
-
-      total_segments = len(lr.logreader_identifiers)
-      with self._lock:
-        observers = self._observers.copy()
-      for callback in observers:
-        callback({'metadata_loaded': True, 'total_segments': total_segments})
-
-      num_processes = max(1, multiprocessing.cpu_count() // 2)
-      with multiprocessing.Pool(processes=num_processes) as pool, tqdm(total=len(lr.logreader_identifiers), desc="Processing Segments") as pbar:
-        for segment_result, start_time, end_time in pool.imap(_process_segment, lr.logreader_identifiers):
-          pbar.update(1)
-          if segment_result:
-            self._add_segment(segment_result, start_time, end_time)
-    except Exception:
-      cloudlog.exception(f"Error loading route {route}:")
-    finally:
-      self._finalize_loading()
-
-  def _add_segment(self, segment_data: dict, start_time: float, end_time: float):
-    with self._lock:
-      self._segments.append(segment_data)
-      self._segment_starts.append(start_time)
-
-      if len(self._segments) == 1:
-        self._start_time = start_time
-      self._duration = end_time - self._start_time
-
-      for msg_type, data in segment_data.items():
-        for field_name in data.keys():
-          if field_name != 't':
-            self._paths.add(f"{msg_type}/{field_name}")
-
-      observers = self._observers.copy()
-
-    for callback in observers:
-      callback({'segment_added': True, 'duration': self._duration, 'segment_count': len(self._segments)})
-
-  def _finalize_loading(self):
-    with self._lock:
-      self._loading = False
-      observers = self._observers.copy()
-      duration = self._duration
-
-    for callback in observers:
-      callback({'loading_complete': True, 'duration': duration})

tools/jotpluggler/datatree.py

@@ -1,315 +0,0 @@
-import os
-import re
-import threading
-import numpy as np
-import dearpygui.dearpygui as dpg
-
-
-class DataTreeNode:
-  def __init__(self, name: str, full_path: str = "", parent=None):
-    self.name = name
-    self.full_path = full_path
-    self.parent = parent
-    self.children: dict[str, DataTreeNode] = {}
-    self.filtered_children: dict[str, DataTreeNode] = {}
-    self.created_children: dict[str, DataTreeNode] = {}
-    self.is_leaf = False
-    self.is_plottable: bool | None = None
-    self.ui_created = False
-    self.children_ui_created = False
-    self.ui_tag: str | None = None
-
-
-class DataTree:
-  MAX_NODES_PER_FRAME = 50
-
-  def __init__(self, data_manager, playback_manager):
-    self.data_manager = data_manager
-    self.playback_manager = playback_manager
-    self.current_search = ""
-    self.data_tree = DataTreeNode(name="root")
-    self._build_queue: dict[str, tuple[DataTreeNode, DataTreeNode, str | int]] = {} # full_path -> (node, parent, before_tag)
-    self._current_created_paths: set[str] = set()
-    self._current_filtered_paths: set[str] = set()
-    self._path_to_node: dict[str, DataTreeNode] = {}  # full_path -> node
-    self._expanded_tags: set[str] = set()
-    self._item_handlers: dict[str, str] = {}  # ui_tag -> handler_tag
-    self._char_width = None
-    self._queued_search = None
-    self._new_data = False
-    self._ui_lock = threading.RLock()
-    self._handlers_to_delete = []
-    self.data_manager.add_observer(self._on_data_loaded)
-
-  def create_ui(self, parent_tag: str):
-    with dpg.child_window(parent=parent_tag, border=False, width=-1, height=-1):
-      dpg.add_text("Timeseries List")
-      dpg.add_separator()
-      dpg.add_input_text(tag="search_input", width=-1, hint="Search fields...", callback=self.search_data)
-      dpg.add_separator()
-      with dpg.child_window(border=False, width=-1, height=-1):
-        with dpg.group(tag="data_tree_container"):
-          pass
-
-  def _on_data_loaded(self, data: dict):
-    with self._ui_lock:
-      if data.get('segment_added') or data.get('reset'):
-        self._new_data = True
-
-  def update_frame(self, font):
-    if self._handlers_to_delete:  # we need to do everything in main thread, frame callbacks are flaky
-      dpg.render_dearpygui_frame()  # wait a frame to ensure queued callbacks are done
-      with self._ui_lock:
-        for handler in self._handlers_to_delete:
-          dpg.delete_item(handler)
-        self._handlers_to_delete.clear()
-
-    with self._ui_lock:
-      if self._char_width is None:
-        if size := dpg.get_text_size(" ", font=font):
-          self._char_width = size[0] / 2 # we scale font 2x and downscale to fix hidpi bug
-
-      if self._new_data:
-        self._process_path_change()
-        self._new_data = False
-        return
-
-      if self._queued_search is not None:
-        self.current_search = self._queued_search
-        self._process_path_change()
-        self._queued_search = None
-        return
-
-      nodes_processed = 0
-      while self._build_queue and nodes_processed < self.MAX_NODES_PER_FRAME:
-        child_node, parent, before_tag = self._build_queue.pop(next(iter(self._build_queue)))
-        parent_tag = "data_tree_container" if parent.name == "root" else parent.ui_tag
-        if not child_node.ui_created:
-          if child_node.is_leaf:
-            self._create_leaf_ui(child_node, parent_tag, before_tag)
-          else:
-            self._create_tree_node_ui(child_node, parent_tag, before_tag)
-        parent.created_children[child_node.name] = parent.children[child_node.name]
-        self._current_created_paths.add(child_node.full_path)
-        nodes_processed += 1
-
-  def _process_path_change(self):
-    self._build_queue.clear()
-    search_term = self.current_search.strip().lower()
-    all_paths = set(self.data_manager.get_all_paths())
-    new_filtered_leafs = {path for path in all_paths if self._should_show_path(path, search_term)}
-    new_filtered_paths = set(new_filtered_leafs)
-    for path in new_filtered_leafs:
-      parts = path.split('/')
-      for i in range(1, len(parts)):
-        prefix = '/'.join(parts[:i])
-        new_filtered_paths.add(prefix)
-    created_paths_to_remove = self._current_created_paths - new_filtered_paths
-    filtered_paths_to_remove = self._current_filtered_paths - new_filtered_leafs
-
-    if created_paths_to_remove or filtered_paths_to_remove:
-      self._remove_paths_from_tree(created_paths_to_remove, filtered_paths_to_remove)
-      self._apply_expansion_to_tree(self.data_tree, search_term)
-
-    paths_to_add = new_filtered_leafs - self._current_created_paths
-    if paths_to_add:
-      self._add_paths_to_tree(paths_to_add)
-      self._apply_expansion_to_tree(self.data_tree, search_term)
-    self._current_filtered_paths = new_filtered_paths
-
-  def _remove_paths_from_tree(self, created_paths_to_remove, filtered_paths_to_remove):
-    for path in sorted(created_paths_to_remove, reverse=True):
-      current_node = self._path_to_node[path]
-
-      if len(current_node.created_children) == 0:
-        self._current_created_paths.remove(current_node.full_path)
-        if item_handler_tag := self._item_handlers.get(current_node.ui_tag):
-          dpg.configure_item(item_handler_tag, show=False)
-          self._handlers_to_delete.append(item_handler_tag)
-          del self._item_handlers[current_node.ui_tag]
-        dpg.delete_item(current_node.ui_tag)
-        current_node.ui_created = False
-        current_node.ui_tag = None
-        current_node.children_ui_created = False
-        del current_node.parent.created_children[current_node.name]
-        del current_node.parent.filtered_children[current_node.name]
-
-    for path in filtered_paths_to_remove:
-      parts = path.split('/')
-      current_node = self._path_to_node[path]
-
-      part_array_index = -1
-      while len(current_node.filtered_children) == 0 and part_array_index >= -len(parts):
-        current_node = current_node.parent
-        if parts[part_array_index] in current_node.filtered_children:
-          del current_node.filtered_children[parts[part_array_index]]
-        part_array_index -= 1
-
-  def _add_paths_to_tree(self, paths):
-    parent_nodes_to_recheck = set()
-    for path in sorted(paths):
-      parts = path.split('/')
-      current_node = self.data_tree
-      current_path_prefix = ""
-
-      for i, part in enumerate(parts):
-        current_path_prefix = f"{current_path_prefix}/{part}" if current_path_prefix else part
-        if i < len(parts):
-          parent_nodes_to_recheck.add(current_node)  # for incremental changes from new data
-        if part not in current_node.children:
-          current_node.children[part] = DataTreeNode(name=part, full_path=current_path_prefix, parent=current_node)
-          self._path_to_node[current_path_prefix] = current_node.children[part]
-        current_node.filtered_children[part] = current_node.children[part]
-        current_node = current_node.children[part]
-
-      if not current_node.is_leaf:
-        current_node.is_leaf = True
-
-    for p_node in parent_nodes_to_recheck:
-      p_node.children_ui_created = False
-      self._request_children_build(p_node)
-
-  def _get_node_label_and_expand(self, node: DataTreeNode, search_term: str):
-    label = f"{node.name} ({len(node.filtered_children)} fields)"
-    expand = len(search_term) > 0 and any(search_term in path for path in self._get_descendant_paths(node))
-    if expand and node.parent and len(node.parent.filtered_children) > 100 and len(node.filtered_children) > 2:
-      label += " (+)"  # symbol for large lists which aren't fully expanded for performance (only affects procLog rn)
-      expand = False
-    return label, expand
-
-  def _apply_expansion_to_tree(self, node: DataTreeNode, search_term: str):
-    if node.ui_created and not node.is_leaf and node.ui_tag and dpg.does_item_exist(node.ui_tag):
-      label, expand = self._get_node_label_and_expand(node, search_term)
-      if expand:
-        self._expanded_tags.add(node.ui_tag)
-        dpg.set_value(node.ui_tag, expand)
-      elif node.ui_tag in self._expanded_tags:  # not expanded and was expanded
-        self._expanded_tags.remove(node.ui_tag)
-        dpg.set_value(node.ui_tag, expand)
-        dpg.delete_item(node.ui_tag, children_only=True)  # delete children (not visible since collapsed)
-        self._reset_ui_state_recursive(node)
-        node.children_ui_created = False
-      dpg.set_item_label(node.ui_tag, label)
-    for child in node.created_children.values():
-      self._apply_expansion_to_tree(child, search_term)
-
-  def _reset_ui_state_recursive(self, node: DataTreeNode):
-    for child in node.created_children.values():
-      if child.ui_tag is not None:
-        if item_handler_tag := self._item_handlers.get(child.ui_tag):
-          self._handlers_to_delete.append(item_handler_tag)
-          dpg.configure_item(item_handler_tag, show=False)
-          del self._item_handlers[child.ui_tag]
-        self._reset_ui_state_recursive(child)
-        child.ui_created = False
-        child.ui_tag = None
-        child.children_ui_created = False
-        self._current_created_paths.remove(child.full_path)
-    node.created_children.clear()
-
-  def search_data(self):
-    with self._ui_lock:
-      self._queued_search = dpg.get_value("search_input")
-
-  def _create_tree_node_ui(self, node: DataTreeNode, parent_tag: str, before: str | int):
-    node.ui_tag = f"tree_{node.full_path}"
-    search_term = self.current_search.strip().lower()
-    label, expand = self._get_node_label_and_expand(node, search_term)
-    if expand:
-      self._expanded_tags.add(node.ui_tag)
-    elif node.ui_tag in self._expanded_tags:
-      self._expanded_tags.remove(node.ui_tag)
-
-    with dpg.tree_node(
-      label=label, parent=parent_tag, tag=node.ui_tag, default_open=expand, open_on_arrow=True, open_on_double_click=True, before=before, delay_search=True
-    ):
-      with dpg.item_handler_registry() as handler_tag:
-        dpg.add_item_toggled_open_handler(callback=lambda s, a, u: self._request_children_build(node))
-        dpg.add_item_visible_handler(callback=lambda s, a, u: self._request_children_build(node))
-      dpg.bind_item_handler_registry(node.ui_tag, handler_tag)
-      self._item_handlers[node.ui_tag] = handler_tag
-    node.ui_created = True
-
-  def _create_leaf_ui(self, node: DataTreeNode, parent_tag: str, before: str | int):
-    node.ui_tag = f"leaf_{node.full_path}"
-    with dpg.group(parent=parent_tag, tag=node.ui_tag, before=before, delay_search=True):
-      with dpg.table(header_row=False, policy=dpg.mvTable_SizingStretchProp, delay_search=True):
-        dpg.add_table_column(init_width_or_weight=0.5)
-        dpg.add_table_column(init_width_or_weight=0.5)
-        with dpg.table_row():
-          dpg.add_text(node.name)
-          dpg.add_text("N/A", tag=f"value_{node.full_path}")
-
-    if node.is_plottable is None:
-      node.is_plottable = self.data_manager.is_plottable(node.full_path)
-    if node.is_plottable:
-      with dpg.drag_payload(parent=node.ui_tag, drag_data=node.full_path, payload_type="TIMESERIES_PAYLOAD"):
-        dpg.add_text(f"Plot: {node.full_path}")
-
-    with dpg.item_handler_registry() as handler_tag:
-      dpg.add_item_visible_handler(callback=self._on_item_visible, user_data=node.full_path)
-    dpg.bind_item_handler_registry(node.ui_tag, handler_tag)
-    self._item_handlers[node.ui_tag] = handler_tag
-    node.ui_created = True
-
-  def _on_item_visible(self, sender, app_data, user_data):
-    with self._ui_lock:
-      path = user_data
-      value_tag = f"value_{path}"
-      if not dpg.does_item_exist(value_tag):
-        return
-      value_column_width = dpg.get_item_rect_size(f"leaf_{path}")[0] // 2
-      value = self.data_manager.get_value_at(path, self.playback_manager.current_time_s)
-      if value is not None:
-        formatted_value = self.format_and_truncate(value, value_column_width, self._char_width)
-        dpg.set_value(value_tag, formatted_value)
-      else:
-        dpg.set_value(value_tag, "N/A")
-
-  def _request_children_build(self, node: DataTreeNode):
-    with self._ui_lock:
-      if not node.children_ui_created and (node.name == "root" or (node.ui_tag is not None and dpg.get_value(node.ui_tag))):  # check root or node expanded
-        sorted_children = sorted(node.filtered_children.values(), key=self._natural_sort_key)
-        next_existing: list[int | str] = [0] * len(sorted_children)
-        current_before_tag: int | str = 0
-
-        for i in range(len(sorted_children) - 1, -1, -1):  # calculate "before_tag" for correct ordering when incrementally building tree
-          child = sorted_children[i]
-          next_existing[i] = current_before_tag
-          if child.ui_created:
-            candidate_tag = f"leaf_{child.full_path}" if child.is_leaf else f"tree_{child.full_path}"
-            if dpg.does_item_exist(candidate_tag):
-              current_before_tag = candidate_tag
-
-        for i, child_node in enumerate(sorted_children):
-          if not child_node.ui_created:
-            before_tag = next_existing[i]
-            self._build_queue[child_node.full_path] = (child_node, node, before_tag)
-        node.children_ui_created = True
-
-  def _should_show_path(self, path: str, search_term: str) -> bool:
-    if 'DEPRECATED' in path and not os.environ.get('SHOW_DEPRECATED'):
-      return False
-    return not search_term or search_term in path.lower()
-
-  def _natural_sort_key(self, node: DataTreeNode):
-    node_type_key = node.is_leaf
-    parts = [int(p) if p.isdigit() else p.lower() for p in re.split(r'(\d+)', node.name) if p]
-    return (node_type_key, parts)
-
-  def _get_descendant_paths(self, node: DataTreeNode):
-    for child_name, child_node in node.filtered_children.items():
-      child_name_lower = child_name.lower()
-      if child_node.is_leaf:
-        yield child_name_lower
-      else:
-        for path in self._get_descendant_paths(child_node):
-          yield f"{child_name_lower}/{path}"
-
-  @staticmethod
-  def format_and_truncate(value, available_width: float, char_width: float) -> str:
-    s = f"{value:.5f}" if np.issubdtype(type(value), np.floating) else str(value)
-    max_chars = int(available_width / char_width)
-    if len(s) > max_chars:
-      return s[: max(0, max_chars - 3)] + "..."
-    return s

tools/jotpluggler/layout.py

@@ -1,477 +0,0 @@
-import dearpygui.dearpygui as dpg
-from openpilot.tools.jotpluggler.data import DataManager
-from openpilot.tools.jotpluggler.views import TimeSeriesPanel
-
-GRIP_SIZE = 4
-MIN_PANE_SIZE = 60
-
-class LayoutManager:
-  def __init__(self, data_manager, playback_manager, worker_manager, scale: float = 1.0):
-    self.data_manager = data_manager
-    self.playback_manager = playback_manager
-    self.worker_manager = worker_manager
-    self.scale = scale
-    self.container_tag = "plot_layout_container"
-    self.tab_bar_tag = "tab_bar_container"
-    self.tab_content_tag = "tab_content_area"
-
-    self.active_tab = 0
-    initial_panel_layout = PanelLayoutManager(data_manager, playback_manager, worker_manager, scale)
-    self.tabs: dict = {0: {"name": "Tab 1", "panel_layout": initial_panel_layout}}
-    self._next_tab_id = self.active_tab + 1
-
-  def to_dict(self) -> dict:
-    return {
-      "tabs": {
-        str(tab_id): {
-          "name": tab_data["name"],
-          "panel_layout": tab_data["panel_layout"].to_dict()
-        }
-        for tab_id, tab_data in self.tabs.items()
-      }
-    }
-
-  def clear_and_load_from_dict(self, data: dict):
-    tab_ids_to_close = list(self.tabs.keys())
-    for tab_id in tab_ids_to_close:
-      self.close_tab(tab_id, force=True)
-
-    for tab_id_str, tab_data in data["tabs"].items():
-      tab_id = int(tab_id_str)
-      panel_layout = PanelLayoutManager.load_from_dict(
-        tab_data["panel_layout"], self.data_manager, self.playback_manager,
-        self.worker_manager, self.scale
-      )
-      self.tabs[tab_id] = {
-        "name": tab_data["name"],
-        "panel_layout": panel_layout
-      }
-
-    self.active_tab = min(self.tabs.keys()) if self.tabs else 0
-    self._next_tab_id = max(self.tabs.keys()) + 1 if self.tabs else 1
-
-  def create_ui(self, parent_tag: str):
-    if dpg.does_item_exist(self.container_tag):
-      dpg.delete_item(self.container_tag)
-
-    with dpg.child_window(tag=self.container_tag, parent=parent_tag, border=False, width=-1, height=-1, no_scrollbar=True, no_scroll_with_mouse=True):
-      self._create_tab_bar()
-      self._create_tab_content()
-    dpg.bind_item_theme(self.tab_bar_tag, "tab_bar_theme")
-
-  def _create_tab_bar(self):
-    text_size = int(13 * self.scale)
-    with dpg.child_window(tag=self.tab_bar_tag, parent=self.container_tag, height=(text_size + 8), border=False, horizontal_scrollbar=True):
-      with dpg.group(horizontal=True, tag="tab_bar_group"):
-        for tab_id, tab_data in self.tabs.items():
-          self._create_tab_ui(tab_id, tab_data["name"])
-        dpg.add_image_button(texture_tag="plus_texture", callback=self.add_tab, width=text_size, height=text_size, tag="add_tab_button")
-    dpg.bind_item_theme("add_tab_button", "inactive_tab_theme")
-
-  def _create_tab_ui(self, tab_id: int, tab_name: str):
-    text_size = int(13 * self.scale)
-    tab_width = int(140 * self.scale)
-    with dpg.child_window(width=tab_width, height=-1, border=False, no_scrollbar=True, tag=f"tab_window_{tab_id}", parent="tab_bar_group"):
-      with dpg.group(horizontal=True, tag=f"tab_group_{tab_id}"):
-        dpg.add_input_text(
-          default_value=tab_name, width=tab_width - text_size - 16, callback=lambda s, v, u: self.rename_tab(u, v), user_data=tab_id, tag=f"tab_input_{tab_id}"
-        )
-        dpg.add_image_button(
-          texture_tag="x_texture", callback=lambda s, a, u: self.close_tab(u), user_data=tab_id, width=text_size, height=text_size, tag=f"tab_close_{tab_id}"
-        )
-      with dpg.item_handler_registry(tag=f"tab_handler_{tab_id}"):
-        dpg.add_item_clicked_handler(callback=lambda s, a, u: self.switch_tab(u), user_data=tab_id)
-      dpg.bind_item_handler_registry(f"tab_group_{tab_id}", f"tab_handler_{tab_id}")
-
-    theme_tag = "active_tab_theme" if tab_id == self.active_tab else "inactive_tab_theme"
-    dpg.bind_item_theme(f"tab_window_{tab_id}", theme_tag)
-
-  def _create_tab_content(self):
-    with dpg.child_window(tag=self.tab_content_tag, parent=self.container_tag, border=False, width=-1, height=-1, no_scrollbar=True, no_scroll_with_mouse=True):
-      if self.active_tab in self.tabs:
-        active_panel_layout = self.tabs[self.active_tab]["panel_layout"]
-        active_panel_layout.create_ui()
-
-  def add_tab(self):
-    new_panel_layout = PanelLayoutManager(self.data_manager, self.playback_manager, self.worker_manager, self.scale)
-    new_tab = {"name": f"Tab {self._next_tab_id + 1}", "panel_layout": new_panel_layout}
-    self.tabs[self._next_tab_id] = new_tab
-    self._create_tab_ui(self._next_tab_id, new_tab["name"])
-    dpg.move_item("add_tab_button", parent="tab_bar_group")  # move plus button to end
-    self.switch_tab(self._next_tab_id)
-    self._next_tab_id += 1
-
-  def close_tab(self, tab_id: int, force = False):
-    if len(self.tabs) <= 1 and not force:
-      return  # don't allow closing the last tab
-
-    tab_to_close = self.tabs[tab_id]
-    tab_to_close["panel_layout"].destroy_ui()
-    for suffix in ["window", "group", "input", "close", "handler"]:
-      tag = f"tab_{suffix}_{tab_id}"
-      if dpg.does_item_exist(tag):
-        dpg.delete_item(tag)
-    del self.tabs[tab_id]
-
-    if self.active_tab == tab_id and self.tabs: # switch to another tab if we closed the active one
-      self.active_tab = next(iter(self.tabs.keys()))
-      self._switch_tab_content()
-      dpg.bind_item_theme(f"tab_window_{self.active_tab}", "active_tab_theme")
-
-  def switch_tab(self, tab_id: int):
-    if tab_id == self.active_tab or tab_id not in self.tabs:
-      return
-
-    current_panel_layout = self.tabs[self.active_tab]["panel_layout"]
-    current_panel_layout.destroy_ui()
-    dpg.bind_item_theme(f"tab_window_{self.active_tab}", "inactive_tab_theme")  # deactivate old tab
-    self.active_tab = tab_id
-    dpg.bind_item_theme(f"tab_window_{tab_id}", "active_tab_theme")  # activate new tab
-    self._switch_tab_content()
-
-  def _switch_tab_content(self):
-    dpg.delete_item(self.tab_content_tag, children_only=True)
-    active_panel_layout = self.tabs[self.active_tab]["panel_layout"]
-    active_panel_layout.create_ui()
-    active_panel_layout.update_all_panels()
-
-  def rename_tab(self, tab_id: int, new_name: str):
-    if tab_id in self.tabs:
-      self.tabs[tab_id]["name"] = new_name
-
-  def update_all_panels(self):
-    self.tabs[self.active_tab]["panel_layout"].update_all_panels()
-
-  def on_viewport_resize(self):
-    self.tabs[self.active_tab]["panel_layout"].on_viewport_resize()
-
-class PanelLayoutManager:
-  def __init__(self, data_manager: DataManager, playback_manager, worker_manager, scale: float = 1.0):
-    self.data_manager = data_manager
-    self.playback_manager = playback_manager
-    self.worker_manager = worker_manager
-    self.scale = scale
-    self.active_panels: list = []
-    self.parent_tag = "tab_content_area"
-    self._queue_resize = False
-    self._created_handler_tags: set[str] = set()
-
-    self.grip_size = int(GRIP_SIZE * self.scale)
-    self.min_pane_size = int(MIN_PANE_SIZE * self.scale)
-
-    initial_panel = TimeSeriesPanel(data_manager, playback_manager, worker_manager)
-    self.layout: dict = {"type": "panel", "panel": initial_panel}
-
-  def to_dict(self) -> dict:
-    return self._layout_to_dict(self.layout)
-
-  def _layout_to_dict(self, layout: dict) -> dict:
-    if layout["type"] == "panel":
-      return {
-        "type": "panel",
-        "panel": layout["panel"].to_dict()
-      }
-    else:  # split
-      return {
-        "type": "split",
-        "orientation": layout["orientation"],
-        "proportions": layout["proportions"],
-        "children": [self._layout_to_dict(child) for child in layout["children"]]
-      }
-
-  @classmethod
-  def load_from_dict(cls, data: dict, data_manager, playback_manager, worker_manager, scale: float = 1.0):
-    manager = cls(data_manager, playback_manager, worker_manager, scale)
-    manager.layout = manager._dict_to_layout(data)
-    return manager
-
-  def _dict_to_layout(self, data: dict) -> dict:
-    if data["type"] == "panel":
-      panel_data = data["panel"]
-      if panel_data["type"] == "timeseries":
-        panel = TimeSeriesPanel.load_from_dict(
-          panel_data, self.data_manager, self.playback_manager, self.worker_manager
-        )
-        return {"type": "panel", "panel": panel}
-      else:
-        # Handle future panel types here or make a general mapping
-        raise ValueError(f"Unknown panel type: {panel_data['type']}")
-    else:  # split
-      return {
-        "type": "split",
-        "orientation": data["orientation"],
-        "proportions": data["proportions"],
-        "children": [self._dict_to_layout(child) for child in data["children"]]
-      }
-
-  def create_ui(self):
-    self.active_panels.clear()
-    if dpg.does_item_exist(self.parent_tag):
-      dpg.delete_item(self.parent_tag, children_only=True)
-    self._cleanup_all_handlers()
-
-    container_width, container_height = dpg.get_item_rect_size(self.parent_tag)
-    if container_width == 0 and container_height == 0:
-      self._queue_resize = True
-    self._create_ui_recursive(self.layout, self.parent_tag, [], container_width, container_height)
-
-  def destroy_ui(self):
-    self._cleanup_ui_recursive(self.layout, [])
-    self._cleanup_all_handlers()
-    self.active_panels.clear()
-
-  def _cleanup_all_handlers(self):
-    for handler_tag in list(self._created_handler_tags):
-      if dpg.does_item_exist(handler_tag):
-        dpg.delete_item(handler_tag)
-    self._created_handler_tags.clear()
-
-  def _create_ui_recursive(self, layout: dict, parent_tag: str, path: list[int], width: int, height: int):
-    if layout["type"] == "panel":
-      self._create_panel_ui(layout, parent_tag, path, width, height)
-    else:
-      self._create_split_ui(layout, parent_tag, path, width, height)
-
-  def _create_panel_ui(self, layout: dict, parent_tag: str, path: list[int], width: int, height: int):
-    panel_tag = self._path_to_tag(path, "panel")
-    panel = layout["panel"]
-    self.active_panels.append(panel)
-    text_size = int(13 * self.scale)
-    bar_height = (text_size + 24) if width < int(329 * self.scale + 64) else (text_size + 8)  # adjust height to allow for scrollbar
-
-    with dpg.child_window(parent=parent_tag, border=False, width=-1, height=-1, no_scrollbar=True):
-      with dpg.group(horizontal=True):
-        with dpg.child_window(tag=panel_tag, width=-(text_size + 16), height=bar_height, horizontal_scrollbar=True, no_scroll_with_mouse=True, border=False):
-          with dpg.group(horizontal=True):
-            # if you change the widths make sure to change the sum of widths (currently 329 * scale)
-            dpg.add_input_text(default_value=panel.title, width=int(150 * self.scale), callback=lambda s, v: setattr(panel, "title", v))
-            dpg.add_combo(items=["Time Series"], default_value="Time Series", width=int(100 * self.scale))
-            dpg.add_button(label="Clear", callback=lambda: self.clear_panel(panel), width=int(40 * self.scale))
-            dpg.add_image_button(texture_tag="split_h_texture", callback=lambda: self.split_panel(path, 0), width=text_size, height=text_size)
-            dpg.add_image_button(texture_tag="split_v_texture", callback=lambda: self.split_panel(path, 1), width=text_size, height=text_size)
-        dpg.add_image_button(texture_tag="x_texture", callback=lambda: self.delete_panel(path), width=text_size, height=text_size)
-
-      dpg.add_separator()
-
-      content_tag = self._path_to_tag(path, "content")
-      with dpg.child_window(tag=content_tag, border=False, height=-1, width=-1, no_scrollbar=True):
-        panel.create_ui(content_tag)
-
-  def _create_split_ui(self, layout: dict, parent_tag: str, path: list[int], width: int, height: int):
-    split_tag = self._path_to_tag(path, "split")
-    orientation, _, pane_sizes = self._get_split_geometry(layout, (width, height))
-
-    with dpg.group(tag=split_tag, parent=parent_tag, horizontal=orientation == 0):
-      for i, child_layout in enumerate(layout["children"]):
-        child_path = path + [i]
-        container_tag = self._path_to_tag(child_path, "container")
-        pane_width, pane_height = [(pane_sizes[i], -1), (-1, pane_sizes[i])][orientation]  # fill 2nd dim up to the border
-        with dpg.child_window(tag=container_tag, width=pane_width, height=pane_height, border=False, no_scrollbar=True):
-          child_width, child_height = [(pane_sizes[i], height), (width, pane_sizes[i])][orientation]
-          self._create_ui_recursive(child_layout, container_tag, child_path, child_width, child_height)
-        if i < len(layout["children"]) - 1:
-          self._create_grip(split_tag, path, i, orientation)
-
-  def clear_panel(self, panel):
-    panel.clear()
-
-  def delete_panel(self, panel_path: list[int]):
-    if not panel_path:  # Root deletion
-      old_panel = self.layout["panel"]
-      old_panel.destroy_ui()
-      self.active_panels.remove(old_panel)
-      new_panel = TimeSeriesPanel(self.data_manager, self.playback_manager, self.worker_manager)
-      self.layout = {"type": "panel", "panel": new_panel}
-      self._rebuild_ui_at_path([])
-      return
-
-    parent, child_index = self._get_parent_and_index(panel_path)
-    layout_to_delete = parent["children"][child_index]
-    self._cleanup_ui_recursive(layout_to_delete, panel_path)
-
-    parent["children"].pop(child_index)
-    parent["proportions"].pop(child_index)
-
-    if len(parent["children"]) == 1:  # remove parent and collapse
-      remaining_child = parent["children"][0]
-      if len(panel_path) == 1:  # parent is at root level - promote remaining child to root
-        self.layout = remaining_child
-        self._rebuild_ui_at_path([])
-      else:  # replace parent with remaining child in grandparent
-        grandparent_path = panel_path[:-2]
-        parent_index = panel_path[-2]
-        self._replace_layout_at_path(grandparent_path + [parent_index], remaining_child)
-        self._rebuild_ui_at_path(grandparent_path + [parent_index])
-    else:  # redistribute proportions
-      equal_prop = 1.0 / len(parent["children"])
-      parent["proportions"] = [equal_prop] * len(parent["children"])
-      self._rebuild_ui_at_path(panel_path[:-1])
-
-  def split_panel(self, panel_path: list[int], orientation: int):
-    current_layout = self._get_layout_at_path(panel_path)
-    existing_panel = current_layout["panel"]
-    new_panel = TimeSeriesPanel(self.data_manager, self.playback_manager, self.worker_manager)
-    parent, child_index = self._get_parent_and_index(panel_path)
-
-    if parent is None:  # Root split
-      self.layout = {
-        "type": "split",
-        "orientation": orientation,
-        "children": [{"type": "panel", "panel": existing_panel}, {"type": "panel", "panel": new_panel}],
-        "proportions": [0.5, 0.5],
-      }
-      self._rebuild_ui_at_path([])
-    elif parent["type"] == "split" and parent["orientation"] == orientation:  # Same orientation - insert into existing split
-      parent["children"].insert(child_index + 1, {"type": "panel", "panel": new_panel})
-      parent["proportions"] = [1.0 / len(parent["children"])] * len(parent["children"])
-      self._rebuild_ui_at_path(panel_path[:-1])
-    else:  # Different orientation - create new split level
-      new_split = {"type": "split", "orientation": orientation, "children": [current_layout, {"type": "panel", "panel": new_panel}], "proportions": [0.5, 0.5]}
-      self._replace_layout_at_path(panel_path, new_split)
-      self._rebuild_ui_at_path(panel_path)
-
-  def _rebuild_ui_at_path(self, path: list[int]):
-    layout = self._get_layout_at_path(path)
-    if path:
-      container_tag = self._path_to_tag(path, "container")
-    else:  # Root update
-      container_tag = self.parent_tag
-
-    self._cleanup_ui_recursive(layout, path)
-    dpg.delete_item(container_tag, children_only=True)
-    width, height = dpg.get_item_rect_size(container_tag)
-    self._create_ui_recursive(layout, container_tag, path, width, height)
-
-  def _cleanup_ui_recursive(self, layout: dict, path: list[int]):
-    if layout["type"] == "panel":
-      panel = layout["panel"]
-      panel.destroy_ui()
-      if panel in self.active_panels:
-        self.active_panels.remove(panel)
-    else:
-      for i in range(len(layout["children"]) - 1):
-        handler_tag = f"{self._path_to_tag(path, f'grip_{i}')}_handler"
-        if dpg.does_item_exist(handler_tag):
-          dpg.delete_item(handler_tag)
-        self._created_handler_tags.discard(handler_tag)
-
-      for i, child in enumerate(layout["children"]):
-        self._cleanup_ui_recursive(child, path + [i])
-
-  def update_all_panels(self):
-    if self._queue_resize:
-      if (size := dpg.get_item_rect_size(self.parent_tag)) != [0, 0]:
-        self._queue_resize = False
-        self._resize_splits_recursive(self.layout, [], *size)
-    for panel in self.active_panels:
-      panel.update()
-
-  def on_viewport_resize(self):
-    self._resize_splits_recursive(self.layout, [])
-
-  def _resize_splits_recursive(self, layout: dict, path: list[int], width: int | None = None, height: int | None = None):
-    if layout["type"] == "split":
-      split_tag = self._path_to_tag(path, "split")
-      if dpg.does_item_exist(split_tag):
-        available_sizes = (width, height) if width and height else dpg.get_item_rect_size(dpg.get_item_parent(split_tag))
-        orientation, _, pane_sizes = self._get_split_geometry(layout, available_sizes)
-        size_properties = ("width", "height")
-
-        for i, child_layout in enumerate(layout["children"]):
-          child_path = path + [i]
-          container_tag = self._path_to_tag(child_path, "container")
-          if dpg.does_item_exist(container_tag):
-            dpg.configure_item(container_tag, **{size_properties[orientation]: pane_sizes[i]})
-            child_width, child_height = [(pane_sizes[i], available_sizes[1]), (available_sizes[0], pane_sizes[i])][orientation]
-            self._resize_splits_recursive(child_layout, child_path, child_width, child_height)
-    else:  # leaf node/panel - adjust bar height to allow for scrollbar
-      panel_tag = self._path_to_tag(path, "panel")
-      if width is not None and width < int(329 * self.scale + 64):  # scaled widths of the elements in top bar + fixed 8 padding on left and right of each item
-        dpg.configure_item(panel_tag, height=(int(13 * self.scale) + 24))
-      else:
-        dpg.configure_item(panel_tag, height=(int(13 * self.scale) + 8))
-
-  def _get_split_geometry(self, layout: dict, available_size: tuple[int, int]) -> tuple[int, int, list[int]]:
-    orientation = layout["orientation"]
-    num_grips = len(layout["children"]) - 1
-    usable_size = max(self.min_pane_size, available_size[orientation] - (num_grips * (self.grip_size + 8 * (2 - orientation))))  # approximate, scaling is weird
-    pane_sizes = [max(self.min_pane_size, int(usable_size * prop)) for prop in layout["proportions"]]
-    return orientation, usable_size, pane_sizes
-
-  def _get_layout_at_path(self, path: list[int]) -> dict:
-    current = self.layout
-    for index in path:
-      current = current["children"][index]
-    return current
-
-  def _get_parent_and_index(self, path: list[int]) -> tuple:
-    return (None, -1) if not path else (self._get_layout_at_path(path[:-1]), path[-1])
-
-  def _replace_layout_at_path(self, path: list[int], new_layout: dict):
-    if not path:
-      self.layout = new_layout
-    else:
-      parent, index = self._get_parent_and_index(path)
-      parent["children"][index] = new_layout
-
-  def _path_to_tag(self, path: list[int], prefix: str = "") -> str:
-    path_str = "_".join(map(str, path)) if path else "root"
-    return f"{prefix}_{path_str}" if prefix else path_str
-
-  def _create_grip(self, parent_tag: str, path: list[int], grip_index: int, orientation: int):
-    grip_tag = self._path_to_tag(path, f"grip_{grip_index}")
-    handler_tag = f"{grip_tag}_handler"
-    width, height = [(self.grip_size, -1), (-1, self.grip_size)][orientation]
-
-    with dpg.child_window(tag=grip_tag, parent=parent_tag, width=width, height=height, no_scrollbar=True, border=False):
-      button_tag = dpg.add_button(label="", width=-1, height=-1)
-
-    with dpg.item_handler_registry(tag=handler_tag):
-      user_data = (path, grip_index, orientation)
-      dpg.add_item_active_handler(callback=self._on_grip_drag, user_data=user_data)
-      dpg.add_item_deactivated_handler(callback=self._on_grip_end, user_data=user_data)
-    dpg.bind_item_handler_registry(button_tag, handler_tag)
-    self._created_handler_tags.add(handler_tag)
-
-  def _on_grip_drag(self, sender, app_data, user_data):
-    path, grip_index, orientation = user_data
-    layout = self._get_layout_at_path(path)
-
-    if "_drag_data" not in layout:
-      layout["_drag_data"] = {"initial_proportions": layout["proportions"][:], "start_mouse": dpg.get_mouse_pos(local=False)[orientation]}
-      return
-
-    drag_data = layout["_drag_data"]
-    split_tag = self._path_to_tag(path, "split")
-    if not dpg.does_item_exist(split_tag):
-      return
-
-    _, usable_size, _ = self._get_split_geometry(layout, dpg.get_item_rect_size(split_tag))
-    current_coord = dpg.get_mouse_pos(local=False)[orientation]
-    delta = current_coord - drag_data["start_mouse"]
-    delta_prop = delta / usable_size
-
-    left_idx = grip_index
-    right_idx = left_idx + 1
-    initial = drag_data["initial_proportions"]
-    min_prop = self.min_pane_size / usable_size
-
-    new_left = max(min_prop, initial[left_idx] + delta_prop)
-    new_right = max(min_prop, initial[right_idx] - delta_prop)
-
-    total_available = initial[left_idx] + initial[right_idx]
-    if new_left + new_right > total_available:
-      if new_left > new_right:
-        new_left = total_available - new_right
-      else:
-        new_right = total_available - new_left
-
-    layout["proportions"] = initial[:]
-    layout["proportions"][left_idx] = new_left
-    layout["proportions"][right_idx] = new_right
-
-    self._resize_splits_recursive(layout, path)
-
-  def _on_grip_end(self, sender, app_data, user_data):
-    path, _, _ = user_data
-    self._get_layout_at_path(path).pop("_drag_data", None)

tools/jotpluggler/layouts/torque-controller.yaml

@@ -1,128 +0,0 @@
-tabs:
-  '0':
-    name: Lateral Plan Conformance
-    panel_layout:
-      type: split
-      orientation: 1
-      proportions:
-      - 0.3333333333333333
-      - 0.3333333333333333
-      - 0.3333333333333333
-      children:
-      - type: panel
-        panel:
-          type: timeseries
-          title: desired vs actual
-          series_paths:
-          - controlsState/lateralControlState/torqueState/desiredLateralAccel
-          - controlsState/lateralControlState/torqueState/actualLateralAccel
-      - type: panel
-        panel:
-          type: timeseries
-          title: ff vs output
-          series_paths:
-          - controlsState/lateralControlState/torqueState/f
-          - carState/steeringPressed
-          - carControl/actuators/torque
-      - type: panel
-        panel:
-          type: timeseries
-          title: vehicle speed
-          series_paths:
-          - carState/vEgo
-  '1':
-    name: Actuator Performance
-    panel_layout:
-      type: split
-      orientation: 1
-      proportions:
-      - 0.3333333333333333
-      - 0.3333333333333333
-      - 0.3333333333333333
-      children:
-      - type: panel
-        panel:
-          type: timeseries
-          title: calc vs learned latAccelFactor
-          series_paths:
-          - liveTorqueParameters/latAccelFactorFiltered
-          - liveTorqueParameters/latAccelFactorRaw
-          - carParams/lateralTuning/torque/latAccelFactor
-      - type: panel
-        panel:
-          type: timeseries
-          title: learned latAccelOffset
-          series_paths:
-          - liveTorqueParameters/latAccelOffsetRaw
-          - liveTorqueParameters/latAccelOffsetFiltered
-      - type: panel
-        panel:
-          type: timeseries
-          title: calc vs learned friction
-          series_paths:
-          - liveTorqueParameters/frictionCoefficientFiltered
-          - liveTorqueParameters/frictionCoefficientRaw
-          - carParams/lateralTuning/torque/friction
-  '2':
-    name: Vehicle Dynamics
-    panel_layout:
-      type: split
-      orientation: 1
-      proportions:
-      - 0.3333333333333333
-      - 0.3333333333333333
-      - 0.3333333333333333
-      children:
-      - type: panel
-        panel:
-          type: timeseries
-          title: initial vs learned steerRatio
-          series_paths:
-          - carParams/steerRatio
-          - liveParameters/steerRatio
-      - type: panel
-        panel:
-          type: timeseries
-          title: initial vs learned tireStiffnessFactor
-          series_paths:
-          - carParams/tireStiffnessFactor
-          - liveParameters/stiffnessFactor
-      - type: panel
-        panel:
-          type: timeseries
-          title: live steering angle offsets
-          series_paths:
-          - liveParameters/angleOffsetDeg
-          - liveParameters/angleOffsetAverageDeg
-  '3':
-    name: Controller PIF Terms
-    panel_layout:
-      type: split
-      orientation: 1
-      proportions:
-      - 0.3333333333333333
-      - 0.3333333333333333
-      - 0.3333333333333333
-      children:
-      - type: panel
-        panel:
-          type: timeseries
-          title: ff vs output
-          series_paths:
-          - carControl/actuators/torque
-          - controlsState/lateralControlState/torqueState/f
-          - carState/steeringPressed
-      - type: panel
-        panel:
-          type: timeseries
-          title: PIF terms
-          series_paths:
-          - controlsState/lateralControlState/torqueState/f
-          - controlsState/lateralControlState/torqueState/p
-          - controlsState/lateralControlState/torqueState/i
-      - type: panel
-        panel:
-          type: timeseries
-          title: road roll angle
-          series_paths:
-          - liveParameters/roll

tools/jotpluggler/pluggle.py

@@ -1,368 +0,0 @@
-#!/usr/bin/env python3
-import argparse
-import os
-import dearpygui.dearpygui as dpg
-import multiprocessing
-import uuid
-import signal
-import yaml
-from openpilot.common.swaglog import cloudlog
-from openpilot.common.basedir import BASEDIR
-from openpilot.tools.jotpluggler.data import DataManager
-from openpilot.tools.jotpluggler.datatree import DataTree
-from openpilot.tools.jotpluggler.layout import LayoutManager
-
-DEMO_ROUTE = "5beb9b58bd12b691/0000010a--a51155e496"
-
-
-class WorkerManager:
-  def __init__(self, max_workers=None):
-    self.pool = multiprocessing.Pool(max_workers or min(4, multiprocessing.cpu_count()), initializer=WorkerManager.worker_initializer)
-    self.active_tasks = {}
-
-  def submit_task(self, func, args_list, callback=None, task_id=None):
-    task_id = task_id or str(uuid.uuid4())
-
-    if task_id in self.active_tasks:
-      try:
-        self.active_tasks[task_id].terminate()
-      except Exception:
-        pass
-
-    def handle_success(result):
-      self.active_tasks.pop(task_id, None)
-      if callback:
-        try:
-          callback(result)
-        except Exception as e:
-          print(f"Callback for task {task_id} failed: {e}")
-
-    def handle_error(error):
-      self.active_tasks.pop(task_id, None)
-      print(f"Task {task_id} failed: {error}")
-
-    async_result = self.pool.starmap_async(func, args_list, callback=handle_success, error_callback=handle_error)
-    self.active_tasks[task_id] = async_result
-    return task_id
-
-  @staticmethod
-  def worker_initializer():
-    signal.signal(signal.SIGINT, signal.SIG_IGN)
-
-  def shutdown(self):
-    for task in self.active_tasks.values():
-      try:
-        task.terminate()
-      except Exception:
-        pass
-    self.pool.terminate()
-    self.pool.join()
-
-
-class PlaybackManager:
-  def __init__(self):
-    self.is_playing = False
-    self.current_time_s = 0.0
-    self.duration_s = 0.0
-    self.num_segments = 0
-
-    self.x_axis_bounds = (0.0, 0.0)  # (min_time, max_time)
-    self.x_axis_observers = []  # callbacks for x-axis changes
-    self._updating_x_axis = False
-
-  def set_route_duration(self, duration: float):
-    self.duration_s = duration
-    self.seek(min(self.current_time_s, duration))
-
-  def toggle_play_pause(self):
-    if not self.is_playing and self.current_time_s >= self.duration_s:
-      self.seek(0.0)
-    self.is_playing = not self.is_playing
-    texture_tag = "pause_texture" if self.is_playing else "play_texture"
-    dpg.configure_item("play_pause_button", texture_tag=texture_tag)
-
-  def seek(self, time_s: float):
-    self.current_time_s = max(0.0, min(time_s, self.duration_s))
-
-  def update_time(self, delta_t: float):
-    if self.is_playing:
-      self.current_time_s = min(self.current_time_s + delta_t, self.duration_s)
-      if self.current_time_s >= self.duration_s:
-        self.is_playing = False
-        dpg.configure_item("play_pause_button", texture_tag="play_texture")
-    return self.current_time_s
-
-  def set_x_axis_bounds(self, min_time: float, max_time: float, source_panel=None):
-    if self._updating_x_axis:
-      return
-
-    new_bounds = (min_time, max_time)
-    if new_bounds == self.x_axis_bounds:
-      return
-
-    self.x_axis_bounds = new_bounds
-    self._updating_x_axis = True  # prevent recursive updates
-
-    try:
-      for callback in self.x_axis_observers:
-        try:
-          callback(min_time, max_time, source_panel)
-        except Exception as e:
-          print(f"Error in x-axis sync callback: {e}")
-    finally:
-      self._updating_x_axis = False
-
-  def add_x_axis_observer(self, callback):
-    if callback not in self.x_axis_observers:
-      self.x_axis_observers.append(callback)
-
-  def remove_x_axis_observer(self, callback):
-    if callback in self.x_axis_observers:
-      self.x_axis_observers.remove(callback)
-
-class MainController:
-  def __init__(self, scale: float = 1.0):
-    self.scale = scale
-    self.data_manager = DataManager()
-    self.playback_manager = PlaybackManager()
-    self.worker_manager = WorkerManager()
-    self._create_global_themes()
-    self.data_tree = DataTree(self.data_manager, self.playback_manager)
-    self.layout_manager = LayoutManager(self.data_manager, self.playback_manager, self.worker_manager, scale=self.scale)
-    self.data_manager.add_observer(self.on_data_loaded)
-    self._total_segments = 0
-
-  def _create_global_themes(self):
-    with dpg.theme(tag="line_theme"):
-      with dpg.theme_component(dpg.mvLineSeries):
-        scaled_thickness = max(1.0, self.scale)
-        dpg.add_theme_style(dpg.mvPlotStyleVar_LineWeight, scaled_thickness, category=dpg.mvThemeCat_Plots)
-
-    with dpg.theme(tag="timeline_theme"):
-      with dpg.theme_component(dpg.mvInfLineSeries):
-        scaled_thickness = max(1.0, self.scale)
-        dpg.add_theme_style(dpg.mvPlotStyleVar_LineWeight, scaled_thickness, category=dpg.mvThemeCat_Plots)
-        dpg.add_theme_color(dpg.mvPlotCol_Line, (255, 0, 0, 128), category=dpg.mvThemeCat_Plots)
-
-    for tag, color in (("active_tab_theme", (37, 37, 38, 255)), ("inactive_tab_theme", (70, 70, 75, 255))):
-      with dpg.theme(tag=tag):
-        for cmp, target in ((dpg.mvChildWindow, dpg.mvThemeCol_ChildBg), (dpg.mvInputText, dpg.mvThemeCol_FrameBg), (dpg.mvImageButton, dpg.mvThemeCol_Button)):
-          with dpg.theme_component(cmp):
-            dpg.add_theme_color(target, color)
-
-    with dpg.theme(tag="tab_bar_theme"):
-      with dpg.theme_component(dpg.mvChildWindow):
-        dpg.add_theme_color(dpg.mvThemeCol_ChildBg, (51, 51, 55, 255))
-
-  def on_data_loaded(self, data: dict):
-    duration = data.get('duration', 0.0)
-    self.playback_manager.set_route_duration(duration)
-
-    if data.get('metadata_loaded'):
-      self.playback_manager.num_segments = data.get('total_segments', 0)
-      self._total_segments = data.get('total_segments', 0)
-      dpg.set_value("load_status", f"Loading... 0/{self._total_segments} segments processed")
-    elif data.get('reset'):
-      self.playback_manager.current_time_s = 0.0
-      self.playback_manager.duration_s = 0.0
-      self.playback_manager.is_playing = False
-      self._total_segments = 0
-      dpg.set_value("load_status", "Loading...")
-      dpg.set_value("timeline_slider", 0.0)
-      dpg.configure_item("timeline_slider", max_value=0.0)
-      dpg.configure_item("play_pause_button", texture_tag="play_texture")
-      dpg.configure_item("load_button", enabled=True)
-    elif data.get('loading_complete'):
-      num_paths = len(self.data_manager.get_all_paths())
-      dpg.set_value("load_status", f"Loaded {num_paths} data paths")
-      dpg.configure_item("load_button", enabled=True)
-    elif data.get('segment_added'):
-      segment_count = data.get('segment_count', 0)
-      dpg.set_value("load_status", f"Loading... {segment_count}/{self._total_segments} segments processed")
-
-    dpg.configure_item("timeline_slider", max_value=duration)
-
-  def save_layout_to_yaml(self, filepath: str):
-    layout_dict = self.layout_manager.to_dict()
-    with open(filepath, 'w') as f:
-      yaml.dump(layout_dict, f, default_flow_style=False, sort_keys=False)
-
-  def load_layout_from_yaml(self, filepath: str):
-    with open(filepath) as f:
-      layout_dict = yaml.safe_load(f)
-    self.layout_manager.clear_and_load_from_dict(layout_dict)
-    self.layout_manager.create_ui("main_plot_area")
-
-  def save_layout_dialog(self):
-    if dpg.does_item_exist("save_layout_dialog"):
-      dpg.delete_item("save_layout_dialog")
-    with dpg.file_dialog(
-      callback=self._save_layout_callback, tag="save_layout_dialog", width=int(700 * self.scale), height=int(400 * self.scale),
-      default_filename="layout", default_path=os.path.join(os.path.dirname(os.path.realpath(__file__)), "layouts")
-    ):
-      dpg.add_file_extension(".yaml")
-
-  def load_layout_dialog(self):
-    if dpg.does_item_exist("load_layout_dialog"):
-      dpg.delete_item("load_layout_dialog")
-    with dpg.file_dialog(
-      callback=self._load_layout_callback, tag="load_layout_dialog", width=int(700 * self.scale), height=int(400 * self.scale),
-      default_path=os.path.join(os.path.dirname(os.path.realpath(__file__)), "layouts")
-    ):
-      dpg.add_file_extension(".yaml")
-
-  def _save_layout_callback(self, sender, app_data):
-    filepath = app_data['file_path_name']
-    try:
-      self.save_layout_to_yaml(filepath)
-      dpg.set_value("load_status", f"Layout saved to {os.path.basename(filepath)}")
-    except Exception:
-      dpg.set_value("load_status", "Error saving layout")
-      cloudlog.exception(f"Error saving layout to {filepath}")
-    dpg.delete_item("save_layout_dialog")
-
-  def _load_layout_callback(self, sender, app_data):
-    filepath = app_data['file_path_name']
-    try:
-      self.load_layout_from_yaml(filepath)
-      dpg.set_value("load_status", f"Layout loaded from {os.path.basename(filepath)}")
-    except Exception:
-      dpg.set_value("load_status", "Error loading layout")
-      cloudlog.exception(f"Error loading layout from {filepath}:")
-    dpg.delete_item("load_layout_dialog")
-
-  def setup_ui(self):
-    with dpg.texture_registry():
-      script_dir = os.path.dirname(os.path.realpath(__file__))
-      for image in ["play", "pause", "x", "split_h", "split_v", "plus"]:
-        texture = dpg.load_image(os.path.join(script_dir, "assets", f"{image}.png"))
-        dpg.add_static_texture(width=texture[0], height=texture[1], default_value=texture[3], tag=f"{image}_texture")
-
-    with dpg.window(tag="Primary Window"):
-      with dpg.group(horizontal=True):
-        # Left panel - Data tree
-        with dpg.child_window(label="Sidebar", width=int(300 * self.scale), tag="sidebar_window", border=True, resizable_x=True):
-          with dpg.group(horizontal=True):
-            dpg.add_input_text(tag="route_input", width=int(-75 * self.scale), hint="Enter route name...")
-            dpg.add_button(label="Load", callback=self.load_route, tag="load_button", width=-1)
-          dpg.add_text("Ready to load route", tag="load_status")
-          dpg.add_separator()
-
-          with dpg.table(header_row=False, policy=dpg.mvTable_SizingStretchProp):
-            dpg.add_table_column(init_width_or_weight=0.5)
-            dpg.add_table_column(init_width_or_weight=0.5)
-            with dpg.table_row():
-              dpg.add_button(label="Save Layout", callback=self.save_layout_dialog, width=-1)
-              dpg.add_button(label="Load Layout", callback=self.load_layout_dialog, width=-1)
-          dpg.add_separator()
-
-          self.data_tree.create_ui("sidebar_window")
-
-        # Right panel - Plots and timeline
-        with dpg.group(tag="right_panel"):
-          with dpg.child_window(label="Plot Window", border=True, height=int(-(32 + 13 * self.scale)), tag="main_plot_area"):
-            self.layout_manager.create_ui("main_plot_area")
-
-          with dpg.child_window(label="Timeline", border=True):
-            with dpg.table(header_row=False):
-              btn_size = int(13 * self.scale)
-              dpg.add_table_column(width_fixed=True, init_width_or_weight=(btn_size + 8))  # Play button
-              dpg.add_table_column(width_stretch=True)  # Timeline slider
-              dpg.add_table_column(width_fixed=True, init_width_or_weight=int(50 * self.scale))  # FPS counter
-              with dpg.table_row():
-                dpg.add_image_button(texture_tag="play_texture", tag="play_pause_button", callback=self.toggle_play_pause, width=btn_size, height=btn_size)
-                dpg.add_slider_float(tag="timeline_slider", default_value=0.0, label="", width=-1, callback=self.timeline_drag)
-                dpg.add_text("", tag="fps_counter")
-            with dpg.item_handler_registry(tag="plot_resize_handler"):
-              dpg.add_item_resize_handler(callback=self.on_plot_resize)
-            dpg.bind_item_handler_registry("right_panel", "plot_resize_handler")
-
-    dpg.set_primary_window("Primary Window", True)
-
-  def on_plot_resize(self, sender, app_data, user_data):
-    self.layout_manager.on_viewport_resize()
-
-  def load_route(self):
-    route_name = dpg.get_value("route_input").strip()
-    if route_name:
-      dpg.set_value("load_status", "Loading route...")
-      dpg.configure_item("load_button", enabled=False)
-      self.data_manager.load_route(route_name)
-
-  def toggle_play_pause(self, sender):
-    self.playback_manager.toggle_play_pause()
-
-  def timeline_drag(self, sender, app_data):
-    self.playback_manager.seek(app_data)
-
-  def update_frame(self, font):
-    self.data_tree.update_frame(font)
-
-    new_time = self.playback_manager.update_time(dpg.get_delta_time())
-    if not dpg.is_item_active("timeline_slider"):
-      dpg.set_value("timeline_slider", new_time)
-
-    self.layout_manager.update_all_panels()
-
-    dpg.set_value("fps_counter", f"{dpg.get_frame_rate():.1f} FPS")
-
-  def shutdown(self):
-    self.worker_manager.shutdown()
-
-
-def main(route_to_load=None, layout_to_load=None):
-  dpg.create_context()
-
-  # TODO: find better way of calculating display scaling
-  #try:
-  #  w, h = next(tuple(map(int, l.split()[0].split('x'))) for l in subprocess.check_output(['xrandr']).decode().split('\n') if '*' in l)  # actual resolution
-  #  scale = pyautogui.size()[0] / w  # scaled resolution
-  #except Exception:
-  #  scale = 1
-  scale = 1
-
-  with dpg.font_registry():
-    default_font = dpg.add_font(os.path.join(BASEDIR, "selfdrive/assets/fonts/JetBrainsMono-Medium.ttf"), int(13 * scale * 2)) # 2x then scale for hidpi
-  dpg.bind_font(default_font)
-  dpg.set_global_font_scale(0.5)
-
-  viewport_width, viewport_height = int(1200 * scale), int(800 * scale)
-  dpg.create_viewport(
-    title='JotPluggler', width=viewport_width, height=viewport_height,
-  )
-  dpg.setup_dearpygui()
-
-  controller = MainController(scale=scale)
-  controller.setup_ui()
-
-  if layout_to_load:
-    try:
-      controller.load_layout_from_yaml(layout_to_load)
-      print(f"Loaded layout from {layout_to_load}")
-    except Exception as e:
-      print(f"Failed to load layout from {layout_to_load}: {e}")
-      cloudlog.exception(f"Error loading layout from {layout_to_load}")
-
-  if route_to_load:
-    dpg.set_value("route_input", route_to_load)
-    controller.load_route()
-
-  dpg.show_viewport()
-
-  # Main loop
-  try:
-    while dpg.is_dearpygui_running():
-      controller.update_frame(default_font)
-      dpg.render_dearpygui_frame()
-  finally:
-    controller.shutdown()
-    dpg.destroy_context()
-
-if __name__ == "__main__":
-  parser = argparse.ArgumentParser(description="A tool for visualizing openpilot logs.")
-  parser.add_argument("--demo", action="store_true", help="Use the demo route instead of providing one")
-  parser.add_argument("--layout", type=str, help="Path to YAML layout file to load on startup")
-  parser.add_argument("route", nargs='?', default=None, help="Optional route name to load on startup.")
-  args = parser.parse_args()
-  route = DEMO_ROUTE if args.demo else args.route
-  main(route_to_load=route, layout_to_load=args.layout)

tools/jotpluggler/views.py

@@ -1,294 +0,0 @@
-import uuid
-import threading
-import numpy as np
-from collections import deque
-import dearpygui.dearpygui as dpg
-from abc import ABC, abstractmethod
-
-
-class ViewPanel(ABC):
-  """Abstract base class for all view panels that can be displayed in a plot container"""
-
-  def __init__(self, panel_id: str | None = None):
-    self.panel_id = panel_id or str(uuid.uuid4())
-    self.title = "Untitled Panel"
-
-  @abstractmethod
-  def clear(self):
-    pass
-
-  @abstractmethod
-  def create_ui(self, parent_tag: str):
-    pass
-
-  @abstractmethod
-  def destroy_ui(self):
-    pass
-
-  @abstractmethod
-  def get_panel_type(self) -> str:
-    pass
-
-  @abstractmethod
-  def update(self):
-    pass
-
-  @abstractmethod
-  def to_dict(self) -> dict:
-    pass
-
-  @classmethod
-  @abstractmethod
-  def load_from_dict(cls, data: dict, data_manager, playback_manager, worker_manager):
-    pass
-
-
-class TimeSeriesPanel(ViewPanel):
-  def __init__(self, data_manager, playback_manager, worker_manager, panel_id: str | None = None):
-    super().__init__(panel_id)
-    self.data_manager = data_manager
-    self.playback_manager = playback_manager
-    self.worker_manager = worker_manager
-    self.title = "Time Series Plot"
-    self.plot_tag = f"plot_{self.panel_id}"
-    self.x_axis_tag = f"{self.plot_tag}_x_axis"
-    self.y_axis_tag = f"{self.plot_tag}_y_axis"
-    self.timeline_indicator_tag = f"{self.plot_tag}_timeline"
-    self._ui_created = False
-    self._series_data: dict[str, tuple[np.ndarray, np.ndarray]] = {}
-    self._last_plot_duration = 0
-    self._update_lock = threading.RLock()
-    self._results_deque: deque[tuple[str, list, list]] = deque()
-    self._new_data = False
-    self._last_x_limits = (0.0, 0.0)
-    self._queued_x_sync: tuple | None = None
-    self._queued_reallow_x_zoom = False
-    self._total_segments = self.playback_manager.num_segments
-
-  def to_dict(self) -> dict:
-    return {
-      "type": "timeseries",
-      "title": self.title,
-      "series_paths": list(self._series_data.keys())
-    }
-
-  @classmethod
-  def load_from_dict(cls, data: dict, data_manager, playback_manager, worker_manager):
-    panel = cls(data_manager, playback_manager, worker_manager)
-    panel.title = data.get("title", "Time Series Plot")
-    panel._series_data = {path: (np.array([]), np.array([])) for path in data.get("series_paths", [])}
-    return panel
-
-  def create_ui(self, parent_tag: str):
-    self.data_manager.add_observer(self.on_data_loaded)
-    self.playback_manager.add_x_axis_observer(self._on_x_axis_sync)
-    with dpg.plot(height=-1, width=-1, tag=self.plot_tag, parent=parent_tag, drop_callback=self._on_series_drop, payload_type="TIMESERIES_PAYLOAD"):
-      dpg.add_plot_legend()
-      dpg.add_plot_axis(dpg.mvXAxis, no_label=True, tag=self.x_axis_tag)
-      dpg.add_plot_axis(dpg.mvYAxis, no_label=True, tag=self.y_axis_tag)
-      timeline_series_tag = dpg.add_inf_line_series(x=[0], label="Timeline", parent=self.y_axis_tag, tag=self.timeline_indicator_tag)
-      dpg.bind_item_theme(timeline_series_tag, "timeline_theme")
-
-    self._new_data = True
-    self._queued_x_sync = self.playback_manager.x_axis_bounds
-    self._ui_created = True
-
-  def update(self):
-    with self._update_lock:
-      if not self._ui_created:
-        return
-
-      if self._queued_x_sync:
-        min_time, max_time = self._queued_x_sync
-        self._queued_x_sync = None
-        dpg.set_axis_limits(self.x_axis_tag, min_time, max_time)
-        self._last_x_limits = (min_time, max_time)
-        self._fit_y_axis(min_time, max_time)
-        self._queued_reallow_x_zoom = True # must wait a frame before allowing user changes so that axis limits take effect
-        return
-
-      if self._queued_reallow_x_zoom:
-        self._queued_reallow_x_zoom = False
-        if tuple(dpg.get_axis_limits(self.x_axis_tag)) == self._last_x_limits:
-          dpg.set_axis_limits_auto(self.x_axis_tag)
-        else:
-          self._queued_x_sync = self._last_x_limits # retry, likely too early
-          return
-
-      if self._new_data:  # handle new data in main thread
-        self._new_data = False
-        if self._total_segments > 0:
-          dpg.set_axis_limits_constraints(self.x_axis_tag, -10, self._total_segments * 60 + 10)
-        self._fit_y_axis(*dpg.get_axis_limits(self.x_axis_tag))
-        for series_path in list(self._series_data.keys()):
-          self.add_series(series_path, update=True)
-
-      current_limits = dpg.get_axis_limits(self.x_axis_tag)
-      # downsample if plot zoom changed significantly
-      plot_duration = current_limits[1] - current_limits[0]
-      if plot_duration > self._last_plot_duration * 2 or plot_duration < self._last_plot_duration * 0.5:
-        self._downsample_all_series(plot_duration)
-      # sync x-axis if changed by user
-      if self._last_x_limits != current_limits:
-        self.playback_manager.set_x_axis_bounds(current_limits[0], current_limits[1], source_panel=self)
-        self._last_x_limits = current_limits
-        self._fit_y_axis(current_limits[0], current_limits[1])
-
-      while self._results_deque:  # handle downsampled results in main thread
-        results = self._results_deque.popleft()
-        for series_path, downsampled_time, downsampled_values in results:
-          series_tag = f"series_{self.panel_id}_{series_path}"
-          if dpg.does_item_exist(series_tag):
-            dpg.set_value(series_tag, (downsampled_time, downsampled_values.astype(float)))
-
-      # update timeline
-      current_time_s = self.playback_manager.current_time_s
-      dpg.set_value(self.timeline_indicator_tag, [[current_time_s], [0]])
-
-      # update timeseries legend label
-      for series_path, (time_array, value_array) in self._series_data.items():
-        position = np.searchsorted(time_array, current_time_s, side='right') - 1
-        if position >= 0 and (current_time_s - time_array[position]) <= 1.0:
-          value = value_array[position]
-          formatted_value = f"{value:.5f}" if np.issubdtype(type(value), np.floating) else str(value)
-          series_tag = f"series_{self.panel_id}_{series_path}"
-          if dpg.does_item_exist(series_tag):
-            dpg.configure_item(series_tag, label=f"{series_path}: {formatted_value}")
-
-  def _on_x_axis_sync(self, min_time: float, max_time: float, source_panel):
-    with self._update_lock:
-      if source_panel != self:
-        self._queued_x_sync = (min_time, max_time)
-
-  def _fit_y_axis(self, x_min: float, x_max: float):
-    if not self._series_data:
-      dpg.set_axis_limits(self.y_axis_tag, -1, 1)
-      return
-
-    global_min = float('inf')
-    global_max = float('-inf')
-    found_data = False
-
-    for time_array, value_array in self._series_data.values():
-      if len(time_array) == 0:
-        continue
-      start_idx, end_idx = np.searchsorted(time_array, [x_min, x_max])
-      end_idx = min(end_idx, len(time_array) - 1)
-      if start_idx <= end_idx:
-        y_slice = value_array[start_idx:end_idx + 1]
-        series_min, series_max = np.min(y_slice), np.max(y_slice)
-        global_min = min(global_min, series_min)
-        global_max = max(global_max, series_max)
-        found_data = True
-
-    if not found_data:
-      dpg.set_axis_limits(self.y_axis_tag, -1, 1)
-      return
-
-    if global_min == global_max:
-      padding = max(abs(global_min) * 0.1, 1.0)
-      y_min, y_max = global_min - padding, global_max + padding
-    else:
-      range_size = global_max - global_min
-      padding = range_size * 0.1
-      y_min, y_max = global_min - padding, global_max + padding
-
-    dpg.set_axis_limits(self.y_axis_tag, y_min, y_max)
-
-  def _downsample_all_series(self, plot_duration):
-    plot_width = dpg.get_item_rect_size(self.plot_tag)[0]
-    if plot_width <= 0 or plot_duration <= 0:
-      return
-
-    self._last_plot_duration = plot_duration
-    target_points_per_second = plot_width / plot_duration
-    work_items = []
-    for series_path, (time_array, value_array) in self._series_data.items():
-      if len(time_array) == 0:
-        continue
-      series_duration = time_array[-1] - time_array[0] if len(time_array) > 1 else 1
-      points_per_second = len(time_array) / series_duration
-      if points_per_second > target_points_per_second * 2:
-        target_points = max(int(target_points_per_second * series_duration), plot_width)
-        work_items.append((series_path, time_array, value_array, target_points))
-      elif dpg.does_item_exist(f"series_{self.panel_id}_{series_path}"):
-        dpg.set_value(f"series_{self.panel_id}_{series_path}", (time_array, value_array.astype(float)))
-
-    if work_items:
-      self.worker_manager.submit_task(
-        TimeSeriesPanel._downsample_worker, work_items, callback=lambda results: self._results_deque.append(results), task_id=f"downsample_{self.panel_id}"
-      )
-
-  def add_series(self, series_path: str, update: bool = False):
-    with self._update_lock:
-      if update or series_path not in self._series_data:
-        self._series_data[series_path] = self.data_manager.get_timeseries(series_path)
-
-      time_array, value_array = self._series_data[series_path]
-      series_tag = f"series_{self.panel_id}_{series_path}"
-      if dpg.does_item_exist(series_tag):
-        dpg.set_value(series_tag, (time_array, value_array.astype(float)))
-      else:
-        line_series_tag = dpg.add_line_series(x=time_array, y=value_array.astype(float), label=series_path, parent=self.y_axis_tag, tag=series_tag)
-        dpg.bind_item_theme(line_series_tag, "line_theme")
-      self._fit_y_axis(*dpg.get_axis_limits(self.x_axis_tag))
-      plot_duration = dpg.get_axis_limits(self.x_axis_tag)[1] - dpg.get_axis_limits(self.x_axis_tag)[0]
-      self._downsample_all_series(plot_duration)
-
-  def destroy_ui(self):
-    with self._update_lock:
-      self.data_manager.remove_observer(self.on_data_loaded)
-      self.playback_manager.remove_x_axis_observer(self._on_x_axis_sync)
-      if dpg.does_item_exist(self.plot_tag):
-        dpg.delete_item(self.plot_tag)
-      self._ui_created = False
-
-  def get_panel_type(self) -> str:
-    return "timeseries"
-
-  def clear(self):
-    with self._update_lock:
-      for series_path in list(self._series_data.keys()):
-        self.remove_series(series_path)
-
-  def remove_series(self, series_path: str):
-    with self._update_lock:
-      if series_path in self._series_data:
-        if dpg.does_item_exist(f"series_{self.panel_id}_{series_path}"):
-          dpg.delete_item(f"series_{self.panel_id}_{series_path}")
-        del self._series_data[series_path]
-
-  def on_data_loaded(self, data: dict):
-    with self._update_lock:
-      self._new_data = True
-      if data.get('metadata_loaded'):
-        self._total_segments = data.get('total_segments', 0)
-        limits = (-10, self._total_segments * 60 + 10)
-        self._queued_x_sync = limits
-
-  def _on_series_drop(self, sender, app_data, user_data):
-    self.add_series(app_data)
-
-  @staticmethod
-  def _downsample_worker(series_path, time_array, value_array, target_points):
-    if len(time_array) <= target_points:
-      return series_path, time_array, value_array
-
-    step = len(time_array) / target_points
-    indices = []
-
-    for i in range(target_points):
-      start_idx = int(i * step)
-      end_idx = int((i + 1) * step)
-      if start_idx == end_idx:
-        indices.append(start_idx)
-      else:
-        bucket_values = value_array[start_idx:end_idx]
-        min_idx = start_idx + np.argmin(bucket_values)
-        max_idx = start_idx + np.argmax(bucket_values)
-        if min_idx != max_idx:
-          indices.extend([min(min_idx, max_idx), max(min_idx, max_idx)])
-        else:
-          indices.append(min_idx)
-    indices = sorted(set(indices))
-    return series_path, time_array[indices], value_array[indices]

tools/lib/file_downloader.py

@@ -60,8 +60,16 @@ def cmd_download(args):
       return
 
   try:
-    uf = URLFile(url, cache=False)
-    total = uf.get_length()
+    # Stream the file in a single HTTP request instead of making
+    # a separate Range request per chunk (which was very slow).
+    pool = URLFile.pool_manager()
+    r = pool.request("GET", url, preload_content=False)
+    if r.status not in (200, 206):
+      sys.stderr.write(f"ERROR:HTTP {r.status}\n")
+      sys.stderr.flush()
+      sys.exit(1)
+
+    total = int(r.headers.get('content-length', 0))
     if total <= 0:
       sys.stderr.write("ERROR:File not found or empty\n")
       sys.stderr.flush()
@@ -73,8 +81,7 @@ def cmd_download(args):
       downloaded = 0
       chunk_size = 1024 * 1024
       with os.fdopen(tmp_fd, 'wb') as f:
-        while downloaded < total:
-          data = uf.read(min(chunk_size, total - downloaded))
+        for data in r.stream(chunk_size):
           f.write(data)
           downloaded += len(data)
           sys.stderr.write(f"PROGRESS:{downloaded}:{total}\n")
@@ -91,6 +98,8 @@ def cmd_download(args):
       except OSError:
         pass
       raise
+    finally:
+      r.release_conn()
 
   except Exception as e:
     sys.stderr.write(f"ERROR:{e}\n")

uv.lock

@@ -116,12 +116,12 @@ wheels = [
 [[package]]
 name = "bzip2"
 version = "1.0.8"
-source = { git = "https://github.com/commaai/dependencies.git?subdirectory=bzip2&rev=releases#12581f30b45b570dd0bbc36055fe1532f5a8ef60" }
+source = { git = "https://github.com/commaai/dependencies.git?subdirectory=bzip2&rev=releases#9777ee38aa5ca9439843125392af38ed1262e500" }
 
 [[package]]
 name = "capnproto"
 version = "1.0.1"
-source = { git = "https://github.com/commaai/dependencies.git?subdirectory=capnproto&rev=releases#12581f30b45b570dd0bbc36055fe1532f5a8ef60" }
+source = { git = "https://github.com/commaai/dependencies.git?subdirectory=capnproto&rev=releases#9777ee38aa5ca9439843125392af38ed1262e500" }
 
 [[package]]
 name = "casadi"
@@ -359,16 +359,6 @@ wheels = [
     { url = "https://files.pythonhosted.org/packages/ff/fa/d3c15189f7c52aaefbaea76fb012119b04b9013f4bf446cb4eb4c26c4e6b/cython-3.2.4-py3-none-any.whl", hash = "sha256:732fc93bc33ae4b14f6afaca663b916c2fdd5dcbfad7114e17fb2434eeaea45c", size = 1257078, upload-time = "2026-01-04T14:14:12.373Z" },
 ]
 
-[[package]]
-name = "dearpygui"
-version = "2.2"
-source = { registry = "https://pypi.org/simple" }
-wheels = [
-    { url = "https://files.pythonhosted.org/packages/17/c8/b4afdac89c7bf458513366af3143f7383d7b09721637989c95788d93e24c/dearpygui-2.2-cp312-cp312-macosx_13_0_arm64.whl", hash = "sha256:34ceae1ca1b65444e49012d6851312e44f08713da1b8cc0150cf41f1c207af9c", size = 1931443, upload-time = "2026-02-17T14:21:54.394Z" },
-    { url = "https://files.pythonhosted.org/packages/43/93/a2d083b2e0edb095be815662cc41e40cf9ea7b65d6323e47bb30df7eb284/dearpygui-2.2-cp312-cp312-manylinux1_x86_64.whl", hash = "sha256:e1fae9ae59fec0e41773df64c80311a6ba67696219dde5506a2a4c013e8bcdfa", size = 2592645, upload-time = "2026-02-17T14:22:02.869Z" },
-    { url = "https://files.pythonhosted.org/packages/80/ba/eae13acaad479f522db853e8b1ccd695a7bc8da2b9685c1d70a3b318df89/dearpygui-2.2-cp312-cp312-win_amd64.whl", hash = "sha256:7d399543b5a26ab6426ef3bbd776e55520b491b3e169647bde5e6b2de3701b35", size = 1830531, upload-time = "2026-02-17T14:21:43.386Z" },
-]
-
 [[package]]
 name = "dnspython"
 version = "2.8.0"
@@ -381,7 +371,7 @@ wheels = [
 [[package]]
 name = "eigen"
 version = "3.4.0"
-source = { git = "https://github.com/commaai/dependencies.git?subdirectory=eigen&rev=releases#12581f30b45b570dd0bbc36055fe1532f5a8ef60" }
+source = { git = "https://github.com/commaai/dependencies.git?subdirectory=eigen&rev=releases#9777ee38aa5ca9439843125392af38ed1262e500" }
 
 [[package]]
 name = "execnet"
@@ -395,7 +385,7 @@ wheels = [
 [[package]]
 name = "ffmpeg"
 version = "7.1.0"
-source = { git = "https://github.com/commaai/dependencies.git?subdirectory=ffmpeg&rev=releases#12581f30b45b570dd0bbc36055fe1532f5a8ef60" }
+source = { git = "https://github.com/commaai/dependencies.git?subdirectory=ffmpeg&rev=releases#9777ee38aa5ca9439843125392af38ed1262e500" }
 
 [[package]]
 name = "fonttools"
@@ -442,7 +432,7 @@ wheels = [
 [[package]]
 name = "gcc-arm-none-eabi"
 version = "13.2.1"
-source = { git = "https://github.com/commaai/dependencies.git?subdirectory=gcc-arm-none-eabi&rev=releases#12581f30b45b570dd0bbc36055fe1532f5a8ef60" }
+source = { git = "https://github.com/commaai/dependencies.git?subdirectory=gcc-arm-none-eabi&rev=releases#9777ee38aa5ca9439843125392af38ed1262e500" }
 
 [[package]]
 name = "ghp-import"
@@ -459,7 +449,7 @@ wheels = [
 [[package]]
 name = "git-lfs"
 version = "3.6.1"
-source = { git = "https://github.com/commaai/dependencies.git?subdirectory=git-lfs&rev=releases#12581f30b45b570dd0bbc36055fe1532f5a8ef60" }
+source = { git = "https://github.com/commaai/dependencies.git?subdirectory=git-lfs&rev=releases#9777ee38aa5ca9439843125392af38ed1262e500" }
 
 [[package]]
 name = "google-crc32c"
@@ -577,7 +567,7 @@ wheels = [
 [[package]]
 name = "libjpeg"
 version = "3.1.0"
-source = { git = "https://github.com/commaai/dependencies.git?subdirectory=libjpeg&rev=releases#12581f30b45b570dd0bbc36055fe1532f5a8ef60" }
+source = { git = "https://github.com/commaai/dependencies.git?subdirectory=libjpeg&rev=releases#9777ee38aa5ca9439843125392af38ed1262e500" }
 
 [[package]]
 name = "libusb1"
@@ -593,7 +583,7 @@ wheels = [
 [[package]]
 name = "libyuv"
 version = "1922.0"
-source = { git = "https://github.com/commaai/dependencies.git?subdirectory=libyuv&rev=releases#12581f30b45b570dd0bbc36055fe1532f5a8ef60" }
+source = { git = "https://github.com/commaai/dependencies.git?subdirectory=libyuv&rev=releases#9777ee38aa5ca9439843125392af38ed1262e500" }
 
 [[package]]
 name = "markdown"
@@ -745,7 +735,7 @@ wheels = [
 [[package]]
 name = "ncurses"
 version = "6.5"
-source = { git = "https://github.com/commaai/dependencies.git?subdirectory=ncurses&rev=releases#12581f30b45b570dd0bbc36055fe1532f5a8ef60" }
+source = { git = "https://github.com/commaai/dependencies.git?subdirectory=ncurses&rev=releases#9777ee38aa5ca9439843125392af38ed1262e500" }
 
 [[package]]
 name = "numpy"
@@ -800,6 +790,7 @@ dependencies = [
     { name = "cython" },
     { name = "eigen" },
     { name = "ffmpeg" },
+    { name = "gcc-arm-none-eabi" },
     { name = "git-lfs" },
     { name = "inputs" },
     { name = "jeepney" },
@@ -809,7 +800,7 @@ dependencies = [
     { name = "libyuv" },
     { name = "ncurses" },
     { name = "numpy" },
-    { name = "openssl3" },
+    { name = "pillow" },
     { name = "psutil" },
     { name = "pycapnp" },
     { name = "pycryptodome" },
@@ -837,7 +828,6 @@ dependencies = [
 
 [package.optional-dependencies]
 dev = [
-    { name = "gcc-arm-none-eabi" },
     { name = "matplotlib" },
     { name = "opencv-python-headless" },
 ]
@@ -860,7 +850,6 @@ testing = [
     { name = "ty" },
 ]
 tools = [
-    { name = "dearpygui", marker = "platform_machine != 'aarch64' or sys_platform != 'linux'" },
     { name = "metadrive-simulator", marker = "platform_machine != 'aarch64'" },
 ]
 
@@ -877,10 +866,9 @@ requires-dist = [
     { name = "coverage", marker = "extra == 'testing'" },
     { name = "crcmod-plus" },
     { name = "cython" },
-    { name = "dearpygui", marker = "(platform_machine != 'aarch64' and extra == 'tools') or (sys_platform != 'linux' and extra == 'tools')", specifier = ">=2.1.0" },
     { name = "eigen", git = "https://github.com/commaai/dependencies.git?subdirectory=eigen&rev=releases" },
     { name = "ffmpeg", git = "https://github.com/commaai/dependencies.git?subdirectory=ffmpeg&rev=releases" },
-    { name = "gcc-arm-none-eabi", marker = "extra == 'dev'", git = "https://github.com/commaai/dependencies.git?subdirectory=gcc-arm-none-eabi&rev=releases" },
+    { name = "gcc-arm-none-eabi", git = "https://github.com/commaai/dependencies.git?subdirectory=gcc-arm-none-eabi&rev=releases" },
     { name = "git-lfs", git = "https://github.com/commaai/dependencies.git?subdirectory=git-lfs&rev=releases" },
     { name = "hypothesis", marker = "extra == 'testing'", specifier = "==6.47.*" },
     { name = "inputs" },
@@ -896,7 +884,7 @@ requires-dist = [
     { name = "ncurses", git = "https://github.com/commaai/dependencies.git?subdirectory=ncurses&rev=releases" },
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     { name = "psutil" },
     { name = "pycapnp" },
@@ -932,11 +920,6 @@ requires-dist = [
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 [[package]]
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 [[package]]
 name = "zstandard"
@@ -1704,4 +1689,4 @@ wheels = [
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