diff --git a/tools/cabana/SConscript b/tools/cabana/SConscript
index b7321e1f8d..3ff4862800 100644
--- a/tools/cabana/SConscript
+++ b/tools/cabana/SConscript
@@ -19,7 +19,7 @@ prev_moc_path = cabana_env['QT_MOCHPREFIX']
 cabana_env['QT_MOCHPREFIX'] = os.path.dirname(prev_moc_path) + '/cabana/moc_'
 cabana_env.Execute('./generate_dbc_json.py --out car_fingerprint_to_dbc.json')
 cabana_lib = cabana_env.Library("cabana_lib", ['mainwin.cc', 'binaryview.cc', 'chartswidget.cc', 'historylog.cc', 'videowidget.cc', 'signaledit.cc', 'dbcmanager.cc',
-                            'canmessages.cc', 'messageswidget.cc', 'settings.cc', 'detailwidget.cc'], LIBS=cabana_libs, FRAMEWORKS=base_frameworks)
+                            'canmessages.cc', 'commands.cc', 'messageswidget.cc', 'settings.cc', 'detailwidget.cc'], LIBS=cabana_libs, FRAMEWORKS=base_frameworks)
 cabana_env.Program('_cabana', ['cabana.cc', cabana_lib], LIBS=cabana_libs, FRAMEWORKS=base_frameworks)
 
 if GetOption('test'):
diff --git a/tools/cabana/binaryview.cc b/tools/cabana/binaryview.cc
index 678fe5f876..bcd2b88a81 100644
--- a/tools/cabana/binaryview.cc
+++ b/tools/cabana/binaryview.cc
@@ -165,14 +165,14 @@ void BinaryViewModel::setMessage(const QString &message_id) {
   if ((dbc_msg = dbc()->msg(msg_id))) {
     row_count = dbc_msg->size;
     items.resize(row_count * column_count);
-    for (int i = 0; i < dbc_msg->sigs.size(); ++i) {
-      const auto &sig = dbc_msg->sigs[i];
+    int i = 0;
+    for (auto &[name, sig] : dbc_msg->sigs) {
       auto [start, end] = getSignalRange(&sig);
       for (int j = start; j <= end; ++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.c_str() << "out of bounds.start_bit:" << sig.start_bit << "size:" << sig.size;
+          qWarning() << "signal " << 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;
@@ -180,6 +180,7 @@ void BinaryViewModel::setMessage(const QString &message_id) {
         items[idx].bg_color = getColor(i);
         items[idx].sigs.push_back(&sig);
       }
+      ++i;
     }
   } else {
     row_count = can->lastMessage(msg_id).dat.size();
diff --git a/tools/cabana/binaryview.h b/tools/cabana/binaryview.h
index 05bfe7e79f..2d6fc5c18b 100644
--- a/tools/cabana/binaryview.h
+++ b/tools/cabana/binaryview.h
@@ -50,7 +50,7 @@ public:
 
 private:
   QString msg_id;
-  const Msg *dbc_msg;
+  const DBCMsg *dbc_msg;
   int row_count = 0;
   const int column_count = 9;
 };
diff --git a/tools/cabana/chartswidget.cc b/tools/cabana/chartswidget.cc
index 3a170bccdc..875ed80ac5 100644
--- a/tools/cabana/chartswidget.cc
+++ b/tools/cabana/chartswidget.cc
@@ -240,7 +240,7 @@ void ChartView::resizeEvent(QResizeEvent *event) {
 
 void ChartView::updateTitle() {
   chart()->setTitle(signal->name.c_str());
-  msg_title->setHtml(tr("%1 <font color=\"gray\">%2</font>").arg(dbc()->msg(id)->name.c_str()).arg(id));
+  msg_title->setHtml(tr("%1 <font color=\"gray\">%2</font>").arg(dbc()->msg(id)->name).arg(id));
 }
 
 void ChartView::updateFromSettings() {
diff --git a/tools/cabana/commands.cc b/tools/cabana/commands.cc
new file mode 100644
index 0000000000..b3f5cb1c66
--- /dev/null
+++ b/tools/cabana/commands.cc
@@ -0,0 +1,75 @@
+#include "tools/cabana/commands.h"
+
+// EditMsgCommand
+
+EditMsgCommand::EditMsgCommand(const QString &id, const QString &title, int size, QUndoCommand *parent)
+    : id(id), new_title(title), new_size(size), QUndoCommand(parent) {
+  if (auto msg = dbc()->msg(id)) {
+    old_title = msg->name;
+    old_size = msg->size;
+  }
+  setText(QObject::tr("Edit message %1:%2").arg(DBCManager::parseId(id).second).arg(title));
+}
+
+void EditMsgCommand::undo() {
+  if (old_title.isEmpty())
+    dbc()->removeMsg(id);
+  else
+    dbc()->updateMsg(id, old_title, old_size);
+}
+
+void EditMsgCommand::redo() {
+  dbc()->updateMsg(id, new_title, new_size);
+}
+
+// RemoveMsgCommand
+
+RemoveMsgCommand::RemoveMsgCommand(const QString &id, QUndoCommand *parent) : id(id), QUndoCommand(parent) {
+  if (auto msg = dbc()->msg(id)) {
+    message = *msg;
+    setText(QObject::tr("Remove message %1:%2").arg(DBCManager::parseId(id).second).arg(message.name));
+  }
+}
+
+void RemoveMsgCommand::undo() {
+  if (!message.name.isEmpty()) {
+    dbc()->updateMsg(id, message.name, message.size);
+    for (auto &[name, s] : message.sigs)
+      dbc()->addSignal(id, s);
+  }
+}
+
+void RemoveMsgCommand::redo() {
+  if (!message.name.isEmpty())
+    dbc()->removeMsg(id);
+}
+
+// AddSigCommand
+
+AddSigCommand::AddSigCommand(const QString &id, const Signal &sig, QUndoCommand *parent)
+    : id(id), signal(sig), QUndoCommand(parent) {
+  setText(QObject::tr("Add signal %1 to %2").arg(sig.name.c_str()).arg(DBCManager::parseId(id).second));
+}
+
+void AddSigCommand::undo() { dbc()->removeSignal(id, signal.name.c_str()); }
+void AddSigCommand::redo() { dbc()->addSignal(id, signal); }
+
+// RemoveSigCommand
+
+RemoveSigCommand::RemoveSigCommand(const QString &id, const Signal *sig, QUndoCommand *parent)
+    : id(id), signal(*sig), QUndoCommand(parent) {
+  setText(QObject::tr("Remove signal %1 from %2").arg(signal.name.c_str()).arg(DBCManager::parseId(id).second));
+}
+
+void RemoveSigCommand::undo() { dbc()->addSignal(id, signal); }
+void RemoveSigCommand::redo() { dbc()->removeSignal(id, signal.name.c_str()); }
+
+// EditSignalCommand
+
+EditSignalCommand::EditSignalCommand(const QString &id, const Signal *sig, const Signal &new_sig, QUndoCommand *parent)
+    : id(id), old_signal(*sig), new_signal(new_sig), QUndoCommand(parent) {
+  setText(QObject::tr("Edit signal %1").arg(old_signal.name.c_str()));
+}
+
+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); }
diff --git a/tools/cabana/commands.h b/tools/cabana/commands.h
new file mode 100644
index 0000000000..7ea1f66653
--- /dev/null
+++ b/tools/cabana/commands.h
@@ -0,0 +1,63 @@
+#pragma once
+
+#include <QUndoCommand>
+
+#include "tools/cabana/canmessages.h"
+#include "tools/cabana/dbcmanager.h"
+
+class EditMsgCommand : public QUndoCommand {
+public:
+  EditMsgCommand(const QString &id, const QString &title, int size, QUndoCommand *parent = nullptr);
+  void undo() override;
+  void redo() override;
+
+private:
+  const QString id;
+  QString old_title, new_title;
+  int old_size = 0, new_size = 0;
+};
+
+class RemoveMsgCommand : public QUndoCommand {
+public:
+  RemoveMsgCommand(const QString &id, QUndoCommand *parent = nullptr);
+  void undo() override;
+  void redo() override;
+
+private:
+  const QString id;
+  DBCMsg message;
+};
+
+class AddSigCommand : public QUndoCommand {
+public:
+  AddSigCommand(const QString &id, const Signal &sig, QUndoCommand *parent = nullptr);
+  void undo() override;
+  void redo() override;
+
+private:
+  const QString id;
+  Signal signal = {};
+};
+
+class RemoveSigCommand : public QUndoCommand {
+public:
+  RemoveSigCommand(const QString &id, const Signal *sig, QUndoCommand *parent = nullptr);
+  void undo() override;
+  void redo() override;
+
+private:
+  const QString id;
+  Signal signal = {};
+};
+
+class EditSignalCommand : public QUndoCommand {
+public:
+  EditSignalCommand(const QString &id, const Signal *sig, const Signal &new_sig, QUndoCommand *parent = nullptr);
+  void undo() override;
+  void redo() override;
+
+private:
+  const QString id;
+  Signal old_signal = {};
+  Signal new_signal = {};
+};
diff --git a/tools/cabana/dbcmanager.cc b/tools/cabana/dbcmanager.cc
index abdd9a08df..ebad2387cf 100644
--- a/tools/cabana/dbcmanager.cc
+++ b/tools/cabana/dbcmanager.cc
@@ -10,32 +10,36 @@ DBCManager::~DBCManager() {}
 
 void DBCManager::open(const QString &dbc_file_name) {
   dbc = const_cast<DBC *>(dbc_lookup(dbc_file_name.toStdString()));
-  updateMsgMap();
-  emit DBCFileChanged();
+  initMsgMap();
 }
 
 void DBCManager::open(const QString &name, const QString &content) {
   std::istringstream stream(content.toStdString());
   dbc = const_cast<DBC *>(dbc_parse_from_stream(name.toStdString(), stream));
-  updateMsgMap();
-  emit DBCFileChanged();
+  initMsgMap();
 }
 
-void DBCManager::updateMsgMap() {
-  msg_map.clear();
-  for (auto &msg : dbc->msgs)
-    msg_map[msg.address] = &msg;
+void DBCManager::initMsgMap() {
+  msgs.clear();
+  for (auto &msg : dbc->msgs) {
+    auto &m = msgs[msg.address];
+    m.name = msg.name.c_str();
+    m.size = msg.size;
+    for (auto &s : msg.sigs)
+      m.sigs[QString::fromStdString(s.name)] = s;
+  }
+  emit DBCFileChanged();
 }
 
 QString DBCManager::generateDBC() {
   if (!dbc) return {};
 
   QString dbc_string;
-  for (auto &m : dbc->msgs) {
-    dbc_string += QString("BO_ %1 %2: %3 XXX\n").arg(m.address).arg(m.name.c_str()).arg(m.size);
-    for (auto &sig : m.sigs) {
+  for (auto &[address, m] : msgs) {
+    dbc_string += QString("BO_ %1 %2: %3 XXX\n").arg(address).arg(m.name).arg(m.size);
+    for (auto &[name, sig] : m.sigs) {
       dbc_string += QString(" SG_ %1 : %2|%3@%4%5 (%6,%7) [0|0] \"\" XXX\n")
-                        .arg(sig.name.c_str())
+                        .arg(name)
                         .arg(sig.start_bit)
                         .arg(sig.size)
                         .arg(sig.is_little_endian ? '1' : '0')
@@ -49,48 +53,45 @@ QString DBCManager::generateDBC() {
 }
 
 void DBCManager::updateMsg(const QString &id, const QString &name, uint32_t size) {
-  auto [bus, address] = parseId(id);
-  if (auto m = const_cast<Msg *>(msg(address))) {
-    m->name = name.toStdString();
-    m->size = size;
-  } else {
-    m = &dbc->msgs.emplace_back(Msg{.address = address, .name = name.toStdString(), .size = size});
-    msg_map[address] = m;
-  }
+  auto [_, address] = parseId(id);
+  auto &m = msgs[address];
+  m.name = name;
+  m.size = size;
   emit msgUpdated(address);
 }
 
 void DBCManager::removeMsg(const QString &id) {
   uint32_t address = parseId(id).second;
-  auto it = std::find_if(dbc->msgs.begin(), dbc->msgs.end(), [address](auto &m) { return m.address == address; });
-  if (it != dbc->msgs.end()) {
-    dbc->msgs.erase(it);
-    updateMsgMap();
-    emit msgRemoved(address);
-  }
+  msgs.erase(address);
+  emit msgRemoved(address);
 }
 
 void DBCManager::addSignal(const QString &id, const Signal &sig) {
-  if (Msg *m = const_cast<Msg *>(msg(id))) {
-    emit signalAdded(&m->sigs.emplace_back(sig));
+  if (auto m = const_cast<DBCMsg *>(msg(id))) {
+    auto &s = m->sigs[sig.name.c_str()];
+    s = sig;
+    emit signalAdded(&s);
   }
 }
 
 void DBCManager::updateSignal(const QString &id, const QString &sig_name, const Signal &sig) {
-  if (Msg *m = const_cast<Msg *>(msg(id))) {
-    auto it = std::find_if(m->sigs.begin(), m->sigs.end(), [=](auto &sig) { return sig_name == sig.name.c_str(); });
-    if (it != m->sigs.end()) {
-      *it = sig;
-      emit signalUpdated(&(*it));
-    }
+  if (auto m = const_cast<DBCMsg *>(msg(id))) {
+    // change key name
+    QString new_name = QString::fromStdString(sig.name);
+    auto node = m->sigs.extract(sig_name);
+    node.key() = new_name;
+    auto it = m->sigs.insert(std::move(node));
+    auto &s = m->sigs[new_name];
+    s = sig;
+    emit signalUpdated(&s);
   }
 }
 
 void DBCManager::removeSignal(const QString &id, const QString &sig_name) {
-  if (Msg *m = const_cast<Msg *>(msg(id))) {
-    auto it = std::find_if(m->sigs.begin(), m->sigs.end(), [=](auto &sig) { return sig_name == sig.name.c_str(); });
+  if (auto m = const_cast<DBCMsg *>(msg(id))) {
+    auto it = m->sigs.find(sig_name);
     if (it != m->sigs.end()) {
-      emit signalRemoved(&(*it));
+      emit signalRemoved(&(it->second));
       m->sigs.erase(it);
     }
   }
diff --git a/tools/cabana/dbcmanager.h b/tools/cabana/dbcmanager.h
index 81c723a20d..d2262527d4 100644
--- a/tools/cabana/dbcmanager.h
+++ b/tools/cabana/dbcmanager.h
@@ -1,9 +1,16 @@
 #pragma once
 
+#include <map>
 #include <QObject>
-
+#include <QString>
 #include "opendbc/can/common_dbc.h"
 
+struct DBCMsg {
+  QString name;
+  uint32_t size;
+  std::map<QString, Signal> sigs;
+};
+
 class DBCManager : public QObject {
   Q_OBJECT
 
@@ -24,11 +31,11 @@ public:
 
   void updateMsg(const QString &id, const QString &name, uint32_t size);
   void removeMsg(const QString &id);
-  inline const DBC *getDBC() const { return dbc; }
-  inline const Msg *msg(const QString &id) const { return msg(parseId(id).second); }
-  inline const Msg *msg(uint32_t address) const {
-    auto it = msg_map.find(address);
-    return it != msg_map.end() ? it->second : nullptr;
+  inline const std::map<uint32_t, DBCMsg> &messages() const { return msgs; }
+  inline const DBCMsg *msg(const QString &id) const { return msg(parseId(id).second); }
+  inline const DBCMsg *msg(uint32_t address) const {
+    auto it = msgs.find(address);
+    return it != msgs.end() ? &it->second : nullptr;
   }
 
 signals:
@@ -40,9 +47,9 @@ signals:
   void DBCFileChanged();
 
 private:
-  void updateMsgMap();
+  void initMsgMap();
   DBC *dbc = nullptr;
-  std::unordered_map<uint32_t, const Msg *> msg_map;
+  std::map<uint32_t, DBCMsg> msgs;
 };
 
 // TODO: Add helper function in dbc.h
@@ -54,5 +61,5 @@ std::pair<int, int> getSignalRange(const Signal *s);
 DBCManager *dbc();
 inline QString msgName(const QString &id, const char *def = "untitled") {
   auto msg = dbc()->msg(id);
-  return msg ? msg->name.c_str() : def;
+  return msg ? msg->name : def;
 }
diff --git a/tools/cabana/detailwidget.cc b/tools/cabana/detailwidget.cc
index f96b60847b..6d07727303 100644
--- a/tools/cabana/detailwidget.cc
+++ b/tools/cabana/detailwidget.cc
@@ -10,16 +10,19 @@
 
 #include "selfdrive/ui/qt/util.h"
 #include "tools/cabana/canmessages.h"
+#include "tools/cabana/commands.h"
 #include "tools/cabana/dbcmanager.h"
 
 // DetailWidget
 
 DetailWidget::DetailWidget(ChartsWidget *charts, QWidget *parent) : charts(charts), QWidget(parent) {
+  undo_stack = new QUndoStack(this);
+
   QVBoxLayout *main_layout = new QVBoxLayout(this);
   main_layout->setContentsMargins(0, 0, 0, 0);
   main_layout->setSpacing(0);
 
-   // tabbar
+  // tabbar
   tabbar = new QTabBar(this);
   tabbar->setTabsClosable(true);
   tabbar->setDrawBase(false);
@@ -99,6 +102,7 @@ DetailWidget::DetailWidget(ChartsWidget *charts, QWidget *parent) : charts(chart
   QObject::connect(tabbar, &QTabBar::tabCloseRequested, tabbar, &QTabBar::removeTab);
   QObject::connect(charts, &ChartsWidget::chartOpened, [this](const QString &id, const Signal *sig) { updateChartState(id, sig, true); });
   QObject::connect(charts, &ChartsWidget::chartClosed, [this](const QString &id, const Signal *sig) { updateChartState(id, sig, false); });
+  QObject::connect(undo_stack, &QUndoStack::indexChanged, [this]() { dbcMsgChanged(); });
 }
 
 void DetailWidget::showTabBarContextMenu(const QPoint &pt) {
@@ -143,12 +147,17 @@ void DetailWidget::dbcMsgChanged(int show_form_idx) {
   if (msg_id.isEmpty()) return;
 
   setUpdatesEnabled(false);
+
+  binary_view->setMessage(msg_id);
+  history_log->setMessage(msg_id);
+
   QStringList warnings;
   for (auto f : signal_list) f->hide();
 
-  const Msg *msg = dbc()->msg(msg_id);
+  const DBCMsg *msg = dbc()->msg(msg_id);
   if (msg) {
-    for (int i = 0; i < msg->sigs.size(); ++i) {
+    int i = 0;
+    for (auto &[name, sig] : msg->sigs) {
       SignalEdit *form = i < signal_list.size() ? signal_list[i] : nullptr;
       if (!form) {
         form = new SignalEdit(i);
@@ -161,9 +170,10 @@ void DetailWidget::dbcMsgChanged(int show_form_idx) {
         signals_container->layout()->addWidget(form);
         signal_list.push_back(form);
       }
-      form->setSignal(msg_id, &(msg->sigs[i]), i == show_form_idx);
-      form->setChartOpened(charts->isChartOpened(msg_id, &(msg->sigs[i])));
+      form->setSignal(msg_id, &sig, i == show_form_idx);
+      form->setChartOpened(charts->isChartOpened(msg_id, &sig));
       form->show();
+      ++i;
     }
     if (msg->size != can->lastMessage(msg_id).dat.size())
       warnings.push_back(tr("Message size (%1) is incorrect.").arg(msg->size));
@@ -173,9 +183,6 @@ void DetailWidget::dbcMsgChanged(int show_form_idx) {
   remove_msg_act->setEnabled(msg != nullptr);
   name_label->setText(msgName(msg_id));
 
-  binary_view->setMessage(msg_id);
-  history_log->setMessage(msg_id);
-
   // Check overlapping bits
   if (auto overlapping = binary_view->getOverlappingSignals(); !overlapping.isEmpty()) {
     for (auto s : overlapping)
@@ -215,19 +222,13 @@ void DetailWidget::editMsg() {
   int size = msg ? msg->size : can->lastMessage(id).dat.size();
   EditMessageDialog dlg(id, msgName(id), size, this);
   if (dlg.exec()) {
-    dbc()->updateMsg(id, dlg.name_edit->text(), dlg.size_spin->value());
-    dbcMsgChanged();
+    undo_stack->push(new EditMsgCommand(msg_id, dlg.name_edit->text(), dlg.size_spin->value()));
   }
 }
 
 void DetailWidget::removeMsg() {
-  QString id = msg_id;
-  if (auto msg = dbc()->msg(id)) {
-    QString text = tr("Are you sure you want to remove '%1'").arg(msg->name.c_str());
-    if (QMessageBox::Yes == QMessageBox::question(this, tr("Remove Message"), text)) {
-      dbc()->removeMsg(id);
-      dbcMsgChanged();
-    }
+  if (auto msg = dbc()->msg(msg_id)) {
+    undo_stack->push(new RemoveMsgCommand(msg_id));
   }
 }
 
@@ -235,10 +236,10 @@ void DetailWidget::addSignal(int start_bit, int size, bool little_endian) {
   auto msg = dbc()->msg(msg_id);
   if (!msg) {
     for (int i = 1; /**/; ++i) {
-      std::string name = "NEW_MSG_" + std::to_string(i);
-      auto it = std::find_if(dbc()->getDBC()->msgs.begin(), dbc()->getDBC()->msgs.end(), [&](auto &m) { return m.name == name; });
-      if (it == dbc()->getDBC()->msgs.end()) {
-        dbc()->updateMsg(msg_id, name.c_str(), can->lastMessage(msg_id).dat.size());
+      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;
       }
@@ -247,13 +248,12 @@ void DetailWidget::addSignal(int start_bit, int size, bool little_endian) {
   Signal sig = {};
   for (int i = 1; /**/; ++i) {
     sig.name = "NEW_SIGNAL_" + std::to_string(i);
-    auto it = std::find_if(msg->sigs.begin(), msg->sigs.end(), [&](auto &s) { return sig.name == s.name; });
+    auto it = msg->sigs.find(sig.name.c_str());
     if (it == msg->sigs.end()) break;
   }
   sig.is_little_endian = little_endian;
   updateSigSizeParamsFromRange(sig, start_bit, size);
-  dbc()->addSignal(msg_id, sig);
-  dbcMsgChanged(msg->sigs.size() - 1);
+  undo_stack->push(new AddSigCommand(msg_id, sig));
 }
 
 void DetailWidget::resizeSignal(const Signal *sig, int start_bit, int size) {
@@ -265,14 +265,13 @@ void DetailWidget::resizeSignal(const Signal *sig, int start_bit, int size) {
 void DetailWidget::saveSignal(const Signal *sig, const Signal &new_sig) {
   auto msg = dbc()->msg(msg_id);
   if (new_sig.name != sig->name) {
-    auto it = std::find_if(msg->sigs.begin(), msg->sigs.end(), [&](auto &s) { return s.name == new_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);
@@ -280,16 +279,11 @@ void DetailWidget::saveSignal(const Signal *sig, const Signal &new_sig) {
     return;
   }
 
-  dbc()->updateSignal(msg_id, sig->name.c_str(), new_sig);
-  dbcMsgChanged();
+  undo_stack->push(new EditSignalCommand(msg_id, sig, new_sig));
 }
 
 void DetailWidget::removeSignal(const Signal *sig) {
-  QString text = tr("Are you sure you want to remove signal '%1'").arg(sig->name.c_str());
-  if (QMessageBox::Yes == QMessageBox::question(this, tr("Remove signal"), text)) {
-    dbc()->removeSignal(msg_id, sig->name.c_str());
-    dbcMsgChanged();
-  }
+  undo_stack->push(new RemoveSigCommand(msg_id, sig));
 }
 
 // EditMessageDialog
diff --git a/tools/cabana/detailwidget.h b/tools/cabana/detailwidget.h
index 915e0bde60..dc40eae159 100644
--- a/tools/cabana/detailwidget.h
+++ b/tools/cabana/detailwidget.h
@@ -3,6 +3,7 @@
 #include <QScrollArea>
 #include <QTabBar>
 #include <QToolBar>
+#include <QUndoStack>
 
 #include "tools/cabana/binaryview.h"
 #include "tools/cabana/chartswidget.h"
@@ -26,6 +27,7 @@ public:
   DetailWidget(ChartsWidget *charts, QWidget *parent);
   void setMessage(const QString &message_id);
   void dbcMsgChanged(int show_form_idx = -1);
+  QUndoStack *undo_stack = nullptr;
 
 private:
   void updateChartState(const QString &id, const Signal *sig, bool opened);
diff --git a/tools/cabana/historylog.cc b/tools/cabana/historylog.cc
index 4b1818cf68..28e344a46e 100644
--- a/tools/cabana/historylog.cc
+++ b/tools/cabana/historylog.cc
@@ -4,6 +4,10 @@
 
 // HistoryLogModel
 
+inline const Signal &get_signal(const DBCMsg *m, int index) {
+  return std::next(m->sigs.begin(), index)->second;
+}
+
 QVariant HistoryLogModel::data(const QModelIndex &index, int role) const {
   bool has_signal = dbc_msg && !dbc_msg->sigs.empty();
   if (role == Qt::DisplayRole) {
@@ -11,7 +15,7 @@ QVariant HistoryLogModel::data(const QModelIndex &index, int role) const {
     if (index.column() == 0) {
       return QString::number(m.ts, 'f', 2);
     }
-    return has_signal ? QString::number(get_raw_value((uint8_t *)m.dat.begin(), m.dat.size(), dbc_msg->sigs[index.column() - 1]))
+    return has_signal ? QString::number(get_raw_value((uint8_t *)m.dat.begin(), m.dat.size(), get_signal(dbc_msg, index.column() - 1)))
                       : toHex(m.dat);
   } else if (role == Qt::FontRole && index.column() == 1 && !has_signal) {
     return QFontDatabase::systemFont(QFontDatabase::FixedFont);
@@ -37,7 +41,7 @@ QVariant HistoryLogModel::headerData(int section, Qt::Orientation orientation, i
       if (section == 0) {
         return "Time";
       }
-      return has_signal ? QString::fromStdString(dbc_msg->sigs[section - 1].name).replace('_', ' ') : "Data";
+      return has_signal ? QString::fromStdString(get_signal(dbc_msg, section - 1).name).replace('_', ' ') : "Data";
     } else if (role == Qt::BackgroundRole && section > 0 && has_signal) {
       return QBrush(QColor(getColor(section - 1)));
     }
diff --git a/tools/cabana/historylog.h b/tools/cabana/historylog.h
index e8b0f5a35b..21be8fc129 100644
--- a/tools/cabana/historylog.h
+++ b/tools/cabana/historylog.h
@@ -28,7 +28,7 @@ private:
   QString msg_id;
   int row_count = 0;
   int column_count = 2;
-  const Msg *dbc_msg = nullptr;
+  const DBCMsg *dbc_msg = nullptr;
   std::deque<CanData> messages;
 };
 
diff --git a/tools/cabana/mainwin.cc b/tools/cabana/mainwin.cc
index 9b85ba7e8d..b8913a3aa7 100644
--- a/tools/cabana/mainwin.cc
+++ b/tools/cabana/mainwin.cc
@@ -12,7 +12,9 @@
 #include <QMessageBox>
 #include <QScreen>
 #include <QToolBar>
+#include <QUndoView>
 #include <QVBoxLayout>
+#include <QWidgetAction>
 
 #include "tools/replay/util.h"
 
@@ -41,9 +43,7 @@ MainWindow::MainWindow() : QMainWindow() {
     dbc_combo->addItem(QString::fromStdString(name));
   }
   dbc_combo->model()->sort(0);
-  dbc_combo->setEditable(true);
   dbc_combo->setInsertPolicy(QComboBox::NoInsert);
-  dbc_combo->completer()->setCompletionMode(QCompleter::PopupCompletion);
   messages_layout->addWidget(dbc_combo);
 
   messages_widget = new MessagesWidget(this);
@@ -102,9 +102,13 @@ MainWindow::MainWindow() : QMainWindow() {
   QObject::connect(charts_widget, &ChartsWidget::rangeChanged, video_widget, &VideoWidget::rangeChanged);
   QObject::connect(can, &CANMessages::streamStarted, this, &MainWindow::loadDBCFromFingerprint);
   QObject::connect(dbc(), &DBCManager::DBCFileChanged, [this]() {
+    detail_widget->undo_stack->clear();
     dbc_combo->setCurrentText(QFileInfo(dbc()->name()).baseName());
     setWindowTitle(tr("%1 - Cabana").arg(dbc()->name()));
   });
+  QObject::connect(detail_widget->undo_stack, &QUndoStack::indexChanged, [this](int index) {
+    setWindowTitle(tr("%1%2 - Cabana").arg(index > 0 ? "* " : "").arg(dbc()->name()));
+  });
 }
 
 void MainWindow::createActions() {
@@ -116,6 +120,23 @@ void MainWindow::createActions() {
   file_menu->addAction(tr("Copy DBC To Clipboard"), this, &MainWindow::saveDBCToClipboard);
   file_menu->addSeparator();
   file_menu->addAction(tr("Settings..."), this, &MainWindow::setOption);
+
+  QMenu *edit_menu = menuBar()->addMenu(tr("&Edit"));
+  auto undo_act = detail_widget->undo_stack->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"));
+  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);
+  undo_view->setWindowTitle(tr("Command List"));
+  QWidgetAction *commands_act = new QWidgetAction(this);
+  commands_act->setDefaultWidget(undo_view);
+  commands_menu->addAction(commands_act);
+
   QMenu *help_menu = menuBar()->addMenu(tr("&Help"));
   help_menu->addAction(tr("About &Qt"), qApp, &QApplication::aboutQt);
 }
diff --git a/tools/cabana/tests/test_cabana.cc b/tools/cabana/tests/test_cabana.cc
index d0aa2cbb4f..d2d9dc1d2a 100644
--- a/tools/cabana/tests/test_cabana.cc
+++ b/tools/cabana/tests/test_cabana.cc
@@ -10,26 +10,25 @@ TEST_CASE("DBCManager::generateDBC") {
   DBCManager dbc_from_generated(nullptr);
   dbc_from_generated.open("", dbc_string);
 
-  auto dbc = dbc_origin.getDBC();
-  auto new_dbc = dbc_from_generated.getDBC();
-  REQUIRE(dbc->msgs.size() == new_dbc->msgs.size());
-  for (int i = 0; i < dbc->msgs.size(); ++i) {
-    REQUIRE(dbc->msgs[i].name == new_dbc->msgs[i].name);
-    REQUIRE(dbc->msgs[i].address == new_dbc->msgs[i].address);
-    REQUIRE(dbc->msgs[i].size == new_dbc->msgs[i].size);
-    REQUIRE(dbc->msgs[i].sigs.size() == new_dbc->msgs[i].sigs.size());
-    auto &sig = dbc->msgs[i].sigs;
-    auto &new_sig = new_dbc->msgs[i].sigs;
-    for (int j = 0; j < sig.size(); ++j) {
-      REQUIRE(sig[j].name == new_sig[j].name);
-      REQUIRE(sig[j].start_bit == new_sig[j].start_bit);
-      REQUIRE(sig[j].msb == new_sig[j].msb);
-      REQUIRE(sig[j].lsb == new_sig[j].lsb);
-      REQUIRE(sig[j].size == new_sig[j].size);
-      REQUIRE(sig[j].is_signed == new_sig[j].is_signed);
-      REQUIRE(sig[j].factor == new_sig[j].factor);
-      REQUIRE(sig[j].offset == new_sig[j].offset);
-      REQUIRE(sig[j].is_little_endian == new_sig[j].is_little_endian);
+  auto &msgs = dbc_origin.messages();
+  auto &new_msgs = dbc_from_generated.messages();
+  REQUIRE(msgs.size() == new_msgs.size());
+  for (auto &[address, m] : msgs) {
+    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());
+    for (auto &[name, sig] : m.sigs) {
+      auto &new_sig = new_m.sigs[name];
+      REQUIRE(sig.name == new_sig.name);
+      REQUIRE(sig.start_bit == new_sig.start_bit);
+      REQUIRE(sig.msb == new_sig.msb);
+      REQUIRE(sig.lsb == new_sig.lsb);
+      REQUIRE(sig.size == new_sig.size);
+      REQUIRE(sig.is_signed == new_sig.is_signed);
+      REQUIRE(sig.factor == new_sig.factor);
+      REQUIRE(sig.offset == new_sig.offset);
+      REQUIRE(sig.is_little_endian == new_sig.is_little_endian);
     }
   }
 }