c++ cabana: Initial version (#25946)

* draft * continue * fix QChart unresponsive with large points * build with --extras * add filter * save DBC button * more buttons * add flag to use qcamera * stop replay in dctor * README * use getMsg * video control * edit signal * add colors * correct ts * add/edit signals * use bus:address as key old-commit-hash: 1b8324af876e66630b5f4e50623e3136a39f6ecb
2022-10-04 06:19:42 +08:00
parent 595d8471db
commit 292d55cf8a
23 changed files with 1218 additions and 1 deletions
--- a/4
+++ b/4
@@ -433,6 +433,10 @@ SConscript(['selfdrive/navd/SConscript'])

 SConscript(['tools/replay/SConscript'])

+opendbc = abspath([File('opendbc/can/libdbc.so')])
+Export('opendbc')
+SConscript(['tools/cabana/SConscript'])
+
 if GetOption('test'):
  SConscript('panda/tests/safety/SConscript')

--- a/selfdrive/ui/SConscript
+++ b/selfdrive/ui/SConscript
@@ -32,6 +32,7 @@ if maps:
  qt_env['CPPDEFINES'] += ["ENABLE_MAPS"]

 widgets = qt_env.Library("qt_widgets", widgets_src, LIBS=base_libs)
+Export('widgets')
 qt_libs = [widgets, qt_util] + base_libs

 # build assets
--- a/tools/cabana/.gitignore
+++ b/tools/cabana/.gitignore
@@ -0,0 +1,4 @@
+moc_*
+*.moc
+
+_cabana
--- a/tools/cabana/README
+++ b/tools/cabana/README
@@ -0,0 +1,9 @@
+# Cabana
+
+<img src="https://cabana.comma.ai/img/cabana.jpg" width="640" height="267" />
+
+Cabana is a tool developed to view raw CAN data. One use for this is creating and editing [CAN Dictionaries](http://socialledge.com/sjsu/index.php/DBC_Format) (DBC files), and the tool provides direct integration with [commaai/opendbc](https://github.com/commaai/opendbc) (a collection of DBC files), allowing you to load the DBC files direct from source, and save to your fork. In addition, you can load routes from [comma connect](https://connect.comma.ai).
+
+## Usage Instructions
+
+See [openpilot wiki](https://github.com/commaai/openpilot/wiki/Cabana)
--- a/tools/cabana/SConscript
+++ b/tools/cabana/SConscript
@@ -0,0 +1,20 @@
+import os
+Import('env', 'qt_env', 'arch', 'common', 'messaging', 'visionipc',
+       'cereal', 'transformations', 'widgets', 'replay_lib', 'opendbc')
+
+base_frameworks = qt_env['FRAMEWORKS']
+base_libs = [common, messaging, cereal, visionipc, transformations, 'zmq',
+             'capnp', 'kj', 'm', 'ssl', 'crypto', 'pthread'] + qt_env["LIBS"]
+
+if arch == "Darwin":
+  base_frameworks.append('OpenCL')
+else:
+  base_libs.append('OpenCL')
+
+qt_libs = ['qt_util', 'Qt5Charts'] + base_libs
+if arch in ['x86_64', 'Darwin'] and GetOption('extras'):
+  qt_env['CXXFLAGS'] += ["-Wno-deprecated-declarations"]
+
+  # qt_env["LD_LIBRARY_PATH"] = [Dir(f"#opendbc/can").abspath]
+  cabana_libs = [widgets, cereal, messaging, visionipc, replay_lib, opendbc,'avutil', 'avcodec', 'avformat', 'bz2', 'curl', 'yuv'] + qt_libs
+  qt_env.Program('_cabana', ['cabana.cc', 'mainwin.cc', 'chartswidget.cc', 'videowidget.cc', 'parser.cc', 'messageswidget.cc', 'detailwidget.cc'], LIBS=cabana_libs, FRAMEWORKS=base_frameworks)
--- a/tools/cabana/cabana
+++ b/tools/cabana/cabana
@@ -0,0 +1,4 @@
+#!/bin/sh
+cd "$(dirname "$0")"
+export LD_LIBRARY_PATH="../../opendbc/can:$LD_LIBRARY_PATH"
+exec ./_cabana "$1"
--- a/tools/cabana/cabana.cc
+++ b/tools/cabana/cabana.cc
@@ -0,0 +1,34 @@
+#include <QApplication>
+#include <QCommandLineParser>
+
+#include "selfdrive/ui/qt/util.h"
+#include "tools/cabana/mainwin.h"
+
+const QString DEMO_ROUTE = "4cf7a6ad03080c90|2021-09-29--13-46-36";
+Parser *parser = nullptr;
+
+int main(int argc, char *argv[]) {
+  initApp(argc, argv);
+  QApplication app(argc, argv);
+
+  QCommandLineParser cmd_parser;
+  cmd_parser.addHelpOption();
+  cmd_parser.addPositionalArgument("route", "the drive to replay. find your drives at connect.comma.ai");
+  cmd_parser.addOption({"demo", "use a demo route instead of providing your own"});
+  cmd_parser.addOption({"data_dir", "local directory with routes", "data_dir"});
+  cmd_parser.addOption({"qcam", "use qcamera"});
+  cmd_parser.process(app);
+  const QStringList args = cmd_parser.positionalArguments();
+  if (args.empty() && !cmd_parser.isSet("demo")) {
+    cmd_parser.showHelp();
+  }
+
+  const QString route = args.empty() ? DEMO_ROUTE : args.first();
+  parser = new Parser(&app);
+  if (!parser->loadRoute(route, cmd_parser.value("data_dir"), cmd_parser.isSet("qcam"))) {
+    return 0;
+  }
+  MainWindow w;
+  w.showMaximized();
+  return app.exec();
+}
--- a/tools/cabana/chartswidget.cc
+++ b/tools/cabana/chartswidget.cc
@@ -0,0 +1,102 @@
+#include "tools/cabana/chartswidget.h"
+
+#include <QtCharts/QLineSeries>
+
+using namespace QtCharts;
+
+int64_t get_raw_value(const QByteArray &msg, const Signal &sig) {
+  int64_t ret = 0;
+
+  int i = sig.msb / 8;
+  int bits = sig.size;
+  while (i >= 0 && i < msg.size() && bits > 0) {
+    int lsb = (int)(sig.lsb / 8) == i ? sig.lsb : i * 8;
+    int msb = (int)(sig.msb / 8) == i ? sig.msb : (i + 1) * 8 - 1;
+    int size = msb - lsb + 1;
+
+    uint64_t d = (msg[i] >> (lsb - (i * 8))) & ((1ULL << size) - 1);
+    ret |= d << (bits - size);
+
+    bits -= size;
+    i = sig.is_little_endian ? i - 1 : i + 1;
+  }
+  return ret;
+}
+
+ChartsWidget::ChartsWidget(QWidget *parent) : QWidget(parent) {
+  main_layout = new QVBoxLayout(this);
+  main_layout->setContentsMargins(0, 0, 0, 0);
+  connect(parser, &Parser::updated, this, &ChartsWidget::updateState);
+  connect(parser, &Parser::showPlot, this, &ChartsWidget::addChart);
+  connect(parser, &Parser::hidePlot, this, &ChartsWidget::removeChart);
+}
+
+void ChartsWidget::addChart(const QString &id, const QString &sig_name) {
+  const QString char_name = id + sig_name;
+  if (charts.find(char_name) == charts.end()) {
+    QLineSeries *series = new QLineSeries();
+    series->setUseOpenGL(true);
+    auto chart = new QChart();
+    chart->setTitle(id + ": " + sig_name);
+    chart->addSeries(series);
+    chart->createDefaultAxes();
+    chart->legend()->hide();
+    auto chart_view = new QChartView(chart);
+    chart_view->setMinimumSize({width(), 300});
+    chart_view->setMaximumSize({width(), 300});
+    chart_view->setRenderHint(QPainter::Antialiasing);
+    main_layout->addWidget(chart_view);
+    charts[char_name] = {.id = id, .sig_name = sig_name, .chart_view = chart_view};
+  }
+}
+
+void ChartsWidget::removeChart(const QString &id, const QString &sig_name) {
+  auto it = charts.find(id + sig_name);
+  if (it == charts.end()) return;
+
+  delete it->second.chart_view;
+  charts.erase(it);
+}
+
+void ChartsWidget::updateState() {
+  static double last_update = millis_since_boot();
+  double current_ts = millis_since_boot();
+  bool update = (current_ts - last_update) > 500;
+  if (update) {
+    last_update = current_ts;
+  }
+
+  auto getSig = [=](const QString &id, const QString &name) -> const Signal * {
+    for (auto &sig : parser->getMsg(id)->sigs) {
+      if (name == sig.name.c_str()) return &sig;
+    }
+    return nullptr;
+  };
+
+  for (auto &[_, c] : charts) {
+    if (auto sig = getSig(c.id, c.sig_name)) {
+      const auto &can_data = parser->can_msgs[c.id].back();
+      int64_t val = get_raw_value(can_data.dat, *sig);
+      if (sig->is_signed) {
+        val -= ((val >> (sig->size - 1)) & 0x1) ? (1ULL << sig->size) : 0;
+      }
+      double value = val * sig->factor + sig->offset;
+
+      if (value > c.max_y) c.max_y = value;
+      if (value < c.min_y) c.min_y = value;
+
+      while (c.data.size() > DATA_LIST_SIZE) {
+        c.data.pop_front();
+      }
+      c.data.push_back({can_data.ts / 1000., value});
+
+      if (update) {
+        QChart *chart = c.chart_view->chart();
+        QLineSeries *series = (QLineSeries *)chart->series()[0];
+        series->replace(c.data);
+        chart->axisX()->setRange(c.data.front().x(), c.data.back().x());
+        chart->axisY()->setRange(c.min_y, c.max_y);
+      }
+    }
+  }
+}
--- a/tools/cabana/chartswidget.h
+++ b/tools/cabana/chartswidget.h
@@ -0,0 +1,34 @@
+#pragma once
+
+#include <QVBoxLayout>
+#include <QWidget>
+#include <QtCharts/QChartView>
+#include <QtCharts/QLineSeries>
+#include <map>
+
+#include "tools/cabana/parser.h"
+
+class ChartsWidget : public QWidget {
+  Q_OBJECT
+
+ public:
+  ChartsWidget(QWidget *parent = nullptr);
+  inline bool hasChart(const QString &id, const QString &sig_name) {
+    return charts.find(id+sig_name) != charts.end();
+  }
+  void addChart(const QString &id, const QString &sig_name);
+  void removeChart(const QString &id, const QString &sig_name);
+  void updateState();
+
+ protected:
+  QVBoxLayout *main_layout;
+  struct SignalChart {
+    QString id;
+    QString sig_name;
+    int max_y = 0;
+    int min_y = 0;
+    QList<QPointF> data;
+    QtCharts::QChartView *chart_view = nullptr;
+  };
+  std::map<QString, SignalChart> charts;
+};
--- a/tools/cabana/detailwidget.cc
+++ b/tools/cabana/detailwidget.cc
@@ -0,0 +1,458 @@
+#include "tools/cabana/detailwidget.h"
+
+#include <QDebug>
+#include <QHeaderView>
+#include <QMessageBox>
+#include <QTimer>
+#include <QVBoxLayout>
+#include <bitset>
+
+#include "selfdrive/ui/qt/widgets/scrollview.h"
+
+const QString SIGNAL_COLORS[] = {"#9FE2BF", "#40E0D0", "#6495ED", "#CCCCFF", "#FF7F50", "#FFBF00"};
+
+static QVector<int> BIG_ENDIAN_START_BITS = []() {
+  QVector<int> ret;
+  for (int i = 0; i < 64; i++) {
+    for (int j = 7; j >= 0; j--) {
+      ret.push_back(j + i * 8);
+    }
+  }
+  return ret;
+}();
+
+static int bigEndianBitIndex(int index) {
+  // TODO: Add a helper function in dbc.h
+  return BIG_ENDIAN_START_BITS.indexOf(index);
+}
+
+DetailWidget::DetailWidget(QWidget *parent) : QWidget(parent) {
+  QVBoxLayout *main_layout = new QVBoxLayout(this);
+  QLabel *title = new QLabel(tr("SELECTED MESSAGE:"), this);
+  main_layout->addWidget(title);
+
+  QHBoxLayout *name_layout = new QHBoxLayout();
+  name_label = new QLabel(this);
+  name_label->setStyleSheet("font-weight:bold;");
+  name_layout->addWidget(name_label);
+  name_layout->addStretch();
+  edit_btn = new QPushButton(tr("Edit"), this);
+  edit_btn->setVisible(false);
+  QObject::connect(edit_btn, &QPushButton::clicked, [=]() {
+    EditMessageDialog dlg(msg_id, this);
+    int ret = dlg.exec();
+    if (ret) {
+      setMsg(msg_id);
+    }
+  });
+  name_layout->addWidget(edit_btn);
+  main_layout->addLayout(name_layout);
+
+  binary_view = new BinaryView(this);
+  main_layout->addWidget(binary_view);
+
+  QHBoxLayout *signals_layout = new QHBoxLayout();
+  signals_layout->addWidget(new QLabel(tr("Signals")));
+  signals_layout->addStretch();
+  add_sig_btn = new QPushButton(tr("Add signal"), this);
+  add_sig_btn->setVisible(false);
+  QObject::connect(add_sig_btn, &QPushButton::clicked, [=]() {
+    AddSignalDialog dlg(msg_id, this);
+    int ret = dlg.exec();
+    if (ret) {
+      setMsg(msg_id);
+    }
+  });
+  signals_layout->addWidget(add_sig_btn);
+  main_layout->addLayout(signals_layout);
+
+  QWidget *container = new QWidget(this);
+  QVBoxLayout *container_layout = new QVBoxLayout(container);
+  signal_edit_layout = new QVBoxLayout();
+  signal_edit_layout->setSpacing(2);
+  container_layout->addLayout(signal_edit_layout);
+
+  messages_view = new MessagesView(this);
+  container_layout->addWidget(messages_view);
+
+  QScrollArea *scroll = new QScrollArea(this);
+  scroll->setWidget(container);
+  scroll->setWidgetResizable(true);
+  scroll->setSizePolicy(QSizePolicy::Preferred, QSizePolicy::Expanding);
+
+  main_layout->addWidget(scroll);
+  setFixedWidth(600);
+
+  connect(parser, &Parser::updated, this, &DetailWidget::updateState);
+}
+
+void DetailWidget::updateState() {
+  if (msg_id.isEmpty()) return;
+
+  auto &list = parser->can_msgs[msg_id];
+  if (!list.empty()) {
+    binary_view->setData(list.back().dat);
+    messages_view->setMessages(list);
+  }
+}
+
+SignalForm::SignalForm(const Signal &sig, QWidget *parent) : QWidget(parent) {
+  QVBoxLayout *v_layout = new QVBoxLayout(this);
+
+  QHBoxLayout *h = new QHBoxLayout();
+  h->addWidget(new QLabel(tr("Name")));
+  name = new QLineEdit(sig.name.c_str());
+  h->addWidget(name);
+  v_layout->addLayout(h);
+
+  h = new QHBoxLayout();
+  h->addWidget(new QLabel(tr("Size")));
+  size = new QSpinBox();
+  size->setValue(sig.size);
+  h->addWidget(size);
+  v_layout->addLayout(h);
+
+  h = new QHBoxLayout();
+  h->addWidget(new QLabel(tr("Most significant bit")));
+  msb = new QSpinBox();
+  msb->setValue(sig.msb);
+  h->addWidget(msb);
+  v_layout->addLayout(h);
+
+  h = new QHBoxLayout();
+  h->addWidget(new QLabel(tr("Endianness")));
+  endianness = new QComboBox();
+  endianness->addItems({"Little", "Big"});
+  endianness->setCurrentIndex(sig.is_little_endian ? 0 : 1);
+  h->addWidget(endianness);
+  v_layout->addLayout(h);
+
+  h = new QHBoxLayout();
+  h->addWidget(new QLabel(tr("sign")));
+  sign = new QComboBox();
+  sign->addItems({"Signed", "Unsigned"});
+  sign->setCurrentIndex(sig.is_signed ? 0 : 1);
+  h->addWidget(sign);
+  v_layout->addLayout(h);
+
+  h = new QHBoxLayout();
+  h->addWidget(new QLabel(tr("Factor")));
+  factor = new QSpinBox();
+  factor->setValue(sig.factor);
+  h->addWidget(factor);
+  v_layout->addLayout(h);
+
+  h = new QHBoxLayout();
+  h->addWidget(new QLabel(tr("Offset")));
+  offset = new QSpinBox();
+  offset->setValue(sig.offset);
+  h->addWidget(offset);
+  v_layout->addLayout(h);
+
+  // TODO: parse the following parameters in opendbc
+  h = new QHBoxLayout();
+  h->addWidget(new QLabel(tr("Unit")));
+  unit = new QLineEdit();
+  h->addWidget(unit);
+  v_layout->addLayout(h);
+
+  h = new QHBoxLayout();
+  h->addWidget(new QLabel(tr("Comment")));
+  comment = new QLineEdit();
+  h->addWidget(comment);
+  v_layout->addLayout(h);
+
+  h = new QHBoxLayout();
+  h->addWidget(new QLabel(tr("Minimum value")));
+  min_val = new QSpinBox();
+  h->addWidget(min_val);
+  v_layout->addLayout(h);
+
+  h = new QHBoxLayout();
+  h->addWidget(new QLabel(tr("Maximum value")));
+  max_val = new QSpinBox();
+  h->addWidget(max_val);
+  v_layout->addLayout(h);
+
+  h = new QHBoxLayout();
+  h->addWidget(new QLabel(tr("Value descriptions")));
+  val_desc = new QLineEdit();
+  h->addWidget(val_desc);
+  v_layout->addLayout(h);
+}
+
+std::optional<Signal> SignalForm::getSignal() {
+  Signal sig = {};
+  sig.name = name->text().toStdString();
+  sig.size = size->text().toInt();
+  sig.offset = offset->text().toDouble();
+  sig.factor = factor->text().toDouble();
+  sig.msb = msb->text().toInt();
+  sig.is_signed = sign->currentIndex() == 0;
+  sig.is_little_endian = endianness->currentIndex() == 0;
+  if (sig.is_little_endian) {
+    sig.lsb = sig.start_bit;
+    sig.msb = sig.start_bit + sig.size - 1;
+  } else {
+    sig.lsb = BIG_ENDIAN_START_BITS[bigEndianBitIndex(sig.start_bit) + sig.size - 1];
+    sig.msb = sig.start_bit;
+  }
+  return (sig.name.empty() || sig.size <= 0) ? std::nullopt : std::optional(sig);
+}
+
+void DetailWidget::setMsg(const QString &id) {
+  msg_id = id;
+  QString name = tr("untitled");
+
+  for (auto edit : signal_edit) {
+    delete edit;
+  }
+  signal_edit.clear();
+  int i = 0;
+  auto msg = parser->getMsg(id);
+  if (msg) {
+    for (auto &s : msg->sigs) {
+      SignalEdit *edit = new SignalEdit(id, s, i++, this);
+      connect(edit, &SignalEdit::removed, [=]() {
+        QTimer::singleShot(0, [=]() { setMsg(id); });
+      });
+      signal_edit_layout->addWidget(edit);
+      signal_edit.push_back(edit);
+    }
+    name = msg->name.c_str();
+  }
+  name_label->setText(name);
+  binary_view->setMsg(msg_id);
+
+  edit_btn->setVisible(true);
+  add_sig_btn->setVisible(msg != nullptr);
+}
+
+SignalEdit::SignalEdit(const QString &id, const Signal &sig, int idx, QWidget *parent) : id(id), name_(sig.name.c_str()), QWidget(parent) {
+  QVBoxLayout *main_layout = new QVBoxLayout(this);
+  main_layout->setContentsMargins(0, 0, 0, 0);
+
+  // title
+  QHBoxLayout *title_layout = new QHBoxLayout();
+  QLabel *icon = new QLabel(">");
+  icon->setStyleSheet("font-weight:bold");
+  title_layout->addWidget(icon);
+  title = new ElidedLabel(this);
+  title->setText(sig.name.c_str());
+  title->setStyleSheet(QString("font-weight:bold; color:%1").arg(SIGNAL_COLORS[idx % std::size(SIGNAL_COLORS)]));
+  connect(title, &ElidedLabel::clicked, [=]() {
+    edit_container->isVisible() ? edit_container->hide() : edit_container->show();
+    icon->setText(edit_container->isVisible() ? "▼" : ">");
+  });
+  title_layout->addWidget(title);
+  title_layout->addStretch();
+  QPushButton *show_plot = new QPushButton(tr("Show Plot"));
+  QObject::connect(show_plot, &QPushButton::clicked, [=]() {
+    if (show_plot->text() == tr("Show Plot")) {
+      emit parser->showPlot(id, name_);
+      show_plot->setText(tr("Hide Plot"));
+    } else {
+      emit parser->hidePlot(id, name_);
+      show_plot->setText(tr("Show Plot"));
+    }
+  });
+  title_layout->addWidget(show_plot);
+  main_layout->addLayout(title_layout);
+
+  edit_container = new QWidget(this);
+  QVBoxLayout *v_layout = new QVBoxLayout(edit_container);
+  form = new SignalForm(sig, this);
+  v_layout->addWidget(form);
+
+  QHBoxLayout *h = new QHBoxLayout();
+  remove_btn = new QPushButton(tr("Remove Signal"));
+  QObject::connect(remove_btn, &QPushButton::clicked, this, &SignalEdit::remove);
+  h->addWidget(remove_btn);
+  h->addStretch();
+  QPushButton *save_btn = new QPushButton(tr("Save"));
+  QObject::connect(save_btn, &QPushButton::clicked, this, &SignalEdit::save);
+  h->addWidget(save_btn);
+  v_layout->addLayout(h);
+
+  edit_container->setVisible(false);
+  main_layout->addWidget(edit_container);
+}
+
+void SignalEdit::save() {
+  Msg *msg = const_cast<Msg *>(parser->getMsg(id));
+  if (!msg) return;
+
+  for (auto &sig : msg->sigs) {
+    if (name_ == sig.name.c_str()) {
+      if (auto s = form->getSignal()) {
+        sig = *s;
+      }
+      break;
+    }
+  }
+}
+
+void SignalEdit::remove() {
+  QMessageBox msgbox;
+  msgbox.setText(tr("Remove signal"));
+  msgbox.setInformativeText(tr("Are you sure you want to remove signal '%1'").arg(name_));
+  msgbox.setStandardButtons(QMessageBox::Ok | QMessageBox::Cancel);
+  msgbox.setDefaultButton(QMessageBox::Cancel);
+  if (msgbox.exec()) {
+    parser->removeSignal(id, name_);
+    emit removed();
+  }
+}
+
+BinaryView::BinaryView(QWidget *parent) {
+  QVBoxLayout *main_layout = new QVBoxLayout(this);
+  table = new QTableWidget(this);
+  table->horizontalHeader()->setSectionResizeMode(QHeaderView::Stretch);
+  table->horizontalHeader()->hide();
+  table->setHorizontalScrollBarPolicy(Qt::ScrollBarAlwaysOff);
+  table->setVerticalScrollBarPolicy(Qt::ScrollBarAlwaysOff);
+  main_layout->addWidget(table);
+  table->setColumnCount(9);
+  setSizePolicy(QSizePolicy::Preferred, QSizePolicy::Fixed);
+}
+
+void BinaryView::setMsg(const QString &id) {
+  auto msg = parser->getMsg(Parser::addressFromId(id));
+  int row_count = msg ? msg->size : parser->can_msgs[id].back().dat.size();
+
+  table->setRowCount(row_count);
+  table->setColumnCount(9);
+  for (int i = 0; i < table->rowCount(); ++i) {
+    for (int j = 0; j < table->columnCount(); ++j) {
+      auto item = new QTableWidgetItem();
+      item->setTextAlignment(Qt::AlignCenter);
+      if (j == 8) {
+        QFont font;
+        font.setBold(true);
+        item->setFont(font);
+      }
+      table->setItem(i, j, item);
+    }
+  }
+
+  if (msg) {
+    for (int i = 0; i < msg->sigs.size(); ++i) {
+      const auto &sig = msg->sigs[i];
+      int start = sig.is_little_endian ? sig.start_bit : bigEndianBitIndex(sig.start_bit);
+      for (int j = start; j <= start + sig.size - 1; ++j) {
+        table->item(j / 8, j % 8)->setBackground(QColor(SIGNAL_COLORS[i % std::size(SIGNAL_COLORS)]));
+      }
+    }
+  }
+
+  setFixedHeight(table->rowHeight(0) * table->rowCount() + 25);
+  if (!parser->can_msgs.empty()) {
+    setData(parser->can_msgs[id].back().dat);
+  }
+}
+
+void BinaryView::setData(const QByteArray &binary) {
+  std::string s;
+  for (int j = 0; j < binary.size(); ++j) {
+    s += std::bitset<8>(binary[j]).to_string();
+  }
+
+  char hex[3] = {'\0'};
+  for (int i = 0; i < binary.size(); ++i) {
+    for (int j = 0; j < 8; ++j) {
+      table->item(i, j)->setText(QChar(s[i * 8 + j]));
+    }
+    sprintf(&hex[0], "%02X", (unsigned char)binary[i]);
+    table->item(i, 8)->setText(hex);
+  }
+}
+
+MessagesView::MessagesView(QWidget *parent) : QWidget(parent) {
+  QVBoxLayout *main_layout = new QVBoxLayout(this);
+  QLabel *title = new QLabel("MESSAGE    TIME       BYTES");
+  main_layout->addWidget(title);
+
+  message_layout = new QVBoxLayout();
+  main_layout->addLayout(message_layout);
+  main_layout->addStretch();
+}
+
+void MessagesView::setMessages(const std::list<CanData> &list) {
+  auto begin = list.begin();
+  std::advance(begin, std::max(0, (int)(list.size() - 100)));
+  int j = 0;
+  for (auto it = begin; it != list.end(); ++it) {
+    QLabel *label;
+    if (j >= messages.size()) {
+      label = new QLabel();
+      message_layout->addWidget(label);
+      messages.push_back(label);
+    } else {
+      label = messages[j];
+    }
+    label->setText(it->hex_dat);
+    ++j;
+  }
+}
+
+EditMessageDialog::EditMessageDialog(const QString &id, QWidget *parent) : QDialog(parent) {
+  setWindowTitle(tr("Edit message"));
+  QVBoxLayout *main_layout = new QVBoxLayout(this);
+  main_layout->addWidget(new QLabel(tr("ID: (%1)").arg(id)));
+
+  auto msg = const_cast<Msg *>(parser->getMsg(Parser::addressFromId(id)));
+  QHBoxLayout *h_layout = new QHBoxLayout();
+  h_layout->addWidget(new QLabel(tr("Name")));
+  h_layout->addStretch();
+  QLineEdit *name_edit = new QLineEdit(this);
+  name_edit->setText(msg ? msg->name.c_str() : "untitled");
+  h_layout->addWidget(name_edit);
+  main_layout->addLayout(h_layout);
+
+  h_layout = new QHBoxLayout();
+  h_layout->addWidget(new QLabel(tr("Size")));
+  h_layout->addStretch();
+  QSpinBox *size_spin = new QSpinBox(this);
+  size_spin->setValue(msg ? msg->size : parser->can_msgs[id].back().dat.size());
+  h_layout->addWidget(size_spin);
+  main_layout->addLayout(h_layout);
+
+  auto buttonBox = new QDialogButtonBox(QDialogButtonBox::Ok | QDialogButtonBox::Cancel);
+  main_layout->addWidget(buttonBox);
+
+  connect(buttonBox, &QDialogButtonBox::accepted, [=]() {
+    if (size_spin->value() <= 0 || name_edit->text().isEmpty()) return;
+
+    if (msg) {
+      msg->name = name_edit->text().toStdString();
+      msg->size = size_spin->value();
+    } else {
+      Msg m = {};
+      m.address = Parser::addressFromId(id);
+      m.name = name_edit->text().toStdString();
+      m.size = size_spin->value();
+      parser->addNewMsg(m);
+    }
+    QDialog::accept();
+  });
+  connect(buttonBox, &QDialogButtonBox::rejected, this, &QDialog::reject);
+}
+
+AddSignalDialog::AddSignalDialog(const QString &id, QWidget *parent) : QDialog(parent) {
+  setWindowTitle(tr("Add signal to %1").arg(parser->getMsg(id)->name.c_str()));
+  QVBoxLayout *main_layout = new QVBoxLayout(this);
+  Signal sig = {.name = "untitled"};
+  auto form = new SignalForm(sig, this);
+  main_layout->addWidget(form);
+  auto buttonBox = new QDialogButtonBox(QDialogButtonBox::Ok | QDialogButtonBox::Cancel);
+  main_layout->addWidget(buttonBox);
+  connect(buttonBox, &QDialogButtonBox::rejected, this, &QDialog::reject);
+  connect(buttonBox, &QDialogButtonBox::accepted, [=]() {
+    if (auto msg = const_cast<Msg *>(parser->getMsg(id))) {
+      if (auto signal = form->getSignal()) {
+        msg->sigs.push_back(*signal);
+      }
+    }
+    QDialog::accept();
+  });
+}
--- a/tools/cabana/detailwidget.h
+++ b/tools/cabana/detailwidget.h
@@ -0,0 +1,102 @@
+#pragma once
+#include <QComboBox>
+#include <QDialog>
+#include <QDialogButtonBox>
+#include <QLabel>
+#include <QLineEdit>
+#include <QPushButton>
+#include <QSpinBox>
+#include <QTableWidget>
+#include <QVBoxLayout>
+#include <QWidget>
+#include <optional>
+
+#include "opendbc/can/common.h"
+#include "opendbc/can/common_dbc.h"
+#include "selfdrive/ui/qt/widgets/controls.h"
+#include "tools/cabana/parser.h"
+
+class SignalForm : public QWidget {
+  Q_OBJECT
+
+ public:
+  SignalForm(const Signal &sig, QWidget *parent);
+  std::optional<Signal> getSignal();
+  QLineEdit *name, *unit, *comment, *val_desc;
+  QSpinBox *size, *msb, *lsb, *factor, *offset, *min_val, *max_val;
+  QComboBox *sign, *endianness;
+};
+
+class MessagesView : public QWidget {
+  Q_OBJECT
+
+ public:
+  MessagesView(QWidget *parent);
+  void setMessages(const std::list<CanData> &data);
+  std::vector<QLabel *> messages;
+  QVBoxLayout *message_layout;
+};
+
+class BinaryView : public QWidget {
+  Q_OBJECT
+
+ public:
+  BinaryView(QWidget *parent);
+  void setMsg(const QString &id);
+  void setData(const QByteArray &binary);
+
+  QTableWidget *table;
+};
+
+class SignalEdit : public QWidget {
+  Q_OBJECT
+
+ public:
+  SignalEdit(const QString &id, const Signal &sig, int idx, QWidget *parent);
+  void save();
+
+signals:
+  void removed();
+ protected:
+  void remove();
+  QString id;
+  QString name_;
+  ElidedLabel *title;
+  SignalForm *form;
+  QWidget *edit_container;
+  QPushButton *remove_btn;
+};
+
+class DetailWidget : public QWidget {
+  Q_OBJECT
+ public:
+  DetailWidget(QWidget *parent);
+  void setMsg(const QString &id);
+
+ public slots:
+  void updateState();
+
+ protected:
+  QLabel *name_label = nullptr;
+  QPushButton *edit_btn, *add_sig_btn;
+  QVBoxLayout *signal_edit_layout;
+  Signal *sig = nullptr;
+  MessagesView *messages_view;
+  QString msg_id;
+  BinaryView *binary_view;
+  std::vector<SignalEdit *> signal_edit;
+};
+
+class EditMessageDialog : public QDialog {
+  Q_OBJECT
+
+ public:
+  EditMessageDialog(const QString &id, QWidget *parent);
+};
+
+class AddSignalDialog : public QDialog {
+  Q_OBJECT
+
+ public:
+  AddSignalDialog(const QString &id, QWidget *parent);
+};
--- a/tools/cabana/mainwin.cc
+++ b/tools/cabana/mainwin.cc
@@ -0,0 +1,38 @@
+#include "tools/cabana/mainwin.h"
+
+#include <QHBoxLayout>
+#include <QVBoxLayout>
+
+MainWindow::MainWindow() : QWidget() {
+  assert(parser != nullptr);
+
+  QVBoxLayout *main_layout = new QVBoxLayout(this);
+  QHBoxLayout *h_layout = new QHBoxLayout();
+  main_layout->addLayout(h_layout);
+
+  messages_widget = new MessagesWidget(this);
+  QObject::connect(messages_widget, &MessagesWidget::msgChanged, [=](const QString &id) {
+    detail_widget->setMsg(id);
+  });
+  h_layout->addWidget(messages_widget);
+
+  detail_widget = new DetailWidget(this);
+  h_layout->addWidget(detail_widget);
+
+  // right widget
+  QWidget *right_container = new QWidget(this);
+  right_container->setFixedWidth(640);
+  QVBoxLayout *r_layout = new QVBoxLayout(right_container);
+  video_widget = new VideoWidget(this);
+  r_layout->addWidget(video_widget);
+
+  charts_widget = new ChartsWidget(this);
+  QScrollArea *scroll = new QScrollArea(this);
+  scroll->setWidget(charts_widget);
+  scroll->setWidgetResizable(true);
+  scroll->setHorizontalScrollBarPolicy(Qt::ScrollBarAlwaysOff);
+  scroll->setSizePolicy(QSizePolicy::Preferred, QSizePolicy::Expanding);
+  r_layout->addWidget(scroll);
+
+  h_layout->addWidget(right_container);
+}
--- a/tools/cabana/mainwin.h
+++ b/tools/cabana/mainwin.h
@@ -0,0 +1,22 @@
+#pragma once
+
+#include <QWidget>
+
+#include "tools/cabana/chartswidget.h"
+#include "tools/cabana/detailwidget.h"
+#include "tools/cabana/messageswidget.h"
+#include "tools/cabana/parser.h"
+#include "tools/cabana/videowidget.h"
+
+class MainWindow : public QWidget {
+  Q_OBJECT
+
+ public:
+  MainWindow();
+
+ protected:
+  VideoWidget *video_widget;
+  MessagesWidget *messages_widget;
+  DetailWidget *detail_widget;
+  ChartsWidget *charts_widget;
+};
--- a/tools/cabana/messageswidget.cc
+++ b/tools/cabana/messageswidget.cc
@@ -0,0 +1,94 @@
+#include "tools/cabana/messageswidget.h"
+
+#include <QComboBox>
+#include <QDebug>
+#include <QHeaderView>
+#include <QPushButton>
+#include <QVBoxLayout>
+#include <bitset>
+
+MessagesWidget::MessagesWidget(QWidget *parent) : QWidget(parent) {
+  QVBoxLayout *main_layout = new QVBoxLayout(this);
+
+  QHBoxLayout *dbc_file_layout = new QHBoxLayout();
+  QComboBox *combo = new QComboBox(this);
+  auto dbc_names = get_dbc_names();
+  for (const auto &name : dbc_names) {
+    combo->addItem(QString::fromStdString(name));
+  }
+  connect(combo, &QComboBox::currentTextChanged, [=](const QString &dbc) {
+    parser->openDBC(dbc);
+  });
+  // For test purpose
+  combo->setCurrentText("toyota_nodsu_pt_generated");
+  dbc_file_layout->addWidget(combo);
+
+  dbc_file_layout->addStretch();
+  QPushButton *save_btn = new QPushButton(tr("Save DBC"), this);
+  QObject::connect(save_btn, &QPushButton::clicked, [=]() {
+    // TODO: save DBC to file
+  });
+  dbc_file_layout->addWidget(save_btn);
+
+  main_layout->addLayout(dbc_file_layout);
+
+  filter = new QLineEdit(this);
+  filter->setPlaceholderText(tr("filter messages"));
+  main_layout->addWidget(filter);
+
+  table_widget = new QTableWidget(this);
+  table_widget->setSelectionBehavior(QAbstractItemView::SelectRows);
+  table_widget->setSelectionMode(QAbstractItemView::SingleSelection);
+  table_widget->setSizePolicy(QSizePolicy::Preferred, QSizePolicy::Expanding);
+  table_widget->setColumnCount(4);
+  table_widget->setColumnWidth(0, 250);
+  table_widget->setColumnWidth(1, 80);
+  table_widget->setColumnWidth(2, 80);
+  table_widget->setHorizontalHeaderLabels({tr("Name"), tr("ID"), tr("Count"), tr("Bytes")});
+  table_widget->horizontalHeader()->setStretchLastSection(true);
+  QObject::connect(table_widget, &QTableWidget::itemSelectionChanged, [=]() {
+    auto id = table_widget->selectedItems()[0]->data(Qt::UserRole);
+    emit msgChanged(id.toString());
+  });
+  main_layout->addWidget(table_widget);
+
+  connect(parser, &Parser::updated, this, &MessagesWidget::updateState);
+}
+
+void MessagesWidget::updateState() {
+  auto getTableItem = [=](int row, int col) -> QTableWidgetItem * {
+    auto item = table_widget->item(row, col);
+    if (!item) {
+      item = new QTableWidgetItem();
+      table_widget->setItem(row, col, item);
+    }
+    return item;
+  };
+
+  table_widget->setRowCount(parser->can_msgs.size());
+  int i = 0;
+  const QString filter_str = filter->text().toLower();
+  for (const auto &[id, list] : parser->can_msgs) {
+    assert(!list.empty());
+
+    QString name;
+    if (auto msg = parser->getMsg(list.back().address)) {
+      name = msg->name.c_str();
+    } else {
+      name = tr("untitled");
+    }
+    if (!filter_str.isEmpty() && !name.toLower().contains(filter_str)) {
+      table_widget->hideRow(i++);
+      continue;
+    }
+
+    auto item = getTableItem(i, 0);
+    item->setText(name);
+    item->setData(Qt::UserRole, id);
+    getTableItem(i, 1)->setText(id);
+    getTableItem(i, 2)->setText(QString("%1").arg(parser->counters[id]));
+    getTableItem(i, 3)->setText(list.back().hex_dat);
+    table_widget->showRow(i);
+    i++;
+  }
+}
--- a/tools/cabana/messageswidget.h
+++ b/tools/cabana/messageswidget.h
@@ -0,0 +1,24 @@
+#pragma once
+
+#include <QLineEdit>
+#include <QTableWidget>
+#include <QWidget>
+
+#include "tools/cabana/parser.h"
+
+class MessagesWidget : public QWidget {
+  Q_OBJECT
+
+ public:
+  MessagesWidget(QWidget *parent);
+
+ public slots:
+  void updateState();
+
+ signals:
+  void msgChanged(const QString &id);
+
+ protected:
+  QLineEdit *filter;
+  QTableWidget *table_widget;
+};
--- a/tools/cabana/parser.cc
+++ b/tools/cabana/parser.cc
@@ -0,0 +1,98 @@
+#include "tools/cabana/parser.h"
+
+#include <QDebug>
+
+#include "cereal/messaging/messaging.h"
+
+Parser::Parser(QObject *parent) : QObject(parent) {
+  qRegisterMetaType<std::vector<CanData>>();
+  QObject::connect(this, &Parser::received, this, &Parser::process, Qt::QueuedConnection);
+
+  thread = new QThread();
+  connect(thread, &QThread::started, [=]() { recvThread(); });
+  QObject::connect(thread, &QThread::finished, thread, &QThread::deleteLater);
+  thread->start();
+}
+
+Parser::~Parser() {
+  replay->stop();
+  exit = true;
+  thread->quit();
+  thread->wait();
+}
+
+bool Parser::loadRoute(const QString &route, const QString &data_dir, bool use_qcam) {
+  replay = new Replay(route, {"can", "roadEncodeIdx"}, {}, nullptr, use_qcam ? REPLAY_FLAG_QCAMERA : 0, data_dir, this);
+  if (!replay->load()) {
+    return false;
+  }
+  replay->start();
+  return true;
+}
+
+void Parser::openDBC(const QString &name) {
+  dbc_name = name;
+  dbc = const_cast<DBC *>(dbc_lookup(name.toStdString()));
+  msg_map.clear();
+  for (auto &msg : dbc->msgs) {
+    msg_map[msg.address] = &msg;
+  }
+}
+
+void Parser::process(std::vector<CanData> can) {
+  for (auto &data : can) {
+    ++counters[data.id];
+    auto &list = can_msgs[data.id];
+    while (list.size() > DATA_LIST_SIZE) {
+      list.pop_front();
+    }
+    list.push_back(data);
+  }
+  emit updated();
+}
+
+void Parser::recvThread() {
+  AlignedBuffer aligned_buf;
+  std::unique_ptr<Context> context(Context::create());
+  std::unique_ptr<SubSocket> subscriber(SubSocket::create(context.get(), "can"));
+  subscriber->setTimeout(100);
+  while (!exit) {
+    std::unique_ptr<Message> msg(subscriber->receive());
+    if (!msg) continue;
+
+    capnp::FlatArrayMessageReader cmsg(aligned_buf.align(msg.get()));
+    cereal::Event::Reader event = cmsg.getRoot<cereal::Event>();
+    std::vector<CanData> can;
+    can.reserve(event.getCan().size());
+    for (const auto &c : event.getCan()) {
+      CanData &data = can.emplace_back();
+      data.address = c.getAddress();
+      data.bus_time = c.getBusTime();
+      data.source = c.getSrc();
+      data.dat.append((char *)c.getDat().begin(), c.getDat().size());
+      data.hex_dat = data.dat.toHex(' ').toUpper();
+      data.id = QString("%1:%2").arg(data.source).arg(data.address, 1, 16);
+      data.ts = (event.getLogMonoTime() - replay->routeStartTime()) / (double)1e6;
+    }
+    emit received(can);
+  }
+}
+
+void Parser::addNewMsg(const Msg &msg) {
+  dbc->msgs.push_back(msg);
+  msg_map[dbc->msgs.back().address] = &dbc->msgs.back();
+}
+
+void Parser::removeSignal(const QString &id, const QString &sig_name) {
+  Msg *msg = const_cast<Msg *>(getMsg(id));
+  if (!msg) return;
+
+  auto it = std::find_if(msg->sigs.begin(), msg->sigs.end(), [=](auto &sig) { return sig_name == sig.name.c_str(); });
+  if (it != msg->sigs.end()) {
+    msg->sigs.erase(it);
+  }
+}
+
+uint32_t Parser::addressFromId(const QString &id) {
+  return id.mid(id.indexOf(':') + 1).toUInt(nullptr, 16);
+}
--- a/tools/cabana/parser.h
+++ b/tools/cabana/parser.h
@@ -0,0 +1,66 @@
+#pragma once
+
+#include <QApplication>
+#include <QObject>
+#include <QThread>
+#include <atomic>
+#include <map>
+
+#include "opendbc/can/common.h"
+#include "opendbc/can/common_dbc.h"
+#include "tools/replay/replay.h"
+
+const int DATA_LIST_SIZE = 500;
+// const int FPS = 20;
+
+struct CanData {
+  QString id;
+  double ts;
+  uint32_t address;
+  uint16_t bus_time;
+  uint8_t source;
+  QByteArray dat;
+  QString hex_dat;
+};
+
+class Parser : public QObject {
+  Q_OBJECT
+
+ public:
+  Parser(QObject *parent);
+  ~Parser();
+  static uint32_t addressFromId(const QString &id);
+  bool loadRoute(const QString &route, const QString &data_dir, bool use_qcam);
+  void openDBC(const QString &name);
+  void saveDBC(const QString &name) {}
+  void addNewMsg(const Msg &msg);
+  void removeSignal(const QString &id, const QString &sig_name);
+  const Msg *getMsg(const QString &id) {
+    return getMsg(addressFromId(id));
+  }
+  const Msg *getMsg(uint32_t address) {
+    auto it = msg_map.find(address);
+    return it != msg_map.end() ? it->second : nullptr;
+  }
+ signals:
+  void showPlot(const QString &id, const QString &name);
+  void hidePlot(const QString &id, const QString &name);
+  void received(std::vector<CanData> can);
+  void updated();
+
+ public:
+  void recvThread();
+  void process(std::vector<CanData> can);
+  QThread *thread;
+  QString dbc_name;
+  std::atomic<bool> exit = false;
+  std::map<QString, std::list<CanData>> can_msgs;
+  std::map<QString, uint64_t> counters;
+  Replay *replay = nullptr;
+  DBC *dbc = nullptr;
+  std::map<uint32_t, const Msg *> msg_map;
+};
+
+Q_DECLARE_METATYPE(std::vector<CanData>);
+
+extern Parser *parser;
--- a/tools/cabana/videowidget.cc
+++ b/tools/cabana/videowidget.cc
@@ -0,0 +1,80 @@
+#include "tools/cabana/videowidget.h"
+
+#include <QButtonGroup>
+#include <QDateTime>
+#include <QHBoxLayout>
+#include <QLabel>
+#include <QPushButton>
+#include <QTimer>
+#include <QVBoxLayout>
+
+#include "tools/cabana/parser.h"
+
+inline QString formatTime(int seconds) {
+  return QDateTime::fromTime_t(seconds).toString(seconds > 60 * 60 ? "hh::mm::ss" : "mm::ss");
+}
+
+VideoWidget::VideoWidget(QWidget *parent) : QWidget(parent) {
+  QVBoxLayout *main_layout = new QVBoxLayout(this);
+
+  cam_widget = new CameraViewWidget("camerad", VISION_STREAM_ROAD, true, this);
+  cam_widget->setFixedSize(640, 480);
+  main_layout->addWidget(cam_widget);
+
+  // slider controls
+  QHBoxLayout *slider_layout = new QHBoxLayout();
+  QLabel *time_label = new QLabel("00:00");
+  slider_layout->addWidget(time_label);
+
+  slider = new QSlider(Qt::Horizontal, this);
+  // slider->setFixedWidth(640);
+  slider->setSingleStep(1);
+  slider->setMaximum(parser->replay->totalSeconds());
+  QObject::connect(slider, &QSlider::sliderReleased, [=]() {
+    time_label->setText(formatTime(slider->value()));
+    parser->replay->seekTo(slider->value(), false);
+  });
+  slider_layout->addWidget(slider);
+
+  QLabel *total_time_label = new QLabel(formatTime(parser->replay->totalSeconds()));
+  slider_layout->addWidget(total_time_label);
+
+  main_layout->addLayout(slider_layout);
+
+  // btn controls
+  QHBoxLayout *control_layout = new QHBoxLayout();
+  QPushButton *play = new QPushButton("⏸");
+  play->setStyleSheet("font-weight:bold");
+  QObject::connect(play, &QPushButton::clicked, [=]() {
+    bool is_paused = parser->replay->isPaused();
+    play->setText(is_paused ? "⏸" : "▶");
+    parser->replay->pause(!is_paused);
+  });
+  control_layout->addWidget(play);
+
+  QButtonGroup *group = new QButtonGroup(this);
+  group->setExclusive(true);
+  for (float speed : {0.1, 0.5, 1., 2.}) {
+    QPushButton *btn = new QPushButton(QString("%1x").arg(speed), this);
+    btn->setCheckable(true);
+    QObject::connect(btn, &QPushButton::clicked, [=]() {
+      parser->replay->setSpeed(speed);
+    });
+    control_layout->addWidget(btn);
+    group->addButton(btn);
+    if (speed == 1.0) btn->setChecked(true);
+  }
+
+  main_layout->addLayout(control_layout);
+
+  QTimer *timer = new QTimer(this);
+  timer->setInterval(1000);
+  timer->callOnTimeout([=]() {
+    int current_seconds = parser->replay->currentSeconds();
+    time_label->setText(formatTime(current_seconds));
+    if (!slider->isSliderDown()) {
+      slider->setValue(current_seconds);
+    }
+  });
+  timer->start();
+}
--- a/tools/cabana/videowidget.h
+++ b/tools/cabana/videowidget.h
@@ -0,0 +1,17 @@
+#pragma once
+
+#include <QSlider>
+#include <QWidget>
+
+#include "selfdrive/ui/qt/widgets/cameraview.h"
+
+class VideoWidget : public QWidget {
+  Q_OBJECT
+
+public:
+  VideoWidget(QWidget *parnet = nullptr);
+
+protected:
+  CameraViewWidget *cam_widget;
+  QSlider *slider;
+};
--- a/tools/replay/SConscript
+++ b/tools/replay/SConscript
@@ -18,6 +18,7 @@ if arch in ['x86_64', 'Darwin'] or GetOption('extras'):
  replay_lib_src = ["replay.cc", "consoleui.cc", "camera.cc", "filereader.cc", "logreader.cc", "framereader.cc", "route.cc", "util.cc"]

  replay_lib = qt_env.Library("qt_replay", replay_lib_src, LIBS=qt_libs, FRAMEWORKS=base_frameworks)
+  Export('replay_lib')
  replay_libs = [replay_lib, 'avutil', 'avcodec', 'avformat', 'bz2', 'curl', 'yuv', 'ncurses'] + qt_libs
  qt_env.Program("replay", ["main.cc"], LIBS=replay_libs, FRAMEWORKS=base_frameworks)

--- a/tools/replay/replay.cc
+++ b/tools/replay/replay.cc
@@ -382,7 +382,7 @@ void Replay::stream() {

      if (cur_which < sockets_.size() && sockets_[cur_which] != nullptr) {
        // keep time
-        long etime = cur_mono_time_ - evt_start_ts;
+        long etime = (cur_mono_time_ - evt_start_ts) / speed_;
        long rtime = nanos_since_boot() - loop_start_ts;
        long behind_ns = etime - rtime;
        // if behind_ns is greater than 1 second, it means that an invalid segemnt is skipped by seeking/replaying
--- a/tools/replay/replay.h
+++ b/tools/replay/replay.h
@@ -52,8 +52,11 @@ public:
  inline void removeFlag(REPLAY_FLAGS flag) { flags_ &= ~flag; }
  inline const Route* route() const { return route_.get(); }
  inline int currentSeconds() const { return (cur_mono_time_ - route_start_ts_) / 1e9; }
+  inline uint64_t routeStartTime() const { return route_start_ts_; }
  inline int toSeconds(uint64_t mono_time) const { return (mono_time - route_start_ts_) / 1e9; }
  inline int totalSeconds() const { return segments_.size() * 60; }
+  inline void setSpeed(float speed) { speed_ = speed; }
+  inline float getSpeed() const { return speed_; }
  inline const std::string &carFingerprint() const { return car_fingerprint_; }
  inline const std::vector<std::tuple<int, int, TimelineType>> getTimeline() {
    std::lock_guard lk(timeline_lock);
@@ -112,4 +115,5 @@ protected:
  QFuture<void> timeline_future;
  std::vector<std::tuple<int, int, TimelineType>> timeline;
  std::string car_fingerprint_;
+  float speed_ = 1.0;
 };
--- a/tools/ubuntu_setup.sh
+++ b/tools/ubuntu_setup.sh
@@ -63,6 +63,7 @@ function install_ubuntu_common_requirements() {
    qttools5-dev-tools \
    libqt5sql5-sqlite \
    libqt5svg5-dev \
+    libqt5charts5-dev \
    libqt5x11extras5-dev \
    libreadline-dev \
    libdw1 \