IQ.Pilot Release Commit @ 0798119

2026-08-22 23:42:42 -05:00
commit b42569dbca
4529 changed files with 1132125 additions and 0 deletions
--- a/tools/cabana/utils/api.cc
+++ b/tools/cabana/utils/api.cc
@@ -0,0 +1,171 @@
+#include "tools/cabana/utils/api.h"
+
+#include <openssl/evp.h>
+#include <openssl/pem.h>
+
+#include <QApplication>
+#include <QCryptographicHash>
+#include <QDateTime>
+#include <QDebug>
+#include <QJsonDocument>
+#include <QNetworkRequest>
+
+#include <memory>
+#include <string>
+
+#include "common/params.h"
+#include "common/util.h"
+#include "system/hardware/hw.h"
+#include "tools/cabana/utils/util.h"
+
+QString getVersion() {
+  static QString version =  QString::fromStdString(Params().get("Version"));
+  return version;
+}
+
+QString getUserAgent() {
+  return "openpilot-" + getVersion();
+}
+
+std::optional<QString> getDongleId() {
+  std::string id = Params().get("DongleId");
+
+  if (!id.empty() && (id != "UnregisteredDevice")) {
+    return QString::fromStdString(id);
+  } else {
+    return {};
+  }
+}
+
+namespace CommaApi {
+
+EVP_PKEY *get_private_key() {
+  static std::unique_ptr<EVP_PKEY, decltype(&EVP_PKEY_free)> pkey(nullptr, EVP_PKEY_free);
+  if (!pkey) {
+    FILE *fp = fopen(Path::rsa_file().c_str(), "rb");
+    if (!fp) {
+      qDebug() << "No private key found, please run manager.py or registration.py";
+      return nullptr;
+    }
+    pkey.reset(PEM_read_PrivateKey(fp, nullptr, nullptr, nullptr));
+    fclose(fp);
+  }
+  return pkey.get();
+}
+
+QByteArray rsa_sign(const QByteArray &data) {
+  EVP_PKEY *pkey = get_private_key();
+  if (!pkey) return {};
+
+  EVP_MD_CTX *mdctx = EVP_MD_CTX_new();
+  if (!mdctx) return {};
+
+  QByteArray sig(EVP_PKEY_size(pkey), Qt::Uninitialized);
+  size_t sig_len = sig.size();
+
+  int ret = EVP_DigestSignInit(mdctx, nullptr, EVP_sha256(), nullptr, pkey);
+  ret &= EVP_DigestSignUpdate(mdctx, data.data(), data.size());
+  ret &= EVP_DigestSignFinal(mdctx, (unsigned char*)sig.data(), &sig_len);
+
+  EVP_MD_CTX_free(mdctx);
+
+  if (ret != 1) return {};
+  sig.resize(sig_len);
+  return sig;
+}
+
+QString create_jwt(const QJsonObject &payloads, int expiry) {
+  QJsonObject header = {{"alg", "RS256"}};
+
+  auto t = QDateTime::currentSecsSinceEpoch();
+  QJsonObject payload = {{"identity", getDongleId().value_or("")}, {"nbf", t}, {"iat", t}, {"exp", t + expiry}};
+  for (auto it = payloads.begin(); it != payloads.end(); ++it) {
+    payload.insert(it.key(), it.value());
+  }
+
+  auto b64_opts = QByteArray::Base64UrlEncoding | QByteArray::OmitTrailingEquals;
+  QString jwt = QJsonDocument(header).toJson(QJsonDocument::Compact).toBase64(b64_opts) + '.' +
+                QJsonDocument(payload).toJson(QJsonDocument::Compact).toBase64(b64_opts);
+
+  auto hash = QCryptographicHash::hash(jwt.toUtf8(), QCryptographicHash::Sha256);
+  return jwt + "." + rsa_sign(hash).toBase64(b64_opts);
+}
+
+}  // namespace CommaApi
+
+HttpRequest::HttpRequest(QObject *parent, bool create_jwt, int timeout) : create_jwt(create_jwt), QObject(parent) {
+  networkTimer = new QTimer(this);
+  networkTimer->setSingleShot(true);
+  networkTimer->setInterval(timeout);
+  connect(networkTimer, &QTimer::timeout, this, &HttpRequest::requestTimeout);
+}
+
+bool HttpRequest::active() const {
+  return reply != nullptr;
+}
+
+bool HttpRequest::timeout() const {
+  return reply && reply->error() == QNetworkReply::OperationCanceledError;
+}
+
+void HttpRequest::sendRequest(const QString &requestURL, const HttpRequest::Method method) {
+  if (active()) {
+    qDebug() << "HttpRequest is active";
+    return;
+  }
+  QString token;
+  if (create_jwt) {
+    token = CommaApi::create_jwt();
+  } else {
+    QString token_json = QString::fromStdString(util::read_file(util::getenv("HOME") + "/.comma/auth.json"));
+    QJsonDocument json_d = QJsonDocument::fromJson(token_json.toUtf8());
+    token = json_d["access_token"].toString();
+  }
+
+  QNetworkRequest request;
+  request.setUrl(QUrl(requestURL));
+  request.setRawHeader("User-Agent", getUserAgent().toUtf8());
+
+  if (!token.isEmpty()) {
+    request.setRawHeader(QByteArray("Authorization"), ("JWT " + token).toUtf8());
+  }
+
+  if (method == HttpRequest::Method::GET) {
+    reply = nam()->get(request);
+  } else if (method == HttpRequest::Method::DELETE) {
+    reply = nam()->deleteResource(request);
+  }
+
+  networkTimer->start();
+  connect(reply, &QNetworkReply::finished, this, &HttpRequest::requestFinished);
+}
+
+void HttpRequest::requestTimeout() {
+  reply->abort();
+}
+
+void HttpRequest::requestFinished() {
+  networkTimer->stop();
+
+  if (reply->error() == QNetworkReply::NoError) {
+    emit requestDone(reply->readAll(), true, reply->error());
+  } else {
+    QString error;
+    if (reply->error() == QNetworkReply::OperationCanceledError) {
+      nam()->clearAccessCache();
+      nam()->clearConnectionCache();
+      error = "Request timed out";
+    } else {
+      error = reply->errorString();
+    }
+    emit requestDone(error, false, reply->error());
+  }
+
+  reply->deleteLater();
+  reply = nullptr;
+}
+
+QNetworkAccessManager *HttpRequest::nam() {
+  static QNetworkAccessManager *networkAccessManager = new QNetworkAccessManager(qApp);
+  return networkAccessManager;
+}
--- a/tools/cabana/utils/api.h
+++ b/tools/cabana/utils/api.h
@@ -0,0 +1,47 @@
+#pragma once
+
+#include <QJsonObject>
+#include <QNetworkReply>
+#include <QString>
+#include <QTimer>
+
+#include "common/util.h"
+
+namespace CommaApi {
+
+const QString BASE_URL = util::getenv("API_HOST", "https://api-iqlabs.konn3kt.com").c_str();
+QByteArray rsa_sign(const QByteArray &data);
+QString create_jwt(const QJsonObject &payloads = {}, int expiry = 3600);
+
+}  // namespace CommaApi
+
+/**
+ * Makes a request to the request endpoint.
+ */
+
+class HttpRequest : public QObject {
+  Q_OBJECT
+
+public:
+  enum class Method {GET, DELETE};
+
+  explicit HttpRequest(QObject* parent, bool create_jwt = true, int timeout = 20000);
+  void sendRequest(const QString &requestURL, const Method method = Method::GET);
+  bool active() const;
+  bool timeout() const;
+
+signals:
+  void requestDone(const QString &response, bool success, QNetworkReply::NetworkError error);
+
+protected:
+  QNetworkReply *reply = nullptr;
+
+private:
+  static QNetworkAccessManager *nam();
+  QTimer *networkTimer = nullptr;
+  bool create_jwt;
+
+private slots:
+  void requestTimeout();
+  void requestFinished();
+};
--- a/tools/cabana/utils/elidedlabel.cc
+++ b/tools/cabana/utils/elidedlabel.cc
@@ -0,0 +1,29 @@
+#include "tools/cabana/utils/elidedlabel.h"
+#include <QPainter>
+#include <QStyleOption>
+
+ElidedLabel::ElidedLabel(QWidget *parent) : ElidedLabel({}, parent) {}
+
+ElidedLabel::ElidedLabel(const QString &text, QWidget *parent) : QLabel(text.trimmed(), parent) {
+  setSizePolicy(QSizePolicy::Preferred, QSizePolicy::Preferred);
+  setMinimumWidth(1);
+}
+
+void ElidedLabel::resizeEvent(QResizeEvent* event) {
+  QLabel::resizeEvent(event);
+  lastText_ = elidedText_ = "";
+}
+
+void ElidedLabel::paintEvent(QPaintEvent *event) {
+  const QString curText = text();
+  if (curText != lastText_) {
+    elidedText_ = fontMetrics().elidedText(curText, Qt::ElideRight, contentsRect().width());
+    lastText_ = curText;
+  }
+
+  QPainter painter(this);
+  drawFrame(&painter);
+  QStyleOption opt;
+  opt.initFrom(this);
+  style()->drawItemText(&painter, contentsRect(), alignment(), opt.palette, isEnabled(), elidedText_, foregroundRole());
+}
--- a/tools/cabana/utils/elidedlabel.h
+++ b/tools/cabana/utils/elidedlabel.h
@@ -0,0 +1,25 @@
+#pragma once
+
+#include <QLabel>
+#include <QMouseEvent>
+
+class ElidedLabel : public QLabel {
+  Q_OBJECT
+
+public:
+  explicit ElidedLabel(QWidget *parent = 0);
+  explicit ElidedLabel(const QString &text, QWidget *parent = 0);
+
+signals:
+  void clicked();
+
+protected:
+  void paintEvent(QPaintEvent *event) override;
+  void resizeEvent(QResizeEvent* event) override;
+  void mouseReleaseEvent(QMouseEvent *event) override {
+    if (rect().contains(event->pos())) {
+      emit clicked();
+    }
+  }
+  QString lastText_, elidedText_;
+};
--- a/tools/cabana/utils/export.cc
+++ b/tools/cabana/utils/export.cc
@@ -0,0 +1,45 @@
+#include "tools/cabana/utils/export.h"
+
+#include <QFile>
+#include <QTextStream>
+
+#include "tools/cabana/streams/abstractstream.h"
+
+namespace utils {
+
+void exportToCSV(const QString &file_name, std::optional<MessageId> msg_id) {
+  QFile file(file_name);
+  if (file.open(QIODevice::ReadWrite | QIODevice::Truncate)) {
+    QTextStream stream(&file);
+    stream << "time,addr,bus,data\n";
+    for (auto e : msg_id ? can->events(*msg_id) : can->allEvents()) {
+      stream << QString::number(can->toSeconds(e->mono_time), 'f', 3) << ","
+             << "0x" << QString::number(e->address, 16) << "," << e->src << ","
+             << "0x" << QByteArray::fromRawData((const char *)e->dat, e->size).toHex().toUpper() << "\n";
+    }
+  }
+}
+
+void exportSignalsToCSV(const QString &file_name, const MessageId &msg_id) {
+  QFile file(file_name);
+  if (auto msg = dbc()->msg(msg_id); msg && msg->sigs.size() && file.open(QIODevice::ReadWrite | QIODevice::Truncate)) {
+    QTextStream stream(&file);
+    stream << "time,addr,bus";
+    for (auto s : msg->sigs)
+      stream << "," << s->name;
+    stream << "\n";
+
+    for (auto e : can->events(msg_id)) {
+      stream << QString::number(can->toSeconds(e->mono_time), 'f', 3) << ","
+             << "0x" << QString::number(e->address, 16) << "," << e->src;
+      for (auto s : msg->sigs) {
+        double value = 0;
+        s->getValue(e->dat, e->size, &value);
+        stream << "," << QString::number(value, 'f', s->precision);
+      }
+      stream << "\n";
+    }
+  }
+}
+
+}  // namespace utils
--- a/tools/cabana/utils/export.h
+++ b/tools/cabana/utils/export.h
@@ -0,0 +1,10 @@
+#pragma once
+
+#include <optional>
+
+#include "tools/cabana/dbc/dbcmanager.h"
+
+namespace utils {
+void exportToCSV(const QString &file_name, std::optional<MessageId> msg_id = std::nullopt);
+void exportSignalsToCSV(const QString &file_name, const MessageId &msg_id);
+}  // namespace utils
--- a/tools/cabana/utils/util.cc
+++ b/tools/cabana/utils/util.cc
@@ -0,0 +1,360 @@
+#include "tools/cabana/utils/util.h"
+
+#include <algorithm>
+#include <csignal>
+#include <limits>
+#include <memory>
+#include <string>
+#include <sys/socket.h>
+#include <unistd.h>
+
+#include <QColor>
+#include <QDateTime>
+#include <QDir>
+#include <QFontDatabase>
+#include <QLocale>
+#include <QPixmapCache>
+#include <QSurfaceFormat>
+#include <QFileInfo>
+#include <QPainterPath>
+#include <QTextStream>
+#include <QtXml/QDomDocument>
+#include "common/util.h"
+
+// SegmentTree
+
+void SegmentTree::build(const std::vector<QPointF> &arr) {
+  size = arr.size();
+  tree.resize(4 * size);  // size of the tree is 4 times the size of the array
+  if (size > 0) {
+    build_tree(arr, 1, 0, size - 1);
+  }
+}
+
+void SegmentTree::build_tree(const std::vector<QPointF> &arr, int n, int left, int right) {
+  if (left == right) {
+    const double y = arr[left].y();
+    tree[n] = {y, y};
+  } else {
+    const int mid = (left + right) >> 1;
+    build_tree(arr, 2 * n, left, mid);
+    build_tree(arr, 2 * n + 1, mid + 1, right);
+    tree[n] = {std::min(tree[2 * n].first, tree[2 * n + 1].first), std::max(tree[2 * n].second, tree[2 * n + 1].second)};
+  }
+}
+
+std::pair<double, double> SegmentTree::get_minmax(int n, int left, int right, int range_left, int range_right) const {
+  if (range_left > right || range_right < left)
+    return {std::numeric_limits<double>::max(), std::numeric_limits<double>::lowest()};
+  if (range_left <= left && range_right >= right)
+    return tree[n];
+  int mid = (left + right) >> 1;
+  auto l = get_minmax(2 * n, left, mid, range_left, range_right);
+  auto r = get_minmax(2 * n + 1, mid + 1, right, range_left, range_right);
+  return {std::min(l.first, r.first), std::max(l.second, r.second)};
+}
+
+// MessageBytesDelegate
+
+MessageBytesDelegate::MessageBytesDelegate(QObject *parent, bool multiple_lines)
+    : font_metrics(QApplication::font()), multiple_lines(multiple_lines), QStyledItemDelegate(parent) {
+  fixed_font = QFontDatabase::systemFont(QFontDatabase::FixedFont);
+  byte_size = QFontMetrics(fixed_font).size(Qt::TextSingleLine, "00 ") + QSize(0, 2);
+  for (int i = 0; i < 256; ++i) {
+    hex_text_table[i].setText(QStringLiteral("%1").arg(i, 2, 16, QLatin1Char('0')).toUpper());
+    hex_text_table[i].prepare({}, fixed_font);
+  }
+  h_margin = QApplication::style()->pixelMetric(QStyle::PM_FocusFrameHMargin) + 1;
+  v_margin = QApplication::style()->pixelMetric(QStyle::PM_FocusFrameVMargin) + 1;
+}
+
+QSize MessageBytesDelegate::sizeForBytes(int n) const {
+  int rows = multiple_lines ? std::max(1, n / 8) : 1;
+  return {(n / rows) * byte_size.width() + h_margin * 2, rows * byte_size.height() + v_margin * 2};
+}
+
+QSize MessageBytesDelegate::sizeHint(const QStyleOptionViewItem &option, const QModelIndex &index) const {
+  auto data = index.data(BytesRole);
+  return sizeForBytes(data.isValid() ? static_cast<std::vector<uint8_t> *>(data.value<void *>())->size() : 0);
+}
+
+void MessageBytesDelegate::paint(QPainter *painter, const QStyleOptionViewItem &option, const QModelIndex &index) const {
+  if (option.state & QStyle::State_Selected) {
+    painter->fillRect(option.rect, option.palette.brush(QPalette::Normal, QPalette::Highlight));
+  }
+
+  QRect item_rect = option.rect.adjusted(h_margin, v_margin, -h_margin, -v_margin);
+  QColor highlighted_color = option.palette.color(QPalette::HighlightedText);
+  auto text_color = index.data(Qt::ForegroundRole).value<QColor>();
+  bool inactive = text_color.isValid();
+  if (!inactive) {
+    text_color = option.palette.color(QPalette::Text);
+  }
+  auto data = index.data(BytesRole);
+  if (!data.isValid()) {
+    painter->setFont(option.font);
+    painter->setPen(option.state & QStyle::State_Selected ? highlighted_color : text_color);
+    QString text = font_metrics.elidedText(index.data(Qt::DisplayRole).toString(), Qt::ElideRight, item_rect.width());
+    painter->drawText(item_rect, Qt::AlignLeft | Qt::AlignVCenter, text);
+    return;
+  }
+
+  // Paint hex column
+  const auto &bytes = *static_cast<std::vector<uint8_t> *>(data.value<void *>());
+  const auto &colors = *static_cast<std::vector<QColor> *>(index.data(ColorsRole).value<void *>());
+
+  painter->setFont(fixed_font);
+  const QPen text_pen(option.state & QStyle::State_Selected ? highlighted_color : text_color);
+  const QPoint pt = item_rect.topLeft();
+  for (int i = 0; i < bytes.size(); ++i) {
+    int row = !multiple_lines ? 0 : i / 8;
+    int column = !multiple_lines ? i : i % 8;
+    QRect r({pt.x() + column * byte_size.width(), pt.y() + row * byte_size.height()}, byte_size);
+
+    if (!inactive && i < colors.size() && colors[i].alpha() > 0) {
+      if (option.state & QStyle::State_Selected) {
+        painter->setPen(option.palette.color(QPalette::Text));
+        painter->fillRect(r, option.palette.color(QPalette::Window));
+      }
+      painter->fillRect(r, colors[i]);
+    } else {
+      painter->setPen(text_pen);
+    }
+    utils::drawStaticText(painter, r, hex_text_table[bytes[i]]);
+  }
+}
+
+// TabBar
+
+int TabBar::addTab(const QString &text) {
+  int index = QTabBar::addTab(text);
+  QToolButton *btn = new ToolButton("x", tr("Close Tab"));
+  int width = style()->pixelMetric(QStyle::PM_TabCloseIndicatorWidth, nullptr, btn);
+  int height = style()->pixelMetric(QStyle::PM_TabCloseIndicatorHeight, nullptr, btn);
+  btn->setFixedSize({width, height});
+  setTabButton(index, QTabBar::RightSide, btn);
+  QObject::connect(btn, &QToolButton::clicked, this, &TabBar::closeTabClicked);
+  return index;
+}
+
+void TabBar::closeTabClicked() {
+  QObject *object = sender();
+  for (int i = 0; i < count(); ++i) {
+    if (tabButton(i, QTabBar::RightSide) == object) {
+      emit tabCloseRequested(i);
+      break;
+    }
+  }
+}
+
+// UnixSignalHandler
+
+UnixSignalHandler::UnixSignalHandler(QObject *parent) : QObject(nullptr) {
+  if (::socketpair(AF_UNIX, SOCK_STREAM, 0, sig_fd)) {
+    qFatal("Couldn't create TERM socketpair");
+  }
+
+  sn = new QSocketNotifier(sig_fd[1], QSocketNotifier::Read, this);
+  connect(sn, &QSocketNotifier::activated, this, &UnixSignalHandler::handleSigTerm);
+  std::signal(SIGINT, signalHandler);
+  std::signal(SIGTERM, UnixSignalHandler::signalHandler);
+}
+
+UnixSignalHandler::~UnixSignalHandler() {
+  ::close(sig_fd[0]);
+  ::close(sig_fd[1]);
+}
+
+void UnixSignalHandler::signalHandler(int s) {
+  ::write(sig_fd[0], &s, sizeof(s));
+}
+
+void UnixSignalHandler::handleSigTerm() {
+  sn->setEnabled(false);
+  int tmp;
+  ::read(sig_fd[1], &tmp, sizeof(tmp));
+
+  printf("\nexiting...\n");
+  qApp->closeAllWindows();
+  qApp->exit();
+}
+
+// NameValidator
+
+NameValidator::NameValidator(QObject *parent) : QRegExpValidator(QRegExp("^(\\w+)"), parent) {}
+
+QValidator::State NameValidator::validate(QString &input, int &pos) const {
+  input.replace(' ', '_');
+  return QRegExpValidator::validate(input, pos);
+}
+
+DoubleValidator::DoubleValidator(QObject *parent) : QDoubleValidator(parent) {
+  // Match locale of QString::toDouble() instead of system
+  QLocale locale(QLocale::C);
+  locale.setNumberOptions(QLocale::RejectGroupSeparator);
+  setLocale(locale);
+}
+
+namespace utils {
+
+bool isDarkTheme() {
+  QColor windowColor = QApplication::palette().color(QPalette::Window);
+  return windowColor.lightness() < 128;
+}
+
+QPixmap icon(const QString &id) {
+  bool dark_theme = isDarkTheme();
+
+  QPixmap pm;
+  QString key = "bootstrap_" % id % (dark_theme ? "1" : "0");
+  if (!QPixmapCache::find(key, &pm)) {
+    pm = bootstrapPixmap(id);
+    if (dark_theme) {
+      QPainter p(&pm);
+      p.setCompositionMode(QPainter::CompositionMode_SourceIn);
+      p.fillRect(pm.rect(), QColor("#bbbbbb"));
+    }
+    QPixmapCache::insert(key, pm);
+  }
+  return pm;
+}
+
+void setTheme(int theme) {
+  auto style = QApplication::style();
+  if (!style) return;
+
+  static int prev_theme = 0;
+  if (theme != prev_theme) {
+    prev_theme = theme;
+    QPalette new_palette;
+    if (theme == DARK_THEME) {
+      // "Darcula" like dark theme
+      new_palette.setColor(QPalette::Window, QColor("#353535"));
+      new_palette.setColor(QPalette::WindowText, QColor("#bbbbbb"));
+      new_palette.setColor(QPalette::Base, QColor("#3c3f41"));
+      new_palette.setColor(QPalette::AlternateBase, QColor("#3c3f41"));
+      new_palette.setColor(QPalette::ToolTipBase, QColor("#3c3f41"));
+      new_palette.setColor(QPalette::ToolTipText, QColor("#bbb"));
+      new_palette.setColor(QPalette::Text, QColor("#bbbbbb"));
+      new_palette.setColor(QPalette::Button, QColor("#3c3f41"));
+      new_palette.setColor(QPalette::ButtonText, QColor("#bbbbbb"));
+      new_palette.setColor(QPalette::Highlight, QColor("#2f65ca"));
+      new_palette.setColor(QPalette::HighlightedText, QColor("#bbbbbb"));
+      new_palette.setColor(QPalette::BrightText, QColor("#f0f0f0"));
+      new_palette.setColor(QPalette::Disabled, QPalette::ButtonText, QColor("#777777"));
+      new_palette.setColor(QPalette::Disabled, QPalette::WindowText, QColor("#777777"));
+      new_palette.setColor(QPalette::Disabled, QPalette::Text, QColor("#777777"));
+      new_palette.setColor(QPalette::Light, QColor("#777777"));
+      new_palette.setColor(QPalette::Dark, QColor("#353535"));
+    } else {
+      new_palette = style->standardPalette();
+    }
+    qApp->setPalette(new_palette);
+    style->polish(qApp);
+    for (auto w : QApplication::allWidgets()) {
+      w->setPalette(new_palette);
+    }
+  }
+}
+
+QString formatSeconds(double sec, bool include_milliseconds, bool absolute_time) {
+  QString format = absolute_time ? "yyyy-MM-dd hh:mm:ss"
+                                 : (sec > 60 * 60 ? "hh:mm:ss" : "mm:ss");
+  if (include_milliseconds) format += ".zzz";
+  return QDateTime::fromMSecsSinceEpoch(sec * 1000).toString(format);
+}
+
+}  // namespace utils
+
+int num_decimals(double num) {
+  const QString string = QString::number(num);
+  auto dot_pos = string.indexOf('.');
+  return dot_pos == -1 ? 0 : string.size() - dot_pos - 1;
+}
+
+QString signalToolTip(const cabana::Signal *sig) {
+  return QObject::tr(R"(
+    %1<br /><span font-size:small">
+    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(sig->is_little_endian ? "Y" : "N").arg(sig->is_signed ? "Y" : "N");
+}
+
+void setSurfaceFormat() {
+  QSurfaceFormat fmt;
+#ifdef __APPLE__
+  fmt.setVersion(3, 2);
+  fmt.setProfile(QSurfaceFormat::OpenGLContextProfile::CoreProfile);
+  fmt.setRenderableType(QSurfaceFormat::OpenGL);
+#else
+  fmt.setRenderableType(QSurfaceFormat::OpenGLES);
+#endif
+  fmt.setSamples(16);
+  fmt.setStencilBufferSize(1);
+  QSurfaceFormat::setDefaultFormat(fmt);
+}
+
+void sigTermHandler(int s) {
+  std::signal(s, SIG_DFL);
+  qApp->quit();
+}
+
+void initApp(int argc, char *argv[], bool disable_hidpi) {
+  // setup signal handlers to exit gracefully
+  std::signal(SIGINT, sigTermHandler);
+  std::signal(SIGTERM, sigTermHandler);
+
+  QString app_dir;
+#ifdef __APPLE__
+  // Get the devicePixelRatio, and scale accordingly to maintain 1:1 rendering
+  QApplication tmp(argc, argv);
+  app_dir = QCoreApplication::applicationDirPath();
+  if (disable_hidpi) {
+    qputenv("QT_SCALE_FACTOR", QString::number(1.0 / tmp.devicePixelRatio()).toLocal8Bit());
+  }
+#else
+  app_dir = QFileInfo(util::readlink("/proc/self/exe").c_str()).path();
+#endif
+
+  qputenv("QT_DBL_CLICK_DIST", QByteArray::number(150));
+  // ensure the current dir matches the exectuable's directory
+  QDir::setCurrent(app_dir);
+
+  setSurfaceFormat();
+}
+
+static QHash<QString, QByteArray> load_bootstrap_icons() {
+  QHash<QString, QByteArray> 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();
+      }
+      n = n.nextSibling();
+    }
+  }
+  return icons;
+}
+
+QPixmap bootstrapPixmap(const QString &id) {
+  static QHash<QString, QByteArray> icons = load_bootstrap_icons();
+
+  QPixmap pixmap;
+  if (auto it = icons.find(id); it != icons.end()) {
+    pixmap.loadFromData(it.value(), "svg");
+  }
+  return pixmap;
+}
--- a/tools/cabana/utils/util.h
+++ b/tools/cabana/utils/util.h
@@ -0,0 +1,170 @@
+#pragma once
+
+#include <array>
+#include <cmath>
+#include <vector>
+#include <utility>
+
+#include <QApplication>
+#include <QByteArray>
+#include <QDoubleValidator>
+#include <QFont>
+#include <QFontMetrics>
+#include <QPainter>
+#include <QRegExpValidator>
+#include <QSocketNotifier>
+#include <QStaticText>
+#include <QStringBuilder>
+#include <QStyledItemDelegate>
+#include <QToolButton>
+
+#include "tools/cabana/dbc/dbc.h"
+#include "tools/cabana/settings.h"
+
+class LogSlider : public QSlider {
+  Q_OBJECT
+
+public:
+  LogSlider(double factor, Qt::Orientation orientation, QWidget *parent = nullptr) : factor(factor), QSlider(orientation, parent) {}
+
+  void setRange(double min, double max) {
+    log_min = factor * std::log10(min);
+    log_max = factor * std::log10(max);
+    QSlider::setRange(min, max);
+    setValue(QSlider::value());
+  }
+  int value() const {
+    double v = log_min + (log_max - log_min) * ((QSlider::value() - minimum()) / double(maximum() - minimum()));
+    return std::lround(std::pow(10, v / factor));
+  }
+  void setValue(int v) {
+    double log_v = std::clamp(factor * std::log10(v), log_min, log_max);
+    v = minimum() + (maximum() - minimum()) * ((log_v - log_min) / (log_max - log_min));
+    QSlider::setValue(v);
+  }
+
+private:
+  double factor, log_min = 0, log_max = 1;
+};
+
+enum {
+  ColorsRole = Qt::UserRole + 1,
+  BytesRole = Qt::UserRole + 2
+};
+
+class SegmentTree {
+public:
+  SegmentTree() = default;
+  void build(const std::vector<QPointF> &arr);
+  inline std::pair<double, double> minmax(int left, int right) const { return get_minmax(1, 0, size - 1, left, right); }
+
+private:
+  std::pair<double, double> get_minmax(int n, int left, int right, int range_left, int range_right) const;
+  void build_tree(const std::vector<QPointF> &arr, int n, int left, int right);
+  std::vector<std::pair<double, double>> tree;
+  int size = 0;
+};
+
+class MessageBytesDelegate : public QStyledItemDelegate {
+  Q_OBJECT
+public:
+  MessageBytesDelegate(QObject *parent, bool multiple_lines = false);
+  void paint(QPainter *painter, const QStyleOptionViewItem &option, const QModelIndex &index) const override;
+  QSize sizeHint(const QStyleOptionViewItem &option, const QModelIndex &index) const override;
+  bool multipleLines() const { return multiple_lines; }
+  void setMultipleLines(bool v) { multiple_lines = v; }
+  QSize sizeForBytes(int n) const;
+
+private:
+  std::array<QStaticText, 256> hex_text_table;
+  QFontMetrics font_metrics;
+  QFont fixed_font;
+  QSize byte_size = {};
+  bool multiple_lines = false;
+  int h_margin, v_margin;
+};
+
+class NameValidator : public QRegExpValidator {
+  Q_OBJECT
+public:
+  NameValidator(QObject *parent=nullptr);
+  QValidator::State validate(QString &input, int &pos) const override;
+};
+
+class DoubleValidator : public QDoubleValidator {
+  Q_OBJECT
+public:
+  DoubleValidator(QObject *parent = nullptr);
+};
+
+namespace utils {
+
+QPixmap icon(const QString &id);
+bool isDarkTheme();
+void setTheme(int theme);
+QString formatSeconds(double sec, bool include_milliseconds = false, bool absolute_time = false);
+inline void drawStaticText(QPainter *p, const QRect &r, const QStaticText &text) {
+  auto size = (r.size() - text.size()) / 2;
+  p->drawStaticText(r.left() + size.width(), r.top() + size.height(), text);
+}
+inline QString toHex(const std::vector<uint8_t> &dat, char separator = '\0') {
+  return QByteArray::fromRawData((const char *)dat.data(), dat.size()).toHex(separator).toUpper();
+}
+
+}
+
+class ToolButton : public QToolButton {
+  Q_OBJECT
+public:
+  ToolButton(const QString &icon, const QString &tooltip = {}, QWidget *parent = nullptr) : QToolButton(parent) {
+    setIcon(icon);
+    setToolTip(tooltip);
+    setAutoRaise(true);
+    const int metric = QApplication::style()->pixelMetric(QStyle::PM_SmallIconSize);
+    setIconSize({metric, metric});
+    theme = settings.theme;
+    connect(&settings, &Settings::changed, this, &ToolButton::updateIcon);
+  }
+  void setIcon(const QString &icon) {
+    icon_str = icon;
+    QToolButton::setIcon(utils::icon(icon_str));
+  }
+
+private:
+  void updateIcon() { if (std::exchange(theme, settings.theme) != theme) setIcon(icon_str); }
+  QString icon_str;
+  int theme;
+};
+
+class TabBar : public QTabBar {
+  Q_OBJECT
+
+public:
+  TabBar(QWidget *parent) : QTabBar(parent) {}
+  int addTab(const QString &text);
+
+private:
+  void closeTabClicked();
+};
+
+class UnixSignalHandler : public QObject {
+  Q_OBJECT
+
+public:
+  UnixSignalHandler(QObject *parent = nullptr);
+  ~UnixSignalHandler();
+  static void signalHandler(int s);
+
+public slots:
+  void handleSigTerm();
+
+private:
+  inline static int sig_fd[2] = {};
+  QSocketNotifier *sn;
+};
+
+int num_decimals(double num);
+QString signalToolTip(const cabana::Signal *sig);
+inline QString toHexString(int value) { return QString("0x%1").arg(QString::number(value, 16).toUpper(), 2, '0'); }
+void initApp(int argc, char *argv[], bool disable_hidpi = true);
+QPixmap bootstrapPixmap(const QString &id);