cabana: improve UI & fix bugs (#27387)

* improve ui

* keep splitter size after msg changed

* no leading spaces allowed in msg filter and signal filter

* draw color byte AlignCenter

* always set as current index

* reduce chart flickers while resizing

* dispaly more info in tooltip for signal

* narrow combobox

* use  

* typo

* private sigs,fix bugs

* merge  #27383

* no expanding after undo/redo

* gray color in tooltip

* clear current_msg_id before reset model

* dont call setmeesage if id is the same

* fix bugs

* cleanup

* dont fetch logs if invisible

* add new CenterWidget, make sure msg_id is always valid

* cache icons

* cleanup paint byte color

* merge #27385 implement sizeHint

* cleanup code

* fillrect if alpha>0
old-commit-hash: 4efd246bac

tools/cabana/binaryview.cc

@@ -32,7 +32,6 @@ BinaryView::BinaryView(QWidget *parent) : QTableView(parent) {
   verticalHeader()->setSectionResizeMode(QHeaderView::Fixed);
   verticalHeader()->setDefaultSectionSize(CELL_HEIGHT);
   horizontalHeader()->hide();
-  setFrameShape(QFrame::NoFrame);
   setShowGrid(false);
   setMouseTracking(true);
   setHorizontalScrollBarPolicy(Qt::ScrollBarAlwaysOff);
@@ -44,17 +43,17 @@ BinaryView::BinaryView(QWidget *parent) : QTableView(parent) {
   setWhatsThis(R"(
     <b>Binary View</b><br/>
     <!-- TODO: add descprition here -->
-    Shortcuts:<br />
+    <span style="color:gray">Shortcuts</span><br />
     Delete Signal:
-      <span style="background-color:lightGray;color:gray"> x </span>,
+      <span style="background-color:lightGray;color:gray">&nbsp;x&nbsp;</span>,
-      <span style="background-color:lightGray;color:gray"> Backspace </span>,
+      <span style="background-color:lightGray;color:gray">&nbsp;Backspace&nbsp;</span>,
-      <span style="background-color:lightGray;color:gray"> Delete</span><br />
+      <span style="background-color:lightGray;color:gray">&nbsp;Delete&nbsp;</span><br />
-    Change endianness: <span style="background-color:lightGray;color:gray"> e </span><br />
+    Change endianness: <span style="background-color:lightGray;color:gray">&nbsp;e&nbsp; </span><br />
-    Change singedness: <span style="background-color:lightGray;color:gray"> s </span><br />
+    Change singedness: <span style="background-color:lightGray;color:gray">&nbsp;s&nbsp;</span><br />
     Open chart:
-      <span style="background-color:lightGray;color:gray"> c </span>,
+      <span style="background-color:lightGray;color:gray">&nbsp;c&nbsp;</span>,
-      <span style="background-color:lightGray;color:gray"> p </span>,
+      <span style="background-color:lightGray;color:gray">&nbsp;p&nbsp;</span>,
-      <span style="background-color:lightGray;color:gray"> g </span><br />
+      <span style="background-color:lightGray;color:gray">&nbsp;g&nbsp;</span>
   )");
 }
 
@@ -108,14 +107,14 @@ void BinaryView::addShortcuts() {
   QObject::connect(shortcut_plot_c, &QShortcut::activated, shortcut_plot, &QShortcut::activated);
   QObject::connect(shortcut_plot, &QShortcut::activated, [=]{
     if (hovered_sig != nullptr) {
-      emit showChart(*model->msg_id, hovered_sig, true, false);
+      emit showChart(model->msg_id, hovered_sig, true, false);
     }
   });
 }
 
 QSize BinaryView::minimumSizeHint() const {
-  return {(horizontalHeader()->minimumSectionSize() + 1) * 9 + VERTICAL_HEADER_WIDTH,
+  return {(horizontalHeader()->minimumSectionSize() + 1) * 9 + VERTICAL_HEADER_WIDTH + 2,
-          CELL_HEIGHT * std::min(model->rowCount(), 10)};
+          CELL_HEIGHT * std::min(model->rowCount(), 10) + 2};
 }
 
 void BinaryView::highlight(const Signal *sig) {
@@ -127,6 +126,16 @@ void BinaryView::highlight(const Signal *sig) {
         emit model->dataChanged(index, index, {Qt::DisplayRole});
       }
     }
+
+    if (sig && underMouse()) {
+      QString tooltip = tr(R"(%1<br /><span style="color:gray;font-size:small">
+        Size:%2 LE:%3 SGD:%4</span>
+      )").arg(sig->name).arg(sig->size).arg(sig->is_little_endian ? "Y" : "N").arg(sig->is_signed ? "Y" : "N");
+      QToolTip::showText(QCursor::pos(), tooltip, this, rect());
+    } else {
+      QToolTip::showText(QCursor::pos(), "", this, rect());
+    }
+
     hovered_sig = sig;
     emit signalHovered(hovered_sig);
   }
@@ -169,7 +178,6 @@ void BinaryView::highlightPosition(const QPoint &pos) {
     auto item = (BinaryViewModel::Item *)index.internalPointer();
     const Signal *sig = item->sigs.isEmpty() ? nullptr : item->sigs.back();
     highlight(sig);
-    QToolTip::showText(pos, sig ? sig->name : "", this, rect());
   }
 }
 
@@ -210,8 +218,6 @@ void BinaryView::setMessage(const MessageId &message_id) {
 }
 
 void BinaryView::refresh() {
-  if (!model->msg_id) return;
-
   clearSelection();
   anchor_index = QModelIndex();
   resize_sig = nullptr;
@@ -245,26 +251,26 @@ std::tuple<int, int, bool> BinaryView::getSelection(QModelIndex index) {
 void BinaryViewModel::refresh() {
   beginResetModel();
   items.clear();
-  if (auto dbc_msg = dbc()->msg(*msg_id)) {
+  if (auto dbc_msg = dbc()->msg(msg_id)) {
     row_count = dbc_msg->size;
     items.resize(row_count * column_count);
-    for (auto &sig : dbc_msg->sigs) {
+    for (auto sig : dbc_msg->getSignals()) {
-      auto [start, end] = getSignalRange(&sig);
+      auto [start, end] = getSignalRange(sig);
       for (int j = start; j <= end; ++j) {
-        int bit_index = sig.is_little_endian ? bigEndianBitIndex(j) : j;
+        int bit_index = sig->is_little_endian ? bigEndianBitIndex(j) : j;
         int idx = column_count * (bit_index / 8) + bit_index % 8;
         if (idx >= items.size()) {
-          qWarning() << "signal " << sig.name << "out of bounds.start_bit:" << sig.start_bit << "size:" << sig.size;
+          qWarning() << "signal " << sig->name << "out of bounds.start_bit:" << sig->start_bit << "size:" << sig->size;
           break;
         }
-        if (j == start) sig.is_little_endian ? items[idx].is_lsb = true : items[idx].is_msb = true;
+        if (j == start) sig->is_little_endian ? items[idx].is_lsb = true : items[idx].is_msb = true;
-        if (j == end) sig.is_little_endian ? items[idx].is_msb = true : items[idx].is_lsb = true;
+        if (j == end) sig->is_little_endian ? items[idx].is_msb = true : items[idx].is_lsb = true;
-        items[idx].bg_color = getColor(&sig);
+        items[idx].bg_color = getColor(sig);
-        items[idx].sigs.push_back(&sig);
+        items[idx].sigs.push_back(sig);
       }
     }
   } else {
-    row_count = can->lastMessage(*msg_id).dat.size();
+    row_count = can->lastMessage(msg_id).dat.size();
     items.resize(row_count * column_count);
   }
   endResetModel();
@@ -273,7 +279,7 @@ void BinaryViewModel::refresh() {
 
 void BinaryViewModel::updateState() {
   auto prev_items = items;
-  const auto &last_msg = can->lastMessage(*msg_id);
+  const auto &last_msg = can->lastMessage(msg_id);
   const auto &binary = last_msg.dat;
 
   // data size may changed.
@@ -283,33 +289,29 @@ void BinaryViewModel::updateState() {
     items.resize(row_count * column_count);
     endInsertRows();
   }
-  char hex[3] = {'\0'};
-  for (int i = 0; i < binary.size(); ++i) {
-    for (int j = 0; j < 8; ++j) {
-      items[i * column_count + j].val = ((binary[i] >> (7 - j)) & 1) != 0 ? '1' : '0';
 
-      // Bit update frequency based highlighting
-      bool has_signal = items[i * column_count + j].sigs.size() > 0;
-      double offset = has_signal ? 50 : 0;
-
-      double min_f = last_msg.bit_change_counts[i][7 - j] == 0 ? offset : offset + 25;
   double max_f = 255.0;
-
   double factor = 0.25;
   double scaler = max_f / log2(1.0 + factor);
-
+  char hex[3] = {'\0'};
-      double alpha = std::clamp(offset + log2(1.0 + factor * (double)last_msg.bit_change_counts[i][7 - j] / (double)last_msg.count) * scaler, min_f, max_f);
+  for (int i = 0; i < binary.size(); ++i) {
-      items[i * column_count + j].bg_color.setAlpha(alpha);
+    for (int j = 0; j < 8; ++j) {
+      auto &item = items[i * column_count + j];
+      item.val = ((binary[i] >> (7 - j)) & 1) != 0 ? '1' : '0';
+      // Bit update frequency based highlighting
+      double offset = !item.sigs.empty() ? 50 : 0;
+      auto n = last_msg.bit_change_counts[i][7 - j];
+      double min_f = n == 0 ? offset : offset + 25;
+      double alpha = std::clamp(offset + log2(1.0 + factor * (double)n / (double)last_msg.count) * scaler, min_f, max_f);
+      item.bg_color.setAlpha(alpha);
     }
     hex[0] = toHex(binary[i] >> 4);
     hex[1] = toHex(binary[i] & 0xf);
     items[i * column_count + 8].val = hex;
     items[i * column_count + 8].bg_color = last_msg.colors[i];
   }
-  for (int i = binary.size(); i < row_count; ++i) {
+  for (int i = binary.size() * column_count; i < items.size(); ++i) {
-    for (int j = 0; j < column_count; ++j) {
+    items[i].val = "-";
-      items[i * column_count + j].val = "-";
-    }
   }
 
   for (int i = 0; i < items.size(); ++i) {

tools/cabana/binaryview.h

@@ -1,7 +1,5 @@
 #pragma once
 
-#include <optional>
-
 #include <QApplication>
 #include <QList>
 #include <QSet>
@@ -50,7 +48,7 @@ public:
   };
   std::vector<Item> items;
 
-  std::optional<MessageId> msg_id;
+  MessageId msg_id;
   int row_count = 0;
   const int column_count = 9;
 };

tools/cabana/chartswidget.cc

@@ -11,15 +11,16 @@
 #include <QRubberBand>
 #include <QPushButton>
 #include <QToolBar>
-#include <QToolButton>
 #include <QToolTip>
 #include <QtConcurrent>
 
 const int MAX_COLUMN_COUNT = 4;
 // ChartsWidget
 
-ChartsWidget::ChartsWidget(QWidget *parent) : QWidget(parent) {
+ChartsWidget::ChartsWidget(QWidget *parent) : QFrame(parent) {
+  setFrameStyle(QFrame::StyledPanel | QFrame::Plain);
   QVBoxLayout *main_layout = new QVBoxLayout(this);
+  main_layout->setContentsMargins(0, 0, 0, 0);
 
   // toolbar
   QToolBar *toolbar = new QToolBar(tr("Charts"), this);
@@ -43,6 +44,7 @@ ChartsWidget::ChartsWidget(QWidget *parent) : QWidget(parent) {
 
   range_lb_action = toolbar->addWidget(range_lb = new QLabel(this));
   range_slider = new QSlider(Qt::Horizontal, this);
+  range_slider->setMaximumWidth(200);
   range_slider->setToolTip(tr("Set the chart range"));
   range_slider->setRange(1, settings.max_cached_minutes * 60);
   range_slider->setSingleStep(1);
@@ -67,6 +69,7 @@ ChartsWidget::ChartsWidget(QWidget *parent) : QWidget(parent) {
   charts_main_layout->addStretch(0);
 
   QScrollArea *charts_scroll = new QScrollArea(this);
+  charts_scroll->setFrameStyle(QFrame::NoFrame);
   charts_scroll->setWidgetResizable(true);
   charts_scroll->setWidget(charts_container);
   charts_scroll->setHorizontalScrollBarPolicy(Qt::ScrollBarAlwaysOff);
@@ -329,18 +332,12 @@ ChartView::ChartView(QWidget *parent) : QChartView(nullptr, parent) {
   move_icon = new QGraphicsPixmapItem(utils::icon("grip-horizontal"), chart);
   move_icon->setToolTip(tr("Drag and drop to combine charts"));
 
-  QToolButton *remove_btn = new QToolButton();
+  QToolButton *remove_btn = toolButton("x", tr("Remove Chart"));
-  remove_btn->setIcon(utils::icon("x"));
-  remove_btn->setAutoRaise(true);
-  remove_btn->setToolTip(tr("Remove Chart"));
   close_btn_proxy = new QGraphicsProxyWidget(chart);
   close_btn_proxy->setWidget(remove_btn);
   close_btn_proxy->setZValue(chart->zValue() + 11);
 
-  QToolButton *manage_btn = new QToolButton();
+  QToolButton *manage_btn = toolButton("list", "");
-  manage_btn->setToolButtonStyle(Qt::ToolButtonIconOnly);
-  manage_btn->setIcon(utils::icon("list"));
-  manage_btn->setAutoRaise(true);
   QMenu *menu = new QMenu(this);
   line_series_action = menu->addAction(tr("Line"), [this]() { setSeriesType(QAbstractSeries::SeriesTypeLine); });
   line_series_action->setCheckable(true);
@@ -434,12 +431,12 @@ void ChartView::manageSeries() {
 }
 
 void ChartView::resizeEvent(QResizeEvent *event) {
-  QChartView::resizeEvent(event);
   updatePlotArea(align_to);
   int x = event->size().width() - close_btn_proxy->size().width() - 11;
   close_btn_proxy->setPos(x, 8);
   manage_btn_proxy->setPos(x - manage_btn_proxy->size().width() - 5, 8);
   move_icon->setPos(11, 8);
+  QChartView::resizeEvent(event);
 }
 
 void ChartView::updatePlotArea(int left) {
@@ -448,7 +445,7 @@ void ChartView::updatePlotArea(int left) {
     align_to = left;
     background->setRect(r);
     chart()->legend()->setGeometry(QRect(r.left(), r.top(), r.width(), 45));
-    chart()->setPlotArea(QRect(align_to, r.top() + 45, r.width() - align_to - 22, r.height() - 80));
+    chart()->setPlotArea(QRect(align_to, r.top() + 45, r.width() - align_to - 36, r.height() - 80));
     chart()->layout()->invalidate();
   }
 }
@@ -570,7 +567,7 @@ void ChartView::updateAxisY() {
 
     QFontMetrics fm(axis_y->labelsFont());
     int n = qMax(int(-qFloor(std::log10((max_y - min_y) / (tick_count - 1)))), 0) + 1;
-    y_label_width = qMax(fm.width(QString::number(min_y, 'f', n)), fm.width(QString::number(max_y, 'f', n))) + 20;  // left margin 20
+    y_label_width = qMax(fm.width(QString::number(min_y, 'f', n)), fm.width(QString::number(max_y, 'f', n))) + 15;  // left margin 15
     emit axisYLabelWidthChanged(y_label_width);
   }
 }
@@ -887,10 +884,10 @@ void SeriesSelector::updateAvailableList(int index) {
   available_list->clear();
   MessageId msg_id = msgs_combo->itemData(index).value<MessageId>();
   auto selected_items = seletedItems();
-  for (auto &s : dbc()->msg(msg_id)->sigs) {
+  for (auto s : dbc()->msg(msg_id)->getSignals()) {
-    bool is_selected = std::any_of(selected_items.begin(), selected_items.end(), [=, sig=&s](auto it) { return it->msg_id == msg_id && it->sig == sig; });
+    bool is_selected = std::any_of(selected_items.begin(), selected_items.end(), [=, sig=s](auto it) { return it->msg_id == msg_id && it->sig == sig; });
     if (!is_selected) {
-      addItemToList(available_list, msg_id, &s);
+      addItemToList(available_list, msg_id, s);
     }
   }
 }

tools/cabana/chartswidget.h

@@ -92,7 +92,7 @@ private:
   friend class ChartsWidget;
  };
 
-class ChartsWidget : public QWidget {
+class ChartsWidget : public QFrame {
   Q_OBJECT
 
 public:

tools/cabana/commands.cc

@@ -38,8 +38,8 @@ RemoveMsgCommand::RemoveMsgCommand(const MessageId &id, QUndoCommand *parent) :
 void RemoveMsgCommand::undo() {
   if (!message.name.isEmpty()) {
     dbc()->updateMsg(id, message.name, message.size);
-    for (auto &s : message.sigs)
+    for (auto s : message.getSignals())
-      dbc()->addSignal(id, s);
+      dbc()->addSignal(id, *s);
   }
 }
 

tools/cabana/dbcmanager.cc

@@ -10,10 +10,6 @@
 
 namespace dbcmanager {
 
-void sortSignalsByAddress(QList<Signal> &sigs) {
-  std::sort(sigs.begin(), sigs.end(), [](auto &a, auto &b) { return a.start_bit < b.start_bit; });
-}
-
 bool DBCManager::open(const QString &dbc_file_name, QString *error) {
   QString opendbc_file_path = QString("%1/%2.dbc").arg(OPENDBC_FILE_PATH, dbc_file_name);
   QFile file(opendbc_file_path);
@@ -83,27 +79,27 @@ QString DBCManager::generateDBC() {
   QString dbc_string, signal_comment, val_desc;
   for (auto &[address, m] : msgs) {
     dbc_string += QString("BO_ %1 %2: %3 XXX\n").arg(address).arg(m.name).arg(m.size);
-    for (auto &sig : m.sigs) {
+    for (auto sig : m.getSignals()) {
       dbc_string += QString(" SG_ %1 : %2|%3@%4%5 (%6,%7) [%8|%9] \"%10\" XXX\n")
-                        .arg(sig.name)
+                        .arg(sig->name)
-                        .arg(sig.start_bit)
+                        .arg(sig->start_bit)
-                        .arg(sig.size)
+                        .arg(sig->size)
-                        .arg(sig.is_little_endian ? '1' : '0')
+                        .arg(sig->is_little_endian ? '1' : '0')
-                        .arg(sig.is_signed ? '-' : '+')
+                        .arg(sig->is_signed ? '-' : '+')
-                        .arg(sig.factor, 0, 'g', std::numeric_limits<double>::digits10)
+                        .arg(sig->factor, 0, 'g', std::numeric_limits<double>::digits10)
-                        .arg(sig.offset, 0, 'g', std::numeric_limits<double>::digits10)
+                        .arg(sig->offset, 0, 'g', std::numeric_limits<double>::digits10)
-                        .arg(sig.min)
+                        .arg(sig->min)
-                        .arg(sig.max)
+                        .arg(sig->max)
-                        .arg(sig.unit);
+                        .arg(sig->unit);
-      if (!sig.comment.isEmpty()) {
+      if (!sig->comment.isEmpty()) {
-        signal_comment += QString("CM_ SG_ %1 %2 \"%3\";\n").arg(address).arg(sig.name).arg(sig.comment);
+        signal_comment += QString("CM_ SG_ %1 %2 \"%3\";\n").arg(address).arg(sig->name).arg(sig->comment);
       }
-      if (!sig.val_desc.isEmpty()) {
+      if (!sig->val_desc.isEmpty()) {
-        QString text;
+        QStringList text;
-        for (auto &[val, desc] : sig.val_desc) {
+        for (auto &[val, desc] : sig->val_desc) {
-          text += QString("%1 \"%2\"").arg(val, desc);
+          text << QString("%1 \"%2\"").arg(val, desc);
         }
-        val_desc += QString("VAL_ %1 %2 %3;\n").arg(address).arg(sig.name).arg(text);
+        val_desc += QString("VAL_ %1 %2 %3;\n").arg(address).arg(sig->name).arg(text.join(" "));
       }
     }
     dbc_string += "\n";
@@ -127,7 +123,6 @@ void DBCManager::addSignal(const MessageId &id, const Signal &sig) {
   if (auto m = const_cast<Msg *>(msg(id.address))) {
     m->sigs.push_back(sig);
     auto s = &m->sigs.last();
-    sortSignalsByAddress(m->sigs);
     emit signalAdded(id.address, s);
   }
 }
@@ -136,7 +131,6 @@ void DBCManager::updateSignal(const MessageId &id, const QString &sig_name, cons
   if (auto m = const_cast<Msg *>(msg(id))) {
     if (auto s = (Signal *)m->sig(sig_name)) {
       *s = sig;
-      sortSignalsByAddress(m->sigs);
       emit signalUpdated(s);
     }
   }
@@ -157,6 +151,16 @@ DBCManager *dbc() {
   return &dbc_manager;
 }
 
+// Msg
+
+std::vector<const Signal*> Msg::getSignals() const {
+  std::vector<const Signal*> ret;
+  ret.reserve(sigs.size());
+  for (auto &sig : sigs) ret.push_back(&sig);
+  std::sort(ret.begin(), ret.end(), [](auto l, auto r) { return l->start_bit < r->start_bit; });
+  return ret;
+}
+
 // helper functions
 
 static QVector<int> BIG_ENDIAN_START_BITS = []() {
@@ -246,7 +250,6 @@ bool dbcmanager::DBCManager::open(const QString &name, const QString &content, Q
         sig.offset = s.offset;
         sig.is_little_endian = s.is_little_endian;
       }
-      sortSignalsByAddress(m.sigs);
     }
     parseExtraInfo(content);
     name_ = name;

tools/cabana/dbcmanager.h

@@ -52,12 +52,16 @@ struct Signal {
 struct Msg {
   QString name;
   uint32_t size;
-  QList<Signal> sigs;
 
+  std::vector<const Signal*> getSignals() const;
   const Signal *sig(const QString &sig_name) const {
     auto it = std::find_if(sigs.begin(), sigs.end(), [&](auto &s) { return s.name == sig_name; });
     return it != sigs.end() ? &(*it) : nullptr;
   }
+
+private:
+  QList<Signal> sigs;
+  friend class DBCManager;
 };
 
 class DBCManager : public QObject {

tools/cabana/detailwidget.cc

@@ -3,15 +3,13 @@
 #include <QFormLayout>
 #include <QMenu>
 #include <QMessageBox>
-#include <QToolButton>
 
 #include "tools/cabana/commands.h"
 
 // DetailWidget
 
 DetailWidget::DetailWidget(ChartsWidget *charts, QWidget *parent) : charts(charts), QWidget(parent) {
-  QWidget *main_widget = new QWidget(this);
+  QVBoxLayout *main_layout = new QVBoxLayout(this);
-  QVBoxLayout *main_layout = new QVBoxLayout(main_widget);
   main_layout->setContentsMargins(0, 0, 0, 0);
 
   // tabbar
@@ -23,22 +21,22 @@ DetailWidget::DetailWidget(ChartsWidget *charts, QWidget *parent) : charts(chart
   main_layout->addWidget(tabbar);
 
   // message title
-  QToolBar *toolbar = new QToolBar(this);
+  QHBoxLayout *title_layout = new QHBoxLayout();
-  toolbar->setIconSize({16, 16});
+  title_layout->setContentsMargins(0, 6, 0, 0);
-  toolbar->addWidget(new QLabel("time:"));
   time_label = new QLabel(this);
-  time_label->setStyleSheet("font-weight:bold");
+  time_label->setToolTip(tr("Current time"));
-  toolbar->addWidget(time_label);
+  time_label->setStyleSheet("QLabel{font-weight:bold;}");
+  title_layout->addWidget(time_label);
   name_label = new ElidedLabel(this);
-  name_label->setContentsMargins(5, 0, 5, 0);
+  name_label->setStyleSheet("QLabel{font-weight:bold;}");
-  name_label->setStyleSheet("font-weight:bold;");
   name_label->setAlignment(Qt::AlignCenter);
   name_label->setSizePolicy(QSizePolicy::Expanding, QSizePolicy::Preferred);
-  toolbar->addWidget(name_label);
+  title_layout->addWidget(name_label);
-  toolbar->addAction(utils::icon("pencil"), "", this, &DetailWidget::editMsg)->setToolTip(tr("Edit Message"));
+  auto edit_btn = toolButton("pencil", tr("Edit Message"));
-  remove_msg_act = toolbar->addAction(utils::icon("x-lg"), "", this, &DetailWidget::removeMsg);
+  title_layout->addWidget(edit_btn);
-  remove_msg_act->setToolTip(tr("Remove Message"));
+  remove_btn = toolButton("x-lg", tr("Remove Message"));
-  main_layout->addWidget(toolbar);
+  title_layout->addWidget(remove_btn);
+  main_layout->addLayout(title_layout);
 
   // warning
   warning_widget = new QWidget(this);
@@ -59,19 +57,18 @@ DetailWidget::DetailWidget(ChartsWidget *charts, QWidget *parent) : charts(chart
   splitter->setStretchFactor(1, 1);
 
   tab_widget = new QTabWidget(this);
+  tab_widget->setStyleSheet("QTabWidget::pane {border: none; margin-bottom: -2px;}");
   tab_widget->setTabPosition(QTabWidget::South);
   tab_widget->addTab(splitter, utils::icon("file-earmark-ruled"), "&Msg");
   tab_widget->addTab(history_log = new LogsWidget(this), utils::icon("stopwatch"), "&Logs");
   main_layout->addWidget(tab_widget);
 
-  stacked_layout = new QStackedLayout(this);
+  QObject::connect(edit_btn, &QToolButton::clicked, this, &DetailWidget::editMsg);
-  stacked_layout->addWidget(new WelcomeWidget(this));
+  QObject::connect(remove_btn, &QToolButton::clicked, this, &DetailWidget::removeMsg);
-  stacked_layout->addWidget(main_widget);
-
   QObject::connect(binary_view, &BinaryView::resizeSignal, signal_view->model, &SignalModel::resizeSignal);
   QObject::connect(binary_view, &BinaryView::addSignal, signal_view->model, &SignalModel::addSignal);
   QObject::connect(binary_view, &BinaryView::signalHovered, signal_view, &SignalView::signalHovered);
-  QObject::connect(binary_view, &BinaryView::signalClicked, signal_view, &SignalView::expandSignal);
+  QObject::connect(binary_view, &BinaryView::signalClicked, [this](const Signal *s) { signal_view->selectSignal(s, true); });
   QObject::connect(binary_view, &BinaryView::editSignal, signal_view->model, &SignalModel::saveSignal);
   QObject::connect(binary_view, &BinaryView::removeSignal, signal_view->model, &SignalModel::removeSignal);
   QObject::connect(binary_view, &BinaryView::showChart, charts, &ChartsWidget::showChart);
@@ -87,9 +84,7 @@ DetailWidget::DetailWidget(ChartsWidget *charts, QWidget *parent) : charts(chart
       setMessage(tabbar->tabData(index).value<MessageId>());
     }
   });
-  QObject::connect(tabbar, &QTabBar::tabCloseRequested, [this](int index) {
+  QObject::connect(tabbar, &QTabBar::tabCloseRequested, tabbar, &QTabBar::removeTab);
-    tabbar->removeTab(index);
-  });
   QObject::connect(charts, &ChartsWidget::seriesChanged, signal_view, &SignalView::updateChartState);
 }
 
@@ -108,18 +103,8 @@ void DetailWidget::showTabBarContextMenu(const QPoint &pt) {
   }
 }
 
-void DetailWidget::removeAll() {
-  msg_id = std::nullopt;
-  tabbar->blockSignals(true);
-  while (tabbar->count() > 0) {
-    tabbar->removeTab(0);
-  }
-  tabbar->blockSignals(false);
-  stacked_layout->setCurrentIndex(0);
-}
-
 void DetailWidget::setMessage(const MessageId &message_id) {
-  msg_id = message_id;
+  if (std::exchange(msg_id, message_id) == message_id) return;
 
   tabbar->blockSignals(true);
   int index = tabbar->count() - 1;
@@ -135,25 +120,18 @@ void DetailWidget::setMessage(const MessageId &message_id) {
   tabbar->blockSignals(false);
 
   setUpdatesEnabled(false);
-
+  signal_view->setMessage(msg_id);
-  signal_view->setMessage(*msg_id);
+  binary_view->setMessage(msg_id);
-  binary_view->setMessage(*msg_id);
+  history_log->setMessage(msg_id);
-  history_log->setMessage(*msg_id);
-
-  stacked_layout->setCurrentIndex(1);
   refresh();
-  splitter->setSizes({1, 2});
-
   setUpdatesEnabled(true);
 }
 
 void DetailWidget::refresh() {
-  if (!msg_id) return;
-
   QStringList warnings;
-  auto msg = dbc()->msg(*msg_id);
+  auto msg = dbc()->msg(msg_id);
   if (msg) {
-    if (msg->size != can->lastMessage(*msg_id).dat.size()) {
+    if (msg->size != can->lastMessage(msg_id).dat.size()) {
       warnings.push_back(tr("Message size (%1) is incorrect.").arg(msg->size));
     }
     for (auto s : binary_view->getOverlappingSignals()) {
@@ -162,8 +140,8 @@ void DetailWidget::refresh() {
   } else {
     warnings.push_back(tr("Drag-Select in binary view to create new signal."));
   }
-  remove_msg_act->setEnabled(msg != nullptr);
+  remove_btn->setEnabled(msg != nullptr);
-  name_label->setText(msgName(*msg_id));
+  name_label->setText(msgName(msg_id));
 
   if (!warnings.isEmpty()) {
     warning_label->setText(warnings.join('\n'));
@@ -174,7 +152,7 @@ void DetailWidget::refresh() {
 
 void DetailWidget::updateState(const QHash<MessageId, CanData> *msgs) {
   time_label->setText(QString::number(can->currentSec(), 'f', 3));
-  if (!msg_id || (msgs && !msgs->contains(*msg_id)))
+  if ((msgs && !msgs->contains(msg_id)))
     return;
 
   if (tab_widget->currentIndex() == 0)
@@ -184,17 +162,16 @@ void DetailWidget::updateState(const QHash<MessageId, CanData> *msgs) {
 }
 
 void DetailWidget::editMsg() {
-  MessageId id = *msg_id;
+  auto msg = dbc()->msg(msg_id);
-  auto msg = dbc()->msg(id);
+  int size = msg ? msg->size : can->lastMessage(msg_id).dat.size();
-  int size = msg ? msg->size : can->lastMessage(id).dat.size();
+  EditMessageDialog dlg(msg_id, msgName(msg_id), size, this);
-  EditMessageDialog dlg(id, msgName(id), size, this);
   if (dlg.exec()) {
-    UndoStack::push(new EditMsgCommand(*msg_id, dlg.name_edit->text(), dlg.size_spin->value()));
+    UndoStack::push(new EditMsgCommand(msg_id, dlg.name_edit->text(), dlg.size_spin->value()));
   }
 }
 
 void DetailWidget::removeMsg() {
-  UndoStack::push(new RemoveMsgCommand(*msg_id));
+  UndoStack::push(new RemoveMsgCommand(msg_id));
 }
 
 // EditMessageDialog
@@ -240,10 +217,34 @@ void EditMessageDialog::validateName(const QString &text) {
   btn_box->button(QDialogButtonBox::Ok)->setEnabled(valid);
 }
 
-// WelcomeWidget
+// CenterWidget
 
-WelcomeWidget::WelcomeWidget(QWidget *parent) : QWidget(parent) {
+CenterWidget::CenterWidget(ChartsWidget *charts, QWidget *parent) : charts(charts), QWidget(parent) {
   QVBoxLayout *main_layout = new QVBoxLayout(this);
+  main_layout->setContentsMargins(0, 0, 0, 0);
+  main_layout->addWidget(welcome_widget = createWelcomeWidget());
+}
+
+void CenterWidget::setMessage(const MessageId &msg_id) {
+  if (!detail_widget) {
+    delete welcome_widget;
+    welcome_widget = nullptr;
+    layout()->addWidget(detail_widget = new DetailWidget(charts, this));
+  }
+  detail_widget->setMessage(msg_id);
+}
+
+void CenterWidget::clear() {
+  delete detail_widget;
+  detail_widget = nullptr;
+  if (!welcome_widget) {
+    layout()->addWidget(welcome_widget = createWelcomeWidget());
+  }
+}
+
+QWidget *CenterWidget::createWelcomeWidget() {
+  QWidget *w = new QWidget(this);
+  QVBoxLayout *main_layout = new QVBoxLayout(w);
   main_layout->addStretch(0);
   QLabel *logo = new QLabel("CABANA");
   logo->setAlignment(Qt::AlignCenter);
@@ -268,7 +269,8 @@ WelcomeWidget::WelcomeWidget(QWidget *parent) : QWidget(parent) {
   main_layout->addLayout(newShortcutRow("WhatsThis", "Shift+F1"));
   main_layout->addStretch(0);
 
-  setStyleSheet("QLabel{color:darkGray;}");
+  w->setStyleSheet("QLabel{color:darkGray;}");
-  setBackgroundRole(QPalette::Base);
+  w->setBackgroundRole(QPalette::Base);
-  setAutoFillBackground(true);
+  w->setAutoFillBackground(true);
+  return w;
 }

tools/cabana/detailwidget.h

@@ -2,9 +2,7 @@
 
 #include <QDialogButtonBox>
 #include <QSplitter>
-#include <QStackedLayout>
 #include <QTabWidget>
-#include <QToolBar>
 
 #include "selfdrive/ui/qt/widgets/controls.h"
 #include "tools/cabana/binaryview.h"
@@ -24,11 +22,6 @@ public:
   QSpinBox *size_spin;
 };
 
-class WelcomeWidget : public QWidget {
-public:
-  WelcomeWidget(QWidget *parent);
-};
-
 class DetailWidget : public QWidget {
   Q_OBJECT
 
@@ -36,7 +29,6 @@ public:
   DetailWidget(ChartsWidget *charts, QWidget *parent);
   void setMessage(const MessageId &message_id);
   void refresh();
-  void removeAll();
   QSize minimumSizeHint() const override { return binary_view->minimumSizeHint(); }
 
 private:
@@ -45,17 +37,30 @@ private:
   void removeMsg();
   void updateState(const QHash<MessageId, CanData> * msgs = nullptr);
 
-  std::optional<MessageId> msg_id;
+  MessageId msg_id;
   QLabel *time_label, *warning_icon, *warning_label;
   ElidedLabel *name_label;
   QWidget *warning_widget;
   QTabBar *tabbar;
   QTabWidget *tab_widget;
-  QAction *remove_msg_act;
+  QToolButton *remove_btn;
   LogsWidget *history_log;
   BinaryView *binary_view;
   SignalView *signal_view;
   ChartsWidget *charts;
   QSplitter *splitter;
-  QStackedLayout *stacked_layout;
+};
+
+class CenterWidget : public QWidget {
+  Q_OBJECT
+public:
+  CenterWidget(ChartsWidget* charts, QWidget *parent);
+  void setMessage(const MessageId &msg_id);
+  void clear();
+
+private:
+  QWidget *createWelcomeWidget();
+  DetailWidget *detail_widget = nullptr;
+  QWidget *welcome_widget = nullptr;
+  ChartsWidget *charts;
 };

tools/cabana/historylog.cc

@@ -5,8 +5,6 @@
 #include <QVBoxLayout>
 
 #include "tools/cabana/commands.h"
-#include "tools/cabana/util.h"
-
 // HistoryLogModel
 
 QVariant HistoryLogModel::data(const QModelIndex &index, int role) const {
@@ -27,17 +25,19 @@ void HistoryLogModel::setMessage(const MessageId &message_id) {
   msg_id = message_id;
 }
 
-void HistoryLogModel::refresh() {
+void HistoryLogModel::refresh(bool fetch_message) {
   beginResetModel();
   sigs.clear();
-  if (auto dbc_msg = dbc()->msg(*msg_id)) {
+  if (auto dbc_msg = dbc()->msg(msg_id)) {
-    sigs = dbc_msg->sigs;
+    sigs = dbc_msg->getSignals();
   }
   last_fetch_time = 0;
   has_more_data = true;
   messages.clear();
   hex_colors.clear();
+  if (fetch_message) {
     updateState();
+  }
   endResetModel();
 }
 
@@ -48,9 +48,9 @@ QVariant HistoryLogModel::headerData(int section, Qt::Orientation orientation, i
       if (section == 0) {
         return "Time";
       }
-      return show_signals ? sigs[section - 1].name : "Data";
+      return show_signals ? sigs[section - 1]->name : "Data";
     } else if (role == Qt::BackgroundRole && section > 0 && show_signals) {
-      return QBrush(getColor(&sigs[section - 1]));
+      return QBrush(getColor(sigs[section - 1]));
     }
   }
   return {};
@@ -79,8 +79,7 @@ void HistoryLogModel::setFilter(int sig_idx, const QString &value, std::function
 }
 
 void HistoryLogModel::updateState() {
-  if (msg_id) {
+  uint64_t current_time = (can->lastMessage(msg_id).ts + can->routeStartTime()) * 1e9 + 1;
-    uint64_t current_time = (can->lastMessage(*msg_id).ts + can->routeStartTime()) * 1e9 + 1;
   auto new_msgs = dynamic_mode ? fetchData(current_time, last_fetch_time) : fetchData(0);
   if (!new_msgs.empty()) {
     beginInsertRows({}, 0, new_msgs.size() - 1);
@@ -89,7 +88,6 @@ void HistoryLogModel::updateState() {
   }
   has_more_data = new_msgs.size() >= batch_size;
   last_fetch_time = current_time;
-  }
 }
 
 void HistoryLogModel::fetchMore(const QModelIndex &parent) {
@@ -111,10 +109,10 @@ std::deque<HistoryLogModel::Message> HistoryLogModel::fetchData(InputIt first, I
   for (auto it = first; it != last && (*it)->mono_time > min_time; ++it) {
     if ((*it)->which == cereal::Event::Which::CAN) {
       for (const auto &c : (*it)->event.getCan()) {
-        if (msg_id->address == c.getAddress() && msg_id->source == c.getSrc()) {
+        if (msg_id.address == c.getAddress() && msg_id.source == c.getSrc()) {
           const auto dat = c.getDat();
           for (int i = 0; i < sigs.size(); ++i) {
-            values[i] = get_raw_value((uint8_t *)dat.begin(), dat.size(), sigs[i]);
+            values[i] = get_raw_value((uint8_t *)dat.begin(), dat.size(), *sigs[i]);
           }
           if (!filter_cmp || filter_cmp(values[filter_sig_idx], filter_value)) {
             auto &m = msgs.emplace_back();
@@ -136,7 +134,7 @@ template std::deque<HistoryLogModel::Message> HistoryLogModel::fetchData<>(std::
 
 std::deque<HistoryLogModel::Message> HistoryLogModel::fetchData(uint64_t from_time, uint64_t min_time) {
   auto events = can->events();
-  const auto freq = can->lastMessage(*msg_id).freq;
+  const auto freq = can->lastMessage(msg_id).freq;
   const bool update_colors = !display_signals_mode || sigs.empty();
 
   if (dynamic_mode) {
@@ -189,7 +187,8 @@ void HeaderView::paintSection(QPainter *painter, const QRect &rect, int logicalI
 
 // LogsWidget
 
-LogsWidget::LogsWidget(QWidget *parent) : QWidget(parent) {
+LogsWidget::LogsWidget(QWidget *parent) : QFrame(parent) {
+  setFrameStyle(QFrame::StyledPanel | QFrame::Plain);
   QVBoxLayout *main_layout = new QVBoxLayout(this);
   main_layout->setContentsMargins(0, 0, 0, 0);
   main_layout->setSpacing(0);
@@ -209,7 +208,8 @@ LogsWidget::LogsWidget(QWidget *parent) : QWidget(parent) {
   h->addStretch(0);
   h->addWidget(dynamic_mode = new QCheckBox(tr("Dynamic")), 0, Qt::AlignRight);
 
-  display_type_cb->addItems({"Signal Value", "Hex Value"});
+  display_type_cb->addItems({"Signal", "Hex"});
+  display_type_cb->setToolTip(tr("Display signal value or raw hex value"));
   comp_box->addItems({">", "=", "!=", "<"});
   value_edit->setClearButtonEnabled(true);
   value_edit->setValidator(new QDoubleValidator(-500000, 500000, 6, this));
@@ -219,10 +219,10 @@ LogsWidget::LogsWidget(QWidget *parent) : QWidget(parent) {
   main_layout->addWidget(toolbar);
   QFrame *line = new QFrame(this);
   line->setFrameStyle(QFrame::HLine | QFrame::Sunken);
-  main_layout->addWidget(line);;
+  main_layout->addWidget(line);
-
   main_layout->addWidget(logs = new QTableView(this));
   logs->setModel(model = new HistoryLogModel(this));
+  delegate = new MessageBytesDelegate(this);
   logs->setItemDelegateForColumn(1, new MessageBytesDelegate(this));
   logs->setHorizontalHeader(new HeaderView(Qt::Horizontal, this));
   logs->horizontalHeader()->setDefaultAlignment(Qt::AlignLeft | (Qt::Alignment)Qt::TextWordWrap);
@@ -230,7 +230,10 @@ LogsWidget::LogsWidget(QWidget *parent) : QWidget(parent) {
   logs->verticalHeader()->setVisible(false);
   logs->setFrameShape(QFrame::NoFrame);
 
-  QObject::connect(display_type_cb, SIGNAL(activated(int)), model, SLOT(setDisplayType(int)));
+  QObject::connect(display_type_cb, qOverload<int>(&QComboBox::activated), [this](int index) {
+    logs->setItemDelegateForColumn(1, index == 1 ? delegate : nullptr);
+    model->setDisplayType(index);
+  });
   QObject::connect(dynamic_mode, &QCheckBox::stateChanged, model, &HistoryLogModel::setDynamicMode);
   QObject::connect(signals_cb, SIGNAL(activated(int)), this, SLOT(setFilter()));
   QObject::connect(comp_box, SIGNAL(activated(int)), this, SLOT(setFilter()));
@@ -247,17 +250,16 @@ void LogsWidget::setMessage(const MessageId &message_id) {
 }
 
 void LogsWidget::refresh() {
-  if (!model->msg_id) return;
-
   model->setFilter(0, "", nullptr);
-  model->refresh();
+  model->refresh(isVisible());
   bool has_signal = model->sigs.size();
   if (has_signal) {
     signals_cb->clear();
-    for (auto &s : model->sigs) {
+    for (auto s : model->sigs) {
-      signals_cb->addItem(s.name);
+      signals_cb->addItem(s->name);
     }
   }
+  logs->setItemDelegateForColumn(1, !has_signal || display_type_cb->currentIndex() == 1 ? delegate : nullptr);
   value_edit->clear();
   comp_box->setCurrentIndex(0);
   filters_widget->setVisible(has_signal);
@@ -276,3 +278,15 @@ void LogsWidget::setFilter() {
   model->setFilter(signals_cb->currentIndex(), value_edit->text(), cmp);
   model->refresh();
 }
+
+void LogsWidget::updateState() {
+  if (isVisible() && dynamic_mode->isChecked()) {
+    model->updateState();
+  }
+}
+
+void LogsWidget::showEvent(QShowEvent *event) {
+  if (dynamic_mode->isChecked() || model->canFetchMore({}) && model->rowCount() == 0) {
+    model->refresh();
+  }
+}

tools/cabana/historylog.h

@@ -1,8 +1,6 @@
 #pragma once
 
 #include <deque>
-#include <optional>
-
 #include <QCheckBox>
 #include <QComboBox>
 #include <QHeaderView>
@@ -11,6 +9,8 @@
 
 #include "tools/cabana/dbcmanager.h"
 #include "tools/cabana/streams/abstractstream.h"
+#include "tools/cabana/util.h"
+
 using namespace dbcmanager;
 
 class HeaderView : public QHeaderView {
@@ -36,7 +36,7 @@ public:
   int columnCount(const QModelIndex &parent = QModelIndex()) const override {
     return display_signals_mode && !sigs.empty() ? sigs.size() + 1 : 2;
   }
-  void refresh();
+  void refresh(bool fetch_message = true);
 
 public slots:
   void setDisplayType(int type);
@@ -55,7 +55,7 @@ public:
   std::deque<HistoryLogModel::Message> fetchData(InputIt first, InputIt last, uint64_t min_time);
   std::deque<Message> fetchData(uint64_t from_time, uint64_t min_time = 0);
 
-  std::optional<MessageId> msg_id;
+  MessageId msg_id;
   ChangeTracker hex_colors;
   bool has_more_data = true;
   const int batch_size = 50;
@@ -64,19 +64,19 @@ public:
   uint64_t last_fetch_time = 0;
   std::function<bool(double, double)> filter_cmp = nullptr;
   std::deque<Message> messages;
-  QList<Signal> sigs;
+  std::vector<const Signal *> sigs;
   bool dynamic_mode = true;
   bool display_signals_mode = true;
 };
 
-class LogsWidget : public QWidget {
+class LogsWidget : public QFrame {
   Q_OBJECT
 
 public:
   LogsWidget(QWidget *parent);
   void setMessage(const MessageId &message_id);
-  void updateState() {if (dynamic_mode->isChecked()) model->updateState(); }
+  void updateState();
-  void showEvent(QShowEvent *event) override { if (dynamic_mode->isChecked()) model->refresh(); }
+  void showEvent(QShowEvent *event) override;
 
 private slots:
   void setFilter();
@@ -90,4 +90,5 @@ private:
   QComboBox *signals_cb, *comp_box, *display_type_cb;
   QLineEdit *value_edit;
   QWidget *filters_widget;
+  MessageBytesDelegate *delegate;
 };

tools/cabana/mainwin.cc

@@ -27,8 +27,8 @@ void qLogMessageHandler(QtMsgType type, const QMessageLogContext &context, const
 
 MainWindow::MainWindow() : QMainWindow() {
   createDockWindows();
-  detail_widget = new DetailWidget(charts_widget, this);
+  center_widget = new CenterWidget(charts_widget, this);
-  setCentralWidget(detail_widget);
+  setCentralWidget(center_widget);
   createActions();
   createStatusBar();
   createShortcuts();
@@ -60,7 +60,7 @@ MainWindow::MainWindow() : QMainWindow() {
 
   QObject::connect(this, &MainWindow::showMessage, statusBar(), &QStatusBar::showMessage);
   QObject::connect(this, &MainWindow::updateProgressBar, this, &MainWindow::updateDownloadProgress);
-  QObject::connect(messages_widget, &MessagesWidget::msgSelectionChanged, detail_widget, &DetailWidget::setMessage);
+  QObject::connect(messages_widget, &MessagesWidget::msgSelectionChanged, center_widget, &CenterWidget::setMessage);
   QObject::connect(charts_widget, &ChartsWidget::dock, this, &MainWindow::dockCharts);
   QObject::connect(can, &AbstractStream::streamStarted, this, &MainWindow::loadDBCFromFingerprint);
   QObject::connect(dbc(), &DBCManager::DBCFileChanged, this, &MainWindow::DBCFileChanged);
@@ -175,7 +175,7 @@ void MainWindow::createStatusBar() {
   progress_bar = new QProgressBar();
   progress_bar->setRange(0, 100);
   progress_bar->setTextVisible(true);
-  progress_bar->setFixedSize({230, 16});
+  progress_bar->setFixedSize({300, 16});
   progress_bar->setVisible(false);
   statusBar()->addWidget(new QLabel(tr("For Help, Press F1")));
   statusBar()->addPermanentWidget(progress_bar);
@@ -220,7 +220,7 @@ void MainWindow::DBCFileChanged() {
 void MainWindow::openRoute() {
   OpenRouteDialog dlg(this);
   if (dlg.exec()) {
-    detail_widget->removeAll();
+    center_widget->clear();
     charts_widget->removeAll();
     statusBar()->showMessage(tr("Route %1 loaded").arg(can->routeName()), 2000);
   } else if (dlg.failedToLoad()) {

tools/cabana/mainwin.h

@@ -60,7 +60,7 @@ protected:
   VideoWidget *video_widget = nullptr;
   QDockWidget *video_dock;
   MessagesWidget *messages_widget;
-  DetailWidget *detail_widget;
+  CenterWidget *center_widget;
   ChartsWidget *charts_widget;
   QWidget *floating_window = nullptr;
   QVBoxLayout *charts_layout;

tools/cabana/messageswidget.cc

@@ -1,17 +1,17 @@
 #include "tools/cabana/messageswidget.h"
 
-#include <QApplication>
-#include <QFontDatabase>
 #include <QHBoxLayout>
-#include <QPainter>
 #include <QPushButton>
 #include <QVBoxLayout>
 
 MessagesWidget::MessagesWidget(QWidget *parent) : QWidget(parent) {
   QVBoxLayout *main_layout = new QVBoxLayout(this);
+  main_layout->setContentsMargins(0 ,0, 0, 0);
 
   // message filter
   filter = new QLineEdit(this);
+  QRegularExpression re("\\S+");
+  filter->setValidator(new QRegularExpressionValidator(re, this));
   filter->setClearButtonEnabled(true);
   filter->setPlaceholderText(tr("filter messages"));
   main_layout->addWidget(filter);
@@ -44,11 +44,16 @@ MessagesWidget::MessagesWidget(QWidget *parent) : QWidget(parent) {
   QObject::connect(dbc(), &DBCManager::DBCFileChanged, model, &MessageListModel::sortMessages);
   QObject::connect(dbc(), &DBCManager::msgUpdated, model, &MessageListModel::sortMessages);
   QObject::connect(dbc(), &DBCManager::msgRemoved, model, &MessageListModel::sortMessages);
-  QObject::connect(model, &MessageListModel::modelReset, [this]() { selectMessage(*current_msg_id); });
+  QObject::connect(model, &MessageListModel::modelReset, [this]() {
+    if (current_msg_id) {
+      selectMessage(*current_msg_id);
+    }
+  });
   QObject::connect(table_widget->selectionModel(), &QItemSelectionModel::currentChanged, [=](const QModelIndex &current, const QModelIndex &previous) {
     if (current.isValid() && current.row() < model->msgs.size()) {
-      if (model->msgs[current.row()] != *current_msg_id) {
+      auto &id = model->msgs[current.row()];
-        current_msg_id = model->msgs[current.row()];
+      if (!current_msg_id || id != *current_msg_id) {
+        current_msg_id = id;
         emit msgSelectionChanged(*current_msg_id);
       }
     }
@@ -67,10 +72,10 @@ MessagesWidget::MessagesWidget(QWidget *parent) : QWidget(parent) {
   setWhatsThis(tr(R"(
     <b>Message View</b><br/>
     <!-- TODO: add descprition here -->
-    Byte color: <br />
+    <span style="color:gray">Byte color</span><br />
     <span style="color:gray;">■ </span> constant changing<br />
     <span style="color:blue;">■ </span> increasing<br />
-    <span style="color:red;">■ </span> decreasing <br />
+    <span style="color:red;">■ </span> decreasing
   )"));
 }
 
@@ -91,9 +96,10 @@ void MessagesWidget::updateSuppressedButtons() {
 }
 
 void MessagesWidget::reset() {
+  current_msg_id = std::nullopt;
+  table_widget->selectionModel()->clear();
   model->reset();
   filter->clear();
-  current_msg_id = std::nullopt;
   updateSuppressedButtons();
 }
 
@@ -138,8 +144,8 @@ void MessageListModel::setFilterString(const QString &string) {
     if (id.toString().contains(txt, cs) || msgName(id).contains(txt, cs)) return true;
     // Search by signal name
     if (const auto msg = dbc()->msg(id)) {
-      for (auto &signal : msg->sigs) {
+      for (auto s : msg->getSignals()) {
-        if (signal.name.contains(txt, cs)) return true;
+        if (s->name.contains(txt, cs)) return true;
       }
     }
     return false;

tools/cabana/messageswidget.h

@@ -1,12 +1,9 @@
 #pragma once
 
-#include <optional>
-
 #include <QAbstractTableModel>
 #include <QHeaderView>
 #include <QLineEdit>
 #include <QSet>
-#include <QStyledItemDelegate>
 #include <QTableView>
 
 #include "tools/cabana/dbcmanager.h"

tools/cabana/signaledit.cc

@@ -6,7 +6,6 @@
 #include <QHeaderView>
 #include <QMessageBox>
 #include <QPushButton>
-#include <QToolButton>
 #include <QVBoxLayout>
 
 #include "tools/cabana/commands.h"
@@ -48,9 +47,9 @@ void SignalModel::refresh() {
   beginResetModel();
   root.reset(new SignalModel::Item);
   if (auto msg = dbc()->msg(msg_id)) {
-    for (auto &s : msg->sigs) {
+    for (auto s : msg->getSignals()) {
-      if (filter_str.isEmpty() || s.name.contains(filter_str, Qt::CaseInsensitive)) {
+      if (filter_str.isEmpty() || s->name.contains(filter_str, Qt::CaseInsensitive)) {
-        insertItem(root.get(), root->children.size(), &s);
+        insertItem(root.get(), root->children.size(), s);
       }
     }
   }
@@ -58,7 +57,7 @@ void SignalModel::refresh() {
 }
 
 void SignalModel::updateState(const QHash<MessageId, CanData> *msgs) {
-  if (!msgs || (msgs->contains(msg_id))) {
+  if (!msgs || msgs->contains(msg_id)) {
     auto &dat = can->lastMessage(msg_id).dat;
     int row = 0;
     for (auto item : root->children) {
@@ -93,9 +92,8 @@ Qt::ItemFlags SignalModel::flags(const QModelIndex &index) const {
 }
 
 int SignalModel::signalRow(const Signal *sig) const {
-  auto &children = root->children;
+  for (int i = 0; i < root->children.size(); ++i) {
-  for (int i = 0; i < children.size(); ++i) {
+    if (root->children[i]->sig == sig) return i;
-    if (children[i]->sig == sig) return i;
   }
   return -1;
 }
@@ -129,11 +127,11 @@ QVariant SignalModel::data(const QModelIndex &index, int role) const {
           case Item::Min: return item->sig->min;
           case Item::Max: return item->sig->max;
           case Item::Desc: {
-            QString val_desc;
+            QStringList val_desc;
             for (auto &[val, desc] : item->sig->val_desc) {
-              val_desc += QString("%1 \"%2\"").arg(val, desc);
+              val_desc << QString("%1 \"%2\"").arg(val, desc);
             }
-            return val_desc;
+            return val_desc.join(" ");
           }
           default: break;
         }
@@ -280,16 +278,24 @@ void SignalModel::handleSignalRemoved(const Signal *sig) {
 
 // SignalItemDelegate
 
-SignalItemDelegate::SignalItemDelegate(QObject *parent) {
+SignalItemDelegate::SignalItemDelegate(QObject *parent) : QStyledItemDelegate(parent) {
   name_validator = new NameValidator(this);
   double_validator = new QDoubleValidator(this);
   double_validator->setLocale(QLocale::C);  // Match locale of QString::toDouble() instead of system
   small_font.setPointSize(8);
 }
 
+QSize SignalItemDelegate::sizeHint(const QStyleOptionViewItem &option, const QModelIndex &index) const {
+  QSize size = QStyledItemDelegate::sizeHint(option, index);
+  if (!index.parent().isValid() && index.column() == 0) {
+    size.rwidth() = std::min(((QWidget*)parent())->size().width() / 2, size.width() + color_label_width + 8);
+  }
+  return size;
+}
+
 void SignalItemDelegate::paint(QPainter *painter, const QStyleOptionViewItem &option, const QModelIndex &index) const {
   auto item = (SignalModel::Item *)index.internalPointer();
-  if (item && !index.parent().isValid() && index.column() == 0) {
+  if (index.column() == 0 && item && item->type == SignalModel::Item::Sig) {
     painter->save();
     painter->setRenderHint(QPainter::Antialiasing);
     if (option.state & QStyle::State_Selected) {
@@ -298,7 +304,7 @@ void SignalItemDelegate::paint(QPainter *painter, const QStyleOptionViewItem &op
 
     // color label
     auto bg_color = getColor(item->sig);
-    QRect rc{option.rect.left(), option.rect.top(), 18, option.rect.height()};
+    QRect rc{option.rect.left(), option.rect.top(), color_label_width, option.rect.height()};
     painter->setPen(Qt::NoPen);
     painter->setBrush(item->highlight ? bg_color.darker(125) : bg_color);
     painter->drawRoundedRect(rc.adjusted(0, 2, 0, -2), 3, 3);
@@ -345,22 +351,22 @@ QWidget *SignalItemDelegate::createEditor(QWidget *parent, const QStyleOptionVie
 
 // SignalView
 
-SignalView::SignalView(ChartsWidget *charts, QWidget *parent) : charts(charts), QWidget(parent) {
+SignalView::SignalView(ChartsWidget *charts, QWidget *parent) : charts(charts), QFrame(parent) {
+  setFrameStyle(QFrame::StyledPanel | QFrame::Plain);
   // title bar
   QWidget *title_bar = new QWidget(this);
   title_bar->setAutoFillBackground(true);
   QHBoxLayout *hl = new QHBoxLayout(title_bar);
   hl->addWidget(signal_count_lb = new QLabel());
   filter_edit = new QLineEdit(this);
+  QRegularExpression re("\\S+");
+  filter_edit->setValidator(new QRegularExpressionValidator(re, this));
   filter_edit->setClearButtonEnabled(true);
-  filter_edit->setPlaceholderText(tr("filter signals by name"));
+  filter_edit->setPlaceholderText(tr("filter signals"));
   hl->addWidget(filter_edit);
   hl->addStretch(1);
-  auto collapse_btn = new QToolButton();
+  auto collapse_btn = toolButton("dash-square", tr("Collapse All"));
-  collapse_btn->setIcon(utils::icon("dash-square"));
   collapse_btn->setIconSize({12, 12});
-  collapse_btn->setAutoRaise(true);
-  collapse_btn->setToolTip(tr("Collapse All"));
   hl->addWidget(collapse_btn);
 
   // tree view
@@ -371,7 +377,8 @@ SignalView::SignalView(ChartsWidget *charts, QWidget *parent) : charts(charts),
   tree->setHeaderHidden(true);
   tree->setMouseTracking(true);
   tree->setExpandsOnDoubleClick(false);
-  tree->header()->setSectionResizeMode(QHeaderView::Stretch);
+  tree->header()->setSectionResizeMode(0, QHeaderView::ResizeToContents);
+  tree->header()->setStretchLastSection(true);
   tree->setMinimumHeight(300);
   tree->setStyleSheet("QSpinBox{background-color:white;border:none;} QLineEdit{background-color:white;}");
 
@@ -389,7 +396,7 @@ SignalView::SignalView(ChartsWidget *charts, QWidget *parent) : charts(charts),
   QObject::connect(model, &QAbstractItemModel::modelReset, this, &SignalView::rowsChanged);
   QObject::connect(model, &QAbstractItemModel::rowsInserted, this, &SignalView::rowsChanged);
   QObject::connect(model, &QAbstractItemModel::rowsRemoved, this, &SignalView::rowsChanged);
-  QObject::connect(dbc(), &DBCManager::signalAdded, [this](uint32_t address, const Signal *sig) { expandSignal(sig); });
+  QObject::connect(dbc(), &DBCManager::signalAdded, [this](uint32_t address, const Signal *sig) { selectSignal(sig); });
 
   setWhatsThis(tr(R"(
     <b>Signal view</b><br />
@@ -404,16 +411,6 @@ void SignalView::setMessage(const MessageId &id) {
 }
 
 void SignalView::rowsChanged() {
-  auto create_btn = [](const QString &id, const QString &tooltip) {
-    auto btn = new QToolButton();
-    btn->setIcon(utils::icon(id));
-    btn->setToolTip(tooltip);
-    btn->setAutoRaise(true);
-    return btn;
-  };
-
-  signal_count_lb->setText(tr("Signals: %1").arg(model->rowCount()));
-
   for (int i = 0; i < model->rowCount(); ++i) {
     auto index = model->index(i, 1);
     if (!tree->indexWidget(index)) {
@@ -422,8 +419,8 @@ void SignalView::rowsChanged() {
       h->setContentsMargins(0, 2, 0, 2);
       h->addStretch(1);
 
-      auto remove_btn = create_btn("x", tr("Remove signal"));
+      auto remove_btn = toolButton("x", tr("Remove signal"));
-      auto plot_btn = create_btn("graph-up", "");
+      auto plot_btn = toolButton("graph-up", "");
       plot_btn->setCheckable(true);
       h->addWidget(plot_btn);
       h->addWidget(remove_btn);
@@ -436,6 +433,7 @@ void SignalView::rowsChanged() {
       });
     }
   }
+  signal_count_lb->setText(tr("Signals: %1").arg(model->rowCount()));
   updateChartState();
 }
 
@@ -449,23 +447,26 @@ void SignalView::rowClicked(const QModelIndex &index) {
   }
 }
 
-void SignalView::expandSignal(const Signal *sig) {
+void SignalView::selectSignal(const Signal *sig, bool expand) {
   if (int row = model->signalRow(sig); row != -1) {
     auto idx = model->index(row, 0);
-    bool expand = !tree->isExpanded(idx);
+    if (expand) {
-    tree->setExpanded(idx, expand);
+      tree->setExpanded(idx, !tree->isExpanded(idx));
+    }
     tree->scrollTo(idx, QAbstractItemView::PositionAtTop);
-    if (expand) tree->setCurrentIndex(idx);
+    tree->setCurrentIndex(idx);
   }
 }
 
 void SignalView::updateChartState() {
   int i = 0;
   for (auto item : model->root->children) {
-    auto plot_btn = tree->indexWidget(model->index(i, 1))->findChildren<QToolButton *>()[0];
     bool chart_opened = charts->hasSignal(msg_id, item->sig);
-    plot_btn->setChecked(chart_opened);
+    auto buttons = tree->indexWidget(model->index(i, 1))->findChildren<QToolButton *>();
-    plot_btn->setToolTip(chart_opened ? tr("Close Plot") : tr("Show Plot\nSHIFT click to add to previous opened plot"));
+    if (buttons.size() > 0) {
+      buttons[0]->setChecked(chart_opened);
+      buttons[0]->setToolTip(chart_opened ? tr("Close Plot") : tr("Show Plot\nSHIFT click to add to previous opened plot"));
+    }
     ++i;
   }
 }

tools/cabana/signaledit.h

@@ -80,12 +80,14 @@ class SignalItemDelegate : public QStyledItemDelegate {
 public:
   SignalItemDelegate(QObject *parent);
   void paint(QPainter *painter, const QStyleOptionViewItem &option, const QModelIndex &index) const override;
+  QSize sizeHint(const QStyleOptionViewItem &option, const QModelIndex &index) const;
   QWidget *createEditor(QWidget *parent, const QStyleOptionViewItem &option, const QModelIndex &index) const override;
   QValidator *name_validator, *double_validator;
   QFont small_font;
+  const int color_label_width = 18;
 };
 
-class SignalView : public QWidget {
+class SignalView : public QFrame {
   Q_OBJECT
 
 public:
@@ -93,7 +95,7 @@ public:
   void setMessage(const MessageId &id);
   void signalHovered(const Signal *sig);
   void updateChartState();
-  void expandSignal(const Signal *sig);
+  void selectSignal(const Signal *sig, bool expand = false);
   void rowClicked(const QModelIndex &index);
   SignalModel *model = nullptr;
 

tools/cabana/streams/abstractstream.cc

@@ -31,10 +31,12 @@ bool AbstractStream::updateEvent(const Event *event) {
       data.dat = QByteArray((char *)c.getDat().begin(), c.getDat().size());
       data.count = ++counters[id];
       data.freq = data.count / std::max(1.0, current_sec);
-      change_trackers[id].compute(data.dat, data.ts, data.freq);
+
-      data.colors = change_trackers[id].colors;
+      auto &tracker = change_trackers[id];
-      data.last_change_t = change_trackers[id].last_change_t;
+      tracker.compute(data.dat, data.ts, data.freq);
-      data.bit_change_counts = change_trackers[id].bit_change_counts;
+      data.colors = tracker.colors;
+      data.last_change_t = tracker.last_change_t;
+      data.bit_change_counts = tracker.bit_change_counts;
     }
 
     double ts = millis_since_boot();

tools/cabana/tests/test_cabana.cc

@@ -23,9 +23,11 @@ TEST_CASE("DBCManager::generateDBC") {
     auto &new_m = new_msgs.at(address);
     REQUIRE(m.name == new_m.name);
     REQUIRE(m.size == new_m.size);
-    REQUIRE(m.sigs.size() == new_m.sigs.size());
+    REQUIRE(m.getSignals().size() == new_m.getSignals().size());
-    for (int i = 0; i < m.sigs.size(); ++i) {
+    auto sigs = m.getSignals();
-      REQUIRE(m.sigs[i] == new_m.sigs[i]);
+    auto new_sigs = new_m.getSignals();
+    for (int i = 0; i < sigs.size(); ++i) {
+      REQUIRE(*sigs[i] == *new_sigs[i]);
     }
   }
 }
@@ -44,9 +46,9 @@ TEST_CASE("Parse can messages") {
       for (const auto &c : e->event.getCan()) {
         const auto msg = dbc.msg(c.getAddress());
         if (c.getSrc() == 0 && msg) {
-          for (auto &sig : msg->sigs) {
+          for (auto sig : msg->getSignals()) {
-            double val = get_raw_value((uint8_t *)c.getDat().begin(), c.getDat().size(), sig);
+            double val = get_raw_value((uint8_t *)c.getDat().begin(), c.getDat().size(), *sig);
-            values_1[{c.getAddress(), sig.name}].push_back(val);
+            values_1[{c.getAddress(), sig->name}].push_back(val);
           }
         }
       }

tools/cabana/util.cc

@@ -3,6 +3,7 @@
 #include <QApplication>
 #include <QFontDatabase>
 #include <QPainter>
+#include <QPixmapCache>
 #include <QDebug>
 
 #include <limits>
@@ -73,32 +74,23 @@ MessageBytesDelegate::MessageBytesDelegate(QObject *parent) : QStyledItemDelegat
 }
 
 void MessageBytesDelegate::paint(QPainter *painter, const QStyleOptionViewItem &option, const QModelIndex &index) const {
-  QStyleOptionViewItemV4 opt = option;
-  initStyleOption(&opt, index);
-
-  auto byte_list = opt.text.split(" ");
-  if (byte_list.size() <= 1) {
-    QStyledItemDelegate::paint(painter, option, index);
-    return;
-  }
-
   auto color_role = option.state & QStyle::State_Selected ? QPalette::HighlightedText: QPalette::Text;
   painter->setPen(option.palette.color(color_role));
   painter->setFont(fixed_font);
-  QRect space = painter->boundingRect(opt.rect, opt.displayAlignment, " ");
+  int space = painter->boundingRect(option.rect, option.displayAlignment, " ").width();
-  QRect pos = painter->boundingRect(opt.rect, opt.displayAlignment, "00");
+  QRect pos = painter->boundingRect(option.rect, option.displayAlignment, "00").adjusted(0, 0, 2, 0);
-  pos.moveLeft(pos.x() + space.width());
+  pos.moveLeft(pos.x() + space);
-
+  int m = space / 2;
-  int m = space.width() / 2;
   const QMargins margins(m, m, m, m);
 
   auto colors = index.data(Qt::UserRole).value<QVector<QColor>>();
+  auto byte_list = index.data(Qt::DisplayRole).toString().split(" ");
   for (int i = 0; i < byte_list.size(); ++i) {
-    if (i < colors.size()) {
+    if (i < colors.size() && colors[i].alpha() > 0) {
       painter->fillRect(pos.marginsAdded(margins), colors[i]);
     }
-    painter->drawText(pos, opt.displayAlignment, byte_list[i]);
+    painter->drawText(pos, Qt::AlignCenter, byte_list[i]);
-    pos.moveLeft(pos.right() + space.width());
+    pos.moveLeft(pos.right() + space);
   }
 }
 
@@ -124,12 +116,25 @@ namespace utils {
 QPixmap icon(const QString &id) {
   static bool dark_theme = QApplication::style()->standardPalette().color(QPalette::WindowText).value() >
                            QApplication::style()->standardPalette().color(QPalette::Background).value();
-  QPixmap pm = bootstrapPixmap(id);
+  QPixmap pm;
+  QString key = "bootstrap_" % id % (dark_theme ? "1" : "0");
+  if (!QPixmapCache::find(key, &pm)) {
+    pm = bootstrapPixmap(id);
     if (dark_theme) {
       QPainter p(&pm);
       p.setCompositionMode(QPainter::CompositionMode_SourceIn);
       p.fillRect(pm.rect(), Qt::lightGray);
     }
+    QPixmapCache::insert(key, pm);
+  }
   return pm;
 }
 }  // namespace utils
+
+QToolButton *toolButton(const QString &icon, const QString &tooltip) {
+  auto btn = new QToolButton();
+  btn->setIcon(utils::icon(icon));
+  btn->setToolTip(tooltip);
+  btn->setAutoRaise(true);
+  return btn;
+};

tools/cabana/util.h

@@ -6,7 +6,9 @@
 #include <QColor>
 #include <QFont>
 #include <QRegExpValidator>
+#include <QStringBuilder>
 #include <QStyledItemDelegate>
+#include <QToolButton>
 #include <QVector>
 
 #include "tools/cabana/dbcmanager.h"
@@ -52,3 +54,5 @@ public:
 namespace utils {
 QPixmap icon(const QString &id);
 }
+
+QToolButton *toolButton(const QString &icon, const QString &tooltip);

tools/cabana/videowidget.cc

@@ -28,9 +28,9 @@ inline QString formatTime(int seconds) {
 
 VideoWidget::VideoWidget(QWidget *parent) : QWidget(parent) {
   QVBoxLayout *main_layout = new QVBoxLayout(this);
+  main_layout->setContentsMargins(0, 0, 0, 0);
   QFrame *frame = new QFrame(this);
-  frame->setFrameShape(QFrame::StyledPanel);
+  frame->setFrameStyle(QFrame::StyledPanel | QFrame::Plain);
-  frame->setFrameShadow(QFrame::Sunken);
   main_layout->addWidget(frame);
 
   QVBoxLayout *frame_layout = new QVBoxLayout(frame);