diff --git a/canframemodel.cpp b/canframemodel.cpp
index 39dd246..de09091 100644
--- a/canframemodel.cpp
+++ b/canframemodel.cpp
@@ -311,6 +311,8 @@ void CANFrameModel::recalcOverwrite()
     uint64_t idAugmented; //id in lower 29 bits, bus number shifted up 29 bits
     foreach(CANFrame frame, frames)
     {
+        if (frame.frameType() != frame.DataFrame) continue;
+
         idAugmented = frame.frameId();
         idAugmented = idAugmented + (frame.bus << 29ull);
         if (!overWriteFrames.contains(idAugmented))
@@ -445,7 +447,7 @@ QVariant CANFrameModel::data(const QModelIndex &index, int role) const
                 tempString.append(QString::number(thisFrame.frameId() & 0x7));
                 return tempString;
             }
-            if (thisFrame.frameType() != QCanBusFrame::RemoteRequestFrame) {
+            if (thisFrame.frameType() == QCanBusFrame::DataFrame) {
                 if (dataLen < 0) dataLen = 0;
                 //if (dLen > 8) dLen = 8;
                 for (int i = 0; i < dataLen; i++)
@@ -457,6 +459,10 @@ QVariant CANFrameModel::data(const QModelIndex &index, int role) const
                     tempString.append(QString::fromUtf8(&byt, 1));
                 }
             }
+            if (thisFrame.frameType() == QCanBusFrame::ErrorFrame)
+            {
+                 tempString = "ERROR";
+            }
             return tempString;
         case Column::Data:
             if (dataLen < 0) dataLen = 0;
@@ -470,8 +476,23 @@ QVariant CANFrameModel::data(const QModelIndex &index, int role) const
                 else tempString.append(QString::number(data[i], 10));
                 tempString.append(" ");
             }
+            if (thisFrame.frameType() == thisFrame.ErrorFrame)
+            {
+                if (thisFrame.error() & thisFrame.TransmissionTimeoutError) tempString.append("\nTX Timeout");
+                if (thisFrame.error() & thisFrame.LostArbitrationError) tempString.append("\nLost Arbitration");
+                if (thisFrame.error() & thisFrame.ControllerError) tempString.append("\nController Error");
+                if (thisFrame.error() & thisFrame.ProtocolViolationError) tempString.append("\nProtocol Violation");
+                if (thisFrame.error() & thisFrame.TransceiverError) tempString.append("\nTransceiver Error");
+                if (thisFrame.error() & thisFrame.MissingAcknowledgmentError) tempString.append("\nMissing ACK");
+                if (thisFrame.error() & thisFrame.BusOffError) tempString.append("\nBus OFF");
+                if (thisFrame.error() & thisFrame.BusError) tempString.append("\nBus ERR");
+                if (thisFrame.error() & thisFrame.ControllerRestartError) tempString.append("\nController restart err");
+                if (thisFrame.error() & thisFrame.UnknownError) tempString.append("\nUnknown error type");
+            }
+            //TODO: technically the actual returned bytes for an error frame encode some more info. Not interpreting it yet.
+
             //now, if we're supposed to interpret the data and the DBC handler is loaded then use it
-            if (dbcHandler != nullptr && interpretFrames)
+            if ( (dbcHandler != nullptr) && interpretFrames && (thisFrame.frameType() == thisFrame.DataFrame) )
             {
                 DBC_MESSAGE *msg = dbcHandler->findMessage(thisFrame);
                 if (msg != nullptr)
diff --git a/config.h b/config.h
index 3bbbd8a..0e8517d 100644
--- a/config.h
+++ b/config.h
@@ -1,7 +1,7 @@
 #ifndef CONFIG
 #define CONFIG
 
-#define VERSION             200
+#define VERSION             201
 
 //try to keep this in sync.
 //SavvyCAN will complain if you connect a GVRET board with a revision
diff --git a/connections/connectionwindow.cpp b/connections/connectionwindow.cpp
index e63e72a..26e4c70 100644
--- a/connections/connectionwindow.cpp
+++ b/connections/connectionwindow.cpp
@@ -150,7 +150,7 @@ void ConnectionWindow::readSettings()
     if (settings.value("Main/SaveRestorePositions", false).toBool())
     {
         resize(settings.value("ConnWindow/WindowSize", QSize(956, 665)).toSize());
-        move(settings.value("ConnWindow/WindowPos", QPoint(100, 100)).toPoint());
+        move(Utility::constrainedWindowPos(settings.value("ConnWindow/WindowPos", QPoint(100, 100)).toPoint()));
     }
 }
 
diff --git a/connections/serialbusconnection.cpp b/connections/serialbusconnection.cpp
index 5da0d19..6ea71c3 100644
--- a/connections/serialbusconnection.cpp
+++ b/connections/serialbusconnection.cpp
@@ -184,55 +184,22 @@ void SerialBusConnection::framesReceived()
             if(frame_p) {
                 frame_p->setPayload(recFrame.payload());
                 frame_p->bus = 0;
-
-                if (recFrame.frameType() == QCanBusFrame::ErrorFrame) {
-                    // Constants defined in include/uapi/linux/can/error.h
-                    //since the whole program uses QCanBusFrame now we can just grab errors directly out of the proper place from now on
-                    /*
-                    switch (recFrame.error()) {
-                        case QCanBusFrame::TransmissionTimeoutError:
-                            frame_p->setFrameId(0x20000001);
-                            break;
-                        case QCanBusFrame::LostArbitrationError:
-                            frame_p->ID = 0x20000002;
-                            break;
-                        case QCanBusFrame::ControllerError:
-                            frame_p->ID = 0x20000004;
-                            break;
-                        case QCanBusFrame::ProtocolViolationError:
-                            frame_p->ID = 0x20000008;
-                            break;
-                        case QCanBusFrame::TransceiverError:
-                            frame_p->ID = 0x20000010;
-                            break;
-                        case QCanBusFrame::MissingAcknowledgmentError:
-                            frame_p->ID = 0x20000020;
-                            break;
-                        case QCanBusFrame::BusOffError:
-                            frame_p->ID = 0x20000040;
-                            break;
-                        case QCanBusFrame::BusError:
-                            frame_p->ID = 0x20000080;
-                            break;
-                        case QCanBusFrame::ControllerRestartError:
-                            frame_p->ID = 0x20000100;
-                            break;
-                        default:
-                            break;
-                    }
-                    frame_p->extended = true;
-                    */
-                    frame_p->isReceived = true;
-                } else {
+                if (recFrame.frameType() == recFrame.ErrorFrame)
+                {
+                    frame_p->setExtendedFrameFormat(recFrame.hasExtendedFrameFormat());
+                    frame_p->setFrameId(recFrame.frameId() + 0x20000000ull);
+	            frame_p->isReceived = true;
+                }
+                else
+                {
                     frame_p->setExtendedFrameFormat(recFrame.hasExtendedFrameFormat());
                     frame_p->setFrameId(recFrame.frameId());
-                    frame_p->setTimeStamp(recFrame.timeStamp());
-                    frame_p->setFrameType(recFrame.frameType());
-                    frame_p->setError(recFrame.error());
-
-                    /* If recorded frame has a local echo, it is a Tx message, and thus should not be marked as Rx */
-                    frame_p->isReceived = !recFrame.hasLocalEcho();
                 }
+                frame_p->setTimeStamp(recFrame.timeStamp());
+                frame_p->setFrameType(recFrame.frameType());
+                frame_p->setError(recFrame.error());
+	        /* If recorded frame has a local echo, it is a Tx message, and thus should not be marked as Rx */
+                frame_p->isReceived = !recFrame.hasLocalEcho();
 
                 if (useSystemTime) {
                     frame_p->setTimeStamp(QCanBusFrame::TimeStamp(0, QDateTime::currentMSecsSinceEpoch() * 1000ul));
diff --git a/dbc/dbc_classes.cpp b/dbc/dbc_classes.cpp
index fb67985..904dc2e 100644
--- a/dbc/dbc_classes.cpp
+++ b/dbc/dbc_classes.cpp
@@ -6,8 +6,30 @@
 DBC_MESSAGE::DBC_MESSAGE()
 {
     sigHandler = new DBCSignalHandler;
+    ID = 0;
+    len = 0;
+    multiplexorSignal = nullptr;
+    sender = nullptr;
 }
 
+DBC_SIGNAL::DBC_SIGNAL()
+{
+    bias = 0;
+    isMultiplexed = false;
+    isMultiplexor = false;
+    max = 1;
+    min = 0;
+    multiplexValue = 0;
+    factor = 1.0;
+    intelByteOrder = false;
+    parentMessage = nullptr;
+    receiver = nullptr;
+    signalSize = 1;
+    startBit = 1;
+    valType = DBC_SIG_VAL_TYPE::UNSIGNED_INT;
+}
+
+
 /*
  The way that the DBC file format works is kind of weird... For intel format signals you count up
 from the start bit to the end bit which is (startbit + signallength - 1). At each point
diff --git a/dbc/dbc_classes.h b/dbc/dbc_classes.h
index 3006737..a2eb3b9 100644
--- a/dbc/dbc_classes.h
+++ b/dbc/dbc_classes.h
@@ -106,6 +106,7 @@ public: //TODO: this is sloppy. It shouldn't all be public!
     QList<DBC_ATTRIBUTE_VALUE> attributes;
     QList<DBC_VAL_ENUM_ENTRY> valList;
 
+    DBC_SIGNAL();
     bool processAsText(const CANFrame &frame, QString &outString, bool outputName = true);
     bool processAsInt(const CANFrame &frame, int32_t &outValue);
     bool processAsDouble(const CANFrame &frame, double &outValue);
diff --git a/dbc/dbchandler.cpp b/dbc/dbchandler.cpp
index e88a658..8332958 100644
--- a/dbc/dbchandler.cpp
+++ b/dbc/dbchandler.cpp
@@ -281,6 +281,7 @@ DBCFile::DBCFile()
     messageHandler->setMatchingCriteria(EXACT);
     messageHandler->setFilterLabeling(false);
     isDirty = false;
+    fileName = "<Unsaved File>";
 }
 
 DBCFile::DBCFile(const DBCFile& cpy) : QObject()
@@ -759,7 +760,7 @@ bool DBCFile::parseDefaultAttrLine(QString line)
     return false;
 }
 
-void DBCFile::loadFile(QString fileName)
+bool DBCFile::loadFile(QString fileName)
 {
     QFile *inFile = new QFile(fileName);
     QString line, rawLine;
@@ -777,7 +778,8 @@ void DBCFile::loadFile(QString fileName)
     if (!inFile->open(QIODevice::ReadOnly | QIODevice::Text))
     {
         delete inFile;
-        return;
+        qDebug() << "Could not load the file!";
+        return false;
     }
 
     qDebug() << "Starting DBC load";
@@ -1039,6 +1041,7 @@ void DBCFile::loadFile(QString fileName)
     filePath = fileName.left(fileName.length() - this->fileName.length());
     assocBuses = -1;
     isDirty = false;
+    return true;
 }
 
 QVariant DBCFile::processAttributeVal(QString input, DBC_ATTRIBUTE_VAL_TYPE typ)
@@ -1156,7 +1159,7 @@ bool DBCFile::parseAttribute(QString inpString, DBC_ATTRIBUTE &attr)
     return goodAttr;
 }
 
-void DBCFile::saveFile(QString fileName)
+bool DBCFile::saveFile(QString fileName)
 {
     int nodeNumber = 1;
     int msgNumber = 1;
@@ -1168,7 +1171,7 @@ void DBCFile::saveFile(QString fileName)
     if (!outFile->open(QIODevice::WriteOnly | QIODevice::Text))
     {
         delete outFile;
-        return;
+        return false;
     }
 
     //right now it outputs a standard hard coded boilerplate
@@ -1454,6 +1457,7 @@ void DBCFile::saveFile(QString fileName)
     QStringList fileList = fileName.split('/');
     this->fileName = fileList[fileList.length() - 1]; //whoops... same name as parameter in this function.
     filePath = fileName.left(fileName.length() - this->fileName.length());
+    return true;
 }
 
 void DBCHandler::saveDBCFile(int idx)
@@ -1534,6 +1538,7 @@ int DBCHandler::createBlankFile()
     falseNode.name = "Vector__XXX";
     falseNode.comment = "Default node if none specified";
     newFile.dbc_nodes.append(falseNode);
+    newFile.setAssocBus(-1);
 
     loadedFiles.append(newFile);
     return loadedFiles.count();
@@ -1542,9 +1547,16 @@ int DBCHandler::createBlankFile()
 DBCFile* DBCHandler::loadDBCFile(QString filename)
 {
     DBCFile newFile;
-    newFile.loadFile(filename);
-    loadedFiles.append(newFile);
-    return &loadedFiles.last();
+    if (newFile.loadFile(filename))
+    {
+        loadedFiles.append(newFile);
+    }
+    else
+    {
+        //createBlankFile();
+    }
+    if (loadedFiles.count()> 0) return &loadedFiles.last();
+    else return nullptr;
 }
 
 //the only reason to even bother sending the index is to see if
@@ -1587,6 +1599,7 @@ DBCFile* DBCHandler::loadJSONFile(QString filename)
 
          createBlankFile();
          thisFile = &loadedFiles.last();
+
          QFile *inFile = new QFile(filename);
          if (!inFile->open(QIODevice::ReadOnly | QIODevice::Text))
          {
@@ -1843,40 +1856,44 @@ DBCHandler::DBCHandler()
     // Load previously saved DBC file settings
     QSettings settings;
     int filecount = settings.value("DBC/FileCount", 0).toInt();
+    qDebug() << "Previously loaded DBC file count: " << filecount;
     for (int i=0; i<filecount; i++)
     {
         QString filename = settings.value("DBC/Filename_" + QString(i),"").toString();
         DBCFile * file = loadDBCFile(filename);
-        int bus = settings.value("DBC/AssocBus_" + QString(i),0).toInt();
-        file->setAssocBus(bus);
+        if (file)
+        {
+            int bus = settings.value("DBC/AssocBus_" + QString(i),0).toInt();
+            file->setAssocBus(bus);
 
-        MatchingCriteria_t matchingCriteria = (MatchingCriteria_t)settings.value("DBC/MatchingCriteria_" + QString(i),0).toInt();
+            MatchingCriteria_t matchingCriteria = (MatchingCriteria_t)settings.value("DBC/MatchingCriteria_" + QString(i),0).toInt();
 
-        DBC_ATTRIBUTE attr;
+            DBC_ATTRIBUTE attr;
 
-        attr.attrType = MESSAGE;
-        attr.defaultValue = matchingCriteria;
-        attr.enumVals.clear();
-        attr.lower = 0;
-        attr.upper = 0;
-        attr.name = "matchingcriteria";
-        attr.valType = QINT;
-        file->dbc_attributes.append(attr);
-        file->messageHandler->setMatchingCriteria(matchingCriteria);
+            attr.attrType = MESSAGE;
+            attr.defaultValue = matchingCriteria;
+            attr.enumVals.clear();
+            attr.lower = 0;
+            attr.upper = 0;
+            attr.name = "matchingcriteria";
+            attr.valType = QINT;
+            file->dbc_attributes.append(attr);
+            file->messageHandler->setMatchingCriteria(matchingCriteria);
 
-        bool filterLabeling = settings.value("DBC/FilterLabeling_" + QString(i),0).toBool();
-        attr.attrType = MESSAGE;
-        attr.defaultValue = filterLabeling;
-        attr.enumVals.clear();
-        attr.lower = 0;
-        attr.upper = 0;
-        attr.name = "filterlabeling";
-        attr.valType = QINT;
-        file->dbc_attributes.append(attr);
-        file->messageHandler->setFilterLabeling(filterLabeling);
+            bool filterLabeling = settings.value("DBC/FilterLabeling_" + QString(i),0).toBool();
+            attr.attrType = MESSAGE;
+            attr.defaultValue = filterLabeling;
+            attr.enumVals.clear();
+            attr.lower = 0;
+            attr.upper = 0;
+            attr.name = "filterlabeling";
+            attr.valType = QINT;
+            file->dbc_attributes.append(attr);
+            file->messageHandler->setFilterLabeling(filterLabeling);
 
-        qInfo() << "Loaded DBC file" << filename << " (bus:" << bus 
-            << ", Matching Criteria:" << (int)matchingCriteria << "Filter labeling: " << (filterLabeling?"enabled":"disabled") << ")";
+            qInfo() << "Loaded DBC file" << filename << " (bus:" << bus
+                << ", Matching Criteria:" << (int)matchingCriteria << "Filter labeling: " << (filterLabeling?"enabled":"disabled") << ")";
+        }
     }
 }
 
diff --git a/dbc/dbchandler.h b/dbc/dbchandler.h
index f2341eb..11bd480 100644
--- a/dbc/dbchandler.h
+++ b/dbc/dbchandler.h
@@ -76,8 +76,8 @@ public:
     DBC_ATTRIBUTE *findAttributeByName(QString name);
     DBC_ATTRIBUTE *findAttributeByIdx(int idx);
     void findAttributesByType(DBC_ATTRIBUTE_TYPE typ, QList<DBC_ATTRIBUTE> *list);
-    void saveFile(QString);
-    void loadFile(QString);
+    bool saveFile(QString);
+    bool loadFile(QString);
     QString getFullFilename();
     QString getFilename();
     QString getPath();
diff --git a/dbc/dbcmaineditor.cpp b/dbc/dbcmaineditor.cpp
index 2aa5825..76dd76c 100644
--- a/dbc/dbcmaineditor.cpp
+++ b/dbc/dbcmaineditor.cpp
@@ -133,7 +133,7 @@ void DBCMainEditor::readSettings()
     if (settings.value("Main/SaveRestorePositions", false).toBool())
     {
         resize(settings.value("DBCMainEditor/WindowSize", QSize(1103, 571)).toSize());
-        move(settings.value("DBCMainEditor/WindowPos", QPoint(50, 50)).toPoint());
+        move(Utility::constrainedWindowPos(settings.value("DBCMainEditor/WindowPos", QPoint(50, 50)).toPoint()));
     }
 }
 
@@ -370,8 +370,8 @@ void DBCMainEditor::updatedMessage(DBC_MESSAGE *msg)
         item->setText(0, msgInfo);
         //editor could have changed the parent Node too. Have to figure out which node
         //is parent in the GUI and compare that to parent in the data.
-        DBC_NODE *oldParent = dbcFile->findNodeByName(item->parent()->text(0));
-        if (oldParent != msg->sender)
+        DBC_NODE *oldParent = dbcFile->findNodeByName(item->parent()->text(0).split(" - ")[0]);
+        if (oldParent != msg->sender && oldParent)
         {
             qDebug() << "Changed parent of message. Trying to rehome it.";
             QTreeWidgetItem *newParent = nullptr;
@@ -448,7 +448,11 @@ void DBCMainEditor::newMessage()
         nodeItem = msgItem->parent();
     }
 
-    DBC_NODE *node = dbcFile->findNodeByName(nodeItem->data(0, Qt::DisplayRole).toString());
+    //if there was a comment this will find the location of the comment and snip it out.
+    QString nodeName = nodeItem->data(0, Qt::DisplayRole).toString().split(" - ")[0];
+
+    DBC_NODE *node = dbcFile->findNodeByName(nodeName);
+    if (!node) node = dbcFile->findNodeByIdx(0);
     DBC_MESSAGE msg;
     DBC_MESSAGE *msgPtr;
     if (msgItem)
@@ -467,17 +471,17 @@ void DBCMainEditor::newMessage()
         }
         else
         {
-            msg.name = nodeItem->text(0) + "Msg" + QString::number(randGen.bounded(500));
+            msg.name = nodeName + "Msg" + QString::number(randGen.bounded(500));
             msg.ID = 0;
             msg.len = 0;
         }
     }
     else
     {
-        msg.name = nodeItem->text(0) + "Msg" + QString::number(randGen.bounded(500));
+        msg.name = nodeName + "Msg" + QString::number(randGen.bounded(500));
         msg.ID = 0;
         msg.len = 0;
-    }
+    }    
     msg.sender = node;
 
     dbcFile->messageHandler->addMessage(msg);
diff --git a/dbc/dbcmessageeditor.cpp b/dbc/dbcmessageeditor.cpp
index 2366696..6502f44 100644
--- a/dbc/dbcmessageeditor.cpp
+++ b/dbc/dbcmessageeditor.cpp
@@ -187,7 +187,7 @@ void DBCMessageEditor::readSettings()
     if (settings.value("Main/SaveRestorePositions", false).toBool())
     {
         resize(settings.value("DBCMessageEditor/WindowSize", QSize(340, 400)).toSize());
-        move(settings.value("DBCMessageEditor/WindowPos", QPoint(100, 100)).toPoint());
+        move(Utility::constrainedWindowPos(settings.value("DBCMessageEditor/WindowPos", QPoint(100, 100)).toPoint()));
     }
 }
 
diff --git a/dbc/dbcnodeeditor.cpp b/dbc/dbcnodeeditor.cpp
index 0f25543..7a94790 100644
--- a/dbc/dbcnodeeditor.cpp
+++ b/dbc/dbcnodeeditor.cpp
@@ -81,7 +81,7 @@ void DBCNodeEditor::readSettings()
     if (settings.value("Main/SaveRestorePositions", false).toBool())
     {
         resize(settings.value("DBCNodeEditor/WindowSize", QSize(312, 128)).toSize());
-        move(settings.value("DBCNodeEditor/WindowPos", QPoint(100, 100)).toPoint());
+        move(Utility::constrainedWindowPos(settings.value("DBCNodeEditor/WindowPos", QPoint(100, 100)).toPoint()));
     }
 }
 
diff --git a/dbc/dbcsignaleditor.cpp b/dbc/dbcsignaleditor.cpp
index ce69871..c02fdac 100644
--- a/dbc/dbcsignaleditor.cpp
+++ b/dbc/dbcsignaleditor.cpp
@@ -280,7 +280,7 @@ void DBCSignalEditor::readSettings()
     if (settings.value("Main/SaveRestorePositions", false).toBool())
     {
         resize(settings.value("DBCSignalEditor/WindowSize", QSize(1000, 600)).toSize());
-        move(settings.value("DBCSignalEditor/WindowPos", QPoint(100, 100)).toPoint());
+        move(Utility::constrainedWindowPos(settings.value("DBCSignalEditor/WindowPos", QPoint(100, 100)).toPoint()));
     }
 }
 
diff --git a/firmwareuploaderwindow.cpp b/firmwareuploaderwindow.cpp
index 44571d3..05028be 100644
--- a/firmwareuploaderwindow.cpp
+++ b/firmwareuploaderwindow.cpp
@@ -149,7 +149,7 @@ void FirmwareUploaderWindow::sendFirmwareChunk()
     for (int i = 0; i < 6; i++) xorByte = xorByte ^ static_cast<unsigned char>(output->payload()[i]);
     output->payload()[6] = xorByte;
     output->setPayload(bytes);
-    sendCANFrame(output);
+    CANConManager::getInstance()->sendFrame(*output);
     timer->start();
 }
 
@@ -187,16 +187,18 @@ void FirmwareUploaderWindow::handleStartStopTransfer()
         QByteArray bytes(8,0);
         output->bus = bus;
         output->setFrameId(baseAddress);
+        output->setFrameType(QCanBusFrame::DataFrame);
 
-        output->payload()[0] = 0xEF;
-        output->payload()[1] = 0xBE;
-        output->payload()[2] = 0xAD;
-        output->payload()[3] = 0xDE;
-        output->payload()[4] = token & 0xFF;
-        output->payload()[5] = (token >> 8) & 0xFF;
-        output->payload()[6] = (token >> 16) & 0xFF;
-        output->payload()[7] = (token >> 24) & 0xFF;
-        sendCANFrame(output);
+        bytes[0] = 0xEF;
+        bytes[1] = 0xBE;
+        bytes[2] = 0xAD;
+        bytes[3] = 0xDE;
+        bytes[4] = token & 0xFF;
+        bytes[5] = (token >> 8) & 0xFF;
+        bytes[6] = (token >> 16) & 0xFF;
+        bytes[7] = (token >> 24) & 0xFF;
+        output->setPayload(bytes);
+        CANConManager::getInstance()->sendFrame(*output);
     }
     else //stop anything in process
     {
diff --git a/firmwareuploaderwindow.h b/firmwareuploaderwindow.h
index ec07906..5950735 100644
--- a/firmwareuploaderwindow.h
+++ b/firmwareuploaderwindow.h
@@ -19,9 +19,6 @@ public:
     explicit FirmwareUploaderWindow(const QVector<CANFrame> *frames, QWidget *parent = 0);
     ~FirmwareUploaderWindow();
 
-signals:
-    void sendCANFrame(const CANFrame *);
-
 public slots:
     void gotTargettedFrame(CANFrame frame);
 
diff --git a/framefileio.cpp b/framefileio.cpp
index d086013..ac09ead 100644
--- a/framefileio.cpp
+++ b/framefileio.cpp
@@ -13,6 +13,19 @@
 
 QFile FrameFileIO::continuousFile;
 
+struct TeslaAPCANRecord
+{
+    #pragma pack(push, 1)
+    int64_t sec;
+    int32_t nano;
+    int32_t padding1;
+    uint16_t id;
+    uint8_t ctr;
+    uint8_t data[8];
+    uint8_t padding2;
+    #pragma pack(pop)
+};
+
 FrameFileIO::FrameFileIO()
 {
 }
@@ -172,6 +185,7 @@ bool FrameFileIO::loadFrameFile(QString &fileName, QVector<CANFrame>* frameCache
     filters.append(QString(tr("Generic ID/Data CSV (*.csv *.CSV)")));
     filters.append(QString(tr("Cabana Log (*.csv *.CSV)")));
     filters.append(QString(tr("CANOpen Magic (*.csv *.CSV)")));
+    filters.append(QString(tr("Tesla Autopilot Snapshot (*.CAN *.can)")));
 
     dialog.setDirectory(settings.value("FileIO/LoadSaveDirectory", dialog.directory().path()).toString());
     dialog.setFileMode(QFileDialog::ExistingFile);
@@ -214,6 +228,7 @@ bool FrameFileIO::loadFrameFile(QString &fileName, QVector<CANFrame>* frameCache
         if (selectedNameFilter == filters[18]) result = loadGenericCSVFile(filename, frameCache);
         if (selectedNameFilter == filters[19]) result = loadCabanaFile(filename, frameCache);
         if (selectedNameFilter == filters[20]) result = loadCANOpenFile(filename, frameCache);
+        if (selectedNameFilter == filters[21]) result = loadTeslaAPFile(filename, frameCache);
 
         progress.cancel();
 
@@ -264,6 +279,16 @@ bool FrameFileIO::autoDetectLoadFile(QString filename, QVector<CANFrame>* frames
         }
     }
 
+    qDebug() << "Attempting Tesla AP Snapshot";
+    if (isTeslaAPFile(filename))
+    {
+        if (loadTeslaAPFile(filename, frames))
+        {
+            qDebug() << "Loaded as Tesla AP Snapshot successfully!";
+            return true;
+        }
+    }
+
     qDebug() << "Attempting canalyzer ASC";
     if (isCanalyzerASC(filename))
     {
@@ -3915,3 +3940,84 @@ bool FrameFileIO::saveCabanaFile(QString filename, const QVector<CANFrame>* fram
     delete outFile;
     return true;
 }
+
+bool FrameFileIO::isTeslaAPFile(QString filename)
+{
+    QFile *inFile = new QFile(filename);
+    CANFrame thisFrame;
+    QByteArray data;
+    bool isValidFile = true;
+    TeslaAPCANRecord record;
+
+    if (!inFile->open(QIODevice::ReadOnly))
+    {
+        delete inFile;
+        return false;
+    }
+
+    while (!inFile->atEnd())
+    {
+        inFile->read((char *)&record, sizeof(TeslaAPCANRecord));
+        if (record.id > 0x7FF) isValidFile = false;
+        if ((record.ctr >> 4) > 8) isValidFile = false;
+        if ((record.ctr & 0xF) > 6) isValidFile = false;
+    }
+
+    inFile->close();
+    delete inFile;
+    return isValidFile;
+}
+
+bool FrameFileIO::loadTeslaAPFile(QString filename, QVector<CANFrame>* frames)
+{
+    QFile *inFile = new QFile(filename);
+    CANFrame thisFrame;
+    int lineCounter = 0;
+    QByteArray data;
+    int timeOffset = 0;
+    int64_t lastTimeStamp = 0;
+    bool foundErrors = false;
+    thisFrame.setFrameType(QCanBusFrame::DataFrame);
+    TeslaAPCANRecord record;
+
+    if (!inFile->open(QIODevice::ReadOnly))
+    {
+        delete inFile;
+        return false;
+    }
+
+    while (!inFile->atEnd())
+    {
+        lineCounter++;
+        if (lineCounter > 100)
+        {
+            qApp->processEvents();
+            lineCounter = 0;
+        }
+
+        inFile->read((char *)&record, sizeof(TeslaAPCANRecord));
+
+        thisFrame.isReceived = true;
+        thisFrame.setExtendedFrameFormat(false); //format is incapable of extended frames
+        thisFrame.setFrameType(QCanBusFrame::DataFrame);
+        qint64 tempStamp;
+        tempStamp = record.sec * 1000000 + (record.nano/1000);
+        thisFrame.setTimeStamp(QCanBusFrame::TimeStamp(0, tempStamp));
+        thisFrame.setFrameId(record.id);
+        int numBytes = (record.ctr >> 4);
+        thisFrame.bus = (record.ctr & 0xF);
+        QByteArray bytes(numBytes, 0);
+
+        if (numBytes <= 8)
+        {
+            for (int d = 0; d < numBytes; d++) bytes[d] = record.data[d];
+            thisFrame.setPayload(bytes);
+            frames->append(thisFrame);
+        }
+        else foundErrors = true;
+    }
+
+    inFile->close();
+    delete inFile;
+    return !foundErrors;
+}
diff --git a/framefileio.h b/framefileio.h
index fad147d..2e24b38 100644
--- a/framefileio.h
+++ b/framefileio.h
@@ -50,6 +50,7 @@ public:
     static bool loadCANHackerFile(QString filename, QVector<CANFrame>* frames);
     static bool loadCabanaFile(QString filename, QVector<CANFrame>* frames);
     static bool loadCANOpenFile(QString filename, QVector<CANFrame>* frames);
+    static bool loadTeslaAPFile(QString filename, QVector<CANFrame>* frames);
 
     //functions that pre-scan a file to try to figure out if they could read it. Used to automatically determine
     //file type and load it.
@@ -72,6 +73,7 @@ public:
     static bool isCANHackerFile(QString filename);
     static bool isCabanaFile(QString filename);
     static bool isCANOpenFile(QString filename);
+    static bool isTeslaAPFile(QString filename);
 
     static bool saveCRTDFile(QString, const QVector<CANFrame>*);
     static bool saveNativeCSVFile(QString, const QVector<CANFrame>*);
diff --git a/frameplaybackwindow.cpp b/frameplaybackwindow.cpp
index 85fd517..5cef16f 100644
--- a/frameplaybackwindow.cpp
+++ b/frameplaybackwindow.cpp
@@ -143,7 +143,7 @@ void FramePlaybackWindow::readSettings()
     if (settings.value("Main/SaveRestorePositions", false).toBool())
     {
         resize(settings.value("Playback/WindowSize", QSize(742, 606)).toSize());
-        move(settings.value("Playback/WindowPos", QPoint(50, 50)).toPoint());
+        move(Utility::constrainedWindowPos(settings.value("Playback/WindowPos", QPoint(50, 50)).toPoint()));
     }
     if (settings.value("Playback/AutoLoop", false).toBool())
     {
diff --git a/helpwindow.cpp b/helpwindow.cpp
index 386948b..056ef32 100644
--- a/helpwindow.cpp
+++ b/helpwindow.cpp
@@ -1,4 +1,5 @@
 #include <QtDebug>
+#include "utility.h"
 #include "helpwindow.h"
 #include "ui_helpwindow.h"
 
@@ -32,7 +33,7 @@ void HelpWindow::readSettings()
     if (settings.value("Main/SaveRestorePositions", false).toBool())
     {
         resize(settings.value("HelpViewer/WindowSize", QSize(600, 700)).toSize());
-        move(settings.value("HelpViewer/WindowPos", QPoint(50, 50)).toPoint());
+        move(Utility::constrainedWindowPos(settings.value("HelpViewer/WindowPos", QPoint(50, 50)).toPoint()));
     }
 }
 
diff --git a/mainwindow.cpp b/mainwindow.cpp
index dc4ab13..dd5c091 100644
--- a/mainwindow.cpp
+++ b/mainwindow.cpp
@@ -324,7 +324,8 @@ void MainWindow::readSettings()
     if (settings.value("Main/SaveRestorePositions", false).toBool())
     {
         resize(settings.value("Main/WindowSize", QSize(800, 750)).toSize());
-        move(settings.value("Main/WindowPos", QPoint(100, 100)).toPoint());
+        move(Utility::constrainedWindowPos(settings.value("Main/WindowPos", QPoint(100, 100)).toPoint()));
+
         ui->canFramesView->setColumnWidth(0, settings.value("Main/TimeColumn", 150).toUInt()); //time stamp
         ui->canFramesView->setColumnWidth(1, settings.value("Main/IDColumn", 70).toUInt()); //frame ID
         ui->canFramesView->setColumnWidth(2, settings.value("Main/ExtColumn", 40).toUInt()); //extended
diff --git a/re/dbccomparatorwindow.cpp b/re/dbccomparatorwindow.cpp
index 57d4c1e..f7b27fd 100644
--- a/re/dbccomparatorwindow.cpp
+++ b/re/dbccomparatorwindow.cpp
@@ -66,7 +66,7 @@ void DBCComparatorWindow::readSettings()
     if (settings.value("Main/SaveRestorePositions", false).toBool())
     {
         resize(settings.value("DBCComparator/WindowSize", QSize(720, 631)).toSize());
-        move(settings.value("DBCComparator/WindowPos", QPoint(50, 50)).toPoint());
+        move(Utility::constrainedWindowPos(settings.value("DBCComparator/WindowPos", QPoint(50, 50)).toPoint()));
     }
 }
 
diff --git a/re/discretestatewindow.cpp b/re/discretestatewindow.cpp
index a4a0ba3..0844e40 100644
--- a/re/discretestatewindow.cpp
+++ b/re/discretestatewindow.cpp
@@ -198,7 +198,7 @@ void DiscreteStateWindow::readSettings()
     if (settings.value("Main/SaveRestorePositions", false).toBool())
     {
         resize(settings.value("DiscreteState/WindowSize", QSize(400, 300)).toSize());
-        move(settings.value("DiscreteState/WindowPos", QPoint(50, 50)).toPoint());
+        move(Utility::constrainedWindowPos(settings.value("DiscreteState/WindowPos", QPoint(50, 50)).toPoint()));
     }
 
 }
diff --git a/re/filecomparatorwindow.cpp b/re/filecomparatorwindow.cpp
index a159146..4c93be7 100644
--- a/re/filecomparatorwindow.cpp
+++ b/re/filecomparatorwindow.cpp
@@ -64,7 +64,7 @@ void FileComparatorWindow::readSettings()
     if (settings.value("Main/SaveRestorePositions", false).toBool())
     {
         resize(settings.value("FileComparator/WindowSize", QSize(720, 631)).toSize());
-        move(settings.value("FileComparator/WindowPos", QPoint(50, 50)).toPoint());
+        move(Utility::constrainedWindowPos(settings.value("FileComparator/WindowPos", QPoint(50, 50)).toPoint()));
     }
 }
 
diff --git a/re/flowviewwindow.cpp b/re/flowviewwindow.cpp
index 31e4010..5c60202 100644
--- a/re/flowviewwindow.cpp
+++ b/re/flowviewwindow.cpp
@@ -158,7 +158,7 @@ void FlowViewWindow::readSettings()
     if (settings.value("Main/SaveRestorePositions", false).toBool())
     {
         resize(settings.value("FlowView/WindowSize", QSize(1078, 621)).toSize());
-        move(settings.value("FlowView/WindowPos", QPoint(50, 50)).toPoint());
+        move(Utility::constrainedWindowPos(settings.value("FlowView/WindowPos", QPoint(50, 50)).toPoint()));
     }
 
     if (settings.value("FlowView/AutoRef", false).toBool())
diff --git a/re/frameinfowindow.cpp b/re/frameinfowindow.cpp
index 03ab8e6..d97b2d9 100644
--- a/re/frameinfowindow.cpp
+++ b/re/frameinfowindow.cpp
@@ -170,7 +170,7 @@ void FrameInfoWindow::readSettings()
     if (settings.value("Main/SaveRestorePositions", false).toBool())
     {
         resize(settings.value("FrameInfo/WindowSize", QSize(794, 694)).toSize());
-        move(settings.value("FrameInfo/WindowPos", QPoint(50, 50)).toPoint());
+        move(Utility::constrainedWindowPos(settings.value("FrameInfo/WindowPos", QPoint(50, 50)).toPoint()));
     }
     useOpenGL = settings.value("Main/UseOpenGL", false).toBool();
 
diff --git a/re/graphingwindow.cpp b/re/graphingwindow.cpp
index 8849183..82be855 100644
--- a/re/graphingwindow.cpp
+++ b/re/graphingwindow.cpp
@@ -125,7 +125,7 @@ void GraphingWindow::readSettings()
     if (settings.value("Main/SaveRestorePositions", false).toBool())
     {
         resize(settings.value("Graphing/WindowSize", QSize(800, 600)).toSize());
-        move(settings.value("Graphing/WindowPos", QPoint(50, 50)).toPoint());
+        move(Utility::constrainedWindowPos(settings.value("Graphing/WindowPos", QPoint(50, 50)).toPoint()));
     }
     secondsMode = settings.value("Main/TimeSeconds", false).toBool();
     useOpenGL = settings.value("Main/UseOpenGL", false).toBool();
diff --git a/re/isotp_interpreterwindow.cpp b/re/isotp_interpreterwindow.cpp
index 9d5e440..9d23399 100644
--- a/re/isotp_interpreterwindow.cpp
+++ b/re/isotp_interpreterwindow.cpp
@@ -112,7 +112,7 @@ void ISOTP_InterpreterWindow::readSettings()
     if (settings.value("Main/SaveRestorePositions", false).toBool())
     {
         resize(settings.value("ISODecodeWindow/WindowSize", this->size()).toSize());
-        move(settings.value("ISODecodeWindow/WindowPos", QPoint(50, 50)).toPoint());
+        move(Utility::constrainedWindowPos(settings.value("ISODecodeWindow/WindowPos", QPoint(50, 50)).toPoint()));
     }
 }
 
diff --git a/re/rangestatewindow.cpp b/re/rangestatewindow.cpp
index 498ff20..9e62021 100644
--- a/re/rangestatewindow.cpp
+++ b/re/rangestatewindow.cpp
@@ -126,7 +126,7 @@ void RangeStateWindow::readSettings()
     if (settings.value("Main/SaveRestorePositions", false).toBool())
     {
         resize(settings.value("RangeStateView/WindowSize", QSize(765, 615)).toSize());
-        move(settings.value("RangeStateView/WindowPos", QPoint(50, 50)).toPoint());
+        move(Utility::constrainedWindowPos(settings.value("RangeStateView/WindowPos", QPoint(50, 50)).toPoint()));
     }
 }
 
diff --git a/re/sniffer/snifferwindow.cpp b/re/sniffer/snifferwindow.cpp
index 1c7a729..29faed0 100644
--- a/re/sniffer/snifferwindow.cpp
+++ b/re/sniffer/snifferwindow.cpp
@@ -6,6 +6,7 @@
 #include "helpwindow.h"
 #include "connections/canconmanager.h"
 #include "SnifferDelegate.h"
+#include "utility.h"
 
 SnifferWindow::SnifferWindow(QWidget *parent) :
     QDialog(parent),
@@ -73,7 +74,7 @@ void SnifferWindow::readSettings()
     if (settings.value("Main/SaveRestorePositions", false).toBool())
     {
         resize(settings.value("Sniffer/WindowSize", QSize(1100, 750)).toSize());
-        move(settings.value("Sniffer/WindowPos", QPoint(50, 50)).toPoint());
+        move(Utility::constrainedWindowPos(settings.value("Sniffer/WindowPos", QPoint(50, 50)).toPoint()));
         ui->treeView->setColumnWidth(0, settings.value("Sniffer/DeltaColumn", 110).toUInt());
         ui->treeView->setColumnWidth(1, settings.value("Sniffer/IDColumn", 70).toUInt());
         ui->treeView->setColumnWidth(2, settings.value("Sniffer/Data0Column", 92).toUInt());
diff --git a/re/temporalgraphwindow.cpp b/re/temporalgraphwindow.cpp
index 2b3ff4c..26319c6 100644
--- a/re/temporalgraphwindow.cpp
+++ b/re/temporalgraphwindow.cpp
@@ -91,7 +91,7 @@ void TemporalGraphWindow::readSettings()
     if (settings.value("Main/SaveRestorePositions", false).toBool())
     {
         resize(settings.value("Temporal/WindowSize", QSize(800, 600)).toSize());
-        move(settings.value("Temporal/WindowPos", QPoint(50, 50)).toPoint());
+        move(Utility::constrainedWindowPos(settings.value("Temporal/WindowPos", QPoint(50, 50)).toPoint()));
     }
     useOpenGL = settings.value("Main/UseOpenGL", false).toBool();
 }
diff --git a/scriptingwindow.cpp b/scriptingwindow.cpp
index 46ffa2b..101bf6b 100644
--- a/scriptingwindow.cpp
+++ b/scriptingwindow.cpp
@@ -126,7 +126,7 @@ void ScriptingWindow::readSettings()
     if (settings.value("Main/SaveRestorePositions", false).toBool())
     {
         resize(settings.value("ScriptingWindow/WindowSize", QSize(860, 650)).toSize());
-        move(settings.value("ScriptingWindow/WindowPos", QPoint(100, 100)).toPoint());
+        move(Utility::constrainedWindowPos(settings.value("ScriptingWindow/WindowPos", QPoint(100, 100)).toPoint()));
     }
 }
 
diff --git a/utility.h b/utility.h
index ab2d44d..fd369e3 100644
--- a/utility.h
+++ b/utility.h
@@ -6,6 +6,9 @@
 #include <QByteArray>
 #include <QDateTime>
 #include <QDebug>
+#include <QApplication>
+#include <QRect>
+#include <QDesktopWidget>
 
 class Utility
 {
@@ -16,6 +19,19 @@ public:
     static bool sysTimeMode;
     static QString timeFormat;
 
+    //determines whether the window position is within any available screens. If it is not we default
+    //back to 0,0 which is going to be on screen. This fixes a problem where some operating systems would
+    //otherwise let you put windows on a second monitor, disconnect that monitor, and still put windows on it.
+    static QPoint constrainedWindowPos(QPoint originalPos)
+    {
+        QScreen *screen = QGuiApplication::screenAt(originalPos);
+        if (!screen)
+        {
+            return QPoint(0,0);
+        }
+        return originalPos;
+    }
+
     static QString unQuote(QString inStr)
     {
         QStringList temp;