From 3478ac13387ccfcc3c04c197f8ac4d43c4325c24 Mon Sep 17 00:00:00 2001
From: Adeeb Shihadeh <adeebshihadeh@gmail.com>
Date: Sun, 1 Mar 2026 16:12:04 -0800
Subject: [PATCH] cabana: remove QtSerialBus (#37523)

---
 tools/cabana/SConscript                 |  2 -
 tools/cabana/binaryview.cc              | 19 +++--
 tools/cabana/binaryview.h               |  7 +-
 tools/cabana/chart/chartswidget.cc      | 29 ++++----
 tools/cabana/chart/chartswidget.h       |  6 +-
 tools/cabana/chart/signalselector.cc    |  4 +-
 tools/cabana/chart/signalselector.h     |  2 +-
 tools/cabana/streams/socketcanstream.cc | 98 +++++++++++++++++--------
 tools/cabana/streams/socketcanstream.h  |  9 +--
 tools/cabana/tools/findsignal.cc        | 18 ++---
 tools/cabana/tools/findsignal.h         | 10 ++-
 tools/cabana/tools/findsimilarbits.cc   | 19 ++---
 tools/cabana/tools/findsimilarbits.h    |  4 +-
 13 files changed, 133 insertions(+), 94 deletions(-)

diff --git a/tools/cabana/SConscript b/tools/cabana/SConscript
index 5747d6e621..098a6351b7 100644
--- a/tools/cabana/SConscript
+++ b/tools/cabana/SConscript
@@ -68,10 +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
 
diff --git a/tools/cabana/binaryview.cc b/tools/cabana/binaryview.cc
index 90c7c1c341..0be28f06b7 100644
--- a/tools/cabana/binaryview.cc
+++ b/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);
       }
     }
   }
@@ -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));
   }
 
diff --git a/tools/cabana/binaryview.h b/tools/cabana/binaryview.h
index 920deb0018..e568228b37 100644
--- a/tools/cabana/binaryview.h
+++ b/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);
diff --git a/tools/cabana/chart/chartswidget.cc b/tools/cabana/chart/chartswidget.cc
index efae1dded0..acdb6d064d 100644
--- a/tools/cabana/chart/chartswidget.cc
+++ b/tools/cabana/chart/chartswidget.cc
@@ -166,7 +166,7 @@ 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()));
   }
 }
 
@@ -204,7 +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();
@@ -248,7 +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() {
@@ -282,9 +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;
@@ -303,7 +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);
@@ -434,7 +434,7 @@ 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);
@@ -444,10 +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);
@@ -461,7 +461,7 @@ void ChartsWidget::removeAll() {
   }
   tab_charts.clear();
 
-  if (!charts.isEmpty()) {
+  if (!charts.empty()) {
     for (auto c : charts) {
       delete c;
     }
@@ -561,10 +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();
diff --git a/tools/cabana/chart/chartswidget.h b/tools/cabana/chart/chartswidget.h
index f87b1276c5..ef3fbc471a 100644
--- a/tools/cabana/chart/chartswidget.h
+++ b/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;
diff --git a/tools/cabana/chart/signalselector.cc b/tools/cabana/chart/signalselector.cc
index 168bf824df..6f2fd8de46 100644
--- a/tools/cabana/chart/signalselector.cc
+++ b/tools/cabana/chart/signalselector.cc
@@ -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;
 }
diff --git a/tools/cabana/chart/signalselector.h b/tools/cabana/chart/signalselector.h
index f46779f044..5b6e37e56a 100644
--- a/tools/cabana/chart/signalselector.h
+++ b/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:
diff --git a/tools/cabana/streams/socketcanstream.cc b/tools/cabana/streams/socketcanstream.cc
index 4f558ba049..768465d5a3 100644
--- a/tools/cabana/streams/socketcanstream.cc
+++ b/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>
@@ -9,7 +17,7 @@
 
 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.c_str();
@@ -18,50 +26,73 @@ SocketCanStream::SocketCanStream(QObject *parent, SocketCanStreamConfig config_)
   }
 }
 
+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", QString::fromStdString(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));
   }
@@ -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);
diff --git a/tools/cabana/streams/socketcanstream.h b/tools/cabana/streams/socketcanstream.h
index dc3cf7928a..3c5cd184f7 100644
--- a/tools/cabana/streams/socketcanstream.h
+++ b/tools/cabana/streams/socketcanstream.h
@@ -1,10 +1,5 @@
 #pragma once
 
-#include <memory>
-
-#include <QtSerialBus/QCanBus>
-#include <QtSerialBus/QCanBusDevice>
-#include <QtSerialBus/QCanBusDeviceInfo>
 #include <QComboBox>
 
 #include "tools/cabana/streams/livestream.h"
@@ -17,7 +12,7 @@ class SocketCanStream : public LiveStream {
   Q_OBJECT
 public:
   SocketCanStream(QObject *parent, SocketCanStreamConfig config_ = {});
-  ~SocketCanStream() { stop(); }
+  ~SocketCanStream();
   static bool available();
 
   inline std::string routeName() const override {
@@ -29,7 +24,7 @@ protected:
   bool connect();
 
   SocketCanStreamConfig config = {};
-  std::unique_ptr<QCanBusDevice> device;
+  int sock_fd = -1;
 };
 
 class OpenSocketCanWidget : public AbstractOpenStreamWidget {
diff --git a/tools/cabana/tools/findsignal.cc b/tools/cabana/tools/findsignal.cc
index 3dc28bb159..b131893942 100644
--- a/tools/cabana/tools/findsignal.cc
+++ b/tools/cabana/tools/findsignal.cc
@@ -33,7 +33,7 @@ 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());
 
@@ -71,11 +71,11 @@ void FindSignalModel::search(std::function<bool(double)> cmp) {
 }
 
 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();
   }
 }
@@ -186,7 +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();
@@ -260,12 +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()));
 }
diff --git a/tools/cabana/tools/findsignal.h b/tools/cabana/tools/findsignal.h
index 5ef7461fee..239a08c9c4 100644
--- a/tools/cabana/tools/findsignal.h
+++ b/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();
 };
 
diff --git a/tools/cabana/tools/findsimilarbits.cc b/tools/cabana/tools/findsimilarbits.cc
index 7cc7b5004f..8062b61199 100644
--- a/tools/cabana/tools/findsimilarbits.cc
+++ b/tools/cabana/tools/findsimilarbits.cc
@@ -1,6 +1,7 @@
 #include "tools/cabana/tools/findsimilarbits.h"
 
 #include <algorithm>
+#include <unordered_map>
 
 #include <QGridLayout>
 #include <QHeaderView>
@@ -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});
         }
       }
     }
diff --git a/tools/cabana/tools/findsimilarbits.h b/tools/cabana/tools/findsimilarbits.h
index 77bfac19ca..3451360654 100644
--- a/tools/cabana/tools/findsimilarbits.h
+++ b/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();