diff --git a/tools/cabana/binaryview.cc b/tools/cabana/binaryview.cc
index 010fe0fc88..4d7b3148c6 100644
--- a/tools/cabana/binaryview.cc
+++ b/tools/cabana/binaryview.cc
@@ -4,8 +4,10 @@
 #include <QHeaderView>
 #include <QMouseEvent>
 #include <QPainter>
+#include <QScrollBar>
 #include <QToolTip>
 
+#include "tools/cabana/commands.h"
 #include "tools/cabana/streams/abstractstream.h"
 
 // BinaryView
@@ -30,12 +32,15 @@ BinaryView::BinaryView(QWidget *parent) : QTableView(parent) {
   setFrameShape(QFrame::NoFrame);
   setShowGrid(false);
   setMouseTracking(true);
-  setSizeAdjustPolicy(QAbstractScrollArea::AdjustToContents);
-  setSizePolicy(QSizePolicy::Preferred, QSizePolicy::Fixed);
+  setHorizontalScrollBarPolicy(Qt::ScrollBarAlwaysOff);
+
+  QObject::connect(dbc(), &DBCManager::DBCFileChanged, this, &BinaryView::refresh);
+  QObject::connect(UndoStack::instance(), &QUndoStack::indexChanged, this, &BinaryView::refresh);
 }
 
 QSize BinaryView::minimumSizeHint() const {
-  return {horizontalHeader()->minimumSectionSize() * 9 + VERTICAL_HEADER_WIDTH + 2, 0};
+  return {(horizontalHeader()->minimumSectionSize() + 1) * 9 + VERTICAL_HEADER_WIDTH,
+          CELL_HEIGHT * std::min(model->rowCount(), 10)};
 }
 
 void BinaryView::highlight(const Signal *sig) {
@@ -124,13 +129,20 @@ void BinaryView::leaveEvent(QEvent *event) {
 }
 
 void BinaryView::setMessage(const QString &message_id) {
-  model->setMessage(message_id);
+  model->msg_id = message_id;
+  verticalScrollBar()->setValue(0);
+  refresh();
+}
+
+void BinaryView::refresh() {
+  if (model->msg_id.isEmpty()) return;
+
   clearSelection();
   anchor_index = QModelIndex();
   resize_sig = nullptr;
   hovered_sig = nullptr;
   highlightPosition(QCursor::pos());
-  updateState();
+  model->refresh();
 }
 
 QSet<const Signal *> BinaryView::getOverlappingSignals() const {
@@ -155,9 +167,8 @@ std::tuple<int, int, bool> BinaryView::getSelection(QModelIndex index) {
 
 // BinaryViewModel
 
-void BinaryViewModel::setMessage(const QString &message_id) {
+void BinaryViewModel::refresh() {
   beginResetModel();
-  msg_id = message_id;
   items.clear();
   if ((dbc_msg = dbc()->msg(msg_id))) {
     row_count = dbc_msg->size;
@@ -184,6 +195,7 @@ void BinaryViewModel::setMessage(const QString &message_id) {
     items.resize(row_count * column_count);
   }
   endResetModel();
+  updateState();
 }
 
 void BinaryViewModel::updateState() {
@@ -200,7 +212,7 @@ void BinaryViewModel::updateState() {
   }
   char hex[3] = {'\0'};
   for (int i = 0; i < binary.size(); ++i) {
-    for (int j = 0; j < column_count - 1; ++j) {
+    for (int j = 0; j < 8; ++j) {
       items[i * column_count + j].val = ((binary[i] >> (7 - j)) & 1) != 0 ? '1' : '0';
     }
     hex[0] = toHex(binary[i] >> 4);
@@ -214,7 +226,7 @@ void BinaryViewModel::updateState() {
     }
   }
 
-  for (int i = 0; i < row_count * column_count; ++i) {
+  for (int i = 0; i < items.size(); ++i) {
     if (i >= prev_items.size() || prev_items[i].val != items[i].val || prev_items[i].bg_color != items[i].bg_color) {
       auto idx = index(i / column_count, i % column_count);
       emit dataChanged(idx, idx);
diff --git a/tools/cabana/binaryview.h b/tools/cabana/binaryview.h
index 55de71572e..f697ea28cb 100644
--- a/tools/cabana/binaryview.h
+++ b/tools/cabana/binaryview.h
@@ -21,7 +21,7 @@ public:
 class BinaryViewModel : public QAbstractTableModel {
 public:
   BinaryViewModel(QObject *parent) : QAbstractTableModel(parent) {}
-  void setMessage(const QString &message_id);
+  void refresh();
   void updateState();
   QVariant headerData(int section, Qt::Orientation orientation, int role = Qt::DisplayRole) const override;
   QVariant data(const QModelIndex &index, int role = Qt::DisplayRole) const { return {}; }
@@ -39,12 +39,11 @@ public:
     QColor bg_color = QApplication::style()->standardPalette().color(QPalette::Base);
     bool is_msb = false;
     bool is_lsb = false;
-    QString val = "0";
+    QString val = "-";
     QList<const Signal *> sigs;
   };
   std::vector<Item> items;
 
-private:
   QString msg_id;
   const DBCMsg *dbc_msg = nullptr;
   int row_count = 0;
@@ -69,6 +68,7 @@ signals:
   void resizeSignal(const Signal *sig, int from, int size);
 
 private:
+  void refresh();
   std::tuple<int, int, bool> getSelection(QModelIndex index);
   void setSelection(const QRect &rect, QItemSelectionModel::SelectionFlags flags) override;
   void mousePressEvent(QMouseEvent *event) override;
diff --git a/tools/cabana/chartswidget.cc b/tools/cabana/chartswidget.cc
index e653860c3d..580cce5521 100644
--- a/tools/cabana/chartswidget.cc
+++ b/tools/cabana/chartswidget.cc
@@ -374,7 +374,7 @@ void ChartView::addSeries(const QString &msg_id, const Signal *sig) {
 void ChartView::removeSeries(const QString &msg_id, const Signal *sig) {
   auto it = std::find_if(sigs.begin(), sigs.end(), [&](auto &s) { return s.msg_id == msg_id && s.sig == sig; });
   if (it != sigs.end()) {
-    it = removeSeries(it);
+    it = removeItem(it);
   }
 }
 
@@ -382,7 +382,7 @@ bool ChartView::hasSeries(const QString &msg_id, const Signal *sig) const {
   return std::any_of(sigs.begin(), sigs.end(), [&](auto &s) { return s.msg_id == msg_id && s.sig == sig; });
 }
 
-QList<ChartView::SigItem>::iterator ChartView::removeSeries(const QList<ChartView::SigItem>::iterator &it) {
+QList<ChartView::SigItem>::iterator ChartView::removeItem(const QList<ChartView::SigItem>::iterator &it) {
   chart()->removeSeries(it->series);
   it->series->deleteLater();
   QString msg_id = it->msg_id;
@@ -407,7 +407,7 @@ void ChartView::signalUpdated(const Signal *sig) {
 
 void ChartView::signalRemoved(const Signal *sig) {
   for (auto it = sigs.begin(); it != sigs.end(); /**/) {
-    it = (it->sig == sig) ? removeSeries(it) : ++it;
+    it = (it->sig == sig) ? removeItem(it) : ++it;
   }
 }
 
@@ -418,7 +418,7 @@ void ChartView::msgUpdated(uint32_t address) {
 
 void ChartView::msgRemoved(uint32_t address) {
   for (auto it = sigs.begin(); it != sigs.end(); /**/) {
-    it = (it->address == address) ? removeSeries(it) : ++it;
+    it = (it->address == address) ? removeItem(it) : ++it;
   }
 }
 
@@ -450,7 +450,7 @@ void ChartView::manageSeries() {
         bool exists = std::any_of(series_list.cbegin(), series_list.cend(), [&](auto &s) {
           return s[0] == it->msg_id && s[2] == it->sig->name.c_str();
         });
-        it = exists ? ++it : removeSeries(it);
+        it = exists ? ++it : removeItem(it);
       }
     }
   }
diff --git a/tools/cabana/chartswidget.h b/tools/cabana/chartswidget.h
index 229b1e9cbe..d5572756c1 100644
--- a/tools/cabana/chartswidget.h
+++ b/tools/cabana/chartswidget.h
@@ -57,7 +57,7 @@ private slots:
   void manageSeries();
 
 private:
-  QList<ChartView::SigItem>::iterator removeSeries(const QList<ChartView::SigItem>::iterator &it);
+  QList<ChartView::SigItem>::iterator removeItem(const QList<ChartView::SigItem>::iterator &it);
   void mousePressEvent(QMouseEvent *event) override;
   void mouseReleaseEvent(QMouseEvent *event) override;
   void mouseMoveEvent(QMouseEvent *ev) override;
diff --git a/tools/cabana/commands.cc b/tools/cabana/commands.cc
index b3f5cb1c66..e4bf999062 100644
--- a/tools/cabana/commands.cc
+++ b/tools/cabana/commands.cc
@@ -1,3 +1,5 @@
+#include <QApplication>
+
 #include "tools/cabana/commands.h"
 
 // EditMsgCommand
@@ -73,3 +75,12 @@ EditSignalCommand::EditSignalCommand(const QString &id, const Signal *sig, const
 
 void EditSignalCommand::undo() { dbc()->updateSignal(id, new_signal.name.c_str(), old_signal); }
 void EditSignalCommand::redo() { dbc()->updateSignal(id, old_signal.name.c_str(), new_signal); }
+
+namespace UndoStack {
+
+QUndoStack *instance() {
+  static QUndoStack *undo_stack = new QUndoStack(qApp);
+  return undo_stack;
+}
+
+}  // namespace UndoStack
diff --git a/tools/cabana/commands.h b/tools/cabana/commands.h
index e46223d630..c07a00b760 100644
--- a/tools/cabana/commands.h
+++ b/tools/cabana/commands.h
@@ -1,6 +1,7 @@
 #pragma once
 
 #include <QUndoCommand>
+#include <QUndoStack>
 
 #include "tools/cabana/dbcmanager.h"
 
@@ -60,3 +61,8 @@ private:
   Signal old_signal = {};
   Signal new_signal = {};
 };
+
+namespace UndoStack {
+  QUndoStack *instance();
+  inline void push(QUndoCommand *cmd) { instance()->push(cmd); }
+};
diff --git a/tools/cabana/dbcmanager.cc b/tools/cabana/dbcmanager.cc
index 01bdff17a1..83f5fdb74a 100644
--- a/tools/cabana/dbcmanager.cc
+++ b/tools/cabana/dbcmanager.cc
@@ -68,7 +68,7 @@ void DBCManager::addSignal(const QString &id, const Signal &sig) {
   if (auto m = const_cast<DBCMsg *>(msg(id))) {
     auto &s = m->sigs[sig.name.c_str()];
     s = sig;
-    emit signalAdded(&s);
+    emit signalAdded(parseId(id).second, &s);
   }
 }
 
@@ -110,6 +110,7 @@ DBCManager *dbc() {
 
 std::vector<const Signal*> DBCMsg::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;
diff --git a/tools/cabana/dbcmanager.h b/tools/cabana/dbcmanager.h
index 5db6737be8..03bd16f2a5 100644
--- a/tools/cabana/dbcmanager.h
+++ b/tools/cabana/dbcmanager.h
@@ -8,7 +8,9 @@
 struct DBCMsg {
   QString name;
   uint32_t size;
+  // signal must be saved as value in map to make undo stack work properly.
   std::map<QString, Signal> sigs;
+  // return vector<signals>, sort by start_bits
   std::vector<const Signal*> getSignals() const;
 };
 
@@ -39,7 +41,7 @@ public:
   }
 
 signals:
-  void signalAdded(const Signal *sig);
+  void signalAdded(uint32_t address, const Signal *sig);
   void signalRemoved(const Signal *sig);
   void signalUpdated(const Signal *sig);
   void msgUpdated(uint32_t address);
diff --git a/tools/cabana/detailwidget.cc b/tools/cabana/detailwidget.cc
index ef8a8f6290..5e127966c1 100644
--- a/tools/cabana/detailwidget.cc
+++ b/tools/cabana/detailwidget.cc
@@ -4,8 +4,7 @@
 #include <QFormLayout>
 #include <QMenu>
 #include <QMessageBox>
-#include <QScrollBar>
-#include <QTimer>
+#include <QToolButton>
 
 #include "selfdrive/ui/qt/util.h"
 #include "tools/cabana/commands.h"
@@ -15,7 +14,6 @@
 // DetailWidget
 
 DetailWidget::DetailWidget(ChartsWidget *charts, QWidget *parent) : charts(charts), QWidget(parent) {
-  undo_stack = new QUndoStack(this);
   QWidget *main_widget = new QWidget(this);
   QVBoxLayout *main_layout = new QVBoxLayout(main_widget);
   main_layout->setContentsMargins(0, 0, 0, 0);
@@ -29,7 +27,7 @@ DetailWidget::DetailWidget(ChartsWidget *charts, QWidget *parent) : charts(chart
   main_layout->addWidget(tabbar);
 
   // message title
-  toolbar = new QToolBar(this);
+  QToolBar *toolbar = new QToolBar(this);
   toolbar->setIconSize({16, 16});
   toolbar->addWidget(new QLabel("time:"));
   time_label = new QLabel(this);
@@ -54,41 +52,35 @@ DetailWidget::DetailWidget(ChartsWidget *charts, QWidget *parent) : charts(chart
   main_layout->addWidget(warning_widget);
 
   // msg widget
-  QWidget *msg_widget = new QWidget(this);
-  QVBoxLayout *msg_layout = new QVBoxLayout(msg_widget);
-  msg_layout->setContentsMargins(0, 0, 0, 0);
-  // binary view
-  binary_view = new BinaryView(this);
-  msg_layout->addWidget(binary_view);
-  // signals
-  signals_layout = new QVBoxLayout();
-  signals_layout->setSpacing(0);
-  msg_layout->addLayout(signals_layout);
-  msg_layout->addStretch(0);
-
-  scroll = new QScrollArea(this);
-  scroll->setFrameShape(QFrame::NoFrame);
-  scroll->setWidget(msg_widget);
-  scroll->setWidgetResizable(true);
-  scroll->setHorizontalScrollBarPolicy(Qt::ScrollBarAlwaysOff);
+  splitter = new QSplitter(Qt::Vertical, this);
+  splitter->setAutoFillBackground(true);
+  splitter->addWidget(binary_view = new BinaryView(this));
+  splitter->addWidget(signal_view = new SignalView(charts, this));
+  binary_view->setSizePolicy(QSizePolicy::Preferred, QSizePolicy::Minimum);
+  signal_view->setSizePolicy(QSizePolicy::Preferred, QSizePolicy::Expanding);
+  splitter->setStretchFactor(0, 0);
+  splitter->setStretchFactor(1, 1);
 
   tab_widget = new QTabWidget(this);
   tab_widget->setTabPosition(QTabWidget::South);
-  tab_widget->addTab(scroll, bootstrapPixmap("file-earmark-ruled"), "&Msg");
-  history_log = new LogsWidget(this);
-  tab_widget->addTab(history_log, bootstrapPixmap("stopwatch"), "&Logs");
+  tab_widget->addTab(splitter, bootstrapPixmap("file-earmark-ruled"), "&Msg");
+  tab_widget->addTab(history_log = new LogsWidget(this), bootstrapPixmap("stopwatch"), "&Logs");
   main_layout->addWidget(tab_widget);
 
   stacked_layout = new QStackedLayout(this);
   stacked_layout->addWidget(new WelcomeWidget(this));
   stacked_layout->addWidget(main_widget);
 
-  QObject::connect(binary_view, &BinaryView::signalClicked, this, &DetailWidget::showForm);
-  QObject::connect(binary_view, &BinaryView::resizeSignal, this, &DetailWidget::resizeSignal);
-  QObject::connect(binary_view, &BinaryView::addSignal, this, &DetailWidget::addSignal);
+  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(signal_view, &SignalView::showChart, charts, &ChartsWidget::showChart);
+  QObject::connect(signal_view, &SignalView::highlight, binary_view, &BinaryView::highlight);
   QObject::connect(tab_widget, &QTabWidget::currentChanged, [this]() { updateState(); });
   QObject::connect(can, &AbstractStream::msgsReceived, this, &DetailWidget::updateState);
-  QObject::connect(dbc(), &DBCManager::DBCFileChanged, [this]() { dbcMsgChanged(); });
+  QObject::connect(dbc(), &DBCManager::DBCFileChanged, this, &DetailWidget::refresh);
+  QObject::connect(UndoStack::instance(), &QUndoStack::indexChanged, this, &DetailWidget::refresh);
   QObject::connect(tabbar, &QTabBar::customContextMenuRequested, this, &DetailWidget::showTabBarContextMenu);
   QObject::connect(tabbar, &QTabBar::currentChanged, [this](int index) {
     if (index != -1 && tabbar->tabText(index) != msg_id) {
@@ -96,14 +88,7 @@ DetailWidget::DetailWidget(ChartsWidget *charts, QWidget *parent) : charts(chart
     }
   });
   QObject::connect(tabbar, &QTabBar::tabCloseRequested, tabbar, &QTabBar::removeTab);
-  QObject::connect(charts, &ChartsWidget::seriesChanged, this, &DetailWidget::updateChartState);
-  QObject::connect(history_log, &LogsWidget::openChart, [this](const QString &id, const Signal *sig) {
-    this->charts->showChart(id, sig, true, false);
-  });
-  QObject::connect(undo_stack, &QUndoStack::indexChanged, [this]() {
-    if (undo_stack->count() > 0)
-      dbcMsgChanged();
-  });
+  QObject::connect(charts, &ChartsWidget::seriesChanged, signal_view, &SignalView::updateChartState);
 }
 
 void DetailWidget::showTabBarContextMenu(const QPoint &pt) {
@@ -128,41 +113,27 @@ void DetailWidget::setMessage(const QString &message_id) {
     index = tabbar->addTab(message_id);
     tabbar->setTabToolTip(index, msgName(message_id));
   }
-  tabbar->setCurrentIndex(index);
-  dbcMsgChanged();
-  scroll->verticalScrollBar()->setValue(0);
-  stacked_layout->setCurrentIndex(1);
-}
-
-void DetailWidget::dbcMsgChanged(int show_form_idx) {
-  if (msg_id.isEmpty()) return;
 
   setUpdatesEnabled(false);
 
+  signal_view->setMessage(msg_id);
   binary_view->setMessage(msg_id);
   history_log->setMessage(msg_id);
 
-  int i = 0;
+  stacked_layout->setCurrentIndex(1);
+  tabbar->setCurrentIndex(index);
+  refresh();
+  splitter->setSizes({1, 2});
+
+  setUpdatesEnabled(true);
+}
+
+void DetailWidget::refresh() {
+  if (msg_id.isEmpty()) return;
+
   QStringList warnings;
   const DBCMsg *msg = dbc()->msg(msg_id);
   if (msg) {
-    for (auto sig : msg->getSignals()) {
-      SignalEdit *form = i < signal_list.size() ? signal_list[i] : nullptr;
-      if (!form) {
-        form = new SignalEdit(i, this);
-        QObject::connect(form, &SignalEdit::remove, this, &DetailWidget::removeSignal);
-        QObject::connect(form, &SignalEdit::save, this, &DetailWidget::saveSignal);
-        QObject::connect(form, &SignalEdit::showFormClicked, this, &DetailWidget::showForm);
-        QObject::connect(form, &SignalEdit::highlight, binary_view, &BinaryView::highlight);
-        QObject::connect(binary_view, &BinaryView::signalHovered, form, &SignalEdit::signalHovered);
-        QObject::connect(form, &SignalEdit::showChart, charts, &ChartsWidget::showChart);
-        signals_layout->addWidget(form);
-        signal_list.push_back(form);
-      }
-      form->setSignal(msg_id, sig);
-      form->setChartOpened(charts->hasSignal(msg_id, sig));
-      ++i;
-    }
     if (msg->size != can->lastMessage(msg_id).dat.size()) {
       warnings.push_back(tr("Message size (%1) is incorrect.").arg(msg->size));
     }
@@ -172,10 +143,6 @@ void DetailWidget::dbcMsgChanged(int show_form_idx) {
   } else {
     warnings.push_back(tr("Drag-Select in binary view to create new signal."));
   }
-  for (/**/; i < signal_list.size(); ++i)
-    signal_list[i]->hide();
-
-  toolbar->setVisible(!msg_id.isEmpty());
   remove_msg_act->setEnabled(msg != nullptr);
   name_label->setText(msgName(msg_id));
 
@@ -184,10 +151,9 @@ void DetailWidget::dbcMsgChanged(int show_form_idx) {
     warning_icon->setPixmap(bootstrapPixmap(msg ? "exclamation-triangle" : "info-circle"));
   }
   warning_widget->setVisible(!warnings.isEmpty());
-  setUpdatesEnabled(true);
 }
 
-void DetailWidget::updateState(const QHash<QString, CanData> * msgs) {
+void DetailWidget::updateState(const QHash<QString, CanData> *msgs) {
   time_label->setText(QString::number(can->currentSec(), 'f', 3));
   if (msg_id.isEmpty() || (msgs && !msgs->contains(msg_id)))
     return;
@@ -198,86 +164,18 @@ void DetailWidget::updateState(const QHash<QString, CanData> * msgs) {
     history_log->updateState();
 }
 
-void DetailWidget::showForm(const Signal *sig) {
-  setUpdatesEnabled(false);
-  for (auto f : signal_list) {
-    f->updateForm(f->sig == sig && !f->form->isVisible());
-    if (f->sig == sig && f->form->isVisible()) {
-      QTimer::singleShot(0, [=]() { scroll->ensureWidgetVisible(f); });
-    }
-  }
-  setUpdatesEnabled(true);
-}
-
-void DetailWidget::updateChartState() {
-  for (auto f : signal_list)
-    f->setChartOpened(charts->hasSignal(f->msg_id, f->sig));
-}
-
 void DetailWidget::editMsg() {
   QString id = msg_id;
   auto msg = dbc()->msg(id);
   int size = msg ? msg->size : can->lastMessage(id).dat.size();
   EditMessageDialog dlg(id, msgName(id), size, this);
   if (dlg.exec()) {
-    undo_stack->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() {
-  undo_stack->push(new RemoveMsgCommand(msg_id));
-}
-
-void DetailWidget::addSignal(int start_bit, int size, bool little_endian) {
-  auto msg = dbc()->msg(msg_id);
-  if (!msg) {
-    for (int i = 1; /**/; ++i) {
-      QString name = QString("NEW_MSG_%1").arg(i);
-      auto it = std::find_if(dbc()->messages().begin(), dbc()->messages().end(), [&](auto &m) { return m.second.name == name; });
-      if (it == dbc()->messages().end()) {
-        undo_stack->push(new EditMsgCommand(msg_id, name, can->lastMessage(msg_id).dat.size()));
-        msg = dbc()->msg(msg_id);
-        break;
-      }
-    }
-  }
-  Signal sig = {.is_little_endian = little_endian, .factor = 1};
-  for (int i = 1; /**/; ++i) {
-    sig.name = "NEW_SIGNAL_" + std::to_string(i);
-    if (msg->sigs.count(sig.name.c_str()) == 0) break;
-  }
-  updateSigSizeParamsFromRange(sig, start_bit, size);
-  undo_stack->push(new AddSigCommand(msg_id, sig));
-}
-
-void DetailWidget::resizeSignal(const Signal *sig, int start_bit, int size) {
-  Signal s = *sig;
-  updateSigSizeParamsFromRange(s, start_bit, size);
-  saveSignal(sig, s);
-}
-
-void DetailWidget::saveSignal(const Signal *sig, const Signal &new_sig) {
-  auto msg = dbc()->msg(msg_id);
-  if (new_sig.name != sig->name) {
-    auto it = msg->sigs.find(new_sig.name.c_str());
-    if (it != msg->sigs.end()) {
-      QString warning_str = tr("There is already a signal with the same name '%1'").arg(new_sig.name.c_str());
-      QMessageBox::warning(this, tr("Failed to save signal"), warning_str);
-      return;
-    }
-  }
-  auto [start, end] = getSignalRange(&new_sig);
-  if (start < 0 || end >= msg->size * 8) {
-    QString warning_str = tr("Signal size [%1] exceed limit").arg(new_sig.size);
-    QMessageBox::warning(this, tr("Failed to save signal"), warning_str);
-    return;
-  }
-
-  undo_stack->push(new EditSignalCommand(msg_id, sig, new_sig));
-}
-
-void DetailWidget::removeSignal(const Signal *sig) {
-  undo_stack->push(new RemoveSigCommand(msg_id, sig));
+  UndoStack::push(new RemoveMsgCommand(msg_id));
 }
 
 // EditMessageDialog
diff --git a/tools/cabana/detailwidget.h b/tools/cabana/detailwidget.h
index c59a6fca50..3a3f3adf0e 100644
--- a/tools/cabana/detailwidget.h
+++ b/tools/cabana/detailwidget.h
@@ -1,10 +1,9 @@
 #pragma once
 
+#include <QSplitter>
 #include <QStackedLayout>
-#include <QScrollArea>
 #include <QTabWidget>
 #include <QToolBar>
-#include <QUndoStack>
 
 #include "tools/cabana/binaryview.h"
 #include "tools/cabana/chartswidget.h"
@@ -30,18 +29,11 @@ class DetailWidget : public QWidget {
 public:
   DetailWidget(ChartsWidget *charts, QWidget *parent);
   void setMessage(const QString &message_id);
-  void dbcMsgChanged(int show_form_idx = -1);
+  void refresh();
   QSize minimumSizeHint() const override { return binary_view->minimumSizeHint(); }
-  QUndoStack *undo_stack = nullptr;
 
 private:
-  void showForm(const Signal *sig);
-  void updateChartState();
   void showTabBarContextMenu(const QPoint &pt);
-  void addSignal(int start_bit, int size, bool little_endian);
-  void resizeSignal(const Signal *sig, int from, int to);
-  void saveSignal(const Signal *sig, const Signal &new_sig);
-  void removeSignal(const Signal *sig);
   void editMsg();
   void removeMsg();
   void updateState(const QHash<QString, CanData> * msgs = nullptr);
@@ -49,15 +41,13 @@ private:
   QString msg_id;
   QLabel *name_label, *time_label, *warning_icon, *warning_label;
   QWidget *warning_widget;
-  QVBoxLayout *signals_layout;
   QTabBar *tabbar;
   QTabWidget *tab_widget;
-  QToolBar *toolbar;
   QAction *remove_msg_act;
   LogsWidget *history_log;
   BinaryView *binary_view;
-  QScrollArea *scroll;
+  SignalView *signal_view;
   ChartsWidget *charts;
+  QSplitter *splitter;
   QStackedLayout *stacked_layout;
-  QList<SignalEdit *> signal_list;
 };
diff --git a/tools/cabana/historylog.cc b/tools/cabana/historylog.cc
index 44f3a63b95..830390f4a8 100644
--- a/tools/cabana/historylog.cc
+++ b/tools/cabana/historylog.cc
@@ -4,6 +4,8 @@
 #include <QPushButton>
 #include <QVBoxLayout>
 
+#include "tools/cabana/commands.h"
+
 // HistoryLogModel
 
 QVariant HistoryLogModel::data(const QModelIndex &index, int role) const {
@@ -22,17 +24,16 @@ QVariant HistoryLogModel::data(const QModelIndex &index, int role) const {
 
 void HistoryLogModel::setMessage(const QString &message_id) {
   msg_id = message_id;
-  sigs.clear();
-  if (auto dbc_msg = dbc()->msg(msg_id)) {
-    sigs = dbc_msg->getSignals();
-  }
-  filter_cmp = nullptr;
-  refresh();
 }
 
 void HistoryLogModel::refresh() {
   beginResetModel();
+  sigs.clear();
+  if (auto dbc_msg = dbc()->msg(msg_id)) {
+    sigs = dbc_msg->getSignals();
+  }
   last_fetch_time = 0;
+  has_more_data = true;
   messages.clear();
   hex_colors.clear();
   updateState();
@@ -74,7 +75,6 @@ void HistoryLogModel::setFilter(int sig_idx, const QString &value, std::function
   filter_sig_idx = sig_idx;
   filter_value = value.toDouble();
   filter_cmp = value.isEmpty() ? nullptr : cmp;
-  refresh();
 }
 
 void HistoryLogModel::updateState() {
@@ -232,11 +232,21 @@ LogsWidget::LogsWidget(QWidget *parent) : QWidget(parent) {
   QObject::connect(comp_box, SIGNAL(activated(int)), this, SLOT(setFilter()));
   QObject::connect(value_edit, &QLineEdit::textChanged, this, &LogsWidget::setFilter);
   QObject::connect(can, &AbstractStream::seekedTo, model, &HistoryLogModel::refresh);
+  QObject::connect(dbc(), &DBCManager::DBCFileChanged, this, &LogsWidget::refresh);
+  QObject::connect(UndoStack::instance(), &QUndoStack::indexChanged, this, &LogsWidget::refresh);
   QObject::connect(can, &AbstractStream::eventsMerged, model, &HistoryLogModel::segmentsMerged);
 }
 
 void LogsWidget::setMessage(const QString &message_id) {
   model->setMessage(message_id);
+  refresh();
+}
+
+void LogsWidget::refresh() {
+  if (model->msg_id.isEmpty()) return;
+
+  model->setFilter(0, "", nullptr);
+  model->refresh();
   bool has_signal = model->sigs.size();
   if (has_signal) {
     signals_cb->clear();
@@ -260,4 +270,5 @@ void LogsWidget::setFilter() {
     case 3: cmp = std::less<double>{}; break;
   }
   model->setFilter(signals_cb->currentIndex(), value_edit->text(), cmp);
+  model->refresh();
 }
diff --git a/tools/cabana/historylog.h b/tools/cabana/historylog.h
index c1a2c13769..bc2e0e3914 100644
--- a/tools/cabana/historylog.h
+++ b/tools/cabana/historylog.h
@@ -75,13 +75,12 @@ public:
   void updateState() {if (dynamic_mode->isChecked()) model->updateState(); }
   void showEvent(QShowEvent *event) override { if (dynamic_mode->isChecked()) model->refresh(); }
 
-signals:
-  void openChart(const QString &msg_id, const Signal *sig);
-
 private slots:
   void setFilter();
 
 private:
+  void refresh();
+
   QTableView *logs;
   HistoryLogModel *model;
   QCheckBox *dynamic_mode;
diff --git a/tools/cabana/mainwin.cc b/tools/cabana/mainwin.cc
index d875d079fa..3c2d46cbf2 100644
--- a/tools/cabana/mainwin.cc
+++ b/tools/cabana/mainwin.cc
@@ -14,6 +14,8 @@
 #include <QVBoxLayout>
 #include <QWidgetAction>
 
+#include "tools/cabana/commands.h"
+
 static MainWindow *main_win = nullptr;
 void qLogMessageHandler(QtMsgType type, const QMessageLogContext &context, const QString &msg) {
   if (type == QtDebugMsg) std::cout << msg.toStdString() << std::endl;
@@ -59,7 +61,7 @@ MainWindow::MainWindow() : QMainWindow() {
   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);
-  QObject::connect(detail_widget->undo_stack, &QUndoStack::cleanChanged, [this](bool clean) { setWindowModified(!clean); });
+  QObject::connect(UndoStack::instance(), &QUndoStack::cleanChanged, this, &MainWindow::undoStackCleanChanged);
 }
 
 void MainWindow::createActions() {
@@ -98,16 +100,16 @@ void MainWindow::createActions() {
   file_menu->addAction(tr("E&xit"), qApp, &QApplication::closeAllWindows)->setShortcuts(QKeySequence::Quit);
 
   QMenu *edit_menu = menuBar()->addMenu(tr("&Edit"));
-  auto undo_act = detail_widget->undo_stack->createUndoAction(this, tr("&Undo"));
+  auto undo_act = UndoStack::instance()->createUndoAction(this, tr("&Undo"));
   undo_act->setShortcuts(QKeySequence::Undo);
   edit_menu->addAction(undo_act);
-  auto redo_act = detail_widget->undo_stack->createRedoAction(this, tr("&Rndo"));
+  auto redo_act = UndoStack::instance()->createRedoAction(this, tr("&Rndo"));
   redo_act->setShortcuts(QKeySequence::Redo);
   edit_menu->addAction(redo_act);
   edit_menu->addSeparator();
 
   QMenu *commands_menu = edit_menu->addMenu(tr("Command &List"));
-  auto undo_view = new QUndoView(detail_widget->undo_stack);
+  auto undo_view = new QUndoView(UndoStack::instance());
   undo_view->setWindowTitle(tr("Command List"));
   QWidgetAction *commands_act = new QWidgetAction(this);
   commands_act->setDefaultWidget(undo_view);
@@ -174,8 +176,12 @@ void MainWindow::createShortcuts() {
   // TODO: add more shortcuts here.
 }
 
+void MainWindow::undoStackCleanChanged(bool clean) {
+  setWindowModified(!clean);
+}
+
 void MainWindow::DBCFileChanged() {
-  detail_widget->undo_stack->clear();
+  UndoStack::instance()->clear();
   setWindowFilePath(QString("%1").arg(dbc()->name()));
 }
 
@@ -262,7 +268,7 @@ void MainWindow::saveFile(const QString &fn) {
   QFile file(fn);
   if (file.open(QIODevice::WriteOnly)) {
     file.write(dbc()->generateDBC().toUtf8());
-    detail_widget->undo_stack->setClean();
+    UndoStack::instance()->setClean();
     setCurrentFile(fn);
     statusBar()->showMessage(tr("File saved"), 2000);
   }
@@ -309,7 +315,7 @@ void MainWindow::updateRecentFileActions() {
 
 void MainWindow::remindSaveChanges() {
   bool discard_changes = false;
-  while (!detail_widget->undo_stack->isClean() && !discard_changes) {
+  while (!UndoStack::instance()->isClean() && !discard_changes) {
     int ret = (QMessageBox::question(this, tr("Unsaved Changes"),
                                      tr("You have unsaved changes. Press ok to save them, cancel to discard."),
                                      QMessageBox::Ok | QMessageBox::Cancel));
@@ -319,7 +325,7 @@ void MainWindow::remindSaveChanges() {
       discard_changes = true;
     }
   }
-  detail_widget->undo_stack->clear();
+  UndoStack::instance()->clear();
   current_file = "";
 }
 
diff --git a/tools/cabana/mainwin.h b/tools/cabana/mainwin.h
index 0c207528c9..ba36d676e0 100644
--- a/tools/cabana/mainwin.h
+++ b/tools/cabana/mainwin.h
@@ -52,6 +52,7 @@ protected:
   void updateDownloadProgress(uint64_t cur, uint64_t total, bool success);
   void setOption();
   void findSimilarBits();
+  void undoStackCleanChanged(bool clean);
 
   VideoWidget *video_widget = nullptr;
   QDockWidget *video_dock;
diff --git a/tools/cabana/signaledit.cc b/tools/cabana/signaledit.cc
index 52ce74ae08..ceb7b7ba3f 100644
--- a/tools/cabana/signaledit.cc
+++ b/tools/cabana/signaledit.cc
@@ -1,174 +1,194 @@
 #include "tools/cabana/signaledit.h"
 
-#include <QDoubleValidator>
-#include <QFormLayout>
 #include <QGuiApplication>
 #include <QHBoxLayout>
+#include <QHeaderView>
+#include <QMessageBox>
+#include <QPushButton>
+#include <QToolButton>
 #include <QVBoxLayout>
 
+#include "tools/cabana/commands.h"
+
 #include "selfdrive/ui/qt/util.h"
 
-// SignalForm
+// SignalModel
 
-SignalForm::SignalForm(QWidget *parent) : QWidget(parent) {
-  auto double_validator = new QDoubleValidator(this);
-  double_validator->setLocale(QLocale::C); // Match locale of QString::toDouble() instead of system
+SignalModel::SignalModel(QObject *parent) : root(new Item), QAbstractItemModel(parent) {
+  QObject::connect(dbc(), &DBCManager::DBCFileChanged, this, &SignalModel::refresh);
+  QObject::connect(dbc(), &DBCManager::msgUpdated, this, &SignalModel::handleMsgChanged);
+  QObject::connect(dbc(), &DBCManager::msgRemoved, this, &SignalModel::handleMsgChanged);
+  QObject::connect(dbc(), &DBCManager::signalAdded, this, &SignalModel::handleSignalAdded);
+  QObject::connect(dbc(), &DBCManager::signalUpdated, this, &SignalModel::handleSignalUpdated);
+  QObject::connect(dbc(), &DBCManager::signalRemoved, this, &SignalModel::handleSignalRemoved);
+  QObject::connect(can, &AbstractStream::msgsReceived, this, &SignalModel::updateState);
+}
 
-  QVBoxLayout *main_layout = new QVBoxLayout(this);
-  QFormLayout *form_layout = new QFormLayout();
-  main_layout->addLayout(form_layout);
-
-  name = new QLineEdit();
-  name->setValidator(new NameValidator(name));
-  form_layout->addRow(tr("Name"), name);
-
-  QHBoxLayout *hl = new QHBoxLayout(this);
-  size = new QSpinBox();
-  size->setMinimum(1);
-  hl->addWidget(size);
-  endianness = new QComboBox();
-  endianness->addItems({"Little Endianness", "Big Endianness"});
-  hl->addWidget(endianness);
-  sign = new QComboBox();
-  sign->addItems({"Signed", "Unsigned"});
-  hl->addWidget(sign);
-  form_layout->addRow(tr("Size"), hl);
-
-  offset = new QLineEdit();
-  offset->setValidator(double_validator);
-  form_layout->addRow(tr("Offset"), offset);
-  factor = new QLineEdit();
-  factor->setValidator(double_validator);
-  form_layout->addRow(tr("Factor"), factor);
-
-  expand_btn = new QToolButton(this);
-  expand_btn->setText(tr("more..."));
-  main_layout->addWidget(expand_btn, 0, Qt::AlignRight);
-
-  // TODO: parse the following parameters in opendbc
-  QWidget *extra_container = new QWidget(this);
-  QFormLayout *extra_layout = new QFormLayout(extra_container);
-  unit = new QLineEdit();
-  extra_layout->addRow(tr("Unit"), unit);
-  comment = new QLineEdit();
-  extra_layout->addRow(tr("Comment"), comment);
-  min_val = new QLineEdit();
-  min_val->setValidator(double_validator);
-  extra_layout->addRow(tr("Minimum value"), min_val);
-  max_val = new QLineEdit();
-  max_val->setValidator(double_validator);
-  extra_layout->addRow(tr("Maximum value"), max_val);
-  val_desc = new QLineEdit();
-  extra_layout->addRow(tr("Value descriptions"), val_desc);
-
-  main_layout->addWidget(extra_container);
-  extra_container->setVisible(false);
-
-  QObject::connect(name, &QLineEdit::editingFinished, this, &SignalForm::textBoxEditingFinished);
-  QObject::connect(factor, &QLineEdit::editingFinished, this, &SignalForm::textBoxEditingFinished);
-  QObject::connect(offset, &QLineEdit::editingFinished, this, &SignalForm::textBoxEditingFinished);
-  QObject::connect(size, &QSpinBox::editingFinished, this, &SignalForm::changed);
-  QObject::connect(sign, SIGNAL(activated(int)), SIGNAL(changed()));
-  QObject::connect(endianness, SIGNAL(activated(int)), SIGNAL(changed()));
-  QObject::connect(expand_btn, &QToolButton::clicked, [=]() {
-    extra_container->setVisible(!extra_container->isVisible());
-    expand_btn->setText(extra_container->isVisible() ? tr("less...") : tr("more..."));
-  });
-}
-
-void SignalForm::textBoxEditingFinished() {
-  QLineEdit *edit = qobject_cast<QLineEdit *>(QObject::sender());
-  if (edit && edit->isModified()) {
-    edit->setModified(false);
-    emit changed();
-  }
-}
-
-// SignalEdit
-
-SignalEdit::SignalEdit(int index, QWidget *parent) : form_idx(index), QWidget(parent) {
-  QVBoxLayout *main_layout = new QVBoxLayout(this);
-  main_layout->setContentsMargins(0, 0, 0, 0);
-  main_layout->setSpacing(0);
+void SignalModel::insertItem(SignalModel::Item *parent_item, int pos, const Signal *sig) {
+  Item *item = new Item{.sig = sig, .parent = parent_item, .title = sig->name.c_str(), .type = Item::Sig};
+  parent_item->children.insert(pos, item);
+  QString titles[]{"Name", "Size", "Little Endian", "Signed", "Offset", "Factor", "Extra Info", "Unit", "Comment", "Minimum", "Maximum", "Description"};
+  for (int i = 0; i < std::size(titles); ++i) {
+    item->children.push_back(new Item{.sig = sig, .parent = item, .title = titles[i], .type = (Item::Type)(i + Item::Name)});
+  }
+}
 
-  bg_color = QColor(getColor(form_idx));
+void SignalModel::setMessage(const QString &id) {
+  msg_id = id;
+  filter_str = "";
+  refresh();
+  updateState(nullptr);
+}
 
-  // title bar
-  auto title_bar = new QWidget(this);
-  title_bar->setFixedHeight(32);
-  QHBoxLayout *title_layout = new QHBoxLayout(title_bar);
-  title_layout->setContentsMargins(0, 0, 0, 0);
-  title_bar->setStyleSheet("QToolButton {width:15px;height:15px;font-size:15px}");
-  color_label = new QLabel(this);
-  color_label->setFixedWidth(25);
-  color_label->setContentsMargins(5, 0, 0, 0);
-  title_layout->addWidget(color_label);
-  icon = new QLabel(this);
-  title_layout->addWidget(icon);
-  title = new ElidedLabel(this);
-  title->setSizePolicy(QSizePolicy::Expanding, QSizePolicy::Preferred);
-  title_layout->addWidget(title);
-
-  plot_btn = new QToolButton(this);
-  plot_btn->setIcon(bootstrapPixmap("graph-up"));
-  plot_btn->setCheckable(true);
-  plot_btn->setAutoRaise(true);
-  title_layout->addWidget(plot_btn);
-  auto remove_btn = new QToolButton(this);
-  remove_btn->setAutoRaise(true);
-  remove_btn->setIcon(bootstrapPixmap("x"));
-  remove_btn->setToolTip(tr("Remove signal"));
-  title_layout->addWidget(remove_btn);
-  main_layout->addWidget(title_bar);
+void SignalModel::setFilter(const QString &txt) {
+  filter_str = txt;
+  refresh();
+}
 
-  // signal form
-  form = new SignalForm(this);
-  form->setVisible(false);
-  main_layout->addWidget(form);
-
-  // bottom line
-  QFrame *hline = new QFrame();
-  hline->setFrameShape(QFrame::HLine);
-  hline->setFrameShadow(QFrame::Sunken);
-  main_layout->addWidget(hline);
-
-  QObject::connect(title, &ElidedLabel::clicked, [this]() { emit showFormClicked(sig); });
-  QObject::connect(plot_btn, &QToolButton::clicked, [this](bool checked) {
-    emit showChart(msg_id, sig, checked, QGuiApplication::keyboardModifiers() & Qt::ShiftModifier);
-  });
-  QObject::connect(remove_btn, &QToolButton::clicked, [this]() { emit remove(sig); });
-  QObject::connect(form, &SignalForm::changed, this, &SignalEdit::saveSignal);
-  setSizePolicy(QSizePolicy::Preferred, QSizePolicy::Fixed);
-}
-
-void SignalEdit::setSignal(const QString &message_id, const Signal *signal) {
-  sig = signal;
-  updateForm(msg_id == message_id && form->isVisible());
-  msg_id = message_id;
-  color_label->setText(QString::number(form_idx + 1));
-  color_label->setStyleSheet(QString("color:black; background-color:%2").arg(bg_color.name()));
-  title->setText(sig->name.c_str());
-  show();
-}
-
-void SignalEdit::saveSignal() {
-  Signal s = *sig;
-  s.name = form->name->text().toStdString();
-  s.size = form->size->text().toInt();
-  s.offset = form->offset->text().toDouble();
-  s.factor = form->factor->text().toDouble();
-  s.is_signed = form->sign->currentIndex() == 0;
-  bool little_endian = form->endianness->currentIndex() == 0;
-  if (little_endian != s.is_little_endian) {
+void SignalModel::refresh() {
+  beginResetModel();
+  root.reset(new SignalModel::Item);
+  if (auto msg = dbc()->msg(msg_id)) {
+    for (auto &s : msg->getSignals()) {
+      if (filter_str.isEmpty() || QString::fromStdString(s->name).contains(filter_str, Qt::CaseInsensitive)) {
+        insertItem(root.get(), root->children.size(), s);
+      }
+    }
+  }
+  endResetModel();
+}
+
+void SignalModel::updateState(const QHash<QString, CanData> *msgs) {
+  if (!msgs || (msgs->contains(msg_id))) {
+    auto &dat = can->lastMessage(msg_id).dat;
+    int row = 0;
+    for (auto item : root->children) {
+      double value = get_raw_value((uint8_t *)dat.begin(), dat.size(), *item->sig);
+      item->sig_val = QString::number(value);
+      emit dataChanged(index(row, 1), index(row, 1), {Qt::DisplayRole});
+      ++row;
+    }
+  }
+}
+
+int SignalModel::rowCount(const QModelIndex &parent) const {
+  if (parent.column() > 0) return 0;
+
+  auto parent_item = getItem(parent);
+  int row_count = parent_item->children.size();
+  if (parent_item->type == Item::Sig && !parent_item->extra_expanded) {
+    row_count -= (Item::Desc - Item::ExtraInfo);
+  }
+  return row_count;
+}
+
+Qt::ItemFlags SignalModel::flags(const QModelIndex &index) const {
+  if (!index.isValid()) return Qt::NoItemFlags;
+
+  auto item = getItem(index);
+  Qt::ItemFlags flags = Qt::ItemIsSelectable | Qt::ItemIsEnabled;
+  if (index.column() == 1  && item->type != Item::Sig && item->type != Item::ExtraInfo) {
+    flags |= (item->type == Item::Endian || item->type == Item::Signed) ? Qt::ItemIsUserCheckable : Qt::ItemIsEditable;
+  }
+  return flags;
+}
+
+int SignalModel::signalRow(const Signal *sig) const {
+  auto &children = root->children;
+  for (int i = 0; i < children.size(); ++i) {
+    if (children[i]->sig == sig) return i;
+  }
+  return -1;
+}
+
+QModelIndex SignalModel::index(int row, int column, const QModelIndex &parent) const {
+  if (!hasIndex(row, column, parent)) return {};
+  return createIndex(row, column, getItem(parent)->children[row]);
+}
+
+QModelIndex SignalModel::parent(const QModelIndex &index) const {
+  if (!index.isValid()) return {};
+  Item *parent_item = getItem(index)->parent;
+  return parent_item == root.get() ? QModelIndex() : createIndex(parent_item->row(), 0, parent_item);
+}
+
+QVariant SignalModel::data(const QModelIndex &index, int role) const {
+  if (index.isValid()) {
+    const Item *item = getItem(index);
+    if (role == Qt::DisplayRole || role == Qt::EditRole) {
+      if (index.column() == 0) {
+        return item->type == Item::Sig ? QString::fromStdString(item->sig->name) : item->title;
+      } else {
+        switch (item->type) {
+          case Item::Sig: return item->sig_val;
+          case Item::Name: return QString::fromStdString(item->sig->name);
+          case Item::Size: return item->sig->size;
+          case Item::Offset: return QString::number(item->sig->offset, 'f', 6);
+          case Item::Factor: return QString::number(item->sig->factor, 'f', 6);
+          default: break;
+        }
+      }
+    } else if (role == Qt::CheckStateRole && index.column() == 1) {
+      if (item->type == Item::Endian) return item->sig->is_little_endian ? Qt::Checked : Qt::Unchecked;
+      if (item->type == Item::Signed) return item->sig->is_signed ? Qt::Checked : Qt::Unchecked;
+    } else if (role == Qt::DecorationRole && index.column() == 0 && item->type == Item::ExtraInfo) {
+      return bootstrapPixmap(item->parent->extra_expanded ? "chevron-compact-down" : "chevron-compact-up");
+    }
+  }
+  return {};
+}
+
+bool SignalModel::setData(const QModelIndex &index, const QVariant &value, int role) {
+  if (role != Qt::EditRole && role != Qt::CheckStateRole) return false;
+
+  Item *item = getItem(index);
+  Signal s = *item->sig;
+  switch (item->type) {
+    case Item::Name: s.name = value.toString().toStdString(); break;
+    case Item::Size: s.size = value.toInt(); break;
+    case Item::Endian: s.is_little_endian = value.toBool(); break;
+    case Item::Signed: s.is_signed = value.toBool(); break;
+    case Item::Offset: s.offset = value.toDouble(); break;
+    case Item::Factor: s.factor = value.toDouble(); break;
+    default: return false;
+  }
+  bool ret = saveSignal(item->sig, s);
+  emit dataChanged(index, index, {Qt::DisplayRole, Qt::EditRole, Qt::CheckStateRole});
+  return ret;
+}
+
+void SignalModel::showExtraInfo(const QModelIndex &index) {
+  auto item = getItem(index);
+  if (item->type == Item::ExtraInfo) {
+    if (!item->parent->extra_expanded) {
+      item->parent->extra_expanded = true;
+      beginInsertRows(index.parent(), 7, 13);
+      endInsertRows();
+    } else {
+      item->parent->extra_expanded = false;
+      beginRemoveRows(index.parent(), 7, 13);
+      endRemoveRows();
+    }
+  }
+}
+
+bool SignalModel::saveSignal(const Signal *origin_s, Signal &s) {
+  auto msg = dbc()->msg(msg_id);
+  if (s.name != origin_s->name && msg->sigs.count(s.name.c_str()) != 0) {
+    QString text = tr("There is already a signal with the same name '%1'").arg(s.name.c_str());
+    QMessageBox::warning(nullptr, tr("Failed to save signal"), text);
+    return false;
+  }
+
+  if (s.is_little_endian != origin_s->is_little_endian) {
     int start = std::floor(s.start_bit / 8);
-    if (little_endian) {
+    if (s.is_little_endian) {
       int end = std::floor((s.start_bit - s.size + 1) / 8);
       s.start_bit = start == end ? s.start_bit - s.size + 1 : bigEndianStartBitsIndex(s.start_bit);
     } else {
       int end = std::floor((s.start_bit + s.size - 1) / 8);
       s.start_bit = start == end ? s.start_bit + s.size - 1 : bigEndianBitIndex(s.start_bit);
     }
-    s.is_little_endian = little_endian;
   }
   if (s.is_little_endian) {
     s.lsb = s.start_bit;
@@ -177,43 +197,254 @@ void SignalEdit::saveSignal() {
     s.lsb = bigEndianStartBitsIndex(bigEndianBitIndex(s.start_bit) + s.size - 1);
     s.msb = s.start_bit;
   }
-  if (s != *sig) {
-    emit save(this->sig, s);
+
+  UndoStack::push(new EditSignalCommand(msg_id, origin_s, s));
+  return true;
+}
+
+void SignalModel::addSignal(int start_bit, int size, bool little_endian) {
+  auto msg = dbc()->msg(msg_id);
+  for (int i = 1; !msg; ++i) {
+    QString name = QString("NEW_MSG_%1").arg(i);
+    if (std::none_of(dbc()->messages().begin(), dbc()->messages().end(), [&](auto &m) { return m.second.name == name; })) {
+      UndoStack::push(new EditMsgCommand(msg_id, name, can->lastMessage(msg_id).dat.size()));
+      msg = dbc()->msg(msg_id);
+    }
+  }
+
+  Signal sig = {.is_little_endian = little_endian, .factor = 1};
+  for (int i = 1; /**/; ++i) {
+    sig.name = "NEW_SIGNAL_" + std::to_string(i);
+    if (msg->sigs.count(sig.name.c_str()) == 0) break;
   }
+  updateSigSizeParamsFromRange(sig, start_bit, size);
+  UndoStack::push(new AddSigCommand(msg_id, sig));
+}
+
+void SignalModel::resizeSignal(const Signal *sig, int start_bit, int size) {
+  Signal s = *sig;
+  updateSigSizeParamsFromRange(s, start_bit, size);
+  saveSignal(sig, s);
+}
+
+void SignalModel::removeSignal(const Signal *sig) {
+  UndoStack::push(new RemoveSigCommand(msg_id, sig));
 }
 
-void SignalEdit::setChartOpened(bool opened) {
-  plot_btn->setToolTip(opened ? tr("Close Plot") : tr("Show Plot\nSHIFT click to add to previous opened chart"));
-  plot_btn->setChecked(opened);
+void SignalModel::handleMsgChanged(uint32_t address) {
+  if (address == DBCManager::parseId(msg_id).second) {
+    refresh();
+  }
 }
 
-void SignalEdit::updateForm(bool visible) {
-  if (visible && sig) {
-    if (form->name->text() != sig->name.c_str()) {
-      form->name->setText(sig->name.c_str());
+void SignalModel::handleSignalAdded(uint32_t address, const Signal *sig) {
+  if (address == DBCManager::parseId(msg_id).second) {
+    int i = 0;
+    for (; i < root->children.size(); ++i) {
+      if (sig->start_bit < root->children[i]->sig->start_bit) break;
     }
-    form->endianness->setCurrentIndex(sig->is_little_endian ? 0 : 1);
-    form->sign->setCurrentIndex(sig->is_signed ? 0 : 1);
-    form->factor->setText(QString::number(sig->factor));
-    form->offset->setText(QString::number(sig->offset));
-    form->size->setValue(sig->size);
+    beginInsertRows({}, i, i);
+    insertItem(root.get(), i, sig);
+    endInsertRows();
+  }
+}
+
+void SignalModel::handleSignalUpdated(const Signal *sig) {
+  if (int row = signalRow(sig); row != -1) {
+    emit dataChanged(index(row, 0), index(row, 1), {Qt::DisplayRole, Qt::EditRole, Qt::CheckStateRole});
+  }
+}
+
+void SignalModel::handleSignalRemoved(const Signal *sig) {
+  if (int row = signalRow(sig); row != -1) {
+    beginRemoveRows({}, row, row);
+    delete root->children.takeAt(row);
+    endRemoveRows();
   }
-  form->setVisible(visible);
-  icon->setText(visible ? "▼ " : "> ");
 }
 
-void SignalEdit::signalHovered(const Signal *s) {
-  auto text_color = sig == s ? "white" : "black";
-  auto _bg_color = sig == s ? bg_color.darker(125) : bg_color;  // 4/5x brightness
-  color_label->setStyleSheet(QString("color:%1; background-color:%2").arg(text_color).arg(_bg_color.name()));
+// SignalItemDelegate
+
+SignalItemDelegate::SignalItemDelegate(QObject *parent) {
+  name_validator = new NameValidator(this);
+  double_validator = new QDoubleValidator(this);
+  double_validator->setLocale(QLocale::C);  // Match locale of QString::toDouble() instead of system
+}
+
+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) {
+    painter->save();
+    painter->setRenderHint(QPainter::Antialiasing);
+    if (option.state & QStyle::State_Selected) {
+      painter->fillRect(option.rect, option.palette.highlight());
+    }
+
+    // color label
+    auto bg_color = QColor(getColor(item->row()));
+    QRect rc{option.rect.left() + 3, option.rect.top(), 22, 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), 5, 5);
+    painter->setPen(item->highlight ? Qt::white : Qt::black);
+    painter->drawText(rc, Qt::AlignCenter, QString::number(item->row() + 1));
+
+    // signal name
+    QFont font;
+    font.setBold(true);
+    painter->setFont(font);
+    painter->setPen((option.state & QStyle::State_Selected ? option.palette.highlightedText() : option.palette.text()).color());
+    painter->drawText(option.rect.adjusted(rc.width() + 9, 0, 0, 0), option.displayAlignment, index.data(Qt::DisplayRole).toString());
+    painter->restore();
+  } else {
+    QStyledItemDelegate::paint(painter, option, index);
+  }
 }
 
-void SignalEdit::enterEvent(QEvent *event) {
-  emit highlight(sig);
-  QWidget::enterEvent(event);
+QWidget *SignalItemDelegate::createEditor(QWidget *parent, const QStyleOptionViewItem &option, const QModelIndex &index) const {
+  auto item = (SignalModel::Item *)index.internalPointer();
+  if (item->type == SignalModel::Item::Name || item->type == SignalModel::Item::Offset || item->type == SignalModel::Item::Factor) {
+    QLineEdit *e = new QLineEdit(parent);
+    e->setFrame(false);
+    e->setValidator(index.row() == 0 ? name_validator : double_validator);
+    return e;
+  } else if (item->type == SignalModel::Item::Size) {
+    QSpinBox *spin = new QSpinBox(parent);
+    spin->setFrame(false);
+    spin->setRange(1, 64);
+    return spin;
+  }
+  return QStyledItemDelegate::createEditor(parent, option, index);
 }
 
-void SignalEdit::leaveEvent(QEvent *event) {
-  emit highlight(nullptr);
-  QWidget::leaveEvent(event);
+// SignalView
+
+SignalView::SignalView(ChartsWidget *charts, QWidget *parent) : charts(charts), QWidget(parent) {
+  // 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);
+  filter_edit->setClearButtonEnabled(true);
+  filter_edit->setPlaceholderText(tr("filter signals by name"));
+  hl->addWidget(filter_edit);
+  hl->addStretch(1);
+  auto collapse_btn = new QToolButton();
+  collapse_btn->setIcon(bootstrapPixmap("dash-square"));
+  collapse_btn->setIconSize({12, 12});
+  collapse_btn->setAutoRaise(true);
+  collapse_btn->setToolTip(tr("Collapse All"));
+  hl->addWidget(collapse_btn);
+
+  // tree view
+  tree = new QTreeView(this);
+  tree->setModel(model = new SignalModel(this));
+  tree->setItemDelegate(new SignalItemDelegate(this));
+  tree->setFrameShape(QFrame::NoFrame);
+  tree->setHeaderHidden(true);
+  tree->setMouseTracking(true);
+  tree->setExpandsOnDoubleClick(false);
+  tree->header()->setSectionResizeMode(QHeaderView::Stretch);
+  tree->setMinimumHeight(300);
+  tree->setStyleSheet("QSpinBox{background-color:white;border:none;} QLineEdit{background-color:white;}");
+
+  QVBoxLayout *main_layout = new QVBoxLayout(this);
+  main_layout->setContentsMargins(0, 0, 0, 0);
+  main_layout->setSpacing(0);
+  main_layout->addWidget(title_bar);
+  main_layout->addWidget(tree);
+
+  QObject::connect(filter_edit, &QLineEdit::textEdited, model, &SignalModel::setFilter);
+  QObject::connect(collapse_btn, &QPushButton::clicked, tree, &QTreeView::collapseAll);
+  QObject::connect(tree, &QAbstractItemView::clicked, this, &SignalView::rowClicked);
+  QObject::connect(tree, &QTreeView::viewportEntered, [this]() { emit highlight(nullptr); });
+  QObject::connect(tree, &QTreeView::entered, [this](const QModelIndex &index) { emit highlight(model->getItem(index)->sig); });
+  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); });
+}
+
+void SignalView::setMessage(const QString &id) {
+  msg_id = id;
+  filter_edit->clear();
+  model->setMessage(id);
+}
+
+void SignalView::rowsChanged() {
+  auto create_btn = [](const QString &id, const QString &tooltip) {
+    auto btn = new QToolButton();
+    btn->setIcon(bootstrapPixmap(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)) {
+      QWidget *w = new QWidget(this);
+      QHBoxLayout *h = new QHBoxLayout(w);
+      h->setContentsMargins(0, 2, 0, 2);
+      h->addStretch(1);
+
+      auto remove_btn = create_btn("x", tr("Remove signal"));
+      auto plot_btn = create_btn("graph-up", "");
+      plot_btn->setCheckable(true);
+      h->addWidget(plot_btn);
+      h->addWidget(remove_btn);
+
+      tree->setIndexWidget(index, w);
+      auto sig = model->getItem(index)->sig;
+      QObject::connect(remove_btn, &QToolButton::clicked, [=]() { model->removeSignal(sig); });
+      QObject::connect(plot_btn, &QToolButton::clicked, [=](bool checked) {
+        emit showChart(msg_id, sig, checked, QGuiApplication::keyboardModifiers() & Qt::ShiftModifier);
+      });
+    }
+  }
+  updateChartState();
+}
+
+void SignalView::rowClicked(const QModelIndex &index) {
+  auto item = model->getItem(index);
+  if (item->type == SignalModel::Item::Sig) {
+    auto sig_index = model->index(index.row(), 0, index.parent());
+    tree->setExpanded(sig_index, !tree->isExpanded(sig_index));
+  } else if (item->type == SignalModel::Item::ExtraInfo) {
+    model->showExtraInfo(index);
+  }
+}
+
+void SignalView::expandSignal(const Signal *sig) {
+  if (int row = model->signalRow(sig); row != -1) {
+    auto idx = model->index(row, 0);
+    bool expand = !tree->isExpanded(idx);
+    tree->setExpanded(idx, expand);
+    tree->scrollTo(idx, QAbstractItemView::PositionAtTop);
+    if (expand) 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);
+    plot_btn->setToolTip(chart_opened ? tr("Close Plot") : tr("Show Plot\nSHIFT click to add to previous opened plot"));
+    ++i;
+  }
+}
+
+void SignalView::signalHovered(const Signal *sig) {
+  auto &children = model->root->children;
+  for (int i = 0; i < children.size(); ++i) {
+    bool highlight = children[i]->sig == sig;
+    if (std::exchange(children[i]->highlight, highlight) != highlight) {
+      emit model->dataChanged(model->index(i, 0), model->index(i, 0));
+    }
+  }
 }
diff --git a/tools/cabana/signaledit.h b/tools/cabana/signaledit.h
index 90df3fd3f4..ae88a5b13a 100644
--- a/tools/cabana/signaledit.h
+++ b/tools/cabana/signaledit.h
@@ -1,59 +1,97 @@
 #pragma once
 
-#include <QComboBox>
+#include <QAbstractItemModel>
 #include <QLabel>
 #include <QLineEdit>
-#include <QSpinBox>
-#include <QToolButton>
+#include <QStyledItemDelegate>
+#include <QTreeView>
 
-#include "selfdrive/ui/qt/widgets/controls.h"
+#include "tools/cabana/chartswidget.h"
 #include "tools/cabana/dbcmanager.h"
 #include "tools/cabana/streams/abstractstream.h"
 
-class SignalForm : public QWidget {
+class SignalModel : public QAbstractItemModel {
   Q_OBJECT
 public:
-  SignalForm(QWidget *parent);
-  void textBoxEditingFinished();
+  struct Item {
+    enum Type {Root, Sig, Name, Size, Endian, Signed, Offset, Factor, ExtraInfo, Unit, Comment, Min, Max, Desc };
+    ~Item() { qDeleteAll(children); }
+    inline int row() { return parent->children.indexOf(this); }
 
-  QLineEdit *name, *unit, *comment, *val_desc, *offset, *factor, *min_val, *max_val;
-  QSpinBox *size;
-  QComboBox *sign, *endianness;
-  QToolButton *expand_btn;
+    Type type = Type::Root;
+    Item *parent = nullptr;
+    QList<Item *> children;
 
-signals:
-  void changed();
+    const Signal *sig = nullptr;
+    QString title;
+    bool highlight = false;
+    bool extra_expanded = false;
+    QString sig_val = "-";
+  };
+
+  SignalModel(QObject *parent);
+  int rowCount(const QModelIndex &parent = QModelIndex()) const override;
+  int columnCount(const QModelIndex &parent = QModelIndex()) const override { return 2; }
+  QVariant data(const QModelIndex &index, int role = Qt::DisplayRole) const override;
+  QModelIndex index(int row, int column, const QModelIndex &parent = QModelIndex()) const override;
+  QModelIndex parent(const QModelIndex &index) const override;
+  Qt::ItemFlags flags(const QModelIndex &index) const override;
+  bool setData(const QModelIndex &index, const QVariant &value, int role = Qt::EditRole) override;
+  void setMessage(const QString &id);
+  void setFilter(const QString &txt);
+  void addSignal(int start_bit, int size, bool little_endian);
+  bool saveSignal(const Signal *origin_s, Signal &s);
+  void resizeSignal(const Signal *sig, int start_bit, int size);
+  void removeSignal(const Signal *sig);
+  inline Item *getItem(const QModelIndex &index) const { return index.isValid() ? (Item *)index.internalPointer() : root.get(); }
+  int signalRow(const Signal *sig) const;
+  void showExtraInfo(const QModelIndex &index);
+
+private:
+  void insertItem(SignalModel::Item *parent_item, int pos, const Signal *sig);
+  void handleSignalAdded(uint32_t address, const Signal *sig);
+  void handleSignalUpdated(const Signal *sig);
+  void handleSignalRemoved(const Signal *sig);
+  void handleMsgChanged(uint32_t address);
+  void refresh();
+  void updateState(const QHash<QString, CanData> *msgs);
+
+  QString msg_id;
+  QString filter_str;
+  std::unique_ptr<Item> root;
+  friend class SignalView;
+};
+
+class SignalItemDelegate : public QStyledItemDelegate {
+public:
+  SignalItemDelegate(QObject *parent);
+  void paint(QPainter *painter, const QStyleOptionViewItem &option, const QModelIndex &index) const override;
+  QWidget *createEditor(QWidget *parent, const QStyleOptionViewItem &option, const QModelIndex &index) const override;
+  QValidator *name_validator, *double_validator;
 };
 
-class SignalEdit : public QWidget {
+class SignalView : public QWidget {
   Q_OBJECT
 
 public:
-  SignalEdit(int index, QWidget *parent = nullptr);
-  void setSignal(const QString &msg_id, const Signal *sig);
-  void setChartOpened(bool opened);
+  SignalView(ChartsWidget *charts, QWidget *parent);
+  void setMessage(const QString &id);
   void signalHovered(const Signal *sig);
-  void updateForm(bool show);
-  const Signal *sig = nullptr;
-  SignalForm *form = nullptr;
-  QString msg_id;
+  void updateChartState();
+  void expandSignal(const Signal *sig);
+  void rowClicked(const QModelIndex &index);
+  SignalModel *model = nullptr;
 
 signals:
   void highlight(const Signal *sig);
   void showChart(const QString &name, const Signal *sig, bool show, bool merge);
-  void remove(const Signal *sig);
-  void save(const Signal *sig, const Signal &new_sig);
-  void showFormClicked(const Signal *sig);
-
-protected:
-  void enterEvent(QEvent *event) override;
-  void leaveEvent(QEvent *event) override;
-  void saveSignal();
-
-  ElidedLabel *title;
-  QLabel *color_label;
-  QLabel *icon;
-  int form_idx = 0;
-  QColor bg_color;
-  QToolButton *plot_btn;
+
+private:
+  void rowsChanged();
+
+  QString msg_id;
+  QTreeView *tree;
+  QLineEdit *filter_edit;
+  ChartsWidget *charts;
+  QLabel *signal_count_lb;
 };