canbana: complete basic functions (#25965)

* add chart header

* get all signal val from logs

* loop in selected range

* clear list before append

* automatically zoom on yaxis

* cleanup

* sync charts

* fix event_begin_sec

* set the color of rubber

* add TODO

* sync slider with charts

* keep video aspect ratio

* sync plot buttons

* reduce flickers

* cleanup

* refactor detail view

* clear counters

* more

use qcamera
old-commit-hash: a6ba073231

tools/cabana/SConscript

@@ -16,6 +16,5 @@ if arch in ['x86_64', 'Darwin'] and GetOption('extras'):
   qt_env['CXXFLAGS'] += ["-Wno-deprecated-declarations"]
 
   Import('replay_lib')
-  # qt_env["LD_LIBRARY_PATH"] = [Dir(f"#opendbc/can").abspath]
   cabana_libs = [widgets, cereal, messaging, visionipc, replay_lib, opendbc,'avutil', 'avcodec', 'avformat', 'bz2', 'curl', 'yuv'] + qt_libs
-  qt_env.Program('_cabana', ['cabana.cc', 'mainwin.cc', 'chartswidget.cc', 'videowidget.cc', 'parser.cc', 'messageswidget.cc', 'detailwidget.cc'], LIBS=cabana_libs, FRAMEWORKS=base_frameworks)
+  qt_env.Program('_cabana', ['cabana.cc', 'mainwin.cc', 'chartswidget.cc', 'videowidget.cc', 'signaledit.cc', 'parser.cc', 'messageswidget.cc', 'detailwidget.cc'], LIBS=cabana_libs, FRAMEWORKS=base_frameworks)

tools/cabana/cabana.cc

@@ -5,7 +5,6 @@
 #include "tools/cabana/mainwin.h"
 
 const QString DEMO_ROUTE = "4cf7a6ad03080c90|2021-09-29--13-46-36";
-Parser *parser = nullptr;
 
 int main(int argc, char *argv[]) {
   initApp(argc, argv);
@@ -16,7 +15,6 @@ int main(int argc, char *argv[]) {
   cmd_parser.addPositionalArgument("route", "the drive to replay. find your drives at connect.comma.ai");
   cmd_parser.addOption({"demo", "use a demo route instead of providing your own"});
   cmd_parser.addOption({"data_dir", "local directory with routes", "data_dir"});
-  cmd_parser.addOption({"qcam", "use qcamera"});
   cmd_parser.process(app);
   const QStringList args = cmd_parser.positionalArguments();
   if (args.empty() && !cmd_parser.isSet("demo")) {
@@ -24,8 +22,8 @@ int main(int argc, char *argv[]) {
   }
 
   const QString route = args.empty() ? DEMO_ROUTE : args.first();
-  parser = new Parser(&app);
+  Parser p(&app);
-  if (!parser->loadRoute(route, cmd_parser.value("data_dir"), cmd_parser.isSet("qcam"))) {
+  if (!p.loadRoute(route, cmd_parser.value("data_dir"), true)) {
     return 0;
   }
   MainWindow w;

tools/cabana/chartswidget.cc

@@ -1,20 +1,24 @@
 #include "tools/cabana/chartswidget.h"
 
+#include <QGraphicsLayout>
+#include <QLabel>
+#include <QPushButton>
+#include <QRubberBand>
+#include <QStackedLayout>
 #include <QtCharts/QLineSeries>
+#include <QtCharts/QValueAxis>
 
-using namespace QtCharts;
+int64_t get_raw_value(uint8_t *data, size_t data_size, const Signal &sig) {
-
-int64_t get_raw_value(const QByteArray &msg, const Signal &sig) {
   int64_t ret = 0;
 
   int i = sig.msb / 8;
   int bits = sig.size;
-  while (i >= 0 && i < msg.size() && bits > 0) {
+  while (i >= 0 && i < data_size && bits > 0) {
     int lsb = (int)(sig.lsb / 8) == i ? sig.lsb : i * 8;
     int msb = (int)(sig.msb / 8) == i ? sig.msb : (i + 1) * 8 - 1;
     int size = msb - lsb + 1;
 
-    uint64_t d = (msg[i] >> (lsb - (i * 8))) & ((1ULL << size) - 1);
+    uint64_t d = (data[i] >> (lsb - (i * 8))) & ((1ULL << size) - 1);
     ret |= d << (bits - size);
 
     bits -= size;
@@ -26,77 +30,163 @@ int64_t get_raw_value(const QByteArray &msg, const Signal &sig) {
 ChartsWidget::ChartsWidget(QWidget *parent) : QWidget(parent) {
   main_layout = new QVBoxLayout(this);
   main_layout->setContentsMargins(0, 0, 0, 0);
-  connect(parser, &Parser::updated, this, &ChartsWidget::updateState);
   connect(parser, &Parser::showPlot, this, &ChartsWidget::addChart);
   connect(parser, &Parser::hidePlot, this, &ChartsWidget::removeChart);
+  connect(parser, &Parser::signalRemoved, this, &ChartsWidget::removeChart);
 }
 
 void ChartsWidget::addChart(const QString &id, const QString &sig_name) {
   const QString char_name = id + sig_name;
   if (charts.find(char_name) == charts.end()) {
-    QLineSeries *series = new QLineSeries();
+    auto chart = new ChartWidget(id, sig_name, this);
-    series->setUseOpenGL(true);
+    main_layout->addWidget(chart);
-    auto chart = new QChart();
+    charts[char_name] = chart;
-    chart->setTitle(id + ": " + sig_name);
-    chart->addSeries(series);
-    chart->createDefaultAxes();
-    chart->legend()->hide();
-    auto chart_view = new QChartView(chart);
-    chart_view->setMinimumSize({width(), 300});
-    chart_view->setMaximumSize({width(), 300});
-    chart_view->setRenderHint(QPainter::Antialiasing);
-    main_layout->addWidget(chart_view);
-    charts[char_name] = {.id = id, .sig_name = sig_name, .chart_view = chart_view};
   }
 }
 
 void ChartsWidget::removeChart(const QString &id, const QString &sig_name) {
-  auto it = charts.find(id + sig_name);
+  if (auto it = charts.find(id + sig_name); it != charts.end()) {
-  if (it == charts.end()) return;
+    it->second->deleteLater();
-
+    charts.erase(it);
-  delete it->second.chart_view;
+  }
-  charts.erase(it);
 }
 
-void ChartsWidget::updateState() {
+ChartWidget::ChartWidget(const QString &id, const QString &sig_name, QWidget *parent) : id(id), sig_name(sig_name), QWidget(parent) {
-  static double last_update = millis_since_boot();
+  QStackedLayout *stacked = new QStackedLayout(this);
-  double current_ts = millis_since_boot();
+  stacked->setStackingMode(QStackedLayout::StackAll);
-  bool update = (current_ts - last_update) > 500;
+
-  if (update) {
+  QWidget *chart_widget = new QWidget(this);
-    last_update = current_ts;
+  QVBoxLayout *chart_layout = new QVBoxLayout(chart_widget);
+  chart_layout->setSpacing(0);
+  chart_layout->setContentsMargins(0, 0, 0, 0);
+
+  QWidget *header = new QWidget(this);
+  header->setStyleSheet("background-color:white");
+  QHBoxLayout *header_layout = new QHBoxLayout(header);
+  header_layout->setContentsMargins(11, 11, 11, 0);
+  auto title = new QLabel(tr("%1 %2").arg(parser->getMsg(id)->name.c_str()).arg(id));
+  header_layout->addWidget(title);
+  header_layout->addStretch();
+  zoom_label = new QLabel("", this);
+  header_layout->addWidget(zoom_label);
+  QPushButton *zoom_in = new QPushButton("↺", this);
+  zoom_in->setToolTip(tr("reset zoom"));
+  QObject::connect(zoom_in, &QPushButton::clicked, []() { parser->resetRange(); });
+  header_layout->addWidget(zoom_in);
+
+  QPushButton *remove_btn = new QPushButton("✖", this);
+  QObject::connect(remove_btn, &QPushButton::clicked, [=]() {
+    emit parser->hidePlot(id, sig_name);
+  });
+  header_layout->addWidget(remove_btn);
+  chart_layout->addWidget(header);
+
+  QLineSeries *series = new QLineSeries();
+  series->setUseOpenGL(true);
+  auto chart = new QChart();
+  chart->setTitle(sig_name);
+  chart->addSeries(series);
+  chart->createDefaultAxes();
+  chart->legend()->hide();
+  QFont font;
+  font.setBold(true);
+  chart->setTitleFont(font);
+  chart->setMargins({0, 0, 0, 0});
+  chart->layout()->setContentsMargins(0, 0, 0, 0);
+  QObject::connect(dynamic_cast<QValueAxis *>(chart->axisX()), &QValueAxis::rangeChanged, parser, &Parser::setRange);
+
+  chart_view = new QChartView(chart);
+  chart_view->setFixedHeight(300);
+  chart_view->setRenderHint(QPainter::Antialiasing);
+  chart_view->setRubberBand(QChartView::HorizontalRubberBand);
+  if (auto rubber = chart_view->findChild<QRubberBand *>()) {
+    QPalette pal;
+    pal.setBrush(QPalette::Base, QColor(0, 0, 0, 80));
+    rubber->setPalette(pal);
   }
+  chart_layout->addWidget(chart_view);
+  chart_layout->addStretch();
 
-  auto getSig = [=](const QString &id, const QString &name) -> const Signal * {
+  stacked->addWidget(chart_widget);
-    for (auto &sig : parser->getMsg(id)->sigs) {
+  line_marker = new LineMarker(chart, this);
-      if (name == sig.name.c_str()) return &sig;
+  stacked->addWidget(line_marker);
-    }
+  line_marker->setAttribute(Qt::WA_TransparentForMouseEvents, true);
-    return nullptr;
+  line_marker->raise();
-  };
-
-  for (auto &[_, c] : charts) {
-    if (auto sig = getSig(c.id, c.sig_name)) {
-      const auto &can_data = parser->can_msgs[c.id].back();
-      int64_t val = get_raw_value(can_data.dat, *sig);
-      if (sig->is_signed) {
-        val -= ((val >> (sig->size - 1)) & 0x1) ? (1ULL << sig->size) : 0;
-      }
-      double value = val * sig->factor + sig->offset;
 
-      if (value > c.max_y) c.max_y = value;
+  setSizePolicy(QSizePolicy::Expanding, QSizePolicy::Fixed);
-      if (value < c.min_y) c.min_y = value;
+  QObject::connect(parser, &Parser::updated, this, &ChartWidget::updateState);
+  QObject::connect(parser, &Parser::rangeChanged, this, &ChartWidget::rangeChanged);
+  QObject::connect(parser, &Parser::eventsMerged, this, &ChartWidget::updateSeries);
 
-      while (c.data.size() > DATA_LIST_SIZE) {
+  updateSeries();
-        c.data.pop_front();
+}
-      }
+
-      c.data.push_back({can_data.ts / 1000., value});
+void ChartWidget::updateState() {
-
+  line_marker->update();
-      if (update) {
+}
-        QChart *chart = c.chart_view->chart();
+
-        QLineSeries *series = (QLineSeries *)chart->series()[0];
+void ChartWidget::updateSeries() {
-        series->replace(c.data);
+  const Signal *sig = parser->getSig(id, sig_name);
-        chart->axisX()->setRange(c.data.front().x(), c.data.back().x());
+  auto events = parser->replay->events();
-        chart->axisY()->setRange(c.min_y, c.max_y);
+  if (!sig || !events) return;
+
+  auto l = id.split(':');
+  int bus = l[0].toInt();
+  uint32_t address = l[1].toUInt(nullptr, 16);
+
+  vals.clear();
+  vals.reserve(3 * 60 * 100);
+  uint64_t route_start_time = parser->replay->routeStartTime();
+  for (auto &evt : *events) {
+    if (evt->which == cereal::Event::Which::CAN) {
+      for (auto c : evt->event.getCan()) {
+        if (bus == c.getSrc() && address == c.getAddress()) {
+          auto dat = c.getDat();
+          int64_t val = get_raw_value((uint8_t *)dat.begin(), dat.size(), *sig);
+          if (sig->is_signed) {
+            val -= ((val >> (sig->size - 1)) & 0x1) ? (1ULL << sig->size) : 0;
+          }
+          double value = val * sig->factor + sig->offset;
+          double ts = (evt->mono_time - route_start_time) / (double)1e9;  // seconds
+          vals.push_back({ts, value});
+        }
       }
     }
   }
+  QLineSeries *series = (QLineSeries *)chart_view->chart()->series()[0];
+  series->replace(vals);
+  auto [begin, end] = parser->range();
+  chart_view->chart()->axisX()->setRange(begin, end);
+}
+
+void ChartWidget::rangeChanged(qreal min, qreal max) {
+  auto axis_x = dynamic_cast<QValueAxis *>(chart_view->chart()->axisX());
+  if (axis_x->min() != min || axis_x->max() != max) {
+    axis_x->setRange(min, max);
+  }
+  // auto zoom on yaxis
+  double min_y = 0, max_y = 0;
+  for (auto &p : vals) {
+    if (p.x() > max) break;
+
+    if (p.x() >= min) {
+      if (p.y() < min_y) min_y = p.y();
+      if (p.y() > max_y) max_y = p.y();
+    }
+  }
+  chart_view->chart()->axisY()->setRange(min_y * 0.95, max_y * 1.05);
+}
+
+LineMarker::LineMarker(QChart *chart, QWidget *parent) : chart(chart), QWidget(parent) {}
+
+void LineMarker::paintEvent(QPaintEvent *event) {
+  auto axis_x = dynamic_cast<QValueAxis *>(chart->axisX());
+  if (axis_x->max() <= axis_x->min()) return;
+
+  double x = chart->plotArea().left() + chart->plotArea().width() * (parser->currentSec() - axis_x->min()) / (axis_x->max() - axis_x->min());
+  QPainter p(this);
+  QPen pen = QPen(Qt::black);
+  pen.setWidth(2);
+  p.setPen(pen);
+  p.drawLine(QPointF{x, 50.}, QPointF{x, (qreal)height() - 11});
 }

tools/cabana/chartswidget.h

@@ -1,17 +1,53 @@
 #pragma once
 
+#include <map>
+
+#include <QLabel>
 #include <QVBoxLayout>
 #include <QWidget>
 #include <QtCharts/QChartView>
 #include <QtCharts/QLineSeries>
-#include <map>
 
 #include "tools/cabana/parser.h"
 
+using namespace QtCharts;
+
+class LineMarker : public QWidget {
+Q_OBJECT
+
+public:
+  LineMarker(QChart *chart, QWidget *parent);
+  void paintEvent(QPaintEvent *event) override;
+
+private:
+  QChart *chart;
+};
+
+class ChartWidget : public QWidget {
+Q_OBJECT
+
+public:
+  ChartWidget(const QString &id, const QString &sig_name, QWidget *parent);
+  inline QChart *chart() const { return chart_view->chart(); }
+
+protected:
+  void updateState();
+  void addData(const CanData &can_data, const Signal &sig);
+  void updateSeries();
+  void rangeChanged(qreal min, qreal max);
+
+  QString id;
+  QString sig_name;
+  QLabel *zoom_label;
+  QChartView *chart_view = nullptr;
+  LineMarker *line_marker = nullptr;
+  QList<QPointF> vals;
+};
+
 class ChartsWidget : public QWidget {
   Q_OBJECT
 
- public:
+public:
   ChartsWidget(QWidget *parent = nullptr);
   inline bool hasChart(const QString &id, const QString &sig_name) {
     return charts.find(id+sig_name) != charts.end();
@@ -20,15 +56,7 @@ class ChartsWidget : public QWidget {
   void removeChart(const QString &id, const QString &sig_name);
   void updateState();
 
- protected:
+protected:
   QVBoxLayout *main_layout;
-  struct SignalChart {
+  std::map<QString, ChartWidget *> charts;
-    QString id;
-    QString sig_name;
-    int max_y = 0;
-    int min_y = 0;
-    QList<QPointF> data;
-    QtCharts::QChartView *chart_view = nullptr;
-  };
-  std::map<QString, SignalChart> charts;
 };

tools/cabana/detailwidget.cc

@@ -1,68 +1,53 @@
+
 #include "tools/cabana/detailwidget.h"
 
 #include <QDebug>
+#include <QDialogButtonBox>
 #include <QHeaderView>
-#include <QMessageBox>
 #include <QTimer>
 #include <QVBoxLayout>
 #include <bitset>
 
+#include "selfdrive/ui/qt/util.h"
 #include "selfdrive/ui/qt/widgets/scrollview.h"
 
-const QString SIGNAL_COLORS[] = {"#9FE2BF", "#40E0D0", "#6495ED", "#CCCCFF", "#FF7F50", "#FFBF00"};
+inline const QString &getColor(int i) {
-
+  static const QString SIGNAL_COLORS[] = {"#9FE2BF", "#40E0D0", "#6495ED", "#CCCCFF", "#FF7F50", "#FFBF00"};
-static QVector<int> BIG_ENDIAN_START_BITS = []() {
+  return SIGNAL_COLORS[i % std::size(SIGNAL_COLORS)];
-  QVector<int> ret;
-  for (int i = 0; i < 64; i++) {
-    for (int j = 7; j >= 0; j--) {
-      ret.push_back(j + i * 8);
-    }
-  }
-  return ret;
-}();
-
-static int bigEndianBitIndex(int index) {
-  // TODO: Add a helper function in dbc.h
-  return BIG_ENDIAN_START_BITS.indexOf(index);
 }
 
+// DetailWidget
+
 DetailWidget::DetailWidget(QWidget *parent) : QWidget(parent) {
   QVBoxLayout *main_layout = new QVBoxLayout(this);
-  QLabel *title = new QLabel(tr("SELECTED MESSAGE:"), this);
-  main_layout->addWidget(title);
 
-  QHBoxLayout *name_layout = new QHBoxLayout();
   name_label = new QLabel(this);
   name_label->setStyleSheet("font-weight:bold;");
-  name_layout->addWidget(name_label);
+  name_label->setSizePolicy(QSizePolicy::Expanding, QSizePolicy::Preferred);
-  name_layout->addStretch();
+  name_label->setAlignment(Qt::AlignCenter);
+  main_layout->addWidget(name_label);
+
+  // title
+  QHBoxLayout *title_layout = new QHBoxLayout();
+  time_label = new QLabel(this);
+  title_layout->addWidget(time_label);
+  title_layout->addStretch();
+
   edit_btn = new QPushButton(tr("Edit"), this);
   edit_btn->setVisible(false);
-  QObject::connect(edit_btn, &QPushButton::clicked, [=]() {
+  title_layout->addWidget(edit_btn);
-    EditMessageDialog dlg(msg_id, this);
+  main_layout->addLayout(title_layout);
-    int ret = dlg.exec();
-    if (ret) {
-      setMsg(msg_id);
-    }
-  });
-  name_layout->addWidget(edit_btn);
-  main_layout->addLayout(name_layout);
 
+  // binary view
   binary_view = new BinaryView(this);
   main_layout->addWidget(binary_view);
 
+  // scroll area
   QHBoxLayout *signals_layout = new QHBoxLayout();
   signals_layout->addWidget(new QLabel(tr("Signals")));
   signals_layout->addStretch();
   add_sig_btn = new QPushButton(tr("Add signal"), this);
   add_sig_btn->setVisible(false);
-  QObject::connect(add_sig_btn, &QPushButton::clicked, [=]() {
-    AddSignalDialog dlg(msg_id, this);
-    int ret = dlg.exec();
-    if (ret) {
-      setMsg(msg_id);
-    }
-  });
   signals_layout->addWidget(add_sig_btn);
   main_layout->addLayout(signals_layout);
 
@@ -72,238 +57,67 @@ DetailWidget::DetailWidget(QWidget *parent) : QWidget(parent) {
   signal_edit_layout->setSpacing(2);
   container_layout->addLayout(signal_edit_layout);
 
-  messages_view = new MessagesView(this);
+  history_log = new HistoryLog(this);
-  container_layout->addWidget(messages_view);
+  container_layout->addWidget(history_log);
 
   QScrollArea *scroll = new QScrollArea(this);
   scroll->setWidget(container);
   scroll->setWidgetResizable(true);
+  scroll->setFrameShape(QFrame::NoFrame);
+  scroll->setHorizontalScrollBarPolicy(Qt::ScrollBarAlwaysOff);
   scroll->setSizePolicy(QSizePolicy::Preferred, QSizePolicy::Expanding);
 
   main_layout->addWidget(scroll);
-  setFixedWidth(600);
 
-  connect(parser, &Parser::updated, this, &DetailWidget::updateState);
+  QObject::connect(add_sig_btn, &QPushButton::clicked, this, &DetailWidget::addSignal);
+  QObject::connect(edit_btn, &QPushButton::clicked, this, &DetailWidget::editMsg);
+  QObject::connect(parser, &Parser::updated, this, &DetailWidget::updateState);
 }
 
-void DetailWidget::updateState() {
+void DetailWidget::setMsg(const CanData *c) {
-  if (msg_id.isEmpty()) return;
+  can_data = c;
-
+  clearLayout(signal_edit_layout);
-  auto &list = parser->can_msgs[msg_id];
+  edit_btn->setVisible(true);
-  if (!list.empty()) {
-    binary_view->setData(list.back().dat);
-    messages_view->setMessages(list);
-  }
-}
-
-SignalForm::SignalForm(const Signal &sig, QWidget *parent) : QWidget(parent) {
-  QVBoxLayout *v_layout = new QVBoxLayout(this);
-
-  QHBoxLayout *h = new QHBoxLayout();
-  h->addWidget(new QLabel(tr("Name")));
-  name = new QLineEdit(sig.name.c_str());
-  h->addWidget(name);
-  v_layout->addLayout(h);
-
-  h = new QHBoxLayout();
-  h->addWidget(new QLabel(tr("Size")));
-  size = new QSpinBox();
-  size->setValue(sig.size);
-  h->addWidget(size);
-  v_layout->addLayout(h);
-
-  h = new QHBoxLayout();
-  h->addWidget(new QLabel(tr("Most significant bit")));
-  msb = new QSpinBox();
-  msb->setValue(sig.msb);
-  h->addWidget(msb);
-  v_layout->addLayout(h);
-
-  h = new QHBoxLayout();
-  h->addWidget(new QLabel(tr("Endianness")));
-  endianness = new QComboBox();
-  endianness->addItems({"Little", "Big"});
-  endianness->setCurrentIndex(sig.is_little_endian ? 0 : 1);
-  h->addWidget(endianness);
-  v_layout->addLayout(h);
-
-  h = new QHBoxLayout();
-  h->addWidget(new QLabel(tr("sign")));
-  sign = new QComboBox();
-  sign->addItems({"Signed", "Unsigned"});
-  sign->setCurrentIndex(sig.is_signed ? 0 : 1);
-  h->addWidget(sign);
-  v_layout->addLayout(h);
-
-  h = new QHBoxLayout();
-  h->addWidget(new QLabel(tr("Factor")));
-  factor = new QSpinBox();
-  factor->setValue(sig.factor);
-  h->addWidget(factor);
-  v_layout->addLayout(h);
-
-  h = new QHBoxLayout();
-  h->addWidget(new QLabel(tr("Offset")));
-  offset = new QSpinBox();
-  offset->setValue(sig.offset);
-  h->addWidget(offset);
-  v_layout->addLayout(h);
-
-  // TODO: parse the following parameters in opendbc
-  h = new QHBoxLayout();
-  h->addWidget(new QLabel(tr("Unit")));
-  unit = new QLineEdit();
-  h->addWidget(unit);
-  v_layout->addLayout(h);
-
-  h = new QHBoxLayout();
-  h->addWidget(new QLabel(tr("Comment")));
-  comment = new QLineEdit();
-  h->addWidget(comment);
-  v_layout->addLayout(h);
-
-  h = new QHBoxLayout();
-  h->addWidget(new QLabel(tr("Minimum value")));
-  min_val = new QSpinBox();
-  h->addWidget(min_val);
-  v_layout->addLayout(h);
-
-  h = new QHBoxLayout();
-  h->addWidget(new QLabel(tr("Maximum value")));
-  max_val = new QSpinBox();
-  h->addWidget(max_val);
-  v_layout->addLayout(h);
-
-  h = new QHBoxLayout();
-  h->addWidget(new QLabel(tr("Value descriptions")));
-  val_desc = new QLineEdit();
-  h->addWidget(val_desc);
-  v_layout->addLayout(h);
-}
-
-std::optional<Signal> SignalForm::getSignal() {
-  Signal sig = {};
-  sig.name = name->text().toStdString();
-  sig.size = size->text().toInt();
-  sig.offset = offset->text().toDouble();
-  sig.factor = factor->text().toDouble();
-  sig.msb = msb->text().toInt();
-  sig.is_signed = sign->currentIndex() == 0;
-  sig.is_little_endian = endianness->currentIndex() == 0;
-  if (sig.is_little_endian) {
-    sig.lsb = sig.start_bit;
-    sig.msb = sig.start_bit + sig.size - 1;
-  } else {
-    sig.lsb = BIG_ENDIAN_START_BITS[bigEndianBitIndex(sig.start_bit) + sig.size - 1];
-    sig.msb = sig.start_bit;
-  }
-  return (sig.name.empty() || sig.size <= 0) ? std::nullopt : std::optional(sig);
-}
-
-void DetailWidget::setMsg(const QString &id) {
-  msg_id = id;
-  QString name = tr("untitled");
 
-  for (auto edit : signal_edit) {
+  if (auto msg = parser->getMsg(can_data->address)) {
-    delete edit;
+    name_label->setText(msg->name.c_str());
-  }
+    add_sig_btn->setVisible(true);
-  signal_edit.clear();
+    for (int i = 0; i < msg->sigs.size(); ++i) {
-  int i = 0;
+      signal_edit_layout->addWidget(new SignalEdit(can_data->id, msg->sigs[i], getColor(i)));
-  auto msg = parser->getMsg(id);
-  if (msg) {
-    for (auto &s : msg->sigs) {
-      SignalEdit *edit = new SignalEdit(id, s, i++, this);
-      connect(edit, &SignalEdit::removed, [=]() {
-        QTimer::singleShot(0, [=]() { setMsg(id); });
-      });
-      signal_edit_layout->addWidget(edit);
-      signal_edit.push_back(edit);
     }
-    name = msg->name.c_str();
+  } else {
+    name_label->setText(tr("untitled"));
+    add_sig_btn->setVisible(false);
   }
-  name_label->setText(name);
-  binary_view->setMsg(msg_id);
 
-  edit_btn->setVisible(true);
+  binary_view->setMsg(can_data);
-  add_sig_btn->setVisible(msg != nullptr);
+  history_log->clear();
 }
 
-SignalEdit::SignalEdit(const QString &id, const Signal &sig, int idx, QWidget *parent) : id(id), name_(sig.name.c_str()), QWidget(parent) {
+void DetailWidget::updateState() {
-  QVBoxLayout *main_layout = new QVBoxLayout(this);
+  if (!can_data) return;
-  main_layout->setContentsMargins(0, 0, 0, 0);
-
-  // title
-  QHBoxLayout *title_layout = new QHBoxLayout();
-  QLabel *icon = new QLabel(">");
-  icon->setStyleSheet("font-weight:bold");
-  title_layout->addWidget(icon);
-  title = new ElidedLabel(this);
-  title->setText(sig.name.c_str());
-  title->setStyleSheet(QString("font-weight:bold; color:%1").arg(SIGNAL_COLORS[idx % std::size(SIGNAL_COLORS)]));
-  connect(title, &ElidedLabel::clicked, [=]() {
-    edit_container->isVisible() ? edit_container->hide() : edit_container->show();
-    icon->setText(edit_container->isVisible() ? "▼" : ">");
-  });
-  title_layout->addWidget(title);
-  title_layout->addStretch();
-  QPushButton *show_plot = new QPushButton(tr("Show Plot"));
-  QObject::connect(show_plot, &QPushButton::clicked, [=]() {
-    if (show_plot->text() == tr("Show Plot")) {
-      emit parser->showPlot(id, name_);
-      show_plot->setText(tr("Hide Plot"));
-    } else {
-      emit parser->hidePlot(id, name_);
-      show_plot->setText(tr("Show Plot"));
-    }
-  });
-  title_layout->addWidget(show_plot);
-  main_layout->addLayout(title_layout);
 
-  edit_container = new QWidget(this);
+  time_label->setText(QString("time: %1").arg(can_data->ts, 0, 'f', 3));
-  QVBoxLayout *v_layout = new QVBoxLayout(edit_container);
+  binary_view->setData(can_data->dat);
-  form = new SignalForm(sig, this);
+  history_log->updateState();
-  v_layout->addWidget(form);
-
-  QHBoxLayout *h = new QHBoxLayout();
-  remove_btn = new QPushButton(tr("Remove Signal"));
-  QObject::connect(remove_btn, &QPushButton::clicked, this, &SignalEdit::remove);
-  h->addWidget(remove_btn);
-  h->addStretch();
-  QPushButton *save_btn = new QPushButton(tr("Save"));
-  QObject::connect(save_btn, &QPushButton::clicked, this, &SignalEdit::save);
-  h->addWidget(save_btn);
-  v_layout->addLayout(h);
-
-  edit_container->setVisible(false);
-  main_layout->addWidget(edit_container);
 }
 
-void SignalEdit::save() {
+void DetailWidget::editMsg() {
-  Msg *msg = const_cast<Msg *>(parser->getMsg(id));
+  EditMessageDialog dlg(can_data->id, this);
-  if (!msg) return;
+  if (dlg.exec()) {
-
+    setMsg(can_data);
-  for (auto &sig : msg->sigs) {
-    if (name_ == sig.name.c_str()) {
-      if (auto s = form->getSignal()) {
-        sig = *s;
-      }
-      break;
-    }
   }
 }
 
-void SignalEdit::remove() {
+void DetailWidget::addSignal() {
-  QMessageBox msgbox;
+  AddSignalDialog dlg(can_data->id, this);
-  msgbox.setText(tr("Remove signal"));
+  if (dlg.exec()) {
-  msgbox.setInformativeText(tr("Are you sure you want to remove signal '%1'").arg(name_));
+    setMsg(can_data);
-  msgbox.setStandardButtons(QMessageBox::Ok | QMessageBox::Cancel);
-  msgbox.setDefaultButton(QMessageBox::Cancel);
-  if (msgbox.exec()) {
-    parser->removeSignal(id, name_);
-    emit removed();
   }
 }
 
+// BinaryView
+
 BinaryView::BinaryView(QWidget *parent) {
   QVBoxLayout *main_layout = new QVBoxLayout(this);
   table = new QTableWidget(this);
@@ -316,15 +130,16 @@ BinaryView::BinaryView(QWidget *parent) {
   setSizePolicy(QSizePolicy::Preferred, QSizePolicy::Fixed);
 }
 
-void BinaryView::setMsg(const QString &id) {
+void BinaryView::setMsg(const CanData *can_data) {
-  auto msg = parser->getMsg(Parser::addressFromId(id));
+  const Msg *msg = parser->getMsg(can_data->address);
-  int row_count = msg ? msg->size : parser->can_msgs[id].back().dat.size();
+  int row_count = msg ? msg->size : can_data->dat.size();
 
   table->setRowCount(row_count);
   table->setColumnCount(9);
   for (int i = 0; i < table->rowCount(); ++i) {
     for (int j = 0; j < table->columnCount(); ++j) {
       auto item = new QTableWidgetItem();
+      item->setFlags(item->flags() ^ Qt::ItemIsEditable);
       item->setTextAlignment(Qt::AlignCenter);
       if (j == 8) {
         QFont font;
@@ -336,19 +151,17 @@ void BinaryView::setMsg(const QString &id) {
   }
 
   if (msg) {
+    // set background color
     for (int i = 0; i < msg->sigs.size(); ++i) {
       const auto &sig = msg->sigs[i];
       int start = sig.is_little_endian ? sig.start_bit : bigEndianBitIndex(sig.start_bit);
       for (int j = start; j <= start + sig.size - 1; ++j) {
-        table->item(j / 8, j % 8)->setBackground(QColor(SIGNAL_COLORS[i % std::size(SIGNAL_COLORS)]));
+        table->item(j / 8, j % 8)->setBackground(QColor(getColor(i)));
       }
     }
   }
 
   setFixedHeight(table->rowHeight(0) * table->rowCount() + 25);
-  if (!parser->can_msgs.empty()) {
-    setData(parser->can_msgs[id].back().dat);
-  }
 }
 
 void BinaryView::setData(const QByteArray &binary) {
@@ -357,6 +170,7 @@ void BinaryView::setData(const QByteArray &binary) {
     s += std::bitset<8>(binary[j]).to_string();
   }
 
+  setUpdatesEnabled(false);
   char hex[3] = {'\0'};
   for (int i = 0; i < binary.size(); ++i) {
     for (int j = 0; j < 8; ++j) {
@@ -365,46 +179,58 @@ void BinaryView::setData(const QByteArray &binary) {
     sprintf(&hex[0], "%02X", (unsigned char)binary[i]);
     table->item(i, 8)->setText(hex);
   }
+  setUpdatesEnabled(true);
 }
 
-MessagesView::MessagesView(QWidget *parent) : QWidget(parent) {
+// HistoryLog
+
+HistoryLog::HistoryLog(QWidget *parent) : QWidget(parent) {
   QVBoxLayout *main_layout = new QVBoxLayout(this);
-  QLabel *title = new QLabel("MESSAGE    TIME       BYTES");
+  QLabel *title = new QLabel("TIME         BYTES");
   main_layout->addWidget(title);
 
-  message_layout = new QVBoxLayout();
+  QVBoxLayout *message_layout = new QVBoxLayout();
+  for (int i = 0; i < std::size(labels); ++i) {
+    labels[i] = new QLabel();
+    labels[i]->setVisible(false);
+    message_layout->addWidget(labels[i]);
+  }
   main_layout->addLayout(message_layout);
   main_layout->addStretch();
 }
 
-void MessagesView::setMessages(const std::list<CanData> &list) {
+void HistoryLog::updateState() {
-  auto begin = list.begin();
+  int i = 0;
-  std::advance(begin, std::max(0, (int)(list.size() - 100)));
+  for (; i < parser->history_log.size(); ++i) {
-  int j = 0;
+    const auto &c = parser->history_log[i];
-  for (auto it = begin; it != list.end(); ++it) {
+    auto label = labels[i];
-    QLabel *label;
+    label->setVisible(true);
-    if (j >= messages.size()) {
+    label->setText(QString("%1         %2").arg(c.ts, 0, 'f', 3).arg(c.hex_dat));
-      label = new QLabel();
+  }
-      message_layout->addWidget(label);
+
-      messages.push_back(label);
+  for (; i < std::size(labels); ++i) {
-    } else {
+    labels[i]->setVisible(false);
-      label = messages[j];
-    }
-    label->setText(it->hex_dat);
-    ++j;
   }
 }
 
-EditMessageDialog::EditMessageDialog(const QString &id, QWidget *parent) : QDialog(parent) {
+void HistoryLog::clear() {
+  setUpdatesEnabled(false);
+  for (auto l : labels) l->setVisible(false);
+  setUpdatesEnabled(true);
+}
+
+// EditMessageDialog
+
+EditMessageDialog::EditMessageDialog(const QString &id, QWidget *parent) : id(id), QDialog(parent) {
   setWindowTitle(tr("Edit message"));
   QVBoxLayout *main_layout = new QVBoxLayout(this);
   main_layout->addWidget(new QLabel(tr("ID: (%1)").arg(id)));
 
-  auto msg = const_cast<Msg *>(parser->getMsg(Parser::addressFromId(id)));
+  auto msg = const_cast<Msg *>(parser->getMsg(id));
   QHBoxLayout *h_layout = new QHBoxLayout();
   h_layout->addWidget(new QLabel(tr("Name")));
   h_layout->addStretch();
-  QLineEdit *name_edit = new QLineEdit(this);
+  name_edit = new QLineEdit(this);
   name_edit->setText(msg ? msg->name.c_str() : "untitled");
   h_layout->addWidget(name_edit);
   main_layout->addLayout(h_layout);
@@ -412,47 +238,30 @@ EditMessageDialog::EditMessageDialog(const QString &id, QWidget *parent) : QDial
   h_layout = new QHBoxLayout();
   h_layout->addWidget(new QLabel(tr("Size")));
   h_layout->addStretch();
-  QSpinBox *size_spin = new QSpinBox(this);
+  size_spin = new QSpinBox(this);
-  size_spin->setValue(msg ? msg->size : parser->can_msgs[id].back().dat.size());
+  size_spin->setValue(msg ? msg->size : parser->can_msgs[id].dat.size());
   h_layout->addWidget(size_spin);
   main_layout->addLayout(h_layout);
 
   auto buttonBox = new QDialogButtonBox(QDialogButtonBox::Ok | QDialogButtonBox::Cancel);
   main_layout->addWidget(buttonBox);
 
-  connect(buttonBox, &QDialogButtonBox::accepted, [=]() {
+  connect(buttonBox, &QDialogButtonBox::accepted, this, &EditMessageDialog::save);
-    if (size_spin->value() <= 0 || name_edit->text().isEmpty()) return;
-
-    if (msg) {
-      msg->name = name_edit->text().toStdString();
-      msg->size = size_spin->value();
-    } else {
-      Msg m = {};
-      m.address = Parser::addressFromId(id);
-      m.name = name_edit->text().toStdString();
-      m.size = size_spin->value();
-      parser->addNewMsg(m);
-    }
-    QDialog::accept();
-  });
   connect(buttonBox, &QDialogButtonBox::rejected, this, &QDialog::reject);
 }
 
-AddSignalDialog::AddSignalDialog(const QString &id, QWidget *parent) : QDialog(parent) {
+void EditMessageDialog::save() {
-  setWindowTitle(tr("Add signal to %1").arg(parser->getMsg(id)->name.c_str()));
+  if (size_spin->value() <= 0 || name_edit->text().isEmpty()) return;
-  QVBoxLayout *main_layout = new QVBoxLayout(this);
+
-  Signal sig = {.name = "untitled"};
+  if (auto msg = const_cast<Msg *>(parser->getMsg(id))) {
-  auto form = new SignalForm(sig, this);
+    msg->name = name_edit->text().toStdString();
-  main_layout->addWidget(form);
+    msg->size = size_spin->value();
-  auto buttonBox = new QDialogButtonBox(QDialogButtonBox::Ok | QDialogButtonBox::Cancel);
+  } else {
-  main_layout->addWidget(buttonBox);
+    Msg m = {};
-  connect(buttonBox, &QDialogButtonBox::rejected, this, &QDialog::reject);
+    m.address = Parser::addressFromId(id);
-  connect(buttonBox, &QDialogButtonBox::accepted, [=]() {
+    m.name = name_edit->text().toStdString();
-    if (auto msg = const_cast<Msg *>(parser->getMsg(id))) {
+    m.size = size_spin->value();
-      if (auto signal = form->getSignal()) {
+    parser->addNewMsg(m);
-        msg->sigs.push_back(*signal);
+  }
-      }
+  QDialog::accept();
-    }
-    QDialog::accept();
-  });
 }

tools/cabana/detailwidget.h

@@ -1,102 +1,70 @@
 #pragma once
-#include <QComboBox>
+
 #include <QDialog>
-#include <QDialogButtonBox>
 #include <QLabel>
-#include <QLineEdit>
 #include <QPushButton>
-#include <QSpinBox>
 #include <QTableWidget>
 #include <QVBoxLayout>
 #include <QWidget>
-#include <optional>
 
 #include "opendbc/can/common.h"
 #include "opendbc/can/common_dbc.h"
-#include "selfdrive/ui/qt/widgets/controls.h"
 #include "tools/cabana/parser.h"
+#include "tools/cabana/signaledit.h"
 
-class SignalForm : public QWidget {
+class HistoryLog : public QWidget {
   Q_OBJECT
 
- public:
+public:
-  SignalForm(const Signal &sig, QWidget *parent);
+  HistoryLog(QWidget *parent);
-  std::optional<Signal> getSignal();
+  void clear();
-  QLineEdit *name, *unit, *comment, *val_desc;
+  void updateState();
-  QSpinBox *size, *msb, *lsb, *factor, *offset, *min_val, *max_val;
-  QComboBox *sign, *endianness;
-};
-
-class MessagesView : public QWidget {
-  Q_OBJECT
 
- public:
+private:
-  MessagesView(QWidget *parent);
+  QLabel *labels[LOG_SIZE] = {};
-  void setMessages(const std::list<CanData> &data);
-  std::vector<QLabel *> messages;
-  QVBoxLayout *message_layout;
 };
 
 class BinaryView : public QWidget {
   Q_OBJECT
 
- public:
+public:
   BinaryView(QWidget *parent);
-  void setMsg(const QString &id);
+  void setMsg(const CanData *can_data);
   void setData(const QByteArray &binary);
 
   QTableWidget *table;
 };
 
-class SignalEdit : public QWidget {
+class EditMessageDialog : public QDialog {
   Q_OBJECT
 
- public:
+public:
-  SignalEdit(const QString &id, const Signal &sig, int idx, QWidget *parent);
+  EditMessageDialog(const QString &id, QWidget *parent);
+
+protected:
   void save();
 
-signals:
+  QLineEdit *name_edit;
-  void removed();
+  QSpinBox *size_spin;
- protected:
-  void remove();
   QString id;
-  QString name_;
-  ElidedLabel *title;
-  SignalForm *form;
-  QWidget *edit_container;
-  QPushButton *remove_btn;
 };
 
 class DetailWidget : public QWidget {
   Q_OBJECT
- public:
+
+public:
   DetailWidget(QWidget *parent);
-  void setMsg(const QString &id);
+  void setMsg(const CanData *c);
 
- public slots:
+private:
   void updateState();
+  void addSignal();
+  void editMsg();
 
- protected:
+  const CanData *can_data = nullptr;
-  QLabel *name_label = nullptr;
+  QLabel *name_label, *time_label;
   QPushButton *edit_btn, *add_sig_btn;
   QVBoxLayout *signal_edit_layout;
-  Signal *sig = nullptr;
+  HistoryLog *history_log;
-  MessagesView *messages_view;
-  QString msg_id;
   BinaryView *binary_view;
-  std::vector<SignalEdit *> signal_edit;
-};
-
-class EditMessageDialog : public QDialog {
-  Q_OBJECT
-
- public:
-  EditMessageDialog(const QString &id, QWidget *parent);
-};
-
-class AddSignalDialog : public QDialog {
-  Q_OBJECT
-
- public:
-  AddSignalDialog(const QString &id, QWidget *parent);
 };

tools/cabana/mainwin.cc

@@ -4,19 +4,15 @@
 #include <QVBoxLayout>
 
 MainWindow::MainWindow() : QWidget() {
-  assert(parser != nullptr);
-
   QVBoxLayout *main_layout = new QVBoxLayout(this);
   QHBoxLayout *h_layout = new QHBoxLayout();
   main_layout->addLayout(h_layout);
 
   messages_widget = new MessagesWidget(this);
-  QObject::connect(messages_widget, &MessagesWidget::msgChanged, [=](const QString &id) {
-    detail_widget->setMsg(id);
-  });
   h_layout->addWidget(messages_widget);
 
   detail_widget = new DetailWidget(this);
+  detail_widget->setFixedWidth(600);
   h_layout->addWidget(detail_widget);
 
   // right widget
@@ -30,9 +26,12 @@ MainWindow::MainWindow() : QWidget() {
   QScrollArea *scroll = new QScrollArea(this);
   scroll->setWidget(charts_widget);
   scroll->setWidgetResizable(true);
+  scroll->setFrameShape(QFrame::NoFrame);
   scroll->setHorizontalScrollBarPolicy(Qt::ScrollBarAlwaysOff);
   scroll->setSizePolicy(QSizePolicy::Preferred, QSizePolicy::Expanding);
   r_layout->addWidget(scroll);
 
   h_layout->addWidget(right_container);
+
+  QObject::connect(messages_widget, &MessagesWidget::msgChanged, detail_widget, &DetailWidget::setMsg);
 }

tools/cabana/mainwin.h

@@ -11,10 +11,10 @@
 class MainWindow : public QWidget {
   Q_OBJECT
 
- public:
+public:
   MainWindow();
 
- protected:
+protected:
   VideoWidget *video_widget;
   MessagesWidget *messages_widget;
   DetailWidget *detail_widget;

tools/cabana/messageswidget.cc

@@ -1,11 +1,9 @@
 #include "tools/cabana/messageswidget.h"
 
 #include <QComboBox>
-#include <QDebug>
 #include <QHeaderView>
 #include <QPushButton>
 #include <QVBoxLayout>
-#include <bitset>
 
 MessagesWidget::MessagesWidget(QWidget *parent) : QWidget(parent) {
   QVBoxLayout *main_layout = new QVBoxLayout(this);
@@ -47,8 +45,9 @@ MessagesWidget::MessagesWidget(QWidget *parent) : QWidget(parent) {
   table_widget->setHorizontalHeaderLabels({tr("Name"), tr("ID"), tr("Count"), tr("Bytes")});
   table_widget->horizontalHeader()->setStretchLastSection(true);
   QObject::connect(table_widget, &QTableWidget::itemSelectionChanged, [=]() {
-    auto id = table_widget->selectedItems()[0]->data(Qt::UserRole);
+    const CanData *c = &(parser->can_msgs[table_widget->selectedItems()[1]->text()]);
-    emit msgChanged(id.toString());
+    parser->setCurrentMsg(c->id);
+    emit msgChanged(c);
   });
   main_layout->addWidget(table_widget);
 
@@ -60,6 +59,7 @@ void MessagesWidget::updateState() {
     auto item = table_widget->item(row, col);
     if (!item) {
       item = new QTableWidgetItem();
+      item->setFlags(item->flags() ^ Qt::ItemIsEditable);
       table_widget->setItem(row, col, item);
     }
     return item;
@@ -67,28 +67,27 @@ void MessagesWidget::updateState() {
 
   table_widget->setRowCount(parser->can_msgs.size());
   int i = 0;
-  const QString filter_str = filter->text().toLower();
+  QString name, untitled = tr("untitled");
-  for (const auto &[id, list] : parser->can_msgs) {
+  const QString filter_str = filter->text();
-    assert(!list.empty());
+  for (const auto &[_, c] : parser->can_msgs) {
-
+    if (auto msg = parser->getMsg(c.address)) {
-    QString name;
-    if (auto msg = parser->getMsg(list.back().address)) {
       name = msg->name.c_str();
     } else {
-      name = tr("untitled");
+      name = untitled;
     }
-    if (!filter_str.isEmpty() && !name.toLower().contains(filter_str)) {
+    if (!filter_str.isEmpty() && !name.contains(filter_str, Qt::CaseInsensitive)) {
       table_widget->hideRow(i++);
       continue;
     }
 
-    auto item = getTableItem(i, 0);
+    getTableItem(i, 0)->setText(name);
-    item->setText(name);
+    getTableItem(i, 1)->setText(c.id);
-    item->setData(Qt::UserRole, id);
+    getTableItem(i, 2)->setText(QString::number(parser->counters[c.id]));
-    getTableItem(i, 1)->setText(id);
+    getTableItem(i, 3)->setText(c.hex_dat);
-    getTableItem(i, 2)->setText(QString("%1").arg(parser->counters[id]));
-    getTableItem(i, 3)->setText(list.back().hex_dat);
     table_widget->showRow(i);
     i++;
   }
+  if (table_widget->currentRow() == -1) {
+    table_widget->selectRow(0);
+  }
 }

tools/cabana/messageswidget.h

@@ -16,7 +16,7 @@ class MessagesWidget : public QWidget {
   void updateState();
 
  signals:
-  void msgChanged(const QString &id);
+  void msgChanged(const CanData *id);
 
  protected:
   QLineEdit *filter;

tools/cabana/parser.cc

@@ -4,7 +4,11 @@
 
 #include "cereal/messaging/messaging.h"
 
+Parser *parser = nullptr;
+
 Parser::Parser(QObject *parent) : QObject(parent) {
+  parser = this;
+
   qRegisterMetaType<std::vector<CanData>>();
   QObject::connect(this, &Parser::received, this, &Parser::process, Qt::QueuedConnection);
 
@@ -23,32 +27,48 @@ Parser::~Parser() {
 
 bool Parser::loadRoute(const QString &route, const QString &data_dir, bool use_qcam) {
   replay = new Replay(route, {"can", "roadEncodeIdx"}, {}, nullptr, use_qcam ? REPLAY_FLAG_QCAMERA : 0, data_dir, this);
-  if (!replay->load()) {
+  QObject::connect(replay, &Replay::segmentsMerged, this, &Parser::segmentsMerged);
-    return false;
+  if (replay->load()) {
+    replay->start();
+    return true;
   }
-  replay->start();
+  return false;
-  return true;
 }
 
 void Parser::openDBC(const QString &name) {
   dbc_name = name;
   dbc = const_cast<DBC *>(dbc_lookup(name.toStdString()));
+  counters.clear();
   msg_map.clear();
   for (auto &msg : dbc->msgs) {
     msg_map[msg.address] = &msg;
   }
 }
 
-void Parser::process(std::vector<CanData> can) {
+void Parser::process(std::vector<CanData> msgs) {
-  for (auto &data : can) {
+  static double prev_update_ts = 0;
-    ++counters[data.id];
+  for (const auto &can_data : msgs) {
-    auto &list = can_msgs[data.id];
+    can_msgs[can_data.id] = can_data;
-    while (list.size() > DATA_LIST_SIZE) {
+    current_sec = can_data.ts;
-      list.pop_front();
+    ++counters[can_data.id];
+
+    if (can_data.id == current_msg_id) {
+      while (history_log.size() >= LOG_SIZE) {
+        history_log.pop_back();
+      }
+      history_log.push_front(can_data);
     }
-    list.push_back(data);
   }
-  emit updated();
+  double current_ts = millis_since_boot();
+  if ((current_ts - prev_update_ts) > 1000.0 / FPS) {
+    prev_update_ts = current_ts;
+    emit updated();
+  }
+
+  if (current_sec < begin_sec || current_sec > end_sec) {
+    // loop replay in selected range.
+    replay->seekTo(begin_sec, false);
+  }
 }
 
 void Parser::recvThread() {
@@ -56,13 +76,16 @@ void Parser::recvThread() {
   std::unique_ptr<Context> context(Context::create());
   std::unique_ptr<SubSocket> subscriber(SubSocket::create(context.get(), "can"));
   subscriber->setTimeout(100);
+
+  std::vector<CanData> can;
   while (!exit) {
     std::unique_ptr<Message> msg(subscriber->receive());
     if (!msg) continue;
 
     capnp::FlatArrayMessageReader cmsg(aligned_buf.align(msg.get()));
     cereal::Event::Reader event = cmsg.getRoot<cereal::Event>();
-    std::vector<CanData> can;
+
+    can.clear();
     can.reserve(event.getCan().size());
     for (const auto &c : event.getCan()) {
       CanData &data = can.emplace_back();
@@ -72,7 +95,7 @@ void Parser::recvThread() {
       data.dat.append((char *)c.getDat().begin(), c.getDat().size());
       data.hex_dat = data.dat.toHex(' ').toUpper();
       data.id = QString("%1:%2").arg(data.source).arg(data.address, 1, 16);
-      data.ts = (event.getLogMonoTime() - replay->routeStartTime()) / (double)1e6;
+      data.ts = (event.getLogMonoTime() - replay->routeStartTime()) / (double)1e9;  // seconds
     }
     emit received(can);
   }
@@ -90,9 +113,72 @@ void Parser::removeSignal(const QString &id, const QString &sig_name) {
   auto it = std::find_if(msg->sigs.begin(), msg->sigs.end(), [=](auto &sig) { return sig_name == sig.name.c_str(); });
   if (it != msg->sigs.end()) {
     msg->sigs.erase(it);
+    emit signalRemoved(id, sig_name);
   }
 }
 
 uint32_t Parser::addressFromId(const QString &id) {
   return id.mid(id.indexOf(':') + 1).toUInt(nullptr, 16);
 }
+
+const Signal *Parser::getSig(const QString &id, const QString &sig_name) {
+  if (auto msg = getMsg(id)) {
+    auto it = std::find_if(msg->sigs.begin(), msg->sigs.end(), [&](auto &s) { return sig_name == s.name.c_str(); });
+    if (it != msg->sigs.end()) {
+      return &(*it);
+    }
+  }
+  return nullptr;
+}
+
+void Parser::setRange(double min, double max) {
+  if (begin_sec != min || end_sec != max) {
+    begin_sec = min;
+    end_sec = max;
+    is_zoomed = begin_sec != event_begin_sec || end_sec != event_end_sec;
+    emit rangeChanged(min, max);
+  }
+}
+
+void Parser::segmentsMerged() {
+  auto events = replay->events();
+  if (!events || events->empty()) return;
+
+  auto it = std::find_if(events->begin(), events->end(), [=](const Event *e) { return e->which == cereal::Event::Which::CAN; });
+  event_begin_sec = it == events->end() ? 0 : ((*it)->mono_time - replay->routeStartTime()) / (double)1e9;
+  event_end_sec = double(events->back()->mono_time - replay->routeStartTime()) / 1e9;
+  if (!is_zoomed) {
+    begin_sec = event_begin_sec;
+    end_sec = event_end_sec;
+  }
+  emit eventsMerged();
+}
+
+void Parser::resetRange() {
+  setRange(event_begin_sec, event_end_sec);
+}
+
+void Parser::setCurrentMsg(const QString &id) {
+  current_msg_id = id;
+  history_log.clear();
+}
+
+// helper functions
+
+static QVector<int> BIG_ENDIAN_START_BITS = []() {
+  QVector<int> ret;
+  for (int i = 0; i < 64; i++) {
+    for (int j = 7; j >= 0; j--) {
+      ret.push_back(j + i * 8);
+    }
+  }
+  return ret;
+}();
+
+int bigEndianStartBitsIndex(int start_bit) {
+  return BIG_ENDIAN_START_BITS[start_bit];
+}
+
+int bigEndianBitIndex(int index) {
+  return BIG_ENDIAN_START_BITS.indexOf(index);
+}

tools/cabana/parser.h

@@ -1,17 +1,20 @@
 #pragma once
 
+#include <atomic>
+#include <map>
+
 #include <QApplication>
+#include <QHash>
 #include <QObject>
 #include <QThread>
-#include <atomic>
-#include <map>
 
 #include "opendbc/can/common.h"
 #include "opendbc/can/common_dbc.h"
 #include "tools/replay/replay.h"
 
-const int DATA_LIST_SIZE = 500;
+const int DATA_LIST_SIZE = 50;
-// const int FPS = 20;
+const int FPS = 20;
+const static int LOG_SIZE = 25;
 
 struct CanData {
   QString id;
@@ -26,7 +29,7 @@ struct CanData {
 class Parser : public QObject {
   Q_OBJECT
 
- public:
+public:
   Parser(QObject *parent);
   ~Parser();
   static uint32_t addressFromId(const QString &id);
@@ -35,32 +38,57 @@ class Parser : public QObject {
   void saveDBC(const QString &name) {}
   void addNewMsg(const Msg &msg);
   void removeSignal(const QString &id, const QString &sig_name);
-  const Msg *getMsg(const QString &id) {
+  const Signal *getSig(const QString &id, const QString &sig_name);
-    return getMsg(addressFromId(id));
+  void setRange(double min, double max);
-  }
+  void resetRange();
-  const Msg *getMsg(uint32_t address) {
+  void setCurrentMsg(const QString &id);
+  inline std::pair<double, double> range() const { return {begin_sec, end_sec}; }
+  inline double currentSec() const { return current_sec; }
+  inline bool isZoomed() const { return is_zoomed; }
+  inline const Msg *getMsg(const QString &id) { return getMsg(addressFromId(id)); }
+  inline const Msg *getMsg(uint32_t address) {
     auto it = msg_map.find(address);
     return it != msg_map.end() ? it->second : nullptr;
   }
- signals:
+
+signals:
   void showPlot(const QString &id, const QString &name);
   void hidePlot(const QString &id, const QString &name);
+  void signalRemoved(const QString &id, const QString &sig_name);
+  void eventsMerged();
+  void rangeChanged(double min, double max);
   void received(std::vector<CanData> can);
   void updated();
 
- public:
+public:
+  Replay *replay = nullptr;
+  QHash<QString, uint64_t> counters;
+  std::map<QString, CanData> can_msgs;
+  QList<CanData> history_log;
+
+protected:
   void recvThread();
   void process(std::vector<CanData> can);
+  void segmentsMerged();
+
+  double current_sec = 0.;
+  std::atomic<bool> exit = false;
   QThread *thread;
   QString dbc_name;
-  std::atomic<bool> exit = false;
+  double begin_sec = 0;
-  std::map<QString, std::list<CanData>> can_msgs;
+  double end_sec = 0;
-  std::map<QString, uint64_t> counters;
+  double event_begin_sec = 0;
-  Replay *replay = nullptr;
+  double event_end_sec = 0;
+  bool is_zoomed = false;
   DBC *dbc = nullptr;
   std::map<uint32_t, const Msg *> msg_map;
+  QString current_msg_id;
 };
 
 Q_DECLARE_METATYPE(std::vector<CanData>);
 
+// TODO: Add helper function in dbc.h
+int bigEndianStartBitsIndex(int start_bit);
+int bigEndianBitIndex(int index);
+
 extern Parser *parser;

tools/cabana/signaledit.cc

@@ -0,0 +1,203 @@
+#include "tools/cabana/signaledit.h"
+
+#include <QDialogButtonBox>
+#include <QHBoxLayout>
+#include <QLabel>
+#include <QMessageBox>
+#include <QVBoxLayout>
+
+// SignalForm
+
+SignalForm::SignalForm(const Signal &sig, QWidget *parent) : QWidget(parent) {
+  QVBoxLayout *v_layout = new QVBoxLayout(this);
+
+  QHBoxLayout *h = new QHBoxLayout();
+  h->addWidget(new QLabel(tr("Name")));
+  name = new QLineEdit(sig.name.c_str());
+  h->addWidget(name);
+  v_layout->addLayout(h);
+
+  h = new QHBoxLayout();
+  h->addWidget(new QLabel(tr("Size")));
+  size = new QSpinBox();
+  size->setValue(sig.size);
+  h->addWidget(size);
+  v_layout->addLayout(h);
+
+  h = new QHBoxLayout();
+  h->addWidget(new QLabel(tr("Most significant bit")));
+  msb = new QSpinBox();
+  msb->setValue(sig.msb);
+  h->addWidget(msb);
+  v_layout->addLayout(h);
+
+  h = new QHBoxLayout();
+  h->addWidget(new QLabel(tr("Endianness")));
+  endianness = new QComboBox();
+  endianness->addItems({"Little", "Big"});
+  endianness->setCurrentIndex(sig.is_little_endian ? 0 : 1);
+  h->addWidget(endianness);
+  v_layout->addLayout(h);
+
+  h = new QHBoxLayout();
+  h->addWidget(new QLabel(tr("sign")));
+  sign = new QComboBox();
+  sign->addItems({"Signed", "Unsigned"});
+  sign->setCurrentIndex(sig.is_signed ? 0 : 1);
+  h->addWidget(sign);
+  v_layout->addLayout(h);
+
+  h = new QHBoxLayout();
+  h->addWidget(new QLabel(tr("Factor")));
+  factor = new QSpinBox();
+  factor->setValue(sig.factor);
+  h->addWidget(factor);
+  v_layout->addLayout(h);
+
+  h = new QHBoxLayout();
+  h->addWidget(new QLabel(tr("Offset")));
+  offset = new QSpinBox();
+  offset->setValue(sig.offset);
+  h->addWidget(offset);
+  v_layout->addLayout(h);
+
+  // TODO: parse the following parameters in opendbc
+  h = new QHBoxLayout();
+  h->addWidget(new QLabel(tr("Unit")));
+  unit = new QLineEdit();
+  h->addWidget(unit);
+  v_layout->addLayout(h);
+
+  h = new QHBoxLayout();
+  h->addWidget(new QLabel(tr("Comment")));
+  comment = new QLineEdit();
+  h->addWidget(comment);
+  v_layout->addLayout(h);
+
+  h = new QHBoxLayout();
+  h->addWidget(new QLabel(tr("Minimum value")));
+  min_val = new QSpinBox();
+  h->addWidget(min_val);
+  v_layout->addLayout(h);
+
+  h = new QHBoxLayout();
+  h->addWidget(new QLabel(tr("Maximum value")));
+  max_val = new QSpinBox();
+  h->addWidget(max_val);
+  v_layout->addLayout(h);
+
+  h = new QHBoxLayout();
+  h->addWidget(new QLabel(tr("Value descriptions")));
+  val_desc = new QLineEdit();
+  h->addWidget(val_desc);
+  v_layout->addLayout(h);
+}
+
+std::optional<Signal> SignalForm::getSignal() {
+  Signal sig = {};
+  sig.name = name->text().toStdString();
+  sig.size = size->text().toInt();
+  sig.offset = offset->text().toDouble();
+  sig.factor = factor->text().toDouble();
+  sig.msb = msb->text().toInt();
+  sig.is_signed = sign->currentIndex() == 0;
+  sig.is_little_endian = endianness->currentIndex() == 0;
+  if (sig.is_little_endian) {
+    sig.lsb = sig.start_bit;
+    sig.msb = sig.start_bit + sig.size - 1;
+  } else {
+    sig.lsb = bigEndianStartBitsIndex(bigEndianBitIndex(sig.start_bit) + sig.size - 1);
+    sig.msb = sig.start_bit;
+  }
+  return (sig.name.empty() || sig.size <= 0) ? std::nullopt : std::optional(sig);
+}
+
+// SignalEdit
+
+SignalEdit::SignalEdit(const QString &id, const Signal &sig, const QString &color, QWidget *parent) : id(id), name_(sig.name.c_str()), QWidget(parent) {
+  QVBoxLayout *main_layout = new QVBoxLayout(this);
+  main_layout->setContentsMargins(0, 0, 0, 0);
+
+  // title
+  QHBoxLayout *title_layout = new QHBoxLayout();
+  QLabel *icon = new QLabel(">");
+  icon->setStyleSheet("font-weight:bold");
+  title_layout->addWidget(icon);
+  title = new ElidedLabel(this);
+  title->setText(sig.name.c_str());
+  title->setStyleSheet(QString("font-weight:bold; color:%1").arg(color));
+  connect(title, &ElidedLabel::clicked, [=]() {
+    edit_container->isVisible() ? edit_container->hide() : edit_container->show();
+    icon->setText(edit_container->isVisible() ? "▼" : ">");
+  });
+  title_layout->addWidget(title);
+  title_layout->addStretch();
+  plot_btn = new QPushButton("📈");
+  plot_btn->setStyleSheet("font-size:16px");
+  plot_btn->setToolTip(tr("Show Plot"));
+  plot_btn->setContentsMargins(5, 5, 5, 5);
+  plot_btn->setFixedSize(30, 30);
+  QObject::connect(plot_btn, &QPushButton::clicked, [=]() { emit parser->showPlot(id, name_); });
+  title_layout->addWidget(plot_btn);
+  main_layout->addLayout(title_layout);
+
+  edit_container = new QWidget(this);
+  QVBoxLayout *v_layout = new QVBoxLayout(edit_container);
+  form = new SignalForm(sig, this);
+  v_layout->addWidget(form);
+
+  QHBoxLayout *h = new QHBoxLayout();
+  remove_btn = new QPushButton(tr("Remove Signal"));
+  QObject::connect(remove_btn, &QPushButton::clicked, this, &SignalEdit::remove);
+  h->addWidget(remove_btn);
+  h->addStretch();
+  QPushButton *save_btn = new QPushButton(tr("Save"));
+  QObject::connect(save_btn, &QPushButton::clicked, this, &SignalEdit::save);
+  h->addWidget(save_btn);
+  v_layout->addLayout(h);
+
+  edit_container->setVisible(false);
+  main_layout->addWidget(edit_container);
+}
+
+void SignalEdit::save() {
+  if (auto sig = const_cast<Signal *>(parser->getSig(id, name_))) {
+    if (auto s = form->getSignal()) {
+      *sig = *s;
+      // TODO: reset the chart for sig
+    }
+  }
+}
+
+void SignalEdit::remove() {
+  QMessageBox msgbox;
+  msgbox.setText(tr("Remove signal"));
+  msgbox.setInformativeText(tr("Are you sure you want to remove signal '%1'").arg(name_));
+  msgbox.setStandardButtons(QMessageBox::Ok | QMessageBox::Cancel);
+  msgbox.setDefaultButton(QMessageBox::Cancel);
+  if (msgbox.exec()) {
+    parser->removeSignal(id, name_);
+    deleteLater();
+  }
+}
+
+// AddSignalDialog
+
+AddSignalDialog::AddSignalDialog(const QString &id, QWidget *parent) : QDialog(parent) {
+  setWindowTitle(tr("Add signal to %1").arg(parser->getMsg(id)->name.c_str()));
+  QVBoxLayout *main_layout = new QVBoxLayout(this);
+  Signal sig = {.name = "untitled"};
+  auto form = new SignalForm(sig, this);
+  main_layout->addWidget(form);
+  auto buttonBox = new QDialogButtonBox(QDialogButtonBox::Ok | QDialogButtonBox::Cancel);
+  main_layout->addWidget(buttonBox);
+  connect(buttonBox, &QDialogButtonBox::rejected, this, &QDialog::reject);
+  connect(buttonBox, &QDialogButtonBox::accepted, [=]() {
+    if (auto msg = const_cast<Msg *>(parser->getMsg(id))) {
+      if (auto signal = form->getSignal()) {
+        msg->sigs.push_back(*signal);
+      }
+    }
+    QDialog::accept();
+  });
+}

tools/cabana/signaledit.h

@@ -0,0 +1,50 @@
+#pragma once
+
+#include <optional>
+
+#include <QComboBox>
+#include <QDialog>
+#include <QLineEdit>
+#include <QPushButton>
+#include <QSpinBox>
+
+#include "selfdrive/ui/qt/widgets/controls.h"
+#include "tools/cabana/parser.h"
+
+class SignalForm : public QWidget {
+  Q_OBJECT
+
+public:
+  SignalForm(const Signal &sig, QWidget *parent);
+  std::optional<Signal> getSignal();
+
+  QLineEdit *name, *unit, *comment, *val_desc;
+  QSpinBox *size, *msb, *lsb, *factor, *offset, *min_val, *max_val;
+  QComboBox *sign, *endianness;
+};
+
+class SignalEdit : public QWidget {
+  Q_OBJECT
+
+public:
+  SignalEdit(const QString &id, const Signal &sig, const QString &color, QWidget *parent = nullptr);
+  void save();
+
+protected:
+  void remove();
+
+  QString id;
+  QString name_;
+  QPushButton *plot_btn;
+  ElidedLabel *title;
+  SignalForm *form;
+  QWidget *edit_container;
+  QPushButton *remove_btn;
+};
+
+class AddSignalDialog : public QDialog {
+  Q_OBJECT
+
+public:
+  AddSignalDialog(const QString &id, QWidget *parent);
+};

tools/cabana/videowidget.cc

@@ -3,9 +3,7 @@
 #include <QButtonGroup>
 #include <QDateTime>
 #include <QHBoxLayout>
-#include <QLabel>
 #include <QPushButton>
-#include <QTimer>
 #include <QVBoxLayout>
 
 #include "tools/cabana/parser.h"
@@ -17,17 +15,19 @@ inline QString formatTime(int seconds) {
 VideoWidget::VideoWidget(QWidget *parent) : QWidget(parent) {
   QVBoxLayout *main_layout = new QVBoxLayout(this);
 
-  cam_widget = new CameraViewWidget("camerad", VISION_STREAM_ROAD, true, this);
+  cam_widget = new CameraViewWidget("camerad", VISION_STREAM_ROAD, false, this);
-  cam_widget->setFixedSize(640, 480);
+  cam_widget->setFixedSize(parent->width(), parent->width() / 1.596);
   main_layout->addWidget(cam_widget);
 
   // slider controls
   QHBoxLayout *slider_layout = new QHBoxLayout();
-  QLabel *time_label = new QLabel("00:00");
+  time_label = new QLabel("00:00");
   slider_layout->addWidget(time_label);
 
   slider = new QSlider(Qt::Horizontal, this);
-  // slider->setFixedWidth(640);
+  QObject::connect(slider, &QSlider::sliderMoved, [=]() {
+    time_label->setText(formatTime(slider->value()));
+  });
   slider->setSingleStep(1);
   slider->setMaximum(parser->replay->totalSeconds());
   QObject::connect(slider, &QSlider::sliderReleased, [=]() {
@@ -36,7 +36,7 @@ VideoWidget::VideoWidget(QWidget *parent) : QWidget(parent) {
   });
   slider_layout->addWidget(slider);
 
-  QLabel *total_time_label = new QLabel(formatTime(parser->replay->totalSeconds()));
+  total_time_label = new QLabel(formatTime(parser->replay->totalSeconds()));
   slider_layout->addWidget(total_time_label);
 
   main_layout->addLayout(slider_layout);
@@ -57,9 +57,7 @@ VideoWidget::VideoWidget(QWidget *parent) : QWidget(parent) {
   for (float speed : {0.1, 0.5, 1., 2.}) {
     QPushButton *btn = new QPushButton(QString("%1x").arg(speed), this);
     btn->setCheckable(true);
-    QObject::connect(btn, &QPushButton::clicked, [=]() {
+    QObject::connect(btn, &QPushButton::clicked, [=]() { parser->replay->setSpeed(speed); });
-      parser->replay->setSpeed(speed);
-    });
     control_layout->addWidget(btn);
     group->addButton(btn);
     if (speed == 1.0) btn->setChecked(true);
@@ -67,14 +65,25 @@ VideoWidget::VideoWidget(QWidget *parent) : QWidget(parent) {
 
   main_layout->addLayout(control_layout);
 
-  QTimer *timer = new QTimer(this);
+  QObject::connect(parser, &Parser::rangeChanged, this, &VideoWidget::rangeChanged);
-  timer->setInterval(1000);
+  QObject::connect(parser, &Parser::updated, this, &VideoWidget::updateState);
-  timer->callOnTimeout([=]() {
+}
-    int current_seconds = parser->replay->currentSeconds();
+
-    time_label->setText(formatTime(current_seconds));
+void VideoWidget::rangeChanged(double min, double max) {
-    if (!slider->isSliderDown()) {
+  if (!parser->isZoomed()) {
-      slider->setValue(current_seconds);
+    min = 0;
-    }
+    max = parser->replay->totalSeconds();
-  });
+  }
-  timer->start();
+  time_label->setText(formatTime(min));
+  total_time_label->setText(formatTime(max));
+  slider->setMaximum(max);
+  slider->setValue(parser->currentSec());
+}
+
+void VideoWidget::updateState() {
+  if (!slider->isSliderDown()) {
+    int current_sec = parser->currentSec();
+    time_label->setText(formatTime(current_sec));
+    slider->setValue(current_sec);
+  }
 }

tools/cabana/videowidget.h

@@ -1,5 +1,6 @@
 #pragma once
 
+#include <QLabel>
 #include <QSlider>
 #include <QWidget>
 
@@ -12,6 +13,10 @@ public:
   VideoWidget(QWidget *parnet = nullptr);
 
 protected:
+  void rangeChanged(double min, double max);
+  void updateState();
+
   CameraViewWidget *cam_widget;
+  QLabel *time_label, *total_time_label;
   QSlider *slider;
 };

tools/replay/logreader.cc

@@ -46,7 +46,9 @@ LogReader::~LogReader() {
 #endif
 }
 
-bool LogReader::load(const std::string &url, std::atomic<bool> *abort, bool local_cache, int chunk_size, int retries) {
+bool LogReader::load(const std::string &url, std::atomic<bool> *abort,
+                     const std::set<cereal::Event::Which> &allow,
+                     bool local_cache, int chunk_size, int retries) {
   raw_ = FileReader(local_cache, chunk_size, retries).read(url, abort);
   if (raw_.empty()) return false;
 
@@ -54,18 +56,26 @@ bool LogReader::load(const std::string &url, std::atomic<bool> *abort, bool loca
     raw_ = decompressBZ2(raw_, abort);
     if (raw_.empty()) return false;
   }
-  return parse(abort);
+  return parse(allow, abort);
 }
 
 bool LogReader::load(const std::byte *data, size_t size, std::atomic<bool> *abort) {
   raw_.assign((const char *)data, size);
-  return parse(abort);
+  return parse({}, abort);
 }
 
-bool LogReader::parse(std::atomic<bool> *abort) {
+bool LogReader::parse(const std::set<cereal::Event::Which> &allow, std::atomic<bool> *abort) {
   try {
     kj::ArrayPtr<const capnp::word> words((const capnp::word *)raw_.data(), raw_.size() / sizeof(capnp::word));
     while (words.size() > 0 && !(abort && *abort)) {
+      if (!allow.empty()) {
+        capnp::FlatArrayMessageReader reader(words);
+        auto which = reader.getRoot<cereal::Event>().which();
+        if (allow.find(which) == allow.end()) {
+          words = kj::arrayPtr(reader.getEnd(), words.end());
+          continue;
+        }
+      }
 
 #ifdef HAS_MEMORY_RESOURCE
       Event *evt = new (mbr_) Event(words);

tools/replay/logreader.h

@@ -5,6 +5,8 @@
 #include <memory_resource>
 #endif
 
+#include <set>
+
 #include "cereal/gen/cpp/log.capnp.h"
 #include "system/camerad/cameras/camera_common.h"
 #include "tools/replay/filereader.h"
@@ -50,12 +52,13 @@ class LogReader {
 public:
   LogReader(size_t memory_pool_block_size = DEFAULT_EVENT_MEMORY_POOL_BLOCK_SIZE);
   ~LogReader();
-  bool load(const std::string &url, std::atomic<bool> *abort = nullptr, bool local_cache = false, int chunk_size = -1, int retries = 0);
+  bool load(const std::string &url, std::atomic<bool> *abort = nullptr, const std::set<cereal::Event::Which> &allow = {},
+            bool local_cache = false, int chunk_size = -1, int retries = 0);
   bool load(const std::byte *data, size_t size, std::atomic<bool> *abort = nullptr);
   std::vector<Event*> events;
 
 private:
-  bool parse(std::atomic<bool> *abort);
+  bool parse(const std::set<cereal::Event::Which> &allow, std::atomic<bool> *abort);
   std::string raw_;
 #ifdef HAS_MEMORY_RESOURCE
   std::pmr::monotonic_buffer_resource *mbr_ = nullptr;

tools/replay/replay.cc

@@ -19,6 +19,9 @@ Replay::Replay(QString route, QStringList allow, QStringList block, SubMaster *s
     if ((allow.empty() || allow.contains(it.name)) && !block.contains(it.name)) {
       uint16_t which = event_struct.getFieldByName(it.name).getProto().getDiscriminantValue();
       sockets_[which] = it.name;
+      if (!allow.empty() || !block.empty()) {
+        allow_list.insert((cereal::Event::Which)which);
+      }
       s.push_back(it.name);
     }
   }
@@ -91,17 +94,17 @@ void Replay::updateEvents(const std::function<bool()> &lambda) {
   stream_cv_.notify_one();
 }
 
-void Replay::seekTo(int seconds, bool relative) {
+void Replay::seekTo(double seconds, bool relative) {
   seconds = relative ? seconds + currentSeconds() : seconds;
   updateEvents([&]() {
-    seconds = std::max(0, seconds);
+    seconds = std::max(double(0.0), seconds);
-    int seg = seconds / 60;
+    int seg = (int)seconds / 60;
     if (segments_.find(seg) == segments_.end()) {
       rWarning("can't seek to %d s segment %d is invalid", seconds, seg);
       return true;
     }
 
-    rInfo("seeking to %d s, segment %d", seconds, seg);
+    rInfo("seeking to %d s, segment %d", (int)seconds, seg);
     current_segment_ = seg;
     cur_mono_time_ = route_start_ts_ + seconds * 1e9;
     return isSegmentMerged(seg);
@@ -122,7 +125,9 @@ void Replay::buildTimeline() {
 
   for (int i = 0; i < segments_.size() && !exit_; ++i) {
     LogReader log;
-    if (!log.load(route_->at(i).qlog.toStdString(), &exit_, !hasFlag(REPLAY_FLAG_NO_FILE_CACHE), 0, 3)) continue;
+    if (!log.load(route_->at(i).qlog.toStdString(), &exit_,
+                  {cereal::Event::Which::CONTROLS_STATE, cereal::Event::Which::USER_FLAG},
+                  !hasFlag(REPLAY_FLAG_NO_FILE_CACHE), 0, 3)) continue;
 
     for (const Event *e : log.events) {
       if (e->which == cereal::Event::Which::CONTROLS_STATE) {
@@ -215,7 +220,7 @@ void Replay::queueSegment() {
     if ((seg && !seg->isLoaded()) || !seg) {
       if (!seg) {
         rDebug("loading segment %d...", n);
-        seg = std::make_unique<Segment>(n, route_->at(n), flags_);
+        seg = std::make_unique<Segment>(n, route_->at(n), flags_, allow_list);
         QObject::connect(seg.get(), &Segment::loadFinished, this, &Replay::segmentLoadFinished);
       }
       break;
@@ -270,6 +275,9 @@ void Replay::mergeSegments(const SegmentMap::iterator &begin, const SegmentMap::
       segments_merged_ = segments_need_merge;
       return true;
     });
+    if (stream_thread_) {
+      emit segmentsMerged();
+    }
   }
 }
 
@@ -306,6 +314,7 @@ void Replay::startStream(const Segment *cur_segment) {
     camera_server_ = std::make_unique<CameraServer>(camera_size);
   }
 
+  emit segmentsMerged();
   // start stream thread
   stream_thread_ = new QThread();
   QObject::connect(stream_thread_, &QThread::started, [=]() { stream(); });

tools/replay/replay.h

@@ -45,18 +45,19 @@ public:
   void stop();
   void pause(bool pause);
   void seekToFlag(FindFlag flag);
-  void seekTo(int seconds, bool relative);
+  void seekTo(double seconds, bool relative);
   inline bool isPaused() const { return paused_; }
   inline bool hasFlag(REPLAY_FLAGS flag) const { return flags_ & flag; }
   inline void addFlag(REPLAY_FLAGS flag) { flags_ |= flag; }
   inline void removeFlag(REPLAY_FLAGS flag) { flags_ &= ~flag; }
   inline const Route* route() const { return route_.get(); }
-  inline int currentSeconds() const { return (cur_mono_time_ - route_start_ts_) / 1e9; }
+  inline double currentSeconds() const { return double(cur_mono_time_ - route_start_ts_) / 1e9; }
   inline uint64_t routeStartTime() const { return route_start_ts_; }
   inline int toSeconds(uint64_t mono_time) const { return (mono_time - route_start_ts_) / 1e9; }
   inline int totalSeconds() const { return segments_.size() * 60; }
   inline void setSpeed(float speed) { speed_ = speed; }
   inline float getSpeed() const { return speed_; }
+  inline const std::vector<Event *> *events() const { return events_.get(); }
   inline const std::string &carFingerprint() const { return car_fingerprint_; }
   inline const std::vector<std::tuple<int, int, TimelineType>> getTimeline() {
     std::lock_guard lk(timeline_lock);
@@ -65,6 +66,7 @@ public:
 
 signals:
   void streamStarted();
+  void segmentsMerged();
 
 protected slots:
   void segmentLoadFinished(bool success);
@@ -98,7 +100,7 @@ protected:
   bool paused_ = false;
   bool events_updated_ = false;
   uint64_t route_start_ts_ = 0;
-  uint64_t cur_mono_time_ = 0;
+  std::atomic<uint64_t> cur_mono_time_ = 0;
   std::unique_ptr<std::vector<Event *>> events_;
   std::unique_ptr<std::vector<Event *>> new_events_;
   std::vector<int> segments_merged_;
@@ -114,6 +116,7 @@ protected:
   std::mutex timeline_lock;
   QFuture<void> timeline_future;
   std::vector<std::tuple<int, int, TimelineType>> timeline;
+  std::set<cereal::Event::Which> allow_list;
   std::string car_fingerprint_;
   float speed_ = 1.0;
 };

tools/replay/route.cc

@@ -99,7 +99,9 @@ void Route::addFileToSegment(int n, const QString &file) {
 
 // class Segment
 
-Segment::Segment(int n, const SegmentFile &files, uint32_t flags) : seg_num(n), flags(flags) {
+Segment::Segment(int n, const SegmentFile &files, uint32_t flags,
+                 const std::set<cereal::Event::Which> &allow)
+    : seg_num(n), flags(flags), allow(allow) {
   // [RoadCam, DriverCam, WideRoadCam, log]. fallback to qcamera/qlog
   const std::array file_list = {
       (flags & REPLAY_FLAG_QCAMERA) || files.road_cam.isEmpty() ? files.qcamera : files.road_cam,
@@ -130,7 +132,7 @@ void Segment::loadFile(int id, const std::string file) {
     success = frames[id]->load(file, flags & REPLAY_FLAG_NO_HW_DECODER, &abort_, local_cache, 20 * 1024 * 1024, 3);
   } else {
     log = std::make_unique<LogReader>();
-    success = log->load(file, &abort_, local_cache, 0, 3);
+    success = log->load(file, &abort_, allow, local_cache, 0, 3);
   }
 
   if (!success) {

tools/replay/route.h

@@ -47,7 +47,7 @@ class Segment : public QObject {
   Q_OBJECT
 
 public:
-  Segment(int n, const SegmentFile &files, uint32_t flags);
+  Segment(int n, const SegmentFile &files, uint32_t flags, const std::set<cereal::Event::Which> &allow = {});
   ~Segment();
   inline bool isLoaded() const { return !loading_ && !abort_; }
 
@@ -65,4 +65,5 @@ protected:
   std::atomic<int> loading_ = 0;
   QFutureSynchronizer<void> synchronizer_;
   uint32_t flags;
+  std::set<cereal::Event::Which> allow;
 };