diff --git a/.gitattributes b/.gitattributes
index 7a21b223d0..2d1df43fd3 100644
--- a/.gitattributes
+++ b/.gitattributes
@@ -1,2 +1,3 @@
 *.dlc filter=lfs diff=lfs merge=lfs -text
 *.onnx filter=lfs diff=lfs merge=lfs -text
+selfdrive/car/tests/test_models_segs.txt filter=lfs diff=lfs merge=lfs -text
diff --git a/.github/workflows/prebuilt.yaml b/.github/workflows/prebuilt.yaml
index 1fd093e2ac..6acc7a2e9c 100644
--- a/.github/workflows/prebuilt.yaml
+++ b/.github/workflows/prebuilt.yaml
@@ -21,6 +21,7 @@ jobs:
       IMAGE_NAME: openpilot-prebuilt
     steps:
     - name: Wait for green check mark
+      if: ${{ github.event_name != 'workflow_dispatch' }}
       uses: lewagon/wait-on-check-action@e2558238c09778af25867eb5de5a3ce4bbae3dcd
       with:
         ref: master
@@ -38,3 +39,5 @@ jobs:
       run: |
         $DOCKER_LOGIN
         docker push $DOCKER_REGISTRY/$IMAGE_NAME:latest
+        docker tag $DOCKER_REGISTRY/$IMAGE_NAME:latest $DOCKER_REGISTRY/$IMAGE_NAME:$GITHUB_SHA
+        docker push $DOCKER_REGISTRY/$IMAGE_NAME:$GITHUB_SHA
diff --git a/.github/workflows/release.yaml b/.github/workflows/release.yaml
index 7f83f61e0a..c57a17bbd2 100644
--- a/.github/workflows/release.yaml
+++ b/.github/workflows/release.yaml
@@ -7,10 +7,20 @@ on:
 jobs:
   build_masterci:
     name: build master-ci
+    env:
+      TARGET_DIR: /tmp/openpilot
+      ImageOS: ubuntu20
+    container:
+      image: ghcr.io/commaai/openpilot-base:latest
     runs-on: ubuntu-20.04
     if: github.repository == 'commaai/openpilot'
     steps:
+    - name: Install wait-on-check-action dependencies
+      run: |
+        sudo apt-get update
+        sudo apt-get install -y libyaml-dev
     - name: Wait for green check mark
+      if: ${{ github.event_name != 'workflow_dispatch' }}
       uses: lewagon/wait-on-check-action@e2558238c09778af25867eb5de5a3ce4bbae3dcd
       with:
         ref: master
@@ -22,7 +32,19 @@ jobs:
         submodules: true
         fetch-depth: 0
     - name: Pull LFS
-      run: git lfs pull
+      run: |
+        git config --global --add safe.directory '*'
+        git lfs pull
     - name: Build master-ci
       run: |
+        release/build_devel.sh
+    - name: Run tests
+      run: |
+        export PYTHONPATH=$TARGET_DIR
+        cd $TARGET_DIR
+        scons -j$(nproc)
+        selfdrive/car/tests/test_car_interfaces.py
+    - name: Push master-ci
+      run: |
+        unset TARGET_DIR
         BRANCH=master-ci release/build_devel.sh
diff --git a/.github/workflows/selfdrive_tests.yaml b/.github/workflows/selfdrive_tests.yaml
index 9d92392b3a..c45ebd1bee 100644
--- a/.github/workflows/selfdrive_tests.yaml
+++ b/.github/workflows/selfdrive_tests.yaml
@@ -2,8 +2,8 @@ name: selfdrive
 
 on:
   push:
-    branches-ignore:
-      - 'testing-closet*'
+    branches:
+      - master
   pull_request:
 
 concurrency:
@@ -23,7 +23,7 @@ env:
   RUN: docker run --shm-size 1G -v $PWD:/tmp/openpilot -w /tmp/openpilot -e FILEREADER_CACHE=1 -e PYTHONPATH=/tmp/openpilot -e NUM_JOBS -e JOB_ID -e GITHUB_ACTION -e GITHUB_REF -e GITHUB_HEAD_REF -e GITHUB_SHA -e GITHUB_REPOSITORY -e GITHUB_RUN_ID -v /tmp/scons_cache:/tmp/scons_cache -v /tmp/comma_download_cache:/tmp/comma_download_cache -v /tmp/openpilot_cache:/tmp/openpilot_cache $BASE_IMAGE /bin/sh -c
 
   BUILD_CL: |
-      DOCKER_BUILDKIT=1 docker build --pull --build-arg BUILDKIT_INLINE_CACHE=1 --cache-from $DOCKER_REGISTRY/$CL_BASE_IMAGE:latest -t $DOCKER_REGISTRY/$CL_BASE_IMAGE:latest -t $CL_BASE_IMAGE:latest -f Dockerfile.openpilot_base_cl .
+      DOCKER_BUILDKIT=1 docker build --build-arg BUILDKIT_INLINE_CACHE=1 --cache-from $DOCKER_REGISTRY/$CL_BASE_IMAGE:latest -t $DOCKER_REGISTRY/$CL_BASE_IMAGE:latest -t $CL_BASE_IMAGE:latest -f Dockerfile.openpilot_base_cl .
   RUN_CL: docker run --shm-size 1G -v $PWD:/tmp/openpilot -w /tmp/openpilot -e PYTHONPATH=/tmp/openpilot -e NUM_JOBS -e JOB_ID -e GITHUB_ACTION -e GITHUB_REF -e GITHUB_HEAD_REF -e GITHUB_SHA -e GITHUB_REPOSITORY -e GITHUB_RUN_ID -v /tmp/scons_cache:/tmp/scons_cache -v /tmp/comma_download_cache:/tmp/comma_download_cache -v /tmp/openpilot_cache:/tmp/openpilot_cache $CL_BASE_IMAGE /bin/sh -c
 
   UNIT_TEST: coverage run --append -m unittest discover
@@ -39,25 +39,29 @@ jobs:
       with:
         submodules: true
     - name: Build devel
+      timeout-minutes: 1
       run: TARGET_DIR=$STRIPPED_DIR release/build_devel.sh
     - uses: ./.github/workflows/setup
     - name: Check submodules
       if: github.ref == 'refs/heads/master' && github.repository == 'commaai/openpilot'
+      timeout-minutes: 1
       run: release/check-submodules.sh
     - name: Build openpilot and run checks
+      timeout-minutes: 10
       run: |
         cd $STRIPPED_DIR
         ${{ env.RUN }} "CI=1 python selfdrive/manager/build.py"
     - name: Run tests
+      timeout-minutes: 2
       run: |
         cd $STRIPPED_DIR
         ${{ env.RUN }} "release/check-dirty.sh && \
                         python -m unittest discover selfdrive/car"
     - name: pre-commit
+      timeout-minutes: 3
       run: |
         cd $GITHUB_WORKSPACE
         cp .pre-commit-config.yaml $STRIPPED_DIR
-        cp .pylintrc $STRIPPED_DIR
         cp mypy.ini $STRIPPED_DIR
         cp pyproject.toml $STRIPPED_DIR
         cp poetry.lock $STRIPPED_DIR
@@ -75,73 +79,105 @@ jobs:
       with:
         save-cache: true
     - name: Build openpilot with all flags
+      timeout-minutes: 12
       run: ${{ env.RUN }} "scons -j$(nproc) --extras && release/check-dirty.sh"
     - name: Cleanup scons cache
+      timeout-minutes: 2
       run: |
           ${{ env.RUN }} "rm -rf /tmp/scons_cache/* && \
                           scons -j$(nproc) --cache-populate"
 
-  #build_mac:
-  #  name: build macos
-  #  runs-on: macos-latest
-  #  steps:
-  #  - uses: actions/checkout@v3
-  #    with:
-  #      submodules: true
-  #  - name: Determine pre-existing Homebrew packages
-  #    if: steps.dependency-cache.outputs.cache-hit != 'true'
-  #    run: |
-  #      echo 'EXISTING_CELLAR<<EOF' >> $GITHUB_ENV
-  #      ls -1 /usr/local/Cellar >> $GITHUB_ENV
-  #      echo 'EOF' >> $GITHUB_ENV
-  #  - name: Cache dependencies
-  #    id: dependency-cache
-  #    uses: actions/cache@v2
-  #    with:
-  #      path: |
-  #        ~/.pyenv
-  #        ~/.local/share/virtualenvs/
-  #        /usr/local/Cellar
-  #        ~/github_brew_cache_entries.txt
-  #        /tmp/scons_cache
-  #      key: macos-${{ hashFiles('tools/mac_setup.sh', 'update_requirements.sh', 'poetry.lock') }}
-  #      restore-keys: macos-
-  #  - name: Brew link restored dependencies
-  #    run: |
-  #      if [ -f ~/github_brew_cache_entries.txt ]; then
-  #        while read pkg; do
-  #          brew link --force "$pkg" # `--force` for keg-only packages
-  #        done < ~/github_brew_cache_entries.txt
-  #      else
-  #        echo "Cache entries not found"
-  #      fi
-  #  - name: Install dependencies
-  #    run: ./tools/mac_setup.sh
-  #  - name: Build openpilot
-  #    run: |
-  #      source tools/openpilot_env.sh
-  #      poetry run selfdrive/manager/build.py
-  #
-  #      # cleanup scons cache
-  #      rm -rf /tmp/scons_cache/
-  #      poetry run scons -j$(nproc) --cache-populate
-  #  - name: Remove pre-existing Homebrew packages for caching
-  #    if: steps.dependency-cache.outputs.cache-hit != 'true'
-  #    run: |
-  #      cd /usr/local/Cellar
-  #      new_cellar=$(ls -1)
-  #      comm -12 <(echo "$EXISTING_CELLAR") <(echo "$new_cellar") | while read pkg; do
-  #        if [[ $pkg != "zstd" ]]; then # caching step needs zstd
-  #          rm -rf "$pkg"
-  #        fi
-  #      done
-  #      comm -13 <(echo "$EXISTING_CELLAR") <(echo "$new_cellar") | tee ~/github_brew_cache_entries.txt
+  build_mac:
+    name: build macos
+    runs-on: macos-latest
+    steps:
+    - uses: actions/checkout@v3
+      with:
+        submodules: true
+    - name: Determine pre-existing Homebrew packages
+      if: steps.dependency-cache.outputs.cache-hit != 'true'
+      run: |
+        echo 'EXISTING_CELLAR<<EOF' >> $GITHUB_ENV
+        brew list --formula -1 >> $GITHUB_ENV
+        echo 'EOF' >> $GITHUB_ENV
+    - name: Restore scons cache
+      id: scons-restore-cache
+      uses: actions/cache/restore@v3
+      with:
+        path: /tmp/scons_cache
+        key: macos_scons-${{ github.sha }}
+        restore-keys: macos_scons-
+    - name: Cache dependencies
+      id: dependency-cache
+      uses: actions/cache@v3
+      with:
+        path: |
+          ~/github_brew_cache_entries.txt
+          ~/.pyenv
+          ~/Library/Caches/pypoetry
+          /usr/local/Cellar
+          /usr/local/opt
+          /usr/local/Caskroom/gcc-arm-*
+          /opt/homebrew/Cellar
+          /opt/homebrew/opt
+          /opt/homebrew/Caskroom/gcc-arm-*
+          /Applications/ArmGNUToolchain/*/*/*
+        key: macos_deps-${{ hashFiles('tools/mac_setup.sh', 'update_requirements.sh', 'poetry.lock') }}
+        restore-keys: macos_deps-
+    - name: Brew link restored dependencies
+      run: |
+        if [ -f ~/github_brew_cache_entries.txt ]; then
+          brew link --force --overwrite $(cat ~/github_brew_cache_entries.txt) # `--force` for keg-only packages
+          if [ -d /Applications/ArmGNUToolchain ]; then # link gcc-arm-embedded manually
+            GCC_TOOLCHAIN="$(echo /Applications/ArmGNUToolchain/**/**/bin)"
+            echo "$GCC_TOOLCHAIN" >> $GITHUB_PATH
+          fi
+        else
+          echo "Cache entries not found"
+        fi
+    - name: Install dependencies
+      if: steps.dependency-cache.outputs.cache-hit != 'true'
+      run: ./tools/mac_setup.sh
+    - name: Build openpilot
+      run: |
+        source tools/openpilot_env.sh
+        poetry run scons -j$(nproc)
+    - name: Run tests
+      run: |
+        source tools/openpilot_env.sh
+        export PYTHONPATH=$PWD
+        poetry run tools/plotjuggler/test_plotjuggler.py
+    - name: Pre Cache - Cleanup scons cache
+      if: github.ref == 'refs/heads/master'
+      run: |
+        source tools/openpilot_env.sh
+        rm -rf /tmp/scons_cache/*
+        poetry run scons -j$(nproc) --cache-populate
+    - name: Save scons cache
+      id: scons-save-cache
+      uses: actions/cache/save@v3
+      if: github.ref == 'refs/heads/master'
+      with:
+        path: /tmp/scons_cache
+        key: macos_scons-${{ github.sha }}
+    - name: Pre Cache - Remove pre-existing Homebrew packages
+      if: steps.dependency-cache.outputs.cache-hit != 'true'
+      run: |
+        new_cellar=$(brew list --formula -1)
+        comm -12 <(echo "$EXISTING_CELLAR") <(echo "$new_cellar") | while read pkg; do
+          if [[ $pkg != "zstd" ]]; then # caching step needs zstd
+            rm -rf "$(brew --cellar)/$pkg"
+          fi
+        done
+        comm -13 <(echo "$EXISTING_CELLAR") <(echo "$new_cellar") | tee ~/github_brew_cache_entries.txt
+        # .fseventsd directory causes permission errors in dep caching step
+        # its used by the system to observe changes within the directory - toolchain works without it, just remove it
+        sudo rm -rf /Applications/ArmGNUToolchain/*/*/.fseventsd
 
   docker_push:
     name: docker push
     runs-on: ubuntu-20.04
     if: github.ref == 'refs/heads/master' && github.event_name != 'pull_request' && github.repository == 'commaai/openpilot'
-    needs: static_analysis # hack to ensure slow tests run first since this and static_analysis are fast
     steps:
     - uses: actions/checkout@v3
       with:
@@ -152,12 +188,16 @@ jobs:
       run: |
         $DOCKER_LOGIN
         docker push $DOCKER_REGISTRY/$BASE_IMAGE:latest
+        docker tag $DOCKER_REGISTRY/$BASE_IMAGE:latest $DOCKER_REGISTRY/$BASE_IMAGE:$GITHUB_SHA
+        docker push $DOCKER_REGISTRY/$BASE_IMAGE:$GITHUB_SHA
     - name: Build CL Docker image
       run: eval "$BUILD_CL"
     - name: Push to container registry
       run: |
         $DOCKER_LOGIN
         docker push $DOCKER_REGISTRY/$CL_BASE_IMAGE:latest
+        docker tag $DOCKER_REGISTRY/$CL_BASE_IMAGE:latest $DOCKER_REGISTRY/$CL_BASE_IMAGE:$GITHUB_SHA
+        docker push $DOCKER_REGISTRY/$CL_BASE_IMAGE:$GITHUB_SHA
 
   static_analysis:
     name: static analysis
@@ -169,6 +209,7 @@ jobs:
     - name: Build Docker image
       run: eval "$BUILD"
     - name: pre-commit
+      timeout-minutes: 4
       run: ${{ env.RUN }} "pre-commit run --all"
 
   valgrind:
@@ -182,6 +223,7 @@ jobs:
     - name: Build openpilot
       run: ${{ env.RUN }} "scons -j$(nproc)"
     - name: Run valgrind
+      timeout-minutes: 1
       run: |
         ${{ env.RUN }} "python selfdrive/test/test_valgrind_replay.py"
     - name: Print logs
@@ -197,8 +239,10 @@ jobs:
         submodules: true
     - uses: ./.github/workflows/setup
     - name: Build openpilot
+      timeout-minutes: 10
       run: ${{ env.RUN }} "scons -j$(nproc)"
     - name: Run unit tests
+      timeout-minutes: 40
       run: |
         ${{ env.RUN }} "export SKIP_LONG_TESTS=1 && \
                         $UNIT_TEST common && \
@@ -209,6 +253,8 @@ jobs:
                         $UNIT_TEST system/loggerd && \
                         $UNIT_TEST selfdrive/car && \
                         $UNIT_TEST selfdrive/locationd && \
+                        $UNIT_TEST selfdrive/test/longitudinal_maneuvers && \
+                        $UNIT_TEST system/tests && \
                         $UNIT_TEST system/ubloxd && \
                         selfdrive/locationd/test/_test_locationd_lib.py && \
                         ./system/ubloxd/tests/test_glonass_runner && \
@@ -227,9 +273,10 @@ jobs:
                         ./tools/replay/tests/test_replay && \
                         ./tools/cabana/tests/test_cabana && \
                         ./system/camerad/test/ae_gray_test && \
+                        ./selfdrive/test/process_replay/test_fuzzy.py && \
                         coverage xml"
     - name: "Upload coverage to Codecov"
-      uses: codecov/codecov-action@v2
+      uses: codecov/codecov-action@v3
 
   process_replay:
     name: process replay
@@ -249,6 +296,7 @@ jobs:
       run: |
         ${{ env.RUN }} "scons -j$(nproc)"
     - name: Run replay
+      timeout-minutes: 20
       run: |
         ${{ env.RUN }} "CI=1 coverage run selfdrive/test/process_replay/test_processes.py -j$(nproc) && \
                         coverage xml"
@@ -267,7 +315,7 @@ jobs:
       run: |
         ${{ env.RUN }} "CI=1 AZURE_TOKEN='$AZURE_TOKEN' python selfdrive/test/process_replay/test_processes.py -j$(nproc) --upload-only"
     - name: "Upload coverage to Codecov"
-      uses: codecov/codecov-action@v2
+      uses: codecov/codecov-action@v3
 
   test_modeld:
     name: model tests
@@ -277,6 +325,8 @@ jobs:
       with:
         submodules: true
     - uses: ./.github/workflows/setup
+    - name: Build base Docker image
+      run: eval "$BUILD"
     - name: Build Docker image
       # Sim docker is needed to get the OpenCL drivers
       run: eval "$BUILD_CL"
@@ -284,41 +334,17 @@ jobs:
       run: |
         ${{ env.RUN }} "scons -j$(nproc)"
     - name: Run model replay with ONNX
+      timeout-minutes: 2
       run: |
         ${{ env.RUN_CL }} "ONNXCPU=1 CI=1 NO_NAV=1 coverage run selfdrive/test/process_replay/model_replay.py && \
                            coverage xml"
     - name: Run unit tests
+      timeout-minutes: 4
       run: |
         ${{ env.RUN_CL }} "$UNIT_TEST selfdrive/modeld && \
                            coverage xml"
     - name: "Upload coverage to Codecov"
-      uses: codecov/codecov-action@v2
-
-  test_longitudinal:
-    name: longitudinal
-    runs-on: ubuntu-20.04
-    steps:
-    - uses: actions/checkout@v3
-      with:
-        submodules: true
-    - uses: ./.github/workflows/setup
-    - name: Build openpilot
-      run: |
-        ${{ env.RUN }} "scons -j$(nproc)"
-    - name: Test longitudinal
-      run: |
-        ${{ env.RUN }} "mkdir -p selfdrive/test/out && \
-                        cd selfdrive/test/longitudinal_maneuvers && \
-                        coverage run ./test_longitudinal.py && \
-                        coverage xml"
-    - name: "Upload coverage to Codecov"
-      uses: codecov/codecov-action@v2
-    - uses: actions/upload-artifact@v2
-      if: always()
-      continue-on-error: true
-      with:
-        name: longitudinal
-        path: selfdrive/test/longitudinal_maneuvers/out/longitudinal/
+      uses: codecov/codecov-action@v3
 
   test_cars:
     name: cars
@@ -334,13 +360,14 @@ jobs:
     - uses: ./.github/workflows/setup
     - name: Cache test routes
       id: dependency-cache
-      uses: actions/cache@03e00da99d75a2204924908e1cca7902cafce66b
+      uses: actions/cache@v3
       with:
         path: /tmp/comma_download_cache
         key: car_models-${{ hashFiles('selfdrive/car/tests/test_models.py', 'selfdrive/car/tests/routes.py') }}-${{ matrix.job }}
     - name: Build openpilot
       run: ${{ env.RUN }} "scons -j$(nproc)"
     - name: Test car models
+      timeout-minutes: 25
       run: |
         ${{ env.RUN }} "coverage run -m pytest selfdrive/car/tests/test_models.py && \
                         coverage xml && \
@@ -349,7 +376,7 @@ jobs:
         NUM_JOBS: 5
         JOB_ID: ${{ matrix.job }}
     - name: "Upload coverage to Codecov"
-      uses: codecov/codecov-action@v2
+      uses: codecov/codecov-action@v3
 
   car_docs_diff:
     name: PR comments
@@ -372,7 +399,7 @@ jobs:
         id: save_diff
         run: |
           ${{ env.RUN }} "scons -j$(nproc)"
-          output=$(${{ env.RUN }} "python selfdrive/debug/print_docs_diff.py --path /tmp/openpilot_cache/base_car_info") || true
+          output=$(${{ env.RUN }} "python selfdrive/debug/print_docs_diff.py --path /tmp/openpilot_cache/base_car_info")
           output="${output//$'\n'/'%0A'}"
           echo "::set-output name=diff::$output"
       - name: Find comment
diff --git a/.github/workflows/tools_tests.yaml b/.github/workflows/tools_tests.yaml
index 3b32d3c790..e1311db87c 100644
--- a/.github/workflows/tools_tests.yaml
+++ b/.github/workflows/tools_tests.yaml
@@ -2,8 +2,8 @@ name: tools
 
 on:
   push:
-    branches-ignore:
-      - 'testing-closet*'
+    branches:
+      - master
   pull_request:
 
 concurrency:
@@ -30,6 +30,7 @@ jobs:
   plotjuggler:
     name: plotjuggler
     runs-on: ubuntu-20.04
+    timeout-minutes: 45
     steps:
     - uses: actions/checkout@v3
       with:
@@ -37,6 +38,7 @@ jobs:
     - name: Build Docker image
       run: eval "$BUILD"
     - name: Unit test
+      timeout-minutes: 2
       run: |
         ${{ env.RUN }} "scons -j$(nproc) --directory=/tmp/openpilot/cereal && \
                         apt-get update && \
@@ -50,6 +52,7 @@ jobs:
     env:
       IMAGE_NAME: openpilot-sim
     if: github.repository == 'commaai/openpilot'
+    timeout-minutes: 45
     steps:
     - uses: actions/checkout@v3
       with:
@@ -71,6 +74,7 @@ jobs:
   docs:
     name: build docs
     runs-on: ubuntu-20.04
+    timeout-minutes: 45
     steps:
     - uses: actions/checkout@v3
       with:
@@ -83,5 +87,3 @@ jobs:
       run: |
         $DOCKER_LOGIN
         docker push $DOCKER_REGISTRY/openpilot-docs:latest
-
-
diff --git a/.gitignore b/.gitignore
index be6629f212..91aecd9a72 100644
--- a/.gitignore
+++ b/.gitignore
@@ -45,7 +45,9 @@ selfdrive/logcatd/logcatd
 selfdrive/mapd/default_speeds_by_region.json
 system/proclogd/proclogd
 selfdrive/ui/_ui
+selfdrive/ui/translations/alerts_generated.h
 selfdrive/test/longitudinal_maneuvers/out
+selfdrive/car/tests/cars_dump
 system/camerad/camerad
 system/camerad/test/ae_gray_test
 selfdrive/modeld/_modeld
diff --git a/.pre-commit-config.yaml b/.pre-commit-config.yaml
index 43d861667d..e1891372ac 100644
--- a/.pre-commit-config.yaml
+++ b/.pre-commit-config.yaml
@@ -17,13 +17,13 @@ repos:
     -   id: check-added-large-files
         args: ['--maxkb=100']
 -   repo: https://github.com/codespell-project/codespell
-    rev: v2.2.4
+    rev: v2.2.5
     hooks:
     -   id: codespell
         exclude: '^(third_party/)|(body/)|(cereal/)|(rednose/)|(panda/)|(laika/)|(opendbc/)|(laika_repo/)|(rednose_repo/)|(selfdrive/ui/translations/.*.ts)|(poetry.lock)'
         args:
         # if you've got a short variable name that's getting flagged, add it here
-        - -L bu,ro,te,ue,alo,hda,ois,nam,nams,ned,som,parm,setts,inout,warmup
+        - -L bu,ro,te,ue,alo,hda,ois,nam,nams,ned,som,parm,setts,inout,warmup,bumb,nd,sie
         - --builtins clear,rare,informal,usage,code,names,en-GB_to_en-US
 -   repo: local
     hooks:
@@ -32,32 +32,13 @@ repos:
         entry: mypy
         language: system
         types: [python]
+        args: ['--explicit-package-bases']
         exclude: '^(third_party/)|(cereal/)|(opendbc/)|(panda/)|(laika/)|(laika_repo/)|(rednose/)|(rednose_repo/)|(tinygrad/)|(tinygrad_repo/)|(xx/)'
--   repo: https://github.com/PyCQA/flake8
-    rev: 6.0.0
+-   repo: https://github.com/astral-sh/ruff-pre-commit
+    rev: v0.0.282
     hooks:
-    -   id: flake8
-        exclude: '^(third_party/)|(cereal/)|(rednose/)|(panda/)|(laika/)|(opendbc/)|(laika_repo/)|(rednose_repo/)|(tinygrad/)|(tinygrad_repo/)|(selfdrive/debug/)/'
-        additional_dependencies: ['flake8-no-implicit-concat']
-        args:
-        - --indent-size=2
-        - --enable-extensions=NIC
-        - --select=F,E112,E113,E304,E502,E701,E702,E703,E71,E72,E731,W191,W6
-        - --statistics
-        - -j4
--   repo: local
-    hooks:
-    -   id: pylint
-        name: pylint
-        entry: pylint
-        language: system
-        types: [python]
+    -   id: ruff
         exclude: '^(third_party/)|(cereal/)|(rednose/)|(panda/)|(laika/)|(laika_repo/)|(rednose_repo/)|(tinygrad/)|(tinygrad_repo/)'
-        args:
-        - -j0
-        - -rn
-        - -sn
-        - --rcfile=.pylintrc
 -   repo: local
     hooks:
     -   id: cppcheck
diff --git a/.pylintrc b/.pylintrc
deleted file mode 100644
index 58988c5d74..0000000000
--- a/.pylintrc
+++ /dev/null
@@ -1,469 +0,0 @@
-[MASTER]
-
-# A comma-separated list of package or module names from where C extensions may
-# be loaded. Extensions are loading into the active Python interpreter and may
-# run arbitrary code
-extension-pkg-whitelist=scipy,cereal.messaging.messaging_pyx,PyQt5,av
-
-# Add files or directories to the blacklist. They should be base names, not
-# paths.
-ignore=CVS
-
-# Add files or directories matching the regex patterns to the blacklist. The
-# regex matches against base names, not paths.
-ignore-patterns=
-
-# Python code to execute, usually for sys.path manipulation such as
-# pygtk.require().
-#init-hook=
-
-# Use multiple processes to speed up Pylint.
-jobs=4
-
-# List of plugins (as comma separated values of python modules names) to load,
-# usually to register additional checkers.
-load-plugins=
-
-# Pickle collected data for later comparisons.
-persistent=yes
-
-# Specify a configuration file.
-#rcfile=
-
-# When enabled, pylint would attempt to guess common misconfiguration and emit
-# user-friendly hints instead of false-positive error messages
-suggestion-mode=yes
-
-# Allow loading of arbitrary C extensions. Extensions are imported into the
-# active Python interpreter and may run arbitrary code.
-unsafe-load-any-extension=no
-
-
-[MESSAGES CONTROL]
-
-# Only show warnings with the listed confidence levels. Leave empty to show
-# all. Valid levels: HIGH, INFERENCE, INFERENCE_FAILURE, UNDEFINED
-confidence=
-
-# Disable the message, report, category or checker with the given id(s). You
-# can either give multiple identifiers separated by comma (,) or put this
-# option multiple times (only on the command line, not in the configuration
-# file where it should appear only once).You can also use "--disable=all" to
-# disable everything first and then reenable specific checks. For example, if
-# you want to run only the similarities checker, you can use "--disable=all
-# --enable=similarities". If you want to run only the classes checker, but have
-# no Warning level messages displayed, use"--disable=all --enable=classes
-# --disable=W"
-disable=C,R,W0613,W0511,W0212,W0201,W0106,W0603,W0621,W0703,W1201,W1203,E1136,W1514
-
-
-# Enable the message, report, category or checker with the given id(s). You can
-# either give multiple identifier separated by comma (,) or put this option
-# multiple time (only on the command line, not in the configuration file where
-# it should appear only once). See also the "--disable" option for examples.
-enable=c-extension-no-member
-
-
-[REPORTS]
-
-# Python expression which should return a note less than 10 (10 is the highest
-# note). You have access to the variables errors warning, statement which
-# respectively contain the number of errors / warnings messages and the total
-# number of statements analyzed. This is used by the global evaluation report
-# (RP0004).
-evaluation=10.0 - ((float(5 * error + warning + refactor + convention) / statement) * 10)
-
-# Template used to display messages. This is a python new-style format string
-# used to format the message information. See doc for all details
-#msg-template=
-
-# Set the output format. Available formats are text, parseable, colorized, json
-# and msvs (visual studio).You can also give a reporter class, eg
-# mypackage.mymodule.MyReporterClass.
-output-format=text
-
-# Tells whether to display a full report or only the messages
-reports=no
-
-# Activate the evaluation score.
-score=yes
-
-
-[REFACTORING]
-
-# Maximum number of nested blocks for function / method body
-max-nested-blocks=5
-
-# Complete name of functions that never returns. When checking for
-# inconsistent-return-statements if a never returning function is called then
-# it will be considered as an explicit return statement and no message will be
-# printed.
-never-returning-functions=optparse.Values,sys.exit
-
-
-[LOGGING]
-
-# Logging modules to check that the string format arguments are in logging
-# function parameter format
-logging-modules=logging
-
-
-[SPELLING]
-
-# Limits count of emitted suggestions for spelling mistakes
-max-spelling-suggestions=4
-
-# Spelling dictionary name. Available dictionaries: none. To make it working
-# install python-enchant package.
-spelling-dict=
-
-# List of comma separated words that should not be checked.
-spelling-ignore-words=
-
-# A path to a file that contains private dictionary; one word per line.
-spelling-private-dict-file=
-
-# Tells whether to store unknown words to indicated private dictionary in
-# --spelling-private-dict-file option instead of raising a message.
-spelling-store-unknown-words=no
-
-
-[MISCELLANEOUS]
-
-# List of note tags to take in consideration, separated by a comma.
-notes=FIXME,
-      XXX,
-      TODO
-
-
-[SIMILARITIES]
-
-# Ignore comments when computing similarities.
-ignore-comments=yes
-
-# Ignore docstrings when computing similarities.
-ignore-docstrings=yes
-
-# Ignore imports when computing similarities.
-ignore-imports=no
-
-# Minimum lines number of a similarity.
-min-similarity-lines=4
-
-
-[TYPECHECK]
-
-# List of decorators that produce context managers, such as
-# contextlib.contextmanager. Add to this list to register other decorators that
-# produce valid context managers.
-contextmanager-decorators=contextlib.contextmanager
-
-# List of members which are set dynamically and missed by pylint inference
-# system, and so shouldn't trigger E1101 when accessed. Python regular
-# expressions are accepted.
-generated-members=capnp.* cereal.* pygame.* zmq.* setproctitle.* smbus2.* usb1.* serial.* cv2.* ft4222.* carla.*
-
-# Tells whether missing members accessed in mixin class should be ignored. A
-# mixin class is detected if its name ends with "mixin" (case insensitive).
-ignore-mixin-members=yes
-
-# This flag controls whether pylint should warn about no-member and similar
-# checks whenever an opaque object is returned when inferring. The inference
-# can return multiple potential results while evaluating a Python object, but
-# some branches might not be evaluated, which results in partial inference. In
-# that case, it might be useful to still emit no-member and other checks for
-# the rest of the inferred objects.
-ignore-on-opaque-inference=yes
-
-# List of class names for which member attributes should not be checked (useful
-# for classes with dynamically set attributes). This supports the use of
-# qualified names.
-ignored-classes=optparse.Values,thread._local,_thread._local
-
-# List of module names for which member attributes should not be checked
-# (useful for modules/projects where namespaces are manipulated during runtime
-# and thus existing member attributes cannot be deduced by static analysis. It
-# supports qualified module names, as well as Unix pattern matching.
-ignored-modules=flask setproctitle usb1 flask.ext.socketio smbus2 usb1.*
-
-# Show a hint with possible names when a member name was not found. The aspect
-# of finding the hint is based on edit distance.
-missing-member-hint=yes
-
-# The minimum edit distance a name should have in order to be considered a
-# similar match for a missing member name.
-missing-member-hint-distance=1
-
-# The total number of similar names that should be taken in consideration when
-# showing a hint for a missing member.
-missing-member-max-choices=1
-
-
-[VARIABLES]
-
-# List of additional names supposed to be defined in builtins. Remember that
-# you should avoid to define new builtins when possible.
-additional-builtins=
-
-# Tells whether unused global variables should be treated as a violation.
-allow-global-unused-variables=yes
-
-# List of strings which can identify a callback function by name. A callback
-# name must start or end with one of those strings.
-callbacks=cb_,
-          _cb
-
-# A regular expression matching the name of dummy variables (i.e. expectedly
-# not used).
-dummy-variables-rgx=_+$|(_[a-zA-Z0-9_]*[a-zA-Z0-9]+?$)|dummy|^ignored_|^unused_
-
-# Argument names that match this expression will be ignored. Default to name
-# with leading underscore
-ignored-argument-names=_.*|^ignored_|^unused_
-
-# Tells whether we should check for unused import in __init__ files.
-init-import=no
-
-# List of qualified module names which can have objects that can redefine
-# builtins.
-redefining-builtins-modules=six.moves,past.builtins,future.builtins
-
-
-[FORMAT]
-
-# Expected format of line ending, e.g. empty (any line ending), LF or CRLF.
-expected-line-ending-format=
-
-# Regexp for a line that is allowed to be longer than the limit.
-ignore-long-lines=^\s*(# )?<?https?://\S+>?$
-
-# Number of spaces of indent required inside a hanging  or continued line.
-indent-after-paren=4
-
-# String used as indentation unit. This is usually "    " (4 spaces) or "\t" (1
-# tab).
-indent-string='  '
-
-# Maximum number of characters on a single line.
-max-line-length=100
-
-# Maximum number of lines in a module
-max-module-lines=1000
-
-# Allow the body of a class to be on the same line as the declaration if body
-# contains single statement.
-single-line-class-stmt=no
-
-# Allow the body of an if to be on the same line as the test if there is no
-# else.
-single-line-if-stmt=no
-
-
-[BASIC]
-
-# Naming style matching correct argument names
-argument-naming-style=snake_case
-
-# Regular expression matching correct argument names. Overrides argument-
-# naming-style
-#argument-rgx=
-
-# Naming style matching correct attribute names
-attr-naming-style=snake_case
-
-# Regular expression matching correct attribute names. Overrides attr-naming-
-# style
-#attr-rgx=
-
-# Bad variable names which should always be refused, separated by a comma
-bad-names=foo,
-          bar,
-          baz,
-          toto,
-          tutu,
-          tata
-
-# Naming style matching correct class attribute names
-class-attribute-naming-style=any
-
-# Regular expression matching correct class attribute names. Overrides class-
-# attribute-naming-style
-#class-attribute-rgx=
-
-# Naming style matching correct class names
-class-naming-style=PascalCase
-
-# Regular expression matching correct class names. Overrides class-naming-style
-#class-rgx=
-
-# Naming style matching correct constant names
-const-naming-style=UPPER_CASE
-
-# Regular expression matching correct constant names. Overrides const-naming-
-# style
-#const-rgx=
-
-# Minimum line length for functions/classes that require docstrings, shorter
-# ones are exempt.
-docstring-min-length=-1
-
-# Naming style matching correct function names
-function-naming-style=snake_case
-
-# Regular expression matching correct function names. Overrides function-
-# naming-style
-#function-rgx=
-
-# Good variable names which should always be accepted, separated by a comma
-good-names=i,
-           j,
-           k,
-           ex,
-           Run,
-           _
-
-# Include a hint for the correct naming format with invalid-name
-include-naming-hint=no
-
-# Naming style matching correct inline iteration names
-inlinevar-naming-style=any
-
-# Regular expression matching correct inline iteration names. Overrides
-# inlinevar-naming-style
-#inlinevar-rgx=
-
-# Naming style matching correct method names
-method-naming-style=snake_case
-
-# Regular expression matching correct method names. Overrides method-naming-
-# style
-#method-rgx=
-
-# Naming style matching correct module names
-module-naming-style=snake_case
-
-# Regular expression matching correct module names. Overrides module-naming-
-# style
-#module-rgx=
-
-# Colon-delimited sets of names that determine each other's naming style when
-# the name regexes allow several styles.
-name-group=
-
-# Regular expression which should only match function or class names that do
-# not require a docstring.
-no-docstring-rgx=^_
-
-# List of decorators that produce properties, such as abc.abstractproperty. Add
-# to this list to register other decorators that produce valid properties.
-property-classes=abc.abstractproperty
-
-# Naming style matching correct variable names
-variable-naming-style=snake_case
-
-# Regular expression matching correct variable names. Overrides variable-
-# naming-style
-#variable-rgx=
-
-
-[DESIGN]
-
-# Maximum number of arguments for function / method
-max-args=5
-
-# Maximum number of attributes for a class (see R0902).
-max-attributes=7
-
-# Maximum number of boolean expressions in a if statement
-max-bool-expr=5
-
-# Maximum number of branch for function / method body
-max-branches=12
-
-# Maximum number of locals for function / method body
-max-locals=15
-
-# Maximum number of parents for a class (see R0901).
-max-parents=7
-
-# Maximum number of public methods for a class (see R0904).
-max-public-methods=20
-
-# Maximum number of return / yield for function / method body
-max-returns=6
-
-# Maximum number of statements in function / method body
-max-statements=50
-
-# Minimum number of public methods for a class (see R0903).
-min-public-methods=2
-
-
-[CLASSES]
-
-# List of method names used to declare (i.e. assign) instance attributes.
-defining-attr-methods=__init__,
-                      __new__,
-                      setUp
-
-# List of member names, which should be excluded from the protected access
-# warning.
-exclude-protected=_asdict,
-                  _fields,
-                  _replace,
-                  _source,
-                  _make
-
-# List of valid names for the first argument in a class method.
-valid-classmethod-first-arg=cls
-
-# List of valid names for the first argument in a metaclass class method.
-valid-metaclass-classmethod-first-arg=mcs
-
-
-[IMPORTS]
-
-# Allow wildcard imports from modules that define __all__.
-allow-wildcard-with-all=no
-
-# Analyse import fallback blocks. This can be used to support both Python 2 and
-# 3 compatible code, which means that the block might have code that exists
-# only in one or another interpreter, leading to false positives when analysed.
-analyse-fallback-blocks=no
-
-# Deprecated modules which should not be used, separated by a comma
-deprecated-modules=regsub,
-                   TERMIOS,
-                   Bastion,
-                   rexec
-
-# Create a graph of external dependencies in the given file (report RP0402 must
-# not be disabled)
-ext-import-graph=
-
-# Create a graph of every (i.e. internal and external) dependencies in the
-# given file (report RP0402 must not be disabled)
-import-graph=
-
-# Create a graph of internal dependencies in the given file (report RP0402 must
-# not be disabled)
-int-import-graph=
-
-# Force import order to recognize a module as part of the standard
-# compatibility libraries.
-known-standard-library=
-
-# Force import order to recognize a module as part of a third party library.
-known-third-party=enchant
-
-[STRING]
-
-# This flag controls whether the implicit-str-concat should generate a warning
-# on implicit string concatenation in sequences defined over several lines.
-check-str-concat-over-line-jumps=yes
-
-[EXCEPTIONS]
-
-# Exceptions that will emit a warning when being caught. Defaults to
-# "Exception"
-overgeneral-exceptions=Exception
diff --git a/.python-version b/.python-version
index d20cc2bf02..0c7d5f5f5d 100644
--- a/.python-version
+++ b/.python-version
@@ -1 +1 @@
-3.8.10
+3.11.4
diff --git a/Dockerfile.openpilot_base b/Dockerfile.openpilot_base
index 4cd82259e2..9af628bd4c 100644
--- a/Dockerfile.openpilot_base
+++ b/Dockerfile.openpilot_base
@@ -13,7 +13,7 @@ ENV LANGUAGE en_US:en
 ENV LC_ALL en_US.UTF-8
 
 ENV POETRY_VIRTUALENVS_CREATE=false
-ENV PYENV_VERSION=3.8.10
+ENV PYENV_VERSION=3.11.4
 ENV PYENV_ROOT="/root/.pyenv"
 ENV PATH="$PYENV_ROOT/bin:$PYENV_ROOT/shims:$PATH"
 
diff --git a/Jenkinsfile b/Jenkinsfile
index c7ef88811f..6a834288c2 100644
--- a/Jenkinsfile
+++ b/Jenkinsfile
@@ -6,6 +6,7 @@ ssh -tt -o StrictHostKeyChecking=no -i ${key_file} 'comma@${ip}' /usr/bin/bash <
 set -e
 
 export CI=1
+export LOGPRINT=debug
 export TEST_DIR=${env.TEST_DIR}
 export SOURCE_DIR=${env.SOURCE_DIR}
 export GIT_BRANCH=${env.GIT_BRANCH}
@@ -18,6 +19,20 @@ export GIT_SSH_COMMAND="ssh -i /data/gitkey"
 source ~/.bash_profile
 if [ -f /TICI ]; then
   source /etc/profile
+
+  if ! systemctl is-active --quiet systemd-resolved; then
+    echo "restarting resolved"
+    sudo systemctl start systemd-resolved
+    sleep 3
+  fi
+
+  # restart aux USB
+  if [ -e /sys/bus/usb/drivers/hub/3-0:1.0 ]; then
+    echo "restarting aux usb"
+    echo "3-0:1.0" | sudo tee /sys/bus/usb/drivers/hub/unbind
+    sleep 0.5
+    echo "3-0:1.0" | sudo tee /sys/bus/usb/drivers/hub/bind
+  fi
 fi
 if [ -f /data/openpilot/launch_env.sh ]; then
   source /data/openpilot/launch_env.sh
@@ -128,17 +143,43 @@ pipeline {
         }
         */
 
+        stage('PC tests') {
+          agent {
+            dockerfile {
+              filename 'Dockerfile.openpilot_base'
+              args '--user=root -v /tmp/comma_download_cache:/tmp/comma_download_cache'
+            }
+          }
+          steps {
+            sh "git config --global --add safe.directory '*'"
+            sh "git submodule update --init --depth=1 --recursive"
+            sh "git lfs pull"
+            sh "scons --clean && scons --no-cache -j42"
+            sh "scons --clean && scons --no-cache --random -j42"
+            sh "INTERNAL_SEG_LIST=selfdrive/car/tests/test_models_segs.txt FILEREADER_CACHE=1 pytest -n42 --dist=loadscope selfdrive/car/tests/test_models.py"
+          }
+
+          post {
+            always {
+              sh "rm -rf ${WORKSPACE}/* || true"
+              sh "rm -rf .* || true"
+            }
+          }
+        }
+
         stage('tizi-tests') {
           agent { docker { image 'ghcr.io/commaai/alpine-ssh'; args '--user=root' } }
           steps {
             phone_steps("tizi", [
               ["build openpilot", "cd selfdrive/manager && ./build.py"],
-              ["test boardd loopback", "SINGLE_PANDA=1 python selfdrive/boardd/tests/test_boardd_loopback.py"],
-              ["test pandad", "python selfdrive/boardd/tests/test_pandad.py"],
-              ["test sensord", "cd system/sensord/tests && python -m unittest test_sensord.py"],
-              ["test camerad", "python system/camerad/test/test_camerad.py"],
-              ["test exposure", "python system/camerad/test/test_exposure.py"],
-              ["test amp", "python system/hardware/tici/tests/test_amplifier.py"],
+              ["test boardd loopback", "SINGLE_PANDA=1 pytest selfdrive/boardd/tests/test_boardd_loopback.py"],
+              ["test pandad", "pytest selfdrive/boardd/tests/test_pandad.py"],
+              ["test sensord", "cd system/sensord/tests && pytest test_sensord.py"],
+              ["test camerad", "pytest system/camerad/test/test_camerad.py"],
+              ["test exposure", "pytest system/camerad/test/test_exposure.py"],
+              ["test amp", "pytest system/hardware/tici/tests/test_amplifier.py"],
+              ["test hw", "pytest system/hardware/tici/tests/test_hardware.py"],
+              ["test rawgpsd", "pytest system/sensord/rawgps/test_rawgps.py"],
             ])
           }
         }
@@ -150,12 +191,11 @@ pipeline {
           }
           steps {
             phone_steps("tici-needs-can", [
-              ["build master-ci", "cd $SOURCE_DIR/release && TARGET_DIR=$TEST_DIR EXTRA_FILES='tools/' ./build_devel.sh"],
+              ["build master-ci", "cd $SOURCE_DIR/release && TARGET_DIR=$TEST_DIR ./build_devel.sh"],
               ["build openpilot", "cd selfdrive/manager && ./build.py"],
               ["check dirty", "release/check-dirty.sh"],
               ["onroad tests", "cd selfdrive/test/ && ./test_onroad.py"],
               ["time to onroad", "cd selfdrive/test/ && pytest test_time_to_onroad.py"],
-              ["test car interfaces", "cd selfdrive/car/tests/ && ./test_car_interfaces.py"],
             ])
           }
         }
@@ -165,7 +205,7 @@ pipeline {
           steps {
             phone_steps("tici-loopback", [
               ["build openpilot", "cd selfdrive/manager && ./build.py"],
-              ["test boardd loopback", "python selfdrive/boardd/tests/test_boardd_loopback.py"],
+              ["test boardd loopback", "pytest selfdrive/boardd/tests/test_boardd_loopback.py"],
             ])
           }
         }
@@ -175,12 +215,13 @@ pipeline {
           steps {
             phone_steps("tici-common", [
               ["build", "cd selfdrive/manager && ./build.py"],
-              ["test power draw", "python system/hardware/tici/tests/test_power_draw.py"],
-              ["test loggerd", "python system/loggerd/tests/test_loggerd.py"],
-              ["test encoder", "LD_LIBRARY_PATH=/usr/local/lib python system/loggerd/tests/test_encoder.py"],
-              ["test pigeond", "python system/sensord/tests/test_pigeond.py"],
-              ["test manager", "python selfdrive/manager/test/test_manager.py"],
-              ["test pandad", "python selfdrive/boardd/tests/test_pandad.py"],
+              ["test pandad", "pytest selfdrive/boardd/tests/test_pandad.py"],
+              ["test power draw", "pytest system/hardware/tici/tests/test_power_draw.py"],
+              ["test loggerd", "pytest system/loggerd/tests/test_loggerd.py"],
+              ["test encoder", "LD_LIBRARY_PATH=/usr/local/lib pytest system/loggerd/tests/test_encoder.py"],
+              ["test pigeond", "pytest system/sensord/tests/test_pigeond.py"],
+              ["test manager", "pytest selfdrive/manager/test/test_manager.py"],
+              ["test nav", "pytest selfdrive/navd/tests/"],
             ])
           }
         }
@@ -190,13 +231,13 @@ pipeline {
           steps {
             phone_steps("tici-ar0231", [
               ["build", "cd selfdrive/manager && ./build.py"],
-              ["test camerad", "python system/camerad/test/test_camerad.py"],
-              ["test exposure", "python system/camerad/test/test_exposure.py"],
+              ["test camerad", "pytest system/camerad/test/test_camerad.py"],
+              ["test exposure", "pytest system/camerad/test/test_exposure.py"],
             ])
             phone_steps("tici-ox03c10", [
               ["build", "cd selfdrive/manager && ./build.py"],
-              ["test camerad", "python system/camerad/test/test_camerad.py"],
-              ["test exposure", "python system/camerad/test/test_exposure.py"],
+              ["test camerad", "pytest system/camerad/test/test_camerad.py"],
+              ["test exposure", "pytest system/camerad/test/test_exposure.py"],
             ])
           }
         }
@@ -206,11 +247,11 @@ pipeline {
           steps {
             phone_steps("tici-lsmc", [
               ["build", "cd selfdrive/manager && ./build.py"],
-              ["test sensord", "cd system/sensord/tests && python -m unittest test_sensord.py"],
+              ["test sensord", "cd system/sensord/tests && pytest test_sensord.py"],
             ])
             phone_steps("tici-bmx-lsm", [
               ["build", "cd selfdrive/manager && ./build.py"],
-              ["test sensord", "cd system/sensord/tests && python -m unittest test_sensord.py"],
+              ["test sensord", "cd system/sensord/tests && pytest test_sensord.py"],
             ])
           }
         }
@@ -218,7 +259,7 @@ pipeline {
         stage('replay') {
           agent { docker { image 'ghcr.io/commaai/alpine-ssh'; args '--user=root' } }
           steps {
-            phone_steps("tici-common", [
+            phone_steps("tici-replay", [
               ["build", "cd selfdrive/manager && ./build.py"],
               ["model replay", "cd selfdrive/test/process_replay && ./model_replay.py"],
             ])
diff --git a/README.md b/README.md
index 5428ea7a95..5978a0e5dd 100755
--- a/README.md
+++ b/README.md
@@ -1,4 +1,4 @@
-![](https://i.imgur.com/b0ZyIx5.jpg)
+![openpilot on the comma 3X](https://github.com/commaai/openpilot/assets/4038174/f1081737-8718-4241-a22a-3ceba526361a)
 
 Table of Contents
 =======================
@@ -39,8 +39,8 @@ Running on a dedicated device in a car
 ------
 
 To use openpilot in a car, you need four things
-* A supported device to run this software: a [comma three](https://comma.ai/shop/products/three).
-* This software. The setup procedure of the comma three allows the user to enter a URL for custom software.
+* A supported device to run this software: a [comma 3X](https://comma.ai/shop/comma-3x) or comma three.
+* This software. The setup procedure of the comma 3/3X allows the user to enter a URL for custom software.
 The URL, openpilot.comma.ai will install the release version of openpilot. To install openpilot master, you can use installer.comma.ai/commaai/master, and replacing commaai with another GitHub username can install a fork.
 * One of [the 250+ supported cars](docs/CARS.md). We support Honda, Toyota, Hyundai, Nissan, Kia, Chrysler, Lexus, Acura, Audi, VW, Ford and more. If your car is not supported but has adaptive cruise control and lane-keeping assist, it's likely able to run openpilot.
 * A [car harness](https://comma.ai/shop/products/car-harness) to connect to your car.
diff --git a/RELEASES.md b/RELEASES.md
index 7971959deb..9a449bf04a 100644
--- a/RELEASES.md
+++ b/RELEASES.md
@@ -1,8 +1,37 @@
-Version 0.9.3 (2023-06-XX)
+Version 0.9.5 (202X-XX-XX)
 ========================
-* New driving model
 * Hyundai Palisade (with HDA II) 2023 support thanks to sunnyhaibin!
 * Kia Telluride (with HDA II) 2023 support thanks to sunnyhaibin!
+* Lexus IS 2023 support thanks to L3R5!
+
+Version 0.9.4 (2023-07-27)
+========================
+* comma 3X support
+* Navigate on openpilot in Experimental mode
+  * When navigation has a destination, openpilot will input the map information into the model, which provides useful context to help the model understand the scene
+  * When navigating on openpilot, openpilot will keep left or right appropriately at forks and exits
+  * When navigating on openpilot, lane change behavior is unchanged and still activated by the driver
+  * When navigate on openpilot is active, the path on the map is green
+* UI updates
+  * Navigation settings moved to home screen and map
+  * Border color always shows engagement status. Blue means disengaged, green means engaged, and grey means engaged with human overriding
+  * Alerts are shown inside the border. Black means info, orange means warning, and red means critical alert
+* Bookmarked segments are preserved on the device's storage
+* Ford Focus 2018 support
+* Kia Carnival 2023 support thanks to sunnyhaibin!
+
+Version 0.9.3 (2023-06-29)
+========================
+* New driving model
+  * Improved height estimation and added height tracking in liveCalibration
+  * Model inputs refactor
+* New driving personality setting
+  * Three settings: aggressive, standard, and relaxed
+  * Standard is recommended and the default
+  * In aggressive mode, lead follow distance is shorter and acceleration response is quicker
+  * In relaxed mode, lead follow distance is longer
+* Improved fuzzy fingerprinting for Hyundai, Kia, and Genesis
+* Improved thermal management logic
 
 Version 0.9.2 (2023-05-22)
 ========================
diff --git a/SConstruct b/SConstruct
index 45b6fd8fdf..accfcab564 100644
--- a/SConstruct
+++ b/SConstruct
@@ -64,20 +64,25 @@ AddOption('--no-test',
           default=os.path.islink(Dir('#laika/').abspath),
           help='skip building test files')
 
+## Architecture name breakdown (arch)
+## - larch64: linux tici aarch64
+## - aarch64: linux pc aarch64
+## - x86_64:  linux pc x64
+## - Darwin:  mac x64 or arm64
 real_arch = arch = subprocess.check_output(["uname", "-m"], encoding='utf8').rstrip()
 if platform.system() == "Darwin":
   arch = "Darwin"
-
-if arch == "aarch64" and AGNOS:
+  brew_prefix = subprocess.check_output(['brew', '--prefix'], encoding='utf8').strip()
+elif arch == "aarch64" and AGNOS:
   arch = "larch64"
-
+assert arch in ["larch64", "aarch64", "x86_64", "Darwin"]
 
 lenv = {
   "PATH": os.environ['PATH'],
   "LD_LIBRARY_PATH": [Dir(f"#third_party/acados/{arch}/lib").abspath],
   "PYTHONPATH": Dir("#").abspath,
 
-  "ACADOS_SOURCE_DIR": Dir("#third_party/acados/include/acados").abspath,
+  "ACADOS_SOURCE_DIR": Dir("#third_party/acados").abspath,
   "ACADOS_PYTHON_INTERFACE_PATH": Dir("#third_party/acados/acados_template").abspath,
   "TERA_PATH": Dir("#").abspath + f"/third_party/acados/{arch}/t_renderer"
 }
@@ -110,26 +115,20 @@ else:
   cflags = []
   cxxflags = []
   cpppath = []
+  rpath += [
+    Dir("#cereal").abspath,
+    Dir("#common").abspath
+  ]
 
   # MacOS
   if arch == "Darwin":
-    if real_arch == "x86_64":
-      lenv["TERA_PATH"] = Dir("#").abspath + f"/third_party/acados/Darwin_x86_64/t_renderer"
-
-    brew_prefix = subprocess.check_output(['brew', '--prefix'], encoding='utf8').strip()
-    yuv_dir = "mac" if real_arch != "arm64" else "mac_arm64"
     libpath = [
-      f"#third_party/libyuv/{yuv_dir}/lib",
+      f"#third_party/libyuv/{arch}/lib",
+      f"#third_party/acados/{arch}/lib",
       f"{brew_prefix}/lib",
-      f"{brew_prefix}/Library",
       f"{brew_prefix}/opt/openssl@3.0/lib",
-      f"{brew_prefix}/Cellar",
       "/System/Library/Frameworks/OpenGL.framework/Libraries",
     ]
-    if real_arch == "x86_64":
-      libpath.append(f"#third_party/acados/Darwin_x86_64/lib")
-    else:
-      libpath.append(f"#third_party/acados/{arch}/lib")
 
     cflags += ["-DGL_SILENCE_DEPRECATION"]
     cxxflags += ["-DGL_SILENCE_DEPRECATION"]
@@ -137,24 +136,26 @@ else:
       f"{brew_prefix}/include",
       f"{brew_prefix}/opt/openssl@3.0/include",
     ]
-  # Linux 86_64
+    lenv["DYLD_LIBRARY_PATH"] = lenv["LD_LIBRARY_PATH"]
+  # Linux
   else:
     libpath = [
-      "#third_party/acados/x86_64/lib",
-      "#third_party/snpe/x86_64-linux-clang",
-      "#third_party/libyuv/x64/lib",
-      "#third_party/mapbox-gl-native-qt/x86_64",
+      f"#third_party/acados/{arch}/lib",
+      f"#third_party/libyuv/{arch}/lib",
+      f"#third_party/mapbox-gl-native-qt/{arch}",
       "#cereal",
       "#common",
       "/usr/lib",
       "/usr/local/lib",
     ]
 
-  rpath += [
-    Dir("#third_party/snpe/x86_64-linux-clang").abspath,
-    Dir("#cereal").abspath,
-    Dir("#common").abspath
-  ]
+    if arch == "x86_64":
+      libpath += [
+        f"#third_party/snpe/{arch}"
+      ]
+      rpath += [
+        Dir(f"#third_party/snpe/{arch}").abspath,
+      ]
 
 if GetOption('asan'):
   ccflags = ["-fsanitize=address", "-fno-omit-frame-pointer"]
@@ -200,7 +201,6 @@ env = Environment(
     "#third_party/catch2/include",
     "#third_party/libyuv/include",
     "#third_party/json11",
-    "#third_party/curl/include",
     "#third_party/linux/include",
     "#third_party/snpe/include",
     "#third_party/mapbox-gl-native-qt/include",
@@ -231,7 +231,9 @@ env = Environment(
 )
 
 if arch == "Darwin":
-  env['RPATHPREFIX'] = "-rpath "
+  # RPATH is not supported on macOS, instead use the linker flags
+  darwin_rpath_link_flags = [f"-Wl,-rpath,{path}" for path in env["RPATH"]]
+  env["LINKFLAGS"] += darwin_rpath_link_flags
 
 if GetOption('compile_db'):
   env.CompilationDatabase('compile_commands.json')
@@ -268,13 +270,11 @@ py_include = sysconfig.get_paths()['include']
 envCython = env.Clone()
 envCython["CPPPATH"] += [py_include, np.get_include()]
 envCython["CCFLAGS"] += ["-Wno-#warnings", "-Wno-shadow", "-Wno-deprecated-declarations"]
+envCython["CCFLAGS"].remove("-Werror")
 
 envCython["LIBS"] = []
 if arch == "Darwin":
-  envCython["LINKFLAGS"] = ["-bundle", "-undefined", "dynamic_lookup"]
-elif arch == "aarch64":
-  envCython["LINKFLAGS"] = ["-shared"]
-  envCython["LIBS"] = [os.path.basename(py_include)]
+  envCython["LINKFLAGS"] = ["-bundle", "-undefined", "dynamic_lookup"] + darwin_rpath_link_flags
 else:
   envCython["LINKFLAGS"] = ["-pthread", "-shared"]
 
@@ -286,10 +286,7 @@ qt_modules = ["Widgets", "Gui", "Core", "Network", "Concurrent", "Multimedia", "
 
 qt_libs = []
 if arch == "Darwin":
-  if real_arch == "arm64":
-    qt_env['QTDIR'] = "/opt/homebrew/opt/qt@5"
-  else:
-    qt_env['QTDIR'] = "/usr/local/opt/qt@5"
+  qt_env['QTDIR'] = f"{brew_prefix}/opt/qt@5"
   qt_dirs = [
     os.path.join(qt_env['QTDIR'], "include"),
   ]
diff --git a/body b/body
index e1805f65ee..396fa7b923 160000
--- a/body
+++ b/body
@@ -1 +1 @@
-Subproject commit e1805f65ee75fab4454c21eda8b42b49d4bdc48f
+Subproject commit 396fa7b923099640d6843f338950ed41300793ec
diff --git a/cereal b/cereal
index 8af4582508..f01d677e1d 160000
--- a/cereal
+++ b/cereal
@@ -1 +1 @@
-Subproject commit 8af4582508dd7acef082c40ede11eb7018415d9a
+Subproject commit f01d677e1d919bf5e33ec2dd209605943fe4914c
diff --git a/common/clutil.cc b/common/clutil.cc
index 3cfc8a8c8c..fab1649ee1 100644
--- a/common/clutil.cc
+++ b/common/clutil.cc
@@ -38,8 +38,8 @@ void cl_print_info(cl_platform_id platform, cl_device_id device) {
   LOGD("extensions: %s", get_platform_info(platform, CL_PLATFORM_EXTENSIONS).c_str());
   LOGD("name: %s", get_device_info(device, CL_DEVICE_NAME).c_str());
   LOGD("device version: %s", get_device_info(device, CL_DEVICE_VERSION).c_str());
-  LOGD("max work group size: %d", work_group_size);
-  LOGD("type = %d = ", device_type, type_str);
+  LOGD("max work group size: %zu", work_group_size);
+  LOGD("type = %d, %s", (int)device_type, type_str);
 }
 
 void cl_print_build_errors(cl_program program, cl_device_id device) {
@@ -62,7 +62,7 @@ cl_device_id cl_get_device_id(cl_device_type device_type) {
   CL_CHECK(clGetPlatformIDs(num_platforms, &platform_ids[0], NULL));
 
   for (size_t i = 0; i < num_platforms; ++i) {
-    LOGD("platform[%d] CL_PLATFORM_NAME: %s", i, get_platform_info(platform_ids[i], CL_PLATFORM_NAME).c_str());
+    LOGD("platform[%zu] CL_PLATFORM_NAME: %s", i, get_platform_info(platform_ids[i], CL_PLATFORM_NAME).c_str());
 
     // Get first device
     if (cl_device_id device_id = NULL; clGetDeviceIDs(platform_ids[i], device_type, 1, &device_id, NULL) == 0 && device_id) {
diff --git a/common/file_helpers.py b/common/file_helpers.py
index 8a45fa313c..227d614d72 100644
--- a/common/file_helpers.py
+++ b/common/file_helpers.py
@@ -5,7 +5,7 @@ from atomicwrites import AtomicWriter
 
 
 def mkdirs_exists_ok(path):
-  if path.startswith('http://') or path.startswith('https://'):
+  if path.startswith(('http://', 'https://')):
     raise ValueError('URL path')
   try:
     os.makedirs(path)
diff --git a/common/gpio.cc b/common/gpio.cc
index aa65c0bd9d..8a16cd3703 100644
--- a/common/gpio.cc
+++ b/common/gpio.cc
@@ -53,7 +53,7 @@ int gpiochip_get_ro_value_fd(const char* consumer_label, int gpiochiop_id, int p
   std::string gpiochip_path = "/dev/gpiochip" + std::to_string(gpiochiop_id);
   int fd = open(gpiochip_path.c_str(), O_RDONLY);
   if (fd < 0) {
-    LOGE("Error opening gpiochip0 fd")
+    LOGE("Error opening gpiochip0 fd");
     return -1;
   }
 
diff --git a/common/gpio.py b/common/gpio.py
index 711fcff85d..5ec23bf7b1 100644
--- a/common/gpio.py
+++ b/common/gpio.py
@@ -1,4 +1,4 @@
-import glob
+from functools import lru_cache
 from typing import Optional, List
 
 def gpio_init(pin: int, output: bool) -> None:
@@ -25,12 +25,27 @@ def gpio_read(pin: int) -> Optional[bool]:
 
   return val
 
-def get_irq_for_action(action: str) -> List[int]:
-  ret = []
-  for fn in glob.glob('/sys/kernel/irq/*/actions'):
-    with open(fn) as f:
+def gpio_export(pin: int) -> None:
+  try:
+    with open("/sys/class/gpio/export", 'w') as f:
+      f.write(str(pin))
+  except Exception:
+    print(f"Failed to export gpio {pin}")
+
+@lru_cache(maxsize=None)
+def get_irq_action(irq: int) -> List[str]:
+  try:
+    with open(f"/sys/kernel/irq/{irq}/actions") as f:
       actions = f.read().strip().split(',')
-      if action in actions:
-        irq = int(fn.split('/')[-2])
+      return actions
+  except FileNotFoundError:
+    return []
+
+def get_irqs_for_action(action: str) -> List[str]:
+  ret = []
+  with open("/proc/interrupts") as f:
+    for l in f.readlines():
+      irq = l.split(':')[0].strip()
+      if irq.isdigit() and action in get_irq_action(irq):
         ret.append(irq)
   return ret
diff --git a/common/logging_extra.py b/common/logging_extra.py
index 899ad7a391..e2637d2e05 100644
--- a/common/logging_extra.py
+++ b/common/logging_extra.py
@@ -65,7 +65,7 @@ class SwagFormatter(logging.Formatter):
 
     return record_dict
 
-  def format(self, record):
+  def format(self, record): # noqa: A003
     if self.swaglogger is None:
       raise Exception("must set swaglogger before calling format()")
     return json_robust_dumps(self.format_dict(record))
@@ -95,7 +95,7 @@ class SwagLogFileFormatter(SwagFormatter):
       k += "$a"
     return k, v
 
-  def format(self, record):
+  def format(self, record): # noqa: A003
     if isinstance(record, str):
       v = json.loads(record)
     else:
diff --git a/common/modeldata.h b/common/modeldata.h
index a00d3d49d3..6dc02cc792 100644
--- a/common/modeldata.h
+++ b/common/modeldata.h
@@ -10,6 +10,9 @@ const int LON_MPC_N = 32;
 const float MIN_DRAW_DISTANCE = 10.0;
 const float MAX_DRAW_DISTANCE = 100.0;
 
+const float RYG_GREEN = 0.01165;
+const float RYG_YELLOW = 0.06157;
+
 template <typename T, size_t size>
 constexpr std::array<T, size> build_idxs(float max_val) {
   std::array<T, size> result{};
@@ -24,23 +27,12 @@ constexpr auto T_IDXS_FLOAT = build_idxs<float, TRAJECTORY_SIZE>(10.0);
 constexpr auto X_IDXS = build_idxs<double, TRAJECTORY_SIZE>(192.0);
 constexpr auto X_IDXS_FLOAT = build_idxs<float, TRAJECTORY_SIZE>(192.0);
 
-const mat3 fcam_intrinsic_matrix = (mat3){{2648.0, 0.0, 1928.0 / 2,
+const mat3 FCAM_INTRINSIC_MATRIX = (mat3){{2648.0, 0.0, 1928.0 / 2,
                                            0.0, 2648.0, 1208.0 / 2,
                                            0.0, 0.0, 1.0}};
 
 // tici ecam focal probably wrong? magnification is not consistent across frame
 // Need to retrain model before this can be changed
-const mat3 ecam_intrinsic_matrix = (mat3){{567.0, 0.0, 1928.0 / 2,
+const mat3 ECAM_INTRINSIC_MATRIX = (mat3){{567.0, 0.0, 1928.0 / 2,
                                            0.0, 567.0, 1208.0 / 2,
                                            0.0, 0.0, 1.0}};
-
-static inline mat3 get_model_yuv_transform() {
-  float db_s = 1.0;
-  const mat3 transform = (mat3){{
-    1.0, 0.0, 0.0,
-    0.0, 1.0, 0.0,
-    0.0, 0.0, 1.0
-  }};
-  // Can this be removed since scale is 1?
-  return transform_scale_buffer(transform, db_s);
-}
diff --git a/common/params.cc b/common/params.cc
index 530ffe3051..e8ab42c0b0 100644
--- a/common/params.cc
+++ b/common/params.cc
@@ -85,6 +85,9 @@ private:
 
 std::unordered_map<std::string, uint32_t> keys = {
     {"AccessToken", CLEAR_ON_MANAGER_START | DONT_LOG},
+    {"ApiCache_Device", PERSISTENT},
+    {"ApiCache_DriveStats", PERSISTENT},
+    {"ApiCache_NavDestinations", PERSISTENT},
     {"AssistNowToken", PERSISTENT},
     {"AthenadPid", PERSISTENT},
     {"AthenadUploadQueue", PERSISTENT},
@@ -102,17 +105,18 @@ std::unordered_map<std::string, uint32_t> keys = {
     {"CurrentRoute", CLEAR_ON_MANAGER_START | CLEAR_ON_ONROAD_TRANSITION},
     {"DisableLogging", CLEAR_ON_MANAGER_START | CLEAR_ON_ONROAD_TRANSITION},
     {"DisablePowerDown", PERSISTENT},
-    {"ExperimentalMode", PERSISTENT},
-    {"ExperimentalModeConfirmed", PERSISTENT},
-    {"ExperimentalLongitudinalEnabled", PERSISTENT},
     {"DisableUpdates", PERSISTENT},
     {"DisengageOnAccelerator", PERSISTENT},
+    {"DmModelInitialized", CLEAR_ON_ONROAD_TRANSITION},
     {"DongleId", PERSISTENT},
     {"DoReboot", CLEAR_ON_MANAGER_START},
     {"DoShutdown", CLEAR_ON_MANAGER_START},
     {"DoUninstall", CLEAR_ON_MANAGER_START},
+    {"ExperimentalLongitudinalEnabled", PERSISTENT},
+    {"ExperimentalMode", PERSISTENT},
+    {"ExperimentalModeConfirmed", PERSISTENT},
     {"FirmwareQueryDone", CLEAR_ON_MANAGER_START | CLEAR_ON_ONROAD_TRANSITION},
-    {"ForcePowerDown", CLEAR_ON_MANAGER_START},
+    {"ForcePowerDown", PERSISTENT},
     {"GitBranch", PERSISTENT},
     {"GitCommit", PERSISTENT},
     {"GitDiff", PERSISTENT},
@@ -133,9 +137,9 @@ std::unordered_map<std::string, uint32_t> keys = {
     {"IsOffroad", CLEAR_ON_MANAGER_START},
     {"IsOnroad", PERSISTENT},
     {"IsRhdDetected", PERSISTENT},
+    {"IsReleaseBranch", CLEAR_ON_MANAGER_START},
     {"IsTakingSnapshot", CLEAR_ON_MANAGER_START},
     {"IsTestedBranch", CLEAR_ON_MANAGER_START},
-    {"IsReleaseBranch", CLEAR_ON_MANAGER_START},
     {"IsUpdateAvailable", CLEAR_ON_MANAGER_START},
     {"JoystickDebugMode", CLEAR_ON_MANAGER_START | CLEAR_ON_OFFROAD_TRANSITION},
     {"LaikadEphemerisV3", PERSISTENT | DONT_LOG},
@@ -143,6 +147,7 @@ std::unordered_map<std::string, uint32_t> keys = {
     {"LastAthenaPingTime", CLEAR_ON_MANAGER_START},
     {"LastGPSPosition", PERSISTENT},
     {"LastManagerExitReason", CLEAR_ON_MANAGER_START},
+    {"LastOffroadStatusPacket", CLEAR_ON_MANAGER_START | CLEAR_ON_OFFROAD_TRANSITION},
     {"LastPowerDropDetected", CLEAR_ON_MANAGER_START},
     {"LastSystemShutdown", CLEAR_ON_MANAGER_START},
     {"LastUpdateException", CLEAR_ON_MANAGER_START},
@@ -150,15 +155,30 @@ std::unordered_map<std::string, uint32_t> keys = {
     {"LiveParameters", PERSISTENT},
     {"LiveTorqueCarParams", PERSISTENT},
     {"LiveTorqueParameters", PERSISTENT | DONT_LOG},
+    {"LongitudinalPersonality", PERSISTENT},
     {"NavDestination", CLEAR_ON_MANAGER_START | CLEAR_ON_OFFROAD_TRANSITION},
     {"NavDestinationWaypoints", CLEAR_ON_MANAGER_START | CLEAR_ON_OFFROAD_TRANSITION},
-    {"NavSettingTime24h", PERSISTENT},
     {"NavSettingLeftSide", PERSISTENT},
+    {"NavSettingTime24h", PERSISTENT},
     {"NavdRender", PERSISTENT},
     {"ObdMultiplexingChanged", CLEAR_ON_MANAGER_START | CLEAR_ON_ONROAD_TRANSITION},
     {"ObdMultiplexingEnabled", CLEAR_ON_MANAGER_START | CLEAR_ON_ONROAD_TRANSITION},
+    {"Offroad_BadNvme", CLEAR_ON_MANAGER_START},
+    {"Offroad_CarUnrecognized", CLEAR_ON_MANAGER_START | CLEAR_ON_ONROAD_TRANSITION},
+    {"Offroad_ConnectivityNeeded", CLEAR_ON_MANAGER_START},
+    {"Offroad_ConnectivityNeededPrompt", CLEAR_ON_MANAGER_START},
+    {"Offroad_InvalidTime", CLEAR_ON_MANAGER_START},
+    {"Offroad_IsTakingSnapshot", CLEAR_ON_MANAGER_START},
+    {"Offroad_NeosUpdate", CLEAR_ON_MANAGER_START},
+    {"Offroad_NoFirmware", CLEAR_ON_MANAGER_START | CLEAR_ON_ONROAD_TRANSITION},
+    {"Offroad_Recalibration", CLEAR_ON_MANAGER_START | CLEAR_ON_ONROAD_TRANSITION},
+    {"Offroad_StorageMissing", CLEAR_ON_MANAGER_START},
+    {"Offroad_TemperatureTooHigh", CLEAR_ON_MANAGER_START},
+    {"Offroad_UnofficialHardware", CLEAR_ON_MANAGER_START},
+    {"Offroad_UpdateFailed", CLEAR_ON_MANAGER_START},
     {"OpenpilotEnabledToggle", PERSISTENT},
     {"PandaHeartbeatLost", CLEAR_ON_MANAGER_START | CLEAR_ON_OFFROAD_TRANSITION},
+    {"PandaLogState", PERSISTENT},
     {"PandaSignatures", CLEAR_ON_MANAGER_START},
     {"Passive", PERSISTENT},
     {"PrimeType", PERSISTENT},
@@ -175,33 +195,17 @@ std::unordered_map<std::string, uint32_t> keys = {
     {"UbloxAvailable", PERSISTENT},
     {"UpdateAvailable", CLEAR_ON_MANAGER_START | CLEAR_ON_ONROAD_TRANSITION},
     {"UpdateFailedCount", CLEAR_ON_MANAGER_START},
-    {"UpdaterState", CLEAR_ON_MANAGER_START},
-    {"UpdaterFetchAvailable", CLEAR_ON_MANAGER_START},
-    {"UpdaterTargetBranch", CLEAR_ON_MANAGER_START},
     {"UpdaterAvailableBranches", CLEAR_ON_MANAGER_START},
     {"UpdaterCurrentDescription", CLEAR_ON_MANAGER_START},
     {"UpdaterCurrentReleaseNotes", CLEAR_ON_MANAGER_START},
+    {"UpdaterFetchAvailable", CLEAR_ON_MANAGER_START},
     {"UpdaterNewDescription", CLEAR_ON_MANAGER_START},
     {"UpdaterNewReleaseNotes", CLEAR_ON_MANAGER_START},
+    {"UpdaterState", CLEAR_ON_MANAGER_START},
+    {"UpdaterTargetBranch", CLEAR_ON_MANAGER_START},
     {"Version", PERSISTENT},
     {"VisionRadarToggle", PERSISTENT},
-    {"WideCameraOnly", PERSISTENT},
-    {"ApiCache_Device", PERSISTENT},
-    {"ApiCache_DriveStats", PERSISTENT},
-    {"ApiCache_NavDestinations", PERSISTENT},
-    {"Offroad_BadNvme", CLEAR_ON_MANAGER_START},
-    {"Offroad_CarUnrecognized", CLEAR_ON_MANAGER_START | CLEAR_ON_ONROAD_TRANSITION},
-    {"Offroad_ConnectivityNeeded", CLEAR_ON_MANAGER_START},
-    {"Offroad_ConnectivityNeededPrompt", CLEAR_ON_MANAGER_START},
-    {"Offroad_InvalidTime", CLEAR_ON_MANAGER_START},
-    {"Offroad_IsTakingSnapshot", CLEAR_ON_MANAGER_START},
-    {"Offroad_NeosUpdate", CLEAR_ON_MANAGER_START},
-    {"Offroad_NoFirmware", CLEAR_ON_MANAGER_START | CLEAR_ON_ONROAD_TRANSITION},
-    {"Offroad_StorageMissing", CLEAR_ON_MANAGER_START},
-    {"Offroad_TemperatureTooHigh", CLEAR_ON_MANAGER_START},
-    {"Offroad_UnofficialHardware", CLEAR_ON_MANAGER_START},
-    {"Offroad_UpdateFailed", CLEAR_ON_MANAGER_START},
-    {"Offroad_Recalibration", CLEAR_ON_MANAGER_START | CLEAR_ON_ONROAD_TRANSITION},
+    {"WheeledBody", PERSISTENT},
 };
 
 } // namespace
diff --git a/common/swaglog.cc b/common/swaglog.cc
index 54f1c3478a..060090e18f 100644
--- a/common/swaglog.cc
+++ b/common/swaglog.cc
@@ -135,4 +135,3 @@ void cloudlog_te(int levelnum, const char* filename, int lineno, const char* fun
   cloudlog_t_common(levelnum, filename, lineno, func, frame_id, fmt, args);
   va_end(args);
 }
-
diff --git a/common/swaglog.h b/common/swaglog.h
index 68b05ed2e9..5a3434d624 100644
--- a/common/swaglog.h
+++ b/common/swaglog.h
@@ -9,23 +9,29 @@
 #define CLOUDLOG_CRITICAL 50
 
 
+#ifdef __GNUC__
+#define SWAG_LOG_CHECK_FMT(a, b) __attribute__ ((format (printf, a, b)))
+#else
+#define SWAG_LOG_CHECK_FMT(a, b)
+#endif
+
 void cloudlog_e(int levelnum, const char* filename, int lineno, const char* func,
-                const char* fmt, ...) /*__attribute__ ((format (printf, 6, 7)))*/;
+                const char* fmt, ...) SWAG_LOG_CHECK_FMT(5, 6);
 
 void cloudlog_te(int levelnum, const char* filename, int lineno, const char* func,
-                 const char* fmt, ...) /*__attribute__ ((format (printf, 6, 7)))*/;
+                 const char* fmt, ...) SWAG_LOG_CHECK_FMT(5, 6);
 
 void cloudlog_te(int levelnum, const char* filename, int lineno, const char* func,
-                 uint32_t frame_id, const char* fmt, ...) /*__attribute__ ((format (printf, 6, 7)))*/;
+                 uint32_t frame_id, const char* fmt, ...) SWAG_LOG_CHECK_FMT(6, 7);
 
 
 #define cloudlog(lvl, fmt, ...) cloudlog_e(lvl, __FILE__, __LINE__, \
                                            __func__, \
-                                           fmt, ## __VA_ARGS__);
- 
+                                           fmt, ## __VA_ARGS__)
+
 #define cloudlog_t(lvl, ...) cloudlog_te(lvl, __FILE__, __LINE__, \
                                           __func__, \
-                                          __VA_ARGS__);
+                                          __VA_ARGS__)
 
 
 #define cloudlog_rl(burst, millis, lvl, fmt, ...)   \
diff --git a/common/time.py b/common/time.py
new file mode 100644
index 0000000000..b9da106fd0
--- /dev/null
+++ b/common/time.py
@@ -0,0 +1,6 @@
+import datetime
+
+MIN_DATE = datetime.datetime(year=2023, month=6, day=1)
+
+def system_time_valid():
+  return datetime.datetime.now() > MIN_DATE
\ No newline at end of file
diff --git a/common/util.cc b/common/util.cc
index a527adcbef..2914f6bcbc 100644
--- a/common/util.cc
+++ b/common/util.cc
@@ -214,9 +214,9 @@ std::string hexdump(const uint8_t* in, const size_t size) {
 }
 
 std::string random_string(std::string::size_type length) {
-  const char* chrs = "0123456789abcdefghijklmnopqrstuvwxyzABCDEFGHIJKLMNOPQRSTUVWXYZ";
+  const std::string chrs = "0123456789abcdefghijklmnopqrstuvwxyzABCDEFGHIJKLMNOPQRSTUVWXYZ";
   std::mt19937 rg{std::random_device{}()};
-  std::uniform_int_distribution<std::string::size_type> pick(0, sizeof(chrs) - 2);
+  std::uniform_int_distribution<std::string::size_type> pick(0, chrs.length() - 1);
   std::string s;
   s.reserve(length);
   while (length--) {
@@ -260,7 +260,7 @@ struct tm get_time() {
 bool time_valid(struct tm sys_time) {
   int year = 1900 + sys_time.tm_year;
   int month = 1 + sys_time.tm_mon;
-  return (year > 2021) || (year == 2021 && month >= 6);
+  return (year > 2023) || (year == 2023 && month >= 6);
 }
 
 }  // namespace util
diff --git a/common/version.h b/common/version.h
index 57d60e7f68..946f6a1fec 100644
--- a/common/version.h
+++ b/common/version.h
@@ -1 +1 @@
-#define COMMA_VERSION "0.9.3"
+#define COMMA_VERSION "0.9.5"
diff --git a/docs/CARS.md b/docs/CARS.md
index d1c405774a..9ec07a3e22 100644
--- a/docs/CARS.md
+++ b/docs/CARS.md
@@ -4,276 +4,282 @@
 
 A supported vehicle is one that just works when you install a comma three. All supported cars provide a better experience than any stock system. Supported vehicles reference the US market unless otherwise specified.
 
-# 254 Supported Cars
+# 257 Supported Cars
 
 |Make|Model|Supported Package|ACC|No ACC accel below|No ALC below|Steering Torque|Resume from stop|<a href="##"><img width=2000></a>Hardware Needed<br>&nbsp;|Video|
 |---|---|---|:---:|:---:|:---:|:---:|:---:|:---:|:---:|
-|Acura|ILX 2016-19|AcuraWatch Plus|openpilot|25 mph|25 mph|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>View</summary><sub>- 1 Honda Nidec connector<br>- 1 RJ45 cable (7 ft)<br>- 1 comma power v2<br>- 1 comma three<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-three.html?make=Acura&model=ILX 2016-19">Buy Here</a></sub></details>||
-|Acura|RDX 2016-18|AcuraWatch Plus|openpilot|25 mph|12 mph|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>View</summary><sub>- 1 Honda Nidec connector<br>- 1 RJ45 cable (7 ft)<br>- 1 comma power v2<br>- 1 comma three<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-three.html?make=Acura&model=RDX 2016-18">Buy Here</a></sub></details>||
-|Acura|RDX 2019-22|All|openpilot available[<sup>1</sup>](#footnotes)|0 mph|3 mph|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>View</summary><sub>- 1 Honda Bosch A connector<br>- 1 RJ45 cable (7 ft)<br>- 1 comma power v2<br>- 1 comma three<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-three.html?make=Acura&model=RDX 2019-22">Buy Here</a></sub></details>||
-|Audi|A3 2014-19|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,9</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>View</summary><sub>- 1 J533 connector<br>- 1 USB-C coupler<br>- 1 comma three<br>- 1 harness box<br>- 1 long OBD-C cable<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-three.html?make=Audi&model=A3 2014-19">Buy Here</a></sub></details>||
-|Audi|A3 Sportback e-tron 2017-18|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,9</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>View</summary><sub>- 1 J533 connector<br>- 1 USB-C coupler<br>- 1 comma three<br>- 1 harness box<br>- 1 long OBD-C cable<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-three.html?make=Audi&model=A3 Sportback e-tron 2017-18">Buy Here</a></sub></details>||
-|Audi|Q2 2018|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,9</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>View</summary><sub>- 1 J533 connector<br>- 1 USB-C coupler<br>- 1 comma three<br>- 1 harness box<br>- 1 long OBD-C cable<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-three.html?make=Audi&model=Q2 2018">Buy Here</a></sub></details>||
-|Audi|Q3 2019-23|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,9</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>View</summary><sub>- 1 J533 connector<br>- 1 USB-C coupler<br>- 1 comma three<br>- 1 harness box<br>- 1 long OBD-C cable<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-three.html?make=Audi&model=Q3 2019-23">Buy Here</a></sub></details>||
-|Audi|RS3 2018|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,9</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>View</summary><sub>- 1 J533 connector<br>- 1 USB-C coupler<br>- 1 comma three<br>- 1 harness box<br>- 1 long OBD-C cable<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-three.html?make=Audi&model=RS3 2018">Buy Here</a></sub></details>||
-|Audi|S3 2015-17|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,9</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>View</summary><sub>- 1 J533 connector<br>- 1 USB-C coupler<br>- 1 comma three<br>- 1 harness box<br>- 1 long OBD-C cable<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-three.html?make=Audi&model=S3 2015-17">Buy Here</a></sub></details>||
-|Buick|LaCrosse 2017-19[<sup>3</sup>](#footnotes)|Driver Confidence Package 2|openpilot|18 mph|7 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|<details><summary>View</summary><sub>- 1 OBD-II connector<br>- 1 comma three<br>- 2 long OBD-C cable<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-three.html?make=Buick&model=LaCrosse 2017-19">Buy Here</a></sub></details>||
-|Cadillac|Escalade 2017[<sup>3</sup>](#footnotes)|Driver Assist Package|openpilot|0 mph|7 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|<details><summary>View</summary><sub>- 1 OBD-II connector<br>- 1 comma three<br>- 2 long OBD-C cable<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-three.html?make=Cadillac&model=Escalade 2017">Buy Here</a></sub></details>||
-|Cadillac|Escalade ESV 2016[<sup>3</sup>](#footnotes)|Adaptive Cruise Control (ACC) & LKAS|openpilot|0 mph|7 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|<details><summary>View</summary><sub>- 1 OBD-II connector<br>- 1 comma three<br>- 2 long OBD-C cable<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-three.html?make=Cadillac&model=Escalade ESV 2016">Buy Here</a></sub></details>||
-|Chevrolet|Bolt EUV 2022-23|Premier or Premier Redline Trim without Super Cruise Package|openpilot available[<sup>1</sup>](#footnotes)|3 mph|6 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|<details><summary>View</summary><sub>- 1 GM connector<br>- 1 RJ45 cable (7 ft)<br>- 1 comma power v2<br>- 1 comma three<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-three.html?make=Chevrolet&model=Bolt EUV 2022-23">Buy Here</a></sub></details>|<a href="https://youtu.be/xvwzGMUA210" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>|
-|Chevrolet|Bolt EV 2022-23|2LT Trim with Adaptive Cruise Control Package|openpilot available[<sup>1</sup>](#footnotes)|3 mph|6 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|<details><summary>View</summary><sub>- 1 GM connector<br>- 1 RJ45 cable (7 ft)<br>- 1 comma power v2<br>- 1 comma three<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-three.html?make=Chevrolet&model=Bolt EV 2022-23">Buy Here</a></sub></details>||
-|Chevrolet|Silverado 1500 2020-21|Safety Package II|openpilot available[<sup>1</sup>](#footnotes)|3 mph|6 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|<details><summary>View</summary><sub>- 1 GM connector<br>- 1 RJ45 cable (7 ft)<br>- 1 comma power v2<br>- 1 comma three<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-three.html?make=Chevrolet&model=Silverado 1500 2020-21">Buy Here</a></sub></details>||
-|Chevrolet|Trailblazer 2021-22|Adaptive Cruise Control (ACC)|openpilot available[<sup>1</sup>](#footnotes)|3 mph|6 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|<details><summary>View</summary><sub>- 1 GM connector<br>- 1 RJ45 cable (7 ft)<br>- 1 comma power v2<br>- 1 comma three<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-three.html?make=Chevrolet&model=Trailblazer 2021-22">Buy Here</a></sub></details>||
-|Chevrolet|Volt 2017-18[<sup>3</sup>](#footnotes)|Adaptive Cruise Control (ACC)|openpilot|0 mph|7 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|<details><summary>View</summary><sub>- 1 OBD-II connector<br>- 1 comma three<br>- 2 long OBD-C cable<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-three.html?make=Chevrolet&model=Volt 2017-18">Buy Here</a></sub></details>|<a href="https://youtu.be/QeMCN_4TFfQ" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>|
-|Chrysler|Pacifica 2017-18|Adaptive Cruise Control (ACC)|Stock|0 mph|9 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>View</summary><sub>- 1 FCA connector<br>- 1 RJ45 cable (7 ft)<br>- 1 comma power v2<br>- 1 comma three<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-three.html?make=Chrysler&model=Pacifica 2017-18">Buy Here</a></sub></details>||
-|Chrysler|Pacifica 2019-20|Adaptive Cruise Control (ACC)|Stock|0 mph|39 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>View</summary><sub>- 1 FCA connector<br>- 1 RJ45 cable (7 ft)<br>- 1 comma power v2<br>- 1 comma three<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-three.html?make=Chrysler&model=Pacifica 2019-20">Buy Here</a></sub></details>||
-|Chrysler|Pacifica 2021|All|Stock|0 mph|39 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>View</summary><sub>- 1 FCA connector<br>- 1 RJ45 cable (7 ft)<br>- 1 comma power v2<br>- 1 comma three<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-three.html?make=Chrysler&model=Pacifica 2021">Buy Here</a></sub></details>||
-|Chrysler|Pacifica Hybrid 2017-18|Adaptive Cruise Control (ACC)|Stock|0 mph|9 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>View</summary><sub>- 1 FCA connector<br>- 1 RJ45 cable (7 ft)<br>- 1 comma power v2<br>- 1 comma three<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-three.html?make=Chrysler&model=Pacifica Hybrid 2017-18">Buy Here</a></sub></details>||
-|Chrysler|Pacifica Hybrid 2019-23|Adaptive Cruise Control (ACC)|Stock|0 mph|39 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>View</summary><sub>- 1 FCA connector<br>- 1 RJ45 cable (7 ft)<br>- 1 comma power v2<br>- 1 comma three<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-three.html?make=Chrysler&model=Pacifica Hybrid 2019-23">Buy Here</a></sub></details>||
+|Acura|ILX 2016-19|AcuraWatch Plus|openpilot|25 mph|25 mph|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|<details><summary>Parts</summary><sub>- 1 Honda Nidec connector<br>- 1 RJ45 cable (7 ft)<br>- 1 comma power v2<br>- 1 comma three<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Acura&model=ILX 2016-19">Buy Here</a></sub></details>||
+|Acura|RDX 2016-18|AcuraWatch Plus|openpilot|25 mph|12 mph|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|<details><summary>Parts</summary><sub>- 1 Honda Nidec connector<br>- 1 RJ45 cable (7 ft)<br>- 1 comma power v2<br>- 1 comma three<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Acura&model=RDX 2016-18">Buy Here</a></sub></details>||
+|Acura|RDX 2019-22|All|openpilot available[<sup>1</sup>](#footnotes)|0 mph|3 mph|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Honda Bosch A connector<br>- 1 RJ45 cable (7 ft)<br>- 1 comma power v2<br>- 1 comma three<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Acura&model=RDX 2019-22">Buy Here</a></sub></details>||
+|Audi|A3 2014-19|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,12</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 J533 connector<br>- 1 USB-C coupler<br>- 1 comma three<br>- 1 harness box<br>- 1 long OBD-C cable<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Audi&model=A3 2014-19">Buy Here</a></sub></details>||
+|Audi|A3 Sportback e-tron 2017-18|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,12</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 J533 connector<br>- 1 USB-C coupler<br>- 1 comma three<br>- 1 harness box<br>- 1 long OBD-C cable<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Audi&model=A3 Sportback e-tron 2017-18">Buy Here</a></sub></details>||
+|Audi|Q2 2018|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,12</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 J533 connector<br>- 1 USB-C coupler<br>- 1 comma three<br>- 1 harness box<br>- 1 long OBD-C cable<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Audi&model=Q2 2018">Buy Here</a></sub></details>||
+|Audi|Q3 2019-23|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,12</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 J533 connector<br>- 1 USB-C coupler<br>- 1 comma three<br>- 1 harness box<br>- 1 long OBD-C cable<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Audi&model=Q3 2019-23">Buy Here</a></sub></details>||
+|Audi|RS3 2018|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,12</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 J533 connector<br>- 1 USB-C coupler<br>- 1 comma three<br>- 1 harness box<br>- 1 long OBD-C cable<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Audi&model=RS3 2018">Buy Here</a></sub></details>||
+|Audi|S3 2015-17|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,12</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 J533 connector<br>- 1 USB-C coupler<br>- 1 comma three<br>- 1 harness box<br>- 1 long OBD-C cable<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Audi&model=S3 2015-17">Buy Here</a></sub></details>||
+|Buick|LaCrosse 2017-19[<sup>4</sup>](#footnotes)|Driver Confidence Package 2|openpilot|18 mph|7 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-II connector<br>- 1 comma three<br>- 2 long OBD-C cable<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Buick&model=LaCrosse 2017-19">Buy Here</a></sub></details>||
+|Cadillac|Escalade 2017[<sup>4</sup>](#footnotes)|Driver Assist Package|openpilot|0 mph|7 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-II connector<br>- 1 comma three<br>- 2 long OBD-C cable<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Cadillac&model=Escalade 2017">Buy Here</a></sub></details>||
+|Cadillac|Escalade ESV 2016[<sup>4</sup>](#footnotes)|Adaptive Cruise Control (ACC) & LKAS|openpilot|0 mph|7 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-II connector<br>- 1 comma three<br>- 2 long OBD-C cable<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Cadillac&model=Escalade ESV 2016">Buy Here</a></sub></details>||
+|Chevrolet|Bolt EUV 2022-23|Premier or Premier Redline Trim without Super Cruise Package|openpilot available[<sup>1</sup>](#footnotes)|3 mph|6 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|<details><summary>Parts</summary><sub>- 1 GM connector<br>- 1 RJ45 cable (7 ft)<br>- 1 comma power v2<br>- 1 comma three<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Chevrolet&model=Bolt EUV 2022-23">Buy Here</a></sub></details>|<a href="https://youtu.be/xvwzGMUA210" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>|
+|Chevrolet|Bolt EV 2022-23|2LT Trim with Adaptive Cruise Control Package|openpilot available[<sup>1</sup>](#footnotes)|3 mph|6 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|<details><summary>Parts</summary><sub>- 1 GM connector<br>- 1 RJ45 cable (7 ft)<br>- 1 comma power v2<br>- 1 comma three<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Chevrolet&model=Bolt EV 2022-23">Buy Here</a></sub></details>||
+|Chevrolet|Silverado 1500 2020-21|Safety Package II|openpilot available[<sup>1</sup>](#footnotes)|0 mph|6 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|<details><summary>Parts</summary><sub>- 1 GM connector<br>- 1 RJ45 cable (7 ft)<br>- 1 comma power v2<br>- 1 comma three<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Chevrolet&model=Silverado 1500 2020-21">Buy Here</a></sub></details>||
+|Chevrolet|Trailblazer 2021-22|Adaptive Cruise Control (ACC)|openpilot available[<sup>1</sup>](#footnotes)|3 mph|6 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|<details><summary>Parts</summary><sub>- 1 GM connector<br>- 1 RJ45 cable (7 ft)<br>- 1 comma power v2<br>- 1 comma three<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Chevrolet&model=Trailblazer 2021-22">Buy Here</a></sub></details>||
+|Chevrolet|Volt 2017-18[<sup>4</sup>](#footnotes)|Adaptive Cruise Control (ACC)|openpilot|0 mph|7 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-II connector<br>- 1 comma three<br>- 2 long OBD-C cable<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Chevrolet&model=Volt 2017-18">Buy Here</a></sub></details>|<a href="https://youtu.be/QeMCN_4TFfQ" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>|
+|Chrysler|Pacifica 2017-18|Adaptive Cruise Control (ACC)|Stock|0 mph|9 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 FCA connector<br>- 1 RJ45 cable (7 ft)<br>- 1 comma power v2<br>- 1 comma three<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Chrysler&model=Pacifica 2017-18">Buy Here</a></sub></details>||
+|Chrysler|Pacifica 2019-20|Adaptive Cruise Control (ACC)|Stock|0 mph|39 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 FCA connector<br>- 1 RJ45 cable (7 ft)<br>- 1 comma power v2<br>- 1 comma three<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Chrysler&model=Pacifica 2019-20">Buy Here</a></sub></details>||
+|Chrysler|Pacifica 2021|All|Stock|0 mph|39 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 FCA connector<br>- 1 RJ45 cable (7 ft)<br>- 1 comma power v2<br>- 1 comma three<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Chrysler&model=Pacifica 2021">Buy Here</a></sub></details>||
+|Chrysler|Pacifica Hybrid 2017-18|Adaptive Cruise Control (ACC)|Stock|0 mph|9 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 FCA connector<br>- 1 RJ45 cable (7 ft)<br>- 1 comma power v2<br>- 1 comma three<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Chrysler&model=Pacifica Hybrid 2017-18">Buy Here</a></sub></details>||
+|Chrysler|Pacifica Hybrid 2019-23|Adaptive Cruise Control (ACC)|Stock|0 mph|39 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 FCA connector<br>- 1 RJ45 cable (7 ft)<br>- 1 comma power v2<br>- 1 comma three<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Chrysler&model=Pacifica Hybrid 2019-23">Buy Here</a></sub></details>||
 |comma|body|All|openpilot|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|None||
-|Ford|Bronco Sport 2021-22|Co-Pilot360 Assist+|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>View</summary><sub>- 1 Ford Q3 connector<br>- 1 RJ45 cable (7 ft)<br>- 1 angled mount (8 degrees)<br>- 1 comma power v2<br>- 1 comma three<br>- 1 harness box<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-three.html?make=Ford&model=Bronco Sport 2021-22">Buy Here</a></sub></details>||
-|Ford|Escape 2020-22|Co-Pilot360 Assist+|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>View</summary><sub>- 1 Ford Q3 connector<br>- 1 RJ45 cable (7 ft)<br>- 1 comma power v2<br>- 1 comma three<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-three.html?make=Ford&model=Escape 2020-22">Buy Here</a></sub></details>||
-|Ford|Explorer 2020-22|Co-Pilot360 Assist+|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>View</summary><sub>- 1 Ford Q3 connector<br>- 1 RJ45 cable (7 ft)<br>- 1 comma power v2<br>- 1 comma three<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-three.html?make=Ford&model=Explorer 2020-22">Buy Here</a></sub></details>||
-|Ford|Kuga 2020-22|Adaptive Cruise Control with Lane Centering|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>View</summary><sub>- 1 Ford Q3 connector<br>- 1 RJ45 cable (7 ft)<br>- 1 comma power v2<br>- 1 comma three<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-three.html?make=Ford&model=Kuga 2020-22">Buy Here</a></sub></details>||
-|Ford|Maverick 2022-23|Co-Pilot360 Assist|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>View</summary><sub>- 1 Ford Q3 connector<br>- 1 RJ45 cable (7 ft)<br>- 1 angled mount (8 degrees)<br>- 1 comma power v2<br>- 1 comma three<br>- 1 harness box<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-three.html?make=Ford&model=Maverick 2022-23">Buy Here</a></sub></details>||
-|Genesis|G70 2018-19|All|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>View</summary><sub>- 1 Hyundai F connector<br>- 1 RJ45 cable (7 ft)<br>- 1 comma power v2<br>- 1 comma three<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-three.html?make=Genesis&model=G70 2018-19">Buy Here</a></sub></details>||
-|Genesis|G70 2020|All|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>View</summary><sub>- 1 Hyundai F connector<br>- 1 RJ45 cable (7 ft)<br>- 1 comma power v2<br>- 1 comma three<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-three.html?make=Genesis&model=G70 2020">Buy Here</a></sub></details>||
-|Genesis|G80 2017|All|Stock|19 mph|37 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>View</summary><sub>- 1 Hyundai J connector<br>- 1 RJ45 cable (7 ft)<br>- 1 comma power v2<br>- 1 comma three<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-three.html?make=Genesis&model=G80 2017">Buy Here</a></sub></details>||
-|Genesis|G80 2018-19|All|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>View</summary><sub>- 1 Hyundai H connector<br>- 1 RJ45 cable (7 ft)<br>- 1 comma power v2<br>- 1 comma three<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-three.html?make=Genesis&model=G80 2018-19">Buy Here</a></sub></details>||
-|Genesis|G90 2017-18|All|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>View</summary><sub>- 1 Hyundai C connector<br>- 1 RJ45 cable (7 ft)<br>- 1 comma power v2<br>- 1 comma three<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-three.html?make=Genesis&model=G90 2017-18">Buy Here</a></sub></details>||
-|Genesis|GV60 (Advanced Trim) 2023[<sup>5</sup>](#footnotes)|All|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>View</summary><sub>- 1 Hyundai A connector<br>- 1 RJ45 cable (7 ft)<br>- 1 comma power v2<br>- 1 comma three<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-three.html?make=Genesis&model=GV60 (Advanced Trim) 2023">Buy Here</a></sub></details>||
-|Genesis|GV60 (Performance Trim) 2023[<sup>5</sup>](#footnotes)|All|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>View</summary><sub>- 1 Hyundai K connector<br>- 1 RJ45 cable (7 ft)<br>- 1 comma power v2<br>- 1 comma three<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-three.html?make=Genesis&model=GV60 (Performance Trim) 2023">Buy Here</a></sub></details>||
-|Genesis|GV70 (2.5T Trim) 2022-23[<sup>5</sup>](#footnotes)|All|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>View</summary><sub>- 1 Hyundai L connector<br>- 1 RJ45 cable (7 ft)<br>- 1 comma power v2<br>- 1 comma three<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-three.html?make=Genesis&model=GV70 (2.5T Trim) 2022-23">Buy Here</a></sub></details>||
-|Genesis|GV70 (3.5T Trim) 2022-23[<sup>5</sup>](#footnotes)|All|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>View</summary><sub>- 1 Hyundai M connector<br>- 1 RJ45 cable (7 ft)<br>- 1 comma power v2<br>- 1 comma three<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-three.html?make=Genesis&model=GV70 (3.5T Trim) 2022-23">Buy Here</a></sub></details>||
-|Genesis|GV80 2023[<sup>5</sup>](#footnotes)|All|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>View</summary><sub>- 1 Hyundai M connector<br>- 1 RJ45 cable (7 ft)<br>- 1 comma power v2<br>- 1 comma three<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-three.html?make=Genesis&model=GV80 2023">Buy Here</a></sub></details>||
-|GMC|Acadia 2018[<sup>3</sup>](#footnotes)|Adaptive Cruise Control (ACC)|openpilot|0 mph|7 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|<details><summary>View</summary><sub>- 1 OBD-II connector<br>- 1 comma three<br>- 2 long OBD-C cable<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-three.html?make=GMC&model=Acadia 2018">Buy Here</a></sub></details>|<a href="https://www.youtube.com/watch?v=0ZN6DdsBUZo" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>|
-|GMC|Sierra 1500 2020-21|Driver Alert Package II|openpilot available[<sup>1</sup>](#footnotes)|3 mph|6 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|<details><summary>View</summary><sub>- 1 GM connector<br>- 1 RJ45 cable (7 ft)<br>- 1 comma power v2<br>- 1 comma three<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-three.html?make=GMC&model=Sierra 1500 2020-21">Buy Here</a></sub></details>|<a href="https://youtu.be/5HbNoBLzRwE" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>|
-|Honda|Accord 2018-22|All|openpilot available[<sup>1</sup>](#footnotes)|0 mph|3 mph|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>View</summary><sub>- 1 Honda Bosch A connector<br>- 1 RJ45 cable (7 ft)<br>- 1 comma power v2<br>- 1 comma three<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-three.html?make=Honda&model=Accord 2018-22">Buy Here</a></sub></details>|<a href="https://www.youtube.com/watch?v=mrUwlj3Mi58" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>|
-|Honda|Accord Hybrid 2018-22|All|openpilot available[<sup>1</sup>](#footnotes)|0 mph|3 mph|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>View</summary><sub>- 1 Honda Bosch A connector<br>- 1 RJ45 cable (7 ft)<br>- 1 comma power v2<br>- 1 comma three<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-three.html?make=Honda&model=Accord Hybrid 2018-22">Buy Here</a></sub></details>||
-|Honda|Civic 2016-18|Honda Sensing|openpilot|0 mph|12 mph|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>View</summary><sub>- 1 Honda Nidec connector<br>- 1 RJ45 cable (7 ft)<br>- 1 comma power v2<br>- 1 comma three<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-three.html?make=Honda&model=Civic 2016-18">Buy Here</a></sub></details>|<a href="https://youtu.be/-IkImTe1NYE" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>|
-|Honda|Civic 2019-21|All|openpilot available[<sup>1</sup>](#footnotes)|0 mph|2 mph[<sup>4</sup>](#footnotes)|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>View</summary><sub>- 1 Honda Bosch A connector<br>- 1 RJ45 cable (7 ft)<br>- 1 comma power v2<br>- 1 comma three<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-three.html?make=Honda&model=Civic 2019-21">Buy Here</a></sub></details>|<a href="https://www.youtube.com/watch?v=4Iz1Mz5LGF8" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>|
-|Honda|Civic 2022|All|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>View</summary><sub>- 1 Honda Bosch B connector<br>- 1 RJ45 cable (7 ft)<br>- 1 comma power v2<br>- 1 comma three<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-three.html?make=Honda&model=Civic 2022">Buy Here</a></sub></details>|<a href="https://youtu.be/ytiOT5lcp6Q" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>|
-|Honda|Civic Hatchback 2017-21|Honda Sensing|openpilot available[<sup>1</sup>](#footnotes)|0 mph|12 mph|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>View</summary><sub>- 1 Honda Bosch A connector<br>- 1 RJ45 cable (7 ft)<br>- 1 comma power v2<br>- 1 comma three<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-three.html?make=Honda&model=Civic Hatchback 2017-21">Buy Here</a></sub></details>||
-|Honda|Civic Hatchback 2022|All|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>View</summary><sub>- 1 Honda Bosch B connector<br>- 1 RJ45 cable (7 ft)<br>- 1 comma power v2<br>- 1 comma three<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-three.html?make=Honda&model=Civic Hatchback 2022">Buy Here</a></sub></details>|<a href="https://youtu.be/ytiOT5lcp6Q" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>|
-|Honda|CR-V 2015-16|Touring Trim|openpilot|25 mph|12 mph|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>View</summary><sub>- 1 Honda Nidec connector<br>- 1 RJ45 cable (7 ft)<br>- 1 comma power v2<br>- 1 comma three<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-three.html?make=Honda&model=CR-V 2015-16">Buy Here</a></sub></details>||
-|Honda|CR-V 2017-22|Honda Sensing|openpilot available[<sup>1</sup>](#footnotes)|0 mph|12 mph|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>View</summary><sub>- 1 Honda Bosch A connector<br>- 1 RJ45 cable (7 ft)<br>- 1 comma power v2<br>- 1 comma three<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-three.html?make=Honda&model=CR-V 2017-22">Buy Here</a></sub></details>||
-|Honda|CR-V Hybrid 2017-19|Honda Sensing|openpilot available[<sup>1</sup>](#footnotes)|0 mph|12 mph|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>View</summary><sub>- 1 Honda Bosch A connector<br>- 1 RJ45 cable (7 ft)<br>- 1 comma power v2<br>- 1 comma three<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-three.html?make=Honda&model=CR-V Hybrid 2017-19">Buy Here</a></sub></details>||
-|Honda|e 2020|All|openpilot available[<sup>1</sup>](#footnotes)|0 mph|3 mph|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>View</summary><sub>- 1 Honda Bosch A connector<br>- 1 RJ45 cable (7 ft)<br>- 1 comma power v2<br>- 1 comma three<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-three.html?make=Honda&model=e 2020">Buy Here</a></sub></details>||
-|Honda|Fit 2018-20|Honda Sensing|openpilot|25 mph|12 mph|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>View</summary><sub>- 1 Honda Nidec connector<br>- 1 RJ45 cable (7 ft)<br>- 1 comma power v2<br>- 1 comma three<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-three.html?make=Honda&model=Fit 2018-20">Buy Here</a></sub></details>||
-|Honda|Freed 2020|Honda Sensing|openpilot|25 mph|12 mph|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>View</summary><sub>- 1 Honda Nidec connector<br>- 1 RJ45 cable (7 ft)<br>- 1 comma power v2<br>- 1 comma three<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-three.html?make=Honda&model=Freed 2020">Buy Here</a></sub></details>||
-|Honda|HR-V 2019-22|Honda Sensing|openpilot|25 mph|12 mph|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>View</summary><sub>- 1 Honda Nidec connector<br>- 1 RJ45 cable (7 ft)<br>- 1 comma power v2<br>- 1 comma three<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-three.html?make=Honda&model=HR-V 2019-22">Buy Here</a></sub></details>||
-|Honda|HR-V 2023|All|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>View</summary><sub>- 1 Honda Bosch B connector<br>- 1 RJ45 cable (7 ft)<br>- 1 comma power v2<br>- 1 comma three<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-three.html?make=Honda&model=HR-V 2023">Buy Here</a></sub></details>||
-|Honda|Insight 2019-22|All|openpilot available[<sup>1</sup>](#footnotes)|0 mph|3 mph|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>View</summary><sub>- 1 Honda Bosch A connector<br>- 1 RJ45 cable (7 ft)<br>- 1 comma power v2<br>- 1 comma three<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-three.html?make=Honda&model=Insight 2019-22">Buy Here</a></sub></details>||
-|Honda|Inspire 2018|All|openpilot available[<sup>1</sup>](#footnotes)|0 mph|3 mph|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>View</summary><sub>- 1 Honda Bosch A connector<br>- 1 RJ45 cable (7 ft)<br>- 1 comma power v2<br>- 1 comma three<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-three.html?make=Honda&model=Inspire 2018">Buy Here</a></sub></details>||
-|Honda|Odyssey 2018-20|Honda Sensing|openpilot|25 mph|0 mph|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>View</summary><sub>- 1 Honda Nidec connector<br>- 1 RJ45 cable (7 ft)<br>- 1 comma power v2<br>- 1 comma three<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-three.html?make=Honda&model=Odyssey 2018-20">Buy Here</a></sub></details>||
-|Honda|Passport 2019-23|All|openpilot|25 mph|12 mph|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>View</summary><sub>- 1 Honda Nidec connector<br>- 1 RJ45 cable (7 ft)<br>- 1 comma power v2<br>- 1 comma three<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-three.html?make=Honda&model=Passport 2019-23">Buy Here</a></sub></details>||
-|Honda|Pilot 2016-22|Honda Sensing|openpilot|25 mph|12 mph|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>View</summary><sub>- 1 Honda Nidec connector<br>- 1 RJ45 cable (7 ft)<br>- 1 comma power v2<br>- 1 comma three<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-three.html?make=Honda&model=Pilot 2016-22">Buy Here</a></sub></details>||
-|Honda|Ridgeline 2017-23|Honda Sensing|openpilot|25 mph|12 mph|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>View</summary><sub>- 1 Honda Nidec connector<br>- 1 RJ45 cable (7 ft)<br>- 1 comma power v2<br>- 1 comma three<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-three.html?make=Honda&model=Ridgeline 2017-23">Buy Here</a></sub></details>||
-|Hyundai|Elantra 2017-19|Smart Cruise Control (SCC)|Stock|19 mph|32 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>View</summary><sub>- 1 Hyundai B connector<br>- 1 RJ45 cable (7 ft)<br>- 1 comma power v2<br>- 1 comma three<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-three.html?make=Hyundai&model=Elantra 2017-19">Buy Here</a></sub></details>||
-|Hyundai|Elantra 2021-23|Smart Cruise Control (SCC)|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>View</summary><sub>- 1 Hyundai K connector<br>- 1 RJ45 cable (7 ft)<br>- 1 comma power v2<br>- 1 comma three<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-three.html?make=Hyundai&model=Elantra 2021-23">Buy Here</a></sub></details>|<a href="https://youtu.be/_EdYQtV52-c" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>|
-|Hyundai|Elantra GT 2017-19|Smart Cruise Control (SCC)|Stock|0 mph|32 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>View</summary><sub>- 1 Hyundai E connector<br>- 1 RJ45 cable (7 ft)<br>- 1 comma power v2<br>- 1 comma three<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-three.html?make=Hyundai&model=Elantra GT 2017-19">Buy Here</a></sub></details>||
-|Hyundai|Elantra Hybrid 2021-23|Smart Cruise Control (SCC)|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>View</summary><sub>- 1 Hyundai K connector<br>- 1 RJ45 cable (7 ft)<br>- 1 comma power v2<br>- 1 comma three<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-three.html?make=Hyundai&model=Elantra Hybrid 2021-23">Buy Here</a></sub></details>|<a href="https://youtu.be/_EdYQtV52-c" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>|
-|Hyundai|Genesis 2015-16|Smart Cruise Control (SCC)|Stock|19 mph|37 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>View</summary><sub>- 1 Hyundai J connector<br>- 1 RJ45 cable (7 ft)<br>- 1 comma power v2<br>- 1 comma three<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-three.html?make=Hyundai&model=Genesis 2015-16">Buy Here</a></sub></details>||
-|Hyundai|i30 2017-19|Smart Cruise Control (SCC)|Stock|0 mph|32 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>View</summary><sub>- 1 Hyundai E connector<br>- 1 RJ45 cable (7 ft)<br>- 1 comma power v2<br>- 1 comma three<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-three.html?make=Hyundai&model=i30 2017-19">Buy Here</a></sub></details>||
-|Hyundai|Ioniq 5 (Southeast Asia only) 2022-23[<sup>5</sup>](#footnotes)|All|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>View</summary><sub>- 1 Hyundai Q connector<br>- 1 RJ45 cable (7 ft)<br>- 1 comma power v2<br>- 1 comma three<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-three.html?make=Hyundai&model=Ioniq 5 (Southeast Asia only) 2022-23">Buy Here</a></sub></details>||
-|Hyundai|Ioniq 5 (with HDA II) 2022-23[<sup>5</sup>](#footnotes)|Highway Driving Assist II|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>View</summary><sub>- 1 Hyundai Q connector<br>- 1 RJ45 cable (7 ft)<br>- 1 comma power v2<br>- 1 comma three<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-three.html?make=Hyundai&model=Ioniq 5 (with HDA II) 2022-23">Buy Here</a></sub></details>||
-|Hyundai|Ioniq 5 (without HDA II) 2022-23[<sup>5</sup>](#footnotes)|Highway Driving Assist|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>View</summary><sub>- 1 Hyundai K connector<br>- 1 RJ45 cable (7 ft)<br>- 1 comma power v2<br>- 1 comma three<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-three.html?make=Hyundai&model=Ioniq 5 (without HDA II) 2022-23">Buy Here</a></sub></details>||
-|Hyundai|Ioniq Electric 2019|Smart Cruise Control (SCC)|Stock|0 mph|32 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>View</summary><sub>- 1 Hyundai C connector<br>- 1 RJ45 cable (7 ft)<br>- 1 comma power v2<br>- 1 comma three<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-three.html?make=Hyundai&model=Ioniq Electric 2019">Buy Here</a></sub></details>||
-|Hyundai|Ioniq Electric 2020|All|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>View</summary><sub>- 1 Hyundai H connector<br>- 1 RJ45 cable (7 ft)<br>- 1 comma power v2<br>- 1 comma three<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-three.html?make=Hyundai&model=Ioniq Electric 2020">Buy Here</a></sub></details>||
-|Hyundai|Ioniq Hybrid 2017-19|Smart Cruise Control (SCC)|Stock|0 mph|32 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>View</summary><sub>- 1 Hyundai C connector<br>- 1 RJ45 cable (7 ft)<br>- 1 comma power v2<br>- 1 comma three<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-three.html?make=Hyundai&model=Ioniq Hybrid 2017-19">Buy Here</a></sub></details>||
-|Hyundai|Ioniq Hybrid 2020-22|Smart Cruise Control (SCC)|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>View</summary><sub>- 1 Hyundai H connector<br>- 1 RJ45 cable (7 ft)<br>- 1 comma power v2<br>- 1 comma three<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-three.html?make=Hyundai&model=Ioniq Hybrid 2020-22">Buy Here</a></sub></details>||
-|Hyundai|Ioniq Plug-in Hybrid 2019|Smart Cruise Control (SCC)|openpilot available[<sup>1</sup>](#footnotes)|0 mph|32 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>View</summary><sub>- 1 Hyundai C connector<br>- 1 RJ45 cable (7 ft)<br>- 1 comma power v2<br>- 1 comma three<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-three.html?make=Hyundai&model=Ioniq Plug-in Hybrid 2019">Buy Here</a></sub></details>||
-|Hyundai|Ioniq Plug-in Hybrid 2020-22|All|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>View</summary><sub>- 1 Hyundai H connector<br>- 1 RJ45 cable (7 ft)<br>- 1 comma power v2<br>- 1 comma three<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-three.html?make=Hyundai&model=Ioniq Plug-in Hybrid 2020-22">Buy Here</a></sub></details>||
-|Hyundai|Kona 2020|Smart Cruise Control (SCC)|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>View</summary><sub>- 1 Hyundai B connector<br>- 1 RJ45 cable (7 ft)<br>- 1 comma power v2<br>- 1 comma three<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-three.html?make=Hyundai&model=Kona 2020">Buy Here</a></sub></details>||
-|Hyundai|Kona Electric 2018-21|Smart Cruise Control (SCC)|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>View</summary><sub>- 1 Hyundai G connector<br>- 1 RJ45 cable (7 ft)<br>- 1 comma power v2<br>- 1 comma three<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-three.html?make=Hyundai&model=Kona Electric 2018-21">Buy Here</a></sub></details>||
-|Hyundai|Kona Electric 2022|Smart Cruise Control (SCC)|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>View</summary><sub>- 1 Hyundai O connector<br>- 1 RJ45 cable (7 ft)<br>- 1 comma power v2<br>- 1 comma three<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-three.html?make=Hyundai&model=Kona Electric 2022">Buy Here</a></sub></details>||
-|Hyundai|Kona Hybrid 2020|Smart Cruise Control (SCC)|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>View</summary><sub>- 1 Hyundai I connector<br>- 1 RJ45 cable (7 ft)<br>- 1 comma power v2<br>- 1 comma three<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-three.html?make=Hyundai&model=Kona Hybrid 2020">Buy Here</a></sub></details>|<a href="https://youtu.be/0dwpAHiZgFo" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>|
-|Hyundai|Palisade 2020-22|All|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>View</summary><sub>- 1 Hyundai H connector<br>- 1 RJ45 cable (7 ft)<br>- 1 comma power v2<br>- 1 comma three<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-three.html?make=Hyundai&model=Palisade 2020-22">Buy Here</a></sub></details>|<a href="https://youtu.be/TAnDqjF4fDY?t=456" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>|
-|Hyundai|Palisade (with HDA II) 2023[<sup>5</sup>](#footnotes)|All|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>View</summary><sub>- 1 Hyundai N connector<br>- 1 RJ45 cable (7 ft)<br>- 1 comma power v2<br>- 1 comma three<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-three.html?make=Hyundai&model=Palisade (with HDA II) 2023">Buy Here</a></sub></details>||
-|Hyundai|Santa Cruz 2022-23[<sup>5</sup>](#footnotes)|Smart Cruise Control (SCC)|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>View</summary><sub>- 1 Hyundai N connector<br>- 1 RJ45 cable (7 ft)<br>- 1 comma power v2<br>- 1 comma three<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-three.html?make=Hyundai&model=Santa Cruz 2022-23">Buy Here</a></sub></details>||
-|Hyundai|Santa Fe 2019-20|All|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>View</summary><sub>- 1 Hyundai D connector<br>- 1 RJ45 cable (7 ft)<br>- 1 comma power v2<br>- 1 comma three<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-three.html?make=Hyundai&model=Santa Fe 2019-20">Buy Here</a></sub></details>||
-|Hyundai|Santa Fe 2021-22|All|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>View</summary><sub>- 1 Hyundai L connector<br>- 1 RJ45 cable (7 ft)<br>- 1 comma power v2<br>- 1 comma three<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-three.html?make=Hyundai&model=Santa Fe 2021-22">Buy Here</a></sub></details>|<a href="https://youtu.be/VnHzSTygTS4" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>|
-|Hyundai|Santa Fe Hybrid 2022-23|All|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>View</summary><sub>- 1 Hyundai L connector<br>- 1 RJ45 cable (7 ft)<br>- 1 comma power v2<br>- 1 comma three<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-three.html?make=Hyundai&model=Santa Fe Hybrid 2022-23">Buy Here</a></sub></details>||
-|Hyundai|Santa Fe Plug-in Hybrid 2022|All|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>View</summary><sub>- 1 Hyundai L connector<br>- 1 RJ45 cable (7 ft)<br>- 1 comma power v2<br>- 1 comma three<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-three.html?make=Hyundai&model=Santa Fe Plug-in Hybrid 2022">Buy Here</a></sub></details>||
-|Hyundai|Sonata 2018-19|Smart Cruise Control (SCC)|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>View</summary><sub>- 1 Hyundai E connector<br>- 1 RJ45 cable (7 ft)<br>- 1 comma power v2<br>- 1 comma three<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-three.html?make=Hyundai&model=Sonata 2018-19">Buy Here</a></sub></details>||
-|Hyundai|Sonata 2020-23|All|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>View</summary><sub>- 1 Hyundai A connector<br>- 1 RJ45 cable (7 ft)<br>- 1 comma power v2<br>- 1 comma three<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-three.html?make=Hyundai&model=Sonata 2020-23">Buy Here</a></sub></details>|<a href="https://www.youtube.com/watch?v=ix63r9kE3Fw" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>|
-|Hyundai|Sonata Hybrid 2020-22|All|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>View</summary><sub>- 1 Hyundai A connector<br>- 1 RJ45 cable (7 ft)<br>- 1 comma power v2<br>- 1 comma three<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-three.html?make=Hyundai&model=Sonata Hybrid 2020-22">Buy Here</a></sub></details>||
-|Hyundai|Tucson 2021|Smart Cruise Control (SCC)|openpilot available[<sup>1</sup>](#footnotes)|19 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>View</summary><sub>- 1 Hyundai L connector<br>- 1 RJ45 cable (7 ft)<br>- 1 comma power v2<br>- 1 comma three<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-three.html?make=Hyundai&model=Tucson 2021">Buy Here</a></sub></details>||
-|Hyundai|Tucson 2022[<sup>5</sup>](#footnotes)|Smart Cruise Control (SCC)|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>View</summary><sub>- 1 Hyundai N connector<br>- 1 RJ45 cable (7 ft)<br>- 1 comma power v2<br>- 1 comma three<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-three.html?make=Hyundai&model=Tucson 2022">Buy Here</a></sub></details>||
-|Hyundai|Tucson 2023[<sup>5</sup>](#footnotes)|All|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>View</summary><sub>- 1 Hyundai N connector<br>- 1 RJ45 cable (7 ft)<br>- 1 comma power v2<br>- 1 comma three<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-three.html?make=Hyundai&model=Tucson 2023">Buy Here</a></sub></details>||
-|Hyundai|Tucson Diesel 2019|Smart Cruise Control (SCC)|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>View</summary><sub>- 1 Hyundai L connector<br>- 1 RJ45 cable (7 ft)<br>- 1 comma power v2<br>- 1 comma three<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-three.html?make=Hyundai&model=Tucson Diesel 2019">Buy Here</a></sub></details>||
-|Hyundai|Tucson Hybrid 2022-23[<sup>5</sup>](#footnotes)|All|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>View</summary><sub>- 1 Hyundai N connector<br>- 1 RJ45 cable (7 ft)<br>- 1 comma power v2<br>- 1 comma three<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-three.html?make=Hyundai&model=Tucson Hybrid 2022-23">Buy Here</a></sub></details>||
-|Hyundai|Veloster 2019-20|Smart Cruise Control (SCC)|Stock|5 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>View</summary><sub>- 1 Hyundai E connector<br>- 1 RJ45 cable (7 ft)<br>- 1 comma power v2<br>- 1 comma three<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-three.html?make=Hyundai&model=Veloster 2019-20">Buy Here</a></sub></details>||
-|Jeep|Grand Cherokee 2016-18|Adaptive Cruise Control (ACC)|Stock|0 mph|9 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>View</summary><sub>- 1 FCA connector<br>- 1 RJ45 cable (7 ft)<br>- 1 comma power v2<br>- 1 comma three<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-three.html?make=Jeep&model=Grand Cherokee 2016-18">Buy Here</a></sub></details>|<a href="https://www.youtube.com/watch?v=eLR9o2JkuRk" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>|
-|Jeep|Grand Cherokee 2019-21|Adaptive Cruise Control (ACC)|Stock|0 mph|39 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>View</summary><sub>- 1 FCA connector<br>- 1 RJ45 cable (7 ft)<br>- 1 comma power v2<br>- 1 comma three<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-three.html?make=Jeep&model=Grand Cherokee 2019-21">Buy Here</a></sub></details>|<a href="https://www.youtube.com/watch?v=jBe4lWnRSu4" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>|
-|Kia|Ceed 2019|Smart Cruise Control (SCC)|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>View</summary><sub>- 1 Hyundai E connector<br>- 1 RJ45 cable (7 ft)<br>- 1 comma power v2<br>- 1 comma three<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-three.html?make=Kia&model=Ceed 2019">Buy Here</a></sub></details>||
-|Kia|EV6 (Southeast Asia only) 2022-23[<sup>5</sup>](#footnotes)|All|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>View</summary><sub>- 1 Hyundai P connector<br>- 1 RJ45 cable (7 ft)<br>- 1 comma power v2<br>- 1 comma three<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-three.html?make=Kia&model=EV6 (Southeast Asia only) 2022-23">Buy Here</a></sub></details>||
-|Kia|EV6 (with HDA II) 2022-23[<sup>5</sup>](#footnotes)|Highway Driving Assist II|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>View</summary><sub>- 1 Hyundai P connector<br>- 1 RJ45 cable (7 ft)<br>- 1 comma power v2<br>- 1 comma three<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-three.html?make=Kia&model=EV6 (with HDA II) 2022-23">Buy Here</a></sub></details>||
-|Kia|EV6 (without HDA II) 2022-23[<sup>5</sup>](#footnotes)|Highway Driving Assist|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>View</summary><sub>- 1 Hyundai L connector<br>- 1 RJ45 cable (7 ft)<br>- 1 comma power v2<br>- 1 comma three<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-three.html?make=Kia&model=EV6 (without HDA II) 2022-23">Buy Here</a></sub></details>||
-|Kia|Forte 2019-21|Smart Cruise Control (SCC)|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>View</summary><sub>- 1 Hyundai G connector<br>- 1 RJ45 cable (7 ft)<br>- 1 comma power v2<br>- 1 comma three<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-three.html?make=Kia&model=Forte 2019-21">Buy Here</a></sub></details>||
-|Kia|Forte 2023|Smart Cruise Control (SCC)|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>View</summary><sub>- 1 Hyundai E connector<br>- 1 RJ45 cable (7 ft)<br>- 1 comma power v2<br>- 1 comma three<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-three.html?make=Kia&model=Forte 2023">Buy Here</a></sub></details>||
-|Kia|K5 2021-22|Smart Cruise Control (SCC)|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>View</summary><sub>- 1 Hyundai A connector<br>- 1 RJ45 cable (7 ft)<br>- 1 comma power v2<br>- 1 comma three<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-three.html?make=Kia&model=K5 2021-22">Buy Here</a></sub></details>||
-|Kia|K5 Hybrid 2020|Smart Cruise Control (SCC)|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>View</summary><sub>- 1 Hyundai A connector<br>- 1 RJ45 cable (7 ft)<br>- 1 comma power v2<br>- 1 comma three<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-three.html?make=Kia&model=K5 Hybrid 2020">Buy Here</a></sub></details>||
-|Kia|Niro EV 2019|All|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>View</summary><sub>- 1 Hyundai H connector<br>- 1 RJ45 cable (7 ft)<br>- 1 comma power v2<br>- 1 comma three<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-three.html?make=Kia&model=Niro EV 2019">Buy Here</a></sub></details>|<a href="https://www.youtube.com/watch?v=lT7zcG6ZpGo" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>|
-|Kia|Niro EV 2020|All|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>View</summary><sub>- 1 Hyundai F connector<br>- 1 RJ45 cable (7 ft)<br>- 1 comma power v2<br>- 1 comma three<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-three.html?make=Kia&model=Niro EV 2020">Buy Here</a></sub></details>|<a href="https://www.youtube.com/watch?v=lT7zcG6ZpGo" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>|
-|Kia|Niro EV 2021|All|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>View</summary><sub>- 1 Hyundai C connector<br>- 1 RJ45 cable (7 ft)<br>- 1 comma power v2<br>- 1 comma three<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-three.html?make=Kia&model=Niro EV 2021">Buy Here</a></sub></details>|<a href="https://www.youtube.com/watch?v=lT7zcG6ZpGo" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>|
-|Kia|Niro EV 2022|All|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>View</summary><sub>- 1 Hyundai H connector<br>- 1 RJ45 cable (7 ft)<br>- 1 comma power v2<br>- 1 comma three<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-three.html?make=Kia&model=Niro EV 2022">Buy Here</a></sub></details>|<a href="https://www.youtube.com/watch?v=lT7zcG6ZpGo" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>|
-|Kia|Niro EV 2023[<sup>5</sup>](#footnotes)|All|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>View</summary><sub>- 1 Hyundai A connector<br>- 1 RJ45 cable (7 ft)<br>- 1 comma power v2<br>- 1 comma three<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-three.html?make=Kia&model=Niro EV 2023">Buy Here</a></sub></details>||
-|Kia|Niro Hybrid 2021-22|Smart Cruise Control (SCC)|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>View</summary><sub>- 1 Hyundai F connector<br>- 1 RJ45 cable (7 ft)<br>- 1 comma power v2<br>- 1 comma three<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-three.html?make=Kia&model=Niro Hybrid 2021-22">Buy Here</a></sub></details>||
-|Kia|Niro Hybrid 2023[<sup>5</sup>](#footnotes)|Smart Cruise Control (SCC)|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>View</summary><sub>- 1 Hyundai A connector<br>- 1 RJ45 cable (7 ft)<br>- 1 comma power v2<br>- 1 comma three<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-three.html?make=Kia&model=Niro Hybrid 2023">Buy Here</a></sub></details>||
-|Kia|Niro Plug-in Hybrid 2018-19|All|openpilot available[<sup>1</sup>](#footnotes)|10 mph|32 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>View</summary><sub>- 1 Hyundai C connector<br>- 1 RJ45 cable (7 ft)<br>- 1 comma power v2<br>- 1 comma three<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-three.html?make=Kia&model=Niro Plug-in Hybrid 2018-19">Buy Here</a></sub></details>||
-|Kia|Niro Plug-in Hybrid 2020|All|openpilot available[<sup>1</sup>](#footnotes)|0 mph|32 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>View</summary><sub>- 1 Hyundai D connector<br>- 1 RJ45 cable (7 ft)<br>- 1 comma power v2<br>- 1 comma three<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-three.html?make=Kia&model=Niro Plug-in Hybrid 2020">Buy Here</a></sub></details>||
-|Kia|Optima 2017|Advanced Smart Cruise Control|Stock|0 mph|32 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>View</summary><sub>- 1 Hyundai B connector<br>- 1 RJ45 cable (7 ft)<br>- 1 comma power v2<br>- 1 comma three<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-three.html?make=Kia&model=Optima 2017">Buy Here</a></sub></details>||
-|Kia|Optima 2019-20|Smart Cruise Control (SCC)|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>View</summary><sub>- 1 Hyundai G connector<br>- 1 RJ45 cable (7 ft)<br>- 1 comma power v2<br>- 1 comma three<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-three.html?make=Kia&model=Optima 2019-20">Buy Here</a></sub></details>||
-|Kia|Seltos 2021|Smart Cruise Control (SCC)|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>View</summary><sub>- 1 Hyundai A connector<br>- 1 RJ45 cable (7 ft)<br>- 1 comma power v2<br>- 1 comma three<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-three.html?make=Kia&model=Seltos 2021">Buy Here</a></sub></details>||
-|Kia|Sorento 2018|Advanced Smart Cruise Control|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>View</summary><sub>- 1 Hyundai C connector<br>- 1 RJ45 cable (7 ft)<br>- 1 comma power v2<br>- 1 comma three<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-three.html?make=Kia&model=Sorento 2018">Buy Here</a></sub></details>|<a href="https://www.youtube.com/watch?v=Fkh3s6WHJz8" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>|
-|Kia|Sorento 2019|Smart Cruise Control (SCC)|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>View</summary><sub>- 1 Hyundai E connector<br>- 1 RJ45 cable (7 ft)<br>- 1 comma power v2<br>- 1 comma three<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-three.html?make=Kia&model=Sorento 2019">Buy Here</a></sub></details>|<a href="https://www.youtube.com/watch?v=Fkh3s6WHJz8" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>|
-|Kia|Sorento 2021-23[<sup>5</sup>](#footnotes)|Smart Cruise Control (SCC)|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>View</summary><sub>- 1 Hyundai K connector<br>- 1 RJ45 cable (7 ft)<br>- 1 comma power v2<br>- 1 comma three<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-three.html?make=Kia&model=Sorento 2021-23">Buy Here</a></sub></details>||
-|Kia|Sorento Plug-in Hybrid 2022-23[<sup>5</sup>](#footnotes)|Smart Cruise Control (SCC)|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>View</summary><sub>- 1 Hyundai A connector<br>- 1 RJ45 cable (7 ft)<br>- 1 comma power v2<br>- 1 comma three<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-three.html?make=Kia&model=Sorento Plug-in Hybrid 2022-23">Buy Here</a></sub></details>||
-|Kia|Sportage 2023[<sup>5</sup>](#footnotes)|Smart Cruise Control (SCC)|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>View</summary><sub>- 1 Hyundai N connector<br>- 1 RJ45 cable (7 ft)<br>- 1 comma power v2<br>- 1 comma three<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-three.html?make=Kia&model=Sportage 2023">Buy Here</a></sub></details>||
-|Kia|Sportage Hybrid 2023[<sup>5</sup>](#footnotes)|Smart Cruise Control (SCC)|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>View</summary><sub>- 1 Hyundai N connector<br>- 1 RJ45 cable (7 ft)<br>- 1 comma power v2<br>- 1 comma three<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-three.html?make=Kia&model=Sportage Hybrid 2023">Buy Here</a></sub></details>||
-|Kia|Stinger 2018-20|Smart Cruise Control (SCC)|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>View</summary><sub>- 1 Hyundai C connector<br>- 1 RJ45 cable (7 ft)<br>- 1 comma power v2<br>- 1 comma three<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-three.html?make=Kia&model=Stinger 2018-20">Buy Here</a></sub></details>|<a href="https://www.youtube.com/watch?v=MJ94qoofYw0" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>|
-|Kia|Stinger 2022|All|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>View</summary><sub>- 1 Hyundai K connector<br>- 1 RJ45 cable (7 ft)<br>- 1 comma power v2<br>- 1 comma three<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-three.html?make=Kia&model=Stinger 2022">Buy Here</a></sub></details>||
-|Kia|Telluride 2020-22|All|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>View</summary><sub>- 1 Hyundai H connector<br>- 1 RJ45 cable (7 ft)<br>- 1 comma power v2<br>- 1 comma three<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-three.html?make=Kia&model=Telluride 2020-22">Buy Here</a></sub></details>||
-|Kia|Telluride (with HDA II) 2023[<sup>5</sup>](#footnotes)|All|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>View</summary><sub>- 1 Hyundai P connector<br>- 1 RJ45 cable (7 ft)<br>- 1 comma power v2<br>- 1 comma three<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-three.html?make=Kia&model=Telluride (with HDA II) 2023">Buy Here</a></sub></details>||
-|Lexus|CT Hybrid 2017-18|Lexus Safety System+|openpilot available[<sup>2</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|<details><summary>View</summary><sub>- 1 RJ45 cable (7 ft)<br>- 1 Toyota connector<br>- 1 comma power v2<br>- 1 comma three<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-three.html?make=Lexus&model=CT Hybrid 2017-18">Buy Here</a></sub></details>||
-|Lexus|ES 2017-18|All|openpilot available[<sup>2</sup>](#footnotes)|19 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|<details><summary>View</summary><sub>- 1 RJ45 cable (7 ft)<br>- 1 Toyota connector<br>- 1 comma power v2<br>- 1 comma three<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-three.html?make=Lexus&model=ES 2017-18">Buy Here</a></sub></details>||
-|Lexus|ES 2019-22|All|openpilot|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>View</summary><sub>- 1 RJ45 cable (7 ft)<br>- 1 Toyota connector<br>- 1 comma power v2<br>- 1 comma three<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-three.html?make=Lexus&model=ES 2019-22">Buy Here</a></sub></details>||
-|Lexus|ES Hybrid 2017-18|All|openpilot available[<sup>2</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>View</summary><sub>- 1 RJ45 cable (7 ft)<br>- 1 Toyota connector<br>- 1 comma power v2<br>- 1 comma three<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-three.html?make=Lexus&model=ES Hybrid 2017-18">Buy Here</a></sub></details>||
-|Lexus|ES Hybrid 2019-23|All|openpilot|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>View</summary><sub>- 1 RJ45 cable (7 ft)<br>- 1 Toyota connector<br>- 1 comma power v2<br>- 1 comma three<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-three.html?make=Lexus&model=ES Hybrid 2019-23">Buy Here</a></sub></details>|<a href="https://youtu.be/BZ29osRVJeg?t=12" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>|
-|Lexus|IS 2017-19|All|Stock|19 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|<details><summary>View</summary><sub>- 1 RJ45 cable (7 ft)<br>- 1 Toyota connector<br>- 1 comma power v2<br>- 1 comma three<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-three.html?make=Lexus&model=IS 2017-19">Buy Here</a></sub></details>||
-|Lexus|NX 2018-19|All|openpilot available[<sup>2</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|<details><summary>View</summary><sub>- 1 RJ45 cable (7 ft)<br>- 1 Toyota connector<br>- 1 comma power v2<br>- 1 comma three<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-three.html?make=Lexus&model=NX 2018-19">Buy Here</a></sub></details>||
-|Lexus|NX 2020-21|All|openpilot|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>View</summary><sub>- 1 RJ45 cable (7 ft)<br>- 1 Toyota connector<br>- 1 comma power v2<br>- 1 comma three<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-three.html?make=Lexus&model=NX 2020-21">Buy Here</a></sub></details>||
-|Lexus|NX Hybrid 2018-19|All|openpilot available[<sup>2</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|<details><summary>View</summary><sub>- 1 RJ45 cable (7 ft)<br>- 1 Toyota connector<br>- 1 comma power v2<br>- 1 comma three<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-three.html?make=Lexus&model=NX Hybrid 2018-19">Buy Here</a></sub></details>||
-|Lexus|NX Hybrid 2020-21|All|openpilot|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>View</summary><sub>- 1 RJ45 cable (7 ft)<br>- 1 Toyota connector<br>- 1 comma power v2<br>- 1 comma three<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-three.html?make=Lexus&model=NX Hybrid 2020-21">Buy Here</a></sub></details>||
-|Lexus|RC 2018-20|All|Stock|19 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|<details><summary>View</summary><sub>- 1 RJ45 cable (7 ft)<br>- 1 Toyota connector<br>- 1 comma power v2<br>- 1 comma three<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-three.html?make=Lexus&model=RC 2018-20">Buy Here</a></sub></details>||
-|Lexus|RX 2016|Lexus Safety System+|openpilot available[<sup>2</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|<details><summary>View</summary><sub>- 1 RJ45 cable (7 ft)<br>- 1 Toyota connector<br>- 1 comma power v2<br>- 1 comma three<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-three.html?make=Lexus&model=RX 2016">Buy Here</a></sub></details>||
-|Lexus|RX 2017-19|All|openpilot available[<sup>2</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|<details><summary>View</summary><sub>- 1 RJ45 cable (7 ft)<br>- 1 Toyota connector<br>- 1 comma power v2<br>- 1 comma three<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-three.html?make=Lexus&model=RX 2017-19">Buy Here</a></sub></details>||
-|Lexus|RX 2020-22|All|openpilot|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>View</summary><sub>- 1 RJ45 cable (7 ft)<br>- 1 Toyota connector<br>- 1 comma power v2<br>- 1 comma three<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-three.html?make=Lexus&model=RX 2020-22">Buy Here</a></sub></details>||
-|Lexus|RX Hybrid 2016|Lexus Safety System+|openpilot available[<sup>2</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|<details><summary>View</summary><sub>- 1 RJ45 cable (7 ft)<br>- 1 Toyota connector<br>- 1 comma power v2<br>- 1 comma three<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-three.html?make=Lexus&model=RX Hybrid 2016">Buy Here</a></sub></details>||
-|Lexus|RX Hybrid 2017-19|All|openpilot available[<sup>2</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|<details><summary>View</summary><sub>- 1 RJ45 cable (7 ft)<br>- 1 Toyota connector<br>- 1 comma power v2<br>- 1 comma three<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-three.html?make=Lexus&model=RX Hybrid 2017-19">Buy Here</a></sub></details>||
-|Lexus|RX Hybrid 2020-21|All|openpilot|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>View</summary><sub>- 1 RJ45 cable (7 ft)<br>- 1 Toyota connector<br>- 1 comma power v2<br>- 1 comma three<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-three.html?make=Lexus&model=RX Hybrid 2020-21">Buy Here</a></sub></details>||
-|Lexus|UX Hybrid 2019-22|All|openpilot|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>View</summary><sub>- 1 RJ45 cable (7 ft)<br>- 1 Toyota connector<br>- 1 comma power v2<br>- 1 comma three<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-three.html?make=Lexus&model=UX Hybrid 2019-22">Buy Here</a></sub></details>||
-|Lincoln|Aviator 2021|Co-Pilot360 Plus|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>View</summary><sub>- 1 Ford Q3 connector<br>- 1 RJ45 cable (7 ft)<br>- 1 comma power v2<br>- 1 comma three<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-three.html?make=Lincoln&model=Aviator 2021">Buy Here</a></sub></details>||
-|MAN|eTGE 2020-23|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,9</sup>](#footnotes)|0 mph|31 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>View</summary><sub>- 1 J533 connector<br>- 1 USB-C coupler<br>- 1 angled mount (8 degrees)<br>- 1 comma three<br>- 1 harness box<br>- 1 long OBD-C cable<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-three.html?make=MAN&model=eTGE 2020-23">Buy Here</a></sub></details>|<a href="https://youtu.be/4100gLeabmo" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>|
-|MAN|TGE 2017-23|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,9</sup>](#footnotes)|0 mph|31 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>View</summary><sub>- 1 J533 connector<br>- 1 USB-C coupler<br>- 1 angled mount (8 degrees)<br>- 1 comma three<br>- 1 harness box<br>- 1 long OBD-C cable<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-three.html?make=MAN&model=TGE 2017-23">Buy Here</a></sub></details>|<a href="https://youtu.be/4100gLeabmo" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>|
-|Mazda|CX-5 2022-23|All|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>View</summary><sub>- 1 Mazda connector<br>- 1 RJ45 cable (7 ft)<br>- 1 comma power v2<br>- 1 comma three<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-three.html?make=Mazda&model=CX-5 2022-23">Buy Here</a></sub></details>||
-|Mazda|CX-9 2021-23|All|Stock|0 mph|28 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>View</summary><sub>- 1 Mazda connector<br>- 1 RJ45 cable (7 ft)<br>- 1 comma power v2<br>- 1 comma three<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-three.html?make=Mazda&model=CX-9 2021-23">Buy Here</a></sub></details>|<a href="https://youtu.be/dA3duO4a0O4" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>|
-|Nissan|Altima 2019-20|ProPILOT Assist|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|<details><summary>View</summary><sub>- 1 Nissan B connector<br>- 1 RJ45 cable (7 ft)<br>- 1 USB-C coupler<br>- 1 comma three<br>- 1 harness box<br>- 1 long OBD-C cable<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-three.html?make=Nissan&model=Altima 2019-20">Buy Here</a></sub></details>||
-|Nissan|Leaf 2018-23|ProPILOT Assist|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|<details><summary>View</summary><sub>- 1 Nissan A connector<br>- 1 RJ45 cable (7 ft)<br>- 1 USB-C coupler<br>- 1 comma three<br>- 1 harness box<br>- 1 long OBD-C cable<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-three.html?make=Nissan&model=Leaf 2018-23">Buy Here</a></sub></details>|<a href="https://youtu.be/vaMbtAh_0cY" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>|
-|Nissan|Rogue 2018-20|ProPILOT Assist|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|<details><summary>View</summary><sub>- 1 Nissan A connector<br>- 1 RJ45 cable (7 ft)<br>- 1 USB-C coupler<br>- 1 comma three<br>- 1 harness box<br>- 1 long OBD-C cable<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-three.html?make=Nissan&model=Rogue 2018-20">Buy Here</a></sub></details>||
-|Nissan|X-Trail 2017|ProPILOT Assist|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|<details><summary>View</summary><sub>- 1 Nissan A connector<br>- 1 RJ45 cable (7 ft)<br>- 1 USB-C coupler<br>- 1 comma three<br>- 1 harness box<br>- 1 long OBD-C cable<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-three.html?make=Nissan&model=X-Trail 2017">Buy Here</a></sub></details>||
-|Ram|1500 2019-23|Adaptive Cruise Control (ACC)|Stock|0 mph|32 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>View</summary><sub>- 1 RJ45 cable (7 ft)<br>- 1 Ram connector<br>- 1 comma power v2<br>- 1 comma three<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-three.html?make=Ram&model=1500 2019-23">Buy Here</a></sub></details>||
-|SEAT|Ateca 2018|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,9</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>View</summary><sub>- 1 J533 connector<br>- 1 USB-C coupler<br>- 1 comma three<br>- 1 harness box<br>- 1 long OBD-C cable<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-three.html?make=SEAT&model=Ateca 2018">Buy Here</a></sub></details>||
-|SEAT|Leon 2014-20|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,9</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>View</summary><sub>- 1 J533 connector<br>- 1 USB-C coupler<br>- 1 comma three<br>- 1 harness box<br>- 1 long OBD-C cable<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-three.html?make=SEAT&model=Leon 2014-20">Buy Here</a></sub></details>||
-|Subaru|Ascent 2019-21|All|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|<details><summary>View</summary><sub>- 1 RJ45 cable (7 ft)<br>- 1 Subaru A connector<br>- 1 comma power v2<br>- 1 comma three<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-three.html?make=Subaru&model=Ascent 2019-21">Buy Here</a></sub></details>||
-|Subaru|Crosstrek 2018-19|EyeSight Driver Assistance|Stock|0 mph|0 mph|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|<details><summary>View</summary><sub>- 1 RJ45 cable (7 ft)<br>- 1 Subaru A connector<br>- 1 comma power v2<br>- 1 comma three<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-three.html?make=Subaru&model=Crosstrek 2018-19">Buy Here</a></sub></details>|<a href="https://youtu.be/Agww7oE1k-s?t=26" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>|
-|Subaru|Crosstrek 2020-23|EyeSight Driver Assistance|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|<details><summary>View</summary><sub>- 1 RJ45 cable (7 ft)<br>- 1 Subaru A connector<br>- 1 comma power v2<br>- 1 comma three<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-three.html?make=Subaru&model=Crosstrek 2020-23">Buy Here</a></sub></details>||
-|Subaru|Forester 2019-21|All|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|<details><summary>View</summary><sub>- 1 RJ45 cable (7 ft)<br>- 1 Subaru A connector<br>- 1 comma power v2<br>- 1 comma three<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-three.html?make=Subaru&model=Forester 2019-21">Buy Here</a></sub></details>||
-|Subaru|Impreza 2017-19|EyeSight Driver Assistance|Stock|0 mph|0 mph|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|<details><summary>View</summary><sub>- 1 RJ45 cable (7 ft)<br>- 1 Subaru A connector<br>- 1 comma power v2<br>- 1 comma three<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-three.html?make=Subaru&model=Impreza 2017-19">Buy Here</a></sub></details>||
-|Subaru|Impreza 2020-22|EyeSight Driver Assistance|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|<details><summary>View</summary><sub>- 1 RJ45 cable (7 ft)<br>- 1 Subaru A connector<br>- 1 comma power v2<br>- 1 comma three<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-three.html?make=Subaru&model=Impreza 2020-22">Buy Here</a></sub></details>||
-|Subaru|Legacy 2020-22|All|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|<details><summary>View</summary><sub>- 1 RJ45 cable (7 ft)<br>- 1 Subaru B connector<br>- 1 comma power v2<br>- 1 comma three<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-three.html?make=Subaru&model=Legacy 2020-22">Buy Here</a></sub></details>||
-|Subaru|Outback 2020-22|All|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|<details><summary>View</summary><sub>- 1 RJ45 cable (7 ft)<br>- 1 Subaru B connector<br>- 1 comma power v2<br>- 1 comma three<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-three.html?make=Subaru&model=Outback 2020-22">Buy Here</a></sub></details>||
-|Subaru|XV 2018-19|EyeSight Driver Assistance|Stock|0 mph|0 mph|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|<details><summary>View</summary><sub>- 1 RJ45 cable (7 ft)<br>- 1 Subaru A connector<br>- 1 comma power v2<br>- 1 comma three<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-three.html?make=Subaru&model=XV 2018-19">Buy Here</a></sub></details>|<a href="https://youtu.be/Agww7oE1k-s?t=26" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>|
-|Subaru|XV 2020-21|EyeSight Driver Assistance|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|<details><summary>View</summary><sub>- 1 RJ45 cable (7 ft)<br>- 1 Subaru A connector<br>- 1 comma power v2<br>- 1 comma three<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-three.html?make=Subaru&model=XV 2020-21">Buy Here</a></sub></details>||
-|Škoda|Fabia 2022-23|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,9</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>View</summary><sub>- 1 J533 connector<br>- 1 USB-C coupler<br>- 1 comma three<br>- 1 harness box<br>- 1 long OBD-C cable<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-three.html?make=Škoda&model=Fabia 2022-23">Buy Here</a></sub></details>[<sup>10</sup>](#footnotes)||
-|Škoda|Kamiq 2021[<sup>7</sup>](#footnotes)|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,9</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>View</summary><sub>- 1 J533 connector<br>- 1 USB-C coupler<br>- 1 comma three<br>- 1 harness box<br>- 1 long OBD-C cable<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-three.html?make=Škoda&model=Kamiq 2021">Buy Here</a></sub></details>[<sup>10</sup>](#footnotes)||
-|Škoda|Karoq 2019-21|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,9</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>View</summary><sub>- 1 J533 connector<br>- 1 USB-C coupler<br>- 1 comma three<br>- 1 harness box<br>- 1 long OBD-C cable<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-three.html?make=Škoda&model=Karoq 2019-21">Buy Here</a></sub></details>||
-|Škoda|Kodiaq 2017-23|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,9</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>View</summary><sub>- 1 J533 connector<br>- 1 USB-C coupler<br>- 1 comma three<br>- 1 harness box<br>- 1 long OBD-C cable<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-three.html?make=Škoda&model=Kodiaq 2017-23">Buy Here</a></sub></details>||
-|Škoda|Octavia 2015, 2018-19|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,9</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>View</summary><sub>- 1 J533 connector<br>- 1 USB-C coupler<br>- 1 comma three<br>- 1 harness box<br>- 1 long OBD-C cable<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-three.html?make=Škoda&model=Octavia 2015, 2018-19">Buy Here</a></sub></details>||
-|Škoda|Octavia RS 2016|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,9</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>View</summary><sub>- 1 J533 connector<br>- 1 USB-C coupler<br>- 1 comma three<br>- 1 harness box<br>- 1 long OBD-C cable<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-three.html?make=Škoda&model=Octavia RS 2016">Buy Here</a></sub></details>||
-|Škoda|Scala 2020|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,9</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>View</summary><sub>- 1 J533 connector<br>- 1 USB-C coupler<br>- 1 comma three<br>- 1 harness box<br>- 1 long OBD-C cable<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-three.html?make=Škoda&model=Scala 2020">Buy Here</a></sub></details>[<sup>10</sup>](#footnotes)||
-|Škoda|Superb 2015-22|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,9</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>View</summary><sub>- 1 J533 connector<br>- 1 USB-C coupler<br>- 1 comma three<br>- 1 harness box<br>- 1 long OBD-C cable<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-three.html?make=Škoda&model=Superb 2015-22">Buy Here</a></sub></details>||
-|Toyota|Alphard 2019-20|All|openpilot|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>View</summary><sub>- 1 RJ45 cable (7 ft)<br>- 1 Toyota connector<br>- 1 comma power v2<br>- 1 comma three<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-three.html?make=Toyota&model=Alphard 2019-20">Buy Here</a></sub></details>||
-|Toyota|Alphard Hybrid 2021|All|openpilot|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>View</summary><sub>- 1 RJ45 cable (7 ft)<br>- 1 Toyota connector<br>- 1 comma power v2<br>- 1 comma three<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-three.html?make=Toyota&model=Alphard Hybrid 2021">Buy Here</a></sub></details>||
-|Toyota|Avalon 2016|Toyota Safety Sense P|openpilot available[<sup>2</sup>](#footnotes)|19 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|<details><summary>View</summary><sub>- 1 RJ45 cable (7 ft)<br>- 1 Toyota connector<br>- 1 comma power v2<br>- 1 comma three<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-three.html?make=Toyota&model=Avalon 2016">Buy Here</a></sub></details>||
-|Toyota|Avalon 2017-18|All|openpilot available[<sup>2</sup>](#footnotes)|19 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|<details><summary>View</summary><sub>- 1 RJ45 cable (7 ft)<br>- 1 Toyota connector<br>- 1 comma power v2<br>- 1 comma three<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-three.html?make=Toyota&model=Avalon 2017-18">Buy Here</a></sub></details>||
-|Toyota|Avalon 2019-21|All|openpilot available[<sup>2</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|<details><summary>View</summary><sub>- 1 RJ45 cable (7 ft)<br>- 1 Toyota connector<br>- 1 comma power v2<br>- 1 comma three<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-three.html?make=Toyota&model=Avalon 2019-21">Buy Here</a></sub></details>||
-|Toyota|Avalon 2022|All|openpilot|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>View</summary><sub>- 1 RJ45 cable (7 ft)<br>- 1 Toyota connector<br>- 1 comma power v2<br>- 1 comma three<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-three.html?make=Toyota&model=Avalon 2022">Buy Here</a></sub></details>||
-|Toyota|Avalon Hybrid 2019-21|All|openpilot available[<sup>2</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|<details><summary>View</summary><sub>- 1 RJ45 cable (7 ft)<br>- 1 Toyota connector<br>- 1 comma power v2<br>- 1 comma three<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-three.html?make=Toyota&model=Avalon Hybrid 2019-21">Buy Here</a></sub></details>||
-|Toyota|Avalon Hybrid 2022|All|openpilot|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>View</summary><sub>- 1 RJ45 cable (7 ft)<br>- 1 Toyota connector<br>- 1 comma power v2<br>- 1 comma three<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-three.html?make=Toyota&model=Avalon Hybrid 2022">Buy Here</a></sub></details>||
-|Toyota|C-HR 2017-20|All|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|<details><summary>View</summary><sub>- 1 RJ45 cable (7 ft)<br>- 1 Toyota connector<br>- 1 comma power v2<br>- 1 comma three<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-three.html?make=Toyota&model=C-HR 2017-20">Buy Here</a></sub></details>||
-|Toyota|C-HR 2021|All|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|<details><summary>View</summary><sub>- 1 RJ45 cable (7 ft)<br>- 1 Toyota connector<br>- 1 comma power v2<br>- 1 comma three<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-three.html?make=Toyota&model=C-HR 2021">Buy Here</a></sub></details>||
-|Toyota|C-HR Hybrid 2017-20|All|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|<details><summary>View</summary><sub>- 1 RJ45 cable (7 ft)<br>- 1 Toyota connector<br>- 1 comma power v2<br>- 1 comma three<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-three.html?make=Toyota&model=C-HR Hybrid 2017-20">Buy Here</a></sub></details>||
-|Toyota|C-HR Hybrid 2021-22|All|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|<details><summary>View</summary><sub>- 1 RJ45 cable (7 ft)<br>- 1 Toyota connector<br>- 1 comma power v2<br>- 1 comma three<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-three.html?make=Toyota&model=C-HR Hybrid 2021-22">Buy Here</a></sub></details>||
-|Toyota|Camry 2018-20|All|Stock|0 mph[<sup>6</sup>](#footnotes)|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|<details><summary>View</summary><sub>- 1 RJ45 cable (7 ft)<br>- 1 Toyota connector<br>- 1 comma power v2<br>- 1 comma three<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-three.html?make=Toyota&model=Camry 2018-20">Buy Here</a></sub></details>|<a href="https://www.youtube.com/watch?v=fkcjviZY9CM" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>|
-|Toyota|Camry 2021-23|All|openpilot|0 mph[<sup>6</sup>](#footnotes)|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>View</summary><sub>- 1 RJ45 cable (7 ft)<br>- 1 Toyota connector<br>- 1 comma power v2<br>- 1 comma three<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-three.html?make=Toyota&model=Camry 2021-23">Buy Here</a></sub></details>||
-|Toyota|Camry Hybrid 2018-20|All|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|<details><summary>View</summary><sub>- 1 RJ45 cable (7 ft)<br>- 1 Toyota connector<br>- 1 comma power v2<br>- 1 comma three<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-three.html?make=Toyota&model=Camry Hybrid 2018-20">Buy Here</a></sub></details>|<a href="https://www.youtube.com/watch?v=Q2DYY0AWKgk" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>|
-|Toyota|Camry Hybrid 2021-23|All|openpilot|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>View</summary><sub>- 1 RJ45 cable (7 ft)<br>- 1 Toyota connector<br>- 1 comma power v2<br>- 1 comma three<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-three.html?make=Toyota&model=Camry Hybrid 2021-23">Buy Here</a></sub></details>||
-|Toyota|Corolla 2017-19|All|openpilot available[<sup>2</sup>](#footnotes)|19 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|<details><summary>View</summary><sub>- 1 RJ45 cable (7 ft)<br>- 1 Toyota connector<br>- 1 comma power v2<br>- 1 comma three<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-three.html?make=Toyota&model=Corolla 2017-19">Buy Here</a></sub></details>||
-|Toyota|Corolla 2020-22|All|openpilot|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>View</summary><sub>- 1 RJ45 cable (7 ft)<br>- 1 Toyota connector<br>- 1 comma power v2<br>- 1 comma three<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-three.html?make=Toyota&model=Corolla 2020-22">Buy Here</a></sub></details>|<a href="https://www.youtube.com/watch?v=_66pXk0CBYA" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>|
-|Toyota|Corolla Cross (Non-US only) 2020-23|All|openpilot|17 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>View</summary><sub>- 1 RJ45 cable (7 ft)<br>- 1 Toyota connector<br>- 1 comma power v2<br>- 1 comma three<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-three.html?make=Toyota&model=Corolla Cross (Non-US only) 2020-23">Buy Here</a></sub></details>||
-|Toyota|Corolla Cross Hybrid (Non-US only) 2020-22|All|openpilot|17 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>View</summary><sub>- 1 RJ45 cable (7 ft)<br>- 1 Toyota connector<br>- 1 comma power v2<br>- 1 comma three<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-three.html?make=Toyota&model=Corolla Cross Hybrid (Non-US only) 2020-22">Buy Here</a></sub></details>||
-|Toyota|Corolla Hatchback 2019-22|All|openpilot|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>View</summary><sub>- 1 RJ45 cable (7 ft)<br>- 1 Toyota connector<br>- 1 comma power v2<br>- 1 comma three<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-three.html?make=Toyota&model=Corolla Hatchback 2019-22">Buy Here</a></sub></details>|<a href="https://www.youtube.com/watch?v=_66pXk0CBYA" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>|
-|Toyota|Corolla Hybrid 2020-22|All|openpilot|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>View</summary><sub>- 1 RJ45 cable (7 ft)<br>- 1 Toyota connector<br>- 1 comma power v2<br>- 1 comma three<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-three.html?make=Toyota&model=Corolla Hybrid 2020-22">Buy Here</a></sub></details>||
-|Toyota|Corolla Hybrid (Non-US only) 2020-23|All|openpilot|17 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>View</summary><sub>- 1 RJ45 cable (7 ft)<br>- 1 Toyota connector<br>- 1 comma power v2<br>- 1 comma three<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-three.html?make=Toyota&model=Corolla Hybrid (Non-US only) 2020-23">Buy Here</a></sub></details>||
-|Toyota|Highlander 2017-19|All|openpilot available[<sup>2</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>View</summary><sub>- 1 RJ45 cable (7 ft)<br>- 1 Toyota connector<br>- 1 comma power v2<br>- 1 comma three<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-three.html?make=Toyota&model=Highlander 2017-19">Buy Here</a></sub></details>|<a href="https://www.youtube.com/watch?v=0wS0wXSLzoo" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>|
-|Toyota|Highlander 2020-23|All|openpilot|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>View</summary><sub>- 1 RJ45 cable (7 ft)<br>- 1 Toyota connector<br>- 1 comma power v2<br>- 1 comma three<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-three.html?make=Toyota&model=Highlander 2020-23">Buy Here</a></sub></details>||
-|Toyota|Highlander Hybrid 2017-19|All|openpilot available[<sup>2</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>View</summary><sub>- 1 RJ45 cable (7 ft)<br>- 1 Toyota connector<br>- 1 comma power v2<br>- 1 comma three<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-three.html?make=Toyota&model=Highlander Hybrid 2017-19">Buy Here</a></sub></details>||
-|Toyota|Highlander Hybrid 2020-23|All|openpilot|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>View</summary><sub>- 1 RJ45 cable (7 ft)<br>- 1 Toyota connector<br>- 1 comma power v2<br>- 1 comma three<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-three.html?make=Toyota&model=Highlander Hybrid 2020-23">Buy Here</a></sub></details>||
-|Toyota|Mirai 2021|All|openpilot|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>View</summary><sub>- 1 RJ45 cable (7 ft)<br>- 1 Toyota connector<br>- 1 comma power v2<br>- 1 comma three<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-three.html?make=Toyota&model=Mirai 2021">Buy Here</a></sub></details>||
-|Toyota|Prius 2016|Toyota Safety Sense P|openpilot available[<sup>2</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|<details><summary>View</summary><sub>- 1 RJ45 cable (7 ft)<br>- 1 Toyota connector<br>- 1 comma power v2<br>- 1 comma three<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-three.html?make=Toyota&model=Prius 2016">Buy Here</a></sub></details>|<a href="https://www.youtube.com/watch?v=8zopPJI8XQ0" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>|
-|Toyota|Prius 2017-20|All|openpilot available[<sup>2</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|<details><summary>View</summary><sub>- 1 RJ45 cable (7 ft)<br>- 1 Toyota connector<br>- 1 comma power v2<br>- 1 comma three<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-three.html?make=Toyota&model=Prius 2017-20">Buy Here</a></sub></details>|<a href="https://www.youtube.com/watch?v=8zopPJI8XQ0" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>|
-|Toyota|Prius 2021-22|All|openpilot|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>View</summary><sub>- 1 RJ45 cable (7 ft)<br>- 1 Toyota connector<br>- 1 comma power v2<br>- 1 comma three<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-three.html?make=Toyota&model=Prius 2021-22">Buy Here</a></sub></details>|<a href="https://www.youtube.com/watch?v=J58TvCpUd4U" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>|
-|Toyota|Prius Prime 2017-20|All|openpilot available[<sup>2</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|<details><summary>View</summary><sub>- 1 RJ45 cable (7 ft)<br>- 1 Toyota connector<br>- 1 comma power v2<br>- 1 comma three<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-three.html?make=Toyota&model=Prius Prime 2017-20">Buy Here</a></sub></details>|<a href="https://www.youtube.com/watch?v=8zopPJI8XQ0" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>|
-|Toyota|Prius Prime 2021-22|All|openpilot|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>View</summary><sub>- 1 RJ45 cable (7 ft)<br>- 1 Toyota connector<br>- 1 comma power v2<br>- 1 comma three<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-three.html?make=Toyota&model=Prius Prime 2021-22">Buy Here</a></sub></details>|<a href="https://www.youtube.com/watch?v=J58TvCpUd4U" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>|
-|Toyota|Prius v 2017|Toyota Safety Sense P|openpilot available[<sup>2</sup>](#footnotes)|19 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>View</summary><sub>- 1 RJ45 cable (7 ft)<br>- 1 Toyota connector<br>- 1 comma power v2<br>- 1 comma three<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-three.html?make=Toyota&model=Prius v 2017">Buy Here</a></sub></details>||
-|Toyota|RAV4 2016|Toyota Safety Sense P|openpilot available[<sup>2</sup>](#footnotes)|19 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|<details><summary>View</summary><sub>- 1 RJ45 cable (7 ft)<br>- 1 Toyota connector<br>- 1 comma power v2<br>- 1 comma three<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-three.html?make=Toyota&model=RAV4 2016">Buy Here</a></sub></details>||
-|Toyota|RAV4 2017-18|All|openpilot available[<sup>2</sup>](#footnotes)|19 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|<details><summary>View</summary><sub>- 1 RJ45 cable (7 ft)<br>- 1 Toyota connector<br>- 1 comma power v2<br>- 1 comma three<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-three.html?make=Toyota&model=RAV4 2017-18">Buy Here</a></sub></details>||
-|Toyota|RAV4 2019-21|All|openpilot|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>View</summary><sub>- 1 RJ45 cable (7 ft)<br>- 1 Toyota connector<br>- 1 comma power v2<br>- 1 comma three<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-three.html?make=Toyota&model=RAV4 2019-21">Buy Here</a></sub></details>|<a href="https://www.youtube.com/watch?v=wJxjDd42gGA" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>|
-|Toyota|RAV4 2022|All|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|<details><summary>View</summary><sub>- 1 RJ45 cable (7 ft)<br>- 1 Toyota connector<br>- 1 comma power v2<br>- 1 comma three<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-three.html?make=Toyota&model=RAV4 2022">Buy Here</a></sub></details>||
-|Toyota|RAV4 Hybrid 2016|Toyota Safety Sense P|openpilot available[<sup>2</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>View</summary><sub>- 1 RJ45 cable (7 ft)<br>- 1 Toyota connector<br>- 1 comma power v2<br>- 1 comma three<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-three.html?make=Toyota&model=RAV4 Hybrid 2016">Buy Here</a></sub></details>|<a href="https://youtu.be/LhT5VzJVfNI?t=26" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>|
-|Toyota|RAV4 Hybrid 2017-18|All|openpilot available[<sup>2</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>View</summary><sub>- 1 RJ45 cable (7 ft)<br>- 1 Toyota connector<br>- 1 comma power v2<br>- 1 comma three<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-three.html?make=Toyota&model=RAV4 Hybrid 2017-18">Buy Here</a></sub></details>|<a href="https://youtu.be/LhT5VzJVfNI?t=26" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>|
-|Toyota|RAV4 Hybrid 2019-21|All|openpilot|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>View</summary><sub>- 1 RJ45 cable (7 ft)<br>- 1 Toyota connector<br>- 1 comma power v2<br>- 1 comma three<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-three.html?make=Toyota&model=RAV4 Hybrid 2019-21">Buy Here</a></sub></details>||
-|Toyota|RAV4 Hybrid 2022|All|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|<details><summary>View</summary><sub>- 1 RJ45 cable (7 ft)<br>- 1 Toyota connector<br>- 1 comma power v2<br>- 1 comma three<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-three.html?make=Toyota&model=RAV4 Hybrid 2022">Buy Here</a></sub></details>|<a href="https://youtu.be/U0nH9cnrFB0" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>|
-|Toyota|Sienna 2018-20|All|openpilot available[<sup>2</sup>](#footnotes)|19 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>View</summary><sub>- 1 RJ45 cable (7 ft)<br>- 1 Toyota connector<br>- 1 comma power v2<br>- 1 comma three<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-three.html?make=Toyota&model=Sienna 2018-20">Buy Here</a></sub></details>|<a href="https://www.youtube.com/watch?v=q1UPOo4Sh68" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>|
-|Volkswagen|Arteon 2018-22|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,9</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>View</summary><sub>- 1 J533 connector<br>- 1 USB-C coupler<br>- 1 comma three<br>- 1 harness box<br>- 1 long OBD-C cable<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-three.html?make=Volkswagen&model=Arteon 2018-22">Buy Here</a></sub></details>|<a href="https://youtu.be/FAomFKPFlDA" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>|
-|Volkswagen|Arteon eHybrid 2020-22|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,9</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>View</summary><sub>- 1 J533 connector<br>- 1 USB-C coupler<br>- 1 comma three<br>- 1 harness box<br>- 1 long OBD-C cable<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-three.html?make=Volkswagen&model=Arteon eHybrid 2020-22">Buy Here</a></sub></details>|<a href="https://youtu.be/FAomFKPFlDA" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>|
-|Volkswagen|Arteon R 2020-22|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,9</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>View</summary><sub>- 1 J533 connector<br>- 1 USB-C coupler<br>- 1 comma three<br>- 1 harness box<br>- 1 long OBD-C cable<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-three.html?make=Volkswagen&model=Arteon R 2020-22">Buy Here</a></sub></details>|<a href="https://youtu.be/FAomFKPFlDA" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>|
-|Volkswagen|Atlas 2018-23|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,9</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>View</summary><sub>- 1 J533 connector<br>- 1 USB-C coupler<br>- 1 comma three<br>- 1 harness box<br>- 1 long OBD-C cable<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-three.html?make=Volkswagen&model=Atlas 2018-23">Buy Here</a></sub></details>||
-|Volkswagen|Atlas Cross Sport 2021-22|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,9</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>View</summary><sub>- 1 J533 connector<br>- 1 USB-C coupler<br>- 1 comma three<br>- 1 harness box<br>- 1 long OBD-C cable<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-three.html?make=Volkswagen&model=Atlas Cross Sport 2021-22">Buy Here</a></sub></details>||
-|Volkswagen|California 2021|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,9</sup>](#footnotes)|0 mph|31 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>View</summary><sub>- 1 J533 connector<br>- 1 USB-C coupler<br>- 1 angled mount (8 degrees)<br>- 1 comma three<br>- 1 harness box<br>- 1 long OBD-C cable<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-three.html?make=Volkswagen&model=California 2021">Buy Here</a></sub></details>||
-|Volkswagen|Caravelle 2020|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,9</sup>](#footnotes)|0 mph|31 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>View</summary><sub>- 1 J533 connector<br>- 1 USB-C coupler<br>- 1 angled mount (8 degrees)<br>- 1 comma three<br>- 1 harness box<br>- 1 long OBD-C cable<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-three.html?make=Volkswagen&model=Caravelle 2020">Buy Here</a></sub></details>||
-|Volkswagen|CC 2018-22|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,9</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>View</summary><sub>- 1 J533 connector<br>- 1 USB-C coupler<br>- 1 comma three<br>- 1 harness box<br>- 1 long OBD-C cable<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-three.html?make=Volkswagen&model=CC 2018-22">Buy Here</a></sub></details>|<a href="https://youtu.be/FAomFKPFlDA" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>|
-|Volkswagen|Crafter 2017-23|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,9</sup>](#footnotes)|0 mph|31 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>View</summary><sub>- 1 J533 connector<br>- 1 USB-C coupler<br>- 1 angled mount (8 degrees)<br>- 1 comma three<br>- 1 harness box<br>- 1 long OBD-C cable<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-three.html?make=Volkswagen&model=Crafter 2017-23">Buy Here</a></sub></details>|<a href="https://youtu.be/4100gLeabmo" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>|
-|Volkswagen|e-Crafter 2018-23|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,9</sup>](#footnotes)|0 mph|31 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>View</summary><sub>- 1 J533 connector<br>- 1 USB-C coupler<br>- 1 angled mount (8 degrees)<br>- 1 comma three<br>- 1 harness box<br>- 1 long OBD-C cable<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-three.html?make=Volkswagen&model=e-Crafter 2018-23">Buy Here</a></sub></details>|<a href="https://youtu.be/4100gLeabmo" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>|
-|Volkswagen|e-Golf 2014-20|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,9</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>View</summary><sub>- 1 J533 connector<br>- 1 USB-C coupler<br>- 1 comma three<br>- 1 harness box<br>- 1 long OBD-C cable<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-three.html?make=Volkswagen&model=e-Golf 2014-20">Buy Here</a></sub></details>||
-|Volkswagen|Golf 2015-20|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,9</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|<details><summary>View</summary><sub>- 1 J533 connector<br>- 1 USB-C coupler<br>- 1 comma three<br>- 1 harness box<br>- 1 long OBD-C cable<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-three.html?make=Volkswagen&model=Golf 2015-20">Buy Here</a></sub></details>||
-|Volkswagen|Golf Alltrack 2015-19|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,9</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|<details><summary>View</summary><sub>- 1 J533 connector<br>- 1 USB-C coupler<br>- 1 comma three<br>- 1 harness box<br>- 1 long OBD-C cable<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-three.html?make=Volkswagen&model=Golf Alltrack 2015-19">Buy Here</a></sub></details>||
-|Volkswagen|Golf GTD 2015-20|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,9</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>View</summary><sub>- 1 J533 connector<br>- 1 USB-C coupler<br>- 1 comma three<br>- 1 harness box<br>- 1 long OBD-C cable<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-three.html?make=Volkswagen&model=Golf GTD 2015-20">Buy Here</a></sub></details>||
-|Volkswagen|Golf GTE 2015-20|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,9</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>View</summary><sub>- 1 J533 connector<br>- 1 USB-C coupler<br>- 1 comma three<br>- 1 harness box<br>- 1 long OBD-C cable<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-three.html?make=Volkswagen&model=Golf GTE 2015-20">Buy Here</a></sub></details>||
-|Volkswagen|Golf GTI 2015-21|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,9</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|<details><summary>View</summary><sub>- 1 J533 connector<br>- 1 USB-C coupler<br>- 1 comma three<br>- 1 harness box<br>- 1 long OBD-C cable<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-three.html?make=Volkswagen&model=Golf GTI 2015-21">Buy Here</a></sub></details>||
-|Volkswagen|Golf R 2015-19|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,9</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>View</summary><sub>- 1 J533 connector<br>- 1 USB-C coupler<br>- 1 comma three<br>- 1 harness box<br>- 1 long OBD-C cable<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-three.html?make=Volkswagen&model=Golf R 2015-19">Buy Here</a></sub></details>||
-|Volkswagen|Golf SportsVan 2015-20|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,9</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>View</summary><sub>- 1 J533 connector<br>- 1 USB-C coupler<br>- 1 comma three<br>- 1 harness box<br>- 1 long OBD-C cable<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-three.html?make=Volkswagen&model=Golf SportsVan 2015-20">Buy Here</a></sub></details>||
-|Volkswagen|Grand California 2019-23|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,9</sup>](#footnotes)|0 mph|31 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>View</summary><sub>- 1 J533 connector<br>- 1 USB-C coupler<br>- 1 angled mount (8 degrees)<br>- 1 comma three<br>- 1 harness box<br>- 1 long OBD-C cable<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-three.html?make=Volkswagen&model=Grand California 2019-23">Buy Here</a></sub></details>|<a href="https://youtu.be/4100gLeabmo" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>|
-|Volkswagen|Jetta 2018-22|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,9</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>View</summary><sub>- 1 J533 connector<br>- 1 USB-C coupler<br>- 1 comma three<br>- 1 harness box<br>- 1 long OBD-C cable<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-three.html?make=Volkswagen&model=Jetta 2018-22">Buy Here</a></sub></details>||
-|Volkswagen|Jetta GLI 2021-22|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,9</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>View</summary><sub>- 1 J533 connector<br>- 1 USB-C coupler<br>- 1 comma three<br>- 1 harness box<br>- 1 long OBD-C cable<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-three.html?make=Volkswagen&model=Jetta GLI 2021-22">Buy Here</a></sub></details>||
-|Volkswagen|Passat 2015-22[<sup>8</sup>](#footnotes)|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,9</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>View</summary><sub>- 1 J533 connector<br>- 1 USB-C coupler<br>- 1 comma three<br>- 1 harness box<br>- 1 long OBD-C cable<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-three.html?make=Volkswagen&model=Passat 2015-22">Buy Here</a></sub></details>||
-|Volkswagen|Passat Alltrack 2015-22|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,9</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>View</summary><sub>- 1 J533 connector<br>- 1 USB-C coupler<br>- 1 comma three<br>- 1 harness box<br>- 1 long OBD-C cable<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-three.html?make=Volkswagen&model=Passat Alltrack 2015-22">Buy Here</a></sub></details>||
-|Volkswagen|Passat GTE 2015-22|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,9</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>View</summary><sub>- 1 J533 connector<br>- 1 USB-C coupler<br>- 1 comma three<br>- 1 harness box<br>- 1 long OBD-C cable<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-three.html?make=Volkswagen&model=Passat GTE 2015-22">Buy Here</a></sub></details>||
-|Volkswagen|Polo 2018-23|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,9</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>View</summary><sub>- 1 J533 connector<br>- 1 USB-C coupler<br>- 1 comma three<br>- 1 harness box<br>- 1 long OBD-C cable<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-three.html?make=Volkswagen&model=Polo 2018-23">Buy Here</a></sub></details>[<sup>10</sup>](#footnotes)||
-|Volkswagen|Polo GTI 2018-23|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,9</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>View</summary><sub>- 1 J533 connector<br>- 1 USB-C coupler<br>- 1 comma three<br>- 1 harness box<br>- 1 long OBD-C cable<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-three.html?make=Volkswagen&model=Polo GTI 2018-23">Buy Here</a></sub></details>[<sup>10</sup>](#footnotes)||
-|Volkswagen|T-Cross 2021|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,9</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>View</summary><sub>- 1 J533 connector<br>- 1 USB-C coupler<br>- 1 comma three<br>- 1 harness box<br>- 1 long OBD-C cable<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-three.html?make=Volkswagen&model=T-Cross 2021">Buy Here</a></sub></details>[<sup>10</sup>](#footnotes)||
-|Volkswagen|T-Roc 2021|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,9</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>View</summary><sub>- 1 J533 connector<br>- 1 USB-C coupler<br>- 1 comma three<br>- 1 harness box<br>- 1 long OBD-C cable<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-three.html?make=Volkswagen&model=T-Roc 2021">Buy Here</a></sub></details>[<sup>10</sup>](#footnotes)||
-|Volkswagen|Taos 2022|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,9</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>View</summary><sub>- 1 J533 connector<br>- 1 USB-C coupler<br>- 1 comma three<br>- 1 harness box<br>- 1 long OBD-C cable<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-three.html?make=Volkswagen&model=Taos 2022">Buy Here</a></sub></details>||
-|Volkswagen|Teramont 2018-22|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,9</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>View</summary><sub>- 1 J533 connector<br>- 1 USB-C coupler<br>- 1 comma three<br>- 1 harness box<br>- 1 long OBD-C cable<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-three.html?make=Volkswagen&model=Teramont 2018-22">Buy Here</a></sub></details>||
-|Volkswagen|Teramont Cross Sport 2021-22|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,9</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>View</summary><sub>- 1 J533 connector<br>- 1 USB-C coupler<br>- 1 comma three<br>- 1 harness box<br>- 1 long OBD-C cable<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-three.html?make=Volkswagen&model=Teramont Cross Sport 2021-22">Buy Here</a></sub></details>||
-|Volkswagen|Teramont X 2021-22|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,9</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>View</summary><sub>- 1 J533 connector<br>- 1 USB-C coupler<br>- 1 comma three<br>- 1 harness box<br>- 1 long OBD-C cable<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-three.html?make=Volkswagen&model=Teramont X 2021-22">Buy Here</a></sub></details>||
-|Volkswagen|Tiguan 2018-23|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,9</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>View</summary><sub>- 1 J533 connector<br>- 1 USB-C coupler<br>- 1 comma three<br>- 1 harness box<br>- 1 long OBD-C cable<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-three.html?make=Volkswagen&model=Tiguan 2018-23">Buy Here</a></sub></details>||
-|Volkswagen|Tiguan eHybrid 2021-23|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,9</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>View</summary><sub>- 1 J533 connector<br>- 1 USB-C coupler<br>- 1 comma three<br>- 1 harness box<br>- 1 long OBD-C cable<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-three.html?make=Volkswagen&model=Tiguan eHybrid 2021-23">Buy Here</a></sub></details>||
-|Volkswagen|Touran 2016-23|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,9</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>View</summary><sub>- 1 J533 connector<br>- 1 USB-C coupler<br>- 1 comma three<br>- 1 harness box<br>- 1 long OBD-C cable<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-three.html?make=Volkswagen&model=Touran 2016-23">Buy Here</a></sub></details>||
+|Ford|Bronco Sport 2021-22|Co-Pilot360 Assist+|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Ford Q3 connector<br>- 1 RJ45 cable (7 ft)<br>- 1 angled mount (8 degrees)<br>- 1 comma power v2<br>- 1 comma three<br>- 1 harness box<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Ford&model=Bronco Sport 2021-22">Buy Here</a></sub></details>||
+|Ford|Escape 2020-22|Co-Pilot360 Assist+|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Ford Q3 connector<br>- 1 RJ45 cable (7 ft)<br>- 1 comma power v2<br>- 1 comma three<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Ford&model=Escape 2020-22">Buy Here</a></sub></details>||
+|Ford|Explorer 2020-22|Co-Pilot360 Assist+|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Ford Q3 connector<br>- 1 RJ45 cable (7 ft)<br>- 1 comma power v2<br>- 1 comma three<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Ford&model=Explorer 2020-22">Buy Here</a></sub></details>||
+|Ford|Focus 2018[<sup>3</sup>](#footnotes)|Adaptive Cruise Control with Lane Centering|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Ford Q3 connector<br>- 1 RJ45 cable (7 ft)<br>- 1 comma power v2<br>- 1 comma three<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Ford&model=Focus 2018">Buy Here</a></sub></details>||
+|Ford|Kuga 2020-22|Adaptive Cruise Control with Lane Centering|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Ford Q3 connector<br>- 1 RJ45 cable (7 ft)<br>- 1 comma power v2<br>- 1 comma three<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Ford&model=Kuga 2020-22">Buy Here</a></sub></details>||
+|Ford|Maverick 2022|LARIAT Luxury|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Ford Q3 connector<br>- 1 RJ45 cable (7 ft)<br>- 1 angled mount (8 degrees)<br>- 1 comma power v2<br>- 1 comma three<br>- 1 harness box<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Ford&model=Maverick 2022">Buy Here</a></sub></details>||
+|Ford|Maverick 2023|Co-Pilot360 Assist|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Ford Q3 connector<br>- 1 RJ45 cable (7 ft)<br>- 1 angled mount (8 degrees)<br>- 1 comma power v2<br>- 1 comma three<br>- 1 harness box<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Ford&model=Maverick 2023">Buy Here</a></sub></details>||
+|Genesis|G70 2018-19|All|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Hyundai F connector<br>- 1 RJ45 cable (7 ft)<br>- 1 comma power v2<br>- 1 comma three<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Genesis&model=G70 2018-19">Buy Here</a></sub></details>||
+|Genesis|G70 2020|All|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Hyundai F connector<br>- 1 RJ45 cable (7 ft)<br>- 1 comma power v2<br>- 1 comma three<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Genesis&model=G70 2020">Buy Here</a></sub></details>||
+|Genesis|G80 2017|All|Stock|19 mph|37 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Hyundai J connector<br>- 1 RJ45 cable (7 ft)<br>- 1 comma power v2<br>- 1 comma three<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Genesis&model=G80 2017">Buy Here</a></sub></details>||
+|Genesis|G80 2018-19|All|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Hyundai H connector<br>- 1 RJ45 cable (7 ft)<br>- 1 comma power v2<br>- 1 comma three<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Genesis&model=G80 2018-19">Buy Here</a></sub></details>||
+|Genesis|G90 2017-18|All|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Hyundai C connector<br>- 1 RJ45 cable (7 ft)<br>- 1 comma power v2<br>- 1 comma three<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Genesis&model=G90 2017-18">Buy Here</a></sub></details>||
+|Genesis|GV60 (Advanced Trim) 2023[<sup>6</sup>](#footnotes)|All|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Hyundai A connector<br>- 1 RJ45 cable (7 ft)<br>- 1 comma power v2<br>- 1 comma three<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Genesis&model=GV60 (Advanced Trim) 2023">Buy Here</a></sub></details>||
+|Genesis|GV60 (Performance Trim) 2023[<sup>6</sup>](#footnotes)|All|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Hyundai K connector<br>- 1 RJ45 cable (7 ft)<br>- 1 comma power v2<br>- 1 comma three<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Genesis&model=GV60 (Performance Trim) 2023">Buy Here</a></sub></details>||
+|Genesis|GV70 (2.5T Trim) 2022-23[<sup>6</sup>](#footnotes)|All|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Hyundai L connector<br>- 1 RJ45 cable (7 ft)<br>- 1 comma power v2<br>- 1 comma three<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Genesis&model=GV70 (2.5T Trim) 2022-23">Buy Here</a></sub></details>||
+|Genesis|GV70 (3.5T Trim) 2022-23[<sup>6</sup>](#footnotes)|All|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Hyundai M connector<br>- 1 RJ45 cable (7 ft)<br>- 1 comma power v2<br>- 1 comma three<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Genesis&model=GV70 (3.5T Trim) 2022-23">Buy Here</a></sub></details>||
+|Genesis|GV80 2023[<sup>6</sup>](#footnotes)|All|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Hyundai M connector<br>- 1 RJ45 cable (7 ft)<br>- 1 comma power v2<br>- 1 comma three<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Genesis&model=GV80 2023">Buy Here</a></sub></details>||
+|GMC|Acadia 2018[<sup>4</sup>](#footnotes)|Adaptive Cruise Control (ACC)|openpilot|0 mph|7 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-II connector<br>- 1 comma three<br>- 2 long OBD-C cable<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=GMC&model=Acadia 2018">Buy Here</a></sub></details>|<a href="https://www.youtube.com/watch?v=0ZN6DdsBUZo" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>|
+|GMC|Sierra 1500 2020-21|Driver Alert Package II|openpilot available[<sup>1</sup>](#footnotes)|0 mph|6 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|<details><summary>Parts</summary><sub>- 1 GM connector<br>- 1 RJ45 cable (7 ft)<br>- 1 comma power v2<br>- 1 comma three<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=GMC&model=Sierra 1500 2020-21">Buy Here</a></sub></details>|<a href="https://youtu.be/5HbNoBLzRwE" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>|
+|Honda|Accord 2018-22|All|openpilot available[<sup>1</sup>](#footnotes)|0 mph|3 mph|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Honda Bosch A connector<br>- 1 RJ45 cable (7 ft)<br>- 1 comma power v2<br>- 1 comma three<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Honda&model=Accord 2018-22">Buy Here</a></sub></details>|<a href="https://www.youtube.com/watch?v=mrUwlj3Mi58" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>|
+|Honda|Accord Hybrid 2018-22|All|openpilot available[<sup>1</sup>](#footnotes)|0 mph|3 mph|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Honda Bosch A connector<br>- 1 RJ45 cable (7 ft)<br>- 1 comma power v2<br>- 1 comma three<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Honda&model=Accord Hybrid 2018-22">Buy Here</a></sub></details>||
+|Honda|Civic 2016-18|Honda Sensing|openpilot|0 mph|12 mph|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Honda Nidec connector<br>- 1 RJ45 cable (7 ft)<br>- 1 comma power v2<br>- 1 comma three<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Honda&model=Civic 2016-18">Buy Here</a></sub></details>|<a href="https://youtu.be/-IkImTe1NYE" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>|
+|Honda|Civic 2019-21|All|openpilot available[<sup>1</sup>](#footnotes)|0 mph|2 mph[<sup>5</sup>](#footnotes)|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Honda Bosch A connector<br>- 1 RJ45 cable (7 ft)<br>- 1 comma power v2<br>- 1 comma three<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Honda&model=Civic 2019-21">Buy Here</a></sub></details>|<a href="https://www.youtube.com/watch?v=4Iz1Mz5LGF8" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>|
+|Honda|Civic 2022|All|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Honda Bosch B connector<br>- 1 RJ45 cable (7 ft)<br>- 1 comma power v2<br>- 1 comma three<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Honda&model=Civic 2022">Buy Here</a></sub></details>|<a href="https://youtu.be/ytiOT5lcp6Q" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>|
+|Honda|Civic Hatchback 2017-21|Honda Sensing|openpilot available[<sup>1</sup>](#footnotes)|0 mph|12 mph|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Honda Bosch A connector<br>- 1 RJ45 cable (7 ft)<br>- 1 comma power v2<br>- 1 comma three<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Honda&model=Civic Hatchback 2017-21">Buy Here</a></sub></details>||
+|Honda|Civic Hatchback 2022|All|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Honda Bosch B connector<br>- 1 RJ45 cable (7 ft)<br>- 1 comma power v2<br>- 1 comma three<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Honda&model=Civic Hatchback 2022">Buy Here</a></sub></details>|<a href="https://youtu.be/ytiOT5lcp6Q" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>|
+|Honda|CR-V 2015-16|Touring Trim|openpilot|25 mph|12 mph|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|<details><summary>Parts</summary><sub>- 1 Honda Nidec connector<br>- 1 RJ45 cable (7 ft)<br>- 1 comma power v2<br>- 1 comma three<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Honda&model=CR-V 2015-16">Buy Here</a></sub></details>||
+|Honda|CR-V 2017-22|Honda Sensing|openpilot available[<sup>1</sup>](#footnotes)|0 mph|12 mph|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Honda Bosch A connector<br>- 1 RJ45 cable (7 ft)<br>- 1 comma power v2<br>- 1 comma three<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Honda&model=CR-V 2017-22">Buy Here</a></sub></details>||
+|Honda|CR-V Hybrid 2017-19|Honda Sensing|openpilot available[<sup>1</sup>](#footnotes)|0 mph|12 mph|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Honda Bosch A connector<br>- 1 RJ45 cable (7 ft)<br>- 1 comma power v2<br>- 1 comma three<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Honda&model=CR-V Hybrid 2017-19">Buy Here</a></sub></details>||
+|Honda|e 2020|All|openpilot available[<sup>1</sup>](#footnotes)|0 mph|3 mph|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Honda Bosch A connector<br>- 1 RJ45 cable (7 ft)<br>- 1 comma power v2<br>- 1 comma three<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Honda&model=e 2020">Buy Here</a></sub></details>||
+|Honda|Fit 2018-20|Honda Sensing|openpilot|25 mph|12 mph|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|<details><summary>Parts</summary><sub>- 1 Honda Nidec connector<br>- 1 RJ45 cable (7 ft)<br>- 1 comma power v2<br>- 1 comma three<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Honda&model=Fit 2018-20">Buy Here</a></sub></details>||
+|Honda|Freed 2020|Honda Sensing|openpilot|25 mph|12 mph|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|<details><summary>Parts</summary><sub>- 1 Honda Nidec connector<br>- 1 RJ45 cable (7 ft)<br>- 1 comma power v2<br>- 1 comma three<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Honda&model=Freed 2020">Buy Here</a></sub></details>||
+|Honda|HR-V 2019-22|Honda Sensing|openpilot|25 mph|12 mph|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|<details><summary>Parts</summary><sub>- 1 Honda Nidec connector<br>- 1 RJ45 cable (7 ft)<br>- 1 comma power v2<br>- 1 comma three<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Honda&model=HR-V 2019-22">Buy Here</a></sub></details>||
+|Honda|HR-V 2023|All|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Honda Bosch B connector<br>- 1 RJ45 cable (7 ft)<br>- 1 comma power v2<br>- 1 comma three<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Honda&model=HR-V 2023">Buy Here</a></sub></details>||
+|Honda|Insight 2019-22|All|openpilot available[<sup>1</sup>](#footnotes)|0 mph|3 mph|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Honda Bosch A connector<br>- 1 RJ45 cable (7 ft)<br>- 1 comma power v2<br>- 1 comma three<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Honda&model=Insight 2019-22">Buy Here</a></sub></details>||
+|Honda|Inspire 2018|All|openpilot available[<sup>1</sup>](#footnotes)|0 mph|3 mph|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Honda Bosch A connector<br>- 1 RJ45 cable (7 ft)<br>- 1 comma power v2<br>- 1 comma three<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Honda&model=Inspire 2018">Buy Here</a></sub></details>||
+|Honda|Odyssey 2018-20|Honda Sensing|openpilot|25 mph|0 mph|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|<details><summary>Parts</summary><sub>- 1 Honda Nidec connector<br>- 1 RJ45 cable (7 ft)<br>- 1 comma power v2<br>- 1 comma three<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Honda&model=Odyssey 2018-20">Buy Here</a></sub></details>||
+|Honda|Passport 2019-23|All|openpilot|25 mph|12 mph|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|<details><summary>Parts</summary><sub>- 1 Honda Nidec connector<br>- 1 RJ45 cable (7 ft)<br>- 1 comma power v2<br>- 1 comma three<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Honda&model=Passport 2019-23">Buy Here</a></sub></details>||
+|Honda|Pilot 2016-22|Honda Sensing|openpilot|25 mph|12 mph|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|<details><summary>Parts</summary><sub>- 1 Honda Nidec connector<br>- 1 RJ45 cable (7 ft)<br>- 1 comma power v2<br>- 1 comma three<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Honda&model=Pilot 2016-22">Buy Here</a></sub></details>||
+|Honda|Ridgeline 2017-23|Honda Sensing|openpilot|25 mph|12 mph|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|<details><summary>Parts</summary><sub>- 1 Honda Nidec connector<br>- 1 RJ45 cable (7 ft)<br>- 1 comma power v2<br>- 1 comma three<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Honda&model=Ridgeline 2017-23">Buy Here</a></sub></details>||
+|Hyundai|Elantra 2017-19|Smart Cruise Control (SCC)|Stock|19 mph|32 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Hyundai B connector<br>- 1 RJ45 cable (7 ft)<br>- 1 comma power v2<br>- 1 comma three<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Hyundai&model=Elantra 2017-19">Buy Here</a></sub></details>||
+|Hyundai|Elantra 2021-23|Smart Cruise Control (SCC)|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Hyundai K connector<br>- 1 RJ45 cable (7 ft)<br>- 1 comma power v2<br>- 1 comma three<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Hyundai&model=Elantra 2021-23">Buy Here</a></sub></details>|<a href="https://youtu.be/_EdYQtV52-c" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>|
+|Hyundai|Elantra GT 2017-19|Smart Cruise Control (SCC)|Stock|0 mph|32 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Hyundai E connector<br>- 1 RJ45 cable (7 ft)<br>- 1 comma power v2<br>- 1 comma three<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Hyundai&model=Elantra GT 2017-19">Buy Here</a></sub></details>||
+|Hyundai|Elantra Hybrid 2021-23|Smart Cruise Control (SCC)|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Hyundai K connector<br>- 1 RJ45 cable (7 ft)<br>- 1 comma power v2<br>- 1 comma three<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Hyundai&model=Elantra Hybrid 2021-23">Buy Here</a></sub></details>|<a href="https://youtu.be/_EdYQtV52-c" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>|
+|Hyundai|Genesis 2015-16|Smart Cruise Control (SCC)|Stock|19 mph|37 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Hyundai J connector<br>- 1 RJ45 cable (7 ft)<br>- 1 comma power v2<br>- 1 comma three<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Hyundai&model=Genesis 2015-16">Buy Here</a></sub></details>||
+|Hyundai|i30 2017-19|Smart Cruise Control (SCC)|Stock|0 mph|32 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Hyundai E connector<br>- 1 RJ45 cable (7 ft)<br>- 1 comma power v2<br>- 1 comma three<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Hyundai&model=i30 2017-19">Buy Here</a></sub></details>||
+|Hyundai|Ioniq 5 (Southeast Asia only) 2022-23[<sup>6</sup>](#footnotes)|All|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Hyundai Q connector<br>- 1 RJ45 cable (7 ft)<br>- 1 comma power v2<br>- 1 comma three<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Hyundai&model=Ioniq 5 (Southeast Asia only) 2022-23">Buy Here</a></sub></details>||
+|Hyundai|Ioniq 5 (with HDA II) 2022-23[<sup>6</sup>](#footnotes)|Highway Driving Assist II|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Hyundai Q connector<br>- 1 RJ45 cable (7 ft)<br>- 1 comma power v2<br>- 1 comma three<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Hyundai&model=Ioniq 5 (with HDA II) 2022-23">Buy Here</a></sub></details>||
+|Hyundai|Ioniq 5 (without HDA II) 2022-23[<sup>6</sup>](#footnotes)|Highway Driving Assist|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Hyundai K connector<br>- 1 RJ45 cable (7 ft)<br>- 1 comma power v2<br>- 1 comma three<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Hyundai&model=Ioniq 5 (without HDA II) 2022-23">Buy Here</a></sub></details>||
+|Hyundai|Ioniq Electric 2019|Smart Cruise Control (SCC)|Stock|0 mph|32 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Hyundai C connector<br>- 1 RJ45 cable (7 ft)<br>- 1 comma power v2<br>- 1 comma three<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Hyundai&model=Ioniq Electric 2019">Buy Here</a></sub></details>||
+|Hyundai|Ioniq Electric 2020|All|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Hyundai H connector<br>- 1 RJ45 cable (7 ft)<br>- 1 comma power v2<br>- 1 comma three<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Hyundai&model=Ioniq Electric 2020">Buy Here</a></sub></details>||
+|Hyundai|Ioniq Hybrid 2017-19|Smart Cruise Control (SCC)|Stock|0 mph|32 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Hyundai C connector<br>- 1 RJ45 cable (7 ft)<br>- 1 comma power v2<br>- 1 comma three<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Hyundai&model=Ioniq Hybrid 2017-19">Buy Here</a></sub></details>||
+|Hyundai|Ioniq Hybrid 2020-22|Smart Cruise Control (SCC)|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Hyundai H connector<br>- 1 RJ45 cable (7 ft)<br>- 1 comma power v2<br>- 1 comma three<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Hyundai&model=Ioniq Hybrid 2020-22">Buy Here</a></sub></details>||
+|Hyundai|Ioniq Plug-in Hybrid 2019|Smart Cruise Control (SCC)|openpilot available[<sup>1</sup>](#footnotes)|0 mph|32 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Hyundai C connector<br>- 1 RJ45 cable (7 ft)<br>- 1 comma power v2<br>- 1 comma three<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Hyundai&model=Ioniq Plug-in Hybrid 2019">Buy Here</a></sub></details>||
+|Hyundai|Ioniq Plug-in Hybrid 2020-22|All|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Hyundai H connector<br>- 1 RJ45 cable (7 ft)<br>- 1 comma power v2<br>- 1 comma three<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Hyundai&model=Ioniq Plug-in Hybrid 2020-22">Buy Here</a></sub></details>||
+|Hyundai|Kona 2020|Smart Cruise Control (SCC)|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Hyundai B connector<br>- 1 RJ45 cable (7 ft)<br>- 1 comma power v2<br>- 1 comma three<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Hyundai&model=Kona 2020">Buy Here</a></sub></details>||
+|Hyundai|Kona Electric 2018-21|Smart Cruise Control (SCC)|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Hyundai G connector<br>- 1 RJ45 cable (7 ft)<br>- 1 comma power v2<br>- 1 comma three<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Hyundai&model=Kona Electric 2018-21">Buy Here</a></sub></details>||
+|Hyundai|Kona Electric 2022|Smart Cruise Control (SCC)|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Hyundai O connector<br>- 1 RJ45 cable (7 ft)<br>- 1 comma power v2<br>- 1 comma three<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Hyundai&model=Kona Electric 2022">Buy Here</a></sub></details>||
+|Hyundai|Kona Hybrid 2020|Smart Cruise Control (SCC)|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Hyundai I connector<br>- 1 RJ45 cable (7 ft)<br>- 1 comma power v2<br>- 1 comma three<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Hyundai&model=Kona Hybrid 2020">Buy Here</a></sub></details>|<a href="https://youtu.be/0dwpAHiZgFo" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>|
+|Hyundai|Palisade 2020-22|All|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Hyundai H connector<br>- 1 RJ45 cable (7 ft)<br>- 1 comma power v2<br>- 1 comma three<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Hyundai&model=Palisade 2020-22">Buy Here</a></sub></details>|<a href="https://youtu.be/TAnDqjF4fDY?t=456" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>|
+|Hyundai|Santa Cruz 2022-23[<sup>6</sup>](#footnotes)|Smart Cruise Control (SCC)|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Hyundai N connector<br>- 1 RJ45 cable (7 ft)<br>- 1 comma power v2<br>- 1 comma three<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Hyundai&model=Santa Cruz 2022-23">Buy Here</a></sub></details>||
+|Hyundai|Santa Fe 2019-20|All|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Hyundai D connector<br>- 1 RJ45 cable (7 ft)<br>- 1 comma power v2<br>- 1 comma three<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Hyundai&model=Santa Fe 2019-20">Buy Here</a></sub></details>||
+|Hyundai|Santa Fe 2021-23|All|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Hyundai L connector<br>- 1 RJ45 cable (7 ft)<br>- 1 comma power v2<br>- 1 comma three<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Hyundai&model=Santa Fe 2021-23">Buy Here</a></sub></details>|<a href="https://youtu.be/VnHzSTygTS4" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>|
+|Hyundai|Santa Fe Hybrid 2022-23|All|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Hyundai L connector<br>- 1 RJ45 cable (7 ft)<br>- 1 comma power v2<br>- 1 comma three<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Hyundai&model=Santa Fe Hybrid 2022-23">Buy Here</a></sub></details>||
+|Hyundai|Santa Fe Plug-in Hybrid 2022|All|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Hyundai L connector<br>- 1 RJ45 cable (7 ft)<br>- 1 comma power v2<br>- 1 comma three<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Hyundai&model=Santa Fe Plug-in Hybrid 2022">Buy Here</a></sub></details>||
+|Hyundai|Sonata 2018-19|Smart Cruise Control (SCC)|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Hyundai E connector<br>- 1 RJ45 cable (7 ft)<br>- 1 comma power v2<br>- 1 comma three<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Hyundai&model=Sonata 2018-19">Buy Here</a></sub></details>||
+|Hyundai|Sonata 2020-23|All|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Hyundai A connector<br>- 1 RJ45 cable (7 ft)<br>- 1 comma power v2<br>- 1 comma three<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Hyundai&model=Sonata 2020-23">Buy Here</a></sub></details>|<a href="https://www.youtube.com/watch?v=ix63r9kE3Fw" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>|
+|Hyundai|Sonata Hybrid 2020-23|All|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Hyundai A connector<br>- 1 RJ45 cable (7 ft)<br>- 1 comma power v2<br>- 1 comma three<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Hyundai&model=Sonata Hybrid 2020-23">Buy Here</a></sub></details>||
+|Hyundai|Tucson 2021|Smart Cruise Control (SCC)|openpilot available[<sup>1</sup>](#footnotes)|19 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Hyundai L connector<br>- 1 RJ45 cable (7 ft)<br>- 1 comma power v2<br>- 1 comma three<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Hyundai&model=Tucson 2021">Buy Here</a></sub></details>||
+|Hyundai|Tucson 2022[<sup>6</sup>](#footnotes)|Smart Cruise Control (SCC)|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Hyundai N connector<br>- 1 RJ45 cable (7 ft)<br>- 1 comma power v2<br>- 1 comma three<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Hyundai&model=Tucson 2022">Buy Here</a></sub></details>||
+|Hyundai|Tucson 2023[<sup>6</sup>](#footnotes)|All|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Hyundai N connector<br>- 1 RJ45 cable (7 ft)<br>- 1 comma power v2<br>- 1 comma three<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Hyundai&model=Tucson 2023">Buy Here</a></sub></details>||
+|Hyundai|Tucson Diesel 2019|Smart Cruise Control (SCC)|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Hyundai L connector<br>- 1 RJ45 cable (7 ft)<br>- 1 comma power v2<br>- 1 comma three<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Hyundai&model=Tucson Diesel 2019">Buy Here</a></sub></details>||
+|Hyundai|Tucson Hybrid 2022-23[<sup>6</sup>](#footnotes)|All|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Hyundai N connector<br>- 1 RJ45 cable (7 ft)<br>- 1 comma power v2<br>- 1 comma three<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Hyundai&model=Tucson Hybrid 2022-23">Buy Here</a></sub></details>||
+|Hyundai|Veloster 2019-20|Smart Cruise Control (SCC)|Stock|5 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Hyundai E connector<br>- 1 RJ45 cable (7 ft)<br>- 1 comma power v2<br>- 1 comma three<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Hyundai&model=Veloster 2019-20">Buy Here</a></sub></details>||
+|Jeep|Grand Cherokee 2016-18|Adaptive Cruise Control (ACC)|Stock|0 mph|9 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 FCA connector<br>- 1 RJ45 cable (7 ft)<br>- 1 comma power v2<br>- 1 comma three<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Jeep&model=Grand Cherokee 2016-18">Buy Here</a></sub></details>|<a href="https://www.youtube.com/watch?v=eLR9o2JkuRk" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>|
+|Jeep|Grand Cherokee 2019-21|Adaptive Cruise Control (ACC)|Stock|0 mph|39 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 FCA connector<br>- 1 RJ45 cable (7 ft)<br>- 1 comma power v2<br>- 1 comma three<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Jeep&model=Grand Cherokee 2019-21">Buy Here</a></sub></details>|<a href="https://www.youtube.com/watch?v=jBe4lWnRSu4" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>|
+|Kia|Carnival 2023[<sup>6</sup>](#footnotes)|Smart Cruise Control (SCC)|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Hyundai A connector<br>- 1 RJ45 cable (7 ft)<br>- 1 comma power v2<br>- 1 comma three<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Kia&model=Carnival 2023">Buy Here</a></sub></details>||
+|Kia|Carnival (China only) 2023[<sup>6</sup>](#footnotes)|Smart Cruise Control (SCC)|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Hyundai K connector<br>- 1 RJ45 cable (7 ft)<br>- 1 comma power v2<br>- 1 comma three<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Kia&model=Carnival (China only) 2023">Buy Here</a></sub></details>||
+|Kia|Ceed 2019|Smart Cruise Control (SCC)|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Hyundai E connector<br>- 1 RJ45 cable (7 ft)<br>- 1 comma power v2<br>- 1 comma three<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Kia&model=Ceed 2019">Buy Here</a></sub></details>||
+|Kia|EV6 (Southeast Asia only) 2022-23[<sup>6</sup>](#footnotes)|All|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Hyundai P connector<br>- 1 RJ45 cable (7 ft)<br>- 1 comma power v2<br>- 1 comma three<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Kia&model=EV6 (Southeast Asia only) 2022-23">Buy Here</a></sub></details>||
+|Kia|EV6 (with HDA II) 2022-23[<sup>6</sup>](#footnotes)|Highway Driving Assist II|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Hyundai P connector<br>- 1 RJ45 cable (7 ft)<br>- 1 comma power v2<br>- 1 comma three<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Kia&model=EV6 (with HDA II) 2022-23">Buy Here</a></sub></details>||
+|Kia|EV6 (without HDA II) 2022-23[<sup>6</sup>](#footnotes)|Highway Driving Assist|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Hyundai L connector<br>- 1 RJ45 cable (7 ft)<br>- 1 comma power v2<br>- 1 comma three<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Kia&model=EV6 (without HDA II) 2022-23">Buy Here</a></sub></details>||
+|Kia|Forte 2019-21|Smart Cruise Control (SCC)|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Hyundai G connector<br>- 1 RJ45 cable (7 ft)<br>- 1 comma power v2<br>- 1 comma three<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Kia&model=Forte 2019-21">Buy Here</a></sub></details>||
+|Kia|Forte 2023|Smart Cruise Control (SCC)|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Hyundai E connector<br>- 1 RJ45 cable (7 ft)<br>- 1 comma power v2<br>- 1 comma three<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Kia&model=Forte 2023">Buy Here</a></sub></details>||
+|Kia|K5 2021-22|Smart Cruise Control (SCC)|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Hyundai A connector<br>- 1 RJ45 cable (7 ft)<br>- 1 comma power v2<br>- 1 comma three<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Kia&model=K5 2021-22">Buy Here</a></sub></details>||
+|Kia|K5 Hybrid 2020|Smart Cruise Control (SCC)|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Hyundai A connector<br>- 1 RJ45 cable (7 ft)<br>- 1 comma power v2<br>- 1 comma three<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Kia&model=K5 Hybrid 2020">Buy Here</a></sub></details>||
+|Kia|Niro EV 2019|All|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Hyundai H connector<br>- 1 RJ45 cable (7 ft)<br>- 1 comma power v2<br>- 1 comma three<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Kia&model=Niro EV 2019">Buy Here</a></sub></details>|<a href="https://www.youtube.com/watch?v=lT7zcG6ZpGo" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>|
+|Kia|Niro EV 2020|All|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Hyundai F connector<br>- 1 RJ45 cable (7 ft)<br>- 1 comma power v2<br>- 1 comma three<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Kia&model=Niro EV 2020">Buy Here</a></sub></details>|<a href="https://www.youtube.com/watch?v=lT7zcG6ZpGo" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>|
+|Kia|Niro EV 2021|All|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Hyundai C connector<br>- 1 RJ45 cable (7 ft)<br>- 1 comma power v2<br>- 1 comma three<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Kia&model=Niro EV 2021">Buy Here</a></sub></details>|<a href="https://www.youtube.com/watch?v=lT7zcG6ZpGo" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>|
+|Kia|Niro EV 2022|All|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Hyundai H connector<br>- 1 RJ45 cable (7 ft)<br>- 1 comma power v2<br>- 1 comma three<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Kia&model=Niro EV 2022">Buy Here</a></sub></details>|<a href="https://www.youtube.com/watch?v=lT7zcG6ZpGo" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>|
+|Kia|Niro EV 2023[<sup>6</sup>](#footnotes)|All|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Hyundai A connector<br>- 1 RJ45 cable (7 ft)<br>- 1 comma power v2<br>- 1 comma three<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Kia&model=Niro EV 2023">Buy Here</a></sub></details>||
+|Kia|Niro Hybrid 2021-22|Smart Cruise Control (SCC)|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Hyundai F connector<br>- 1 RJ45 cable (7 ft)<br>- 1 comma power v2<br>- 1 comma three<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Kia&model=Niro Hybrid 2021-22">Buy Here</a></sub></details>||
+|Kia|Niro Hybrid 2023[<sup>6</sup>](#footnotes)|Smart Cruise Control (SCC)|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Hyundai A connector<br>- 1 RJ45 cable (7 ft)<br>- 1 comma power v2<br>- 1 comma three<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Kia&model=Niro Hybrid 2023">Buy Here</a></sub></details>||
+|Kia|Niro Plug-in Hybrid 2018-19|All|openpilot available[<sup>1</sup>](#footnotes)|10 mph|32 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Hyundai C connector<br>- 1 RJ45 cable (7 ft)<br>- 1 comma power v2<br>- 1 comma three<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Kia&model=Niro Plug-in Hybrid 2018-19">Buy Here</a></sub></details>||
+|Kia|Niro Plug-in Hybrid 2020|All|openpilot available[<sup>1</sup>](#footnotes)|0 mph|32 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Hyundai D connector<br>- 1 RJ45 cable (7 ft)<br>- 1 comma power v2<br>- 1 comma three<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Kia&model=Niro Plug-in Hybrid 2020">Buy Here</a></sub></details>||
+|Kia|Optima 2017|Advanced Smart Cruise Control|Stock|0 mph|32 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Hyundai B connector<br>- 1 RJ45 cable (7 ft)<br>- 1 comma power v2<br>- 1 comma three<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Kia&model=Optima 2017">Buy Here</a></sub></details>||
+|Kia|Optima 2019-20|Smart Cruise Control (SCC)|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Hyundai G connector<br>- 1 RJ45 cable (7 ft)<br>- 1 comma power v2<br>- 1 comma three<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Kia&model=Optima 2019-20">Buy Here</a></sub></details>||
+|Kia|Seltos 2021|Smart Cruise Control (SCC)|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Hyundai A connector<br>- 1 RJ45 cable (7 ft)<br>- 1 comma power v2<br>- 1 comma three<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Kia&model=Seltos 2021">Buy Here</a></sub></details>||
+|Kia|Sorento 2018|Advanced Smart Cruise Control|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Hyundai C connector<br>- 1 RJ45 cable (7 ft)<br>- 1 comma power v2<br>- 1 comma three<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Kia&model=Sorento 2018">Buy Here</a></sub></details>|<a href="https://www.youtube.com/watch?v=Fkh3s6WHJz8" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>|
+|Kia|Sorento 2019|Smart Cruise Control (SCC)|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Hyundai E connector<br>- 1 RJ45 cable (7 ft)<br>- 1 comma power v2<br>- 1 comma three<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Kia&model=Sorento 2019">Buy Here</a></sub></details>|<a href="https://www.youtube.com/watch?v=Fkh3s6WHJz8" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>|
+|Kia|Sorento 2021-23[<sup>6</sup>](#footnotes)|Smart Cruise Control (SCC)|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Hyundai K connector<br>- 1 RJ45 cable (7 ft)<br>- 1 comma power v2<br>- 1 comma three<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Kia&model=Sorento 2021-23">Buy Here</a></sub></details>||
+|Kia|Sorento Plug-in Hybrid 2022-23[<sup>6</sup>](#footnotes)|Smart Cruise Control (SCC)|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Hyundai A connector<br>- 1 RJ45 cable (7 ft)<br>- 1 comma power v2<br>- 1 comma three<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Kia&model=Sorento Plug-in Hybrid 2022-23">Buy Here</a></sub></details>||
+|Kia|Sportage 2023[<sup>6</sup>](#footnotes)|Smart Cruise Control (SCC)|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Hyundai N connector<br>- 1 RJ45 cable (7 ft)<br>- 1 comma power v2<br>- 1 comma three<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Kia&model=Sportage 2023">Buy Here</a></sub></details>||
+|Kia|Sportage Hybrid 2023[<sup>6</sup>](#footnotes)|Smart Cruise Control (SCC)|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Hyundai N connector<br>- 1 RJ45 cable (7 ft)<br>- 1 comma power v2<br>- 1 comma three<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Kia&model=Sportage Hybrid 2023">Buy Here</a></sub></details>||
+|Kia|Stinger 2018-20|Smart Cruise Control (SCC)|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Hyundai C connector<br>- 1 RJ45 cable (7 ft)<br>- 1 comma power v2<br>- 1 comma three<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Kia&model=Stinger 2018-20">Buy Here</a></sub></details>|<a href="https://www.youtube.com/watch?v=MJ94qoofYw0" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>|
+|Kia|Stinger 2022|All|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Hyundai K connector<br>- 1 RJ45 cable (7 ft)<br>- 1 comma power v2<br>- 1 comma three<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Kia&model=Stinger 2022">Buy Here</a></sub></details>||
+|Kia|Telluride 2020-22|All|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Hyundai H connector<br>- 1 RJ45 cable (7 ft)<br>- 1 comma power v2<br>- 1 comma three<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Kia&model=Telluride 2020-22">Buy Here</a></sub></details>||
+|Lexus|CT Hybrid 2017-18|Lexus Safety System+|openpilot available[<sup>2</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|<details><summary>Parts</summary><sub>- 1 RJ45 cable (7 ft)<br>- 1 Toyota A connector<br>- 1 comma power v2<br>- 1 comma three<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Lexus&model=CT Hybrid 2017-18">Buy Here</a></sub></details>||
+|Lexus|ES 2017-18|All|openpilot available[<sup>2</sup>](#footnotes)|19 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|<details><summary>Parts</summary><sub>- 1 RJ45 cable (7 ft)<br>- 1 Toyota A connector<br>- 1 comma power v2<br>- 1 comma three<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Lexus&model=ES 2017-18">Buy Here</a></sub></details>||
+|Lexus|ES 2019-22|All|openpilot|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 RJ45 cable (7 ft)<br>- 1 Toyota A connector<br>- 1 comma power v2<br>- 1 comma three<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Lexus&model=ES 2019-22">Buy Here</a></sub></details>||
+|Lexus|ES Hybrid 2017-18|All|openpilot available[<sup>2</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 RJ45 cable (7 ft)<br>- 1 Toyota A connector<br>- 1 comma power v2<br>- 1 comma three<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Lexus&model=ES Hybrid 2017-18">Buy Here</a></sub></details>||
+|Lexus|ES Hybrid 2019-23|All|openpilot|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 RJ45 cable (7 ft)<br>- 1 Toyota A connector<br>- 1 comma power v2<br>- 1 comma three<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Lexus&model=ES Hybrid 2019-23">Buy Here</a></sub></details>|<a href="https://youtu.be/BZ29osRVJeg?t=12" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>|
+|Lexus|IS 2017-19|All|Stock|19 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|<details><summary>Parts</summary><sub>- 1 RJ45 cable (7 ft)<br>- 1 Toyota A connector<br>- 1 comma power v2<br>- 1 comma three<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Lexus&model=IS 2017-19">Buy Here</a></sub></details>||
+|Lexus|IS 2023|All|openpilot|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 RJ45 cable (7 ft)<br>- 1 Toyota A connector<br>- 1 comma power v2<br>- 1 comma three<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Lexus&model=IS 2023">Buy Here</a></sub></details>||
+|Lexus|NX 2018-19|All|openpilot available[<sup>2</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|<details><summary>Parts</summary><sub>- 1 RJ45 cable (7 ft)<br>- 1 Toyota A connector<br>- 1 comma power v2<br>- 1 comma three<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Lexus&model=NX 2018-19">Buy Here</a></sub></details>||
+|Lexus|NX 2020-21|All|openpilot|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 RJ45 cable (7 ft)<br>- 1 Toyota A connector<br>- 1 comma power v2<br>- 1 comma three<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Lexus&model=NX 2020-21">Buy Here</a></sub></details>||
+|Lexus|NX Hybrid 2018-19|All|openpilot available[<sup>2</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|<details><summary>Parts</summary><sub>- 1 RJ45 cable (7 ft)<br>- 1 Toyota A connector<br>- 1 comma power v2<br>- 1 comma three<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Lexus&model=NX Hybrid 2018-19">Buy Here</a></sub></details>||
+|Lexus|NX Hybrid 2020-21|All|openpilot|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 RJ45 cable (7 ft)<br>- 1 Toyota A connector<br>- 1 comma power v2<br>- 1 comma three<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Lexus&model=NX Hybrid 2020-21">Buy Here</a></sub></details>||
+|Lexus|RC 2018-20|All|Stock|19 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|<details><summary>Parts</summary><sub>- 1 RJ45 cable (7 ft)<br>- 1 Toyota A connector<br>- 1 comma power v2<br>- 1 comma three<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Lexus&model=RC 2018-20">Buy Here</a></sub></details>||
+|Lexus|RX 2016|Lexus Safety System+|openpilot available[<sup>2</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|<details><summary>Parts</summary><sub>- 1 RJ45 cable (7 ft)<br>- 1 Toyota A connector<br>- 1 comma power v2<br>- 1 comma three<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Lexus&model=RX 2016">Buy Here</a></sub></details>||
+|Lexus|RX 2017-19|All|openpilot available[<sup>2</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|<details><summary>Parts</summary><sub>- 1 RJ45 cable (7 ft)<br>- 1 Toyota A connector<br>- 1 comma power v2<br>- 1 comma three<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Lexus&model=RX 2017-19">Buy Here</a></sub></details>||
+|Lexus|RX 2020-22|All|openpilot|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 RJ45 cable (7 ft)<br>- 1 Toyota A connector<br>- 1 comma power v2<br>- 1 comma three<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Lexus&model=RX 2020-22">Buy Here</a></sub></details>||
+|Lexus|RX Hybrid 2016|Lexus Safety System+|openpilot available[<sup>2</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|<details><summary>Parts</summary><sub>- 1 RJ45 cable (7 ft)<br>- 1 Toyota A connector<br>- 1 comma power v2<br>- 1 comma three<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Lexus&model=RX Hybrid 2016">Buy Here</a></sub></details>||
+|Lexus|RX Hybrid 2017-19|All|openpilot available[<sup>2</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|<details><summary>Parts</summary><sub>- 1 RJ45 cable (7 ft)<br>- 1 Toyota A connector<br>- 1 comma power v2<br>- 1 comma three<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Lexus&model=RX Hybrid 2017-19">Buy Here</a></sub></details>||
+|Lexus|RX Hybrid 2020-22|All|openpilot|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 RJ45 cable (7 ft)<br>- 1 Toyota A connector<br>- 1 comma power v2<br>- 1 comma three<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Lexus&model=RX Hybrid 2020-22">Buy Here</a></sub></details>||
+|Lexus|UX Hybrid 2019-23|All|openpilot|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 RJ45 cable (7 ft)<br>- 1 Toyota A connector<br>- 1 comma power v2<br>- 1 comma three<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Lexus&model=UX Hybrid 2019-23">Buy Here</a></sub></details>||
+|Lincoln|Aviator 2020-21|Co-Pilot360 Plus|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Ford Q3 connector<br>- 1 RJ45 cable (7 ft)<br>- 1 comma power v2<br>- 1 comma three<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Lincoln&model=Aviator 2020-21">Buy Here</a></sub></details>||
+|MAN|eTGE 2020-23|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,12</sup>](#footnotes)|0 mph|31 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 J533 connector<br>- 1 USB-C coupler<br>- 1 angled mount (8 degrees)<br>- 1 comma three<br>- 1 harness box<br>- 1 long OBD-C cable<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=MAN&model=eTGE 2020-23">Buy Here</a></sub></details>|<a href="https://youtu.be/4100gLeabmo" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>|
+|MAN|TGE 2017-23|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,12</sup>](#footnotes)|0 mph|31 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 J533 connector<br>- 1 USB-C coupler<br>- 1 angled mount (8 degrees)<br>- 1 comma three<br>- 1 harness box<br>- 1 long OBD-C cable<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=MAN&model=TGE 2017-23">Buy Here</a></sub></details>|<a href="https://youtu.be/4100gLeabmo" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>|
+|Mazda|CX-5 2022-23|All|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Mazda connector<br>- 1 RJ45 cable (7 ft)<br>- 1 comma power v2<br>- 1 comma three<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Mazda&model=CX-5 2022-23">Buy Here</a></sub></details>||
+|Mazda|CX-9 2021-23|All|Stock|0 mph|28 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Mazda connector<br>- 1 RJ45 cable (7 ft)<br>- 1 comma power v2<br>- 1 comma three<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Mazda&model=CX-9 2021-23">Buy Here</a></sub></details>|<a href="https://youtu.be/dA3duO4a0O4" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>|
+|Nissan|Altima 2019-20|ProPILOT Assist|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|<details><summary>Parts</summary><sub>- 1 Nissan B connector<br>- 1 RJ45 cable (7 ft)<br>- 1 USB-C coupler<br>- 1 comma three<br>- 1 harness box<br>- 1 long OBD-C cable<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Nissan&model=Altima 2019-20">Buy Here</a></sub></details>||
+|Nissan|Leaf 2018-23|ProPILOT Assist|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|<details><summary>Parts</summary><sub>- 1 Nissan A connector<br>- 1 RJ45 cable (7 ft)<br>- 1 USB-C coupler<br>- 1 comma three<br>- 1 harness box<br>- 1 long OBD-C cable<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Nissan&model=Leaf 2018-23">Buy Here</a></sub></details>|<a href="https://youtu.be/vaMbtAh_0cY" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>|
+|Nissan|Rogue 2018-20|ProPILOT Assist|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|<details><summary>Parts</summary><sub>- 1 Nissan A connector<br>- 1 RJ45 cable (7 ft)<br>- 1 USB-C coupler<br>- 1 comma three<br>- 1 harness box<br>- 1 long OBD-C cable<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Nissan&model=Rogue 2018-20">Buy Here</a></sub></details>||
+|Nissan|X-Trail 2017|ProPILOT Assist|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|<details><summary>Parts</summary><sub>- 1 Nissan A connector<br>- 1 RJ45 cable (7 ft)<br>- 1 USB-C coupler<br>- 1 comma three<br>- 1 harness box<br>- 1 long OBD-C cable<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Nissan&model=X-Trail 2017">Buy Here</a></sub></details>||
+|Ram|1500 2019-23|Adaptive Cruise Control (ACC)|Stock|0 mph|32 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 RJ45 cable (7 ft)<br>- 1 Ram connector<br>- 1 comma power v2<br>- 1 comma three<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Ram&model=1500 2019-23">Buy Here</a></sub></details>||
+|SEAT|Ateca 2018|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,12</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 J533 connector<br>- 1 USB-C coupler<br>- 1 comma three<br>- 1 harness box<br>- 1 long OBD-C cable<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=SEAT&model=Ateca 2018">Buy Here</a></sub></details>||
+|SEAT|Leon 2014-20|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,12</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 J533 connector<br>- 1 USB-C coupler<br>- 1 comma three<br>- 1 harness box<br>- 1 long OBD-C cable<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=SEAT&model=Leon 2014-20">Buy Here</a></sub></details>||
+|Subaru|Ascent 2019-21|All[<sup>7</sup>](#footnotes)|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|<details><summary>Parts</summary><sub>- 1 RJ45 cable (7 ft)<br>- 1 Subaru A connector<br>- 1 comma power v2<br>- 1 comma three<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Subaru&model=Ascent 2019-21">Buy Here</a></sub></details><details><summary>Tools</summary><sub>- 1 Pry Tool<br>- 1 Socket Wrench 8mm or 5/16" (deep)</sub></details>||
+|Subaru|Crosstrek 2018-19|EyeSight Driver Assistance[<sup>7</sup>](#footnotes)|Stock|0 mph|0 mph|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|<details><summary>Parts</summary><sub>- 1 RJ45 cable (7 ft)<br>- 1 Subaru A connector<br>- 1 comma power v2<br>- 1 comma three<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Subaru&model=Crosstrek 2018-19">Buy Here</a></sub></details><details><summary>Tools</summary><sub>- 1 Pry Tool<br>- 1 Socket Wrench 8mm or 5/16" (deep)</sub></details>|<a href="https://youtu.be/Agww7oE1k-s?t=26" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>|
+|Subaru|Crosstrek 2020-23|EyeSight Driver Assistance[<sup>7</sup>](#footnotes)|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|<details><summary>Parts</summary><sub>- 1 RJ45 cable (7 ft)<br>- 1 Subaru A connector<br>- 1 comma power v2<br>- 1 comma three<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Subaru&model=Crosstrek 2020-23">Buy Here</a></sub></details><details><summary>Tools</summary><sub>- 1 Pry Tool<br>- 1 Socket Wrench 8mm or 5/16" (deep)</sub></details>||
+|Subaru|Forester 2019-21|All[<sup>7</sup>](#footnotes)|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|<details><summary>Parts</summary><sub>- 1 RJ45 cable (7 ft)<br>- 1 Subaru A connector<br>- 1 comma power v2<br>- 1 comma three<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Subaru&model=Forester 2019-21">Buy Here</a></sub></details><details><summary>Tools</summary><sub>- 1 Pry Tool<br>- 1 Socket Wrench 8mm or 5/16" (deep)</sub></details>||
+|Subaru|Impreza 2017-19|EyeSight Driver Assistance[<sup>7</sup>](#footnotes)|Stock|0 mph|0 mph|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|<details><summary>Parts</summary><sub>- 1 RJ45 cable (7 ft)<br>- 1 Subaru A connector<br>- 1 comma power v2<br>- 1 comma three<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Subaru&model=Impreza 2017-19">Buy Here</a></sub></details><details><summary>Tools</summary><sub>- 1 Pry Tool<br>- 1 Socket Wrench 8mm or 5/16" (deep)</sub></details>||
+|Subaru|Impreza 2020-22|EyeSight Driver Assistance[<sup>7</sup>](#footnotes)|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|<details><summary>Parts</summary><sub>- 1 RJ45 cable (7 ft)<br>- 1 Subaru A connector<br>- 1 comma power v2<br>- 1 comma three<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Subaru&model=Impreza 2020-22">Buy Here</a></sub></details><details><summary>Tools</summary><sub>- 1 Pry Tool<br>- 1 Socket Wrench 8mm or 5/16" (deep)</sub></details>||
+|Subaru|Legacy 2020-22|All[<sup>7</sup>](#footnotes)|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|<details><summary>Parts</summary><sub>- 1 RJ45 cable (7 ft)<br>- 1 Subaru B connector<br>- 1 comma power v2<br>- 1 comma three<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Subaru&model=Legacy 2020-22">Buy Here</a></sub></details><details><summary>Tools</summary><sub>- 1 Pry Tool<br>- 1 Socket Wrench 8mm or 5/16" (deep)</sub></details>||
+|Subaru|Outback 2020-22|All[<sup>7</sup>](#footnotes)|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|<details><summary>Parts</summary><sub>- 1 RJ45 cable (7 ft)<br>- 1 Subaru B connector<br>- 1 comma power v2<br>- 1 comma three<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Subaru&model=Outback 2020-22">Buy Here</a></sub></details><details><summary>Tools</summary><sub>- 1 Pry Tool<br>- 1 Socket Wrench 8mm or 5/16" (deep)</sub></details>||
+|Subaru|XV 2018-19|EyeSight Driver Assistance[<sup>7</sup>](#footnotes)|Stock|0 mph|0 mph|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|<details><summary>Parts</summary><sub>- 1 RJ45 cable (7 ft)<br>- 1 Subaru A connector<br>- 1 comma power v2<br>- 1 comma three<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Subaru&model=XV 2018-19">Buy Here</a></sub></details><details><summary>Tools</summary><sub>- 1 Pry Tool<br>- 1 Socket Wrench 8mm or 5/16" (deep)</sub></details>|<a href="https://youtu.be/Agww7oE1k-s?t=26" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>|
+|Subaru|XV 2020-21|EyeSight Driver Assistance[<sup>7</sup>](#footnotes)|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|<details><summary>Parts</summary><sub>- 1 RJ45 cable (7 ft)<br>- 1 Subaru A connector<br>- 1 comma power v2<br>- 1 comma three<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Subaru&model=XV 2020-21">Buy Here</a></sub></details><details><summary>Tools</summary><sub>- 1 Pry Tool<br>- 1 Socket Wrench 8mm or 5/16" (deep)</sub></details>||
+|Škoda|Fabia 2022-23[<sup>11</sup>](#footnotes)|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,12</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 J533 connector<br>- 1 USB-C coupler<br>- 1 comma three<br>- 1 harness box<br>- 1 long OBD-C cable<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Škoda&model=Fabia 2022-23">Buy Here</a></sub></details>[<sup>13</sup>](#footnotes)||
+|Škoda|Kamiq 2021[<sup>9,11</sup>](#footnotes)|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,12</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 J533 connector<br>- 1 USB-C coupler<br>- 1 comma three<br>- 1 harness box<br>- 1 long OBD-C cable<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Škoda&model=Kamiq 2021">Buy Here</a></sub></details>[<sup>13</sup>](#footnotes)||
+|Škoda|Karoq 2019-23[<sup>11</sup>](#footnotes)|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,12</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 J533 connector<br>- 1 USB-C coupler<br>- 1 comma three<br>- 1 harness box<br>- 1 long OBD-C cable<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Škoda&model=Karoq 2019-23">Buy Here</a></sub></details>||
+|Škoda|Kodiaq 2017-23[<sup>11</sup>](#footnotes)|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,12</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 J533 connector<br>- 1 USB-C coupler<br>- 1 comma three<br>- 1 harness box<br>- 1 long OBD-C cable<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Škoda&model=Kodiaq 2017-23">Buy Here</a></sub></details>||
+|Škoda|Octavia 2015, 2018-19[<sup>11</sup>](#footnotes)|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,12</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 J533 connector<br>- 1 USB-C coupler<br>- 1 comma three<br>- 1 harness box<br>- 1 long OBD-C cable<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Škoda&model=Octavia 2015, 2018-19">Buy Here</a></sub></details>||
+|Škoda|Octavia RS 2016[<sup>11</sup>](#footnotes)|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,12</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 J533 connector<br>- 1 USB-C coupler<br>- 1 comma three<br>- 1 harness box<br>- 1 long OBD-C cable<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Škoda&model=Octavia RS 2016">Buy Here</a></sub></details>||
+|Škoda|Scala 2020-23[<sup>11</sup>](#footnotes)|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,12</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 J533 connector<br>- 1 USB-C coupler<br>- 1 comma three<br>- 1 harness box<br>- 1 long OBD-C cable<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Škoda&model=Scala 2020-23">Buy Here</a></sub></details>[<sup>13</sup>](#footnotes)||
+|Škoda|Superb 2015-22[<sup>11</sup>](#footnotes)|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,12</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 J533 connector<br>- 1 USB-C coupler<br>- 1 comma three<br>- 1 harness box<br>- 1 long OBD-C cable<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Škoda&model=Superb 2015-22">Buy Here</a></sub></details>||
+|Toyota|Alphard 2019-20|All|openpilot|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 RJ45 cable (7 ft)<br>- 1 Toyota A connector<br>- 1 comma power v2<br>- 1 comma three<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Toyota&model=Alphard 2019-20">Buy Here</a></sub></details>||
+|Toyota|Alphard Hybrid 2021|All|openpilot|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 RJ45 cable (7 ft)<br>- 1 Toyota A connector<br>- 1 comma power v2<br>- 1 comma three<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Toyota&model=Alphard Hybrid 2021">Buy Here</a></sub></details>||
+|Toyota|Avalon 2016|Toyota Safety Sense P|openpilot available[<sup>2</sup>](#footnotes)|19 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|<details><summary>Parts</summary><sub>- 1 RJ45 cable (7 ft)<br>- 1 Toyota A connector<br>- 1 comma power v2<br>- 1 comma three<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Toyota&model=Avalon 2016">Buy Here</a></sub></details>||
+|Toyota|Avalon 2017-18|All|openpilot available[<sup>2</sup>](#footnotes)|19 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|<details><summary>Parts</summary><sub>- 1 RJ45 cable (7 ft)<br>- 1 Toyota A connector<br>- 1 comma power v2<br>- 1 comma three<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Toyota&model=Avalon 2017-18">Buy Here</a></sub></details>||
+|Toyota|Avalon 2019-21|All|openpilot available[<sup>2</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|<details><summary>Parts</summary><sub>- 1 RJ45 cable (7 ft)<br>- 1 Toyota A connector<br>- 1 comma power v2<br>- 1 comma three<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Toyota&model=Avalon 2019-21">Buy Here</a></sub></details>||
+|Toyota|Avalon 2022|All|openpilot|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 RJ45 cable (7 ft)<br>- 1 Toyota A connector<br>- 1 comma power v2<br>- 1 comma three<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Toyota&model=Avalon 2022">Buy Here</a></sub></details>||
+|Toyota|Avalon Hybrid 2019-21|All|openpilot available[<sup>2</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|<details><summary>Parts</summary><sub>- 1 RJ45 cable (7 ft)<br>- 1 Toyota A connector<br>- 1 comma power v2<br>- 1 comma three<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Toyota&model=Avalon Hybrid 2019-21">Buy Here</a></sub></details>||
+|Toyota|Avalon Hybrid 2022|All|openpilot|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 RJ45 cable (7 ft)<br>- 1 Toyota A connector<br>- 1 comma power v2<br>- 1 comma three<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Toyota&model=Avalon Hybrid 2022">Buy Here</a></sub></details>||
+|Toyota|C-HR 2017-20|All|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|<details><summary>Parts</summary><sub>- 1 RJ45 cable (7 ft)<br>- 1 Toyota A connector<br>- 1 comma power v2<br>- 1 comma three<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Toyota&model=C-HR 2017-20">Buy Here</a></sub></details>||
+|Toyota|C-HR 2021|All|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|<details><summary>Parts</summary><sub>- 1 RJ45 cable (7 ft)<br>- 1 Toyota A connector<br>- 1 comma power v2<br>- 1 comma three<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Toyota&model=C-HR 2021">Buy Here</a></sub></details>||
+|Toyota|C-HR Hybrid 2017-20|All|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|<details><summary>Parts</summary><sub>- 1 RJ45 cable (7 ft)<br>- 1 Toyota A connector<br>- 1 comma power v2<br>- 1 comma three<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Toyota&model=C-HR Hybrid 2017-20">Buy Here</a></sub></details>||
+|Toyota|C-HR Hybrid 2021-22|All|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|<details><summary>Parts</summary><sub>- 1 RJ45 cable (7 ft)<br>- 1 Toyota A connector<br>- 1 comma power v2<br>- 1 comma three<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Toyota&model=C-HR Hybrid 2021-22">Buy Here</a></sub></details>||
+|Toyota|Camry 2018-20|All|Stock|0 mph[<sup>8</sup>](#footnotes)|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|<details><summary>Parts</summary><sub>- 1 RJ45 cable (7 ft)<br>- 1 Toyota A connector<br>- 1 comma power v2<br>- 1 comma three<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Toyota&model=Camry 2018-20">Buy Here</a></sub></details>|<a href="https://www.youtube.com/watch?v=fkcjviZY9CM" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>|
+|Toyota|Camry 2021-23|All|openpilot|0 mph[<sup>8</sup>](#footnotes)|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 RJ45 cable (7 ft)<br>- 1 Toyota A connector<br>- 1 comma power v2<br>- 1 comma three<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Toyota&model=Camry 2021-23">Buy Here</a></sub></details>||
+|Toyota|Camry Hybrid 2018-20|All|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|<details><summary>Parts</summary><sub>- 1 RJ45 cable (7 ft)<br>- 1 Toyota A connector<br>- 1 comma power v2<br>- 1 comma three<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Toyota&model=Camry Hybrid 2018-20">Buy Here</a></sub></details>|<a href="https://www.youtube.com/watch?v=Q2DYY0AWKgk" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>|
+|Toyota|Camry Hybrid 2021-23|All|openpilot|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 RJ45 cable (7 ft)<br>- 1 Toyota A connector<br>- 1 comma power v2<br>- 1 comma three<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Toyota&model=Camry Hybrid 2021-23">Buy Here</a></sub></details>||
+|Toyota|Corolla 2017-19|All|openpilot available[<sup>2</sup>](#footnotes)|19 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|<details><summary>Parts</summary><sub>- 1 RJ45 cable (7 ft)<br>- 1 Toyota A connector<br>- 1 comma power v2<br>- 1 comma three<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Toyota&model=Corolla 2017-19">Buy Here</a></sub></details>||
+|Toyota|Corolla 2020-22|All|openpilot|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 RJ45 cable (7 ft)<br>- 1 Toyota A connector<br>- 1 comma power v2<br>- 1 comma three<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Toyota&model=Corolla 2020-22">Buy Here</a></sub></details>|<a href="https://www.youtube.com/watch?v=_66pXk0CBYA" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>|
+|Toyota|Corolla Cross (Non-US only) 2020-23|All|openpilot|17 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 RJ45 cable (7 ft)<br>- 1 Toyota A connector<br>- 1 comma power v2<br>- 1 comma three<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Toyota&model=Corolla Cross (Non-US only) 2020-23">Buy Here</a></sub></details>||
+|Toyota|Corolla Cross Hybrid (Non-US only) 2020-22|All|openpilot|17 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 RJ45 cable (7 ft)<br>- 1 Toyota A connector<br>- 1 comma power v2<br>- 1 comma three<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Toyota&model=Corolla Cross Hybrid (Non-US only) 2020-22">Buy Here</a></sub></details>||
+|Toyota|Corolla Hatchback 2019-22|All|openpilot|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 RJ45 cable (7 ft)<br>- 1 Toyota A connector<br>- 1 comma power v2<br>- 1 comma three<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Toyota&model=Corolla Hatchback 2019-22">Buy Here</a></sub></details>|<a href="https://www.youtube.com/watch?v=_66pXk0CBYA" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>|
+|Toyota|Corolla Hybrid 2020-22|All|openpilot|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 RJ45 cable (7 ft)<br>- 1 Toyota A connector<br>- 1 comma power v2<br>- 1 comma three<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Toyota&model=Corolla Hybrid 2020-22">Buy Here</a></sub></details>||
+|Toyota|Corolla Hybrid (Non-US only) 2020-23|All|openpilot|17 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 RJ45 cable (7 ft)<br>- 1 Toyota A connector<br>- 1 comma power v2<br>- 1 comma three<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Toyota&model=Corolla Hybrid (Non-US only) 2020-23">Buy Here</a></sub></details>||
+|Toyota|Highlander 2017-19|All|openpilot available[<sup>2</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 RJ45 cable (7 ft)<br>- 1 Toyota A connector<br>- 1 comma power v2<br>- 1 comma three<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Toyota&model=Highlander 2017-19">Buy Here</a></sub></details>|<a href="https://www.youtube.com/watch?v=0wS0wXSLzoo" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>|
+|Toyota|Highlander 2020-23|All|openpilot|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 RJ45 cable (7 ft)<br>- 1 Toyota A connector<br>- 1 comma power v2<br>- 1 comma three<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Toyota&model=Highlander 2020-23">Buy Here</a></sub></details>||
+|Toyota|Highlander Hybrid 2017-19|All|openpilot available[<sup>2</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 RJ45 cable (7 ft)<br>- 1 Toyota A connector<br>- 1 comma power v2<br>- 1 comma three<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Toyota&model=Highlander Hybrid 2017-19">Buy Here</a></sub></details>||
+|Toyota|Highlander Hybrid 2020-23|All|openpilot|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 RJ45 cable (7 ft)<br>- 1 Toyota A connector<br>- 1 comma power v2<br>- 1 comma three<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Toyota&model=Highlander Hybrid 2020-23">Buy Here</a></sub></details>||
+|Toyota|Mirai 2021|All|openpilot|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 RJ45 cable (7 ft)<br>- 1 Toyota A connector<br>- 1 comma power v2<br>- 1 comma three<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Toyota&model=Mirai 2021">Buy Here</a></sub></details>||
+|Toyota|Prius 2016|Toyota Safety Sense P|openpilot available[<sup>2</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|<details><summary>Parts</summary><sub>- 1 RJ45 cable (7 ft)<br>- 1 Toyota A connector<br>- 1 comma power v2<br>- 1 comma three<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Toyota&model=Prius 2016">Buy Here</a></sub></details>|<a href="https://www.youtube.com/watch?v=8zopPJI8XQ0" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>|
+|Toyota|Prius 2017-20|All|openpilot available[<sup>2</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|<details><summary>Parts</summary><sub>- 1 RJ45 cable (7 ft)<br>- 1 Toyota A connector<br>- 1 comma power v2<br>- 1 comma three<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Toyota&model=Prius 2017-20">Buy Here</a></sub></details>|<a href="https://www.youtube.com/watch?v=8zopPJI8XQ0" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>|
+|Toyota|Prius 2021-22|All|openpilot|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 RJ45 cable (7 ft)<br>- 1 Toyota A connector<br>- 1 comma power v2<br>- 1 comma three<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Toyota&model=Prius 2021-22">Buy Here</a></sub></details>|<a href="https://www.youtube.com/watch?v=J58TvCpUd4U" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>|
+|Toyota|Prius Prime 2017-20|All|openpilot available[<sup>2</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|<details><summary>Parts</summary><sub>- 1 RJ45 cable (7 ft)<br>- 1 Toyota A connector<br>- 1 comma power v2<br>- 1 comma three<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Toyota&model=Prius Prime 2017-20">Buy Here</a></sub></details>|<a href="https://www.youtube.com/watch?v=8zopPJI8XQ0" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>|
+|Toyota|Prius Prime 2021-22|All|openpilot|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 RJ45 cable (7 ft)<br>- 1 Toyota A connector<br>- 1 comma power v2<br>- 1 comma three<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Toyota&model=Prius Prime 2021-22">Buy Here</a></sub></details>|<a href="https://www.youtube.com/watch?v=J58TvCpUd4U" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>|
+|Toyota|Prius v 2017|Toyota Safety Sense P|openpilot available[<sup>2</sup>](#footnotes)|19 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 RJ45 cable (7 ft)<br>- 1 Toyota A connector<br>- 1 comma power v2<br>- 1 comma three<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Toyota&model=Prius v 2017">Buy Here</a></sub></details>||
+|Toyota|RAV4 2016|Toyota Safety Sense P|openpilot available[<sup>2</sup>](#footnotes)|19 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|<details><summary>Parts</summary><sub>- 1 RJ45 cable (7 ft)<br>- 1 Toyota A connector<br>- 1 comma power v2<br>- 1 comma three<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Toyota&model=RAV4 2016">Buy Here</a></sub></details>||
+|Toyota|RAV4 2017-18|All|openpilot available[<sup>2</sup>](#footnotes)|19 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|<details><summary>Parts</summary><sub>- 1 RJ45 cable (7 ft)<br>- 1 Toyota A connector<br>- 1 comma power v2<br>- 1 comma three<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Toyota&model=RAV4 2017-18">Buy Here</a></sub></details>||
+|Toyota|RAV4 2019-21|All|openpilot|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 RJ45 cable (7 ft)<br>- 1 Toyota A connector<br>- 1 comma power v2<br>- 1 comma three<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Toyota&model=RAV4 2019-21">Buy Here</a></sub></details>|<a href="https://www.youtube.com/watch?v=wJxjDd42gGA" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>|
+|Toyota|RAV4 2022|All|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|<details><summary>Parts</summary><sub>- 1 RJ45 cable (7 ft)<br>- 1 Toyota A connector<br>- 1 comma power v2<br>- 1 comma three<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Toyota&model=RAV4 2022">Buy Here</a></sub></details>||
+|Toyota|RAV4 Hybrid 2016|Toyota Safety Sense P|openpilot available[<sup>2</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 RJ45 cable (7 ft)<br>- 1 Toyota A connector<br>- 1 comma power v2<br>- 1 comma three<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Toyota&model=RAV4 Hybrid 2016">Buy Here</a></sub></details>|<a href="https://youtu.be/LhT5VzJVfNI?t=26" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>|
+|Toyota|RAV4 Hybrid 2017-18|All|openpilot available[<sup>2</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 RJ45 cable (7 ft)<br>- 1 Toyota A connector<br>- 1 comma power v2<br>- 1 comma three<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Toyota&model=RAV4 Hybrid 2017-18">Buy Here</a></sub></details>|<a href="https://youtu.be/LhT5VzJVfNI?t=26" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>|
+|Toyota|RAV4 Hybrid 2019-21|All|openpilot|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 RJ45 cable (7 ft)<br>- 1 Toyota A connector<br>- 1 comma power v2<br>- 1 comma three<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Toyota&model=RAV4 Hybrid 2019-21">Buy Here</a></sub></details>||
+|Toyota|RAV4 Hybrid 2022|All|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|<details><summary>Parts</summary><sub>- 1 RJ45 cable (7 ft)<br>- 1 Toyota A connector<br>- 1 comma power v2<br>- 1 comma three<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Toyota&model=RAV4 Hybrid 2022">Buy Here</a></sub></details>|<a href="https://youtu.be/U0nH9cnrFB0" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>|
+|Toyota|Sienna 2018-20|All|openpilot available[<sup>2</sup>](#footnotes)|19 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 RJ45 cable (7 ft)<br>- 1 Toyota A connector<br>- 1 comma power v2<br>- 1 comma three<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Toyota&model=Sienna 2018-20">Buy Here</a></sub></details>|<a href="https://www.youtube.com/watch?v=q1UPOo4Sh68" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>|
+|Volkswagen|Arteon 2018-23|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,12</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 J533 connector<br>- 1 USB-C coupler<br>- 1 comma three<br>- 1 harness box<br>- 1 long OBD-C cable<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Volkswagen&model=Arteon 2018-23">Buy Here</a></sub></details>|<a href="https://youtu.be/FAomFKPFlDA" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>|
+|Volkswagen|Arteon eHybrid 2020-23|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,12</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 J533 connector<br>- 1 USB-C coupler<br>- 1 comma three<br>- 1 harness box<br>- 1 long OBD-C cable<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Volkswagen&model=Arteon eHybrid 2020-23">Buy Here</a></sub></details>|<a href="https://youtu.be/FAomFKPFlDA" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>|
+|Volkswagen|Arteon R 2020-23|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,12</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 J533 connector<br>- 1 USB-C coupler<br>- 1 comma three<br>- 1 harness box<br>- 1 long OBD-C cable<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Volkswagen&model=Arteon R 2020-23">Buy Here</a></sub></details>|<a href="https://youtu.be/FAomFKPFlDA" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>|
+|Volkswagen|Atlas 2018-23|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,12</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 J533 connector<br>- 1 USB-C coupler<br>- 1 comma three<br>- 1 harness box<br>- 1 long OBD-C cable<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Volkswagen&model=Atlas 2018-23">Buy Here</a></sub></details>||
+|Volkswagen|Atlas Cross Sport 2021-22|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,12</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 J533 connector<br>- 1 USB-C coupler<br>- 1 comma three<br>- 1 harness box<br>- 1 long OBD-C cable<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Volkswagen&model=Atlas Cross Sport 2021-22">Buy Here</a></sub></details>||
+|Volkswagen|California 2021|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,12</sup>](#footnotes)|0 mph|31 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 J533 connector<br>- 1 USB-C coupler<br>- 1 angled mount (8 degrees)<br>- 1 comma three<br>- 1 harness box<br>- 1 long OBD-C cable<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Volkswagen&model=California 2021">Buy Here</a></sub></details>||
+|Volkswagen|Caravelle 2020|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,12</sup>](#footnotes)|0 mph|31 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 J533 connector<br>- 1 USB-C coupler<br>- 1 angled mount (8 degrees)<br>- 1 comma three<br>- 1 harness box<br>- 1 long OBD-C cable<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Volkswagen&model=Caravelle 2020">Buy Here</a></sub></details>||
+|Volkswagen|CC 2018-22|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,12</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 J533 connector<br>- 1 USB-C coupler<br>- 1 comma three<br>- 1 harness box<br>- 1 long OBD-C cable<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Volkswagen&model=CC 2018-22">Buy Here</a></sub></details>|<a href="https://youtu.be/FAomFKPFlDA" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>|
+|Volkswagen|Crafter 2017-23|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,12</sup>](#footnotes)|0 mph|31 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 J533 connector<br>- 1 USB-C coupler<br>- 1 angled mount (8 degrees)<br>- 1 comma three<br>- 1 harness box<br>- 1 long OBD-C cable<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Volkswagen&model=Crafter 2017-23">Buy Here</a></sub></details>|<a href="https://youtu.be/4100gLeabmo" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>|
+|Volkswagen|e-Crafter 2018-23|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,12</sup>](#footnotes)|0 mph|31 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 J533 connector<br>- 1 USB-C coupler<br>- 1 angled mount (8 degrees)<br>- 1 comma three<br>- 1 harness box<br>- 1 long OBD-C cable<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Volkswagen&model=e-Crafter 2018-23">Buy Here</a></sub></details>|<a href="https://youtu.be/4100gLeabmo" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>|
+|Volkswagen|e-Golf 2014-20|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,12</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 J533 connector<br>- 1 USB-C coupler<br>- 1 comma three<br>- 1 harness box<br>- 1 long OBD-C cable<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Volkswagen&model=e-Golf 2014-20">Buy Here</a></sub></details>||
+|Volkswagen|Golf 2015-20|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,12</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|<details><summary>Parts</summary><sub>- 1 J533 connector<br>- 1 USB-C coupler<br>- 1 comma three<br>- 1 harness box<br>- 1 long OBD-C cable<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Volkswagen&model=Golf 2015-20">Buy Here</a></sub></details>||
+|Volkswagen|Golf Alltrack 2015-19|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,12</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|<details><summary>Parts</summary><sub>- 1 J533 connector<br>- 1 USB-C coupler<br>- 1 comma three<br>- 1 harness box<br>- 1 long OBD-C cable<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Volkswagen&model=Golf Alltrack 2015-19">Buy Here</a></sub></details>||
+|Volkswagen|Golf GTD 2015-20|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,12</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 J533 connector<br>- 1 USB-C coupler<br>- 1 comma three<br>- 1 harness box<br>- 1 long OBD-C cable<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Volkswagen&model=Golf GTD 2015-20">Buy Here</a></sub></details>||
+|Volkswagen|Golf GTE 2015-20|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,12</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 J533 connector<br>- 1 USB-C coupler<br>- 1 comma three<br>- 1 harness box<br>- 1 long OBD-C cable<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Volkswagen&model=Golf GTE 2015-20">Buy Here</a></sub></details>||
+|Volkswagen|Golf GTI 2015-21|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,12</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|<details><summary>Parts</summary><sub>- 1 J533 connector<br>- 1 USB-C coupler<br>- 1 comma three<br>- 1 harness box<br>- 1 long OBD-C cable<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Volkswagen&model=Golf GTI 2015-21">Buy Here</a></sub></details>||
+|Volkswagen|Golf R 2015-19|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,12</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 J533 connector<br>- 1 USB-C coupler<br>- 1 comma three<br>- 1 harness box<br>- 1 long OBD-C cable<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Volkswagen&model=Golf R 2015-19">Buy Here</a></sub></details>||
+|Volkswagen|Golf SportsVan 2015-20|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,12</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 J533 connector<br>- 1 USB-C coupler<br>- 1 comma three<br>- 1 harness box<br>- 1 long OBD-C cable<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Volkswagen&model=Golf SportsVan 2015-20">Buy Here</a></sub></details>||
+|Volkswagen|Grand California 2019-23|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,12</sup>](#footnotes)|0 mph|31 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 J533 connector<br>- 1 USB-C coupler<br>- 1 angled mount (8 degrees)<br>- 1 comma three<br>- 1 harness box<br>- 1 long OBD-C cable<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Volkswagen&model=Grand California 2019-23">Buy Here</a></sub></details>|<a href="https://youtu.be/4100gLeabmo" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>|
+|Volkswagen|Jetta 2018-22|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,12</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 J533 connector<br>- 1 USB-C coupler<br>- 1 comma three<br>- 1 harness box<br>- 1 long OBD-C cable<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Volkswagen&model=Jetta 2018-22">Buy Here</a></sub></details>||
+|Volkswagen|Jetta GLI 2021-22|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,12</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 J533 connector<br>- 1 USB-C coupler<br>- 1 comma three<br>- 1 harness box<br>- 1 long OBD-C cable<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Volkswagen&model=Jetta GLI 2021-22">Buy Here</a></sub></details>||
+|Volkswagen|Passat 2015-22[<sup>10</sup>](#footnotes)|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,12</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 J533 connector<br>- 1 USB-C coupler<br>- 1 comma three<br>- 1 harness box<br>- 1 long OBD-C cable<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Volkswagen&model=Passat 2015-22">Buy Here</a></sub></details>||
+|Volkswagen|Passat Alltrack 2015-22|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,12</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 J533 connector<br>- 1 USB-C coupler<br>- 1 comma three<br>- 1 harness box<br>- 1 long OBD-C cable<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Volkswagen&model=Passat Alltrack 2015-22">Buy Here</a></sub></details>||
+|Volkswagen|Passat GTE 2015-22|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,12</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 J533 connector<br>- 1 USB-C coupler<br>- 1 comma three<br>- 1 harness box<br>- 1 long OBD-C cable<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Volkswagen&model=Passat GTE 2015-22">Buy Here</a></sub></details>||
+|Volkswagen|Polo 2018-23|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,12</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 J533 connector<br>- 1 USB-C coupler<br>- 1 comma three<br>- 1 harness box<br>- 1 long OBD-C cable<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Volkswagen&model=Polo 2018-23">Buy Here</a></sub></details>[<sup>13</sup>](#footnotes)||
+|Volkswagen|Polo GTI 2018-23|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,12</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 J533 connector<br>- 1 USB-C coupler<br>- 1 comma three<br>- 1 harness box<br>- 1 long OBD-C cable<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Volkswagen&model=Polo GTI 2018-23">Buy Here</a></sub></details>[<sup>13</sup>](#footnotes)||
+|Volkswagen|T-Cross 2021|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,12</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 J533 connector<br>- 1 USB-C coupler<br>- 1 comma three<br>- 1 harness box<br>- 1 long OBD-C cable<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Volkswagen&model=T-Cross 2021">Buy Here</a></sub></details>[<sup>13</sup>](#footnotes)||
+|Volkswagen|T-Roc 2021|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,12</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 J533 connector<br>- 1 USB-C coupler<br>- 1 comma three<br>- 1 harness box<br>- 1 long OBD-C cable<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Volkswagen&model=T-Roc 2021">Buy Here</a></sub></details>[<sup>13</sup>](#footnotes)||
+|Volkswagen|Taos 2022-23|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,12</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 J533 connector<br>- 1 USB-C coupler<br>- 1 comma three<br>- 1 harness box<br>- 1 long OBD-C cable<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Volkswagen&model=Taos 2022-23">Buy Here</a></sub></details>||
+|Volkswagen|Teramont 2018-22|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,12</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 J533 connector<br>- 1 USB-C coupler<br>- 1 comma three<br>- 1 harness box<br>- 1 long OBD-C cable<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Volkswagen&model=Teramont 2018-22">Buy Here</a></sub></details>||
+|Volkswagen|Teramont Cross Sport 2021-22|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,12</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 J533 connector<br>- 1 USB-C coupler<br>- 1 comma three<br>- 1 harness box<br>- 1 long OBD-C cable<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Volkswagen&model=Teramont Cross Sport 2021-22">Buy Here</a></sub></details>||
+|Volkswagen|Teramont X 2021-22|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,12</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 J533 connector<br>- 1 USB-C coupler<br>- 1 comma three<br>- 1 harness box<br>- 1 long OBD-C cable<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Volkswagen&model=Teramont X 2021-22">Buy Here</a></sub></details>||
+|Volkswagen|Tiguan 2018-23|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,12</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 J533 connector<br>- 1 USB-C coupler<br>- 1 comma three<br>- 1 harness box<br>- 1 long OBD-C cable<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Volkswagen&model=Tiguan 2018-23">Buy Here</a></sub></details>||
+|Volkswagen|Tiguan eHybrid 2021-23|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,12</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 J533 connector<br>- 1 USB-C coupler<br>- 1 comma three<br>- 1 harness box<br>- 1 long OBD-C cable<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Volkswagen&model=Tiguan eHybrid 2021-23">Buy Here</a></sub></details>||
+|Volkswagen|Touran 2016-23|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,12</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 J533 connector<br>- 1 USB-C coupler<br>- 1 comma three<br>- 1 harness box<br>- 1 long OBD-C cable<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Volkswagen&model=Touran 2016-23">Buy Here</a></sub></details>||
 
 ### Footnotes
 <sup>1</sup>Experimental openpilot longitudinal control is available behind a toggle; the toggle is only available in non-release branches such as `devel` or `master-ci`.  <br />
 <sup>2</sup>By default, this car will use the stock Adaptive Cruise Control (ACC) for longitudinal control. If the Driver Support Unit (DSU) is disconnected, openpilot ACC will replace stock ACC. <b><i>NOTE: disconnecting the DSU disables Automatic Emergency Braking (AEB).</i></b> <br />
-<sup>3</sup>Requires a <a href="https://github.com/commaai/openpilot/wiki/GM#hardware" target="_blank">community built ASCM harness</a>. <b><i>NOTE: disconnecting the ASCM disables Automatic Emergency Braking (AEB).</i></b> <br />
-<sup>4</sup>2019 Honda Civic 1.6L Diesel Sedan does not have ALC below 12mph. <br />
-<sup>5</sup>Requires a <a href="https://comma.ai/shop/panda" target="_blank">red panda</a> for this <a href="https://en.wikipedia.org/wiki/CAN_FD" target="_blank">CAN FD car</a>. All the hardware needed is sold in the <a href="https://comma.ai/shop/can-fd-panda-kit" target="_blank">CAN FD kit</a>. <br />
-<sup>6</sup>openpilot operates above 28mph for Camry 4CYL L, 4CYL LE and 4CYL SE which don't have Full-Speed Range Dynamic Radar Cruise Control. <br />
-<sup>7</sup>Not including the China market Kamiq, which is based on the (currently) unsupported PQ34 platform. <br />
-<sup>8</sup>Refers only to the MQB-based European B8 Passat, not the NMS Passat in the USA/China/Mideast markets. <br />
-<sup>9</sup>Only available for vehicles using a gateway (J533) harness. At this time, vehicles using a camera harness are limited to using stock ACC. <br />
-<sup>10</sup>Model-years 2022 and beyond may have a combined CAN gateway and BCM, which is supported by openpilot in software, but doesn't yet have a harness available from the comma store. <br />
+<sup>3</sup>Refers only to the Focus Mk4 (C519) available in Europe/China/Taiwan/Australasia, not the Focus Mk3 (C346) in North and South America/Southeast Asia. <br />
+<sup>4</sup>Requires a <a href="https://github.com/commaai/openpilot/wiki/GM#hardware" target="_blank">community built ASCM harness</a>. <b><i>NOTE: disconnecting the ASCM disables Automatic Emergency Braking (AEB).</i></b> <br />
+<sup>5</sup>2019 Honda Civic 1.6L Diesel Sedan does not have ALC below 12mph. <br />
+<sup>6</sup>Requires a comma 3X or <a href="https://comma.ai/shop/can-fd-panda-kit" target="_blank">CAN FD panda kit</a> for this <a href="https://en.wikipedia.org/wiki/CAN_FD" target="_blank">CAN FD car</a>. <br />
+<sup>7</sup>In the non-US market, openpilot requires the car to come equipped with EyeSight with Lane Keep Assistance. <br />
+<sup>8</sup>openpilot operates above 28mph for Camry 4CYL L, 4CYL LE and 4CYL SE which don't have Full-Speed Range Dynamic Radar Cruise Control. <br />
+<sup>9</sup>Not including the China market Kamiq, which is based on the (currently) unsupported PQ34 platform. <br />
+<sup>10</sup>Refers only to the MQB-based European B8 Passat, not the NMS Passat in the USA/China/Mideast markets. <br />
+<sup>11</sup>Some Škoda vehicles are equipped with heated windshields, which are known to block GPS signal needed for some comma three functionality. <br />
+<sup>12</sup>Only available for vehicles using a gateway (J533) harness. At this time, vehicles using a camera harness are limited to using stock ACC. <br />
+<sup>13</sup>Model-years 2022 and beyond may have a combined CAN gateway and BCM, which is supported by openpilot in software, but doesn't yet have a harness available from the comma store. <br />
 
 ## Community Maintained Cars
 Although they're not upstream, the community has openpilot running on other makes and models. See the 'Community Supported Models' section of each make [on our wiki](https://wiki.comma.ai/).
@@ -307,7 +313,7 @@ All the cars that openpilot supports use a [CAN bus](https://en.wikipedia.org/wi
 ### Toyota Security
 
 openpilot does not yet support these Toyota models due to a new message authentication method.
-[Vote](https://comma.ai/shop/products/vote) if you'd like to see openpilot support on these models.
+[Vote](https://comma.ai/shop#toyota-security) if you'd like to see openpilot support on these models.
 
 * Toyota RAV4 Prime 2021+
 * Toyota Sienna 2021+
diff --git a/docs/SAFETY.md b/docs/SAFETY.md
index 49f88df8c0..4b568728a7 100644
--- a/docs/SAFETY.md
+++ b/docs/SAFETY.md
@@ -25,9 +25,12 @@ ensuring two main safety requirements.
    by stepping on the brake pedal or by pressing the cancel button.
 2. The vehicle must not alter its trajectory too quickly for the driver to safely
    react. This means that while the system is engaged, the actuators are constrained
-   to operate within reasonable limits.
+   to operate within reasonable limits[^1]. 
 
 For additional safety implementation details, refer to [panda safety model](https://github.com/commaai/panda#safety-model). For vehicle specific implementation of the safety concept, refer to [panda/board/safety/](https://github.com/commaai/panda/tree/master/board/safety).
 
 **Extra note**: comma.ai strongly discourages the use of openpilot forks with safety code either missing or
   not fully meeting the above requirements.
+
+[^1]: For these actuator limits we observe ISO11270 and ISO15622. Lateral limits described there translate to 0.9 seconds of maximum actuation to achieve a 1m lateral deviation. 
+
diff --git a/docs/conf.py b/docs/conf.py
index fea921de1f..345d27f6ad 100644
--- a/docs/conf.py
+++ b/docs/conf.py
@@ -29,7 +29,7 @@ VERSION = get_version()
 # -- Project information -----------------------------------------------------
 
 project = 'openpilot docs'
-copyright = '2021, comma.ai'
+copyright = '2021, comma.ai' # noqa: A001
 author = 'comma.ai'
 version = VERSION
 release = VERSION
diff --git a/laika_repo b/laika_repo
index e932f32ab9..ef21c612f4 160000
--- a/laika_repo
+++ b/laika_repo
@@ -1 +1 @@
-Subproject commit e932f32ab921ed09ba6e304990574693d8ca5199
+Subproject commit ef21c612f4b0d68c790b4b1a6d637cd5fce7732e
diff --git a/launch_chffrplus.sh b/launch_chffrplus.sh
index a91bd677aa..9fe9b1bd15 100755
--- a/launch_chffrplus.sh
+++ b/launch_chffrplus.sh
@@ -9,6 +9,11 @@ source "$BASEDIR/launch_env.sh"
 DIR="$( cd "$( dirname "${BASH_SOURCE[0]}" )" >/dev/null && pwd )"
 
 function agnos_init {
+  # wait longer for weston to come up
+  if [ -f "$BASEDIR/prebuilt" ]; then
+    sleep 3
+  fi
+
   # TODO: move this to agnos
   sudo rm -f /data/etc/NetworkManager/system-connections/*.nmmeta
 
diff --git a/launch_env.sh b/launch_env.sh
index c1ecbe3b31..d07fbe33de 100755
--- a/launch_env.sh
+++ b/launch_env.sh
@@ -7,7 +7,7 @@ export OPENBLAS_NUM_THREADS=1
 export VECLIB_MAXIMUM_THREADS=1
 
 if [ -z "$AGNOS_VERSION" ]; then
-  export AGNOS_VERSION="7.1"
+  export AGNOS_VERSION="8.2"
 fi
 
 if [ -z "$PASSIVE" ]; then
diff --git a/mypy.ini b/mypy.ini
index 9b6d00d2c4..74d0ac2175 100644
--- a/mypy.ini
+++ b/mypy.ini
@@ -1,5 +1,5 @@
 [mypy]
-python_version = 3.8
+python_version = 3.11
 plugins = numpy.typing.mypy_plugin
 files = body, common, docs, scripts, selfdrive, site_scons, system, tools
 exclude = ^(cereal/)|(opendbc/)|(panda/)|(laika/)|(laika_repo/)|(rednose/)|(rednose_repo/)|(tinygrad/)|(tinygrad_repo/)|(xx/)
diff --git a/opendbc b/opendbc
index 9e476918cf..7aa2abfb58 160000
--- a/opendbc
+++ b/opendbc
@@ -1 +1 @@
-Subproject commit 9e476918cffe414a686c6f8d655598f95c0ee2e3
+Subproject commit 7aa2abfb58424a14d0e9062cd6a4875cd82a2c25
diff --git a/panda b/panda
index aa19221d99..351148e86e 160000
--- a/panda
+++ b/panda
@@ -1 +1 @@
-Subproject commit aa19221d991eadfe840a4d78e0150b698ac169ee
+Subproject commit 351148e86e8969b853a79da305eb4682cfea1ab6
diff --git a/poetry.lock b/poetry.lock
index 91eb7e42e0..3ce2cd0ec2 100644
--- a/poetry.lock
+++ b/poetry.lock
@@ -1,10 +1,15 @@
+# This file is automatically @generated by Poetry 1.5.1 and should not be changed by hand.
+
 [[package]]
 name = "adal"
 version = "1.2.7"
 description = "Note: This library is already replaced by MSAL Python, available here: https://pypi.org/project/msal/ .ADAL Python remains available here as a legacy. The ADAL for Python library makes it easy for python application to authenticate to Azure Active Directory (AAD) in order to access AAD protected web resources."
-category = "dev"
 optional = false
 python-versions = "*"
+files = [
+    {file = "adal-1.2.7-py2.py3-none-any.whl", hash = "sha256:2a7451ed7441ddbc57703042204a3e30ef747478eea022c70f789fc7f084bc3d"},
+    {file = "adal-1.2.7.tar.gz", hash = "sha256:d74f45b81317454d96e982fd1c50e6fb5c99ac2223728aea8764433a39f566f1"},
+]
 
 [package.dependencies]
 cryptography = ">=1.1.0"
@@ -14,25 +19,117 @@ requests = ">=2.0.0,<3"
 
 [[package]]
 name = "aenum"
-version = "3.1.11"
+version = "3.1.15"
 description = "Advanced Enumerations (compatible with Python's stdlib Enum), NamedTuples, and NamedConstants"
-category = "dev"
 optional = false
 python-versions = "*"
+files = [
+    {file = "aenum-3.1.15-py2-none-any.whl", hash = "sha256:27b1710b9d084de6e2e695dab78fe9f269de924b51ae2850170ee7e1ca6288a5"},
+    {file = "aenum-3.1.15-py3-none-any.whl", hash = "sha256:e0dfaeea4c2bd362144b87377e2c61d91958c5ed0b4daf89cb6f45ae23af6288"},
+    {file = "aenum-3.1.15.tar.gz", hash = "sha256:8cbd76cd18c4f870ff39b24284d3ea028fbe8731a58df3aa581e434c575b9559"},
+]
 
 [[package]]
 name = "aiohttp"
-version = "3.8.3"
+version = "3.8.5"
 description = "Async http client/server framework (asyncio)"
-category = "dev"
 optional = false
 python-versions = ">=3.6"
+files = [
+    {file = "aiohttp-3.8.5-cp310-cp310-macosx_10_9_universal2.whl", hash = "sha256:a94159871304770da4dd371f4291b20cac04e8c94f11bdea1c3478e557fbe0d8"},
+    {file = "aiohttp-3.8.5-cp310-cp310-macosx_10_9_x86_64.whl", hash = "sha256:13bf85afc99ce6f9ee3567b04501f18f9f8dbbb2ea11ed1a2e079670403a7c84"},
+    {file = "aiohttp-3.8.5-cp310-cp310-macosx_11_0_arm64.whl", hash = "sha256:2ce2ac5708501afc4847221a521f7e4b245abf5178cf5ddae9d5b3856ddb2f3a"},
+    {file = "aiohttp-3.8.5-cp310-cp310-manylinux_2_17_aarch64.manylinux2014_aarch64.whl", hash = "sha256:96943e5dcc37a6529d18766597c491798b7eb7a61d48878611298afc1fca946c"},
+    {file = "aiohttp-3.8.5-cp310-cp310-manylinux_2_17_ppc64le.manylinux2014_ppc64le.whl", hash = "sha256:2ad5c3c4590bb3cc28b4382f031f3783f25ec223557124c68754a2231d989e2b"},
+    {file = "aiohttp-3.8.5-cp310-cp310-manylinux_2_17_s390x.manylinux2014_s390x.whl", hash = "sha256:0c413c633d0512df4dc7fd2373ec06cc6a815b7b6d6c2f208ada7e9e93a5061d"},
+    {file = "aiohttp-3.8.5-cp310-cp310-manylinux_2_17_x86_64.manylinux2014_x86_64.whl", hash = "sha256:df72ac063b97837a80d80dec8d54c241af059cc9bb42c4de68bd5b61ceb37caa"},
+    {file = "aiohttp-3.8.5-cp310-cp310-manylinux_2_5_i686.manylinux1_i686.manylinux_2_17_i686.manylinux2014_i686.whl", hash = "sha256:c48c5c0271149cfe467c0ff8eb941279fd6e3f65c9a388c984e0e6cf57538e14"},
+    {file = "aiohttp-3.8.5-cp310-cp310-musllinux_1_1_aarch64.whl", hash = "sha256:368a42363c4d70ab52c2c6420a57f190ed3dfaca6a1b19afda8165ee16416a82"},
+    {file = "aiohttp-3.8.5-cp310-cp310-musllinux_1_1_i686.whl", hash = "sha256:7607ec3ce4993464368505888af5beb446845a014bc676d349efec0e05085905"},
+    {file = "aiohttp-3.8.5-cp310-cp310-musllinux_1_1_ppc64le.whl", hash = "sha256:0d21c684808288a98914e5aaf2a7c6a3179d4df11d249799c32d1808e79503b5"},
+    {file = "aiohttp-3.8.5-cp310-cp310-musllinux_1_1_s390x.whl", hash = "sha256:312fcfbacc7880a8da0ae8b6abc6cc7d752e9caa0051a53d217a650b25e9a691"},
+    {file = "aiohttp-3.8.5-cp310-cp310-musllinux_1_1_x86_64.whl", hash = "sha256:ad093e823df03bb3fd37e7dec9d4670c34f9e24aeace76808fc20a507cace825"},
+    {file = "aiohttp-3.8.5-cp310-cp310-win32.whl", hash = "sha256:33279701c04351a2914e1100b62b2a7fdb9a25995c4a104259f9a5ead7ed4802"},
+    {file = "aiohttp-3.8.5-cp310-cp310-win_amd64.whl", hash = "sha256:6e4a280e4b975a2e7745573e3fc9c9ba0d1194a3738ce1cbaa80626cc9b4f4df"},
+    {file = "aiohttp-3.8.5-cp311-cp311-macosx_10_9_universal2.whl", hash = "sha256:ae871a964e1987a943d83d6709d20ec6103ca1eaf52f7e0d36ee1b5bebb8b9b9"},
+    {file = "aiohttp-3.8.5-cp311-cp311-macosx_10_9_x86_64.whl", hash = "sha256:461908b2578955045efde733719d62f2b649c404189a09a632d245b445c9c975"},
+    {file = "aiohttp-3.8.5-cp311-cp311-macosx_11_0_arm64.whl", hash = "sha256:72a860c215e26192379f57cae5ab12b168b75db8271f111019509a1196dfc780"},
+    {file = "aiohttp-3.8.5-cp311-cp311-manylinux_2_17_aarch64.manylinux2014_aarch64.whl", hash = "sha256:cc14be025665dba6202b6a71cfcdb53210cc498e50068bc088076624471f8bb9"},
+    {file = "aiohttp-3.8.5-cp311-cp311-manylinux_2_17_ppc64le.manylinux2014_ppc64le.whl", hash = "sha256:8af740fc2711ad85f1a5c034a435782fbd5b5f8314c9a3ef071424a8158d7f6b"},
+    {file = "aiohttp-3.8.5-cp311-cp311-manylinux_2_17_s390x.manylinux2014_s390x.whl", hash = "sha256:841cd8233cbd2111a0ef0a522ce016357c5e3aff8a8ce92bcfa14cef890d698f"},
+    {file = "aiohttp-3.8.5-cp311-cp311-manylinux_2_17_x86_64.manylinux2014_x86_64.whl", hash = "sha256:5ed1c46fb119f1b59304b5ec89f834f07124cd23ae5b74288e364477641060ff"},
+    {file = "aiohttp-3.8.5-cp311-cp311-manylinux_2_5_i686.manylinux1_i686.manylinux_2_17_i686.manylinux2014_i686.whl", hash = "sha256:84f8ae3e09a34f35c18fa57f015cc394bd1389bce02503fb30c394d04ee6b938"},
+    {file = "aiohttp-3.8.5-cp311-cp311-musllinux_1_1_aarch64.whl", hash = "sha256:62360cb771707cb70a6fd114b9871d20d7dd2163a0feafe43fd115cfe4fe845e"},
+    {file = "aiohttp-3.8.5-cp311-cp311-musllinux_1_1_i686.whl", hash = "sha256:23fb25a9f0a1ca1f24c0a371523546366bb642397c94ab45ad3aedf2941cec6a"},
+    {file = "aiohttp-3.8.5-cp311-cp311-musllinux_1_1_ppc64le.whl", hash = "sha256:b0ba0d15164eae3d878260d4c4df859bbdc6466e9e6689c344a13334f988bb53"},
+    {file = "aiohttp-3.8.5-cp311-cp311-musllinux_1_1_s390x.whl", hash = "sha256:5d20003b635fc6ae3f96d7260281dfaf1894fc3aa24d1888a9b2628e97c241e5"},
+    {file = "aiohttp-3.8.5-cp311-cp311-musllinux_1_1_x86_64.whl", hash = "sha256:0175d745d9e85c40dcc51c8f88c74bfbaef9e7afeeeb9d03c37977270303064c"},
+    {file = "aiohttp-3.8.5-cp311-cp311-win32.whl", hash = "sha256:2e1b1e51b0774408f091d268648e3d57f7260c1682e7d3a63cb00d22d71bb945"},
+    {file = "aiohttp-3.8.5-cp311-cp311-win_amd64.whl", hash = "sha256:043d2299f6dfdc92f0ac5e995dfc56668e1587cea7f9aa9d8a78a1b6554e5755"},
+    {file = "aiohttp-3.8.5-cp36-cp36m-macosx_10_9_x86_64.whl", hash = "sha256:cae533195e8122584ec87531d6df000ad07737eaa3c81209e85c928854d2195c"},
+    {file = "aiohttp-3.8.5-cp36-cp36m-manylinux_2_17_aarch64.manylinux2014_aarch64.whl", hash = "sha256:4f21e83f355643c345177a5d1d8079f9f28b5133bcd154193b799d380331d5d3"},
+    {file = "aiohttp-3.8.5-cp36-cp36m-manylinux_2_17_ppc64le.manylinux2014_ppc64le.whl", hash = "sha256:a7a75ef35f2df54ad55dbf4b73fe1da96f370e51b10c91f08b19603c64004acc"},
+    {file = "aiohttp-3.8.5-cp36-cp36m-manylinux_2_17_s390x.manylinux2014_s390x.whl", hash = "sha256:2e2e9839e14dd5308ee773c97115f1e0a1cb1d75cbeeee9f33824fa5144c7634"},
+    {file = "aiohttp-3.8.5-cp36-cp36m-manylinux_2_17_x86_64.manylinux2014_x86_64.whl", hash = "sha256:c44e65da1de4403d0576473e2344828ef9c4c6244d65cf4b75549bb46d40b8dd"},
+    {file = "aiohttp-3.8.5-cp36-cp36m-manylinux_2_5_i686.manylinux1_i686.manylinux_2_17_i686.manylinux2014_i686.whl", hash = "sha256:78d847e4cde6ecc19125ccbc9bfac4a7ab37c234dd88fbb3c5c524e8e14da543"},
+    {file = "aiohttp-3.8.5-cp36-cp36m-musllinux_1_1_aarch64.whl", hash = "sha256:c7a815258e5895d8900aec4454f38dca9aed71085f227537208057853f9d13f2"},
+    {file = "aiohttp-3.8.5-cp36-cp36m-musllinux_1_1_i686.whl", hash = "sha256:8b929b9bd7cd7c3939f8bcfffa92fae7480bd1aa425279d51a89327d600c704d"},
+    {file = "aiohttp-3.8.5-cp36-cp36m-musllinux_1_1_ppc64le.whl", hash = "sha256:5db3a5b833764280ed7618393832e0853e40f3d3e9aa128ac0ba0f8278d08649"},
+    {file = "aiohttp-3.8.5-cp36-cp36m-musllinux_1_1_s390x.whl", hash = "sha256:a0215ce6041d501f3155dc219712bc41252d0ab76474615b9700d63d4d9292af"},
+    {file = "aiohttp-3.8.5-cp36-cp36m-musllinux_1_1_x86_64.whl", hash = "sha256:fd1ed388ea7fbed22c4968dd64bab0198de60750a25fe8c0c9d4bef5abe13824"},
+    {file = "aiohttp-3.8.5-cp36-cp36m-win32.whl", hash = "sha256:6e6783bcc45f397fdebc118d772103d751b54cddf5b60fbcc958382d7dd64f3e"},
+    {file = "aiohttp-3.8.5-cp36-cp36m-win_amd64.whl", hash = "sha256:b5411d82cddd212644cf9360879eb5080f0d5f7d809d03262c50dad02f01421a"},
+    {file = "aiohttp-3.8.5-cp37-cp37m-macosx_10_9_x86_64.whl", hash = "sha256:01d4c0c874aa4ddfb8098e85d10b5e875a70adc63db91f1ae65a4b04d3344cda"},
+    {file = "aiohttp-3.8.5-cp37-cp37m-manylinux_2_17_aarch64.manylinux2014_aarch64.whl", hash = "sha256:e5980a746d547a6ba173fd5ee85ce9077e72d118758db05d229044b469d9029a"},
+    {file = "aiohttp-3.8.5-cp37-cp37m-manylinux_2_17_ppc64le.manylinux2014_ppc64le.whl", hash = "sha256:2a482e6da906d5e6e653be079b29bc173a48e381600161c9932d89dfae5942ef"},
+    {file = "aiohttp-3.8.5-cp37-cp37m-manylinux_2_17_s390x.manylinux2014_s390x.whl", hash = "sha256:80bd372b8d0715c66c974cf57fe363621a02f359f1ec81cba97366948c7fc873"},
+    {file = "aiohttp-3.8.5-cp37-cp37m-manylinux_2_17_x86_64.manylinux2014_x86_64.whl", hash = "sha256:c1161b345c0a444ebcf46bf0a740ba5dcf50612fd3d0528883fdc0eff578006a"},
+    {file = "aiohttp-3.8.5-cp37-cp37m-manylinux_2_5_i686.manylinux1_i686.manylinux_2_17_i686.manylinux2014_i686.whl", hash = "sha256:cd56db019015b6acfaaf92e1ac40eb8434847d9bf88b4be4efe5bfd260aee692"},
+    {file = "aiohttp-3.8.5-cp37-cp37m-musllinux_1_1_aarch64.whl", hash = "sha256:153c2549f6c004d2754cc60603d4668899c9895b8a89397444a9c4efa282aaf4"},
+    {file = "aiohttp-3.8.5-cp37-cp37m-musllinux_1_1_i686.whl", hash = "sha256:4a01951fabc4ce26ab791da5f3f24dca6d9a6f24121746eb19756416ff2d881b"},
+    {file = "aiohttp-3.8.5-cp37-cp37m-musllinux_1_1_ppc64le.whl", hash = "sha256:bfb9162dcf01f615462b995a516ba03e769de0789de1cadc0f916265c257e5d8"},
+    {file = "aiohttp-3.8.5-cp37-cp37m-musllinux_1_1_s390x.whl", hash = "sha256:7dde0009408969a43b04c16cbbe252c4f5ef4574ac226bc8815cd7342d2028b6"},
+    {file = "aiohttp-3.8.5-cp37-cp37m-musllinux_1_1_x86_64.whl", hash = "sha256:4149d34c32f9638f38f544b3977a4c24052042affa895352d3636fa8bffd030a"},
+    {file = "aiohttp-3.8.5-cp37-cp37m-win32.whl", hash = "sha256:68c5a82c8779bdfc6367c967a4a1b2aa52cd3595388bf5961a62158ee8a59e22"},
+    {file = "aiohttp-3.8.5-cp37-cp37m-win_amd64.whl", hash = "sha256:2cf57fb50be5f52bda004b8893e63b48530ed9f0d6c96c84620dc92fe3cd9b9d"},
+    {file = "aiohttp-3.8.5-cp38-cp38-macosx_10_9_universal2.whl", hash = "sha256:eca4bf3734c541dc4f374ad6010a68ff6c6748f00451707f39857f429ca36ced"},
+    {file = "aiohttp-3.8.5-cp38-cp38-macosx_10_9_x86_64.whl", hash = "sha256:1274477e4c71ce8cfe6c1ec2f806d57c015ebf84d83373676036e256bc55d690"},
+    {file = "aiohttp-3.8.5-cp38-cp38-macosx_11_0_arm64.whl", hash = "sha256:28c543e54710d6158fc6f439296c7865b29e0b616629767e685a7185fab4a6b9"},
+    {file = "aiohttp-3.8.5-cp38-cp38-manylinux_2_17_aarch64.manylinux2014_aarch64.whl", hash = "sha256:910bec0c49637d213f5d9877105d26e0c4a4de2f8b1b29405ff37e9fc0ad52b8"},
+    {file = "aiohttp-3.8.5-cp38-cp38-manylinux_2_17_ppc64le.manylinux2014_ppc64le.whl", hash = "sha256:5443910d662db951b2e58eb70b0fbe6b6e2ae613477129a5805d0b66c54b6cb7"},
+    {file = "aiohttp-3.8.5-cp38-cp38-manylinux_2_17_s390x.manylinux2014_s390x.whl", hash = "sha256:2e460be6978fc24e3df83193dc0cc4de46c9909ed92dd47d349a452ef49325b7"},
+    {file = "aiohttp-3.8.5-cp38-cp38-manylinux_2_17_x86_64.manylinux2014_x86_64.whl", hash = "sha256:fb1558def481d84f03b45888473fc5a1f35747b5f334ef4e7a571bc0dfcb11f8"},
+    {file = "aiohttp-3.8.5-cp38-cp38-manylinux_2_5_i686.manylinux1_i686.manylinux_2_17_i686.manylinux2014_i686.whl", hash = "sha256:34dd0c107799dcbbf7d48b53be761a013c0adf5571bf50c4ecad5643fe9cfcd0"},
+    {file = "aiohttp-3.8.5-cp38-cp38-musllinux_1_1_aarch64.whl", hash = "sha256:aa1990247f02a54185dc0dff92a6904521172a22664c863a03ff64c42f9b5410"},
+    {file = "aiohttp-3.8.5-cp38-cp38-musllinux_1_1_i686.whl", hash = "sha256:0e584a10f204a617d71d359fe383406305a4b595b333721fa50b867b4a0a1548"},
+    {file = "aiohttp-3.8.5-cp38-cp38-musllinux_1_1_ppc64le.whl", hash = "sha256:a3cf433f127efa43fee6b90ea4c6edf6c4a17109d1d037d1a52abec84d8f2e42"},
+    {file = "aiohttp-3.8.5-cp38-cp38-musllinux_1_1_s390x.whl", hash = "sha256:c11f5b099adafb18e65c2c997d57108b5bbeaa9eeee64a84302c0978b1ec948b"},
+    {file = "aiohttp-3.8.5-cp38-cp38-musllinux_1_1_x86_64.whl", hash = "sha256:84de26ddf621d7ac4c975dbea4c945860e08cccde492269db4e1538a6a6f3c35"},
+    {file = "aiohttp-3.8.5-cp38-cp38-win32.whl", hash = "sha256:ab88bafedc57dd0aab55fa728ea10c1911f7e4d8b43e1d838a1739f33712921c"},
+    {file = "aiohttp-3.8.5-cp38-cp38-win_amd64.whl", hash = "sha256:5798a9aad1879f626589f3df0f8b79b3608a92e9beab10e5fda02c8a2c60db2e"},
+    {file = "aiohttp-3.8.5-cp39-cp39-macosx_10_9_universal2.whl", hash = "sha256:a6ce61195c6a19c785df04e71a4537e29eaa2c50fe745b732aa937c0c77169f3"},
+    {file = "aiohttp-3.8.5-cp39-cp39-macosx_10_9_x86_64.whl", hash = "sha256:773dd01706d4db536335fcfae6ea2440a70ceb03dd3e7378f3e815b03c97ab51"},
+    {file = "aiohttp-3.8.5-cp39-cp39-macosx_11_0_arm64.whl", hash = "sha256:f83a552443a526ea38d064588613aca983d0ee0038801bc93c0c916428310c28"},
+    {file = "aiohttp-3.8.5-cp39-cp39-manylinux_2_17_aarch64.manylinux2014_aarch64.whl", hash = "sha256:1f7372f7341fcc16f57b2caded43e81ddd18df53320b6f9f042acad41f8e049a"},
+    {file = "aiohttp-3.8.5-cp39-cp39-manylinux_2_17_ppc64le.manylinux2014_ppc64le.whl", hash = "sha256:ea353162f249c8097ea63c2169dd1aa55de1e8fecbe63412a9bc50816e87b761"},
+    {file = "aiohttp-3.8.5-cp39-cp39-manylinux_2_17_s390x.manylinux2014_s390x.whl", hash = "sha256:e5d47ae48db0b2dcf70bc8a3bc72b3de86e2a590fc299fdbbb15af320d2659de"},
+    {file = "aiohttp-3.8.5-cp39-cp39-manylinux_2_17_x86_64.manylinux2014_x86_64.whl", hash = "sha256:d827176898a2b0b09694fbd1088c7a31836d1a505c243811c87ae53a3f6273c1"},
+    {file = "aiohttp-3.8.5-cp39-cp39-manylinux_2_5_i686.manylinux1_i686.manylinux_2_17_i686.manylinux2014_i686.whl", hash = "sha256:3562b06567c06439d8b447037bb655ef69786c590b1de86c7ab81efe1c9c15d8"},
+    {file = "aiohttp-3.8.5-cp39-cp39-musllinux_1_1_aarch64.whl", hash = "sha256:4e874cbf8caf8959d2adf572a78bba17cb0e9d7e51bb83d86a3697b686a0ab4d"},
+    {file = "aiohttp-3.8.5-cp39-cp39-musllinux_1_1_i686.whl", hash = "sha256:6809a00deaf3810e38c628e9a33271892f815b853605a936e2e9e5129762356c"},
+    {file = "aiohttp-3.8.5-cp39-cp39-musllinux_1_1_ppc64le.whl", hash = "sha256:33776e945d89b29251b33a7e7d006ce86447b2cfd66db5e5ded4e5cd0340585c"},
+    {file = "aiohttp-3.8.5-cp39-cp39-musllinux_1_1_s390x.whl", hash = "sha256:eaeed7abfb5d64c539e2db173f63631455f1196c37d9d8d873fc316470dfbacd"},
+    {file = "aiohttp-3.8.5-cp39-cp39-musllinux_1_1_x86_64.whl", hash = "sha256:e91d635961bec2d8f19dfeb41a539eb94bd073f075ca6dae6c8dc0ee89ad6f91"},
+    {file = "aiohttp-3.8.5-cp39-cp39-win32.whl", hash = "sha256:00ad4b6f185ec67f3e6562e8a1d2b69660be43070bd0ef6fcec5211154c7df67"},
+    {file = "aiohttp-3.8.5-cp39-cp39-win_amd64.whl", hash = "sha256:c0a9034379a37ae42dea7ac1e048352d96286626251862e448933c0f59cbd79c"},
+    {file = "aiohttp-3.8.5.tar.gz", hash = "sha256:b9552ec52cc147dbf1944ac7ac98af7602e51ea2dcd076ed194ca3c0d1c7d0bc"},
+]
 
 [package.dependencies]
 aiosignal = ">=1.1.2"
 async-timeout = ">=4.0.0a3,<5.0"
 attrs = ">=17.3.0"
-charset-normalizer = ">=2.0,<3.0"
+charset-normalizer = ">=2.0,<4.0"
 frozenlist = ">=1.1.1"
 multidict = ">=4.5,<7.0"
 yarl = ">=1.0,<2.0"
@@ -41,31 +138,127 @@ yarl = ">=1.0,<2.0"
 speedups = ["Brotli", "aiodns", "cchardet"]
 
 [[package]]
-name = "aiosignal"
-version = "1.2.0"
-description = "aiosignal: a list of registered asynchronous callbacks"
-category = "dev"
+name = "aioice"
+version = "0.9.0"
+description = "An implementation of Interactive Connectivity Establishment (RFC 5245)"
 optional = false
-python-versions = ">=3.6"
+python-versions = ">=3.7"
+files = [
+    {file = "aioice-0.9.0-py3-none-any.whl", hash = "sha256:b609597a3a5a611e0004ff04772e16aceb881d51c25c0afc4ceac05d5e50024e"},
+    {file = "aioice-0.9.0.tar.gz", hash = "sha256:fc2401b1c4b6e19372eaaeaa28fd1bd9cbf6b0e412e48625297c53b495eebd1e"},
+]
+
+[package.dependencies]
+dnspython = ">=2.0.0"
+ifaddr = ">=0.2.0"
+
+[[package]]
+name = "aiortc"
+version = "1.5.0"
+description = "An implementation of WebRTC and ORTC"
+optional = false
+python-versions = ">=3.7"
+files = [
+    {file = "aiortc-1.5.0-cp310-cp310-macosx_10_9_x86_64.whl", hash = "sha256:d1d3f2d6cc22fae5ea57b0371895b7830e878b9e3705fd3742b3453cdfa0fd51"},
+    {file = "aiortc-1.5.0-cp310-cp310-macosx_11_0_arm64.whl", hash = "sha256:2eaf758b5e0bb16f22a9aeb8ab88eb947345f47e2e46cfca18b2815d44726c4e"},
+    {file = "aiortc-1.5.0-cp310-cp310-manylinux_2_17_aarch64.manylinux2014_aarch64.whl", hash = "sha256:ee76f6b30d7f39442ba7ac25d58114f077ead1460c5632d0c9e18179d01ad419"},
+    {file = "aiortc-1.5.0-cp310-cp310-manylinux_2_17_x86_64.manylinux2014_x86_64.whl", hash = "sha256:4a766052d93474e9bf4186465298b7c8fb9af062ef7f83ba33f191baa79dac1e"},
+    {file = "aiortc-1.5.0-cp310-cp310-manylinux_2_5_i686.manylinux1_i686.manylinux_2_17_i686.manylinux2014_i686.whl", hash = "sha256:fec292636978ed50728f1ce9b7a9f0d7d2e38bd0b920bb53e091e5728b79e231"},
+    {file = "aiortc-1.5.0-cp310-cp310-win32.whl", hash = "sha256:27e879b73377d4b94bd86e4c3e8cd8913905fdca1de90a9a4efb0d9d3779dbf4"},
+    {file = "aiortc-1.5.0-cp310-cp310-win_amd64.whl", hash = "sha256:a720d0dd53553f6dfc28a53bee2ffce4f13283b4cbbc7db548000054cc63a4f9"},
+    {file = "aiortc-1.5.0-cp311-cp311-macosx_10_9_x86_64.whl", hash = "sha256:a5e8cbfce84badd9a8355819343570bbec1e4eef725996cad6aebe4cc3d03ae8"},
+    {file = "aiortc-1.5.0-cp311-cp311-macosx_11_0_arm64.whl", hash = "sha256:7931512dbb2ff91fb78f5512ad9ca96546452d7bb627f61bd7393bf59ee48ad3"},
+    {file = "aiortc-1.5.0-cp311-cp311-manylinux_2_17_aarch64.manylinux2014_aarch64.whl", hash = "sha256:a6abeb857a98014fc97265891ebf4fd989987d2ee091e0844e3c8fc543b6e2f0"},
+    {file = "aiortc-1.5.0-cp311-cp311-manylinux_2_17_x86_64.manylinux2014_x86_64.whl", hash = "sha256:dead42dc3a31570fb6f5b94f9be9c78e28b1dc045f71489858116840f299862e"},
+    {file = "aiortc-1.5.0-cp311-cp311-manylinux_2_5_i686.manylinux1_i686.manylinux_2_17_i686.manylinux2014_i686.whl", hash = "sha256:3a1a8081ba6d7cabc5896d10462cb50f6db7a8ccf34e6aa3e6c4a0d2d5bc5db5"},
+    {file = "aiortc-1.5.0-cp311-cp311-win32.whl", hash = "sha256:cbd5d35bd34b22b8f711c708d266889c973c0dcb38da14a2a9f757266987a181"},
+    {file = "aiortc-1.5.0-cp311-cp311-win_amd64.whl", hash = "sha256:6749145e3d527ac98c80837d72fd832b0c403eded3546aeb7cec6f25592b4d5e"},
+    {file = "aiortc-1.5.0-cp37-cp37m-macosx_10_9_x86_64.whl", hash = "sha256:50e8e8903cf55f6f2cda9b61c115fca8e444d48f299cdd071980a3b5cec594fa"},
+    {file = "aiortc-1.5.0-cp37-cp37m-manylinux_2_17_aarch64.manylinux2014_aarch64.whl", hash = "sha256:15218a1b81f4fa1521f3b839eefdce638b34c46306e8eaf069cee7283fe8c838"},
+    {file = "aiortc-1.5.0-cp37-cp37m-manylinux_2_17_x86_64.manylinux2014_x86_64.whl", hash = "sha256:25bca7c7bbd3619296b5737a810dd0e2fc7f6264e767fca10e65a709a443bf39"},
+    {file = "aiortc-1.5.0-cp37-cp37m-manylinux_2_5_i686.manylinux1_i686.manylinux_2_17_i686.manylinux2014_i686.whl", hash = "sha256:8f1d88ae0f8b3047a279e4da06f09a35777cfbe0a9177ca8b053865a98a67912"},
+    {file = "aiortc-1.5.0-cp37-cp37m-win32.whl", hash = "sha256:f86b68b182537022d4ada49a7723c7a56f39372d6fbc31a29f57315d335cdc29"},
+    {file = "aiortc-1.5.0-cp37-cp37m-win_amd64.whl", hash = "sha256:e4bbc2f2b97651f7aa6f5e82c69a22590901962454fc02617c4a559a1b51c21a"},
+    {file = "aiortc-1.5.0-cp38-cp38-macosx_10_9_x86_64.whl", hash = "sha256:7243bce7c3b95e47e56ddf961fbf6015702ddbbf3579b0bbf18c6173b6a6357a"},
+    {file = "aiortc-1.5.0-cp38-cp38-macosx_11_0_arm64.whl", hash = "sha256:883db8926deaf01fdcd32fbd74fcf055db63e968324ceff41d5a46ec86dff90c"},
+    {file = "aiortc-1.5.0-cp38-cp38-manylinux_2_17_aarch64.manylinux2014_aarch64.whl", hash = "sha256:bd663f67344e6fe240c6372f620988db5285c9b1b8336306e9fec76ffb4e5493"},
+    {file = "aiortc-1.5.0-cp38-cp38-manylinux_2_17_x86_64.manylinux2014_x86_64.whl", hash = "sha256:fe2766f5a7a8e10b445cbf83a510b791a88180c7b1f9adef3f730840fa208afc"},
+    {file = "aiortc-1.5.0-cp38-cp38-manylinux_2_5_i686.manylinux1_i686.manylinux_2_17_i686.manylinux2014_i686.whl", hash = "sha256:ba212562025843e8d9faf66e6156b682148f8f9995a19e5c66e8ea802f3fa121"},
+    {file = "aiortc-1.5.0-cp38-cp38-win32.whl", hash = "sha256:b7432c9c78e68811ee060ade8b0f867ac42a21677e4d1a9136bb88cd93ab8299"},
+    {file = "aiortc-1.5.0-cp38-cp38-win_amd64.whl", hash = "sha256:2ac6e285d4035298f3025b5767dc8f8b0a5a81b2b8744aaa19c75a8fe76f3ad8"},
+    {file = "aiortc-1.5.0-cp39-cp39-macosx_10_9_x86_64.whl", hash = "sha256:aa3c9306d892635dd9c38cc83c6ba67fb608c7da289f422d40f9542e104b7a0f"},
+    {file = "aiortc-1.5.0-cp39-cp39-macosx_11_0_arm64.whl", hash = "sha256:55dab49a38a212556adadb85ea06f6041d2a9e537e01092f9160b21b186b5039"},
+    {file = "aiortc-1.5.0-cp39-cp39-manylinux_2_17_aarch64.manylinux2014_aarch64.whl", hash = "sha256:db93641b6f31315b8fd4c81e14881aef28fbb0700f220926f82909baedfa9888"},
+    {file = "aiortc-1.5.0-cp39-cp39-manylinux_2_17_x86_64.manylinux2014_x86_64.whl", hash = "sha256:f63fd1168df72498afe0ee06555cc86b8496115ef128519a01d1ea8e404784b8"},
+    {file = "aiortc-1.5.0-cp39-cp39-manylinux_2_5_i686.manylinux1_i686.manylinux_2_17_i686.manylinux2014_i686.whl", hash = "sha256:e436f49617887f2009c6ada872c2da201e3c8010b387e7c1057eab229ae438c3"},
+    {file = "aiortc-1.5.0-cp39-cp39-win32.whl", hash = "sha256:6f23495d4e11610117d1bad8686d42d529168d463687a1a1e0bec795d1ec33ce"},
+    {file = "aiortc-1.5.0-cp39-cp39-win_amd64.whl", hash = "sha256:76206601082e39fdb56d86221729f04f8bd79d65f9fd6b82121947eabf7efd6d"},
+    {file = "aiortc-1.5.0-pp37-pypy37_pp73-macosx_10_9_x86_64.whl", hash = "sha256:d3b2a3b4c120a73242ea0b843ecc3efeaea32861682c771e67f7f08f9d18fddc"},
+    {file = "aiortc-1.5.0-pp37-pypy37_pp73-manylinux_2_17_aarch64.manylinux2014_aarch64.whl", hash = "sha256:3d3f6511f2442f49dfaf4e69865b47e0d6d95440fee2f66e6a03a8b4fa1b28e3"},
+    {file = "aiortc-1.5.0-pp37-pypy37_pp73-manylinux_2_17_x86_64.manylinux2014_x86_64.whl", hash = "sha256:77ae221c734864c8749c27cc8add22d296ef3e06ae5f6982dbcbe2d0976b10e1"},
+    {file = "aiortc-1.5.0-pp37-pypy37_pp73-manylinux_2_5_i686.manylinux1_i686.manylinux_2_17_i686.manylinux2014_i686.whl", hash = "sha256:7732c825ee96e9bc7fb779a4008be768e7663f7f9bf0ab3cccdd412dd7f1c820"},
+    {file = "aiortc-1.5.0-pp37-pypy37_pp73-win_amd64.whl", hash = "sha256:56ffdd67161488c6d934b090a8c2d277bba8806906a3a18493f46b42976569c1"},
+    {file = "aiortc-1.5.0-pp38-pypy38_pp73-macosx_10_9_x86_64.whl", hash = "sha256:f73ba04ca3f331b0ddea0b4ff78424ba30bfd7a49d0b8bd926c75a66ad60f447"},
+    {file = "aiortc-1.5.0-pp38-pypy38_pp73-manylinux_2_17_aarch64.manylinux2014_aarch64.whl", hash = "sha256:69eedeec467bd7bcac7ace6ad398133e27f18eeae195a3ad0ffda74255a8b812"},
+    {file = "aiortc-1.5.0-pp38-pypy38_pp73-manylinux_2_17_x86_64.manylinux2014_x86_64.whl", hash = "sha256:9e095e5fe22f5a2efd4e0657abec1fea7aca864cb32ae3f0816fbcd340a4f2b7"},
+    {file = "aiortc-1.5.0-pp38-pypy38_pp73-manylinux_2_5_i686.manylinux1_i686.manylinux_2_17_i686.manylinux2014_i686.whl", hash = "sha256:dffd6899a5d3db4356d2c17521021032468931ae168545b1ff4815764a5e2873"},
+    {file = "aiortc-1.5.0-pp38-pypy38_pp73-win_amd64.whl", hash = "sha256:af3eed686d621af93befd7e68bd73d6d8a8aa3e721e8fa3ce7e21b3225e37c38"},
+    {file = "aiortc-1.5.0-pp39-pypy39_pp73-macosx_10_9_x86_64.whl", hash = "sha256:15e222a308dcfc44351bd9acff21723c8065cdcd75d6649d53b2986ada64b6be"},
+    {file = "aiortc-1.5.0-pp39-pypy39_pp73-manylinux_2_17_aarch64.manylinux2014_aarch64.whl", hash = "sha256:d9ecd61c42e6a78c089805a47542a68eeeec6ba98bf7a2e30cafa3d3f4e94a7f"},
+    {file = "aiortc-1.5.0-pp39-pypy39_pp73-manylinux_2_17_x86_64.manylinux2014_x86_64.whl", hash = "sha256:2d839437c6000d77511ff1889133150f23fbc8a7365971260c45ce06ff007b0f"},
+    {file = "aiortc-1.5.0-pp39-pypy39_pp73-manylinux_2_5_i686.manylinux1_i686.manylinux_2_17_i686.manylinux2014_i686.whl", hash = "sha256:025847ad6b8c5686f2895394e1de92c043e20e7d90c266de201eef1b1108c8df"},
+    {file = "aiortc-1.5.0-pp39-pypy39_pp73-win_amd64.whl", hash = "sha256:85583166ab9c9052d2539bee3ba05f27af7f7b93b15c2259c2fc1bd3de5b31d5"},
+    {file = "aiortc-1.5.0.tar.gz", hash = "sha256:82b4131d84f862e24e1c3550b73f78412cc9554140a2575577eb3f04675bbad2"},
+]
+
+[package.dependencies]
+aioice = ">=0.9.0,<1.0.0"
+av = ">=9.0.0,<11.0.0"
+cffi = ">=1.0.0"
+cryptography = ">=2.2"
+google-crc32c = ">=1.1"
+pyee = ">=9.0.0"
+pylibsrtp = ">=0.5.6"
+pyopenssl = ">=23.1.0"
+
+[package.extras]
+dev = ["aiohttp (>=3.7.0)", "coverage (>=5.0)", "numpy (>=1.19.0)"]
+
+[[package]]
+name = "aiosignal"
+version = "1.3.1"
+description = "aiosignal: a list of registered asynchronous callbacks"
+optional = false
+python-versions = ">=3.7"
+files = [
+    {file = "aiosignal-1.3.1-py3-none-any.whl", hash = "sha256:f8376fb07dd1e86a584e4fcdec80b36b7f81aac666ebc724e2c090300dd83b17"},
+    {file = "aiosignal-1.3.1.tar.gz", hash = "sha256:54cd96e15e1649b75d6c87526a6ff0b6c1b0dd3459f43d9ca11d48c339b68cfc"},
+]
 
 [package.dependencies]
 frozenlist = ">=1.1.0"
 
 [[package]]
 name = "alabaster"
-version = "0.7.12"
+version = "0.7.13"
 description = "A configurable sidebar-enabled Sphinx theme"
-category = "main"
 optional = false
-python-versions = "*"
+python-versions = ">=3.6"
+files = [
+    {file = "alabaster-0.7.13-py3-none-any.whl", hash = "sha256:1ee19aca801bbabb5ba3f5f258e4422dfa86f82f3e9cefb0859b283cdd7f62a3"},
+    {file = "alabaster-0.7.13.tar.gz", hash = "sha256:a27a4a084d5e690e16e01e03ad2b2e552c61a65469419b907243193de1a84ae2"},
+]
 
 [[package]]
 name = "albumentations"
-version = "1.3.0"
+version = "1.3.1"
 description = "Fast image augmentation library and easy to use wrapper around other libraries"
-category = "dev"
 optional = false
-python-versions = ">=3.6"
+python-versions = ">=3.7"
+files = [
+    {file = "albumentations-1.3.1-py3-none-any.whl", hash = "sha256:6b641d13733181d9ecdc29550e6ad580d1bfa9d25e2213a66940062f25e291bd"},
+    {file = "albumentations-1.3.1.tar.gz", hash = "sha256:a6a38388fe546c568071e8c82f414498e86c9ed03c08b58e7a88b31cf7a244c6"},
+]
 
 [package.dependencies]
 numpy = ">=1.11.1"
@@ -73,7 +266,7 @@ opencv-python-headless = ">=4.1.1"
 PyYAML = "*"
 qudida = ">=0.0.4"
 scikit-image = ">=0.16.1"
-scipy = "*"
+scipy = ">=1.1.0"
 
 [package.extras]
 develop = ["imgaug (>=0.4.0)", "pytest"]
@@ -84,84 +277,106 @@ tests = ["pytest"]
 name = "antlr4-python3-runtime"
 version = "4.9.3"
 description = "ANTLR 4.9.3 runtime for Python 3.7"
-category = "dev"
 optional = false
 python-versions = "*"
+files = [
+    {file = "antlr4-python3-runtime-4.9.3.tar.gz", hash = "sha256:f224469b4168294902bb1efa80a8bf7855f24c99aef99cbefc1bcd3cce77881b"},
+]
 
 [[package]]
 name = "anyio"
-version = "3.6.2"
+version = "3.7.1"
 description = "High level compatibility layer for multiple asynchronous event loop implementations"
-category = "dev"
 optional = false
-python-versions = ">=3.6.2"
+python-versions = ">=3.7"
+files = [
+    {file = "anyio-3.7.1-py3-none-any.whl", hash = "sha256:91dee416e570e92c64041bd18b900d1d6fa78dff7048769ce5ac5ddad004fbb5"},
+    {file = "anyio-3.7.1.tar.gz", hash = "sha256:44a3c9aba0f5defa43261a8b3efb97891f2bd7d804e0e1f56419befa1adfc780"},
+]
 
 [package.dependencies]
 idna = ">=2.8"
 sniffio = ">=1.1"
 
 [package.extras]
-doc = ["packaging", "sphinx-autodoc-typehints (>=1.2.0)", "sphinx-rtd-theme"]
-test = ["contextlib2", "coverage[toml] (>=4.5)", "hypothesis (>=4.0)", "mock (>=4)", "pytest (>=7.0)", "pytest-mock (>=3.6.1)", "trustme", "uvloop (<0.15)", "uvloop (>=0.15)"]
-trio = ["trio (>=0.16,<0.22)"]
+doc = ["Sphinx", "packaging", "sphinx-autodoc-typehints (>=1.2.0)", "sphinx-rtd-theme (>=1.2.2)", "sphinxcontrib-jquery"]
+test = ["anyio[trio]", "coverage[toml] (>=4.5)", "hypothesis (>=4.0)", "mock (>=4)", "psutil (>=5.9)", "pytest (>=7.0)", "pytest-mock (>=3.6.1)", "trustme", "uvloop (>=0.17)"]
+trio = ["trio (<0.22)"]
 
 [[package]]
 name = "apex"
 version = "0.1"
 description = "PyTorch Extensions written by NVIDIA"
-category = "dev"
 optional = false
 python-versions = "*"
+files = [
+    {file = "apex-0.1-cp311-cp311-linux_x86_64.whl", hash = "sha256:2f47d44ca8823491b32d1cfd51d1aa57e2be3ae61661597aa9730d05c22815a7"},
+]
 
 [package.dependencies]
 packaging = ">20.6"
 
 [package.source]
 type = "url"
-url = "https://github.com/commaai/apex/releases/download/pytorch2.0.0%2Bcu11.8/apex-0.1-cp38-cp38-linux_x86_64.whl"
+url = "https://github.com/commaai/apex/releases/download/pytorch2.0.1%2Bcu11.8/apex-0.1-cp311-cp311-linux_x86_64.whl"
 
 [[package]]
 name = "appdirs"
 version = "1.4.4"
 description = "A small Python module for determining appropriate platform-specific dirs, e.g. a \"user data dir\"."
-category = "dev"
 optional = false
 python-versions = "*"
+files = [
+    {file = "appdirs-1.4.4-py2.py3-none-any.whl", hash = "sha256:a841dacd6b99318a741b166adb07e19ee71a274450e68237b4650ca1055ab128"},
+    {file = "appdirs-1.4.4.tar.gz", hash = "sha256:7d5d0167b2b1ba821647616af46a749d1c653740dd0d2415100fe26e27afdf41"},
+]
 
 [[package]]
 name = "applicationinsights"
 version = "0.11.10"
 description = "This project extends the Application Insights API surface to support Python."
-category = "dev"
 optional = false
 python-versions = "*"
+files = [
+    {file = "applicationinsights-0.11.10-py2.py3-none-any.whl", hash = "sha256:e89a890db1c6906b6a7d0bcfd617dac83974773c64573147c8d6654f9cf2a6ea"},
+    {file = "applicationinsights-0.11.10.tar.gz", hash = "sha256:0b761f3ef0680acf4731906dfc1807faa6f2a57168ae74592db0084a6099f7b3"},
+]
 
 [[package]]
 name = "appnope"
 version = "0.1.3"
 description = "Disable App Nap on macOS >= 10.9"
-category = "dev"
 optional = false
 python-versions = "*"
+files = [
+    {file = "appnope-0.1.3-py2.py3-none-any.whl", hash = "sha256:265a455292d0bd8a72453494fa24df5a11eb18373a60c7c0430889f22548605e"},
+    {file = "appnope-0.1.3.tar.gz", hash = "sha256:02bd91c4de869fbb1e1c50aafc4098827a7a54ab2f39d9dcba6c9547ed920e24"},
+]
 
 [[package]]
 name = "argcomplete"
-version = "1.12.3"
+version = "3.1.1"
 description = "Bash tab completion for argparse"
-category = "dev"
 optional = false
-python-versions = "*"
+python-versions = ">=3.6"
+files = [
+    {file = "argcomplete-3.1.1-py3-none-any.whl", hash = "sha256:35fa893a88deea85ea7b20d241100e64516d6af6d7b0ae2bed1d263d26f70948"},
+    {file = "argcomplete-3.1.1.tar.gz", hash = "sha256:6c4c563f14f01440aaffa3eae13441c5db2357b5eec639abe7c0b15334627dff"},
+]
 
 [package.extras]
-test = ["coverage", "flake8", "pexpect", "wheel"]
+test = ["coverage", "mypy", "pexpect", "ruff", "wheel"]
 
 [[package]]
 name = "argon2-cffi"
 version = "21.3.0"
 description = "The secure Argon2 password hashing algorithm."
-category = "dev"
 optional = false
 python-versions = ">=3.6"
+files = [
+    {file = "argon2-cffi-21.3.0.tar.gz", hash = "sha256:d384164d944190a7dd7ef22c6aa3ff197da12962bd04b17f64d4e93d934dba5b"},
+    {file = "argon2_cffi-21.3.0-py3-none-any.whl", hash = "sha256:8c976986f2c5c0e5000919e6de187906cfd81fb1c72bf9d88c01177e77da7f80"},
+]
 
 [package.dependencies]
 argon2-cffi-bindings = "*"
@@ -175,4777 +390,9 @@ tests = ["coverage[toml] (>=5.0.2)", "hypothesis", "pytest"]
 name = "argon2-cffi-bindings"
 version = "21.2.0"
 description = "Low-level CFFI bindings for Argon2"
-category = "dev"
 optional = false
 python-versions = ">=3.6"
-
-[package.dependencies]
-cffi = ">=1.0.1"
-
-[package.extras]
-dev = ["cogapp", "pre-commit", "pytest", "wheel"]
-tests = ["pytest"]
-
-[[package]]
-name = "astroid"
-version = "2.12.12"
-description = "An abstract syntax tree for Python with inference support."
-category = "main"
-optional = false
-python-versions = ">=3.7.2"
-
-[package.dependencies]
-lazy-object-proxy = ">=1.4.0"
-typing-extensions = {version = ">=3.10", markers = "python_version < \"3.10\""}
-wrapt = {version = ">=1.11,<2", markers = "python_version < \"3.11\""}
-
-[[package]]
-name = "asttokens"
-version = "2.0.8"
-description = "Annotate AST trees with source code positions"
-category = "dev"
-optional = false
-python-versions = "*"
-
-[package.dependencies]
-six = "*"
-
-[package.extras]
-test = ["astroid (<=2.5.3)", "pytest"]
-
-[[package]]
-name = "async-timeout"
-version = "4.0.2"
-description = "Timeout context manager for asyncio programs"
-category = "dev"
-optional = false
-python-versions = ">=3.6"
-
-[[package]]
-name = "atomicwrites"
-version = "1.4.1"
-description = "Atomic file writes."
-category = "main"
-optional = false
-python-versions = ">=2.7, !=3.0.*, !=3.1.*, !=3.2.*, !=3.3.*"
-
-[[package]]
-name = "attrs"
-version = "22.1.0"
-description = "Classes Without Boilerplate"
-category = "main"
-optional = false
-python-versions = ">=3.5"
-
-[package.extras]
-dev = ["cloudpickle", "coverage[toml] (>=5.0.2)", "furo", "hypothesis", "mypy (>=0.900,!=0.940)", "pre-commit", "pympler", "pytest (>=4.3.0)", "pytest-mypy-plugins", "sphinx", "sphinx-notfound-page", "zope.interface"]
-docs = ["furo", "sphinx", "sphinx-notfound-page", "zope.interface"]
-tests = ["cloudpickle", "coverage[toml] (>=5.0.2)", "hypothesis", "mypy (>=0.900,!=0.940)", "pympler", "pytest (>=4.3.0)", "pytest-mypy-plugins", "zope.interface"]
-tests-no-zope = ["cloudpickle", "coverage[toml] (>=5.0.2)", "hypothesis", "mypy (>=0.900,!=0.940)", "pympler", "pytest (>=4.3.0)", "pytest-mypy-plugins"]
-
-[[package]]
-name = "av"
-version = "9.2.0"
-description = "Pythonic bindings for FFmpeg's libraries."
-category = "dev"
-optional = false
-python-versions = "*"
-
-[[package]]
-name = "azure-cli-core"
-version = "2.41.0"
-description = "Microsoft Azure Command-Line Tools Core Module"
-category = "dev"
-optional = false
-python-versions = ">=3.7.0"
-
-[package.dependencies]
-argcomplete = ">=1.8,<2.0"
-azure-cli-telemetry = ">=1.0.0,<1.1.0"
-azure-mgmt-core = ">=1.2.0,<2"
-cryptography = "*"
-humanfriendly = ">=10.0,<11.0"
-jmespath = "*"
-knack = ">=0.10.0,<0.11.0"
-msal = {version = "1.20.0b1", extras = ["broker"]}
-msal-extensions = ">=1.0.0,<1.1.0"
-msrestazure = ">=0.6.4,<0.7.0"
-packaging = ">=20.9,<22.0"
-paramiko = ">=2.0.8,<3.0.0"
-pkginfo = ">=1.5.0.1"
-psutil = {version = ">=5.9,<6.0", markers = "sys_platform != \"cygwin\""}
-PyJWT = ">=2.1.0"
-pyopenssl = ">=17.1.0"
-requests = {version = "*", extras = ["socks"]}
-
-[[package]]
-name = "azure-cli-telemetry"
-version = "1.0.8"
-description = "Microsoft Azure CLI Telemetry Package"
-category = "dev"
-optional = false
-python-versions = "*"
-
-[package.dependencies]
-applicationinsights = ">=0.11.1,<0.12"
-portalocker = ">=1.6,<3"
-
-[[package]]
-name = "azure-common"
-version = "1.1.28"
-description = "Microsoft Azure Client Library for Python (Common)"
-category = "dev"
-optional = false
-python-versions = "*"
-
-[[package]]
-name = "azure-core"
-version = "1.26.0"
-description = "Microsoft Azure Core Library for Python"
-category = "dev"
-optional = false
-python-versions = ">=3.7"
-
-[package.dependencies]
-requests = ">=2.18.4"
-six = ">=1.11.0"
-typing-extensions = ">=4.0.1"
-
-[package.extras]
-aio = ["aiohttp (>=3.0)"]
-
-[[package]]
-name = "azure-mgmt-core"
-version = "1.3.2"
-description = "Microsoft Azure Management Core Library for Python"
-category = "dev"
-optional = false
-python-versions = ">=3.6"
-
-[package.dependencies]
-azure-core = ">=1.24.0,<2.0.0"
-
-[[package]]
-name = "azure-nspkg"
-version = "3.0.2"
-description = "Microsoft Azure Namespace Package [Internal]"
-category = "dev"
-optional = false
-python-versions = "*"
-
-[[package]]
-name = "azure-storage-blob"
-version = "2.1.0"
-description = "Microsoft Azure Storage Blob Client Library for Python"
-category = "dev"
-optional = false
-python-versions = "*"
-
-[package.dependencies]
-azure-common = ">=1.1.5"
-azure-storage-common = ">=2.1,<3.0"
-
-[[package]]
-name = "azure-storage-common"
-version = "2.1.0"
-description = "Microsoft Azure Storage Common Client Library for Python"
-category = "dev"
-optional = false
-python-versions = "*"
-
-[package.dependencies]
-azure-common = ">=1.1.5"
-cryptography = "*"
-python-dateutil = "*"
-requests = "*"
-
-[[package]]
-name = "azure-storage-nspkg"
-version = "3.1.0"
-description = "Microsoft Azure Storage Namespace Package [Internal]"
-category = "dev"
-optional = false
-python-versions = "*"
-
-[package.dependencies]
-azure-nspkg = ">=2.0.0"
-
-[[package]]
-name = "babel"
-version = "2.10.3"
-description = "Internationalization utilities"
-category = "main"
-optional = false
-python-versions = ">=3.6"
-
-[package.dependencies]
-pytz = ">=2015.7"
-
-[[package]]
-name = "backcall"
-version = "0.2.0"
-description = "Specifications for callback functions passed in to an API"
-category = "dev"
-optional = false
-python-versions = "*"
-
-[[package]]
-name = "bcrypt"
-version = "4.0.1"
-description = "Modern password hashing for your software and your servers"
-category = "dev"
-optional = false
-python-versions = ">=3.6"
-
-[package.extras]
-tests = ["pytest (>=3.2.1,!=3.3.0)"]
-typecheck = ["mypy"]
-
-[[package]]
-name = "beautifulsoup4"
-version = "4.11.1"
-description = "Screen-scraping library"
-category = "dev"
-optional = false
-python-versions = ">=3.6.0"
-
-[package.dependencies]
-soupsieve = ">1.2"
-
-[package.extras]
-html5lib = ["html5lib"]
-lxml = ["lxml"]
-
-[[package]]
-name = "bidict"
-version = "0.22.0"
-description = "The bidirectional mapping library for Python."
-category = "dev"
-optional = false
-python-versions = ">=3.7"
-
-[[package]]
-name = "bleach"
-version = "5.0.1"
-description = "An easy safelist-based HTML-sanitizing tool."
-category = "dev"
-optional = false
-python-versions = ">=3.7"
-
-[package.dependencies]
-six = ">=1.9.0"
-webencodings = "*"
-
-[package.extras]
-css = ["tinycss2 (>=1.1.0,<1.2)"]
-dev = ["Sphinx (==4.3.2)", "black (==22.3.0)", "build (==0.8.0)", "flake8 (==4.0.1)", "hashin (==0.17.0)", "mypy (==0.961)", "pip-tools (==6.6.2)", "pytest (==7.1.2)", "tox (==3.25.0)", "twine (==4.0.1)", "wheel (==0.37.1)"]
-
-[[package]]
-name = "blosc"
-version = "1.9.2"
-description = "Blosc data compressor"
-category = "dev"
-optional = false
-python-versions = "*"
-
-[[package]]
-name = "breathe"
-version = "4.34.0"
-description = "Sphinx Doxygen renderer"
-category = "dev"
-optional = false
-python-versions = "*"
-
-[package.dependencies]
-docutils = ">=0.12"
-Sphinx = ">=4.0,<5.0.0 || >5.0.0,<6"
-
-[[package]]
-name = "brotli"
-version = "1.0.9"
-description = "Python bindings for the Brotli compression library"
-category = "dev"
-optional = false
-python-versions = "*"
-
-[[package]]
-name = "cachecontrol"
-version = "0.12.11"
-description = "httplib2 caching for requests"
-category = "main"
-optional = false
-python-versions = ">=3.6"
-
-[package.dependencies]
-lockfile = {version = ">=0.9", optional = true, markers = "extra == \"filecache\""}
-msgpack = ">=0.5.2"
-requests = "*"
-
-[package.extras]
-filecache = ["lockfile (>=0.9)"]
-redis = ["redis (>=2.10.5)"]
-
-[[package]]
-name = "cachy"
-version = "0.3.0"
-description = "Cachy provides a simple yet effective caching library."
-category = "main"
-optional = false
-python-versions = ">=2.7, !=3.0.*, !=3.1.*, !=3.2.*, !=3.3.*"
-
-[package.extras]
-memcached = ["python-memcached (>=1.59,<2.0)"]
-msgpack = ["msgpack-python (>=0.5,<0.6)"]
-redis = ["redis (>=3.3.6,<4.0.0)"]
-
-[[package]]
-name = "carla"
-version = "0.9.13"
-description = "Python API for communicating with the CARLA server."
-category = "dev"
-optional = false
-python-versions = "*"
-
-[[package]]
-name = "casadi"
-version = "3.5.5"
-description = "CasADi -- framework for algorithmic differentiation and numeric optimization"
-category = "main"
-optional = false
-python-versions = "*"
-
-[[package]]
-name = "certifi"
-version = "2022.9.24"
-description = "Python package for providing Mozilla's CA Bundle."
-category = "main"
-optional = false
-python-versions = ">=3.6"
-
-[[package]]
-name = "cffi"
-version = "1.15.1"
-description = "Foreign Function Interface for Python calling C code."
-category = "main"
-optional = false
-python-versions = "*"
-
-[package.dependencies]
-pycparser = "*"
-
-[[package]]
-name = "cfgv"
-version = "3.3.1"
-description = "Validate configuration and produce human readable error messages."
-category = "dev"
-optional = false
-python-versions = ">=3.6.1"
-
-[[package]]
-name = "charset-normalizer"
-version = "2.1.1"
-description = "The Real First Universal Charset Detector. Open, modern and actively maintained alternative to Chardet."
-category = "main"
-optional = false
-python-versions = ">=3.6.0"
-
-[package.extras]
-unicode-backport = ["unicodedata2"]
-
-[[package]]
-name = "cleo"
-version = "1.0.0a5"
-description = "Cleo allows you to create beautiful and testable command-line interfaces."
-category = "main"
-optional = false
-python-versions = ">=3.7,<4.0"
-
-[package.dependencies]
-crashtest = ">=0.3.1,<0.4.0"
-pylev = ">=1.3.0,<2.0.0"
-
-[[package]]
-name = "click"
-version = "8.1.3"
-description = "Composable command line interface toolkit"
-category = "main"
-optional = false
-python-versions = ">=3.7"
-
-[package.dependencies]
-colorama = {version = "*", markers = "platform_system == \"Windows\""}
-
-[[package]]
-name = "click-plugins"
-version = "1.1.1"
-description = "An extension module for click to enable registering CLI commands via setuptools entry-points."
-category = "dev"
-optional = false
-python-versions = "*"
-
-[package.dependencies]
-click = ">=4.0"
-
-[package.extras]
-dev = ["coveralls", "pytest (>=3.6)", "pytest-cov", "wheel"]
-
-[[package]]
-name = "cligj"
-version = "0.7.2"
-description = "Click params for commmand line interfaces to GeoJSON"
-category = "dev"
-optional = false
-python-versions = ">=2.7, !=3.0.*, !=3.1.*, !=3.2.*, <4"
-
-[package.dependencies]
-click = ">=4.0"
-
-[package.extras]
-test = ["pytest-cov"]
-
-[[package]]
-name = "cloudpickle"
-version = "2.2.0"
-description = "Extended pickling support for Python objects"
-category = "dev"
-optional = false
-python-versions = ">=3.6"
-
-[[package]]
-name = "cmake"
-version = "3.26.0"
-description = "CMake is an open-source, cross-platform family of tools designed to build, test and package software"
-category = "dev"
-optional = false
-python-versions = "*"
-
-[package.extras]
-test = ["codecov (>=2.0.5)", "coverage (>=4.2)", "flake8 (>=3.0.4)", "path.py (>=11.5.0)", "pytest (>=3.0.3)", "pytest-cov (>=2.4.0)", "pytest-runner (>=2.9)", "pytest-virtualenv (>=1.7.0)", "scikit-build (>=0.10.0)", "setuptools (>=28.0.0)", "virtualenv (>=15.0.3)", "wheel"]
-
-[[package]]
-name = "colorama"
-version = "0.4.5"
-description = "Cross-platform colored terminal text."
-category = "main"
-optional = false
-python-versions = ">=2.7, !=3.0.*, !=3.1.*, !=3.2.*, !=3.3.*, !=3.4.*"
-
-[[package]]
-name = "coloredlogs"
-version = "15.0.1"
-description = "Colored terminal output for Python's logging module"
-category = "main"
-optional = false
-python-versions = ">=2.7, !=3.0.*, !=3.1.*, !=3.2.*, !=3.3.*, !=3.4.*"
-
-[package.dependencies]
-humanfriendly = ">=9.1"
-
-[package.extras]
-cron = ["capturer (>=2.4)"]
-
-[[package]]
-name = "configargparse"
-version = "1.5.3"
-description = "A drop-in replacement for argparse that allows options to also be set via config files and/or environment variables."
-category = "dev"
-optional = false
-python-versions = ">=2.7, !=3.0.*, !=3.1.*, !=3.2.*, !=3.3.*, !=3.4.*"
-
-[package.extras]
-test = ["PyYAML", "mock", "pytest"]
-yaml = ["PyYAML"]
-
-[[package]]
-name = "contourpy"
-version = "1.0.5"
-description = "Python library for calculating contours of 2D quadrilateral grids"
-category = "dev"
-optional = false
-python-versions = ">=3.7"
-
-[package.dependencies]
-numpy = ">=1.16"
-
-[package.extras]
-bokeh = ["bokeh", "selenium"]
-docs = ["docutils (<0.18)", "sphinx", "sphinx-rtd-theme"]
-test = ["Pillow", "flake8", "isort", "matplotlib", "pytest"]
-test-minimal = ["pytest"]
-test-no-codebase = ["Pillow", "matplotlib", "pytest"]
-
-[[package]]
-name = "control"
-version = "0.9.2"
-description = "Python Control Systems Library"
-category = "dev"
-optional = false
-python-versions = "*"
-
-[package.dependencies]
-matplotlib = "*"
-numpy = "*"
-scipy = "*"
-
-[package.extras]
-slycot = ["slycot (>=0.4.0)"]
-test = ["pytest", "pytest-timeout"]
-
-[[package]]
-name = "coverage"
-version = "6.5.0"
-description = "Code coverage measurement for Python"
-category = "dev"
-optional = false
-python-versions = ">=3.7"
-
-[package.extras]
-toml = ["tomli"]
-
-[[package]]
-name = "crashtest"
-version = "0.3.1"
-description = "Manage Python errors with ease"
-category = "main"
-optional = false
-python-versions = ">=3.6,<4.0"
-
-[[package]]
-name = "crcmod"
-version = "1.7"
-description = "CRC Generator"
-category = "main"
-optional = false
-python-versions = "*"
-
-[[package]]
-name = "cryptography"
-version = "37.0.4"
-description = "cryptography is a package which provides cryptographic recipes and primitives to Python developers."
-category = "main"
-optional = false
-python-versions = ">=3.6"
-
-[package.dependencies]
-cffi = ">=1.12"
-
-[package.extras]
-docs = ["sphinx (>=1.6.5,!=1.8.0,!=3.1.0,!=3.1.1)", "sphinx_rtd_theme"]
-docstest = ["pyenchant (>=1.6.11)", "sphinxcontrib-spelling (>=4.0.1)", "twine (>=1.12.0)"]
-pep8test = ["black", "flake8", "flake8-import-order", "pep8-naming"]
-sdist = ["setuptools_rust (>=0.11.4)"]
-ssh = ["bcrypt (>=3.1.5)"]
-test = ["hypothesis (>=1.11.4,!=3.79.2)", "iso8601", "pretend", "pytest (>=6.2.0)", "pytest-benchmark", "pytest-cov", "pytest-subtests", "pytest-xdist", "pytz"]
-
-[[package]]
-name = "cupy-cuda11x"
-version = "11.6.0"
-description = "CuPy: NumPy & SciPy for GPU"
-category = "dev"
-optional = false
-python-versions = ">=3.7"
-
-[package.dependencies]
-fastrlock = ">=0.5"
-numpy = ">=1.20,<1.27"
-
-[package.extras]
-all = ["Cython (>=0.29.22,<3)", "optuna (>=2.0)", "scipy (>=1.6,<1.12)"]
-stylecheck = ["autopep8 (==1.5.5)", "flake8 (==3.8.4)", "mypy (==0.950)", "pbr (==5.5.1)", "pycodestyle (==2.6.0)", "types-setuptools (==57.4.14)"]
-test = ["hypothesis (>=6.37.2,<6.55.0)", "pytest (>=7.2)"]
-
-[[package]]
-name = "cycler"
-version = "0.11.0"
-description = "Composable style cycles"
-category = "dev"
-optional = false
-python-versions = ">=3.6"
-
-[[package]]
-name = "cython"
-version = "0.29.32"
-description = "The Cython compiler for writing C extensions for the Python language."
-category = "main"
-optional = false
-python-versions = ">=2.6, !=3.0.*, !=3.1.*, !=3.2.*"
-
-[[package]]
-name = "datadog"
-version = "0.44.0"
-description = "The Datadog Python library"
-category = "dev"
-optional = false
-python-versions = "!=3.0.*,!=3.1.*,!=3.2.*,!=3.3.*,!=3.4.*,!=3.5.*,!=3.6.*,>=2.7"
-
-[package.dependencies]
-requests = ">=2.6.0"
-
-[[package]]
-name = "debugpy"
-version = "1.6.3"
-description = "An implementation of the Debug Adapter Protocol for Python"
-category = "dev"
-optional = false
-python-versions = ">=3.7"
-
-[[package]]
-name = "decorator"
-version = "5.1.1"
-description = "Decorators for Humans"
-category = "dev"
-optional = false
-python-versions = ">=3.5"
-
-[[package]]
-name = "defusedxml"
-version = "0.7.1"
-description = "XML bomb protection for Python stdlib modules"
-category = "dev"
-optional = false
-python-versions = ">=2.7, !=3.0.*, !=3.1.*, !=3.2.*, !=3.3.*, !=3.4.*"
-
-[[package]]
-name = "deprecated"
-version = "1.2.13"
-description = "Python @deprecated decorator to deprecate old python classes, functions or methods."
-category = "dev"
-optional = false
-python-versions = ">=2.7, !=3.0.*, !=3.1.*, !=3.2.*, !=3.3.*"
-
-[package.dependencies]
-wrapt = ">=1.10,<2"
-
-[package.extras]
-dev = ["PyTest", "PyTest (<5)", "PyTest-Cov", "PyTest-Cov (<2.6)", "bump2version (<1)", "configparser (<5)", "importlib-metadata (<3)", "importlib-resources (<4)", "sphinx (<2)", "sphinxcontrib-websupport (<2)", "tox", "zipp (<2)"]
-
-[[package]]
-name = "dictdiffer"
-version = "0.9.0"
-description = "Dictdiffer is a library that helps you to diff and patch dictionaries."
-category = "dev"
-optional = false
-python-versions = "*"
-
-[package.extras]
-all = ["Sphinx (>=3)", "check-manifest (>=0.42)", "mock (>=1.3.0)", "numpy (>=1.13.0)", "numpy (>=1.15.0)", "numpy (>=1.18.0)", "numpy (>=1.20.0)", "pytest (==5.4.3)", "pytest (>=6)", "pytest-cov (>=2.10.1)", "pytest-isort (>=1.2.0)", "pytest-pycodestyle (>=2)", "pytest-pycodestyle (>=2.2.0)", "pytest-pydocstyle (>=2)", "pytest-pydocstyle (>=2.2.0)", "sphinx (>=3)", "sphinx-rtd-theme (>=0.2)", "tox (>=3.7.0)"]
-docs = ["Sphinx (>=3)", "sphinx-rtd-theme (>=0.2)"]
-numpy = ["numpy (>=1.13.0)", "numpy (>=1.15.0)", "numpy (>=1.18.0)", "numpy (>=1.20.0)"]
-tests = ["check-manifest (>=0.42)", "mock (>=1.3.0)", "pytest (==5.4.3)", "pytest (>=6)", "pytest-cov (>=2.10.1)", "pytest-isort (>=1.2.0)", "pytest-pycodestyle (>=2)", "pytest-pycodestyle (>=2.2.0)", "pytest-pydocstyle (>=2)", "pytest-pydocstyle (>=2.2.0)", "sphinx (>=3)", "tox (>=3.7.0)"]
-
-[[package]]
-name = "dill"
-version = "0.3.5.1"
-description = "serialize all of python"
-category = "main"
-optional = false
-python-versions = ">=2.7, !=3.0.*, !=3.1.*, !=3.2.*, !=3.3.*, !=3.4.*, !=3.5.*, !=3.6.*"
-
-[package.extras]
-graph = ["objgraph (>=1.7.2)"]
-
-[[package]]
-name = "distlib"
-version = "0.3.6"
-description = "Distribution utilities"
-category = "main"
-optional = false
-python-versions = "*"
-
-[[package]]
-name = "docutils"
-version = "0.17.1"
-description = "Docutils -- Python Documentation Utilities"
-category = "main"
-optional = false
-python-versions = ">=2.7, !=3.0.*, !=3.1.*, !=3.2.*, !=3.3.*, !=3.4.*"
-
-[[package]]
-name = "dotmap"
-version = "1.3.30"
-description = "ordered, dynamically-expandable dot-access dictionary"
-category = "dev"
-optional = false
-python-versions = "*"
-
-[[package]]
-name = "dulwich"
-version = "0.20.46"
-description = "Python Git Library"
-category = "main"
-optional = false
-python-versions = ">=3.6"
-
-[package.dependencies]
-urllib3 = ">=1.25"
-
-[package.extras]
-fastimport = ["fastimport"]
-https = ["urllib3 (>=1.24.1)"]
-paramiko = ["paramiko"]
-pgp = ["gpg"]
-
-[[package]]
-name = "efficientnet-pytorch"
-version = "0.7.1"
-description = "EfficientNet implemented in PyTorch."
-category = "dev"
-optional = false
-python-versions = ">=3.5.0"
-
-[package.dependencies]
-torch = "*"
-
-[[package]]
-name = "einops"
-version = "0.5.0"
-description = "A new flavour of deep learning operations"
-category = "dev"
-optional = false
-python-versions = ">=3.7"
-
-[[package]]
-name = "elastic-transport"
-version = "8.4.0"
-description = "Transport classes and utilities shared among Python Elastic client libraries"
-category = "dev"
-optional = false
-python-versions = ">=3.6"
-
-[package.dependencies]
-certifi = "*"
-urllib3 = ">=1.26.2,<2"
-
-[package.extras]
-develop = ["aiohttp", "mock", "pytest", "pytest-asyncio", "pytest-cov", "pytest-httpserver", "pytest-mock", "requests", "trustme"]
-
-[[package]]
-name = "elasticsearch"
-version = "8.4.3"
-description = "Python client for Elasticsearch"
-category = "dev"
-optional = false
-python-versions = ">=3.6, <4"
-
-[package.dependencies]
-elastic-transport = ">=8,<9"
-
-[package.extras]
-async = ["aiohttp (>=3,<4)"]
-requests = ["requests (>=2.4.0,<3.0.0)"]
-
-[[package]]
-name = "entrypoints"
-version = "0.4"
-description = "Discover and load entry points from installed packages."
-category = "dev"
-optional = false
-python-versions = ">=3.6"
-
-[[package]]
-name = "execnet"
-version = "1.9.0"
-description = "execnet: rapid multi-Python deployment"
-category = "dev"
-optional = false
-python-versions = ">=2.7, !=3.0.*, !=3.1.*, !=3.2.*, !=3.3.*, !=3.4.*"
-
-[package.extras]
-testing = ["pre-commit"]
-
-[[package]]
-name = "executing"
-version = "1.1.1"
-description = "Get the currently executing AST node of a frame, and other information"
-category = "dev"
-optional = false
-python-versions = "*"
-
-[package.extras]
-tests = ["asttokens", "littleutils", "pytest", "rich"]
-
-[[package]]
-name = "fastcluster"
-version = "1.2.6"
-description = "Fast hierarchical clustering routines for R and Python."
-category = "dev"
-optional = false
-python-versions = ">=3"
-
-[package.dependencies]
-numpy = ">=1.9"
-
-[package.extras]
-test = ["scipy (>=1.6.3)"]
-
-[[package]]
-name = "fastjsonschema"
-version = "2.16.2"
-description = "Fastest Python implementation of JSON schema"
-category = "dev"
-optional = false
-python-versions = "*"
-
-[package.extras]
-devel = ["colorama", "json-spec", "jsonschema", "pylint", "pytest", "pytest-benchmark", "pytest-cache", "validictory"]
-
-[[package]]
-name = "fastrlock"
-version = "0.8"
-description = "Fast, re-entrant optimistic lock implemented in Cython"
-category = "dev"
-optional = false
-python-versions = "*"
-
-[[package]]
-name = "filelock"
-version = "3.8.0"
-description = "A platform independent file lock."
-category = "main"
-optional = false
-python-versions = ">=3.7"
-
-[package.extras]
-docs = ["furo (>=2022.6.21)", "sphinx (>=5.1.1)", "sphinx-autodoc-typehints (>=1.19.1)"]
-testing = ["covdefaults (>=2.2)", "coverage (>=6.4.2)", "pytest (>=7.1.2)", "pytest-cov (>=3)", "pytest-timeout (>=2.1)"]
-
-[[package]]
-name = "fiona"
-version = "1.9.1"
-description = "Fiona reads and writes spatial data files"
-category = "dev"
-optional = false
-python-versions = ">=3.7"
-
-[package.dependencies]
-attrs = ">=19.2.0"
-certifi = "*"
-click = ">=8.0,<9.0"
-click-plugins = ">=1.0"
-cligj = ">=0.5"
-munch = ">=2.3.2"
-setuptools = "*"
-
-[package.extras]
-all = ["Fiona[calc,s3,test]"]
-calc = ["shapely"]
-s3 = ["boto3 (>=1.3.1)"]
-test = ["Fiona[s3]", "pytest (>=7)", "pytest-cov", "pytz"]
-
-[[package]]
-name = "flake8"
-version = "4.0.1"
-description = "the modular source code checker: pep8 pyflakes and co"
-category = "main"
-optional = false
-python-versions = ">=3.6"
-
-[package.dependencies]
-mccabe = ">=0.6.0,<0.7.0"
-pycodestyle = ">=2.8.0,<2.9.0"
-pyflakes = ">=2.4.0,<2.5.0"
-
-[[package]]
-name = "flask"
-version = "2.2.2"
-description = "A simple framework for building complex web applications."
-category = "main"
-optional = false
-python-versions = ">=3.7"
-
-[package.dependencies]
-click = ">=8.0"
-importlib-metadata = {version = ">=3.6.0", markers = "python_version < \"3.10\""}
-itsdangerous = ">=2.0"
-Jinja2 = ">=3.0"
-Werkzeug = ">=2.2.2"
-
-[package.extras]
-async = ["asgiref (>=3.2)"]
-dotenv = ["python-dotenv"]
-
-[[package]]
-name = "flask-cors"
-version = "3.0.10"
-description = "A Flask extension adding a decorator for CORS support"
-category = "dev"
-optional = false
-python-versions = "*"
-
-[package.dependencies]
-Flask = ">=0.9"
-Six = "*"
-
-[[package]]
-name = "flask-socketio"
-version = "5.3.1"
-description = "Socket.IO integration for Flask applications"
-category = "dev"
-optional = false
-python-versions = ">=3.6"
-
-[package.dependencies]
-Flask = ">=0.9"
-python-socketio = ">=5.0.2"
-
-[[package]]
-name = "flatbuffers"
-version = "22.9.24"
-description = "The FlatBuffers serialization format for Python"
-category = "main"
-optional = false
-python-versions = "*"
-
-[[package]]
-name = "fonttools"
-version = "4.37.4"
-description = "Tools to manipulate font files"
-category = "dev"
-optional = false
-python-versions = ">=3.7"
-
-[package.extras]
-all = ["brotli (>=1.0.1)", "brotlicffi (>=0.8.0)", "fs (>=2.2.0,<3)", "lxml (>=4.0,<5)", "lz4 (>=1.7.4.2)", "matplotlib", "munkres", "scipy", "skia-pathops (>=0.5.0)", "sympy", "uharfbuzz (>=0.23.0)", "unicodedata2 (>=14.0.0)", "xattr", "zopfli (>=0.1.4)"]
-graphite = ["lz4 (>=1.7.4.2)"]
-interpolatable = ["munkres", "scipy"]
-lxml = ["lxml (>=4.0,<5)"]
-pathops = ["skia-pathops (>=0.5.0)"]
-plot = ["matplotlib"]
-repacker = ["uharfbuzz (>=0.23.0)"]
-symfont = ["sympy"]
-type1 = ["xattr"]
-ufo = ["fs (>=2.2.0,<3)"]
-unicode = ["unicodedata2 (>=14.0.0)"]
-woff = ["brotli (>=1.0.1)", "brotlicffi (>=0.8.0)", "zopfli (>=0.1.4)"]
-
-[[package]]
-name = "frozenlist"
-version = "1.3.1"
-description = "A list-like structure which implements collections.abc.MutableSequence"
-category = "dev"
-optional = false
-python-versions = ">=3.7"
-
-[[package]]
-name = "fsspec"
-version = "2023.5.0"
-description = "File-system specification"
-category = "dev"
-optional = false
-python-versions = ">=3.8"
-
-[package.extras]
-abfs = ["adlfs"]
-adl = ["adlfs"]
-arrow = ["pyarrow (>=1)"]
-dask = ["dask", "distributed"]
-devel = ["pytest", "pytest-cov"]
-dropbox = ["dropbox", "dropboxdrivefs", "requests"]
-full = ["adlfs", "aiohttp (!=4.0.0a0,!=4.0.0a1)", "dask", "distributed", "dropbox", "dropboxdrivefs", "fusepy", "gcsfs", "libarchive-c", "ocifs", "panel", "paramiko", "pyarrow (>=1)", "pygit2", "requests", "s3fs", "smbprotocol", "tqdm"]
-fuse = ["fusepy"]
-gcs = ["gcsfs"]
-git = ["pygit2"]
-github = ["requests"]
-gs = ["gcsfs"]
-gui = ["panel"]
-hdfs = ["pyarrow (>=1)"]
-http = ["aiohttp (!=4.0.0a0,!=4.0.0a1)", "requests"]
-libarchive = ["libarchive-c"]
-oci = ["ocifs"]
-s3 = ["s3fs"]
-sftp = ["paramiko"]
-smb = ["smbprotocol"]
-ssh = ["paramiko"]
-tqdm = ["tqdm"]
-
-[[package]]
-name = "ft4222"
-version = "1.6.0"
-description = "Python wrapper around libFT4222."
-category = "dev"
-optional = false
-python-versions = "*"
-
-[[package]]
-name = "future"
-version = "0.18.2"
-description = "Clean single-source support for Python 3 and 2"
-category = "dev"
-optional = false
-python-versions = ">=2.6, !=3.0.*, !=3.1.*, !=3.2.*"
-
-[[package]]
-name = "future-fstrings"
-version = "1.2.0"
-description = "A backport of fstrings to python<3.6"
-category = "main"
-optional = false
-python-versions = ">=2.7, !=3.0.*, !=3.1.*, !=3.2.*, !=3.3.*"
-
-[package.extras]
-rewrite = ["tokenize-rt (>=3)"]
-
-[[package]]
-name = "geoalchemy2"
-version = "0.12.5"
-description = "Using SQLAlchemy with Spatial Databases"
-category = "dev"
-optional = false
-python-versions = ">=3.7"
-
-[package.dependencies]
-packaging = "*"
-SQLAlchemy = ">=1.4"
-
-[[package]]
-name = "geopandas"
-version = "0.12.2"
-description = "Geographic pandas extensions"
-category = "dev"
-optional = false
-python-versions = ">=3.8"
-
-[package.dependencies]
-fiona = ">=1.8"
-packaging = "*"
-pandas = ">=1.0.0"
-pyproj = ">=2.6.1.post1"
-shapely = ">=1.7"
-
-[[package]]
-name = "gevent"
-version = "22.10.1"
-description = "Coroutine-based network library"
-category = "dev"
-optional = false
-python-versions = ">=2.7,!=3.0.*,!=3.1.*,!=3.2.*,!=3.3.*,!=3.4.*,!=3.5"
-
-[package.dependencies]
-cffi = {version = ">=1.12.2", markers = "platform_python_implementation == \"CPython\" and sys_platform == \"win32\""}
-greenlet = {version = ">=1.1.3,<2.0", markers = "platform_python_implementation == \"CPython\""}
-setuptools = "*"
-"zope.event" = "*"
-"zope.interface" = "*"
-
-[package.extras]
-dnspython = ["dnspython (>=1.16.0,<2.0)", "idna"]
-docs = ["repoze.sphinx.autointerface", "sphinxcontrib-programoutput", "zope.schema"]
-monitor = ["psutil (>=5.7.0)"]
-recommended = ["backports.socketpair", "cffi (>=1.12.2)", "dnspython (>=1.16.0,<2.0)", "idna", "psutil (>=5.7.0)", "selectors2"]
-test = ["backports.socketpair", "cffi (>=1.12.2)", "contextvars (==2.4)", "coverage (>=5.0)", "coveralls (>=1.7.0)", "dnspython (>=1.16.0,<2.0)", "futures", "idna", "mock", "objgraph", "psutil (>=5.7.0)", "requests", "selectors2"]
-
-[[package]]
-name = "geventhttpclient"
-version = "2.0.2"
-description = "http client library for gevent"
-category = "dev"
-optional = false
-python-versions = "*"
-
-[package.dependencies]
-brotli = "*"
-certifi = "*"
-gevent = ">=0.13"
-six = "*"
-
-[[package]]
-name = "greenlet"
-version = "1.1.3.post0"
-description = "Lightweight in-process concurrent programming"
-category = "dev"
-optional = false
-python-versions = ">=2.7,!=3.0.*,!=3.1.*,!=3.2.*,!=3.3.*,!=3.4.*"
-
-[package.extras]
-docs = ["Sphinx"]
-
-[[package]]
-name = "gunicorn"
-version = "20.1.0"
-description = "WSGI HTTP Server for UNIX"
-category = "main"
-optional = false
-python-versions = ">=3.5"
-
-[package.dependencies]
-setuptools = ">=3.0"
-
-[package.extras]
-eventlet = ["eventlet (>=0.24.1)"]
-gevent = ["gevent (>=1.4.0)"]
-setproctitle = ["setproctitle"]
-tornado = ["tornado (>=0.2)"]
-
-[[package]]
-name = "h3"
-version = "3.7.4"
-description = "Hierarchical hexagonal geospatial indexing system"
-category = "main"
-optional = false
-python-versions = "*"
-
-[package.extras]
-all = ["flake8", "numpy", "pylint", "pytest", "pytest-cov"]
-numpy = ["numpy"]
-test = ["flake8", "pylint", "pytest", "pytest-cov"]
-
-[[package]]
-name = "hatanaka"
-version = "2.4.0"
-description = "Effortlessly compress / decompress any RINEX file"
-category = "main"
-optional = false
-python-versions = ">=3.6"
-
-[package.dependencies]
-importlib-resources = "*"
-ncompress = "*"
-
-[package.extras]
-dev = ["pytest"]
-tests = ["pytest"]
-
-[[package]]
-name = "hexdump"
-version = "3.3"
-description = "dump binary data to hex format and restore from there"
-category = "main"
-optional = false
-python-versions = "*"
-
-[[package]]
-name = "html5lib"
-version = "1.1"
-description = "HTML parser based on the WHATWG HTML specification"
-category = "main"
-optional = false
-python-versions = ">=2.7, !=3.0.*, !=3.1.*, !=3.2.*, !=3.3.*, !=3.4.*"
-
-[package.dependencies]
-six = ">=1.9"
-webencodings = "*"
-
-[package.extras]
-all = ["chardet (>=2.2)", "genshi", "lxml"]
-chardet = ["chardet (>=2.2)"]
-genshi = ["genshi"]
-lxml = ["lxml"]
-
-[[package]]
-name = "huggingface-hub"
-version = "0.14.1"
-description = "Client library to download and publish models, datasets and other repos on the huggingface.co hub"
-category = "dev"
-optional = false
-python-versions = ">=3.7.0"
-
-[package.dependencies]
-filelock = "*"
-fsspec = "*"
-packaging = ">=20.9"
-pyyaml = ">=5.1"
-requests = "*"
-tqdm = ">=4.42.1"
-typing-extensions = ">=3.7.4.3"
-
-[package.extras]
-all = ["InquirerPy (==0.3.4)", "Jinja2", "Pillow", "black (>=23.1,<24.0)", "gradio", "jedi", "mypy (==0.982)", "pytest", "pytest-cov", "pytest-env", "pytest-xdist", "ruff (>=0.0.241)", "soundfile", "types-PyYAML", "types-requests", "types-simplejson", "types-toml", "types-tqdm", "types-urllib3"]
-cli = ["InquirerPy (==0.3.4)"]
-dev = ["InquirerPy (==0.3.4)", "Jinja2", "Pillow", "black (>=23.1,<24.0)", "gradio", "jedi", "mypy (==0.982)", "pytest", "pytest-cov", "pytest-env", "pytest-xdist", "ruff (>=0.0.241)", "soundfile", "types-PyYAML", "types-requests", "types-simplejson", "types-toml", "types-tqdm", "types-urllib3"]
-fastai = ["fastai (>=2.4)", "fastcore (>=1.3.27)", "toml"]
-quality = ["black (>=23.1,<24.0)", "mypy (==0.982)", "ruff (>=0.0.241)"]
-tensorflow = ["graphviz", "pydot", "tensorflow"]
-testing = ["InquirerPy (==0.3.4)", "Jinja2", "Pillow", "gradio", "jedi", "pytest", "pytest-cov", "pytest-env", "pytest-xdist", "soundfile"]
-torch = ["torch"]
-typing = ["types-PyYAML", "types-requests", "types-simplejson", "types-toml", "types-tqdm", "types-urllib3"]
-
-[[package]]
-name = "humanfriendly"
-version = "10.0"
-description = "Human friendly output for text interfaces using Python"
-category = "main"
-optional = false
-python-versions = ">=2.7, !=3.0.*, !=3.1.*, !=3.2.*, !=3.3.*, !=3.4.*"
-
-[package.dependencies]
-pyreadline3 = {version = "*", markers = "sys_platform == \"win32\" and python_version >= \"3.8\""}
-
-[[package]]
-name = "hypothesis"
-version = "6.46.7"
-description = "A library for property-based testing"
-category = "dev"
-optional = false
-python-versions = ">=3.7"
-
-[package.dependencies]
-attrs = ">=19.2.0"
-sortedcontainers = ">=2.1.0,<3.0.0"
-
-[package.extras]
-all = ["backports.zoneinfo (>=0.2.1)", "black (>=19.10b0)", "click (>=7.0)", "django (>=2.2)", "dpcontracts (>=0.4)", "importlib-metadata (>=3.6)", "lark-parser (>=0.6.5)", "libcst (>=0.3.16)", "numpy (>=1.9.0)", "pandas (>=0.25)", "pytest (>=4.6)", "python-dateutil (>=1.4)", "pytz (>=2014.1)", "redis (>=3.0.0)", "rich (>=9.0.0)", "tzdata (>=2022.1)"]
-cli = ["black (>=19.10b0)", "click (>=7.0)", "rich (>=9.0.0)"]
-codemods = ["libcst (>=0.3.16)"]
-dateutil = ["python-dateutil (>=1.4)"]
-django = ["django (>=2.2)"]
-dpcontracts = ["dpcontracts (>=0.4)"]
-ghostwriter = ["black (>=19.10b0)"]
-lark = ["lark-parser (>=0.6.5)"]
-numpy = ["numpy (>=1.9.0)"]
-pandas = ["pandas (>=0.25)"]
-pytest = ["pytest (>=4.6)"]
-pytz = ["pytz (>=2014.1)"]
-redis = ["redis (>=3.0.0)"]
-zoneinfo = ["backports.zoneinfo (>=0.2.1)", "tzdata (>=2022.1)"]
-
-[[package]]
-name = "identify"
-version = "2.5.6"
-description = "File identification library for Python"
-category = "dev"
-optional = false
-python-versions = ">=3.7"
-
-[package.extras]
-license = ["ukkonen"]
-
-[[package]]
-name = "idna"
-version = "3.4"
-description = "Internationalized Domain Names in Applications (IDNA)"
-category = "main"
-optional = false
-python-versions = ">=3.5"
-
-[[package]]
-name = "imageio"
-version = "2.22.2"
-description = "Library for reading and writing a wide range of image, video, scientific, and volumetric data formats."
-category = "dev"
-optional = false
-python-versions = ">=3.7"
-
-[package.dependencies]
-numpy = "*"
-pillow = ">=8.3.2"
-
-[package.extras]
-all-plugins = ["astropy", "av", "imageio-ffmpeg", "opencv-python", "psutil", "tifffile"]
-all-plugins-pypy = ["av", "imageio-ffmpeg", "psutil", "tifffile"]
-build = ["wheel"]
-dev = ["black", "flake8", "fsspec[github]", "invoke", "pytest", "pytest-cov"]
-docs = ["numpydoc", "pydata-sphinx-theme", "sphinx"]
-ffmpeg = ["imageio-ffmpeg", "psutil"]
-fits = ["astropy"]
-full = ["astropy", "av", "black", "flake8", "fsspec[github]", "gdal", "imageio-ffmpeg", "invoke", "itk", "numpydoc", "opencv-python", "psutil", "pydata-sphinx-theme", "pytest", "pytest-cov", "sphinx", "tifffile", "wheel"]
-gdal = ["gdal"]
-itk = ["itk"]
-linting = ["black", "flake8"]
-opencv = ["opencv-python"]
-pyav = ["av"]
-test = ["fsspec[github]", "invoke", "pytest", "pytest-cov"]
-tifffile = ["tifffile"]
-
-[[package]]
-name = "imagesize"
-version = "1.4.1"
-description = "Getting image size from png/jpeg/jpeg2000/gif file"
-category = "main"
-optional = false
-python-versions = ">=2.7, !=3.0.*, !=3.1.*, !=3.2.*, !=3.3.*"
-
-[[package]]
-name = "importlib-metadata"
-version = "4.13.0"
-description = "Read metadata from Python packages"
-category = "main"
-optional = false
-python-versions = ">=3.7"
-
-[package.dependencies]
-zipp = ">=0.5"
-
-[package.extras]
-docs = ["furo", "jaraco.packaging (>=9)", "jaraco.tidelift (>=1.4)", "rst.linker (>=1.9)", "sphinx (>=3.5)"]
-perf = ["ipython"]
-testing = ["flake8 (<5)", "flufl.flake8", "importlib-resources (>=1.3)", "packaging", "pyfakefs", "pytest (>=6)", "pytest-black (>=0.3.7)", "pytest-checkdocs (>=2.4)", "pytest-cov", "pytest-enabler (>=1.3)", "pytest-flake8", "pytest-mypy (>=0.9.1)", "pytest-perf (>=0.9.2)"]
-
-[[package]]
-name = "importlib-resources"
-version = "5.10.0"
-description = "Read resources from Python packages"
-category = "main"
-optional = false
-python-versions = ">=3.7"
-
-[package.dependencies]
-zipp = {version = ">=3.1.0", markers = "python_version < \"3.10\""}
-
-[package.extras]
-docs = ["furo", "jaraco.packaging (>=9)", "jaraco.tidelift (>=1.4)", "rst.linker (>=1.9)", "sphinx (>=3.5)"]
-testing = ["flake8 (<5)", "pytest (>=6)", "pytest-black (>=0.3.7)", "pytest-checkdocs (>=2.4)", "pytest-cov", "pytest-enabler (>=1.3)", "pytest-flake8", "pytest-mypy (>=0.9.1)"]
-
-[[package]]
-name = "influxdb-client"
-version = "1.33.0"
-description = "InfluxDB 2.0 Python client library"
-category = "dev"
-optional = false
-python-versions = ">=3.7"
-
-[package.dependencies]
-certifi = ">=14.05.14"
-python-dateutil = ">=2.5.3"
-reactivex = ">=4.0.4"
-setuptools = ">=21.0.0"
-urllib3 = ">=1.26.0"
-
-[package.extras]
-async = ["aiocsv (>=1.2.2)", "aiohttp (>=3.8.1)"]
-ciso = ["ciso8601 (>=2.1.1)"]
-extra = ["numpy", "pandas (>=0.25.3)"]
-test = ["aioresponses (>=0.7.3)", "coverage (>=4.0.3)", "flake8 (>=5.0.3)", "httpretty (==1.0.5)", "jinja2 (==3.1.2)", "nose (>=1.3.7)", "pluggy (>=0.3.1)", "psutil (>=5.6.3)", "py (>=1.4.31)", "pytest (>=5.0.0)", "pytest-cov (>=3.0.0)", "randomize (>=0.13)", "sphinx (==1.8.5)", "sphinx-rtd-theme"]
-
-[[package]]
-name = "iniconfig"
-version = "1.1.1"
-description = "iniconfig: brain-dead simple config-ini parsing"
-category = "dev"
-optional = false
-python-versions = "*"
-
-[[package]]
-name = "inputs"
-version = "0.5"
-description = "Cross-platform Python support for keyboards, mice and gamepads."
-category = "dev"
-optional = false
-python-versions = "*"
-
-[[package]]
-name = "ioctl-opt"
-version = "1.2.2"
-description = "Functions to compute fnctl.ioctl's opt argument"
-category = "main"
-optional = false
-python-versions = "*"
-
-[[package]]
-name = "ipykernel"
-version = "6.16.1"
-description = "IPython Kernel for Jupyter"
-category = "dev"
-optional = false
-python-versions = ">=3.7"
-
-[package.dependencies]
-appnope = {version = "*", markers = "platform_system == \"Darwin\""}
-debugpy = ">=1.0"
-ipython = ">=7.23.1"
-jupyter-client = ">=6.1.12"
-matplotlib-inline = ">=0.1"
-nest-asyncio = "*"
-packaging = "*"
-psutil = "*"
-pyzmq = ">=17"
-tornado = ">=6.1"
-traitlets = ">=5.1.0"
-
-[package.extras]
-docs = ["myst-parser", "pydata-sphinx-theme", "sphinx", "sphinxcontrib-github-alt"]
-test = ["flaky", "ipyparallel", "pre-commit", "pytest (>=7.0)", "pytest-cov", "pytest-timeout"]
-
-[[package]]
-name = "ipython"
-version = "8.5.0"
-description = "IPython: Productive Interactive Computing"
-category = "dev"
-optional = false
-python-versions = ">=3.8"
-
-[package.dependencies]
-appnope = {version = "*", markers = "sys_platform == \"darwin\""}
-backcall = "*"
-colorama = {version = "*", markers = "sys_platform == \"win32\""}
-decorator = "*"
-jedi = ">=0.16"
-matplotlib-inline = "*"
-pexpect = {version = ">4.3", markers = "sys_platform != \"win32\""}
-pickleshare = "*"
-prompt-toolkit = ">3.0.1,<3.1.0"
-pygments = ">=2.4.0"
-stack-data = "*"
-traitlets = ">=5"
-
-[package.extras]
-all = ["Sphinx (>=1.3)", "black", "curio", "ipykernel", "ipyparallel", "ipywidgets", "matplotlib (!=3.2.0)", "nbconvert", "nbformat", "notebook", "numpy (>=1.19)", "pandas", "pytest (<7.1)", "pytest-asyncio", "qtconsole", "testpath", "trio"]
-black = ["black"]
-doc = ["Sphinx (>=1.3)"]
-kernel = ["ipykernel"]
-nbconvert = ["nbconvert"]
-nbformat = ["nbformat"]
-notebook = ["ipywidgets", "notebook"]
-parallel = ["ipyparallel"]
-qtconsole = ["qtconsole"]
-test = ["pytest (<7.1)", "pytest-asyncio", "testpath"]
-test-extra = ["curio", "matplotlib (!=3.2.0)", "nbformat", "numpy (>=1.19)", "pandas", "pytest (<7.1)", "pytest-asyncio", "testpath", "trio"]
-
-[[package]]
-name = "ipython-genutils"
-version = "0.2.0"
-description = "Vestigial utilities from IPython"
-category = "dev"
-optional = false
-python-versions = "*"
-
-[[package]]
-name = "ipywidgets"
-version = "8.0.2"
-description = "Jupyter interactive widgets"
-category = "dev"
-optional = false
-python-versions = ">=3.7"
-
-[package.dependencies]
-ipykernel = ">=4.5.1"
-ipython = ">=6.1.0"
-jupyterlab-widgets = ">=3.0,<4.0"
-traitlets = ">=4.3.1"
-widgetsnbextension = ">=4.0,<5.0"
-
-[package.extras]
-test = ["jsonschema", "pytest (>=3.6.0)", "pytest-cov", "pytz"]
-
-[[package]]
-name = "isodate"
-version = "0.6.1"
-description = "An ISO 8601 date/time/duration parser and formatter"
-category = "dev"
-optional = false
-python-versions = "*"
-
-[package.dependencies]
-six = "*"
-
-[[package]]
-name = "isort"
-version = "5.10.1"
-description = "A Python utility / library to sort Python imports."
-category = "main"
-optional = false
-python-versions = ">=3.6.1,<4.0"
-
-[package.extras]
-colors = ["colorama (>=0.4.3,<0.5.0)"]
-pipfile-deprecated-finder = ["pipreqs", "requirementslib"]
-plugins = ["setuptools"]
-requirements-deprecated-finder = ["pip-api", "pipreqs"]
-
-[[package]]
-name = "itsdangerous"
-version = "2.1.2"
-description = "Safely pass data to untrusted environments and back."
-category = "main"
-optional = false
-python-versions = ">=3.7"
-
-[[package]]
-name = "jaraco-classes"
-version = "3.2.3"
-description = "Utility functions for Python class constructs"
-category = "main"
-optional = false
-python-versions = ">=3.7"
-
-[package.dependencies]
-more-itertools = "*"
-
-[package.extras]
-docs = ["jaraco.packaging (>=9)", "jaraco.tidelift (>=1.4)", "rst.linker (>=1.9)", "sphinx (>=3.5)"]
-testing = ["flake8 (<5)", "pytest (>=6)", "pytest-black (>=0.3.7)", "pytest-checkdocs (>=2.4)", "pytest-cov", "pytest-enabler (>=1.3)", "pytest-flake8", "pytest-mypy (>=0.9.1)"]
-
-[[package]]
-name = "jedi"
-version = "0.18.1"
-description = "An autocompletion tool for Python that can be used for text editors."
-category = "dev"
-optional = false
-python-versions = ">=3.6"
-
-[package.dependencies]
-parso = ">=0.8.0,<0.9.0"
-
-[package.extras]
-qa = ["flake8 (==3.8.3)", "mypy (==0.782)"]
-testing = ["Django (<3.1)", "colorama", "docopt", "pytest (<7.0.0)"]
-
-[[package]]
-name = "jeepney"
-version = "0.8.0"
-description = "Low-level, pure Python DBus protocol wrapper."
-category = "main"
-optional = false
-python-versions = ">=3.7"
-
-[package.extras]
-test = ["async-timeout", "pytest", "pytest-asyncio (>=0.17)", "pytest-trio", "testpath", "trio"]
-trio = ["async_generator", "trio"]
-
-[[package]]
-name = "jinja2"
-version = "3.1.2"
-description = "A very fast and expressive template engine."
-category = "main"
-optional = false
-python-versions = ">=3.7"
-
-[package.dependencies]
-MarkupSafe = ">=2.0"
-
-[package.extras]
-i18n = ["Babel (>=2.7)"]
-
-[[package]]
-name = "jmespath"
-version = "1.0.1"
-description = "JSON Matching Expressions"
-category = "dev"
-optional = false
-python-versions = ">=3.7"
-
-[[package]]
-name = "joblib"
-version = "1.2.0"
-description = "Lightweight pipelining with Python functions"
-category = "dev"
-optional = false
-python-versions = ">=3.7"
-
-[[package]]
-name = "json-logging-py"
-version = "0.2"
-description = "JSON / Logstash formatters for Python logging"
-category = "dev"
-optional = false
-python-versions = "*"
-
-[[package]]
-name = "json-rpc"
-version = "1.13.0"
-description = "JSON-RPC transport implementation"
-category = "main"
-optional = false
-python-versions = "*"
-
-[[package]]
-name = "json5"
-version = "0.9.10"
-description = "A Python implementation of the JSON5 data format."
-category = "dev"
-optional = false
-python-versions = "*"
-
-[package.extras]
-dev = ["hypothesis"]
-
-[[package]]
-name = "jsonschema"
-version = "4.16.0"
-description = "An implementation of JSON Schema validation for Python"
-category = "main"
-optional = false
-python-versions = ">=3.7"
-
-[package.dependencies]
-attrs = ">=17.4.0"
-importlib-resources = {version = ">=1.4.0", markers = "python_version < \"3.9\""}
-pkgutil-resolve-name = {version = ">=1.3.10", markers = "python_version < \"3.9\""}
-pyrsistent = ">=0.14.0,<0.17.0 || >0.17.0,<0.17.1 || >0.17.1,<0.17.2 || >0.17.2"
-
-[package.extras]
-format = ["fqdn", "idna", "isoduration", "jsonpointer (>1.13)", "rfc3339-validator", "rfc3987", "uri-template", "webcolors (>=1.11)"]
-format-nongpl = ["fqdn", "idna", "isoduration", "jsonpointer (>1.13)", "rfc3339-validator", "rfc3986-validator (>0.1.0)", "uri-template", "webcolors (>=1.11)"]
-
-[[package]]
-name = "jupyter"
-version = "1.0.0"
-description = "Jupyter metapackage. Install all the Jupyter components in one go."
-category = "dev"
-optional = false
-python-versions = "*"
-
-[package.dependencies]
-ipykernel = "*"
-ipywidgets = "*"
-jupyter-console = "*"
-nbconvert = "*"
-notebook = "*"
-qtconsole = "*"
-
-[[package]]
-name = "jupyter-client"
-version = "7.4.3"
-description = "Jupyter protocol implementation and client libraries"
-category = "dev"
-optional = false
-python-versions = ">=3.7"
-
-[package.dependencies]
-entrypoints = "*"
-jupyter-core = ">=4.9.2"
-nest-asyncio = ">=1.5.4"
-python-dateutil = ">=2.8.2"
-pyzmq = ">=23.0"
-tornado = ">=6.2"
-traitlets = "*"
-
-[package.extras]
-doc = ["ipykernel", "myst-parser", "sphinx (>=1.3.6)", "sphinx-rtd-theme", "sphinxcontrib-github-alt"]
-test = ["codecov", "coverage", "ipykernel (>=6.12)", "ipython", "mypy", "pre-commit", "pytest", "pytest-asyncio (>=0.18)", "pytest-cov", "pytest-timeout"]
-
-[[package]]
-name = "jupyter-console"
-version = "6.4.4"
-description = "Jupyter terminal console"
-category = "dev"
-optional = false
-python-versions = ">=3.7"
-
-[package.dependencies]
-ipykernel = "*"
-ipython = "*"
-jupyter-client = ">=7.0.0"
-prompt-toolkit = ">=2.0.0,<3.0.0 || >3.0.0,<3.0.1 || >3.0.1,<3.1.0"
-pygments = "*"
-
-[package.extras]
-test = ["pexpect"]
-
-[[package]]
-name = "jupyter-core"
-version = "4.11.2"
-description = "Jupyter core package. A base package on which Jupyter projects rely."
-category = "dev"
-optional = false
-python-versions = ">=3.7"
-
-[package.dependencies]
-pywin32 = {version = ">=1.0", markers = "sys_platform == \"win32\" and platform_python_implementation != \"PyPy\""}
-traitlets = "*"
-
-[package.extras]
-test = ["ipykernel", "pre-commit", "pytest", "pytest-cov", "pytest-timeout"]
-
-[[package]]
-name = "jupyter-server"
-version = "1.21.0"
-description = "The backend—i.e. core services, APIs, and REST endpoints—to Jupyter web applications."
-category = "dev"
-optional = false
-python-versions = ">=3.7"
-
-[package.dependencies]
-anyio = ">=3.1.0,<4"
-argon2-cffi = "*"
-jinja2 = "*"
-jupyter-client = ">=6.1.12"
-jupyter-core = ">=4.7.0"
-nbconvert = ">=6.4.4"
-nbformat = ">=5.2.0"
-packaging = "*"
-prometheus-client = "*"
-pywinpty = {version = "*", markers = "os_name == \"nt\""}
-pyzmq = ">=17"
-Send2Trash = "*"
-terminado = ">=0.8.3"
-tornado = ">=6.1.0"
-traitlets = ">=5.1"
-websocket-client = "*"
-
-[package.extras]
-test = ["coverage", "ipykernel", "pre-commit", "pytest (>=7.0)", "pytest-console-scripts", "pytest-cov", "pytest-mock", "pytest-timeout", "pytest-tornasync", "requests"]
-
-[[package]]
-name = "jupyterlab"
-version = "3.4.8"
-description = "JupyterLab computational environment"
-category = "dev"
-optional = false
-python-versions = ">=3.7"
-
-[package.dependencies]
-ipython = "*"
-jinja2 = ">=2.1"
-jupyter-core = "*"
-jupyter-server = ">=1.16,<2.0"
-jupyterlab-server = ">=2.10,<3.0"
-nbclassic = "*"
-notebook = "<7"
-packaging = "*"
-tomli = "*"
-tornado = ">=6.1.0"
-
-[package.extras]
-test = ["check-manifest", "coverage", "jupyterlab-server[test]", "pre-commit", "pytest (>=6.0)", "pytest-check-links (>=0.5)", "pytest-console-scripts", "pytest-cov", "requests", "requests-cache", "virtualenv"]
-ui-tests = ["build"]
-
-[[package]]
-name = "jupyterlab-pygments"
-version = "0.2.2"
-description = "Pygments theme using JupyterLab CSS variables"
-category = "dev"
-optional = false
-python-versions = ">=3.7"
-
-[[package]]
-name = "jupyterlab-server"
-version = "2.16.1"
-description = "A set of server components for JupyterLab and JupyterLab like applications."
-category = "dev"
-optional = false
-python-versions = ">=3.7"
-
-[package.dependencies]
-babel = "*"
-importlib-metadata = {version = ">=4.8.3", markers = "python_version < \"3.10\""}
-jinja2 = ">=3.0.3"
-json5 = "*"
-jsonschema = ">=3.0.1"
-jupyter-server = ">=1.8,<3"
-packaging = "*"
-requests = "*"
-
-[package.extras]
-docs = ["autodoc-traits", "docutils (<0.19)", "jinja2 (<3.1.0)", "mistune (<1)", "myst-parser", "pydata-sphinx-theme", "sphinx", "sphinx-copybutton", "sphinxcontrib-openapi"]
-openapi = ["openapi-core (>=0.14.2)", "ruamel-yaml"]
-test = ["codecov", "ipykernel", "jupyter-server[test]", "openapi-core (>=0.14.2,<0.15.0)", "openapi-spec-validator (<0.5)", "pytest (>=7.0)", "pytest-console-scripts", "pytest-cov", "ruamel-yaml", "strict-rfc3339"]
-
-[[package]]
-name = "jupyterlab-vim"
-version = "0.15.1"
-description = "Code cell vim bindings"
-category = "dev"
-optional = false
-python-versions = ">=3.6"
-
-[[package]]
-name = "jupyterlab-widgets"
-version = "3.0.3"
-description = "Jupyter interactive widgets for JupyterLab"
-category = "dev"
-optional = false
-python-versions = ">=3.7"
-
-[[package]]
-name = "keyring"
-version = "23.9.3"
-description = "Store and access your passwords safely."
-category = "main"
-optional = false
-python-versions = ">=3.7"
-
-[package.dependencies]
-importlib-metadata = {version = ">=3.6", markers = "python_version < \"3.10\""}
-"jaraco.classes" = "*"
-jeepney = {version = ">=0.4.2", markers = "sys_platform == \"linux\""}
-pywin32-ctypes = {version = "<0.1.0 || >0.1.0,<0.1.1 || >0.1.1", markers = "sys_platform == \"win32\""}
-SecretStorage = {version = ">=3.2", markers = "sys_platform == \"linux\""}
-
-[package.extras]
-docs = ["jaraco.packaging (>=9)", "jaraco.tidelift (>=1.4)", "rst.linker (>=1.9)", "sphinx"]
-testing = ["flake8 (<5)", "pytest (>=6)", "pytest-black (>=0.3.7)", "pytest-checkdocs (>=2.4)", "pytest-cov", "pytest-enabler (>=1.3)", "pytest-flake8", "pytest-mypy (>=0.9.1)"]
-
-[[package]]
-name = "kiwisolver"
-version = "1.4.4"
-description = "A fast implementation of the Cassowary constraint solver"
-category = "dev"
-optional = false
-python-versions = ">=3.7"
-
-[[package]]
-name = "knack"
-version = "0.10.0"
-description = "A Command-Line Interface framework"
-category = "dev"
-optional = false
-python-versions = "*"
-
-[package.dependencies]
-argcomplete = "*"
-jmespath = "*"
-pygments = "*"
-pyyaml = "*"
-tabulate = "*"
-
-[[package]]
-name = "lazy-object-proxy"
-version = "1.7.1"
-description = "A fast and thorough lazy object proxy."
-category = "main"
-optional = false
-python-versions = ">=3.6"
-
-[[package]]
-name = "libusb1"
-version = "3.0.0"
-description = "Pure-python wrapper for libusb-1.0"
-category = "main"
-optional = false
-python-versions = "*"
-
-[[package]]
-name = "lit"
-version = "15.0.7"
-description = "A Software Testing Tool"
-category = "dev"
-optional = false
-python-versions = "*"
-
-[[package]]
-name = "lockfile"
-version = "0.12.2"
-description = "Platform-independent file locking module"
-category = "main"
-optional = false
-python-versions = "*"
-
-[[package]]
-name = "lru-dict"
-version = "1.1.8"
-description = "An Dict like LRU container."
-category = "dev"
-optional = false
-python-versions = "*"
-
-[package.extras]
-test = ["pytest"]
-
-[[package]]
-name = "lxml"
-version = "4.9.1"
-description = "Powerful and Pythonic XML processing library combining libxml2/libxslt with the ElementTree API."
-category = "dev"
-optional = false
-python-versions = ">=2.7, !=3.0.*, !=3.1.*, !=3.2.*, !=3.3.*, != 3.4.*"
-
-[package.extras]
-cssselect = ["cssselect (>=0.7)"]
-html5 = ["html5lib"]
-htmlsoup = ["BeautifulSoup4"]
-source = ["Cython (>=0.29.7)"]
-
-[[package]]
-name = "mako"
-version = "1.2.3"
-description = "A super-fast templating language that borrows the best ideas from the existing templating languages."
-category = "dev"
-optional = false
-python-versions = ">=3.7"
-
-[package.dependencies]
-MarkupSafe = ">=0.9.2"
-
-[package.extras]
-babel = ["Babel"]
-lingua = ["lingua"]
-testing = ["pytest"]
-
-[[package]]
-name = "markdown"
-version = "3.4.1"
-description = "Python implementation of Markdown."
-category = "dev"
-optional = false
-python-versions = ">=3.7"
-
-[package.dependencies]
-importlib-metadata = {version = ">=4.4", markers = "python_version < \"3.10\""}
-
-[package.extras]
-testing = ["coverage", "pyyaml"]
-
-[[package]]
-name = "markdown-it-py"
-version = "2.1.0"
-description = "Python port of markdown-it. Markdown parsing, done right!"
-category = "dev"
-optional = false
-python-versions = ">=3.7"
-
-[package.dependencies]
-mdurl = ">=0.1,<1.0"
-
-[package.extras]
-benchmarking = ["psutil", "pytest", "pytest-benchmark (>=3.2,<4.0)"]
-code-style = ["pre-commit (==2.6)"]
-compare = ["commonmark (>=0.9.1,<0.10.0)", "markdown (>=3.3.6,<3.4.0)", "mistletoe (>=0.8.1,<0.9.0)", "mistune (>=2.0.2,<2.1.0)", "panflute (>=2.1.3,<2.2.0)"]
-linkify = ["linkify-it-py (>=1.0,<2.0)"]
-plugins = ["mdit-py-plugins"]
-profiling = ["gprof2dot"]
-rtd = ["attrs", "myst-parser", "pyyaml", "sphinx", "sphinx-copybutton", "sphinx-design", "sphinx_book_theme"]
-testing = ["coverage", "pytest", "pytest-cov", "pytest-regressions"]
-
-[[package]]
-name = "markupsafe"
-version = "2.1.1"
-description = "Safely add untrusted strings to HTML/XML markup."
-category = "main"
-optional = false
-python-versions = ">=3.7"
-
-[[package]]
-name = "matplotlib"
-version = "3.6.1"
-description = "Python plotting package"
-category = "dev"
-optional = false
-python-versions = ">=3.8"
-
-[package.dependencies]
-contourpy = ">=1.0.1"
-cycler = ">=0.10"
-fonttools = ">=4.22.0"
-kiwisolver = ">=1.0.1"
-numpy = ">=1.19"
-packaging = ">=20.0"
-pillow = ">=6.2.0"
-pyparsing = ">=2.2.1"
-python-dateutil = ">=2.7"
-setuptools_scm = ">=7"
-
-[[package]]
-name = "matplotlib-inline"
-version = "0.1.6"
-description = "Inline Matplotlib backend for Jupyter"
-category = "dev"
-optional = false
-python-versions = ">=3.5"
-
-[package.dependencies]
-traitlets = "*"
-
-[[package]]
-name = "mccabe"
-version = "0.6.1"
-description = "McCabe checker, plugin for flake8"
-category = "main"
-optional = false
-python-versions = "*"
-
-[[package]]
-name = "mdit-py-plugins"
-version = "0.3.1"
-description = "Collection of plugins for markdown-it-py"
-category = "dev"
-optional = false
-python-versions = ">=3.7"
-
-[package.dependencies]
-markdown-it-py = ">=1.0.0,<3.0.0"
-
-[package.extras]
-code-style = ["pre-commit"]
-rtd = ["attrs", "myst-parser (>=0.16.1,<0.17.0)", "sphinx-book-theme (>=0.1.0,<0.2.0)"]
-testing = ["coverage", "pytest", "pytest-cov", "pytest-regressions"]
-
-[[package]]
-name = "mdurl"
-version = "0.1.2"
-description = "Markdown URL utilities"
-category = "dev"
-optional = false
-python-versions = ">=3.7"
-
-[[package]]
-name = "mistune"
-version = "2.0.4"
-description = "A sane Markdown parser with useful plugins and renderers"
-category = "dev"
-optional = false
-python-versions = "*"
-
-[[package]]
-name = "more-itertools"
-version = "9.0.0"
-description = "More routines for operating on iterables, beyond itertools"
-category = "main"
-optional = false
-python-versions = ">=3.7"
-
-[[package]]
-name = "mpld3"
-version = "0.5.8"
-description = "D3 Viewer for Matplotlib"
-category = "dev"
-optional = false
-python-versions = "*"
-
-[package.dependencies]
-jinja2 = "*"
-matplotlib = "*"
-
-[[package]]
-name = "mpmath"
-version = "1.2.1"
-description = "Python library for arbitrary-precision floating-point arithmetic"
-category = "main"
-optional = false
-python-versions = "*"
-
-[package.extras]
-develop = ["codecov", "pycodestyle", "pytest (>=4.6)", "pytest-cov", "wheel"]
-tests = ["pytest (>=4.6)"]
-
-[[package]]
-name = "msal"
-version = "1.20.0b1"
-description = "The Microsoft Authentication Library (MSAL) for Python library enables your app to access the Microsoft Cloud by supporting authentication of users with Microsoft Azure Active Directory accounts (AAD) and Microsoft Accounts (MSA) using industry standard OAuth2 and OpenID Connect."
-category = "dev"
-optional = false
-python-versions = "*"
-
-[package.dependencies]
-cryptography = ">=0.6,<40"
-PyJWT = {version = ">=1.0.0,<3", extras = ["crypto"]}
-pymsalruntime = {version = ">=0.11.2,<0.12", optional = true, markers = "python_version >= \"3.6\" and platform_system == \"Windows\" and extra == \"broker\""}
-requests = ">=2.0.0,<3"
-
-[package.extras]
-broker = ["pymsalruntime (>=0.11.2,<0.12)"]
-
-[[package]]
-name = "msal-extensions"
-version = "1.0.0"
-description = "Microsoft Authentication Library extensions (MSAL EX) provides a persistence API that can save your data on disk, encrypted on Windows, macOS and Linux. Concurrent data access will be coordinated by a file lock mechanism."
-category = "dev"
-optional = false
-python-versions = "*"
-
-[package.dependencies]
-msal = ">=0.4.1,<2.0.0"
-portalocker = [
-    {version = ">=1.0,<3", markers = "python_version >= \"3.5\" and platform_system != \"Windows\""},
-    {version = ">=1.6,<3", markers = "python_version >= \"3.5\" and platform_system == \"Windows\""},
-]
-
-[[package]]
-name = "msgpack"
-version = "1.0.4"
-description = "MessagePack serializer"
-category = "main"
-optional = false
-python-versions = "*"
-
-[[package]]
-name = "msgpack-numpy"
-version = "0.4.8"
-description = "Numpy data serialization using msgpack"
-category = "dev"
-optional = false
-python-versions = "*"
-
-[package.dependencies]
-msgpack = ">=0.5.2"
-numpy = ">=1.9.0"
-
-[[package]]
-name = "msgpack-python"
-version = "0.5.6"
-description = "MessagePack (de)serializer."
-category = "dev"
-optional = false
-python-versions = "*"
-
-[[package]]
-name = "msrest"
-version = "0.7.1"
-description = "AutoRest swagger generator Python client runtime."
-category = "dev"
-optional = false
-python-versions = ">=3.6"
-
-[package.dependencies]
-azure-core = ">=1.24.0"
-certifi = ">=2017.4.17"
-isodate = ">=0.6.0"
-requests = ">=2.16,<3.0"
-requests-oauthlib = ">=0.5.0"
-
-[package.extras]
-async = ["aiodns", "aiohttp (>=3.0)"]
-
-[[package]]
-name = "msrestazure"
-version = "0.6.4"
-description = "AutoRest swagger generator Python client runtime. Azure-specific module."
-category = "dev"
-optional = false
-python-versions = "*"
-
-[package.dependencies]
-adal = ">=0.6.0,<2.0.0"
-msrest = ">=0.6.0,<2.0.0"
-six = "*"
-
-[[package]]
-name = "multidict"
-version = "6.0.2"
-description = "multidict implementation"
-category = "dev"
-optional = false
-python-versions = ">=3.7"
-
-[[package]]
-name = "munch"
-version = "2.5.0"
-description = "A dot-accessible dictionary (a la JavaScript objects)"
-category = "dev"
-optional = false
-python-versions = "*"
-
-[package.dependencies]
-six = "*"
-
-[package.extras]
-testing = ["astroid (>=1.5.3,<1.6.0)", "astroid (>=2.0)", "coverage", "pylint (>=1.7.2,<1.8.0)", "pylint (>=2.3.1,<2.4.0)", "pytest"]
-yaml = ["PyYAML (>=5.1.0)"]
-
-[[package]]
-name = "mypy"
-version = "0.961"
-description = "Optional static typing for Python"
-category = "dev"
-optional = false
-python-versions = ">=3.6"
-
-[package.dependencies]
-mypy-extensions = ">=0.4.3"
-tomli = {version = ">=1.1.0", markers = "python_version < \"3.11\""}
-typing-extensions = ">=3.10"
-
-[package.extras]
-dmypy = ["psutil (>=4.0)"]
-python2 = ["typed-ast (>=1.4.0,<2)"]
-reports = ["lxml"]
-
-[[package]]
-name = "mypy-extensions"
-version = "0.4.3"
-description = "Experimental type system extensions for programs checked with the mypy typechecker."
-category = "dev"
-optional = false
-python-versions = "*"
-
-[[package]]
-name = "myst-parser"
-version = "0.18.1"
-description = "An extended commonmark compliant parser, with bridges to docutils & sphinx."
-category = "dev"
-optional = false
-python-versions = ">=3.7"
-
-[package.dependencies]
-docutils = ">=0.15,<0.20"
-jinja2 = "*"
-markdown-it-py = ">=1.0.0,<3.0.0"
-mdit-py-plugins = ">=0.3.1,<0.4.0"
-pyyaml = "*"
-sphinx = ">=4,<6"
-typing-extensions = "*"
-
-[package.extras]
-code-style = ["pre-commit (>=2.12,<3.0)"]
-linkify = ["linkify-it-py (>=1.0,<2.0)"]
-rtd = ["ipython", "sphinx-book-theme", "sphinx-design", "sphinxcontrib.mermaid (>=0.7.1,<0.8.0)", "sphinxext-opengraph (>=0.6.3,<0.7.0)", "sphinxext-rediraffe (>=0.2.7,<0.3.0)"]
-testing = ["beautifulsoup4", "coverage[toml]", "pytest (>=6,<7)", "pytest-cov", "pytest-param-files (>=0.3.4,<0.4.0)", "pytest-regressions", "sphinx (<5.2)", "sphinx-pytest"]
-
-[[package]]
-name = "natsort"
-version = "8.2.0"
-description = "Simple yet flexible natural sorting in Python."
-category = "dev"
-optional = false
-python-versions = ">=3.6"
-
-[package.extras]
-fast = ["fastnumbers (>=2.0.0)"]
-icu = ["PyICU (>=1.0.0)"]
-
-[[package]]
-name = "nbclassic"
-version = "0.4.7"
-description = "A web-based notebook environment for interactive computing"
-category = "dev"
-optional = false
-python-versions = ">=3.7"
-
-[package.dependencies]
-argon2-cffi = "*"
-ipykernel = "*"
-ipython-genutils = "*"
-jinja2 = "*"
-jupyter-client = ">=6.1.1"
-jupyter-core = ">=4.6.1"
-jupyter-server = ">=1.8"
-nbconvert = ">=5"
-nbformat = "*"
-nest-asyncio = ">=1.5"
-notebook-shim = ">=0.1.0"
-prometheus-client = "*"
-pyzmq = ">=17"
-Send2Trash = ">=1.8.0"
-terminado = ">=0.8.3"
-tornado = ">=6.1"
-traitlets = ">=4.2.1"
-
-[package.extras]
-docs = ["myst-parser", "nbsphinx", "sphinx", "sphinx-rtd-theme", "sphinxcontrib-github-alt"]
-json-logging = ["json-logging"]
-test = ["coverage", "nbval", "pytest", "pytest-cov", "pytest-tornasync", "requests", "requests-unixsocket", "selenium (==4.1.5)", "testpath"]
-
-[[package]]
-name = "nbclient"
-version = "0.7.0"
-description = "A client library for executing notebooks. Formerly nbconvert's ExecutePreprocessor."
-category = "dev"
-optional = false
-python-versions = ">=3.7.0"
-
-[package.dependencies]
-jupyter-client = ">=6.1.5"
-nbformat = ">=5.0"
-nest-asyncio = "*"
-traitlets = ">=5.2.2"
-
-[package.extras]
-sphinx = ["Sphinx (>=1.7)", "autodoc-traits", "mock", "moto", "myst-parser", "sphinx-book-theme"]
-test = ["black", "check-manifest", "flake8", "ipykernel", "ipython", "ipywidgets", "mypy", "nbconvert", "pip (>=18.1)", "pre-commit", "pytest (>=4.1)", "pytest-asyncio", "pytest-cov (>=2.6.1)", "setuptools (>=60.0)", "testpath", "twine (>=1.11.0)", "xmltodict"]
-
-[[package]]
-name = "nbconvert"
-version = "7.2.2"
-description = "Converting Jupyter Notebooks"
-category = "dev"
-optional = false
-python-versions = ">=3.7"
-
-[package.dependencies]
-beautifulsoup4 = "*"
-bleach = "*"
-defusedxml = "*"
-importlib-metadata = {version = ">=3.6", markers = "python_version < \"3.10\""}
-jinja2 = ">=3.0"
-jupyter-core = ">=4.7"
-jupyterlab-pygments = "*"
-markupsafe = ">=2.0"
-mistune = ">=2.0.3,<3"
-nbclient = ">=0.5.0"
-nbformat = ">=5.1"
-packaging = "*"
-pandocfilters = ">=1.4.1"
-pygments = ">=2.4.1"
-tinycss2 = "*"
-traitlets = ">=5.0"
-
-[package.extras]
-all = ["ipykernel", "ipython", "ipywidgets (>=7)", "myst-parser", "nbsphinx (>=0.2.12)", "pre-commit", "pyppeteer (>=1,<1.1)", "pyqtwebengine (>=5.15)", "pytest", "pytest-cov", "pytest-dependency", "sphinx (==5.0.2)", "sphinx-rtd-theme", "tornado (>=6.1)"]
-docs = ["ipython", "myst-parser", "nbsphinx (>=0.2.12)", "sphinx (==5.0.2)", "sphinx-rtd-theme"]
-qtpdf = ["pyqtwebengine (>=5.15)"]
-qtpng = ["pyqtwebengine (>=5.15)"]
-serve = ["tornado (>=6.1)"]
-test = ["ipykernel", "ipywidgets (>=7)", "pre-commit", "pyppeteer (>=1,<1.1)", "pytest", "pytest-cov", "pytest-dependency"]
-webpdf = ["pyppeteer (>=1,<1.1)"]
-
-[[package]]
-name = "nbformat"
-version = "5.7.0"
-description = "The Jupyter Notebook format"
-category = "dev"
-optional = false
-python-versions = ">=3.7"
-
-[package.dependencies]
-fastjsonschema = "*"
-jsonschema = ">=2.6"
-jupyter-core = "*"
-traitlets = ">=5.1"
-
-[package.extras]
-test = ["check-manifest", "pep440", "pre-commit", "pytest", "testpath"]
-
-[[package]]
-name = "ncompress"
-version = "1.0.0"
-description = "LZW compression and decompression"
-category = "main"
-optional = false
-python-versions = "*"
-
-[package.extras]
-tests = ["pytest"]
-
-[[package]]
-name = "nest-asyncio"
-version = "1.5.6"
-description = "Patch asyncio to allow nested event loops"
-category = "dev"
-optional = false
-python-versions = ">=3.5"
-
-[[package]]
-name = "networkx"
-version = "2.8.8"
-description = "Python package for creating and manipulating graphs and networks"
-category = "dev"
-optional = false
-python-versions = ">=3.8"
-
-[package.extras]
-default = ["matplotlib (>=3.4)", "numpy (>=1.19)", "pandas (>=1.3)", "scipy (>=1.8)"]
-developer = ["mypy (>=0.982)", "pre-commit (>=2.20)"]
-doc = ["nb2plots (>=0.6)", "numpydoc (>=1.5)", "pillow (>=9.2)", "pydata-sphinx-theme (>=0.11)", "sphinx (>=5.2)", "sphinx-gallery (>=0.11)", "texext (>=0.6.6)"]
-extra = ["lxml (>=4.6)", "pydot (>=1.4.2)", "pygraphviz (>=1.9)", "sympy (>=1.10)"]
-test = ["codecov (>=2.1)", "pytest (>=7.2)", "pytest-cov (>=4.0)"]
-
-[[package]]
-name = "nodeenv"
-version = "1.7.0"
-description = "Node.js virtual environment builder"
-category = "dev"
-optional = false
-python-versions = ">=2.7,!=3.0.*,!=3.1.*,!=3.2.*,!=3.3.*,!=3.4.*,!=3.5.*,!=3.6.*"
-
-[package.dependencies]
-setuptools = "*"
-
-[[package]]
-name = "nose"
-version = "1.3.7"
-description = "nose extends unittest to make testing easier"
-category = "main"
-optional = false
-python-versions = "*"
-
-[[package]]
-name = "notebook"
-version = "6.4.12"
-description = "A web-based notebook environment for interactive computing"
-category = "dev"
-optional = false
-python-versions = ">=3.7"
-
-[package.dependencies]
-argon2-cffi = "*"
-ipykernel = "*"
-ipython-genutils = "*"
-jinja2 = "*"
-jupyter-client = ">=5.3.4"
-jupyter-core = ">=4.6.1"
-nbconvert = ">=5"
-nbformat = "*"
-nest-asyncio = ">=1.5"
-prometheus-client = "*"
-pyzmq = ">=17"
-Send2Trash = ">=1.8.0"
-terminado = ">=0.8.3"
-tornado = ">=6.1"
-traitlets = ">=4.2.1"
-
-[package.extras]
-docs = ["myst-parser", "nbsphinx", "sphinx", "sphinx-rtd-theme", "sphinxcontrib-github-alt"]
-json-logging = ["json-logging"]
-test = ["coverage", "nbval", "pytest", "pytest-cov", "requests", "requests-unixsocket", "selenium", "testpath"]
-
-[[package]]
-name = "notebook-shim"
-version = "0.2.0"
-description = "A shim layer for notebook traits and config"
-category = "dev"
-optional = false
-python-versions = ">=3.7"
-
-[package.dependencies]
-jupyter-server = ">=1.8,<3"
-
-[package.extras]
-test = ["pytest", "pytest-console-scripts", "pytest-tornasync"]
-
-[[package]]
-name = "numpy"
-version = "1.23.4"
-description = "NumPy is the fundamental package for array computing with Python."
-category = "main"
-optional = false
-python-versions = ">=3.8"
-
-[[package]]
-name = "nvidia-cublas-cu12"
-version = "12.1.0.26"
-description = "CUBLAS native runtime libraries"
-category = "dev"
-optional = false
-python-versions = ">=3"
-
-[[package]]
-name = "nvidia-cuda-runtime-cu12"
-version = "12.1.55"
-description = "CUDA Runtime native Libraries"
-category = "dev"
-optional = false
-python-versions = ">=3"
-
-[[package]]
-name = "nvidia-cudnn-cu12"
-version = "8.9.0.131"
-description = "cuDNN runtime libraries"
-category = "dev"
-optional = false
-python-versions = ">=3"
-
-[package.dependencies]
-nvidia-cublas-cu12 = "*"
-
-[[package]]
-name = "nvidia-ml-py3"
-version = "7.352.0"
-description = "Python Bindings for the NVIDIA Management Library"
-category = "dev"
-optional = false
-python-versions = "*"
-
-[[package]]
-name = "oauthlib"
-version = "3.2.2"
-description = "A generic, spec-compliant, thorough implementation of the OAuth request-signing logic"
-category = "dev"
-optional = false
-python-versions = ">=3.6"
-
-[package.extras]
-rsa = ["cryptography (>=3.0.0)"]
-signals = ["blinker (>=1.4.0)"]
-signedtoken = ["cryptography (>=3.0.0)", "pyjwt (>=2.0.0,<3)"]
-
-[[package]]
-name = "omegaconf"
-version = "2.3.0"
-description = "A flexible configuration library"
-category = "dev"
-optional = false
-python-versions = ">=3.6"
-
-[package.dependencies]
-antlr4-python3-runtime = ">=4.9.0,<4.10.0"
-PyYAML = ">=5.1.0"
-
-[[package]]
-name = "onnx"
-version = "1.12.0"
-description = "Open Neural Network Exchange"
-category = "main"
-optional = false
-python-versions = "*"
-
-[package.dependencies]
-numpy = ">=1.16.6"
-protobuf = ">=3.12.2,<=3.20.1"
-typing-extensions = ">=3.6.2.1"
-
-[package.extras]
-lint = ["clang-format (==13.0.0)", "flake8", "mypy (==0.782)", "types-protobuf (==3.18.4)"]
-
-[[package]]
-name = "onnx2torch"
-version = "1.5.4"
-description = "Nice Onnx to Pytorch converter"
-category = "dev"
-optional = false
-python-versions = "*"
-
-[package.dependencies]
-numpy = ">=1.16.4"
-onnx = ">=1.9.0"
-torch = ">=1.8.0"
-torchvision = ">=0.9.0"
-
-[[package]]
-name = "onnxoptimizer"
-version = "0.3.1"
-description = "Open Neural Network Exchange"
-category = "dev"
-optional = false
-python-versions = "*"
-
-[package.dependencies]
-onnx = "*"
-
-[package.extras]
-mypy = ["mypy (==0.600)"]
-
-[[package]]
-name = "onnxruntime-gpu"
-version = "1.12.1"
-description = "ONNX Runtime is a runtime accelerator for Machine Learning models"
-category = "main"
-optional = false
-python-versions = "*"
-
-[package.dependencies]
-coloredlogs = "*"
-flatbuffers = "*"
-numpy = ">=1.21.0"
-packaging = "*"
-protobuf = "*"
-sympy = "*"
-
-[[package]]
-name = "opencv-python-headless"
-version = "4.5.5.64"
-description = "Wrapper package for OpenCV python bindings."
-category = "dev"
-optional = false
-python-versions = ">=3.6"
-
-[package.dependencies]
-numpy = [
-    {version = ">=1.21.2", markers = "python_version >= \"3.6\" and platform_system == \"Darwin\" and platform_machine == \"arm64\""},
-    {version = ">=1.19.3", markers = "python_version >= \"3.6\" and platform_system == \"Linux\" and platform_machine == \"aarch64\""},
-    {version = ">=1.14.5", markers = "python_version >= \"3.7\""},
-    {version = ">=1.17.3", markers = "python_version >= \"3.8\""},
-]
-
-[package.source]
-type = "url"
-url = "https://github.com/commaai/opencv-python-builder/releases/download/4.5.5.64%2Bcu118/opencv_python_headless-4.5.5.64-cp38-cp38-manylinux_2_31_x86_64.whl"
-
-[[package]]
-name = "osmium"
-version = "3.4.1"
-description = "Python bindings for libosmium, the data processing library for OSM data"
-category = "dev"
-optional = false
-python-versions = ">=3.6"
-
-[package.dependencies]
-requests = "*"
-
-[[package]]
-name = "osmnx"
-version = "1.2.2"
-description = "Retrieve, model, analyze, and visualize OpenStreetMap street networks and other spatial data"
-category = "dev"
-optional = false
-python-versions = ">=3.8"
-
-[package.dependencies]
-geopandas = ">=0.11"
-matplotlib = ">=3.5"
-networkx = ">=2.8"
-numpy = ">=1.22"
-pandas = ">=1.4"
-pyproj = ">=3.3"
-requests = ">=2.28"
-Rtree = ">=1.0"
-Shapely = ">=1.8,<2.0"
-
-[package.extras]
-entropy = ["scipy"]
-nearest-neighbor = ["scikit-learn", "scipy"]
-raster = ["gdal", "rasterio"]
-web-map = ["folium"]
-
-[[package]]
-name = "packaging"
-version = "21.3"
-description = "Core utilities for Python packages"
-category = "main"
-optional = false
-python-versions = ">=3.6"
-
-[package.dependencies]
-pyparsing = ">=2.0.2,<3.0.5 || >3.0.5"
-
-[[package]]
-name = "pandas"
-version = "1.5.1"
-description = "Powerful data structures for data analysis, time series, and statistics"
-category = "dev"
-optional = false
-python-versions = ">=3.8"
-
-[package.dependencies]
-numpy = {version = ">=1.20.3", markers = "python_version < \"3.10\""}
-python-dateutil = ">=2.8.1"
-pytz = ">=2020.1"
-
-[package.extras]
-test = ["hypothesis (>=5.5.3)", "pytest (>=6.0)", "pytest-xdist (>=1.31)"]
-
-[[package]]
-name = "pandocfilters"
-version = "1.5.0"
-description = "Utilities for writing pandoc filters in python"
-category = "dev"
-optional = false
-python-versions = ">=2.7, !=3.0.*, !=3.1.*, !=3.2.*, !=3.3.*"
-
-[[package]]
-name = "panflute"
-version = "2.3.0"
-description = "Pythonic Pandoc filters"
-category = "main"
-optional = false
-python-versions = ">=3.6"
-
-[package.dependencies]
-click = ">=6,<9"
-pyyaml = ">=3,<7"
-
-[package.extras]
-dev = ["configparser", "coverage", "flake8", "pandocfilters", "pytest", "pytest-cov", "requests"]
-extras = ["yamlloader (>=1,<2)"]
-pypi = ["Pygments", "docutils", "twine", "wheel"]
-
-[[package]]
-name = "parameterized"
-version = "0.8.1"
-description = "Parameterized testing with any Python test framework"
-category = "dev"
-optional = false
-python-versions = "*"
-
-[package.extras]
-dev = ["jinja2"]
-
-[[package]]
-name = "paramiko"
-version = "2.11.0"
-description = "SSH2 protocol library"
-category = "dev"
-optional = false
-python-versions = "*"
-
-[package.dependencies]
-bcrypt = ">=3.1.3"
-cryptography = ">=2.5"
-pynacl = ">=1.0.1"
-six = "*"
-
-[package.extras]
-all = ["bcrypt (>=3.1.3)", "gssapi (>=1.4.1)", "invoke (>=1.3)", "pyasn1 (>=0.1.7)", "pynacl (>=1.0.1)", "pywin32 (>=2.1.8)"]
-ed25519 = ["bcrypt (>=3.1.3)", "pynacl (>=1.0.1)"]
-gssapi = ["gssapi (>=1.4.1)", "pyasn1 (>=0.1.7)", "pywin32 (>=2.1.8)"]
-invoke = ["invoke (>=1.3)"]
-
-[[package]]
-name = "parso"
-version = "0.8.3"
-description = "A Python Parser"
-category = "dev"
-optional = false
-python-versions = ">=3.6"
-
-[package.extras]
-qa = ["flake8 (==3.8.3)", "mypy (==0.782)"]
-testing = ["docopt", "pytest (<6.0.0)"]
-
-[[package]]
-name = "pexpect"
-version = "4.8.0"
-description = "Pexpect allows easy control of interactive console applications."
-category = "main"
-optional = false
-python-versions = "*"
-
-[package.dependencies]
-ptyprocess = ">=0.5"
-
-[[package]]
-name = "pickleshare"
-version = "0.7.5"
-description = "Tiny 'shelve'-like database with concurrency support"
-category = "dev"
-optional = false
-python-versions = "*"
-
-[[package]]
-name = "pillow"
-version = "9.2.0"
-description = "Python Imaging Library (Fork)"
-category = "main"
-optional = false
-python-versions = ">=3.7"
-
-[package.extras]
-docs = ["furo", "olefile", "sphinx (>=2.4)", "sphinx-copybutton", "sphinx-issues (>=3.0.1)", "sphinx-removed-in", "sphinxext-opengraph"]
-tests = ["check-manifest", "coverage", "defusedxml", "markdown2", "olefile", "packaging", "pyroma", "pytest", "pytest-cov", "pytest-timeout"]
-
-[[package]]
-name = "pillow-avif-plugin"
-version = "1.2.2"
-description = "A pillow plugin that adds avif support via libavif"
-category = "dev"
-optional = false
-python-versions = "*"
-
-[[package]]
-name = "pipenv"
-version = "2022.10.12"
-description = "Python Development Workflow for Humans."
-category = "dev"
-optional = false
-python-versions = ">=3.7"
-
-[package.dependencies]
-certifi = "*"
-setuptools = ">=36.2.1"
-virtualenv = "*"
-virtualenv-clone = ">=0.2.5"
-
-[package.extras]
-dev = ["black", "bs4", "flake8 (>=3.3.0,<4.0)", "invoke", "parver", "sphinx", "towncrier"]
-tests = ["flaky", "mock", "pytest (>=5.0)", "pytest-timeout", "pytest-xdist"]
-
-[[package]]
-name = "pkginfo"
-version = "1.8.3"
-description = "Query metadatdata from sdists / bdists / installed packages."
-category = "main"
-optional = false
-python-versions = ">=2.7, !=3.0.*, !=3.1.*, !=3.2.*, !=3.3.*, !=3.4.*, !=3.5.*"
-
-[package.extras]
-testing = ["coverage", "nose"]
-
-[[package]]
-name = "pkgutil-resolve-name"
-version = "1.3.10"
-description = "Resolve a name to an object."
-category = "main"
-optional = false
-python-versions = ">=3.6"
-
-[[package]]
-name = "platformdirs"
-version = "2.5.2"
-description = "A small Python module for determining appropriate platform-specific dirs, e.g. a \"user data dir\"."
-category = "main"
-optional = false
-python-versions = ">=3.7"
-
-[package.extras]
-docs = ["furo (>=2021.7.5b38)", "proselint (>=0.10.2)", "sphinx (>=4)", "sphinx-autodoc-typehints (>=1.12)"]
-test = ["appdirs (==1.4.4)", "pytest (>=6)", "pytest-cov (>=2.7)", "pytest-mock (>=3.6)"]
-
-[[package]]
-name = "plotly"
-version = "5.10.0"
-description = "An open-source, interactive data visualization library for Python"
-category = "dev"
-optional = false
-python-versions = ">=3.6"
-
-[package.dependencies]
-tenacity = ">=6.2.0"
-
-[[package]]
-name = "pluggy"
-version = "1.0.0"
-description = "plugin and hook calling mechanisms for python"
-category = "dev"
-optional = false
-python-versions = ">=3.6"
-
-[package.extras]
-dev = ["pre-commit", "tox"]
-testing = ["pytest", "pytest-benchmark"]
-
-[[package]]
-name = "poetry"
-version = "1.2.2"
-description = "Python dependency management and packaging made easy."
-category = "main"
-optional = false
-python-versions = ">=3.7,<4.0"
-
-[package.dependencies]
-cachecontrol = {version = ">=0.12.9,<0.13.0", extras = ["filecache"]}
-cachy = ">=0.3.0,<0.4.0"
-cleo = ">=1.0.0a5,<2.0.0"
-crashtest = ">=0.3.0,<0.4.0"
-dulwich = ">=0.20.46,<0.21.0"
-html5lib = ">=1.0,<2.0"
-importlib-metadata = {version = ">=4.4,<5.0", markers = "python_version < \"3.10\""}
-jsonschema = ">=4.10.0,<5.0.0"
-keyring = ">=21.2.0"
-packaging = ">=20.4"
-pexpect = ">=4.7.0,<5.0.0"
-pkginfo = ">=1.5,<2.0"
-platformdirs = ">=2.5.2,<3.0.0"
-poetry-core = "1.3.2"
-poetry-plugin-export = ">=1.1.2,<2.0.0"
-requests = ">=2.18,<3.0"
-requests-toolbelt = ">=0.9.1,<0.10.0"
-shellingham = ">=1.5,<2.0"
-tomlkit = ">=0.11.1,<0.11.2 || >0.11.2,<0.11.3 || >0.11.3,<1.0.0"
-urllib3 = ">=1.26.0,<2.0.0"
-virtualenv = ">=20.4.3,<20.4.5 || >20.4.5,<20.4.6 || >20.4.6"
-xattr = {version = ">=0.9.7,<0.10.0", markers = "sys_platform == \"darwin\""}
-
-[[package]]
-name = "poetry-core"
-version = "1.3.2"
-description = "Poetry PEP 517 Build Backend"
-category = "main"
-optional = false
-python-versions = ">=3.7,<4.0"
-
-[[package]]
-name = "poetry-plugin-export"
-version = "1.1.2"
-description = "Poetry plugin to export the dependencies to various formats"
-category = "main"
-optional = false
-python-versions = ">=3.7,<4.0"
-
-[package.dependencies]
-poetry = ">=1.2.0,<2.0.0"
-poetry-core = ">=1.1.0,<2.0.0"
-
-[[package]]
-name = "polyline"
-version = "1.4.0"
-description = "A Python implementation of Google's Encoded Polyline Algorithm Format."
-category = "main"
-optional = false
-python-versions = "*"
-
-[package.dependencies]
-six = ">=1.8.0"
-
-[[package]]
-name = "portalocker"
-version = "2.6.0"
-description = "Wraps the portalocker recipe for easy usage"
-category = "dev"
-optional = false
-python-versions = ">=3.5"
-
-[package.dependencies]
-pywin32 = {version = ">=226", markers = "platform_system == \"Windows\""}
-
-[package.extras]
-docs = ["sphinx (>=1.7.1)"]
-redis = ["redis"]
-tests = ["pytest (>=5.4.1)", "pytest-cov (>=2.8.1)", "pytest-mypy (>=0.8.0)", "pytest-timeout (>=2.1.0)", "redis", "sphinx (>=3.0.3)"]
-
-[[package]]
-name = "pprofile"
-version = "2.1.0"
-description = "Line-granularity, thread-aware deterministic and statistic pure-python profiler"
-category = "dev"
-optional = false
-python-versions = "*"
-
-[[package]]
-name = "pre-commit"
-version = "2.20.0"
-description = "A framework for managing and maintaining multi-language pre-commit hooks."
-category = "dev"
-optional = false
-python-versions = ">=3.7"
-
-[package.dependencies]
-cfgv = ">=2.0.0"
-identify = ">=1.0.0"
-nodeenv = ">=0.11.1"
-pyyaml = ">=5.1"
-toml = "*"
-virtualenv = ">=20.0.8"
-
-[[package]]
-name = "pretrainedmodels"
-version = "0.7.4"
-description = "Pretrained models for Pytorch"
-category = "dev"
-optional = false
-python-versions = "*"
-
-[package.dependencies]
-munch = "*"
-torch = "*"
-torchvision = "*"
-tqdm = "*"
-
-[[package]]
-name = "prometheus-client"
-version = "0.15.0"
-description = "Python client for the Prometheus monitoring system."
-category = "dev"
-optional = false
-python-versions = ">=3.6"
-
-[package.extras]
-twisted = ["twisted"]
-
-[[package]]
-name = "prompt-toolkit"
-version = "3.0.31"
-description = "Library for building powerful interactive command lines in Python"
-category = "dev"
-optional = false
-python-versions = ">=3.6.2"
-
-[package.dependencies]
-wcwidth = "*"
-
-[[package]]
-name = "protobuf"
-version = "3.20.1"
-description = "Protocol Buffers"
-category = "main"
-optional = false
-python-versions = ">=3.7"
-
-[[package]]
-name = "psutil"
-version = "5.9.3"
-description = "Cross-platform lib for process and system monitoring in Python."
-category = "main"
-optional = false
-python-versions = ">=2.7, !=3.0.*, !=3.1.*, !=3.2.*, !=3.3.*"
-
-[package.extras]
-test = ["enum34", "ipaddress", "mock", "pywin32", "wmi"]
-
-[[package]]
-name = "ptyprocess"
-version = "0.7.0"
-description = "Run a subprocess in a pseudo terminal"
-category = "main"
-optional = false
-python-versions = "*"
-
-[[package]]
-name = "pure-eval"
-version = "0.2.2"
-description = "Safely evaluate AST nodes without side effects"
-category = "dev"
-optional = false
-python-versions = "*"
-
-[package.extras]
-tests = ["pytest"]
-
-[[package]]
-name = "py"
-version = "1.11.0"
-description = "library with cross-python path, ini-parsing, io, code, log facilities"
-category = "main"
-optional = false
-python-versions = ">=2.7, !=3.0.*, !=3.1.*, !=3.2.*, !=3.3.*, !=3.4.*"
-
-[[package]]
-name = "pycapnp"
-version = "1.1.0"
-description = "A cython wrapping of the C++ Cap'n Proto library"
-category = "main"
-optional = false
-python-versions = "*"
-
-[[package]]
-name = "pycodestyle"
-version = "2.8.0"
-description = "Python style guide checker"
-category = "main"
-optional = false
-python-versions = ">=2.7, !=3.0.*, !=3.1.*, !=3.2.*, !=3.3.*, !=3.4.*"
-
-[[package]]
-name = "pycparser"
-version = "2.21"
-description = "C parser in Python"
-category = "main"
-optional = false
-python-versions = ">=2.7, !=3.0.*, !=3.1.*, !=3.2.*, !=3.3.*"
-
-[[package]]
-name = "pycryptodome"
-version = "3.15.0"
-description = "Cryptographic library for Python"
-category = "main"
-optional = false
-python-versions = ">=2.7, !=3.0.*, !=3.1.*, !=3.2.*, !=3.3.*, !=3.4.*"
-
-[[package]]
-name = "pycuda"
-version = "2022.1"
-description = "Python wrapper for Nvidia CUDA"
-category = "dev"
-optional = false
-python-versions = "~=3.6"
-
-[package.dependencies]
-appdirs = ">=1.4.0"
-mako = "*"
-pytools = ">=2011.2"
-
-[[package]]
-name = "pycurl"
-version = "7.45.1"
-description = "PycURL -- A Python Interface To The cURL library"
-category = "dev"
-optional = false
-python-versions = ">=3.5"
-
-[[package]]
-name = "pyflakes"
-version = "2.4.0"
-description = "passive checker of Python programs"
-category = "main"
-optional = false
-python-versions = ">=2.7, !=3.0.*, !=3.1.*, !=3.2.*, !=3.3.*"
-
-[[package]]
-name = "pygame"
-version = "2.1.2"
-description = "Python Game Development"
-category = "dev"
-optional = false
-python-versions = ">=3.6"
-
-[[package]]
-name = "pygments"
-version = "2.13.0"
-description = "Pygments is a syntax highlighting package written in Python."
-category = "main"
-optional = false
-python-versions = ">=3.6"
-
-[package.extras]
-plugins = ["importlib-metadata"]
-
-[[package]]
-name = "pyjwt"
-version = "2.6.0"
-description = "JSON Web Token implementation in Python"
-category = "main"
-optional = false
-python-versions = ">=3.7"
-
-[package.dependencies]
-cryptography = {version = ">=3.4.0", optional = true, markers = "extra == \"crypto\""}
-
-[package.extras]
-crypto = ["cryptography (>=3.4.0)"]
-dev = ["coverage[toml] (==5.0.4)", "cryptography (>=3.4.0)", "pre-commit", "pytest (>=6.0.0,<7.0.0)", "sphinx (>=4.5.0,<5.0.0)", "sphinx-rtd-theme", "zope.interface"]
-docs = ["sphinx (>=4.5.0,<5.0.0)", "sphinx-rtd-theme", "zope.interface"]
-tests = ["coverage[toml] (==5.0.4)", "pytest (>=6.0.0,<7.0.0)"]
-
-[[package]]
-name = "pylev"
-version = "1.4.0"
-description = "A pure Python Levenshtein implementation that's not freaking GPL'd."
-category = "main"
-optional = false
-python-versions = "*"
-
-[[package]]
-name = "pylint"
-version = "2.15.4"
-description = "python code static checker"
-category = "main"
-optional = false
-python-versions = ">=3.7.2"
-
-[package.dependencies]
-astroid = ">=2.12.11,<=2.14.0-dev0"
-colorama = {version = ">=0.4.5", markers = "sys_platform == \"win32\""}
-dill = ">=0.2"
-isort = ">=4.2.5,<6"
-mccabe = ">=0.6,<0.8"
-platformdirs = ">=2.2.0"
-tomli = {version = ">=1.1.0", markers = "python_version < \"3.11\""}
-tomlkit = ">=0.10.1"
-typing-extensions = {version = ">=3.10.0", markers = "python_version < \"3.10\""}
-
-[package.extras]
-spelling = ["pyenchant (>=3.2,<4.0)"]
-testutils = ["gitpython (>3)"]
-
-[[package]]
-name = "pymsalruntime"
-version = "0.11.2"
-description = "The MSALRuntime Python Interop Package"
-category = "dev"
-optional = false
-python-versions = ">=3.6"
-
-[[package]]
-name = "pymysql"
-version = "0.9.3"
-description = "Pure Python MySQL Driver"
-category = "dev"
-optional = false
-python-versions = "*"
-
-[package.extras]
-rsa = ["cryptography"]
-
-[[package]]
-name = "pynacl"
-version = "1.5.0"
-description = "Python binding to the Networking and Cryptography (NaCl) library"
-category = "dev"
-optional = false
-python-versions = ">=3.6"
-
-[package.dependencies]
-cffi = ">=1.4.1"
-
-[package.extras]
-docs = ["sphinx (>=1.6.5)", "sphinx_rtd_theme"]
-tests = ["hypothesis (>=3.27.0)", "pytest (>=3.2.1,!=3.3.0)"]
-
-[[package]]
-name = "pyopencl"
-version = "2022.2.4"
-description = "Python wrapper for OpenCL"
-category = "main"
-optional = false
-python-versions = "~=3.6"
-
-[package.dependencies]
-numpy = "*"
-platformdirs = ">=2.2.0"
-pytools = ">=2021.2.7"
-
-[package.extras]
-oclgrind = ["oclgrind-binary-distribution (>=18.3)"]
-pocl = ["pocl-binary-distribution (>=1.2)"]
-test = ["Mako", "pytest (>=7.0.0)"]
-
-[[package]]
-name = "pyopenssl"
-version = "22.0.0"
-description = "Python wrapper module around the OpenSSL library"
-category = "dev"
-optional = false
-python-versions = ">=3.6"
-
-[package.dependencies]
-cryptography = ">=35.0"
-
-[package.extras]
-docs = ["sphinx", "sphinx-rtd-theme"]
-test = ["flaky", "pretend", "pytest (>=3.0.1)"]
-
-[[package]]
-name = "pyparsing"
-version = "3.0.9"
-description = "pyparsing module - Classes and methods to define and execute parsing grammars"
-category = "main"
-optional = false
-python-versions = ">=3.6.8"
-
-[package.extras]
-diagrams = ["jinja2", "railroad-diagrams"]
-
-[[package]]
-name = "pyprof2calltree"
-version = "1.4.5"
-description = "Help visualize profiling data from cProfile with kcachegrind and qcachegrind"
-category = "dev"
-optional = false
-python-versions = ">=2.7, !=3.0.*, !=3.1.*, !=3.2.*, !=3.3.*"
-
-[[package]]
-name = "pyproj"
-version = "3.4.0"
-description = "Python interface to PROJ (cartographic projections and coordinate transformations library)"
-category = "dev"
-optional = false
-python-versions = ">=3.8"
-
-[package.dependencies]
-certifi = "*"
-
-[[package]]
-name = "pyreadline3"
-version = "3.4.1"
-description = "A python implementation of GNU readline."
-category = "main"
-optional = false
-python-versions = "*"
-
-[[package]]
-name = "pyrsistent"
-version = "0.18.1"
-description = "Persistent/Functional/Immutable data structures"
-category = "main"
-optional = false
-python-versions = ">=3.7"
-
-[[package]]
-name = "pyserial"
-version = "3.5"
-description = "Python Serial Port Extension"
-category = "main"
-optional = false
-python-versions = "*"
-
-[package.extras]
-cp2110 = ["hidapi"]
-
-[[package]]
-name = "pysocks"
-version = "1.7.1"
-description = "A Python SOCKS client module. See https://github.com/Anorov/PySocks for more information."
-category = "dev"
-optional = false
-python-versions = ">=2.7, !=3.0.*, !=3.1.*, !=3.2.*, !=3.3.*"
-
-[[package]]
-name = "pytest"
-version = "7.1.3"
-description = "pytest: simple powerful testing with Python"
-category = "dev"
-optional = false
-python-versions = ">=3.7"
-
-[package.dependencies]
-attrs = ">=19.2.0"
-colorama = {version = "*", markers = "sys_platform == \"win32\""}
-iniconfig = "*"
-packaging = "*"
-pluggy = ">=0.12,<2.0"
-py = ">=1.8.2"
-tomli = ">=1.0.0"
-
-[package.extras]
-testing = ["argcomplete", "hypothesis (>=3.56)", "mock", "nose", "pygments (>=2.7.2)", "requests", "xmlschema"]
-
-[[package]]
-name = "pytest-forked"
-version = "1.4.0"
-description = "run tests in isolated forked subprocesses"
-category = "dev"
-optional = false
-python-versions = ">=3.6"
-
-[package.dependencies]
-py = "*"
-pytest = ">=3.10"
-
-[[package]]
-name = "pytest-xdist"
-version = "2.5.0"
-description = "pytest xdist plugin for distributed testing and loop-on-failing modes"
-category = "dev"
-optional = false
-python-versions = ">=3.6"
-
-[package.dependencies]
-execnet = ">=1.1"
-pytest = ">=6.2.0"
-pytest-forked = "*"
-
-[package.extras]
-psutil = ["psutil (>=3.0)"]
-setproctitle = ["setproctitle"]
-testing = ["filelock"]
-
-[[package]]
-name = "python-dateutil"
-version = "2.8.2"
-description = "Extensions to the standard Python datetime module"
-category = "main"
-optional = false
-python-versions = "!=3.0.*,!=3.1.*,!=3.2.*,>=2.7"
-
-[package.dependencies]
-six = ">=1.5"
-
-[[package]]
-name = "python-engineio"
-version = "4.3.4"
-description = "Engine.IO server and client for Python"
-category = "dev"
-optional = false
-python-versions = ">=3.6"
-
-[package.extras]
-asyncio-client = ["aiohttp (>=3.4)"]
-client = ["requests (>=2.21.0)", "websocket-client (>=0.54.0)"]
-
-[[package]]
-name = "python-logstash"
-version = "0.4.8"
-description = "Python logging handler for Logstash."
-category = "dev"
-optional = false
-python-versions = "*"
-
-[[package]]
-name = "python-rapidjson"
-version = "1.10"
-description = "Python wrapper around rapidjson"
-category = "dev"
-optional = false
-python-versions = ">=3.6"
-
-[[package]]
-name = "python-socketio"
-version = "5.7.2"
-description = "Socket.IO server and client for Python"
-category = "dev"
-optional = false
-python-versions = ">=3.6"
-
-[package.dependencies]
-bidict = ">=0.21.0"
-python-engineio = ">=4.3.0"
-
-[package.extras]
-asyncio-client = ["aiohttp (>=3.4)"]
-client = ["requests (>=2.21.0)", "websocket-client (>=0.54.0)"]
-
-[[package]]
-name = "pytools"
-version = "2022.1.12"
-description = "A collection of tools for Python"
-category = "main"
-optional = false
-python-versions = "~=3.6"
-
-[package.dependencies]
-platformdirs = ">=2.2.0"
-typing_extensions = {version = ">=4.0", markers = "python_version < \"3.11\""}
-
-[package.extras]
-numpy = ["numpy (>=1.6.0)"]
-
-[[package]]
-name = "pytz"
-version = "2022.5"
-description = "World timezone definitions, modern and historical"
-category = "main"
-optional = false
-python-versions = "*"
-
-[[package]]
-name = "pywavelets"
-version = "1.4.1"
-description = "PyWavelets, wavelet transform module"
-category = "dev"
-optional = false
-python-versions = ">=3.8"
-
-[package.dependencies]
-numpy = ">=1.17.3"
-
-[[package]]
-name = "pywin32"
-version = "304"
-description = "Python for Window Extensions"
-category = "dev"
-optional = false
-python-versions = "*"
-
-[[package]]
-name = "pywin32-ctypes"
-version = "0.2.0"
-description = ""
-category = "main"
-optional = false
-python-versions = "*"
-
-[[package]]
-name = "pywinpty"
-version = "2.0.8"
-description = "Pseudo terminal support for Windows from Python."
-category = "dev"
-optional = false
-python-versions = ">=3.7"
-
-[[package]]
-name = "pyyaml"
-version = "6.0"
-description = "YAML parser and emitter for Python"
-category = "main"
-optional = false
-python-versions = ">=3.6"
-
-[[package]]
-name = "pyzmq"
-version = "23.2.1"
-description = "Python bindings for 0MQ"
-category = "main"
-optional = false
-python-versions = ">=3.6"
-
-[package.dependencies]
-cffi = {version = "*", markers = "implementation_name == \"pypy\""}
-py = {version = "*", markers = "implementation_name == \"pypy\""}
-
-[[package]]
-name = "qtconsole"
-version = "5.3.2"
-description = "Jupyter Qt console"
-category = "dev"
-optional = false
-python-versions = ">= 3.7"
-
-[package.dependencies]
-ipykernel = ">=4.1"
-ipython-genutils = "*"
-jupyter-client = ">=4.1"
-jupyter-core = "*"
-pygments = "*"
-pyzmq = ">=17.1"
-qtpy = ">=2.0.1"
-traitlets = "<5.2.1 || >5.2.1,<5.2.2 || >5.2.2"
-
-[package.extras]
-doc = ["Sphinx (>=1.3)"]
-test = ["flaky", "pytest", "pytest-qt"]
-
-[[package]]
-name = "qtpy"
-version = "2.2.1"
-description = "Provides an abstraction layer on top of the various Qt bindings (PyQt5/6 and PySide2/6)."
-category = "dev"
-optional = false
-python-versions = ">=3.7"
-
-[package.dependencies]
-packaging = "*"
-
-[package.extras]
-test = ["pytest (>=6,!=7.0.0,!=7.0.1)", "pytest-cov (>=3.0.0)", "pytest-qt"]
-
-[[package]]
-name = "qudida"
-version = "0.0.4"
-description = "QUick and DIrty Domain Adaptation"
-category = "dev"
-optional = false
-python-versions = ">=3.5.0"
-
-[package.dependencies]
-numpy = ">=0.18.0"
-opencv-python-headless = ">=4.0.1"
-scikit-learn = ">=0.19.1"
-typing-extensions = "*"
-
-[[package]]
-name = "reactivex"
-version = "4.0.4"
-description = "ReactiveX (Rx) for Python"
-category = "dev"
-optional = false
-python-versions = ">=3.7,<4.0"
-
-[package.dependencies]
-typing-extensions = ">=4.1.1,<5.0.0"
-
-[[package]]
-name = "redis"
-version = "4.3.4"
-description = "Python client for Redis database and key-value store"
-category = "dev"
-optional = false
-python-versions = ">=3.6"
-
-[package.dependencies]
-async-timeout = ">=4.0.2"
-deprecated = ">=1.2.3"
-packaging = ">=20.4"
-
-[package.extras]
-hiredis = ["hiredis (>=1.0.0)"]
-ocsp = ["cryptography (>=36.0.1)", "pyopenssl (==20.0.1)", "requests (>=2.26.0)"]
-
-[[package]]
-name = "requests"
-version = "2.28.1"
-description = "Python HTTP for Humans."
-category = "main"
-optional = false
-python-versions = ">=3.7, <4"
-
-[package.dependencies]
-certifi = ">=2017.4.17"
-charset-normalizer = ">=2,<3"
-idna = ">=2.5,<4"
-PySocks = {version = ">=1.5.6,<1.5.7 || >1.5.7", optional = true, markers = "extra == \"socks\""}
-urllib3 = ">=1.21.1,<1.27"
-
-[package.extras]
-socks = ["PySocks (>=1.5.6,!=1.5.7)"]
-use-chardet-on-py3 = ["chardet (>=3.0.2,<6)"]
-
-[[package]]
-name = "requests-oauthlib"
-version = "1.3.1"
-description = "OAuthlib authentication support for Requests."
-category = "dev"
-optional = false
-python-versions = ">=2.7, !=3.0.*, !=3.1.*, !=3.2.*, !=3.3.*"
-
-[package.dependencies]
-oauthlib = ">=3.0.0"
-requests = ">=2.0.0"
-
-[package.extras]
-rsa = ["oauthlib[signedtoken] (>=3.0.0)"]
-
-[[package]]
-name = "requests-toolbelt"
-version = "0.9.1"
-description = "A utility belt for advanced users of python-requests"
-category = "main"
-optional = false
-python-versions = "*"
-
-[package.dependencies]
-requests = ">=2.0.1,<3.0.0"
-
-[[package]]
-name = "reverse-geocoder"
-version = "1.5.1"
-description = "Fast, offline reverse geocoder"
-category = "dev"
-optional = false
-python-versions = "*"
-
-[package.dependencies]
-numpy = ">=1.11.0"
-scipy = ">=0.17.1"
-
-[[package]]
-name = "rtree"
-version = "1.0.1"
-description = "R-Tree spatial index for Python GIS"
-category = "dev"
-optional = false
-python-versions = ">=3.7"
-
-[[package]]
-name = "s2sphere"
-version = "0.2.5"
-description = "Python implementation of the S2 Geometry Library"
-category = "dev"
-optional = false
-python-versions = "*"
-
-[package.dependencies]
-future = ">=0.15"
-
-[package.extras]
-docs = ["Sphinx (>=1.6.5)", "sphinx-rtd-theme (>=0.1.9)"]
-tests = ["flake8 (>=2.5.4)", "hacking (>=0.11.0)", "nose (>=1.3.4)", "numpy (>=1.11.0)"]
-
-[[package]]
-name = "scikit-image"
-version = "0.19.3"
-description = "Image processing in Python"
-category = "dev"
-optional = false
-python-versions = ">=3.7"
-
-[package.dependencies]
-imageio = ">=2.4.1"
-networkx = ">=2.2"
-numpy = ">=1.17.0"
-packaging = ">=20.0"
-pillow = ">=6.1.0,<7.1.0 || >7.1.0,<7.1.1 || >7.1.1,<8.3.0 || >8.3.0"
-PyWavelets = ">=1.1.1"
-scipy = ">=1.4.1"
-tifffile = ">=2019.7.26"
-
-[package.extras]
-data = ["pooch (>=1.3.0)"]
-docs = ["cloudpickle (>=0.2.1)", "dask[array] (>=0.15.0,!=2.17.0)", "ipywidgets", "kaleido", "matplotlib (>=3.3)", "myst-parser", "numpydoc (>=1.0)", "pandas (>=0.23.0)", "plotly (>=4.14.0)", "pooch (>=1.3.0)", "pytest-runner", "scikit-learn", "seaborn (>=0.7.1)", "sphinx (>=1.8)", "sphinx-copybutton", "sphinx-gallery (>=0.10.1)", "tifffile (>=2020.5.30)"]
-optional = ["SimpleITK", "astropy (>=3.1.2)", "cloudpickle (>=0.2.1)", "dask[array] (>=1.0.0,!=2.17.0)", "matplotlib (>=3.0.3)", "pooch (>=1.3.0)", "pyamg", "qtpy"]
-test = ["asv", "codecov", "flake8", "matplotlib (>=3.0.3)", "pooch (>=1.3.0)", "pytest (>=5.2.0)", "pytest-cov (>=2.7.0)", "pytest-faulthandler", "pytest-localserver"]
-
-[[package]]
-name = "scikit-learn"
-version = "1.1.2"
-description = "A set of python modules for machine learning and data mining"
-category = "dev"
-optional = false
-python-versions = ">=3.8"
-
-[package.dependencies]
-joblib = ">=1.0.0"
-numpy = ">=1.17.3"
-scipy = ">=1.3.2"
-threadpoolctl = ">=2.0.0"
-
-[package.extras]
-benchmark = ["matplotlib (>=3.1.2)", "memory-profiler (>=0.57.0)", "pandas (>=1.0.5)"]
-docs = ["Pillow (>=7.1.2)", "matplotlib (>=3.1.2)", "memory-profiler (>=0.57.0)", "numpydoc (>=1.2.0)", "pandas (>=1.0.5)", "scikit-image (>=0.16.2)", "seaborn (>=0.9.0)", "sphinx (>=4.0.1)", "sphinx-gallery (>=0.7.0)", "sphinx-prompt (>=1.3.0)", "sphinxext-opengraph (>=0.4.2)"]
-examples = ["matplotlib (>=3.1.2)", "pandas (>=1.0.5)", "scikit-image (>=0.16.2)", "seaborn (>=0.9.0)"]
-tests = ["black (>=22.3.0)", "flake8 (>=3.8.2)", "matplotlib (>=3.1.2)", "mypy (>=0.961)", "numpydoc (>=1.2.0)", "pandas (>=1.0.5)", "pyamg (>=4.0.0)", "pytest (>=5.0.1)", "pytest-cov (>=2.9.0)", "scikit-image (>=0.16.2)"]
-
-[[package]]
-name = "scipy"
-version = "1.9.3"
-description = "Fundamental algorithms for scientific computing in Python"
-category = "dev"
-optional = false
-python-versions = ">=3.8"
-
-[package.dependencies]
-numpy = ">=1.18.5,<1.26.0"
-
-[package.extras]
-dev = ["flake8", "mypy", "pycodestyle", "typing_extensions"]
-doc = ["matplotlib (>2)", "numpydoc", "pydata-sphinx-theme (==0.9.0)", "sphinx (!=4.1.0)", "sphinx-panels (>=0.5.2)", "sphinx-tabs"]
-test = ["asv", "gmpy2", "mpmath", "pytest", "pytest-cov", "pytest-xdist", "scikit-umfpack", "threadpoolctl"]
-
-[[package]]
-name = "scons"
-version = "4.4.0"
-description = "Open Source next-generation build tool."
-category = "main"
-optional = false
-python-versions = ">=3.6"
-
-[package.dependencies]
-setuptools = "*"
-
-[[package]]
-name = "sconscontrib"
-version = "1.0"
-description = ""
-category = "main"
-optional = false
-python-versions = ">=3.6, <4"
-develop = false
-
-[package.dependencies]
-docutils = "*"
-panflute = "*"
-SCons = ">=4"
-sphinx = "*"
-
-[package.source]
-type = "git"
-url = "https://github.com/SCons/scons-contrib.git"
-reference = "HEAD"
-resolved_reference = "f3b0100d3a628e4d18f496815903660a99489bae"
-
-[[package]]
-name = "secretstorage"
-version = "3.3.3"
-description = "Python bindings to FreeDesktop.org Secret Service API"
-category = "main"
-optional = false
-python-versions = ">=3.6"
-
-[package.dependencies]
-cryptography = ">=2.0"
-jeepney = ">=0.6"
-
-[[package]]
-name = "segmentation-models-pytorch"
-version = "0.3.2"
-description = "Image segmentation models with pre-trained backbones. PyTorch."
-category = "dev"
-optional = false
-python-versions = ">=3.7.0"
-
-[package.dependencies]
-efficientnet-pytorch = "0.7.1"
-pillow = "*"
-pretrainedmodels = "0.7.4"
-timm = "0.6.12"
-torchvision = ">=0.5.0"
-tqdm = "*"
-
-[package.extras]
-test = ["black (==22.3.0)", "flake8 (==4.0.1)", "flake8-docstrings (==1.6.0)", "mock", "pre-commit", "pytest"]
-
-[[package]]
-name = "send2trash"
-version = "1.8.0"
-description = "Send file to trash natively under Mac OS X, Windows and Linux."
-category = "dev"
-optional = false
-python-versions = "*"
-
-[package.extras]
-nativelib = ["pyobjc-framework-Cocoa", "pywin32"]
-objc = ["pyobjc-framework-Cocoa"]
-win32 = ["pywin32"]
-
-[[package]]
-name = "sentry-sdk"
-version = "1.10.0"
-description = "Python client for Sentry (https://sentry.io)"
-category = "main"
-optional = false
-python-versions = "*"
-
-[package.dependencies]
-certifi = "*"
-urllib3 = {version = ">=1.26.11", markers = "python_version >= \"3.6\""}
-
-[package.extras]
-aiohttp = ["aiohttp (>=3.5)"]
-beam = ["apache-beam (>=2.12)"]
-bottle = ["bottle (>=0.12.13)"]
-celery = ["celery (>=3)"]
-chalice = ["chalice (>=1.16.0)"]
-django = ["django (>=1.8)"]
-falcon = ["falcon (>=1.4)"]
-fastapi = ["fastapi (>=0.79.0)"]
-flask = ["blinker (>=1.1)", "flask (>=0.11)"]
-httpx = ["httpx (>=0.16.0)"]
-pure-eval = ["asttokens", "executing", "pure-eval"]
-pyspark = ["pyspark (>=2.4.4)"]
-quart = ["blinker (>=1.1)", "quart (>=0.16.1)"]
-rq = ["rq (>=0.6)"]
-sanic = ["sanic (>=0.8)"]
-sqlalchemy = ["sqlalchemy (>=1.2)"]
-starlette = ["starlette (>=0.19.1)"]
-tornado = ["tornado (>=5)"]
-
-[[package]]
-name = "setproctitle"
-version = "1.3.2"
-description = "A Python module to customize the process title"
-category = "main"
-optional = false
-python-versions = ">=3.7"
-
-[package.extras]
-test = ["pytest"]
-
-[[package]]
-name = "setuptools"
-version = "65.5.0"
-description = "Easily download, build, install, upgrade, and uninstall Python packages"
-category = "main"
-optional = false
-python-versions = ">=3.7"
-
-[package.extras]
-docs = ["furo", "jaraco.packaging (>=9)", "jaraco.tidelift (>=1.4)", "pygments-github-lexers (==0.0.5)", "rst.linker (>=1.9)", "sphinx (>=3.5)", "sphinx-favicon", "sphinx-hoverxref (<2)", "sphinx-inline-tabs", "sphinx-notfound-page (==0.8.3)", "sphinx-reredirects", "sphinxcontrib-towncrier"]
-testing = ["build[virtualenv]", "filelock (>=3.4.0)", "flake8 (<5)", "flake8-2020", "ini2toml[lite] (>=0.9)", "jaraco.envs (>=2.2)", "jaraco.path (>=3.2.0)", "mock", "pip (>=19.1)", "pip-run (>=8.8)", "pytest (>=6)", "pytest-black (>=0.3.7)", "pytest-checkdocs (>=2.4)", "pytest-cov", "pytest-enabler (>=1.3)", "pytest-flake8", "pytest-mypy (>=0.9.1)", "pytest-perf", "pytest-xdist", "tomli-w (>=1.0.0)", "virtualenv (>=13.0.0)", "wheel"]
-testing-integration = ["build[virtualenv]", "filelock (>=3.4.0)", "jaraco.envs (>=2.2)", "jaraco.path (>=3.2.0)", "pytest", "pytest-enabler", "pytest-xdist", "tomli", "virtualenv (>=13.0.0)", "wheel"]
-
-[[package]]
-name = "setuptools-scm"
-version = "7.0.5"
-description = "the blessed package to manage your versions by scm tags"
-category = "dev"
-optional = false
-python-versions = ">=3.7"
-
-[package.dependencies]
-packaging = ">=20.0"
-setuptools = "*"
-tomli = ">=1.0.0"
-typing-extensions = "*"
-
-[package.extras]
-test = ["pytest (>=6.2)", "virtualenv (>20)"]
-toml = ["setuptools (>=42)"]
-
-[[package]]
-name = "shapely"
-version = "1.8.5.post1"
-description = "Geometric objects, predicates, and operations"
-category = "dev"
-optional = false
-python-versions = ">=3.6"
-
-[package.extras]
-all = ["numpy", "pytest", "pytest-cov"]
-test = ["pytest", "pytest-cov"]
-vectorized = ["numpy"]
-
-[[package]]
-name = "shellingham"
-version = "1.5.0"
-description = "Tool to Detect Surrounding Shell"
-category = "main"
-optional = false
-python-versions = ">=3.4"
-
-[[package]]
-name = "simplejson"
-version = "3.17.6"
-description = "Simple, fast, extensible JSON encoder/decoder for Python"
-category = "dev"
-optional = false
-python-versions = ">=2.5, !=3.0.*, !=3.1.*, !=3.2.*"
-
-[[package]]
-name = "six"
-version = "1.16.0"
-description = "Python 2 and 3 compatibility utilities"
-category = "main"
-optional = false
-python-versions = ">=2.7, !=3.0.*, !=3.1.*, !=3.2.*"
-
-[[package]]
-name = "smbus2"
-version = "0.4.2"
-description = "smbus2 is a drop-in replacement for smbus-cffi/smbus-python in pure Python"
-category = "main"
-optional = false
-python-versions = "*"
-
-[package.extras]
-docs = ["sphinx (>=1.5.3)"]
-qa = ["flake8"]
-test = ["mock", "nose"]
-
-[[package]]
-name = "sniffio"
-version = "1.3.0"
-description = "Sniff out which async library your code is running under"
-category = "dev"
-optional = false
-python-versions = ">=3.7"
-
-[[package]]
-name = "snowballstemmer"
-version = "2.2.0"
-description = "This package provides 29 stemmers for 28 languages generated from Snowball algorithms."
-category = "main"
-optional = false
-python-versions = "*"
-
-[[package]]
-name = "sortedcontainers"
-version = "2.4.0"
-description = "Sorted Containers -- Sorted List, Sorted Dict, Sorted Set"
-category = "dev"
-optional = false
-python-versions = "*"
-
-[[package]]
-name = "sounddevice"
-version = "0.4.5"
-description = "Play and Record Sound with Python"
-category = "main"
-optional = false
-python-versions = ">=3.7"
-
-[package.dependencies]
-CFFI = ">=1.0"
-
-[package.extras]
-numpy = ["NumPy"]
-
-[[package]]
-name = "soupsieve"
-version = "2.3.2.post1"
-description = "A modern CSS selector implementation for Beautiful Soup."
-category = "dev"
-optional = false
-python-versions = ">=3.6"
-
-[[package]]
-name = "sphinx"
-version = "5.3.0"
-description = "Python documentation generator"
-category = "main"
-optional = false
-python-versions = ">=3.6"
-
-[package.dependencies]
-alabaster = ">=0.7,<0.8"
-babel = ">=2.9"
-colorama = {version = ">=0.4.5", markers = "sys_platform == \"win32\""}
-docutils = ">=0.14,<0.20"
-imagesize = ">=1.3"
-importlib-metadata = {version = ">=4.8", markers = "python_version < \"3.10\""}
-Jinja2 = ">=3.0"
-packaging = ">=21.0"
-Pygments = ">=2.12"
-requests = ">=2.5.0"
-snowballstemmer = ">=2.0"
-sphinxcontrib-applehelp = "*"
-sphinxcontrib-devhelp = "*"
-sphinxcontrib-htmlhelp = ">=2.0.0"
-sphinxcontrib-jsmath = "*"
-sphinxcontrib-qthelp = "*"
-sphinxcontrib-serializinghtml = ">=1.1.5"
-
-[package.extras]
-docs = ["sphinxcontrib-websupport"]
-lint = ["docutils-stubs", "flake8 (>=3.5.0)", "flake8-bugbear", "flake8-comprehensions", "flake8-simplify", "isort", "mypy (>=0.981)", "sphinx-lint", "types-requests", "types-typed-ast"]
-test = ["cython", "html5lib", "pytest (>=4.6)", "typed_ast"]
-
-[[package]]
-name = "sphinx-rtd-theme"
-version = "1.0.0"
-description = "Read the Docs theme for Sphinx"
-category = "dev"
-optional = false
-python-versions = ">=2.7,!=3.0.*,!=3.1.*,!=3.2.*,!=3.3.*"
-
-[package.dependencies]
-docutils = "<0.18"
-sphinx = ">=1.6"
-
-[package.extras]
-dev = ["bump2version", "sphinxcontrib-httpdomain", "transifex-client"]
-
-[[package]]
-name = "sphinx-sitemap"
-version = "2.2.0"
-description = "Sitemap generator for Sphinx"
-category = "dev"
-optional = false
-python-versions = "*"
-
-[package.dependencies]
-six = "*"
-sphinx = ">=1.2"
-
-[[package]]
-name = "sphinxcontrib-applehelp"
-version = "1.0.2"
-description = "sphinxcontrib-applehelp is a sphinx extension which outputs Apple help books"
-category = "main"
-optional = false
-python-versions = ">=3.5"
-
-[package.extras]
-lint = ["docutils-stubs", "flake8", "mypy"]
-test = ["pytest"]
-
-[[package]]
-name = "sphinxcontrib-devhelp"
-version = "1.0.2"
-description = "sphinxcontrib-devhelp is a sphinx extension which outputs Devhelp document."
-category = "main"
-optional = false
-python-versions = ">=3.5"
-
-[package.extras]
-lint = ["docutils-stubs", "flake8", "mypy"]
-test = ["pytest"]
-
-[[package]]
-name = "sphinxcontrib-htmlhelp"
-version = "2.0.0"
-description = "sphinxcontrib-htmlhelp is a sphinx extension which renders HTML help files"
-category = "main"
-optional = false
-python-versions = ">=3.6"
-
-[package.extras]
-lint = ["docutils-stubs", "flake8", "mypy"]
-test = ["html5lib", "pytest"]
-
-[[package]]
-name = "sphinxcontrib-jsmath"
-version = "1.0.1"
-description = "A sphinx extension which renders display math in HTML via JavaScript"
-category = "main"
-optional = false
-python-versions = ">=3.5"
-
-[package.extras]
-test = ["flake8", "mypy", "pytest"]
-
-[[package]]
-name = "sphinxcontrib-qthelp"
-version = "1.0.3"
-description = "sphinxcontrib-qthelp is a sphinx extension which outputs QtHelp document."
-category = "main"
-optional = false
-python-versions = ">=3.5"
-
-[package.extras]
-lint = ["docutils-stubs", "flake8", "mypy"]
-test = ["pytest"]
-
-[[package]]
-name = "sphinxcontrib-serializinghtml"
-version = "1.1.5"
-description = "sphinxcontrib-serializinghtml is a sphinx extension which outputs \"serialized\" HTML files (json and pickle)."
-category = "main"
-optional = false
-python-versions = ">=3.5"
-
-[package.extras]
-lint = ["docutils-stubs", "flake8", "mypy"]
-test = ["pytest"]
-
-[[package]]
-name = "spidev"
-version = "3.6"
-description = "Python bindings for Linux SPI access through spidev"
-category = "main"
-optional = false
-python-versions = "*"
-
-[[package]]
-name = "spidev2"
-version = "0.9.0"
-description = "Pure-python interface to Linux spidev."
-category = "main"
-optional = false
-python-versions = "*"
-
-[package.dependencies]
-ioctl-opt = "*"
-
-[[package]]
-name = "sqlalchemy"
-version = "1.4.42"
-description = "Database Abstraction Library"
-category = "dev"
-optional = false
-python-versions = "!=3.0.*,!=3.1.*,!=3.2.*,!=3.3.*,!=3.4.*,!=3.5.*,>=2.7"
-
-[package.dependencies]
-greenlet = {version = "!=0.4.17", markers = "python_version >= \"3\" and (platform_machine == \"aarch64\" or platform_machine == \"ppc64le\" or platform_machine == \"x86_64\" or platform_machine == \"amd64\" or platform_machine == \"AMD64\" or platform_machine == \"win32\" or platform_machine == \"WIN32\")"}
-
-[package.extras]
-aiomysql = ["aiomysql", "greenlet (!=0.4.17)"]
-aiosqlite = ["aiosqlite", "greenlet (!=0.4.17)", "typing_extensions (!=3.10.0.1)"]
-asyncio = ["greenlet (!=0.4.17)"]
-asyncmy = ["asyncmy (>=0.2.3,!=0.2.4)", "greenlet (!=0.4.17)"]
-mariadb-connector = ["mariadb (>=1.0.1,!=1.1.2)"]
-mssql = ["pyodbc"]
-mssql-pymssql = ["pymssql"]
-mssql-pyodbc = ["pyodbc"]
-mypy = ["mypy (>=0.910)", "sqlalchemy2-stubs"]
-mysql = ["mysqlclient (>=1.4.0)", "mysqlclient (>=1.4.0,<2)"]
-mysql-connector = ["mysql-connector-python"]
-oracle = ["cx_oracle (>=7)", "cx_oracle (>=7,<8)"]
-postgresql = ["psycopg2 (>=2.7)"]
-postgresql-asyncpg = ["asyncpg", "greenlet (!=0.4.17)"]
-postgresql-pg8000 = ["pg8000 (>=1.16.6,!=1.29.0)"]
-postgresql-psycopg2binary = ["psycopg2-binary"]
-postgresql-psycopg2cffi = ["psycopg2cffi"]
-pymysql = ["pymysql", "pymysql (<1)"]
-sqlcipher = ["sqlcipher3_binary"]
-
-[[package]]
-name = "stack-data"
-version = "0.5.1"
-description = "Extract data from python stack frames and tracebacks for informative displays"
-category = "dev"
-optional = false
-python-versions = "*"
-
-[package.dependencies]
-asttokens = "*"
-executing = "*"
-pure-eval = "*"
-
-[package.extras]
-tests = ["cython", "littleutils", "pygments", "pytest", "typeguard"]
-
-[[package]]
-name = "subprocess32"
-version = "3.5.4"
-description = "A backport of the subprocess module from Python 3 for use on 2.x."
-category = "dev"
-optional = false
-python-versions = ">=2.6, !=3.0.*, !=3.1.*, !=3.2.*, <4"
-
-[[package]]
-name = "sympy"
-version = "1.11.1"
-description = "Computer algebra system (CAS) in Python"
-category = "main"
-optional = false
-python-versions = ">=3.8"
-
-[package.dependencies]
-mpmath = ">=0.19"
-
-[[package]]
-name = "tabulate"
-version = "0.8.10"
-description = "Pretty-print tabular data"
-category = "dev"
-optional = false
-python-versions = ">=2.7, !=3.0.*, !=3.1.*, !=3.2.*, !=3.3.*, !=3.4.*"
-
-[package.extras]
-widechars = ["wcwidth"]
-
-[[package]]
-name = "tenacity"
-version = "8.1.0"
-description = "Retry code until it succeeds"
-category = "dev"
-optional = false
-python-versions = ">=3.6"
-
-[package.extras]
-doc = ["reno", "sphinx", "tornado (>=4.5)"]
-
-[[package]]
-name = "tensorrt"
-version = "8.6.0"
-description = "A high performance deep learning inference library"
-category = "dev"
-optional = false
-python-versions = "*"
-
-[package.dependencies]
-nvidia-cublas-cu12 = "*"
-nvidia-cuda-runtime-cu12 = "*"
-nvidia-cudnn-cu12 = "*"
-
-[package.extras]
-numpy = ["numpy"]
-
-[[package]]
-name = "terminado"
-version = "0.16.0"
-description = "Tornado websocket backend for the Xterm.js Javascript terminal emulator library."
-category = "dev"
-optional = false
-python-versions = ">=3.7"
-
-[package.dependencies]
-ptyprocess = {version = "*", markers = "os_name != \"nt\""}
-pywinpty = {version = ">=1.1.0", markers = "os_name == \"nt\""}
-tornado = ">=6.1.0"
-
-[package.extras]
-test = ["pre-commit", "pytest (>=6.0)", "pytest-timeout"]
-
-[[package]]
-name = "threadpoolctl"
-version = "3.1.0"
-description = "threadpoolctl"
-category = "dev"
-optional = false
-python-versions = ">=3.6"
-
-[[package]]
-name = "tifffile"
-version = "2022.10.10"
-description = "Read and write TIFF files"
-category = "dev"
-optional = false
-python-versions = ">=3.8"
-
-[package.dependencies]
-numpy = ">=1.19.2"
-
-[package.extras]
-all = ["fsspec", "imagecodecs (>=2022.2.22)", "lxml", "matplotlib (>=3.3)", "zarr"]
-
-[[package]]
-name = "timezonefinder"
-version = "6.1.3"
-description = "fast python package for finding the timezone of any point on earth (coordinates) offline"
-category = "main"
-optional = false
-python-versions = ">=3.8,<3.11"
-
-[package.dependencies]
-cffi = ">=1.15.1,<2.0.0"
-h3 = ">=3.7.3,<4.0.0"
-numpy = ">=1.22,<2.0"
-setuptools = ">=65.3.0,<66.0.0"
-
-[package.extras]
-numba = ["numba (>=0.55.2,<0.56.0)"]
-
-[[package]]
-name = "timm"
-version = "0.6.12"
-description = "(Unofficial) PyTorch Image Models"
-category = "dev"
-optional = false
-python-versions = ">=3.6"
-
-[package.dependencies]
-huggingface-hub = "*"
-pyyaml = "*"
-torch = ">=1.7"
-torchvision = "*"
-
-[[package]]
-name = "tinycss2"
-version = "1.2.1"
-description = "A tiny CSS parser"
-category = "dev"
-optional = false
-python-versions = ">=3.7"
-
-[package.dependencies]
-webencodings = ">=0.4"
-
-[package.extras]
-doc = ["sphinx", "sphinx_rtd_theme"]
-test = ["flake8", "isort", "pytest"]
-
-[[package]]
-name = "toml"
-version = "0.10.2"
-description = "Python Library for Tom's Obvious, Minimal Language"
-category = "dev"
-optional = false
-python-versions = ">=2.6, !=3.0.*, !=3.1.*, !=3.2.*"
-
-[[package]]
-name = "tomli"
-version = "2.0.1"
-description = "A lil' TOML parser"
-category = "main"
-optional = false
-python-versions = ">=3.7"
-
-[[package]]
-name = "tomlkit"
-version = "0.11.5"
-description = "Style preserving TOML library"
-category = "main"
-optional = false
-python-versions = ">=3.6,<4.0"
-
-[[package]]
-name = "torch"
-version = "2.0.0+cu118"
-description = "Tensors and Dynamic neural networks in Python with strong GPU acceleration"
-category = "dev"
-optional = false
-python-versions = ">=3.8.0"
-
-[package.dependencies]
-filelock = "*"
-jinja2 = "*"
-networkx = "*"
-sympy = "*"
-triton = {version = "2.0.0", markers = "platform_system == \"Linux\" and platform_machine == \"x86_64\""}
-typing-extensions = "*"
-
-[package.extras]
-opt-einsum = ["opt-einsum (>=3.3)"]
-
-[package.source]
-type = "url"
-url = "https://download.pytorch.org/whl/cu118/torch-2.0.0%2Bcu118-cp38-cp38-linux_x86_64.whl"
-
-[[package]]
-name = "torchsummary"
-version = "1.5.1"
-description = "Model summary in PyTorch similar to `model.summary()` in Keras"
-category = "dev"
-optional = false
-python-versions = "*"
-
-[[package]]
-name = "torchvision"
-version = "0.15.1+cu118"
-description = "image and video datasets and models for torch deep learning"
-category = "dev"
-optional = false
-python-versions = ">=3.8"
-
-[package.dependencies]
-numpy = "*"
-pillow = ">=5.3.0,<8.3.0 || >=8.4.0"
-requests = "*"
-torch = "2.0.0"
-
-[package.extras]
-scipy = ["scipy"]
-
-[package.source]
-type = "url"
-url = "https://download.pytorch.org/whl/cu118/torchvision-0.15.1%2Bcu118-cp38-cp38-linux_x86_64.whl"
-
-[[package]]
-name = "tornado"
-version = "6.2"
-description = "Tornado is a Python web framework and asynchronous networking library, originally developed at FriendFeed."
-category = "dev"
-optional = false
-python-versions = ">= 3.7"
-
-[[package]]
-name = "tqdm"
-version = "4.64.1"
-description = "Fast, Extensible Progress Meter"
-category = "main"
-optional = false
-python-versions = "!=3.0.*,!=3.1.*,!=3.2.*,!=3.3.*,>=2.7"
-
-[package.dependencies]
-colorama = {version = "*", markers = "platform_system == \"Windows\""}
-
-[package.extras]
-dev = ["py-make (>=0.1.0)", "twine", "wheel"]
-notebook = ["ipywidgets (>=6)"]
-slack = ["slack-sdk"]
-telegram = ["requests"]
-
-[[package]]
-name = "traitlets"
-version = "5.5.0"
-description = ""
-category = "dev"
-optional = false
-python-versions = ">=3.7"
-
-[package.extras]
-docs = ["myst-parser", "pydata-sphinx-theme", "sphinx"]
-test = ["pre-commit", "pytest"]
-
-[[package]]
-name = "triton"
-version = "2.0.0"
-description = "A language and compiler for custom Deep Learning operations"
-category = "dev"
-optional = false
-python-versions = "*"
-
-[package.dependencies]
-cmake = "*"
-filelock = "*"
-lit = "*"
-torch = "*"
-
-[package.extras]
-tests = ["autopep8", "flake8", "isort", "numpy", "pytest", "scipy (>=1.7.1)"]
-tutorials = ["matplotlib", "pandas", "tabulate"]
-
-[[package]]
-name = "tritonclient"
-version = "2.28.0"
-description = "Python client library and utilities for communicating with Triton Inference Server"
-category = "dev"
-optional = false
-python-versions = "*"
-
-[package.dependencies]
-aiohttp = {version = ">=3.8.1", optional = true, markers = "extra == \"http\""}
-geventhttpclient = {version = ">=1.4.4,<=2.0.2", optional = true, markers = "extra == \"http\""}
-numpy = ">=1.19.1"
-python-rapidjson = ">=0.9.1"
-
-[package.extras]
-all = ["aiohttp (>=3.8.1)", "geventhttpclient (>=1.4.4,<=2.0.2)", "grpcio (==1.41.0)", "numpy (>=1.19.1)", "protobuf (>=3.5.0,<3.20)", "python-rapidjson (>=0.9.1)"]
-grpc = ["grpcio (==1.41.0)", "numpy (>=1.19.1)", "protobuf (>=3.5.0,<3.20)", "python-rapidjson (>=0.9.1)"]
-http = ["aiohttp (>=3.8.1)", "geventhttpclient (>=1.4.4,<=2.0.2)", "numpy (>=1.19.1)", "python-rapidjson (>=0.9.1)"]
-
-[[package]]
-name = "types-atomicwrites"
-version = "1.4.5.1"
-description = "Typing stubs for atomicwrites"
-category = "dev"
-optional = false
-python-versions = "*"
-
-[[package]]
-name = "types-certifi"
-version = "2021.10.8.3"
-description = "Typing stubs for certifi"
-category = "dev"
-optional = false
-python-versions = "*"
-
-[[package]]
-name = "types-pycurl"
-version = "7.45.1"
-description = "Typing stubs for pycurl"
-category = "dev"
-optional = false
-python-versions = "*"
-
-[[package]]
-name = "types-pyyaml"
-version = "6.0.12"
-description = "Typing stubs for PyYAML"
-category = "dev"
-optional = false
-python-versions = "*"
-
-[[package]]
-name = "types-requests"
-version = "2.28.11.2"
-description = "Typing stubs for requests"
-category = "dev"
-optional = false
-python-versions = "*"
-
-[package.dependencies]
-types-urllib3 = "<1.27"
-
-[[package]]
-name = "types-tabulate"
-version = "0.8.11"
-description = "Typing stubs for tabulate"
-category = "dev"
-optional = false
-python-versions = "*"
-
-[[package]]
-name = "types-urllib3"
-version = "1.26.25.1"
-description = "Typing stubs for urllib3"
-category = "dev"
-optional = false
-python-versions = "*"
-
-[[package]]
-name = "typing-extensions"
-version = "4.4.0"
-description = "Backported and Experimental Type Hints for Python 3.7+"
-category = "main"
-optional = false
-python-versions = ">=3.7"
-
-[[package]]
-name = "urllib3"
-version = "1.26.12"
-description = "HTTP library with thread-safe connection pooling, file post, and more."
-category = "main"
-optional = false
-python-versions = ">=2.7, !=3.0.*, !=3.1.*, !=3.2.*, !=3.3.*, !=3.4.*, !=3.5.*, <4"
-
-[package.extras]
-brotli = ["brotli (>=1.0.9)", "brotlicffi (>=0.8.0)", "brotlipy (>=0.6.0)"]
-secure = ["certifi", "cryptography (>=1.3.4)", "idna (>=2.0.0)", "ipaddress", "pyOpenSSL (>=0.14)", "urllib3-secure-extra"]
-socks = ["PySocks (>=1.5.6,!=1.5.7,<2.0)"]
-
-[[package]]
-name = "utm"
-version = "0.7.0"
-description = "Bidirectional UTM-WGS84 converter for python"
-category = "main"
-optional = false
-python-versions = "*"
-
-[[package]]
-name = "virtualenv"
-version = "20.16.5"
-description = "Virtual Python Environment builder"
-category = "main"
-optional = false
-python-versions = ">=3.6"
-
-[package.dependencies]
-distlib = ">=0.3.5,<1"
-filelock = ">=3.4.1,<4"
-platformdirs = ">=2.4,<3"
-
-[package.extras]
-docs = ["proselint (>=0.13)", "sphinx (>=5.1.1)", "sphinx-argparse (>=0.3.1)", "sphinx-rtd-theme (>=1)", "towncrier (>=21.9)"]
-testing = ["coverage (>=6.2)", "coverage-enable-subprocess (>=1)", "flaky (>=3.7)", "packaging (>=21.3)", "pytest (>=7.0.1)", "pytest-env (>=0.6.2)", "pytest-freezegun (>=0.4.2)", "pytest-mock (>=3.6.1)", "pytest-randomly (>=3.10.3)", "pytest-timeout (>=2.1)"]
-
-[[package]]
-name = "virtualenv-clone"
-version = "0.5.7"
-description = "script to clone virtualenvs."
-category = "dev"
-optional = false
-python-versions = ">=2.7, !=3.0.*, !=3.1.*, !=3.2.*, !=3.3.*"
-
-[[package]]
-name = "wcwidth"
-version = "0.2.5"
-description = "Measures the displayed width of unicode strings in a terminal"
-category = "dev"
-optional = false
-python-versions = "*"
-
-[[package]]
-name = "webencodings"
-version = "0.5.1"
-description = "Character encoding aliases for legacy web content"
-category = "main"
-optional = false
-python-versions = "*"
-
-[[package]]
-name = "websocket-client"
-version = "1.4.1"
-description = "WebSocket client for Python with low level API options"
-category = "main"
-optional = false
-python-versions = ">=3.7"
-
-[package.extras]
-docs = ["Sphinx (>=3.4)", "sphinx-rtd-theme (>=0.5)"]
-optional = ["python-socks", "wsaccel"]
-test = ["websockets"]
-
-[[package]]
-name = "werkzeug"
-version = "2.2.2"
-description = "The comprehensive WSGI web application library."
-category = "main"
-optional = false
-python-versions = ">=3.7"
-
-[package.dependencies]
-MarkupSafe = ">=2.1.1"
-
-[package.extras]
-watchdog = ["watchdog"]
-
-[[package]]
-name = "widgetsnbextension"
-version = "4.0.3"
-description = "Jupyter interactive widgets for Jupyter Notebook"
-category = "dev"
-optional = false
-python-versions = ">=3.7"
-
-[[package]]
-name = "wrapt"
-version = "1.14.1"
-description = "Module for decorators, wrappers and monkey patching."
-category = "main"
-optional = false
-python-versions = "!=3.0.*,!=3.1.*,!=3.2.*,!=3.3.*,!=3.4.*,>=2.7"
-
-[[package]]
-name = "xattr"
-version = "0.9.9"
-description = "Python wrapper for extended filesystem attributes"
-category = "main"
-optional = false
-python-versions = "*"
-
-[package.dependencies]
-cffi = ">=1.0"
-
-[[package]]
-name = "yarl"
-version = "1.8.1"
-description = "Yet another URL library"
-category = "dev"
-optional = false
-python-versions = ">=3.7"
-
-[package.dependencies]
-idna = ">=2.0"
-multidict = ">=4.0"
-
-[[package]]
-name = "zerorpc"
-version = "0.6.3"
-description = "zerorpc is a flexible RPC based on zeromq."
-category = "dev"
-optional = false
-python-versions = "*"
-develop = false
-
-[package.dependencies]
-future = "*"
-gevent = ">=1.1"
-msgpack = ">=0.5.2"
-msgpack-numpy = ">=0.4.3"
-pyzmq = ">=13.1.0"
-
-[package.source]
-type = "git"
-url = "https://github.com/commaai/zerorpc-python.git"
-reference = "master"
-resolved_reference = "0e27fd795bb9a7ec9cab81a771a2e35a91e397c9"
-
-[[package]]
-name = "zipp"
-version = "3.9.0"
-description = "Backport of pathlib-compatible object wrapper for zip files"
-category = "main"
-optional = false
-python-versions = ">=3.7"
-
-[package.extras]
-docs = ["furo", "jaraco.packaging (>=9)", "jaraco.tidelift (>=1.4)", "rst.linker (>=1.9)", "sphinx (>=3.5)"]
-testing = ["flake8 (<5)", "func-timeout", "jaraco.functools", "jaraco.itertools", "more-itertools", "pytest (>=6)", "pytest-black (>=0.3.7)", "pytest-checkdocs (>=2.4)", "pytest-cov", "pytest-enabler (>=1.3)", "pytest-flake8", "pytest-mypy (>=0.9.1)"]
-
-[[package]]
-name = "zope-event"
-version = "4.5.0"
-description = "Very basic event publishing system"
-category = "dev"
-optional = false
-python-versions = "*"
-
-[package.dependencies]
-setuptools = "*"
-
-[package.extras]
-docs = ["Sphinx"]
-test = ["zope.testrunner"]
-
-[[package]]
-name = "zope-interface"
-version = "5.5.0"
-description = "Interfaces for Python"
-category = "dev"
-optional = false
-python-versions = ">=2.7, !=3.0.*, !=3.1.*, !=3.2.*, !=3.3.*, !=3.4.*"
-
-[package.dependencies]
-setuptools = "*"
-
-[package.extras]
-docs = ["Sphinx", "repoze.sphinx.autointerface"]
-test = ["coverage (>=5.0.3)", "zope.event", "zope.testing"]
-testing = ["coverage (>=5.0.3)", "zope.event", "zope.testing"]
-
-[metadata]
-lock-version = "1.1"
-python-versions = "~3.8"
-content-hash = "454ab16c681fa1754b26156f767ca0701eac357b66c146d71d61b39cbed42f5a"
-
-[metadata.files]
-adal = [
-    {file = "adal-1.2.7-py2.py3-none-any.whl", hash = "sha256:2a7451ed7441ddbc57703042204a3e30ef747478eea022c70f789fc7f084bc3d"},
-    {file = "adal-1.2.7.tar.gz", hash = "sha256:d74f45b81317454d96e982fd1c50e6fb5c99ac2223728aea8764433a39f566f1"},
-]
-aenum = [
-    {file = "aenum-3.1.11-py2-none-any.whl", hash = "sha256:525b4870a27d0b471c265bda692bc657f1e0dd7597ad4186d072c59f9db666f6"},
-    {file = "aenum-3.1.11-py3-none-any.whl", hash = "sha256:12ae89967f2e25c0ce28c293955d643f891603488bc3d9946158ba2b35203638"},
-    {file = "aenum-3.1.11.tar.gz", hash = "sha256:aed2c273547ae72a0d5ee869719c02a643da16bf507c80958faadc7e038e3f73"},
-]
-aiohttp = [
-    {file = "aiohttp-3.8.3-cp310-cp310-macosx_10_9_universal2.whl", hash = "sha256:ba71c9b4dcbb16212f334126cc3d8beb6af377f6703d9dc2d9fb3874fd667ee9"},
-    {file = "aiohttp-3.8.3-cp310-cp310-macosx_10_9_x86_64.whl", hash = "sha256:d24b8bb40d5c61ef2d9b6a8f4528c2f17f1c5d2d31fed62ec860f6006142e83e"},
-    {file = "aiohttp-3.8.3-cp310-cp310-macosx_11_0_arm64.whl", hash = "sha256:f88df3a83cf9df566f171adba39d5bd52814ac0b94778d2448652fc77f9eb491"},
-    {file = "aiohttp-3.8.3-cp310-cp310-manylinux_2_17_aarch64.manylinux2014_aarch64.whl", hash = "sha256:b97decbb3372d4b69e4d4c8117f44632551c692bb1361b356a02b97b69e18a62"},
-    {file = "aiohttp-3.8.3-cp310-cp310-manylinux_2_17_ppc64le.manylinux2014_ppc64le.whl", hash = "sha256:309aa21c1d54b8ef0723181d430347d7452daaff93e8e2363db8e75c72c2fb2d"},
-    {file = "aiohttp-3.8.3-cp310-cp310-manylinux_2_17_s390x.manylinux2014_s390x.whl", hash = "sha256:ad5383a67514e8e76906a06741febd9126fc7c7ff0f599d6fcce3e82b80d026f"},
-    {file = "aiohttp-3.8.3-cp310-cp310-manylinux_2_17_x86_64.manylinux2014_x86_64.whl", hash = "sha256:20acae4f268317bb975671e375493dbdbc67cddb5f6c71eebdb85b34444ac46b"},
-    {file = "aiohttp-3.8.3-cp310-cp310-manylinux_2_5_i686.manylinux1_i686.manylinux_2_17_i686.manylinux2014_i686.whl", hash = "sha256:05a3c31c6d7cd08c149e50dc7aa2568317f5844acd745621983380597f027a18"},
-    {file = "aiohttp-3.8.3-cp310-cp310-musllinux_1_1_aarch64.whl", hash = "sha256:d6f76310355e9fae637c3162936e9504b4767d5c52ca268331e2756e54fd4ca5"},
-    {file = "aiohttp-3.8.3-cp310-cp310-musllinux_1_1_i686.whl", hash = "sha256:256deb4b29fe5e47893fa32e1de2d73c3afe7407738bd3c63829874661d4822d"},
-    {file = "aiohttp-3.8.3-cp310-cp310-musllinux_1_1_ppc64le.whl", hash = "sha256:5c59fcd80b9049b49acd29bd3598cada4afc8d8d69bd4160cd613246912535d7"},
-    {file = "aiohttp-3.8.3-cp310-cp310-musllinux_1_1_s390x.whl", hash = "sha256:059a91e88f2c00fe40aed9031b3606c3f311414f86a90d696dd982e7aec48142"},
-    {file = "aiohttp-3.8.3-cp310-cp310-musllinux_1_1_x86_64.whl", hash = "sha256:2feebbb6074cdbd1ac276dbd737b40e890a1361b3cc30b74ac2f5e24aab41f7b"},
-    {file = "aiohttp-3.8.3-cp310-cp310-win32.whl", hash = "sha256:5bf651afd22d5f0c4be16cf39d0482ea494f5c88f03e75e5fef3a85177fecdeb"},
-    {file = "aiohttp-3.8.3-cp310-cp310-win_amd64.whl", hash = "sha256:653acc3880459f82a65e27bd6526e47ddf19e643457d36a2250b85b41a564715"},
-    {file = "aiohttp-3.8.3-cp311-cp311-macosx_10_9_universal2.whl", hash = "sha256:86fc24e58ecb32aee09f864cb11bb91bc4c1086615001647dbfc4dc8c32f4008"},
-    {file = "aiohttp-3.8.3-cp311-cp311-macosx_10_9_x86_64.whl", hash = "sha256:75e14eac916f024305db517e00a9252714fce0abcb10ad327fb6dcdc0d060f1d"},
-    {file = "aiohttp-3.8.3-cp311-cp311-macosx_11_0_arm64.whl", hash = "sha256:d1fde0f44029e02d02d3993ad55ce93ead9bb9b15c6b7ccd580f90bd7e3de476"},
-    {file = "aiohttp-3.8.3-cp311-cp311-manylinux_2_17_aarch64.manylinux2014_aarch64.whl", hash = "sha256:4ab94426ddb1ecc6a0b601d832d5d9d421820989b8caa929114811369673235c"},
-    {file = "aiohttp-3.8.3-cp311-cp311-manylinux_2_17_ppc64le.manylinux2014_ppc64le.whl", hash = "sha256:89d2e02167fa95172c017732ed7725bc8523c598757f08d13c5acca308e1a061"},
-    {file = "aiohttp-3.8.3-cp311-cp311-manylinux_2_17_s390x.manylinux2014_s390x.whl", hash = "sha256:02f9a2c72fc95d59b881cf38a4b2be9381b9527f9d328771e90f72ac76f31ad8"},
-    {file = "aiohttp-3.8.3-cp311-cp311-manylinux_2_17_x86_64.manylinux2014_x86_64.whl", hash = "sha256:9c7149272fb5834fc186328e2c1fa01dda3e1fa940ce18fded6d412e8f2cf76d"},
-    {file = "aiohttp-3.8.3-cp311-cp311-manylinux_2_5_i686.manylinux1_i686.manylinux_2_17_i686.manylinux2014_i686.whl", hash = "sha256:512bd5ab136b8dc0ffe3fdf2dfb0c4b4f49c8577f6cae55dca862cd37a4564e2"},
-    {file = "aiohttp-3.8.3-cp311-cp311-musllinux_1_1_aarch64.whl", hash = "sha256:7018ecc5fe97027214556afbc7c502fbd718d0740e87eb1217b17efd05b3d276"},
-    {file = "aiohttp-3.8.3-cp311-cp311-musllinux_1_1_i686.whl", hash = "sha256:88c70ed9da9963d5496d38320160e8eb7e5f1886f9290475a881db12f351ab5d"},
-    {file = "aiohttp-3.8.3-cp311-cp311-musllinux_1_1_ppc64le.whl", hash = "sha256:da22885266bbfb3f78218dc40205fed2671909fbd0720aedba39b4515c038091"},
-    {file = "aiohttp-3.8.3-cp311-cp311-musllinux_1_1_s390x.whl", hash = "sha256:e65bc19919c910127c06759a63747ebe14f386cda573d95bcc62b427ca1afc73"},
-    {file = "aiohttp-3.8.3-cp311-cp311-musllinux_1_1_x86_64.whl", hash = "sha256:08c78317e950e0762c2983f4dd58dc5e6c9ff75c8a0efeae299d363d439c8e34"},
-    {file = "aiohttp-3.8.3-cp311-cp311-win32.whl", hash = "sha256:45d88b016c849d74ebc6f2b6e8bc17cabf26e7e40c0661ddd8fae4c00f015697"},
-    {file = "aiohttp-3.8.3-cp311-cp311-win_amd64.whl", hash = "sha256:96372fc29471646b9b106ee918c8eeb4cca423fcbf9a34daa1b93767a88a2290"},
-    {file = "aiohttp-3.8.3-cp36-cp36m-macosx_10_9_x86_64.whl", hash = "sha256:c971bf3786b5fad82ce5ad570dc6ee420f5b12527157929e830f51c55dc8af77"},
-    {file = "aiohttp-3.8.3-cp36-cp36m-manylinux_2_17_aarch64.manylinux2014_aarch64.whl", hash = "sha256:ff25f48fc8e623d95eca0670b8cc1469a83783c924a602e0fbd47363bb54aaca"},
-    {file = "aiohttp-3.8.3-cp36-cp36m-manylinux_2_17_ppc64le.manylinux2014_ppc64le.whl", hash = "sha256:e381581b37db1db7597b62a2e6b8b57c3deec95d93b6d6407c5b61ddc98aca6d"},
-    {file = "aiohttp-3.8.3-cp36-cp36m-manylinux_2_17_s390x.manylinux2014_s390x.whl", hash = "sha256:db19d60d846283ee275d0416e2a23493f4e6b6028825b51290ac05afc87a6f97"},
-    {file = "aiohttp-3.8.3-cp36-cp36m-manylinux_2_17_x86_64.manylinux2014_x86_64.whl", hash = "sha256:25892c92bee6d9449ffac82c2fe257f3a6f297792cdb18ad784737d61e7a9a85"},
-    {file = "aiohttp-3.8.3-cp36-cp36m-manylinux_2_5_i686.manylinux1_i686.manylinux_2_17_i686.manylinux2014_i686.whl", hash = "sha256:398701865e7a9565d49189f6c90868efaca21be65c725fc87fc305906be915da"},
-    {file = "aiohttp-3.8.3-cp36-cp36m-musllinux_1_1_aarch64.whl", hash = "sha256:4a4fbc769ea9b6bd97f4ad0b430a6807f92f0e5eb020f1e42ece59f3ecfc4585"},
-    {file = "aiohttp-3.8.3-cp36-cp36m-musllinux_1_1_i686.whl", hash = "sha256:b29bfd650ed8e148f9c515474a6ef0ba1090b7a8faeee26b74a8ff3b33617502"},
-    {file = "aiohttp-3.8.3-cp36-cp36m-musllinux_1_1_ppc64le.whl", hash = "sha256:1e56b9cafcd6531bab5d9b2e890bb4937f4165109fe98e2b98ef0dcfcb06ee9d"},
-    {file = "aiohttp-3.8.3-cp36-cp36m-musllinux_1_1_s390x.whl", hash = "sha256:ec40170327d4a404b0d91855d41bfe1fe4b699222b2b93e3d833a27330a87a6d"},
-    {file = "aiohttp-3.8.3-cp36-cp36m-musllinux_1_1_x86_64.whl", hash = "sha256:2df5f139233060578d8c2c975128fb231a89ca0a462b35d4b5fcf7c501ebdbe1"},
-    {file = "aiohttp-3.8.3-cp36-cp36m-win32.whl", hash = "sha256:f973157ffeab5459eefe7b97a804987876dd0a55570b8fa56b4e1954bf11329b"},
-    {file = "aiohttp-3.8.3-cp36-cp36m-win_amd64.whl", hash = "sha256:437399385f2abcd634865705bdc180c8314124b98299d54fe1d4c8990f2f9494"},
-    {file = "aiohttp-3.8.3-cp37-cp37m-macosx_10_9_x86_64.whl", hash = "sha256:09e28f572b21642128ef31f4e8372adb6888846f32fecb288c8b0457597ba61a"},
-    {file = "aiohttp-3.8.3-cp37-cp37m-manylinux_2_17_aarch64.manylinux2014_aarch64.whl", hash = "sha256:6f3553510abdbec67c043ca85727396ceed1272eef029b050677046d3387be8d"},
-    {file = "aiohttp-3.8.3-cp37-cp37m-manylinux_2_17_ppc64le.manylinux2014_ppc64le.whl", hash = "sha256:e168a7560b7c61342ae0412997b069753f27ac4862ec7867eff74f0fe4ea2ad9"},
-    {file = "aiohttp-3.8.3-cp37-cp37m-manylinux_2_17_s390x.manylinux2014_s390x.whl", hash = "sha256:db4c979b0b3e0fa7e9e69ecd11b2b3174c6963cebadeecfb7ad24532ffcdd11a"},
-    {file = "aiohttp-3.8.3-cp37-cp37m-manylinux_2_17_x86_64.manylinux2014_x86_64.whl", hash = "sha256:e164e0a98e92d06da343d17d4e9c4da4654f4a4588a20d6c73548a29f176abe2"},
-    {file = "aiohttp-3.8.3-cp37-cp37m-manylinux_2_5_i686.manylinux1_i686.manylinux_2_17_i686.manylinux2014_i686.whl", hash = "sha256:e8a78079d9a39ca9ca99a8b0ac2fdc0c4d25fc80c8a8a82e5c8211509c523363"},
-    {file = "aiohttp-3.8.3-cp37-cp37m-musllinux_1_1_aarch64.whl", hash = "sha256:21b30885a63c3f4ff5b77a5d6caf008b037cb521a5f33eab445dc566f6d092cc"},
-    {file = "aiohttp-3.8.3-cp37-cp37m-musllinux_1_1_i686.whl", hash = "sha256:4b0f30372cef3fdc262f33d06e7b411cd59058ce9174ef159ad938c4a34a89da"},
-    {file = "aiohttp-3.8.3-cp37-cp37m-musllinux_1_1_ppc64le.whl", hash = "sha256:8135fa153a20d82ffb64f70a1b5c2738684afa197839b34cc3e3c72fa88d302c"},
-    {file = "aiohttp-3.8.3-cp37-cp37m-musllinux_1_1_s390x.whl", hash = "sha256:ad61a9639792fd790523ba072c0555cd6be5a0baf03a49a5dd8cfcf20d56df48"},
-    {file = "aiohttp-3.8.3-cp37-cp37m-musllinux_1_1_x86_64.whl", hash = "sha256:978b046ca728073070e9abc074b6299ebf3501e8dee5e26efacb13cec2b2dea0"},
-    {file = "aiohttp-3.8.3-cp37-cp37m-win32.whl", hash = "sha256:0d2c6d8c6872df4a6ec37d2ede71eff62395b9e337b4e18efd2177de883a5033"},
-    {file = "aiohttp-3.8.3-cp37-cp37m-win_amd64.whl", hash = "sha256:21d69797eb951f155026651f7e9362877334508d39c2fc37bd04ff55b2007091"},
-    {file = "aiohttp-3.8.3-cp38-cp38-macosx_10_9_universal2.whl", hash = "sha256:2ca9af5f8f5812d475c5259393f52d712f6d5f0d7fdad9acdb1107dd9e3cb7eb"},
-    {file = "aiohttp-3.8.3-cp38-cp38-macosx_10_9_x86_64.whl", hash = "sha256:1d90043c1882067f1bd26196d5d2db9aa6d268def3293ed5fb317e13c9413ea4"},
-    {file = "aiohttp-3.8.3-cp38-cp38-macosx_11_0_arm64.whl", hash = "sha256:d737fc67b9a970f3234754974531dc9afeea11c70791dcb7db53b0cf81b79784"},
-    {file = "aiohttp-3.8.3-cp38-cp38-manylinux_2_17_aarch64.manylinux2014_aarch64.whl", hash = "sha256:ebf909ea0a3fc9596e40d55d8000702a85e27fd578ff41a5500f68f20fd32e6c"},
-    {file = "aiohttp-3.8.3-cp38-cp38-manylinux_2_17_ppc64le.manylinux2014_ppc64le.whl", hash = "sha256:5835f258ca9f7c455493a57ee707b76d2d9634d84d5d7f62e77be984ea80b849"},
-    {file = "aiohttp-3.8.3-cp38-cp38-manylinux_2_17_s390x.manylinux2014_s390x.whl", hash = "sha256:da37dcfbf4b7f45d80ee386a5f81122501ec75672f475da34784196690762f4b"},
-    {file = "aiohttp-3.8.3-cp38-cp38-manylinux_2_17_x86_64.manylinux2014_x86_64.whl", hash = "sha256:87f44875f2804bc0511a69ce44a9595d5944837a62caecc8490bbdb0e18b1342"},
-    {file = "aiohttp-3.8.3-cp38-cp38-manylinux_2_5_i686.manylinux1_i686.manylinux_2_17_i686.manylinux2014_i686.whl", hash = "sha256:527b3b87b24844ea7865284aabfab08eb0faf599b385b03c2aa91fc6edd6e4b6"},
-    {file = "aiohttp-3.8.3-cp38-cp38-musllinux_1_1_aarch64.whl", hash = "sha256:d5ba88df9aa5e2f806650fcbeedbe4f6e8736e92fc0e73b0400538fd25a4dd96"},
-    {file = "aiohttp-3.8.3-cp38-cp38-musllinux_1_1_i686.whl", hash = "sha256:e7b8813be97cab8cb52b1375f41f8e6804f6507fe4660152e8ca5c48f0436017"},
-    {file = "aiohttp-3.8.3-cp38-cp38-musllinux_1_1_ppc64le.whl", hash = "sha256:2dea10edfa1a54098703cb7acaa665c07b4e7568472a47f4e64e6319d3821ccf"},
-    {file = "aiohttp-3.8.3-cp38-cp38-musllinux_1_1_s390x.whl", hash = "sha256:713d22cd9643ba9025d33c4af43943c7a1eb8547729228de18d3e02e278472b6"},
-    {file = "aiohttp-3.8.3-cp38-cp38-musllinux_1_1_x86_64.whl", hash = "sha256:2d252771fc85e0cf8da0b823157962d70639e63cb9b578b1dec9868dd1f4f937"},
-    {file = "aiohttp-3.8.3-cp38-cp38-win32.whl", hash = "sha256:66bd5f950344fb2b3dbdd421aaa4e84f4411a1a13fca3aeb2bcbe667f80c9f76"},
-    {file = "aiohttp-3.8.3-cp38-cp38-win_amd64.whl", hash = "sha256:84b14f36e85295fe69c6b9789b51a0903b774046d5f7df538176516c3e422446"},
-    {file = "aiohttp-3.8.3-cp39-cp39-macosx_10_9_universal2.whl", hash = "sha256:16c121ba0b1ec2b44b73e3a8a171c4f999b33929cd2397124a8c7fcfc8cd9e06"},
-    {file = "aiohttp-3.8.3-cp39-cp39-macosx_10_9_x86_64.whl", hash = "sha256:8d6aaa4e7155afaf994d7924eb290abbe81a6905b303d8cb61310a2aba1c68ba"},
-    {file = "aiohttp-3.8.3-cp39-cp39-macosx_11_0_arm64.whl", hash = "sha256:43046a319664a04b146f81b40e1545d4c8ac7b7dd04c47e40bf09f65f2437346"},
-    {file = "aiohttp-3.8.3-cp39-cp39-manylinux_2_17_aarch64.manylinux2014_aarch64.whl", hash = "sha256:599418aaaf88a6d02a8c515e656f6faf3d10618d3dd95866eb4436520096c84b"},
-    {file = "aiohttp-3.8.3-cp39-cp39-manylinux_2_17_ppc64le.manylinux2014_ppc64le.whl", hash = "sha256:92a2964319d359f494f16011e23434f6f8ef0434acd3cf154a6b7bec511e2fb7"},
-    {file = "aiohttp-3.8.3-cp39-cp39-manylinux_2_17_s390x.manylinux2014_s390x.whl", hash = "sha256:73a4131962e6d91109bca6536416aa067cf6c4efb871975df734f8d2fd821b37"},
-    {file = "aiohttp-3.8.3-cp39-cp39-manylinux_2_17_x86_64.manylinux2014_x86_64.whl", hash = "sha256:598adde339d2cf7d67beaccda3f2ce7c57b3b412702f29c946708f69cf8222aa"},
-    {file = "aiohttp-3.8.3-cp39-cp39-manylinux_2_5_i686.manylinux1_i686.manylinux_2_17_i686.manylinux2014_i686.whl", hash = "sha256:75880ed07be39beff1881d81e4a907cafb802f306efd6d2d15f2b3c69935f6fb"},
-    {file = "aiohttp-3.8.3-cp39-cp39-musllinux_1_1_aarch64.whl", hash = "sha256:a0239da9fbafd9ff82fd67c16704a7d1bccf0d107a300e790587ad05547681c8"},
-    {file = "aiohttp-3.8.3-cp39-cp39-musllinux_1_1_i686.whl", hash = "sha256:4e3a23ec214e95c9fe85a58470b660efe6534b83e6cbe38b3ed52b053d7cb6ad"},
-    {file = "aiohttp-3.8.3-cp39-cp39-musllinux_1_1_ppc64le.whl", hash = "sha256:47841407cc89a4b80b0c52276f3cc8138bbbfba4b179ee3acbd7d77ae33f7ac4"},
-    {file = "aiohttp-3.8.3-cp39-cp39-musllinux_1_1_s390x.whl", hash = "sha256:54d107c89a3ebcd13228278d68f1436d3f33f2dd2af5415e3feaeb1156e1a62c"},
-    {file = "aiohttp-3.8.3-cp39-cp39-musllinux_1_1_x86_64.whl", hash = "sha256:c37c5cce780349d4d51739ae682dec63573847a2a8dcb44381b174c3d9c8d403"},
-    {file = "aiohttp-3.8.3-cp39-cp39-win32.whl", hash = "sha256:f178d2aadf0166be4df834c4953da2d7eef24719e8aec9a65289483eeea9d618"},
-    {file = "aiohttp-3.8.3-cp39-cp39-win_amd64.whl", hash = "sha256:88e5be56c231981428f4f506c68b6a46fa25c4123a2e86d156c58a8369d31ab7"},
-    {file = "aiohttp-3.8.3.tar.gz", hash = "sha256:3828fb41b7203176b82fe5d699e0d845435f2374750a44b480ea6b930f6be269"},
-]
-aiosignal = [
-    {file = "aiosignal-1.2.0-py3-none-any.whl", hash = "sha256:26e62109036cd181df6e6ad646f91f0dcfd05fe16d0cb924138ff2ab75d64e3a"},
-    {file = "aiosignal-1.2.0.tar.gz", hash = "sha256:78ed67db6c7b7ced4f98e495e572106d5c432a93e1ddd1bf475e1dc05f5b7df2"},
-]
-alabaster = [
-    {file = "alabaster-0.7.12-py2.py3-none-any.whl", hash = "sha256:446438bdcca0e05bd45ea2de1668c1d9b032e1a9154c2c259092d77031ddd359"},
-    {file = "alabaster-0.7.12.tar.gz", hash = "sha256:a661d72d58e6ea8a57f7a86e37d86716863ee5e92788398526d58b26a4e4dc02"},
-]
-albumentations = [
-    {file = "albumentations-1.3.0-py3-none-any.whl", hash = "sha256:294165d87d03bc8323e484927f0a5c1a3c64b0e7b9c32a979582a6c93c363bdf"},
-    {file = "albumentations-1.3.0.tar.gz", hash = "sha256:be1af36832c8893314f2a5550e8ac19801e04770734c1b70fa3c996b41f37bed"},
-]
-antlr4-python3-runtime = [
-    {file = "antlr4-python3-runtime-4.9.3.tar.gz", hash = "sha256:f224469b4168294902bb1efa80a8bf7855f24c99aef99cbefc1bcd3cce77881b"},
-]
-anyio = [
-    {file = "anyio-3.6.2-py3-none-any.whl", hash = "sha256:fbbe32bd270d2a2ef3ed1c5d45041250284e31fc0a4df4a5a6071842051a51e3"},
-    {file = "anyio-3.6.2.tar.gz", hash = "sha256:25ea0d673ae30af41a0c442f81cf3b38c7e79fdc7b60335a4c14e05eb0947421"},
-]
-apex = []
-appdirs = [
-    {file = "appdirs-1.4.4-py2.py3-none-any.whl", hash = "sha256:a841dacd6b99318a741b166adb07e19ee71a274450e68237b4650ca1055ab128"},
-    {file = "appdirs-1.4.4.tar.gz", hash = "sha256:7d5d0167b2b1ba821647616af46a749d1c653740dd0d2415100fe26e27afdf41"},
-]
-applicationinsights = [
-    {file = "applicationinsights-0.11.10-py2.py3-none-any.whl", hash = "sha256:e89a890db1c6906b6a7d0bcfd617dac83974773c64573147c8d6654f9cf2a6ea"},
-    {file = "applicationinsights-0.11.10.tar.gz", hash = "sha256:0b761f3ef0680acf4731906dfc1807faa6f2a57168ae74592db0084a6099f7b3"},
-]
-appnope = [
-    {file = "appnope-0.1.3-py2.py3-none-any.whl", hash = "sha256:265a455292d0bd8a72453494fa24df5a11eb18373a60c7c0430889f22548605e"},
-    {file = "appnope-0.1.3.tar.gz", hash = "sha256:02bd91c4de869fbb1e1c50aafc4098827a7a54ab2f39d9dcba6c9547ed920e24"},
-]
-argcomplete = [
-    {file = "argcomplete-1.12.3-py2.py3-none-any.whl", hash = "sha256:291f0beca7fd49ce285d2f10e4c1c77e9460cf823eef2de54df0c0fec88b0d81"},
-    {file = "argcomplete-1.12.3.tar.gz", hash = "sha256:2c7dbffd8c045ea534921e63b0be6fe65e88599990d8dc408ac8c542b72a5445"},
-]
-argon2-cffi = [
-    {file = "argon2-cffi-21.3.0.tar.gz", hash = "sha256:d384164d944190a7dd7ef22c6aa3ff197da12962bd04b17f64d4e93d934dba5b"},
-    {file = "argon2_cffi-21.3.0-py3-none-any.whl", hash = "sha256:8c976986f2c5c0e5000919e6de187906cfd81fb1c72bf9d88c01177e77da7f80"},
-]
-argon2-cffi-bindings = [
+files = [
     {file = "argon2-cffi-bindings-21.2.0.tar.gz", hash = "sha256:bb89ceffa6c791807d1305ceb77dbfacc5aa499891d2c55661c6459651fc39e3"},
     {file = "argon2_cffi_bindings-21.2.0-cp36-abi3-macosx_10_9_x86_64.whl", hash = "sha256:ccb949252cb2ab3a08c02024acb77cfb179492d5701c7cbdbfd776124d4d2367"},
     {file = "argon2_cffi_bindings-21.2.0-cp36-abi3-manylinux_2_17_aarch64.manylinux2014_aarch64.whl", hash = "sha256:9524464572e12979364b7d600abf96181d3541da11e23ddf565a32e70bd4dc0d"},
@@ -4968,111 +415,340 @@ argon2-cffi-bindings = [
     {file = "argon2_cffi_bindings-21.2.0-pp38-pypy38_pp73-manylinux_2_5_i686.manylinux1_i686.manylinux_2_17_i686.manylinux2014_i686.whl", hash = "sha256:ed2937d286e2ad0cc79a7087d3c272832865f779430e0cc2b4f3718d3159b0cb"},
     {file = "argon2_cffi_bindings-21.2.0-pp38-pypy38_pp73-win_amd64.whl", hash = "sha256:5e00316dabdaea0b2dd82d141cc66889ced0cdcbfa599e8b471cf22c620c329a"},
 ]
-astroid = [
-    {file = "astroid-2.12.12-py3-none-any.whl", hash = "sha256:72702205200b2a638358369d90c222d74ebc376787af8fb2f7f2a86f7b5cc85f"},
-    {file = "astroid-2.12.12.tar.gz", hash = "sha256:1c00a14f5a3ed0339d38d2e2e5b74ea2591df5861c0936bb292b84ccf3a78d83"},
+
+[package.dependencies]
+cffi = ">=1.0.1"
+
+[package.extras]
+dev = ["cogapp", "pre-commit", "pytest", "wheel"]
+tests = ["pytest"]
+
+[[package]]
+name = "arrow"
+version = "1.2.3"
+description = "Better dates & times for Python"
+optional = false
+python-versions = ">=3.6"
+files = [
+    {file = "arrow-1.2.3-py3-none-any.whl", hash = "sha256:5a49ab92e3b7b71d96cd6bfcc4df14efefc9dfa96ea19045815914a6ab6b1fe2"},
+    {file = "arrow-1.2.3.tar.gz", hash = "sha256:3934b30ca1b9f292376d9db15b19446088d12ec58629bc3f0da28fd55fb633a1"},
 ]
-asttokens = [
-    {file = "asttokens-2.0.8-py2.py3-none-any.whl", hash = "sha256:e3305297c744ae53ffa032c45dc347286165e4ffce6875dc662b205db0623d86"},
-    {file = "asttokens-2.0.8.tar.gz", hash = "sha256:c61e16246ecfb2cde2958406b4c8ebc043c9e6d73aaa83c941673b35e5d3a76b"},
+
+[package.dependencies]
+python-dateutil = ">=2.7.0"
+
+[[package]]
+name = "astroid"
+version = "2.15.6"
+description = "An abstract syntax tree for Python with inference support."
+optional = false
+python-versions = ">=3.7.2"
+files = [
+    {file = "astroid-2.15.6-py3-none-any.whl", hash = "sha256:389656ca57b6108f939cf5d2f9a2a825a3be50ba9d589670f393236e0a03b91c"},
+    {file = "astroid-2.15.6.tar.gz", hash = "sha256:903f024859b7c7687d7a7f3a3f73b17301f8e42dfd9cc9df9d4418172d3e2dbd"},
 ]
-async-timeout = [
+
+[package.dependencies]
+lazy-object-proxy = ">=1.4.0"
+wrapt = {version = ">=1.14,<2", markers = "python_version >= \"3.11\""}
+
+[[package]]
+name = "asttokens"
+version = "2.2.1"
+description = "Annotate AST trees with source code positions"
+optional = false
+python-versions = "*"
+files = [
+    {file = "asttokens-2.2.1-py2.py3-none-any.whl", hash = "sha256:6b0ac9e93fb0335014d382b8fa9b3afa7df546984258005da0b9e7095b3deb1c"},
+    {file = "asttokens-2.2.1.tar.gz", hash = "sha256:4622110b2a6f30b77e1473affaa97e711bc2f07d3f10848420ff1898edbe94f3"},
+]
+
+[package.dependencies]
+six = "*"
+
+[package.extras]
+test = ["astroid", "pytest"]
+
+[[package]]
+name = "async-lru"
+version = "2.0.4"
+description = "Simple LRU cache for asyncio"
+optional = false
+python-versions = ">=3.8"
+files = [
+    {file = "async-lru-2.0.4.tar.gz", hash = "sha256:b8a59a5df60805ff63220b2a0c5b5393da5521b113cd5465a44eb037d81a5627"},
+    {file = "async_lru-2.0.4-py3-none-any.whl", hash = "sha256:ff02944ce3c288c5be660c42dbcca0742b32c3b279d6dceda655190240b99224"},
+]
+
+[[package]]
+name = "async-timeout"
+version = "4.0.2"
+description = "Timeout context manager for asyncio programs"
+optional = false
+python-versions = ">=3.6"
+files = [
     {file = "async-timeout-4.0.2.tar.gz", hash = "sha256:2163e1640ddb52b7a8c80d0a67a08587e5d245cc9c553a74a847056bc2976b15"},
     {file = "async_timeout-4.0.2-py3-none-any.whl", hash = "sha256:8ca1e4fcf50d07413d66d1a5e416e42cfdf5851c981d679a09851a6853383b3c"},
 ]
-atomicwrites = [
+
+[[package]]
+name = "atomicwrites"
+version = "1.4.1"
+description = "Atomic file writes."
+optional = false
+python-versions = ">=2.7, !=3.0.*, !=3.1.*, !=3.2.*, !=3.3.*"
+files = [
     {file = "atomicwrites-1.4.1.tar.gz", hash = "sha256:81b2c9071a49367a7f770170e5eec8cb66567cfbbc8c73d20ce5ca4a8d71cf11"},
 ]
-attrs = [
-    {file = "attrs-22.1.0-py2.py3-none-any.whl", hash = "sha256:86efa402f67bf2df34f51a335487cf46b1ec130d02b8d39fd248abfd30da551c"},
-    {file = "attrs-22.1.0.tar.gz", hash = "sha256:29adc2665447e5191d0e7c568fde78b21f9672d344281d0c6e1ab085429b22b6"},
+
+[[package]]
+name = "attrs"
+version = "23.1.0"
+description = "Classes Without Boilerplate"
+optional = false
+python-versions = ">=3.7"
+files = [
+    {file = "attrs-23.1.0-py3-none-any.whl", hash = "sha256:1f28b4522cdc2fb4256ac1a020c78acf9cba2c6b461ccd2c126f3aa8e8335d04"},
+    {file = "attrs-23.1.0.tar.gz", hash = "sha256:6279836d581513a26f1bf235f9acd333bc9115683f14f7e8fae46c98fc50e015"},
 ]
-av = [
-    {file = "av-9.2.0-cp310-cp310-macosx_10_9_x86_64.whl", hash = "sha256:29373aa86a055a07eebb14d253cb202033f63ba98c5a4b0233d6d4c07fc7a292"},
-    {file = "av-9.2.0-cp310-cp310-macosx_11_0_arm64.whl", hash = "sha256:343b11d9b03e71da29f3ce56bc0a6c2d40aba448225dcf8296ab53c10527fff0"},
-    {file = "av-9.2.0-cp310-cp310-manylinux_2_17_aarch64.manylinux2014_aarch64.whl", hash = "sha256:3ea180bfd89bc0a9e392c32de204cf4e51648aefe2f375d430ce39c04e3ed625"},
-    {file = "av-9.2.0-cp310-cp310-manylinux_2_17_i686.manylinux2014_i686.whl", hash = "sha256:b07b91f534ee7a096068149404c67c3c0e5b4c373580b016151de0fcb440cd3f"},
-    {file = "av-9.2.0-cp310-cp310-manylinux_2_17_x86_64.manylinux2014_x86_64.whl", hash = "sha256:a9983bc45dab65d2416d2f8a63785caa076a751590823fc8c199617d0dbad390"},
-    {file = "av-9.2.0-cp310-cp310-win_amd64.whl", hash = "sha256:0340cc68f3d222bc9438b4fde12e3d68f949eeb5de9e090db182f2cb06e23d53"},
-    {file = "av-9.2.0-cp37-cp37m-macosx_10_9_x86_64.whl", hash = "sha256:e3e4a28fa0eabd3ab5b0915e9c005e9155039f9e1a4466212434c40eb69a33fb"},
-    {file = "av-9.2.0-cp37-cp37m-manylinux_2_17_aarch64.manylinux2014_aarch64.whl", hash = "sha256:d6a3c9126d658029b151484b48c656b73af1b145b143c50de5b8b983ac60e095"},
-    {file = "av-9.2.0-cp37-cp37m-manylinux_2_17_i686.manylinux2014_i686.whl", hash = "sha256:3facfe8dc5ba7f9ec7fd7e4c0466e577b84d5f2a1671428f7e28ebcd2cb0ccd3"},
-    {file = "av-9.2.0-cp37-cp37m-manylinux_2_17_x86_64.manylinux2014_x86_64.whl", hash = "sha256:af951271d998f736a20e54fbc0d944f263db7b17592f11cd489947957bf46aa8"},
-    {file = "av-9.2.0-cp37-cp37m-win_amd64.whl", hash = "sha256:109526152e658921731018c50a05db802e7c9f3eb04a7a5fcbd8321fb3b73134"},
-    {file = "av-9.2.0-cp38-cp38-macosx_10_9_x86_64.whl", hash = "sha256:587dd492a2ef3eb20324a0a8d67e6a2e686845d8c1dfdcad058377ac84268d67"},
-    {file = "av-9.2.0-cp38-cp38-macosx_11_0_arm64.whl", hash = "sha256:28d85b8476f7d8fb18e3af9bd6d22bb292f1d810a20f8910fe481f648372e798"},
-    {file = "av-9.2.0-cp38-cp38-manylinux_2_17_aarch64.manylinux2014_aarch64.whl", hash = "sha256:a6a35e6028dec677caed97d19bfab3b66182690d43b0ec3c355778d740ce0509"},
-    {file = "av-9.2.0-cp38-cp38-manylinux_2_17_i686.manylinux2014_i686.whl", hash = "sha256:a616a6eb46b62f41ff69569cafe12b0005a6dd14389f597dee115340336a910f"},
-    {file = "av-9.2.0-cp38-cp38-manylinux_2_17_x86_64.manylinux2014_x86_64.whl", hash = "sha256:d730f3ed30eda46d06849bd71ad87d480cf0cad9fd064f33a0386dee95461e31"},
-    {file = "av-9.2.0-cp38-cp38-win_amd64.whl", hash = "sha256:6b01fbe8047da81892f8bd2aee5690f00465bf5215e3f6b6372863ac9408d75f"},
-    {file = "av-9.2.0-cp39-cp39-macosx_10_9_x86_64.whl", hash = "sha256:ba3d9e3fe23fd8a14e810f291386225acbdef1c7e5376cc10c8e85c2d4280771"},
-    {file = "av-9.2.0-cp39-cp39-macosx_11_0_arm64.whl", hash = "sha256:b6be9388618af978304b56d1cf6b74c811db4f220dd320da5bd79640aa443358"},
-    {file = "av-9.2.0-cp39-cp39-manylinux_2_17_aarch64.manylinux2014_aarch64.whl", hash = "sha256:e59e4ab0e8832bf87707e5024283b3a24cc01784604f0b0e96fbfbadbd8d9fc0"},
-    {file = "av-9.2.0-cp39-cp39-manylinux_2_17_i686.manylinux2014_i686.whl", hash = "sha256:9b0f124e335561cf4de6b7cdc461283c5eba5f05cccb1a5e1b8ceb1cd15393d8"},
-    {file = "av-9.2.0-cp39-cp39-manylinux_2_17_x86_64.manylinux2014_x86_64.whl", hash = "sha256:49481c2d5bc296f451ccd3f93b1cb692d7f58a804b794b99c8b7743e058cae71"},
-    {file = "av-9.2.0-cp39-cp39-win_amd64.whl", hash = "sha256:1cbf031f650f89943023eef80e8b2c99588bf9ba26ffef8b3b54bef7102ea3dc"},
-    {file = "av-9.2.0-pp37-pypy37_pp73-macosx_10_9_x86_64.whl", hash = "sha256:48819e401cea5be57bd03299d8e5f700082c411746d1ac23eb5e5a931d3d3ced"},
-    {file = "av-9.2.0-pp37-pypy37_pp73-manylinux_2_17_aarch64.manylinux2014_aarch64.whl", hash = "sha256:0d9cad890e6eccf2697b1c932761bee6f5e1e7faf9b8c03cf10f18f697d29ba3"},
-    {file = "av-9.2.0-pp37-pypy37_pp73-manylinux_2_17_i686.manylinux2014_i686.whl", hash = "sha256:d080f34ddfde551de3a5f2d0d06d7518718e3115af81e56182e158cc03111662"},
-    {file = "av-9.2.0-pp37-pypy37_pp73-manylinux_2_17_x86_64.manylinux2014_x86_64.whl", hash = "sha256:2b46b54ddf64409d4455f408b5970f8494c27c0273181b81c2f7d5072c9afb55"},
-    {file = "av-9.2.0-pp37-pypy37_pp73-win_amd64.whl", hash = "sha256:bf941896b4c800ee707211c802f94c6e0b4642d3000e25d1974d0b6032af4f66"},
-    {file = "av-9.2.0-pp38-pypy38_pp73-macosx_10_9_x86_64.whl", hash = "sha256:d380925732e7497c1c11545107eabe1f498cab214f49f32d1b5d6abe01a2b36b"},
-    {file = "av-9.2.0-pp38-pypy38_pp73-manylinux_2_17_aarch64.manylinux2014_aarch64.whl", hash = "sha256:6a1c2c1dcc1947473ea1e2cbbf50549e2655e49e08bdd2a6427a97276d7a92c8"},
-    {file = "av-9.2.0-pp38-pypy38_pp73-manylinux_2_17_i686.manylinux2014_i686.whl", hash = "sha256:1e2a50a146b3f33a24ea059af913ad368dbb61ed494234debe140a09f1076950"},
-    {file = "av-9.2.0-pp38-pypy38_pp73-manylinux_2_17_x86_64.manylinux2014_x86_64.whl", hash = "sha256:45816a39255b39e514a72125e0b6e29eb24fe0994bef3f4f87f3b9d9960b3fa8"},
-    {file = "av-9.2.0-pp39-pypy39_pp73-macosx_10_9_x86_64.whl", hash = "sha256:ab90aa3ac2cbdf1f22087fc0fa439f643e96979f169ecfa1d496e114c3c3a8b3"},
-    {file = "av-9.2.0-pp39-pypy39_pp73-manylinux_2_17_aarch64.manylinux2014_aarch64.whl", hash = "sha256:24dac414eafcc20423f2ec7e873706489433648f0e9af08a537996880aa55979"},
-    {file = "av-9.2.0-pp39-pypy39_pp73-manylinux_2_17_i686.manylinux2014_i686.whl", hash = "sha256:17a7b6617d4201214f3dd5f628041b4fe56f4244dcd48399ed8d0cf324ca24d1"},
-    {file = "av-9.2.0-pp39-pypy39_pp73-manylinux_2_17_x86_64.manylinux2014_x86_64.whl", hash = "sha256:8671fa01648ce7aac76e71816c2421ddb1939bf706e2e14684608ab1ce9dbbbb"},
-    {file = "av-9.2.0-pp39-pypy39_pp73-win_amd64.whl", hash = "sha256:7a5dc26b9df656bed5e1bdeaf8bcc4ff4a2e009ee90b3b3024a86cf8476b2cbf"},
-    {file = "av-9.2.0.tar.gz", hash = "sha256:f2a7c226724d7f7745b376b459c500d9d17bd8d0473b7ea6bf8ddb4f7957c69d"},
+
+[package.extras]
+cov = ["attrs[tests]", "coverage[toml] (>=5.3)"]
+dev = ["attrs[docs,tests]", "pre-commit"]
+docs = ["furo", "myst-parser", "sphinx", "sphinx-notfound-page", "sphinxcontrib-towncrier", "towncrier", "zope-interface"]
+tests = ["attrs[tests-no-zope]", "zope-interface"]
+tests-no-zope = ["cloudpickle", "hypothesis", "mypy (>=1.1.1)", "pympler", "pytest (>=4.3.0)", "pytest-mypy-plugins", "pytest-xdist[psutil]"]
+
+[[package]]
+name = "av"
+version = "10.0.0"
+description = "Pythonic bindings for FFmpeg's libraries."
+optional = false
+python-versions = "*"
+files = [
+    {file = "av-10.0.0-cp310-cp310-macosx_10_9_x86_64.whl", hash = "sha256:d19bb54197155d045a2b683d993026d4bcb06e31c2acad0327e3e8711571899c"},
+    {file = "av-10.0.0-cp310-cp310-macosx_11_0_arm64.whl", hash = "sha256:7dba96a85cd37315529998e6dbbe3fa05c2344eb19a431dc24996be030a904ee"},
+    {file = "av-10.0.0-cp310-cp310-manylinux_2_17_aarch64.manylinux2014_aarch64.whl", hash = "sha256:27d6d38c7c8d46d578c008ffcb8aad1eae14d0621fff41f4ad62395589045fe4"},
+    {file = "av-10.0.0-cp310-cp310-manylinux_2_17_i686.manylinux2014_i686.whl", hash = "sha256:51037f4bde03daf924236af4f444e17345792ad7f6f70760a5e5863407e14f2b"},
+    {file = "av-10.0.0-cp310-cp310-manylinux_2_17_x86_64.manylinux2014_x86_64.whl", hash = "sha256:0577a38664e453b4ffb63d616a0d23c295827b16ae96a090e89527a753de8718"},
+    {file = "av-10.0.0-cp310-cp310-win_amd64.whl", hash = "sha256:07c971573035d22ce50069d3f2bbdb4d6d02d626ab13db12fda3ce519cda3f22"},
+    {file = "av-10.0.0-cp311-cp311-macosx_10_9_x86_64.whl", hash = "sha256:e5085d11345484c0097898994bb3f515002e7e1deeb43dd11d30dd6f45402c49"},
+    {file = "av-10.0.0-cp311-cp311-macosx_11_0_arm64.whl", hash = "sha256:157bde3ffd1615a9006b56e4daf3b46848d3ee2bd46b0394f7568e43ed7ab5a9"},
+    {file = "av-10.0.0-cp311-cp311-manylinux_2_17_aarch64.manylinux2014_aarch64.whl", hash = "sha256:115e144d5a1f205378a4b3a3657b7ed3e45918ebe5d2003a891e45984e8f443a"},
+    {file = "av-10.0.0-cp311-cp311-manylinux_2_17_i686.manylinux2014_i686.whl", hash = "sha256:7a7d6e2b3fbda6464f74fe010dbcff361394bb014b0cb4aa4dc9f2bb713ce882"},
+    {file = "av-10.0.0-cp311-cp311-manylinux_2_17_x86_64.manylinux2014_x86_64.whl", hash = "sha256:69fd5a38395191a0f4b71adf31057ff177c9f0762914d73d8797742339ad67d0"},
+    {file = "av-10.0.0-cp311-cp311-win_amd64.whl", hash = "sha256:836d69a9543d284976b229cc8d4343ffcfc0bbaf05239e13fb7e613b13d5291d"},
+    {file = "av-10.0.0-cp37-cp37m-macosx_10_9_x86_64.whl", hash = "sha256:eba192274538617bbe60097a013d83637f1a5ba9844bbbcf3ca7e43c6499b9d5"},
+    {file = "av-10.0.0-cp37-cp37m-manylinux_2_17_aarch64.manylinux2014_aarch64.whl", hash = "sha256:1301e4cf1a2c899851073720cd541066c8539b64f9eb0d52216f8d0a59f20429"},
+    {file = "av-10.0.0-cp37-cp37m-manylinux_2_17_i686.manylinux2014_i686.whl", hash = "sha256:eebd5aa9d8b1e33e715c5409544a712f13ec805bb0110d75f394ff28d2fb64ad"},
+    {file = "av-10.0.0-cp37-cp37m-manylinux_2_17_x86_64.manylinux2014_x86_64.whl", hash = "sha256:04cd0ce13a87870fb0a0ea4673f04934af2b9ac7ae844eafe92e2c19c092ab11"},
+    {file = "av-10.0.0-cp37-cp37m-win_amd64.whl", hash = "sha256:10facb5b933551dd6a30d8015bc91eef5d1c864ee86aa3463ffbaff1a99f6c6a"},
+    {file = "av-10.0.0-cp38-cp38-macosx_10_9_x86_64.whl", hash = "sha256:088636ded03724a2ab51136f6f4be0bc457bdb3c0d2ac7158792fe81150d4c1a"},
+    {file = "av-10.0.0-cp38-cp38-macosx_11_0_arm64.whl", hash = "sha256:ff0f7d3b1003a9ed0d06038f3f521a5ff0d3e056ec5111e2a78e303f98b815a7"},
+    {file = "av-10.0.0-cp38-cp38-manylinux_2_17_aarch64.manylinux2014_aarch64.whl", hash = "sha256:ccaf786e747b126a5b3b9a8f5ffbb6a20c5f528775cc7084c95732ca72606fba"},
+    {file = "av-10.0.0-cp38-cp38-manylinux_2_17_i686.manylinux2014_i686.whl", hash = "sha256:7c579d718b52beb812ea2a7bd68f812d0920b00937804d52d31d41bb71aa5557"},
+    {file = "av-10.0.0-cp38-cp38-manylinux_2_17_x86_64.manylinux2014_x86_64.whl", hash = "sha256:a2cfd39baa5d82768d2a8898de7bfd450a083ef22b837d57e5dc1b6de3244218"},
+    {file = "av-10.0.0-cp38-cp38-win_amd64.whl", hash = "sha256:81b5264d9752f49286bc1dc4d2cc66187418c4948a326dbed837c766c9892139"},
+    {file = "av-10.0.0-cp39-cp39-macosx_10_9_x86_64.whl", hash = "sha256:16bd82b63d0b4c1b855b3c36b13337f7cdc5925bd8284fab893bdf6c290fc3a9"},
+    {file = "av-10.0.0-cp39-cp39-macosx_11_0_arm64.whl", hash = "sha256:a6c8f3f8c26d35eefe45b849c81fd0816ba4b6f589baec7357c25b4c5537d3c4"},
+    {file = "av-10.0.0-cp39-cp39-manylinux_2_17_aarch64.manylinux2014_aarch64.whl", hash = "sha256:91ea46fea7259abdfabe00b0ed3a9ca18e7fff7ce80d2a2c66a28f797cce838a"},
+    {file = "av-10.0.0-cp39-cp39-manylinux_2_17_i686.manylinux2014_i686.whl", hash = "sha256:a62edd533d330aa61902ae8cd82966affa487fa337a0c4f58ae8866ccb5d31c0"},
+    {file = "av-10.0.0-cp39-cp39-manylinux_2_17_x86_64.manylinux2014_x86_64.whl", hash = "sha256:b67b7d028c9cf68215376662fd2e0be6ca0cc02d32d3ed8514fec67b12db9cbd"},
+    {file = "av-10.0.0-cp39-cp39-win_amd64.whl", hash = "sha256:0f9c88062ebfd2ce547c522b64f79e487ed2b0a6a9d6693c801b28df0d944607"},
+    {file = "av-10.0.0-pp37-pypy37_pp73-macosx_10_9_x86_64.whl", hash = "sha256:63dbafcd02415127d97509523bc285f1ab260988f87b744d7fb1baee6ffbdf96"},
+    {file = "av-10.0.0-pp37-pypy37_pp73-manylinux_2_17_aarch64.manylinux2014_aarch64.whl", hash = "sha256:e2ea4424d0be62fe18c843420284a0907bcb38d577062d62c4b75a8e940e6057"},
+    {file = "av-10.0.0-pp37-pypy37_pp73-manylinux_2_17_i686.manylinux2014_i686.whl", hash = "sha256:8b6326fd0755761e3ee999e4bf90339e869fe71d548b679fee89157858b8d04a"},
+    {file = "av-10.0.0-pp37-pypy37_pp73-manylinux_2_17_x86_64.manylinux2014_x86_64.whl", hash = "sha256:b3fae238751ec0db6377b2106e13762ca84dbe104bd44c1ce9b424163aef4ab5"},
+    {file = "av-10.0.0-pp37-pypy37_pp73-win_amd64.whl", hash = "sha256:86bb3f6e8cce62ad18cd34eb2eadd091d99f51b40be81c929b53fbd8fecf6d90"},
+    {file = "av-10.0.0-pp38-pypy38_pp73-macosx_10_9_x86_64.whl", hash = "sha256:f7b508813abbc100162d305a1ac9b2dd16e5128d56f2ac69639fc6a4b5aca69e"},
+    {file = "av-10.0.0-pp38-pypy38_pp73-manylinux_2_17_aarch64.manylinux2014_aarch64.whl", hash = "sha256:98cc376199c0aa6e9365d03e0f4e67cfb209e40fe9c0cf566372f9daf2a0c779"},
+    {file = "av-10.0.0-pp38-pypy38_pp73-manylinux_2_17_i686.manylinux2014_i686.whl", hash = "sha256:1b459ca0ef25c1a0e370112556bdc5b7752f76dc9bd497acaf3e653171e4b946"},
+    {file = "av-10.0.0-pp38-pypy38_pp73-manylinux_2_17_x86_64.manylinux2014_x86_64.whl", hash = "sha256:ab930735112c1f788cc4d47c42c59ba0dd214d815aa906e1addf39af91d15194"},
+    {file = "av-10.0.0-pp39-pypy39_pp73-macosx_10_9_x86_64.whl", hash = "sha256:13fe0b48b9211539323ecebbf84154c86c72d16723c6d0af76e29ae5c3a614b2"},
+    {file = "av-10.0.0-pp39-pypy39_pp73-manylinux_2_17_aarch64.manylinux2014_aarch64.whl", hash = "sha256:c2eeec7beaebfe9e2213b3c94b482381187d0afdcb632f93239b44dc668b97df"},
+    {file = "av-10.0.0-pp39-pypy39_pp73-manylinux_2_17_i686.manylinux2014_i686.whl", hash = "sha256:3dac2a8b0791c3373270e32f6cd27e6b60628565a188e40a5d9660d3aab05e33"},
+    {file = "av-10.0.0-pp39-pypy39_pp73-manylinux_2_17_x86_64.manylinux2014_x86_64.whl", hash = "sha256:1cdede2325cb750b5bf79238bbf06f9c2a70b757b12726003769a43493b7233a"},
+    {file = "av-10.0.0-pp39-pypy39_pp73-win_amd64.whl", hash = "sha256:9788e6e15db0910fb8e1548ba7540799d07066177710590a5794a524c4910e05"},
+    {file = "av-10.0.0.tar.gz", hash = "sha256:8afd3d5610e1086f3b2d8389d66672ea78624516912c93612de64dcaa4c67e05"},
 ]
-azure-cli-core = [
-    {file = "azure-cli-core-2.41.0.tar.gz", hash = "sha256:f76fa9a44fd1e858397ba2951d260309e70710f367dd609eea03d6c0d8b05d3e"},
-    {file = "azure_cli_core-2.41.0-py3-none-any.whl", hash = "sha256:b4cdf765106ff481361d6d84ae0403c46ea6c414ea511b38a316241c03f69252"},
+
+[[package]]
+name = "azure-cli-core"
+version = "2.51.0"
+description = "Microsoft Azure Command-Line Tools Core Module"
+optional = false
+python-versions = ">=3.8.0"
+files = [
+    {file = "azure-cli-core-2.51.0.tar.gz", hash = "sha256:dfcd62ffb77a9fb32447fc85af9e3aaeffc0e95bb1d9e373f61b5c3a40974a29"},
+    {file = "azure_cli_core-2.51.0-py3-none-any.whl", hash = "sha256:180ddddaefe12dac7b9a7775f25c2898f785230ca43352f61cba8dc5722d4cef"},
 ]
-azure-cli-telemetry = [
-    {file = "azure-cli-telemetry-1.0.8.tar.gz", hash = "sha256:ca996d162ab689c865f6b60be23b9757c26c3d97928e3319858eea83462df08d"},
-    {file = "azure_cli_telemetry-1.0.8-py3-none-any.whl", hash = "sha256:502cbd90723a16603822909befd096ca0b1707de1e70cf730e7b4700ddd7a456"},
+
+[package.dependencies]
+argcomplete = ">=3.1.1,<3.2.0"
+azure-cli-telemetry = "==1.1.0.*"
+azure-mgmt-core = ">=1.2.0,<2"
+cryptography = "*"
+distro = {version = "*", markers = "sys_platform == \"linux\""}
+humanfriendly = ">=10.0,<11.0"
+jmespath = "*"
+knack = ">=0.11.0,<0.12.0"
+msal = {version = "1.24.0b1", extras = ["broker"]}
+msal-extensions = ">=1.0.0,<1.1.0"
+msrestazure = ">=0.6.4,<0.7.0"
+packaging = ">=20.9"
+paramiko = ">=2.0.8,<4.0.0"
+pkginfo = ">=1.5.0.1"
+psutil = {version = ">=5.9,<6.0", markers = "sys_platform != \"cygwin\""}
+PyJWT = ">=2.1.0"
+pyopenssl = ">=17.1.0"
+requests = {version = "*", extras = ["socks"]}
+
+[[package]]
+name = "azure-cli-telemetry"
+version = "1.1.0"
+description = "Microsoft Azure CLI Telemetry Package"
+optional = false
+python-versions = "*"
+files = [
+    {file = "azure-cli-telemetry-1.1.0.tar.gz", hash = "sha256:d922379cda1b48952be75fb3bd2ac5e7ceecf569492a6088bab77894c624a278"},
+    {file = "azure_cli_telemetry-1.1.0-py3-none-any.whl", hash = "sha256:2fc12608c0cf0ea6e69b392af9cab92f1249340b8caff7e9674cf91b3becb337"},
 ]
-azure-common = [
+
+[package.dependencies]
+applicationinsights = ">=0.11.1,<0.12"
+portalocker = ">=1.6,<3"
+
+[[package]]
+name = "azure-common"
+version = "1.1.28"
+description = "Microsoft Azure Client Library for Python (Common)"
+optional = false
+python-versions = "*"
+files = [
     {file = "azure-common-1.1.28.zip", hash = "sha256:4ac0cd3214e36b6a1b6a442686722a5d8cc449603aa833f3f0f40bda836704a3"},
     {file = "azure_common-1.1.28-py2.py3-none-any.whl", hash = "sha256:5c12d3dcf4ec20599ca6b0d3e09e86e146353d443e7fcc050c9a19c1f9df20ad"},
 ]
-azure-core = [
-    {file = "azure-core-1.26.0.zip", hash = "sha256:b0036a0d256329e08d1278dff7df36be30031d2ec9b16c691bc61e4732f71fe0"},
-    {file = "azure_core-1.26.0-py3-none-any.whl", hash = "sha256:578ea3ae56bca48880c96797871b6c954b5ae78d10d54360182c7604dc837f25"},
+
+[[package]]
+name = "azure-core"
+version = "1.29.1"
+description = "Microsoft Azure Core Library for Python"
+optional = false
+python-versions = ">=3.7"
+files = [
+    {file = "azure-core-1.29.1.zip", hash = "sha256:68e5bb6e3a3230ec202001cc5cb88e57f11c441c8345e921a9ffb8c370abf936"},
+    {file = "azure_core-1.29.1-py3-none-any.whl", hash = "sha256:6bcefa1f70ff7bf3c39c07c73d8a21df73288eff7e6a1031eb8cfae71cc7bed4"},
 ]
-azure-mgmt-core = [
-    {file = "azure-mgmt-core-1.3.2.zip", hash = "sha256:07f4afe823a55d704b048d61edfdc1318c051ed59f244032126350be95e9d501"},
-    {file = "azure_mgmt_core-1.3.2-py3-none-any.whl", hash = "sha256:fd829f67086e5cf6f7eb016c9e80bb0fb293cbbbd4d8738dc90af9aa1055fb7b"},
+
+[package.dependencies]
+requests = ">=2.18.4"
+six = ">=1.11.0"
+typing-extensions = ">=4.3.0"
+
+[package.extras]
+aio = ["aiohttp (>=3.0)"]
+
+[[package]]
+name = "azure-mgmt-core"
+version = "1.4.0"
+description = "Microsoft Azure Management Core Library for Python"
+optional = false
+python-versions = ">=3.7"
+files = [
+    {file = "azure-mgmt-core-1.4.0.zip", hash = "sha256:d195208340094f98e5a6661b781cde6f6a051e79ce317caabd8ff97030a9b3ae"},
+    {file = "azure_mgmt_core-1.4.0-py3-none-any.whl", hash = "sha256:81071675f186a585555ef01816f2774d49c1c9024cb76e5720c3c0f6b337bb7d"},
 ]
-azure-nspkg = [
+
+[package.dependencies]
+azure-core = ">=1.26.2,<2.0.0"
+
+[[package]]
+name = "azure-nspkg"
+version = "3.0.2"
+description = "Microsoft Azure Namespace Package [Internal]"
+optional = false
+python-versions = "*"
+files = [
     {file = "azure-nspkg-3.0.2.zip", hash = "sha256:e7d3cea6af63e667d87ba1ca4f8cd7cb4dfca678e4c55fc1cedb320760e39dd0"},
     {file = "azure_nspkg-3.0.2-py2-none-any.whl", hash = "sha256:1d0bbb2157cf57b1bef6c8c8e5b41133957364456c43b0a43599890023cca0a8"},
     {file = "azure_nspkg-3.0.2-py3-none-any.whl", hash = "sha256:31a060caca00ed1ebd369fc7fe01a56768c927e404ebc92268f4d9d636435e28"},
 ]
-azure-storage-blob = [
+
+[[package]]
+name = "azure-storage-blob"
+version = "2.1.0"
+description = "Microsoft Azure Storage Blob Client Library for Python"
+optional = false
+python-versions = "*"
+files = [
     {file = "azure-storage-blob-2.1.0.tar.gz", hash = "sha256:b90323aad60f207f9f90a0c4cf94c10acc313c20b39403398dfba51f25f7b454"},
     {file = "azure_storage_blob-2.1.0-py2.py3-none-any.whl", hash = "sha256:a8e91a51d4f62d11127c7fd8ba0077385c5b11022f0269f8a2a71b9fc36bef31"},
 ]
-azure-storage-common = [
+
+[package.dependencies]
+azure-common = ">=1.1.5"
+azure-storage-common = ">=2.1,<3.0"
+
+[[package]]
+name = "azure-storage-common"
+version = "2.1.0"
+description = "Microsoft Azure Storage Common Client Library for Python"
+optional = false
+python-versions = "*"
+files = [
     {file = "azure-storage-common-2.1.0.tar.gz", hash = "sha256:ccedef5c67227bc4d6670ffd37cec18fb529a1b7c3a5e53e4096eb0cf23dc73f"},
     {file = "azure_storage_common-2.1.0-py2.py3-none-any.whl", hash = "sha256:b01a491a18839b9d05a4fe3421458a0ddb5ab9443c14e487f40d16f9a1dc2fbe"},
 ]
-azure-storage-nspkg = [
+
+[package.dependencies]
+azure-common = ">=1.1.5"
+cryptography = "*"
+python-dateutil = "*"
+requests = "*"
+
+[[package]]
+name = "azure-storage-nspkg"
+version = "3.1.0"
+description = "Microsoft Azure Storage Namespace Package [Internal]"
+optional = false
+python-versions = "*"
+files = [
     {file = "azure-storage-nspkg-3.1.0.tar.gz", hash = "sha256:6f3bbe8652d5f542767d8433e7f96b8df7f518774055ac7c92ed7ca85f653811"},
     {file = "azure_storage_nspkg-3.1.0-py2.py3-none-any.whl", hash = "sha256:7da3bd6c73b8c464a57f53ae9af8328490d2267c66430d8a7621997e52a9703e"},
 ]
-babel = [
-    {file = "Babel-2.10.3-py3-none-any.whl", hash = "sha256:ff56f4892c1c4bf0d814575ea23471c230d544203c7748e8c68f0089478d48eb"},
-    {file = "Babel-2.10.3.tar.gz", hash = "sha256:7614553711ee97490f732126dc077f8d0ae084ebc6a96e23db1482afabdb2c51"},
+
+[package.dependencies]
+azure-nspkg = ">=2.0.0"
+
+[[package]]
+name = "babel"
+version = "2.12.1"
+description = "Internationalization utilities"
+optional = false
+python-versions = ">=3.7"
+files = [
+    {file = "Babel-2.12.1-py3-none-any.whl", hash = "sha256:b4246fb7677d3b98f501a39d43396d3cafdc8eadb045f4a31be01863f655c610"},
+    {file = "Babel-2.12.1.tar.gz", hash = "sha256:cc2d99999cd01d44420ae725a21c9e3711b3aadc7976d6147f622d8581963455"},
 ]
-backcall = [
+
+[[package]]
+name = "backcall"
+version = "0.2.0"
+description = "Specifications for callback functions passed in to an API"
+optional = false
+python-versions = "*"
+files = [
     {file = "backcall-0.2.0-py2.py3-none-any.whl", hash = "sha256:fbbce6a29f263178a1f7915c1940bde0ec2b2a967566fe1c65c1dfb7422bd255"},
     {file = "backcall-0.2.0.tar.gz", hash = "sha256:5cbdbf27be5e7cfadb448baf0aa95508f91f2bbc6c6437cd9cd06e2a4c215e1e"},
 ]
-bcrypt = [
+
+[[package]]
+name = "bcrypt"
+version = "4.0.1"
+description = "Modern password hashing for your software and your servers"
+optional = false
+python-versions = ">=3.6"
+files = [
     {file = "bcrypt-4.0.1-cp36-abi3-macosx_10_10_universal2.whl", hash = "sha256:b1023030aec778185a6c16cf70f359cbb6e0c289fd564a7cfa29e727a1c38f8f"},
     {file = "bcrypt-4.0.1-cp36-abi3-manylinux_2_17_aarch64.manylinux2014_aarch64.manylinux_2_24_aarch64.whl", hash = "sha256:08d2947c490093a11416df18043c27abe3921558d2c03e2076ccb28a116cb6d0"},
     {file = "bcrypt-4.0.1-cp36-abi3-manylinux_2_17_aarch64.manylinux2014_aarch64.whl", hash = "sha256:0eaa47d4661c326bfc9d08d16debbc4edf78778e6aaba29c1bc7ce67214d4410"},
@@ -5095,26 +771,106 @@ bcrypt = [
     {file = "bcrypt-4.0.1-pp39-pypy39_pp73-manylinux_2_28_x86_64.whl", hash = "sha256:3100851841186c25f127731b9fa11909ab7b1df6fc4b9f8353f4f1fd952fbf71"},
     {file = "bcrypt-4.0.1.tar.gz", hash = "sha256:27d375903ac8261cfe4047f6709d16f7d18d39b1ec92aaf72af989552a650ebd"},
 ]
-beautifulsoup4 = [
-    {file = "beautifulsoup4-4.11.1-py3-none-any.whl", hash = "sha256:58d5c3d29f5a36ffeb94f02f0d786cd53014cf9b3b3951d42e0080d8a9498d30"},
-    {file = "beautifulsoup4-4.11.1.tar.gz", hash = "sha256:ad9aa55b65ef2808eb405f46cf74df7fcb7044d5cbc26487f96eb2ef2e436693"},
+
+[package.extras]
+tests = ["pytest (>=3.2.1,!=3.3.0)"]
+typecheck = ["mypy"]
+
+[[package]]
+name = "beautifulsoup4"
+version = "4.12.2"
+description = "Screen-scraping library"
+optional = false
+python-versions = ">=3.6.0"
+files = [
+    {file = "beautifulsoup4-4.12.2-py3-none-any.whl", hash = "sha256:bd2520ca0d9d7d12694a53d44ac482d181b4ec1888909b035a3dbf40d0f57d4a"},
+    {file = "beautifulsoup4-4.12.2.tar.gz", hash = "sha256:492bbc69dca35d12daac71c4db1bfff0c876c00ef4a2ffacce226d4638eb72da"},
 ]
-bidict = [
-    {file = "bidict-0.22.0-py3-none-any.whl", hash = "sha256:415126d23a0c81e1a8c584a8fb1f6905ea090c772571803aeee0a2242e8e7ba0"},
-    {file = "bidict-0.22.0.tar.gz", hash = "sha256:5c826b3e15e97cc6e615de295756847c282a79b79c5430d3bfc909b1ac9f5bd8"},
+
+[package.dependencies]
+soupsieve = ">1.2"
+
+[package.extras]
+html5lib = ["html5lib"]
+lxml = ["lxml"]
+
+[[package]]
+name = "bidict"
+version = "0.22.1"
+description = "The bidirectional mapping library for Python."
+optional = false
+python-versions = ">=3.7"
+files = [
+    {file = "bidict-0.22.1-py3-none-any.whl", hash = "sha256:6ef212238eb884b664f28da76f33f1d28b260f665fc737b413b287d5487d1e7b"},
+    {file = "bidict-0.22.1.tar.gz", hash = "sha256:1e0f7f74e4860e6d0943a05d4134c63a2fad86f3d4732fb265bd79e4e856d81d"},
 ]
-bleach = [
-    {file = "bleach-5.0.1-py3-none-any.whl", hash = "sha256:085f7f33c15bd408dd9b17a4ad77c577db66d76203e5984b1bd59baeee948b2a"},
-    {file = "bleach-5.0.1.tar.gz", hash = "sha256:0d03255c47eb9bd2f26aa9bb7f2107732e7e8fe195ca2f64709fcf3b0a4a085c"},
+
+[package.extras]
+docs = ["furo", "sphinx", "sphinx-copybutton"]
+lint = ["pre-commit"]
+test = ["hypothesis", "pytest", "pytest-benchmark[histogram]", "pytest-cov", "pytest-xdist", "sortedcollections", "sortedcontainers", "sphinx"]
+
+[[package]]
+name = "bleach"
+version = "6.0.0"
+description = "An easy safelist-based HTML-sanitizing tool."
+optional = false
+python-versions = ">=3.7"
+files = [
+    {file = "bleach-6.0.0-py3-none-any.whl", hash = "sha256:33c16e3353dbd13028ab4799a0f89a83f113405c766e9c122df8a06f5b85b3f4"},
+    {file = "bleach-6.0.0.tar.gz", hash = "sha256:1a1a85c1595e07d8db14c5f09f09e6433502c51c595970edc090551f0db99414"},
 ]
-blosc = [
+
+[package.dependencies]
+six = ">=1.9.0"
+webencodings = "*"
+
+[package.extras]
+css = ["tinycss2 (>=1.1.0,<1.2)"]
+
+[[package]]
+name = "blinker"
+version = "1.6.2"
+description = "Fast, simple object-to-object and broadcast signaling"
+optional = false
+python-versions = ">=3.7"
+files = [
+    {file = "blinker-1.6.2-py3-none-any.whl", hash = "sha256:c3d739772abb7bc2860abf5f2ec284223d9ad5c76da018234f6f50d6f31ab1f0"},
+    {file = "blinker-1.6.2.tar.gz", hash = "sha256:4afd3de66ef3a9f8067559fb7a1cbe555c17dcbe15971b05d1b625c3e7abe213"},
+]
+
+[[package]]
+name = "blosc"
+version = "1.9.2"
+description = "Blosc data compressor"
+optional = false
+python-versions = "*"
+files = [
     {file = "blosc-1.9.2.tar.gz", hash = "sha256:89196a2112035836f027a29835ee247b0c7a45cece4cd9e4b740a1428aa174bf"},
 ]
-breathe = [
-    {file = "breathe-4.34.0-py3-none-any.whl", hash = "sha256:48804dcf0e607a89fb6ad88c729ef12743a42db03ae9489be4ef8f7c4011774a"},
-    {file = "breathe-4.34.0.tar.gz", hash = "sha256:ac0768a5e84addad3e632028fe67749c567aba2b29088493b64c2c1634bcdba1"},
+
+[[package]]
+name = "breathe"
+version = "4.35.0"
+description = "Sphinx Doxygen renderer"
+optional = false
+python-versions = "*"
+files = [
+    {file = "breathe-4.35.0-py3-none-any.whl", hash = "sha256:52c581f42ca4310737f9e435e3851c3d1f15446205a85fbc272f1f97ed74f5be"},
+    {file = "breathe-4.35.0.tar.gz", hash = "sha256:5165541c3c67b6c7adde8b3ecfe895c6f7844783c4076b6d8d287e4f33d62386"},
 ]
-brotli = [
+
+[package.dependencies]
+docutils = ">=0.12"
+Sphinx = ">=4.0,<5.0.0 || >5.0.0"
+
+[[package]]
+name = "brotli"
+version = "1.0.9"
+description = "Python bindings for the Brotli compression library"
+optional = false
+python-versions = "*"
+files = [
     {file = "Brotli-1.0.9-cp27-cp27m-macosx_10_9_x86_64.whl", hash = "sha256:268fe94547ba25b58ebc724680609c8ee3e5a843202e9a381f6f9c5e8bdb5c70"},
     {file = "Brotli-1.0.9-cp27-cp27m-manylinux1_i686.whl", hash = "sha256:c2415d9d082152460f2bd4e382a1e85aed233abc92db5a3880da2257dc7daf7b"},
     {file = "Brotli-1.0.9-cp27-cp27m-manylinux1_x86_64.whl", hash = "sha256:5913a1177fc36e30fcf6dc868ce23b0453952c78c04c266d3149b3d39e1410d6"},
@@ -5198,68 +954,136 @@ brotli = [
     {file = "Brotli-1.0.9-pp39-pypy39_pp73-win_amd64.whl", hash = "sha256:c8e521a0ce7cf690ca84b8cc2272ddaf9d8a50294fd086da67e517439614c755"},
     {file = "Brotli-1.0.9.zip", hash = "sha256:4d1b810aa0ed773f81dceda2cc7b403d01057458730e309856356d4ef4188438"},
 ]
-cachecontrol = [
-    {file = "CacheControl-0.12.11-py2.py3-none-any.whl", hash = "sha256:2c75d6a8938cb1933c75c50184549ad42728a27e9f6b92fd677c3151aa72555b"},
-    {file = "CacheControl-0.12.11.tar.gz", hash = "sha256:a5b9fcc986b184db101aa280b42ecdcdfc524892596f606858e0b7a8b4d9e144"},
+
+[[package]]
+name = "build"
+version = "0.10.0"
+description = "A simple, correct Python build frontend"
+optional = false
+python-versions = ">= 3.7"
+files = [
+    {file = "build-0.10.0-py3-none-any.whl", hash = "sha256:af266720050a66c893a6096a2f410989eeac74ff9a68ba194b3f6473e8e26171"},
+    {file = "build-0.10.0.tar.gz", hash = "sha256:d5b71264afdb5951d6704482aac78de887c80691c52b88a9ad195983ca2c9269"},
 ]
-cachy = [
-    {file = "cachy-0.3.0-py2.py3-none-any.whl", hash = "sha256:338ca09c8860e76b275aff52374330efedc4d5a5e45dc1c5b539c1ead0786fe7"},
-    {file = "cachy-0.3.0.tar.gz", hash = "sha256:186581f4ceb42a0bbe040c407da73c14092379b1e4c0e327fdb72ae4a9b269b1"},
+
+[package.dependencies]
+colorama = {version = "*", markers = "os_name == \"nt\""}
+packaging = ">=19.0"
+pyproject_hooks = "*"
+
+[package.extras]
+docs = ["furo (>=2021.08.31)", "sphinx (>=4.0,<5.0)", "sphinx-argparse-cli (>=1.5)", "sphinx-autodoc-typehints (>=1.10)"]
+test = ["filelock (>=3)", "pytest (>=6.2.4)", "pytest-cov (>=2.12)", "pytest-mock (>=2)", "pytest-rerunfailures (>=9.1)", "pytest-xdist (>=1.34)", "setuptools (>=42.0.0)", "setuptools (>=56.0.0)", "toml (>=0.10.0)", "wheel (>=0.36.0)"]
+typing = ["importlib-metadata (>=5.1)", "mypy (==0.991)", "tomli", "typing-extensions (>=3.7.4.3)"]
+virtualenv = ["virtualenv (>=20.0.35)"]
+
+[[package]]
+name = "cachecontrol"
+version = "0.12.14"
+description = "httplib2 caching for requests"
+optional = false
+python-versions = ">=3.6"
+files = [
+    {file = "CacheControl-0.12.14-py2.py3-none-any.whl", hash = "sha256:1c2939be362a70c4e5f02c6249462b3b7a24441e4f1ced5e9ef028172edf356a"},
+    {file = "CacheControl-0.12.14.tar.gz", hash = "sha256:d1087f45781c0e00616479bfd282c78504371ca71da017b49df9f5365a95feba"},
 ]
-carla = [
-    {file = "carla-0.9.13-cp27-cp27mu-manylinux_2_27_x86_64.whl", hash = "sha256:339fcb1e392f3ade1be82b7258de19c533e2efae111e954a6eb174efb296903d"},
-    {file = "carla-0.9.13-cp36-cp36m-manylinux_2_27_x86_64.whl", hash = "sha256:5f065825ce812343bf27a80a19d647b3200b31b44a9e80cea0340e3bd20cdf81"},
-    {file = "carla-0.9.13-cp36-cp36m-win_amd64.whl", hash = "sha256:1210cce213e968a644effd4e2e48458a072481459d073424b05725056ba3d77d"},
-    {file = "carla-0.9.13-cp37-cp37m-manylinux_2_27_x86_64.whl", hash = "sha256:a95d2d4218ea388c863c66b7c2ab3fe49ffefe53999305cfcb6a8107042f79af"},
-    {file = "carla-0.9.13-cp37-cp37m-win_amd64.whl", hash = "sha256:954ca34d5bdd4516ceca353db907fee8cec6630d6b31a732b17dd1554e0f0f94"},
-    {file = "carla-0.9.13-cp38-cp38-manylinux_2_27_x86_64.whl", hash = "sha256:d2bfaea2d6824a2d758cbe813856c69420494f5c97d2a2dfb45653ccf976f1ce"},
-    {file = "carla-0.9.13-cp38-cp38-win_amd64.whl", hash = "sha256:a64ee78fe91137fa7d4828c7fc06d5824bd7312e29e4ea4f31a5d74dd28bff40"},
+
+[package.dependencies]
+lockfile = {version = ">=0.9", optional = true, markers = "extra == \"filecache\""}
+msgpack = ">=0.5.2"
+requests = "*"
+
+[package.extras]
+filecache = ["lockfile (>=0.9)"]
+redis = ["redis (>=2.10.5)"]
+
+[[package]]
+name = "carla"
+version = "0.9.14"
+description = "Python API for communicating with the CARLA server."
+optional = false
+python-versions = "*"
+files = [
+    {file = "carla-0.9.14-cp311-cp311-linux_x86_64.whl", hash = "sha256:f0a8ce0c760d1fef3577e2ef90e9d468e3d85e65bd6d68b44bce51f0d5a0723a"},
 ]
-casadi = [
-    {file = "casadi-3.5.5-cp27-none-macosx_10_13_x86_64.macosx_10_13_intel.whl", hash = "sha256:d4e49cb46404cef61f83b30bb20ec9597c50ae7f55cfd6b89c17facc74675437"},
-    {file = "casadi-3.5.5-cp27-none-manylinux1_i686.whl", hash = "sha256:f08a99e98b0a15083f06b1e221f064a29b3ed9e20617dc55aa8e823f2f732ace"},
-    {file = "casadi-3.5.5-cp27-none-manylinux1_x86_64.whl", hash = "sha256:09e103bb597d46aa338fc57bc49270068a1f07be35f9494c9f796dea4b801aeb"},
-    {file = "casadi-3.5.5-cp27-none-win32.whl", hash = "sha256:a4ce51e988570160af9ccfbbb1b9679546cbb1865d3a74ef0276f37fd94d91d9"},
-    {file = "casadi-3.5.5-cp27-none-win_amd64.whl", hash = "sha256:54d89442058271007ae8573dfa33360bea10e26603545481090b45e8b90c9d10"},
-    {file = "casadi-3.5.5-cp34-none-manylinux1_x86_64.whl", hash = "sha256:4143803af909f284400c02f59de4d97e5ba9319de28366215ef55ef261914f9a"},
-    {file = "casadi-3.5.5-cp34-none-win32.whl", hash = "sha256:7a624d40c7b5ded7916f6cc65998af4585b4557c9ea65dc1e3a6273ebb2313ec"},
-    {file = "casadi-3.5.5-cp34-none-win_amd64.whl", hash = "sha256:3aec6737c282e7fb5be41f6c7d0649e52ce49efb3508f30bada707e809bbbb5f"},
-    {file = "casadi-3.5.5-cp35-none-macosx_10_13_x86_64.macosx_10_13_intel.whl", hash = "sha256:6192e2ed81c15a7dab2554f5f69b134df8d1a982f8d9f13e57bdef93364d2120"},
-    {file = "casadi-3.5.5-cp35-none-manylinux1_i686.whl", hash = "sha256:49a8b713f0ff0bbc2f2af2e71c515cdced238786e25ef504f5982618c84c67a7"},
-    {file = "casadi-3.5.5-cp35-none-manylinux1_x86_64.whl", hash = "sha256:13277151efc76b221de8ca6b5ab7b8bbdd2b0e139f282866840adf88dfe53bc9"},
-    {file = "casadi-3.5.5-cp35-none-manylinux2014_aarch64.whl", hash = "sha256:253569c85f881a6a8fe5e1c0758858edb1ecb4c3d8bce4aee4b52e5dc59fc091"},
-    {file = "casadi-3.5.5-cp35-none-win32.whl", hash = "sha256:5de5c3c1381ac303e71fdef75dace34af6e1d50b46ac081051cd209b8b933837"},
-    {file = "casadi-3.5.5-cp35-none-win_amd64.whl", hash = "sha256:4932b2b5361013420189dbc8d30e970672d036b37cb382f1c09c3b6cfe651a37"},
-    {file = "casadi-3.5.5-cp36-none-macosx_10_13_x86_64.macosx_10_13_intel.whl", hash = "sha256:2322748a8d5e88750fd2fc0abcdc56cfbad1a8cd538fe0e7d7b6d8ce0cb3fa62"},
-    {file = "casadi-3.5.5-cp36-none-manylinux1_i686.whl", hash = "sha256:ab6a600a9b2ea27453d56fd4464ad0db0ae69f5cea42595fcbdaabcd40396440"},
-    {file = "casadi-3.5.5-cp36-none-manylinux1_x86_64.whl", hash = "sha256:5f6eb8de31735c14ecc777e3ad77b57767b5f2dbea29265909ef696f51e8be92"},
-    {file = "casadi-3.5.5-cp36-none-manylinux2014_aarch64.whl", hash = "sha256:adf20c34ba2cec1840a026023d93cc6d9b3581dfda6a044f434fc75b50c9a2ce"},
-    {file = "casadi-3.5.5-cp36-none-win32.whl", hash = "sha256:7309a75b27c57f09b00a61815fb38c40da8e62e3004598e55ea1b8f713d96221"},
-    {file = "casadi-3.5.5-cp36-none-win_amd64.whl", hash = "sha256:ab85c7cf772ba54f2718ebe366b836fffff868443f7c0c02389ed0a288cbde1f"},
-    {file = "casadi-3.5.5-cp37-none-macosx_10_13_x86_64.macosx_10_13_intel.whl", hash = "sha256:ec26244f9d9047f1bb401f1b86ff4775e1ddf638f4b4992bbc362a27a6f56673"},
-    {file = "casadi-3.5.5-cp37-none-manylinux1_i686.whl", hash = "sha256:1c451a07b2440c00d552e040b6285b6e79b677d2978212368b28b86f5d267669"},
-    {file = "casadi-3.5.5-cp37-none-manylinux1_x86_64.whl", hash = "sha256:24fbac649ee26572884029dcd0e108b4a2412cad003a84ed915c4e44a94ecae7"},
-    {file = "casadi-3.5.5-cp37-none-manylinux2014_aarch64.whl", hash = "sha256:a06c0b96eb9d3bc88c627eec6e465726934ca0394347dc33efc742b8c91db83d"},
-    {file = "casadi-3.5.5-cp37-none-win32.whl", hash = "sha256:36db4c84d8f3aad328faaeaeaa454a633c95a854d78ea188791b147888379342"},
-    {file = "casadi-3.5.5-cp37-none-win_amd64.whl", hash = "sha256:643e48f92eaf65eb82964816bb7e7064ddb8239959210fa6168e8bce6fe6ef94"},
-    {file = "casadi-3.5.5-cp38-none-macosx_10_13_x86_64.macosx_10_13_intel.whl", hash = "sha256:6ce7ac8a301a145f98d46db0bfd13bc8b3831a5bb92e8054d531a1f233bb4b93"},
-    {file = "casadi-3.5.5-cp38-none-manylinux1_i686.whl", hash = "sha256:473bb86fa64ac9703d74a474514703b4665fa9a384221ced620b5025e64532a7"},
-    {file = "casadi-3.5.5-cp38-none-manylinux1_x86_64.whl", hash = "sha256:292e2768280393bad406256e0ef9c30ddcd4867dbd42148b36f9d92a32d9e199"},
-    {file = "casadi-3.5.5-cp38-none-manylinux2014_aarch64.whl", hash = "sha256:353a79e50aa84ac5e0d9f04bc3b2d78a2cc8edae3b842d757756449682778944"},
-    {file = "casadi-3.5.5-cp38-none-win32.whl", hash = "sha256:77f33cb95be6a49b93d8d6b81f05193676ae09857699cedf8f1a14a4285d077e"},
-    {file = "casadi-3.5.5-cp38-none-win_amd64.whl", hash = "sha256:fbf39dcd63f1d3b63c300fce59b7ea678bd5ea1d014e1e090a5226600a4132cb"},
-    {file = "casadi-3.5.5-cp39-none-macosx_10_13_x86_64.macosx_10_13_intel.whl", hash = "sha256:4086669280b2335d235c664373db46dcd7f6485dba4663ce1944ea01753c5e8b"},
-    {file = "casadi-3.5.5-cp39-none-manylinux1_i686.whl", hash = "sha256:c3440c90c31b61ae1df82f6c784643393f723354dc08013f9d5cedf25507c67c"},
-    {file = "casadi-3.5.5-cp39-none-manylinux1_x86_64.whl", hash = "sha256:bd94048388b602fc30fdac2fecb986c034110ed8d2d17af7fd13b0de45c58bd7"},
-    {file = "casadi-3.5.5-cp39-none-manylinux2014_aarch64.whl", hash = "sha256:cd630a2e6ec6df6a4977af63080fa8d63a0053ff8c06ea0200959b47ae75201c"},
-    {file = "casadi-3.5.5-cp39-none-win32.whl", hash = "sha256:ac45b91616e9b8afbe266ca08e80770b28e9e6d7a5852e3677fb37e42bde2047"},
-    {file = "casadi-3.5.5-cp39-none-win_amd64.whl", hash = "sha256:55df534d003efdd120c4ebfeb6b252c443d273cdc4b97a394eb0268367477795"},
+
+[package.source]
+type = "url"
+url = "https://github.com/commaai/carla/releases/download/3.11.4/carla-0.9.14-cp311-cp311-linux_x86_64.whl"
+
+[[package]]
+name = "casadi"
+version = "3.6.3"
+description = "CasADi -- framework for algorithmic differentiation and numeric optimization"
+optional = false
+python-versions = "*"
+files = [
+    {file = "casadi-3.6.3-cp27-none-macosx_10_13_x86_64.macosx_10_13_intel.whl", hash = "sha256:884c07617fbbedbd047900d6f2ab86e933064efc517b973fa4139fc60543e498"},
+    {file = "casadi-3.6.3-cp27-none-manylinux1_i686.whl", hash = "sha256:6f9c1fadfb1eb729f8906f01cd2b45f542846a386fb63d59eb1872451dda8de3"},
+    {file = "casadi-3.6.3-cp27-none-manylinux2010_x86_64.whl", hash = "sha256:041639615a866a7244e88905c40c15ef8f84bdedf0b4f92f72e4c5b56f8fe2dc"},
+    {file = "casadi-3.6.3-cp27-none-win_amd64.whl", hash = "sha256:418d345e47cbc957a49e28c7765a7f6e37f5eb73ab969e6c6cfcd204189c559c"},
+    {file = "casadi-3.6.3-cp310-none-macosx_10_13_x86_64.macosx_10_13_intel.whl", hash = "sha256:9c8d360ee80dd65c0c7625e3dccfabdd6e78629a754fb28f6fd77e3d4893dc80"},
+    {file = "casadi-3.6.3-cp310-none-macosx_11_0_arm64.whl", hash = "sha256:a74cf436d42adf69d5ea16ba13d95f40585e148e856d00553f96740704fe2a03"},
+    {file = "casadi-3.6.3-cp310-none-manylinux2014_aarch64.whl", hash = "sha256:1995029b4f11d492cb5277645534bdd377340eaabe51dba3c6d9ed3a25f83f4c"},
+    {file = "casadi-3.6.3-cp310-none-manylinux2014_i686.whl", hash = "sha256:501ac40357dae0d224499f1b41b7d409703137ac7c8c1bcbb26444cff9d00de3"},
+    {file = "casadi-3.6.3-cp310-none-manylinux2014_x86_64.whl", hash = "sha256:d86511c92f09fa464937098bb47b5cdfd07952a0a2b236938b9370537e4532d6"},
+    {file = "casadi-3.6.3-cp310-none-win_amd64.whl", hash = "sha256:4d41d07a9a4c1cd9aa55a43ffe8921721dc5937b124075e903b4c0948e5dcb9b"},
+    {file = "casadi-3.6.3-cp311-none-macosx_10_13_x86_64.macosx_10_13_intel.whl", hash = "sha256:9a2aab9799e8a597b737c8ebbde6fce9cad6177d51fef8f73310d429e4b76cb4"},
+    {file = "casadi-3.6.3-cp311-none-macosx_11_0_arm64.whl", hash = "sha256:55cff88af39c486895d5d6ec3c1862050dbd51ca879df81be1b1c86cb97e9115"},
+    {file = "casadi-3.6.3-cp311-none-manylinux2014_aarch64.whl", hash = "sha256:387e4832a6b98ecf71d7c6ceb129ca7bfe120dd6705162aecee70df13bd8cb62"},
+    {file = "casadi-3.6.3-cp311-none-manylinux2014_i686.whl", hash = "sha256:8357cfae956d1c4d2c8e765e93fcfad537f83e8278d2bd7c9d4f66213fdc6f4e"},
+    {file = "casadi-3.6.3-cp311-none-manylinux2014_x86_64.whl", hash = "sha256:de87a486a4578f609bb93327004ee0a4598723cff5c0118828e1de31f01ea65b"},
+    {file = "casadi-3.6.3-cp311-none-win_amd64.whl", hash = "sha256:d5b5d49b3749aa075678206645b106fea104485285441f771ba5ef347d4bc394"},
+    {file = "casadi-3.6.3-cp35-none-macosx_10_13_x86_64.macosx_10_13_intel.whl", hash = "sha256:9ba455b1afc4b70249810098458951bd37cb346350ed00e913ec93ddb3f15251"},
+    {file = "casadi-3.6.3-cp35-none-manylinux1_i686.whl", hash = "sha256:397b3754a0560e9c4ebb3ce9220bfe5194f6ef63dca6caa6695b7e43a170895b"},
+    {file = "casadi-3.6.3-cp35-none-manylinux2010_x86_64.whl", hash = "sha256:406423816ef79ba82e579bd999ba9aaa16ffcb071261d8ff32e3c404ee1e816b"},
+    {file = "casadi-3.6.3-cp35-none-win_amd64.whl", hash = "sha256:62fcabf79dfc1f3b7cf06eca1408556bc74a59a9de9dde4b779eff20ac243006"},
+    {file = "casadi-3.6.3-cp36-none-macosx_10_13_x86_64.macosx_10_13_intel.whl", hash = "sha256:7972b476b20557592fd1193140e6d1067a91b98cbc96767b3ec2f68e500c5342"},
+    {file = "casadi-3.6.3-cp36-none-manylinux2014_aarch64.whl", hash = "sha256:692c284d838d11052c08fc8b38357858607f701ea6495bf9e22a0f2033811325"},
+    {file = "casadi-3.6.3-cp36-none-manylinux2014_i686.whl", hash = "sha256:e5bb5ae64de87568c5c3895ca649b209283e2ad61ddeaef1685c7e856e4044e0"},
+    {file = "casadi-3.6.3-cp36-none-manylinux2014_x86_64.whl", hash = "sha256:6b15e0bf452f7b3dface72e7d75ef2fe8566574abec51313540a6a251243e099"},
+    {file = "casadi-3.6.3-cp36-none-win_amd64.whl", hash = "sha256:b7148bc8b107b1bae4f66fe5b815edb69aca69de8ead2ee25e1b059781654550"},
+    {file = "casadi-3.6.3-cp37-none-macosx_10_13_x86_64.macosx_10_13_intel.whl", hash = "sha256:3a184a4930a046ee788923a129032372f043027df7a2e08d25fd1fe72d1da8bd"},
+    {file = "casadi-3.6.3-cp37-none-manylinux2014_aarch64.whl", hash = "sha256:44ceea824512a594b286fff7646470d7ac58e363bcb40ce23a6ec0577e6af3f9"},
+    {file = "casadi-3.6.3-cp37-none-manylinux2014_i686.whl", hash = "sha256:ce42fb3df4e795bbb2178c4f9929bd8d0d359890ae1225c64a0c2795374fda25"},
+    {file = "casadi-3.6.3-cp37-none-manylinux2014_x86_64.whl", hash = "sha256:39a73fa7383862abae27ebe4158d23d588286b22d74505af8569f4b91acc51d7"},
+    {file = "casadi-3.6.3-cp37-none-win_amd64.whl", hash = "sha256:bede02743ac570b6289e8496563aa326dd4fdecc8c3e4f817b909cf6bc1b42cc"},
+    {file = "casadi-3.6.3-cp38-none-macosx_10_13_x86_64.macosx_10_13_intel.whl", hash = "sha256:7e80e8eee3bb174f941d592dbc440f57c76c5d81bad59f3a361dbf47e6175a43"},
+    {file = "casadi-3.6.3-cp38-none-macosx_11_0_arm64.whl", hash = "sha256:c0bcd64e8bb0db6e6dcc24d1ee10ef7f2305ed2e9d2786c1dcae43e7fcd05943"},
+    {file = "casadi-3.6.3-cp38-none-manylinux2014_aarch64.whl", hash = "sha256:012970fec19a88326e010b8e8ef4d569e32246dabb8cad86c485263e3961f3b1"},
+    {file = "casadi-3.6.3-cp38-none-manylinux2014_i686.whl", hash = "sha256:4c718672247d12b437f5b8b2f62eae5c6541bd9125f233ae4977fbf3b2ff2de7"},
+    {file = "casadi-3.6.3-cp38-none-manylinux2014_x86_64.whl", hash = "sha256:3a3685525a278f5b450b8be9ab14bb367f2d0fc97f8400021ba406f63fab7795"},
+    {file = "casadi-3.6.3-cp38-none-win_amd64.whl", hash = "sha256:0e6f2ae61abb3969ccf9503e2ee576a4f5b437ba40a082e26660a5d9513c839c"},
+    {file = "casadi-3.6.3-cp39-none-macosx_10_13_x86_64.macosx_10_13_intel.whl", hash = "sha256:7093cb7182db81b6184148121d61a68876ff9be55fb73c456927a344ff5983a2"},
+    {file = "casadi-3.6.3-cp39-none-macosx_11_0_arm64.whl", hash = "sha256:0a5383b295a499312657eb5c99a0e8f22e8bb06da774663bae69b322ec34dd6d"},
+    {file = "casadi-3.6.3-cp39-none-manylinux2014_aarch64.whl", hash = "sha256:6632b30197aa0d491afb7f6d30980636342eaf8a88fe7680c5eb3a37d4013c01"},
+    {file = "casadi-3.6.3-cp39-none-manylinux2014_i686.whl", hash = "sha256:5990366a5266dda537d45c6df583001a1519b86db00e1725e2d17304500e511d"},
+    {file = "casadi-3.6.3-cp39-none-manylinux2014_x86_64.whl", hash = "sha256:5177b2592f4c147fec882fad92b7282262979bdf8ad5a337f6531464eee19226"},
+    {file = "casadi-3.6.3-cp39-none-win_amd64.whl", hash = "sha256:d5b917443733123c634dbde7e5f971ffb87994af01c0d0d528f6d10ac78d97f7"},
+    {file = "casadi-3.6.3.tar.gz", hash = "sha256:2a953bd001327c9ae79018a1efa455852c8a4b4f47f5bdda5f0a07ec820d1880"},
 ]
-certifi = [
-    {file = "certifi-2022.9.24-py3-none-any.whl", hash = "sha256:90c1a32f1d68f940488354e36370f6cca89f0f106db09518524c88d6ed83f382"},
-    {file = "certifi-2022.9.24.tar.gz", hash = "sha256:0d9c601124e5a6ba9712dbc60d9c53c21e34f5f641fe83002317394311bdce14"},
+
+[package.dependencies]
+numpy = "*"
+
+[[package]]
+name = "certifi"
+version = "2023.7.22"
+description = "Python package for providing Mozilla's CA Bundle."
+optional = false
+python-versions = ">=3.6"
+files = [
+    {file = "certifi-2023.7.22-py3-none-any.whl", hash = "sha256:92d6037539857d8206b8f6ae472e8b77db8058fec5937a1ef3f54304089edbb9"},
+    {file = "certifi-2023.7.22.tar.gz", hash = "sha256:539cc1d13202e33ca466e88b2807e29f4c13049d6d87031a3c110744495cb082"},
 ]
-cffi = [
+
+[[package]]
+name = "cffi"
+version = "1.15.1"
+description = "Foreign Function Interface for Python calling C code."
+optional = false
+python-versions = "*"
+files = [
     {file = "cffi-1.15.1-cp27-cp27m-macosx_10_9_x86_64.whl", hash = "sha256:a66d3508133af6e8548451b25058d5812812ec3798c886bf38ed24a98216fab2"},
     {file = "cffi-1.15.1-cp27-cp27m-manylinux1_i686.whl", hash = "sha256:470c103ae716238bbe698d67ad020e1db9d9dba34fa5a899b5e21577e6d52ed2"},
     {file = "cffi-1.15.1-cp27-cp27m-manylinux1_x86_64.whl", hash = "sha256:9ad5db27f9cabae298d151c85cf2bad1d359a1b9c686a275df03385758e2f914"},
@@ -5325,397 +1149,921 @@ cffi = [
     {file = "cffi-1.15.1-cp39-cp39-win_amd64.whl", hash = "sha256:70df4e3b545a17496c9b3f41f5115e69a4f2e77e94e1d2a8e1070bc0c38c8a3c"},
     {file = "cffi-1.15.1.tar.gz", hash = "sha256:d400bfb9a37b1351253cb402671cea7e89bdecc294e8016a707f6d1d8ac934f9"},
 ]
-cfgv = [
+
+[package.dependencies]
+pycparser = "*"
+
+[[package]]
+name = "cfgv"
+version = "3.3.1"
+description = "Validate configuration and produce human readable error messages."
+optional = false
+python-versions = ">=3.6.1"
+files = [
     {file = "cfgv-3.3.1-py2.py3-none-any.whl", hash = "sha256:c6a0883f3917a037485059700b9e75da2464e6c27051014ad85ba6aaa5884426"},
     {file = "cfgv-3.3.1.tar.gz", hash = "sha256:f5a830efb9ce7a445376bb66ec94c638a9787422f96264c98edc6bdeed8ab736"},
 ]
-charset-normalizer = [
-    {file = "charset-normalizer-2.1.1.tar.gz", hash = "sha256:5a3d016c7c547f69d6f81fb0db9449ce888b418b5b9952cc5e6e66843e9dd845"},
-    {file = "charset_normalizer-2.1.1-py3-none-any.whl", hash = "sha256:83e9a75d1911279afd89352c68b45348559d1fc0506b054b346651b5e7fee29f"},
+
+[[package]]
+name = "charset-normalizer"
+version = "3.2.0"
+description = "The Real First Universal Charset Detector. Open, modern and actively maintained alternative to Chardet."
+optional = false
+python-versions = ">=3.7.0"
+files = [
+    {file = "charset-normalizer-3.2.0.tar.gz", hash = "sha256:3bb3d25a8e6c0aedd251753a79ae98a093c7e7b471faa3aa9a93a81431987ace"},
+    {file = "charset_normalizer-3.2.0-cp310-cp310-macosx_10_9_universal2.whl", hash = "sha256:0b87549028f680ca955556e3bd57013ab47474c3124dc069faa0b6545b6c9710"},
+    {file = "charset_normalizer-3.2.0-cp310-cp310-macosx_10_9_x86_64.whl", hash = "sha256:7c70087bfee18a42b4040bb9ec1ca15a08242cf5867c58726530bdf3945672ed"},
+    {file = "charset_normalizer-3.2.0-cp310-cp310-macosx_11_0_arm64.whl", hash = "sha256:a103b3a7069b62f5d4890ae1b8f0597618f628b286b03d4bc9195230b154bfa9"},
+    {file = "charset_normalizer-3.2.0-cp310-cp310-manylinux_2_17_aarch64.manylinux2014_aarch64.whl", hash = "sha256:94aea8eff76ee6d1cdacb07dd2123a68283cb5569e0250feab1240058f53b623"},
+    {file = "charset_normalizer-3.2.0-cp310-cp310-manylinux_2_17_ppc64le.manylinux2014_ppc64le.whl", hash = "sha256:db901e2ac34c931d73054d9797383d0f8009991e723dab15109740a63e7f902a"},
+    {file = "charset_normalizer-3.2.0-cp310-cp310-manylinux_2_17_s390x.manylinux2014_s390x.whl", hash = "sha256:b0dac0ff919ba34d4df1b6131f59ce95b08b9065233446be7e459f95554c0dc8"},
+    {file = "charset_normalizer-3.2.0-cp310-cp310-manylinux_2_17_x86_64.manylinux2014_x86_64.whl", hash = "sha256:193cbc708ea3aca45e7221ae58f0fd63f933753a9bfb498a3b474878f12caaad"},
+    {file = "charset_normalizer-3.2.0-cp310-cp310-manylinux_2_5_i686.manylinux1_i686.manylinux_2_17_i686.manylinux2014_i686.whl", hash = "sha256:09393e1b2a9461950b1c9a45d5fd251dc7c6f228acab64da1c9c0165d9c7765c"},
+    {file = "charset_normalizer-3.2.0-cp310-cp310-musllinux_1_1_aarch64.whl", hash = "sha256:baacc6aee0b2ef6f3d308e197b5d7a81c0e70b06beae1f1fcacffdbd124fe0e3"},
+    {file = "charset_normalizer-3.2.0-cp310-cp310-musllinux_1_1_i686.whl", hash = "sha256:bf420121d4c8dce6b889f0e8e4ec0ca34b7f40186203f06a946fa0276ba54029"},
+    {file = "charset_normalizer-3.2.0-cp310-cp310-musllinux_1_1_ppc64le.whl", hash = "sha256:c04a46716adde8d927adb9457bbe39cf473e1e2c2f5d0a16ceb837e5d841ad4f"},
+    {file = "charset_normalizer-3.2.0-cp310-cp310-musllinux_1_1_s390x.whl", hash = "sha256:aaf63899c94de41fe3cf934601b0f7ccb6b428c6e4eeb80da72c58eab077b19a"},
+    {file = "charset_normalizer-3.2.0-cp310-cp310-musllinux_1_1_x86_64.whl", hash = "sha256:d62e51710986674142526ab9f78663ca2b0726066ae26b78b22e0f5e571238dd"},
+    {file = "charset_normalizer-3.2.0-cp310-cp310-win32.whl", hash = "sha256:04e57ab9fbf9607b77f7d057974694b4f6b142da9ed4a199859d9d4d5c63fe96"},
+    {file = "charset_normalizer-3.2.0-cp310-cp310-win_amd64.whl", hash = "sha256:48021783bdf96e3d6de03a6e39a1171ed5bd7e8bb93fc84cc649d11490f87cea"},
+    {file = "charset_normalizer-3.2.0-cp311-cp311-macosx_10_9_universal2.whl", hash = "sha256:4957669ef390f0e6719db3613ab3a7631e68424604a7b448f079bee145da6e09"},
+    {file = "charset_normalizer-3.2.0-cp311-cp311-macosx_10_9_x86_64.whl", hash = "sha256:46fb8c61d794b78ec7134a715a3e564aafc8f6b5e338417cb19fe9f57a5a9bf2"},
+    {file = "charset_normalizer-3.2.0-cp311-cp311-macosx_11_0_arm64.whl", hash = "sha256:f779d3ad205f108d14e99bb3859aa7dd8e9c68874617c72354d7ecaec2a054ac"},
+    {file = "charset_normalizer-3.2.0-cp311-cp311-manylinux_2_17_aarch64.manylinux2014_aarch64.whl", hash = "sha256:f25c229a6ba38a35ae6e25ca1264621cc25d4d38dca2942a7fce0b67a4efe918"},
+    {file = "charset_normalizer-3.2.0-cp311-cp311-manylinux_2_17_ppc64le.manylinux2014_ppc64le.whl", hash = "sha256:2efb1bd13885392adfda4614c33d3b68dee4921fd0ac1d3988f8cbb7d589e72a"},
+    {file = "charset_normalizer-3.2.0-cp311-cp311-manylinux_2_17_s390x.manylinux2014_s390x.whl", hash = "sha256:1f30b48dd7fa1474554b0b0f3fdfdd4c13b5c737a3c6284d3cdc424ec0ffff3a"},
+    {file = "charset_normalizer-3.2.0-cp311-cp311-manylinux_2_17_x86_64.manylinux2014_x86_64.whl", hash = "sha256:246de67b99b6851627d945db38147d1b209a899311b1305dd84916f2b88526c6"},
+    {file = "charset_normalizer-3.2.0-cp311-cp311-manylinux_2_5_i686.manylinux1_i686.manylinux_2_17_i686.manylinux2014_i686.whl", hash = "sha256:9bd9b3b31adcb054116447ea22caa61a285d92e94d710aa5ec97992ff5eb7cf3"},
+    {file = "charset_normalizer-3.2.0-cp311-cp311-musllinux_1_1_aarch64.whl", hash = "sha256:8c2f5e83493748286002f9369f3e6607c565a6a90425a3a1fef5ae32a36d749d"},
+    {file = "charset_normalizer-3.2.0-cp311-cp311-musllinux_1_1_i686.whl", hash = "sha256:3170c9399da12c9dc66366e9d14da8bf7147e1e9d9ea566067bbce7bb74bd9c2"},
+    {file = "charset_normalizer-3.2.0-cp311-cp311-musllinux_1_1_ppc64le.whl", hash = "sha256:7a4826ad2bd6b07ca615c74ab91f32f6c96d08f6fcc3902ceeedaec8cdc3bcd6"},
+    {file = "charset_normalizer-3.2.0-cp311-cp311-musllinux_1_1_s390x.whl", hash = "sha256:3b1613dd5aee995ec6d4c69f00378bbd07614702a315a2cf6c1d21461fe17c23"},
+    {file = "charset_normalizer-3.2.0-cp311-cp311-musllinux_1_1_x86_64.whl", hash = "sha256:9e608aafdb55eb9f255034709e20d5a83b6d60c054df0802fa9c9883d0a937aa"},
+    {file = "charset_normalizer-3.2.0-cp311-cp311-win32.whl", hash = "sha256:f2a1d0fd4242bd8643ce6f98927cf9c04540af6efa92323e9d3124f57727bfc1"},
+    {file = "charset_normalizer-3.2.0-cp311-cp311-win_amd64.whl", hash = "sha256:681eb3d7e02e3c3655d1b16059fbfb605ac464c834a0c629048a30fad2b27489"},
+    {file = "charset_normalizer-3.2.0-cp37-cp37m-macosx_10_9_x86_64.whl", hash = "sha256:c57921cda3a80d0f2b8aec7e25c8aa14479ea92b5b51b6876d975d925a2ea346"},
+    {file = "charset_normalizer-3.2.0-cp37-cp37m-manylinux_2_17_aarch64.manylinux2014_aarch64.whl", hash = "sha256:41b25eaa7d15909cf3ac4c96088c1f266a9a93ec44f87f1d13d4a0e86c81b982"},
+    {file = "charset_normalizer-3.2.0-cp37-cp37m-manylinux_2_17_ppc64le.manylinux2014_ppc64le.whl", hash = "sha256:f058f6963fd82eb143c692cecdc89e075fa0828db2e5b291070485390b2f1c9c"},
+    {file = "charset_normalizer-3.2.0-cp37-cp37m-manylinux_2_17_s390x.manylinux2014_s390x.whl", hash = "sha256:a7647ebdfb9682b7bb97e2a5e7cb6ae735b1c25008a70b906aecca294ee96cf4"},
+    {file = "charset_normalizer-3.2.0-cp37-cp37m-manylinux_2_17_x86_64.manylinux2014_x86_64.whl", hash = "sha256:eef9df1eefada2c09a5e7a40991b9fc6ac6ef20b1372abd48d2794a316dc0449"},
+    {file = "charset_normalizer-3.2.0-cp37-cp37m-manylinux_2_5_i686.manylinux1_i686.manylinux_2_17_i686.manylinux2014_i686.whl", hash = "sha256:e03b8895a6990c9ab2cdcd0f2fe44088ca1c65ae592b8f795c3294af00a461c3"},
+    {file = "charset_normalizer-3.2.0-cp37-cp37m-musllinux_1_1_aarch64.whl", hash = "sha256:ee4006268ed33370957f55bf2e6f4d263eaf4dc3cfc473d1d90baff6ed36ce4a"},
+    {file = "charset_normalizer-3.2.0-cp37-cp37m-musllinux_1_1_i686.whl", hash = "sha256:c4983bf937209c57240cff65906b18bb35e64ae872da6a0db937d7b4af845dd7"},
+    {file = "charset_normalizer-3.2.0-cp37-cp37m-musllinux_1_1_ppc64le.whl", hash = "sha256:3bb7fda7260735efe66d5107fb7e6af6a7c04c7fce9b2514e04b7a74b06bf5dd"},
+    {file = "charset_normalizer-3.2.0-cp37-cp37m-musllinux_1_1_s390x.whl", hash = "sha256:72814c01533f51d68702802d74f77ea026b5ec52793c791e2da806a3844a46c3"},
+    {file = "charset_normalizer-3.2.0-cp37-cp37m-musllinux_1_1_x86_64.whl", hash = "sha256:70c610f6cbe4b9fce272c407dd9d07e33e6bf7b4aa1b7ffb6f6ded8e634e3592"},
+    {file = "charset_normalizer-3.2.0-cp37-cp37m-win32.whl", hash = "sha256:a401b4598e5d3f4a9a811f3daf42ee2291790c7f9d74b18d75d6e21dda98a1a1"},
+    {file = "charset_normalizer-3.2.0-cp37-cp37m-win_amd64.whl", hash = "sha256:c0b21078a4b56965e2b12f247467b234734491897e99c1d51cee628da9786959"},
+    {file = "charset_normalizer-3.2.0-cp38-cp38-macosx_10_9_universal2.whl", hash = "sha256:95eb302ff792e12aba9a8b8f8474ab229a83c103d74a750ec0bd1c1eea32e669"},
+    {file = "charset_normalizer-3.2.0-cp38-cp38-macosx_10_9_x86_64.whl", hash = "sha256:1a100c6d595a7f316f1b6f01d20815d916e75ff98c27a01ae817439ea7726329"},
+    {file = "charset_normalizer-3.2.0-cp38-cp38-macosx_11_0_arm64.whl", hash = "sha256:6339d047dab2780cc6220f46306628e04d9750f02f983ddb37439ca47ced7149"},
+    {file = "charset_normalizer-3.2.0-cp38-cp38-manylinux_2_17_aarch64.manylinux2014_aarch64.whl", hash = "sha256:e4b749b9cc6ee664a3300bb3a273c1ca8068c46be705b6c31cf5d276f8628a94"},
+    {file = "charset_normalizer-3.2.0-cp38-cp38-manylinux_2_17_ppc64le.manylinux2014_ppc64le.whl", hash = "sha256:a38856a971c602f98472050165cea2cdc97709240373041b69030be15047691f"},
+    {file = "charset_normalizer-3.2.0-cp38-cp38-manylinux_2_17_s390x.manylinux2014_s390x.whl", hash = "sha256:f87f746ee241d30d6ed93969de31e5ffd09a2961a051e60ae6bddde9ec3583aa"},
+    {file = "charset_normalizer-3.2.0-cp38-cp38-manylinux_2_17_x86_64.manylinux2014_x86_64.whl", hash = "sha256:89f1b185a01fe560bc8ae5f619e924407efca2191b56ce749ec84982fc59a32a"},
+    {file = "charset_normalizer-3.2.0-cp38-cp38-manylinux_2_5_i686.manylinux1_i686.manylinux_2_17_i686.manylinux2014_i686.whl", hash = "sha256:e1c8a2f4c69e08e89632defbfabec2feb8a8d99edc9f89ce33c4b9e36ab63037"},
+    {file = "charset_normalizer-3.2.0-cp38-cp38-musllinux_1_1_aarch64.whl", hash = "sha256:2f4ac36d8e2b4cc1aa71df3dd84ff8efbe3bfb97ac41242fbcfc053c67434f46"},
+    {file = "charset_normalizer-3.2.0-cp38-cp38-musllinux_1_1_i686.whl", hash = "sha256:a386ebe437176aab38c041de1260cd3ea459c6ce5263594399880bbc398225b2"},
+    {file = "charset_normalizer-3.2.0-cp38-cp38-musllinux_1_1_ppc64le.whl", hash = "sha256:ccd16eb18a849fd8dcb23e23380e2f0a354e8daa0c984b8a732d9cfaba3a776d"},
+    {file = "charset_normalizer-3.2.0-cp38-cp38-musllinux_1_1_s390x.whl", hash = "sha256:e6a5bf2cba5ae1bb80b154ed68a3cfa2fa00fde979a7f50d6598d3e17d9ac20c"},
+    {file = "charset_normalizer-3.2.0-cp38-cp38-musllinux_1_1_x86_64.whl", hash = "sha256:45de3f87179c1823e6d9e32156fb14c1927fcc9aba21433f088fdfb555b77c10"},
+    {file = "charset_normalizer-3.2.0-cp38-cp38-win32.whl", hash = "sha256:1000fba1057b92a65daec275aec30586c3de2401ccdcd41f8a5c1e2c87078706"},
+    {file = "charset_normalizer-3.2.0-cp38-cp38-win_amd64.whl", hash = "sha256:8b2c760cfc7042b27ebdb4a43a4453bd829a5742503599144d54a032c5dc7e9e"},
+    {file = "charset_normalizer-3.2.0-cp39-cp39-macosx_10_9_universal2.whl", hash = "sha256:855eafa5d5a2034b4621c74925d89c5efef61418570e5ef9b37717d9c796419c"},
+    {file = "charset_normalizer-3.2.0-cp39-cp39-macosx_10_9_x86_64.whl", hash = "sha256:203f0c8871d5a7987be20c72442488a0b8cfd0f43b7973771640fc593f56321f"},
+    {file = "charset_normalizer-3.2.0-cp39-cp39-macosx_11_0_arm64.whl", hash = "sha256:e857a2232ba53ae940d3456f7533ce6ca98b81917d47adc3c7fd55dad8fab858"},
+    {file = "charset_normalizer-3.2.0-cp39-cp39-manylinux_2_17_aarch64.manylinux2014_aarch64.whl", hash = "sha256:5e86d77b090dbddbe78867a0275cb4df08ea195e660f1f7f13435a4649e954e5"},
+    {file = "charset_normalizer-3.2.0-cp39-cp39-manylinux_2_17_ppc64le.manylinux2014_ppc64le.whl", hash = "sha256:c4fb39a81950ec280984b3a44f5bd12819953dc5fa3a7e6fa7a80db5ee853952"},
+    {file = "charset_normalizer-3.2.0-cp39-cp39-manylinux_2_17_s390x.manylinux2014_s390x.whl", hash = "sha256:2dee8e57f052ef5353cf608e0b4c871aee320dd1b87d351c28764fc0ca55f9f4"},
+    {file = "charset_normalizer-3.2.0-cp39-cp39-manylinux_2_17_x86_64.manylinux2014_x86_64.whl", hash = "sha256:8700f06d0ce6f128de3ccdbc1acaea1ee264d2caa9ca05daaf492fde7c2a7200"},
+    {file = "charset_normalizer-3.2.0-cp39-cp39-manylinux_2_5_i686.manylinux1_i686.manylinux_2_17_i686.manylinux2014_i686.whl", hash = "sha256:1920d4ff15ce893210c1f0c0e9d19bfbecb7983c76b33f046c13a8ffbd570252"},
+    {file = "charset_normalizer-3.2.0-cp39-cp39-musllinux_1_1_aarch64.whl", hash = "sha256:c1c76a1743432b4b60ab3358c937a3fe1341c828ae6194108a94c69028247f22"},
+    {file = "charset_normalizer-3.2.0-cp39-cp39-musllinux_1_1_i686.whl", hash = "sha256:f7560358a6811e52e9c4d142d497f1a6e10103d3a6881f18d04dbce3729c0e2c"},
+    {file = "charset_normalizer-3.2.0-cp39-cp39-musllinux_1_1_ppc64le.whl", hash = "sha256:c8063cf17b19661471ecbdb3df1c84f24ad2e389e326ccaf89e3fb2484d8dd7e"},
+    {file = "charset_normalizer-3.2.0-cp39-cp39-musllinux_1_1_s390x.whl", hash = "sha256:cd6dbe0238f7743d0efe563ab46294f54f9bc8f4b9bcf57c3c666cc5bc9d1299"},
+    {file = "charset_normalizer-3.2.0-cp39-cp39-musllinux_1_1_x86_64.whl", hash = "sha256:1249cbbf3d3b04902ff081ffbb33ce3377fa6e4c7356f759f3cd076cc138d020"},
+    {file = "charset_normalizer-3.2.0-cp39-cp39-win32.whl", hash = "sha256:6c409c0deba34f147f77efaa67b8e4bb83d2f11c8806405f76397ae5b8c0d1c9"},
+    {file = "charset_normalizer-3.2.0-cp39-cp39-win_amd64.whl", hash = "sha256:7095f6fbfaa55defb6b733cfeb14efaae7a29f0b59d8cf213be4e7ca0b857b80"},
+    {file = "charset_normalizer-3.2.0-py3-none-any.whl", hash = "sha256:8e098148dd37b4ce3baca71fb394c81dc5d9c7728c95df695d2dca218edf40e6"},
 ]
-cleo = [
-    {file = "cleo-1.0.0a5-py3-none-any.whl", hash = "sha256:ff53056589300976e960f75afb792dfbfc9c78dcbb5a448e207a17b643826360"},
-    {file = "cleo-1.0.0a5.tar.gz", hash = "sha256:097c9d0e0332fd53cc89fc11eb0a6ba0309e6a3933c08f7b38558555486925d3"},
+
+[[package]]
+name = "cleo"
+version = "2.0.1"
+description = "Cleo allows you to create beautiful and testable command-line interfaces."
+optional = false
+python-versions = ">=3.7,<4.0"
+files = [
+    {file = "cleo-2.0.1-py3-none-any.whl", hash = "sha256:6eb133670a3ed1f3b052d53789017b6e50fca66d1287e6e6696285f4cb8ea448"},
+    {file = "cleo-2.0.1.tar.gz", hash = "sha256:eb4b2e1f3063c11085cebe489a6e9124163c226575a3c3be69b2e51af4a15ec5"},
 ]
-click = [
-    {file = "click-8.1.3-py3-none-any.whl", hash = "sha256:bb4d8133cb15a609f44e8213d9b391b0809795062913b383c62be0ee95b1db48"},
-    {file = "click-8.1.3.tar.gz", hash = "sha256:7682dc8afb30297001674575ea00d1814d808d6a36af415a82bd481d37ba7b8e"},
+
+[package.dependencies]
+crashtest = ">=0.4.1,<0.5.0"
+rapidfuzz = ">=2.2.0,<3.0.0"
+
+[[package]]
+name = "click"
+version = "8.1.6"
+description = "Composable command line interface toolkit"
+optional = false
+python-versions = ">=3.7"
+files = [
+    {file = "click-8.1.6-py3-none-any.whl", hash = "sha256:fa244bb30b3b5ee2cae3da8f55c9e5e0c0e86093306301fb418eb9dc40fbded5"},
+    {file = "click-8.1.6.tar.gz", hash = "sha256:48ee849951919527a045bfe3bf7baa8a959c423134e1a5b98c05c20ba75a1cbd"},
 ]
-click-plugins = [
+
+[package.dependencies]
+colorama = {version = "*", markers = "platform_system == \"Windows\""}
+
+[[package]]
+name = "click-plugins"
+version = "1.1.1"
+description = "An extension module for click to enable registering CLI commands via setuptools entry-points."
+optional = false
+python-versions = "*"
+files = [
     {file = "click-plugins-1.1.1.tar.gz", hash = "sha256:46ab999744a9d831159c3411bb0c79346d94a444df9a3a3742e9ed63645f264b"},
     {file = "click_plugins-1.1.1-py2.py3-none-any.whl", hash = "sha256:5d262006d3222f5057fd81e1623d4443e41dcda5dc815c06b442aa3c02889fc8"},
 ]
-cligj = [
+
+[package.dependencies]
+click = ">=4.0"
+
+[package.extras]
+dev = ["coveralls", "pytest (>=3.6)", "pytest-cov", "wheel"]
+
+[[package]]
+name = "cligj"
+version = "0.7.2"
+description = "Click params for commmand line interfaces to GeoJSON"
+optional = false
+python-versions = ">=2.7, !=3.0.*, !=3.1.*, !=3.2.*, <4"
+files = [
     {file = "cligj-0.7.2-py3-none-any.whl", hash = "sha256:c1ca117dbce1fe20a5809dc96f01e1c2840f6dcc939b3ddbb1111bf330ba82df"},
     {file = "cligj-0.7.2.tar.gz", hash = "sha256:a4bc13d623356b373c2c27c53dbd9c68cae5d526270bfa71f6c6fa69669c6b27"},
 ]
-cloudpickle = [
-    {file = "cloudpickle-2.2.0-py3-none-any.whl", hash = "sha256:7428798d5926d8fcbfd092d18d01a2a03daf8237d8fcdc8095d256b8490796f0"},
-    {file = "cloudpickle-2.2.0.tar.gz", hash = "sha256:3f4219469c55453cfe4737e564b67c2a149109dabf7f242478948b895f61106f"},
+
+[package.dependencies]
+click = ">=4.0"
+
+[package.extras]
+test = ["pytest-cov"]
+
+[[package]]
+name = "cloudpickle"
+version = "2.2.1"
+description = "Extended pickling support for Python objects"
+optional = false
+python-versions = ">=3.6"
+files = [
+    {file = "cloudpickle-2.2.1-py3-none-any.whl", hash = "sha256:61f594d1f4c295fa5cd9014ceb3a1fc4a70b0de1164b94fbc2d854ccba056f9f"},
+    {file = "cloudpickle-2.2.1.tar.gz", hash = "sha256:d89684b8de9e34a2a43b3460fbca07d09d6e25ce858df4d5a44240403b6178f5"},
 ]
-cmake = [
-    {file = "cmake-3.26.0-py2.py3-none-macosx_10_10_universal2.macosx_10_10_x86_64.macosx_11_0_arm64.macosx_11_0_universal2.whl", hash = "sha256:4881727389325af84e39f1ec646b7249d8910b4ed637205bee6d589cb2b2ebd2"},
-    {file = "cmake-3.26.0-py2.py3-none-manylinux2010_i686.manylinux_2_12_i686.whl", hash = "sha256:babd1e38c85d38a4bf4164c3126ec8cf4cd8d374072e2a4a181e52e953007f8c"},
-    {file = "cmake-3.26.0-py2.py3-none-manylinux2010_x86_64.manylinux_2_12_x86_64.whl", hash = "sha256:1851be29d79bb39505954165e934d31994268d49f566ead6fff840a5092e444d"},
-    {file = "cmake-3.26.0-py2.py3-none-manylinux2014_aarch64.manylinux_2_17_aarch64.whl", hash = "sha256:483aaaeb9535deaa2657c928af5d9f0da9329f89bc249f494923495745a03677"},
-    {file = "cmake-3.26.0-py2.py3-none-manylinux2014_i686.manylinux_2_17_i686.whl", hash = "sha256:2f78c6194f224d462333e08d3acd571c553b58d04935971b87efbe76f241353c"},
-    {file = "cmake-3.26.0-py2.py3-none-manylinux2014_ppc64le.manylinux_2_17_ppc64le.whl", hash = "sha256:cf129c8b71f1344975f179f30287baa8804c4c61ff1b13003244b4157b676e13"},
-    {file = "cmake-3.26.0-py2.py3-none-manylinux2014_s390x.manylinux_2_17_s390x.whl", hash = "sha256:fabb82c69223eda27e673c5c6bb02985d60cf0baa631a2e4932eed87e8229928"},
-    {file = "cmake-3.26.0-py2.py3-none-manylinux2014_x86_64.manylinux_2_17_x86_64.whl", hash = "sha256:502cbed2335557920b88687c6f3ff4ce433bd416204c928ad489e399e76149f5"},
-    {file = "cmake-3.26.0-py2.py3-none-musllinux_1_1_aarch64.whl", hash = "sha256:b81c7775b125786c1696232078e9ceb0c9c66d26fb0a2259f40e33983170f924"},
-    {file = "cmake-3.26.0-py2.py3-none-musllinux_1_1_i686.whl", hash = "sha256:f4cc1dde7613cc813d15fd840a33e18cd07a443aa67205d74b9b05f55f08a459"},
-    {file = "cmake-3.26.0-py2.py3-none-musllinux_1_1_ppc64le.whl", hash = "sha256:ac6ca9d9ff58900138bbbebc55857647fb99f1c40b84d8a232f23b0d27d7f48a"},
-    {file = "cmake-3.26.0-py2.py3-none-musllinux_1_1_s390x.whl", hash = "sha256:85e0bad5aeb3a82919ed7d78b76a0462eafe2f918076a1823a09c6f37910f3e0"},
-    {file = "cmake-3.26.0-py2.py3-none-musllinux_1_1_x86_64.whl", hash = "sha256:5523b9701be367572155e77294bf8aa3ac9aa0d73c50dcd6c57903d12bcb308e"},
-    {file = "cmake-3.26.0-py2.py3-none-win32.whl", hash = "sha256:96f0e887260255eeb83bcf3465d51bc6c94078251c9312fa142dce6d3e80acac"},
-    {file = "cmake-3.26.0-py2.py3-none-win_amd64.whl", hash = "sha256:a0719a6f79cdc4d7b16caf757b8ae13eae1c6ce5a08d594cc09774afe129515d"},
-    {file = "cmake-3.26.0-py2.py3-none-win_arm64.whl", hash = "sha256:11159c9b64c6473d84361ab44ef2c85e1bd2db7a2b1b798ce8bf5988f32adf43"},
-    {file = "cmake-3.26.0.tar.gz", hash = "sha256:c18185c9cc147d0fa1e9228962aa37901b37866bd5d617e9efa23dfe706f7321"},
+
+[[package]]
+name = "cmake"
+version = "3.27.1"
+description = "CMake is an open-source, cross-platform family of tools designed to build, test and package software"
+optional = false
+python-versions = "*"
+files = [
+    {file = "cmake-3.27.1-py2.py3-none-macosx_10_10_universal2.macosx_10_10_x86_64.macosx_11_0_arm64.macosx_11_0_universal2.whl", hash = "sha256:c62c5a6d42e68eb955fc321f7bc84290e4c4771ee7e5301c2eaa9586c874fd8e"},
+    {file = "cmake-3.27.1-py2.py3-none-manylinux2010_i686.manylinux_2_12_i686.whl", hash = "sha256:18ef1c579cb4c94ece6bbb7c7f3e0170b078bf787f0a372194f0921e79f6098c"},
+    {file = "cmake-3.27.1-py2.py3-none-manylinux2010_x86_64.manylinux_2_12_x86_64.whl", hash = "sha256:ad3aca0d94abe6313a7b1c65b8b3d7eb3158786fd1dd6a9f8c42f82850fb974c"},
+    {file = "cmake-3.27.1-py2.py3-none-manylinux2014_aarch64.manylinux_2_17_aarch64.whl", hash = "sha256:50bfe69d369a61eb63e5b8af76a2383cf312d1e8449bd797d563f6c62809d317"},
+    {file = "cmake-3.27.1-py2.py3-none-manylinux2014_i686.manylinux_2_17_i686.whl", hash = "sha256:7fb6d9183b90d4cc4db7b022aa7c9ef3431d281aea29ca259de7199bc75b7e09"},
+    {file = "cmake-3.27.1-py2.py3-none-manylinux2014_ppc64le.manylinux_2_17_ppc64le.whl", hash = "sha256:2583464302ecc287619578627e26962386a41a98bbf1fb4c8c90d600ec1a1be5"},
+    {file = "cmake-3.27.1-py2.py3-none-manylinux2014_s390x.manylinux_2_17_s390x.whl", hash = "sha256:7a5431c7ca0b7145b857dd0eab26f4f9ec42661bb67afa6d437b3e48532b8e3a"},
+    {file = "cmake-3.27.1-py2.py3-none-manylinux2014_x86_64.manylinux_2_17_x86_64.whl", hash = "sha256:1fb6d882bbd7e77fad206dfdbcaf880f4bcd7e8d0c23b37058ee155715bd19ed"},
+    {file = "cmake-3.27.1-py2.py3-none-musllinux_1_1_aarch64.whl", hash = "sha256:cee7dd0bcc5bd14d94ecdbbf9883b17f3001adc5f696b7d8eba0482354e5e017"},
+    {file = "cmake-3.27.1-py2.py3-none-musllinux_1_1_i686.whl", hash = "sha256:82a6f57449e7bf9b510ed82b29982e4eec8b5c5e80a51208368dc1aa58b8181b"},
+    {file = "cmake-3.27.1-py2.py3-none-musllinux_1_1_ppc64le.whl", hash = "sha256:7052bb12c3492083169269fee7c7a11c053cae35949346b12d2998b971602b78"},
+    {file = "cmake-3.27.1-py2.py3-none-musllinux_1_1_s390x.whl", hash = "sha256:482e7018fc8d9bc98e7f30b5071c021ca0e27b131dd61900395abfd768c3fe29"},
+    {file = "cmake-3.27.1-py2.py3-none-musllinux_1_1_x86_64.whl", hash = "sha256:a112dd298b8ac598fef3653dff1592ba4c0f9bf7fe75b77ab44a6edfcceb96d4"},
+    {file = "cmake-3.27.1-py2.py3-none-win32.whl", hash = "sha256:b9d68783ea01775d6d4ea220d3b4e90d5e287cf9a1db09c5a9b78c7748e1c3d0"},
+    {file = "cmake-3.27.1-py2.py3-none-win_amd64.whl", hash = "sha256:628f75286475b89d6566db62c0869de5f0a07ad9bba10bebe6a48012fa1ee777"},
+    {file = "cmake-3.27.1-py2.py3-none-win_arm64.whl", hash = "sha256:ee7a47e37a29b8124d9125a8c390fb94822a2695d80151560004d4f4f78c0ad7"},
+    {file = "cmake-3.27.1.tar.gz", hash = "sha256:7ee6af09b2b575a491483b72927ee7e4beb59e7fb86e6d905a7027607a3f367e"},
 ]
-colorama = [
-    {file = "colorama-0.4.5-py2.py3-none-any.whl", hash = "sha256:854bf444933e37f5824ae7bfc1e98d5bce2ebe4160d46b5edf346a89358e99da"},
-    {file = "colorama-0.4.5.tar.gz", hash = "sha256:e6c6b4334fc50988a639d9b98aa429a0b57da6e17b9a44f0451f930b6967b7a4"},
+
+[package.extras]
+test = ["coverage (>=4.2)", "flake8 (>=3.0.4)", "path.py (>=11.5.0)", "pytest (>=3.0.3)", "pytest-cov (>=2.4.0)", "pytest-runner (>=2.9)", "pytest-virtualenv (>=1.7.0)", "scikit-build (>=0.10.0)", "setuptools (>=28.0.0)", "virtualenv (>=15.0.3)", "wheel"]
+
+[[package]]
+name = "colorama"
+version = "0.4.6"
+description = "Cross-platform colored terminal text."
+optional = false
+python-versions = "!=3.0.*,!=3.1.*,!=3.2.*,!=3.3.*,!=3.4.*,!=3.5.*,!=3.6.*,>=2.7"
+files = [
+    {file = "colorama-0.4.6-py2.py3-none-any.whl", hash = "sha256:4f1d9991f5acc0ca119f9d443620b77f9d6b33703e51011c16baf57afb285fc6"},
+    {file = "colorama-0.4.6.tar.gz", hash = "sha256:08695f5cb7ed6e0531a20572697297273c47b8cae5a63ffc6d6ed5c201be6e44"},
 ]
-coloredlogs = [
+
+[[package]]
+name = "coloredlogs"
+version = "15.0.1"
+description = "Colored terminal output for Python's logging module"
+optional = false
+python-versions = ">=2.7, !=3.0.*, !=3.1.*, !=3.2.*, !=3.3.*, !=3.4.*"
+files = [
     {file = "coloredlogs-15.0.1-py2.py3-none-any.whl", hash = "sha256:612ee75c546f53e92e70049c9dbfcc18c935a2b9a53b66085ce9ef6a6e5c0934"},
     {file = "coloredlogs-15.0.1.tar.gz", hash = "sha256:7c991aa71a4577af2f82600d8f8f3a89f936baeaf9b50a9c197da014e5bf16b0"},
 ]
-configargparse = [
-    {file = "ConfigArgParse-1.5.3-py3-none-any.whl", hash = "sha256:18f6535a2db9f6e02bd5626cc7455eac3e96b9ab3d969d366f9aafd5c5c00fe7"},
-    {file = "ConfigArgParse-1.5.3.tar.gz", hash = "sha256:1b0b3cbf664ab59dada57123c81eff3d9737e0d11d8cf79e3d6eb10823f1739f"},
+
+[package.dependencies]
+humanfriendly = ">=9.1"
+
+[package.extras]
+cron = ["capturer (>=2.4)"]
+
+[[package]]
+name = "comm"
+version = "0.1.4"
+description = "Jupyter Python Comm implementation, for usage in ipykernel, xeus-python etc."
+optional = false
+python-versions = ">=3.6"
+files = [
+    {file = "comm-0.1.4-py3-none-any.whl", hash = "sha256:6d52794cba11b36ed9860999cd10fd02d6b2eac177068fdd585e1e2f8a96e67a"},
+    {file = "comm-0.1.4.tar.gz", hash = "sha256:354e40a59c9dd6db50c5cc6b4acc887d82e9603787f83b68c01a80a923984d15"},
 ]
-contourpy = [
-    {file = "contourpy-1.0.5-cp310-cp310-macosx_10_9_universal2.whl", hash = "sha256:87121b9428ac568fb84fae4af5e7852fc34f02eadc4e3e91f6c8989327692186"},
-    {file = "contourpy-1.0.5-cp310-cp310-macosx_10_9_x86_64.whl", hash = "sha256:1fb782982c42cee667b892a0b0c52a9f6c7ecf1da5c5f4345845f04eaa862f93"},
-    {file = "contourpy-1.0.5-cp310-cp310-macosx_11_0_arm64.whl", hash = "sha256:689d7d2a840619915d0abd1ecc6e399fee202f8ad315acda2807f4ca420d0802"},
-    {file = "contourpy-1.0.5-cp310-cp310-manylinux_2_17_aarch64.manylinux2014_aarch64.whl", hash = "sha256:d88814befbd1433152c5f6dd536905149ba028d795a22555b149ae0a36024d9e"},
-    {file = "contourpy-1.0.5-cp310-cp310-manylinux_2_17_i686.manylinux2014_i686.whl", hash = "sha256:df65f4b2b4e74977f0336bef12a88051ab24e6a16873cd9249f34d67cb3e345d"},
-    {file = "contourpy-1.0.5-cp310-cp310-manylinux_2_17_x86_64.manylinux2014_x86_64.whl", hash = "sha256:bf6b4c0c723664f65c2a47c8cb6ebbf660b0b2e2d936adf2e8503d4e93359465"},
-    {file = "contourpy-1.0.5-cp310-cp310-musllinux_1_1_aarch64.whl", hash = "sha256:bcc98d397c3dea45d5b262029564b29cb8e945f2607a38bee6163694c0a8b4ef"},
-    {file = "contourpy-1.0.5-cp310-cp310-musllinux_1_1_i686.whl", hash = "sha256:2bf5c846c257578b03d498b20f54f53551616a507d8e5463511c58bb58e9a9cf"},
-    {file = "contourpy-1.0.5-cp310-cp310-musllinux_1_1_x86_64.whl", hash = "sha256:cdacddb18d55ffec42d1907079cdc04ec4fa8a990cdf5b9d9fe67d281fc0d12e"},
-    {file = "contourpy-1.0.5-cp310-cp310-win32.whl", hash = "sha256:434942fa2f9019b9ae525fb752dc523800c49a1a28fbd6d9240b0fa959573dcc"},
-    {file = "contourpy-1.0.5-cp310-cp310-win_amd64.whl", hash = "sha256:3b3082ade8849130203d461b98c2a061b382c46074b43b4edd5cefd81af92b8a"},
-    {file = "contourpy-1.0.5-cp311-cp311-macosx_10_9_universal2.whl", hash = "sha256:057114f698ffb9e54657e8fda6802e2f5c8fad609845cf6afaf31590ef6a33c0"},
-    {file = "contourpy-1.0.5-cp311-cp311-macosx_10_9_x86_64.whl", hash = "sha256:218722a29c5c26677d37c44f5f8a372daf6f07870aad793a97d47eb6ad6b3290"},
-    {file = "contourpy-1.0.5-cp311-cp311-macosx_11_0_arm64.whl", hash = "sha256:6c02e22cf09996194bcb3a4784099975cf527d5c29caf759abadf29ebdb2fe27"},
-    {file = "contourpy-1.0.5-cp311-cp311-manylinux_2_17_aarch64.manylinux2014_aarch64.whl", hash = "sha256:c0d5ee865b5fd16bf62d72122aadcc90aab296c30c1adb0a32b4b66bd843163e"},
-    {file = "contourpy-1.0.5-cp311-cp311-manylinux_2_17_i686.manylinux2014_i686.whl", hash = "sha256:d45822b0a2a452327ab4f95efe368d234d5294bbf89a99968be27c7938a21108"},
-    {file = "contourpy-1.0.5-cp311-cp311-manylinux_2_17_x86_64.manylinux2014_x86_64.whl", hash = "sha256:dca5be83a6dfaf933a46e3bc2b9f2685e5ec61b22f6a38ad740aac9c16e9a0ff"},
-    {file = "contourpy-1.0.5-cp311-cp311-musllinux_1_1_aarch64.whl", hash = "sha256:3c3f2f6b898a40207843ae01970e57e33d22a26b22f23c6a5e07b4716751085f"},
-    {file = "contourpy-1.0.5-cp311-cp311-musllinux_1_1_i686.whl", hash = "sha256:c2b4eab7c12f9cb460509bc34a3b086f9802f0dba27c89a63df4123819ad64af"},
-    {file = "contourpy-1.0.5-cp311-cp311-musllinux_1_1_x86_64.whl", hash = "sha256:09ed9b63f4df8a7591b7a4a26c1ad066dcaafda1f846250fdcb534074a411692"},
-    {file = "contourpy-1.0.5-cp311-cp311-win32.whl", hash = "sha256:f670686d99c867d0f24b28ce8c6f02429c6eef5e2674aab287850d0ee2d20437"},
-    {file = "contourpy-1.0.5-cp311-cp311-win_amd64.whl", hash = "sha256:c51568e94f7f232296de30002f2a50f77a7bd346673da3e4f2aaf9d2b833f2e5"},
-    {file = "contourpy-1.0.5-cp37-cp37m-macosx_10_9_x86_64.whl", hash = "sha256:7c9e99aac7b430f6a9f15eebf058c742097cea3369f23a2bfc5e64d374b67e3a"},
-    {file = "contourpy-1.0.5-cp37-cp37m-manylinux_2_17_aarch64.manylinux2014_aarch64.whl", hash = "sha256:3210d93ad2af742b6a96cf39792f7181822edbb8fe11c3ef29d1583fe637a8d8"},
-    {file = "contourpy-1.0.5-cp37-cp37m-manylinux_2_17_i686.manylinux2014_i686.whl", hash = "sha256:128bd7acf569f8443ad5b2227f30ac909e4f5399ed221727eeacf0c6476187e6"},
-    {file = "contourpy-1.0.5-cp37-cp37m-manylinux_2_17_x86_64.manylinux2014_x86_64.whl", hash = "sha256:813c2944e940ef8dccea71305bacc942d4b193a021140874b3e58933ec44f5b6"},
-    {file = "contourpy-1.0.5-cp37-cp37m-musllinux_1_1_aarch64.whl", hash = "sha256:a74afd8d560eaafe0d9e3e1db8c06081282a05ca4de00ee416195085a79d7d3d"},
-    {file = "contourpy-1.0.5-cp37-cp37m-musllinux_1_1_i686.whl", hash = "sha256:2d0ad9a85f208473b1f3613c45756c7aa6fcc288266a8c7b873f896aaf741b6b"},
-    {file = "contourpy-1.0.5-cp37-cp37m-musllinux_1_1_x86_64.whl", hash = "sha256:60f37acd4e4227c5a29f737d9a85ca3145c529a8dd4bf70af7f0637c61b49222"},
-    {file = "contourpy-1.0.5-cp37-cp37m-win32.whl", hash = "sha256:b50e481a4317a8efcfffcfddcd4c9b36eacba440440e70cbe0256aeb6fd6abae"},
-    {file = "contourpy-1.0.5-cp37-cp37m-win_amd64.whl", hash = "sha256:0395ae71164bfeb2dedd136e03c71a2718a5aa9873a46f518f4133be0d63e1d2"},
-    {file = "contourpy-1.0.5-cp38-cp38-macosx_10_9_universal2.whl", hash = "sha256:3ca40d7844b391d90b864c6a6d1bb6b88b09035fb4d866d64d43c4d26fb0ab64"},
-    {file = "contourpy-1.0.5-cp38-cp38-macosx_10_9_x86_64.whl", hash = "sha256:3109fa601d2a448cec4643abd3a31f972bf05b7c2f2e83df9d3429878f8c10ae"},
-    {file = "contourpy-1.0.5-cp38-cp38-macosx_11_0_arm64.whl", hash = "sha256:06c4d1dde5ee4f909a8a95ba1eb04040c6c26946b4f3b5beaf10d45f14e940ee"},
-    {file = "contourpy-1.0.5-cp38-cp38-manylinux_2_17_aarch64.manylinux2014_aarch64.whl", hash = "sha256:2f54dcc9bb9390fd0636301ead134d46d5229fe86da0db4d974c0fda349f560e"},
-    {file = "contourpy-1.0.5-cp38-cp38-manylinux_2_17_i686.manylinux2014_i686.whl", hash = "sha256:46b8e24813e2fb5a3e598c1f8b9ae403e1438cb846a80cc2b33cddf19dddd7f2"},
-    {file = "contourpy-1.0.5-cp38-cp38-manylinux_2_17_x86_64.manylinux2014_x86_64.whl", hash = "sha256:061e1f066c419ffe25b615a1df031b4832ea1d7f2676937e69e8e00e24512005"},
-    {file = "contourpy-1.0.5-cp38-cp38-musllinux_1_1_aarch64.whl", hash = "sha256:19ea64fa0cf389d2ebc10974616acfa1fdecbd73d1fd9c72215b782f3c40f561"},
-    {file = "contourpy-1.0.5-cp38-cp38-musllinux_1_1_i686.whl", hash = "sha256:dfe924e5a63861c82332a12adeeab955dc8c8009ddbbd80cc2fcca049ff89a49"},
-    {file = "contourpy-1.0.5-cp38-cp38-musllinux_1_1_x86_64.whl", hash = "sha256:bed3a2a823a041e8d249b1a7ec132933e1505299329b5cfe1b2b5ec689ec7675"},
-    {file = "contourpy-1.0.5-cp38-cp38-win32.whl", hash = "sha256:0389349875424aa8c5e61f757e894687916bc4e9616cc6afcbd8051aa2428952"},
-    {file = "contourpy-1.0.5-cp38-cp38-win_amd64.whl", hash = "sha256:2b5e334330d82866923015b455260173cb3b9e3b4e297052d758abd262031289"},
-    {file = "contourpy-1.0.5-cp39-cp39-macosx_10_9_universal2.whl", hash = "sha256:def9a01b73c9e27d70ea03b381fb3e7aadfac1f398dbd63751313c3a46747ef5"},
-    {file = "contourpy-1.0.5-cp39-cp39-macosx_10_9_x86_64.whl", hash = "sha256:59c827e536bb5e3ef58e06da0faba61fd89a14f30b68bcfeca41f43ca83a1942"},
-    {file = "contourpy-1.0.5-cp39-cp39-macosx_11_0_arm64.whl", hash = "sha256:f05d311c937da03b0cd26ac3e14cb991f6ff8fc94f98b3df9713537817539795"},
-    {file = "contourpy-1.0.5-cp39-cp39-manylinux_2_17_aarch64.manylinux2014_aarch64.whl", hash = "sha256:970a4be7ec84ccda7c27cb4ae74930bbbd477bc8d849ed55ea798084dd5fca8c"},
-    {file = "contourpy-1.0.5-cp39-cp39-manylinux_2_17_i686.manylinux2014_i686.whl", hash = "sha256:0f7672148f8fca48e4efc16aba24a7455b40c22d4f8abe42475dec6a12b0bb9a"},
-    {file = "contourpy-1.0.5-cp39-cp39-manylinux_2_17_x86_64.manylinux2014_x86_64.whl", hash = "sha256:eba62b7c21a33e72dd8adab2b92dd5610d8527f0b2ac28a8e0770e71b21a13f9"},
-    {file = "contourpy-1.0.5-cp39-cp39-musllinux_1_1_aarch64.whl", hash = "sha256:dd084459ecdb224e617e4ab3f1d5ebe4d1c48facb41f24952b76aa6ba9712bb0"},
-    {file = "contourpy-1.0.5-cp39-cp39-musllinux_1_1_i686.whl", hash = "sha256:c5158616ab39d34b76c50f40c81552ee180598f7825dc7a66fd187d29958820f"},
-    {file = "contourpy-1.0.5-cp39-cp39-musllinux_1_1_x86_64.whl", hash = "sha256:f856652f9b533c6cd2b9ad6836a7fc0e43917d7ff15be46c5baf1350f8cdc5d9"},
-    {file = "contourpy-1.0.5-cp39-cp39-win32.whl", hash = "sha256:f1cc623fd6855b25da52b3275e0c9e51711b86a9dccc75f8c9ab4432fd8e42c7"},
-    {file = "contourpy-1.0.5-cp39-cp39-win_amd64.whl", hash = "sha256:e67dcaa34dcd908fcccbf49194211d847c731b6ebaac661c1c889f1bf6af1e44"},
-    {file = "contourpy-1.0.5-pp37-pypy37_pp73-macosx_10_9_x86_64.whl", hash = "sha256:bfd634cb9685161b2a51f73a7fc4736fd0d67a56632d52319317afaa27f08243"},
-    {file = "contourpy-1.0.5-pp37-pypy37_pp73-manylinux_2_17_aarch64.manylinux2014_aarch64.whl", hash = "sha256:79908b9d02b1d6c1c71ff3b7ad127f3f82e14a8e091ab44b3c7e34b649fea733"},
-    {file = "contourpy-1.0.5-pp37-pypy37_pp73-manylinux_2_17_i686.manylinux2014_i686.whl", hash = "sha256:b4963cf08f4320d98ae72ec7694291b8ab85cb7da3b0cd824bc32701bc992edf"},
-    {file = "contourpy-1.0.5-pp37-pypy37_pp73-manylinux_2_17_x86_64.manylinux2014_x86_64.whl", hash = "sha256:3cfc067ddde78b76dcbc9684d82688b7d3c5158fa2254a085f9bcb9586c1e2d8"},
-    {file = "contourpy-1.0.5-pp37-pypy37_pp73-win_amd64.whl", hash = "sha256:9939796abcadb2810a63dfb26ff8ca4595fe7dd70a3ceae7f607a2639b714307"},
-    {file = "contourpy-1.0.5-pp38-pypy38_pp73-macosx_10_9_x86_64.whl", hash = "sha256:d8150579bf30cdf896906baf256aa200cd50dbe6e565c17d6fd3d678e21ff5de"},
-    {file = "contourpy-1.0.5-pp38-pypy38_pp73-manylinux_2_17_aarch64.manylinux2014_aarch64.whl", hash = "sha256:ed9c91bf4ce614efed5388c3f989a7cfe08728ab871d995a486ea74ff88993db"},
-    {file = "contourpy-1.0.5-pp38-pypy38_pp73-manylinux_2_17_i686.manylinux2014_i686.whl", hash = "sha256:b46a04588ceb7cf132568e0e564a854627ef87a1ed3bf536234540a79ced44b0"},
-    {file = "contourpy-1.0.5-pp38-pypy38_pp73-manylinux_2_17_x86_64.manylinux2014_x86_64.whl", hash = "sha256:b85553699862c09937a7a5ea14ee6229087971a7d51ae97d5f4b407f571a2c17"},
-    {file = "contourpy-1.0.5-pp38-pypy38_pp73-win_amd64.whl", hash = "sha256:99a8071e351b50827ad976b92ed91845fb614ac67a3c41109b24f3d8bd3afada"},
-    {file = "contourpy-1.0.5-pp39-pypy39_pp73-macosx_10_9_x86_64.whl", hash = "sha256:fb0458d74726937ead9e2effc91144aea5a58ecee9754242f8539a782bed685a"},
-    {file = "contourpy-1.0.5-pp39-pypy39_pp73-manylinux_2_17_aarch64.manylinux2014_aarch64.whl", hash = "sha256:0f89f0608a5aa8142ed0e53957916623791a88c7f5e5f07ae530c328beeb888f"},
-    {file = "contourpy-1.0.5-pp39-pypy39_pp73-manylinux_2_17_i686.manylinux2014_i686.whl", hash = "sha256:ce763369e646e59e4ca2c09735cd1bdd3048d909ad5f2bc116e83166a9352f3c"},
-    {file = "contourpy-1.0.5-pp39-pypy39_pp73-manylinux_2_17_x86_64.manylinux2014_x86_64.whl", hash = "sha256:9c16fa267740d67883899e054cccb4279e002f3f4872873b752c1ba15045ff49"},
-    {file = "contourpy-1.0.5-pp39-pypy39_pp73-win_amd64.whl", hash = "sha256:a30e95274f5c0e007ccc759ec258aa5708c534ec058f153ee25ac700a2f1438b"},
-    {file = "contourpy-1.0.5.tar.gz", hash = "sha256:896631cd40222aef3697e4e51177d14c3709fda49d30983269d584f034acc8a4"},
+
+[package.dependencies]
+traitlets = ">=4"
+
+[package.extras]
+lint = ["black (>=22.6.0)", "mdformat (>0.7)", "mdformat-gfm (>=0.3.5)", "ruff (>=0.0.156)"]
+test = ["pytest"]
+typing = ["mypy (>=0.990)"]
+
+[[package]]
+name = "configargparse"
+version = "1.7"
+description = "A drop-in replacement for argparse that allows options to also be set via config files and/or environment variables."
+optional = false
+python-versions = ">=3.5"
+files = [
+    {file = "ConfigArgParse-1.7-py3-none-any.whl", hash = "sha256:d249da6591465c6c26df64a9f73d2536e743be2f244eb3ebe61114af2f94f86b"},
+    {file = "ConfigArgParse-1.7.tar.gz", hash = "sha256:e7067471884de5478c58a511e529f0f9bd1c66bfef1dea90935438d6c23306d1"},
 ]
-control = [
-    {file = "control-0.9.2.tar.gz", hash = "sha256:0891d2d32d6006ac1faa4e238ed8223ca342a4721d202dfeccae24fb02563183"},
+
+[package.extras]
+test = ["PyYAML", "mock", "pytest"]
+yaml = ["PyYAML"]
+
+[[package]]
+name = "contourpy"
+version = "1.1.0"
+description = "Python library for calculating contours of 2D quadrilateral grids"
+optional = false
+python-versions = ">=3.8"
+files = [
+    {file = "contourpy-1.1.0-cp310-cp310-macosx_10_9_x86_64.whl", hash = "sha256:89f06eff3ce2f4b3eb24c1055a26981bffe4e7264acd86f15b97e40530b794bc"},
+    {file = "contourpy-1.1.0-cp310-cp310-macosx_11_0_arm64.whl", hash = "sha256:dffcc2ddec1782dd2f2ce1ef16f070861af4fb78c69862ce0aab801495dda6a3"},
+    {file = "contourpy-1.1.0-cp310-cp310-manylinux_2_17_aarch64.manylinux2014_aarch64.whl", hash = "sha256:25ae46595e22f93592d39a7eac3d638cda552c3e1160255258b695f7b58e5655"},
+    {file = "contourpy-1.1.0-cp310-cp310-manylinux_2_17_ppc64le.manylinux2014_ppc64le.whl", hash = "sha256:17cfaf5ec9862bc93af1ec1f302457371c34e688fbd381f4035a06cd47324f48"},
+    {file = "contourpy-1.1.0-cp310-cp310-manylinux_2_17_s390x.manylinux2014_s390x.whl", hash = "sha256:18a64814ae7bce73925131381603fff0116e2df25230dfc80d6d690aa6e20b37"},
+    {file = "contourpy-1.1.0-cp310-cp310-manylinux_2_17_x86_64.manylinux2014_x86_64.whl", hash = "sha256:90c81f22b4f572f8a2110b0b741bb64e5a6427e0a198b2cdc1fbaf85f352a3aa"},
+    {file = "contourpy-1.1.0-cp310-cp310-musllinux_1_1_x86_64.whl", hash = "sha256:53cc3a40635abedbec7f1bde60f8c189c49e84ac180c665f2cd7c162cc454baa"},
+    {file = "contourpy-1.1.0-cp310-cp310-win_amd64.whl", hash = "sha256:1f795597073b09d631782e7245016a4323cf1cf0b4e06eef7ea6627e06a37ff2"},
+    {file = "contourpy-1.1.0-cp311-cp311-macosx_10_9_x86_64.whl", hash = "sha256:0b7b04ed0961647691cfe5d82115dd072af7ce8846d31a5fac6c142dcce8b882"},
+    {file = "contourpy-1.1.0-cp311-cp311-macosx_11_0_arm64.whl", hash = "sha256:27bc79200c742f9746d7dd51a734ee326a292d77e7d94c8af6e08d1e6c15d545"},
+    {file = "contourpy-1.1.0-cp311-cp311-manylinux_2_17_aarch64.manylinux2014_aarch64.whl", hash = "sha256:052cc634bf903c604ef1a00a5aa093c54f81a2612faedaa43295809ffdde885e"},
+    {file = "contourpy-1.1.0-cp311-cp311-manylinux_2_17_ppc64le.manylinux2014_ppc64le.whl", hash = "sha256:9382a1c0bc46230fb881c36229bfa23d8c303b889b788b939365578d762b5c18"},
+    {file = "contourpy-1.1.0-cp311-cp311-manylinux_2_17_s390x.manylinux2014_s390x.whl", hash = "sha256:e5cec36c5090e75a9ac9dbd0ff4a8cf7cecd60f1b6dc23a374c7d980a1cd710e"},
+    {file = "contourpy-1.1.0-cp311-cp311-manylinux_2_17_x86_64.manylinux2014_x86_64.whl", hash = "sha256:1f0cbd657e9bde94cd0e33aa7df94fb73c1ab7799378d3b3f902eb8eb2e04a3a"},
+    {file = "contourpy-1.1.0-cp311-cp311-musllinux_1_1_x86_64.whl", hash = "sha256:181cbace49874f4358e2929aaf7ba84006acb76694102e88dd15af861996c16e"},
+    {file = "contourpy-1.1.0-cp311-cp311-win_amd64.whl", hash = "sha256:fb3b7d9e6243bfa1efb93ccfe64ec610d85cfe5aec2c25f97fbbd2e58b531256"},
+    {file = "contourpy-1.1.0-cp38-cp38-macosx_10_9_x86_64.whl", hash = "sha256:bcb41692aa09aeb19c7c213411854402f29f6613845ad2453d30bf421fe68fed"},
+    {file = "contourpy-1.1.0-cp38-cp38-macosx_11_0_arm64.whl", hash = "sha256:5d123a5bc63cd34c27ff9c7ac1cd978909e9c71da12e05be0231c608048bb2ae"},
+    {file = "contourpy-1.1.0-cp38-cp38-manylinux_2_17_aarch64.manylinux2014_aarch64.whl", hash = "sha256:62013a2cf68abc80dadfd2307299bfa8f5aa0dcaec5b2954caeb5fa094171103"},
+    {file = "contourpy-1.1.0-cp38-cp38-manylinux_2_17_ppc64le.manylinux2014_ppc64le.whl", hash = "sha256:0b6616375d7de55797d7a66ee7d087efe27f03d336c27cf1f32c02b8c1a5ac70"},
+    {file = "contourpy-1.1.0-cp38-cp38-manylinux_2_17_s390x.manylinux2014_s390x.whl", hash = "sha256:317267d915490d1e84577924bd61ba71bf8681a30e0d6c545f577363157e5e94"},
+    {file = "contourpy-1.1.0-cp38-cp38-manylinux_2_17_x86_64.manylinux2014_x86_64.whl", hash = "sha256:d551f3a442655f3dcc1285723f9acd646ca5858834efeab4598d706206b09c9f"},
+    {file = "contourpy-1.1.0-cp38-cp38-musllinux_1_1_x86_64.whl", hash = "sha256:e7a117ce7df5a938fe035cad481b0189049e8d92433b4b33aa7fc609344aafa1"},
+    {file = "contourpy-1.1.0-cp38-cp38-win_amd64.whl", hash = "sha256:d4f26b25b4f86087e7d75e63212756c38546e70f2a92d2be44f80114826e1cd4"},
+    {file = "contourpy-1.1.0-cp39-cp39-macosx_10_9_x86_64.whl", hash = "sha256:bc00bb4225d57bff7ebb634646c0ee2a1298402ec10a5fe7af79df9a51c1bfd9"},
+    {file = "contourpy-1.1.0-cp39-cp39-macosx_11_0_arm64.whl", hash = "sha256:189ceb1525eb0655ab8487a9a9c41f42a73ba52d6789754788d1883fb06b2d8a"},
+    {file = "contourpy-1.1.0-cp39-cp39-manylinux_2_17_aarch64.manylinux2014_aarch64.whl", hash = "sha256:9f2931ed4741f98f74b410b16e5213f71dcccee67518970c42f64153ea9313b9"},
+    {file = "contourpy-1.1.0-cp39-cp39-manylinux_2_17_ppc64le.manylinux2014_ppc64le.whl", hash = "sha256:30f511c05fab7f12e0b1b7730ebdc2ec8deedcfb505bc27eb570ff47c51a8f15"},
+    {file = "contourpy-1.1.0-cp39-cp39-manylinux_2_17_s390x.manylinux2014_s390x.whl", hash = "sha256:143dde50520a9f90e4a2703f367cf8ec96a73042b72e68fcd184e1279962eb6f"},
+    {file = "contourpy-1.1.0-cp39-cp39-manylinux_2_17_x86_64.manylinux2014_x86_64.whl", hash = "sha256:e94bef2580e25b5fdb183bf98a2faa2adc5b638736b2c0a4da98691da641316a"},
+    {file = "contourpy-1.1.0-cp39-cp39-musllinux_1_1_x86_64.whl", hash = "sha256:ed614aea8462735e7d70141374bd7650afd1c3f3cb0c2dbbcbe44e14331bf002"},
+    {file = "contourpy-1.1.0-cp39-cp39-win_amd64.whl", hash = "sha256:438ba416d02f82b692e371858143970ed2eb6337d9cdbbede0d8ad9f3d7dd17d"},
+    {file = "contourpy-1.1.0-pp38-pypy38_pp73-macosx_10_9_x86_64.whl", hash = "sha256:a698c6a7a432789e587168573a864a7ea374c6be8d4f31f9d87c001d5a843493"},
+    {file = "contourpy-1.1.0-pp38-pypy38_pp73-manylinux_2_17_x86_64.manylinux2014_x86_64.whl", hash = "sha256:397b0ac8a12880412da3551a8cb5a187d3298a72802b45a3bd1805e204ad8439"},
+    {file = "contourpy-1.1.0-pp38-pypy38_pp73-win_amd64.whl", hash = "sha256:a67259c2b493b00e5a4d0f7bfae51fb4b3371395e47d079a4446e9b0f4d70e76"},
+    {file = "contourpy-1.1.0-pp39-pypy39_pp73-macosx_10_9_x86_64.whl", hash = "sha256:2b836d22bd2c7bb2700348e4521b25e077255ebb6ab68e351ab5aa91ca27e027"},
+    {file = "contourpy-1.1.0-pp39-pypy39_pp73-manylinux_2_17_x86_64.manylinux2014_x86_64.whl", hash = "sha256:084eaa568400cfaf7179b847ac871582199b1b44d5699198e9602ecbbb5f6104"},
+    {file = "contourpy-1.1.0-pp39-pypy39_pp73-win_amd64.whl", hash = "sha256:911ff4fd53e26b019f898f32db0d4956c9d227d51338fb3b03ec72ff0084ee5f"},
+    {file = "contourpy-1.1.0.tar.gz", hash = "sha256:e53046c3863828d21d531cc3b53786e6580eb1ba02477e8681009b6aa0870b21"},
 ]
-coverage = [
-    {file = "coverage-6.5.0-cp310-cp310-macosx_10_9_x86_64.whl", hash = "sha256:ef8674b0ee8cc11e2d574e3e2998aea5df5ab242e012286824ea3c6970580e53"},
-    {file = "coverage-6.5.0-cp310-cp310-macosx_11_0_arm64.whl", hash = "sha256:784f53ebc9f3fd0e2a3f6a78b2be1bd1f5575d7863e10c6e12504f240fd06660"},
-    {file = "coverage-6.5.0-cp310-cp310-manylinux_2_17_aarch64.manylinux2014_aarch64.whl", hash = "sha256:b4a5be1748d538a710f87542f22c2cad22f80545a847ad91ce45e77417293eb4"},
-    {file = "coverage-6.5.0-cp310-cp310-manylinux_2_5_i686.manylinux1_i686.manylinux_2_17_i686.manylinux2014_i686.whl", hash = "sha256:83516205e254a0cb77d2d7bb3632ee019d93d9f4005de31dca0a8c3667d5bc04"},
-    {file = "coverage-6.5.0-cp310-cp310-manylinux_2_5_x86_64.manylinux1_x86_64.manylinux_2_17_x86_64.manylinux2014_x86_64.whl", hash = "sha256:af4fffaffc4067232253715065e30c5a7ec6faac36f8fc8d6f64263b15f74db0"},
-    {file = "coverage-6.5.0-cp310-cp310-musllinux_1_1_aarch64.whl", hash = "sha256:97117225cdd992a9c2a5515db1f66b59db634f59d0679ca1fa3fe8da32749cae"},
-    {file = "coverage-6.5.0-cp310-cp310-musllinux_1_1_i686.whl", hash = "sha256:a1170fa54185845505fbfa672f1c1ab175446c887cce8212c44149581cf2d466"},
-    {file = "coverage-6.5.0-cp310-cp310-musllinux_1_1_x86_64.whl", hash = "sha256:11b990d520ea75e7ee8dcab5bc908072aaada194a794db9f6d7d5cfd19661e5a"},
-    {file = "coverage-6.5.0-cp310-cp310-win32.whl", hash = "sha256:5dbec3b9095749390c09ab7c89d314727f18800060d8d24e87f01fb9cfb40b32"},
-    {file = "coverage-6.5.0-cp310-cp310-win_amd64.whl", hash = "sha256:59f53f1dc5b656cafb1badd0feb428c1e7bc19b867479ff72f7a9dd9b479f10e"},
-    {file = "coverage-6.5.0-cp311-cp311-macosx_10_9_x86_64.whl", hash = "sha256:4a5375e28c5191ac38cca59b38edd33ef4cc914732c916f2929029b4bfb50795"},
-    {file = "coverage-6.5.0-cp311-cp311-manylinux_2_17_aarch64.manylinux2014_aarch64.whl", hash = "sha256:c4ed2820d919351f4167e52425e096af41bfabacb1857186c1ea32ff9983ed75"},
-    {file = "coverage-6.5.0-cp311-cp311-manylinux_2_5_i686.manylinux1_i686.manylinux_2_17_i686.manylinux2014_i686.whl", hash = "sha256:33a7da4376d5977fbf0a8ed91c4dffaaa8dbf0ddbf4c8eea500a2486d8bc4d7b"},
-    {file = "coverage-6.5.0-cp311-cp311-manylinux_2_5_x86_64.manylinux1_x86_64.manylinux_2_17_x86_64.manylinux2014_x86_64.whl", hash = "sha256:a8fb6cf131ac4070c9c5a3e21de0f7dc5a0fbe8bc77c9456ced896c12fcdad91"},
-    {file = "coverage-6.5.0-cp311-cp311-musllinux_1_1_aarch64.whl", hash = "sha256:a6b7d95969b8845250586f269e81e5dfdd8ff828ddeb8567a4a2eaa7313460c4"},
-    {file = "coverage-6.5.0-cp311-cp311-musllinux_1_1_i686.whl", hash = "sha256:1ef221513e6f68b69ee9e159506d583d31aa3567e0ae84eaad9d6ec1107dddaa"},
-    {file = "coverage-6.5.0-cp311-cp311-musllinux_1_1_x86_64.whl", hash = "sha256:cca4435eebea7962a52bdb216dec27215d0df64cf27fc1dd538415f5d2b9da6b"},
-    {file = "coverage-6.5.0-cp311-cp311-win32.whl", hash = "sha256:98e8a10b7a314f454d9eff4216a9a94d143a7ee65018dd12442e898ee2310578"},
-    {file = "coverage-6.5.0-cp311-cp311-win_amd64.whl", hash = "sha256:bc8ef5e043a2af066fa8cbfc6e708d58017024dc4345a1f9757b329a249f041b"},
-    {file = "coverage-6.5.0-cp37-cp37m-macosx_10_9_x86_64.whl", hash = "sha256:4433b90fae13f86fafff0b326453dd42fc9a639a0d9e4eec4d366436d1a41b6d"},
-    {file = "coverage-6.5.0-cp37-cp37m-manylinux_2_17_aarch64.manylinux2014_aarch64.whl", hash = "sha256:f4f05d88d9a80ad3cac6244d36dd89a3c00abc16371769f1340101d3cb899fc3"},
-    {file = "coverage-6.5.0-cp37-cp37m-manylinux_2_5_i686.manylinux1_i686.manylinux_2_17_i686.manylinux2014_i686.whl", hash = "sha256:94e2565443291bd778421856bc975d351738963071e9b8839ca1fc08b42d4bef"},
-    {file = "coverage-6.5.0-cp37-cp37m-manylinux_2_5_x86_64.manylinux1_x86_64.manylinux_2_17_x86_64.manylinux2014_x86_64.whl", hash = "sha256:027018943386e7b942fa832372ebc120155fd970837489896099f5cfa2890f79"},
-    {file = "coverage-6.5.0-cp37-cp37m-musllinux_1_1_aarch64.whl", hash = "sha256:255758a1e3b61db372ec2736c8e2a1fdfaf563977eedbdf131de003ca5779b7d"},
-    {file = "coverage-6.5.0-cp37-cp37m-musllinux_1_1_i686.whl", hash = "sha256:851cf4ff24062c6aec510a454b2584f6e998cada52d4cb58c5e233d07172e50c"},
-    {file = "coverage-6.5.0-cp37-cp37m-musllinux_1_1_x86_64.whl", hash = "sha256:12adf310e4aafddc58afdb04d686795f33f4d7a6fa67a7a9d4ce7d6ae24d949f"},
-    {file = "coverage-6.5.0-cp37-cp37m-win32.whl", hash = "sha256:b5604380f3415ba69de87a289a2b56687faa4fe04dbee0754bfcae433489316b"},
-    {file = "coverage-6.5.0-cp37-cp37m-win_amd64.whl", hash = "sha256:4a8dbc1f0fbb2ae3de73eb0bdbb914180c7abfbf258e90b311dcd4f585d44bd2"},
-    {file = "coverage-6.5.0-cp38-cp38-macosx_10_9_x86_64.whl", hash = "sha256:d900bb429fdfd7f511f868cedd03a6bbb142f3f9118c09b99ef8dc9bf9643c3c"},
-    {file = "coverage-6.5.0-cp38-cp38-macosx_11_0_arm64.whl", hash = "sha256:2198ea6fc548de52adc826f62cb18554caedfb1d26548c1b7c88d8f7faa8f6ba"},
-    {file = "coverage-6.5.0-cp38-cp38-manylinux_2_17_aarch64.manylinux2014_aarch64.whl", hash = "sha256:6c4459b3de97b75e3bd6b7d4b7f0db13f17f504f3d13e2a7c623786289dd670e"},
-    {file = "coverage-6.5.0-cp38-cp38-manylinux_2_5_i686.manylinux1_i686.manylinux_2_17_i686.manylinux2014_i686.whl", hash = "sha256:20c8ac5386253717e5ccc827caad43ed66fea0efe255727b1053a8154d952398"},
-    {file = "coverage-6.5.0-cp38-cp38-manylinux_2_5_x86_64.manylinux1_x86_64.manylinux_2_17_x86_64.manylinux2014_x86_64.whl", hash = "sha256:6b07130585d54fe8dff3d97b93b0e20290de974dc8177c320aeaf23459219c0b"},
-    {file = "coverage-6.5.0-cp38-cp38-musllinux_1_1_aarch64.whl", hash = "sha256:dbdb91cd8c048c2b09eb17713b0c12a54fbd587d79adcebad543bc0cd9a3410b"},
-    {file = "coverage-6.5.0-cp38-cp38-musllinux_1_1_i686.whl", hash = "sha256:de3001a203182842a4630e7b8d1a2c7c07ec1b45d3084a83d5d227a3806f530f"},
-    {file = "coverage-6.5.0-cp38-cp38-musllinux_1_1_x86_64.whl", hash = "sha256:e07f4a4a9b41583d6eabec04f8b68076ab3cd44c20bd29332c6572dda36f372e"},
-    {file = "coverage-6.5.0-cp38-cp38-win32.whl", hash = "sha256:6d4817234349a80dbf03640cec6109cd90cba068330703fa65ddf56b60223a6d"},
-    {file = "coverage-6.5.0-cp38-cp38-win_amd64.whl", hash = "sha256:7ccf362abd726b0410bf8911c31fbf97f09f8f1061f8c1cf03dfc4b6372848f6"},
-    {file = "coverage-6.5.0-cp39-cp39-macosx_10_9_x86_64.whl", hash = "sha256:633713d70ad6bfc49b34ead4060531658dc6dfc9b3eb7d8a716d5873377ab745"},
-    {file = "coverage-6.5.0-cp39-cp39-macosx_11_0_arm64.whl", hash = "sha256:95203854f974e07af96358c0b261f1048d8e1083f2de9b1c565e1be4a3a48cfc"},
-    {file = "coverage-6.5.0-cp39-cp39-manylinux_2_17_aarch64.manylinux2014_aarch64.whl", hash = "sha256:b9023e237f4c02ff739581ef35969c3739445fb059b060ca51771e69101efffe"},
-    {file = "coverage-6.5.0-cp39-cp39-manylinux_2_5_i686.manylinux1_i686.manylinux_2_17_i686.manylinux2014_i686.whl", hash = "sha256:265de0fa6778d07de30bcf4d9dc471c3dc4314a23a3c6603d356a3c9abc2dfcf"},
-    {file = "coverage-6.5.0-cp39-cp39-manylinux_2_5_x86_64.manylinux1_x86_64.manylinux_2_17_x86_64.manylinux2014_x86_64.whl", hash = "sha256:8f830ed581b45b82451a40faabb89c84e1a998124ee4212d440e9c6cf70083e5"},
-    {file = "coverage-6.5.0-cp39-cp39-musllinux_1_1_aarch64.whl", hash = "sha256:7b6be138d61e458e18d8e6ddcddd36dd96215edfe5f1168de0b1b32635839b62"},
-    {file = "coverage-6.5.0-cp39-cp39-musllinux_1_1_i686.whl", hash = "sha256:42eafe6778551cf006a7c43153af1211c3aaab658d4d66fa5fcc021613d02518"},
-    {file = "coverage-6.5.0-cp39-cp39-musllinux_1_1_x86_64.whl", hash = "sha256:723e8130d4ecc8f56e9a611e73b31219595baa3bb252d539206f7bbbab6ffc1f"},
-    {file = "coverage-6.5.0-cp39-cp39-win32.whl", hash = "sha256:d9ecf0829c6a62b9b573c7bb6d4dcd6ba8b6f80be9ba4fc7ed50bf4ac9aecd72"},
-    {file = "coverage-6.5.0-cp39-cp39-win_amd64.whl", hash = "sha256:fc2af30ed0d5ae0b1abdb4ebdce598eafd5b35397d4d75deb341a614d333d987"},
-    {file = "coverage-6.5.0-pp36.pp37.pp38-none-any.whl", hash = "sha256:1431986dac3923c5945271f169f59c45b8802a114c8f548d611f2015133df77a"},
-    {file = "coverage-6.5.0.tar.gz", hash = "sha256:f642e90754ee3e06b0e7e51bce3379590e76b7f76b708e1a71ff043f87025c84"},
+
+[package.dependencies]
+numpy = ">=1.16"
+
+[package.extras]
+bokeh = ["bokeh", "selenium"]
+docs = ["furo", "sphinx-copybutton"]
+mypy = ["contourpy[bokeh,docs]", "docutils-stubs", "mypy (==1.2.0)", "types-Pillow"]
+test = ["Pillow", "contourpy[test-no-images]", "matplotlib"]
+test-no-images = ["pytest", "pytest-cov", "wurlitzer"]
+
+[[package]]
+name = "control"
+version = "0.9.4"
+description = "Python Control Systems Library"
+optional = false
+python-versions = ">=3.8"
+files = [
+    {file = "control-0.9.4-py3-none-any.whl", hash = "sha256:ab68980abd8d35ae5015ffa090865cbbd926deea7e66d0b9a41cfd12577e63ff"},
+    {file = "control-0.9.4.tar.gz", hash = "sha256:0fa57d2216b7ac4e9339c09eab6827660318a641779335864feee940bd19c9ce"},
 ]
-crashtest = [
-    {file = "crashtest-0.3.1-py3-none-any.whl", hash = "sha256:300f4b0825f57688b47b6d70c6a31de33512eb2fa1ac614f780939aa0cf91680"},
-    {file = "crashtest-0.3.1.tar.gz", hash = "sha256:42ca7b6ce88b6c7433e2ce47ea884e91ec93104a4b754998be498a8e6c3d37dd"},
+
+[package.dependencies]
+matplotlib = "*"
+numpy = "*"
+scipy = ">=1.3"
+
+[package.extras]
+cvxopt = ["cvxopt (>=1.2.0)"]
+slycot = ["slycot (>=0.4.0)"]
+test = ["pytest", "pytest-timeout"]
+
+[[package]]
+name = "coverage"
+version = "7.2.7"
+description = "Code coverage measurement for Python"
+optional = false
+python-versions = ">=3.7"
+files = [
+    {file = "coverage-7.2.7-cp310-cp310-macosx_10_9_x86_64.whl", hash = "sha256:d39b5b4f2a66ccae8b7263ac3c8170994b65266797fb96cbbfd3fb5b23921db8"},
+    {file = "coverage-7.2.7-cp310-cp310-macosx_11_0_arm64.whl", hash = "sha256:6d040ef7c9859bb11dfeb056ff5b3872436e3b5e401817d87a31e1750b9ae2fb"},
+    {file = "coverage-7.2.7-cp310-cp310-manylinux_2_17_aarch64.manylinux2014_aarch64.whl", hash = "sha256:ba90a9563ba44a72fda2e85302c3abc71c5589cea608ca16c22b9804262aaeb6"},
+    {file = "coverage-7.2.7-cp310-cp310-manylinux_2_5_i686.manylinux1_i686.manylinux_2_17_i686.manylinux2014_i686.whl", hash = "sha256:e7d9405291c6928619403db1d10bd07888888ec1abcbd9748fdaa971d7d661b2"},
+    {file = "coverage-7.2.7-cp310-cp310-manylinux_2_5_x86_64.manylinux1_x86_64.manylinux_2_17_x86_64.manylinux2014_x86_64.whl", hash = "sha256:31563e97dae5598556600466ad9beea39fb04e0229e61c12eaa206e0aa202063"},
+    {file = "coverage-7.2.7-cp310-cp310-musllinux_1_1_aarch64.whl", hash = "sha256:ebba1cd308ef115925421d3e6a586e655ca5a77b5bf41e02eb0e4562a111f2d1"},
+    {file = "coverage-7.2.7-cp310-cp310-musllinux_1_1_i686.whl", hash = "sha256:cb017fd1b2603ef59e374ba2063f593abe0fc45f2ad9abdde5b4d83bd922a353"},
+    {file = "coverage-7.2.7-cp310-cp310-musllinux_1_1_x86_64.whl", hash = "sha256:d62a5c7dad11015c66fbb9d881bc4caa5b12f16292f857842d9d1871595f4495"},
+    {file = "coverage-7.2.7-cp310-cp310-win32.whl", hash = "sha256:ee57190f24fba796e36bb6d3aa8a8783c643d8fa9760c89f7a98ab5455fbf818"},
+    {file = "coverage-7.2.7-cp310-cp310-win_amd64.whl", hash = "sha256:f75f7168ab25dd93110c8a8117a22450c19976afbc44234cbf71481094c1b850"},
+    {file = "coverage-7.2.7-cp311-cp311-macosx_10_9_x86_64.whl", hash = "sha256:06a9a2be0b5b576c3f18f1a241f0473575c4a26021b52b2a85263a00f034d51f"},
+    {file = "coverage-7.2.7-cp311-cp311-macosx_11_0_arm64.whl", hash = "sha256:5baa06420f837184130752b7c5ea0808762083bf3487b5038d68b012e5937dbe"},
+    {file = "coverage-7.2.7-cp311-cp311-manylinux_2_17_aarch64.manylinux2014_aarch64.whl", hash = "sha256:fdec9e8cbf13a5bf63290fc6013d216a4c7232efb51548594ca3631a7f13c3a3"},
+    {file = "coverage-7.2.7-cp311-cp311-manylinux_2_5_i686.manylinux1_i686.manylinux_2_17_i686.manylinux2014_i686.whl", hash = "sha256:52edc1a60c0d34afa421c9c37078817b2e67a392cab17d97283b64c5833f427f"},
+    {file = "coverage-7.2.7-cp311-cp311-manylinux_2_5_x86_64.manylinux1_x86_64.manylinux_2_17_x86_64.manylinux2014_x86_64.whl", hash = "sha256:63426706118b7f5cf6bb6c895dc215d8a418d5952544042c8a2d9fe87fcf09cb"},
+    {file = "coverage-7.2.7-cp311-cp311-musllinux_1_1_aarch64.whl", hash = "sha256:afb17f84d56068a7c29f5fa37bfd38d5aba69e3304af08ee94da8ed5b0865833"},
+    {file = "coverage-7.2.7-cp311-cp311-musllinux_1_1_i686.whl", hash = "sha256:48c19d2159d433ccc99e729ceae7d5293fbffa0bdb94952d3579983d1c8c9d97"},
+    {file = "coverage-7.2.7-cp311-cp311-musllinux_1_1_x86_64.whl", hash = "sha256:0e1f928eaf5469c11e886fe0885ad2bf1ec606434e79842a879277895a50942a"},
+    {file = "coverage-7.2.7-cp311-cp311-win32.whl", hash = "sha256:33d6d3ea29d5b3a1a632b3c4e4f4ecae24ef170b0b9ee493883f2df10039959a"},
+    {file = "coverage-7.2.7-cp311-cp311-win_amd64.whl", hash = "sha256:5b7540161790b2f28143191f5f8ec02fb132660ff175b7747b95dcb77ac26562"},
+    {file = "coverage-7.2.7-cp312-cp312-macosx_10_9_x86_64.whl", hash = "sha256:f2f67fe12b22cd130d34d0ef79206061bfb5eda52feb6ce0dba0644e20a03cf4"},
+    {file = "coverage-7.2.7-cp312-cp312-manylinux_2_17_aarch64.manylinux2014_aarch64.whl", hash = "sha256:a342242fe22407f3c17f4b499276a02b01e80f861f1682ad1d95b04018e0c0d4"},
+    {file = "coverage-7.2.7-cp312-cp312-manylinux_2_5_i686.manylinux1_i686.manylinux_2_17_i686.manylinux2014_i686.whl", hash = "sha256:171717c7cb6b453aebac9a2ef603699da237f341b38eebfee9be75d27dc38e01"},
+    {file = "coverage-7.2.7-cp312-cp312-manylinux_2_5_x86_64.manylinux1_x86_64.manylinux_2_17_x86_64.manylinux2014_x86_64.whl", hash = "sha256:49969a9f7ffa086d973d91cec8d2e31080436ef0fb4a359cae927e742abfaaa6"},
+    {file = "coverage-7.2.7-cp312-cp312-musllinux_1_1_aarch64.whl", hash = "sha256:b46517c02ccd08092f4fa99f24c3b83d8f92f739b4657b0f146246a0ca6a831d"},
+    {file = "coverage-7.2.7-cp312-cp312-musllinux_1_1_i686.whl", hash = "sha256:a3d33a6b3eae87ceaefa91ffdc130b5e8536182cd6dfdbfc1aa56b46ff8c86de"},
+    {file = "coverage-7.2.7-cp312-cp312-musllinux_1_1_x86_64.whl", hash = "sha256:976b9c42fb2a43ebf304fa7d4a310e5f16cc99992f33eced91ef6f908bd8f33d"},
+    {file = "coverage-7.2.7-cp312-cp312-win32.whl", hash = "sha256:8de8bb0e5ad103888d65abef8bca41ab93721647590a3f740100cd65c3b00511"},
+    {file = "coverage-7.2.7-cp312-cp312-win_amd64.whl", hash = "sha256:9e31cb64d7de6b6f09702bb27c02d1904b3aebfca610c12772452c4e6c21a0d3"},
+    {file = "coverage-7.2.7-cp37-cp37m-macosx_10_9_x86_64.whl", hash = "sha256:58c2ccc2f00ecb51253cbe5d8d7122a34590fac9646a960d1430d5b15321d95f"},
+    {file = "coverage-7.2.7-cp37-cp37m-manylinux_2_17_aarch64.manylinux2014_aarch64.whl", hash = "sha256:d22656368f0e6189e24722214ed8d66b8022db19d182927b9a248a2a8a2f67eb"},
+    {file = "coverage-7.2.7-cp37-cp37m-manylinux_2_5_i686.manylinux1_i686.manylinux_2_17_i686.manylinux2014_i686.whl", hash = "sha256:a895fcc7b15c3fc72beb43cdcbdf0ddb7d2ebc959edac9cef390b0d14f39f8a9"},
+    {file = "coverage-7.2.7-cp37-cp37m-manylinux_2_5_x86_64.manylinux1_x86_64.manylinux_2_17_x86_64.manylinux2014_x86_64.whl", hash = "sha256:e84606b74eb7de6ff581a7915e2dab7a28a0517fbe1c9239eb227e1354064dcd"},
+    {file = "coverage-7.2.7-cp37-cp37m-musllinux_1_1_aarch64.whl", hash = "sha256:0a5f9e1dbd7fbe30196578ca36f3fba75376fb99888c395c5880b355e2875f8a"},
+    {file = "coverage-7.2.7-cp37-cp37m-musllinux_1_1_i686.whl", hash = "sha256:419bfd2caae268623dd469eff96d510a920c90928b60f2073d79f8fe2bbc5959"},
+    {file = "coverage-7.2.7-cp37-cp37m-musllinux_1_1_x86_64.whl", hash = "sha256:2aee274c46590717f38ae5e4650988d1af340fe06167546cc32fe2f58ed05b02"},
+    {file = "coverage-7.2.7-cp37-cp37m-win32.whl", hash = "sha256:61b9a528fb348373c433e8966535074b802c7a5d7f23c4f421e6c6e2f1697a6f"},
+    {file = "coverage-7.2.7-cp37-cp37m-win_amd64.whl", hash = "sha256:b1c546aca0ca4d028901d825015dc8e4d56aac4b541877690eb76490f1dc8ed0"},
+    {file = "coverage-7.2.7-cp38-cp38-macosx_10_9_x86_64.whl", hash = "sha256:54b896376ab563bd38453cecb813c295cf347cf5906e8b41d340b0321a5433e5"},
+    {file = "coverage-7.2.7-cp38-cp38-macosx_11_0_arm64.whl", hash = "sha256:3d376df58cc111dc8e21e3b6e24606b5bb5dee6024f46a5abca99124b2229ef5"},
+    {file = "coverage-7.2.7-cp38-cp38-manylinux_2_17_aarch64.manylinux2014_aarch64.whl", hash = "sha256:5e330fc79bd7207e46c7d7fd2bb4af2963f5f635703925543a70b99574b0fea9"},
+    {file = "coverage-7.2.7-cp38-cp38-manylinux_2_5_i686.manylinux1_i686.manylinux_2_17_i686.manylinux2014_i686.whl", hash = "sha256:1e9d683426464e4a252bf70c3498756055016f99ddaec3774bf368e76bbe02b6"},
+    {file = "coverage-7.2.7-cp38-cp38-manylinux_2_5_x86_64.manylinux1_x86_64.manylinux_2_17_x86_64.manylinux2014_x86_64.whl", hash = "sha256:8d13c64ee2d33eccf7437961b6ea7ad8673e2be040b4f7fd4fd4d4d28d9ccb1e"},
+    {file = "coverage-7.2.7-cp38-cp38-musllinux_1_1_aarch64.whl", hash = "sha256:b7aa5f8a41217360e600da646004f878250a0d6738bcdc11a0a39928d7dc2050"},
+    {file = "coverage-7.2.7-cp38-cp38-musllinux_1_1_i686.whl", hash = "sha256:8fa03bce9bfbeeef9f3b160a8bed39a221d82308b4152b27d82d8daa7041fee5"},
+    {file = "coverage-7.2.7-cp38-cp38-musllinux_1_1_x86_64.whl", hash = "sha256:245167dd26180ab4c91d5e1496a30be4cd721a5cf2abf52974f965f10f11419f"},
+    {file = "coverage-7.2.7-cp38-cp38-win32.whl", hash = "sha256:d2c2db7fd82e9b72937969bceac4d6ca89660db0a0967614ce2481e81a0b771e"},
+    {file = "coverage-7.2.7-cp38-cp38-win_amd64.whl", hash = "sha256:2e07b54284e381531c87f785f613b833569c14ecacdcb85d56b25c4622c16c3c"},
+    {file = "coverage-7.2.7-cp39-cp39-macosx_10_9_x86_64.whl", hash = "sha256:537891ae8ce59ef63d0123f7ac9e2ae0fc8b72c7ccbe5296fec45fd68967b6c9"},
+    {file = "coverage-7.2.7-cp39-cp39-macosx_11_0_arm64.whl", hash = "sha256:06fb182e69f33f6cd1d39a6c597294cff3143554b64b9825d1dc69d18cc2fff2"},
+    {file = "coverage-7.2.7-cp39-cp39-manylinux_2_17_aarch64.manylinux2014_aarch64.whl", hash = "sha256:201e7389591af40950a6480bd9edfa8ed04346ff80002cec1a66cac4549c1ad7"},
+    {file = "coverage-7.2.7-cp39-cp39-manylinux_2_5_i686.manylinux1_i686.manylinux_2_17_i686.manylinux2014_i686.whl", hash = "sha256:f6951407391b639504e3b3be51b7ba5f3528adbf1a8ac3302b687ecababf929e"},
+    {file = "coverage-7.2.7-cp39-cp39-manylinux_2_5_x86_64.manylinux1_x86_64.manylinux_2_17_x86_64.manylinux2014_x86_64.whl", hash = "sha256:6f48351d66575f535669306aa7d6d6f71bc43372473b54a832222803eb956fd1"},
+    {file = "coverage-7.2.7-cp39-cp39-musllinux_1_1_aarch64.whl", hash = "sha256:b29019c76039dc3c0fd815c41392a044ce555d9bcdd38b0fb60fb4cd8e475ba9"},
+    {file = "coverage-7.2.7-cp39-cp39-musllinux_1_1_i686.whl", hash = "sha256:81c13a1fc7468c40f13420732805a4c38a105d89848b7c10af65a90beff25250"},
+    {file = "coverage-7.2.7-cp39-cp39-musllinux_1_1_x86_64.whl", hash = "sha256:975d70ab7e3c80a3fe86001d8751f6778905ec723f5b110aed1e450da9d4b7f2"},
+    {file = "coverage-7.2.7-cp39-cp39-win32.whl", hash = "sha256:7ee7d9d4822c8acc74a5e26c50604dff824710bc8de424904c0982e25c39c6cb"},
+    {file = "coverage-7.2.7-cp39-cp39-win_amd64.whl", hash = "sha256:eb393e5ebc85245347950143969b241d08b52b88a3dc39479822e073a1a8eb27"},
+    {file = "coverage-7.2.7-pp37.pp38.pp39-none-any.whl", hash = "sha256:b7b4c971f05e6ae490fef852c218b0e79d4e52f79ef0c8475566584a8fb3e01d"},
+    {file = "coverage-7.2.7.tar.gz", hash = "sha256:924d94291ca674905fe9481f12294eb11f2d3d3fd1adb20314ba89e94f44ed59"},
 ]
-crcmod = [
+
+[package.extras]
+toml = ["tomli"]
+
+[[package]]
+name = "crashtest"
+version = "0.4.1"
+description = "Manage Python errors with ease"
+optional = false
+python-versions = ">=3.7,<4.0"
+files = [
+    {file = "crashtest-0.4.1-py3-none-any.whl", hash = "sha256:8d23eac5fa660409f57472e3851dab7ac18aba459a8d19cbbba86d3d5aecd2a5"},
+    {file = "crashtest-0.4.1.tar.gz", hash = "sha256:80d7b1f316ebfbd429f648076d6275c877ba30ba48979de4191714a75266f0ce"},
+]
+
+[[package]]
+name = "crcmod"
+version = "1.7"
+description = "CRC Generator"
+optional = false
+python-versions = "*"
+files = [
     {file = "crcmod-1.7.tar.gz", hash = "sha256:dc7051a0db5f2bd48665a990d3ec1cc305a466a77358ca4492826f41f283601e"},
 ]
-cryptography = [
-    {file = "cryptography-37.0.4-cp36-abi3-macosx_10_10_universal2.whl", hash = "sha256:549153378611c0cca1042f20fd9c5030d37a72f634c9326e225c9f666d472884"},
-    {file = "cryptography-37.0.4-cp36-abi3-macosx_10_10_x86_64.whl", hash = "sha256:a958c52505c8adf0d3822703078580d2c0456dd1d27fabfb6f76fe63d2971cd6"},
-    {file = "cryptography-37.0.4-cp36-abi3-manylinux_2_12_x86_64.manylinux2010_x86_64.whl", hash = "sha256:f721d1885ecae9078c3f6bbe8a88bc0786b6e749bf32ccec1ef2b18929a05046"},
-    {file = "cryptography-37.0.4-cp36-abi3-manylinux_2_17_aarch64.manylinux2014_aarch64.manylinux_2_24_aarch64.whl", hash = "sha256:3d41b965b3380f10e4611dbae366f6dc3cefc7c9ac4e8842a806b9672ae9add5"},
-    {file = "cryptography-37.0.4-cp36-abi3-manylinux_2_17_aarch64.manylinux2014_aarch64.whl", hash = "sha256:80f49023dd13ba35f7c34072fa17f604d2f19bf0989f292cedf7ab5770b87a0b"},
-    {file = "cryptography-37.0.4-cp36-abi3-manylinux_2_17_x86_64.manylinux2014_x86_64.whl", hash = "sha256:f2dcb0b3b63afb6df7fd94ec6fbddac81b5492513f7b0436210d390c14d46ee8"},
-    {file = "cryptography-37.0.4-cp36-abi3-manylinux_2_24_x86_64.whl", hash = "sha256:b7f8dd0d4c1f21759695c05a5ec8536c12f31611541f8904083f3dc582604280"},
-    {file = "cryptography-37.0.4-cp36-abi3-musllinux_1_1_aarch64.whl", hash = "sha256:30788e070800fec9bbcf9faa71ea6d8068f5136f60029759fd8c3efec3c9dcb3"},
-    {file = "cryptography-37.0.4-cp36-abi3-musllinux_1_1_x86_64.whl", hash = "sha256:190f82f3e87033821828f60787cfa42bff98404483577b591429ed99bed39d59"},
-    {file = "cryptography-37.0.4-cp36-abi3-win32.whl", hash = "sha256:b62439d7cd1222f3da897e9a9fe53bbf5c104fff4d60893ad1355d4c14a24157"},
-    {file = "cryptography-37.0.4-cp36-abi3-win_amd64.whl", hash = "sha256:f7a6de3e98771e183645181b3627e2563dcde3ce94a9e42a3f427d2255190327"},
-    {file = "cryptography-37.0.4-pp37-pypy37_pp73-manylinux_2_17_x86_64.manylinux2014_x86_64.whl", hash = "sha256:6bc95ed67b6741b2607298f9ea4932ff157e570ef456ef7ff0ef4884a134cc4b"},
-    {file = "cryptography-37.0.4-pp37-pypy37_pp73-manylinux_2_24_x86_64.whl", hash = "sha256:f8c0a6e9e1dd3eb0414ba320f85da6b0dcbd543126e30fcc546e7372a7fbf3b9"},
-    {file = "cryptography-37.0.4-pp38-pypy38_pp73-macosx_10_10_x86_64.whl", hash = "sha256:e007f052ed10cc316df59bc90fbb7ff7950d7e2919c9757fd42a2b8ecf8a5f67"},
-    {file = "cryptography-37.0.4-pp38-pypy38_pp73-manylinux_2_17_x86_64.manylinux2014_x86_64.whl", hash = "sha256:7bc997818309f56c0038a33b8da5c0bfbb3f1f067f315f9abd6fc07ad359398d"},
-    {file = "cryptography-37.0.4-pp38-pypy38_pp73-manylinux_2_24_x86_64.whl", hash = "sha256:d204833f3c8a33bbe11eda63a54b1aad7aa7456ed769a982f21ec599ba5fa282"},
-    {file = "cryptography-37.0.4-pp38-pypy38_pp73-win_amd64.whl", hash = "sha256:75976c217f10d48a8b5a8de3d70c454c249e4b91851f6838a4e48b8f41eb71aa"},
-    {file = "cryptography-37.0.4-pp39-pypy39_pp73-macosx_10_10_x86_64.whl", hash = "sha256:7099a8d55cd49b737ffc99c17de504f2257e3787e02abe6d1a6d136574873441"},
-    {file = "cryptography-37.0.4-pp39-pypy39_pp73-manylinux_2_17_x86_64.manylinux2014_x86_64.whl", hash = "sha256:2be53f9f5505673eeda5f2736bea736c40f051a739bfae2f92d18aed1eb54596"},
-    {file = "cryptography-37.0.4-pp39-pypy39_pp73-manylinux_2_24_x86_64.whl", hash = "sha256:91ce48d35f4e3d3f1d83e29ef4a9267246e6a3be51864a5b7d2247d5086fa99a"},
-    {file = "cryptography-37.0.4-pp39-pypy39_pp73-win_amd64.whl", hash = "sha256:4c590ec31550a724ef893c50f9a97a0c14e9c851c85621c5650d699a7b88f7ab"},
-    {file = "cryptography-37.0.4.tar.gz", hash = "sha256:63f9c17c0e2474ccbebc9302ce2f07b55b3b3fcb211ded18a42d5764f5c10a82"},
+
+[[package]]
+name = "cryptography"
+version = "41.0.3"
+description = "cryptography is a package which provides cryptographic recipes and primitives to Python developers."
+optional = false
+python-versions = ">=3.7"
+files = [
+    {file = "cryptography-41.0.3-cp37-abi3-macosx_10_12_universal2.whl", hash = "sha256:652627a055cb52a84f8c448185922241dd5217443ca194d5739b44612c5e6507"},
+    {file = "cryptography-41.0.3-cp37-abi3-macosx_10_12_x86_64.whl", hash = "sha256:8f09daa483aedea50d249ef98ed500569841d6498aa9c9f4b0531b9964658922"},
+    {file = "cryptography-41.0.3-cp37-abi3-manylinux_2_17_aarch64.manylinux2014_aarch64.whl", hash = "sha256:4fd871184321100fb400d759ad0cddddf284c4b696568204d281c902fc7b0d81"},
+    {file = "cryptography-41.0.3-cp37-abi3-manylinux_2_17_x86_64.manylinux2014_x86_64.whl", hash = "sha256:84537453d57f55a50a5b6835622ee405816999a7113267739a1b4581f83535bd"},
+    {file = "cryptography-41.0.3-cp37-abi3-manylinux_2_28_aarch64.whl", hash = "sha256:3fb248989b6363906827284cd20cca63bb1a757e0a2864d4c1682a985e3dca47"},
+    {file = "cryptography-41.0.3-cp37-abi3-manylinux_2_28_x86_64.whl", hash = "sha256:42cb413e01a5d36da9929baa9d70ca90d90b969269e5a12d39c1e0d475010116"},
+    {file = "cryptography-41.0.3-cp37-abi3-musllinux_1_1_aarch64.whl", hash = "sha256:aeb57c421b34af8f9fe830e1955bf493a86a7996cc1338fe41b30047d16e962c"},
+    {file = "cryptography-41.0.3-cp37-abi3-musllinux_1_1_x86_64.whl", hash = "sha256:6af1c6387c531cd364b72c28daa29232162010d952ceb7e5ca8e2827526aceae"},
+    {file = "cryptography-41.0.3-cp37-abi3-win32.whl", hash = "sha256:0d09fb5356f975974dbcb595ad2d178305e5050656affb7890a1583f5e02a306"},
+    {file = "cryptography-41.0.3-cp37-abi3-win_amd64.whl", hash = "sha256:a983e441a00a9d57a4d7c91b3116a37ae602907a7618b882c8013b5762e80574"},
+    {file = "cryptography-41.0.3-pp310-pypy310_pp73-macosx_10_12_x86_64.whl", hash = "sha256:5259cb659aa43005eb55a0e4ff2c825ca111a0da1814202c64d28a985d33b087"},
+    {file = "cryptography-41.0.3-pp310-pypy310_pp73-manylinux_2_28_aarch64.whl", hash = "sha256:67e120e9a577c64fe1f611e53b30b3e69744e5910ff3b6e97e935aeb96005858"},
+    {file = "cryptography-41.0.3-pp310-pypy310_pp73-manylinux_2_28_x86_64.whl", hash = "sha256:7efe8041897fe7a50863e51b77789b657a133c75c3b094e51b5e4b5cec7bf906"},
+    {file = "cryptography-41.0.3-pp310-pypy310_pp73-win_amd64.whl", hash = "sha256:ce785cf81a7bdade534297ef9e490ddff800d956625020ab2ec2780a556c313e"},
+    {file = "cryptography-41.0.3-pp38-pypy38_pp73-macosx_10_12_x86_64.whl", hash = "sha256:57a51b89f954f216a81c9d057bf1a24e2f36e764a1ca9a501a6964eb4a6800dd"},
+    {file = "cryptography-41.0.3-pp38-pypy38_pp73-manylinux_2_28_aarch64.whl", hash = "sha256:4c2f0d35703d61002a2bbdcf15548ebb701cfdd83cdc12471d2bae80878a4207"},
+    {file = "cryptography-41.0.3-pp38-pypy38_pp73-manylinux_2_28_x86_64.whl", hash = "sha256:23c2d778cf829f7d0ae180600b17e9fceea3c2ef8b31a99e3c694cbbf3a24b84"},
+    {file = "cryptography-41.0.3-pp38-pypy38_pp73-win_amd64.whl", hash = "sha256:95dd7f261bb76948b52a5330ba5202b91a26fbac13ad0e9fc8a3ac04752058c7"},
+    {file = "cryptography-41.0.3-pp39-pypy39_pp73-macosx_10_12_x86_64.whl", hash = "sha256:41d7aa7cdfded09b3d73a47f429c298e80796c8e825ddfadc84c8a7f12df212d"},
+    {file = "cryptography-41.0.3-pp39-pypy39_pp73-manylinux_2_28_aarch64.whl", hash = "sha256:d0d651aa754ef58d75cec6edfbd21259d93810b73f6ec246436a21b7841908de"},
+    {file = "cryptography-41.0.3-pp39-pypy39_pp73-manylinux_2_28_x86_64.whl", hash = "sha256:ab8de0d091acbf778f74286f4989cf3d1528336af1b59f3e5d2ebca8b5fe49e1"},
+    {file = "cryptography-41.0.3-pp39-pypy39_pp73-win_amd64.whl", hash = "sha256:a74fbcdb2a0d46fe00504f571a2a540532f4c188e6ccf26f1f178480117b33c4"},
+    {file = "cryptography-41.0.3.tar.gz", hash = "sha256:6d192741113ef5e30d89dcb5b956ef4e1578f304708701b8b73d38e3e1461f34"},
 ]
-cupy-cuda11x = [
-    {file = "cupy_cuda11x-11.6.0-cp310-cp310-manylinux1_x86_64.whl", hash = "sha256:1b9914f57868a1559e9bfabfbae8c724585914e8e1f277acb9cdb6aa0756eaa4"},
-    {file = "cupy_cuda11x-11.6.0-cp310-cp310-win_amd64.whl", hash = "sha256:ac8dd082ddb00996bc4d37cc5765907048f467aadb61bcbff25f3c2a88c50583"},
-    {file = "cupy_cuda11x-11.6.0-cp311-cp311-manylinux1_x86_64.whl", hash = "sha256:bf7496340dfbc2eaa3e0ebfd03c4ab8b1fc36d7d14f68718c33eeb395aaa6eed"},
-    {file = "cupy_cuda11x-11.6.0-cp311-cp311-win_amd64.whl", hash = "sha256:e3bbd55c26d60069d7e5af2200fb47e7c42ca6437acac297637a2d3c00f6fe46"},
-    {file = "cupy_cuda11x-11.6.0-cp37-cp37m-manylinux1_x86_64.whl", hash = "sha256:0d7ebcfd7234946719ad28890593d9fc78fad5753ef4b073e0d7bdb7da2f5640"},
-    {file = "cupy_cuda11x-11.6.0-cp37-cp37m-win_amd64.whl", hash = "sha256:3bc3f81fbc5a86c7155c6036809f2ada4023fc0870dce158d3d9f6d0b575727f"},
-    {file = "cupy_cuda11x-11.6.0-cp38-cp38-manylinux1_x86_64.whl", hash = "sha256:1d6810568e683cb153972b3019ddb5efc369036511122117d9eda09cf84d1042"},
-    {file = "cupy_cuda11x-11.6.0-cp38-cp38-win_amd64.whl", hash = "sha256:31c1ec72ffe9ad6fda9fb0a2aff1fcca38da66a8e521e333bae0d67ebc80ead0"},
-    {file = "cupy_cuda11x-11.6.0-cp39-cp39-manylinux1_x86_64.whl", hash = "sha256:6a4822daadfce0464cb619099eb82c7ba30ae7755d6869ba5eba1c675a9eed67"},
-    {file = "cupy_cuda11x-11.6.0-cp39-cp39-win_amd64.whl", hash = "sha256:3d0f44d747b38ce2b213d64270265f953b68cf29860ec5fa65848b9faaea3fc1"},
+
+[package.dependencies]
+cffi = ">=1.12"
+
+[package.extras]
+docs = ["sphinx (>=5.3.0)", "sphinx-rtd-theme (>=1.1.1)"]
+docstest = ["pyenchant (>=1.6.11)", "sphinxcontrib-spelling (>=4.0.1)", "twine (>=1.12.0)"]
+nox = ["nox"]
+pep8test = ["black", "check-sdist", "mypy", "ruff"]
+sdist = ["build"]
+ssh = ["bcrypt (>=3.1.5)"]
+test = ["pretend", "pytest (>=6.2.0)", "pytest-benchmark", "pytest-cov", "pytest-xdist"]
+test-randomorder = ["pytest-randomly"]
+
+[[package]]
+name = "cupy-cuda11x"
+version = "12.2.0"
+description = "CuPy: NumPy & SciPy for GPU"
+optional = false
+python-versions = ">=3.8"
+files = [
+    {file = "cupy_cuda11x-12.2.0-cp310-cp310-manylinux2014_aarch64.whl", hash = "sha256:f3b1991e4e25f52581f79b88c8d19c3e31fa739260b7080c813d7fb287ae8e7f"},
+    {file = "cupy_cuda11x-12.2.0-cp310-cp310-manylinux2014_x86_64.whl", hash = "sha256:ac52fd24ca5769d903bd531826d0525dbeaba66c49911ae021b9702386c8b96b"},
+    {file = "cupy_cuda11x-12.2.0-cp310-cp310-win_amd64.whl", hash = "sha256:8ed1fbf14230691df3f58f841e9ca5717b4175c4276fbf88948a5bc3c6392f58"},
+    {file = "cupy_cuda11x-12.2.0-cp311-cp311-manylinux2014_aarch64.whl", hash = "sha256:28eace420c9f58fa5739294d604f8aab9118b1c764f64a3ce0691f00193b11ff"},
+    {file = "cupy_cuda11x-12.2.0-cp311-cp311-manylinux2014_x86_64.whl", hash = "sha256:fb3294a694ee40b6e22ba3345b04b2a35db8a19fac74f59dc7757ea87ab5b289"},
+    {file = "cupy_cuda11x-12.2.0-cp311-cp311-win_amd64.whl", hash = "sha256:2e502cea9d21fefd1d8fd3747c6b46d1f916550e54d859f9083b6327a8f7ff5b"},
+    {file = "cupy_cuda11x-12.2.0-cp38-cp38-manylinux2014_aarch64.whl", hash = "sha256:2fd425be7ae8f82ff68d2e8eeb37132fc9b9dfea6d3f0708419d6b9843983e42"},
+    {file = "cupy_cuda11x-12.2.0-cp38-cp38-manylinux2014_x86_64.whl", hash = "sha256:fcdfe993f87c5499898692d35d3c1f30cdd249778d6102132b5bc4a6f8a867fd"},
+    {file = "cupy_cuda11x-12.2.0-cp38-cp38-win_amd64.whl", hash = "sha256:66491d9c1ed93d4ee5b390ece92ed76a885c61859b403e3a6fd6f5b3a9ded116"},
+    {file = "cupy_cuda11x-12.2.0-cp39-cp39-manylinux2014_aarch64.whl", hash = "sha256:ededad28104d9e0c2cb02876fd2fc5c0dfec4cc66e600b7120bb4e655857c5e3"},
+    {file = "cupy_cuda11x-12.2.0-cp39-cp39-manylinux2014_x86_64.whl", hash = "sha256:ba4403d94e9eb2578f8f2667d37ef3ec8be4fbc2c7fd1ba498004d6399d0f3b6"},
+    {file = "cupy_cuda11x-12.2.0-cp39-cp39-win_amd64.whl", hash = "sha256:d01138eb7cf51583b6d67281bd39f3f241d664f2d1c65af2399ed304a609dadb"},
 ]
-cycler = [
+
+[package.dependencies]
+fastrlock = ">=0.5"
+numpy = ">=1.20,<1.27"
+
+[package.extras]
+all = ["Cython (>=0.29.22,<3)", "optuna (>=2.0)", "scipy (>=1.6,<1.13)"]
+stylecheck = ["autopep8 (==1.5.5)", "flake8 (==3.8.4)", "mypy (==1.4.1)", "pbr (==5.5.1)", "pycodestyle (==2.6.0)", "types-setuptools (==57.4.14)"]
+test = ["hypothesis (>=6.37.2,<6.55.0)", "pytest (>=7.2)"]
+
+[[package]]
+name = "cycler"
+version = "0.11.0"
+description = "Composable style cycles"
+optional = false
+python-versions = ">=3.6"
+files = [
     {file = "cycler-0.11.0-py3-none-any.whl", hash = "sha256:3a27e95f763a428a739d2add979fa7494c912a32c17c4c38c4d5f082cad165a3"},
     {file = "cycler-0.11.0.tar.gz", hash = "sha256:9c87405839a19696e837b3b818fed3f5f69f16f1eec1a1ad77e043dcea9c772f"},
 ]
-cython = [
-    {file = "Cython-0.29.32-cp27-cp27m-manylinux_2_5_i686.manylinux1_i686.whl", hash = "sha256:39afb4679b8c6bf7ccb15b24025568f4f9b4d7f9bf3cbd981021f542acecd75b"},
-    {file = "Cython-0.29.32-cp27-cp27m-manylinux_2_5_x86_64.manylinux1_x86_64.whl", hash = "sha256:dbee03b8d42dca924e6aa057b836a064c769ddfd2a4c2919e65da2c8a362d528"},
-    {file = "Cython-0.29.32-cp27-cp27mu-manylinux_2_5_i686.manylinux1_i686.whl", hash = "sha256:5ba622326f2862f9c1f99ca8d47ade49871241920a352c917e16861e25b0e5c3"},
-    {file = "Cython-0.29.32-cp27-cp27mu-manylinux_2_5_x86_64.manylinux1_x86_64.whl", hash = "sha256:e6ffa08aa1c111a1ebcbd1cf4afaaec120bc0bbdec3f2545f8bb7d3e8e77a1cd"},
-    {file = "Cython-0.29.32-cp310-cp310-manylinux_2_17_aarch64.manylinux2014_aarch64.manylinux_2_24_aarch64.whl", hash = "sha256:97335b2cd4acebf30d14e2855d882de83ad838491a09be2011745579ac975833"},
-    {file = "Cython-0.29.32-cp310-cp310-manylinux_2_17_x86_64.manylinux2014_x86_64.manylinux_2_24_x86_64.whl", hash = "sha256:06be83490c906b6429b4389e13487a26254ccaad2eef6f3d4ee21d8d3a4aaa2b"},
-    {file = "Cython-0.29.32-cp310-cp310-manylinux_2_5_i686.manylinux1_i686.manylinux_2_24_i686.whl", hash = "sha256:eefd2b9a5f38ded8d859fe96cc28d7d06e098dc3f677e7adbafda4dcdd4a461c"},
-    {file = "Cython-0.29.32-cp310-cp310-musllinux_1_1_x86_64.whl", hash = "sha256:5514f3b4122cb22317122a48e175a7194e18e1803ca555c4c959d7dfe68eaf98"},
-    {file = "Cython-0.29.32-cp311-cp311-manylinux_2_17_aarch64.manylinux2014_aarch64.manylinux_2_24_aarch64.whl", hash = "sha256:656dc5ff1d269de4d11ee8542f2ffd15ab466c447c1f10e5b8aba6f561967276"},
-    {file = "Cython-0.29.32-cp311-cp311-manylinux_2_17_x86_64.manylinux2014_x86_64.manylinux_2_24_x86_64.whl", hash = "sha256:cdf10af3e2e3279dc09fdc5f95deaa624850a53913f30350ceee824dc14fc1a6"},
-    {file = "Cython-0.29.32-cp311-cp311-manylinux_2_5_i686.manylinux1_i686.manylinux_2_24_i686.whl", hash = "sha256:3875c2b2ea752816a4d7ae59d45bb546e7c4c79093c83e3ba7f4d9051dd02928"},
-    {file = "Cython-0.29.32-cp311-cp311-musllinux_1_1_x86_64.whl", hash = "sha256:79e3bab19cf1b021b613567c22eb18b76c0c547b9bc3903881a07bfd9e7e64cf"},
-    {file = "Cython-0.29.32-cp35-cp35m-manylinux_2_5_i686.manylinux1_i686.whl", hash = "sha256:b0595aee62809ba353cebc5c7978e0e443760c3e882e2c7672c73ffe46383673"},
-    {file = "Cython-0.29.32-cp35-cp35m-manylinux_2_5_x86_64.manylinux1_x86_64.whl", hash = "sha256:0ea8267fc373a2c5064ad77d8ff7bf0ea8b88f7407098ff51829381f8ec1d5d9"},
-    {file = "Cython-0.29.32-cp36-cp36m-manylinux_2_17_aarch64.manylinux2014_aarch64.manylinux_2_24_aarch64.whl", hash = "sha256:c8e8025f496b5acb6ba95da2fb3e9dacffc97d9a92711aacfdd42f9c5927e094"},
-    {file = "Cython-0.29.32-cp36-cp36m-manylinux_2_17_x86_64.manylinux2014_x86_64.manylinux_2_24_x86_64.whl", hash = "sha256:afbce249133a830f121b917f8c9404a44f2950e0e4f5d1e68f043da4c2e9f457"},
-    {file = "Cython-0.29.32-cp36-cp36m-manylinux_2_5_i686.manylinux1_i686.manylinux_2_24_i686.whl", hash = "sha256:513e9707407608ac0d306c8b09d55a28be23ea4152cbd356ceaec0f32ef08d65"},
-    {file = "Cython-0.29.32-cp36-cp36m-manylinux_2_5_i686.manylinux1_i686.whl", hash = "sha256:e83228e0994497900af954adcac27f64c9a57cd70a9ec768ab0cb2c01fd15cf1"},
-    {file = "Cython-0.29.32-cp36-cp36m-manylinux_2_5_x86_64.manylinux1_x86_64.whl", hash = "sha256:ea1dcc07bfb37367b639415333cfbfe4a93c3be340edf1db10964bc27d42ed64"},
-    {file = "Cython-0.29.32-cp36-cp36m-musllinux_1_1_x86_64.whl", hash = "sha256:8669cadeb26d9a58a5e6b8ce34d2c8986cc3b5c0bfa77eda6ceb471596cb2ec3"},
-    {file = "Cython-0.29.32-cp37-cp37m-manylinux_2_17_aarch64.manylinux2014_aarch64.manylinux_2_24_aarch64.whl", hash = "sha256:ed087eeb88a8cf96c60fb76c5c3b5fb87188adee5e179f89ec9ad9a43c0c54b3"},
-    {file = "Cython-0.29.32-cp37-cp37m-manylinux_2_17_x86_64.manylinux2014_x86_64.manylinux_2_24_x86_64.whl", hash = "sha256:3f85eb2343d20d91a4ea9cf14e5748092b376a64b7e07fc224e85b2753e9070b"},
-    {file = "Cython-0.29.32-cp37-cp37m-manylinux_2_5_i686.manylinux1_i686.manylinux_2_24_i686.whl", hash = "sha256:63b79d9e1f7c4d1f498ab1322156a0d7dc1b6004bf981a8abda3f66800e140cd"},
-    {file = "Cython-0.29.32-cp37-cp37m-manylinux_2_5_i686.manylinux1_i686.whl", hash = "sha256:e1958e0227a4a6a2c06fd6e35b7469de50adf174102454db397cec6e1403cce3"},
-    {file = "Cython-0.29.32-cp37-cp37m-manylinux_2_5_x86_64.manylinux1_x86_64.whl", hash = "sha256:856d2fec682b3f31583719cb6925c6cdbb9aa30f03122bcc45c65c8b6f515754"},
-    {file = "Cython-0.29.32-cp37-cp37m-musllinux_1_1_x86_64.whl", hash = "sha256:479690d2892ca56d34812fe6ab8f58e4b2e0129140f3d94518f15993c40553da"},
-    {file = "Cython-0.29.32-cp38-cp38-manylinux_2_17_aarch64.manylinux2014_aarch64.manylinux_2_24_aarch64.whl", hash = "sha256:67fdd2f652f8d4840042e2d2d91e15636ba2bcdcd92e7e5ffbc68e6ef633a754"},
-    {file = "Cython-0.29.32-cp38-cp38-manylinux_2_17_x86_64.manylinux2014_x86_64.manylinux_2_24_x86_64.whl", hash = "sha256:4a4b03ab483271f69221c3210f7cde0dcc456749ecf8243b95bc7a701e5677e0"},
-    {file = "Cython-0.29.32-cp38-cp38-manylinux_2_5_i686.manylinux1_i686.manylinux_2_24_i686.whl", hash = "sha256:40eff7aa26e91cf108fd740ffd4daf49f39b2fdffadabc7292b4b7dc5df879f0"},
-    {file = "Cython-0.29.32-cp38-cp38-manylinux_2_5_i686.manylinux1_i686.whl", hash = "sha256:0bbc27abdf6aebfa1bce34cd92bd403070356f28b0ecb3198ff8a182791d58b9"},
-    {file = "Cython-0.29.32-cp38-cp38-manylinux_2_5_x86_64.manylinux1_x86_64.whl", hash = "sha256:cddc47ec746a08603037731f5d10aebf770ced08666100bd2cdcaf06a85d4d1b"},
-    {file = "Cython-0.29.32-cp38-cp38-musllinux_1_1_x86_64.whl", hash = "sha256:eca3065a1279456e81c615211d025ea11bfe4e19f0c5650b859868ca04b3fcbd"},
-    {file = "Cython-0.29.32-cp39-cp39-manylinux_2_17_aarch64.manylinux2014_aarch64.manylinux_2_24_aarch64.whl", hash = "sha256:d968ffc403d92addf20b68924d95428d523436adfd25cf505d427ed7ba3bee8b"},
-    {file = "Cython-0.29.32-cp39-cp39-manylinux_2_17_x86_64.manylinux2014_x86_64.manylinux_2_24_x86_64.whl", hash = "sha256:f3fd44cc362eee8ae569025f070d56208908916794b6ab21e139cea56470a2b3"},
-    {file = "Cython-0.29.32-cp39-cp39-manylinux_2_5_i686.manylinux1_i686.manylinux_2_24_i686.whl", hash = "sha256:b6da3063c5c476f5311fd76854abae6c315f1513ef7d7904deed2e774623bbb9"},
-    {file = "Cython-0.29.32-cp39-cp39-manylinux_2_5_i686.manylinux1_i686.whl", hash = "sha256:061e25151c38f2361bc790d3bcf7f9d9828a0b6a4d5afa56fbed3bd33fb2373a"},
-    {file = "Cython-0.29.32-cp39-cp39-manylinux_2_5_x86_64.manylinux1_x86_64.whl", hash = "sha256:f9944013588a3543fca795fffb0a070a31a243aa4f2d212f118aa95e69485831"},
-    {file = "Cython-0.29.32-cp39-cp39-musllinux_1_1_x86_64.whl", hash = "sha256:07d173d3289415bb496e72cb0ddd609961be08fe2968c39094d5712ffb78672b"},
-    {file = "Cython-0.29.32-py2.py3-none-any.whl", hash = "sha256:eeb475eb6f0ccf6c039035eb4f0f928eb53ead88777e0a760eccb140ad90930b"},
-    {file = "Cython-0.29.32.tar.gz", hash = "sha256:8733cf4758b79304f2a4e39ebfac5e92341bce47bcceb26c1254398b2f8c1af7"},
+
+[[package]]
+name = "cython"
+version = "3.0.0"
+description = "The Cython compiler for writing C extensions in the Python language."
+optional = false
+python-versions = ">=2.7, !=3.0.*, !=3.1.*, !=3.2.*, !=3.3.*"
+files = [
+    {file = "Cython-3.0.0-cp310-cp310-macosx_10_9_x86_64.whl", hash = "sha256:7c7d728e1a49ad01d41181e3a9ea80b8d14e825f4679e4dd837cbf7bca7998a5"},
+    {file = "Cython-3.0.0-cp310-cp310-manylinux_2_17_aarch64.manylinux2014_aarch64.whl", hash = "sha256:626a4a6ef4b7ced87c348ea805488e4bd39dad9d0b39659aa9e1040b62bbfedf"},
+    {file = "Cython-3.0.0-cp310-cp310-manylinux_2_17_x86_64.manylinux2014_x86_64.whl", hash = "sha256:33c900d1ca9f622b969ac7d8fc44bdae140a4a6c7d8819413b51f3ccd0586a09"},
+    {file = "Cython-3.0.0-cp310-cp310-manylinux_2_5_i686.manylinux1_i686.manylinux_2_17_i686.manylinux2014_i686.whl", hash = "sha256:a65bc50dc1bc2faeafd9425defbdef6a468974f5c4192497ff7f14adccfdcd32"},
+    {file = "Cython-3.0.0-cp310-cp310-musllinux_1_1_aarch64.whl", hash = "sha256:3b71b399b10b038b056ad12dce1e317a8aa7a96e99de7e4fa2fa5d1c9415cfb9"},
+    {file = "Cython-3.0.0-cp310-cp310-musllinux_1_1_x86_64.whl", hash = "sha256:f42f304c097cc53e9eb5f1a1d150380353d5018a3191f1b77f0de353c762181e"},
+    {file = "Cython-3.0.0-cp310-cp310-win32.whl", hash = "sha256:3e234e2549e808d9259fdb23ebcfd145be30c638c65118326ec33a8d29248dc2"},
+    {file = "Cython-3.0.0-cp310-cp310-win_amd64.whl", hash = "sha256:829c8333195100448a23863cf64a07e1334fae6a275aefe871458937911531b6"},
+    {file = "Cython-3.0.0-cp311-cp311-macosx_10_9_x86_64.whl", hash = "sha256:06db81b1a01858fcc406616f8528e686ffb6cf7c3d78fb83767832bfecea8ad8"},
+    {file = "Cython-3.0.0-cp311-cp311-manylinux_2_17_aarch64.manylinux2014_aarch64.whl", hash = "sha256:c93634845238645ce7abf63a56b1c5b6248189005c7caff898fd4a0dac1c5e1e"},
+    {file = "Cython-3.0.0-cp311-cp311-manylinux_2_17_x86_64.manylinux2014_x86_64.whl", hash = "sha256:aa606675c6bd23478b1d174e2a84e3c5a2c660968f97dc455afe0fae198f9d3d"},
+    {file = "Cython-3.0.0-cp311-cp311-manylinux_2_5_i686.manylinux1_i686.manylinux_2_17_i686.manylinux2014_i686.whl", hash = "sha256:d3355e6f690184f984eeb108b0f5bbc4bcf8b9444f8168933acf79603abf7baf"},
+    {file = "Cython-3.0.0-cp311-cp311-musllinux_1_1_aarch64.whl", hash = "sha256:93a34e1ca8afa4b7075b02ed14a7e4969256297029fb1bfd4cbe48f7290dbcff"},
+    {file = "Cython-3.0.0-cp311-cp311-musllinux_1_1_x86_64.whl", hash = "sha256:bb1165ca9e78823f9ad1efa5b3d83156f868eabd679a615d140a3021bb92cd65"},
+    {file = "Cython-3.0.0-cp311-cp311-win32.whl", hash = "sha256:2fadde1da055944f5e1e17625055f54ddd11f451889110278ef30e07bd5e1695"},
+    {file = "Cython-3.0.0-cp311-cp311-win_amd64.whl", hash = "sha256:254ed1f03a6c237fa64f0c6e44862058de65bfa2e6a3b48ca3c205492e0653aa"},
+    {file = "Cython-3.0.0-cp312-cp312-macosx_10_9_x86_64.whl", hash = "sha256:4e212237b7531759befb92699c452cd65074a78051ae4ee36ff8b237395ecf3d"},
+    {file = "Cython-3.0.0-cp312-cp312-manylinux_2_17_aarch64.manylinux2014_aarch64.whl", hash = "sha256:9f29307463eba53747b31f71394ed087e3e3e264dcc433e62de1d51f5c0c966c"},
+    {file = "Cython-3.0.0-cp312-cp312-manylinux_2_17_x86_64.manylinux2014_x86_64.whl", hash = "sha256:53328a8af0806bebbdb48a4191883b11ee9d9dfb084d84f58fa5a8ab58baefc9"},
+    {file = "Cython-3.0.0-cp312-cp312-manylinux_2_5_i686.manylinux1_i686.manylinux_2_17_i686.manylinux2014_i686.whl", hash = "sha256:5962e70b15e863e72bed6910e8c6ffef77d36cc98e2b31c474378f3b9e49b0e3"},
+    {file = "Cython-3.0.0-cp312-cp312-musllinux_1_1_aarch64.whl", hash = "sha256:9e69139f4e60ab14c50767a568612ea64d6907e9c8e0289590a170eb495e005f"},
+    {file = "Cython-3.0.0-cp312-cp312-musllinux_1_1_x86_64.whl", hash = "sha256:c40bdbcb2286f0aeeb5df9ce53d45da2d2a9b36a16b331cd0809d212d22a8fc7"},
+    {file = "Cython-3.0.0-cp312-cp312-win32.whl", hash = "sha256:8abb8915eb2e57fa53d918afe641c05d1bcc6ed1913682ec1f28de71f4e3f398"},
+    {file = "Cython-3.0.0-cp312-cp312-win_amd64.whl", hash = "sha256:30a4bd2481e59bd7ab2539f835b78edc19fc455811e476916f56026b93afd28b"},
+    {file = "Cython-3.0.0-cp36-cp36m-macosx_10_9_x86_64.whl", hash = "sha256:0e1e4b7e4bfbf22fecfa5b852f0e499c442d4853b7ebd33ae37cdec9826ed5d8"},
+    {file = "Cython-3.0.0-cp36-cp36m-manylinux_2_17_aarch64.manylinux2014_aarch64.whl", hash = "sha256:6b00df42cdd1a285a64491ba23de08ab14169d3257c840428d40eb7e8e9979af"},
+    {file = "Cython-3.0.0-cp36-cp36m-manylinux_2_17_x86_64.manylinux2014_x86_64.whl", hash = "sha256:650d03ddddc08b051b4659778733f0f173ca7d327415755c05d265a6c1ba02fb"},
+    {file = "Cython-3.0.0-cp36-cp36m-manylinux_2_5_i686.manylinux1_i686.manylinux_2_17_i686.manylinux2014_i686.whl", hash = "sha256:4965f2ebade17166f21a508d66dd60d2a0b3a3b90abe3f72003baa17ae020dd6"},
+    {file = "Cython-3.0.0-cp36-cp36m-musllinux_1_1_aarch64.whl", hash = "sha256:4123c8d03167803df31da6b39de167cb9c04ac0aa4e35d4e5aa9d08ad511b84d"},
+    {file = "Cython-3.0.0-cp36-cp36m-musllinux_1_1_x86_64.whl", hash = "sha256:296c53b6c0030cf82987eef163444e8d7631cc139d995f9d58679d9fd1ddbf31"},
+    {file = "Cython-3.0.0-cp36-cp36m-win32.whl", hash = "sha256:0d2c1e172f1c81bafcca703093608e10dc16e3e2d24c5644c17606c7fdb1792c"},
+    {file = "Cython-3.0.0-cp36-cp36m-win_amd64.whl", hash = "sha256:bc816d8eb3686d6f8d165f4156bac18c1147e1035dc28a76742d0b7fb5b7c032"},
+    {file = "Cython-3.0.0-cp37-cp37m-macosx_10_9_x86_64.whl", hash = "sha256:8d86651347bbdbac1aca1824696c5e4c0a3b162946c422edcca2be12a03744d1"},
+    {file = "Cython-3.0.0-cp37-cp37m-manylinux_2_17_aarch64.manylinux2014_aarch64.whl", hash = "sha256:84176bd04ce9f3cc8799b47ec6d1959fa1ea5e71424507df7bbf0b0915bbedef"},
+    {file = "Cython-3.0.0-cp37-cp37m-manylinux_2_17_x86_64.manylinux2014_x86_64.whl", hash = "sha256:35abcf07b8277ec95bbe49a07b5c8760a2d941942ccfe759a94c8d2fe5602e9f"},
+    {file = "Cython-3.0.0-cp37-cp37m-manylinux_2_5_i686.manylinux1_i686.manylinux_2_17_i686.manylinux2014_i686.whl", hash = "sha256:a44d6b9a29b2bff38bb648577b2fcf6a68cf8b1783eee89c2eb749f69494b98d"},
+    {file = "Cython-3.0.0-cp37-cp37m-musllinux_1_1_aarch64.whl", hash = "sha256:4dc6bbe7cf079db37f1ebb9b0f10d0d7f29e293bb8688e92d50b5ea7a91d82f3"},
+    {file = "Cython-3.0.0-cp37-cp37m-musllinux_1_1_x86_64.whl", hash = "sha256:e28763e75e380b8be62b02266a7995a781997c97c119efbdccb8fb954bcd7574"},
+    {file = "Cython-3.0.0-cp37-cp37m-win32.whl", hash = "sha256:edae615cb4af51d5173e76ba9aea212424d025c57012e9cdf2f131f774c5ba71"},
+    {file = "Cython-3.0.0-cp37-cp37m-win_amd64.whl", hash = "sha256:20c604e974832aaf8b7a1f5455ee7274b34df62a35ee095cd7d2ed7e818e6c53"},
+    {file = "Cython-3.0.0-cp38-cp38-macosx_10_9_x86_64.whl", hash = "sha256:c85fd2b1cbd9400d60ebe074795bb9a9188752f1612be3b35b0831a24879b91f"},
+    {file = "Cython-3.0.0-cp38-cp38-manylinux_2_17_aarch64.manylinux2014_aarch64.whl", hash = "sha256:090256c687106932339f87f888b95f0d69c617bc9b18801555545b695d29d8ab"},
+    {file = "Cython-3.0.0-cp38-cp38-manylinux_2_17_x86_64.manylinux2014_x86_64.whl", hash = "sha256:cec2a67a0a7d9d4399758c0657ca03e5912e37218859cfbf046242cc532bfb3b"},
+    {file = "Cython-3.0.0-cp38-cp38-manylinux_2_5_i686.manylinux1_i686.manylinux_2_17_i686.manylinux2014_i686.whl", hash = "sha256:a1cdd01ce45333bc264a218c6e183700d6b998f029233f586a53c9b13455c2d2"},
+    {file = "Cython-3.0.0-cp38-cp38-musllinux_1_1_aarch64.whl", hash = "sha256:ecee663d2d50ca939fc5db81f2f8a219c2417b4651ad84254c50a03a9cb1aadd"},
+    {file = "Cython-3.0.0-cp38-cp38-musllinux_1_1_x86_64.whl", hash = "sha256:30f10e79393b411af7677c270ea69807acb9fc30205c8ff25561f4deef780ec1"},
+    {file = "Cython-3.0.0-cp38-cp38-win32.whl", hash = "sha256:609777d3a7a0a23b225e84d967af4ad2485c8bdfcacef8037cf197e87d431ca0"},
+    {file = "Cython-3.0.0-cp38-cp38-win_amd64.whl", hash = "sha256:7f4a6dfd42ae0a45797f50fc4f6add702abf46ab3e7cd61811a6c6a97a40e1a2"},
+    {file = "Cython-3.0.0-cp39-cp39-macosx_10_9_x86_64.whl", hash = "sha256:2d8158277c8942c0b20ff4c074fe6a51c5b89e6ac60cef606818de8c92773596"},
+    {file = "Cython-3.0.0-cp39-cp39-manylinux_2_17_aarch64.manylinux2014_aarch64.whl", hash = "sha256:54e34f99b2a8c1e11478541b2822e6408c132b98b6b8f5ed89411e5e906631ea"},
+    {file = "Cython-3.0.0-cp39-cp39-manylinux_2_17_x86_64.manylinux2014_x86_64.whl", hash = "sha256:877d1c8745df59dd2061a0636c602729e9533ba13f13aa73a498f68662e1cbde"},
+    {file = "Cython-3.0.0-cp39-cp39-manylinux_2_5_i686.manylinux1_i686.manylinux_2_17_i686.manylinux2014_i686.whl", hash = "sha256:204690be60f0ff32eb70b04f28ef0d1e50ffd7b3f77ba06a7dc2389ee3b848e0"},
+    {file = "Cython-3.0.0-cp39-cp39-musllinux_1_1_aarch64.whl", hash = "sha256:06fcb4628ccce2ba5abc8630adbeaf4016f63a359b4c6c3827b2d80e0673981c"},
+    {file = "Cython-3.0.0-cp39-cp39-musllinux_1_1_x86_64.whl", hash = "sha256:090e24cfa31c926d0b13d8bb2ef48175acdd061ae1413343c94a2b12a4a4fa6f"},
+    {file = "Cython-3.0.0-cp39-cp39-win32.whl", hash = "sha256:4cd00f2158dc00f7f93a92444d0f663eda124c9c29bbbd658964f4e89c357fe8"},
+    {file = "Cython-3.0.0-cp39-cp39-win_amd64.whl", hash = "sha256:5b4cc896d49ce2bae8d6a030f9a4c64965b59c38acfbf4617685e17f7fcf1731"},
+    {file = "Cython-3.0.0-py2.py3-none-any.whl", hash = "sha256:ff1aef1a03cfe293237c7a86ae9625b0411b2df30c53d1a7f29a8d381f38a1df"},
+    {file = "Cython-3.0.0.tar.gz", hash = "sha256:350b18f9673e63101dbbfcf774ee2f57c20ac4636d255741d76ca79016b1bd82"},
 ]
-datadog = [
-    {file = "datadog-0.44.0-py2.py3-none-any.whl", hash = "sha256:57c4878d3a8351f652792cdba78050274789dcc44313adec096e87f9d3ca5992"},
-    {file = "datadog-0.44.0.tar.gz", hash = "sha256:071170f0c7ef22511dbf7f9bd76c4be500ee2d3d52072900a5c87b5495d2c733"},
+
+[[package]]
+name = "datadog"
+version = "0.46.0"
+description = "The Datadog Python library"
+optional = false
+python-versions = "!=3.0.*,!=3.1.*,!=3.2.*,!=3.3.*,!=3.4.*,!=3.5.*,!=3.6.*,>=2.7"
+files = [
+    {file = "datadog-0.46.0-py2.py3-none-any.whl", hash = "sha256:3d7bcda6177b43be4cdb52e16b4bdd4f9005716c0dd7cfea009e018c36bb7a3d"},
+    {file = "datadog-0.46.0.tar.gz", hash = "sha256:e4fbc92a85e2b0919a226896ae45fc5e4b356c0c57f1c2659659dfbe0789c674"},
 ]
-debugpy = [
-    {file = "debugpy-1.6.3-cp310-cp310-macosx_10_15_x86_64.whl", hash = "sha256:c4b2bd5c245eeb49824bf7e539f95fb17f9a756186e51c3e513e32999d8846f3"},
-    {file = "debugpy-1.6.3-cp310-cp310-manylinux_2_5_x86_64.manylinux1_x86_64.manylinux_2_12_x86_64.manylinux2010_x86_64.whl", hash = "sha256:b8deaeb779699350deeed835322730a3efec170b88927debc9ba07a1a38e2585"},
-    {file = "debugpy-1.6.3-cp310-cp310-win32.whl", hash = "sha256:fc233a0160f3b117b20216f1169e7211b83235e3cd6749bcdd8dbb72177030c7"},
-    {file = "debugpy-1.6.3-cp310-cp310-win_amd64.whl", hash = "sha256:dda8652520eae3945833e061cbe2993ad94a0b545aebd62e4e6b80ee616c76b2"},
-    {file = "debugpy-1.6.3-cp37-cp37m-macosx_10_15_x86_64.whl", hash = "sha256:d5c814596a170a0a58fa6fad74947e30bfd7e192a5d2d7bd6a12156c2899e13a"},
-    {file = "debugpy-1.6.3-cp37-cp37m-manylinux_2_5_x86_64.manylinux1_x86_64.manylinux_2_12_x86_64.manylinux2010_x86_64.whl", hash = "sha256:c4cd6f37e3c168080d61d698390dfe2cd9e74ebf80b448069822a15dadcda57d"},
-    {file = "debugpy-1.6.3-cp37-cp37m-win32.whl", hash = "sha256:3c9f985944a30cfc9ae4306ac6a27b9c31dba72ca943214dad4a0ab3840f6161"},
-    {file = "debugpy-1.6.3-cp37-cp37m-win_amd64.whl", hash = "sha256:5ad571a36cec137ae6ed951d0ff75b5e092e9af6683da084753231150cbc5b25"},
-    {file = "debugpy-1.6.3-cp38-cp38-macosx_10_15_x86_64.whl", hash = "sha256:adcfea5ea06d55d505375995e150c06445e2b20cd12885bcae566148c076636b"},
-    {file = "debugpy-1.6.3-cp38-cp38-manylinux_2_5_x86_64.manylinux1_x86_64.manylinux_2_12_x86_64.manylinux2010_x86_64.whl", hash = "sha256:daadab4403427abd090eccb38d8901afd8b393e01fd243048fab3f1d7132abb4"},
-    {file = "debugpy-1.6.3-cp38-cp38-win32.whl", hash = "sha256:6efc30325b68e451118b795eff6fe8488253ca3958251d5158106d9c87581bc6"},
-    {file = "debugpy-1.6.3-cp38-cp38-win_amd64.whl", hash = "sha256:86d784b72c5411c833af1cd45b83d80c252b77c3bfdb43db17c441d772f4c734"},
-    {file = "debugpy-1.6.3-cp39-cp39-macosx_10_15_x86_64.whl", hash = "sha256:4e255982552b0edfe3a6264438dbd62d404baa6556a81a88f9420d3ed79b06ae"},
-    {file = "debugpy-1.6.3-cp39-cp39-manylinux_2_5_x86_64.manylinux1_x86_64.manylinux_2_12_x86_64.manylinux2010_x86_64.whl", hash = "sha256:cca23cb6161ac89698d629d892520327dd1be9321c0960e610bbcb807232b45d"},
-    {file = "debugpy-1.6.3-cp39-cp39-win32.whl", hash = "sha256:7c302095a81be0d5c19f6529b600bac971440db3e226dce85347cc27e6a61908"},
-    {file = "debugpy-1.6.3-cp39-cp39-win_amd64.whl", hash = "sha256:34d2cdd3a7c87302ba5322b86e79c32c2115be396f3f09ca13306d8a04fe0f16"},
-    {file = "debugpy-1.6.3-py2.py3-none-any.whl", hash = "sha256:84c39940a0cac410bf6aa4db00ba174f973eef521fbe9dd058e26bcabad89c4f"},
-    {file = "debugpy-1.6.3.zip", hash = "sha256:e8922090514a890eec99cfb991bab872dd2e353ebb793164d5f01c362b9a40bf"},
+
+[package.dependencies]
+requests = ">=2.6.0"
+
+[[package]]
+name = "debugpy"
+version = "1.6.7.post1"
+description = "An implementation of the Debug Adapter Protocol for Python"
+optional = false
+python-versions = ">=3.7"
+files = [
+    {file = "debugpy-1.6.7.post1-cp310-cp310-macosx_11_0_x86_64.whl", hash = "sha256:903bd61d5eb433b6c25b48eae5e23821d4c1a19e25c9610205f5aeaccae64e32"},
+    {file = "debugpy-1.6.7.post1-cp310-cp310-manylinux_2_17_x86_64.manylinux2014_x86_64.whl", hash = "sha256:d16882030860081e7dd5aa619f30dec3c2f9a421e69861125f83cc372c94e57d"},
+    {file = "debugpy-1.6.7.post1-cp310-cp310-win32.whl", hash = "sha256:eea8d8cfb9965ac41b99a61f8e755a8f50e9a20330938ad8271530210f54e09c"},
+    {file = "debugpy-1.6.7.post1-cp310-cp310-win_amd64.whl", hash = "sha256:85969d864c45f70c3996067cfa76a319bae749b04171f2cdeceebe4add316155"},
+    {file = "debugpy-1.6.7.post1-cp37-cp37m-macosx_11_0_x86_64.whl", hash = "sha256:890f7ab9a683886a0f185786ffbda3b46495c4b929dab083b8c79d6825832a52"},
+    {file = "debugpy-1.6.7.post1-cp37-cp37m-manylinux_2_17_x86_64.manylinux2014_x86_64.whl", hash = "sha256:d4ac7a4dba28801d184b7fc0e024da2635ca87d8b0a825c6087bb5168e3c0d28"},
+    {file = "debugpy-1.6.7.post1-cp37-cp37m-win32.whl", hash = "sha256:3370ef1b9951d15799ef7af41f8174194f3482ee689988379763ef61a5456426"},
+    {file = "debugpy-1.6.7.post1-cp37-cp37m-win_amd64.whl", hash = "sha256:65b28435a17cba4c09e739621173ff90c515f7b9e8ea469b92e3c28ef8e5cdfb"},
+    {file = "debugpy-1.6.7.post1-cp38-cp38-macosx_11_0_x86_64.whl", hash = "sha256:92b6dae8bfbd497c90596bbb69089acf7954164aea3228a99d7e43e5267f5b36"},
+    {file = "debugpy-1.6.7.post1-cp38-cp38-manylinux_2_17_x86_64.manylinux2014_x86_64.whl", hash = "sha256:72f5d2ecead8125cf669e62784ef1e6300f4067b0f14d9f95ee00ae06fc7c4f7"},
+    {file = "debugpy-1.6.7.post1-cp38-cp38-win32.whl", hash = "sha256:f0851403030f3975d6e2eaa4abf73232ab90b98f041e3c09ba33be2beda43fcf"},
+    {file = "debugpy-1.6.7.post1-cp38-cp38-win_amd64.whl", hash = "sha256:3de5d0f97c425dc49bce4293df6a04494309eedadd2b52c22e58d95107e178d9"},
+    {file = "debugpy-1.6.7.post1-cp39-cp39-macosx_11_0_x86_64.whl", hash = "sha256:38651c3639a4e8bbf0ca7e52d799f6abd07d622a193c406be375da4d510d968d"},
+    {file = "debugpy-1.6.7.post1-cp39-cp39-manylinux_2_17_x86_64.manylinux2014_x86_64.whl", hash = "sha256:038c51268367c9c935905a90b1c2d2dbfe304037c27ba9d19fe7409f8cdc710c"},
+    {file = "debugpy-1.6.7.post1-cp39-cp39-win32.whl", hash = "sha256:4b9eba71c290852f959d2cf8a03af28afd3ca639ad374d393d53d367f7f685b2"},
+    {file = "debugpy-1.6.7.post1-cp39-cp39-win_amd64.whl", hash = "sha256:973a97ed3b434eab0f792719a484566c35328196540676685c975651266fccf9"},
+    {file = "debugpy-1.6.7.post1-py2.py3-none-any.whl", hash = "sha256:1093a5c541af079c13ac8c70ab8b24d1d35c8cacb676306cf11e57f699c02926"},
+    {file = "debugpy-1.6.7.post1.zip", hash = "sha256:fe87ec0182ef624855d05e6ed7e0b7cb1359d2ffa2a925f8ec2d22e98b75d0ca"},
 ]
-decorator = [
+
+[[package]]
+name = "decorator"
+version = "5.1.1"
+description = "Decorators for Humans"
+optional = false
+python-versions = ">=3.5"
+files = [
     {file = "decorator-5.1.1-py3-none-any.whl", hash = "sha256:b8c3f85900b9dc423225913c5aace94729fe1fa9763b38939a95226f02d37186"},
     {file = "decorator-5.1.1.tar.gz", hash = "sha256:637996211036b6385ef91435e4fae22989472f9d571faba8927ba8253acbc330"},
 ]
-defusedxml = [
+
+[[package]]
+name = "defusedxml"
+version = "0.7.1"
+description = "XML bomb protection for Python stdlib modules"
+optional = false
+python-versions = ">=2.7, !=3.0.*, !=3.1.*, !=3.2.*, !=3.3.*, !=3.4.*"
+files = [
     {file = "defusedxml-0.7.1-py2.py3-none-any.whl", hash = "sha256:a352e7e428770286cc899e2542b6cdaedb2b4953ff269a210103ec58f6198a61"},
     {file = "defusedxml-0.7.1.tar.gz", hash = "sha256:1bb3032db185915b62d7c6209c5a8792be6a32ab2fedacc84e01b52c51aa3e69"},
 ]
-deprecated = [
-    {file = "Deprecated-1.2.13-py2.py3-none-any.whl", hash = "sha256:64756e3e14c8c5eea9795d93c524551432a0be75629f8f29e67ab8caf076c76d"},
-    {file = "Deprecated-1.2.13.tar.gz", hash = "sha256:43ac5335da90c31c24ba028af536a91d41d53f9e6901ddb021bcc572ce44e38d"},
-]
-dictdiffer = [
+
+[[package]]
+name = "dictdiffer"
+version = "0.9.0"
+description = "Dictdiffer is a library that helps you to diff and patch dictionaries."
+optional = false
+python-versions = "*"
+files = [
     {file = "dictdiffer-0.9.0-py2.py3-none-any.whl", hash = "sha256:442bfc693cfcadaf46674575d2eba1c53b42f5e404218ca2c2ff549f2df56595"},
     {file = "dictdiffer-0.9.0.tar.gz", hash = "sha256:17bacf5fbfe613ccf1b6d512bd766e6b21fb798822a133aa86098b8ac9997578"},
 ]
-dill = [
-    {file = "dill-0.3.5.1-py2.py3-none-any.whl", hash = "sha256:33501d03270bbe410c72639b350e941882a8b0fd55357580fbc873fba0c59302"},
-    {file = "dill-0.3.5.1.tar.gz", hash = "sha256:d75e41f3eff1eee599d738e76ba8f4ad98ea229db8b085318aa2b3333a208c86"},
+
+[package.extras]
+all = ["Sphinx (>=3)", "check-manifest (>=0.42)", "mock (>=1.3.0)", "numpy (>=1.13.0)", "numpy (>=1.15.0)", "numpy (>=1.18.0)", "numpy (>=1.20.0)", "pytest (==5.4.3)", "pytest (>=6)", "pytest-cov (>=2.10.1)", "pytest-isort (>=1.2.0)", "pytest-pycodestyle (>=2)", "pytest-pycodestyle (>=2.2.0)", "pytest-pydocstyle (>=2)", "pytest-pydocstyle (>=2.2.0)", "sphinx (>=3)", "sphinx-rtd-theme (>=0.2)", "tox (>=3.7.0)"]
+docs = ["Sphinx (>=3)", "sphinx-rtd-theme (>=0.2)"]
+numpy = ["numpy (>=1.13.0)", "numpy (>=1.15.0)", "numpy (>=1.18.0)", "numpy (>=1.20.0)"]
+tests = ["check-manifest (>=0.42)", "mock (>=1.3.0)", "pytest (==5.4.3)", "pytest (>=6)", "pytest-cov (>=2.10.1)", "pytest-isort (>=1.2.0)", "pytest-pycodestyle (>=2)", "pytest-pycodestyle (>=2.2.0)", "pytest-pydocstyle (>=2)", "pytest-pydocstyle (>=2.2.0)", "sphinx (>=3)", "tox (>=3.7.0)"]
+
+[[package]]
+name = "dill"
+version = "0.3.7"
+description = "serialize all of Python"
+optional = false
+python-versions = ">=3.7"
+files = [
+    {file = "dill-0.3.7-py3-none-any.whl", hash = "sha256:76b122c08ef4ce2eedcd4d1abd8e641114bfc6c2867f49f3c41facf65bf19f5e"},
+    {file = "dill-0.3.7.tar.gz", hash = "sha256:cc1c8b182eb3013e24bd475ff2e9295af86c1a38eb1aff128dac8962a9ce3c03"},
 ]
-distlib = [
-    {file = "distlib-0.3.6-py2.py3-none-any.whl", hash = "sha256:f35c4b692542ca110de7ef0bea44d73981caeb34ca0b9b6b2e6d7790dda8f80e"},
-    {file = "distlib-0.3.6.tar.gz", hash = "sha256:14bad2d9b04d3a36127ac97f30b12a19268f211063d8f8ee4f47108896e11b46"},
+
+[package.extras]
+graph = ["objgraph (>=1.7.2)"]
+
+[[package]]
+name = "distlib"
+version = "0.3.7"
+description = "Distribution utilities"
+optional = false
+python-versions = "*"
+files = [
+    {file = "distlib-0.3.7-py2.py3-none-any.whl", hash = "sha256:2e24928bc811348f0feb63014e97aaae3037f2cf48712d51ae61df7fd6075057"},
+    {file = "distlib-0.3.7.tar.gz", hash = "sha256:9dafe54b34a028eafd95039d5e5d4851a13734540f1331060d31c9916e7147a8"},
 ]
-docutils = [
-    {file = "docutils-0.17.1-py2.py3-none-any.whl", hash = "sha256:cf316c8370a737a022b72b56874f6602acf974a37a9fba42ec2876387549fc61"},
-    {file = "docutils-0.17.1.tar.gz", hash = "sha256:686577d2e4c32380bb50cbb22f575ed742d58168cee37e99117a854bcd88f125"},
+
+[[package]]
+name = "distro"
+version = "1.8.0"
+description = "Distro - an OS platform information API"
+optional = false
+python-versions = ">=3.6"
+files = [
+    {file = "distro-1.8.0-py3-none-any.whl", hash = "sha256:99522ca3e365cac527b44bde033f64c6945d90eb9f769703caaec52b09bbd3ff"},
+    {file = "distro-1.8.0.tar.gz", hash = "sha256:02e111d1dc6a50abb8eed6bf31c3e48ed8b0830d1ea2a1b78c61765c2513fdd8"},
 ]
-dotmap = [
+
+[[package]]
+name = "dnspython"
+version = "2.4.2"
+description = "DNS toolkit"
+optional = false
+python-versions = ">=3.8,<4.0"
+files = [
+    {file = "dnspython-2.4.2-py3-none-any.whl", hash = "sha256:57c6fbaaeaaf39c891292012060beb141791735dbb4004798328fc2c467402d8"},
+    {file = "dnspython-2.4.2.tar.gz", hash = "sha256:8dcfae8c7460a2f84b4072e26f1c9f4101ca20c071649cb7c34e8b6a93d58984"},
+]
+
+[package.extras]
+dnssec = ["cryptography (>=2.6,<42.0)"]
+doh = ["h2 (>=4.1.0)", "httpcore (>=0.17.3)", "httpx (>=0.24.1)"]
+doq = ["aioquic (>=0.9.20)"]
+idna = ["idna (>=2.1,<4.0)"]
+trio = ["trio (>=0.14,<0.23)"]
+wmi = ["wmi (>=1.5.1,<2.0.0)"]
+
+[[package]]
+name = "docutils"
+version = "0.18.1"
+description = "Docutils -- Python Documentation Utilities"
+optional = false
+python-versions = ">=2.7, !=3.0.*, !=3.1.*, !=3.2.*, !=3.3.*, !=3.4.*"
+files = [
+    {file = "docutils-0.18.1-py2.py3-none-any.whl", hash = "sha256:23010f129180089fbcd3bc08cfefccb3b890b0050e1ca00c867036e9d161b98c"},
+    {file = "docutils-0.18.1.tar.gz", hash = "sha256:679987caf361a7539d76e584cbeddc311e3aee937877c87346f31debc63e9d06"},
+]
+
+[[package]]
+name = "dotmap"
+version = "1.3.30"
+description = "ordered, dynamically-expandable dot-access dictionary"
+optional = false
+python-versions = "*"
+files = [
     {file = "dotmap-1.3.30-py3-none-any.whl", hash = "sha256:bd9fa15286ea2ad899a4d1dc2445ed85a1ae884a42effb87c89a6ecce71243c6"},
     {file = "dotmap-1.3.30.tar.gz", hash = "sha256:5821a7933f075fb47563417c0e92e0b7c031158b4c9a6a7e56163479b658b368"},
 ]
-dulwich = [
-    {file = "dulwich-0.20.46-cp310-cp310-macosx_10_15_x86_64.whl", hash = "sha256:6676196e9cf377cde62aa2f5d741e93207437343e0c62368bd0d784c322a3c49"},
-    {file = "dulwich-0.20.46-cp310-cp310-manylinux_2_17_aarch64.manylinux2014_aarch64.whl", hash = "sha256:0a1ca555a3eafe7388d6cb81bb08f34608a1592500f0bd4c26734c91d208a546"},
-    {file = "dulwich-0.20.46-cp310-cp310-manylinux_2_17_x86_64.manylinux2014_x86_64.whl", hash = "sha256:769442c9657b10fc35ac625beeaf440540c9288c96fcfaba3e58adf745c5cafd"},
-    {file = "dulwich-0.20.46-cp310-cp310-win32.whl", hash = "sha256:de22a54f68c6c4e97f9b924abd46da4618536d7934b9849066be9fc5cd31205d"},
-    {file = "dulwich-0.20.46-cp310-cp310-win_amd64.whl", hash = "sha256:42fa5a68908556eb6c40f231a67caf6a4660588aad707a9d6b334fa1d8f04bf7"},
-    {file = "dulwich-0.20.46-cp311-cp311-macosx_10_15_x86_64.whl", hash = "sha256:3e16376031466848e44aabf3489fafb054482143744b21167dbd168731041c74"},
-    {file = "dulwich-0.20.46-cp311-cp311-manylinux_2_17_aarch64.manylinux2014_aarch64.whl", hash = "sha256:153c7512587384a290c60fef330f1ab397a59559e19e8b02a0169ff21b4c69fb"},
-    {file = "dulwich-0.20.46-cp311-cp311-manylinux_2_17_x86_64.manylinux2014_x86_64.whl", hash = "sha256:a5b68bd815cd2769c75e5a78708eb0440612df19b370a977aa9e01a056baa9ed"},
-    {file = "dulwich-0.20.46-cp311-cp311-win32.whl", hash = "sha256:b1339bca70764eb8e780d80c72e7c1cb4651201dc9e43ec5d616bf51eb3bb3a6"},
-    {file = "dulwich-0.20.46-cp311-cp311-win_amd64.whl", hash = "sha256:1162fdafb2abdfe66649617061f3853cb26384fade1f6884f6fe6e9c570a7552"},
-    {file = "dulwich-0.20.46-cp36-cp36m-macosx_10_14_x86_64.whl", hash = "sha256:6826512f778eaa47e2e8c0a46cdc555958f9f5286771490b8642b4b508ea5d25"},
-    {file = "dulwich-0.20.46-cp36-cp36m-manylinux_2_17_aarch64.manylinux2014_aarch64.whl", hash = "sha256:100d39bc18196a07c521fd5f60f78f397493303daa0b8690216864bbc621cd5d"},
-    {file = "dulwich-0.20.46-cp36-cp36m-manylinux_2_17_x86_64.manylinux2014_x86_64.whl", hash = "sha256:c4cd2cd7baa81246bdc8c5272d4e9224e2255da7a0618a220aab5e07b9888e9b"},
-    {file = "dulwich-0.20.46-cp36-cp36m-win32.whl", hash = "sha256:6eed5a3194d64112605fc0f638f4fa91771495e8674fa3e6d6b33bf150d297d5"},
-    {file = "dulwich-0.20.46-cp36-cp36m-win_amd64.whl", hash = "sha256:9ca4d73987f5b0e2e843497876f9bb39a47384a2e50597a85542285f5c890293"},
-    {file = "dulwich-0.20.46-cp37-cp37m-macosx_10_15_x86_64.whl", hash = "sha256:b9f49de83911eed7adbe83136229837ef9d102e42dbe6aacb1a18be45c997ace"},
-    {file = "dulwich-0.20.46-cp37-cp37m-manylinux_2_17_aarch64.manylinux2014_aarch64.whl", hash = "sha256:d38be7d3a78d608ecab3348f7920d6b9002e7972dd245206dc8075cfdb91621d"},
-    {file = "dulwich-0.20.46-cp37-cp37m-manylinux_2_17_x86_64.manylinux2014_x86_64.whl", hash = "sha256:f4b7a7feb966a4669c254b18385fe0b3c639f3b1f5ddef0d9e083364cc762847"},
-    {file = "dulwich-0.20.46-cp37-cp37m-win32.whl", hash = "sha256:f9552ac246bceab1c5cdd1ec3cfe9446fe76b9853eaf59d3244df03eb27fd3fe"},
-    {file = "dulwich-0.20.46-cp37-cp37m-win_amd64.whl", hash = "sha256:90a075aeb0fdbad7e18b9db3af161e3d635e2b7697b7a4b467e6844a13b0b210"},
-    {file = "dulwich-0.20.46-cp38-cp38-macosx_10_15_x86_64.whl", hash = "sha256:8d6fee82cedb2362942d9ef94061901f7e07d7d8674e4c7b6fceeef7822ae275"},
-    {file = "dulwich-0.20.46-cp38-cp38-manylinux_2_17_aarch64.manylinux2014_aarch64.whl", hash = "sha256:669c6b3d82996518a7fec4604771bd285e23f0860f41f565fef5987265d431d9"},
-    {file = "dulwich-0.20.46-cp38-cp38-manylinux_2_17_x86_64.manylinux2014_x86_64.whl", hash = "sha256:dd3eac228117487a959ac8f49ea2787eac34acc69999fe7adae70b23e3c3571c"},
-    {file = "dulwich-0.20.46-cp38-cp38-win32.whl", hash = "sha256:92024f572d32680e021219f77015c8b443c38022e502b7f51ad7cf51a6285a36"},
-    {file = "dulwich-0.20.46-cp38-cp38-win_amd64.whl", hash = "sha256:d928de1eba0326a2a8a52ed94c9bf7c315ff4db606a1aa3ae688d39574f93267"},
-    {file = "dulwich-0.20.46-cp39-cp39-macosx_10_15_x86_64.whl", hash = "sha256:a5d1b7a3a7d84a5dedbb90092e00097357106b9642ac08a96c2ae89ccd8afd9a"},
-    {file = "dulwich-0.20.46-cp39-cp39-manylinux_2_17_aarch64.manylinux2014_aarch64.whl", hash = "sha256:b739d759c10e2af7c964dcc97fd4e5dc49e8567d080eed8906fc422c79b7fdcf"},
-    {file = "dulwich-0.20.46-cp39-cp39-manylinux_2_17_x86_64.manylinux2014_x86_64.whl", hash = "sha256:9fc7a4f633f5468453d5dd84a753cd99d4433f0397437229a0a8b10347935591"},
-    {file = "dulwich-0.20.46-cp39-cp39-win32.whl", hash = "sha256:525115c4d1fbf60a5fe98f340b4ca597ba47b2c75d9c5ec750dd0e9115ef8ec6"},
-    {file = "dulwich-0.20.46-cp39-cp39-win_amd64.whl", hash = "sha256:73e2585a9fcf1f8cdad8597a0c384c0b365b2e8346463130c96d9ea1478587ae"},
-    {file = "dulwich-0.20.46.tar.gz", hash = "sha256:4f0e88ffff5db1523d93d92f1525fe5fa161318ffbaad502c1b9b3be7a067172"},
+
+[[package]]
+name = "dulwich"
+version = "0.21.5"
+description = "Python Git Library"
+optional = false
+python-versions = ">=3.7"
+files = [
+    {file = "dulwich-0.21.5-cp310-cp310-macosx_10_9_universal2.whl", hash = "sha256:8864719bc176cdd27847332a2059127e2f7bab7db2ff99a999873cb7fff54116"},
+    {file = "dulwich-0.21.5-cp310-cp310-macosx_10_9_x86_64.whl", hash = "sha256:3800cdc17d144c1f7e114972293bd6c46688f5bcc2c9228ed0537ded72394082"},
+    {file = "dulwich-0.21.5-cp310-cp310-macosx_11_0_arm64.whl", hash = "sha256:e2f676bfed8146966fe934ee734969d7d81548fbd250a8308582973670a9dab1"},
+    {file = "dulwich-0.21.5-cp310-cp310-manylinux_2_17_aarch64.manylinux2014_aarch64.whl", hash = "sha256:4db330fb59fe3b9d253bdf0e49a521739db83689520c4921ab1c5242aaf77b82"},
+    {file = "dulwich-0.21.5-cp310-cp310-manylinux_2_17_x86_64.manylinux2014_x86_64.whl", hash = "sha256:3e8f6d4f4f4d01dd1d3c968e486d4cd77f96f772da7265941bc506de0944ddb9"},
+    {file = "dulwich-0.21.5-cp310-cp310-musllinux_1_1_aarch64.whl", hash = "sha256:1cc0c9ba19ac1b2372598802bc9201a9c45e5d6f1f7a80ec40deeb10acc4e9ae"},
+    {file = "dulwich-0.21.5-cp310-cp310-musllinux_1_1_x86_64.whl", hash = "sha256:61e10242b5a7a82faa8996b2c76239cfb633620b02cdd2946e8af6e7eb31d651"},
+    {file = "dulwich-0.21.5-cp310-cp310-win32.whl", hash = "sha256:7f357639b56146a396f48e5e0bc9bbaca3d6d51c8340bd825299272b588fff5f"},
+    {file = "dulwich-0.21.5-cp310-cp310-win_amd64.whl", hash = "sha256:891d5c73e2b66d05dbb502e44f027dc0dbbd8f6198bc90dae348152e69d0befc"},
+    {file = "dulwich-0.21.5-cp311-cp311-macosx_10_9_universal2.whl", hash = "sha256:45d6198e804b539708b73a003419e48fb42ff2c3c6dd93f63f3b134dff6dd259"},
+    {file = "dulwich-0.21.5-cp311-cp311-macosx_10_9_x86_64.whl", hash = "sha256:c2a565d4e704d7f784cdf9637097141f6d47129c8fffc2fac699d57cb075a169"},
+    {file = "dulwich-0.21.5-cp311-cp311-macosx_11_0_arm64.whl", hash = "sha256:823091d6b6a1ea07dc4839c9752198fb39193213d103ac189c7669736be2eaff"},
+    {file = "dulwich-0.21.5-cp311-cp311-manylinux_2_17_aarch64.manylinux2014_aarch64.whl", hash = "sha256:b2c9931b657f2206abec0964ec2355ee2c1e04d05f8864e823ffa23c548c4548"},
+    {file = "dulwich-0.21.5-cp311-cp311-manylinux_2_17_x86_64.manylinux2014_x86_64.whl", hash = "sha256:7dc358c2ee727322a09b7c6da43d47a1026049dbd3ad8d612eddca1f9074b298"},
+    {file = "dulwich-0.21.5-cp311-cp311-musllinux_1_1_aarch64.whl", hash = "sha256:6155ab7388ee01c670f7c5d8003d4e133eebebc7085a856c007989f0ba921b36"},
+    {file = "dulwich-0.21.5-cp311-cp311-musllinux_1_1_x86_64.whl", hash = "sha256:a605e10d72f90a39ea2e634fbfd80f866fc4df29a02ea6db52ae92e5fd4a2003"},
+    {file = "dulwich-0.21.5-cp311-cp311-win32.whl", hash = "sha256:daa607370722c3dce99a0022397c141caefb5ed32032a4f72506f4817ea6405b"},
+    {file = "dulwich-0.21.5-cp311-cp311-win_amd64.whl", hash = "sha256:5e56b2c1911c344527edb2bf1a4356e2fb7e086b1ba309666e1e5c2224cdca8a"},
+    {file = "dulwich-0.21.5-cp37-cp37m-macosx_10_9_x86_64.whl", hash = "sha256:85d3401d08b1ec78c7d58ae987c4bb7b768a438f3daa74aeb8372bebc7fb16fa"},
+    {file = "dulwich-0.21.5-cp37-cp37m-manylinux_2_17_aarch64.manylinux2014_aarch64.whl", hash = "sha256:90479608e49db93d8c9e4323bc0ec5496678b535446e29d8fd67dc5bbb5d51bf"},
+    {file = "dulwich-0.21.5-cp37-cp37m-manylinux_2_17_x86_64.manylinux2014_x86_64.whl", hash = "sha256:f9a6bf99f57bcac4c77fc60a58f1b322c91cc4d8c65dc341f76bf402622f89cb"},
+    {file = "dulwich-0.21.5-cp37-cp37m-musllinux_1_1_aarch64.whl", hash = "sha256:3e68b162af2aae995355e7920f89d50d72b53d56021e5ac0a546d493b17cbf7e"},
+    {file = "dulwich-0.21.5-cp37-cp37m-musllinux_1_1_x86_64.whl", hash = "sha256:0ab86d6d42e385bf3438e70f3c9b16de68018bd88929379e3484c0ef7990bd3c"},
+    {file = "dulwich-0.21.5-cp37-cp37m-win32.whl", hash = "sha256:f2eeca6d61366cf5ee8aef45bed4245a67d4c0f0d731dc2383eabb80fa695683"},
+    {file = "dulwich-0.21.5-cp37-cp37m-win_amd64.whl", hash = "sha256:1b20a3656b48c941d49c536824e1e5278a695560e8de1a83b53a630143c4552e"},
+    {file = "dulwich-0.21.5-cp38-cp38-macosx_10_9_universal2.whl", hash = "sha256:3932b5e17503b265a85f1eda77ede647681c3bab53bc9572955b6b282abd26ea"},
+    {file = "dulwich-0.21.5-cp38-cp38-macosx_10_9_x86_64.whl", hash = "sha256:6616132d219234580de88ceb85dd51480dc43b1bdc05887214b8dd9cfd4a9d40"},
+    {file = "dulwich-0.21.5-cp38-cp38-macosx_11_0_arm64.whl", hash = "sha256:eaf6c7fb6b13495c19c9aace88821c2ade3c8c55b4e216cd7cc55d3e3807d7fa"},
+    {file = "dulwich-0.21.5-cp38-cp38-manylinux_2_17_aarch64.manylinux2014_aarch64.whl", hash = "sha256:be12a46f73023970125808a4a78f610c055373096c1ecea3280edee41613eba8"},
+    {file = "dulwich-0.21.5-cp38-cp38-manylinux_2_17_x86_64.manylinux2014_x86_64.whl", hash = "sha256:baecef0d8b9199822c7912876a03a1af17833f6c0d461efb62decebd45897e49"},
+    {file = "dulwich-0.21.5-cp38-cp38-musllinux_1_1_aarch64.whl", hash = "sha256:82f632afb9c7c341a875d46aaa3e6c5e586c7a64ce36c9544fa400f7e4f29754"},
+    {file = "dulwich-0.21.5-cp38-cp38-musllinux_1_1_x86_64.whl", hash = "sha256:82cdf482f8f51fcc965ffad66180b54a9abaea9b1e985a32e1acbfedf6e0e363"},
+    {file = "dulwich-0.21.5-cp38-cp38-win32.whl", hash = "sha256:c8ded43dc0bd2e65420eb01e778034be5ca7f72e397a839167eda7dcb87c4248"},
+    {file = "dulwich-0.21.5-cp38-cp38-win_amd64.whl", hash = "sha256:2aba0fdad2a19bd5bb3aad6882580cb33359c67b48412ccd4cfccd932012b35e"},
+    {file = "dulwich-0.21.5-cp39-cp39-macosx_10_9_universal2.whl", hash = "sha256:fd4ad079758514375f11469e081723ba8831ce4eaa1a64b41f06a3a866d5ac34"},
+    {file = "dulwich-0.21.5-cp39-cp39-macosx_10_9_x86_64.whl", hash = "sha256:7fe62685bf356bfb4d0738f84a3fcf0d1fc9e11fee152e488a20b8c66a52429e"},
+    {file = "dulwich-0.21.5-cp39-cp39-macosx_11_0_arm64.whl", hash = "sha256:aae448da7d80306dda4fc46292fed7efaa466294571ab3448be16714305076f1"},
+    {file = "dulwich-0.21.5-cp39-cp39-manylinux_2_17_aarch64.manylinux2014_aarch64.whl", hash = "sha256:b24cb1fad0525dba4872e9381bc576ea2a6dcdf06b0ed98f8e953e3b1d719b89"},
+    {file = "dulwich-0.21.5-cp39-cp39-manylinux_2_17_x86_64.manylinux2014_x86_64.whl", hash = "sha256:1e39b7c2c9bda6acae83b25054650a8bb7e373e886e2334721d384e1479bf04b"},
+    {file = "dulwich-0.21.5-cp39-cp39-musllinux_1_1_aarch64.whl", hash = "sha256:26456dba39d1209fca17187db06967130e27eeecad2b3c2bbbe63467b0bf09d6"},
+    {file = "dulwich-0.21.5-cp39-cp39-musllinux_1_1_x86_64.whl", hash = "sha256:281310644e02e3aa6d76bcaffe2063b9031213c4916b5f1a6e68c25bdecfaba4"},
+    {file = "dulwich-0.21.5-cp39-cp39-win32.whl", hash = "sha256:4814ca3209dabe0fe7719e9545fbdad7f8bb250c5a225964fe2a31069940c4cf"},
+    {file = "dulwich-0.21.5-cp39-cp39-win_amd64.whl", hash = "sha256:c922a4573267486be0ef85216f2da103fb38075b8465dc0e90457843884e4860"},
+    {file = "dulwich-0.21.5-pp37-pypy37_pp73-macosx_10_9_x86_64.whl", hash = "sha256:e52b20c4368171b7d32bd3ab0f1d2402e76ad4f2ea915ff9aa73bc9fa2b54d6d"},
+    {file = "dulwich-0.21.5-pp37-pypy37_pp73-manylinux_2_17_aarch64.manylinux2014_aarch64.whl", hash = "sha256:aeb736d777ee21f2117a90fc453ee181aa7eedb9e255b5ef07c51733f3fe5cb6"},
+    {file = "dulwich-0.21.5-pp37-pypy37_pp73-manylinux_2_17_x86_64.manylinux2014_x86_64.whl", hash = "sha256:5e8a79c1ed7166f32ad21974fa98d11bf6fd74e94a47e754c777c320e01257c6"},
+    {file = "dulwich-0.21.5-pp37-pypy37_pp73-win_amd64.whl", hash = "sha256:b943517e30bd651fbc275a892bb96774f3893d95fe5a4dedd84496a98eaaa8ab"},
+    {file = "dulwich-0.21.5-pp38-pypy38_pp73-macosx_10_9_x86_64.whl", hash = "sha256:32493a456358a3a6c15bbda07106fc3d4cc50834ee18bc7717968d18be59b223"},
+    {file = "dulwich-0.21.5-pp38-pypy38_pp73-manylinux_2_17_aarch64.manylinux2014_aarch64.whl", hash = "sha256:0aa44b812d978fc22a04531f5090c3c369d5facd03fa6e0501d460a661800c7f"},
+    {file = "dulwich-0.21.5-pp38-pypy38_pp73-manylinux_2_17_x86_64.manylinux2014_x86_64.whl", hash = "sha256:6f46bcb6777e5f9f4af24a2bd029e88b77316269d24ce66be590e546a0d8f7b7"},
+    {file = "dulwich-0.21.5-pp38-pypy38_pp73-win_amd64.whl", hash = "sha256:a917fd3b4493db3716da2260f16f6b18f68d46fbe491d851d154fc0c2d984ae4"},
+    {file = "dulwich-0.21.5-pp39-pypy39_pp73-macosx_10_9_x86_64.whl", hash = "sha256:684c52cff867d10c75a7238151ca307582b3d251bbcd6db9e9cffbc998ef804e"},
+    {file = "dulwich-0.21.5-pp39-pypy39_pp73-manylinux_2_17_aarch64.manylinux2014_aarch64.whl", hash = "sha256:9019189d7a8f7394df6a22cd5b484238c5776e42282ad5d6d6c626b4c5f43597"},
+    {file = "dulwich-0.21.5-pp39-pypy39_pp73-manylinux_2_17_x86_64.manylinux2014_x86_64.whl", hash = "sha256:494024f74c2eef9988adb4352b3651ac1b6c0466176ec62b69d3d3672167ba68"},
+    {file = "dulwich-0.21.5-pp39-pypy39_pp73-win_amd64.whl", hash = "sha256:f9b6ac1b1c67fc6083c42b7b6cd3b211292c8a6517216c733caf23e8b103ab6d"},
+    {file = "dulwich-0.21.5.tar.gz", hash = "sha256:70955e4e249ddda6e34a4636b90f74e931e558f993b17c52570fa6144b993103"},
 ]
-efficientnet-pytorch = [
+
+[package.dependencies]
+urllib3 = ">=1.25"
+
+[package.extras]
+fastimport = ["fastimport"]
+https = ["urllib3 (>=1.24.1)"]
+paramiko = ["paramiko"]
+pgp = ["gpg"]
+
+[[package]]
+name = "efficientnet-pytorch"
+version = "0.7.1"
+description = "EfficientNet implemented in PyTorch."
+optional = false
+python-versions = ">=3.5.0"
+files = [
     {file = "efficientnet_pytorch-0.7.1.tar.gz", hash = "sha256:00b9b261effce59d2d47aae2ad238c29a2a65175470f41ada7ecac439b7c1ee1"},
 ]
-einops = [
-    {file = "einops-0.5.0-py3-none-any.whl", hash = "sha256:055de7eeb3cb9e9710ef3085a811090c6b52e809b7044e8785824ed185f486d1"},
-    {file = "einops-0.5.0.tar.gz", hash = "sha256:8b7a83cffc1ea88e306df099b7cbb9c3ba5003bd84d05ae44be5655864abb8d3"},
+
+[package.dependencies]
+torch = "*"
+
+[[package]]
+name = "einops"
+version = "0.6.1"
+description = "A new flavour of deep learning operations"
+optional = false
+python-versions = ">=3.7"
+files = [
+    {file = "einops-0.6.1-py3-none-any.whl", hash = "sha256:99149e46cc808956b174932fe563d920db4d6e5dadb8c6ecdaa7483b7ef7cfc3"},
+    {file = "einops-0.6.1.tar.gz", hash = "sha256:f95f8d00f4ded90dbc4b19b6f98b177332614b0357dde66997f3ae5d474dc8c8"},
 ]
-elastic-transport = [
+
+[[package]]
+name = "elastic-transport"
+version = "8.4.0"
+description = "Transport classes and utilities shared among Python Elastic client libraries"
+optional = false
+python-versions = ">=3.6"
+files = [
     {file = "elastic-transport-8.4.0.tar.gz", hash = "sha256:b9ad708ceb7fcdbc6b30a96f886609a109f042c0b9d9f2e44403b3133ba7ff10"},
     {file = "elastic_transport-8.4.0-py3-none-any.whl", hash = "sha256:19db271ab79c9f70f8c43f8f5b5111408781a6176b54ab2e54d713b6d9ceb815"},
 ]
-elasticsearch = [
-    {file = "elasticsearch-8.4.3-py3-none-any.whl", hash = "sha256:14c68a96b7bbbf150dd9fca5ff65da9c50e791c0fdba474a328e43828fdd7f42"},
-    {file = "elasticsearch-8.4.3.tar.gz", hash = "sha256:d34d43a6c349d15c9d91840f791eeba80fc50ee070caf6695130f56b7f41a02d"},
+
+[package.dependencies]
+certifi = "*"
+urllib3 = ">=1.26.2,<2"
+
+[package.extras]
+develop = ["aiohttp", "mock", "pytest", "pytest-asyncio", "pytest-cov", "pytest-httpserver", "pytest-mock", "requests", "trustme"]
+
+[[package]]
+name = "elasticsearch"
+version = "8.9.0"
+description = "Python client for Elasticsearch"
+optional = false
+python-versions = ">=3.6, <4"
+files = [
+    {file = "elasticsearch-8.9.0-py3-none-any.whl", hash = "sha256:0795cbf0f61482070741c09ba02ac8fdf18f5984912fbd08b248fadd8a8c9952"},
+    {file = "elasticsearch-8.9.0.tar.gz", hash = "sha256:d3367fc013e04fc7aad349a6de9fad1ee04fb6d627b0e7896aa505c12fde5e04"},
 ]
-entrypoints = [
-    {file = "entrypoints-0.4-py3-none-any.whl", hash = "sha256:f174b5ff827504fd3cd97cc3f8649f3693f51538c7e4bdf3ef002c8429d42f9f"},
-    {file = "entrypoints-0.4.tar.gz", hash = "sha256:b706eddaa9218a19ebcd67b56818f05bb27589b1ca9e8d797b74affad4ccacd4"},
+
+[package.dependencies]
+elastic-transport = ">=8,<9"
+
+[package.extras]
+async = ["aiohttp (>=3,<4)"]
+requests = ["requests (>=2.4.0,<3.0.0)"]
+
+[[package]]
+name = "execnet"
+version = "2.0.2"
+description = "execnet: rapid multi-Python deployment"
+optional = false
+python-versions = ">=3.7"
+files = [
+    {file = "execnet-2.0.2-py3-none-any.whl", hash = "sha256:88256416ae766bc9e8895c76a87928c0012183da3cc4fc18016e6f050e025f41"},
+    {file = "execnet-2.0.2.tar.gz", hash = "sha256:cc59bc4423742fd71ad227122eb0dd44db51efb3dc4095b45ac9a08c770096af"},
 ]
-execnet = [
-    {file = "execnet-1.9.0-py2.py3-none-any.whl", hash = "sha256:a295f7cc774947aac58dde7fdc85f4aa00c42adf5d8f5468fc630c1acf30a142"},
-    {file = "execnet-1.9.0.tar.gz", hash = "sha256:8f694f3ba9cc92cab508b152dcfe322153975c29bda272e2fd7f3f00f36e47c5"},
+
+[package.extras]
+testing = ["hatch", "pre-commit", "pytest", "tox"]
+
+[[package]]
+name = "executing"
+version = "1.2.0"
+description = "Get the currently executing AST node of a frame, and other information"
+optional = false
+python-versions = "*"
+files = [
+    {file = "executing-1.2.0-py2.py3-none-any.whl", hash = "sha256:0314a69e37426e3608aada02473b4161d4caf5a4b244d1d0c48072b8fee7bacc"},
+    {file = "executing-1.2.0.tar.gz", hash = "sha256:19da64c18d2d851112f09c287f8d3dbbdf725ab0e569077efb6cdcbd3497c107"},
 ]
-executing = [
-    {file = "executing-1.1.1-py2.py3-none-any.whl", hash = "sha256:236ea5f059a38781714a8bfba46a70fad3479c2f552abee3bbafadc57ed111b8"},
-    {file = "executing-1.1.1.tar.gz", hash = "sha256:b0d7f8dcc2bac47ce6e39374397e7acecea6fdc380a6d5323e26185d70f38ea8"},
-]
-fastcluster = [
+
+[package.extras]
+tests = ["asttokens", "littleutils", "pytest", "rich"]
+
+[[package]]
+name = "fastcluster"
+version = "1.2.6"
+description = "Fast hierarchical clustering routines for R and Python."
+optional = false
+python-versions = ">=3"
+files = [
     {file = "fastcluster-1.2.6-cp310-cp310-macosx_10_9_universal2.whl", hash = "sha256:d0e8faef0437a25fd083df70fb86cc65ce3c9c9780d4ae377cbe6521e7746ce0"},
     {file = "fastcluster-1.2.6-cp310-cp310-macosx_10_9_x86_64.whl", hash = "sha256:c8be01f97bc2bf11a9188537864f8e520e1103cdc6007aa2c5d7979b1363b121"},
     {file = "fastcluster-1.2.6-cp310-cp310-macosx_11_0_arm64.whl", hash = "sha256:855ab2b7e6fa9b05f19c4f3023dedfb1a35a88d831933d65d0d9e10a070a9e85"},
@@ -5762,239 +2110,565 @@ fastcluster = [
     {file = "fastcluster-1.2.6-cp39-cp39-win_amd64.whl", hash = "sha256:4b9cfd426966b8037bec2fc03a0d7a9c87313482c699b36ffa1432b49f84ed2e"},
     {file = "fastcluster-1.2.6.tar.gz", hash = "sha256:aab886efa7b6bba7ac124f4498153d053e5a08b822d2254926b7206cdf5a8aa6"},
 ]
-fastjsonschema = [
-    {file = "fastjsonschema-2.16.2-py3-none-any.whl", hash = "sha256:21f918e8d9a1a4ba9c22e09574ba72267a6762d47822db9add95f6454e51cc1c"},
-    {file = "fastjsonschema-2.16.2.tar.gz", hash = "sha256:01e366f25d9047816fe3d288cbfc3e10541daf0af2044763f3d0ade42476da18"},
+
+[package.dependencies]
+numpy = ">=1.9"
+
+[package.extras]
+test = ["scipy (>=1.6.3)"]
+
+[[package]]
+name = "fastjsonschema"
+version = "2.18.0"
+description = "Fastest Python implementation of JSON schema"
+optional = false
+python-versions = "*"
+files = [
+    {file = "fastjsonschema-2.18.0-py3-none-any.whl", hash = "sha256:128039912a11a807068a7c87d0da36660afbfd7202780db26c4aa7153cfdc799"},
+    {file = "fastjsonschema-2.18.0.tar.gz", hash = "sha256:e820349dd16f806e4bd1467a138dced9def4bc7d6213a34295272a6cac95b5bd"},
 ]
-fastrlock = [
-    {file = "fastrlock-0.8-cp27-cp27m-win32.whl", hash = "sha256:4d414a5e97a545fee64437586c70bd295d22ac49614eeb76fb67980e32a0d1ae"},
-    {file = "fastrlock-0.8-cp27-cp27m-win_amd64.whl", hash = "sha256:b991766baec0113829c5a10bec4c5ec987cab31dfcb1fabf53e370b83b939ef9"},
-    {file = "fastrlock-0.8-cp310-cp310-manylinux_2_17_aarch64.manylinux2014_aarch64.whl", hash = "sha256:5356a15375fab5a8090f255b54122eead504ebcec8a67ac369489e3e315dfd21"},
-    {file = "fastrlock-0.8-cp310-cp310-manylinux_2_5_i686.manylinux1_i686.manylinux_2_12_i686.manylinux2010_i686.whl", hash = "sha256:8369ce6d228fc3efbfcff5499468200bd12c35efdbc787eeaf8064153bcf0d72"},
-    {file = "fastrlock-0.8-cp310-cp310-manylinux_2_5_x86_64.manylinux1_x86_64.manylinux_2_12_x86_64.manylinux2010_x86_64.whl", hash = "sha256:09314c5c0f63fe252a3ee038af855d7fb5668d0ccbae94846a35b32487c6256c"},
-    {file = "fastrlock-0.8-cp35-cp35m-win32.whl", hash = "sha256:b724a7f5c1d5f9cdc30a13022e6e8cf319812c40dad0fd722b5ea18d2cfc4c4d"},
-    {file = "fastrlock-0.8-cp35-cp35m-win_amd64.whl", hash = "sha256:c7ec22a5726467af53950a8baba92327620c0f73c34fab930ce29b94c8645c7e"},
-    {file = "fastrlock-0.8-cp36-cp36m-manylinux_2_17_aarch64.manylinux2014_aarch64.whl", hash = "sha256:dcd7a05ba34702d0f0e9751d35afb06be21034fcf00197567ff0dcdf48cde8e7"},
-    {file = "fastrlock-0.8-cp36-cp36m-manylinux_2_5_i686.manylinux1_i686.manylinux_2_12_i686.manylinux2010_i686.whl", hash = "sha256:997bc6c4fafda396449e2410a5d32b69d231fdccc5af6de6cefe9d67e5f7157e"},
-    {file = "fastrlock-0.8-cp36-cp36m-manylinux_2_5_x86_64.manylinux1_x86_64.manylinux_2_12_x86_64.manylinux2010_x86_64.whl", hash = "sha256:4ba3d3dc0dbb1cff2eee033a1f6369c24a86e8c20b427edfceff3f38b48b391c"},
-    {file = "fastrlock-0.8-cp36-cp36m-win32.whl", hash = "sha256:f365fc1de226ce96fedbb475c4523b304ce00f9a59beea620dba34e21239f5f3"},
-    {file = "fastrlock-0.8-cp36-cp36m-win_amd64.whl", hash = "sha256:7c9c66ab93877272169b017dc24f63c9c94b3f9d55b0b0b8c3f6d9644280120c"},
-    {file = "fastrlock-0.8-cp37-cp37m-manylinux_2_17_aarch64.manylinux2014_aarch64.whl", hash = "sha256:b5d5fd2a76aa9cd451a8820e2427e512620062ffa62ea5732da0ab8888b6be6e"},
-    {file = "fastrlock-0.8-cp37-cp37m-manylinux_2_5_i686.manylinux1_i686.manylinux_2_12_i686.manylinux2010_i686.whl", hash = "sha256:340ae0734305d780aaad0893dba8185f4dbb0575d5fd696b5720eaf800526bbc"},
-    {file = "fastrlock-0.8-cp37-cp37m-manylinux_2_5_x86_64.manylinux1_x86_64.manylinux_2_12_x86_64.manylinux2010_x86_64.whl", hash = "sha256:719743b5b3c2b214fdf63096ac6a68615b4d9b8cb210e9e6ddf0293b38da2c9a"},
-    {file = "fastrlock-0.8-cp37-cp37m-win32.whl", hash = "sha256:1cfb5ac6336ff327359a31b690898adf9a813fd44a76196115a3f0afb2367c81"},
-    {file = "fastrlock-0.8-cp37-cp37m-win_amd64.whl", hash = "sha256:5aa6b442b12fa1f9041248506c8ea5ae909a92aedd5a139647dce2ee87e5b944"},
-    {file = "fastrlock-0.8-cp38-cp38-manylinux_2_17_aarch64.manylinux2014_aarch64.whl", hash = "sha256:af9df4c17c3142c9774cd1b9edea586f709c6421f02bcf7614507937b921ea7f"},
-    {file = "fastrlock-0.8-cp38-cp38-manylinux_2_5_i686.manylinux1_i686.manylinux_2_12_i686.manylinux2010_i686.whl", hash = "sha256:951a5c4dc6fbe4481082752ce9f21aabcaa1cf6185f683d7b5cbae254f10bb46"},
-    {file = "fastrlock-0.8-cp38-cp38-manylinux_2_5_x86_64.manylinux1_x86_64.manylinux_2_12_x86_64.manylinux2010_x86_64.whl", hash = "sha256:5c75985ba70fb4e8af595a0f67f58b96e0dbc53562768208890b4b2ac25b4b52"},
-    {file = "fastrlock-0.8-cp38-cp38-win32.whl", hash = "sha256:0b459511349dc96c8961f1d43635bb94cfc2404a8899792a1f9aaa9998fa0eca"},
-    {file = "fastrlock-0.8-cp38-cp38-win_amd64.whl", hash = "sha256:7b612474ddacf808c663aa8020db0a78f54a665ccabd9dbe505d3d4c4b3f6044"},
-    {file = "fastrlock-0.8-cp39-cp39-manylinux_2_17_aarch64.manylinux2014_aarch64.whl", hash = "sha256:fe85f98fa66de41f929b8e01e4a9c5a7d20e660f605054b847c4ac54fadc8f79"},
-    {file = "fastrlock-0.8-cp39-cp39-manylinux_2_5_i686.manylinux1_i686.manylinux_2_12_i686.manylinux2010_i686.whl", hash = "sha256:d2029fb44eac8ab5f7aafb3fcde9419cbdaa07a08f72dac8cd7790dc0f73e596"},
-    {file = "fastrlock-0.8-cp39-cp39-manylinux_2_5_x86_64.manylinux1_x86_64.manylinux_2_12_x86_64.manylinux2010_x86_64.whl", hash = "sha256:3bba2a866c9f6eb1923ead5e70e1da02b3e57c531830eb4fcbd2d8e9530a2d7e"},
-    {file = "fastrlock-0.8-cp39-cp39-win32.whl", hash = "sha256:85c36ac55dc917c7e1f4fb03a841fe84b3fb2669dd0306bb94bf62c5749b1a7f"},
-    {file = "fastrlock-0.8-cp39-cp39-win_amd64.whl", hash = "sha256:4bb33625117bc9f1a66a5049a5d03ac4b38a44cb8eefdff1a394f7a435da54c9"},
-    {file = "fastrlock-0.8.tar.gz", hash = "sha256:9cc100ed0924b32173d7de705a82fdf1257cdf60af1952a13f64759307b40931"},
+
+[package.extras]
+devel = ["colorama", "json-spec", "jsonschema", "pylint", "pytest", "pytest-benchmark", "pytest-cache", "validictory"]
+
+[[package]]
+name = "fastrlock"
+version = "0.8.1"
+description = "Fast, re-entrant optimistic lock implemented in Cython"
+optional = false
+python-versions = "*"
+files = [
+    {file = "fastrlock-0.8.1-cp27-cp27m-macosx_10_15_x86_64.whl", hash = "sha256:e88ad64610f709daf6763fcb73b1640489d6cc3065761f0a9a42e83e0a0ce8da"},
+    {file = "fastrlock-0.8.1-cp27-cp27m-manylinux_2_5_i686.manylinux1_i686.whl", hash = "sha256:54bcea11203dd0af2b4d783487f12f4f977c098be74a56c4c4d7b60ec793e7b7"},
+    {file = "fastrlock-0.8.1-cp27-cp27m-manylinux_2_5_x86_64.manylinux1_x86_64.whl", hash = "sha256:3068a7497bf3e58c71835c79c27b05b1726f45a1c5c8c333be56ce6643285e31"},
+    {file = "fastrlock-0.8.1-cp27-cp27mu-manylinux_2_5_i686.manylinux1_i686.whl", hash = "sha256:62168061441c2656e440f401f6d8ebd0af94fac3e662782d12ade08b4c11e8e9"},
+    {file = "fastrlock-0.8.1-cp27-cp27mu-manylinux_2_5_x86_64.manylinux1_x86_64.whl", hash = "sha256:8d4e59933a81a62ed85e7df62991120eace969ea15e4ca3321264b4ab320b76a"},
+    {file = "fastrlock-0.8.1-cp310-cp310-macosx_10_15_x86_64.whl", hash = "sha256:cf3e5703e60f88a85d615e36212e411f1fce6cabfad9cc84fe3b9877b133b3c2"},
+    {file = "fastrlock-0.8.1-cp310-cp310-manylinux_2_17_aarch64.manylinux2014_aarch64.manylinux_2_24_aarch64.whl", hash = "sha256:b84fb655c281bdd35376fc7bd35ff9eba647fe1d0fe770f62f6e64522f894f72"},
+    {file = "fastrlock-0.8.1-cp310-cp310-manylinux_2_5_i686.manylinux1_i686.manylinux_2_24_i686.whl", hash = "sha256:f836adcdfe3d825e303aca6d26f6c58620fe6d50e86568df741ba96892c37a09"},
+    {file = "fastrlock-0.8.1-cp310-cp310-manylinux_2_5_x86_64.manylinux1_x86_64.manylinux_2_24_x86_64.whl", hash = "sha256:d6c53abeae3f9a55b5c65824cec9df59159fa50e8fa800a5c6e8de42b2219c28"},
+    {file = "fastrlock-0.8.1-cp310-cp310-musllinux_1_1_aarch64.whl", hash = "sha256:77dd26848251efdf216779eb7581f7bdf99893b34f6e7e8989cc92b580f20189"},
+    {file = "fastrlock-0.8.1-cp310-cp310-musllinux_1_1_x86_64.whl", hash = "sha256:0055ba81eb3c4c18345cd229eee9952315e4ecedd9d41793c077892a7823be8f"},
+    {file = "fastrlock-0.8.1-cp310-cp310-win_amd64.whl", hash = "sha256:b3c7738911053b418046b57fdc034a67d104fbc597b2391bee663a24f4299314"},
+    {file = "fastrlock-0.8.1-cp311-cp311-macosx_10_15_universal2.whl", hash = "sha256:fc92b5de2a5c1da603e545056b816f7b3db3d46beccfcffe8dc0d8f0df7cfc6e"},
+    {file = "fastrlock-0.8.1-cp311-cp311-manylinux_2_17_aarch64.manylinux2014_aarch64.manylinux_2_24_aarch64.whl", hash = "sha256:5c59b5de879bb2890a644dbe24c592467219bcf7c5c7388fb200e0022e3b741a"},
+    {file = "fastrlock-0.8.1-cp311-cp311-manylinux_2_5_i686.manylinux1_i686.manylinux_2_24_i686.whl", hash = "sha256:d19841bf61a4ff671a761040815917880a153e8543d1f147537389af5cbc604a"},
+    {file = "fastrlock-0.8.1-cp311-cp311-manylinux_2_5_x86_64.manylinux1_x86_64.manylinux_2_24_x86_64.whl", hash = "sha256:e7c416807063cadaf9f3f64debf5791d943dcde9089ac71016e8ca010dabaa7f"},
+    {file = "fastrlock-0.8.1-cp311-cp311-musllinux_1_1_aarch64.whl", hash = "sha256:30311e09594ac0806aad517da6e0c06510f2c2fc3f8b3b2c1ae6172460fd4f6a"},
+    {file = "fastrlock-0.8.1-cp311-cp311-musllinux_1_1_x86_64.whl", hash = "sha256:4d1322aa0ffe702e1cc3c002e302edea5f6b8a3af096a7b340b7f719a577669c"},
+    {file = "fastrlock-0.8.1-cp311-cp311-win_amd64.whl", hash = "sha256:e683e2eb35058d4ba8576f9180f133b2367723d6ea4c3d1a3559894c8b7c9f33"},
+    {file = "fastrlock-0.8.1-cp35-cp35m-macosx_10_15_x86_64.whl", hash = "sha256:826b7dbf89c4157134bc96c9df0ef2cc99f8fe2abb38bd080a0acc34172bf7df"},
+    {file = "fastrlock-0.8.1-cp35-cp35m-manylinux_2_5_i686.manylinux1_i686.whl", hash = "sha256:0e6acadda18125c972b73c4787adbf688c5aa140015ea3632f38d9119cf09214"},
+    {file = "fastrlock-0.8.1-cp35-cp35m-manylinux_2_5_x86_64.manylinux1_x86_64.whl", hash = "sha256:65d77bfca60672e6ccafcac7b6533d275b626a060fefa6e297cf3430b8357427"},
+    {file = "fastrlock-0.8.1-cp36-cp36m-macosx_10_15_x86_64.whl", hash = "sha256:a2671b4c6fe6dff7eb83da7cf510894c83d88e4f5ca9a7515f70bc2daff31c4c"},
+    {file = "fastrlock-0.8.1-cp36-cp36m-manylinux_2_17_aarch64.manylinux2014_aarch64.manylinux_2_24_aarch64.whl", hash = "sha256:551b70cd6aad03094f977f87c1ea5b19b6036eae340c2181164d15e5602e5fcb"},
+    {file = "fastrlock-0.8.1-cp36-cp36m-manylinux_2_5_i686.manylinux1_i686.manylinux_2_24_i686.whl", hash = "sha256:d0c97035aca21c4b56b4ecb15d006adc0e9277ee8479fe3d709bbc261ff7c8a9"},
+    {file = "fastrlock-0.8.1-cp36-cp36m-manylinux_2_5_i686.manylinux1_i686.whl", hash = "sha256:af58fc057de699dfcd9a3e16c3204696b5155ed931ccc2ec3e8e9123e56343f9"},
+    {file = "fastrlock-0.8.1-cp36-cp36m-manylinux_2_5_x86_64.manylinux1_x86_64.manylinux_2_24_x86_64.whl", hash = "sha256:bb7dfe068b9925cadabf14539e4201c3391da255a6bb2d7a42e2d8b6bb167329"},
+    {file = "fastrlock-0.8.1-cp36-cp36m-manylinux_2_5_x86_64.manylinux1_x86_64.whl", hash = "sha256:cdba150ab6334f94055e54e3ebda03b9804fb09ad8ebd453af4bc47ad9ddfc17"},
+    {file = "fastrlock-0.8.1-cp36-cp36m-musllinux_1_1_aarch64.whl", hash = "sha256:51c3200a11797986c85c48102c0ce35f6c53b709ef123b9ac1d07c3617307125"},
+    {file = "fastrlock-0.8.1-cp36-cp36m-musllinux_1_1_x86_64.whl", hash = "sha256:ec258de18ad41b9e251173d64afe70da83f852b612cf5fc51e64ad0408a0a973"},
+    {file = "fastrlock-0.8.1-cp36-cp36m-win_amd64.whl", hash = "sha256:ed84c5d813abf02c809513fe286dac8a21cace71c0a4b6cb344b1aab0571a403"},
+    {file = "fastrlock-0.8.1-cp37-cp37m-macosx_10_15_x86_64.whl", hash = "sha256:3a7888ce976a6d0ad699c2bdca6571beec482f460cb917978abb8c60f8150219"},
+    {file = "fastrlock-0.8.1-cp37-cp37m-manylinux_2_17_aarch64.manylinux2014_aarch64.manylinux_2_24_aarch64.whl", hash = "sha256:d67418209ed0f3a0ff5ca79a8b4a05d4d5711cedd99a45223858bd0826c9112d"},
+    {file = "fastrlock-0.8.1-cp37-cp37m-manylinux_2_5_i686.manylinux1_i686.manylinux_2_24_i686.whl", hash = "sha256:713158684a3c20134b55ee2442616dfba3e6bab9817dd7a8b230afecb331176e"},
+    {file = "fastrlock-0.8.1-cp37-cp37m-manylinux_2_5_i686.manylinux1_i686.whl", hash = "sha256:a422bfdaaf896d8e7be6e082d7c59bfca56daa6fdd85023f4f63bfa088f7fd3f"},
+    {file = "fastrlock-0.8.1-cp37-cp37m-manylinux_2_5_x86_64.manylinux1_x86_64.manylinux_2_24_x86_64.whl", hash = "sha256:f5b32366e63b5f150ce58efd0d64754310960b4cae81a2c45bf956284188271e"},
+    {file = "fastrlock-0.8.1-cp37-cp37m-manylinux_2_5_x86_64.manylinux1_x86_64.whl", hash = "sha256:e88260af5a94afe3516e8819a3f77fe604fa4c71e7d4d7c96ae92f84408146e2"},
+    {file = "fastrlock-0.8.1-cp37-cp37m-musllinux_1_1_aarch64.whl", hash = "sha256:2d7bcbd5258d7d2dbe1c8719c3faf6b2f62e609b51c0c80216ea624d2c423357"},
+    {file = "fastrlock-0.8.1-cp37-cp37m-musllinux_1_1_x86_64.whl", hash = "sha256:537423c21e3f582b044d6aa2da7a813785e80328054099a6913545f68474b088"},
+    {file = "fastrlock-0.8.1-cp37-cp37m-win_amd64.whl", hash = "sha256:cd55b2669a62f2a0eb3fa7bedc4bcca0663440ffa5401f3dc1bd2a3394fca766"},
+    {file = "fastrlock-0.8.1-cp38-cp38-macosx_10_15_x86_64.whl", hash = "sha256:252cd40c2d8a412e238213d494e920d74439ae2d480ff83d72b23270cc218497"},
+    {file = "fastrlock-0.8.1-cp38-cp38-manylinux_2_17_aarch64.manylinux2014_aarch64.manylinux_2_24_aarch64.whl", hash = "sha256:b9bea96dfb18fd1fbd7e18f9e2ee6868691e1c99a3dc111c267a97e49acbecba"},
+    {file = "fastrlock-0.8.1-cp38-cp38-manylinux_2_5_i686.manylinux1_i686.manylinux_2_24_i686.whl", hash = "sha256:4459f0743af5b4ad5ace4bbb65162e60ed320437dcf473bf60a9f4a9a188b5cd"},
+    {file = "fastrlock-0.8.1-cp38-cp38-manylinux_2_5_i686.manylinux1_i686.whl", hash = "sha256:1bccd6d2ae63995f3f0cd25770f39858f0802e45b95325f406d3fce19c41834d"},
+    {file = "fastrlock-0.8.1-cp38-cp38-manylinux_2_5_x86_64.manylinux1_x86_64.manylinux_2_24_x86_64.whl", hash = "sha256:3e4c0ada1ce907a5616046eb219eb40ea0ff2bb27f4da703925c32af1537f43a"},
+    {file = "fastrlock-0.8.1-cp38-cp38-manylinux_2_5_x86_64.manylinux1_x86_64.whl", hash = "sha256:b864db14be48ff32d37aee0dcd61910274742f84fcced17a0f291f985e0abdca"},
+    {file = "fastrlock-0.8.1-cp38-cp38-musllinux_1_1_aarch64.whl", hash = "sha256:f2db49fd0166fb61ab00e8d3fe55ae5cbb9d566df42ccf188ab482401fc7ac5d"},
+    {file = "fastrlock-0.8.1-cp38-cp38-musllinux_1_1_x86_64.whl", hash = "sha256:d38943c3e015bd92ea6b8f155eb829000fc291edad21fc58ca0acbb8dd06788f"},
+    {file = "fastrlock-0.8.1-cp38-cp38-win_amd64.whl", hash = "sha256:c00c4e090ff5204830e49cccebb41372f800970466725b184089a40ca332c897"},
+    {file = "fastrlock-0.8.1-cp39-cp39-macosx_10_15_x86_64.whl", hash = "sha256:187786a0bdb8c5c59d8ed6f82846306e63169c3c5437c847c548dfaf548ee958"},
+    {file = "fastrlock-0.8.1-cp39-cp39-manylinux_2_17_aarch64.manylinux2014_aarch64.manylinux_2_24_aarch64.whl", hash = "sha256:801bee6ef607c2020818d006677704e20997d61524cfa1f338e141a6f017b7dd"},
+    {file = "fastrlock-0.8.1-cp39-cp39-manylinux_2_5_i686.manylinux1_i686.manylinux_2_24_i686.whl", hash = "sha256:73f1df1d1e141b0e2cedc40536ee745247f0bf968526535eb9e2e7acd85e7535"},
+    {file = "fastrlock-0.8.1-cp39-cp39-manylinux_2_5_i686.manylinux1_i686.whl", hash = "sha256:eb5bb4187880f6944b6213728e3e8617a4613fa9d1303fea84d0227cd81943af"},
+    {file = "fastrlock-0.8.1-cp39-cp39-manylinux_2_5_x86_64.manylinux1_x86_64.manylinux_2_24_x86_64.whl", hash = "sha256:294b60ed41b746e99189260f7dc42a8c280c59c9aa9e152f89752fc102f2eefa"},
+    {file = "fastrlock-0.8.1-cp39-cp39-manylinux_2_5_x86_64.manylinux1_x86_64.whl", hash = "sha256:e5122103f38c9ebdb597304b2bed3b4c3b9f2c372d649eff2f7c3be70f8f7fc1"},
+    {file = "fastrlock-0.8.1-cp39-cp39-musllinux_1_1_aarch64.whl", hash = "sha256:625372f1e19c80fc90b83a167bedc785855ea63c0deb2e66aab922e346dd9517"},
+    {file = "fastrlock-0.8.1-cp39-cp39-musllinux_1_1_x86_64.whl", hash = "sha256:36fdc86df2cfa7f1692cdb035338dd7f952fa50e5ea8e39569e15ff4269a8e1a"},
+    {file = "fastrlock-0.8.1-cp39-cp39-win_amd64.whl", hash = "sha256:6e97a68d67bd4b19948bc119252dc2b473dbcb301aa319ae98246d86281d2b9d"},
+    {file = "fastrlock-0.8.1.tar.gz", hash = "sha256:8a5f2f00021c4ac72e4dab910dc1863c0e008a2e7fb5c843933ae9bcfc3d0802"},
 ]
-filelock = [
-    {file = "filelock-3.8.0-py3-none-any.whl", hash = "sha256:617eb4e5eedc82fc5f47b6d61e4d11cb837c56cb4544e39081099fa17ad109d4"},
-    {file = "filelock-3.8.0.tar.gz", hash = "sha256:55447caa666f2198c5b6b13a26d2084d26fa5b115c00d065664b2124680c4edc"},
+
+[[package]]
+name = "filelock"
+version = "3.12.2"
+description = "A platform independent file lock."
+optional = false
+python-versions = ">=3.7"
+files = [
+    {file = "filelock-3.12.2-py3-none-any.whl", hash = "sha256:cbb791cdea2a72f23da6ac5b5269ab0a0d161e9ef0100e653b69049a7706d1ec"},
+    {file = "filelock-3.12.2.tar.gz", hash = "sha256:002740518d8aa59a26b0c76e10fb8c6e15eae825d34b6fdf670333fd7b938d81"},
 ]
-fiona = [
-    {file = "Fiona-1.9.1-cp310-cp310-macosx_10_15_x86_64.whl", hash = "sha256:902b67b2d012c5797b5d7d3cb3b46dcf9a342cf90a7f7e53fb12c83738d19926"},
-    {file = "Fiona-1.9.1-cp310-cp310-macosx_11_0_arm64.whl", hash = "sha256:e2f4535ae2c8446e6b328745a44567478d5a077ed63c888b8c212dddb1e11925"},
-    {file = "Fiona-1.9.1-cp310-cp310-manylinux_2_17_x86_64.manylinux2014_x86_64.whl", hash = "sha256:c3d7f3286fb59b93cefefb89014b6fa8413126e180e15c576db859ba936cf334"},
-    {file = "Fiona-1.9.1-cp310-cp310-win_amd64.whl", hash = "sha256:692fe64c0f3a39742d6f7a8e420a8387f6aec3b6818b727d2dfc98a0c40e992d"},
-    {file = "Fiona-1.9.1-cp311-cp311-macosx_10_15_x86_64.whl", hash = "sha256:a017a39650df0cc541c57cf7de450bb4cee6fd9760eb716323b594c1074634a2"},
-    {file = "Fiona-1.9.1-cp311-cp311-macosx_11_0_arm64.whl", hash = "sha256:c3b52d49bc379fdcfd1250b38e7e00ab24ee14eb765376c793bbe251ffd09d6a"},
-    {file = "Fiona-1.9.1-cp311-cp311-manylinux_2_17_x86_64.manylinux2014_x86_64.whl", hash = "sha256:5dbb0ae851cd4417104c469335a01f938251a8639317f93d422c5c808150bd27"},
-    {file = "Fiona-1.9.1-cp311-cp311-win_amd64.whl", hash = "sha256:4a6d8fcbbdafa8af8ac1904628b0267382ed9f9921933d061d7bfc5d3f3daf99"},
-    {file = "Fiona-1.9.1-cp37-cp37m-macosx_10_15_x86_64.whl", hash = "sha256:74f056a84dc52a0b21a2cf024601a69105596f06f28d40b45049948be17b4df2"},
-    {file = "Fiona-1.9.1-cp37-cp37m-manylinux2014_x86_64.whl", hash = "sha256:5b9f3f6c782bb4ae2c924eefd373cabdeaaa99f86477b9c7c71eb20c052ee7c5"},
-    {file = "Fiona-1.9.1-cp37-cp37m-win_amd64.whl", hash = "sha256:5d6183189a7e05e2498d38a1df3ab07e1353fa48e977cbc3a31203927bd06bca"},
-    {file = "Fiona-1.9.1-cp38-cp38-macosx_10_15_x86_64.whl", hash = "sha256:5f2c14beec98a330aee1fd81fa0447a6aa1d5e0a75d000c0052dbe1f23dd6cfd"},
-    {file = "Fiona-1.9.1-cp38-cp38-macosx_11_0_arm64.whl", hash = "sha256:585a47ec21f2d198abc112158eaf12a6587a272beb7f001162d8c3b262676666"},
-    {file = "Fiona-1.9.1-cp38-cp38-manylinux_2_17_x86_64.manylinux2014_x86_64.whl", hash = "sha256:dd4368b4054f21518a19dea54ce9ac445c40418c6331c0c99d1531c3ddff05da"},
-    {file = "Fiona-1.9.1-cp38-cp38-win_amd64.whl", hash = "sha256:839ed0db23198bb754f0d655d4eeaf5f9c141bef734557e77e95e4dc83e42e7f"},
-    {file = "Fiona-1.9.1-cp39-cp39-macosx_10_15_x86_64.whl", hash = "sha256:decca3956032ae2d2c19d2f7fa8a4553c43a6e66eb5abe9a05f6ddadcb1bfe5c"},
-    {file = "Fiona-1.9.1-cp39-cp39-macosx_11_0_arm64.whl", hash = "sha256:cb827fa0030d03d8080723137c74b865ec18dbade87c02ed60215491a315c6be"},
-    {file = "Fiona-1.9.1-cp39-cp39-manylinux_2_17_x86_64.manylinux2014_x86_64.whl", hash = "sha256:d7e0f36484757baa8cd1c0602941e029ff992282776f9afae4c5b90f501ff005"},
-    {file = "Fiona-1.9.1-cp39-cp39-win_amd64.whl", hash = "sha256:f98933b552adf0506799097934a6950de412288e7a50466144d04874d6f63fbc"},
-    {file = "Fiona-1.9.1.tar.gz", hash = "sha256:3a3725e94840a387fef48726d60db6a6791563f366939d22378a4661f8941be7"},
+
+[package.extras]
+docs = ["furo (>=2023.5.20)", "sphinx (>=7.0.1)", "sphinx-autodoc-typehints (>=1.23,!=1.23.4)"]
+testing = ["covdefaults (>=2.3)", "coverage (>=7.2.7)", "diff-cover (>=7.5)", "pytest (>=7.3.1)", "pytest-cov (>=4.1)", "pytest-mock (>=3.10)", "pytest-timeout (>=2.1)"]
+
+[[package]]
+name = "fiona"
+version = "1.9.4.post1"
+description = "Fiona reads and writes spatial data files"
+optional = false
+python-versions = ">=3.7"
+files = [
+    {file = "Fiona-1.9.4.post1-cp310-cp310-macosx_10_15_x86_64.whl", hash = "sha256:d6483a20037db2209c8e9a0c6f1e552f807d03c8f42ed0c865ab500945a37c4d"},
+    {file = "Fiona-1.9.4.post1-cp310-cp310-macosx_11_0_arm64.whl", hash = "sha256:dbe158947099a83ad16f9acd3a21f50ff01114c64e2de67805e382e6b6e0083a"},
+    {file = "Fiona-1.9.4.post1-cp310-cp310-manylinux_2_17_x86_64.manylinux2014_x86_64.whl", hash = "sha256:2c2c7b09eecee3bb074ef8aa518cd6ab30eb663c6fdd0eff3c88d454a9746eaa"},
+    {file = "Fiona-1.9.4.post1-cp310-cp310-win_amd64.whl", hash = "sha256:1da8b954f6f222c3c782bc285586ea8dd9d7e55e1bc7861da9cd772bca671660"},
+    {file = "Fiona-1.9.4.post1-cp311-cp311-macosx_10_15_x86_64.whl", hash = "sha256:c671d8832287cda397621d79c5a635d52e4631f33a8f0e6fdc732a79a93cb96c"},
+    {file = "Fiona-1.9.4.post1-cp311-cp311-macosx_11_0_arm64.whl", hash = "sha256:b633a2e550e083805c638d2ab8059c283ca112aaea8241e170c012d2ee0aa905"},
+    {file = "Fiona-1.9.4.post1-cp311-cp311-manylinux_2_17_x86_64.manylinux2014_x86_64.whl", hash = "sha256:c1faa625d5202b8403471bbc9f9c96b1bf9099cfcb0ee02a80a3641d3d02383e"},
+    {file = "Fiona-1.9.4.post1-cp311-cp311-win_amd64.whl", hash = "sha256:39baf11ff0e4318397e2b2197de427b4eebdc49d4a9a7c1366f8a7ed682978a4"},
+    {file = "Fiona-1.9.4.post1-cp37-cp37m-macosx_10_15_x86_64.whl", hash = "sha256:d93c993265f6378b23f47708c83bddb3377ca6814a1f0b5a0ae0bee9c8d72cf8"},
+    {file = "Fiona-1.9.4.post1-cp37-cp37m-manylinux2014_x86_64.whl", hash = "sha256:b0387cae39e27f338fd948b3b50b6e6ce198cc4cec257fc91660849697c69dc3"},
+    {file = "Fiona-1.9.4.post1-cp37-cp37m-win_amd64.whl", hash = "sha256:450561d308d3ce7c7e30294822b1de3f4f942033b703ddd4a91a7f7f5f506ca0"},
+    {file = "Fiona-1.9.4.post1-cp38-cp38-macosx_10_15_x86_64.whl", hash = "sha256:71b023ef5248ebfa5524e7a875033f7db3bbfaf634b1b5c1ae36958d1eb82083"},
+    {file = "Fiona-1.9.4.post1-cp38-cp38-macosx_11_0_arm64.whl", hash = "sha256:74511d3755695d75cea0f4ff6f5e0c6c5d5be8e0d46dafff124c6a219e99b1eb"},
+    {file = "Fiona-1.9.4.post1-cp38-cp38-manylinux_2_17_x86_64.manylinux2014_x86_64.whl", hash = "sha256:285f3dd4f96aa0a3955ed469f0543375b20989731b2dddc85124453f11ac62bc"},
+    {file = "Fiona-1.9.4.post1-cp38-cp38-win_amd64.whl", hash = "sha256:a670ea4262cb9140445bcfc97cbfd2f508a058be342f4a97e966b8ce7696601f"},
+    {file = "Fiona-1.9.4.post1-cp39-cp39-macosx_10_15_x86_64.whl", hash = "sha256:ea7c44c15b3a653452b9b3173181490b7afc5f153b0473c145c43c0fbf90448b"},
+    {file = "Fiona-1.9.4.post1-cp39-cp39-macosx_11_0_arm64.whl", hash = "sha256:7bfb1f49e0e53f6cd7ad64ae809d72646266b37a7b9881205977408b443a8d79"},
+    {file = "Fiona-1.9.4.post1-cp39-cp39-manylinux_2_17_x86_64.manylinux2014_x86_64.whl", hash = "sha256:1a585002a6385cc8ab0f66ddf3caf18711f531901906abd011a67a0cc89ab7b0"},
+    {file = "Fiona-1.9.4.post1-cp39-cp39-win_amd64.whl", hash = "sha256:f5da66b723a876142937e683431bbaa5c3d81bb2ed3ec98941271bc99b7f8cd0"},
+    {file = "Fiona-1.9.4.post1.tar.gz", hash = "sha256:5679d3f7e0d513035eb72e59527bb90486859af4405755dfc739138633106120"},
 ]
-flake8 = [
-    {file = "flake8-4.0.1-py2.py3-none-any.whl", hash = "sha256:479b1304f72536a55948cb40a32dce8bb0ffe3501e26eaf292c7e60eb5e0428d"},
-    {file = "flake8-4.0.1.tar.gz", hash = "sha256:806e034dda44114815e23c16ef92f95c91e4c71100ff52813adf7132a6ad870d"},
+
+[package.dependencies]
+attrs = ">=19.2.0"
+certifi = "*"
+click = ">=8.0,<9.0"
+click-plugins = ">=1.0"
+cligj = ">=0.5"
+six = "*"
+
+[package.extras]
+all = ["Fiona[calc,s3,test]"]
+calc = ["shapely"]
+s3 = ["boto3 (>=1.3.1)"]
+test = ["Fiona[s3]", "pytest (>=7)", "pytest-cov", "pytz"]
+
+[[package]]
+name = "flake8"
+version = "6.1.0"
+description = "the modular source code checker: pep8 pyflakes and co"
+optional = false
+python-versions = ">=3.8.1"
+files = [
+    {file = "flake8-6.1.0-py2.py3-none-any.whl", hash = "sha256:ffdfce58ea94c6580c77888a86506937f9a1a227dfcd15f245d694ae20a6b6e5"},
+    {file = "flake8-6.1.0.tar.gz", hash = "sha256:d5b3857f07c030bdb5bf41c7f53799571d75c4491748a3adcd47de929e34cd23"},
 ]
-flask = [
-    {file = "Flask-2.2.2-py3-none-any.whl", hash = "sha256:b9c46cc36662a7949f34b52d8ec7bb59c0d74ba08ba6cb9ce9adc1d8676d9526"},
-    {file = "Flask-2.2.2.tar.gz", hash = "sha256:642c450d19c4ad482f96729bd2a8f6d32554aa1e231f4f6b4e7e5264b16cca2b"},
+
+[package.dependencies]
+mccabe = ">=0.7.0,<0.8.0"
+pycodestyle = ">=2.11.0,<2.12.0"
+pyflakes = ">=3.1.0,<3.2.0"
+
+[[package]]
+name = "flask"
+version = "2.3.2"
+description = "A simple framework for building complex web applications."
+optional = false
+python-versions = ">=3.8"
+files = [
+    {file = "Flask-2.3.2-py3-none-any.whl", hash = "sha256:77fd4e1249d8c9923de34907236b747ced06e5467ecac1a7bb7115ae0e9670b0"},
+    {file = "Flask-2.3.2.tar.gz", hash = "sha256:8c2f9abd47a9e8df7f0c3f091ce9497d011dc3b31effcf4c85a6e2b50f4114ef"},
 ]
-flask-cors = [
-    {file = "Flask-Cors-3.0.10.tar.gz", hash = "sha256:b60839393f3b84a0f3746f6cdca56c1ad7426aa738b70d6c61375857823181de"},
-    {file = "Flask_Cors-3.0.10-py2.py3-none-any.whl", hash = "sha256:74efc975af1194fc7891ff5cd85b0f7478be4f7f59fe158102e91abb72bb4438"},
+
+[package.dependencies]
+blinker = ">=1.6.2"
+click = ">=8.1.3"
+itsdangerous = ">=2.1.2"
+Jinja2 = ">=3.1.2"
+Werkzeug = ">=2.3.3"
+
+[package.extras]
+async = ["asgiref (>=3.2)"]
+dotenv = ["python-dotenv"]
+
+[[package]]
+name = "flask-cors"
+version = "4.0.0"
+description = "A Flask extension adding a decorator for CORS support"
+optional = false
+python-versions = "*"
+files = [
+    {file = "Flask-Cors-4.0.0.tar.gz", hash = "sha256:f268522fcb2f73e2ecdde1ef45e2fd5c71cc48fe03cffb4b441c6d1b40684eb0"},
+    {file = "Flask_Cors-4.0.0-py2.py3-none-any.whl", hash = "sha256:bc3492bfd6368d27cfe79c7821df5a8a319e1a6d5eab277a3794be19bdc51783"},
 ]
-flask-socketio = [
-    {file = "Flask-SocketIO-5.3.1.tar.gz", hash = "sha256:fd0ed0fc1341671d92d5f5b2f5503916deb7aa7e2940e6636cfa2c087c828bf9"},
-    {file = "Flask_SocketIO-5.3.1-py3-none-any.whl", hash = "sha256:ff0c721f20bff1e2cfba77948727a8db48f187e89a72fe50c34478ce6efb3353"},
+
+[package.dependencies]
+Flask = ">=0.9"
+
+[[package]]
+name = "flask-socketio"
+version = "5.3.5"
+description = "Socket.IO integration for Flask applications"
+optional = false
+python-versions = ">=3.6"
+files = [
+    {file = "Flask-SocketIO-5.3.5.tar.gz", hash = "sha256:5f01158d10db71aa78c969b631ce3b9148b47ab0de1995158f9577f85b004d25"},
+    {file = "Flask_SocketIO-5.3.5-py3-none-any.whl", hash = "sha256:04d42f2b7c2c3bdfea83b62e53f999374c573c698eddb53c468fca2bf75c1d3c"},
 ]
-flatbuffers = [
-    {file = "flatbuffers-22.9.24-py2.py3-none-any.whl", hash = "sha256:fc30f024e2eee55922d610f4d68626002fcd3c8f87d8058ec5ae9edd86993bcb"},
+
+[package.dependencies]
+Flask = ">=0.9"
+python-socketio = ">=5.0.2"
+
+[package.extras]
+docs = ["sphinx"]
+
+[[package]]
+name = "flatbuffers"
+version = "23.5.26"
+description = "The FlatBuffers serialization format for Python"
+optional = false
+python-versions = "*"
+files = [
+    {file = "flatbuffers-23.5.26-py2.py3-none-any.whl", hash = "sha256:c0ff356da363087b915fde4b8b45bdda73432fc17cddb3c8157472eab1422ad1"},
+    {file = "flatbuffers-23.5.26.tar.gz", hash = "sha256:9ea1144cac05ce5d86e2859f431c6cd5e66cd9c78c558317c7955fb8d4c78d89"},
 ]
-fonttools = [
-    {file = "fonttools-4.37.4-py3-none-any.whl", hash = "sha256:afae1b39555f9c3f0ad1f0f1daf678e5ad157e38c8842ecb567951bf1a9b9fd7"},
-    {file = "fonttools-4.37.4.zip", hash = "sha256:86918c150c6412798e15a0de6c3e0d061ddefddd00f97b4f7b43dfa867ad315e"},
+
+[[package]]
+name = "fonttools"
+version = "4.42.0"
+description = "Tools to manipulate font files"
+optional = false
+python-versions = ">=3.8"
+files = [
+    {file = "fonttools-4.42.0-cp310-cp310-macosx_10_9_universal2.whl", hash = "sha256:9c456d1f23deff64ffc8b5b098718e149279abdea4d8692dba69172fb6a0d597"},
+    {file = "fonttools-4.42.0-cp310-cp310-macosx_10_9_x86_64.whl", hash = "sha256:150122ed93127a26bc3670ebab7e2add1e0983d30927733aec327ebf4255b072"},
+    {file = "fonttools-4.42.0-cp310-cp310-manylinux_2_17_aarch64.manylinux2014_aarch64.whl", hash = "sha256:48e82d776d2e93f88ca56567509d102266e7ab2fb707a0326f032fe657335238"},
+    {file = "fonttools-4.42.0-cp310-cp310-manylinux_2_17_x86_64.manylinux2014_x86_64.whl", hash = "sha256:58c1165f9b2662645de9b19a8c8bdd636b36294ccc07e1b0163856b74f10bafc"},
+    {file = "fonttools-4.42.0-cp310-cp310-musllinux_1_1_aarch64.whl", hash = "sha256:2d6dc3fa91414ff4daa195c05f946e6a575bd214821e26d17ca50f74b35b0fe4"},
+    {file = "fonttools-4.42.0-cp310-cp310-musllinux_1_1_x86_64.whl", hash = "sha256:fae4e801b774cc62cecf4a57b1eae4097903fced00c608d9e2bc8f84cd87b54a"},
+    {file = "fonttools-4.42.0-cp310-cp310-win32.whl", hash = "sha256:b8600ae7dce6ec3ddfb201abb98c9d53abbf8064d7ac0c8a0d8925e722ccf2a0"},
+    {file = "fonttools-4.42.0-cp310-cp310-win_amd64.whl", hash = "sha256:57b68eab183fafac7cd7d464a7bfa0fcd4edf6c67837d14fb09c1c20516cf20b"},
+    {file = "fonttools-4.42.0-cp311-cp311-macosx_10_9_universal2.whl", hash = "sha256:0a1466713e54bdbf5521f2f73eebfe727a528905ff5ec63cda40961b4b1eea95"},
+    {file = "fonttools-4.42.0-cp311-cp311-macosx_10_9_x86_64.whl", hash = "sha256:3fb2a69870bfe143ec20b039a1c8009e149dd7780dd89554cc8a11f79e5de86b"},
+    {file = "fonttools-4.42.0-cp311-cp311-manylinux_2_17_aarch64.manylinux2014_aarch64.whl", hash = "sha256:ae881e484702efdb6cf756462622de81d4414c454edfd950b137e9a7352b3cb9"},
+    {file = "fonttools-4.42.0-cp311-cp311-manylinux_2_17_x86_64.manylinux2014_x86_64.whl", hash = "sha256:27ec3246a088555629f9f0902f7412220c67340553ca91eb540cf247aacb1983"},
+    {file = "fonttools-4.42.0-cp311-cp311-musllinux_1_1_aarch64.whl", hash = "sha256:8ece1886d12bb36c48c00b2031518877f41abae317e3a55620d38e307d799b7e"},
+    {file = "fonttools-4.42.0-cp311-cp311-musllinux_1_1_x86_64.whl", hash = "sha256:10dac980f2b975ef74532e2a94bb00e97a95b4595fb7f98db493c474d5f54d0e"},
+    {file = "fonttools-4.42.0-cp311-cp311-win32.whl", hash = "sha256:83b98be5d291e08501bd4fc0c4e0f8e6e05b99f3924068b17c5c9972af6fff84"},
+    {file = "fonttools-4.42.0-cp311-cp311-win_amd64.whl", hash = "sha256:e35bed436726194c5e6e094fdfb423fb7afaa0211199f9d245e59e11118c576c"},
+    {file = "fonttools-4.42.0-cp38-cp38-macosx_10_9_universal2.whl", hash = "sha256:c36c904ce0322df01e590ba814d5d69e084e985d7e4c2869378671d79662a7d4"},
+    {file = "fonttools-4.42.0-cp38-cp38-macosx_10_9_x86_64.whl", hash = "sha256:d54e600a2bcfa5cdaa860237765c01804a03b08404d6affcd92942fa7315ffba"},
+    {file = "fonttools-4.42.0-cp38-cp38-manylinux_2_17_aarch64.manylinux2014_aarch64.whl", hash = "sha256:01cfe02416b6d416c5c8d15e30315cbcd3e97d1b50d3b34b0ce59f742ef55258"},
+    {file = "fonttools-4.42.0-cp38-cp38-manylinux_2_17_x86_64.manylinux2014_x86_64.whl", hash = "sha256:1f81ed9065b4bd3f4f3ce8e4873cd6a6b3f4e92b1eddefde35d332c6f414acc3"},
+    {file = "fonttools-4.42.0-cp38-cp38-musllinux_1_1_aarch64.whl", hash = "sha256:685a4dd6cf31593b50d6d441feb7781a4a7ef61e19551463e14ed7c527b86f9f"},
+    {file = "fonttools-4.42.0-cp38-cp38-musllinux_1_1_x86_64.whl", hash = "sha256:329341ba3d86a36e482610db56b30705384cb23bd595eac8cbb045f627778e9d"},
+    {file = "fonttools-4.42.0-cp38-cp38-win32.whl", hash = "sha256:4655c480a1a4d706152ff54f20e20cf7609084016f1df3851cce67cef768f40a"},
+    {file = "fonttools-4.42.0-cp38-cp38-win_amd64.whl", hash = "sha256:6bd7e4777bff1dcb7c4eff4786998422770f3bfbef8be401c5332895517ba3fa"},
+    {file = "fonttools-4.42.0-cp39-cp39-macosx_10_9_universal2.whl", hash = "sha256:a9b55d2a3b360e0c7fc5bd8badf1503ca1c11dd3a1cd20f2c26787ffa145a9c7"},
+    {file = "fonttools-4.42.0-cp39-cp39-macosx_10_9_x86_64.whl", hash = "sha256:0df8ef75ba5791e873c9eac2262196497525e3f07699a2576d3ab9ddf41cb619"},
+    {file = "fonttools-4.42.0-cp39-cp39-manylinux_2_17_aarch64.manylinux2014_aarch64.whl", hash = "sha256:9cd2363ea7728496827658682d049ffb2e98525e2247ca64554864a8cc945568"},
+    {file = "fonttools-4.42.0-cp39-cp39-manylinux_2_17_x86_64.manylinux2014_x86_64.whl", hash = "sha256:d40673b2e927f7cd0819c6f04489dfbeb337b4a7b10fc633c89bf4f34ecb9620"},
+    {file = "fonttools-4.42.0-cp39-cp39-musllinux_1_1_aarch64.whl", hash = "sha256:c8bf88f9e3ce347c716921804ef3a8330cb128284eb6c0b6c4b3574f3c580023"},
+    {file = "fonttools-4.42.0-cp39-cp39-musllinux_1_1_x86_64.whl", hash = "sha256:703101eb0490fae32baf385385d47787b73d9ea55253df43b487c89ec767e0d7"},
+    {file = "fonttools-4.42.0-cp39-cp39-win32.whl", hash = "sha256:f0290ea7f9945174bd4dfd66e96149037441eb2008f3649094f056201d99e293"},
+    {file = "fonttools-4.42.0-cp39-cp39-win_amd64.whl", hash = "sha256:ae7df0ae9ee2f3f7676b0ff6f4ebe48ad0acaeeeaa0b6839d15dbf0709f2c5ef"},
+    {file = "fonttools-4.42.0-py3-none-any.whl", hash = "sha256:dfe7fa7e607f7e8b58d0c32501a3a7cac148538300626d1b930082c90ae7f6bd"},
+    {file = "fonttools-4.42.0.tar.gz", hash = "sha256:614b1283dca88effd20ee48160518e6de275ce9b5456a3134d5f235523fc5065"},
 ]
-frozenlist = [
-    {file = "frozenlist-1.3.1-cp310-cp310-macosx_10_9_universal2.whl", hash = "sha256:5f271c93f001748fc26ddea409241312a75e13466b06c94798d1a341cf0e6989"},
-    {file = "frozenlist-1.3.1-cp310-cp310-macosx_10_9_x86_64.whl", hash = "sha256:9c6ef8014b842f01f5d2b55315f1af5cbfde284eb184075c189fd657c2fd8204"},
-    {file = "frozenlist-1.3.1-cp310-cp310-macosx_11_0_arm64.whl", hash = "sha256:219a9676e2eae91cb5cc695a78b4cb43d8123e4160441d2b6ce8d2c70c60e2f3"},
-    {file = "frozenlist-1.3.1-cp310-cp310-manylinux_2_17_aarch64.manylinux2014_aarch64.whl", hash = "sha256:b47d64cdd973aede3dd71a9364742c542587db214e63b7529fbb487ed67cddd9"},
-    {file = "frozenlist-1.3.1-cp310-cp310-manylinux_2_17_ppc64le.manylinux2014_ppc64le.whl", hash = "sha256:2af6f7a4e93f5d08ee3f9152bce41a6015b5cf87546cb63872cc19b45476e98a"},
-    {file = "frozenlist-1.3.1-cp310-cp310-manylinux_2_17_s390x.manylinux2014_s390x.whl", hash = "sha256:a718b427ff781c4f4e975525edb092ee2cdef6a9e7bc49e15063b088961806f8"},
-    {file = "frozenlist-1.3.1-cp310-cp310-manylinux_2_5_i686.manylinux1_i686.manylinux_2_17_i686.manylinux2014_i686.whl", hash = "sha256:c56c299602c70bc1bb5d1e75f7d8c007ca40c9d7aebaf6e4ba52925d88ef826d"},
-    {file = "frozenlist-1.3.1-cp310-cp310-manylinux_2_5_x86_64.manylinux1_x86_64.manylinux_2_17_x86_64.manylinux2014_x86_64.whl", hash = "sha256:717470bfafbb9d9be624da7780c4296aa7935294bd43a075139c3d55659038ca"},
-    {file = "frozenlist-1.3.1-cp310-cp310-musllinux_1_1_aarch64.whl", hash = "sha256:31b44f1feb3630146cffe56344704b730c33e042ffc78d21f2125a6a91168131"},
-    {file = "frozenlist-1.3.1-cp310-cp310-musllinux_1_1_i686.whl", hash = "sha256:c3b31180b82c519b8926e629bf9f19952c743e089c41380ddca5db556817b221"},
-    {file = "frozenlist-1.3.1-cp310-cp310-musllinux_1_1_ppc64le.whl", hash = "sha256:d82bed73544e91fb081ab93e3725e45dd8515c675c0e9926b4e1f420a93a6ab9"},
-    {file = "frozenlist-1.3.1-cp310-cp310-musllinux_1_1_s390x.whl", hash = "sha256:49459f193324fbd6413e8e03bd65789e5198a9fa3095e03f3620dee2f2dabff2"},
-    {file = "frozenlist-1.3.1-cp310-cp310-musllinux_1_1_x86_64.whl", hash = "sha256:94e680aeedc7fd3b892b6fa8395b7b7cc4b344046c065ed4e7a1e390084e8cb5"},
-    {file = "frozenlist-1.3.1-cp310-cp310-win32.whl", hash = "sha256:fabb953ab913dadc1ff9dcc3a7a7d3dc6a92efab3a0373989b8063347f8705be"},
-    {file = "frozenlist-1.3.1-cp310-cp310-win_amd64.whl", hash = "sha256:eee0c5ecb58296580fc495ac99b003f64f82a74f9576a244d04978a7e97166db"},
-    {file = "frozenlist-1.3.1-cp37-cp37m-macosx_10_9_x86_64.whl", hash = "sha256:0bc75692fb3770cf2b5856a6c2c9de967ca744863c5e89595df64e252e4b3944"},
-    {file = "frozenlist-1.3.1-cp37-cp37m-manylinux_2_17_aarch64.manylinux2014_aarch64.whl", hash = "sha256:086ca1ac0a40e722d6833d4ce74f5bf1aba2c77cbfdc0cd83722ffea6da52a04"},
-    {file = "frozenlist-1.3.1-cp37-cp37m-manylinux_2_17_ppc64le.manylinux2014_ppc64le.whl", hash = "sha256:1b51eb355e7f813bcda00276b0114c4172872dc5fb30e3fea059b9367c18fbcb"},
-    {file = "frozenlist-1.3.1-cp37-cp37m-manylinux_2_17_s390x.manylinux2014_s390x.whl", hash = "sha256:74140933d45271c1a1283f708c35187f94e1256079b3c43f0c2267f9db5845ff"},
-    {file = "frozenlist-1.3.1-cp37-cp37m-manylinux_2_5_i686.manylinux1_i686.manylinux_2_17_i686.manylinux2014_i686.whl", hash = "sha256:ee4c5120ddf7d4dd1eaf079af3af7102b56d919fa13ad55600a4e0ebe532779b"},
-    {file = "frozenlist-1.3.1-cp37-cp37m-manylinux_2_5_x86_64.manylinux1_x86_64.manylinux_2_17_x86_64.manylinux2014_x86_64.whl", hash = "sha256:97d9e00f3ac7c18e685320601f91468ec06c58acc185d18bb8e511f196c8d4b2"},
-    {file = "frozenlist-1.3.1-cp37-cp37m-musllinux_1_1_aarch64.whl", hash = "sha256:6e19add867cebfb249b4e7beac382d33215d6d54476bb6be46b01f8cafb4878b"},
-    {file = "frozenlist-1.3.1-cp37-cp37m-musllinux_1_1_i686.whl", hash = "sha256:a027f8f723d07c3f21963caa7d585dcc9b089335565dabe9c814b5f70c52705a"},
-    {file = "frozenlist-1.3.1-cp37-cp37m-musllinux_1_1_ppc64le.whl", hash = "sha256:61d7857950a3139bce035ad0b0945f839532987dfb4c06cfe160254f4d19df03"},
-    {file = "frozenlist-1.3.1-cp37-cp37m-musllinux_1_1_s390x.whl", hash = "sha256:53b2b45052e7149ee8b96067793db8ecc1ae1111f2f96fe1f88ea5ad5fd92d10"},
-    {file = "frozenlist-1.3.1-cp37-cp37m-musllinux_1_1_x86_64.whl", hash = "sha256:bbb1a71b1784e68870800b1bc9f3313918edc63dbb8f29fbd2e767ce5821696c"},
-    {file = "frozenlist-1.3.1-cp37-cp37m-win32.whl", hash = "sha256:ab6fa8c7871877810e1b4e9392c187a60611fbf0226a9e0b11b7b92f5ac72792"},
-    {file = "frozenlist-1.3.1-cp37-cp37m-win_amd64.whl", hash = "sha256:f89139662cc4e65a4813f4babb9ca9544e42bddb823d2ec434e18dad582543bc"},
-    {file = "frozenlist-1.3.1-cp38-cp38-macosx_10_9_universal2.whl", hash = "sha256:4c0c99e31491a1d92cde8648f2e7ccad0e9abb181f6ac3ddb9fc48b63301808e"},
-    {file = "frozenlist-1.3.1-cp38-cp38-macosx_10_9_x86_64.whl", hash = "sha256:61e8cb51fba9f1f33887e22488bad1e28dd8325b72425f04517a4d285a04c519"},
-    {file = "frozenlist-1.3.1-cp38-cp38-macosx_11_0_arm64.whl", hash = "sha256:cc2f3e368ee5242a2cbe28323a866656006382872c40869b49b265add546703f"},
-    {file = "frozenlist-1.3.1-cp38-cp38-manylinux_2_17_aarch64.manylinux2014_aarch64.whl", hash = "sha256:58fb94a01414cddcdc6839807db77ae8057d02ddafc94a42faee6004e46c9ba8"},
-    {file = "frozenlist-1.3.1-cp38-cp38-manylinux_2_17_ppc64le.manylinux2014_ppc64le.whl", hash = "sha256:022178b277cb9277d7d3b3f2762d294f15e85cd2534047e68a118c2bb0058f3e"},
-    {file = "frozenlist-1.3.1-cp38-cp38-manylinux_2_17_s390x.manylinux2014_s390x.whl", hash = "sha256:572ce381e9fe027ad5e055f143763637dcbac2542cfe27f1d688846baeef5170"},
-    {file = "frozenlist-1.3.1-cp38-cp38-manylinux_2_5_i686.manylinux1_i686.manylinux_2_17_i686.manylinux2014_i686.whl", hash = "sha256:19127f8dcbc157ccb14c30e6f00392f372ddb64a6ffa7106b26ff2196477ee9f"},
-    {file = "frozenlist-1.3.1-cp38-cp38-manylinux_2_5_x86_64.manylinux1_x86_64.manylinux_2_17_x86_64.manylinux2014_x86_64.whl", hash = "sha256:42719a8bd3792744c9b523674b752091a7962d0d2d117f0b417a3eba97d1164b"},
-    {file = "frozenlist-1.3.1-cp38-cp38-musllinux_1_1_aarch64.whl", hash = "sha256:2743bb63095ef306041c8f8ea22bd6e4d91adabf41887b1ad7886c4c1eb43d5f"},
-    {file = "frozenlist-1.3.1-cp38-cp38-musllinux_1_1_i686.whl", hash = "sha256:fa47319a10e0a076709644a0efbcaab9e91902c8bd8ef74c6adb19d320f69b83"},
-    {file = "frozenlist-1.3.1-cp38-cp38-musllinux_1_1_ppc64le.whl", hash = "sha256:52137f0aea43e1993264a5180c467a08a3e372ca9d378244c2d86133f948b26b"},
-    {file = "frozenlist-1.3.1-cp38-cp38-musllinux_1_1_s390x.whl", hash = "sha256:f5abc8b4d0c5b556ed8cd41490b606fe99293175a82b98e652c3f2711b452988"},
-    {file = "frozenlist-1.3.1-cp38-cp38-musllinux_1_1_x86_64.whl", hash = "sha256:1e1cf7bc8cbbe6ce3881863671bac258b7d6bfc3706c600008925fb799a256e2"},
-    {file = "frozenlist-1.3.1-cp38-cp38-win32.whl", hash = "sha256:0dde791b9b97f189874d654c55c24bf7b6782343e14909c84beebd28b7217845"},
-    {file = "frozenlist-1.3.1-cp38-cp38-win_amd64.whl", hash = "sha256:9494122bf39da6422b0972c4579e248867b6b1b50c9b05df7e04a3f30b9a413d"},
-    {file = "frozenlist-1.3.1-cp39-cp39-macosx_10_9_universal2.whl", hash = "sha256:31bf9539284f39ff9398deabf5561c2b0da5bb475590b4e13dd8b268d7a3c5c1"},
-    {file = "frozenlist-1.3.1-cp39-cp39-macosx_10_9_x86_64.whl", hash = "sha256:e0c8c803f2f8db7217898d11657cb6042b9b0553a997c4a0601f48a691480fab"},
-    {file = "frozenlist-1.3.1-cp39-cp39-macosx_11_0_arm64.whl", hash = "sha256:da5ba7b59d954f1f214d352308d1d86994d713b13edd4b24a556bcc43d2ddbc3"},
-    {file = "frozenlist-1.3.1-cp39-cp39-manylinux_2_17_aarch64.manylinux2014_aarch64.whl", hash = "sha256:74e6b2b456f21fc93ce1aff2b9728049f1464428ee2c9752a4b4f61e98c4db96"},
-    {file = "frozenlist-1.3.1-cp39-cp39-manylinux_2_17_ppc64le.manylinux2014_ppc64le.whl", hash = "sha256:526d5f20e954d103b1d47232e3839f3453c02077b74203e43407b962ab131e7b"},
-    {file = "frozenlist-1.3.1-cp39-cp39-manylinux_2_17_s390x.manylinux2014_s390x.whl", hash = "sha256:b499c6abe62a7a8d023e2c4b2834fce78a6115856ae95522f2f974139814538c"},
-    {file = "frozenlist-1.3.1-cp39-cp39-manylinux_2_5_i686.manylinux1_i686.manylinux_2_17_i686.manylinux2014_i686.whl", hash = "sha256:ab386503f53bbbc64d1ad4b6865bf001414930841a870fc97f1546d4d133f141"},
-    {file = "frozenlist-1.3.1-cp39-cp39-manylinux_2_5_x86_64.manylinux1_x86_64.manylinux_2_17_x86_64.manylinux2014_x86_64.whl", hash = "sha256:5f63c308f82a7954bf8263a6e6de0adc67c48a8b484fab18ff87f349af356efd"},
-    {file = "frozenlist-1.3.1-cp39-cp39-musllinux_1_1_aarch64.whl", hash = "sha256:12607804084d2244a7bd4685c9d0dca5df17a6a926d4f1967aa7978b1028f89f"},
-    {file = "frozenlist-1.3.1-cp39-cp39-musllinux_1_1_i686.whl", hash = "sha256:da1cdfa96425cbe51f8afa43e392366ed0b36ce398f08b60de6b97e3ed4affef"},
-    {file = "frozenlist-1.3.1-cp39-cp39-musllinux_1_1_ppc64le.whl", hash = "sha256:f810e764617b0748b49a731ffaa525d9bb36ff38332411704c2400125af859a6"},
-    {file = "frozenlist-1.3.1-cp39-cp39-musllinux_1_1_s390x.whl", hash = "sha256:35c3d79b81908579beb1fb4e7fcd802b7b4921f1b66055af2578ff7734711cfa"},
-    {file = "frozenlist-1.3.1-cp39-cp39-musllinux_1_1_x86_64.whl", hash = "sha256:c92deb5d9acce226a501b77307b3b60b264ca21862bd7d3e0c1f3594022f01bc"},
-    {file = "frozenlist-1.3.1-cp39-cp39-win32.whl", hash = "sha256:5e77a8bd41e54b05e4fb2708dc6ce28ee70325f8c6f50f3df86a44ecb1d7a19b"},
-    {file = "frozenlist-1.3.1-cp39-cp39-win_amd64.whl", hash = "sha256:625d8472c67f2d96f9a4302a947f92a7adbc1e20bedb6aff8dbc8ff039ca6189"},
-    {file = "frozenlist-1.3.1.tar.gz", hash = "sha256:3a735e4211a04ccfa3f4833547acdf5d2f863bfeb01cfd3edaffbc251f15cec8"},
+
+[package.extras]
+all = ["brotli (>=1.0.1)", "brotlicffi (>=0.8.0)", "fs (>=2.2.0,<3)", "lxml (>=4.0,<5)", "lz4 (>=1.7.4.2)", "matplotlib", "munkres", "scipy", "skia-pathops (>=0.5.0)", "sympy", "uharfbuzz (>=0.23.0)", "unicodedata2 (>=15.0.0)", "xattr", "zopfli (>=0.1.4)"]
+graphite = ["lz4 (>=1.7.4.2)"]
+interpolatable = ["munkres", "scipy"]
+lxml = ["lxml (>=4.0,<5)"]
+pathops = ["skia-pathops (>=0.5.0)"]
+plot = ["matplotlib"]
+repacker = ["uharfbuzz (>=0.23.0)"]
+symfont = ["sympy"]
+type1 = ["xattr"]
+ufo = ["fs (>=2.2.0,<3)"]
+unicode = ["unicodedata2 (>=15.0.0)"]
+woff = ["brotli (>=1.0.1)", "brotlicffi (>=0.8.0)", "zopfli (>=0.1.4)"]
+
+[[package]]
+name = "fqdn"
+version = "1.5.1"
+description = "Validates fully-qualified domain names against RFC 1123, so that they are acceptable to modern bowsers"
+optional = false
+python-versions = ">=2.7, !=3.0, !=3.1, !=3.2, !=3.3, !=3.4, <4"
+files = [
+    {file = "fqdn-1.5.1-py3-none-any.whl", hash = "sha256:3a179af3761e4df6eb2e026ff9e1a3033d3587bf980a0b1b2e1e5d08d7358014"},
+    {file = "fqdn-1.5.1.tar.gz", hash = "sha256:105ed3677e767fb5ca086a0c1f4bb66ebc3c100be518f0e0d755d9eae164d89f"},
 ]
-fsspec = [
-    {file = "fsspec-2023.5.0-py3-none-any.whl", hash = "sha256:51a4ad01a5bb66fcc58036e288c0d53d3975a0df2a5dc59a93b59bade0391f2a"},
-    {file = "fsspec-2023.5.0.tar.gz", hash = "sha256:b3b56e00fb93ea321bc9e5d9cf6f8522a0198b20eb24e02774d329e9c6fb84ce"},
+
+[[package]]
+name = "frozenlist"
+version = "1.4.0"
+description = "A list-like structure which implements collections.abc.MutableSequence"
+optional = false
+python-versions = ">=3.8"
+files = [
+    {file = "frozenlist-1.4.0-cp310-cp310-macosx_10_9_universal2.whl", hash = "sha256:764226ceef3125e53ea2cb275000e309c0aa5464d43bd72abd661e27fffc26ab"},
+    {file = "frozenlist-1.4.0-cp310-cp310-macosx_10_9_x86_64.whl", hash = "sha256:d6484756b12f40003c6128bfcc3fa9f0d49a687e171186c2d85ec82e3758c559"},
+    {file = "frozenlist-1.4.0-cp310-cp310-macosx_11_0_arm64.whl", hash = "sha256:9ac08e601308e41eb533f232dbf6b7e4cea762f9f84f6357136eed926c15d12c"},
+    {file = "frozenlist-1.4.0-cp310-cp310-manylinux_2_17_aarch64.manylinux2014_aarch64.whl", hash = "sha256:d081f13b095d74b67d550de04df1c756831f3b83dc9881c38985834387487f1b"},
+    {file = "frozenlist-1.4.0-cp310-cp310-manylinux_2_17_ppc64le.manylinux2014_ppc64le.whl", hash = "sha256:71932b597f9895f011f47f17d6428252fc728ba2ae6024e13c3398a087c2cdea"},
+    {file = "frozenlist-1.4.0-cp310-cp310-manylinux_2_17_s390x.manylinux2014_s390x.whl", hash = "sha256:981b9ab5a0a3178ff413bca62526bb784249421c24ad7381e39d67981be2c326"},
+    {file = "frozenlist-1.4.0-cp310-cp310-manylinux_2_5_i686.manylinux1_i686.manylinux_2_17_i686.manylinux2014_i686.whl", hash = "sha256:e41f3de4df3e80de75845d3e743b3f1c4c8613c3997a912dbf0229fc61a8b963"},
+    {file = "frozenlist-1.4.0-cp310-cp310-manylinux_2_5_x86_64.manylinux1_x86_64.manylinux_2_17_x86_64.manylinux2014_x86_64.whl", hash = "sha256:6918d49b1f90821e93069682c06ffde41829c346c66b721e65a5c62b4bab0300"},
+    {file = "frozenlist-1.4.0-cp310-cp310-musllinux_1_1_aarch64.whl", hash = "sha256:0e5c8764c7829343d919cc2dfc587a8db01c4f70a4ebbc49abde5d4b158b007b"},
+    {file = "frozenlist-1.4.0-cp310-cp310-musllinux_1_1_i686.whl", hash = "sha256:8d0edd6b1c7fb94922bf569c9b092ee187a83f03fb1a63076e7774b60f9481a8"},
+    {file = "frozenlist-1.4.0-cp310-cp310-musllinux_1_1_ppc64le.whl", hash = "sha256:e29cda763f752553fa14c68fb2195150bfab22b352572cb36c43c47bedba70eb"},
+    {file = "frozenlist-1.4.0-cp310-cp310-musllinux_1_1_s390x.whl", hash = "sha256:0c7c1b47859ee2cac3846fde1c1dc0f15da6cec5a0e5c72d101e0f83dcb67ff9"},
+    {file = "frozenlist-1.4.0-cp310-cp310-musllinux_1_1_x86_64.whl", hash = "sha256:901289d524fdd571be1c7be054f48b1f88ce8dddcbdf1ec698b27d4b8b9e5d62"},
+    {file = "frozenlist-1.4.0-cp310-cp310-win32.whl", hash = "sha256:1a0848b52815006ea6596c395f87449f693dc419061cc21e970f139d466dc0a0"},
+    {file = "frozenlist-1.4.0-cp310-cp310-win_amd64.whl", hash = "sha256:b206646d176a007466358aa21d85cd8600a415c67c9bd15403336c331a10d956"},
+    {file = "frozenlist-1.4.0-cp311-cp311-macosx_10_9_universal2.whl", hash = "sha256:de343e75f40e972bae1ef6090267f8260c1446a1695e77096db6cfa25e759a95"},
+    {file = "frozenlist-1.4.0-cp311-cp311-macosx_10_9_x86_64.whl", hash = "sha256:ad2a9eb6d9839ae241701d0918f54c51365a51407fd80f6b8289e2dfca977cc3"},
+    {file = "frozenlist-1.4.0-cp311-cp311-macosx_11_0_arm64.whl", hash = "sha256:bd7bd3b3830247580de99c99ea2a01416dfc3c34471ca1298bccabf86d0ff4dc"},
+    {file = "frozenlist-1.4.0-cp311-cp311-manylinux_2_17_aarch64.manylinux2014_aarch64.whl", hash = "sha256:bdf1847068c362f16b353163391210269e4f0569a3c166bc6a9f74ccbfc7e839"},
+    {file = "frozenlist-1.4.0-cp311-cp311-manylinux_2_17_ppc64le.manylinux2014_ppc64le.whl", hash = "sha256:38461d02d66de17455072c9ba981d35f1d2a73024bee7790ac2f9e361ef1cd0c"},
+    {file = "frozenlist-1.4.0-cp311-cp311-manylinux_2_17_s390x.manylinux2014_s390x.whl", hash = "sha256:d5a32087d720c608f42caed0ef36d2b3ea61a9d09ee59a5142d6070da9041b8f"},
+    {file = "frozenlist-1.4.0-cp311-cp311-manylinux_2_5_i686.manylinux1_i686.manylinux_2_17_i686.manylinux2014_i686.whl", hash = "sha256:dd65632acaf0d47608190a71bfe46b209719bf2beb59507db08ccdbe712f969b"},
+    {file = "frozenlist-1.4.0-cp311-cp311-manylinux_2_5_x86_64.manylinux1_x86_64.manylinux_2_17_x86_64.manylinux2014_x86_64.whl", hash = "sha256:261b9f5d17cac914531331ff1b1d452125bf5daa05faf73b71d935485b0c510b"},
+    {file = "frozenlist-1.4.0-cp311-cp311-musllinux_1_1_aarch64.whl", hash = "sha256:b89ac9768b82205936771f8d2eb3ce88503b1556324c9f903e7156669f521472"},
+    {file = "frozenlist-1.4.0-cp311-cp311-musllinux_1_1_i686.whl", hash = "sha256:008eb8b31b3ea6896da16c38c1b136cb9fec9e249e77f6211d479db79a4eaf01"},
+    {file = "frozenlist-1.4.0-cp311-cp311-musllinux_1_1_ppc64le.whl", hash = "sha256:e74b0506fa5aa5598ac6a975a12aa8928cbb58e1f5ac8360792ef15de1aa848f"},
+    {file = "frozenlist-1.4.0-cp311-cp311-musllinux_1_1_s390x.whl", hash = "sha256:490132667476f6781b4c9458298b0c1cddf237488abd228b0b3650e5ecba7467"},
+    {file = "frozenlist-1.4.0-cp311-cp311-musllinux_1_1_x86_64.whl", hash = "sha256:76d4711f6f6d08551a7e9ef28c722f4a50dd0fc204c56b4bcd95c6cc05ce6fbb"},
+    {file = "frozenlist-1.4.0-cp311-cp311-win32.whl", hash = "sha256:a02eb8ab2b8f200179b5f62b59757685ae9987996ae549ccf30f983f40602431"},
+    {file = "frozenlist-1.4.0-cp311-cp311-win_amd64.whl", hash = "sha256:515e1abc578dd3b275d6a5114030b1330ba044ffba03f94091842852f806f1c1"},
+    {file = "frozenlist-1.4.0-cp38-cp38-macosx_10_9_universal2.whl", hash = "sha256:f0ed05f5079c708fe74bf9027e95125334b6978bf07fd5ab923e9e55e5fbb9d3"},
+    {file = "frozenlist-1.4.0-cp38-cp38-macosx_10_9_x86_64.whl", hash = "sha256:ca265542ca427bf97aed183c1676e2a9c66942e822b14dc6e5f42e038f92a503"},
+    {file = "frozenlist-1.4.0-cp38-cp38-macosx_11_0_arm64.whl", hash = "sha256:491e014f5c43656da08958808588cc6c016847b4360e327a62cb308c791bd2d9"},
+    {file = "frozenlist-1.4.0-cp38-cp38-manylinux_2_17_aarch64.manylinux2014_aarch64.whl", hash = "sha256:17ae5cd0f333f94f2e03aaf140bb762c64783935cc764ff9c82dff626089bebf"},
+    {file = "frozenlist-1.4.0-cp38-cp38-manylinux_2_17_ppc64le.manylinux2014_ppc64le.whl", hash = "sha256:1e78fb68cf9c1a6aa4a9a12e960a5c9dfbdb89b3695197aa7064705662515de2"},
+    {file = "frozenlist-1.4.0-cp38-cp38-manylinux_2_17_s390x.manylinux2014_s390x.whl", hash = "sha256:d5655a942f5f5d2c9ed93d72148226d75369b4f6952680211972a33e59b1dfdc"},
+    {file = "frozenlist-1.4.0-cp38-cp38-manylinux_2_5_i686.manylinux1_i686.manylinux_2_17_i686.manylinux2014_i686.whl", hash = "sha256:c11b0746f5d946fecf750428a95f3e9ebe792c1ee3b1e96eeba145dc631a9672"},
+    {file = "frozenlist-1.4.0-cp38-cp38-manylinux_2_5_x86_64.manylinux1_x86_64.manylinux_2_17_x86_64.manylinux2014_x86_64.whl", hash = "sha256:e66d2a64d44d50d2543405fb183a21f76b3b5fd16f130f5c99187c3fb4e64919"},
+    {file = "frozenlist-1.4.0-cp38-cp38-musllinux_1_1_aarch64.whl", hash = "sha256:88f7bc0fcca81f985f78dd0fa68d2c75abf8272b1f5c323ea4a01a4d7a614efc"},
+    {file = "frozenlist-1.4.0-cp38-cp38-musllinux_1_1_i686.whl", hash = "sha256:5833593c25ac59ede40ed4de6d67eb42928cca97f26feea219f21d0ed0959b79"},
+    {file = "frozenlist-1.4.0-cp38-cp38-musllinux_1_1_ppc64le.whl", hash = "sha256:fec520865f42e5c7f050c2a79038897b1c7d1595e907a9e08e3353293ffc948e"},
+    {file = "frozenlist-1.4.0-cp38-cp38-musllinux_1_1_s390x.whl", hash = "sha256:b826d97e4276750beca7c8f0f1a4938892697a6bcd8ec8217b3312dad6982781"},
+    {file = "frozenlist-1.4.0-cp38-cp38-musllinux_1_1_x86_64.whl", hash = "sha256:ceb6ec0a10c65540421e20ebd29083c50e6d1143278746a4ef6bcf6153171eb8"},
+    {file = "frozenlist-1.4.0-cp38-cp38-win32.whl", hash = "sha256:2b8bcf994563466db019fab287ff390fffbfdb4f905fc77bc1c1d604b1c689cc"},
+    {file = "frozenlist-1.4.0-cp38-cp38-win_amd64.whl", hash = "sha256:a6c8097e01886188e5be3e6b14e94ab365f384736aa1fca6a0b9e35bd4a30bc7"},
+    {file = "frozenlist-1.4.0-cp39-cp39-macosx_10_9_universal2.whl", hash = "sha256:6c38721585f285203e4b4132a352eb3daa19121a035f3182e08e437cface44bf"},
+    {file = "frozenlist-1.4.0-cp39-cp39-macosx_10_9_x86_64.whl", hash = "sha256:a0c6da9aee33ff0b1a451e867da0c1f47408112b3391dd43133838339e410963"},
+    {file = "frozenlist-1.4.0-cp39-cp39-macosx_11_0_arm64.whl", hash = "sha256:93ea75c050c5bb3d98016b4ba2497851eadf0ac154d88a67d7a6816206f6fa7f"},
+    {file = "frozenlist-1.4.0-cp39-cp39-manylinux_2_17_aarch64.manylinux2014_aarch64.whl", hash = "sha256:f61e2dc5ad442c52b4887f1fdc112f97caeff4d9e6ebe78879364ac59f1663e1"},
+    {file = "frozenlist-1.4.0-cp39-cp39-manylinux_2_17_ppc64le.manylinux2014_ppc64le.whl", hash = "sha256:aa384489fefeb62321b238e64c07ef48398fe80f9e1e6afeff22e140e0850eef"},
+    {file = "frozenlist-1.4.0-cp39-cp39-manylinux_2_17_s390x.manylinux2014_s390x.whl", hash = "sha256:10ff5faaa22786315ef57097a279b833ecab1a0bfb07d604c9cbb1c4cdc2ed87"},
+    {file = "frozenlist-1.4.0-cp39-cp39-manylinux_2_5_i686.manylinux1_i686.manylinux_2_17_i686.manylinux2014_i686.whl", hash = "sha256:007df07a6e3eb3e33e9a1fe6a9db7af152bbd8a185f9aaa6ece10a3529e3e1c6"},
+    {file = "frozenlist-1.4.0-cp39-cp39-manylinux_2_5_x86_64.manylinux1_x86_64.manylinux_2_17_x86_64.manylinux2014_x86_64.whl", hash = "sha256:7f4f399d28478d1f604c2ff9119907af9726aed73680e5ed1ca634d377abb087"},
+    {file = "frozenlist-1.4.0-cp39-cp39-musllinux_1_1_aarch64.whl", hash = "sha256:c5374b80521d3d3f2ec5572e05adc94601985cc526fb276d0c8574a6d749f1b3"},
+    {file = "frozenlist-1.4.0-cp39-cp39-musllinux_1_1_i686.whl", hash = "sha256:ce31ae3e19f3c902de379cf1323d90c649425b86de7bbdf82871b8a2a0615f3d"},
+    {file = "frozenlist-1.4.0-cp39-cp39-musllinux_1_1_ppc64le.whl", hash = "sha256:7211ef110a9194b6042449431e08c4d80c0481e5891e58d429df5899690511c2"},
+    {file = "frozenlist-1.4.0-cp39-cp39-musllinux_1_1_s390x.whl", hash = "sha256:556de4430ce324c836789fa4560ca62d1591d2538b8ceb0b4f68fb7b2384a27a"},
+    {file = "frozenlist-1.4.0-cp39-cp39-musllinux_1_1_x86_64.whl", hash = "sha256:7645a8e814a3ee34a89c4a372011dcd817964ce8cb273c8ed6119d706e9613e3"},
+    {file = "frozenlist-1.4.0-cp39-cp39-win32.whl", hash = "sha256:19488c57c12d4e8095a922f328df3f179c820c212940a498623ed39160bc3c2f"},
+    {file = "frozenlist-1.4.0-cp39-cp39-win_amd64.whl", hash = "sha256:6221d84d463fb110bdd7619b69cb43878a11d51cbb9394ae3105d082d5199167"},
+    {file = "frozenlist-1.4.0.tar.gz", hash = "sha256:09163bdf0b2907454042edb19f887c6d33806adc71fbd54afc14908bfdc22251"},
 ]
-ft4222 = [
-    {file = "ft4222-1.6.0-cp310-cp310-manylinux_2_17_aarch64.manylinux2014_aarch64.manylinux_2_24_aarch64.whl", hash = "sha256:64c80402e19ada10f142cf9d5f5b343a121689b94dfc31fafc7864db13ac7f79"},
-    {file = "ft4222-1.6.0-cp310-cp310-manylinux_2_17_x86_64.manylinux2014_x86_64.manylinux_2_24_x86_64.whl", hash = "sha256:5c713b6527513a77e674a6db60d97f67b18ce9f85727168ecbeef82557f2b2d1"},
-    {file = "ft4222-1.6.0-cp310-cp310-win32.whl", hash = "sha256:324d6330d501bf6f7746aa1b81f9540a2b385e9318bd4e6e4f744d7107f90c67"},
-    {file = "ft4222-1.6.0-cp310-cp310-win_amd64.whl", hash = "sha256:1279115892441e4a2ab468429e5003c72f47423daa4d7179c0da4af3522c056a"},
-    {file = "ft4222-1.6.0-cp311-cp311-manylinux_2_17_aarch64.manylinux2014_aarch64.manylinux_2_24_aarch64.whl", hash = "sha256:719ec8f9c05636d8306a64f8f6f86dd9ec27d80afb3fc07e7d0b01c9b3d83d1e"},
-    {file = "ft4222-1.6.0-cp311-cp311-manylinux_2_17_x86_64.manylinux2014_x86_64.manylinux_2_24_x86_64.whl", hash = "sha256:886f3b53bad1dc238a3d6e5105b6d7442244ea854afea38daf84529491ad6e3d"},
-    {file = "ft4222-1.6.0-cp36-cp36m-manylinux_2_17_aarch64.manylinux2014_aarch64.manylinux_2_24_aarch64.whl", hash = "sha256:c28fb526ec98afefebb24f0e333bfef0def3ca46f8b4f84712c5e6e3c7e0fe9c"},
-    {file = "ft4222-1.6.0-cp36-cp36m-manylinux_2_17_x86_64.manylinux2014_x86_64.manylinux_2_24_x86_64.whl", hash = "sha256:f4b3ced3e5603f6bb22fcfcf9567a95ec47a93dd453a911e438c02d665bf657c"},
-    {file = "ft4222-1.6.0-cp37-cp37m-manylinux_2_17_aarch64.manylinux2014_aarch64.manylinux_2_24_aarch64.whl", hash = "sha256:376ddba0e44a24237d926bc28a519ef7877174726629c3335529f548a829e857"},
-    {file = "ft4222-1.6.0-cp37-cp37m-manylinux_2_17_x86_64.manylinux2014_x86_64.manylinux_2_24_x86_64.whl", hash = "sha256:3dff18e3d95027fb7407748d9a92eece9a2e88c3f7521be59fc848fe32a3780f"},
-    {file = "ft4222-1.6.0-cp37-cp37m-win32.whl", hash = "sha256:c0673a1420bd10b3dd782d307c60516bcd4ff24f7c27661b319c781e8a0618df"},
-    {file = "ft4222-1.6.0-cp37-cp37m-win_amd64.whl", hash = "sha256:de38894f69cd0253a4b683612006912c5d98fae94f07f910650ab5027dc3df8e"},
-    {file = "ft4222-1.6.0-cp38-cp38-manylinux_2_17_aarch64.manylinux2014_aarch64.manylinux_2_24_aarch64.whl", hash = "sha256:e3aae2cbd0a15f7dd9506971f32ab67dcf192c24b012258ccf2e0daeb099d8e5"},
-    {file = "ft4222-1.6.0-cp38-cp38-manylinux_2_17_x86_64.manylinux2014_x86_64.manylinux_2_24_x86_64.whl", hash = "sha256:f4d6d21e8e00b9c5aabaff48489973cf45452cb88a9d6946eaa6aea1d48c0794"},
-    {file = "ft4222-1.6.0-cp38-cp38-win32.whl", hash = "sha256:eeb1f8cf04262e2bcdaf159a767148a61ef91aa8b86950ae883bb8ba8f0e82da"},
-    {file = "ft4222-1.6.0-cp38-cp38-win_amd64.whl", hash = "sha256:06419df94566e5e62358f7d68055fd4155b916646ead2c479e75b964548714e3"},
-    {file = "ft4222-1.6.0-cp39-cp39-manylinux_2_17_aarch64.manylinux2014_aarch64.manylinux_2_24_aarch64.whl", hash = "sha256:7a91689f9e44c6a8afedb6e5a11ba70d0c661e879607fd8635c76ebaa503cd90"},
-    {file = "ft4222-1.6.0-cp39-cp39-manylinux_2_17_x86_64.manylinux2014_x86_64.manylinux_2_24_x86_64.whl", hash = "sha256:31976a15a7cd649814887e3887480f3f625e82e7e2d354f33d582a0faf4c7689"},
-    {file = "ft4222-1.6.0-cp39-cp39-win32.whl", hash = "sha256:b4c8309bbc2d0cf2704dd8737bcf2a6ae27284f7cf45746e79d3dbd4810e0cb3"},
-    {file = "ft4222-1.6.0-cp39-cp39-win_amd64.whl", hash = "sha256:395596fd03120015b7a049928ba31983f7e71596bcdb85bd78eff4293e955266"},
-    {file = "ft4222-1.6.0-pp37-pypy37_pp73-manylinux_2_17_aarch64.manylinux2014_aarch64.manylinux_2_24_aarch64.whl", hash = "sha256:937124275e50adc87213fa3bda52e3ac08348454eee21b23e23ce4afd656035b"},
-    {file = "ft4222-1.6.0-pp37-pypy37_pp73-manylinux_2_17_x86_64.manylinux2014_x86_64.manylinux_2_24_x86_64.whl", hash = "sha256:eb9752990913ee327ebf1279f4a4847b54cacbf95aa920d24f07cb687a77572b"},
-    {file = "ft4222-1.6.0-pp38-pypy38_pp73-manylinux_2_17_aarch64.manylinux2014_aarch64.manylinux_2_24_aarch64.whl", hash = "sha256:37696c46340064e7518e4d77c8f8b044d72af26850f2e3370369201dd44b08b9"},
-    {file = "ft4222-1.6.0-pp38-pypy38_pp73-manylinux_2_17_x86_64.manylinux2014_x86_64.manylinux_2_24_x86_64.whl", hash = "sha256:ea7fdf9f5757e981445bbf80669f4f059912963f5718d16736c0f2b341a05610"},
-    {file = "ft4222-1.6.0-pp39-pypy39_pp73-manylinux_2_17_aarch64.manylinux2014_aarch64.manylinux_2_24_aarch64.whl", hash = "sha256:f242776c497d49f0533c643138375a59fe1745c159e43ec55845fe59c1f17020"},
-    {file = "ft4222-1.6.0-pp39-pypy39_pp73-manylinux_2_17_x86_64.manylinux2014_x86_64.manylinux_2_24_x86_64.whl", hash = "sha256:5ba637e9c43c7aaa82915b06c4098ac885f2ae45152b1f01584307b8e6e5b005"},
-    {file = "ft4222-1.6.0.tar.gz", hash = "sha256:537de8f49c21fe49f4be16e0a359315e72322a6a513b153effc95c8105c6af06"},
+
+[[package]]
+name = "fsspec"
+version = "2023.6.0"
+description = "File-system specification"
+optional = false
+python-versions = ">=3.8"
+files = [
+    {file = "fsspec-2023.6.0-py3-none-any.whl", hash = "sha256:1cbad1faef3e391fba6dc005ae9b5bdcbf43005c9167ce78c915549c352c869a"},
+    {file = "fsspec-2023.6.0.tar.gz", hash = "sha256:d0b2f935446169753e7a5c5c55681c54ea91996cc67be93c39a154fb3a2742af"},
 ]
-future = [
-    {file = "future-0.18.2.tar.gz", hash = "sha256:b1bead90b70cf6ec3f0710ae53a525360fa360d306a86583adc6bf83a4db537d"},
+
+[package.extras]
+abfs = ["adlfs"]
+adl = ["adlfs"]
+arrow = ["pyarrow (>=1)"]
+dask = ["dask", "distributed"]
+devel = ["pytest", "pytest-cov"]
+dropbox = ["dropbox", "dropboxdrivefs", "requests"]
+full = ["adlfs", "aiohttp (!=4.0.0a0,!=4.0.0a1)", "dask", "distributed", "dropbox", "dropboxdrivefs", "fusepy", "gcsfs", "libarchive-c", "ocifs", "panel", "paramiko", "pyarrow (>=1)", "pygit2", "requests", "s3fs", "smbprotocol", "tqdm"]
+fuse = ["fusepy"]
+gcs = ["gcsfs"]
+git = ["pygit2"]
+github = ["requests"]
+gs = ["gcsfs"]
+gui = ["panel"]
+hdfs = ["pyarrow (>=1)"]
+http = ["aiohttp (!=4.0.0a0,!=4.0.0a1)", "requests"]
+libarchive = ["libarchive-c"]
+oci = ["ocifs"]
+s3 = ["s3fs"]
+sftp = ["paramiko"]
+smb = ["smbprotocol"]
+ssh = ["paramiko"]
+tqdm = ["tqdm"]
+
+[[package]]
+name = "ft4222"
+version = "1.8.1"
+description = "Python wrapper around libFT4222."
+optional = false
+python-versions = "*"
+files = [
+    {file = "ft4222-1.8.1-cp310-cp310-manylinux_2_17_aarch64.manylinux2014_aarch64.manylinux_2_24_aarch64.whl", hash = "sha256:32125b9462945db7b8881bba32e73d7202998572b2a8c27d738163ca4a1e5c2a"},
+    {file = "ft4222-1.8.1-cp310-cp310-manylinux_2_17_x86_64.manylinux2014_x86_64.manylinux_2_24_x86_64.whl", hash = "sha256:791cfca70aaf2570892a637d0389fddd88f28d1474cdae810778be45024ea10a"},
+    {file = "ft4222-1.8.1-cp310-cp310-win32.whl", hash = "sha256:386b2c98cc95a889809fb509cf0144fd67889ad61d668f55d240300a1e52a9d0"},
+    {file = "ft4222-1.8.1-cp310-cp310-win_amd64.whl", hash = "sha256:e88011aa19afefeb5136bdb5af745a74d2a85981b927ee07b7925187d90e9aa2"},
+    {file = "ft4222-1.8.1-cp311-cp311-manylinux_2_17_aarch64.manylinux2014_aarch64.manylinux_2_24_aarch64.whl", hash = "sha256:4cfe1c110e4546384dd9be635c010fa1c6a7f97d2f80b43c7cbda59fcad832cc"},
+    {file = "ft4222-1.8.1-cp311-cp311-manylinux_2_17_x86_64.manylinux2014_x86_64.manylinux_2_24_x86_64.whl", hash = "sha256:99068ada9b2ed785abb15a50ccd78ecc947c0a2b4982e6356c6e910ee2ad9958"},
+    {file = "ft4222-1.8.1-cp311-cp311-win32.whl", hash = "sha256:387b0b7094094a52f069c00fadd58da2666570dc38c2e8b36cf2b4af56a6ab31"},
+    {file = "ft4222-1.8.1-cp311-cp311-win_amd64.whl", hash = "sha256:4d666d5b3435ece3db782970288fd7b52fb53964ad8cf07434d32c368103ae07"},
+    {file = "ft4222-1.8.1-cp36-cp36m-manylinux_2_17_aarch64.manylinux2014_aarch64.manylinux_2_24_aarch64.whl", hash = "sha256:8a21ef854ada66fbfba587f99c9db601f2643d5647bf7f4539928287cf2c566c"},
+    {file = "ft4222-1.8.1-cp36-cp36m-manylinux_2_17_x86_64.manylinux2014_x86_64.manylinux_2_24_x86_64.whl", hash = "sha256:e4faf61ef28d7dc48ada862da079ec15470366ece48a1b79b451bb34a4385da9"},
+    {file = "ft4222-1.8.1-cp37-cp37m-manylinux_2_17_aarch64.manylinux2014_aarch64.manylinux_2_24_aarch64.whl", hash = "sha256:87c080dc966ad666b0eb03fb06f2e0efd7abd67b1be37ce5424cd34881905aee"},
+    {file = "ft4222-1.8.1-cp37-cp37m-manylinux_2_17_x86_64.manylinux2014_x86_64.manylinux_2_24_x86_64.whl", hash = "sha256:488212b83f5eb067b93fa1cefea5d707631ed6d09396af0074e6564733972c7e"},
+    {file = "ft4222-1.8.1-cp37-cp37m-win32.whl", hash = "sha256:4c3e3aeb02376dae37d22b5a8a2453b94ee656bca0667a62086de62395c2f1af"},
+    {file = "ft4222-1.8.1-cp37-cp37m-win_amd64.whl", hash = "sha256:04e7c7d0dc0d555598cc1e608fe1cc60945406e511a7ffe4a8e7059b33a6a683"},
+    {file = "ft4222-1.8.1-cp38-cp38-manylinux_2_17_aarch64.manylinux2014_aarch64.manylinux_2_24_aarch64.whl", hash = "sha256:fe076965d9ac110ceccfb4bad4ec73187402f5131e3f8444684755503f90db08"},
+    {file = "ft4222-1.8.1-cp38-cp38-manylinux_2_17_x86_64.manylinux2014_x86_64.manylinux_2_24_x86_64.whl", hash = "sha256:574bce65a12dc562582c6bd221e4779f9f0ac438bc37e81201e1390022bc4435"},
+    {file = "ft4222-1.8.1-cp38-cp38-win32.whl", hash = "sha256:d6b78f6e6a6d16769d080373f6ec22cdceb411f23bf4dec366cc809d813e1d8c"},
+    {file = "ft4222-1.8.1-cp38-cp38-win_amd64.whl", hash = "sha256:7049d5726b0ff02425d7e4e88ebe77ea143cb3d249bbb6c8ff5110f0abb4d533"},
+    {file = "ft4222-1.8.1-cp39-cp39-manylinux_2_17_aarch64.manylinux2014_aarch64.manylinux_2_24_aarch64.whl", hash = "sha256:2a604b1a79dc203f8d619153255d154da425f811f64a1c322a173f1d3fbde924"},
+    {file = "ft4222-1.8.1-cp39-cp39-manylinux_2_17_x86_64.manylinux2014_x86_64.manylinux_2_24_x86_64.whl", hash = "sha256:653f3adc6938f0bca26363c513a80c4188c1811cac8e85e94b4b7c87f3801cd6"},
+    {file = "ft4222-1.8.1-cp39-cp39-win32.whl", hash = "sha256:7f3c9ea9cc6dded3e8d10de33170236fa32ccf826afc283116eff47565ffe86d"},
+    {file = "ft4222-1.8.1-cp39-cp39-win_amd64.whl", hash = "sha256:db17d21d0d46e550bf65f50d952a20bf75e6d153de192d4027a70eb347f07026"},
+    {file = "ft4222-1.8.1-pp37-pypy37_pp73-manylinux_2_17_aarch64.manylinux2014_aarch64.manylinux_2_24_aarch64.whl", hash = "sha256:1d995115e8a94a092584ac9ec10d415eb6956fe275d1ef5e549e20dc578caf20"},
+    {file = "ft4222-1.8.1-pp37-pypy37_pp73-manylinux_2_17_x86_64.manylinux2014_x86_64.manylinux_2_24_x86_64.whl", hash = "sha256:ef88304a306f42644a04ca6c1abe4d24b69141659bc59db9f8df6be4b347d149"},
+    {file = "ft4222-1.8.1-pp38-pypy38_pp73-manylinux_2_17_aarch64.manylinux2014_aarch64.manylinux_2_24_aarch64.whl", hash = "sha256:549bbe3a18a21f7585877fd3cbb14c46b45eb61b29c0b5039f1fc8655e7fbeca"},
+    {file = "ft4222-1.8.1-pp38-pypy38_pp73-manylinux_2_17_x86_64.manylinux2014_x86_64.manylinux_2_24_x86_64.whl", hash = "sha256:f4ceba4f7b778169c5b14028aeb1f4720295a9754f89222bd5b9a78e4c064b96"},
+    {file = "ft4222-1.8.1-pp39-pypy39_pp73-manylinux_2_17_aarch64.manylinux2014_aarch64.manylinux_2_24_aarch64.whl", hash = "sha256:0c30500df95075877e8e29a58e0648ceb88571cfb33e244d7a51384e42caccac"},
+    {file = "ft4222-1.8.1-pp39-pypy39_pp73-manylinux_2_17_x86_64.manylinux2014_x86_64.manylinux_2_24_x86_64.whl", hash = "sha256:a2e9f22bea3683f171fc0da58ccbdd827a430349d8c26113077d4de79a454a87"},
+    {file = "ft4222-1.8.1.tar.gz", hash = "sha256:6532ae1265e4b81416c51def060c2a3bf26494a83b644ec7db5cc273756e03c6"},
 ]
-future-fstrings = [
+
+[[package]]
+name = "future"
+version = "0.18.3"
+description = "Clean single-source support for Python 3 and 2"
+optional = false
+python-versions = ">=2.6, !=3.0.*, !=3.1.*, !=3.2.*"
+files = [
+    {file = "future-0.18.3.tar.gz", hash = "sha256:34a17436ed1e96697a86f9de3d15a3b0be01d8bc8de9c1dffd59fb8234ed5307"},
+]
+
+[[package]]
+name = "future-fstrings"
+version = "1.2.0"
+description = "A backport of fstrings to python<3.6"
+optional = false
+python-versions = ">=2.7, !=3.0.*, !=3.1.*, !=3.2.*, !=3.3.*"
+files = [
     {file = "future_fstrings-1.2.0-py2.py3-none-any.whl", hash = "sha256:90e49598b553d8746c4dc7d9442e0359d038c3039d802c91c0a55505da318c63"},
     {file = "future_fstrings-1.2.0.tar.gz", hash = "sha256:6cf41cbe97c398ab5a81168ce0dbb8ad95862d3caf23c21e4430627b90844089"},
 ]
-geoalchemy2 = [
-    {file = "GeoAlchemy2-0.12.5-py2.py3-none-any.whl", hash = "sha256:3a59eb651df95b3dfee8e1d82f4d18c80b75f712860a0a3080defc6b0435070d"},
-    {file = "GeoAlchemy2-0.12.5.tar.gz", hash = "sha256:31c2502dce317b57b335e4eb87562d501fa39e46c728be514d9b86091e08dd67"},
+
+[package.extras]
+rewrite = ["tokenize-rt (>=3)"]
+
+[[package]]
+name = "geoalchemy2"
+version = "0.14.1"
+description = "Using SQLAlchemy with Spatial Databases"
+optional = false
+python-versions = ">=3.7"
+files = [
+    {file = "GeoAlchemy2-0.14.1-py3-none-any.whl", hash = "sha256:0830c98f83d6b1706e62b5544793d304e2853493d6e70ac18444c13748c3d1c7"},
+    {file = "GeoAlchemy2-0.14.1.tar.gz", hash = "sha256:620b31cbf97a368b2486dbcfcd36da2081827e933d4163bcb942043b79b545e8"},
 ]
-geopandas = [
-    {file = "geopandas-0.12.2-py3-none-any.whl", hash = "sha256:0a470e4bf6f5367e6fd83ab6b40405e0b805c8174665bbcb7c4077ed90202912"},
-    {file = "geopandas-0.12.2.tar.gz", hash = "sha256:0acdacddefa176525e4da6d9aeeece225da26055c4becdc6e97cf40fa97c27f4"},
+
+[package.dependencies]
+packaging = "*"
+SQLAlchemy = ">=1.4"
+
+[package.extras]
+shapely = ["Shapely (>=1.7)"]
+
+[[package]]
+name = "geopandas"
+version = "0.13.2"
+description = "Geographic pandas extensions"
+optional = false
+python-versions = ">=3.8"
+files = [
+    {file = "geopandas-0.13.2-py3-none-any.whl", hash = "sha256:101cfd0de54bcf9e287a55b5ea17ebe0db53a5e25a28bacf100143d0507cabd9"},
+    {file = "geopandas-0.13.2.tar.gz", hash = "sha256:e5b56d9c20800c77bcc0c914db3f27447a37b23b2cd892be543f5001a694a968"},
 ]
-gevent = [
-    {file = "gevent-22.10.1-cp27-cp27m-win32.whl", hash = "sha256:702a51b8f21bad1976b0893f90ade466e8c27039b846b611ad2beb8c6e6ac701"},
-    {file = "gevent-22.10.1-cp27-cp27m-win_amd64.whl", hash = "sha256:af7baec79a5f8ad1cc132d3b14edd12661c628d8094e501b089b1fe2d3df7f6e"},
-    {file = "gevent-22.10.1-cp310-cp310-manylinux_2_12_x86_64.manylinux2010_x86_64.whl", hash = "sha256:cf6dd33052919de8fb56e0bea0e6a7c7d6545281fe280ea78e311621c7adb50e"},
-    {file = "gevent-22.10.1-cp310-cp310-manylinux_2_17_aarch64.manylinux2014_aarch64.whl", hash = "sha256:f16c6937d47593f051fc3ac7996c819919082a1e7e0dec927cdae8771d26ed45"},
-    {file = "gevent-22.10.1-cp310-cp310-manylinux_2_17_ppc64le.manylinux2014_ppc64le.whl", hash = "sha256:21dbeb6d3b47093f40ca97aab493b2fb64b6f22112f88f56d79cf6f52a8c1c16"},
-    {file = "gevent-22.10.1-cp310-cp310-musllinux_1_1_x86_64.whl", hash = "sha256:acb21bee2e66da45b8916073c8ae54c44629beb94d49120c188d27aff4ebf8dd"},
-    {file = "gevent-22.10.1-cp310-cp310-win_amd64.whl", hash = "sha256:d2ea4ce36c09355379bc038be2bd50118f97d2eb6381b7096de4d05aa4c3e241"},
-    {file = "gevent-22.10.1-cp311-cp311-manylinux_2_17_aarch64.manylinux2014_aarch64.whl", hash = "sha256:3e73c9f71aa2a6795ecbec9b57282b002375e863e283558feb87b62840c8c1ac"},
-    {file = "gevent-22.10.1-cp311-cp311-manylinux_2_17_ppc64le.manylinux2014_ppc64le.whl", hash = "sha256:5bc3758f0dc95007c1780d28a9fd2150416a79c50f308f62a674d78a845ea1b9"},
-    {file = "gevent-22.10.1-cp311-cp311-manylinux_2_17_x86_64.manylinux2014_x86_64.whl", hash = "sha256:03c10ca0beeab0c6be516030471ea630447ddd1f649d3335e5b162097cd4130a"},
-    {file = "gevent-22.10.1-cp311-cp311-musllinux_1_1_x86_64.whl", hash = "sha256:fe2c0ff095171c49f78f1d4e6dc89fa58253783c7b6dccab9f1d76e2ee391f10"},
-    {file = "gevent-22.10.1-cp36-cp36m-manylinux_2_12_x86_64.manylinux2010_x86_64.whl", hash = "sha256:d18fcc324f39a3b21795022eb47c7752d6e4f4ed89d8cca41f1cc604553265b3"},
-    {file = "gevent-22.10.1-cp36-cp36m-manylinux_2_17_aarch64.manylinux2014_aarch64.whl", hash = "sha256:06ea39c70ce166c4a1d4386c7fae96cb8d84ad799527b3378406051104d15443"},
-    {file = "gevent-22.10.1-cp36-cp36m-manylinux_2_17_ppc64le.manylinux2014_ppc64le.whl", hash = "sha256:04a920a812b6c0c36d4613a15c254ca1ce415ee75ade0df3b8941ab61ae7ce3f"},
-    {file = "gevent-22.10.1-cp36-cp36m-musllinux_1_1_x86_64.whl", hash = "sha256:33c4cd095f99768ecc4b3bb75a12f52ea9df5c40a58671c667f86ea087a075e1"},
-    {file = "gevent-22.10.1-cp36-cp36m-win32.whl", hash = "sha256:db592cfe5106730667ac36f43554e7a869d757e411f8a08116c3739cee507145"},
-    {file = "gevent-22.10.1-cp36-cp36m-win_amd64.whl", hash = "sha256:a12443b7326e40d00fb445d37bae154fd1f4693055330c6b4e68670ca3b6e6bf"},
-    {file = "gevent-22.10.1-cp37-cp37m-manylinux_2_12_x86_64.manylinux2010_x86_64.whl", hash = "sha256:5d64b208bec99adc7e0b6e08a3e2c296065c665ca725ca8da434c4ffc5aa302e"},
-    {file = "gevent-22.10.1-cp37-cp37m-manylinux_2_17_aarch64.manylinux2014_aarch64.whl", hash = "sha256:1ac816f5e8e318c5fa27091ee43fcf4caaa6ae73a487e875a1a296a04c3da5af"},
-    {file = "gevent-22.10.1-cp37-cp37m-manylinux_2_17_ppc64le.manylinux2014_ppc64le.whl", hash = "sha256:eb0d9d6f869ba7c49d7f9b7d244dd20daec5cc87cd3e2e90209d6ed8172e0cad"},
-    {file = "gevent-22.10.1-cp37-cp37m-musllinux_1_1_x86_64.whl", hash = "sha256:3c1cfd9f9fb6a2a5a9a04132d315db7fb819db019dea260695fe6e4012416f96"},
-    {file = "gevent-22.10.1-cp37-cp37m-win32.whl", hash = "sha256:4b0d29fc18ee338a85396facfc508e5f26e2e0e90f4c2889f8a9e74d341ad467"},
-    {file = "gevent-22.10.1-cp37-cp37m-win_amd64.whl", hash = "sha256:36e47ca663081a71fca137b7c852e99e7ee3761082070c13aa2ae3b5b6234af6"},
-    {file = "gevent-22.10.1-cp38-cp38-manylinux_2_12_x86_64.manylinux2010_x86_64.whl", hash = "sha256:a838437b7b629328ad457cd36df454500afe7f3df4b971a6ff85851dfcf8c844"},
-    {file = "gevent-22.10.1-cp38-cp38-manylinux_2_17_aarch64.manylinux2014_aarch64.whl", hash = "sha256:4c06c0f3f4f1b147f51a934fbf541880cee769492b98c4ebd3e930b5ff862646"},
-    {file = "gevent-22.10.1-cp38-cp38-manylinux_2_17_ppc64le.manylinux2014_ppc64le.whl", hash = "sha256:d701208d4d65dbdf9feb02561a75ecc5bd28300e47b59f74033a07b593887806"},
-    {file = "gevent-22.10.1-cp38-cp38-musllinux_1_1_x86_64.whl", hash = "sha256:7e8c4ccc544f6e6c26ab10d0d6a7be86bd522222ce40f00bfafa01289f04bffc"},
-    {file = "gevent-22.10.1-cp38-cp38-win32.whl", hash = "sha256:4be5859af086de1ed85702c0a84479387087ddf49e38332c41861b0a10e96d8f"},
-    {file = "gevent-22.10.1-cp38-cp38-win_amd64.whl", hash = "sha256:be43278781d39b4081f7f4d3e8ebb1dac188c9fe98f25da817325cb12c01887a"},
-    {file = "gevent-22.10.1-cp39-cp39-manylinux_2_12_x86_64.manylinux2010_x86_64.whl", hash = "sha256:0cafb8f5399224990a5329bca3606bf399ee3604ae711b2d9238129b44551ad5"},
-    {file = "gevent-22.10.1-cp39-cp39-manylinux_2_17_aarch64.manylinux2014_aarch64.whl", hash = "sha256:1e1c609f9e4171588006bea7ff41bb830ff27c27d071bbd311f91860fb5ef4cc"},
-    {file = "gevent-22.10.1-cp39-cp39-manylinux_2_17_ppc64le.manylinux2014_ppc64le.whl", hash = "sha256:2dcfd8ef9dcca78c51dd266d0f4b48d9b7ea2592ae881bf66d8dbe59bb16631a"},
-    {file = "gevent-22.10.1-cp39-cp39-musllinux_1_1_x86_64.whl", hash = "sha256:eefcb21fda3055f2e7eaad2e8098885a7bbddd83b174b012e2142db6b2b4c09d"},
-    {file = "gevent-22.10.1-cp39-cp39-win32.whl", hash = "sha256:3f7d11136b3ae6312effbc2ac0ed902ae718d86e7acb9a51cf927262cfb2931e"},
-    {file = "gevent-22.10.1-cp39-cp39-win_amd64.whl", hash = "sha256:1ec5f77f629d997668983be53bad2a90d1b858a00e43b9e75e1c9a118c3a840b"},
-    {file = "gevent-22.10.1-pp27-pypy_73-win_amd64.whl", hash = "sha256:d8df3f628c8a9fb339b87a849dc2076e56d124e2169261fa58b4a01db3a335b6"},
-    {file = "gevent-22.10.1-pp37-pypy37_pp73-win_amd64.whl", hash = "sha256:0569e133bb620de1001ac807ad9a8abaadedd25349c6d695f80c9048a3f59d42"},
-    {file = "gevent-22.10.1.tar.gz", hash = "sha256:df3042349c9a4460eeaec8d0e56d737cb183eed055e75a6af9dbda94aaddaf4d"},
+
+[package.dependencies]
+fiona = ">=1.8.19"
+packaging = "*"
+pandas = ">=1.1.0"
+pyproj = ">=3.0.1"
+shapely = ">=1.7.1"
+
+[[package]]
+name = "gevent"
+version = "23.7.0"
+description = "Coroutine-based network library"
+optional = false
+python-versions = ">=3.8"
+files = [
+    {file = "gevent-23.7.0-cp310-cp310-manylinux_2_17_aarch64.manylinux2014_aarch64.whl", hash = "sha256:add904a7ef960cd4e133e61eb7413982c5e4203928160be1c09752ac06a25e71"},
+    {file = "gevent-23.7.0-cp310-cp310-manylinux_2_17_ppc64le.manylinux2014_ppc64le.whl", hash = "sha256:6bd9ea1b5fbdc7e5921a9e515f34a450eb3927a902253a33caedcce2d19d7d96"},
+    {file = "gevent-23.7.0-cp310-cp310-manylinux_2_17_s390x.manylinux2014_s390x.whl", hash = "sha256:9c7c349aa23d67cf5cc3b2c87aaedcfead976d0577b1cfcd07ffeba63baba79c"},
+    {file = "gevent-23.7.0-cp310-cp310-manylinux_2_17_x86_64.manylinux2014_x86_64.whl", hash = "sha256:c92b837b60e850c50fc6d723d1e363e786d37fd9d51e564e07df52ad5e8a86d4"},
+    {file = "gevent-23.7.0-cp310-cp310-musllinux_1_1_aarch64.whl", hash = "sha256:6a51a8e3cdaa6901e47d56f84cb5f92b1bf3deea920bce69cf7a245df16159ac"},
+    {file = "gevent-23.7.0-cp310-cp310-musllinux_1_1_x86_64.whl", hash = "sha256:c1dba07207b15b371e50372369edf256a142cb5cdf8599849cbf8660327efa06"},
+    {file = "gevent-23.7.0-cp310-cp310-win_amd64.whl", hash = "sha256:34086bcc1252ae41e1cb81cf13c4a7678031595c12f4e9a1c3d0ab433f20826a"},
+    {file = "gevent-23.7.0-cp311-cp311-macosx_10_9_universal2.whl", hash = "sha256:5da07d65dfa23fe419c37cea110bf951b42af6bf3a1fff244043a75c9185dbd5"},
+    {file = "gevent-23.7.0-cp311-cp311-manylinux_2_17_aarch64.manylinux2014_aarch64.whl", hash = "sha256:df4d7be3352126458cc818309ca6a3b678c209b1ae33e56b6975c6a8309f2068"},
+    {file = "gevent-23.7.0-cp311-cp311-manylinux_2_17_ppc64le.manylinux2014_ppc64le.whl", hash = "sha256:76ca6f893953ab898ebbff5d772103318a85044e55d0bad401d6b49d71bb76e7"},
+    {file = "gevent-23.7.0-cp311-cp311-manylinux_2_17_s390x.manylinux2014_s390x.whl", hash = "sha256:aeb1511cf0786152af741c47ee462dac81b57bbd1fbbe08ab562b6c8c9ad75ed"},
+    {file = "gevent-23.7.0-cp311-cp311-manylinux_2_17_x86_64.manylinux2014_x86_64.whl", hash = "sha256:919423e803939726c99ab2d29ea46b8676af549cee72d263f2b24758ec607b2c"},
+    {file = "gevent-23.7.0-cp311-cp311-musllinux_1_1_aarch64.whl", hash = "sha256:cea93f4f77badbddc711620cca164ad75c74056603908e621a5ba1b97adbc39c"},
+    {file = "gevent-23.7.0-cp311-cp311-musllinux_1_1_x86_64.whl", hash = "sha256:dec7b08daf08385fb281b81ec2e7e703243975d867f40ae0a8a3e30b380eb9ea"},
+    {file = "gevent-23.7.0-cp311-cp311-win_amd64.whl", hash = "sha256:f522b6b015f1bfa9d8d3716ddffb23e3d4a8933df3e4ebf0a29a65a9fa74382b"},
+    {file = "gevent-23.7.0-cp312-cp312-macosx_10_9_universal2.whl", hash = "sha256:746a1e12f280dab07389e6709164b1e1a6caaf50493ea5b1dcaa73cff005174c"},
+    {file = "gevent-23.7.0-cp312-cp312-manylinux_2_17_aarch64.manylinux2014_aarch64.whl", hash = "sha256:5b230007a665d2cf5cf8878c9f56a2b8bacbdc4fe0235afc5269b71cd00528e5"},
+    {file = "gevent-23.7.0-cp312-cp312-manylinux_2_17_ppc64le.manylinux2014_ppc64le.whl", hash = "sha256:a1d2f1e67d04fde47ca2deac89733df28ef3a7ec1d7359a79f57d4778cced16d"},
+    {file = "gevent-23.7.0-cp312-cp312-manylinux_2_17_s390x.manylinux2014_s390x.whl", hash = "sha256:debc177e88a8c876cb1a4d974f985d03670177bdc61e1c084a8d525f1a50b12d"},
+    {file = "gevent-23.7.0-cp312-cp312-manylinux_2_17_x86_64.manylinux2014_x86_64.whl", hash = "sha256:6b3dd449c80814357f6568eb095a2be2421b805d59fa97c65094707e04a181f9"},
+    {file = "gevent-23.7.0-cp312-cp312-musllinux_1_1_aarch64.whl", hash = "sha256:769e8811ded08fe7d8b09ad8ebb72d47aecc112411e0726e7296b7ed187ed629"},
+    {file = "gevent-23.7.0-cp312-cp312-musllinux_1_1_x86_64.whl", hash = "sha256:11b9bb0bce45170ff992760385a86e6955ccb88dba4a82a64d5ce9459290d8d6"},
+    {file = "gevent-23.7.0-cp38-cp38-manylinux_2_17_x86_64.manylinux2014_x86_64.whl", hash = "sha256:3e0d76a7848726e0646324a1adc011355dcd91875e7913badd1ada2e5eeb8a6e"},
+    {file = "gevent-23.7.0-cp38-cp38-musllinux_1_1_x86_64.whl", hash = "sha256:a226b42cb9a49580ca7729572a4f8289d1fa28cd2529c9f4eed3e14b995d1c9c"},
+    {file = "gevent-23.7.0-cp38-cp38-win32.whl", hash = "sha256:1234849b0bc4df560924aa92f7c01ca3f310677735fb508a2b0d7a61bb946916"},
+    {file = "gevent-23.7.0-cp38-cp38-win_amd64.whl", hash = "sha256:a8f62e8d37913512823923e05607a296389aeb50ccca8a271ae7cedb5b17faeb"},
+    {file = "gevent-23.7.0-cp39-cp39-manylinux_2_17_x86_64.manylinux2014_x86_64.whl", hash = "sha256:369241d1a6a3fe3ef4eba454b71e0168026560c5344fc4bc37196867041982ac"},
+    {file = "gevent-23.7.0-cp39-cp39-musllinux_1_1_x86_64.whl", hash = "sha256:94b013587f7c4697d620c129627f7b12d7d9f6e40ab198635891ca2098cd8556"},
+    {file = "gevent-23.7.0-cp39-cp39-win32.whl", hash = "sha256:83b6d61a8e9da25edb304ca7fba19ee57bb1ffa801f9df3e668bfed7bb8386cb"},
+    {file = "gevent-23.7.0-cp39-cp39-win_amd64.whl", hash = "sha256:8c284390f0f6d0b5be3bf805fa8e0ae1329065f2b0ac5af5423c67183197deb8"},
+    {file = "gevent-23.7.0.tar.gz", hash = "sha256:d0d3630674c1b344b256a298ab1ff43220f840b12af768131b5d74e485924237"},
 ]
-geventhttpclient = [
+
+[package.dependencies]
+cffi = {version = ">=1.12.2", markers = "platform_python_implementation == \"CPython\" and sys_platform == \"win32\""}
+greenlet = {version = ">=2.0.0", markers = "platform_python_implementation == \"CPython\" and python_version < \"3.12\""}
+"zope.event" = "*"
+"zope.interface" = "*"
+
+[package.extras]
+dnspython = ["dnspython (>=1.16.0,<2.0)", "idna"]
+docs = ["furo", "repoze.sphinx.autointerface", "sphinx", "sphinxcontrib-programoutput", "zope.schema"]
+monitor = ["psutil (>=5.7.0)"]
+recommended = ["cffi (>=1.12.2)", "dnspython (>=1.16.0,<2.0)", "idna", "psutil (>=5.7.0)"]
+test = ["cffi (>=1.12.2)", "coverage (>=5.0)", "dnspython (>=1.16.0,<2.0)", "idna", "objgraph", "psutil (>=5.7.0)", "requests", "setuptools"]
+
+[[package]]
+name = "geventhttpclient"
+version = "2.0.2"
+description = "http client library for gevent"
+optional = false
+python-versions = "*"
+files = [
     {file = "geventhttpclient-2.0.2-cp310-cp310-macosx_10_9_universal2.whl", hash = "sha256:cd76acdc7e7ee5c54c7b279f806b28957a6b092f79c40db34adcfd972749343c"},
     {file = "geventhttpclient-2.0.2-cp310-cp310-macosx_10_9_x86_64.whl", hash = "sha256:320a2c756d8a4f296de370476a1515485c186d9e22c3fc29e04f8f743a7d47bb"},
     {file = "geventhttpclient-2.0.2-cp310-cp310-macosx_11_0_arm64.whl", hash = "sha256:36d3345c6585b09738195a7c45d279a87ccbab0350f1cce3679d3f0dce8577a1"},
@@ -6074,289 +2748,1186 @@ geventhttpclient = [
     {file = "geventhttpclient-2.0.2-pp39-pypy39_pp73-win_amd64.whl", hash = "sha256:a594ab319872a38fb7f16be4cfb107d3c63c43a081f2abe241834e9877f27401"},
     {file = "geventhttpclient-2.0.2.tar.gz", hash = "sha256:8135a85200b170def7293d01dd1557931fcd1bec1ac78c52ad7cedd22368b9ba"},
 ]
-greenlet = [
-    {file = "greenlet-1.1.3.post0-cp27-cp27m-macosx_10_14_x86_64.whl", hash = "sha256:949c9061b8c6d3e6e439466a9be1e787208dec6246f4ec5fffe9677b4c19fcc3"},
-    {file = "greenlet-1.1.3.post0-cp27-cp27m-manylinux1_x86_64.whl", hash = "sha256:d7815e1519a8361c5ea2a7a5864945906f8e386fa1bc26797b4d443ab11a4589"},
-    {file = "greenlet-1.1.3.post0-cp27-cp27m-manylinux2010_x86_64.whl", hash = "sha256:9649891ab4153f217f319914455ccf0b86986b55fc0573ce803eb998ad7d6854"},
-    {file = "greenlet-1.1.3.post0-cp27-cp27m-win32.whl", hash = "sha256:11fc7692d95cc7a6a8447bb160d98671ab291e0a8ea90572d582d57361360f05"},
-    {file = "greenlet-1.1.3.post0-cp27-cp27m-win_amd64.whl", hash = "sha256:05ae7383f968bba4211b1fbfc90158f8e3da86804878442b4fb6c16ccbcaa519"},
-    {file = "greenlet-1.1.3.post0-cp27-cp27mu-manylinux1_x86_64.whl", hash = "sha256:ccbe7129a282ec5797df0451ca1802f11578be018a32979131065565da89b392"},
-    {file = "greenlet-1.1.3.post0-cp27-cp27mu-manylinux2010_x86_64.whl", hash = "sha256:4a8b58232f5b72973350c2b917ea3df0bebd07c3c82a0a0e34775fc2c1f857e9"},
-    {file = "greenlet-1.1.3.post0-cp310-cp310-macosx_10_15_x86_64.whl", hash = "sha256:f6661b58412879a2aa099abb26d3c93e91dedaba55a6394d1fb1512a77e85de9"},
-    {file = "greenlet-1.1.3.post0-cp310-cp310-manylinux_2_17_aarch64.manylinux2014_aarch64.whl", hash = "sha256:2c6e942ca9835c0b97814d14f78da453241837419e0d26f7403058e8db3e38f8"},
-    {file = "greenlet-1.1.3.post0-cp310-cp310-manylinux_2_17_ppc64le.manylinux2014_ppc64le.whl", hash = "sha256:a812df7282a8fc717eafd487fccc5ba40ea83bb5b13eb3c90c446d88dbdfd2be"},
-    {file = "greenlet-1.1.3.post0-cp310-cp310-manylinux_2_17_x86_64.manylinux2014_x86_64.whl", hash = "sha256:83a7a6560df073ec9de2b7cb685b199dfd12519bc0020c62db9d1bb522f989fa"},
-    {file = "greenlet-1.1.3.post0-cp310-cp310-musllinux_1_1_aarch64.whl", hash = "sha256:17a69967561269b691747e7f436d75a4def47e5efcbc3c573180fc828e176d80"},
-    {file = "greenlet-1.1.3.post0-cp310-cp310-musllinux_1_1_x86_64.whl", hash = "sha256:60839ab4ea7de6139a3be35b77e22e0398c270020050458b3d25db4c7c394df5"},
-    {file = "greenlet-1.1.3.post0-cp310-cp310-win_amd64.whl", hash = "sha256:8926a78192b8b73c936f3e87929931455a6a6c6c385448a07b9f7d1072c19ff3"},
-    {file = "greenlet-1.1.3.post0-cp311-cp311-macosx_10_15_x86_64.whl", hash = "sha256:c6f90234e4438062d6d09f7d667f79edcc7c5e354ba3a145ff98176f974b8132"},
-    {file = "greenlet-1.1.3.post0-cp311-cp311-manylinux_2_17_aarch64.manylinux2014_aarch64.whl", hash = "sha256:814f26b864ed2230d3a7efe0336f5766ad012f94aad6ba43a7c54ca88dd77cba"},
-    {file = "greenlet-1.1.3.post0-cp311-cp311-manylinux_2_17_ppc64le.manylinux2014_ppc64le.whl", hash = "sha256:8fda1139d87ce5f7bd80e80e54f9f2c6fe2f47983f1a6f128c47bf310197deb6"},
-    {file = "greenlet-1.1.3.post0-cp311-cp311-manylinux_2_17_x86_64.manylinux2014_x86_64.whl", hash = "sha256:c0643250dd0756f4960633f5359884f609a234d4066686754e834073d84e9b51"},
-    {file = "greenlet-1.1.3.post0-cp311-cp311-musllinux_1_1_aarch64.whl", hash = "sha256:cb863057bed786f6622982fb8b2c122c68e6e9eddccaa9fa98fd937e45ee6c4f"},
-    {file = "greenlet-1.1.3.post0-cp311-cp311-musllinux_1_1_x86_64.whl", hash = "sha256:8c0581077cf2734569f3e500fab09c0ff6a2ab99b1afcacbad09b3c2843ae743"},
-    {file = "greenlet-1.1.3.post0-cp35-cp35m-macosx_10_14_x86_64.whl", hash = "sha256:695d0d8b5ae42c800f1763c9fce9d7b94ae3b878919379150ee5ba458a460d57"},
-    {file = "greenlet-1.1.3.post0-cp35-cp35m-manylinux1_x86_64.whl", hash = "sha256:5662492df0588a51d5690f6578f3bbbd803e7f8d99a99f3bf6128a401be9c269"},
-    {file = "greenlet-1.1.3.post0-cp35-cp35m-manylinux2010_x86_64.whl", hash = "sha256:bffba15cff4802ff493d6edcf20d7f94ab1c2aee7cfc1e1c7627c05f1102eee8"},
-    {file = "greenlet-1.1.3.post0-cp35-cp35m-win32.whl", hash = "sha256:7afa706510ab079fd6d039cc6e369d4535a48e202d042c32e2097f030a16450f"},
-    {file = "greenlet-1.1.3.post0-cp35-cp35m-win_amd64.whl", hash = "sha256:3a24f3213579dc8459e485e333330a921f579543a5214dbc935bc0763474ece3"},
-    {file = "greenlet-1.1.3.post0-cp36-cp36m-macosx_10_14_x86_64.whl", hash = "sha256:64e10f303ea354500c927da5b59c3802196a07468332d292aef9ddaca08d03dd"},
-    {file = "greenlet-1.1.3.post0-cp36-cp36m-manylinux1_x86_64.whl", hash = "sha256:eb6ac495dccb1520667cfea50d89e26f9ffb49fa28496dea2b95720d8b45eb54"},
-    {file = "greenlet-1.1.3.post0-cp36-cp36m-manylinux2010_x86_64.whl", hash = "sha256:88720794390002b0c8fa29e9602b395093a9a766b229a847e8d88349e418b28a"},
-    {file = "greenlet-1.1.3.post0-cp36-cp36m-manylinux_2_17_aarch64.manylinux2014_aarch64.whl", hash = "sha256:39464518a2abe9c505a727af7c0b4efff2cf242aa168be5f0daa47649f4d7ca8"},
-    {file = "greenlet-1.1.3.post0-cp36-cp36m-manylinux_2_17_ppc64le.manylinux2014_ppc64le.whl", hash = "sha256:0914f02fcaa8f84f13b2df4a81645d9e82de21ed95633765dd5cc4d3af9d7403"},
-    {file = "greenlet-1.1.3.post0-cp36-cp36m-manylinux_2_17_x86_64.manylinux2014_x86_64.whl", hash = "sha256:96656c5f7c95fc02c36d4f6ef32f4e94bb0b6b36e6a002c21c39785a4eec5f5d"},
-    {file = "greenlet-1.1.3.post0-cp36-cp36m-musllinux_1_1_aarch64.whl", hash = "sha256:4f74aa0092602da2069df0bc6553919a15169d77bcdab52a21f8c5242898f519"},
-    {file = "greenlet-1.1.3.post0-cp36-cp36m-musllinux_1_1_x86_64.whl", hash = "sha256:3aeac044c324c1a4027dca0cde550bd83a0c0fbff7ef2c98df9e718a5086c194"},
-    {file = "greenlet-1.1.3.post0-cp36-cp36m-win32.whl", hash = "sha256:fe7c51f8a2ab616cb34bc33d810c887e89117771028e1e3d3b77ca25ddeace04"},
-    {file = "greenlet-1.1.3.post0-cp36-cp36m-win_amd64.whl", hash = "sha256:70048d7b2c07c5eadf8393e6398595591df5f59a2f26abc2f81abca09610492f"},
-    {file = "greenlet-1.1.3.post0-cp37-cp37m-macosx_10_15_x86_64.whl", hash = "sha256:66aa4e9a726b70bcbfcc446b7ba89c8cec40f405e51422c39f42dfa206a96a05"},
-    {file = "greenlet-1.1.3.post0-cp37-cp37m-manylinux1_x86_64.whl", hash = "sha256:025b8de2273d2809f027d347aa2541651d2e15d593bbce0d5f502ca438c54136"},
-    {file = "greenlet-1.1.3.post0-cp37-cp37m-manylinux2010_x86_64.whl", hash = "sha256:82a38d7d2077128a017094aff334e67e26194f46bd709f9dcdacbf3835d47ef5"},
-    {file = "greenlet-1.1.3.post0-cp37-cp37m-manylinux_2_17_aarch64.manylinux2014_aarch64.whl", hash = "sha256:f7d20c3267385236b4ce54575cc8e9f43e7673fc761b069c820097092e318e3b"},
-    {file = "greenlet-1.1.3.post0-cp37-cp37m-manylinux_2_17_ppc64le.manylinux2014_ppc64le.whl", hash = "sha256:c8ece5d1a99a2adcb38f69af2f07d96fb615415d32820108cd340361f590d128"},
-    {file = "greenlet-1.1.3.post0-cp37-cp37m-manylinux_2_17_x86_64.manylinux2014_x86_64.whl", hash = "sha256:2794eef1b04b5ba8948c72cc606aab62ac4b0c538b14806d9c0d88afd0576d6b"},
-    {file = "greenlet-1.1.3.post0-cp37-cp37m-musllinux_1_1_aarch64.whl", hash = "sha256:a8d24eb5cb67996fb84633fdc96dbc04f2d8b12bfcb20ab3222d6be271616b67"},
-    {file = "greenlet-1.1.3.post0-cp37-cp37m-musllinux_1_1_x86_64.whl", hash = "sha256:0120a879aa2b1ac5118bce959ea2492ba18783f65ea15821680a256dfad04754"},
-    {file = "greenlet-1.1.3.post0-cp37-cp37m-win32.whl", hash = "sha256:bef49c07fcb411c942da6ee7d7ea37430f830c482bf6e4b72d92fd506dd3a427"},
-    {file = "greenlet-1.1.3.post0-cp37-cp37m-win_amd64.whl", hash = "sha256:62723e7eb85fa52e536e516ee2ac91433c7bb60d51099293671815ff49ed1c21"},
-    {file = "greenlet-1.1.3.post0-cp38-cp38-macosx_10_15_x86_64.whl", hash = "sha256:d25cdedd72aa2271b984af54294e9527306966ec18963fd032cc851a725ddc1b"},
-    {file = "greenlet-1.1.3.post0-cp38-cp38-manylinux1_x86_64.whl", hash = "sha256:924df1e7e5db27d19b1359dc7d052a917529c95ba5b8b62f4af611176da7c8ad"},
-    {file = "greenlet-1.1.3.post0-cp38-cp38-manylinux2010_x86_64.whl", hash = "sha256:ec615d2912b9ad807afd3be80bf32711c0ff9c2b00aa004a45fd5d5dde7853d9"},
-    {file = "greenlet-1.1.3.post0-cp38-cp38-manylinux_2_17_aarch64.manylinux2014_aarch64.whl", hash = "sha256:0971d37ae0eaf42344e8610d340aa0ad3d06cd2eee381891a10fe771879791f9"},
-    {file = "greenlet-1.1.3.post0-cp38-cp38-manylinux_2_17_ppc64le.manylinux2014_ppc64le.whl", hash = "sha256:325f272eb997916b4a3fc1fea7313a8adb760934c2140ce13a2117e1b0a8095d"},
-    {file = "greenlet-1.1.3.post0-cp38-cp38-manylinux_2_17_x86_64.manylinux2014_x86_64.whl", hash = "sha256:d75afcbb214d429dacdf75e03a1d6d6c5bd1fa9c35e360df8ea5b6270fb2211c"},
-    {file = "greenlet-1.1.3.post0-cp38-cp38-musllinux_1_1_aarch64.whl", hash = "sha256:5c2d21c2b768d8c86ad935e404cc78c30d53dea009609c3ef3a9d49970c864b5"},
-    {file = "greenlet-1.1.3.post0-cp38-cp38-musllinux_1_1_x86_64.whl", hash = "sha256:467b73ce5dcd89e381292fb4314aede9b12906c18fab903f995b86034d96d5c8"},
-    {file = "greenlet-1.1.3.post0-cp38-cp38-win32.whl", hash = "sha256:8149a6865b14c33be7ae760bcdb73548bb01e8e47ae15e013bf7ef9290ca309a"},
-    {file = "greenlet-1.1.3.post0-cp38-cp38-win_amd64.whl", hash = "sha256:104f29dd822be678ef6b16bf0035dcd43206a8a48668a6cae4d2fe9c7a7abdeb"},
-    {file = "greenlet-1.1.3.post0-cp39-cp39-macosx_10_15_x86_64.whl", hash = "sha256:c8c9301e3274276d3d20ab6335aa7c5d9e5da2009cccb01127bddb5c951f8870"},
-    {file = "greenlet-1.1.3.post0-cp39-cp39-manylinux1_x86_64.whl", hash = "sha256:8415239c68b2ec9de10a5adf1130ee9cb0ebd3e19573c55ba160ff0ca809e012"},
-    {file = "greenlet-1.1.3.post0-cp39-cp39-manylinux2010_x86_64.whl", hash = "sha256:3c22998bfef3fcc1b15694818fc9b1b87c6cc8398198b96b6d355a7bcb8c934e"},
-    {file = "greenlet-1.1.3.post0-cp39-cp39-manylinux_2_17_aarch64.manylinux2014_aarch64.whl", hash = "sha256:0aa1845944e62f358d63fcc911ad3b415f585612946b8edc824825929b40e59e"},
-    {file = "greenlet-1.1.3.post0-cp39-cp39-manylinux_2_17_ppc64le.manylinux2014_ppc64le.whl", hash = "sha256:890f633dc8cb307761ec566bc0b4e350a93ddd77dc172839be122be12bae3e10"},
-    {file = "greenlet-1.1.3.post0-cp39-cp39-manylinux_2_17_x86_64.manylinux2014_x86_64.whl", hash = "sha256:7cf37343e43404699d58808e51f347f57efd3010cc7cee134cdb9141bd1ad9ea"},
-    {file = "greenlet-1.1.3.post0-cp39-cp39-musllinux_1_1_aarch64.whl", hash = "sha256:5edf75e7fcfa9725064ae0d8407c849456553a181ebefedb7606bac19aa1478b"},
-    {file = "greenlet-1.1.3.post0-cp39-cp39-musllinux_1_1_x86_64.whl", hash = "sha256:0a954002064ee919b444b19c1185e8cce307a1f20600f47d6f4b6d336972c809"},
-    {file = "greenlet-1.1.3.post0-cp39-cp39-win32.whl", hash = "sha256:2ccdc818cc106cc238ff7eba0d71b9c77be868fdca31d6c3b1347a54c9b187b2"},
-    {file = "greenlet-1.1.3.post0-cp39-cp39-win_amd64.whl", hash = "sha256:91a84faf718e6f8b888ca63d0b2d6d185c8e2a198d2a7322d75c303e7097c8b7"},
-    {file = "greenlet-1.1.3.post0.tar.gz", hash = "sha256:f5e09dc5c6e1796969fd4b775ea1417d70e49a5df29aaa8e5d10675d9e11872c"},
+
+[package.dependencies]
+brotli = "*"
+certifi = "*"
+gevent = ">=0.13"
+six = "*"
+
+[[package]]
+name = "google-crc32c"
+version = "1.5.0"
+description = "A python wrapper of the C library 'Google CRC32C'"
+optional = false
+python-versions = ">=3.7"
+files = [
+    {file = "google-crc32c-1.5.0.tar.gz", hash = "sha256:89284716bc6a5a415d4eaa11b1726d2d60a0cd12aadf5439828353662ede9dd7"},
+    {file = "google_crc32c-1.5.0-cp310-cp310-macosx_10_9_universal2.whl", hash = "sha256:596d1f98fc70232fcb6590c439f43b350cb762fb5d61ce7b0e9db4539654cc13"},
+    {file = "google_crc32c-1.5.0-cp310-cp310-macosx_10_9_x86_64.whl", hash = "sha256:be82c3c8cfb15b30f36768797a640e800513793d6ae1724aaaafe5bf86f8f346"},
+    {file = "google_crc32c-1.5.0-cp310-cp310-manylinux_2_17_aarch64.manylinux2014_aarch64.whl", hash = "sha256:461665ff58895f508e2866824a47bdee72497b091c730071f2b7575d5762ab65"},
+    {file = "google_crc32c-1.5.0-cp310-cp310-manylinux_2_17_i686.manylinux2014_i686.whl", hash = "sha256:e2096eddb4e7c7bdae4bd69ad364e55e07b8316653234a56552d9c988bd2d61b"},
+    {file = "google_crc32c-1.5.0-cp310-cp310-manylinux_2_17_x86_64.manylinux2014_x86_64.whl", hash = "sha256:116a7c3c616dd14a3de8c64a965828b197e5f2d121fedd2f8c5585c547e87b02"},
+    {file = "google_crc32c-1.5.0-cp310-cp310-musllinux_1_1_aarch64.whl", hash = "sha256:5829b792bf5822fd0a6f6eb34c5f81dd074f01d570ed7f36aa101d6fc7a0a6e4"},
+    {file = "google_crc32c-1.5.0-cp310-cp310-musllinux_1_1_i686.whl", hash = "sha256:64e52e2b3970bd891309c113b54cf0e4384762c934d5ae56e283f9a0afcd953e"},
+    {file = "google_crc32c-1.5.0-cp310-cp310-musllinux_1_1_x86_64.whl", hash = "sha256:02ebb8bf46c13e36998aeaad1de9b48f4caf545e91d14041270d9dca767b780c"},
+    {file = "google_crc32c-1.5.0-cp310-cp310-win32.whl", hash = "sha256:2e920d506ec85eb4ba50cd4228c2bec05642894d4c73c59b3a2fe20346bd00ee"},
+    {file = "google_crc32c-1.5.0-cp310-cp310-win_amd64.whl", hash = "sha256:07eb3c611ce363c51a933bf6bd7f8e3878a51d124acfc89452a75120bc436289"},
+    {file = "google_crc32c-1.5.0-cp311-cp311-macosx_10_9_universal2.whl", hash = "sha256:cae0274952c079886567f3f4f685bcaf5708f0a23a5f5216fdab71f81a6c0273"},
+    {file = "google_crc32c-1.5.0-cp311-cp311-macosx_10_9_x86_64.whl", hash = "sha256:1034d91442ead5a95b5aaef90dbfaca8633b0247d1e41621d1e9f9db88c36298"},
+    {file = "google_crc32c-1.5.0-cp311-cp311-manylinux_2_17_aarch64.manylinux2014_aarch64.whl", hash = "sha256:7c42c70cd1d362284289c6273adda4c6af8039a8ae12dc451dcd61cdabb8ab57"},
+    {file = "google_crc32c-1.5.0-cp311-cp311-manylinux_2_17_i686.manylinux2014_i686.whl", hash = "sha256:8485b340a6a9e76c62a7dce3c98e5f102c9219f4cfbf896a00cf48caf078d438"},
+    {file = "google_crc32c-1.5.0-cp311-cp311-manylinux_2_17_x86_64.manylinux2014_x86_64.whl", hash = "sha256:77e2fd3057c9d78e225fa0a2160f96b64a824de17840351b26825b0848022906"},
+    {file = "google_crc32c-1.5.0-cp311-cp311-musllinux_1_1_aarch64.whl", hash = "sha256:f583edb943cf2e09c60441b910d6a20b4d9d626c75a36c8fcac01a6c96c01183"},
+    {file = "google_crc32c-1.5.0-cp311-cp311-musllinux_1_1_i686.whl", hash = "sha256:a1fd716e7a01f8e717490fbe2e431d2905ab8aa598b9b12f8d10abebb36b04dd"},
+    {file = "google_crc32c-1.5.0-cp311-cp311-musllinux_1_1_x86_64.whl", hash = "sha256:72218785ce41b9cfd2fc1d6a017dc1ff7acfc4c17d01053265c41a2c0cc39b8c"},
+    {file = "google_crc32c-1.5.0-cp311-cp311-win32.whl", hash = "sha256:66741ef4ee08ea0b2cc3c86916ab66b6aef03768525627fd6a1b34968b4e3709"},
+    {file = "google_crc32c-1.5.0-cp311-cp311-win_amd64.whl", hash = "sha256:ba1eb1843304b1e5537e1fca632fa894d6f6deca8d6389636ee5b4797affb968"},
+    {file = "google_crc32c-1.5.0-cp37-cp37m-macosx_10_9_x86_64.whl", hash = "sha256:98cb4d057f285bd80d8778ebc4fde6b4d509ac3f331758fb1528b733215443ae"},
+    {file = "google_crc32c-1.5.0-cp37-cp37m-manylinux_2_17_aarch64.manylinux2014_aarch64.whl", hash = "sha256:fd8536e902db7e365f49e7d9029283403974ccf29b13fc7028b97e2295b33556"},
+    {file = "google_crc32c-1.5.0-cp37-cp37m-manylinux_2_17_i686.manylinux2014_i686.whl", hash = "sha256:19e0a019d2c4dcc5e598cd4a4bc7b008546b0358bd322537c74ad47a5386884f"},
+    {file = "google_crc32c-1.5.0-cp37-cp37m-manylinux_2_17_x86_64.manylinux2014_x86_64.whl", hash = "sha256:02c65b9817512edc6a4ae7c7e987fea799d2e0ee40c53ec573a692bee24de876"},
+    {file = "google_crc32c-1.5.0-cp37-cp37m-manylinux_2_5_x86_64.manylinux1_x86_64.whl", hash = "sha256:6ac08d24c1f16bd2bf5eca8eaf8304812f44af5cfe5062006ec676e7e1d50afc"},
+    {file = "google_crc32c-1.5.0-cp37-cp37m-musllinux_1_1_aarch64.whl", hash = "sha256:3359fc442a743e870f4588fcf5dcbc1bf929df1fad8fb9905cd94e5edb02e84c"},
+    {file = "google_crc32c-1.5.0-cp37-cp37m-musllinux_1_1_i686.whl", hash = "sha256:1e986b206dae4476f41bcec1faa057851f3889503a70e1bdb2378d406223994a"},
+    {file = "google_crc32c-1.5.0-cp37-cp37m-musllinux_1_1_x86_64.whl", hash = "sha256:de06adc872bcd8c2a4e0dc51250e9e65ef2ca91be023b9d13ebd67c2ba552e1e"},
+    {file = "google_crc32c-1.5.0-cp37-cp37m-win32.whl", hash = "sha256:d3515f198eaa2f0ed49f8819d5732d70698c3fa37384146079b3799b97667a94"},
+    {file = "google_crc32c-1.5.0-cp37-cp37m-win_amd64.whl", hash = "sha256:67b741654b851abafb7bc625b6d1cdd520a379074e64b6a128e3b688c3c04740"},
+    {file = "google_crc32c-1.5.0-cp38-cp38-macosx_10_9_universal2.whl", hash = "sha256:c02ec1c5856179f171e032a31d6f8bf84e5a75c45c33b2e20a3de353b266ebd8"},
+    {file = "google_crc32c-1.5.0-cp38-cp38-macosx_10_9_x86_64.whl", hash = "sha256:edfedb64740750e1a3b16152620220f51d58ff1b4abceb339ca92e934775c27a"},
+    {file = "google_crc32c-1.5.0-cp38-cp38-manylinux_2_17_aarch64.manylinux2014_aarch64.whl", hash = "sha256:84e6e8cd997930fc66d5bb4fde61e2b62ba19d62b7abd7a69920406f9ecca946"},
+    {file = "google_crc32c-1.5.0-cp38-cp38-manylinux_2_17_i686.manylinux2014_i686.whl", hash = "sha256:024894d9d3cfbc5943f8f230e23950cd4906b2fe004c72e29b209420a1e6b05a"},
+    {file = "google_crc32c-1.5.0-cp38-cp38-manylinux_2_17_x86_64.manylinux2014_x86_64.whl", hash = "sha256:998679bf62b7fb599d2878aa3ed06b9ce688b8974893e7223c60db155f26bd8d"},
+    {file = "google_crc32c-1.5.0-cp38-cp38-manylinux_2_5_x86_64.manylinux1_x86_64.whl", hash = "sha256:83c681c526a3439b5cf94f7420471705bbf96262f49a6fe546a6db5f687a3d4a"},
+    {file = "google_crc32c-1.5.0-cp38-cp38-musllinux_1_1_aarch64.whl", hash = "sha256:4c6fdd4fccbec90cc8a01fc00773fcd5fa28db683c116ee3cb35cd5da9ef6c37"},
+    {file = "google_crc32c-1.5.0-cp38-cp38-musllinux_1_1_i686.whl", hash = "sha256:5ae44e10a8e3407dbe138984f21e536583f2bba1be9491239f942c2464ac0894"},
+    {file = "google_crc32c-1.5.0-cp38-cp38-musllinux_1_1_x86_64.whl", hash = "sha256:37933ec6e693e51a5b07505bd05de57eee12f3e8c32b07da7e73669398e6630a"},
+    {file = "google_crc32c-1.5.0-cp38-cp38-win32.whl", hash = "sha256:fe70e325aa68fa4b5edf7d1a4b6f691eb04bbccac0ace68e34820d283b5f80d4"},
+    {file = "google_crc32c-1.5.0-cp38-cp38-win_amd64.whl", hash = "sha256:74dea7751d98034887dbd821b7aae3e1d36eda111d6ca36c206c44478035709c"},
+    {file = "google_crc32c-1.5.0-cp39-cp39-macosx_10_9_universal2.whl", hash = "sha256:c6c777a480337ac14f38564ac88ae82d4cd238bf293f0a22295b66eb89ffced7"},
+    {file = "google_crc32c-1.5.0-cp39-cp39-macosx_10_9_x86_64.whl", hash = "sha256:759ce4851a4bb15ecabae28f4d2e18983c244eddd767f560165563bf9aefbc8d"},
+    {file = "google_crc32c-1.5.0-cp39-cp39-manylinux_2_17_aarch64.manylinux2014_aarch64.whl", hash = "sha256:f13cae8cc389a440def0c8c52057f37359014ccbc9dc1f0827936bcd367c6100"},
+    {file = "google_crc32c-1.5.0-cp39-cp39-manylinux_2_17_i686.manylinux2014_i686.whl", hash = "sha256:e560628513ed34759456a416bf86b54b2476c59144a9138165c9a1575801d0d9"},
+    {file = "google_crc32c-1.5.0-cp39-cp39-manylinux_2_17_x86_64.manylinux2014_x86_64.whl", hash = "sha256:e1674e4307fa3024fc897ca774e9c7562c957af85df55efe2988ed9056dc4e57"},
+    {file = "google_crc32c-1.5.0-cp39-cp39-manylinux_2_5_x86_64.manylinux1_x86_64.whl", hash = "sha256:278d2ed7c16cfc075c91378c4f47924c0625f5fc84b2d50d921b18b7975bd210"},
+    {file = "google_crc32c-1.5.0-cp39-cp39-musllinux_1_1_aarch64.whl", hash = "sha256:d5280312b9af0976231f9e317c20e4a61cd2f9629b7bfea6a693d1878a264ebd"},
+    {file = "google_crc32c-1.5.0-cp39-cp39-musllinux_1_1_i686.whl", hash = "sha256:8b87e1a59c38f275c0e3676fc2ab6d59eccecfd460be267ac360cc31f7bcde96"},
+    {file = "google_crc32c-1.5.0-cp39-cp39-musllinux_1_1_x86_64.whl", hash = "sha256:7c074fece789b5034b9b1404a1f8208fc2d4c6ce9decdd16e8220c5a793e6f61"},
+    {file = "google_crc32c-1.5.0-cp39-cp39-win32.whl", hash = "sha256:7f57f14606cd1dd0f0de396e1e53824c371e9544a822648cd76c034d209b559c"},
+    {file = "google_crc32c-1.5.0-cp39-cp39-win_amd64.whl", hash = "sha256:a2355cba1f4ad8b6988a4ca3feed5bff33f6af2d7f134852cf279c2aebfde541"},
+    {file = "google_crc32c-1.5.0-pp37-pypy37_pp73-macosx_10_9_x86_64.whl", hash = "sha256:f314013e7dcd5cf45ab1945d92e713eec788166262ae8deb2cfacd53def27325"},
+    {file = "google_crc32c-1.5.0-pp37-pypy37_pp73-manylinux_2_17_aarch64.manylinux2014_aarch64.whl", hash = "sha256:3b747a674c20a67343cb61d43fdd9207ce5da6a99f629c6e2541aa0e89215bcd"},
+    {file = "google_crc32c-1.5.0-pp37-pypy37_pp73-manylinux_2_17_i686.manylinux2014_i686.whl", hash = "sha256:8f24ed114432de109aa9fd317278518a5af2d31ac2ea6b952b2f7782b43da091"},
+    {file = "google_crc32c-1.5.0-pp37-pypy37_pp73-manylinux_2_17_x86_64.manylinux2014_x86_64.whl", hash = "sha256:b8667b48e7a7ef66afba2c81e1094ef526388d35b873966d8a9a447974ed9178"},
+    {file = "google_crc32c-1.5.0-pp37-pypy37_pp73-win_amd64.whl", hash = "sha256:1c7abdac90433b09bad6c43a43af253e688c9cfc1c86d332aed13f9a7c7f65e2"},
+    {file = "google_crc32c-1.5.0-pp38-pypy38_pp73-macosx_10_9_x86_64.whl", hash = "sha256:6f998db4e71b645350b9ac28a2167e6632c239963ca9da411523bb439c5c514d"},
+    {file = "google_crc32c-1.5.0-pp38-pypy38_pp73-manylinux_2_17_aarch64.manylinux2014_aarch64.whl", hash = "sha256:9c99616c853bb585301df6de07ca2cadad344fd1ada6d62bb30aec05219c45d2"},
+    {file = "google_crc32c-1.5.0-pp38-pypy38_pp73-manylinux_2_17_i686.manylinux2014_i686.whl", hash = "sha256:2ad40e31093a4af319dadf503b2467ccdc8f67c72e4bcba97f8c10cb078207b5"},
+    {file = "google_crc32c-1.5.0-pp38-pypy38_pp73-manylinux_2_17_x86_64.manylinux2014_x86_64.whl", hash = "sha256:cd67cf24a553339d5062eff51013780a00d6f97a39ca062781d06b3a73b15462"},
+    {file = "google_crc32c-1.5.0-pp38-pypy38_pp73-win_amd64.whl", hash = "sha256:398af5e3ba9cf768787eef45c803ff9614cc3e22a5b2f7d7ae116df8b11e3314"},
+    {file = "google_crc32c-1.5.0-pp39-pypy39_pp73-macosx_10_9_x86_64.whl", hash = "sha256:b1f8133c9a275df5613a451e73f36c2aea4fe13c5c8997e22cf355ebd7bd0728"},
+    {file = "google_crc32c-1.5.0-pp39-pypy39_pp73-manylinux_2_17_aarch64.manylinux2014_aarch64.whl", hash = "sha256:9ba053c5f50430a3fcfd36f75aff9caeba0440b2d076afdb79a318d6ca245f88"},
+    {file = "google_crc32c-1.5.0-pp39-pypy39_pp73-manylinux_2_17_i686.manylinux2014_i686.whl", hash = "sha256:272d3892a1e1a2dbc39cc5cde96834c236d5327e2122d3aaa19f6614531bb6eb"},
+    {file = "google_crc32c-1.5.0-pp39-pypy39_pp73-manylinux_2_17_x86_64.manylinux2014_x86_64.whl", hash = "sha256:635f5d4dd18758a1fbd1049a8e8d2fee4ffed124462d837d1a02a0e009c3ab31"},
+    {file = "google_crc32c-1.5.0-pp39-pypy39_pp73-win_amd64.whl", hash = "sha256:c672d99a345849301784604bfeaeba4db0c7aae50b95be04dd651fd2a7310b93"},
 ]
-gunicorn = [
-    {file = "gunicorn-20.1.0-py3-none-any.whl", hash = "sha256:9dcc4547dbb1cb284accfb15ab5667a0e5d1881cc443e0677b4882a4067a807e"},
-    {file = "gunicorn-20.1.0.tar.gz", hash = "sha256:e0a968b5ba15f8a328fdfd7ab1fcb5af4470c28aaf7e55df02a99bc13138e6e8"},
+
+[package.extras]
+testing = ["pytest"]
+
+[[package]]
+name = "greenlet"
+version = "2.0.2"
+description = "Lightweight in-process concurrent programming"
+optional = false
+python-versions = ">=2.7,!=3.0.*,!=3.1.*,!=3.2.*,!=3.3.*,!=3.4.*"
+files = [
+    {file = "greenlet-2.0.2-cp27-cp27m-macosx_10_14_x86_64.whl", hash = "sha256:bdfea8c661e80d3c1c99ad7c3ff74e6e87184895bbaca6ee8cc61209f8b9b85d"},
+    {file = "greenlet-2.0.2-cp27-cp27m-manylinux2010_x86_64.whl", hash = "sha256:9d14b83fab60d5e8abe587d51c75b252bcc21683f24699ada8fb275d7712f5a9"},
+    {file = "greenlet-2.0.2-cp27-cp27m-win32.whl", hash = "sha256:6c3acb79b0bfd4fe733dff8bc62695283b57949ebcca05ae5c129eb606ff2d74"},
+    {file = "greenlet-2.0.2-cp27-cp27m-win_amd64.whl", hash = "sha256:283737e0da3f08bd637b5ad058507e578dd462db259f7f6e4c5c365ba4ee9343"},
+    {file = "greenlet-2.0.2-cp27-cp27mu-manylinux2010_x86_64.whl", hash = "sha256:d27ec7509b9c18b6d73f2f5ede2622441de812e7b1a80bbd446cb0633bd3d5ae"},
+    {file = "greenlet-2.0.2-cp310-cp310-macosx_11_0_x86_64.whl", hash = "sha256:30bcf80dda7f15ac77ba5af2b961bdd9dbc77fd4ac6105cee85b0d0a5fcf74df"},
+    {file = "greenlet-2.0.2-cp310-cp310-manylinux_2_17_aarch64.manylinux2014_aarch64.whl", hash = "sha256:26fbfce90728d82bc9e6c38ea4d038cba20b7faf8a0ca53a9c07b67318d46088"},
+    {file = "greenlet-2.0.2-cp310-cp310-manylinux_2_17_ppc64le.manylinux2014_ppc64le.whl", hash = "sha256:9190f09060ea4debddd24665d6804b995a9c122ef5917ab26e1566dcc712ceeb"},
+    {file = "greenlet-2.0.2-cp310-cp310-manylinux_2_17_x86_64.manylinux2014_x86_64.whl", hash = "sha256:d75209eed723105f9596807495d58d10b3470fa6732dd6756595e89925ce2470"},
+    {file = "greenlet-2.0.2-cp310-cp310-musllinux_1_1_aarch64.whl", hash = "sha256:3a51c9751078733d88e013587b108f1b7a1fb106d402fb390740f002b6f6551a"},
+    {file = "greenlet-2.0.2-cp310-cp310-musllinux_1_1_x86_64.whl", hash = "sha256:76ae285c8104046b3a7f06b42f29c7b73f77683df18c49ab5af7983994c2dd91"},
+    {file = "greenlet-2.0.2-cp310-cp310-win_amd64.whl", hash = "sha256:2d4686f195e32d36b4d7cf2d166857dbd0ee9f3d20ae349b6bf8afc8485b3645"},
+    {file = "greenlet-2.0.2-cp311-cp311-macosx_10_9_universal2.whl", hash = "sha256:c4302695ad8027363e96311df24ee28978162cdcdd2006476c43970b384a244c"},
+    {file = "greenlet-2.0.2-cp311-cp311-manylinux_2_17_aarch64.manylinux2014_aarch64.whl", hash = "sha256:c48f54ef8e05f04d6eff74b8233f6063cb1ed960243eacc474ee73a2ea8573ca"},
+    {file = "greenlet-2.0.2-cp311-cp311-manylinux_2_17_ppc64le.manylinux2014_ppc64le.whl", hash = "sha256:a1846f1b999e78e13837c93c778dcfc3365902cfb8d1bdb7dd73ead37059f0d0"},
+    {file = "greenlet-2.0.2-cp311-cp311-manylinux_2_17_x86_64.manylinux2014_x86_64.whl", hash = "sha256:3a06ad5312349fec0ab944664b01d26f8d1f05009566339ac6f63f56589bc1a2"},
+    {file = "greenlet-2.0.2-cp311-cp311-musllinux_1_1_aarch64.whl", hash = "sha256:eff4eb9b7eb3e4d0cae3d28c283dc16d9bed6b193c2e1ace3ed86ce48ea8df19"},
+    {file = "greenlet-2.0.2-cp311-cp311-musllinux_1_1_x86_64.whl", hash = "sha256:5454276c07d27a740c5892f4907c86327b632127dd9abec42ee62e12427ff7e3"},
+    {file = "greenlet-2.0.2-cp311-cp311-win_amd64.whl", hash = "sha256:7cafd1208fdbe93b67c7086876f061f660cfddc44f404279c1585bbf3cdc64c5"},
+    {file = "greenlet-2.0.2-cp35-cp35m-macosx_10_14_x86_64.whl", hash = "sha256:910841381caba4f744a44bf81bfd573c94e10b3045ee00de0cbf436fe50673a6"},
+    {file = "greenlet-2.0.2-cp35-cp35m-manylinux2010_x86_64.whl", hash = "sha256:18a7f18b82b52ee85322d7a7874e676f34ab319b9f8cce5de06067384aa8ff43"},
+    {file = "greenlet-2.0.2-cp35-cp35m-win32.whl", hash = "sha256:03a8f4f3430c3b3ff8d10a2a86028c660355ab637cee9333d63d66b56f09d52a"},
+    {file = "greenlet-2.0.2-cp35-cp35m-win_amd64.whl", hash = "sha256:4b58adb399c4d61d912c4c331984d60eb66565175cdf4a34792cd9600f21b394"},
+    {file = "greenlet-2.0.2-cp36-cp36m-macosx_10_14_x86_64.whl", hash = "sha256:703f18f3fda276b9a916f0934d2fb6d989bf0b4fb5a64825260eb9bfd52d78f0"},
+    {file = "greenlet-2.0.2-cp36-cp36m-manylinux2010_x86_64.whl", hash = "sha256:32e5b64b148966d9cccc2c8d35a671409e45f195864560829f395a54226408d3"},
+    {file = "greenlet-2.0.2-cp36-cp36m-manylinux_2_17_aarch64.manylinux2014_aarch64.whl", hash = "sha256:2dd11f291565a81d71dab10b7033395b7a3a5456e637cf997a6f33ebdf06f8db"},
+    {file = "greenlet-2.0.2-cp36-cp36m-manylinux_2_17_ppc64le.manylinux2014_ppc64le.whl", hash = "sha256:e0f72c9ddb8cd28532185f54cc1453f2c16fb417a08b53a855c4e6a418edd099"},
+    {file = "greenlet-2.0.2-cp36-cp36m-manylinux_2_17_x86_64.manylinux2014_x86_64.whl", hash = "sha256:cd021c754b162c0fb55ad5d6b9d960db667faad0fa2ff25bb6e1301b0b6e6a75"},
+    {file = "greenlet-2.0.2-cp36-cp36m-musllinux_1_1_aarch64.whl", hash = "sha256:3c9b12575734155d0c09d6c3e10dbd81665d5c18e1a7c6597df72fd05990c8cf"},
+    {file = "greenlet-2.0.2-cp36-cp36m-musllinux_1_1_x86_64.whl", hash = "sha256:b9ec052b06a0524f0e35bd8790686a1da006bd911dd1ef7d50b77bfbad74e292"},
+    {file = "greenlet-2.0.2-cp36-cp36m-win32.whl", hash = "sha256:dbfcfc0218093a19c252ca8eb9aee3d29cfdcb586df21049b9d777fd32c14fd9"},
+    {file = "greenlet-2.0.2-cp36-cp36m-win_amd64.whl", hash = "sha256:9f35ec95538f50292f6d8f2c9c9f8a3c6540bbfec21c9e5b4b751e0a7c20864f"},
+    {file = "greenlet-2.0.2-cp37-cp37m-macosx_10_15_x86_64.whl", hash = "sha256:d5508f0b173e6aa47273bdc0a0b5ba055b59662ba7c7ee5119528f466585526b"},
+    {file = "greenlet-2.0.2-cp37-cp37m-manylinux2010_x86_64.whl", hash = "sha256:f82d4d717d8ef19188687aa32b8363e96062911e63ba22a0cff7802a8e58e5f1"},
+    {file = "greenlet-2.0.2-cp37-cp37m-manylinux_2_17_aarch64.manylinux2014_aarch64.whl", hash = "sha256:c9c59a2120b55788e800d82dfa99b9e156ff8f2227f07c5e3012a45a399620b7"},
+    {file = "greenlet-2.0.2-cp37-cp37m-manylinux_2_17_ppc64le.manylinux2014_ppc64le.whl", hash = "sha256:2780572ec463d44c1d3ae850239508dbeb9fed38e294c68d19a24d925d9223ca"},
+    {file = "greenlet-2.0.2-cp37-cp37m-manylinux_2_17_x86_64.manylinux2014_x86_64.whl", hash = "sha256:937e9020b514ceedb9c830c55d5c9872abc90f4b5862f89c0887033ae33c6f73"},
+    {file = "greenlet-2.0.2-cp37-cp37m-musllinux_1_1_aarch64.whl", hash = "sha256:36abbf031e1c0f79dd5d596bfaf8e921c41df2bdf54ee1eed921ce1f52999a86"},
+    {file = "greenlet-2.0.2-cp37-cp37m-musllinux_1_1_x86_64.whl", hash = "sha256:18e98fb3de7dba1c0a852731c3070cf022d14f0d68b4c87a19cc1016f3bb8b33"},
+    {file = "greenlet-2.0.2-cp37-cp37m-win32.whl", hash = "sha256:3f6ea9bd35eb450837a3d80e77b517ea5bc56b4647f5502cd28de13675ee12f7"},
+    {file = "greenlet-2.0.2-cp37-cp37m-win_amd64.whl", hash = "sha256:7492e2b7bd7c9b9916388d9df23fa49d9b88ac0640db0a5b4ecc2b653bf451e3"},
+    {file = "greenlet-2.0.2-cp38-cp38-macosx_10_15_x86_64.whl", hash = "sha256:b864ba53912b6c3ab6bcb2beb19f19edd01a6bfcbdfe1f37ddd1778abfe75a30"},
+    {file = "greenlet-2.0.2-cp38-cp38-manylinux2010_x86_64.whl", hash = "sha256:ba2956617f1c42598a308a84c6cf021a90ff3862eddafd20c3333d50f0edb45b"},
+    {file = "greenlet-2.0.2-cp38-cp38-manylinux_2_17_aarch64.manylinux2014_aarch64.whl", hash = "sha256:fc3a569657468b6f3fb60587e48356fe512c1754ca05a564f11366ac9e306526"},
+    {file = "greenlet-2.0.2-cp38-cp38-manylinux_2_17_ppc64le.manylinux2014_ppc64le.whl", hash = "sha256:8eab883b3b2a38cc1e050819ef06a7e6344d4a990d24d45bc6f2cf959045a45b"},
+    {file = "greenlet-2.0.2-cp38-cp38-manylinux_2_17_x86_64.manylinux2014_x86_64.whl", hash = "sha256:acd2162a36d3de67ee896c43effcd5ee3de247eb00354db411feb025aa319857"},
+    {file = "greenlet-2.0.2-cp38-cp38-musllinux_1_1_aarch64.whl", hash = "sha256:0bf60faf0bc2468089bdc5edd10555bab6e85152191df713e2ab1fcc86382b5a"},
+    {file = "greenlet-2.0.2-cp38-cp38-musllinux_1_1_x86_64.whl", hash = "sha256:b0ef99cdbe2b682b9ccbb964743a6aca37905fda5e0452e5ee239b1654d37f2a"},
+    {file = "greenlet-2.0.2-cp38-cp38-win32.whl", hash = "sha256:b80f600eddddce72320dbbc8e3784d16bd3fb7b517e82476d8da921f27d4b249"},
+    {file = "greenlet-2.0.2-cp38-cp38-win_amd64.whl", hash = "sha256:4d2e11331fc0c02b6e84b0d28ece3a36e0548ee1a1ce9ddde03752d9b79bba40"},
+    {file = "greenlet-2.0.2-cp39-cp39-macosx_11_0_x86_64.whl", hash = "sha256:88d9ab96491d38a5ab7c56dd7a3cc37d83336ecc564e4e8816dbed12e5aaefc8"},
+    {file = "greenlet-2.0.2-cp39-cp39-manylinux2010_x86_64.whl", hash = "sha256:561091a7be172ab497a3527602d467e2b3fbe75f9e783d8b8ce403fa414f71a6"},
+    {file = "greenlet-2.0.2-cp39-cp39-manylinux_2_17_aarch64.manylinux2014_aarch64.whl", hash = "sha256:971ce5e14dc5e73715755d0ca2975ac88cfdaefcaab078a284fea6cfabf866df"},
+    {file = "greenlet-2.0.2-cp39-cp39-manylinux_2_17_ppc64le.manylinux2014_ppc64le.whl", hash = "sha256:be4ed120b52ae4d974aa40215fcdfde9194d63541c7ded40ee12eb4dda57b76b"},
+    {file = "greenlet-2.0.2-cp39-cp39-manylinux_2_17_x86_64.manylinux2014_x86_64.whl", hash = "sha256:94c817e84245513926588caf1152e3b559ff794d505555211ca041f032abbb6b"},
+    {file = "greenlet-2.0.2-cp39-cp39-musllinux_1_1_aarch64.whl", hash = "sha256:1a819eef4b0e0b96bb0d98d797bef17dc1b4a10e8d7446be32d1da33e095dbb8"},
+    {file = "greenlet-2.0.2-cp39-cp39-musllinux_1_1_x86_64.whl", hash = "sha256:7efde645ca1cc441d6dc4b48c0f7101e8d86b54c8530141b09fd31cef5149ec9"},
+    {file = "greenlet-2.0.2-cp39-cp39-win32.whl", hash = "sha256:ea9872c80c132f4663822dd2a08d404073a5a9b5ba6155bea72fb2a79d1093b5"},
+    {file = "greenlet-2.0.2-cp39-cp39-win_amd64.whl", hash = "sha256:db1a39669102a1d8d12b57de2bb7e2ec9066a6f2b3da35ae511ff93b01b5d564"},
+    {file = "greenlet-2.0.2.tar.gz", hash = "sha256:e7c8dc13af7db097bed64a051d2dd49e9f0af495c26995c00a9ee842690d34c0"},
 ]
-h3 = [
-    {file = "h3-3.7.4-cp27-cp27m-macosx_10_9_x86_64.whl", hash = "sha256:e61d3c6b1b66072f5b74d46dbee7df29daac6ce9738b9a6223a67dc577114515"},
-    {file = "h3-3.7.4-cp27-cp27m-manylinux2010_x86_64.whl", hash = "sha256:960cd005b8817314d95fbaff3e848a72385df4e3c6c9703ff99b08581c8def69"},
-    {file = "h3-3.7.4-cp27-cp27mu-manylinux2010_x86_64.whl", hash = "sha256:68227df989274b0da54de9101a50741c70c48197ba3beacfb97c88170445c18e"},
-    {file = "h3-3.7.4-cp310-cp310-macosx_10_9_x86_64.whl", hash = "sha256:2bf4d75fe42a260ac23bf4cb9f9de6e6f2aa37279b2719387711f3e0727c4653"},
-    {file = "h3-3.7.4-cp310-cp310-macosx_11_0_arm64.whl", hash = "sha256:c644ab3f221c7faaab2d1ccd11bc3b1106f172e9bb1c85a863b0a097f6b71cce"},
-    {file = "h3-3.7.4-cp310-cp310-manylinux_2_17_aarch64.manylinux2014_aarch64.whl", hash = "sha256:7c5366d24c2c01ef3bae68547c15f1965fac6053b2596c0073766bf7544ecaf0"},
-    {file = "h3-3.7.4-cp310-cp310-manylinux_2_17_x86_64.manylinux2014_x86_64.whl", hash = "sha256:83c2b0cd8259541f95b0493a620fb781b6a18c7c1e8fac1bda4fb234ae23ab43"},
-    {file = "h3-3.7.4-cp310-cp310-musllinux_1_1_x86_64.whl", hash = "sha256:c1108a9acb755310dce50a6e3c58ae1a2460ef60901d40e1155d633c7392f858"},
-    {file = "h3-3.7.4-cp310-cp310-win_amd64.whl", hash = "sha256:ce86c6dce2c923bfb16e26586bc5f0443a8be61d4f43227be8587ccb95588a46"},
-    {file = "h3-3.7.4-cp36-cp36m-macosx_10_9_x86_64.whl", hash = "sha256:ad21cfa8d97a62984ce30692a7ddf71a32a0c744cc247c43cbdbac1536aec4de"},
-    {file = "h3-3.7.4-cp36-cp36m-manylinux_2_17_aarch64.manylinux2014_aarch64.whl", hash = "sha256:be63482de86bbb91db7f3f3b7dd452b9e08a11dacbda2088386831fb0e7de59c"},
-    {file = "h3-3.7.4-cp36-cp36m-manylinux_2_17_x86_64.manylinux2014_x86_64.whl", hash = "sha256:0a96ea1844182bd0511cdcdc89e38e3026d9a3d4139fd0c5e899709edd798ffa"},
-    {file = "h3-3.7.4-cp36-cp36m-musllinux_1_1_x86_64.whl", hash = "sha256:2faf304020493c5ffede34264bd28ed529b8b7238103e0904c0f3e9ca880bcfd"},
-    {file = "h3-3.7.4-cp36-cp36m-win_amd64.whl", hash = "sha256:3b1642085939c597a9c723ae3b187f80527ffc79cad0ded0e55be9c9bac69c6c"},
-    {file = "h3-3.7.4-cp37-cp37m-macosx_10_9_x86_64.whl", hash = "sha256:8d03622433da1a2761574311af378ff1ff841f5956db25927837c6aee9d1c13c"},
-    {file = "h3-3.7.4-cp37-cp37m-manylinux_2_17_aarch64.manylinux2014_aarch64.whl", hash = "sha256:08a09f7a43ed142573c602ef487a058da54ab4d86c173082b29a5057805fe2d3"},
-    {file = "h3-3.7.4-cp37-cp37m-manylinux_2_17_x86_64.manylinux2014_x86_64.whl", hash = "sha256:4469fdf90034b1a67e155cac4f46b077fdc404b6182ab33abcb7081c9bfbf411"},
-    {file = "h3-3.7.4-cp37-cp37m-musllinux_1_1_x86_64.whl", hash = "sha256:33b147ecc0e19ab1f27303d0e3ae28e5a457f3347ce18ca9a58b694a8b0cdd0a"},
-    {file = "h3-3.7.4-cp37-cp37m-win_amd64.whl", hash = "sha256:c95c0818c163b69989c9e876dd82005e60edfbaabfd45429abebfc26f9a357e8"},
-    {file = "h3-3.7.4-cp38-cp38-macosx_10_9_x86_64.whl", hash = "sha256:7b0ddfdd02920996d7c6672c91e83efb5432c67ff83f89a03f774e84bcfe19f8"},
-    {file = "h3-3.7.4-cp38-cp38-macosx_11_0_arm64.whl", hash = "sha256:46a1284521d86cab414981056390be944dca780fe74c6c9e463a16d1c8d24871"},
-    {file = "h3-3.7.4-cp38-cp38-manylinux_2_17_aarch64.manylinux2014_aarch64.whl", hash = "sha256:585f375ba2a95ceb16b115a378e9118159c912c26703cf1627f57a004818c3b3"},
-    {file = "h3-3.7.4-cp38-cp38-manylinux_2_17_x86_64.manylinux2014_x86_64.whl", hash = "sha256:cdd68e684f0c6e18604d46ee04dbcfe5c79de62238b2c29f1db0f3a5d8dfa47b"},
-    {file = "h3-3.7.4-cp38-cp38-musllinux_1_1_x86_64.whl", hash = "sha256:a59d7d10597a2da9e9729637a625ae8dff2ed4e7c6c0b4952f0a5b2db6ef7152"},
-    {file = "h3-3.7.4-cp38-cp38-win_amd64.whl", hash = "sha256:38a084d74b234d48aafc01e4329cd9a92966e3f45b8cf21224118643b6eaa1c0"},
-    {file = "h3-3.7.4-cp39-cp39-macosx_10_9_x86_64.whl", hash = "sha256:a33fae02a54c63acb3c30fe49388715d658d76d42858a6ad4563e7e6859a9e57"},
-    {file = "h3-3.7.4-cp39-cp39-macosx_11_0_arm64.whl", hash = "sha256:9b0277d82578b3ed3220167ef5c5acd8b4e0ef2fcd6c2fd69dbf29e0c4e03765"},
-    {file = "h3-3.7.4-cp39-cp39-manylinux_2_17_aarch64.manylinux2014_aarch64.whl", hash = "sha256:8155b2de1938eb56128fe4fd96e4f6d2022d4c34d8137bc95d73cbf329f8f89e"},
-    {file = "h3-3.7.4-cp39-cp39-manylinux_2_17_x86_64.manylinux2014_x86_64.whl", hash = "sha256:1387166f453816f91d624c6ce70876a3c20356cd28a3a759920dee23c78684cf"},
-    {file = "h3-3.7.4-cp39-cp39-musllinux_1_1_x86_64.whl", hash = "sha256:62057c1c3d1c7fe492841e42fa360825d66fafd55ac37dc4e90b2292af21cb47"},
-    {file = "h3-3.7.4-cp39-cp39-win_amd64.whl", hash = "sha256:25f0c22f4802ab71c45b86d206bd30fa0a6c7fbc3b630398b60c22907e9742e6"},
-    {file = "h3-3.7.4.tar.gz", hash = "sha256:f8edf5a546b31afdcd801b60448ea890ce1ff418fb784335e1329519f13aa85e"},
+
+[package.extras]
+docs = ["Sphinx", "docutils (<0.18)"]
+test = ["objgraph", "psutil"]
+
+[[package]]
+name = "gunicorn"
+version = "21.2.0"
+description = "WSGI HTTP Server for UNIX"
+optional = false
+python-versions = ">=3.5"
+files = [
+    {file = "gunicorn-21.2.0-py3-none-any.whl", hash = "sha256:3213aa5e8c24949e792bcacfc176fef362e7aac80b76c56f6b5122bf350722f0"},
+    {file = "gunicorn-21.2.0.tar.gz", hash = "sha256:88ec8bff1d634f98e61b9f65bc4bf3cd918a90806c6f5c48bc5603849ec81033"},
 ]
-hatanaka = [
+
+[package.dependencies]
+packaging = "*"
+
+[package.extras]
+eventlet = ["eventlet (>=0.24.1)"]
+gevent = ["gevent (>=1.4.0)"]
+setproctitle = ["setproctitle"]
+tornado = ["tornado (>=0.2)"]
+
+[[package]]
+name = "h3"
+version = "3.7.6"
+description = "Hierarchical hexagonal geospatial indexing system"
+optional = false
+python-versions = "*"
+files = [
+    {file = "h3-3.7.6-cp27-cp27m-macosx_10_9_x86_64.whl", hash = "sha256:cd4a5103a86a7d98cffa3be77eb82080aa2e9d676bbd1661f3db9ecad7a4ef2b"},
+    {file = "h3-3.7.6-cp27-cp27m-manylinux2010_x86_64.whl", hash = "sha256:231959dceb4cc4ae86fe4fe2c385b176ed81712549e787b889dfa66f583676df"},
+    {file = "h3-3.7.6-cp27-cp27mu-manylinux2010_x86_64.whl", hash = "sha256:b9de9da755c90bbc90d6c041396a20c91816cd86a0bafa3b8899681cfdc2c4c6"},
+    {file = "h3-3.7.6-cp310-cp310-macosx_10_9_x86_64.whl", hash = "sha256:cda9a427b0de0d4069115ec765118888f180d0db915b5bc0dba52f5ae957b789"},
+    {file = "h3-3.7.6-cp310-cp310-macosx_11_0_arm64.whl", hash = "sha256:8bf1e080b9a47774754834e7f10155f3d2e3542bf895488a0519b2ae7d5b15db"},
+    {file = "h3-3.7.6-cp310-cp310-manylinux_2_17_aarch64.manylinux2014_aarch64.whl", hash = "sha256:1d3b93e3f38eb6c8fc5051d1b289b74614fb5f2415d272fea18085dea260d6b0"},
+    {file = "h3-3.7.6-cp310-cp310-manylinux_2_17_x86_64.manylinux2014_x86_64.whl", hash = "sha256:783b2ca4448360c5a184fd43b84fc5554e3a8fd02738ff31349506189c5b4b49"},
+    {file = "h3-3.7.6-cp310-cp310-musllinux_1_1_x86_64.whl", hash = "sha256:3bae8b95f21f20f04141a35f15c8caa74f2046eb01ef49e35fc45e6a8edfc8df"},
+    {file = "h3-3.7.6-cp310-cp310-win_amd64.whl", hash = "sha256:6ca9dd410e250d37f24a87c4ecb0615bb6d44a3f90eb5dbbf1b5e3d4489b8703"},
+    {file = "h3-3.7.6-cp311-cp311-macosx_10_9_x86_64.whl", hash = "sha256:991ee991f2ae41f629feb1cd32fa677b8512c72696eb0ad94fcf359d61184b2e"},
+    {file = "h3-3.7.6-cp311-cp311-macosx_11_0_arm64.whl", hash = "sha256:fcbfff87d223279f8e38bbee3ebf52b1b96ae280e9e7de24674d3c284373d946"},
+    {file = "h3-3.7.6-cp311-cp311-manylinux_2_17_aarch64.manylinux2014_aarch64.whl", hash = "sha256:eddf10d1d2139b3ea3ad1618c2074e1c47d3d36bddb5359e4955f5fd0b089d93"},
+    {file = "h3-3.7.6-cp311-cp311-manylinux_2_17_x86_64.manylinux2014_x86_64.whl", hash = "sha256:76abc02f14a8df42fb5d80e6045023fb756c49d3cb08d69a8ceb9362b95d4bec"},
+    {file = "h3-3.7.6-cp311-cp311-musllinux_1_1_x86_64.whl", hash = "sha256:fc8030968586a7810aa192397ad9a4f7d7a963f57c9b3e210fc38de0aa5c2533"},
+    {file = "h3-3.7.6-cp311-cp311-win_amd64.whl", hash = "sha256:1bdc790d91138e781973dcaade5231db7fe8a876330939e0903f602acc4fb64c"},
+    {file = "h3-3.7.6-cp36-cp36m-macosx_10_9_x86_64.whl", hash = "sha256:198718ab20a06ebe52f0aaafc02469e4a51964e5ba7990c3cc1d2fc32e7a54d9"},
+    {file = "h3-3.7.6-cp36-cp36m-manylinux_2_17_aarch64.manylinux2014_aarch64.whl", hash = "sha256:02faa911f2d8425c641a1f7c08f3dc9c10a5a3d81408832afa40748534b999c8"},
+    {file = "h3-3.7.6-cp36-cp36m-manylinux_2_17_x86_64.manylinux2014_x86_64.whl", hash = "sha256:1b4db92ceaeb9a51cc875c302cdc5e1aa27eed776d95943ee55c941bc2f219a3"},
+    {file = "h3-3.7.6-cp36-cp36m-musllinux_1_1_x86_64.whl", hash = "sha256:4810ddb3d91411a6cbf87a28108fe31712f618ef223c349e1f6675602af2c473"},
+    {file = "h3-3.7.6-cp36-cp36m-win_amd64.whl", hash = "sha256:211ef3317dcf7863e2d01a97ab6da319b8451d78cd1633dd28faaf69e66bc321"},
+    {file = "h3-3.7.6-cp37-cp37m-macosx_10_9_x86_64.whl", hash = "sha256:99b81620608378fc9910a5c630b0f17eb939156fa13e1adc55229d31f8c3f5ca"},
+    {file = "h3-3.7.6-cp37-cp37m-manylinux_2_17_aarch64.manylinux2014_aarch64.whl", hash = "sha256:26f3175bd3ea3ee528dbf49308e7215a58351ce425e1c3a9838ae22526663311"},
+    {file = "h3-3.7.6-cp37-cp37m-manylinux_2_17_x86_64.manylinux2014_x86_64.whl", hash = "sha256:7d7b69015f5bab2525914fad370b96dc386437e19a14cfed3eb13868589263db"},
+    {file = "h3-3.7.6-cp37-cp37m-musllinux_1_1_x86_64.whl", hash = "sha256:d0c2890fa10fa8695c020569c8d55da79e2c552a39533de4ae6991c7acb122e1"},
+    {file = "h3-3.7.6-cp37-cp37m-win_amd64.whl", hash = "sha256:1cd4f07c49721023c5fef401a4de03c47000705dfd116579dc6b61cad821305d"},
+    {file = "h3-3.7.6-cp38-cp38-macosx_10_9_x86_64.whl", hash = "sha256:f8d1db3dcd8f6ce7f54e061e6c9fbecbb5c3978b9e54e44af05a53787c4f99b3"},
+    {file = "h3-3.7.6-cp38-cp38-macosx_11_0_arm64.whl", hash = "sha256:495e37b1dee0ec46ccd88b278e571234b0d0d30648f161799d65a8d7f390b3f2"},
+    {file = "h3-3.7.6-cp38-cp38-manylinux_2_17_aarch64.manylinux2014_aarch64.whl", hash = "sha256:b2e2c4808b7691b176c89ebf23c173b3b23dd4ce42f8f494b32c6e31ceee49af"},
+    {file = "h3-3.7.6-cp38-cp38-manylinux_2_17_x86_64.manylinux2014_x86_64.whl", hash = "sha256:b58b1298bf1068704c6d9426749c8ae6021b53d982d5153cc4161c7042ecd810"},
+    {file = "h3-3.7.6-cp38-cp38-musllinux_1_1_x86_64.whl", hash = "sha256:a2872f695168c4700c73edd6eab9c6181387d7ea177de13b130ae61e613ff7de"},
+    {file = "h3-3.7.6-cp38-cp38-win_amd64.whl", hash = "sha256:98c3951c3b67ca3de06ef70aa74a9752640a3eca9b4d68e0d5d8e4fc6fa72337"},
+    {file = "h3-3.7.6-cp39-cp39-macosx_10_9_x86_64.whl", hash = "sha256:0724d4645c1da59e02b3305050c52b93ce1d8971d1d139433d464fcc103249a6"},
+    {file = "h3-3.7.6-cp39-cp39-macosx_11_0_arm64.whl", hash = "sha256:e1f6ec0f2246381ce3a7f72da1ce825a5474eb7c8fb25a2ea1f16c6606ce34a7"},
+    {file = "h3-3.7.6-cp39-cp39-manylinux_2_17_aarch64.manylinux2014_aarch64.whl", hash = "sha256:1471ff4d3875b25b521eeec5c2b72abe27b8e6af10ab99b7da5c0de545b0e832"},
+    {file = "h3-3.7.6-cp39-cp39-manylinux_2_17_x86_64.manylinux2014_x86_64.whl", hash = "sha256:eb96f2caae519d0ed17acde625af528476dca121b0336d3eb776429d40284ef6"},
+    {file = "h3-3.7.6-cp39-cp39-musllinux_1_1_x86_64.whl", hash = "sha256:b1b1bce0dee05175f8d422e50ffa1afacb9a7e78ae0963059aebfbef50e10175"},
+    {file = "h3-3.7.6-cp39-cp39-win_amd64.whl", hash = "sha256:36ea935833c37fdfd7ffbfc000d7cd20addcdf67f30b26a6b9bccb9210b03704"},
+    {file = "h3-3.7.6.tar.gz", hash = "sha256:9bbd3dbac99532fa521d7d2e288ff55877bea3223b070f659ed7b5f8f1f213eb"},
+]
+
+[package.extras]
+all = ["flake8", "numpy", "pylint", "pytest", "pytest-cov"]
+numpy = ["numpy"]
+test = ["flake8", "pylint", "pytest", "pytest-cov"]
+
+[[package]]
+name = "hatanaka"
+version = "2.4.0"
+description = "Effortlessly compress / decompress any RINEX file"
+optional = false
+python-versions = ">=3.6"
+files = [
     {file = "hatanaka-2.4.0-py3-none-macosx_10_14_x86_64.whl", hash = "sha256:ef594d63473782fac46df5b0c92a59211a3efea1d47c1a964244a0abffc9f3f6"},
     {file = "hatanaka-2.4.0-py3-none-manylinux1_x86_64.whl", hash = "sha256:8fda4aa56f27313de75a806a2f5aa83ed5bb2dc7561bebab856a774d06cf1ee7"},
     {file = "hatanaka-2.4.0-py3-none-win_amd64.whl", hash = "sha256:5a0624f6812b13abb4c996398a60338566885c1786841c4c04de9b1b91da28d2"},
     {file = "hatanaka-2.4.0.tar.gz", hash = "sha256:c22970b99169bddaf22e5239672e856a6bc9602c435f8793d26ad49619a70a99"},
 ]
-hexdump = [
+
+[package.dependencies]
+importlib-resources = "*"
+ncompress = "*"
+
+[package.extras]
+dev = ["pytest"]
+tests = ["pytest"]
+
+[[package]]
+name = "hexdump"
+version = "3.3"
+description = "dump binary data to hex format and restore from there"
+optional = false
+python-versions = "*"
+files = [
     {file = "hexdump-3.3.zip", hash = "sha256:d781a43b0c16ace3f9366aade73e8ad3a7bd5137d58f0b45ab2d3f54876f20db"},
 ]
-html5lib = [
+
+[[package]]
+name = "html5lib"
+version = "1.1"
+description = "HTML parser based on the WHATWG HTML specification"
+optional = false
+python-versions = ">=2.7, !=3.0.*, !=3.1.*, !=3.2.*, !=3.3.*, !=3.4.*"
+files = [
     {file = "html5lib-1.1-py2.py3-none-any.whl", hash = "sha256:0d78f8fde1c230e99fe37986a60526d7049ed4bf8a9fadbad5f00e22e58e041d"},
     {file = "html5lib-1.1.tar.gz", hash = "sha256:b2e5b40261e20f354d198eae92afc10d750afb487ed5e50f9c4eaf07c184146f"},
 ]
-huggingface-hub = [
-    {file = "huggingface_hub-0.14.1-py3-none-any.whl", hash = "sha256:9fc619170d800ff3793ad37c9757c255c8783051e1b5b00501205eb43ccc4f27"},
-    {file = "huggingface_hub-0.14.1.tar.gz", hash = "sha256:9ab899af8e10922eac65e290d60ab956882ab0bf643e3d990b1394b6b47b7fbc"},
+
+[package.dependencies]
+six = ">=1.9"
+webencodings = "*"
+
+[package.extras]
+all = ["chardet (>=2.2)", "genshi", "lxml"]
+chardet = ["chardet (>=2.2)"]
+genshi = ["genshi"]
+lxml = ["lxml"]
+
+[[package]]
+name = "huggingface-hub"
+version = "0.16.4"
+description = "Client library to download and publish models, datasets and other repos on the huggingface.co hub"
+optional = false
+python-versions = ">=3.7.0"
+files = [
+    {file = "huggingface_hub-0.16.4-py3-none-any.whl", hash = "sha256:0d3df29932f334fead024afc7cb4cc5149d955238b8b5e42dcf9740d6995a349"},
+    {file = "huggingface_hub-0.16.4.tar.gz", hash = "sha256:608c7d4f3d368b326d1747f91523dbd1f692871e8e2e7a4750314a2dd8b63e14"},
 ]
-humanfriendly = [
+
+[package.dependencies]
+filelock = "*"
+fsspec = "*"
+packaging = ">=20.9"
+pyyaml = ">=5.1"
+requests = "*"
+tqdm = ">=4.42.1"
+typing-extensions = ">=3.7.4.3"
+
+[package.extras]
+all = ["InquirerPy (==0.3.4)", "Jinja2", "Pillow", "aiohttp", "black (>=23.1,<24.0)", "gradio", "jedi", "mypy (==0.982)", "numpy", "pydantic", "pytest", "pytest-asyncio", "pytest-cov", "pytest-env", "pytest-vcr", "pytest-xdist", "ruff (>=0.0.241)", "soundfile", "types-PyYAML", "types-requests", "types-simplejson", "types-toml", "types-tqdm", "types-urllib3", "urllib3 (<2.0)"]
+cli = ["InquirerPy (==0.3.4)"]
+dev = ["InquirerPy (==0.3.4)", "Jinja2", "Pillow", "aiohttp", "black (>=23.1,<24.0)", "gradio", "jedi", "mypy (==0.982)", "numpy", "pydantic", "pytest", "pytest-asyncio", "pytest-cov", "pytest-env", "pytest-vcr", "pytest-xdist", "ruff (>=0.0.241)", "soundfile", "types-PyYAML", "types-requests", "types-simplejson", "types-toml", "types-tqdm", "types-urllib3", "urllib3 (<2.0)"]
+fastai = ["fastai (>=2.4)", "fastcore (>=1.3.27)", "toml"]
+inference = ["aiohttp", "pydantic"]
+quality = ["black (>=23.1,<24.0)", "mypy (==0.982)", "ruff (>=0.0.241)"]
+tensorflow = ["graphviz", "pydot", "tensorflow"]
+testing = ["InquirerPy (==0.3.4)", "Jinja2", "Pillow", "aiohttp", "gradio", "jedi", "numpy", "pydantic", "pytest", "pytest-asyncio", "pytest-cov", "pytest-env", "pytest-vcr", "pytest-xdist", "soundfile", "urllib3 (<2.0)"]
+torch = ["torch"]
+typing = ["pydantic", "types-PyYAML", "types-requests", "types-simplejson", "types-toml", "types-tqdm", "types-urllib3"]
+
+[[package]]
+name = "humanfriendly"
+version = "10.0"
+description = "Human friendly output for text interfaces using Python"
+optional = false
+python-versions = ">=2.7, !=3.0.*, !=3.1.*, !=3.2.*, !=3.3.*, !=3.4.*"
+files = [
     {file = "humanfriendly-10.0-py2.py3-none-any.whl", hash = "sha256:1697e1a8a8f550fd43c2865cd84542fc175a61dcb779b6fee18cf6b6ccba1477"},
     {file = "humanfriendly-10.0.tar.gz", hash = "sha256:6b0b831ce8f15f7300721aa49829fc4e83921a9a301cc7f606be6686a2288ddc"},
 ]
-hypothesis = [
+
+[package.dependencies]
+pyreadline3 = {version = "*", markers = "sys_platform == \"win32\" and python_version >= \"3.8\""}
+
+[[package]]
+name = "hypothesis"
+version = "6.46.7"
+description = "A library for property-based testing"
+optional = false
+python-versions = ">=3.7"
+files = [
     {file = "hypothesis-6.46.7-py3-none-any.whl", hash = "sha256:2696cdb9005946bf1d2b215cc91d3fc01625e3342eb8743ddd04b667b2f1882b"},
     {file = "hypothesis-6.46.7.tar.gz", hash = "sha256:967009fa561b3a3f8363a73d71923357271c37dc7fa27b30c2d21a1b6092b240"},
 ]
-identify = [
-    {file = "identify-2.5.6-py2.py3-none-any.whl", hash = "sha256:b276db7ec52d7e89f5bc4653380e33054ddc803d25875952ad90b0f012cbcdaa"},
-    {file = "identify-2.5.6.tar.gz", hash = "sha256:6c32dbd747aa4ceee1df33f25fed0b0f6e0d65721b15bd151307ff7056d50245"},
+
+[package.dependencies]
+attrs = ">=19.2.0"
+sortedcontainers = ">=2.1.0,<3.0.0"
+
+[package.extras]
+all = ["backports.zoneinfo (>=0.2.1)", "black (>=19.10b0)", "click (>=7.0)", "django (>=2.2)", "dpcontracts (>=0.4)", "importlib-metadata (>=3.6)", "lark-parser (>=0.6.5)", "libcst (>=0.3.16)", "numpy (>=1.9.0)", "pandas (>=0.25)", "pytest (>=4.6)", "python-dateutil (>=1.4)", "pytz (>=2014.1)", "redis (>=3.0.0)", "rich (>=9.0.0)", "tzdata (>=2022.1)"]
+cli = ["black (>=19.10b0)", "click (>=7.0)", "rich (>=9.0.0)"]
+codemods = ["libcst (>=0.3.16)"]
+dateutil = ["python-dateutil (>=1.4)"]
+django = ["django (>=2.2)"]
+dpcontracts = ["dpcontracts (>=0.4)"]
+ghostwriter = ["black (>=19.10b0)"]
+lark = ["lark-parser (>=0.6.5)"]
+numpy = ["numpy (>=1.9.0)"]
+pandas = ["pandas (>=0.25)"]
+pytest = ["pytest (>=4.6)"]
+pytz = ["pytz (>=2014.1)"]
+redis = ["redis (>=3.0.0)"]
+zoneinfo = ["backports.zoneinfo (>=0.2.1)", "tzdata (>=2022.1)"]
+
+[[package]]
+name = "identify"
+version = "2.5.26"
+description = "File identification library for Python"
+optional = false
+python-versions = ">=3.8"
+files = [
+    {file = "identify-2.5.26-py2.py3-none-any.whl", hash = "sha256:c22a8ead0d4ca11f1edd6c9418c3220669b3b7533ada0a0ffa6cc0ef85cf9b54"},
+    {file = "identify-2.5.26.tar.gz", hash = "sha256:7243800bce2f58404ed41b7c002e53d4d22bcf3ae1b7900c2d7aefd95394bf7f"},
 ]
-idna = [
+
+[package.extras]
+license = ["ukkonen"]
+
+[[package]]
+name = "idna"
+version = "3.4"
+description = "Internationalized Domain Names in Applications (IDNA)"
+optional = false
+python-versions = ">=3.5"
+files = [
     {file = "idna-3.4-py3-none-any.whl", hash = "sha256:90b77e79eaa3eba6de819a0c442c0b4ceefc341a7a2ab77d7562bf49f425c5c2"},
     {file = "idna-3.4.tar.gz", hash = "sha256:814f528e8dead7d329833b91c5faa87d60bf71824cd12a7530b5526063d02cb4"},
 ]
-imageio = [
-    {file = "imageio-2.22.2-py3-none-any.whl", hash = "sha256:9bdafe9c5a3d336a187f3f554f3e30bcdbf8a1d7d46f0e4d94e4a535adfb64c7"},
-    {file = "imageio-2.22.2.tar.gz", hash = "sha256:db7010cd10712518819a4187baf61b05988361ea20c23e829918727b27acb977"},
+
+[[package]]
+name = "ifaddr"
+version = "0.2.0"
+description = "Cross-platform network interface and IP address enumeration library"
+optional = false
+python-versions = "*"
+files = [
+    {file = "ifaddr-0.2.0-py3-none-any.whl", hash = "sha256:085e0305cfe6f16ab12d72e2024030f5d52674afad6911bb1eee207177b8a748"},
+    {file = "ifaddr-0.2.0.tar.gz", hash = "sha256:cc0cbfcaabf765d44595825fb96a99bb12c79716b73b44330ea38ee2b0c4aed4"},
 ]
-imagesize = [
+
+[[package]]
+name = "imageio"
+version = "2.31.1"
+description = "Library for reading and writing a wide range of image, video, scientific, and volumetric data formats."
+optional = false
+python-versions = ">=3.7"
+files = [
+    {file = "imageio-2.31.1-py3-none-any.whl", hash = "sha256:4106fb395ef7f8dc0262d6aa1bb03daba818445c381ca8b7d5dfc7a2089b04df"},
+    {file = "imageio-2.31.1.tar.gz", hash = "sha256:f8436a02af02fd63f272dab50f7d623547a38f0e04a4a73e2b02ae1b8b180f27"},
+]
+
+[package.dependencies]
+numpy = "*"
+pillow = ">=8.3.2"
+
+[package.extras]
+all-plugins = ["astropy", "av", "imageio-ffmpeg", "psutil", "tifffile"]
+all-plugins-pypy = ["av", "imageio-ffmpeg", "psutil", "tifffile"]
+build = ["wheel"]
+dev = ["black", "flake8", "fsspec[github]", "pytest", "pytest-cov"]
+docs = ["numpydoc", "pydata-sphinx-theme", "sphinx (<6)"]
+ffmpeg = ["imageio-ffmpeg", "psutil"]
+fits = ["astropy"]
+full = ["astropy", "av", "black", "flake8", "fsspec[github]", "gdal", "imageio-ffmpeg", "itk", "numpydoc", "psutil", "pydata-sphinx-theme", "pytest", "pytest-cov", "sphinx (<6)", "tifffile", "wheel"]
+gdal = ["gdal"]
+itk = ["itk"]
+linting = ["black", "flake8"]
+pyav = ["av"]
+test = ["fsspec[github]", "pytest", "pytest-cov"]
+tifffile = ["tifffile"]
+
+[[package]]
+name = "imagesize"
+version = "1.4.1"
+description = "Getting image size from png/jpeg/jpeg2000/gif file"
+optional = false
+python-versions = ">=2.7, !=3.0.*, !=3.1.*, !=3.2.*, !=3.3.*"
+files = [
     {file = "imagesize-1.4.1-py2.py3-none-any.whl", hash = "sha256:0d8d18d08f840c19d0ee7ca1fd82490fdc3729b7ac93f49870406ddde8ef8d8b"},
     {file = "imagesize-1.4.1.tar.gz", hash = "sha256:69150444affb9cb0d5cc5a92b3676f0b2fb7cd9ae39e947a5e11a36b4497cd4a"},
 ]
-importlib-metadata = [
-    {file = "importlib_metadata-4.13.0-py3-none-any.whl", hash = "sha256:8a8a81bcf996e74fee46f0d16bd3eaa382a7eb20fd82445c3ad11f4090334116"},
-    {file = "importlib_metadata-4.13.0.tar.gz", hash = "sha256:dd0173e8f150d6815e098fd354f6414b0f079af4644ddfe90c71e2fc6174346d"},
+
+[[package]]
+name = "importlib-metadata"
+version = "6.8.0"
+description = "Read metadata from Python packages"
+optional = false
+python-versions = ">=3.8"
+files = [
+    {file = "importlib_metadata-6.8.0-py3-none-any.whl", hash = "sha256:3ebb78df84a805d7698245025b975d9d67053cd94c79245ba4b3eb694abe68bb"},
+    {file = "importlib_metadata-6.8.0.tar.gz", hash = "sha256:dbace7892d8c0c4ac1ad096662232f831d4e64f4c4545bd53016a3e9d4654743"},
 ]
-importlib-resources = [
-    {file = "importlib_resources-5.10.0-py3-none-any.whl", hash = "sha256:ee17ec648f85480d523596ce49eae8ead87d5631ae1551f913c0100b5edd3437"},
-    {file = "importlib_resources-5.10.0.tar.gz", hash = "sha256:c01b1b94210d9849f286b86bb51bcea7cd56dde0600d8db721d7b81330711668"},
+
+[package.dependencies]
+zipp = ">=0.5"
+
+[package.extras]
+docs = ["furo", "jaraco.packaging (>=9)", "jaraco.tidelift (>=1.4)", "rst.linker (>=1.9)", "sphinx (>=3.5)", "sphinx-lint"]
+perf = ["ipython"]
+testing = ["flufl.flake8", "importlib-resources (>=1.3)", "packaging", "pyfakefs", "pytest (>=6)", "pytest-black (>=0.3.7)", "pytest-checkdocs (>=2.4)", "pytest-cov", "pytest-enabler (>=2.2)", "pytest-mypy (>=0.9.1)", "pytest-perf (>=0.9.2)", "pytest-ruff"]
+
+[[package]]
+name = "importlib-resources"
+version = "6.0.1"
+description = "Read resources from Python packages"
+optional = false
+python-versions = ">=3.8"
+files = [
+    {file = "importlib_resources-6.0.1-py3-none-any.whl", hash = "sha256:134832a506243891221b88b4ae1213327eea96ceb4e407a00d790bb0626f45cf"},
+    {file = "importlib_resources-6.0.1.tar.gz", hash = "sha256:4359457e42708462b9626a04657c6208ad799ceb41e5c58c57ffa0e6a098a5d4"},
 ]
-influxdb-client = [
-    {file = "influxdb_client-1.33.0-py3-none-any.whl", hash = "sha256:38a8bedce673ffd2211f60012b5848cb2418977c19f83a43454882b665acbc69"},
-    {file = "influxdb_client-1.33.0.tar.gz", hash = "sha256:45f6a1763804a19b972890daf4c5f0bd2d3ae2f202b86451c579e09dcadd30e6"},
+
+[package.extras]
+docs = ["furo", "jaraco.packaging (>=9.3)", "jaraco.tidelift (>=1.4)", "rst.linker (>=1.9)", "sphinx (>=3.5)", "sphinx-lint"]
+testing = ["pytest (>=6)", "pytest-black (>=0.3.7)", "pytest-checkdocs (>=2.4)", "pytest-cov", "pytest-enabler (>=2.2)", "pytest-mypy (>=0.9.1)", "pytest-ruff"]
+
+[[package]]
+name = "influxdb-client"
+version = "1.37.0"
+description = "InfluxDB 2.0 Python client library"
+optional = false
+python-versions = ">=3.7"
+files = [
+    {file = "influxdb_client-1.37.0-py3-none-any.whl", hash = "sha256:30b03888846fab6fb740936b1a08af24841b791cf1b99773e3894dd1d64edf2f"},
+    {file = "influxdb_client-1.37.0.tar.gz", hash = "sha256:01ac44d6a16a965ae2e0fa3238e2edeb147c11935a89b61439c9a752458001da"},
 ]
-iniconfig = [
-    {file = "iniconfig-1.1.1-py2.py3-none-any.whl", hash = "sha256:011e24c64b7f47f6ebd835bb12a743f2fbe9a26d4cecaa7f53bc4f35ee9da8b3"},
-    {file = "iniconfig-1.1.1.tar.gz", hash = "sha256:bc3af051d7d14b2ee5ef9969666def0cd1a000e121eaea580d4a313df4b37f32"},
+
+[package.dependencies]
+certifi = ">=14.05.14"
+python-dateutil = ">=2.5.3"
+reactivex = ">=4.0.4"
+setuptools = ">=21.0.0"
+urllib3 = ">=1.26.0"
+
+[package.extras]
+async = ["aiocsv (>=1.2.2)", "aiohttp (>=3.8.1)"]
+ciso = ["ciso8601 (>=2.1.1)"]
+extra = ["numpy", "pandas (>=0.25.3)"]
+test = ["aioresponses (>=0.7.3)", "coverage (>=4.0.3)", "flake8 (>=5.0.3)", "httpretty (==1.0.5)", "jinja2 (==3.1.2)", "nose (>=1.3.7)", "pluggy (>=0.3.1)", "psutil (>=5.6.3)", "py (>=1.4.31)", "pytest (>=5.0.0)", "pytest-cov (>=3.0.0)", "pytest-timeout (>=2.1.0)", "randomize (>=0.13)", "sphinx (==1.8.5)", "sphinx-rtd-theme"]
+
+[[package]]
+name = "iniconfig"
+version = "2.0.0"
+description = "brain-dead simple config-ini parsing"
+optional = false
+python-versions = ">=3.7"
+files = [
+    {file = "iniconfig-2.0.0-py3-none-any.whl", hash = "sha256:b6a85871a79d2e3b22d2d1b94ac2824226a63c6b741c88f7ae975f18b6778374"},
+    {file = "iniconfig-2.0.0.tar.gz", hash = "sha256:2d91e135bf72d31a410b17c16da610a82cb55f6b0477d1a902134b24a455b8b3"},
 ]
-inputs = [
+
+[[package]]
+name = "inputs"
+version = "0.5"
+description = "Cross-platform Python support for keyboards, mice and gamepads."
+optional = false
+python-versions = "*"
+files = [
     {file = "inputs-0.5-py2.py3-none-any.whl", hash = "sha256:13f894564e52134cf1e3862b1811da034875eb1f2b62e6021e3776e9669a96ec"},
     {file = "inputs-0.5.tar.gz", hash = "sha256:a31d5b96a3525f1232f326be9e7ce8ccaf873c6b1fb84d9f3c9bc3d79b23eae4"},
 ]
-ioctl-opt = [
-    {file = "ioctl-opt-1.2.2.tar.gz", hash = "sha256:9628bbd6728f90d019759f54d20b741ddbf9f8db8d41976da4332492f669d643"},
+
+[[package]]
+name = "installer"
+version = "0.7.0"
+description = "A library for installing Python wheels."
+optional = false
+python-versions = ">=3.7"
+files = [
+    {file = "installer-0.7.0-py3-none-any.whl", hash = "sha256:05d1933f0a5ba7d8d6296bb6d5018e7c94fa473ceb10cf198a92ccea19c27b53"},
+    {file = "installer-0.7.0.tar.gz", hash = "sha256:a26d3e3116289bb08216e0d0f7d925fcef0b0194eedfa0c944bcaaa106c4b631"},
 ]
-ipykernel = [
-    {file = "ipykernel-6.16.1-py3-none-any.whl", hash = "sha256:32eb7bdc5af57185e9a42b0dcef66413ef91a0490b378eae46cbdf0d4e0b5912"},
-    {file = "ipykernel-6.16.1.tar.gz", hash = "sha256:3a27a550c1d682e7825f0f7732b0142b79ef1b21cd2e713cacac0c9847535f13"},
+
+[[package]]
+name = "ioctl-opt"
+version = "1.3"
+description = "Functions to compute fnctl.ioctl's opt argument"
+optional = false
+python-versions = "*"
+files = [
+    {file = "ioctl-opt-1.3.tar.gz", hash = "sha256:5ed4f9a80d2e02e152a43d3648d7ed8821a0aac5ea88ecc5fcc14460ff7cf2f9"},
 ]
-ipython = [
-    {file = "ipython-8.5.0-py3-none-any.whl", hash = "sha256:6f090e29ab8ef8643e521763a4f1f39dc3914db643122b1e9d3328ff2e43ada2"},
-    {file = "ipython-8.5.0.tar.gz", hash = "sha256:097bdf5cd87576fd066179c9f7f208004f7a6864ee1b20f37d346c0bcb099f84"},
+
+[[package]]
+name = "ipykernel"
+version = "6.25.1"
+description = "IPython Kernel for Jupyter"
+optional = false
+python-versions = ">=3.8"
+files = [
+    {file = "ipykernel-6.25.1-py3-none-any.whl", hash = "sha256:c8a2430b357073b37c76c21c52184db42f6b4b0e438e1eb7df3c4440d120497c"},
+    {file = "ipykernel-6.25.1.tar.gz", hash = "sha256:050391364c0977e768e354bdb60cbbfbee7cbb943b1af1618382021136ffd42f"},
 ]
-ipython-genutils = [
+
+[package.dependencies]
+appnope = {version = "*", markers = "platform_system == \"Darwin\""}
+comm = ">=0.1.1"
+debugpy = ">=1.6.5"
+ipython = ">=7.23.1"
+jupyter-client = ">=6.1.12"
+jupyter-core = ">=4.12,<5.0.dev0 || >=5.1.dev0"
+matplotlib-inline = ">=0.1"
+nest-asyncio = "*"
+packaging = "*"
+psutil = "*"
+pyzmq = ">=20"
+tornado = ">=6.1"
+traitlets = ">=5.4.0"
+
+[package.extras]
+cov = ["coverage[toml]", "curio", "matplotlib", "pytest-cov", "trio"]
+docs = ["myst-parser", "pydata-sphinx-theme", "sphinx", "sphinx-autodoc-typehints", "sphinxcontrib-github-alt", "sphinxcontrib-spelling", "trio"]
+pyqt5 = ["pyqt5"]
+pyside6 = ["pyside6"]
+test = ["flaky", "ipyparallel", "pre-commit", "pytest (>=7.0)", "pytest-asyncio", "pytest-cov", "pytest-timeout"]
+
+[[package]]
+name = "ipython"
+version = "8.14.0"
+description = "IPython: Productive Interactive Computing"
+optional = false
+python-versions = ">=3.9"
+files = [
+    {file = "ipython-8.14.0-py3-none-any.whl", hash = "sha256:248aca623f5c99a6635bc3857677b7320b9b8039f99f070ee0d20a5ca5a8e6bf"},
+    {file = "ipython-8.14.0.tar.gz", hash = "sha256:1d197b907b6ba441b692c48cf2a3a2de280dc0ac91a3405b39349a50272ca0a1"},
+]
+
+[package.dependencies]
+appnope = {version = "*", markers = "sys_platform == \"darwin\""}
+backcall = "*"
+colorama = {version = "*", markers = "sys_platform == \"win32\""}
+decorator = "*"
+jedi = ">=0.16"
+matplotlib-inline = "*"
+pexpect = {version = ">4.3", markers = "sys_platform != \"win32\""}
+pickleshare = "*"
+prompt-toolkit = ">=3.0.30,<3.0.37 || >3.0.37,<3.1.0"
+pygments = ">=2.4.0"
+stack-data = "*"
+traitlets = ">=5"
+
+[package.extras]
+all = ["black", "curio", "docrepr", "ipykernel", "ipyparallel", "ipywidgets", "matplotlib", "matplotlib (!=3.2.0)", "nbconvert", "nbformat", "notebook", "numpy (>=1.21)", "pandas", "pytest (<7)", "pytest (<7.1)", "pytest-asyncio", "qtconsole", "setuptools (>=18.5)", "sphinx (>=1.3)", "sphinx-rtd-theme", "stack-data", "testpath", "trio", "typing-extensions"]
+black = ["black"]
+doc = ["docrepr", "ipykernel", "matplotlib", "pytest (<7)", "pytest (<7.1)", "pytest-asyncio", "setuptools (>=18.5)", "sphinx (>=1.3)", "sphinx-rtd-theme", "stack-data", "testpath", "typing-extensions"]
+kernel = ["ipykernel"]
+nbconvert = ["nbconvert"]
+nbformat = ["nbformat"]
+notebook = ["ipywidgets", "notebook"]
+parallel = ["ipyparallel"]
+qtconsole = ["qtconsole"]
+test = ["pytest (<7.1)", "pytest-asyncio", "testpath"]
+test-extra = ["curio", "matplotlib (!=3.2.0)", "nbformat", "numpy (>=1.21)", "pandas", "pytest (<7.1)", "pytest-asyncio", "testpath", "trio"]
+
+[[package]]
+name = "ipython-genutils"
+version = "0.2.0"
+description = "Vestigial utilities from IPython"
+optional = false
+python-versions = "*"
+files = [
     {file = "ipython_genutils-0.2.0-py2.py3-none-any.whl", hash = "sha256:72dd37233799e619666c9f639a9da83c34013a73e8bbc79a7a6348d93c61fab8"},
     {file = "ipython_genutils-0.2.0.tar.gz", hash = "sha256:eb2e116e75ecef9d4d228fdc66af54269afa26ab4463042e33785b887c628ba8"},
 ]
-ipywidgets = [
-    {file = "ipywidgets-8.0.2-py3-none-any.whl", hash = "sha256:1dc3dd4ee19ded045ea7c86eb273033d238d8e43f9e7872c52d092683f263891"},
-    {file = "ipywidgets-8.0.2.tar.gz", hash = "sha256:08cb75c6e0a96836147cbfdc55580ae04d13e05d26ffbc377b4e1c68baa28b1f"},
+
+[[package]]
+name = "ipywidgets"
+version = "8.1.0"
+description = "Jupyter interactive widgets"
+optional = false
+python-versions = ">=3.7"
+files = [
+    {file = "ipywidgets-8.1.0-py3-none-any.whl", hash = "sha256:6c8396cc7b8c95dfb4e9ab0054f48c002f045e7e5d7ae523f559d64e525a98ab"},
+    {file = "ipywidgets-8.1.0.tar.gz", hash = "sha256:ce97dd90525b3066fd00094690964e7eac14cf9b7745d35565b5eeac20cce687"},
 ]
-isodate = [
+
+[package.dependencies]
+comm = ">=0.1.3"
+ipython = ">=6.1.0"
+jupyterlab-widgets = ">=3.0.7,<3.1.0"
+traitlets = ">=4.3.1"
+widgetsnbextension = ">=4.0.7,<4.1.0"
+
+[package.extras]
+test = ["ipykernel", "jsonschema", "pytest (>=3.6.0)", "pytest-cov", "pytz"]
+
+[[package]]
+name = "isodate"
+version = "0.6.1"
+description = "An ISO 8601 date/time/duration parser and formatter"
+optional = false
+python-versions = "*"
+files = [
     {file = "isodate-0.6.1-py2.py3-none-any.whl", hash = "sha256:0751eece944162659049d35f4f549ed815792b38793f07cf73381c1c87cbed96"},
     {file = "isodate-0.6.1.tar.gz", hash = "sha256:48c5881de7e8b0a0d648cb024c8062dc84e7b840ed81e864c7614fd3c127bde9"},
 ]
-isort = [
-    {file = "isort-5.10.1-py3-none-any.whl", hash = "sha256:6f62d78e2f89b4500b080fe3a81690850cd254227f27f75c3a0c491a1f351ba7"},
-    {file = "isort-5.10.1.tar.gz", hash = "sha256:e8443a5e7a020e9d7f97f1d7d9cd17c88bcb3bc7e218bf9cf5095fe550be2951"},
+
+[package.dependencies]
+six = "*"
+
+[[package]]
+name = "isoduration"
+version = "20.11.0"
+description = "Operations with ISO 8601 durations"
+optional = false
+python-versions = ">=3.7"
+files = [
+    {file = "isoduration-20.11.0-py3-none-any.whl", hash = "sha256:b2904c2a4228c3d44f409c8ae8e2370eb21a26f7ac2ec5446df141dde3452042"},
+    {file = "isoduration-20.11.0.tar.gz", hash = "sha256:ac2f9015137935279eac671f94f89eb00584f940f5dc49462a0c4ee692ba1bd9"},
 ]
-itsdangerous = [
+
+[package.dependencies]
+arrow = ">=0.15.0"
+
+[[package]]
+name = "isort"
+version = "5.12.0"
+description = "A Python utility / library to sort Python imports."
+optional = false
+python-versions = ">=3.8.0"
+files = [
+    {file = "isort-5.12.0-py3-none-any.whl", hash = "sha256:f84c2818376e66cf843d497486ea8fed8700b340f308f076c6fb1229dff318b6"},
+    {file = "isort-5.12.0.tar.gz", hash = "sha256:8bef7dde241278824a6d83f44a544709b065191b95b6e50894bdc722fcba0504"},
+]
+
+[package.extras]
+colors = ["colorama (>=0.4.3)"]
+pipfile-deprecated-finder = ["pip-shims (>=0.5.2)", "pipreqs", "requirementslib"]
+plugins = ["setuptools"]
+requirements-deprecated-finder = ["pip-api", "pipreqs"]
+
+[[package]]
+name = "itsdangerous"
+version = "2.1.2"
+description = "Safely pass data to untrusted environments and back."
+optional = false
+python-versions = ">=3.7"
+files = [
     {file = "itsdangerous-2.1.2-py3-none-any.whl", hash = "sha256:2c2349112351b88699d8d4b6b075022c0808887cb7ad10069318a8b0bc88db44"},
     {file = "itsdangerous-2.1.2.tar.gz", hash = "sha256:5dbbc68b317e5e42f327f9021763545dc3fc3bfe22e6deb96aaf1fc38874156a"},
 ]
-jaraco-classes = [
-    {file = "jaraco.classes-3.2.3-py3-none-any.whl", hash = "sha256:2353de3288bc6b82120752201c6b1c1a14b058267fa424ed5ce5984e3b922158"},
-    {file = "jaraco.classes-3.2.3.tar.gz", hash = "sha256:89559fa5c1d3c34eff6f631ad80bb21f378dbcbb35dd161fd2c6b93f5be2f98a"},
+
+[[package]]
+name = "jaraco-classes"
+version = "3.3.0"
+description = "Utility functions for Python class constructs"
+optional = false
+python-versions = ">=3.8"
+files = [
+    {file = "jaraco.classes-3.3.0-py3-none-any.whl", hash = "sha256:10afa92b6743f25c0cf5f37c6bb6e18e2c5bb84a16527ccfc0040ea377e7aaeb"},
+    {file = "jaraco.classes-3.3.0.tar.gz", hash = "sha256:c063dd08e89217cee02c8d5e5ec560f2c8ce6cdc2fcdc2e68f7b2e5547ed3621"},
 ]
-jedi = [
-    {file = "jedi-0.18.1-py2.py3-none-any.whl", hash = "sha256:637c9635fcf47945ceb91cd7f320234a7be540ded6f3e99a50cb6febdfd1ba8d"},
-    {file = "jedi-0.18.1.tar.gz", hash = "sha256:74137626a64a99c8eb6ae5832d99b3bdd7d29a3850fe2aa80a4126b2a7d949ab"},
+
+[package.dependencies]
+more-itertools = "*"
+
+[package.extras]
+docs = ["furo", "jaraco.packaging (>=9.3)", "jaraco.tidelift (>=1.4)", "rst.linker (>=1.9)", "sphinx (>=3.5)", "sphinx-lint"]
+testing = ["pytest (>=6)", "pytest-black (>=0.3.7)", "pytest-checkdocs (>=2.4)", "pytest-cov", "pytest-enabler (>=2.2)", "pytest-mypy (>=0.9.1)", "pytest-ruff"]
+
+[[package]]
+name = "jedi"
+version = "0.19.0"
+description = "An autocompletion tool for Python that can be used for text editors."
+optional = false
+python-versions = ">=3.6"
+files = [
+    {file = "jedi-0.19.0-py2.py3-none-any.whl", hash = "sha256:cb8ce23fbccff0025e9386b5cf85e892f94c9b822378f8da49970471335ac64e"},
+    {file = "jedi-0.19.0.tar.gz", hash = "sha256:bcf9894f1753969cbac8022a8c2eaee06bfa3724e4192470aaffe7eb6272b0c4"},
 ]
-jeepney = [
+
+[package.dependencies]
+parso = ">=0.8.3,<0.9.0"
+
+[package.extras]
+docs = ["Jinja2 (==2.11.3)", "MarkupSafe (==1.1.1)", "Pygments (==2.8.1)", "alabaster (==0.7.12)", "babel (==2.9.1)", "chardet (==4.0.0)", "commonmark (==0.8.1)", "docutils (==0.17.1)", "future (==0.18.2)", "idna (==2.10)", "imagesize (==1.2.0)", "mock (==1.0.1)", "packaging (==20.9)", "pyparsing (==2.4.7)", "pytz (==2021.1)", "readthedocs-sphinx-ext (==2.1.4)", "recommonmark (==0.5.0)", "requests (==2.25.1)", "six (==1.15.0)", "snowballstemmer (==2.1.0)", "sphinx (==1.8.5)", "sphinx-rtd-theme (==0.4.3)", "sphinxcontrib-serializinghtml (==1.1.4)", "sphinxcontrib-websupport (==1.2.4)", "urllib3 (==1.26.4)"]
+qa = ["flake8 (==5.0.4)", "mypy (==0.971)", "types-setuptools (==67.2.0.1)"]
+testing = ["Django (<3.1)", "attrs", "colorama", "docopt", "pytest (<7.0.0)"]
+
+[[package]]
+name = "jeepney"
+version = "0.8.0"
+description = "Low-level, pure Python DBus protocol wrapper."
+optional = false
+python-versions = ">=3.7"
+files = [
     {file = "jeepney-0.8.0-py3-none-any.whl", hash = "sha256:c0a454ad016ca575060802ee4d590dd912e35c122fa04e70306de3d076cce755"},
     {file = "jeepney-0.8.0.tar.gz", hash = "sha256:5efe48d255973902f6badc3ce55e2aa6c5c3b3bc642059ef3a91247bcfcc5806"},
 ]
-jinja2 = [
+
+[package.extras]
+test = ["async-timeout", "pytest", "pytest-asyncio (>=0.17)", "pytest-trio", "testpath", "trio"]
+trio = ["async_generator", "trio"]
+
+[[package]]
+name = "jinja2"
+version = "3.1.2"
+description = "A very fast and expressive template engine."
+optional = false
+python-versions = ">=3.7"
+files = [
     {file = "Jinja2-3.1.2-py3-none-any.whl", hash = "sha256:6088930bfe239f0e6710546ab9c19c9ef35e29792895fed6e6e31a023a182a61"},
     {file = "Jinja2-3.1.2.tar.gz", hash = "sha256:31351a702a408a9e7595a8fc6150fc3f43bb6bf7e319770cbc0db9df9437e852"},
 ]
-jmespath = [
+
+[package.dependencies]
+MarkupSafe = ">=2.0"
+
+[package.extras]
+i18n = ["Babel (>=2.7)"]
+
+[[package]]
+name = "jmespath"
+version = "1.0.1"
+description = "JSON Matching Expressions"
+optional = false
+python-versions = ">=3.7"
+files = [
     {file = "jmespath-1.0.1-py3-none-any.whl", hash = "sha256:02e2e4cc71b5bcab88332eebf907519190dd9e6e82107fa7f83b1003a6252980"},
     {file = "jmespath-1.0.1.tar.gz", hash = "sha256:90261b206d6defd58fdd5e85f478bf633a2901798906be2ad389150c5c60edbe"},
 ]
-joblib = [
-    {file = "joblib-1.2.0-py3-none-any.whl", hash = "sha256:091138ed78f800342968c523bdde947e7a305b8594b910a0fea2ab83c3c6d385"},
-    {file = "joblib-1.2.0.tar.gz", hash = "sha256:e1cee4a79e4af22881164f218d4311f60074197fb707e082e803b61f6d137018"},
+
+[[package]]
+name = "joblib"
+version = "1.3.2"
+description = "Lightweight pipelining with Python functions"
+optional = false
+python-versions = ">=3.7"
+files = [
+    {file = "joblib-1.3.2-py3-none-any.whl", hash = "sha256:ef4331c65f239985f3f2220ecc87db222f08fd22097a3dd5698f693875f8cbb9"},
+    {file = "joblib-1.3.2.tar.gz", hash = "sha256:92f865e621e17784e7955080b6d042489e3b8e294949cc44c6eac304f59772b1"},
 ]
-json-logging-py = [
+
+[[package]]
+name = "json-logging-py"
+version = "0.2"
+description = "JSON / Logstash formatters for Python logging"
+optional = false
+python-versions = "*"
+files = [
     {file = "json-logging-py-0.2.tar.gz", hash = "sha256:118b1fe1f4eacaea6370e5b9710d0f6d0c0a4599aef9d5b9875a6a579974fc9a"},
 ]
-json-rpc = [
-    {file = "json-rpc-1.13.0.tar.gz", hash = "sha256:def0dbcf5b7084fc31d677f2f5990d988d06497f2f47f13024274cfb2d5d7589"},
-    {file = "json_rpc-1.13.0-py2.py3-none-any.whl", hash = "sha256:84b45058e5ba95f49c7b6afcf7e03ab86bee89bf2c01f3ad8dd41fe114fc1f84"},
+
+[[package]]
+name = "json-rpc"
+version = "1.15.0"
+description = "JSON-RPC transport implementation"
+optional = false
+python-versions = "*"
+files = [
+    {file = "json-rpc-1.15.0.tar.gz", hash = "sha256:e6441d56c1dcd54241c937d0a2dcd193bdf0bdc539b5316524713f554b7f85b9"},
+    {file = "json_rpc-1.15.0-py2.py3-none-any.whl", hash = "sha256:4a4668bbbe7116feb4abbd0f54e64a4adcf4b8f648f19ffa0848ad0f6606a9bf"},
 ]
-json5 = [
-    {file = "json5-0.9.10-py2.py3-none-any.whl", hash = "sha256:993189671e7412e9cdd8be8dc61cf402e8e579b35f1d1bb20ae6b09baa78bbce"},
-    {file = "json5-0.9.10.tar.gz", hash = "sha256:ad9f048c5b5a4c3802524474ce40a622fae789860a86f10cc4f7e5f9cf9b46ab"},
+
+[[package]]
+name = "json5"
+version = "0.9.14"
+description = "A Python implementation of the JSON5 data format."
+optional = false
+python-versions = "*"
+files = [
+    {file = "json5-0.9.14-py2.py3-none-any.whl", hash = "sha256:740c7f1b9e584a468dbb2939d8d458db3427f2c93ae2139d05f47e453eae964f"},
+    {file = "json5-0.9.14.tar.gz", hash = "sha256:9ed66c3a6ca3510a976a9ef9b8c0787de24802724ab1860bc0153c7fdd589b02"},
 ]
-jsonschema = [
-    {file = "jsonschema-4.16.0-py3-none-any.whl", hash = "sha256:9e74b8f9738d6a946d70705dc692b74b5429cd0960d58e79ffecfc43b2221eb9"},
-    {file = "jsonschema-4.16.0.tar.gz", hash = "sha256:165059f076eff6971bae5b742fc029a7b4ef3f9bcf04c14e4776a7605de14b23"},
+
+[package.extras]
+dev = ["hypothesis"]
+
+[[package]]
+name = "jsonpointer"
+version = "2.4"
+description = "Identify specific nodes in a JSON document (RFC 6901)"
+optional = false
+python-versions = ">=2.7, !=3.0.*, !=3.1.*, !=3.2.*, !=3.3.*, !=3.4.*, !=3.5.*, !=3.6.*"
+files = [
+    {file = "jsonpointer-2.4-py2.py3-none-any.whl", hash = "sha256:15d51bba20eea3165644553647711d150376234112651b4f1811022aecad7d7a"},
+    {file = "jsonpointer-2.4.tar.gz", hash = "sha256:585cee82b70211fa9e6043b7bb89db6e1aa49524340dde8ad6b63206ea689d88"},
 ]
-jupyter = [
+
+[[package]]
+name = "jsonschema"
+version = "4.19.0"
+description = "An implementation of JSON Schema validation for Python"
+optional = false
+python-versions = ">=3.8"
+files = [
+    {file = "jsonschema-4.19.0-py3-none-any.whl", hash = "sha256:043dc26a3845ff09d20e4420d6012a9c91c9aa8999fa184e7efcfeccb41e32cb"},
+    {file = "jsonschema-4.19.0.tar.gz", hash = "sha256:6e1e7569ac13be8139b2dd2c21a55d350066ee3f80df06c608b398cdc6f30e8f"},
+]
+
+[package.dependencies]
+attrs = ">=22.2.0"
+fqdn = {version = "*", optional = true, markers = "extra == \"format-nongpl\""}
+idna = {version = "*", optional = true, markers = "extra == \"format-nongpl\""}
+isoduration = {version = "*", optional = true, markers = "extra == \"format-nongpl\""}
+jsonpointer = {version = ">1.13", optional = true, markers = "extra == \"format-nongpl\""}
+jsonschema-specifications = ">=2023.03.6"
+referencing = ">=0.28.4"
+rfc3339-validator = {version = "*", optional = true, markers = "extra == \"format-nongpl\""}
+rfc3986-validator = {version = ">0.1.0", optional = true, markers = "extra == \"format-nongpl\""}
+rpds-py = ">=0.7.1"
+uri-template = {version = "*", optional = true, markers = "extra == \"format-nongpl\""}
+webcolors = {version = ">=1.11", optional = true, markers = "extra == \"format-nongpl\""}
+
+[package.extras]
+format = ["fqdn", "idna", "isoduration", "jsonpointer (>1.13)", "rfc3339-validator", "rfc3987", "uri-template", "webcolors (>=1.11)"]
+format-nongpl = ["fqdn", "idna", "isoduration", "jsonpointer (>1.13)", "rfc3339-validator", "rfc3986-validator (>0.1.0)", "uri-template", "webcolors (>=1.11)"]
+
+[[package]]
+name = "jsonschema-specifications"
+version = "2023.7.1"
+description = "The JSON Schema meta-schemas and vocabularies, exposed as a Registry"
+optional = false
+python-versions = ">=3.8"
+files = [
+    {file = "jsonschema_specifications-2023.7.1-py3-none-any.whl", hash = "sha256:05adf340b659828a004220a9613be00fa3f223f2b82002e273dee62fd50524b1"},
+    {file = "jsonschema_specifications-2023.7.1.tar.gz", hash = "sha256:c91a50404e88a1f6ba40636778e2ee08f6e24c5613fe4c53ac24578a5a7f72bb"},
+]
+
+[package.dependencies]
+referencing = ">=0.28.0"
+
+[[package]]
+name = "jupyter"
+version = "1.0.0"
+description = "Jupyter metapackage. Install all the Jupyter components in one go."
+optional = false
+python-versions = "*"
+files = [
     {file = "jupyter-1.0.0-py2.py3-none-any.whl", hash = "sha256:5b290f93b98ffbc21c0c7e749f054b3267782166d72fa5e3ed1ed4eaf34a2b78"},
     {file = "jupyter-1.0.0.tar.gz", hash = "sha256:d9dc4b3318f310e34c82951ea5d6683f67bed7def4b259fafbfe4f1beb1d8e5f"},
     {file = "jupyter-1.0.0.zip", hash = "sha256:3e1f86076bbb7c8c207829390305a2b1fe836d471ed54be66a3b8c41e7f46cc7"},
 ]
-jupyter-client = [
-    {file = "jupyter_client-7.4.3-py3-none-any.whl", hash = "sha256:8845e3f5a339734b1ecc21d2100638aa1c7a145e356a31845f155cda5b624b1c"},
-    {file = "jupyter_client-7.4.3.tar.gz", hash = "sha256:4fa2514cdb54dd9fbdcf7d7e4c5c3c8a973028168a8b4fc097b6aef625be13b0"},
+
+[package.dependencies]
+ipykernel = "*"
+ipywidgets = "*"
+jupyter-console = "*"
+nbconvert = "*"
+notebook = "*"
+qtconsole = "*"
+
+[[package]]
+name = "jupyter-client"
+version = "8.3.0"
+description = "Jupyter protocol implementation and client libraries"
+optional = false
+python-versions = ">=3.8"
+files = [
+    {file = "jupyter_client-8.3.0-py3-none-any.whl", hash = "sha256:7441af0c0672edc5d28035e92ba5e32fadcfa8a4e608a434c228836a89df6158"},
+    {file = "jupyter_client-8.3.0.tar.gz", hash = "sha256:3af69921fe99617be1670399a0b857ad67275eefcfa291e2c81a160b7b650f5f"},
 ]
-jupyter-console = [
-    {file = "jupyter_console-6.4.4-py3-none-any.whl", hash = "sha256:756df7f4f60c986e7bc0172e4493d3830a7e6e75c08750bbe59c0a5403ad6dee"},
-    {file = "jupyter_console-6.4.4.tar.gz", hash = "sha256:172f5335e31d600df61613a97b7f0352f2c8250bbd1092ef2d658f77249f89fb"},
+
+[package.dependencies]
+jupyter-core = ">=4.12,<5.0.dev0 || >=5.1.dev0"
+python-dateutil = ">=2.8.2"
+pyzmq = ">=23.0"
+tornado = ">=6.2"
+traitlets = ">=5.3"
+
+[package.extras]
+docs = ["ipykernel", "myst-parser", "pydata-sphinx-theme", "sphinx (>=4)", "sphinx-autodoc-typehints", "sphinxcontrib-github-alt", "sphinxcontrib-spelling"]
+test = ["coverage", "ipykernel (>=6.14)", "mypy", "paramiko", "pre-commit", "pytest", "pytest-cov", "pytest-jupyter[client] (>=0.4.1)", "pytest-timeout"]
+
+[[package]]
+name = "jupyter-console"
+version = "6.6.3"
+description = "Jupyter terminal console"
+optional = false
+python-versions = ">=3.7"
+files = [
+    {file = "jupyter_console-6.6.3-py3-none-any.whl", hash = "sha256:309d33409fcc92ffdad25f0bcdf9a4a9daa61b6f341177570fdac03de5352485"},
+    {file = "jupyter_console-6.6.3.tar.gz", hash = "sha256:566a4bf31c87adbfadf22cdf846e3069b59a71ed5da71d6ba4d8aaad14a53539"},
 ]
-jupyter-core = [
-    {file = "jupyter_core-4.11.2-py3-none-any.whl", hash = "sha256:3815e80ec5272c0c19aad087a0d2775df2852cfca8f5a17069e99c9350cecff8"},
-    {file = "jupyter_core-4.11.2.tar.gz", hash = "sha256:c2909b9bc7dca75560a6c5ae78c34fd305ede31cd864da3c0d0bb2ed89aa9337"},
+
+[package.dependencies]
+ipykernel = ">=6.14"
+ipython = "*"
+jupyter-client = ">=7.0.0"
+jupyter-core = ">=4.12,<5.0.dev0 || >=5.1.dev0"
+prompt-toolkit = ">=3.0.30"
+pygments = "*"
+pyzmq = ">=17"
+traitlets = ">=5.4"
+
+[package.extras]
+test = ["flaky", "pexpect", "pytest"]
+
+[[package]]
+name = "jupyter-core"
+version = "5.3.1"
+description = "Jupyter core package. A base package on which Jupyter projects rely."
+optional = false
+python-versions = ">=3.8"
+files = [
+    {file = "jupyter_core-5.3.1-py3-none-any.whl", hash = "sha256:ae9036db959a71ec1cac33081eeb040a79e681f08ab68b0883e9a676c7a90dce"},
+    {file = "jupyter_core-5.3.1.tar.gz", hash = "sha256:5ba5c7938a7f97a6b0481463f7ff0dbac7c15ba48cf46fa4035ca6e838aa1aba"},
 ]
-jupyter-server = [
-    {file = "jupyter_server-1.21.0-py3-none-any.whl", hash = "sha256:992531008544d77e05a16251cdfbd0bdff1b1efa14760c79b9cc776ac9214cf1"},
-    {file = "jupyter_server-1.21.0.tar.gz", hash = "sha256:d0adca19913a3763359be7f0b8c2ea8bfde356f4b8edd8e3149d7d0fbfaa248b"},
+
+[package.dependencies]
+platformdirs = ">=2.5"
+pywin32 = {version = ">=300", markers = "sys_platform == \"win32\" and platform_python_implementation != \"PyPy\""}
+traitlets = ">=5.3"
+
+[package.extras]
+docs = ["myst-parser", "sphinx-autodoc-typehints", "sphinxcontrib-github-alt", "sphinxcontrib-spelling", "traitlets"]
+test = ["ipykernel", "pre-commit", "pytest", "pytest-cov", "pytest-timeout"]
+
+[[package]]
+name = "jupyter-events"
+version = "0.7.0"
+description = "Jupyter Event System library"
+optional = false
+python-versions = ">=3.8"
+files = [
+    {file = "jupyter_events-0.7.0-py3-none-any.whl", hash = "sha256:4753da434c13a37c3f3c89b500afa0c0a6241633441421f6adafe2fb2e2b924e"},
+    {file = "jupyter_events-0.7.0.tar.gz", hash = "sha256:7be27f54b8388c03eefea123a4f79247c5b9381c49fb1cd48615ee191eb12615"},
 ]
-jupyterlab = [
-    {file = "jupyterlab-3.4.8-py3-none-any.whl", hash = "sha256:4626a0434c76a3a22f11c4efaa1d031d2586367f72cfdbdbff6b08b6ef0060f7"},
-    {file = "jupyterlab-3.4.8.tar.gz", hash = "sha256:1fafb8b657005d91603f3c3adfd6d9e8eaf33fdc601537fef09283332efe67cb"},
+
+[package.dependencies]
+jsonschema = {version = ">=4.18.0", extras = ["format-nongpl"]}
+python-json-logger = ">=2.0.4"
+pyyaml = ">=5.3"
+referencing = "*"
+rfc3339-validator = "*"
+rfc3986-validator = ">=0.1.1"
+traitlets = ">=5.3"
+
+[package.extras]
+cli = ["click", "rich"]
+docs = ["jupyterlite-sphinx", "myst-parser", "pydata-sphinx-theme", "sphinxcontrib-spelling"]
+test = ["click", "pre-commit", "pytest (>=7.0)", "pytest-asyncio (>=0.19.0)", "pytest-console-scripts", "rich"]
+
+[[package]]
+name = "jupyter-lsp"
+version = "2.2.0"
+description = "Multi-Language Server WebSocket proxy for Jupyter Notebook/Lab server"
+optional = false
+python-versions = ">=3.8"
+files = [
+    {file = "jupyter-lsp-2.2.0.tar.gz", hash = "sha256:8ebbcb533adb41e5d635eb8fe82956b0aafbf0fd443b6c4bfa906edeeb8635a1"},
+    {file = "jupyter_lsp-2.2.0-py3-none-any.whl", hash = "sha256:9e06b8b4f7dd50300b70dd1a78c0c3b0c3d8fa68e0f2d8a5d1fbab62072aca3f"},
 ]
-jupyterlab-pygments = [
+
+[package.dependencies]
+jupyter-server = ">=1.1.2"
+
+[[package]]
+name = "jupyter-server"
+version = "2.7.0"
+description = "The backend—i.e. core services, APIs, and REST endpoints—to Jupyter web applications."
+optional = false
+python-versions = ">=3.8"
+files = [
+    {file = "jupyter_server-2.7.0-py3-none-any.whl", hash = "sha256:6a77912aff643e53fa14bdb2634884b52b784a4be77ce8e93f7283faed0f0849"},
+    {file = "jupyter_server-2.7.0.tar.gz", hash = "sha256:36da0a266d31a41ac335a366c88933c17dfa5bb817a48f5c02c16d303bc9477f"},
+]
+
+[package.dependencies]
+anyio = ">=3.1.0"
+argon2-cffi = "*"
+jinja2 = "*"
+jupyter-client = ">=7.4.4"
+jupyter-core = ">=4.12,<5.0.dev0 || >=5.1.dev0"
+jupyter-events = ">=0.6.0"
+jupyter-server-terminals = "*"
+nbconvert = ">=6.4.4"
+nbformat = ">=5.3.0"
+overrides = "*"
+packaging = "*"
+prometheus-client = "*"
+pywinpty = {version = "*", markers = "os_name == \"nt\""}
+pyzmq = ">=24"
+send2trash = "*"
+terminado = ">=0.8.3"
+tornado = ">=6.2.0"
+traitlets = ">=5.6.0"
+websocket-client = "*"
+
+[package.extras]
+docs = ["ipykernel", "jinja2", "jupyter-client", "jupyter-server", "myst-parser", "nbformat", "prometheus-client", "pydata-sphinx-theme", "send2trash", "sphinx-autodoc-typehints", "sphinxcontrib-github-alt", "sphinxcontrib-openapi (>=0.8.0)", "sphinxcontrib-spelling", "sphinxemoji", "tornado", "typing-extensions"]
+test = ["flaky", "ipykernel", "pre-commit", "pytest (>=7.0)", "pytest-console-scripts", "pytest-jupyter[server] (>=0.4)", "pytest-timeout", "requests"]
+
+[[package]]
+name = "jupyter-server-terminals"
+version = "0.4.4"
+description = "A Jupyter Server Extension Providing Terminals."
+optional = false
+python-versions = ">=3.8"
+files = [
+    {file = "jupyter_server_terminals-0.4.4-py3-none-any.whl", hash = "sha256:75779164661cec02a8758a5311e18bb8eb70c4e86c6b699403100f1585a12a36"},
+    {file = "jupyter_server_terminals-0.4.4.tar.gz", hash = "sha256:57ab779797c25a7ba68e97bcfb5d7740f2b5e8a83b5e8102b10438041a7eac5d"},
+]
+
+[package.dependencies]
+pywinpty = {version = ">=2.0.3", markers = "os_name == \"nt\""}
+terminado = ">=0.8.3"
+
+[package.extras]
+docs = ["jinja2", "jupyter-server", "mistune (<3.0)", "myst-parser", "nbformat", "packaging", "pydata-sphinx-theme", "sphinxcontrib-github-alt", "sphinxcontrib-openapi", "sphinxcontrib-spelling", "sphinxemoji", "tornado"]
+test = ["coverage", "jupyter-server (>=2.0.0)", "pytest (>=7.0)", "pytest-cov", "pytest-jupyter[server] (>=0.5.3)", "pytest-timeout"]
+
+[[package]]
+name = "jupyterlab"
+version = "4.0.4"
+description = "JupyterLab computational environment"
+optional = false
+python-versions = ">=3.8"
+files = [
+    {file = "jupyterlab-4.0.4-py3-none-any.whl", hash = "sha256:23eef35d22be8f2ad9b873ec41ceb2e8c3b0dc8ae740c0f973e2de09e587530f"},
+    {file = "jupyterlab-4.0.4.tar.gz", hash = "sha256:049449a56d93202ed204e0e86f96f5a3447a08cfc09fb012fd239e178651cb34"},
+]
+
+[package.dependencies]
+async-lru = ">=1.0.0"
+ipykernel = "*"
+jinja2 = ">=3.0.3"
+jupyter-core = "*"
+jupyter-lsp = ">=2.0.0"
+jupyter-server = ">=2.4.0,<3"
+jupyterlab-server = ">=2.19.0,<3"
+notebook-shim = ">=0.2"
+packaging = "*"
+tornado = ">=6.2.0"
+traitlets = "*"
+
+[package.extras]
+dev = ["black[jupyter] (==23.3.0)", "build", "bump2version", "coverage", "hatch", "pre-commit", "pytest-cov", "ruff (==0.0.271)"]
+docs = ["jsx-lexer", "myst-parser", "pydata-sphinx-theme (>=0.13.0)", "pytest", "pytest-check-links", "pytest-tornasync", "sphinx (>=1.8)", "sphinx-copybutton"]
+docs-screenshots = ["altair (==5.0.1)", "ipython (==8.14.0)", "ipywidgets (==8.0.6)", "jupyterlab-geojson (==3.4.0)", "jupyterlab-language-pack-zh-cn (==4.0.post0)", "matplotlib (==3.7.1)", "nbconvert (>=7.0.0)", "pandas (==2.0.2)", "scipy (==1.10.1)", "vega-datasets (==0.9.0)"]
+test = ["coverage", "pytest (>=7.0)", "pytest-check-links (>=0.7)", "pytest-console-scripts", "pytest-cov", "pytest-jupyter (>=0.5.3)", "pytest-timeout", "pytest-tornasync", "requests", "requests-cache", "virtualenv"]
+
+[[package]]
+name = "jupyterlab-pygments"
+version = "0.2.2"
+description = "Pygments theme using JupyterLab CSS variables"
+optional = false
+python-versions = ">=3.7"
+files = [
     {file = "jupyterlab_pygments-0.2.2-py2.py3-none-any.whl", hash = "sha256:2405800db07c9f770863bcf8049a529c3dd4d3e28536638bd7c1c01d2748309f"},
     {file = "jupyterlab_pygments-0.2.2.tar.gz", hash = "sha256:7405d7fde60819d905a9fa8ce89e4cd830e318cdad22a0030f7a901da705585d"},
 ]
-jupyterlab-server = [
-    {file = "jupyterlab_server-2.16.1-py3-none-any.whl", hash = "sha256:b572cd3e59b0722120f41d47f2363a0072765227184aea418b7cc276db4d75fd"},
-    {file = "jupyterlab_server-2.16.1.tar.gz", hash = "sha256:fe0de558ff3bb447a32e24099aa7e17444fdbc8c08f6dbc0171cb1a0ae382d3f"},
+
+[[package]]
+name = "jupyterlab-server"
+version = "2.24.0"
+description = "A set of server components for JupyterLab and JupyterLab like applications."
+optional = false
+python-versions = ">=3.7"
+files = [
+    {file = "jupyterlab_server-2.24.0-py3-none-any.whl", hash = "sha256:5f077e142bb8dc9b843d960f940c513581bceca3793a0d80f9c67d9522c4e876"},
+    {file = "jupyterlab_server-2.24.0.tar.gz", hash = "sha256:4e6f99e0a5579bbbc32e449c4dbb039561d4f1a7827d5733273ed56738f21f07"},
 ]
-jupyterlab-vim = [
-    {file = "jupyterlab_vim-0.15.1-py3-none-any.whl", hash = "sha256:e3ea4a0f140bb2956fa7c3b75442121cce264930fb94f06e5b0f75ccae2bde2e"},
-    {file = "jupyterlab_vim-0.15.1.tar.gz", hash = "sha256:c4282beb4a67d21f7126e32cda19f99ed324a1d3fc494560e393fe53f7519a74"},
+
+[package.dependencies]
+babel = ">=2.10"
+jinja2 = ">=3.0.3"
+json5 = ">=0.9.0"
+jsonschema = ">=4.17.3"
+jupyter-server = ">=1.21,<3"
+packaging = ">=21.3"
+requests = ">=2.28"
+
+[package.extras]
+docs = ["autodoc-traits", "jinja2 (<3.2.0)", "mistune (<4)", "myst-parser", "pydata-sphinx-theme", "sphinx", "sphinx-copybutton", "sphinxcontrib-openapi (>0.8)"]
+openapi = ["openapi-core (>=0.16.1,<0.17.0)", "ruamel-yaml"]
+test = ["hatch", "ipykernel", "jupyterlab-server[openapi]", "openapi-spec-validator (>=0.5.1,<0.7.0)", "pytest (>=7.0)", "pytest-console-scripts", "pytest-cov", "pytest-jupyter[server] (>=0.6.2)", "pytest-timeout", "requests-mock", "sphinxcontrib-spelling", "strict-rfc3339", "werkzeug"]
+
+[[package]]
+name = "jupyterlab-vim"
+version = "4.0.2"
+description = "Code cell vim bindings"
+optional = false
+python-versions = ">=3.8"
+files = [
+    {file = "jupyterlab_vim-4.0.2-py3-none-any.whl", hash = "sha256:3731106f067a50933fd694999dca288cff6a51b455fd75cb51b9d52d4980694d"},
+    {file = "jupyterlab_vim-4.0.2.tar.gz", hash = "sha256:b9b371d1abff313edc0f9f00c4633cc33cd81f5a60645358c36564b2ff5f81b1"},
 ]
-jupyterlab-widgets = [
-    {file = "jupyterlab_widgets-3.0.3-py3-none-any.whl", hash = "sha256:6aa1bc0045470d54d76b9c0b7609a8f8f0087573bae25700a370c11f82cb38c8"},
-    {file = "jupyterlab_widgets-3.0.3.tar.gz", hash = "sha256:c767181399b4ca8b647befe2d913b1260f51bf9d8ef9b7a14632d4c1a7b536bd"},
+
+[package.dependencies]
+jupyterlab = ">=4.0.0,<5"
+
+[[package]]
+name = "jupyterlab-widgets"
+version = "3.0.8"
+description = "Jupyter interactive widgets for JupyterLab"
+optional = false
+python-versions = ">=3.7"
+files = [
+    {file = "jupyterlab_widgets-3.0.8-py3-none-any.whl", hash = "sha256:4715912d6ceab839c9db35953c764b3214ebbc9161c809f6e0510168845dfdf5"},
+    {file = "jupyterlab_widgets-3.0.8.tar.gz", hash = "sha256:d428ab97b8d87cc7c54cbf37644d6e0f0e662f23876e05fa460a73ec3257252a"},
 ]
-keyring = [
-    {file = "keyring-23.9.3-py3-none-any.whl", hash = "sha256:69732a15cb1433bdfbc3b980a8a36a04878a6cfd7cb99f497b573f31618001c0"},
-    {file = "keyring-23.9.3.tar.gz", hash = "sha256:69b01dd83c42f590250fe7a1f503fc229b14de83857314b1933a3ddbf595c4a5"},
+
+[[package]]
+name = "keyring"
+version = "23.13.1"
+description = "Store and access your passwords safely."
+optional = false
+python-versions = ">=3.7"
+files = [
+    {file = "keyring-23.13.1-py3-none-any.whl", hash = "sha256:771ed2a91909389ed6148631de678f82ddc73737d85a927f382a8a1b157898cd"},
+    {file = "keyring-23.13.1.tar.gz", hash = "sha256:ba2e15a9b35e21908d0aaf4e0a47acc52d6ae33444df0da2b49d41a46ef6d678"},
 ]
-kiwisolver = [
+
+[package.dependencies]
+importlib-metadata = {version = ">=4.11.4", markers = "python_version < \"3.12\""}
+"jaraco.classes" = "*"
+jeepney = {version = ">=0.4.2", markers = "sys_platform == \"linux\""}
+pywin32-ctypes = {version = ">=0.2.0", markers = "sys_platform == \"win32\""}
+SecretStorage = {version = ">=3.2", markers = "sys_platform == \"linux\""}
+
+[package.extras]
+completion = ["shtab"]
+docs = ["furo", "jaraco.packaging (>=9)", "jaraco.tidelift (>=1.4)", "rst.linker (>=1.9)", "sphinx (>=3.5)"]
+testing = ["flake8 (<5)", "pytest (>=6)", "pytest-black (>=0.3.7)", "pytest-checkdocs (>=2.4)", "pytest-cov", "pytest-enabler (>=1.3)", "pytest-flake8", "pytest-mypy (>=0.9.1)"]
+
+[[package]]
+name = "kiwisolver"
+version = "1.4.4"
+description = "A fast implementation of the Cassowary constraint solver"
+optional = false
+python-versions = ">=3.7"
+files = [
     {file = "kiwisolver-1.4.4-cp310-cp310-macosx_10_9_universal2.whl", hash = "sha256:2f5e60fabb7343a836360c4f0919b8cd0d6dbf08ad2ca6b9cf90bf0c76a3c4f6"},
     {file = "kiwisolver-1.4.4-cp310-cp310-macosx_10_9_x86_64.whl", hash = "sha256:10ee06759482c78bdb864f4109886dff7b8a56529bc1609d4f1112b93fe6423c"},
     {file = "kiwisolver-1.4.4-cp310-cp310-macosx_11_0_arm64.whl", hash = "sha256:c79ebe8f3676a4c6630fd3f777f3cfecf9289666c84e775a67d1d358578dc2e3"},
@@ -6426,700 +3997,1512 @@ kiwisolver = [
     {file = "kiwisolver-1.4.4-pp39-pypy39_pp73-win_amd64.whl", hash = "sha256:36dafec3d6d6088d34e2de6b85f9d8e2324eb734162fba59d2ba9ed7a2043d5b"},
     {file = "kiwisolver-1.4.4.tar.gz", hash = "sha256:d41997519fcba4a1e46eb4a2fe31bc12f0ff957b2b81bac28db24744f333e955"},
 ]
-knack = [
-    {file = "knack-0.10.0-py3-none-any.whl", hash = "sha256:9e989286622d4a028ba738111f9fac475bae93146d375522141908ce43077cda"},
-    {file = "knack-0.10.0.tar.gz", hash = "sha256:13190fa95d4c21bce04b4bee22d6a4e3fb19a93b6999b1d104bd02c476706c28"},
+
+[[package]]
+name = "knack"
+version = "0.11.0"
+description = "A Command-Line Interface framework"
+optional = false
+python-versions = "*"
+files = [
+    {file = "knack-0.11.0-py3-none-any.whl", hash = "sha256:6704c867840978a119a193914a90e2e98c7be7dff764c8fcd8a2286c5a978d00"},
+    {file = "knack-0.11.0.tar.gz", hash = "sha256:eb6568001e9110b1b320941431c51033d104cc98cda2254a5c2b09ba569fd494"},
 ]
-lazy-object-proxy = [
-    {file = "lazy-object-proxy-1.7.1.tar.gz", hash = "sha256:d609c75b986def706743cdebe5e47553f4a5a1da9c5ff66d76013ef396b5a8a4"},
-    {file = "lazy_object_proxy-1.7.1-cp310-cp310-macosx_10_9_x86_64.whl", hash = "sha256:bb8c5fd1684d60a9902c60ebe276da1f2281a318ca16c1d0a96db28f62e9166b"},
-    {file = "lazy_object_proxy-1.7.1-cp310-cp310-manylinux_2_17_aarch64.manylinux2014_aarch64.whl", hash = "sha256:a57d51ed2997e97f3b8e3500c984db50a554bb5db56c50b5dab1b41339b37e36"},
-    {file = "lazy_object_proxy-1.7.1-cp310-cp310-manylinux_2_5_x86_64.manylinux1_x86_64.manylinux_2_17_x86_64.manylinux2014_x86_64.whl", hash = "sha256:fd45683c3caddf83abbb1249b653a266e7069a09f486daa8863fb0e7496a9fdb"},
-    {file = "lazy_object_proxy-1.7.1-cp310-cp310-musllinux_1_1_aarch64.whl", hash = "sha256:8561da8b3dd22d696244d6d0d5330618c993a215070f473b699e00cf1f3f6443"},
-    {file = "lazy_object_proxy-1.7.1-cp310-cp310-musllinux_1_1_x86_64.whl", hash = "sha256:fccdf7c2c5821a8cbd0a9440a456f5050492f2270bd54e94360cac663398739b"},
-    {file = "lazy_object_proxy-1.7.1-cp310-cp310-win32.whl", hash = "sha256:898322f8d078f2654d275124a8dd19b079080ae977033b713f677afcfc88e2b9"},
-    {file = "lazy_object_proxy-1.7.1-cp310-cp310-win_amd64.whl", hash = "sha256:85b232e791f2229a4f55840ed54706110c80c0a210d076eee093f2b2e33e1bfd"},
-    {file = "lazy_object_proxy-1.7.1-cp36-cp36m-macosx_10_9_x86_64.whl", hash = "sha256:46ff647e76f106bb444b4533bb4153c7370cdf52efc62ccfc1a28bdb3cc95442"},
-    {file = "lazy_object_proxy-1.7.1-cp36-cp36m-manylinux_2_17_aarch64.manylinux2014_aarch64.whl", hash = "sha256:12f3bb77efe1367b2515f8cb4790a11cffae889148ad33adad07b9b55e0ab22c"},
-    {file = "lazy_object_proxy-1.7.1-cp36-cp36m-manylinux_2_5_x86_64.manylinux1_x86_64.manylinux_2_17_x86_64.manylinux2014_x86_64.whl", hash = "sha256:c19814163728941bb871240d45c4c30d33b8a2e85972c44d4e63dd7107faba44"},
-    {file = "lazy_object_proxy-1.7.1-cp36-cp36m-musllinux_1_1_aarch64.whl", hash = "sha256:e40f2013d96d30217a51eeb1db28c9ac41e9d0ee915ef9d00da639c5b63f01a1"},
-    {file = "lazy_object_proxy-1.7.1-cp36-cp36m-musllinux_1_1_x86_64.whl", hash = "sha256:2052837718516a94940867e16b1bb10edb069ab475c3ad84fd1e1a6dd2c0fcfc"},
-    {file = "lazy_object_proxy-1.7.1-cp36-cp36m-win32.whl", hash = "sha256:6a24357267aa976abab660b1d47a34aaf07259a0c3859a34e536f1ee6e76b5bb"},
-    {file = "lazy_object_proxy-1.7.1-cp36-cp36m-win_amd64.whl", hash = "sha256:6aff3fe5de0831867092e017cf67e2750c6a1c7d88d84d2481bd84a2e019ec35"},
-    {file = "lazy_object_proxy-1.7.1-cp37-cp37m-macosx_10_9_x86_64.whl", hash = "sha256:6a6e94c7b02641d1311228a102607ecd576f70734dc3d5e22610111aeacba8a0"},
-    {file = "lazy_object_proxy-1.7.1-cp37-cp37m-manylinux_2_17_aarch64.manylinux2014_aarch64.whl", hash = "sha256:c4ce15276a1a14549d7e81c243b887293904ad2d94ad767f42df91e75fd7b5b6"},
-    {file = "lazy_object_proxy-1.7.1-cp37-cp37m-manylinux_2_5_x86_64.manylinux1_x86_64.manylinux_2_17_x86_64.manylinux2014_x86_64.whl", hash = "sha256:e368b7f7eac182a59ff1f81d5f3802161932a41dc1b1cc45c1f757dc876b5d2c"},
-    {file = "lazy_object_proxy-1.7.1-cp37-cp37m-musllinux_1_1_aarch64.whl", hash = "sha256:6ecbb350991d6434e1388bee761ece3260e5228952b1f0c46ffc800eb313ff42"},
-    {file = "lazy_object_proxy-1.7.1-cp37-cp37m-musllinux_1_1_x86_64.whl", hash = "sha256:553b0f0d8dbf21890dd66edd771f9b1b5f51bd912fa5f26de4449bfc5af5e029"},
-    {file = "lazy_object_proxy-1.7.1-cp37-cp37m-win32.whl", hash = "sha256:c7a683c37a8a24f6428c28c561c80d5f4fd316ddcf0c7cab999b15ab3f5c5c69"},
-    {file = "lazy_object_proxy-1.7.1-cp37-cp37m-win_amd64.whl", hash = "sha256:df2631f9d67259dc9620d831384ed7732a198eb434eadf69aea95ad18c587a28"},
-    {file = "lazy_object_proxy-1.7.1-cp38-cp38-macosx_10_9_x86_64.whl", hash = "sha256:07fa44286cda977bd4803b656ffc1c9b7e3bc7dff7d34263446aec8f8c96f88a"},
-    {file = "lazy_object_proxy-1.7.1-cp38-cp38-manylinux_2_17_aarch64.manylinux2014_aarch64.whl", hash = "sha256:4dca6244e4121c74cc20542c2ca39e5c4a5027c81d112bfb893cf0790f96f57e"},
-    {file = "lazy_object_proxy-1.7.1-cp38-cp38-manylinux_2_5_x86_64.manylinux1_x86_64.manylinux_2_17_x86_64.manylinux2014_x86_64.whl", hash = "sha256:91ba172fc5b03978764d1df5144b4ba4ab13290d7bab7a50f12d8117f8630c38"},
-    {file = "lazy_object_proxy-1.7.1-cp38-cp38-musllinux_1_1_aarch64.whl", hash = "sha256:043651b6cb706eee4f91854da4a089816a6606c1428fd391573ef8cb642ae4f7"},
-    {file = "lazy_object_proxy-1.7.1-cp38-cp38-musllinux_1_1_x86_64.whl", hash = "sha256:b9e89b87c707dd769c4ea91f7a31538888aad05c116a59820f28d59b3ebfe25a"},
-    {file = "lazy_object_proxy-1.7.1-cp38-cp38-win32.whl", hash = "sha256:9d166602b525bf54ac994cf833c385bfcc341b364e3ee71e3bf5a1336e677b55"},
-    {file = "lazy_object_proxy-1.7.1-cp38-cp38-win_amd64.whl", hash = "sha256:8f3953eb575b45480db6568306893f0bd9d8dfeeebd46812aa09ca9579595148"},
-    {file = "lazy_object_proxy-1.7.1-cp39-cp39-macosx_10_9_x86_64.whl", hash = "sha256:dd7ed7429dbb6c494aa9bc4e09d94b778a3579be699f9d67da7e6804c422d3de"},
-    {file = "lazy_object_proxy-1.7.1-cp39-cp39-manylinux_2_17_aarch64.manylinux2014_aarch64.whl", hash = "sha256:70ed0c2b380eb6248abdef3cd425fc52f0abd92d2b07ce26359fcbc399f636ad"},
-    {file = "lazy_object_proxy-1.7.1-cp39-cp39-manylinux_2_5_x86_64.manylinux1_x86_64.manylinux_2_17_x86_64.manylinux2014_x86_64.whl", hash = "sha256:7096a5e0c1115ec82641afbdd70451a144558ea5cf564a896294e346eb611be1"},
-    {file = "lazy_object_proxy-1.7.1-cp39-cp39-musllinux_1_1_aarch64.whl", hash = "sha256:f769457a639403073968d118bc70110e7dce294688009f5c24ab78800ae56dc8"},
-    {file = "lazy_object_proxy-1.7.1-cp39-cp39-musllinux_1_1_x86_64.whl", hash = "sha256:39b0e26725c5023757fc1ab2a89ef9d7ab23b84f9251e28f9cc114d5b59c1b09"},
-    {file = "lazy_object_proxy-1.7.1-cp39-cp39-win32.whl", hash = "sha256:2130db8ed69a48a3440103d4a520b89d8a9405f1b06e2cc81640509e8bf6548f"},
-    {file = "lazy_object_proxy-1.7.1-cp39-cp39-win_amd64.whl", hash = "sha256:677ea950bef409b47e51e733283544ac3d660b709cfce7b187f5ace137960d61"},
-    {file = "lazy_object_proxy-1.7.1-pp37.pp38-none-any.whl", hash = "sha256:d66906d5785da8e0be7360912e99c9188b70f52c422f9fc18223347235691a84"},
+
+[package.dependencies]
+argcomplete = "*"
+jmespath = "*"
+packaging = "*"
+pygments = "*"
+pyyaml = "*"
+tabulate = "*"
+
+[[package]]
+name = "lazy-loader"
+version = "0.3"
+description = "lazy_loader"
+optional = false
+python-versions = ">=3.7"
+files = [
+    {file = "lazy_loader-0.3-py3-none-any.whl", hash = "sha256:1e9e76ee8631e264c62ce10006718e80b2cfc74340d17d1031e0f84af7478554"},
+    {file = "lazy_loader-0.3.tar.gz", hash = "sha256:3b68898e34f5b2a29daaaac172c6555512d0f32074f147e2254e4a6d9d838f37"},
 ]
-libusb1 = [
+
+[package.extras]
+lint = ["pre-commit (>=3.3)"]
+test = ["pytest (>=7.4)", "pytest-cov (>=4.1)"]
+
+[[package]]
+name = "lazy-object-proxy"
+version = "1.9.0"
+description = "A fast and thorough lazy object proxy."
+optional = false
+python-versions = ">=3.7"
+files = [
+    {file = "lazy-object-proxy-1.9.0.tar.gz", hash = "sha256:659fb5809fa4629b8a1ac5106f669cfc7bef26fbb389dda53b3e010d1ac4ebae"},
+    {file = "lazy_object_proxy-1.9.0-cp310-cp310-macosx_10_9_x86_64.whl", hash = "sha256:b40387277b0ed2d0602b8293b94d7257e17d1479e257b4de114ea11a8cb7f2d7"},
+    {file = "lazy_object_proxy-1.9.0-cp310-cp310-manylinux_2_17_aarch64.manylinux2014_aarch64.whl", hash = "sha256:e8c6cfb338b133fbdbc5cfaa10fe3c6aeea827db80c978dbd13bc9dd8526b7d4"},
+    {file = "lazy_object_proxy-1.9.0-cp310-cp310-manylinux_2_5_x86_64.manylinux1_x86_64.manylinux_2_17_x86_64.manylinux2014_x86_64.whl", hash = "sha256:721532711daa7db0d8b779b0bb0318fa87af1c10d7fe5e52ef30f8eff254d0cd"},
+    {file = "lazy_object_proxy-1.9.0-cp310-cp310-musllinux_1_1_aarch64.whl", hash = "sha256:66a3de4a3ec06cd8af3f61b8e1ec67614fbb7c995d02fa224813cb7afefee701"},
+    {file = "lazy_object_proxy-1.9.0-cp310-cp310-musllinux_1_1_x86_64.whl", hash = "sha256:1aa3de4088c89a1b69f8ec0dcc169aa725b0ff017899ac568fe44ddc1396df46"},
+    {file = "lazy_object_proxy-1.9.0-cp310-cp310-win32.whl", hash = "sha256:f0705c376533ed2a9e5e97aacdbfe04cecd71e0aa84c7c0595d02ef93b6e4455"},
+    {file = "lazy_object_proxy-1.9.0-cp310-cp310-win_amd64.whl", hash = "sha256:ea806fd4c37bf7e7ad82537b0757999264d5f70c45468447bb2b91afdbe73a6e"},
+    {file = "lazy_object_proxy-1.9.0-cp311-cp311-macosx_10_9_x86_64.whl", hash = "sha256:946d27deaff6cf8452ed0dba83ba38839a87f4f7a9732e8f9fd4107b21e6ff07"},
+    {file = "lazy_object_proxy-1.9.0-cp311-cp311-manylinux_2_17_aarch64.manylinux2014_aarch64.whl", hash = "sha256:79a31b086e7e68b24b99b23d57723ef7e2c6d81ed21007b6281ebcd1688acb0a"},
+    {file = "lazy_object_proxy-1.9.0-cp311-cp311-manylinux_2_5_x86_64.manylinux1_x86_64.manylinux_2_17_x86_64.manylinux2014_x86_64.whl", hash = "sha256:f699ac1c768270c9e384e4cbd268d6e67aebcfae6cd623b4d7c3bfde5a35db59"},
+    {file = "lazy_object_proxy-1.9.0-cp311-cp311-musllinux_1_1_aarch64.whl", hash = "sha256:bfb38f9ffb53b942f2b5954e0f610f1e721ccebe9cce9025a38c8ccf4a5183a4"},
+    {file = "lazy_object_proxy-1.9.0-cp311-cp311-musllinux_1_1_x86_64.whl", hash = "sha256:189bbd5d41ae7a498397287c408617fe5c48633e7755287b21d741f7db2706a9"},
+    {file = "lazy_object_proxy-1.9.0-cp311-cp311-win32.whl", hash = "sha256:81fc4d08b062b535d95c9ea70dbe8a335c45c04029878e62d744bdced5141586"},
+    {file = "lazy_object_proxy-1.9.0-cp311-cp311-win_amd64.whl", hash = "sha256:f2457189d8257dd41ae9b434ba33298aec198e30adf2dcdaaa3a28b9994f6adb"},
+    {file = "lazy_object_proxy-1.9.0-cp37-cp37m-macosx_10_9_x86_64.whl", hash = "sha256:d9e25ef10a39e8afe59a5c348a4dbf29b4868ab76269f81ce1674494e2565a6e"},
+    {file = "lazy_object_proxy-1.9.0-cp37-cp37m-manylinux_2_17_aarch64.manylinux2014_aarch64.whl", hash = "sha256:cbf9b082426036e19c6924a9ce90c740a9861e2bdc27a4834fd0a910742ac1e8"},
+    {file = "lazy_object_proxy-1.9.0-cp37-cp37m-manylinux_2_5_x86_64.manylinux1_x86_64.manylinux_2_17_x86_64.manylinux2014_x86_64.whl", hash = "sha256:9f5fa4a61ce2438267163891961cfd5e32ec97a2c444e5b842d574251ade27d2"},
+    {file = "lazy_object_proxy-1.9.0-cp37-cp37m-musllinux_1_1_aarch64.whl", hash = "sha256:8fa02eaab317b1e9e03f69aab1f91e120e7899b392c4fc19807a8278a07a97e8"},
+    {file = "lazy_object_proxy-1.9.0-cp37-cp37m-musllinux_1_1_x86_64.whl", hash = "sha256:e7c21c95cae3c05c14aafffe2865bbd5e377cfc1348c4f7751d9dc9a48ca4bda"},
+    {file = "lazy_object_proxy-1.9.0-cp37-cp37m-win32.whl", hash = "sha256:f12ad7126ae0c98d601a7ee504c1122bcef553d1d5e0c3bfa77b16b3968d2734"},
+    {file = "lazy_object_proxy-1.9.0-cp37-cp37m-win_amd64.whl", hash = "sha256:edd20c5a55acb67c7ed471fa2b5fb66cb17f61430b7a6b9c3b4a1e40293b1671"},
+    {file = "lazy_object_proxy-1.9.0-cp38-cp38-macosx_10_9_x86_64.whl", hash = "sha256:2d0daa332786cf3bb49e10dc6a17a52f6a8f9601b4cf5c295a4f85854d61de63"},
+    {file = "lazy_object_proxy-1.9.0-cp38-cp38-manylinux_2_17_aarch64.manylinux2014_aarch64.whl", hash = "sha256:9cd077f3d04a58e83d04b20e334f678c2b0ff9879b9375ed107d5d07ff160171"},
+    {file = "lazy_object_proxy-1.9.0-cp38-cp38-manylinux_2_5_x86_64.manylinux1_x86_64.manylinux_2_17_x86_64.manylinux2014_x86_64.whl", hash = "sha256:660c94ea760b3ce47d1855a30984c78327500493d396eac4dfd8bd82041b22be"},
+    {file = "lazy_object_proxy-1.9.0-cp38-cp38-musllinux_1_1_aarch64.whl", hash = "sha256:212774e4dfa851e74d393a2370871e174d7ff0ebc980907723bb67d25c8a7c30"},
+    {file = "lazy_object_proxy-1.9.0-cp38-cp38-musllinux_1_1_x86_64.whl", hash = "sha256:f0117049dd1d5635bbff65444496c90e0baa48ea405125c088e93d9cf4525b11"},
+    {file = "lazy_object_proxy-1.9.0-cp38-cp38-win32.whl", hash = "sha256:0a891e4e41b54fd5b8313b96399f8b0e173bbbfc03c7631f01efbe29bb0bcf82"},
+    {file = "lazy_object_proxy-1.9.0-cp38-cp38-win_amd64.whl", hash = "sha256:9990d8e71b9f6488e91ad25f322898c136b008d87bf852ff65391b004da5e17b"},
+    {file = "lazy_object_proxy-1.9.0-cp39-cp39-macosx_10_9_x86_64.whl", hash = "sha256:9e7551208b2aded9c1447453ee366f1c4070602b3d932ace044715d89666899b"},
+    {file = "lazy_object_proxy-1.9.0-cp39-cp39-manylinux_2_17_aarch64.manylinux2014_aarch64.whl", hash = "sha256:5f83ac4d83ef0ab017683d715ed356e30dd48a93746309c8f3517e1287523ef4"},
+    {file = "lazy_object_proxy-1.9.0-cp39-cp39-manylinux_2_5_x86_64.manylinux1_x86_64.manylinux_2_17_x86_64.manylinux2014_x86_64.whl", hash = "sha256:7322c3d6f1766d4ef1e51a465f47955f1e8123caee67dd641e67d539a534d006"},
+    {file = "lazy_object_proxy-1.9.0-cp39-cp39-musllinux_1_1_aarch64.whl", hash = "sha256:18b78ec83edbbeb69efdc0e9c1cb41a3b1b1ed11ddd8ded602464c3fc6020494"},
+    {file = "lazy_object_proxy-1.9.0-cp39-cp39-musllinux_1_1_x86_64.whl", hash = "sha256:09763491ce220c0299688940f8dc2c5d05fd1f45af1e42e636b2e8b2303e4382"},
+    {file = "lazy_object_proxy-1.9.0-cp39-cp39-win32.whl", hash = "sha256:9090d8e53235aa280fc9239a86ae3ea8ac58eff66a705fa6aa2ec4968b95c821"},
+    {file = "lazy_object_proxy-1.9.0-cp39-cp39-win_amd64.whl", hash = "sha256:db1c1722726f47e10e0b5fdbf15ac3b8adb58c091d12b3ab713965795036985f"},
+]
+
+[[package]]
+name = "libusb1"
+version = "3.0.0"
+description = "Pure-python wrapper for libusb-1.0"
+optional = false
+python-versions = "*"
+files = [
     {file = "libusb1-3.0.0-py3-none-any.whl", hash = "sha256:0e652b04cbe85ec8e74f9ee82b49f861fb14b5320ae51399387ad2601ccc0500"},
     {file = "libusb1-3.0.0-py3-none-win32.whl", hash = "sha256:083f75e5d15cb5e2159e64c308c5317284eae926a820d6dce53a9505d18be3b2"},
     {file = "libusb1-3.0.0-py3-none-win_amd64.whl", hash = "sha256:6f6bb010632ada35c661d17a65e135077beef0fbb2434d5ffdb3a4a911fd9490"},
     {file = "libusb1-3.0.0.tar.gz", hash = "sha256:5792a9defee40f15d330a40d9b1800545c32e47ba7fc66b6f28f133c9fcc8538"},
 ]
-lit = [
-    {file = "lit-15.0.7.tar.gz", hash = "sha256:ed08ac55afe714a193653df293ae8a6ee6c45d6fb11eeca72ce347d99b88ecc8"},
+
+[[package]]
+name = "lit"
+version = "16.0.6"
+description = "A Software Testing Tool"
+optional = false
+python-versions = "*"
+files = [
+    {file = "lit-16.0.6.tar.gz", hash = "sha256:84623c9c23b6b14763d637f4e63e6b721b3446ada40bf7001d8fee70b8e77a9a"},
 ]
-lockfile = [
+
+[[package]]
+name = "lockfile"
+version = "0.12.2"
+description = "Platform-independent file locking module"
+optional = false
+python-versions = "*"
+files = [
     {file = "lockfile-0.12.2-py2.py3-none-any.whl", hash = "sha256:6c3cb24f344923d30b2785d5ad75182c8ea7ac1b6171b08657258ec7429d50fa"},
     {file = "lockfile-0.12.2.tar.gz", hash = "sha256:6aed02de03cba24efabcd600b30540140634fc06cfa603822d508d5361e9f799"},
 ]
-lru-dict = [
-    {file = "lru-dict-1.1.8.tar.gz", hash = "sha256:878bc8ef4073e5cfb953dfc1cf4585db41e8b814c0106abde34d00ee0d0b3115"},
-    {file = "lru_dict-1.1.8-cp310-cp310-macosx_10_9_x86_64.whl", hash = "sha256:f9d5815c0e85922cd0fb8344ca8b1c7cf020bf9fc45e670d34d51932c91fd7ec"},
-    {file = "lru_dict-1.1.8-cp310-cp310-manylinux_2_5_i686.manylinux1_i686.manylinux_2_17_i686.manylinux2014_i686.whl", hash = "sha256:f877f53249c3e49bbd7612f9083127290bede6c7d6501513567ab1bf9c581381"},
-    {file = "lru_dict-1.1.8-cp310-cp310-manylinux_2_5_x86_64.manylinux1_x86_64.manylinux_2_17_x86_64.manylinux2014_x86_64.whl", hash = "sha256:3fef595c4f573141d54a38bda9221b9ee3cbe0acc73d67304a1a6d5972eb2a02"},
-    {file = "lru_dict-1.1.8-cp310-cp310-musllinux_1_1_i686.whl", hash = "sha256:db20597c4e67b4095b376ce2e83930c560f4ce481e8d05737885307ed02ba7c1"},
-    {file = "lru_dict-1.1.8-cp310-cp310-musllinux_1_1_x86_64.whl", hash = "sha256:5b09dbe47bc4b4d45ffe56067aff190bc3c0049575da6e52127e114236e0a6a7"},
-    {file = "lru_dict-1.1.8-cp310-cp310-win32.whl", hash = "sha256:3b1692755fef288b67af5cd8a973eb331d1f44cb02cbdc13660040809c2bfec6"},
-    {file = "lru_dict-1.1.8-cp310-cp310-win_amd64.whl", hash = "sha256:8f6561f9cd5a452cb84905c6a87aa944fdfdc0f41cc057d03b71f9b29b2cc4bd"},
-    {file = "lru_dict-1.1.8-cp36-cp36m-macosx_10_9_x86_64.whl", hash = "sha256:ca8f89361e0e7aad0bf93ae03a31502e96280faeb7fb92267f4998fb230d36b2"},
-    {file = "lru_dict-1.1.8-cp36-cp36m-manylinux_2_5_i686.manylinux1_i686.manylinux_2_17_i686.manylinux2014_i686.whl", hash = "sha256:8c50ab9edaa5da5838426816a2b7bcde9d576b4fc50e6a8c062073dbc4969d78"},
-    {file = "lru_dict-1.1.8-cp36-cp36m-manylinux_2_5_x86_64.manylinux1_x86_64.manylinux_2_17_x86_64.manylinux2014_x86_64.whl", hash = "sha256:1fe16ade5fd0a57e9a335f69b8055aaa6fb278fbfa250458e4f6b8255115578f"},
-    {file = "lru_dict-1.1.8-cp36-cp36m-musllinux_1_1_i686.whl", hash = "sha256:de972c7f4bc7b6002acff2a8de984c55fbd7f2289dba659cfd90f7a0f5d8f5d1"},
-    {file = "lru_dict-1.1.8-cp36-cp36m-musllinux_1_1_x86_64.whl", hash = "sha256:3d003a864899c29b0379e412709a6e516cbd6a72ee10b09d0b33226343617412"},
-    {file = "lru_dict-1.1.8-cp36-cp36m-win32.whl", hash = "sha256:6e2a7aa9e36626fb48fdc341c7e3685a31a7b50ea4918677ea436271ad0d904d"},
-    {file = "lru_dict-1.1.8-cp36-cp36m-win_amd64.whl", hash = "sha256:d2ed4151445c3f30423c2698f72197d64b27b1cd61d8d56702ffe235584e47c2"},
-    {file = "lru_dict-1.1.8-cp37-cp37m-macosx_10_9_x86_64.whl", hash = "sha256:075b9dd46d7022b675419bc6e3631748ae184bc8af195d20365a98b4f3bb2914"},
-    {file = "lru_dict-1.1.8-cp37-cp37m-manylinux_2_5_i686.manylinux1_i686.manylinux_2_17_i686.manylinux2014_i686.whl", hash = "sha256:70364e3cbef536adab8762b4835e18f5ca8e3fddd8bd0ec9258c42bbebd0ee77"},
-    {file = "lru_dict-1.1.8-cp37-cp37m-manylinux_2_5_x86_64.manylinux1_x86_64.manylinux_2_17_x86_64.manylinux2014_x86_64.whl", hash = "sha256:720f5728e537f11a311e8b720793a224e985d20e6b7c3d34a891a391865af1a2"},
-    {file = "lru_dict-1.1.8-cp37-cp37m-musllinux_1_1_i686.whl", hash = "sha256:c2fe692332c2f1d81fd27457db4b35143801475bfc2e57173a2403588dd82a42"},
-    {file = "lru_dict-1.1.8-cp37-cp37m-musllinux_1_1_x86_64.whl", hash = "sha256:86d32a4498b74a75340497890a260d37bf1560ad2683969393032977dd36b088"},
-    {file = "lru_dict-1.1.8-cp37-cp37m-win32.whl", hash = "sha256:348167f110494cfafae70c066470a6f4e4d43523933edf16ccdb8947f3b5fae0"},
-    {file = "lru_dict-1.1.8-cp37-cp37m-win_amd64.whl", hash = "sha256:9be6c4039ef328676b868acea619cd100e3de1a35b3be211cf0eaf9775563b65"},
-    {file = "lru_dict-1.1.8-cp38-cp38-macosx_10_9_x86_64.whl", hash = "sha256:a777d48319d293b1b6a933d606c0e4899690a139b4c81173451913bbcab6f44f"},
-    {file = "lru_dict-1.1.8-cp38-cp38-manylinux_2_5_i686.manylinux1_i686.manylinux_2_17_i686.manylinux2014_i686.whl", hash = "sha256:99f6cfb3e28490357a0805b409caf693e46c61f8dbb789c51355adb693c568d3"},
-    {file = "lru_dict-1.1.8-cp38-cp38-manylinux_2_5_x86_64.manylinux1_x86_64.manylinux_2_17_x86_64.manylinux2014_x86_64.whl", hash = "sha256:163079dbda54c3e6422b23da39fb3ecc561035d65e8496ff1950cbdb376018e1"},
-    {file = "lru_dict-1.1.8-cp38-cp38-musllinux_1_1_i686.whl", hash = "sha256:0972d669e9e207617e06416166718b073a49bf449abbd23940d9545c0847a4d9"},
-    {file = "lru_dict-1.1.8-cp38-cp38-musllinux_1_1_x86_64.whl", hash = "sha256:97c24ffc55de6013075979f440acd174e88819f30387074639fb7d7178ca253e"},
-    {file = "lru_dict-1.1.8-cp38-cp38-win32.whl", hash = "sha256:0f83cd70a6d32f9018d471be609f3af73058f700691657db4a3d3dd78d3f96dd"},
-    {file = "lru_dict-1.1.8-cp38-cp38-win_amd64.whl", hash = "sha256:add762163f4af7f4173fafa4092eb7c7f023cf139ef6d2015cfea867e1440d82"},
-    {file = "lru_dict-1.1.8-cp39-cp39-macosx_10_9_x86_64.whl", hash = "sha256:484ac524e4615f06dc72ffbfd83f26e073c9ec256de5413634fbd024c010a8bc"},
-    {file = "lru_dict-1.1.8-cp39-cp39-manylinux_2_5_i686.manylinux1_i686.manylinux_2_17_i686.manylinux2014_i686.whl", hash = "sha256:7284bdbc5579bbdc3fc8f869ed4c169f403835566ab0f84567cdbfdd05241847"},
-    {file = "lru_dict-1.1.8-cp39-cp39-manylinux_2_5_x86_64.manylinux1_x86_64.manylinux_2_17_x86_64.manylinux2014_x86_64.whl", hash = "sha256:3ca497cb25f19f24171f9172805f3ff135b911aeb91960bd4af8e230421ccb51"},
-    {file = "lru_dict-1.1.8-cp39-cp39-musllinux_1_1_i686.whl", hash = "sha256:f1df1da204a9f0b5eb8393a46070f1d984fa8559435ee790d7f8f5602038fc00"},
-    {file = "lru_dict-1.1.8-cp39-cp39-musllinux_1_1_x86_64.whl", hash = "sha256:f4d0a6d733a23865019b1c97ed6fb1fdb739be923192abf4dbb644f697a26a69"},
-    {file = "lru_dict-1.1.8-cp39-cp39-win32.whl", hash = "sha256:7be1b66926277993cecdc174c15a20c8ce785c1f8b39aa560714a513eef06473"},
-    {file = "lru_dict-1.1.8-cp39-cp39-win_amd64.whl", hash = "sha256:881104711900af45967c2e5ce3e62291dd57d5b2a224d58b7c9f60bf4ad41b8c"},
-    {file = "lru_dict-1.1.8-pp37-pypy37_pp73-macosx_10_9_x86_64.whl", hash = "sha256:beb089c46bd95243d1ac5b2bd13627317b08bf40dd8dc16d4b7ee7ecb3cf65ca"},
-    {file = "lru_dict-1.1.8-pp37-pypy37_pp73-manylinux_2_5_i686.manylinux1_i686.manylinux_2_17_i686.manylinux2014_i686.whl", hash = "sha256:10fe823ff90b655f0b6ba124e2b576ecda8c61b8ead76b456db67831942d22f2"},
-    {file = "lru_dict-1.1.8-pp37-pypy37_pp73-manylinux_2_5_x86_64.manylinux1_x86_64.manylinux_2_17_x86_64.manylinux2014_x86_64.whl", hash = "sha256:c07163c9dcbb2eca377f366b1331f46302fd8b6b72ab4d603087feca00044bb0"},
-    {file = "lru_dict-1.1.8-pp37-pypy37_pp73-win_amd64.whl", hash = "sha256:93336911544ebc0e466272043adab9fb9f6e9dcba6024b639c32553a3790e089"},
-    {file = "lru_dict-1.1.8-pp38-pypy38_pp73-macosx_10_9_x86_64.whl", hash = "sha256:55aeda6b6789b2d030066b4f5f6fc3596560ba2a69028f35f3682a795701b5b1"},
-    {file = "lru_dict-1.1.8-pp38-pypy38_pp73-manylinux_2_5_i686.manylinux1_i686.manylinux_2_17_i686.manylinux2014_i686.whl", hash = "sha256:262a4e622010ceb960a6a5222ed011090e50954d45070fd369c0fa4d2ed7d9a9"},
-    {file = "lru_dict-1.1.8-pp38-pypy38_pp73-manylinux_2_5_x86_64.manylinux1_x86_64.manylinux_2_17_x86_64.manylinux2014_x86_64.whl", hash = "sha256:b6f64005ede008b7a866be8f3f6274dbf74e656e15e4004e9d99ad65efb01809"},
-    {file = "lru_dict-1.1.8-pp38-pypy38_pp73-win_amd64.whl", hash = "sha256:9d70257246b8207e8ef3d8b18457089f5ff0dfb087bd36eb33bce6584f2e0b3a"},
-    {file = "lru_dict-1.1.8-pp39-pypy39_pp73-macosx_10_9_x86_64.whl", hash = "sha256:f874e9c2209dada1a080545331aa1277ec060a13f61684a8642788bf44b2325f"},
-    {file = "lru_dict-1.1.8-pp39-pypy39_pp73-manylinux_2_5_i686.manylinux1_i686.manylinux_2_17_i686.manylinux2014_i686.whl", hash = "sha256:5a592363c93d6fc6472d5affe2819e1c7590746aecb464774a4f67e09fbefdfc"},
-    {file = "lru_dict-1.1.8-pp39-pypy39_pp73-manylinux_2_5_x86_64.manylinux1_x86_64.manylinux_2_17_x86_64.manylinux2014_x86_64.whl", hash = "sha256:2f340b61f3cdfee71f66da7dbfd9a5ea2db6974502ccff2065cdb76619840dca"},
-    {file = "lru_dict-1.1.8-pp39-pypy39_pp73-win_amd64.whl", hash = "sha256:9447214e4857e16d14158794ef01e4501d8fad07d298d03308d9f90512df02fa"},
+
+[[package]]
+name = "lru-dict"
+version = "1.2.0"
+description = "An Dict like LRU container."
+optional = false
+python-versions = "*"
+files = [
+    {file = "lru-dict-1.2.0.tar.gz", hash = "sha256:13c56782f19d68ddf4d8db0170041192859616514c706b126d0df2ec72a11bd7"},
+    {file = "lru_dict-1.2.0-cp310-cp310-macosx_10_9_x86_64.whl", hash = "sha256:de906e5486b5c053d15b7731583c25e3c9147c288ac8152a6d1f9bccdec72641"},
+    {file = "lru_dict-1.2.0-cp310-cp310-manylinux_2_17_aarch64.manylinux2014_aarch64.whl", hash = "sha256:604d07c7604b20b3130405d137cae61579578b0e8377daae4125098feebcb970"},
+    {file = "lru_dict-1.2.0-cp310-cp310-manylinux_2_17_ppc64le.manylinux2014_ppc64le.whl", hash = "sha256:203b3e78d03d88f491fa134f85a42919020686b6e6f2d09759b2f5517260c651"},
+    {file = "lru_dict-1.2.0-cp310-cp310-manylinux_2_5_i686.manylinux1_i686.manylinux_2_17_i686.manylinux2014_i686.whl", hash = "sha256:020b93870f8c7195774cbd94f033b96c14f51c57537969965c3af300331724fe"},
+    {file = "lru_dict-1.2.0-cp310-cp310-manylinux_2_5_x86_64.manylinux1_x86_64.manylinux_2_17_x86_64.manylinux2014_x86_64.whl", hash = "sha256:1184d91cfebd5d1e659d47f17a60185bbf621635ca56dcdc46c6a1745d25df5c"},
+    {file = "lru_dict-1.2.0-cp310-cp310-musllinux_1_1_aarch64.whl", hash = "sha256:fc42882b554a86e564e0b662da47b8a4b32fa966920bd165e27bb8079a323bc1"},
+    {file = "lru_dict-1.2.0-cp310-cp310-musllinux_1_1_i686.whl", hash = "sha256:18ee88ada65bd2ffd483023be0fa1c0a6a051ef666d1cd89e921dcce134149f2"},
+    {file = "lru_dict-1.2.0-cp310-cp310-musllinux_1_1_ppc64le.whl", hash = "sha256:756230c22257597b7557eaef7f90484c489e9ba78e5bb6ab5a5bcfb6b03cb075"},
+    {file = "lru_dict-1.2.0-cp310-cp310-musllinux_1_1_x86_64.whl", hash = "sha256:c4da599af36618881748b5db457d937955bb2b4800db891647d46767d636c408"},
+    {file = "lru_dict-1.2.0-cp310-cp310-win32.whl", hash = "sha256:35a142a7d1a4fd5d5799cc4f8ab2fff50a598d8cee1d1c611f50722b3e27874f"},
+    {file = "lru_dict-1.2.0-cp310-cp310-win_amd64.whl", hash = "sha256:6da5b8099766c4da3bf1ed6e7d7f5eff1681aff6b5987d1258a13bd2ed54f0c9"},
+    {file = "lru_dict-1.2.0-cp311-cp311-macosx_10_9_x86_64.whl", hash = "sha256:b20b7c9beb481e92e07368ebfaa363ed7ef61e65ffe6e0edbdbaceb33e134124"},
+    {file = "lru_dict-1.2.0-cp311-cp311-manylinux_2_17_aarch64.manylinux2014_aarch64.whl", hash = "sha256:22147367b296be31cc858bf167c448af02435cac44806b228c9be8117f1bfce4"},
+    {file = "lru_dict-1.2.0-cp311-cp311-manylinux_2_17_ppc64le.manylinux2014_ppc64le.whl", hash = "sha256:34a3091abeb95e707f381a8b5b7dc8e4ee016316c659c49b726857b0d6d1bd7a"},
+    {file = "lru_dict-1.2.0-cp311-cp311-manylinux_2_5_i686.manylinux1_i686.manylinux_2_17_i686.manylinux2014_i686.whl", hash = "sha256:877801a20f05c467126b55338a4e9fa30e2a141eb7b0b740794571b7d619ee11"},
+    {file = "lru_dict-1.2.0-cp311-cp311-manylinux_2_5_x86_64.manylinux1_x86_64.manylinux_2_17_x86_64.manylinux2014_x86_64.whl", hash = "sha256:7d3336e901acec897bcd318c42c2b93d5f1d038e67688f497045fc6bad2c0be7"},
+    {file = "lru_dict-1.2.0-cp311-cp311-musllinux_1_1_aarch64.whl", hash = "sha256:8dafc481d2defb381f19b22cc51837e8a42631e98e34b9e0892245cc96593deb"},
+    {file = "lru_dict-1.2.0-cp311-cp311-musllinux_1_1_i686.whl", hash = "sha256:87bbad3f5c3de8897b8c1263a9af73bbb6469fb90e7b57225dad89b8ef62cd8d"},
+    {file = "lru_dict-1.2.0-cp311-cp311-musllinux_1_1_ppc64le.whl", hash = "sha256:25f9e0bc2fe8f41c2711ccefd2871f8a5f50a39e6293b68c3dec576112937aad"},
+    {file = "lru_dict-1.2.0-cp311-cp311-musllinux_1_1_x86_64.whl", hash = "sha256:ae301c282a499dc1968dd633cfef8771dd84228ae9d40002a3ea990e4ff0c469"},
+    {file = "lru_dict-1.2.0-cp311-cp311-win32.whl", hash = "sha256:c9617583173a29048e11397f165501edc5ae223504a404b2532a212a71ecc9ed"},
+    {file = "lru_dict-1.2.0-cp311-cp311-win_amd64.whl", hash = "sha256:6b7a031e47421d4b7aa626b8c91c180a9f037f89e5d0a71c4bb7afcf4036c774"},
+    {file = "lru_dict-1.2.0-cp36-cp36m-macosx_10_9_x86_64.whl", hash = "sha256:ea2ac3f7a7a2f32f194c84d82a034e66780057fd908b421becd2f173504d040e"},
+    {file = "lru_dict-1.2.0-cp36-cp36m-manylinux_2_17_aarch64.manylinux2014_aarch64.whl", hash = "sha256:cd46c94966f631a81ffe33eee928db58e9fbee15baba5923d284aeadc0e0fa76"},
+    {file = "lru_dict-1.2.0-cp36-cp36m-manylinux_2_17_ppc64le.manylinux2014_ppc64le.whl", hash = "sha256:086ce993414f0b28530ded7e004c77dc57c5748fa6da488602aa6e7f79e6210e"},
+    {file = "lru_dict-1.2.0-cp36-cp36m-manylinux_2_5_i686.manylinux1_i686.manylinux_2_17_i686.manylinux2014_i686.whl", hash = "sha256:df25a426446197488a6702954dcc1de511deee20c9db730499a2aa83fddf0df1"},
+    {file = "lru_dict-1.2.0-cp36-cp36m-manylinux_2_5_x86_64.manylinux1_x86_64.manylinux_2_17_x86_64.manylinux2014_x86_64.whl", hash = "sha256:c53b12b89bd7a6c79f0536ff0d0a84fdf4ab5f6252d94b24b9b753bd9ada2ddf"},
+    {file = "lru_dict-1.2.0-cp36-cp36m-musllinux_1_1_aarch64.whl", hash = "sha256:f9484016e6765bd295708cccc9def49f708ce07ac003808f69efa386633affb9"},
+    {file = "lru_dict-1.2.0-cp36-cp36m-musllinux_1_1_i686.whl", hash = "sha256:d0f7ec902a0097ac39f1922c89be9eaccf00eb87751e28915320b4f72912d057"},
+    {file = "lru_dict-1.2.0-cp36-cp36m-musllinux_1_1_ppc64le.whl", hash = "sha256:981ef3edc82da38d39eb60eae225b88a538d47b90cce2e5808846fd2cf64384b"},
+    {file = "lru_dict-1.2.0-cp36-cp36m-musllinux_1_1_x86_64.whl", hash = "sha256:e25b2e90a032dc248213af7f3f3e975e1934b204f3b16aeeaeaff27a3b65e128"},
+    {file = "lru_dict-1.2.0-cp36-cp36m-win32.whl", hash = "sha256:59f3df78e94e07959f17764e7fa7ca6b54e9296953d2626a112eab08e1beb2db"},
+    {file = "lru_dict-1.2.0-cp36-cp36m-win_amd64.whl", hash = "sha256:de24b47159e07833aeab517d9cb1c3c5c2d6445cc378b1c2f1d8d15fb4841d63"},
+    {file = "lru_dict-1.2.0-cp37-cp37m-macosx_10_9_x86_64.whl", hash = "sha256:d0dd4cd58220351233002f910e35cc01d30337696b55c6578f71318b137770f9"},
+    {file = "lru_dict-1.2.0-cp37-cp37m-manylinux_2_17_aarch64.manylinux2014_aarch64.whl", hash = "sha256:a87bdc291718bbdf9ea4be12ae7af26cbf0706fa62c2ac332748e3116c5510a7"},
+    {file = "lru_dict-1.2.0-cp37-cp37m-manylinux_2_17_ppc64le.manylinux2014_ppc64le.whl", hash = "sha256:05fb8744f91f58479cbe07ed80ada6696ec7df21ea1740891d4107a8dd99a970"},
+    {file = "lru_dict-1.2.0-cp37-cp37m-manylinux_2_5_i686.manylinux1_i686.manylinux_2_17_i686.manylinux2014_i686.whl", hash = "sha256:00f6e8a3fc91481b40395316a14c94daa0f0a5de62e7e01a7d589f8d29224052"},
+    {file = "lru_dict-1.2.0-cp37-cp37m-manylinux_2_5_x86_64.manylinux1_x86_64.manylinux_2_17_x86_64.manylinux2014_x86_64.whl", hash = "sha256:5b172fce0a0ffc0fa6d282c14256d5a68b5db1e64719c2915e69084c4b6bf555"},
+    {file = "lru_dict-1.2.0-cp37-cp37m-musllinux_1_1_aarch64.whl", hash = "sha256:e707d93bae8f0a14e6df1ae8b0f076532b35f00e691995f33132d806a88e5c18"},
+    {file = "lru_dict-1.2.0-cp37-cp37m-musllinux_1_1_i686.whl", hash = "sha256:b9ec7a4a0d6b8297102aa56758434fb1fca276a82ed7362e37817407185c3abb"},
+    {file = "lru_dict-1.2.0-cp37-cp37m-musllinux_1_1_ppc64le.whl", hash = "sha256:f404dcc8172da1f28da9b1f0087009578e608a4899b96d244925c4f463201f2a"},
+    {file = "lru_dict-1.2.0-cp37-cp37m-musllinux_1_1_x86_64.whl", hash = "sha256:1171ad3bff32aa8086778be4a3bdff595cc2692e78685bcce9cb06b96b22dcc2"},
+    {file = "lru_dict-1.2.0-cp37-cp37m-win32.whl", hash = "sha256:0c316dfa3897fabaa1fe08aae89352a3b109e5f88b25529bc01e98ac029bf878"},
+    {file = "lru_dict-1.2.0-cp37-cp37m-win_amd64.whl", hash = "sha256:5919dd04446bc1ee8d6ecda2187deeebfff5903538ae71083e069bc678599446"},
+    {file = "lru_dict-1.2.0-cp38-cp38-macosx_10_9_x86_64.whl", hash = "sha256:fbf36c5a220a85187cacc1fcb7dd87070e04b5fc28df7a43f6842f7c8224a388"},
+    {file = "lru_dict-1.2.0-cp38-cp38-manylinux_2_17_aarch64.manylinux2014_aarch64.whl", hash = "sha256:712e71b64da181e1c0a2eaa76cd860265980cd15cb0e0498602b8aa35d5db9f8"},
+    {file = "lru_dict-1.2.0-cp38-cp38-manylinux_2_17_ppc64le.manylinux2014_ppc64le.whl", hash = "sha256:f54908bf91280a9b8fa6a8c8f3c2f65850ce6acae2852bbe292391628ebca42f"},
+    {file = "lru_dict-1.2.0-cp38-cp38-manylinux_2_5_i686.manylinux1_i686.manylinux_2_17_i686.manylinux2014_i686.whl", hash = "sha256:3838e33710935da2ade1dd404a8b936d571e29268a70ff4ca5ba758abb3850df"},
+    {file = "lru_dict-1.2.0-cp38-cp38-manylinux_2_5_x86_64.manylinux1_x86_64.manylinux_2_17_x86_64.manylinux2014_x86_64.whl", hash = "sha256:f5d5a5f976b39af73324f2b793862859902ccb9542621856d51a5993064f25e4"},
+    {file = "lru_dict-1.2.0-cp38-cp38-musllinux_1_1_aarch64.whl", hash = "sha256:8bda3a9afd241ee0181661decaae25e5336ce513ac268ab57da737eacaa7871f"},
+    {file = "lru_dict-1.2.0-cp38-cp38-musllinux_1_1_i686.whl", hash = "sha256:bd2cd1b998ea4c8c1dad829fc4fa88aeed4dee555b5e03c132fc618e6123f168"},
+    {file = "lru_dict-1.2.0-cp38-cp38-musllinux_1_1_ppc64le.whl", hash = "sha256:b55753ee23028ba8644fd22e50de7b8f85fa60b562a0fafaad788701d6131ff8"},
+    {file = "lru_dict-1.2.0-cp38-cp38-musllinux_1_1_x86_64.whl", hash = "sha256:7e51fa6a203fa91d415f3b2900e5748ec8e06ad75777c98cc3aeb3983ca416d7"},
+    {file = "lru_dict-1.2.0-cp38-cp38-win32.whl", hash = "sha256:cd6806313606559e6c7adfa0dbeb30fc5ab625f00958c3d93f84831e7a32b71e"},
+    {file = "lru_dict-1.2.0-cp38-cp38-win_amd64.whl", hash = "sha256:5d90a70c53b0566084447c3ef9374cc5a9be886e867b36f89495f211baabd322"},
+    {file = "lru_dict-1.2.0-cp39-cp39-macosx_10_9_x86_64.whl", hash = "sha256:a3ea7571b6bf2090a85ff037e6593bbafe1a8598d5c3b4560eb56187bcccb4dc"},
+    {file = "lru_dict-1.2.0-cp39-cp39-manylinux_2_17_aarch64.manylinux2014_aarch64.whl", hash = "sha256:287c2115a59c1c9ed0d5d8ae7671e594b1206c36ea9df2fca6b17b86c468ff99"},
+    {file = "lru_dict-1.2.0-cp39-cp39-manylinux_2_17_ppc64le.manylinux2014_ppc64le.whl", hash = "sha256:b5ccfd2291c93746a286c87c3f895165b697399969d24c54804ec3ec559d4e43"},
+    {file = "lru_dict-1.2.0-cp39-cp39-manylinux_2_5_i686.manylinux1_i686.manylinux_2_17_i686.manylinux2014_i686.whl", hash = "sha256:b710f0f4d7ec4f9fa89dfde7002f80bcd77de8024017e70706b0911ea086e2ef"},
+    {file = "lru_dict-1.2.0-cp39-cp39-manylinux_2_5_x86_64.manylinux1_x86_64.manylinux_2_17_x86_64.manylinux2014_x86_64.whl", hash = "sha256:5345bf50e127bd2767e9fd42393635bbc0146eac01f6baf6ef12c332d1a6a329"},
+    {file = "lru_dict-1.2.0-cp39-cp39-musllinux_1_1_aarch64.whl", hash = "sha256:291d13f85224551913a78fe695cde04cbca9dcb1d84c540167c443eb913603c9"},
+    {file = "lru_dict-1.2.0-cp39-cp39-musllinux_1_1_i686.whl", hash = "sha256:d5bb41bc74b321789803d45b124fc2145c1b3353b4ad43296d9d1d242574969b"},
+    {file = "lru_dict-1.2.0-cp39-cp39-musllinux_1_1_ppc64le.whl", hash = "sha256:0facf49b053bf4926d92d8d5a46fe07eecd2af0441add0182c7432d53d6da667"},
+    {file = "lru_dict-1.2.0-cp39-cp39-musllinux_1_1_x86_64.whl", hash = "sha256:987b73a06bcf5a95d7dc296241c6b1f9bc6cda42586948c9dabf386dc2bef1cd"},
+    {file = "lru_dict-1.2.0-cp39-cp39-win32.whl", hash = "sha256:231d7608f029dda42f9610e5723614a35b1fff035a8060cf7d2be19f1711ace8"},
+    {file = "lru_dict-1.2.0-cp39-cp39-win_amd64.whl", hash = "sha256:71da89e134747e20ed5b8ad5b4ee93fc5b31022c2b71e8176e73c5a44699061b"},
+    {file = "lru_dict-1.2.0-pp37-pypy37_pp73-macosx_10_9_x86_64.whl", hash = "sha256:21b3090928c7b6cec509e755cc3ab742154b33660a9b433923bd12c37c448e3e"},
+    {file = "lru_dict-1.2.0-pp37-pypy37_pp73-manylinux_2_17_aarch64.manylinux2014_aarch64.whl", hash = "sha256:aaecd7085212d0aa4cd855f38b9d61803d6509731138bf798a9594745953245b"},
+    {file = "lru_dict-1.2.0-pp37-pypy37_pp73-manylinux_2_5_i686.manylinux1_i686.manylinux_2_17_i686.manylinux2014_i686.whl", hash = "sha256:ead83ac59a29d6439ddff46e205ce32f8b7f71a6bd8062347f77e232825e3d0a"},
+    {file = "lru_dict-1.2.0-pp37-pypy37_pp73-manylinux_2_5_x86_64.manylinux1_x86_64.manylinux_2_17_x86_64.manylinux2014_x86_64.whl", hash = "sha256:312b6b2a30188586fe71358f0f33e4bac882d33f5e5019b26f084363f42f986f"},
+    {file = "lru_dict-1.2.0-pp37-pypy37_pp73-win_amd64.whl", hash = "sha256:b30122e098c80e36d0117810d46459a46313421ce3298709170b687dc1240b02"},
+    {file = "lru_dict-1.2.0-pp38-pypy38_pp73-macosx_10_9_x86_64.whl", hash = "sha256:f010cfad3ab10676e44dc72a813c968cd586f37b466d27cde73d1f7f1ba158c2"},
+    {file = "lru_dict-1.2.0-pp38-pypy38_pp73-manylinux_2_17_aarch64.manylinux2014_aarch64.whl", hash = "sha256:20f5f411f7751ad9a2c02e80287cedf69ae032edd321fe696e310d32dd30a1f8"},
+    {file = "lru_dict-1.2.0-pp38-pypy38_pp73-manylinux_2_5_i686.manylinux1_i686.manylinux_2_17_i686.manylinux2014_i686.whl", hash = "sha256:afdadd73304c9befaed02eb42f5f09fdc16288de0a08b32b8080f0f0f6350aa6"},
+    {file = "lru_dict-1.2.0-pp38-pypy38_pp73-manylinux_2_5_x86_64.manylinux1_x86_64.manylinux_2_17_x86_64.manylinux2014_x86_64.whl", hash = "sha256:d7ab0c10c4fa99dc9e26b04e6b62ac32d2bcaea3aad9b81ec8ce9a7aa32b7b1b"},
+    {file = "lru_dict-1.2.0-pp38-pypy38_pp73-win_amd64.whl", hash = "sha256:edad398d5d402c43d2adada390dd83c74e46e020945ff4df801166047013617e"},
+    {file = "lru_dict-1.2.0-pp39-pypy39_pp73-macosx_10_9_x86_64.whl", hash = "sha256:91d577a11b84387013815b1ad0bb6e604558d646003b44c92b3ddf886ad0f879"},
+    {file = "lru_dict-1.2.0-pp39-pypy39_pp73-manylinux_2_17_aarch64.manylinux2014_aarch64.whl", hash = "sha256:bb12f19cdf9c4f2d9aa259562e19b188ff34afab28dd9509ff32a3f1c2c29326"},
+    {file = "lru_dict-1.2.0-pp39-pypy39_pp73-manylinux_2_5_i686.manylinux1_i686.manylinux_2_17_i686.manylinux2014_i686.whl", hash = "sha256:9e4c85aa8844bdca3c8abac3b7f78da1531c74e9f8b3e4890c6e6d86a5a3f6c0"},
+    {file = "lru_dict-1.2.0-pp39-pypy39_pp73-manylinux_2_5_x86_64.manylinux1_x86_64.manylinux_2_17_x86_64.manylinux2014_x86_64.whl", hash = "sha256:5c6acbd097b15bead4de8e83e8a1030bb4d8257723669097eac643a301a952f0"},
+    {file = "lru_dict-1.2.0-pp39-pypy39_pp73-win_amd64.whl", hash = "sha256:b6613daa851745dd22b860651de930275be9d3e9373283a2164992abacb75b62"},
 ]
-lxml = [
-    {file = "lxml-4.9.1-cp27-cp27m-macosx_10_15_x86_64.whl", hash = "sha256:98cafc618614d72b02185ac583c6f7796202062c41d2eeecdf07820bad3295ed"},
-    {file = "lxml-4.9.1-cp27-cp27m-manylinux_2_5_i686.manylinux1_i686.whl", hash = "sha256:c62e8dd9754b7debda0c5ba59d34509c4688f853588d75b53c3791983faa96fc"},
-    {file = "lxml-4.9.1-cp27-cp27m-manylinux_2_5_x86_64.manylinux1_x86_64.whl", hash = "sha256:21fb3d24ab430fc538a96e9fbb9b150029914805d551deeac7d7822f64631dfc"},
-    {file = "lxml-4.9.1-cp27-cp27m-win32.whl", hash = "sha256:86e92728ef3fc842c50a5cb1d5ba2bc66db7da08a7af53fb3da79e202d1b2cd3"},
-    {file = "lxml-4.9.1-cp27-cp27m-win_amd64.whl", hash = "sha256:4cfbe42c686f33944e12f45a27d25a492cc0e43e1dc1da5d6a87cbcaf2e95627"},
-    {file = "lxml-4.9.1-cp27-cp27mu-manylinux_2_5_i686.manylinux1_i686.whl", hash = "sha256:dad7b164905d3e534883281c050180afcf1e230c3d4a54e8038aa5cfcf312b84"},
-    {file = "lxml-4.9.1-cp27-cp27mu-manylinux_2_5_x86_64.manylinux1_x86_64.whl", hash = "sha256:a614e4afed58c14254e67862456d212c4dcceebab2eaa44d627c2ca04bf86837"},
-    {file = "lxml-4.9.1-cp310-cp310-manylinux_2_12_i686.manylinux2010_i686.manylinux_2_24_i686.whl", hash = "sha256:f9ced82717c7ec65a67667bb05865ffe38af0e835cdd78728f1209c8fffe0cad"},
-    {file = "lxml-4.9.1-cp310-cp310-manylinux_2_17_aarch64.manylinux2014_aarch64.manylinux_2_24_aarch64.whl", hash = "sha256:d9fc0bf3ff86c17348dfc5d322f627d78273eba545db865c3cd14b3f19e57fa5"},
-    {file = "lxml-4.9.1-cp310-cp310-manylinux_2_17_x86_64.manylinux2014_x86_64.manylinux_2_24_x86_64.whl", hash = "sha256:e5f66bdf0976ec667fc4594d2812a00b07ed14d1b44259d19a41ae3fff99f2b8"},
-    {file = "lxml-4.9.1-cp310-cp310-musllinux_1_1_aarch64.whl", hash = "sha256:fe17d10b97fdf58155f858606bddb4e037b805a60ae023c009f760d8361a4eb8"},
-    {file = "lxml-4.9.1-cp310-cp310-musllinux_1_1_x86_64.whl", hash = "sha256:8caf4d16b31961e964c62194ea3e26a0e9561cdf72eecb1781458b67ec83423d"},
-    {file = "lxml-4.9.1-cp310-cp310-win32.whl", hash = "sha256:4780677767dd52b99f0af1f123bc2c22873d30b474aa0e2fc3fe5e02217687c7"},
-    {file = "lxml-4.9.1-cp310-cp310-win_amd64.whl", hash = "sha256:b122a188cd292c4d2fcd78d04f863b789ef43aa129b233d7c9004de08693728b"},
-    {file = "lxml-4.9.1-cp311-cp311-manylinux_2_12_i686.manylinux2010_i686.manylinux_2_24_i686.whl", hash = "sha256:be9eb06489bc975c38706902cbc6888f39e946b81383abc2838d186f0e8b6a9d"},
-    {file = "lxml-4.9.1-cp311-cp311-manylinux_2_17_x86_64.manylinux2014_x86_64.manylinux_2_24_x86_64.whl", hash = "sha256:f1be258c4d3dc609e654a1dc59d37b17d7fef05df912c01fc2e15eb43a9735f3"},
-    {file = "lxml-4.9.1-cp311-cp311-musllinux_1_1_x86_64.whl", hash = "sha256:927a9dd016d6033bc12e0bf5dee1dde140235fc8d0d51099353c76081c03dc29"},
-    {file = "lxml-4.9.1-cp35-cp35m-manylinux_2_5_i686.manylinux1_i686.whl", hash = "sha256:9232b09f5efee6a495a99ae6824881940d6447debe272ea400c02e3b68aad85d"},
-    {file = "lxml-4.9.1-cp35-cp35m-manylinux_2_5_x86_64.manylinux1_x86_64.whl", hash = "sha256:04da965dfebb5dac2619cb90fcf93efdb35b3c6994fea58a157a834f2f94b318"},
-    {file = "lxml-4.9.1-cp35-cp35m-win32.whl", hash = "sha256:4d5bae0a37af799207140652a700f21a85946f107a199bcb06720b13a4f1f0b7"},
-    {file = "lxml-4.9.1-cp35-cp35m-win_amd64.whl", hash = "sha256:4878e667ebabe9b65e785ac8da4d48886fe81193a84bbe49f12acff8f7a383a4"},
-    {file = "lxml-4.9.1-cp36-cp36m-macosx_10_15_x86_64.whl", hash = "sha256:1355755b62c28950f9ce123c7a41460ed9743c699905cbe664a5bcc5c9c7c7fb"},
-    {file = "lxml-4.9.1-cp36-cp36m-manylinux_2_12_i686.manylinux2010_i686.manylinux_2_24_i686.whl", hash = "sha256:bcaa1c495ce623966d9fc8a187da80082334236a2a1c7e141763ffaf7a405067"},
-    {file = "lxml-4.9.1-cp36-cp36m-manylinux_2_17_aarch64.manylinux2014_aarch64.whl", hash = "sha256:6eafc048ea3f1b3c136c71a86db393be36b5b3d9c87b1c25204e7d397cee9536"},
-    {file = "lxml-4.9.1-cp36-cp36m-manylinux_2_17_x86_64.manylinux2014_x86_64.manylinux_2_24_x86_64.whl", hash = "sha256:13c90064b224e10c14dcdf8086688d3f0e612db53766e7478d7754703295c7c8"},
-    {file = "lxml-4.9.1-cp36-cp36m-manylinux_2_5_i686.manylinux1_i686.whl", hash = "sha256:206a51077773c6c5d2ce1991327cda719063a47adc02bd703c56a662cdb6c58b"},
-    {file = "lxml-4.9.1-cp36-cp36m-manylinux_2_5_x86_64.manylinux1_x86_64.whl", hash = "sha256:e8f0c9d65da595cfe91713bc1222af9ecabd37971762cb830dea2fc3b3bb2acf"},
-    {file = "lxml-4.9.1-cp36-cp36m-musllinux_1_1_aarch64.whl", hash = "sha256:8f0a4d179c9a941eb80c3a63cdb495e539e064f8054230844dcf2fcb812b71d3"},
-    {file = "lxml-4.9.1-cp36-cp36m-musllinux_1_1_x86_64.whl", hash = "sha256:830c88747dce8a3e7525defa68afd742b4580df6aa2fdd6f0855481e3994d391"},
-    {file = "lxml-4.9.1-cp36-cp36m-win32.whl", hash = "sha256:1e1cf47774373777936c5aabad489fef7b1c087dcd1f426b621fda9dcc12994e"},
-    {file = "lxml-4.9.1-cp36-cp36m-win_amd64.whl", hash = "sha256:5974895115737a74a00b321e339b9c3f45c20275d226398ae79ac008d908bff7"},
-    {file = "lxml-4.9.1-cp37-cp37m-macosx_10_15_x86_64.whl", hash = "sha256:1423631e3d51008871299525b541413c9b6c6423593e89f9c4cfbe8460afc0a2"},
-    {file = "lxml-4.9.1-cp37-cp37m-manylinux_2_12_i686.manylinux2010_i686.manylinux_2_24_i686.whl", hash = "sha256:2aaf6a0a6465d39b5ca69688fce82d20088c1838534982996ec46633dc7ad6cc"},
-    {file = "lxml-4.9.1-cp37-cp37m-manylinux_2_17_aarch64.manylinux2014_aarch64.manylinux_2_24_aarch64.whl", hash = "sha256:9f36de4cd0c262dd9927886cc2305aa3f2210db437aa4fed3fb4940b8bf4592c"},
-    {file = "lxml-4.9.1-cp37-cp37m-manylinux_2_17_x86_64.manylinux2014_x86_64.manylinux_2_24_x86_64.whl", hash = "sha256:ae06c1e4bc60ee076292e582a7512f304abdf6c70db59b56745cca1684f875a4"},
-    {file = "lxml-4.9.1-cp37-cp37m-manylinux_2_5_i686.manylinux1_i686.whl", hash = "sha256:57e4d637258703d14171b54203fd6822fda218c6c2658a7d30816b10995f29f3"},
-    {file = "lxml-4.9.1-cp37-cp37m-manylinux_2_5_x86_64.manylinux1_x86_64.whl", hash = "sha256:6d279033bf614953c3fc4a0aa9ac33a21e8044ca72d4fa8b9273fe75359d5cca"},
-    {file = "lxml-4.9.1-cp37-cp37m-musllinux_1_1_aarch64.whl", hash = "sha256:a60f90bba4c37962cbf210f0188ecca87daafdf60271f4c6948606e4dabf8785"},
-    {file = "lxml-4.9.1-cp37-cp37m-musllinux_1_1_x86_64.whl", hash = "sha256:6ca2264f341dd81e41f3fffecec6e446aa2121e0b8d026fb5130e02de1402785"},
-    {file = "lxml-4.9.1-cp37-cp37m-win32.whl", hash = "sha256:27e590352c76156f50f538dbcebd1925317a0f70540f7dc8c97d2931c595783a"},
-    {file = "lxml-4.9.1-cp37-cp37m-win_amd64.whl", hash = "sha256:eea5d6443b093e1545ad0210e6cf27f920482bfcf5c77cdc8596aec73523bb7e"},
-    {file = "lxml-4.9.1-cp38-cp38-macosx_10_15_x86_64.whl", hash = "sha256:f05251bbc2145349b8d0b77c0d4e5f3b228418807b1ee27cefb11f69ed3d233b"},
-    {file = "lxml-4.9.1-cp38-cp38-manylinux_2_12_i686.manylinux2010_i686.manylinux_2_24_i686.whl", hash = "sha256:487c8e61d7acc50b8be82bda8c8d21d20e133c3cbf41bd8ad7eb1aaeb3f07c97"},
-    {file = "lxml-4.9.1-cp38-cp38-manylinux_2_17_aarch64.manylinux2014_aarch64.manylinux_2_24_aarch64.whl", hash = "sha256:8d1a92d8e90b286d491e5626af53afef2ba04da33e82e30744795c71880eaa21"},
-    {file = "lxml-4.9.1-cp38-cp38-manylinux_2_17_x86_64.manylinux2014_x86_64.manylinux_2_24_x86_64.whl", hash = "sha256:b570da8cd0012f4af9fa76a5635cd31f707473e65a5a335b186069d5c7121ff2"},
-    {file = "lxml-4.9.1-cp38-cp38-manylinux_2_5_i686.manylinux1_i686.whl", hash = "sha256:5ef87fca280fb15342726bd5f980f6faf8b84a5287fcc2d4962ea8af88b35130"},
-    {file = "lxml-4.9.1-cp38-cp38-manylinux_2_5_x86_64.manylinux1_x86_64.whl", hash = "sha256:93e414e3206779ef41e5ff2448067213febf260ba747fc65389a3ddaa3fb8715"},
-    {file = "lxml-4.9.1-cp38-cp38-musllinux_1_1_aarch64.whl", hash = "sha256:6653071f4f9bac46fbc30f3c7838b0e9063ee335908c5d61fb7a4a86c8fd2036"},
-    {file = "lxml-4.9.1-cp38-cp38-musllinux_1_1_x86_64.whl", hash = "sha256:32a73c53783becdb7eaf75a2a1525ea8e49379fb7248c3eeefb9412123536387"},
-    {file = "lxml-4.9.1-cp38-cp38-win32.whl", hash = "sha256:1a7c59c6ffd6ef5db362b798f350e24ab2cfa5700d53ac6681918f314a4d3b94"},
-    {file = "lxml-4.9.1-cp38-cp38-win_amd64.whl", hash = "sha256:1436cf0063bba7888e43f1ba8d58824f085410ea2025befe81150aceb123e345"},
-    {file = "lxml-4.9.1-cp39-cp39-macosx_10_15_x86_64.whl", hash = "sha256:4beea0f31491bc086991b97517b9683e5cfb369205dac0148ef685ac12a20a67"},
-    {file = "lxml-4.9.1-cp39-cp39-manylinux_2_12_i686.manylinux2010_i686.manylinux_2_24_i686.whl", hash = "sha256:41fb58868b816c202e8881fd0f179a4644ce6e7cbbb248ef0283a34b73ec73bb"},
-    {file = "lxml-4.9.1-cp39-cp39-manylinux_2_17_aarch64.manylinux2014_aarch64.manylinux_2_24_aarch64.whl", hash = "sha256:bd34f6d1810d9354dc7e35158aa6cc33456be7706df4420819af6ed966e85448"},
-    {file = "lxml-4.9.1-cp39-cp39-manylinux_2_17_x86_64.manylinux2014_x86_64.manylinux_2_24_x86_64.whl", hash = "sha256:edffbe3c510d8f4bf8640e02ca019e48a9b72357318383ca60e3330c23aaffc7"},
-    {file = "lxml-4.9.1-cp39-cp39-manylinux_2_5_i686.manylinux1_i686.whl", hash = "sha256:6d949f53ad4fc7cf02c44d6678e7ff05ec5f5552b235b9e136bd52e9bf730b91"},
-    {file = "lxml-4.9.1-cp39-cp39-manylinux_2_5_x86_64.manylinux1_x86_64.whl", hash = "sha256:079b68f197c796e42aa80b1f739f058dcee796dc725cc9a1be0cdb08fc45b000"},
-    {file = "lxml-4.9.1-cp39-cp39-musllinux_1_1_aarch64.whl", hash = "sha256:9c3a88d20e4fe4a2a4a84bf439a5ac9c9aba400b85244c63a1ab7088f85d9d25"},
-    {file = "lxml-4.9.1-cp39-cp39-musllinux_1_1_x86_64.whl", hash = "sha256:4e285b5f2bf321fc0857b491b5028c5f276ec0c873b985d58d7748ece1d770dd"},
-    {file = "lxml-4.9.1-cp39-cp39-win32.whl", hash = "sha256:ef72013e20dd5ba86a8ae1aed7f56f31d3374189aa8b433e7b12ad182c0d2dfb"},
-    {file = "lxml-4.9.1-cp39-cp39-win_amd64.whl", hash = "sha256:10d2017f9150248563bb579cd0d07c61c58da85c922b780060dcc9a3aa9f432d"},
-    {file = "lxml-4.9.1-pp37-pypy37_pp73-macosx_10_15_x86_64.whl", hash = "sha256:0538747a9d7827ce3e16a8fdd201a99e661c7dee3c96c885d8ecba3c35d1032c"},
-    {file = "lxml-4.9.1-pp37-pypy37_pp73-manylinux_2_12_i686.manylinux2010_i686.manylinux_2_24_i686.whl", hash = "sha256:0645e934e940107e2fdbe7c5b6fb8ec6232444260752598bc4d09511bd056c0b"},
-    {file = "lxml-4.9.1-pp37-pypy37_pp73-manylinux_2_17_x86_64.manylinux2014_x86_64.manylinux_2_24_x86_64.whl", hash = "sha256:6daa662aba22ef3258934105be2dd9afa5bb45748f4f702a3b39a5bf53a1f4dc"},
-    {file = "lxml-4.9.1-pp38-pypy38_pp73-macosx_10_15_x86_64.whl", hash = "sha256:603a464c2e67d8a546ddaa206d98e3246e5db05594b97db844c2f0a1af37cf5b"},
-    {file = "lxml-4.9.1-pp38-pypy38_pp73-manylinux_2_12_i686.manylinux2010_i686.manylinux_2_24_i686.whl", hash = "sha256:c4b2e0559b68455c085fb0f6178e9752c4be3bba104d6e881eb5573b399d1eb2"},
-    {file = "lxml-4.9.1-pp38-pypy38_pp73-manylinux_2_17_x86_64.manylinux2014_x86_64.manylinux_2_24_x86_64.whl", hash = "sha256:0f3f0059891d3254c7b5fb935330d6db38d6519ecd238ca4fce93c234b4a0f73"},
-    {file = "lxml-4.9.1-pp39-pypy39_pp73-manylinux_2_12_i686.manylinux2010_i686.manylinux_2_24_i686.whl", hash = "sha256:c852b1530083a620cb0de5f3cd6826f19862bafeaf77586f1aef326e49d95f0c"},
-    {file = "lxml-4.9.1-pp39-pypy39_pp73-manylinux_2_17_x86_64.manylinux2014_x86_64.manylinux_2_24_x86_64.whl", hash = "sha256:287605bede6bd36e930577c5925fcea17cb30453d96a7b4c63c14a257118dbb9"},
-    {file = "lxml-4.9.1.tar.gz", hash = "sha256:fe749b052bb7233fe5d072fcb549221a8cb1a16725c47c37e42b0b9cb3ff2c3f"},
+
+[package.extras]
+test = ["pytest"]
+
+[[package]]
+name = "lxml"
+version = "4.9.3"
+description = "Powerful and Pythonic XML processing library combining libxml2/libxslt with the ElementTree API."
+optional = false
+python-versions = ">=2.7, !=3.0.*, !=3.1.*, !=3.2.*, !=3.3.*, != 3.4.*"
+files = [
+    {file = "lxml-4.9.3-cp27-cp27m-macosx_11_0_x86_64.whl", hash = "sha256:b0a545b46b526d418eb91754565ba5b63b1c0b12f9bd2f808c852d9b4b2f9b5c"},
+    {file = "lxml-4.9.3-cp27-cp27m-manylinux_2_5_i686.manylinux1_i686.whl", hash = "sha256:075b731ddd9e7f68ad24c635374211376aa05a281673ede86cbe1d1b3455279d"},
+    {file = "lxml-4.9.3-cp27-cp27m-manylinux_2_5_x86_64.manylinux1_x86_64.whl", hash = "sha256:1e224d5755dba2f4a9498e150c43792392ac9b5380aa1b845f98a1618c94eeef"},
+    {file = "lxml-4.9.3-cp27-cp27m-win32.whl", hash = "sha256:2c74524e179f2ad6d2a4f7caf70e2d96639c0954c943ad601a9e146c76408ed7"},
+    {file = "lxml-4.9.3-cp27-cp27m-win_amd64.whl", hash = "sha256:4f1026bc732b6a7f96369f7bfe1a4f2290fb34dce00d8644bc3036fb351a4ca1"},
+    {file = "lxml-4.9.3-cp27-cp27mu-manylinux_2_5_i686.manylinux1_i686.whl", hash = "sha256:c0781a98ff5e6586926293e59480b64ddd46282953203c76ae15dbbbf302e8bb"},
+    {file = "lxml-4.9.3-cp27-cp27mu-manylinux_2_5_x86_64.manylinux1_x86_64.whl", hash = "sha256:cef2502e7e8a96fe5ad686d60b49e1ab03e438bd9123987994528febd569868e"},
+    {file = "lxml-4.9.3-cp310-cp310-macosx_11_0_x86_64.whl", hash = "sha256:b86164d2cff4d3aaa1f04a14685cbc072efd0b4f99ca5708b2ad1b9b5988a991"},
+    {file = "lxml-4.9.3-cp310-cp310-manylinux_2_12_i686.manylinux2010_i686.manylinux_2_24_i686.whl", hash = "sha256:42871176e7896d5d45138f6d28751053c711ed4d48d8e30b498da155af39aebd"},
+    {file = "lxml-4.9.3-cp310-cp310-manylinux_2_17_x86_64.manylinux2014_x86_64.manylinux_2_24_x86_64.whl", hash = "sha256:ae8b9c6deb1e634ba4f1930eb67ef6e6bf6a44b6eb5ad605642b2d6d5ed9ce3c"},
+    {file = "lxml-4.9.3-cp310-cp310-manylinux_2_28_aarch64.whl", hash = "sha256:411007c0d88188d9f621b11d252cce90c4a2d1a49db6c068e3c16422f306eab8"},
+    {file = "lxml-4.9.3-cp310-cp310-manylinux_2_28_x86_64.whl", hash = "sha256:cd47b4a0d41d2afa3e58e5bf1f62069255aa2fd6ff5ee41604418ca925911d76"},
+    {file = "lxml-4.9.3-cp310-cp310-musllinux_1_1_aarch64.whl", hash = "sha256:0e2cb47860da1f7e9a5256254b74ae331687b9672dfa780eed355c4c9c3dbd23"},
+    {file = "lxml-4.9.3-cp310-cp310-musllinux_1_1_x86_64.whl", hash = "sha256:1247694b26342a7bf47c02e513d32225ededd18045264d40758abeb3c838a51f"},
+    {file = "lxml-4.9.3-cp310-cp310-win32.whl", hash = "sha256:cdb650fc86227eba20de1a29d4b2c1bfe139dc75a0669270033cb2ea3d391b85"},
+    {file = "lxml-4.9.3-cp310-cp310-win_amd64.whl", hash = "sha256:97047f0d25cd4bcae81f9ec9dc290ca3e15927c192df17331b53bebe0e3ff96d"},
+    {file = "lxml-4.9.3-cp311-cp311-macosx_11_0_universal2.whl", hash = "sha256:1f447ea5429b54f9582d4b955f5f1985f278ce5cf169f72eea8afd9502973dd5"},
+    {file = "lxml-4.9.3-cp311-cp311-manylinux_2_12_i686.manylinux2010_i686.manylinux_2_24_i686.whl", hash = "sha256:57d6ba0ca2b0c462f339640d22882acc711de224d769edf29962b09f77129cbf"},
+    {file = "lxml-4.9.3-cp311-cp311-manylinux_2_17_x86_64.manylinux2014_x86_64.manylinux_2_24_x86_64.whl", hash = "sha256:9767e79108424fb6c3edf8f81e6730666a50feb01a328f4a016464a5893f835a"},
+    {file = "lxml-4.9.3-cp311-cp311-manylinux_2_28_aarch64.whl", hash = "sha256:71c52db65e4b56b8ddc5bb89fb2e66c558ed9d1a74a45ceb7dcb20c191c3df2f"},
+    {file = "lxml-4.9.3-cp311-cp311-manylinux_2_28_x86_64.whl", hash = "sha256:d73d8ecf8ecf10a3bd007f2192725a34bd62898e8da27eb9d32a58084f93962b"},
+    {file = "lxml-4.9.3-cp311-cp311-musllinux_1_1_aarch64.whl", hash = "sha256:0a3d3487f07c1d7f150894c238299934a2a074ef590b583103a45002035be120"},
+    {file = "lxml-4.9.3-cp311-cp311-musllinux_1_1_x86_64.whl", hash = "sha256:9e28c51fa0ce5674be9f560c6761c1b441631901993f76700b1b30ca6c8378d6"},
+    {file = "lxml-4.9.3-cp311-cp311-win32.whl", hash = "sha256:0bfd0767c5c1de2551a120673b72e5d4b628737cb05414f03c3277bf9bed3305"},
+    {file = "lxml-4.9.3-cp311-cp311-win_amd64.whl", hash = "sha256:25f32acefac14ef7bd53e4218fe93b804ef6f6b92ffdb4322bb6d49d94cad2bc"},
+    {file = "lxml-4.9.3-cp312-cp312-macosx_11_0_universal2.whl", hash = "sha256:d3ff32724f98fbbbfa9f49d82852b159e9784d6094983d9a8b7f2ddaebb063d4"},
+    {file = "lxml-4.9.3-cp312-cp312-manylinux_2_28_aarch64.whl", hash = "sha256:48d6ed886b343d11493129e019da91d4039826794a3e3027321c56d9e71505be"},
+    {file = "lxml-4.9.3-cp312-cp312-manylinux_2_28_x86_64.whl", hash = "sha256:9a92d3faef50658dd2c5470af249985782bf754c4e18e15afb67d3ab06233f13"},
+    {file = "lxml-4.9.3-cp312-cp312-musllinux_1_1_aarch64.whl", hash = "sha256:b4e4bc18382088514ebde9328da057775055940a1f2e18f6ad2d78aa0f3ec5b9"},
+    {file = "lxml-4.9.3-cp312-cp312-musllinux_1_1_x86_64.whl", hash = "sha256:fc9b106a1bf918db68619fdcd6d5ad4f972fdd19c01d19bdb6bf63f3589a9ec5"},
+    {file = "lxml-4.9.3-cp312-cp312-win_amd64.whl", hash = "sha256:d37017287a7adb6ab77e1c5bee9bcf9660f90ff445042b790402a654d2ad81d8"},
+    {file = "lxml-4.9.3-cp35-cp35m-manylinux_2_5_i686.manylinux1_i686.whl", hash = "sha256:56dc1f1ebccc656d1b3ed288f11e27172a01503fc016bcabdcbc0978b19352b7"},
+    {file = "lxml-4.9.3-cp35-cp35m-manylinux_2_5_x86_64.manylinux1_x86_64.whl", hash = "sha256:578695735c5a3f51569810dfebd05dd6f888147a34f0f98d4bb27e92b76e05c2"},
+    {file = "lxml-4.9.3-cp35-cp35m-win32.whl", hash = "sha256:704f61ba8c1283c71b16135caf697557f5ecf3e74d9e453233e4771d68a1f42d"},
+    {file = "lxml-4.9.3-cp35-cp35m-win_amd64.whl", hash = "sha256:c41bfca0bd3532d53d16fd34d20806d5c2b1ace22a2f2e4c0008570bf2c58833"},
+    {file = "lxml-4.9.3-cp36-cp36m-macosx_11_0_x86_64.whl", hash = "sha256:64f479d719dc9f4c813ad9bb6b28f8390360660b73b2e4beb4cb0ae7104f1c12"},
+    {file = "lxml-4.9.3-cp36-cp36m-manylinux_2_12_i686.manylinux2010_i686.manylinux_2_24_i686.whl", hash = "sha256:dd708cf4ee4408cf46a48b108fb9427bfa00b9b85812a9262b5c668af2533ea5"},
+    {file = "lxml-4.9.3-cp36-cp36m-manylinux_2_17_aarch64.manylinux2014_aarch64.whl", hash = "sha256:5c31c7462abdf8f2ac0577d9f05279727e698f97ecbb02f17939ea99ae8daa98"},
+    {file = "lxml-4.9.3-cp36-cp36m-manylinux_2_17_x86_64.manylinux2014_x86_64.manylinux_2_24_x86_64.whl", hash = "sha256:e3cd95e10c2610c360154afdc2f1480aea394f4a4f1ea0a5eacce49640c9b190"},
+    {file = "lxml-4.9.3-cp36-cp36m-manylinux_2_28_x86_64.whl", hash = "sha256:4930be26af26ac545c3dffb662521d4e6268352866956672231887d18f0eaab2"},
+    {file = "lxml-4.9.3-cp36-cp36m-manylinux_2_5_i686.manylinux1_i686.whl", hash = "sha256:4aec80cde9197340bc353d2768e2a75f5f60bacda2bab72ab1dc499589b3878c"},
+    {file = "lxml-4.9.3-cp36-cp36m-manylinux_2_5_x86_64.manylinux1_x86_64.whl", hash = "sha256:14e019fd83b831b2e61baed40cab76222139926b1fb5ed0e79225bc0cae14584"},
+    {file = "lxml-4.9.3-cp36-cp36m-musllinux_1_1_aarch64.whl", hash = "sha256:0c0850c8b02c298d3c7006b23e98249515ac57430e16a166873fc47a5d549287"},
+    {file = "lxml-4.9.3-cp36-cp36m-musllinux_1_1_x86_64.whl", hash = "sha256:aca086dc5f9ef98c512bac8efea4483eb84abbf926eaeedf7b91479feb092458"},
+    {file = "lxml-4.9.3-cp36-cp36m-win32.whl", hash = "sha256:50baa9c1c47efcaef189f31e3d00d697c6d4afda5c3cde0302d063492ff9b477"},
+    {file = "lxml-4.9.3-cp36-cp36m-win_amd64.whl", hash = "sha256:bef4e656f7d98aaa3486d2627e7d2df1157d7e88e7efd43a65aa5dd4714916cf"},
+    {file = "lxml-4.9.3-cp37-cp37m-manylinux_2_12_i686.manylinux2010_i686.manylinux_2_24_i686.whl", hash = "sha256:46f409a2d60f634fe550f7133ed30ad5321ae2e6630f13657fb9479506b00601"},
+    {file = "lxml-4.9.3-cp37-cp37m-manylinux_2_17_aarch64.manylinux2014_aarch64.manylinux_2_24_aarch64.whl", hash = "sha256:4c28a9144688aef80d6ea666c809b4b0e50010a2aca784c97f5e6bf143d9f129"},
+    {file = "lxml-4.9.3-cp37-cp37m-manylinux_2_17_x86_64.manylinux2014_x86_64.manylinux_2_24_x86_64.whl", hash = "sha256:141f1d1a9b663c679dc524af3ea1773e618907e96075262726c7612c02b149a4"},
+    {file = "lxml-4.9.3-cp37-cp37m-manylinux_2_28_x86_64.whl", hash = "sha256:53ace1c1fd5a74ef662f844a0413446c0629d151055340e9893da958a374f70d"},
+    {file = "lxml-4.9.3-cp37-cp37m-manylinux_2_5_i686.manylinux1_i686.whl", hash = "sha256:17a753023436a18e27dd7769e798ce302963c236bc4114ceee5b25c18c52c693"},
+    {file = "lxml-4.9.3-cp37-cp37m-manylinux_2_5_x86_64.manylinux1_x86_64.whl", hash = "sha256:7d298a1bd60c067ea75d9f684f5f3992c9d6766fadbc0bcedd39750bf344c2f4"},
+    {file = "lxml-4.9.3-cp37-cp37m-musllinux_1_1_aarch64.whl", hash = "sha256:081d32421db5df44c41b7f08a334a090a545c54ba977e47fd7cc2deece78809a"},
+    {file = "lxml-4.9.3-cp37-cp37m-musllinux_1_1_x86_64.whl", hash = "sha256:23eed6d7b1a3336ad92d8e39d4bfe09073c31bfe502f20ca5116b2a334f8ec02"},
+    {file = "lxml-4.9.3-cp37-cp37m-win32.whl", hash = "sha256:1509dd12b773c02acd154582088820893109f6ca27ef7291b003d0e81666109f"},
+    {file = "lxml-4.9.3-cp37-cp37m-win_amd64.whl", hash = "sha256:120fa9349a24c7043854c53cae8cec227e1f79195a7493e09e0c12e29f918e52"},
+    {file = "lxml-4.9.3-cp38-cp38-manylinux_2_12_i686.manylinux2010_i686.manylinux_2_24_i686.whl", hash = "sha256:4d2d1edbca80b510443f51afd8496be95529db04a509bc8faee49c7b0fb6d2cc"},
+    {file = "lxml-4.9.3-cp38-cp38-manylinux_2_17_aarch64.manylinux2014_aarch64.manylinux_2_24_aarch64.whl", hash = "sha256:8d7e43bd40f65f7d97ad8ef5c9b1778943d02f04febef12def25f7583d19baac"},
+    {file = "lxml-4.9.3-cp38-cp38-manylinux_2_17_x86_64.manylinux2014_x86_64.manylinux_2_24_x86_64.whl", hash = "sha256:71d66ee82e7417828af6ecd7db817913cb0cf9d4e61aa0ac1fde0583d84358db"},
+    {file = "lxml-4.9.3-cp38-cp38-manylinux_2_28_x86_64.whl", hash = "sha256:6fc3c450eaa0b56f815c7b62f2b7fba7266c4779adcf1cece9e6deb1de7305ce"},
+    {file = "lxml-4.9.3-cp38-cp38-manylinux_2_5_i686.manylinux1_i686.whl", hash = "sha256:65299ea57d82fb91c7f019300d24050c4ddeb7c5a190e076b5f48a2b43d19c42"},
+    {file = "lxml-4.9.3-cp38-cp38-manylinux_2_5_x86_64.manylinux1_x86_64.whl", hash = "sha256:eadfbbbfb41b44034a4c757fd5d70baccd43296fb894dba0295606a7cf3124aa"},
+    {file = "lxml-4.9.3-cp38-cp38-musllinux_1_1_aarch64.whl", hash = "sha256:3e9bdd30efde2b9ccfa9cb5768ba04fe71b018a25ea093379c857c9dad262c40"},
+    {file = "lxml-4.9.3-cp38-cp38-musllinux_1_1_x86_64.whl", hash = "sha256:fcdd00edfd0a3001e0181eab3e63bd5c74ad3e67152c84f93f13769a40e073a7"},
+    {file = "lxml-4.9.3-cp38-cp38-win32.whl", hash = "sha256:57aba1bbdf450b726d58b2aea5fe47c7875f5afb2c4a23784ed78f19a0462574"},
+    {file = "lxml-4.9.3-cp38-cp38-win_amd64.whl", hash = "sha256:92af161ecbdb2883c4593d5ed4815ea71b31fafd7fd05789b23100d081ecac96"},
+    {file = "lxml-4.9.3-cp39-cp39-macosx_11_0_x86_64.whl", hash = "sha256:9bb6ad405121241e99a86efff22d3ef469024ce22875a7ae045896ad23ba2340"},
+    {file = "lxml-4.9.3-cp39-cp39-manylinux_2_12_i686.manylinux2010_i686.manylinux_2_24_i686.whl", hash = "sha256:8ed74706b26ad100433da4b9d807eae371efaa266ffc3e9191ea436087a9d6a7"},
+    {file = "lxml-4.9.3-cp39-cp39-manylinux_2_17_x86_64.manylinux2014_x86_64.manylinux_2_24_x86_64.whl", hash = "sha256:fbf521479bcac1e25a663df882c46a641a9bff6b56dc8b0fafaebd2f66fb231b"},
+    {file = "lxml-4.9.3-cp39-cp39-manylinux_2_28_aarch64.whl", hash = "sha256:303bf1edce6ced16bf67a18a1cf8339d0db79577eec5d9a6d4a80f0fb10aa2da"},
+    {file = "lxml-4.9.3-cp39-cp39-manylinux_2_28_x86_64.whl", hash = "sha256:5515edd2a6d1a5a70bfcdee23b42ec33425e405c5b351478ab7dc9347228f96e"},
+    {file = "lxml-4.9.3-cp39-cp39-manylinux_2_5_i686.manylinux1_i686.whl", hash = "sha256:690dafd0b187ed38583a648076865d8c229661ed20e48f2335d68e2cf7dc829d"},
+    {file = "lxml-4.9.3-cp39-cp39-manylinux_2_5_x86_64.manylinux1_x86_64.whl", hash = "sha256:b6420a005548ad52154c8ceab4a1290ff78d757f9e5cbc68f8c77089acd3c432"},
+    {file = "lxml-4.9.3-cp39-cp39-musllinux_1_1_aarch64.whl", hash = "sha256:bb3bb49c7a6ad9d981d734ef7c7193bc349ac338776a0360cc671eaee89bcf69"},
+    {file = "lxml-4.9.3-cp39-cp39-musllinux_1_1_x86_64.whl", hash = "sha256:d27be7405547d1f958b60837dc4c1007da90b8b23f54ba1f8b728c78fdb19d50"},
+    {file = "lxml-4.9.3-cp39-cp39-win32.whl", hash = "sha256:8df133a2ea5e74eef5e8fc6f19b9e085f758768a16e9877a60aec455ed2609b2"},
+    {file = "lxml-4.9.3-cp39-cp39-win_amd64.whl", hash = "sha256:4dd9a263e845a72eacb60d12401e37c616438ea2e5442885f65082c276dfb2b2"},
+    {file = "lxml-4.9.3-pp310-pypy310_pp73-manylinux_2_28_x86_64.whl", hash = "sha256:6689a3d7fd13dc687e9102a27e98ef33730ac4fe37795d5036d18b4d527abd35"},
+    {file = "lxml-4.9.3-pp37-pypy37_pp73-manylinux_2_12_i686.manylinux2010_i686.manylinux_2_24_i686.whl", hash = "sha256:f6bdac493b949141b733c5345b6ba8f87a226029cbabc7e9e121a413e49441e0"},
+    {file = "lxml-4.9.3-pp37-pypy37_pp73-manylinux_2_17_x86_64.manylinux2014_x86_64.manylinux_2_24_x86_64.whl", hash = "sha256:05186a0f1346ae12553d66df1cfce6f251589fea3ad3da4f3ef4e34b2d58c6a3"},
+    {file = "lxml-4.9.3-pp37-pypy37_pp73-manylinux_2_28_x86_64.whl", hash = "sha256:c2006f5c8d28dee289f7020f721354362fa304acbaaf9745751ac4006650254b"},
+    {file = "lxml-4.9.3-pp38-pypy38_pp73-macosx_11_0_x86_64.whl", hash = "sha256:5c245b783db29c4e4fbbbfc9c5a78be496c9fea25517f90606aa1f6b2b3d5f7b"},
+    {file = "lxml-4.9.3-pp38-pypy38_pp73-manylinux_2_12_i686.manylinux2010_i686.manylinux_2_24_i686.whl", hash = "sha256:4fb960a632a49f2f089d522f70496640fdf1218f1243889da3822e0a9f5f3ba7"},
+    {file = "lxml-4.9.3-pp38-pypy38_pp73-manylinux_2_17_x86_64.manylinux2014_x86_64.manylinux_2_24_x86_64.whl", hash = "sha256:50670615eaf97227d5dc60de2dc99fb134a7130d310d783314e7724bf163f75d"},
+    {file = "lxml-4.9.3-pp38-pypy38_pp73-manylinux_2_28_x86_64.whl", hash = "sha256:9719fe17307a9e814580af1f5c6e05ca593b12fb7e44fe62450a5384dbf61b4b"},
+    {file = "lxml-4.9.3-pp38-pypy38_pp73-win_amd64.whl", hash = "sha256:3331bece23c9ee066e0fb3f96c61322b9e0f54d775fccefff4c38ca488de283a"},
+    {file = "lxml-4.9.3-pp39-pypy39_pp73-macosx_11_0_x86_64.whl", hash = "sha256:ed667f49b11360951e201453fc3967344d0d0263aa415e1619e85ae7fd17b4e0"},
+    {file = "lxml-4.9.3-pp39-pypy39_pp73-manylinux_2_12_i686.manylinux2010_i686.manylinux_2_24_i686.whl", hash = "sha256:8b77946fd508cbf0fccd8e400a7f71d4ac0e1595812e66025bac475a8e811694"},
+    {file = "lxml-4.9.3-pp39-pypy39_pp73-manylinux_2_17_x86_64.manylinux2014_x86_64.manylinux_2_24_x86_64.whl", hash = "sha256:e4da8ca0c0c0aea88fd46be8e44bd49716772358d648cce45fe387f7b92374a7"},
+    {file = "lxml-4.9.3-pp39-pypy39_pp73-manylinux_2_28_x86_64.whl", hash = "sha256:fe4bda6bd4340caa6e5cf95e73f8fea5c4bfc55763dd42f1b50a94c1b4a2fbd4"},
+    {file = "lxml-4.9.3-pp39-pypy39_pp73-win_amd64.whl", hash = "sha256:f3df3db1d336b9356dd3112eae5f5c2b8b377f3bc826848567f10bfddfee77e9"},
+    {file = "lxml-4.9.3.tar.gz", hash = "sha256:48628bd53a426c9eb9bc066a923acaa0878d1e86129fd5359aee99285f4eed9c"},
 ]
-mako = [
-    {file = "Mako-1.2.3-py3-none-any.whl", hash = "sha256:c413a086e38cd885088d5e165305ee8eed04e8b3f8f62df343480da0a385735f"},
-    {file = "Mako-1.2.3.tar.gz", hash = "sha256:7fde96466fcfeedb0eed94f187f20b23d85e4cb41444be0e542e2c8c65c396cd"},
+
+[package.extras]
+cssselect = ["cssselect (>=0.7)"]
+html5 = ["html5lib"]
+htmlsoup = ["BeautifulSoup4"]
+source = ["Cython (>=0.29.35)"]
+
+[[package]]
+name = "mako"
+version = "1.2.4"
+description = "A super-fast templating language that borrows the best ideas from the existing templating languages."
+optional = false
+python-versions = ">=3.7"
+files = [
+    {file = "Mako-1.2.4-py3-none-any.whl", hash = "sha256:c97c79c018b9165ac9922ae4f32da095ffd3c4e6872b45eded42926deea46818"},
+    {file = "Mako-1.2.4.tar.gz", hash = "sha256:d60a3903dc3bb01a18ad6a89cdbe2e4eadc69c0bc8ef1e3773ba53d44c3f7a34"},
 ]
-markdown = [
-    {file = "Markdown-3.4.1-py3-none-any.whl", hash = "sha256:08fb8465cffd03d10b9dd34a5c3fea908e20391a2a90b88d66362cb05beed186"},
-    {file = "Markdown-3.4.1.tar.gz", hash = "sha256:3b809086bb6efad416156e00a0da66fe47618a5d6918dd688f53f40c8e4cfeff"},
+
+[package.dependencies]
+MarkupSafe = ">=0.9.2"
+
+[package.extras]
+babel = ["Babel"]
+lingua = ["lingua"]
+testing = ["pytest"]
+
+[[package]]
+name = "markdown"
+version = "3.4.4"
+description = "Python implementation of John Gruber's Markdown."
+optional = false
+python-versions = ">=3.7"
+files = [
+    {file = "Markdown-3.4.4-py3-none-any.whl", hash = "sha256:a4c1b65c0957b4bd9e7d86ddc7b3c9868fb9670660f6f99f6d1bca8954d5a941"},
+    {file = "Markdown-3.4.4.tar.gz", hash = "sha256:225c6123522495d4119a90b3a3ba31a1e87a70369e03f14799ea9c0d7183a3d6"},
 ]
-markdown-it-py = [
-    {file = "markdown-it-py-2.1.0.tar.gz", hash = "sha256:cf7e59fed14b5ae17c0006eff14a2d9a00ed5f3a846148153899a0224e2c07da"},
-    {file = "markdown_it_py-2.1.0-py3-none-any.whl", hash = "sha256:93de681e5c021a432c63147656fe21790bc01231e0cd2da73626f1aa3ac0fe27"},
+
+[package.extras]
+docs = ["mdx-gh-links (>=0.2)", "mkdocs (>=1.0)", "mkdocs-nature (>=0.4)"]
+testing = ["coverage", "pyyaml"]
+
+[[package]]
+name = "markdown-it-py"
+version = "3.0.0"
+description = "Python port of markdown-it. Markdown parsing, done right!"
+optional = false
+python-versions = ">=3.8"
+files = [
+    {file = "markdown-it-py-3.0.0.tar.gz", hash = "sha256:e3f60a94fa066dc52ec76661e37c851cb232d92f9886b15cb560aaada2df8feb"},
+    {file = "markdown_it_py-3.0.0-py3-none-any.whl", hash = "sha256:355216845c60bd96232cd8d8c40e8f9765cc86f46880e43a8fd22dc1a1a8cab1"},
 ]
-markupsafe = [
-    {file = "MarkupSafe-2.1.1-cp310-cp310-macosx_10_9_universal2.whl", hash = "sha256:86b1f75c4e7c2ac2ccdaec2b9022845dbb81880ca318bb7a0a01fbf7813e3812"},
-    {file = "MarkupSafe-2.1.1-cp310-cp310-macosx_10_9_x86_64.whl", hash = "sha256:f121a1420d4e173a5d96e47e9a0c0dcff965afdf1626d28de1460815f7c4ee7a"},
-    {file = "MarkupSafe-2.1.1-cp310-cp310-manylinux_2_17_aarch64.manylinux2014_aarch64.whl", hash = "sha256:a49907dd8420c5685cfa064a1335b6754b74541bbb3706c259c02ed65b644b3e"},
-    {file = "MarkupSafe-2.1.1-cp310-cp310-manylinux_2_17_x86_64.manylinux2014_x86_64.whl", hash = "sha256:10c1bfff05d95783da83491be968e8fe789263689c02724e0c691933c52994f5"},
-    {file = "MarkupSafe-2.1.1-cp310-cp310-manylinux_2_5_i686.manylinux1_i686.manylinux_2_17_i686.manylinux2014_i686.whl", hash = "sha256:b7bd98b796e2b6553da7225aeb61f447f80a1ca64f41d83612e6139ca5213aa4"},
-    {file = "MarkupSafe-2.1.1-cp310-cp310-musllinux_1_1_aarch64.whl", hash = "sha256:b09bf97215625a311f669476f44b8b318b075847b49316d3e28c08e41a7a573f"},
-    {file = "MarkupSafe-2.1.1-cp310-cp310-musllinux_1_1_i686.whl", hash = "sha256:694deca8d702d5db21ec83983ce0bb4b26a578e71fbdbd4fdcd387daa90e4d5e"},
-    {file = "MarkupSafe-2.1.1-cp310-cp310-musllinux_1_1_x86_64.whl", hash = "sha256:efc1913fd2ca4f334418481c7e595c00aad186563bbc1ec76067848c7ca0a933"},
-    {file = "MarkupSafe-2.1.1-cp310-cp310-win32.whl", hash = "sha256:4a33dea2b688b3190ee12bd7cfa29d39c9ed176bda40bfa11099a3ce5d3a7ac6"},
-    {file = "MarkupSafe-2.1.1-cp310-cp310-win_amd64.whl", hash = "sha256:dda30ba7e87fbbb7eab1ec9f58678558fd9a6b8b853530e176eabd064da81417"},
-    {file = "MarkupSafe-2.1.1-cp37-cp37m-macosx_10_9_x86_64.whl", hash = "sha256:671cd1187ed5e62818414afe79ed29da836dde67166a9fac6d435873c44fdd02"},
-    {file = "MarkupSafe-2.1.1-cp37-cp37m-manylinux_2_17_aarch64.manylinux2014_aarch64.whl", hash = "sha256:3799351e2336dc91ea70b034983ee71cf2f9533cdff7c14c90ea126bfd95d65a"},
-    {file = "MarkupSafe-2.1.1-cp37-cp37m-manylinux_2_17_x86_64.manylinux2014_x86_64.whl", hash = "sha256:e72591e9ecd94d7feb70c1cbd7be7b3ebea3f548870aa91e2732960fa4d57a37"},
-    {file = "MarkupSafe-2.1.1-cp37-cp37m-manylinux_2_5_i686.manylinux1_i686.manylinux_2_17_i686.manylinux2014_i686.whl", hash = "sha256:6fbf47b5d3728c6aea2abb0589b5d30459e369baa772e0f37a0320185e87c980"},
-    {file = "MarkupSafe-2.1.1-cp37-cp37m-musllinux_1_1_aarch64.whl", hash = "sha256:d5ee4f386140395a2c818d149221149c54849dfcfcb9f1debfe07a8b8bd63f9a"},
-    {file = "MarkupSafe-2.1.1-cp37-cp37m-musllinux_1_1_i686.whl", hash = "sha256:bcb3ed405ed3222f9904899563d6fc492ff75cce56cba05e32eff40e6acbeaa3"},
-    {file = "MarkupSafe-2.1.1-cp37-cp37m-musllinux_1_1_x86_64.whl", hash = "sha256:e1c0b87e09fa55a220f058d1d49d3fb8df88fbfab58558f1198e08c1e1de842a"},
-    {file = "MarkupSafe-2.1.1-cp37-cp37m-win32.whl", hash = "sha256:8dc1c72a69aa7e082593c4a203dcf94ddb74bb5c8a731e4e1eb68d031e8498ff"},
-    {file = "MarkupSafe-2.1.1-cp37-cp37m-win_amd64.whl", hash = "sha256:97a68e6ada378df82bc9f16b800ab77cbf4b2fada0081794318520138c088e4a"},
-    {file = "MarkupSafe-2.1.1-cp38-cp38-macosx_10_9_universal2.whl", hash = "sha256:e8c843bbcda3a2f1e3c2ab25913c80a3c5376cd00c6e8c4a86a89a28c8dc5452"},
-    {file = "MarkupSafe-2.1.1-cp38-cp38-macosx_10_9_x86_64.whl", hash = "sha256:0212a68688482dc52b2d45013df70d169f542b7394fc744c02a57374a4207003"},
-    {file = "MarkupSafe-2.1.1-cp38-cp38-manylinux_2_17_aarch64.manylinux2014_aarch64.whl", hash = "sha256:8e576a51ad59e4bfaac456023a78f6b5e6e7651dcd383bcc3e18d06f9b55d6d1"},
-    {file = "MarkupSafe-2.1.1-cp38-cp38-manylinux_2_17_x86_64.manylinux2014_x86_64.whl", hash = "sha256:4b9fe39a2ccc108a4accc2676e77da025ce383c108593d65cc909add5c3bd601"},
-    {file = "MarkupSafe-2.1.1-cp38-cp38-manylinux_2_5_i686.manylinux1_i686.manylinux_2_17_i686.manylinux2014_i686.whl", hash = "sha256:96e37a3dc86e80bf81758c152fe66dbf60ed5eca3d26305edf01892257049925"},
-    {file = "MarkupSafe-2.1.1-cp38-cp38-musllinux_1_1_aarch64.whl", hash = "sha256:6d0072fea50feec76a4c418096652f2c3238eaa014b2f94aeb1d56a66b41403f"},
-    {file = "MarkupSafe-2.1.1-cp38-cp38-musllinux_1_1_i686.whl", hash = "sha256:089cf3dbf0cd6c100f02945abeb18484bd1ee57a079aefd52cffd17fba910b88"},
-    {file = "MarkupSafe-2.1.1-cp38-cp38-musllinux_1_1_x86_64.whl", hash = "sha256:6a074d34ee7a5ce3effbc526b7083ec9731bb3cbf921bbe1d3005d4d2bdb3a63"},
-    {file = "MarkupSafe-2.1.1-cp38-cp38-win32.whl", hash = "sha256:421be9fbf0ffe9ffd7a378aafebbf6f4602d564d34be190fc19a193232fd12b1"},
-    {file = "MarkupSafe-2.1.1-cp38-cp38-win_amd64.whl", hash = "sha256:fc7b548b17d238737688817ab67deebb30e8073c95749d55538ed473130ec0c7"},
-    {file = "MarkupSafe-2.1.1-cp39-cp39-macosx_10_9_universal2.whl", hash = "sha256:e04e26803c9c3851c931eac40c695602c6295b8d432cbe78609649ad9bd2da8a"},
-    {file = "MarkupSafe-2.1.1-cp39-cp39-macosx_10_9_x86_64.whl", hash = "sha256:b87db4360013327109564f0e591bd2a3b318547bcef31b468a92ee504d07ae4f"},
-    {file = "MarkupSafe-2.1.1-cp39-cp39-manylinux_2_17_aarch64.manylinux2014_aarch64.whl", hash = "sha256:99a2a507ed3ac881b975a2976d59f38c19386d128e7a9a18b7df6fff1fd4c1d6"},
-    {file = "MarkupSafe-2.1.1-cp39-cp39-manylinux_2_17_x86_64.manylinux2014_x86_64.whl", hash = "sha256:56442863ed2b06d19c37f94d999035e15ee982988920e12a5b4ba29b62ad1f77"},
-    {file = "MarkupSafe-2.1.1-cp39-cp39-manylinux_2_5_i686.manylinux1_i686.manylinux_2_17_i686.manylinux2014_i686.whl", hash = "sha256:3ce11ee3f23f79dbd06fb3d63e2f6af7b12db1d46932fe7bd8afa259a5996603"},
-    {file = "MarkupSafe-2.1.1-cp39-cp39-musllinux_1_1_aarch64.whl", hash = "sha256:33b74d289bd2f5e527beadcaa3f401e0df0a89927c1559c8566c066fa4248ab7"},
-    {file = "MarkupSafe-2.1.1-cp39-cp39-musllinux_1_1_i686.whl", hash = "sha256:43093fb83d8343aac0b1baa75516da6092f58f41200907ef92448ecab8825135"},
-    {file = "MarkupSafe-2.1.1-cp39-cp39-musllinux_1_1_x86_64.whl", hash = "sha256:8e3dcf21f367459434c18e71b2a9532d96547aef8a871872a5bd69a715c15f96"},
-    {file = "MarkupSafe-2.1.1-cp39-cp39-win32.whl", hash = "sha256:d4306c36ca495956b6d568d276ac11fdd9c30a36f1b6eb928070dc5360b22e1c"},
-    {file = "MarkupSafe-2.1.1-cp39-cp39-win_amd64.whl", hash = "sha256:46d00d6cfecdde84d40e572d63735ef81423ad31184100411e6e3388d405e247"},
-    {file = "MarkupSafe-2.1.1.tar.gz", hash = "sha256:7f91197cc9e48f989d12e4e6fbc46495c446636dfc81b9ccf50bb0ec74b91d4b"},
+
+[package.dependencies]
+mdurl = ">=0.1,<1.0"
+
+[package.extras]
+benchmarking = ["psutil", "pytest", "pytest-benchmark"]
+code-style = ["pre-commit (>=3.0,<4.0)"]
+compare = ["commonmark (>=0.9,<1.0)", "markdown (>=3.4,<4.0)", "mistletoe (>=1.0,<2.0)", "mistune (>=2.0,<3.0)", "panflute (>=2.3,<3.0)"]
+linkify = ["linkify-it-py (>=1,<3)"]
+plugins = ["mdit-py-plugins"]
+profiling = ["gprof2dot"]
+rtd = ["jupyter_sphinx", "mdit-py-plugins", "myst-parser", "pyyaml", "sphinx", "sphinx-copybutton", "sphinx-design", "sphinx_book_theme"]
+testing = ["coverage", "pytest", "pytest-cov", "pytest-regressions"]
+
+[[package]]
+name = "markupsafe"
+version = "2.1.3"
+description = "Safely add untrusted strings to HTML/XML markup."
+optional = false
+python-versions = ">=3.7"
+files = [
+    {file = "MarkupSafe-2.1.3-cp310-cp310-macosx_10_9_universal2.whl", hash = "sha256:cd0f502fe016460680cd20aaa5a76d241d6f35a1c3350c474bac1273803893fa"},
+    {file = "MarkupSafe-2.1.3-cp310-cp310-macosx_10_9_x86_64.whl", hash = "sha256:e09031c87a1e51556fdcb46e5bd4f59dfb743061cf93c4d6831bf894f125eb57"},
+    {file = "MarkupSafe-2.1.3-cp310-cp310-manylinux_2_17_aarch64.manylinux2014_aarch64.whl", hash = "sha256:68e78619a61ecf91e76aa3e6e8e33fc4894a2bebe93410754bd28fce0a8a4f9f"},
+    {file = "MarkupSafe-2.1.3-cp310-cp310-manylinux_2_17_x86_64.manylinux2014_x86_64.whl", hash = "sha256:65c1a9bcdadc6c28eecee2c119465aebff8f7a584dd719facdd9e825ec61ab52"},
+    {file = "MarkupSafe-2.1.3-cp310-cp310-manylinux_2_5_i686.manylinux1_i686.manylinux_2_17_i686.manylinux2014_i686.whl", hash = "sha256:525808b8019e36eb524b8c68acdd63a37e75714eac50e988180b169d64480a00"},
+    {file = "MarkupSafe-2.1.3-cp310-cp310-musllinux_1_1_aarch64.whl", hash = "sha256:962f82a3086483f5e5f64dbad880d31038b698494799b097bc59c2edf392fce6"},
+    {file = "MarkupSafe-2.1.3-cp310-cp310-musllinux_1_1_i686.whl", hash = "sha256:aa7bd130efab1c280bed0f45501b7c8795f9fdbeb02e965371bbef3523627779"},
+    {file = "MarkupSafe-2.1.3-cp310-cp310-musllinux_1_1_x86_64.whl", hash = "sha256:c9c804664ebe8f83a211cace637506669e7890fec1b4195b505c214e50dd4eb7"},
+    {file = "MarkupSafe-2.1.3-cp310-cp310-win32.whl", hash = "sha256:10bbfe99883db80bdbaff2dcf681dfc6533a614f700da1287707e8a5d78a8431"},
+    {file = "MarkupSafe-2.1.3-cp310-cp310-win_amd64.whl", hash = "sha256:1577735524cdad32f9f694208aa75e422adba74f1baee7551620e43a3141f559"},
+    {file = "MarkupSafe-2.1.3-cp311-cp311-macosx_10_9_universal2.whl", hash = "sha256:ad9e82fb8f09ade1c3e1b996a6337afac2b8b9e365f926f5a61aacc71adc5b3c"},
+    {file = "MarkupSafe-2.1.3-cp311-cp311-macosx_10_9_x86_64.whl", hash = "sha256:3c0fae6c3be832a0a0473ac912810b2877c8cb9d76ca48de1ed31e1c68386575"},
+    {file = "MarkupSafe-2.1.3-cp311-cp311-manylinux_2_17_aarch64.manylinux2014_aarch64.whl", hash = "sha256:b076b6226fb84157e3f7c971a47ff3a679d837cf338547532ab866c57930dbee"},
+    {file = "MarkupSafe-2.1.3-cp311-cp311-manylinux_2_17_x86_64.manylinux2014_x86_64.whl", hash = "sha256:bfce63a9e7834b12b87c64d6b155fdd9b3b96191b6bd334bf37db7ff1fe457f2"},
+    {file = "MarkupSafe-2.1.3-cp311-cp311-manylinux_2_5_i686.manylinux1_i686.manylinux_2_17_i686.manylinux2014_i686.whl", hash = "sha256:338ae27d6b8745585f87218a3f23f1512dbf52c26c28e322dbe54bcede54ccb9"},
+    {file = "MarkupSafe-2.1.3-cp311-cp311-musllinux_1_1_aarch64.whl", hash = "sha256:e4dd52d80b8c83fdce44e12478ad2e85c64ea965e75d66dbeafb0a3e77308fcc"},
+    {file = "MarkupSafe-2.1.3-cp311-cp311-musllinux_1_1_i686.whl", hash = "sha256:df0be2b576a7abbf737b1575f048c23fb1d769f267ec4358296f31c2479db8f9"},
+    {file = "MarkupSafe-2.1.3-cp311-cp311-musllinux_1_1_x86_64.whl", hash = "sha256:5bbe06f8eeafd38e5d0a4894ffec89378b6c6a625ff57e3028921f8ff59318ac"},
+    {file = "MarkupSafe-2.1.3-cp311-cp311-win32.whl", hash = "sha256:dd15ff04ffd7e05ffcb7fe79f1b98041b8ea30ae9234aed2a9168b5797c3effb"},
+    {file = "MarkupSafe-2.1.3-cp311-cp311-win_amd64.whl", hash = "sha256:134da1eca9ec0ae528110ccc9e48041e0828d79f24121a1a146161103c76e686"},
+    {file = "MarkupSafe-2.1.3-cp37-cp37m-macosx_10_9_x86_64.whl", hash = "sha256:8e254ae696c88d98da6555f5ace2279cf7cd5b3f52be2b5cf97feafe883b58d2"},
+    {file = "MarkupSafe-2.1.3-cp37-cp37m-manylinux_2_17_aarch64.manylinux2014_aarch64.whl", hash = "sha256:cb0932dc158471523c9637e807d9bfb93e06a95cbf010f1a38b98623b929ef2b"},
+    {file = "MarkupSafe-2.1.3-cp37-cp37m-manylinux_2_17_x86_64.manylinux2014_x86_64.whl", hash = "sha256:9402b03f1a1b4dc4c19845e5c749e3ab82d5078d16a2a4c2cd2df62d57bb0707"},
+    {file = "MarkupSafe-2.1.3-cp37-cp37m-manylinux_2_5_i686.manylinux1_i686.manylinux_2_17_i686.manylinux2014_i686.whl", hash = "sha256:ca379055a47383d02a5400cb0d110cef0a776fc644cda797db0c5696cfd7e18e"},
+    {file = "MarkupSafe-2.1.3-cp37-cp37m-musllinux_1_1_aarch64.whl", hash = "sha256:b7ff0f54cb4ff66dd38bebd335a38e2c22c41a8ee45aa608efc890ac3e3931bc"},
+    {file = "MarkupSafe-2.1.3-cp37-cp37m-musllinux_1_1_i686.whl", hash = "sha256:c011a4149cfbcf9f03994ec2edffcb8b1dc2d2aede7ca243746df97a5d41ce48"},
+    {file = "MarkupSafe-2.1.3-cp37-cp37m-musllinux_1_1_x86_64.whl", hash = "sha256:56d9f2ecac662ca1611d183feb03a3fa4406469dafe241673d521dd5ae92a155"},
+    {file = "MarkupSafe-2.1.3-cp37-cp37m-win32.whl", hash = "sha256:8758846a7e80910096950b67071243da3e5a20ed2546e6392603c096778d48e0"},
+    {file = "MarkupSafe-2.1.3-cp37-cp37m-win_amd64.whl", hash = "sha256:787003c0ddb00500e49a10f2844fac87aa6ce977b90b0feaaf9de23c22508b24"},
+    {file = "MarkupSafe-2.1.3-cp38-cp38-macosx_10_9_universal2.whl", hash = "sha256:2ef12179d3a291be237280175b542c07a36e7f60718296278d8593d21ca937d4"},
+    {file = "MarkupSafe-2.1.3-cp38-cp38-macosx_10_9_x86_64.whl", hash = "sha256:2c1b19b3aaacc6e57b7e25710ff571c24d6c3613a45e905b1fde04d691b98ee0"},
+    {file = "MarkupSafe-2.1.3-cp38-cp38-manylinux_2_17_aarch64.manylinux2014_aarch64.whl", hash = "sha256:8afafd99945ead6e075b973fefa56379c5b5c53fd8937dad92c662da5d8fd5ee"},
+    {file = "MarkupSafe-2.1.3-cp38-cp38-manylinux_2_17_x86_64.manylinux2014_x86_64.whl", hash = "sha256:8c41976a29d078bb235fea9b2ecd3da465df42a562910f9022f1a03107bd02be"},
+    {file = "MarkupSafe-2.1.3-cp38-cp38-manylinux_2_5_i686.manylinux1_i686.manylinux_2_17_i686.manylinux2014_i686.whl", hash = "sha256:d080e0a5eb2529460b30190fcfcc4199bd7f827663f858a226a81bc27beaa97e"},
+    {file = "MarkupSafe-2.1.3-cp38-cp38-musllinux_1_1_aarch64.whl", hash = "sha256:69c0f17e9f5a7afdf2cc9fb2d1ce6aabdb3bafb7f38017c0b77862bcec2bbad8"},
+    {file = "MarkupSafe-2.1.3-cp38-cp38-musllinux_1_1_i686.whl", hash = "sha256:504b320cd4b7eff6f968eddf81127112db685e81f7e36e75f9f84f0df46041c3"},
+    {file = "MarkupSafe-2.1.3-cp38-cp38-musllinux_1_1_x86_64.whl", hash = "sha256:42de32b22b6b804f42c5d98be4f7e5e977ecdd9ee9b660fda1a3edf03b11792d"},
+    {file = "MarkupSafe-2.1.3-cp38-cp38-win32.whl", hash = "sha256:ceb01949af7121f9fc39f7d27f91be8546f3fb112c608bc4029aef0bab86a2a5"},
+    {file = "MarkupSafe-2.1.3-cp38-cp38-win_amd64.whl", hash = "sha256:1b40069d487e7edb2676d3fbdb2b0829ffa2cd63a2ec26c4938b2d34391b4ecc"},
+    {file = "MarkupSafe-2.1.3-cp39-cp39-macosx_10_9_universal2.whl", hash = "sha256:8023faf4e01efadfa183e863fefde0046de576c6f14659e8782065bcece22198"},
+    {file = "MarkupSafe-2.1.3-cp39-cp39-macosx_10_9_x86_64.whl", hash = "sha256:6b2b56950d93e41f33b4223ead100ea0fe11f8e6ee5f641eb753ce4b77a7042b"},
+    {file = "MarkupSafe-2.1.3-cp39-cp39-manylinux_2_17_aarch64.manylinux2014_aarch64.whl", hash = "sha256:9dcdfd0eaf283af041973bff14a2e143b8bd64e069f4c383416ecd79a81aab58"},
+    {file = "MarkupSafe-2.1.3-cp39-cp39-manylinux_2_17_x86_64.manylinux2014_x86_64.whl", hash = "sha256:05fb21170423db021895e1ea1e1f3ab3adb85d1c2333cbc2310f2a26bc77272e"},
+    {file = "MarkupSafe-2.1.3-cp39-cp39-manylinux_2_5_i686.manylinux1_i686.manylinux_2_17_i686.manylinux2014_i686.whl", hash = "sha256:282c2cb35b5b673bbcadb33a585408104df04f14b2d9b01d4c345a3b92861c2c"},
+    {file = "MarkupSafe-2.1.3-cp39-cp39-musllinux_1_1_aarch64.whl", hash = "sha256:ab4a0df41e7c16a1392727727e7998a467472d0ad65f3ad5e6e765015df08636"},
+    {file = "MarkupSafe-2.1.3-cp39-cp39-musllinux_1_1_i686.whl", hash = "sha256:7ef3cb2ebbf91e330e3bb937efada0edd9003683db6b57bb108c4001f37a02ea"},
+    {file = "MarkupSafe-2.1.3-cp39-cp39-musllinux_1_1_x86_64.whl", hash = "sha256:0a4e4a1aff6c7ac4cd55792abf96c915634c2b97e3cc1c7129578aa68ebd754e"},
+    {file = "MarkupSafe-2.1.3-cp39-cp39-win32.whl", hash = "sha256:fec21693218efe39aa7f8599346e90c705afa52c5b31ae019b2e57e8f6542bb2"},
+    {file = "MarkupSafe-2.1.3-cp39-cp39-win_amd64.whl", hash = "sha256:3fd4abcb888d15a94f32b75d8fd18ee162ca0c064f35b11134be77050296d6ba"},
+    {file = "MarkupSafe-2.1.3.tar.gz", hash = "sha256:af598ed32d6ae86f1b747b82783958b1a4ab8f617b06fe68795c7f026abbdcad"},
 ]
-matplotlib = [
-    {file = "matplotlib-3.6.1-cp310-cp310-macosx_10_12_universal2.whl", hash = "sha256:7730e60e751cfcfe7fcb223cf03c0b979e9a064c239783ad37929d340a364cef"},
-    {file = "matplotlib-3.6.1-cp310-cp310-macosx_10_12_x86_64.whl", hash = "sha256:9dd40505ccc526acaf9a5db1b3029e237c64b58f1249983b28a291c2d6a1d0fa"},
-    {file = "matplotlib-3.6.1-cp310-cp310-macosx_11_0_arm64.whl", hash = "sha256:85948b303534b69fd771126764cf883fde2af9b003eb5778cb60f3b46f93d3f6"},
-    {file = "matplotlib-3.6.1-cp310-cp310-manylinux_2_17_aarch64.manylinux2014_aarch64.whl", hash = "sha256:71eced071825005011cdc64efbae2e2c76b8209c18aa487dedf69796fe4b1e40"},
-    {file = "matplotlib-3.6.1-cp310-cp310-manylinux_2_17_i686.manylinux2014_i686.whl", hash = "sha256:220314c2d6b9ca11570d7cd4b841c9f3137546f188336003b9fb8def4dcb804d"},
-    {file = "matplotlib-3.6.1-cp310-cp310-manylinux_2_17_x86_64.manylinux2014_x86_64.whl", hash = "sha256:2cc5d726d4d42865f909c5208a7841109d76584950dd0587b01a77cc279d4ab7"},
-    {file = "matplotlib-3.6.1-cp310-cp310-win32.whl", hash = "sha256:183bf3ac6a6023ee590aa4b677f391ceed65ec0d6b930901a8483c267bd12995"},
-    {file = "matplotlib-3.6.1-cp310-cp310-win_amd64.whl", hash = "sha256:a68b91ac7e6bb26100a540a033f54c95fe06d9c0aa51312c2a52d07d1bde78f4"},
-    {file = "matplotlib-3.6.1-cp311-cp311-macosx_10_12_universal2.whl", hash = "sha256:4648f0d79a87bf50ee740058305c91091ee5e1fbb71a7d2f5fe6707bfe328d1c"},
-    {file = "matplotlib-3.6.1-cp311-cp311-macosx_10_12_x86_64.whl", hash = "sha256:9403764017d20ff570f7ce973a8b9637f08a6109118f4e0ce6c7493d8849a0d3"},
-    {file = "matplotlib-3.6.1-cp311-cp311-macosx_11_0_arm64.whl", hash = "sha256:e4c8b5a243dd29d50289d694e931bd6cb6ae0b5bd654d12c647543d63862540c"},
-    {file = "matplotlib-3.6.1-cp311-cp311-manylinux_2_17_aarch64.manylinux2014_aarch64.whl", hash = "sha256:c1effccef0cea2d4da9feeed22079adf6786f92c800a7d0d2ef2104318a1c66c"},
-    {file = "matplotlib-3.6.1-cp311-cp311-manylinux_2_17_i686.manylinux2014_i686.whl", hash = "sha256:8dc25473319afabe49150267e54648ac559c33b0fc2a80c8caecfbbc2948a820"},
-    {file = "matplotlib-3.6.1-cp311-cp311-manylinux_2_17_x86_64.manylinux2014_x86_64.whl", hash = "sha256:47cb088bbce82ae9fc2edf3c25e56a5c6142ce2553fea2b781679f960a70c207"},
-    {file = "matplotlib-3.6.1-cp311-cp311-win32.whl", hash = "sha256:4d3b0e0a4611bd22065bbf47e9b2f689ac9e575bcb850a9f0ae2bbed75cab956"},
-    {file = "matplotlib-3.6.1-cp311-cp311-win_amd64.whl", hash = "sha256:e3c116e779fbbf421a9e4d3060db259a9bb486d98f4e3c5a0877c599bd173582"},
-    {file = "matplotlib-3.6.1-cp38-cp38-macosx_10_12_universal2.whl", hash = "sha256:565f514dec81a41cbed10eb6011501879695087fc2787fb89423a466508abbbd"},
-    {file = "matplotlib-3.6.1-cp38-cp38-macosx_10_12_x86_64.whl", hash = "sha256:05e86446562063d6186ff6d700118c0dbd5dccc403a6187351ee526c48878f10"},
-    {file = "matplotlib-3.6.1-cp38-cp38-macosx_11_0_arm64.whl", hash = "sha256:8245e85fd793f58edf29b8a9e3be47e8ecf76ea1a1e8240545f2746181ca5787"},
-    {file = "matplotlib-3.6.1-cp38-cp38-manylinux_2_12_i686.manylinux2010_i686.whl", hash = "sha256:1e2c75d5d1ff6b7ef9870360bfa23bea076b8dc0945a60d19453d7619ed9ea8f"},
-    {file = "matplotlib-3.6.1-cp38-cp38-manylinux_2_12_x86_64.manylinux2010_x86_64.whl", hash = "sha256:c9756a8e69f6e1f76d47eb42132175b6814da1fbeae0545304c6d0fc2aae252a"},
-    {file = "matplotlib-3.6.1-cp38-cp38-manylinux_2_17_aarch64.manylinux2014_aarch64.whl", hash = "sha256:6f5788168da2661b42f7468063b725cc73fdbeeb80f2704cb2d8c415e9a57c50"},
-    {file = "matplotlib-3.6.1-cp38-cp38-win32.whl", hash = "sha256:0bab7564aafd5902128d54b68dca04f5755413fb6b502100bb0235a545882c48"},
-    {file = "matplotlib-3.6.1-cp38-cp38-win_amd64.whl", hash = "sha256:3c53486278a0629fd892783271dc994b962fba8dfe207445d039e14f1928ea46"},
-    {file = "matplotlib-3.6.1-cp39-cp39-macosx_10_12_universal2.whl", hash = "sha256:27337bcb38d5db7430c14f350924542d75416ec1546d5d9d9f39b362b71db3fb"},
-    {file = "matplotlib-3.6.1-cp39-cp39-macosx_10_12_x86_64.whl", hash = "sha256:fad858519bd6d52dbfeebdbe04d00dd8e932ed436f1c535e61bcc970a96c11e4"},
-    {file = "matplotlib-3.6.1-cp39-cp39-macosx_11_0_arm64.whl", hash = "sha256:4a3d903588b519b38ed085d0ae762a1dcd4b70164617292175cfd91b90d6c415"},
-    {file = "matplotlib-3.6.1-cp39-cp39-manylinux_2_17_aarch64.manylinux2014_aarch64.whl", hash = "sha256:87bdbd37d0a41e025879863fe9b17bab15c0421313bc33e77e5e1aa54215c9c5"},
-    {file = "matplotlib-3.6.1-cp39-cp39-manylinux_2_17_i686.manylinux2014_i686.whl", hash = "sha256:e632f66218811d4cf8b7a2a649e25ec15406c3c498f72d19e2bcf8377f38445d"},
-    {file = "matplotlib-3.6.1-cp39-cp39-manylinux_2_17_x86_64.manylinux2014_x86_64.whl", hash = "sha256:8ddd58324dc9a77e2e56d7b7aea7dbd0575b6f7cd1333c3ca9d388ac70978344"},
-    {file = "matplotlib-3.6.1-cp39-cp39-win32.whl", hash = "sha256:12ab21d0cad122f5b23688d453a0280676e7c42f634f0dbd093d15d42d142b1f"},
-    {file = "matplotlib-3.6.1-cp39-cp39-win_amd64.whl", hash = "sha256:563896ba269324872ace436a57775dcc8322678a9496b28a8c25cdafa5ec2b92"},
-    {file = "matplotlib-3.6.1-pp38-pypy38_pp73-macosx_10_12_x86_64.whl", hash = "sha256:52935b7d4ccbf0dbc9cf454dbb10ca99c11cbe8da9467596b96e5e21fd4dfc5c"},
-    {file = "matplotlib-3.6.1-pp38-pypy38_pp73-manylinux_2_17_i686.manylinux2014_i686.whl", hash = "sha256:87027ff7b2edeb14476900261ef04d4beae949e1dfa0a3eb3ad6a6efbf9d0e1d"},
-    {file = "matplotlib-3.6.1-pp38-pypy38_pp73-manylinux_2_17_x86_64.manylinux2014_x86_64.whl", hash = "sha256:a4de03085afb3b80fab341afaf8e60dfe06ce439b6dfed55d657cf34a7bc3c40"},
-    {file = "matplotlib-3.6.1-pp38-pypy38_pp73-win_amd64.whl", hash = "sha256:b53387d4e59432ff221540a4ffb5ee9669c69417805e4faf0148a00d701c61f9"},
-    {file = "matplotlib-3.6.1-pp39-pypy39_pp73-macosx_10_12_x86_64.whl", hash = "sha256:02561141c434154f7bae8e5449909d152367cb40aa57bfb2a27f2748b9c5f95f"},
-    {file = "matplotlib-3.6.1-pp39-pypy39_pp73-manylinux_2_17_i686.manylinux2014_i686.whl", hash = "sha256:d0161ebf87518ecfe0980c942d5f0d5df0e080c1746ebaab2027a969967014b7"},
-    {file = "matplotlib-3.6.1-pp39-pypy39_pp73-manylinux_2_17_x86_64.manylinux2014_x86_64.whl", hash = "sha256:2469f57e4c5cc0e85eddc7b30995ea9c404a78c0b1856da75d1a5887156ca350"},
-    {file = "matplotlib-3.6.1-pp39-pypy39_pp73-win_amd64.whl", hash = "sha256:5f97141e05baf160c3ec125f06ceb2a44c9bb62f42fcb8ee1c05313c73e99432"},
-    {file = "matplotlib-3.6.1.tar.gz", hash = "sha256:e2d1b7225666f7e1bcc94c0bc9c587a82e3e8691da4757e357e5c2515222ee37"},
+
+[[package]]
+name = "matplotlib"
+version = "3.7.2"
+description = "Python plotting package"
+optional = false
+python-versions = ">=3.8"
+files = [
+    {file = "matplotlib-3.7.2-cp310-cp310-macosx_10_12_universal2.whl", hash = "sha256:2699f7e73a76d4c110f4f25be9d2496d6ab4f17345307738557d345f099e07de"},
+    {file = "matplotlib-3.7.2-cp310-cp310-macosx_10_12_x86_64.whl", hash = "sha256:a8035ba590658bae7562786c9cc6ea1a84aa49d3afab157e414c9e2ea74f496d"},
+    {file = "matplotlib-3.7.2-cp310-cp310-macosx_11_0_arm64.whl", hash = "sha256:2f8e4a49493add46ad4a8c92f63e19d548b2b6ebbed75c6b4c7f46f57d36cdd1"},
+    {file = "matplotlib-3.7.2-cp310-cp310-manylinux_2_17_aarch64.manylinux2014_aarch64.whl", hash = "sha256:71667eb2ccca4c3537d9414b1bc00554cb7f91527c17ee4ec38027201f8f1603"},
+    {file = "matplotlib-3.7.2-cp310-cp310-manylinux_2_17_i686.manylinux2014_i686.whl", hash = "sha256:152ee0b569a37630d8628534c628456b28686e085d51394da6b71ef84c4da201"},
+    {file = "matplotlib-3.7.2-cp310-cp310-manylinux_2_17_x86_64.manylinux2014_x86_64.whl", hash = "sha256:070f8dddd1f5939e60aacb8fa08f19551f4b0140fab16a3669d5cd6e9cb28fc8"},
+    {file = "matplotlib-3.7.2-cp310-cp310-win32.whl", hash = "sha256:fdbb46fad4fb47443b5b8ac76904b2e7a66556844f33370861b4788db0f8816a"},
+    {file = "matplotlib-3.7.2-cp310-cp310-win_amd64.whl", hash = "sha256:23fb1750934e5f0128f9423db27c474aa32534cec21f7b2153262b066a581fd1"},
+    {file = "matplotlib-3.7.2-cp311-cp311-macosx_10_12_universal2.whl", hash = "sha256:30e1409b857aa8a747c5d4f85f63a79e479835f8dffc52992ac1f3f25837b544"},
+    {file = "matplotlib-3.7.2-cp311-cp311-macosx_10_12_x86_64.whl", hash = "sha256:50e0a55ec74bf2d7a0ebf50ac580a209582c2dd0f7ab51bc270f1b4a0027454e"},
+    {file = "matplotlib-3.7.2-cp311-cp311-macosx_11_0_arm64.whl", hash = "sha256:ac60daa1dc83e8821eed155796b0f7888b6b916cf61d620a4ddd8200ac70cd64"},
+    {file = "matplotlib-3.7.2-cp311-cp311-manylinux_2_17_aarch64.manylinux2014_aarch64.whl", hash = "sha256:305e3da477dc8607336ba10bac96986d6308d614706cae2efe7d3ffa60465b24"},
+    {file = "matplotlib-3.7.2-cp311-cp311-manylinux_2_17_i686.manylinux2014_i686.whl", hash = "sha256:1c308b255efb9b06b23874236ec0f10f026673ad6515f602027cc8ac7805352d"},
+    {file = "matplotlib-3.7.2-cp311-cp311-manylinux_2_17_x86_64.manylinux2014_x86_64.whl", hash = "sha256:60c521e21031632aa0d87ca5ba0c1c05f3daacadb34c093585a0be6780f698e4"},
+    {file = "matplotlib-3.7.2-cp311-cp311-win32.whl", hash = "sha256:26bede320d77e469fdf1bde212de0ec889169b04f7f1179b8930d66f82b30cbc"},
+    {file = "matplotlib-3.7.2-cp311-cp311-win_amd64.whl", hash = "sha256:af4860132c8c05261a5f5f8467f1b269bf1c7c23902d75f2be57c4a7f2394b3e"},
+    {file = "matplotlib-3.7.2-cp38-cp38-macosx_10_12_universal2.whl", hash = "sha256:a1733b8e84e7e40a9853e505fe68cc54339f97273bdfe6f3ed980095f769ddc7"},
+    {file = "matplotlib-3.7.2-cp38-cp38-macosx_10_12_x86_64.whl", hash = "sha256:d9881356dc48e58910c53af82b57183879129fa30492be69058c5b0d9fddf391"},
+    {file = "matplotlib-3.7.2-cp38-cp38-macosx_11_0_arm64.whl", hash = "sha256:f081c03f413f59390a80b3e351cc2b2ea0205839714dbc364519bcf51f4b56ca"},
+    {file = "matplotlib-3.7.2-cp38-cp38-manylinux_2_12_i686.manylinux2010_i686.whl", hash = "sha256:1cd120fca3407a225168238b790bd5c528f0fafde6172b140a2f3ab7a4ea63e9"},
+    {file = "matplotlib-3.7.2-cp38-cp38-manylinux_2_12_x86_64.manylinux2010_x86_64.whl", hash = "sha256:a2c1590b90aa7bd741b54c62b78de05d4186271e34e2377e0289d943b3522273"},
+    {file = "matplotlib-3.7.2-cp38-cp38-manylinux_2_17_aarch64.manylinux2014_aarch64.whl", hash = "sha256:6d2ff3c984b8a569bc1383cd468fc06b70d7b59d5c2854ca39f1436ae8394117"},
+    {file = "matplotlib-3.7.2-cp38-cp38-win32.whl", hash = "sha256:5dea00b62d28654b71ca92463656d80646675628d0828e08a5f3b57e12869e13"},
+    {file = "matplotlib-3.7.2-cp38-cp38-win_amd64.whl", hash = "sha256:0f506a1776ee94f9e131af1ac6efa6e5bc7cb606a3e389b0ccb6e657f60bb676"},
+    {file = "matplotlib-3.7.2-cp39-cp39-macosx_10_12_universal2.whl", hash = "sha256:6515e878f91894c2e4340d81f0911857998ccaf04dbc1bba781e3d89cbf70608"},
+    {file = "matplotlib-3.7.2-cp39-cp39-macosx_10_12_x86_64.whl", hash = "sha256:71f7a8c6b124e904db550f5b9fe483d28b896d4135e45c4ea381ad3b8a0e3256"},
+    {file = "matplotlib-3.7.2-cp39-cp39-macosx_11_0_arm64.whl", hash = "sha256:12f01b92ecd518e0697da4d97d163b2b3aa55eb3eb4e2c98235b3396d7dad55f"},
+    {file = "matplotlib-3.7.2-cp39-cp39-manylinux_2_17_aarch64.manylinux2014_aarch64.whl", hash = "sha256:a7e28d6396563955f7af437894a36bf2b279462239a41028323e04b85179058b"},
+    {file = "matplotlib-3.7.2-cp39-cp39-manylinux_2_17_i686.manylinux2014_i686.whl", hash = "sha256:dbcf59334ff645e6a67cd5f78b4b2cdb76384cdf587fa0d2dc85f634a72e1a3e"},
+    {file = "matplotlib-3.7.2-cp39-cp39-manylinux_2_17_x86_64.manylinux2014_x86_64.whl", hash = "sha256:318c89edde72ff95d8df67d82aca03861240512994a597a435a1011ba18dbc7f"},
+    {file = "matplotlib-3.7.2-cp39-cp39-win32.whl", hash = "sha256:ce55289d5659b5b12b3db4dc9b7075b70cef5631e56530f14b2945e8836f2d20"},
+    {file = "matplotlib-3.7.2-cp39-cp39-win_amd64.whl", hash = "sha256:2ecb5be2b2815431c81dc115667e33da0f5a1bcf6143980d180d09a717c4a12e"},
+    {file = "matplotlib-3.7.2-pp38-pypy38_pp73-macosx_10_12_x86_64.whl", hash = "sha256:fdcd28360dbb6203fb5219b1a5658df226ac9bebc2542a9e8f457de959d713d0"},
+    {file = "matplotlib-3.7.2-pp38-pypy38_pp73-manylinux_2_17_i686.manylinux2014_i686.whl", hash = "sha256:0c3cca3e842b11b55b52c6fb8bd6a4088693829acbfcdb3e815fa9b7d5c92c1b"},
+    {file = "matplotlib-3.7.2-pp38-pypy38_pp73-manylinux_2_17_x86_64.manylinux2014_x86_64.whl", hash = "sha256:ebf577c7a6744e9e1bd3fee45fc74a02710b214f94e2bde344912d85e0c9af7c"},
+    {file = "matplotlib-3.7.2-pp38-pypy38_pp73-win_amd64.whl", hash = "sha256:936bba394682049919dda062d33435b3be211dc3dcaa011e09634f060ec878b2"},
+    {file = "matplotlib-3.7.2-pp39-pypy39_pp73-macosx_10_12_x86_64.whl", hash = "sha256:bc221ffbc2150458b1cd71cdd9ddd5bb37962b036e41b8be258280b5b01da1dd"},
+    {file = "matplotlib-3.7.2-pp39-pypy39_pp73-manylinux_2_17_i686.manylinux2014_i686.whl", hash = "sha256:35d74ebdb3f71f112b36c2629cf32323adfbf42679e2751252acd468f5001c07"},
+    {file = "matplotlib-3.7.2-pp39-pypy39_pp73-manylinux_2_17_x86_64.manylinux2014_x86_64.whl", hash = "sha256:717157e61b3a71d3d26ad4e1770dc85156c9af435659a25ee6407dc866cb258d"},
+    {file = "matplotlib-3.7.2-pp39-pypy39_pp73-win_amd64.whl", hash = "sha256:20f844d6be031948148ba49605c8b96dfe7d3711d1b63592830d650622458c11"},
+    {file = "matplotlib-3.7.2.tar.gz", hash = "sha256:a8cdb91dddb04436bd2f098b8fdf4b81352e68cf4d2c6756fcc414791076569b"},
 ]
-matplotlib-inline = [
+
+[package.dependencies]
+contourpy = ">=1.0.1"
+cycler = ">=0.10"
+fonttools = ">=4.22.0"
+kiwisolver = ">=1.0.1"
+numpy = ">=1.20"
+packaging = ">=20.0"
+pillow = ">=6.2.0"
+pyparsing = ">=2.3.1,<3.1"
+python-dateutil = ">=2.7"
+
+[[package]]
+name = "matplotlib-inline"
+version = "0.1.6"
+description = "Inline Matplotlib backend for Jupyter"
+optional = false
+python-versions = ">=3.5"
+files = [
     {file = "matplotlib-inline-0.1.6.tar.gz", hash = "sha256:f887e5f10ba98e8d2b150ddcf4702c1e5f8b3a20005eb0f74bfdbd360ee6f304"},
     {file = "matplotlib_inline-0.1.6-py3-none-any.whl", hash = "sha256:f1f41aab5328aa5aaea9b16d083b128102f8712542f819fe7e6a420ff581b311"},
 ]
-mccabe = [
-    {file = "mccabe-0.6.1-py2.py3-none-any.whl", hash = "sha256:ab8a6258860da4b6677da4bd2fe5dc2c659cff31b3ee4f7f5d64e79735b80d42"},
-    {file = "mccabe-0.6.1.tar.gz", hash = "sha256:dd8d182285a0fe56bace7f45b5e7d1a6ebcbf524e8f3bd87eb0f125271b8831f"},
+
+[package.dependencies]
+traitlets = "*"
+
+[[package]]
+name = "mccabe"
+version = "0.7.0"
+description = "McCabe checker, plugin for flake8"
+optional = false
+python-versions = ">=3.6"
+files = [
+    {file = "mccabe-0.7.0-py2.py3-none-any.whl", hash = "sha256:6c2d30ab6be0e4a46919781807b4f0d834ebdd6c6e3dca0bda5a15f863427b6e"},
+    {file = "mccabe-0.7.0.tar.gz", hash = "sha256:348e0240c33b60bbdf4e523192ef919f28cb2c3d7d5c7794f74009290f236325"},
 ]
-mdit-py-plugins = [
-    {file = "mdit-py-plugins-0.3.1.tar.gz", hash = "sha256:3fc13298497d6e04fe96efdd41281bfe7622152f9caa1815ea99b5c893de9441"},
-    {file = "mdit_py_plugins-0.3.1-py3-none-any.whl", hash = "sha256:606a7f29cf56dbdfaf914acb21709b8f8ee29d857e8f29dcc33d8cb84c57bfa1"},
+
+[[package]]
+name = "mdit-py-plugins"
+version = "0.4.0"
+description = "Collection of plugins for markdown-it-py"
+optional = false
+python-versions = ">=3.8"
+files = [
+    {file = "mdit_py_plugins-0.4.0-py3-none-any.whl", hash = "sha256:b51b3bb70691f57f974e257e367107857a93b36f322a9e6d44ca5bf28ec2def9"},
+    {file = "mdit_py_plugins-0.4.0.tar.gz", hash = "sha256:d8ab27e9aed6c38aa716819fedfde15ca275715955f8a185a8e1cf90fb1d2c1b"},
 ]
-mdurl = [
+
+[package.dependencies]
+markdown-it-py = ">=1.0.0,<4.0.0"
+
+[package.extras]
+code-style = ["pre-commit"]
+rtd = ["myst-parser", "sphinx-book-theme"]
+testing = ["coverage", "pytest", "pytest-cov", "pytest-regressions"]
+
+[[package]]
+name = "mdurl"
+version = "0.1.2"
+description = "Markdown URL utilities"
+optional = false
+python-versions = ">=3.7"
+files = [
     {file = "mdurl-0.1.2-py3-none-any.whl", hash = "sha256:84008a41e51615a49fc9966191ff91509e3c40b939176e643fd50a5c2196b8f8"},
     {file = "mdurl-0.1.2.tar.gz", hash = "sha256:bb413d29f5eea38f31dd4754dd7377d4465116fb207585f97bf925588687c1ba"},
 ]
-mistune = [
-    {file = "mistune-2.0.4-py2.py3-none-any.whl", hash = "sha256:182cc5ee6f8ed1b807de6b7bb50155df7b66495412836b9a74c8fbdfc75fe36d"},
-    {file = "mistune-2.0.4.tar.gz", hash = "sha256:9ee0a66053e2267aba772c71e06891fa8f1af6d4b01d5e84e267b4570d4d9808"},
+
+[[package]]
+name = "mistune"
+version = "3.0.1"
+description = "A sane and fast Markdown parser with useful plugins and renderers"
+optional = false
+python-versions = ">=3.7"
+files = [
+    {file = "mistune-3.0.1-py3-none-any.whl", hash = "sha256:b9b3e438efbb57c62b5beb5e134dab664800bdf1284a7ee09e8b12b13eb1aac6"},
+    {file = "mistune-3.0.1.tar.gz", hash = "sha256:e912116c13aa0944f9dc530db38eb88f6a77087ab128f49f84a48f4c05ea163c"},
 ]
-more-itertools = [
-    {file = "more-itertools-9.0.0.tar.gz", hash = "sha256:5a6257e40878ef0520b1803990e3e22303a41b5714006c32a3fd8304b26ea1ab"},
-    {file = "more_itertools-9.0.0-py3-none-any.whl", hash = "sha256:250e83d7e81d0c87ca6bd942e6aeab8cc9daa6096d12c5308f3f92fa5e5c1f41"},
+
+[[package]]
+name = "more-itertools"
+version = "10.1.0"
+description = "More routines for operating on iterables, beyond itertools"
+optional = false
+python-versions = ">=3.8"
+files = [
+    {file = "more-itertools-10.1.0.tar.gz", hash = "sha256:626c369fa0eb37bac0291bce8259b332fd59ac792fa5497b59837309cd5b114a"},
+    {file = "more_itertools-10.1.0-py3-none-any.whl", hash = "sha256:64e0735fcfdc6f3464ea133afe8ea4483b1c5fe3a3d69852e6503b43a0b222e6"},
 ]
-mpld3 = [
-    {file = "mpld3-0.5.8-py3-none-any.whl", hash = "sha256:41938e65de4ba41a1b53d92e7c8609e7172e09b33ef5db42bb6f73701106c8b7"},
-    {file = "mpld3-0.5.8.tar.gz", hash = "sha256:1a167dbef836dd7c66d8aa71c06a32d50bffa18725f304d93cb74fdb3545043b"},
+
+[[package]]
+name = "mpld3"
+version = "0.5.9"
+description = "D3 Viewer for Matplotlib"
+optional = false
+python-versions = "*"
+files = [
+    {file = "mpld3-0.5.9-py3-none-any.whl", hash = "sha256:cecdd988b24f8d7c7f362b8f72bb91df1a24b1993dd02a958223918a31c31052"},
+    {file = "mpld3-0.5.9.tar.gz", hash = "sha256:d8d228b2911132fd0154e2a49543b7f97247f9851cfe468c6b616f452c676158"},
 ]
-mpmath = [
-    {file = "mpmath-1.2.1-py3-none-any.whl", hash = "sha256:604bc21bd22d2322a177c73bdb573994ef76e62edd595d17e00aff24b0667e5c"},
-    {file = "mpmath-1.2.1.tar.gz", hash = "sha256:79ffb45cf9f4b101a807595bcb3e72e0396202e0b1d25d689134b48c4216a81a"},
+
+[package.dependencies]
+jinja2 = "*"
+matplotlib = "*"
+
+[[package]]
+name = "mpmath"
+version = "1.3.0"
+description = "Python library for arbitrary-precision floating-point arithmetic"
+optional = false
+python-versions = "*"
+files = [
+    {file = "mpmath-1.3.0-py3-none-any.whl", hash = "sha256:a0b2b9fe80bbcd81a6647ff13108738cfb482d481d826cc0e02f5b35e5c88d2c"},
+    {file = "mpmath-1.3.0.tar.gz", hash = "sha256:7a28eb2a9774d00c7bc92411c19a89209d5da7c4c9a9e227be8330a23a25b91f"},
 ]
-msal = [
-    {file = "msal-1.20.0b1-py2.py3-none-any.whl", hash = "sha256:07805ade58ce76bdaa4f6a3f7e61477901d5145abd7959a850eb6c49a2fbaea6"},
-    {file = "msal-1.20.0b1.tar.gz", hash = "sha256:8c0d7238b7bc5abe86515568c4fd59e53c5ccca159ef02b369f867b951480c4d"},
+
+[package.extras]
+develop = ["codecov", "pycodestyle", "pytest (>=4.6)", "pytest-cov", "wheel"]
+docs = ["sphinx"]
+gmpy = ["gmpy2 (>=2.1.0a4)"]
+tests = ["pytest (>=4.6)"]
+
+[[package]]
+name = "msal"
+version = "1.24.0b1"
+description = "The Microsoft Authentication Library (MSAL) for Python library"
+optional = false
+python-versions = ">=2.7"
+files = [
+    {file = "msal-1.24.0b1-py2.py3-none-any.whl", hash = "sha256:55a232e106c144c42f2fef05d3613ddc354e254338fc2ffb326a0d08878ebad6"},
+    {file = "msal-1.24.0b1.tar.gz", hash = "sha256:cdee42a97fa6f171f83541022f64a0353f445d5e304bfd0380ee573031e8fd4a"},
 ]
-msal-extensions = [
+
+[package.dependencies]
+cryptography = ">=0.6,<44"
+PyJWT = {version = ">=1.0.0,<3", extras = ["crypto"]}
+pymsalruntime = {version = ">=0.13.2,<0.14", optional = true, markers = "python_version >= \"3.6\" and platform_system == \"Windows\" and extra == \"broker\""}
+requests = ">=2.0.0,<3"
+
+[package.extras]
+broker = ["pymsalruntime (>=0.13.2,<0.14)"]
+
+[[package]]
+name = "msal-extensions"
+version = "1.0.0"
+description = "Microsoft Authentication Library extensions (MSAL EX) provides a persistence API that can save your data on disk, encrypted on Windows, macOS and Linux. Concurrent data access will be coordinated by a file lock mechanism."
+optional = false
+python-versions = "*"
+files = [
     {file = "msal-extensions-1.0.0.tar.gz", hash = "sha256:c676aba56b0cce3783de1b5c5ecfe828db998167875126ca4b47dc6436451354"},
     {file = "msal_extensions-1.0.0-py2.py3-none-any.whl", hash = "sha256:91e3db9620b822d0ed2b4d1850056a0f133cba04455e62f11612e40f5502f2ee"},
 ]
-msgpack = [
-    {file = "msgpack-1.0.4-cp310-cp310-macosx_10_9_universal2.whl", hash = "sha256:4ab251d229d10498e9a2f3b1e68ef64cb393394ec477e3370c457f9430ce9250"},
-    {file = "msgpack-1.0.4-cp310-cp310-macosx_10_9_x86_64.whl", hash = "sha256:112b0f93202d7c0fef0b7810d465fde23c746a2d482e1e2de2aafd2ce1492c88"},
-    {file = "msgpack-1.0.4-cp310-cp310-macosx_11_0_arm64.whl", hash = "sha256:002b5c72b6cd9b4bafd790f364b8480e859b4712e91f43014fe01e4f957b8467"},
-    {file = "msgpack-1.0.4-cp310-cp310-manylinux_2_17_aarch64.manylinux2014_aarch64.whl", hash = "sha256:35bc0faa494b0f1d851fd29129b2575b2e26d41d177caacd4206d81502d4c6a6"},
-    {file = "msgpack-1.0.4-cp310-cp310-manylinux_2_17_x86_64.manylinux2014_x86_64.whl", hash = "sha256:4733359808c56d5d7756628736061c432ded018e7a1dff2d35a02439043321aa"},
-    {file = "msgpack-1.0.4-cp310-cp310-manylinux_2_5_i686.manylinux1_i686.manylinux_2_17_i686.manylinux2014_i686.whl", hash = "sha256:eb514ad14edf07a1dbe63761fd30f89ae79b42625731e1ccf5e1f1092950eaa6"},
-    {file = "msgpack-1.0.4-cp310-cp310-musllinux_1_1_aarch64.whl", hash = "sha256:c23080fdeec4716aede32b4e0ef7e213c7b1093eede9ee010949f2a418ced6ba"},
-    {file = "msgpack-1.0.4-cp310-cp310-musllinux_1_1_i686.whl", hash = "sha256:49565b0e3d7896d9ea71d9095df15b7f75a035c49be733051c34762ca95bbf7e"},
-    {file = "msgpack-1.0.4-cp310-cp310-musllinux_1_1_x86_64.whl", hash = "sha256:aca0f1644d6b5a73eb3e74d4d64d5d8c6c3d577e753a04c9e9c87d07692c58db"},
-    {file = "msgpack-1.0.4-cp310-cp310-win32.whl", hash = "sha256:0dfe3947db5fb9ce52aaea6ca28112a170db9eae75adf9339a1aec434dc954ef"},
-    {file = "msgpack-1.0.4-cp310-cp310-win_amd64.whl", hash = "sha256:4dea20515f660aa6b7e964433b1808d098dcfcabbebeaaad240d11f909298075"},
-    {file = "msgpack-1.0.4-cp36-cp36m-macosx_10_9_x86_64.whl", hash = "sha256:e83f80a7fec1a62cf4e6c9a660e39c7f878f603737a0cdac8c13131d11d97f52"},
-    {file = "msgpack-1.0.4-cp36-cp36m-manylinux_2_17_aarch64.manylinux2014_aarch64.whl", hash = "sha256:3c11a48cf5e59026ad7cb0dc29e29a01b5a66a3e333dc11c04f7e991fc5510a9"},
-    {file = "msgpack-1.0.4-cp36-cp36m-manylinux_2_17_x86_64.manylinux2014_x86_64.whl", hash = "sha256:1276e8f34e139aeff1c77a3cefb295598b504ac5314d32c8c3d54d24fadb94c9"},
-    {file = "msgpack-1.0.4-cp36-cp36m-manylinux_2_5_i686.manylinux1_i686.manylinux_2_17_i686.manylinux2014_i686.whl", hash = "sha256:6c9566f2c39ccced0a38d37c26cc3570983b97833c365a6044edef3574a00c08"},
-    {file = "msgpack-1.0.4-cp36-cp36m-musllinux_1_1_aarch64.whl", hash = "sha256:fcb8a47f43acc113e24e910399376f7277cf8508b27e5b88499f053de6b115a8"},
-    {file = "msgpack-1.0.4-cp36-cp36m-musllinux_1_1_i686.whl", hash = "sha256:76ee788122de3a68a02ed6f3a16bbcd97bc7c2e39bd4d94be2f1821e7c4a64e6"},
-    {file = "msgpack-1.0.4-cp36-cp36m-musllinux_1_1_x86_64.whl", hash = "sha256:0a68d3ac0104e2d3510de90a1091720157c319ceeb90d74f7b5295a6bee51bae"},
-    {file = "msgpack-1.0.4-cp36-cp36m-win32.whl", hash = "sha256:85f279d88d8e833ec015650fd15ae5eddce0791e1e8a59165318f371158efec6"},
-    {file = "msgpack-1.0.4-cp36-cp36m-win_amd64.whl", hash = "sha256:c1683841cd4fa45ac427c18854c3ec3cd9b681694caf5bff04edb9387602d661"},
-    {file = "msgpack-1.0.4-cp37-cp37m-macosx_10_9_x86_64.whl", hash = "sha256:a75dfb03f8b06f4ab093dafe3ddcc2d633259e6c3f74bb1b01996f5d8aa5868c"},
-    {file = "msgpack-1.0.4-cp37-cp37m-manylinux_2_17_aarch64.manylinux2014_aarch64.whl", hash = "sha256:9667bdfdf523c40d2511f0e98a6c9d3603be6b371ae9a238b7ef2dc4e7a427b0"},
-    {file = "msgpack-1.0.4-cp37-cp37m-manylinux_2_17_x86_64.manylinux2014_x86_64.whl", hash = "sha256:11184bc7e56fd74c00ead4f9cc9a3091d62ecb96e97653add7a879a14b003227"},
-    {file = "msgpack-1.0.4-cp37-cp37m-manylinux_2_5_i686.manylinux1_i686.manylinux_2_17_i686.manylinux2014_i686.whl", hash = "sha256:ac5bd7901487c4a1dd51a8c58f2632b15d838d07ceedaa5e4c080f7190925bff"},
-    {file = "msgpack-1.0.4-cp37-cp37m-musllinux_1_1_aarch64.whl", hash = "sha256:1e91d641d2bfe91ba4c52039adc5bccf27c335356055825c7f88742c8bb900dd"},
-    {file = "msgpack-1.0.4-cp37-cp37m-musllinux_1_1_i686.whl", hash = "sha256:2a2df1b55a78eb5f5b7d2a4bb221cd8363913830145fad05374a80bf0877cb1e"},
-    {file = "msgpack-1.0.4-cp37-cp37m-musllinux_1_1_x86_64.whl", hash = "sha256:545e3cf0cf74f3e48b470f68ed19551ae6f9722814ea969305794645da091236"},
-    {file = "msgpack-1.0.4-cp37-cp37m-win32.whl", hash = "sha256:2cc5ca2712ac0003bcb625c96368fd08a0f86bbc1a5578802512d87bc592fe44"},
-    {file = "msgpack-1.0.4-cp37-cp37m-win_amd64.whl", hash = "sha256:eba96145051ccec0ec86611fe9cf693ce55f2a3ce89c06ed307de0e085730ec1"},
-    {file = "msgpack-1.0.4-cp38-cp38-macosx_10_9_universal2.whl", hash = "sha256:7760f85956c415578c17edb39eed99f9181a48375b0d4a94076d84148cf67b2d"},
-    {file = "msgpack-1.0.4-cp38-cp38-macosx_10_9_x86_64.whl", hash = "sha256:449e57cc1ff18d3b444eb554e44613cffcccb32805d16726a5494038c3b93dab"},
-    {file = "msgpack-1.0.4-cp38-cp38-macosx_11_0_arm64.whl", hash = "sha256:d603de2b8d2ea3f3bcb2efe286849aa7a81531abc52d8454da12f46235092bcb"},
-    {file = "msgpack-1.0.4-cp38-cp38-manylinux_2_17_aarch64.manylinux2014_aarch64.whl", hash = "sha256:48f5d88c99f64c456413d74a975bd605a9b0526293218a3b77220a2c15458ba9"},
-    {file = "msgpack-1.0.4-cp38-cp38-manylinux_2_17_x86_64.manylinux2014_x86_64.whl", hash = "sha256:6916c78f33602ecf0509cc40379271ba0f9ab572b066bd4bdafd7434dee4bc6e"},
-    {file = "msgpack-1.0.4-cp38-cp38-manylinux_2_5_i686.manylinux1_i686.manylinux_2_17_i686.manylinux2014_i686.whl", hash = "sha256:81fc7ba725464651190b196f3cd848e8553d4d510114a954681fd0b9c479d7e1"},
-    {file = "msgpack-1.0.4-cp38-cp38-musllinux_1_1_aarch64.whl", hash = "sha256:d5b5b962221fa2c5d3a7f8133f9abffc114fe218eb4365e40f17732ade576c8e"},
-    {file = "msgpack-1.0.4-cp38-cp38-musllinux_1_1_i686.whl", hash = "sha256:77ccd2af37f3db0ea59fb280fa2165bf1b096510ba9fe0cc2bf8fa92a22fdb43"},
-    {file = "msgpack-1.0.4-cp38-cp38-musllinux_1_1_x86_64.whl", hash = "sha256:b17be2478b622939e39b816e0aa8242611cc8d3583d1cd8ec31b249f04623243"},
-    {file = "msgpack-1.0.4-cp38-cp38-win32.whl", hash = "sha256:2bb8cdf50dd623392fa75525cce44a65a12a00c98e1e37bf0fb08ddce2ff60d2"},
-    {file = "msgpack-1.0.4-cp38-cp38-win_amd64.whl", hash = "sha256:26b8feaca40a90cbe031b03d82b2898bf560027160d3eae1423f4a67654ec5d6"},
-    {file = "msgpack-1.0.4-cp39-cp39-macosx_10_9_universal2.whl", hash = "sha256:462497af5fd4e0edbb1559c352ad84f6c577ffbbb708566a0abaaa84acd9f3ae"},
-    {file = "msgpack-1.0.4-cp39-cp39-macosx_10_9_x86_64.whl", hash = "sha256:2999623886c5c02deefe156e8f869c3b0aaeba14bfc50aa2486a0415178fce55"},
-    {file = "msgpack-1.0.4-cp39-cp39-macosx_11_0_arm64.whl", hash = "sha256:f0029245c51fd9473dc1aede1160b0a29f4a912e6b1dd353fa6d317085b219da"},
-    {file = "msgpack-1.0.4-cp39-cp39-manylinux_2_17_aarch64.manylinux2014_aarch64.whl", hash = "sha256:ed6f7b854a823ea44cf94919ba3f727e230da29feb4a99711433f25800cf747f"},
-    {file = "msgpack-1.0.4-cp39-cp39-manylinux_2_17_x86_64.manylinux2014_x86_64.whl", hash = "sha256:0df96d6eaf45ceca04b3f3b4b111b86b33785683d682c655063ef8057d61fd92"},
-    {file = "msgpack-1.0.4-cp39-cp39-manylinux_2_5_i686.manylinux1_i686.manylinux_2_17_i686.manylinux2014_i686.whl", hash = "sha256:6a4192b1ab40f8dca3f2877b70e63799d95c62c068c84dc028b40a6cb03ccd0f"},
-    {file = "msgpack-1.0.4-cp39-cp39-musllinux_1_1_aarch64.whl", hash = "sha256:0e3590f9fb9f7fbc36df366267870e77269c03172d086fa76bb4eba8b2b46624"},
-    {file = "msgpack-1.0.4-cp39-cp39-musllinux_1_1_i686.whl", hash = "sha256:1576bd97527a93c44fa856770197dec00d223b0b9f36ef03f65bac60197cedf8"},
-    {file = "msgpack-1.0.4-cp39-cp39-musllinux_1_1_x86_64.whl", hash = "sha256:63e29d6e8c9ca22b21846234913c3466b7e4ee6e422f205a2988083de3b08cae"},
-    {file = "msgpack-1.0.4-cp39-cp39-win32.whl", hash = "sha256:fb62ea4b62bfcb0b380d5680f9a4b3f9a2d166d9394e9bbd9666c0ee09a3645c"},
-    {file = "msgpack-1.0.4-cp39-cp39-win_amd64.whl", hash = "sha256:4d5834a2a48965a349da1c5a79760d94a1a0172fbb5ab6b5b33cbf8447e109ce"},
-    {file = "msgpack-1.0.4.tar.gz", hash = "sha256:f5d869c18f030202eb412f08b28d2afeea553d6613aee89e200d7aca7ef01f5f"},
+
+[package.dependencies]
+msal = ">=0.4.1,<2.0.0"
+portalocker = [
+    {version = ">=1.0,<3", markers = "python_version >= \"3.5\" and platform_system != \"Windows\""},
+    {version = ">=1.6,<3", markers = "python_version >= \"3.5\" and platform_system == \"Windows\""},
 ]
-msgpack-numpy = [
+
+[[package]]
+name = "msgpack"
+version = "1.0.5"
+description = "MessagePack serializer"
+optional = false
+python-versions = "*"
+files = [
+    {file = "msgpack-1.0.5-cp310-cp310-macosx_10_9_universal2.whl", hash = "sha256:525228efd79bb831cf6830a732e2e80bc1b05436b086d4264814b4b2955b2fa9"},
+    {file = "msgpack-1.0.5-cp310-cp310-macosx_10_9_x86_64.whl", hash = "sha256:4f8d8b3bf1ff2672567d6b5c725a1b347fe838b912772aa8ae2bf70338d5a198"},
+    {file = "msgpack-1.0.5-cp310-cp310-macosx_11_0_arm64.whl", hash = "sha256:cdc793c50be3f01106245a61b739328f7dccc2c648b501e237f0699fe1395b81"},
+    {file = "msgpack-1.0.5-cp310-cp310-manylinux_2_17_aarch64.manylinux2014_aarch64.whl", hash = "sha256:5cb47c21a8a65b165ce29f2bec852790cbc04936f502966768e4aae9fa763cb7"},
+    {file = "msgpack-1.0.5-cp310-cp310-manylinux_2_17_x86_64.manylinux2014_x86_64.whl", hash = "sha256:e42b9594cc3bf4d838d67d6ed62b9e59e201862a25e9a157019e171fbe672dd3"},
+    {file = "msgpack-1.0.5-cp310-cp310-manylinux_2_5_i686.manylinux1_i686.manylinux_2_17_i686.manylinux2014_i686.whl", hash = "sha256:55b56a24893105dc52c1253649b60f475f36b3aa0fc66115bffafb624d7cb30b"},
+    {file = "msgpack-1.0.5-cp310-cp310-musllinux_1_1_aarch64.whl", hash = "sha256:1967f6129fc50a43bfe0951c35acbb729be89a55d849fab7686004da85103f1c"},
+    {file = "msgpack-1.0.5-cp310-cp310-musllinux_1_1_i686.whl", hash = "sha256:20a97bf595a232c3ee6d57ddaadd5453d174a52594bf9c21d10407e2a2d9b3bd"},
+    {file = "msgpack-1.0.5-cp310-cp310-musllinux_1_1_x86_64.whl", hash = "sha256:d25dd59bbbbb996eacf7be6b4ad082ed7eacc4e8f3d2df1ba43822da9bfa122a"},
+    {file = "msgpack-1.0.5-cp310-cp310-win32.whl", hash = "sha256:382b2c77589331f2cb80b67cc058c00f225e19827dbc818d700f61513ab47bea"},
+    {file = "msgpack-1.0.5-cp310-cp310-win_amd64.whl", hash = "sha256:4867aa2df9e2a5fa5f76d7d5565d25ec76e84c106b55509e78c1ede0f152659a"},
+    {file = "msgpack-1.0.5-cp311-cp311-macosx_10_9_universal2.whl", hash = "sha256:9f5ae84c5c8a857ec44dc180a8b0cc08238e021f57abdf51a8182e915e6299f0"},
+    {file = "msgpack-1.0.5-cp311-cp311-macosx_10_9_x86_64.whl", hash = "sha256:9e6ca5d5699bcd89ae605c150aee83b5321f2115695e741b99618f4856c50898"},
+    {file = "msgpack-1.0.5-cp311-cp311-macosx_11_0_arm64.whl", hash = "sha256:5494ea30d517a3576749cad32fa27f7585c65f5f38309c88c6d137877fa28a5a"},
+    {file = "msgpack-1.0.5-cp311-cp311-manylinux_2_17_aarch64.manylinux2014_aarch64.whl", hash = "sha256:1ab2f3331cb1b54165976a9d976cb251a83183631c88076613c6c780f0d6e45a"},
+    {file = "msgpack-1.0.5-cp311-cp311-manylinux_2_17_x86_64.manylinux2014_x86_64.whl", hash = "sha256:28592e20bbb1620848256ebc105fc420436af59515793ed27d5c77a217477705"},
+    {file = "msgpack-1.0.5-cp311-cp311-manylinux_2_5_i686.manylinux1_i686.manylinux_2_17_i686.manylinux2014_i686.whl", hash = "sha256:fe5c63197c55bce6385d9aee16c4d0641684628f63ace85f73571e65ad1c1e8d"},
+    {file = "msgpack-1.0.5-cp311-cp311-musllinux_1_1_aarch64.whl", hash = "sha256:ed40e926fa2f297e8a653c954b732f125ef97bdd4c889f243182299de27e2aa9"},
+    {file = "msgpack-1.0.5-cp311-cp311-musllinux_1_1_i686.whl", hash = "sha256:b2de4c1c0538dcb7010902a2b97f4e00fc4ddf2c8cda9749af0e594d3b7fa3d7"},
+    {file = "msgpack-1.0.5-cp311-cp311-musllinux_1_1_x86_64.whl", hash = "sha256:bf22a83f973b50f9d38e55c6aade04c41ddda19b00c4ebc558930d78eecc64ed"},
+    {file = "msgpack-1.0.5-cp311-cp311-win32.whl", hash = "sha256:c396e2cc213d12ce017b686e0f53497f94f8ba2b24799c25d913d46c08ec422c"},
+    {file = "msgpack-1.0.5-cp311-cp311-win_amd64.whl", hash = "sha256:6c4c68d87497f66f96d50142a2b73b97972130d93677ce930718f68828b382e2"},
+    {file = "msgpack-1.0.5-cp36-cp36m-macosx_10_9_x86_64.whl", hash = "sha256:a2b031c2e9b9af485d5e3c4520f4220d74f4d222a5b8dc8c1a3ab9448ca79c57"},
+    {file = "msgpack-1.0.5-cp36-cp36m-manylinux_2_17_aarch64.manylinux2014_aarch64.whl", hash = "sha256:4f837b93669ce4336e24d08286c38761132bc7ab29782727f8557e1eb21b2080"},
+    {file = "msgpack-1.0.5-cp36-cp36m-manylinux_2_17_x86_64.manylinux2014_x86_64.whl", hash = "sha256:b1d46dfe3832660f53b13b925d4e0fa1432b00f5f7210eb3ad3bb9a13c6204a6"},
+    {file = "msgpack-1.0.5-cp36-cp36m-manylinux_2_5_i686.manylinux1_i686.manylinux_2_17_i686.manylinux2014_i686.whl", hash = "sha256:366c9a7b9057e1547f4ad51d8facad8b406bab69c7d72c0eb6f529cf76d4b85f"},
+    {file = "msgpack-1.0.5-cp36-cp36m-musllinux_1_1_aarch64.whl", hash = "sha256:4c075728a1095efd0634a7dccb06204919a2f67d1893b6aa8e00497258bf926c"},
+    {file = "msgpack-1.0.5-cp36-cp36m-musllinux_1_1_i686.whl", hash = "sha256:f933bbda5a3ee63b8834179096923b094b76f0c7a73c1cfe8f07ad608c58844b"},
+    {file = "msgpack-1.0.5-cp36-cp36m-musllinux_1_1_x86_64.whl", hash = "sha256:36961b0568c36027c76e2ae3ca1132e35123dcec0706c4b7992683cc26c1320c"},
+    {file = "msgpack-1.0.5-cp36-cp36m-win32.whl", hash = "sha256:b5ef2f015b95f912c2fcab19c36814963b5463f1fb9049846994b007962743e9"},
+    {file = "msgpack-1.0.5-cp36-cp36m-win_amd64.whl", hash = "sha256:288e32b47e67f7b171f86b030e527e302c91bd3f40fd9033483f2cacc37f327a"},
+    {file = "msgpack-1.0.5-cp37-cp37m-macosx_10_9_x86_64.whl", hash = "sha256:137850656634abddfb88236008339fdaba3178f4751b28f270d2ebe77a563b6c"},
+    {file = "msgpack-1.0.5-cp37-cp37m-manylinux_2_17_aarch64.manylinux2014_aarch64.whl", hash = "sha256:0c05a4a96585525916b109bb85f8cb6511db1c6f5b9d9cbcbc940dc6b4be944b"},
+    {file = "msgpack-1.0.5-cp37-cp37m-manylinux_2_17_x86_64.manylinux2014_x86_64.whl", hash = "sha256:56a62ec00b636583e5cb6ad313bbed36bb7ead5fa3a3e38938503142c72cba4f"},
+    {file = "msgpack-1.0.5-cp37-cp37m-manylinux_2_5_i686.manylinux1_i686.manylinux_2_17_i686.manylinux2014_i686.whl", hash = "sha256:ef8108f8dedf204bb7b42994abf93882da1159728a2d4c5e82012edd92c9da9f"},
+    {file = "msgpack-1.0.5-cp37-cp37m-musllinux_1_1_aarch64.whl", hash = "sha256:1835c84d65f46900920b3708f5ba829fb19b1096c1800ad60bae8418652a951d"},
+    {file = "msgpack-1.0.5-cp37-cp37m-musllinux_1_1_i686.whl", hash = "sha256:e57916ef1bd0fee4f21c4600e9d1da352d8816b52a599c46460e93a6e9f17086"},
+    {file = "msgpack-1.0.5-cp37-cp37m-musllinux_1_1_x86_64.whl", hash = "sha256:17358523b85973e5f242ad74aa4712b7ee560715562554aa2134d96e7aa4cbbf"},
+    {file = "msgpack-1.0.5-cp37-cp37m-win32.whl", hash = "sha256:cb5aaa8c17760909ec6cb15e744c3ebc2ca8918e727216e79607b7bbce9c8f77"},
+    {file = "msgpack-1.0.5-cp37-cp37m-win_amd64.whl", hash = "sha256:ab31e908d8424d55601ad7075e471b7d0140d4d3dd3272daf39c5c19d936bd82"},
+    {file = "msgpack-1.0.5-cp38-cp38-macosx_10_9_universal2.whl", hash = "sha256:b72d0698f86e8d9ddf9442bdedec15b71df3598199ba33322d9711a19f08145c"},
+    {file = "msgpack-1.0.5-cp38-cp38-macosx_10_9_x86_64.whl", hash = "sha256:379026812e49258016dd84ad79ac8446922234d498058ae1d415f04b522d5b2d"},
+    {file = "msgpack-1.0.5-cp38-cp38-macosx_11_0_arm64.whl", hash = "sha256:332360ff25469c346a1c5e47cbe2a725517919892eda5cfaffe6046656f0b7bb"},
+    {file = "msgpack-1.0.5-cp38-cp38-manylinux_2_17_aarch64.manylinux2014_aarch64.whl", hash = "sha256:476a8fe8fae289fdf273d6d2a6cb6e35b5a58541693e8f9f019bfe990a51e4ba"},
+    {file = "msgpack-1.0.5-cp38-cp38-manylinux_2_17_x86_64.manylinux2014_x86_64.whl", hash = "sha256:a9985b214f33311df47e274eb788a5893a761d025e2b92c723ba4c63936b69b1"},
+    {file = "msgpack-1.0.5-cp38-cp38-manylinux_2_5_i686.manylinux1_i686.manylinux_2_17_i686.manylinux2014_i686.whl", hash = "sha256:48296af57cdb1d885843afd73c4656be5c76c0c6328db3440c9601a98f303d87"},
+    {file = "msgpack-1.0.5-cp38-cp38-musllinux_1_1_aarch64.whl", hash = "sha256:addab7e2e1fcc04bd08e4eb631c2a90960c340e40dfc4a5e24d2ff0d5a3b3edb"},
+    {file = "msgpack-1.0.5-cp38-cp38-musllinux_1_1_i686.whl", hash = "sha256:916723458c25dfb77ff07f4c66aed34e47503b2eb3188b3adbec8d8aa6e00f48"},
+    {file = "msgpack-1.0.5-cp38-cp38-musllinux_1_1_x86_64.whl", hash = "sha256:821c7e677cc6acf0fd3f7ac664c98803827ae6de594a9f99563e48c5a2f27eb0"},
+    {file = "msgpack-1.0.5-cp38-cp38-win32.whl", hash = "sha256:1c0f7c47f0087ffda62961d425e4407961a7ffd2aa004c81b9c07d9269512f6e"},
+    {file = "msgpack-1.0.5-cp38-cp38-win_amd64.whl", hash = "sha256:bae7de2026cbfe3782c8b78b0db9cbfc5455e079f1937cb0ab8d133496ac55e1"},
+    {file = "msgpack-1.0.5-cp39-cp39-macosx_10_9_universal2.whl", hash = "sha256:20c784e66b613c7f16f632e7b5e8a1651aa5702463d61394671ba07b2fc9e025"},
+    {file = "msgpack-1.0.5-cp39-cp39-macosx_10_9_x86_64.whl", hash = "sha256:266fa4202c0eb94d26822d9bfd7af25d1e2c088927fe8de9033d929dd5ba24c5"},
+    {file = "msgpack-1.0.5-cp39-cp39-macosx_11_0_arm64.whl", hash = "sha256:18334484eafc2b1aa47a6d42427da7fa8f2ab3d60b674120bce7a895a0a85bdd"},
+    {file = "msgpack-1.0.5-cp39-cp39-manylinux_2_17_aarch64.manylinux2014_aarch64.whl", hash = "sha256:57e1f3528bd95cc44684beda696f74d3aaa8a5e58c816214b9046512240ef437"},
+    {file = "msgpack-1.0.5-cp39-cp39-manylinux_2_17_x86_64.manylinux2014_x86_64.whl", hash = "sha256:586d0d636f9a628ddc6a17bfd45aa5b5efaf1606d2b60fa5d87b8986326e933f"},
+    {file = "msgpack-1.0.5-cp39-cp39-manylinux_2_5_i686.manylinux1_i686.manylinux_2_17_i686.manylinux2014_i686.whl", hash = "sha256:a740fa0e4087a734455f0fc3abf5e746004c9da72fbd541e9b113013c8dc3282"},
+    {file = "msgpack-1.0.5-cp39-cp39-musllinux_1_1_aarch64.whl", hash = "sha256:3055b0455e45810820db1f29d900bf39466df96ddca11dfa6d074fa47054376d"},
+    {file = "msgpack-1.0.5-cp39-cp39-musllinux_1_1_i686.whl", hash = "sha256:a61215eac016f391129a013c9e46f3ab308db5f5ec9f25811e811f96962599a8"},
+    {file = "msgpack-1.0.5-cp39-cp39-musllinux_1_1_x86_64.whl", hash = "sha256:362d9655cd369b08fda06b6657a303eb7172d5279997abe094512e919cf74b11"},
+    {file = "msgpack-1.0.5-cp39-cp39-win32.whl", hash = "sha256:ac9dd47af78cae935901a9a500104e2dea2e253207c924cc95de149606dc43cc"},
+    {file = "msgpack-1.0.5-cp39-cp39-win_amd64.whl", hash = "sha256:06f5174b5f8ed0ed919da0e62cbd4ffde676a374aba4020034da05fab67b9164"},
+    {file = "msgpack-1.0.5.tar.gz", hash = "sha256:c075544284eadc5cddc70f4757331d99dcbc16b2bbd4849d15f8aae4cf36d31c"},
+]
+
+[[package]]
+name = "msgpack-numpy"
+version = "0.4.8"
+description = "Numpy data serialization using msgpack"
+optional = false
+python-versions = "*"
+files = [
     {file = "msgpack-numpy-0.4.8.tar.gz", hash = "sha256:c667d3180513422f9c7545be5eec5d296dcbb357e06f72ed39cc683797556e69"},
     {file = "msgpack_numpy-0.4.8-py2.py3-none-any.whl", hash = "sha256:773c19d4dfbae1b3c7b791083e2caf66983bb19b40901646f61d8731554ae3da"},
 ]
-msgpack-python = [
+
+[package.dependencies]
+msgpack = ">=0.5.2"
+numpy = ">=1.9.0"
+
+[[package]]
+name = "msgpack-python"
+version = "0.5.6"
+description = "MessagePack (de)serializer."
+optional = false
+python-versions = "*"
+files = [
     {file = "msgpack-python-0.5.6.tar.gz", hash = "sha256:378cc8a6d3545b532dfd149da715abae4fda2a3adb6d74e525d0d5e51f46909b"},
 ]
-msrest = [
+
+[[package]]
+name = "msrest"
+version = "0.7.1"
+description = "AutoRest swagger generator Python client runtime."
+optional = false
+python-versions = ">=3.6"
+files = [
     {file = "msrest-0.7.1-py3-none-any.whl", hash = "sha256:21120a810e1233e5e6cc7fe40b474eeb4ec6f757a15d7cf86702c369f9567c32"},
     {file = "msrest-0.7.1.zip", hash = "sha256:6e7661f46f3afd88b75667b7187a92829924446c7ea1d169be8c4bb7eeb788b9"},
 ]
-msrestazure = [
+
+[package.dependencies]
+azure-core = ">=1.24.0"
+certifi = ">=2017.4.17"
+isodate = ">=0.6.0"
+requests = ">=2.16,<3.0"
+requests-oauthlib = ">=0.5.0"
+
+[package.extras]
+async = ["aiodns", "aiohttp (>=3.0)"]
+
+[[package]]
+name = "msrestazure"
+version = "0.6.4"
+description = "AutoRest swagger generator Python client runtime. Azure-specific module."
+optional = false
+python-versions = "*"
+files = [
     {file = "msrestazure-0.6.4-py2.py3-none-any.whl", hash = "sha256:3de50f56147ef529b31e099a982496690468ecef33f0544cb0fa0cfe1e1de5b9"},
     {file = "msrestazure-0.6.4.tar.gz", hash = "sha256:a06f0dabc9a6f5efe3b6add4bd8fb623aeadacf816b7a35b0f89107e0544d189"},
 ]
-multidict = [
-    {file = "multidict-6.0.2-cp310-cp310-macosx_10_9_universal2.whl", hash = "sha256:0b9e95a740109c6047602f4db4da9949e6c5945cefbad34a1299775ddc9a62e2"},
-    {file = "multidict-6.0.2-cp310-cp310-macosx_10_9_x86_64.whl", hash = "sha256:ac0e27844758d7177989ce406acc6a83c16ed4524ebc363c1f748cba184d89d3"},
-    {file = "multidict-6.0.2-cp310-cp310-macosx_11_0_arm64.whl", hash = "sha256:041b81a5f6b38244b34dc18c7b6aba91f9cdaf854d9a39e5ff0b58e2b5773b9c"},
-    {file = "multidict-6.0.2-cp310-cp310-manylinux_2_17_aarch64.manylinux2014_aarch64.whl", hash = "sha256:5fdda29a3c7e76a064f2477c9aab1ba96fd94e02e386f1e665bca1807fc5386f"},
-    {file = "multidict-6.0.2-cp310-cp310-manylinux_2_17_ppc64le.manylinux2014_ppc64le.whl", hash = "sha256:3368bf2398b0e0fcbf46d85795adc4c259299fec50c1416d0f77c0a843a3eed9"},
-    {file = "multidict-6.0.2-cp310-cp310-manylinux_2_17_s390x.manylinux2014_s390x.whl", hash = "sha256:f4f052ee022928d34fe1f4d2bc743f32609fb79ed9c49a1710a5ad6b2198db20"},
-    {file = "multidict-6.0.2-cp310-cp310-manylinux_2_17_x86_64.manylinux2014_x86_64.whl", hash = "sha256:225383a6603c086e6cef0f2f05564acb4f4d5f019a4e3e983f572b8530f70c88"},
-    {file = "multidict-6.0.2-cp310-cp310-manylinux_2_5_i686.manylinux1_i686.manylinux_2_17_i686.manylinux2014_i686.whl", hash = "sha256:50bd442726e288e884f7be9071016c15a8742eb689a593a0cac49ea093eef0a7"},
-    {file = "multidict-6.0.2-cp310-cp310-musllinux_1_1_aarch64.whl", hash = "sha256:47e6a7e923e9cada7c139531feac59448f1f47727a79076c0b1ee80274cd8eee"},
-    {file = "multidict-6.0.2-cp310-cp310-musllinux_1_1_i686.whl", hash = "sha256:0556a1d4ea2d949efe5fd76a09b4a82e3a4a30700553a6725535098d8d9fb672"},
-    {file = "multidict-6.0.2-cp310-cp310-musllinux_1_1_ppc64le.whl", hash = "sha256:626fe10ac87851f4cffecee161fc6f8f9853f0f6f1035b59337a51d29ff3b4f9"},
-    {file = "multidict-6.0.2-cp310-cp310-musllinux_1_1_s390x.whl", hash = "sha256:8064b7c6f0af936a741ea1efd18690bacfbae4078c0c385d7c3f611d11f0cf87"},
-    {file = "multidict-6.0.2-cp310-cp310-musllinux_1_1_x86_64.whl", hash = "sha256:2d36e929d7f6a16d4eb11b250719c39560dd70545356365b494249e2186bc389"},
-    {file = "multidict-6.0.2-cp310-cp310-win32.whl", hash = "sha256:fcb91630817aa8b9bc4a74023e4198480587269c272c58b3279875ed7235c293"},
-    {file = "multidict-6.0.2-cp310-cp310-win_amd64.whl", hash = "sha256:8cbf0132f3de7cc6c6ce00147cc78e6439ea736cee6bca4f068bcf892b0fd658"},
-    {file = "multidict-6.0.2-cp37-cp37m-macosx_10_9_x86_64.whl", hash = "sha256:05f6949d6169878a03e607a21e3b862eaf8e356590e8bdae4227eedadacf6e51"},
-    {file = "multidict-6.0.2-cp37-cp37m-manylinux_2_17_aarch64.manylinux2014_aarch64.whl", hash = "sha256:e2c2e459f7050aeb7c1b1276763364884595d47000c1cddb51764c0d8976e608"},
-    {file = "multidict-6.0.2-cp37-cp37m-manylinux_2_17_ppc64le.manylinux2014_ppc64le.whl", hash = "sha256:d0509e469d48940147e1235d994cd849a8f8195e0bca65f8f5439c56e17872a3"},
-    {file = "multidict-6.0.2-cp37-cp37m-manylinux_2_17_s390x.manylinux2014_s390x.whl", hash = "sha256:514fe2b8d750d6cdb4712346a2c5084a80220821a3e91f3f71eec11cf8d28fd4"},
-    {file = "multidict-6.0.2-cp37-cp37m-manylinux_2_17_x86_64.manylinux2014_x86_64.whl", hash = "sha256:19adcfc2a7197cdc3987044e3f415168fc5dc1f720c932eb1ef4f71a2067e08b"},
-    {file = "multidict-6.0.2-cp37-cp37m-manylinux_2_5_i686.manylinux1_i686.manylinux_2_17_i686.manylinux2014_i686.whl", hash = "sha256:b9d153e7f1f9ba0b23ad1568b3b9e17301e23b042c23870f9ee0522dc5cc79e8"},
-    {file = "multidict-6.0.2-cp37-cp37m-musllinux_1_1_aarch64.whl", hash = "sha256:aef9cc3d9c7d63d924adac329c33835e0243b5052a6dfcbf7732a921c6e918ba"},
-    {file = "multidict-6.0.2-cp37-cp37m-musllinux_1_1_i686.whl", hash = "sha256:4571f1beddff25f3e925eea34268422622963cd8dc395bb8778eb28418248e43"},
-    {file = "multidict-6.0.2-cp37-cp37m-musllinux_1_1_ppc64le.whl", hash = "sha256:d48b8ee1d4068561ce8033d2c344cf5232cb29ee1a0206a7b828c79cbc5982b8"},
-    {file = "multidict-6.0.2-cp37-cp37m-musllinux_1_1_s390x.whl", hash = "sha256:45183c96ddf61bf96d2684d9fbaf6f3564d86b34cb125761f9a0ef9e36c1d55b"},
-    {file = "multidict-6.0.2-cp37-cp37m-musllinux_1_1_x86_64.whl", hash = "sha256:75bdf08716edde767b09e76829db8c1e5ca9d8bb0a8d4bd94ae1eafe3dac5e15"},
-    {file = "multidict-6.0.2-cp37-cp37m-win32.whl", hash = "sha256:a45e1135cb07086833ce969555df39149680e5471c04dfd6a915abd2fc3f6dbc"},
-    {file = "multidict-6.0.2-cp37-cp37m-win_amd64.whl", hash = "sha256:6f3cdef8a247d1eafa649085812f8a310e728bdf3900ff6c434eafb2d443b23a"},
-    {file = "multidict-6.0.2-cp38-cp38-macosx_10_9_universal2.whl", hash = "sha256:0327292e745a880459ef71be14e709aaea2f783f3537588fb4ed09b6c01bca60"},
-    {file = "multidict-6.0.2-cp38-cp38-macosx_10_9_x86_64.whl", hash = "sha256:e875b6086e325bab7e680e4316d667fc0e5e174bb5611eb16b3ea121c8951b86"},
-    {file = "multidict-6.0.2-cp38-cp38-macosx_11_0_arm64.whl", hash = "sha256:feea820722e69451743a3d56ad74948b68bf456984d63c1a92e8347b7b88452d"},
-    {file = "multidict-6.0.2-cp38-cp38-manylinux_2_17_aarch64.manylinux2014_aarch64.whl", hash = "sha256:9cc57c68cb9139c7cd6fc39f211b02198e69fb90ce4bc4a094cf5fe0d20fd8b0"},
-    {file = "multidict-6.0.2-cp38-cp38-manylinux_2_17_ppc64le.manylinux2014_ppc64le.whl", hash = "sha256:497988d6b6ec6ed6f87030ec03280b696ca47dbf0648045e4e1d28b80346560d"},
-    {file = "multidict-6.0.2-cp38-cp38-manylinux_2_17_s390x.manylinux2014_s390x.whl", hash = "sha256:89171b2c769e03a953d5969b2f272efa931426355b6c0cb508022976a17fd376"},
-    {file = "multidict-6.0.2-cp38-cp38-manylinux_2_17_x86_64.manylinux2014_x86_64.whl", hash = "sha256:684133b1e1fe91eda8fa7447f137c9490a064c6b7f392aa857bba83a28cfb693"},
-    {file = "multidict-6.0.2-cp38-cp38-manylinux_2_5_i686.manylinux1_i686.manylinux_2_17_i686.manylinux2014_i686.whl", hash = "sha256:fd9fc9c4849a07f3635ccffa895d57abce554b467d611a5009ba4f39b78a8849"},
-    {file = "multidict-6.0.2-cp38-cp38-musllinux_1_1_aarch64.whl", hash = "sha256:e07c8e79d6e6fd37b42f3250dba122053fddb319e84b55dd3a8d6446e1a7ee49"},
-    {file = "multidict-6.0.2-cp38-cp38-musllinux_1_1_i686.whl", hash = "sha256:4070613ea2227da2bfb2c35a6041e4371b0af6b0be57f424fe2318b42a748516"},
-    {file = "multidict-6.0.2-cp38-cp38-musllinux_1_1_ppc64le.whl", hash = "sha256:47fbeedbf94bed6547d3aa632075d804867a352d86688c04e606971595460227"},
-    {file = "multidict-6.0.2-cp38-cp38-musllinux_1_1_s390x.whl", hash = "sha256:5774d9218d77befa7b70d836004a768fb9aa4fdb53c97498f4d8d3f67bb9cfa9"},
-    {file = "multidict-6.0.2-cp38-cp38-musllinux_1_1_x86_64.whl", hash = "sha256:2957489cba47c2539a8eb7ab32ff49101439ccf78eab724c828c1a54ff3ff98d"},
-    {file = "multidict-6.0.2-cp38-cp38-win32.whl", hash = "sha256:e5b20e9599ba74391ca0cfbd7b328fcc20976823ba19bc573983a25b32e92b57"},
-    {file = "multidict-6.0.2-cp38-cp38-win_amd64.whl", hash = "sha256:8004dca28e15b86d1b1372515f32eb6f814bdf6f00952699bdeb541691091f96"},
-    {file = "multidict-6.0.2-cp39-cp39-macosx_10_9_universal2.whl", hash = "sha256:2e4a0785b84fb59e43c18a015ffc575ba93f7d1dbd272b4cdad9f5134b8a006c"},
-    {file = "multidict-6.0.2-cp39-cp39-macosx_10_9_x86_64.whl", hash = "sha256:6701bf8a5d03a43375909ac91b6980aea74b0f5402fbe9428fc3f6edf5d9677e"},
-    {file = "multidict-6.0.2-cp39-cp39-macosx_11_0_arm64.whl", hash = "sha256:a007b1638e148c3cfb6bf0bdc4f82776cef0ac487191d093cdc316905e504071"},
-    {file = "multidict-6.0.2-cp39-cp39-manylinux_2_17_aarch64.manylinux2014_aarch64.whl", hash = "sha256:07a017cfa00c9890011628eab2503bee5872f27144936a52eaab449be5eaf032"},
-    {file = "multidict-6.0.2-cp39-cp39-manylinux_2_17_ppc64le.manylinux2014_ppc64le.whl", hash = "sha256:c207fff63adcdf5a485969131dc70e4b194327666b7e8a87a97fbc4fd80a53b2"},
-    {file = "multidict-6.0.2-cp39-cp39-manylinux_2_17_s390x.manylinux2014_s390x.whl", hash = "sha256:373ba9d1d061c76462d74e7de1c0c8e267e9791ee8cfefcf6b0b2495762c370c"},
-    {file = "multidict-6.0.2-cp39-cp39-manylinux_2_17_x86_64.manylinux2014_x86_64.whl", hash = "sha256:bfba7c6d5d7c9099ba21f84662b037a0ffd4a5e6b26ac07d19e423e6fdf965a9"},
-    {file = "multidict-6.0.2-cp39-cp39-manylinux_2_5_i686.manylinux1_i686.manylinux_2_17_i686.manylinux2014_i686.whl", hash = "sha256:19d9bad105dfb34eb539c97b132057a4e709919ec4dd883ece5838bcbf262b80"},
-    {file = "multidict-6.0.2-cp39-cp39-musllinux_1_1_aarch64.whl", hash = "sha256:de989b195c3d636ba000ee4281cd03bb1234635b124bf4cd89eeee9ca8fcb09d"},
-    {file = "multidict-6.0.2-cp39-cp39-musllinux_1_1_i686.whl", hash = "sha256:7c40b7bbece294ae3a87c1bc2abff0ff9beef41d14188cda94ada7bcea99b0fb"},
-    {file = "multidict-6.0.2-cp39-cp39-musllinux_1_1_ppc64le.whl", hash = "sha256:d16cce709ebfadc91278a1c005e3c17dd5f71f5098bfae1035149785ea6e9c68"},
-    {file = "multidict-6.0.2-cp39-cp39-musllinux_1_1_s390x.whl", hash = "sha256:a2c34a93e1d2aa35fbf1485e5010337c72c6791407d03aa5f4eed920343dd360"},
-    {file = "multidict-6.0.2-cp39-cp39-musllinux_1_1_x86_64.whl", hash = "sha256:feba80698173761cddd814fa22e88b0661e98cb810f9f986c54aa34d281e4937"},
-    {file = "multidict-6.0.2-cp39-cp39-win32.whl", hash = "sha256:23b616fdc3c74c9fe01d76ce0d1ce872d2d396d8fa8e4899398ad64fb5aa214a"},
-    {file = "multidict-6.0.2-cp39-cp39-win_amd64.whl", hash = "sha256:4bae31803d708f6f15fd98be6a6ac0b6958fcf68fda3c77a048a4f9073704aae"},
-    {file = "multidict-6.0.2.tar.gz", hash = "sha256:5ff3bd75f38e4c43f1f470f2df7a4d430b821c4ce22be384e1459cb57d6bb013"},
+
+[package.dependencies]
+adal = ">=0.6.0,<2.0.0"
+msrest = ">=0.6.0,<2.0.0"
+six = "*"
+
+[[package]]
+name = "multidict"
+version = "6.0.4"
+description = "multidict implementation"
+optional = false
+python-versions = ">=3.7"
+files = [
+    {file = "multidict-6.0.4-cp310-cp310-macosx_10_9_universal2.whl", hash = "sha256:0b1a97283e0c85772d613878028fec909f003993e1007eafa715b24b377cb9b8"},
+    {file = "multidict-6.0.4-cp310-cp310-macosx_10_9_x86_64.whl", hash = "sha256:eeb6dcc05e911516ae3d1f207d4b0520d07f54484c49dfc294d6e7d63b734171"},
+    {file = "multidict-6.0.4-cp310-cp310-macosx_11_0_arm64.whl", hash = "sha256:d6d635d5209b82a3492508cf5b365f3446afb65ae7ebd755e70e18f287b0adf7"},
+    {file = "multidict-6.0.4-cp310-cp310-manylinux_2_17_aarch64.manylinux2014_aarch64.whl", hash = "sha256:c048099e4c9e9d615545e2001d3d8a4380bd403e1a0578734e0d31703d1b0c0b"},
+    {file = "multidict-6.0.4-cp310-cp310-manylinux_2_17_ppc64le.manylinux2014_ppc64le.whl", hash = "sha256:ea20853c6dbbb53ed34cb4d080382169b6f4554d394015f1bef35e881bf83547"},
+    {file = "multidict-6.0.4-cp310-cp310-manylinux_2_17_s390x.manylinux2014_s390x.whl", hash = "sha256:16d232d4e5396c2efbbf4f6d4df89bfa905eb0d4dc5b3549d872ab898451f569"},
+    {file = "multidict-6.0.4-cp310-cp310-manylinux_2_17_x86_64.manylinux2014_x86_64.whl", hash = "sha256:36c63aaa167f6c6b04ef2c85704e93af16c11d20de1d133e39de6a0e84582a93"},
+    {file = "multidict-6.0.4-cp310-cp310-manylinux_2_5_i686.manylinux1_i686.manylinux_2_17_i686.manylinux2014_i686.whl", hash = "sha256:64bdf1086b6043bf519869678f5f2757f473dee970d7abf6da91ec00acb9cb98"},
+    {file = "multidict-6.0.4-cp310-cp310-musllinux_1_1_aarch64.whl", hash = "sha256:43644e38f42e3af682690876cff722d301ac585c5b9e1eacc013b7a3f7b696a0"},
+    {file = "multidict-6.0.4-cp310-cp310-musllinux_1_1_i686.whl", hash = "sha256:7582a1d1030e15422262de9f58711774e02fa80df0d1578995c76214f6954988"},
+    {file = "multidict-6.0.4-cp310-cp310-musllinux_1_1_ppc64le.whl", hash = "sha256:ddff9c4e225a63a5afab9dd15590432c22e8057e1a9a13d28ed128ecf047bbdc"},
+    {file = "multidict-6.0.4-cp310-cp310-musllinux_1_1_s390x.whl", hash = "sha256:ee2a1ece51b9b9e7752e742cfb661d2a29e7bcdba2d27e66e28a99f1890e4fa0"},
+    {file = "multidict-6.0.4-cp310-cp310-musllinux_1_1_x86_64.whl", hash = "sha256:a2e4369eb3d47d2034032a26c7a80fcb21a2cb22e1173d761a162f11e562caa5"},
+    {file = "multidict-6.0.4-cp310-cp310-win32.whl", hash = "sha256:574b7eae1ab267e5f8285f0fe881f17efe4b98c39a40858247720935b893bba8"},
+    {file = "multidict-6.0.4-cp310-cp310-win_amd64.whl", hash = "sha256:4dcbb0906e38440fa3e325df2359ac6cb043df8e58c965bb45f4e406ecb162cc"},
+    {file = "multidict-6.0.4-cp311-cp311-macosx_10_9_universal2.whl", hash = "sha256:0dfad7a5a1e39c53ed00d2dd0c2e36aed4650936dc18fd9a1826a5ae1cad6f03"},
+    {file = "multidict-6.0.4-cp311-cp311-macosx_10_9_x86_64.whl", hash = "sha256:64da238a09d6039e3bd39bb3aee9c21a5e34f28bfa5aa22518581f910ff94af3"},
+    {file = "multidict-6.0.4-cp311-cp311-macosx_11_0_arm64.whl", hash = "sha256:ff959bee35038c4624250473988b24f846cbeb2c6639de3602c073f10410ceba"},
+    {file = "multidict-6.0.4-cp311-cp311-manylinux_2_17_aarch64.manylinux2014_aarch64.whl", hash = "sha256:01a3a55bd90018c9c080fbb0b9f4891db37d148a0a18722b42f94694f8b6d4c9"},
+    {file = "multidict-6.0.4-cp311-cp311-manylinux_2_17_ppc64le.manylinux2014_ppc64le.whl", hash = "sha256:c5cb09abb18c1ea940fb99360ea0396f34d46566f157122c92dfa069d3e0e982"},
+    {file = "multidict-6.0.4-cp311-cp311-manylinux_2_17_s390x.manylinux2014_s390x.whl", hash = "sha256:666daae833559deb2d609afa4490b85830ab0dfca811a98b70a205621a6109fe"},
+    {file = "multidict-6.0.4-cp311-cp311-manylinux_2_17_x86_64.manylinux2014_x86_64.whl", hash = "sha256:11bdf3f5e1518b24530b8241529d2050014c884cf18b6fc69c0c2b30ca248710"},
+    {file = "multidict-6.0.4-cp311-cp311-manylinux_2_5_i686.manylinux1_i686.manylinux_2_17_i686.manylinux2014_i686.whl", hash = "sha256:7d18748f2d30f94f498e852c67d61261c643b349b9d2a581131725595c45ec6c"},
+    {file = "multidict-6.0.4-cp311-cp311-musllinux_1_1_aarch64.whl", hash = "sha256:458f37be2d9e4c95e2d8866a851663cbc76e865b78395090786f6cd9b3bbf4f4"},
+    {file = "multidict-6.0.4-cp311-cp311-musllinux_1_1_i686.whl", hash = "sha256:b1a2eeedcead3a41694130495593a559a668f382eee0727352b9a41e1c45759a"},
+    {file = "multidict-6.0.4-cp311-cp311-musllinux_1_1_ppc64le.whl", hash = "sha256:7d6ae9d593ef8641544d6263c7fa6408cc90370c8cb2bbb65f8d43e5b0351d9c"},
+    {file = "multidict-6.0.4-cp311-cp311-musllinux_1_1_s390x.whl", hash = "sha256:5979b5632c3e3534e42ca6ff856bb24b2e3071b37861c2c727ce220d80eee9ed"},
+    {file = "multidict-6.0.4-cp311-cp311-musllinux_1_1_x86_64.whl", hash = "sha256:dcfe792765fab89c365123c81046ad4103fcabbc4f56d1c1997e6715e8015461"},
+    {file = "multidict-6.0.4-cp311-cp311-win32.whl", hash = "sha256:3601a3cece3819534b11d4efc1eb76047488fddd0c85a3948099d5da4d504636"},
+    {file = "multidict-6.0.4-cp311-cp311-win_amd64.whl", hash = "sha256:81a4f0b34bd92df3da93315c6a59034df95866014ac08535fc819f043bfd51f0"},
+    {file = "multidict-6.0.4-cp37-cp37m-macosx_10_9_x86_64.whl", hash = "sha256:67040058f37a2a51ed8ea8f6b0e6ee5bd78ca67f169ce6122f3e2ec80dfe9b78"},
+    {file = "multidict-6.0.4-cp37-cp37m-manylinux_2_17_aarch64.manylinux2014_aarch64.whl", hash = "sha256:853888594621e6604c978ce2a0444a1e6e70c8d253ab65ba11657659dcc9100f"},
+    {file = "multidict-6.0.4-cp37-cp37m-manylinux_2_17_ppc64le.manylinux2014_ppc64le.whl", hash = "sha256:39ff62e7d0f26c248b15e364517a72932a611a9b75f35b45be078d81bdb86603"},
+    {file = "multidict-6.0.4-cp37-cp37m-manylinux_2_17_s390x.manylinux2014_s390x.whl", hash = "sha256:af048912e045a2dc732847d33821a9d84ba553f5c5f028adbd364dd4765092ac"},
+    {file = "multidict-6.0.4-cp37-cp37m-manylinux_2_17_x86_64.manylinux2014_x86_64.whl", hash = "sha256:b1e8b901e607795ec06c9e42530788c45ac21ef3aaa11dbd0c69de543bfb79a9"},
+    {file = "multidict-6.0.4-cp37-cp37m-manylinux_2_5_i686.manylinux1_i686.manylinux_2_17_i686.manylinux2014_i686.whl", hash = "sha256:62501642008a8b9871ddfccbf83e4222cf8ac0d5aeedf73da36153ef2ec222d2"},
+    {file = "multidict-6.0.4-cp37-cp37m-musllinux_1_1_aarch64.whl", hash = "sha256:99b76c052e9f1bc0721f7541e5e8c05db3941eb9ebe7b8553c625ef88d6eefde"},
+    {file = "multidict-6.0.4-cp37-cp37m-musllinux_1_1_i686.whl", hash = "sha256:509eac6cf09c794aa27bcacfd4d62c885cce62bef7b2c3e8b2e49d365b5003fe"},
+    {file = "multidict-6.0.4-cp37-cp37m-musllinux_1_1_ppc64le.whl", hash = "sha256:21a12c4eb6ddc9952c415f24eef97e3e55ba3af61f67c7bc388dcdec1404a067"},
+    {file = "multidict-6.0.4-cp37-cp37m-musllinux_1_1_s390x.whl", hash = "sha256:5cad9430ab3e2e4fa4a2ef4450f548768400a2ac635841bc2a56a2052cdbeb87"},
+    {file = "multidict-6.0.4-cp37-cp37m-musllinux_1_1_x86_64.whl", hash = "sha256:ab55edc2e84460694295f401215f4a58597f8f7c9466faec545093045476327d"},
+    {file = "multidict-6.0.4-cp37-cp37m-win32.whl", hash = "sha256:5a4dcf02b908c3b8b17a45fb0f15b695bf117a67b76b7ad18b73cf8e92608775"},
+    {file = "multidict-6.0.4-cp37-cp37m-win_amd64.whl", hash = "sha256:6ed5f161328b7df384d71b07317f4d8656434e34591f20552c7bcef27b0ab88e"},
+    {file = "multidict-6.0.4-cp38-cp38-macosx_10_9_universal2.whl", hash = "sha256:5fc1b16f586f049820c5c5b17bb4ee7583092fa0d1c4e28b5239181ff9532e0c"},
+    {file = "multidict-6.0.4-cp38-cp38-macosx_10_9_x86_64.whl", hash = "sha256:1502e24330eb681bdaa3eb70d6358e818e8e8f908a22a1851dfd4e15bc2f8161"},
+    {file = "multidict-6.0.4-cp38-cp38-macosx_11_0_arm64.whl", hash = "sha256:b692f419760c0e65d060959df05f2a531945af31fda0c8a3b3195d4efd06de11"},
+    {file = "multidict-6.0.4-cp38-cp38-manylinux_2_17_aarch64.manylinux2014_aarch64.whl", hash = "sha256:45e1ecb0379bfaab5eef059f50115b54571acfbe422a14f668fc8c27ba410e7e"},
+    {file = "multidict-6.0.4-cp38-cp38-manylinux_2_17_ppc64le.manylinux2014_ppc64le.whl", hash = "sha256:ddd3915998d93fbcd2566ddf9cf62cdb35c9e093075f862935573d265cf8f65d"},
+    {file = "multidict-6.0.4-cp38-cp38-manylinux_2_17_s390x.manylinux2014_s390x.whl", hash = "sha256:59d43b61c59d82f2effb39a93c48b845efe23a3852d201ed2d24ba830d0b4cf2"},
+    {file = "multidict-6.0.4-cp38-cp38-manylinux_2_17_x86_64.manylinux2014_x86_64.whl", hash = "sha256:cc8e1d0c705233c5dd0c5e6460fbad7827d5d36f310a0fadfd45cc3029762258"},
+    {file = "multidict-6.0.4-cp38-cp38-manylinux_2_5_i686.manylinux1_i686.manylinux_2_17_i686.manylinux2014_i686.whl", hash = "sha256:d6aa0418fcc838522256761b3415822626f866758ee0bc6632c9486b179d0b52"},
+    {file = "multidict-6.0.4-cp38-cp38-musllinux_1_1_aarch64.whl", hash = "sha256:6748717bb10339c4760c1e63da040f5f29f5ed6e59d76daee30305894069a660"},
+    {file = "multidict-6.0.4-cp38-cp38-musllinux_1_1_i686.whl", hash = "sha256:4d1a3d7ef5e96b1c9e92f973e43aa5e5b96c659c9bc3124acbbd81b0b9c8a951"},
+    {file = "multidict-6.0.4-cp38-cp38-musllinux_1_1_ppc64le.whl", hash = "sha256:4372381634485bec7e46718edc71528024fcdc6f835baefe517b34a33c731d60"},
+    {file = "multidict-6.0.4-cp38-cp38-musllinux_1_1_s390x.whl", hash = "sha256:fc35cb4676846ef752816d5be2193a1e8367b4c1397b74a565a9d0389c433a1d"},
+    {file = "multidict-6.0.4-cp38-cp38-musllinux_1_1_x86_64.whl", hash = "sha256:4b9d9e4e2b37daddb5c23ea33a3417901fa7c7b3dee2d855f63ee67a0b21e5b1"},
+    {file = "multidict-6.0.4-cp38-cp38-win32.whl", hash = "sha256:e41b7e2b59679edfa309e8db64fdf22399eec4b0b24694e1b2104fb789207779"},
+    {file = "multidict-6.0.4-cp38-cp38-win_amd64.whl", hash = "sha256:d6c254ba6e45d8e72739281ebc46ea5eb5f101234f3ce171f0e9f5cc86991480"},
+    {file = "multidict-6.0.4-cp39-cp39-macosx_10_9_universal2.whl", hash = "sha256:16ab77bbeb596e14212e7bab8429f24c1579234a3a462105cda4a66904998664"},
+    {file = "multidict-6.0.4-cp39-cp39-macosx_10_9_x86_64.whl", hash = "sha256:bc779e9e6f7fda81b3f9aa58e3a6091d49ad528b11ed19f6621408806204ad35"},
+    {file = "multidict-6.0.4-cp39-cp39-macosx_11_0_arm64.whl", hash = "sha256:4ceef517eca3e03c1cceb22030a3e39cb399ac86bff4e426d4fc6ae49052cc60"},
+    {file = "multidict-6.0.4-cp39-cp39-manylinux_2_17_aarch64.manylinux2014_aarch64.whl", hash = "sha256:281af09f488903fde97923c7744bb001a9b23b039a909460d0f14edc7bf59706"},
+    {file = "multidict-6.0.4-cp39-cp39-manylinux_2_17_ppc64le.manylinux2014_ppc64le.whl", hash = "sha256:52f2dffc8acaba9a2f27174c41c9e57f60b907bb9f096b36b1a1f3be71c6284d"},
+    {file = "multidict-6.0.4-cp39-cp39-manylinux_2_17_s390x.manylinux2014_s390x.whl", hash = "sha256:b41156839806aecb3641f3208c0dafd3ac7775b9c4c422d82ee2a45c34ba81ca"},
+    {file = "multidict-6.0.4-cp39-cp39-manylinux_2_17_x86_64.manylinux2014_x86_64.whl", hash = "sha256:d5e3fc56f88cc98ef8139255cf8cd63eb2c586531e43310ff859d6bb3a6b51f1"},
+    {file = "multidict-6.0.4-cp39-cp39-manylinux_2_5_i686.manylinux1_i686.manylinux_2_17_i686.manylinux2014_i686.whl", hash = "sha256:8316a77808c501004802f9beebde51c9f857054a0c871bd6da8280e718444449"},
+    {file = "multidict-6.0.4-cp39-cp39-musllinux_1_1_aarch64.whl", hash = "sha256:f70b98cd94886b49d91170ef23ec5c0e8ebb6f242d734ed7ed677b24d50c82cf"},
+    {file = "multidict-6.0.4-cp39-cp39-musllinux_1_1_i686.whl", hash = "sha256:bf6774e60d67a9efe02b3616fee22441d86fab4c6d335f9d2051d19d90a40063"},
+    {file = "multidict-6.0.4-cp39-cp39-musllinux_1_1_ppc64le.whl", hash = "sha256:e69924bfcdda39b722ef4d9aa762b2dd38e4632b3641b1d9a57ca9cd18f2f83a"},
+    {file = "multidict-6.0.4-cp39-cp39-musllinux_1_1_s390x.whl", hash = "sha256:6b181d8c23da913d4ff585afd1155a0e1194c0b50c54fcfe286f70cdaf2b7176"},
+    {file = "multidict-6.0.4-cp39-cp39-musllinux_1_1_x86_64.whl", hash = "sha256:52509b5be062d9eafc8170e53026fbc54cf3b32759a23d07fd935fb04fc22d95"},
+    {file = "multidict-6.0.4-cp39-cp39-win32.whl", hash = "sha256:27c523fbfbdfd19c6867af7346332b62b586eed663887392cff78d614f9ec313"},
+    {file = "multidict-6.0.4-cp39-cp39-win_amd64.whl", hash = "sha256:33029f5734336aa0d4c0384525da0387ef89148dc7191aae00ca5fb23d7aafc2"},
+    {file = "multidict-6.0.4.tar.gz", hash = "sha256:3666906492efb76453c0e7b97f2cf459b0682e7402c0489a95484965dbc1da49"},
 ]
-munch = [
-    {file = "munch-2.5.0-py2.py3-none-any.whl", hash = "sha256:6f44af89a2ce4ed04ff8de41f70b226b984db10a91dcc7b9ac2efc1c77022fdd"},
-    {file = "munch-2.5.0.tar.gz", hash = "sha256:2d735f6f24d4dba3417fa448cae40c6e896ec1fdab6cdb5e6510999758a4dbd2"},
+
+[[package]]
+name = "munch"
+version = "4.0.0"
+description = "A dot-accessible dictionary (a la JavaScript objects)"
+optional = false
+python-versions = ">=3.6"
+files = [
+    {file = "munch-4.0.0-py2.py3-none-any.whl", hash = "sha256:71033c45db9fb677a0b7eb517a4ce70ae09258490e419b0e7f00d1e386ecb1b4"},
+    {file = "munch-4.0.0.tar.gz", hash = "sha256:542cb151461263216a4e37c3fd9afc425feeaf38aaa3025cd2a981fadb422235"},
 ]
-mypy = [
-    {file = "mypy-0.961-cp310-cp310-macosx_10_9_universal2.whl", hash = "sha256:697540876638ce349b01b6786bc6094ccdaba88af446a9abb967293ce6eaa2b0"},
-    {file = "mypy-0.961-cp310-cp310-macosx_10_9_x86_64.whl", hash = "sha256:b117650592e1782819829605a193360a08aa99f1fc23d1d71e1a75a142dc7e15"},
-    {file = "mypy-0.961-cp310-cp310-macosx_11_0_arm64.whl", hash = "sha256:bdd5ca340beffb8c44cb9dc26697628d1b88c6bddf5c2f6eb308c46f269bb6f3"},
-    {file = "mypy-0.961-cp310-cp310-manylinux_2_5_x86_64.manylinux1_x86_64.manylinux_2_12_x86_64.manylinux2010_x86_64.whl", hash = "sha256:3e09f1f983a71d0672bbc97ae33ee3709d10c779beb613febc36805a6e28bb4e"},
-    {file = "mypy-0.961-cp310-cp310-win_amd64.whl", hash = "sha256:e999229b9f3198c0c880d5e269f9f8129c8862451ce53a011326cad38b9ccd24"},
-    {file = "mypy-0.961-cp36-cp36m-macosx_10_9_x86_64.whl", hash = "sha256:b24be97351084b11582fef18d79004b3e4db572219deee0212078f7cf6352723"},
-    {file = "mypy-0.961-cp36-cp36m-manylinux_2_5_x86_64.manylinux1_x86_64.manylinux_2_12_x86_64.manylinux2010_x86_64.whl", hash = "sha256:f4a21d01fc0ba4e31d82f0fff195682e29f9401a8bdb7173891070eb260aeb3b"},
-    {file = "mypy-0.961-cp36-cp36m-win_amd64.whl", hash = "sha256:439c726a3b3da7ca84a0199a8ab444cd8896d95012c4a6c4a0d808e3147abf5d"},
-    {file = "mypy-0.961-cp37-cp37m-macosx_10_9_x86_64.whl", hash = "sha256:5a0b53747f713f490affdceef835d8f0cb7285187a6a44c33821b6d1f46ed813"},
-    {file = "mypy-0.961-cp37-cp37m-manylinux_2_5_x86_64.manylinux1_x86_64.manylinux_2_12_x86_64.manylinux2010_x86_64.whl", hash = "sha256:0e9f70df36405c25cc530a86eeda1e0867863d9471fe76d1273c783df3d35c2e"},
-    {file = "mypy-0.961-cp37-cp37m-win_amd64.whl", hash = "sha256:b88f784e9e35dcaa075519096dc947a388319cb86811b6af621e3523980f1c8a"},
-    {file = "mypy-0.961-cp38-cp38-macosx_10_9_universal2.whl", hash = "sha256:d5aaf1edaa7692490f72bdb9fbd941fbf2e201713523bdb3f4038be0af8846c6"},
-    {file = "mypy-0.961-cp38-cp38-macosx_10_9_x86_64.whl", hash = "sha256:9f5f5a74085d9a81a1f9c78081d60a0040c3efb3f28e5c9912b900adf59a16e6"},
-    {file = "mypy-0.961-cp38-cp38-macosx_11_0_arm64.whl", hash = "sha256:f4b794db44168a4fc886e3450201365c9526a522c46ba089b55e1f11c163750d"},
-    {file = "mypy-0.961-cp38-cp38-manylinux_2_5_x86_64.manylinux1_x86_64.manylinux_2_12_x86_64.manylinux2010_x86_64.whl", hash = "sha256:64759a273d590040a592e0f4186539858c948302c653c2eac840c7a3cd29e51b"},
-    {file = "mypy-0.961-cp38-cp38-win_amd64.whl", hash = "sha256:63e85a03770ebf403291ec50097954cc5caf2a9205c888ce3a61bd3f82e17569"},
-    {file = "mypy-0.961-cp39-cp39-macosx_10_9_universal2.whl", hash = "sha256:5f1332964963d4832a94bebc10f13d3279be3ce8f6c64da563d6ee6e2eeda932"},
-    {file = "mypy-0.961-cp39-cp39-macosx_10_9_x86_64.whl", hash = "sha256:006be38474216b833eca29ff6b73e143386f352e10e9c2fbe76aa8549e5554f5"},
-    {file = "mypy-0.961-cp39-cp39-macosx_11_0_arm64.whl", hash = "sha256:9940e6916ed9371809b35b2154baf1f684acba935cd09928952310fbddaba648"},
-    {file = "mypy-0.961-cp39-cp39-manylinux_2_5_x86_64.manylinux1_x86_64.manylinux_2_12_x86_64.manylinux2010_x86_64.whl", hash = "sha256:a5ea0875a049de1b63b972456542f04643daf320d27dc592d7c3d9cd5d9bf950"},
-    {file = "mypy-0.961-cp39-cp39-win_amd64.whl", hash = "sha256:1ece702f29270ec6af25db8cf6185c04c02311c6bb21a69f423d40e527b75c56"},
-    {file = "mypy-0.961-py3-none-any.whl", hash = "sha256:03c6cc893e7563e7b2949b969e63f02c000b32502a1b4d1314cabe391aa87d66"},
-    {file = "mypy-0.961.tar.gz", hash = "sha256:f730d56cb924d371c26b8eaddeea3cc07d78ff51c521c6d04899ac6904b75492"},
+
+[package.extras]
+testing = ["astroid (>=2.0)", "coverage", "pylint (>=2.3.1,<2.4.0)", "pytest"]
+yaml = ["PyYAML (>=5.1.0)"]
+
+[[package]]
+name = "mypy"
+version = "1.4.1"
+description = "Optional static typing for Python"
+optional = false
+python-versions = ">=3.7"
+files = [
+    {file = "mypy-1.4.1-cp310-cp310-macosx_10_9_x86_64.whl", hash = "sha256:566e72b0cd6598503e48ea610e0052d1b8168e60a46e0bfd34b3acf2d57f96a8"},
+    {file = "mypy-1.4.1-cp310-cp310-macosx_11_0_arm64.whl", hash = "sha256:ca637024ca67ab24a7fd6f65d280572c3794665eaf5edcc7e90a866544076878"},
+    {file = "mypy-1.4.1-cp310-cp310-manylinux_2_17_x86_64.manylinux2014_x86_64.whl", hash = "sha256:0dde1d180cd84f0624c5dcaaa89c89775550a675aff96b5848de78fb11adabcd"},
+    {file = "mypy-1.4.1-cp310-cp310-musllinux_1_1_x86_64.whl", hash = "sha256:8c4d8e89aa7de683e2056a581ce63c46a0c41e31bd2b6d34144e2c80f5ea53dc"},
+    {file = "mypy-1.4.1-cp310-cp310-win_amd64.whl", hash = "sha256:bfdca17c36ae01a21274a3c387a63aa1aafe72bff976522886869ef131b937f1"},
+    {file = "mypy-1.4.1-cp311-cp311-macosx_10_9_x86_64.whl", hash = "sha256:7549fbf655e5825d787bbc9ecf6028731973f78088fbca3a1f4145c39ef09462"},
+    {file = "mypy-1.4.1-cp311-cp311-macosx_11_0_arm64.whl", hash = "sha256:98324ec3ecf12296e6422939e54763faedbfcc502ea4a4c38502082711867258"},
+    {file = "mypy-1.4.1-cp311-cp311-manylinux_2_17_x86_64.manylinux2014_x86_64.whl", hash = "sha256:141dedfdbfe8a04142881ff30ce6e6653c9685b354876b12e4fe6c78598b45e2"},
+    {file = "mypy-1.4.1-cp311-cp311-musllinux_1_1_x86_64.whl", hash = "sha256:8207b7105829eca6f3d774f64a904190bb2231de91b8b186d21ffd98005f14a7"},
+    {file = "mypy-1.4.1-cp311-cp311-win_amd64.whl", hash = "sha256:16f0db5b641ba159eff72cff08edc3875f2b62b2fa2bc24f68c1e7a4e8232d01"},
+    {file = "mypy-1.4.1-cp37-cp37m-macosx_10_9_x86_64.whl", hash = "sha256:470c969bb3f9a9efcedbadcd19a74ffb34a25f8e6b0e02dae7c0e71f8372f97b"},
+    {file = "mypy-1.4.1-cp37-cp37m-manylinux_2_17_x86_64.manylinux2014_x86_64.whl", hash = "sha256:e5952d2d18b79f7dc25e62e014fe5a23eb1a3d2bc66318df8988a01b1a037c5b"},
+    {file = "mypy-1.4.1-cp37-cp37m-musllinux_1_1_x86_64.whl", hash = "sha256:190b6bab0302cec4e9e6767d3eb66085aef2a1cc98fe04936d8a42ed2ba77bb7"},
+    {file = "mypy-1.4.1-cp37-cp37m-win_amd64.whl", hash = "sha256:9d40652cc4fe33871ad3338581dca3297ff5f2213d0df345bcfbde5162abf0c9"},
+    {file = "mypy-1.4.1-cp38-cp38-macosx_10_9_x86_64.whl", hash = "sha256:01fd2e9f85622d981fd9063bfaef1aed6e336eaacca00892cd2d82801ab7c042"},
+    {file = "mypy-1.4.1-cp38-cp38-macosx_11_0_arm64.whl", hash = "sha256:2460a58faeea905aeb1b9b36f5065f2dc9a9c6e4c992a6499a2360c6c74ceca3"},
+    {file = "mypy-1.4.1-cp38-cp38-manylinux_2_17_x86_64.manylinux2014_x86_64.whl", hash = "sha256:a2746d69a8196698146a3dbe29104f9eb6a2a4d8a27878d92169a6c0b74435b6"},
+    {file = "mypy-1.4.1-cp38-cp38-musllinux_1_1_x86_64.whl", hash = "sha256:ae704dcfaa180ff7c4cfbad23e74321a2b774f92ca77fd94ce1049175a21c97f"},
+    {file = "mypy-1.4.1-cp38-cp38-win_amd64.whl", hash = "sha256:43d24f6437925ce50139a310a64b2ab048cb2d3694c84c71c3f2a1626d8101dc"},
+    {file = "mypy-1.4.1-cp39-cp39-macosx_10_9_x86_64.whl", hash = "sha256:c482e1246726616088532b5e964e39765b6d1520791348e6c9dc3af25b233828"},
+    {file = "mypy-1.4.1-cp39-cp39-macosx_11_0_arm64.whl", hash = "sha256:43b592511672017f5b1a483527fd2684347fdffc041c9ef53428c8dc530f79a3"},
+    {file = "mypy-1.4.1-cp39-cp39-manylinux_2_17_x86_64.manylinux2014_x86_64.whl", hash = "sha256:34a9239d5b3502c17f07fd7c0b2ae6b7dd7d7f6af35fbb5072c6208e76295816"},
+    {file = "mypy-1.4.1-cp39-cp39-musllinux_1_1_x86_64.whl", hash = "sha256:5703097c4936bbb9e9bce41478c8d08edd2865e177dc4c52be759f81ee4dd26c"},
+    {file = "mypy-1.4.1-cp39-cp39-win_amd64.whl", hash = "sha256:e02d700ec8d9b1859790c0475df4e4092c7bf3272a4fd2c9f33d87fac4427b8f"},
+    {file = "mypy-1.4.1-py3-none-any.whl", hash = "sha256:45d32cec14e7b97af848bddd97d85ea4f0db4d5a149ed9676caa4eb2f7402bb4"},
+    {file = "mypy-1.4.1.tar.gz", hash = "sha256:9bbcd9ab8ea1f2e1c8031c21445b511442cc45c89951e49bbf852cbb70755b1b"},
 ]
-mypy-extensions = [
-    {file = "mypy_extensions-0.4.3-py2.py3-none-any.whl", hash = "sha256:090fedd75945a69ae91ce1303b5824f428daf5a028d2f6ab8a299250a846f15d"},
-    {file = "mypy_extensions-0.4.3.tar.gz", hash = "sha256:2d82818f5bb3e369420cb3c4060a7970edba416647068eb4c5343488a6c604a8"},
+
+[package.dependencies]
+mypy-extensions = ">=1.0.0"
+typing-extensions = ">=4.1.0"
+
+[package.extras]
+dmypy = ["psutil (>=4.0)"]
+install-types = ["pip"]
+python2 = ["typed-ast (>=1.4.0,<2)"]
+reports = ["lxml"]
+
+[[package]]
+name = "mypy-extensions"
+version = "1.0.0"
+description = "Type system extensions for programs checked with the mypy type checker."
+optional = false
+python-versions = ">=3.5"
+files = [
+    {file = "mypy_extensions-1.0.0-py3-none-any.whl", hash = "sha256:4392f6c0eb8a5668a69e23d168ffa70f0be9ccfd32b5cc2d26a34ae5b844552d"},
+    {file = "mypy_extensions-1.0.0.tar.gz", hash = "sha256:75dbf8955dc00442a438fc4d0666508a9a97b6bd41aa2f0ffe9d2f2725af0782"},
 ]
-myst-parser = [
-    {file = "myst-parser-0.18.1.tar.gz", hash = "sha256:79317f4bb2c13053dd6e64f9da1ba1da6cd9c40c8a430c447a7b146a594c246d"},
-    {file = "myst_parser-0.18.1-py3-none-any.whl", hash = "sha256:61b275b85d9f58aa327f370913ae1bec26ebad372cc99f3ab85c8ec3ee8d9fb8"},
+
+[[package]]
+name = "myst-parser"
+version = "2.0.0"
+description = "An extended [CommonMark](https://spec.commonmark.org/) compliant parser,"
+optional = false
+python-versions = ">=3.8"
+files = [
+    {file = "myst_parser-2.0.0-py3-none-any.whl", hash = "sha256:7c36344ae39c8e740dad7fdabf5aa6fc4897a813083c6cc9990044eb93656b14"},
+    {file = "myst_parser-2.0.0.tar.gz", hash = "sha256:ea929a67a6a0b1683cdbe19b8d2e724cd7643f8aa3e7bb18dd65beac3483bead"},
 ]
-natsort = [
-    {file = "natsort-8.2.0-py3-none-any.whl", hash = "sha256:04fe18fdd2b9e5957f19f687eb117f102ef8dde6b574764e536e91194bed4f5f"},
-    {file = "natsort-8.2.0.tar.gz", hash = "sha256:57f85b72c688b09e053cdac302dd5b5b53df5f73ae20b4874fcbffd8bf783d11"},
+
+[package.dependencies]
+docutils = ">=0.16,<0.21"
+jinja2 = "*"
+markdown-it-py = ">=3.0,<4.0"
+mdit-py-plugins = ">=0.4,<1.0"
+pyyaml = "*"
+sphinx = ">=6,<8"
+
+[package.extras]
+code-style = ["pre-commit (>=3.0,<4.0)"]
+linkify = ["linkify-it-py (>=2.0,<3.0)"]
+rtd = ["ipython", "pydata-sphinx-theme (==v0.13.0rc4)", "sphinx-autodoc2 (>=0.4.2,<0.5.0)", "sphinx-book-theme (==1.0.0rc2)", "sphinx-copybutton", "sphinx-design2", "sphinx-pyscript", "sphinx-tippy (>=0.3.1)", "sphinx-togglebutton", "sphinxext-opengraph (>=0.8.2,<0.9.0)", "sphinxext-rediraffe (>=0.2.7,<0.3.0)"]
+testing = ["beautifulsoup4", "coverage[toml]", "pytest (>=7,<8)", "pytest-cov", "pytest-param-files (>=0.3.4,<0.4.0)", "pytest-regressions", "sphinx-pytest"]
+testing-docutils = ["pygments", "pytest (>=7,<8)", "pytest-param-files (>=0.3.4,<0.4.0)"]
+
+[[package]]
+name = "natsort"
+version = "8.4.0"
+description = "Simple yet flexible natural sorting in Python."
+optional = false
+python-versions = ">=3.7"
+files = [
+    {file = "natsort-8.4.0-py3-none-any.whl", hash = "sha256:4732914fb471f56b5cce04d7bae6f164a592c7712e1c85f9ef585e197299521c"},
+    {file = "natsort-8.4.0.tar.gz", hash = "sha256:45312c4a0e5507593da193dedd04abb1469253b601ecaf63445ad80f0a1ea581"},
 ]
-nbclassic = [
-    {file = "nbclassic-0.4.7-py3-none-any.whl", hash = "sha256:d71d18aa6605eaf59e9b99b34c96360af45847f2a30ee2fefbe2f7bed4bc3df2"},
-    {file = "nbclassic-0.4.7.tar.gz", hash = "sha256:1e0470583b55089c427940ed31b8a866ffef7ccab101494e409efe5ac7ba9897"},
+
+[package.extras]
+fast = ["fastnumbers (>=2.0.0)"]
+icu = ["PyICU (>=1.0.0)"]
+
+[[package]]
+name = "nbclient"
+version = "0.8.0"
+description = "A client library for executing notebooks. Formerly nbconvert's ExecutePreprocessor."
+optional = false
+python-versions = ">=3.8.0"
+files = [
+    {file = "nbclient-0.8.0-py3-none-any.whl", hash = "sha256:25e861299e5303a0477568557c4045eccc7a34c17fc08e7959558707b9ebe548"},
+    {file = "nbclient-0.8.0.tar.gz", hash = "sha256:f9b179cd4b2d7bca965f900a2ebf0db4a12ebff2f36a711cb66861e4ae158e55"},
 ]
-nbclient = [
-    {file = "nbclient-0.7.0-py3-none-any.whl", hash = "sha256:434c91385cf3e53084185334d675a0d33c615108b391e260915d1aa8e86661b8"},
-    {file = "nbclient-0.7.0.tar.gz", hash = "sha256:a1d844efd6da9bc39d2209bf996dbd8e07bf0f36b796edfabaa8f8a9ab77c3aa"},
+
+[package.dependencies]
+jupyter-client = ">=6.1.12"
+jupyter-core = ">=4.12,<5.0.dev0 || >=5.1.dev0"
+nbformat = ">=5.1"
+traitlets = ">=5.4"
+
+[package.extras]
+dev = ["pre-commit"]
+docs = ["autodoc-traits", "mock", "moto", "myst-parser", "nbclient[test]", "sphinx (>=1.7)", "sphinx-book-theme", "sphinxcontrib-spelling"]
+test = ["flaky", "ipykernel (>=6.19.3)", "ipython", "ipywidgets", "nbconvert (>=7.0.0)", "pytest (>=7.0)", "pytest-asyncio", "pytest-cov (>=4.0)", "testpath", "xmltodict"]
+
+[[package]]
+name = "nbconvert"
+version = "7.7.3"
+description = "Converting Jupyter Notebooks"
+optional = false
+python-versions = ">=3.8"
+files = [
+    {file = "nbconvert-7.7.3-py3-none-any.whl", hash = "sha256:3022adadff3f86578a47fab7c2228bb3ca9c56a24345642a22f917f6168b48fc"},
+    {file = "nbconvert-7.7.3.tar.gz", hash = "sha256:4a5996bf5f3cd16aa0431897ba1aa4c64842c2079f434b3dc6b8c4b252ef3355"},
 ]
-nbconvert = [
-    {file = "nbconvert-7.2.2-py3-none-any.whl", hash = "sha256:fc7a3787c927cbd45a52e088e934fbbaab39afe61767522168a724b7483992be"},
-    {file = "nbconvert-7.2.2.tar.gz", hash = "sha256:24acfaa466d2c9b7eb524800e4a45afbed862c5d058cfb30fc7aa24d448c95eb"},
+
+[package.dependencies]
+beautifulsoup4 = "*"
+bleach = "!=5.0.0"
+defusedxml = "*"
+jinja2 = ">=3.0"
+jupyter-core = ">=4.7"
+jupyterlab-pygments = "*"
+markupsafe = ">=2.0"
+mistune = ">=2.0.3,<4"
+nbclient = ">=0.5.0"
+nbformat = ">=5.7"
+packaging = "*"
+pandocfilters = ">=1.4.1"
+pygments = ">=2.4.1"
+tinycss2 = "*"
+traitlets = ">=5.1"
+
+[package.extras]
+all = ["nbconvert[docs,qtpdf,serve,test,webpdf]"]
+docs = ["ipykernel", "ipython", "myst-parser", "nbsphinx (>=0.2.12)", "pydata-sphinx-theme", "sphinx (==5.0.2)", "sphinxcontrib-spelling"]
+qtpdf = ["nbconvert[qtpng]"]
+qtpng = ["pyqtwebengine (>=5.15)"]
+serve = ["tornado (>=6.1)"]
+test = ["flaky", "ipykernel", "ipywidgets (>=7)", "pre-commit", "pytest", "pytest-dependency"]
+webpdf = ["playwright"]
+
+[[package]]
+name = "nbformat"
+version = "5.9.2"
+description = "The Jupyter Notebook format"
+optional = false
+python-versions = ">=3.8"
+files = [
+    {file = "nbformat-5.9.2-py3-none-any.whl", hash = "sha256:1c5172d786a41b82bcfd0c23f9e6b6f072e8fb49c39250219e4acfff1efe89e9"},
+    {file = "nbformat-5.9.2.tar.gz", hash = "sha256:5f98b5ba1997dff175e77e0c17d5c10a96eaed2cbd1de3533d1fc35d5e111192"},
 ]
-nbformat = [
-    {file = "nbformat-5.7.0-py3-none-any.whl", hash = "sha256:1b05ec2c552c2f1adc745f4eddce1eac8ca9ffd59bb9fd859e827eaa031319f9"},
-    {file = "nbformat-5.7.0.tar.gz", hash = "sha256:1d4760c15c1a04269ef5caf375be8b98dd2f696e5eb9e603ec2bf091f9b0d3f3"},
+
+[package.dependencies]
+fastjsonschema = "*"
+jsonschema = ">=2.6"
+jupyter-core = "*"
+traitlets = ">=5.1"
+
+[package.extras]
+docs = ["myst-parser", "pydata-sphinx-theme", "sphinx", "sphinxcontrib-github-alt", "sphinxcontrib-spelling"]
+test = ["pep440", "pre-commit", "pytest", "testpath"]
+
+[[package]]
+name = "ncompress"
+version = "1.0.1"
+description = "LZW compression and decompression"
+optional = false
+python-versions = ">=3.8"
+files = [
+    {file = "ncompress-1.0.1-cp310-cp310-macosx_10_14_universal2.whl", hash = "sha256:487f680e369ef2f7cdf26f888dd83dc2bdf36c5764d7be204300db2a8e176e50"},
+    {file = "ncompress-1.0.1-cp310-cp310-macosx_10_14_x86_64.whl", hash = "sha256:ac44c41811b5c1105974f92858cf607de7cd2a9a57ad2e511c603fc90d4dd034"},
+    {file = "ncompress-1.0.1-cp310-cp310-macosx_11_0_arm64.whl", hash = "sha256:e37c183901042dbb29f9d24ce5a1239e9c57afdb9eb1a6a9deb5e036cca7149d"},
+    {file = "ncompress-1.0.1-cp310-cp310-manylinux_2_17_aarch64.manylinux2014_aarch64.whl", hash = "sha256:723308a5782bed3ddcfba9e0c3ce6aecfad01e3d7644b44995e2cecc7317685f"},
+    {file = "ncompress-1.0.1-cp310-cp310-manylinux_2_17_ppc64le.manylinux2014_ppc64le.whl", hash = "sha256:a6ae50e6e7f15aad30cd73d9261742e683fb660e9598564b14f05fe87e026e65"},
+    {file = "ncompress-1.0.1-cp310-cp310-manylinux_2_17_s390x.manylinux2014_s390x.whl", hash = "sha256:85feb2f4ea85ac8ac9708c9a912e93f75e899d88eab2af6e89aae7a79120e105"},
+    {file = "ncompress-1.0.1-cp310-cp310-manylinux_2_17_x86_64.manylinux2014_x86_64.whl", hash = "sha256:7eb3eb16d26acc64e3175e8aec9dc102fe3355e45a701bf8c273c9d9af55b2d0"},
+    {file = "ncompress-1.0.1-cp310-cp310-musllinux_1_1_aarch64.whl", hash = "sha256:497be1959fa0c0c4249f546c059ee0a98e4f86d2bafe846a69acdbcd3bab849b"},
+    {file = "ncompress-1.0.1-cp310-cp310-musllinux_1_1_ppc64le.whl", hash = "sha256:cfba2d01010ee437425c0dd029e27429a6595e3e9447750b5821cb1908d347dc"},
+    {file = "ncompress-1.0.1-cp310-cp310-musllinux_1_1_s390x.whl", hash = "sha256:062d8fb3ea0534a96de052eb68343da831c88a607685a87b0dc144ad1466e9ff"},
+    {file = "ncompress-1.0.1-cp310-cp310-musllinux_1_1_x86_64.whl", hash = "sha256:13a719822859605a798cf96e678b31e1dd66541369be48cc3ef544f2c6e14f08"},
+    {file = "ncompress-1.0.1-cp310-cp310-win_amd64.whl", hash = "sha256:7719b8659a9f61b3cfacbbd9c1bb07a3656945aed0bf2c73e34cd1122edc9ff2"},
+    {file = "ncompress-1.0.1-cp310-cp310-win_arm64.whl", hash = "sha256:62a95f693d6964d1b25110afa7b2111a6a471c62727b5efa2e3a8e5e3c5922ff"},
+    {file = "ncompress-1.0.1-cp311-cp311-macosx_10_14_universal2.whl", hash = "sha256:a94fc9e3e047199c29ada85fa3104de6a7b486859337a05259b8ae24c1686e29"},
+    {file = "ncompress-1.0.1-cp311-cp311-macosx_10_14_x86_64.whl", hash = "sha256:938eee75b6084e5fb3cf4fb6a79ba86fb261cade319639893f369401c53687e4"},
+    {file = "ncompress-1.0.1-cp311-cp311-macosx_11_0_arm64.whl", hash = "sha256:016a3c60f6a25c50323cbcf4faf7c6ccd1992468eb6c6348a9d164cca3b53083"},
+    {file = "ncompress-1.0.1-cp311-cp311-manylinux_2_17_aarch64.manylinux2014_aarch64.whl", hash = "sha256:f49a6aa4e1757a0963bbadea6219c0369afb07265ace6e5c4201c974f5e271a3"},
+    {file = "ncompress-1.0.1-cp311-cp311-manylinux_2_17_ppc64le.manylinux2014_ppc64le.whl", hash = "sha256:8101d647f5334c4afb2a11e0c18602a9bdddb4260ee0a4f8ec6241930c89124d"},
+    {file = "ncompress-1.0.1-cp311-cp311-manylinux_2_17_s390x.manylinux2014_s390x.whl", hash = "sha256:39ced149de176fda05198e4d0ede9d88bb2a4b717f559b4826a169dd61ab41d9"},
+    {file = "ncompress-1.0.1-cp311-cp311-manylinux_2_17_x86_64.manylinux2014_x86_64.whl", hash = "sha256:0f7c85fb141308e806fecc47791aaa5d03efd05f2b6d0d9bdf0f7ce021f60799"},
+    {file = "ncompress-1.0.1-cp311-cp311-musllinux_1_1_aarch64.whl", hash = "sha256:c242d28f5679319733cf0f9a5342c3a94161214fb6ab4ef0fb15a31c65d69114"},
+    {file = "ncompress-1.0.1-cp311-cp311-musllinux_1_1_ppc64le.whl", hash = "sha256:149464d41c24fa66e1497b8e2b460f312dbe017624b46af1514bf0276485a99f"},
+    {file = "ncompress-1.0.1-cp311-cp311-musllinux_1_1_s390x.whl", hash = "sha256:ba638721c66c1946c32bbb86e9413c8a101b0db09c82afe96dfe1a2201783cab"},
+    {file = "ncompress-1.0.1-cp311-cp311-musllinux_1_1_x86_64.whl", hash = "sha256:a9345d3825776440bba31b1998bd11a377e3eb98bb79377ae91739b5e7464c1c"},
+    {file = "ncompress-1.0.1-cp311-cp311-win_amd64.whl", hash = "sha256:0459002f93a2ed501fc76b6cd8806216f242cd86f11dac6df88932214345dd42"},
+    {file = "ncompress-1.0.1-cp311-cp311-win_arm64.whl", hash = "sha256:2039fd029b0c7b7bec320ab5450cdc93ef786bad9ba7a87162aa2892dd7156f9"},
+    {file = "ncompress-1.0.1-cp38-cp38-macosx_10_14_universal2.whl", hash = "sha256:cd1d7c3458f4c345dc47ede17e7777b1a7d6a26f18d08962b0a0804b142fdc1e"},
+    {file = "ncompress-1.0.1-cp38-cp38-macosx_10_14_x86_64.whl", hash = "sha256:213eedd6cf7bf550cce2ff6e72791c8343396d169a248d1b422b17f68cd387ed"},
+    {file = "ncompress-1.0.1-cp38-cp38-macosx_11_0_arm64.whl", hash = "sha256:068bb0356d74afcf8f38b231e76773116e7346c76a6face3e25ec7cec4d60795"},
+    {file = "ncompress-1.0.1-cp38-cp38-manylinux_2_17_aarch64.manylinux2014_aarch64.whl", hash = "sha256:87ea419d904f44833620a14a9815d3aaa70e4b9739a743953c963a56be64d711"},
+    {file = "ncompress-1.0.1-cp38-cp38-manylinux_2_17_ppc64le.manylinux2014_ppc64le.whl", hash = "sha256:df2afc9e5ac6a72bed94fd75967cdacf826d94b7b29fe841210fefb1a7c6a6bb"},
+    {file = "ncompress-1.0.1-cp38-cp38-manylinux_2_17_s390x.manylinux2014_s390x.whl", hash = "sha256:9bcb8f79fcaba867768178b98e25106c63a79f077f1ea22ec59e7945236a8ab7"},
+    {file = "ncompress-1.0.1-cp38-cp38-manylinux_2_17_x86_64.manylinux2014_x86_64.whl", hash = "sha256:73a1025f501ea3d0b729da59f557ab67f6533a97ebe0082fd762018132cf92a7"},
+    {file = "ncompress-1.0.1-cp38-cp38-musllinux_1_1_aarch64.whl", hash = "sha256:dbf462b9cc620b56bf824aa20aa9d75de04444d1e43f1b228037d1ecf01ce6be"},
+    {file = "ncompress-1.0.1-cp38-cp38-musllinux_1_1_ppc64le.whl", hash = "sha256:2df08321ed9c8d0bbba34b2859b8a5a2833a3a315f131b81603eb1dc7423c0ba"},
+    {file = "ncompress-1.0.1-cp38-cp38-musllinux_1_1_s390x.whl", hash = "sha256:95a846e1704852c95c7ec347f09fc4bea3dfd3581020e3c694a1081a8fcd3ea1"},
+    {file = "ncompress-1.0.1-cp38-cp38-musllinux_1_1_x86_64.whl", hash = "sha256:3c48aac59135cd521ba7a8ee0f6dd9d03946a3f2d2e02d4534dabe7423fd3420"},
+    {file = "ncompress-1.0.1-cp38-cp38-win_amd64.whl", hash = "sha256:47ade5c18733da749ba7371ac27e68ba806d67d430e5eb37c48bf338bb975382"},
+    {file = "ncompress-1.0.1-cp39-cp39-macosx_10_14_universal2.whl", hash = "sha256:29e7fce7e246de8871dc94349a1abf21da675e249acdaac76d95601a7c3da928"},
+    {file = "ncompress-1.0.1-cp39-cp39-macosx_10_14_x86_64.whl", hash = "sha256:c34316051bfc1305b3f51bf03cb78e115d23b153a34d8a1a9d04459e42857f84"},
+    {file = "ncompress-1.0.1-cp39-cp39-macosx_11_0_arm64.whl", hash = "sha256:7c19380caa250289260576ca5c29558ed00f516ba9844283d6c9a5b7e6a0475f"},
+    {file = "ncompress-1.0.1-cp39-cp39-manylinux_2_17_aarch64.manylinux2014_aarch64.whl", hash = "sha256:8207723ff3ba3f27a4bdb7632d5be05a6de5e0e163c4495dd66856d713f96dec"},
+    {file = "ncompress-1.0.1-cp39-cp39-manylinux_2_17_ppc64le.manylinux2014_ppc64le.whl", hash = "sha256:8308fb769bb5eb063badd92904f4abe8c0f1c023d71a7cda168a033cbcc60c88"},
+    {file = "ncompress-1.0.1-cp39-cp39-manylinux_2_17_s390x.manylinux2014_s390x.whl", hash = "sha256:d26a0b26e958ea7ffbc41fa6fdfa9e8f1c72b45134ca0ad198ea3f61701ba0b4"},
+    {file = "ncompress-1.0.1-cp39-cp39-manylinux_2_17_x86_64.manylinux2014_x86_64.whl", hash = "sha256:0ce207383fa1c1fb47320f3fb593a360ad30cc04b5ffcd868c020210eb57b798"},
+    {file = "ncompress-1.0.1-cp39-cp39-musllinux_1_1_aarch64.whl", hash = "sha256:c62cd047119d897b789955b082c9da76efae5b47f84b0ebe68fbe9e37f932f7b"},
+    {file = "ncompress-1.0.1-cp39-cp39-musllinux_1_1_ppc64le.whl", hash = "sha256:64bf39b339350f099811ab8eaf7a8aece5629a4555838c9744c81cdc39a1ad15"},
+    {file = "ncompress-1.0.1-cp39-cp39-musllinux_1_1_s390x.whl", hash = "sha256:4a707c302c008498afd23959ba6d64b7e4aa3a292d78e10dbb5c35f80b57ad64"},
+    {file = "ncompress-1.0.1-cp39-cp39-musllinux_1_1_x86_64.whl", hash = "sha256:4abc4469666f6cf7f7e27fc8c1e629088c075ef5dfb22ad55cb80a193d745fdc"},
+    {file = "ncompress-1.0.1-cp39-cp39-win_amd64.whl", hash = "sha256:a1f9b16445da8af82073b5e7a9b33c024bd4299bfecfba1da636d32da5c9c399"},
+    {file = "ncompress-1.0.1-cp39-cp39-win_arm64.whl", hash = "sha256:7be5cca28b1a7c8df5d989d90c80d316b486bc8d32c67aec2029b27b9589c5df"},
+    {file = "ncompress-1.0.1.tar.gz", hash = "sha256:a27a54b572da8f14ac0c0689660f13cddb02a2822b03048d3c2ce3d28fb11027"},
 ]
-ncompress = [
-    {file = "ncompress-1.0.0-cp310-cp310-macosx_10_9_x86_64.whl", hash = "sha256:0349d7de11edd70a7efea9ce9dc67f0e47b5774832dd063f7ae68a9e3e36ea31"},
-    {file = "ncompress-1.0.0-cp310-cp310-manylinux_2_17_i686.manylinux2014_i686.whl", hash = "sha256:af0011bae90e44121f4e4edbff3dccdce7e4c5fc5e354db7eb48410d71f496df"},
-    {file = "ncompress-1.0.0-cp310-cp310-manylinux_2_17_x86_64.manylinux2014_x86_64.whl", hash = "sha256:e6f5bf381412e9d3847b76e8b6bd1f84dfadcd3d9c25903c8592facb437909a0"},
-    {file = "ncompress-1.0.0-cp310-cp310-musllinux_1_1_i686.whl", hash = "sha256:e0ebd71990ef7909b6627b5341a2fe1977dcce61dd3760a29e19e3f9e4c6a275"},
-    {file = "ncompress-1.0.0-cp310-cp310-musllinux_1_1_x86_64.whl", hash = "sha256:8b9acc46cf36bb998ed215d6e76a94e2bd1e827b9a4cb5362982b7004b5a7620"},
-    {file = "ncompress-1.0.0-cp310-cp310-win32.whl", hash = "sha256:2a104803fbe3ab0a96edb14927fa22c8142be838aabe7e938b4a52a4e82db56e"},
-    {file = "ncompress-1.0.0-cp310-cp310-win_amd64.whl", hash = "sha256:5a2ae8a9170fa1f45df7efa292eb8c437b18c225b63d4adca4f50f9da0e8e0c7"},
-    {file = "ncompress-1.0.0-cp36-cp36m-macosx_10_9_x86_64.whl", hash = "sha256:7608fbda43d04d9f476be2dbf4ef3c96e72d83b9557a48b07fbc9ff3ad29cdd2"},
-    {file = "ncompress-1.0.0-cp36-cp36m-manylinux_2_17_i686.manylinux2014_i686.whl", hash = "sha256:8322482e72ac2802d1dca1007ec06aa281a4d5cf1cf9f8c75bb51e917382b756"},
-    {file = "ncompress-1.0.0-cp36-cp36m-manylinux_2_17_x86_64.manylinux2014_x86_64.whl", hash = "sha256:3590e66313041721ae81e72ece06b7048c9293321bb30900358638673608e264"},
-    {file = "ncompress-1.0.0-cp36-cp36m-musllinux_1_1_i686.whl", hash = "sha256:736dbae078107742cf6ac7ccc11ae9c5eab77ef2c02aab3ef64802877bb01cab"},
-    {file = "ncompress-1.0.0-cp36-cp36m-musllinux_1_1_x86_64.whl", hash = "sha256:5336a8831a7e587829ce54e9e27d1fb2e04ddbc7d2d983693e35a3a03ac3ce79"},
-    {file = "ncompress-1.0.0-cp36-cp36m-win32.whl", hash = "sha256:9cd040ad73a3b0e917e01cdfba507e10e0bb56849daaac3ac3d86382d4d7ad82"},
-    {file = "ncompress-1.0.0-cp36-cp36m-win_amd64.whl", hash = "sha256:8eb4a55cbeaeb238a3b412952077be6b3f37b3416cd0211cc22776391ff2fef7"},
-    {file = "ncompress-1.0.0-cp37-cp37m-macosx_10_9_x86_64.whl", hash = "sha256:916671d62167191af58d6b4a17b1c09c647e349dcff1fc0b7d764aa64c3773ee"},
-    {file = "ncompress-1.0.0-cp37-cp37m-manylinux_2_17_i686.manylinux2014_i686.whl", hash = "sha256:15f10fbfa11345ff0af090e3e6ae13a1fe2b52a2bb39d4f2373c2d6aeac75e5d"},
-    {file = "ncompress-1.0.0-cp37-cp37m-manylinux_2_17_x86_64.manylinux2014_x86_64.whl", hash = "sha256:fe0a671a2f7dc1ee0438d278ef30ab425a969536100c4352b5cb6bc0b6210818"},
-    {file = "ncompress-1.0.0-cp37-cp37m-musllinux_1_1_i686.whl", hash = "sha256:9d89acf209858e7940223cf35324e1b2effec119bb009a41f039e2ea4db22177"},
-    {file = "ncompress-1.0.0-cp37-cp37m-musllinux_1_1_x86_64.whl", hash = "sha256:66d991155a1655ccd98e8433c4a7e811d63eb649adb55f47d8f9528a30cc4b7a"},
-    {file = "ncompress-1.0.0-cp37-cp37m-win32.whl", hash = "sha256:34c6496168fd4dbc13f1fc0c0fcbadded1957639956f8cbc6894c39999817e36"},
-    {file = "ncompress-1.0.0-cp37-cp37m-win_amd64.whl", hash = "sha256:94b3f4e851f5b37e1d4cf2d8da911fa10783a59cba3d7f1f2ae5bd2842558077"},
-    {file = "ncompress-1.0.0-cp38-cp38-macosx_10_9_x86_64.whl", hash = "sha256:aaa18a509d9fc173b4b47d53c834e43ced1eda63d2aa7d4613dc59b2f802a31a"},
-    {file = "ncompress-1.0.0-cp38-cp38-manylinux_2_17_i686.manylinux2014_i686.whl", hash = "sha256:6540556d47670a8fb93878a44d0206bbdc87f32e4c5b57d6fe63691efafbb982"},
-    {file = "ncompress-1.0.0-cp38-cp38-manylinux_2_17_x86_64.manylinux2014_x86_64.whl", hash = "sha256:9da7c81313aed4b6c6e8020442ed8d03d04bff72947f9380ea1ce2c63ffb8ad1"},
-    {file = "ncompress-1.0.0-cp38-cp38-musllinux_1_1_i686.whl", hash = "sha256:d45ec59a8a3ce00613df0c81e5567854574dbbbf01ecd1a5a0929cd8fb04844d"},
-    {file = "ncompress-1.0.0-cp38-cp38-musllinux_1_1_x86_64.whl", hash = "sha256:393cc3c126b9451fb32fe2bc07773264c90e73afbd37da0df472ac23bfd1a2d5"},
-    {file = "ncompress-1.0.0-cp38-cp38-win32.whl", hash = "sha256:78674f246878938387b6f82b10d1aa2192e02544d214541943d12ef1a45e66c6"},
-    {file = "ncompress-1.0.0-cp38-cp38-win_amd64.whl", hash = "sha256:da216a53db7cd4c0247376f87367dd71df457443567e55310f6d3d23a9aff2f2"},
-    {file = "ncompress-1.0.0-cp39-cp39-macosx_10_9_x86_64.whl", hash = "sha256:34754041d9bac2d6908ae0d07ba541e4d6d606cca222ddd53f3a57e15f386b0a"},
-    {file = "ncompress-1.0.0-cp39-cp39-manylinux_2_17_i686.manylinux2014_i686.whl", hash = "sha256:ab9fc62baaa55faf8ed8ac67f2c64a7295fec91d7c1f306ac46aa894ca4edf91"},
-    {file = "ncompress-1.0.0-cp39-cp39-manylinux_2_17_x86_64.manylinux2014_x86_64.whl", hash = "sha256:070044eab19586a45d1855c3e50e000ce86d6075b122a5ec8cffd480713dffac"},
-    {file = "ncompress-1.0.0-cp39-cp39-musllinux_1_1_i686.whl", hash = "sha256:f9ba6ab2aadd6fd90365fdad5219e4dc7bc2459b94f1e900a733dddaf4e9b2e6"},
-    {file = "ncompress-1.0.0-cp39-cp39-musllinux_1_1_x86_64.whl", hash = "sha256:b031e06b42037b181e3514261e1e85a9eae4af990c12b9348a9f22b8042201ff"},
-    {file = "ncompress-1.0.0-cp39-cp39-win32.whl", hash = "sha256:13fa26ec8000d786a8079bb265508b5df4b445a4f460481a13549b4bd3c83824"},
-    {file = "ncompress-1.0.0-cp39-cp39-win_amd64.whl", hash = "sha256:d11df815d280985dfa660974df11dbe051a1a18dca2f91f9d30fbd6548237b8f"},
-    {file = "ncompress-1.0.0.tar.gz", hash = "sha256:e7bbf10cca1376f4f17ae2c447e33a9d4067525abb0c71d488c9a5ced50552f1"},
+
+[package.extras]
+tests = ["pytest"]
+
+[[package]]
+name = "nest-asyncio"
+version = "1.5.7"
+description = "Patch asyncio to allow nested event loops"
+optional = false
+python-versions = ">=3.5"
+files = [
+    {file = "nest_asyncio-1.5.7-py3-none-any.whl", hash = "sha256:5301c82941b550b3123a1ea772ba9a1c80bad3a182be8c1a5ae6ad3be57a9657"},
+    {file = "nest_asyncio-1.5.7.tar.gz", hash = "sha256:6a80f7b98f24d9083ed24608977c09dd608d83f91cccc24c9d2cba6d10e01c10"},
 ]
-nest-asyncio = [
-    {file = "nest_asyncio-1.5.6-py3-none-any.whl", hash = "sha256:b9a953fb40dceaa587d109609098db21900182b16440652454a146cffb06e8b8"},
-    {file = "nest_asyncio-1.5.6.tar.gz", hash = "sha256:d267cc1ff794403f7df692964d1d2a3fa9418ffea2a3f6859a439ff482fef290"},
-]
-networkx = [
+
+[[package]]
+name = "networkx"
+version = "2.8.8"
+description = "Python package for creating and manipulating graphs and networks"
+optional = false
+python-versions = ">=3.8"
+files = [
     {file = "networkx-2.8.8-py3-none-any.whl", hash = "sha256:e435dfa75b1d7195c7b8378c3859f0445cd88c6b0375c181ed66823a9ceb7524"},
     {file = "networkx-2.8.8.tar.gz", hash = "sha256:230d388117af870fce5647a3c52401fcf753e94720e6ea6b4197a5355648885e"},
 ]
-nodeenv = [
-    {file = "nodeenv-1.7.0-py2.py3-none-any.whl", hash = "sha256:27083a7b96a25f2f5e1d8cb4b6317ee8aeda3bdd121394e5ac54e498028a042e"},
-    {file = "nodeenv-1.7.0.tar.gz", hash = "sha256:e0e7f7dfb85fc5394c6fe1e8fa98131a2473e04311a45afb6508f7cf1836fa2b"},
+
+[package.extras]
+default = ["matplotlib (>=3.4)", "numpy (>=1.19)", "pandas (>=1.3)", "scipy (>=1.8)"]
+developer = ["mypy (>=0.982)", "pre-commit (>=2.20)"]
+doc = ["nb2plots (>=0.6)", "numpydoc (>=1.5)", "pillow (>=9.2)", "pydata-sphinx-theme (>=0.11)", "sphinx (>=5.2)", "sphinx-gallery (>=0.11)", "texext (>=0.6.6)"]
+extra = ["lxml (>=4.6)", "pydot (>=1.4.2)", "pygraphviz (>=1.9)", "sympy (>=1.10)"]
+test = ["codecov (>=2.1)", "pytest (>=7.2)", "pytest-cov (>=4.0)"]
+
+[[package]]
+name = "nodeenv"
+version = "1.8.0"
+description = "Node.js virtual environment builder"
+optional = false
+python-versions = ">=2.7,!=3.0.*,!=3.1.*,!=3.2.*,!=3.3.*,!=3.4.*,!=3.5.*,!=3.6.*"
+files = [
+    {file = "nodeenv-1.8.0-py2.py3-none-any.whl", hash = "sha256:df865724bb3c3adc86b3876fa209771517b0cfe596beff01a92700e0e8be4cec"},
+    {file = "nodeenv-1.8.0.tar.gz", hash = "sha256:d51e0c37e64fbf47d017feac3145cdbb58836d7eee8c6f6d3b6880c5456227d2"},
 ]
-nose = [
-    {file = "nose-1.3.7-py2-none-any.whl", hash = "sha256:dadcddc0aefbf99eea214e0f1232b94f2fa9bd98fa8353711dacb112bfcbbb2a"},
-    {file = "nose-1.3.7-py3-none-any.whl", hash = "sha256:9ff7c6cc443f8c51994b34a667bbcf45afd6d945be7477b52e97516fd17c53ac"},
-    {file = "nose-1.3.7.tar.gz", hash = "sha256:f1bffef9cbc82628f6e7d7b40d7e255aefaa1adb6a1b1d26c69a8b79e6208a98"},
+
+[package.dependencies]
+setuptools = "*"
+
+[[package]]
+name = "notebook"
+version = "7.0.2"
+description = "Jupyter Notebook - A web-based notebook environment for interactive computing"
+optional = false
+python-versions = ">=3.8"
+files = [
+    {file = "notebook-7.0.2-py3-none-any.whl", hash = "sha256:c77b1499dc9b07ce4f4f26990dcb25b2107b434f2536766b51a72a4228d9a4b6"},
+    {file = "notebook-7.0.2.tar.gz", hash = "sha256:d70d6a07418c829bd5f54337ce993b7105261d9026f9d3fe68e9b8aa1a20da9a"},
 ]
-notebook = [
-    {file = "notebook-6.4.12-py3-none-any.whl", hash = "sha256:8c07a3bb7640e371f8a609bdbb2366a1976c6a2589da8ef917f761a61e3ad8b1"},
-    {file = "notebook-6.4.12.tar.gz", hash = "sha256:6268c9ec9048cff7a45405c990c29ac9ca40b0bc3ec29263d218c5e01f2b4e86"},
+
+[package.dependencies]
+jupyter-server = ">=2.4.0,<3"
+jupyterlab = ">=4.0.2,<5"
+jupyterlab-server = ">=2.22.1,<3"
+notebook-shim = ">=0.2,<0.3"
+tornado = ">=6.2.0"
+
+[package.extras]
+dev = ["hatch", "pre-commit"]
+docs = ["myst-parser", "nbsphinx", "pydata-sphinx-theme", "sphinx (>=1.3.6)", "sphinxcontrib-github-alt", "sphinxcontrib-spelling"]
+test = ["ipykernel", "jupyter-server[test] (>=2.4.0,<3)", "jupyterlab-server[test] (>=2.22.1,<3)", "nbval", "pytest (>=7.0)", "pytest-console-scripts", "pytest-timeout", "pytest-tornasync", "requests"]
+
+[[package]]
+name = "notebook-shim"
+version = "0.2.3"
+description = "A shim layer for notebook traits and config"
+optional = false
+python-versions = ">=3.7"
+files = [
+    {file = "notebook_shim-0.2.3-py3-none-any.whl", hash = "sha256:a83496a43341c1674b093bfcebf0fe8e74cbe7eda5fd2bbc56f8e39e1486c0c7"},
+    {file = "notebook_shim-0.2.3.tar.gz", hash = "sha256:f69388ac283ae008cd506dda10d0288b09a017d822d5e8c7129a152cbd3ce7e9"},
 ]
-notebook-shim = [
-    {file = "notebook_shim-0.2.0-py3-none-any.whl", hash = "sha256:481711abddfb2e5305b83cf0efe18475824eb47d1ba9f87f66a8c574b8b5c9e4"},
-    {file = "notebook_shim-0.2.0.tar.gz", hash = "sha256:fdb81febb05932c6d19e44e10382ce05469cac5e1b6e99b49be6159ddb5e4804"},
+
+[package.dependencies]
+jupyter-server = ">=1.8,<3"
+
+[package.extras]
+test = ["pytest", "pytest-console-scripts", "pytest-jupyter", "pytest-tornasync"]
+
+[[package]]
+name = "numpy"
+version = "1.23.0"
+description = "NumPy is the fundamental package for array computing with Python."
+optional = false
+python-versions = ">=3.8"
+files = [
+    {file = "numpy-1.23.0-cp310-cp310-macosx_10_9_x86_64.whl", hash = "sha256:58bfd40eb478f54ff7a5710dd61c8097e169bc36cc68333d00a9bcd8def53b38"},
+    {file = "numpy-1.23.0-cp310-cp310-macosx_11_0_arm64.whl", hash = "sha256:196cd074c3f97c4121601790955f915187736f9cf458d3ee1f1b46aff2b1ade0"},
+    {file = "numpy-1.23.0-cp310-cp310-manylinux_2_17_aarch64.manylinux2014_aarch64.whl", hash = "sha256:f1d88ef79e0a7fa631bb2c3dda1ea46b32b1fe614e10fedd611d3d5398447f2f"},
+    {file = "numpy-1.23.0-cp310-cp310-manylinux_2_17_x86_64.manylinux2014_x86_64.whl", hash = "sha256:d54b3b828d618a19779a84c3ad952e96e2c2311b16384e973e671aa5be1f6187"},
+    {file = "numpy-1.23.0-cp310-cp310-win32.whl", hash = "sha256:2b2da66582f3a69c8ce25ed7921dcd8010d05e59ac8d89d126a299be60421171"},
+    {file = "numpy-1.23.0-cp310-cp310-win_amd64.whl", hash = "sha256:97a76604d9b0e79f59baeca16593c711fddb44936e40310f78bfef79ee9a835f"},
+    {file = "numpy-1.23.0-cp38-cp38-macosx_10_9_x86_64.whl", hash = "sha256:d8cc87bed09de55477dba9da370c1679bd534df9baa171dd01accbb09687dac3"},
+    {file = "numpy-1.23.0-cp38-cp38-macosx_11_0_arm64.whl", hash = "sha256:f0f18804df7370571fb65db9b98bf1378172bd4e962482b857e612d1fec0f53e"},
+    {file = "numpy-1.23.0-cp38-cp38-manylinux_2_17_aarch64.manylinux2014_aarch64.whl", hash = "sha256:ac86f407873b952679f5f9e6c0612687e51547af0e14ddea1eedfcb22466babd"},
+    {file = "numpy-1.23.0-cp38-cp38-manylinux_2_17_x86_64.manylinux2014_x86_64.whl", hash = "sha256:ae8adff4172692ce56233db04b7ce5792186f179c415c37d539c25de7298d25d"},
+    {file = "numpy-1.23.0-cp38-cp38-win32.whl", hash = "sha256:fe8b9683eb26d2c4d5db32cd29b38fdcf8381324ab48313b5b69088e0e355379"},
+    {file = "numpy-1.23.0-cp38-cp38-win_amd64.whl", hash = "sha256:5043bcd71fcc458dfb8a0fc5509bbc979da0131b9d08e3d5f50fb0bbb36f169a"},
+    {file = "numpy-1.23.0-cp39-cp39-macosx_10_9_x86_64.whl", hash = "sha256:1c29b44905af288b3919803aceb6ec7fec77406d8b08aaa2e8b9e63d0fe2f160"},
+    {file = "numpy-1.23.0-cp39-cp39-macosx_11_0_arm64.whl", hash = "sha256:98e8e0d8d69ff4d3fa63e6c61e8cfe2d03c29b16b58dbef1f9baa175bbed7860"},
+    {file = "numpy-1.23.0-cp39-cp39-manylinux_2_17_aarch64.manylinux2014_aarch64.whl", hash = "sha256:79a506cacf2be3a74ead5467aee97b81fca00c9c4c8b3ba16dbab488cd99ba10"},
+    {file = "numpy-1.23.0-cp39-cp39-manylinux_2_17_x86_64.manylinux2014_x86_64.whl", hash = "sha256:092f5e6025813e64ad6d1b52b519165d08c730d099c114a9247c9bb635a2a450"},
+    {file = "numpy-1.23.0-cp39-cp39-win32.whl", hash = "sha256:d6ca8dabe696c2785d0c8c9b0d8a9b6e5fdbe4f922bde70d57fa1a2848134f95"},
+    {file = "numpy-1.23.0-cp39-cp39-win_amd64.whl", hash = "sha256:fc431493df245f3c627c0c05c2bd134535e7929dbe2e602b80e42bf52ff760bc"},
+    {file = "numpy-1.23.0-pp38-pypy38_pp73-macosx_10_9_x86_64.whl", hash = "sha256:f9c3fc2adf67762c9fe1849c859942d23f8d3e0bee7b5ed3d4a9c3eeb50a2f07"},
+    {file = "numpy-1.23.0-pp38-pypy38_pp73-manylinux_2_17_x86_64.manylinux2014_x86_64.whl", hash = "sha256:d0d2094e8f4d760500394d77b383a1b06d3663e8892cdf5df3c592f55f3bff66"},
+    {file = "numpy-1.23.0-pp38-pypy38_pp73-win_amd64.whl", hash = "sha256:94b170b4fa0168cd6be4becf37cb5b127bd12a795123984385b8cd4aca9857e5"},
+    {file = "numpy-1.23.0.tar.gz", hash = "sha256:bd3fa4fe2e38533d5336e1272fc4e765cabbbde144309ccee8675509d5cd7b05"},
 ]
-numpy = [
-    {file = "numpy-1.23.4-cp310-cp310-macosx_10_9_x86_64.whl", hash = "sha256:95d79ada05005f6f4f337d3bb9de8a7774f259341c70bc88047a1f7b96a4bcb2"},
-    {file = "numpy-1.23.4-cp310-cp310-macosx_11_0_arm64.whl", hash = "sha256:926db372bc4ac1edf81cfb6c59e2a881606b409ddc0d0920b988174b2e2a767f"},
-    {file = "numpy-1.23.4-cp310-cp310-manylinux_2_17_aarch64.manylinux2014_aarch64.whl", hash = "sha256:c237129f0e732885c9a6076a537e974160482eab8f10db6292e92154d4c67d71"},
-    {file = "numpy-1.23.4-cp310-cp310-manylinux_2_17_x86_64.manylinux2014_x86_64.whl", hash = "sha256:a8365b942f9c1a7d0f0dc974747d99dd0a0cdfc5949a33119caf05cb314682d3"},
-    {file = "numpy-1.23.4-cp310-cp310-win32.whl", hash = "sha256:2341f4ab6dba0834b685cce16dad5f9b6606ea8a00e6da154f5dbded70fdc4dd"},
-    {file = "numpy-1.23.4-cp310-cp310-win_amd64.whl", hash = "sha256:d331afac87c92373826af83d2b2b435f57b17a5c74e6268b79355b970626e329"},
-    {file = "numpy-1.23.4-cp311-cp311-macosx_10_9_x86_64.whl", hash = "sha256:488a66cb667359534bc70028d653ba1cf307bae88eab5929cd707c761ff037db"},
-    {file = "numpy-1.23.4-cp311-cp311-macosx_11_0_arm64.whl", hash = "sha256:ce03305dd694c4873b9429274fd41fc7eb4e0e4dea07e0af97a933b079a5814f"},
-    {file = "numpy-1.23.4-cp311-cp311-manylinux_2_17_aarch64.manylinux2014_aarch64.whl", hash = "sha256:8981d9b5619569899666170c7c9748920f4a5005bf79c72c07d08c8a035757b0"},
-    {file = "numpy-1.23.4-cp311-cp311-manylinux_2_17_x86_64.manylinux2014_x86_64.whl", hash = "sha256:7a70a7d3ce4c0e9284e92285cba91a4a3f5214d87ee0e95928f3614a256a1488"},
-    {file = "numpy-1.23.4-cp311-cp311-win32.whl", hash = "sha256:5e13030f8793e9ee42f9c7d5777465a560eb78fa7e11b1c053427f2ccab90c79"},
-    {file = "numpy-1.23.4-cp311-cp311-win_amd64.whl", hash = "sha256:7607b598217745cc40f751da38ffd03512d33ec06f3523fb0b5f82e09f6f676d"},
-    {file = "numpy-1.23.4-cp38-cp38-macosx_10_9_x86_64.whl", hash = "sha256:7ab46e4e7ec63c8a5e6dbf5c1b9e1c92ba23a7ebecc86c336cb7bf3bd2fb10e5"},
-    {file = "numpy-1.23.4-cp38-cp38-macosx_11_0_arm64.whl", hash = "sha256:a8aae2fb3180940011b4862b2dd3756616841c53db9734b27bb93813cd79fce6"},
-    {file = "numpy-1.23.4-cp38-cp38-manylinux_2_17_aarch64.manylinux2014_aarch64.whl", hash = "sha256:8c053d7557a8f022ec823196d242464b6955a7e7e5015b719e76003f63f82d0f"},
-    {file = "numpy-1.23.4-cp38-cp38-manylinux_2_17_x86_64.manylinux2014_x86_64.whl", hash = "sha256:a0882323e0ca4245eb0a3d0a74f88ce581cc33aedcfa396e415e5bba7bf05f68"},
-    {file = "numpy-1.23.4-cp38-cp38-win32.whl", hash = "sha256:dada341ebb79619fe00a291185bba370c9803b1e1d7051610e01ed809ef3a4ba"},
-    {file = "numpy-1.23.4-cp38-cp38-win_amd64.whl", hash = "sha256:0fe563fc8ed9dc4474cbf70742673fc4391d70f4363f917599a7fa99f042d5a8"},
-    {file = "numpy-1.23.4-cp39-cp39-macosx_10_9_x86_64.whl", hash = "sha256:c67b833dbccefe97cdd3f52798d430b9d3430396af7cdb2a0c32954c3ef73894"},
-    {file = "numpy-1.23.4-cp39-cp39-macosx_11_0_arm64.whl", hash = "sha256:f76025acc8e2114bb664294a07ede0727aa75d63a06d2fae96bf29a81747e4a7"},
-    {file = "numpy-1.23.4-cp39-cp39-manylinux_2_17_aarch64.manylinux2014_aarch64.whl", hash = "sha256:12ac457b63ec8ded85d85c1e17d85efd3c2b0967ca39560b307a35a6703a4735"},
-    {file = "numpy-1.23.4-cp39-cp39-manylinux_2_17_x86_64.manylinux2014_x86_64.whl", hash = "sha256:95de7dc7dc47a312f6feddd3da2500826defdccbc41608d0031276a24181a2c0"},
-    {file = "numpy-1.23.4-cp39-cp39-win32.whl", hash = "sha256:f2f390aa4da44454db40a1f0201401f9036e8d578a25f01a6e237cea238337ef"},
-    {file = "numpy-1.23.4-cp39-cp39-win_amd64.whl", hash = "sha256:f260da502d7441a45695199b4e7fd8ca87db659ba1c78f2bbf31f934fe76ae0e"},
-    {file = "numpy-1.23.4-pp38-pypy38_pp73-macosx_10_9_x86_64.whl", hash = "sha256:61be02e3bf810b60ab74e81d6d0d36246dbfb644a462458bb53b595791251911"},
-    {file = "numpy-1.23.4-pp38-pypy38_pp73-manylinux_2_17_x86_64.manylinux2014_x86_64.whl", hash = "sha256:296d17aed51161dbad3c67ed6d164e51fcd18dbcd5dd4f9d0a9c6055dce30810"},
-    {file = "numpy-1.23.4-pp38-pypy38_pp73-win_amd64.whl", hash = "sha256:4d52914c88b4930dafb6c48ba5115a96cbab40f45740239d9f4159c4ba779962"},
-    {file = "numpy-1.23.4.tar.gz", hash = "sha256:ed2cc92af0efad20198638c69bb0fc2870a58dabfba6eb722c933b48556c686c"},
-]
-nvidia-cublas-cu12 = [
-    {file = "nvidia_cublas_cu12-12.1.0.26-py3-none-manylinux1_x86_64.whl", hash = "sha256:4fd00bd12d442f53929616f45ba67552a13d8940f6e766d11d83973a21ada910"},
-    {file = "nvidia_cublas_cu12-12.1.0.26-py3-none-win_amd64.whl", hash = "sha256:5c668dcb5cbf49e1add058328300aa90fd012eb958a646a8777d55da2eca5eaa"},
-]
-nvidia-cuda-runtime-cu12 = [
-    {file = "nvidia_cuda_runtime_cu12-12.1.55-py3-none-manylinux1_x86_64.whl", hash = "sha256:a485693383c7a28ba022587c5a640353ef61a21eb2e87382d0a76340bda92e2e"},
-    {file = "nvidia_cuda_runtime_cu12-12.1.55-py3-none-win_amd64.whl", hash = "sha256:6939e48161354dbc096dcc6f7910cb2387227f0bac462c2cff51a7d5b50ad200"},
-]
-nvidia-cudnn-cu12 = [
-    {file = "nvidia_cudnn_cu12-8.9.0.131-py3-none-manylinux1_x86_64.whl", hash = "sha256:2a95c2e0201187509021270f52971435d171e65627a482b9ebdfdde6749ad485"},
-]
-nvidia-ml-py3 = [
+
+[[package]]
+name = "nvidia-ml-py3"
+version = "7.352.0"
+description = "Python Bindings for the NVIDIA Management Library"
+optional = false
+python-versions = "*"
+files = [
     {file = "nvidia-ml-py3-7.352.0.tar.gz", hash = "sha256:390f02919ee9d73fe63a98c73101061a6b37fa694a793abf56673320f1f51277"},
 ]
-oauthlib = [
+
+[[package]]
+name = "oauthlib"
+version = "3.2.2"
+description = "A generic, spec-compliant, thorough implementation of the OAuth request-signing logic"
+optional = false
+python-versions = ">=3.6"
+files = [
     {file = "oauthlib-3.2.2-py3-none-any.whl", hash = "sha256:8139f29aac13e25d502680e9e19963e83f16838d48a0d71c287fe40e7067fbca"},
     {file = "oauthlib-3.2.2.tar.gz", hash = "sha256:9859c40929662bec5d64f34d01c99e093149682a3f38915dc0655d5a633dd918"},
 ]
-omegaconf = [
+
+[package.extras]
+rsa = ["cryptography (>=3.0.0)"]
+signals = ["blinker (>=1.4.0)"]
+signedtoken = ["cryptography (>=3.0.0)", "pyjwt (>=2.0.0,<3)"]
+
+[[package]]
+name = "omegaconf"
+version = "2.3.0"
+description = "A flexible configuration library"
+optional = false
+python-versions = ">=3.6"
+files = [
     {file = "omegaconf-2.3.0-py3-none-any.whl", hash = "sha256:7b4df175cdb08ba400f45cae3bdcae7ba8365db4d165fc65fd04b050ab63b46b"},
     {file = "omegaconf-2.3.0.tar.gz", hash = "sha256:d5d4b6d29955cc50ad50c46dc269bcd92c6e00f5f90d23ab5fee7bfca4ba4cc7"},
 ]
-onnx = [
-    {file = "onnx-1.12.0-cp310-cp310-macosx_10_12_x86_64.whl", hash = "sha256:bdbd2578424c70836f4d0f9dda16c21868ddb07cc8192f9e8a176908b43d694b"},
-    {file = "onnx-1.12.0-cp310-cp310-manylinux_2_17_aarch64.manylinux2014_aarch64.whl", hash = "sha256:213e73610173f6b2e99f99a4b0636f80b379c417312079d603806e48ada4ca8b"},
-    {file = "onnx-1.12.0-cp310-cp310-manylinux_2_17_x86_64.manylinux2014_x86_64.whl", hash = "sha256:9fd2f4e23078df197bb76a59b9cd8f5a43a6ad2edc035edb3ecfb9042093e05a"},
-    {file = "onnx-1.12.0-cp310-cp310-win32.whl", hash = "sha256:23781594bb8b7ee985de1005b3c601648d5b0568a81e01365c48f91d1f5648e4"},
-    {file = "onnx-1.12.0-cp310-cp310-win_amd64.whl", hash = "sha256:81a3555fd67be2518bf86096299b48fb9154652596219890abfe90bd43a9ec13"},
-    {file = "onnx-1.12.0-cp37-cp37m-macosx_10_12_x86_64.whl", hash = "sha256:5578b93dc6c918cec4dee7fb7d9dd3b09d338301ee64ca8b4f28bc217ed42dca"},
-    {file = "onnx-1.12.0-cp37-cp37m-manylinux_2_17_aarch64.manylinux2014_aarch64.whl", hash = "sha256:c11162ffc487167da140f1112f49c4f82d815824f06e58bc3095407699f05863"},
-    {file = "onnx-1.12.0-cp37-cp37m-manylinux_2_17_x86_64.manylinux2014_x86_64.whl", hash = "sha256:341c7016e23273e9ffa9b6e301eee95b8c37d0f04df7cedbdb169d2c39524c96"},
-    {file = "onnx-1.12.0-cp37-cp37m-win32.whl", hash = "sha256:3c6e6bcffc3f5c1e148df3837dc667fa4c51999788c1b76b0b8fbba607e02da8"},
-    {file = "onnx-1.12.0-cp37-cp37m-win_amd64.whl", hash = "sha256:8a7aa61aea339bd28f310f4af4f52ce6c4b876386228760b16308efd58f95059"},
-    {file = "onnx-1.12.0-cp38-cp38-macosx_10_12_x86_64.whl", hash = "sha256:56ceb7e094c43882b723cfaa107d85ad673cfdf91faeb28d7dcadacca4f43a07"},
-    {file = "onnx-1.12.0-cp38-cp38-manylinux_2_17_aarch64.manylinux2014_aarch64.whl", hash = "sha256:b3629e8258db15d4e2c9b7f1be91a3186719dd94661c218c6f5fde3cc7de3d4d"},
-    {file = "onnx-1.12.0-cp38-cp38-manylinux_2_17_x86_64.manylinux2014_x86_64.whl", hash = "sha256:2d9a7db54e75529160337232282a4816cc50667dc7dc34be178fd6f6b79d4705"},
-    {file = "onnx-1.12.0-cp38-cp38-win32.whl", hash = "sha256:fea5156a03398fe0e23248042d8651c1eaac5f6637d4dd683b4c1f1320b9f7b4"},
-    {file = "onnx-1.12.0-cp38-cp38-win_amd64.whl", hash = "sha256:f66d2996e65f490a57b3ae952e4e9189b53cc9fe3f75e601d50d4db2dc1b1cd9"},
-    {file = "onnx-1.12.0-cp39-cp39-macosx_10_12_x86_64.whl", hash = "sha256:c39a7a0352c856f1df30dccf527eb6cb4909052e5eaf6fa2772a637324c526aa"},
-    {file = "onnx-1.12.0-cp39-cp39-manylinux_2_17_aarch64.manylinux2014_aarch64.whl", hash = "sha256:fab13feb4d94342aae6d357d480f2e47d41b9f4e584367542b21ca6defda9e0a"},
-    {file = "onnx-1.12.0-cp39-cp39-manylinux_2_17_x86_64.manylinux2014_x86_64.whl", hash = "sha256:c7a9b3ea02c30efc1d2662337e280266aca491a8e86be0d8a657f874b7cccd1e"},
-    {file = "onnx-1.12.0-cp39-cp39-win32.whl", hash = "sha256:f8800f28c746ab06e51ef8449fd1215621f4ddba91be3ffc264658937d38a2af"},
-    {file = "onnx-1.12.0-cp39-cp39-win_amd64.whl", hash = "sha256:af90427ca04c6b7b8107c2021e1273227a3ef1a7a01f3073039cae7855a59833"},
-    {file = "onnx-1.12.0.tar.gz", hash = "sha256:13b3e77d27523b9dbf4f30dfc9c959455859d5e34e921c44f712d69b8369eff9"},
+
+[package.dependencies]
+antlr4-python3-runtime = "==4.9.*"
+PyYAML = ">=5.1.0"
+
+[[package]]
+name = "onnx"
+version = "1.14.0"
+description = "Open Neural Network Exchange"
+optional = false
+python-versions = "*"
+files = [
+    {file = "onnx-1.14.0-cp310-cp310-macosx_10_12_universal2.whl", hash = "sha256:fb35c2c347486416f87f41557242c05d7ee804d3676c6c8c98eef6f5b1889e7b"},
+    {file = "onnx-1.14.0-cp310-cp310-macosx_10_12_x86_64.whl", hash = "sha256:cd683d4aa6d55365582055a6c1e10a55d6c08a59e9216cbb67e37ad3a5b2b980"},
+    {file = "onnx-1.14.0-cp310-cp310-manylinux_2_17_aarch64.manylinux2014_aarch64.whl", hash = "sha256:00b0d2620c10dcb9ec33441e807dc5851d2843d445e0faab5e22c8ad6874a67a"},
+    {file = "onnx-1.14.0-cp310-cp310-manylinux_2_17_x86_64.manylinux2014_x86_64.whl", hash = "sha256:01893a4a2d70b68e8ee20269ccde4069a6fd243dc9e296643e2afeb0050527bc"},
+    {file = "onnx-1.14.0-cp310-cp310-win32.whl", hash = "sha256:0753b0f118be71ff109dd994a3d6769e5871e9feaddfada77931c63f9de534b3"},
+    {file = "onnx-1.14.0-cp310-cp310-win_amd64.whl", hash = "sha256:d8c3a2354d9d997c7a4a5e467b5373c98dc549d4a33c77d5723e1eda7e87559c"},
+    {file = "onnx-1.14.0-cp311-cp311-macosx_10_12_universal2.whl", hash = "sha256:5e780fd1ed25493596a141e93303d0b2897acb9ebfdee7047a916d8f8e525ab3"},
+    {file = "onnx-1.14.0-cp311-cp311-macosx_10_12_x86_64.whl", hash = "sha256:9d28d64cbac3ebdc0c9761a300340c60ec60316099906e354e5059e90335fb3b"},
+    {file = "onnx-1.14.0-cp311-cp311-manylinux_2_17_aarch64.manylinux2014_aarch64.whl", hash = "sha256:ba92fed1aa27cba385bc3890fbbe6484603e837e67c957b22899f93c70990cc4"},
+    {file = "onnx-1.14.0-cp311-cp311-manylinux_2_17_x86_64.manylinux2014_x86_64.whl", hash = "sha256:2fab7e6e1c2d9d6479edad8e9088cdfd87ea293cb08f31565adabfb33c6e5789"},
+    {file = "onnx-1.14.0-cp311-cp311-win32.whl", hash = "sha256:6e966f5ef38a0521595cad6a1d14d9ae205c593d2824d8c1fa044fa5ba15370d"},
+    {file = "onnx-1.14.0-cp311-cp311-win_amd64.whl", hash = "sha256:1fe8ba794d261d722018bd1385f02f966aace0fcb5448881ab5dd55ab0ebb81b"},
+    {file = "onnx-1.14.0-cp37-cp37m-macosx_10_12_universal2.whl", hash = "sha256:c16dacf577700ff9cb076c61c880d1a4bc612eed96280396a54ee1e1bd7e2d68"},
+    {file = "onnx-1.14.0-cp37-cp37m-macosx_10_12_x86_64.whl", hash = "sha256:bbdca51da9fa9ec43eebd8c640bf71c05daa2afbeaa2c6478466470e28e41111"},
+    {file = "onnx-1.14.0-cp37-cp37m-manylinux_2_17_aarch64.manylinux2014_aarch64.whl", hash = "sha256:3315c304d23a06ebd07fffe2456ab7f1e0a8dba317393d5c17a671ae2da6645e"},
+    {file = "onnx-1.14.0-cp37-cp37m-manylinux_2_17_x86_64.manylinux2014_x86_64.whl", hash = "sha256:ac1545159f2e7fbc5b4a3ae032cd4d9ddeafc62c4f27fe22cbc3ecff49338992"},
+    {file = "onnx-1.14.0-cp37-cp37m-win32.whl", hash = "sha256:18cd98f7e234e268cb60c47a1f8ea5f6ffba50fe11de924b17498b1571d0cd2c"},
+    {file = "onnx-1.14.0-cp37-cp37m-win_amd64.whl", hash = "sha256:a8f7454acded506b6359ee0837c8527c64964973d7d25ed6b16b7d4314599502"},
+    {file = "onnx-1.14.0-cp38-cp38-macosx_10_12_universal2.whl", hash = "sha256:a9702e7dd120bca421a820020151cbb1003077e17ded29cc8d44ff32a9a57ad8"},
+    {file = "onnx-1.14.0-cp38-cp38-macosx_10_12_x86_64.whl", hash = "sha256:369c3ecace7e8c7df6efbcbc712b262626796ae4a83decd29111afafa025a30c"},
+    {file = "onnx-1.14.0-cp38-cp38-manylinux_2_17_aarch64.manylinux2014_aarch64.whl", hash = "sha256:6fbcdc1a0c1057785bc5f7254aca0cf0b49d19c74696f1ade107638054157315"},
+    {file = "onnx-1.14.0-cp38-cp38-manylinux_2_17_x86_64.manylinux2014_x86_64.whl", hash = "sha256:ed099fbdada4accead109a4479d5f73fb974566cce8d3c6fca94774f9645934c"},
+    {file = "onnx-1.14.0-cp38-cp38-win32.whl", hash = "sha256:296e689aa54a9ae4e560b2bb149a64e96775699a0624af5f631665b9cda90482"},
+    {file = "onnx-1.14.0-cp38-cp38-win_amd64.whl", hash = "sha256:e1607f97007515df303c1f40b77363545af99a1f32d2f73240c8aa526cdbd109"},
+    {file = "onnx-1.14.0-cp39-cp39-macosx_10_12_universal2.whl", hash = "sha256:7800b6ec74b1fe3fbb3bf4a2380e2f4007c1a7f2d6927599ad40eead6eae5e19"},
+    {file = "onnx-1.14.0-cp39-cp39-macosx_10_12_x86_64.whl", hash = "sha256:45d3effe59e20d0a9fdc51f5bb8f38299086c79576b894ed945e6a058c4b210a"},
+    {file = "onnx-1.14.0-cp39-cp39-manylinux_2_17_aarch64.manylinux2014_aarch64.whl", hash = "sha256:a593b46015326feb949781d030cb1d0d5d388cca52bff2e2995badf55d56b38d"},
+    {file = "onnx-1.14.0-cp39-cp39-manylinux_2_17_x86_64.manylinux2014_x86_64.whl", hash = "sha256:54614942574415ef3f0bce0800c6f41ecea8201f8042754e204ee8c0a8e473e1"},
+    {file = "onnx-1.14.0-cp39-cp39-win32.whl", hash = "sha256:dcfaeb2d15e93c456003fac13ffa35144ba9d2666a83e2cef650dd5c90a2b768"},
+    {file = "onnx-1.14.0-cp39-cp39-win_amd64.whl", hash = "sha256:0639427ac61e5a0181f4f7c89f9fc82b3c9715c95071f9c3de79bbe303a4ae65"},
+    {file = "onnx-1.14.0.tar.gz", hash = "sha256:43b85087c6b919de66872a043c7f4899fe6f840e11ffca7e662b2ce9e4cc2927"},
 ]
-onnx2torch = [
-    {file = "onnx2torch-1.5.4-py3-none-any.whl", hash = "sha256:fd1a0fe05072bfb9f3d86d9330299b130b41f11bd4ae634db17078974e711725"},
-    {file = "onnx2torch-1.5.4.tar.gz", hash = "sha256:df837b557a63540223d85fde4a1d679fde0ca8d8bb89d5379c030b01eddc9c24"},
+
+[package.dependencies]
+numpy = "*"
+protobuf = ">=3.20.2"
+typing-extensions = ">=3.6.2.1"
+
+[package.extras]
+lint = ["lintrunner (>=0.10.0)", "lintrunner-adapters (>=0.3)"]
+
+[[package]]
+name = "onnx2torch"
+version = "1.5.11"
+description = "ONNX to PyTorch converter"
+optional = false
+python-versions = ">=3.6"
+files = [
+    {file = "onnx2torch-1.5.11-py3-none-any.whl", hash = "sha256:7dd22a7d2bd06a71d9cde1b38888fb6d2234e55ee1e28a16221f1fae8197acce"},
+    {file = "onnx2torch-1.5.11.tar.gz", hash = "sha256:5254522279fb15c2e3ccd33ca9104dbd08cf4e188341338b4a3aead50475c419"},
 ]
-onnxoptimizer = [
-    {file = "onnxoptimizer-0.3.1-cp37-cp37m-macosx_10_15_x86_64.whl", hash = "sha256:e73a5e2e3ca4db9bff54f7131768749c861677b97ee811a136fcf1a52783cf6e"},
-    {file = "onnxoptimizer-0.3.1-cp37-cp37m-manylinux_2_17_x86_64.manylinux2014_x86_64.whl", hash = "sha256:c8bf2bfe0dc43f0776867688e1759122dec049ff4f45f7221931b687fe7e139e"},
-    {file = "onnxoptimizer-0.3.1-cp37-cp37m-win_amd64.whl", hash = "sha256:a9a815bba418abfb23f319838370cfd9450305a2da7d970a2261046889a70730"},
-    {file = "onnxoptimizer-0.3.1-cp38-cp38-macosx_10_15_x86_64.whl", hash = "sha256:60f1d3600f03466a451c05e3d12ce97565bae016e46f70396ba22208cfeae6f6"},
-    {file = "onnxoptimizer-0.3.1-cp38-cp38-manylinux_2_17_x86_64.manylinux2014_x86_64.whl", hash = "sha256:056a765593d197b2b643bfb35520a66eacebfc682583d9ac0389a56c2a259e6f"},
-    {file = "onnxoptimizer-0.3.1-cp38-cp38-win_amd64.whl", hash = "sha256:15da6a036df388c3f08c3fc638b4d313ee6a1b96aaaa1c602fd1b424dd7bbc23"},
-    {file = "onnxoptimizer-0.3.1-cp39-cp39-macosx_10_15_x86_64.whl", hash = "sha256:5547203ee3392e3dabcea68a3a4d316ee0269ad3cf8a3504d1f68d467f60a06a"},
-    {file = "onnxoptimizer-0.3.1-cp39-cp39-manylinux_2_17_x86_64.manylinux2014_x86_64.whl", hash = "sha256:c773b03313e253a60c7d8fe56ea5bba38fb3442ab84a825468a35a739e8fb20b"},
-    {file = "onnxoptimizer-0.3.1-cp39-cp39-win_amd64.whl", hash = "sha256:aac4d5c4c5f4c471346dfb28356355b0c54c074a1f2fe1fe122b197f68c08a92"},
-    {file = "onnxoptimizer-0.3.1.tar.gz", hash = "sha256:0aa2e873a49f3762822e4400e1e8886236156f9d1dbf20319e2c18f7ebfb6a1d"},
+
+[package.dependencies]
+numpy = ">=1.16.4"
+onnx = ">=1.9.0"
+torch = ">=1.8.0"
+torchvision = ">=0.9.0"
+
+[package.extras]
+dev = ["Pillow", "black", "googledrivedownloader", "isort", "onnxruntime", "pre-commit", "pylint", "pytest", "requests"]
+
+[[package]]
+name = "onnxoptimizer"
+version = "0.3.13"
+description = "Open Neural Network Exchange"
+optional = false
+python-versions = "*"
+files = [
+    {file = "onnxoptimizer-0.3.13-cp310-cp310-macosx_10_15_universal2.whl", hash = "sha256:019968dc02b37ab87588b67331f15719a9fcfc5de54de866dd7b02eaad68bdd5"},
+    {file = "onnxoptimizer-0.3.13-cp310-cp310-macosx_10_15_x86_64.whl", hash = "sha256:542b43b13c3b1b7b72aae2579a2d75ef68dcf0513231bb1cb2b5f3c8af838d87"},
+    {file = "onnxoptimizer-0.3.13-cp310-cp310-manylinux_2_17_x86_64.manylinux2014_x86_64.whl", hash = "sha256:98716324135ac5505529423dbba5479273e6f46a0f895ac611a29ed8a6f79690"},
+    {file = "onnxoptimizer-0.3.13-cp310-cp310-win_amd64.whl", hash = "sha256:f34db9dc55a682d3e5e60f5e6ff62101410620d2b70bef41f6158481a9a0b5ec"},
+    {file = "onnxoptimizer-0.3.13-cp311-cp311-macosx_10_15_universal2.whl", hash = "sha256:dcd1c529cb3d285f1bc75480ebe198a43f6bcc84ad010386f6e2d7bcd3052501"},
+    {file = "onnxoptimizer-0.3.13-cp311-cp311-macosx_10_15_x86_64.whl", hash = "sha256:a65b2ff1d480f966f906fdc3731cd6a844762e0aae1876eeafb7586048d6be96"},
+    {file = "onnxoptimizer-0.3.13-cp311-cp311-manylinux_2_17_x86_64.manylinux2014_x86_64.whl", hash = "sha256:2f985cfef0fa2b7cf9ae64a36ca8dacb3e1861e31fa41fb85645cdbd73ccab6a"},
+    {file = "onnxoptimizer-0.3.13-cp311-cp311-win_amd64.whl", hash = "sha256:82e606024a6dce999a8586d1f4b6af2ec454f7c5fd69807672a79067017a4812"},
+    {file = "onnxoptimizer-0.3.13-cp37-cp37m-macosx_10_15_x86_64.whl", hash = "sha256:feb5fb749cb9b12602fef7bae034aaf9a36baa05d068fb3d991bbb758c0508bb"},
+    {file = "onnxoptimizer-0.3.13-cp37-cp37m-manylinux_2_17_x86_64.manylinux2014_x86_64.whl", hash = "sha256:917363d773f6b517a6edb97b9d1d64cd49dc12ee507d9daef04a443d2d8889a5"},
+    {file = "onnxoptimizer-0.3.13-cp37-cp37m-win_amd64.whl", hash = "sha256:f809f7ba336e6569e699b4e6741042ef71e8db30bb60a3380faae87c59d6118f"},
+    {file = "onnxoptimizer-0.3.13-cp38-cp38-macosx_10_15_universal2.whl", hash = "sha256:f6a93aa863e23e040b23822b783b5d9bc1bf3a2153909bcc68dd9cd61c824798"},
+    {file = "onnxoptimizer-0.3.13-cp38-cp38-macosx_10_15_x86_64.whl", hash = "sha256:ad02bd61d5731587bcecb4aef3ecde6d22fdb0a36c8a2fb6c9b78b6b3cf30e42"},
+    {file = "onnxoptimizer-0.3.13-cp38-cp38-manylinux_2_17_x86_64.manylinux2014_x86_64.whl", hash = "sha256:e3a08e7d3077830bbc99009442230547cae2e9f74682b4fffa42036b88ac49ea"},
+    {file = "onnxoptimizer-0.3.13-cp38-cp38-win_amd64.whl", hash = "sha256:3dc63c930db678d07cdd816618b6d990dadb572691c62576962c2aab995a0ba1"},
+    {file = "onnxoptimizer-0.3.13-cp39-cp39-macosx_10_15_universal2.whl", hash = "sha256:1949c259bc87a92680b1d4ee54813dc712a4328b4d4e140ec44c1739862baccc"},
+    {file = "onnxoptimizer-0.3.13-cp39-cp39-macosx_10_15_x86_64.whl", hash = "sha256:9c0516d96da47875e9a36d0c9689e2d3e6f72950d98425ccfeba793b6ba4f55e"},
+    {file = "onnxoptimizer-0.3.13-cp39-cp39-manylinux_2_17_x86_64.manylinux2014_x86_64.whl", hash = "sha256:2cfa79a41d2439c47e6675f19cc6bcd7dce5d5da492f9bcde71dc0eba739dea6"},
+    {file = "onnxoptimizer-0.3.13-cp39-cp39-win_amd64.whl", hash = "sha256:f97f454cc2602095e341219f5c1b828d1588351251e4a4108017fd132ac5590c"},
+    {file = "onnxoptimizer-0.3.13.tar.gz", hash = "sha256:e08b726e0d4577e51e529f36bc324bf11b7cff12852cf3eee081f05c8b8c6f33"},
 ]
-onnxruntime-gpu = [
-    {file = "onnxruntime_gpu-1.12.1-cp310-cp310-manylinux_2_17_x86_64.manylinux2014_x86_64.whl", hash = "sha256:42b0393c5122ed90fa2eb76192a486261d86e9526ccb78b2a98923c22791d2d1"},
-    {file = "onnxruntime_gpu-1.12.1-cp310-cp310-win_amd64.whl", hash = "sha256:ecfe97335027e569d4f46725ba89316041e562b8c499690e25e11cfee4601cd1"},
-    {file = "onnxruntime_gpu-1.12.1-cp37-cp37m-manylinux_2_17_x86_64.manylinux2014_x86_64.whl", hash = "sha256:e2be6f7f5a1ce0bc8471ce42e10eab92cfb19d0748b857edcb5320b5e98311b7"},
-    {file = "onnxruntime_gpu-1.12.1-cp37-cp37m-win_amd64.whl", hash = "sha256:d73204323aefebe4eecab9fcf76e22b1a00394e3d838c2962a28a27301186b73"},
-    {file = "onnxruntime_gpu-1.12.1-cp38-cp38-manylinux_2_17_x86_64.manylinux2014_x86_64.whl", hash = "sha256:b37872527d03d3df10756408ca44014bd6ac354a044ab1c4286cd42dc138e518"},
-    {file = "onnxruntime_gpu-1.12.1-cp38-cp38-win_amd64.whl", hash = "sha256:296bd9733986cb7517d15bef5535c555d3f863963a71e6575e92d2a854aee61d"},
-    {file = "onnxruntime_gpu-1.12.1-cp39-cp39-manylinux_2_17_x86_64.manylinux2014_x86_64.whl", hash = "sha256:8e46d0724ce54c5908c5760037b78de741fbd48962b370c29ebc20e608b30eda"},
-    {file = "onnxruntime_gpu-1.12.1-cp39-cp39-win_amd64.whl", hash = "sha256:fd919373be35b9ba54210688265df38ad5e19a530449385c40dab51da407345d"},
+
+[package.dependencies]
+onnx = "*"
+
+[package.extras]
+mypy = ["mypy (==0.600)"]
+
+[[package]]
+name = "onnxruntime-gpu"
+version = "1.15.1"
+description = "ONNX Runtime is a runtime accelerator for Machine Learning models"
+optional = false
+python-versions = "*"
+files = [
+    {file = "onnxruntime_gpu-1.15.1-cp310-cp310-manylinux_2_17_x86_64.manylinux2014_x86_64.whl", hash = "sha256:6c0cd0d67a4402222dacd02558e261890724f38e3dfcffedacc67d4575ebcdac"},
+    {file = "onnxruntime_gpu-1.15.1-cp310-cp310-win_amd64.whl", hash = "sha256:5e48ae99d3692b71cd95f75eb0c556bf196b708cb0dd760dbbb96720d81a00a2"},
+    {file = "onnxruntime_gpu-1.15.1-cp311-cp311-manylinux_2_17_x86_64.manylinux2014_x86_64.whl", hash = "sha256:ba0a1af33d6539a2dae9c7a8473988a1358e036b3c9dea09ff5b61f5bc2eb603"},
+    {file = "onnxruntime_gpu-1.15.1-cp311-cp311-win_amd64.whl", hash = "sha256:53bba07b335082ff26c834bb43bd12ed772221aa69e0d454b750c0df0d0ea719"},
+    {file = "onnxruntime_gpu-1.15.1-cp38-cp38-manylinux_2_17_x86_64.manylinux2014_x86_64.whl", hash = "sha256:134c83e21f02f0629a7e0b2eb400a2cc16d088ac332822e04bafc57f84bfc77c"},
+    {file = "onnxruntime_gpu-1.15.1-cp38-cp38-win_amd64.whl", hash = "sha256:faeae730818546833fb2589feed03176f5469ef6cd06a0c5e5f5b3eec7ac84ec"},
+    {file = "onnxruntime_gpu-1.15.1-cp39-cp39-manylinux_2_17_x86_64.manylinux2014_x86_64.whl", hash = "sha256:58773200fbe3a840cab163fc9f196a3de376a2902d633a714ef13501910c4dfc"},
+    {file = "onnxruntime_gpu-1.15.1-cp39-cp39-win_amd64.whl", hash = "sha256:b9fb31cb7608b4a0e84ba3325860f0b5159ccea5fe43e74eecf6f360021b987f"},
 ]
-opencv-python-headless = []
-osmium = [
-    {file = "osmium-3.4.1-cp310-cp310-macosx_10_9_x86_64.whl", hash = "sha256:7bf648744dadd3396040ed57332780272356fb4b87dbd17521ba9b8b91c6e665"},
-    {file = "osmium-3.4.1-cp310-cp310-manylinux_2_12_x86_64.manylinux2010_x86_64.whl", hash = "sha256:a8ee676ed0a0dbd359197ffb42518889af700da29629ac13834c1149a4b83ce6"},
-    {file = "osmium-3.4.1-cp310-cp310-win_amd64.whl", hash = "sha256:080345e4be12474da9b1d4f45fbf8214ab316826029f821f8043f1b36e749cc3"},
-    {file = "osmium-3.4.1-cp36-cp36m-macosx_10_9_x86_64.whl", hash = "sha256:58b61b72911b7bb87f617ae12872d7c11d360f08fb50927eb769a91be3434d7c"},
-    {file = "osmium-3.4.1-cp36-cp36m-manylinux_2_12_x86_64.manylinux2010_x86_64.whl", hash = "sha256:bfee94a25e419923bcb885bf624024a1610f0e1c26ceb1a7c65426420d549c0e"},
-    {file = "osmium-3.4.1-cp36-cp36m-win_amd64.whl", hash = "sha256:2ac803d2d1b0097768a8bf0c174349d686d5dc2ec832ec84cadb20937a415d10"},
-    {file = "osmium-3.4.1-cp37-cp37m-macosx_10_9_x86_64.whl", hash = "sha256:daa478c951ade8b49348096f5e330bbe39cd2b5057127666a9102094cf7f31fb"},
-    {file = "osmium-3.4.1-cp37-cp37m-manylinux_2_12_x86_64.manylinux2010_x86_64.whl", hash = "sha256:5453ed8c8c69ab3ed2c17ae1fd3567b9b54036916f0ffe77235fe363e7029b01"},
-    {file = "osmium-3.4.1-cp37-cp37m-win_amd64.whl", hash = "sha256:f9776510dbaac32ded5d3bbe31bacdeeefefc79ce8ea54c743e9eb2ce4ace007"},
-    {file = "osmium-3.4.1-cp38-cp38-macosx_10_9_x86_64.whl", hash = "sha256:d49e56225f4e31867e2bbdef000ae3fb9b18ca6697e44c3315d64b46d53fc77e"},
-    {file = "osmium-3.4.1-cp38-cp38-manylinux_2_12_x86_64.manylinux2010_x86_64.whl", hash = "sha256:76e8461ae68c5307f44eb407424b7dcfc7d0d8bb5b52283088d8f549c0d715ba"},
-    {file = "osmium-3.4.1-cp38-cp38-win_amd64.whl", hash = "sha256:3f4710b8350d93edc194a466ab4cb42efcc58961be46901cced359f74bed27e5"},
-    {file = "osmium-3.4.1-cp39-cp39-macosx_10_9_x86_64.whl", hash = "sha256:a777eaa408a49f8c2f0f0358a09307c9fa69d4809ae3632f3e40c61bdbf11d17"},
-    {file = "osmium-3.4.1-cp39-cp39-manylinux_2_12_x86_64.manylinux2010_x86_64.whl", hash = "sha256:50a9c94c4856d81c11e68ff327b81d759311974d7fb67618cec3b15e32b7f4c1"},
-    {file = "osmium-3.4.1-cp39-cp39-win_amd64.whl", hash = "sha256:e45b7c54ac756e9cb40e2ba68691df635804eb6aa2023088af66936a9c8e3782"},
-    {file = "osmium-3.4.1.tar.gz", hash = "sha256:575dad72ab169cf585b9aeefb4f5f99ac250bf7da1986992afcbf169dc70c381"},
+
+[package.dependencies]
+coloredlogs = "*"
+flatbuffers = "*"
+numpy = ">=1.21.6"
+packaging = "*"
+protobuf = "*"
+sympy = "*"
+
+[[package]]
+name = "opencv-python-headless"
+version = "4.5.5.64"
+description = "Wrapper package for OpenCV python bindings."
+optional = false
+python-versions = ">=3.6"
+files = [
+    {file = "opencv_python_headless-4.5.5.64-cp311-cp311-manylinux_2_31_x86_64.whl", hash = "sha256:6f4e1be1906a8acea618be85c54348dd69735699f692e11cea87da2aff1e11f2"},
 ]
-osmnx = [
+
+[package.dependencies]
+numpy = [
+    {version = ">=1.21.2", markers = "python_version >= \"3.10\" or python_version >= \"3.6\" and platform_system == \"Darwin\" and platform_machine == \"arm64\""},
+    {version = ">=1.19.3", markers = "python_version >= \"3.6\" and platform_system == \"Linux\" and platform_machine == \"aarch64\" or python_version >= \"3.9\""},
+    {version = ">=1.14.5", markers = "python_version >= \"3.7\""},
+    {version = ">=1.17.3", markers = "python_version >= \"3.8\""},
+]
+
+[package.source]
+type = "url"
+url = "https://github.com/commaai/opencv-python-builder/releases/download/4.5.5.64%2Bcu118-cp311/opencv_python_headless-4.5.5.64-cp311-cp311-manylinux_2_31_x86_64.whl"
+
+[[package]]
+name = "osmium"
+version = "3.6.0"
+description = "Python bindings for libosmium, the data processing library for OSM data"
+optional = false
+python-versions = ">=3.6"
+files = [
+    {file = "osmium-3.6.0-cp310-cp310-macosx_10_9_x86_64.whl", hash = "sha256:0520d39797c17030c11427213421237aa17f327b076c5367dd2721e856a8aab7"},
+    {file = "osmium-3.6.0-cp310-cp310-manylinux_2_17_x86_64.manylinux2014_x86_64.whl", hash = "sha256:e46615d9761f49ae86b7f891c1e00a7e010b85622d17d956029299407b86b0cb"},
+    {file = "osmium-3.6.0-cp310-cp310-win_amd64.whl", hash = "sha256:ae26ef88d386ba57eece0b577d61d58f70688f04f4366265001fe63f0d0da1ac"},
+    {file = "osmium-3.6.0-cp311-cp311-macosx_10_9_x86_64.whl", hash = "sha256:844a614a39435ab6d20ae136feda9b57acd15f062b8177321ec3343610d12dd7"},
+    {file = "osmium-3.6.0-cp311-cp311-manylinux_2_17_x86_64.manylinux2014_x86_64.whl", hash = "sha256:184bb9dc6938db2e0f08cf4f33fd1d1d35fa106c9a71bb5f060967110d701bf3"},
+    {file = "osmium-3.6.0-cp311-cp311-win_amd64.whl", hash = "sha256:6ecd7f036bf89e69e67aa1f8ed4fa1b5997307c7586a17e793b250cdcb8e7a0f"},
+    {file = "osmium-3.6.0-cp36-cp36m-macosx_10_9_x86_64.whl", hash = "sha256:10a40a6803cfa964e9ec34bb701c5f1466e37d77fa2fac93531dc2ba80651602"},
+    {file = "osmium-3.6.0-cp36-cp36m-manylinux_2_17_x86_64.manylinux2014_x86_64.whl", hash = "sha256:2156805e83122e9bcfce43b789c53fc2460cc021e4cde04c065b18ac540e176d"},
+    {file = "osmium-3.6.0-cp36-cp36m-win_amd64.whl", hash = "sha256:7665829f16ecea783e037ef2ed6c983909ce48ea7b0e7fdff4fbc23159a27368"},
+    {file = "osmium-3.6.0-cp37-cp37m-macosx_10_9_x86_64.whl", hash = "sha256:b45c06943982e2da8e2c710ed555b074f293b2349da1ca526c8b9db6bdf06a3c"},
+    {file = "osmium-3.6.0-cp37-cp37m-manylinux_2_17_x86_64.manylinux2014_x86_64.whl", hash = "sha256:131f882871e1b49d33e2258f5ea5e65b383b56cb24521b7c488d6a1763dcf8fb"},
+    {file = "osmium-3.6.0-cp37-cp37m-win_amd64.whl", hash = "sha256:569b9206bf99b8157a578ccbbccfc1eedfeb7ea685db69542101f459304be4fb"},
+    {file = "osmium-3.6.0-cp38-cp38-macosx_10_9_x86_64.whl", hash = "sha256:755c2baaf87148a55167e6357c7f6461c583a29d365bc36f97bdab5829ccd6f4"},
+    {file = "osmium-3.6.0-cp38-cp38-manylinux_2_17_x86_64.manylinux2014_x86_64.whl", hash = "sha256:84bda7074dcfbd83019bb30787c5bcf20411707b8ec7a550c3fbacbaba41ed19"},
+    {file = "osmium-3.6.0-cp38-cp38-win_amd64.whl", hash = "sha256:866c76bc816cd3dceab9a1cf1ff158762dba659cfac24f704aa9796facf5c6b8"},
+    {file = "osmium-3.6.0-cp39-cp39-macosx_10_9_x86_64.whl", hash = "sha256:11e7a930cc7ac7afedd6d77d267b1899942a0236ff4351e1ba1f9f228789dee1"},
+    {file = "osmium-3.6.0-cp39-cp39-manylinux_2_17_x86_64.manylinux2014_x86_64.whl", hash = "sha256:bb99685d18f08e766ba8d971a7f93a3bfb2829b917996591a7cfec053c2711b3"},
+    {file = "osmium-3.6.0-cp39-cp39-win_amd64.whl", hash = "sha256:360bf9b30ed995e3d3e359eada5c3690c850eb1453a699c739a2f45a5d8c4ee4"},
+    {file = "osmium-3.6.0.tar.gz", hash = "sha256:c7b4becb5f13aa82421b269e583bee4d14b56a2c490b334d44ec954cb480a289"},
+]
+
+[package.dependencies]
+requests = "*"
+
+[[package]]
+name = "osmnx"
+version = "1.2.2"
+description = "Retrieve, model, analyze, and visualize OpenStreetMap street networks and other spatial data"
+optional = false
+python-versions = ">=3.8"
+files = [
     {file = "osmnx-1.2.2-py2.py3-none-any.whl", hash = "sha256:94f2a3929e857d8c0da39ae552c6da3b1a3f4bcfea6de108696bda5ee3a7689d"},
     {file = "osmnx-1.2.2.tar.gz", hash = "sha256:30924452ca02758ece3301f9fcfb1b80edf31e2be7abe7fa7e0fefddb5050408"},
 ]
-packaging = [
-    {file = "packaging-21.3-py3-none-any.whl", hash = "sha256:ef103e05f519cdc783ae24ea4e2e0f508a9c99b2d4969652eed6a2e1ea5bd522"},
-    {file = "packaging-21.3.tar.gz", hash = "sha256:dd47c42927d89ab911e606518907cc2d3a1f38bbd026385970643f9c5b8ecfeb"},
+
+[package.dependencies]
+geopandas = ">=0.11"
+matplotlib = ">=3.5"
+networkx = ">=2.8"
+numpy = ">=1.22"
+pandas = ">=1.4"
+pyproj = ">=3.3"
+requests = ">=2.28"
+Rtree = ">=1.0"
+Shapely = ">=1.8,<2.0"
+
+[package.extras]
+entropy = ["scipy"]
+nearest-neighbor = ["scikit-learn", "scipy"]
+raster = ["gdal", "rasterio"]
+web-map = ["folium"]
+
+[[package]]
+name = "overrides"
+version = "7.4.0"
+description = "A decorator to automatically detect mismatch when overriding a method."
+optional = false
+python-versions = ">=3.6"
+files = [
+    {file = "overrides-7.4.0-py3-none-any.whl", hash = "sha256:3ad24583f86d6d7a49049695efe9933e67ba62f0c7625d53c59fa832ce4b8b7d"},
+    {file = "overrides-7.4.0.tar.gz", hash = "sha256:9502a3cca51f4fac40b5feca985b6703a5c1f6ad815588a7ca9e285b9dca6757"},
 ]
-pandas = [
+
+[[package]]
+name = "packaging"
+version = "23.1"
+description = "Core utilities for Python packages"
+optional = false
+python-versions = ">=3.7"
+files = [
+    {file = "packaging-23.1-py3-none-any.whl", hash = "sha256:994793af429502c4ea2ebf6bf664629d07c1a9fe974af92966e4b8d2df7edc61"},
+    {file = "packaging-23.1.tar.gz", hash = "sha256:a392980d2b6cffa644431898be54b0045151319d1e7ec34f0cfed48767dd334f"},
+]
+
+[[package]]
+name = "pandas"
+version = "1.5.1"
+description = "Powerful data structures for data analysis, time series, and statistics"
+optional = false
+python-versions = ">=3.8"
+files = [
     {file = "pandas-1.5.1-cp310-cp310-macosx_10_9_universal2.whl", hash = "sha256:0a78e05ec09731c5b3bd7a9805927ea631fe6f6cb06f0e7c63191a9a778d52b4"},
     {file = "pandas-1.5.1-cp310-cp310-macosx_10_9_x86_64.whl", hash = "sha256:5b0c970e2215572197b42f1cff58a908d734503ea54b326412c70d4692256391"},
     {file = "pandas-1.5.1-cp310-cp310-macosx_11_0_arm64.whl", hash = "sha256:f340331a3f411910adfb4bbe46c2ed5872d9e473a783d7f14ecf49bc0869c594"},
@@ -7148,448 +5531,1336 @@ pandas = [
     {file = "pandas-1.5.1-cp39-cp39-win_amd64.whl", hash = "sha256:6bb391659a747cf4f181a227c3e64b6d197100d53da98dcd766cc158bdd9ec68"},
     {file = "pandas-1.5.1.tar.gz", hash = "sha256:249cec5f2a5b22096440bd85c33106b6102e0672204abd2d5c014106459804ee"},
 ]
-pandocfilters = [
+
+[package.dependencies]
+numpy = {version = ">=1.21.0", markers = "python_version >= \"3.10\""}
+python-dateutil = ">=2.8.1"
+pytz = ">=2020.1"
+
+[package.extras]
+test = ["hypothesis (>=5.5.3)", "pytest (>=6.0)", "pytest-xdist (>=1.31)"]
+
+[[package]]
+name = "pandas"
+version = "1.5.2"
+description = "Powerful data structures for data analysis, time series, and statistics"
+optional = false
+python-versions = ">=3.8"
+files = [
+    {file = "pandas-1.5.2-cp310-cp310-macosx_10_9_universal2.whl", hash = "sha256:e9dbacd22555c2d47f262ef96bb4e30880e5956169741400af8b306bbb24a273"},
+    {file = "pandas-1.5.2-cp310-cp310-macosx_10_9_x86_64.whl", hash = "sha256:e2b83abd292194f350bb04e188f9379d36b8dfac24dd445d5c87575f3beaf789"},
+    {file = "pandas-1.5.2-cp310-cp310-macosx_11_0_arm64.whl", hash = "sha256:2552bffc808641c6eb471e55aa6899fa002ac94e4eebfa9ec058649122db5824"},
+    {file = "pandas-1.5.2-cp310-cp310-manylinux_2_17_aarch64.manylinux2014_aarch64.whl", hash = "sha256:1fc87eac0541a7d24648a001d553406f4256e744d92df1df8ebe41829a915028"},
+    {file = "pandas-1.5.2-cp310-cp310-manylinux_2_17_x86_64.manylinux2014_x86_64.whl", hash = "sha256:d0d8fd58df5d17ddb8c72a5075d87cd80d71b542571b5f78178fb067fa4e9c72"},
+    {file = "pandas-1.5.2-cp310-cp310-win_amd64.whl", hash = "sha256:4aed257c7484d01c9a194d9a94758b37d3d751849c05a0050c087a358c41ad1f"},
+    {file = "pandas-1.5.2-cp311-cp311-macosx_10_9_universal2.whl", hash = "sha256:375262829c8c700c3e7cbb336810b94367b9c4889818bbd910d0ecb4e45dc261"},
+    {file = "pandas-1.5.2-cp311-cp311-macosx_10_9_x86_64.whl", hash = "sha256:cc3cd122bea268998b79adebbb8343b735a5511ec14efb70a39e7acbc11ccbdc"},
+    {file = "pandas-1.5.2-cp311-cp311-macosx_11_0_arm64.whl", hash = "sha256:b4f5a82afa4f1ff482ab8ded2ae8a453a2cdfde2001567b3ca24a4c5c5ca0db3"},
+    {file = "pandas-1.5.2-cp311-cp311-manylinux_2_17_aarch64.manylinux2014_aarch64.whl", hash = "sha256:8092a368d3eb7116e270525329a3e5c15ae796ccdf7ccb17839a73b4f5084a39"},
+    {file = "pandas-1.5.2-cp311-cp311-manylinux_2_17_x86_64.manylinux2014_x86_64.whl", hash = "sha256:f6257b314fc14958f8122779e5a1557517b0f8e500cfb2bd53fa1f75a8ad0af2"},
+    {file = "pandas-1.5.2-cp311-cp311-win_amd64.whl", hash = "sha256:82ae615826da838a8e5d4d630eb70c993ab8636f0eff13cb28aafc4291b632b5"},
+    {file = "pandas-1.5.2-cp38-cp38-macosx_10_9_universal2.whl", hash = "sha256:457d8c3d42314ff47cc2d6c54f8fc0d23954b47977b2caed09cd9635cb75388b"},
+    {file = "pandas-1.5.2-cp38-cp38-macosx_10_9_x86_64.whl", hash = "sha256:c009a92e81ce836212ce7aa98b219db7961a8b95999b97af566b8dc8c33e9519"},
+    {file = "pandas-1.5.2-cp38-cp38-macosx_11_0_arm64.whl", hash = "sha256:71f510b0efe1629bf2f7c0eadb1ff0b9cf611e87b73cd017e6b7d6adb40e2b3a"},
+    {file = "pandas-1.5.2-cp38-cp38-manylinux_2_17_aarch64.manylinux2014_aarch64.whl", hash = "sha256:a40dd1e9f22e01e66ed534d6a965eb99546b41d4d52dbdb66565608fde48203f"},
+    {file = "pandas-1.5.2-cp38-cp38-manylinux_2_17_x86_64.manylinux2014_x86_64.whl", hash = "sha256:5ae7e989f12628f41e804847a8cc2943d362440132919a69429d4dea1f164da0"},
+    {file = "pandas-1.5.2-cp38-cp38-win32.whl", hash = "sha256:530948945e7b6c95e6fa7aa4be2be25764af53fba93fe76d912e35d1c9ee46f5"},
+    {file = "pandas-1.5.2-cp38-cp38-win_amd64.whl", hash = "sha256:73f219fdc1777cf3c45fde7f0708732ec6950dfc598afc50588d0d285fddaefc"},
+    {file = "pandas-1.5.2-cp39-cp39-macosx_10_9_universal2.whl", hash = "sha256:9608000a5a45f663be6af5c70c3cbe634fa19243e720eb380c0d378666bc7702"},
+    {file = "pandas-1.5.2-cp39-cp39-macosx_10_9_x86_64.whl", hash = "sha256:315e19a3e5c2ab47a67467fc0362cb36c7c60a93b6457f675d7d9615edad2ebe"},
+    {file = "pandas-1.5.2-cp39-cp39-macosx_11_0_arm64.whl", hash = "sha256:e18bc3764cbb5e118be139b3b611bc3fbc5d3be42a7e827d1096f46087b395eb"},
+    {file = "pandas-1.5.2-cp39-cp39-manylinux_2_17_aarch64.manylinux2014_aarch64.whl", hash = "sha256:0183cb04a057cc38fde5244909fca9826d5d57c4a5b7390c0cc3fa7acd9fa883"},
+    {file = "pandas-1.5.2-cp39-cp39-manylinux_2_17_x86_64.manylinux2014_x86_64.whl", hash = "sha256:344021ed3e639e017b452aa8f5f6bf38a8806f5852e217a7594417fb9bbfa00e"},
+    {file = "pandas-1.5.2-cp39-cp39-win32.whl", hash = "sha256:e7469271497960b6a781eaa930cba8af400dd59b62ec9ca2f4d31a19f2f91090"},
+    {file = "pandas-1.5.2-cp39-cp39-win_amd64.whl", hash = "sha256:c218796d59d5abd8780170c937b812c9637e84c32f8271bbf9845970f8c1351f"},
+    {file = "pandas-1.5.2.tar.gz", hash = "sha256:220b98d15cee0b2cd839a6358bd1f273d0356bf964c1a1aeb32d47db0215488b"},
+]
+
+[package.dependencies]
+numpy = {version = ">=1.21.0", markers = "python_version >= \"3.10\""}
+python-dateutil = ">=2.8.1"
+pytz = ">=2020.1"
+
+[package.extras]
+test = ["hypothesis (>=5.5.3)", "pytest (>=6.0)", "pytest-xdist (>=1.31)"]
+
+[[package]]
+name = "pandas"
+version = "1.5.3"
+description = "Powerful data structures for data analysis, time series, and statistics"
+optional = false
+python-versions = ">=3.8"
+files = [
+    {file = "pandas-1.5.3-cp310-cp310-macosx_10_9_universal2.whl", hash = "sha256:3749077d86e3a2f0ed51367f30bf5b82e131cc0f14260c4d3e499186fccc4406"},
+    {file = "pandas-1.5.3-cp310-cp310-macosx_10_9_x86_64.whl", hash = "sha256:972d8a45395f2a2d26733eb8d0f629b2f90bebe8e8eddbb8829b180c09639572"},
+    {file = "pandas-1.5.3-cp310-cp310-macosx_11_0_arm64.whl", hash = "sha256:50869a35cbb0f2e0cd5ec04b191e7b12ed688874bd05dd777c19b28cbea90996"},
+    {file = "pandas-1.5.3-cp310-cp310-manylinux_2_17_aarch64.manylinux2014_aarch64.whl", hash = "sha256:c3ac844a0fe00bfaeb2c9b51ab1424e5c8744f89860b138434a363b1f620f354"},
+    {file = "pandas-1.5.3-cp310-cp310-manylinux_2_17_x86_64.manylinux2014_x86_64.whl", hash = "sha256:7a0a56cef15fd1586726dace5616db75ebcfec9179a3a55e78f72c5639fa2a23"},
+    {file = "pandas-1.5.3-cp310-cp310-win_amd64.whl", hash = "sha256:478ff646ca42b20376e4ed3fa2e8d7341e8a63105586efe54fa2508ee087f328"},
+    {file = "pandas-1.5.3-cp311-cp311-macosx_10_9_universal2.whl", hash = "sha256:6973549c01ca91ec96199e940495219c887ea815b2083722821f1d7abfa2b4dc"},
+    {file = "pandas-1.5.3-cp311-cp311-macosx_10_9_x86_64.whl", hash = "sha256:c39a8da13cede5adcd3be1182883aea1c925476f4e84b2807a46e2775306305d"},
+    {file = "pandas-1.5.3-cp311-cp311-macosx_11_0_arm64.whl", hash = "sha256:f76d097d12c82a535fda9dfe5e8dd4127952b45fea9b0276cb30cca5ea313fbc"},
+    {file = "pandas-1.5.3-cp311-cp311-manylinux_2_17_aarch64.manylinux2014_aarch64.whl", hash = "sha256:e474390e60ed609cec869b0da796ad94f420bb057d86784191eefc62b65819ae"},
+    {file = "pandas-1.5.3-cp311-cp311-manylinux_2_17_x86_64.manylinux2014_x86_64.whl", hash = "sha256:5f2b952406a1588ad4cad5b3f55f520e82e902388a6d5a4a91baa8d38d23c7f6"},
+    {file = "pandas-1.5.3-cp311-cp311-win_amd64.whl", hash = "sha256:bc4c368f42b551bf72fac35c5128963a171b40dce866fb066540eeaf46faa003"},
+    {file = "pandas-1.5.3-cp38-cp38-macosx_10_9_universal2.whl", hash = "sha256:14e45300521902689a81f3f41386dc86f19b8ba8dd5ac5a3c7010ef8d2932813"},
+    {file = "pandas-1.5.3-cp38-cp38-macosx_10_9_x86_64.whl", hash = "sha256:9842b6f4b8479e41968eced654487258ed81df7d1c9b7b870ceea24ed9459b31"},
+    {file = "pandas-1.5.3-cp38-cp38-macosx_11_0_arm64.whl", hash = "sha256:26d9c71772c7afb9d5046e6e9cf42d83dd147b5cf5bcb9d97252077118543792"},
+    {file = "pandas-1.5.3-cp38-cp38-manylinux_2_17_aarch64.manylinux2014_aarch64.whl", hash = "sha256:5fbcb19d6fceb9e946b3e23258757c7b225ba450990d9ed63ccceeb8cae609f7"},
+    {file = "pandas-1.5.3-cp38-cp38-manylinux_2_17_x86_64.manylinux2014_x86_64.whl", hash = "sha256:565fa34a5434d38e9d250af3c12ff931abaf88050551d9fbcdfafca50d62babf"},
+    {file = "pandas-1.5.3-cp38-cp38-win32.whl", hash = "sha256:87bd9c03da1ac870a6d2c8902a0e1fd4267ca00f13bc494c9e5a9020920e1d51"},
+    {file = "pandas-1.5.3-cp38-cp38-win_amd64.whl", hash = "sha256:41179ce559943d83a9b4bbacb736b04c928b095b5f25dd2b7389eda08f46f373"},
+    {file = "pandas-1.5.3-cp39-cp39-macosx_10_9_universal2.whl", hash = "sha256:c74a62747864ed568f5a82a49a23a8d7fe171d0c69038b38cedf0976831296fa"},
+    {file = "pandas-1.5.3-cp39-cp39-macosx_10_9_x86_64.whl", hash = "sha256:c4c00e0b0597c8e4f59e8d461f797e5d70b4d025880516a8261b2817c47759ee"},
+    {file = "pandas-1.5.3-cp39-cp39-macosx_11_0_arm64.whl", hash = "sha256:a50d9a4336a9621cab7b8eb3fb11adb82de58f9b91d84c2cd526576b881a0c5a"},
+    {file = "pandas-1.5.3-cp39-cp39-manylinux_2_17_aarch64.manylinux2014_aarch64.whl", hash = "sha256:dd05f7783b3274aa206a1af06f0ceed3f9b412cf665b7247eacd83be41cf7bf0"},
+    {file = "pandas-1.5.3-cp39-cp39-manylinux_2_17_x86_64.manylinux2014_x86_64.whl", hash = "sha256:9f69c4029613de47816b1bb30ff5ac778686688751a5e9c99ad8c7031f6508e5"},
+    {file = "pandas-1.5.3-cp39-cp39-win32.whl", hash = "sha256:7cec0bee9f294e5de5bbfc14d0573f65526071029d036b753ee6507d2a21480a"},
+    {file = "pandas-1.5.3-cp39-cp39-win_amd64.whl", hash = "sha256:dfd681c5dc216037e0b0a2c821f5ed99ba9f03ebcf119c7dac0e9a7b960b9ec9"},
+    {file = "pandas-1.5.3.tar.gz", hash = "sha256:74a3fd7e5a7ec052f183273dc7b0acd3a863edf7520f5d3a1765c04ffdb3b0b1"},
+]
+
+[package.dependencies]
+numpy = {version = ">=1.21.0", markers = "python_version >= \"3.10\""}
+python-dateutil = ">=2.8.1"
+pytz = ">=2020.1"
+
+[package.extras]
+test = ["hypothesis (>=5.5.3)", "pytest (>=6.0)", "pytest-xdist (>=1.31)"]
+
+[[package]]
+name = "pandas"
+version = "2.0.0"
+description = "Powerful data structures for data analysis, time series, and statistics"
+optional = false
+python-versions = ">=3.8"
+files = [
+    {file = "pandas-2.0.0-cp310-cp310-macosx_10_9_x86_64.whl", hash = "sha256:bbb2c5e94d6aa4e632646a3bacd05c2a871c3aa3e85c9bec9be99cb1267279f2"},
+    {file = "pandas-2.0.0-cp310-cp310-macosx_11_0_arm64.whl", hash = "sha256:b5337c87c4e963f97becb1217965b6b75c6fe5f54c4cf09b9a5ac52fc0bd03d3"},
+    {file = "pandas-2.0.0-cp310-cp310-manylinux_2_17_aarch64.manylinux2014_aarch64.whl", hash = "sha256:6ded51f7e3dd9b4f8b87f2ceb7bd1a8df2491f7ee72f7074c6927a512607199e"},
+    {file = "pandas-2.0.0-cp310-cp310-manylinux_2_17_x86_64.manylinux2014_x86_64.whl", hash = "sha256:52c858de9e9fc422d25e67e1592a6e6135d7bcf9a19fcaf4d0831a0be496bf21"},
+    {file = "pandas-2.0.0-cp310-cp310-win32.whl", hash = "sha256:2d1d138848dd71b37e3cbe7cd952ff84e2ab04d8988972166e18567dcc811245"},
+    {file = "pandas-2.0.0-cp310-cp310-win_amd64.whl", hash = "sha256:d08e41d96bc4de6f500afe80936c68fce6099d5a434e2af7c7fd8e7c72a3265d"},
+    {file = "pandas-2.0.0-cp311-cp311-macosx_10_9_x86_64.whl", hash = "sha256:24472cfc7ced511ac90608728b88312be56edc8f19b9ed885a7d2e47ffaf69c0"},
+    {file = "pandas-2.0.0-cp311-cp311-macosx_11_0_arm64.whl", hash = "sha256:4ffb14f50c74ee541610668137830bb93e9dfa319b1bef2cedf2814cd5ac9c70"},
+    {file = "pandas-2.0.0-cp311-cp311-manylinux_2_17_aarch64.manylinux2014_aarch64.whl", hash = "sha256:c24c7d12d033a372a9daf9ff2c80f8b0af6f98d14664dbb0a4f6a029094928a7"},
+    {file = "pandas-2.0.0-cp311-cp311-manylinux_2_17_x86_64.manylinux2014_x86_64.whl", hash = "sha256:8318de0f886e4dcb8f9f36e45a3d6a6c3d1cfdc508354da85e739090f0222991"},
+    {file = "pandas-2.0.0-cp311-cp311-win32.whl", hash = "sha256:57c34b79c13249505e850d0377b722961b99140f81dafbe6f19ef10239f6284a"},
+    {file = "pandas-2.0.0-cp311-cp311-win_amd64.whl", hash = "sha256:8f987ec26e96a8490909bc5d98c514147236e49830cba7df8690f6087c12bbae"},
+    {file = "pandas-2.0.0-cp38-cp38-macosx_10_9_x86_64.whl", hash = "sha256:b3ba8f5dd470d8bfbc4259829589f4a32881151c49e36384d9eb982b35a12020"},
+    {file = "pandas-2.0.0-cp38-cp38-macosx_11_0_arm64.whl", hash = "sha256:fcd471c9d9f60926ab2f15c6c29164112f458acb42280365fbefa542d0c2fc74"},
+    {file = "pandas-2.0.0-cp38-cp38-manylinux_2_17_aarch64.manylinux2014_aarch64.whl", hash = "sha256:9253edfd015520ce77a9343eb7097429479c039cd3ebe81d7810ea11b4b24695"},
+    {file = "pandas-2.0.0-cp38-cp38-manylinux_2_17_x86_64.manylinux2014_x86_64.whl", hash = "sha256:977326039bd1ded620001a1889e2ed4798460a6bc5a24fbaebb5f07a41c32a55"},
+    {file = "pandas-2.0.0-cp38-cp38-win32.whl", hash = "sha256:78425ca12314b23356c28b16765639db10ebb7d8983f705d6759ff7fe41357fa"},
+    {file = "pandas-2.0.0-cp38-cp38-win_amd64.whl", hash = "sha256:d93b7fcfd9f3328072b250d6d001dcfeec5d3bb66c1b9c8941e109a46c0c01a8"},
+    {file = "pandas-2.0.0-cp39-cp39-macosx_10_9_x86_64.whl", hash = "sha256:425705cee8be54db2504e8dd2a730684790b15e5904b750c367611ede49098ab"},
+    {file = "pandas-2.0.0-cp39-cp39-macosx_11_0_arm64.whl", hash = "sha256:a4f789b7c012a608c08cda4ff0872fd979cb18907a37982abe884e6f529b8793"},
+    {file = "pandas-2.0.0-cp39-cp39-manylinux_2_17_aarch64.manylinux2014_aarch64.whl", hash = "sha256:3bb9d840bf15656805f6a3d87eea9dcb7efdf1314a82adcf7f00b820427c5570"},
+    {file = "pandas-2.0.0-cp39-cp39-manylinux_2_17_x86_64.manylinux2014_x86_64.whl", hash = "sha256:0778ab54c8f399d83d98ffb674d11ec716449956bc6f6821891ab835848687f2"},
+    {file = "pandas-2.0.0-cp39-cp39-win32.whl", hash = "sha256:70db5c278bbec0306d32bf78751ff56b9594c05a5098386f6c8a563659124f91"},
+    {file = "pandas-2.0.0-cp39-cp39-win_amd64.whl", hash = "sha256:4f3320bb55f34af4193020158ef8118ee0fb9aec7cc47d2084dbfdd868a0a24f"},
+    {file = "pandas-2.0.0.tar.gz", hash = "sha256:cda9789e61b44463c1c4fe17ef755de77bcd13b09ba31c940d20f193d63a5dc8"},
+]
+
+[package.dependencies]
+numpy = {version = ">=1.21.0", markers = "python_version >= \"3.10\""}
+python-dateutil = ">=2.8.2"
+pytz = ">=2020.1"
+tzdata = ">=2022.1"
+
+[package.extras]
+all = ["PyQt5 (>=5.15.1)", "SQLAlchemy (>=1.4.16)", "beautifulsoup4 (>=4.9.3)", "bottleneck (>=1.3.2)", "brotlipy (>=0.7.0)", "fastparquet (>=0.6.3)", "fsspec (>=2021.07.0)", "gcsfs (>=2021.07.0)", "html5lib (>=1.1)", "hypothesis (>=6.34.2)", "jinja2 (>=3.0.0)", "lxml (>=4.6.3)", "matplotlib (>=3.6.1)", "numba (>=0.53.1)", "numexpr (>=2.7.3)", "odfpy (>=1.4.1)", "openpyxl (>=3.0.7)", "pandas-gbq (>=0.15.0)", "psycopg2 (>=2.8.6)", "pyarrow (>=7.0.0)", "pymysql (>=1.0.2)", "pyreadstat (>=1.1.2)", "pytest (>=7.0.0)", "pytest-asyncio (>=0.17.0)", "pytest-xdist (>=2.2.0)", "python-snappy (>=0.6.0)", "pyxlsb (>=1.0.8)", "qtpy (>=2.2.0)", "s3fs (>=2021.08.0)", "scipy (>=1.7.1)", "tables (>=3.6.1)", "tabulate (>=0.8.9)", "xarray (>=0.21.0)", "xlrd (>=2.0.1)", "xlsxwriter (>=1.4.3)", "zstandard (>=0.15.2)"]
+aws = ["s3fs (>=2021.08.0)"]
+clipboard = ["PyQt5 (>=5.15.1)", "qtpy (>=2.2.0)"]
+compression = ["brotlipy (>=0.7.0)", "python-snappy (>=0.6.0)", "zstandard (>=0.15.2)"]
+computation = ["scipy (>=1.7.1)", "xarray (>=0.21.0)"]
+excel = ["odfpy (>=1.4.1)", "openpyxl (>=3.0.7)", "pyxlsb (>=1.0.8)", "xlrd (>=2.0.1)", "xlsxwriter (>=1.4.3)"]
+feather = ["pyarrow (>=7.0.0)"]
+fss = ["fsspec (>=2021.07.0)"]
+gcp = ["gcsfs (>=2021.07.0)", "pandas-gbq (>=0.15.0)"]
+hdf5 = ["tables (>=3.6.1)"]
+html = ["beautifulsoup4 (>=4.9.3)", "html5lib (>=1.1)", "lxml (>=4.6.3)"]
+mysql = ["SQLAlchemy (>=1.4.16)", "pymysql (>=1.0.2)"]
+output-formatting = ["jinja2 (>=3.0.0)", "tabulate (>=0.8.9)"]
+parquet = ["pyarrow (>=7.0.0)"]
+performance = ["bottleneck (>=1.3.2)", "numba (>=0.53.1)", "numexpr (>=2.7.1)"]
+plot = ["matplotlib (>=3.6.1)"]
+postgresql = ["SQLAlchemy (>=1.4.16)", "psycopg2 (>=2.8.6)"]
+spss = ["pyreadstat (>=1.1.2)"]
+sql-other = ["SQLAlchemy (>=1.4.16)"]
+test = ["hypothesis (>=6.34.2)", "pytest (>=7.0.0)", "pytest-asyncio (>=0.17.0)", "pytest-xdist (>=2.2.0)"]
+xml = ["lxml (>=4.6.3)"]
+
+[[package]]
+name = "pandas"
+version = "2.0.1"
+description = "Powerful data structures for data analysis, time series, and statistics"
+optional = false
+python-versions = ">=3.8"
+files = [
+    {file = "pandas-2.0.1-cp310-cp310-macosx_10_9_x86_64.whl", hash = "sha256:70a996a1d2432dadedbb638fe7d921c88b0cc4dd90374eab51bb33dc6c0c2a12"},
+    {file = "pandas-2.0.1-cp310-cp310-macosx_11_0_arm64.whl", hash = "sha256:909a72b52175590debbf1d0c9e3e6bce2f1833c80c76d80bd1aa09188be768e5"},
+    {file = "pandas-2.0.1-cp310-cp310-manylinux_2_17_aarch64.manylinux2014_aarch64.whl", hash = "sha256:fe7914d8ddb2d54b900cec264c090b88d141a1eed605c9539a187dbc2547f022"},
+    {file = "pandas-2.0.1-cp310-cp310-manylinux_2_17_x86_64.manylinux2014_x86_64.whl", hash = "sha256:0a514ae436b23a92366fbad8365807fc0eed15ca219690b3445dcfa33597a5cc"},
+    {file = "pandas-2.0.1-cp310-cp310-win32.whl", hash = "sha256:12bd6618e3cc737c5200ecabbbb5eaba8ab645a4b0db508ceeb4004bb10b060e"},
+    {file = "pandas-2.0.1-cp310-cp310-win_amd64.whl", hash = "sha256:2b6fe5f7ce1cba0e74188c8473c9091ead9b293ef0a6794939f8cc7947057abd"},
+    {file = "pandas-2.0.1-cp311-cp311-macosx_10_9_x86_64.whl", hash = "sha256:00959a04a1d7bbc63d75a768540fb20ecc9e65fd80744c930e23768345a362a7"},
+    {file = "pandas-2.0.1-cp311-cp311-macosx_11_0_arm64.whl", hash = "sha256:af2449e9e984dfad39276b885271ba31c5e0204ffd9f21f287a245980b0e4091"},
+    {file = "pandas-2.0.1-cp311-cp311-manylinux_2_17_aarch64.manylinux2014_aarch64.whl", hash = "sha256:910df06feaf9935d05247db6de452f6d59820e432c18a2919a92ffcd98f8f79b"},
+    {file = "pandas-2.0.1-cp311-cp311-manylinux_2_17_x86_64.manylinux2014_x86_64.whl", hash = "sha256:6fa0067f2419f933101bdc6001bcea1d50812afbd367b30943417d67fbb99678"},
+    {file = "pandas-2.0.1-cp311-cp311-win32.whl", hash = "sha256:7b8395d335b08bc8b050590da264f94a439b4770ff16bb51798527f1dd840388"},
+    {file = "pandas-2.0.1-cp311-cp311-win_amd64.whl", hash = "sha256:8db5a644d184a38e6ed40feeb12d410d7fcc36648443defe4707022da127fc35"},
+    {file = "pandas-2.0.1-cp38-cp38-macosx_10_9_x86_64.whl", hash = "sha256:7bbf173d364130334e0159a9a034f573e8b44a05320995127cf676b85fd8ce86"},
+    {file = "pandas-2.0.1-cp38-cp38-macosx_11_0_arm64.whl", hash = "sha256:6c0853d487b6c868bf107a4b270a823746175b1932093b537b9b76c639fc6f7e"},
+    {file = "pandas-2.0.1-cp38-cp38-manylinux_2_17_aarch64.manylinux2014_aarch64.whl", hash = "sha256:f25e23a03f7ad7211ffa30cb181c3e5f6d96a8e4cb22898af462a7333f8a74eb"},
+    {file = "pandas-2.0.1-cp38-cp38-manylinux_2_17_x86_64.manylinux2014_x86_64.whl", hash = "sha256:e09a53a4fe8d6ae2149959a2d02e1ef2f4d2ceb285ac48f74b79798507e468b4"},
+    {file = "pandas-2.0.1-cp38-cp38-win32.whl", hash = "sha256:a2564629b3a47b6aa303e024e3d84e850d36746f7e804347f64229f8c87416ea"},
+    {file = "pandas-2.0.1-cp38-cp38-win_amd64.whl", hash = "sha256:03e677c6bc9cfb7f93a8b617d44f6091613a5671ef2944818469be7b42114a00"},
+    {file = "pandas-2.0.1-cp39-cp39-macosx_10_9_x86_64.whl", hash = "sha256:3d099ecaa5b9e977b55cd43cf842ec13b14afa1cfa51b7e1179d90b38c53ce6a"},
+    {file = "pandas-2.0.1-cp39-cp39-macosx_11_0_arm64.whl", hash = "sha256:a37ee35a3eb6ce523b2c064af6286c45ea1c7ff882d46e10d0945dbda7572753"},
+    {file = "pandas-2.0.1-cp39-cp39-manylinux_2_17_aarch64.manylinux2014_aarch64.whl", hash = "sha256:320b180d125c3842c5da5889183b9a43da4ebba375ab2ef938f57bf267a3c684"},
+    {file = "pandas-2.0.1-cp39-cp39-manylinux_2_17_x86_64.manylinux2014_x86_64.whl", hash = "sha256:18d22cb9043b6c6804529810f492ab09d638ddf625c5dea8529239607295cb59"},
+    {file = "pandas-2.0.1-cp39-cp39-win32.whl", hash = "sha256:90d1d365d77d287063c5e339f49b27bd99ef06d10a8843cf00b1a49326d492c1"},
+    {file = "pandas-2.0.1-cp39-cp39-win_amd64.whl", hash = "sha256:99f7192d8b0e6daf8e0d0fd93baa40056684e4b4aaaef9ea78dff34168e1f2f0"},
+    {file = "pandas-2.0.1.tar.gz", hash = "sha256:19b8e5270da32b41ebf12f0e7165efa7024492e9513fb46fb631c5022ae5709d"},
+]
+
+[package.dependencies]
+numpy = {version = ">=1.21.0", markers = "python_version >= \"3.10\""}
+python-dateutil = ">=2.8.2"
+pytz = ">=2020.1"
+tzdata = ">=2022.1"
+
+[package.extras]
+all = ["PyQt5 (>=5.15.1)", "SQLAlchemy (>=1.4.16)", "beautifulsoup4 (>=4.9.3)", "bottleneck (>=1.3.2)", "brotlipy (>=0.7.0)", "fastparquet (>=0.6.3)", "fsspec (>=2021.07.0)", "gcsfs (>=2021.07.0)", "html5lib (>=1.1)", "hypothesis (>=6.34.2)", "jinja2 (>=3.0.0)", "lxml (>=4.6.3)", "matplotlib (>=3.6.1)", "numba (>=0.53.1)", "numexpr (>=2.7.3)", "odfpy (>=1.4.1)", "openpyxl (>=3.0.7)", "pandas-gbq (>=0.15.0)", "psycopg2 (>=2.8.6)", "pyarrow (>=7.0.0)", "pymysql (>=1.0.2)", "pyreadstat (>=1.1.2)", "pytest (>=7.0.0)", "pytest-asyncio (>=0.17.0)", "pytest-xdist (>=2.2.0)", "python-snappy (>=0.6.0)", "pyxlsb (>=1.0.8)", "qtpy (>=2.2.0)", "s3fs (>=2021.08.0)", "scipy (>=1.7.1)", "tables (>=3.6.1)", "tabulate (>=0.8.9)", "xarray (>=0.21.0)", "xlrd (>=2.0.1)", "xlsxwriter (>=1.4.3)", "zstandard (>=0.15.2)"]
+aws = ["s3fs (>=2021.08.0)"]
+clipboard = ["PyQt5 (>=5.15.1)", "qtpy (>=2.2.0)"]
+compression = ["brotlipy (>=0.7.0)", "python-snappy (>=0.6.0)", "zstandard (>=0.15.2)"]
+computation = ["scipy (>=1.7.1)", "xarray (>=0.21.0)"]
+excel = ["odfpy (>=1.4.1)", "openpyxl (>=3.0.7)", "pyxlsb (>=1.0.8)", "xlrd (>=2.0.1)", "xlsxwriter (>=1.4.3)"]
+feather = ["pyarrow (>=7.0.0)"]
+fss = ["fsspec (>=2021.07.0)"]
+gcp = ["gcsfs (>=2021.07.0)", "pandas-gbq (>=0.15.0)"]
+hdf5 = ["tables (>=3.6.1)"]
+html = ["beautifulsoup4 (>=4.9.3)", "html5lib (>=1.1)", "lxml (>=4.6.3)"]
+mysql = ["SQLAlchemy (>=1.4.16)", "pymysql (>=1.0.2)"]
+output-formatting = ["jinja2 (>=3.0.0)", "tabulate (>=0.8.9)"]
+parquet = ["pyarrow (>=7.0.0)"]
+performance = ["bottleneck (>=1.3.2)", "numba (>=0.53.1)", "numexpr (>=2.7.1)"]
+plot = ["matplotlib (>=3.6.1)"]
+postgresql = ["SQLAlchemy (>=1.4.16)", "psycopg2 (>=2.8.6)"]
+spss = ["pyreadstat (>=1.1.2)"]
+sql-other = ["SQLAlchemy (>=1.4.16)"]
+test = ["hypothesis (>=6.34.2)", "pytest (>=7.0.0)", "pytest-asyncio (>=0.17.0)", "pytest-xdist (>=2.2.0)"]
+xml = ["lxml (>=4.6.3)"]
+
+[[package]]
+name = "pandas"
+version = "2.0.2"
+description = "Powerful data structures for data analysis, time series, and statistics"
+optional = false
+python-versions = ">=3.8"
+files = [
+    {file = "pandas-2.0.2-cp310-cp310-macosx_10_9_x86_64.whl", hash = "sha256:9ebb9f1c22ddb828e7fd017ea265a59d80461d5a79154b49a4207bd17514d122"},
+    {file = "pandas-2.0.2-cp310-cp310-macosx_11_0_arm64.whl", hash = "sha256:1eb09a242184092f424b2edd06eb2b99d06dc07eeddff9929e8667d4ed44e181"},
+    {file = "pandas-2.0.2-cp310-cp310-manylinux_2_17_aarch64.manylinux2014_aarch64.whl", hash = "sha256:c7319b6e68de14e6209460f72a8d1ef13c09fb3d3ef6c37c1e65b35d50b5c145"},
+    {file = "pandas-2.0.2-cp310-cp310-manylinux_2_17_x86_64.manylinux2014_x86_64.whl", hash = "sha256:dd46bde7309088481b1cf9c58e3f0e204b9ff9e3244f441accd220dd3365ce7c"},
+    {file = "pandas-2.0.2-cp310-cp310-win32.whl", hash = "sha256:51a93d422fbb1bd04b67639ba4b5368dffc26923f3ea32a275d2cc450f1d1c86"},
+    {file = "pandas-2.0.2-cp310-cp310-win_amd64.whl", hash = "sha256:66d00300f188fa5de73f92d5725ced162488f6dc6ad4cecfe4144ca29debe3b8"},
+    {file = "pandas-2.0.2-cp311-cp311-macosx_10_9_x86_64.whl", hash = "sha256:02755de164da6827764ceb3bbc5f64b35cb12394b1024fdf88704d0fa06e0e2f"},
+    {file = "pandas-2.0.2-cp311-cp311-macosx_11_0_arm64.whl", hash = "sha256:0a1e0576611641acde15c2322228d138258f236d14b749ad9af498ab69089e2d"},
+    {file = "pandas-2.0.2-cp311-cp311-manylinux_2_17_aarch64.manylinux2014_aarch64.whl", hash = "sha256:a6b5f14cd24a2ed06e14255ff40fe2ea0cfaef79a8dd68069b7ace74bd6acbba"},
+    {file = "pandas-2.0.2-cp311-cp311-manylinux_2_17_x86_64.manylinux2014_x86_64.whl", hash = "sha256:50e451932b3011b61d2961b4185382c92cc8c6ee4658dcd4f320687bb2d000ee"},
+    {file = "pandas-2.0.2-cp311-cp311-win32.whl", hash = "sha256:7b21cb72958fc49ad757685db1919021d99650d7aaba676576c9e88d3889d456"},
+    {file = "pandas-2.0.2-cp311-cp311-win_amd64.whl", hash = "sha256:c4af689352c4fe3d75b2834933ee9d0ccdbf5d7a8a7264f0ce9524e877820c08"},
+    {file = "pandas-2.0.2-cp38-cp38-macosx_10_9_x86_64.whl", hash = "sha256:69167693cb8f9b3fc060956a5d0a0a8dbfed5f980d9fd2c306fb5b9c855c814c"},
+    {file = "pandas-2.0.2-cp38-cp38-macosx_11_0_arm64.whl", hash = "sha256:30a89d0fec4263ccbf96f68592fd668939481854d2ff9da709d32a047689393b"},
+    {file = "pandas-2.0.2-cp38-cp38-manylinux_2_17_aarch64.manylinux2014_aarch64.whl", hash = "sha256:a18e5c72b989ff0f7197707ceddc99828320d0ca22ab50dd1b9e37db45b010c0"},
+    {file = "pandas-2.0.2-cp38-cp38-manylinux_2_17_x86_64.manylinux2014_x86_64.whl", hash = "sha256:7376e13d28eb16752c398ca1d36ccfe52bf7e887067af9a0474de6331dd948d2"},
+    {file = "pandas-2.0.2-cp38-cp38-win32.whl", hash = "sha256:6d6d10c2142d11d40d6e6c0a190b1f89f525bcf85564707e31b0a39e3b398e08"},
+    {file = "pandas-2.0.2-cp38-cp38-win_amd64.whl", hash = "sha256:e69140bc2d29a8556f55445c15f5794490852af3de0f609a24003ef174528b79"},
+    {file = "pandas-2.0.2-cp39-cp39-macosx_10_9_x86_64.whl", hash = "sha256:b42b120458636a981077cfcfa8568c031b3e8709701315e2bfa866324a83efa8"},
+    {file = "pandas-2.0.2-cp39-cp39-macosx_11_0_arm64.whl", hash = "sha256:f908a77cbeef9bbd646bd4b81214cbef9ac3dda4181d5092a4aa9797d1bc7774"},
+    {file = "pandas-2.0.2-cp39-cp39-manylinux_2_17_aarch64.manylinux2014_aarch64.whl", hash = "sha256:713f2f70abcdade1ddd68fc91577cb090b3544b07ceba78a12f799355a13ee44"},
+    {file = "pandas-2.0.2-cp39-cp39-manylinux_2_17_x86_64.manylinux2014_x86_64.whl", hash = "sha256:cf3f0c361a4270185baa89ec7ab92ecaa355fe783791457077473f974f654df5"},
+    {file = "pandas-2.0.2-cp39-cp39-win32.whl", hash = "sha256:598e9020d85a8cdbaa1815eb325a91cfff2bb2b23c1442549b8a3668e36f0f77"},
+    {file = "pandas-2.0.2-cp39-cp39-win_amd64.whl", hash = "sha256:77550c8909ebc23e56a89f91b40ad01b50c42cfbfab49b3393694a50549295ea"},
+    {file = "pandas-2.0.2.tar.gz", hash = "sha256:dd5476b6c3fe410ee95926873f377b856dbc4e81a9c605a0dc05aaccc6a7c6c6"},
+]
+
+[package.dependencies]
+numpy = {version = ">=1.21.0", markers = "python_version >= \"3.10\""}
+python-dateutil = ">=2.8.2"
+pytz = ">=2020.1"
+tzdata = ">=2022.1"
+
+[package.extras]
+all = ["PyQt5 (>=5.15.1)", "SQLAlchemy (>=1.4.16)", "beautifulsoup4 (>=4.9.3)", "bottleneck (>=1.3.2)", "brotlipy (>=0.7.0)", "fastparquet (>=0.6.3)", "fsspec (>=2021.07.0)", "gcsfs (>=2021.07.0)", "html5lib (>=1.1)", "hypothesis (>=6.34.2)", "jinja2 (>=3.0.0)", "lxml (>=4.6.3)", "matplotlib (>=3.6.1)", "numba (>=0.53.1)", "numexpr (>=2.7.3)", "odfpy (>=1.4.1)", "openpyxl (>=3.0.7)", "pandas-gbq (>=0.15.0)", "psycopg2 (>=2.8.6)", "pyarrow (>=7.0.0)", "pymysql (>=1.0.2)", "pyreadstat (>=1.1.2)", "pytest (>=7.0.0)", "pytest-asyncio (>=0.17.0)", "pytest-xdist (>=2.2.0)", "python-snappy (>=0.6.0)", "pyxlsb (>=1.0.8)", "qtpy (>=2.2.0)", "s3fs (>=2021.08.0)", "scipy (>=1.7.1)", "tables (>=3.6.1)", "tabulate (>=0.8.9)", "xarray (>=0.21.0)", "xlrd (>=2.0.1)", "xlsxwriter (>=1.4.3)", "zstandard (>=0.15.2)"]
+aws = ["s3fs (>=2021.08.0)"]
+clipboard = ["PyQt5 (>=5.15.1)", "qtpy (>=2.2.0)"]
+compression = ["brotlipy (>=0.7.0)", "python-snappy (>=0.6.0)", "zstandard (>=0.15.2)"]
+computation = ["scipy (>=1.7.1)", "xarray (>=0.21.0)"]
+excel = ["odfpy (>=1.4.1)", "openpyxl (>=3.0.7)", "pyxlsb (>=1.0.8)", "xlrd (>=2.0.1)", "xlsxwriter (>=1.4.3)"]
+feather = ["pyarrow (>=7.0.0)"]
+fss = ["fsspec (>=2021.07.0)"]
+gcp = ["gcsfs (>=2021.07.0)", "pandas-gbq (>=0.15.0)"]
+hdf5 = ["tables (>=3.6.1)"]
+html = ["beautifulsoup4 (>=4.9.3)", "html5lib (>=1.1)", "lxml (>=4.6.3)"]
+mysql = ["SQLAlchemy (>=1.4.16)", "pymysql (>=1.0.2)"]
+output-formatting = ["jinja2 (>=3.0.0)", "tabulate (>=0.8.9)"]
+parquet = ["pyarrow (>=7.0.0)"]
+performance = ["bottleneck (>=1.3.2)", "numba (>=0.53.1)", "numexpr (>=2.7.1)"]
+plot = ["matplotlib (>=3.6.1)"]
+postgresql = ["SQLAlchemy (>=1.4.16)", "psycopg2 (>=2.8.6)"]
+spss = ["pyreadstat (>=1.1.2)"]
+sql-other = ["SQLAlchemy (>=1.4.16)"]
+test = ["hypothesis (>=6.34.2)", "pytest (>=7.0.0)", "pytest-asyncio (>=0.17.0)", "pytest-xdist (>=2.2.0)"]
+xml = ["lxml (>=4.6.3)"]
+
+[[package]]
+name = "pandas"
+version = "2.0.3"
+description = "Powerful data structures for data analysis, time series, and statistics"
+optional = false
+python-versions = ">=3.8"
+files = [
+    {file = "pandas-2.0.3-cp310-cp310-macosx_10_9_x86_64.whl", hash = "sha256:e4c7c9f27a4185304c7caf96dc7d91bc60bc162221152de697c98eb0b2648dd8"},
+    {file = "pandas-2.0.3-cp310-cp310-macosx_11_0_arm64.whl", hash = "sha256:f167beed68918d62bffb6ec64f2e1d8a7d297a038f86d4aed056b9493fca407f"},
+    {file = "pandas-2.0.3-cp310-cp310-manylinux_2_17_aarch64.manylinux2014_aarch64.whl", hash = "sha256:ce0c6f76a0f1ba361551f3e6dceaff06bde7514a374aa43e33b588ec10420183"},
+    {file = "pandas-2.0.3-cp310-cp310-manylinux_2_17_x86_64.manylinux2014_x86_64.whl", hash = "sha256:ba619e410a21d8c387a1ea6e8a0e49bb42216474436245718d7f2e88a2f8d7c0"},
+    {file = "pandas-2.0.3-cp310-cp310-win32.whl", hash = "sha256:3ef285093b4fe5058eefd756100a367f27029913760773c8bf1d2d8bebe5d210"},
+    {file = "pandas-2.0.3-cp310-cp310-win_amd64.whl", hash = "sha256:9ee1a69328d5c36c98d8e74db06f4ad518a1840e8ccb94a4ba86920986bb617e"},
+    {file = "pandas-2.0.3-cp311-cp311-macosx_10_9_x86_64.whl", hash = "sha256:b084b91d8d66ab19f5bb3256cbd5ea661848338301940e17f4492b2ce0801fe8"},
+    {file = "pandas-2.0.3-cp311-cp311-macosx_11_0_arm64.whl", hash = "sha256:37673e3bdf1551b95bf5d4ce372b37770f9529743d2498032439371fc7b7eb26"},
+    {file = "pandas-2.0.3-cp311-cp311-manylinux_2_17_aarch64.manylinux2014_aarch64.whl", hash = "sha256:b9cb1e14fdb546396b7e1b923ffaeeac24e4cedd14266c3497216dd4448e4f2d"},
+    {file = "pandas-2.0.3-cp311-cp311-manylinux_2_17_x86_64.manylinux2014_x86_64.whl", hash = "sha256:d9cd88488cceb7635aebb84809d087468eb33551097d600c6dad13602029c2df"},
+    {file = "pandas-2.0.3-cp311-cp311-win32.whl", hash = "sha256:694888a81198786f0e164ee3a581df7d505024fbb1f15202fc7db88a71d84ebd"},
+    {file = "pandas-2.0.3-cp311-cp311-win_amd64.whl", hash = "sha256:6a21ab5c89dcbd57f78d0ae16630b090eec626360085a4148693def5452d8a6b"},
+    {file = "pandas-2.0.3-cp38-cp38-macosx_10_9_x86_64.whl", hash = "sha256:9e4da0d45e7f34c069fe4d522359df7d23badf83abc1d1cef398895822d11061"},
+    {file = "pandas-2.0.3-cp38-cp38-macosx_11_0_arm64.whl", hash = "sha256:32fca2ee1b0d93dd71d979726b12b61faa06aeb93cf77468776287f41ff8fdc5"},
+    {file = "pandas-2.0.3-cp38-cp38-manylinux_2_17_aarch64.manylinux2014_aarch64.whl", hash = "sha256:258d3624b3ae734490e4d63c430256e716f488c4fcb7c8e9bde2d3aa46c29089"},
+    {file = "pandas-2.0.3-cp38-cp38-manylinux_2_17_x86_64.manylinux2014_x86_64.whl", hash = "sha256:9eae3dc34fa1aa7772dd3fc60270d13ced7346fcbcfee017d3132ec625e23bb0"},
+    {file = "pandas-2.0.3-cp38-cp38-win32.whl", hash = "sha256:f3421a7afb1a43f7e38e82e844e2bca9a6d793d66c1a7f9f0ff39a795bbc5e02"},
+    {file = "pandas-2.0.3-cp38-cp38-win_amd64.whl", hash = "sha256:69d7f3884c95da3a31ef82b7618af5710dba95bb885ffab339aad925c3e8ce78"},
+    {file = "pandas-2.0.3-cp39-cp39-macosx_10_9_x86_64.whl", hash = "sha256:5247fb1ba347c1261cbbf0fcfba4a3121fbb4029d95d9ef4dc45406620b25c8b"},
+    {file = "pandas-2.0.3-cp39-cp39-macosx_11_0_arm64.whl", hash = "sha256:81af086f4543c9d8bb128328b5d32e9986e0c84d3ee673a2ac6fb57fd14f755e"},
+    {file = "pandas-2.0.3-cp39-cp39-manylinux_2_17_aarch64.manylinux2014_aarch64.whl", hash = "sha256:1994c789bf12a7c5098277fb43836ce090f1073858c10f9220998ac74f37c69b"},
+    {file = "pandas-2.0.3-cp39-cp39-manylinux_2_17_x86_64.manylinux2014_x86_64.whl", hash = "sha256:5ec591c48e29226bcbb316e0c1e9423622bc7a4eaf1ef7c3c9fa1a3981f89641"},
+    {file = "pandas-2.0.3-cp39-cp39-win32.whl", hash = "sha256:04dbdbaf2e4d46ca8da896e1805bc04eb85caa9a82e259e8eed00254d5e0c682"},
+    {file = "pandas-2.0.3-cp39-cp39-win_amd64.whl", hash = "sha256:1168574b036cd8b93abc746171c9b4f1b83467438a5e45909fed645cf8692dbc"},
+    {file = "pandas-2.0.3.tar.gz", hash = "sha256:c02f372a88e0d17f36d3093a644c73cfc1788e876a7c4bcb4020a77512e2043c"},
+]
+
+[package.dependencies]
+numpy = {version = ">=1.21.0", markers = "python_version >= \"3.10\""}
+python-dateutil = ">=2.8.2"
+pytz = ">=2020.1"
+tzdata = ">=2022.1"
+
+[package.extras]
+all = ["PyQt5 (>=5.15.1)", "SQLAlchemy (>=1.4.16)", "beautifulsoup4 (>=4.9.3)", "bottleneck (>=1.3.2)", "brotlipy (>=0.7.0)", "fastparquet (>=0.6.3)", "fsspec (>=2021.07.0)", "gcsfs (>=2021.07.0)", "html5lib (>=1.1)", "hypothesis (>=6.34.2)", "jinja2 (>=3.0.0)", "lxml (>=4.6.3)", "matplotlib (>=3.6.1)", "numba (>=0.53.1)", "numexpr (>=2.7.3)", "odfpy (>=1.4.1)", "openpyxl (>=3.0.7)", "pandas-gbq (>=0.15.0)", "psycopg2 (>=2.8.6)", "pyarrow (>=7.0.0)", "pymysql (>=1.0.2)", "pyreadstat (>=1.1.2)", "pytest (>=7.3.2)", "pytest-asyncio (>=0.17.0)", "pytest-xdist (>=2.2.0)", "python-snappy (>=0.6.0)", "pyxlsb (>=1.0.8)", "qtpy (>=2.2.0)", "s3fs (>=2021.08.0)", "scipy (>=1.7.1)", "tables (>=3.6.1)", "tabulate (>=0.8.9)", "xarray (>=0.21.0)", "xlrd (>=2.0.1)", "xlsxwriter (>=1.4.3)", "zstandard (>=0.15.2)"]
+aws = ["s3fs (>=2021.08.0)"]
+clipboard = ["PyQt5 (>=5.15.1)", "qtpy (>=2.2.0)"]
+compression = ["brotlipy (>=0.7.0)", "python-snappy (>=0.6.0)", "zstandard (>=0.15.2)"]
+computation = ["scipy (>=1.7.1)", "xarray (>=0.21.0)"]
+excel = ["odfpy (>=1.4.1)", "openpyxl (>=3.0.7)", "pyxlsb (>=1.0.8)", "xlrd (>=2.0.1)", "xlsxwriter (>=1.4.3)"]
+feather = ["pyarrow (>=7.0.0)"]
+fss = ["fsspec (>=2021.07.0)"]
+gcp = ["gcsfs (>=2021.07.0)", "pandas-gbq (>=0.15.0)"]
+hdf5 = ["tables (>=3.6.1)"]
+html = ["beautifulsoup4 (>=4.9.3)", "html5lib (>=1.1)", "lxml (>=4.6.3)"]
+mysql = ["SQLAlchemy (>=1.4.16)", "pymysql (>=1.0.2)"]
+output-formatting = ["jinja2 (>=3.0.0)", "tabulate (>=0.8.9)"]
+parquet = ["pyarrow (>=7.0.0)"]
+performance = ["bottleneck (>=1.3.2)", "numba (>=0.53.1)", "numexpr (>=2.7.1)"]
+plot = ["matplotlib (>=3.6.1)"]
+postgresql = ["SQLAlchemy (>=1.4.16)", "psycopg2 (>=2.8.6)"]
+spss = ["pyreadstat (>=1.1.2)"]
+sql-other = ["SQLAlchemy (>=1.4.16)"]
+test = ["hypothesis (>=6.34.2)", "pytest (>=7.3.2)", "pytest-asyncio (>=0.17.0)", "pytest-xdist (>=2.2.0)"]
+xml = ["lxml (>=4.6.3)"]
+
+[[package]]
+name = "pandocfilters"
+version = "1.5.0"
+description = "Utilities for writing pandoc filters in python"
+optional = false
+python-versions = ">=2.7, !=3.0.*, !=3.1.*, !=3.2.*, !=3.3.*"
+files = [
     {file = "pandocfilters-1.5.0-py2.py3-none-any.whl", hash = "sha256:33aae3f25fd1a026079f5d27bdd52496f0e0803b3469282162bafdcbdf6ef14f"},
     {file = "pandocfilters-1.5.0.tar.gz", hash = "sha256:0b679503337d233b4339a817bfc8c50064e2eff681314376a47cb582305a7a38"},
 ]
-panflute = [
+
+[[package]]
+name = "panflute"
+version = "2.3.0"
+description = "Pythonic Pandoc filters"
+optional = false
+python-versions = ">=3.6"
+files = [
     {file = "panflute-2.3.0-py3-none-any.whl", hash = "sha256:02673bcbdb521a805f08a2ca0ce864de86ad409ad406a01b3700fcf2aca81635"},
     {file = "panflute-2.3.0.tar.gz", hash = "sha256:cefd9dfc48ccd9732a53db57610701d22806da397a8a97e5cc8dc070b55865ca"},
 ]
-parameterized = [
+
+[package.dependencies]
+click = ">=6,<9"
+pyyaml = ">=3,<7"
+
+[package.extras]
+dev = ["configparser", "coverage", "flake8", "pandocfilters", "pytest", "pytest-cov", "requests"]
+extras = ["yamlloader (>=1,<2)"]
+pypi = ["Pygments", "docutils", "twine", "wheel"]
+
+[[package]]
+name = "parameterized"
+version = "0.8.1"
+description = "Parameterized testing with any Python test framework"
+optional = false
+python-versions = "*"
+files = [
     {file = "parameterized-0.8.1-py2.py3-none-any.whl", hash = "sha256:9cbb0b69a03e8695d68b3399a8a5825200976536fe1cb79db60ed6a4c8c9efe9"},
     {file = "parameterized-0.8.1.tar.gz", hash = "sha256:41bbff37d6186430f77f900d777e5bb6a24928a1c46fb1de692f8b52b8833b5c"},
 ]
-paramiko = [
-    {file = "paramiko-2.11.0-py2.py3-none-any.whl", hash = "sha256:655f25dc8baf763277b933dfcea101d636581df8d6b9774d1fb653426b72c270"},
-    {file = "paramiko-2.11.0.tar.gz", hash = "sha256:003e6bee7c034c21fbb051bf83dc0a9ee4106204dd3c53054c71452cc4ec3938"},
+
+[package.extras]
+dev = ["jinja2"]
+
+[[package]]
+name = "paramiko"
+version = "3.3.1"
+description = "SSH2 protocol library"
+optional = false
+python-versions = ">=3.6"
+files = [
+    {file = "paramiko-3.3.1-py3-none-any.whl", hash = "sha256:b7bc5340a43de4287bbe22fe6de728aa2c22468b2a849615498dd944c2f275eb"},
+    {file = "paramiko-3.3.1.tar.gz", hash = "sha256:6a3777a961ac86dbef375c5f5b8d50014a1a96d0fd7f054a43bc880134b0ff77"},
 ]
-parso = [
+
+[package.dependencies]
+bcrypt = ">=3.2"
+cryptography = ">=3.3"
+pynacl = ">=1.5"
+
+[package.extras]
+all = ["gssapi (>=1.4.1)", "invoke (>=2.0)", "pyasn1 (>=0.1.7)", "pywin32 (>=2.1.8)"]
+gssapi = ["gssapi (>=1.4.1)", "pyasn1 (>=0.1.7)", "pywin32 (>=2.1.8)"]
+invoke = ["invoke (>=2.0)"]
+
+[[package]]
+name = "parso"
+version = "0.8.3"
+description = "A Python Parser"
+optional = false
+python-versions = ">=3.6"
+files = [
     {file = "parso-0.8.3-py2.py3-none-any.whl", hash = "sha256:c001d4636cd3aecdaf33cbb40aebb59b094be2a74c556778ef5576c175e19e75"},
     {file = "parso-0.8.3.tar.gz", hash = "sha256:8c07be290bb59f03588915921e29e8a50002acaf2cdc5fa0e0114f91709fafa0"},
 ]
-pexpect = [
+
+[package.extras]
+qa = ["flake8 (==3.8.3)", "mypy (==0.782)"]
+testing = ["docopt", "pytest (<6.0.0)"]
+
+[[package]]
+name = "pexpect"
+version = "4.8.0"
+description = "Pexpect allows easy control of interactive console applications."
+optional = false
+python-versions = "*"
+files = [
     {file = "pexpect-4.8.0-py2.py3-none-any.whl", hash = "sha256:0b48a55dcb3c05f3329815901ea4fc1537514d6ba867a152b581d69ae3710937"},
     {file = "pexpect-4.8.0.tar.gz", hash = "sha256:fc65a43959d153d0114afe13997d439c22823a27cefceb5ff35c2178c6784c0c"},
 ]
-pickleshare = [
+
+[package.dependencies]
+ptyprocess = ">=0.5"
+
+[[package]]
+name = "pickleshare"
+version = "0.7.5"
+description = "Tiny 'shelve'-like database with concurrency support"
+optional = false
+python-versions = "*"
+files = [
     {file = "pickleshare-0.7.5-py2.py3-none-any.whl", hash = "sha256:9649af414d74d4df115d5d718f82acb59c9d418196b7b4290ed47a12ce62df56"},
     {file = "pickleshare-0.7.5.tar.gz", hash = "sha256:87683d47965c1da65cdacaf31c8441d12b8044cdec9aca500cd78fc2c683afca"},
 ]
-pillow = [
-    {file = "Pillow-9.2.0-cp310-cp310-macosx_10_10_x86_64.whl", hash = "sha256:a9c9bc489f8ab30906d7a85afac4b4944a572a7432e00698a7239f44a44e6efb"},
-    {file = "Pillow-9.2.0-cp310-cp310-macosx_11_0_arm64.whl", hash = "sha256:510cef4a3f401c246cfd8227b300828715dd055463cdca6176c2e4036df8bd4f"},
-    {file = "Pillow-9.2.0-cp310-cp310-manylinux_2_17_aarch64.manylinux2014_aarch64.whl", hash = "sha256:7888310f6214f19ab2b6df90f3f06afa3df7ef7355fc025e78a3044737fab1f5"},
-    {file = "Pillow-9.2.0-cp310-cp310-manylinux_2_17_i686.manylinux2014_i686.whl", hash = "sha256:831e648102c82f152e14c1a0938689dbb22480c548c8d4b8b248b3e50967b88c"},
-    {file = "Pillow-9.2.0-cp310-cp310-manylinux_2_17_x86_64.manylinux2014_x86_64.whl", hash = "sha256:1cc1d2451e8a3b4bfdb9caf745b58e6c7a77d2e469159b0d527a4554d73694d1"},
-    {file = "Pillow-9.2.0-cp310-cp310-manylinux_2_28_aarch64.whl", hash = "sha256:136659638f61a251e8ed3b331fc6ccd124590eeff539de57c5f80ef3a9594e58"},
-    {file = "Pillow-9.2.0-cp310-cp310-manylinux_2_28_x86_64.whl", hash = "sha256:6e8c66f70fb539301e064f6478d7453e820d8a2c631da948a23384865cd95544"},
-    {file = "Pillow-9.2.0-cp310-cp310-musllinux_1_1_x86_64.whl", hash = "sha256:37ff6b522a26d0538b753f0b4e8e164fdada12db6c6f00f62145d732d8a3152e"},
-    {file = "Pillow-9.2.0-cp310-cp310-win32.whl", hash = "sha256:c79698d4cd9318d9481d89a77e2d3fcaeff5486be641e60a4b49f3d2ecca4e28"},
-    {file = "Pillow-9.2.0-cp310-cp310-win_amd64.whl", hash = "sha256:254164c57bab4b459f14c64e93df11eff5ded575192c294a0c49270f22c5d93d"},
-    {file = "Pillow-9.2.0-cp311-cp311-macosx_10_10_x86_64.whl", hash = "sha256:adabc0bce035467fb537ef3e5e74f2847c8af217ee0be0455d4fec8adc0462fc"},
-    {file = "Pillow-9.2.0-cp311-cp311-macosx_11_0_arm64.whl", hash = "sha256:336b9036127eab855beec9662ac3ea13a4544a523ae273cbf108b228ecac8437"},
-    {file = "Pillow-9.2.0-cp311-cp311-manylinux_2_17_aarch64.manylinux2014_aarch64.whl", hash = "sha256:50dff9cc21826d2977ef2d2a205504034e3a4563ca6f5db739b0d1026658e004"},
-    {file = "Pillow-9.2.0-cp311-cp311-manylinux_2_17_i686.manylinux2014_i686.whl", hash = "sha256:cb6259196a589123d755380b65127ddc60f4c64b21fc3bb46ce3a6ea663659b0"},
-    {file = "Pillow-9.2.0-cp311-cp311-manylinux_2_17_x86_64.manylinux2014_x86_64.whl", hash = "sha256:7b0554af24df2bf96618dac71ddada02420f946be943b181108cac55a7a2dcd4"},
-    {file = "Pillow-9.2.0-cp311-cp311-manylinux_2_28_aarch64.whl", hash = "sha256:15928f824870535c85dbf949c09d6ae7d3d6ac2d6efec80f3227f73eefba741c"},
-    {file = "Pillow-9.2.0-cp311-cp311-manylinux_2_28_x86_64.whl", hash = "sha256:bdd0de2d64688ecae88dd8935012c4a72681e5df632af903a1dca8c5e7aa871a"},
-    {file = "Pillow-9.2.0-cp311-cp311-musllinux_1_1_x86_64.whl", hash = "sha256:d5b87da55a08acb586bad5c3aa3b86505f559b84f39035b233d5bf844b0834b1"},
-    {file = "Pillow-9.2.0-cp311-cp311-win32.whl", hash = "sha256:b6d5e92df2b77665e07ddb2e4dbd6d644b78e4c0d2e9272a852627cdba0d75cf"},
-    {file = "Pillow-9.2.0-cp311-cp311-win_amd64.whl", hash = "sha256:6bf088c1ce160f50ea40764f825ec9b72ed9da25346216b91361eef8ad1b8f8c"},
-    {file = "Pillow-9.2.0-cp37-cp37m-macosx_10_10_x86_64.whl", hash = "sha256:2c58b24e3a63efd22554c676d81b0e57f80e0a7d3a5874a7e14ce90ec40d3069"},
-    {file = "Pillow-9.2.0-cp37-cp37m-manylinux_2_17_aarch64.manylinux2014_aarch64.whl", hash = "sha256:eef7592281f7c174d3d6cbfbb7ee5984a671fcd77e3fc78e973d492e9bf0eb3f"},
-    {file = "Pillow-9.2.0-cp37-cp37m-manylinux_2_17_i686.manylinux2014_i686.whl", hash = "sha256:dcd7b9c7139dc8258d164b55696ecd16c04607f1cc33ba7af86613881ffe4ac8"},
-    {file = "Pillow-9.2.0-cp37-cp37m-manylinux_2_17_x86_64.manylinux2014_x86_64.whl", hash = "sha256:a138441e95562b3c078746a22f8fca8ff1c22c014f856278bdbdd89ca36cff1b"},
-    {file = "Pillow-9.2.0-cp37-cp37m-manylinux_2_28_aarch64.whl", hash = "sha256:93689632949aff41199090eff5474f3990b6823404e45d66a5d44304e9cdc467"},
-    {file = "Pillow-9.2.0-cp37-cp37m-manylinux_2_28_x86_64.whl", hash = "sha256:f3fac744f9b540148fa7715a435d2283b71f68bfb6d4aae24482a890aed18b59"},
-    {file = "Pillow-9.2.0-cp37-cp37m-win32.whl", hash = "sha256:fa768eff5f9f958270b081bb33581b4b569faabf8774726b283edb06617101dc"},
-    {file = "Pillow-9.2.0-cp37-cp37m-win_amd64.whl", hash = "sha256:69bd1a15d7ba3694631e00df8de65a8cb031911ca11f44929c97fe05eb9b6c1d"},
-    {file = "Pillow-9.2.0-cp38-cp38-macosx_10_10_x86_64.whl", hash = "sha256:030e3460861488e249731c3e7ab59b07c7853838ff3b8e16aac9561bb345da14"},
-    {file = "Pillow-9.2.0-cp38-cp38-macosx_11_0_arm64.whl", hash = "sha256:74a04183e6e64930b667d321524e3c5361094bb4af9083db5c301db64cd341f3"},
-    {file = "Pillow-9.2.0-cp38-cp38-manylinux_2_17_aarch64.manylinux2014_aarch64.whl", hash = "sha256:2d33a11f601213dcd5718109c09a52c2a1c893e7461f0be2d6febc2879ec2402"},
-    {file = "Pillow-9.2.0-cp38-cp38-manylinux_2_17_i686.manylinux2014_i686.whl", hash = "sha256:1fd6f5e3c0e4697fa7eb45b6e93996299f3feee73a3175fa451f49a74d092b9f"},
-    {file = "Pillow-9.2.0-cp38-cp38-manylinux_2_17_x86_64.manylinux2014_x86_64.whl", hash = "sha256:a647c0d4478b995c5e54615a2e5360ccedd2f85e70ab57fbe817ca613d5e63b8"},
-    {file = "Pillow-9.2.0-cp38-cp38-manylinux_2_28_aarch64.whl", hash = "sha256:4134d3f1ba5f15027ff5c04296f13328fecd46921424084516bdb1b2548e66ff"},
-    {file = "Pillow-9.2.0-cp38-cp38-manylinux_2_28_x86_64.whl", hash = "sha256:bc431b065722a5ad1dfb4df354fb9333b7a582a5ee39a90e6ffff688d72f27a1"},
-    {file = "Pillow-9.2.0-cp38-cp38-musllinux_1_1_x86_64.whl", hash = "sha256:1536ad017a9f789430fb6b8be8bf99d2f214c76502becc196c6f2d9a75b01b76"},
-    {file = "Pillow-9.2.0-cp38-cp38-win32.whl", hash = "sha256:2ad0d4df0f5ef2247e27fc790d5c9b5a0af8ade9ba340db4a73bb1a4a3e5fb4f"},
-    {file = "Pillow-9.2.0-cp38-cp38-win_amd64.whl", hash = "sha256:ec52c351b35ca269cb1f8069d610fc45c5bd38c3e91f9ab4cbbf0aebc136d9c8"},
-    {file = "Pillow-9.2.0-cp39-cp39-macosx_10_10_x86_64.whl", hash = "sha256:0ed2c4ef2451de908c90436d6e8092e13a43992f1860275b4d8082667fbb2ffc"},
-    {file = "Pillow-9.2.0-cp39-cp39-macosx_11_0_arm64.whl", hash = "sha256:4ad2f835e0ad81d1689f1b7e3fbac7b01bb8777d5a985c8962bedee0cc6d43da"},
-    {file = "Pillow-9.2.0-cp39-cp39-manylinux_2_17_aarch64.manylinux2014_aarch64.whl", hash = "sha256:ea98f633d45f7e815db648fd7ff0f19e328302ac36427343e4432c84432e7ff4"},
-    {file = "Pillow-9.2.0-cp39-cp39-manylinux_2_17_i686.manylinux2014_i686.whl", hash = "sha256:7761afe0126d046974a01e030ae7529ed0ca6a196de3ec6937c11df0df1bc91c"},
-    {file = "Pillow-9.2.0-cp39-cp39-manylinux_2_17_x86_64.manylinux2014_x86_64.whl", hash = "sha256:9a54614049a18a2d6fe156e68e188da02a046a4a93cf24f373bffd977e943421"},
-    {file = "Pillow-9.2.0-cp39-cp39-manylinux_2_28_aarch64.whl", hash = "sha256:5aed7dde98403cd91d86a1115c78d8145c83078e864c1de1064f52e6feb61b20"},
-    {file = "Pillow-9.2.0-cp39-cp39-manylinux_2_28_x86_64.whl", hash = "sha256:13b725463f32df1bfeacbf3dd197fb358ae8ebcd8c5548faa75126ea425ccb60"},
-    {file = "Pillow-9.2.0-cp39-cp39-musllinux_1_1_x86_64.whl", hash = "sha256:808add66ea764ed97d44dda1ac4f2cfec4c1867d9efb16a33d158be79f32b8a4"},
-    {file = "Pillow-9.2.0-cp39-cp39-win32.whl", hash = "sha256:337a74fd2f291c607d220c793a8135273c4c2ab001b03e601c36766005f36885"},
-    {file = "Pillow-9.2.0-cp39-cp39-win_amd64.whl", hash = "sha256:fac2d65901fb0fdf20363fbd345c01958a742f2dc62a8dd4495af66e3ff502a4"},
-    {file = "Pillow-9.2.0-pp37-pypy37_pp73-macosx_10_10_x86_64.whl", hash = "sha256:ad2277b185ebce47a63f4dc6302e30f05762b688f8dc3de55dbae4651872cdf3"},
-    {file = "Pillow-9.2.0-pp37-pypy37_pp73-manylinux_2_17_i686.manylinux2014_i686.whl", hash = "sha256:7c7b502bc34f6e32ba022b4a209638f9e097d7a9098104ae420eb8186217ebbb"},
-    {file = "Pillow-9.2.0-pp37-pypy37_pp73-manylinux_2_17_x86_64.manylinux2014_x86_64.whl", hash = "sha256:3d1f14f5f691f55e1b47f824ca4fdcb4b19b4323fe43cc7bb105988cad7496be"},
-    {file = "Pillow-9.2.0-pp37-pypy37_pp73-manylinux_2_28_x86_64.whl", hash = "sha256:dfe4c1fedfde4e2fbc009d5ad420647f7730d719786388b7de0999bf32c0d9fd"},
-    {file = "Pillow-9.2.0-pp38-pypy38_pp73-macosx_10_10_x86_64.whl", hash = "sha256:f07f1f00e22b231dd3d9b9208692042e29792d6bd4f6639415d2f23158a80013"},
-    {file = "Pillow-9.2.0-pp38-pypy38_pp73-manylinux_2_17_i686.manylinux2014_i686.whl", hash = "sha256:1802f34298f5ba11d55e5bb09c31997dc0c6aed919658dfdf0198a2fe75d5490"},
-    {file = "Pillow-9.2.0-pp38-pypy38_pp73-manylinux_2_17_x86_64.manylinux2014_x86_64.whl", hash = "sha256:17d4cafe22f050b46d983b71c707162d63d796a1235cdf8b9d7a112e97b15bac"},
-    {file = "Pillow-9.2.0-pp38-pypy38_pp73-manylinux_2_28_x86_64.whl", hash = "sha256:96b5e6874431df16aee0c1ba237574cb6dff1dcb173798faa6a9d8b399a05d0e"},
-    {file = "Pillow-9.2.0-pp38-pypy38_pp73-win_amd64.whl", hash = "sha256:0030fdbd926fb85844b8b92e2f9449ba89607231d3dd597a21ae72dc7fe26927"},
-    {file = "Pillow-9.2.0.tar.gz", hash = "sha256:75e636fd3e0fb872693f23ccb8a5ff2cd578801251f3a4f6854c6a5d437d3c04"},
+
+[[package]]
+name = "pillow"
+version = "10.0.0"
+description = "Python Imaging Library (Fork)"
+optional = false
+python-versions = ">=3.8"
+files = [
+    {file = "Pillow-10.0.0-cp310-cp310-macosx_10_10_x86_64.whl", hash = "sha256:1f62406a884ae75fb2f818694469519fb685cc7eaff05d3451a9ebe55c646891"},
+    {file = "Pillow-10.0.0-cp310-cp310-macosx_11_0_arm64.whl", hash = "sha256:d5db32e2a6ccbb3d34d87c87b432959e0db29755727afb37290e10f6e8e62614"},
+    {file = "Pillow-10.0.0-cp310-cp310-manylinux_2_17_aarch64.manylinux2014_aarch64.whl", hash = "sha256:edf4392b77bdc81f36e92d3a07a5cd072f90253197f4a52a55a8cec48a12483b"},
+    {file = "Pillow-10.0.0-cp310-cp310-manylinux_2_17_x86_64.manylinux2014_x86_64.whl", hash = "sha256:520f2a520dc040512699f20fa1c363eed506e94248d71f85412b625026f6142c"},
+    {file = "Pillow-10.0.0-cp310-cp310-manylinux_2_28_aarch64.whl", hash = "sha256:8c11160913e3dd06c8ffdb5f233a4f254cb449f4dfc0f8f4549eda9e542c93d1"},
+    {file = "Pillow-10.0.0-cp310-cp310-manylinux_2_28_x86_64.whl", hash = "sha256:a74ba0c356aaa3bb8e3eb79606a87669e7ec6444be352870623025d75a14a2bf"},
+    {file = "Pillow-10.0.0-cp310-cp310-musllinux_1_1_aarch64.whl", hash = "sha256:d5d0dae4cfd56969d23d94dc8e89fb6a217be461c69090768227beb8ed28c0a3"},
+    {file = "Pillow-10.0.0-cp310-cp310-musllinux_1_1_x86_64.whl", hash = "sha256:22c10cc517668d44b211717fd9775799ccec4124b9a7f7b3635fc5386e584992"},
+    {file = "Pillow-10.0.0-cp310-cp310-win_amd64.whl", hash = "sha256:dffe31a7f47b603318c609f378ebcd57f1554a3a6a8effbc59c3c69f804296de"},
+    {file = "Pillow-10.0.0-cp311-cp311-macosx_10_10_x86_64.whl", hash = "sha256:9fb218c8a12e51d7ead2a7c9e101a04982237d4855716af2e9499306728fb485"},
+    {file = "Pillow-10.0.0-cp311-cp311-macosx_11_0_arm64.whl", hash = "sha256:d35e3c8d9b1268cbf5d3670285feb3528f6680420eafe35cccc686b73c1e330f"},
+    {file = "Pillow-10.0.0-cp311-cp311-manylinux_2_17_aarch64.manylinux2014_aarch64.whl", hash = "sha256:3ed64f9ca2f0a95411e88a4efbd7a29e5ce2cea36072c53dd9d26d9c76f753b3"},
+    {file = "Pillow-10.0.0-cp311-cp311-manylinux_2_17_x86_64.manylinux2014_x86_64.whl", hash = "sha256:0b6eb5502f45a60a3f411c63187db83a3d3107887ad0d036c13ce836f8a36f1d"},
+    {file = "Pillow-10.0.0-cp311-cp311-manylinux_2_28_aarch64.whl", hash = "sha256:c1fbe7621c167ecaa38ad29643d77a9ce7311583761abf7836e1510c580bf3dd"},
+    {file = "Pillow-10.0.0-cp311-cp311-manylinux_2_28_x86_64.whl", hash = "sha256:cd25d2a9d2b36fcb318882481367956d2cf91329f6892fe5d385c346c0649629"},
+    {file = "Pillow-10.0.0-cp311-cp311-musllinux_1_1_aarch64.whl", hash = "sha256:3b08d4cc24f471b2c8ca24ec060abf4bebc6b144cb89cba638c720546b1cf538"},
+    {file = "Pillow-10.0.0-cp311-cp311-musllinux_1_1_x86_64.whl", hash = "sha256:d737a602fbd82afd892ca746392401b634e278cb65d55c4b7a8f48e9ef8d008d"},
+    {file = "Pillow-10.0.0-cp311-cp311-win_amd64.whl", hash = "sha256:3a82c40d706d9aa9734289740ce26460a11aeec2d9c79b7af87bb35f0073c12f"},
+    {file = "Pillow-10.0.0-cp311-cp311-win_arm64.whl", hash = "sha256:bc2ec7c7b5d66b8ec9ce9f720dbb5fa4bace0f545acd34870eff4a369b44bf37"},
+    {file = "Pillow-10.0.0-cp312-cp312-macosx_10_10_x86_64.whl", hash = "sha256:d80cf684b541685fccdd84c485b31ce73fc5c9b5d7523bf1394ce134a60c6883"},
+    {file = "Pillow-10.0.0-cp312-cp312-macosx_11_0_arm64.whl", hash = "sha256:76de421f9c326da8f43d690110f0e79fe3ad1e54be811545d7d91898b4c8493e"},
+    {file = "Pillow-10.0.0-cp312-cp312-manylinux_2_17_aarch64.manylinux2014_aarch64.whl", hash = "sha256:81ff539a12457809666fef6624684c008e00ff6bf455b4b89fd00a140eecd640"},
+    {file = "Pillow-10.0.0-cp312-cp312-manylinux_2_17_x86_64.manylinux2014_x86_64.whl", hash = "sha256:ce543ed15570eedbb85df19b0a1a7314a9c8141a36ce089c0a894adbfccb4568"},
+    {file = "Pillow-10.0.0-cp312-cp312-manylinux_2_28_aarch64.whl", hash = "sha256:685ac03cc4ed5ebc15ad5c23bc555d68a87777586d970c2c3e216619a5476223"},
+    {file = "Pillow-10.0.0-cp312-cp312-manylinux_2_28_x86_64.whl", hash = "sha256:d72e2ecc68a942e8cf9739619b7f408cc7b272b279b56b2c83c6123fcfa5cdff"},
+    {file = "Pillow-10.0.0-cp312-cp312-musllinux_1_1_aarch64.whl", hash = "sha256:d50b6aec14bc737742ca96e85d6d0a5f9bfbded018264b3b70ff9d8c33485551"},
+    {file = "Pillow-10.0.0-cp312-cp312-musllinux_1_1_x86_64.whl", hash = "sha256:00e65f5e822decd501e374b0650146063fbb30a7264b4d2744bdd7b913e0cab5"},
+    {file = "Pillow-10.0.0-cp312-cp312-win_amd64.whl", hash = "sha256:f31f9fdbfecb042d046f9d91270a0ba28368a723302786c0009ee9b9f1f60199"},
+    {file = "Pillow-10.0.0-cp312-cp312-win_arm64.whl", hash = "sha256:1ce91b6ec08d866b14413d3f0bbdea7e24dfdc8e59f562bb77bc3fe60b6144ca"},
+    {file = "Pillow-10.0.0-cp38-cp38-macosx_10_10_x86_64.whl", hash = "sha256:349930d6e9c685c089284b013478d6f76e3a534e36ddfa912cde493f235372f3"},
+    {file = "Pillow-10.0.0-cp38-cp38-macosx_11_0_arm64.whl", hash = "sha256:3a684105f7c32488f7153905a4e3015a3b6c7182e106fe3c37fbb5ef3e6994c3"},
+    {file = "Pillow-10.0.0-cp38-cp38-manylinux_2_17_aarch64.manylinux2014_aarch64.whl", hash = "sha256:b4f69b3700201b80bb82c3a97d5e9254084f6dd5fb5b16fc1a7b974260f89f43"},
+    {file = "Pillow-10.0.0-cp38-cp38-manylinux_2_17_x86_64.manylinux2014_x86_64.whl", hash = "sha256:3f07ea8d2f827d7d2a49ecf1639ec02d75ffd1b88dcc5b3a61bbb37a8759ad8d"},
+    {file = "Pillow-10.0.0-cp38-cp38-manylinux_2_28_aarch64.whl", hash = "sha256:040586f7d37b34547153fa383f7f9aed68b738992380ac911447bb78f2abe530"},
+    {file = "Pillow-10.0.0-cp38-cp38-manylinux_2_28_x86_64.whl", hash = "sha256:f88a0b92277de8e3ca715a0d79d68dc82807457dae3ab8699c758f07c20b3c51"},
+    {file = "Pillow-10.0.0-cp38-cp38-musllinux_1_1_aarch64.whl", hash = "sha256:c7cf14a27b0d6adfaebb3ae4153f1e516df54e47e42dcc073d7b3d76111a8d86"},
+    {file = "Pillow-10.0.0-cp38-cp38-musllinux_1_1_x86_64.whl", hash = "sha256:3400aae60685b06bb96f99a21e1ada7bc7a413d5f49bce739828ecd9391bb8f7"},
+    {file = "Pillow-10.0.0-cp38-cp38-win_amd64.whl", hash = "sha256:dbc02381779d412145331789b40cc7b11fdf449e5d94f6bc0b080db0a56ea3f0"},
+    {file = "Pillow-10.0.0-cp39-cp39-macosx_10_10_x86_64.whl", hash = "sha256:9211e7ad69d7c9401cfc0e23d49b69ca65ddd898976d660a2fa5904e3d7a9baa"},
+    {file = "Pillow-10.0.0-cp39-cp39-macosx_11_0_arm64.whl", hash = "sha256:faaf07ea35355b01a35cb442dd950d8f1bb5b040a7787791a535de13db15ed90"},
+    {file = "Pillow-10.0.0-cp39-cp39-manylinux_2_17_aarch64.manylinux2014_aarch64.whl", hash = "sha256:c9f72a021fbb792ce98306ffb0c348b3c9cb967dce0f12a49aa4c3d3fdefa967"},
+    {file = "Pillow-10.0.0-cp39-cp39-manylinux_2_17_x86_64.manylinux2014_x86_64.whl", hash = "sha256:9f7c16705f44e0504a3a2a14197c1f0b32a95731d251777dcb060aa83022cb2d"},
+    {file = "Pillow-10.0.0-cp39-cp39-manylinux_2_28_aarch64.whl", hash = "sha256:76edb0a1fa2b4745fb0c99fb9fb98f8b180a1bbceb8be49b087e0b21867e77d3"},
+    {file = "Pillow-10.0.0-cp39-cp39-manylinux_2_28_x86_64.whl", hash = "sha256:368ab3dfb5f49e312231b6f27b8820c823652b7cd29cfbd34090565a015e99ba"},
+    {file = "Pillow-10.0.0-cp39-cp39-musllinux_1_1_aarch64.whl", hash = "sha256:608bfdee0d57cf297d32bcbb3c728dc1da0907519d1784962c5f0c68bb93e5a3"},
+    {file = "Pillow-10.0.0-cp39-cp39-musllinux_1_1_x86_64.whl", hash = "sha256:5c6e3df6bdd396749bafd45314871b3d0af81ff935b2d188385e970052091017"},
+    {file = "Pillow-10.0.0-cp39-cp39-win_amd64.whl", hash = "sha256:7be600823e4c8631b74e4a0d38384c73f680e6105a7d3c6824fcf226c178c7e6"},
+    {file = "Pillow-10.0.0-pp310-pypy310_pp73-macosx_10_10_x86_64.whl", hash = "sha256:92be919bbc9f7d09f7ae343c38f5bb21c973d2576c1d45600fce4b74bafa7ac0"},
+    {file = "Pillow-10.0.0-pp310-pypy310_pp73-manylinux_2_17_x86_64.manylinux2014_x86_64.whl", hash = "sha256:8f8182b523b2289f7c415f589118228d30ac8c355baa2f3194ced084dac2dbba"},
+    {file = "Pillow-10.0.0-pp310-pypy310_pp73-manylinux_2_28_x86_64.whl", hash = "sha256:38250a349b6b390ee6047a62c086d3817ac69022c127f8a5dc058c31ccef17f3"},
+    {file = "Pillow-10.0.0-pp310-pypy310_pp73-win_amd64.whl", hash = "sha256:88af2003543cc40c80f6fca01411892ec52b11021b3dc22ec3bc9d5afd1c5334"},
+    {file = "Pillow-10.0.0-pp39-pypy39_pp73-macosx_10_10_x86_64.whl", hash = "sha256:c189af0545965fa8d3b9613cfdb0cd37f9d71349e0f7750e1fd704648d475ed2"},
+    {file = "Pillow-10.0.0-pp39-pypy39_pp73-manylinux_2_17_x86_64.manylinux2014_x86_64.whl", hash = "sha256:ce7b031a6fc11365970e6a5686d7ba8c63e4c1cf1ea143811acbb524295eabed"},
+    {file = "Pillow-10.0.0-pp39-pypy39_pp73-manylinux_2_28_x86_64.whl", hash = "sha256:db24668940f82321e746773a4bc617bfac06ec831e5c88b643f91f122a785684"},
+    {file = "Pillow-10.0.0-pp39-pypy39_pp73-win_amd64.whl", hash = "sha256:efe8c0681042536e0d06c11f48cebe759707c9e9abf880ee213541c5b46c5bf3"},
+    {file = "Pillow-10.0.0.tar.gz", hash = "sha256:9c82b5b3e043c7af0d95792d0d20ccf68f61a1fec6b3530e718b688422727396"},
 ]
-pillow-avif-plugin = [
-    {file = "pillow-avif-plugin-1.2.2.tar.gz", hash = "sha256:38033ef060b96b2615f5c9e8fa87d4928a4254f0f43081abd89c9017f82c589a"},
-    {file = "pillow_avif_plugin-1.2.2-cp27-cp27m-macosx_10_10_x86_64.whl", hash = "sha256:fc542b03ea87f0e832904fe1ff61cb586bafcd5f80e352ae7ca5cac008e9d651"},
-    {file = "pillow_avif_plugin-1.2.2-cp27-cp27m-macosx_11_0_arm64.whl", hash = "sha256:c77ed103dc587894e7d707cd4ffc0f5b1c641d09b1fb84245475f02c1db039c9"},
-    {file = "pillow_avif_plugin-1.2.2-cp27-cp27m-win_amd64.whl", hash = "sha256:5c0b979acd9a58a5d5f662eb167d65c8e103af0198fcaa200661abf9733dbf9b"},
-    {file = "pillow_avif_plugin-1.2.2-cp27-cp27mu-manylinux2010_i686.whl", hash = "sha256:6dade8e87909766a655a88df0a3c0078c9020315e2fefab8cf3496d9940fd0f8"},
-    {file = "pillow_avif_plugin-1.2.2-cp27-cp27mu-manylinux2010_x86_64.whl", hash = "sha256:54b1a27610cbf754e332b0f3e7be188cceedcfcdcb4cff92d272aff04082eb1d"},
-    {file = "pillow_avif_plugin-1.2.2-cp27-cp27mu-manylinux2014_aarch64.whl", hash = "sha256:887665e08bee4ded0512fe991bbbe7403c90aa9646be8d27295271dcdc10581e"},
-    {file = "pillow_avif_plugin-1.2.2-cp27-cp27mu-manylinux_2_5_i686.manylinux1_i686.whl", hash = "sha256:feba13f19bd9381e079e72f088a66a6509caefb52304888751d637c23b1faa00"},
-    {file = "pillow_avif_plugin-1.2.2-cp27-cp27mu-manylinux_2_5_x86_64.manylinux1_x86_64.whl", hash = "sha256:7238447e395ccee68052c06c0fb824696f5cd1f3050f50466f1889d8356a28f7"},
-    {file = "pillow_avif_plugin-1.2.2-cp310-cp310-macosx_10_10_x86_64.whl", hash = "sha256:703f4e15dcfc9335f69ebd09cecb576f3db0c3586af6bd43d0971a591183b0de"},
-    {file = "pillow_avif_plugin-1.2.2-cp310-cp310-macosx_11_0_arm64.whl", hash = "sha256:9c4665a8d3aa5fb60ed2976eb52ae886f6a276c7ddf346c118b16dc6f1ceec7c"},
-    {file = "pillow_avif_plugin-1.2.2-cp310-cp310-manylinux_2_12_i686.manylinux2010_i686.whl", hash = "sha256:593006af5569df6f3aefba184a90a5112798859ec8c745bcb495ab8b84d194bc"},
-    {file = "pillow_avif_plugin-1.2.2-cp310-cp310-manylinux_2_12_x86_64.manylinux2010_x86_64.whl", hash = "sha256:e2fa7245f7544f4ae03ab4efc035a398883b404488806094e661b3438d921b88"},
-    {file = "pillow_avif_plugin-1.2.2-cp310-cp310-manylinux_2_17_aarch64.manylinux2014_aarch64.whl", hash = "sha256:017e5e52cb4320414e8ce3e2089eae2cb87c22c73ff6012b17ae326fc5753b20"},
-    {file = "pillow_avif_plugin-1.2.2-cp310-cp310-musllinux_1_1_x86_64.whl", hash = "sha256:2a57136d4866de5dc80cfb24d66655955fbdd87acf1d11d88c8dc2ab41023e46"},
-    {file = "pillow_avif_plugin-1.2.2-cp310-cp310-win_amd64.whl", hash = "sha256:f339511d0fccb69e3a5e3af39f8fe6700b0a07279015006ea56f8f49e7fecff4"},
-    {file = "pillow_avif_plugin-1.2.2-cp311-cp311-macosx_11_0_arm64.whl", hash = "sha256:05e821ecd90bb0b8d2dc7610625372cc47de9cb893d09662528bad572f669d1c"},
-    {file = "pillow_avif_plugin-1.2.2-cp311-cp311-manylinux_2_17_aarch64.manylinux2014_aarch64.whl", hash = "sha256:d33886a5f9796fe9a8a3bc25ccfdeba7db119adb50b7004f1928a14b07d0213a"},
-    {file = "pillow_avif_plugin-1.2.2-cp311-cp311-manylinux_2_17_i686.manylinux2014_i686.whl", hash = "sha256:75b7ed186c2f740dd26e556f6a966c59a170b70263e429a2c81920fe444da8a7"},
-    {file = "pillow_avif_plugin-1.2.2-cp311-cp311-manylinux_2_17_x86_64.manylinux2014_x86_64.whl", hash = "sha256:a11aef6b79078b8dad25c928e5871c146ab94424472851d5bf539ba62abde9ac"},
-    {file = "pillow_avif_plugin-1.2.2-cp311-cp311-musllinux_1_1_x86_64.whl", hash = "sha256:10696c536d68a14cefea3b98edb8d5a7ae29e8e07458f1d59c5d1cd780a8bf2a"},
-    {file = "pillow_avif_plugin-1.2.2-cp36-cp36m-macosx_10_10_x86_64.whl", hash = "sha256:1a7291d6a5fb7336e72685a31d193e0b3a6bee9986c9ac4d8bd4b68dbe6d4f7f"},
-    {file = "pillow_avif_plugin-1.2.2-cp36-cp36m-manylinux_2_12_i686.manylinux2010_i686.whl", hash = "sha256:14b9c5dbf237e7dc12f69819ea181a457b3bd4f59f8cd71d028d3635fd3bcab4"},
-    {file = "pillow_avif_plugin-1.2.2-cp36-cp36m-manylinux_2_12_x86_64.manylinux2010_x86_64.whl", hash = "sha256:799cbfbeee831332d280c80df9ce16b5c3b1224c318264e97e89df8da32e870e"},
-    {file = "pillow_avif_plugin-1.2.2-cp36-cp36m-manylinux_2_5_i686.manylinux1_i686.whl", hash = "sha256:c8f64153b2bb8007d00a3ccb32bb374dda185bf1b4a145c2e971fc67b68d015c"},
-    {file = "pillow_avif_plugin-1.2.2-cp36-cp36m-manylinux_2_5_x86_64.manylinux1_x86_64.whl", hash = "sha256:1b7937a20042fdd4272cdb3f2942d0290a045e6016335eeb79685ee24e8aa652"},
-    {file = "pillow_avif_plugin-1.2.2-cp36-cp36m-win_amd64.whl", hash = "sha256:e5aa90fee46584d5958832a47e19fb7c18de059cacdac33494a55b9a064a56dc"},
-    {file = "pillow_avif_plugin-1.2.2-cp37-cp37m-macosx_10_10_x86_64.whl", hash = "sha256:1124f4a5e2312663cdb96879dd01a200475bd86626bf4905fca33c6d438e479b"},
-    {file = "pillow_avif_plugin-1.2.2-cp37-cp37m-macosx_11_0_arm64.whl", hash = "sha256:a1d2a17a6b133793ad733b33712cdc0bba13acc6fe83d259ef3c735e172550a4"},
-    {file = "pillow_avif_plugin-1.2.2-cp37-cp37m-manylinux_2_12_i686.manylinux2010_i686.whl", hash = "sha256:eb2f34c093b93dbc05b28fc34715b411ee0a5f30788137b27eb89864375134c8"},
-    {file = "pillow_avif_plugin-1.2.2-cp37-cp37m-manylinux_2_12_x86_64.manylinux2010_x86_64.whl", hash = "sha256:bef5d0f2b198aca6a13ebd77006ecb25e08d2c09deb25dc89ec72d2460da8e67"},
-    {file = "pillow_avif_plugin-1.2.2-cp37-cp37m-manylinux_2_5_i686.manylinux1_i686.whl", hash = "sha256:c8ec81be95e14de6e8052cceae593d4ff43ba22938186b44c68964715a85c1f9"},
-    {file = "pillow_avif_plugin-1.2.2-cp37-cp37m-manylinux_2_5_x86_64.manylinux1_x86_64.whl", hash = "sha256:39cbf7b21392778f1bd3988c97429ff7b86a9a972f033c9c3674544114e612ab"},
-    {file = "pillow_avif_plugin-1.2.2-cp37-cp37m-win_amd64.whl", hash = "sha256:c9099647c81ec26b2f92dde414876f000f74588f15f5e60228dbf0494891d817"},
-    {file = "pillow_avif_plugin-1.2.2-cp38-cp38-macosx_10_10_x86_64.whl", hash = "sha256:050599ad735e6a3d6c565bc563ced74872acd3e8bd3e7ac9f014dc2e82249611"},
-    {file = "pillow_avif_plugin-1.2.2-cp38-cp38-macosx_11_0_arm64.whl", hash = "sha256:c3adf80a6ee5e895b75bcd3743f81b3ed96cd0c418326f499312b1bde87b41f1"},
-    {file = "pillow_avif_plugin-1.2.2-cp38-cp38-manylinux_2_12_i686.manylinux2010_i686.whl", hash = "sha256:251f1fc60caedd2c641c9f28c4f5a74610aa6c1d1b54e681ce63d508a8e30c53"},
-    {file = "pillow_avif_plugin-1.2.2-cp38-cp38-manylinux_2_12_x86_64.manylinux2010_x86_64.whl", hash = "sha256:3216e9f28514947fcdecd41782ccb5bb3a73360d758b1a2ff7fbf3831e0f5bf7"},
-    {file = "pillow_avif_plugin-1.2.2-cp38-cp38-manylinux_2_17_aarch64.manylinux2014_aarch64.whl", hash = "sha256:a229d44f8446d6e2515e965d6d066cfd9308d50c6ada22ecb2f13a9b0c492e86"},
-    {file = "pillow_avif_plugin-1.2.2-cp38-cp38-manylinux_2_5_i686.manylinux1_i686.whl", hash = "sha256:529eb2d9e3827acf874c6ddedc28729bfb709c115cc972c77464cc7bacdf2b38"},
-    {file = "pillow_avif_plugin-1.2.2-cp38-cp38-manylinux_2_5_x86_64.manylinux1_x86_64.whl", hash = "sha256:9d3ee3b5b66d58c33bc723074e2db7e1256d341ba90edfd2c9ea19c7964836da"},
-    {file = "pillow_avif_plugin-1.2.2-cp38-cp38-musllinux_1_1_x86_64.whl", hash = "sha256:a34a928ed23508a694b34a14252e178b82db577285d43a1eaf143a6a8a6ddd63"},
-    {file = "pillow_avif_plugin-1.2.2-cp38-cp38-win_amd64.whl", hash = "sha256:d40bf89d78da035dea9d5167335f73e71b696509e14513d875ac2605b91ae269"},
-    {file = "pillow_avif_plugin-1.2.2-cp39-cp39-macosx_10_10_x86_64.whl", hash = "sha256:ad8958a5ea5e3f6ae2a4ded374fb7b84b3af2176e295ca6c3d1d0b6e9866933e"},
-    {file = "pillow_avif_plugin-1.2.2-cp39-cp39-macosx_11_0_arm64.whl", hash = "sha256:ab19285161028059dfc6362b7aba6a02ff5371d22492d8a71eade7d7e5ca6f59"},
-    {file = "pillow_avif_plugin-1.2.2-cp39-cp39-manylinux_2_12_i686.manylinux2010_i686.whl", hash = "sha256:8f70d2787bf9bed4588fedd9e1f149eb7c2a9990df3ee123eb18d86882ca0b8a"},
-    {file = "pillow_avif_plugin-1.2.2-cp39-cp39-manylinux_2_12_x86_64.manylinux2010_x86_64.whl", hash = "sha256:220fc8e8b9e1e3e98cd7f6dcc116cff8ca453b249dba62264ab0dc2a92fc4e1b"},
-    {file = "pillow_avif_plugin-1.2.2-cp39-cp39-manylinux_2_17_aarch64.manylinux2014_aarch64.whl", hash = "sha256:0514b09d518a699525061160093da58eb3a04649daf98d8e9ee52d739de5be6e"},
-    {file = "pillow_avif_plugin-1.2.2-cp39-cp39-manylinux_2_5_i686.manylinux1_i686.whl", hash = "sha256:a6314e0144a2b08e39b6842fa5b981383d7932f6e8363b6bbb291a9efc23deb1"},
-    {file = "pillow_avif_plugin-1.2.2-cp39-cp39-manylinux_2_5_x86_64.manylinux1_x86_64.whl", hash = "sha256:3bf72f8df4b08b63b183c6368e3bd0cd098bfacc494803383589655607bc1f76"},
-    {file = "pillow_avif_plugin-1.2.2-cp39-cp39-musllinux_1_1_x86_64.whl", hash = "sha256:0d54543ed9fbb6c18b61c93a2296e2a9bfc85ef559cb6a50b92fe80cc4711db5"},
-    {file = "pillow_avif_plugin-1.2.2-cp39-cp39-win_amd64.whl", hash = "sha256:86c62edb830a83a97c2a2f9a262968f12ce32adbf1069fd5fae47a0fae706e16"},
+
+[package.extras]
+docs = ["furo", "olefile", "sphinx (>=2.4)", "sphinx-copybutton", "sphinx-inline-tabs", "sphinx-removed-in", "sphinxext-opengraph"]
+tests = ["check-manifest", "coverage", "defusedxml", "markdown2", "olefile", "packaging", "pyroma", "pytest", "pytest-cov", "pytest-timeout"]
+
+[[package]]
+name = "pillow-avif-plugin"
+version = "1.3.1"
+description = "A pillow plugin that adds avif support via libavif"
+optional = false
+python-versions = "*"
+files = [
+    {file = "pillow-avif-plugin-1.3.1.tar.gz", hash = "sha256:7da21ffce23f9b497a868af2d3e03b03ffacb29c1c727903e84a73df42b489f1"},
+    {file = "pillow_avif_plugin-1.3.1-cp27-cp27m-macosx_10_10_x86_64.whl", hash = "sha256:ce7be67200f8250d7c06cd0f701ea760faf73fd13df5962a28edabf4c61c36ec"},
+    {file = "pillow_avif_plugin-1.3.1-cp27-cp27m-macosx_11_0_arm64.whl", hash = "sha256:e8cf59907cd39df592e447ae647119d1cb0a0250bcc88868036022905c404141"},
+    {file = "pillow_avif_plugin-1.3.1-cp27-cp27m-win_amd64.whl", hash = "sha256:42fe51eb2ae682639e1bf3a846e4b4d5a47805af9524bbf1a12bf5ae20c73995"},
+    {file = "pillow_avif_plugin-1.3.1-cp27-cp27mu-manylinux2010_i686.whl", hash = "sha256:40baaa3848fd2a8648c7102a4214c4e0192b05a43bb1d8c7e2cc4f9866088f82"},
+    {file = "pillow_avif_plugin-1.3.1-cp27-cp27mu-manylinux2010_x86_64.whl", hash = "sha256:a64620e8f6287edf8360cd79eb1dabc803476a5da1daf3c405461d00f2033c25"},
+    {file = "pillow_avif_plugin-1.3.1-cp27-cp27mu-manylinux_2_5_i686.manylinux1_i686.whl", hash = "sha256:81e9e549a67cc3d34e91231f9de7ef9467744845e155e9acdd58b21840c9dee5"},
+    {file = "pillow_avif_plugin-1.3.1-cp27-cp27mu-manylinux_2_5_x86_64.manylinux1_x86_64.whl", hash = "sha256:d72f6fe7eff8ddcd1d7316b215b05c23afc5840bc20cb47f33c39c8dc3765c2f"},
+    {file = "pillow_avif_plugin-1.3.1-cp310-cp310-macosx_10_10_x86_64.whl", hash = "sha256:b10fb7753383f868a4c44db99c29fb3b25b2c1d70ef3f0578ba8ef6440ab32f1"},
+    {file = "pillow_avif_plugin-1.3.1-cp310-cp310-macosx_11_0_arm64.whl", hash = "sha256:a7944b1deb016921e1e8e15eb59ed0b302ed78a05858dffaf5cd02109146f812"},
+    {file = "pillow_avif_plugin-1.3.1-cp310-cp310-manylinux_2_12_i686.manylinux2010_i686.whl", hash = "sha256:d0dea55b5ee37de3eb31f0b89d2b9b8b533bfacc1eabfc04c7cc3e06634c494f"},
+    {file = "pillow_avif_plugin-1.3.1-cp310-cp310-manylinux_2_12_x86_64.manylinux2010_x86_64.whl", hash = "sha256:f13ffc7a385590825c89f08a073c7ccd4709d96b6de378fa203fcd1956beb1a7"},
+    {file = "pillow_avif_plugin-1.3.1-cp310-cp310-manylinux_2_17_aarch64.manylinux2014_aarch64.whl", hash = "sha256:80f1e67c653999befe3b676c53c27b88a9a7d227f685fe17be4331527190e656"},
+    {file = "pillow_avif_plugin-1.3.1-cp310-cp310-musllinux_1_1_x86_64.whl", hash = "sha256:a35087b13c7ab60a203302eeac85c95a1112d8ae1a16949173cd281558671d23"},
+    {file = "pillow_avif_plugin-1.3.1-cp310-cp310-win_amd64.whl", hash = "sha256:d7a3af04841cc0ac4cb7843a1965eac640e4578cd7c2d44ed3470326f2569e58"},
+    {file = "pillow_avif_plugin-1.3.1-cp311-cp311-macosx_10_10_x86_64.whl", hash = "sha256:9cf44bc41f109c43976e5f073beb6e55314b6fe7ba75a8b59d9ed15f13fa77bc"},
+    {file = "pillow_avif_plugin-1.3.1-cp311-cp311-macosx_11_0_arm64.whl", hash = "sha256:85bed54fbf514b3ac9cf48046c8837ca4781ea5288bd51b38ecf86094d721f88"},
+    {file = "pillow_avif_plugin-1.3.1-cp311-cp311-manylinux_2_17_aarch64.manylinux2014_aarch64.whl", hash = "sha256:0a3f0b38ceca8815a7e2fa1d911027d4e817fab667d63a50ecb7946ca5ae6ddd"},
+    {file = "pillow_avif_plugin-1.3.1-cp311-cp311-manylinux_2_17_i686.manylinux2014_i686.whl", hash = "sha256:7a9b8e8943a8b9f860d2b03e0b9c9839bc59db22c5a0a55d66a534a3d4cea00b"},
+    {file = "pillow_avif_plugin-1.3.1-cp311-cp311-manylinux_2_17_x86_64.manylinux2014_x86_64.whl", hash = "sha256:98dbb6b21ab5b7e0d80134721e756c956d4de2c6cb5c48bb32f78f97339425cb"},
+    {file = "pillow_avif_plugin-1.3.1-cp311-cp311-musllinux_1_1_x86_64.whl", hash = "sha256:c4d0b80ff0819de1ba6d401796bc900be252468621b6e734560eee2ea154dbb4"},
+    {file = "pillow_avif_plugin-1.3.1-cp311-cp311-win_amd64.whl", hash = "sha256:c4ff1d331df8ca0f0c5c90d3f05b3a05325c40c9f330e0ad58eb70f7ede20157"},
+    {file = "pillow_avif_plugin-1.3.1-cp37-cp37m-macosx_10_10_x86_64.whl", hash = "sha256:0a02a436494e380fc99d5ff48be2ef15d42ce655614b9ebd80e106615eb3a594"},
+    {file = "pillow_avif_plugin-1.3.1-cp37-cp37m-macosx_11_0_arm64.whl", hash = "sha256:fe8250efd581e362a135d63bbca62b0c78ef1e474582da4013c3a995bc1f40c2"},
+    {file = "pillow_avif_plugin-1.3.1-cp37-cp37m-manylinux_2_12_i686.manylinux2010_i686.whl", hash = "sha256:39e93224a3d0132a64e7d978e48b74f020c65fcb3a141641084d2a4357ed6ceb"},
+    {file = "pillow_avif_plugin-1.3.1-cp37-cp37m-manylinux_2_12_x86_64.manylinux2010_x86_64.whl", hash = "sha256:afc3fb7897ff2e2c0da4cbe3802ffeeb4cafbfccb1adb666e287ce087981101e"},
+    {file = "pillow_avif_plugin-1.3.1-cp37-cp37m-manylinux_2_5_i686.manylinux1_i686.whl", hash = "sha256:c7230d888adab65a92658d94ae7ad79731d30242bdfed5f945cb12e822927e0e"},
+    {file = "pillow_avif_plugin-1.3.1-cp37-cp37m-manylinux_2_5_x86_64.manylinux1_x86_64.whl", hash = "sha256:e7740e7b6bb22b3781a0e7f8e20b4b2071940504cf5d5705a3c870ff0b001c7c"},
+    {file = "pillow_avif_plugin-1.3.1-cp37-cp37m-win_amd64.whl", hash = "sha256:b696be6597766c37035cf337e248732da35e2f1ebc7aa4dad5a93c9ed5e1245a"},
+    {file = "pillow_avif_plugin-1.3.1-cp38-cp38-macosx_10_10_x86_64.whl", hash = "sha256:ea0ecc193e1a1ba0f064e605a9d79d82be35d00251638d59b12f924f33e3c4b6"},
+    {file = "pillow_avif_plugin-1.3.1-cp38-cp38-macosx_11_0_arm64.whl", hash = "sha256:ab018eb2bbe1d4f1f9276ceb95df93940c623c7eb6791a6fc50780a9c94bc1fa"},
+    {file = "pillow_avif_plugin-1.3.1-cp38-cp38-manylinux_2_12_i686.manylinux2010_i686.whl", hash = "sha256:ee222e2158c043d69af411a85dfadab76d027cc4ecdfa1f6c8d1741baa1eb814"},
+    {file = "pillow_avif_plugin-1.3.1-cp38-cp38-manylinux_2_12_x86_64.manylinux2010_x86_64.whl", hash = "sha256:e5b881e081386ee58bfd2dc556ea8bc283cec83bcea3e77508b2d0483a8a3142"},
+    {file = "pillow_avif_plugin-1.3.1-cp38-cp38-manylinux_2_17_aarch64.manylinux2014_aarch64.whl", hash = "sha256:d7835b02615b35814252bd56d5811f09a3daa33c76af75d3ea0f90a556891288"},
+    {file = "pillow_avif_plugin-1.3.1-cp38-cp38-manylinux_2_5_i686.manylinux1_i686.whl", hash = "sha256:fb7c2987c23c32f9093f6fbcb3c21360370216be85a6054b513cc37acc954fff"},
+    {file = "pillow_avif_plugin-1.3.1-cp38-cp38-manylinux_2_5_x86_64.manylinux1_x86_64.whl", hash = "sha256:eddac7fdbb83f183b97269657fc520cd8fb2ae91c156be7a799f06db6006dda2"},
+    {file = "pillow_avif_plugin-1.3.1-cp38-cp38-musllinux_1_1_x86_64.whl", hash = "sha256:0ca3e3bc4044194f1b33c54dfb52ea38db6bdd436896806cbdc1249df1262ace"},
+    {file = "pillow_avif_plugin-1.3.1-cp38-cp38-win_amd64.whl", hash = "sha256:74a45ffe45d67620149a07cce38c34a17e00da9a360cd399ce337646e159dd73"},
+    {file = "pillow_avif_plugin-1.3.1-cp39-cp39-macosx_10_10_x86_64.whl", hash = "sha256:bab68ace09e19f4e230f3cc375b7c17be065e6989c5ca6e3f14f69fc9591926d"},
+    {file = "pillow_avif_plugin-1.3.1-cp39-cp39-macosx_11_0_arm64.whl", hash = "sha256:caaad418e21dec0d6f1bc0e0a00e1346e0e06e335b42da2e5faa19c11d485aab"},
+    {file = "pillow_avif_plugin-1.3.1-cp39-cp39-manylinux_2_12_i686.manylinux2010_i686.whl", hash = "sha256:f4080e2617da73149b64c21d20ed866998d6ac6ed4e6f4c2b367a9d73f22fd1d"},
+    {file = "pillow_avif_plugin-1.3.1-cp39-cp39-manylinux_2_12_x86_64.manylinux2010_x86_64.whl", hash = "sha256:bcab75f85d934656bb0ade6488933a9f8f0733a0dd1f135208f51087a4931d0e"},
+    {file = "pillow_avif_plugin-1.3.1-cp39-cp39-manylinux_2_17_aarch64.manylinux2014_aarch64.whl", hash = "sha256:4219681022b7206e08c6604a21c8e2985532c65b8dfb1febb1b7199cb4bd7010"},
+    {file = "pillow_avif_plugin-1.3.1-cp39-cp39-manylinux_2_5_i686.manylinux1_i686.whl", hash = "sha256:c06019f98840f05272ade0b72fc2cd5a74d6413b070c40c6be5cdd2c0f41046b"},
+    {file = "pillow_avif_plugin-1.3.1-cp39-cp39-manylinux_2_5_x86_64.manylinux1_x86_64.whl", hash = "sha256:1cbe69338b2af5fd472f65379a2d5497e0ec55187e7faae11bbaebaf90338388"},
+    {file = "pillow_avif_plugin-1.3.1-cp39-cp39-musllinux_1_1_x86_64.whl", hash = "sha256:982ba9aba18738aa367eff0ffbfcefd0635003c145ed2534dadef33973b90ca5"},
+    {file = "pillow_avif_plugin-1.3.1-cp39-cp39-win_amd64.whl", hash = "sha256:b9ab0aa5c0d8cf283db7f85cc380af98f27f8a63891cf5cfa103f9e684dd5e95"},
 ]
-pipenv = [
+
+[[package]]
+name = "pipenv"
+version = "2022.10.12"
+description = "Python Development Workflow for Humans."
+optional = false
+python-versions = ">=3.7"
+files = [
     {file = "pipenv-2022.10.12-py2.py3-none-any.whl", hash = "sha256:f43972a42411107ade86b6f17dd698dfcd843bd84eb7264163ebb363f6b0ede4"},
     {file = "pipenv-2022.10.12.tar.gz", hash = "sha256:a4d88f6667cbcd9ea432d626a8b373cd3101886b9fb964ea7e7f9650a83fc307"},
 ]
-pkginfo = [
-    {file = "pkginfo-1.8.3-py2.py3-none-any.whl", hash = "sha256:848865108ec99d4901b2f7e84058b6e7660aae8ae10164e015a6dcf5b242a594"},
-    {file = "pkginfo-1.8.3.tar.gz", hash = "sha256:a84da4318dd86f870a9447a8c98340aa06216bfc6f2b7bdc4b8766984ae1867c"},
+
+[package.dependencies]
+certifi = "*"
+setuptools = ">=36.2.1"
+virtualenv = "*"
+virtualenv-clone = ">=0.2.5"
+
+[package.extras]
+dev = ["black", "bs4", "flake8 (>=3.3.0,<4.0)", "invoke", "parver", "sphinx", "towncrier"]
+tests = ["flaky", "mock", "pytest (>=5.0)", "pytest-timeout", "pytest-xdist"]
+
+[[package]]
+name = "pkginfo"
+version = "1.9.6"
+description = "Query metadata from sdists / bdists / installed packages."
+optional = false
+python-versions = ">=3.6"
+files = [
+    {file = "pkginfo-1.9.6-py3-none-any.whl", hash = "sha256:4b7a555a6d5a22169fcc9cf7bfd78d296b0361adad412a346c1226849af5e546"},
+    {file = "pkginfo-1.9.6.tar.gz", hash = "sha256:8fd5896e8718a4372f0ea9cc9d96f6417c9b986e23a4d116dda26b62cc29d046"},
 ]
-pkgutil-resolve-name = [
-    {file = "pkgutil_resolve_name-1.3.10-py3-none-any.whl", hash = "sha256:ca27cc078d25c5ad71a9de0a7a330146c4e014c2462d9af19c6b828280649c5e"},
-    {file = "pkgutil_resolve_name-1.3.10.tar.gz", hash = "sha256:357d6c9e6a755653cfd78893817c0853af365dd51ec97f3d358a819373bbd174"},
+
+[package.extras]
+testing = ["pytest", "pytest-cov"]
+
+[[package]]
+name = "platformdirs"
+version = "3.10.0"
+description = "A small Python package for determining appropriate platform-specific dirs, e.g. a \"user data dir\"."
+optional = false
+python-versions = ">=3.7"
+files = [
+    {file = "platformdirs-3.10.0-py3-none-any.whl", hash = "sha256:d7c24979f292f916dc9cbf8648319032f551ea8c49a4c9bf2fb556a02070ec1d"},
+    {file = "platformdirs-3.10.0.tar.gz", hash = "sha256:b45696dab2d7cc691a3226759c0d3b00c47c8b6e293d96f6436f733303f77f6d"},
 ]
-platformdirs = [
-    {file = "platformdirs-2.5.2-py3-none-any.whl", hash = "sha256:027d8e83a2d7de06bbac4e5ef7e023c02b863d7ea5d079477e722bb41ab25788"},
-    {file = "platformdirs-2.5.2.tar.gz", hash = "sha256:58c8abb07dcb441e6ee4b11d8df0ac856038f944ab98b7be6b27b2a3c7feef19"},
+
+[package.extras]
+docs = ["furo (>=2023.7.26)", "proselint (>=0.13)", "sphinx (>=7.1.1)", "sphinx-autodoc-typehints (>=1.24)"]
+test = ["appdirs (==1.4.4)", "covdefaults (>=2.3)", "pytest (>=7.4)", "pytest-cov (>=4.1)", "pytest-mock (>=3.11.1)"]
+
+[[package]]
+name = "plotly"
+version = "5.15.0"
+description = "An open-source, interactive data visualization library for Python"
+optional = false
+python-versions = ">=3.6"
+files = [
+    {file = "plotly-5.15.0-py2.py3-none-any.whl", hash = "sha256:3508876bbd6aefb8a692c21a7128ca87ce42498dd041efa5c933ee44b55aab24"},
+    {file = "plotly-5.15.0.tar.gz", hash = "sha256:822eabe53997d5ebf23c77e1d1fcbf3bb6aa745eb05d532afd4b6f9a2e2ab02f"},
 ]
-plotly = [
-    {file = "plotly-5.10.0-py2.py3-none-any.whl", hash = "sha256:989b13825cc974390aa0169479485d9257d37848a47bc63957251f8e1a7046ba"},
-    {file = "plotly-5.10.0.tar.gz", hash = "sha256:4d36d9859b7a153b273562deeed8c292587a472eb1fd57cd4158ec89d9defadb"},
+
+[package.dependencies]
+packaging = "*"
+tenacity = ">=6.2.0"
+
+[[package]]
+name = "pluggy"
+version = "1.2.0"
+description = "plugin and hook calling mechanisms for python"
+optional = false
+python-versions = ">=3.7"
+files = [
+    {file = "pluggy-1.2.0-py3-none-any.whl", hash = "sha256:c2fd55a7d7a3863cba1a013e4e2414658b1d07b6bc57b3919e0c63c9abb99849"},
+    {file = "pluggy-1.2.0.tar.gz", hash = "sha256:d12f0c4b579b15f5e054301bb226ee85eeeba08ffec228092f8defbaa3a4c4b3"},
 ]
-pluggy = [
-    {file = "pluggy-1.0.0-py2.py3-none-any.whl", hash = "sha256:74134bbf457f031a36d68416e1509f34bd5ccc019f0bcc952c7b909d06b37bd3"},
-    {file = "pluggy-1.0.0.tar.gz", hash = "sha256:4224373bacce55f955a878bf9cfa763c1e360858e330072059e10bad68531159"},
+
+[package.extras]
+dev = ["pre-commit", "tox"]
+testing = ["pytest", "pytest-benchmark"]
+
+[[package]]
+name = "poetry"
+version = "1.5.1"
+description = "Python dependency management and packaging made easy."
+optional = false
+python-versions = ">=3.7,<4.0"
+files = [
+    {file = "poetry-1.5.1-py3-none-any.whl", hash = "sha256:dfc7ce3a38ae216c0465694e2e674bef6eb1a2ba81aa47a26f9dc03362fe2f5f"},
+    {file = "poetry-1.5.1.tar.gz", hash = "sha256:cc7ea4524d1a11558006224bfe8ba8ed071417d4eb5ef6c89decc6a37d437eeb"},
 ]
-poetry = [
-    {file = "poetry-1.2.2-py3-none-any.whl", hash = "sha256:93ea3c4a622485c2a7b7249f1e34e4ac84f8229ded76153b67506313201b154f"},
-    {file = "poetry-1.2.2.tar.gz", hash = "sha256:6d9ed0b1b826a0a79190f2078d7d78483fa24bf2494f3b170e354eaa5e7b5ea1"},
+
+[package.dependencies]
+build = ">=0.10.0,<0.11.0"
+cachecontrol = {version = ">=0.12.9,<0.13.0", extras = ["filecache"]}
+cleo = ">=2.0.0,<3.0.0"
+crashtest = ">=0.4.1,<0.5.0"
+dulwich = ">=0.21.2,<0.22.0"
+filelock = ">=3.8.0,<4.0.0"
+html5lib = ">=1.0,<2.0"
+installer = ">=0.7.0,<0.8.0"
+jsonschema = ">=4.10.0,<5.0.0"
+keyring = ">=23.9.0,<24.0.0"
+lockfile = ">=0.12.2,<0.13.0"
+packaging = ">=20.4"
+pexpect = ">=4.7.0,<5.0.0"
+pkginfo = ">=1.9.4,<2.0.0"
+platformdirs = ">=3.0.0,<4.0.0"
+poetry-core = "1.6.1"
+poetry-plugin-export = ">=1.4.0,<2.0.0"
+pyproject-hooks = ">=1.0.0,<2.0.0"
+requests = ">=2.18,<3.0"
+requests-toolbelt = ">=0.9.1,<2"
+shellingham = ">=1.5,<2.0"
+tomlkit = ">=0.11.4,<1.0.0"
+trove-classifiers = ">=2022.5.19"
+urllib3 = ">=1.26.0,<2.0.0"
+virtualenv = ">=20.22.0,<21.0.0"
+xattr = {version = ">=0.10.0,<0.11.0", markers = "sys_platform == \"darwin\""}
+
+[[package]]
+name = "poetry-core"
+version = "1.6.1"
+description = "Poetry PEP 517 Build Backend"
+optional = false
+python-versions = ">=3.7,<4.0"
+files = [
+    {file = "poetry_core-1.6.1-py3-none-any.whl", hash = "sha256:70707340447dee0e7f334f9495ae652481c67b32d8d218f296a376ac2ed73573"},
+    {file = "poetry_core-1.6.1.tar.gz", hash = "sha256:0f9b0de39665f36d6594657e7d57b6f463cc10f30c28e6d1c3b9ff54c26c9ac3"},
 ]
-poetry-core = [
-    {file = "poetry-core-1.3.2.tar.gz", hash = "sha256:0ab006a40cb38d6a38b97264f6835da2f08a96912f2728ce668e9ac6a34f686f"},
-    {file = "poetry_core-1.3.2-py3-none-any.whl", hash = "sha256:ea0f5a90b339cde132b4e43cff78a1b440cd928db864bb67cfc97fdfcefe7218"},
+
+[[package]]
+name = "poetry-plugin-export"
+version = "1.4.0"
+description = "Poetry plugin to export the dependencies to various formats"
+optional = false
+python-versions = ">=3.7,<4.0"
+files = [
+    {file = "poetry_plugin_export-1.4.0-py3-none-any.whl", hash = "sha256:5d9186d6f77cf2bf35fc96bd11fe650cc7656e515b17d99cb65018d50ba22589"},
+    {file = "poetry_plugin_export-1.4.0.tar.gz", hash = "sha256:f16974cd9f222d4ef640fa97a8d661b04d4fb339e51da93973f1bc9d578e183f"},
 ]
-poetry-plugin-export = [
-    {file = "poetry-plugin-export-1.1.2.tar.gz", hash = "sha256:5e92525dd63f38ce74a51ed68ea91d753523f21ce5f9ef8d3b793e2a4b2222ef"},
-    {file = "poetry_plugin_export-1.1.2-py3-none-any.whl", hash = "sha256:946e3313b3d00c18fb9a50522e9d5e6a7e111beaba8d6ae33297662fc2070ac1"},
+
+[package.dependencies]
+poetry = ">=1.5.0,<2.0.0"
+poetry-core = ">=1.6.0,<2.0.0"
+
+[[package]]
+name = "polyline"
+version = "2.0.0"
+description = "A Python implementation of Google's Encoded Polyline Algorithm Format."
+optional = false
+python-versions = ">=3.7"
+files = [
+    {file = "polyline-2.0.0-py3-none-any.whl", hash = "sha256:45c9c0e8c0814a17df78390e3196cd47f6bc69697cd8a83f00d527c72f4d2a88"},
+    {file = "polyline-2.0.0.tar.gz", hash = "sha256:1492b8fcadc2143f8aedc673d3c6d95df45131f1c62eb8d51c8183b24e771486"},
 ]
-polyline = [
-    {file = "polyline-1.4.0-py2.py3-none-any.whl", hash = "sha256:6559a0d5d37f4d14255744b3c6a648d5ff480d3d5c5f30186effc72a4142fd6c"},
-    {file = "polyline-1.4.0.tar.gz", hash = "sha256:7c7f89d09a09c7b6161bdbfb4fd304b186fc7a2060fa4f31cb3f61c646a5c074"},
+
+[package.extras]
+dev = ["pylint (>=2.15.10,<2.16.0)", "pytest (>=7.0,<8.0)", "pytest-cov (>=4.0,<5.0)", "sphinx (>=4.2.0,<4.3.0)", "sphinx-rtd-theme (>=1.0.0,<1.1.0)", "toml (>=0.10.2,<0.11.0)"]
+publish = ["build (>=0.8,<1.0)", "twine (>=4.0,<5.0)"]
+
+[[package]]
+name = "portalocker"
+version = "2.7.0"
+description = "Wraps the portalocker recipe for easy usage"
+optional = false
+python-versions = ">=3.5"
+files = [
+    {file = "portalocker-2.7.0-py2.py3-none-any.whl", hash = "sha256:a07c5b4f3985c3cf4798369631fb7011adb498e2a46d8440efc75a8f29a0f983"},
+    {file = "portalocker-2.7.0.tar.gz", hash = "sha256:032e81d534a88ec1736d03f780ba073f047a06c478b06e2937486f334e955c51"},
 ]
-portalocker = [
-    {file = "portalocker-2.6.0-py2.py3-none-any.whl", hash = "sha256:102ed1f2badd8dec9af3d732ef70e94b215b85ba45a8d7ff3c0003f19b442f4e"},
-    {file = "portalocker-2.6.0.tar.gz", hash = "sha256:964f6830fb42a74b5d32bce99ed37d8308c1d7d44ddf18f3dd89f4680de97b39"},
-]
-pprofile = [
+
+[package.dependencies]
+pywin32 = {version = ">=226", markers = "platform_system == \"Windows\""}
+
+[package.extras]
+docs = ["sphinx (>=1.7.1)"]
+redis = ["redis"]
+tests = ["pytest (>=5.4.1)", "pytest-cov (>=2.8.1)", "pytest-mypy (>=0.8.0)", "pytest-timeout (>=2.1.0)", "redis", "sphinx (>=6.0.0)"]
+
+[[package]]
+name = "pprofile"
+version = "2.1.0"
+description = "Line-granularity, thread-aware deterministic and statistic pure-python profiler"
+optional = false
+python-versions = "*"
+files = [
     {file = "pprofile-2.1.0.tar.gz", hash = "sha256:b2bb56603dadf40c0bc0f61621f22c20e41638425f729945d9b7f8e4ae8cdd4a"},
 ]
-pre-commit = [
-    {file = "pre_commit-2.20.0-py2.py3-none-any.whl", hash = "sha256:51a5ba7c480ae8072ecdb6933df22d2f812dc897d5fe848778116129a681aac7"},
-    {file = "pre_commit-2.20.0.tar.gz", hash = "sha256:a978dac7bc9ec0bcee55c18a277d553b0f419d259dadb4b9418ff2d00eb43959"},
+
+[[package]]
+name = "pre-commit"
+version = "3.3.3"
+description = "A framework for managing and maintaining multi-language pre-commit hooks."
+optional = false
+python-versions = ">=3.8"
+files = [
+    {file = "pre_commit-3.3.3-py2.py3-none-any.whl", hash = "sha256:10badb65d6a38caff29703362271d7dca483d01da88f9d7e05d0b97171c136cb"},
+    {file = "pre_commit-3.3.3.tar.gz", hash = "sha256:a2256f489cd913d575c145132ae196fe335da32d91a8294b7afe6622335dd023"},
 ]
-pretrainedmodels = [
+
+[package.dependencies]
+cfgv = ">=2.0.0"
+identify = ">=1.0.0"
+nodeenv = ">=0.11.1"
+pyyaml = ">=5.1"
+virtualenv = ">=20.10.0"
+
+[[package]]
+name = "pretrainedmodels"
+version = "0.7.4"
+description = "Pretrained models for Pytorch"
+optional = false
+python-versions = "*"
+files = [
     {file = "pretrainedmodels-0.7.4.tar.gz", hash = "sha256:7e77ead4619a3e11ab3c41982c8ad5b86edffe37c87fd2a37ec3c2cc6470b98a"},
 ]
-prometheus-client = [
-    {file = "prometheus_client-0.15.0-py3-none-any.whl", hash = "sha256:db7c05cbd13a0f79975592d112320f2605a325969b270a94b71dcabc47b931d2"},
-    {file = "prometheus_client-0.15.0.tar.gz", hash = "sha256:be26aa452490cfcf6da953f9436e95a9f2b4d578ca80094b4458930e5f584ab1"},
+
+[package.dependencies]
+munch = "*"
+torch = "*"
+torchvision = "*"
+tqdm = "*"
+
+[[package]]
+name = "prometheus-client"
+version = "0.17.1"
+description = "Python client for the Prometheus monitoring system."
+optional = false
+python-versions = ">=3.6"
+files = [
+    {file = "prometheus_client-0.17.1-py3-none-any.whl", hash = "sha256:e537f37160f6807b8202a6fc4764cdd19bac5480ddd3e0d463c3002b34462101"},
+    {file = "prometheus_client-0.17.1.tar.gz", hash = "sha256:21e674f39831ae3f8acde238afd9a27a37d0d2fb5a28ea094f0ce25d2cbf2091"},
 ]
-prompt-toolkit = [
-    {file = "prompt_toolkit-3.0.31-py3-none-any.whl", hash = "sha256:9696f386133df0fc8ca5af4895afe5d78f5fcfe5258111c2a79a1c3e41ffa96d"},
-    {file = "prompt_toolkit-3.0.31.tar.gz", hash = "sha256:9ada952c9d1787f52ff6d5f3484d0b4df8952787c087edf6a1f7c2cb1ea88148"},
+
+[package.extras]
+twisted = ["twisted"]
+
+[[package]]
+name = "prompt-toolkit"
+version = "3.0.39"
+description = "Library for building powerful interactive command lines in Python"
+optional = false
+python-versions = ">=3.7.0"
+files = [
+    {file = "prompt_toolkit-3.0.39-py3-none-any.whl", hash = "sha256:9dffbe1d8acf91e3de75f3b544e4842382fc06c6babe903ac9acb74dc6e08d88"},
+    {file = "prompt_toolkit-3.0.39.tar.gz", hash = "sha256:04505ade687dc26dc4284b1ad19a83be2f2afe83e7a828ace0c72f3a1df72aac"},
 ]
-protobuf = [
-    {file = "protobuf-3.20.1-cp310-cp310-macosx_10_9_universal2.whl", hash = "sha256:3cc797c9d15d7689ed507b165cd05913acb992d78b379f6014e013f9ecb20996"},
-    {file = "protobuf-3.20.1-cp310-cp310-manylinux2014_aarch64.whl", hash = "sha256:ff8d8fa42675249bb456f5db06c00de6c2f4c27a065955917b28c4f15978b9c3"},
-    {file = "protobuf-3.20.1-cp310-cp310-manylinux_2_12_x86_64.manylinux2010_x86_64.whl", hash = "sha256:cd68be2559e2a3b84f517fb029ee611546f7812b1fdd0aa2ecc9bc6ec0e4fdde"},
-    {file = "protobuf-3.20.1-cp310-cp310-win32.whl", hash = "sha256:9016d01c91e8e625141d24ec1b20fed584703e527d28512aa8c8707f105a683c"},
-    {file = "protobuf-3.20.1-cp310-cp310-win_amd64.whl", hash = "sha256:32ca378605b41fd180dfe4e14d3226386d8d1b002ab31c969c366549e66a2bb7"},
-    {file = "protobuf-3.20.1-cp36-cp36m-macosx_10_9_x86_64.whl", hash = "sha256:9be73ad47579abc26c12024239d3540e6b765182a91dbc88e23658ab71767153"},
-    {file = "protobuf-3.20.1-cp36-cp36m-manylinux_2_5_x86_64.manylinux1_x86_64.whl", hash = "sha256:097c5d8a9808302fb0da7e20edf0b8d4703274d140fd25c5edabddcde43e081f"},
-    {file = "protobuf-3.20.1-cp37-cp37m-macosx_10_9_x86_64.whl", hash = "sha256:e250a42f15bf9d5b09fe1b293bdba2801cd520a9f5ea2d7fb7536d4441811d20"},
-    {file = "protobuf-3.20.1-cp37-cp37m-manylinux2014_aarch64.whl", hash = "sha256:cdee09140e1cd184ba9324ec1df410e7147242b94b5f8b0c64fc89e38a8ba531"},
-    {file = "protobuf-3.20.1-cp37-cp37m-manylinux_2_5_x86_64.manylinux1_x86_64.whl", hash = "sha256:af0ebadc74e281a517141daad9d0f2c5d93ab78e9d455113719a45a49da9db4e"},
-    {file = "protobuf-3.20.1-cp37-cp37m-win32.whl", hash = "sha256:755f3aee41354ae395e104d62119cb223339a8f3276a0cd009ffabfcdd46bb0c"},
-    {file = "protobuf-3.20.1-cp37-cp37m-win_amd64.whl", hash = "sha256:62f1b5c4cd6c5402b4e2d63804ba49a327e0c386c99b1675c8a0fefda23b2067"},
-    {file = "protobuf-3.20.1-cp38-cp38-macosx_10_9_x86_64.whl", hash = "sha256:06059eb6953ff01e56a25cd02cca1a9649a75a7e65397b5b9b4e929ed71d10cf"},
-    {file = "protobuf-3.20.1-cp38-cp38-manylinux2014_aarch64.whl", hash = "sha256:cb29edb9eab15742d791e1025dd7b6a8f6fcb53802ad2f6e3adcb102051063ab"},
-    {file = "protobuf-3.20.1-cp38-cp38-manylinux_2_5_x86_64.manylinux1_x86_64.whl", hash = "sha256:69ccfdf3657ba59569c64295b7d51325f91af586f8d5793b734260dfe2e94e2c"},
-    {file = "protobuf-3.20.1-cp38-cp38-win32.whl", hash = "sha256:dd5789b2948ca702c17027c84c2accb552fc30f4622a98ab5c51fcfe8c50d3e7"},
-    {file = "protobuf-3.20.1-cp38-cp38-win_amd64.whl", hash = "sha256:77053d28427a29987ca9caf7b72ccafee011257561259faba8dd308fda9a8739"},
-    {file = "protobuf-3.20.1-cp39-cp39-macosx_10_9_x86_64.whl", hash = "sha256:6f50601512a3d23625d8a85b1638d914a0970f17920ff39cec63aaef80a93fb7"},
-    {file = "protobuf-3.20.1-cp39-cp39-manylinux2014_aarch64.whl", hash = "sha256:284f86a6207c897542d7e956eb243a36bb8f9564c1742b253462386e96c6b78f"},
-    {file = "protobuf-3.20.1-cp39-cp39-manylinux_2_5_x86_64.manylinux1_x86_64.whl", hash = "sha256:7403941f6d0992d40161aa8bb23e12575637008a5a02283a930addc0508982f9"},
-    {file = "protobuf-3.20.1-cp39-cp39-win32.whl", hash = "sha256:db977c4ca738dd9ce508557d4fce0f5aebd105e158c725beec86feb1f6bc20d8"},
-    {file = "protobuf-3.20.1-cp39-cp39-win_amd64.whl", hash = "sha256:7e371f10abe57cee5021797126c93479f59fccc9693dafd6bd5633ab67808a91"},
-    {file = "protobuf-3.20.1-py2.py3-none-any.whl", hash = "sha256:adfc6cf69c7f8c50fd24c793964eef18f0ac321315439d94945820612849c388"},
-    {file = "protobuf-3.20.1.tar.gz", hash = "sha256:adc31566d027f45efe3f44eeb5b1f329da43891634d61c75a5944e9be6dd42c9"},
+
+[package.dependencies]
+wcwidth = "*"
+
+[[package]]
+name = "protobuf"
+version = "3.20.3"
+description = "Protocol Buffers"
+optional = false
+python-versions = ">=3.7"
+files = [
+    {file = "protobuf-3.20.3-cp310-cp310-manylinux2014_aarch64.whl", hash = "sha256:f4bd856d702e5b0d96a00ec6b307b0f51c1982c2bf9c0052cf9019e9a544ba99"},
+    {file = "protobuf-3.20.3-cp310-cp310-manylinux_2_12_x86_64.manylinux2010_x86_64.whl", hash = "sha256:9aae4406ea63d825636cc11ffb34ad3379335803216ee3a856787bcf5ccc751e"},
+    {file = "protobuf-3.20.3-cp310-cp310-win32.whl", hash = "sha256:28545383d61f55b57cf4df63eebd9827754fd2dc25f80c5253f9184235db242c"},
+    {file = "protobuf-3.20.3-cp310-cp310-win_amd64.whl", hash = "sha256:67a3598f0a2dcbc58d02dd1928544e7d88f764b47d4a286202913f0b2801c2e7"},
+    {file = "protobuf-3.20.3-cp36-cp36m-manylinux_2_5_x86_64.manylinux1_x86_64.whl", hash = "sha256:899dc660cd599d7352d6f10d83c95df430a38b410c1b66b407a6b29265d66469"},
+    {file = "protobuf-3.20.3-cp37-cp37m-macosx_10_9_x86_64.whl", hash = "sha256:e64857f395505ebf3d2569935506ae0dfc4a15cb80dc25261176c784662cdcc4"},
+    {file = "protobuf-3.20.3-cp37-cp37m-manylinux2014_aarch64.whl", hash = "sha256:d9e4432ff660d67d775c66ac42a67cf2453c27cb4d738fc22cb53b5d84c135d4"},
+    {file = "protobuf-3.20.3-cp37-cp37m-manylinux_2_5_x86_64.manylinux1_x86_64.whl", hash = "sha256:74480f79a023f90dc6e18febbf7b8bac7508420f2006fabd512013c0c238f454"},
+    {file = "protobuf-3.20.3-cp37-cp37m-win32.whl", hash = "sha256:b6cc7ba72a8850621bfec987cb72623e703b7fe2b9127a161ce61e61558ad905"},
+    {file = "protobuf-3.20.3-cp37-cp37m-win_amd64.whl", hash = "sha256:8c0c984a1b8fef4086329ff8dd19ac77576b384079247c770f29cc8ce3afa06c"},
+    {file = "protobuf-3.20.3-cp38-cp38-macosx_10_9_x86_64.whl", hash = "sha256:de78575669dddf6099a8a0f46a27e82a1783c557ccc38ee620ed8cc96d3be7d7"},
+    {file = "protobuf-3.20.3-cp38-cp38-manylinux2014_aarch64.whl", hash = "sha256:f4c42102bc82a51108e449cbb32b19b180022941c727bac0cfd50170341f16ee"},
+    {file = "protobuf-3.20.3-cp38-cp38-manylinux_2_5_x86_64.manylinux1_x86_64.whl", hash = "sha256:44246bab5dd4b7fbd3c0c80b6f16686808fab0e4aca819ade6e8d294a29c7050"},
+    {file = "protobuf-3.20.3-cp38-cp38-win32.whl", hash = "sha256:c02ce36ec760252242a33967d51c289fd0e1c0e6e5cc9397e2279177716add86"},
+    {file = "protobuf-3.20.3-cp38-cp38-win_amd64.whl", hash = "sha256:447d43819997825d4e71bf5769d869b968ce96848b6479397e29fc24c4a5dfe9"},
+    {file = "protobuf-3.20.3-cp39-cp39-macosx_10_9_x86_64.whl", hash = "sha256:398a9e0c3eaceb34ec1aee71894ca3299605fa8e761544934378bbc6c97de23b"},
+    {file = "protobuf-3.20.3-cp39-cp39-manylinux2014_aarch64.whl", hash = "sha256:bf01b5720be110540be4286e791db73f84a2b721072a3711efff6c324cdf074b"},
+    {file = "protobuf-3.20.3-cp39-cp39-manylinux_2_5_x86_64.manylinux1_x86_64.whl", hash = "sha256:daa564862dd0d39c00f8086f88700fdbe8bc717e993a21e90711acfed02f2402"},
+    {file = "protobuf-3.20.3-cp39-cp39-win32.whl", hash = "sha256:819559cafa1a373b7096a482b504ae8a857c89593cf3a25af743ac9ecbd23480"},
+    {file = "protobuf-3.20.3-cp39-cp39-win_amd64.whl", hash = "sha256:03038ac1cfbc41aa21f6afcbcd357281d7521b4157926f30ebecc8d4ea59dcb7"},
+    {file = "protobuf-3.20.3-py2.py3-none-any.whl", hash = "sha256:a7ca6d488aa8ff7f329d4c545b2dbad8ac31464f1d8b1c87ad1346717731e4db"},
+    {file = "protobuf-3.20.3.tar.gz", hash = "sha256:2e3427429c9cffebf259491be0af70189607f365c2f41c7c3764af6f337105f2"},
 ]
-psutil = [
-    {file = "psutil-5.9.3-cp27-cp27m-macosx_10_9_x86_64.whl", hash = "sha256:b4a247cd3feaae39bb6085fcebf35b3b8ecd9b022db796d89c8f05067ca28e71"},
-    {file = "psutil-5.9.3-cp27-cp27m-manylinux2010_i686.whl", hash = "sha256:5fa88e3d5d0b480602553d362c4b33a63e0c40bfea7312a7bf78799e01e0810b"},
-    {file = "psutil-5.9.3-cp27-cp27m-manylinux2010_x86_64.whl", hash = "sha256:767ef4fa33acda16703725c0473a91e1832d296c37c63896c7153ba81698f1ab"},
-    {file = "psutil-5.9.3-cp27-cp27m-win32.whl", hash = "sha256:9a4af6ed1094f867834f5f07acd1250605a0874169a5fcadbcec864aec2496a6"},
-    {file = "psutil-5.9.3-cp27-cp27m-win_amd64.whl", hash = "sha256:fa5e32c7d9b60b2528108ade2929b115167fe98d59f89555574715054f50fa31"},
-    {file = "psutil-5.9.3-cp27-cp27mu-manylinux2010_i686.whl", hash = "sha256:fe79b4ad4836e3da6c4650cb85a663b3a51aef22e1a829c384e18fae87e5e727"},
-    {file = "psutil-5.9.3-cp27-cp27mu-manylinux2010_x86_64.whl", hash = "sha256:db8e62016add2235cc87fb7ea000ede9e4ca0aa1f221b40cef049d02d5d2593d"},
-    {file = "psutil-5.9.3-cp310-cp310-macosx_10_9_x86_64.whl", hash = "sha256:941a6c2c591da455d760121b44097781bc970be40e0e43081b9139da485ad5b7"},
-    {file = "psutil-5.9.3-cp310-cp310-macosx_11_0_arm64.whl", hash = "sha256:71b1206e7909792d16933a0d2c1c7f04ae196186c51ba8567abae1d041f06dcb"},
-    {file = "psutil-5.9.3-cp310-cp310-manylinux_2_12_i686.manylinux2010_i686.manylinux_2_17_i686.manylinux2014_i686.whl", hash = "sha256:f57d63a2b5beaf797b87024d018772439f9d3103a395627b77d17a8d72009543"},
-    {file = "psutil-5.9.3-cp310-cp310-manylinux_2_12_x86_64.manylinux2010_x86_64.manylinux_2_17_x86_64.manylinux2014_x86_64.whl", hash = "sha256:e7507f6c7b0262d3e7b0eeda15045bf5881f4ada70473b87bc7b7c93b992a7d7"},
-    {file = "psutil-5.9.3-cp310-cp310-win32.whl", hash = "sha256:1b540599481c73408f6b392cdffef5b01e8ff7a2ac8caae0a91b8222e88e8f1e"},
-    {file = "psutil-5.9.3-cp310-cp310-win_amd64.whl", hash = "sha256:547ebb02031fdada635452250ff39942db8310b5c4a8102dfe9384ee5791e650"},
-    {file = "psutil-5.9.3-cp36-cp36m-macosx_10_9_x86_64.whl", hash = "sha256:d8c3cc6bb76492133474e130a12351a325336c01c96a24aae731abf5a47fe088"},
-    {file = "psutil-5.9.3-cp36-cp36m-manylinux_2_12_i686.manylinux2010_i686.manylinux_2_17_i686.manylinux2014_i686.whl", hash = "sha256:07d880053c6461c9b89cd5d4808f3b8336665fa3acdefd6777662c5ed73a851a"},
-    {file = "psutil-5.9.3-cp36-cp36m-manylinux_2_12_x86_64.manylinux2010_x86_64.manylinux_2_17_x86_64.manylinux2014_x86_64.whl", hash = "sha256:5e8b50241dd3c2ed498507f87a6602825073c07f3b7e9560c58411c14fe1e1c9"},
-    {file = "psutil-5.9.3-cp36-cp36m-win32.whl", hash = "sha256:828c9dc9478b34ab96be75c81942d8df0c2bb49edbb481f597314d92b6441d89"},
-    {file = "psutil-5.9.3-cp36-cp36m-win_amd64.whl", hash = "sha256:ed15edb14f52925869250b1375f0ff58ca5c4fa8adefe4883cfb0737d32f5c02"},
-    {file = "psutil-5.9.3-cp37-cp37m-macosx_10_9_x86_64.whl", hash = "sha256:d266cd05bd4a95ca1c2b9b5aac50d249cf7c94a542f47e0b22928ddf8b80d1ef"},
-    {file = "psutil-5.9.3-cp37-cp37m-manylinux_2_12_i686.manylinux2010_i686.manylinux_2_17_i686.manylinux2014_i686.whl", hash = "sha256:7e4939ff75149b67aef77980409f156f0082fa36accc475d45c705bb00c6c16a"},
-    {file = "psutil-5.9.3-cp37-cp37m-manylinux_2_12_x86_64.manylinux2010_x86_64.manylinux_2_17_x86_64.manylinux2014_x86_64.whl", hash = "sha256:68fa227c32240c52982cb931801c5707a7f96dd8927f9102d6c7771ea1ff5698"},
-    {file = "psutil-5.9.3-cp37-cp37m-win32.whl", hash = "sha256:beb57d8a1ca0ae0eb3d08ccaceb77e1a6d93606f0e1754f0d60a6ebd5c288837"},
-    {file = "psutil-5.9.3-cp37-cp37m-win_amd64.whl", hash = "sha256:12500d761ac091f2426567f19f95fd3f15a197d96befb44a5c1e3cbe6db5752c"},
-    {file = "psutil-5.9.3-cp38-cp38-macosx_10_9_x86_64.whl", hash = "sha256:ba38cf9984d5462b506e239cf4bc24e84ead4b1d71a3be35e66dad0d13ded7c1"},
-    {file = "psutil-5.9.3-cp38-cp38-macosx_11_0_arm64.whl", hash = "sha256:46907fa62acaac364fff0b8a9da7b360265d217e4fdeaca0a2397a6883dffba2"},
-    {file = "psutil-5.9.3-cp38-cp38-manylinux_2_12_i686.manylinux2010_i686.manylinux_2_17_i686.manylinux2014_i686.whl", hash = "sha256:a04a1836894c8279e5e0a0127c0db8e198ca133d28be8a2a72b4db16f6cf99c1"},
-    {file = "psutil-5.9.3-cp38-cp38-manylinux_2_12_x86_64.manylinux2010_x86_64.manylinux_2_17_x86_64.manylinux2014_x86_64.whl", hash = "sha256:8a4e07611997acf178ad13b842377e3d8e9d0a5bac43ece9bfc22a96735d9a4f"},
-    {file = "psutil-5.9.3-cp38-cp38-win32.whl", hash = "sha256:6ced1ad823ecfa7d3ce26fe8aa4996e2e53fb49b7fed8ad81c80958501ec0619"},
-    {file = "psutil-5.9.3-cp38-cp38-win_amd64.whl", hash = "sha256:35feafe232d1aaf35d51bd42790cbccb882456f9f18cdc411532902370d660df"},
-    {file = "psutil-5.9.3-cp39-cp39-macosx_10_9_x86_64.whl", hash = "sha256:538fcf6ae856b5e12d13d7da25ad67f02113c96f5989e6ad44422cb5994ca7fc"},
-    {file = "psutil-5.9.3-cp39-cp39-macosx_11_0_arm64.whl", hash = "sha256:a3d81165b8474087bb90ec4f333a638ccfd1d69d34a9b4a1a7eaac06648f9fbe"},
-    {file = "psutil-5.9.3-cp39-cp39-manylinux_2_12_i686.manylinux2010_i686.manylinux_2_17_i686.manylinux2014_i686.whl", hash = "sha256:3a7826e68b0cf4ce2c1ee385d64eab7d70e3133171376cac53d7c1790357ec8f"},
-    {file = "psutil-5.9.3-cp39-cp39-manylinux_2_12_x86_64.manylinux2010_x86_64.manylinux_2_17_x86_64.manylinux2014_x86_64.whl", hash = "sha256:9ec296f565191f89c48f33d9544d8d82b0d2af7dd7d2d4e6319f27a818f8d1cc"},
-    {file = "psutil-5.9.3-cp39-cp39-win32.whl", hash = "sha256:9ec95df684583b5596c82bb380c53a603bb051cf019d5c849c47e117c5064395"},
-    {file = "psutil-5.9.3-cp39-cp39-win_amd64.whl", hash = "sha256:4bd4854f0c83aa84a5a40d3b5d0eb1f3c128f4146371e03baed4589fe4f3c931"},
-    {file = "psutil-5.9.3.tar.gz", hash = "sha256:7ccfcdfea4fc4b0a02ca2c31de7fcd186beb9cff8207800e14ab66f79c773af6"},
+
+[[package]]
+name = "psutil"
+version = "5.9.5"
+description = "Cross-platform lib for process and system monitoring in Python."
+optional = false
+python-versions = ">=2.7, !=3.0.*, !=3.1.*, !=3.2.*, !=3.3.*"
+files = [
+    {file = "psutil-5.9.5-cp27-cp27m-macosx_10_9_x86_64.whl", hash = "sha256:be8929ce4313f9f8146caad4272f6abb8bf99fc6cf59344a3167ecd74f4f203f"},
+    {file = "psutil-5.9.5-cp27-cp27m-manylinux2010_i686.whl", hash = "sha256:ab8ed1a1d77c95453db1ae00a3f9c50227ebd955437bcf2a574ba8adbf6a74d5"},
+    {file = "psutil-5.9.5-cp27-cp27m-manylinux2010_x86_64.whl", hash = "sha256:4aef137f3345082a3d3232187aeb4ac4ef959ba3d7c10c33dd73763fbc063da4"},
+    {file = "psutil-5.9.5-cp27-cp27mu-manylinux2010_i686.whl", hash = "sha256:ea8518d152174e1249c4f2a1c89e3e6065941df2fa13a1ab45327716a23c2b48"},
+    {file = "psutil-5.9.5-cp27-cp27mu-manylinux2010_x86_64.whl", hash = "sha256:acf2aef9391710afded549ff602b5887d7a2349831ae4c26be7c807c0a39fac4"},
+    {file = "psutil-5.9.5-cp27-none-win32.whl", hash = "sha256:5b9b8cb93f507e8dbaf22af6a2fd0ccbe8244bf30b1baad6b3954e935157ae3f"},
+    {file = "psutil-5.9.5-cp27-none-win_amd64.whl", hash = "sha256:8c5f7c5a052d1d567db4ddd231a9d27a74e8e4a9c3f44b1032762bd7b9fdcd42"},
+    {file = "psutil-5.9.5-cp36-abi3-macosx_10_9_x86_64.whl", hash = "sha256:3c6f686f4225553615612f6d9bc21f1c0e305f75d7d8454f9b46e901778e7217"},
+    {file = "psutil-5.9.5-cp36-abi3-manylinux_2_12_i686.manylinux2010_i686.manylinux_2_17_i686.manylinux2014_i686.whl", hash = "sha256:7a7dd9997128a0d928ed4fb2c2d57e5102bb6089027939f3b722f3a210f9a8da"},
+    {file = "psutil-5.9.5-cp36-abi3-manylinux_2_12_x86_64.manylinux2010_x86_64.manylinux_2_17_x86_64.manylinux2014_x86_64.whl", hash = "sha256:89518112647f1276b03ca97b65cc7f64ca587b1eb0278383017c2a0dcc26cbe4"},
+    {file = "psutil-5.9.5-cp36-abi3-win32.whl", hash = "sha256:104a5cc0e31baa2bcf67900be36acde157756b9c44017b86b2c049f11957887d"},
+    {file = "psutil-5.9.5-cp36-abi3-win_amd64.whl", hash = "sha256:b258c0c1c9d145a1d5ceffab1134441c4c5113b2417fafff7315a917a026c3c9"},
+    {file = "psutil-5.9.5-cp38-abi3-macosx_11_0_arm64.whl", hash = "sha256:c607bb3b57dc779d55e1554846352b4e358c10fff3abf3514a7a6601beebdb30"},
+    {file = "psutil-5.9.5.tar.gz", hash = "sha256:5410638e4df39c54d957fc51ce03048acd8e6d60abc0f5107af51e5fb566eb3c"},
 ]
-ptyprocess = [
+
+[package.extras]
+test = ["enum34", "ipaddress", "mock", "pywin32", "wmi"]
+
+[[package]]
+name = "ptyprocess"
+version = "0.7.0"
+description = "Run a subprocess in a pseudo terminal"
+optional = false
+python-versions = "*"
+files = [
     {file = "ptyprocess-0.7.0-py2.py3-none-any.whl", hash = "sha256:4b41f3967fce3af57cc7e94b888626c18bf37a083e3651ca8feeb66d492fef35"},
     {file = "ptyprocess-0.7.0.tar.gz", hash = "sha256:5c5d0a3b48ceee0b48485e0c26037c0acd7d29765ca3fbb5cb3831d347423220"},
 ]
-pure-eval = [
+
+[[package]]
+name = "pure-eval"
+version = "0.2.2"
+description = "Safely evaluate AST nodes without side effects"
+optional = false
+python-versions = "*"
+files = [
     {file = "pure_eval-0.2.2-py3-none-any.whl", hash = "sha256:01eaab343580944bc56080ebe0a674b39ec44a945e6d09ba7db3cb8cec289350"},
     {file = "pure_eval-0.2.2.tar.gz", hash = "sha256:2b45320af6dfaa1750f543d714b6d1c520a1688dec6fd24d339063ce0aaa9ac3"},
 ]
-py = [
-    {file = "py-1.11.0-py2.py3-none-any.whl", hash = "sha256:607c53218732647dff4acdfcd50cb62615cedf612e72d1724fb1a0cc6405b378"},
-    {file = "py-1.11.0.tar.gz", hash = "sha256:51c75c4126074b472f746a24399ad32f6053d1b34b68d2fa41e558e6f4a98719"},
+
+[package.extras]
+tests = ["pytest"]
+
+[[package]]
+name = "pyaudio"
+version = "0.2.13"
+description = "Cross-platform audio I/O with PortAudio"
+optional = false
+python-versions = "*"
+files = [
+    {file = "PyAudio-0.2.13-cp310-cp310-win32.whl", hash = "sha256:48e29537ea22ae2ae323eebe297bfb2683831cee4f20d96964e131f65ab2161d"},
+    {file = "PyAudio-0.2.13-cp310-cp310-win_amd64.whl", hash = "sha256:87137cfd0ef8608a2a383be3f6996f59505e322dab9d16531f14cf542fa294f1"},
+    {file = "PyAudio-0.2.13-cp311-cp311-win32.whl", hash = "sha256:13915faaa780e6bbbb6d745ef0e761674fd461b1b1b3f9c1f57042a534bfc0c3"},
+    {file = "PyAudio-0.2.13-cp311-cp311-win_amd64.whl", hash = "sha256:59cc3cc5211b729c7854e3989058a145872cc58b1a7b46c6d4d88448a343d890"},
+    {file = "PyAudio-0.2.13-cp37-cp37m-win32.whl", hash = "sha256:d294e3f85b2238649b1ff49ce3412459a8a312569975a89d14646536362d7576"},
+    {file = "PyAudio-0.2.13-cp37-cp37m-win_amd64.whl", hash = "sha256:ff7f5e44ef51fe61da1e09c6f632f0b5808198edd61b363855cc7dd03bf4a8ac"},
+    {file = "PyAudio-0.2.13-cp38-cp38-win32.whl", hash = "sha256:c6b302b048c054b7463936d8ba884b73877dc47012f3c94665dba92dd658ae04"},
+    {file = "PyAudio-0.2.13-cp38-cp38-win_amd64.whl", hash = "sha256:1505d766ee718df6f5a18b73ac42307ba1cb4d2c0397873159254a34f67515d6"},
+    {file = "PyAudio-0.2.13-cp39-cp39-win32.whl", hash = "sha256:eb128e4a6ea9b98d9a31f33c44978885af27dbe8ae53d665f8790cbfe045517e"},
+    {file = "PyAudio-0.2.13-cp39-cp39-win_amd64.whl", hash = "sha256:910ef09225cce227adbba92622d4a3e3c8375117f7dd64039f287d9ffc0e02a1"},
+    {file = "PyAudio-0.2.13.tar.gz", hash = "sha256:26bccc81e4243d1c0ff5487e6b481de6329fcd65c79365c267cef38f363a2b56"},
 ]
-pycapnp = [
-    {file = "pycapnp-1.1.0-cp37-cp37m-macosx_10_14_x86_64.whl", hash = "sha256:bdd013eae51d190a2426d00cc72d0aaed148a5be778ca86ee1adae3ab7a0613f"},
-    {file = "pycapnp-1.1.0-cp37-cp37m-manylinux_2_12_i686.manylinux2010_i686.whl", hash = "sha256:b9a1d6306a0e3e0090574aeb08d432bd67f9eb04ab564e89ef34cd1fe320b20f"},
-    {file = "pycapnp-1.1.0-cp37-cp37m-manylinux_2_12_x86_64.manylinux2010_x86_64.whl", hash = "sha256:47c8bc28521312660c95cfc8a552654949407f8b17bc7ed6955ad7dae34d21a4"},
-    {file = "pycapnp-1.1.0-cp37-cp37m-win_amd64.whl", hash = "sha256:60adf2674f89f629551171116b8f400b17e9a41a2ef15736767acec405d4ca50"},
-    {file = "pycapnp-1.1.0-cp38-cp38-macosx_10_14_x86_64.whl", hash = "sha256:a788a374ccb93354943c89f5b1caf785faf7bb90191cd6265e042aa004f8b206"},
-    {file = "pycapnp-1.1.0-cp38-cp38-manylinux_2_12_i686.manylinux2010_i686.whl", hash = "sha256:2a1746017079107232faf26af8ef4284ab0b20ce5cbe688d44e7553a67e5e5cb"},
-    {file = "pycapnp-1.1.0-cp38-cp38-manylinux_2_12_x86_64.manylinux2010_x86_64.whl", hash = "sha256:0c770145a4eccfe97f53ab500283aa9bf969d4a37bffc75737a964db4f2af833"},
-    {file = "pycapnp-1.1.0-cp38-cp38-win_amd64.whl", hash = "sha256:1774a4fe9db5f094ba40cf00898fa4b437773e7f9c538b779275b9f422a92ebc"},
-    {file = "pycapnp-1.1.0-cp39-cp39-macosx_10_14_x86_64.whl", hash = "sha256:2b28d5d951602c0b832bbe63f85ebdd7685b33118b1c11c2c65a243ec9f35a66"},
-    {file = "pycapnp-1.1.0-cp39-cp39-manylinux_2_12_i686.manylinux2010_i686.whl", hash = "sha256:61b009faba34855c9d29db107e188898c83099347e22ebcbc1d955774403247b"},
-    {file = "pycapnp-1.1.0-cp39-cp39-manylinux_2_12_x86_64.manylinux2010_x86_64.whl", hash = "sha256:2a7aa9af0185e5977a59228db5042dffb048b2d4bf4f665d2105b4781cf2fcbc"},
-    {file = "pycapnp-1.1.0-cp39-cp39-win_amd64.whl", hash = "sha256:13badfb644e2eb7f1219aab259d18b262d1512021e4112fa1ad5e74d17bc30cf"},
-    {file = "pycapnp-1.1.0.tar.gz", hash = "sha256:786a2e39b79e592a41e8a1eaeea6e41e2015ecb9f5b7f7c20dfc5768ba1ae077"},
+
+[package.extras]
+test = ["numpy"]
+
+[[package]]
+name = "pycapnp"
+version = "1.3.0"
+description = "A cython wrapping of the C++ Cap'n Proto library"
+optional = false
+python-versions = "*"
+files = [
+    {file = "pycapnp-1.3.0-cp310-cp310-macosx_11_0_arm64.whl", hash = "sha256:1410e38d1cd1d08fb36c781e8a91b2044306d18775524dfd6c8a3b83e665f47f"},
+    {file = "pycapnp-1.3.0-cp310-cp310-macosx_11_0_x86_64.whl", hash = "sha256:debb37f96db664c140e557855ba433ea59fdf714cff358a50a619e007387692b"},
+    {file = "pycapnp-1.3.0-cp310-cp310-manylinux_2_17_aarch64.manylinux2014_aarch64.whl", hash = "sha256:108582647317c0f3a52ab1c615333d48546cede475887ebf8a055d1d6f20f249"},
+    {file = "pycapnp-1.3.0-cp310-cp310-manylinux_2_17_i686.manylinux2014_i686.whl", hash = "sha256:1451d131ae0715b840eda1d0c84ea3909b637ac28554a13e57c089aef09e4f36"},
+    {file = "pycapnp-1.3.0-cp310-cp310-manylinux_2_17_x86_64.manylinux2014_x86_64.whl", hash = "sha256:4c09d0ea8bc6d6d101a1642f4d9366d929cacd3966bc510a7cd5b14df2fa2986"},
+    {file = "pycapnp-1.3.0-cp310-cp310-win_amd64.whl", hash = "sha256:f26bb24bd28db2a6f99b7d17178112103dedef0ee275204f705e86936513c240"},
+    {file = "pycapnp-1.3.0-cp311-cp311-macosx_10_9_universal2.whl", hash = "sha256:90c07b969d90d012d0d309ec4c44605ad2d8f91595dcdf8ccc1ee798bf723b77"},
+    {file = "pycapnp-1.3.0-cp311-cp311-macosx_11_0_arm64.whl", hash = "sha256:70a9d155d0dc17d343f295ae2228fb0436af329eab941e3b6637d5f5a050616d"},
+    {file = "pycapnp-1.3.0-cp311-cp311-manylinux_2_17_aarch64.manylinux2014_aarch64.whl", hash = "sha256:6cb575ab47069f990dc353d0c12f62013b08d0c00ba10c1aebffdc3150abd292"},
+    {file = "pycapnp-1.3.0-cp311-cp311-manylinux_2_17_i686.manylinux2014_i686.whl", hash = "sha256:1ba3adae76801b1a4c7c0f96367bdd153286469c45223bf6b50057e5d077e5d2"},
+    {file = "pycapnp-1.3.0-cp311-cp311-manylinux_2_17_x86_64.manylinux2014_x86_64.whl", hash = "sha256:bc939f85720451b1d4a05603b127c0ae241e67fcc43121685b906aa3da08d624"},
+    {file = "pycapnp-1.3.0-cp311-cp311-win_amd64.whl", hash = "sha256:9d6af7aba49eda201243b0fbcb410b3a8a789a2f7b86adafbde7e95234a07e85"},
+    {file = "pycapnp-1.3.0-cp37-cp37m-macosx_10_15_x86_64.whl", hash = "sha256:32e56829e05fc54e14a8b40076d0a0958acef835379c6e39c26648cb754b9011"},
+    {file = "pycapnp-1.3.0-cp37-cp37m-macosx_11_0_arm64.whl", hash = "sha256:f9d29bf65a5fb6cca1d0ed56cd2b0e6b1f63d47af72dfced80bbf6a8315aa2ae"},
+    {file = "pycapnp-1.3.0-cp37-cp37m-manylinux_2_17_aarch64.manylinux2014_aarch64.whl", hash = "sha256:8389da70ff8c4008a0aabcdbf04e272aebb0c71476bc29cb7fbefb9ae579c947"},
+    {file = "pycapnp-1.3.0-cp37-cp37m-manylinux_2_17_i686.manylinux2014_i686.whl", hash = "sha256:432b9d49bde68eca83b10f04791c65dc9a2070afcbd406703c4f4a073f02061c"},
+    {file = "pycapnp-1.3.0-cp37-cp37m-manylinux_2_17_x86_64.manylinux2014_x86_64.whl", hash = "sha256:cda76deffa45e567354234d2c21e084251dc270ba226e8d9863406c54e9cb87f"},
+    {file = "pycapnp-1.3.0-cp37-cp37m-win_amd64.whl", hash = "sha256:e351748b9a1bc3e6379183a24e1e68ecf4f76943872f63c8d42f206523b78cbb"},
+    {file = "pycapnp-1.3.0-cp38-cp38-macosx_10_15_x86_64.whl", hash = "sha256:ff4a67282af21fb6a16b99f7d2397c4c6462b3a59b9b751e6860ccfb5c838398"},
+    {file = "pycapnp-1.3.0-cp38-cp38-macosx_11_0_arm64.whl", hash = "sha256:f6f011ce96049cff07502e76d91e2a037234aa89bd4fc299c95e403797a73dae"},
+    {file = "pycapnp-1.3.0-cp38-cp38-manylinux_2_17_aarch64.manylinux2014_aarch64.whl", hash = "sha256:b02fd11a155aca4e1b507bc7bd91963ec9a7695d5235837229d105d920385514"},
+    {file = "pycapnp-1.3.0-cp38-cp38-manylinux_2_17_i686.manylinux2014_i686.whl", hash = "sha256:c0bfdbae7344835c287be2ca9f3e9fdf8f208941933fb77f6252a937917347de"},
+    {file = "pycapnp-1.3.0-cp38-cp38-manylinux_2_17_x86_64.manylinux2014_x86_64.whl", hash = "sha256:fa7d2e0c22fb4f1c7bf44630170ba06df4e1fb47f0977df1d5fe425dc74ce354"},
+    {file = "pycapnp-1.3.0-cp38-cp38-win_amd64.whl", hash = "sha256:b82d5c2ed388157b01ae7fbf754fd677d069150336ee74d6f286936af8ce0f18"},
+    {file = "pycapnp-1.3.0-cp39-cp39-macosx_11_0_arm64.whl", hash = "sha256:02acfc8d94ed0c2e1b68cde6c845149b5c89eb4c5a71c7fe4978a70370cb17b5"},
+    {file = "pycapnp-1.3.0-cp39-cp39-macosx_11_0_x86_64.whl", hash = "sha256:9333029a4c4f71942666ee1eb051740c38c27b034eca4c73d09f26217e2b2dc4"},
+    {file = "pycapnp-1.3.0-cp39-cp39-manylinux_2_17_aarch64.manylinux2014_aarch64.whl", hash = "sha256:886c09a5802b3ec232a8cd64f44c092bbf3daa1c0ff66942f1f6b9943a71a909"},
+    {file = "pycapnp-1.3.0-cp39-cp39-manylinux_2_17_i686.manylinux2014_i686.whl", hash = "sha256:77c95991b4fc30fd336e3cbed4ffd3fb23aa647427bc96cafd0f77ec5b046766"},
+    {file = "pycapnp-1.3.0-cp39-cp39-manylinux_2_17_x86_64.manylinux2014_x86_64.whl", hash = "sha256:223f600854f46009715231237a02c18a6e5b28492c0976d6602c0d73021c9d3a"},
+    {file = "pycapnp-1.3.0-cp39-cp39-win_amd64.whl", hash = "sha256:45e52d201d4d2ae9ee3290cae8f62c1af982ca2d7a7eaa0b58f53ada9a07c877"},
+    {file = "pycapnp-1.3.0.tar.gz", hash = "sha256:7cf514c3068064e593d0401503f7a623c24c55776702a7a2d9cad9854710aa56"},
 ]
-pycodestyle = [
-    {file = "pycodestyle-2.8.0-py2.py3-none-any.whl", hash = "sha256:720f8b39dde8b293825e7ff02c475f3077124006db4f440dcbc9a20b76548a20"},
-    {file = "pycodestyle-2.8.0.tar.gz", hash = "sha256:eddd5847ef438ea1c7870ca7eb78a9d47ce0cdb4851a5523949f2601d0cbbe7f"},
+
+[[package]]
+name = "pycodestyle"
+version = "2.11.0"
+description = "Python style guide checker"
+optional = false
+python-versions = ">=3.8"
+files = [
+    {file = "pycodestyle-2.11.0-py2.py3-none-any.whl", hash = "sha256:5d1013ba8dc7895b548be5afb05740ca82454fd899971563d2ef625d090326f8"},
+    {file = "pycodestyle-2.11.0.tar.gz", hash = "sha256:259bcc17857d8a8b3b4a2327324b79e5f020a13c16074670f9c8c8f872ea76d0"},
 ]
-pycparser = [
+
+[[package]]
+name = "pycparser"
+version = "2.21"
+description = "C parser in Python"
+optional = false
+python-versions = ">=2.7, !=3.0.*, !=3.1.*, !=3.2.*, !=3.3.*"
+files = [
     {file = "pycparser-2.21-py2.py3-none-any.whl", hash = "sha256:8ee45429555515e1f6b185e78100aea234072576aa43ab53aefcae078162fca9"},
     {file = "pycparser-2.21.tar.gz", hash = "sha256:e644fdec12f7872f86c58ff790da456218b10f863970249516d60a5eaca77206"},
 ]
-pycryptodome = [
-    {file = "pycryptodome-3.15.0-cp27-cp27m-macosx_10_9_x86_64.whl", hash = "sha256:ff7ae90e36c1715a54446e7872b76102baa5c63aa980917f4aa45e8c78d1a3ec"},
-    {file = "pycryptodome-3.15.0-cp27-cp27m-manylinux1_i686.whl", hash = "sha256:2ffd8b31561455453ca9f62cb4c24e6b8d119d6d531087af5f14b64bee2c23e6"},
-    {file = "pycryptodome-3.15.0-cp27-cp27m-manylinux1_x86_64.whl", hash = "sha256:2ea63d46157386c5053cfebcdd9bd8e0c8b7b0ac4a0507a027f5174929403884"},
-    {file = "pycryptodome-3.15.0-cp27-cp27m-manylinux2010_i686.whl", hash = "sha256:7c9ed8aa31c146bef65d89a1b655f5f4eab5e1120f55fc297713c89c9e56ff0b"},
-    {file = "pycryptodome-3.15.0-cp27-cp27m-manylinux2010_x86_64.whl", hash = "sha256:5099c9ca345b2f252f0c28e96904643153bae9258647585e5e6f649bb7a1844a"},
-    {file = "pycryptodome-3.15.0-cp27-cp27m-manylinux2014_aarch64.whl", hash = "sha256:2ec709b0a58b539a4f9d33fb8508264c3678d7edb33a68b8906ba914f71e8c13"},
-    {file = "pycryptodome-3.15.0-cp27-cp27m-musllinux_1_1_aarch64.whl", hash = "sha256:2ae53125de5b0d2c95194d957db9bb2681da8c24d0fb0fe3b056de2bcaf5d837"},
-    {file = "pycryptodome-3.15.0-cp27-cp27m-win32.whl", hash = "sha256:fd2184aae6ee2a944aaa49113e6f5787cdc5e4db1eb8edb1aea914bd75f33a0c"},
-    {file = "pycryptodome-3.15.0-cp27-cp27m-win_amd64.whl", hash = "sha256:7e3a8f6ee405b3bd1c4da371b93c31f7027944b2bcce0697022801db93120d83"},
-    {file = "pycryptodome-3.15.0-cp27-cp27mu-manylinux1_i686.whl", hash = "sha256:b9c5b1a1977491533dfd31e01550ee36ae0249d78aae7f632590db833a5012b8"},
-    {file = "pycryptodome-3.15.0-cp27-cp27mu-manylinux1_x86_64.whl", hash = "sha256:0926f7cc3735033061ef3cf27ed16faad6544b14666410727b31fea85a5b16eb"},
-    {file = "pycryptodome-3.15.0-cp27-cp27mu-manylinux2010_i686.whl", hash = "sha256:2aa55aae81f935a08d5a3c2042eb81741a43e044bd8a81ea7239448ad751f763"},
-    {file = "pycryptodome-3.15.0-cp27-cp27mu-manylinux2010_x86_64.whl", hash = "sha256:c3640deff4197fa064295aaac10ab49a0d55ef3d6a54ae1499c40d646655c89f"},
-    {file = "pycryptodome-3.15.0-cp27-cp27mu-manylinux2014_aarch64.whl", hash = "sha256:045d75527241d17e6ef13636d845a12e54660aa82e823b3b3341bcf5af03fa79"},
-    {file = "pycryptodome-3.15.0-cp27-cp27mu-musllinux_1_1_aarch64.whl", hash = "sha256:eb6fce570869e70cc8ebe68eaa1c26bed56d40ad0f93431ee61d400525433c54"},
-    {file = "pycryptodome-3.15.0-cp35-abi3-macosx_10_9_x86_64.whl", hash = "sha256:9ee40e2168f1348ae476676a2e938ca80a2f57b14a249d8fe0d3cdf803e5a676"},
-    {file = "pycryptodome-3.15.0-cp35-abi3-manylinux1_i686.whl", hash = "sha256:4c3ccad74eeb7b001f3538643c4225eac398c77d617ebb3e57571a897943c667"},
-    {file = "pycryptodome-3.15.0-cp35-abi3-manylinux1_x86_64.whl", hash = "sha256:1b22bcd9ec55e9c74927f6b1f69843cb256fb5a465088ce62837f793d9ffea88"},
-    {file = "pycryptodome-3.15.0-cp35-abi3-manylinux2010_i686.whl", hash = "sha256:57f565acd2f0cf6fb3e1ba553d0cb1f33405ec1f9c5ded9b9a0a5320f2c0bd3d"},
-    {file = "pycryptodome-3.15.0-cp35-abi3-manylinux2010_x86_64.whl", hash = "sha256:4b52cb18b0ad46087caeb37a15e08040f3b4c2d444d58371b6f5d786d95534c2"},
-    {file = "pycryptodome-3.15.0-cp35-abi3-manylinux2014_aarch64.whl", hash = "sha256:092a26e78b73f2530b8bd6b3898e7453ab2f36e42fd85097d705d6aba2ec3e5e"},
-    {file = "pycryptodome-3.15.0-cp35-abi3-musllinux_1_1_aarch64.whl", hash = "sha256:50ca7e587b8e541eb6c192acf92449d95377d1f88908c0a32ac5ac2703ebe28b"},
-    {file = "pycryptodome-3.15.0-cp35-abi3-win32.whl", hash = "sha256:e244ab85c422260de91cda6379e8e986405b4f13dc97d2876497178707f87fc1"},
-    {file = "pycryptodome-3.15.0-cp35-abi3-win_amd64.whl", hash = "sha256:c77126899c4b9c9827ddf50565e93955cb3996813c18900c16b2ea0474e130e9"},
-    {file = "pycryptodome-3.15.0-pp27-pypy_73-macosx_10_9_x86_64.whl", hash = "sha256:9eaadc058106344a566dc51d3d3a758ab07f8edde013712bc8d22032a86b264f"},
-    {file = "pycryptodome-3.15.0-pp27-pypy_73-manylinux1_x86_64.whl", hash = "sha256:ff287bcba9fbeb4f1cccc1f2e90a08d691480735a611ee83c80a7d74ad72b9d9"},
-    {file = "pycryptodome-3.15.0-pp27-pypy_73-manylinux2010_x86_64.whl", hash = "sha256:60b4faae330c3624cc5a546ba9cfd7b8273995a15de94ee4538130d74953ec2e"},
-    {file = "pycryptodome-3.15.0-pp27-pypy_73-win32.whl", hash = "sha256:a8f06611e691c2ce45ca09bbf983e2ff2f8f4f87313609d80c125aff9fad6e7f"},
-    {file = "pycryptodome-3.15.0-pp36-pypy36_pp73-macosx_10_9_x86_64.whl", hash = "sha256:b9cc96e274b253e47ad33ae1fccc36ea386f5251a823ccb50593a935db47fdd2"},
-    {file = "pycryptodome-3.15.0-pp36-pypy36_pp73-manylinux1_x86_64.whl", hash = "sha256:ecaaef2d21b365d9c5ca8427ffc10cebed9d9102749fd502218c23cb9a05feb5"},
-    {file = "pycryptodome-3.15.0-pp36-pypy36_pp73-manylinux2010_x86_64.whl", hash = "sha256:d2a39a66057ab191e5c27211a7daf8f0737f23acbf6b3562b25a62df65ffcb7b"},
-    {file = "pycryptodome-3.15.0-pp36-pypy36_pp73-win32.whl", hash = "sha256:9c772c485b27967514d0df1458b56875f4b6d025566bf27399d0c239ff1b369f"},
-    {file = "pycryptodome-3.15.0.tar.gz", hash = "sha256:9135dddad504592bcc18b0d2d95ce86c3a5ea87ec6447ef25cfedea12d6018b8"},
+
+[[package]]
+name = "pycryptodome"
+version = "3.18.0"
+description = "Cryptographic library for Python"
+optional = false
+python-versions = ">=2.7, !=3.0.*, !=3.1.*, !=3.2.*, !=3.3.*, !=3.4.*"
+files = [
+    {file = "pycryptodome-3.18.0-cp27-cp27m-macosx_10_9_x86_64.whl", hash = "sha256:d1497a8cd4728db0e0da3c304856cb37c0c4e3d0b36fcbabcc1600f18504fc54"},
+    {file = "pycryptodome-3.18.0-cp27-cp27m-manylinux2010_i686.whl", hash = "sha256:928078c530da78ff08e10eb6cada6e0dff386bf3d9fa9871b4bbc9fbc1efe024"},
+    {file = "pycryptodome-3.18.0-cp27-cp27m-manylinux2010_x86_64.whl", hash = "sha256:157c9b5ba5e21b375f052ca78152dd309a09ed04703fd3721dce3ff8ecced148"},
+    {file = "pycryptodome-3.18.0-cp27-cp27m-manylinux2014_aarch64.whl", hash = "sha256:d20082bdac9218649f6abe0b885927be25a917e29ae0502eaf2b53f1233ce0c2"},
+    {file = "pycryptodome-3.18.0-cp27-cp27m-musllinux_1_1_aarch64.whl", hash = "sha256:e8ad74044e5f5d2456c11ed4cfd3e34b8d4898c0cb201c4038fe41458a82ea27"},
+    {file = "pycryptodome-3.18.0-cp27-cp27m-win32.whl", hash = "sha256:62a1e8847fabb5213ccde38915563140a5b338f0d0a0d363f996b51e4a6165cf"},
+    {file = "pycryptodome-3.18.0-cp27-cp27m-win_amd64.whl", hash = "sha256:16bfd98dbe472c263ed2821284118d899c76968db1a6665ade0c46805e6b29a4"},
+    {file = "pycryptodome-3.18.0-cp27-cp27mu-manylinux2010_i686.whl", hash = "sha256:7a3d22c8ee63de22336679e021c7f2386f7fc465477d59675caa0e5706387944"},
+    {file = "pycryptodome-3.18.0-cp27-cp27mu-manylinux2010_x86_64.whl", hash = "sha256:78d863476e6bad2a592645072cc489bb90320972115d8995bcfbee2f8b209918"},
+    {file = "pycryptodome-3.18.0-cp27-cp27mu-manylinux2014_aarch64.whl", hash = "sha256:b6a610f8bfe67eab980d6236fdc73bfcdae23c9ed5548192bb2d530e8a92780e"},
+    {file = "pycryptodome-3.18.0-cp27-cp27mu-musllinux_1_1_aarch64.whl", hash = "sha256:422c89fd8df8a3bee09fb8d52aaa1e996120eafa565437392b781abec2a56e14"},
+    {file = "pycryptodome-3.18.0-cp35-abi3-macosx_10_9_universal2.whl", hash = "sha256:9ad6f09f670c466aac94a40798e0e8d1ef2aa04589c29faa5b9b97566611d1d1"},
+    {file = "pycryptodome-3.18.0-cp35-abi3-macosx_10_9_x86_64.whl", hash = "sha256:53aee6be8b9b6da25ccd9028caf17dcdce3604f2c7862f5167777b707fbfb6cb"},
+    {file = "pycryptodome-3.18.0-cp35-abi3-manylinux2014_aarch64.whl", hash = "sha256:10da29526a2a927c7d64b8f34592f461d92ae55fc97981aab5bbcde8cb465bb6"},
+    {file = "pycryptodome-3.18.0-cp35-abi3-manylinux_2_17_x86_64.manylinux2014_x86_64.whl", hash = "sha256:f21efb8438971aa16924790e1c3dba3a33164eb4000106a55baaed522c261acf"},
+    {file = "pycryptodome-3.18.0-cp35-abi3-manylinux_2_5_i686.manylinux1_i686.manylinux_2_17_i686.manylinux2014_i686.whl", hash = "sha256:4944defabe2ace4803f99543445c27dd1edbe86d7d4edb87b256476a91e9ffa4"},
+    {file = "pycryptodome-3.18.0-cp35-abi3-musllinux_1_1_aarch64.whl", hash = "sha256:51eae079ddb9c5f10376b4131be9589a6554f6fd84f7f655180937f611cd99a2"},
+    {file = "pycryptodome-3.18.0-cp35-abi3-musllinux_1_1_i686.whl", hash = "sha256:83c75952dcf4a4cebaa850fa257d7a860644c70a7cd54262c237c9f2be26f76e"},
+    {file = "pycryptodome-3.18.0-cp35-abi3-musllinux_1_1_x86_64.whl", hash = "sha256:957b221d062d5752716923d14e0926f47670e95fead9d240fa4d4862214b9b2f"},
+    {file = "pycryptodome-3.18.0-cp35-abi3-win32.whl", hash = "sha256:795bd1e4258a2c689c0b1f13ce9684fa0dd4c0e08680dcf597cf9516ed6bc0f3"},
+    {file = "pycryptodome-3.18.0-cp35-abi3-win_amd64.whl", hash = "sha256:b1d9701d10303eec8d0bd33fa54d44e67b8be74ab449052a8372f12a66f93fb9"},
+    {file = "pycryptodome-3.18.0-pp27-pypy_73-manylinux2010_x86_64.whl", hash = "sha256:cb1be4d5af7f355e7d41d36d8eec156ef1382a88638e8032215c215b82a4b8ec"},
+    {file = "pycryptodome-3.18.0-pp27-pypy_73-win32.whl", hash = "sha256:fc0a73f4db1e31d4a6d71b672a48f3af458f548059aa05e83022d5f61aac9c08"},
+    {file = "pycryptodome-3.18.0-pp38-pypy38_pp73-macosx_10_9_x86_64.whl", hash = "sha256:f022a4fd2a5263a5c483a2bb165f9cb27f2be06f2f477113783efe3fe2ad887b"},
+    {file = "pycryptodome-3.18.0-pp38-pypy38_pp73-manylinux_2_17_x86_64.manylinux2014_x86_64.whl", hash = "sha256:363dd6f21f848301c2dcdeb3c8ae5f0dee2286a5e952a0f04954b82076f23825"},
+    {file = "pycryptodome-3.18.0-pp38-pypy38_pp73-manylinux_2_5_i686.manylinux1_i686.manylinux_2_17_i686.manylinux2014_i686.whl", hash = "sha256:12600268763e6fec3cefe4c2dcdf79bde08d0b6dc1813887e789e495cb9f3403"},
+    {file = "pycryptodome-3.18.0-pp38-pypy38_pp73-win_amd64.whl", hash = "sha256:4604816adebd4faf8810782f137f8426bf45fee97d8427fa8e1e49ea78a52e2c"},
+    {file = "pycryptodome-3.18.0-pp39-pypy39_pp73-macosx_10_9_x86_64.whl", hash = "sha256:01489bbdf709d993f3058e2996f8f40fee3f0ea4d995002e5968965fa2fe89fb"},
+    {file = "pycryptodome-3.18.0-pp39-pypy39_pp73-manylinux_2_17_x86_64.manylinux2014_x86_64.whl", hash = "sha256:3811e31e1ac3069988f7a1c9ee7331b942e605dfc0f27330a9ea5997e965efb2"},
+    {file = "pycryptodome-3.18.0-pp39-pypy39_pp73-manylinux_2_5_i686.manylinux1_i686.manylinux_2_17_i686.manylinux2014_i686.whl", hash = "sha256:6f4b967bb11baea9128ec88c3d02f55a3e338361f5e4934f5240afcb667fdaec"},
+    {file = "pycryptodome-3.18.0-pp39-pypy39_pp73-win_amd64.whl", hash = "sha256:9c8eda4f260072f7dbe42f473906c659dcbadd5ae6159dfb49af4da1293ae380"},
+    {file = "pycryptodome-3.18.0.tar.gz", hash = "sha256:c9adee653fc882d98956e33ca2c1fb582e23a8af7ac82fee75bd6113c55a0413"},
 ]
-pycuda = [
-    {file = "pycuda-2022.1.tar.gz", hash = "sha256:acd9030d93e76e60b122e33ad16bcf01bb1344f4c304dedff1cd2bffb0f313a3"},
+
+[[package]]
+name = "pycuda"
+version = "2022.2.2"
+description = "Python wrapper for Nvidia CUDA"
+optional = false
+python-versions = "~=3.8"
+files = [
+    {file = "pycuda-2022.2.2.tar.gz", hash = "sha256:cd92e7246bb45ac3452955a110714112674cdf3b4a9e2f4ff25a4159c684e6bb"},
 ]
-pycurl = [
-    {file = "pycurl-7.45.1.tar.gz", hash = "sha256:a863ad18ff478f5545924057887cdae422e1b2746e41674615f687498ea5b88a"},
+
+[package.dependencies]
+appdirs = ">=1.4.0"
+mako = "*"
+pytools = ">=2011.2"
+
+[[package]]
+name = "pycurl"
+version = "7.45.2"
+description = "PycURL -- A Python Interface To The cURL library"
+optional = false
+python-versions = ">=3.5"
+files = [
+    {file = "pycurl-7.45.2.tar.gz", hash = "sha256:5730590be0271364a5bddd9e245c9cc0fb710c4cbacbdd95264a3122d23224ca"},
 ]
-pyflakes = [
-    {file = "pyflakes-2.4.0-py2.py3-none-any.whl", hash = "sha256:3bb3a3f256f4b7968c9c788781e4ff07dce46bdf12339dcda61053375426ee2e"},
-    {file = "pyflakes-2.4.0.tar.gz", hash = "sha256:05a85c2872edf37a4ed30b0cce2f6093e1d0581f8c19d7393122da7e25b2b24c"},
+
+[[package]]
+name = "pydub"
+version = "0.25.1"
+description = "Manipulate audio with an simple and easy high level interface"
+optional = false
+python-versions = "*"
+files = [
+    {file = "pydub-0.25.1-py2.py3-none-any.whl", hash = "sha256:65617e33033874b59d87db603aa1ed450633288aefead953b30bded59cb599a6"},
+    {file = "pydub-0.25.1.tar.gz", hash = "sha256:980a33ce9949cab2a569606b65674d748ecbca4f0796887fd6f46173a7b0d30f"},
 ]
-pygame = [
-    {file = "pygame-2.1.2-cp310-cp310-macosx_10_9_x86_64.whl", hash = "sha256:f149e182d0eeef15d8a9b4c9dad1b87dc6eba3a99bd3c44a777a3a2b053a3dca"},
-    {file = "pygame-2.1.2-cp310-cp310-macosx_11_0_arm64.whl", hash = "sha256:dc4444d61d48c5546df5137cdf81554887ddb6e2ef1be7f51eb77ea3b6bdd56f"},
-    {file = "pygame-2.1.2-cp310-cp310-manylinux_2_12_i686.manylinux2010_i686.whl", hash = "sha256:a0ccf8e3dce7ca67d523a6020b7e3dbf4b26797a9a8db5cc4c7b5ef20fb64701"},
-    {file = "pygame-2.1.2-cp310-cp310-manylinux_2_12_x86_64.manylinux2010_x86_64.whl", hash = "sha256:7889dce887ec83c9a0bef8d9eb3669d8863fdaf37c45bacec707d8ad90b24a38"},
-    {file = "pygame-2.1.2-cp310-cp310-manylinux_2_17_aarch64.manylinux2014_aarch64.whl", hash = "sha256:db2f40d5a75fd9cdda473c58b0d8b294da6e0179f00bb3b1fc2f7f29cac09bea"},
-    {file = "pygame-2.1.2-cp310-cp310-manylinux_2_17_i686.manylinux2014_i686.whl", hash = "sha256:e4b4cd440d50a9f8551b8989e856aab175593af07eb825cad22fd2f8f6f2ffce"},
-    {file = "pygame-2.1.2-cp310-cp310-manylinux_2_17_x86_64.manylinux2014_x86_64.whl", hash = "sha256:754c2906f2ef47173a14493e1de116b2a56a2c8e1764f1202ba844d080248a5b"},
-    {file = "pygame-2.1.2-cp310-cp310-win32.whl", hash = "sha256:c99b95e62cdda29c2e60235d7763447c168a6a877403e6f9ca5b2e2bb297c2ce"},
-    {file = "pygame-2.1.2-cp310-cp310-win_amd64.whl", hash = "sha256:9649419254d3282dae41f23837de4108b17bc62187c3acd8af2ae3801b765cbd"},
-    {file = "pygame-2.1.2-cp36-cp36m-macosx_10_9_x86_64.whl", hash = "sha256:dcc285ee1f1d0e2672cc52f880fd3f564b1505de710e817f692fbf64a72ca657"},
-    {file = "pygame-2.1.2-cp36-cp36m-manylinux_2_12_i686.manylinux2010_i686.whl", hash = "sha256:e1bb25986db77a48f632469c6bc61baf7508ce945aa6161c02180d4ee5ac5b8d"},
-    {file = "pygame-2.1.2-cp36-cp36m-manylinux_2_12_x86_64.manylinux2010_x86_64.whl", hash = "sha256:e7a8e18677e0064b7a422f6653a622652d932826a27e50f279d55a8b122a1a83"},
-    {file = "pygame-2.1.2-cp36-cp36m-manylinux_2_17_aarch64.manylinux2014_aarch64.whl", hash = "sha256:dd528dbb91eca16f7522c975d0f9e94b95f6b5024c82c3247dc0383d242d33c6"},
-    {file = "pygame-2.1.2-cp36-cp36m-manylinux_2_17_i686.manylinux2014_i686.whl", hash = "sha256:fcc9586e17875c0cdf8764597955f9daa979098fd4f80be07ed68276ac225480"},
-    {file = "pygame-2.1.2-cp36-cp36m-manylinux_2_17_x86_64.manylinux2014_x86_64.whl", hash = "sha256:c9ce7f3d8af14d7e04eb7eb41c5e5313c43508c252bb2b9eb53e51fc87ada9fd"},
-    {file = "pygame-2.1.2-cp36-cp36m-manylinux_2_5_i686.manylinux1_i686.whl", hash = "sha256:e09044e9e1aa8512d6a9c7ce5f94b881824bcfc401105f3c24f546dfc3bb4aa5"},
-    {file = "pygame-2.1.2-cp36-cp36m-manylinux_2_5_x86_64.manylinux1_x86_64.whl", hash = "sha256:40e4d8d65985bb467d9c5a1305fb53fd6820c61d764979600becab973339676f"},
-    {file = "pygame-2.1.2-cp36-cp36m-win32.whl", hash = "sha256:50d9a21edd551669862c27c9272747401b20b1939abaacb842c08ea1cdd1c04d"},
-    {file = "pygame-2.1.2-cp36-cp36m-win_amd64.whl", hash = "sha256:e18c9466131378421d00fc40b637425229238d506a073d9c537b230b355a25d6"},
-    {file = "pygame-2.1.2-cp37-cp37m-macosx_10_9_x86_64.whl", hash = "sha256:07ca9f683075aea9bd977af9f09a720ebf747343d3ea8103e4f1735283b02330"},
-    {file = "pygame-2.1.2-cp37-cp37m-manylinux_2_12_i686.manylinux2010_i686.whl", hash = "sha256:3c8d6637ff75351e581327efefa9d04eeb0f257b533392b6cc6b15ceca4f7c5e"},
-    {file = "pygame-2.1.2-cp37-cp37m-manylinux_2_12_x86_64.manylinux2010_x86_64.whl", hash = "sha256:5ebbefb8b576572c8fc97a3321d37dc2b4afea6b6e3877a67f7158d8c2c4cefe"},
-    {file = "pygame-2.1.2-cp37-cp37m-manylinux_2_17_aarch64.manylinux2014_aarch64.whl", hash = "sha256:9d6452419e01a0f848aed0597f69fd10a4c2a7750c15d1b0607f86090a39dcf3"},
-    {file = "pygame-2.1.2-cp37-cp37m-manylinux_2_17_i686.manylinux2014_i686.whl", hash = "sha256:e627300a66a90651fb39e41601d447b1fdbbfffca3f08ef0278d6cc0436b2160"},
-    {file = "pygame-2.1.2-cp37-cp37m-manylinux_2_17_x86_64.manylinux2014_x86_64.whl", hash = "sha256:a56a811d8821f7b9a594e3d0e0dd8bd39b25e3eea8963d5963263b90fd2ea5c2"},
-    {file = "pygame-2.1.2-cp37-cp37m-manylinux_2_5_i686.manylinux1_i686.whl", hash = "sha256:24b4f7f30fa2b3d092b60be6fcc725fb91d569fc87a9bcc91614ee8b0c005726"},
-    {file = "pygame-2.1.2-cp37-cp37m-manylinux_2_5_x86_64.manylinux1_x86_64.whl", hash = "sha256:8e87716114e97322fb177e223d889a4be369a0f73212f4f8507fe0cd43253b23"},
-    {file = "pygame-2.1.2-cp37-cp37m-win32.whl", hash = "sha256:20676da24e3e3e6b9fc4eecc7ba09d77ef46c3a83a028763ba1d222476c2e3fb"},
-    {file = "pygame-2.1.2-cp37-cp37m-win_amd64.whl", hash = "sha256:93c4cbfc942dd00410eaa9e84252129f9f9993f37f683006d7b49ab245342254"},
-    {file = "pygame-2.1.2-cp38-cp38-macosx_10_9_x86_64.whl", hash = "sha256:2405414d8c572668e04739875661e030a0c588e197fa95463fe301c3d0a0510b"},
-    {file = "pygame-2.1.2-cp38-cp38-macosx_11_0_arm64.whl", hash = "sha256:e8632f6b2ddb90f6f3950744bd65d5ef15af615e3034057fa30ff836f48a7179"},
-    {file = "pygame-2.1.2-cp38-cp38-manylinux_2_12_i686.manylinux2010_i686.whl", hash = "sha256:ca5ef1315fa67c241a657ab077be44f230c05740c95f0b46409457dceefdc7e5"},
-    {file = "pygame-2.1.2-cp38-cp38-manylinux_2_12_x86_64.manylinux2010_x86_64.whl", hash = "sha256:1219a963941bd53aa754e8449364c142004fe706c33a9c22ff2a76521a82d078"},
-    {file = "pygame-2.1.2-cp38-cp38-manylinux_2_17_aarch64.manylinux2014_aarch64.whl", hash = "sha256:3bb0674aa789848ddc264bfc60c54965bf3bb659c141de4f600e379acc9b944c"},
-    {file = "pygame-2.1.2-cp38-cp38-manylinux_2_17_i686.manylinux2014_i686.whl", hash = "sha256:24254c4244f0d9bdc904f5d3f38e86757ca4c6aa0e44a6d55ef5e016bc7274d6"},
-    {file = "pygame-2.1.2-cp38-cp38-manylinux_2_17_x86_64.manylinux2014_x86_64.whl", hash = "sha256:97a74ba186deee68318a52637012ef6abf5be6282c659e1d1ba6ad08cf35ec85"},
-    {file = "pygame-2.1.2-cp38-cp38-manylinux_2_5_i686.manylinux1_i686.whl", hash = "sha256:0e97d38308c441942577fea7fcd1326308bc56d6be6c024218e94d075d322e0f"},
-    {file = "pygame-2.1.2-cp38-cp38-manylinux_2_5_x86_64.manylinux1_x86_64.whl", hash = "sha256:ea36f4f93524554a35cac2359df63b50af6556ed866830aa1f07f0d8580280ea"},
-    {file = "pygame-2.1.2-cp38-cp38-win32.whl", hash = "sha256:4aa3ae32320cc704d63e185864e44f6265c2a6e52c9384afe152cc3d51b3a2ef"},
-    {file = "pygame-2.1.2-cp38-cp38-win_amd64.whl", hash = "sha256:9d7b021b8dde5d528363e474bc18bd6f79a9666eef89fb4859bcb8f0a536c9de"},
-    {file = "pygame-2.1.2-cp39-cp39-macosx_10_9_x86_64.whl", hash = "sha256:660c80c0b2e80f1f801715583b759fb4c7bc0c11eb3b534e89c9fc4bfbc38acd"},
-    {file = "pygame-2.1.2-cp39-cp39-macosx_11_0_arm64.whl", hash = "sha256:dad6bf3fdd3752d7519422f3732be779b98fe7c87d32c3efe2fdffdcbeebb6ca"},
-    {file = "pygame-2.1.2-cp39-cp39-manylinux_2_12_i686.manylinux2010_i686.whl", hash = "sha256:119dee20c372c85dc47b717119534d15a60c64ceab8b0eb09278866d10486afe"},
-    {file = "pygame-2.1.2-cp39-cp39-manylinux_2_12_x86_64.manylinux2010_x86_64.whl", hash = "sha256:fc2e5db54491e8f27785fc5204c96f540d3557dcf5b0a9a857b6594d6b32561b"},
-    {file = "pygame-2.1.2-cp39-cp39-manylinux_2_17_aarch64.manylinux2014_aarch64.whl", hash = "sha256:d2d3c50ee9847b743db6cd7b1bb17a94c2c2abc16679d70f5e745cabdf19e655"},
-    {file = "pygame-2.1.2-cp39-cp39-manylinux_2_17_i686.manylinux2014_i686.whl", hash = "sha256:6ecda8dd4583982bb65f9c682f244a5e94524dcf628379766227e9ed97201a49"},
-    {file = "pygame-2.1.2-cp39-cp39-manylinux_2_17_x86_64.manylinux2014_x86_64.whl", hash = "sha256:0e06ae8e1c830f1b9c36a2bc6bb11de840232e95b78e2c349c6ed803a303be19"},
-    {file = "pygame-2.1.2-cp39-cp39-manylinux_2_5_i686.manylinux1_i686.whl", hash = "sha256:c5ea87da5fe4b6164c3854f3b0c9146811dbad0dd7fa74297683dfacc485ae1c"},
-    {file = "pygame-2.1.2-cp39-cp39-manylinux_2_5_x86_64.manylinux1_x86_64.whl", hash = "sha256:0427c103f741234336e5606d2fad86f5403c1a3d1dc55c309fbff3c984f0c9ae"},
-    {file = "pygame-2.1.2-cp39-cp39-win32.whl", hash = "sha256:5e88b0d4338b94960686f59396f23f7f684fed4859fcc3b9f40286d72c1c61af"},
-    {file = "pygame-2.1.2-cp39-cp39-win_amd64.whl", hash = "sha256:5d0c14152d0ca8ef5fbcc5ed9981462bdf59a9ae85a291e62d8a8d0b7e5cbe43"},
-    {file = "pygame-2.1.2-pp36-pypy36_pp73-win32.whl", hash = "sha256:636f51f56615d67459b11918206bb4da30cd7d7042027bf997c218ccd6c77902"},
-    {file = "pygame-2.1.2-pp37-pypy37_pp73-macosx_10_9_x86_64.whl", hash = "sha256:ff961c3280d6ee5f4163f4772f963d7a4dbe42e36c6dd54b79ad436c1f046e5d"},
-    {file = "pygame-2.1.2-pp37-pypy37_pp73-manylinux_2_12_i686.manylinux2010_i686.whl", hash = "sha256:fc30e834f65b893d1b4c230070183bf98e6b70c41c1511687e8436a33d5ce49d"},
-    {file = "pygame-2.1.2-pp37-pypy37_pp73-manylinux_2_12_x86_64.manylinux2010_x86_64.whl", hash = "sha256:5c7600bf307de1ca1dca0cc7840e34604d5b0b0a5a5dad345c3fa62b054b886d"},
-    {file = "pygame-2.1.2-pp37-pypy37_pp73-manylinux_2_17_i686.manylinux2014_i686.whl", hash = "sha256:7fdb93b4282962c9a2ebf1af994ee698be823dd913218ed97a5f2fb372b10b66"},
-    {file = "pygame-2.1.2-pp37-pypy37_pp73-manylinux_2_17_x86_64.manylinux2014_x86_64.whl", hash = "sha256:1fddec8829e96424800c806582d73a5173b7d48946cccf7d035839ca09850db8"},
-    {file = "pygame-2.1.2.tar.gz", hash = "sha256:d6d0eca28f886f0477cd0721ac688189155a587f2bb8eae740e52ca56c3ad23c"},
+
+[[package]]
+name = "pyee"
+version = "11.0.0"
+description = "A rough port of Node.js's EventEmitter to Python with a few tricks of its own"
+optional = false
+python-versions = ">=3.8"
+files = [
+    {file = "pyee-11.0.0-py3-none-any.whl", hash = "sha256:78bb582de8083e50cbcc9aef3e40b43d5bfa321ef85bda07a1a7b8a0c78cfebe"},
+    {file = "pyee-11.0.0.tar.gz", hash = "sha256:27c682bce60bdadc5d3e23eacd4101df328c0280884a3d9c07f3a4e3e595de27"},
 ]
-pygments = [
-    {file = "Pygments-2.13.0-py3-none-any.whl", hash = "sha256:f643f331ab57ba3c9d89212ee4a2dabc6e94f117cf4eefde99a0574720d14c42"},
-    {file = "Pygments-2.13.0.tar.gz", hash = "sha256:56a8508ae95f98e2b9bdf93a6be5ae3f7d8af858b43e02c5a2ff083726be40c1"},
+
+[package.dependencies]
+typing-extensions = "*"
+
+[package.extras]
+dev = ["black", "flake8", "flake8-black", "isort", "jupyter-console", "mkdocs", "mkdocs-include-markdown-plugin", "mkdocstrings[python]", "pytest", "pytest-asyncio", "pytest-trio", "toml", "tox", "trio", "trio", "trio-typing", "twine", "twisted", "validate-pyproject[all]"]
+
+[[package]]
+name = "pyflakes"
+version = "3.1.0"
+description = "passive checker of Python programs"
+optional = false
+python-versions = ">=3.8"
+files = [
+    {file = "pyflakes-3.1.0-py2.py3-none-any.whl", hash = "sha256:4132f6d49cb4dae6819e5379898f2b8cce3c5f23994194c24b77d5da2e36f774"},
+    {file = "pyflakes-3.1.0.tar.gz", hash = "sha256:a0aae034c444db0071aa077972ba4768d40c830d9539fd45bf4cd3f8f6992efc"},
 ]
-pyjwt = [
-    {file = "PyJWT-2.6.0-py3-none-any.whl", hash = "sha256:d83c3d892a77bbb74d3e1a2cfa90afaadb60945205d1095d9221f04466f64c14"},
-    {file = "PyJWT-2.6.0.tar.gz", hash = "sha256:69285c7e31fc44f68a1feb309e948e0df53259d579295e6cfe2b1792329f05fd"},
+
+[[package]]
+name = "pygame"
+version = "2.5.0"
+description = "Python Game Development"
+optional = false
+python-versions = ">=3.6"
+files = [
+    {file = "pygame-2.5.0-cp310-cp310-macosx_10_9_x86_64.whl", hash = "sha256:e34a2b5660acc298d0a66ce16f13a7ca1c56c2a685e40afef3a0cf6eaf3f44b3"},
+    {file = "pygame-2.5.0-cp310-cp310-macosx_11_0_arm64.whl", hash = "sha256:875dbde88b899fb7f48d6f0e87f70c3dcc8ee87a947c3df817d949a9741dbcf5"},
+    {file = "pygame-2.5.0-cp310-cp310-manylinux_2_17_aarch64.manylinux2014_aarch64.whl", hash = "sha256:854dc9106210d1a3a83914af53fc234c0bed65a39f5e6098a8eb489da354ad0c"},
+    {file = "pygame-2.5.0-cp310-cp310-manylinux_2_17_i686.manylinux2014_i686.whl", hash = "sha256:7e1898db0fd7b868a31c29204813f447c59390350fd806904d80bebde094f3f8"},
+    {file = "pygame-2.5.0-cp310-cp310-manylinux_2_17_x86_64.manylinux2014_x86_64.whl", hash = "sha256:22d5eac9b9936c7dc2813a750bc8efd53234ad1afc32eb99d6f64bb403c2b9aa"},
+    {file = "pygame-2.5.0-cp310-cp310-win32.whl", hash = "sha256:e9eed550b8921080a3c7524202822fc2cf7226e0ffd3c4e4d16510ba44b24e6f"},
+    {file = "pygame-2.5.0-cp310-cp310-win_amd64.whl", hash = "sha256:93128beb1154c443f05a66bfbf3f1d4eb8659157ab3b45e4a0454e5905440431"},
+    {file = "pygame-2.5.0-cp311-cp311-macosx_10_9_x86_64.whl", hash = "sha256:c71d5b3ec232113cbd2e23a19eb01eef1818db41892d0d5efbac3901f940da66"},
+    {file = "pygame-2.5.0-cp311-cp311-macosx_11_0_arm64.whl", hash = "sha256:b763062b1996de26a28600e7a8f138d5b36ba0ddd63c65ccbd06124cd95bab70"},
+    {file = "pygame-2.5.0-cp311-cp311-manylinux_2_17_aarch64.manylinux2014_aarch64.whl", hash = "sha256:e5b6a42109f922352c524565fceb22bf8f8b6e4b00d38306e6f5b4c673048f4a"},
+    {file = "pygame-2.5.0-cp311-cp311-manylinux_2_17_i686.manylinux2014_i686.whl", hash = "sha256:3bcb19c8ee3fc794ab3a7cb5b5fb1ad38da6866dfbba4af3699a84a828c8a4b9"},
+    {file = "pygame-2.5.0-cp311-cp311-manylinux_2_17_x86_64.manylinux2014_x86_64.whl", hash = "sha256:c66b7abc38511c7ca08c5bb58a3bfc14fa51b4e5f85a1786777afc9e584a14dd"},
+    {file = "pygame-2.5.0-cp311-cp311-win32.whl", hash = "sha256:46cf1c9b20fb11c7d836c02dd5fc2ca843b699c0e2bc4130cf4ad2f855db5f7f"},
+    {file = "pygame-2.5.0-cp311-cp311-win_amd64.whl", hash = "sha256:f7b77b5019a9a6342535f53c75cef912b218cd24e98505828418f135aacc0a1b"},
+    {file = "pygame-2.5.0-cp312-cp312-manylinux_2_17_aarch64.manylinux2014_aarch64.whl", hash = "sha256:7ddec0c823fd0869fe4a75ba906dcb7889db0e0c289ce8c03d4ce0a67351ab66"},
+    {file = "pygame-2.5.0-cp312-cp312-manylinux_2_17_i686.manylinux2014_i686.whl", hash = "sha256:bae93ce29b8337a5e02507603094c51740c9f496272ef070e2624e9647776568"},
+    {file = "pygame-2.5.0-cp312-cp312-manylinux_2_17_x86_64.manylinux2014_x86_64.whl", hash = "sha256:c80a1ad38d11102b4dfa0519aa2a26fea534503b259872609acc9adb1860884e"},
+    {file = "pygame-2.5.0-cp312-cp312-win32.whl", hash = "sha256:8ffebcafda0add8072f82999498113be37494694fa36e02155cfaf1a0ba56fe2"},
+    {file = "pygame-2.5.0-cp312-cp312-win_amd64.whl", hash = "sha256:574e310ba708da0c34b71c4158aa7cdca3cf3e16c4100dcd1d3c931a9c6705b4"},
+    {file = "pygame-2.5.0-cp36-cp36m-macosx_10_9_x86_64.whl", hash = "sha256:275e4fab379620c3b262cd58c457eea80001e91bc2e04d306ddb0ba548c969bf"},
+    {file = "pygame-2.5.0-cp36-cp36m-manylinux_2_17_aarch64.manylinux2014_aarch64.whl", hash = "sha256:c116a96a2784bd1724476dbf9c48bfea466ee493a736bdfa04ecbc3f193de0bc"},
+    {file = "pygame-2.5.0-cp36-cp36m-manylinux_2_17_i686.manylinux2014_i686.whl", hash = "sha256:d4a0787ade8723323a3ba874bb725010bb08990a77327fc85f42474f3a840447"},
+    {file = "pygame-2.5.0-cp36-cp36m-manylinux_2_17_x86_64.manylinux2014_x86_64.whl", hash = "sha256:c1cb39b660da1b56a1704ec4aa72bac538030786e23607fb25b8a66f357ffe3a"},
+    {file = "pygame-2.5.0-cp36-cp36m-win32.whl", hash = "sha256:d051420667dd9fc8103b3cf994c03e46ee90b1c4a72c174737b8c14729ddf68e"},
+    {file = "pygame-2.5.0-cp36-cp36m-win_amd64.whl", hash = "sha256:6b58356510b7c38836eb81cf08983b58f280da99580d4f17e89ed0ddb707c29c"},
+    {file = "pygame-2.5.0-cp37-cp37m-macosx_10_9_x86_64.whl", hash = "sha256:80f167d8fcec7cd3107f829784ad721b1b7532c19fdf42b3aabbb51f7347850f"},
+    {file = "pygame-2.5.0-cp37-cp37m-manylinux_2_17_aarch64.manylinux2014_aarch64.whl", hash = "sha256:ef96e9a2d8fd9526b89657d192c42dd7c551bfa381fa98ec52d45443e9713818"},
+    {file = "pygame-2.5.0-cp37-cp37m-manylinux_2_17_i686.manylinux2014_i686.whl", hash = "sha256:e21d53279fb504b267ae06b565b72d9f95ecbf1f2dd8c705329b287f38295d98"},
+    {file = "pygame-2.5.0-cp37-cp37m-manylinux_2_17_x86_64.manylinux2014_x86_64.whl", hash = "sha256:147cc0256a5df1316590f351febf6205ef2907564fb0d902935834b91e183486"},
+    {file = "pygame-2.5.0-cp37-cp37m-win32.whl", hash = "sha256:e47696154d689180e4eea8c1d6f2bac923986119219db6ad0d2e60ab1f525e8c"},
+    {file = "pygame-2.5.0-cp37-cp37m-win_amd64.whl", hash = "sha256:4c87fa8fa1f3ea94069119accd6d4b5fbf869c2b2954a19b45162dfb3b7c885e"},
+    {file = "pygame-2.5.0-cp38-cp38-macosx_10_9_x86_64.whl", hash = "sha256:143550078ab10f290cd7c8715a46853e0dc598fd6cdd1561ecb4d6e3116a6b26"},
+    {file = "pygame-2.5.0-cp38-cp38-macosx_11_0_arm64.whl", hash = "sha256:969de806bed49b28972862acba652f05ece9420bbdf5f925c970c6a18a9fd1f9"},
+    {file = "pygame-2.5.0-cp38-cp38-manylinux_2_17_aarch64.manylinux2014_aarch64.whl", hash = "sha256:c5d3b0da31ea341b86ef96d6b13c0ddcb25f5320186b7215bc870f08119d2f80"},
+    {file = "pygame-2.5.0-cp38-cp38-manylinux_2_17_i686.manylinux2014_i686.whl", hash = "sha256:b23effd50121468f1dc41022230485bff515154191a9d343224850aa3ed3b7f0"},
+    {file = "pygame-2.5.0-cp38-cp38-manylinux_2_17_x86_64.manylinux2014_x86_64.whl", hash = "sha256:bce4116db6924b544ff8ff03f7ef681c8baf9c6e039a1ec21e26b4ebdaa0e994"},
+    {file = "pygame-2.5.0-cp38-cp38-win32.whl", hash = "sha256:50a89c15412506d95e98792435f49a73101788db30ad9c562f611c7aa7b437fa"},
+    {file = "pygame-2.5.0-cp38-cp38-win_amd64.whl", hash = "sha256:df1d8affdbe9f417cc7141581e3d08e4b09f708060d3127d2016fd591b2e4f68"},
+    {file = "pygame-2.5.0-cp39-cp39-macosx_10_9_x86_64.whl", hash = "sha256:99965da24d0bf138d9ac6b7494b9a12781c1510cf936616d1d0c46a736777f6a"},
+    {file = "pygame-2.5.0-cp39-cp39-macosx_11_0_arm64.whl", hash = "sha256:daa81057c1beb71a9fb96253457197ad03ee988ba546a166f253bd92a98a9a11"},
+    {file = "pygame-2.5.0-cp39-cp39-manylinux_2_17_aarch64.manylinux2014_aarch64.whl", hash = "sha256:3ca85da605f6621c99c05f272a5dcf85bf0badcdca45f16ff2bee9a9d41ae042"},
+    {file = "pygame-2.5.0-cp39-cp39-manylinux_2_17_i686.manylinux2014_i686.whl", hash = "sha256:603d403997d46b07022097861c8b0ff76c6192f8a2f5f89f1a6a978d4411b715"},
+    {file = "pygame-2.5.0-cp39-cp39-manylinux_2_17_x86_64.manylinux2014_x86_64.whl", hash = "sha256:7babaeac11544f3e4d7a15756a27f943dc5fff276481fdc9d90415a903ad31a9"},
+    {file = "pygame-2.5.0-cp39-cp39-win32.whl", hash = "sha256:9d2126f91699223f0c36845d1c7b2cdfe2f1753ef85b8410ea613e8bd212ca33"},
+    {file = "pygame-2.5.0-cp39-cp39-win_amd64.whl", hash = "sha256:8062adc409f0b2742d7996b9b470494025c5e3b73d0d03e3798708dcf5d195cd"},
+    {file = "pygame-2.5.0-pp36-pypy36_pp73-win32.whl", hash = "sha256:1bd14adf6151b6ac2f617a8fd71621f1c125209c41a359d3c1cf4bf3904dba5f"},
+    {file = "pygame-2.5.0-pp37-pypy37_pp73-manylinux_2_17_i686.manylinux2014_i686.whl", hash = "sha256:2b11708f1c7b1671db15246275adcb18cf384f5f7e73532e26999968876c5099"},
+    {file = "pygame-2.5.0-pp37-pypy37_pp73-manylinux_2_17_x86_64.manylinux2014_x86_64.whl", hash = "sha256:6830e431575697f7a11f7731798445242e37eb07ae9007f7be33083f700e9b1e"},
+    {file = "pygame-2.5.0-pp38-pypy38_pp73-macosx_10_9_x86_64.whl", hash = "sha256:7dd80addfdf7dc1f0e04f81c98acb96580726783172256f2ebc955a967e84124"},
+    {file = "pygame-2.5.0-pp38-pypy38_pp73-manylinux_2_17_i686.manylinux2014_i686.whl", hash = "sha256:1c2cbd9d1a0a3969d6e1c6b0741279c843b4a36ef3804d324874d0a2f0e49816"},
+    {file = "pygame-2.5.0-pp38-pypy38_pp73-manylinux_2_17_x86_64.manylinux2014_x86_64.whl", hash = "sha256:ef373b9865c740f18236f2324e17e7f2111e27c6a4a5b67c490c72a8a8b8de77"},
+    {file = "pygame-2.5.0-pp39-pypy39_pp73-macosx_10_9_x86_64.whl", hash = "sha256:3959038a3e2034cee3f15471786a3bac35baeaa1f7503dc7402bb49d25b5ddbc"},
+    {file = "pygame-2.5.0-pp39-pypy39_pp73-manylinux_2_17_i686.manylinux2014_i686.whl", hash = "sha256:583d9c8ad033ad51da8485427139d047afb649f49e42d4fa88477f73734ad4b0"},
+    {file = "pygame-2.5.0-pp39-pypy39_pp73-manylinux_2_17_x86_64.manylinux2014_x86_64.whl", hash = "sha256:13b650e925d2e8c82c16bdeae6e7fc5d6ca4ac659a1412da4ecd923ef9d688cb"},
+    {file = "pygame-2.5.0.tar.gz", hash = "sha256:edd5745b79435976d92c0a7318aedcafcb7ac4567125ac6ba88aa473559ef9ab"},
 ]
-pylev = [
-    {file = "pylev-1.4.0-py2.py3-none-any.whl", hash = "sha256:7b2e2aa7b00e05bb3f7650eb506fc89f474f70493271a35c242d9a92188ad3dd"},
-    {file = "pylev-1.4.0.tar.gz", hash = "sha256:9e77e941042ad3a4cc305dcdf2b2dec1aec2fbe3dd9015d2698ad02b173006d1"},
+
+[[package]]
+name = "pygments"
+version = "2.16.1"
+description = "Pygments is a syntax highlighting package written in Python."
+optional = false
+python-versions = ">=3.7"
+files = [
+    {file = "Pygments-2.16.1-py3-none-any.whl", hash = "sha256:13fc09fa63bc8d8671a6d247e1eb303c4b343eaee81d861f3404db2935653692"},
+    {file = "Pygments-2.16.1.tar.gz", hash = "sha256:1daff0494820c69bc8941e407aa20f577374ee88364ee10a98fdbe0aece96e29"},
 ]
-pylint = [
-    {file = "pylint-2.15.4-py3-none-any.whl", hash = "sha256:629cf1dbdfb6609d7e7a45815a8bb59300e34aa35783b5ac563acaca2c4022e9"},
-    {file = "pylint-2.15.4.tar.gz", hash = "sha256:5441e9294335d354b7bad57c1044e5bd7cce25c433475d76b440e53452fa5cb8"},
+
+[package.extras]
+plugins = ["importlib-metadata"]
+
+[[package]]
+name = "pyjwt"
+version = "2.8.0"
+description = "JSON Web Token implementation in Python"
+optional = false
+python-versions = ">=3.7"
+files = [
+    {file = "PyJWT-2.8.0-py3-none-any.whl", hash = "sha256:59127c392cc44c2da5bb3192169a91f429924e17aff6534d70fdc02ab3e04320"},
+    {file = "PyJWT-2.8.0.tar.gz", hash = "sha256:57e28d156e3d5c10088e0c68abb90bfac3df82b40a71bd0daa20c65ccd5c23de"},
 ]
-pymsalruntime = [
-    {file = "pymsalruntime-0.11.2-cp310-cp310-win32.whl", hash = "sha256:a45e35c9fa58c196029bb9f5b8bedd313b2a8ac971d576c57c31cb06139de247"},
-    {file = "pymsalruntime-0.11.2-cp310-cp310-win_amd64.whl", hash = "sha256:81bd2502779b1c032d878b3e6bdb64882b8c7f94560cffed62e2555470d1fe45"},
-    {file = "pymsalruntime-0.11.2-cp36-cp36m-win32.whl", hash = "sha256:e6f6316128de8f62caeadf2a755e3919cc4532964d77a550974b156f27ae5f33"},
-    {file = "pymsalruntime-0.11.2-cp36-cp36m-win_amd64.whl", hash = "sha256:ee139e7222e89f5bda3d6e8f9426b6bc0e8b4ef7c6fc2e6b9bd8b6c11579c3fb"},
-    {file = "pymsalruntime-0.11.2-cp37-cp37m-win32.whl", hash = "sha256:6eedca38877cc8718ac273cf796aebed9a25d64258d717599f601bc01f9b7922"},
-    {file = "pymsalruntime-0.11.2-cp37-cp37m-win_amd64.whl", hash = "sha256:b0f289e4d3b01bbddf422cd82899295cf5ee4c41eda45752dd3a0733acd0ba0f"},
-    {file = "pymsalruntime-0.11.2-cp38-cp38-win32.whl", hash = "sha256:5760a1c1b6fa8c10f15a325815e0315a703106d3984cbc939d17f48d84ab21bb"},
-    {file = "pymsalruntime-0.11.2-cp38-cp38-win_amd64.whl", hash = "sha256:e0654d04f54d1cee218a868da77f4a5a2b5369e2cc9bb35f539144256f08b00a"},
-    {file = "pymsalruntime-0.11.2-cp39-cp39-win32.whl", hash = "sha256:06501f5a1fcf83ba2edbae34c94df08f50c31290301ac20f1828c4cecc2ae1bc"},
-    {file = "pymsalruntime-0.11.2-cp39-cp39-win_amd64.whl", hash = "sha256:c10f8761baa042cba3a502be50fb19d0fe46850de82cb730b836ac3aff7a9b0e"},
-    {file = "pymsalruntime-0.11.2.tar.gz", hash = "sha256:636d01c7f6f165b48e288c2af0bd21447649846af00050956ba28a5d4079e98b"},
+
+[package.dependencies]
+cryptography = {version = ">=3.4.0", optional = true, markers = "extra == \"crypto\""}
+
+[package.extras]
+crypto = ["cryptography (>=3.4.0)"]
+dev = ["coverage[toml] (==5.0.4)", "cryptography (>=3.4.0)", "pre-commit", "pytest (>=6.0.0,<7.0.0)", "sphinx (>=4.5.0,<5.0.0)", "sphinx-rtd-theme", "zope.interface"]
+docs = ["sphinx (>=4.5.0,<5.0.0)", "sphinx-rtd-theme", "zope.interface"]
+tests = ["coverage[toml] (==5.0.4)", "pytest (>=6.0.0,<7.0.0)"]
+
+[[package]]
+name = "pylibsrtp"
+version = "0.8.0"
+description = "Python wrapper around the libsrtp library"
+optional = false
+python-versions = "*"
+files = [
+    {file = "pylibsrtp-0.8.0-cp310-cp310-macosx_10_9_x86_64.whl", hash = "sha256:e42071588f006da698b821c43a9f4db6c377835eb41378876fd08e6240213fb6"},
+    {file = "pylibsrtp-0.8.0-cp310-cp310-macosx_11_0_arm64.whl", hash = "sha256:1da3b1c19c3e1f24bb258076b7fb2e8980a3e1116afdd2569e7904d212f122a7"},
+    {file = "pylibsrtp-0.8.0-cp310-cp310-manylinux_2_12_i686.manylinux2010_i686.manylinux_2_17_i686.manylinux2014_i686.whl", hash = "sha256:6dd443522ebb59aef3fdc06a85cdafdb17052ada3ab02f00e59aac99207409d5"},
+    {file = "pylibsrtp-0.8.0-cp310-cp310-manylinux_2_17_aarch64.manylinux2014_aarch64.whl", hash = "sha256:154f63b43360da574c9af3a81d032a3c51a2e801cb7a71deb9f74a930755df44"},
+    {file = "pylibsrtp-0.8.0-cp310-cp310-manylinux_2_17_x86_64.manylinux2014_x86_64.whl", hash = "sha256:3fdf9f2e373b740325e9ea577cc173bef416d84bccafafba8ee16d08db6abea9"},
+    {file = "pylibsrtp-0.8.0-cp310-cp310-win32.whl", hash = "sha256:aa729b70d17998fc8f60a137ee2befb65dc883981c9b3dc10c39f4437cd2249e"},
+    {file = "pylibsrtp-0.8.0-cp310-cp310-win_amd64.whl", hash = "sha256:a2e1c8c09f4706e7ca8e78bbbbae837b4ce708c3d6facc6719bcbc601004f1e8"},
+    {file = "pylibsrtp-0.8.0-cp311-cp311-macosx_10_9_x86_64.whl", hash = "sha256:c52b846acb092b2f728684e6430116b532903b71e788b6713e928bd91cafb5c5"},
+    {file = "pylibsrtp-0.8.0-cp311-cp311-macosx_11_0_arm64.whl", hash = "sha256:6d2a11ef5e41bb490e871cced1e9dea35485befb5c1478f1aa5cbd430c934509"},
+    {file = "pylibsrtp-0.8.0-cp311-cp311-manylinux_2_12_i686.manylinux2010_i686.manylinux_2_17_i686.manylinux2014_i686.whl", hash = "sha256:30380f1fd3976056095352484f38606a2fc05ab14fff03900fc3202201e42967"},
+    {file = "pylibsrtp-0.8.0-cp311-cp311-manylinux_2_17_aarch64.manylinux2014_aarch64.whl", hash = "sha256:2f6374312fb94c51b22260e0f620299c7c4f12fad5b75e862b2b2c55e2d493d6"},
+    {file = "pylibsrtp-0.8.0-cp311-cp311-manylinux_2_17_x86_64.manylinux2014_x86_64.whl", hash = "sha256:754bb1aaac9f3f477dca2c8b3e31b13587e762a182e64e1ed271a4e6715d2f51"},
+    {file = "pylibsrtp-0.8.0-cp311-cp311-win32.whl", hash = "sha256:cdf5261d80ae821f4cda90c5835577632db2a6e36af3985d94b922d461ddb34b"},
+    {file = "pylibsrtp-0.8.0-cp311-cp311-win_amd64.whl", hash = "sha256:ba2c32188595f3c70f1ac44a81f549b118f54de037158ac96929bdf48dcb8145"},
+    {file = "pylibsrtp-0.8.0-cp37-cp37m-macosx_10_9_x86_64.whl", hash = "sha256:6462390d7b3e6452e9504088094dadfa7e83d6fe33225e66ed4a483ab8937262"},
+    {file = "pylibsrtp-0.8.0-cp37-cp37m-manylinux_2_12_i686.manylinux2010_i686.manylinux_2_17_i686.manylinux2014_i686.whl", hash = "sha256:102c4d4198c9e02ed765e2d74322fb86c623554e4425303b15fff9af2dc4f854"},
+    {file = "pylibsrtp-0.8.0-cp37-cp37m-manylinux_2_17_aarch64.manylinux2014_aarch64.whl", hash = "sha256:04b1781e8bc43fb07694ec2ee3f82c34eb956c350fd97b781c81b13c175bd786"},
+    {file = "pylibsrtp-0.8.0-cp37-cp37m-manylinux_2_17_x86_64.manylinux2014_x86_64.whl", hash = "sha256:cddabf775098282667396da37d343b0dd8199cf7f3bec4b150a5ce38c482e30e"},
+    {file = "pylibsrtp-0.8.0-cp37-cp37m-win32.whl", hash = "sha256:9ae2f71ac4b1d6d52c38eca609c360685f6c410b1b89f38488f96533c50e6b69"},
+    {file = "pylibsrtp-0.8.0-cp37-cp37m-win_amd64.whl", hash = "sha256:e0a82c40c28a28383c35d7c163f1cd3a31c418ac5f3e1c129a644c9e521cac8d"},
+    {file = "pylibsrtp-0.8.0-cp38-cp38-macosx_10_9_x86_64.whl", hash = "sha256:1f33bb54320b337dfbafd43b693315b14c7c454258c4dd9b35a5b5f10a2f3b84"},
+    {file = "pylibsrtp-0.8.0-cp38-cp38-macosx_11_0_arm64.whl", hash = "sha256:3284034b0c4671cda2d0b38f4e85766fe4bd61a55ee3f966ba7c77eb6c96579a"},
+    {file = "pylibsrtp-0.8.0-cp38-cp38-manylinux_2_12_i686.manylinux2010_i686.manylinux_2_17_i686.manylinux2014_i686.whl", hash = "sha256:8eda6e155679f070e7ac65fe39287cab6523a75c781dd0a457024fe588438599"},
+    {file = "pylibsrtp-0.8.0-cp38-cp38-manylinux_2_17_aarch64.manylinux2014_aarch64.whl", hash = "sha256:088c9d5cf3b0200cf78b68ab03b4118cb76160baedbee5dac7503dafc6d394f4"},
+    {file = "pylibsrtp-0.8.0-cp38-cp38-manylinux_2_17_x86_64.manylinux2014_x86_64.whl", hash = "sha256:ffbba66a97f61ddd24e9eaa2bff967c21e1028fbe0ef35b4b701717e10e33e96"},
+    {file = "pylibsrtp-0.8.0-cp38-cp38-win32.whl", hash = "sha256:8a2b71dfddcaa71671970e4ce452293836bad0b93a1c1766d7cffb231c4601e4"},
+    {file = "pylibsrtp-0.8.0-cp38-cp38-win_amd64.whl", hash = "sha256:b42f0068409cdcb1e54f2a48fea92bae07232991938601f0c16f837299df1583"},
+    {file = "pylibsrtp-0.8.0-cp39-cp39-macosx_10_9_x86_64.whl", hash = "sha256:8150b70eb2557ffaae46172ebf86b6e1ae67bb25c207445988d573d4b57e6aa6"},
+    {file = "pylibsrtp-0.8.0-cp39-cp39-macosx_11_0_arm64.whl", hash = "sha256:d5dd8837a522565766f427793ce644ed2d2bcd0d372f8683269e6d525646b7c6"},
+    {file = "pylibsrtp-0.8.0-cp39-cp39-manylinux_2_12_i686.manylinux2010_i686.manylinux_2_17_i686.manylinux2014_i686.whl", hash = "sha256:a51e06452152a36a97545becf6617141ac68def6df90c1e6857d61432b97d5e0"},
+    {file = "pylibsrtp-0.8.0-cp39-cp39-manylinux_2_17_aarch64.manylinux2014_aarch64.whl", hash = "sha256:a1de6b0e4e5ceecbe908b0f86db0d9da28fdcb05cc605e5a1f06628540ac0e7a"},
+    {file = "pylibsrtp-0.8.0-cp39-cp39-manylinux_2_17_x86_64.manylinux2014_x86_64.whl", hash = "sha256:0c42b2eb3106d34906eedcba9d72f121f6e2f28f061b91ccde4f68af58fc1c84"},
+    {file = "pylibsrtp-0.8.0-cp39-cp39-win32.whl", hash = "sha256:684ee6b57be78cdae34ede1641c95eba0ab647f47c12456b6393bfc1425737bd"},
+    {file = "pylibsrtp-0.8.0-cp39-cp39-win_amd64.whl", hash = "sha256:6973fbaa0aecb24c4736e953b37afe7245952b4b8b15ab69b236edff04703f5d"},
+    {file = "pylibsrtp-0.8.0-pp37-pypy37_pp73-macosx_10_9_x86_64.whl", hash = "sha256:7333af56ec3f6989cf41c804df42123615f696c3d1e8270f6d4ab51a6e631f14"},
+    {file = "pylibsrtp-0.8.0-pp37-pypy37_pp73-manylinux_2_12_i686.manylinux2010_i686.manylinux_2_17_i686.manylinux2014_i686.whl", hash = "sha256:f1332e7165a2419033bc90497083345fa802ffe8220e0efc176e892e8be1c19f"},
+    {file = "pylibsrtp-0.8.0-pp37-pypy37_pp73-manylinux_2_17_aarch64.manylinux2014_aarch64.whl", hash = "sha256:02d66058ed065163c6aa61fd64a07b7a89a13a5114bc63276ec3a0007cc3aa3e"},
+    {file = "pylibsrtp-0.8.0-pp37-pypy37_pp73-manylinux_2_17_x86_64.manylinux2014_x86_64.whl", hash = "sha256:472f98d128db2791e8931b0260a6309b0258903fe8e6f9669fff115d6e6b094e"},
+    {file = "pylibsrtp-0.8.0-pp37-pypy37_pp73-win_amd64.whl", hash = "sha256:89278f1e1ffc6afdcbab4898e04f28f9fd7f15c548d9583b05b691133671d7b7"},
+    {file = "pylibsrtp-0.8.0-pp38-pypy38_pp73-macosx_10_9_x86_64.whl", hash = "sha256:a9ab76d23295e44d46c4cfd7c12e16b6956d465982aae652588beb62184c6232"},
+    {file = "pylibsrtp-0.8.0-pp38-pypy38_pp73-manylinux_2_12_i686.manylinux2010_i686.manylinux_2_17_i686.manylinux2014_i686.whl", hash = "sha256:836ba84b644c3ccb2155dea8695e8f578774465ff4c921646191be5ae051b756"},
+    {file = "pylibsrtp-0.8.0-pp38-pypy38_pp73-manylinux_2_17_aarch64.manylinux2014_aarch64.whl", hash = "sha256:a9aab5ca601a60160d4afe462f8497d726055eb8cd8eeaae5ef07f1bfdac529f"},
+    {file = "pylibsrtp-0.8.0-pp38-pypy38_pp73-manylinux_2_17_x86_64.manylinux2014_x86_64.whl", hash = "sha256:3626cf72519170be626acc5a4a409b5c82879d1d59cfcd0cd834a0dd26d10695"},
+    {file = "pylibsrtp-0.8.0-pp38-pypy38_pp73-win_amd64.whl", hash = "sha256:d102822356026aff7f6b2b8dbc0c0d570c13504ea14bcfaf4e41cd14aa494286"},
+    {file = "pylibsrtp-0.8.0-pp39-pypy39_pp73-macosx_10_9_x86_64.whl", hash = "sha256:974a810cba9e69b3ce055a4935f725b0fa91d635c0e90b42b0af5514bfb5d147"},
+    {file = "pylibsrtp-0.8.0-pp39-pypy39_pp73-manylinux_2_12_i686.manylinux2010_i686.manylinux_2_17_i686.manylinux2014_i686.whl", hash = "sha256:2db61226c3783fde40313b93df7e51d70f28e1de3439ee6f227da10c3f3e277d"},
+    {file = "pylibsrtp-0.8.0-pp39-pypy39_pp73-manylinux_2_17_aarch64.manylinux2014_aarch64.whl", hash = "sha256:4bc815735333d87adee37aa8494ec466ed9cb188437ffaf82e01ba403b293022"},
+    {file = "pylibsrtp-0.8.0-pp39-pypy39_pp73-manylinux_2_17_x86_64.manylinux2014_x86_64.whl", hash = "sha256:4c18b542e70b6b995dfb7d79eddf9e5f81c618fb540fc4a52b79bef92f7e34e0"},
+    {file = "pylibsrtp-0.8.0-pp39-pypy39_pp73-win_amd64.whl", hash = "sha256:736ee2ac2b1d7dab1671bc40fab84dc7877ee7abb92cf72218e8b2faeff67c93"},
+    {file = "pylibsrtp-0.8.0.tar.gz", hash = "sha256:b2e5191fcf027f81a58db3dec743716ed0e1508c27d0883bcb47730ff380d6f0"},
 ]
-pymysql = [
+
+[package.dependencies]
+cffi = ">=1.0.0"
+
+[[package]]
+name = "pylint"
+version = "2.17.5"
+description = "python code static checker"
+optional = false
+python-versions = ">=3.7.2"
+files = [
+    {file = "pylint-2.17.5-py3-none-any.whl", hash = "sha256:73995fb8216d3bed149c8d51bba25b2c52a8251a2c8ac846ec668ce38fab5413"},
+    {file = "pylint-2.17.5.tar.gz", hash = "sha256:f7b601cbc06fef7e62a754e2b41294c2aa31f1cb659624b9a85bcba29eaf8252"},
+]
+
+[package.dependencies]
+astroid = ">=2.15.6,<=2.17.0-dev0"
+colorama = {version = ">=0.4.5", markers = "sys_platform == \"win32\""}
+dill = {version = ">=0.3.6", markers = "python_version >= \"3.11\""}
+isort = ">=4.2.5,<6"
+mccabe = ">=0.6,<0.8"
+platformdirs = ">=2.2.0"
+tomlkit = ">=0.10.1"
+
+[package.extras]
+spelling = ["pyenchant (>=3.2,<4.0)"]
+testutils = ["gitpython (>3)"]
+
+[[package]]
+name = "pymsalruntime"
+version = "0.13.9"
+description = "The MSALRuntime Python Interop Package"
+optional = false
+python-versions = ">=3.6"
+files = [
+    {file = "pymsalruntime-0.13.9-cp310-cp310-win32.whl", hash = "sha256:d61dbca27f6b1aec647c7e2487ac3ac0274f69dc29c8b26f4ff0ee6d85c7414c"},
+    {file = "pymsalruntime-0.13.9-cp310-cp310-win_amd64.whl", hash = "sha256:1f0ed70cbd2f6c67ef5af0a41ccdb001566cce17432bb63eb775bee3369f76b0"},
+    {file = "pymsalruntime-0.13.9-cp311-cp311-win32.whl", hash = "sha256:0220580e0f0a15f82d3b77ba92202c1c2c083d20903e691c54a8b055fa4bcf8f"},
+    {file = "pymsalruntime-0.13.9-cp311-cp311-win_amd64.whl", hash = "sha256:e5146759fb50eb1bf17287b4b61e0a8eb23dd6100798aeefbc8bdea16217fa2d"},
+    {file = "pymsalruntime-0.13.9-cp36-cp36m-win32.whl", hash = "sha256:3d732eb305c2114bee1bc5a579ef0dad188de751924c1262a64127d99e75f6a4"},
+    {file = "pymsalruntime-0.13.9-cp36-cp36m-win_amd64.whl", hash = "sha256:a63b6e034d43895b6183897a40c4fc589a680019664744e1cb9da4153afed01d"},
+    {file = "pymsalruntime-0.13.9-cp37-cp37m-win32.whl", hash = "sha256:e0a8478449a73ace3a4c408c1116361b74e074902defeb7a97eb6337cc37951e"},
+    {file = "pymsalruntime-0.13.9-cp37-cp37m-win_amd64.whl", hash = "sha256:781ef1de3e3335e255c0a17c31a1ecc8eecfb5f274129a76e82428d3d9867cc1"},
+    {file = "pymsalruntime-0.13.9-cp38-cp38-win32.whl", hash = "sha256:8f67291ab983dc70e23ad35cb570452aec3b0960475956398039a6cafd79cde2"},
+    {file = "pymsalruntime-0.13.9-cp38-cp38-win_amd64.whl", hash = "sha256:9381347abb2df60c54d864d4efe067d9afcb970d6b8f393602ac62a265230ff1"},
+    {file = "pymsalruntime-0.13.9-cp39-cp39-win32.whl", hash = "sha256:226752759d8fb09592e343d0870ed8d23ab2137ba0a2c1b838936599728450ba"},
+    {file = "pymsalruntime-0.13.9-cp39-cp39-win_amd64.whl", hash = "sha256:91488f5e2d0d9260afb99428264f03afc9f32ae977695ff3676ac7f86d1fe2ed"},
+    {file = "pymsalruntime-0.13.9.tar.gz", hash = "sha256:aac8c9cc930bce394e3c50f622c65c1bcd9c3d2e9a8d7c1a9e0cef2bd70d2d84"},
+]
+
+[[package]]
+name = "pymysql"
+version = "0.9.3"
+description = "Pure Python MySQL Driver"
+optional = false
+python-versions = "*"
+files = [
     {file = "PyMySQL-0.9.3-py2.py3-none-any.whl", hash = "sha256:3943fbbbc1e902f41daf7f9165519f140c4451c179380677e6a848587042561a"},
     {file = "PyMySQL-0.9.3.tar.gz", hash = "sha256:d8c059dcd81dedb85a9f034d5e22dcb4442c0b201908bede99e306d65ea7c8e7"},
 ]
-pynacl = [
+
+[package.extras]
+rsa = ["cryptography"]
+
+[[package]]
+name = "pynacl"
+version = "1.5.0"
+description = "Python binding to the Networking and Cryptography (NaCl) library"
+optional = false
+python-versions = ">=3.6"
+files = [
     {file = "PyNaCl-1.5.0-cp36-abi3-macosx_10_10_universal2.whl", hash = "sha256:401002a4aaa07c9414132aaed7f6836ff98f59277a234704ff66878c2ee4a0d1"},
     {file = "PyNaCl-1.5.0-cp36-abi3-manylinux_2_17_aarch64.manylinux2014_aarch64.manylinux_2_24_aarch64.whl", hash = "sha256:52cb72a79269189d4e0dc537556f4740f7f0a9ec41c1322598799b0bdad4ef92"},
     {file = "PyNaCl-1.5.0-cp36-abi3-manylinux_2_17_aarch64.manylinux2014_aarch64.whl", hash = "sha256:a36d4a9dda1f19ce6e03c9a784a2921a4b726b02e1c736600ca9c22029474394"},
@@ -7601,148 +6872,312 @@ pynacl = [
     {file = "PyNaCl-1.5.0-cp36-abi3-win_amd64.whl", hash = "sha256:20f42270d27e1b6a29f54032090b972d97f0a1b0948cc52392041ef7831fee93"},
     {file = "PyNaCl-1.5.0.tar.gz", hash = "sha256:8ac7448f09ab85811607bdd21ec2464495ac8b7c66d146bf545b0f08fb9220ba"},
 ]
-pyopencl = [
-    {file = "pyopencl-2022.2.4-cp310-cp310-macosx_10_9_x86_64.whl", hash = "sha256:c270c7090f6bd8a1cc006aca38256936a0b82f70165e8aff873763218f29bf85"},
-    {file = "pyopencl-2022.2.4-cp310-cp310-manylinux_2_17_i686.manylinux2014_i686.whl", hash = "sha256:5a823c2003d2d3754836f7e65f19e553f8ca022f493d0111ea3bacd886853596"},
-    {file = "pyopencl-2022.2.4-cp310-cp310-manylinux_2_17_x86_64.manylinux2014_x86_64.whl", hash = "sha256:4c1d1605eed80f9305251578b41068e1021f140e6d503b22933a4860c43e7cde"},
-    {file = "pyopencl-2022.2.4-cp310-cp310-musllinux_1_1_i686.whl", hash = "sha256:85bf733b73158a66484763ff7bca7b2d5d0187933987a2753cad3f0deeff989f"},
-    {file = "pyopencl-2022.2.4-cp310-cp310-musllinux_1_1_x86_64.whl", hash = "sha256:b1f4288700717e3f0b0ce7c6663729ea6a1362d86964261fcaa84ca2efcf06b0"},
-    {file = "pyopencl-2022.2.4-cp310-cp310-win_amd64.whl", hash = "sha256:dc72723fd7d5041521f9dccece70ab1ab06f2ad74b1738712a49a3b56cea3628"},
-    {file = "pyopencl-2022.2.4-cp36-cp36m-macosx_10_9_x86_64.whl", hash = "sha256:82b3f13843c034cee54906b2c750a65910c9f28ba58b61abf80b9bc9c1595a1f"},
-    {file = "pyopencl-2022.2.4-cp36-cp36m-manylinux_2_17_i686.manylinux2014_i686.whl", hash = "sha256:e1a0893caf4b522559a233c4d66e7c8a96a01d8f2c038ff7fd5b3d795a1eb2ed"},
-    {file = "pyopencl-2022.2.4-cp36-cp36m-manylinux_2_17_x86_64.manylinux2014_x86_64.whl", hash = "sha256:a3a5d59d87d3e271f7d41c80d558cf45f4226003ec3c341d8374d3ef849614b4"},
-    {file = "pyopencl-2022.2.4-cp36-cp36m-musllinux_1_1_i686.whl", hash = "sha256:cef4b300b64b58d55364d6d9eb37123907ee1f32f2dc7f0b7d1fcabbaf6fe260"},
-    {file = "pyopencl-2022.2.4-cp36-cp36m-musllinux_1_1_x86_64.whl", hash = "sha256:47f751cfa75d3038ba0aedf587dd42dc447b8e49b88339048b2147cce176e286"},
-    {file = "pyopencl-2022.2.4-cp36-cp36m-win_amd64.whl", hash = "sha256:3b82458c982e6eb61691712139fc8cfd69f28ef127db2b0de06e87058e919f96"},
-    {file = "pyopencl-2022.2.4-cp37-cp37m-macosx_10_9_x86_64.whl", hash = "sha256:28a0df521643644a1d5b521032b7c6617f7d53b09851a21ce9b10b8ed869dfd5"},
-    {file = "pyopencl-2022.2.4-cp37-cp37m-manylinux_2_17_i686.manylinux2014_i686.whl", hash = "sha256:3611fe2f7c219dcf3d3a119873bfe7a837a467aac00c6e53682dda71a060d29f"},
-    {file = "pyopencl-2022.2.4-cp37-cp37m-manylinux_2_17_x86_64.manylinux2014_x86_64.whl", hash = "sha256:7a5cfc4459e5c84ecba49b928d2e9a439f0421342e16884a6749aa227efea900"},
-    {file = "pyopencl-2022.2.4-cp37-cp37m-musllinux_1_1_i686.whl", hash = "sha256:37001a8b70bde143597f22e79dbac90ae8c997e2136b0ec4391a2824f78eb548"},
-    {file = "pyopencl-2022.2.4-cp37-cp37m-musllinux_1_1_x86_64.whl", hash = "sha256:349e1ff88b2c0ddb343666e1857b86c65fa34545354012382fe84b5d564ffde1"},
-    {file = "pyopencl-2022.2.4-cp37-cp37m-win_amd64.whl", hash = "sha256:da4bc9167f04eb47774e30c5cc6b411b970d8b09ea61873b86058dd2d64445d1"},
-    {file = "pyopencl-2022.2.4-cp38-cp38-macosx_10_9_x86_64.whl", hash = "sha256:8fae8ba0a020c5db230bba53c39fd8f950983a992fbb1318a19ba06af83bd416"},
-    {file = "pyopencl-2022.2.4-cp38-cp38-manylinux_2_17_i686.manylinux2014_i686.whl", hash = "sha256:8685df5b6ec23da07751afd589a168825f6fa727634bf957652091ed7c937151"},
-    {file = "pyopencl-2022.2.4-cp38-cp38-manylinux_2_17_x86_64.manylinux2014_x86_64.whl", hash = "sha256:84f94a99822d81372b16dcdc56ee9f7e3d2268acaf9cca21924e65b4ddefae20"},
-    {file = "pyopencl-2022.2.4-cp38-cp38-musllinux_1_1_i686.whl", hash = "sha256:532d7972d8cc27278761634e5367ff84cacee81f32490ffce9285ea122804768"},
-    {file = "pyopencl-2022.2.4-cp38-cp38-musllinux_1_1_x86_64.whl", hash = "sha256:d31c4cd0af50aa602b2131a7b5c964e9105291d611f2d4418ed4628094c9336f"},
-    {file = "pyopencl-2022.2.4-cp38-cp38-win_amd64.whl", hash = "sha256:ca9d67ca0b072989530c71c4f781acc1efd1adb6a459e742a6d38d2b8ab1d8e8"},
-    {file = "pyopencl-2022.2.4-cp39-cp39-macosx_10_9_x86_64.whl", hash = "sha256:c6d2a3d6dfbae423dbf6dce45ca8a1b32cca2ee842aea49d246f8bbf8ab90812"},
-    {file = "pyopencl-2022.2.4-cp39-cp39-manylinux_2_17_i686.manylinux2014_i686.whl", hash = "sha256:e6e7fbacef495944e1ebb1456ac7a4c38562077d50dfd804dca6aef204f6a79a"},
-    {file = "pyopencl-2022.2.4-cp39-cp39-manylinux_2_17_x86_64.manylinux2014_x86_64.whl", hash = "sha256:3735b5d2add089ea02b43ace69b50fb8fb55b11b93f7bc4be5b4249fb3370b64"},
-    {file = "pyopencl-2022.2.4-cp39-cp39-musllinux_1_1_i686.whl", hash = "sha256:d9e88c92569a5bbcbec802dc193be06a19891979fb02f9ca4739239e2cfd5e04"},
-    {file = "pyopencl-2022.2.4-cp39-cp39-musllinux_1_1_x86_64.whl", hash = "sha256:0b456e153c1ae1f92379680710daa228c9aa0302918e24f12355533bd4b5e1f4"},
-    {file = "pyopencl-2022.2.4-cp39-cp39-win_amd64.whl", hash = "sha256:876912cfebfe9aa92a478d0bf737178e7b686d27103d7279cd1dc754b8e6e85d"},
-    {file = "pyopencl-2022.2.4-pp37-pypy37_pp73-manylinux_2_17_i686.manylinux2014_i686.whl", hash = "sha256:72f259595ac26d250f39ffbfcb47cfa81181aff6f24d70e718f67114a452eb43"},
-    {file = "pyopencl-2022.2.4-pp37-pypy37_pp73-manylinux_2_17_x86_64.manylinux2014_x86_64.whl", hash = "sha256:0caf451084194da8262d6197251cccdac4c2945d0cb8807fe4bd1d7b0b6ecd5c"},
-    {file = "pyopencl-2022.2.4-pp38-pypy38_pp73-manylinux_2_17_i686.manylinux2014_i686.whl", hash = "sha256:a1d64d2354fef846fa7e252078c5a4b74a3c302454de6167d6802a9e1d374e60"},
-    {file = "pyopencl-2022.2.4-pp38-pypy38_pp73-manylinux_2_17_x86_64.manylinux2014_x86_64.whl", hash = "sha256:912bc9c48c443f5a88e8827ee68e9cb03f6a1d78ac6f64bb7a4d65f849fa7069"},
-    {file = "pyopencl-2022.2.4-pp39-pypy39_pp73-manylinux_2_17_i686.manylinux2014_i686.whl", hash = "sha256:ebf8ebabee550849e8d4a21e13487d34b17c89749b38169bba249020f21363cf"},
-    {file = "pyopencl-2022.2.4-pp39-pypy39_pp73-manylinux_2_17_x86_64.manylinux2014_x86_64.whl", hash = "sha256:3384a1089df1256df00fde4fc87d1f7f500fc640f4ff47adf55a592502a16396"},
-    {file = "pyopencl-2022.2.4.tar.gz", hash = "sha256:b57c9ef8bd8e6db07e89106f3091ba236b24f95a38fd40dfb17d2ed7ff6be4ad"},
+
+[package.dependencies]
+cffi = ">=1.4.1"
+
+[package.extras]
+docs = ["sphinx (>=1.6.5)", "sphinx-rtd-theme"]
+tests = ["hypothesis (>=3.27.0)", "pytest (>=3.2.1,!=3.3.0)"]
+
+[[package]]
+name = "PyNvCodec"
+version = "2.0"
+description = "Video Processing Library with full NVENC/NVDEC hardware acceleration"
+optional = false
+python-versions = "*"
+files = []
+develop = false
+
+[package.dependencies]
+numpy = "*"
+
+[package.extras]
+dev = ["PytorchNvCodec @ file:///home/batman/.pyenv/versions/3.11.4/src/VideoProcessingFramework/src/PytorchNvCodec", "onnx", "opencv-python", "pycuda", "pyopengl", "tensorrt", "torch", "torchvision"]
+samples = ["PytorchNvCodec @ git+https://github.com/NVIDIA/VideoProcessingFramework.git#subdirectory=src/PytorchNvCodec/", "onnx", "opencv-python", "pycuda", "pyopengl", "tensorrt", "torch", "torchvision", "tqdm"]
+tensorrt = ["PytorchNvCodec @ git+https://github.com/NVIDIA/VideoProcessingFramework.git#subdirectory=src/PytorchNvCodec/", "torch", "torchvision"]
+tests = ["PytorchNvCodec @ git+https://github.com/NVIDIA/VideoProcessingFramework.git#subdirectory=src/PytorchNvCodec/", "opencv-python", "pycuda", "pyopengl", "torch", "torchvision"]
+torch = ["PytorchNvCodec @ git+https://github.com/NVIDIA/VideoProcessingFramework.git#subdirectory=src/PytorchNvCodec/", "torch", "torchvision"]
+
+[package.source]
+type = "git"
+url = "https://github.com/NVIDIA/VideoProcessingFramework.git"
+reference = "HEAD"
+resolved_reference = "f45e862b3e735c5a5f0c2b16b5394e71eadcc0d7"
+
+[[package]]
+name = "pyopencl"
+version = "2023.1.1"
+description = "Python wrapper for OpenCL"
+optional = false
+python-versions = "~=3.8"
+files = [
+    {file = "pyopencl-2023.1.1-cp310-cp310-macosx_10_9_x86_64.whl", hash = "sha256:57fe5635d1f34c64127c99bb652027d2f2955235426e162bd9ab1b43f75c989b"},
+    {file = "pyopencl-2023.1.1-cp310-cp310-manylinux_2_17_i686.manylinux2014_i686.whl", hash = "sha256:86ac050bd506b39a4fc92350d2a30f61d5a0eaffa12d51453e9e6dab27f4f5e6"},
+    {file = "pyopencl-2023.1.1-cp310-cp310-manylinux_2_17_x86_64.manylinux2014_x86_64.whl", hash = "sha256:ee2cb8cb5b79c68b2916ed9f0710bc5f72aa18e53fb0fb4e9abdbde9ff0ba1f1"},
+    {file = "pyopencl-2023.1.1-cp310-cp310-musllinux_1_1_i686.whl", hash = "sha256:c562081400998da0acec3ed408ff05dee6026050873b0876e069e9a3b28456ab"},
+    {file = "pyopencl-2023.1.1-cp310-cp310-musllinux_1_1_x86_64.whl", hash = "sha256:595d0b36a853bb853e542e98dd398321e92a51c0f67187981b336079ef26ad42"},
+    {file = "pyopencl-2023.1.1-cp310-cp310-win_amd64.whl", hash = "sha256:78353062ed6a78200e4a4b833bdc9532ead7eabb4028fee71aa13cb7a199345e"},
+    {file = "pyopencl-2023.1.1-cp311-cp311-macosx_10_9_x86_64.whl", hash = "sha256:2c3a30db6a1533efd806674ecd2fdab8384f19dc454bb4934295ec9a78559125"},
+    {file = "pyopencl-2023.1.1-cp311-cp311-manylinux_2_17_i686.manylinux2014_i686.whl", hash = "sha256:8101dcc6152d5b332b21690a43e7633839928c3c86135ceffb0b9828f024c792"},
+    {file = "pyopencl-2023.1.1-cp311-cp311-manylinux_2_17_x86_64.manylinux2014_x86_64.whl", hash = "sha256:9d9bb87606ff1762d95f5071551de75ef4d9203b77900cc08ba5494192fa3224"},
+    {file = "pyopencl-2023.1.1-cp311-cp311-musllinux_1_1_i686.whl", hash = "sha256:7396461693dce54f93fcb20aaa8759f059358fe644e72c2c8267d48c5d7f05f7"},
+    {file = "pyopencl-2023.1.1-cp311-cp311-musllinux_1_1_x86_64.whl", hash = "sha256:1e6537694cacf3c8c8b79f55ed07553c229a1ab453c29d9d817d6d1697b63dc5"},
+    {file = "pyopencl-2023.1.1-cp311-cp311-win_amd64.whl", hash = "sha256:8073b61ec027c25a12cb2df477206425d062cda2bc1ba275d2d91c3321168b20"},
+    {file = "pyopencl-2023.1.1-cp38-cp38-macosx_10_9_x86_64.whl", hash = "sha256:10a47398b1a888fed5b8f31f456ee3ea11e5a03538818a9c5da609448649cbaf"},
+    {file = "pyopencl-2023.1.1-cp38-cp38-manylinux_2_17_i686.manylinux2014_i686.whl", hash = "sha256:e6f846358866178e6c27efccee9c3792e7b8ad7009261b2a522b777d10c0fcd6"},
+    {file = "pyopencl-2023.1.1-cp38-cp38-manylinux_2_17_x86_64.manylinux2014_x86_64.whl", hash = "sha256:5cd43d5f33cdce303471e6bd935de7a4b953842187a341fdeb1dc5c168f30537"},
+    {file = "pyopencl-2023.1.1-cp38-cp38-musllinux_1_1_i686.whl", hash = "sha256:d59722a7b2da7df1a379d9410a7be50411181124ca8aba38cd0b3b825753b002"},
+    {file = "pyopencl-2023.1.1-cp38-cp38-musllinux_1_1_x86_64.whl", hash = "sha256:7a9726e80cabd8d2e5d93327e1757b151e011770fe879f2fb9cda8d6d331e6cc"},
+    {file = "pyopencl-2023.1.1-cp38-cp38-win_amd64.whl", hash = "sha256:0b16d6ceff0c8c39eb41bdddb024e95744057d2b3e3ab009d417aabaf855e0c2"},
+    {file = "pyopencl-2023.1.1-cp39-cp39-macosx_10_9_x86_64.whl", hash = "sha256:f73d12fcbe080c5791906eb2fe1de51dcb970f3afff290e29dd97dcb162ce25e"},
+    {file = "pyopencl-2023.1.1-cp39-cp39-manylinux_2_17_i686.manylinux2014_i686.whl", hash = "sha256:6695f2c36da2052e61a18654aa0bc7982650d00dd655d50cbfeaf850cb3a0153"},
+    {file = "pyopencl-2023.1.1-cp39-cp39-manylinux_2_17_x86_64.manylinux2014_x86_64.whl", hash = "sha256:cc5c21eab1b15f95afe55d22bb7c071ef1ce2d41e3eccf544f6fb65651157aef"},
+    {file = "pyopencl-2023.1.1-cp39-cp39-musllinux_1_1_i686.whl", hash = "sha256:b518eeec8aff8a4f52a48efc4cc8844b2b397b8162ff769acda4ed030036b58f"},
+    {file = "pyopencl-2023.1.1-cp39-cp39-musllinux_1_1_x86_64.whl", hash = "sha256:32f89c321fcff28a9a7487559b8c422acefdac2a2673e5290e1c4a1178308336"},
+    {file = "pyopencl-2023.1.1-cp39-cp39-win_amd64.whl", hash = "sha256:c958a6d5f3aacc66c8ef60218b69504dd50a62cd613fd5cec2195112edef6a96"},
+    {file = "pyopencl-2023.1.1-pp38-pypy38_pp73-manylinux_2_17_i686.manylinux2014_i686.whl", hash = "sha256:e3ff92c98ee2e2cd90512b473c28e9db1f00bbde4aa1008ec0a2adb1e4c51d11"},
+    {file = "pyopencl-2023.1.1-pp38-pypy38_pp73-manylinux_2_17_x86_64.manylinux2014_x86_64.whl", hash = "sha256:23f9d6d2e0f5961ae1c5a612203e6bae7a0361b88efec7dbc3b6c024fa6670a6"},
+    {file = "pyopencl-2023.1.1-pp39-pypy39_pp73-manylinux_2_17_i686.manylinux2014_i686.whl", hash = "sha256:1b4cecc30bbf32cdc0bb0081119e6e0e8ae7bebf5041d371d2f9188e05541e5b"},
+    {file = "pyopencl-2023.1.1-pp39-pypy39_pp73-manylinux_2_17_x86_64.manylinux2014_x86_64.whl", hash = "sha256:1373f98d49d2dc452a2748c6cd38fad37a09032cf983013785715a530b0cafff"},
+    {file = "pyopencl-2023.1.1.tar.gz", hash = "sha256:0ad92578a94a0be0dedd5ca4fcb6e27b5a75de4e5fac757f04c9044bd9d42444"},
 ]
-pyopenssl = [
-    {file = "pyOpenSSL-22.0.0-py2.py3-none-any.whl", hash = "sha256:ea252b38c87425b64116f808355e8da644ef9b07e429398bfece610f893ee2e0"},
-    {file = "pyOpenSSL-22.0.0.tar.gz", hash = "sha256:660b1b1425aac4a1bea1d94168a85d99f0b3144c869dd4390d27629d0087f1bf"},
+
+[package.dependencies]
+numpy = "*"
+platformdirs = ">=2.2.0"
+pytools = ">=2021.2.7"
+
+[package.extras]
+oclgrind = ["oclgrind-binary-distribution (>=18.3)"]
+pocl = ["pocl-binary-distribution (>=1.2)"]
+test = ["Mako", "pytest (>=7.0.0)"]
+
+[[package]]
+name = "pyopenssl"
+version = "23.2.0"
+description = "Python wrapper module around the OpenSSL library"
+optional = false
+python-versions = ">=3.6"
+files = [
+    {file = "pyOpenSSL-23.2.0-py3-none-any.whl", hash = "sha256:24f0dc5227396b3e831f4c7f602b950a5e9833d292c8e4a2e06b709292806ae2"},
+    {file = "pyOpenSSL-23.2.0.tar.gz", hash = "sha256:276f931f55a452e7dea69c7173e984eb2a4407ce413c918aa34b55f82f9b8bac"},
 ]
-pyparsing = [
+
+[package.dependencies]
+cryptography = ">=38.0.0,<40.0.0 || >40.0.0,<40.0.1 || >40.0.1,<42"
+
+[package.extras]
+docs = ["sphinx (!=5.2.0,!=5.2.0.post0)", "sphinx-rtd-theme"]
+test = ["flaky", "pretend", "pytest (>=3.0.1)"]
+
+[[package]]
+name = "pyparsing"
+version = "3.0.9"
+description = "pyparsing module - Classes and methods to define and execute parsing grammars"
+optional = false
+python-versions = ">=3.6.8"
+files = [
     {file = "pyparsing-3.0.9-py3-none-any.whl", hash = "sha256:5026bae9a10eeaefb61dab2f09052b9f4307d44aee4eda64b309723d8d206bbc"},
     {file = "pyparsing-3.0.9.tar.gz", hash = "sha256:2b020ecf7d21b687f219b71ecad3631f644a47f01403fa1d1036b0c6416d70fb"},
 ]
-pyprof2calltree = [
+
+[package.extras]
+diagrams = ["jinja2", "railroad-diagrams"]
+
+[[package]]
+name = "pyprof2calltree"
+version = "1.4.5"
+description = "Help visualize profiling data from cProfile with kcachegrind and qcachegrind"
+optional = false
+python-versions = ">=2.7, !=3.0.*, !=3.1.*, !=3.2.*, !=3.3.*"
+files = [
     {file = "pyprof2calltree-1.4.5.tar.gz", hash = "sha256:a635672ff31677486350b2be9a823ef92f740e6354a6aeda8fa4a8a3768e8f2f"},
 ]
-pyproj = [
-    {file = "pyproj-3.4.0-cp310-cp310-macosx_10_9_x86_64.whl", hash = "sha256:f343725566267a296b09ee7e591894f1fdc90f84f8ad5ec476aeb53bd4479c07"},
-    {file = "pyproj-3.4.0-cp310-cp310-macosx_11_0_arm64.whl", hash = "sha256:5816807ca0bdc7256558770c6206a6783a3f02bcf844f94ee245f197bb5f7285"},
-    {file = "pyproj-3.4.0-cp310-cp310-manylinux_2_17_aarch64.manylinux2014_aarch64.whl", hash = "sha256:e7e609903572a56cca758bbaee5c1663c3e829ddce5eec4f368e68277e37022b"},
-    {file = "pyproj-3.4.0-cp310-cp310-manylinux_2_17_i686.manylinux2014_i686.whl", hash = "sha256:4fd425ee8b6781c249c7adb7daa2e6c41ce573afabe4f380f5eecd913b56a3be"},
-    {file = "pyproj-3.4.0-cp310-cp310-manylinux_2_17_x86_64.manylinux2014_x86_64.whl", hash = "sha256:954b068136518b3174d0a99448056e97af62b63392a95c420894f7de2229dae6"},
-    {file = "pyproj-3.4.0-cp310-cp310-win_amd64.whl", hash = "sha256:4a23d84c5ffc383c7d9f0bde3a06fc1f6697b1b96725597f8f01e7b4bef0a2b5"},
-    {file = "pyproj-3.4.0-cp311-cp311-macosx_10_9_x86_64.whl", hash = "sha256:1f9c100fd0fd80edbc7e4daa303600a8cbef6f0de43d005617acb38276b88dc0"},
-    {file = "pyproj-3.4.0-cp311-cp311-macosx_11_0_arm64.whl", hash = "sha256:aa5171f700f174777a9e9ed8f4655583243967c0f9cf2c90e3f54e54ff740134"},
-    {file = "pyproj-3.4.0-cp311-cp311-manylinux_2_17_aarch64.manylinux2014_aarch64.whl", hash = "sha256:9a496d9057b2128db9d733e66b206f2d5954bbae6b800d412f562d780561478c"},
-    {file = "pyproj-3.4.0-cp311-cp311-manylinux_2_17_i686.manylinux2014_i686.whl", hash = "sha256:52e54796e2d9554a5eb8f11df4748af1fbbc47f76aa234d6faf09216a84554c5"},
-    {file = "pyproj-3.4.0-cp311-cp311-manylinux_2_17_x86_64.manylinux2014_x86_64.whl", hash = "sha256:a454a7c4423faa2a14e939d08ef293ee347fa529c9df79022b0585a6e1d8310c"},
-    {file = "pyproj-3.4.0-cp311-cp311-win_amd64.whl", hash = "sha256:25a36e297f3e0524694d40259e3e895edc1a47492a0e30608268ffc1328e3f5d"},
-    {file = "pyproj-3.4.0-cp38-cp38-macosx_10_9_x86_64.whl", hash = "sha256:77d5f519f3cdb94b026ecca626f78db4f041afe201cf082079c8c0092a30b087"},
-    {file = "pyproj-3.4.0-cp38-cp38-manylinux_2_17_aarch64.manylinux2014_aarch64.whl", hash = "sha256:ccb4b70ad25218027f77e0c8934d10f9b7cdf91d5e64080147743d58fddbc3c0"},
-    {file = "pyproj-3.4.0-cp38-cp38-manylinux_2_17_i686.manylinux2014_i686.whl", hash = "sha256:4e161114bc92701647a83c4bbce79489984f12d980cabb365516e953d1450885"},
-    {file = "pyproj-3.4.0-cp38-cp38-manylinux_2_17_x86_64.manylinux2014_x86_64.whl", hash = "sha256:f80adda8c54b84271a93829477a01aa57bc178c834362e9f74e1de1b5033c74c"},
-    {file = "pyproj-3.4.0-cp38-cp38-win_amd64.whl", hash = "sha256:221d8939685e0c43ee594c9f04b6a73a10e8e1cc0e85f28be0b4eb2f1bc8777d"},
-    {file = "pyproj-3.4.0-cp39-cp39-macosx_10_9_x86_64.whl", hash = "sha256:d94afed99f31673d3d19fe750283621e193e2a53ca9e0443bf9d092c3905833b"},
-    {file = "pyproj-3.4.0-cp39-cp39-macosx_11_0_arm64.whl", hash = "sha256:0fff9c3a991508f16027be27d153f6c5583d03799443639d13c681e60f49e2d7"},
-    {file = "pyproj-3.4.0-cp39-cp39-manylinux_2_17_aarch64.manylinux2014_aarch64.whl", hash = "sha256:3b85acf09e5a9e35cd9ee72989793adb7089b4e611be02a43d3d0bda50ad116b"},
-    {file = "pyproj-3.4.0-cp39-cp39-manylinux_2_17_i686.manylinux2014_i686.whl", hash = "sha256:45554f47d1a12a84b0620e4abc08a2a1b5d9f273a4759eaef75e74788ec7162a"},
-    {file = "pyproj-3.4.0-cp39-cp39-manylinux_2_17_x86_64.manylinux2014_x86_64.whl", hash = "sha256:12f62c20656ac9b6076ebb213e9a635d52f4f01fef95310121d337e62e910cb6"},
-    {file = "pyproj-3.4.0-cp39-cp39-win_amd64.whl", hash = "sha256:65a0bcdbad95b3c00b419e5d75b1f7e450ec17349b5ea16bf7438ac1d50a12a2"},
-    {file = "pyproj-3.4.0-pp38-pypy38_pp73-macosx_10_9_x86_64.whl", hash = "sha256:14ad113b5753c6057f9b2f3c85a6497cef7fa237c4328f2943c0223e98c1dde6"},
-    {file = "pyproj-3.4.0-pp38-pypy38_pp73-manylinux_2_17_i686.manylinux2014_i686.whl", hash = "sha256:4688b4cd62cbd86b5e855f9e27d90fbb53f2b4c2ea1cd394a46919e1a4151b89"},
-    {file = "pyproj-3.4.0-pp38-pypy38_pp73-manylinux_2_17_x86_64.manylinux2014_x86_64.whl", hash = "sha256:47ad53452ae1dc8b0bf1df920a210bb5616989085aa646592f8681f1d741a754"},
-    {file = "pyproj-3.4.0-pp39-pypy39_pp73-macosx_10_9_x86_64.whl", hash = "sha256:48787962232109bad8b72e27949037a9b03591228a6955f25dbe451233e8648a"},
-    {file = "pyproj-3.4.0-pp39-pypy39_pp73-manylinux_2_17_i686.manylinux2014_i686.whl", hash = "sha256:2cb8592259ea54e7557523b079d3f2304081680bdb48bfbf0fd879ee6156129c"},
-    {file = "pyproj-3.4.0-pp39-pypy39_pp73-manylinux_2_17_x86_64.manylinux2014_x86_64.whl", hash = "sha256:82200b4569d68b421c079d2973475b58d5959306fe758b43366e79fe96facfe5"},
-    {file = "pyproj-3.4.0.tar.gz", hash = "sha256:a708445927ace9857f52c3ba67d2915da7b41a8fdcd9b8f99a4c9ed60a75eb33"},
+
+[[package]]
+name = "pyproj"
+version = "3.6.0"
+description = "Python interface to PROJ (cartographic projections and coordinate transformations library)"
+optional = false
+python-versions = ">=3.9"
+files = [
+    {file = "pyproj-3.6.0-cp310-cp310-macosx_10_9_x86_64.whl", hash = "sha256:e600f6a2771d3b41aeb2cc1efd96771ae9a01451013da1dd48ff272e7c6e34ef"},
+    {file = "pyproj-3.6.0-cp310-cp310-macosx_11_0_arm64.whl", hash = "sha256:d7f6cd045df29aae960391dfe06a575c110af598f1dea5add8be6ca42332b0f5"},
+    {file = "pyproj-3.6.0-cp310-cp310-manylinux_2_17_aarch64.manylinux2014_aarch64.whl", hash = "sha256:557e6592855111c84eda176ddf6b130f55d5e2b9cb1c017b8c91b69f37f474f5"},
+    {file = "pyproj-3.6.0-cp310-cp310-manylinux_2_17_i686.manylinux2014_i686.whl", hash = "sha256:de6288b6ceabdeeac01abf627c74414822d322d8f55dc8efe4d29dedd27c5719"},
+    {file = "pyproj-3.6.0-cp310-cp310-manylinux_2_17_x86_64.manylinux2014_x86_64.whl", hash = "sha256:e427ccdbb1763872416549bdfa9fa1f5f169054653c4daf674e71480cc39cf11"},
+    {file = "pyproj-3.6.0-cp310-cp310-win32.whl", hash = "sha256:1283d3c1960edbb74828f5f3405b27578a9a27f7766ab6a3956f4bd851f08239"},
+    {file = "pyproj-3.6.0-cp310-cp310-win_amd64.whl", hash = "sha256:9de1aab71234bfd3fd648a1152519b5ee152c43113d7d8ea52590a0140129501"},
+    {file = "pyproj-3.6.0-cp311-cp311-macosx_10_9_x86_64.whl", hash = "sha256:00fab048596c17572fa8980014ef117dbb2a445e6f7ba3b9ddfcc683efc598e7"},
+    {file = "pyproj-3.6.0-cp311-cp311-macosx_11_0_arm64.whl", hash = "sha256:ba5e7c8ddd6ed5a3f9fcf95ea80ba44c931913723de2ece841c94bb38b200c4a"},
+    {file = "pyproj-3.6.0-cp311-cp311-manylinux_2_17_aarch64.manylinux2014_aarch64.whl", hash = "sha256:08dfc5c9533c78a97afae9d53b99b810a4a8f97c3be9eb2b8f323b726c736403"},
+    {file = "pyproj-3.6.0-cp311-cp311-manylinux_2_17_i686.manylinux2014_i686.whl", hash = "sha256:18a8bdb87aeb41b60a2e91d32f623227de3569fb83b4c64b174c3a7c5b0ed3ae"},
+    {file = "pyproj-3.6.0-cp311-cp311-manylinux_2_17_x86_64.manylinux2014_x86_64.whl", hash = "sha256:dfe392dfc0eba2248dc08c976a72f52ff9da2bddfddfd9ff5dcf18e8e88200c7"},
+    {file = "pyproj-3.6.0-cp311-cp311-win32.whl", hash = "sha256:78276c6b0c831255c97c56dff7313a3571f327a284d8ac63d6a56437a72ed0e0"},
+    {file = "pyproj-3.6.0-cp311-cp311-win_amd64.whl", hash = "sha256:8fbac2eb9a0e425d7d6b7c6f4ebacd675cf3bdef0c59887057b8b4b0374e7c12"},
+    {file = "pyproj-3.6.0-cp39-cp39-macosx_10_9_x86_64.whl", hash = "sha256:95120d65cbc5983dfd877076f28dbc18b9b329cbee38ca6e217bb7a5a043c099"},
+    {file = "pyproj-3.6.0-cp39-cp39-macosx_11_0_arm64.whl", hash = "sha256:830e6de7cfe43853967afee5ef908dfd5aa72d1ec12af9b9e3fecc179886e346"},
+    {file = "pyproj-3.6.0-cp39-cp39-manylinux_2_17_aarch64.manylinux2014_aarch64.whl", hash = "sha256:e342b3010b2b20134671564ff9a8c476e5e512bf589477480aded1a5813af7c8"},
+    {file = "pyproj-3.6.0-cp39-cp39-manylinux_2_17_i686.manylinux2014_i686.whl", hash = "sha256:23787460fab85ba2f857ee60ffb2e8e21fd9bd5db9833c51c1c05b2a6d9f0be5"},
+    {file = "pyproj-3.6.0-cp39-cp39-manylinux_2_17_x86_64.manylinux2014_x86_64.whl", hash = "sha256:595376e4d3bb72b7dceeccbce0f4c43053d47561f17a1ad0224407e9980ee849"},
+    {file = "pyproj-3.6.0-cp39-cp39-win32.whl", hash = "sha256:4d8a9773503085eada59b6892c96ddf686ab8cf64cfdc18ad744d13ee76dfa6f"},
+    {file = "pyproj-3.6.0-cp39-cp39-win_amd64.whl", hash = "sha256:137a07404f937f264b11b7130cd4cfa00002dbe4333b222e8056db84849c2ea4"},
+    {file = "pyproj-3.6.0-pp39-pypy39_pp73-macosx_10_9_x86_64.whl", hash = "sha256:2799499a4045e4fb73e44c31bdacab0593a253a7a4b6baae6fdd27d604cf9bc2"},
+    {file = "pyproj-3.6.0-pp39-pypy39_pp73-manylinux_2_17_i686.manylinux2014_i686.whl", hash = "sha256:f04f6297c615c3b17f835df2556ac8fb9b4f51f281e960437eaf0cd80e7ae26a"},
+    {file = "pyproj-3.6.0-pp39-pypy39_pp73-manylinux_2_17_x86_64.manylinux2014_x86_64.whl", hash = "sha256:3a4d2d438b007cb1f8d5f6f308d53d7ff9a2508cff8f9da6e2a93b76ffd98aaf"},
+    {file = "pyproj-3.6.0.tar.gz", hash = "sha256:a5b111865b3f0f8b77b3983f2fbe4dd6248fc09d3730295949977c8dcd988062"},
 ]
-pyreadline3 = [
+
+[package.dependencies]
+certifi = "*"
+
+[[package]]
+name = "pyproject-hooks"
+version = "1.0.0"
+description = "Wrappers to call pyproject.toml-based build backend hooks."
+optional = false
+python-versions = ">=3.7"
+files = [
+    {file = "pyproject_hooks-1.0.0-py3-none-any.whl", hash = "sha256:283c11acd6b928d2f6a7c73fa0d01cb2bdc5f07c57a2eeb6e83d5e56b97976f8"},
+    {file = "pyproject_hooks-1.0.0.tar.gz", hash = "sha256:f271b298b97f5955d53fb12b72c1fb1948c22c1a6b70b315c54cedaca0264ef5"},
+]
+
+[[package]]
+name = "pyreadline3"
+version = "3.4.1"
+description = "A python implementation of GNU readline."
+optional = false
+python-versions = "*"
+files = [
     {file = "pyreadline3-3.4.1-py3-none-any.whl", hash = "sha256:b0efb6516fd4fb07b45949053826a62fa4cb353db5be2bbb4a7aa1fdd1e345fb"},
     {file = "pyreadline3-3.4.1.tar.gz", hash = "sha256:6f3d1f7b8a31ba32b73917cefc1f28cc660562f39aea8646d30bd6eff21f7bae"},
 ]
-pyrsistent = [
-    {file = "pyrsistent-0.18.1-cp310-cp310-macosx_10_9_universal2.whl", hash = "sha256:df46c854f490f81210870e509818b729db4488e1f30f2a1ce1698b2295a878d1"},
-    {file = "pyrsistent-0.18.1-cp310-cp310-manylinux_2_17_x86_64.manylinux2014_x86_64.whl", hash = "sha256:5d45866ececf4a5fff8742c25722da6d4c9e180daa7b405dc0a2a2790d668c26"},
-    {file = "pyrsistent-0.18.1-cp310-cp310-manylinux_2_5_i686.manylinux1_i686.manylinux_2_17_i686.manylinux2014_i686.whl", hash = "sha256:4ed6784ceac462a7d6fcb7e9b663e93b9a6fb373b7f43594f9ff68875788e01e"},
-    {file = "pyrsistent-0.18.1-cp310-cp310-win32.whl", hash = "sha256:e4f3149fd5eb9b285d6bfb54d2e5173f6a116fe19172686797c056672689daf6"},
-    {file = "pyrsistent-0.18.1-cp310-cp310-win_amd64.whl", hash = "sha256:636ce2dc235046ccd3d8c56a7ad54e99d5c1cd0ef07d9ae847306c91d11b5fec"},
-    {file = "pyrsistent-0.18.1-cp37-cp37m-macosx_10_9_x86_64.whl", hash = "sha256:e92a52c166426efbe0d1ec1332ee9119b6d32fc1f0bbfd55d5c1088070e7fc1b"},
-    {file = "pyrsistent-0.18.1-cp37-cp37m-manylinux_2_17_x86_64.manylinux2014_x86_64.whl", hash = "sha256:d7a096646eab884bf8bed965bad63ea327e0d0c38989fc83c5ea7b8a87037bfc"},
-    {file = "pyrsistent-0.18.1-cp37-cp37m-manylinux_2_5_i686.manylinux1_i686.manylinux_2_17_i686.manylinux2014_i686.whl", hash = "sha256:cdfd2c361b8a8e5d9499b9082b501c452ade8bbf42aef97ea04854f4a3f43b22"},
-    {file = "pyrsistent-0.18.1-cp37-cp37m-win32.whl", hash = "sha256:7ec335fc998faa4febe75cc5268a9eac0478b3f681602c1f27befaf2a1abe1d8"},
-    {file = "pyrsistent-0.18.1-cp37-cp37m-win_amd64.whl", hash = "sha256:6455fc599df93d1f60e1c5c4fe471499f08d190d57eca040c0ea182301321286"},
-    {file = "pyrsistent-0.18.1-cp38-cp38-macosx_10_9_universal2.whl", hash = "sha256:fd8da6d0124efa2f67d86fa70c851022f87c98e205f0594e1fae044e7119a5a6"},
-    {file = "pyrsistent-0.18.1-cp38-cp38-manylinux_2_17_x86_64.manylinux2014_x86_64.whl", hash = "sha256:7bfe2388663fd18bd8ce7db2c91c7400bf3e1a9e8bd7d63bf7e77d39051b85ec"},
-    {file = "pyrsistent-0.18.1-cp38-cp38-manylinux_2_5_i686.manylinux1_i686.manylinux_2_17_i686.manylinux2014_i686.whl", hash = "sha256:0e3e1fcc45199df76053026a51cc59ab2ea3fc7c094c6627e93b7b44cdae2c8c"},
-    {file = "pyrsistent-0.18.1-cp38-cp38-win32.whl", hash = "sha256:b568f35ad53a7b07ed9b1b2bae09eb15cdd671a5ba5d2c66caee40dbf91c68ca"},
-    {file = "pyrsistent-0.18.1-cp38-cp38-win_amd64.whl", hash = "sha256:d1b96547410f76078eaf66d282ddca2e4baae8964364abb4f4dcdde855cd123a"},
-    {file = "pyrsistent-0.18.1-cp39-cp39-macosx_10_9_universal2.whl", hash = "sha256:f87cc2863ef33c709e237d4b5f4502a62a00fab450c9e020892e8e2ede5847f5"},
-    {file = "pyrsistent-0.18.1-cp39-cp39-manylinux_2_17_x86_64.manylinux2014_x86_64.whl", hash = "sha256:6bc66318fb7ee012071b2792024564973ecc80e9522842eb4e17743604b5e045"},
-    {file = "pyrsistent-0.18.1-cp39-cp39-manylinux_2_5_i686.manylinux1_i686.manylinux_2_17_i686.manylinux2014_i686.whl", hash = "sha256:914474c9f1d93080338ace89cb2acee74f4f666fb0424896fcfb8d86058bf17c"},
-    {file = "pyrsistent-0.18.1-cp39-cp39-win32.whl", hash = "sha256:1b34eedd6812bf4d33814fca1b66005805d3640ce53140ab8bbb1e2651b0d9bc"},
-    {file = "pyrsistent-0.18.1-cp39-cp39-win_amd64.whl", hash = "sha256:e24a828f57e0c337c8d8bb9f6b12f09dfdf0273da25fda9e314f0b684b415a07"},
-    {file = "pyrsistent-0.18.1.tar.gz", hash = "sha256:d4d61f8b993a7255ba714df3aca52700f8125289f84f704cf80916517c46eb96"},
-]
-pyserial = [
+
+[[package]]
+name = "pyserial"
+version = "3.5"
+description = "Python Serial Port Extension"
+optional = false
+python-versions = "*"
+files = [
     {file = "pyserial-3.5-py2.py3-none-any.whl", hash = "sha256:c4451db6ba391ca6ca299fb3ec7bae67a5c55dde170964c7a14ceefec02f2cf0"},
     {file = "pyserial-3.5.tar.gz", hash = "sha256:3c77e014170dfffbd816e6ffc205e9842efb10be9f58ec16d3e8675b4925cddb"},
 ]
-pysocks = [
+
+[package.extras]
+cp2110 = ["hidapi"]
+
+[[package]]
+name = "pysocks"
+version = "1.7.1"
+description = "A Python SOCKS client module. See https://github.com/Anorov/PySocks for more information."
+optional = false
+python-versions = ">=2.7, !=3.0.*, !=3.1.*, !=3.2.*, !=3.3.*"
+files = [
     {file = "PySocks-1.7.1-py27-none-any.whl", hash = "sha256:08e69f092cc6dbe92a0fdd16eeb9b9ffbc13cadfe5ca4c7bd92ffb078b293299"},
     {file = "PySocks-1.7.1-py3-none-any.whl", hash = "sha256:2725bd0a9925919b9b51739eea5f9e2bae91e83288108a9ad338b2e3a4435ee5"},
     {file = "PySocks-1.7.1.tar.gz", hash = "sha256:3f8804571ebe159c380ac6de37643bb4685970655d3bba243530d6558b799aa0"},
 ]
-pytest = [
-    {file = "pytest-7.1.3-py3-none-any.whl", hash = "sha256:1377bda3466d70b55e3f5cecfa55bb7cfcf219c7964629b967c37cf0bda818b7"},
-    {file = "pytest-7.1.3.tar.gz", hash = "sha256:4f365fec2dff9c1162f834d9f18af1ba13062db0c708bf7b946f8a5c76180c39"},
+
+[[package]]
+name = "pytest"
+version = "7.4.0"
+description = "pytest: simple powerful testing with Python"
+optional = false
+python-versions = ">=3.7"
+files = [
+    {file = "pytest-7.4.0-py3-none-any.whl", hash = "sha256:78bf16451a2eb8c7a2ea98e32dc119fd2aa758f1d5d66dbf0a59d69a3969df32"},
+    {file = "pytest-7.4.0.tar.gz", hash = "sha256:b4bf8c45bd59934ed84001ad51e11b4ee40d40a1229d2c79f9c592b0a3f6bd8a"},
 ]
-pytest-forked = [
-    {file = "pytest-forked-1.4.0.tar.gz", hash = "sha256:8b67587c8f98cbbadfdd804539ed5455b6ed03802203485dd2f53c1422d7440e"},
-    {file = "pytest_forked-1.4.0-py3-none-any.whl", hash = "sha256:bbbb6717efc886b9d64537b41fb1497cfaf3c9601276be8da2cccfea5a3c8ad8"},
+
+[package.dependencies]
+colorama = {version = "*", markers = "sys_platform == \"win32\""}
+iniconfig = "*"
+packaging = "*"
+pluggy = ">=0.12,<2.0"
+
+[package.extras]
+testing = ["argcomplete", "attrs (>=19.2.0)", "hypothesis (>=3.56)", "mock", "nose", "pygments (>=2.7.2)", "requests", "setuptools", "xmlschema"]
+
+[[package]]
+name = "pytest-xdist"
+version = "3.3.1"
+description = "pytest xdist plugin for distributed testing, most importantly across multiple CPUs"
+optional = false
+python-versions = ">=3.7"
+files = [
+    {file = "pytest-xdist-3.3.1.tar.gz", hash = "sha256:d5ee0520eb1b7bcca50a60a518ab7a7707992812c578198f8b44fdfac78e8c93"},
+    {file = "pytest_xdist-3.3.1-py3-none-any.whl", hash = "sha256:ff9daa7793569e6a68544850fd3927cd257cc03a7ef76c95e86915355e82b5f2"},
 ]
-pytest-xdist = [
-    {file = "pytest-xdist-2.5.0.tar.gz", hash = "sha256:4580deca3ff04ddb2ac53eba39d76cb5dd5edeac050cb6fbc768b0dd712b4edf"},
-    {file = "pytest_xdist-2.5.0-py3-none-any.whl", hash = "sha256:6fe5c74fec98906deb8f2d2b616b5c782022744978e7bd4695d39c8f42d0ce65"},
-]
-python-dateutil = [
+
+[package.dependencies]
+execnet = ">=1.1"
+pytest = ">=6.2.0"
+
+[package.extras]
+psutil = ["psutil (>=3.0)"]
+setproctitle = ["setproctitle"]
+testing = ["filelock"]
+
+[[package]]
+name = "python-dateutil"
+version = "2.8.2"
+description = "Extensions to the standard Python datetime module"
+optional = false
+python-versions = "!=3.0.*,!=3.1.*,!=3.2.*,>=2.7"
+files = [
     {file = "python-dateutil-2.8.2.tar.gz", hash = "sha256:0123cacc1627ae19ddf3c27a5de5bd67ee4586fbdd6440d9748f8abb483d3e86"},
     {file = "python_dateutil-2.8.2-py2.py3-none-any.whl", hash = "sha256:961d03dc3453ebbc59dbdea9e4e11c5651520a876d0f4db161e8674aae935da9"},
 ]
-python-engineio = [
-    {file = "python-engineio-4.3.4.tar.gz", hash = "sha256:d8d8b072799c36cadcdcc2b40d2a560ce09797ab3d2d596b2ad519a5e4df19ae"},
-    {file = "python_engineio-4.3.4-py3-none-any.whl", hash = "sha256:7454314a529bba20e745928601ffeaf101c1b5aca9a6c4e48ad397803d10ea0c"},
+
+[package.dependencies]
+six = ">=1.5"
+
+[[package]]
+name = "python-engineio"
+version = "4.5.1"
+description = "Engine.IO server and client for Python"
+optional = false
+python-versions = ">=3.6"
+files = [
+    {file = "python-engineio-4.5.1.tar.gz", hash = "sha256:b167a1b208fcdce5dbe96a61a6ca22391cfa6715d796c22de93e3adf9c07ae0c"},
+    {file = "python_engineio-4.5.1-py3-none-any.whl", hash = "sha256:67a675569f3e9bb274a8077f3c2068a8fe79cbfcb111cf31ca27b968484fe6c7"},
 ]
-python-logstash = [
+
+[package.extras]
+asyncio-client = ["aiohttp (>=3.4)"]
+client = ["requests (>=2.21.0)", "websocket-client (>=0.54.0)"]
+docs = ["sphinx"]
+
+[[package]]
+name = "python-json-logger"
+version = "2.0.7"
+description = "A python library adding a json log formatter"
+optional = false
+python-versions = ">=3.6"
+files = [
+    {file = "python-json-logger-2.0.7.tar.gz", hash = "sha256:23e7ec02d34237c5aa1e29a070193a4ea87583bb4e7f8fd06d3de8264c4b2e1c"},
+    {file = "python_json_logger-2.0.7-py3-none-any.whl", hash = "sha256:f380b826a991ebbe3de4d897aeec42760035ac760345e57b812938dc8b35e2bd"},
+]
+
+[[package]]
+name = "python-logstash"
+version = "0.4.8"
+description = "Python logging handler for Logstash."
+optional = false
+python-versions = "*"
+files = [
     {file = "python-logstash-0.4.8.tar.gz", hash = "sha256:d04e1ce11ecc107e4a4f3b807fc57d96811e964a554081b3bbb44732f74ef5f9"},
 ]
-python-rapidjson = [
+
+[[package]]
+name = "python-rapidjson"
+version = "1.10"
+description = "Python wrapper around rapidjson"
+optional = false
+python-versions = ">=3.6"
+files = [
     {file = "python-rapidjson-1.10.tar.gz", hash = "sha256:acfecbf5edb91ec72a20a125de7f56b8c2f6161eff4c65382c8ee6a2484d3540"},
     {file = "python_rapidjson-1.10-cp310-cp310-macosx_10_9_x86_64.whl", hash = "sha256:1db7b0af882999f5685eb7046a0f3b3aca5d55a3e84b3089747d29a4ec6fdade"},
     {file = "python_rapidjson-1.10-cp310-cp310-manylinux_2_17_aarch64.manylinux2014_aarch64.whl", hash = "sha256:a87c8c8b615513f9dc414af1554140589036d14840f5e1f1845965e1c0a080e1"},
@@ -7800,18 +7235,61 @@ python-rapidjson = [
     {file = "python_rapidjson-1.10-cp39-cp39-win32.whl", hash = "sha256:47f9078ea6884f700166a8728d863609fec62232e66a33b8fb4a7706ce7c731c"},
     {file = "python_rapidjson-1.10-cp39-cp39-win_amd64.whl", hash = "sha256:9e4921ab7002ae9faad7f439a7c50aa195039f177e9e51a76c34c97966c79a79"},
 ]
-python-socketio = [
-    {file = "python-socketio-5.7.2.tar.gz", hash = "sha256:92395062d9db3c13d30e7cdedaa0e1330bba78505645db695415f9a3c628d097"},
-    {file = "python_socketio-5.7.2-py3-none-any.whl", hash = "sha256:d9a9f047e6fdd306c852fbac36516f4b495c2096f8ad9ceb8803b8e5ff5622e3"},
+
+[[package]]
+name = "python-socketio"
+version = "5.8.0"
+description = "Socket.IO server and client for Python"
+optional = false
+python-versions = ">=3.6"
+files = [
+    {file = "python-socketio-5.8.0.tar.gz", hash = "sha256:e714f4dddfaaa0cb0e37a1e2deef2bb60590a5b9fea9c343dd8ca5e688416fd9"},
+    {file = "python_socketio-5.8.0-py3-none-any.whl", hash = "sha256:7adb8867aac1c2929b9c1429f1c02e12ca4c36b67c807967393e367dfbb01441"},
 ]
-pytools = [
-    {file = "pytools-2022.1.12.tar.gz", hash = "sha256:4d62875e9a2ab2a24e393a9a8b799492f1a721bffa840af3807bfd42871dd1f4"},
+
+[package.dependencies]
+bidict = ">=0.21.0"
+python-engineio = ">=4.3.0"
+
+[package.extras]
+asyncio-client = ["aiohttp (>=3.4)"]
+client = ["requests (>=2.21.0)", "websocket-client (>=0.54.0)"]
+
+[[package]]
+name = "pytools"
+version = "2023.1.1"
+description = "A collection of tools for Python"
+optional = false
+python-versions = "~=3.8"
+files = [
+    {file = "pytools-2023.1.1-py2.py3-none-any.whl", hash = "sha256:53b98e5d6c01a90e343f8be2f5271e94204a210ef3e74fbefa3d47ec7480f150"},
+    {file = "pytools-2023.1.1.tar.gz", hash = "sha256:80637873d206f6bcedf7cdb46ad93e868acb4ea2256db052dfcca872bdd0321f"},
 ]
-pytz = [
-    {file = "pytz-2022.5-py2.py3-none-any.whl", hash = "sha256:335ab46900b1465e714b4fda4963d87363264eb662aab5e65da039c25f1f5b22"},
-    {file = "pytz-2022.5.tar.gz", hash = "sha256:c4d88f472f54d615e9cd582a5004d1e5f624854a6a27a6211591c251f22a6914"},
+
+[package.dependencies]
+platformdirs = ">=2.2.0"
+
+[package.extras]
+numpy = ["numpy (>=1.6.0)"]
+
+[[package]]
+name = "pytz"
+version = "2023.3"
+description = "World timezone definitions, modern and historical"
+optional = false
+python-versions = "*"
+files = [
+    {file = "pytz-2023.3-py2.py3-none-any.whl", hash = "sha256:a151b3abb88eda1d4e34a9814df37de2a80e301e68ba0fd856fb9b46bfbbbffb"},
+    {file = "pytz-2023.3.tar.gz", hash = "sha256:1d8ce29db189191fb55338ee6d0387d82ab59f3d00eac103412d64e0ebd0c588"},
 ]
-pywavelets = [
+
+[[package]]
+name = "pywavelets"
+version = "1.4.1"
+description = "PyWavelets, wavelet transform module"
+optional = false
+python-versions = ">=3.8"
+files = [
     {file = "PyWavelets-1.4.1-cp310-cp310-macosx_10_13_x86_64.whl", hash = "sha256:d854411eb5ee9cb4bc5d0e66e3634aeb8f594210f6a1bed96dbed57ec70f181c"},
     {file = "PyWavelets-1.4.1-cp310-cp310-macosx_11_0_arm64.whl", hash = "sha256:231b0e0b1cdc1112f4af3c24eea7bf181c418d37922a67670e9bf6cfa2d544d4"},
     {file = "PyWavelets-1.4.1-cp310-cp310-manylinux_2_17_aarch64.manylinux2014_aarch64.whl", hash = "sha256:754fa5085768227c4f4a26c1e0c78bc509a266d9ebd0eb69a278be7e3ece943c"},
@@ -7838,187 +7316,726 @@ pywavelets = [
     {file = "PyWavelets-1.4.1-cp39-cp39-win_amd64.whl", hash = "sha256:88aa5449e109d8f5e7f0adef85f7f73b1ab086102865be64421a3a3d02d277f4"},
     {file = "PyWavelets-1.4.1.tar.gz", hash = "sha256:6437af3ddf083118c26d8f97ab43b0724b956c9f958e9ea788659f6a2834ba93"},
 ]
-pywin32 = [
-    {file = "pywin32-304-cp310-cp310-win32.whl", hash = "sha256:3c7bacf5e24298c86314f03fa20e16558a4e4138fc34615d7de4070c23e65af3"},
-    {file = "pywin32-304-cp310-cp310-win_amd64.whl", hash = "sha256:4f32145913a2447736dad62495199a8e280a77a0ca662daa2332acf849f0be48"},
-    {file = "pywin32-304-cp310-cp310-win_arm64.whl", hash = "sha256:d3ee45adff48e0551d1aa60d2ec066fec006083b791f5c3527c40cd8aefac71f"},
-    {file = "pywin32-304-cp311-cp311-win32.whl", hash = "sha256:30c53d6ce44c12a316a06c153ea74152d3b1342610f1b99d40ba2795e5af0269"},
-    {file = "pywin32-304-cp311-cp311-win_amd64.whl", hash = "sha256:7ffa0c0fa4ae4077e8b8aa73800540ef8c24530057768c3ac57c609f99a14fd4"},
-    {file = "pywin32-304-cp311-cp311-win_arm64.whl", hash = "sha256:cbbe34dad39bdbaa2889a424d28752f1b4971939b14b1bb48cbf0182a3bcfc43"},
-    {file = "pywin32-304-cp36-cp36m-win32.whl", hash = "sha256:be253e7b14bc601718f014d2832e4c18a5b023cbe72db826da63df76b77507a1"},
-    {file = "pywin32-304-cp36-cp36m-win_amd64.whl", hash = "sha256:de9827c23321dcf43d2f288f09f3b6d772fee11e809015bdae9e69fe13213988"},
-    {file = "pywin32-304-cp37-cp37m-win32.whl", hash = "sha256:f64c0377cf01b61bd5e76c25e1480ca8ab3b73f0c4add50538d332afdf8f69c5"},
-    {file = "pywin32-304-cp37-cp37m-win_amd64.whl", hash = "sha256:bb2ea2aa81e96eee6a6b79d87e1d1648d3f8b87f9a64499e0b92b30d141e76df"},
-    {file = "pywin32-304-cp38-cp38-win32.whl", hash = "sha256:94037b5259701988954931333aafd39cf897e990852115656b014ce72e052e96"},
-    {file = "pywin32-304-cp38-cp38-win_amd64.whl", hash = "sha256:ead865a2e179b30fb717831f73cf4373401fc62fbc3455a0889a7ddac848f83e"},
-    {file = "pywin32-304-cp39-cp39-win32.whl", hash = "sha256:25746d841201fd9f96b648a248f731c1dec851c9a08b8e33da8b56148e4c65cc"},
-    {file = "pywin32-304-cp39-cp39-win_amd64.whl", hash = "sha256:d24a3382f013b21aa24a5cfbfad5a2cd9926610c0affde3e8ab5b3d7dbcf4ac9"},
+
+[package.dependencies]
+numpy = ">=1.17.3"
+
+[[package]]
+name = "pywin32"
+version = "306"
+description = "Python for Window Extensions"
+optional = false
+python-versions = "*"
+files = [
+    {file = "pywin32-306-cp310-cp310-win32.whl", hash = "sha256:06d3420a5155ba65f0b72f2699b5bacf3109f36acbe8923765c22938a69dfc8d"},
+    {file = "pywin32-306-cp310-cp310-win_amd64.whl", hash = "sha256:84f4471dbca1887ea3803d8848a1616429ac94a4a8d05f4bc9c5dcfd42ca99c8"},
+    {file = "pywin32-306-cp311-cp311-win32.whl", hash = "sha256:e65028133d15b64d2ed8f06dd9fbc268352478d4f9289e69c190ecd6818b6407"},
+    {file = "pywin32-306-cp311-cp311-win_amd64.whl", hash = "sha256:a7639f51c184c0272e93f244eb24dafca9b1855707d94c192d4a0b4c01e1100e"},
+    {file = "pywin32-306-cp311-cp311-win_arm64.whl", hash = "sha256:70dba0c913d19f942a2db25217d9a1b726c278f483a919f1abfed79c9cf64d3a"},
+    {file = "pywin32-306-cp312-cp312-win32.whl", hash = "sha256:383229d515657f4e3ed1343da8be101000562bf514591ff383ae940cad65458b"},
+    {file = "pywin32-306-cp312-cp312-win_amd64.whl", hash = "sha256:37257794c1ad39ee9be652da0462dc2e394c8159dfd913a8a4e8eb6fd346da0e"},
+    {file = "pywin32-306-cp312-cp312-win_arm64.whl", hash = "sha256:5821ec52f6d321aa59e2db7e0a35b997de60c201943557d108af9d4ae1ec7040"},
+    {file = "pywin32-306-cp37-cp37m-win32.whl", hash = "sha256:1c73ea9a0d2283d889001998059f5eaaba3b6238f767c9cf2833b13e6a685f65"},
+    {file = "pywin32-306-cp37-cp37m-win_amd64.whl", hash = "sha256:72c5f621542d7bdd4fdb716227be0dd3f8565c11b280be6315b06ace35487d36"},
+    {file = "pywin32-306-cp38-cp38-win32.whl", hash = "sha256:e4c092e2589b5cf0d365849e73e02c391c1349958c5ac3e9d5ccb9a28e017b3a"},
+    {file = "pywin32-306-cp38-cp38-win_amd64.whl", hash = "sha256:e8ac1ae3601bee6ca9f7cb4b5363bf1c0badb935ef243c4733ff9a393b1690c0"},
+    {file = "pywin32-306-cp39-cp39-win32.whl", hash = "sha256:e25fd5b485b55ac9c057f67d94bc203f3f6595078d1fb3b458c9c28b7153a802"},
+    {file = "pywin32-306-cp39-cp39-win_amd64.whl", hash = "sha256:39b61c15272833b5c329a2989999dcae836b1eed650252ab1b7bfbe1d59f30f4"},
 ]
-pywin32-ctypes = [
-    {file = "pywin32-ctypes-0.2.0.tar.gz", hash = "sha256:24ffc3b341d457d48e8922352130cf2644024a4ff09762a2261fd34c36ee5942"},
-    {file = "pywin32_ctypes-0.2.0-py2.py3-none-any.whl", hash = "sha256:9dc2d991b3479cc2df15930958b674a48a227d5361d413827a4cfd0b5876fc98"},
+
+[[package]]
+name = "pywin32-ctypes"
+version = "0.2.2"
+description = "A (partial) reimplementation of pywin32 using ctypes/cffi"
+optional = false
+python-versions = ">=3.6"
+files = [
+    {file = "pywin32-ctypes-0.2.2.tar.gz", hash = "sha256:3426e063bdd5fd4df74a14fa3cf80a0b42845a87e1d1e81f6549f9daec593a60"},
+    {file = "pywin32_ctypes-0.2.2-py3-none-any.whl", hash = "sha256:bf490a1a709baf35d688fe0ecf980ed4de11d2b3e37b51e5442587a75d9957e7"},
 ]
-pywinpty = [
-    {file = "pywinpty-2.0.8-cp310-none-win_amd64.whl", hash = "sha256:9cbf89834abc8d4d4c5f295f11e15dd93889a8069db876f2bc10cc64aa4060ac"},
-    {file = "pywinpty-2.0.8-cp37-none-win_amd64.whl", hash = "sha256:a2f9a95f3b74262ef73f1be5257c295c8caab1f79f081aa3400ca61c724f9bc6"},
-    {file = "pywinpty-2.0.8-cp38-none-win_amd64.whl", hash = "sha256:23389d56258d6a1fbc4b41257bd65e5bdabaf6fde7f30a13806e557ea9ee6865"},
-    {file = "pywinpty-2.0.8-cp39-none-win_amd64.whl", hash = "sha256:ea7c1da94eed5ef93e75026c67c60d4dca33ea9a1c212fa89221079a7b463c68"},
-    {file = "pywinpty-2.0.8.tar.gz", hash = "sha256:a89b9021c63ef78b1e7d8e14f0fac4748c88a0c2e4f529c84f37f6e72b914280"},
+
+[[package]]
+name = "pywinpty"
+version = "2.0.11"
+description = "Pseudo terminal support for Windows from Python."
+optional = false
+python-versions = ">=3.8"
+files = [
+    {file = "pywinpty-2.0.11-cp310-none-win_amd64.whl", hash = "sha256:452f10ac9ff8ab9151aa8cea9e491a9612a12250b1899278c6a56bc184afb47f"},
+    {file = "pywinpty-2.0.11-cp311-none-win_amd64.whl", hash = "sha256:6701867d42aec1239bc0fedf49a336570eb60eb886e81763db77ea2b6c533cc3"},
+    {file = "pywinpty-2.0.11-cp38-none-win_amd64.whl", hash = "sha256:0ffd287751ad871141dc9724de70ea21f7fc2ff1af50861e0d232cf70739d8c4"},
+    {file = "pywinpty-2.0.11-cp39-none-win_amd64.whl", hash = "sha256:e4e7f023c28ca7aa8e1313e53ba80a4d10171fe27857b7e02f99882dfe3e8638"},
+    {file = "pywinpty-2.0.11.tar.gz", hash = "sha256:e244cffe29a894876e2cd251306efd0d8d64abd5ada0a46150a4a71c0b9ad5c5"},
 ]
-pyyaml = [
-    {file = "PyYAML-6.0-cp310-cp310-macosx_10_9_x86_64.whl", hash = "sha256:d4db7c7aef085872ef65a8fd7d6d09a14ae91f691dec3e87ee5ee0539d516f53"},
-    {file = "PyYAML-6.0-cp310-cp310-macosx_11_0_arm64.whl", hash = "sha256:9df7ed3b3d2e0ecfe09e14741b857df43adb5a3ddadc919a2d94fbdf78fea53c"},
-    {file = "PyYAML-6.0-cp310-cp310-manylinux_2_17_aarch64.manylinux2014_aarch64.whl", hash = "sha256:77f396e6ef4c73fdc33a9157446466f1cff553d979bd00ecb64385760c6babdc"},
-    {file = "PyYAML-6.0-cp310-cp310-manylinux_2_17_s390x.manylinux2014_s390x.whl", hash = "sha256:a80a78046a72361de73f8f395f1f1e49f956c6be882eed58505a15f3e430962b"},
-    {file = "PyYAML-6.0-cp310-cp310-manylinux_2_5_x86_64.manylinux1_x86_64.manylinux_2_12_x86_64.manylinux2010_x86_64.whl", hash = "sha256:f84fbc98b019fef2ee9a1cb3ce93e3187a6df0b2538a651bfb890254ba9f90b5"},
-    {file = "PyYAML-6.0-cp310-cp310-win32.whl", hash = "sha256:2cd5df3de48857ed0544b34e2d40e9fac445930039f3cfe4bcc592a1f836d513"},
-    {file = "PyYAML-6.0-cp310-cp310-win_amd64.whl", hash = "sha256:daf496c58a8c52083df09b80c860005194014c3698698d1a57cbcfa182142a3a"},
-    {file = "PyYAML-6.0-cp311-cp311-macosx_10_9_x86_64.whl", hash = "sha256:d4b0ba9512519522b118090257be113b9468d804b19d63c71dbcf4a48fa32358"},
-    {file = "PyYAML-6.0-cp311-cp311-macosx_11_0_arm64.whl", hash = "sha256:81957921f441d50af23654aa6c5e5eaf9b06aba7f0a19c18a538dc7ef291c5a1"},
-    {file = "PyYAML-6.0-cp311-cp311-manylinux_2_17_aarch64.manylinux2014_aarch64.whl", hash = "sha256:afa17f5bc4d1b10afd4466fd3a44dc0e245382deca5b3c353d8b757f9e3ecb8d"},
-    {file = "PyYAML-6.0-cp311-cp311-manylinux_2_17_s390x.manylinux2014_s390x.whl", hash = "sha256:dbad0e9d368bb989f4515da330b88a057617d16b6a8245084f1b05400f24609f"},
-    {file = "PyYAML-6.0-cp311-cp311-manylinux_2_17_x86_64.manylinux2014_x86_64.whl", hash = "sha256:432557aa2c09802be39460360ddffd48156e30721f5e8d917f01d31694216782"},
-    {file = "PyYAML-6.0-cp311-cp311-win32.whl", hash = "sha256:bfaef573a63ba8923503d27530362590ff4f576c626d86a9fed95822a8255fd7"},
-    {file = "PyYAML-6.0-cp311-cp311-win_amd64.whl", hash = "sha256:01b45c0191e6d66c470b6cf1b9531a771a83c1c4208272ead47a3ae4f2f603bf"},
-    {file = "PyYAML-6.0-cp36-cp36m-macosx_10_9_x86_64.whl", hash = "sha256:897b80890765f037df3403d22bab41627ca8811ae55e9a722fd0392850ec4d86"},
-    {file = "PyYAML-6.0-cp36-cp36m-manylinux_2_17_aarch64.manylinux2014_aarch64.whl", hash = "sha256:50602afada6d6cbfad699b0c7bb50d5ccffa7e46a3d738092afddc1f9758427f"},
-    {file = "PyYAML-6.0-cp36-cp36m-manylinux_2_17_s390x.manylinux2014_s390x.whl", hash = "sha256:48c346915c114f5fdb3ead70312bd042a953a8ce5c7106d5bfb1a5254e47da92"},
-    {file = "PyYAML-6.0-cp36-cp36m-manylinux_2_5_x86_64.manylinux1_x86_64.manylinux_2_12_x86_64.manylinux2010_x86_64.whl", hash = "sha256:98c4d36e99714e55cfbaaee6dd5badbc9a1ec339ebfc3b1f52e293aee6bb71a4"},
-    {file = "PyYAML-6.0-cp36-cp36m-win32.whl", hash = "sha256:0283c35a6a9fbf047493e3a0ce8d79ef5030852c51e9d911a27badfde0605293"},
-    {file = "PyYAML-6.0-cp36-cp36m-win_amd64.whl", hash = "sha256:07751360502caac1c067a8132d150cf3d61339af5691fe9e87803040dbc5db57"},
-    {file = "PyYAML-6.0-cp37-cp37m-macosx_10_9_x86_64.whl", hash = "sha256:819b3830a1543db06c4d4b865e70ded25be52a2e0631ccd2f6a47a2822f2fd7c"},
-    {file = "PyYAML-6.0-cp37-cp37m-manylinux_2_17_aarch64.manylinux2014_aarch64.whl", hash = "sha256:473f9edb243cb1935ab5a084eb238d842fb8f404ed2193a915d1784b5a6b5fc0"},
-    {file = "PyYAML-6.0-cp37-cp37m-manylinux_2_17_s390x.manylinux2014_s390x.whl", hash = "sha256:0ce82d761c532fe4ec3f87fc45688bdd3a4c1dc5e0b4a19814b9009a29baefd4"},
-    {file = "PyYAML-6.0-cp37-cp37m-manylinux_2_5_x86_64.manylinux1_x86_64.manylinux_2_12_x86_64.manylinux2010_x86_64.whl", hash = "sha256:231710d57adfd809ef5d34183b8ed1eeae3f76459c18fb4a0b373ad56bedcdd9"},
-    {file = "PyYAML-6.0-cp37-cp37m-win32.whl", hash = "sha256:c5687b8d43cf58545ade1fe3e055f70eac7a5a1a0bf42824308d868289a95737"},
-    {file = "PyYAML-6.0-cp37-cp37m-win_amd64.whl", hash = "sha256:d15a181d1ecd0d4270dc32edb46f7cb7733c7c508857278d3d378d14d606db2d"},
-    {file = "PyYAML-6.0-cp38-cp38-macosx_10_9_x86_64.whl", hash = "sha256:0b4624f379dab24d3725ffde76559cff63d9ec94e1736b556dacdfebe5ab6d4b"},
-    {file = "PyYAML-6.0-cp38-cp38-manylinux_2_17_aarch64.manylinux2014_aarch64.whl", hash = "sha256:213c60cd50106436cc818accf5baa1aba61c0189ff610f64f4a3e8c6726218ba"},
-    {file = "PyYAML-6.0-cp38-cp38-manylinux_2_17_s390x.manylinux2014_s390x.whl", hash = "sha256:9fa600030013c4de8165339db93d182b9431076eb98eb40ee068700c9c813e34"},
-    {file = "PyYAML-6.0-cp38-cp38-manylinux_2_5_x86_64.manylinux1_x86_64.manylinux_2_12_x86_64.manylinux2010_x86_64.whl", hash = "sha256:277a0ef2981ca40581a47093e9e2d13b3f1fbbeffae064c1d21bfceba2030287"},
-    {file = "PyYAML-6.0-cp38-cp38-win32.whl", hash = "sha256:d4eccecf9adf6fbcc6861a38015c2a64f38b9d94838ac1810a9023a0609e1b78"},
-    {file = "PyYAML-6.0-cp38-cp38-win_amd64.whl", hash = "sha256:1e4747bc279b4f613a09eb64bba2ba602d8a6664c6ce6396a4d0cd413a50ce07"},
-    {file = "PyYAML-6.0-cp39-cp39-macosx_10_9_x86_64.whl", hash = "sha256:055d937d65826939cb044fc8c9b08889e8c743fdc6a32b33e2390f66013e449b"},
-    {file = "PyYAML-6.0-cp39-cp39-macosx_11_0_arm64.whl", hash = "sha256:e61ceaab6f49fb8bdfaa0f92c4b57bcfbea54c09277b1b4f7ac376bfb7a7c174"},
-    {file = "PyYAML-6.0-cp39-cp39-manylinux_2_17_aarch64.manylinux2014_aarch64.whl", hash = "sha256:d67d839ede4ed1b28a4e8909735fc992a923cdb84e618544973d7dfc71540803"},
-    {file = "PyYAML-6.0-cp39-cp39-manylinux_2_17_s390x.manylinux2014_s390x.whl", hash = "sha256:cba8c411ef271aa037d7357a2bc8f9ee8b58b9965831d9e51baf703280dc73d3"},
-    {file = "PyYAML-6.0-cp39-cp39-manylinux_2_5_x86_64.manylinux1_x86_64.manylinux_2_12_x86_64.manylinux2010_x86_64.whl", hash = "sha256:40527857252b61eacd1d9af500c3337ba8deb8fc298940291486c465c8b46ec0"},
-    {file = "PyYAML-6.0-cp39-cp39-win32.whl", hash = "sha256:b5b9eccad747aabaaffbc6064800670f0c297e52c12754eb1d976c57e4f74dcb"},
-    {file = "PyYAML-6.0-cp39-cp39-win_amd64.whl", hash = "sha256:b3d267842bf12586ba6c734f89d1f5b871df0273157918b0ccefa29deb05c21c"},
-    {file = "PyYAML-6.0.tar.gz", hash = "sha256:68fb519c14306fec9720a2a5b45bc9f0c8d1b9c72adf45c37baedfcd949c35a2"},
+
+[[package]]
+name = "pyyaml"
+version = "6.0.1"
+description = "YAML parser and emitter for Python"
+optional = false
+python-versions = ">=3.6"
+files = [
+    {file = "PyYAML-6.0.1-cp310-cp310-macosx_10_9_x86_64.whl", hash = "sha256:d858aa552c999bc8a8d57426ed01e40bef403cd8ccdd0fc5f6f04a00414cac2a"},
+    {file = "PyYAML-6.0.1-cp310-cp310-macosx_11_0_arm64.whl", hash = "sha256:fd66fc5d0da6d9815ba2cebeb4205f95818ff4b79c3ebe268e75d961704af52f"},
+    {file = "PyYAML-6.0.1-cp310-cp310-manylinux_2_17_aarch64.manylinux2014_aarch64.whl", hash = "sha256:69b023b2b4daa7548bcfbd4aa3da05b3a74b772db9e23b982788168117739938"},
+    {file = "PyYAML-6.0.1-cp310-cp310-manylinux_2_17_s390x.manylinux2014_s390x.whl", hash = "sha256:81e0b275a9ecc9c0c0c07b4b90ba548307583c125f54d5b6946cfee6360c733d"},
+    {file = "PyYAML-6.0.1-cp310-cp310-manylinux_2_17_x86_64.manylinux2014_x86_64.whl", hash = "sha256:ba336e390cd8e4d1739f42dfe9bb83a3cc2e80f567d8805e11b46f4a943f5515"},
+    {file = "PyYAML-6.0.1-cp310-cp310-win32.whl", hash = "sha256:bd4af7373a854424dabd882decdc5579653d7868b8fb26dc7d0e99f823aa5924"},
+    {file = "PyYAML-6.0.1-cp310-cp310-win_amd64.whl", hash = "sha256:fd1592b3fdf65fff2ad0004b5e363300ef59ced41c2e6b3a99d4089fa8c5435d"},
+    {file = "PyYAML-6.0.1-cp311-cp311-macosx_10_9_x86_64.whl", hash = "sha256:6965a7bc3cf88e5a1c3bd2e0b5c22f8d677dc88a455344035f03399034eb3007"},
+    {file = "PyYAML-6.0.1-cp311-cp311-macosx_11_0_arm64.whl", hash = "sha256:f003ed9ad21d6a4713f0a9b5a7a0a79e08dd0f221aff4525a2be4c346ee60aab"},
+    {file = "PyYAML-6.0.1-cp311-cp311-manylinux_2_17_aarch64.manylinux2014_aarch64.whl", hash = "sha256:42f8152b8dbc4fe7d96729ec2b99c7097d656dc1213a3229ca5383f973a5ed6d"},
+    {file = "PyYAML-6.0.1-cp311-cp311-manylinux_2_17_s390x.manylinux2014_s390x.whl", hash = "sha256:062582fca9fabdd2c8b54a3ef1c978d786e0f6b3a1510e0ac93ef59e0ddae2bc"},
+    {file = "PyYAML-6.0.1-cp311-cp311-manylinux_2_17_x86_64.manylinux2014_x86_64.whl", hash = "sha256:d2b04aac4d386b172d5b9692e2d2da8de7bfb6c387fa4f801fbf6fb2e6ba4673"},
+    {file = "PyYAML-6.0.1-cp311-cp311-win32.whl", hash = "sha256:1635fd110e8d85d55237ab316b5b011de701ea0f29d07611174a1b42f1444741"},
+    {file = "PyYAML-6.0.1-cp311-cp311-win_amd64.whl", hash = "sha256:bf07ee2fef7014951eeb99f56f39c9bb4af143d8aa3c21b1677805985307da34"},
+    {file = "PyYAML-6.0.1-cp36-cp36m-macosx_10_9_x86_64.whl", hash = "sha256:50550eb667afee136e9a77d6dc71ae76a44df8b3e51e41b77f6de2932bfe0f47"},
+    {file = "PyYAML-6.0.1-cp36-cp36m-manylinux_2_17_aarch64.manylinux2014_aarch64.whl", hash = "sha256:1fe35611261b29bd1de0070f0b2f47cb6ff71fa6595c077e42bd0c419fa27b98"},
+    {file = "PyYAML-6.0.1-cp36-cp36m-manylinux_2_17_s390x.manylinux2014_s390x.whl", hash = "sha256:704219a11b772aea0d8ecd7058d0082713c3562b4e271b849ad7dc4a5c90c13c"},
+    {file = "PyYAML-6.0.1-cp36-cp36m-manylinux_2_17_x86_64.manylinux2014_x86_64.whl", hash = "sha256:afd7e57eddb1a54f0f1a974bc4391af8bcce0b444685d936840f125cf046d5bd"},
+    {file = "PyYAML-6.0.1-cp36-cp36m-win32.whl", hash = "sha256:fca0e3a251908a499833aa292323f32437106001d436eca0e6e7833256674585"},
+    {file = "PyYAML-6.0.1-cp36-cp36m-win_amd64.whl", hash = "sha256:f22ac1c3cac4dbc50079e965eba2c1058622631e526bd9afd45fedd49ba781fa"},
+    {file = "PyYAML-6.0.1-cp37-cp37m-macosx_10_9_x86_64.whl", hash = "sha256:b1275ad35a5d18c62a7220633c913e1b42d44b46ee12554e5fd39c70a243d6a3"},
+    {file = "PyYAML-6.0.1-cp37-cp37m-manylinux_2_17_aarch64.manylinux2014_aarch64.whl", hash = "sha256:18aeb1bf9a78867dc38b259769503436b7c72f7a1f1f4c93ff9a17de54319b27"},
+    {file = "PyYAML-6.0.1-cp37-cp37m-manylinux_2_17_s390x.manylinux2014_s390x.whl", hash = "sha256:596106435fa6ad000c2991a98fa58eeb8656ef2325d7e158344fb33864ed87e3"},
+    {file = "PyYAML-6.0.1-cp37-cp37m-manylinux_2_17_x86_64.manylinux2014_x86_64.whl", hash = "sha256:baa90d3f661d43131ca170712d903e6295d1f7a0f595074f151c0aed377c9b9c"},
+    {file = "PyYAML-6.0.1-cp37-cp37m-win32.whl", hash = "sha256:9046c58c4395dff28dd494285c82ba00b546adfc7ef001486fbf0324bc174fba"},
+    {file = "PyYAML-6.0.1-cp37-cp37m-win_amd64.whl", hash = "sha256:4fb147e7a67ef577a588a0e2c17b6db51dda102c71de36f8549b6816a96e1867"},
+    {file = "PyYAML-6.0.1-cp38-cp38-macosx_10_9_x86_64.whl", hash = "sha256:1d4c7e777c441b20e32f52bd377e0c409713e8bb1386e1099c2415f26e479595"},
+    {file = "PyYAML-6.0.1-cp38-cp38-manylinux_2_17_aarch64.manylinux2014_aarch64.whl", hash = "sha256:a0cd17c15d3bb3fa06978b4e8958dcdc6e0174ccea823003a106c7d4d7899ac5"},
+    {file = "PyYAML-6.0.1-cp38-cp38-manylinux_2_17_s390x.manylinux2014_s390x.whl", hash = "sha256:28c119d996beec18c05208a8bd78cbe4007878c6dd15091efb73a30e90539696"},
+    {file = "PyYAML-6.0.1-cp38-cp38-manylinux_2_17_x86_64.manylinux2014_x86_64.whl", hash = "sha256:7e07cbde391ba96ab58e532ff4803f79c4129397514e1413a7dc761ccd755735"},
+    {file = "PyYAML-6.0.1-cp38-cp38-win32.whl", hash = "sha256:184c5108a2aca3c5b3d3bf9395d50893a7ab82a38004c8f61c258d4428e80206"},
+    {file = "PyYAML-6.0.1-cp38-cp38-win_amd64.whl", hash = "sha256:1e2722cc9fbb45d9b87631ac70924c11d3a401b2d7f410cc0e3bbf249f2dca62"},
+    {file = "PyYAML-6.0.1-cp39-cp39-macosx_10_9_x86_64.whl", hash = "sha256:9eb6caa9a297fc2c2fb8862bc5370d0303ddba53ba97e71f08023b6cd73d16a8"},
+    {file = "PyYAML-6.0.1-cp39-cp39-macosx_11_0_arm64.whl", hash = "sha256:c8098ddcc2a85b61647b2590f825f3db38891662cfc2fc776415143f599bb859"},
+    {file = "PyYAML-6.0.1-cp39-cp39-manylinux_2_17_aarch64.manylinux2014_aarch64.whl", hash = "sha256:5773183b6446b2c99bb77e77595dd486303b4faab2b086e7b17bc6bef28865f6"},
+    {file = "PyYAML-6.0.1-cp39-cp39-manylinux_2_17_s390x.manylinux2014_s390x.whl", hash = "sha256:b786eecbdf8499b9ca1d697215862083bd6d2a99965554781d0d8d1ad31e13a0"},
+    {file = "PyYAML-6.0.1-cp39-cp39-manylinux_2_17_x86_64.manylinux2014_x86_64.whl", hash = "sha256:bc1bf2925a1ecd43da378f4db9e4f799775d6367bdb94671027b73b393a7c42c"},
+    {file = "PyYAML-6.0.1-cp39-cp39-win32.whl", hash = "sha256:faca3bdcf85b2fc05d06ff3fbc1f83e1391b3e724afa3feba7d13eeab355484c"},
+    {file = "PyYAML-6.0.1-cp39-cp39-win_amd64.whl", hash = "sha256:510c9deebc5c0225e8c96813043e62b680ba2f9c50a08d3724c7f28a747d1486"},
+    {file = "PyYAML-6.0.1.tar.gz", hash = "sha256:bfdf460b1736c775f2ba9f6a92bca30bc2095067b8a9d77876d1fad6cc3b4a43"},
 ]
-pyzmq = [
-    {file = "pyzmq-23.2.1-cp310-cp310-macosx_10_15_universal2.whl", hash = "sha256:a3fd44b5046d247e7f0f1660bcafe7b5fb0db55d0934c05dd57dda9e1f823ce7"},
-    {file = "pyzmq-23.2.1-cp310-cp310-macosx_10_9_x86_64.whl", hash = "sha256:2141e6798d5981be04c08996d27962086a1aa3ea536fe9cf7e89817fd4523f86"},
-    {file = "pyzmq-23.2.1-cp310-cp310-manylinux_2_17_aarch64.manylinux2014_aarch64.whl", hash = "sha256:9a39ddb0431a68954bd318b923230fa5b649c9c62b0e8340388820c5f1b15bd2"},
-    {file = "pyzmq-23.2.1-cp310-cp310-manylinux_2_17_i686.manylinux2014_i686.whl", hash = "sha256:e06747014a5ad1b28cebf5bc1ddcdaccfb44e9b441d35e6feb1286c8a72e54be"},
-    {file = "pyzmq-23.2.1-cp310-cp310-manylinux_2_17_x86_64.manylinux2014_x86_64.whl", hash = "sha256:7e0113d70b095339e99bb522fe7294f5ae6a7f3b2b8f52f659469a74b5cc7661"},
-    {file = "pyzmq-23.2.1-cp310-cp310-musllinux_1_1_aarch64.whl", hash = "sha256:71b32a1e827bdcbf73750e60370d3b07685816ff3d8695f450f0f8c3226503f8"},
-    {file = "pyzmq-23.2.1-cp310-cp310-musllinux_1_1_i686.whl", hash = "sha256:55568a020ad2cae9ae36da6058e7ca332a56df968f601cbdb7cf6efb2a77579a"},
-    {file = "pyzmq-23.2.1-cp310-cp310-musllinux_1_1_x86_64.whl", hash = "sha256:8c02a0cd39dc01659b3d6cb70bb3a41aebd9885fd78239acdd8d9c91351c4568"},
-    {file = "pyzmq-23.2.1-cp310-cp310-win32.whl", hash = "sha256:e1fe30bcd5aea5948c42685fad910cd285eacb2518ea4dc6c170d6b535bee95d"},
-    {file = "pyzmq-23.2.1-cp310-cp310-win_amd64.whl", hash = "sha256:650389bbfca73955b262b2230423d89992f38ec48033307ae80e700eaa2fbb63"},
-    {file = "pyzmq-23.2.1-cp311-cp311-macosx_10_15_universal2.whl", hash = "sha256:e753eee6d3b93c5354e8ba0a1d62956ee49355f0a36e00570823ef64e66183f5"},
-    {file = "pyzmq-23.2.1-cp311-cp311-macosx_10_9_x86_64.whl", hash = "sha256:f07016e3cf088dbfc6e7c5a7b3f540db5c23b0190d539e4fd3e2b5e6beffa4b5"},
-    {file = "pyzmq-23.2.1-cp311-cp311-manylinux_2_17_aarch64.manylinux2014_aarch64.whl", hash = "sha256:4805af9614b0b41b7e57d17673459facf85604dac502a5a9244f6e8c9a4de658"},
-    {file = "pyzmq-23.2.1-cp311-cp311-manylinux_2_17_i686.manylinux2014_i686.whl", hash = "sha256:39dd252b683816935702825e5bf775df16090619ced9bb4ba68c2d0b6f0c9b18"},
-    {file = "pyzmq-23.2.1-cp311-cp311-manylinux_2_28_x86_64.whl", hash = "sha256:84678153432241bcdca2210cf4ff83560b200556867aea913ffbb960f5d5f340"},
-    {file = "pyzmq-23.2.1-cp311-cp311-musllinux_1_1_aarch64.whl", hash = "sha256:90d88f9d9a2ae6cfb1dc4ea2d1710cdf6456bc1b9a06dd1bb485c5d298f2517e"},
-    {file = "pyzmq-23.2.1-cp311-cp311-musllinux_1_1_i686.whl", hash = "sha256:794871988c34727c7f79bdfe2546e6854ae1fa2e1feb382784f23a9c6c63ecb3"},
-    {file = "pyzmq-23.2.1-cp311-cp311-musllinux_1_1_x86_64.whl", hash = "sha256:c56b1a62a1fb87565343c57b6743fd5da6e138b8c6562361d7d9b5ce4acf399a"},
-    {file = "pyzmq-23.2.1-cp311-cp311-win32.whl", hash = "sha256:c3ebf1668664d20c8f7d468955f18379b7d1f7bc8946b13243d050fa3888c7ff"},
-    {file = "pyzmq-23.2.1-cp311-cp311-win_amd64.whl", hash = "sha256:ec9803aca9491fd6f0d853d2a6147f19f8deaaa23b1b713d05c5d09e56ea7142"},
-    {file = "pyzmq-23.2.1-cp36-cp36m-macosx_10_9_x86_64.whl", hash = "sha256:385609812eafd9970c3752c51f2f6c4f224807e3e441bcfd8c8273877d00c8a8"},
-    {file = "pyzmq-23.2.1-cp36-cp36m-manylinux_2_17_aarch64.manylinux2014_aarch64.whl", hash = "sha256:b861db65f6b8906c8d6db51dde2448f266f0c66bf28db2c37aea50f58a849859"},
-    {file = "pyzmq-23.2.1-cp36-cp36m-manylinux_2_5_i686.manylinux1_i686.whl", hash = "sha256:6b1e79bba24f6df1712e3188d5c32c480d8eda03e8ecff44dc8ecb0805fa62f3"},
-    {file = "pyzmq-23.2.1-cp36-cp36m-manylinux_2_5_x86_64.manylinux1_x86_64.whl", hash = "sha256:8dc66f109a245653b19df0f44a5af7a3f14cb8ad6c780ead506158a057bd36ce"},
-    {file = "pyzmq-23.2.1-cp36-cp36m-musllinux_1_1_aarch64.whl", hash = "sha256:b815991c7d024bf461f358ad871f2be1135576274caed5749c4828859e40354e"},
-    {file = "pyzmq-23.2.1-cp36-cp36m-musllinux_1_1_i686.whl", hash = "sha256:29b74774a0bfd3c4d98ac853f0bdca55bd9ec89d5b0def5486407cca54472ef8"},
-    {file = "pyzmq-23.2.1-cp36-cp36m-musllinux_1_1_x86_64.whl", hash = "sha256:4bb798bef181648827019001f6be43e1c48b34b477763b37a8d27d8c06d197b8"},
-    {file = "pyzmq-23.2.1-cp36-cp36m-win32.whl", hash = "sha256:565bd5ab81f6964fc4067ccf2e00877ad0fa917308975694bbb54378389215f8"},
-    {file = "pyzmq-23.2.1-cp36-cp36m-win_amd64.whl", hash = "sha256:1f368a82b29f80071781b20663c0fc0c8f6b13273f9f5abe1526af939534f90f"},
-    {file = "pyzmq-23.2.1-cp37-cp37m-macosx_10_9_x86_64.whl", hash = "sha256:c9cfaf530e6a7ff65f0afe275e99f983f68b54dfb23ea401f0bc297a632766b6"},
-    {file = "pyzmq-23.2.1-cp37-cp37m-manylinux_2_17_aarch64.manylinux2014_aarch64.whl", hash = "sha256:5c558b50402fca1acc94329c5d8f12aa429738904a5cfb32b9ed3c61235221bb"},
-    {file = "pyzmq-23.2.1-cp37-cp37m-manylinux_2_5_i686.manylinux1_i686.whl", hash = "sha256:20bafc4095eab00f41a510579363a3f5e1f5c69d7ee10f1d88895c4df0259183"},
-    {file = "pyzmq-23.2.1-cp37-cp37m-manylinux_2_5_x86_64.manylinux1_x86_64.whl", hash = "sha256:f619fd38fc2641abfb53cca719c165182500600b82c695cc548a0f05f764be05"},
-    {file = "pyzmq-23.2.1-cp37-cp37m-musllinux_1_1_aarch64.whl", hash = "sha256:044447ae4b2016a6b8697571fd633f799f860b19b76c4a2fd9b1140d52ee6745"},
-    {file = "pyzmq-23.2.1-cp37-cp37m-musllinux_1_1_i686.whl", hash = "sha256:49d30ba7074f469e8167917abf9eb854c6503ae10153034a6d4df33618f1db5f"},
-    {file = "pyzmq-23.2.1-cp37-cp37m-musllinux_1_1_x86_64.whl", hash = "sha256:48400b96788cdaca647021bf19a9cd668384f46e4d9c55cf045bdd17f65299c8"},
-    {file = "pyzmq-23.2.1-cp37-cp37m-win32.whl", hash = "sha256:8a68f57b7a3f7b6b52ada79876be1efb97c8c0952423436e84d70cc139f16f0d"},
-    {file = "pyzmq-23.2.1-cp37-cp37m-win_amd64.whl", hash = "sha256:9e5bf6e7239fc9687239de7a283aa8b801ab85371116045b33ae20132a1325d6"},
-    {file = "pyzmq-23.2.1-cp38-cp38-macosx_10_15_universal2.whl", hash = "sha256:0ff6294e001129a9f22dcbfba186165c7e6f573c46de2704d76f873c94c65416"},
-    {file = "pyzmq-23.2.1-cp38-cp38-macosx_10_9_x86_64.whl", hash = "sha256:ffc6b1623d0f9affb351db4ca61f432dca3628a5ee015f9bf2bfbe9c6836881c"},
-    {file = "pyzmq-23.2.1-cp38-cp38-manylinux_2_12_i686.manylinux2010_i686.whl", hash = "sha256:4d6f110c56f7d5b4d64dde3a382ae61b6d48174e30742859d8e971b18b6c9e5c"},
-    {file = "pyzmq-23.2.1-cp38-cp38-manylinux_2_12_x86_64.manylinux2010_x86_64.whl", hash = "sha256:9269fbfe3a4eb2009199120861c4571ef1655fdf6951c3e7f233567c94e8c602"},
-    {file = "pyzmq-23.2.1-cp38-cp38-manylinux_2_17_aarch64.manylinux2014_aarch64.whl", hash = "sha256:12e62ff0d5223ec09b597ab6d73858b9f64a51221399f3cb08aa495e1dff7935"},
-    {file = "pyzmq-23.2.1-cp38-cp38-musllinux_1_1_aarch64.whl", hash = "sha256:6fd5d0d50cbcf4bc376861529a907bed026a4cbe8c22a500ff8243231ef02433"},
-    {file = "pyzmq-23.2.1-cp38-cp38-musllinux_1_1_i686.whl", hash = "sha256:9d0ab2936085c85a1fc6f9fd8f89d5235ae99b051e90ec5baa5e73ad44346e1f"},
-    {file = "pyzmq-23.2.1-cp38-cp38-musllinux_1_1_x86_64.whl", hash = "sha256:022cf5ea7bcaa8a06a03c2706e0ae66904b6138b2155577cd34c64bc7cc637ab"},
-    {file = "pyzmq-23.2.1-cp38-cp38-win32.whl", hash = "sha256:28dbdb90b2f6b131f8f10e6081012e4e25234213433420e67e0c1162de537113"},
-    {file = "pyzmq-23.2.1-cp38-cp38-win_amd64.whl", hash = "sha256:10d1910ec381b851aeb024a042a13db178cb1edf125e76a4e9d2548ad103aadb"},
-    {file = "pyzmq-23.2.1-cp39-cp39-macosx_10_15_universal2.whl", hash = "sha256:99a5a77a10863493a1ee8dece02578c6b32025fb3afff91b40476bc489e81648"},
-    {file = "pyzmq-23.2.1-cp39-cp39-macosx_10_9_x86_64.whl", hash = "sha256:aecd6ceaccc4b594e0092d6513ef3f1c0fa678dd89f86bb8ff1a47014b8fca35"},
-    {file = "pyzmq-23.2.1-cp39-cp39-manylinux_2_12_i686.manylinux2010_i686.whl", hash = "sha256:415ff62ac525d9add1e3550430a09b9928d2d24a20cc4ce809e67caac41219ab"},
-    {file = "pyzmq-23.2.1-cp39-cp39-manylinux_2_12_x86_64.manylinux2010_x86_64.whl", hash = "sha256:67975a9e1237b9ccc78f457bef17691bbdd2055a9d26e81ee914ba376846d0ce"},
-    {file = "pyzmq-23.2.1-cp39-cp39-manylinux_2_17_aarch64.manylinux2014_aarch64.whl", hash = "sha256:38e106b64bad744fe469dc3dd864f2764d66399178c1bf39d45294cc7980f14f"},
-    {file = "pyzmq-23.2.1-cp39-cp39-musllinux_1_1_aarch64.whl", hash = "sha256:8c842109d31a9281d678f668629241c405928afbebd913c48a5a8e7aee61f63d"},
-    {file = "pyzmq-23.2.1-cp39-cp39-musllinux_1_1_i686.whl", hash = "sha256:fefdf9b685fda4141b95ebec975946076a5e0723ff70b037032b2085c5317684"},
-    {file = "pyzmq-23.2.1-cp39-cp39-musllinux_1_1_x86_64.whl", hash = "sha256:79a87831b47a9f6161ad23fa5e89d5469dc585abc49f90b9b07fea8905ae1234"},
-    {file = "pyzmq-23.2.1-cp39-cp39-win32.whl", hash = "sha256:342ca3077f47ec2ee41b9825142b614e03e026347167cbc72a59b618c4f6106c"},
-    {file = "pyzmq-23.2.1-cp39-cp39-win_amd64.whl", hash = "sha256:5e05492be125dce279721d6b54fd1b956546ecc4bcdfcf8e7b4c413bc0874c10"},
-    {file = "pyzmq-23.2.1-pp37-pypy37_pp73-macosx_10_9_x86_64.whl", hash = "sha256:07ed8aaf7ffe150af873269690cc654ffeca7491f62aae0f3821baa181f8d5fe"},
-    {file = "pyzmq-23.2.1-pp37-pypy37_pp73-manylinux_2_12_i686.manylinux2010_i686.whl", hash = "sha256:ad28ddb40db8e450d7d4bf8a1d765d3f87b63b10e7e9a825a3c130c6371a8c03"},
-    {file = "pyzmq-23.2.1-pp37-pypy37_pp73-manylinux_2_12_x86_64.manylinux2010_x86_64.whl", hash = "sha256:2f67b63f53c6994d601404fd1a329e6d940ac3dd1d92946a93b2b9c70df67b9f"},
-    {file = "pyzmq-23.2.1-pp37-pypy37_pp73-manylinux_2_17_aarch64.manylinux2014_aarch64.whl", hash = "sha256:c890309296f53f9aa32ffcfc51d805705e1982bffd27c9692a8f1e1b8de279f4"},
-    {file = "pyzmq-23.2.1-pp37-pypy37_pp73-win_amd64.whl", hash = "sha256:624fd38071a817644acdae075b92a23ea0bdd126a58148288e8284d23ec361ce"},
-    {file = "pyzmq-23.2.1-pp38-pypy38_pp73-macosx_10_9_x86_64.whl", hash = "sha256:a114992a193577cb62233abf8cb2832970f9975805a64740e325d2f895e7f85a"},
-    {file = "pyzmq-23.2.1-pp38-pypy38_pp73-manylinux_2_12_i686.manylinux2010_i686.whl", hash = "sha256:c780acddd2934c6831ff832ecbf78a45a7b62d4eb216480f863854a8b7d54fa7"},
-    {file = "pyzmq-23.2.1-pp38-pypy38_pp73-manylinux_2_12_x86_64.manylinux2010_x86_64.whl", hash = "sha256:d904f6595acfaaf99a1a61881fea068500c40374d263e5e073aa4005e5f9c28a"},
-    {file = "pyzmq-23.2.1-pp38-pypy38_pp73-manylinux_2_17_aarch64.manylinux2014_aarch64.whl", hash = "sha256:929d548b74c0f82f7f95b54e4a43f9e4ce2523cfb8a54d3f7141e45652304b2a"},
-    {file = "pyzmq-23.2.1-pp38-pypy38_pp73-win_amd64.whl", hash = "sha256:f392cbea531b7142d1958c0d4a0c9c8d760dc451e5848d8dd3387804d3e3e62c"},
-    {file = "pyzmq-23.2.1-pp39-pypy39_pp73-macosx_10_9_x86_64.whl", hash = "sha256:a0f09d85c45f58aa8e715b42f8b26beba68b3b63a8f7049113478aca26efbc30"},
-    {file = "pyzmq-23.2.1-pp39-pypy39_pp73-manylinux_2_17_aarch64.manylinux2014_aarch64.whl", hash = "sha256:23e708fbfdf4ee3107422b69ca65da1b9f056b431fc0888096a8c1d6cd908e8f"},
-    {file = "pyzmq-23.2.1-pp39-pypy39_pp73-manylinux_2_17_i686.manylinux2014_i686.whl", hash = "sha256:35e635343ff367f697d00fa1484262bb68e36bc74c9b80737eac5a1e04c4e1b1"},
-    {file = "pyzmq-23.2.1-pp39-pypy39_pp73-manylinux_2_17_x86_64.manylinux2014_x86_64.whl", hash = "sha256:efb9e38b2a590282704269585de7eb33bf43dc294cad092e1b172e23d4c217e5"},
-    {file = "pyzmq-23.2.1-pp39-pypy39_pp73-win_amd64.whl", hash = "sha256:407f909c4e8fde62fbdad9ebd448319792258cc0550c2815567a4d9d8d9e6d18"},
-    {file = "pyzmq-23.2.1.tar.gz", hash = "sha256:2b381aa867ece7d0a82f30a0c7f3d4387b7cf2e0697e33efaa5bed6c5784abcd"},
+
+[[package]]
+name = "pyzmq"
+version = "25.1.1"
+description = "Python bindings for 0MQ"
+optional = false
+python-versions = ">=3.6"
+files = [
+    {file = "pyzmq-25.1.1-cp310-cp310-macosx_10_15_universal2.whl", hash = "sha256:381469297409c5adf9a0e884c5eb5186ed33137badcbbb0560b86e910a2f1e76"},
+    {file = "pyzmq-25.1.1-cp310-cp310-macosx_10_9_x86_64.whl", hash = "sha256:955215ed0604dac5b01907424dfa28b40f2b2292d6493445dd34d0dfa72586a8"},
+    {file = "pyzmq-25.1.1-cp310-cp310-manylinux_2_17_aarch64.manylinux2014_aarch64.whl", hash = "sha256:985bbb1316192b98f32e25e7b9958088431d853ac63aca1d2c236f40afb17c83"},
+    {file = "pyzmq-25.1.1-cp310-cp310-manylinux_2_17_i686.manylinux2014_i686.whl", hash = "sha256:afea96f64efa98df4da6958bae37f1cbea7932c35878b185e5982821bc883369"},
+    {file = "pyzmq-25.1.1-cp310-cp310-manylinux_2_17_x86_64.manylinux2014_x86_64.whl", hash = "sha256:76705c9325d72a81155bb6ab48d4312e0032bf045fb0754889133200f7a0d849"},
+    {file = "pyzmq-25.1.1-cp310-cp310-manylinux_2_28_x86_64.whl", hash = "sha256:77a41c26205d2353a4c94d02be51d6cbdf63c06fbc1295ea57dad7e2d3381b71"},
+    {file = "pyzmq-25.1.1-cp310-cp310-musllinux_1_1_aarch64.whl", hash = "sha256:12720a53e61c3b99d87262294e2b375c915fea93c31fc2336898c26d7aed34cd"},
+    {file = "pyzmq-25.1.1-cp310-cp310-musllinux_1_1_i686.whl", hash = "sha256:57459b68e5cd85b0be8184382cefd91959cafe79ae019e6b1ae6e2ba8a12cda7"},
+    {file = "pyzmq-25.1.1-cp310-cp310-musllinux_1_1_x86_64.whl", hash = "sha256:292fe3fc5ad4a75bc8df0dfaee7d0babe8b1f4ceb596437213821f761b4589f9"},
+    {file = "pyzmq-25.1.1-cp310-cp310-win32.whl", hash = "sha256:35b5ab8c28978fbbb86ea54958cd89f5176ce747c1fb3d87356cf698048a7790"},
+    {file = "pyzmq-25.1.1-cp310-cp310-win_amd64.whl", hash = "sha256:11baebdd5fc5b475d484195e49bae2dc64b94a5208f7c89954e9e354fc609d8f"},
+    {file = "pyzmq-25.1.1-cp311-cp311-macosx_10_15_universal2.whl", hash = "sha256:d20a0ddb3e989e8807d83225a27e5c2eb2260eaa851532086e9e0fa0d5287d83"},
+    {file = "pyzmq-25.1.1-cp311-cp311-macosx_10_9_x86_64.whl", hash = "sha256:e1c1be77bc5fb77d923850f82e55a928f8638f64a61f00ff18a67c7404faf008"},
+    {file = "pyzmq-25.1.1-cp311-cp311-manylinux_2_17_aarch64.manylinux2014_aarch64.whl", hash = "sha256:d89528b4943d27029a2818f847c10c2cecc79fa9590f3cb1860459a5be7933eb"},
+    {file = "pyzmq-25.1.1-cp311-cp311-manylinux_2_17_i686.manylinux2014_i686.whl", hash = "sha256:90f26dc6d5f241ba358bef79be9ce06de58d477ca8485e3291675436d3827cf8"},
+    {file = "pyzmq-25.1.1-cp311-cp311-manylinux_2_17_x86_64.manylinux2014_x86_64.whl", hash = "sha256:c2b92812bd214018e50b6380ea3ac0c8bb01ac07fcc14c5f86a5bb25e74026e9"},
+    {file = "pyzmq-25.1.1-cp311-cp311-manylinux_2_28_x86_64.whl", hash = "sha256:2f957ce63d13c28730f7fd6b72333814221c84ca2421298f66e5143f81c9f91f"},
+    {file = "pyzmq-25.1.1-cp311-cp311-musllinux_1_1_aarch64.whl", hash = "sha256:047a640f5c9c6ade7b1cc6680a0e28c9dd5a0825135acbd3569cc96ea00b2505"},
+    {file = "pyzmq-25.1.1-cp311-cp311-musllinux_1_1_i686.whl", hash = "sha256:7f7e58effd14b641c5e4dec8c7dab02fb67a13df90329e61c869b9cc607ef752"},
+    {file = "pyzmq-25.1.1-cp311-cp311-musllinux_1_1_x86_64.whl", hash = "sha256:c2910967e6ab16bf6fbeb1f771c89a7050947221ae12a5b0b60f3bca2ee19bca"},
+    {file = "pyzmq-25.1.1-cp311-cp311-win32.whl", hash = "sha256:76c1c8efb3ca3a1818b837aea423ff8a07bbf7aafe9f2f6582b61a0458b1a329"},
+    {file = "pyzmq-25.1.1-cp311-cp311-win_amd64.whl", hash = "sha256:44e58a0554b21fc662f2712814a746635ed668d0fbc98b7cb9d74cb798d202e6"},
+    {file = "pyzmq-25.1.1-cp312-cp312-macosx_10_15_universal2.whl", hash = "sha256:e1ffa1c924e8c72778b9ccd386a7067cddf626884fd8277f503c48bb5f51c762"},
+    {file = "pyzmq-25.1.1-cp312-cp312-macosx_10_9_x86_64.whl", hash = "sha256:1af379b33ef33757224da93e9da62e6471cf4a66d10078cf32bae8127d3d0d4a"},
+    {file = "pyzmq-25.1.1-cp312-cp312-manylinux_2_17_aarch64.manylinux2014_aarch64.whl", hash = "sha256:cff084c6933680d1f8b2f3b4ff5bbb88538a4aac00d199ac13f49d0698727ecb"},
+    {file = "pyzmq-25.1.1-cp312-cp312-manylinux_2_17_i686.manylinux2014_i686.whl", hash = "sha256:e2400a94f7dd9cb20cd012951a0cbf8249e3d554c63a9c0cdfd5cbb6c01d2dec"},
+    {file = "pyzmq-25.1.1-cp312-cp312-manylinux_2_17_x86_64.manylinux2014_x86_64.whl", hash = "sha256:2d81f1ddae3858b8299d1da72dd7d19dd36aab654c19671aa8a7e7fb02f6638a"},
+    {file = "pyzmq-25.1.1-cp312-cp312-manylinux_2_28_x86_64.whl", hash = "sha256:255ca2b219f9e5a3a9ef3081512e1358bd4760ce77828e1028b818ff5610b87b"},
+    {file = "pyzmq-25.1.1-cp312-cp312-musllinux_1_1_aarch64.whl", hash = "sha256:a882ac0a351288dd18ecae3326b8a49d10c61a68b01419f3a0b9a306190baf69"},
+    {file = "pyzmq-25.1.1-cp312-cp312-musllinux_1_1_i686.whl", hash = "sha256:724c292bb26365659fc434e9567b3f1adbdb5e8d640c936ed901f49e03e5d32e"},
+    {file = "pyzmq-25.1.1-cp312-cp312-musllinux_1_1_x86_64.whl", hash = "sha256:4ca1ed0bb2d850aa8471387882247c68f1e62a4af0ce9c8a1dbe0d2bf69e41fb"},
+    {file = "pyzmq-25.1.1-cp312-cp312-win32.whl", hash = "sha256:b3451108ab861040754fa5208bca4a5496c65875710f76789a9ad27c801a0075"},
+    {file = "pyzmq-25.1.1-cp312-cp312-win_amd64.whl", hash = "sha256:eadbefd5e92ef8a345f0525b5cfd01cf4e4cc651a2cffb8f23c0dd184975d787"},
+    {file = "pyzmq-25.1.1-cp36-cp36m-macosx_10_9_x86_64.whl", hash = "sha256:db0b2af416ba735c6304c47f75d348f498b92952f5e3e8bff449336d2728795d"},
+    {file = "pyzmq-25.1.1-cp36-cp36m-manylinux_2_17_aarch64.manylinux2014_aarch64.whl", hash = "sha256:c7c133e93b405eb0d36fa430c94185bdd13c36204a8635470cccc200723c13bb"},
+    {file = "pyzmq-25.1.1-cp36-cp36m-manylinux_2_5_i686.manylinux1_i686.whl", hash = "sha256:273bc3959bcbff3f48606b28229b4721716598d76b5aaea2b4a9d0ab454ec062"},
+    {file = "pyzmq-25.1.1-cp36-cp36m-manylinux_2_5_x86_64.manylinux1_x86_64.whl", hash = "sha256:cbc8df5c6a88ba5ae385d8930da02201165408dde8d8322072e3e5ddd4f68e22"},
+    {file = "pyzmq-25.1.1-cp36-cp36m-musllinux_1_1_aarch64.whl", hash = "sha256:18d43df3f2302d836f2a56f17e5663e398416e9dd74b205b179065e61f1a6edf"},
+    {file = "pyzmq-25.1.1-cp36-cp36m-musllinux_1_1_i686.whl", hash = "sha256:73461eed88a88c866656e08f89299720a38cb4e9d34ae6bf5df6f71102570f2e"},
+    {file = "pyzmq-25.1.1-cp36-cp36m-musllinux_1_1_x86_64.whl", hash = "sha256:34c850ce7976d19ebe7b9d4b9bb8c9dfc7aac336c0958e2651b88cbd46682123"},
+    {file = "pyzmq-25.1.1-cp36-cp36m-win32.whl", hash = "sha256:d2045d6d9439a0078f2a34b57c7b18c4a6aef0bee37f22e4ec9f32456c852c71"},
+    {file = "pyzmq-25.1.1-cp36-cp36m-win_amd64.whl", hash = "sha256:458dea649f2f02a0b244ae6aef8dc29325a2810aa26b07af8374dc2a9faf57e3"},
+    {file = "pyzmq-25.1.1-cp37-cp37m-macosx_10_9_x86_64.whl", hash = "sha256:7cff25c5b315e63b07a36f0c2bab32c58eafbe57d0dce61b614ef4c76058c115"},
+    {file = "pyzmq-25.1.1-cp37-cp37m-manylinux_2_17_aarch64.manylinux2014_aarch64.whl", hash = "sha256:b1579413ae492b05de5a6174574f8c44c2b9b122a42015c5292afa4be2507f28"},
+    {file = "pyzmq-25.1.1-cp37-cp37m-manylinux_2_5_i686.manylinux1_i686.whl", hash = "sha256:3d0a409d3b28607cc427aa5c30a6f1e4452cc44e311f843e05edb28ab5e36da0"},
+    {file = "pyzmq-25.1.1-cp37-cp37m-manylinux_2_5_x86_64.manylinux1_x86_64.whl", hash = "sha256:21eb4e609a154a57c520e3d5bfa0d97e49b6872ea057b7c85257b11e78068222"},
+    {file = "pyzmq-25.1.1-cp37-cp37m-musllinux_1_1_aarch64.whl", hash = "sha256:034239843541ef7a1aee0c7b2cb7f6aafffb005ede965ae9cbd49d5ff4ff73cf"},
+    {file = "pyzmq-25.1.1-cp37-cp37m-musllinux_1_1_i686.whl", hash = "sha256:f8115e303280ba09f3898194791a153862cbf9eef722ad8f7f741987ee2a97c7"},
+    {file = "pyzmq-25.1.1-cp37-cp37m-musllinux_1_1_x86_64.whl", hash = "sha256:1a5d26fe8f32f137e784f768143728438877d69a586ddeaad898558dc971a5ae"},
+    {file = "pyzmq-25.1.1-cp37-cp37m-win32.whl", hash = "sha256:f32260e556a983bc5c7ed588d04c942c9a8f9c2e99213fec11a031e316874c7e"},
+    {file = "pyzmq-25.1.1-cp37-cp37m-win_amd64.whl", hash = "sha256:abf34e43c531bbb510ae7e8f5b2b1f2a8ab93219510e2b287a944432fad135f3"},
+    {file = "pyzmq-25.1.1-cp38-cp38-macosx_10_15_universal2.whl", hash = "sha256:87e34f31ca8f168c56d6fbf99692cc8d3b445abb5bfd08c229ae992d7547a92a"},
+    {file = "pyzmq-25.1.1-cp38-cp38-macosx_10_9_x86_64.whl", hash = "sha256:c9c6c9b2c2f80747a98f34ef491c4d7b1a8d4853937bb1492774992a120f475d"},
+    {file = "pyzmq-25.1.1-cp38-cp38-manylinux_2_12_i686.manylinux2010_i686.whl", hash = "sha256:5619f3f5a4db5dbb572b095ea3cb5cc035335159d9da950830c9c4db2fbb6995"},
+    {file = "pyzmq-25.1.1-cp38-cp38-manylinux_2_12_x86_64.manylinux2010_x86_64.whl", hash = "sha256:5a34d2395073ef862b4032343cf0c32a712f3ab49d7ec4f42c9661e0294d106f"},
+    {file = "pyzmq-25.1.1-cp38-cp38-manylinux_2_17_aarch64.manylinux2014_aarch64.whl", hash = "sha256:25f0e6b78220aba09815cd1f3a32b9c7cb3e02cb846d1cfc526b6595f6046618"},
+    {file = "pyzmq-25.1.1-cp38-cp38-musllinux_1_1_aarch64.whl", hash = "sha256:3669cf8ee3520c2f13b2e0351c41fea919852b220988d2049249db10046a7afb"},
+    {file = "pyzmq-25.1.1-cp38-cp38-musllinux_1_1_i686.whl", hash = "sha256:2d163a18819277e49911f7461567bda923461c50b19d169a062536fffe7cd9d2"},
+    {file = "pyzmq-25.1.1-cp38-cp38-musllinux_1_1_x86_64.whl", hash = "sha256:df27ffddff4190667d40de7beba4a950b5ce78fe28a7dcc41d6f8a700a80a3c0"},
+    {file = "pyzmq-25.1.1-cp38-cp38-win32.whl", hash = "sha256:a382372898a07479bd34bda781008e4a954ed8750f17891e794521c3e21c2e1c"},
+    {file = "pyzmq-25.1.1-cp38-cp38-win_amd64.whl", hash = "sha256:52533489f28d62eb1258a965f2aba28a82aa747202c8fa5a1c7a43b5db0e85c1"},
+    {file = "pyzmq-25.1.1-cp39-cp39-macosx_10_15_universal2.whl", hash = "sha256:03b3f49b57264909aacd0741892f2aecf2f51fb053e7d8ac6767f6c700832f45"},
+    {file = "pyzmq-25.1.1-cp39-cp39-macosx_10_9_x86_64.whl", hash = "sha256:330f9e188d0d89080cde66dc7470f57d1926ff2fb5576227f14d5be7ab30b9fa"},
+    {file = "pyzmq-25.1.1-cp39-cp39-manylinux_2_12_i686.manylinux2010_i686.whl", hash = "sha256:2ca57a5be0389f2a65e6d3bb2962a971688cbdd30b4c0bd188c99e39c234f414"},
+    {file = "pyzmq-25.1.1-cp39-cp39-manylinux_2_12_x86_64.manylinux2010_x86_64.whl", hash = "sha256:d457aed310f2670f59cc5b57dcfced452aeeed77f9da2b9763616bd57e4dbaae"},
+    {file = "pyzmq-25.1.1-cp39-cp39-manylinux_2_17_aarch64.manylinux2014_aarch64.whl", hash = "sha256:c56d748ea50215abef7030c72b60dd723ed5b5c7e65e7bc2504e77843631c1a6"},
+    {file = "pyzmq-25.1.1-cp39-cp39-musllinux_1_1_aarch64.whl", hash = "sha256:8f03d3f0d01cb5a018debeb412441996a517b11c5c17ab2001aa0597c6d6882c"},
+    {file = "pyzmq-25.1.1-cp39-cp39-musllinux_1_1_i686.whl", hash = "sha256:820c4a08195a681252f46926de10e29b6bbf3e17b30037bd4250d72dd3ddaab8"},
+    {file = "pyzmq-25.1.1-cp39-cp39-musllinux_1_1_x86_64.whl", hash = "sha256:17ef5f01d25b67ca8f98120d5fa1d21efe9611604e8eb03a5147360f517dd1e2"},
+    {file = "pyzmq-25.1.1-cp39-cp39-win32.whl", hash = "sha256:04ccbed567171579ec2cebb9c8a3e30801723c575601f9a990ab25bcac6b51e2"},
+    {file = "pyzmq-25.1.1-cp39-cp39-win_amd64.whl", hash = "sha256:e61f091c3ba0c3578411ef505992d356a812fb200643eab27f4f70eed34a29ef"},
+    {file = "pyzmq-25.1.1-pp310-pypy310_pp73-macosx_10_9_x86_64.whl", hash = "sha256:ade6d25bb29c4555d718ac6d1443a7386595528c33d6b133b258f65f963bb0f6"},
+    {file = "pyzmq-25.1.1-pp310-pypy310_pp73-manylinux_2_17_aarch64.manylinux2014_aarch64.whl", hash = "sha256:e0c95ddd4f6e9fca4e9e3afaa4f9df8552f0ba5d1004e89ef0a68e1f1f9807c7"},
+    {file = "pyzmq-25.1.1-pp310-pypy310_pp73-manylinux_2_17_i686.manylinux2014_i686.whl", hash = "sha256:48e466162a24daf86f6b5ca72444d2bf39a5e58da5f96370078be67c67adc978"},
+    {file = "pyzmq-25.1.1-pp310-pypy310_pp73-manylinux_2_17_x86_64.manylinux2014_x86_64.whl", hash = "sha256:abc719161780932c4e11aaebb203be3d6acc6b38d2f26c0f523b5b59d2fc1996"},
+    {file = "pyzmq-25.1.1-pp310-pypy310_pp73-win_amd64.whl", hash = "sha256:1ccf825981640b8c34ae54231b7ed00271822ea1c6d8ba1090ebd4943759abf5"},
+    {file = "pyzmq-25.1.1-pp37-pypy37_pp73-macosx_10_9_x86_64.whl", hash = "sha256:c2f20ce161ebdb0091a10c9ca0372e023ce24980d0e1f810f519da6f79c60800"},
+    {file = "pyzmq-25.1.1-pp37-pypy37_pp73-manylinux_2_12_i686.manylinux2010_i686.whl", hash = "sha256:deee9ca4727f53464daf089536e68b13e6104e84a37820a88b0a057b97bba2d2"},
+    {file = "pyzmq-25.1.1-pp37-pypy37_pp73-manylinux_2_12_x86_64.manylinux2010_x86_64.whl", hash = "sha256:aa8d6cdc8b8aa19ceb319aaa2b660cdaccc533ec477eeb1309e2a291eaacc43a"},
+    {file = "pyzmq-25.1.1-pp37-pypy37_pp73-manylinux_2_17_aarch64.manylinux2014_aarch64.whl", hash = "sha256:019e59ef5c5256a2c7378f2fb8560fc2a9ff1d315755204295b2eab96b254d0a"},
+    {file = "pyzmq-25.1.1-pp37-pypy37_pp73-win_amd64.whl", hash = "sha256:b9af3757495c1ee3b5c4e945c1df7be95562277c6e5bccc20a39aec50f826cd0"},
+    {file = "pyzmq-25.1.1-pp38-pypy38_pp73-macosx_10_9_x86_64.whl", hash = "sha256:548d6482dc8aadbe7e79d1b5806585c8120bafa1ef841167bc9090522b610fa6"},
+    {file = "pyzmq-25.1.1-pp38-pypy38_pp73-manylinux_2_12_i686.manylinux2010_i686.whl", hash = "sha256:057e824b2aae50accc0f9a0570998adc021b372478a921506fddd6c02e60308e"},
+    {file = "pyzmq-25.1.1-pp38-pypy38_pp73-manylinux_2_12_x86_64.manylinux2010_x86_64.whl", hash = "sha256:2243700cc5548cff20963f0ca92d3e5e436394375ab8a354bbea2b12911b20b0"},
+    {file = "pyzmq-25.1.1-pp38-pypy38_pp73-manylinux_2_17_aarch64.manylinux2014_aarch64.whl", hash = "sha256:79986f3b4af059777111409ee517da24a529bdbd46da578b33f25580adcff728"},
+    {file = "pyzmq-25.1.1-pp38-pypy38_pp73-win_amd64.whl", hash = "sha256:11d58723d44d6ed4dd677c5615b2ffb19d5c426636345567d6af82be4dff8a55"},
+    {file = "pyzmq-25.1.1-pp39-pypy39_pp73-macosx_10_9_x86_64.whl", hash = "sha256:49d238cf4b69652257db66d0c623cd3e09b5d2e9576b56bc067a396133a00d4a"},
+    {file = "pyzmq-25.1.1-pp39-pypy39_pp73-manylinux_2_17_aarch64.manylinux2014_aarch64.whl", hash = "sha256:fedbdc753827cf014c01dbbee9c3be17e5a208dcd1bf8641ce2cd29580d1f0d4"},
+    {file = "pyzmq-25.1.1-pp39-pypy39_pp73-manylinux_2_17_i686.manylinux2014_i686.whl", hash = "sha256:bc16ac425cc927d0a57d242589f87ee093884ea4804c05a13834d07c20db203c"},
+    {file = "pyzmq-25.1.1-pp39-pypy39_pp73-manylinux_2_17_x86_64.manylinux2014_x86_64.whl", hash = "sha256:11c1d2aed9079c6b0c9550a7257a836b4a637feb334904610f06d70eb44c56d2"},
+    {file = "pyzmq-25.1.1-pp39-pypy39_pp73-manylinux_2_28_x86_64.whl", hash = "sha256:e8a701123029cc240cea61dd2d16ad57cab4691804143ce80ecd9286b464d180"},
+    {file = "pyzmq-25.1.1-pp39-pypy39_pp73-win_amd64.whl", hash = "sha256:61706a6b6c24bdece85ff177fec393545a3191eeda35b07aaa1458a027ad1304"},
+    {file = "pyzmq-25.1.1.tar.gz", hash = "sha256:259c22485b71abacdfa8bf79720cd7bcf4b9d128b30ea554f01ae71fdbfdaa23"},
 ]
-qtconsole = [
-    {file = "qtconsole-5.3.2-py3-none-any.whl", hash = "sha256:c29d24464f57cdbaa17d6f6060be6e6d5e29126e7feb57eebc1747433382b3d1"},
-    {file = "qtconsole-5.3.2.tar.gz", hash = "sha256:8eadf012e83ab018295803c247c6ab7eacd3d5ab1e1d88a0f37fdcfdab9295a3"},
+
+[package.dependencies]
+cffi = {version = "*", markers = "implementation_name == \"pypy\""}
+
+[[package]]
+name = "qtconsole"
+version = "5.4.3"
+description = "Jupyter Qt console"
+optional = false
+python-versions = ">= 3.7"
+files = [
+    {file = "qtconsole-5.4.3-py3-none-any.whl", hash = "sha256:35fd6e87b1f6d1fd41801b07e69339f8982e76afd4fa8ef35595bc6036717189"},
+    {file = "qtconsole-5.4.3.tar.gz", hash = "sha256:5e4082a86a201796b2a5cfd4298352d22b158b51b57736531824715fc2a979dd"},
 ]
-qtpy = [
-    {file = "QtPy-2.2.1-py3-none-any.whl", hash = "sha256:268cf5328f41353be1b127e04a81bc74ec9a9b54c9ac75dd8fe0ff48d8ad6ead"},
-    {file = "QtPy-2.2.1.tar.gz", hash = "sha256:7d5231133b772e40b4ee514b6673aca558331e4b88ca038b26c9e16c5c95524f"},
+
+[package.dependencies]
+ipykernel = ">=4.1"
+ipython-genutils = "*"
+jupyter-client = ">=4.1"
+jupyter-core = "*"
+packaging = "*"
+pygments = "*"
+pyzmq = ">=17.1"
+qtpy = ">=2.0.1"
+traitlets = "<5.2.1 || >5.2.1,<5.2.2 || >5.2.2"
+
+[package.extras]
+doc = ["Sphinx (>=1.3)"]
+test = ["flaky", "pytest", "pytest-qt"]
+
+[[package]]
+name = "qtpy"
+version = "2.3.1"
+description = "Provides an abstraction layer on top of the various Qt bindings (PyQt5/6 and PySide2/6)."
+optional = false
+python-versions = ">=3.7"
+files = [
+    {file = "QtPy-2.3.1-py3-none-any.whl", hash = "sha256:5193d20e0b16e4d9d3bc2c642d04d9f4e2c892590bd1b9c92bfe38a95d5a2e12"},
+    {file = "QtPy-2.3.1.tar.gz", hash = "sha256:a8c74982d6d172ce124d80cafd39653df78989683f760f2281ba91a6e7b9de8b"},
 ]
-qudida = [
+
+[package.dependencies]
+packaging = "*"
+
+[package.extras]
+test = ["pytest (>=6,!=7.0.0,!=7.0.1)", "pytest-cov (>=3.0.0)", "pytest-qt"]
+
+[[package]]
+name = "qudida"
+version = "0.0.4"
+description = "QUick and DIrty Domain Adaptation"
+optional = false
+python-versions = ">=3.5.0"
+files = [
     {file = "qudida-0.0.4-py3-none-any.whl", hash = "sha256:4519714c40cd0f2e6c51e1735edae8f8b19f4efe1f33be13e9d644ca5f736dd6"},
     {file = "qudida-0.0.4.tar.gz", hash = "sha256:db198e2887ab0c9aa0023e565afbff41dfb76b361f85fd5e13f780d75ba18cc8"},
 ]
-reactivex = [
+
+[package.dependencies]
+numpy = ">=0.18.0"
+opencv-python-headless = ">=4.0.1"
+scikit-learn = ">=0.19.1"
+typing-extensions = "*"
+
+[[package]]
+name = "rapidfuzz"
+version = "2.15.1"
+description = "rapid fuzzy string matching"
+optional = false
+python-versions = ">=3.7"
+files = [
+    {file = "rapidfuzz-2.15.1-cp310-cp310-macosx_10_9_universal2.whl", hash = "sha256:fc0bc259ebe3b93e7ce9df50b3d00e7345335d35acbd735163b7c4b1957074d3"},
+    {file = "rapidfuzz-2.15.1-cp310-cp310-macosx_10_9_x86_64.whl", hash = "sha256:d59fb3a410d253f50099d7063855c2b95df1ef20ad93ea3a6b84115590899f25"},
+    {file = "rapidfuzz-2.15.1-cp310-cp310-macosx_11_0_arm64.whl", hash = "sha256:c525a3da17b6d79d61613096c8683da86e3573e807dfaecf422eea09e82b5ba6"},
+    {file = "rapidfuzz-2.15.1-cp310-cp310-manylinux_2_17_aarch64.manylinux2014_aarch64.whl", hash = "sha256:d4deae6a918ecc260d0c4612257be8ba321d8e913ccb43155403842758c46fbe"},
+    {file = "rapidfuzz-2.15.1-cp310-cp310-manylinux_2_17_i686.manylinux2014_i686.whl", hash = "sha256:2577463d10811386e704a3ab58b903eb4e2a31b24dfd9886d789b0084d614b01"},
+    {file = "rapidfuzz-2.15.1-cp310-cp310-manylinux_2_17_ppc64le.manylinux2014_ppc64le.whl", hash = "sha256:f67d5f56aa48c0da9de4ab81bffb310683cf7815f05ea38e5aa64f3ba4368339"},
+    {file = "rapidfuzz-2.15.1-cp310-cp310-manylinux_2_17_s390x.manylinux2014_s390x.whl", hash = "sha256:d7927722ff43690e52b3145b5bd3089151d841d350c6f8378c3cfac91f67573a"},
+    {file = "rapidfuzz-2.15.1-cp310-cp310-manylinux_2_17_x86_64.manylinux2014_x86_64.whl", hash = "sha256:6534afc787e32c4104f65cdeb55f6abe4d803a2d0553221d00ef9ce12788dcde"},
+    {file = "rapidfuzz-2.15.1-cp310-cp310-musllinux_1_1_aarch64.whl", hash = "sha256:d0ae6ec79a1931929bb9dd57bc173eb5ba4c7197461bf69e3a34b6dd314feed2"},
+    {file = "rapidfuzz-2.15.1-cp310-cp310-musllinux_1_1_i686.whl", hash = "sha256:be7ccc45c4d1a7dfb595f260e8022a90c6cb380c2a346ee5aae93f85c96d362b"},
+    {file = "rapidfuzz-2.15.1-cp310-cp310-musllinux_1_1_ppc64le.whl", hash = "sha256:8ba013500a2b68c64b2aecc5fb56a2dad6c2872cf545a0308fd044827b6e5f6a"},
+    {file = "rapidfuzz-2.15.1-cp310-cp310-musllinux_1_1_s390x.whl", hash = "sha256:4d9f7d10065f657f960b48699e7dddfce14ab91af4bab37a215f0722daf0d716"},
+    {file = "rapidfuzz-2.15.1-cp310-cp310-musllinux_1_1_x86_64.whl", hash = "sha256:7e24a1b802cea04160b3fccd75d2d0905065783ebc9de157d83c14fb9e1c6ce2"},
+    {file = "rapidfuzz-2.15.1-cp310-cp310-win32.whl", hash = "sha256:dffdf03499e0a5b3442951bb82b556333b069e0661e80568752786c79c5b32de"},
+    {file = "rapidfuzz-2.15.1-cp310-cp310-win_amd64.whl", hash = "sha256:7d150d90a7c6caae7962f29f857a4e61d42038cfd82c9df38508daf30c648ae7"},
+    {file = "rapidfuzz-2.15.1-cp310-cp310-win_arm64.whl", hash = "sha256:87c30e9184998ff6eb0fa9221f94282ce7c908fd0da96a1ef66ecadfaaa4cdb7"},
+    {file = "rapidfuzz-2.15.1-cp311-cp311-macosx_10_9_universal2.whl", hash = "sha256:6986413cb37035eb796e32f049cbc8c13d8630a4ac1e0484e3e268bb3662bd1b"},
+    {file = "rapidfuzz-2.15.1-cp311-cp311-macosx_10_9_x86_64.whl", hash = "sha256:a72f26e010d4774b676f36e43c0fc8a2c26659efef4b3be3fd7714d3491e9957"},
+    {file = "rapidfuzz-2.15.1-cp311-cp311-macosx_11_0_arm64.whl", hash = "sha256:b5cd54c98a387cca111b3b784fc97a4f141244bbc28a92d4bde53f164464112e"},
+    {file = "rapidfuzz-2.15.1-cp311-cp311-manylinux_2_17_aarch64.manylinux2014_aarch64.whl", hash = "sha256:da7fac7c3da39f93e6b2ebe386ed0ffe1cefec91509b91857f6e1204509e931f"},
+    {file = "rapidfuzz-2.15.1-cp311-cp311-manylinux_2_17_i686.manylinux2014_i686.whl", hash = "sha256:f976e76ac72f650790b3a5402431612175b2ac0363179446285cb3c901136ca9"},
+    {file = "rapidfuzz-2.15.1-cp311-cp311-manylinux_2_17_ppc64le.manylinux2014_ppc64le.whl", hash = "sha256:abde47e1595902a490ed14d4338d21c3509156abb2042a99e6da51f928e0c117"},
+    {file = "rapidfuzz-2.15.1-cp311-cp311-manylinux_2_17_s390x.manylinux2014_s390x.whl", hash = "sha256:ca8f1747007a3ce919739a60fa95c5325f7667cccf6f1c1ef18ae799af119f5e"},
+    {file = "rapidfuzz-2.15.1-cp311-cp311-manylinux_2_17_x86_64.manylinux2014_x86_64.whl", hash = "sha256:c35da09ab9797b020d0d4f07a66871dfc70ea6566363811090353ea971748b5a"},
+    {file = "rapidfuzz-2.15.1-cp311-cp311-musllinux_1_1_aarch64.whl", hash = "sha256:a3a769ca7580686a66046b77df33851b3c2d796dc1eb60c269b68f690f3e1b65"},
+    {file = "rapidfuzz-2.15.1-cp311-cp311-musllinux_1_1_i686.whl", hash = "sha256:d50622efefdb03a640a51a6123748cd151d305c1f0431af762e833d6ffef71f0"},
+    {file = "rapidfuzz-2.15.1-cp311-cp311-musllinux_1_1_ppc64le.whl", hash = "sha256:b7461b0a7651d68bc23f0896bffceea40f62887e5ab8397bf7caa883592ef5cb"},
+    {file = "rapidfuzz-2.15.1-cp311-cp311-musllinux_1_1_s390x.whl", hash = "sha256:074ee9e17912e025c72a5780ee4c7c413ea35cd26449719cc399b852d4e42533"},
+    {file = "rapidfuzz-2.15.1-cp311-cp311-musllinux_1_1_x86_64.whl", hash = "sha256:7025fb105a11f503943f17718cdb8241ea3bb4d812c710c609e69bead40e2ff0"},
+    {file = "rapidfuzz-2.15.1-cp311-cp311-win32.whl", hash = "sha256:2084d36b95139413cef25e9487257a1cc892b93bd1481acd2a9656f7a1d9930c"},
+    {file = "rapidfuzz-2.15.1-cp311-cp311-win_amd64.whl", hash = "sha256:5a738fcd24e34bce4b19126b92fdae15482d6d3a90bd687fd3d24ce9d28ce82d"},
+    {file = "rapidfuzz-2.15.1-cp311-cp311-win_arm64.whl", hash = "sha256:dc3cafa68cfa54638632bdcadf9aab89a3d182b4a3f04d2cad7585ed58ea8731"},
+    {file = "rapidfuzz-2.15.1-cp37-cp37m-macosx_10_9_x86_64.whl", hash = "sha256:3c53d57ba7a88f7bf304d4ea5a14a0ca112db0e0178fff745d9005acf2879f7d"},
+    {file = "rapidfuzz-2.15.1-cp37-cp37m-manylinux_2_17_aarch64.manylinux2014_aarch64.whl", hash = "sha256:a6ee758eec4cf2215dc8d8eafafcea0d1f48ad4b0135767db1b0f7c5c40a17dd"},
+    {file = "rapidfuzz-2.15.1-cp37-cp37m-manylinux_2_17_i686.manylinux2014_i686.whl", hash = "sha256:2d93ba3ae59275e7a3a116dac4ffdb05e9598bf3ee0861fecc5b60fb042d539e"},
+    {file = "rapidfuzz-2.15.1-cp37-cp37m-manylinux_2_17_ppc64le.manylinux2014_ppc64le.whl", hash = "sha256:7c3ff75e647908ddbe9aa917fbe39a112d5631171f3fcea5809e2363e525a59d"},
+    {file = "rapidfuzz-2.15.1-cp37-cp37m-manylinux_2_17_s390x.manylinux2014_s390x.whl", hash = "sha256:6d89c421702474c6361245b6b199e6e9783febacdbfb6b002669e6cb3ef17a09"},
+    {file = "rapidfuzz-2.15.1-cp37-cp37m-manylinux_2_17_x86_64.manylinux2014_x86_64.whl", hash = "sha256:4f69e6199fec0f58f9a89afbbaea78d637c7ce77f656a03a1d6ea6abdc1d44f8"},
+    {file = "rapidfuzz-2.15.1-cp37-cp37m-musllinux_1_1_aarch64.whl", hash = "sha256:41dfea282844d0628279b4db2929da0dacb8ac317ddc5dcccc30093cf16357c1"},
+    {file = "rapidfuzz-2.15.1-cp37-cp37m-musllinux_1_1_i686.whl", hash = "sha256:2dd03477feefeccda07b7659dd614f6738cfc4f9b6779dd61b262a73b0a9a178"},
+    {file = "rapidfuzz-2.15.1-cp37-cp37m-musllinux_1_1_ppc64le.whl", hash = "sha256:5efe035aa76ff37d1b5fa661de3c4b4944de9ff227a6c0b2e390a95c101814c0"},
+    {file = "rapidfuzz-2.15.1-cp37-cp37m-musllinux_1_1_s390x.whl", hash = "sha256:ed2cf7c69102c7a0a06926d747ed855bc836f52e8d59a5d1e3adfd980d1bd165"},
+    {file = "rapidfuzz-2.15.1-cp37-cp37m-musllinux_1_1_x86_64.whl", hash = "sha256:a0e441d4c2025110ec3eba5d54f11f78183269a10152b3a757a739ffd1bb12bf"},
+    {file = "rapidfuzz-2.15.1-cp37-cp37m-win32.whl", hash = "sha256:a4a54efe17cc9f53589c748b53f28776dfdfb9bc83619685740cb7c37985ac2f"},
+    {file = "rapidfuzz-2.15.1-cp37-cp37m-win_amd64.whl", hash = "sha256:bb8318116ecac4dfb84841d8b9b461f9bb0c3be5b616418387d104f72d2a16d1"},
+    {file = "rapidfuzz-2.15.1-cp38-cp38-macosx_10_9_universal2.whl", hash = "sha256:e9296c530e544f68858c3416ad1d982a1854f71e9d2d3dcedb5b216e6d54f067"},
+    {file = "rapidfuzz-2.15.1-cp38-cp38-macosx_10_9_x86_64.whl", hash = "sha256:49c4bcdb9238f11f8c4eba1b898937f09b92280d6f900023a8216008f299b41a"},
+    {file = "rapidfuzz-2.15.1-cp38-cp38-macosx_11_0_arm64.whl", hash = "sha256:ebb40a279e134bb3fef099a8b58ed5beefb201033d29bdac005bddcdb004ef71"},
+    {file = "rapidfuzz-2.15.1-cp38-cp38-manylinux_2_17_aarch64.manylinux2014_aarch64.whl", hash = "sha256:a7381c11cb590bbd4e6f2d8779a0b34fdd2234dfa13d0211f6aee8ca166d9d05"},
+    {file = "rapidfuzz-2.15.1-cp38-cp38-manylinux_2_17_i686.manylinux2014_i686.whl", hash = "sha256:cfdcdedfd12a0077193f2cf3626ff6722c5a184adf0d2d51f1ec984bf21c23c3"},
+    {file = "rapidfuzz-2.15.1-cp38-cp38-manylinux_2_17_ppc64le.manylinux2014_ppc64le.whl", hash = "sha256:f85bece1ec59bda8b982bd719507d468d4df746dfb1988df11d916b5e9fe19e8"},
+    {file = "rapidfuzz-2.15.1-cp38-cp38-manylinux_2_17_s390x.manylinux2014_s390x.whl", hash = "sha256:b1b393f4a1eaa6867ffac6aef58cfb04bab2b3d7d8e40b9fe2cf40dd1d384601"},
+    {file = "rapidfuzz-2.15.1-cp38-cp38-manylinux_2_17_x86_64.manylinux2014_x86_64.whl", hash = "sha256:53de456ef020a77bf9d7c6c54860a48e2e902584d55d3001766140ac45c54bc7"},
+    {file = "rapidfuzz-2.15.1-cp38-cp38-musllinux_1_1_aarch64.whl", hash = "sha256:2492330bc38b76ed967eab7bdaea63a89b6ceb254489e2c65c3824efcbf72993"},
+    {file = "rapidfuzz-2.15.1-cp38-cp38-musllinux_1_1_i686.whl", hash = "sha256:099e4c6befaa8957a816bdb67ce664871f10aaec9bebf2f61368cf7e0869a7a1"},
+    {file = "rapidfuzz-2.15.1-cp38-cp38-musllinux_1_1_ppc64le.whl", hash = "sha256:46599b2ad4045dd3f794a24a6db1e753d23304699d4984462cf1ead02a51ddf3"},
+    {file = "rapidfuzz-2.15.1-cp38-cp38-musllinux_1_1_s390x.whl", hash = "sha256:591f19d16758a3c55c9d7a0b786b40d95599a5b244d6eaef79c7a74fcf5104d8"},
+    {file = "rapidfuzz-2.15.1-cp38-cp38-musllinux_1_1_x86_64.whl", hash = "sha256:ed17359061840eb249f8d833cb213942e8299ffc4f67251a6ed61833a9f2ea20"},
+    {file = "rapidfuzz-2.15.1-cp38-cp38-win32.whl", hash = "sha256:aa1e5aad325168e29bf8e17006479b97024aa9d2fdbe12062bd2f8f09080acf8"},
+    {file = "rapidfuzz-2.15.1-cp38-cp38-win_amd64.whl", hash = "sha256:c2bb68832b140c551dbed691290bef4ee6719d4e8ce1b7226a3736f61a9d1a83"},
+    {file = "rapidfuzz-2.15.1-cp39-cp39-macosx_10_9_universal2.whl", hash = "sha256:3fac40972cf7b6c14dded88ae2331eb50dfbc278aa9195473ef6fc6bfe49f686"},
+    {file = "rapidfuzz-2.15.1-cp39-cp39-macosx_10_9_x86_64.whl", hash = "sha256:f0e456cbdc0abf39352800309dab82fd3251179fa0ff6573fa117f51f4e84be8"},
+    {file = "rapidfuzz-2.15.1-cp39-cp39-macosx_11_0_arm64.whl", hash = "sha256:22b9d22022b9d09fd4ece15102270ab9b6a5cfea8b6f6d1965c1df7e3783f5ff"},
+    {file = "rapidfuzz-2.15.1-cp39-cp39-manylinux_2_17_aarch64.manylinux2014_aarch64.whl", hash = "sha256:46754fe404a9a6f5cbf7abe02d74af390038d94c9b8c923b3f362467606bfa28"},
+    {file = "rapidfuzz-2.15.1-cp39-cp39-manylinux_2_17_i686.manylinux2014_i686.whl", hash = "sha256:91abb8bf7610efe326394adc1d45e1baca8f360e74187f3fa0ef3df80cdd3ba6"},
+    {file = "rapidfuzz-2.15.1-cp39-cp39-manylinux_2_17_ppc64le.manylinux2014_ppc64le.whl", hash = "sha256:e40a2f60024f9d3c15401e668f732800114a023f3f8d8c40f1521a62081ff054"},
+    {file = "rapidfuzz-2.15.1-cp39-cp39-manylinux_2_17_s390x.manylinux2014_s390x.whl", hash = "sha256:a48ee83916401ac73938526d7bd804e01d2a8fe61809df7f1577b0b3b31049a3"},
+    {file = "rapidfuzz-2.15.1-cp39-cp39-manylinux_2_17_x86_64.manylinux2014_x86_64.whl", hash = "sha256:c71580052f9dbac443c02f60484e5a2e5f72ad4351b84b2009fbe345b1f38422"},
+    {file = "rapidfuzz-2.15.1-cp39-cp39-musllinux_1_1_aarch64.whl", hash = "sha256:82b86d5b8c1b9bcbc65236d75f81023c78d06a721c3e0229889ff4ed5c858169"},
+    {file = "rapidfuzz-2.15.1-cp39-cp39-musllinux_1_1_i686.whl", hash = "sha256:fc4528b7736e5c30bc954022c2cf410889abc19504a023abadbc59cdf9f37cae"},
+    {file = "rapidfuzz-2.15.1-cp39-cp39-musllinux_1_1_ppc64le.whl", hash = "sha256:e1e0e569108a5760d8f01d0f2148dd08cc9a39ead79fbefefca9e7c7723c7e88"},
+    {file = "rapidfuzz-2.15.1-cp39-cp39-musllinux_1_1_s390x.whl", hash = "sha256:94e1c97f0ad45b05003806f8a13efc1fc78983e52fa2ddb00629003acf4676ef"},
+    {file = "rapidfuzz-2.15.1-cp39-cp39-musllinux_1_1_x86_64.whl", hash = "sha256:47e81767a962e41477a85ad7ac937e34d19a7d2a80be65614f008a5ead671c56"},
+    {file = "rapidfuzz-2.15.1-cp39-cp39-win32.whl", hash = "sha256:79fc574aaf2d7c27ec1022e29c9c18f83cdaf790c71c05779528901e0caad89b"},
+    {file = "rapidfuzz-2.15.1-cp39-cp39-win_amd64.whl", hash = "sha256:f3dd4bcef2d600e0aa121e19e6e62f6f06f22a89f82ef62755e205ce14727874"},
+    {file = "rapidfuzz-2.15.1-cp39-cp39-win_arm64.whl", hash = "sha256:cac095cbdf44bc286339a77214bbca6d4d228c9ebae3da5ff6a80aaeb7c35634"},
+    {file = "rapidfuzz-2.15.1-pp37-pypy37_pp73-macosx_10_9_x86_64.whl", hash = "sha256:b89d1126be65c85763d56e3b47d75f1a9b7c5529857b4d572079b9a636eaa8a7"},
+    {file = "rapidfuzz-2.15.1-pp37-pypy37_pp73-manylinux_2_17_aarch64.manylinux2014_aarch64.whl", hash = "sha256:19b7460e91168229768be882ea365ba0ac7da43e57f9416e2cfadc396a7df3c2"},
+    {file = "rapidfuzz-2.15.1-pp37-pypy37_pp73-manylinux_2_17_i686.manylinux2014_i686.whl", hash = "sha256:93c33c03e7092642c38f8a15ca2d8fc38da366f2526ec3b46adf19d5c7aa48ba"},
+    {file = "rapidfuzz-2.15.1-pp37-pypy37_pp73-manylinux_2_17_x86_64.manylinux2014_x86_64.whl", hash = "sha256:040faca2e26d9dab5541b45ce72b3f6c0e36786234703fc2ac8c6f53bb576743"},
+    {file = "rapidfuzz-2.15.1-pp37-pypy37_pp73-win_amd64.whl", hash = "sha256:6e2a3b23e1e9aa13474b3c710bba770d0dcc34d517d3dd6f97435a32873e3f28"},
+    {file = "rapidfuzz-2.15.1-pp38-pypy38_pp73-macosx_10_9_x86_64.whl", hash = "sha256:2e597b9dfd6dd180982684840975c458c50d447e46928efe3e0120e4ec6f6686"},
+    {file = "rapidfuzz-2.15.1-pp38-pypy38_pp73-manylinux_2_17_aarch64.manylinux2014_aarch64.whl", hash = "sha256:d14752c9dd2036c5f36ebe8db5f027275fa7d6b3ec6484158f83efb674bab84e"},
+    {file = "rapidfuzz-2.15.1-pp38-pypy38_pp73-manylinux_2_17_i686.manylinux2014_i686.whl", hash = "sha256:558224b6fc6124d13fa32d57876f626a7d6188ba2a97cbaea33a6ee38a867e31"},
+    {file = "rapidfuzz-2.15.1-pp38-pypy38_pp73-manylinux_2_17_x86_64.manylinux2014_x86_64.whl", hash = "sha256:3c89cfa88dc16fd8c9bcc0c7f0b0073f7ef1e27cceb246c9f5a3f7004fa97c4d"},
+    {file = "rapidfuzz-2.15.1-pp38-pypy38_pp73-win_amd64.whl", hash = "sha256:509c5b631cd64df69f0f011893983eb15b8be087a55bad72f3d616b6ae6a0f96"},
+    {file = "rapidfuzz-2.15.1-pp39-pypy39_pp73-macosx_10_9_x86_64.whl", hash = "sha256:0f73a04135a03a6e40393ecd5d46a7a1049d353fc5c24b82849830d09817991f"},
+    {file = "rapidfuzz-2.15.1-pp39-pypy39_pp73-manylinux_2_17_aarch64.manylinux2014_aarch64.whl", hash = "sha256:8c99d53138a2dfe8ada67cb2855719f934af2733d726fbf73247844ce4dd6dd5"},
+    {file = "rapidfuzz-2.15.1-pp39-pypy39_pp73-manylinux_2_17_i686.manylinux2014_i686.whl", hash = "sha256:f01fa757f0fb332a1f045168d29b0d005de6c39ee5ce5d6c51f2563bb53c601b"},
+    {file = "rapidfuzz-2.15.1-pp39-pypy39_pp73-manylinux_2_17_x86_64.manylinux2014_x86_64.whl", hash = "sha256:60368e1add6e550faae65614844c43f8a96e37bf99404643b648bf2dba92c0fb"},
+    {file = "rapidfuzz-2.15.1-pp39-pypy39_pp73-win_amd64.whl", hash = "sha256:785744f1270828cc632c5a3660409dee9bcaac6931a081bae57542c93e4d46c4"},
+    {file = "rapidfuzz-2.15.1.tar.gz", hash = "sha256:d62137c2ca37aea90a11003ad7dc109c8f1739bfbe5a9a217f3cdb07d7ac00f6"},
+]
+
+[package.extras]
+full = ["numpy"]
+
+[[package]]
+name = "reactivex"
+version = "4.0.4"
+description = "ReactiveX (Rx) for Python"
+optional = false
+python-versions = ">=3.7,<4.0"
+files = [
     {file = "reactivex-4.0.4-py3-none-any.whl", hash = "sha256:0004796c420bd9e68aad8e65627d85a8e13f293de76656165dffbcb3a0e3fb6a"},
     {file = "reactivex-4.0.4.tar.gz", hash = "sha256:e912e6591022ab9176df8348a653fe8c8fa7a301f26f9931c9d8c78a650e04e8"},
 ]
-redis = [
-    {file = "redis-4.3.4-py3-none-any.whl", hash = "sha256:a52d5694c9eb4292770084fa8c863f79367ca19884b329ab574d5cb2036b3e54"},
-    {file = "redis-4.3.4.tar.gz", hash = "sha256:ddf27071df4adf3821c4f2ca59d67525c3a82e5f268bed97b813cb4fabf87880"},
+
+[package.dependencies]
+typing-extensions = ">=4.1.1,<5.0.0"
+
+[[package]]
+name = "redis"
+version = "4.6.0"
+description = "Python client for Redis database and key-value store"
+optional = false
+python-versions = ">=3.7"
+files = [
+    {file = "redis-4.6.0-py3-none-any.whl", hash = "sha256:e2b03db868160ee4591de3cb90d40ebb50a90dd302138775937f6a42b7ed183c"},
+    {file = "redis-4.6.0.tar.gz", hash = "sha256:585dc516b9eb042a619ef0a39c3d7d55fe81bdb4df09a52c9cdde0d07bf1aa7d"},
 ]
-requests = [
-    {file = "requests-2.28.1-py3-none-any.whl", hash = "sha256:8fefa2a1a1365bf5520aac41836fbee479da67864514bdb821f31ce07ce65349"},
-    {file = "requests-2.28.1.tar.gz", hash = "sha256:7c5599b102feddaa661c826c56ab4fee28bfd17f5abca1ebbe3e7f19d7c97983"},
+
+[package.dependencies]
+async-timeout = {version = ">=4.0.2", markers = "python_full_version <= \"3.11.2\""}
+
+[package.extras]
+hiredis = ["hiredis (>=1.0.0)"]
+ocsp = ["cryptography (>=36.0.1)", "pyopenssl (==20.0.1)", "requests (>=2.26.0)"]
+
+[[package]]
+name = "referencing"
+version = "0.30.2"
+description = "JSON Referencing + Python"
+optional = false
+python-versions = ">=3.8"
+files = [
+    {file = "referencing-0.30.2-py3-none-any.whl", hash = "sha256:449b6669b6121a9e96a7f9e410b245d471e8d48964c67113ce9afe50c8dd7bdf"},
+    {file = "referencing-0.30.2.tar.gz", hash = "sha256:794ad8003c65938edcdbc027f1933215e0d0ccc0291e3ce20a4d87432b59efc0"},
 ]
-requests-oauthlib = [
+
+[package.dependencies]
+attrs = ">=22.2.0"
+rpds-py = ">=0.7.0"
+
+[[package]]
+name = "regex"
+version = "2023.8.8"
+description = "Alternative regular expression module, to replace re."
+optional = false
+python-versions = ">=3.6"
+files = [
+    {file = "regex-2023.8.8-cp310-cp310-macosx_10_9_x86_64.whl", hash = "sha256:88900f521c645f784260a8d346e12a1590f79e96403971241e64c3a265c8ecdb"},
+    {file = "regex-2023.8.8-cp310-cp310-macosx_11_0_arm64.whl", hash = "sha256:3611576aff55918af2697410ff0293d6071b7e00f4b09e005d614686ac4cd57c"},
+    {file = "regex-2023.8.8-cp310-cp310-manylinux_2_17_aarch64.manylinux2014_aarch64.whl", hash = "sha256:b8a0ccc8f2698f120e9e5742f4b38dc944c38744d4bdfc427616f3a163dd9de5"},
+    {file = "regex-2023.8.8-cp310-cp310-manylinux_2_17_ppc64le.manylinux2014_ppc64le.whl", hash = "sha256:c662a4cbdd6280ee56f841f14620787215a171c4e2d1744c9528bed8f5816c96"},
+    {file = "regex-2023.8.8-cp310-cp310-manylinux_2_17_s390x.manylinux2014_s390x.whl", hash = "sha256:cf0633e4a1b667bfe0bb10b5e53fe0d5f34a6243ea2530eb342491f1adf4f739"},
+    {file = "regex-2023.8.8-cp310-cp310-manylinux_2_17_x86_64.manylinux2014_x86_64.whl", hash = "sha256:551ad543fa19e94943c5b2cebc54c73353ffff08228ee5f3376bd27b3d5b9800"},
+    {file = "regex-2023.8.8-cp310-cp310-manylinux_2_5_i686.manylinux1_i686.manylinux_2_17_i686.manylinux2014_i686.whl", hash = "sha256:54de2619f5ea58474f2ac211ceea6b615af2d7e4306220d4f3fe690c91988a61"},
+    {file = "regex-2023.8.8-cp310-cp310-manylinux_2_5_x86_64.manylinux1_x86_64.manylinux_2_12_x86_64.manylinux2010_x86_64.whl", hash = "sha256:5ec4b3f0aebbbe2fc0134ee30a791af522a92ad9f164858805a77442d7d18570"},
+    {file = "regex-2023.8.8-cp310-cp310-musllinux_1_1_aarch64.whl", hash = "sha256:3ae646c35cb9f820491760ac62c25b6d6b496757fda2d51be429e0e7b67ae0ab"},
+    {file = "regex-2023.8.8-cp310-cp310-musllinux_1_1_i686.whl", hash = "sha256:ca339088839582d01654e6f83a637a4b8194d0960477b9769d2ff2cfa0fa36d2"},
+    {file = "regex-2023.8.8-cp310-cp310-musllinux_1_1_ppc64le.whl", hash = "sha256:d9b6627408021452dcd0d2cdf8da0534e19d93d070bfa8b6b4176f99711e7f90"},
+    {file = "regex-2023.8.8-cp310-cp310-musllinux_1_1_s390x.whl", hash = "sha256:bd3366aceedf274f765a3a4bc95d6cd97b130d1dda524d8f25225d14123c01db"},
+    {file = "regex-2023.8.8-cp310-cp310-musllinux_1_1_x86_64.whl", hash = "sha256:7aed90a72fc3654fba9bc4b7f851571dcc368120432ad68b226bd593f3f6c0b7"},
+    {file = "regex-2023.8.8-cp310-cp310-win32.whl", hash = "sha256:80b80b889cb767cc47f31d2b2f3dec2db8126fbcd0cff31b3925b4dc6609dcdb"},
+    {file = "regex-2023.8.8-cp310-cp310-win_amd64.whl", hash = "sha256:b82edc98d107cbc7357da7a5a695901b47d6eb0420e587256ba3ad24b80b7d0b"},
+    {file = "regex-2023.8.8-cp311-cp311-macosx_10_9_x86_64.whl", hash = "sha256:1e7d84d64c84ad97bf06f3c8cb5e48941f135ace28f450d86af6b6512f1c9a71"},
+    {file = "regex-2023.8.8-cp311-cp311-macosx_11_0_arm64.whl", hash = "sha256:ce0f9fbe7d295f9922c0424a3637b88c6c472b75eafeaff6f910494a1fa719ef"},
+    {file = "regex-2023.8.8-cp311-cp311-manylinux_2_17_aarch64.manylinux2014_aarch64.whl", hash = "sha256:06c57e14ac723b04458df5956cfb7e2d9caa6e9d353c0b4c7d5d54fcb1325c46"},
+    {file = "regex-2023.8.8-cp311-cp311-manylinux_2_17_ppc64le.manylinux2014_ppc64le.whl", hash = "sha256:e7a9aaa5a1267125eef22cef3b63484c3241aaec6f48949b366d26c7250e0357"},
+    {file = "regex-2023.8.8-cp311-cp311-manylinux_2_17_s390x.manylinux2014_s390x.whl", hash = "sha256:9b7408511fca48a82a119d78a77c2f5eb1b22fe88b0d2450ed0756d194fe7a9a"},
+    {file = "regex-2023.8.8-cp311-cp311-manylinux_2_17_x86_64.manylinux2014_x86_64.whl", hash = "sha256:14dc6f2d88192a67d708341f3085df6a4f5a0c7b03dec08d763ca2cd86e9f559"},
+    {file = "regex-2023.8.8-cp311-cp311-manylinux_2_5_i686.manylinux1_i686.manylinux_2_17_i686.manylinux2014_i686.whl", hash = "sha256:48c640b99213643d141550326f34f0502fedb1798adb3c9eb79650b1ecb2f177"},
+    {file = "regex-2023.8.8-cp311-cp311-musllinux_1_1_aarch64.whl", hash = "sha256:0085da0f6c6393428bf0d9c08d8b1874d805bb55e17cb1dfa5ddb7cfb11140bf"},
+    {file = "regex-2023.8.8-cp311-cp311-musllinux_1_1_i686.whl", hash = "sha256:964b16dcc10c79a4a2be9f1273fcc2684a9eedb3906439720598029a797b46e6"},
+    {file = "regex-2023.8.8-cp311-cp311-musllinux_1_1_ppc64le.whl", hash = "sha256:7ce606c14bb195b0e5108544b540e2c5faed6843367e4ab3deb5c6aa5e681208"},
+    {file = "regex-2023.8.8-cp311-cp311-musllinux_1_1_s390x.whl", hash = "sha256:40f029d73b10fac448c73d6eb33d57b34607f40116e9f6e9f0d32e9229b147d7"},
+    {file = "regex-2023.8.8-cp311-cp311-musllinux_1_1_x86_64.whl", hash = "sha256:3b8e6ea6be6d64104d8e9afc34c151926f8182f84e7ac290a93925c0db004bfd"},
+    {file = "regex-2023.8.8-cp311-cp311-win32.whl", hash = "sha256:942f8b1f3b223638b02df7df79140646c03938d488fbfb771824f3d05fc083a8"},
+    {file = "regex-2023.8.8-cp311-cp311-win_amd64.whl", hash = "sha256:51d8ea2a3a1a8fe4f67de21b8b93757005213e8ac3917567872f2865185fa7fb"},
+    {file = "regex-2023.8.8-cp36-cp36m-macosx_10_9_x86_64.whl", hash = "sha256:e951d1a8e9963ea51efd7f150450803e3b95db5939f994ad3d5edac2b6f6e2b4"},
+    {file = "regex-2023.8.8-cp36-cp36m-manylinux_2_17_aarch64.manylinux2014_aarch64.whl", hash = "sha256:704f63b774218207b8ccc6c47fcef5340741e5d839d11d606f70af93ee78e4d4"},
+    {file = "regex-2023.8.8-cp36-cp36m-manylinux_2_17_ppc64le.manylinux2014_ppc64le.whl", hash = "sha256:22283c769a7b01c8ac355d5be0715bf6929b6267619505e289f792b01304d898"},
+    {file = "regex-2023.8.8-cp36-cp36m-manylinux_2_17_s390x.manylinux2014_s390x.whl", hash = "sha256:91129ff1bb0619bc1f4ad19485718cc623a2dc433dff95baadbf89405c7f6b57"},
+    {file = "regex-2023.8.8-cp36-cp36m-manylinux_2_17_x86_64.manylinux2014_x86_64.whl", hash = "sha256:de35342190deb7b866ad6ba5cbcccb2d22c0487ee0cbb251efef0843d705f0d4"},
+    {file = "regex-2023.8.8-cp36-cp36m-manylinux_2_5_i686.manylinux1_i686.manylinux_2_17_i686.manylinux2014_i686.whl", hash = "sha256:b993b6f524d1e274a5062488a43e3f9f8764ee9745ccd8e8193df743dbe5ee61"},
+    {file = "regex-2023.8.8-cp36-cp36m-manylinux_2_5_x86_64.manylinux1_x86_64.manylinux_2_12_x86_64.manylinux2010_x86_64.whl", hash = "sha256:3026cbcf11d79095a32d9a13bbc572a458727bd5b1ca332df4a79faecd45281c"},
+    {file = "regex-2023.8.8-cp36-cp36m-musllinux_1_1_aarch64.whl", hash = "sha256:293352710172239bf579c90a9864d0df57340b6fd21272345222fb6371bf82b3"},
+    {file = "regex-2023.8.8-cp36-cp36m-musllinux_1_1_i686.whl", hash = "sha256:d909b5a3fff619dc7e48b6b1bedc2f30ec43033ba7af32f936c10839e81b9217"},
+    {file = "regex-2023.8.8-cp36-cp36m-musllinux_1_1_ppc64le.whl", hash = "sha256:3d370ff652323c5307d9c8e4c62efd1956fb08051b0e9210212bc51168b4ff56"},
+    {file = "regex-2023.8.8-cp36-cp36m-musllinux_1_1_s390x.whl", hash = "sha256:b076da1ed19dc37788f6a934c60adf97bd02c7eea461b73730513921a85d4235"},
+    {file = "regex-2023.8.8-cp36-cp36m-musllinux_1_1_x86_64.whl", hash = "sha256:e9941a4ada58f6218694f382e43fdd256e97615db9da135e77359da257a7168b"},
+    {file = "regex-2023.8.8-cp36-cp36m-win32.whl", hash = "sha256:a8c65c17aed7e15a0c824cdc63a6b104dfc530f6fa8cb6ac51c437af52b481c7"},
+    {file = "regex-2023.8.8-cp36-cp36m-win_amd64.whl", hash = "sha256:aadf28046e77a72f30dcc1ab185639e8de7f4104b8cb5c6dfa5d8ed860e57236"},
+    {file = "regex-2023.8.8-cp37-cp37m-macosx_10_9_x86_64.whl", hash = "sha256:423adfa872b4908843ac3e7a30f957f5d5282944b81ca0a3b8a7ccbbfaa06103"},
+    {file = "regex-2023.8.8-cp37-cp37m-manylinux_2_17_aarch64.manylinux2014_aarch64.whl", hash = "sha256:4ae594c66f4a7e1ea67232a0846649a7c94c188d6c071ac0210c3e86a5f92109"},
+    {file = "regex-2023.8.8-cp37-cp37m-manylinux_2_17_ppc64le.manylinux2014_ppc64le.whl", hash = "sha256:e51c80c168074faa793685656c38eb7a06cbad7774c8cbc3ea05552d615393d8"},
+    {file = "regex-2023.8.8-cp37-cp37m-manylinux_2_17_s390x.manylinux2014_s390x.whl", hash = "sha256:09b7f4c66aa9d1522b06e31a54f15581c37286237208df1345108fcf4e050c18"},
+    {file = "regex-2023.8.8-cp37-cp37m-manylinux_2_17_x86_64.manylinux2014_x86_64.whl", hash = "sha256:2e73e5243af12d9cd6a9d6a45a43570dbe2e5b1cdfc862f5ae2b031e44dd95a8"},
+    {file = "regex-2023.8.8-cp37-cp37m-manylinux_2_5_i686.manylinux1_i686.manylinux_2_17_i686.manylinux2014_i686.whl", hash = "sha256:941460db8fe3bd613db52f05259c9336f5a47ccae7d7def44cc277184030a116"},
+    {file = "regex-2023.8.8-cp37-cp37m-manylinux_2_5_x86_64.manylinux1_x86_64.manylinux_2_12_x86_64.manylinux2010_x86_64.whl", hash = "sha256:f0ccf3e01afeb412a1a9993049cb160d0352dba635bbca7762b2dc722aa5742a"},
+    {file = "regex-2023.8.8-cp37-cp37m-musllinux_1_1_aarch64.whl", hash = "sha256:2e9216e0d2cdce7dbc9be48cb3eacb962740a09b011a116fd7af8c832ab116ca"},
+    {file = "regex-2023.8.8-cp37-cp37m-musllinux_1_1_i686.whl", hash = "sha256:5cd9cd7170459b9223c5e592ac036e0704bee765706445c353d96f2890e816c8"},
+    {file = "regex-2023.8.8-cp37-cp37m-musllinux_1_1_ppc64le.whl", hash = "sha256:4873ef92e03a4309b3ccd8281454801b291b689f6ad45ef8c3658b6fa761d7ac"},
+    {file = "regex-2023.8.8-cp37-cp37m-musllinux_1_1_s390x.whl", hash = "sha256:239c3c2a339d3b3ddd51c2daef10874410917cd2b998f043c13e2084cb191684"},
+    {file = "regex-2023.8.8-cp37-cp37m-musllinux_1_1_x86_64.whl", hash = "sha256:1005c60ed7037be0d9dea1f9c53cc42f836188227366370867222bda4c3c6bd7"},
+    {file = "regex-2023.8.8-cp37-cp37m-win32.whl", hash = "sha256:e6bd1e9b95bc5614a7a9c9c44fde9539cba1c823b43a9f7bc11266446dd568e3"},
+    {file = "regex-2023.8.8-cp37-cp37m-win_amd64.whl", hash = "sha256:9a96edd79661e93327cfeac4edec72a4046e14550a1d22aa0dd2e3ca52aec921"},
+    {file = "regex-2023.8.8-cp38-cp38-macosx_10_9_x86_64.whl", hash = "sha256:f2181c20ef18747d5f4a7ea513e09ea03bdd50884a11ce46066bb90fe4213675"},
+    {file = "regex-2023.8.8-cp38-cp38-macosx_11_0_arm64.whl", hash = "sha256:a2ad5add903eb7cdde2b7c64aaca405f3957ab34f16594d2b78d53b8b1a6a7d6"},
+    {file = "regex-2023.8.8-cp38-cp38-manylinux_2_17_aarch64.manylinux2014_aarch64.whl", hash = "sha256:9233ac249b354c54146e392e8a451e465dd2d967fc773690811d3a8c240ac601"},
+    {file = "regex-2023.8.8-cp38-cp38-manylinux_2_17_ppc64le.manylinux2014_ppc64le.whl", hash = "sha256:920974009fb37b20d32afcdf0227a2e707eb83fe418713f7a8b7de038b870d0b"},
+    {file = "regex-2023.8.8-cp38-cp38-manylinux_2_17_s390x.manylinux2014_s390x.whl", hash = "sha256:cd2b6c5dfe0929b6c23dde9624483380b170b6e34ed79054ad131b20203a1a63"},
+    {file = "regex-2023.8.8-cp38-cp38-manylinux_2_17_x86_64.manylinux2014_x86_64.whl", hash = "sha256:96979d753b1dc3b2169003e1854dc67bfc86edf93c01e84757927f810b8c3c93"},
+    {file = "regex-2023.8.8-cp38-cp38-manylinux_2_5_i686.manylinux1_i686.manylinux_2_17_i686.manylinux2014_i686.whl", hash = "sha256:2ae54a338191e1356253e7883d9d19f8679b6143703086245fb14d1f20196be9"},
+    {file = "regex-2023.8.8-cp38-cp38-manylinux_2_5_x86_64.manylinux1_x86_64.manylinux_2_12_x86_64.manylinux2010_x86_64.whl", hash = "sha256:2162ae2eb8b079622176a81b65d486ba50b888271302190870b8cc488587d280"},
+    {file = "regex-2023.8.8-cp38-cp38-musllinux_1_1_aarch64.whl", hash = "sha256:c884d1a59e69e03b93cf0dfee8794c63d7de0ee8f7ffb76e5f75be8131b6400a"},
+    {file = "regex-2023.8.8-cp38-cp38-musllinux_1_1_i686.whl", hash = "sha256:cf9273e96f3ee2ac89ffcb17627a78f78e7516b08f94dc435844ae72576a276e"},
+    {file = "regex-2023.8.8-cp38-cp38-musllinux_1_1_ppc64le.whl", hash = "sha256:83215147121e15d5f3a45d99abeed9cf1fe16869d5c233b08c56cdf75f43a504"},
+    {file = "regex-2023.8.8-cp38-cp38-musllinux_1_1_s390x.whl", hash = "sha256:3f7454aa427b8ab9101f3787eb178057c5250478e39b99540cfc2b889c7d0586"},
+    {file = "regex-2023.8.8-cp38-cp38-musllinux_1_1_x86_64.whl", hash = "sha256:f0640913d2c1044d97e30d7c41728195fc37e54d190c5385eacb52115127b882"},
+    {file = "regex-2023.8.8-cp38-cp38-win32.whl", hash = "sha256:0c59122ceccb905a941fb23b087b8eafc5290bf983ebcb14d2301febcbe199c7"},
+    {file = "regex-2023.8.8-cp38-cp38-win_amd64.whl", hash = "sha256:c12f6f67495ea05c3d542d119d270007090bad5b843f642d418eb601ec0fa7be"},
+    {file = "regex-2023.8.8-cp39-cp39-macosx_10_9_x86_64.whl", hash = "sha256:82cd0a69cd28f6cc3789cc6adeb1027f79526b1ab50b1f6062bbc3a0ccb2dbc3"},
+    {file = "regex-2023.8.8-cp39-cp39-macosx_11_0_arm64.whl", hash = "sha256:bb34d1605f96a245fc39790a117ac1bac8de84ab7691637b26ab2c5efb8f228c"},
+    {file = "regex-2023.8.8-cp39-cp39-manylinux_2_17_aarch64.manylinux2014_aarch64.whl", hash = "sha256:987b9ac04d0b38ef4f89fbc035e84a7efad9cdd5f1e29024f9289182c8d99e09"},
+    {file = "regex-2023.8.8-cp39-cp39-manylinux_2_17_ppc64le.manylinux2014_ppc64le.whl", hash = "sha256:9dd6082f4e2aec9b6a0927202c85bc1b09dcab113f97265127c1dc20e2e32495"},
+    {file = "regex-2023.8.8-cp39-cp39-manylinux_2_17_s390x.manylinux2014_s390x.whl", hash = "sha256:7eb95fe8222932c10d4436e7a6f7c99991e3fdd9f36c949eff16a69246dee2dc"},
+    {file = "regex-2023.8.8-cp39-cp39-manylinux_2_17_x86_64.manylinux2014_x86_64.whl", hash = "sha256:7098c524ba9f20717a56a8d551d2ed491ea89cbf37e540759ed3b776a4f8d6eb"},
+    {file = "regex-2023.8.8-cp39-cp39-manylinux_2_5_i686.manylinux1_i686.manylinux_2_17_i686.manylinux2014_i686.whl", hash = "sha256:4b694430b3f00eb02c594ff5a16db30e054c1b9589a043fe9174584c6efa8033"},
+    {file = "regex-2023.8.8-cp39-cp39-manylinux_2_5_x86_64.manylinux1_x86_64.manylinux_2_12_x86_64.manylinux2010_x86_64.whl", hash = "sha256:b2aeab3895d778155054abea5238d0eb9a72e9242bd4b43f42fd911ef9a13470"},
+    {file = "regex-2023.8.8-cp39-cp39-musllinux_1_1_aarch64.whl", hash = "sha256:988631b9d78b546e284478c2ec15c8a85960e262e247b35ca5eaf7ee22f6050a"},
+    {file = "regex-2023.8.8-cp39-cp39-musllinux_1_1_i686.whl", hash = "sha256:67ecd894e56a0c6108ec5ab1d8fa8418ec0cff45844a855966b875d1039a2e34"},
+    {file = "regex-2023.8.8-cp39-cp39-musllinux_1_1_ppc64le.whl", hash = "sha256:14898830f0a0eb67cae2bbbc787c1a7d6e34ecc06fbd39d3af5fe29a4468e2c9"},
+    {file = "regex-2023.8.8-cp39-cp39-musllinux_1_1_s390x.whl", hash = "sha256:f2200e00b62568cfd920127782c61bc1c546062a879cdc741cfcc6976668dfcf"},
+    {file = "regex-2023.8.8-cp39-cp39-musllinux_1_1_x86_64.whl", hash = "sha256:9691a549c19c22d26a4f3b948071e93517bdf86e41b81d8c6ac8a964bb71e5a6"},
+    {file = "regex-2023.8.8-cp39-cp39-win32.whl", hash = "sha256:6ab2ed84bf0137927846b37e882745a827458689eb969028af8032b1b3dac78e"},
+    {file = "regex-2023.8.8-cp39-cp39-win_amd64.whl", hash = "sha256:5543c055d8ec7801901e1193a51570643d6a6ab8751b1f7dd9af71af467538bb"},
+    {file = "regex-2023.8.8.tar.gz", hash = "sha256:fcbdc5f2b0f1cd0f6a56cdb46fe41d2cce1e644e3b68832f3eeebc5fb0f7712e"},
+]
+
+[[package]]
+name = "requests"
+version = "2.31.0"
+description = "Python HTTP for Humans."
+optional = false
+python-versions = ">=3.7"
+files = [
+    {file = "requests-2.31.0-py3-none-any.whl", hash = "sha256:58cd2187c01e70e6e26505bca751777aa9f2ee0b7f4300988b709f44e013003f"},
+    {file = "requests-2.31.0.tar.gz", hash = "sha256:942c5a758f98d790eaed1a29cb6eefc7ffb0d1cf7af05c3d2791656dbd6ad1e1"},
+]
+
+[package.dependencies]
+certifi = ">=2017.4.17"
+charset-normalizer = ">=2,<4"
+idna = ">=2.5,<4"
+PySocks = {version = ">=1.5.6,<1.5.7 || >1.5.7", optional = true, markers = "extra == \"socks\""}
+urllib3 = ">=1.21.1,<3"
+
+[package.extras]
+socks = ["PySocks (>=1.5.6,!=1.5.7)"]
+use-chardet-on-py3 = ["chardet (>=3.0.2,<6)"]
+
+[[package]]
+name = "requests-oauthlib"
+version = "1.3.1"
+description = "OAuthlib authentication support for Requests."
+optional = false
+python-versions = ">=2.7, !=3.0.*, !=3.1.*, !=3.2.*, !=3.3.*"
+files = [
     {file = "requests-oauthlib-1.3.1.tar.gz", hash = "sha256:75beac4a47881eeb94d5ea5d6ad31ef88856affe2332b9aafb52c6452ccf0d7a"},
     {file = "requests_oauthlib-1.3.1-py2.py3-none-any.whl", hash = "sha256:2577c501a2fb8d05a304c09d090d6e47c306fef15809d102b327cf8364bddab5"},
 ]
-requests-toolbelt = [
-    {file = "requests-toolbelt-0.9.1.tar.gz", hash = "sha256:968089d4584ad4ad7c171454f0a5c6dac23971e9472521ea3b6d49d610aa6fc0"},
-    {file = "requests_toolbelt-0.9.1-py2.py3-none-any.whl", hash = "sha256:380606e1d10dc85c3bd47bf5a6095f815ec007be7a8b69c878507068df059e6f"},
+
+[package.dependencies]
+oauthlib = ">=3.0.0"
+requests = ">=2.0.0"
+
+[package.extras]
+rsa = ["oauthlib[signedtoken] (>=3.0.0)"]
+
+[[package]]
+name = "requests-toolbelt"
+version = "1.0.0"
+description = "A utility belt for advanced users of python-requests"
+optional = false
+python-versions = ">=2.7, !=3.0.*, !=3.1.*, !=3.2.*, !=3.3.*"
+files = [
+    {file = "requests-toolbelt-1.0.0.tar.gz", hash = "sha256:7681a0a3d047012b5bdc0ee37d7f8f07ebe76ab08caeccfc3921ce23c88d5bc6"},
+    {file = "requests_toolbelt-1.0.0-py2.py3-none-any.whl", hash = "sha256:cccfdd665f0a24fcf4726e690f65639d272bb0637b9b92dfd91a5568ccf6bd06"},
 ]
-reverse-geocoder = [
+
+[package.dependencies]
+requests = ">=2.0.1,<3.0.0"
+
+[[package]]
+name = "reverse-geocoder"
+version = "1.5.1"
+description = "Fast, offline reverse geocoder"
+optional = false
+python-versions = "*"
+files = [
     {file = "reverse_geocoder-1.5.1.tar.gz", hash = "sha256:2a2e781b5f69376d922b78fe8978f1350c84fce0ddb07e02c834ecf98b57c75c"},
 ]
-rtree = [
+
+[package.dependencies]
+numpy = ">=1.11.0"
+scipy = ">=0.17.1"
+
+[[package]]
+name = "rfc3339-validator"
+version = "0.1.4"
+description = "A pure python RFC3339 validator"
+optional = false
+python-versions = ">=2.7, !=3.0.*, !=3.1.*, !=3.2.*, !=3.3.*, !=3.4.*"
+files = [
+    {file = "rfc3339_validator-0.1.4-py2.py3-none-any.whl", hash = "sha256:24f6ec1eda14ef823da9e36ec7113124b39c04d50a4d3d3a3c2859577e7791fa"},
+    {file = "rfc3339_validator-0.1.4.tar.gz", hash = "sha256:138a2abdf93304ad60530167e51d2dfb9549521a836871b88d7f4695d0022f6b"},
+]
+
+[package.dependencies]
+six = "*"
+
+[[package]]
+name = "rfc3986-validator"
+version = "0.1.1"
+description = "Pure python rfc3986 validator"
+optional = false
+python-versions = ">=2.7, !=3.0.*, !=3.1.*, !=3.2.*, !=3.3.*, !=3.4.*"
+files = [
+    {file = "rfc3986_validator-0.1.1-py2.py3-none-any.whl", hash = "sha256:2f235c432ef459970b4306369336b9d5dbdda31b510ca1e327636e01f528bfa9"},
+    {file = "rfc3986_validator-0.1.1.tar.gz", hash = "sha256:3d44bde7921b3b9ec3ae4e3adca370438eccebc676456449b145d533b240d055"},
+]
+
+[[package]]
+name = "rpds-py"
+version = "0.9.2"
+description = "Python bindings to Rust's persistent data structures (rpds)"
+optional = false
+python-versions = ">=3.8"
+files = [
+    {file = "rpds_py-0.9.2-cp310-cp310-macosx_10_7_x86_64.whl", hash = "sha256:ab6919a09c055c9b092798ce18c6c4adf49d24d4d9e43a92b257e3f2548231e7"},
+    {file = "rpds_py-0.9.2-cp310-cp310-macosx_11_0_arm64.whl", hash = "sha256:d55777a80f78dd09410bd84ff8c95ee05519f41113b2df90a69622f5540c4f8b"},
+    {file = "rpds_py-0.9.2-cp310-cp310-manylinux_2_17_aarch64.manylinux2014_aarch64.whl", hash = "sha256:a216b26e5af0a8e265d4efd65d3bcec5fba6b26909014effe20cd302fd1138fa"},
+    {file = "rpds_py-0.9.2-cp310-cp310-manylinux_2_17_armv7l.manylinux2014_armv7l.whl", hash = "sha256:29cd8bfb2d716366a035913ced99188a79b623a3512292963d84d3e06e63b496"},
+    {file = "rpds_py-0.9.2-cp310-cp310-manylinux_2_17_ppc64le.manylinux2014_ppc64le.whl", hash = "sha256:44659b1f326214950a8204a248ca6199535e73a694be8d3e0e869f820767f12f"},
+    {file = "rpds_py-0.9.2-cp310-cp310-manylinux_2_17_s390x.manylinux2014_s390x.whl", hash = "sha256:745f5a43fdd7d6d25a53ab1a99979e7f8ea419dfefebcab0a5a1e9095490ee5e"},
+    {file = "rpds_py-0.9.2-cp310-cp310-manylinux_2_17_x86_64.manylinux2014_x86_64.whl", hash = "sha256:a987578ac5214f18b99d1f2a3851cba5b09f4a689818a106c23dbad0dfeb760f"},
+    {file = "rpds_py-0.9.2-cp310-cp310-manylinux_2_5_i686.manylinux1_i686.whl", hash = "sha256:bf4151acb541b6e895354f6ff9ac06995ad9e4175cbc6d30aaed08856558201f"},
+    {file = "rpds_py-0.9.2-cp310-cp310-musllinux_1_2_aarch64.whl", hash = "sha256:03421628f0dc10a4119d714a17f646e2837126a25ac7a256bdf7c3943400f67f"},
+    {file = "rpds_py-0.9.2-cp310-cp310-musllinux_1_2_i686.whl", hash = "sha256:13b602dc3e8dff3063734f02dcf05111e887f301fdda74151a93dbbc249930fe"},
+    {file = "rpds_py-0.9.2-cp310-cp310-musllinux_1_2_x86_64.whl", hash = "sha256:fae5cb554b604b3f9e2c608241b5d8d303e410d7dfb6d397c335f983495ce7f6"},
+    {file = "rpds_py-0.9.2-cp310-none-win32.whl", hash = "sha256:47c5f58a8e0c2c920cc7783113df2fc4ff12bf3a411d985012f145e9242a2764"},
+    {file = "rpds_py-0.9.2-cp310-none-win_amd64.whl", hash = "sha256:4ea6b73c22d8182dff91155af018b11aac9ff7eca085750455c5990cb1cfae6e"},
+    {file = "rpds_py-0.9.2-cp311-cp311-macosx_10_7_x86_64.whl", hash = "sha256:e564d2238512c5ef5e9d79338ab77f1cbbda6c2d541ad41b2af445fb200385e3"},
+    {file = "rpds_py-0.9.2-cp311-cp311-macosx_11_0_arm64.whl", hash = "sha256:f411330a6376fb50e5b7a3e66894e4a39e60ca2e17dce258d53768fea06a37bd"},
+    {file = "rpds_py-0.9.2-cp311-cp311-manylinux_2_17_aarch64.manylinux2014_aarch64.whl", hash = "sha256:0e7521f5af0233e89939ad626b15278c71b69dc1dfccaa7b97bd4cdf96536bb7"},
+    {file = "rpds_py-0.9.2-cp311-cp311-manylinux_2_17_armv7l.manylinux2014_armv7l.whl", hash = "sha256:8d3335c03100a073883857e91db9f2e0ef8a1cf42dc0369cbb9151c149dbbc1b"},
+    {file = "rpds_py-0.9.2-cp311-cp311-manylinux_2_17_ppc64le.manylinux2014_ppc64le.whl", hash = "sha256:d25b1c1096ef0447355f7293fbe9ad740f7c47ae032c2884113f8e87660d8f6e"},
+    {file = "rpds_py-0.9.2-cp311-cp311-manylinux_2_17_s390x.manylinux2014_s390x.whl", hash = "sha256:6a5d3fbd02efd9cf6a8ffc2f17b53a33542f6b154e88dd7b42ef4a4c0700fdad"},
+    {file = "rpds_py-0.9.2-cp311-cp311-manylinux_2_17_x86_64.manylinux2014_x86_64.whl", hash = "sha256:c5934e2833afeaf36bd1eadb57256239785f5af0220ed8d21c2896ec4d3a765f"},
+    {file = "rpds_py-0.9.2-cp311-cp311-manylinux_2_5_i686.manylinux1_i686.whl", hash = "sha256:095b460e117685867d45548fbd8598a8d9999227e9061ee7f012d9d264e6048d"},
+    {file = "rpds_py-0.9.2-cp311-cp311-musllinux_1_2_aarch64.whl", hash = "sha256:91378d9f4151adc223d584489591dbb79f78814c0734a7c3bfa9c9e09978121c"},
+    {file = "rpds_py-0.9.2-cp311-cp311-musllinux_1_2_i686.whl", hash = "sha256:24a81c177379300220e907e9b864107614b144f6c2a15ed5c3450e19cf536fae"},
+    {file = "rpds_py-0.9.2-cp311-cp311-musllinux_1_2_x86_64.whl", hash = "sha256:de0b6eceb46141984671802d412568d22c6bacc9b230174f9e55fc72ef4f57de"},
+    {file = "rpds_py-0.9.2-cp311-none-win32.whl", hash = "sha256:700375326ed641f3d9d32060a91513ad668bcb7e2cffb18415c399acb25de2ab"},
+    {file = "rpds_py-0.9.2-cp311-none-win_amd64.whl", hash = "sha256:0766babfcf941db8607bdaf82569ec38107dbb03c7f0b72604a0b346b6eb3298"},
+    {file = "rpds_py-0.9.2-cp312-cp312-macosx_10_7_x86_64.whl", hash = "sha256:b1440c291db3f98a914e1afd9d6541e8fc60b4c3aab1a9008d03da4651e67386"},
+    {file = "rpds_py-0.9.2-cp312-cp312-macosx_11_0_arm64.whl", hash = "sha256:0f2996fbac8e0b77fd67102becb9229986396e051f33dbceada3debaacc7033f"},
+    {file = "rpds_py-0.9.2-cp312-cp312-manylinux_2_17_aarch64.manylinux2014_aarch64.whl", hash = "sha256:9f30d205755566a25f2ae0382944fcae2f350500ae4df4e795efa9e850821d82"},
+    {file = "rpds_py-0.9.2-cp312-cp312-manylinux_2_17_armv7l.manylinux2014_armv7l.whl", hash = "sha256:159fba751a1e6b1c69244e23ba6c28f879a8758a3e992ed056d86d74a194a0f3"},
+    {file = "rpds_py-0.9.2-cp312-cp312-manylinux_2_17_ppc64le.manylinux2014_ppc64le.whl", hash = "sha256:a1f044792e1adcea82468a72310c66a7f08728d72a244730d14880cd1dabe36b"},
+    {file = "rpds_py-0.9.2-cp312-cp312-manylinux_2_17_s390x.manylinux2014_s390x.whl", hash = "sha256:9251eb8aa82e6cf88510530b29eef4fac825a2b709baf5b94a6094894f252387"},
+    {file = "rpds_py-0.9.2-cp312-cp312-manylinux_2_17_x86_64.manylinux2014_x86_64.whl", hash = "sha256:01899794b654e616c8625b194ddd1e5b51ef5b60ed61baa7a2d9c2ad7b2a4238"},
+    {file = "rpds_py-0.9.2-cp312-cp312-manylinux_2_5_i686.manylinux1_i686.whl", hash = "sha256:b0c43f8ae8f6be1d605b0465671124aa8d6a0e40f1fb81dcea28b7e3d87ca1e1"},
+    {file = "rpds_py-0.9.2-cp312-cp312-musllinux_1_2_aarch64.whl", hash = "sha256:207f57c402d1f8712618f737356e4b6f35253b6d20a324d9a47cb9f38ee43a6b"},
+    {file = "rpds_py-0.9.2-cp312-cp312-musllinux_1_2_i686.whl", hash = "sha256:b52e7c5ae35b00566d244ffefba0f46bb6bec749a50412acf42b1c3f402e2c90"},
+    {file = "rpds_py-0.9.2-cp312-cp312-musllinux_1_2_x86_64.whl", hash = "sha256:978fa96dbb005d599ec4fd9ed301b1cc45f1a8f7982d4793faf20b404b56677d"},
+    {file = "rpds_py-0.9.2-cp38-cp38-macosx_10_7_x86_64.whl", hash = "sha256:6aa8326a4a608e1c28da191edd7c924dff445251b94653988efb059b16577a4d"},
+    {file = "rpds_py-0.9.2-cp38-cp38-macosx_11_0_arm64.whl", hash = "sha256:aad51239bee6bff6823bbbdc8ad85136c6125542bbc609e035ab98ca1e32a192"},
+    {file = "rpds_py-0.9.2-cp38-cp38-manylinux_2_17_aarch64.manylinux2014_aarch64.whl", hash = "sha256:4bd4dc3602370679c2dfb818d9c97b1137d4dd412230cfecd3c66a1bf388a196"},
+    {file = "rpds_py-0.9.2-cp38-cp38-manylinux_2_17_armv7l.manylinux2014_armv7l.whl", hash = "sha256:dd9da77c6ec1f258387957b754f0df60766ac23ed698b61941ba9acccd3284d1"},
+    {file = "rpds_py-0.9.2-cp38-cp38-manylinux_2_17_ppc64le.manylinux2014_ppc64le.whl", hash = "sha256:190ca6f55042ea4649ed19c9093a9be9d63cd8a97880106747d7147f88a49d18"},
+    {file = "rpds_py-0.9.2-cp38-cp38-manylinux_2_17_s390x.manylinux2014_s390x.whl", hash = "sha256:876bf9ed62323bc7dcfc261dbc5572c996ef26fe6406b0ff985cbcf460fc8a4c"},
+    {file = "rpds_py-0.9.2-cp38-cp38-manylinux_2_17_x86_64.manylinux2014_x86_64.whl", hash = "sha256:fa2818759aba55df50592ecbc95ebcdc99917fa7b55cc6796235b04193eb3c55"},
+    {file = "rpds_py-0.9.2-cp38-cp38-manylinux_2_5_i686.manylinux1_i686.whl", hash = "sha256:9ea4d00850ef1e917815e59b078ecb338f6a8efda23369677c54a5825dbebb55"},
+    {file = "rpds_py-0.9.2-cp38-cp38-musllinux_1_2_aarch64.whl", hash = "sha256:5855c85eb8b8a968a74dc7fb014c9166a05e7e7a8377fb91d78512900aadd13d"},
+    {file = "rpds_py-0.9.2-cp38-cp38-musllinux_1_2_i686.whl", hash = "sha256:14c408e9d1a80dcb45c05a5149e5961aadb912fff42ca1dd9b68c0044904eb32"},
+    {file = "rpds_py-0.9.2-cp38-cp38-musllinux_1_2_x86_64.whl", hash = "sha256:65a0583c43d9f22cb2130c7b110e695fff834fd5e832a776a107197e59a1898e"},
+    {file = "rpds_py-0.9.2-cp38-none-win32.whl", hash = "sha256:71f2f7715935a61fa3e4ae91d91b67e571aeb5cb5d10331ab681256bda2ad920"},
+    {file = "rpds_py-0.9.2-cp38-none-win_amd64.whl", hash = "sha256:674c704605092e3ebbbd13687b09c9f78c362a4bc710343efe37a91457123044"},
+    {file = "rpds_py-0.9.2-cp39-cp39-macosx_10_7_x86_64.whl", hash = "sha256:07e2c54bef6838fa44c48dfbc8234e8e2466d851124b551fc4e07a1cfeb37260"},
+    {file = "rpds_py-0.9.2-cp39-cp39-macosx_11_0_arm64.whl", hash = "sha256:f7fdf55283ad38c33e35e2855565361f4bf0abd02470b8ab28d499c663bc5d7c"},
+    {file = "rpds_py-0.9.2-cp39-cp39-manylinux_2_17_aarch64.manylinux2014_aarch64.whl", hash = "sha256:890ba852c16ace6ed9f90e8670f2c1c178d96510a21b06d2fa12d8783a905193"},
+    {file = "rpds_py-0.9.2-cp39-cp39-manylinux_2_17_armv7l.manylinux2014_armv7l.whl", hash = "sha256:50025635ba8b629a86d9d5474e650da304cb46bbb4d18690532dd79341467846"},
+    {file = "rpds_py-0.9.2-cp39-cp39-manylinux_2_17_ppc64le.manylinux2014_ppc64le.whl", hash = "sha256:517cbf6e67ae3623c5127206489d69eb2bdb27239a3c3cc559350ef52a3bbf0b"},
+    {file = "rpds_py-0.9.2-cp39-cp39-manylinux_2_17_s390x.manylinux2014_s390x.whl", hash = "sha256:0836d71ca19071090d524739420a61580f3f894618d10b666cf3d9a1688355b1"},
+    {file = "rpds_py-0.9.2-cp39-cp39-manylinux_2_17_x86_64.manylinux2014_x86_64.whl", hash = "sha256:9c439fd54b2b9053717cca3de9583be6584b384d88d045f97d409f0ca867d80f"},
+    {file = "rpds_py-0.9.2-cp39-cp39-manylinux_2_5_i686.manylinux1_i686.whl", hash = "sha256:f68996a3b3dc9335037f82754f9cdbe3a95db42bde571d8c3be26cc6245f2324"},
+    {file = "rpds_py-0.9.2-cp39-cp39-musllinux_1_2_aarch64.whl", hash = "sha256:7d68dc8acded354c972116f59b5eb2e5864432948e098c19fe6994926d8e15c3"},
+    {file = "rpds_py-0.9.2-cp39-cp39-musllinux_1_2_i686.whl", hash = "sha256:f963c6b1218b96db85fc37a9f0851eaf8b9040aa46dec112611697a7023da535"},
+    {file = "rpds_py-0.9.2-cp39-cp39-musllinux_1_2_x86_64.whl", hash = "sha256:5a46859d7f947061b4010e554ccd1791467d1b1759f2dc2ec9055fa239f1bc26"},
+    {file = "rpds_py-0.9.2-cp39-none-win32.whl", hash = "sha256:e07e5dbf8a83c66783a9fe2d4566968ea8c161199680e8ad38d53e075df5f0d0"},
+    {file = "rpds_py-0.9.2-cp39-none-win_amd64.whl", hash = "sha256:682726178138ea45a0766907957b60f3a1bf3acdf212436be9733f28b6c5af3c"},
+    {file = "rpds_py-0.9.2-pp310-pypy310_pp73-macosx_10_7_x86_64.whl", hash = "sha256:196cb208825a8b9c8fc360dc0f87993b8b260038615230242bf18ec84447c08d"},
+    {file = "rpds_py-0.9.2-pp310-pypy310_pp73-macosx_11_0_arm64.whl", hash = "sha256:c7671d45530fcb6d5e22fd40c97e1e1e01965fc298cbda523bb640f3d923b387"},
+    {file = "rpds_py-0.9.2-pp310-pypy310_pp73-manylinux_2_17_aarch64.manylinux2014_aarch64.whl", hash = "sha256:83b32f0940adec65099f3b1c215ef7f1d025d13ff947975a055989cb7fd019a4"},
+    {file = "rpds_py-0.9.2-pp310-pypy310_pp73-manylinux_2_17_armv7l.manylinux2014_armv7l.whl", hash = "sha256:7f67da97f5b9eac838b6980fc6da268622e91f8960e083a34533ca710bec8611"},
+    {file = "rpds_py-0.9.2-pp310-pypy310_pp73-manylinux_2_17_ppc64le.manylinux2014_ppc64le.whl", hash = "sha256:03975db5f103997904c37e804e5f340c8fdabbb5883f26ee50a255d664eed58c"},
+    {file = "rpds_py-0.9.2-pp310-pypy310_pp73-manylinux_2_17_s390x.manylinux2014_s390x.whl", hash = "sha256:987b06d1cdb28f88a42e4fb8a87f094e43f3c435ed8e486533aea0bf2e53d931"},
+    {file = "rpds_py-0.9.2-pp310-pypy310_pp73-manylinux_2_17_x86_64.manylinux2014_x86_64.whl", hash = "sha256:c861a7e4aef15ff91233751619ce3a3d2b9e5877e0fcd76f9ea4f6847183aa16"},
+    {file = "rpds_py-0.9.2-pp310-pypy310_pp73-manylinux_2_5_i686.manylinux1_i686.whl", hash = "sha256:02938432352359805b6da099c9c95c8a0547fe4b274ce8f1a91677401bb9a45f"},
+    {file = "rpds_py-0.9.2-pp310-pypy310_pp73-musllinux_1_2_aarch64.whl", hash = "sha256:ef1f08f2a924837e112cba2953e15aacfccbbfcd773b4b9b4723f8f2ddded08e"},
+    {file = "rpds_py-0.9.2-pp310-pypy310_pp73-musllinux_1_2_i686.whl", hash = "sha256:35da5cc5cb37c04c4ee03128ad59b8c3941a1e5cd398d78c37f716f32a9b7f67"},
+    {file = "rpds_py-0.9.2-pp310-pypy310_pp73-musllinux_1_2_x86_64.whl", hash = "sha256:141acb9d4ccc04e704e5992d35472f78c35af047fa0cfae2923835d153f091be"},
+    {file = "rpds_py-0.9.2-pp38-pypy38_pp73-macosx_10_7_x86_64.whl", hash = "sha256:79f594919d2c1a0cc17d1988a6adaf9a2f000d2e1048f71f298b056b1018e872"},
+    {file = "rpds_py-0.9.2-pp38-pypy38_pp73-macosx_11_0_arm64.whl", hash = "sha256:a06418fe1155e72e16dddc68bb3780ae44cebb2912fbd8bb6ff9161de56e1798"},
+    {file = "rpds_py-0.9.2-pp38-pypy38_pp73-manylinux_2_17_aarch64.manylinux2014_aarch64.whl", hash = "sha256:8b2eb034c94b0b96d5eddb290b7b5198460e2d5d0c421751713953a9c4e47d10"},
+    {file = "rpds_py-0.9.2-pp38-pypy38_pp73-manylinux_2_17_armv7l.manylinux2014_armv7l.whl", hash = "sha256:8b08605d248b974eb02f40bdcd1a35d3924c83a2a5e8f5d0fa5af852c4d960af"},
+    {file = "rpds_py-0.9.2-pp38-pypy38_pp73-manylinux_2_17_ppc64le.manylinux2014_ppc64le.whl", hash = "sha256:a0805911caedfe2736935250be5008b261f10a729a303f676d3d5fea6900c96a"},
+    {file = "rpds_py-0.9.2-pp38-pypy38_pp73-manylinux_2_17_s390x.manylinux2014_s390x.whl", hash = "sha256:ab2299e3f92aa5417d5e16bb45bb4586171c1327568f638e8453c9f8d9e0f020"},
+    {file = "rpds_py-0.9.2-pp38-pypy38_pp73-manylinux_2_17_x86_64.manylinux2014_x86_64.whl", hash = "sha256:8c8d7594e38cf98d8a7df25b440f684b510cf4627fe038c297a87496d10a174f"},
+    {file = "rpds_py-0.9.2-pp38-pypy38_pp73-manylinux_2_5_i686.manylinux1_i686.whl", hash = "sha256:8b9ec12ad5f0a4625db34db7e0005be2632c1013b253a4a60e8302ad4d462afd"},
+    {file = "rpds_py-0.9.2-pp38-pypy38_pp73-musllinux_1_2_aarch64.whl", hash = "sha256:1fcdee18fea97238ed17ab6478c66b2095e4ae7177e35fb71fbe561a27adf620"},
+    {file = "rpds_py-0.9.2-pp38-pypy38_pp73-musllinux_1_2_i686.whl", hash = "sha256:933a7d5cd4b84f959aedeb84f2030f0a01d63ae6cf256629af3081cf3e3426e8"},
+    {file = "rpds_py-0.9.2-pp38-pypy38_pp73-musllinux_1_2_x86_64.whl", hash = "sha256:686ba516e02db6d6f8c279d1641f7067ebb5dc58b1d0536c4aaebb7bf01cdc5d"},
+    {file = "rpds_py-0.9.2-pp39-pypy39_pp73-macosx_10_7_x86_64.whl", hash = "sha256:0173c0444bec0a3d7d848eaeca2d8bd32a1b43f3d3fde6617aac3731fa4be05f"},
+    {file = "rpds_py-0.9.2-pp39-pypy39_pp73-macosx_11_0_arm64.whl", hash = "sha256:d576c3ef8c7b2d560e301eb33891d1944d965a4d7a2eacb6332eee8a71827db6"},
+    {file = "rpds_py-0.9.2-pp39-pypy39_pp73-manylinux_2_17_aarch64.manylinux2014_aarch64.whl", hash = "sha256:ed89861ee8c8c47d6beb742a602f912b1bb64f598b1e2f3d758948721d44d468"},
+    {file = "rpds_py-0.9.2-pp39-pypy39_pp73-manylinux_2_17_armv7l.manylinux2014_armv7l.whl", hash = "sha256:1054a08e818f8e18910f1bee731583fe8f899b0a0a5044c6e680ceea34f93876"},
+    {file = "rpds_py-0.9.2-pp39-pypy39_pp73-manylinux_2_17_ppc64le.manylinux2014_ppc64le.whl", hash = "sha256:99e7c4bb27ff1aab90dcc3e9d37ee5af0231ed98d99cb6f5250de28889a3d502"},
+    {file = "rpds_py-0.9.2-pp39-pypy39_pp73-manylinux_2_17_s390x.manylinux2014_s390x.whl", hash = "sha256:c545d9d14d47be716495076b659db179206e3fd997769bc01e2d550eeb685596"},
+    {file = "rpds_py-0.9.2-pp39-pypy39_pp73-manylinux_2_17_x86_64.manylinux2014_x86_64.whl", hash = "sha256:9039a11bca3c41be5a58282ed81ae422fa680409022b996032a43badef2a3752"},
+    {file = "rpds_py-0.9.2-pp39-pypy39_pp73-manylinux_2_5_i686.manylinux1_i686.whl", hash = "sha256:fb39aca7a64ad0c9490adfa719dbeeb87d13be137ca189d2564e596f8ba32c07"},
+    {file = "rpds_py-0.9.2-pp39-pypy39_pp73-musllinux_1_2_aarch64.whl", hash = "sha256:2d8b3b3a2ce0eaa00c5bbbb60b6713e94e7e0becab7b3db6c5c77f979e8ed1f1"},
+    {file = "rpds_py-0.9.2-pp39-pypy39_pp73-musllinux_1_2_i686.whl", hash = "sha256:99b1c16f732b3a9971406fbfe18468592c5a3529585a45a35adbc1389a529a03"},
+    {file = "rpds_py-0.9.2-pp39-pypy39_pp73-musllinux_1_2_x86_64.whl", hash = "sha256:c27ee01a6c3223025f4badd533bea5e87c988cb0ba2811b690395dfe16088cfe"},
+    {file = "rpds_py-0.9.2.tar.gz", hash = "sha256:8d70e8f14900f2657c249ea4def963bed86a29b81f81f5b76b5a9215680de945"},
+]
+
+[[package]]
+name = "rtree"
+version = "1.0.1"
+description = "R-Tree spatial index for Python GIS"
+optional = false
+python-versions = ">=3.7"
+files = [
     {file = "Rtree-1.0.1-cp310-cp310-macosx_10_9_x86_64.whl", hash = "sha256:9855b8f11cdad99c56eb361b7b632a4fbd3d8cbe3f2081426b445f0cfb7fdca9"},
     {file = "Rtree-1.0.1-cp310-cp310-macosx_11_0_arm64.whl", hash = "sha256:18ce7e4d04b85c48f2d364835620b3b20e38e199639746e7b12f07a2303e18ff"},
     {file = "Rtree-1.0.1-cp310-cp310-manylinux_2_17_aarch64.manylinux2014_aarch64.whl", hash = "sha256:784efa6b7be9e99b33613ae8495931032689441eabb6120c9b3eb91188c33794"},
@@ -8065,59 +8082,213 @@ rtree = [
     {file = "Rtree-1.0.1-cp39-cp39-win_amd64.whl", hash = "sha256:ad9912faeddb1ddcec5e26b33089166d58a107af6862d8b7f1bb2b7c0002ab39"},
     {file = "Rtree-1.0.1.tar.gz", hash = "sha256:222121699c303a64065d849bf7038b1ecabc37b65c7fa340bedb38ef0e805429"},
 ]
-s2sphere = [
+
+[[package]]
+name = "ruff"
+version = "0.0.284"
+description = "An extremely fast Python linter, written in Rust."
+optional = false
+python-versions = ">=3.7"
+files = [
+    {file = "ruff-0.0.284-py3-none-macosx_10_7_x86_64.whl", hash = "sha256:8b949084941232e2c27f8d12c78c5a6a010927d712ecff17231ee1a8371c205b"},
+    {file = "ruff-0.0.284-py3-none-macosx_10_9_x86_64.macosx_11_0_arm64.macosx_10_9_universal2.whl", hash = "sha256:a3930d66b35e4dc96197422381dff2a4e965e9278b5533e71ae8474ef202fab0"},
+    {file = "ruff-0.0.284-py3-none-manylinux_2_17_aarch64.manylinux2014_aarch64.whl", hash = "sha256:1d1f7096038961d8bc3b956ee69d73826843eb5b39a5fa4ee717ed473ed69c95"},
+    {file = "ruff-0.0.284-py3-none-manylinux_2_17_armv7l.manylinux2014_armv7l.whl", hash = "sha256:bcaf85907fc905d838f46490ee15f04031927bbea44c478394b0bfdeadc27362"},
+    {file = "ruff-0.0.284-py3-none-manylinux_2_17_i686.manylinux2014_i686.whl", hash = "sha256:b3660b85a9d84162a055f1add334623ae2d8022a84dcd605d61c30a57b436c32"},
+    {file = "ruff-0.0.284-py3-none-manylinux_2_17_ppc64.manylinux2014_ppc64.whl", hash = "sha256:0a3218458b140ea794da72b20ea09cbe13c4c1cdb7ac35e797370354628f4c05"},
+    {file = "ruff-0.0.284-py3-none-manylinux_2_17_ppc64le.manylinux2014_ppc64le.whl", hash = "sha256:b2fe880cff13fffd735387efbcad54ba0ff1272bceea07f86852a33ca71276f4"},
+    {file = "ruff-0.0.284-py3-none-manylinux_2_17_s390x.manylinux2014_s390x.whl", hash = "sha256:d1d098ea74d0ce31478765d1f8b4fbdbba2efc532397b5c5e8e5ea0c13d7e5ae"},
+    {file = "ruff-0.0.284-py3-none-manylinux_2_17_x86_64.manylinux2014_x86_64.whl", hash = "sha256:c4c79ae3308e308b94635cd57a369d1e6f146d85019da2fbc63f55da183ee29b"},
+    {file = "ruff-0.0.284-py3-none-musllinux_1_2_aarch64.whl", hash = "sha256:f86b2b1e7033c00de45cc176cf26778650fb8804073a0495aca2f674797becbb"},
+    {file = "ruff-0.0.284-py3-none-musllinux_1_2_armv7l.whl", hash = "sha256:e37e086f4d623c05cd45a6fe5006e77a2b37d57773aad96b7802a6b8ecf9c910"},
+    {file = "ruff-0.0.284-py3-none-musllinux_1_2_i686.whl", hash = "sha256:d29dfbe314e1131aa53df213fdfea7ee874dd96ea0dd1471093d93b59498384d"},
+    {file = "ruff-0.0.284-py3-none-musllinux_1_2_x86_64.whl", hash = "sha256:88295fd649d0aa1f1271441df75bf06266a199497afd239fd392abcfd75acd7e"},
+    {file = "ruff-0.0.284-py3-none-win32.whl", hash = "sha256:735cd62fccc577032a367c31f6a9de7c1eb4c01fa9a2e60775067f44f3fc3091"},
+    {file = "ruff-0.0.284-py3-none-win_amd64.whl", hash = "sha256:f67ed868d79fbcc61ad0fa034fe6eed2e8d438d32abce9c04b7c4c1464b2cf8e"},
+    {file = "ruff-0.0.284-py3-none-win_arm64.whl", hash = "sha256:1292cfc764eeec3cde35b3a31eae3f661d86418b5e220f5d5dba1c27a6eccbb6"},
+    {file = "ruff-0.0.284.tar.gz", hash = "sha256:ebd3cc55cd499d326aac17a331deaea29bea206e01c08862f9b5c6e93d77a491"},
+]
+
+[[package]]
+name = "s2sphere"
+version = "0.2.5"
+description = "Python implementation of the S2 Geometry Library"
+optional = false
+python-versions = "*"
+files = [
     {file = "s2sphere-0.2.5-py2.py3-none-any.whl", hash = "sha256:d2340c9cf458ddc9a89afd1d8048a4195ce6fa6b0095ab900d4be5271e537401"},
     {file = "s2sphere-0.2.5.tar.gz", hash = "sha256:c2478c1ff7c601a59a7151a57b605435897514578fa6bdb8730721c182adbbaf"},
 ]
-scikit-image = [
-    {file = "scikit-image-0.19.3.tar.gz", hash = "sha256:24b5367de1762da6ee126dd8f30cc4e7efda474e0d7d70685433f0e3aa2ec450"},
-    {file = "scikit_image-0.19.3-cp310-cp310-macosx_10_13_x86_64.whl", hash = "sha256:3a01372ae4bca223873304b0bff79b9d92446ac6d6177f73d89b45561e2d09d8"},
-    {file = "scikit_image-0.19.3-cp310-cp310-macosx_12_0_arm64.whl", hash = "sha256:fdf48d9b1f13af69e4e2c78e05067e322e9c8c97463c315cd0ecb47a94e259fc"},
-    {file = "scikit_image-0.19.3-cp310-cp310-manylinux_2_17_aarch64.manylinux2014_aarch64.whl", hash = "sha256:6b6a8f98f2ac9bb73706461fd1dec875f6a5141759ed526850a5a49e90003d19"},
-    {file = "scikit_image-0.19.3-cp310-cp310-manylinux_2_17_x86_64.manylinux2014_x86_64.whl", hash = "sha256:cfbb073f23deb48e0e60c47f8741d8089121d89cc78629ea8c5b51096efc5be7"},
-    {file = "scikit_image-0.19.3-cp310-cp310-win_amd64.whl", hash = "sha256:cc24177de3fdceca5d04807ad9c87d665f0bf01032ed94a9055cd1ed2b3f33e9"},
-    {file = "scikit_image-0.19.3-cp37-cp37m-macosx_10_13_x86_64.whl", hash = "sha256:fd9dd3994bb6f9f7a35f228323f3c4dc44b3cf2ff15fd72d895216e9333550c6"},
-    {file = "scikit_image-0.19.3-cp37-cp37m-manylinux_2_12_i686.manylinux2010_i686.whl", hash = "sha256:ad5d8000207a264d1a55681a9276e6a739d3f05cf4429004ad00d61d1892235f"},
-    {file = "scikit_image-0.19.3-cp37-cp37m-manylinux_2_12_x86_64.manylinux2010_x86_64.whl", hash = "sha256:84baa3179f3ae983c3a5d81c1e404bc92dcf7daeb41bfe9369badcda3fb22b92"},
-    {file = "scikit_image-0.19.3-cp37-cp37m-manylinux_2_17_aarch64.manylinux2014_aarch64.whl", hash = "sha256:7f9f8a1387afc6c70f2bed007c3854a2d7489f9f7713c242f16f32ee05934bc2"},
-    {file = "scikit_image-0.19.3-cp37-cp37m-win32.whl", hash = "sha256:9fb0923a3bfa99457c5e17888f27b3b8a83a3600b4fef317992e7b7234764732"},
-    {file = "scikit_image-0.19.3-cp37-cp37m-win_amd64.whl", hash = "sha256:ce3d2207f253b8eb2c824e30d145a9f07a34a14212d57f3beca9f7e03c383cbe"},
-    {file = "scikit_image-0.19.3-cp38-cp38-macosx_10_13_x86_64.whl", hash = "sha256:2a02d1bd0e2b53e36b952bd5fd6118d9ccc3ee51de35705d63d8eb1f2e86adef"},
-    {file = "scikit_image-0.19.3-cp38-cp38-macosx_12_0_arm64.whl", hash = "sha256:03779a7e1736fdf89d83c0ba67d44110496edd736a3bfce61a2b5177a1c8a099"},
-    {file = "scikit_image-0.19.3-cp38-cp38-manylinux_2_17_aarch64.manylinux2014_aarch64.whl", hash = "sha256:19a21a101a20c587a3b611a2cf6f86c35aae9f8d9563279b987e83ee1c9a9790"},
-    {file = "scikit_image-0.19.3-cp38-cp38-manylinux_2_17_i686.manylinux2014_i686.whl", hash = "sha256:2f50b923f8099c1045fcde7418d86b206c87e333e43da980f41d8577b9605245"},
-    {file = "scikit_image-0.19.3-cp38-cp38-manylinux_2_17_x86_64.manylinux2014_x86_64.whl", hash = "sha256:e207c6ce5ce121d7d9b9d2b61b9adca57d1abed112c902d8ffbfdc20fb42c12b"},
-    {file = "scikit_image-0.19.3-cp38-cp38-win32.whl", hash = "sha256:a7c3985c68bfe05f7571167ee021d14f5b8d1a4a250c91f0b13be7fb07e6af34"},
-    {file = "scikit_image-0.19.3-cp38-cp38-win_amd64.whl", hash = "sha256:651de1c2ce1fbee834753b46b8e7d81cb12a5594898babba63ac82b30ddad49d"},
-    {file = "scikit_image-0.19.3-cp39-cp39-macosx_10_13_x86_64.whl", hash = "sha256:8d8917fcf85b987b1f287f823f3a1a7dac38b70aaca759bc0200f3bc292d5ced"},
-    {file = "scikit_image-0.19.3-cp39-cp39-macosx_12_0_arm64.whl", hash = "sha256:0b0a199157ce8487c77de4fde0edc0b42d6d42818881c11f459262351d678b2d"},
-    {file = "scikit_image-0.19.3-cp39-cp39-manylinux_2_17_aarch64.manylinux2014_aarch64.whl", hash = "sha256:33dfd463ee6cc509defa279b963829f2230c9e0639ccd3931045be055878eea6"},
-    {file = "scikit_image-0.19.3-cp39-cp39-manylinux_2_17_i686.manylinux2014_i686.whl", hash = "sha256:a8714348ddd671f819457a797c97d4c672166f093def66d66c3254cbd1d43f83"},
-    {file = "scikit_image-0.19.3-cp39-cp39-manylinux_2_17_x86_64.manylinux2014_x86_64.whl", hash = "sha256:ff3b1025356508d41f4fe48528e509d95f9e4015e90cf158cd58c56dc63e0ac5"},
-    {file = "scikit_image-0.19.3-cp39-cp39-win32.whl", hash = "sha256:9439e5294de3f18d6e82ec8eee2c46590231cf9c690da80545e83a0733b7a69e"},
-    {file = "scikit_image-0.19.3-cp39-cp39-win_amd64.whl", hash = "sha256:32fb88cc36203b99c9672fb972c9ef98635deaa5fc889fe969f3e11c44f22919"},
+
+[package.dependencies]
+future = ">=0.15"
+
+[package.extras]
+docs = ["Sphinx (>=1.6.5)", "sphinx-rtd-theme (>=0.1.9)"]
+tests = ["flake8 (>=2.5.4)", "hacking (>=0.11.0)", "nose (>=1.3.4)", "numpy (>=1.11.0)"]
+
+[[package]]
+name = "safetensors"
+version = "0.3.2"
+description = "Fast and Safe Tensor serialization"
+optional = false
+python-versions = "*"
+files = [
+    {file = "safetensors-0.3.2-cp310-cp310-macosx_11_0_x86_64.whl", hash = "sha256:b6a66989075c2891d743153e8ba9ca84ee7232c8539704488f454199b8b8f84d"},
+    {file = "safetensors-0.3.2-cp310-cp310-macosx_12_0_arm64.whl", hash = "sha256:670d6bc3a3b377278ce2971fa7c36ebc0a35041c4ea23b9df750a39380800195"},
+    {file = "safetensors-0.3.2-cp310-cp310-macosx_13_0_arm64.whl", hash = "sha256:564f42838721925b5313ae864ba6caa6f4c80a9fbe63cf24310c3be98ab013cd"},
+    {file = "safetensors-0.3.2-cp310-cp310-macosx_13_0_x86_64.whl", hash = "sha256:7f80af7e4ab3188daaff12d43d078da3017a90d732d38d7af4eb08b6ca2198a5"},
+    {file = "safetensors-0.3.2-cp310-cp310-manylinux_2_17_aarch64.manylinux2014_aarch64.whl", hash = "sha256:ec30d78f20f1235b252d59cbb9755beb35a1fde8c24c89b3c98e6a1804cfd432"},
+    {file = "safetensors-0.3.2-cp310-cp310-manylinux_2_17_s390x.manylinux2014_s390x.whl", hash = "sha256:16063d94d8f600768d3c331b1e97964b1bf3772e19710105fe24ec5a6af63770"},
+    {file = "safetensors-0.3.2-cp310-cp310-manylinux_2_17_x86_64.manylinux2014_x86_64.whl", hash = "sha256:cbb44e140bf2aeda98d9dde669dbec15f7b77f96a9274469b91a6cf4bcc5ec3b"},
+    {file = "safetensors-0.3.2-cp310-cp310-win32.whl", hash = "sha256:2961c1243fd0da46aa6a1c835305cc4595486f8ac64632a604d0eb5f2de76175"},
+    {file = "safetensors-0.3.2-cp310-cp310-win_amd64.whl", hash = "sha256:c813920482c337d1424d306e1b05824a38e3ef94303748a0a287dea7a8c4f805"},
+    {file = "safetensors-0.3.2-cp311-cp311-macosx_10_11_universal2.whl", hash = "sha256:707df34bd9b9047e97332136ad98e57028faeccdb9cfe1c3b52aba5964cc24bf"},
+    {file = "safetensors-0.3.2-cp311-cp311-macosx_12_0_arm64.whl", hash = "sha256:becc5bb85b2947eae20ed23b407ebfd5277d9a560f90381fe2c42e6c043677ba"},
+    {file = "safetensors-0.3.2-cp311-cp311-macosx_13_0_arm64.whl", hash = "sha256:30a75707be5cc9686490bde14b9a371cede4af53244ea72b340cfbabfffdf58a"},
+    {file = "safetensors-0.3.2-cp311-cp311-macosx_13_0_universal2.whl", hash = "sha256:54ad6af663e15e2b99e2ea3280981b7514485df72ba6d014dc22dae7ba6a5e6c"},
+    {file = "safetensors-0.3.2-cp311-cp311-manylinux_2_17_aarch64.manylinux2014_aarch64.whl", hash = "sha256:37764b3197656ef507a266c453e909a3477dabc795962b38e3ad28226f53153b"},
+    {file = "safetensors-0.3.2-cp311-cp311-manylinux_2_17_s390x.manylinux2014_s390x.whl", hash = "sha256:4939067736783acd8391d83cd97d6c202f94181951ce697d519f9746381b6a39"},
+    {file = "safetensors-0.3.2-cp311-cp311-manylinux_2_17_x86_64.manylinux2014_x86_64.whl", hash = "sha256:ada0fac127ff8fb04834da5c6d85a8077e6a1c9180a11251d96f8068db922a17"},
+    {file = "safetensors-0.3.2-cp311-cp311-win32.whl", hash = "sha256:155b82dbe2b0ebff18cde3f76b42b6d9470296e92561ef1a282004d449fa2b4c"},
+    {file = "safetensors-0.3.2-cp311-cp311-win_amd64.whl", hash = "sha256:a86428d196959619ce90197731be9391b5098b35100a7228ef4643957648f7f5"},
+    {file = "safetensors-0.3.2-cp37-cp37m-macosx_11_0_x86_64.whl", hash = "sha256:c1f8ab41ed735c5b581f451fd15d9602ff51aa88044bfa933c5fa4b1d0c644d1"},
+    {file = "safetensors-0.3.2-cp37-cp37m-macosx_13_0_x86_64.whl", hash = "sha256:bc9cfb3c9ea2aec89685b4d656f9f2296f0f0d67ecf2bebf950870e3be89b3db"},
+    {file = "safetensors-0.3.2-cp37-cp37m-manylinux_2_17_aarch64.manylinux2014_aarch64.whl", hash = "sha256:ace5d471e3d78e0d93f952707d808b5ab5eac77ddb034ceb702e602e9acf2be9"},
+    {file = "safetensors-0.3.2-cp37-cp37m-manylinux_2_17_s390x.manylinux2014_s390x.whl", hash = "sha256:de3e20a388b444381bcda1a3193cce51825ddca277e4cf3ed1fe8d9b2d5722cd"},
+    {file = "safetensors-0.3.2-cp37-cp37m-manylinux_2_17_x86_64.manylinux2014_x86_64.whl", hash = "sha256:3d7d70d48585fe8df00725aa788f2e64fd24a4c9ae07cd6be34f6859d0f89a9c"},
+    {file = "safetensors-0.3.2-cp37-cp37m-win32.whl", hash = "sha256:6ff59bc90cdc857f68b1023be9085fda6202bbe7f2fd67d06af8f976d6adcc10"},
+    {file = "safetensors-0.3.2-cp37-cp37m-win_amd64.whl", hash = "sha256:8b05c93da15fa911763a89281906ca333ed800ab0ef1c7ce53317aa1a2322f19"},
+    {file = "safetensors-0.3.2-cp38-cp38-macosx_11_0_x86_64.whl", hash = "sha256:8969cfd9e8d904e8d3c67c989e1bd9a95e3cc8980d4f95e4dcd43c299bb94253"},
+    {file = "safetensors-0.3.2-cp38-cp38-macosx_13_0_x86_64.whl", hash = "sha256:f54148ac027556eb02187e9bc1556c4d916c99ca3cb34ca36a7d304d675035c1"},
+    {file = "safetensors-0.3.2-cp38-cp38-manylinux_2_17_aarch64.manylinux2014_aarch64.whl", hash = "sha256:caec25fedbcf73f66c9261984f07885680f71417fc173f52279276c7f8a5edd3"},
+    {file = "safetensors-0.3.2-cp38-cp38-manylinux_2_17_s390x.manylinux2014_s390x.whl", hash = "sha256:50224a1d99927ccf3b75e27c3d412f7043280431ab100b4f08aad470c37cf99a"},
+    {file = "safetensors-0.3.2-cp38-cp38-manylinux_2_17_x86_64.manylinux2014_x86_64.whl", hash = "sha256:aa98f49e95f02eb750d32c4947e7d5aa43883149ebd0414920866446525b70f0"},
+    {file = "safetensors-0.3.2-cp38-cp38-win32.whl", hash = "sha256:33409df5e28a83dc5cc5547a3ac17c0f1b13a1847b1eb3bc4b3be0df9915171e"},
+    {file = "safetensors-0.3.2-cp38-cp38-win_amd64.whl", hash = "sha256:e04a7cbbb3856159ab99e3adb14521544f65fcb8548cce773a1435a0f8d78d27"},
+    {file = "safetensors-0.3.2-cp39-cp39-macosx_11_0_x86_64.whl", hash = "sha256:7c864cf5dcbfb608c5378f83319c60cc9c97263343b57c02756b7613cd5ab4dd"},
+    {file = "safetensors-0.3.2-cp39-cp39-macosx_12_0_arm64.whl", hash = "sha256:14e8c19d6dc51d4f70ee33c46aff04c8ba3f95812e74daf8036c24bc86e75cae"},
+    {file = "safetensors-0.3.2-cp39-cp39-macosx_13_0_arm64.whl", hash = "sha256:042a60f633c3c7009fdf6a7c182b165cb7283649d2a1e9c7a4a1c23454bd9a5b"},
+    {file = "safetensors-0.3.2-cp39-cp39-macosx_13_0_x86_64.whl", hash = "sha256:fafd95e5ef41e8f312e2a32b7031f7b9b2a621b255f867b221f94bb2e9f51ae8"},
+    {file = "safetensors-0.3.2-cp39-cp39-manylinux_2_17_aarch64.manylinux2014_aarch64.whl", hash = "sha256:8ed77cf358abce2307f03634694e0b2a29822e322a1623e0b1aa4b41e871bf8b"},
+    {file = "safetensors-0.3.2-cp39-cp39-manylinux_2_17_s390x.manylinux2014_s390x.whl", hash = "sha256:5d344e8b2681a33aafc197c90b0def3229b3317d749531c72fa6259d0caa5c8c"},
+    {file = "safetensors-0.3.2-cp39-cp39-manylinux_2_17_x86_64.manylinux2014_x86_64.whl", hash = "sha256:87ff0024ef2e5722a79af24688ce4a430f70601d0cf712a744105ed4b8f67ba5"},
+    {file = "safetensors-0.3.2-cp39-cp39-win32.whl", hash = "sha256:827af9478b78977248ba93e2fd97ea307fb63f463f80cef4824460f8c2542a52"},
+    {file = "safetensors-0.3.2-cp39-cp39-win_amd64.whl", hash = "sha256:9b09f27c456efa301f98681ea14b12f81f2637889f6336223ccab71e42c34541"},
+    {file = "safetensors-0.3.2.tar.gz", hash = "sha256:2dbd34554ed3b99435a0e84df077108f5334c8336b5ed9cb8b6b98f7b10da2f6"},
 ]
-scikit-learn = [
-    {file = "scikit-learn-1.1.2.tar.gz", hash = "sha256:7c22d1305b16f08d57751a4ea36071e2215efb4c09cb79183faa4e8e82a3dbf8"},
-    {file = "scikit_learn-1.1.2-cp310-cp310-macosx_10_9_x86_64.whl", hash = "sha256:6c840f662b5d3377c4ccb8be1fc21bb52cb5d8b8790f8d6bf021739f84e543cf"},
-    {file = "scikit_learn-1.1.2-cp310-cp310-macosx_12_0_arm64.whl", hash = "sha256:2b8db962360c93554cab7bb3c096c4a24695da394dd4b3c3f13409f409b425bc"},
-    {file = "scikit_learn-1.1.2-cp310-cp310-manylinux_2_17_aarch64.manylinux2014_aarch64.whl", hash = "sha256:3e7d1fc817867a350133f937aaebcafbc06192517cbdf0cf7e5774ad4d1adb9f"},
-    {file = "scikit_learn-1.1.2-cp310-cp310-manylinux_2_17_x86_64.manylinux2014_x86_64.whl", hash = "sha256:5ec3ea40d467966821843210c02117d82b097b54276fdcfb50f4dfb5c60dbe39"},
-    {file = "scikit_learn-1.1.2-cp310-cp310-win_amd64.whl", hash = "sha256:bbef6ea1c012ff9f3e6f6e9ca006b8772d8383e177b898091e68fbd9b3f840f9"},
-    {file = "scikit_learn-1.1.2-cp38-cp38-macosx_10_9_x86_64.whl", hash = "sha256:a90ca42fe8242fd6ff56cda2fecc5fca586a88a24ab602d275d2d0dcc0b928fb"},
-    {file = "scikit_learn-1.1.2-cp38-cp38-macosx_12_0_arm64.whl", hash = "sha256:a682ec0f82b6f30fb07486daed1c8001b6683cc66b51877644dfc532bece6a18"},
-    {file = "scikit_learn-1.1.2-cp38-cp38-manylinux_2_17_aarch64.manylinux2014_aarch64.whl", hash = "sha256:c33e16e9a165af6012f5be530ccfbb672e2bc5f9b840238a05eb7f6694304e3f"},
-    {file = "scikit_learn-1.1.2-cp38-cp38-manylinux_2_17_x86_64.manylinux2014_x86_64.whl", hash = "sha256:f94c0146bad51daef919c402a3da8c1c6162619653e1c00c92baa168fda292f2"},
-    {file = "scikit_learn-1.1.2-cp38-cp38-win32.whl", hash = "sha256:2f46c6e3ff1054a5ec701646dcfd61d43b8ecac4d416014daed8843cf4c33d4d"},
-    {file = "scikit_learn-1.1.2-cp38-cp38-win_amd64.whl", hash = "sha256:b1e706deca9b2ad87ae27dafd5ac4e8eff01b6db492ed5c12cef4735ec5f21ea"},
-    {file = "scikit_learn-1.1.2-cp39-cp39-macosx_10_9_x86_64.whl", hash = "sha256:567417dbbe6a6278399c3e6daf1654414a5a1a4d818d28f251fa7fc28730a1bf"},
-    {file = "scikit_learn-1.1.2-cp39-cp39-macosx_12_0_arm64.whl", hash = "sha256:d6f232779023c3b060b80b5c82e5823723bc424dcac1d1a148aa2492c54d245d"},
-    {file = "scikit_learn-1.1.2-cp39-cp39-manylinux_2_17_aarch64.manylinux2014_aarch64.whl", hash = "sha256:589d46f28460469f444b898223b13d99db9463e1038dc581ba698111f612264b"},
-    {file = "scikit_learn-1.1.2-cp39-cp39-manylinux_2_17_x86_64.manylinux2014_x86_64.whl", hash = "sha256:76800652fb6d6bf527bce36ecc2cc25738b28fe1a17bd294a218fff8e8bd6d50"},
-    {file = "scikit_learn-1.1.2-cp39-cp39-win32.whl", hash = "sha256:1c8fecb7c9984d9ec2ea48898229f98aad681a0873e0935f2b7f724fbce4a047"},
-    {file = "scikit_learn-1.1.2-cp39-cp39-win_amd64.whl", hash = "sha256:407e9a1cb9e6ba458a539986a9bd25546a757088095b3aab91d465b79a760d37"},
+
+[package.extras]
+all = ["black (==22.3)", "click (==8.0.4)", "flake8 (>=3.8.3)", "flax (>=0.6.3)", "h5py (>=3.7.0)", "huggingface-hub (>=0.12.1)", "isort (>=5.5.4)", "jax (>=0.3.25)", "jaxlib (>=0.3.25)", "numpy (>=1.21.6)", "paddlepaddle (>=2.4.1)", "pytest (>=7.2.0)", "pytest-benchmark (>=4.0.0)", "setuptools-rust (>=1.5.2)", "tensorflow (==2.11.0)", "torch (>=1.10)"]
+dev = ["black (==22.3)", "click (==8.0.4)", "flake8 (>=3.8.3)", "flax (>=0.6.3)", "h5py (>=3.7.0)", "huggingface-hub (>=0.12.1)", "isort (>=5.5.4)", "jax (>=0.3.25)", "jaxlib (>=0.3.25)", "numpy (>=1.21.6)", "paddlepaddle (>=2.4.1)", "pytest (>=7.2.0)", "pytest-benchmark (>=4.0.0)", "setuptools-rust (>=1.5.2)", "tensorflow (==2.11.0)", "torch (>=1.10)"]
+jax = ["flax (>=0.6.3)", "jax (>=0.3.25)", "jaxlib (>=0.3.25)"]
+numpy = ["numpy (>=1.21.6)"]
+paddlepaddle = ["paddlepaddle (>=2.4.1)"]
+pinned-tf = ["tensorflow (==2.11.0)"]
+quality = ["black (==22.3)", "click (==8.0.4)", "flake8 (>=3.8.3)", "isort (>=5.5.4)"]
+tensorflow = ["tensorflow (>=2.11.0)"]
+testing = ["h5py (>=3.7.0)", "huggingface-hub (>=0.12.1)", "numpy (>=1.21.6)", "pytest (>=7.2.0)", "pytest-benchmark (>=4.0.0)", "setuptools-rust (>=1.5.2)"]
+torch = ["torch (>=1.10)"]
+
+[[package]]
+name = "scikit-image"
+version = "0.21.0"
+description = "Image processing in Python"
+optional = false
+python-versions = ">=3.8"
+files = [
+    {file = "scikit_image-0.21.0-cp310-cp310-macosx_10_9_x86_64.whl", hash = "sha256:978ac3302252155a8556cdfe067bad2d18d5ccef4e91c2f727bc564ed75566bc"},
+    {file = "scikit_image-0.21.0-cp310-cp310-macosx_12_0_arm64.whl", hash = "sha256:82c22e008527e5ee26ab08e3ce919998ef164d538ff30b9e5764b223cfda06b1"},
+    {file = "scikit_image-0.21.0-cp310-cp310-manylinux_2_17_aarch64.manylinux2014_aarch64.whl", hash = "sha256:fd29d2631d3e975c377066acfc1f4cb2cc95e2257cf70e7fedfcb96441096e88"},
+    {file = "scikit_image-0.21.0-cp310-cp310-manylinux_2_17_x86_64.manylinux2014_x86_64.whl", hash = "sha256:c6c12925ceb9f3aede555921e26642d601b2d37d1617002a2636f2cb5178ae2f"},
+    {file = "scikit_image-0.21.0-cp310-cp310-win_amd64.whl", hash = "sha256:1f538d4de77e4f3225d068d9ea2965bed3f7dda7f457a8f89634fa22ffb9ad8c"},
+    {file = "scikit_image-0.21.0-cp311-cp311-macosx_10_9_x86_64.whl", hash = "sha256:ec9bab6920ac43037d7434058b67b5778d42c60f67b8679239f48a471e7ed6f8"},
+    {file = "scikit_image-0.21.0-cp311-cp311-macosx_12_0_arm64.whl", hash = "sha256:a54720430dba833ffbb6dedd93d9f0938c5dd47d20ab9ba3e4e61c19d95f6f19"},
+    {file = "scikit_image-0.21.0-cp311-cp311-manylinux_2_17_aarch64.manylinux2014_aarch64.whl", hash = "sha256:7e40dd102da14cdadc09210f930b4556c90ff8f99cd9d8bcccf9f73a86c44245"},
+    {file = "scikit_image-0.21.0-cp311-cp311-manylinux_2_17_x86_64.manylinux2014_x86_64.whl", hash = "sha256:ff5719c7eb99596a39c3e1d9b564025bae78ecf1da3ee6842d34f6965b5f1474"},
+    {file = "scikit_image-0.21.0-cp311-cp311-win_amd64.whl", hash = "sha256:146c3824253eee9ff346c4ad10cb58376f91aefaf4a4bb2fe11aa21691f7de76"},
+    {file = "scikit_image-0.21.0-cp38-cp38-macosx_10_9_x86_64.whl", hash = "sha256:4e1b09f81a99c9c390215929194847b3cd358550b4b65bb6e42c5393d69cb74a"},
+    {file = "scikit_image-0.21.0-cp38-cp38-macosx_12_0_arm64.whl", hash = "sha256:9f7b5fb4a22f0d5ae0fa13beeb887c925280590145cd6d8b2630794d120ff7c7"},
+    {file = "scikit_image-0.21.0-cp38-cp38-manylinux_2_17_aarch64.manylinux2014_aarch64.whl", hash = "sha256:d4814033717f0b6491fee252facb9df92058d6a72ab78dd6408a50f3915a88b8"},
+    {file = "scikit_image-0.21.0-cp38-cp38-manylinux_2_17_x86_64.manylinux2014_x86_64.whl", hash = "sha256:2b0d6ed6502cca0c9719c444caafa0b8cda0f9e29e01ca42f621a240073284be"},
+    {file = "scikit_image-0.21.0-cp38-cp38-win_amd64.whl", hash = "sha256:9194cb7bc21215fde6c1b1e9685d312d2aa8f65ea9736bc6311126a91c860032"},
+    {file = "scikit_image-0.21.0-cp39-cp39-macosx_10_9_x86_64.whl", hash = "sha256:54df1ddc854f37a912d42bc724e456e86858107e94048a81a27720bc588f9937"},
+    {file = "scikit_image-0.21.0-cp39-cp39-macosx_12_0_arm64.whl", hash = "sha256:c01e3ab0a1fabfd8ce30686d4401b7ed36e6126c9d4d05cb94abf6bdc46f7ac9"},
+    {file = "scikit_image-0.21.0-cp39-cp39-manylinux_2_17_aarch64.manylinux2014_aarch64.whl", hash = "sha256:8ef5d8d1099317b7b315b530348cbfa68ab8ce32459de3c074d204166951025c"},
+    {file = "scikit_image-0.21.0-cp39-cp39-manylinux_2_17_x86_64.manylinux2014_x86_64.whl", hash = "sha256:78b1e96c59cab640ca5c5b22c501524cfaf34cbe0cb51ba73bd9a9ede3fb6e1d"},
+    {file = "scikit_image-0.21.0-cp39-cp39-win_amd64.whl", hash = "sha256:9cffcddd2a5594c0a06de2ae3e1e25d662745a26f94fda31520593669677c010"},
+    {file = "scikit_image-0.21.0.tar.gz", hash = "sha256:b33e823c54e6f11873ea390ee49ef832b82b9f70752c8759efd09d5a4e3d87f0"},
 ]
-scipy = [
+
+[package.dependencies]
+imageio = ">=2.27"
+lazy_loader = ">=0.2"
+networkx = ">=2.8"
+numpy = ">=1.21.1"
+packaging = ">=21"
+pillow = ">=9.0.1"
+PyWavelets = ">=1.1.1"
+scipy = ">=1.8"
+tifffile = ">=2022.8.12"
+
+[package.extras]
+build = ["Cython (>=0.29.32)", "build", "meson-python (>=0.13)", "ninja", "numpy (>=1.21.1)", "packaging (>=21)", "pythran", "setuptools (>=67)", "spin (==0.3)", "wheel"]
+data = ["pooch (>=1.6.0)"]
+default = ["PyWavelets (>=1.1.1)", "imageio (>=2.27)", "lazy_loader (>=0.2)", "networkx (>=2.8)", "numpy (>=1.21.1)", "packaging (>=21)", "pillow (>=9.0.1)", "scipy (>=1.8)", "tifffile (>=2022.8.12)"]
+developer = ["pre-commit", "rtoml"]
+docs = ["dask[array] (>=2022.9.2)", "ipykernel", "ipywidgets", "kaleido", "matplotlib (>=3.5)", "myst-parser", "numpydoc (>=1.5)", "pandas (>=1.5)", "plotly (>=5.10)", "pooch (>=1.6)", "pydata-sphinx-theme (>=0.13)", "pytest-runner", "scikit-learn (>=0.24.0)", "seaborn (>=0.11)", "sphinx (>=5.0)", "sphinx-copybutton", "sphinx-gallery (>=0.11)", "sphinx_design (>=0.3)", "tifffile (>=2022.8.12)"]
+optional = ["SimpleITK", "astropy (>=5.0)", "cloudpickle (>=0.2.1)", "dask[array] (>=2021.1.0)", "matplotlib (>=3.5)", "pooch (>=1.6.0)", "pyamg", "scikit-learn (>=0.24.0)"]
+test = ["asv", "matplotlib (>=3.5)", "pooch (>=1.6.0)", "pytest (>=7.0)", "pytest-cov (>=2.11.0)", "pytest-faulthandler", "pytest-localserver"]
+
+[[package]]
+name = "scikit-learn"
+version = "1.3.0"
+description = "A set of python modules for machine learning and data mining"
+optional = false
+python-versions = ">=3.8"
+files = [
+    {file = "scikit-learn-1.3.0.tar.gz", hash = "sha256:8be549886f5eda46436b6e555b0e4873b4f10aa21c07df45c4bc1735afbccd7a"},
+    {file = "scikit_learn-1.3.0-cp310-cp310-macosx_10_9_x86_64.whl", hash = "sha256:981287869e576d42c682cf7ca96af0c6ac544ed9316328fd0d9292795c742cf5"},
+    {file = "scikit_learn-1.3.0-cp310-cp310-macosx_12_0_arm64.whl", hash = "sha256:436aaaae2c916ad16631142488e4c82f4296af2404f480e031d866863425d2a2"},
+    {file = "scikit_learn-1.3.0-cp310-cp310-manylinux_2_17_aarch64.manylinux2014_aarch64.whl", hash = "sha256:c7e28d8fa47a0b30ae1bd7a079519dd852764e31708a7804da6cb6f8b36e3630"},
+    {file = "scikit_learn-1.3.0-cp310-cp310-manylinux_2_17_x86_64.manylinux2014_x86_64.whl", hash = "sha256:ae80c08834a473d08a204d966982a62e11c976228d306a2648c575e3ead12111"},
+    {file = "scikit_learn-1.3.0-cp310-cp310-win_amd64.whl", hash = "sha256:552fd1b6ee22900cf1780d7386a554bb96949e9a359999177cf30211e6b20df6"},
+    {file = "scikit_learn-1.3.0-cp311-cp311-macosx_10_9_x86_64.whl", hash = "sha256:79970a6d759eb00a62266a31e2637d07d2d28446fca8079cf9afa7c07b0427f8"},
+    {file = "scikit_learn-1.3.0-cp311-cp311-macosx_12_0_arm64.whl", hash = "sha256:850a00b559e636b23901aabbe79b73dc604b4e4248ba9e2d6e72f95063765603"},
+    {file = "scikit_learn-1.3.0-cp311-cp311-manylinux_2_17_aarch64.manylinux2014_aarch64.whl", hash = "sha256:ee04835fb016e8062ee9fe9074aef9b82e430504e420bff51e3e5fffe72750ca"},
+    {file = "scikit_learn-1.3.0-cp311-cp311-manylinux_2_17_x86_64.manylinux2014_x86_64.whl", hash = "sha256:9d953531f5d9f00c90c34fa3b7d7cfb43ecff4c605dac9e4255a20b114a27369"},
+    {file = "scikit_learn-1.3.0-cp311-cp311-win_amd64.whl", hash = "sha256:151ac2bf65ccf363664a689b8beafc9e6aae36263db114b4ca06fbbbf827444a"},
+    {file = "scikit_learn-1.3.0-cp38-cp38-macosx_10_9_x86_64.whl", hash = "sha256:6a885a9edc9c0a341cab27ec4f8a6c58b35f3d449c9d2503a6fd23e06bbd4f6a"},
+    {file = "scikit_learn-1.3.0-cp38-cp38-macosx_12_0_arm64.whl", hash = "sha256:9877af9c6d1b15486e18a94101b742e9d0d2f343d35a634e337411ddb57783f3"},
+    {file = "scikit_learn-1.3.0-cp38-cp38-manylinux_2_17_aarch64.manylinux2014_aarch64.whl", hash = "sha256:c470f53cea065ff3d588050955c492793bb50c19a92923490d18fcb637f6383a"},
+    {file = "scikit_learn-1.3.0-cp38-cp38-manylinux_2_17_x86_64.manylinux2014_x86_64.whl", hash = "sha256:fd6e2d7389542eae01077a1ee0318c4fec20c66c957f45c7aac0c6eb0fe3c612"},
+    {file = "scikit_learn-1.3.0-cp38-cp38-win_amd64.whl", hash = "sha256:3a11936adbc379a6061ea32fa03338d4ca7248d86dd507c81e13af428a5bc1db"},
+    {file = "scikit_learn-1.3.0-cp39-cp39-macosx_10_9_x86_64.whl", hash = "sha256:998d38fcec96584deee1e79cd127469b3ad6fefd1ea6c2dfc54e8db367eb396b"},
+    {file = "scikit_learn-1.3.0-cp39-cp39-macosx_12_0_arm64.whl", hash = "sha256:ded35e810438a527e17623ac6deae3b360134345b7c598175ab7741720d7ffa7"},
+    {file = "scikit_learn-1.3.0-cp39-cp39-manylinux_2_17_aarch64.manylinux2014_aarch64.whl", hash = "sha256:0e8102d5036e28d08ab47166b48c8d5e5810704daecf3a476a4282d562be9a28"},
+    {file = "scikit_learn-1.3.0-cp39-cp39-manylinux_2_17_x86_64.manylinux2014_x86_64.whl", hash = "sha256:7617164951c422747e7c32be4afa15d75ad8044f42e7d70d3e2e0429a50e6718"},
+    {file = "scikit_learn-1.3.0-cp39-cp39-win_amd64.whl", hash = "sha256:1d54fb9e6038284548072df22fd34777e434153f7ffac72c8596f2d6987110dd"},
+]
+
+[package.dependencies]
+joblib = ">=1.1.1"
+numpy = ">=1.17.3"
+scipy = ">=1.5.0"
+threadpoolctl = ">=2.0.0"
+
+[package.extras]
+benchmark = ["matplotlib (>=3.1.3)", "memory-profiler (>=0.57.0)", "pandas (>=1.0.5)"]
+docs = ["Pillow (>=7.1.2)", "matplotlib (>=3.1.3)", "memory-profiler (>=0.57.0)", "numpydoc (>=1.2.0)", "pandas (>=1.0.5)", "plotly (>=5.14.0)", "pooch (>=1.6.0)", "scikit-image (>=0.16.2)", "seaborn (>=0.9.0)", "sphinx (>=6.0.0)", "sphinx-copybutton (>=0.5.2)", "sphinx-gallery (>=0.10.1)", "sphinx-prompt (>=1.3.0)", "sphinxext-opengraph (>=0.4.2)"]
+examples = ["matplotlib (>=3.1.3)", "pandas (>=1.0.5)", "plotly (>=5.14.0)", "pooch (>=1.6.0)", "scikit-image (>=0.16.2)", "seaborn (>=0.9.0)"]
+tests = ["black (>=23.3.0)", "matplotlib (>=3.1.3)", "mypy (>=1.3)", "numpydoc (>=1.2.0)", "pandas (>=1.0.5)", "pooch (>=1.6.0)", "pyamg (>=4.0.0)", "pytest (>=7.1.2)", "pytest-cov (>=2.9.0)", "ruff (>=0.0.272)", "scikit-image (>=0.16.2)"]
+
+[[package]]
+name = "scipy"
+version = "1.9.3"
+description = "Fundamental algorithms for scientific computing in Python"
+optional = false
+python-versions = ">=3.8"
+files = [
     {file = "scipy-1.9.3-cp310-cp310-macosx_10_9_x86_64.whl", hash = "sha256:1884b66a54887e21addf9c16fb588720a8309a57b2e258ae1c7986d4444d3bc0"},
     {file = "scipy-1.9.3-cp310-cp310-macosx_12_0_arm64.whl", hash = "sha256:83b89e9586c62e787f5012e8475fbb12185bafb996a03257e9675cd73d3736dd"},
     {file = "scipy-1.9.3-cp310-cp310-manylinux_2_17_aarch64.manylinux2014_aarch64.whl", hash = "sha256:1a72d885fa44247f92743fc20732ae55564ff2a519e8302fb7e18717c5355a8b"},
@@ -8140,28 +8311,152 @@ scipy = [
     {file = "scipy-1.9.3-cp39-cp39-win_amd64.whl", hash = "sha256:5b88e6d91ad9d59478fafe92a7c757d00c59e3bdc3331be8ada76a4f8d683f58"},
     {file = "scipy-1.9.3.tar.gz", hash = "sha256:fbc5c05c85c1a02be77b1ff591087c83bc44579c6d2bd9fb798bb64ea5e1a027"},
 ]
-scons = [
-    {file = "SCons-4.4.0-py3-none-any.whl", hash = "sha256:cbbd73b83cf85f1aaaf986370359de1bbfd3af97a765cb3554734f6dcec734e1"},
-    {file = "SCons-4.4.0.tar.gz", hash = "sha256:7703c4e9d2200b4854a31800c1dbd4587e1fa86e75f58795c740bcfa7eca7eaa"},
+
+[package.dependencies]
+numpy = ">=1.18.5,<1.26.0"
+
+[package.extras]
+dev = ["flake8", "mypy", "pycodestyle", "typing_extensions"]
+doc = ["matplotlib (>2)", "numpydoc", "pydata-sphinx-theme (==0.9.0)", "sphinx (!=4.1.0)", "sphinx-panels (>=0.5.2)", "sphinx-tabs"]
+test = ["asv", "gmpy2", "mpmath", "pytest", "pytest-cov", "pytest-xdist", "scikit-umfpack", "threadpoolctl"]
+
+[[package]]
+name = "scons"
+version = "4.5.2"
+description = "Open Source next-generation build tool."
+optional = false
+python-versions = ">=3.6"
+files = [
+    {file = "SCons-4.5.2-py3-none-any.whl", hash = "sha256:2f66a1c5c485068a496c12356583eefb2d79e17177278c7334b12b460f0503ce"},
+    {file = "SCons-4.5.2.tar.gz", hash = "sha256:813360b2bce476bc9cc12a0f3a22d46ce520796b352557202cb07d3e402f5458"},
 ]
-sconscontrib = []
-secretstorage = [
+
+[package.dependencies]
+setuptools = "*"
+
+[[package]]
+name = "sconscontrib"
+version = "1.0"
+description = ""
+optional = false
+python-versions = ">=3.6, <4"
+files = []
+develop = false
+
+[package.dependencies]
+docutils = "*"
+panflute = "*"
+SCons = ">=4"
+sphinx = "*"
+
+[package.source]
+type = "git"
+url = "https://github.com/SCons/scons-contrib.git"
+reference = "HEAD"
+resolved_reference = "f3b0100d3a628e4d18f496815903660a99489bae"
+
+[[package]]
+name = "secretstorage"
+version = "3.3.3"
+description = "Python bindings to FreeDesktop.org Secret Service API"
+optional = false
+python-versions = ">=3.6"
+files = [
     {file = "SecretStorage-3.3.3-py3-none-any.whl", hash = "sha256:f356e6628222568e3af06f2eba8df495efa13b3b63081dafd4f7d9a7b7bc9f99"},
     {file = "SecretStorage-3.3.3.tar.gz", hash = "sha256:2403533ef369eca6d2ba81718576c5e0f564d5cca1b58f73a8b23e7d4eeebd77"},
 ]
-segmentation-models-pytorch = [
-    {file = "segmentation_models_pytorch-0.3.2-py3-none-any.whl", hash = "sha256:dba48e7ead5d34fcb6e5c6d04d6d7c5a61a53fa84264e5481df788a22a1bd66b"},
-    {file = "segmentation_models_pytorch-0.3.2.tar.gz", hash = "sha256:8372733e57a10cb8f6b9e18a20577fbb3fb83549b6945664dc774a9b6d3ecd13"},
+
+[package.dependencies]
+cryptography = ">=2.0"
+jeepney = ">=0.6"
+
+[[package]]
+name = "segmentation-models-pytorch"
+version = "0.3.3"
+description = "Image segmentation models with pre-trained backbones. PyTorch."
+optional = false
+python-versions = ">=3.7.0"
+files = [
+    {file = "segmentation_models_pytorch-0.3.3-py3-none-any.whl", hash = "sha256:b4317d6f72cb1caf4b7e1d384096970e202600275f54deb8e774fc04d6c8b82e"},
+    {file = "segmentation_models_pytorch-0.3.3.tar.gz", hash = "sha256:b3b21ab4cd26a6b2b9e7a6ed466ace6452eb26ed3c31ae491ea2d7cbb01e384b"},
 ]
-send2trash = [
-    {file = "Send2Trash-1.8.0-py3-none-any.whl", hash = "sha256:f20eaadfdb517eaca5ce077640cb261c7d2698385a6a0f072a4a5447fd49fa08"},
-    {file = "Send2Trash-1.8.0.tar.gz", hash = "sha256:d2c24762fd3759860a0aff155e45871447ea58d2be6bdd39b5c8f966a0c99c2d"},
+
+[package.dependencies]
+efficientnet-pytorch = "0.7.1"
+pillow = "*"
+pretrainedmodels = "0.7.4"
+timm = "0.9.2"
+torchvision = ">=0.5.0"
+tqdm = "*"
+
+[package.extras]
+test = ["black (==22.3.0)", "flake8 (==4.0.1)", "flake8-docstrings (==1.6.0)", "mock", "pre-commit", "pytest"]
+
+[[package]]
+name = "send2trash"
+version = "1.8.2"
+description = "Send file to trash natively under Mac OS X, Windows and Linux"
+optional = false
+python-versions = "!=3.0.*,!=3.1.*,!=3.2.*,!=3.3.*,!=3.4.*,>=2.7"
+files = [
+    {file = "Send2Trash-1.8.2-py3-none-any.whl", hash = "sha256:a384719d99c07ce1eefd6905d2decb6f8b7ed054025bb0e618919f945de4f679"},
+    {file = "Send2Trash-1.8.2.tar.gz", hash = "sha256:c132d59fa44b9ca2b1699af5c86f57ce9f4c5eb56629d5d55fbb7a35f84e2312"},
 ]
-sentry-sdk = [
-    {file = "sentry-sdk-1.10.0.tar.gz", hash = "sha256:1b965bcdbfe52321bb1307c7c93c74035afdbfceb5f585f01a963327c5befc4e"},
-    {file = "sentry_sdk-1.10.0-py2.py3-none-any.whl", hash = "sha256:8c648e96e0e2ec5e17ca75a28c442e2f523453fa7cf761ec093f4a656153490e"},
+
+[package.extras]
+nativelib = ["pyobjc-framework-Cocoa", "pywin32"]
+objc = ["pyobjc-framework-Cocoa"]
+win32 = ["pywin32"]
+
+[[package]]
+name = "sentry-sdk"
+version = "1.28.1"
+description = "Python client for Sentry (https://sentry.io)"
+optional = false
+python-versions = "*"
+files = [
+    {file = "sentry-sdk-1.28.1.tar.gz", hash = "sha256:dcd88c68aa64dae715311b5ede6502fd684f70d00a7cd4858118f0ba3153a3ae"},
+    {file = "sentry_sdk-1.28.1-py2.py3-none-any.whl", hash = "sha256:6bdb25bd9092478d3a817cb0d01fa99e296aea34d404eac3ca0037faa5c2aa0a"},
 ]
-setproctitle = [
+
+[package.dependencies]
+certifi = "*"
+urllib3 = {version = ">=1.26.11", markers = "python_version >= \"3.6\""}
+
+[package.extras]
+aiohttp = ["aiohttp (>=3.5)"]
+arq = ["arq (>=0.23)"]
+beam = ["apache-beam (>=2.12)"]
+bottle = ["bottle (>=0.12.13)"]
+celery = ["celery (>=3)"]
+chalice = ["chalice (>=1.16.0)"]
+django = ["django (>=1.8)"]
+falcon = ["falcon (>=1.4)"]
+fastapi = ["fastapi (>=0.79.0)"]
+flask = ["blinker (>=1.1)", "flask (>=0.11)", "markupsafe"]
+grpcio = ["grpcio (>=1.21.1)"]
+httpx = ["httpx (>=0.16.0)"]
+huey = ["huey (>=2)"]
+loguru = ["loguru (>=0.5)"]
+opentelemetry = ["opentelemetry-distro (>=0.35b0)"]
+pure-eval = ["asttokens", "executing", "pure-eval"]
+pymongo = ["pymongo (>=3.1)"]
+pyspark = ["pyspark (>=2.4.4)"]
+quart = ["blinker (>=1.1)", "quart (>=0.16.1)"]
+rq = ["rq (>=0.6)"]
+sanic = ["sanic (>=0.8)"]
+sqlalchemy = ["sqlalchemy (>=1.2)"]
+starlette = ["starlette (>=0.19.1)"]
+starlite = ["starlite (>=1.48)"]
+tornado = ["tornado (>=5)"]
+
+[[package]]
+name = "setproctitle"
+version = "1.3.2"
+description = "A Python module to customize the process title"
+optional = false
+python-versions = ">=3.7"
+files = [
     {file = "setproctitle-1.3.2-cp310-cp310-macosx_10_9_universal2.whl", hash = "sha256:288943dec88e178bb2fd868adf491197cc0fc8b6810416b1c6775e686bab87fe"},
     {file = "setproctitle-1.3.2-cp310-cp310-macosx_10_9_x86_64.whl", hash = "sha256:630f6fe5e24a619ccf970c78e084319ee8be5be253ecc9b5b216b0f474f5ef18"},
     {file = "setproctitle-1.3.2-cp310-cp310-manylinux_2_17_aarch64.manylinux2014_aarch64.whl", hash = "sha256:6c877691b90026670e5a70adfbcc735460a9f4c274d35ec5e8a43ce3f8443005"},
@@ -8235,15 +8530,33 @@ setproctitle = [
     {file = "setproctitle-1.3.2-pp39-pypy39_pp73-win_amd64.whl", hash = "sha256:7aa0aac1711fadffc1d51e9d00a3bea61f68443d6ac0241a224e4d622489d665"},
     {file = "setproctitle-1.3.2.tar.gz", hash = "sha256:b9fb97907c830d260fa0658ed58afd48a86b2b88aac521135c352ff7fd3477fd"},
 ]
-setuptools = [
-    {file = "setuptools-65.5.0-py3-none-any.whl", hash = "sha256:f62ea9da9ed6289bfe868cd6845968a2c854d1427f8548d52cae02a42b4f0356"},
-    {file = "setuptools-65.5.0.tar.gz", hash = "sha256:512e5536220e38146176efb833d4a62aa726b7bbff82cfbc8ba9eaa3996e0b17"},
+
+[package.extras]
+test = ["pytest"]
+
+[[package]]
+name = "setuptools"
+version = "68.0.0"
+description = "Easily download, build, install, upgrade, and uninstall Python packages"
+optional = false
+python-versions = ">=3.7"
+files = [
+    {file = "setuptools-68.0.0-py3-none-any.whl", hash = "sha256:11e52c67415a381d10d6b462ced9cfb97066179f0e871399e006c4ab101fc85f"},
+    {file = "setuptools-68.0.0.tar.gz", hash = "sha256:baf1fdb41c6da4cd2eae722e135500da913332ab3f2f5c7d33af9b492acb5235"},
 ]
-setuptools-scm = [
-    {file = "setuptools_scm-7.0.5-py3-none-any.whl", hash = "sha256:7930f720905e03ccd1e1d821db521bff7ec2ac9cf0ceb6552dd73d24a45d3b02"},
-    {file = "setuptools_scm-7.0.5.tar.gz", hash = "sha256:031e13af771d6f892b941adb6ea04545bbf91ebc5ce68c78aaf3fff6e1fb4844"},
-]
-shapely = [
+
+[package.extras]
+docs = ["furo", "jaraco.packaging (>=9)", "jaraco.tidelift (>=1.4)", "pygments-github-lexers (==0.0.5)", "rst.linker (>=1.9)", "sphinx (>=3.5)", "sphinx-favicon", "sphinx-hoverxref (<2)", "sphinx-inline-tabs", "sphinx-lint", "sphinx-notfound-page (==0.8.3)", "sphinx-reredirects", "sphinxcontrib-towncrier"]
+testing = ["build[virtualenv]", "filelock (>=3.4.0)", "flake8-2020", "ini2toml[lite] (>=0.9)", "jaraco.envs (>=2.2)", "jaraco.path (>=3.2.0)", "pip (>=19.1)", "pip-run (>=8.8)", "pytest (>=6)", "pytest-black (>=0.3.7)", "pytest-checkdocs (>=2.4)", "pytest-cov", "pytest-enabler (>=1.3)", "pytest-mypy (>=0.9.1)", "pytest-perf", "pytest-ruff", "pytest-timeout", "pytest-xdist", "tomli-w (>=1.0.0)", "virtualenv (>=13.0.0)", "wheel"]
+testing-integration = ["build[virtualenv]", "filelock (>=3.4.0)", "jaraco.envs (>=2.2)", "jaraco.path (>=3.2.0)", "pytest", "pytest-enabler", "pytest-xdist", "tomli", "virtualenv (>=13.0.0)", "wheel"]
+
+[[package]]
+name = "shapely"
+version = "1.8.5.post1"
+description = "Geometric objects, predicates, and operations"
+optional = false
+python-versions = ">=3.6"
+files = [
     {file = "Shapely-1.8.5.post1-cp310-cp310-macosx_10_9_universal2.whl", hash = "sha256:d048f93e42ba578b82758c15d8ae037d08e69d91d9872bca5a1895b118f4e2b0"},
     {file = "Shapely-1.8.5.post1-cp310-cp310-macosx_10_9_x86_64.whl", hash = "sha256:99ab0ddc05e44acabdbe657c599fdb9b2d82e86c5493bdae216c0c4018a82dee"},
     {file = "Shapely-1.8.5.post1-cp310-cp310-macosx_11_0_arm64.whl", hash = "sha256:99a2f0da0109e81e0c101a2b4cd8412f73f5f299e7b5b2deaf64cd2a100ac118"},
@@ -8287,281 +8600,916 @@ shapely = [
     {file = "Shapely-1.8.5.post1-cp39-cp39-win_amd64.whl", hash = "sha256:e9c30b311de2513555ab02464ebb76115d242842b29c412f5a9aa0cac57be9f6"},
     {file = "Shapely-1.8.5.post1.tar.gz", hash = "sha256:ef3be705c3eac282a28058e6c6e5503419b250f482320df2172abcbea642c831"},
 ]
-shellingham = [
-    {file = "shellingham-1.5.0-py2.py3-none-any.whl", hash = "sha256:a8f02ba61b69baaa13facdba62908ca8690a94b8119b69f5ec5873ea85f7391b"},
-    {file = "shellingham-1.5.0.tar.gz", hash = "sha256:72fb7f5c63103ca2cb91b23dee0c71fe8ad6fbfd46418ef17dbe40db51592dad"},
+
+[package.extras]
+all = ["numpy", "pytest", "pytest-cov"]
+test = ["pytest", "pytest-cov"]
+vectorized = ["numpy"]
+
+[[package]]
+name = "shellingham"
+version = "1.5.0.post1"
+description = "Tool to Detect Surrounding Shell"
+optional = false
+python-versions = ">=3.7"
+files = [
+    {file = "shellingham-1.5.0.post1-py2.py3-none-any.whl", hash = "sha256:368bf8c00754fd4f55afb7bbb86e272df77e4dc76ac29dbcbb81a59e9fc15744"},
+    {file = "shellingham-1.5.0.post1.tar.gz", hash = "sha256:823bc5fb5c34d60f285b624e7264f4dda254bc803a3774a147bf99c0e3004a28"},
 ]
-simplejson = [
-    {file = "simplejson-3.17.6-cp27-cp27m-macosx_10_9_x86_64.whl", hash = "sha256:a89acae02b2975b1f8e4974cb8cdf9bf9f6c91162fb8dec50c259ce700f2770a"},
-    {file = "simplejson-3.17.6-cp27-cp27m-manylinux1_i686.whl", hash = "sha256:82ff356ff91be0ab2293fc6d8d262451eb6ac4fd999244c4b5f863e049ba219c"},
-    {file = "simplejson-3.17.6-cp27-cp27m-manylinux1_x86_64.whl", hash = "sha256:0de783e9c2b87bdd75b57efa2b6260c24b94605b5c9843517577d40ee0c3cc8a"},
-    {file = "simplejson-3.17.6-cp27-cp27m-manylinux2010_i686.whl", hash = "sha256:d24a9e61df7a7787b338a58abfba975414937b609eb6b18973e25f573bc0eeeb"},
-    {file = "simplejson-3.17.6-cp27-cp27m-manylinux2010_x86_64.whl", hash = "sha256:e8603e691580487f11306ecb066c76f1f4a8b54fb3bdb23fa40643a059509366"},
-    {file = "simplejson-3.17.6-cp27-cp27mu-manylinux1_i686.whl", hash = "sha256:9b01e7b00654115965a206e3015f0166674ec1e575198a62a977355597c0bef5"},
-    {file = "simplejson-3.17.6-cp27-cp27mu-manylinux1_x86_64.whl", hash = "sha256:37bc0cf0e5599f36072077e56e248f3336917ded1d33d2688624d8ed3cefd7d2"},
-    {file = "simplejson-3.17.6-cp27-cp27mu-manylinux2010_i686.whl", hash = "sha256:cf6e7d5fe2aeb54898df18db1baf479863eae581cce05410f61f6b4188c8ada1"},
-    {file = "simplejson-3.17.6-cp27-cp27mu-manylinux2010_x86_64.whl", hash = "sha256:bdfc54b4468ed4cd7415928cbe782f4d782722a81aeb0f81e2ddca9932632211"},
-    {file = "simplejson-3.17.6-cp310-cp310-macosx_10_9_universal2.whl", hash = "sha256:dd16302d39c4d6f4afde80edd0c97d4db643327d355a312762ccd9bd2ca515ed"},
-    {file = "simplejson-3.17.6-cp310-cp310-macosx_10_9_x86_64.whl", hash = "sha256:deac4bdafa19bbb89edfb73b19f7f69a52d0b5bd3bb0c4ad404c1bbfd7b4b7fd"},
-    {file = "simplejson-3.17.6-cp310-cp310-macosx_11_0_arm64.whl", hash = "sha256:a8bbdb166e2fb816e43ab034c865147edafe28e1b19c72433147789ac83e2dda"},
-    {file = "simplejson-3.17.6-cp310-cp310-manylinux_2_17_aarch64.manylinux2014_aarch64.whl", hash = "sha256:a7854326920d41c3b5d468154318fe6ba4390cb2410480976787c640707e0180"},
-    {file = "simplejson-3.17.6-cp310-cp310-manylinux_2_5_i686.manylinux1_i686.manylinux_2_12_i686.manylinux2010_i686.whl", hash = "sha256:04e31fa6ac8e326480703fb6ded1488bfa6f1d3f760d32e29dbf66d0838982ce"},
-    {file = "simplejson-3.17.6-cp310-cp310-manylinux_2_5_x86_64.manylinux1_x86_64.manylinux_2_12_x86_64.manylinux2010_x86_64.whl", hash = "sha256:f63600ec06982cdf480899026f4fda622776f5fabed9a869fdb32d72bc17e99a"},
-    {file = "simplejson-3.17.6-cp310-cp310-musllinux_1_1_aarch64.whl", hash = "sha256:e03c3b8cc7883a54c3f34a6a135c4a17bc9088a33f36796acdb47162791b02f6"},
-    {file = "simplejson-3.17.6-cp310-cp310-musllinux_1_1_i686.whl", hash = "sha256:a2d30d6c1652140181dc6861f564449ad71a45e4f165a6868c27d36745b65d40"},
-    {file = "simplejson-3.17.6-cp310-cp310-musllinux_1_1_x86_64.whl", hash = "sha256:a1aa6e4cae8e3b8d5321be4f51c5ce77188faf7baa9fe1e78611f93a8eed2882"},
-    {file = "simplejson-3.17.6-cp310-cp310-win32.whl", hash = "sha256:97202f939c3ff341fc3fa84d15db86156b1edc669424ba20b0a1fcd4a796a045"},
-    {file = "simplejson-3.17.6-cp310-cp310-win_amd64.whl", hash = "sha256:80d3bc9944be1d73e5b1726c3bbfd2628d3d7fe2880711b1eb90b617b9b8ac70"},
-    {file = "simplejson-3.17.6-cp36-cp36m-macosx_10_9_x86_64.whl", hash = "sha256:9fa621b3c0c05d965882c920347b6593751b7ab20d8fa81e426f1735ca1a9fc7"},
-    {file = "simplejson-3.17.6-cp36-cp36m-manylinux_2_17_aarch64.manylinux2014_aarch64.whl", hash = "sha256:dd2fb11922f58df8528adfca123f6a84748ad17d066007e7ac977720063556bd"},
-    {file = "simplejson-3.17.6-cp36-cp36m-manylinux_2_5_i686.manylinux1_i686.manylinux_2_12_i686.manylinux2010_i686.whl", hash = "sha256:724c1fe135aa437d5126138d977004d165a3b5e2ee98fc4eb3e7c0ef645e7e27"},
-    {file = "simplejson-3.17.6-cp36-cp36m-manylinux_2_5_x86_64.manylinux1_x86_64.manylinux_2_12_x86_64.manylinux2010_x86_64.whl", hash = "sha256:4ff4ac6ff3aa8f814ac0f50bf218a2e1a434a17aafad4f0400a57a8cc62ef17f"},
-    {file = "simplejson-3.17.6-cp36-cp36m-musllinux_1_1_aarch64.whl", hash = "sha256:67093a526e42981fdd954868062e56c9b67fdd7e712616cc3265ad0c210ecb51"},
-    {file = "simplejson-3.17.6-cp36-cp36m-musllinux_1_1_i686.whl", hash = "sha256:5d6b4af7ad7e4ac515bc6e602e7b79e2204e25dbd10ab3aa2beef3c5a9cad2c7"},
-    {file = "simplejson-3.17.6-cp36-cp36m-musllinux_1_1_x86_64.whl", hash = "sha256:1c9b1ed7ed282b36571638297525f8ef80f34b3e2d600a56f962c6044f24200d"},
-    {file = "simplejson-3.17.6-cp36-cp36m-win32.whl", hash = "sha256:632ecbbd2228575e6860c9e49ea3cc5423764d5aa70b92acc4e74096fb434044"},
-    {file = "simplejson-3.17.6-cp36-cp36m-win_amd64.whl", hash = "sha256:4c09868ddb86bf79b1feb4e3e7e4a35cd6e61ddb3452b54e20cf296313622566"},
-    {file = "simplejson-3.17.6-cp37-cp37m-macosx_10_9_x86_64.whl", hash = "sha256:4b6bd8144f15a491c662f06814bd8eaa54b17f26095bb775411f39bacaf66837"},
-    {file = "simplejson-3.17.6-cp37-cp37m-manylinux_2_17_aarch64.manylinux2014_aarch64.whl", hash = "sha256:5decdc78849617917c206b01e9fc1d694fd58caa961be816cb37d3150d613d9a"},
-    {file = "simplejson-3.17.6-cp37-cp37m-manylinux_2_5_i686.manylinux1_i686.manylinux_2_12_i686.manylinux2010_i686.whl", hash = "sha256:521877c7bd060470806eb6335926e27453d740ac1958eaf0d8c00911bc5e1802"},
-    {file = "simplejson-3.17.6-cp37-cp37m-manylinux_2_5_x86_64.manylinux1_x86_64.manylinux_2_12_x86_64.manylinux2010_x86_64.whl", hash = "sha256:65b998193bd7b0c7ecdfffbc825d808eac66279313cb67d8892bb259c9d91494"},
-    {file = "simplejson-3.17.6-cp37-cp37m-musllinux_1_1_aarch64.whl", hash = "sha256:ac786f6cb7aa10d44e9641c7a7d16d7f6e095b138795cd43503769d4154e0dc2"},
-    {file = "simplejson-3.17.6-cp37-cp37m-musllinux_1_1_i686.whl", hash = "sha256:3ff5b3464e1ce86a8de8c88e61d4836927d5595c2162cab22e96ff551b916e81"},
-    {file = "simplejson-3.17.6-cp37-cp37m-musllinux_1_1_x86_64.whl", hash = "sha256:69bd56b1d257a91e763256d63606937ae4eb890b18a789b66951c00062afec33"},
-    {file = "simplejson-3.17.6-cp37-cp37m-win32.whl", hash = "sha256:b81076552d34c27e5149a40187a8f7e2abb2d3185576a317aaf14aeeedad862a"},
-    {file = "simplejson-3.17.6-cp37-cp37m-win_amd64.whl", hash = "sha256:07ecaafc1b1501f275bf5acdee34a4ad33c7c24ede287183ea77a02dc071e0c0"},
-    {file = "simplejson-3.17.6-cp38-cp38-macosx_10_9_universal2.whl", hash = "sha256:068670af975247acbb9fc3d5393293368cda17026db467bf7a51548ee8f17ee1"},
-    {file = "simplejson-3.17.6-cp38-cp38-macosx_10_9_x86_64.whl", hash = "sha256:4d1c135af0c72cb28dd259cf7ba218338f4dc027061262e46fe058b4e6a4c6a3"},
-    {file = "simplejson-3.17.6-cp38-cp38-macosx_11_0_arm64.whl", hash = "sha256:23fe704da910ff45e72543cbba152821685a889cf00fc58d5c8ee96a9bad5f94"},
-    {file = "simplejson-3.17.6-cp38-cp38-manylinux_2_17_aarch64.manylinux2014_aarch64.whl", hash = "sha256:f444762fed1bc1fd75187ef14a20ed900c1fbb245d45be9e834b822a0223bc81"},
-    {file = "simplejson-3.17.6-cp38-cp38-manylinux_2_5_i686.manylinux1_i686.manylinux_2_12_i686.manylinux2010_i686.whl", hash = "sha256:681eb4d37c9a9a6eb9b3245a5e89d7f7b2b9895590bb08a20aa598c1eb0a1d9d"},
-    {file = "simplejson-3.17.6-cp38-cp38-manylinux_2_5_x86_64.manylinux1_x86_64.manylinux_2_12_x86_64.manylinux2010_x86_64.whl", hash = "sha256:8e8607d8f6b4f9d46fee11447e334d6ab50e993dd4dbfb22f674616ce20907ab"},
-    {file = "simplejson-3.17.6-cp38-cp38-musllinux_1_1_aarch64.whl", hash = "sha256:b10556817f09d46d420edd982dd0653940b90151d0576f09143a8e773459f6fe"},
-    {file = "simplejson-3.17.6-cp38-cp38-musllinux_1_1_i686.whl", hash = "sha256:e1ec8a9ee0987d4524ffd6299e778c16cc35fef6d1a2764e609f90962f0b293a"},
-    {file = "simplejson-3.17.6-cp38-cp38-musllinux_1_1_x86_64.whl", hash = "sha256:0b4126cac7d69ac06ff22efd3e0b3328a4a70624fcd6bca4fc1b4e6d9e2e12bf"},
-    {file = "simplejson-3.17.6-cp38-cp38-win32.whl", hash = "sha256:35a49ebef25f1ebdef54262e54ae80904d8692367a9f208cdfbc38dbf649e00a"},
-    {file = "simplejson-3.17.6-cp38-cp38-win_amd64.whl", hash = "sha256:743cd768affaa508a21499f4858c5b824ffa2e1394ed94eb85caf47ac0732198"},
-    {file = "simplejson-3.17.6-cp39-cp39-macosx_10_9_universal2.whl", hash = "sha256:fb62d517a516128bacf08cb6a86ecd39fb06d08e7c4980251f5d5601d29989ba"},
-    {file = "simplejson-3.17.6-cp39-cp39-macosx_10_9_x86_64.whl", hash = "sha256:12133863178a8080a3dccbf5cb2edfab0001bc41e5d6d2446af2a1131105adfe"},
-    {file = "simplejson-3.17.6-cp39-cp39-macosx_11_0_arm64.whl", hash = "sha256:5540fba2d437edaf4aa4fbb80f43f42a8334206ad1ad3b27aef577fd989f20d9"},
-    {file = "simplejson-3.17.6-cp39-cp39-manylinux_2_17_aarch64.manylinux2014_aarch64.whl", hash = "sha256:d74ee72b5071818a1a5dab47338e87f08a738cb938a3b0653b9e4d959ddd1fd9"},
-    {file = "simplejson-3.17.6-cp39-cp39-manylinux_2_5_i686.manylinux1_i686.manylinux_2_12_i686.manylinux2010_i686.whl", hash = "sha256:28221620f4dcabdeac310846629b976e599a13f59abb21616356a85231ebd6ad"},
-    {file = "simplejson-3.17.6-cp39-cp39-manylinux_2_5_x86_64.manylinux1_x86_64.manylinux_2_12_x86_64.manylinux2010_x86_64.whl", hash = "sha256:b09bc62e5193e31d7f9876220fb429ec13a6a181a24d897b9edfbbdbcd678851"},
-    {file = "simplejson-3.17.6-cp39-cp39-musllinux_1_1_aarch64.whl", hash = "sha256:7255a37ff50593c9b2f1afa8fafd6ef5763213c1ed5a9e2c6f5b9cc925ab979f"},
-    {file = "simplejson-3.17.6-cp39-cp39-musllinux_1_1_i686.whl", hash = "sha256:401d40969cee3df7bda211e57b903a534561b77a7ade0dd622a8d1a31eaa8ba7"},
-    {file = "simplejson-3.17.6-cp39-cp39-musllinux_1_1_x86_64.whl", hash = "sha256:a649d0f66029c7eb67042b15374bd93a26aae202591d9afd71e111dd0006b198"},
-    {file = "simplejson-3.17.6-cp39-cp39-win32.whl", hash = "sha256:522fad7be85de57430d6d287c4b635813932946ebf41b913fe7e880d154ade2e"},
-    {file = "simplejson-3.17.6-cp39-cp39-win_amd64.whl", hash = "sha256:3fe87570168b2ae018391e2b43fbf66e8593a86feccb4b0500d134c998983ccc"},
-    {file = "simplejson-3.17.6.tar.gz", hash = "sha256:cf98038d2abf63a1ada5730e91e84c642ba6c225b0198c3684151b1f80c5f8a6"},
+
+[[package]]
+name = "simplejson"
+version = "3.19.1"
+description = "Simple, fast, extensible JSON encoder/decoder for Python"
+optional = false
+python-versions = ">=2.5, !=3.0.*, !=3.1.*, !=3.2.*"
+files = [
+    {file = "simplejson-3.19.1-cp27-cp27m-macosx_10_9_x86_64.whl", hash = "sha256:412e58997a30c5deb8cab5858b8e2e5b40ca007079f7010ee74565cc13d19665"},
+    {file = "simplejson-3.19.1-cp27-cp27m-manylinux1_i686.whl", hash = "sha256:e765b1f47293dedf77946f0427e03ee45def2862edacd8868c6cf9ab97c8afbd"},
+    {file = "simplejson-3.19.1-cp27-cp27m-manylinux1_x86_64.whl", hash = "sha256:3231100edee292da78948fa0a77dee4e5a94a0a60bcba9ed7a9dc77f4d4bb11e"},
+    {file = "simplejson-3.19.1-cp27-cp27m-manylinux2010_i686.whl", hash = "sha256:081ea6305b3b5e84ae7417e7f45956db5ea3872ec497a584ec86c3260cda049e"},
+    {file = "simplejson-3.19.1-cp27-cp27m-manylinux2010_x86_64.whl", hash = "sha256:f253edf694ce836631b350d758d00a8c4011243d58318fbfbe0dd54a6a839ab4"},
+    {file = "simplejson-3.19.1-cp27-cp27mu-manylinux1_i686.whl", hash = "sha256:5db86bb82034e055257c8e45228ca3dbce85e38d7bfa84fa7b2838e032a3219c"},
+    {file = "simplejson-3.19.1-cp27-cp27mu-manylinux1_x86_64.whl", hash = "sha256:69a8b10a4f81548bc1e06ded0c4a6c9042c0be0d947c53c1ed89703f7e613950"},
+    {file = "simplejson-3.19.1-cp27-cp27mu-manylinux2010_i686.whl", hash = "sha256:58ee5e24d6863b22194020eb62673cf8cc69945fcad6b283919490f6e359f7c5"},
+    {file = "simplejson-3.19.1-cp27-cp27mu-manylinux2010_x86_64.whl", hash = "sha256:73d0904c2471f317386d4ae5c665b16b5c50ab4f3ee7fd3d3b7651e564ad74b1"},
+    {file = "simplejson-3.19.1-cp310-cp310-macosx_10_9_universal2.whl", hash = "sha256:66d780047c31ff316ee305c3f7550f352d87257c756413632303fc59fef19eac"},
+    {file = "simplejson-3.19.1-cp310-cp310-macosx_10_9_x86_64.whl", hash = "sha256:cd4d50a27b065447c9c399f0bf0a993bd0e6308db8bbbfbc3ea03b41c145775a"},
+    {file = "simplejson-3.19.1-cp310-cp310-macosx_11_0_arm64.whl", hash = "sha256:0c16ec6a67a5f66ab004190829eeede01c633936375edcad7cbf06d3241e5865"},
+    {file = "simplejson-3.19.1-cp310-cp310-manylinux_2_17_aarch64.manylinux2014_aarch64.whl", hash = "sha256:17a963e8dd4d81061cc05b627677c1f6a12e81345111fbdc5708c9f088d752c9"},
+    {file = "simplejson-3.19.1-cp310-cp310-manylinux_2_17_ppc64le.manylinux2014_ppc64le.whl", hash = "sha256:7e78d79b10aa92f40f54178ada2b635c960d24fc6141856b926d82f67e56d169"},
+    {file = "simplejson-3.19.1-cp310-cp310-manylinux_2_5_i686.manylinux1_i686.manylinux_2_17_i686.manylinux2014_i686.whl", hash = "sha256:ad071cd84a636195f35fa71de2186d717db775f94f985232775794d09f8d9061"},
+    {file = "simplejson-3.19.1-cp310-cp310-manylinux_2_5_x86_64.manylinux1_x86_64.manylinux_2_17_x86_64.manylinux2014_x86_64.whl", hash = "sha256:6e7c70f19405e5f99168077b785fe15fcb5f9b3c0b70b0b5c2757ce294922c8c"},
+    {file = "simplejson-3.19.1-cp310-cp310-musllinux_1_1_aarch64.whl", hash = "sha256:54fca2b26bcd1c403146fd9461d1da76199442297160721b1d63def2a1b17799"},
+    {file = "simplejson-3.19.1-cp310-cp310-musllinux_1_1_i686.whl", hash = "sha256:48600a6e0032bed17c20319d91775f1797d39953ccfd68c27f83c8d7fc3b32cb"},
+    {file = "simplejson-3.19.1-cp310-cp310-musllinux_1_1_ppc64le.whl", hash = "sha256:93f5ac30607157a0b2579af59a065bcfaa7fadeb4875bf927a8f8b6739c8d910"},
+    {file = "simplejson-3.19.1-cp310-cp310-musllinux_1_1_x86_64.whl", hash = "sha256:6b79642a599740603ca86cf9df54f57a2013c47e1dd4dd2ae4769af0a6816900"},
+    {file = "simplejson-3.19.1-cp310-cp310-win32.whl", hash = "sha256:d9f2c27f18a0b94107d57294aab3d06d6046ea843ed4a45cae8bd45756749f3a"},
+    {file = "simplejson-3.19.1-cp310-cp310-win_amd64.whl", hash = "sha256:5673d27806085d2a413b3be5f85fad6fca4b7ffd31cfe510bbe65eea52fff571"},
+    {file = "simplejson-3.19.1-cp311-cp311-macosx_10_9_universal2.whl", hash = "sha256:79c748aa61fd8098d0472e776743de20fae2686edb80a24f0f6593a77f74fe86"},
+    {file = "simplejson-3.19.1-cp311-cp311-macosx_10_9_x86_64.whl", hash = "sha256:390f4a8ca61d90bcf806c3ad644e05fa5890f5b9a72abdd4ca8430cdc1e386fa"},
+    {file = "simplejson-3.19.1-cp311-cp311-macosx_11_0_arm64.whl", hash = "sha256:d61482b5d18181e6bb4810b4a6a24c63a490c3a20e9fbd7876639653e2b30a1a"},
+    {file = "simplejson-3.19.1-cp311-cp311-manylinux_2_17_aarch64.manylinux2014_aarch64.whl", hash = "sha256:2541fdb7467ef9bfad1f55b6c52e8ea52b3ce4a0027d37aff094190a955daa9d"},
+    {file = "simplejson-3.19.1-cp311-cp311-manylinux_2_17_ppc64le.manylinux2014_ppc64le.whl", hash = "sha256:46133bc7dd45c9953e6ee4852e3de3d5a9a4a03b068bd238935a5c72f0a1ce34"},
+    {file = "simplejson-3.19.1-cp311-cp311-manylinux_2_5_i686.manylinux1_i686.manylinux_2_17_i686.manylinux2014_i686.whl", hash = "sha256:f96def94576f857abf58e031ce881b5a3fc25cbec64b2bc4824824a8a4367af9"},
+    {file = "simplejson-3.19.1-cp311-cp311-manylinux_2_5_x86_64.manylinux1_x86_64.manylinux_2_17_x86_64.manylinux2014_x86_64.whl", hash = "sha256:9f14ecca970d825df0d29d5c6736ff27999ee7bdf5510e807f7ad8845f7760ce"},
+    {file = "simplejson-3.19.1-cp311-cp311-musllinux_1_1_aarch64.whl", hash = "sha256:66389b6b6ee46a94a493a933a26008a1bae0cfadeca176933e7ff6556c0ce998"},
+    {file = "simplejson-3.19.1-cp311-cp311-musllinux_1_1_i686.whl", hash = "sha256:22b867205cd258050c2625325fdd9a65f917a5aff22a23387e245ecae4098e78"},
+    {file = "simplejson-3.19.1-cp311-cp311-musllinux_1_1_ppc64le.whl", hash = "sha256:c39fa911e4302eb79c804b221ddec775c3da08833c0a9120041dd322789824de"},
+    {file = "simplejson-3.19.1-cp311-cp311-musllinux_1_1_x86_64.whl", hash = "sha256:65dafe413b15e8895ad42e49210b74a955c9ae65564952b0243a18fb35b986cc"},
+    {file = "simplejson-3.19.1-cp311-cp311-win32.whl", hash = "sha256:f05d05d99fce5537d8f7a0af6417a9afa9af3a6c4bb1ba7359c53b6257625fcb"},
+    {file = "simplejson-3.19.1-cp311-cp311-win_amd64.whl", hash = "sha256:b46aaf0332a8a9c965310058cf3487d705bf672641d2c43a835625b326689cf4"},
+    {file = "simplejson-3.19.1-cp36-cp36m-macosx_10_9_x86_64.whl", hash = "sha256:b438e5eaa474365f4faaeeef1ec3e8d5b4e7030706e3e3d6b5bee6049732e0e6"},
+    {file = "simplejson-3.19.1-cp36-cp36m-manylinux_2_17_aarch64.manylinux2014_aarch64.whl", hash = "sha256:aa9d614a612ad02492f704fbac636f666fa89295a5d22b4facf2d665fc3b5ea9"},
+    {file = "simplejson-3.19.1-cp36-cp36m-manylinux_2_17_ppc64le.manylinux2014_ppc64le.whl", hash = "sha256:46e89f58e4bed107626edce1cf098da3664a336d01fc78fddcfb1f397f553d44"},
+    {file = "simplejson-3.19.1-cp36-cp36m-manylinux_2_5_i686.manylinux1_i686.manylinux_2_17_i686.manylinux2014_i686.whl", hash = "sha256:96ade243fb6f3b57e7bd3b71e90c190cd0f93ec5dce6bf38734a73a2e5fa274f"},
+    {file = "simplejson-3.19.1-cp36-cp36m-manylinux_2_5_x86_64.manylinux1_x86_64.manylinux_2_17_x86_64.manylinux2014_x86_64.whl", hash = "sha256:ed18728b90758d171f0c66c475c24a443ede815cf3f1a91e907b0db0ebc6e508"},
+    {file = "simplejson-3.19.1-cp36-cp36m-musllinux_1_1_aarch64.whl", hash = "sha256:6a561320485017ddfc21bd2ed5de2d70184f754f1c9b1947c55f8e2b0163a268"},
+    {file = "simplejson-3.19.1-cp36-cp36m-musllinux_1_1_i686.whl", hash = "sha256:2098811cd241429c08b7fc5c9e41fcc3f59f27c2e8d1da2ccdcf6c8e340ab507"},
+    {file = "simplejson-3.19.1-cp36-cp36m-musllinux_1_1_ppc64le.whl", hash = "sha256:8f8d179393e6f0cf6c7c950576892ea6acbcea0a320838c61968ac7046f59228"},
+    {file = "simplejson-3.19.1-cp36-cp36m-musllinux_1_1_x86_64.whl", hash = "sha256:eff87c68058374e45225089e4538c26329a13499bc0104b52b77f8428eed36b2"},
+    {file = "simplejson-3.19.1-cp36-cp36m-win32.whl", hash = "sha256:d300773b93eed82f6da138fd1d081dc96fbe53d96000a85e41460fe07c8d8b33"},
+    {file = "simplejson-3.19.1-cp36-cp36m-win_amd64.whl", hash = "sha256:37724c634f93e5caaca04458f267836eb9505d897ab3947b52f33b191bf344f3"},
+    {file = "simplejson-3.19.1-cp37-cp37m-macosx_10_9_x86_64.whl", hash = "sha256:74bf802debe68627227ddb665c067eb8c73aa68b2476369237adf55c1161b728"},
+    {file = "simplejson-3.19.1-cp37-cp37m-manylinux_2_17_aarch64.manylinux2014_aarch64.whl", hash = "sha256:70128fb92932524c89f373e17221cf9535d7d0c63794955cc3cd5868e19f5d38"},
+    {file = "simplejson-3.19.1-cp37-cp37m-manylinux_2_17_ppc64le.manylinux2014_ppc64le.whl", hash = "sha256:8090e75653ea7db75bc21fa5f7bcf5f7bdf64ea258cbbac45c7065f6324f1b50"},
+    {file = "simplejson-3.19.1-cp37-cp37m-manylinux_2_5_i686.manylinux1_i686.manylinux_2_17_i686.manylinux2014_i686.whl", hash = "sha256:a755f7bfc8adcb94887710dc70cc12a69a454120c6adcc6f251c3f7b46ee6aac"},
+    {file = "simplejson-3.19.1-cp37-cp37m-manylinux_2_5_x86_64.manylinux1_x86_64.manylinux_2_17_x86_64.manylinux2014_x86_64.whl", hash = "sha256:0ccb2c1877bc9b25bc4f4687169caa925ffda605d7569c40e8e95186e9a5e58b"},
+    {file = "simplejson-3.19.1-cp37-cp37m-musllinux_1_1_aarch64.whl", hash = "sha256:919bc5aa4d8094cf8f1371ea9119e5d952f741dc4162810ab714aec948a23fe5"},
+    {file = "simplejson-3.19.1-cp37-cp37m-musllinux_1_1_i686.whl", hash = "sha256:e333c5b62e93949f5ac27e6758ba53ef6ee4f93e36cc977fe2e3df85c02f6dc4"},
+    {file = "simplejson-3.19.1-cp37-cp37m-musllinux_1_1_ppc64le.whl", hash = "sha256:3a4480e348000d89cf501b5606415f4d328484bbb431146c2971123d49fd8430"},
+    {file = "simplejson-3.19.1-cp37-cp37m-musllinux_1_1_x86_64.whl", hash = "sha256:cb502cde018e93e75dc8fc7bb2d93477ce4f3ac10369f48866c61b5e031db1fd"},
+    {file = "simplejson-3.19.1-cp37-cp37m-win32.whl", hash = "sha256:f41915a4e1f059dfad614b187bc06021fefb5fc5255bfe63abf8247d2f7a646a"},
+    {file = "simplejson-3.19.1-cp37-cp37m-win_amd64.whl", hash = "sha256:3844305bc33d52c4975da07f75b480e17af3558c0d13085eaa6cc2f32882ccf7"},
+    {file = "simplejson-3.19.1-cp38-cp38-macosx_10_9_universal2.whl", hash = "sha256:1cb19eacb77adc5a9720244d8d0b5507421d117c7ed4f2f9461424a1829e0ceb"},
+    {file = "simplejson-3.19.1-cp38-cp38-macosx_10_9_x86_64.whl", hash = "sha256:926957b278de22797bfc2f004b15297013843b595b3cd7ecd9e37ccb5fad0b72"},
+    {file = "simplejson-3.19.1-cp38-cp38-macosx_11_0_arm64.whl", hash = "sha256:b0e9a5e66969f7a47dc500e3dba8edc3b45d4eb31efb855c8647700a3493dd8a"},
+    {file = "simplejson-3.19.1-cp38-cp38-manylinux_2_17_aarch64.manylinux2014_aarch64.whl", hash = "sha256:79d46e7e33c3a4ef853a1307b2032cfb7220e1a079d0c65488fbd7118f44935a"},
+    {file = "simplejson-3.19.1-cp38-cp38-manylinux_2_17_ppc64le.manylinux2014_ppc64le.whl", hash = "sha256:344a5093b71c1b370968d0fbd14d55c9413cb6f0355fdefeb4a322d602d21776"},
+    {file = "simplejson-3.19.1-cp38-cp38-manylinux_2_5_i686.manylinux1_i686.manylinux_2_17_i686.manylinux2014_i686.whl", hash = "sha256:23fbb7b46d44ed7cbcda689295862851105c7594ae5875dce2a70eeaa498ff86"},
+    {file = "simplejson-3.19.1-cp38-cp38-manylinux_2_5_x86_64.manylinux1_x86_64.manylinux_2_17_x86_64.manylinux2014_x86_64.whl", hash = "sha256:4d3025e7e9ddb48813aec2974e1a7e68e63eac911dd5e0a9568775de107ac79a"},
+    {file = "simplejson-3.19.1-cp38-cp38-musllinux_1_1_aarch64.whl", hash = "sha256:87b190e6ceec286219bd6b6f13547ca433f977d4600b4e81739e9ac23b5b9ba9"},
+    {file = "simplejson-3.19.1-cp38-cp38-musllinux_1_1_i686.whl", hash = "sha256:dc935d8322ba9bc7b84f99f40f111809b0473df167bf5b93b89fb719d2c4892b"},
+    {file = "simplejson-3.19.1-cp38-cp38-musllinux_1_1_ppc64le.whl", hash = "sha256:3b652579c21af73879d99c8072c31476788c8c26b5565687fd9db154070d852a"},
+    {file = "simplejson-3.19.1-cp38-cp38-musllinux_1_1_x86_64.whl", hash = "sha256:6aa7ca03f25b23b01629b1c7f78e1cd826a66bfb8809f8977a3635be2ec48f1a"},
+    {file = "simplejson-3.19.1-cp38-cp38-win32.whl", hash = "sha256:08be5a241fdf67a8e05ac7edbd49b07b638ebe4846b560673e196b2a25c94b92"},
+    {file = "simplejson-3.19.1-cp38-cp38-win_amd64.whl", hash = "sha256:ca56a6c8c8236d6fe19abb67ef08d76f3c3f46712c49a3b6a5352b6e43e8855f"},
+    {file = "simplejson-3.19.1-cp39-cp39-macosx_10_9_universal2.whl", hash = "sha256:6424d8229ba62e5dbbc377908cfee9b2edf25abd63b855c21f12ac596cd18e41"},
+    {file = "simplejson-3.19.1-cp39-cp39-macosx_10_9_x86_64.whl", hash = "sha256:547ea86ca408a6735335c881a2e6208851027f5bfd678d8f2c92a0f02c7e7330"},
+    {file = "simplejson-3.19.1-cp39-cp39-macosx_11_0_arm64.whl", hash = "sha256:889328873c35cb0b2b4c83cbb83ec52efee5a05e75002e2c0c46c4e42790e83c"},
+    {file = "simplejson-3.19.1-cp39-cp39-manylinux_2_17_aarch64.manylinux2014_aarch64.whl", hash = "sha256:44cdb4e544134f305b033ad79ae5c6b9a32e7c58b46d9f55a64e2a883fbbba01"},
+    {file = "simplejson-3.19.1-cp39-cp39-manylinux_2_17_ppc64le.manylinux2014_ppc64le.whl", hash = "sha256:dc2b3f06430cbd4fac0dae5b2974d2bf14f71b415fb6de017f498950da8159b1"},
+    {file = "simplejson-3.19.1-cp39-cp39-manylinux_2_5_i686.manylinux1_i686.manylinux_2_17_i686.manylinux2014_i686.whl", hash = "sha256:d125e754d26c0298715bdc3f8a03a0658ecbe72330be247f4b328d229d8cf67f"},
+    {file = "simplejson-3.19.1-cp39-cp39-manylinux_2_5_x86_64.manylinux1_x86_64.manylinux_2_17_x86_64.manylinux2014_x86_64.whl", hash = "sha256:476c8033abed7b1fd8db62a7600bf18501ce701c1a71179e4ce04ac92c1c5c3c"},
+    {file = "simplejson-3.19.1-cp39-cp39-musllinux_1_1_aarch64.whl", hash = "sha256:199a0bcd792811c252d71e3eabb3d4a132b3e85e43ebd93bfd053d5b59a7e78b"},
+    {file = "simplejson-3.19.1-cp39-cp39-musllinux_1_1_i686.whl", hash = "sha256:a79b439a6a77649bb8e2f2644e6c9cc0adb720fc55bed63546edea86e1d5c6c8"},
+    {file = "simplejson-3.19.1-cp39-cp39-musllinux_1_1_ppc64le.whl", hash = "sha256:203412745fed916fc04566ecef3f2b6c872b52f1e7fb3a6a84451b800fb508c1"},
+    {file = "simplejson-3.19.1-cp39-cp39-musllinux_1_1_x86_64.whl", hash = "sha256:5ca922c61d87b4c38f37aa706520328ffe22d7ac1553ef1cadc73f053a673553"},
+    {file = "simplejson-3.19.1-cp39-cp39-win32.whl", hash = "sha256:3e0902c278243d6f7223ba3e6c5738614c971fd9a887fff8feaa8dcf7249c8d4"},
+    {file = "simplejson-3.19.1-cp39-cp39-win_amd64.whl", hash = "sha256:d396b610e77b0c438846607cd56418bfc194973b9886550a98fd6724e8c6cfec"},
+    {file = "simplejson-3.19.1-py3-none-any.whl", hash = "sha256:4710806eb75e87919b858af0cba4ffedc01b463edc3982ded7b55143f39e41e1"},
+    {file = "simplejson-3.19.1.tar.gz", hash = "sha256:6277f60848a7d8319d27d2be767a7546bc965535b28070e310b3a9af90604a4c"},
 ]
-six = [
+
+[[package]]
+name = "six"
+version = "1.16.0"
+description = "Python 2 and 3 compatibility utilities"
+optional = false
+python-versions = ">=2.7, !=3.0.*, !=3.1.*, !=3.2.*"
+files = [
     {file = "six-1.16.0-py2.py3-none-any.whl", hash = "sha256:8abb2f1d86890a2dfb989f9a77cfcfd3e47c2a354b01111771326f8aa26e0254"},
     {file = "six-1.16.0.tar.gz", hash = "sha256:1e61c37477a1626458e36f7b1d82aa5c9b094fa4802892072e49de9c60c4c926"},
 ]
-smbus2 = [
+
+[[package]]
+name = "smbus2"
+version = "0.4.2"
+description = "smbus2 is a drop-in replacement for smbus-cffi/smbus-python in pure Python"
+optional = false
+python-versions = "*"
+files = [
     {file = "smbus2-0.4.2-py2.py3-none-any.whl", hash = "sha256:50f3c78e436b42a9583948be06961a8104cf020ebad5edfaaf2657528bef0818"},
     {file = "smbus2-0.4.2.tar.gz", hash = "sha256:634541ed794068a822fe7499f1577468b9d4641b68dd9bfb6d0eb7270f4d2a32"},
 ]
-sniffio = [
+
+[package.extras]
+docs = ["sphinx (>=1.5.3)"]
+qa = ["flake8"]
+test = ["mock", "nose"]
+
+[[package]]
+name = "sniffio"
+version = "1.3.0"
+description = "Sniff out which async library your code is running under"
+optional = false
+python-versions = ">=3.7"
+files = [
     {file = "sniffio-1.3.0-py3-none-any.whl", hash = "sha256:eecefdce1e5bbfb7ad2eeaabf7c1eeb404d7757c379bd1f7e5cce9d8bf425384"},
     {file = "sniffio-1.3.0.tar.gz", hash = "sha256:e60305c5e5d314f5389259b7f22aaa33d8f7dee49763119234af3755c55b9101"},
 ]
-snowballstemmer = [
+
+[[package]]
+name = "snowballstemmer"
+version = "2.2.0"
+description = "This package provides 29 stemmers for 28 languages generated from Snowball algorithms."
+optional = false
+python-versions = "*"
+files = [
     {file = "snowballstemmer-2.2.0-py2.py3-none-any.whl", hash = "sha256:c8e1716e83cc398ae16824e5572ae04e0d9fc2c6b985fb0f900f5f0c96ecba1a"},
     {file = "snowballstemmer-2.2.0.tar.gz", hash = "sha256:09b16deb8547d3412ad7b590689584cd0fe25ec8db3be37788be3810cbf19cb1"},
 ]
-sortedcontainers = [
+
+[[package]]
+name = "sortedcontainers"
+version = "2.4.0"
+description = "Sorted Containers -- Sorted List, Sorted Dict, Sorted Set"
+optional = false
+python-versions = "*"
+files = [
     {file = "sortedcontainers-2.4.0-py2.py3-none-any.whl", hash = "sha256:a163dcaede0f1c021485e957a39245190e74249897e2ae4b2aa38595db237ee0"},
     {file = "sortedcontainers-2.4.0.tar.gz", hash = "sha256:25caa5a06cc30b6b83d11423433f65d1f9d76c4c6a0c90e3379eaa43b9bfdb88"},
 ]
-sounddevice = [
-    {file = "sounddevice-0.4.5-py3-none-any.whl", hash = "sha256:5cea4afd9412e731f50ae09a54d68b10628a604cfd56b42a976c54d424c6c39d"},
-    {file = "sounddevice-0.4.5-py3-none-macosx_10_6_x86_64.macosx_10_6_universal2.whl", hash = "sha256:0875173595a8bd5a66b5a03a3d958e7b89c3b956b8befbe4491a24a3ce7784c0"},
-    {file = "sounddevice-0.4.5-py3-none-win32.whl", hash = "sha256:442adf53850916374a58f902200aaf9412227378181264e60c966da64be47d41"},
-    {file = "sounddevice-0.4.5-py3-none-win_amd64.whl", hash = "sha256:d3216c5d3d678c3301058e9aac7000879e255140c524c9ef98730091b67ea676"},
-    {file = "sounddevice-0.4.5.tar.gz", hash = "sha256:2fe0d41299e4f3037dad2acede4eff0666b34a1fa3da5335e47120373964bef5"},
+
+[[package]]
+name = "sounddevice"
+version = "0.4.6"
+description = "Play and Record Sound with Python"
+optional = false
+python-versions = ">=3.7"
+files = [
+    {file = "sounddevice-0.4.6-py3-none-any.whl", hash = "sha256:5de768ba6fe56ad2b5aaa2eea794b76b73e427961c95acad2ee2ed7f866a4b20"},
+    {file = "sounddevice-0.4.6-py3-none-macosx_10_6_x86_64.macosx_10_6_universal2.whl", hash = "sha256:8b0b806c205dd3e3cd5a97262b2482624fd21db7d47083b887090148a08051c8"},
+    {file = "sounddevice-0.4.6-py3-none-win32.whl", hash = "sha256:e3ba6e674ffa8f79a591d744a1d4ab922fe5bdfd4faf8b25069a08e051010b7b"},
+    {file = "sounddevice-0.4.6-py3-none-win_amd64.whl", hash = "sha256:7830d4f8f8570f2e5552942f81d96999c5fcd9a0b682d6fc5d5c5529df23be2c"},
+    {file = "sounddevice-0.4.6.tar.gz", hash = "sha256:3236b78f15f0415bdf006a620cef073d0c0522851d66f4a961ed6d8eb1482fe9"},
 ]
-soupsieve = [
-    {file = "soupsieve-2.3.2.post1-py3-none-any.whl", hash = "sha256:3b2503d3c7084a42b1ebd08116e5f81aadfaea95863628c80a3b774a11b7c759"},
-    {file = "soupsieve-2.3.2.post1.tar.gz", hash = "sha256:fc53893b3da2c33de295667a0e19f078c14bf86544af307354de5fcf12a3f30d"},
+
+[package.dependencies]
+CFFI = ">=1.0"
+
+[package.extras]
+numpy = ["NumPy"]
+
+[[package]]
+name = "soupsieve"
+version = "2.4.1"
+description = "A modern CSS selector implementation for Beautiful Soup."
+optional = false
+python-versions = ">=3.7"
+files = [
+    {file = "soupsieve-2.4.1-py3-none-any.whl", hash = "sha256:1c1bfee6819544a3447586c889157365a27e10d88cde3ad3da0cf0ddf646feb8"},
+    {file = "soupsieve-2.4.1.tar.gz", hash = "sha256:89d12b2d5dfcd2c9e8c22326da9d9aa9cb3dfab0a83a024f05704076ee8d35ea"},
 ]
-sphinx = [
-    {file = "Sphinx-5.3.0.tar.gz", hash = "sha256:51026de0a9ff9fc13c05d74913ad66047e104f56a129ff73e174eb5c3ee794b5"},
-    {file = "sphinx-5.3.0-py3-none-any.whl", hash = "sha256:060ca5c9f7ba57a08a1219e547b269fadf125ae25b06b9fa7f66768efb652d6d"},
+
+[[package]]
+name = "sphinx"
+version = "6.2.1"
+description = "Python documentation generator"
+optional = false
+python-versions = ">=3.8"
+files = [
+    {file = "Sphinx-6.2.1.tar.gz", hash = "sha256:6d56a34697bb749ffa0152feafc4b19836c755d90a7c59b72bc7dfd371b9cc6b"},
+    {file = "sphinx-6.2.1-py3-none-any.whl", hash = "sha256:97787ff1fa3256a3eef9eda523a63dbf299f7b47e053cfcf684a1c2a8380c912"},
 ]
-sphinx-rtd-theme = [
-    {file = "sphinx_rtd_theme-1.0.0-py2.py3-none-any.whl", hash = "sha256:4d35a56f4508cfee4c4fb604373ede6feae2a306731d533f409ef5c3496fdbd8"},
-    {file = "sphinx_rtd_theme-1.0.0.tar.gz", hash = "sha256:eec6d497e4c2195fa0e8b2016b337532b8a699a68bcb22a512870e16925c6a5c"},
+
+[package.dependencies]
+alabaster = ">=0.7,<0.8"
+babel = ">=2.9"
+colorama = {version = ">=0.4.5", markers = "sys_platform == \"win32\""}
+docutils = ">=0.18.1,<0.20"
+imagesize = ">=1.3"
+Jinja2 = ">=3.0"
+packaging = ">=21.0"
+Pygments = ">=2.13"
+requests = ">=2.25.0"
+snowballstemmer = ">=2.0"
+sphinxcontrib-applehelp = "*"
+sphinxcontrib-devhelp = "*"
+sphinxcontrib-htmlhelp = ">=2.0.0"
+sphinxcontrib-jsmath = "*"
+sphinxcontrib-qthelp = "*"
+sphinxcontrib-serializinghtml = ">=1.1.5"
+
+[package.extras]
+docs = ["sphinxcontrib-websupport"]
+lint = ["docutils-stubs", "flake8 (>=3.5.0)", "flake8-simplify", "isort", "mypy (>=0.990)", "ruff", "sphinx-lint", "types-requests"]
+test = ["cython", "filelock", "html5lib", "pytest (>=4.6)"]
+
+[[package]]
+name = "sphinx-rtd-theme"
+version = "1.2.2"
+description = "Read the Docs theme for Sphinx"
+optional = false
+python-versions = "!=3.0.*,!=3.1.*,!=3.2.*,!=3.3.*,!=3.4.*,!=3.5.*,>=2.7"
+files = [
+    {file = "sphinx_rtd_theme-1.2.2-py2.py3-none-any.whl", hash = "sha256:6a7e7d8af34eb8fc57d52a09c6b6b9c46ff44aea5951bc831eeb9245378f3689"},
+    {file = "sphinx_rtd_theme-1.2.2.tar.gz", hash = "sha256:01c5c5a72e2d025bd23d1f06c59a4831b06e6ce6c01fdd5ebfe9986c0a880fc7"},
 ]
-sphinx-sitemap = [
-    {file = "sphinx-sitemap-2.2.0.tar.gz", hash = "sha256:65adda39233cb17c0da10ba1cebaa2df73e271cdb6f8efd5cec8eef3b3cf7737"},
+
+[package.dependencies]
+docutils = "<0.19"
+sphinx = ">=1.6,<7"
+sphinxcontrib-jquery = ">=4,<5"
+
+[package.extras]
+dev = ["bump2version", "sphinxcontrib-httpdomain", "transifex-client", "wheel"]
+
+[[package]]
+name = "sphinx-sitemap"
+version = "2.5.0"
+description = "Sitemap generator for Sphinx"
+optional = false
+python-versions = "*"
+files = [
+    {file = "sphinx-sitemap-2.5.0.tar.gz", hash = "sha256:95101f622d0d594161720cbe92a39d353efae9382f7f3563f06d150b1146fef6"},
+    {file = "sphinx_sitemap-2.5.0-py3-none-any.whl", hash = "sha256:98a7e3bb25acb467037b56f3585fc38d53d5a274542b1497393a66f71b79b125"},
 ]
-sphinxcontrib-applehelp = [
-    {file = "sphinxcontrib-applehelp-1.0.2.tar.gz", hash = "sha256:a072735ec80e7675e3f432fcae8610ecf509c5f1869d17e2eecff44389cdbc58"},
-    {file = "sphinxcontrib_applehelp-1.0.2-py2.py3-none-any.whl", hash = "sha256:806111e5e962be97c29ec4c1e7fe277bfd19e9652fb1a4392105b43e01af885a"},
+
+[package.dependencies]
+sphinx = ">=1.2"
+
+[[package]]
+name = "sphinxcontrib-applehelp"
+version = "1.0.6"
+description = "sphinxcontrib-applehelp is a Sphinx extension which outputs Apple help books"
+optional = false
+python-versions = ">=3.9"
+files = [
+    {file = "sphinxcontrib_applehelp-1.0.6-py3-none-any.whl", hash = "sha256:c0578efa23cab5a2f3aaa8af5691b952433f4fdfaac255befd3452448e7ea4a4"},
+    {file = "sphinxcontrib_applehelp-1.0.6.tar.gz", hash = "sha256:a59274de7a952a99af36b8a5092352d9249279c0e3280b7dceaae8e15873c942"},
 ]
-sphinxcontrib-devhelp = [
-    {file = "sphinxcontrib-devhelp-1.0.2.tar.gz", hash = "sha256:ff7f1afa7b9642e7060379360a67e9c41e8f3121f2ce9164266f61b9f4b338e4"},
-    {file = "sphinxcontrib_devhelp-1.0.2-py2.py3-none-any.whl", hash = "sha256:8165223f9a335cc1af7ffe1ed31d2871f325254c0423bc0c4c7cd1c1e4734a2e"},
+
+[package.dependencies]
+Sphinx = ">=5"
+
+[package.extras]
+lint = ["docutils-stubs", "flake8", "mypy"]
+test = ["pytest"]
+
+[[package]]
+name = "sphinxcontrib-devhelp"
+version = "1.0.4"
+description = "sphinxcontrib-devhelp is a sphinx extension which outputs Devhelp documents"
+optional = false
+python-versions = ">=3.9"
+files = [
+    {file = "sphinxcontrib_devhelp-1.0.4-py3-none-any.whl", hash = "sha256:d4e20a17f78865d4096733989b5efa0d5e7743900e98e1f6ecd6f489380febc8"},
+    {file = "sphinxcontrib_devhelp-1.0.4.tar.gz", hash = "sha256:4fd751c63dc40895ac8740948f26bf1a3c87e4e441cc008672abd1cb2bc8a3d1"},
 ]
-sphinxcontrib-htmlhelp = [
-    {file = "sphinxcontrib-htmlhelp-2.0.0.tar.gz", hash = "sha256:f5f8bb2d0d629f398bf47d0d69c07bc13b65f75a81ad9e2f71a63d4b7a2f6db2"},
-    {file = "sphinxcontrib_htmlhelp-2.0.0-py2.py3-none-any.whl", hash = "sha256:d412243dfb797ae3ec2b59eca0e52dac12e75a241bf0e4eb861e450d06c6ed07"},
+
+[package.dependencies]
+Sphinx = ">=5"
+
+[package.extras]
+lint = ["docutils-stubs", "flake8", "mypy"]
+test = ["pytest"]
+
+[[package]]
+name = "sphinxcontrib-htmlhelp"
+version = "2.0.3"
+description = "sphinxcontrib-htmlhelp is a sphinx extension which renders HTML help files"
+optional = false
+python-versions = ">=3.9"
+files = [
+    {file = "sphinxcontrib_htmlhelp-2.0.3-py3-none-any.whl", hash = "sha256:abee4e6c5471203ad2fc40dc6a16ed99884a5d6b15a6f79c9269a7e82cf04149"},
+    {file = "sphinxcontrib_htmlhelp-2.0.3.tar.gz", hash = "sha256:14358d0f88ccf58447f2b54343cdcc0012f32de2f8d27cf934fdbc0b362f9597"},
 ]
-sphinxcontrib-jsmath = [
+
+[package.dependencies]
+Sphinx = ">=5"
+
+[package.extras]
+lint = ["docutils-stubs", "flake8", "mypy"]
+test = ["html5lib", "pytest"]
+
+[[package]]
+name = "sphinxcontrib-jquery"
+version = "4.1"
+description = "Extension to include jQuery on newer Sphinx releases"
+optional = false
+python-versions = ">=2.7"
+files = [
+    {file = "sphinxcontrib-jquery-4.1.tar.gz", hash = "sha256:1620739f04e36a2c779f1a131a2dfd49b2fd07351bf1968ced074365933abc7a"},
+    {file = "sphinxcontrib_jquery-4.1-py2.py3-none-any.whl", hash = "sha256:f936030d7d0147dd026a4f2b5a57343d233f1fc7b363f68b3d4f1cb0993878ae"},
+]
+
+[package.dependencies]
+Sphinx = ">=1.8"
+
+[[package]]
+name = "sphinxcontrib-jsmath"
+version = "1.0.1"
+description = "A sphinx extension which renders display math in HTML via JavaScript"
+optional = false
+python-versions = ">=3.5"
+files = [
     {file = "sphinxcontrib-jsmath-1.0.1.tar.gz", hash = "sha256:a9925e4a4587247ed2191a22df5f6970656cb8ca2bd6284309578f2153e0c4b8"},
     {file = "sphinxcontrib_jsmath-1.0.1-py2.py3-none-any.whl", hash = "sha256:2ec2eaebfb78f3f2078e73666b1415417a116cc848b72e5172e596c871103178"},
 ]
-sphinxcontrib-qthelp = [
-    {file = "sphinxcontrib-qthelp-1.0.3.tar.gz", hash = "sha256:4c33767ee058b70dba89a6fc5c1892c0d57a54be67ddd3e7875a18d14cba5a72"},
-    {file = "sphinxcontrib_qthelp-1.0.3-py2.py3-none-any.whl", hash = "sha256:bd9fc24bcb748a8d51fd4ecaade681350aa63009a347a8c14e637895444dfab6"},
+
+[package.extras]
+test = ["flake8", "mypy", "pytest"]
+
+[[package]]
+name = "sphinxcontrib-qthelp"
+version = "1.0.5"
+description = "sphinxcontrib-qthelp is a sphinx extension which outputs QtHelp documents"
+optional = false
+python-versions = ">=3.9"
+files = [
+    {file = "sphinxcontrib_qthelp-1.0.5-py3-none-any.whl", hash = "sha256:962730a6ad15d21fd6760b14c9e95c00a097413595aa6ee871dd9dfa4b002a16"},
+    {file = "sphinxcontrib_qthelp-1.0.5.tar.gz", hash = "sha256:d31d1a1beaf3894866bb318fb712f1edc82687f1c06235a01e5b2c50c36d5c40"},
 ]
-sphinxcontrib-serializinghtml = [
-    {file = "sphinxcontrib-serializinghtml-1.1.5.tar.gz", hash = "sha256:aa5f6de5dfdf809ef505c4895e51ef5c9eac17d0f287933eb49ec495280b6952"},
-    {file = "sphinxcontrib_serializinghtml-1.1.5-py2.py3-none-any.whl", hash = "sha256:352a9a00ae864471d3a7ead8d7d79f5fc0b57e8b3f95e9867eb9eb28999b92fd"},
+
+[package.dependencies]
+Sphinx = ">=5"
+
+[package.extras]
+lint = ["docutils-stubs", "flake8", "mypy"]
+test = ["pytest"]
+
+[[package]]
+name = "sphinxcontrib-serializinghtml"
+version = "1.1.7"
+description = "sphinxcontrib-serializinghtml is a sphinx extension which outputs \"serialized\" HTML files (json and pickle)"
+optional = false
+python-versions = ">=3.9"
+files = [
+    {file = "sphinxcontrib_serializinghtml-1.1.7-py3-none-any.whl", hash = "sha256:424164fc3a8b4355a29d5ea8b7f18199022d160c8f7b96e68bb6c50217729b87"},
+    {file = "sphinxcontrib_serializinghtml-1.1.7.tar.gz", hash = "sha256:ca31afee32e1508cff4034e258060ce2c81a3b1c49e77da60fdb61f0e7a73c22"},
 ]
-spidev = [
+
+[package.dependencies]
+Sphinx = ">=5"
+
+[package.extras]
+lint = ["docutils-stubs", "flake8", "mypy"]
+test = ["pytest"]
+
+[[package]]
+name = "spidev"
+version = "3.6"
+description = "Python bindings for Linux SPI access through spidev"
+optional = false
+python-versions = "*"
+files = [
     {file = "spidev-3.6-cp39-cp39-linux_armv7l.whl", hash = "sha256:280abc00a1ef7780ef62c3f294f52a2527b6c47d8c269fea98664970bcaf6da5"},
     {file = "spidev-3.6.tar.gz", hash = "sha256:14dbc37594a4aaef85403ab617985d3c3ef464d62bc9b769ef552db53701115b"},
 ]
-spidev2 = [
+
+[[package]]
+name = "spidev2"
+version = "0.9.0"
+description = "Pure-python interface to Linux spidev."
+optional = false
+python-versions = "*"
+files = [
     {file = "spidev2-0.9.0.tar.gz", hash = "sha256:152da2911a8660283ceac3a75dd869953379bcbcf079e5436af5aae736876086"},
 ]
-sqlalchemy = [
-    {file = "SQLAlchemy-1.4.42-cp27-cp27m-macosx_10_14_x86_64.whl", hash = "sha256:28e881266a172a4d3c5929182fde6bb6fba22ac93f137d5380cc78a11a9dd124"},
-    {file = "SQLAlchemy-1.4.42-cp27-cp27m-manylinux_2_5_x86_64.manylinux1_x86_64.whl", hash = "sha256:ca9389a00f639383c93ed00333ed763812f80b5ae9e772ea32f627043f8c9c88"},
-    {file = "SQLAlchemy-1.4.42-cp27-cp27m-win32.whl", hash = "sha256:1d0c23ecf7b3bc81e29459c34a3f4c68ca538de01254e24718a7926810dc39a6"},
-    {file = "SQLAlchemy-1.4.42-cp27-cp27m-win_amd64.whl", hash = "sha256:6c9d004eb78c71dd4d3ce625b80c96a827d2e67af9c0d32b1c1e75992a7916cc"},
-    {file = "SQLAlchemy-1.4.42-cp27-cp27mu-manylinux_2_5_x86_64.manylinux1_x86_64.whl", hash = "sha256:9e3a65ce9ed250b2f096f7b559fe3ee92e6605fab3099b661f0397a9ac7c8d95"},
-    {file = "SQLAlchemy-1.4.42-cp310-cp310-macosx_10_15_x86_64.whl", hash = "sha256:2e56dfed0cc3e57b2f5c35719d64f4682ef26836b81067ee6cfad062290fd9e2"},
-    {file = "SQLAlchemy-1.4.42-cp310-cp310-manylinux_2_17_aarch64.manylinux2014_aarch64.whl", hash = "sha256:b42c59ffd2d625b28cdb2ae4cde8488543d428cba17ff672a543062f7caee525"},
-    {file = "SQLAlchemy-1.4.42-cp310-cp310-manylinux_2_5_x86_64.manylinux1_x86_64.manylinux_2_12_x86_64.manylinux2010_x86_64.whl", hash = "sha256:22459fc1718785d8a86171bbe7f01b5c9d7297301ac150f508d06e62a2b4e8d2"},
-    {file = "SQLAlchemy-1.4.42-cp310-cp310-manylinux_2_5_x86_64.manylinux1_x86_64.manylinux_2_17_x86_64.manylinux2014_x86_64.whl", hash = "sha256:df76e9c60879fdc785a34a82bf1e8691716ffac32e7790d31a98d7dec6e81545"},
-    {file = "SQLAlchemy-1.4.42-cp310-cp310-win32.whl", hash = "sha256:e7e740453f0149437c101ea4fdc7eea2689938c5760d7dcc436c863a12f1f565"},
-    {file = "SQLAlchemy-1.4.42-cp310-cp310-win_amd64.whl", hash = "sha256:effc89e606165ca55f04f3f24b86d3e1c605e534bf1a96e4e077ce1b027d0b71"},
-    {file = "SQLAlchemy-1.4.42-cp311-cp311-macosx_10_9_universal2.whl", hash = "sha256:97ff50cd85bb907c2a14afb50157d0d5486a4b4639976b4a3346f34b6d1b5272"},
-    {file = "SQLAlchemy-1.4.42-cp311-cp311-manylinux_2_17_aarch64.manylinux2014_aarch64.whl", hash = "sha256:e12c6949bae10f1012ab5c0ea52ab8db99adcb8c7b717938252137cdf694c775"},
-    {file = "SQLAlchemy-1.4.42-cp311-cp311-manylinux_2_5_x86_64.manylinux1_x86_64.manylinux_2_17_x86_64.manylinux2014_x86_64.whl", hash = "sha256:11b2ec26c5d2eefbc3e6dca4ec3d3d95028be62320b96d687b6e740424f83b7d"},
-    {file = "SQLAlchemy-1.4.42-cp311-cp311-win32.whl", hash = "sha256:6045b3089195bc008aee5c273ec3ba9a93f6a55bc1b288841bd4cfac729b6516"},
-    {file = "SQLAlchemy-1.4.42-cp311-cp311-win_amd64.whl", hash = "sha256:0501f74dd2745ec38f44c3a3900fb38b9db1ce21586b691482a19134062bf049"},
-    {file = "SQLAlchemy-1.4.42-cp36-cp36m-macosx_10_14_x86_64.whl", hash = "sha256:6e39e97102f8e26c6c8550cb368c724028c575ec8bc71afbbf8faaffe2b2092a"},
-    {file = "SQLAlchemy-1.4.42-cp36-cp36m-manylinux_2_17_aarch64.manylinux2014_aarch64.whl", hash = "sha256:15d878929c30e41fb3d757a5853b680a561974a0168cd33a750be4ab93181628"},
-    {file = "SQLAlchemy-1.4.42-cp36-cp36m-manylinux_2_5_x86_64.manylinux1_x86_64.manylinux_2_12_x86_64.manylinux2010_x86_64.whl", hash = "sha256:fa5b7eb2051e857bf83bade0641628efe5a88de189390725d3e6033a1fff4257"},
-    {file = "SQLAlchemy-1.4.42-cp36-cp36m-manylinux_2_5_x86_64.manylinux1_x86_64.manylinux_2_17_x86_64.manylinux2014_x86_64.whl", hash = "sha256:4e1c5f8182b4f89628d782a183d44db51b5af84abd6ce17ebb9804355c88a7b5"},
-    {file = "SQLAlchemy-1.4.42-cp36-cp36m-win32.whl", hash = "sha256:a7dd5b7b34a8ba8d181402d824b87c5cee8963cb2e23aa03dbfe8b1f1e417cde"},
-    {file = "SQLAlchemy-1.4.42-cp36-cp36m-win_amd64.whl", hash = "sha256:5ede1495174e69e273fad68ad45b6d25c135c1ce67723e40f6cf536cb515e20b"},
-    {file = "SQLAlchemy-1.4.42-cp37-cp37m-macosx_10_15_x86_64.whl", hash = "sha256:9256563506e040daddccaa948d055e006e971771768df3bb01feeb4386c242b0"},
-    {file = "SQLAlchemy-1.4.42-cp37-cp37m-manylinux_2_17_aarch64.manylinux2014_aarch64.whl", hash = "sha256:4948b6c5f4e56693bbeff52f574279e4ff972ea3353f45967a14c30fb7ae2beb"},
-    {file = "SQLAlchemy-1.4.42-cp37-cp37m-manylinux_2_5_x86_64.manylinux1_x86_64.manylinux_2_12_x86_64.manylinux2010_x86_64.whl", hash = "sha256:1811a0b19a08af7750c0b69e38dec3d46e47c4ec1d74b6184d69f12e1c99a5e0"},
-    {file = "SQLAlchemy-1.4.42-cp37-cp37m-manylinux_2_5_x86_64.manylinux1_x86_64.manylinux_2_17_x86_64.manylinux2014_x86_64.whl", hash = "sha256:9b01d9cd2f9096f688c71a3d0f33f3cd0af8549014e66a7a7dee6fc214a7277d"},
-    {file = "SQLAlchemy-1.4.42-cp37-cp37m-win32.whl", hash = "sha256:bd448b262544b47a2766c34c0364de830f7fb0772d9959c1c42ad61d91ab6565"},
-    {file = "SQLAlchemy-1.4.42-cp37-cp37m-win_amd64.whl", hash = "sha256:04f2598c70ea4a29b12d429a80fad3a5202d56dce19dd4916cc46a965a5ca2e9"},
-    {file = "SQLAlchemy-1.4.42-cp38-cp38-macosx_10_15_x86_64.whl", hash = "sha256:3ab7c158f98de6cb4f1faab2d12973b330c2878d0c6b689a8ca424c02d66e1b3"},
-    {file = "SQLAlchemy-1.4.42-cp38-cp38-manylinux_2_17_aarch64.manylinux2014_aarch64.whl", hash = "sha256:0ee377eb5c878f7cefd633ab23c09e99d97c449dd999df639600f49b74725b80"},
-    {file = "SQLAlchemy-1.4.42-cp38-cp38-manylinux_2_5_x86_64.manylinux1_x86_64.manylinux_2_12_x86_64.manylinux2010_x86_64.whl", hash = "sha256:934472bb7d8666727746a75670a1f8d91a9cae8c464bba79da30a0f6faccd9e1"},
-    {file = "SQLAlchemy-1.4.42-cp38-cp38-manylinux_2_5_x86_64.manylinux1_x86_64.manylinux_2_17_x86_64.manylinux2014_x86_64.whl", hash = "sha256:fdb94a3d1ba77ff2ef11912192c066f01e68416f554c194d769391638c8ad09a"},
-    {file = "SQLAlchemy-1.4.42-cp38-cp38-win32.whl", hash = "sha256:f0f574465b78f29f533976c06b913e54ab4980b9931b69aa9d306afff13a9471"},
-    {file = "SQLAlchemy-1.4.42-cp38-cp38-win_amd64.whl", hash = "sha256:a85723c00a636eed863adb11f1e8aaa36ad1c10089537823b4540948a8429798"},
-    {file = "SQLAlchemy-1.4.42-cp39-cp39-macosx_10_15_x86_64.whl", hash = "sha256:5ce6929417d5dce5ad1d3f147db81735a4a0573b8fb36e3f95500a06eaddd93e"},
-    {file = "SQLAlchemy-1.4.42-cp39-cp39-manylinux_2_17_aarch64.manylinux2014_aarch64.whl", hash = "sha256:723e3b9374c1ce1b53564c863d1a6b2f1dc4e97b1c178d9b643b191d8b1be738"},
-    {file = "SQLAlchemy-1.4.42-cp39-cp39-manylinux_2_5_x86_64.manylinux1_x86_64.manylinux_2_12_x86_64.manylinux2010_x86_64.whl", hash = "sha256:876eb185911c8b95342b50a8c4435e1c625944b698a5b4a978ad2ffe74502908"},
-    {file = "SQLAlchemy-1.4.42-cp39-cp39-manylinux_2_5_x86_64.manylinux1_x86_64.manylinux_2_17_x86_64.manylinux2014_x86_64.whl", hash = "sha256:2fd49af453e590884d9cdad3586415922a8e9bb669d874ee1dc55d2bc425aacd"},
-    {file = "SQLAlchemy-1.4.42-cp39-cp39-win32.whl", hash = "sha256:e4ef8cb3c5b326f839bfeb6af5f406ba02ad69a78c7aac0fbeeba994ad9bb48a"},
-    {file = "SQLAlchemy-1.4.42-cp39-cp39-win_amd64.whl", hash = "sha256:5f966b64c852592469a7eb759615bbd351571340b8b344f1d3fa2478b5a4c934"},
-    {file = "SQLAlchemy-1.4.42.tar.gz", hash = "sha256:177e41914c476ed1e1b77fd05966ea88c094053e17a85303c4ce007f88eff363"},
+
+[package.dependencies]
+ioctl-opt = "*"
+
+[[package]]
+name = "sqlalchemy"
+version = "2.0.19"
+description = "Database Abstraction Library"
+optional = false
+python-versions = ">=3.7"
+files = [
+    {file = "SQLAlchemy-2.0.19-cp310-cp310-macosx_10_9_x86_64.whl", hash = "sha256:9deaae357edc2091a9ed5d25e9ee8bba98bcfae454b3911adeaf159c2e9ca9e3"},
+    {file = "SQLAlchemy-2.0.19-cp310-cp310-macosx_11_0_arm64.whl", hash = "sha256:0bf0fd65b50a330261ec7fe3d091dfc1c577483c96a9fa1e4323e932961aa1b5"},
+    {file = "SQLAlchemy-2.0.19-cp310-cp310-manylinux_2_17_aarch64.manylinux2014_aarch64.whl", hash = "sha256:1d90ccc15ba1baa345796a8fb1965223ca7ded2d235ccbef80a47b85cea2d71a"},
+    {file = "SQLAlchemy-2.0.19-cp310-cp310-manylinux_2_17_x86_64.manylinux2014_x86_64.whl", hash = "sha256:cb4e688f6784427e5f9479d1a13617f573de8f7d4aa713ba82813bcd16e259d1"},
+    {file = "SQLAlchemy-2.0.19-cp310-cp310-musllinux_1_1_aarch64.whl", hash = "sha256:584f66e5e1979a7a00f4935015840be627e31ca29ad13f49a6e51e97a3fb8cae"},
+    {file = "SQLAlchemy-2.0.19-cp310-cp310-musllinux_1_1_x86_64.whl", hash = "sha256:2c69ce70047b801d2aba3e5ff3cba32014558966109fecab0c39d16c18510f15"},
+    {file = "SQLAlchemy-2.0.19-cp310-cp310-win32.whl", hash = "sha256:96f0463573469579d32ad0c91929548d78314ef95c210a8115346271beeeaaa2"},
+    {file = "SQLAlchemy-2.0.19-cp310-cp310-win_amd64.whl", hash = "sha256:22bafb1da60c24514c141a7ff852b52f9f573fb933b1e6b5263f0daa28ce6db9"},
+    {file = "SQLAlchemy-2.0.19-cp311-cp311-macosx_10_9_x86_64.whl", hash = "sha256:d6894708eeb81f6d8193e996257223b6bb4041cb05a17cd5cf373ed836ef87a2"},
+    {file = "SQLAlchemy-2.0.19-cp311-cp311-macosx_11_0_arm64.whl", hash = "sha256:d8f2afd1aafded7362b397581772c670f20ea84d0a780b93a1a1529da7c3d369"},
+    {file = "SQLAlchemy-2.0.19-cp311-cp311-manylinux_2_17_aarch64.manylinux2014_aarch64.whl", hash = "sha256:b15afbf5aa76f2241184c1d3b61af1a72ba31ce4161013d7cb5c4c2fca04fd6e"},
+    {file = "SQLAlchemy-2.0.19-cp311-cp311-manylinux_2_17_x86_64.manylinux2014_x86_64.whl", hash = "sha256:8fc05b59142445a4efb9c1fd75c334b431d35c304b0e33f4fa0ff1ea4890f92e"},
+    {file = "SQLAlchemy-2.0.19-cp311-cp311-musllinux_1_1_aarch64.whl", hash = "sha256:5831138f0cc06b43edf5f99541c64adf0ab0d41f9a4471fd63b54ae18399e4de"},
+    {file = "SQLAlchemy-2.0.19-cp311-cp311-musllinux_1_1_x86_64.whl", hash = "sha256:3afa8a21a9046917b3a12ffe016ba7ebe7a55a6fc0c7d950beb303c735c3c3ad"},
+    {file = "SQLAlchemy-2.0.19-cp311-cp311-win32.whl", hash = "sha256:c896d4e6ab2eba2afa1d56be3d0b936c56d4666e789bfc59d6ae76e9fcf46145"},
+    {file = "SQLAlchemy-2.0.19-cp311-cp311-win_amd64.whl", hash = "sha256:024d2f67fb3ec697555e48caeb7147cfe2c08065a4f1a52d93c3d44fc8e6ad1c"},
+    {file = "SQLAlchemy-2.0.19-cp37-cp37m-macosx_10_9_x86_64.whl", hash = "sha256:89bc2b374ebee1a02fd2eae6fd0570b5ad897ee514e0f84c5c137c942772aa0c"},
+    {file = "SQLAlchemy-2.0.19-cp37-cp37m-manylinux_2_17_aarch64.manylinux2014_aarch64.whl", hash = "sha256:dd4d410a76c3762511ae075d50f379ae09551d92525aa5bb307f8343bf7c2c12"},
+    {file = "SQLAlchemy-2.0.19-cp37-cp37m-manylinux_2_17_x86_64.manylinux2014_x86_64.whl", hash = "sha256:f469f15068cd8351826df4080ffe4cc6377c5bf7d29b5a07b0e717dddb4c7ea2"},
+    {file = "SQLAlchemy-2.0.19-cp37-cp37m-musllinux_1_1_aarch64.whl", hash = "sha256:cda283700c984e699e8ef0fcc5c61f00c9d14b6f65a4f2767c97242513fcdd84"},
+    {file = "SQLAlchemy-2.0.19-cp37-cp37m-musllinux_1_1_x86_64.whl", hash = "sha256:43699eb3f80920cc39a380c159ae21c8a8924fe071bccb68fc509e099420b148"},
+    {file = "SQLAlchemy-2.0.19-cp37-cp37m-win32.whl", hash = "sha256:61ada5831db36d897e28eb95f0f81814525e0d7927fb51145526c4e63174920b"},
+    {file = "SQLAlchemy-2.0.19-cp37-cp37m-win_amd64.whl", hash = "sha256:57d100a421d9ab4874f51285c059003292433c648df6abe6c9c904e5bd5b0828"},
+    {file = "SQLAlchemy-2.0.19-cp38-cp38-macosx_10_9_x86_64.whl", hash = "sha256:16a310f5bc75a5b2ce7cb656d0e76eb13440b8354f927ff15cbaddd2523ee2d1"},
+    {file = "SQLAlchemy-2.0.19-cp38-cp38-macosx_11_0_arm64.whl", hash = "sha256:cf7b5e3856cbf1876da4e9d9715546fa26b6e0ba1a682d5ed2fc3ca4c7c3ec5b"},
+    {file = "SQLAlchemy-2.0.19-cp38-cp38-manylinux_2_17_aarch64.manylinux2014_aarch64.whl", hash = "sha256:2e7b69d9ced4b53310a87117824b23c509c6fc1f692aa7272d47561347e133b6"},
+    {file = "SQLAlchemy-2.0.19-cp38-cp38-manylinux_2_17_x86_64.manylinux2014_x86_64.whl", hash = "sha256:8f9eb4575bfa5afc4b066528302bf12083da3175f71b64a43a7c0badda2be365"},
+    {file = "SQLAlchemy-2.0.19-cp38-cp38-musllinux_1_1_aarch64.whl", hash = "sha256:6b54d1ad7a162857bb7c8ef689049c7cd9eae2f38864fc096d62ae10bc100c7d"},
+    {file = "SQLAlchemy-2.0.19-cp38-cp38-musllinux_1_1_x86_64.whl", hash = "sha256:5d6afc41ca0ecf373366fd8e10aee2797128d3ae45eb8467b19da4899bcd1ee0"},
+    {file = "SQLAlchemy-2.0.19-cp38-cp38-win32.whl", hash = "sha256:430614f18443b58ceb9dedec323ecddc0abb2b34e79d03503b5a7579cd73a531"},
+    {file = "SQLAlchemy-2.0.19-cp38-cp38-win_amd64.whl", hash = "sha256:eb60699de43ba1a1f77363f563bb2c652f7748127ba3a774f7cf2c7804aa0d3d"},
+    {file = "SQLAlchemy-2.0.19-cp39-cp39-macosx_10_9_x86_64.whl", hash = "sha256:a752b7a9aceb0ba173955d4f780c64ee15a1a991f1c52d307d6215c6c73b3a4c"},
+    {file = "SQLAlchemy-2.0.19-cp39-cp39-macosx_11_0_arm64.whl", hash = "sha256:7351c05db355da112e056a7b731253cbeffab9dfdb3be1e895368513c7d70106"},
+    {file = "SQLAlchemy-2.0.19-cp39-cp39-manylinux_2_17_aarch64.manylinux2014_aarch64.whl", hash = "sha256:fa51ce4aea583b0c6b426f4b0563d3535c1c75986c4373a0987d84d22376585b"},
+    {file = "SQLAlchemy-2.0.19-cp39-cp39-manylinux_2_17_x86_64.manylinux2014_x86_64.whl", hash = "sha256:ae7473a67cd82a41decfea58c0eac581209a0aa30f8bc9190926fbf628bb17f7"},
+    {file = "SQLAlchemy-2.0.19-cp39-cp39-musllinux_1_1_aarch64.whl", hash = "sha256:851a37898a8a39783aab603c7348eb5b20d83c76a14766a43f56e6ad422d1ec8"},
+    {file = "SQLAlchemy-2.0.19-cp39-cp39-musllinux_1_1_x86_64.whl", hash = "sha256:539010665c90e60c4a1650afe4ab49ca100c74e6aef882466f1de6471d414be7"},
+    {file = "SQLAlchemy-2.0.19-cp39-cp39-win32.whl", hash = "sha256:f82c310ddf97b04e1392c33cf9a70909e0ae10a7e2ddc1d64495e3abdc5d19fb"},
+    {file = "SQLAlchemy-2.0.19-cp39-cp39-win_amd64.whl", hash = "sha256:8e712cfd2e07b801bc6b60fdf64853bc2bd0af33ca8fa46166a23fe11ce0dbb0"},
+    {file = "SQLAlchemy-2.0.19-py3-none-any.whl", hash = "sha256:314145c1389b021a9ad5aa3a18bac6f5d939f9087d7fc5443be28cba19d2c972"},
+    {file = "SQLAlchemy-2.0.19.tar.gz", hash = "sha256:77a14fa20264af73ddcdb1e2b9c5a829b8cc6b8304d0f093271980e36c200a3f"},
 ]
-stack-data = [
-    {file = "stack_data-0.5.1-py3-none-any.whl", hash = "sha256:5120731a18ba4c82cefcf84a945f6f3e62319ef413bfc210e32aca3a69310ba2"},
-    {file = "stack_data-0.5.1.tar.gz", hash = "sha256:95eb784942e861a3d80efd549ff9af6cf847d88343a12eb681d7157cfcb6e32b"},
+
+[package.dependencies]
+greenlet = {version = "!=0.4.17", markers = "platform_machine == \"win32\" or platform_machine == \"WIN32\" or platform_machine == \"AMD64\" or platform_machine == \"amd64\" or platform_machine == \"x86_64\" or platform_machine == \"ppc64le\" or platform_machine == \"aarch64\""}
+typing-extensions = ">=4.2.0"
+
+[package.extras]
+aiomysql = ["aiomysql", "greenlet (!=0.4.17)"]
+aiosqlite = ["aiosqlite", "greenlet (!=0.4.17)", "typing-extensions (!=3.10.0.1)"]
+asyncio = ["greenlet (!=0.4.17)"]
+asyncmy = ["asyncmy (>=0.2.3,!=0.2.4,!=0.2.6)", "greenlet (!=0.4.17)"]
+mariadb-connector = ["mariadb (>=1.0.1,!=1.1.2,!=1.1.5)"]
+mssql = ["pyodbc"]
+mssql-pymssql = ["pymssql"]
+mssql-pyodbc = ["pyodbc"]
+mypy = ["mypy (>=0.910)"]
+mysql = ["mysqlclient (>=1.4.0)"]
+mysql-connector = ["mysql-connector-python"]
+oracle = ["cx-oracle (>=7)"]
+oracle-oracledb = ["oracledb (>=1.0.1)"]
+postgresql = ["psycopg2 (>=2.7)"]
+postgresql-asyncpg = ["asyncpg", "greenlet (!=0.4.17)"]
+postgresql-pg8000 = ["pg8000 (>=1.29.1)"]
+postgresql-psycopg = ["psycopg (>=3.0.7)"]
+postgresql-psycopg2binary = ["psycopg2-binary"]
+postgresql-psycopg2cffi = ["psycopg2cffi"]
+postgresql-psycopgbinary = ["psycopg[binary] (>=3.0.7)"]
+pymysql = ["pymysql"]
+sqlcipher = ["sqlcipher3-binary"]
+
+[[package]]
+name = "stack-data"
+version = "0.6.2"
+description = "Extract data from python stack frames and tracebacks for informative displays"
+optional = false
+python-versions = "*"
+files = [
+    {file = "stack_data-0.6.2-py3-none-any.whl", hash = "sha256:cbb2a53eb64e5785878201a97ed7c7b94883f48b87bfb0bbe8b623c74679e4a8"},
+    {file = "stack_data-0.6.2.tar.gz", hash = "sha256:32d2dd0376772d01b6cb9fc996f3c8b57a357089dec328ed4b6553d037eaf815"},
 ]
-subprocess32 = [
-    {file = "subprocess32-3.5.4-cp27-cp27m-macosx_10_6_intel.whl", hash = "sha256:88e37c1aac5388df41cc8a8456bb49ebffd321a3ad4d70358e3518176de3a56b"},
-    {file = "subprocess32-3.5.4-cp27-cp27mu-manylinux2014_x86_64.whl", hash = "sha256:e45d985aef903c5b7444d34350b05da91a9e0ea015415ab45a21212786c649d0"},
-    {file = "subprocess32-3.5.4.tar.gz", hash = "sha256:eb2937c80497978d181efa1b839ec2d9622cf9600a039a79d0e108d1f9aec79d"},
+
+[package.dependencies]
+asttokens = ">=2.1.0"
+executing = ">=1.2.0"
+pure-eval = "*"
+
+[package.extras]
+tests = ["cython", "littleutils", "pygments", "pytest", "typeguard"]
+
+[[package]]
+name = "sympy"
+version = "1.12"
+description = "Computer algebra system (CAS) in Python"
+optional = false
+python-versions = ">=3.8"
+files = [
+    {file = "sympy-1.12-py3-none-any.whl", hash = "sha256:c3588cd4295d0c0f603d0f2ae780587e64e2efeedb3521e46b9bb1d08d184fa5"},
+    {file = "sympy-1.12.tar.gz", hash = "sha256:ebf595c8dac3e0fdc4152c51878b498396ec7f30e7a914d6071e674d49420fb8"},
 ]
-sympy = [
-    {file = "sympy-1.11.1-py3-none-any.whl", hash = "sha256:938f984ee2b1e8eae8a07b884c8b7a1146010040fccddc6539c54f401c8f6fcf"},
-    {file = "sympy-1.11.1.tar.gz", hash = "sha256:e32380dce63cb7c0108ed525570092fd45168bdae2faa17e528221ef72e88658"},
+
+[package.dependencies]
+mpmath = ">=0.19"
+
+[[package]]
+name = "tabulate"
+version = "0.9.0"
+description = "Pretty-print tabular data"
+optional = false
+python-versions = ">=3.7"
+files = [
+    {file = "tabulate-0.9.0-py3-none-any.whl", hash = "sha256:024ca478df22e9340661486f85298cff5f6dcdba14f3813e8830015b9ed1948f"},
+    {file = "tabulate-0.9.0.tar.gz", hash = "sha256:0095b12bf5966de529c0feb1fa08671671b3368eec77d7ef7ab114be2c068b3c"},
 ]
-tabulate = [
-    {file = "tabulate-0.8.10-py3-none-any.whl", hash = "sha256:0ba055423dbaa164b9e456abe7920c5e8ed33fcc16f6d1b2f2d152c8e1e8b4fc"},
-    {file = "tabulate-0.8.10.tar.gz", hash = "sha256:6c57f3f3dd7ac2782770155f3adb2db0b1a269637e42f27599925e64b114f519"},
+
+[package.extras]
+widechars = ["wcwidth"]
+
+[[package]]
+name = "tenacity"
+version = "8.2.2"
+description = "Retry code until it succeeds"
+optional = false
+python-versions = ">=3.6"
+files = [
+    {file = "tenacity-8.2.2-py3-none-any.whl", hash = "sha256:2f277afb21b851637e8f52e6a613ff08734c347dc19ade928e519d7d2d8569b0"},
+    {file = "tenacity-8.2.2.tar.gz", hash = "sha256:43af037822bd0029025877f3b2d97cc4d7bb0c2991000a3d59d71517c5c969e0"},
 ]
-tenacity = [
-    {file = "tenacity-8.1.0-py3-none-any.whl", hash = "sha256:35525cd47f82830069f0d6b73f7eb83bc5b73ee2fff0437952cedf98b27653ac"},
-    {file = "tenacity-8.1.0.tar.gz", hash = "sha256:e48c437fdf9340f5666b92cd7990e96bc5fc955e1298baf4a907e3972067a445"},
+
+[package.extras]
+doc = ["reno", "sphinx", "tornado (>=4.5)"]
+
+[[package]]
+name = "terminado"
+version = "0.17.1"
+description = "Tornado websocket backend for the Xterm.js Javascript terminal emulator library."
+optional = false
+python-versions = ">=3.7"
+files = [
+    {file = "terminado-0.17.1-py3-none-any.whl", hash = "sha256:8650d44334eba354dd591129ca3124a6ba42c3d5b70df5051b6921d506fdaeae"},
+    {file = "terminado-0.17.1.tar.gz", hash = "sha256:6ccbbcd3a4f8a25a5ec04991f39a0b8db52dfcd487ea0e578d977e6752380333"},
 ]
-tensorrt = [
-    {file = "tensorrt-8.6.0-cp310-none-manylinux_2_17_x86_64.whl", hash = "sha256:8850d470a92e17e65686fce2a5105dc51fc89f2b438d60d66027288a165732ba"},
-    {file = "tensorrt-8.6.0-cp36-none-manylinux_2_17_x86_64.whl", hash = "sha256:1eb0b9b29f3f6c9a6f737b95d1edfe63353dd6b5427478b1c580c9cb72340749"},
-    {file = "tensorrt-8.6.0-cp37-none-manylinux_2_17_x86_64.whl", hash = "sha256:ae2e99fb98952d71d6a7443335f7f8e1a8c471b8136e33bb491f11e410dea3cd"},
-    {file = "tensorrt-8.6.0-cp38-none-manylinux_2_17_x86_64.whl", hash = "sha256:ba9eb8d1a7c32c63981b4203b72b90b38402ad000ec554fb8dd85a7401de60dd"},
-    {file = "tensorrt-8.6.0-cp39-none-manylinux_2_17_x86_64.whl", hash = "sha256:4dc971cd8def3b41086c34d93ca8bff56f5d7d9a2ab5f8738307d040b0bf751e"},
+
+[package.dependencies]
+ptyprocess = {version = "*", markers = "os_name != \"nt\""}
+pywinpty = {version = ">=1.1.0", markers = "os_name == \"nt\""}
+tornado = ">=6.1.0"
+
+[package.extras]
+docs = ["myst-parser", "pydata-sphinx-theme", "sphinx"]
+test = ["pre-commit", "pytest (>=7.0)", "pytest-timeout"]
+
+[[package]]
+name = "threadpoolctl"
+version = "3.2.0"
+description = "threadpoolctl"
+optional = false
+python-versions = ">=3.8"
+files = [
+    {file = "threadpoolctl-3.2.0-py3-none-any.whl", hash = "sha256:2b7818516e423bdaebb97c723f86a7c6b0a83d3f3b0970328d66f4d9104dc032"},
+    {file = "threadpoolctl-3.2.0.tar.gz", hash = "sha256:c96a0ba3bdddeaca37dc4cc7344aafad41cdb8c313f74fdfe387a867bba93355"},
 ]
-terminado = [
-    {file = "terminado-0.16.0-py3-none-any.whl", hash = "sha256:3e995072a7178a104c41134548ce9b03e4e7f0a538e9c29df4f1fbc81c7cfc75"},
-    {file = "terminado-0.16.0.tar.gz", hash = "sha256:fac14374eb5498bdc157ed32e510b1f60d5c3c7981a9f5ba018bb9a64cec0c25"},
+
+[[package]]
+name = "tifffile"
+version = "2023.7.18"
+description = "Read and write TIFF files"
+optional = false
+python-versions = ">=3.9"
+files = [
+    {file = "tifffile-2023.7.18-py3-none-any.whl", hash = "sha256:a9449ab688b82b69f3ddf80e4e0b4de7b5b02549974a56e112061b816b3c5585"},
+    {file = "tifffile-2023.7.18.tar.gz", hash = "sha256:5a5a624b2f7ab7f37e9ec4174ae2df1805b9658f89013f9b4b5550672f65f2a1"},
 ]
-threadpoolctl = [
-    {file = "threadpoolctl-3.1.0-py3-none-any.whl", hash = "sha256:8b99adda265feb6773280df41eece7b2e6561b772d21ffd52e372f999024907b"},
-    {file = "threadpoolctl-3.1.0.tar.gz", hash = "sha256:a335baacfaa4400ae1f0d8e3a58d6674d2f8828e3716bb2802c44955ad391380"},
+
+[package.dependencies]
+numpy = "*"
+
+[package.extras]
+all = ["defusedxml", "fsspec", "imagecodecs (>=2023.1.23)", "lxml", "matplotlib", "zarr"]
+
+[[package]]
+name = "timezonefinder"
+version = "6.2.0"
+description = "fast python package for finding the timezone of any point on earth (coordinates) offline"
+optional = false
+python-versions = ">=3.8,<4"
+files = [
+    {file = "timezonefinder-6.2.0-cp38-cp38-manylinux_2_35_x86_64.whl", hash = "sha256:06aa5926ed31687ea9eb00ab53203631f09a78f307285b4929da4ac4e2889240"},
+    {file = "timezonefinder-6.2.0.tar.gz", hash = "sha256:d41fd2650bb4221fae5a61f9c2767158f9727c4aaca95e24da86394feb704220"},
 ]
-tifffile = [
-    {file = "tifffile-2022.10.10-py3-none-any.whl", hash = "sha256:87f3aee8a0d06b74655269a105de75c1958a24653e1930d523eb516100043503"},
-    {file = "tifffile-2022.10.10.tar.gz", hash = "sha256:50b61ba943b866d191295bc38a00191c9fdab23ece063544c7f1a264e3f6aa8e"},
+
+[package.dependencies]
+cffi = ">=1.15.1,<2"
+h3 = ">=3.7.6,<4"
+numpy = ">=1.18,<2"
+setuptools = ">=65.5"
+
+[package.extras]
+numba = ["numba (>=0.56,<1)"]
+pytz = ["pytz (>=2022.7.1)"]
+
+[[package]]
+name = "timm"
+version = "0.9.2"
+description = "PyTorch Image Models"
+optional = false
+python-versions = ">=3.7"
+files = [
+    {file = "timm-0.9.2-py3-none-any.whl", hash = "sha256:8da40cc58ed32b0622bf87d8714f9b7023398ba4cfa8fa678578d2aefde4a909"},
+    {file = "timm-0.9.2.tar.gz", hash = "sha256:d0977cc5e02c69bda979fca8b52aa315a5f2cb64ebf8ad2c4631b1e452762c14"},
 ]
-timezonefinder = [
-    {file = "timezonefinder-6.1.3-cp38-cp38-manylinux_2_31_x86_64.whl", hash = "sha256:96c96db94e75e072187843152e6c5dc0718500a9a91986032365abe09162d0e7"},
-    {file = "timezonefinder-6.1.3.tar.gz", hash = "sha256:f2ee561b1e7692b933fcd914df38800e93db7caf278e7328de7328829b04f275"},
-]
-timm = [
-    {file = "timm-0.6.12-py3-none-any.whl", hash = "sha256:3dfa19b82afa707acc0c2392a84c0e549dd9ea626c285fb2e8d9e4073b58dbd1"},
-    {file = "timm-0.6.12.tar.gz", hash = "sha256:8f1747121598e06a1ea2d00df16d332cc284cdd4596bdc136b490a2122d3aa91"},
-]
-tinycss2 = [
+
+[package.dependencies]
+huggingface-hub = "*"
+pyyaml = "*"
+safetensors = "*"
+torch = ">=1.7"
+torchvision = "*"
+
+[[package]]
+name = "tinycss2"
+version = "1.2.1"
+description = "A tiny CSS parser"
+optional = false
+python-versions = ">=3.7"
+files = [
     {file = "tinycss2-1.2.1-py3-none-any.whl", hash = "sha256:2b80a96d41e7c3914b8cda8bc7f705a4d9c49275616e886103dd839dfc847847"},
     {file = "tinycss2-1.2.1.tar.gz", hash = "sha256:8cff3a8f066c2ec677c06dbc7b45619804a6938478d9d73c284b29d14ecb0627"},
 ]
-toml = [
-    {file = "toml-0.10.2-py2.py3-none-any.whl", hash = "sha256:806143ae5bfb6a3c6e736a764057db0e6a0e05e338b5630894a5f779cabb4f9b"},
-    {file = "toml-0.10.2.tar.gz", hash = "sha256:b3bda1d108d5dd99f4a20d24d9c348e91c4db7ab1b749200bded2f839ccbe68f"},
+
+[package.dependencies]
+webencodings = ">=0.4"
+
+[package.extras]
+doc = ["sphinx", "sphinx_rtd_theme"]
+test = ["flake8", "isort", "pytest"]
+
+[[package]]
+name = "tokenizers"
+version = "0.13.3"
+description = "Fast and Customizable Tokenizers"
+optional = false
+python-versions = "*"
+files = [
+    {file = "tokenizers-0.13.3-cp310-cp310-macosx_10_11_x86_64.whl", hash = "sha256:f3835c5be51de8c0a092058a4d4380cb9244fb34681fd0a295fbf0a52a5fdf33"},
+    {file = "tokenizers-0.13.3-cp310-cp310-macosx_12_0_arm64.whl", hash = "sha256:4ef4c3e821730f2692489e926b184321e887f34fb8a6b80b8096b966ba663d07"},
+    {file = "tokenizers-0.13.3-cp310-cp310-manylinux_2_17_aarch64.manylinux2014_aarch64.whl", hash = "sha256:c5fd1a6a25353e9aa762e2aae5a1e63883cad9f4e997c447ec39d071020459bc"},
+    {file = "tokenizers-0.13.3-cp310-cp310-manylinux_2_17_ppc64le.manylinux2014_ppc64le.whl", hash = "sha256:ee0b1b311d65beab83d7a41c56a1e46ab732a9eed4460648e8eb0bd69fc2d059"},
+    {file = "tokenizers-0.13.3-cp310-cp310-manylinux_2_17_s390x.manylinux2014_s390x.whl", hash = "sha256:5ef4215284df1277dadbcc5e17d4882bda19f770d02348e73523f7e7d8b8d396"},
+    {file = "tokenizers-0.13.3-cp310-cp310-manylinux_2_17_x86_64.manylinux2014_x86_64.whl", hash = "sha256:a4d53976079cff8a033f778fb9adca2d9d69d009c02fa2d71a878b5f3963ed30"},
+    {file = "tokenizers-0.13.3-cp310-cp310-win32.whl", hash = "sha256:1f0e3b4c2ea2cd13238ce43548959c118069db7579e5d40ec270ad77da5833ce"},
+    {file = "tokenizers-0.13.3-cp310-cp310-win_amd64.whl", hash = "sha256:89649c00d0d7211e8186f7a75dfa1db6996f65edce4b84821817eadcc2d3c79e"},
+    {file = "tokenizers-0.13.3-cp311-cp311-macosx_10_11_universal2.whl", hash = "sha256:56b726e0d2bbc9243872b0144515ba684af5b8d8cd112fb83ee1365e26ec74c8"},
+    {file = "tokenizers-0.13.3-cp311-cp311-macosx_12_0_arm64.whl", hash = "sha256:cc5c022ce692e1f499d745af293ab9ee6f5d92538ed2faf73f9708c89ee59ce6"},
+    {file = "tokenizers-0.13.3-cp311-cp311-manylinux_2_17_aarch64.manylinux2014_aarch64.whl", hash = "sha256:f55c981ac44ba87c93e847c333e58c12abcbb377a0c2f2ef96e1a266e4184ff2"},
+    {file = "tokenizers-0.13.3-cp311-cp311-manylinux_2_17_ppc64le.manylinux2014_ppc64le.whl", hash = "sha256:f247eae99800ef821a91f47c5280e9e9afaeed9980fc444208d5aa6ba69ff148"},
+    {file = "tokenizers-0.13.3-cp311-cp311-manylinux_2_17_s390x.manylinux2014_s390x.whl", hash = "sha256:4b3e3215d048e94f40f1c95802e45dcc37c5b05eb46280fc2ccc8cd351bff839"},
+    {file = "tokenizers-0.13.3-cp311-cp311-manylinux_2_17_x86_64.manylinux2014_x86_64.whl", hash = "sha256:9ba2b0bf01777c9b9bc94b53764d6684554ce98551fec496f71bc5be3a03e98b"},
+    {file = "tokenizers-0.13.3-cp311-cp311-win32.whl", hash = "sha256:cc78d77f597d1c458bf0ea7c2a64b6aa06941c7a99cb135b5969b0278824d808"},
+    {file = "tokenizers-0.13.3-cp311-cp311-win_amd64.whl", hash = "sha256:ecf182bf59bd541a8876deccf0360f5ae60496fd50b58510048020751cf1724c"},
+    {file = "tokenizers-0.13.3-cp37-cp37m-macosx_10_11_x86_64.whl", hash = "sha256:0527dc5436a1f6bf2c0327da3145687d3bcfbeab91fed8458920093de3901b44"},
+    {file = "tokenizers-0.13.3-cp37-cp37m-manylinux_2_17_aarch64.manylinux2014_aarch64.whl", hash = "sha256:07cbb2c307627dc99b44b22ef05ff4473aa7c7cc1fec8f0a8b37d8a64b1a16d2"},
+    {file = "tokenizers-0.13.3-cp37-cp37m-manylinux_2_17_ppc64le.manylinux2014_ppc64le.whl", hash = "sha256:4560dbdeaae5b7ee0d4e493027e3de6d53c991b5002d7ff95083c99e11dd5ac0"},
+    {file = "tokenizers-0.13.3-cp37-cp37m-manylinux_2_17_s390x.manylinux2014_s390x.whl", hash = "sha256:64064bd0322405c9374305ab9b4c07152a1474370327499911937fd4a76d004b"},
+    {file = "tokenizers-0.13.3-cp37-cp37m-manylinux_2_17_x86_64.manylinux2014_x86_64.whl", hash = "sha256:b8c6e2ab0f2e3d939ca66aa1d596602105fe33b505cd2854a4c1717f704c51de"},
+    {file = "tokenizers-0.13.3-cp37-cp37m-win32.whl", hash = "sha256:6cc29d410768f960db8677221e497226e545eaaea01aa3613fa0fdf2cc96cff4"},
+    {file = "tokenizers-0.13.3-cp37-cp37m-win_amd64.whl", hash = "sha256:fc2a7fdf864554a0dacf09d32e17c0caa9afe72baf9dd7ddedc61973bae352d8"},
+    {file = "tokenizers-0.13.3-cp38-cp38-macosx_10_11_x86_64.whl", hash = "sha256:8791dedba834c1fc55e5f1521be325ea3dafb381964be20684b92fdac95d79b7"},
+    {file = "tokenizers-0.13.3-cp38-cp38-macosx_12_0_arm64.whl", hash = "sha256:d607a6a13718aeb20507bdf2b96162ead5145bbbfa26788d6b833f98b31b26e1"},
+    {file = "tokenizers-0.13.3-cp38-cp38-manylinux_2_17_aarch64.manylinux2014_aarch64.whl", hash = "sha256:3791338f809cd1bf8e4fee6b540b36822434d0c6c6bc47162448deee3f77d425"},
+    {file = "tokenizers-0.13.3-cp38-cp38-manylinux_2_17_ppc64le.manylinux2014_ppc64le.whl", hash = "sha256:c2f35f30e39e6aab8716f07790f646bdc6e4a853816cc49a95ef2a9016bf9ce6"},
+    {file = "tokenizers-0.13.3-cp38-cp38-manylinux_2_17_s390x.manylinux2014_s390x.whl", hash = "sha256:310204dfed5aa797128b65d63538a9837cbdd15da2a29a77d67eefa489edda26"},
+    {file = "tokenizers-0.13.3-cp38-cp38-manylinux_2_17_x86_64.manylinux2014_x86_64.whl", hash = "sha256:a0f9b92ea052305166559f38498b3b0cae159caea712646648aaa272f7160963"},
+    {file = "tokenizers-0.13.3-cp38-cp38-win32.whl", hash = "sha256:9a3fa134896c3c1f0da6e762d15141fbff30d094067c8f1157b9fdca593b5806"},
+    {file = "tokenizers-0.13.3-cp38-cp38-win_amd64.whl", hash = "sha256:8e7b0cdeace87fa9e760e6a605e0ae8fc14b7d72e9fc19c578116f7287bb873d"},
+    {file = "tokenizers-0.13.3-cp39-cp39-macosx_10_11_x86_64.whl", hash = "sha256:00cee1e0859d55507e693a48fa4aef07060c4bb6bd93d80120e18fea9371c66d"},
+    {file = "tokenizers-0.13.3-cp39-cp39-macosx_12_0_arm64.whl", hash = "sha256:a23ff602d0797cea1d0506ce69b27523b07e70f6dda982ab8cf82402de839088"},
+    {file = "tokenizers-0.13.3-cp39-cp39-manylinux_2_17_aarch64.manylinux2014_aarch64.whl", hash = "sha256:70ce07445050b537d2696022dafb115307abdffd2a5c106f029490f84501ef97"},
+    {file = "tokenizers-0.13.3-cp39-cp39-manylinux_2_17_ppc64le.manylinux2014_ppc64le.whl", hash = "sha256:280ffe95f50eaaf655b3a1dc7ff1d9cf4777029dbbc3e63a74e65a056594abc3"},
+    {file = "tokenizers-0.13.3-cp39-cp39-manylinux_2_17_s390x.manylinux2014_s390x.whl", hash = "sha256:97acfcec592f7e9de8cadcdcda50a7134423ac8455c0166b28c9ff04d227b371"},
+    {file = "tokenizers-0.13.3-cp39-cp39-manylinux_2_17_x86_64.manylinux2014_x86_64.whl", hash = "sha256:dd7730c98a3010cd4f523465867ff95cd9d6430db46676ce79358f65ae39797b"},
+    {file = "tokenizers-0.13.3-cp39-cp39-win32.whl", hash = "sha256:48625a108029cb1ddf42e17a81b5a3230ba6888a70c9dc14e81bc319e812652d"},
+    {file = "tokenizers-0.13.3-cp39-cp39-win_amd64.whl", hash = "sha256:bc0a6f1ba036e482db6453571c9e3e60ecd5489980ffd95d11dc9f960483d783"},
+    {file = "tokenizers-0.13.3.tar.gz", hash = "sha256:2e546dbb68b623008a5442353137fbb0123d311a6d7ba52f2667c8862a75af2e"},
 ]
-tomli = [
-    {file = "tomli-2.0.1-py3-none-any.whl", hash = "sha256:939de3e7a6161af0c887ef91b7d41a53e7c5a1ca976325f429cb46ea9bc30ecc"},
-    {file = "tomli-2.0.1.tar.gz", hash = "sha256:de526c12914f0c550d15924c62d72abc48d6fe7364aa87328337a31007fe8a4f"},
+
+[package.extras]
+dev = ["black (==22.3)", "datasets", "numpy", "pytest", "requests"]
+docs = ["setuptools-rust", "sphinx", "sphinx-rtd-theme"]
+testing = ["black (==22.3)", "datasets", "numpy", "pytest", "requests"]
+
+[[package]]
+name = "tomlkit"
+version = "0.12.1"
+description = "Style preserving TOML library"
+optional = false
+python-versions = ">=3.7"
+files = [
+    {file = "tomlkit-0.12.1-py3-none-any.whl", hash = "sha256:712cbd236609acc6a3e2e97253dfc52d4c2082982a88f61b640ecf0817eab899"},
+    {file = "tomlkit-0.12.1.tar.gz", hash = "sha256:38e1ff8edb991273ec9f6181244a6a391ac30e9f5098e7535640ea6be97a7c86"},
 ]
-tomlkit = [
-    {file = "tomlkit-0.11.5-py3-none-any.whl", hash = "sha256:f2ef9da9cef846ee027947dc99a45d6b68a63b0ebc21944649505bf2e8bc5fe7"},
-    {file = "tomlkit-0.11.5.tar.gz", hash = "sha256:571854ebbb5eac89abcb4a2e47d7ea27b89bf29e09c35395da6f03dd4ae23d1c"},
+
+[[package]]
+name = "torch"
+version = "2.0.1+cu118"
+description = "Tensors and Dynamic neural networks in Python with strong GPU acceleration"
+optional = false
+python-versions = ">=3.8.0"
+files = [
+    {file = "torch-2.0.1+cu118-cp311-cp311-linux_x86_64.whl", hash = "sha256:143b6c658c17d43376e2dfbaa2c106d35639d615e5e8dec4429cf1e510dd8d61"},
 ]
-torch = []
-torchsummary = [
+
+[package.dependencies]
+filelock = "*"
+jinja2 = "*"
+networkx = "*"
+sympy = "*"
+triton = {version = "2.0.0", markers = "platform_system == \"Linux\" and platform_machine == \"x86_64\""}
+typing-extensions = "*"
+
+[package.extras]
+opt-einsum = ["opt-einsum (>=3.3)"]
+
+[package.source]
+type = "url"
+url = "https://download.pytorch.org/whl/cu118/torch-2.0.1%2Bcu118-cp311-cp311-linux_x86_64.whl"
+
+[[package]]
+name = "torchsummary"
+version = "1.5.1"
+description = "Model summary in PyTorch similar to `model.summary()` in Keras"
+optional = false
+python-versions = "*"
+files = [
     {file = "torchsummary-1.5.1-py3-none-any.whl", hash = "sha256:10f41d1743fb918f83293f13183f532ab1bb8f6639a1b89e5f8592ec1919a976"},
     {file = "torchsummary-1.5.1.tar.gz", hash = "sha256:981bf689e22e0cf7f95c746002f20a24ad26aa6b9d861134a14bc6ce92230590"},
 ]
-torchvision = []
-tornado = [
-    {file = "tornado-6.2-cp37-abi3-macosx_10_9_universal2.whl", hash = "sha256:20f638fd8cc85f3cbae3c732326e96addff0a15e22d80f049e00121651e82e72"},
-    {file = "tornado-6.2-cp37-abi3-macosx_10_9_x86_64.whl", hash = "sha256:87dcafae3e884462f90c90ecc200defe5e580a7fbbb4365eda7c7c1eb809ebc9"},
-    {file = "tornado-6.2-cp37-abi3-manylinux_2_17_aarch64.manylinux2014_aarch64.whl", hash = "sha256:ba09ef14ca9893954244fd872798b4ccb2367c165946ce2dd7376aebdde8e3ac"},
-    {file = "tornado-6.2-cp37-abi3-manylinux_2_5_i686.manylinux1_i686.manylinux_2_17_i686.manylinux2014_i686.whl", hash = "sha256:b8150f721c101abdef99073bf66d3903e292d851bee51910839831caba341a75"},
-    {file = "tornado-6.2-cp37-abi3-manylinux_2_5_x86_64.manylinux1_x86_64.manylinux_2_17_x86_64.manylinux2014_x86_64.whl", hash = "sha256:d3a2f5999215a3a06a4fc218026cd84c61b8b2b40ac5296a6db1f1451ef04c1e"},
-    {file = "tornado-6.2-cp37-abi3-musllinux_1_1_aarch64.whl", hash = "sha256:5f8c52d219d4995388119af7ccaa0bcec289535747620116a58d830e7c25d8a8"},
-    {file = "tornado-6.2-cp37-abi3-musllinux_1_1_i686.whl", hash = "sha256:6fdfabffd8dfcb6cf887428849d30cf19a3ea34c2c248461e1f7d718ad30b66b"},
-    {file = "tornado-6.2-cp37-abi3-musllinux_1_1_x86_64.whl", hash = "sha256:1d54d13ab8414ed44de07efecb97d4ef7c39f7438cf5e976ccd356bebb1b5fca"},
-    {file = "tornado-6.2-cp37-abi3-win32.whl", hash = "sha256:5c87076709343557ef8032934ce5f637dbb552efa7b21d08e89ae7619ed0eb23"},
-    {file = "tornado-6.2-cp37-abi3-win_amd64.whl", hash = "sha256:e5f923aa6a47e133d1cf87d60700889d7eae68988704e20c75fb2d65677a8e4b"},
-    {file = "tornado-6.2.tar.gz", hash = "sha256:9b630419bde84ec666bfd7ea0a4cb2a8a651c2d5cccdbdd1972a0c859dfc3c13"},
+
+[[package]]
+name = "torchvision"
+version = "0.15.2+cu118"
+description = "image and video datasets and models for torch deep learning"
+optional = false
+python-versions = ">=3.8"
+files = [
+    {file = "torchvision-0.15.2+cu118-cp311-cp311-linux_x86_64.whl", hash = "sha256:def9af47ebc2cad55c5aa2dad1230dcf4261833ed6df8a73e839bc233764f09e"},
 ]
-tqdm = [
-    {file = "tqdm-4.64.1-py2.py3-none-any.whl", hash = "sha256:6fee160d6ffcd1b1c68c65f14c829c22832bc401726335ce92c52d395944a6a1"},
-    {file = "tqdm-4.64.1.tar.gz", hash = "sha256:5f4f682a004951c1b450bc753c710e9280c5746ce6ffedee253ddbcbf54cf1e4"},
+
+[package.dependencies]
+numpy = "*"
+pillow = ">=5.3.0,<8.3.dev0 || >=8.4.dev0"
+requests = "*"
+torch = "2.0.1"
+
+[package.extras]
+scipy = ["scipy"]
+
+[package.source]
+type = "url"
+url = "https://download.pytorch.org/whl/cu118/torchvision-0.15.2%2Bcu118-cp311-cp311-linux_x86_64.whl"
+
+[[package]]
+name = "tornado"
+version = "6.3.2"
+description = "Tornado is a Python web framework and asynchronous networking library, originally developed at FriendFeed."
+optional = false
+python-versions = ">= 3.8"
+files = [
+    {file = "tornado-6.3.2-cp38-abi3-macosx_10_9_universal2.whl", hash = "sha256:c367ab6c0393d71171123ca5515c61ff62fe09024fa6bf299cd1339dc9456829"},
+    {file = "tornado-6.3.2-cp38-abi3-macosx_10_9_x86_64.whl", hash = "sha256:b46a6ab20f5c7c1cb949c72c1994a4585d2eaa0be4853f50a03b5031e964fc7c"},
+    {file = "tornado-6.3.2-cp38-abi3-manylinux_2_17_aarch64.manylinux2014_aarch64.whl", hash = "sha256:c2de14066c4a38b4ecbbcd55c5cc4b5340eb04f1c5e81da7451ef555859c833f"},
+    {file = "tornado-6.3.2-cp38-abi3-manylinux_2_5_i686.manylinux1_i686.manylinux_2_17_i686.manylinux2014_i686.whl", hash = "sha256:05615096845cf50a895026f749195bf0b10b8909f9be672f50b0fe69cba368e4"},
+    {file = "tornado-6.3.2-cp38-abi3-manylinux_2_5_x86_64.manylinux1_x86_64.manylinux_2_17_x86_64.manylinux2014_x86_64.whl", hash = "sha256:5b17b1cf5f8354efa3d37c6e28fdfd9c1c1e5122f2cb56dac121ac61baa47cbe"},
+    {file = "tornado-6.3.2-cp38-abi3-musllinux_1_1_aarch64.whl", hash = "sha256:29e71c847a35f6e10ca3b5c2990a52ce38b233019d8e858b755ea6ce4dcdd19d"},
+    {file = "tornado-6.3.2-cp38-abi3-musllinux_1_1_i686.whl", hash = "sha256:834ae7540ad3a83199a8da8f9f2d383e3c3d5130a328889e4cc991acc81e87a0"},
+    {file = "tornado-6.3.2-cp38-abi3-musllinux_1_1_x86_64.whl", hash = "sha256:6a0848f1aea0d196a7c4f6772197cbe2abc4266f836b0aac76947872cd29b411"},
+    {file = "tornado-6.3.2-cp38-abi3-win32.whl", hash = "sha256:7efcbcc30b7c654eb6a8c9c9da787a851c18f8ccd4a5a3a95b05c7accfa068d2"},
+    {file = "tornado-6.3.2-cp38-abi3-win_amd64.whl", hash = "sha256:0c325e66c8123c606eea33084976c832aa4e766b7dff8aedd7587ea44a604cdf"},
+    {file = "tornado-6.3.2.tar.gz", hash = "sha256:4b927c4f19b71e627b13f3db2324e4ae660527143f9e1f2e2fb404f3a187e2ba"},
 ]
-traitlets = [
-    {file = "traitlets-5.5.0-py3-none-any.whl", hash = "sha256:1201b2c9f76097195989cdf7f65db9897593b0dfd69e4ac96016661bb6f0d30f"},
-    {file = "traitlets-5.5.0.tar.gz", hash = "sha256:b122f9ff2f2f6c1709dab289a05555be011c87828e911c0cf4074b85cb780a79"},
+
+[[package]]
+name = "tqdm"
+version = "4.66.0"
+description = "Fast, Extensible Progress Meter"
+optional = false
+python-versions = ">=3.7"
+files = [
+    {file = "tqdm-4.66.0-py3-none-any.whl", hash = "sha256:39d459c7140b7890174e69d4d68d6291bc774a55b4bc5d93c0b760798ac5a03e"},
+    {file = "tqdm-4.66.0.tar.gz", hash = "sha256:cc6e7e52202d894e66632c5c8a9330bd0e3ff35d2965c93ca832114a3d865362"},
 ]
-triton = [
+
+[package.dependencies]
+colorama = {version = "*", markers = "platform_system == \"Windows\""}
+
+[package.extras]
+dev = ["pytest (>=6)", "pytest-cov", "pytest-timeout", "pytest-xdist"]
+notebook = ["ipywidgets (>=6)"]
+slack = ["slack-sdk"]
+telegram = ["requests"]
+
+[[package]]
+name = "traitlets"
+version = "5.9.0"
+description = "Traitlets Python configuration system"
+optional = false
+python-versions = ">=3.7"
+files = [
+    {file = "traitlets-5.9.0-py3-none-any.whl", hash = "sha256:9e6ec080259b9a5940c797d58b613b5e31441c2257b87c2e795c5228ae80d2d8"},
+    {file = "traitlets-5.9.0.tar.gz", hash = "sha256:f6cde21a9c68cf756af02035f72d5a723bf607e862e7be33ece505abf4a3bad9"},
+]
+
+[package.extras]
+docs = ["myst-parser", "pydata-sphinx-theme", "sphinx"]
+test = ["argcomplete (>=2.0)", "pre-commit", "pytest", "pytest-mock"]
+
+[[package]]
+name = "transformers"
+version = "4.31.0"
+description = "State-of-the-art Machine Learning for JAX, PyTorch and TensorFlow"
+optional = false
+python-versions = ">=3.8.0"
+files = [
+    {file = "transformers-4.31.0-py3-none-any.whl", hash = "sha256:8487aab0195ce1c2a5ae189305118b9720daddbc7b688edb09ccd79e3b149f6b"},
+    {file = "transformers-4.31.0.tar.gz", hash = "sha256:4302fba920a1c24d3a429a29efff6a63eac03f3f3cf55b55927fc795d01cb273"},
+]
+
+[package.dependencies]
+filelock = "*"
+huggingface-hub = ">=0.14.1,<1.0"
+numpy = ">=1.17"
+packaging = ">=20.0"
+pyyaml = ">=5.1"
+regex = "!=2019.12.17"
+requests = "*"
+safetensors = ">=0.3.1"
+tokenizers = ">=0.11.1,<0.11.3 || >0.11.3,<0.14"
+tqdm = ">=4.27"
+
+[package.extras]
+accelerate = ["accelerate (>=0.20.3)"]
+agents = ["Pillow (<10.0.0)", "accelerate (>=0.20.3)", "datasets (!=2.5.0)", "diffusers", "opencv-python", "sentencepiece (>=0.1.91,!=0.1.92)", "torch (>=1.9,!=1.12.0)"]
+all = ["Pillow (<10.0.0)", "accelerate (>=0.20.3)", "av (==9.2.0)", "codecarbon (==1.2.0)", "decord (==0.6.0)", "flax (>=0.4.1,<=0.7.0)", "jax (>=0.2.8,!=0.3.2,<=0.4.13)", "jaxlib (>=0.1.65,<=0.4.13)", "kenlm", "keras-nlp (>=0.3.1)", "librosa", "onnxconverter-common", "optax (>=0.0.8,<=0.1.4)", "optuna", "phonemizer", "protobuf", "pyctcdecode (>=0.4.0)", "ray[tune]", "sentencepiece (>=0.1.91,!=0.1.92)", "sigopt", "tensorflow (>=2.6,<2.14)", "tensorflow-text (<2.14)", "tf2onnx", "timm", "tokenizers (>=0.11.1,!=0.11.3,<0.14)", "torch (>=1.9,!=1.12.0)", "torchaudio", "torchvision"]
+audio = ["kenlm", "librosa", "phonemizer", "pyctcdecode (>=0.4.0)"]
+codecarbon = ["codecarbon (==1.2.0)"]
+deepspeed = ["accelerate (>=0.20.3)", "deepspeed (>=0.9.3)"]
+deepspeed-testing = ["GitPython (<3.1.19)", "accelerate (>=0.20.3)", "beautifulsoup4", "black (>=23.1,<24.0)", "cookiecutter (==1.7.3)", "datasets (!=2.5.0)", "deepspeed (>=0.9.3)", "dill (<0.3.5)", "evaluate (>=0.2.0)", "faiss-cpu", "hf-doc-builder (>=0.3.0)", "nltk", "optuna", "parameterized", "protobuf", "psutil", "pytest (>=7.2.0)", "pytest-timeout", "pytest-xdist", "rjieba", "rouge-score (!=0.0.7,!=0.0.8,!=0.1,!=0.1.1)", "sacrebleu (>=1.4.12,<2.0.0)", "sacremoses", "sentencepiece (>=0.1.91,!=0.1.92)", "timeout-decorator"]
+dev = ["GitPython (<3.1.19)", "Pillow (<10.0.0)", "accelerate (>=0.20.3)", "av (==9.2.0)", "beautifulsoup4", "black (>=23.1,<24.0)", "codecarbon (==1.2.0)", "cookiecutter (==1.7.3)", "datasets (!=2.5.0)", "decord (==0.6.0)", "dill (<0.3.5)", "evaluate (>=0.2.0)", "faiss-cpu", "flax (>=0.4.1,<=0.7.0)", "fugashi (>=1.0)", "hf-doc-builder", "hf-doc-builder (>=0.3.0)", "ipadic (>=1.0.0,<2.0)", "isort (>=5.5.4)", "jax (>=0.2.8,!=0.3.2,<=0.4.13)", "jaxlib (>=0.1.65,<=0.4.13)", "kenlm", "keras-nlp (>=0.3.1)", "librosa", "nltk", "onnxconverter-common", "optax (>=0.0.8,<=0.1.4)", "optuna", "parameterized", "phonemizer", "protobuf", "psutil", "pyctcdecode (>=0.4.0)", "pytest (>=7.2.0)", "pytest-timeout", "pytest-xdist", "ray[tune]", "rhoknp (>=1.1.0,<1.3.1)", "rjieba", "rouge-score (!=0.0.7,!=0.0.8,!=0.1,!=0.1.1)", "ruff (>=0.0.241,<=0.0.259)", "sacrebleu (>=1.4.12,<2.0.0)", "sacremoses", "scikit-learn", "sentencepiece (>=0.1.91,!=0.1.92)", "sigopt", "sudachidict-core (>=20220729)", "sudachipy (>=0.6.6)", "tensorflow (>=2.6,<2.14)", "tensorflow-text (<2.14)", "tf2onnx", "timeout-decorator", "timm", "tokenizers (>=0.11.1,!=0.11.3,<0.14)", "torch (>=1.9,!=1.12.0)", "torchaudio", "torchvision", "unidic (>=1.0.2)", "unidic-lite (>=1.0.7)", "urllib3 (<2.0.0)"]
+dev-tensorflow = ["GitPython (<3.1.19)", "Pillow (<10.0.0)", "beautifulsoup4", "black (>=23.1,<24.0)", "cookiecutter (==1.7.3)", "datasets (!=2.5.0)", "dill (<0.3.5)", "evaluate (>=0.2.0)", "faiss-cpu", "hf-doc-builder", "hf-doc-builder (>=0.3.0)", "isort (>=5.5.4)", "kenlm", "keras-nlp (>=0.3.1)", "librosa", "nltk", "onnxconverter-common", "onnxruntime (>=1.4.0)", "onnxruntime-tools (>=1.4.2)", "parameterized", "phonemizer", "protobuf", "psutil", "pyctcdecode (>=0.4.0)", "pytest (>=7.2.0)", "pytest-timeout", "pytest-xdist", "rjieba", "rouge-score (!=0.0.7,!=0.0.8,!=0.1,!=0.1.1)", "ruff (>=0.0.241,<=0.0.259)", "sacrebleu (>=1.4.12,<2.0.0)", "sacremoses", "scikit-learn", "sentencepiece (>=0.1.91,!=0.1.92)", "tensorflow (>=2.6,<2.14)", "tensorflow-text (<2.14)", "tf2onnx", "timeout-decorator", "tokenizers (>=0.11.1,!=0.11.3,<0.14)", "urllib3 (<2.0.0)"]
+dev-torch = ["GitPython (<3.1.19)", "Pillow (<10.0.0)", "accelerate (>=0.20.3)", "beautifulsoup4", "black (>=23.1,<24.0)", "codecarbon (==1.2.0)", "cookiecutter (==1.7.3)", "datasets (!=2.5.0)", "dill (<0.3.5)", "evaluate (>=0.2.0)", "faiss-cpu", "fugashi (>=1.0)", "hf-doc-builder", "hf-doc-builder (>=0.3.0)", "ipadic (>=1.0.0,<2.0)", "isort (>=5.5.4)", "kenlm", "librosa", "nltk", "onnxruntime (>=1.4.0)", "onnxruntime-tools (>=1.4.2)", "optuna", "parameterized", "phonemizer", "protobuf", "psutil", "pyctcdecode (>=0.4.0)", "pytest (>=7.2.0)", "pytest-timeout", "pytest-xdist", "ray[tune]", "rhoknp (>=1.1.0,<1.3.1)", "rjieba", "rouge-score (!=0.0.7,!=0.0.8,!=0.1,!=0.1.1)", "ruff (>=0.0.241,<=0.0.259)", "sacrebleu (>=1.4.12,<2.0.0)", "sacremoses", "scikit-learn", "sentencepiece (>=0.1.91,!=0.1.92)", "sigopt", "sudachidict-core (>=20220729)", "sudachipy (>=0.6.6)", "timeout-decorator", "timm", "tokenizers (>=0.11.1,!=0.11.3,<0.14)", "torch (>=1.9,!=1.12.0)", "torchaudio", "torchvision", "unidic (>=1.0.2)", "unidic-lite (>=1.0.7)", "urllib3 (<2.0.0)"]
+docs = ["Pillow (<10.0.0)", "accelerate (>=0.20.3)", "av (==9.2.0)", "codecarbon (==1.2.0)", "decord (==0.6.0)", "flax (>=0.4.1,<=0.7.0)", "hf-doc-builder", "jax (>=0.2.8,!=0.3.2,<=0.4.13)", "jaxlib (>=0.1.65,<=0.4.13)", "kenlm", "keras-nlp (>=0.3.1)", "librosa", "onnxconverter-common", "optax (>=0.0.8,<=0.1.4)", "optuna", "phonemizer", "protobuf", "pyctcdecode (>=0.4.0)", "ray[tune]", "sentencepiece (>=0.1.91,!=0.1.92)", "sigopt", "tensorflow (>=2.6,<2.14)", "tensorflow-text (<2.14)", "tf2onnx", "timm", "tokenizers (>=0.11.1,!=0.11.3,<0.14)", "torch (>=1.9,!=1.12.0)", "torchaudio", "torchvision"]
+docs-specific = ["hf-doc-builder"]
+fairscale = ["fairscale (>0.3)"]
+flax = ["flax (>=0.4.1,<=0.7.0)", "jax (>=0.2.8,!=0.3.2,<=0.4.13)", "jaxlib (>=0.1.65,<=0.4.13)", "optax (>=0.0.8,<=0.1.4)"]
+flax-speech = ["kenlm", "librosa", "phonemizer", "pyctcdecode (>=0.4.0)"]
+ftfy = ["ftfy"]
+integrations = ["optuna", "ray[tune]", "sigopt"]
+ja = ["fugashi (>=1.0)", "ipadic (>=1.0.0,<2.0)", "rhoknp (>=1.1.0,<1.3.1)", "sudachidict-core (>=20220729)", "sudachipy (>=0.6.6)", "unidic (>=1.0.2)", "unidic-lite (>=1.0.7)"]
+modelcreation = ["cookiecutter (==1.7.3)"]
+natten = ["natten (>=0.14.6)"]
+onnx = ["onnxconverter-common", "onnxruntime (>=1.4.0)", "onnxruntime-tools (>=1.4.2)", "tf2onnx"]
+onnxruntime = ["onnxruntime (>=1.4.0)", "onnxruntime-tools (>=1.4.2)"]
+optuna = ["optuna"]
+quality = ["GitPython (<3.1.19)", "black (>=23.1,<24.0)", "datasets (!=2.5.0)", "hf-doc-builder (>=0.3.0)", "isort (>=5.5.4)", "ruff (>=0.0.241,<=0.0.259)", "urllib3 (<2.0.0)"]
+ray = ["ray[tune]"]
+retrieval = ["datasets (!=2.5.0)", "faiss-cpu"]
+sagemaker = ["sagemaker (>=2.31.0)"]
+sentencepiece = ["protobuf", "sentencepiece (>=0.1.91,!=0.1.92)"]
+serving = ["fastapi", "pydantic (<2)", "starlette", "uvicorn"]
+sigopt = ["sigopt"]
+sklearn = ["scikit-learn"]
+speech = ["kenlm", "librosa", "phonemizer", "pyctcdecode (>=0.4.0)", "torchaudio"]
+testing = ["GitPython (<3.1.19)", "beautifulsoup4", "black (>=23.1,<24.0)", "cookiecutter (==1.7.3)", "datasets (!=2.5.0)", "dill (<0.3.5)", "evaluate (>=0.2.0)", "faiss-cpu", "hf-doc-builder (>=0.3.0)", "nltk", "parameterized", "protobuf", "psutil", "pytest (>=7.2.0)", "pytest-timeout", "pytest-xdist", "rjieba", "rouge-score (!=0.0.7,!=0.0.8,!=0.1,!=0.1.1)", "sacrebleu (>=1.4.12,<2.0.0)", "sacremoses", "timeout-decorator"]
+tf = ["keras-nlp (>=0.3.1)", "onnxconverter-common", "tensorflow (>=2.6,<2.14)", "tensorflow-text (<2.14)", "tf2onnx"]
+tf-cpu = ["keras-nlp (>=0.3.1)", "onnxconverter-common", "tensorflow-cpu (>=2.6,<2.14)", "tensorflow-text (<2.14)", "tf2onnx"]
+tf-speech = ["kenlm", "librosa", "phonemizer", "pyctcdecode (>=0.4.0)"]
+timm = ["timm"]
+tokenizers = ["tokenizers (>=0.11.1,!=0.11.3,<0.14)"]
+torch = ["accelerate (>=0.20.3)", "torch (>=1.9,!=1.12.0)"]
+torch-speech = ["kenlm", "librosa", "phonemizer", "pyctcdecode (>=0.4.0)", "torchaudio"]
+torch-vision = ["Pillow (<10.0.0)", "torchvision"]
+torchhub = ["filelock", "huggingface-hub (>=0.14.1,<1.0)", "importlib-metadata", "numpy (>=1.17)", "packaging (>=20.0)", "protobuf", "regex (!=2019.12.17)", "requests", "sentencepiece (>=0.1.91,!=0.1.92)", "tokenizers (>=0.11.1,!=0.11.3,<0.14)", "torch (>=1.9,!=1.12.0)", "tqdm (>=4.27)"]
+video = ["av (==9.2.0)", "decord (==0.6.0)"]
+vision = ["Pillow (<10.0.0)"]
+
+[[package]]
+name = "triton"
+version = "2.0.0"
+description = "A language and compiler for custom Deep Learning operations"
+optional = false
+python-versions = "*"
+files = [
     {file = "triton-2.0.0-1-cp310-cp310-manylinux2014_x86_64.manylinux_2_17_x86_64.whl", hash = "sha256:38806ee9663f4b0f7cd64790e96c579374089e58f49aac4a6608121aa55e2505"},
     {file = "triton-2.0.0-1-cp311-cp311-manylinux2014_x86_64.manylinux_2_17_x86_64.whl", hash = "sha256:226941c7b8595219ddef59a1fdb821e8c744289a132415ddd584facedeb475b1"},
     {file = "triton-2.0.0-1-cp36-cp36m-manylinux2014_x86_64.manylinux_2_17_x86_64.whl", hash = "sha256:4c9fc8c89874bc48eb7e7b2107a9b8d2c0bf139778637be5bfccb09191685cfd"},
@@ -8581,306 +9529,673 @@ triton = [
     {file = "triton-2.0.0-pp38-pypy38_pp73-manylinux_2_17_x86_64.manylinux2014_x86_64.whl", hash = "sha256:42a0d2c3fc2eab4ba71384f2e785fbfd47aa41ae05fa58bf12cb31dcbd0aeceb"},
     {file = "triton-2.0.0-pp39-pypy39_pp73-manylinux_2_17_x86_64.manylinux2014_x86_64.whl", hash = "sha256:52c47b72c72693198163ece9d90a721299e4fb3b8e24fd13141e384ad952724f"},
 ]
-tritonclient = [
+
+[package.dependencies]
+cmake = "*"
+filelock = "*"
+lit = "*"
+torch = "*"
+
+[package.extras]
+tests = ["autopep8", "flake8", "isort", "numpy", "pytest", "scipy (>=1.7.1)"]
+tutorials = ["matplotlib", "pandas", "tabulate"]
+
+[[package]]
+name = "tritonclient"
+version = "2.28.0"
+description = "Python client library and utilities for communicating with Triton Inference Server"
+optional = false
+python-versions = "*"
+files = [
     {file = "tritonclient-2.28.0-py3-none-any.whl", hash = "sha256:1f58bbe09a88c35f7979de8ab6579a5337372951f723c0aba31e8bee3e8d79da"},
     {file = "tritonclient-2.28.0-py3-none-manylinux1_x86_64.whl", hash = "sha256:47d93197a0876a743012db4c03f1100f7b225b9aaf8d5f8025bf4a5d9e61bfd2"},
 ]
-types-atomicwrites = [
+
+[package.dependencies]
+aiohttp = {version = ">=3.8.1", optional = true, markers = "extra == \"http\""}
+geventhttpclient = {version = ">=1.4.4,<=2.0.2", optional = true, markers = "extra == \"http\""}
+numpy = ">=1.19.1"
+python-rapidjson = ">=0.9.1"
+
+[package.extras]
+all = ["aiohttp (>=3.8.1)", "geventhttpclient (>=1.4.4,<=2.0.2)", "grpcio (==1.41.0)", "numpy (>=1.19.1)", "protobuf (>=3.5.0,<3.20)", "python-rapidjson (>=0.9.1)"]
+grpc = ["grpcio (==1.41.0)", "numpy (>=1.19.1)", "protobuf (>=3.5.0,<3.20)", "python-rapidjson (>=0.9.1)"]
+http = ["aiohttp (>=3.8.1)", "geventhttpclient (>=1.4.4,<=2.0.2)", "numpy (>=1.19.1)", "python-rapidjson (>=0.9.1)"]
+
+[[package]]
+name = "trove-classifiers"
+version = "2023.8.7"
+description = "Canonical source for classifiers on PyPI (pypi.org)."
+optional = false
+python-versions = "*"
+files = [
+    {file = "trove-classifiers-2023.8.7.tar.gz", hash = "sha256:c9f2a0a85d545e5362e967e4f069f56fddfd91215e22ffa48c66fb283521319a"},
+    {file = "trove_classifiers-2023.8.7-py3-none-any.whl", hash = "sha256:a676626a31286130d56de2ea1232484df97c567eb429d56cfcb0637e681ecf09"},
+]
+
+[[package]]
+name = "types-atomicwrites"
+version = "1.4.5.1"
+description = "Typing stubs for atomicwrites"
+optional = false
+python-versions = "*"
+files = [
     {file = "types-atomicwrites-1.4.5.1.tar.gz", hash = "sha256:9e9f0923ebf93524b28bcece5a23ac8c3820f39b060df29f671936d2e4bc04bc"},
     {file = "types_atomicwrites-1.4.5.1-py3-none-any.whl", hash = "sha256:2f1febbdc78b55453b189fa5b136dce34bab7d1d82319163d470e404aab55c83"},
 ]
-types-certifi = [
+
+[[package]]
+name = "types-certifi"
+version = "2021.10.8.3"
+description = "Typing stubs for certifi"
+optional = false
+python-versions = "*"
+files = [
     {file = "types-certifi-2021.10.8.3.tar.gz", hash = "sha256:72cf7798d165bc0b76e1c10dd1ea3097c7063c42c21d664523b928e88b554a4f"},
     {file = "types_certifi-2021.10.8.3-py3-none-any.whl", hash = "sha256:b2d1e325e69f71f7c78e5943d410e650b4707bb0ef32e4ddf3da37f54176e88a"},
 ]
-types-pycurl = [
-    {file = "types-pycurl-7.45.1.tar.gz", hash = "sha256:82e00aa2981595bfa55e5a3bac42221eb3435b0026dffbe1177f6ac9f2d51200"},
-    {file = "types_pycurl-7.45.1-py3-none-any.whl", hash = "sha256:9eab3414da4a1b1e9a628bd288fc5172b8c182e1d9fb6d8d082441b0fd64baed"},
+
+[[package]]
+name = "types-pycurl"
+version = "7.45.2.4"
+description = "Typing stubs for pycurl"
+optional = false
+python-versions = "*"
+files = [
+    {file = "types-pycurl-7.45.2.4.tar.gz", hash = "sha256:02c1611e7862f5ce02127746f079cd20dff511b049c7030cf24bb3d3ef41ceff"},
+    {file = "types_pycurl-7.45.2.4-py3-none-any.whl", hash = "sha256:d10efc8b71bfcd2fc4745a2f08967baa441a8c74bc6028829e5b65899affc40b"},
 ]
-types-pyyaml = [
-    {file = "types-PyYAML-6.0.12.tar.gz", hash = "sha256:f6f350418125872f3f0409d96a62a5a5ceb45231af5cc07ee0034ec48a3c82fa"},
-    {file = "types_PyYAML-6.0.12-py3-none-any.whl", hash = "sha256:29228db9f82df4f1b7febee06bbfb601677882e98a3da98132e31c6874163e15"},
+
+[[package]]
+name = "types-python-dateutil"
+version = "2.8.19.14"
+description = "Typing stubs for python-dateutil"
+optional = false
+python-versions = "*"
+files = [
+    {file = "types-python-dateutil-2.8.19.14.tar.gz", hash = "sha256:1f4f10ac98bb8b16ade9dbee3518d9ace017821d94b057a425b069f834737f4b"},
+    {file = "types_python_dateutil-2.8.19.14-py3-none-any.whl", hash = "sha256:f977b8de27787639986b4e28963263fd0e5158942b3ecef91b9335c130cb1ce9"},
 ]
-types-requests = [
-    {file = "types-requests-2.28.11.2.tar.gz", hash = "sha256:fdcd7bd148139fb8eef72cf4a41ac7273872cad9e6ada14b11ff5dfdeee60ed3"},
-    {file = "types_requests-2.28.11.2-py3-none-any.whl", hash = "sha256:14941f8023a80b16441b3b46caffcbfce5265fd14555844d6029697824b5a2ef"},
+
+[[package]]
+name = "types-pyyaml"
+version = "6.0.12.11"
+description = "Typing stubs for PyYAML"
+optional = false
+python-versions = "*"
+files = [
+    {file = "types-PyYAML-6.0.12.11.tar.gz", hash = "sha256:7d340b19ca28cddfdba438ee638cd4084bde213e501a3978738543e27094775b"},
+    {file = "types_PyYAML-6.0.12.11-py3-none-any.whl", hash = "sha256:a461508f3096d1d5810ec5ab95d7eeecb651f3a15b71959999988942063bf01d"},
 ]
-types-tabulate = [
-    {file = "types-tabulate-0.8.11.tar.gz", hash = "sha256:17a5fa3b5ca453815778fc9865e8ecd0118b07b2b9faff3e2b06fe448174dd5e"},
-    {file = "types_tabulate-0.8.11-py3-none-any.whl", hash = "sha256:af811268241e8fb87b63c052c87d1e329898a93191309d5d42111372232b2e0e"},
+
+[[package]]
+name = "types-requests"
+version = "2.31.0.2"
+description = "Typing stubs for requests"
+optional = false
+python-versions = "*"
+files = [
+    {file = "types-requests-2.31.0.2.tar.gz", hash = "sha256:6aa3f7faf0ea52d728bb18c0a0d1522d9bfd8c72d26ff6f61bfc3d06a411cf40"},
+    {file = "types_requests-2.31.0.2-py3-none-any.whl", hash = "sha256:56d181c85b5925cbc59f4489a57e72a8b2166f18273fd8ba7b6fe0c0b986f12a"},
 ]
-types-urllib3 = [
-    {file = "types-urllib3-1.26.25.1.tar.gz", hash = "sha256:a948584944b2412c9a74b9cf64f6c48caf8652cb88b38361316f6d15d8a184cd"},
-    {file = "types_urllib3-1.26.25.1-py3-none-any.whl", hash = "sha256:f6422596cc9ee5fdf68f9d547f541096a20c2dcfd587e37c804c9ea720bf5cb2"},
+
+[package.dependencies]
+types-urllib3 = "*"
+
+[[package]]
+name = "types-tabulate"
+version = "0.9.0.3"
+description = "Typing stubs for tabulate"
+optional = false
+python-versions = "*"
+files = [
+    {file = "types-tabulate-0.9.0.3.tar.gz", hash = "sha256:197651f9d6467193cd166d8500116a6d3a26f2a4eb2db093bc9535ee1c0be55e"},
+    {file = "types_tabulate-0.9.0.3-py3-none-any.whl", hash = "sha256:462d1b62e01728416e8277614d6a3eb172d53a8efaf04a04a973ff2dd45238f6"},
 ]
-typing-extensions = [
-    {file = "typing_extensions-4.4.0-py3-none-any.whl", hash = "sha256:16fa4864408f655d35ec496218b85f79b3437c829e93320c7c9215ccfd92489e"},
-    {file = "typing_extensions-4.4.0.tar.gz", hash = "sha256:1511434bb92bf8dd198c12b1cc812e800d4181cfcb867674e0f8279cc93087aa"},
+
+[[package]]
+name = "types-urllib3"
+version = "1.26.25.14"
+description = "Typing stubs for urllib3"
+optional = false
+python-versions = "*"
+files = [
+    {file = "types-urllib3-1.26.25.14.tar.gz", hash = "sha256:229b7f577c951b8c1b92c1bc2b2fdb0b49847bd2af6d1cc2a2e3dd340f3bda8f"},
+    {file = "types_urllib3-1.26.25.14-py3-none-any.whl", hash = "sha256:9683bbb7fb72e32bfe9d2be6e04875fbe1b3eeec3cbb4ea231435aa7fd6b4f0e"},
 ]
-urllib3 = [
-    {file = "urllib3-1.26.12-py2.py3-none-any.whl", hash = "sha256:b930dd878d5a8afb066a637fbb35144fe7901e3b209d1cd4f524bd0e9deee997"},
-    {file = "urllib3-1.26.12.tar.gz", hash = "sha256:3fa96cf423e6987997fc326ae8df396db2a8b7c667747d47ddd8ecba91f4a74e"},
+
+[[package]]
+name = "typing-extensions"
+version = "4.7.1"
+description = "Backported and Experimental Type Hints for Python 3.7+"
+optional = false
+python-versions = ">=3.7"
+files = [
+    {file = "typing_extensions-4.7.1-py3-none-any.whl", hash = "sha256:440d5dd3af93b060174bf433bccd69b0babc3b15b1a8dca43789fd7f61514b36"},
+    {file = "typing_extensions-4.7.1.tar.gz", hash = "sha256:b75ddc264f0ba5615db7ba217daeb99701ad295353c45f9e95963337ceeeffb2"},
 ]
-utm = [
+
+[[package]]
+name = "tzdata"
+version = "2023.3"
+description = "Provider of IANA time zone data"
+optional = false
+python-versions = ">=2"
+files = [
+    {file = "tzdata-2023.3-py2.py3-none-any.whl", hash = "sha256:7e65763eef3120314099b6939b5546db7adce1e7d6f2e179e3df563c70511eda"},
+    {file = "tzdata-2023.3.tar.gz", hash = "sha256:11ef1e08e54acb0d4f95bdb1be05da659673de4acbd21bf9c69e94cc5e907a3a"},
+]
+
+[[package]]
+name = "uri-template"
+version = "1.3.0"
+description = "RFC 6570 URI Template Processor"
+optional = false
+python-versions = ">=3.7"
+files = [
+    {file = "uri-template-1.3.0.tar.gz", hash = "sha256:0e00f8eb65e18c7de20d595a14336e9f337ead580c70934141624b6d1ffdacc7"},
+    {file = "uri_template-1.3.0-py3-none-any.whl", hash = "sha256:a44a133ea12d44a0c0f06d7d42a52d71282e77e2f937d8abd5655b8d56fc1363"},
+]
+
+[package.extras]
+dev = ["flake8", "flake8-annotations", "flake8-bandit", "flake8-bugbear", "flake8-commas", "flake8-comprehensions", "flake8-continuation", "flake8-datetimez", "flake8-docstrings", "flake8-import-order", "flake8-literal", "flake8-modern-annotations", "flake8-noqa", "flake8-pyproject", "flake8-requirements", "flake8-typechecking-import", "flake8-use-fstring", "mypy", "pep8-naming", "types-PyYAML"]
+
+[[package]]
+name = "urllib3"
+version = "1.26.16"
+description = "HTTP library with thread-safe connection pooling, file post, and more."
+optional = false
+python-versions = ">=2.7, !=3.0.*, !=3.1.*, !=3.2.*, !=3.3.*, !=3.4.*, !=3.5.*"
+files = [
+    {file = "urllib3-1.26.16-py2.py3-none-any.whl", hash = "sha256:8d36afa7616d8ab714608411b4a3b13e58f463aee519024578e062e141dce20f"},
+    {file = "urllib3-1.26.16.tar.gz", hash = "sha256:8f135f6502756bde6b2a9b28989df5fbe87c9970cecaa69041edcce7f0589b14"},
+]
+
+[package.extras]
+brotli = ["brotli (>=1.0.9)", "brotlicffi (>=0.8.0)", "brotlipy (>=0.6.0)"]
+secure = ["certifi", "cryptography (>=1.3.4)", "idna (>=2.0.0)", "ipaddress", "pyOpenSSL (>=0.14)", "urllib3-secure-extra"]
+socks = ["PySocks (>=1.5.6,!=1.5.7,<2.0)"]
+
+[[package]]
+name = "utm"
+version = "0.7.0"
+description = "Bidirectional UTM-WGS84 converter for python"
+optional = false
+python-versions = "*"
+files = [
     {file = "utm-0.7.0.tar.gz", hash = "sha256:3c9a3650e98bb6eecec535418d0dfd4db8f88c8ceaca112a0ff0787e116566e2"},
 ]
-virtualenv = [
-    {file = "virtualenv-20.16.5-py3-none-any.whl", hash = "sha256:d07dfc5df5e4e0dbc92862350ad87a36ed505b978f6c39609dc489eadd5b0d27"},
-    {file = "virtualenv-20.16.5.tar.gz", hash = "sha256:227ea1b9994fdc5ea31977ba3383ef296d7472ea85be9d6732e42a91c04e80da"},
+
+[[package]]
+name = "virtualenv"
+version = "20.24.2"
+description = "Virtual Python Environment builder"
+optional = false
+python-versions = ">=3.7"
+files = [
+    {file = "virtualenv-20.24.2-py3-none-any.whl", hash = "sha256:43a3052be36080548bdee0b42919c88072037d50d56c28bd3f853cbe92b953ff"},
+    {file = "virtualenv-20.24.2.tar.gz", hash = "sha256:fd8a78f46f6b99a67b7ec5cf73f92357891a7b3a40fd97637c27f854aae3b9e0"},
 ]
-virtualenv-clone = [
+
+[package.dependencies]
+distlib = ">=0.3.7,<1"
+filelock = ">=3.12.2,<4"
+platformdirs = ">=3.9.1,<4"
+
+[package.extras]
+docs = ["furo (>=2023.5.20)", "proselint (>=0.13)", "sphinx (>=7.0.1)", "sphinx-argparse (>=0.4)", "sphinxcontrib-towncrier (>=0.2.1a0)", "towncrier (>=23.6)"]
+test = ["covdefaults (>=2.3)", "coverage (>=7.2.7)", "coverage-enable-subprocess (>=1)", "flaky (>=3.7)", "packaging (>=23.1)", "pytest (>=7.4)", "pytest-env (>=0.8.2)", "pytest-freezer (>=0.4.8)", "pytest-mock (>=3.11.1)", "pytest-randomly (>=3.12)", "pytest-timeout (>=2.1)", "setuptools (>=68)", "time-machine (>=2.10)"]
+
+[[package]]
+name = "virtualenv-clone"
+version = "0.5.7"
+description = "script to clone virtualenvs."
+optional = false
+python-versions = ">=2.7, !=3.0.*, !=3.1.*, !=3.2.*, !=3.3.*"
+files = [
     {file = "virtualenv-clone-0.5.7.tar.gz", hash = "sha256:418ee935c36152f8f153c79824bb93eaf6f0f7984bae31d3f48f350b9183501a"},
     {file = "virtualenv_clone-0.5.7-py3-none-any.whl", hash = "sha256:44d5263bceed0bac3e1424d64f798095233b64def1c5689afa43dc3223caf5b0"},
 ]
-wcwidth = [
-    {file = "wcwidth-0.2.5-py2.py3-none-any.whl", hash = "sha256:beb4802a9cebb9144e99086eff703a642a13d6a0052920003a230f3294bbe784"},
-    {file = "wcwidth-0.2.5.tar.gz", hash = "sha256:c4d647b99872929fdb7bdcaa4fbe7f01413ed3d98077df798530e5b04f116c83"},
+
+[[package]]
+name = "wcwidth"
+version = "0.2.6"
+description = "Measures the displayed width of unicode strings in a terminal"
+optional = false
+python-versions = "*"
+files = [
+    {file = "wcwidth-0.2.6-py2.py3-none-any.whl", hash = "sha256:795b138f6875577cd91bba52baf9e445cd5118fd32723b460e30a0af30ea230e"},
+    {file = "wcwidth-0.2.6.tar.gz", hash = "sha256:a5220780a404dbe3353789870978e472cfe477761f06ee55077256e509b156d0"},
 ]
-webencodings = [
+
+[[package]]
+name = "webcolors"
+version = "1.13"
+description = "A library for working with the color formats defined by HTML and CSS."
+optional = false
+python-versions = ">=3.7"
+files = [
+    {file = "webcolors-1.13-py3-none-any.whl", hash = "sha256:29bc7e8752c0a1bd4a1f03c14d6e6a72e93d82193738fa860cbff59d0fcc11bf"},
+    {file = "webcolors-1.13.tar.gz", hash = "sha256:c225b674c83fa923be93d235330ce0300373d02885cef23238813b0d5668304a"},
+]
+
+[package.extras]
+docs = ["furo", "sphinx", "sphinx-copybutton", "sphinx-inline-tabs", "sphinx-notfound-page", "sphinxext-opengraph"]
+tests = ["pytest", "pytest-cov"]
+
+[[package]]
+name = "webencodings"
+version = "0.5.1"
+description = "Character encoding aliases for legacy web content"
+optional = false
+python-versions = "*"
+files = [
     {file = "webencodings-0.5.1-py2.py3-none-any.whl", hash = "sha256:a0af1213f3c2226497a97e2b3aa01a7e4bee4f403f95be16fc9acd2947514a78"},
     {file = "webencodings-0.5.1.tar.gz", hash = "sha256:b36a1c245f2d304965eb4e0a82848379241dc04b865afcc4aab16748587e1923"},
 ]
-websocket-client = [
-    {file = "websocket-client-1.4.1.tar.gz", hash = "sha256:f9611eb65c8241a67fb373bef040b3cf8ad377a9f6546a12b620b6511e8ea9ef"},
-    {file = "websocket_client-1.4.1-py3-none-any.whl", hash = "sha256:398909eb7e261f44b8f4bd474785b6ec5f5b499d4953342fe9755e01ef624090"},
+
+[[package]]
+name = "websocket-client"
+version = "1.6.1"
+description = "WebSocket client for Python with low level API options"
+optional = false
+python-versions = ">=3.7"
+files = [
+    {file = "websocket-client-1.6.1.tar.gz", hash = "sha256:c951af98631d24f8df89ab1019fc365f2227c0892f12fd150e935607c79dd0dd"},
+    {file = "websocket_client-1.6.1-py3-none-any.whl", hash = "sha256:f1f9f2ad5291f0225a49efad77abf9e700b6fef553900623060dad6e26503b9d"},
 ]
-werkzeug = [
-    {file = "Werkzeug-2.2.2-py3-none-any.whl", hash = "sha256:f979ab81f58d7318e064e99c4506445d60135ac5cd2e177a2de0089bfd4c9bd5"},
-    {file = "Werkzeug-2.2.2.tar.gz", hash = "sha256:7ea2d48322cc7c0f8b3a215ed73eabd7b5d75d0b50e31ab006286ccff9e00b8f"},
+
+[package.extras]
+docs = ["Sphinx (>=3.4)", "sphinx-rtd-theme (>=0.5)"]
+optional = ["python-socks", "wsaccel"]
+test = ["websockets"]
+
+[[package]]
+name = "werkzeug"
+version = "2.3.6"
+description = "The comprehensive WSGI web application library."
+optional = false
+python-versions = ">=3.8"
+files = [
+    {file = "Werkzeug-2.3.6-py3-none-any.whl", hash = "sha256:935539fa1413afbb9195b24880778422ed620c0fc09670945185cce4d91a8890"},
+    {file = "Werkzeug-2.3.6.tar.gz", hash = "sha256:98c774df2f91b05550078891dee5f0eb0cb797a522c757a2452b9cee5b202330"},
 ]
-widgetsnbextension = [
-    {file = "widgetsnbextension-4.0.3-py3-none-any.whl", hash = "sha256:7f3b0de8fda692d31ef03743b598620e31c2668b835edbd3962d080ccecf31eb"},
-    {file = "widgetsnbextension-4.0.3.tar.gz", hash = "sha256:34824864c062b0b3030ad78210db5ae6a3960dfb61d5b27562d6631774de0286"},
+
+[package.dependencies]
+MarkupSafe = ">=2.1.1"
+
+[package.extras]
+watchdog = ["watchdog (>=2.3)"]
+
+[[package]]
+name = "widgetsnbextension"
+version = "4.0.8"
+description = "Jupyter interactive widgets for Jupyter Notebook"
+optional = false
+python-versions = ">=3.7"
+files = [
+    {file = "widgetsnbextension-4.0.8-py3-none-any.whl", hash = "sha256:2e37f0ce9da11651056280c7efe96f2db052fe8fc269508e3724f5cbd6c93018"},
+    {file = "widgetsnbextension-4.0.8.tar.gz", hash = "sha256:9ec291ba87c2dfad42c3d5b6f68713fa18be1acd7476569516b2431682315c17"},
 ]
-wrapt = [
-    {file = "wrapt-1.14.1-cp27-cp27m-macosx_10_9_x86_64.whl", hash = "sha256:1b376b3f4896e7930f1f772ac4b064ac12598d1c38d04907e696cc4d794b43d3"},
-    {file = "wrapt-1.14.1-cp27-cp27m-manylinux1_i686.whl", hash = "sha256:903500616422a40a98a5a3c4ff4ed9d0066f3b4c951fa286018ecdf0750194ef"},
-    {file = "wrapt-1.14.1-cp27-cp27m-manylinux1_x86_64.whl", hash = "sha256:5a9a0d155deafd9448baff28c08e150d9b24ff010e899311ddd63c45c2445e28"},
-    {file = "wrapt-1.14.1-cp27-cp27m-manylinux2010_i686.whl", hash = "sha256:ddaea91abf8b0d13443f6dac52e89051a5063c7d014710dcb4d4abb2ff811a59"},
-    {file = "wrapt-1.14.1-cp27-cp27m-manylinux2010_x86_64.whl", hash = "sha256:36f582d0c6bc99d5f39cd3ac2a9062e57f3cf606ade29a0a0d6b323462f4dd87"},
-    {file = "wrapt-1.14.1-cp27-cp27mu-manylinux1_i686.whl", hash = "sha256:7ef58fb89674095bfc57c4069e95d7a31cfdc0939e2a579882ac7d55aadfd2a1"},
-    {file = "wrapt-1.14.1-cp27-cp27mu-manylinux1_x86_64.whl", hash = "sha256:e2f83e18fe2f4c9e7db597e988f72712c0c3676d337d8b101f6758107c42425b"},
-    {file = "wrapt-1.14.1-cp27-cp27mu-manylinux2010_i686.whl", hash = "sha256:ee2b1b1769f6707a8a445162ea16dddf74285c3964f605877a20e38545c3c462"},
-    {file = "wrapt-1.14.1-cp27-cp27mu-manylinux2010_x86_64.whl", hash = "sha256:833b58d5d0b7e5b9832869f039203389ac7cbf01765639c7309fd50ef619e0b1"},
-    {file = "wrapt-1.14.1-cp310-cp310-macosx_10_9_x86_64.whl", hash = "sha256:80bb5c256f1415f747011dc3604b59bc1f91c6e7150bd7db03b19170ee06b320"},
-    {file = "wrapt-1.14.1-cp310-cp310-macosx_11_0_arm64.whl", hash = "sha256:07f7a7d0f388028b2df1d916e94bbb40624c59b48ecc6cbc232546706fac74c2"},
-    {file = "wrapt-1.14.1-cp310-cp310-manylinux_2_17_aarch64.manylinux2014_aarch64.whl", hash = "sha256:02b41b633c6261feff8ddd8d11c711df6842aba629fdd3da10249a53211a72c4"},
-    {file = "wrapt-1.14.1-cp310-cp310-manylinux_2_5_i686.manylinux1_i686.manylinux_2_17_i686.manylinux2014_i686.whl", hash = "sha256:2fe803deacd09a233e4762a1adcea5db5d31e6be577a43352936179d14d90069"},
-    {file = "wrapt-1.14.1-cp310-cp310-manylinux_2_5_x86_64.manylinux1_x86_64.manylinux_2_17_x86_64.manylinux2014_x86_64.whl", hash = "sha256:257fd78c513e0fb5cdbe058c27a0624c9884e735bbd131935fd49e9fe719d310"},
-    {file = "wrapt-1.14.1-cp310-cp310-musllinux_1_1_aarch64.whl", hash = "sha256:4fcc4649dc762cddacd193e6b55bc02edca674067f5f98166d7713b193932b7f"},
-    {file = "wrapt-1.14.1-cp310-cp310-musllinux_1_1_i686.whl", hash = "sha256:11871514607b15cfeb87c547a49bca19fde402f32e2b1c24a632506c0a756656"},
-    {file = "wrapt-1.14.1-cp310-cp310-musllinux_1_1_x86_64.whl", hash = "sha256:8ad85f7f4e20964db4daadcab70b47ab05c7c1cf2a7c1e51087bfaa83831854c"},
-    {file = "wrapt-1.14.1-cp310-cp310-win32.whl", hash = "sha256:a9a52172be0b5aae932bef82a79ec0a0ce87288c7d132946d645eba03f0ad8a8"},
-    {file = "wrapt-1.14.1-cp310-cp310-win_amd64.whl", hash = "sha256:6d323e1554b3d22cfc03cd3243b5bb815a51f5249fdcbb86fda4bf62bab9e164"},
-    {file = "wrapt-1.14.1-cp35-cp35m-manylinux1_i686.whl", hash = "sha256:43ca3bbbe97af00f49efb06e352eae40434ca9d915906f77def219b88e85d907"},
-    {file = "wrapt-1.14.1-cp35-cp35m-manylinux1_x86_64.whl", hash = "sha256:6b1a564e6cb69922c7fe3a678b9f9a3c54e72b469875aa8018f18b4d1dd1adf3"},
-    {file = "wrapt-1.14.1-cp35-cp35m-manylinux2010_i686.whl", hash = "sha256:00b6d4ea20a906c0ca56d84f93065b398ab74b927a7a3dbd470f6fc503f95dc3"},
-    {file = "wrapt-1.14.1-cp35-cp35m-manylinux2010_x86_64.whl", hash = "sha256:a85d2b46be66a71bedde836d9e41859879cc54a2a04fad1191eb50c2066f6e9d"},
-    {file = "wrapt-1.14.1-cp35-cp35m-win32.whl", hash = "sha256:dbcda74c67263139358f4d188ae5faae95c30929281bc6866d00573783c422b7"},
-    {file = "wrapt-1.14.1-cp35-cp35m-win_amd64.whl", hash = "sha256:b21bb4c09ffabfa0e85e3a6b623e19b80e7acd709b9f91452b8297ace2a8ab00"},
-    {file = "wrapt-1.14.1-cp36-cp36m-macosx_10_9_x86_64.whl", hash = "sha256:9e0fd32e0148dd5dea6af5fee42beb949098564cc23211a88d799e434255a1f4"},
-    {file = "wrapt-1.14.1-cp36-cp36m-manylinux_2_17_aarch64.manylinux2014_aarch64.whl", hash = "sha256:9736af4641846491aedb3c3f56b9bc5568d92b0692303b5a305301a95dfd38b1"},
-    {file = "wrapt-1.14.1-cp36-cp36m-manylinux_2_5_i686.manylinux1_i686.manylinux_2_17_i686.manylinux2014_i686.whl", hash = "sha256:5b02d65b9ccf0ef6c34cba6cf5bf2aab1bb2f49c6090bafeecc9cd81ad4ea1c1"},
-    {file = "wrapt-1.14.1-cp36-cp36m-manylinux_2_5_x86_64.manylinux1_x86_64.manylinux_2_17_x86_64.manylinux2014_x86_64.whl", hash = "sha256:21ac0156c4b089b330b7666db40feee30a5d52634cc4560e1905d6529a3897ff"},
-    {file = "wrapt-1.14.1-cp36-cp36m-musllinux_1_1_aarch64.whl", hash = "sha256:9f3e6f9e05148ff90002b884fbc2a86bd303ae847e472f44ecc06c2cd2fcdb2d"},
-    {file = "wrapt-1.14.1-cp36-cp36m-musllinux_1_1_i686.whl", hash = "sha256:6e743de5e9c3d1b7185870f480587b75b1cb604832e380d64f9504a0535912d1"},
-    {file = "wrapt-1.14.1-cp36-cp36m-musllinux_1_1_x86_64.whl", hash = "sha256:d79d7d5dc8a32b7093e81e97dad755127ff77bcc899e845f41bf71747af0c569"},
-    {file = "wrapt-1.14.1-cp36-cp36m-win32.whl", hash = "sha256:81b19725065dcb43df02b37e03278c011a09e49757287dca60c5aecdd5a0b8ed"},
-    {file = "wrapt-1.14.1-cp36-cp36m-win_amd64.whl", hash = "sha256:b014c23646a467558be7da3d6b9fa409b2c567d2110599b7cf9a0c5992b3b471"},
-    {file = "wrapt-1.14.1-cp37-cp37m-macosx_10_9_x86_64.whl", hash = "sha256:88bd7b6bd70a5b6803c1abf6bca012f7ed963e58c68d76ee20b9d751c74a3248"},
-    {file = "wrapt-1.14.1-cp37-cp37m-manylinux_2_17_aarch64.manylinux2014_aarch64.whl", hash = "sha256:b5901a312f4d14c59918c221323068fad0540e34324925c8475263841dbdfe68"},
-    {file = "wrapt-1.14.1-cp37-cp37m-manylinux_2_5_i686.manylinux1_i686.manylinux_2_17_i686.manylinux2014_i686.whl", hash = "sha256:d77c85fedff92cf788face9bfa3ebaa364448ebb1d765302e9af11bf449ca36d"},
-    {file = "wrapt-1.14.1-cp37-cp37m-manylinux_2_5_x86_64.manylinux1_x86_64.manylinux_2_17_x86_64.manylinux2014_x86_64.whl", hash = "sha256:8d649d616e5c6a678b26d15ece345354f7c2286acd6db868e65fcc5ff7c24a77"},
-    {file = "wrapt-1.14.1-cp37-cp37m-musllinux_1_1_aarch64.whl", hash = "sha256:7d2872609603cb35ca513d7404a94d6d608fc13211563571117046c9d2bcc3d7"},
-    {file = "wrapt-1.14.1-cp37-cp37m-musllinux_1_1_i686.whl", hash = "sha256:ee6acae74a2b91865910eef5e7de37dc6895ad96fa23603d1d27ea69df545015"},
-    {file = "wrapt-1.14.1-cp37-cp37m-musllinux_1_1_x86_64.whl", hash = "sha256:2b39d38039a1fdad98c87279b48bc5dce2c0ca0d73483b12cb72aa9609278e8a"},
-    {file = "wrapt-1.14.1-cp37-cp37m-win32.whl", hash = "sha256:60db23fa423575eeb65ea430cee741acb7c26a1365d103f7b0f6ec412b893853"},
-    {file = "wrapt-1.14.1-cp37-cp37m-win_amd64.whl", hash = "sha256:709fe01086a55cf79d20f741f39325018f4df051ef39fe921b1ebe780a66184c"},
-    {file = "wrapt-1.14.1-cp38-cp38-macosx_10_9_x86_64.whl", hash = "sha256:8c0ce1e99116d5ab21355d8ebe53d9460366704ea38ae4d9f6933188f327b456"},
-    {file = "wrapt-1.14.1-cp38-cp38-macosx_11_0_arm64.whl", hash = "sha256:e3fb1677c720409d5f671e39bac6c9e0e422584e5f518bfd50aa4cbbea02433f"},
-    {file = "wrapt-1.14.1-cp38-cp38-manylinux_2_17_aarch64.manylinux2014_aarch64.whl", hash = "sha256:642c2e7a804fcf18c222e1060df25fc210b9c58db7c91416fb055897fc27e8cc"},
-    {file = "wrapt-1.14.1-cp38-cp38-manylinux_2_5_i686.manylinux1_i686.manylinux_2_17_i686.manylinux2014_i686.whl", hash = "sha256:7b7c050ae976e286906dd3f26009e117eb000fb2cf3533398c5ad9ccc86867b1"},
-    {file = "wrapt-1.14.1-cp38-cp38-manylinux_2_5_x86_64.manylinux1_x86_64.manylinux_2_17_x86_64.manylinux2014_x86_64.whl", hash = "sha256:ef3f72c9666bba2bab70d2a8b79f2c6d2c1a42a7f7e2b0ec83bb2f9e383950af"},
-    {file = "wrapt-1.14.1-cp38-cp38-musllinux_1_1_aarch64.whl", hash = "sha256:01c205616a89d09827986bc4e859bcabd64f5a0662a7fe95e0d359424e0e071b"},
-    {file = "wrapt-1.14.1-cp38-cp38-musllinux_1_1_i686.whl", hash = "sha256:5a0f54ce2c092aaf439813735584b9537cad479575a09892b8352fea5e988dc0"},
-    {file = "wrapt-1.14.1-cp38-cp38-musllinux_1_1_x86_64.whl", hash = "sha256:2cf71233a0ed05ccdabe209c606fe0bac7379fdcf687f39b944420d2a09fdb57"},
-    {file = "wrapt-1.14.1-cp38-cp38-win32.whl", hash = "sha256:aa31fdcc33fef9eb2552cbcbfee7773d5a6792c137b359e82879c101e98584c5"},
-    {file = "wrapt-1.14.1-cp38-cp38-win_amd64.whl", hash = "sha256:d1967f46ea8f2db647c786e78d8cc7e4313dbd1b0aca360592d8027b8508e24d"},
-    {file = "wrapt-1.14.1-cp39-cp39-macosx_10_9_x86_64.whl", hash = "sha256:3232822c7d98d23895ccc443bbdf57c7412c5a65996c30442ebe6ed3df335383"},
-    {file = "wrapt-1.14.1-cp39-cp39-macosx_11_0_arm64.whl", hash = "sha256:988635d122aaf2bdcef9e795435662bcd65b02f4f4c1ae37fbee7401c440b3a7"},
-    {file = "wrapt-1.14.1-cp39-cp39-manylinux_2_17_aarch64.manylinux2014_aarch64.whl", hash = "sha256:9cca3c2cdadb362116235fdbd411735de4328c61425b0aa9f872fd76d02c4e86"},
-    {file = "wrapt-1.14.1-cp39-cp39-manylinux_2_5_i686.manylinux1_i686.manylinux_2_17_i686.manylinux2014_i686.whl", hash = "sha256:d52a25136894c63de15a35bc0bdc5adb4b0e173b9c0d07a2be9d3ca64a332735"},
-    {file = "wrapt-1.14.1-cp39-cp39-manylinux_2_5_x86_64.manylinux1_x86_64.manylinux_2_17_x86_64.manylinux2014_x86_64.whl", hash = "sha256:40e7bc81c9e2b2734ea4bc1aceb8a8f0ceaac7c5299bc5d69e37c44d9081d43b"},
-    {file = "wrapt-1.14.1-cp39-cp39-musllinux_1_1_aarch64.whl", hash = "sha256:b9b7a708dd92306328117d8c4b62e2194d00c365f18eff11a9b53c6f923b01e3"},
-    {file = "wrapt-1.14.1-cp39-cp39-musllinux_1_1_i686.whl", hash = "sha256:6a9a25751acb379b466ff6be78a315e2b439d4c94c1e99cb7266d40a537995d3"},
-    {file = "wrapt-1.14.1-cp39-cp39-musllinux_1_1_x86_64.whl", hash = "sha256:34aa51c45f28ba7f12accd624225e2b1e5a3a45206aa191f6f9aac931d9d56fe"},
-    {file = "wrapt-1.14.1-cp39-cp39-win32.whl", hash = "sha256:dee0ce50c6a2dd9056c20db781e9c1cfd33e77d2d569f5d1d9321c641bb903d5"},
-    {file = "wrapt-1.14.1-cp39-cp39-win_amd64.whl", hash = "sha256:dee60e1de1898bde3b238f18340eec6148986da0455d8ba7848d50470a7a32fb"},
-    {file = "wrapt-1.14.1.tar.gz", hash = "sha256:380a85cf89e0e69b7cfbe2ea9f765f004ff419f34194018a6827ac0e3edfed4d"},
+
+[[package]]
+name = "wrapt"
+version = "1.15.0"
+description = "Module for decorators, wrappers and monkey patching."
+optional = false
+python-versions = "!=3.0.*,!=3.1.*,!=3.2.*,!=3.3.*,!=3.4.*,>=2.7"
+files = [
+    {file = "wrapt-1.15.0-cp27-cp27m-macosx_10_9_x86_64.whl", hash = "sha256:ca1cccf838cd28d5a0883b342474c630ac48cac5df0ee6eacc9c7290f76b11c1"},
+    {file = "wrapt-1.15.0-cp27-cp27m-manylinux1_i686.whl", hash = "sha256:e826aadda3cae59295b95343db8f3d965fb31059da7de01ee8d1c40a60398b29"},
+    {file = "wrapt-1.15.0-cp27-cp27m-manylinux1_x86_64.whl", hash = "sha256:5fc8e02f5984a55d2c653f5fea93531e9836abbd84342c1d1e17abc4a15084c2"},
+    {file = "wrapt-1.15.0-cp27-cp27m-manylinux2010_i686.whl", hash = "sha256:96e25c8603a155559231c19c0349245eeb4ac0096fe3c1d0be5c47e075bd4f46"},
+    {file = "wrapt-1.15.0-cp27-cp27m-manylinux2010_x86_64.whl", hash = "sha256:40737a081d7497efea35ab9304b829b857f21558acfc7b3272f908d33b0d9d4c"},
+    {file = "wrapt-1.15.0-cp27-cp27mu-manylinux1_i686.whl", hash = "sha256:f87ec75864c37c4c6cb908d282e1969e79763e0d9becdfe9fe5473b7bb1e5f09"},
+    {file = "wrapt-1.15.0-cp27-cp27mu-manylinux1_x86_64.whl", hash = "sha256:1286eb30261894e4c70d124d44b7fd07825340869945c79d05bda53a40caa079"},
+    {file = "wrapt-1.15.0-cp27-cp27mu-manylinux2010_i686.whl", hash = "sha256:493d389a2b63c88ad56cdc35d0fa5752daac56ca755805b1b0c530f785767d5e"},
+    {file = "wrapt-1.15.0-cp27-cp27mu-manylinux2010_x86_64.whl", hash = "sha256:58d7a75d731e8c63614222bcb21dd992b4ab01a399f1f09dd82af17bbfc2368a"},
+    {file = "wrapt-1.15.0-cp310-cp310-macosx_10_9_x86_64.whl", hash = "sha256:21f6d9a0d5b3a207cdf7acf8e58d7d13d463e639f0c7e01d82cdb671e6cb7923"},
+    {file = "wrapt-1.15.0-cp310-cp310-macosx_11_0_arm64.whl", hash = "sha256:ce42618f67741d4697684e501ef02f29e758a123aa2d669e2d964ff734ee00ee"},
+    {file = "wrapt-1.15.0-cp310-cp310-manylinux_2_17_aarch64.manylinux2014_aarch64.whl", hash = "sha256:41d07d029dd4157ae27beab04d22b8e261eddfc6ecd64ff7000b10dc8b3a5727"},
+    {file = "wrapt-1.15.0-cp310-cp310-manylinux_2_5_i686.manylinux1_i686.manylinux_2_17_i686.manylinux2014_i686.whl", hash = "sha256:54accd4b8bc202966bafafd16e69da9d5640ff92389d33d28555c5fd4f25ccb7"},
+    {file = "wrapt-1.15.0-cp310-cp310-manylinux_2_5_x86_64.manylinux1_x86_64.manylinux_2_17_x86_64.manylinux2014_x86_64.whl", hash = "sha256:2fbfbca668dd15b744418265a9607baa970c347eefd0db6a518aaf0cfbd153c0"},
+    {file = "wrapt-1.15.0-cp310-cp310-musllinux_1_1_aarch64.whl", hash = "sha256:76e9c727a874b4856d11a32fb0b389afc61ce8aaf281ada613713ddeadd1cfec"},
+    {file = "wrapt-1.15.0-cp310-cp310-musllinux_1_1_i686.whl", hash = "sha256:e20076a211cd6f9b44a6be58f7eeafa7ab5720eb796975d0c03f05b47d89eb90"},
+    {file = "wrapt-1.15.0-cp310-cp310-musllinux_1_1_x86_64.whl", hash = "sha256:a74d56552ddbde46c246b5b89199cb3fd182f9c346c784e1a93e4dc3f5ec9975"},
+    {file = "wrapt-1.15.0-cp310-cp310-win32.whl", hash = "sha256:26458da5653aa5b3d8dc8b24192f574a58984c749401f98fff994d41d3f08da1"},
+    {file = "wrapt-1.15.0-cp310-cp310-win_amd64.whl", hash = "sha256:75760a47c06b5974aa5e01949bf7e66d2af4d08cb8c1d6516af5e39595397f5e"},
+    {file = "wrapt-1.15.0-cp311-cp311-macosx_10_9_x86_64.whl", hash = "sha256:ba1711cda2d30634a7e452fc79eabcadaffedf241ff206db2ee93dd2c89a60e7"},
+    {file = "wrapt-1.15.0-cp311-cp311-macosx_11_0_arm64.whl", hash = "sha256:56374914b132c702aa9aa9959c550004b8847148f95e1b824772d453ac204a72"},
+    {file = "wrapt-1.15.0-cp311-cp311-manylinux_2_17_aarch64.manylinux2014_aarch64.whl", hash = "sha256:a89ce3fd220ff144bd9d54da333ec0de0399b52c9ac3d2ce34b569cf1a5748fb"},
+    {file = "wrapt-1.15.0-cp311-cp311-manylinux_2_5_i686.manylinux1_i686.manylinux_2_17_i686.manylinux2014_i686.whl", hash = "sha256:3bbe623731d03b186b3d6b0d6f51865bf598587c38d6f7b0be2e27414f7f214e"},
+    {file = "wrapt-1.15.0-cp311-cp311-manylinux_2_5_x86_64.manylinux1_x86_64.manylinux_2_17_x86_64.manylinux2014_x86_64.whl", hash = "sha256:3abbe948c3cbde2689370a262a8d04e32ec2dd4f27103669a45c6929bcdbfe7c"},
+    {file = "wrapt-1.15.0-cp311-cp311-musllinux_1_1_aarch64.whl", hash = "sha256:b67b819628e3b748fd3c2192c15fb951f549d0f47c0449af0764d7647302fda3"},
+    {file = "wrapt-1.15.0-cp311-cp311-musllinux_1_1_i686.whl", hash = "sha256:7eebcdbe3677e58dd4c0e03b4f2cfa346ed4049687d839adad68cc38bb559c92"},
+    {file = "wrapt-1.15.0-cp311-cp311-musllinux_1_1_x86_64.whl", hash = "sha256:74934ebd71950e3db69960a7da29204f89624dde411afbfb3b4858c1409b1e98"},
+    {file = "wrapt-1.15.0-cp311-cp311-win32.whl", hash = "sha256:bd84395aab8e4d36263cd1b9308cd504f6cf713b7d6d3ce25ea55670baec5416"},
+    {file = "wrapt-1.15.0-cp311-cp311-win_amd64.whl", hash = "sha256:a487f72a25904e2b4bbc0817ce7a8de94363bd7e79890510174da9d901c38705"},
+    {file = "wrapt-1.15.0-cp35-cp35m-manylinux1_i686.whl", hash = "sha256:4ff0d20f2e670800d3ed2b220d40984162089a6e2c9646fdb09b85e6f9a8fc29"},
+    {file = "wrapt-1.15.0-cp35-cp35m-manylinux1_x86_64.whl", hash = "sha256:9ed6aa0726b9b60911f4aed8ec5b8dd7bf3491476015819f56473ffaef8959bd"},
+    {file = "wrapt-1.15.0-cp35-cp35m-manylinux2010_i686.whl", hash = "sha256:896689fddba4f23ef7c718279e42f8834041a21342d95e56922e1c10c0cc7afb"},
+    {file = "wrapt-1.15.0-cp35-cp35m-manylinux2010_x86_64.whl", hash = "sha256:75669d77bb2c071333417617a235324a1618dba66f82a750362eccbe5b61d248"},
+    {file = "wrapt-1.15.0-cp35-cp35m-win32.whl", hash = "sha256:fbec11614dba0424ca72f4e8ba3c420dba07b4a7c206c8c8e4e73f2e98f4c559"},
+    {file = "wrapt-1.15.0-cp35-cp35m-win_amd64.whl", hash = "sha256:fd69666217b62fa5d7c6aa88e507493a34dec4fa20c5bd925e4bc12fce586639"},
+    {file = "wrapt-1.15.0-cp36-cp36m-macosx_10_9_x86_64.whl", hash = "sha256:b0724f05c396b0a4c36a3226c31648385deb6a65d8992644c12a4963c70326ba"},
+    {file = "wrapt-1.15.0-cp36-cp36m-manylinux_2_17_aarch64.manylinux2014_aarch64.whl", hash = "sha256:bbeccb1aa40ab88cd29e6c7d8585582c99548f55f9b2581dfc5ba68c59a85752"},
+    {file = "wrapt-1.15.0-cp36-cp36m-manylinux_2_5_i686.manylinux1_i686.manylinux_2_17_i686.manylinux2014_i686.whl", hash = "sha256:38adf7198f8f154502883242f9fe7333ab05a5b02de7d83aa2d88ea621f13364"},
+    {file = "wrapt-1.15.0-cp36-cp36m-manylinux_2_5_x86_64.manylinux1_x86_64.manylinux_2_17_x86_64.manylinux2014_x86_64.whl", hash = "sha256:578383d740457fa790fdf85e6d346fda1416a40549fe8db08e5e9bd281c6a475"},
+    {file = "wrapt-1.15.0-cp36-cp36m-musllinux_1_1_aarch64.whl", hash = "sha256:a4cbb9ff5795cd66f0066bdf5947f170f5d63a9274f99bdbca02fd973adcf2a8"},
+    {file = "wrapt-1.15.0-cp36-cp36m-musllinux_1_1_i686.whl", hash = "sha256:af5bd9ccb188f6a5fdda9f1f09d9f4c86cc8a539bd48a0bfdc97723970348418"},
+    {file = "wrapt-1.15.0-cp36-cp36m-musllinux_1_1_x86_64.whl", hash = "sha256:b56d5519e470d3f2fe4aa7585f0632b060d532d0696c5bdfb5e8319e1d0f69a2"},
+    {file = "wrapt-1.15.0-cp36-cp36m-win32.whl", hash = "sha256:77d4c1b881076c3ba173484dfa53d3582c1c8ff1f914c6461ab70c8428b796c1"},
+    {file = "wrapt-1.15.0-cp36-cp36m-win_amd64.whl", hash = "sha256:077ff0d1f9d9e4ce6476c1a924a3332452c1406e59d90a2cf24aeb29eeac9420"},
+    {file = "wrapt-1.15.0-cp37-cp37m-macosx_10_9_x86_64.whl", hash = "sha256:5c5aa28df055697d7c37d2099a7bc09f559d5053c3349b1ad0c39000e611d317"},
+    {file = "wrapt-1.15.0-cp37-cp37m-manylinux_2_17_aarch64.manylinux2014_aarch64.whl", hash = "sha256:3a8564f283394634a7a7054b7983e47dbf39c07712d7b177b37e03f2467a024e"},
+    {file = "wrapt-1.15.0-cp37-cp37m-manylinux_2_5_i686.manylinux1_i686.manylinux_2_17_i686.manylinux2014_i686.whl", hash = "sha256:780c82a41dc493b62fc5884fb1d3a3b81106642c5c5c78d6a0d4cbe96d62ba7e"},
+    {file = "wrapt-1.15.0-cp37-cp37m-manylinux_2_5_x86_64.manylinux1_x86_64.manylinux_2_17_x86_64.manylinux2014_x86_64.whl", hash = "sha256:e169e957c33576f47e21864cf3fc9ff47c223a4ebca8960079b8bd36cb014fd0"},
+    {file = "wrapt-1.15.0-cp37-cp37m-musllinux_1_1_aarch64.whl", hash = "sha256:b02f21c1e2074943312d03d243ac4388319f2456576b2c6023041c4d57cd7019"},
+    {file = "wrapt-1.15.0-cp37-cp37m-musllinux_1_1_i686.whl", hash = "sha256:f2e69b3ed24544b0d3dbe2c5c0ba5153ce50dcebb576fdc4696d52aa22db6034"},
+    {file = "wrapt-1.15.0-cp37-cp37m-musllinux_1_1_x86_64.whl", hash = "sha256:d787272ed958a05b2c86311d3a4135d3c2aeea4fc655705f074130aa57d71653"},
+    {file = "wrapt-1.15.0-cp37-cp37m-win32.whl", hash = "sha256:02fce1852f755f44f95af51f69d22e45080102e9d00258053b79367d07af39c0"},
+    {file = "wrapt-1.15.0-cp37-cp37m-win_amd64.whl", hash = "sha256:abd52a09d03adf9c763d706df707c343293d5d106aea53483e0ec8d9e310ad5e"},
+    {file = "wrapt-1.15.0-cp38-cp38-macosx_10_9_x86_64.whl", hash = "sha256:cdb4f085756c96a3af04e6eca7f08b1345e94b53af8921b25c72f096e704e145"},
+    {file = "wrapt-1.15.0-cp38-cp38-macosx_11_0_arm64.whl", hash = "sha256:230ae493696a371f1dbffaad3dafbb742a4d27a0afd2b1aecebe52b740167e7f"},
+    {file = "wrapt-1.15.0-cp38-cp38-manylinux_2_17_aarch64.manylinux2014_aarch64.whl", hash = "sha256:63424c681923b9f3bfbc5e3205aafe790904053d42ddcc08542181a30a7a51bd"},
+    {file = "wrapt-1.15.0-cp38-cp38-manylinux_2_5_i686.manylinux1_i686.manylinux_2_17_i686.manylinux2014_i686.whl", hash = "sha256:d6bcbfc99f55655c3d93feb7ef3800bd5bbe963a755687cbf1f490a71fb7794b"},
+    {file = "wrapt-1.15.0-cp38-cp38-manylinux_2_5_x86_64.manylinux1_x86_64.manylinux_2_17_x86_64.manylinux2014_x86_64.whl", hash = "sha256:c99f4309f5145b93eca6e35ac1a988f0dc0a7ccf9ccdcd78d3c0adf57224e62f"},
+    {file = "wrapt-1.15.0-cp38-cp38-musllinux_1_1_aarch64.whl", hash = "sha256:b130fe77361d6771ecf5a219d8e0817d61b236b7d8b37cc045172e574ed219e6"},
+    {file = "wrapt-1.15.0-cp38-cp38-musllinux_1_1_i686.whl", hash = "sha256:96177eb5645b1c6985f5c11d03fc2dbda9ad24ec0f3a46dcce91445747e15094"},
+    {file = "wrapt-1.15.0-cp38-cp38-musllinux_1_1_x86_64.whl", hash = "sha256:d5fe3e099cf07d0fb5a1e23d399e5d4d1ca3e6dfcbe5c8570ccff3e9208274f7"},
+    {file = "wrapt-1.15.0-cp38-cp38-win32.whl", hash = "sha256:abd8f36c99512755b8456047b7be10372fca271bf1467a1caa88db991e7c421b"},
+    {file = "wrapt-1.15.0-cp38-cp38-win_amd64.whl", hash = "sha256:b06fa97478a5f478fb05e1980980a7cdf2712015493b44d0c87606c1513ed5b1"},
+    {file = "wrapt-1.15.0-cp39-cp39-macosx_10_9_x86_64.whl", hash = "sha256:2e51de54d4fb8fb50d6ee8327f9828306a959ae394d3e01a1ba8b2f937747d86"},
+    {file = "wrapt-1.15.0-cp39-cp39-macosx_11_0_arm64.whl", hash = "sha256:0970ddb69bba00670e58955f8019bec4a42d1785db3faa043c33d81de2bf843c"},
+    {file = "wrapt-1.15.0-cp39-cp39-manylinux_2_17_aarch64.manylinux2014_aarch64.whl", hash = "sha256:76407ab327158c510f44ded207e2f76b657303e17cb7a572ffe2f5a8a48aa04d"},
+    {file = "wrapt-1.15.0-cp39-cp39-manylinux_2_5_i686.manylinux1_i686.manylinux_2_17_i686.manylinux2014_i686.whl", hash = "sha256:cd525e0e52a5ff16653a3fc9e3dd827981917d34996600bbc34c05d048ca35cc"},
+    {file = "wrapt-1.15.0-cp39-cp39-manylinux_2_5_x86_64.manylinux1_x86_64.manylinux_2_17_x86_64.manylinux2014_x86_64.whl", hash = "sha256:9d37ac69edc5614b90516807de32d08cb8e7b12260a285ee330955604ed9dd29"},
+    {file = "wrapt-1.15.0-cp39-cp39-musllinux_1_1_aarch64.whl", hash = "sha256:078e2a1a86544e644a68422f881c48b84fef6d18f8c7a957ffd3f2e0a74a0d4a"},
+    {file = "wrapt-1.15.0-cp39-cp39-musllinux_1_1_i686.whl", hash = "sha256:2cf56d0e237280baed46f0b5316661da892565ff58309d4d2ed7dba763d984b8"},
+    {file = "wrapt-1.15.0-cp39-cp39-musllinux_1_1_x86_64.whl", hash = "sha256:7dc0713bf81287a00516ef43137273b23ee414fe41a3c14be10dd95ed98a2df9"},
+    {file = "wrapt-1.15.0-cp39-cp39-win32.whl", hash = "sha256:46ed616d5fb42f98630ed70c3529541408166c22cdfd4540b88d5f21006b0eff"},
+    {file = "wrapt-1.15.0-cp39-cp39-win_amd64.whl", hash = "sha256:eef4d64c650f33347c1f9266fa5ae001440b232ad9b98f1f43dfe7a79435c0a6"},
+    {file = "wrapt-1.15.0-py3-none-any.whl", hash = "sha256:64b1df0f83706b4ef4cfb4fb0e4c2669100fd7ecacfb59e091fad300d4e04640"},
+    {file = "wrapt-1.15.0.tar.gz", hash = "sha256:d06730c6aed78cee4126234cf2d071e01b44b915e725a6cb439a879ec9754a3a"},
 ]
-xattr = [
-    {file = "xattr-0.9.9-cp27-cp27m-macosx_10_9_x86_64.whl", hash = "sha256:58a9fb4fd19b467e88f4b75b5243706caa57e312d3aee757b53b57c7fd0f4ba9"},
-    {file = "xattr-0.9.9-cp27-cp27m-manylinux1_i686.whl", hash = "sha256:e71efca59705c7abde5b7f76323ebe00ed2977f10cba4204b9421dada036b5ca"},
-    {file = "xattr-0.9.9-cp27-cp27m-manylinux1_x86_64.whl", hash = "sha256:1aad96b6603961c3d1ca1aaa8369b1a8d684a7b37357b2428087c286bf0e561c"},
-    {file = "xattr-0.9.9-cp27-cp27m-manylinux2010_i686.whl", hash = "sha256:46cb74f98d31d9d70f975ec3e6554360a9bdcbb4b9fb50a69fabe54f9f928c97"},
-    {file = "xattr-0.9.9-cp27-cp27m-manylinux2010_x86_64.whl", hash = "sha256:80c2db56058a687d7439be041f916cbeb2943fbe2623e53d5da721a4552d8991"},
-    {file = "xattr-0.9.9-cp27-cp27mu-manylinux1_i686.whl", hash = "sha256:c360d1cc42e885b64d84f64de3c501dd7bce576248327ef583b4625ee63aa023"},
-    {file = "xattr-0.9.9-cp27-cp27mu-manylinux1_x86_64.whl", hash = "sha256:debd87afe6bdf88c3689bde52eecf2b166388b13ef7388259d23223374db417d"},
-    {file = "xattr-0.9.9-cp27-cp27mu-manylinux2010_i686.whl", hash = "sha256:4280c9f33a8678828f1bbc3d3dc8b823b5e4a113ee5ecb0fb98bff60cc2b9ad1"},
-    {file = "xattr-0.9.9-cp27-cp27mu-manylinux2010_x86_64.whl", hash = "sha256:e0916ec1656d2071cd3139d1f52426825985d8ed076f981ef7f0bc13dfa8e96c"},
-    {file = "xattr-0.9.9-cp310-cp310-macosx_10_9_universal2.whl", hash = "sha256:a517916fbf2f58a3222bb2048fe1eeff4e23e07a4ce6228a27de004c80bf53ab"},
-    {file = "xattr-0.9.9-cp310-cp310-macosx_10_9_x86_64.whl", hash = "sha256:e886c882b3b28c7a684c3e3daf46347da5428a46b88bc6d62c4867d574b90c54"},
-    {file = "xattr-0.9.9-cp310-cp310-macosx_11_0_arm64.whl", hash = "sha256:373e3d1fd9258438fc38d1438142d3659f36743f374a20457346ef26741ed441"},
-    {file = "xattr-0.9.9-cp310-cp310-manylinux_2_17_aarch64.manylinux2014_aarch64.whl", hash = "sha256:1a7beeb54ca140273b2f6320bb98b701ec30628af2ebe4eb30f7051419eb4ef3"},
-    {file = "xattr-0.9.9-cp310-cp310-manylinux_2_5_i686.manylinux1_i686.manylinux_2_17_i686.manylinux2014_i686.whl", hash = "sha256:ef3ca29cdaae9c47c625d84bb6c9046f7275cccde0ea805caa23ca58d3671f3f"},
-    {file = "xattr-0.9.9-cp310-cp310-manylinux_2_5_x86_64.manylinux1_x86_64.manylinux_2_17_x86_64.manylinux2014_x86_64.whl", hash = "sha256:5c381d890931cd18b137ce3fb5c5f08b672c3c61e2e47b1a7442ee46e827abfe"},
-    {file = "xattr-0.9.9-cp310-cp310-musllinux_1_1_aarch64.whl", hash = "sha256:59c5783ccf57cf2700ce57d51a92134900ed26f6ab20d209f383fb898903fea6"},
-    {file = "xattr-0.9.9-cp310-cp310-musllinux_1_1_i686.whl", hash = "sha256:966b885b69d95362e2a12d39f84889cf857090e57263b5ac33409498aa00c160"},
-    {file = "xattr-0.9.9-cp310-cp310-musllinux_1_1_x86_64.whl", hash = "sha256:efaaf0cb1ea8e9febb7baad301ae8cc9ad7a96fdfc5c6399d165e7a19e3e61ce"},
-    {file = "xattr-0.9.9-cp36-cp36m-macosx_10_9_x86_64.whl", hash = "sha256:f19fa75ed1e9db86354efab29869cb2be6976d456bd7c89e67b118d5384a1d98"},
-    {file = "xattr-0.9.9-cp36-cp36m-manylinux_2_17_aarch64.manylinux2014_aarch64.whl", hash = "sha256:7ca28ad06828244b315214ee35388f57e81e90aac2ceac3f32e42ae394e31b9c"},
-    {file = "xattr-0.9.9-cp36-cp36m-manylinux_2_5_i686.manylinux1_i686.manylinux_2_17_i686.manylinux2014_i686.whl", hash = "sha256:532c7f1656dd2fe937116b9e210229f716d7fc7ac142f9cdace7da92266d32e8"},
-    {file = "xattr-0.9.9-cp36-cp36m-manylinux_2_5_x86_64.manylinux1_x86_64.manylinux_2_17_x86_64.manylinux2014_x86_64.whl", hash = "sha256:11c28033c17e98c67e0def9d6ebd415ad3c006a7bc3fee6bad79c5e52d0dff49"},
-    {file = "xattr-0.9.9-cp36-cp36m-musllinux_1_1_aarch64.whl", hash = "sha256:473cabb30e544ea08c8c01c1ef18053147cdc8552d443ac97815e46fbb13c7d4"},
-    {file = "xattr-0.9.9-cp36-cp36m-musllinux_1_1_i686.whl", hash = "sha256:c4a308522b444d090fbd66a385c9519b6b977818226921b0d2fc403667c93564"},
-    {file = "xattr-0.9.9-cp36-cp36m-musllinux_1_1_x86_64.whl", hash = "sha256:82493434488aca72d88b5129dac8f212e7b8bdca7ceffe7bb977c850f2452e4e"},
-    {file = "xattr-0.9.9-cp37-cp37m-macosx_10_9_x86_64.whl", hash = "sha256:e41d289706c7e8940f4d08e865da6a8ae988123e40a44f9a97ddc09e67795d7d"},
-    {file = "xattr-0.9.9-cp37-cp37m-manylinux_2_17_aarch64.manylinux2014_aarch64.whl", hash = "sha256:ef08698e360cf43688dca3db3421b156b29948a714d5d089348073f463c11646"},
-    {file = "xattr-0.9.9-cp37-cp37m-manylinux_2_5_i686.manylinux1_i686.manylinux_2_17_i686.manylinux2014_i686.whl", hash = "sha256:4eb10ac16ca8d534c0395425d52121e0c1981f808e1b3f577f6a5ec33d3853e4"},
-    {file = "xattr-0.9.9-cp37-cp37m-manylinux_2_5_x86_64.manylinux1_x86_64.manylinux_2_17_x86_64.manylinux2014_x86_64.whl", hash = "sha256:5605fec07b0e964bd980cc70ec335b9eb1b7ac7c6f314c7c2d8f54b09104fe4c"},
-    {file = "xattr-0.9.9-cp37-cp37m-musllinux_1_1_aarch64.whl", hash = "sha256:974e7d577ddb15e4552fb0ec10a4cfe09bdf6267365aa2b8394bb04637785aad"},
-    {file = "xattr-0.9.9-cp37-cp37m-musllinux_1_1_i686.whl", hash = "sha256:ad6777de922c638bfa87a0d7faebc5722ddef04a1210b2a8909289b58b769af0"},
-    {file = "xattr-0.9.9-cp37-cp37m-musllinux_1_1_x86_64.whl", hash = "sha256:3887e70873ebf0efbde32f9929ec1c7e45ec0013561743e2cc0406a91e51113b"},
-    {file = "xattr-0.9.9-cp38-cp38-macosx_10_9_universal2.whl", hash = "sha256:83caa8e93a45a0f25f91b92d9b45f490c87bff74f02555df6312efeba0dacc31"},
-    {file = "xattr-0.9.9-cp38-cp38-macosx_10_9_x86_64.whl", hash = "sha256:e33ec0a1d913d946d1ab7509f37ee37306c45af735347f13b963df34ffe6e029"},
-    {file = "xattr-0.9.9-cp38-cp38-macosx_11_0_arm64.whl", hash = "sha256:263c58dca83372260c5c195e0b59959e38e1f107f0b7350de82e3db38479036c"},
-    {file = "xattr-0.9.9-cp38-cp38-manylinux_2_17_aarch64.manylinux2014_aarch64.whl", hash = "sha256:125dfb9905428162349d3b8b825d9a18280893f0cb0db2a2467d5ef253fa6ce2"},
-    {file = "xattr-0.9.9-cp38-cp38-manylinux_2_5_i686.manylinux1_i686.manylinux_2_17_i686.manylinux2014_i686.whl", hash = "sha256:e243524e0dde16d7a2e1b52512ad2c6964df2143dd1c79b820dcb4c6c0822c20"},
-    {file = "xattr-0.9.9-cp38-cp38-manylinux_2_5_x86_64.manylinux1_x86_64.manylinux_2_17_x86_64.manylinux2014_x86_64.whl", hash = "sha256:01ec07d24a14406bdc6a123041c63a88e1c4a3f820e4a7d30f7609d57311b499"},
-    {file = "xattr-0.9.9-cp38-cp38-musllinux_1_1_aarch64.whl", hash = "sha256:85c1df5f1d209345ea96de137419e886a27bb55076b3ae01faacf35aafcf3a61"},
-    {file = "xattr-0.9.9-cp38-cp38-musllinux_1_1_i686.whl", hash = "sha256:ca74d3eff92d6dc16e271fbad9cbab547fb9a0c983189c4031c3ff3d150dd871"},
-    {file = "xattr-0.9.9-cp38-cp38-musllinux_1_1_x86_64.whl", hash = "sha256:7d17505e49ac70c0e71939c5aac96417a863583fb30a2d6304d5ac881230548f"},
-    {file = "xattr-0.9.9-cp39-cp39-macosx_10_9_universal2.whl", hash = "sha256:1ae47a6398d3c04623fa386a4aa2f66e5cd3cdb1a7e69d1bfaeb8c73983bf271"},
-    {file = "xattr-0.9.9-cp39-cp39-macosx_10_9_x86_64.whl", hash = "sha256:809e2537d0aff9fca97dacf3245cbbaf711bbced5d1b0235a8d1906b04e26114"},
-    {file = "xattr-0.9.9-cp39-cp39-macosx_11_0_arm64.whl", hash = "sha256:de3af84364f06d67b3662ccf7c1a73e1d389d8d274394e952651e7bf1bbd2718"},
-    {file = "xattr-0.9.9-cp39-cp39-manylinux_2_17_aarch64.manylinux2014_aarch64.whl", hash = "sha256:3b62cdad232d2d2dedd39b543701db8e3883444ec0d57ce3fab8f75e5f8b0301"},
-    {file = "xattr-0.9.9-cp39-cp39-manylinux_2_5_i686.manylinux1_i686.manylinux_2_17_i686.manylinux2014_i686.whl", hash = "sha256:6b11d2eda397d47f7075743409683c233519ca52aa1dac109b413a4d8c15b740"},
-    {file = "xattr-0.9.9-cp39-cp39-manylinux_2_5_x86_64.manylinux1_x86_64.manylinux_2_17_x86_64.manylinux2014_x86_64.whl", hash = "sha256:661c0a939aefdf071887121f534bb10588d69c7b2dfca5c486af2fc81a0786e8"},
-    {file = "xattr-0.9.9-cp39-cp39-musllinux_1_1_aarch64.whl", hash = "sha256:5db7c2db320a8d5264d437d71f1eb7270a7e4a6545296e7766161d17752590b7"},
-    {file = "xattr-0.9.9-cp39-cp39-musllinux_1_1_i686.whl", hash = "sha256:83203e60cbaca9536d297e5039b285a600ff84e6e9e8536fe2d521825eeeb437"},
-    {file = "xattr-0.9.9-cp39-cp39-musllinux_1_1_x86_64.whl", hash = "sha256:42bfb4e4da06477e739770ac6942edbdc71e9fc3b497b67db5fba712fa8109c2"},
-    {file = "xattr-0.9.9-pp37-pypy37_pp73-macosx_10_9_x86_64.whl", hash = "sha256:67047d04d1c56ad4f0f5886085e91b0077238ab3faaec6492c3c21920c6566eb"},
-    {file = "xattr-0.9.9-pp37-pypy37_pp73-manylinux_2_17_aarch64.manylinux2014_aarch64.whl", hash = "sha256:885782bc82ded1a3f684d54a1af259ae9fcc347fa54b5a05b8aad82b8a42044c"},
-    {file = "xattr-0.9.9-pp37-pypy37_pp73-manylinux_2_5_i686.manylinux1_i686.manylinux_2_17_i686.manylinux2014_i686.whl", hash = "sha256:5bc84ccec618b5aa089e7cee8b07fcc92d4069aac4053da604c8143a0d6b1381"},
-    {file = "xattr-0.9.9-pp37-pypy37_pp73-manylinux_2_5_x86_64.manylinux1_x86_64.manylinux_2_17_x86_64.manylinux2014_x86_64.whl", hash = "sha256:baeff3e5dda8ea7e9424cfaee51829f46afe3836c30d02f343f9049c685681ca"},
-    {file = "xattr-0.9.9.tar.gz", hash = "sha256:09cb7e1efb3aa1b4991d6be4eb25b73dc518b4fe894f0915f5b0dcede972f346"},
+
+[[package]]
+name = "xattr"
+version = "0.10.1"
+description = "Python wrapper for extended filesystem attributes"
+optional = false
+python-versions = "*"
+files = [
+    {file = "xattr-0.10.1-cp27-cp27m-macosx_10_9_x86_64.whl", hash = "sha256:16a660a883e703b311d1bbbcafc74fa877585ec081cd96e8dd9302c028408ab1"},
+    {file = "xattr-0.10.1-cp27-cp27m-manylinux1_i686.whl", hash = "sha256:1e2973e72faa87ca29d61c23b58c3c89fe102d1b68e091848b0e21a104123503"},
+    {file = "xattr-0.10.1-cp27-cp27m-manylinux1_x86_64.whl", hash = "sha256:13279fe8f7982e3cdb0e088d5cb340ce9cbe5ef92504b1fd80a0d3591d662f68"},
+    {file = "xattr-0.10.1-cp27-cp27m-manylinux2010_i686.whl", hash = "sha256:1dc9b9f580ef4b8ac5e2c04c16b4d5086a611889ac14ecb2e7e87170623a0b75"},
+    {file = "xattr-0.10.1-cp27-cp27m-manylinux2010_x86_64.whl", hash = "sha256:485539262c2b1f5acd6b6ea56e0da2bc281a51f74335c351ea609c23d82c9a79"},
+    {file = "xattr-0.10.1-cp27-cp27mu-manylinux1_i686.whl", hash = "sha256:295b3ab335fcd06ca0a9114439b34120968732e3f5e9d16f456d5ec4fa47a0a2"},
+    {file = "xattr-0.10.1-cp27-cp27mu-manylinux1_x86_64.whl", hash = "sha256:a126eb38e14a2f273d584a692fe36cff760395bf7fc061ef059224efdb4eb62c"},
+    {file = "xattr-0.10.1-cp27-cp27mu-manylinux2010_i686.whl", hash = "sha256:b0e919c24f5b74428afa91507b15e7d2ef63aba98e704ad13d33bed1288dca81"},
+    {file = "xattr-0.10.1-cp27-cp27mu-manylinux2010_x86_64.whl", hash = "sha256:e31d062cfe1aaeab6ba3db6bd255f012d105271018e647645941d6609376af18"},
+    {file = "xattr-0.10.1-cp310-cp310-macosx_10_9_universal2.whl", hash = "sha256:209fb84c09b41c2e4cf16dd2f481bb4a6e2e81f659a47a60091b9bcb2e388840"},
+    {file = "xattr-0.10.1-cp310-cp310-macosx_10_9_x86_64.whl", hash = "sha256:c4120090dac33eddffc27e487f9c8f16b29ff3f3f8bcb2251b2c6c3f974ca1e1"},
+    {file = "xattr-0.10.1-cp310-cp310-macosx_11_0_arm64.whl", hash = "sha256:3e739d624491267ec5bb740f4eada93491de429d38d2fcdfb97b25efe1288eca"},
+    {file = "xattr-0.10.1-cp310-cp310-manylinux_2_17_aarch64.manylinux2014_aarch64.whl", hash = "sha256:2677d40b95636f3482bdaf64ed9138fb4d8376fb7933f434614744780e46e42d"},
+    {file = "xattr-0.10.1-cp310-cp310-manylinux_2_5_i686.manylinux1_i686.manylinux_2_17_i686.manylinux2014_i686.whl", hash = "sha256:40039f1532c4456fd0f4c54e9d4e01eb8201248c321c6c6856262d87e9a99593"},
+    {file = "xattr-0.10.1-cp310-cp310-manylinux_2_5_x86_64.manylinux1_x86_64.manylinux_2_17_x86_64.manylinux2014_x86_64.whl", hash = "sha256:148466e5bb168aba98f80850cf976e931469a3c6eb11e9880d9f6f8b1e66bd06"},
+    {file = "xattr-0.10.1-cp310-cp310-musllinux_1_1_aarch64.whl", hash = "sha256:0aedf55b116beb6427e6f7958ccd80a8cbc80e82f87a4cd975ccb61a8d27b2ee"},
+    {file = "xattr-0.10.1-cp310-cp310-musllinux_1_1_i686.whl", hash = "sha256:c3024a9ff157247c8190dd0eb54db4a64277f21361b2f756319d9d3cf20e475f"},
+    {file = "xattr-0.10.1-cp310-cp310-musllinux_1_1_x86_64.whl", hash = "sha256:f1be6e733e9698f645dbb98565bb8df9b75e80e15a21eb52787d7d96800e823b"},
+    {file = "xattr-0.10.1-cp311-cp311-macosx_10_9_universal2.whl", hash = "sha256:7880c8a54c18bc091a4ce0adc5c6d81da1c748aec2fe7ac586d204d6ec7eca5b"},
+    {file = "xattr-0.10.1-cp311-cp311-macosx_10_9_x86_64.whl", hash = "sha256:89c93b42c3ba8aedbc29da759f152731196c2492a2154371c0aae3ef8ba8301b"},
+    {file = "xattr-0.10.1-cp311-cp311-macosx_11_0_arm64.whl", hash = "sha256:6b905e808df61b677eb972f915f8a751960284358b520d0601c8cbc476ba2df6"},
+    {file = "xattr-0.10.1-cp311-cp311-manylinux_2_17_aarch64.manylinux2014_aarch64.whl", hash = "sha256:d1ef954d0655f93a34d07d0cc7e02765ec779ff0b59dc898ee08c6326ad614d5"},
+    {file = "xattr-0.10.1-cp311-cp311-manylinux_2_5_i686.manylinux1_i686.manylinux_2_17_i686.manylinux2014_i686.whl", hash = "sha256:199b20301b6acc9022661412346714ce764d322068ef387c4de38062474db76c"},
+    {file = "xattr-0.10.1-cp311-cp311-manylinux_2_5_x86_64.manylinux1_x86_64.manylinux_2_17_x86_64.manylinux2014_x86_64.whl", hash = "sha256:ec0956a8ab0f0d3f9011ba480f1e1271b703d11542375ef73eb8695a6bd4b78b"},
+    {file = "xattr-0.10.1-cp311-cp311-musllinux_1_1_aarch64.whl", hash = "sha256:ffcb57ca1be338d69edad93cf59aac7c6bb4dbb92fd7bf8d456c69ea42f7e6d2"},
+    {file = "xattr-0.10.1-cp311-cp311-musllinux_1_1_i686.whl", hash = "sha256:1f0563196ee54756fe2047627d316977dc77d11acd7a07970336e1a711e934db"},
+    {file = "xattr-0.10.1-cp311-cp311-musllinux_1_1_x86_64.whl", hash = "sha256:fc354f086f926a1c7f04886f97880fed1a26d20e3bc338d0d965fd161dbdb8ab"},
+    {file = "xattr-0.10.1-cp36-cp36m-macosx_10_9_x86_64.whl", hash = "sha256:c0cd2d02ef2fb45ecf2b0da066a58472d54682c6d4f0452dfe7ae2f3a76a42ea"},
+    {file = "xattr-0.10.1-cp36-cp36m-manylinux_2_17_aarch64.manylinux2014_aarch64.whl", hash = "sha256:49626096ddd72dcc1654aadd84b103577d8424f26524a48d199847b5d55612d0"},
+    {file = "xattr-0.10.1-cp36-cp36m-manylinux_2_5_i686.manylinux1_i686.manylinux_2_17_i686.manylinux2014_i686.whl", hash = "sha256:ceaa26bef8fcb17eb59d92a7481c2d15d20211e217772fb43c08c859b01afc6a"},
+    {file = "xattr-0.10.1-cp36-cp36m-manylinux_2_5_x86_64.manylinux1_x86_64.manylinux_2_17_x86_64.manylinux2014_x86_64.whl", hash = "sha256:e8c014c371391f28f8cd27d73ea59f42b30772cd640b5a2538ad4f440fd9190b"},
+    {file = "xattr-0.10.1-cp36-cp36m-musllinux_1_1_aarch64.whl", hash = "sha256:46c32cd605673606b9388a313b0050ee7877a0640d7561eea243ace4fa2cc5a6"},
+    {file = "xattr-0.10.1-cp36-cp36m-musllinux_1_1_i686.whl", hash = "sha256:772b22c4ff791fe5816a7c2a1c9fcba83f9ab9bea138eb44d4d70f34676232b4"},
+    {file = "xattr-0.10.1-cp36-cp36m-musllinux_1_1_x86_64.whl", hash = "sha256:183ad611a2d70b5a3f5f7aadef0fcef604ea33dcf508228765fd4ddac2c7321d"},
+    {file = "xattr-0.10.1-cp37-cp37m-macosx_10_9_x86_64.whl", hash = "sha256:8068df3ebdfa9411e58d5ae4a05d807ec5994645bb01af66ec9f6da718b65c5b"},
+    {file = "xattr-0.10.1-cp37-cp37m-manylinux_2_17_aarch64.manylinux2014_aarch64.whl", hash = "sha256:5bc40570155beb85e963ae45300a530223d9822edfdf09991b880e69625ba38a"},
+    {file = "xattr-0.10.1-cp37-cp37m-manylinux_2_5_i686.manylinux1_i686.manylinux_2_17_i686.manylinux2014_i686.whl", hash = "sha256:436e1aaf23c07e15bed63115f1712d2097e207214fc6bcde147c1efede37e2c5"},
+    {file = "xattr-0.10.1-cp37-cp37m-manylinux_2_5_x86_64.manylinux1_x86_64.manylinux_2_17_x86_64.manylinux2014_x86_64.whl", hash = "sha256:7298455ccf3a922d403339781b10299b858bb5ec76435445f2da46fb768e31a5"},
+    {file = "xattr-0.10.1-cp37-cp37m-musllinux_1_1_aarch64.whl", hash = "sha256:986c2305c6c1a08f78611eb38ef9f1f47682774ce954efb5a4f3715e8da00d5f"},
+    {file = "xattr-0.10.1-cp37-cp37m-musllinux_1_1_i686.whl", hash = "sha256:5dc6099e76e33fa3082a905fe59df766b196534c705cf7a2e3ad9bed2b8a180e"},
+    {file = "xattr-0.10.1-cp37-cp37m-musllinux_1_1_x86_64.whl", hash = "sha256:042ad818cda6013162c0bfd3816f6b74b7700e73c908cde6768da824686885f8"},
+    {file = "xattr-0.10.1-cp38-cp38-macosx_10_9_universal2.whl", hash = "sha256:9d4c306828a45b41b76ca17adc26ac3dc00a80e01a5ba85d71df2a3e948828f2"},
+    {file = "xattr-0.10.1-cp38-cp38-macosx_10_9_x86_64.whl", hash = "sha256:a606280b0c9071ef52572434ecd3648407b20df3d27af02c6592e84486b05894"},
+    {file = "xattr-0.10.1-cp38-cp38-macosx_11_0_arm64.whl", hash = "sha256:5b49d591cf34cda2079fd7a5cb2a7a1519f54dc2e62abe3e0720036f6ed41a85"},
+    {file = "xattr-0.10.1-cp38-cp38-manylinux_2_17_aarch64.manylinux2014_aarch64.whl", hash = "sha256:6b8705ac6791426559c1a5c2b88bb2f0e83dc5616a09b4500899bfff6a929302"},
+    {file = "xattr-0.10.1-cp38-cp38-manylinux_2_5_i686.manylinux1_i686.manylinux_2_17_i686.manylinux2014_i686.whl", hash = "sha256:a5ea974930e876bc5c146f54ac0f85bb39b7b5de2b6fc63f90364712ae368ebe"},
+    {file = "xattr-0.10.1-cp38-cp38-manylinux_2_5_x86_64.manylinux1_x86_64.manylinux_2_17_x86_64.manylinux2014_x86_64.whl", hash = "sha256:f55a2dd73a12a1ae5113c5d9cd4b4ab6bf7950f4d76d0a1a0c0c4264d50da61d"},
+    {file = "xattr-0.10.1-cp38-cp38-musllinux_1_1_aarch64.whl", hash = "sha256:475c38da0d3614cc5564467c4efece1e38bd0705a4dbecf8deeb0564a86fb010"},
+    {file = "xattr-0.10.1-cp38-cp38-musllinux_1_1_i686.whl", hash = "sha256:925284a4a28e369459b2b7481ea22840eed3e0573a4a4c06b6b0614ecd27d0a7"},
+    {file = "xattr-0.10.1-cp38-cp38-musllinux_1_1_x86_64.whl", hash = "sha256:aa32f1b45fed9122bed911de0fcc654da349e1f04fa4a9c8ef9b53e1cc98b91e"},
+    {file = "xattr-0.10.1-cp39-cp39-macosx_10_9_universal2.whl", hash = "sha256:c5d3d0e728bace64b74c475eb4da6148cd172b2d23021a1dcd055d92f17619ac"},
+    {file = "xattr-0.10.1-cp39-cp39-macosx_10_9_x86_64.whl", hash = "sha256:8faaacf311e2b5cc67c030c999167a78a9906073e6abf08eaa8cf05b0416515c"},
+    {file = "xattr-0.10.1-cp39-cp39-macosx_11_0_arm64.whl", hash = "sha256:cc6b8d5ca452674e1a96e246a3d2db5f477aecbc7c945c73f890f56323e75203"},
+    {file = "xattr-0.10.1-cp39-cp39-manylinux_2_17_aarch64.manylinux2014_aarch64.whl", hash = "sha256:3725746a6502f40f72ef27e0c7bfc31052a239503ff3eefa807d6b02a249be22"},
+    {file = "xattr-0.10.1-cp39-cp39-manylinux_2_5_i686.manylinux1_i686.manylinux_2_17_i686.manylinux2014_i686.whl", hash = "sha256:789bd406d1aad6735e97b20c6d6a1701e1c0661136be9be862e6a04564da771f"},
+    {file = "xattr-0.10.1-cp39-cp39-manylinux_2_5_x86_64.manylinux1_x86_64.manylinux_2_17_x86_64.manylinux2014_x86_64.whl", hash = "sha256:a9a7a807ab538210ff8532220d8fc5e2d51c212681f63dbd4e7ede32543b070f"},
+    {file = "xattr-0.10.1-cp39-cp39-musllinux_1_1_aarch64.whl", hash = "sha256:3e5825b5fc99ecdd493b0cc09ec35391e7a451394fdf623a88b24726011c950d"},
+    {file = "xattr-0.10.1-cp39-cp39-musllinux_1_1_i686.whl", hash = "sha256:80638d1ce7189dc52f26c234cee3522f060fadab6a8bc3562fe0ddcbe11ba5a4"},
+    {file = "xattr-0.10.1-cp39-cp39-musllinux_1_1_x86_64.whl", hash = "sha256:3ff0dbe4a6ce2ce065c6de08f415bcb270ecfd7bf1655a633ddeac695ce8b250"},
+    {file = "xattr-0.10.1-pp37-pypy37_pp73-macosx_10_9_x86_64.whl", hash = "sha256:5267e5f9435c840d2674194150b511bef929fa7d3bc942a4a75b9eddef18d8d8"},
+    {file = "xattr-0.10.1-pp37-pypy37_pp73-manylinux_2_17_aarch64.manylinux2014_aarch64.whl", hash = "sha256:b27dfc13b193cb290d5d9e62f806bb9a99b00cd73bb6370d556116ad7bb5dc12"},
+    {file = "xattr-0.10.1-pp37-pypy37_pp73-manylinux_2_5_i686.manylinux1_i686.manylinux_2_17_i686.manylinux2014_i686.whl", hash = "sha256:636ebdde0277bce4d12d2ef2550885804834418fee0eb456b69be928e604ecc4"},
+    {file = "xattr-0.10.1-pp37-pypy37_pp73-manylinux_2_5_x86_64.manylinux1_x86_64.manylinux_2_17_x86_64.manylinux2014_x86_64.whl", hash = "sha256:d60c27922ec80310b45574351f71e0dd3a139c5295e8f8b19d19c0010196544f"},
+    {file = "xattr-0.10.1-pp38-pypy38_pp73-macosx_10_9_x86_64.whl", hash = "sha256:b34df5aad035d0343bd740a95ca30db99b776e2630dca9cc1ba8e682c9cc25ea"},
+    {file = "xattr-0.10.1-pp38-pypy38_pp73-manylinux_2_17_aarch64.manylinux2014_aarch64.whl", hash = "sha256:f24a7c04ff666d0fe905dfee0a84bc899d624aeb6dccd1ea86b5c347f15c20c1"},
+    {file = "xattr-0.10.1-pp38-pypy38_pp73-manylinux_2_5_i686.manylinux1_i686.manylinux_2_17_i686.manylinux2014_i686.whl", hash = "sha256:a3878e1aff8eca64badad8f6d896cb98c52984b1e9cd9668a3ab70294d1ef92d"},
+    {file = "xattr-0.10.1-pp38-pypy38_pp73-manylinux_2_5_x86_64.manylinux1_x86_64.manylinux_2_17_x86_64.manylinux2014_x86_64.whl", hash = "sha256:4abef557028c551d59cf2fb3bf63f2a0c89f00d77e54c1c15282ecdd56943496"},
+    {file = "xattr-0.10.1-pp39-pypy39_pp73-macosx_10_9_x86_64.whl", hash = "sha256:0e14bd5965d3db173d6983abdc1241c22219385c22df8b0eb8f1846c15ce1fee"},
+    {file = "xattr-0.10.1-pp39-pypy39_pp73-manylinux_2_17_aarch64.manylinux2014_aarch64.whl", hash = "sha256:7f9be588a4b6043b03777d50654c6079af3da60cc37527dbb80d36ec98842b1e"},
+    {file = "xattr-0.10.1-pp39-pypy39_pp73-manylinux_2_5_i686.manylinux1_i686.manylinux_2_17_i686.manylinux2014_i686.whl", hash = "sha256:b7bc4ae264aa679aacf964abf3ea88e147eb4a22aea6af8c6d03ebdebd64cfd6"},
+    {file = "xattr-0.10.1-pp39-pypy39_pp73-manylinux_2_5_x86_64.manylinux1_x86_64.manylinux_2_17_x86_64.manylinux2014_x86_64.whl", hash = "sha256:827b5a97673b9997067fde383a7f7dc67342403093b94ea3c24ae0f4f1fec649"},
+    {file = "xattr-0.10.1.tar.gz", hash = "sha256:c12e7d81ffaa0605b3ac8c22c2994a8e18a9cf1c59287a1b7722a2289c952ec5"},
 ]
-yarl = [
-    {file = "yarl-1.8.1-cp310-cp310-macosx_10_9_universal2.whl", hash = "sha256:abc06b97407868ef38f3d172762f4069323de52f2b70d133d096a48d72215d28"},
-    {file = "yarl-1.8.1-cp310-cp310-macosx_10_9_x86_64.whl", hash = "sha256:07b21e274de4c637f3e3b7104694e53260b5fc10d51fb3ec5fed1da8e0f754e3"},
-    {file = "yarl-1.8.1-cp310-cp310-macosx_11_0_arm64.whl", hash = "sha256:9de955d98e02fab288c7718662afb33aab64212ecb368c5dc866d9a57bf48880"},
-    {file = "yarl-1.8.1-cp310-cp310-manylinux_2_17_aarch64.manylinux2014_aarch64.whl", hash = "sha256:7ec362167e2c9fd178f82f252b6d97669d7245695dc057ee182118042026da40"},
-    {file = "yarl-1.8.1-cp310-cp310-manylinux_2_17_ppc64le.manylinux2014_ppc64le.whl", hash = "sha256:20df6ff4089bc86e4a66e3b1380460f864df3dd9dccaf88d6b3385d24405893b"},
-    {file = "yarl-1.8.1-cp310-cp310-manylinux_2_17_s390x.manylinux2014_s390x.whl", hash = "sha256:5999c4662631cb798496535afbd837a102859568adc67d75d2045e31ec3ac497"},
-    {file = "yarl-1.8.1-cp310-cp310-manylinux_2_17_x86_64.manylinux2014_x86_64.whl", hash = "sha256:ed19b74e81b10b592084a5ad1e70f845f0aacb57577018d31de064e71ffa267a"},
-    {file = "yarl-1.8.1-cp310-cp310-manylinux_2_5_i686.manylinux1_i686.manylinux_2_17_i686.manylinux2014_i686.whl", hash = "sha256:1e4808f996ca39a6463f45182e2af2fae55e2560be586d447ce8016f389f626f"},
-    {file = "yarl-1.8.1-cp310-cp310-musllinux_1_1_aarch64.whl", hash = "sha256:2d800b9c2eaf0684c08be5f50e52bfa2aa920e7163c2ea43f4f431e829b4f0fd"},
-    {file = "yarl-1.8.1-cp310-cp310-musllinux_1_1_i686.whl", hash = "sha256:6628d750041550c5d9da50bb40b5cf28a2e63b9388bac10fedd4f19236ef4957"},
-    {file = "yarl-1.8.1-cp310-cp310-musllinux_1_1_ppc64le.whl", hash = "sha256:f5af52738e225fcc526ae64071b7e5342abe03f42e0e8918227b38c9aa711e28"},
-    {file = "yarl-1.8.1-cp310-cp310-musllinux_1_1_s390x.whl", hash = "sha256:76577f13333b4fe345c3704811ac7509b31499132ff0181f25ee26619de2c843"},
-    {file = "yarl-1.8.1-cp310-cp310-musllinux_1_1_x86_64.whl", hash = "sha256:0c03f456522d1ec815893d85fccb5def01ffaa74c1b16ff30f8aaa03eb21e453"},
-    {file = "yarl-1.8.1-cp310-cp310-win32.whl", hash = "sha256:ea30a42dc94d42f2ba4d0f7c0ffb4f4f9baa1b23045910c0c32df9c9902cb272"},
-    {file = "yarl-1.8.1-cp310-cp310-win_amd64.whl", hash = "sha256:9130ddf1ae9978abe63808b6b60a897e41fccb834408cde79522feb37fb72fb0"},
-    {file = "yarl-1.8.1-cp37-cp37m-macosx_10_9_x86_64.whl", hash = "sha256:0ab5a138211c1c366404d912824bdcf5545ccba5b3ff52c42c4af4cbdc2c5035"},
-    {file = "yarl-1.8.1-cp37-cp37m-manylinux_2_17_aarch64.manylinux2014_aarch64.whl", hash = "sha256:a0fb2cb4204ddb456a8e32381f9a90000429489a25f64e817e6ff94879d432fc"},
-    {file = "yarl-1.8.1-cp37-cp37m-manylinux_2_17_ppc64le.manylinux2014_ppc64le.whl", hash = "sha256:85cba594433915d5c9a0d14b24cfba0339f57a2fff203a5d4fd070e593307d0b"},
-    {file = "yarl-1.8.1-cp37-cp37m-manylinux_2_17_s390x.manylinux2014_s390x.whl", hash = "sha256:1ca7e596c55bd675432b11320b4eacc62310c2145d6801a1f8e9ad160685a231"},
-    {file = "yarl-1.8.1-cp37-cp37m-manylinux_2_17_x86_64.manylinux2014_x86_64.whl", hash = "sha256:d0f77539733e0ec2475ddcd4e26777d08996f8cd55d2aef82ec4d3896687abda"},
-    {file = "yarl-1.8.1-cp37-cp37m-manylinux_2_5_i686.manylinux1_i686.manylinux_2_17_i686.manylinux2014_i686.whl", hash = "sha256:29e256649f42771829974e742061c3501cc50cf16e63f91ed8d1bf98242e5507"},
-    {file = "yarl-1.8.1-cp37-cp37m-musllinux_1_1_aarch64.whl", hash = "sha256:7fce6cbc6c170ede0221cc8c91b285f7f3c8b9fe28283b51885ff621bbe0f8ee"},
-    {file = "yarl-1.8.1-cp37-cp37m-musllinux_1_1_i686.whl", hash = "sha256:59ddd85a1214862ce7c7c66457f05543b6a275b70a65de366030d56159a979f0"},
-    {file = "yarl-1.8.1-cp37-cp37m-musllinux_1_1_ppc64le.whl", hash = "sha256:12768232751689c1a89b0376a96a32bc7633c08da45ad985d0c49ede691f5c0d"},
-    {file = "yarl-1.8.1-cp37-cp37m-musllinux_1_1_s390x.whl", hash = "sha256:b19255dde4b4f4c32e012038f2c169bb72e7f081552bea4641cab4d88bc409dd"},
-    {file = "yarl-1.8.1-cp37-cp37m-musllinux_1_1_x86_64.whl", hash = "sha256:6c8148e0b52bf9535c40c48faebb00cb294ee577ca069d21bd5c48d302a83780"},
-    {file = "yarl-1.8.1-cp37-cp37m-win32.whl", hash = "sha256:de839c3a1826a909fdbfe05f6fe2167c4ab033f1133757b5936efe2f84904c07"},
-    {file = "yarl-1.8.1-cp37-cp37m-win_amd64.whl", hash = "sha256:dd032e8422a52e5a4860e062eb84ac94ea08861d334a4bcaf142a63ce8ad4802"},
-    {file = "yarl-1.8.1-cp38-cp38-macosx_10_9_universal2.whl", hash = "sha256:19cd801d6f983918a3f3a39f3a45b553c015c5aac92ccd1fac619bd74beece4a"},
-    {file = "yarl-1.8.1-cp38-cp38-macosx_10_9_x86_64.whl", hash = "sha256:6347f1a58e658b97b0a0d1ff7658a03cb79bdbda0331603bed24dd7054a6dea1"},
-    {file = "yarl-1.8.1-cp38-cp38-macosx_11_0_arm64.whl", hash = "sha256:7c0da7e44d0c9108d8b98469338705e07f4bb7dab96dbd8fa4e91b337db42548"},
-    {file = "yarl-1.8.1-cp38-cp38-manylinux_2_17_aarch64.manylinux2014_aarch64.whl", hash = "sha256:5587bba41399854703212b87071c6d8638fa6e61656385875f8c6dff92b2e461"},
-    {file = "yarl-1.8.1-cp38-cp38-manylinux_2_17_ppc64le.manylinux2014_ppc64le.whl", hash = "sha256:31a9a04ecccd6b03e2b0e12e82131f1488dea5555a13a4d32f064e22a6003cfe"},
-    {file = "yarl-1.8.1-cp38-cp38-manylinux_2_17_s390x.manylinux2014_s390x.whl", hash = "sha256:205904cffd69ae972a1707a1bd3ea7cded594b1d773a0ce66714edf17833cdae"},
-    {file = "yarl-1.8.1-cp38-cp38-manylinux_2_17_x86_64.manylinux2014_x86_64.whl", hash = "sha256:ea513a25976d21733bff523e0ca836ef1679630ef4ad22d46987d04b372d57fc"},
-    {file = "yarl-1.8.1-cp38-cp38-manylinux_2_5_i686.manylinux1_i686.manylinux_2_17_i686.manylinux2014_i686.whl", hash = "sha256:d0b51530877d3ad7a8d47b2fff0c8df3b8f3b8deddf057379ba50b13df2a5eae"},
-    {file = "yarl-1.8.1-cp38-cp38-musllinux_1_1_aarch64.whl", hash = "sha256:d2b8f245dad9e331540c350285910b20dd913dc86d4ee410c11d48523c4fd546"},
-    {file = "yarl-1.8.1-cp38-cp38-musllinux_1_1_i686.whl", hash = "sha256:ab2a60d57ca88e1d4ca34a10e9fb4ab2ac5ad315543351de3a612bbb0560bead"},
-    {file = "yarl-1.8.1-cp38-cp38-musllinux_1_1_ppc64le.whl", hash = "sha256:449c957ffc6bc2309e1fbe67ab7d2c1efca89d3f4912baeb8ead207bb3cc1cd4"},
-    {file = "yarl-1.8.1-cp38-cp38-musllinux_1_1_s390x.whl", hash = "sha256:a165442348c211b5dea67c0206fc61366212d7082ba8118c8c5c1c853ea4d82e"},
-    {file = "yarl-1.8.1-cp38-cp38-musllinux_1_1_x86_64.whl", hash = "sha256:b3ded839a5c5608eec8b6f9ae9a62cb22cd037ea97c627f38ae0841a48f09eae"},
-    {file = "yarl-1.8.1-cp38-cp38-win32.whl", hash = "sha256:c1445a0c562ed561d06d8cbc5c8916c6008a31c60bc3655cdd2de1d3bf5174a0"},
-    {file = "yarl-1.8.1-cp38-cp38-win_amd64.whl", hash = "sha256:56c11efb0a89700987d05597b08a1efcd78d74c52febe530126785e1b1a285f4"},
-    {file = "yarl-1.8.1-cp39-cp39-macosx_10_9_universal2.whl", hash = "sha256:e80ed5a9939ceb6fda42811542f31c8602be336b1fb977bccb012e83da7e4936"},
-    {file = "yarl-1.8.1-cp39-cp39-macosx_10_9_x86_64.whl", hash = "sha256:6afb336e23a793cd3b6476c30f030a0d4c7539cd81649683b5e0c1b0ab0bf350"},
-    {file = "yarl-1.8.1-cp39-cp39-macosx_11_0_arm64.whl", hash = "sha256:4c322cbaa4ed78a8aac89b2174a6df398faf50e5fc12c4c191c40c59d5e28357"},
-    {file = "yarl-1.8.1-cp39-cp39-manylinux_2_17_aarch64.manylinux2014_aarch64.whl", hash = "sha256:fae37373155f5ef9b403ab48af5136ae9851151f7aacd9926251ab26b953118b"},
-    {file = "yarl-1.8.1-cp39-cp39-manylinux_2_17_ppc64le.manylinux2014_ppc64le.whl", hash = "sha256:5395da939ffa959974577eff2cbfc24b004a2fb6c346918f39966a5786874e54"},
-    {file = "yarl-1.8.1-cp39-cp39-manylinux_2_17_s390x.manylinux2014_s390x.whl", hash = "sha256:076eede537ab978b605f41db79a56cad2e7efeea2aa6e0fa8f05a26c24a034fb"},
-    {file = "yarl-1.8.1-cp39-cp39-manylinux_2_17_x86_64.manylinux2014_x86_64.whl", hash = "sha256:3d1a50e461615747dd93c099f297c1994d472b0f4d2db8a64e55b1edf704ec1c"},
-    {file = "yarl-1.8.1-cp39-cp39-manylinux_2_5_i686.manylinux1_i686.manylinux_2_17_i686.manylinux2014_i686.whl", hash = "sha256:7de89c8456525650ffa2bb56a3eee6af891e98f498babd43ae307bd42dca98f6"},
-    {file = "yarl-1.8.1-cp39-cp39-musllinux_1_1_aarch64.whl", hash = "sha256:4a88510731cd8d4befaba5fbd734a7dd914de5ab8132a5b3dde0bbd6c9476c64"},
-    {file = "yarl-1.8.1-cp39-cp39-musllinux_1_1_i686.whl", hash = "sha256:2d93a049d29df172f48bcb09acf9226318e712ce67374f893b460b42cc1380ae"},
-    {file = "yarl-1.8.1-cp39-cp39-musllinux_1_1_ppc64le.whl", hash = "sha256:21ac44b763e0eec15746a3d440f5e09ad2ecc8b5f6dcd3ea8cb4773d6d4703e3"},
-    {file = "yarl-1.8.1-cp39-cp39-musllinux_1_1_s390x.whl", hash = "sha256:d0272228fabe78ce00a3365ffffd6f643f57a91043e119c289aaba202f4095b0"},
-    {file = "yarl-1.8.1-cp39-cp39-musllinux_1_1_x86_64.whl", hash = "sha256:99449cd5366fe4608e7226c6cae80873296dfa0cde45d9b498fefa1de315a09e"},
-    {file = "yarl-1.8.1-cp39-cp39-win32.whl", hash = "sha256:8b0af1cf36b93cee99a31a545fe91d08223e64390c5ecc5e94c39511832a4bb6"},
-    {file = "yarl-1.8.1-cp39-cp39-win_amd64.whl", hash = "sha256:de49d77e968de6626ba7ef4472323f9d2e5a56c1d85b7c0e2a190b2173d3b9be"},
-    {file = "yarl-1.8.1.tar.gz", hash = "sha256:af887845b8c2e060eb5605ff72b6f2dd2aab7a761379373fd89d314f4752abbf"},
+
+[package.dependencies]
+cffi = ">=1.0"
+
+[[package]]
+name = "yarl"
+version = "1.9.2"
+description = "Yet another URL library"
+optional = false
+python-versions = ">=3.7"
+files = [
+    {file = "yarl-1.9.2-cp310-cp310-macosx_10_9_universal2.whl", hash = "sha256:8c2ad583743d16ddbdf6bb14b5cd76bf43b0d0006e918809d5d4ddf7bde8dd82"},
+    {file = "yarl-1.9.2-cp310-cp310-macosx_10_9_x86_64.whl", hash = "sha256:82aa6264b36c50acfb2424ad5ca537a2060ab6de158a5bd2a72a032cc75b9eb8"},
+    {file = "yarl-1.9.2-cp310-cp310-macosx_11_0_arm64.whl", hash = "sha256:c0c77533b5ed4bcc38e943178ccae29b9bcf48ffd1063f5821192f23a1bd27b9"},
+    {file = "yarl-1.9.2-cp310-cp310-manylinux_2_17_aarch64.manylinux2014_aarch64.whl", hash = "sha256:ee4afac41415d52d53a9833ebae7e32b344be72835bbb589018c9e938045a560"},
+    {file = "yarl-1.9.2-cp310-cp310-manylinux_2_17_ppc64le.manylinux2014_ppc64le.whl", hash = "sha256:9bf345c3a4f5ba7f766430f97f9cc1320786f19584acc7086491f45524a551ac"},
+    {file = "yarl-1.9.2-cp310-cp310-manylinux_2_17_s390x.manylinux2014_s390x.whl", hash = "sha256:2a96c19c52ff442a808c105901d0bdfd2e28575b3d5f82e2f5fd67e20dc5f4ea"},
+    {file = "yarl-1.9.2-cp310-cp310-manylinux_2_17_x86_64.manylinux2014_x86_64.whl", hash = "sha256:891c0e3ec5ec881541f6c5113d8df0315ce5440e244a716b95f2525b7b9f3608"},
+    {file = "yarl-1.9.2-cp310-cp310-manylinux_2_5_i686.manylinux1_i686.manylinux_2_17_i686.manylinux2014_i686.whl", hash = "sha256:c3a53ba34a636a256d767c086ceb111358876e1fb6b50dfc4d3f4951d40133d5"},
+    {file = "yarl-1.9.2-cp310-cp310-musllinux_1_1_aarch64.whl", hash = "sha256:566185e8ebc0898b11f8026447eacd02e46226716229cea8db37496c8cdd26e0"},
+    {file = "yarl-1.9.2-cp310-cp310-musllinux_1_1_i686.whl", hash = "sha256:2b0738fb871812722a0ac2154be1f049c6223b9f6f22eec352996b69775b36d4"},
+    {file = "yarl-1.9.2-cp310-cp310-musllinux_1_1_ppc64le.whl", hash = "sha256:32f1d071b3f362c80f1a7d322bfd7b2d11e33d2adf395cc1dd4df36c9c243095"},
+    {file = "yarl-1.9.2-cp310-cp310-musllinux_1_1_s390x.whl", hash = "sha256:e9fdc7ac0d42bc3ea78818557fab03af6181e076a2944f43c38684b4b6bed8e3"},
+    {file = "yarl-1.9.2-cp310-cp310-musllinux_1_1_x86_64.whl", hash = "sha256:56ff08ab5df8429901ebdc5d15941b59f6253393cb5da07b4170beefcf1b2528"},
+    {file = "yarl-1.9.2-cp310-cp310-win32.whl", hash = "sha256:8ea48e0a2f931064469bdabca50c2f578b565fc446f302a79ba6cc0ee7f384d3"},
+    {file = "yarl-1.9.2-cp310-cp310-win_amd64.whl", hash = "sha256:50f33040f3836e912ed16d212f6cc1efb3231a8a60526a407aeb66c1c1956dde"},
+    {file = "yarl-1.9.2-cp311-cp311-macosx_10_9_universal2.whl", hash = "sha256:646d663eb2232d7909e6601f1a9107e66f9791f290a1b3dc7057818fe44fc2b6"},
+    {file = "yarl-1.9.2-cp311-cp311-macosx_10_9_x86_64.whl", hash = "sha256:aff634b15beff8902d1f918012fc2a42e0dbae6f469fce134c8a0dc51ca423bb"},
+    {file = "yarl-1.9.2-cp311-cp311-macosx_11_0_arm64.whl", hash = "sha256:a83503934c6273806aed765035716216cc9ab4e0364f7f066227e1aaea90b8d0"},
+    {file = "yarl-1.9.2-cp311-cp311-manylinux_2_17_aarch64.manylinux2014_aarch64.whl", hash = "sha256:b25322201585c69abc7b0e89e72790469f7dad90d26754717f3310bfe30331c2"},
+    {file = "yarl-1.9.2-cp311-cp311-manylinux_2_17_ppc64le.manylinux2014_ppc64le.whl", hash = "sha256:22a94666751778629f1ec4280b08eb11815783c63f52092a5953faf73be24191"},
+    {file = "yarl-1.9.2-cp311-cp311-manylinux_2_17_s390x.manylinux2014_s390x.whl", hash = "sha256:8ec53a0ea2a80c5cd1ab397925f94bff59222aa3cf9c6da938ce05c9ec20428d"},
+    {file = "yarl-1.9.2-cp311-cp311-manylinux_2_17_x86_64.manylinux2014_x86_64.whl", hash = "sha256:159d81f22d7a43e6eabc36d7194cb53f2f15f498dbbfa8edc8a3239350f59fe7"},
+    {file = "yarl-1.9.2-cp311-cp311-manylinux_2_5_i686.manylinux1_i686.manylinux_2_17_i686.manylinux2014_i686.whl", hash = "sha256:832b7e711027c114d79dffb92576acd1bd2decc467dec60e1cac96912602d0e6"},
+    {file = "yarl-1.9.2-cp311-cp311-musllinux_1_1_aarch64.whl", hash = "sha256:95d2ecefbcf4e744ea952d073c6922e72ee650ffc79028eb1e320e732898d7e8"},
+    {file = "yarl-1.9.2-cp311-cp311-musllinux_1_1_i686.whl", hash = "sha256:d4e2c6d555e77b37288eaf45b8f60f0737c9efa3452c6c44626a5455aeb250b9"},
+    {file = "yarl-1.9.2-cp311-cp311-musllinux_1_1_ppc64le.whl", hash = "sha256:783185c75c12a017cc345015ea359cc801c3b29a2966c2655cd12b233bf5a2be"},
+    {file = "yarl-1.9.2-cp311-cp311-musllinux_1_1_s390x.whl", hash = "sha256:b8cc1863402472f16c600e3e93d542b7e7542a540f95c30afd472e8e549fc3f7"},
+    {file = "yarl-1.9.2-cp311-cp311-musllinux_1_1_x86_64.whl", hash = "sha256:822b30a0f22e588b32d3120f6d41e4ed021806418b4c9f0bc3048b8c8cb3f92a"},
+    {file = "yarl-1.9.2-cp311-cp311-win32.whl", hash = "sha256:a60347f234c2212a9f0361955007fcf4033a75bf600a33c88a0a8e91af77c0e8"},
+    {file = "yarl-1.9.2-cp311-cp311-win_amd64.whl", hash = "sha256:be6b3fdec5c62f2a67cb3f8c6dbf56bbf3f61c0f046f84645cd1ca73532ea051"},
+    {file = "yarl-1.9.2-cp37-cp37m-macosx_10_9_x86_64.whl", hash = "sha256:38a3928ae37558bc1b559f67410df446d1fbfa87318b124bf5032c31e3447b74"},
+    {file = "yarl-1.9.2-cp37-cp37m-manylinux_2_17_aarch64.manylinux2014_aarch64.whl", hash = "sha256:ac9bb4c5ce3975aeac288cfcb5061ce60e0d14d92209e780c93954076c7c4367"},
+    {file = "yarl-1.9.2-cp37-cp37m-manylinux_2_17_ppc64le.manylinux2014_ppc64le.whl", hash = "sha256:3da8a678ca8b96c8606bbb8bfacd99a12ad5dd288bc6f7979baddd62f71c63ef"},
+    {file = "yarl-1.9.2-cp37-cp37m-manylinux_2_17_s390x.manylinux2014_s390x.whl", hash = "sha256:13414591ff516e04fcdee8dc051c13fd3db13b673c7a4cb1350e6b2ad9639ad3"},
+    {file = "yarl-1.9.2-cp37-cp37m-manylinux_2_17_x86_64.manylinux2014_x86_64.whl", hash = "sha256:bf74d08542c3a9ea97bb8f343d4fcbd4d8f91bba5ec9d5d7f792dbe727f88938"},
+    {file = "yarl-1.9.2-cp37-cp37m-manylinux_2_5_i686.manylinux1_i686.manylinux_2_17_i686.manylinux2014_i686.whl", hash = "sha256:6e7221580dc1db478464cfeef9b03b95c5852cc22894e418562997df0d074ccc"},
+    {file = "yarl-1.9.2-cp37-cp37m-musllinux_1_1_aarch64.whl", hash = "sha256:494053246b119b041960ddcd20fd76224149cfea8ed8777b687358727911dd33"},
+    {file = "yarl-1.9.2-cp37-cp37m-musllinux_1_1_i686.whl", hash = "sha256:52a25809fcbecfc63ac9ba0c0fb586f90837f5425edfd1ec9f3372b119585e45"},
+    {file = "yarl-1.9.2-cp37-cp37m-musllinux_1_1_ppc64le.whl", hash = "sha256:e65610c5792870d45d7b68c677681376fcf9cc1c289f23e8e8b39c1485384185"},
+    {file = "yarl-1.9.2-cp37-cp37m-musllinux_1_1_s390x.whl", hash = "sha256:1b1bba902cba32cdec51fca038fd53f8beee88b77efc373968d1ed021024cc04"},
+    {file = "yarl-1.9.2-cp37-cp37m-musllinux_1_1_x86_64.whl", hash = "sha256:662e6016409828ee910f5d9602a2729a8a57d74b163c89a837de3fea050c7582"},
+    {file = "yarl-1.9.2-cp37-cp37m-win32.whl", hash = "sha256:f364d3480bffd3aa566e886587eaca7c8c04d74f6e8933f3f2c996b7f09bee1b"},
+    {file = "yarl-1.9.2-cp37-cp37m-win_amd64.whl", hash = "sha256:6a5883464143ab3ae9ba68daae8e7c5c95b969462bbe42e2464d60e7e2698368"},
+    {file = "yarl-1.9.2-cp38-cp38-macosx_10_9_universal2.whl", hash = "sha256:5610f80cf43b6202e2c33ba3ec2ee0a2884f8f423c8f4f62906731d876ef4fac"},
+    {file = "yarl-1.9.2-cp38-cp38-macosx_10_9_x86_64.whl", hash = "sha256:b9a4e67ad7b646cd6f0938c7ebfd60e481b7410f574c560e455e938d2da8e0f4"},
+    {file = "yarl-1.9.2-cp38-cp38-macosx_11_0_arm64.whl", hash = "sha256:83fcc480d7549ccebe9415d96d9263e2d4226798c37ebd18c930fce43dfb9574"},
+    {file = "yarl-1.9.2-cp38-cp38-manylinux_2_17_aarch64.manylinux2014_aarch64.whl", hash = "sha256:5fcd436ea16fee7d4207c045b1e340020e58a2597301cfbcfdbe5abd2356c2fb"},
+    {file = "yarl-1.9.2-cp38-cp38-manylinux_2_17_ppc64le.manylinux2014_ppc64le.whl", hash = "sha256:84e0b1599334b1e1478db01b756e55937d4614f8654311eb26012091be109d59"},
+    {file = "yarl-1.9.2-cp38-cp38-manylinux_2_17_s390x.manylinux2014_s390x.whl", hash = "sha256:3458a24e4ea3fd8930e934c129b676c27452e4ebda80fbe47b56d8c6c7a63a9e"},
+    {file = "yarl-1.9.2-cp38-cp38-manylinux_2_17_x86_64.manylinux2014_x86_64.whl", hash = "sha256:838162460b3a08987546e881a2bfa573960bb559dfa739e7800ceeec92e64417"},
+    {file = "yarl-1.9.2-cp38-cp38-manylinux_2_5_i686.manylinux1_i686.manylinux_2_17_i686.manylinux2014_i686.whl", hash = "sha256:f4e2d08f07a3d7d3e12549052eb5ad3eab1c349c53ac51c209a0e5991bbada78"},
+    {file = "yarl-1.9.2-cp38-cp38-musllinux_1_1_aarch64.whl", hash = "sha256:de119f56f3c5f0e2fb4dee508531a32b069a5f2c6e827b272d1e0ff5ac040333"},
+    {file = "yarl-1.9.2-cp38-cp38-musllinux_1_1_i686.whl", hash = "sha256:149ddea5abf329752ea5051b61bd6c1d979e13fbf122d3a1f9f0c8be6cb6f63c"},
+    {file = "yarl-1.9.2-cp38-cp38-musllinux_1_1_ppc64le.whl", hash = "sha256:674ca19cbee4a82c9f54e0d1eee28116e63bc6fd1e96c43031d11cbab8b2afd5"},
+    {file = "yarl-1.9.2-cp38-cp38-musllinux_1_1_s390x.whl", hash = "sha256:9b3152f2f5677b997ae6c804b73da05a39daa6a9e85a512e0e6823d81cdad7cc"},
+    {file = "yarl-1.9.2-cp38-cp38-musllinux_1_1_x86_64.whl", hash = "sha256:5415d5a4b080dc9612b1b63cba008db84e908b95848369aa1da3686ae27b6d2b"},
+    {file = "yarl-1.9.2-cp38-cp38-win32.whl", hash = "sha256:f7a3d8146575e08c29ed1cd287068e6d02f1c7bdff8970db96683b9591b86ee7"},
+    {file = "yarl-1.9.2-cp38-cp38-win_amd64.whl", hash = "sha256:63c48f6cef34e6319a74c727376e95626f84ea091f92c0250a98e53e62c77c72"},
+    {file = "yarl-1.9.2-cp39-cp39-macosx_10_9_universal2.whl", hash = "sha256:75df5ef94c3fdc393c6b19d80e6ef1ecc9ae2f4263c09cacb178d871c02a5ba9"},
+    {file = "yarl-1.9.2-cp39-cp39-macosx_10_9_x86_64.whl", hash = "sha256:c027a6e96ef77d401d8d5a5c8d6bc478e8042f1e448272e8d9752cb0aff8b5c8"},
+    {file = "yarl-1.9.2-cp39-cp39-macosx_11_0_arm64.whl", hash = "sha256:f3b078dbe227f79be488ffcfc7a9edb3409d018e0952cf13f15fd6512847f3f7"},
+    {file = "yarl-1.9.2-cp39-cp39-manylinux_2_17_aarch64.manylinux2014_aarch64.whl", hash = "sha256:59723a029760079b7d991a401386390c4be5bfec1e7dd83e25a6a0881859e716"},
+    {file = "yarl-1.9.2-cp39-cp39-manylinux_2_17_ppc64le.manylinux2014_ppc64le.whl", hash = "sha256:b03917871bf859a81ccb180c9a2e6c1e04d2f6a51d953e6a5cdd70c93d4e5a2a"},
+    {file = "yarl-1.9.2-cp39-cp39-manylinux_2_17_s390x.manylinux2014_s390x.whl", hash = "sha256:c1012fa63eb6c032f3ce5d2171c267992ae0c00b9e164efe4d73db818465fac3"},
+    {file = "yarl-1.9.2-cp39-cp39-manylinux_2_17_x86_64.manylinux2014_x86_64.whl", hash = "sha256:a74dcbfe780e62f4b5a062714576f16c2f3493a0394e555ab141bf0d746bb955"},
+    {file = "yarl-1.9.2-cp39-cp39-manylinux_2_5_i686.manylinux1_i686.manylinux_2_17_i686.manylinux2014_i686.whl", hash = "sha256:8c56986609b057b4839968ba901944af91b8e92f1725d1a2d77cbac6972b9ed1"},
+    {file = "yarl-1.9.2-cp39-cp39-musllinux_1_1_aarch64.whl", hash = "sha256:2c315df3293cd521033533d242d15eab26583360b58f7ee5d9565f15fee1bef4"},
+    {file = "yarl-1.9.2-cp39-cp39-musllinux_1_1_i686.whl", hash = "sha256:b7232f8dfbd225d57340e441d8caf8652a6acd06b389ea2d3222b8bc89cbfca6"},
+    {file = "yarl-1.9.2-cp39-cp39-musllinux_1_1_ppc64le.whl", hash = "sha256:53338749febd28935d55b41bf0bcc79d634881195a39f6b2f767870b72514caf"},
+    {file = "yarl-1.9.2-cp39-cp39-musllinux_1_1_s390x.whl", hash = "sha256:066c163aec9d3d073dc9ffe5dd3ad05069bcb03fcaab8d221290ba99f9f69ee3"},
+    {file = "yarl-1.9.2-cp39-cp39-musllinux_1_1_x86_64.whl", hash = "sha256:8288d7cd28f8119b07dd49b7230d6b4562f9b61ee9a4ab02221060d21136be80"},
+    {file = "yarl-1.9.2-cp39-cp39-win32.whl", hash = "sha256:b124e2a6d223b65ba8768d5706d103280914d61f5cae3afbc50fc3dfcc016623"},
+    {file = "yarl-1.9.2-cp39-cp39-win_amd64.whl", hash = "sha256:61016e7d582bc46a5378ffdd02cd0314fb8ba52f40f9cf4d9a5e7dbef88dee18"},
+    {file = "yarl-1.9.2.tar.gz", hash = "sha256:04ab9d4b9f587c06d801c2abfe9317b77cdf996c65a90d5e84ecc45010823571"},
 ]
-zerorpc = []
-zipp = [
-    {file = "zipp-3.9.0-py3-none-any.whl", hash = "sha256:972cfa31bc2fedd3fa838a51e9bc7e64b7fb725a8c00e7431554311f180e9980"},
-    {file = "zipp-3.9.0.tar.gz", hash = "sha256:3a7af91c3db40ec72dd9d154ae18e008c69efe8ca88dde4f9a731bb82fe2f9eb"},
+
+[package.dependencies]
+idna = ">=2.0"
+multidict = ">=4.0"
+
+[[package]]
+name = "zerorpc"
+version = "0.6.3"
+description = "zerorpc is a flexible RPC based on zeromq."
+optional = false
+python-versions = "*"
+files = []
+develop = false
+
+[package.dependencies]
+future = "*"
+gevent = ">=1.1"
+msgpack = ">=0.5.2"
+msgpack-numpy = ">=0.4.3"
+pyzmq = ">=13.1.0"
+
+[package.source]
+type = "git"
+url = "https://github.com/commaai/zerorpc-python.git"
+reference = "master"
+resolved_reference = "0e27fd795bb9a7ec9cab81a771a2e35a91e397c9"
+
+[[package]]
+name = "zipp"
+version = "3.16.2"
+description = "Backport of pathlib-compatible object wrapper for zip files"
+optional = false
+python-versions = ">=3.8"
+files = [
+    {file = "zipp-3.16.2-py3-none-any.whl", hash = "sha256:679e51dd4403591b2d6838a48de3d283f3d188412a9782faadf845f298736ba0"},
+    {file = "zipp-3.16.2.tar.gz", hash = "sha256:ebc15946aa78bd63458992fc81ec3b6f7b1e92d51c35e6de1c3804e73b799147"},
 ]
-zope-event = [
-    {file = "zope.event-4.5.0-py2.py3-none-any.whl", hash = "sha256:2666401939cdaa5f4e0c08cf7f20c9b21423b95e88f4675b1443973bdb080c42"},
-    {file = "zope.event-4.5.0.tar.gz", hash = "sha256:5e76517f5b9b119acf37ca8819781db6c16ea433f7e2062c4afc2b6fbedb1330"},
+
+[package.extras]
+docs = ["furo", "jaraco.packaging (>=9.3)", "jaraco.tidelift (>=1.4)", "rst.linker (>=1.9)", "sphinx (>=3.5)", "sphinx-lint"]
+testing = ["big-O", "jaraco.functools", "jaraco.itertools", "more-itertools", "pytest (>=6)", "pytest-black (>=0.3.7)", "pytest-checkdocs (>=2.4)", "pytest-cov", "pytest-enabler (>=2.2)", "pytest-ignore-flaky", "pytest-mypy (>=0.9.1)", "pytest-ruff"]
+
+[[package]]
+name = "zope-event"
+version = "5.0"
+description = "Very basic event publishing system"
+optional = false
+python-versions = ">=3.7"
+files = [
+    {file = "zope.event-5.0-py3-none-any.whl", hash = "sha256:2832e95014f4db26c47a13fdaef84cef2f4df37e66b59d8f1f4a8f319a632c26"},
+    {file = "zope.event-5.0.tar.gz", hash = "sha256:bac440d8d9891b4068e2b5a2c5e2c9765a9df762944bda6955f96bb9b91e67cd"},
 ]
-zope-interface = [
-    {file = "zope.interface-5.5.0-cp27-cp27m-macosx_10_14_x86_64.whl", hash = "sha256:2cb3003941f5f4fa577479ac6d5db2b940acb600096dd9ea9bf07007f5cab46f"},
-    {file = "zope.interface-5.5.0-cp27-cp27m-win32.whl", hash = "sha256:8c791f4c203ccdbcda588ea4c8a6e4353e10435ea48ddd3d8734a26fe9714cba"},
-    {file = "zope.interface-5.5.0-cp27-cp27m-win_amd64.whl", hash = "sha256:3eedf3d04179774d750e8bb4463e6da350956a50ed44d7b86098e452d7ec385e"},
-    {file = "zope.interface-5.5.0-cp310-cp310-macosx_11_0_x86_64.whl", hash = "sha256:58a66c2020a347973168a4a9d64317bac52f9fdfd3e6b80b252be30da881a64e"},
-    {file = "zope.interface-5.5.0-cp310-cp310-manylinux_2_17_aarch64.manylinux2014_aarch64.whl", hash = "sha256:da7912ae76e1df6a1fb841b619110b1be4c86dfb36699d7fd2f177105cdea885"},
-    {file = "zope.interface-5.5.0-cp310-cp310-manylinux_2_5_i686.manylinux1_i686.manylinux_2_12_i686.manylinux2010_i686.whl", hash = "sha256:423c074e404f13e6fa07f4454f47fdbb38d358be22945bc812b94289d9142374"},
-    {file = "zope.interface-5.5.0-cp310-cp310-manylinux_2_5_x86_64.manylinux1_x86_64.manylinux_2_12_x86_64.manylinux2010_x86_64.whl", hash = "sha256:7bdcec93f152e0e1942102537eed7b166d6661ae57835b20a52a2a3d6a3e1bf3"},
-    {file = "zope.interface-5.5.0-cp310-cp310-win32.whl", hash = "sha256:03f5ae315db0d0de668125d983e2a819a554f3fdb2d53b7e934e3eb3c3c7375d"},
-    {file = "zope.interface-5.5.0-cp310-cp310-win_amd64.whl", hash = "sha256:8b9f153208d74ccfa25449a0c6cb756ab792ce0dc99d9d771d935f039b38740c"},
-    {file = "zope.interface-5.5.0-cp311-cp311-manylinux_2_17_aarch64.manylinux2014_aarch64.whl", hash = "sha256:aeac590cce44e68ee8ad0b8ecf4d7bf15801f102d564ca1b0eb1f12f584ee656"},
-    {file = "zope.interface-5.5.0-cp35-cp35m-win32.whl", hash = "sha256:7d9ec1e6694af39b687045712a8ad14ddcb568670d5eb1b66b48b98b9312afba"},
-    {file = "zope.interface-5.5.0-cp35-cp35m-win_amd64.whl", hash = "sha256:d18fb0f6c8169d26044128a2e7d3c39377a8a151c564e87b875d379dbafd3930"},
-    {file = "zope.interface-5.5.0-cp36-cp36m-macosx_10_14_x86_64.whl", hash = "sha256:0eb2b3e84f48dd9cfc8621c80fba905d7e228615c67f76c7df7c716065669bb6"},
-    {file = "zope.interface-5.5.0-cp36-cp36m-manylinux_2_17_aarch64.manylinux2014_aarch64.whl", hash = "sha256:df6593e150d13cfcce69b0aec5df7bc248cb91e4258a7374c129bb6d56b4e5ca"},
-    {file = "zope.interface-5.5.0-cp36-cp36m-manylinux_2_5_i686.manylinux1_i686.manylinux_2_12_i686.manylinux2010_i686.whl", hash = "sha256:9dc4493aa3d87591e3d2bf1453e25b98038c839ca8e499df3d7106631b66fe83"},
-    {file = "zope.interface-5.5.0-cp36-cp36m-manylinux_2_5_x86_64.manylinux1_x86_64.manylinux_2_12_x86_64.manylinux2010_x86_64.whl", hash = "sha256:5c6023ae7defd052cf76986ce77922177b0c2f3913bea31b5b28fbdf6cb7099e"},
-    {file = "zope.interface-5.5.0-cp36-cp36m-win32.whl", hash = "sha256:a69c28d85bb7cf557751a5214cb3f657b2b035c8c96d71080c1253b75b79b69b"},
-    {file = "zope.interface-5.5.0-cp36-cp36m-win_amd64.whl", hash = "sha256:85dd6dd9aaae7a176948d8bb62e20e2968588fd787c29c5d0d964ab475168d3d"},
-    {file = "zope.interface-5.5.0-cp37-cp37m-macosx_10_15_x86_64.whl", hash = "sha256:970661ece2029915b8f7f70892e88404340fbdefd64728380cad41c8dce14ff4"},
-    {file = "zope.interface-5.5.0-cp37-cp37m-manylinux_2_17_aarch64.manylinux2014_aarch64.whl", hash = "sha256:1e3495bb0cdcea212154e558082c256f11b18031f05193ae2fb85d048848db14"},
-    {file = "zope.interface-5.5.0-cp37-cp37m-manylinux_2_5_i686.manylinux1_i686.manylinux_2_12_i686.manylinux2010_i686.whl", hash = "sha256:3f68404edb1a4fb6aa8a94675521ca26c83ebbdbb90e894f749ae0dc4ca98418"},
-    {file = "zope.interface-5.5.0-cp37-cp37m-manylinux_2_5_x86_64.manylinux1_x86_64.manylinux_2_12_x86_64.manylinux2010_x86_64.whl", hash = "sha256:740f3c1b44380658777669bcc42f650f5348e53797f2cee0d93dc9b0f9d7cc69"},
-    {file = "zope.interface-5.5.0-cp37-cp37m-win32.whl", hash = "sha256:006f8dd81fae28027fc28ada214855166712bf4f0bfbc5a8788f9b70982b9437"},
-    {file = "zope.interface-5.5.0-cp37-cp37m-win_amd64.whl", hash = "sha256:43490ad65d4c64e45a30e51a2beb7a6b63e1ff395302ad22392224eb618476d6"},
-    {file = "zope.interface-5.5.0-cp38-cp38-macosx_10_15_x86_64.whl", hash = "sha256:f70726b60009433111fe9928f5d89cbb18962411d33c45fb19eb81b9bbd26fcd"},
-    {file = "zope.interface-5.5.0-cp38-cp38-manylinux_2_17_aarch64.manylinux2014_aarch64.whl", hash = "sha256:cfa614d049667bed1c737435c609c0956c5dc0dbafdc1145ee7935e4658582cb"},
-    {file = "zope.interface-5.5.0-cp38-cp38-manylinux_2_5_i686.manylinux1_i686.manylinux_2_12_i686.manylinux2010_i686.whl", hash = "sha256:58a975f89e4584d0223ab813c5ba4787064c68feef4b30d600f5e01de90ae9ce"},
-    {file = "zope.interface-5.5.0-cp38-cp38-manylinux_2_5_x86_64.manylinux1_x86_64.manylinux_2_12_x86_64.manylinux2010_x86_64.whl", hash = "sha256:37ec9ade9902f412cc7e7a32d71f79dec3035bad9bd0170226252eed88763c48"},
-    {file = "zope.interface-5.5.0-cp38-cp38-win32.whl", hash = "sha256:be11fce0e6af6c0e8d93c10ef17b25aa7c4acb7ec644bff2596c0d639c49e20f"},
-    {file = "zope.interface-5.5.0-cp38-cp38-win_amd64.whl", hash = "sha256:cbbf83914b9a883ab324f728de869f4e406e0cbcd92df7e0a88decf6f9ab7d5a"},
-    {file = "zope.interface-5.5.0-cp39-cp39-macosx_10_15_x86_64.whl", hash = "sha256:26c1456520fdcafecc5765bec4783eeafd2e893eabc636908f50ee31fe5c738c"},
-    {file = "zope.interface-5.5.0-cp39-cp39-manylinux_2_17_aarch64.manylinux2014_aarch64.whl", hash = "sha256:47ff078734a1030c48103422a99e71a7662d20258c00306546441adf689416f7"},
-    {file = "zope.interface-5.5.0-cp39-cp39-manylinux_2_5_i686.manylinux1_i686.manylinux_2_12_i686.manylinux2010_i686.whl", hash = "sha256:687cab7f9ae18d2c146f315d0ca81e5ffe89a139b88277afa70d52f632515854"},
-    {file = "zope.interface-5.5.0-cp39-cp39-manylinux_2_5_x86_64.manylinux1_x86_64.manylinux_2_12_x86_64.manylinux2010_x86_64.whl", hash = "sha256:d80f6236b57a95eb19d5e47eb68d0296119e1eff6deaa2971ab8abe3af918420"},
-    {file = "zope.interface-5.5.0-cp39-cp39-win32.whl", hash = "sha256:9cdc4e898d3b1547d018829fd4a9f403e52e51bba24be0fbfa37f3174e1ef797"},
-    {file = "zope.interface-5.5.0-cp39-cp39-win_amd64.whl", hash = "sha256:6566b3d2657e7609cd8751bcb1eab1202b1692a7af223035a5887d64bb3a2f3b"},
-    {file = "zope.interface-5.5.0.tar.gz", hash = "sha256:700ebf9662cf8df70e2f0cb4988e078c53f65ee3eefd5c9d80cf988c4175c8e3"},
+
+[package.dependencies]
+setuptools = "*"
+
+[package.extras]
+docs = ["Sphinx"]
+test = ["zope.testrunner"]
+
+[[package]]
+name = "zope-interface"
+version = "6.0"
+description = "Interfaces for Python"
+optional = false
+python-versions = ">=3.7"
+files = [
+    {file = "zope.interface-6.0-cp310-cp310-macosx_10_9_x86_64.whl", hash = "sha256:f299c020c6679cb389814a3b81200fe55d428012c5e76da7e722491f5d205990"},
+    {file = "zope.interface-6.0-cp310-cp310-macosx_11_0_arm64.whl", hash = "sha256:ee4b43f35f5dc15e1fec55ccb53c130adb1d11e8ad8263d68b1284b66a04190d"},
+    {file = "zope.interface-6.0-cp310-cp310-manylinux_2_17_aarch64.manylinux2014_aarch64.whl", hash = "sha256:5a158846d0fca0a908c1afb281ddba88744d403f2550dc34405c3691769cdd85"},
+    {file = "zope.interface-6.0-cp310-cp310-manylinux_2_5_i686.manylinux1_i686.manylinux_2_17_i686.manylinux2014_i686.whl", hash = "sha256:f72f23bab1848edb7472309e9898603141644faec9fd57a823ea6b4d1c4c8995"},
+    {file = "zope.interface-6.0-cp310-cp310-manylinux_2_5_x86_64.manylinux1_x86_64.manylinux_2_17_x86_64.manylinux2014_x86_64.whl", hash = "sha256:48f4d38cf4b462e75fac78b6f11ad47b06b1c568eb59896db5b6ec1094eb467f"},
+    {file = "zope.interface-6.0-cp310-cp310-win_amd64.whl", hash = "sha256:87b690bbee9876163210fd3f500ee59f5803e4a6607d1b1238833b8885ebd410"},
+    {file = "zope.interface-6.0-cp311-cp311-macosx_10_9_x86_64.whl", hash = "sha256:f2363e5fd81afb650085c6686f2ee3706975c54f331b426800b53531191fdf28"},
+    {file = "zope.interface-6.0-cp311-cp311-macosx_11_0_arm64.whl", hash = "sha256:af169ba897692e9cd984a81cb0f02e46dacdc07d6cf9fd5c91e81f8efaf93d52"},
+    {file = "zope.interface-6.0-cp311-cp311-manylinux_2_17_aarch64.manylinux2014_aarch64.whl", hash = "sha256:fa90bac61c9dc3e1a563e5babb3fd2c0c1c80567e815442ddbe561eadc803b30"},
+    {file = "zope.interface-6.0-cp311-cp311-manylinux_2_5_i686.manylinux1_i686.manylinux_2_17_i686.manylinux2014_i686.whl", hash = "sha256:89086c9d3490a0f265a3c4b794037a84541ff5ffa28bb9c24cc9f66566968464"},
+    {file = "zope.interface-6.0-cp311-cp311-manylinux_2_5_x86_64.manylinux1_x86_64.manylinux_2_17_x86_64.manylinux2014_x86_64.whl", hash = "sha256:809fe3bf1a91393abc7e92d607976bbb8586512913a79f2bf7d7ec15bd8ea518"},
+    {file = "zope.interface-6.0-cp311-cp311-win_amd64.whl", hash = "sha256:0ec9653825f837fbddc4e4b603d90269b501486c11800d7c761eee7ce46d1bbb"},
+    {file = "zope.interface-6.0-cp37-cp37m-macosx_10_15_x86_64.whl", hash = "sha256:790c1d9d8f9c92819c31ea660cd43c3d5451df1df61e2e814a6f99cebb292788"},
+    {file = "zope.interface-6.0-cp37-cp37m-manylinux_2_17_aarch64.manylinux2014_aarch64.whl", hash = "sha256:b39b8711578dcfd45fc0140993403b8a81e879ec25d53189f3faa1f006087dca"},
+    {file = "zope.interface-6.0-cp37-cp37m-manylinux_2_5_i686.manylinux1_i686.manylinux_2_17_i686.manylinux2014_i686.whl", hash = "sha256:eba51599370c87088d8882ab74f637de0c4f04a6d08a312dce49368ba9ed5c2a"},
+    {file = "zope.interface-6.0-cp37-cp37m-manylinux_2_5_x86_64.manylinux1_x86_64.manylinux_2_17_x86_64.manylinux2014_x86_64.whl", hash = "sha256:6ee934f023f875ec2cfd2b05a937bd817efcc6c4c3f55c5778cbf78e58362ddc"},
+    {file = "zope.interface-6.0-cp37-cp37m-win_amd64.whl", hash = "sha256:042f2381118b093714081fd82c98e3b189b68db38ee7d35b63c327c470ef8373"},
+    {file = "zope.interface-6.0-cp38-cp38-macosx_10_9_x86_64.whl", hash = "sha256:dfbbbf0809a3606046a41f8561c3eada9db811be94138f42d9135a5c47e75f6f"},
+    {file = "zope.interface-6.0-cp38-cp38-macosx_11_0_arm64.whl", hash = "sha256:424d23b97fa1542d7be882eae0c0fc3d6827784105264a8169a26ce16db260d8"},
+    {file = "zope.interface-6.0-cp38-cp38-manylinux_2_17_aarch64.manylinux2014_aarch64.whl", hash = "sha256:e538f2d4a6ffb6edfb303ce70ae7e88629ac6e5581870e66c306d9ad7b564a58"},
+    {file = "zope.interface-6.0-cp38-cp38-manylinux_2_5_i686.manylinux1_i686.manylinux_2_17_i686.manylinux2014_i686.whl", hash = "sha256:12175ca6b4db7621aedd7c30aa7cfa0a2d65ea3a0105393e05482d7a2d367446"},
+    {file = "zope.interface-6.0-cp38-cp38-manylinux_2_5_x86_64.manylinux1_x86_64.manylinux_2_17_x86_64.manylinux2014_x86_64.whl", hash = "sha256:4c3d7dfd897a588ec27e391edbe3dd320a03684457470415870254e714126b1f"},
+    {file = "zope.interface-6.0-cp38-cp38-win_amd64.whl", hash = "sha256:b3f543ae9d3408549a9900720f18c0194ac0fe810cecda2a584fd4dca2eb3bb8"},
+    {file = "zope.interface-6.0-cp39-cp39-macosx_10_9_x86_64.whl", hash = "sha256:d0583b75f2e70ec93f100931660328965bb9ff65ae54695fb3fa0a1255daa6f2"},
+    {file = "zope.interface-6.0-cp39-cp39-macosx_11_0_arm64.whl", hash = "sha256:23ac41d52fd15dd8be77e3257bc51bbb82469cf7f5e9a30b75e903e21439d16c"},
+    {file = "zope.interface-6.0-cp39-cp39-manylinux_2_17_aarch64.manylinux2014_aarch64.whl", hash = "sha256:99856d6c98a326abbcc2363827e16bd6044f70f2ef42f453c0bd5440c4ce24e5"},
+    {file = "zope.interface-6.0-cp39-cp39-manylinux_2_5_i686.manylinux1_i686.manylinux_2_17_i686.manylinux2014_i686.whl", hash = "sha256:1592f68ae11e557b9ff2bc96ac8fc30b187e77c45a3c9cd876e3368c53dc5ba8"},
+    {file = "zope.interface-6.0-cp39-cp39-manylinux_2_5_x86_64.manylinux1_x86_64.manylinux_2_17_x86_64.manylinux2014_x86_64.whl", hash = "sha256:4407b1435572e3e1610797c9203ad2753666c62883b921318c5403fb7139dec2"},
+    {file = "zope.interface-6.0-cp39-cp39-win_amd64.whl", hash = "sha256:5171eb073474a5038321409a630904fd61f12dd1856dd7e9d19cd6fe092cbbc5"},
+    {file = "zope.interface-6.0.tar.gz", hash = "sha256:aab584725afd10c710b8f1e6e208dbee2d0ad009f57d674cb9d1b3964037275d"},
 ]
+
+[package.dependencies]
+setuptools = "*"
+
+[package.extras]
+docs = ["Sphinx", "repoze.sphinx.autointerface"]
+test = ["coverage (>=5.0.3)", "zope.event", "zope.testing"]
+testing = ["coverage (>=5.0.3)", "zope.event", "zope.testing"]
+
+[metadata]
+lock-version = "2.0"
+python-versions = "~3.11"
+content-hash = "083d63bfad18957e73451a6d6cc4d8ece4d404c47c08f74721bfe84aa7602286"
diff --git a/pyproject.toml b/pyproject.toml
index fa03248b9b..74084cbc93 100644
--- a/pyproject.toml
+++ b/pyproject.toml
@@ -1,3 +1,9 @@
+[tool.pytest.ini_options]
+minversion = "6.0"
+addopts = "--ignore=panda/ --ignore=rednose_repo/ --ignore=tinygrad_repo/ --ignore=laika_repo/"
+python_files = "test_*.py"
+timeout = "30"  # you get this long by default
+
 [tool.poetry]
 name = "openpilot"
 version = "0.1.0"
@@ -10,175 +16,197 @@ documentation = "https://docs.comma.ai"
 
 
 [tool.poetry.dependencies]
-python = "~3.8"
-atomicwrites = "^1.4.0"
-casadi = { version = "==3.5.5", platform = "linux" }
-cffi = "^1.15.1"
-crcmod = "^1.7"
-cryptography = "^37.0.4"
-Cython = "^0.29.30"
-flake8 = "^4.0.1"
-Flask = "^2.1.2"
-future-fstrings = "^1.2.0"  # for acados
-gunicorn = "^20.1.0"
+python = "~3.11"
+poetry = "~1.5.1"
+atomicwrites = "*"
+aiohttp = "*"
+aiortc = "*"
+casadi = "==3.6.3"
+cffi = "*"
+crcmod = "*"
+cryptography = "*"
+Cython = "*"
+Flask = "*"
+future-fstrings = "*"  # for acados
+gunicorn = "*"
 hatanaka = "==2.4"
-hexdump = "^3.3"
-Jinja2 = "^3.1.2"
-json-rpc = "^1.13.0"
-libusb1 = "^3.0.0"
-nose = "^1.3.7"
-numpy = "^1.23.0"
-onnx = "^1.12.0"
-onnxruntime-gpu = { version = "^1.11.1", platform = "linux", markers = "platform_machine == 'x86_64'" }
-pillow = "^9.2.0"
-poetry = "==1.2.2"
-protobuf = "==3.20.1"
-psutil = "^5.9.1"
-pycapnp = "==1.1.0"
-pycryptodome = "^3.15.0"
-PyJWT = "^2.5.0"
-pylint = "^2.15.4"
-pyopencl = "^2022.2.4"
-pyserial = "^3.5"
-python-dateutil = "^2.8.2"
-PyYAML = "^6.0"
-pyzmq = "^23.2.0"
-requests = "^2.28.1"
-scons = "^4.3.0"
-sentry-sdk = "^1.6.0"
-setproctitle = "^1.2.3"
-six = "^1.16.0"
-smbus2 = "^0.4.2"
-sounddevice = "^0.4.5"
-spidev = { version = "^3.6", platform = "linux" }
-spidev2 = { version = "^0.9.0", platform = "linux" }
-sympy = "^1.10.1"
-timezonefinder = "^6.0.1"
-tqdm = "^4.64.0"
-urllib3 = "^1.26.10"
-utm = "^0.7.0"
-websocket_client = "^1.3.3"
-polyline = "^1.4.0"
+hexdump = "*"
+Jinja2 = "*"
+json-rpc = "*"
+libusb1 = "*"
+numpy = "==1.23.0"  # locked pending deprecation fixes in xx
+onnx = ">=1.14.0"
+onnxruntime-gpu = { version = ">=1.15.1", platform = "linux", markers = "platform_machine == 'x86_64'" }
+pillow = "*"
+protobuf = "==3.20.3"
+psutil = "*"
+pyaudio = "*"
+pycapnp = "*"
+pycryptodome = "*"
+pydub = "*"
+PyJWT = "*"
+pyopencl = "*"
+pyserial = "*"
+python-dateutil = "*"
+PyYAML = "*"
+pyzmq = "*"
+requests = "*"
+scons = "*"
+sentry-sdk = "~1.28"
+setproctitle = "*"
+smbus2 = "*"
+sounddevice = "*"
+spidev = { version = "*", platform = "linux" }
+spidev2 = { version = "*", platform = "linux" }
+sympy = "*"
+timezonefinder = "*"
+tqdm = "*"
+urllib3 = "*"
+utm = "*"
+websocket_client = "*"
+polyline = "*"
 sconscontrib = {git = "https://github.com/SCons/scons-contrib.git"}
 
 
 [tool.poetry.group.dev.dependencies]
-av = "^9.2.0"
+av = "*"
 azure-storage-blob = "~2.1"
-breathe = "^4.34.0"
-carla = { version = "==0.9.13", platform = "linux", markers = "platform_machine == 'x86_64'" }
-control = "^0.9.2"
-coverage = "^6.4.1"
-dictdiffer = "^0.9.0"
-fastcluster = "^1.2.6"
-ft4222 = "^1.4.1"
-hexdump = "^3.3"
+breathe = "*"
+carla = { url = "https://github.com/commaai/carla/releases/download/3.11.4/carla-0.9.14-cp311-cp311-linux_x86_64.whl", platform = "linux", markers = "platform_machine == 'x86_64'" }
+control = "*"
+coverage = "*"
+dictdiffer = "*"
+fastcluster = "*"
+ft4222 = "*"
+hexdump = "*"
 hypothesis = "==6.46.7"
-inputs = "^0.5"
-lru-dict = "^1.1.7"
-lxml = "^4.9.1"
-markdown-it-py = "^2.1.0"
-matplotlib = "^3.5.2"
-mpld3 = "^0.5.8"
-mypy = "^0.961"
-myst-parser = "^0.18.0"
-natsort = "^8.1.0"
-numpy = "^1.23.0"
-opencv-python-headless = { url = "https://github.com/commaai/opencv-python-builder/releases/download/4.5.5.64%2Bcu118/opencv_python_headless-4.5.5.64-cp38-cp38-manylinux_2_31_x86_64.whl", platform = "linux" }
-pandas = "^1.4.3"
-parameterized = "^0.8.1"
-paramiko = "^2.11.0"
-pprofile = "^2.1.0"
-pre-commit = "^2.19.0"
-pycurl = "^7.45.1"
-pygame = "^2.1.2"
-pyprof2calltree = "^1.4.5"
-pytest = "^7.1.2"
-pytest-xdist = "^2.5.0"
-reverse_geocoder = "^1.5.1"
-scipy = "^1.8.1"
-sphinx = "^5.0.2"
-sphinx-rtd-theme = "^1.0.0"
-sphinx-sitemap = "^2.2.0"
-subprocess32 = "^3.5.4"
-tabulate = "^0.8.10"
-tenacity = "^8.0.1"
-types-atomicwrites = "^1.4.5"
-types-certifi = "^2021.10.8"
-types-pycurl = "^7.45.1"
-types-PyYAML = "^6.0"
-types-requests = "^2.28.11"
-types-tabulate = "^0.8.10"
+inputs = "*"
+lru-dict = "*"
+lxml = "*"
+markdown-it-py = "*"
+matplotlib = "*"
+mpld3 = "*"
+mypy = "*"
+myst-parser = "*"
+natsort = "*"
+opencv-python-headless = { url = "https://github.com/commaai/opencv-python-builder/releases/download/4.5.5.64%2Bcu118-cp311/opencv_python_headless-4.5.5.64-cp311-cp311-manylinux_2_31_x86_64.whl", platform = "linux" }
+pandas = "*"
+parameterized = "^0.8"
+paramiko = "*"
+pprofile = "*"
+pre-commit = "*"
+pycurl = "*"
+pygame = "*"
+pyprof2calltree = "*"
+pytest = "*"
+pytest-xdist = "*"
+reverse_geocoder = "*"
+scipy = "==1.9.3"  # pinned until xx refs changes can be checked
+sphinx = "*"
+sphinx-rtd-theme = "*"
+sphinx-sitemap = "*"
+tabulate = "*"
+tenacity = "*"
+types-atomicwrites = "*"
+types-certifi = "*"
+types-pycurl = "*"
+types-python-dateutil = "*"
+types-PyYAML = "*"
+types-requests = "*"
+types-tabulate = "*"
 
 
 [tool.poetry.group.xx]
 optional = true
 
 [tool.poetry.group.xx.dependencies]
-aenum = "^3.1.11"
-aiohttp = "^3.8.1"
-albumentations = "^1.2.1"
-apex = { url = "https://github.com/commaai/apex/releases/download/pytorch2.0.0%2Bcu11.8/apex-0.1-cp38-cp38-linux_x86_64.whl" }
-azure-cli-core = "^2.38.0"
-azure-common = "^1.1.28"
-azure-core = "^1.24.2"
+aenum = "*"
+aiohttp = "*"
+albumentations = "*"
+azure-cli-core = "*"
+azure-common = "*"
+azure-core = "*"
 azure-nspkg = "~3.0"
 azure-storage-common = "~2.1"
 azure-storage-nspkg = "~3.1"
 blosc = "==1.9.2"
-cloudpickle = "^2.1.0"
-configargparse = "^1.5.3"
-cupy-cuda11x = "^11.6.0"
-datadog = "^0.44.0"
-dotmap = "^1.3.30"
-einops = "^0.5.0"
-elasticsearch = "^8.3.1"
-Flask-Cors = "^3.0.10"
-Flask-SocketIO = "^5.2.0"
-GeoAlchemy2 = "^0.12.1"
-imageio = "^2.19.5"
-influxdb-client = "^1.30.0"
-ipykernel = "^6.15.1"
-ipython = "^8.4.0"
-joblib = "^1.1.0"
-json-logging-py = "^0.2"
-jupyter = "^1.0.0"
-jupyterlab = "^3.4.4"
-jupyterlab-vim = "^0.15.1"
-Markdown = "^3.4.1"
-msgpack-python = "^0.5.6"
+cloudpickle = "*"
+configargparse = "*"
+cupy-cuda11x = "*"
+datadog = "*"
+dotmap = "*"
+einops = "*"
+elasticsearch = "*"
+flake8 = "*"
+Flask-Cors = "*"
+Flask-SocketIO = "*"
+GeoAlchemy2 = "*"
+imageio = "*"
+influxdb-client = "*"
+ipykernel = "*"
+ipython = "*"
+joblib = "*"
+json-logging-py = "*"
+jupyter = "*"
+jupyterlab = "*"
+jupyterlab-vim = "*"
+Markdown = "*"
+msgpack-python = "*"
 networkx = "~2.8"
-nvidia-ml-py3 = "^7.352.0"
-onnx2torch = "^1.5.4"
-onnxoptimizer = "^0.3.1"
-osmium = "^3.3.0"
-pillow-avif-plugin = "^1.2.2"
+nvidia-ml-py3 = "*"
+onnx2torch = "*"
+onnxoptimizer = "*"
+osmium = "*"
+pillow-avif-plugin = "*"
 pipenv = "==2022.10.12"
-plotly = "^5.9.0"
-pycuda = "^2022.1"
-Pygments = "^2.12.0"
+plotly = "*"
+pycuda = "*"
+Pygments = "*"
+pylint = "*"
 PyMySQL = "~0.9"
-pyproj = "^3.3.1"
-python-logstash = "^0.4.8"
-redis = "^4.3.4"
-s2sphere = "^0.2.5"
-scikit-image = "^0.19.3"
-scikit-learn = "^1.1.1"
-segmentation-models-pytorch = "==0.3.2"
-simplejson = "^3.17.6"
-SQLAlchemy = "^1.4.39"
-torch = { url = "https://download.pytorch.org/whl/cu118/torch-2.0.0%2Bcu118-cp38-cp38-linux_x86_64.whl" }
-torchsummary = "^1.5.1"
-torchvision = { url = "https://download.pytorch.org/whl/cu118/torchvision-0.15.1%2Bcu118-cp38-cp38-linux_x86_64.whl" }
-triton = "^2.0.0"
-Werkzeug = "^2.1.2"
+pyproj = "*"
+python-logstash = "*"
+redis = "*"
+ruff = "*"
+s2sphere = "*"
+scikit-image = "*"
+scikit-learn = "*"
+segmentation-models-pytorch = "==0.3.3"
+simplejson = "*"
+SQLAlchemy = "*"
+wrapt = "*"
+torch = { url = "https://download.pytorch.org/whl/cu118/torch-2.0.1%2Bcu118-cp311-cp311-linux_x86_64.whl" }
+torchsummary = "*"
+torchvision = { url = "https://download.pytorch.org/whl/cu118/torchvision-0.15.2%2Bcu118-cp311-cp311-linux_x86_64.whl" }
+triton = "*"
+Werkzeug = "*"
 zerorpc = { git = "https://github.com/commaai/zerorpc-python.git", branch = "master" }
-omegaconf = "^2.3.0"
+omegaconf = "*"
 osmnx = "==1.2.2"
 tritonclient = {version = "2.28.0", extras = ["http"]}
-tensorrt = "^8.6.0"
+transformers = "*"
+timm = "==0.9.2"
+PyNvCodec = { git = "https://github.com/NVIDIA/VideoProcessingFramework.git" }
+apex = { url = "https://github.com/commaai/apex/releases/download/pytorch2.0.1%2Bcu11.8/apex-0.1-cp311-cp311-linux_x86_64.whl" }
+opencv-python-headless = { url = "https://github.com/commaai/opencv-python-builder/releases/download/4.5.5.64%2Bcu118-cp311/opencv_python_headless-4.5.5.64-cp311-cp311-manylinux_2_31_x86_64.whl", platform = "linux" }
 
 
 [build-system]
 requires = ["poetry-core"]
 build-backend = "poetry.core.masonry.api"
+
+# https://beta.ruff.rs/docs/configuration/#using-pyprojecttoml
+[tool.ruff]
+select = ["E", "F", "W", "PIE", "C4", "ISC", "RUF100", "A"]
+ignore = ["W292", "E741", "E402", "C408", "ISC003"]
+line-length = 160
+target-version="py311"
+exclude = [
+  "panda",
+  "opendbc",
+  "laika_repo",
+  "rednose_repo",
+  "tinygrad_repo",
+  "third_party",
+]
+flake8-implicit-str-concat.allow-multiline=false
diff --git a/rednose_repo b/rednose_repo
index 3b6bd703b7..22f02dd650 160000
--- a/rednose_repo
+++ b/rednose_repo
@@ -1 +1 @@
-Subproject commit 3b6bd703b7a7667e4f82d0b81ef9a454819b94bd
+Subproject commit 22f02dd650361e091f09f1ae94c5c96a9419c2d4
diff --git a/release/build_devel.sh b/release/build_devel.sh
index 668ac0de19..ca04c56f1e 100755
--- a/release/build_devel.sh
+++ b/release/build_devel.sh
@@ -44,9 +44,6 @@ git clean -xdff
 echo "[-] copying files T=$SECONDS"
 cd $SOURCE_DIR
 cp -pR --parents $(cat release/files_*) $TARGET_DIR/
-if [ ! -z "$EXTRA_FILES" ]; then
-  cp -pR --parents $EXTRA_FILES $TARGET_DIR/
-fi
 
 # in the directory
 cd $TARGET_DIR
diff --git a/release/build_release.sh b/release/build_release.sh
index 60f81fce06..b713876cd6 100755
--- a/release/build_release.sh
+++ b/release/build_release.sh
@@ -52,17 +52,13 @@ echo "[-] committing version $VERSION T=$SECONDS"
 git add -f .
 git commit -a -m "openpilot v$VERSION release"
 
-# Build panda firmware
-pushd panda/
-CERT=/data/pandaextra/certs/release RELEASE=1 scons -u .
-mv board/obj/panda.bin.signed /tmp/panda.bin.signed
-mv board/obj/panda_h7.bin.signed /tmp/panda_h7.bin.signed
-popd
-
 # Build
 export PYTHONPATH="$BUILD_DIR"
 scons -j$(nproc)
 
+# release panda fw
+CERT=/data/pandaextra/certs/release RELEASE=1 scons -j$(nproc) panda/
+
 # Ensure no submodules in release
 if test "$(git submodule--helper list | wc -l)" -gt "0"; then
   echo "submodules found:"
@@ -78,15 +74,9 @@ find . -name '*.os' -delete
 find . -name '*.pyc' -delete
 find . -name 'moc_*' -delete
 find . -name '__pycache__' -delete
-rm -rf panda/board panda/certs panda/crypto
 rm -rf .sconsign.dblite Jenkinsfile release/
 rm selfdrive/modeld/models/supercombo.onnx
 
-# Move back signed panda fw
-mkdir -p panda/board/obj
-mv /tmp/panda.bin.signed panda/board/obj/panda.bin.signed
-mv /tmp/panda_h7.bin.signed panda/board/obj/panda_h7.bin.signed
-
 # Restore third_party
 git checkout third_party/
 
diff --git a/release/files_common b/release/files_common
index eece185860..223cab142e 100644
--- a/release/files_common
+++ b/release/files_common
@@ -35,6 +35,7 @@ common/filter_simple.py
 common/stat_live.py
 common/spinner.py
 common/text_window.py
+common/time.py
 
 common/kalman/.gitignore
 common/kalman/*
@@ -59,6 +60,7 @@ release/*
 
 tools/__init__.py
 tools/lib/*
+tools/bodyteleop/*
 tools/joystick/*
 tools/replay/*.cc
 tools/replay/*.h
@@ -188,7 +190,6 @@ selfdrive/controls/lib/lateral_planner.py
 selfdrive/controls/lib/longcontrol.py
 selfdrive/controls/lib/longitudinal_planner.py
 selfdrive/controls/lib/pid.py
-selfdrive/controls/lib/radar_helpers.py
 selfdrive/controls/lib/vehicle_model.py
 
 selfdrive/controls/lib/lateral_mpc_lib/.gitignore
@@ -289,6 +290,7 @@ selfdrive/thermald/power_monitoring.py
 selfdrive/thermald/fan_controller.py
 
 selfdrive/test/__init__.py
+selfdrive/test/fuzzy_generation.py
 selfdrive/test/helpers.py
 selfdrive/test/setup_device_ci.sh
 selfdrive/test/test_onroad.py
@@ -431,14 +433,11 @@ third_party/kaitai/*.h
 third_party/kaitai/*.cpp
 
 third_party/libyuv/include/**
-third_party/libyuv/lib/**
-third_party/libyuv/larch64/**
 
 third_party/snpe/include/**
 third_party/snpe/dsp**
 
-third_party/acados/x86_64/**
-third_party/acados/larch64/**
+third_party/acados/.gitignore
 third_party/acados/include/**
 third_party/acados/acados_template/**
 
diff --git a/release/files_pc b/release/files_pc
index 01ecae4327..a331a45c0f 100644
--- a/release/files_pc
+++ b/release/files_pc
@@ -2,6 +2,7 @@ selfdrive/modeld/runners/onnx*
 
 third_party/mapbox-gl-native-qt/x86_64/*.so
 
-third_party/libyuv/x64/**
+third_party/libyuv/x86_64/**
 third_party/snpe/x86_64/**
 third_party/snpe/x86_64-linux-clang/**
+third_party/acados/x86_64/**
diff --git a/release/files_tici b/release/files_tici
index 892b7cd2f4..ab49de34f6 100644
--- a/release/files_tici
+++ b/release/files_tici
@@ -1,6 +1,8 @@
+third_party/libyuv/larch64/**
 third_party/snpe/larch64**
 third_party/snpe/aarch64-ubuntu-gcc7.5/*
 third_party/mapbox-gl-native-qt/include/*
+third_party/acados/larch64/**
 
 system/timezoned.py
 
diff --git a/scripts/cell.sh b/scripts/cell.sh
index 3623fe5b16..3f31978af5 100755
--- a/scripts/cell.sh
+++ b/scripts/cell.sh
@@ -1,3 +1,3 @@
 #!/usr/bin/bash
 nmcli connection modify --temporary lte ipv4.route-metric 1 ipv6.route-metric 1
-nmcli con up --wait --ask lte
+nmcli con up lte
diff --git a/scripts/code_stats.py b/scripts/code_stats.py
index 6c6db4335a..25e8950ccb 100755
--- a/scripts/code_stats.py
+++ b/scripts/code_stats.py
@@ -40,7 +40,7 @@ for f in sorted(pyf):
   print("%5d %s %s" % (lns, f, xbit))
   if 'test' in f:
     testlns += lns
-  elif f.startswith('tools/') or f.startswith('scripts/') or f.startswith('selfdrive/debug'):
+  elif f.startswith(('tools/', 'scripts/', 'selfdrive/debug')):
     scriptlns += lns
   elif f.startswith('selfdrive/car'):
     carlns += lns
diff --git a/selfdrive/assets/navigation/icon_directions.svg b/selfdrive/assets/navigation/icon_directions.svg
new file mode 100644
index 0000000000..66009ac43b
--- /dev/null
+++ b/selfdrive/assets/navigation/icon_directions.svg
@@ -0,0 +1 @@
+<svg xmlns="http://www.w3.org/2000/svg" width="100" height="100" fill="none"><g fill="#fff" clip-path="url(#a)" transform="matrix(2.3325 0 0 2.3825 -72.89 -63.797)"><path d="M31.25 53.12A15.62 15.62 0 0 1 46.88 37.5h9.37v-9.16a1.56 1.56 0 0 1 2.56-1.2l14.75 12.28c.75.63.75 1.78 0 2.4l-14.75 12.3a1.56 1.56 0 0 1-2.56-1.2v-9.17h-9.38a9.37 9.37 0 0 0-9.37 9.37v15.63h-6.25z"/></g><defs><clipPath id="a"><path fill="#fff" d="M0 0h100v100H0z"/></clipPath></defs></svg>
diff --git a/selfdrive/assets/navigation/icon_directions_outlined.svg b/selfdrive/assets/navigation/icon_directions_outlined.svg
new file mode 100644
index 0000000000..5c0c2fa3be
--- /dev/null
+++ b/selfdrive/assets/navigation/icon_directions_outlined.svg
@@ -0,0 +1 @@
+<svg xmlns="http://www.w3.org/2000/svg" width="300" height="300" fill="none" viewBox="0 0 100 100"><g fill="#fff" clip-path="url(#a)"><path d="M31.25 53.12A15.62 15.62 0 0 1 46.88 37.5h9.37v-9.16a1.56 1.56 0 0 1 2.56-1.2l14.75 12.28c.75.63.75 1.78 0 2.4l-14.75 12.3a1.56 1.56 0 0 1-2.56-1.2v-9.17h-9.38a9.37 9.37 0 0 0-9.37 9.37v15.63h-6.25V53.12Z"/><path fill-rule="evenodd" d="M43.44 2.72a9.28 9.28 0 0 1 13.12 0l40.72 40.72a9.26 9.26 0 0 1 0 13.12L56.56 97.28a9.26 9.26 0 0 1-13.1 0L2.71 56.56a9.26 9.26 0 0 1 0-13.11L43.44 2.72Zm8.75 4.37a3.1 3.1 0 0 0-4.38 0L7.1 47.81a3.1 3.1 0 0 0 0 4.38L47.8 92.9a3.1 3.1 0 0 0 4.38 0L92.9 52.2a3.1 3.1 0 0 0 0-4.38L52.2 7.1Z" clip-rule="evenodd"/></g><defs><clipPath id="a"><path fill="#fff" d="M0 0h100v100H0z"/></clipPath></defs></svg>
diff --git a/selfdrive/assets/navigation/icon_favorite.svg b/selfdrive/assets/navigation/icon_favorite.svg
new file mode 100644
index 0000000000..ba64df4ab9
--- /dev/null
+++ b/selfdrive/assets/navigation/icon_favorite.svg
@@ -0,0 +1 @@
+<svg xmlns="http://www.w3.org/2000/svg" width="100" height="100" fill="none"><g clip-path="url(#a)"><path fill="#fff" d="M49.1 0 36.35 31.82H0l27.27 27.27L13.64 100l35.45-23.64L86.36 100 72.73 59.1 100 31.81H63.64L49.09 0Z"/></g><defs><clipPath id="a"><path fill="#fff" d="M0 0h100v100H0z"/></clipPath></defs></svg>
\ No newline at end of file
diff --git a/selfdrive/assets/navigation/icon_home.svg b/selfdrive/assets/navigation/icon_home.svg
new file mode 100644
index 0000000000..cb87011090
--- /dev/null
+++ b/selfdrive/assets/navigation/icon_home.svg
@@ -0,0 +1 @@
+<svg xmlns="http://www.w3.org/2000/svg" width="100" height="100" fill="none"><g clip-path="url(#a)"><path fill="#fff" d="M7.7 98.08c0 1.06.85 1.92 1.92 1.92h28.84V76.92h23.08V100H90.4c1.06 0 1.92-.86 1.92-1.92V53.85H7.69v44.23ZM99.47 42.9l-7.17-6.3V7.7a7.7 7.7 0 0 0-15.39 0v15.4L51.4.68A1.92 1.92 0 0 0 48.68.6l-.08.08L.52 42.72a1.92 1.92 0 0 0 1.38 3.24l13.49.2h82.68a1.92 1.92 0 0 0 1.41-3.25Z"/></g><defs><clipPath id="a"><path fill="#fff" d="M0 0h100v100H0z"/></clipPath></defs></svg>
\ No newline at end of file
diff --git a/selfdrive/assets/navigation/icon_recent.svg b/selfdrive/assets/navigation/icon_recent.svg
new file mode 100644
index 0000000000..668aa38209
--- /dev/null
+++ b/selfdrive/assets/navigation/icon_recent.svg
@@ -0,0 +1 @@
+<svg xmlns="http://www.w3.org/2000/svg" width="100" height="100" fill="none"><g fill="#fff" clip-path="url(#a)"><path d="M53.22 6.37a43.75 43.75 0 0 0-3.21-.12V0a50 50 0 0 1 3.68.14l-.47 6.23Zm12.53 2.81c-2-.77-4.06-1.4-6.16-1.87l1.37-6.1c2.4.54 4.75 1.25 7.04 2.14l-2.25 5.83Zm8.56 4.44c-.9-.6-1.8-1.16-2.74-1.69l3.08-5.44a50.15 50.15 0 0 1 6.12 4.09l-3.85 4.93a43.75 43.75 0 0 0-2.61-1.89ZM85.77 24.8a43.7 43.7 0 0 0-4.08-4.97l4.53-4.31a52.14 52.14 0 0 1 4.66 5.68l-5.1 3.6Zm4.65 8.45a36.5 36.5 0 0 0-1.34-2.92l5.59-2.81a48.6 48.6 0 0 1 2.8 6.8l-5.93 1.95a43.9 43.9 0 0 0-1.12-3.02Zm3.31 15.67a43.68 43.68 0 0 0-.62-6.4l6.15-1.07c.42 2.41.67 4.86.73 7.31l-6.25.16Zm-.81 9.61c.2-1.06.37-2.12.5-3.19l6.2.77a49.3 49.3 0 0 1-1.43 7.22l-6.02-1.67c.28-1.03.53-2.07.75-3.13ZM86.97 73.4A44.16 44.16 0 0 0 90 67.72l5.72 2.53c-1 2.25-2.16 4.42-3.47 6.49l-5.28-3.34Zm-6.03 7.53c.76-.77 1.5-1.55 2.19-2.36l4.74 4.08a49.2 49.2 0 0 1-2.51 2.7l-4.42-4.42Z"/><path d="M50 6.25a43.75 43.75 0 1 0 30.94 74.68l4.42 4.42A50 50 0 1 1 50 0v6.25Z"/><path d="M46.88 18.75a3.13 3.13 0 0 1 3.13 3.12v32.56l20.3 11.6a3.12 3.12 0 0 1-3.1 5.42l-21.88-12.5a3.12 3.12 0 0 1-1.57-2.7V21.86a3.12 3.12 0 0 1 3.12-3.12Z"/></g><defs><clipPath id="a"><path fill="#fff" d="M0 0h100v100H0z"/></clipPath></defs></svg>
\ No newline at end of file
diff --git a/selfdrive/assets/navigation/icon_settings.svg b/selfdrive/assets/navigation/icon_settings.svg
new file mode 100644
index 0000000000..134cc0f31f
--- /dev/null
+++ b/selfdrive/assets/navigation/icon_settings.svg
@@ -0,0 +1 @@
+<svg xmlns="http://www.w3.org/2000/svg" width="128" height="128" fill="#fff" class="bi bi-gear-fill"><path d="M75.24 8.4c-3.304-11.2-19.176-11.2-22.48 0l-.8 2.72a11.712 11.712 0 0 1-16.84 6.976l-2.48-1.36c-10.264-5.584-21.488 5.64-15.896 15.896l1.352 2.488c3.568 6.56.184 14.728-6.976 16.84l-2.72.8c-11.2 3.304-11.2 19.176 0 22.48l2.72.8a11.712 11.712 0 0 1 6.976 16.84l-1.36 2.48c-5.584 10.264 5.64 21.488 15.896 15.896l2.488-1.352a11.712 11.712 0 0 1 16.84 6.976l.8 2.72c3.304 11.2 19.176 11.2 22.48 0l.8-2.72a11.712 11.712 0 0 1 16.84-6.976l2.48 1.36c10.264 5.584 21.488-5.64 15.896-15.896l-1.352-2.488a11.712 11.712 0 0 1 6.976-16.84l2.72-.8c11.2-3.304 11.2-19.176 0-22.48l-2.72-.8a11.712 11.712 0 0 1-6.976-16.84l1.36-2.48c5.584-10.264-5.64-21.488-15.896-15.896l-2.488 1.352a11.712 11.712 0 0 1-16.84-6.976ZM64 87.44a23.44 23.44 0 1 1 0-46.88 23.432 23.432 0 0 1 0 46.864z" style="stroke-width:8"/></svg>
diff --git a/selfdrive/assets/navigation/icon_work.svg b/selfdrive/assets/navigation/icon_work.svg
new file mode 100644
index 0000000000..c1ea6c5e3b
--- /dev/null
+++ b/selfdrive/assets/navigation/icon_work.svg
@@ -0,0 +1 @@
+<svg xmlns="http://www.w3.org/2000/svg" width="100" height="100" fill="none"><g clip-path="url(#a)"><path fill="#fff" d="M77.78 22.22V6.42L70.67 0H29.33l-7.1 8.3v13.92H5.55L0 27.78v66.66L5.56 100h88.88l5.56-5.56V27.78l-5.56-5.56H77.78Zm-44.45-11.1h33.34v11.1H33.33v-11.1Z"/></g><defs><clipPath id="a"><path fill="#fff" d="M0 0h100v100H0z"/></clipPath></defs></svg>
\ No newline at end of file
diff --git a/selfdrive/assets/navigation/screenshot.png b/selfdrive/assets/navigation/screenshot.png
deleted file mode 100644
index 3e89c04759..0000000000
Binary files a/selfdrive/assets/navigation/screenshot.png and /dev/null differ
diff --git a/selfdrive/assets/offroad/icon_wifi_uploading.svg b/selfdrive/assets/offroad/icon_wifi_uploading.svg
new file mode 100644
index 0000000000..95cb0e283e
--- /dev/null
+++ b/selfdrive/assets/offroad/icon_wifi_uploading.svg
@@ -0,0 +1,6 @@
+<svg width="68" height="68" viewBox="0 0 68 68" fill="none" xmlns="http://www.w3.org/2000/svg">
+<path d="M34.0004 8.63599C21.8284 8.63599 10.7444 13.26 2.31243 20.808C1.56443 21.488 1.4964 22.644 2.1084 23.392L4.76041 26.452C5.44041 27.2 6.59641 27.268 7.34441 26.588C14.4164 20.196 23.7324 16.32 33.9324 16.32C44.1324 16.32 53.4484 20.196 60.5204 26.588C61.2684 27.268 62.4244 27.2 63.1044 26.452L65.7564 23.392C66.4364 22.644 66.3004 21.488 65.5524 20.808C57.2564 13.26 46.1724 8.63599 34.0004 8.63599Z" fill="#465BEA"/>
+<path d="M34.0004 22.032C25.1604 22.032 17.0684 25.432 11.0164 30.94C10.2684 31.62 10.2004 32.708 10.8804 33.456L13.3964 36.38C14.0764 37.196 15.2324 37.196 16.0484 36.516C20.8084 32.164 27.1324 29.512 34.0684 29.512C41.0044 29.512 47.3284 32.164 52.0884 36.516C52.8364 37.196 54.0604 37.196 54.7404 36.38L57.2564 33.456C57.8684 32.708 57.8684 31.552 57.1204 30.94C50.9324 25.364 42.8404 22.032 34.0004 22.032Z" fill="#465BEA"/>
+<path d="M34.0007 35.36C28.4247 35.36 23.3927 37.536 19.6527 41.14C18.9727 41.82 18.9047 42.908 19.5847 43.656L21.9647 46.444C22.6447 47.26 23.8687 47.26 24.6167 46.58C27.0647 44.2 30.3287 42.772 34.0007 42.772C37.6727 42.772 40.9367 44.2 43.3847 46.58C44.1327 47.328 45.3567 47.26 46.0367 46.444L48.4167 43.656C49.0287 42.908 49.0287 41.82 48.3487 41.14C44.6087 37.536 39.5767 35.36 34.0007 35.36Z" fill="#465BEA"/>
+<path d="M34.0005 48.688C31.7565 48.688 29.7165 49.708 28.3565 51.34C27.7445 52.02 27.7445 53.04 28.3565 53.72L32.6405 58.684C33.3885 59.5 34.6804 59.5 35.4284 58.684L39.7125 53.72C40.3245 53.04 40.3245 52.02 39.7125 51.34C38.2845 49.708 36.2445 48.688 34.0005 48.688Z" fill="#465BEA"/>
+</svg>
diff --git a/selfdrive/athena/athenad.py b/selfdrive/athena/athenad.py
index 842c649672..6ef32f8a5b 100755
--- a/selfdrive/athena/athenad.py
+++ b/selfdrive/athena/athenad.py
@@ -42,6 +42,10 @@ from selfdrive.statsd import STATS_DIR
 from system.swaglog import SWAGLOG_DIR, cloudlog
 from system.version import get_commit, get_origin, get_short_branch, get_version
 
+
+# TODO: use socket constant when mypy recognizes this as a valid attribute
+TCP_USER_TIMEOUT = 18
+
 ATHENA_HOST = os.getenv('ATHENA_HOST', 'wss://athena.comma.ai')
 HANDLER_THREADS = int(os.getenv('HANDLER_THREADS', "4"))
 LOCAL_PORT_WHITELIST = {8022}
@@ -81,7 +85,7 @@ class UploadItem:
   url: str
   headers: Dict[str, str]
   created_at: int
-  id: Optional[str]
+  id: Optional[str] # noqa: A003 (to match the response from the remote server)
   retry_count: int = 0
   current: bool = False
   progress: float = 0
@@ -137,10 +141,11 @@ class UploadQueueCache:
       cloudlog.exception("athena.UploadQueueCache.cache.exception")
 
 
-def handle_long_poll(ws: WebSocket) -> None:
+def handle_long_poll(ws: WebSocket, exit_event: Optional[threading.Event]) -> None:
   end_event = threading.Event()
 
   threads = [
+    threading.Thread(target=ws_manage, args=(ws, end_event), name='ws_manage'),
     threading.Thread(target=ws_recv, args=(ws, end_event), name='ws_recv'),
     threading.Thread(target=ws_send, args=(ws, end_event), name='ws_send'),
     threading.Thread(target=upload_handler, args=(end_event,), name='upload_handler'),
@@ -154,8 +159,9 @@ def handle_long_poll(ws: WebSocket) -> None:
   for thread in threads:
     thread.start()
   try:
-    while not end_event.is_set():
-      time.sleep(0.1)
+    while not end_event.wait(0.1):
+      if exit_event is not None and exit_event.is_set():
+        end_event.set()
   except (KeyboardInterrupt, SystemExit):
     end_event.set()
     raise
@@ -754,11 +760,30 @@ def ws_send(ws: WebSocket, end_event: threading.Event) -> None:
       end_event.set()
 
 
+def ws_manage(ws: WebSocket, end_event: threading.Event) -> None:
+  params = Params()
+  onroad_prev = None
+  sock = ws.sock
+
+  while True:
+    onroad = params.get_bool("IsOnroad")
+    if onroad != onroad_prev:
+      onroad_prev = onroad
+
+      sock.setsockopt(socket.IPPROTO_TCP, TCP_USER_TIMEOUT, 16000 if onroad else 0)
+      sock.setsockopt(socket.IPPROTO_TCP, socket.TCP_KEEPIDLE, 7 if onroad else 30)
+      sock.setsockopt(socket.IPPROTO_TCP, socket.TCP_KEEPINTVL, 7 if onroad else 10)
+      sock.setsockopt(socket.IPPROTO_TCP, socket.TCP_KEEPCNT, 2 if onroad else 3)
+
+    if end_event.wait(5):
+      break
+
+
 def backoff(retries: int) -> int:
   return random.randrange(0, min(128, int(2 ** retries)))
 
 
-def main():
+def main(exit_event: Optional[threading.Event] = None):
   try:
     set_core_affinity([0, 1, 2, 3])
   except Exception:
@@ -771,27 +796,31 @@ def main():
   ws_uri = ATHENA_HOST + "/ws/v2/" + dongle_id
   api = Api(dongle_id)
 
+  conn_start = None
   conn_retries = 0
-  while 1:
+  while exit_event is None or not exit_event.is_set():
     try:
-      cloudlog.event("athenad.main.connecting_ws", ws_uri=ws_uri)
+      if conn_start is None:
+        conn_start = time.monotonic()
+
+      cloudlog.event("athenad.main.connecting_ws", ws_uri=ws_uri, retries=conn_retries)
       ws = create_connection(ws_uri,
                              cookie="jwt=" + api.get_token(),
                              enable_multithread=True,
                              timeout=30.0)
-      cloudlog.event("athenad.main.connected_ws", ws_uri=ws_uri)
+      cloudlog.event("athenad.main.connected_ws", ws_uri=ws_uri, retries=conn_retries,
+                     duration=time.monotonic() - conn_start)
+      conn_start = None
 
       conn_retries = 0
       cur_upload_items.clear()
 
-      handle_long_poll(ws)
+      handle_long_poll(ws, exit_event)
     except (KeyboardInterrupt, SystemExit):
       break
     except (ConnectionError, TimeoutError, WebSocketException):
       conn_retries += 1
       params.remove("LastAthenaPingTime")
-    except socket.timeout:
-      params.remove("LastAthenaPingTime")
     except Exception:
       cloudlog.exception("athenad.main.exception")
 
diff --git a/selfdrive/athena/tests/helpers.py b/selfdrive/athena/tests/helpers.py
index 247aedd67a..5087012bcd 100644
--- a/selfdrive/athena/tests/helpers.py
+++ b/selfdrive/athena/tests/helpers.py
@@ -52,7 +52,7 @@ class MockApi():
 class MockParams():
   default_params = {
     "DongleId": b"0000000000000000",
-    "GithubSshKeys": b"ssh-rsa AAAAB3NzaC1yc2EAAAADAQABAAABAQC307aE+nuHzTAgaJhzSf5v7ZZQW9gaperjhCmyPyl4PzY7T1mDGenTlVTN7yoVFZ9UfO9oMQqo0n1OwDIiqbIFxqnhrHU0cYfj88rI85m5BEKlNu5RdaVTj1tcbaPpQc5kZEolaI1nDDjzV0lwS7jo5VYDHseiJHlik3HH1SgtdtsuamGR2T80q1SyW+5rHoMOJG73IH2553NnWuikKiuikGHUYBd00K1ilVAK2xSiMWJp55tQfZ0ecr9QjEsJ+J/efL4HqGNXhffxvypCXvbUYAFSddOwXUPo5BTKevpxMtH+2YrkpSjocWA04VnTYFiPG6U4ItKmbLOTFZtPzoez private",  # noqa: E501
+    "GithubSshKeys": b"ssh-rsa AAAAB3NzaC1yc2EAAAADAQABAAABAQC307aE+nuHzTAgaJhzSf5v7ZZQW9gaperjhCmyPyl4PzY7T1mDGenTlVTN7yoVFZ9UfO9oMQqo0n1OwDIiqbIFxqnhrHU0cYfj88rI85m5BEKlNu5RdaVTj1tcbaPpQc5kZEolaI1nDDjzV0lwS7jo5VYDHseiJHlik3HH1SgtdtsuamGR2T80q1SyW+5rHoMOJG73IH2553NnWuikKiuikGHUYBd00K1ilVAK2xSiMWJp55tQfZ0ecr9QjEsJ+J/efL4HqGNXhffxvypCXvbUYAFSddOwXUPo5BTKevpxMtH+2YrkpSjocWA04VnTYFiPG6U4ItKmbLOTFZtPzoez private", # noqa: E501
     "GithubUsername": b"commaci",
     "GsmMetered": True,
     "AthenadUploadQueue": '[]',
diff --git a/selfdrive/athena/tests/test_athenad.py b/selfdrive/athena/tests/test_athenad.py
index 948fcc07a5..7ce6932f2a 100755
--- a/selfdrive/athena/tests/test_athenad.py
+++ b/selfdrive/athena/tests/test_athenad.py
@@ -159,7 +159,7 @@ class TestAthenadMethods(unittest.TestCase):
     resp = dispatcher["uploadFileToUrl"]("qlog.bz2", f"{host}/qlog.bz2", {})
     self.assertEqual(resp['enqueued'], 1)
     self.assertNotIn('failed', resp)
-    self.assertDictContainsSubset({"path": fn, "url": f"{host}/qlog.bz2", "headers": {}}, resp['items'][0])
+    self.assertLessEqual({"path": fn, "url": f"{host}/qlog.bz2", "headers": {}}.items(), resp['items'][0].items())
     self.assertIsNotNone(resp['items'][0].get('id'))
     self.assertEqual(athenad.upload_queue.qsize(), 1)
 
@@ -253,7 +253,8 @@ class TestAthenadMethods(unittest.TestCase):
       end_event.set()
 
   def test_cancelUpload(self):
-    item = athenad.UploadItem(path="qlog.bz2", url="http://localhost:44444/qlog.bz2", headers={}, created_at=int(time.time()*1000), id='id', allow_cellular=True)
+    item = athenad.UploadItem(path="qlog.bz2", url="http://localhost:44444/qlog.bz2", headers={},
+                              created_at=int(time.time()*1000), id='id', allow_cellular=True)
     athenad.upload_queue.put_nowait(item)
     dispatcher["cancelUpload"](item.id)
 
@@ -317,7 +318,8 @@ class TestAthenadMethods(unittest.TestCase):
       end_event.set()
 
   def test_listUploadQueue(self):
-    item = athenad.UploadItem(path="qlog.bz2", url="http://localhost:44444/qlog.bz2", headers={}, created_at=int(time.time()*1000), id='id', allow_cellular=True)
+    item = athenad.UploadItem(path="qlog.bz2", url="http://localhost:44444/qlog.bz2", headers={},
+                              created_at=int(time.time()*1000), id='id', allow_cellular=True)
     athenad.upload_queue.put_nowait(item)
 
     items = dispatcher["listUploadQueue"]()
diff --git a/selfdrive/athena/tests/test_athenad_ping.py b/selfdrive/athena/tests/test_athenad_ping.py
new file mode 100755
index 0000000000..e1fa00a76f
--- /dev/null
+++ b/selfdrive/athena/tests/test_athenad_ping.py
@@ -0,0 +1,112 @@
+#!/usr/bin/env python3
+import subprocess
+import threading
+import time
+import unittest
+from typing import Callable, cast, Optional
+from unittest.mock import MagicMock
+
+from common.params import Params
+from common.timeout import Timeout
+from selfdrive.athena import athenad
+from selfdrive.manager.helpers import write_onroad_params
+from system.hardware import TICI
+
+
+def wifi_radio(on: bool) -> None:
+  if not TICI:
+    return
+  print(f"wifi {'on' if on else 'off'}")
+  subprocess.run(["nmcli", "radio", "wifi", "on" if on else "off"], check=True)
+
+
+class TestAthenadPing(unittest.TestCase):
+  params: Params
+  dongle_id: str
+
+  athenad: threading.Thread
+  exit_event: threading.Event
+
+  _create_connection: Callable
+
+  def _get_ping_time(self) -> Optional[str]:
+    return cast(Optional[str], self.params.get("LastAthenaPingTime", encoding="utf-8"))
+
+  def _clear_ping_time(self) -> None:
+    self.params.remove("LastAthenaPingTime")
+
+  def _received_ping(self) -> bool:
+    return self._get_ping_time() is not None
+
+  @classmethod
+  def setUpClass(cls) -> None:
+    cls.params = Params()
+    cls.dongle_id = cls.params.get("DongleId", encoding="utf-8")
+    cls._create_connection = athenad.create_connection
+    athenad.create_connection = MagicMock(wraps=cls._create_connection)
+
+  @classmethod
+  def tearDownClass(cls) -> None:
+    wifi_radio(True)
+    athenad.create_connection = cls._create_connection
+
+  def setUp(self) -> None:
+    wifi_radio(True)
+    self._clear_ping_time()
+
+    self.exit_event = threading.Event()
+    self.athenad = threading.Thread(target=athenad.main, args=(self.exit_event,))
+
+    athenad.create_connection.reset_mock()
+
+  def tearDown(self) -> None:
+    if self.athenad.is_alive():
+      self.exit_event.set()
+      self.athenad.join()
+
+  def assertTimeout(self, reconnect_time: float) -> None:
+    self.athenad.start()
+
+    time.sleep(1)
+    athenad.create_connection.assert_called_once()
+    athenad.create_connection.reset_mock()
+
+    # check normal behaviour
+    with self.subTest("Wi-Fi: receives ping"), Timeout(70, "no ping received"):
+      while not self._received_ping():
+        time.sleep(0.1)
+      print("ping received")
+
+    athenad.create_connection.assert_not_called()
+
+    # websocket should attempt reconnect after short time
+    with self.subTest("LTE: attempt reconnect"):
+      wifi_radio(False)
+      print("waiting for reconnect attempt")
+      start_time = time.monotonic()
+      with Timeout(reconnect_time, "no reconnect attempt"):
+        while not athenad.create_connection.called:
+          time.sleep(0.1)
+        print(f"reconnect attempt after {time.monotonic() - start_time:.2f}s")
+
+    self._clear_ping_time()
+
+    # check ping received after reconnect
+    with self.subTest("LTE: receives ping"), Timeout(70, "no ping received"):
+      while not self._received_ping():
+        time.sleep(0.1)
+      print("ping received")
+
+  @unittest.skipIf(not TICI, "only run on desk")
+  def test_offroad(self) -> None:
+    write_onroad_params(False, self.params)
+    self.assertTimeout(100)  # expect approx 90s
+
+  @unittest.skipIf(not TICI, "only run on desk")
+  def test_onroad(self) -> None:
+    write_onroad_params(True, self.params)
+    self.assertTimeout(30)  # expect 20-30s
+
+
+if __name__ == "__main__":
+  unittest.main()
diff --git a/selfdrive/boardd/boardd.cc b/selfdrive/boardd/boardd.cc
index 6f293d1c0d..31ae0a4102 100644
--- a/selfdrive/boardd/boardd.cc
+++ b/selfdrive/boardd/boardd.cc
@@ -51,7 +51,6 @@
 #define MIN_IR_POWER 0.0f
 #define CUTOFF_IL 400
 #define SATURATE_IL 1000
-#define NIBBLE_TO_HEX(n) ((n) < 10 ? (n) + '0' : ((n) - 10) + 'a')
 using namespace std::chrono_literals;
 
 std::atomic<bool> ignition(false);
@@ -94,11 +93,12 @@ void sync_time(Panda *panda, SyncTimeDir dir) {
       }
     }
   } else if (dir == SyncTimeDir::FROM_PANDA) {
+    LOGW("System time: %s, RTC time: %s", get_time_str(sys_time).c_str(), get_time_str(rtc_time).c_str());
+
     if (!util::time_valid(sys_time) && util::time_valid(rtc_time)) {
       const struct timeval tv = {mktime(&rtc_time), 0};
       settimeofday(&tv, 0);
-      LOGE("System time wrong, setting from RTC. System: %s RTC: %s",
-           get_time_str(sys_time).c_str(), get_time_str(rtc_time).c_str());
+      LOGE("System time wrong, setting from RTC.");
     }
   }
 }
@@ -155,7 +155,7 @@ bool safety_setter_thread(std::vector<Panda *> pandas) {
     }
     util::sleep_for(100);
   }
-  LOGW("got %d bytes CarParams", params.size());
+  LOGW("got %lu bytes CarParams", params.size());
 
   AlignedBuffer aligned_buf;
   capnp::FlatArrayMessageReader cmsg(aligned_buf.align(params.data(), params.size()));
@@ -199,6 +199,10 @@ Panda *connect(std::string serial="", uint32_t index=0) {
   }
   //panda->enable_deepsleep();
 
+  if (!panda->up_to_date() && !getenv("BOARDD_SKIP_FW_CHECK")) {
+    throw std::runtime_error("Panda firmware out of date. Run pandad.py to update.");
+  }
+
   sync_time(panda.get(), SyncTimeDir::FROM_PANDA);
   return panda.release();
 }
@@ -225,7 +229,7 @@ void can_send_thread(std::vector<Panda *> pandas, bool fake_send) {
     capnp::FlatArrayMessageReader cmsg(aligned_buf.align(msg.get()));
     cereal::Event::Reader event = cmsg.getRoot<cereal::Event>();
 
-    //Dont send if older than 1 second
+    // Don't send if older than 1 second
     if ((nanos_since_boot() - event.getLogMonoTime() < 1e9) && !fake_send) {
       for (const auto& panda : pandas) {
         LOGT("sending sendcan to panda: %s", (panda->hw_serial()).c_str());
@@ -233,7 +237,7 @@ void can_send_thread(std::vector<Panda *> pandas, bool fake_send) {
         LOGT("sendcan sent to panda: %s", (panda->hw_serial()).c_str());
       }
     } else {
-      LOGE("sendcan too old to send: %llu, %llu", nanos_since_boot(), event.getLogMonoTime());
+      LOGE("sendcan too old to send: %" PRIu64 ", %" PRIu64, nanos_since_boot(), event.getLogMonoTime());
     }
   }
 }
@@ -241,10 +245,9 @@ void can_send_thread(std::vector<Panda *> pandas, bool fake_send) {
 void can_recv_thread(std::vector<Panda *> pandas) {
   util::set_thread_name("boardd_can_recv");
 
-  // can = 8006
   PubMaster pm({"can"});
 
-  // run at 100hz
+  // run at 100Hz
   const uint64_t dt = 10000000ULL;
   uint64_t next_frame_time = nanos_since_boot() + dt;
   std::vector<can_frame> raw_can_data;
@@ -274,7 +277,7 @@ void can_recv_thread(std::vector<Panda *> pandas) {
       std::this_thread::sleep_for(std::chrono::nanoseconds(remaining));
     } else {
       if (ignition) {
-        LOGW("missed cycles (%d) %lld", (int)-1*remaining/dt, remaining);
+        LOGW("missed cycles (%lu) %lld", (unsigned long)(-1*remaining/dt), (long long)remaining);
       }
       next_frame_time = cur_time;
     }
@@ -283,20 +286,6 @@ void can_recv_thread(std::vector<Panda *> pandas) {
   }
 }
 
-void send_empty_peripheral_state(PubMaster *pm) {
-  MessageBuilder msg;
-  auto peripheralState  = msg.initEvent().initPeripheralState();
-  peripheralState.setPandaType(cereal::PandaState::PandaType::UNKNOWN);
-  pm->send("peripheralState", msg);
-}
-
-void send_empty_panda_state(PubMaster *pm) {
-  MessageBuilder msg;
-  auto pandaStates = msg.initEvent().initPandaStates(1);
-  pandaStates[0].setPandaType(cereal::PandaState::PandaType::UNKNOWN);
-  pm->send("pandaStates", msg);
-}
-
 std::optional<bool> send_panda_states(PubMaster *pm, const std::vector<Panda *> &pandas, bool spoofing_started) {
   bool ignition_local = false;
   const uint32_t pandas_cnt = pandas.size();
@@ -312,6 +301,10 @@ std::optional<bool> send_panda_states(PubMaster *pm, const std::vector<Panda *>
   std::vector<std::array<can_health_t, PANDA_CAN_CNT>> pandaCanStates;
   pandaCanStates.reserve(pandas_cnt);
 
+  const bool red_panda_comma_three = (pandas.size() == 2) &&
+                                     (pandas[0]->hw_type == cereal::PandaState::PandaType::DOS) &&
+                                     (pandas[1]->hw_type == cereal::PandaState::PandaType::RED_PANDA);
+
   for (const auto& panda : pandas){
     auto health_opt = panda->get_state();
     if (!health_opt) {
@@ -334,6 +327,13 @@ std::optional<bool> send_panda_states(PubMaster *pm, const std::vector<Panda *>
       health.ignition_line_pkt = 1;
     }
 
+    // on comma three setups with a red panda, the dos can
+    // get false positive ignitions due to the harness box
+    // without a harness connector, so ignore it
+    if (red_panda_comma_three && (panda->hw_type == cereal::PandaState::PandaType::DOS)) {
+      health.ignition_line_pkt = 0;
+    }
+
     ignition_local |= ((health.ignition_line_pkt != 0) || (health.ignition_can_pkt != 0));
 
     pandaStates.push_back(health);
@@ -348,7 +348,6 @@ std::optional<bool> send_panda_states(PubMaster *pm, const std::vector<Panda *>
       panda->set_safety_model(cereal::CarParams::SafetyModel::NO_OUTPUT);
     }
 
-  #ifndef __x86_64__
     bool power_save_desired = !ignition_local;
     if (health.power_save_enabled_pkt != power_save_desired) {
       panda->set_power_saving(power_save_desired);
@@ -358,7 +357,6 @@ std::optional<bool> send_panda_states(PubMaster *pm, const std::vector<Panda *>
     if (!ignition_local && (health.safety_mode_pkt != (uint8_t)(cereal::CarParams::SafetyModel::NO_OUTPUT))) {
       panda->set_safety_model(cereal::CarParams::SafetyModel::NO_OUTPUT);
     }
-  #endif
 
     if (!panda->comms_healthy()) {
       evt.setValid(false);
@@ -418,6 +416,10 @@ std::optional<bool> send_panda_states(PubMaster *pm, const std::vector<Panda *>
       cs[j].setCanfdEnabled(can_health.canfd_enabled);
       cs[j].setBrsEnabled(can_health.brs_enabled);
       cs[j].setCanfdNonIso(can_health.canfd_non_iso);
+      cs[j].setIrq0CallRate(can_health.irq0_call_rate);
+      cs[j].setIrq1CallRate(can_health.irq1_call_rate);
+      cs[j].setIrq2CallRate(can_health.irq2_call_rate);
+      cs[j].setCanCoreResetCnt(can_health.can_core_reset_cnt);
     }
 
     // Convert faults bitset to capnp list
@@ -461,11 +463,12 @@ void send_peripheral_state(PubMaster *pm, Panda *panda) {
   pm->send("peripheralState", msg);
 }
 
-void panda_state_thread(PubMaster *pm, std::vector<Panda *> pandas, bool spoofing_started) {
+void panda_state_thread(std::vector<Panda *> pandas, bool spoofing_started) {
   util::set_thread_name("boardd_panda_state");
 
   Params params;
   SubMaster sm({"controlsState"});
+  PubMaster pm({"pandaStates", "peripheralState"});
 
   Panda *peripheral_panda = pandas[0];
   bool is_onroad = false;
@@ -484,8 +487,8 @@ void panda_state_thread(PubMaster *pm, std::vector<Panda *> pandas, bool spoofin
     uint64_t start_time = nanos_since_boot();
 
     // send out peripheralState
-    send_peripheral_state(pm, peripheral_panda);
-    auto ignition_opt = send_panda_states(pm, pandas, spoofing_started);
+    send_peripheral_state(&pm, peripheral_panda);
+    auto ignition_opt = send_panda_states(&pm, pandas, spoofing_started);
 
     if (!ignition_opt) {
       continue;
@@ -551,22 +554,20 @@ void peripheral_control_thread(Panda *panda, bool no_fan_control) {
 
   SubMaster sm({"deviceState", "driverCameraState"});
 
-  uint64_t last_front_frame_t = 0;
+  uint64_t last_driver_camera_t = 0;
   uint16_t prev_fan_speed = 999;
   uint16_t ir_pwr = 0;
   uint16_t prev_ir_pwr = 999;
-  unsigned int cnt = 0;
 
   FirstOrderFilter integ_lines_filter(0, 30.0, 0.05);
 
   while (!do_exit && panda->connected()) {
-    cnt++;
-    sm.update(1000); // TODO: what happens if EINTR is sent while in sm.update?
+    sm.update(1000);
 
     if (sm.updated("deviceState") && !no_fan_control) {
       // Fan speed
       uint16_t fan_speed = sm["deviceState"].getDeviceState().getFanSpeedPercentDesired();
-      if (fan_speed != prev_fan_speed || cnt % 100 == 0) {
+      if (fan_speed != prev_fan_speed || sm.frame % 100 == 0) {
         panda->set_fan_speed(fan_speed);
         prev_fan_speed = fan_speed;
       }
@@ -577,7 +578,7 @@ void peripheral_control_thread(Panda *panda, bool no_fan_control) {
       int cur_integ_lines = event.getDriverCameraState().getIntegLines();
 
       cur_integ_lines = integ_lines_filter.update(cur_integ_lines);
-      last_front_frame_t = event.getLogMonoTime();
+      last_driver_camera_t = event.getLogMonoTime();
 
       if (cur_integ_lines <= CUTOFF_IL) {
         ir_pwr = 100.0 * MIN_IR_POWER;
@@ -588,48 +589,48 @@ void peripheral_control_thread(Panda *panda, bool no_fan_control) {
       }
     }
 
-    // Disable ir_pwr on front frame timeout
-    uint64_t cur_t = nanos_since_boot();
-    if (cur_t - last_front_frame_t > 1e9) {
+    // Disable IR on input timeout
+    if (nanos_since_boot() - last_driver_camera_t > 1e9) {
       ir_pwr = 0;
     }
 
-    if (ir_pwr != prev_ir_pwr || cnt % 100 == 0 || ir_pwr >= 50.0) {
+    if (ir_pwr != prev_ir_pwr || sm.frame % 100 == 0 || ir_pwr >= 50.0) {
       panda->set_ir_pwr(ir_pwr);
       prev_ir_pwr = ir_pwr;
     }
 
     // Write to rtc once per minute when no ignition present
-    if (!ignition && (cnt % 120 == 1)) {
+    if (!ignition && (sm.frame % 120 == 1)) {
       sync_time(panda, SyncTimeDir::TO_PANDA);
     }
   }
 }
 
 void boardd_main_thread(std::vector<std::string> serials) {
-  PubMaster pm({"pandaStates", "peripheralState"});
-  LOGW("attempting to connect");
+  LOGW("launching boardd");
 
   if (serials.size() == 0) {
-    // connect to all
     serials = Panda::list();
 
-    // exit if no pandas are connected
     if (serials.size() == 0) {
       LOGW("no pandas found, exiting");
       return;
     }
   }
 
+  std::string serials_str;
+  for (int i = 0; i < serials.size(); i++) {
+    serials_str += serials[i];
+    if (i < serials.size() - 1) serials_str += ", ";
+  }
+  LOGW("connecting to pandas: %s", serials_str.c_str());
+
   // connect to all provided serials
   std::vector<Panda *> pandas;
   for (int i = 0; i < serials.size() && !do_exit; /**/) {
     Panda *p = connect(serials[i], i);
     if (!p) {
-      // send empty pandaState & peripheralState and try again
-      send_empty_panda_state(&pm);
-      send_empty_peripheral_state(&pm);
-      util::sleep_for(500);
+      util::sleep_for(100);
       continue;
     }
 
@@ -638,12 +639,12 @@ void boardd_main_thread(std::vector<std::string> serials) {
   }
 
   if (!do_exit) {
-    LOGW("connected to board");
-    Panda *peripheral_panda = pandas[0];
+    LOGW("connected to all pandas");
+
     std::vector<std::thread> threads;
 
-    threads.emplace_back(panda_state_thread, &pm, pandas, getenv("STARTED") != nullptr);
-    threads.emplace_back(peripheral_control_thread, peripheral_panda, getenv("NO_FAN_CONTROL") != nullptr);
+    threads.emplace_back(panda_state_thread, pandas, getenv("STARTED") != nullptr);
+    threads.emplace_back(peripheral_control_thread, pandas[0], getenv("NO_FAN_CONTROL") != nullptr);
 
     threads.emplace_back(can_send_thread, pandas, getenv("FAKESEND") != nullptr);
     threads.emplace_back(can_recv_thread, pandas);
@@ -651,7 +652,6 @@ void boardd_main_thread(std::vector<std::string> serials) {
     for (auto &t : threads) t.join();
   }
 
-  // we have exited, clean up pandas
   for (Panda *panda : pandas) {
     delete panda;
   }
diff --git a/selfdrive/boardd/boardd_api_impl.pyx b/selfdrive/boardd/boardd_api_impl.pyx
index 0d428a9259..6a552bb447 100644
--- a/selfdrive/boardd/boardd_api_impl.pyx
+++ b/selfdrive/boardd/boardd_api_impl.pyx
@@ -4,13 +4,15 @@ from libcpp.vector cimport vector
 from libcpp.string cimport string
 from libcpp cimport bool
 
-cdef struct can_frame:
-  long address
-  string dat
-  long busTime
-  long src
+cdef extern from "panda.h":
+  cdef struct can_frame:
+    long address
+    string dat
+    long busTime
+    long src
 
-cdef extern void can_list_to_can_capnp_cpp(const vector[can_frame] &can_list, string &out, bool sendCan, bool valid)
+cdef extern from "can_list_to_can_capnp.cc":
+  void can_list_to_can_capnp_cpp(const vector[can_frame] &can_list, string &out, bool sendCan, bool valid)
 
 def can_list_to_can_capnp(can_msgs, msgtype='can', valid=True):
   cdef vector[can_frame] can_list
diff --git a/selfdrive/boardd/can_list_to_can_capnp.cc b/selfdrive/boardd/can_list_to_can_capnp.cc
index faa0e37373..c1778c51a2 100644
--- a/selfdrive/boardd/can_list_to_can_capnp.cc
+++ b/selfdrive/boardd/can_list_to_can_capnp.cc
@@ -1,8 +1,6 @@
 #include "cereal/messaging/messaging.h"
 #include "panda.h"
 
-extern "C" {
-
 void can_list_to_can_capnp_cpp(const std::vector<can_frame> &can_list, std::string &out, bool sendCan, bool valid) {
   MessageBuilder msg;
   auto event = msg.initEvent(valid);
@@ -21,5 +19,3 @@ void can_list_to_can_capnp_cpp(const std::vector<can_frame> &can_list, std::stri
   kj::ArrayOutputStream output_stream(kj::ArrayPtr<capnp::byte>((unsigned char *)out.data(), msg_size));
   capnp::writeMessage(output_stream, msg);
 }
-
-}
diff --git a/selfdrive/boardd/panda.cc b/selfdrive/boardd/panda.cc
index 625e4218f7..8849a46bd8 100644
--- a/selfdrive/boardd/panda.cc
+++ b/selfdrive/boardd/panda.cc
@@ -18,11 +18,12 @@ Panda::Panda(std::string serial, uint32_t bus_offset) : bus_offset(bus_offset) {
 #ifndef __APPLE__
     handle = std::make_unique<PandaSpiHandle>(serial);
     LOGW("connected to %s over SPI", serial.c_str());
+#else
+    throw e;
 #endif
   }
 
   hw_type = get_hw_type();
-
   has_rtc = (hw_type == cereal::PandaState::PandaType::UNO) ||
             (hw_type == cereal::PandaState::PandaType::DOS) ||
             (hw_type == cereal::PandaState::PandaType::TRES);
@@ -153,6 +154,19 @@ std::optional<std::string> Panda::get_serial() {
   return err >= 0 ? std::make_optional(serial_buf) : std::nullopt;
 }
 
+bool Panda::up_to_date() {
+  if (auto fw_sig = get_firmware_version()) {
+    for (auto fn : { "panda.bin.signed", "panda_h7.bin.signed" }) {
+      auto content = util::read_file(std::string("../../panda/board/obj/") + fn);
+      if (content.size() >= fw_sig->size() &&
+          memcmp(content.data() + content.size() - fw_sig->size(), fw_sig->data(), fw_sig->size()) == 0) {
+        return true;
+      }
+    }
+  }
+  return false;
+}
+
 void Panda::set_power_saving(bool power_saving) {
   handle->control_write(0xe7, power_saving, 0);
 }
diff --git a/selfdrive/boardd/panda.h b/selfdrive/boardd/panda.h
index ea93229725..5edca04419 100644
--- a/selfdrive/boardd/panda.h
+++ b/selfdrive/boardd/panda.h
@@ -72,6 +72,7 @@ public:
   std::optional<can_health_t> get_can_state(uint16_t can_number);
   void set_loopback(bool loopback);
   std::optional<std::vector<uint8_t>> get_firmware_version();
+  bool up_to_date();
   std::optional<std::string> get_serial();
   void set_power_saving(bool power_saving);
   void enable_deepsleep();
diff --git a/selfdrive/boardd/panda_comms.h b/selfdrive/boardd/panda_comms.h
index b07aec509e..c102642e59 100644
--- a/selfdrive/boardd/panda_comms.h
+++ b/selfdrive/boardd/panda_comms.h
@@ -14,7 +14,7 @@
 
 
 #define TIMEOUT 0
-#define SPI_BUF_SIZE 1024
+#define SPI_BUF_SIZE 2048
 
 
 // comms base class
@@ -74,7 +74,7 @@ private:
   uint8_t rx_buf[SPI_BUF_SIZE];
   inline static std::recursive_mutex hw_lock;
 
-  int wait_for_ack(uint8_t ack, uint8_t tx, unsigned int timeout);
+  int wait_for_ack(uint8_t ack, uint8_t tx, unsigned int timeout, unsigned int length);
   int bulk_transfer(uint8_t endpoint, uint8_t *tx_data, uint16_t tx_len, uint8_t *rx_data, uint16_t rx_len, unsigned int timeout);
   int spi_transfer(uint8_t endpoint, uint8_t *tx_data, uint16_t tx_len, uint8_t *rx_data, uint16_t max_rx_len, unsigned int timeout);
   int spi_transfer_retry(uint8_t endpoint, uint8_t *tx_data, uint16_t tx_len, uint8_t *rx_data, uint16_t max_rx_len, unsigned int timeout);
diff --git a/selfdrive/boardd/pandad.py b/selfdrive/boardd/pandad.py
index 859a30a1bc..be2ed3c4cc 100755
--- a/selfdrive/boardd/pandad.py
+++ b/selfdrive/boardd/pandad.py
@@ -3,13 +3,15 @@
 import os
 import usb1
 import time
+import json
 import subprocess
 from typing import List, NoReturn
 from functools import cmp_to_key
 
-from panda import Panda, PandaDFU, FW_PATH
+from panda import Panda, PandaDFU, PandaProtocolMismatch, FW_PATH
 from common.basedir import BASEDIR
 from common.params import Params
+from selfdrive.boardd.set_time import set_time
 from system.hardware import HARDWARE
 from system.swaglog import cloudlog
 
@@ -22,9 +24,56 @@ def get_expected_signature(panda: Panda) -> bytes:
     cloudlog.exception("Error computing expected signature")
     return b""
 
+def read_panda_logs(panda: Panda) -> None:
+  """
+    Forward panda logs to the cloud
+  """
+
+  params = Params()
+  serial = panda.get_usb_serial()
+
+  log_state = {}
+  try:
+    l = json.loads(params.get("PandaLogState"))
+    for k, v in l.items():
+      if isinstance(k, str) and isinstance(v, int):
+        log_state[k] = v
+  except (TypeError, json.JSONDecodeError):
+    cloudlog.exception("failed to parse PandaLogState")
+
+  try:
+    if serial in log_state:
+      logs = panda.get_logs(last_id=log_state[serial])
+    else:
+      logs = panda.get_logs(get_all=True)
+
+    # truncate logs to 100 entries if needed
+    MAX_LOGS = 100
+    if len(logs) > MAX_LOGS:
+      cloudlog.warning(f"Panda {serial} has {len(logs)} logs, truncating to {MAX_LOGS}")
+      logs = logs[-MAX_LOGS:]
+
+    # update log state
+    if len(logs) > 0:
+      log_state[serial] = logs[-1]["id"]
+
+    for log in logs:
+      if log['timestamp'] is not None:
+        log['timestamp'] = log['timestamp'].isoformat()
+      cloudlog.event("panda_log", **log, serial=serial)
+
+    params.put("PandaLogState", json.dumps(log_state))
+  except Exception:
+    cloudlog.exception(f"Error getting logs for panda {serial}")
+
 
 def flash_panda(panda_serial: str) -> Panda:
-  panda = Panda(panda_serial)
+  try:
+    panda = Panda(panda_serial)
+  except PandaProtocolMismatch:
+    cloudlog.warning("detected protocol mismatch, reflashing panda")
+    HARDWARE.recover_internal_panda()
+    raise
 
   fw_signature = get_expected_signature(panda)
   internal_panda = panda.is_internal()
@@ -44,7 +93,7 @@ def flash_panda(panda_serial: str) -> Panda:
     if internal_panda:
       HARDWARE.recover_internal_panda()
     panda.recover(reset=(not internal_panda))
-    cloudlog.info("Done flashing bootloader")
+    cloudlog.info("Done flashing bootstub")
 
   if panda.bootstub:
     cloudlog.info("Panda still not booting, exiting")
@@ -120,7 +169,7 @@ def main() -> NoReturn:
 
       # sort pandas to have deterministic order
       pandas.sort(key=cmp_to_key(panda_sort_cmp))
-      panda_serials = list(map(lambda p: p.get_usb_serial(), pandas))  # type: ignore
+      panda_serials = [p.get_usb_serial() for p in pandas]
 
       # log panda fw versions
       params.put("PandaSignatures", b','.join(p.get_signature() for p in pandas))
@@ -132,7 +181,14 @@ def main() -> NoReturn:
           params.put_bool("PandaHeartbeatLost", True)
           cloudlog.event("heartbeat lost", deviceState=health, serial=panda.get_usb_serial())
 
+        read_panda_logs(panda)
+
         if first_run:
+          if panda.is_internal():
+            # update time from RTC
+            set_time(cloudlog)
+
+          # reset panda to ensure we're in a good state
           cloudlog.info(f"Resetting panda {panda.get_usb_serial()}")
           if panda.is_internal():
             HARDWARE.reset_internal_panda()
@@ -146,6 +202,9 @@ def main() -> NoReturn:
       # a panda was disconnected while setting everything up. let's try again
       cloudlog.exception("Panda USB exception while setting up")
       continue
+    except PandaProtocolMismatch:
+      cloudlog.exception("pandad.protocol_mismatch")
+      continue
     except Exception:
       cloudlog.exception("pandad.uncaught_exception")
       continue
diff --git a/selfdrive/boardd/set_time.py b/selfdrive/boardd/set_time.py
index 2159eba5eb..93453dcd97 100755
--- a/selfdrive/boardd/set_time.py
+++ b/selfdrive/boardd/set_time.py
@@ -3,7 +3,7 @@ import os
 import datetime
 from panda import Panda
 
-MIN_DATE = datetime.datetime(year=2023, month=4, day=1)
+from common.time import MIN_DATE
 
 def set_time(logger):
   sys_time = datetime.datetime.today()
diff --git a/selfdrive/boardd/spi.cc b/selfdrive/boardd/spi.cc
index e10fd744d5..1732e902d5 100644
--- a/selfdrive/boardd/spi.cc
+++ b/selfdrive/boardd/spi.cc
@@ -163,7 +163,7 @@ int PandaSpiHandle::bulk_read(unsigned char endpoint, unsigned char* data, int l
 }
 
 int PandaSpiHandle::bulk_transfer(uint8_t endpoint, uint8_t *tx_data, uint16_t tx_len, uint8_t *rx_data, uint16_t rx_len, unsigned int timeout) {
-  const int xfer_size = 0x40 * 15;
+  const int xfer_size = SPI_BUF_SIZE - 0x40;
 
   int ret = 0;
   uint16_t length = (tx_data != NULL) ? tx_len : rx_len;
@@ -220,27 +220,40 @@ bool check_checksum(uint8_t *data, int data_len) {
 
 int PandaSpiHandle::spi_transfer_retry(uint8_t endpoint, uint8_t *tx_data, uint16_t tx_len, uint8_t *rx_data, uint16_t max_rx_len, unsigned int timeout) {
   int ret;
-  int count = 0;
+  int nack_count = 0;
+  int timeout_count = 0;
   bool timed_out = false;
   double start_time = millis_since_boot();
+
   do {
     ret = spi_transfer(endpoint, tx_data, tx_len, rx_data, max_rx_len, timeout);
 
     if (ret < 0) {
-      timed_out = (timeout != 0) && (count > 5);
-      count += ret == SpiError::ACK_TIMEOUT;
+      timed_out = (timeout != 0) && (timeout_count > 5);
+      timeout_count += ret == SpiError::ACK_TIMEOUT;
+
+      // give other threads a chance to run
       std::this_thread::yield();
+
+      if (ret == SpiError::NACK) {
+        // prevent busy waiting while the panda is NACK'ing
+        // due to full TX buffers
+        nack_count += 1;
+        if (nack_count > 3) {
+          usleep(std::clamp(nack_count*10, 200, 2000));
+        }
+      }
     }
   } while (ret < 0 && connected && !timed_out);
 
   if (ret < 0) {
-    LOGE("transfer failed, after %d tries, %.2fms", count, millis_since_boot() - start_time);
+    LOGE("transfer failed, after %d tries, %.2fms", timeout_count, millis_since_boot() - start_time);
   }
 
   return ret;
 }
 
-int PandaSpiHandle::wait_for_ack(uint8_t ack, uint8_t tx, unsigned int timeout) {
+int PandaSpiHandle::wait_for_ack(uint8_t ack, uint8_t tx, unsigned int timeout, unsigned int length) {
   double start_millis = millis_since_boot();
   if (timeout == 0) {
     timeout = SPI_ACK_TIMEOUT;
@@ -250,8 +263,7 @@ int PandaSpiHandle::wait_for_ack(uint8_t ack, uint8_t tx, unsigned int timeout)
   spi_ioc_transfer transfer = {
     .tx_buf = (uint64_t)tx_buf,
     .rx_buf = (uint64_t)rx_buf,
-    .delay_usecs = 5,
-    .len = 1
+    .len = length
   };
   tx_buf[0] = tx;
 
@@ -311,7 +323,7 @@ int PandaSpiHandle::spi_transfer(uint8_t endpoint, uint8_t *tx_data, uint16_t tx
   }
 
   // Wait for (N)ACK
-  ret = wait_for_ack(SPI_HACK, 0x11, timeout);
+  ret = wait_for_ack(SPI_HACK, 0x11, timeout, 1);
   if (ret < 0) {
     goto transfer_fail;
   }
@@ -329,26 +341,18 @@ int PandaSpiHandle::spi_transfer(uint8_t endpoint, uint8_t *tx_data, uint16_t tx
   }
 
   // Wait for (N)ACK
-  ret = wait_for_ack(SPI_DACK, 0x13, timeout);
+  ret = wait_for_ack(SPI_DACK, 0x13, timeout, 3);
   if (ret < 0) {
     goto transfer_fail;
   }
 
-  // Read data len
-  transfer.len = 2;
-  transfer.rx_buf = (uint64_t)(rx_buf + 1);
-  ret = util::safe_ioctl(spi_fd, SPI_IOC_MESSAGE(1), &transfer);
-  if (ret < 0) {
-    LOGE("SPI: failed to read rx data len");
-    goto transfer_fail;
-  }
+  // Read data
   rx_data_len = *(uint16_t *)(rx_buf+1);
   if (rx_data_len >= SPI_BUF_SIZE) {
     LOGE("SPI: RX data len larger than buf size %d", rx_data_len);
     goto transfer_fail;
   }
 
-  // Read data
   transfer.len = rx_data_len + 1;
   transfer.rx_buf = (uint64_t)(rx_buf + 2 + 1);
   ret = util::safe_ioctl(spi_fd, SPI_IOC_MESSAGE(1), &transfer);
diff --git a/selfdrive/boardd/tests/bootstub.panda.bin b/selfdrive/boardd/tests/bootstub.panda.bin
new file mode 100755
index 0000000000..43db537061
Binary files /dev/null and b/selfdrive/boardd/tests/bootstub.panda.bin differ
diff --git a/selfdrive/boardd/tests/bootstub.panda_h7.bin b/selfdrive/boardd/tests/bootstub.panda_h7.bin
new file mode 100755
index 0000000000..1d9445004e
Binary files /dev/null and b/selfdrive/boardd/tests/bootstub.panda_h7.bin differ
diff --git a/selfdrive/boardd/tests/bootstub.panda_h7_spiv0.bin b/selfdrive/boardd/tests/bootstub.panda_h7_spiv0.bin
new file mode 100755
index 0000000000..5cf2fa4519
Binary files /dev/null and b/selfdrive/boardd/tests/bootstub.panda_h7_spiv0.bin differ
diff --git a/selfdrive/boardd/tests/test_boardd_loopback.py b/selfdrive/boardd/tests/test_boardd_loopback.py
index d0504d6bf2..593ccf595f 100755
--- a/selfdrive/boardd/tests/test_boardd_loopback.py
+++ b/selfdrive/boardd/tests/test_boardd_loopback.py
@@ -36,7 +36,7 @@ class TestBoardd(unittest.TestCase):
     params = Params()
     params.put_bool("IsOnroad", False)
 
-    with Timeout(60, "boardd didn't start"):
+    with Timeout(90, "boardd didn't start"):
       sm = messaging.SubMaster(['pandaStates'])
       while sm.rcv_frame['pandaStates'] < 1 or len(sm['pandaStates']) == 0 or \
           any(ps.pandaType == log.PandaState.PandaType.unknown for ps in sm['pandaStates']):
diff --git a/selfdrive/boardd/tests/test_pandad.py b/selfdrive/boardd/tests/test_pandad.py
index 50d24f4fe3..1d49446bf5 100755
--- a/selfdrive/boardd/tests/test_pandad.py
+++ b/selfdrive/boardd/tests/test_pandad.py
@@ -1,37 +1,72 @@
 #!/usr/bin/env python3
+import os
 import time
 import unittest
 
 import cereal.messaging as messaging
 from cereal import log
 from common.gpio import gpio_set, gpio_init
-from panda import Panda
+from common.params import Params
+from panda import Panda, PandaDFU, PandaProtocolMismatch
 from selfdrive.test.helpers import phone_only
 from selfdrive.manager.process_config import managed_processes
 from system.hardware import HARDWARE
 from system.hardware.tici.pins import GPIO
 
+HERE = os.path.dirname(os.path.realpath(__file__))
+
 
 class TestPandad(unittest.TestCase):
 
+  def setUp(self):
+    self.params = Params()
+    self.start_log_state = self.params.get("PandaLogState")
+
   def tearDown(self):
     managed_processes['pandad'].stop()
 
   def _wait_for_boardd(self, timeout=30):
     sm = messaging.SubMaster(['peripheralState'])
-    for _ in range(timeout):
-      sm.update(1000)
+    for _ in range(timeout*10):
+      sm.update(100)
       if sm['peripheralState'].pandaType != log.PandaState.PandaType.unknown:
         break
 
     if sm['peripheralState'].pandaType == log.PandaState.PandaType.unknown:
       raise Exception("boardd failed to start")
 
+    # simple check that we did something with the panda logs
+    cur_log_state = self.params.get("PandaLogState")
+    assert cur_log_state != self.start_log_state
+
+  def _go_to_dfu(self):
+    HARDWARE.recover_internal_panda()
+    assert Panda.wait_for_dfu(None, 10)
+
+  def _flash_and_test(self, fn, expect_mismatch=False):
+    self._go_to_dfu()
+    pd = PandaDFU(None)
+    if fn is None:
+      fn = os.path.join(HERE, pd.get_mcu_type().config.bootstub_fn)
+    with open(fn, "rb") as f:
+      pd.program_bootstub(f.read())
+    pd.reset()
+    HARDWARE.reset_internal_panda()
+
+    assert Panda.wait_for_panda(None, 10)
+    if expect_mismatch:
+      with self.assertRaises(PandaProtocolMismatch):
+        Panda()
+    else:
+      with Panda() as p:
+        assert p.bootstub
+
+    managed_processes['pandad'].start()
+    self._wait_for_boardd(45)
+
   @phone_only
   def test_in_dfu(self):
     HARDWARE.recover_internal_panda()
-    time.sleep(1)
-
     managed_processes['pandad'].start()
     self._wait_for_boardd(60)
 
@@ -66,10 +101,18 @@ class TestPandad(unittest.TestCase):
     managed_processes['pandad'].start()
     self._wait_for_boardd(8)
 
+  @phone_only
+  def test_protocol_version_check(self):
+    if HARDWARE.get_device_type() == 'tici':
+      self.skipTest("")
 
-  #def test_out_of_date_fw(self):
-  #  pass
+    # flash old fw
+    fn = os.path.join(HERE, "bootstub.panda_h7_spiv0.bin")
+    self._flash_and_test(fn, expect_mismatch=True)
 
+  @phone_only
+  def test_release_to_devel_bootstub(self):
+    self._flash_and_test(None)
 
 if __name__ == "__main__":
   unittest.main()
diff --git a/selfdrive/car/CARS_template.md b/selfdrive/car/CARS_template.md
index 4d76e253cc..ef64f6aa1e 100644
--- a/selfdrive/car/CARS_template.md
+++ b/selfdrive/car/CARS_template.md
@@ -58,7 +58,7 @@ All the cars that openpilot supports use a [CAN bus](https://en.wikipedia.org/wi
 ### Toyota Security
 
 openpilot does not yet support these Toyota models due to a new message authentication method.
-[Vote](https://comma.ai/shop/products/vote) if you'd like to see openpilot support on these models.
+[Vote](https://comma.ai/shop#toyota-security) if you'd like to see openpilot support on these models.
 
 * Toyota RAV4 Prime 2021+
 * Toyota Sienna 2021+
diff --git a/selfdrive/car/__init__.py b/selfdrive/car/__init__.py
index 58cde85817..fdcbb98197 100644
--- a/selfdrive/car/__init__.py
+++ b/selfdrive/car/__init__.py
@@ -1,10 +1,12 @@
 # functions common among cars
-import capnp
 from collections import namedtuple
+from typing import Dict, Optional
+
+import capnp
 
 from cereal import car
 from common.numpy_fast import clip, interp
-from typing import Dict
+
 
 # kg of standard extra cargo to count for drive, gas, etc...
 STD_CARGO_KG = 136.
@@ -130,6 +132,30 @@ def apply_std_steer_angle_limits(apply_angle, apply_angle_last, v_ego, LIMITS):
   return clip(apply_angle, apply_angle_last - angle_rate_lim, apply_angle_last + angle_rate_lim)
 
 
+def common_fault_avoidance(fault_condition: bool, request: bool, above_limit_frames: int,
+                           max_above_limit_frames: int, max_mismatching_frames: int = 1):
+  """
+  Several cars have the ability to work around their EPS limits by cutting the
+  request bit of their LKAS message after a certain number of frames above the limit.
+  """
+
+  # Count up to max_above_limit_frames, at which point we need to cut the request for above_limit_frames to avoid a fault
+  if request and fault_condition:
+    above_limit_frames += 1
+  else:
+    above_limit_frames = 0
+
+  # Once we cut the request bit, count additionally to max_mismatching_frames before setting the request bit high again.
+  # Some brands do not respect our workaround without multiple messages on the bus, for example
+  if above_limit_frames > max_above_limit_frames:
+    request = False
+
+  if above_limit_frames >= max_above_limit_frames + max_mismatching_frames:
+    above_limit_frames = 0
+
+  return above_limit_frames, request
+
+
 def crc8_pedal(data):
   crc = 0xFF    # standard init value
   poly = 0xD5   # standard crc8: x8+x7+x6+x4+x2+1
@@ -175,3 +201,15 @@ def get_safety_config(safety_model, safety_param = None):
   if safety_param is not None:
     ret.safetyParam = safety_param
   return ret
+
+
+class CanBusBase:
+  offset: int
+
+  def __init__(self, CP, fingerprint: Optional[Dict[int, Dict[int, int]]]) -> None:
+    if CP is None:
+      assert fingerprint is not None
+      num = max([k for k, v in fingerprint.items() if len(v)], default=0) // 4 + 1
+    else:
+      num = len(CP.safetyConfigs)
+    self.offset = 4 * (num - 1)
diff --git a/selfdrive/car/body/carcontroller.py b/selfdrive/car/body/carcontroller.py
index bcaf6f6f93..4993b1865f 100644
--- a/selfdrive/car/body/carcontroller.py
+++ b/selfdrive/car/body/carcontroller.py
@@ -1,5 +1,6 @@
 import numpy as np
 
+from common.params import Params
 from common.realtime import DT_CTRL
 from opendbc.can.packer import CANPacker
 from selfdrive.car.body import bodycan
@@ -23,10 +24,14 @@ class CarController:
     self.speed_pid = PIDController(0.115, k_i=0.23, rate=1/DT_CTRL)
     self.balance_pid = PIDController(1300, k_i=0, k_d=280, rate=1/DT_CTRL)
     self.turn_pid = PIDController(110, k_i=11.5, rate=1/DT_CTRL)
+    self.wheeled_speed_pid = PIDController(110, k_i=11.5, rate=1/DT_CTRL)
 
     self.torque_r_filtered = 0.
     self.torque_l_filtered = 0.
 
+    params = Params()
+    self.wheeled_body = params.get("WheeledBody")
+
   @staticmethod
   def deadband_filter(torque, deadband):
     if torque > 0:
@@ -40,24 +45,27 @@ class CarController:
     torque_l = 0
     torque_r = 0
 
-    llk_valid = len(CC.orientationNED) > 0 and len(CC.angularVelocity) > 0
+    llk_valid = len(CC.orientationNED) > 1 and len(CC.angularVelocity) > 1
     if CC.enabled and llk_valid:
       # Read these from the joystick
       # TODO: this isn't acceleration, okay?
       speed_desired = CC.actuators.accel / 5.
-      speed_diff_desired = -CC.actuators.steer
+      speed_diff_desired = -CC.actuators.steer / 2.
 
       speed_measured = SPEED_FROM_RPM * (CS.out.wheelSpeeds.fl + CS.out.wheelSpeeds.fr) / 2.
       speed_error = speed_desired - speed_measured
 
-      freeze_integrator = ((speed_error < 0 and self.speed_pid.error_integral <= -MAX_POS_INTEGRATOR) or
-                           (speed_error > 0 and self.speed_pid.error_integral >= MAX_POS_INTEGRATOR))
-      angle_setpoint = self.speed_pid.update(speed_error, freeze_integrator=freeze_integrator)
+      if self.wheeled_body is None:
+        freeze_integrator = ((speed_error < 0 and self.speed_pid.error_integral <= -MAX_POS_INTEGRATOR) or
+                             (speed_error > 0 and self.speed_pid.error_integral >= MAX_POS_INTEGRATOR))
+        angle_setpoint = self.speed_pid.update(speed_error, freeze_integrator=freeze_integrator)
 
-      # Clip angle error, this is enough to get up from stands
-      angle_error = np.clip((-CC.orientationNED[1]) - angle_setpoint, -MAX_ANGLE_ERROR, MAX_ANGLE_ERROR)
-      angle_error_rate = np.clip(-CC.angularVelocity[1], -1., 1.)
-      torque = self.balance_pid.update(angle_error, error_rate=angle_error_rate)
+        # Clip angle error, this is enough to get up from stands
+        angle_error = np.clip((-CC.orientationNED[1]) - angle_setpoint, -MAX_ANGLE_ERROR, MAX_ANGLE_ERROR)
+        angle_error_rate = np.clip(-CC.angularVelocity[1], -1., 1.)
+        torque = self.balance_pid.update(angle_error, error_rate=angle_error_rate)
+      else:
+        torque = self.wheeled_speed_pid.update(speed_error, freeze_integrator=False)
 
       speed_diff_measured = SPEED_FROM_RPM * (CS.out.wheelSpeeds.fl - CS.out.wheelSpeeds.fr)
       turn_error = speed_diff_measured - speed_diff_desired
diff --git a/selfdrive/car/body/carstate.py b/selfdrive/car/body/carstate.py
index dbbd85950d..a1ef17360f 100644
--- a/selfdrive/car/body/carstate.py
+++ b/selfdrive/car/body/carstate.py
@@ -32,29 +32,9 @@ class CarState(CarStateBase):
 
   @staticmethod
   def get_can_parser(CP):
-    signals = [
-      # sig_name, sig_address
-      ("SPEED_L", "MOTORS_DATA"),
-      ("SPEED_R", "MOTORS_DATA"),
-      ("ELEC_ANGLE_L", "MOTORS_DATA"),
-      ("ELEC_ANGLE_R", "MOTORS_DATA"),
-      ("COUNTER", "MOTORS_DATA"),
-      ("CHECKSUM", "MOTORS_DATA"),
-      ("IGNITION", "VAR_VALUES"),
-      ("ENABLE_MOTORS", "VAR_VALUES"),
-      ("FAULT", "VAR_VALUES"),
-      ("MOTOR_ERR_L", "VAR_VALUES"),
-      ("MOTOR_ERR_R", "VAR_VALUES"),
-      ("MCU_TEMP", "BODY_DATA"),
-      ("BATT_VOLTAGE", "BODY_DATA"),
-      ("BATT_PERCENTAGE", "BODY_DATA"),
-      ("CHARGER_CONNECTED", "BODY_DATA"),
-    ]
-
-    checks = [
+    messages = [
       ("MOTORS_DATA", 100),
       ("VAR_VALUES", 10),
       ("BODY_DATA", 1),
     ]
-
-    return CANParser(DBC[CP.carFingerprint]["pt"], signals, checks, 0)
+    return CANParser(DBC[CP.carFingerprint]["pt"], messages, 0)
diff --git a/selfdrive/car/car_helpers.py b/selfdrive/car/car_helpers.py
index 3d8ea22ef2..5bda64368b 100644
--- a/selfdrive/car/car_helpers.py
+++ b/selfdrive/car/car_helpers.py
@@ -79,6 +79,7 @@ interfaces = load_interfaces(interface_names)
 def fingerprint(logcan, sendcan, num_pandas):
   fixed_fingerprint = os.environ.get('FINGERPRINT', "")
   skip_fw_query = os.environ.get('SKIP_FW_QUERY', False)
+  disable_fw_cache = os.environ.get('DISABLE_FW_CACHE', False)
   ecu_rx_addrs = set()
   params = Params()
 
@@ -88,11 +89,12 @@ def fingerprint(logcan, sendcan, num_pandas):
 
     cached_params = params.get("CarParamsCache")
     if cached_params is not None:
-      cached_params = car.CarParams.from_bytes(cached_params)
-      if cached_params.carName == "mock":
-        cached_params = None
+      with car.CarParams.from_bytes(cached_params) as cached_params:
+        if cached_params.carName == "mock":
+          cached_params = None
 
-    if cached_params is not None and len(cached_params.carFw) > 0 and cached_params.carVin is not VIN_UNKNOWN:
+    if cached_params is not None and len(cached_params.carFw) > 0 and \
+       cached_params.carVin is not VIN_UNKNOWN and not disable_fw_cache:
       cloudlog.warning("Using cached CarParams")
       vin, vin_rx_addr = cached_params.carVin, 0
       car_fw = list(cached_params.carFw)
@@ -175,7 +177,8 @@ def fingerprint(logcan, sendcan, num_pandas):
     source = car.CarParams.FingerprintSource.fixed
 
   cloudlog.event("fingerprinted", car_fingerprint=car_fingerprint, source=source, fuzzy=not exact_match, cached=cached,
-                 fw_count=len(car_fw), ecu_responses=list(ecu_rx_addrs), vin_rx_addr=vin_rx_addr, error=True)
+                 fw_count=len(car_fw), ecu_responses=list(ecu_rx_addrs), vin_rx_addr=vin_rx_addr, fingerprints=finger,
+                 error=True)
   return car_fingerprint, finger, vin, car_fw, source, exact_match
 
 
diff --git a/selfdrive/car/chrysler/carstate.py b/selfdrive/car/chrysler/carstate.py
index fdc5aa338a..7b250ddf9b 100644
--- a/selfdrive/car/chrysler/carstate.py
+++ b/selfdrive/car/chrysler/carstate.py
@@ -80,7 +80,8 @@ class CarState(CarStateBase):
     ret.accFaulted = cp_cruise.vl["DAS_3"]["ACC_FAULTED"] != 0
 
     if self.CP.carFingerprint in RAM_CARS:
-      self.auto_high_beam = cp_cam.vl["DAS_6"]['AUTO_HIGH_BEAM_ON']  # Auto High Beam isn't Located in this message on chrysler or jeep currently located in 729 message
+      # Auto High Beam isn't Located in this message on chrysler or jeep currently located in 729 message
+      self.auto_high_beam = cp_cam.vl["DAS_6"]['AUTO_HIGH_BEAM_ON']
       ret.steerFaultTemporary = cp.vl["EPS_3"]["DASM_FAULT"] == 1
     else:
       ret.steerFaultTemporary = cp.vl["EPS_2"]["LKAS_TEMPORARY_FAULT"] == 1
@@ -97,51 +98,16 @@ class CarState(CarStateBase):
     return ret
 
   @staticmethod
-  def get_cruise_signals():
-    signals = [
-      ("ACC_AVAILABLE", "DAS_3"),
-      ("ACC_ACTIVE", "DAS_3"),
-      ("ACC_FAULTED", "DAS_3"),
-      ("ACC_STANDSTILL", "DAS_3"),
-      ("COUNTER", "DAS_3"),
-      ("ACC_SET_SPEED_KPH", "DAS_4"),
-      ("ACC_STATE", "DAS_4"),
-    ]
-    checks = [
+  def get_cruise_messages():
+    messages = [
       ("DAS_3", 50),
       ("DAS_4", 50),
     ]
-    return signals, checks
+    return messages
 
   @staticmethod
   def get_can_parser(CP):
-    signals = [
-      # sig_name, sig_address
-      ("DOOR_OPEN_FL", "BCM_1"),
-      ("DOOR_OPEN_FR", "BCM_1"),
-      ("DOOR_OPEN_RL", "BCM_1"),
-      ("DOOR_OPEN_RR", "BCM_1"),
-      ("Brake_Pedal_State", "ESP_1"),
-      ("Accelerator_Position", "ECM_5"),
-      ("WHEEL_SPEED_FL", "ESP_6"),
-      ("WHEEL_SPEED_RR", "ESP_6"),
-      ("WHEEL_SPEED_RL", "ESP_6"),
-      ("WHEEL_SPEED_FR", "ESP_6"),
-      ("STEERING_ANGLE", "STEERING"),
-      ("STEERING_ANGLE_HP", "STEERING"),
-      ("STEERING_RATE", "STEERING"),
-      ("TURN_SIGNALS", "STEERING_LEVERS"),
-      ("HIGH_BEAM_PRESSED", "STEERING_LEVERS"),
-      ("SEATBELT_DRIVER_UNLATCHED", "ORC_1"),
-      ("COUNTER", "EPS_2",),
-      ("COLUMN_TORQUE", "EPS_2"),
-      ("EPS_TORQUE_MOTOR", "EPS_2"),
-      ("LKAS_TEMPORARY_FAULT", "EPS_2"),
-      ("LKAS_STATE", "EPS_2"),
-      ("COUNTER", "CRUISE_BUTTONS"),
-    ]
-
-    checks = [
+    messages = [
       # sig_address, frequency
       ("ESP_1", 50),
       ("EPS_2", 100),
@@ -155,53 +121,30 @@ class CarState(CarStateBase):
     ]
 
     if CP.enableBsm:
-      signals += [
-        ("RIGHT_STATUS", "BSM_1"),
-        ("LEFT_STATUS", "BSM_1"),
-      ]
-      checks.append(("BSM_1", 2))
+      messages.append(("BSM_1", 2))
 
     if CP.carFingerprint in RAM_CARS:
-      signals += [
-        ("DASM_FAULT", "EPS_3"),
-        ("Vehicle_Speed", "ESP_8"),
-        ("Gear_State", "Transmission_Status"),
-      ]
-      checks += [
+      messages += [
         ("ESP_8", 50),
         ("EPS_3", 50),
         ("Transmission_Status", 50),
       ]
     else:
-      signals += [
-        ("PRNDL", "GEAR"),
-        ("SPEED_LEFT", "SPEED_1"),
-        ("SPEED_RIGHT", "SPEED_1"),
-      ]
-      checks += [
+      messages += [
         ("GEAR", 50),
         ("SPEED_1", 100),
       ]
-      signals += CarState.get_cruise_signals()[0]
-      checks += CarState.get_cruise_signals()[1]
+      messages += CarState.get_cruise_messages()
 
-    return CANParser(DBC[CP.carFingerprint]["pt"], signals, checks, 0)
+    return CANParser(DBC[CP.carFingerprint]["pt"], messages, 0)
 
   @staticmethod
   def get_cam_can_parser(CP):
-    signals = [
-      # sig_name, sig_address, default
-      ("CAR_MODEL", "DAS_6"),
-    ]
-    checks = [
+    messages = [
       ("DAS_6", 4),
     ]
 
     if CP.carFingerprint in RAM_CARS:
-      signals += [
-        ("AUTO_HIGH_BEAM_ON", "DAS_6"),
-      ]
-      signals += CarState.get_cruise_signals()[0]
-      checks += CarState.get_cruise_signals()[1]
+      messages += CarState.get_cruise_messages()
 
-    return CANParser(DBC[CP.carFingerprint]["pt"], signals, checks, 2)
+    return CANParser(DBC[CP.carFingerprint]["pt"], messages, 2)
diff --git a/selfdrive/car/chrysler/radar_interface.py b/selfdrive/car/chrysler/radar_interface.py
index 0ab8c10b44..380b95775e 100755
--- a/selfdrive/car/chrysler/radar_interface.py
+++ b/selfdrive/car/chrysler/radar_interface.py
@@ -22,18 +22,12 @@ def _create_radar_can_parser(car_fingerprint):
   #  ('LONG_DIST', 1074),
   #  ('LONG_DIST', 1075),
 
-  signals = list(zip(['LONG_DIST'] * msg_n +
-                     ['LAT_DIST'] * msg_n +
-                     ['REL_SPEED'] * msg_n,
-                     RADAR_MSGS_C * 2 +  # LONG_DIST, LAT_DIST
-                     RADAR_MSGS_D))  # REL_SPEED
+  messages = list(zip(RADAR_MSGS_C +
+                      RADAR_MSGS_D,
+                      [20] * msg_n +  # 20Hz (0.05s)
+                      [20] * msg_n))  # 20Hz (0.05s)
 
-  checks = list(zip(RADAR_MSGS_C +
-                    RADAR_MSGS_D,
-                    [20] * msg_n +  # 20Hz (0.05s)
-                    [20] * msg_n))  # 20Hz (0.05s)
-
-  return CANParser(DBC[car_fingerprint]['radar'], signals, checks, 1)
+  return CANParser(DBC[car_fingerprint]['radar'], messages, 1)
 
 def _address_to_track(address):
   if address in RADAR_MSGS_C:
@@ -89,4 +83,4 @@ class RadarInterface(RadarInterfaceBase):
     ret.points = [x for x in self.pts.values() if x.dRel != 0]
 
     self.updated_messages.clear()
-    return ret
\ No newline at end of file
+    return ret
diff --git a/selfdrive/car/chrysler/values.py b/selfdrive/car/chrysler/values.py
index 24f3f92a92..172d3a08cc 100644
--- a/selfdrive/car/chrysler/values.py
+++ b/selfdrive/car/chrysler/values.py
@@ -1,5 +1,6 @@
+# ruff: noqa: E501
 from enum import IntFlag
-from dataclasses import dataclass
+from dataclasses import dataclass, field
 from typing import Dict, List, Optional, Union
 
 from cereal import car
@@ -60,7 +61,7 @@ RAM_CARS = RAM_DT | RAM_HD
 @dataclass
 class ChryslerCarInfo(CarInfo):
   package: str = "Adaptive Cruise Control (ACC)"
-  car_parts: CarParts = CarParts.common([CarHarness.fca])
+  car_parts: CarParts = field(default_factory=CarParts.common([CarHarness.fca]))
 
 
 CAR_INFO: Dict[str, Optional[Union[ChryslerCarInfo, List[ChryslerCarInfo]]]] = {
@@ -131,7 +132,7 @@ FINGERPRINTS = {
     168: 8, 257: 5, 258: 8, 264: 8, 268: 8, 270: 8, 274: 2, 280: 8, 284: 8, 288: 7, 290: 6, 291: 8, 292: 8, 294: 8, 300: 8, 308: 8, 320: 8, 324: 8, 331: 8, 332: 8, 344: 8, 368: 8, 376: 3, 384: 8, 388: 4, 448: 6, 450: 8, 456: 4, 464: 8, 469: 8, 480: 8, 500: 8, 501: 8, 512: 8, 514: 8, 515: 7, 516: 7, 517: 7, 518: 7, 520: 8, 524: 8, 526: 6, 528: 8, 532: 8, 542: 8, 544: 8, 557: 8, 559: 8, 560: 8, 564: 8, 571: 3, 579: 8, 584: 8, 608: 8, 624: 8, 625: 8, 632: 8, 639: 8, 650: 8, 653: 8, 654: 8, 655: 8, 656: 4, 658: 6, 660: 8, 669: 3, 671: 8, 672: 8, 678: 8, 680: 8, 683: 8, 701: 8, 703: 8, 704: 8, 705: 8, 706: 8, 709: 8, 710: 8, 711: 8, 719: 8, 720: 6, 729: 5, 736: 8, 737: 8, 738: 8, 746: 5, 752: 2, 754: 8, 760: 8, 764: 8, 766: 8, 770: 8, 773: 8, 779: 8, 782: 8, 784: 8, 792: 8, 793: 8, 794: 8, 795: 8, 796: 8, 797: 8, 798: 8, 799: 8, 800: 8, 801: 8, 802: 8, 803: 8, 804: 8, 805: 8, 807: 8, 808: 8, 816: 8, 817: 8, 820: 8, 825: 2, 826: 8, 832: 8, 838: 2, 848: 8, 853: 8, 856: 4, 860: 6, 863: 8, 878: 8, 882: 8, 886: 8, 897: 8, 906: 8, 908: 8, 924: 8, 926: 3, 937: 8, 938: 8, 939: 8, 940: 8, 941: 8, 942: 8, 943: 8, 947: 8, 948: 8, 958: 8, 959: 8, 962: 8, 969: 4, 973: 8, 974: 5, 979: 8, 980: 8, 981: 8, 982: 8, 983: 8, 984: 8, 992: 8, 993: 7, 995: 8, 996: 8, 1000: 8, 1001: 8, 1002: 8, 1003: 8, 1008: 8, 1009: 8, 1010: 8, 1011: 8, 1012: 8, 1013: 8, 1014: 8, 1015: 8, 1024: 8, 1025: 8, 1026: 8, 1031: 8, 1033: 8, 1050: 8, 1059: 8, 1082: 8, 1083: 8, 1098: 8, 1100: 8, 1216: 8, 1218: 8, 1220: 8, 1225: 8, 1235: 8, 1242: 8, 1246: 8, 1250: 8, 1251: 8, 1252: 8, 1284: 8, 1568: 8, 1856: 8, 1858: 8, 1860: 8, 1863: 8, 1865: 8, 1875: 8, 1882: 8, 1886: 8, 1890: 8, 1891: 8, 1892: 8, 2018: 8, 2020: 8, 2026: 8, 2028: 8
   }],
   CAR.JEEP_CHEROKEE: [{
-    55: 8, 168: 8, 181: 8, 256: 4, 257: 5, 258: 8, 264: 8, 268: 8, 272: 6, 273: 6, 274: 2, 280: 8, 284: 8, 288: 7, 290: 6, 292: 8, 300: 8, 308: 8, 320: 8, 324: 8, 331: 8, 332: 8, 344: 8, 352: 8, 362: 8, 368: 8, 376: 3, 384: 8, 388: 4, 416: 7, 448: 6, 456: 4, 464: 8, 500: 8, 501: 8, 512: 8, 514: 8, 520: 8, 532: 8, 544: 8, 557: 8, 559: 8, 560: 4, 564: 4, 571: 3, 579: 8, 584: 8, 608: 8, 618: 8, 624: 8, 625: 8, 632: 8, 639: 8, 656: 4, 658: 6, 660: 8, 671: 8, 672: 8, 676: 8, 678: 8, 680: 8, 683: 8, 684: 8, 703: 8, 705: 8, 706: 8, 709: 8, 710: 8, 719: 8, 720: 6, 729: 5, 736: 8, 737: 8, 738: 8, 746: 5, 752: 2, 754: 8, 760: 8, 761: 8, 764: 8, 766: 8, 773: 8, 776: 8, 779: 8, 782: 8, 783: 8, 784: 8, 785: 8, 788: 3, 792: 8, 799: 8, 800: 8, 804: 8, 806: 2, 808: 8, 810: 8, 816: 8, 817: 8, 820: 8, 825: 2, 826: 8, 831: 6, 832: 8, 838: 2, 840: 8, 844: 5, 847: 1, 848: 8, 853: 8, 856: 4, 860: 6, 863: 8, 874: 2, 882: 8, 897: 8, 906: 8, 924: 8, 937: 8, 938: 8, 939: 8, 940: 8, 941: 8, 942: 8, 943: 8, 947: 8, 948: 8, 956: 8, 968: 8, 969: 4, 970: 8, 973: 8, 974: 5, 975: 8, 976: 8, 977: 4, 979: 8, 980: 8, 981: 8, 982: 8, 983: 8, 984: 8, 992: 8, 993: 7, 995: 8, 996: 8, 1000: 8, 1001: 8, 1002: 8, 1003: 8, 1008: 8, 1009: 8, 1010: 8, 1011: 8, 1012: 8, 1013: 8, 1014: 8, 1015: 8, 1024: 8, 1025: 8, 1026: 8, 1031: 8, 1033: 8, 1050: 8, 1059: 8, 1062: 8, 1098: 8, 1100: 8, 1543: 8, 1562: 8, 2015: 8, 2016: 8, 2017: 8, 2024: 8, 2025: 8
+    55: 8, 168: 8, 181: 8, 256: 4, 257: 5, 258: 8, 264: 8, 268: 8, 272: 6, 273: 6, 274: 2, 280: 8, 284: 8, 288: 7, 290: 6, 292: 8, 300: 8, 308: 8, 320: 8, 324: 8, 331: 8, 332: 8, 344: 8, 352: 8, 362: 8, 368: 8, 376: 3, 384: 8, 388: 4, 416: 7, 448: 6, 456: 4, 464: 8, 500: 8, 501: 8, 512: 8, 514: 8, 520: 8, 532: 8, 544: 8, 557: 8, 559: 8, 560: 4, 564: 4, 571: 3, 579: 8, 584: 8, 608: 8, 618: 8, 624: 8, 625: 8, 632: 8, 639: 8, 656: 4, 658: 6, 660: 8, 671: 8, 672: 8, 676: 8, 678: 8, 680: 8, 683: 8, 684: 8, 703: 8, 705: 8, 706: 8, 709: 8, 710: 8, 719: 8, 720: 6, 729: 5, 736: 8, 737: 8, 738: 8, 746: 5, 752: 2, 754: 8, 760: 8, 761: 8, 764: 8, 766: 8, 773: 8, 776: 8, 779: 8, 782: 8, 783: 8, 784: 8, 785: 8, 788: 3, 792: 8, 799: 8, 800: 8, 804: 8, 806: 2, 808: 8, 810: 8, 816: 8, 817: 8, 820: 8, 825: 2, 826: 8, 831: 6, 832: 8, 838: 2, 840: 8, 844: 5, 847: 1, 848: 8, 853: 8, 856: 4, 860: 6, 863: 8, 874: 2, 882: 8, 897: 8, 906: 8, 924: 8, 937: 8, 938: 8, 939: 8, 940: 8, 941: 8, 942: 8, 943: 8, 947: 8, 948: 8, 956: 8, 968: 8, 969: 4, 970: 8, 973: 8, 974: 5, 975: 8, 976: 8, 977: 4, 979: 8, 980: 8, 981: 8, 982: 8, 983: 8, 984: 8, 992: 8, 993: 7, 995: 8, 996: 8, 1000: 8, 1001: 8, 1002: 8, 1003: 8, 1008: 8, 1009: 8, 1010: 8, 1011: 8, 1012: 8, 1013: 8, 1014: 8, 1015: 8, 1024: 8, 1025: 8, 1026: 8, 1031: 8, 1033: 8, 1050: 8, 1059: 8, 1062: 8, 1098: 8, 1100: 8, 1543: 8, 1562: 8, 1576: 8, 2015: 8, 2016: 8, 2017: 8, 2024: 8, 2025: 8
   },
     # Based on c88f65eeaee4003a|2022-08-04--15-37-16
   {
@@ -167,7 +168,7 @@ FW_QUERY_CONFIG = FwQueryConfig(
     Request(
       [CHRYSLER_VERSION_REQUEST],
       [CHRYSLER_VERSION_RESPONSE],
-      whitelist_ecus=[Ecu.abs, Ecu.hcp, Ecu.engine, Ecu.transmission],
+      whitelist_ecus=[Ecu.abs, Ecu.hybrid, Ecu.engine, Ecu.transmission],
       bus=0,
     ),
     Request(
@@ -178,8 +179,8 @@ FW_QUERY_CONFIG = FwQueryConfig(
     ),
   ],
   extra_ecus=[
-    (Ecu.hcp, 0x7e2, None),  # manages transmission on hybrids
-    (Ecu.abs, 0x7e4, None),  # alt address for abs on hybrids
+    (Ecu.hybrid, 0x7e2, None),  # manages transmission on hybrids
+    (Ecu.abs, 0x7e4, None),     # alt address for abs on hybrids
   ],
 )
 
@@ -224,9 +225,11 @@ FW_VERSIONS = {
       b'68453511AC',
       b'68453513AD',
       b'68453514AD',
+      b'68510280AG',
       b'68510283AG',
-      b'68527375AD',
       b'68527346AE',
+      b'68527375AD',
+      b'68527382AE',
     ],
     (Ecu.srs, 0x744, None): [
       b'68428609AB',
@@ -235,6 +238,7 @@ FW_VERSIONS = {
       b'68490898AA',
       b'68500728AA',
       b'68615033AA',
+      b'68615034AA',
     ],
     (Ecu.abs, 0x747, None): [
       b'68292406AH',
@@ -248,12 +252,14 @@ FW_VERSIONS = {
       b'68438456AF',
       b'68535469AB',
       b'68535470AC',
-      b'68586307AB',
       b'68548900AB',
+      b'68586307AB',
     ],
     (Ecu.fwdRadar, 0x753, None): [
       b'04672892AB',
       b'04672932AB',
+      b'04672932AC',
+      b'22DTRHD_AA',
       b'68320950AH',
       b'68320950AI',
       b'68320950AJ',
@@ -265,8 +271,10 @@ FW_VERSIONS = {
       b'68475160AG',
     ],
     (Ecu.eps, 0x75A, None): [
+      b'21590101AA',
       b'68273275AF',
       b'68273275AG',
+      b'68273275AH',
       b'68312176AE',
       b'68312176AG',
       b'68440789AC',
@@ -275,23 +283,30 @@ FW_VERSIONS = {
       b'68522583AB',
       b'68522585AB',
       b'68552788AA',
-      b'68552790AA',
-      b'68585112AB',
       b'68552789AA',
+      b'68552790AA',
+      b'68585106AB',
+      b'68585109AB',
+      b'68585112AB',
     ],
     (Ecu.engine, 0x7e0, None): [
       b'05036065AE ',
       b'05036066AE ',
+      b'05149592AE ',
+      b'05149591AD ',
+      b'05149846AA ',
+      b'05149848AA ',
       b'68378701AI ',
+      b'68378748AL ',
       b'68378758AM ',
       b'68448163AJ',
       b'68448165AK',
       b'68500630AD',
       b'68500630AE',
       b'68539650AD',
-      b'05149846AA ',
     ],
     (Ecu.transmission, 0x7e1, None): [
+      b'05149536AC',
       b'68360078AL',
       b'68360080AM',
       b'68360081AM',
@@ -301,8 +316,8 @@ FW_VERSIONS = {
       b'68445533AB',
       b'68484467AC',
       b'68502994AD',
-      b'68540431AB',
       b'68520867AE',
+      b'68540431AB',
     ],
   },
 
@@ -314,6 +329,7 @@ FW_VERSIONS = {
       b'68525485AB',
       b'68525487AB',
       b'68525498AB',
+      b'68528791AF',
     ],
     (Ecu.srs, 0x744, None): [
       b'68399794AC',
@@ -329,9 +345,11 @@ FW_VERSIONS = {
       b'68504022AC',
       b'68530686AB',
       b'68530686AC',
+      b'68544596AC',
     ],
     (Ecu.fwdRadar, 0x753, None): [
       b'04672895AB',
+      b'04672934AB',
       b'56029827AG',
       b'56029827AH',
       b'68462657AE',
@@ -341,6 +359,7 @@ FW_VERSIONS = {
     (Ecu.eps, 0x761, None): [
       b'68421036AC',
       b'68507906AB',
+      b'68534023AC',
     ],
     (Ecu.engine, 0x7e0, None): [
       b'52370131AF',
@@ -349,6 +368,7 @@ FW_VERSIONS = {
       b'52370931CT',
       b'52401032AE',
       b'52421132AF',
+      b'52421332AF',
       b'68527616AD ',
       b'M2370131MB',
       b'M2421132MB',
diff --git a/selfdrive/car/disable_ecu.py b/selfdrive/car/disable_ecu.py
index ed98e14dc1..36ebe12fa8 100755
--- a/selfdrive/car/disable_ecu.py
+++ b/selfdrive/car/disable_ecu.py
@@ -7,22 +7,22 @@ EXT_DIAG_RESPONSE = b'\x50\x03'
 COM_CONT_RESPONSE = b''
 
 
-def disable_ecu(logcan, sendcan, bus=0, addr=0x7d0, com_cont_req=b'\x28\x83\x01', timeout=0.1, retry=10, debug=False):
+def disable_ecu(logcan, sendcan, bus=0, addr=0x7d0, sub_addr=None, com_cont_req=b'\x28\x83\x01', timeout=0.1, retry=10, debug=False):
   """Silence an ECU by disabling sending and receiving messages using UDS 0x28.
   The ECU will stay silent as long as openpilot keeps sending Tester Present.
 
   This is used to disable the radar in some cars. Openpilot will emulate the radar.
   WARNING: THIS DISABLES AEB!"""
-  cloudlog.warning(f"ecu disable {hex(addr)} ...")
+  cloudlog.warning(f"ecu disable {hex(addr), sub_addr} ...")
 
   for i in range(retry):
     try:
-      query = IsoTpParallelQuery(sendcan, logcan, bus, [addr], [EXT_DIAG_REQUEST], [EXT_DIAG_RESPONSE], debug=debug)
+      query = IsoTpParallelQuery(sendcan, logcan, bus, [(addr, sub_addr)], [EXT_DIAG_REQUEST], [EXT_DIAG_RESPONSE], debug=debug)
 
       for _, _ in query.get_data(timeout).items():
         cloudlog.warning("communication control disable tx/rx ...")
 
-        query = IsoTpParallelQuery(sendcan, logcan, bus, [addr], [com_cont_req], [COM_CONT_RESPONSE], debug=debug)
+        query = IsoTpParallelQuery(sendcan, logcan, bus, [(addr, sub_addr)], [com_cont_req], [COM_CONT_RESPONSE], debug=debug)
         query.get_data(0)
 
         cloudlog.warning("ecu disabled")
diff --git a/selfdrive/car/docs.py b/selfdrive/car/docs.py
index 143d64bd52..02075a5e11 100755
--- a/selfdrive/car/docs.py
+++ b/selfdrive/car/docs.py
@@ -29,7 +29,9 @@ def get_all_car_info() -> List[CarInfo]:
   all_car_info: List[CarInfo] = []
   footnotes = get_all_footnotes()
   for model, car_info in get_interface_attr("CAR_INFO", combine_brands=True).items():
-    CP = interfaces[model][0].get_params(model, fingerprint=gen_empty_fingerprint(), car_fw=[car.CarParams.CarFw(ecu="unknown")], experimental_long=False, docs=True)
+    # If available, uses experimental longitudinal limits for the docs
+    CP = interfaces[model][0].get_params(model, fingerprint=gen_empty_fingerprint(),
+                                         car_fw=[car.CarParams.CarFw(ecu="unknown")], experimental_long=True, docs=True)
 
     if CP.dashcamOnly or car_info is None:
       continue
diff --git a/selfdrive/car/docs_definitions.py b/selfdrive/car/docs_definitions.py
index 23b460147e..2220205e8f 100644
--- a/selfdrive/car/docs_definitions.py
+++ b/selfdrive/car/docs_definitions.py
@@ -1,5 +1,6 @@
 import re
 from collections import namedtuple
+import copy
 from dataclasses import dataclass, field
 from enum import Enum
 from typing import Dict, List, Optional, Tuple, Union
@@ -49,7 +50,7 @@ class BasePart:
 
 class EnumBase(Enum):
   @property
-  def type(self):
+  def part_type(self):
     return PartType(self.__class__)
 
 
@@ -83,9 +84,11 @@ class CarHarness(EnumBase):
   nidec = BaseCarHarness("Honda Nidec connector")
   bosch_a = BaseCarHarness("Honda Bosch A connector")
   bosch_b = BaseCarHarness("Honda Bosch B connector")
-  toyota = BaseCarHarness("Toyota connector")
+  toyota_a = BaseCarHarness("Toyota A connector")
   subaru_a = BaseCarHarness("Subaru A connector")
   subaru_b = BaseCarHarness("Subaru B connector")
+  subaru_c = BaseCarHarness("Subaru C connector")
+  subaru_d = BaseCarHarness("Subaru D connector")
   fca = BaseCarHarness("FCA connector")
   ram = BaseCarHarness("Ram connector")
   vw = BaseCarHarness("VW connector")
@@ -125,7 +128,13 @@ class Device(EnumBase):
 
 
 class Kit(EnumBase):
-  red_panda_kit = BasePart("CAN FD panda kit", parts=[Device.red_panda, Accessory.harness_box, Cable.usb_a_2_a_cable, Cable.usbc_otg_cable, Cable.obd_c_cable_1_5ft])
+  red_panda_kit = BasePart("CAN FD panda kit", parts=[Device.red_panda, Accessory.harness_box,
+                                                      Cable.usb_a_2_a_cable, Cable.usbc_otg_cable, Cable.obd_c_cable_1_5ft])
+
+
+class Tool(EnumBase):
+  socket_8mm_deep = BasePart("Socket Wrench 8mm or 5/16\" (deep)")
+  pry_tool = BasePart("Pry Tool")
 
 
 class PartType(Enum):
@@ -135,6 +144,7 @@ class PartType(Enum):
   device = Device
   kit = Kit
   mount = Mount
+  tool = Tool
 
 
 DEFAULT_CAR_PARTS: List[EnumBase] = [Device.three]
@@ -144,8 +154,11 @@ DEFAULT_CAR_PARTS: List[EnumBase] = [Device.three]
 class CarParts:
   parts: List[EnumBase] = field(default_factory=list)
 
+  def __call__(self):
+    return copy.deepcopy(self)
+
   @classmethod
-  def common(cls, add: List[EnumBase] = None, remove: List[EnumBase] = None):
+  def common(cls, add: Optional[List[EnumBase]] = None, remove: Optional[List[EnumBase]] = None):
     p = [part for part in (add or []) + DEFAULT_CAR_PARTS if part not in (remove or [])]
     return cls(p)
 
@@ -161,10 +174,12 @@ CarFootnote = namedtuple("CarFootnote", ["text", "column", "docs_only", "shop_fo
 
 class CommonFootnote(Enum):
   EXP_LONG_AVAIL = CarFootnote(
-    "Experimental openpilot longitudinal control is available behind a toggle; the toggle is only available in non-release branches such as `devel` or `master-ci`. ",
+    "Experimental openpilot longitudinal control is available behind a toggle; " +
+    "the toggle is only available in non-release branches such as `devel` or `master-ci`. ",
     Column.LONGITUDINAL, docs_only=True)
   EXP_LONG_DSU = CarFootnote(
-    "By default, this car will use the stock Adaptive Cruise Control (ACC) for longitudinal control. If the Driver Support Unit (DSU) is disconnected, openpilot ACC will replace " +
+    "By default, this car will use the stock Adaptive Cruise Control (ACC) for longitudinal control. " +
+    "If the Driver Support Unit (DSU) is disconnected, openpilot ACC will replace " +
     "stock ACC. <b><i>NOTE: disconnecting the DSU disables Automatic Emergency Braking (AEB).</i></b>",
     Column.LONGITUDINAL)
 
@@ -225,7 +240,7 @@ class CarInfo:
   auto_resume: Optional[bool] = None
 
   # all the parts needed for the supported car
-  car_parts: CarParts = CarParts()
+  car_parts: CarParts = field(default_factory=CarParts)
 
   def init(self, CP: car.CarParams, all_footnotes: Dict[Enum, int]):
     self.car_name = CP.carName
@@ -234,14 +249,14 @@ class CarInfo:
 
     # longitudinal column
     op_long = "Stock"
-    if CP.openpilotLongitudinalControl and not CP.enableDsu:
-      op_long = "openpilot"
-    elif CP.experimentalLongitudinalAvailable or CP.enableDsu:
+    if CP.experimentalLongitudinalAvailable or CP.enableDsu:
       op_long = "openpilot available"
       if CP.enableDsu:
         self.footnotes.append(CommonFootnote.EXP_LONG_DSU)
       else:
         self.footnotes.append(CommonFootnote.EXP_LONG_AVAIL)
+    elif CP.openpilotLongitudinalControl and not CP.enableDsu:
+      op_long = "openpilot"
 
     # min steer & enable speed columns
     # TODO: set all the min steer speeds in carParams and remove this
@@ -261,10 +276,17 @@ class CarInfo:
     hardware_col = "None"
     if self.car_parts.parts:
       model_years = self.model + (' ' + self.years if self.years else '')
-      buy_link = f'<a href="https://comma.ai/shop/comma-three.html?make={self.make}&model={model_years}">Buy Here</a>'
-      car_parts_docs = self.car_parts.all_parts()
-      parts = '<br>'.join([f"- {car_parts_docs.count(part)} {part.value.name}" for part in sorted(set(car_parts_docs), key=lambda part: str(part.value.name))])
-      hardware_col = f'<details><summary>View</summary><sub>{parts}<br>{buy_link}</sub></details>'
+      buy_link = f'<a href="https://comma.ai/shop/comma-3x.html?make={self.make}&model={model_years}">Buy Here</a>'
+
+      tools_docs = [part for part in self.car_parts.all_parts() if isinstance(part, Tool)]
+      parts_docs = [part for part in self.car_parts.all_parts() if not isinstance(part, Tool)]
+
+      def display_func(parts):
+        return '<br>'.join([f"- {parts.count(part)} {part.value.name}" for part in sorted(set(parts), key=lambda part: str(part.value.name))])
+
+      hardware_col = f'<details><summary>Parts</summary><sub>{display_func(parts_docs)}<br>{buy_link}</sub></details>'
+      if len(tools_docs):
+        hardware_col += f'<details><summary>Tools</summary><sub>{display_func(tools_docs)}</sub></details>'
 
     self.row: Dict[Enum, Union[str, Star]] = {
       Column.MAKE: self.make,
@@ -316,8 +338,6 @@ class CarInfo:
       exp_link = "<a href='https://blog.comma.ai/090release/#experimental-mode' target='_blank' class='link-light-new-regular-text'>Experimental mode</a>"
       if CP.openpilotLongitudinalControl or CP.experimentalLongitudinalAvailable:
         sentence_builder += f" Traffic light and stop sign handling is also available in {exp_link}."
-      else:
-        sentence_builder += f" {exp_link}, with traffic light and stop sign handling, is not currently available for this car, but may be added in a future software update."
 
       return sentence_builder.format(car_model=f"{self.make} {self.model}", alc=alc, acc=acc)
 
diff --git a/selfdrive/car/ford/carcontroller.py b/selfdrive/car/ford/carcontroller.py
index 5bdafa58b5..dd30bc57e1 100644
--- a/selfdrive/car/ford/carcontroller.py
+++ b/selfdrive/car/ford/carcontroller.py
@@ -2,9 +2,9 @@ from cereal import car
 from common.numpy_fast import clip
 from opendbc.can.packer import CANPacker
 from selfdrive.car import apply_std_steer_angle_limits
-from selfdrive.car.ford.fordcan import create_acc_msg, create_acc_ui_msg, create_button_msg, create_lat_ctl_msg, \
-  create_lat_ctl2_msg, create_lka_msg, create_lkas_ui_msg
-from selfdrive.car.ford.values import CANBUS, CANFD_CARS, CarControllerParams
+from selfdrive.car.ford.fordcan import CanBus, create_acc_msg, create_acc_ui_msg, create_button_msg, \
+                                       create_lat_ctl_msg, create_lat_ctl2_msg, create_lka_msg, create_lkas_ui_msg
+from selfdrive.car.ford.values import CANFD_CAR, CarControllerParams
 
 LongCtrlState = car.CarControl.Actuators.LongControlState
 VisualAlert = car.CarControl.HUDControl.VisualAlert
@@ -27,6 +27,7 @@ class CarController:
     self.CP = CP
     self.VM = VM
     self.packer = CANPacker(dbc_name)
+    self.CAN = CanBus(CP)
     self.frame = 0
 
     self.apply_curvature_last = 0
@@ -42,18 +43,19 @@ class CarController:
 
     main_on = CS.out.cruiseState.available
     steer_alert = hud_control.visualAlert in (VisualAlert.steerRequired, VisualAlert.ldw)
+    fcw_alert = hud_control.visualAlert == VisualAlert.fcw
 
     ### acc buttons ###
     if CC.cruiseControl.cancel:
-      can_sends.append(create_button_msg(self.packer, CS.buttons_stock_values, cancel=True))
-      can_sends.append(create_button_msg(self.packer, CS.buttons_stock_values, cancel=True, bus=CANBUS.main))
+      can_sends.append(create_button_msg(self.packer, self.CAN.camera, CS.buttons_stock_values, cancel=True))
+      can_sends.append(create_button_msg(self.packer, self.CAN.main, CS.buttons_stock_values, cancel=True))
     elif CC.cruiseControl.resume and (self.frame % CarControllerParams.BUTTONS_STEP) == 0:
-      can_sends.append(create_button_msg(self.packer, CS.buttons_stock_values, resume=True))
-      can_sends.append(create_button_msg(self.packer, CS.buttons_stock_values, resume=True, bus=CANBUS.main))
+      can_sends.append(create_button_msg(self.packer, self.CAN.camera, CS.buttons_stock_values, resume=True))
+      can_sends.append(create_button_msg(self.packer, self.CAN.main, CS.buttons_stock_values, resume=True))
     # if stock lane centering isn't off, send a button press to toggle it off
     # the stock system checks for steering pressed, and eventually disengages cruise control
     elif CS.acc_tja_status_stock_values["Tja_D_Stat"] != 0 and (self.frame % CarControllerParams.ACC_UI_STEP) == 0:
-      can_sends.append(create_button_msg(self.packer, CS.buttons_stock_values, tja_toggle=True))
+      can_sends.append(create_button_msg(self.packer, self.CAN.camera, CS.buttons_stock_values, tja_toggle=True))
 
     ### lateral control ###
     # send steer msg at 20Hz
@@ -67,17 +69,17 @@ class CarController:
 
       self.apply_curvature_last = apply_curvature
 
-      if self.CP.carFingerprint in CANFD_CARS:
+      if self.CP.carFingerprint in CANFD_CAR:
         # TODO: extended mode
         mode = 1 if CC.latActive else 0
         counter = (self.frame // CarControllerParams.STEER_STEP) % 0xF
-        can_sends.append(create_lat_ctl2_msg(self.packer, mode, 0., 0., -apply_curvature, 0., counter))
+        can_sends.append(create_lat_ctl2_msg(self.packer, self.CAN, mode, 0., 0., -apply_curvature, 0., counter))
       else:
-        can_sends.append(create_lat_ctl_msg(self.packer, CC.latActive, 0., 0., -apply_curvature, 0.))
+        can_sends.append(create_lat_ctl_msg(self.packer, self.CAN, CC.latActive, 0., 0., -apply_curvature, 0.))
 
     # send lka msg at 33Hz
     if (self.frame % CarControllerParams.LKA_STEP) == 0:
-      can_sends.append(create_lka_msg(self.packer))
+      can_sends.append(create_lka_msg(self.packer, self.CAN))
 
     ### longitudinal control ###
     # send acc msg at 50Hz
@@ -89,17 +91,17 @@ class CarController:
         gas = CarControllerParams.INACTIVE_GAS
 
       stopping = CC.actuators.longControlState == LongCtrlState.stopping
-      can_sends.append(create_acc_msg(self.packer, CC.longActive, gas, accel, stopping))
+      can_sends.append(create_acc_msg(self.packer, self.CAN, CC.longActive, gas, accel, stopping))
 
     ### ui ###
     send_ui = (self.main_on_last != main_on) or (self.lkas_enabled_last != CC.latActive) or (self.steer_alert_last != steer_alert)
     # send lkas ui msg at 1Hz or if ui state changes
     if (self.frame % CarControllerParams.LKAS_UI_STEP) == 0 or send_ui:
-      can_sends.append(create_lkas_ui_msg(self.packer, main_on, CC.latActive, steer_alert, hud_control, CS.lkas_status_stock_values))
+      can_sends.append(create_lkas_ui_msg(self.packer, self.CAN, main_on, CC.latActive, steer_alert, hud_control, CS.lkas_status_stock_values))
     # send acc ui msg at 5Hz or if ui state changes
     if (self.frame % CarControllerParams.ACC_UI_STEP) == 0 or send_ui:
-      can_sends.append(create_acc_ui_msg(self.packer, self.CP, main_on, CC.latActive,
-                                         CS.out.cruiseState.standstill, hud_control,
+      can_sends.append(create_acc_ui_msg(self.packer, self.CAN, self.CP, main_on, CC.latActive,
+                                         fcw_alert, CS.out.cruiseState.standstill, hud_control,
                                          CS.acc_tja_status_stock_values))
 
     self.main_on_last = main_on
diff --git a/selfdrive/car/ford/carstate.py b/selfdrive/car/ford/carstate.py
index 9be2c7637c..824d929930 100644
--- a/selfdrive/car/ford/carstate.py
+++ b/selfdrive/car/ford/carstate.py
@@ -3,7 +3,8 @@ from common.conversions import Conversions as CV
 from opendbc.can.can_define import CANDefine
 from opendbc.can.parser import CANParser
 from selfdrive.car.interfaces import CarStateBase
-from selfdrive.car.ford.values import CANBUS, DBC, CarControllerParams
+from selfdrive.car.ford.fordcan import CanBus
+from selfdrive.car.ford.values import CANFD_CAR, CarControllerParams, DBC
 
 GearShifter = car.CarState.GearShifter
 TransmissionType = car.CarParams.TransmissionType
@@ -54,6 +55,10 @@ class CarState(CarStateBase):
     ret.steerFaultPermanent = cp.vl["EPAS_INFO"]["EPAS_Failure"] in (2, 3)
     # ret.espDisabled = False  # TODO: find traction control signal
 
+    if self.CP.carFingerprint in CANFD_CAR:
+      # this signal is always 0 on non-CAN FD cars
+      ret.steerFaultTemporary |= cp.vl["Lane_Assist_Data3_FD1"]["LatCtlSte_D_Stat"] not in (1, 2, 3)
+
     # cruise state
     ret.cruiseState.speed = cp.vl["EngBrakeData"]["Veh_V_DsplyCcSet"] * CV.MPH_TO_MS
     ret.cruiseState.enabled = cp.vl["EngBrakeData"]["CcStat_D_Actl"] in (4, 5)
@@ -61,6 +66,8 @@ class CarState(CarStateBase):
     ret.cruiseState.nonAdaptive = cp.vl["Cluster_Info1_FD1"]["AccEnbl_B_RqDrv"] == 0
     ret.cruiseState.standstill = cp.vl["EngBrakeData"]["AccStopMde_D_Rq"] == 3
     ret.accFaulted = cp.vl["EngBrakeData"]["CcStat_D_Actl"] in (1, 2)
+    if not self.CP.openpilotLongitudinalControl:
+      ret.accFaulted = ret.accFaulted or cp_cam.vl["ACCDATA"]["CmbbDeny_B_Actl"] == 1
 
     # gear
     if self.CP.transmissionType == TransmissionType.automatic:
@@ -90,8 +97,9 @@ class CarState(CarStateBase):
 
     # blindspot sensors
     if self.CP.enableBsm:
-      ret.leftBlindspot = cp.vl["Side_Detect_L_Stat"]["SodDetctLeft_D_Stat"] != 0
-      ret.rightBlindspot = cp.vl["Side_Detect_R_Stat"]["SodDetctRight_D_Stat"] != 0
+      cp_bsm = cp_cam if self.CP.carFingerprint in CANFD_CAR else cp
+      ret.leftBlindspot = cp_bsm.vl["Side_Detect_L_Stat"]["SodDetctLeft_D_Stat"] != 0
+      ret.rightBlindspot = cp_bsm.vl["Side_Detect_R_Stat"]["SodDetctRight_D_Stat"] != 0
 
     # Stock steering buttons so that we can passthru blinkers etc.
     self.buttons_stock_values = cp.vl["Steering_Data_FD1"]
@@ -103,70 +111,7 @@ class CarState(CarStateBase):
 
   @staticmethod
   def get_can_parser(CP):
-    signals = [
-      # sig_name, sig_address
-      ("TrnAinTq_D_Qf", "VehicleOperatingModes"),            # Used to detect hybrid or ICE platform variant
-
-      ("Veh_V_ActlBrk", "BrakeSysFeatures"),                 # ABS vehicle speed (kph)
-      ("VehYaw_W_Actl", "Yaw_Data_FD1"),                     # ABS vehicle yaw rate (rad/s)
-      ("VehStop_D_Stat", "DesiredTorqBrk"),                  # ABS vehicle stopped
-      ("PrkBrkStatus", "DesiredTorqBrk"),                    # ABS park brake status
-      ("ApedPos_Pc_ActlArb", "EngVehicleSpThrottle"),        # PCM throttle (pct)
-      ("BrkTot_Tq_Actl", "BrakeSnData_4"),                   # ABS brake torque (Nm)
-      ("BpedDrvAppl_D_Actl", "EngBrakeData"),                # PCM driver brake pedal pressed
-      ("Veh_V_DsplyCcSet", "EngBrakeData"),                  # PCM ACC set speed (mph)
-                                                             # The units might change with IPC settings?
-      ("CcStat_D_Actl", "EngBrakeData"),                     # PCM ACC status
-      ("AccStopMde_D_Rq", "EngBrakeData"),                   # PCM ACC standstill
-      ("AccEnbl_B_RqDrv", "Cluster_Info1_FD1"),              # PCM ACC enable
-      ("StePinComp_An_Est", "SteeringPinion_Data"),          # PSCM estimated steering angle (deg)
-      ("StePinCompAnEst_D_Qf", "SteeringPinion_Data"),       # PSCM estimated steering angle (quality flag)
-                                                             # Calculates steering angle (and offset) from pinion
-                                                             # angle and driving measurements.
-                                                             # StePinRelInit_An_Sns is the pinion angle, initialised
-                                                             # to zero at the beginning of the drive.
-      ("SteeringColumnTorque", "EPAS_INFO"),                 # PSCM steering column torque (Nm)
-      ("EPAS_Failure", "EPAS_INFO"),                         # PSCM EPAS status
-      ("TurnLghtSwtch_D_Stat", "Steering_Data_FD1"),         # SCCM Turn signal switch
-      ("TjaButtnOnOffPress", "Steering_Data_FD1"),           # SCCM ACC button, lane-centering/traffic jam assist toggle
-      ("DrStatDrv_B_Actl", "BodyInfo_3_FD1"),                # BCM Door open, driver
-      ("DrStatPsngr_B_Actl", "BodyInfo_3_FD1"),              # BCM Door open, passenger
-      ("DrStatRl_B_Actl", "BodyInfo_3_FD1"),                 # BCM Door open, rear left
-      ("DrStatRr_B_Actl", "BodyInfo_3_FD1"),                 # BCM Door open, rear right
-      ("FirstRowBuckleDriver", "RCMStatusMessage2_FD1"),     # RCM Seatbelt status, driver
-      ("HeadLghtHiFlash_D_Stat", "Steering_Data_FD1"),       # SCCM Passthrough the remaining buttons
-      ("WiprFront_D_Stat", "Steering_Data_FD1"),
-      ("LghtAmb_D_Sns", "Steering_Data_FD1"),
-      ("AccButtnGapDecPress", "Steering_Data_FD1"),
-      ("AccButtnGapIncPress", "Steering_Data_FD1"),
-      ("AslButtnOnOffCnclPress", "Steering_Data_FD1"),
-      ("AslButtnOnOffPress", "Steering_Data_FD1"),
-      ("LaSwtchPos_D_Stat", "Steering_Data_FD1"),
-      ("CcAslButtnCnclResPress", "Steering_Data_FD1"),
-      ("CcAslButtnDeny_B_Actl", "Steering_Data_FD1"),
-      ("CcAslButtnIndxDecPress", "Steering_Data_FD1"),
-      ("CcAslButtnIndxIncPress", "Steering_Data_FD1"),
-      ("CcAslButtnOffCnclPress", "Steering_Data_FD1"),
-      ("CcAslButtnOnOffCncl", "Steering_Data_FD1"),
-      ("CcAslButtnOnPress", "Steering_Data_FD1"),
-      ("CcAslButtnResDecPress", "Steering_Data_FD1"),
-      ("CcAslButtnResIncPress", "Steering_Data_FD1"),
-      ("CcAslButtnSetDecPress", "Steering_Data_FD1"),
-      ("CcAslButtnSetIncPress", "Steering_Data_FD1"),
-      ("CcAslButtnSetPress", "Steering_Data_FD1"),
-      ("CcButtnOffPress", "Steering_Data_FD1"),
-      ("CcButtnOnOffCnclPress", "Steering_Data_FD1"),
-      ("CcButtnOnOffPress", "Steering_Data_FD1"),
-      ("CcButtnOnPress", "Steering_Data_FD1"),
-      ("HeadLghtHiFlash_D_Actl", "Steering_Data_FD1"),
-      ("HeadLghtHiOn_B_StatAhb", "Steering_Data_FD1"),
-      ("AhbStat_B_Dsply", "Steering_Data_FD1"),
-      ("AccButtnGapTogglePress", "Steering_Data_FD1"),
-      ("WiprFrontSwtch_D_Stat", "Steering_Data_FD1"),
-      ("HeadLghtHiCtrl_D_RqAhb", "Steering_Data_FD1"),
-    ]
-
-    checks = [
+    messages = [
       # sig_address, frequency
       ("VehicleOperatingModes", 100),
       ("BrakeSysFeatures", 50),
@@ -178,94 +123,48 @@ class CarState(CarStateBase):
       ("Cluster_Info1_FD1", 10),
       ("SteeringPinion_Data", 100),
       ("EPAS_INFO", 50),
-      ("Lane_Assist_Data3_FD1", 33),
       ("Steering_Data_FD1", 10),
       ("BodyInfo_3_FD1", 2),
       ("RCMStatusMessage2_FD1", 10),
     ]
 
-    if CP.transmissionType == TransmissionType.automatic:
-      signals += [
-        ("TrnRng_D_RqGsm", "Gear_Shift_by_Wire_FD1"),        # GWM transmission gear position
+    if CP.carFingerprint in CANFD_CAR:
+      messages += [
+        ("Lane_Assist_Data3_FD1", 33),
       ]
-      checks += [
+
+    if CP.transmissionType == TransmissionType.automatic:
+      messages += [
         ("Gear_Shift_by_Wire_FD1", 10),
       ]
     elif CP.transmissionType == TransmissionType.manual:
-      signals += [
-        ("CluPdlPos_Pc_Meas", "Engine_Clutch_Data"),         # PCM clutch (pct)
-        ("RvrseLghtOn_B_Stat", "BCM_Lamp_Stat_FD1"),         # BCM reverse light
-      ]
-      checks += [
+      messages += [
         ("Engine_Clutch_Data", 33),
         ("BCM_Lamp_Stat_FD1", 1),
       ]
 
-    if CP.enableBsm:
-      signals += [
-        ("SodDetctLeft_D_Stat", "Side_Detect_L_Stat"),       # Blindspot sensor, left
-        ("SodDetctRight_D_Stat", "Side_Detect_R_Stat"),      # Blindspot sensor, right
-      ]
-      checks += [
+    if CP.enableBsm and CP.carFingerprint not in CANFD_CAR:
+      messages += [
         ("Side_Detect_L_Stat", 5),
         ("Side_Detect_R_Stat", 5),
       ]
 
-    return CANParser(DBC[CP.carFingerprint]["pt"], signals, checks, CANBUS.main)
+    return CANParser(DBC[CP.carFingerprint]["pt"], messages, CanBus(CP).main)
 
   @staticmethod
   def get_cam_can_parser(CP):
-    signals = [
-      # sig_name, sig_address
-      ("CmbbBrkDecel_B_Rq", "ACCDATA_2"),           # AEB actuation request bit
-
-      ("HaDsply_No_Cs", "ACCDATA_3"),
-      ("HaDsply_No_Cnt", "ACCDATA_3"),
-      ("AccStopStat_D_Dsply", "ACCDATA_3"),         # ACC stopped status message
-      ("AccTrgDist2_D_Dsply", "ACCDATA_3"),         # ACC target distance
-      ("AccStopRes_B_Dsply", "ACCDATA_3"),
-      ("TjaWarn_D_Rq", "ACCDATA_3"),                # TJA warning
-      ("Tja_D_Stat", "ACCDATA_3"),                  # TJA status
-      ("TjaMsgTxt_D_Dsply", "ACCDATA_3"),           # TJA text
-      ("IaccLamp_D_Rq", "ACCDATA_3"),               # iACC status icon
-      ("AccMsgTxt_D2_Rq", "ACCDATA_3"),             # ACC text
-      ("FcwDeny_B_Dsply", "ACCDATA_3"),             # FCW disabled
-      ("FcwMemStat_B_Actl", "ACCDATA_3"),           # FCW enabled setting
-      ("AccTGap_B_Dsply", "ACCDATA_3"),             # ACC time gap display setting
-      ("CadsAlignIncplt_B_Actl", "ACCDATA_3"),
-      ("AccFllwMde_B_Dsply", "ACCDATA_3"),          # ACC lead indicator
-      ("CadsRadrBlck_B_Actl", "ACCDATA_3"),
-      ("CmbbPostEvnt_B_Dsply", "ACCDATA_3"),        # AEB event status
-      ("AccStopMde_B_Dsply", "ACCDATA_3"),          # ACC stop mode display setting
-      ("FcwMemSens_D_Actl", "ACCDATA_3"),           # FCW sensitivity setting
-      ("FcwMsgTxt_D_Rq", "ACCDATA_3"),              # FCW text
-      ("AccWarn_D_Dsply", "ACCDATA_3"),             # ACC warning
-      ("FcwVisblWarn_B_Rq", "ACCDATA_3"),           # FCW visible alert
-      ("FcwAudioWarn_B_Rq", "ACCDATA_3"),           # FCW audio alert
-      ("AccTGap_D_Dsply", "ACCDATA_3"),             # ACC time gap
-      ("AccMemEnbl_B_RqDrv", "ACCDATA_3"),          # ACC adaptive/normal setting
-      ("FdaMem_B_Stat", "ACCDATA_3"),               # FDA enabled setting
-
-      ("FeatConfigIpmaActl", "IPMA_Data"),
-      ("FeatNoIpmaActl", "IPMA_Data"),
-      ("PersIndexIpma_D_Actl", "IPMA_Data"),
-      ("AhbcRampingV_D_Rq", "IPMA_Data"),           # AHB ramping
-      ("LaDenyStats_B_Dsply", "IPMA_Data"),         # LKAS error
-      ("CamraDefog_B_Req", "IPMA_Data"),            # Windshield heater?
-      ("CamraStats_D_Dsply", "IPMA_Data"),          # Camera status
-      ("DasAlrtLvl_D_Dsply", "IPMA_Data"),          # DAS alert level
-      ("DasStats_D_Dsply", "IPMA_Data"),            # DAS status
-      ("DasWarn_D_Dsply", "IPMA_Data"),             # DAS warning
-      ("AhbHiBeam_D_Rq", "IPMA_Data"),              # AHB status
-      ("Passthru_63", "IPMA_Data"),
-      ("Passthru_48", "IPMA_Data"),
-    ]
-
-    checks = [
+    messages = [
       # sig_address, frequency
+      ("ACCDATA", 50),
       ("ACCDATA_2", 50),
       ("ACCDATA_3", 5),
       ("IPMA_Data", 1),
     ]
 
-    return CANParser(DBC[CP.carFingerprint]["pt"], signals, checks, CANBUS.camera)
+    if CP.enableBsm and CP.carFingerprint in CANFD_CAR:
+      messages += [
+        ("Side_Detect_L_Stat", 5),
+        ("Side_Detect_R_Stat", 5),
+      ]
+
+    return CANParser(DBC[CP.carFingerprint]["pt"], messages, CanBus(CP).camera)
diff --git a/selfdrive/car/ford/fordcan.py b/selfdrive/car/ford/fordcan.py
index 97a8c025d4..a49d7ad85d 100644
--- a/selfdrive/car/ford/fordcan.py
+++ b/selfdrive/car/ford/fordcan.py
@@ -1,10 +1,27 @@
 from cereal import car
-from selfdrive.car.ford.values import CANBUS
+from selfdrive.car import CanBusBase
 
 HUDControl = car.CarControl.HUDControl
 
 
-def calculate_lat_ctl2_checksum(mode: int, counter: int, dat: bytearray):
+class CanBus(CanBusBase):
+  def __init__(self, CP=None, fingerprint=None) -> None:
+    super().__init__(CP, fingerprint)
+
+  @property
+  def main(self) -> int:
+    return self.offset
+
+  @property
+  def radar(self) -> int:
+    return self.offset + 1
+
+  @property
+  def camera(self) -> int:
+    return self.offset + 2
+
+
+def calculate_lat_ctl2_checksum(mode: int, counter: int, dat: bytearray) -> int:
   curvature = (dat[2] << 3) | ((dat[3]) >> 5)
   curvature_rate = (dat[6] << 3) | ((dat[7]) >> 5)
   path_angle = ((dat[3] & 0x1F) << 6) | ((dat[4]) >> 2)
@@ -17,7 +34,7 @@ def calculate_lat_ctl2_checksum(mode: int, counter: int, dat: bytearray):
   return 0xFF - (checksum & 0xFF)
 
 
-def create_lka_msg(packer):
+def create_lka_msg(packer, CAN: CanBus):
   """
   Creates an empty CAN message for the Ford LKA Command.
 
@@ -26,10 +43,10 @@ def create_lka_msg(packer):
   Frequency is 33Hz.
   """
 
-  return packer.make_can_msg("Lane_Assist_Data1", CANBUS.main, {})
+  return packer.make_can_msg("Lane_Assist_Data1", CAN.main, {})
 
 
-def create_lat_ctl_msg(packer, lat_active: bool, path_offset: float, path_angle: float, curvature: float,
+def create_lat_ctl_msg(packer, CAN: CanBus, lat_active: bool, path_offset: float, path_angle: float, curvature: float,
                        curvature_rate: float):
   """
   Creates a CAN message for the Ford TJA/LCA Command.
@@ -66,10 +83,10 @@ def create_lat_ctl_msg(packer, lat_active: bool, path_offset: float, path_angle:
     "LatCtlCurv_NoRate_Actl": curvature_rate,   # Curvature rate [-0.001024|0.00102375] 1/meter^2
     "LatCtlCurv_No_Actl": curvature,            # Curvature [-0.02|0.02094] 1/meter
   }
-  return packer.make_can_msg("LateralMotionControl", CANBUS.main, values)
+  return packer.make_can_msg("LateralMotionControl", CAN.main, values)
 
 
-def create_lat_ctl2_msg(packer, mode: int, path_offset: float, path_angle: float, curvature: float,
+def create_lat_ctl2_msg(packer, CAN: CanBus, mode: int, path_offset: float, path_angle: float, curvature: float,
                         curvature_rate: float, counter: int):
   """
   Create a CAN message for the new Ford Lane Centering command.
@@ -95,13 +112,13 @@ def create_lat_ctl2_msg(packer, mode: int, path_offset: float, path_angle: float
   }
 
   # calculate checksum
-  dat = packer.make_can_msg("LateralMotionControl2", CANBUS.main, values)[2]
+  dat = packer.make_can_msg("LateralMotionControl2", 0, values)[2]
   values["LatCtlPath_No_Cs"] = calculate_lat_ctl2_checksum(mode, counter, dat)
 
-  return packer.make_can_msg("LateralMotionControl2", CANBUS.main, values)
+  return packer.make_can_msg("LateralMotionControl2", CAN.main, values)
 
 
-def create_acc_msg(packer, long_active: bool, gas: float, accel: float, stopping: bool):
+def create_acc_msg(packer, CAN: CanBus, long_active: bool, gas: float, accel: float, stopping: bool):
   """
   Creates a CAN message for the Ford ACC Command.
 
@@ -122,11 +139,11 @@ def create_acc_msg(packer, long_active: bool, gas: float, accel: float, stopping
     "AccBrkDecel_B_Rq": 1 if decel else 0,            # Deceleration request: 0=Inactive, 1=Active
     "AccStopStat_B_Rq": 1 if stopping else 0,
   }
-  return packer.make_can_msg("ACCDATA", CANBUS.main, values)
+  return packer.make_can_msg("ACCDATA", CAN.main, values)
 
 
-def create_acc_ui_msg(packer, CP, main_on: bool, enabled: bool, standstill: bool, hud_control,
-                      stock_values: dict):
+def create_acc_ui_msg(packer, CAN: CanBus, CP, main_on: bool, enabled: bool, fcw_alert: bool, standstill: bool,
+                      hud_control, stock_values: dict):
   """
   Creates a CAN message for the Ford IPC adaptive cruise, forward collision warning and traffic jam
   assist status.
@@ -197,10 +214,15 @@ def create_acc_ui_msg(packer, CP, main_on: bool, enabled: bool, standstill: bool
       "AccTGap_D_Dsply": 4,                                       # Fixed time gap in UI
     })
 
-  return packer.make_can_msg("ACCDATA_3", CANBUS.main, values)
+  # Forwards FCW alert from IPMA
+  if fcw_alert:
+    values["FcwVisblWarn_B_Rq"] = 1  # FCW visible alert
+
+  return packer.make_can_msg("ACCDATA_3", CAN.main, values)
 
 
-def create_lkas_ui_msg(packer, main_on: bool, enabled: bool, steer_alert: bool, hud_control, stock_values: dict):
+def create_lkas_ui_msg(packer, CAN: CanBus, main_on: bool, enabled: bool, steer_alert: bool, hud_control,
+                       stock_values: dict):
   """
   Creates a CAN message for the Ford IPC IPMA/LKAS status.
 
@@ -263,11 +285,10 @@ def create_lkas_ui_msg(packer, main_on: bool, enabled: bool, steer_alert: bool,
     "LaActvStats_D_Dsply": lines,                 # LKAS status (lines) [0|31]
     "LaHandsOff_D_Dsply": hands_on_wheel_dsply,   # 0=HandsOn, 1=Level1 (w/o chime), 2=Level2 (w/ chime), 3=Suppressed
   })
-  return packer.make_can_msg("IPMA_Data", CANBUS.main, values)
+  return packer.make_can_msg("IPMA_Data", CAN.main, values)
 
 
-def create_button_msg(packer, stock_values: dict, cancel=False, resume=False, tja_toggle=False,
-                      bus: int = CANBUS.camera):
+def create_button_msg(packer, bus: int, stock_values: dict, cancel=False, resume=False, tja_toggle=False):
   """
   Creates a CAN message for the Ford SCCM buttons/switches.
 
diff --git a/selfdrive/car/ford/interface.py b/selfdrive/car/ford/interface.py
index 626853dd8f..d74baa3ce4 100644
--- a/selfdrive/car/ford/interface.py
+++ b/selfdrive/car/ford/interface.py
@@ -3,7 +3,8 @@ from cereal import car
 from panda import Panda
 from common.conversions import Conversions as CV
 from selfdrive.car import STD_CARGO_KG, get_safety_config
-from selfdrive.car.ford.values import CAR, Ecu
+from selfdrive.car.ford.fordcan import CanBus
+from selfdrive.car.ford.values import CANFD_CAR, CAR, Ecu
 from selfdrive.car.interfaces import CarInterfaceBase
 
 TransmissionType = car.CarParams.TransmissionType
@@ -14,23 +15,27 @@ class CarInterface(CarInterfaceBase):
   @staticmethod
   def _get_params(ret, candidate, fingerprint, car_fw, experimental_long, docs):
     ret.carName = "ford"
-    ret.safetyConfigs = [get_safety_config(car.CarParams.SafetyModel.ford)]
-
-    # These cars are dashcam only for lack of test coverage.
-    # Once a user confirms each car works and a test route is
-    # added to selfdrive/car/tests/routes.py, we can remove it from this list.
-    ret.dashcamOnly = candidate in {CAR.FOCUS_MK4}
+    ret.dashcamOnly = candidate in {CAR.F_150_MK14}
 
     ret.radarUnavailable = True
     ret.steerControlType = car.CarParams.SteerControlType.angle
     ret.steerActuatorDelay = 0.2
     ret.steerLimitTimer = 1.0
 
+    CAN = CanBus(fingerprint=fingerprint)
+    cfgs = [get_safety_config(car.CarParams.SafetyModel.ford)]
+    if CAN.main >= 4:
+      cfgs.insert(0, get_safety_config(car.CarParams.SafetyModel.noOutput))
+    ret.safetyConfigs = cfgs
+
     ret.experimentalLongitudinalAvailable = True
     if experimental_long:
-      ret.safetyConfigs[0].safetyParam |= Panda.FLAG_FORD_LONG_CONTROL
+      ret.safetyConfigs[-1].safetyParam |= Panda.FLAG_FORD_LONG_CONTROL
       ret.openpilotLongitudinalControl = True
 
+    if candidate in CANFD_CAR:
+      ret.safetyConfigs[-1].safetyParam |= Panda.FLAG_FORD_CANFD
+
     if candidate == CAR.BRONCO_SPORT_MK1:
       ret.wheelbase = 2.67
       ret.steerRatio = 17.7
@@ -46,6 +51,12 @@ class CarInterface(CarInterfaceBase):
       ret.steerRatio = 16.8
       ret.mass = 2050 + STD_CARGO_KG
 
+    elif candidate == CAR.F_150_MK14:
+      # required trim only on SuperCrew
+      ret.wheelbase = 3.69
+      ret.steerRatio = 17.0
+      ret.mass = 2000 + STD_CARGO_KG
+
     elif candidate == CAR.FOCUS_MK4:
       ret.wheelbase = 2.7
       ret.steerRatio = 15.0
@@ -61,7 +72,7 @@ class CarInterface(CarInterfaceBase):
 
     # Auto Transmission: 0x732 ECU or Gear_Shift_by_Wire_FD1
     found_ecus = [fw.ecu for fw in car_fw]
-    if Ecu.shiftByWire in found_ecus or 0x5A in fingerprint[0] or docs:
+    if Ecu.shiftByWire in found_ecus or 0x5A in fingerprint[CAN.main] or docs:
       ret.transmissionType = TransmissionType.automatic
     else:
       ret.transmissionType = TransmissionType.manual
@@ -69,7 +80,7 @@ class CarInterface(CarInterfaceBase):
 
     # BSM: Side_Detect_L_Stat, Side_Detect_R_Stat
     # TODO: detect bsm in car_fw?
-    ret.enableBsm = 0x3A6 in fingerprint[0] and 0x3A7 in fingerprint[0]
+    ret.enableBsm = 0x3A6 in fingerprint[CAN.main] and 0x3A7 in fingerprint[CAN.main]
 
     # LCA can steer down to zero
     ret.minSteerSpeed = 0.
diff --git a/selfdrive/car/ford/radar_interface.py b/selfdrive/car/ford/radar_interface.py
index ee4efb311d..bf074ce8c8 100644
--- a/selfdrive/car/ford/radar_interface.py
+++ b/selfdrive/car/ford/radar_interface.py
@@ -3,7 +3,8 @@ from math import cos, sin
 from cereal import car
 from opendbc.can.parser import CANParser
 from common.conversions import Conversions as CV
-from selfdrive.car.ford.values import CANBUS, DBC, RADAR
+from selfdrive.car.ford.fordcan import CanBus
+from selfdrive.car.ford.values import DBC, RADAR
 from selfdrive.car.interfaces import RadarInterfaceBase
 
 DELPHI_ESR_RADAR_MSGS = list(range(0x500, 0x540))
@@ -12,32 +13,21 @@ DELPHI_MRR_RADAR_START_ADDR = 0x120
 DELPHI_MRR_RADAR_MSG_COUNT = 64
 
 
-def _create_delphi_esr_radar_can_parser():
+def _create_delphi_esr_radar_can_parser(CP) -> CANParser:
   msg_n = len(DELPHI_ESR_RADAR_MSGS)
-  signals = list(zip(['X_Rel'] * msg_n + ['Angle'] * msg_n + ['V_Rel'] * msg_n,
-                     DELPHI_ESR_RADAR_MSGS * 3))
-  checks = list(zip(DELPHI_ESR_RADAR_MSGS, [20] * msg_n))
+  messages = list(zip(DELPHI_ESR_RADAR_MSGS, [20] * msg_n))
 
-  return CANParser(RADAR.DELPHI_ESR, signals, checks, CANBUS.radar)
+  return CANParser(RADAR.DELPHI_ESR, messages, CanBus(CP).radar)
 
 
-def _create_delphi_mrr_radar_can_parser():
-  signals = []
-  checks = []
+def _create_delphi_mrr_radar_can_parser(CP) -> CANParser:
+  messages = []
 
   for i in range(1, DELPHI_MRR_RADAR_MSG_COUNT + 1):
     msg = f"MRR_Detection_{i:03d}"
-    signals += [
-      (f"CAN_DET_VALID_LEVEL_{i:02d}", msg),
-      (f"CAN_DET_AZIMUTH_{i:02d}", msg),
-      (f"CAN_DET_RANGE_{i:02d}", msg),
-      (f"CAN_DET_RANGE_RATE_{i:02d}", msg),
-      (f"CAN_DET_AMPLITUDE_{i:02d}", msg),
-      (f"CAN_SCAN_INDEX_2LSB_{i:02d}", msg),
-    ]
-    checks += [(msg, 20)]
+    messages += [(msg, 20)]
 
-  return CANParser(RADAR.DELPHI_MRR, signals, checks, CANBUS.radar)
+  return CANParser(RADAR.DELPHI_MRR, messages, CanBus(CP).radar)
 
 
 class RadarInterface(RadarInterfaceBase):
@@ -50,11 +40,11 @@ class RadarInterface(RadarInterfaceBase):
     if self.radar is None or CP.radarUnavailable:
       self.rcp = None
     elif self.radar == RADAR.DELPHI_ESR:
-      self.rcp = _create_delphi_esr_radar_can_parser()
+      self.rcp = _create_delphi_esr_radar_can_parser(CP)
       self.trigger_msg = DELPHI_ESR_RADAR_MSGS[-1]
       self.valid_cnt = {key: 0 for key in DELPHI_ESR_RADAR_MSGS}
     elif self.radar == RADAR.DELPHI_MRR:
-      self.rcp = _create_delphi_mrr_radar_can_parser()
+      self.rcp = _create_delphi_mrr_radar_can_parser(CP)
       self.trigger_msg = DELPHI_MRR_RADAR_START_ADDR + DELPHI_MRR_RADAR_MSG_COUNT - 1
     else:
       raise ValueError(f"Unsupported radar: {self.radar}")
diff --git a/selfdrive/car/ford/values.py b/selfdrive/car/ford/values.py
index edc40f629c..eb4b7cca9a 100644
--- a/selfdrive/car/ford/values.py
+++ b/selfdrive/car/ford/values.py
@@ -1,10 +1,12 @@
 from collections import defaultdict
-from dataclasses import dataclass
-from typing import Dict, List, Set, Union
+from dataclasses import dataclass, field
+from enum import Enum
+from typing import Dict, List, Union
 
 from cereal import car
 from selfdrive.car import AngleRateLimit, dbc_dict
-from selfdrive.car.docs_definitions import CarHarness, CarInfo, CarParts, Device
+from selfdrive.car.docs_definitions import CarFootnote, CarHarness, CarInfo, CarParts, Column, \
+                                           Device
 from selfdrive.car.fw_query_definitions import FwQueryConfig, Request, StdQueries
 
 Ecu = car.CarParams.Ecu
@@ -38,21 +40,16 @@ class CarControllerParams:
     pass
 
 
-class CANBUS:
-  main = 0
-  radar = 1
-  camera = 2
-
-
 class CAR:
   BRONCO_SPORT_MK1 = "FORD BRONCO SPORT 1ST GEN"
   ESCAPE_MK4 = "FORD ESCAPE 4TH GEN"
   EXPLORER_MK6 = "FORD EXPLORER 6TH GEN"
+  F_150_MK14 = "FORD F-150 14TH GEN"
   FOCUS_MK4 = "FORD FOCUS 4TH GEN"
   MAVERICK_MK1 = "FORD MAVERICK 1ST GEN"
 
 
-CANFD_CARS: Set[str] = set()
+CANFD_CAR = {CAR.F_150_MK14}
 
 
 class RADAR:
@@ -62,11 +59,22 @@ class RADAR:
 
 DBC: Dict[str, Dict[str, str]] = defaultdict(lambda: dbc_dict("ford_lincoln_base_pt", RADAR.DELPHI_MRR))
 
+# F-150 radar is not yet supported
+DBC[CAR.F_150_MK14] = dbc_dict("ford_lincoln_base_pt", None)
+
+
+class Footnote(Enum):
+  FOCUS = CarFootnote(
+    "Refers only to the Focus Mk4 (C519) available in Europe/China/Taiwan/Australasia, not the Focus Mk3 (C346) in " +
+    "North and South America/Southeast Asia.",
+    Column.MODEL,
+  )
+
 
 @dataclass
 class FordCarInfo(CarInfo):
   package: str = "Co-Pilot360 Assist+"
-  car_parts: CarParts = CarParts.common([CarHarness.ford_q3])
+  car_parts: CarParts = field(default_factory=CarParts.common([CarHarness.ford_q3]))
 
   def init_make(self, CP: car.CarParams):
     if CP.carFingerprint in (CAR.BRONCO_SPORT_MK1, CAR.MAVERICK_MK1):
@@ -81,26 +89,38 @@ CAR_INFO: Dict[str, Union[CarInfo, List[CarInfo]]] = {
   ],
   CAR.EXPLORER_MK6: [
     FordCarInfo("Ford Explorer 2020-22"),
-    FordCarInfo("Lincoln Aviator 2021", "Co-Pilot360 Plus"),
+    FordCarInfo("Lincoln Aviator 2020-21", "Co-Pilot360 Plus"),
+  ],
+  CAR.F_150_MK14: FordCarInfo("Ford F-150 2023", "Co-Pilot360 Active 2.0"),
+  CAR.FOCUS_MK4: FordCarInfo("Ford Focus 2018", "Adaptive Cruise Control with Lane Centering", footnotes=[Footnote.FOCUS]),
+  CAR.MAVERICK_MK1: [
+    FordCarInfo("Ford Maverick 2022", "LARIAT Luxury"),
+    FordCarInfo("Ford Maverick 2023", "Co-Pilot360 Assist"),
   ],
-  CAR.FOCUS_MK4: FordCarInfo("Ford Focus EU 2018", "Adaptive Cruise Control with Lane Centering"),
-  CAR.MAVERICK_MK1: FordCarInfo("Ford Maverick 2022-23", "Co-Pilot360 Assist"),
 }
 
 FW_QUERY_CONFIG = FwQueryConfig(
   requests=[
+    # CAN and CAN FD queries are combined.
+    # FIXME: For CAN FD, ECUs respond with frames larger than 8 bytes on the powertrain bus
+    # TODO: properly handle auxiliary requests to separate queries and add back whitelists
     Request(
       [StdQueries.TESTER_PRESENT_REQUEST, StdQueries.MANUFACTURER_SOFTWARE_VERSION_REQUEST],
       [StdQueries.TESTER_PRESENT_RESPONSE, StdQueries.MANUFACTURER_SOFTWARE_VERSION_RESPONSE],
-      whitelist_ecus=[Ecu.engine],
+      # whitelist_ecus=[Ecu.engine],
+      auxiliary=True,
     ),
     Request(
       [StdQueries.TESTER_PRESENT_REQUEST, StdQueries.MANUFACTURER_SOFTWARE_VERSION_REQUEST],
       [StdQueries.TESTER_PRESENT_RESPONSE, StdQueries.MANUFACTURER_SOFTWARE_VERSION_RESPONSE],
+      # whitelist_ecus=[Ecu.eps, Ecu.abs, Ecu.fwdRadar, Ecu.fwdCamera, Ecu.shiftByWire],
       bus=0,
-      whitelist_ecus=[Ecu.eps, Ecu.abs, Ecu.fwdRadar, Ecu.fwdCamera, Ecu.shiftByWire],
+      auxiliary=True,
     ),
   ],
+  extra_ecus=[
+    (Ecu.shiftByWire, 0x732, None),
+  ],
 )
 
 FW_VERSIONS = {
@@ -122,10 +142,7 @@ FW_VERSIONS = {
     (Ecu.engine, 0x7E0, None): [
       b'M1PA-14C204-GF\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00',
       b'N1PA-14C204-AC\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00',
-    ],
-    (Ecu.shiftByWire, 0x732, None): [
-      b'LX6P-14G395-AD\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00',
-      b'PZ1P-14G395-AB\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00',
+      b'N1PA-14C204-AD\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00',
     ],
   },
   CAR.ESCAPE_MK4: {
@@ -136,6 +153,7 @@ FW_VERSIONS = {
     ],
     (Ecu.abs, 0x760, None): [
       b'LX6C-2D053-NS\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00',
+      b'LX6C-2D053-NT\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00',
       b'LX6C-2D053-NY\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00',
       b'LX6C-2D053-SA\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00',
     ],
@@ -148,16 +166,14 @@ FW_VERSIONS = {
     ],
     (Ecu.engine, 0x7E0, None): [
       b'LX6A-14C204-BJV\x00\x00\x00\x00\x00\x00\x00\x00\x00',
+      b'LX6A-14C204-BJX\x00\x00\x00\x00\x00\x00\x00\x00\x00',
+      b'LX6A-14C204-CNG\x00\x00\x00\x00\x00\x00\x00\x00\x00',
       b'LX6A-14C204-ESG\x00\x00\x00\x00\x00\x00\x00\x00\x00',
       b'MX6A-14C204-BEF\x00\x00\x00\x00\x00\x00\x00\x00\x00',
       b'MX6A-14C204-BEJ\x00\x00\x00\x00\x00\x00\x00\x00\x00',
+      b'MX6A-14C204-CAB\x00\x00\x00\x00\x00\x00\x00\x00\x00',
       b'NX6A-14C204-BLE\x00\x00\x00\x00\x00\x00\x00\x00\x00',
     ],
-    (Ecu.shiftByWire, 0x732, None): [
-      b'LX6P-14G395-AB\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00',
-      b'LX6P-14G395-AD\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00',
-      b'PZ1P-14G395-AC\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00',
-    ],
   },
   CAR.EXPLORER_MK6: {
     (Ecu.eps, 0x730, None): [
@@ -165,6 +181,7 @@ FW_VERSIONS = {
       b'L1MC-14D003-AK\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00',
       b'L1MC-14D003-AL\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00',
       b'M1MC-14D003-AB\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00',
+      b'M1MC-14D003-AC\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00',
     ],
     (Ecu.abs, 0x760, None): [
       b'L1MC-2D053-AJ\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00',
@@ -184,17 +201,30 @@ FW_VERSIONS = {
     ],
     (Ecu.engine, 0x7E0, None): [
       b'LB5A-14C204-ATJ\x00\x00\x00\x00\x00\x00\x00\x00\x00',
+      b'LB5A-14C204-AZL\x00\x00\x00\x00\x00\x00\x00\x00\x00',
       b'LB5A-14C204-BUJ\x00\x00\x00\x00\x00\x00\x00\x00\x00',
       b'LB5A-14C204-EAC\x00\x00\x00\x00\x00\x00\x00\x00\x00',
       b'MB5A-14C204-MD\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00',
       b'MB5A-14C204-RC\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00',
+      b'NB5A-14C204-AZD\x00\x00\x00\x00\x00\x00\x00\x00\x00',
       b'NB5A-14C204-HB\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00',
     ],
-    (Ecu.shiftByWire, 0x732, None): [
-      b'L1MP-14C561-AB\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00',
-      b'L1MP-14G395-AD\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00',
-      b'L1MP-14G395-AE\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00',
-      b'L1MP-14G395-JB\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00',
+  },
+  CAR.F_150_MK14: {
+    (Ecu.eps, 0x730, None): [
+      b'ML3V-14D003-BC\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00',
+    ],
+    (Ecu.abs, 0x760, None): [
+      b'PL34-2D053-CA\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00',
+    ],
+    (Ecu.fwdRadar, 0x764, None): [
+      b'ML3T-14D049-AL\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00',
+    ],
+    (Ecu.fwdCamera, 0x706, None): [
+      b'PJ6T-14H102-ABJ\x00\x00\x00\x00\x00\x00\x00\x00\x00',
+    ],
+    (Ecu.engine, 0x7E0, None): [
+      b'PL3A-14C204-BRB\x00\x00\x00\x00\x00\x00\x00\x00\x00',
     ],
   },
   CAR.FOCUS_MK4: {
@@ -213,8 +243,6 @@ FW_VERSIONS = {
     (Ecu.engine, 0x7E0, None): [
       b'JX6A-14C204-BPL\x00\x00\x00\x00\x00\x00\x00\x00\x00',
     ],
-    (Ecu.shiftByWire, 0x732, None): [
-    ],
   },
   CAR.MAVERICK_MK1: {
     (Ecu.eps, 0x730, None): [
@@ -236,8 +264,5 @@ FW_VERSIONS = {
       b'NZ6A-14C204-ZA\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00',
       b'PZ6A-14C204-JC\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00',
     ],
-    (Ecu.shiftByWire, 0x732, None): [
-      b'NZ6P-14G395-AD\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00',
-    ],
   },
 }
diff --git a/selfdrive/car/fw_query_definitions.py b/selfdrive/car/fw_query_definitions.py
index 7ae9bee404..f9f8e30a68 100755
--- a/selfdrive/car/fw_query_definitions.py
+++ b/selfdrive/car/fw_query_definitions.py
@@ -3,7 +3,7 @@ import capnp
 import copy
 from dataclasses import dataclass, field
 import struct
-from typing import Dict, List, Optional, Tuple
+from typing import Callable, Dict, List, Optional, Set, Tuple
 
 import panda.python.uds as uds
 
@@ -74,6 +74,9 @@ class FwQueryConfig:
   non_essential_ecus: Dict[capnp.lib.capnp._EnumModule, List[str]] = field(default_factory=dict)
   # Ecus added for data collection, not to be fingerprinted on
   extra_ecus: List[Tuple[capnp.lib.capnp._EnumModule, int, Optional[int]]] = field(default_factory=list)
+  # Function a brand can implement to provide better fuzzy matching. Takes in FW versions,
+  # returns set of candidates. Only will match if one candidate is returned
+  match_fw_to_car_fuzzy: Optional[Callable[[Dict[Tuple[int, Optional[int]], Set[bytes]]], Set[str]]] = None
 
   def __post_init__(self):
     for i in range(len(self.requests)):
diff --git a/selfdrive/car/fw_versions.py b/selfdrive/car/fw_versions.py
index 3c18c2e7bd..038c2e0869 100755
--- a/selfdrive/car/fw_versions.py
+++ b/selfdrive/car/fw_versions.py
@@ -15,6 +15,7 @@ from system.swaglog import cloudlog
 
 Ecu = car.CarParams.Ecu
 ESSENTIAL_ECUS = [Ecu.engine, Ecu.eps, Ecu.abs, Ecu.fwdRadar, Ecu.fwdCamera, Ecu.vsa]
+FUZZY_EXCLUDE_ECUS = [Ecu.fwdCamera, Ecu.fwdRadar, Ecu.eps, Ecu.debug]
 
 FW_QUERY_CONFIGS = get_interface_attr('FW_QUERY_CONFIG', ignore_none=True)
 VERSIONS = get_interface_attr('FW_VERSIONS', ignore_none=True)
@@ -28,11 +29,16 @@ def chunks(l, n=128):
     yield l[i:i + n]
 
 
+def is_brand(brand: str, filter_brand: Optional[str]) -> bool:
+  """Returns if brand matches filter_brand or no brand filter is specified"""
+  return filter_brand is None or brand == filter_brand
+
+
 def build_fw_dict(fw_versions: List[capnp.lib.capnp._DynamicStructBuilder],
                   filter_brand: Optional[str] = None) -> Dict[Tuple[int, Optional[int]], Set[bytes]]:
   fw_versions_dict = defaultdict(set)
   for fw in fw_versions:
-    if (filter_brand is None or fw.brand == filter_brand) and not fw.logging:
+    if is_brand(fw.brand, filter_brand) and not fw.logging:
       sub_addr = fw.subAddress if fw.subAddress != 0 else None
       fw_versions_dict[(fw.address, sub_addr)].add(fw.fwVersion)
   return dict(fw_versions_dict)
@@ -48,17 +54,11 @@ def get_brand_addrs() -> Dict[str, Set[Tuple[int, Optional[int]]]]:
   return dict(brand_addrs)
 
 
-def match_fw_to_car_fuzzy(fw_versions_dict, log=True, exclude=None):
+def match_fw_to_car_fuzzy(live_fw_versions, log=True, exclude=None):
   """Do a fuzzy FW match. This function will return a match, and the number of firmware version
   that were matched uniquely to that specific car. If multiple ECUs uniquely match to different cars
   the match is rejected."""
 
-  # These ECUs are known to be shared between models (EPS only between hybrid/ICE version)
-  # Getting this exactly right isn't crucial, but excluding camera and radar makes it almost
-  # impossible to get 3 matching versions, even if two models with shared parts are released at the same
-  # time and only one is in our database.
-  exclude_types = [Ecu.fwdCamera, Ecu.fwdRadar, Ecu.eps, Ecu.debug]
-
   # Build lookup table from (addr, sub_addr, fw) to list of candidate cars
   all_fw_versions = defaultdict(list)
   for candidate, fw_by_addr in FW_VERSIONS.items():
@@ -66,49 +66,56 @@ def match_fw_to_car_fuzzy(fw_versions_dict, log=True, exclude=None):
       continue
 
     for addr, fws in fw_by_addr.items():
-      if addr[0] in exclude_types:
+      # These ECUs are known to be shared between models (EPS only between hybrid/ICE version)
+      # Getting this exactly right isn't crucial, but excluding camera and radar makes it almost
+      # impossible to get 3 matching versions, even if two models with shared parts are released at the same
+      # time and only one is in our database.
+      if addr[0] in FUZZY_EXCLUDE_ECUS:
         continue
       for f in fws:
         all_fw_versions[(addr[1], addr[2], f)].append(candidate)
 
-  match_count = 0
+  matched_ecus = set()
   candidate = None
-  for addr, versions in fw_versions_dict.items():
+  for addr, versions in live_fw_versions.items():
+    ecu_key = (addr[0], addr[1])
     for version in versions:
       # All cars that have this FW response on the specified address
-      candidates = all_fw_versions[(addr[0], addr[1], version)]
+      candidates = all_fw_versions[(*ecu_key, version)]
 
       if len(candidates) == 1:
-        match_count += 1
+        matched_ecus.add(ecu_key)
         if candidate is None:
           candidate = candidates[0]
         # We uniquely matched two different cars. No fuzzy match possible
         elif candidate != candidates[0]:
           return set()
 
-  if match_count >= 2:
+  # Note that it is possible to match to a candidate without all its ECUs being present
+  # if there are enough matches. FIXME: parameterize this or require all ECUs to exist like exact matching
+  if len(matched_ecus) >= 2:
     if log:
-      cloudlog.error(f"Fingerprinted {candidate} using fuzzy match. {match_count} matching ECUs")
+      cloudlog.error(f"Fingerprinted {candidate} using fuzzy match. {len(matched_ecus)} matching ECUs")
     return {candidate}
   else:
     return set()
 
 
-def match_fw_to_car_exact(fw_versions_dict) -> Set[str]:
+def match_fw_to_car_exact(live_fw_versions, log=True) -> Set[str]:
   """Do an exact FW match. Returns all cars that match the given
   FW versions for a list of "essential" ECUs. If an ECU is not considered
   essential the FW version can be missing to get a fingerprint, but if it's present it
   needs to match the database."""
-  invalid = []
+  invalid = set()
   candidates = FW_VERSIONS
 
   for candidate, fws in candidates.items():
+    config = FW_QUERY_CONFIGS[MODEL_TO_BRAND[candidate]]
     for ecu, expected_versions in fws.items():
-      config = FW_QUERY_CONFIGS[MODEL_TO_BRAND[candidate]]
       ecu_type = ecu[0]
       addr = ecu[1:]
 
-      found_versions = fw_versions_dict.get(addr, set())
+      found_versions = live_fw_versions.get(addr, set())
       if not len(found_versions):
         # Some models can sometimes miss an ecu, or show on two different addresses
         if candidate in config.non_essential_ecus.get(ecu_type, []):
@@ -122,14 +129,14 @@ def match_fw_to_car_exact(fw_versions_dict) -> Set[str]:
       if ecu_type == Ecu.debug:
         continue
 
-      if not any([found_version in expected_versions for found_version in found_versions]):
-        invalid.append(candidate)
+      if not any(found_version in expected_versions for found_version in found_versions):
+        invalid.add(candidate)
         break
 
-  return set(candidates.keys()) - set(invalid)
+  return set(candidates.keys()) - invalid
 
 
-def match_fw_to_car(fw_versions, allow_exact=True, allow_fuzzy=True):
+def match_fw_to_car(fw_versions, allow_exact=True, allow_fuzzy=True, log=True):
   # Try exact matching first
   exact_matches = []
   if allow_exact:
@@ -142,7 +149,12 @@ def match_fw_to_car(fw_versions, allow_exact=True, allow_fuzzy=True):
     matches = set()
     for brand in VERSIONS.keys():
       fw_versions_dict = build_fw_dict(fw_versions, filter_brand=brand)
-      matches |= match_func(fw_versions_dict)
+      matches |= match_func(fw_versions_dict, log=log)
+
+      # If specified and no matches so far, fall back to brand's fuzzy fingerprinting function
+      config = FW_QUERY_CONFIGS[brand]
+      if not exact_match and not len(matches) and config.match_fw_to_car_fuzzy is not None:
+        matches |= config.match_fw_to_car_fuzzy(fw_versions_dict)
 
     if len(matches):
       return exact_match, matches
@@ -196,7 +208,7 @@ def get_brand_ecu_matches(ecu_rx_addrs):
   brand_addrs = get_brand_addrs()
   brand_matches = {brand: set() for brand, _, _ in REQUESTS}
 
-  brand_rx_offsets = set((brand, r.rx_offset) for brand, _, r in REQUESTS)
+  brand_rx_offsets = {(brand, r.rx_offset) for brand, _, r in REQUESTS}
   for addr, sub_addr, _ in ecu_rx_addrs:
     # Since we can't know what request an ecu responded to, add matches for all possible rx offsets
     for brand, rx_offset in brand_rx_offsets:
@@ -230,8 +242,9 @@ def get_fw_versions_ordered(logcan, sendcan, ecu_rx_addrs, timeout=0.1, num_pand
 
     car_fw = get_fw_versions(logcan, sendcan, query_brand=brand, timeout=timeout, num_pandas=num_pandas, debug=debug, progress=progress)
     all_car_fw.extend(car_fw)
-    # Try to match using FW returned from this brand only
-    matches = match_fw_to_car_exact(build_fw_dict(car_fw))
+
+    # If there is a match using this brand's FW alone, finish querying early
+    _, matches = match_fw_to_car(car_fw, log=False)
     if len(matches) == 1:
       break
 
@@ -243,10 +256,6 @@ def get_fw_versions(logcan, sendcan, query_brand=None, extra=None, timeout=0.1,
   versions = VERSIONS.copy()
   params = Params()
 
-  # Each brand can define extra ECUs to query for data collection
-  for brand, config in FW_QUERY_CONFIGS.items():
-    versions[brand]["debug"] = {ecu: [] for ecu in config.extra_ecus}
-
   if query_brand is not None:
     versions = {query_brand: versions[query_brand]}
 
@@ -260,8 +269,10 @@ def get_fw_versions(logcan, sendcan, query_brand=None, extra=None, timeout=0.1,
   ecu_types = {}
 
   for brand, brand_versions in versions.items():
+    config = FW_QUERY_CONFIGS[brand]
     for ecu in brand_versions.values():
-      for ecu_type, addr, sub_addr in ecu.keys():
+      # Each brand can define extra ECUs to query for data collection
+      for ecu_type, addr, sub_addr in list(ecu) + config.extra_ecus:
         a = (brand, addr, sub_addr)
         if a not in ecu_types:
           ecu_types[a] = ecu_type
@@ -277,7 +288,7 @@ def get_fw_versions(logcan, sendcan, query_brand=None, extra=None, timeout=0.1,
 
   # Get versions and build capnp list to put into CarParams
   car_fw = []
-  requests = [(brand, config, r) for brand, config, r in REQUESTS if query_brand is None or brand == query_brand]
+  requests = [(brand, config, r) for brand, config, r in REQUESTS if is_brand(brand, query_brand)]
   for addr in tqdm(addrs, disable=not progress):
     for addr_chunk in chunks(addr):
       for brand, config, r in requests:
diff --git a/selfdrive/car/gm/carcontroller.py b/selfdrive/car/gm/carcontroller.py
index 2a996c0ff6..1b2424afaf 100644
--- a/selfdrive/car/gm/carcontroller.py
+++ b/selfdrive/car/gm/carcontroller.py
@@ -85,6 +85,7 @@ class CarController:
     if self.CP.openpilotLongitudinalControl:
       # Gas/regen, brakes, and UI commands - all at 25Hz
       if self.frame % 4 == 0:
+        stopping = actuators.longControlState == LongCtrlState.stopping
         if not CC.longActive:
           # ASCM sends max regen when not enabled
           self.apply_gas = self.params.INACTIVE_REGEN
@@ -92,6 +93,10 @@ class CarController:
         else:
           self.apply_gas = int(round(interp(actuators.accel, self.params.GAS_LOOKUP_BP, self.params.GAS_LOOKUP_V)))
           self.apply_brake = int(round(interp(actuators.accel, self.params.BRAKE_LOOKUP_BP, self.params.BRAKE_LOOKUP_V)))
+          # Don't allow any gas above inactive regen while stopping
+          # FIXME: brakes aren't applied immediately when enabling at a stop
+          if stopping:
+            self.apply_gas = self.params.INACTIVE_REGEN
 
         idx = (self.frame // 4) % 4
 
@@ -101,12 +106,13 @@ class CarController:
         # GM Camera exceptions
         # TODO: can we always check the longControlState?
         if self.CP.networkLocation == NetworkLocation.fwdCamera:
-          at_full_stop = at_full_stop and actuators.longControlState == LongCtrlState.stopping
+          at_full_stop = at_full_stop and stopping
           friction_brake_bus = CanBus.POWERTRAIN
 
         # GasRegenCmdActive needs to be 1 to avoid cruise faults. It describes the ACC state, not actuation
         can_sends.append(gmcan.create_gas_regen_command(self.packer_pt, CanBus.POWERTRAIN, self.apply_gas, idx, CC.enabled, at_full_stop))
-        can_sends.append(gmcan.create_friction_brake_command(self.packer_ch, friction_brake_bus, self.apply_brake, idx, CC.enabled, near_stop, at_full_stop, self.CP))
+        can_sends.append(gmcan.create_friction_brake_command(self.packer_ch, friction_brake_bus, self.apply_brake,
+                                                             idx, CC.enabled, near_stop, at_full_stop, self.CP))
 
         # Send dashboard UI commands (ACC status)
         send_fcw = hud_alert == VisualAlert.fcw
@@ -157,7 +163,8 @@ class CarController:
     lka_icon_status = (lka_active, lka_critical)
 
     # SW_GMLAN not yet on cam harness, no HUD alerts
-    if self.CP.networkLocation != NetworkLocation.fwdCamera and (self.frame % self.params.CAMERA_KEEPALIVE_STEP == 0 or lka_icon_status != self.lka_icon_status_last):
+    if self.CP.networkLocation != NetworkLocation.fwdCamera and \
+      (self.frame % self.params.CAMERA_KEEPALIVE_STEP == 0 or lka_icon_status != self.lka_icon_status_last):
       steer_alert = hud_alert in (VisualAlert.steerRequired, VisualAlert.ldw)
       can_sends.append(gmcan.create_lka_icon_command(CanBus.SW_GMLAN, lka_active, lka_critical, steer_alert))
       self.lka_icon_status_last = lka_icon_status
diff --git a/selfdrive/car/gm/carstate.py b/selfdrive/car/gm/carstate.py
index 2f9c952876..43cdee18d4 100644
--- a/selfdrive/car/gm/carstate.py
+++ b/selfdrive/car/gm/carstate.py
@@ -117,64 +117,19 @@ class CarState(CarStateBase):
 
   @staticmethod
   def get_cam_can_parser(CP):
-    signals = []
-    checks = []
+    messages = []
     if CP.networkLocation == NetworkLocation.fwdCamera:
-      signals += [
-        ("AEBCmdActive", "AEBCmd"),
-        ("RollingCounter", "ASCMLKASteeringCmd"),
-        ("ACCSpeedSetpoint", "ASCMActiveCruiseControlStatus"),
-        ("ACCCruiseState", "ASCMActiveCruiseControlStatus"),
-      ]
-      checks += [
+      messages += [
         ("AEBCmd", 10),
         ("ASCMLKASteeringCmd", 10),
         ("ASCMActiveCruiseControlStatus", 25),
       ]
 
-    return CANParser(DBC[CP.carFingerprint]["pt"], signals, checks, CanBus.CAMERA)
+    return CANParser(DBC[CP.carFingerprint]["pt"], messages, CanBus.CAMERA)
 
   @staticmethod
   def get_can_parser(CP):
-    signals = [
-      # sig_name, sig_address
-      ("BrakePedalPos", "ECMAcceleratorPos"),
-      ("FrontLeftDoor", "BCMDoorBeltStatus"),
-      ("FrontRightDoor", "BCMDoorBeltStatus"),
-      ("RearLeftDoor", "BCMDoorBeltStatus"),
-      ("RearRightDoor", "BCMDoorBeltStatus"),
-      ("LeftSeatBelt", "BCMDoorBeltStatus"),
-      ("RightSeatBelt", "BCMDoorBeltStatus"),
-      ("TurnSignals", "BCMTurnSignals"),
-      ("AcceleratorPedal2", "AcceleratorPedal2"),
-      ("CruiseState", "AcceleratorPedal2"),
-      ("ACCButtons", "ASCMSteeringButton"),
-      ("RollingCounter", "ASCMSteeringButton"),
-      ("SteeringWheelAngle", "PSCMSteeringAngle"),
-      ("SteeringWheelRate", "PSCMSteeringAngle"),
-      ("FLWheelSpd", "EBCMWheelSpdFront"),
-      ("FRWheelSpd", "EBCMWheelSpdFront"),
-      ("RLWheelSpd", "EBCMWheelSpdRear"),
-      ("RRWheelSpd", "EBCMWheelSpdRear"),
-      ("MovingBackward", "EBCMWheelSpdRear"),
-      ("FrictionBrakeUnavailable", "EBCMFrictionBrakeStatus"),
-      ("PRNDL2", "ECMPRDNL2"),
-      ("ManualMode", "ECMPRDNL2"),
-      ("LKADriverAppldTrq", "PSCMStatus"),
-      ("LKATorqueDelivered", "PSCMStatus"),
-      ("LKATorqueDeliveredStatus", "PSCMStatus"),
-      ("HandsOffSWlDetectionStatus", "PSCMStatus"),
-      ("HandsOffSWDetectionMode", "PSCMStatus"),
-      ("LKATotalTorqueDelivered", "PSCMStatus"),
-      ("PSCMStatusChecksum", "PSCMStatus"),
-      ("RollingCounter", "PSCMStatus"),
-      ("TractionControlOn", "ESPStatus"),
-      ("ParkBrake", "VehicleIgnitionAlt"),
-      ("CruiseMainOn", "ECMEngineStatus"),
-      ("BrakePressed", "ECMEngineStatus"),
-    ]
-
-    checks = [
+    messages = [
       ("BCMTurnSignals", 1),
       ("ECMPRDNL2", 10),
       ("PSCMStatus", 10),
@@ -193,27 +148,19 @@ class CarState(CarStateBase):
 
     # Used to read back last counter sent to PT by camera
     if CP.networkLocation == NetworkLocation.fwdCamera:
-      signals += [
-        ("RollingCounter", "ASCMLKASteeringCmd"),
-      ]
-      checks += [
+      messages += [
         ("ASCMLKASteeringCmd", 0),
       ]
 
     if CP.transmissionType == TransmissionType.direct:
-      signals.append(("RegenPaddle", "EBCMRegenPaddle"))
-      checks.append(("EBCMRegenPaddle", 50))
+      messages.append(("EBCMRegenPaddle", 50))
 
-    return CANParser(DBC[CP.carFingerprint]["pt"], signals, checks, CanBus.POWERTRAIN)
+    return CANParser(DBC[CP.carFingerprint]["pt"], messages, CanBus.POWERTRAIN)
 
   @staticmethod
   def get_loopback_can_parser(CP):
-    signals = [
-      ("RollingCounter", "ASCMLKASteeringCmd"),
-    ]
-
-    checks = [
+    messages = [
       ("ASCMLKASteeringCmd", 0),
     ]
 
-    return CANParser(DBC[CP.carFingerprint]["pt"], signals, checks, CanBus.LOOPBACK, enforce_checks=False)
+    return CANParser(DBC[CP.carFingerprint]["pt"], messages, CanBus.LOOPBACK)
diff --git a/selfdrive/car/gm/interface.py b/selfdrive/car/gm/interface.py
index ff578da986..e17346cfaf 100755
--- a/selfdrive/car/gm/interface.py
+++ b/selfdrive/car/gm/interface.py
@@ -19,6 +19,12 @@ BUTTONS_DICT = {CruiseButtons.RES_ACCEL: ButtonType.accelCruise, CruiseButtons.D
                 CruiseButtons.MAIN: ButtonType.altButton3, CruiseButtons.CANCEL: ButtonType.cancel}
 
 
+NON_LINEAR_TORQUE_PARAMS = {
+  CAR.BOLT_EUV: [2.6531724862969748, 1.0, 0.1919764879840985, 0.009054123646805178],
+  CAR.ACADIA: [4.78003305, 1.0, 0.3122, 0.05591772]
+}
+
+
 class CarInterface(CarInterfaceBase):
   @staticmethod
   def get_pid_accel_limits(CP, current_speed, cruise_speed):
@@ -31,23 +37,14 @@ class CarInterface(CarInterfaceBase):
     sigmoid = desired_angle / (1 + fabs(desired_angle))
     return 0.10006696 * sigmoid * (v_ego + 3.12485927)
 
-  @staticmethod
-  def get_steer_feedforward_acadia(desired_angle, v_ego):
-    desired_angle *= 0.09760208
-    sigmoid = desired_angle / (1 + fabs(desired_angle))
-    return 0.04689655 * sigmoid * (v_ego + 10.028217)
-
   def get_steer_feedforward_function(self):
     if self.CP.carFingerprint == CAR.VOLT:
       return self.get_steer_feedforward_volt
-    elif self.CP.carFingerprint == CAR.ACADIA:
-      return self.get_steer_feedforward_acadia
     else:
       return CarInterfaceBase.get_steer_feedforward_default
 
-  @staticmethod
-  def torque_from_lateral_accel_bolt(lateral_accel_value: float, torque_params: car.CarParams.LateralTorqueTuning,
-                                     lateral_accel_error: float, lateral_accel_deadzone: float, friction_compensation: bool) -> float:
+  def torque_from_lateral_accel_siglin(self, lateral_accel_value: float, torque_params: car.CarParams.LateralTorqueTuning,
+                                       lateral_accel_error: float, lateral_accel_deadzone: float, friction_compensation: bool) -> float:
     friction = get_friction(lateral_accel_error, lateral_accel_deadzone, FRICTION_THRESHOLD, torque_params, friction_compensation)
 
     def sig(val):
@@ -57,14 +54,15 @@ class CarInterface(CarInterfaceBase):
     # An important thing to consider is that the slope at 0 should be > 0 (ideally >1)
     # This has big effect on the stability about 0 (noise when going straight)
     # ToDo: To generalize to other GMs, explore tanh function as the nonlinear
-    a, b, c, _ = [2.6531724862969748, 1.0, 0.1919764879840985, 0.009054123646805178]  # weights computed offline
-
+    non_linear_torque_params = NON_LINEAR_TORQUE_PARAMS.get(self.CP.carFingerprint)
+    assert non_linear_torque_params, "The params are not defined"
+    a, b, c, _ = non_linear_torque_params
     steer_torque = (sig(lateral_accel_value * a) * b) + (lateral_accel_value * c)
     return float(steer_torque) + friction
 
   def torque_from_lateral_accel(self) -> TorqueFromLateralAccelCallbackType:
-    if self.CP.carFingerprint == CAR.BOLT_EUV:
-      return self.torque_from_lateral_accel_bolt
+    if self.CP.carFingerprint in NON_LINEAR_TORQUE_PARAMS:
+      return self.torque_from_lateral_accel_siglin
     else:
       return self.torque_from_lateral_accel_linear
 
@@ -169,7 +167,8 @@ class CarInterface(CarInterfaceBase):
       ret.wheelbase = 2.86
       ret.steerRatio = 14.4  # end to end is 13.46
       ret.centerToFront = ret.wheelbase * 0.4
-      ret.lateralTuning.pid.kf = 1.  # get_steer_feedforward_acadia()
+      ret.steerActuatorDelay = 0.2
+      CarInterfaceBase.configure_torque_tune(candidate, ret.lateralTuning)
 
     elif candidate == CAR.BUICK_LACROSSE:
       ret.mass = 1712. + STD_CARGO_KG
@@ -224,6 +223,11 @@ class CarInterface(CarInterfaceBase):
       ret.steerRatio = 16.3
       ret.centerToFront = ret.wheelbase * 0.5
       tire_stiffness_factor = 1.0
+      # On the Bolt, the ECM and camera independently check that you are either above 5 kph or at a stop
+      # with foot on brake to allow engagement, but this platform only has that check in the camera.
+      # TODO: check if this is split by EV/ICE with more platforms in the future
+      if ret.openpilotLongitudinalControl:
+        ret.minEnableSpeed = -1.
       CarInterfaceBase.configure_torque_tune(candidate, ret.lateralTuning)
 
     elif candidate == CAR.EQUINOX:
diff --git a/selfdrive/car/gm/radar_interface.py b/selfdrive/car/gm/radar_interface.py
index b86a85f915..5995a08a10 100755
--- a/selfdrive/car/gm/radar_interface.py
+++ b/selfdrive/car/gm/radar_interface.py
@@ -27,9 +27,9 @@ def create_radar_can_parser(car_fingerprint):
                      ['TrkWidth'] * NUM_SLOTS + ['TrkObjectID'] * NUM_SLOTS,
                      [RADAR_HEADER_MSG] * 7 + radar_targets * 6))
 
-  checks = list({(s[1], 14) for s in signals})
+  messages = list({(s[1], 14) for s in signals})
 
-  return CANParser(DBC[car_fingerprint]['radar'], signals, checks, CanBus.OBSTACLE)
+  return CANParser(DBC[car_fingerprint]['radar'], messages, CanBus.OBSTACLE)
 
 
 class RadarInterface(RadarInterfaceBase):
diff --git a/selfdrive/car/gm/tests/__init__.py b/selfdrive/car/gm/tests/__init__.py
new file mode 100644
index 0000000000..e69de29bb2
diff --git a/selfdrive/car/gm/tests/test_gm.py b/selfdrive/car/gm/tests/test_gm.py
new file mode 100755
index 0000000000..1fc8a25611
--- /dev/null
+++ b/selfdrive/car/gm/tests/test_gm.py
@@ -0,0 +1,27 @@
+#!/usr/bin/env python3
+from parameterized import parameterized
+import unittest
+
+from selfdrive.car.gm.values import CAMERA_ACC_CAR, CAR, FINGERPRINTS, GM_RX_OFFSET
+
+CAMERA_DIAGNOSTIC_ADDRESS = 0x24b
+
+
+class TestGMFingerprint(unittest.TestCase):
+  @parameterized.expand(FINGERPRINTS.items())
+  def test_can_fingerprints(self, car_model, fingerprints):
+    self.assertGreater(len(fingerprints), 0)
+
+    # Trailblazer is in dashcam
+    if car_model != CAR.TRAILBLAZER:
+      self.assertTrue(all(len(finger) for finger in fingerprints))
+
+    # The camera can sometimes be communicating on startup
+    if car_model in CAMERA_ACC_CAR - {CAR.TRAILBLAZER}:
+      for finger in fingerprints:
+        for required_addr in (CAMERA_DIAGNOSTIC_ADDRESS, CAMERA_DIAGNOSTIC_ADDRESS + GM_RX_OFFSET):
+          self.assertEqual(finger.get(required_addr), 8, required_addr)
+
+
+if __name__ == "__main__":
+  unittest.main()
diff --git a/selfdrive/car/gm/values.py b/selfdrive/car/gm/values.py
index b21c303d85..3907f1c17e 100644
--- a/selfdrive/car/gm/values.py
+++ b/selfdrive/car/gm/values.py
@@ -1,3 +1,4 @@
+# ruff: noqa: E501
 from collections import defaultdict
 from dataclasses import dataclass
 from enum import Enum
@@ -199,24 +200,26 @@ FINGERPRINTS = {
   }],
   CAR.BOLT_EUV: [
   {
-    189: 7, 190: 7, 193: 8, 197: 8, 201: 8, 209: 7, 211: 3, 241: 6, 257: 8, 288: 5, 289: 8, 298: 8, 304: 3, 309: 8, 311: 8, 313: 8, 320: 4, 322: 7, 328: 1, 352: 5, 381: 8, 384: 4, 386: 8, 388: 8, 451: 8, 452: 8, 453: 6, 458: 5, 463: 3, 479: 3, 481: 7, 485: 8, 489: 8, 497: 8, 500: 6, 501: 8, 528: 5, 532: 6, 560: 8, 562: 8, 563: 5, 565: 5, 566: 8, 608: 8, 609: 6, 610: 6, 611: 6, 612: 8, 613: 8, 707: 8, 715: 8, 717: 5, 753: 5, 761: 7, 789: 5, 800: 6, 810: 8, 840: 5, 842: 5, 844: 8, 848: 4, 869: 4, 880: 6, 977: 8, 1001: 8, 1017: 8, 1020: 8, 1217: 8, 1221: 5, 1233: 8, 1249: 8, 1265: 8, 1280: 4, 1296: 4, 1300: 8, 1930: 7
+    189: 7, 190: 7, 193: 8, 197: 8, 201: 8, 209: 7, 211: 3, 241: 6, 257: 8, 288: 5, 289: 8, 298: 8, 304: 3, 309: 8, 311: 8, 313: 8, 320: 4, 322: 7, 328: 1, 352: 5, 381: 8, 384: 4, 386: 8, 388: 8, 451: 8, 452: 8, 453: 6, 458: 5, 463: 3, 479: 3, 481: 7, 485: 8, 489: 8, 497: 8, 500: 6, 501: 8, 528: 5, 532: 6, 560: 8, 562: 8, 563: 5, 565: 5, 566: 8, 587: 8, 608: 8, 609: 6, 610: 6, 611: 6, 612: 8, 613: 8, 707: 8, 715: 8, 717: 5, 753: 5, 761: 7, 789: 5, 800: 6, 810: 8, 840: 5, 842: 5, 844: 8, 848: 4, 869: 4, 880: 6, 977: 8, 1001: 8, 1017: 8, 1020: 8, 1217: 8, 1221: 5, 1233: 8, 1249: 8, 1265: 8, 1280: 4, 1296: 4, 1300: 8, 1611: 8, 1930: 7
   }],
   CAR.SILVERADO: [
   {
-    190: 6, 193: 8, 197: 8, 201: 8, 208: 8, 209: 7, 211: 2, 241: 6, 249: 8, 257: 8, 288: 5, 289: 8, 298: 8, 304: 3, 309: 8, 311: 8, 313: 8, 320: 4, 322: 7, 328: 1, 352: 5, 381: 8, 384: 4, 386: 8, 388: 8, 413: 8, 451: 8, 452: 8, 453: 6, 455: 7, 460: 5, 463: 3, 479: 3, 481: 7, 485: 8, 489: 8, 497: 8, 500: 6, 501: 8, 528: 5, 532: 6, 534: 2, 560: 8, 562: 8, 563: 5, 565: 5, 608: 8, 609: 6, 610: 6, 611: 6, 612: 8, 613: 8, 707: 8, 715: 8, 717: 5, 761: 7, 789: 5, 800: 6, 801: 8, 810: 8, 840: 5, 842: 5, 844: 8, 848: 4, 869: 4, 880: 6, 977: 8, 1001: 8, 1011: 6, 1017: 8, 1020: 8, 1033: 7, 1034: 7, 1217: 8, 1221: 5, 1233: 8, 1249: 8, 1259: 8, 1261: 7, 1263: 4, 1265: 8, 1267: 1, 1271: 8, 1280: 4, 1296: 4, 1300: 8, 1930: 7
+    190: 6, 193: 8, 197: 8, 201: 8, 208: 8, 209: 7, 211: 2, 241: 6, 249: 8, 257: 8, 288: 5, 289: 8, 298: 8, 304: 3, 309: 8, 311: 8, 313: 8, 320: 4, 322: 7, 328: 1, 352: 5, 381: 8, 384: 4, 386: 8, 388: 8, 413: 8, 451: 8, 452: 8, 453: 6, 455: 7, 460: 5, 463: 3, 479: 3, 481: 7, 485: 8, 489: 8, 497: 8, 500: 6, 501: 8, 528: 5, 532: 6, 534: 2, 560: 8, 562: 8, 563: 5, 565: 5, 587: 8, 608: 8, 609: 6, 610: 6, 611: 6, 612: 8, 613: 8, 707: 8, 715: 8, 717: 5, 761: 7, 789: 5, 800: 6, 801: 8, 810: 8, 840: 5, 842: 5, 844: 8, 848: 4, 869: 4, 880: 6, 977: 8, 1001: 8, 1011: 6, 1017: 8, 1020: 8, 1033: 7, 1034: 7, 1217: 8, 1221: 5, 1233: 8, 1249: 8, 1259: 8, 1261: 7, 1263: 4, 1265: 8, 1267: 1, 1271: 8, 1280: 4, 1296: 4, 1300: 8, 1611: 8, 1930: 7
   }],
   CAR.EQUINOX: [
   {
-    190: 6, 193: 8, 197: 8, 201: 8, 209: 7, 211: 2, 241: 6, 249: 8, 257: 8, 288: 5, 289: 8, 298: 8, 304: 1, 309: 8, 311: 8, 313: 8, 320: 3, 328: 1, 352: 5, 381: 8, 384: 4, 386: 8, 388: 8, 413: 8, 451: 8, 452: 8, 453: 6, 455: 7, 463: 3, 479: 3, 481: 7, 485: 8, 489: 8, 497: 8, 500: 6, 501: 8, 510: 8, 528: 5, 532: 6, 560: 8, 562: 8, 563: 5, 565: 5, 608: 8, 609: 6, 610: 6, 611: 6, 612: 8, 613: 8, 707: 8, 715: 8, 717: 5, 753: 5, 761: 7, 789: 5, 800: 6, 810: 8, 840: 5, 842: 5, 844: 8, 869: 4, 880: 6, 977: 8, 1001: 8, 1011: 6, 1017: 8, 1020: 8, 1033: 7, 1034: 7, 1217: 8, 1221: 5, 1233: 8, 1249: 8, 1259: 8, 1261: 7, 1263: 4, 1265: 8, 1267: 1, 1271: 8, 1280: 4, 1296: 4, 1300: 8, 1930: 7
+    190: 6, 193: 8, 197: 8, 201: 8, 209: 7, 211: 2, 241: 6, 249: 8, 257: 8, 288: 5, 289: 8, 298: 8, 304: 1, 309: 8, 311: 8, 313: 8, 320: 3, 328: 1, 352: 5, 381: 8, 384: 4, 386: 8, 388: 8, 413: 8, 451: 8, 452: 8, 453: 6, 455: 7, 463: 3, 479: 3, 481: 7, 485: 8, 489: 8, 497: 8, 500: 6, 501: 8, 510: 8, 528: 5, 532: 6, 560: 8, 562: 8, 563: 5, 565: 5, 587: 8, 608: 8, 609: 6, 610: 6, 611: 6, 612: 8, 613: 8, 707: 8, 715: 8, 717: 5, 753: 5, 761: 7, 789: 5, 800: 6, 810: 8, 840: 5, 842: 5, 844: 8, 869: 4, 880: 6, 977: 8, 1001: 8, 1011: 6, 1017: 8, 1020: 8, 1033: 7, 1034: 7, 1217: 8, 1221: 5, 1233: 8, 1249: 8, 1259: 8, 1261: 7, 1263: 4, 1265: 8, 1267: 1, 1271: 8, 1280: 4, 1296: 4, 1300: 8, 1611: 8, 1930: 7
   }],
   # Trailblazer also matches as a Silverado, so comment out to avoid conflicts.
   # TODO: split with FW versions
   CAR.TRAILBLAZER: [
   {
-  #   190: 6, 193: 8, 197: 8, 201: 8, 209: 7, 211: 2, 241: 6, 249: 8, 288: 5, 289: 8, 298: 8, 304: 3, 309: 8, 311: 8, 313: 8, 320: 4, 328: 1, 352: 5, 381: 8, 384: 4, 386: 8, 388: 8, 413: 8, 451: 8, 452: 8, 453: 6, 455: 7, 479: 3, 481: 7, 485: 8, 489: 8, 497: 8, 500: 6, 501: 8, 532: 6, 560: 8, 562: 8, 563: 5, 565: 5, 707: 8, 715: 8, 717: 5, 761: 7, 789: 5, 800: 6, 810: 8, 840: 5, 842: 5, 844: 8, 869: 4, 880: 6, 977: 8, 1001: 8, 1011: 6, 1017: 8, 1020: 8, 1217: 8, 1221: 5, 1233: 8, 1249: 8, 1259: 8, 1261: 7, 1263: 4, 1265: 8, 1267: 1, 1271: 8, 1280: 4, 1296: 4, 1300: 8, 1609: 8, 1613: 8, 1649: 8, 1792: 8, 1798: 8, 1824: 8, 1825: 8, 1840: 8, 1842: 8, 1858: 8, 1860: 8, 1863: 8, 1872: 8, 1875: 8, 1882: 8, 1888: 8, 1889: 8, 1892: 8, 1930: 7, 1937: 8, 1953: 8, 1968: 8, 2001: 8, 2017: 8, 2018: 8, 2020: 8
+  #   190: 6, 193: 8, 197: 8, 201: 8, 209: 7, 211: 2, 241: 6, 249: 8, 288: 5, 289: 8, 298: 8, 304: 3, 309: 8, 311: 8, 313: 8, 320: 4, 328: 1, 352: 5, 381: 8, 384: 4, 386: 8, 388: 8, 413: 8, 451: 8, 452: 8, 453: 6, 455: 7, 479: 3, 481: 7, 485: 8, 489: 8, 497: 8, 500: 6, 501: 8, 532: 6, 560: 8, 562: 8, 563: 5, 565: 5, 587: 8, 707: 8, 715: 8, 717: 5, 761: 7, 789: 5, 800: 6, 810: 8, 840: 5, 842: 5, 844: 8, 869: 4, 880: 6, 977: 8, 1001: 8, 1011: 6, 1017: 8, 1020: 8, 1217: 8, 1221: 5, 1233: 8, 1249: 8, 1259: 8, 1261: 7, 1263: 4, 1265: 8, 1267: 1, 1271: 8, 1280: 4, 1296: 4, 1300: 8, 1609: 8, 1611: 8, 1613: 8, 1649: 8, 1792: 8, 1798: 8, 1824: 8, 1825: 8, 1840: 8, 1842: 8, 1858: 8, 1860: 8, 1863: 8, 1872: 8, 1875: 8, 1882: 8, 1888: 8, 1889: 8, 1892: 8, 1930: 7, 1937: 8, 1953: 8, 1968: 8, 2001: 8, 2017: 8, 2018: 8, 2020: 8
   }],
 }
 
+GM_RX_OFFSET = 0x400
+
 DBC: Dict[str, Dict[str, str]] = defaultdict(lambda: dbc_dict('gm_global_a_powertrain_generated', 'gm_global_a_object', chassis_dbc='gm_global_a_chassis'))
 
 EV_CAR = {CAR.VOLT, CAR.BOLT_EUV}
diff --git a/selfdrive/car/honda/carstate.py b/selfdrive/car/honda/carstate.py
index 35d6279902..d6d2b18a0a 100644
--- a/selfdrive/car/honda/carstate.py
+++ b/selfdrive/car/honda/carstate.py
@@ -12,39 +12,8 @@ from selfdrive.car.interfaces import CarStateBase
 TransmissionType = car.CarParams.TransmissionType
 
 
-def get_can_signals(CP, gearbox_msg, main_on_sig_msg):
-  signals = [
-    ("XMISSION_SPEED", "ENGINE_DATA"),
-    ("WHEEL_SPEED_FL", "WHEEL_SPEEDS"),
-    ("WHEEL_SPEED_FR", "WHEEL_SPEEDS"),
-    ("WHEEL_SPEED_RL", "WHEEL_SPEEDS"),
-    ("WHEEL_SPEED_RR", "WHEEL_SPEEDS"),
-    ("STEER_ANGLE", "STEERING_SENSORS"),
-    ("STEER_ANGLE_RATE", "STEERING_SENSORS"),
-    ("MOTOR_TORQUE", "STEER_MOTOR_TORQUE"),
-    ("STEER_TORQUE_SENSOR", "STEER_STATUS"),
-    ("IMPERIAL_UNIT", "CAR_SPEED"),
-    ("ROUGH_CAR_SPEED_2", "CAR_SPEED"),
-    ("LEFT_BLINKER", "SCM_FEEDBACK"),
-    ("RIGHT_BLINKER", "SCM_FEEDBACK"),
-    ("SEATBELT_DRIVER_LAMP", "SEATBELT_STATUS"),
-    ("SEATBELT_DRIVER_LATCHED", "SEATBELT_STATUS"),
-    ("BRAKE_PRESSED", "POWERTRAIN_DATA"),
-    ("BRAKE_SWITCH", "POWERTRAIN_DATA"),
-    ("CRUISE_BUTTONS", "SCM_BUTTONS"),
-    ("ESP_DISABLED", "VSA_STATUS"),
-    ("USER_BRAKE", "VSA_STATUS"),
-    ("BRAKE_HOLD_ACTIVE", "VSA_STATUS"),
-    ("STEER_STATUS", "STEER_STATUS"),
-    ("GEAR_SHIFTER", gearbox_msg),
-    ("GEAR", gearbox_msg),
-    ("PEDAL_GAS", "POWERTRAIN_DATA"),
-    ("CRUISE_SETTING", "SCM_BUTTONS"),
-    ("ACC_STATUS", "POWERTRAIN_DATA"),
-    ("MAIN_ON", main_on_sig_msg),
-  ]
-
-  checks = [
+def get_can_messages(CP, gearbox_msg):
+  messages = [
     ("ENGINE_DATA", 100),
     ("WHEEL_SPEEDS", 50),
     ("STEERING_SENSORS", 100),
@@ -58,79 +27,59 @@ def get_can_signals(CP, gearbox_msg, main_on_sig_msg):
   ]
 
   if CP.carFingerprint == CAR.ODYSSEY_CHN:
-    checks += [
+    messages += [
       ("SCM_FEEDBACK", 25),
       ("SCM_BUTTONS", 50),
     ]
   else:
-    checks += [
+    messages += [
       ("SCM_FEEDBACK", 10),
       ("SCM_BUTTONS", 25),
     ]
 
   if CP.carFingerprint in (CAR.CRV_HYBRID, CAR.CIVIC_BOSCH_DIESEL, CAR.ACURA_RDX_3G, CAR.HONDA_E):
-    checks.append((gearbox_msg, 50))
+    messages.append((gearbox_msg, 50))
   else:
-    checks.append((gearbox_msg, 100))
+    messages.append((gearbox_msg, 100))
 
   if CP.carFingerprint in HONDA_BOSCH_ALT_BRAKE_SIGNAL:
-    signals.append(("BRAKE_PRESSED", "BRAKE_MODULE"))
-    checks.append(("BRAKE_MODULE", 50))
+    messages.append(("BRAKE_MODULE", 50))
 
   if CP.carFingerprint in (HONDA_BOSCH | {CAR.CIVIC, CAR.ODYSSEY, CAR.ODYSSEY_CHN}):
-    signals.append(("EPB_STATE", "EPB_STATUS"))
-    checks.append(("EPB_STATUS", 50))
+    messages.append(("EPB_STATUS", 50))
 
   if CP.carFingerprint in HONDA_BOSCH:
     # these messages are on camera bus on radarless cars
     if not CP.openpilotLongitudinalControl and CP.carFingerprint not in HONDA_BOSCH_RADARLESS:
-      signals += [
-        ("CRUISE_CONTROL_LABEL", "ACC_HUD"),
-        ("CRUISE_SPEED", "ACC_HUD"),
-        ("ACCEL_COMMAND", "ACC_CONTROL"),
-        ("AEB_STATUS", "ACC_CONTROL"),
-      ]
-      checks += [
+      messages += [
         ("ACC_HUD", 10),
         ("ACC_CONTROL", 50),
       ]
   else:  # Nidec signals
-    signals += [("CRUISE_SPEED_PCM", "CRUISE"),
-                ("CRUISE_SPEED_OFFSET", "CRUISE_PARAMS")]
-
     if CP.carFingerprint == CAR.ODYSSEY_CHN:
-      checks.append(("CRUISE_PARAMS", 10))
+      messages.append(("CRUISE_PARAMS", 10))
     else:
-      checks.append(("CRUISE_PARAMS", 50))
+      messages.append(("CRUISE_PARAMS", 50))
 
-  if CP.carFingerprint in (CAR.ACCORD, CAR.ACCORDH, CAR.CIVIC_BOSCH, CAR.CIVIC_BOSCH_DIESEL, CAR.CRV_HYBRID, CAR.INSIGHT, CAR.ACURA_RDX_3G, CAR.HONDA_E, CAR.CIVIC_2022, CAR.HRV_3G):
-    signals.append(("DRIVERS_DOOR_OPEN", "SCM_FEEDBACK"))
+  # TODO: clean this up
+  if CP.carFingerprint in (CAR.ACCORD, CAR.ACCORDH, CAR.CIVIC_BOSCH, CAR.CIVIC_BOSCH_DIESEL, CAR.CRV_HYBRID, CAR.INSIGHT,
+                           CAR.ACURA_RDX_3G, CAR.HONDA_E, CAR.CIVIC_2022, CAR.HRV_3G):
+    pass
   elif CP.carFingerprint in (CAR.ODYSSEY_CHN, CAR.FREED, CAR.HRV):
-    signals.append(("DRIVERS_DOOR_OPEN", "SCM_BUTTONS"))
+    pass
   else:
-    signals += [("DOOR_OPEN_FL", "DOORS_STATUS"),
-                ("DOOR_OPEN_FR", "DOORS_STATUS"),
-                ("DOOR_OPEN_RL", "DOORS_STATUS"),
-                ("DOOR_OPEN_RR", "DOORS_STATUS")]
-    checks.append(("DOORS_STATUS", 3))
+    messages.append(("DOORS_STATUS", 3))
 
   # add gas interceptor reading if we are using it
   if CP.enableGasInterceptor:
-    signals.append(("INTERCEPTOR_GAS", "GAS_SENSOR"))
-    signals.append(("INTERCEPTOR_GAS2", "GAS_SENSOR"))
-    checks.append(("GAS_SENSOR", 50))
+    messages.append(("GAS_SENSOR", 50))
 
   if CP.carFingerprint in HONDA_BOSCH_RADARLESS:
-    signals.append(("CRUISE_FAULT", "CRUISE_FAULT_STATUS"))
-    checks.append(("CRUISE_FAULT_STATUS", 50))
+    messages.append(("CRUISE_FAULT_STATUS", 50))
   elif CP.openpilotLongitudinalControl:
-    signals += [
-      ("BRAKE_ERROR_1", "STANDSTILL"),
-      ("BRAKE_ERROR_2", "STANDSTILL")
-    ]
-    checks.append(("STANDSTILL", 50))
+    messages.append(("STANDSTILL", 50))
 
-  return signals, checks
+  return messages
 
 
 class CarState(CarStateBase):
@@ -178,7 +127,8 @@ class CarState(CarStateBase):
     # panda checks if the signal is non-zero
     ret.standstill = cp.vl["ENGINE_DATA"]["XMISSION_SPEED"] < 1e-5
     # TODO: find a common signal across all cars
-    if self.CP.carFingerprint in (CAR.ACCORD, CAR.ACCORDH, CAR.CIVIC_BOSCH, CAR.CIVIC_BOSCH_DIESEL, CAR.CRV_HYBRID, CAR.INSIGHT, CAR.ACURA_RDX_3G, CAR.HONDA_E, CAR.CIVIC_2022, CAR.HRV_3G):
+    if self.CP.carFingerprint in (CAR.ACCORD, CAR.ACCORDH, CAR.CIVIC_BOSCH, CAR.CIVIC_BOSCH_DIESEL, CAR.CRV_HYBRID, CAR.INSIGHT,
+                                  CAR.ACURA_RDX_3G, CAR.HONDA_E, CAR.CIVIC_2022, CAR.HRV_3G):
       ret.doorOpen = bool(cp.vl["SCM_FEEDBACK"]["DRIVERS_DOOR_OPEN"])
     elif self.CP.carFingerprint in (CAR.ODYSSEY_CHN, CAR.FREED, CAR.HRV):
       ret.doorOpen = bool(cp.vl["SCM_BUTTONS"]["DRIVERS_DOOR_OPEN"])
@@ -314,55 +264,36 @@ class CarState(CarStateBase):
     return ret
 
   def get_can_parser(self, CP):
-    signals, checks = get_can_signals(CP, self.gearbox_msg, self.main_on_sig_msg)
-    return CANParser(DBC[CP.carFingerprint]["pt"], signals, checks, get_pt_bus(CP.carFingerprint))
+    messages = get_can_messages(CP, self.gearbox_msg)
+    return CANParser(DBC[CP.carFingerprint]["pt"], messages, get_pt_bus(CP.carFingerprint))
 
   @staticmethod
   def get_cam_can_parser(CP):
-    signals = []
-    checks = [
+    messages = [
       ("STEERING_CONTROL", 100),
     ]
 
     if CP.carFingerprint in HONDA_BOSCH_RADARLESS:
-      signals.append(("LKAS_PROBLEM", "LKAS_HUD"))
-      checks.append(("LKAS_HUD", 10))
+      messages.append(("LKAS_HUD", 10))
       if not CP.openpilotLongitudinalControl:
-        signals += [
-          ("CRUISE_SPEED", "ACC_HUD"),
-          ("CRUISE_CONTROL_LABEL", "ACC_HUD"),
-        ]
-        checks.append(("ACC_HUD", 10))
+        messages.append(("ACC_HUD", 10))
 
     elif CP.carFingerprint not in HONDA_BOSCH:
-      signals += [("COMPUTER_BRAKE", "BRAKE_COMMAND"),
-                  ("AEB_REQ_1", "BRAKE_COMMAND"),
-                  ("FCW", "BRAKE_COMMAND"),
-                  ("CHIME", "BRAKE_COMMAND"),
-                  ("LKAS_PROBLEM", "LKAS_HUD"),
-                  ("FCM_OFF", "ACC_HUD"),
-                  ("FCM_OFF_2", "ACC_HUD"),
-                  ("FCM_PROBLEM", "ACC_HUD"),
-                  ("ACC_PROBLEM", "ACC_HUD"),
-                  ("ICONS", "ACC_HUD")]
-      checks += [
+      messages += [
         ("ACC_HUD", 10),
         ("LKAS_HUD", 10),
         ("BRAKE_COMMAND", 50),
       ]
 
-    return CANParser(DBC[CP.carFingerprint]["pt"], signals, checks, 2)
+    return CANParser(DBC[CP.carFingerprint]["pt"], messages, 2)
 
   @staticmethod
   def get_body_can_parser(CP):
     if CP.enableBsm:
-      signals = [("BSM_ALERT", "BSM_STATUS_RIGHT"),
-                 ("BSM_ALERT", "BSM_STATUS_LEFT")]
-
-      checks = [
+      messages = [
         ("BSM_STATUS_LEFT", 3),
         ("BSM_STATUS_RIGHT", 3),
       ]
       bus_body = 0 # B-CAN is forwarded to ACC-CAN radar side (CAN 0 on fake ethernet port)
-      return CANParser(DBC[CP.carFingerprint]["body"], signals, checks, bus_body)
+      return CANParser(DBC[CP.carFingerprint]["body"], messages, bus_body)
     return None
diff --git a/selfdrive/car/honda/interface.py b/selfdrive/car/honda/interface.py
index 2c936cf3b6..29c6fa0327 100755
--- a/selfdrive/car/honda/interface.py
+++ b/selfdrive/car/honda/interface.py
@@ -3,7 +3,8 @@ from cereal import car
 from panda import Panda
 from common.conversions import Conversions as CV
 from common.numpy_fast import interp
-from selfdrive.car.honda.values import CarControllerParams, CruiseButtons, HondaFlags, CAR, HONDA_BOSCH, HONDA_NIDEC_ALT_SCM_MESSAGES, HONDA_BOSCH_ALT_BRAKE_SIGNAL, HONDA_BOSCH_RADARLESS
+from selfdrive.car.honda.values import CarControllerParams, CruiseButtons, HondaFlags, CAR, HONDA_BOSCH, HONDA_NIDEC_ALT_SCM_MESSAGES, \
+                                                                                            HONDA_BOSCH_ALT_BRAKE_SIGNAL, HONDA_BOSCH_RADARLESS
 from selfdrive.car import STD_CARGO_KG, CivicParams, create_button_event, scale_tire_stiffness, get_safety_config
 from selfdrive.car.interfaces import CarInterfaceBase
 from selfdrive.car.disable_ecu import disable_ecu
@@ -292,8 +293,8 @@ class CarInterface(CarInterfaceBase):
     # min speed to enable ACC. if car can do stop and go, then set enabling speed
     # to a negative value, so it won't matter. Otherwise, add 0.5 mph margin to not
     # conflict with PCM acc
-    stop_and_go = candidate in (HONDA_BOSCH | {CAR.CIVIC}) or ret.enableGasInterceptor
-    ret.minEnableSpeed = -1. if stop_and_go else 25.5 * CV.MPH_TO_MS
+    ret.autoResumeSng = candidate in (HONDA_BOSCH | {CAR.CIVIC}) or ret.enableGasInterceptor
+    ret.minEnableSpeed = -1. if ret.autoResumeSng else 25.5 * CV.MPH_TO_MS
 
     # TODO: start from empirically derived lateral slip stiffness for the civic and scale by
     # mass and CG position, so all cars will have approximately similar dyn behaviors
diff --git a/selfdrive/car/honda/radar_interface.py b/selfdrive/car/honda/radar_interface.py
index 660be4c449..58f665233b 100755
--- a/selfdrive/car/honda/radar_interface.py
+++ b/selfdrive/car/honda/radar_interface.py
@@ -7,12 +7,8 @@ from selfdrive.car.honda.values import DBC
 
 def _create_nidec_can_parser(car_fingerprint):
   radar_messages = [0x400] + list(range(0x430, 0x43A)) + list(range(0x440, 0x446))
-  signals = list(zip(['RADAR_STATE'] +
-                     ['LONG_DIST'] * 16 + ['NEW_TRACK'] * 16 + ['LAT_DIST'] * 16 +
-                     ['REL_SPEED'] * 16,
-                     [0x400] + radar_messages[1:] * 4))
-  checks = [(s[1], 20) for s in signals]
-  return CANParser(DBC[car_fingerprint]['radar'], signals, checks, 1)
+  messages = [(m, 20) for m in radar_messages]
+  return CANParser(DBC[car_fingerprint]['radar'], messages, 1)
 
 
 class RadarInterface(RadarInterfaceBase):
diff --git a/selfdrive/car/honda/values.py b/selfdrive/car/honda/values.py
index ba7a42d2a1..b149fd2a02 100644
--- a/selfdrive/car/honda/values.py
+++ b/selfdrive/car/honda/values.py
@@ -123,7 +123,8 @@ CAR_INFO: Dict[str, Optional[Union[HondaCarInfo, List[HondaCarInfo]]]] = {
   CAR.ACCORDH: HondaCarInfo("Honda Accord Hybrid 2018-22", "All", min_steer_speed=3. * CV.MPH_TO_MS),
   CAR.CIVIC: HondaCarInfo("Honda Civic 2016-18", min_steer_speed=12. * CV.MPH_TO_MS, video_link="https://youtu.be/-IkImTe1NYE"),
   CAR.CIVIC_BOSCH: [
-    HondaCarInfo("Honda Civic 2019-21", "All", video_link="https://www.youtube.com/watch?v=4Iz1Mz5LGF8", footnotes=[Footnote.CIVIC_DIESEL], min_steer_speed=2. * CV.MPH_TO_MS),
+    HondaCarInfo("Honda Civic 2019-21", "All", video_link="https://www.youtube.com/watch?v=4Iz1Mz5LGF8",
+                 footnotes=[Footnote.CIVIC_DIESEL], min_steer_speed=2. * CV.MPH_TO_MS),
     HondaCarInfo("Honda Civic Hatchback 2017-21", min_steer_speed=12. * CV.MPH_TO_MS),
   ],
   CAR.CIVIC_BOSCH_DIESEL: None,  # same platform
diff --git a/selfdrive/car/hyundai/carcontroller.py b/selfdrive/car/hyundai/carcontroller.py
index 21d9a7271e..996a70c104 100644
--- a/selfdrive/car/hyundai/carcontroller.py
+++ b/selfdrive/car/hyundai/carcontroller.py
@@ -3,7 +3,7 @@ from common.conversions import Conversions as CV
 from common.numpy_fast import clip
 from common.realtime import DT_CTRL
 from opendbc.can.packer import CANPacker
-from selfdrive.car import apply_driver_steer_torque_limits
+from selfdrive.car import apply_driver_steer_torque_limits, common_fault_avoidance
 from selfdrive.car.hyundai import hyundaicanfd, hyundaican
 from selfdrive.car.hyundai.hyundaicanfd import CanBus
 from selfdrive.car.hyundai.values import HyundaiFlags, Buttons, CarControllerParams, CANFD_CAR, CAR
@@ -64,9 +64,17 @@ class CarController:
     new_steer = int(round(actuators.steer * self.params.STEER_MAX))
     apply_steer = apply_driver_steer_torque_limits(new_steer, self.apply_steer_last, CS.out.steeringTorque, self.params)
 
+    # >90 degree steering fault prevention
+    self.angle_limit_counter, apply_steer_req = common_fault_avoidance(abs(CS.out.steeringAngleDeg) >= MAX_ANGLE, CC.latActive,
+                                                                       self.angle_limit_counter, MAX_ANGLE_FRAMES,
+                                                                       MAX_ANGLE_CONSECUTIVE_FRAMES)
+
     if not CC.latActive:
       apply_steer = 0
 
+    # Hold torque with induced temporary fault when cutting the actuation bit
+    torque_fault = CC.latActive and not apply_steer_req
+
     self.apply_steer_last = apply_steer
 
     # accel + longitudinal
@@ -94,20 +102,6 @@ class CarController:
       if self.CP.flags & HyundaiFlags.ENABLE_BLINKERS:
         can_sends.append([0x7b1, 0, b"\x02\x3E\x80\x00\x00\x00\x00\x00", self.CAN.ECAN])
 
-    # >90 degree steering fault prevention
-    # Count up to MAX_ANGLE_FRAMES, at which point we need to cut torque to avoid a steering fault
-    if CC.latActive and abs(CS.out.steeringAngleDeg) >= MAX_ANGLE:
-      self.angle_limit_counter += 1
-    else:
-      self.angle_limit_counter = 0
-
-    # Cut steer actuation bit for two frames and hold torque with induced temporary fault
-    torque_fault = CC.latActive and self.angle_limit_counter > MAX_ANGLE_FRAMES
-    lat_active = CC.latActive and not torque_fault
-
-    if self.angle_limit_counter >= MAX_ANGLE_FRAMES + MAX_ANGLE_CONSECUTIVE_FRAMES:
-      self.angle_limit_counter = 0
-
     can_canfd_hda2 = self.CP.flags & HyundaiFlags.CAN_CANFD_HDA2
 
     # CAN-FD platforms
@@ -116,7 +110,7 @@ class CarController:
       hda2_long = hda2 and self.CP.openpilotLongitudinalControl
 
       # steering control
-      can_sends.extend(hyundaicanfd.create_steering_messages(self.packer, self.CP, self.CAN, CC.enabled, lat_active, apply_steer))
+      can_sends.extend(hyundaicanfd.create_steering_messages(self.packer, self.CP, self.CAN, CC.enabled, apply_steer_req, apply_steer))
 
       # disable LFA on HDA2
       if self.frame % 5 == 0 and (hda2 or can_canfd_hda2):
@@ -171,7 +165,7 @@ class CarController:
                   can_sends.append(hyundaicanfd.create_buttons(self.packer, self.CP, self.CAN, CS.buttons_counter+1, Buttons.RES_ACCEL))
                 self.last_button_frame = self.frame
     else:
-      can_sends.append(hyundaican.create_lkas11(self.packer, self.frame, self.car_fingerprint, apply_steer, lat_active,
+      can_sends.append(hyundaican.create_lkas11(self.packer, self.frame, self.car_fingerprint, apply_steer, apply_steer_req,
                                                 torque_fault, CS.lkas11, sys_warning, sys_state, CC.enabled,
                                                 hud_control.leftLaneVisible, hud_control.rightLaneVisible,
                                                 left_lane_warning, right_lane_warning))
diff --git a/selfdrive/car/hyundai/carstate.py b/selfdrive/car/hyundai/carstate.py
index d5344ab4bd..99f1a02f67 100644
--- a/selfdrive/car/hyundai/carstate.py
+++ b/selfdrive/car/hyundai/carstate.py
@@ -237,62 +237,7 @@ class CarState(CarStateBase):
     if CP.carFingerprint in CANFD_CAR:
       return CarState.get_can_parser_canfd(CP)
 
-    signals = [
-      # signal_name, signal_address
-      ("WHL_SPD_FL", "WHL_SPD11"),
-      ("WHL_SPD_FR", "WHL_SPD11"),
-      ("WHL_SPD_RL", "WHL_SPD11"),
-      ("WHL_SPD_RR", "WHL_SPD11"),
-
-      ("YAW_RATE", "ESP12"),
-
-      ("CF_Gway_DrvSeatBeltInd", "CGW4"),
-
-      ("CF_Gway_DrvSeatBeltSw", "CGW1"),
-      ("CF_Gway_DrvDrSw", "CGW1"),       # Driver Door
-      ("CF_Gway_AstDrSw", "CGW1"),       # Passenger Door
-      ("CF_Gway_RLDrSw", "CGW2"),        # Rear left Door
-      ("CF_Gway_RRDrSw", "CGW2"),        # Rear right Door
-      ("CF_Gway_TurnSigLh", "CGW1"),
-      ("CF_Gway_TurnSigRh", "CGW1"),
-      ("CF_Gway_ParkBrakeSw", "CGW1"),
-
-      ("CYL_PRES", "ESP12"),
-
-      ("CF_Clu_CruiseSwState", "CLU11"),
-      ("CF_Clu_CruiseSwMain", "CLU11"),
-      ("CF_Clu_SldMainSW", "CLU11"),
-      ("CF_Clu_ParityBit1", "CLU11"),
-      ("CF_Clu_VanzDecimal" , "CLU11"),
-      ("CF_Clu_Vanz", "CLU11"),
-      ("CF_Clu_SPEED_UNIT", "CLU11"),
-      ("CF_Clu_DetentOut", "CLU11"),
-      ("CF_Clu_RheostatLevel", "CLU11"),
-      ("CF_Clu_CluInfo", "CLU11"),
-      ("CF_Clu_AmpInfo", "CLU11"),
-      ("CF_Clu_AliveCnt1", "CLU11"),
-
-      ("CF_Clu_VehicleSpeed", "CLU15"),
-
-      ("ACCEnable", "TCS13"),
-      ("ACC_REQ", "TCS13"),
-      ("DriverBraking", "TCS13"),
-      ("StandStill", "TCS13"),
-      ("PBRAKE_ACT", "TCS13"),
-
-      ("ESC_Off_Step", "TCS15"),
-      ("AVH_LAMP", "TCS15"),
-
-      ("CR_Mdps_StrColTq", "MDPS12"),
-      ("CF_Mdps_ToiActive", "MDPS12"),
-      ("CF_Mdps_ToiUnavail", "MDPS12"),
-      ("CF_Mdps_ToiFlt", "MDPS12"),
-      ("CR_Mdps_OutTq", "MDPS12"),
-
-      ("SAS_Angle", "SAS11"),
-      ("SAS_Speed", "SAS11"),
-    ]
-    checks = [
+    messages = [
       # address, frequency
       ("TCS13", 50),
       ("TCS15", 10),
@@ -309,186 +254,72 @@ class CarState(CarStateBase):
     checks.append(("MDPS12", freq_mdps12))
 
     if not CP.openpilotLongitudinalControl and CP.carFingerprint not in CAMERA_SCC_CAR and not (CP.flags & HyundaiFlags.CAN_CANFD_HDA2.value):
-      signals += [
-        ("MainMode_ACC", "SCC11"),
-        ("VSetDis", "SCC11"),
-        ("SCCInfoDisplay", "SCC11"),
-        ("ACC_ObjDist", "SCC11"),
-        ("ACCMode", "SCC12"),
-      ]
-      checks += [
+      messages += [
         ("SCC11", 50),
         ("SCC12", 50),
       ]
-
       if CP.flags & HyundaiFlags.USE_FCA.value:
-        signals += [
-          ("FCA_CmdAct", "FCA11"),
-          ("CF_VSM_Warn", "FCA11"),
-          ("CF_VSM_DecCmdAct", "FCA11"),
-        ]
-        checks.append(("FCA11", 50))
-      else:
-        signals += [
-          ("AEB_CmdAct", "SCC12"),
-          ("CF_VSM_Warn", "SCC12"),
-          ("CF_VSM_DecCmdAct", "SCC12"),
-        ]
+        messages.append(("FCA11", 50))
     elif CP.flags & HyundaiFlags.CAN_CANFD_HDA2.value:
-      signals += [
-        ("MainMode_ACC", "SCC12"),
-        ("VSetDis", "SCC12"),
-        ("SCCInfoDisplay", "SCC12"),
-        ("ACC_ObjDist", "SCC12"),
-        ("ACCMode", "SCC12"),
-      ]
-      checks += [
-        ("SCC12", 50),
-      ]
+      messages.append(("SCC12", 50))
 
     if CP.enableBsm:
-      signals += [
-        ("CF_Lca_IndLeft", "LCA11"),
-        ("CF_Lca_IndRight", "LCA11"),
-      ]
       freq_lca11 = 20 if CP.flags & HyundaiFlags.CAN_CANFD_HDA2.value else 50
-      checks.append(("LCA11", freq_lca11))
+      messages.append(("LCA11", freq_lca11))
 
     if CP.carFingerprint in (HYBRID_CAR | EV_CAR):
-      if CP.carFingerprint in HYBRID_CAR:
-        signals.append(("CR_Vcu_AccPedDep_Pos", "E_EMS11"))
-      else:
-        signals.append(("Accel_Pedal_Pos", "E_EMS11"))
-      checks.append(("E_EMS11", 50))
+      messages.append(("E_EMS11", 50))
     else:
-      signals += [
-        ("PV_AV_CAN", "EMS12"),
-        ("CF_Ems_AclAct", "EMS16"),
-      ]
-      checks += [
+      messages += [
         ("EMS12", 100),
         ("EMS16", 100),
       ]
 
     if CP.carFingerprint in CAN_GEARS["use_cluster_gears"]:
-      signals.append(("CF_Clu_Gear", "CLU15"))
+      pass
     elif CP.carFingerprint in CAN_GEARS["use_tcu_gears"]:
-      signals.append(("CUR_GR", "TCU12"))
-      checks.append(("TCU12", 100))
+      messages.append(("TCU12", 100))
     elif CP.carFingerprint in CAN_GEARS["use_elect_gears"]:
-      signals.append(("Elect_Gear_Shifter", "ELECT_GEAR"))
-      checks.append(("ELECT_GEAR", 20))
+      messages.append(("ELECT_GEAR", 20))
     else:
-      signals.append(("CF_Lvr_Gear", "LVR12"))
-      checks.append(("LVR12", 100))
+      messages.append(("LVR12", 100))
 
     bus = 5 if CP.flags & HyundaiFlags.CAN_CANFD_HDA2.value else 0
-    return CANParser(DBC[CP.carFingerprint]["pt"], signals, checks, bus)
+    return CANParser(DBC[CP.carFingerprint]["pt"], messages, bus)
 
   @staticmethod
   def get_cam_can_parser(CP):
     if CP.carFingerprint in CANFD_CAR:
       return CarState.get_cam_can_parser_canfd(CP)
 
-    signals = []
-    checks = []
+    messages = []
 
     if not (CP.flags & HyundaiFlags.CAN_CANFD_HDA2):
-      signals += [
-        # signal_name, signal_address
-        ("CF_Lkas_LdwsActivemode", "LKAS11"),
-        ("CF_Lkas_LdwsSysState", "LKAS11"),
-        ("CF_Lkas_SysWarning", "LKAS11"),
-        ("CF_Lkas_LdwsLHWarning", "LKAS11"),
-        ("CF_Lkas_LdwsRHWarning", "LKAS11"),
-        ("CF_Lkas_HbaLamp", "LKAS11"),
-        ("CF_Lkas_FcwBasReq", "LKAS11"),
-        ("CF_Lkas_HbaSysState", "LKAS11"),
-        ("CF_Lkas_FcwOpt", "LKAS11"),
-        ("CF_Lkas_HbaOpt", "LKAS11"),
-        ("CF_Lkas_FcwSysState", "LKAS11"),
-        ("CF_Lkas_FcwCollisionWarning", "LKAS11"),
-        ("CF_Lkas_FusionState", "LKAS11"),
-        ("CF_Lkas_FcwOpt_USM", "LKAS11"),
-        ("CF_Lkas_LdwsOpt_USM", "LKAS11"),
-      ]
-      checks += [
+      messages += [
         ("LKAS11", 100)
       ]
 
     if not CP.openpilotLongitudinalControl and CP.carFingerprint in CAMERA_SCC_CAR:
-      signals += [
-        ("MainMode_ACC", "SCC11"),
-        ("VSetDis", "SCC11"),
-        ("SCCInfoDisplay", "SCC11"),
-        ("ACC_ObjDist", "SCC11"),
-        ("ACCMode", "SCC12"),
-      ]
-      checks += [
+      messages += [
         ("SCC11", 50),
         ("SCC12", 50),
       ]
 
       if CP.flags & HyundaiFlags.USE_FCA.value:
-        signals += [
-          ("FCA_CmdAct", "FCA11"),
-          ("CF_VSM_Warn", "FCA11"),
-          ("CF_VSM_DecCmdAct", "FCA11"),
-        ]
-        checks.append(("FCA11", 50))
-      else:
-        signals += [
-          ("AEB_CmdAct", "SCC12"),
-          ("CF_VSM_Warn", "SCC12"),
-          ("CF_VSM_DecCmdAct", "SCC12"),
-        ]
+        messages.append(("FCA11", 50))
 
     if CP.flags & HyundaiFlags.CAN_CANFD_HDA2:
-      signals += [(f"BYTE{i}", "CAM_0x2a4") for i in range(3, 24)]
-      signals.append(("COUNTER", "CAM_0x2a4"))
-      checks += [("CAM_0x2a4", 20)]
+      messages.append(("CAM_0x2a4", 20))
 
     bus = 6 if CP.flags & HyundaiFlags.CAN_CANFD_HDA2 else 2
-    return CANParser(DBC[CP.carFingerprint]["pt"], signals, checks, bus)
+    return CANParser(DBC[CP.carFingerprint]["pt"], messages, bus)
 
   @staticmethod
   def get_can_parser_canfd(CP):
-
-    cruise_btn_msg = "CRUISE_BUTTONS_ALT" if CP.flags & HyundaiFlags.CANFD_ALT_BUTTONS else "CRUISE_BUTTONS"
     gear_msg = "GEAR_ALT_2" if CP.flags & HyundaiFlags.CANFD_ALT_GEARS_2 else \
                "GEAR_ALT" if CP.flags & HyundaiFlags.CANFD_ALT_GEARS else \
                "GEAR_SHIFTER"
-    signals = [
-      ("WHEEL_SPEED_1", "WHEEL_SPEEDS"),
-      ("WHEEL_SPEED_2", "WHEEL_SPEEDS"),
-      ("WHEEL_SPEED_3", "WHEEL_SPEEDS"),
-      ("WHEEL_SPEED_4", "WHEEL_SPEEDS"),
-
-      ("GEAR", gear_msg),
-
-      ("STEERING_RATE", "STEERING_SENSORS"),
-      ("STEERING_ANGLE", "STEERING_SENSORS"),
-      ("STEERING_COL_TORQUE", "MDPS"),
-      ("STEERING_OUT_TORQUE", "MDPS"),
-      ("LKA_FAULT", "MDPS"),
-
-      ("DriverBraking", "TCS"),
-      ("ACCEnable", "TCS"),
-      ("ACC_REQ", "TCS"),
-
-      ("COUNTER", cruise_btn_msg),
-      ("CRUISE_BUTTONS", cruise_btn_msg),
-      ("ADAPTIVE_CRUISE_MAIN_BTN", cruise_btn_msg),
-      ("DISTANCE_UNIT", "CRUISE_BUTTONS_ALT"),
-
-      ("LEFT_LAMP", "BLINKERS"),
-      ("RIGHT_LAMP", "BLINKERS"),
-
-      ("DRIVER_DOOR", "DOORS_SEATBELTS"),
-      ("DRIVER_SEATBELT", "DOORS_SEATBELTS"),
-    ]
-
-    checks = [
+    messages = [
       ("WHEEL_SPEEDS", 100),
       (gear_msg, 100),
       ("STEERING_SENSORS", 100),
@@ -500,77 +331,41 @@ class CarState(CarStateBase):
     ]
 
     if not (CP.flags & HyundaiFlags.CANFD_ALT_BUTTONS):
-      checks.append(("CRUISE_BUTTONS", 50))
+      messages.append(("CRUISE_BUTTONS", 50))
 
     if CP.enableBsm:
-      signals += [
-        ("FL_INDICATOR", "BLINDSPOTS_REAR_CORNERS"),
-        ("FR_INDICATOR", "BLINDSPOTS_REAR_CORNERS"),
-      ]
-      checks += [
+      messages += [
         ("BLINDSPOTS_REAR_CORNERS", 20),
       ]
 
     if not (CP.flags & HyundaiFlags.CANFD_CAMERA_SCC.value) and not CP.openpilotLongitudinalControl:
-      signals += [
-        ("COUNTER", "SCC_CONTROL"),
-        ("CHECKSUM", "SCC_CONTROL"),
-        ("ACCMode", "SCC_CONTROL"),
-        ("VSetDis", "SCC_CONTROL"),
-        ("CRUISE_STANDSTILL", "SCC_CONTROL"),
-      ]
-      checks += [
+      messages += [
         ("SCC_CONTROL", 50),
       ]
 
     if CP.carFingerprint in EV_CAR:
-      signals += [
-        ("ACCELERATOR_PEDAL", "ACCELERATOR"),
-      ]
-      checks += [
+      messages += [
         ("ACCELERATOR", 100),
       ]
     elif CP.carFingerprint in HYBRID_CAR:
-      signals += [
-        ("ACCELERATOR_PEDAL", "ACCELERATOR_ALT"),
-      ]
-      checks += [
+      messages += [
         ("ACCELERATOR_ALT", 100),
       ]
     else:
-      signals += [
-        ("ACCELERATOR_PEDAL_PRESSED", "ACCELERATOR_BRAKE_ALT"),
-      ]
-      checks += [
+      messages += [
         ("ACCELERATOR_BRAKE_ALT", 100),
       ]
 
-    return CANParser(DBC[CP.carFingerprint]["pt"], signals, checks, CanBus(CP).ECAN)
+    return CANParser(DBC[CP.carFingerprint]["pt"], messages, CanBus(CP).ECAN)
 
   @staticmethod
   def get_cam_can_parser_canfd(CP):
-    signals = []
-    checks = []
+    messages = []
     if CP.flags & HyundaiFlags.CANFD_HDA2:
-      signals += [(f"BYTE{i}", "CAM_0x2a4") for i in range(3, 24)]
-      checks += [("CAM_0x2a4", 20)]
+      messages += [("CAM_0x2a4", 20)]
     elif CP.flags & HyundaiFlags.CANFD_CAMERA_SCC:
-      signals += [
-        ("COUNTER", "SCC_CONTROL"),
-        ("CHECKSUM", "SCC_CONTROL"),
-        ("NEW_SIGNAL_1", "SCC_CONTROL"),
-        ("MainMode_ACC", "SCC_CONTROL"),
-        ("ACCMode", "SCC_CONTROL"),
-        ("CRUISE_INACTIVE", "SCC_CONTROL"),
-        ("ZEROS_9", "SCC_CONTROL"),
-        ("CRUISE_STANDSTILL", "SCC_CONTROL"),
-        ("ZEROS_5", "SCC_CONTROL"),
-        ("DISTANCE_SETTING", "SCC_CONTROL"),
-        ("VSetDis", "SCC_CONTROL"),
-      ]
-
-      checks += [
+      messages += [
         ("SCC_CONTROL", 50),
       ]
 
-    return CANParser(DBC[CP.carFingerprint]["pt"], signals, checks, CanBus(CP).CAM)
+    return CANParser(DBC[CP.carFingerprint]["pt"], messages, CanBus(CP).CAM)
diff --git a/selfdrive/car/hyundai/hyundaicanfd.py b/selfdrive/car/hyundai/hyundaicanfd.py
index 15480f3e2e..7b3d2d7f3a 100644
--- a/selfdrive/car/hyundai/hyundaicanfd.py
+++ b/selfdrive/car/hyundai/hyundaicanfd.py
@@ -1,17 +1,15 @@
-import math
-
 from common.numpy_fast import clip
+from selfdrive.car import CanBusBase
 from selfdrive.car.hyundai.values import HyundaiFlags
 
 
-class CanBus:
-  def __init__(self, CP, hda2=None, fingerprint=None):
-    if CP is None:
-      assert None not in (hda2, fingerprint)
-      num = math.ceil(max([k for k, v in fingerprint.items() if len(v)], default=1) / 4)
-    else:
+class CanBus(CanBusBase):
+  def __init__(self, CP, hda2=None, fingerprint=None) -> None:
+    super().__init__(CP, fingerprint)
+
+    if hda2 is None:
+      assert CP is not None
       hda2 = CP.flags & HyundaiFlags.CANFD_HDA2.value or CP.flags & HyundaiFlags.CAN_CANFD_HDA2.value
-      num = len(CP.safetyConfigs)
 
     # On the CAN-FD platforms, the LKAS camera is on both A-CAN and E-CAN. HDA2 cars
     # have a different harness than the HDA1 and non-HDA variants in order to split
@@ -20,10 +18,9 @@ class CanBus:
     if hda2:
       self._a, self._e = 0, 1
 
-    offset = 4*(num - 1)
-    self._a += offset
-    self._e += offset
-    self._cam = 2 + offset
+    self._a += self.offset
+    self._e += self.offset
+    self._cam = 2 + self.offset
 
   @property
   def ECAN(self):
@@ -88,7 +85,6 @@ def create_acc_cancel(packer, CP, CAN, cruise_info_copy):
       "NEW_SIGNAL_1",
       "MainMode_ACC",
       "ACCMode",
-      "CRUISE_INACTIVE",
       "ZEROS_9",
       "CRUISE_STANDSTILL",
       "ZEROS_5",
@@ -105,6 +101,8 @@ def create_acc_cancel(packer, CP, CAN, cruise_info_copy):
     ]}
   values.update({
     "ACCMode": 4,
+    "aReqRaw": 0.0,
+    "aReqValue": 0.0,
   })
   return packer.make_can_msg("SCC_CONTROL", CAN.ECAN, values)
 
diff --git a/selfdrive/car/hyundai/interface.py b/selfdrive/car/hyundai/interface.py
index 084260b4d8..6761560bf0 100644
--- a/selfdrive/car/hyundai/interface.py
+++ b/selfdrive/car/hyundai/interface.py
@@ -3,7 +3,8 @@ from cereal import car
 from panda import Panda
 from common.conversions import Conversions as CV
 from selfdrive.car.hyundai.hyundaicanfd import CanBus
-from selfdrive.car.hyundai.values import HyundaiFlags, CAR, DBC, CANFD_CAR, CAMERA_SCC_CAR, CANFD_RADAR_SCC_CAR, EV_CAR, HYBRID_CAR, LEGACY_SAFETY_MODE_CAR, Buttons
+from selfdrive.car.hyundai.values import HyundaiFlags, CAR, DBC, CANFD_CAR, CAMERA_SCC_CAR, CANFD_RADAR_SCC_CAR, \
+                                                            EV_CAR, HYBRID_CAR, LEGACY_SAFETY_MODE_CAR, Buttons
 from selfdrive.car.hyundai.radar_interface import RADAR_START_ADDR
 from selfdrive.car import STD_CARGO_KG, create_button_event, scale_tire_stiffness, get_safety_config
 from selfdrive.car.interfaces import CarInterfaceBase
@@ -26,7 +27,7 @@ class CarInterface(CarInterfaceBase):
     # These cars have been put into dashcam only due to both a lack of users and test coverage.
     # These cars likely still work fine. Once a user confirms each car works and a test route is
     # added to selfdrive/car/tests/routes.py, we can remove it from this list.
-    ret.dashcamOnly = candidate in {CAR.KIA_OPTIMA_H, }
+    ret.dashcamOnly = candidate in {CAR.KIA_OPTIMA_H, CAR.IONIQ_6}
 
     hda2 = Ecu.adas in [fw.ecu for fw in car_fw]
     CAN = CanBus(None, hda2, fingerprint)
@@ -136,7 +137,8 @@ class CarInterface(CarInterfaceBase):
     elif candidate == CAR.SANTA_CRUZ_1ST_GEN:
       ret.mass = 1870. + STD_CARGO_KG  # weight from Limited trim - the only supported trim
       ret.wheelbase = 3.000
-      ret.steerRatio = 14.2  # steering ratio according to Hyundai News https://www.hyundainews.com/assets/documents/original/48035-2022SantaCruzProductGuideSpecsv2081521.pdf
+      # steering ratio according to Hyundai News https://www.hyundainews.com/assets/documents/original/48035-2022SantaCruzProductGuideSpecsv2081521.pdf
+      ret.steerRatio = 14.2
 
     # Kia
     elif candidate == CAR.KIA_SORENTO:
@@ -190,10 +192,10 @@ class CarInterface(CarInterfaceBase):
       ret.wheelbase = 2.9
       ret.steerRatio = 16.
       tire_stiffness_factor = 0.65
-    elif candidate == CAR.IONIQ_5:
-      ret.mass = 2012 + STD_CARGO_KG
-      ret.wheelbase = 3.0
-      ret.steerRatio = 16.
+    elif candidate in (CAR.IONIQ_5, CAR.IONIQ_6):
+      ret.mass = 1948 + STD_CARGO_KG
+      ret.wheelbase = 2.97
+      ret.steerRatio = 14.26
       tire_stiffness_factor = 0.65
     elif candidate == CAR.KIA_SPORTAGE_HYBRID_5TH_GEN:
       ret.mass = 1767. + STD_CARGO_KG  # SX Prestige trim support only
@@ -206,12 +208,17 @@ class CarInterface(CarInterfaceBase):
         ret.mass = 3957 * CV.LB_TO_KG + STD_CARGO_KG
       else:
         ret.mass = 4537 * CV.LB_TO_KG + STD_CARGO_KG
+    elif candidate == CAR.KIA_CARNIVAL_4TH_GEN:
+      ret.mass = 2087. + STD_CARGO_KG
+      ret.wheelbase = 3.09
+      ret.steerRatio = 14.23
 
     # Genesis
     elif candidate == CAR.GENESIS_GV60_EV_1ST_GEN:
       ret.mass = 2205 + STD_CARGO_KG
       ret.wheelbase = 2.9
-      ret.steerRatio = 12.6 # https://www.motor1.com/reviews/586376/2023-genesis-gv60-first-drive/#:~:text=Relative%20to%20the%20related%20Ioniq,5%2FEV6%27s%2014.3%3A1.
+      # https://www.motor1.com/reviews/586376/2023-genesis-gv60-first-drive/#:~:text=Relative%20to%20the%20related%20Ioniq,5%2FEV6%27s%2014.3%3A1.
+      ret.steerRatio = 12.6
     elif candidate == CAR.GENESIS_G70:
       ret.steerActuatorDelay = 0.1
       ret.mass = 1640.0 + STD_CARGO_KG
@@ -322,7 +329,7 @@ class CarInterface(CarInterfaceBase):
 
     # for blinkers
     if CP.flags & HyundaiFlags.ENABLE_BLINKERS:
-      disable_ecu(logcan, sendcan, bus=CanBus(CP.ECAN), addr=0x7B1, com_cont_req=b'\x28\x83\x01')
+      disable_ecu(logcan, sendcan, bus=CanBus(CP).ECAN, addr=0x7B1, com_cont_req=b'\x28\x83\x01')
 
   def _update(self, c):
     ret = self.CS.update(self.cp, self.cp_cam)
diff --git a/selfdrive/car/hyundai/radar_interface.py b/selfdrive/car/hyundai/radar_interface.py
index 4ecca542b5..3b74a03d4b 100644
--- a/selfdrive/car/hyundai/radar_interface.py
+++ b/selfdrive/car/hyundai/radar_interface.py
@@ -14,20 +14,8 @@ def get_radar_can_parser(CP):
   if DBC[CP.carFingerprint]['radar'] is None:
     return None
 
-  signals = []
-  checks = []
-
-  for addr in range(RADAR_START_ADDR, RADAR_START_ADDR + RADAR_MSG_COUNT):
-    msg = f"RADAR_TRACK_{addr:x}"
-    signals += [
-      ("STATE", msg),
-      ("AZIMUTH", msg),
-      ("LONG_DIST", msg),
-      ("REL_ACCEL", msg),
-      ("REL_SPEED", msg),
-    ]
-    checks += [(msg, 50)]
-  return CANParser(DBC[CP.carFingerprint]['radar'], signals, checks, 1)
+  messages = [(f"RADAR_TRACK_{addr:x}", 50) for addr in range(RADAR_START_ADDR, RADAR_START_ADDR + RADAR_MSG_COUNT)]
+  return CANParser(DBC[CP.carFingerprint]['radar'], messages, 1)
 
 
 class RadarInterface(RadarInterfaceBase):
diff --git a/selfdrive/car/hyundai/tests/print_platform_codes.py b/selfdrive/car/hyundai/tests/print_platform_codes.py
new file mode 100755
index 0000000000..1bc8a4e366
--- /dev/null
+++ b/selfdrive/car/hyundai/tests/print_platform_codes.py
@@ -0,0 +1,21 @@
+#!/usr/bin/env python3
+from cereal import car
+from selfdrive.car.hyundai.values import FW_VERSIONS, PLATFORM_CODE_ECUS, get_platform_codes
+
+Ecu = car.CarParams.Ecu
+ECU_NAME = {v: k for k, v in Ecu.schema.enumerants.items()}
+
+if __name__ == "__main__":
+  for car_model, ecus in FW_VERSIONS.items():
+    print()
+    print(car_model)
+    for ecu in sorted(ecus, key=lambda x: int(x[0])):
+      if ecu[0] not in PLATFORM_CODE_ECUS:
+        continue
+
+      platform_codes = get_platform_codes(ecus[ecu])
+      codes = {code for code, _ in platform_codes}
+      dates = {date for _, date in platform_codes if date is not None}
+      print(f'  (Ecu.{ECU_NAME[ecu[0]]}, {hex(ecu[1])}, {ecu[2]}):')
+      print(f'    Codes: {codes}')
+      print(f'    Dates: {dates}')
diff --git a/selfdrive/car/hyundai/tests/test_hyundai.py b/selfdrive/car/hyundai/tests/test_hyundai.py
index fba99ae74d..3d2b704e55 100755
--- a/selfdrive/car/hyundai/tests/test_hyundai.py
+++ b/selfdrive/car/hyundai/tests/test_hyundai.py
@@ -2,11 +2,38 @@
 import unittest
 
 from cereal import car
-from selfdrive.car.hyundai.values import CANFD_CAR, FW_QUERY_CONFIG, FW_VERSIONS, CAN_GEARS, LEGACY_SAFETY_MODE_CAR, CHECKSUM, CAMERA_SCC_CAR
+from selfdrive.car.fw_versions import build_fw_dict
+from selfdrive.car.hyundai.values import CAMERA_SCC_CAR, CANFD_CAR, CAN_GEARS, CAR, CHECKSUM, DATE_FW_ECUS, \
+                                         EV_CAR, FW_QUERY_CONFIG, FW_VERSIONS, LEGACY_SAFETY_MODE_CAR, \
+                                         PLATFORM_CODE_ECUS, get_platform_codes
 
 Ecu = car.CarParams.Ecu
 ECU_NAME = {v: k for k, v in Ecu.schema.enumerants.items()}
 
+# Some platforms have date codes in a different format we don't yet parse (or are missing).
+# For now, assert list of expected missing date cars
+NO_DATES_PLATFORMS = {
+  # CAN FD
+  CAR.KIA_SPORTAGE_5TH_GEN,
+  CAR.KIA_SPORTAGE_HYBRID_5TH_GEN,
+  CAR.SANTA_CRUZ_1ST_GEN,
+  CAR.TUCSON_4TH_GEN,
+  CAR.TUCSON_HYBRID_4TH_GEN,
+  # CAN
+  CAR.ELANTRA,
+  CAR.KIA_CEED,
+  CAR.KIA_FORTE,
+  CAR.KIA_OPTIMA_G4,
+  CAR.KIA_OPTIMA_G4_FL,
+  CAR.KIA_SORENTO,
+  CAR.KONA,
+  CAR.KONA_EV,
+  CAR.KONA_EV_2022,
+  CAR.KONA_HEV,
+  CAR.SONATA_LF,
+  CAR.VELOSTER,
+}
+
 
 class TestHyundaiFingerprint(unittest.TestCase):
   def test_canfd_not_in_can_features(self):
@@ -21,8 +48,129 @@ class TestHyundaiFingerprint(unittest.TestCase):
     for car_model in CANFD_CAR:
       ecus = {fw[0] for fw in FW_VERSIONS[car_model].keys()}
       ecus_not_in_whitelist = ecus - whitelisted_ecus
-      ecu_strings = ", ".join([f'Ecu.{ECU_NAME[ecu]}' for ecu in ecus_not_in_whitelist])
-      self.assertEqual(len(ecus_not_in_whitelist), 0, f'{car_model}: Car model has ECUs not in auxiliary request whitelists: {ecu_strings}')
+      ecu_strings = ", ".join([f"Ecu.{ECU_NAME[ecu]}" for ecu in ecus_not_in_whitelist])
+      self.assertEqual(len(ecus_not_in_whitelist), 0,
+                       f"{car_model}: Car model has ECUs not in auxiliary request whitelists: {ecu_strings}")
+
+  def test_blacklisted_parts(self):
+    # Asserts no ECUs known to be shared across platforms exist in the database.
+    # Tucson having Santa Cruz camera and EPS for example
+    for car_model, ecus in FW_VERSIONS.items():
+      with self.subTest(car_model=car_model):
+        if car_model == CAR.SANTA_CRUZ_1ST_GEN:
+          raise unittest.SkipTest("Skip checking Santa Cruz for its parts")
+
+        for code, _ in get_platform_codes(ecus[(Ecu.fwdCamera, 0x7c4, None)]):
+          if b"-" not in code:
+            continue
+          part = code.split(b"-")[1]
+          self.assertFalse(part.startswith(b'CW'), "Car has bad part number")
+
+  # Tests for platform codes, part numbers, and FW dates which Hyundai will use to fuzzy
+  # fingerprint in the absence of full FW matches:
+  def test_platform_code_ecus_available(self):
+    # TODO: add queries for these non-CAN FD cars to get EPS
+    no_eps_platforms = CANFD_CAR | {CAR.KIA_SORENTO, CAR.KIA_OPTIMA_G4, CAR.KIA_OPTIMA_G4_FL,
+                                    CAR.SONATA_LF, CAR.TUCSON, CAR.GENESIS_G90, CAR.GENESIS_G80}
+
+    # Asserts ECU keys essential for fuzzy fingerprinting are available on all platforms
+    for car_model, ecus in FW_VERSIONS.items():
+      with self.subTest(car_model=car_model):
+        for platform_code_ecu in PLATFORM_CODE_ECUS:
+          if platform_code_ecu in (Ecu.fwdRadar, Ecu.eps) and car_model == CAR.HYUNDAI_GENESIS:
+            continue
+          if platform_code_ecu == Ecu.eps and car_model in no_eps_platforms:
+            continue
+          self.assertIn(platform_code_ecu, [e[0] for e in ecus])
+
+  def test_fw_format(self):
+    # Asserts:
+    # - every supported ECU FW version returns one platform code
+    # - every supported ECU FW version has a part number
+    # - expected parsing of ECU FW dates
+
+    for car_model, ecus in FW_VERSIONS.items():
+      with self.subTest(car_model=car_model):
+        for ecu, fws in ecus.items():
+          if ecu[0] not in PLATFORM_CODE_ECUS:
+            continue
+
+          codes = set()
+          for fw in fws:
+            result = get_platform_codes([fw])
+            self.assertEqual(1, len(result), f"Unable to parse FW: {fw}")
+            codes |= result
+
+          if ecu[0] not in DATE_FW_ECUS or car_model in NO_DATES_PLATFORMS:
+            self.assertTrue(all(date is None for _, date in codes))
+          else:
+            self.assertTrue(all(date is not None for _, date in codes))
+
+          if car_model == CAR.HYUNDAI_GENESIS:
+            raise unittest.SkipTest("No part numbers for car model")
+
+          # Hyundai places the ECU part number in their FW versions, assert all parsable
+          # Some examples of valid formats: b"56310-L0010", b"56310L0010", b"56310/M6300"
+          self.assertTrue(all(b"-" in code for code, _ in codes),
+                          f"FW does not have part number: {fw}")
+
+  def test_platform_codes_spot_check(self):
+    # Asserts basic platform code parsing behavior for a few cases
+    results = get_platform_codes([b"\xf1\x00DH LKAS 1.1 -150210"])
+    self.assertEqual(results, {(b"DH", b"150210")})
+
+    # Some cameras and all radars do not have dates
+    results = get_platform_codes([b"\xf1\x00AEhe SCC H-CUP      1.01 1.01 96400-G2000         "])
+    self.assertEqual(results, {(b"AEhe-G2000", None)})
+
+    results = get_platform_codes([b"\xf1\x00CV1_ RDR -----      1.00 1.01 99110-CV000         "])
+    self.assertEqual(results, {(b"CV1-CV000", None)})
+
+    results = get_platform_codes([
+      b"\xf1\x00DH LKAS 1.1 -150210",
+      b"\xf1\x00AEhe SCC H-CUP      1.01 1.01 96400-G2000         ",
+      b"\xf1\x00CV1_ RDR -----      1.00 1.01 99110-CV000         ",
+    ])
+    self.assertEqual(results, {(b"DH", b"150210"), (b"AEhe-G2000", None), (b"CV1-CV000", None)})
+
+    results = get_platform_codes([
+      b"\xf1\x00LX2 MFC  AT USA LHD 1.00 1.07 99211-S8100 220222",
+      b"\xf1\x00LX2 MFC  AT USA LHD 1.00 1.08 99211-S8100 211103",
+      b"\xf1\x00ON  MFC  AT USA LHD 1.00 1.01 99211-S9100 190405",
+      b"\xf1\x00ON  MFC  AT USA LHD 1.00 1.03 99211-S9100 190720",
+    ])
+    self.assertEqual(results, {(b"LX2-S8100", b"220222"), (b"LX2-S8100", b"211103"),
+                               (b"ON-S9100", b"190405"), (b"ON-S9100", b"190720")})
+
+  def test_fuzzy_excluded_platforms(self):
+    # Asserts a list of platforms that will not fuzzy fingerprint with platform codes due to them being shared.
+    # This list can be shrunk as we combine platforms and detect features
+    excluded_platforms = {
+      CAR.GENESIS_G70,            # shared platform code, part number, and date
+      CAR.GENESIS_G70_2020,
+      CAR.TUCSON_4TH_GEN,         # shared platform code and part number
+      CAR.TUCSON_HYBRID_4TH_GEN,
+    }
+    excluded_platforms |= CANFD_CAR - EV_CAR  # shared platform codes
+    excluded_platforms |= NO_DATES_PLATFORMS  # date codes are required to match
+
+    platforms_with_shared_codes = set()
+    for platform, fw_by_addr in FW_VERSIONS.items():
+      car_fw = []
+      for ecu, fw_versions in fw_by_addr.items():
+        ecu_name, addr, sub_addr = ecu
+        for fw in fw_versions:
+          car_fw.append({"ecu": ecu_name, "fwVersion": fw, "address": addr,
+                         "subAddress": 0 if sub_addr is None else sub_addr})
+
+      CP = car.CarParams.new_message(carFw=car_fw)
+      matches = FW_QUERY_CONFIG.match_fw_to_car_fuzzy(build_fw_dict(CP.carFw))
+      if len(matches) == 1:
+        self.assertEqual(list(matches)[0], platform)
+      else:
+        platforms_with_shared_codes.add(platform)
+
+    self.assertEqual(platforms_with_shared_codes, excluded_platforms)
 
 
 if __name__ == "__main__":
diff --git a/selfdrive/car/hyundai/values.py b/selfdrive/car/hyundai/values.py
index 9afae08f8d..3e511ea9d3 100644
--- a/selfdrive/car/hyundai/values.py
+++ b/selfdrive/car/hyundai/values.py
@@ -1,6 +1,8 @@
+# ruff: noqa: E501
+import re
 from dataclasses import dataclass
 from enum import Enum, IntFlag
-from typing import Dict, List, Optional, Union
+from typing import Dict, List, Optional, Set, Tuple, Union
 
 from cereal import car
 from panda.python import uds
@@ -98,6 +100,7 @@ class CAR:
   VELOSTER = "HYUNDAI VELOSTER 2019"
   SONATA_HYBRID = "HYUNDAI SONATA HYBRID 2021"
   IONIQ_5 = "HYUNDAI IONIQ 5 2022"
+  IONIQ_6 = "HYUNDAI IONIQ 6 2023"
   TUCSON_4TH_GEN = "HYUNDAI TUCSON 4TH GEN"
   TUCSON_HYBRID_4TH_GEN = "HYUNDAI TUCSON HYBRID 4TH GEN"
   SANTA_CRUZ_1ST_GEN = "HYUNDAI SANTA CRUZ 1ST GEN"
@@ -124,6 +127,7 @@ class CAR:
   KIA_STINGER_2022 = "KIA STINGER 2022"
   KIA_CEED = "KIA CEED INTRO ED 2019"
   KIA_EV6 = "KIA EV6 2022"
+  KIA_CARNIVAL_4TH_GEN = "KIA CARNIVAL 4TH GEN"
 
   # Genesis
   GENESIS_GV60_EV_1ST_GEN = "GENESIS GV60 ELECTRIC 1ST GEN"
@@ -136,10 +140,9 @@ class CAR:
 
 
 class Footnote(Enum):
-  # footnotes which mention "red panda" will be replaced with the CAN FD panda kit on the shop page
   CANFD = CarFootnote(
-    "Requires a <a href=\"https://comma.ai/shop/panda\" target=\"_blank\">red panda</a> for this <a href=\"https://en.wikipedia.org/wiki/CAN_FD\" target=\"_blank\">CAN FD car</a>. " +
-    "All the hardware needed is sold in the <a href=\"https://comma.ai/shop/can-fd-panda-kit\" target=\"_blank\">CAN FD kit</a>.",
+    "Requires a comma 3X or <a href=\"https://comma.ai/shop/can-fd-panda-kit\" target=\"_blank\">CAN FD panda kit</a> " +
+    "for this <a href=\"https://en.wikipedia.org/wiki/CAN_FD\" target=\"_blank\">CAN FD car</a>.",
     Column.MODEL, shop_footnote=True)
 
 
@@ -159,9 +162,11 @@ CAR_INFO: Dict[str, Optional[Union[HyundaiCarInfo, List[HyundaiCarInfo]]]] = {
     HyundaiCarInfo("Hyundai i30 2017-19", car_parts=CarParts.common([CarHarness.hyundai_e])),
   ],
   CAR.ELANTRA_2021: HyundaiCarInfo("Hyundai Elantra 2021-23", video_link="https://youtu.be/_EdYQtV52-c", car_parts=CarParts.common([CarHarness.hyundai_k])),
-  CAR.ELANTRA_HEV_2021: HyundaiCarInfo("Hyundai Elantra Hybrid 2021-23", video_link="https://youtu.be/_EdYQtV52-c", car_parts=CarParts.common([CarHarness.hyundai_k])),
+  CAR.ELANTRA_HEV_2021: HyundaiCarInfo("Hyundai Elantra Hybrid 2021-23", video_link="https://youtu.be/_EdYQtV52-c",
+                                       car_parts=CarParts.common([CarHarness.hyundai_k])),
   CAR.HYUNDAI_GENESIS: [
-    HyundaiCarInfo("Hyundai Genesis 2015-16", min_enable_speed=19 * CV.MPH_TO_MS, car_parts=CarParts.common([CarHarness.hyundai_j])),  # TODO: check 2015 packages
+    # TODO: check 2015 packages
+    HyundaiCarInfo("Hyundai Genesis 2015-16", min_enable_speed=19 * CV.MPH_TO_MS, car_parts=CarParts.common([CarHarness.hyundai_j])),
     HyundaiCarInfo("Genesis G80 2017", "All", min_enable_speed=19 * CV.MPH_TO_MS, car_parts=CarParts.common([CarHarness.hyundai_j])),
   ],
   CAR.IONIQ: HyundaiCarInfo("Hyundai Ioniq Hybrid 2017-19", car_parts=CarParts.common([CarHarness.hyundai_c])),
@@ -173,12 +178,15 @@ CAR_INFO: Dict[str, Optional[Union[HyundaiCarInfo, List[HyundaiCarInfo]]]] = {
   CAR.KONA: HyundaiCarInfo("Hyundai Kona 2020", car_parts=CarParts.common([CarHarness.hyundai_b])),
   CAR.KONA_EV: HyundaiCarInfo("Hyundai Kona Electric 2018-21", car_parts=CarParts.common([CarHarness.hyundai_g])),
   CAR.KONA_EV_2022: HyundaiCarInfo("Hyundai Kona Electric 2022", car_parts=CarParts.common([CarHarness.hyundai_o])),
-  CAR.KONA_HEV: HyundaiCarInfo("Hyundai Kona Hybrid 2020", video_link="https://youtu.be/0dwpAHiZgFo", car_parts=CarParts.common([CarHarness.hyundai_i])),  # TODO: check packages
+  CAR.KONA_HEV: HyundaiCarInfo("Hyundai Kona Hybrid 2020", video_link="https://youtu.be/0dwpAHiZgFo",
+                                                                      car_parts=CarParts.common([CarHarness.hyundai_i])),  # TODO: check packages
   CAR.SANTA_FE: HyundaiCarInfo("Hyundai Santa Fe 2019-20", "All", car_parts=CarParts.common([CarHarness.hyundai_d])),
-  CAR.SANTA_FE_2022: HyundaiCarInfo("Hyundai Santa Fe 2021-22", "All", video_link="https://youtu.be/VnHzSTygTS4", car_parts=CarParts.common([CarHarness.hyundai_l])),
+  CAR.SANTA_FE_2022: HyundaiCarInfo("Hyundai Santa Fe 2021-23", "All", video_link="https://youtu.be/VnHzSTygTS4",
+                                                                      car_parts=CarParts.common([CarHarness.hyundai_l])),
   CAR.SANTA_FE_HEV_2022: HyundaiCarInfo("Hyundai Santa Fe Hybrid 2022-23", "All", car_parts=CarParts.common([CarHarness.hyundai_l])),
   CAR.SANTA_FE_PHEV_2022: HyundaiCarInfo("Hyundai Santa Fe Plug-in Hybrid 2022", "All", car_parts=CarParts.common([CarHarness.hyundai_l])),
-  CAR.SONATA: HyundaiCarInfo("Hyundai Sonata 2020-23", "All", video_link="https://www.youtube.com/watch?v=ix63r9kE3Fw", car_parts=CarParts.common([CarHarness.hyundai_a])),
+  CAR.SONATA: HyundaiCarInfo("Hyundai Sonata 2020-23", "All", video_link="https://www.youtube.com/watch?v=ix63r9kE3Fw",
+                                                                      car_parts=CarParts.common([CarHarness.hyundai_a])),
   CAR.SONATA_LF: HyundaiCarInfo("Hyundai Sonata 2018-19", car_parts=CarParts.common([CarHarness.hyundai_e])),
   CAR.TUCSON: [
     HyundaiCarInfo("Hyundai Tucson 2021", min_enable_speed=19 * CV.MPH_TO_MS, car_parts=CarParts.common([CarHarness.hyundai_l])),
@@ -193,12 +201,17 @@ CAR_INFO: Dict[str, Optional[Union[HyundaiCarInfo, List[HyundaiCarInfo]]]] = {
     HyundaiCarInfo("Kia Telluride (with HDA II) 2023", "All", car_parts=CarParts.common([CarHarness.hyundai_p])),
   ],
   CAR.VELOSTER: HyundaiCarInfo("Hyundai Veloster 2019-20", min_enable_speed=5. * CV.MPH_TO_MS, car_parts=CarParts.common([CarHarness.hyundai_e])),
-  CAR.SONATA_HYBRID: HyundaiCarInfo("Hyundai Sonata Hybrid 2020-22", "All", car_parts=CarParts.common([CarHarness.hyundai_a])),
+  CAR.SONATA_HYBRID: HyundaiCarInfo("Hyundai Sonata Hybrid 2020-23", "All", car_parts=CarParts.common([CarHarness.hyundai_a])),
   CAR.IONIQ_5: [
     HyundaiCarInfo("Hyundai Ioniq 5 (Southeast Asia only) 2022-23", "All", car_parts=CarParts.common([CarHarness.hyundai_q])),
     HyundaiCarInfo("Hyundai Ioniq 5 (without HDA II) 2022-23", "Highway Driving Assist", car_parts=CarParts.common([CarHarness.hyundai_k])),
     HyundaiCarInfo("Hyundai Ioniq 5 (with HDA II) 2022-23", "Highway Driving Assist II", car_parts=CarParts.common([CarHarness.hyundai_q])),
   ],
+  CAR.IONIQ_6: [
+    # TODO: unknown
+    HyundaiCarInfo("Hyundai Ioniq 6 (without HDA II) 2023", "Highway Driving Assist", car_parts=CarParts.common([CarHarness.hyundai_k])),
+    HyundaiCarInfo("Hyundai Ioniq 6 (with HDA II) 2023", "Highway Driving Assist II", car_parts=CarParts.common([CarHarness.hyundai_p])),
+  ],
   CAR.TUCSON_4TH_GEN: [
     HyundaiCarInfo("Hyundai Tucson 2022", car_parts=CarParts.common([CarHarness.hyundai_n])),
     HyundaiCarInfo("Hyundai Tucson 2023", "All", car_parts=CarParts.common([CarHarness.hyundai_n])),
@@ -228,7 +241,8 @@ CAR_INFO: Dict[str, Optional[Union[HyundaiCarInfo, List[HyundaiCarInfo]]]] = {
     HyundaiCarInfo("Kia Niro Hybrid 2021-22", car_parts=CarParts.common([CarHarness.hyundai_f])),  # TODO: 2021 could be hyundai_d, verify
   ],
   CAR.KIA_NIRO_HEV_2ND_GEN: HyundaiCarInfo("Kia Niro Hybrid 2023", car_parts=CarParts.common([CarHarness.hyundai_a])),
-  CAR.KIA_OPTIMA_G4: HyundaiCarInfo("Kia Optima 2017", "Advanced Smart Cruise Control", car_parts=CarParts.common([CarHarness.hyundai_b])),  # TODO: may support 2016, 2018
+  CAR.KIA_OPTIMA_G4: HyundaiCarInfo("Kia Optima 2017", "Advanced Smart Cruise Control",
+                                              car_parts=CarParts.common([CarHarness.hyundai_b])),  # TODO: may support 2016, 2018
   CAR.KIA_OPTIMA_G4_FL: HyundaiCarInfo("Kia Optima 2019-20", car_parts=CarParts.common([CarHarness.hyundai_g])),
   CAR.KIA_OPTIMA_H: [
     HyundaiCarInfo("Kia Optima Hybrid 2017", "Advanced Smart Cruise Control"),  # TODO: may support adjacent years
@@ -237,13 +251,15 @@ CAR_INFO: Dict[str, Optional[Union[HyundaiCarInfo, List[HyundaiCarInfo]]]] = {
   CAR.KIA_SELTOS: HyundaiCarInfo("Kia Seltos 2021", car_parts=CarParts.common([CarHarness.hyundai_a])),
   CAR.KIA_SPORTAGE_5TH_GEN: HyundaiCarInfo("Kia Sportage 2023", car_parts=CarParts.common([CarHarness.hyundai_n])),
   CAR.KIA_SORENTO: [
-    HyundaiCarInfo("Kia Sorento 2018", "Advanced Smart Cruise Control", video_link="https://www.youtube.com/watch?v=Fkh3s6WHJz8", car_parts=CarParts.common([CarHarness.hyundai_c])),
+    HyundaiCarInfo("Kia Sorento 2018", "Advanced Smart Cruise Control", video_link="https://www.youtube.com/watch?v=Fkh3s6WHJz8",
+                    car_parts=CarParts.common([CarHarness.hyundai_c])),
     HyundaiCarInfo("Kia Sorento 2019", video_link="https://www.youtube.com/watch?v=Fkh3s6WHJz8", car_parts=CarParts.common([CarHarness.hyundai_e])),
   ],
   CAR.KIA_SORENTO_4TH_GEN: HyundaiCarInfo("Kia Sorento 2021-23", car_parts=CarParts.common([CarHarness.hyundai_k])),
   CAR.KIA_SORENTO_PHEV_4TH_GEN: HyundaiCarInfo("Kia Sorento Plug-in Hybrid 2022-23", car_parts=CarParts.common([CarHarness.hyundai_a])),
   CAR.KIA_SPORTAGE_HYBRID_5TH_GEN: HyundaiCarInfo("Kia Sportage Hybrid 2023", car_parts=CarParts.common([CarHarness.hyundai_n])),
-  CAR.KIA_STINGER: HyundaiCarInfo("Kia Stinger 2018-20", video_link="https://www.youtube.com/watch?v=MJ94qoofYw0", car_parts=CarParts.common([CarHarness.hyundai_c])),
+  CAR.KIA_STINGER: HyundaiCarInfo("Kia Stinger 2018-20", video_link="https://www.youtube.com/watch?v=MJ94qoofYw0",
+                                  car_parts=CarParts.common([CarHarness.hyundai_c])),
   CAR.KIA_STINGER_2022: HyundaiCarInfo("Kia Stinger 2022", "All", car_parts=CarParts.common([CarHarness.hyundai_k])),
   CAR.KIA_CEED: HyundaiCarInfo("Kia Ceed 2019", car_parts=CarParts.common([CarHarness.hyundai_e])),
   CAR.KIA_EV6: [
@@ -251,6 +267,10 @@ CAR_INFO: Dict[str, Optional[Union[HyundaiCarInfo, List[HyundaiCarInfo]]]] = {
     HyundaiCarInfo("Kia EV6 (without HDA II) 2022-23", "Highway Driving Assist", car_parts=CarParts.common([CarHarness.hyundai_l])),
     HyundaiCarInfo("Kia EV6 (with HDA II) 2022-23", "Highway Driving Assist II", car_parts=CarParts.common([CarHarness.hyundai_p]))
   ],
+  CAR.KIA_CARNIVAL_4TH_GEN: [
+    HyundaiCarInfo("Kia Carnival 2023", car_parts=CarParts.common([CarHarness.hyundai_a])),
+    HyundaiCarInfo("Kia Carnival (China only) 2023", car_parts=CarParts.common([CarHarness.hyundai_k]))
+  ],
 
   # Genesis
   CAR.GENESIS_GV60_EV_1ST_GEN: [
@@ -353,6 +373,76 @@ FINGERPRINTS = {
   }],
 }
 
+
+def get_platform_codes(fw_versions: List[bytes]) -> Set[Tuple[bytes, Optional[bytes]]]:
+  # Returns unique, platform-specific identification codes for a set of versions
+  codes = set()  # (code-Optional[part], date)
+  for fw in fw_versions:
+    code_match = PLATFORM_CODE_FW_PATTERN.search(fw)
+    part_match = PART_NUMBER_FW_PATTERN.search(fw)
+    date_match = DATE_FW_PATTERN.search(fw)
+    if code_match is not None:
+      code: bytes = code_match.group()
+      part = part_match.group() if part_match else None
+      date = date_match.group() if date_match else None
+      if part is not None:
+        # part number starts with generic ECU part type, add what is specific to platform
+        code += b"-" + part[-5:]
+
+      codes.add((code, date))
+  return codes
+
+
+def match_fw_to_car_fuzzy(live_fw_versions) -> Set[str]:
+  # Non-electric CAN FD platforms often do not have platform code specifiers needed
+  # to distinguish between hybrid and ICE. All EVs so far are either exclusively
+  # electric or specify electric in the platform code.
+  fuzzy_platform_blacklist = set(CANFD_CAR - EV_CAR)
+  candidates = set()
+
+  for candidate, fws in FW_VERSIONS.items():
+    # Keep track of ECUs which pass all checks (platform codes, within date range)
+    valid_found_ecus = set()
+    valid_expected_ecus = {ecu[1:] for ecu in fws if ecu[0] in PLATFORM_CODE_ECUS}
+    for ecu, expected_versions in fws.items():
+      addr = ecu[1:]
+      # Only check ECUs expected to have platform codes
+      if ecu[0] not in PLATFORM_CODE_ECUS:
+        continue
+
+      # Expected platform codes & dates
+      codes = get_platform_codes(expected_versions)
+      expected_platform_codes = {code for code, _ in codes}
+      expected_dates = {date for _, date in codes if date is not None}
+
+      # Found platform codes & dates
+      codes = get_platform_codes(live_fw_versions.get(addr, set()))
+      found_platform_codes = {code for code, _ in codes}
+      found_dates = {date for _, date in codes if date is not None}
+
+      # Check platform code + part number matches for any found versions
+      if not any(found_platform_code in expected_platform_codes for found_platform_code in found_platform_codes):
+        break
+
+      if ecu[0] in DATE_FW_ECUS:
+        # If ECU can have a FW date, require it to exist
+        # (this excludes candidates in the database without dates)
+        if not len(expected_dates) or not len(found_dates):
+          break
+
+        # Check any date within range in the database, format is %y%m%d
+        if not any(min(expected_dates) <= found_date <= max(expected_dates) for found_date in found_dates):
+          break
+
+      valid_found_ecus.add(addr)
+
+    # If all live ECUs pass all checks for candidate, add it as a match
+    if valid_expected_ecus.issubset(valid_found_ecus):
+      candidates.add(candidate)
+
+  return candidates - fuzzy_platform_blacklist
+
+
 HYUNDAI_VERSION_REQUEST_LONG = bytes([uds.SERVICE_TYPE.READ_DATA_BY_IDENTIFIER]) + \
   p16(0xf100)  # Long description
 
@@ -366,6 +456,18 @@ HYUNDAI_VERSION_REQUEST_MULTI = bytes([uds.SERVICE_TYPE.READ_DATA_BY_IDENTIFIER]
 
 HYUNDAI_VERSION_RESPONSE = bytes([uds.SERVICE_TYPE.READ_DATA_BY_IDENTIFIER + 0x40])
 
+# Regex patterns for parsing platform code, FW date, and part number from FW versions
+PLATFORM_CODE_FW_PATTERN = re.compile(b'((?<=' + HYUNDAI_VERSION_REQUEST_LONG[1:] +
+                                      b')[A-Z]{2}[A-Za-z0-9]{0,2})')
+DATE_FW_PATTERN = re.compile(b'(?<=[ -])([0-9]{6}$)')
+PART_NUMBER_FW_PATTERN = re.compile(b'(?<=[0-9][.,][0-9]{2} )([0-9]{5}[-/]?[A-Z][A-Z0-9]{3}[0-9])')
+
+# List of ECUs expected to have platform codes, camera and radar should exist on all cars
+# TODO: use abs, it has the platform code and part number on many platforms
+PLATFORM_CODE_ECUS = [Ecu.fwdRadar, Ecu.fwdCamera, Ecu.eps]
+# So far we've only seen dates in fwdCamera
+DATE_FW_ECUS = [Ecu.fwdCamera]
+
 FW_QUERY_CONFIG = FwQueryConfig(
   requests=[
     # TODO: minimize shared whitelists for CAN and cornerRadar for CAN-FD
@@ -422,6 +524,8 @@ FW_QUERY_CONFIG = FwQueryConfig(
     (Ecu.hvac, 0x7b3, None),         # HVAC Control Assembly
     (Ecu.cornerRadar, 0x7b7, None),
   ],
+  # Custom fuzzy fingerprinting function using platform codes, part numbers + FW dates:
+  match_fw_to_car_fuzzy=match_fw_to_car_fuzzy,
 )
 
 FW_VERSIONS = {
@@ -558,6 +662,7 @@ FW_VERSIONS = {
       b'\xf1\x00DN8_ SCC F-CUP      1.00 1.02 99110-L1000         ',
       b'\xf1\x00DN8_ SCC FHCUP      1.00 1.00 99110-L0000         ',
       b'\xf1\x00DN8_ SCC FHCUP      1.00 1.01 99110-L1000         ',
+      b'\xf1\x00DN8_ SCC FHCUP      1.00 1.02 99110-L1000         ',
     ],
     (Ecu.abs, 0x7d1, None): [
       b'\xf1\x00DN ESC \x07 106 \x07\x01 58910-L0100',
@@ -572,6 +677,7 @@ FW_VERSIONS = {
       b'\xf1\x8758910-L0100\xf1\x00DN ESC \x06 106 \x07\x01 58910-L0100',
       b'\xf1\x8758910-L0100\xf1\x00DN ESC \x07 104\x19\x08\x01 58910-L0100',
       b'\xf1\x00DN ESC \x06 106 \x07\x01 58910-L0100',
+      b'\xf1\x00DN ESC \x06 107 \x07\x03 58910-L1300',
     ],
     (Ecu.engine, 0x7e0, None): [
       b'\xf1\x81HM6M1_0a0_F00',
@@ -586,6 +692,7 @@ FW_VERSIONS = {
       b'\xf1\x87391162M003',
       b'\xf1\x87391162M013',
       b'\xf1\x87391162M023',
+      b'\xf1\x87391162M010',
       b'HM6M1_0a0_F00',
       b'HM6M1_0a0_G20',
       b'HM6M2_0a0_BD0',
@@ -598,11 +705,9 @@ FW_VERSIONS = {
       b'\xf1\x00DN8 MDPS C 1,00 1,01 56310L0010\x00 4DNAC101',  # modified firmware
       b'\xf1\x00DN8 MDPS C 1.00 1.01 56310L0210\x00 4DNAC102',
       b'\xf1\x8756310L0010\x00\xf1\x00DN8 MDPS C 1,00 1,01 56310L0010\x00 4DNAC101',  # modified firmware
-      b'\xf1\x00DN8 MDPS C 1.00 1.01 \x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00 4DNAC101',
       b'\xf1\x00DN8 MDPS C 1.00 1.01 56310-L0010 4DNAC101',
       b'\xf1\x00DN8 MDPS C 1.00 1.01 56310L0010\x00 4DNAC101',
       b'\xf1\x00DN8 MDPS R 1.00 1.00 57700-L0000 4DNAP100',
-      b'\xf1\x87\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\xf1\x00DN8 MDPS C 1.00 1.01 \x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00 4DNAC101',
       b'\xf1\x8756310-L0010\xf1\x00DN8 MDPS C 1.00 1.01 56310-L0010 4DNAC101',
       b'\xf1\x8756310-L0210\xf1\x00DN8 MDPS C 1.00 1.01 56310-L0210 4DNAC101',
       b'\xf1\x8756310-L1010\xf1\x00DN8 MDPS C 1.00 1.03 56310-L1010 4DNDC103',
@@ -611,11 +716,13 @@ FW_VERSIONS = {
       b'\xf1\x8756310L0210\x00\xf1\x00DN8 MDPS C 1.00 1.01 56310L0210\x00 4DNAC101',
       b'\xf1\x8757700-L0000\xf1\x00DN8 MDPS R 1.00 1.00 57700-L0000 4DNAP100',
       b'\xf1\x00DN8 MDPS R 1.00 1.00 57700-L0000 4DNAP101',
+      b'\xf1\x00DN8 MDPS R 1.00 1.02 57700-L1000 4DNDP105',
       b'\xf1\x00DN8 MDPS C 1.00 1.01 56310-L0210 4DNAC102',
       b'\xf1\x00DN8 MDPS C 1.00 1.01 56310L0200\x00 4DNAC102',
     ],
     (Ecu.fwdCamera, 0x7c4, None): [
       b'\xf1\x00DN8 MFC  AT KOR LHD 1.00 1.02 99211-L1000 190422',
+      b'\xf1\x00DN8 MFC  AT KOR LHD 1.00 1.04 99211-L1000 191016',
       b'\xf1\x00DN8 MFC  AT RUS LHD 1.00 1.03 99211-L1000 190705',
       b'\xf1\x00DN8 MFC  AT USA LHD 1.00 1.00 99211-L0000 190716',
       b'\xf1\x00DN8 MFC  AT USA LHD 1.00 1.01 99211-L0000 191016',
@@ -628,6 +735,7 @@ FW_VERSIONS = {
       b'\xf1\x00bcsh8p54  U903\x00\x00\x00\x00\x00\x00SDN8T16NB0z{\xd4v',
       b'\xf1\x00bcsh8p54  U913\x00\x00\x00\x00\x00\x00SDN8T16NB1\xe3\xc10\xa1',
       b'\xf1\x00bcsh8p54  U913\x00\x00\x00\x00\x00\x00SDN8T16NB2\n\xdd^\xbc',
+      b'\xf1\x00bcsh8p54  U903\x00\x00\x00\x00\x00\x00SDN8T16KB05\x95h%',
       b'\xf1\x00HT6TA260BLHT6TA800A1TDN8C20KS4\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00',
       b'\xf1\x00HT6TA260BLHT6TA810A1TDN8M25GS0\x00\x00\x00\x00\x00\x00\xaa\x8c\xd9p',
       b'\xf1\x00HT6WA250BLHT6WA910A1SDN8G25NB1\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00',
@@ -763,7 +871,7 @@ FW_VERSIONS = {
       b'\xf1\x00TM  MDPS C 1.00 1.00 56340-S2000 8409',
       b'\xf1\x00TM  MDPS C 1.00 1.00 56340-S2000 8A12',
       b'\xf1\x00TM  MDPS C 1.00 1.01 56340-S2000 9129',
-      b'\xf1\x00TM  MDPS R 1.00 1.02 57700-S1100 4TMDP102'
+      b'\xf1\x00TM  MDPS R 1.00 1.02 57700-S1100 4TMDP102',
     ],
     (Ecu.fwdCamera, 0x7c4, None): [
       b'\xf1\x00TM  MFC  AT EUR LHD 1.00 1.01 99211-S1010 181207',
@@ -813,6 +921,7 @@ FW_VERSIONS = {
       b'\xf1\x8758910-S2GA0\xf1\x00TM ESC \x04 102!\x04\x05 58910-S2GA0',
       b'\xf1\x00TM ESC \x04 102!\x04\x05 58910-S2GA0',
       b'\xf1\x00TM ESC \x04 101 \x08\x04 58910-S2GA0',
+      b'\xf1\x00TM ESC \x02 103"\x07\x08 58910-S2GA0',
     ],
     (Ecu.engine, 0x7e0, None): [
       b'\xf1\x870\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\xf1\x81HM6M1_0a0_L50',
@@ -825,6 +934,7 @@ FW_VERSIONS = {
       b'\xf1\x870\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\xf1\x82TMDWN5TMD3TXXJ1A',
       b'\xf1\x81HM6M2_0a0_G00',
       b'\xf1\x870\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\xf1\x81HM6M1_0a0_J10',
+      b'\xf1\x8739101-2STN8\xf1\x81HM6M1_0a0_M00',
     ],
     (Ecu.eps, 0x7d4, None): [
       b'\xf1\x00TM  MDPS C 1.00 1.02 56370-S2AA0 0B19',
@@ -835,6 +945,7 @@ FW_VERSIONS = {
       b'\xf1\x00TMA MFC  AT USA LHD 1.00 1.00 99211-S2500 200720',
       b'\xf1\x00TM  MFC  AT EUR LHD 1.00 1.03 99211-S1500 210224',
       b'\xf1\x00TMA MFC  AT USA LHD 1.00 1.01 99211-S2500 210205',
+      b'\xf1\x00TMA MFC  AT USA LHD 1.00 1.03 99211-S2500 220414',
     ],
     (Ecu.transmission, 0x7e1, None): [
       b'\xf1\x00HT6WA280BLHT6WAD00A1STM2G25NH2\x00\x00\x00\x00\x00\x00\xf8\xc0\xc3\xaa',
@@ -850,6 +961,7 @@ FW_VERSIONS = {
       b'\xf1\x00T02601BL  T02900A1  VTMPT25XXX900NS8\xb7\xaa\xfe\xfc',
       b'\xf1\x87954A02N250\x00\x00\x00\x00\x00\xf1\x81T02900A1  \xf1\x00T02601BL  T02900A1  VTMPT25XXX900NS8\xb7\xaa\xfe\xfc',
       b'\xf1\x00T02601BL  T02800A1  VTMPT25XXX800NS4\xed\xaf\xed\xf5',
+      b'\xf1\x00T02601BL  T02900A1  VTMPT25XXW900NS1c\x918\xc5',
     ],
   },
   CAR.SANTA_FE_HEV_2022: {
@@ -858,12 +970,14 @@ FW_VERSIONS = {
     ],
     (Ecu.eps, 0x7d4, None): [
       b'\xf1\x00TM  MDPS C 1.00 1.02 56310-CLAC0 4TSHC102',
+      b'\xf1\x00TM  MDPS C 1.00 1.02 56310-CLEC0 4TSHC102',
       b'\xf1\x00TM  MDPS R 1.00 1.05 57700-CL000 4TSHP105',
       b'\xf1\x00TM  MDPS C 1.00 1.02 56310-GA000 4TSHA100',
     ],
     (Ecu.fwdCamera, 0x7c4, None): [
       b'\xf1\x00TMH MFC  AT EUR LHD 1.00 1.06 99211-S1500 220727',
       b'\xf1\x00TMH MFC  AT USA LHD 1.00 1.03 99211-S1500 210224',
+      b'\xf1\x00TMH MFC  AT USA LHD 1.00 1.06 99211-S1500 220727',
       b'\xf1\x00TMA MFC  AT USA LHD 1.00 1.03 99211-S2500 220414',
     ],
     (Ecu.transmission, 0x7e1, None): [
@@ -1502,10 +1616,8 @@ FW_VERSIONS = {
       b'\xf1\x8799110AA000\xf1\x00CN7_ SCC F-CUP      1.00 1.01 99110-AA000         ',
     ],
     (Ecu.eps, 0x7d4, None): [
-      b'\xf1\x87\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\xf1\x00CN7 MDPS C 1.00 1.06 \x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00 4CNDC106',
-      b'\xf1\x8756310/AA070\xf1\x00CN7 MDPS C 1.00 1.06 56310/AA070 4CNDC106',
-      b'\xf1\x8756310AA050\x00\xf1\x00CN7 MDPS C 1.00 1.06 56310AA050\x00 4CNDC106\xf1\xa01.06',
       b'\xf1\x00CN7 MDPS C 1.00 1.06 56310AA050\x00 4CNDC106',
+      b'\xf1\x00CN7 MDPS C 1.00 1.06 56310/AA070 4CNDC106',
     ],
     (Ecu.fwdCamera, 0x7c4, None): [
       b'\xf1\x00CN7 MFC  AT USA LHD 1.00 1.00 99210-AB000 200819',
@@ -1590,8 +1702,8 @@ FW_VERSIONS = {
   },
   CAR.SONATA_HYBRID: {
     (Ecu.fwdRadar, 0x7d0, None): [
-      b'\xf1\000DNhe SCC FHCUP      1.00 1.02 99110-L5000         ',
-      b'\xf1\x8799110L5000\xf1\000DNhe SCC FHCUP      1.00 1.02 99110-L5000         ',
+      b'\xf1\x00DNhe SCC FHCUP      1.00 1.02 99110-L5000         ',
+      b'\xf1\x8799110L5000\xf1\x00DNhe SCC FHCUP      1.00 1.02 99110-L5000         ',
       b'\xf1\000DNhe SCC F-CUP      1.00 1.02 99110-L5000         ',
       b'\xf1\x8799110L5000\xf1\000DNhe SCC F-CUP      1.00 1.02 99110-L5000         ',
     ],
@@ -1599,23 +1711,27 @@ FW_VERSIONS = {
       b'\xf1\x8756310-L5500\xf1\x00DN8 MDPS C 1.00 1.02 56310-L5500 4DNHC102',
       b'\xf1\x8756310-L5450\xf1\x00DN8 MDPS C 1.00 1.02 56310-L5450 4DNHC102',
       b'\xf1\x8756310-L5450\xf1\000DN8 MDPS C 1.00 1.03 56310-L5450 4DNHC103',
+      b'\xf1\x00DN8 MDPS C 1.00 1.03 56310L5450\x00 4DNHC104',
+      b'\xf1\x8756310L5450\x00\xf1\x00DN8 MDPS C 1.00 1.03 56310L5450\x00 4DNHC104',
     ],
     (Ecu.fwdCamera, 0x7c4, None): [
       b'\xf1\x00DN8HMFC  AT USA LHD 1.00 1.04 99211-L1000 191016',
       b'\xf1\x00DN8HMFC  AT USA LHD 1.00 1.05 99211-L1000 201109',
       b'\xf1\000DN8HMFC  AT USA LHD 1.00 1.06 99211-L1000 210325',
+      b'\xf1\x00DN8HMFC  AT USA LHD 1.00 1.07 99211-L1000 211223',
     ],
     (Ecu.transmission, 0x7e1, None): [
       b'\xf1\000PSBG2333  E14\x00\x00\x00\x00\x00\x00\x00TDN2H20SA6N\xc2\xeeW',
       b'\xf1\x87959102T250\x00\x00\x00\x00\x00\xf1\x81E09\x00\x00\x00\x00\x00\x00\x00\xf1\x00PSBG2323  E09\x00\x00\x00\x00\x00\x00\x00TDN2H20SA5\x97R\x88\x9e',
       b'\xf1\000PSBG2323  E09\000\000\000\000\000\000\000TDN2H20SA5\x97R\x88\x9e',
-      b'\xf1\000PSBG2333  E16\000\000\000\000\000\000\000TDN2H20SA7\0323\xf9\xab',
-      b'\xf1\x87PCU\000\000\000\000\000\000\000\000\000\xf1\x81E16\000\000\000\000\000\000\000\xf1\000PSBG2333  E16\000\000\000\000\000\000\000TDN2H20SA7\0323\xf9\xab',
+      b'\xf1\x00PSBG2333  E16\x00\x00\x00\x00\x00\x00\x00TDN2H20SA7\x1a3\xf9\xab',
+      b'\xf1\x87PCU\x00\x00\x00\x00\x00\x00\x00\x00\x00\xf1\x81E16\x00\x00\x00\x00\x00\x00\x00\xf1\x00PSBG2333  E16\x00\x00\x00\x00\x00\x00\x00TDN2H20SA7\x1a3\xf9\xab',
       b'\xf1\x87959102T250\x00\x00\x00\x00\x00\xf1\x81E14\x00\x00\x00\x00\x00\x00\x00\xf1\x00PSBG2333  E14\x00\x00\x00\x00\x00\x00\x00TDN2H20SA6N\xc2\xeeW',
     ],
     (Ecu.engine, 0x7e0, None): [
       b'\xf1\x87391162J012',
       b'\xf1\x87391162J013',
+      b'\xf1\x87391162J014',
       b'\xf1\x87391062J002',
     ],
   },
@@ -1673,13 +1789,21 @@ FW_VERSIONS = {
       b'\xf1\x00NE1 MFC  AT USA LHD 1.00 1.01 99211-GI010 211007',
       b'\xf1\x00NE1 MFC  AT EUR RHD 1.00 1.02 99211-GI010 211206',
       b'\xf1\x00NE1 MFC  AT USA LHD 1.00 1.03 99211-GI010 220401',
+      b'\xf1\x00NE1 MFC  AT USA LHD 1.00 1.06 99211-GI010 230110',
+    ],
+  },
+  CAR.IONIQ_6: {
+    (Ecu.fwdRadar, 0x7d0, None): [
+      b'\xf1\x00CE__ RDR -----      1.00 1.01 99110-KL000         ',
+    ],
+    (Ecu.fwdCamera, 0x7c4, None): [
+      b'\xf1\x00CE  MFC  AT USA LHD 1.00 1.04 99211-KL000 221213',
     ],
   },
   CAR.TUCSON_4TH_GEN: {
     (Ecu.fwdCamera, 0x7c4, None): [
       b'\xf1\x00NX4 FR_CMR AT USA LHD 1.00 1.00 99211-N9210 14G',
       b'\xf1\x00NX4 FR_CMR AT USA LHD 1.00 1.01 99211-N9240 14T',
-      b'\xf1\x00NX4 FR_CMR AT USA LHD 1.00 1.00 99211-CW010 14X',
     ],
     (Ecu.fwdRadar, 0x7d0, None): [
       b'\xf1\x00NX4__               1.00 1.00 99110-N9100         ',
@@ -1777,6 +1901,16 @@ FW_VERSIONS = {
       b'\xf1\x00JX1_ SCC FHCUP      1.00 1.01 99110-T6100         ',
     ],
   },
+  CAR.KIA_CARNIVAL_4TH_GEN: {
+    (Ecu.fwdCamera, 0x7c4, None): [
+      b'\xf1\x00KA4 MFC  AT USA LHD 1.00 1.06 99210-R0000 220221',
+      b'\xf1\x00KA4CMFC  AT CHN LHD 1.00 1.01 99211-I4000 210525',
+    ],
+    (Ecu.fwdRadar, 0x7d0, None): [
+      b'\xf1\x00KA4_ SCC FHCUP      1.00 1.03 99110-R0000         ',
+      b'\xf1\x00KA4c SCC FHCUP      1.00 1.01 99110-I4000         ',
+    ],
+  },
   CAR.PALISADE_2023: {
     (Ecu.fwdCamera, 0x7c4, None): [
       b'\xf1\x00LX2 MFC  AT USA LHD 1.00 1.04 99211-S8150 220622',
@@ -1792,7 +1926,9 @@ FW_VERSIONS = {
 }
 
 CHECKSUM = {
-  "crc8": [CAR.SANTA_FE, CAR.SONATA, CAR.PALISADE, CAR.KIA_SELTOS, CAR.ELANTRA_2021, CAR.ELANTRA_HEV_2021, CAR.SONATA_HYBRID, CAR.SANTA_FE_2022, CAR.KIA_K5_2021, CAR.SANTA_FE_HEV_2022, CAR.SANTA_FE_PHEV_2022, CAR.KIA_K5_HEV_2020, CAR.PALISADE_2023],
+  "crc8": [CAR.SANTA_FE, CAR.SONATA, CAR.PALISADE, CAR.KIA_SELTOS, CAR.ELANTRA_2021, CAR.ELANTRA_HEV_2021,
+           CAR.SONATA_HYBRID, CAR.SANTA_FE_2022, CAR.KIA_K5_2021, CAR.SANTA_FE_HEV_2022, CAR.SANTA_FE_PHEV_2022,
+           CAR.KIA_K5_HEV_2020, CAR.PALISADE_2023],
   "6B": [CAR.KIA_SORENTO, CAR.HYUNDAI_GENESIS],
 }
 
@@ -1800,22 +1936,34 @@ CAN_GEARS = {
   # which message has the gear
   "use_cluster_gears": {CAR.ELANTRA, CAR.KONA},
   "use_tcu_gears": {CAR.KIA_OPTIMA_G4, CAR.KIA_OPTIMA_G4_FL, CAR.SONATA_LF, CAR.VELOSTER, CAR.TUCSON},
-  "use_elect_gears": {CAR.KIA_NIRO_EV, CAR.KIA_NIRO_PHEV, CAR.KIA_NIRO_HEV_2021, CAR.KIA_OPTIMA_H, CAR.IONIQ_EV_LTD, CAR.KONA_EV, CAR.IONIQ, CAR.IONIQ_EV_2020, CAR.IONIQ_PHEV, CAR.ELANTRA_HEV_2021, CAR.SONATA_HYBRID, CAR.KONA_HEV, CAR.IONIQ_HEV_2022, CAR.SANTA_FE_HEV_2022, CAR.SANTA_FE_PHEV_2022, CAR.IONIQ_PHEV_2019, CAR.KONA_EV_2022, CAR.KIA_K5_HEV_2020},
+  "use_elect_gears": {CAR.KIA_NIRO_EV, CAR.KIA_NIRO_PHEV, CAR.KIA_NIRO_HEV_2021, CAR.KIA_OPTIMA_H, CAR.IONIQ_EV_LTD,
+                      CAR.KONA_EV, CAR.IONIQ, CAR.IONIQ_EV_2020, CAR.IONIQ_PHEV, CAR.ELANTRA_HEV_2021, CAR.SONATA_HYBRID,
+                      CAR.KONA_HEV, CAR.IONIQ_HEV_2022, CAR.SANTA_FE_HEV_2022, CAR.SANTA_FE_PHEV_2022, CAR.IONIQ_PHEV_2019,
+                      CAR.KONA_EV_2022, CAR.KIA_K5_HEV_2020},
 }
 
-CANFD_CAR = {CAR.KIA_EV6, CAR.IONIQ_5, CAR.TUCSON_4TH_GEN, CAR.TUCSON_HYBRID_4TH_GEN, CAR.KIA_SPORTAGE_HYBRID_5TH_GEN, CAR.SANTA_CRUZ_1ST_GEN, CAR.KIA_SPORTAGE_5TH_GEN, CAR.GENESIS_GV70_1ST_GEN, CAR.KIA_SORENTO_PHEV_4TH_GEN, CAR.GENESIS_GV60_EV_1ST_GEN, CAR.KIA_SORENTO_4TH_GEN, CAR.KIA_NIRO_HEV_2ND_GEN, CAR.KIA_NIRO_EV_2ND_GEN, CAR.GENESIS_GV80}
+CANFD_CAR = {CAR.KIA_EV6, CAR.IONIQ_5, CAR.IONIQ_6, CAR.TUCSON_4TH_GEN, CAR.TUCSON_HYBRID_4TH_GEN, CAR.KIA_SPORTAGE_HYBRID_5TH_GEN,
+             CAR.SANTA_CRUZ_1ST_GEN, CAR.KIA_SPORTAGE_5TH_GEN, CAR.GENESIS_GV70_1ST_GEN, CAR.KIA_SORENTO_PHEV_4TH_GEN,
+             CAR.GENESIS_GV60_EV_1ST_GEN, CAR.KIA_SORENTO_4TH_GEN, CAR.KIA_NIRO_HEV_2ND_GEN, CAR.KIA_NIRO_EV_2ND_GEN,
+             CAR.GENESIS_GV80, CAR.KIA_CARNIVAL_4TH_GEN}
 
 # The radar does SCC on these cars when HDA I, rather than the camera
-CANFD_RADAR_SCC_CAR = {CAR.GENESIS_GV70_1ST_GEN, CAR.KIA_SORENTO_PHEV_4TH_GEN, CAR.KIA_SORENTO_4TH_GEN, CAR.GENESIS_GV80}
+CANFD_RADAR_SCC_CAR = {CAR.GENESIS_GV70_1ST_GEN, CAR.KIA_SORENTO_PHEV_4TH_GEN, CAR.KIA_SORENTO_4TH_GEN, CAR.GENESIS_GV80, CAR.KIA_CARNIVAL_4TH_GEN}
 
 # The camera does SCC on these cars, rather than the radar
 CAMERA_SCC_CAR = {CAR.KONA_EV_2022, }
 
-HYBRID_CAR = {CAR.IONIQ_PHEV, CAR.ELANTRA_HEV_2021, CAR.KIA_NIRO_PHEV, CAR.KIA_NIRO_HEV_2021, CAR.SONATA_HYBRID, CAR.KONA_HEV, CAR.IONIQ, CAR.IONIQ_HEV_2022, CAR.SANTA_FE_HEV_2022, CAR.SANTA_FE_PHEV_2022, CAR.IONIQ_PHEV_2019, CAR.TUCSON_HYBRID_4TH_GEN, CAR.KIA_SPORTAGE_HYBRID_5TH_GEN, CAR.KIA_SORENTO_PHEV_4TH_GEN, CAR.KIA_K5_HEV_2020, CAR.KIA_NIRO_HEV_2ND_GEN}  # these cars use a different gas signal
-EV_CAR = {CAR.IONIQ_EV_2020, CAR.IONIQ_EV_LTD, CAR.KONA_EV, CAR.KIA_NIRO_EV, CAR.KIA_NIRO_EV_2ND_GEN, CAR.KONA_EV_2022, CAR.KIA_EV6, CAR.IONIQ_5, CAR.GENESIS_GV60_EV_1ST_GEN}
+# these cars use a different gas signal
+HYBRID_CAR = {CAR.IONIQ_PHEV, CAR.ELANTRA_HEV_2021, CAR.KIA_NIRO_PHEV, CAR.KIA_NIRO_HEV_2021, CAR.SONATA_HYBRID, CAR.KONA_HEV, CAR.IONIQ,
+              CAR.IONIQ_HEV_2022, CAR.SANTA_FE_HEV_2022, CAR.SANTA_FE_PHEV_2022, CAR.IONIQ_PHEV_2019, CAR.TUCSON_HYBRID_4TH_GEN,
+              CAR.KIA_SPORTAGE_HYBRID_5TH_GEN, CAR.KIA_SORENTO_PHEV_4TH_GEN, CAR.KIA_K5_HEV_2020, CAR.KIA_NIRO_HEV_2ND_GEN}
+
+EV_CAR = {CAR.IONIQ_EV_2020, CAR.IONIQ_EV_LTD, CAR.KONA_EV, CAR.KIA_NIRO_EV, CAR.KIA_NIRO_EV_2ND_GEN, CAR.KONA_EV_2022,
+          CAR.KIA_EV6, CAR.IONIQ_5, CAR.IONIQ_6, CAR.GENESIS_GV60_EV_1ST_GEN}
 
 # these cars require a special panda safety mode due to missing counters and checksums in the messages
-LEGACY_SAFETY_MODE_CAR = {CAR.HYUNDAI_GENESIS, CAR.IONIQ_EV_2020, CAR.IONIQ_EV_LTD, CAR.IONIQ_PHEV, CAR.IONIQ, CAR.KONA_EV, CAR.KIA_SORENTO, CAR.SONATA_LF, CAR.KIA_OPTIMA_G4, CAR.KIA_OPTIMA_G4_FL, CAR.VELOSTER,
+LEGACY_SAFETY_MODE_CAR = {CAR.HYUNDAI_GENESIS, CAR.IONIQ_EV_2020, CAR.IONIQ_EV_LTD, CAR.IONIQ_PHEV, CAR.IONIQ, CAR.KONA_EV,
+                          CAR.KIA_SORENTO, CAR.SONATA_LF, CAR.KIA_OPTIMA_G4, CAR.KIA_OPTIMA_G4_FL, CAR.VELOSTER,
                           CAR.GENESIS_G70, CAR.GENESIS_G80, CAR.KIA_CEED, CAR.ELANTRA, CAR.IONIQ_HEV_2022}
 
 # If 0x500 is present on bus 1 it probably has a Mando radar outputting radar points.
@@ -1867,6 +2015,7 @@ DBC = {
   CAR.TUCSON_4TH_GEN: dbc_dict('hyundai_canfd', None),
   CAR.TUCSON_HYBRID_4TH_GEN: dbc_dict('hyundai_canfd', None),
   CAR.IONIQ_5: dbc_dict('hyundai_canfd', None),
+  CAR.IONIQ_6: dbc_dict('hyundai_canfd', None),
   CAR.SANTA_CRUZ_1ST_GEN: dbc_dict('hyundai_canfd', None),
   CAR.KIA_SPORTAGE_5TH_GEN: dbc_dict('hyundai_canfd', None),
   CAR.KIA_SPORTAGE_HYBRID_5TH_GEN: dbc_dict('hyundai_canfd', None),
@@ -1877,5 +2026,6 @@ DBC = {
   CAR.KIA_NIRO_HEV_2ND_GEN: dbc_dict('hyundai_canfd', None),
   CAR.KIA_NIRO_EV_2ND_GEN: dbc_dict('hyundai_canfd', None),
   CAR.GENESIS_GV80: dbc_dict('hyundai_canfd', None),
+  CAR.KIA_CARNIVAL_4TH_GEN: dbc_dict('hyundai_canfd', None),
   CAR.PALISADE_2023: dbc_dict('hyundai_palisade_2023', None),
 }
diff --git a/selfdrive/car/interfaces.py b/selfdrive/car/interfaces.py
index e5d7430878..99df4cf4b4 100644
--- a/selfdrive/car/interfaces.py
+++ b/selfdrive/car/interfaces.py
@@ -115,7 +115,8 @@ class CarInterfaceBase(ABC):
 
   @staticmethod
   @abstractmethod
-  def _get_params(ret: car.CarParams, candidate: str, fingerprint: Dict[int, Dict[int, int]], car_fw: List[car.CarParams.CarFw], experimental_long: bool, docs: bool):
+  def _get_params(ret: car.CarParams, candidate: str, fingerprint: Dict[int, Dict[int, int]],
+                  car_fw: List[car.CarParams.CarFw], experimental_long: bool, docs: bool):
     raise NotImplementedError
 
   @staticmethod
@@ -131,8 +132,7 @@ class CarInterfaceBase(ABC):
   def get_steer_feedforward_function(self):
     return self.get_steer_feedforward_default
 
-  @staticmethod
-  def torque_from_lateral_accel_linear(lateral_accel_value: float, torque_params: car.CarParams.LateralTorqueTuning,
+  def torque_from_lateral_accel_linear(self, lateral_accel_value: float, torque_params: car.CarParams.LateralTorqueTuning,
                                        lateral_accel_error: float, lateral_accel_deadzone: float, friction_compensation: bool) -> float:
     # The default is a linear relationship between torque and lateral acceleration (accounting for road roll and steering friction)
     friction = get_friction(lateral_accel_error, lateral_accel_deadzone, FRICTION_THRESHOLD, torque_params, friction_compensation)
diff --git a/selfdrive/car/isotp_parallel_query.py b/selfdrive/car/isotp_parallel_query.py
index 8ab9728e5f..93033126a0 100644
--- a/selfdrive/car/isotp_parallel_query.py
+++ b/selfdrive/car/isotp_parallel_query.py
@@ -115,7 +115,13 @@ class IsoTpParallelQuery:
           addrs_responded.add(tx_addr)
           response_timeouts[tx_addr] = time.monotonic() + timeout
 
-        if not dat:
+        if dat is None:
+          continue
+
+        # Log unexpected empty responses
+        if len(dat) == 0:
+          cloudlog.error(f"iso-tp query empty response: {tx_addr}")
+          request_done[tx_addr] = True
           continue
 
         counter = request_counter[tx_addr]
diff --git a/selfdrive/car/mazda/carstate.py b/selfdrive/car/mazda/carstate.py
index 944d79809b..d782e59dee 100644
--- a/selfdrive/car/mazda/carstate.py
+++ b/selfdrive/car/mazda/carstate.py
@@ -38,8 +38,8 @@ class CarState(CarStateBase):
     ret.gearShifter = self.parse_gear_shifter(self.shifter_values.get(can_gear, None))
 
     ret.genericToggle = bool(cp.vl["BLINK_INFO"]["HIGH_BEAMS"])
-    ret.leftBlindspot = cp.vl["BSM"]["LEFT_BS1"] == 1
-    ret.rightBlindspot = cp.vl["BSM"]["RIGHT_BS1"] == 1
+    ret.leftBlindspot = cp.vl["BSM"]["LEFT_BS_STATUS"] != 0
+    ret.rightBlindspot = cp.vl["BSM"]["RIGHT_BS_STATUS"] != 0
     ret.leftBlinker, ret.rightBlinker = self.update_blinker_from_lamp(40, cp.vl["BLINK_INFO"]["LEFT_BLINK"] == 1,
                                                                       cp.vl["BLINK_INFO"]["RIGHT_BLINK"] == 1)
 
@@ -107,22 +107,7 @@ class CarState(CarStateBase):
 
   @staticmethod
   def get_can_parser(CP):
-    signals = [
-      # sig_name, sig_address
-      ("LEFT_BLINK", "BLINK_INFO"),
-      ("RIGHT_BLINK", "BLINK_INFO"),
-      ("HIGH_BEAMS", "BLINK_INFO"),
-      ("STEER_ANGLE", "STEER"),
-      ("STEER_ANGLE_RATE", "STEER_RATE"),
-      ("STEER_TORQUE_SENSOR", "STEER_TORQUE"),
-      ("STEER_TORQUE_MOTOR", "STEER_TORQUE"),
-      ("FL", "WHEEL_SPEEDS"),
-      ("FR", "WHEEL_SPEEDS"),
-      ("RL", "WHEEL_SPEEDS"),
-      ("RR", "WHEEL_SPEEDS"),
-    ]
-
-    checks = [
+    messages = [
       # sig_address, frequency
       ("BLINK_INFO", 10),
       ("STEER", 67),
@@ -132,30 +117,7 @@ class CarState(CarStateBase):
     ]
 
     if CP.carFingerprint in GEN1:
-      signals += [
-        ("LKAS_BLOCK", "STEER_RATE"),
-        ("LKAS_TRACK_STATE", "STEER_RATE"),
-        ("HANDS_OFF_5_SECONDS", "STEER_RATE"),
-        ("CRZ_ACTIVE", "CRZ_CTRL"),
-        ("CRZ_AVAILABLE", "CRZ_CTRL"),
-        ("CRZ_SPEED", "CRZ_EVENTS"),
-        ("STANDSTILL", "PEDALS"),
-        ("BRAKE_ON", "PEDALS"),
-        ("BRAKE_PRESSURE", "BRAKE"),
-        ("GEAR", "GEAR"),
-        ("DRIVER_SEATBELT", "SEATBELT"),
-        ("FL", "DOORS"),
-        ("FR", "DOORS"),
-        ("BL", "DOORS"),
-        ("BR", "DOORS"),
-        ("PEDAL_GAS", "ENGINE_DATA"),
-        ("SPEED", "ENGINE_DATA"),
-        ("CTR", "CRZ_BTNS"),
-        ("LEFT_BS1", "BSM"),
-        ("RIGHT_BS1", "BSM"),
-      ]
-
-      checks += [
+      messages += [
         ("ENGINE_DATA", 100),
         ("CRZ_CTRL", 50),
         ("CRZ_EVENTS", 50),
@@ -168,41 +130,17 @@ class CarState(CarStateBase):
         ("BSM", 10),
       ]
 
-    return CANParser(DBC[CP.carFingerprint]["pt"], signals, checks, 0)
+    return CANParser(DBC[CP.carFingerprint]["pt"], messages, 0)
 
   @staticmethod
   def get_cam_can_parser(CP):
-    signals = []
-    checks = []
+    messages = []
 
     if CP.carFingerprint in GEN1:
-      signals += [
-        # sig_name, sig_address
-        ("LKAS_REQUEST", "CAM_LKAS"),
-        ("CTR", "CAM_LKAS"),
-        ("ERR_BIT_1", "CAM_LKAS"),
-        ("LINE_NOT_VISIBLE", "CAM_LKAS"),
-        ("BIT_1", "CAM_LKAS"),
-        ("ERR_BIT_2", "CAM_LKAS"),
-        ("STEERING_ANGLE", "CAM_LKAS"),
-        ("ANGLE_ENABLED", "CAM_LKAS"),
-        ("CHKSUM", "CAM_LKAS"),
-
-        ("LINE_VISIBLE", "CAM_LANEINFO"),
-        ("LINE_NOT_VISIBLE", "CAM_LANEINFO"),
-        ("LANE_LINES", "CAM_LANEINFO"),
-        ("BIT1", "CAM_LANEINFO"),
-        ("BIT2", "CAM_LANEINFO"),
-        ("BIT3", "CAM_LANEINFO"),
-        ("NO_ERR_BIT", "CAM_LANEINFO"),
-        ("S1", "CAM_LANEINFO"),
-        ("S1_HBEAM", "CAM_LANEINFO"),
-      ]
-
-      checks += [
+      messages += [
         # sig_address, frequency
         ("CAM_LANEINFO", 2),
         ("CAM_LKAS", 16),
       ]
 
-    return CANParser(DBC[CP.carFingerprint]["pt"], signals, checks, 2)
+    return CANParser(DBC[CP.carFingerprint]["pt"], messages, 2)
diff --git a/selfdrive/car/mazda/values.py b/selfdrive/car/mazda/values.py
index 3fbf34e5fe..fbdf8961af 100644
--- a/selfdrive/car/mazda/values.py
+++ b/selfdrive/car/mazda/values.py
@@ -1,4 +1,4 @@
-from dataclasses import dataclass
+from dataclasses import dataclass, field
 from typing import Dict, List, Union
 
 from cereal import car
@@ -37,7 +37,7 @@ class CAR:
 @dataclass
 class MazdaCarInfo(CarInfo):
   package: str = "All"
-  car_parts: CarParts = CarParts.common([CarHarness.mazda])
+  car_parts: CarParts = field(default_factory=CarParts.common([CarHarness.mazda]))
 
 
 CAR_INFO: Dict[str, Union[MazdaCarInfo, List[MazdaCarInfo]]] = {
@@ -70,6 +70,13 @@ FW_QUERY_CONFIG = FwQueryConfig(
       [StdQueries.MANUFACTURER_SOFTWARE_VERSION_REQUEST],
       [StdQueries.MANUFACTURER_SOFTWARE_VERSION_RESPONSE],
     ),
+    # Log responses on powertrain bus
+    Request(
+      [StdQueries.MANUFACTURER_SOFTWARE_VERSION_REQUEST],
+      [StdQueries.MANUFACTURER_SOFTWARE_VERSION_RESPONSE],
+      bus=0,
+      logging=True,
+    ),
   ],
 )
 
@@ -81,6 +88,8 @@ FW_VERSIONS = {
     (Ecu.engine, 0x7e0, None): [
       b'PX2G-188K2-H\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00',
       b'PX2H-188K2-H\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00',
+      b'PX2H-188K2-J\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00',
+      b'PX85-188K2-E\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00',
       b'SH54-188K2-D\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00',
       b'PXFG-188K2-C\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00',
     ],
@@ -93,10 +102,13 @@ FW_VERSIONS = {
     (Ecu.fwdCamera, 0x706, None): [
       b'GSH7-67XK2-S\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00',
       b'GSH7-67XK2-T\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00',
+      b'GSH7-67XK2-U\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00',
     ],
     (Ecu.transmission, 0x7e1, None): [
       b'PYB2-21PS1-H\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00',
+      b'PYB2-21PS1-J\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00',
       b'SH51-21PS1-C\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00',
+      b'PXDL-21PS1-B\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00',
       b'PXFG-21PS1-A\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00',
     ],
   },
@@ -178,6 +190,7 @@ FW_VERSIONS = {
     (Ecu.engine, 0x7e0, None): [
       b'PX23-188K2-B\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00',
       b'PX24-188K2-B\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00',
+      b'PXM4-188K2-B\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00',
       b'PXN8-188K2-B\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00',
       b'PXN8-188K2-C\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00',
       b'PYD7-188K2-B\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00',
@@ -202,10 +215,12 @@ FW_VERSIONS = {
     (Ecu.fwdCamera, 0x706, None): [
       b'B61L-67XK2-P\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00',
       b'B61L-67XK2-V\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00',
+      b'GSH7-67XK2-J\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00',
       b'GSH7-67XK2-K\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00',
       b'TK80-67XK2-C\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00',
    ],
     (Ecu.transmission, 0x7e1, None): [
+      b'PXM4-21PS1-A\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00',
       b'PXM7-21PS1-A\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00',
       b'PXM7-21PS1-B\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00',
       b'PYFM-21PS1-C\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00',
diff --git a/selfdrive/car/nissan/carcontroller.py b/selfdrive/car/nissan/carcontroller.py
index 4e99d24903..2c628b102d 100644
--- a/selfdrive/car/nissan/carcontroller.py
+++ b/selfdrive/car/nissan/carcontroller.py
@@ -66,8 +66,8 @@ class CarController:
     # Below are the HUD messages. We copy the stock message and modify
     if self.CP.carFingerprint != CAR.ALTIMA:
       if self.frame % 2 == 0:
-        can_sends.append(nissancan.create_lkas_hud_msg(
-          self.packer, CS.lkas_hud_msg, CC.enabled, hud_control.leftLaneVisible, hud_control.rightLaneVisible, hud_control.leftLaneDepart, hud_control.rightLaneDepart))
+        can_sends.append(nissancan.create_lkas_hud_msg(self.packer, CS.lkas_hud_msg, CC.enabled, hud_control.leftLaneVisible, hud_control.rightLaneVisible,
+                                                       hud_control.leftLaneDepart, hud_control.rightLaneDepart))
 
       if self.frame % 50 == 0:
         can_sends.append(nissancan.create_lkas_hud_info_msg(
diff --git a/selfdrive/car/nissan/carstate.py b/selfdrive/car/nissan/carstate.py
index 7fbc807665..f17e2d8dc4 100644
--- a/selfdrive/car/nissan/carstate.py
+++ b/selfdrive/car/nissan/carstate.py
@@ -119,29 +119,7 @@ class CarState(CarStateBase):
 
   @staticmethod
   def get_can_parser(CP):
-    signals = [
-      # sig_name, sig_address
-      ("WHEEL_SPEED_FL", "WHEEL_SPEEDS_FRONT"),
-      ("WHEEL_SPEED_FR", "WHEEL_SPEEDS_FRONT"),
-      ("WHEEL_SPEED_RL", "WHEEL_SPEEDS_REAR"),
-      ("WHEEL_SPEED_RR", "WHEEL_SPEEDS_REAR"),
-
-      ("STEER_ANGLE", "STEER_ANGLE_SENSOR"),
-
-      ("DOOR_OPEN_FR", "DOORS_LIGHTS"),
-      ("DOOR_OPEN_FL", "DOORS_LIGHTS"),
-      ("DOOR_OPEN_RR", "DOORS_LIGHTS"),
-      ("DOOR_OPEN_RL", "DOORS_LIGHTS"),
-
-      ("RIGHT_BLINKER", "LIGHTS"),
-      ("LEFT_BLINKER", "LIGHTS"),
-
-      ("ESP_DISABLED", "ESP"),
-
-      ("GEAR_SHIFTER", "GEARBOX"),
-    ]
-
-    checks = [
+    messages = [
       # sig_address, frequency
       ("STEER_ANGLE_SENSOR", 100),
       ("WHEEL_SPEEDS_REAR", 50),
@@ -153,51 +131,14 @@ class CarState(CarStateBase):
     ]
 
     if CP.carFingerprint in (CAR.ROGUE, CAR.XTRAIL, CAR.ALTIMA):
-      signals += [
-        ("USER_BRAKE_PRESSED", "DOORS_LIGHTS"),
-
-        ("GAS_PEDAL", "GAS_PEDAL"),
-        ("SEATBELT_DRIVER_LATCHED", "HUD"),
-        ("SPEED_MPH", "HUD"),
-
-        ("PROPILOT_BUTTON", "CRUISE_THROTTLE"),
-        ("CANCEL_BUTTON", "CRUISE_THROTTLE"),
-        ("GAS_PEDAL_INVERTED", "CRUISE_THROTTLE"),
-        ("SET_BUTTON", "CRUISE_THROTTLE"),
-        ("RES_BUTTON", "CRUISE_THROTTLE"),
-        ("FOLLOW_DISTANCE_BUTTON", "CRUISE_THROTTLE"),
-        ("NO_BUTTON_PRESSED", "CRUISE_THROTTLE"),
-        ("GAS_PEDAL", "CRUISE_THROTTLE"),
-        ("USER_BRAKE_PRESSED", "CRUISE_THROTTLE"),
-        ("NEW_SIGNAL_2", "CRUISE_THROTTLE"),
-        ("GAS_PRESSED_INVERTED", "CRUISE_THROTTLE"),
-        ("COUNTER", "CRUISE_THROTTLE"),
-        ("unsure1", "CRUISE_THROTTLE"),
-        ("unsure2", "CRUISE_THROTTLE"),
-        ("unsure3", "CRUISE_THROTTLE"),
-      ]
-
-      checks += [
+      messages += [
         ("GAS_PEDAL", 100),
         ("CRUISE_THROTTLE", 50),
         ("HUD", 25),
       ]
 
     elif CP.carFingerprint in (CAR.LEAF, CAR.LEAF_IC):
-      signals += [
-        ("USER_BRAKE_PRESSED", "CRUISE_THROTTLE"),
-        ("GAS_PEDAL", "CRUISE_THROTTLE"),
-        ("CRUISE_AVAILABLE", "CRUISE_THROTTLE"),
-        ("SPEED_MPH", "HUD_SETTINGS"),
-        ("SEATBELT_DRIVER_LATCHED", "SEATBELT"),
-
-        # Copy other values, we use this to cancel
-        ("CANCEL_SEATBELT", "CANCEL_MSG"),
-        ("NEW_SIGNAL_1", "CANCEL_MSG"),
-        ("NEW_SIGNAL_2", "CANCEL_MSG"),
-        ("NEW_SIGNAL_3", "CANCEL_MSG"),
-      ]
-      checks += [
+      messages += [
         ("BRAKE_PEDAL", 100),
         ("CRUISE_THROTTLE", 50),
         ("CANCEL_MSG", 50),
@@ -206,126 +147,28 @@ class CarState(CarStateBase):
       ]
 
     if CP.carFingerprint == CAR.ALTIMA:
-      signals += [
-        ("LKAS_ENABLED", "LKAS_SETTINGS"),
-        ("CRUISE_ENABLED", "CRUISE_STATE"),
-        ("SET_SPEED", "PROPILOT_HUD"),
-      ]
-      checks += [
+      messages += [
         ("CRUISE_STATE", 10),
         ("LKAS_SETTINGS", 10),
         ("PROPILOT_HUD", 50),
       ]
-      return CANParser(DBC[CP.carFingerprint]["pt"], signals, checks, 1)
+      return CANParser(DBC[CP.carFingerprint]["pt"], messages, 1)
 
-    signals.append(("STEER_TORQUE_DRIVER", "STEER_TORQUE_SENSOR"))
-    checks.append(("STEER_TORQUE_SENSOR", 100))
+    messages.append(("STEER_TORQUE_SENSOR", 100))
 
-    return CANParser(DBC[CP.carFingerprint]["pt"], signals, checks, 0)
+    return CANParser(DBC[CP.carFingerprint]["pt"], messages, 0)
 
   @staticmethod
   def get_adas_can_parser(CP):
     # this function generates lists for signal, messages and initial values
 
     if CP.carFingerprint == CAR.ALTIMA:
-      signals = [
-        ("DESIRED_ANGLE", "LKAS"),
-        ("SET_0x80_2", "LKAS"),
-        ("MAX_TORQUE", "LKAS"),
-        ("SET_0x80", "LKAS"),
-        ("COUNTER", "LKAS"),
-        ("LKA_ACTIVE", "LKAS"),
-
-        ("CRUISE_ON", "PRO_PILOT"),
-      ]
-      checks = [
+      messages = [
         ("LKAS", 100),
         ("PRO_PILOT", 100),
       ]
     else:
-      signals = [
-        # sig_name, sig_address
-        ("LKAS_ENABLED", "LKAS_SETTINGS"),
-
-        ("CRUISE_ENABLED", "CRUISE_STATE"),
-
-        ("DESIRED_ANGLE", "LKAS"),
-        ("SET_0x80_2", "LKAS"),
-        ("MAX_TORQUE", "LKAS"),
-        ("SET_0x80", "LKAS"),
-        ("COUNTER", "LKAS"),
-        ("LKA_ACTIVE", "LKAS"),
-
-        # Below are the HUD messages. We copy the stock message and modify
-        ("LARGE_WARNING_FLASHING", "PROPILOT_HUD"),
-        ("SIDE_RADAR_ERROR_FLASHING1", "PROPILOT_HUD"),
-        ("SIDE_RADAR_ERROR_FLASHING2", "PROPILOT_HUD"),
-        ("LEAD_CAR", "PROPILOT_HUD"),
-        ("LEAD_CAR_ERROR", "PROPILOT_HUD"),
-        ("FRONT_RADAR_ERROR", "PROPILOT_HUD"),
-        ("FRONT_RADAR_ERROR_FLASHING", "PROPILOT_HUD"),
-        ("SIDE_RADAR_ERROR_FLASHING3", "PROPILOT_HUD"),
-        ("LKAS_ERROR_FLASHING", "PROPILOT_HUD"),
-        ("SAFETY_SHIELD_ACTIVE", "PROPILOT_HUD"),
-        ("RIGHT_LANE_GREEN_FLASH", "PROPILOT_HUD"),
-        ("LEFT_LANE_GREEN_FLASH", "PROPILOT_HUD"),
-        ("FOLLOW_DISTANCE", "PROPILOT_HUD"),
-        ("AUDIBLE_TONE", "PROPILOT_HUD"),
-        ("SPEED_SET_ICON", "PROPILOT_HUD"),
-        ("SMALL_STEERING_WHEEL_ICON", "PROPILOT_HUD"),
-        ("unknown59", "PROPILOT_HUD"),
-        ("unknown55", "PROPILOT_HUD"),
-        ("unknown26", "PROPILOT_HUD"),
-        ("unknown28", "PROPILOT_HUD"),
-        ("unknown31", "PROPILOT_HUD"),
-        ("SET_SPEED", "PROPILOT_HUD"),
-        ("unknown43", "PROPILOT_HUD"),
-        ("unknown08", "PROPILOT_HUD"),
-        ("unknown05", "PROPILOT_HUD"),
-        ("unknown02", "PROPILOT_HUD"),
-
-        ("NA_HIGH_ACCEL_TEMP", "PROPILOT_HUD_INFO_MSG"),
-        ("SIDE_RADAR_NA_HIGH_CABIN_TEMP", "PROPILOT_HUD_INFO_MSG"),
-        ("SIDE_RADAR_MALFUNCTION", "PROPILOT_HUD_INFO_MSG"),
-        ("LKAS_MALFUNCTION", "PROPILOT_HUD_INFO_MSG"),
-        ("FRONT_RADAR_MALFUNCTION", "PROPILOT_HUD_INFO_MSG"),
-        ("SIDE_RADAR_NA_CLEAN_REAR_CAMERA", "PROPILOT_HUD_INFO_MSG"),
-        ("NA_POOR_ROAD_CONDITIONS", "PROPILOT_HUD_INFO_MSG"),
-        ("CURRENTLY_UNAVAILABLE", "PROPILOT_HUD_INFO_MSG"),
-        ("SAFETY_SHIELD_OFF", "PROPILOT_HUD_INFO_MSG"),
-        ("FRONT_COLLISION_NA_FRONT_RADAR_OBSTRUCTION", "PROPILOT_HUD_INFO_MSG"),
-        ("PEDAL_MISSAPPLICATION_SYSTEM_ACTIVATED", "PROPILOT_HUD_INFO_MSG"),
-        ("SIDE_IMPACT_NA_RADAR_OBSTRUCTION", "PROPILOT_HUD_INFO_MSG"),
-        ("WARNING_DO_NOT_ENTER", "PROPILOT_HUD_INFO_MSG"),
-        ("SIDE_IMPACT_SYSTEM_OFF", "PROPILOT_HUD_INFO_MSG"),
-        ("SIDE_IMPACT_MALFUNCTION", "PROPILOT_HUD_INFO_MSG"),
-        ("FRONT_COLLISION_MALFUNCTION", "PROPILOT_HUD_INFO_MSG"),
-        ("SIDE_RADAR_MALFUNCTION2", "PROPILOT_HUD_INFO_MSG"),
-        ("LKAS_MALFUNCTION2", "PROPILOT_HUD_INFO_MSG"),
-        ("FRONT_RADAR_MALFUNCTION2", "PROPILOT_HUD_INFO_MSG"),
-        ("PROPILOT_NA_MSGS", "PROPILOT_HUD_INFO_MSG"),
-        ("BOTTOM_MSG", "PROPILOT_HUD_INFO_MSG"),
-        ("HANDS_ON_WHEEL_WARNING", "PROPILOT_HUD_INFO_MSG"),
-        ("WARNING_STEP_ON_BRAKE_NOW", "PROPILOT_HUD_INFO_MSG"),
-        ("PROPILOT_NA_FRONT_CAMERA_OBSTRUCTED", "PROPILOT_HUD_INFO_MSG"),
-        ("PROPILOT_NA_HIGH_CABIN_TEMP", "PROPILOT_HUD_INFO_MSG"),
-        ("WARNING_PROPILOT_MALFUNCTION", "PROPILOT_HUD_INFO_MSG"),
-        ("ACC_UNAVAILABLE_HIGH_CABIN_TEMP", "PROPILOT_HUD_INFO_MSG"),
-        ("ACC_NA_FRONT_CAMERA_IMPARED", "PROPILOT_HUD_INFO_MSG"),
-        ("unknown07", "PROPILOT_HUD_INFO_MSG"),
-        ("unknown10", "PROPILOT_HUD_INFO_MSG"),
-        ("unknown15", "PROPILOT_HUD_INFO_MSG"),
-        ("unknown23", "PROPILOT_HUD_INFO_MSG"),
-        ("unknown19", "PROPILOT_HUD_INFO_MSG"),
-        ("unknown31", "PROPILOT_HUD_INFO_MSG"),
-        ("unknown32", "PROPILOT_HUD_INFO_MSG"),
-        ("unknown46", "PROPILOT_HUD_INFO_MSG"),
-        ("unknown61", "PROPILOT_HUD_INFO_MSG"),
-        ("unknown55", "PROPILOT_HUD_INFO_MSG"),
-        ("unknown50", "PROPILOT_HUD_INFO_MSG"),
-      ]
-
-      checks = [
+      messages = [
         ("PROPILOT_HUD_INFO_MSG", 2),
         ("LKAS_SETTINGS", 10),
         ("CRUISE_STATE", 50),
@@ -333,19 +176,16 @@ class CarState(CarStateBase):
         ("LKAS", 100),
       ]
 
-    return CANParser(DBC[CP.carFingerprint]["pt"], signals, checks, 2)
+    return CANParser(DBC[CP.carFingerprint]["pt"], messages, 2)
 
   @staticmethod
   def get_cam_can_parser(CP):
-    signals = []
-    checks = []
+    messages = []
 
     if CP.carFingerprint in (CAR.ROGUE, CAR.XTRAIL):
-      signals.append(("CRUISE_ON", "PRO_PILOT"))
-      checks.append(("PRO_PILOT", 100))
+      messages.append(("PRO_PILOT", 100))
     elif CP.carFingerprint == CAR.ALTIMA:
-      signals.append(("STEER_TORQUE_DRIVER", "STEER_TORQUE_SENSOR"))
-      checks.append(("STEER_TORQUE_SENSOR", 100))
-      return CANParser(DBC[CP.carFingerprint]["pt"], signals, checks, 0)
+      messages.append(("STEER_TORQUE_SENSOR", 100))
+      return CANParser(DBC[CP.carFingerprint]["pt"], messages, 0)
 
-    return CANParser(DBC[CP.carFingerprint]["pt"], signals, checks, 1)
+    return CANParser(DBC[CP.carFingerprint]["pt"], messages, 1)
diff --git a/selfdrive/car/nissan/interface.py b/selfdrive/car/nissan/interface.py
index 573dff9f05..f26dea43af 100644
--- a/selfdrive/car/nissan/interface.py
+++ b/selfdrive/car/nissan/interface.py
@@ -47,7 +47,7 @@ class CarInterface(CarInterfaceBase):
     be.type = car.CarState.ButtonEvent.Type.accelCruise
     buttonEvents.append(be)
 
-    events = self.create_common_events(ret)
+    events = self.create_common_events(ret, extra_gears=[car.CarState.GearShifter.brake])
 
     if self.CS.lkas_enabled:
       events.add(car.CarEvent.EventName.invalidLkasSetting)
diff --git a/selfdrive/car/nissan/values.py b/selfdrive/car/nissan/values.py
index 568c33630b..e1970ded48 100644
--- a/selfdrive/car/nissan/values.py
+++ b/selfdrive/car/nissan/values.py
@@ -1,4 +1,5 @@
-from dataclasses import dataclass
+# ruff: noqa: E501
+from dataclasses import dataclass, field
 from typing import Dict, List, Optional, Union
 
 from cereal import car
@@ -33,7 +34,7 @@ class CAR:
 @dataclass
 class NissanCarInfo(CarInfo):
   package: str = "ProPILOT Assist"
-  car_parts: CarParts = CarParts.common([CarHarness.nissan_a])
+  car_parts: CarParts = field(default_factory=CarParts.common([CarHarness.nissan_a]))
 
 
 CAR_INFO: Dict[str, Optional[Union[NissanCarInfo, List[NissanCarInfo]]]] = {
@@ -79,8 +80,8 @@ FINGERPRINTS = {
   ]
 }
 
-NISSAN_DIAGNOSTIC_REQUEST_KWP = bytes([uds.SERVICE_TYPE.DIAGNOSTIC_SESSION_CONTROL, 0xc0])
-NISSAN_DIAGNOSTIC_RESPONSE_KWP = bytes([uds.SERVICE_TYPE.DIAGNOSTIC_SESSION_CONTROL + 0x40, 0xc0])
+NISSAN_DIAGNOSTIC_REQUEST_KWP = bytes([uds.SERVICE_TYPE.DIAGNOSTIC_SESSION_CONTROL, 0x81])
+NISSAN_DIAGNOSTIC_RESPONSE_KWP = bytes([uds.SERVICE_TYPE.DIAGNOSTIC_SESSION_CONTROL + 0x40, 0x81])
 
 NISSAN_VERSION_REQUEST_KWP = b'\x21\x83'
 NISSAN_VERSION_RESPONSE_KWP = b'\x61\x83'
diff --git a/selfdrive/car/subaru/carcontroller.py b/selfdrive/car/subaru/carcontroller.py
index ae3305fbe4..b37c88797a 100644
--- a/selfdrive/car/subaru/carcontroller.py
+++ b/selfdrive/car/subaru/carcontroller.py
@@ -1,7 +1,7 @@
 from opendbc.can.packer import CANPacker
 from selfdrive.car import apply_driver_steer_torque_limits
 from selfdrive.car.subaru import subarucan
-from selfdrive.car.subaru.values import DBC, GLOBAL_GEN2, PREGLOBAL_CARS, CarControllerParams, SubaruFlags
+from selfdrive.car.subaru.values import DBC, GLOBAL_GEN2, PREGLOBAL_CARS, CanBus, CarControllerParams, SubaruFlags
 
 
 class CarController:
@@ -36,15 +36,14 @@ class CarController:
         apply_steer = 0
 
       if self.CP.carFingerprint in PREGLOBAL_CARS:
-        can_sends.append(subarucan.create_preglobal_steering_control(self.packer, apply_steer))
+        can_sends.append(subarucan.create_preglobal_steering_control(self.packer, apply_steer, CC.latActive))
       else:
-        can_sends.append(subarucan.create_steering_control(self.packer, apply_steer))
+        can_sends.append(subarucan.create_steering_control(self.packer, apply_steer, CC.latActive))
 
       self.apply_steer_last = apply_steer
 
 
     # *** alerts and pcm cancel ***
-
     if self.CP.carFingerprint in PREGLOBAL_CARS:
       if self.frame % 5 == 0:
         # 1 = main, 2 = set shallow, 3 = set deep, 4 = resume shallow, 5 = resume deep
@@ -66,7 +65,7 @@ class CarController:
 
     else:
       if pcm_cancel_cmd and (self.frame - self.last_cancel_frame) > 0.2:
-        bus = 1 if self.CP.carFingerprint in GLOBAL_GEN2 else 0
+        bus = CanBus.alt if self.CP.carFingerprint in GLOBAL_GEN2 else CanBus.main
         can_sends.append(subarucan.create_es_distance(self.packer, CS.es_distance_msg, bus, pcm_cancel_cmd))
         self.last_cancel_frame = self.frame
 
@@ -76,9 +75,9 @@ class CarController:
         can_sends.append(subarucan.create_es_lkas_state(self.packer, CS.es_lkas_state_msg, CC.enabled, hud_control.visualAlert,
                                                         hud_control.leftLaneVisible, hud_control.rightLaneVisible,
                                                         hud_control.leftLaneDepart, hud_control.rightLaneDepart))
-                                                        
+
         if self.CP.flags & SubaruFlags.SEND_INFOTAINMENT:
-          can_sends.append(subarucan.create_infotainmentstatus(self.packer, CS.es_infotainmentstatus_msg, hud_control.visualAlert))
+          can_sends.append(subarucan.create_es_infotainment(self.packer, CS.es_infotainment_msg, hud_control.visualAlert))
 
     new_actuators = actuators.copy()
     new_actuators.steer = self.apply_steer_last / self.p.STEER_MAX
diff --git a/selfdrive/car/subaru/carstate.py b/selfdrive/car/subaru/carstate.py
index 8ce31b1842..da8f88ed02 100644
--- a/selfdrive/car/subaru/carstate.py
+++ b/selfdrive/car/subaru/carstate.py
@@ -4,7 +4,7 @@ from opendbc.can.can_define import CANDefine
 from common.conversions import Conversions as CV
 from selfdrive.car.interfaces import CarStateBase
 from opendbc.can.parser import CANParser
-from selfdrive.car.subaru.values import DBC, CAR, GLOBAL_GEN2, PREGLOBAL_CARS, SubaruFlags
+from selfdrive.car.subaru.values import DBC, CAR, GLOBAL_GEN2, PREGLOBAL_CARS, CanBus, SubaruFlags
 
 
 class CarState(CarStateBase):
@@ -69,6 +69,7 @@ class CarState(CarStateBase):
                         cp.vl["BodyInfo"]["DOOR_OPEN_FL"]])
     ret.steerFaultPermanent = cp.vl["Steering_Torque"]["Steer_Error_1"] == 1
 
+    cp_es_distance = cp_body if self.car_fingerprint in GLOBAL_GEN2 else cp_cam
     if self.car_fingerprint in PREGLOBAL_CARS:
       self.cruise_button = cp_cam.vl["ES_Distance"]["Cruise_Button"]
       self.ready = not cp_cam.vl["ES_DashStatus"]["Not_Ready_Startup"]
@@ -76,87 +77,42 @@ class CarState(CarStateBase):
       ret.steerFaultTemporary = cp.vl["Steering_Torque"]["Steer_Warning"] == 1
       ret.cruiseState.nonAdaptive = cp_cam.vl["ES_DashStatus"]["Conventional_Cruise"] == 1
       ret.cruiseState.standstill = cp_cam.vl["ES_DashStatus"]["Cruise_State"] == 3
-      ret.stockFcw = cp_cam.vl["ES_LKAS_State"]["LKAS_Alert"] == 2
+      ret.stockFcw = (cp_cam.vl["ES_LKAS_State"]["LKAS_Alert"] == 1) or \
+                     (cp_cam.vl["ES_LKAS_State"]["LKAS_Alert"] == 2)
+      # 8 is known AEB, there are a few other values related to AEB we ignore
+      ret.stockAeb = (cp_es_distance.vl["ES_Brake"]["AEB_Status"] == 8) and \
+                     (cp_es_distance.vl["ES_Brake"]["Brake_Pressure"] != 0)
       self.es_lkas_state_msg = copy.copy(cp_cam.vl["ES_LKAS_State"])
 
-    cp_es_distance = cp_body if self.car_fingerprint in GLOBAL_GEN2 else cp_cam
     self.es_distance_msg = copy.copy(cp_es_distance.vl["ES_Distance"])
     self.es_dashstatus_msg = copy.copy(cp_cam.vl["ES_DashStatus"])
     if self.CP.flags & SubaruFlags.SEND_INFOTAINMENT:
-      self.es_infotainmentstatus_msg = copy.copy(cp_cam.vl["INFOTAINMENT_STATUS"])
+      self.es_infotainment_msg = copy.copy(cp_cam.vl["ES_Infotainment"])
 
     return ret
 
   @staticmethod
-  def get_common_global_signals():
-    signals = [
-      ("Cruise_On", "CruiseControl"),
-      ("Cruise_Activated", "CruiseControl"),
-      ("FL", "Wheel_Speeds"),
-      ("FR", "Wheel_Speeds"),
-      ("RL", "Wheel_Speeds"),
-      ("RR", "Wheel_Speeds"),
-      ("Brake", "Brake_Status"),
-    ]
-    checks = [
+  def get_common_global_body_messages():
+    messages = [
       ("CruiseControl", 20),
       ("Wheel_Speeds", 50),
       ("Brake_Status", 50),
     ]
 
-    return signals, checks
+    return messages
 
   @staticmethod
-  def get_global_es_distance_signals():
-    signals = [
-      ("COUNTER", "ES_Distance"),
-      ("CHECKSUM", "ES_Distance"),
-      ("Signal1", "ES_Distance"),
-      ("Cruise_Fault", "ES_Distance"),
-      ("Cruise_Throttle", "ES_Distance"),
-      ("Signal2", "ES_Distance"),
-      ("Car_Follow", "ES_Distance"),
-      ("Signal3", "ES_Distance"),
-      ("Cruise_Soft_Disable", "ES_Distance"),
-      ("Signal7", "ES_Distance"),
-      ("Cruise_Brake_Active", "ES_Distance"),
-      ("Distance_Swap", "ES_Distance"),
-      ("Cruise_EPB", "ES_Distance"),
-      ("Signal4", "ES_Distance"),
-      ("Close_Distance", "ES_Distance"),
-      ("Signal5", "ES_Distance"),
-      ("Cruise_Cancel", "ES_Distance"),
-      ("Cruise_Set", "ES_Distance"),
-      ("Cruise_Resume", "ES_Distance"),
-      ("Signal6", "ES_Distance"),
-    ]
-    checks = [
+  def get_common_global_es_messages():
+    messages = [
+      ("ES_Brake", 20),
       ("ES_Distance", 20),
     ]
 
-    return signals, checks
+    return messages
 
   @staticmethod
   def get_can_parser(CP):
-    signals = [
-      # sig_name, sig_address
-      ("Steer_Torque_Sensor", "Steering_Torque"),
-      ("Steer_Torque_Output", "Steering_Torque"),
-      ("Steering_Angle", "Steering_Torque"),
-      ("Steer_Error_1", "Steering_Torque"),
-      ("Brake_Pedal", "Brake_Pedal"),
-      ("Throttle_Pedal", "Throttle"),
-      ("LEFT_BLINKER", "Dashlights"),
-      ("RIGHT_BLINKER", "Dashlights"),
-      ("SEATBELT_FL", "Dashlights"),
-      ("DOOR_OPEN_FR", "BodyInfo"),
-      ("DOOR_OPEN_FL", "BodyInfo"),
-      ("DOOR_OPEN_RR", "BodyInfo"),
-      ("DOOR_OPEN_RL", "BodyInfo"),
-      ("Gear", "Transmission"),
-    ]
-
-    checks = [
+    messages = [
       # sig_address, frequency
       ("Throttle", 100),
       ("Dashlights", 10),
@@ -167,164 +123,63 @@ class CarState(CarStateBase):
     ]
 
     if CP.enableBsm:
-      signals += [
-        ("L_ADJACENT", "BSD_RCTA"),
-        ("R_ADJACENT", "BSD_RCTA"),
-        ("L_APPROACHING", "BSD_RCTA"),
-        ("R_APPROACHING", "BSD_RCTA"),
-      ]
-      checks.append(("BSD_RCTA", 17))
+      messages.append(("BSD_RCTA", 17))
 
     if CP.carFingerprint not in PREGLOBAL_CARS:
       if CP.carFingerprint not in GLOBAL_GEN2:
-        signals += CarState.get_common_global_signals()[0]
-        checks += CarState.get_common_global_signals()[1]
+        messages += CarState.get_common_global_body_messages()
 
-      signals += [
-        ("Steer_Warning", "Steering_Torque"),
-        ("UNITS", "Dashlights"),
-      ]
-
-      checks += [
+      messages += [
         ("Dashlights", 10),
         ("BodyInfo", 10),
       ]
     else:
-      signals += [
-        ("FL", "Wheel_Speeds"),
-        ("FR", "Wheel_Speeds"),
-        ("RL", "Wheel_Speeds"),
-        ("RR", "Wheel_Speeds"),
-        ("UNITS", "Dash_State2"),
-        ("Cruise_On", "CruiseControl"),
-        ("Cruise_Activated", "CruiseControl"),
-      ]
-      checks += [
+      messages += [
         ("Wheel_Speeds", 50),
         ("Dash_State2", 1),
       ]
 
       if CP.carFingerprint == CAR.FORESTER_PREGLOBAL:
-        checks += [
+        messages += [
           ("Dashlights", 20),
           ("BodyInfo", 1),
           ("CruiseControl", 50),
         ]
 
       if CP.carFingerprint in (CAR.LEGACY_PREGLOBAL, CAR.OUTBACK_PREGLOBAL, CAR.OUTBACK_PREGLOBAL_2018):
-        checks += [
+        messages += [
           ("Dashlights", 10),
           ("CruiseControl", 50),
         ]
 
-    return CANParser(DBC[CP.carFingerprint]["pt"], signals, checks, 0)
+    return CANParser(DBC[CP.carFingerprint]["pt"], messages, CanBus.main)
 
   @staticmethod
   def get_cam_can_parser(CP):
     if CP.carFingerprint in PREGLOBAL_CARS:
-      signals = [
-        ("Cruise_Set_Speed", "ES_DashStatus"),
-        ("Not_Ready_Startup", "ES_DashStatus"),
-
-        ("Cruise_Throttle", "ES_Distance"),
-        ("Signal1", "ES_Distance"),
-        ("Car_Follow", "ES_Distance"),
-        ("Signal2", "ES_Distance"),
-        ("Brake_On", "ES_Distance"),
-        ("Distance_Swap", "ES_Distance"),
-        ("Standstill", "ES_Distance"),
-        ("Signal3", "ES_Distance"),
-        ("Close_Distance", "ES_Distance"),
-        ("Signal4", "ES_Distance"),
-        ("Standstill_2", "ES_Distance"),
-        ("Cruise_Fault", "ES_Distance"),
-        ("Signal5", "ES_Distance"),
-        ("COUNTER", "ES_Distance"),
-        ("Signal6", "ES_Distance"),
-        ("Cruise_Button", "ES_Distance"),
-        ("Signal7", "ES_Distance"),
-      ]
-
-      checks = [
+      messages = [
         ("ES_DashStatus", 20),
         ("ES_Distance", 20),
       ]
     else:
-      signals = [
-        ("COUNTER", "ES_DashStatus"),
-        ("CHECKSUM", "ES_DashStatus"),
-        ("PCB_Off", "ES_DashStatus"),
-        ("LDW_Off", "ES_DashStatus"),
-        ("Signal1", "ES_DashStatus"),
-        ("Cruise_State_Msg", "ES_DashStatus"),
-        ("LKAS_State_Msg", "ES_DashStatus"),
-        ("Signal2", "ES_DashStatus"),
-        ("Cruise_Soft_Disable", "ES_DashStatus"),
-        ("Cruise_Status_Msg", "ES_DashStatus"),
-        ("Signal3", "ES_DashStatus"),
-        ("Cruise_Distance", "ES_DashStatus"),
-        ("Signal4", "ES_DashStatus"),
-        ("Conventional_Cruise", "ES_DashStatus"),
-        ("Signal5", "ES_DashStatus"),
-        ("Cruise_Disengaged", "ES_DashStatus"),
-        ("Cruise_Activated", "ES_DashStatus"),
-        ("Signal6", "ES_DashStatus"),
-        ("Cruise_Set_Speed", "ES_DashStatus"),
-        ("Cruise_Fault", "ES_DashStatus"),
-        ("Cruise_On", "ES_DashStatus"),
-        ("Display_Own_Car", "ES_DashStatus"),
-        ("Brake_Lights", "ES_DashStatus"),
-        ("Car_Follow", "ES_DashStatus"),
-        ("Signal7", "ES_DashStatus"),
-        ("Far_Distance", "ES_DashStatus"),
-        ("Cruise_State", "ES_DashStatus"),
-
-        ("COUNTER", "ES_LKAS_State"),
-        ("CHECKSUM", "ES_LKAS_State"),
-        ("LKAS_Alert_Msg", "ES_LKAS_State"),
-        ("Signal1", "ES_LKAS_State"),
-        ("LKAS_ACTIVE", "ES_LKAS_State"),
-        ("LKAS_Dash_State", "ES_LKAS_State"),
-        ("Signal2", "ES_LKAS_State"),
-        ("Backward_Speed_Limit_Menu", "ES_LKAS_State"),
-        ("LKAS_Left_Line_Enable", "ES_LKAS_State"),
-        ("LKAS_Left_Line_Light_Blink", "ES_LKAS_State"),
-        ("LKAS_Right_Line_Enable", "ES_LKAS_State"),
-        ("LKAS_Right_Line_Light_Blink", "ES_LKAS_State"),
-        ("LKAS_Left_Line_Visible", "ES_LKAS_State"),
-        ("LKAS_Right_Line_Visible", "ES_LKAS_State"),
-        ("LKAS_Alert", "ES_LKAS_State"),
-        ("Signal3", "ES_LKAS_State"),
-      ]
-
-      checks = [
+      messages = [
         ("ES_DashStatus", 10),
         ("ES_LKAS_State", 10),
       ]
 
       if CP.carFingerprint not in GLOBAL_GEN2:
-        signals += CarState.get_global_es_distance_signals()[0]
-        checks += CarState.get_global_es_distance_signals()[1]
+        messages += CarState.get_common_global_es_messages()
 
       if CP.flags & SubaruFlags.SEND_INFOTAINMENT:
-        signals += [
-          ("COUNTER", "INFOTAINMENT_STATUS"),
-          ("CHECKSUM", "INFOTAINMENT_STATUS"),
-          ("LKAS_State_Infotainment", "INFOTAINMENT_STATUS"),
-          ("LKAS_Blue_Lines", "INFOTAINMENT_STATUS"),
-          ("Signal1", "INFOTAINMENT_STATUS"),
-          ("Signal2", "INFOTAINMENT_STATUS"),
-        ]
-        checks.append(("INFOTAINMENT_STATUS", 10))
+        messages.append(("ES_Infotainment", 10))
 
-    return CANParser(DBC[CP.carFingerprint]["pt"], signals, checks, 2)
+    return CANParser(DBC[CP.carFingerprint]["pt"], messages, CanBus.camera)
 
   @staticmethod
   def get_body_can_parser(CP):
     if CP.carFingerprint in GLOBAL_GEN2:
-      signals, checks = CarState.get_common_global_signals()
-      signals += CarState.get_global_es_distance_signals()[0]
-      checks += CarState.get_global_es_distance_signals()[1]
-      return CANParser(DBC[CP.carFingerprint]["pt"], signals, checks, 1)
+      messages = CarState.get_common_global_body_messages()
+      messages += CarState.get_common_global_es_messages()
+      return CANParser(DBC[CP.carFingerprint]["pt"], messages, CanBus.alt)
 
     return None
diff --git a/selfdrive/car/subaru/interface.py b/selfdrive/car/subaru/interface.py
index f7698dbe7c..b01d1eb3bc 100644
--- a/selfdrive/car/subaru/interface.py
+++ b/selfdrive/car/subaru/interface.py
@@ -3,7 +3,7 @@ from cereal import car
 from panda import Panda
 from selfdrive.car import STD_CARGO_KG, get_safety_config
 from selfdrive.car.interfaces import CarInterfaceBase
-from selfdrive.car.subaru.values import CAR, GLOBAL_GEN2, PREGLOBAL_CARS, SubaruFlags
+from selfdrive.car.subaru.values import CAR, LKAS_ANGLE, GLOBAL_GEN2, PREGLOBAL_CARS, SubaruFlags
 
 
 class CarInterface(CarInterfaceBase):
@@ -12,7 +12,7 @@ class CarInterface(CarInterfaceBase):
   def _get_params(ret, candidate, fingerprint, car_fw, experimental_long, docs):
     ret.carName = "subaru"
     ret.radarUnavailable = True
-    ret.dashcamOnly = candidate in PREGLOBAL_CARS
+    ret.dashcamOnly = candidate in (PREGLOBAL_CARS | LKAS_ANGLE)
     ret.autoResumeSng = False
 
     # Detect infotainment message sent from the camera
@@ -30,7 +30,11 @@ class CarInterface(CarInterfaceBase):
 
     ret.steerLimitTimer = 0.4
     ret.steerActuatorDelay = 0.1
-    CarInterfaceBase.configure_torque_tune(candidate, ret.lateralTuning)
+
+    if candidate in LKAS_ANGLE:
+      ret.steerControlType = car.CarParams.SteerControlType.angle
+    else:
+      CarInterfaceBase.configure_torque_tune(candidate, ret.lateralTuning)
 
     if candidate == CAR.ASCENT:
       ret.mass = 2031. + STD_CARGO_KG
@@ -64,7 +68,7 @@ class CarInterface(CarInterfaceBase):
       ret.lateralTuning.pid.kiBP, ret.lateralTuning.pid.kpBP = [[0., 14., 23.], [0., 14., 23.]]
       ret.lateralTuning.pid.kpV, ret.lateralTuning.pid.kiV = [[0.045, 0.042, 0.20], [0.04, 0.035, 0.045]]
 
-    elif candidate == CAR.FORESTER:
+    elif candidate in (CAR.FORESTER, CAR.FORESTER_2022):
       ret.mass = 1568. + STD_CARGO_KG
       ret.wheelbase = 2.67
       ret.centerToFront = ret.wheelbase * 0.5
@@ -74,13 +78,12 @@ class CarInterface(CarInterfaceBase):
       ret.lateralTuning.pid.kiBP, ret.lateralTuning.pid.kpBP = [[0., 14., 23.], [0., 14., 23.]]
       ret.lateralTuning.pid.kpV, ret.lateralTuning.pid.kiV = [[0.01, 0.065, 0.2], [0.001, 0.015, 0.025]]
 
-    elif candidate in (CAR.OUTBACK, CAR.LEGACY):
+    elif candidate in (CAR.OUTBACK, CAR.LEGACY, CAR.OUTBACK_2023):
       ret.mass = 1568. + STD_CARGO_KG
       ret.wheelbase = 2.67
       ret.centerToFront = ret.wheelbase * 0.5
       ret.steerRatio = 17
       ret.steerActuatorDelay = 0.1
-      CarInterfaceBase.configure_torque_tune(candidate, ret.lateralTuning)
 
     elif candidate in (CAR.FORESTER_PREGLOBAL, CAR.OUTBACK_PREGLOBAL_2018):
       ret.safetyConfigs[0].safetyParam = 1  # Outback 2018-2019 and Forester have reversed driver torque signal
@@ -101,7 +104,6 @@ class CarInterface(CarInterfaceBase):
       ret.wheelbase = 2.67
       ret.centerToFront = ret.wheelbase * 0.5
       ret.steerRatio = 20           # learned, 14 stock
-
     else:
       raise ValueError(f"unknown car: {candidate}")
 
diff --git a/selfdrive/car/subaru/subarucan.py b/selfdrive/car/subaru/subarucan.py
index bc9bf4c0a0..0c32a150d8 100644
--- a/selfdrive/car/subaru/subarucan.py
+++ b/selfdrive/car/subaru/subarucan.py
@@ -1,12 +1,13 @@
 from cereal import car
+from selfdrive.car.subaru.values import CanBus
 
 VisualAlert = car.CarControl.HUDControl.VisualAlert
 
 
-def create_steering_control(packer, apply_steer):
+def create_steering_control(packer, apply_steer, steer_req):
   values = {
     "LKAS_Output": apply_steer,
-    "LKAS_Request": 1 if apply_steer != 0 else 0,
+    "LKAS_Request": steer_req,
     "SET_1": 1
   }
   return packer.make_can_msg("ES_LKAS", 0, values)
@@ -102,7 +103,7 @@ def create_es_lkas_state(packer, es_lkas_state_msg, enabled, visual_alert, left_
   values["LKAS_Left_Line_Visible"] = int(left_line)
   values["LKAS_Right_Line_Visible"] = int(right_line)
 
-  return packer.make_can_msg("ES_LKAS_State", 0, values)
+  return packer.make_can_msg("ES_LKAS_State", CanBus.main, values)
 
 
 def create_es_dashstatus(packer, dashstatus_msg):
@@ -140,12 +141,12 @@ def create_es_dashstatus(packer, dashstatus_msg):
   if values["LKAS_State_Msg"] in (2, 3):
     values["LKAS_State_Msg"] = 0
 
-  return packer.make_can_msg("ES_DashStatus", 0, values)
+  return packer.make_can_msg("ES_DashStatus", CanBus.main, values)
 
 
-def create_infotainmentstatus(packer, infotainmentstatus_msg, visual_alert):
+def create_es_infotainment(packer, es_infotainment_msg, visual_alert):
   # Filter stock LKAS disabled and Keep hands on steering wheel OFF alerts
-  values = {s: infotainmentstatus_msg[s] for s in [
+  values = {s: es_infotainment_msg[s] for s in [
     "CHECKSUM",
     "COUNTER",
     "LKAS_State_Infotainment",
@@ -164,7 +165,7 @@ def create_infotainmentstatus(packer, infotainmentstatus_msg, visual_alert):
   if visual_alert == VisualAlert.fcw:
     values["LKAS_State_Infotainment"] = 2
 
-  return packer.make_can_msg("INFOTAINMENT_STATUS", 0, values)
+  return packer.make_can_msg("ES_Infotainment", CanBus.main, values)
 
 
 # *** Subaru Pre-global ***
@@ -174,14 +175,14 @@ def subaru_preglobal_checksum(packer, values, addr):
   return (sum(dat[:7])) % 256
 
 
-def create_preglobal_steering_control(packer, apply_steer):
+def create_preglobal_steering_control(packer, apply_steer, steer_req):
   values = {
     "LKAS_Command": apply_steer,
-    "LKAS_Active": 1 if apply_steer != 0 else 0
+    "LKAS_Active": steer_req,
   }
   values["Checksum"] = subaru_preglobal_checksum(packer, values, "ES_LKAS")
 
-  return packer.make_can_msg("ES_LKAS", 0, values)
+  return packer.make_can_msg("ES_LKAS", CanBus.main, values)
 
 
 def create_preglobal_es_distance(packer, cruise_button, es_distance_msg):
@@ -208,4 +209,4 @@ def create_preglobal_es_distance(packer, cruise_button, es_distance_msg):
   values["Cruise_Button"] = cruise_button
   values["Checksum"] = subaru_preglobal_checksum(packer, values, "ES_Distance")
 
-  return packer.make_can_msg("ES_Distance", 0, values)
+  return packer.make_can_msg("ES_Distance", CanBus.main, values)
diff --git a/selfdrive/car/subaru/values.py b/selfdrive/car/subaru/values.py
index 12367d9b5a..95708445aa 100644
--- a/selfdrive/car/subaru/values.py
+++ b/selfdrive/car/subaru/values.py
@@ -1,11 +1,11 @@
-from dataclasses import dataclass
-from enum import IntFlag
+from dataclasses import dataclass, field
+from enum import Enum, IntFlag
 from typing import Dict, List, Union
 
 from cereal import car
 from panda.python import uds
 from selfdrive.car import dbc_dict
-from selfdrive.car.docs_definitions import CarHarness, CarInfo, CarParts
+from selfdrive.car.docs_definitions import CarFootnote, CarHarness, CarInfo, CarParts, Tool, Column
 from selfdrive.car.fw_query_definitions import FwQueryConfig, Request, StdQueries, p16
 
 Ecu = car.CarParams.Ecu
@@ -34,6 +34,12 @@ class SubaruFlags(IntFlag):
   SEND_INFOTAINMENT = 1
 
 
+class CanBus:
+  main = 0
+  alt = 1
+  camera = 2
+
+
 class CAR:
   # Global platform
   ASCENT = "SUBARU ASCENT LIMITED 2019"
@@ -42,6 +48,8 @@ class CAR:
   FORESTER = "SUBARU FORESTER 2019"
   OUTBACK = "SUBARU OUTBACK 6TH GEN"
   LEGACY = "SUBARU LEGACY 7TH GEN"
+  FORESTER_2022 = "SUBARU FORESTER 2022"
+  OUTBACK_2023 = "SUBARU OUTBACK 7TH GEN"
 
   # Pre-global
   FORESTER_PREGLOBAL = "SUBARU FORESTER 2017 - 2018"
@@ -50,11 +58,20 @@ class CAR:
   OUTBACK_PREGLOBAL_2018 = "SUBARU OUTBACK 2018 - 2019"
 
 
+class Footnote(Enum):
+  GLOBAL = CarFootnote(
+    "In the non-US market, openpilot requires the car to come equipped with EyeSight with Lane Keep Assistance.",
+    Column.PACKAGE)
+
+
 @dataclass
 class SubaruCarInfo(CarInfo):
   package: str = "EyeSight Driver Assistance"
-  car_parts: CarParts = CarParts.common([CarHarness.subaru_a])
+  car_parts: CarParts = field(default_factory=CarParts.common([CarHarness.subaru_a]))
+  footnotes: List[Enum] = field(default_factory=lambda: [Footnote.GLOBAL])
 
+  def init_make(self, CP: car.CarParams):
+    self.car_parts.parts.extend([Tool.socket_8mm_deep, Tool.pry_tool])
 
 CAR_INFO: Dict[str, Union[SubaruCarInfo, List[SubaruCarInfo]]] = {
   CAR.ASCENT: SubaruCarInfo("Subaru Ascent 2019-21", "All"),
@@ -75,6 +92,8 @@ CAR_INFO: Dict[str, Union[SubaruCarInfo, List[SubaruCarInfo]]] = {
   CAR.LEGACY_PREGLOBAL: SubaruCarInfo("Subaru Legacy 2015-18"),
   CAR.OUTBACK_PREGLOBAL: SubaruCarInfo("Subaru Outback 2015-17"),
   CAR.OUTBACK_PREGLOBAL_2018: SubaruCarInfo("Subaru Outback 2018-19"),
+  CAR.FORESTER_2022: SubaruCarInfo("Subaru Forester 2022", "All", car_parts=CarParts.common([CarHarness.subaru_c])),
+  CAR.OUTBACK_2023: SubaruCarInfo("Subaru Outback 2023", "All", car_parts=CarParts.common([CarHarness.subaru_d])),
 }
 
 SUBARU_VERSION_REQUEST = bytes([uds.SERVICE_TYPE.READ_DATA_BY_IDENTIFIER]) + \
@@ -88,6 +107,11 @@ FW_QUERY_CONFIG = FwQueryConfig(
       [StdQueries.TESTER_PRESENT_REQUEST, SUBARU_VERSION_REQUEST],
       [StdQueries.TESTER_PRESENT_RESPONSE, SUBARU_VERSION_RESPONSE],
     ),
+    # Some Eyesight modules fail on TESTER_PRESENT_REQUEST
+    Request(
+      [SUBARU_VERSION_REQUEST],
+      [SUBARU_VERSION_RESPONSE],
+    ),
   ],
 )
 
@@ -263,6 +287,7 @@ FW_VERSIONS = {
       b'\xf3"f@\x07',
       b'\xe6!fp\x07',
       b'\xf3"fp\x07',
+      b'\xe6"f0\x07',
     ],
     (Ecu.transmission, 0x7e1, None): [
       b'\xe6\xf5\004\000\000',
@@ -273,6 +298,7 @@ FW_VERSIONS = {
       b'\xe6\xf5D0\x00',
       b'\xe9\xf6F0\x00',
       b'\xe9\xf5B0\x00',
+      b'\xe9\xf6B0\x00',
     ],
   },
   CAR.FORESTER: {
@@ -523,6 +549,52 @@ FW_VERSIONS = {
       b'\xa5\xfe\xf8@\x00',
     ],
   },
+  CAR.FORESTER_2022: {
+    (Ecu.abs, 0x7b0, None): [
+      b'\xa3 !x\x00',
+      b'\xa3 !v\x00',
+      b'\xa3 "v\x00',
+      b'\xa3 "x\x00',
+    ],
+    (Ecu.eps, 0x746, None): [
+      b'-\xc0%0',
+      b'-\xc0\x040',
+      b'=\xc0%\x02',
+      b'=\xc04\x02',
+    ],
+    (Ecu.fwdCamera, 0x787, None): [
+      b'\x04!\x01\x1eD\x07!\x00\x04,'
+    ],
+    (Ecu.engine, 0x7e0, None): [
+      b'\xd5"a0\x07',
+      b'\xd5"`0\x07',
+      b'\xf1"aq\x07',
+      b'\xf1"`q\x07',
+    ],
+    (Ecu.transmission, 0x7e1, None): [
+      b'\x1d\x86B0\x00',
+      b'\x1d\xf6B0\x00',
+      b'\x1e\x86B0\x00',
+      b'\x1e\xf6D0\x00',
+    ],
+  },
+  CAR.OUTBACK_2023: {
+    (Ecu.abs, 0x7b0, None): [
+      b'\xa1 #\x17\x00',
+    ],
+    (Ecu.eps, 0x746, None): [
+      b'+\xc0\x12\x11\x00',
+    ],
+    (Ecu.fwdCamera, 0x787, None): [
+      b'\t!\x08\x046\x05!\x08\x01/',
+    ],
+    (Ecu.engine, 0x7a2, None): [
+      b'\xed,\xa2q\x07',
+    ],
+    (Ecu.transmission, 0x7a3, None): [
+      b'\xa8\x8e\xf41\x00',
+    ]
+  }
 }
 
 DBC = {
@@ -530,7 +602,9 @@ DBC = {
   CAR.IMPREZA: dbc_dict('subaru_global_2017_generated', None),
   CAR.IMPREZA_2020: dbc_dict('subaru_global_2017_generated', None),
   CAR.FORESTER: dbc_dict('subaru_global_2017_generated', None),
+  CAR.FORESTER_2022: dbc_dict('subaru_global_2017_generated', None),
   CAR.OUTBACK: dbc_dict('subaru_global_2017_generated', None),
+  CAR.OUTBACK_2023: dbc_dict('subaru_global_2017_generated', None),
   CAR.LEGACY: dbc_dict('subaru_global_2017_generated', None),
   CAR.FORESTER_PREGLOBAL: dbc_dict('subaru_forester_2017_generated', None),
   CAR.LEGACY_PREGLOBAL: dbc_dict('subaru_outback_2015_generated', None),
@@ -538,5 +612,6 @@ DBC = {
   CAR.OUTBACK_PREGLOBAL_2018: dbc_dict('subaru_outback_2019_generated', None),
 }
 
-GLOBAL_GEN2 = (CAR.OUTBACK, CAR.LEGACY)
-PREGLOBAL_CARS = (CAR.FORESTER_PREGLOBAL, CAR.LEGACY_PREGLOBAL, CAR.OUTBACK_PREGLOBAL, CAR.OUTBACK_PREGLOBAL_2018)
+LKAS_ANGLE = {CAR.FORESTER_2022, CAR.OUTBACK_2023}
+GLOBAL_GEN2 = {CAR.OUTBACK, CAR.LEGACY, CAR.OUTBACK_2023}
+PREGLOBAL_CARS = {CAR.FORESTER_PREGLOBAL, CAR.LEGACY_PREGLOBAL, CAR.OUTBACK_PREGLOBAL, CAR.OUTBACK_PREGLOBAL_2018}
diff --git a/selfdrive/car/tesla/carstate.py b/selfdrive/car/tesla/carstate.py
index 0f373842f2..61a6526f07 100644
--- a/selfdrive/car/tesla/carstate.py
+++ b/selfdrive/car/tesla/carstate.py
@@ -78,7 +78,7 @@ class CarState(CarStateBase):
     ret.buttonEvents = buttonEvents
 
     # Doors
-    ret.doorOpen = any([(self.can_define.dv["GTW_carState"][door].get(int(cp.vl["GTW_carState"][door]), "OPEN") == "OPEN") for door in DOORS])
+    ret.doorOpen = any((self.can_define.dv["GTW_carState"][door].get(int(cp.vl["GTW_carState"][door]), "OPEN") == "OPEN") for door in DOORS)
 
     # Blinkers
     ret.leftBlinker = (cp.vl["GTW_carState"]["BC_indicatorLStatus"] == 1)
@@ -101,68 +101,7 @@ class CarState(CarStateBase):
 
   @staticmethod
   def get_can_parser(CP):
-    signals = [
-      # sig_name, sig_address
-      ("ESP_vehicleSpeed", "ESP_B"),
-      ("DI_pedalPos", "DI_torque1"),
-      ("DI_brakePedal", "DI_torque2"),
-      ("StW_AnglHP", "STW_ANGLHP_STAT"),
-      ("StW_AnglHP_Spd", "STW_ANGLHP_STAT"),
-      ("EPAS_handsOnLevel", "EPAS_sysStatus"),
-      ("EPAS_torsionBarTorque", "EPAS_sysStatus"),
-      ("EPAS_internalSAS", "EPAS_sysStatus"),
-      ("EPAS_eacStatus", "EPAS_sysStatus"),
-      ("EPAS_eacErrorCode", "EPAS_sysStatus"),
-      ("DI_cruiseState", "DI_state"),
-      ("DI_digitalSpeed", "DI_state"),
-      ("DI_speedUnits", "DI_state"),
-      ("DI_gear", "DI_torque2"),
-      ("DOOR_STATE_FL", "GTW_carState"),
-      ("DOOR_STATE_FR", "GTW_carState"),
-      ("DOOR_STATE_RL", "GTW_carState"),
-      ("DOOR_STATE_RR", "GTW_carState"),
-      ("DOOR_STATE_FrontTrunk", "GTW_carState"),
-      ("BOOT_STATE", "GTW_carState"),
-      ("BC_indicatorLStatus", "GTW_carState"),
-      ("BC_indicatorRStatus", "GTW_carState"),
-      ("SDM_bcklDrivStatus", "SDM1"),
-      ("driverBrakeStatus", "BrakeMessage"),
-
-      # We copy this whole message when spamming cancel
-      ("SpdCtrlLvr_Stat", "STW_ACTN_RQ"),
-      ("VSL_Enbl_Rq", "STW_ACTN_RQ"),
-      ("SpdCtrlLvrStat_Inv", "STW_ACTN_RQ"),
-      ("DTR_Dist_Rq", "STW_ACTN_RQ"),
-      ("TurnIndLvr_Stat", "STW_ACTN_RQ"),
-      ("HiBmLvr_Stat", "STW_ACTN_RQ"),
-      ("WprWashSw_Psd", "STW_ACTN_RQ"),
-      ("WprWash_R_Sw_Posn_V2", "STW_ACTN_RQ"),
-      ("StW_Lvr_Stat", "STW_ACTN_RQ"),
-      ("StW_Cond_Flt", "STW_ACTN_RQ"),
-      ("StW_Cond_Psd", "STW_ACTN_RQ"),
-      ("HrnSw_Psd", "STW_ACTN_RQ"),
-      ("StW_Sw00_Psd", "STW_ACTN_RQ"),
-      ("StW_Sw01_Psd", "STW_ACTN_RQ"),
-      ("StW_Sw02_Psd", "STW_ACTN_RQ"),
-      ("StW_Sw03_Psd", "STW_ACTN_RQ"),
-      ("StW_Sw04_Psd", "STW_ACTN_RQ"),
-      ("StW_Sw05_Psd", "STW_ACTN_RQ"),
-      ("StW_Sw06_Psd", "STW_ACTN_RQ"),
-      ("StW_Sw07_Psd", "STW_ACTN_RQ"),
-      ("StW_Sw08_Psd", "STW_ACTN_RQ"),
-      ("StW_Sw09_Psd", "STW_ACTN_RQ"),
-      ("StW_Sw10_Psd", "STW_ACTN_RQ"),
-      ("StW_Sw11_Psd", "STW_ACTN_RQ"),
-      ("StW_Sw12_Psd", "STW_ACTN_RQ"),
-      ("StW_Sw13_Psd", "STW_ACTN_RQ"),
-      ("StW_Sw14_Psd", "STW_ACTN_RQ"),
-      ("StW_Sw15_Psd", "STW_ACTN_RQ"),
-      ("WprSw6Posn", "STW_ACTN_RQ"),
-      ("MC_STW_ACTN_RQ", "STW_ACTN_RQ"),
-      ("CRC_STW_ACTN_RQ", "STW_ACTN_RQ"),
-    ]
-
-    checks = [
+    messages = [
       # sig_address, frequency
       ("ESP_B", 50),
       ("DI_torque1", 100),
@@ -175,19 +114,12 @@ class CarState(CarStateBase):
       ("SDM1", 10),
       ("BrakeMessage", 50),
     ]
-
-    return CANParser(DBC[CP.carFingerprint]['chassis'], signals, checks, CANBUS.chassis)
+    return CANParser(DBC[CP.carFingerprint]['chassis'], messages, CANBUS.chassis)
 
   @staticmethod
   def get_cam_can_parser(CP):
-    signals = [
-      # sig_name, sig_address
-      ("DAS_accState", "DAS_control"),
-      ("DAS_aebEvent", "DAS_control"),
-      ("DAS_controlCounter", "DAS_control"),
-    ]
-    checks = [
+    messages = [
       # sig_address, frequency
       ("DAS_control", 40),
     ]
-    return CANParser(DBC[CP.carFingerprint]['chassis'], signals, checks, CANBUS.autopilot_chassis)
+    return CANParser(DBC[CP.carFingerprint]['chassis'], messages, CANBUS.autopilot_chassis)
diff --git a/selfdrive/car/tesla/radar_interface.py b/selfdrive/car/tesla/radar_interface.py
index a09f53e758..c368c794b0 100755
--- a/selfdrive/car/tesla/radar_interface.py
+++ b/selfdrive/car/tesla/radar_interface.py
@@ -10,13 +10,7 @@ NUM_POINTS = len(RADAR_MSGS_A)
 
 def get_radar_can_parser(CP):
   # Status messages
-  signals = [
-    ('RADC_HWFail', 'TeslaRadarSguInfo'),
-    ('RADC_SGUFail', 'TeslaRadarSguInfo'),
-    ('RADC_SensorDirty', 'TeslaRadarSguInfo'),
-  ]
-
-  checks = [
+  messages = [
     ('TeslaRadarSguInfo', 10),
   ]
 
@@ -25,28 +19,12 @@ def get_radar_can_parser(CP):
   for i in range(NUM_POINTS):
     msg_id_a = RADAR_MSGS_A[i]
     msg_id_b = RADAR_MSGS_B[i]
-
-    # There is a bunch more info in the messages,
-    # but these are the only things actually used in openpilot
-    signals.extend([
-      ('LongDist', msg_id_a),
-      ('LongSpeed', msg_id_a),
-      ('LatDist', msg_id_a),
-      ('LongAccel', msg_id_a),
-      ('Meas', msg_id_a),
-      ('Tracked', msg_id_a),
-      ('Index', msg_id_a),
-
-      ('LatSpeed', msg_id_b),
-      ('Index2', msg_id_b),
-    ])
-
-    checks.extend([
+    messages.extend([
       (msg_id_a, 8),
       (msg_id_b, 8),
     ])
 
-  return CANParser(DBC[CP.carFingerprint]['radar'], signals, checks, CANBUS.radar)
+  return CANParser(DBC[CP.carFingerprint]['radar'], messages, CANBUS.radar)
 
 class RadarInterface(RadarInterfaceBase):
   def __init__(self, CP):
diff --git a/selfdrive/car/tesla/values.py b/selfdrive/car/tesla/values.py
index f79e5f0097..3333455d1b 100644
--- a/selfdrive/car/tesla/values.py
+++ b/selfdrive/car/tesla/values.py
@@ -1,3 +1,4 @@
+# ruff: noqa: E501
 from collections import namedtuple
 from typing import Dict, List, Union
 
diff --git a/selfdrive/car/tests/routes.py b/selfdrive/car/tests/routes.py
index 84b820d8c2..4e0b2446bc 100644
--- a/selfdrive/car/tests/routes.py
+++ b/selfdrive/car/tests/routes.py
@@ -16,12 +16,13 @@ from selfdrive.car.body.values import CAR as COMMA
 
 # TODO: add routes for these cars
 non_tested_cars = [
-  FORD.FOCUS_MK4,
+  FORD.F_150_MK14,
   GM.CADILLAC_ATS,
   GM.HOLDEN_ASTRA,
   GM.MALIBU,
   GM.EQUINOX,
   HYUNDAI.GENESIS_G90,
+  HYUNDAI.IONIQ_6,
   HYUNDAI.KIA_OPTIMA_H,
   HONDA.ODYSSEY_CHN,
   VOLKSWAGEN.CRAFTER_MK2,  # need a route from an ACC-equipped Crafter
@@ -47,6 +48,7 @@ routes = [
   CarTestRoute("54827bf84c38b14f|2023-01-25--14-14-11", FORD.BRONCO_SPORT_MK1),
   CarTestRoute("f8eaaccd2a90aef8|2023-05-04--15-10-09", FORD.ESCAPE_MK4),
   CarTestRoute("62241b0c7fea4589|2022-09-01--15-32-49", FORD.EXPLORER_MK6),
+  CarTestRoute("e886087f430e7fe7|2023-06-16--23-06-36", FORD.FOCUS_MK4),
   CarTestRoute("bd37e43731e5964b|2023-04-30--10-42-26", FORD.MAVERICK_MK1),
   #TestRoute("f1b4c567731f4a1b|2018-04-30--10-15-35", FORD.FUSION),
 
@@ -98,6 +100,8 @@ routes = [
   CarTestRoute("bf43d9df2b660eb0|2021-09-23--14-16-37", HYUNDAI.SANTA_FE_2022),
   CarTestRoute("37398f32561a23ad|2021-11-18--00-11-35", HYUNDAI.SANTA_FE_HEV_2022),
   CarTestRoute("656ac0d830792fcc|2021-12-28--14-45-56", HYUNDAI.SANTA_FE_PHEV_2022, segment=1),
+  CarTestRoute("de59124955b921d8|2023-06-24--00-12-50", HYUNDAI.KIA_CARNIVAL_4TH_GEN),
+  CarTestRoute("409c9409979a8abc|2023-07-11--09-06-44", HYUNDAI.KIA_CARNIVAL_4TH_GEN),  # Chinese model
   CarTestRoute("e0e98335f3ebc58f|2021-03-07--16-38-29", HYUNDAI.KIA_CEED),
   CarTestRoute("7653b2bce7bcfdaa|2020-03-04--15-34-32", HYUNDAI.KIA_OPTIMA_G4),
   CarTestRoute("018654717bc93d7d|2022-09-19--23-11-10", HYUNDAI.KIA_OPTIMA_G4_FL, segment=0),
@@ -188,6 +192,7 @@ routes = [
   CarTestRoute("80d16a262e33d57f|2021-05-23--20-01-43", TOYOTA.HIGHLANDERH),
   CarTestRoute("eb6acd681135480d|2019-06-20--20-00-00", TOYOTA.SIENNA),
   CarTestRoute("2e07163a1ba9a780|2019-08-25--13-15-13", TOYOTA.LEXUS_IS),
+  CarTestRoute("649bf2997ada6e3a|2023-08-08--18-04-22", TOYOTA.LEXUS_IS_TSS2),
   CarTestRoute("0a0de17a1e6a2d15|2020-09-21--21-24-41", TOYOTA.PRIUS_TSS2),
   CarTestRoute("9b36accae406390e|2021-03-30--10-41-38", TOYOTA.MIRAI),
   CarTestRoute("cd9cff4b0b26c435|2021-05-13--15-12-39", TOYOTA.CHR),
@@ -231,6 +236,8 @@ routes = [
   CarTestRoute("8bf7e79a3ce64055|2021-05-24--09-36-27", SUBARU.IMPREZA_2020),
   CarTestRoute("1bbe6bf2d62f58a8|2022-07-14--17-11-43", SUBARU.OUTBACK, segment=10),
   CarTestRoute("c56e69bbc74b8fad|2022-08-18--09-43-51", SUBARU.LEGACY, segment=3),
+  CarTestRoute("7fd1e4f3a33c1673|2022-12-04--15-09-53", SUBARU.FORESTER_2022, segment=4),
+  CarTestRoute("f3b34c0d2632aa83|2023-07-23--20-43-25", SUBARU.OUTBACK_2023, segment=7),
   # Pre-global, dashcam
   CarTestRoute("95441c38ae8c130e|2020-06-08--12-10-17", SUBARU.FORESTER_PREGLOBAL),
   CarTestRoute("df5ca7660000fba8|2020-06-16--17-37-19", SUBARU.LEGACY_PREGLOBAL),
diff --git a/selfdrive/car/tests/test_car_interfaces.py b/selfdrive/car/tests/test_car_interfaces.py
index 7198218d6a..3945fbb987 100755
--- a/selfdrive/car/tests/test_car_interfaces.py
+++ b/selfdrive/car/tests/test_car_interfaces.py
@@ -1,31 +1,56 @@
 #!/usr/bin/env python3
 import math
 import unittest
+import hypothesis.strategies as st
+from hypothesis import given, settings
 import importlib
 from parameterized import parameterized
 
 from cereal import car
+from common.realtime import DT_CTRL
 from selfdrive.car import gen_empty_fingerprint
 from selfdrive.car.car_helpers import interfaces
-from selfdrive.car.fingerprints import _FINGERPRINTS as FINGERPRINTS, all_known_cars
+from selfdrive.car.fingerprints import all_known_cars
+from selfdrive.car.interfaces import get_interface_attr
+from selfdrive.test.fuzzy_generation import DrawType, FuzzyGenerator
+
+
+def get_fuzzy_car_interface_args(draw: DrawType) -> dict:
+  # Fuzzy CAN fingerprints and FW versions to test more states of the CarInterface
+  fingerprint_strategy = st.fixed_dictionaries({key: st.dictionaries(st.integers(min_value=0, max_value=0x800),
+                                                                     st.integers(min_value=0, max_value=64)) for key in
+                                                gen_empty_fingerprint()})
+
+  # just the most important fields
+  car_fw_strategy = st.lists(st.fixed_dictionaries({
+    'ecu': st.sampled_from(list(car.CarParams.Ecu.schema.enumerants.keys())),
+    # TODO: only use reasonable addrs for the paired ecu and brand/platform
+    'address': st.integers(min_value=0, max_value=0x800),
+  }))
+
+  params_strategy = st.fixed_dictionaries({
+    'fingerprints': fingerprint_strategy,
+    'car_fw': car_fw_strategy,
+    'experimental_long': st.booleans(),
+  })
+
+  params: dict = draw(params_strategy)
+  params['car_fw'] = [car.CarParams.CarFw(**fw) for fw in params['car_fw']]
+  return params
 
 
 class TestCarInterfaces(unittest.TestCase):
 
-  @parameterized.expand([(car,) for car in all_known_cars()])
-  def test_car_interfaces(self, car_name):
-    if car_name in FINGERPRINTS:
-      fingerprint = FINGERPRINTS[car_name][0]
-    else:
-      fingerprint = {}
-
+  @parameterized.expand([(car,) for car in sorted(all_known_cars())])
+  @settings(max_examples=5)
+  @given(data=st.data())
+  def test_car_interfaces(self, car_name, data):
     CarInterface, CarController, CarState = interfaces[car_name]
-    fingerprints = gen_empty_fingerprint()
-    fingerprints.update({k: fingerprint for k in fingerprints.keys()})
 
-    car_fw = []
+    args = get_fuzzy_car_interface_args(data.draw)
 
-    car_params = CarInterface.get_params(car_name, fingerprints, car_fw, experimental_long=False, docs=False)
+    car_params = CarInterface.get_params(car_name, args['fingerprints'], args['car_fw'],
+                                         experimental_long=args['experimental_long'], docs=False)
     car_interface = CarInterface(car_params, CarController, CarState)
     assert car_params
     assert car_interface
@@ -56,19 +81,23 @@ class TestCarInterfaces(unittest.TestCase):
       elif tune.which() == 'indi':
         self.assertTrue(len(tune.indi.outerLoopGainV))
 
+    cc_msg = FuzzyGenerator.get_random_msg(data.draw, car.CarControl, real_floats=True)
     # Run car interface
-    CC = car.CarControl.new_message()
+    now_nanos = 0
+    CC = car.CarControl.new_message(**cc_msg)
     for _ in range(10):
       car_interface.update(CC, [])
-      car_interface.apply(CC, 0)
-      car_interface.apply(CC, 0)
+      car_interface.apply(CC, now_nanos)
+      car_interface.apply(CC, now_nanos)
+      now_nanos += DT_CTRL * 1e9  # 10 ms
 
-    CC = car.CarControl.new_message()
+    CC = car.CarControl.new_message(**cc_msg)
     CC.enabled = True
     for _ in range(10):
       car_interface.update(CC, [])
-      car_interface.apply(CC, 0)
-      car_interface.apply(CC, 0)
+      car_interface.apply(CC, now_nanos)
+      car_interface.apply(CC, now_nanos)
+      now_nanos += DT_CTRL * 1e9  # 10ms
 
     # Test radar interface
     RadarInterface = importlib.import_module(f'selfdrive.car.{car_params.carName}.radar_interface').RadarInterface
@@ -81,5 +110,31 @@ class TestCarInterfaces(unittest.TestCase):
        hasattr(radar_interface, '_update') and hasattr(radar_interface, 'trigger_msg'):
       radar_interface._update([radar_interface.trigger_msg])
 
+  def test_interface_attrs(self):
+    """Asserts basic behavior of interface attribute getter"""
+    num_brands = len(get_interface_attr('CAR'))
+    self.assertGreaterEqual(num_brands, 13)
+
+    # Should return value for all brands when not combining, even if attribute doesn't exist
+    ret = get_interface_attr('FAKE_ATTR')
+    self.assertEqual(len(ret), num_brands)
+
+    # Make sure we can combine dicts
+    ret = get_interface_attr('DBC', combine_brands=True)
+    self.assertGreaterEqual(len(ret), 170)
+
+    # We don't support combining non-dicts
+    ret = get_interface_attr('CAR', combine_brands=True)
+    self.assertEqual(len(ret), 0)
+
+    # If brand has None value, it shouldn't return when ignore_none=True is specified
+    none_brands = {b for b, v in get_interface_attr('FINGERPRINTS').items() if v is None}
+    self.assertGreaterEqual(len(none_brands), 1)
+
+    ret = get_interface_attr('FINGERPRINTS', ignore_none=True)
+    none_brands_in_ret = none_brands.intersection(ret)
+    self.assertEqual(len(none_brands_in_ret), 0, f'Brands with None values in ignore_none=True result: {none_brands_in_ret}')
+
+
 if __name__ == "__main__":
   unittest.main()
diff --git a/selfdrive/car/tests/test_docs.py b/selfdrive/car/tests/test_docs.py
index f42c094856..6e4a58149c 100755
--- a/selfdrive/car/tests/test_docs.py
+++ b/selfdrive/car/tests/test_docs.py
@@ -1,12 +1,16 @@
 #!/usr/bin/env python3
 from collections import defaultdict
+import os
 import re
 import unittest
 
+from common.basedir import BASEDIR
 from selfdrive.car.car_helpers import interfaces, get_interface_attr
 from selfdrive.car.docs import CARS_MD_OUT, CARS_MD_TEMPLATE, generate_cars_md, get_all_car_info
 from selfdrive.car.docs_definitions import Cable, Column, PartType, Star
 from selfdrive.car.honda.values import CAR as HONDA
+from selfdrive.debug.dump_car_info import dump_car_info
+from selfdrive.debug.print_docs_diff import print_car_info_diff
 
 
 class TestCarDocs(unittest.TestCase):
@@ -22,6 +26,12 @@ class TestCarDocs(unittest.TestCase):
     self.assertEqual(generated_cars_md, current_cars_md,
                      "Run selfdrive/car/docs.py to update the compatibility documentation")
 
+  def test_docs_diff(self):
+    dump_path = os.path.join(BASEDIR, "selfdrive", "car", "tests", "cars_dump")
+    dump_car_info(dump_path)
+    print_car_info_diff(dump_path)
+    os.remove(dump_path)
+
   def test_duplicate_years(self):
     make_model_years = defaultdict(list)
     for car in self.all_cars:
@@ -74,8 +84,8 @@ class TestCarDocs(unittest.TestCase):
         if car.name == "comma body":
           raise unittest.SkipTest
 
-        car_part_type = [p.type for p in car.car_parts.all_parts()]
-        car_parts = [p for p in car.car_parts.all_parts()]
+        car_part_type = [p.part_type for p in car.car_parts.all_parts()]
+        car_parts = list(car.car_parts.all_parts())
         self.assertTrue(len(car_parts) > 0, f"Need to specify car parts: {car.name}")
         self.assertTrue(car_part_type.count(PartType.connector) == 1, f"Need to specify one harness connector: {car.name}")
         self.assertTrue(car_part_type.count(PartType.mount) == 1, f"Need to specify one mount: {car.name}")
diff --git a/selfdrive/car/tests/test_fw_fingerprint.py b/selfdrive/car/tests/test_fw_fingerprint.py
index c069280d11..3feb595219 100755
--- a/selfdrive/car/tests/test_fw_fingerprint.py
+++ b/selfdrive/car/tests/test_fw_fingerprint.py
@@ -10,7 +10,8 @@ from cereal import car
 from common.params import Params
 from selfdrive.car.car_helpers import interfaces
 from selfdrive.car.fingerprints import FW_VERSIONS
-from selfdrive.car.fw_versions import FW_QUERY_CONFIGS, VERSIONS, match_fw_to_car, get_fw_versions
+from selfdrive.car.fw_versions import FW_QUERY_CONFIGS, FUZZY_EXCLUDE_ECUS, VERSIONS, build_fw_dict, match_fw_to_car, get_fw_versions, get_present_ecus
+from selfdrive.car.vin import get_vin
 
 CarFw = car.CarParams.CarFw
 Ecu = car.CarParams.Ecu
@@ -33,27 +34,73 @@ class TestFwFingerprint(unittest.TestCase):
     self.assertEqual(candidates[0], expected)
 
   @parameterized.expand([(b, c, e[c]) for b, e in VERSIONS.items() for c in e])
-  def test_fw_fingerprint(self, brand, car_model, ecus):
+  def test_exact_match(self, brand, car_model, ecus):
     CP = car.CarParams.new_message()
     for _ in range(200):
       fw = []
       for ecu, fw_versions in ecus.items():
-        if not len(fw_versions):
-          raise unittest.SkipTest("Car model has no FW versions")
         ecu_name, addr, sub_addr = ecu
         fw.append({"ecu": ecu_name, "fwVersion": random.choice(fw_versions), 'brand': brand,
                    "address": addr, "subAddress": 0 if sub_addr is None else sub_addr})
       CP.carFw = fw
-      _, matches = match_fw_to_car(CP.carFw)
+      _, matches = match_fw_to_car(CP.carFw, allow_fuzzy=False)
       self.assertFingerprints(matches, car_model)
 
-  def test_no_duplicate_fw_versions(self):
+  @parameterized.expand([(b, c, e[c]) for b, e in VERSIONS.items() for c in e])
+  def test_custom_fuzzy_match(self, brand, car_model, ecus):
+    # Assert brand-specific fuzzy fingerprinting function doesn't disagree with standard fuzzy function
+    config = FW_QUERY_CONFIGS[brand]
+    if config.match_fw_to_car_fuzzy is None:
+      raise unittest.SkipTest("Brand does not implement custom fuzzy fingerprinting function")
+
+    CP = car.CarParams.new_message()
+    for _ in range(5):
+      fw = []
+      for ecu, fw_versions in ecus.items():
+        ecu_name, addr, sub_addr = ecu
+        fw.append({"ecu": ecu_name, "fwVersion": random.choice(fw_versions), 'brand': brand,
+                   "address": addr, "subAddress": 0 if sub_addr is None else sub_addr})
+      CP.carFw = fw
+      _, matches = match_fw_to_car(CP.carFw, allow_exact=False, log=False)
+      brand_matches = config.match_fw_to_car_fuzzy(build_fw_dict(CP.carFw))
+
+      # If both have matches, they must agree
+      if len(matches) == 1 and len(brand_matches) == 1:
+        self.assertEqual(matches, brand_matches)
+
+  @parameterized.expand([(b, c, e[c]) for b, e in VERSIONS.items() for c in e])
+  def test_fuzzy_match_ecu_count(self, brand, car_model, ecus):
+    # Asserts that fuzzy matching does not count matching FW, but ECU address keys
+    valid_ecus = [e for e in ecus if e[0] not in FUZZY_EXCLUDE_ECUS]
+    if not len(valid_ecus):
+      raise unittest.SkipTest("Car model has no compatible ECUs for fuzzy matching")
+
+    fw = []
+    for ecu in valid_ecus:
+      ecu_name, addr, sub_addr = ecu
+      for _ in range(5):
+        # Add multiple FW versions to simulate ECU returning to multiple queries in a brand
+        fw.append({"ecu": ecu_name, "fwVersion": random.choice(ecus[ecu]), 'brand': brand,
+                   "address": addr, "subAddress": 0 if sub_addr is None else sub_addr})
+      CP = car.CarParams.new_message(carFw=fw)
+      _, matches = match_fw_to_car(CP.carFw, allow_exact=False, log=False)
+
+      # Assert no match if there are not enough unique ECUs
+      unique_ecus = {(f['address'], f['subAddress']) for f in fw}
+      if len(unique_ecus) < 2:
+        self.assertEqual(len(matches), 0, car_model)
+      # There won't always be a match due to shared FW, but if there is it should be correct
+      elif len(matches):
+        self.assertFingerprints(matches, car_model)
+
+  def test_fw_version_lists(self):
     for car_model, ecus in FW_VERSIONS.items():
       with self.subTest(car_model=car_model):
         for ecu, ecu_fw in ecus.items():
           with self.subTest(ecu):
             duplicates = {fw for fw in ecu_fw if ecu_fw.count(fw) > 1}
-            self.assertFalse(len(duplicates), f"{car_model}: Duplicate FW versions: Ecu.{ECU_NAME[ecu[0]]}, {duplicates}")
+            self.assertFalse(len(duplicates), f'{car_model}: Duplicate FW versions: Ecu.{ECU_NAME[ecu[0]]}, {duplicates}')
+            self.assertGreater(len(ecu_fw), 0, f'{car_model}: No FW versions: Ecu.{ECU_NAME[ecu[0]]}')
 
   def test_all_addrs_map_to_one_ecu(self):
     for brand, cars in VERSIONS.items():
@@ -111,36 +158,69 @@ class TestFwFingerprint(unittest.TestCase):
 
         ecu_strings = ", ".join([f'Ecu.{ECU_NAME[ecu]}' for ecu in ecus_not_whitelisted])
         self.assertFalse(len(whitelisted_ecus) and len(ecus_not_whitelisted),
-                         f'{brand.title()}: FW query whitelist missing ecus: {ecu_strings}')
+                         f'{brand.title()}: ECUs not in any FW query whitelists: {ecu_strings}')
+
+  def test_fw_requests(self):
+    # Asserts equal length request and response lists
+    for brand, config in FW_QUERY_CONFIGS.items():
+      with self.subTest(brand=brand):
+        for request_obj in config.requests:
+          self.assertEqual(len(request_obj.request), len(request_obj.response))
 
 
 class TestFwFingerprintTiming(unittest.TestCase):
+  N: int = 5
+  TOL: float = 0.1
+
   @staticmethod
-  def _benchmark(brand, num_pandas, n):
+  def _run_thread(thread: threading.Thread) -> float:
     params = Params()
+    params.put_bool("ObdMultiplexingEnabled", True)
+    thread.start()
+    t = time.perf_counter()
+    while thread.is_alive():
+      time.sleep(0.02)
+      if not params.get_bool("ObdMultiplexingChanged"):
+        params.put_bool("ObdMultiplexingChanged", True)
+    return time.perf_counter() - t
+
+  def _benchmark_brand(self, brand, num_pandas):
     fake_socket = FakeSocket()
+    brand_time = 0
+    for _ in range(self.N):
+      thread = threading.Thread(target=get_fw_versions, args=(fake_socket, fake_socket, brand),
+                                kwargs=dict(num_pandas=num_pandas))
+      brand_time += self._run_thread(thread)
 
-    times = []
-    for _ in range(n):
-      params.put_bool("ObdMultiplexingEnabled", True)
-      thread = threading.Thread(target=get_fw_versions, args=(fake_socket, fake_socket, brand), kwargs=dict(num_pandas=num_pandas))
-      thread.start()
-      t = time.perf_counter()
-      while thread.is_alive():
-        time.sleep(0.02)
-        if not params.get_bool("ObdMultiplexingChanged"):
-          params.put_bool("ObdMultiplexingChanged", True)
-      times.append(time.perf_counter() - t)
+    return round(brand_time / self.N, 2)
 
-    return round(sum(times) / len(times), 2)
+  def _assert_timing(self, avg_time, ref_time):
+    self.assertLess(avg_time, ref_time + self.TOL)
+    self.assertGreater(avg_time, ref_time - self.TOL, "Performance seems to have improved, update test refs.")
 
-  def _assert_timing(self, avg_time, ref_time, tol):
-    self.assertLess(avg_time, ref_time + tol)
-    self.assertGreater(avg_time, ref_time - tol, "Performance seems to have improved, update test refs.")
+  def test_startup_timing(self):
+    # Tests worse-case VIN query time and typical present ECU query time
+    vin_ref_time = 1.0
+    present_ecu_ref_time = 0.8
+
+    fake_socket = FakeSocket()
+    present_ecu_time = 0.0
+    for _ in range(self.N):
+      thread = threading.Thread(target=get_present_ecus, args=(fake_socket, fake_socket),
+                                kwargs=dict(num_pandas=2))
+      present_ecu_time += self._run_thread(thread)
+    self._assert_timing(present_ecu_time / self.N, present_ecu_ref_time)
+    print(f'get_present_ecus, query time={present_ecu_time / self.N} seconds')
+
+    vin_time = 0.0
+    for _ in range(self.N):
+      thread = threading.Thread(target=get_vin, args=(fake_socket, fake_socket, 1))
+      vin_time += self._run_thread(thread)
+    self._assert_timing(vin_time / self.N, vin_ref_time)
+    print(f'get_vin, query time={vin_time / self.N} seconds')
 
   def test_fw_query_timing(self):
-    tol = 0.1
-    total_ref_time = 4.6
+    total_ref_time = 6.1
     brand_ref_times = {
       1: {
         'body': 0.1,
@@ -148,14 +228,15 @@ class TestFwFingerprintTiming(unittest.TestCase):
         'ford': 0.2,
         'honda': 0.5,
         'hyundai': 0.7,
-        'mazda': 0.1,
+        'mazda': 0.2,
         'nissan': 0.3,
-        'subaru': 0.1,
+        'subaru': 0.2,
         'tesla': 0.2,
-        'toyota': 0.7,
+        'toyota': 1.6,
         'volkswagen': 0.2,
       },
       2: {
+        'ford': 0.4,
         'hyundai': 1.1,
       }
     }
@@ -168,13 +249,13 @@ class TestFwFingerprintTiming(unittest.TestCase):
           if not len(multi_panda_requests) and num_pandas > 1:
             raise unittest.SkipTest("No multi-panda FW queries")
 
-          avg_time = self._benchmark(brand, num_pandas, 10)
+          avg_time = self._benchmark_brand(brand, num_pandas)
           total_time += avg_time
-          self._assert_timing(avg_time, brand_ref_times[num_pandas][brand], tol)
+          self._assert_timing(avg_time, brand_ref_times[num_pandas][brand])
           print(f'{brand=}, {num_pandas=}, {len(config.requests)=}, avg FW query time={avg_time} seconds')
 
     with self.subTest(brand='all_brands'):
-      self._assert_timing(total_time, total_ref_time, tol)
+      self._assert_timing(total_time, total_ref_time)
       print(f'all brands, total FW query time={total_time} seconds')
 
 
diff --git a/selfdrive/car/tests/test_lateral_limits.py b/selfdrive/car/tests/test_lateral_limits.py
index 7ccd5e3c97..9e9043d236 100755
--- a/selfdrive/car/tests/test_lateral_limits.py
+++ b/selfdrive/car/tests/test_lateral_limits.py
@@ -95,7 +95,8 @@ if __name__ == "__main__":
                 _jerks["down_jerk"] > MAX_LAT_JERK_DOWN
     violation_str = " - VIOLATION" if violation else ""
 
-    print(f"{car_model:{max_car_model_len}} - up jerk: {round(_jerks['up_jerk'], 2):5} m/s^3, down jerk: {round(_jerks['down_jerk'], 2):5} m/s^3{violation_str}")
+    print(f"{car_model:{max_car_model_len}} - up jerk: {round(_jerks['up_jerk'], 2):5} \
+              m/s^3, down jerk: {round(_jerks['down_jerk'], 2):5} m/s^3{violation_str}")
 
   # exit with test result
   sys.exit(not result.result.wasSuccessful())
diff --git a/selfdrive/car/tests/test_models.py b/selfdrive/car/tests/test_models.py
index 6a89da3e7c..a2a8ed5eb7 100755
--- a/selfdrive/car/tests/test_models.py
+++ b/selfdrive/car/tests/test_models.py
@@ -8,6 +8,7 @@ from typing import List, Optional, Tuple
 from parameterized import parameterized_class
 
 from cereal import log, car
+from common.basedir import BASEDIR
 from common.realtime import DT_CTRL
 from selfdrive.car.fingerprints import all_known_cars
 from selfdrive.car.car_helpers import interfaces
@@ -17,7 +18,7 @@ from selfdrive.car.hyundai.values import CAR as HYUNDAI
 from selfdrive.car.tests.routes import non_tested_cars, routes, CarTestRoute
 from selfdrive.test.openpilotci import get_url
 from tools.lib.logreader import LogReader
-from tools.lib.route import Route
+from tools.lib.route import Route, SegmentName, RouteName
 
 from panda.tests.libpanda import libpanda_py
 
@@ -25,21 +26,37 @@ PandaType = log.PandaState.PandaType
 
 NUM_JOBS = int(os.environ.get("NUM_JOBS", "1"))
 JOB_ID = int(os.environ.get("JOB_ID", "0"))
+INTERNAL_SEG_LIST = os.environ.get("INTERNAL_SEG_LIST", "")
 
 ignore_addr_checks_valid = [
   GM.BUICK_REGAL,
   HYUNDAI.GENESIS_G70_2020,
 ]
 
-# build list of test cases
-routes_by_car = defaultdict(set)
-for r in routes:
-  routes_by_car[r.car_model].add(r)
 
-test_cases: List[Tuple[str, Optional[CarTestRoute]]] = []
-for i, c in enumerate(sorted(all_known_cars())):
-  if i % NUM_JOBS == JOB_ID:
-    test_cases.extend((c, r) for r in routes_by_car.get(c, (None, )))
+def get_test_cases():
+  # build list of test cases
+  test_cases: List[Tuple[str, Optional[CarTestRoute]]] = []
+  if not len(INTERNAL_SEG_LIST):
+    routes_by_car = defaultdict(set)
+    for r in routes:
+      routes_by_car[r.car_model].add(r)
+
+    for i, c in enumerate(sorted(all_known_cars())):
+      if i % NUM_JOBS == JOB_ID:
+        test_cases.extend(sorted((c, r) for r in routes_by_car.get(c, (None,))))
+
+  else:
+    with open(os.path.join(BASEDIR, INTERNAL_SEG_LIST), "r") as f:
+      seg_list = iter(f.read().splitlines())
+
+    for platform in seg_list:
+      platform = platform[2:]  # get rid of comment
+      segment_name = SegmentName(next(seg_list))
+      test_cases.append((platform, CarTestRoute(segment_name.route_name.canonical_name, platform,
+                                                segment=segment_name.segment_num)))
+  return test_cases
+
 
 SKIP_ENV_VAR = "SKIP_LONG_TESTS"
 
@@ -72,7 +89,10 @@ class TestCarModelBase(unittest.TestCase):
 
     for seg in test_segs:
       try:
-        if cls.ci:
+        if len(INTERNAL_SEG_LIST):
+          route_name = RouteName(cls.test_route.route)
+          lr = LogReader(f"cd:/{route_name.dongle_id}/{route_name.time_str}/{seg}/rlog.bz2")
+        elif cls.ci:
           lr = LogReader(get_url(cls.test_route.route, seg))
         else:
           lr = LogReader(Route(cls.test_route.route).log_paths()[seg])
@@ -201,6 +221,42 @@ class TestCarModelBase(unittest.TestCase):
           self.assertTrue(self.safety.addr_checks_valid())
     self.assertFalse(len(failed_addrs), f"panda safety RX check failed: {failed_addrs}")
 
+  def test_panda_safety_tx_cases(self, data=None):
+    """Asserts we can tx common messages"""
+    if self.CP.notCar:
+      self.skipTest("Skipping test for notCar")
+
+    def test_car_controller(car_control):
+      now_nanos = 0
+      msgs_sent = 0
+      CI = self.CarInterface(self.CP, self.CarController, self.CarState)
+      for _ in range(round(10.0 / DT_CTRL)):  # make sure we hit the slowest messages
+        CI.update(car_control, [])
+        _, sendcan = CI.apply(car_control, now_nanos)
+
+        now_nanos += DT_CTRL * 1e9
+        msgs_sent += len(sendcan)
+        for addr, _, dat, bus in sendcan:
+          to_send = libpanda_py.make_CANPacket(addr, bus % 4, dat)
+          self.assertTrue(self.safety.safety_tx_hook(to_send), (addr, dat, bus))
+
+      # Make sure we attempted to send messages
+      self.assertGreater(msgs_sent, 50)
+
+    # Make sure we can send all messages while inactive
+    CC = car.CarControl.new_message()
+    test_car_controller(CC)
+
+    # Test cancel + general messages (controls_allowed=False & cruise_engaged=True)
+    self.safety.set_cruise_engaged_prev(True)
+    CC = car.CarControl.new_message(cruiseControl={'cancel': True})
+    test_car_controller(CC)
+
+    # Test resume + general messages (controls_allowed=True & cruise_engaged=True)
+    self.safety.set_controls_allowed(True)
+    CC = car.CarControl.new_message(cruiseControl={'resume': True})
+    test_car_controller(CC)
+
   def test_panda_safety_carstate(self):
     """
       Assert that panda safety matches openpilot's carState
@@ -214,7 +270,7 @@ class TestCarModelBase(unittest.TestCase):
     for can in self.can_msgs[:300]:
       self.CI.update(CC, (can.as_builder().to_bytes(), ))
       for msg in filter(lambda m: m.src in range(64), can.can):
-        to_send = libpanda_py.make_CANPacket(msg.address, msg.src, msg.dat)
+        to_send = libpanda_py.make_CANPacket(msg.address, msg.src % 4, msg.dat)
         self.safety.safety_rx_hook(to_send)
 
     controls_allowed_prev = False
@@ -278,7 +334,7 @@ class TestCarModelBase(unittest.TestCase):
     self.assertFalse(len(failed_checks), f"panda safety doesn't agree with openpilot: {failed_checks}")
 
 
-@parameterized_class(('car_model', 'test_route'), test_cases)
+@parameterized_class(('car_model', 'test_route'), get_test_cases())
 class TestCarModel(TestCarModelBase):
   pass
 
diff --git a/selfdrive/car/tests/test_models_segs.txt b/selfdrive/car/tests/test_models_segs.txt
new file mode 100644
index 0000000000..68841af007
--- /dev/null
+++ b/selfdrive/car/tests/test_models_segs.txt
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:636df10e41e8c6668678a3aa7098afad8c160ea7b75c5a0473f6709db1c702dc
+size 39373
diff --git a/selfdrive/car/torque_data/override.yaml b/selfdrive/car/torque_data/override.yaml
index 07323bf836..835a6ce425 100644
--- a/selfdrive/car/torque_data/override.yaml
+++ b/selfdrive/car/torque_data/override.yaml
@@ -7,6 +7,10 @@ NISSAN LEAF 2018 Instrument Cluster: [.nan, 1.5, .nan]
 NISSAN LEAF 2018: [.nan, 1.5, .nan]
 NISSAN ROGUE 2019: [.nan, 1.5, .nan]
 
+# New subarus angle based controllers
+SUBARU FORESTER 2022: [.nan, 3.0, .nan]
+SUBARU OUTBACK 7TH GEN: [.nan, 3.0, .nan]
+
 # Toyota LTA also has torque
 TOYOTA RAV4 2023: [.nan, 3.0, .nan]
 TOYOTA RAV4 HYBRID 2023: [.nan, 3.0, .nan]
@@ -19,6 +23,7 @@ TESLA AP2 MODEL S: [.nan, 2.5, .nan]
 FORD BRONCO SPORT 1ST GEN: [.nan, 1.5, .nan]
 FORD ESCAPE 4TH GEN: [.nan, 1.5, .nan]
 FORD EXPLORER 6TH GEN: [.nan, 1.5, .nan]
+FORD F-150 14TH GEN: [.nan, 1.5, .nan]
 FORD FOCUS 4TH GEN: [.nan, 1.5, .nan]
 FORD MAVERICK 1ST GEN: [.nan, 1.5, .nan]
 ###
@@ -29,7 +34,7 @@ COMMA BODY: [.nan, 1000, .nan]
 # Totally new cars
 RAM 1500 5TH GEN: [2.0, 2.0, 0.05]
 RAM HD 5TH GEN: [1.4, 1.4, 0.05]
-SUBARU OUTBACK 6TH GEN: [2.3, 2.3, 0.11]
+SUBARU OUTBACK 6TH GEN: [2.0, 2.0, 0.2]
 CADILLAC ESCALADE 2017: [1.899999976158142, 1.842270016670227, 0.1120000034570694]
 CHEVROLET BOLT EUV 2022: [2.0, 2.0, 0.05]
 CHEVROLET SILVERADO 1500 2020: [1.9, 1.9, 0.112]
@@ -47,6 +52,9 @@ KIA SORENTO 4TH GEN: [2.5, 2.5, 0.1]
 KIA NIRO HYBRID 2ND GEN: [2.42, 2.5, 0.12]
 KIA NIRO EV 2ND GEN: [2.05, 2.5, 0.14]
 GENESIS GV80 2023: [2.5, 2.5, 0.1]
+KIA CARNIVAL 4TH GEN: [1.75, 1.75, 0.15]
+GMC ACADIA DENALI 2018: [1.6, 1.6, 0.2]
+LEXUS IS 2023: [2.0, 2.0, 0.1]
 HYUNDAI PALISADE 2023: [3.0, 2.5, 0.05]
 
 # Dashcam or fallback configured as ideal car
diff --git a/selfdrive/car/torque_data/params.yaml b/selfdrive/car/torque_data/params.yaml
index cb423e1d87..800507d91d 100644
--- a/selfdrive/car/torque_data/params.yaml
+++ b/selfdrive/car/torque_data/params.yaml
@@ -10,7 +10,6 @@ CHRYSLER PACIFICA HYBRID 2017: [1.79422, 1.06831764583744, 0.116237]
 CHRYSLER PACIFICA HYBRID 2018: [2.08887, 1.2943025830995154, 0.114818]
 CHRYSLER PACIFICA HYBRID 2019: [1.90120, 1.1958788168371808, 0.131520]
 GENESIS G70 2018: [3.8520195946707947, 2.354697063349854, 0.06830285485626221]
-GMC ACADIA DENALI 2018: [1.3181430320331884, 1.1853735340610179, 0.3450592280031644]
 HONDA ACCORD 2018: [1.7135052593468778, 0.3461280068322071, 0.21579936052863807]
 HONDA ACCORD HYBRID 2018: [1.6651615004829625, 0.30322180951193245, 0.2083000440586149]
 HONDA CIVIC (BOSCH) 2019: [1.691708637466905, 0.40132900729454185, 0.25460295304024094]
diff --git a/selfdrive/car/torque_data/substitute.yaml b/selfdrive/car/torque_data/substitute.yaml
index 5ea84e5591..d79dbe8573 100644
--- a/selfdrive/car/torque_data/substitute.yaml
+++ b/selfdrive/car/torque_data/substitute.yaml
@@ -34,6 +34,7 @@ HYUNDAI KONA ELECTRIC 2022: HYUNDAI KONA ELECTRIC 2019
 HYUNDAI IONIQ HYBRID 2017-2019: HYUNDAI IONIQ PLUG-IN HYBRID 2019
 HYUNDAI IONIQ HYBRID 2020-2022: HYUNDAI IONIQ PLUG-IN HYBRID 2019
 HYUNDAI IONIQ ELECTRIC 2020: HYUNDAI IONIQ PLUG-IN HYBRID 2019
+HYUNDAI IONIQ 6 2023: HYUNDAI IONIQ 5 2022
 HYUNDAI ELANTRA 2017: HYUNDAI SONATA 2019
 HYUNDAI ELANTRA HYBRID 2021: HYUNDAI SONATA 2020
 HYUNDAI TUCSON 2019: HYUNDAI SANTA FE 2019
diff --git a/selfdrive/car/toyota/carcontroller.py b/selfdrive/car/toyota/carcontroller.py
index 66a7b57f01..d2558b5b29 100644
--- a/selfdrive/car/toyota/carcontroller.py
+++ b/selfdrive/car/toyota/carcontroller.py
@@ -1,6 +1,7 @@
 from cereal import car
 from common.numpy_fast import clip, interp
-from selfdrive.car import apply_meas_steer_torque_limits, create_gas_interceptor_command, make_can_msg
+from selfdrive.car import apply_meas_steer_torque_limits, apply_std_steer_angle_limits, common_fault_avoidance, \
+                          create_gas_interceptor_command, make_can_msg
 from selfdrive.car.toyota.toyotacan import create_steer_command, create_ui_command, \
                                            create_accel_command, create_acc_cancel_command, \
                                            create_fcw_command, create_lta_steer_command
@@ -9,8 +10,10 @@ from selfdrive.car.toyota.values import CAR, STATIC_DSU_MSGS, NO_STOP_TIMER_CAR,
                                         UNSUPPORTED_DSU_CAR
 from opendbc.can.packer import CANPacker
 
+SteerControlType = car.CarParams.SteerControlType
 VisualAlert = car.CarControl.HUDControl.VisualAlert
 
+# LKA limits
 # EPS faults if you apply torque while the steering rate is above 100 deg/s for too long
 MAX_STEER_RATE = 100  # deg/s
 MAX_STEER_RATE_FRAMES = 18  # tx control frames needed before torque can be cut
@@ -18,13 +21,19 @@ MAX_STEER_RATE_FRAMES = 18  # tx control frames needed before torque can be cut
 # EPS allows user torque above threshold for 50 frames before permanently faulting
 MAX_USER_TORQUE = 500
 
+# LTA limits
+# EPS ignores commands above this angle and causes PCS to fault
+MAX_STEER_ANGLE = 94.9461  # deg
+MAX_DRIVER_TORQUE_ALLOWANCE = 150  # slightly above steering pressed allows some resistance when changing lanes
+
 
 class CarController:
   def __init__(self, dbc_name, CP, VM):
     self.CP = CP
-    self.torque_rate_limits = CarControllerParams(self.CP)
+    self.params = CarControllerParams(self.CP)
     self.frame = 0
     self.last_steer = 0
+    self.last_angle = 0
     self.alert_active = False
     self.last_standstill = False
     self.standstill_req = False
@@ -40,7 +49,51 @@ class CarController:
     pcm_cancel_cmd = CC.cruiseControl.cancel
     lat_active = CC.latActive and abs(CS.out.steeringTorque) < MAX_USER_TORQUE
 
-    # gas and brake
+    # *** control msgs ***
+    can_sends = []
+
+    # *** steer torque ***
+    new_steer = int(round(actuators.steer * self.params.STEER_MAX))
+    apply_steer = apply_meas_steer_torque_limits(new_steer, self.last_steer, CS.out.steeringTorqueEps, self.params)
+
+    # >100 degree/sec steering fault prevention
+    self.steer_rate_counter, apply_steer_req = common_fault_avoidance(abs(CS.out.steeringRateDeg) >= MAX_STEER_RATE, CC.latActive,
+                                                                      self.steer_rate_counter, MAX_STEER_RATE_FRAMES)
+
+    if not CC.latActive:
+      apply_steer = 0
+
+    # *** steer angle ***
+    if self.CP.steerControlType == SteerControlType.angle:
+      # If using LTA control, disable LKA and set steering angle command
+      apply_steer = 0
+      apply_steer_req = False
+      if self.frame % 2 == 0:
+        # EPS uses the torque sensor angle to control with, offset to compensate
+        apply_angle = actuators.steeringAngleDeg + CS.out.steeringAngleOffsetDeg
+
+        # Angular rate limit based on speed
+        apply_angle = apply_std_steer_angle_limits(apply_angle, self.last_angle, CS.out.vEgo, self.params)
+
+        if not lat_active:
+          apply_angle = CS.out.steeringAngleDeg + CS.out.steeringAngleOffsetDeg
+
+        self.last_angle = clip(apply_angle, -MAX_STEER_ANGLE, MAX_STEER_ANGLE)
+
+    self.last_steer = apply_steer
+
+    # toyota can trace shows this message at 42Hz, with counter adding alternatively 1 and 2;
+    # sending it at 100Hz seem to allow a higher rate limit, as the rate limit seems imposed
+    # on consecutive messages
+    can_sends.append(create_steer_command(self.packer, apply_steer, apply_steer_req))
+    if self.frame % 2 == 0 and self.CP.carFingerprint in TSS2_CAR:
+      lta_active = lat_active and self.CP.steerControlType == SteerControlType.angle
+      full_torque_condition = (abs(CS.out.steeringTorqueEps) < self.params.STEER_MAX and
+                               abs(CS.out.steeringTorque) < MAX_DRIVER_TORQUE_ALLOWANCE)
+      setme_x64 = 100 if lta_active and full_torque_condition else 0
+      can_sends.append(create_lta_steer_command(self.packer, self.last_angle, lta_active, self.frame // 2, setme_x64))
+
+    # *** gas and brake ***
     if self.CP.enableGasInterceptor and CC.longActive:
       MAX_INTERCEPTOR_GAS = 0.5
       # RAV4 has very sensitive gas pedal
@@ -56,30 +109,7 @@ class CarController:
       interceptor_gas_cmd = clip(pedal_command, 0., MAX_INTERCEPTOR_GAS)
     else:
       interceptor_gas_cmd = 0.
-    pcm_accel_cmd = clip(actuators.accel, CarControllerParams.ACCEL_MIN, CarControllerParams.ACCEL_MAX)
-
-    # steer torque
-    new_steer = int(round(actuators.steer * CarControllerParams.STEER_MAX))
-    apply_steer = apply_meas_steer_torque_limits(new_steer, self.last_steer, CS.out.steeringTorqueEps, self.torque_rate_limits)
-
-    # Count up to MAX_STEER_RATE_FRAMES, at which point we need to cut torque to avoid a steering fault
-    if lat_active and abs(CS.out.steeringRateDeg) >= MAX_STEER_RATE:
-      self.steer_rate_counter += 1
-    else:
-      self.steer_rate_counter = 0
-
-    apply_steer_req = 1
-    if not lat_active:
-      apply_steer = 0
-      apply_steer_req = 0
-    elif self.steer_rate_counter > MAX_STEER_RATE_FRAMES:
-      apply_steer_req = 0
-      self.steer_rate_counter = 0
-
-    # Never actuate with LKA on cars that only support LTA
-    if self.CP.steerControlType == car.CarParams.SteerControlType.angle:
-      apply_steer = 0
-      apply_steer_req = 0
+    pcm_accel_cmd = clip(actuators.accel, self.params.ACCEL_MIN, self.params.ACCEL_MAX)
 
     # TODO: probably can delete this. CS.pcm_acc_status uses a different signal
     # than CS.cruiseState.enabled. confirm they're not meaningfully different
@@ -93,26 +123,8 @@ class CarController:
       # pcm entered standstill or it's disabled
       self.standstill_req = False
 
-    self.last_steer = apply_steer
     self.last_standstill = CS.out.standstill
 
-    can_sends = []
-
-    # *** control msgs ***
-    # print("steer {0} {1} {2} {3}".format(apply_steer, min_lim, max_lim, CS.steer_torque_motor)
-
-    # toyota can trace shows this message at 42Hz, with counter adding alternatively 1 and 2;
-    # sending it at 100Hz seem to allow a higher rate limit, as the rate limit seems imposed
-    # on consecutive messages
-    can_sends.append(create_steer_command(self.packer, apply_steer, apply_steer_req))
-    if self.frame % 2 == 0 and self.CP.carFingerprint in TSS2_CAR:
-      can_sends.append(create_lta_steer_command(self.packer, 0, 0, self.frame // 2))
-
-    # LTA mode. Set ret.steerControlType = car.CarParams.SteerControlType.angle and whitelist 0x191 in the panda
-    # if self.frame % 2 == 0:
-    #   can_sends.append(create_steer_command(self.packer, 0, 0, self.frame // 2))
-    #   can_sends.append(create_lta_steer_command(self.packer, actuators.steeringAngleDeg, apply_steer_req, self.frame // 2))
-
     # we can spam can to cancel the system even if we are using lat only control
     if (self.frame % 3 == 0 and self.CP.openpilotLongitudinalControl) or pcm_cancel_cmd:
       lead = hud_control.leadVisible or CS.out.vEgo < 12.  # at low speed we always assume the lead is present so ACC can be engaged
@@ -132,6 +144,7 @@ class CarController:
       can_sends.append(create_gas_interceptor_command(self.packer, interceptor_gas_cmd, self.frame // 2))
       self.gas = interceptor_gas_cmd
 
+    # *** hud ui ***
     if self.CP.carFingerprint != CAR.PRIUS_V:
       # ui mesg is at 1Hz but we send asap if:
       # - there is something to display
@@ -162,8 +175,9 @@ class CarController:
         can_sends.append(make_can_msg(addr, vl, bus))
 
     new_actuators = actuators.copy()
-    new_actuators.steer = apply_steer / CarControllerParams.STEER_MAX
+    new_actuators.steer = apply_steer / self.params.STEER_MAX
     new_actuators.steerOutputCan = apply_steer
+    new_actuators.steeringAngleDeg = self.last_angle
     new_actuators.accel = self.accel
     new_actuators.gas = self.gas
 
diff --git a/selfdrive/car/toyota/carstate.py b/selfdrive/car/toyota/carstate.py
index 68adc2ee57..8a75ab4277 100644
--- a/selfdrive/car/toyota/carstate.py
+++ b/selfdrive/car/toyota/carstate.py
@@ -10,6 +10,19 @@ from opendbc.can.parser import CANParser
 from selfdrive.car.interfaces import CarStateBase
 from selfdrive.car.toyota.values import ToyotaFlags, CAR, DBC, STEER_THRESHOLD, NO_STOP_TIMER_CAR, TSS2_CAR, RADAR_ACC_CAR, EPS_SCALE, UNSUPPORTED_DSU_CAR
 
+SteerControlType = car.CarParams.SteerControlType
+
+# These steering fault definitions seem to be common across LKA (torque) and LTA (angle):
+# - high steer rate fault: goes to 21 or 25 for 1 frame, then 9 for 2 seconds
+# - lka/lta msg drop out: goes to 9 then 11 for a combined total of 2 seconds, then 3.
+#     if using the other control command, goes directly to 3 after 1.5 seconds
+# - initializing: LTA can report 0 as long as STEER_TORQUE_SENSOR->STEER_ANGLE_INITIALIZING is 1,
+#     and is a catch-all for LKA
+TEMP_STEER_FAULTS = (0, 9, 11, 21, 25)
+# - lka/lta msg drop out: 3 (recoverable)
+# - prolonged high driver torque: 17 (permanent)
+PERM_STEER_FAULTS = (3, 17)
+
 
 class CarState(CarStateBase):
   def __init__(self, CP):
@@ -88,12 +101,14 @@ class CarState(CarStateBase):
     ret.steeringTorqueEps = cp.vl["STEER_TORQUE_SENSOR"]["STEER_TORQUE_EPS"] * self.eps_torque_scale
     # we could use the override bit from dbc, but it's triggered at too high torque values
     ret.steeringPressed = abs(ret.steeringTorque) > STEER_THRESHOLD
-    # steer rate fault: goes to 21 or 25 for 1 frame, then 9 for 2 seconds
-    # lka msg drop out: goes to 9 then 11 for a combined total of 2 seconds
-    ret.steerFaultTemporary = cp.vl["EPS_STATUS"]["LKA_STATE"] in (0, 9, 11, 21, 25)
-    # 17 is a fault from a prolonged high torque delta between cmd and user
-    # 3 is a fault from the lka command message not being received by the EPS
-    ret.steerFaultPermanent = cp.vl["EPS_STATUS"]["LKA_STATE"] in (3, 17)
+
+    # Check EPS LKA/LTA fault status
+    ret.steerFaultTemporary = cp.vl["EPS_STATUS"]["LKA_STATE"] in TEMP_STEER_FAULTS
+    ret.steerFaultPermanent = cp.vl["EPS_STATUS"]["LKA_STATE"] in PERM_STEER_FAULTS
+
+    if self.CP.steerControlType == SteerControlType.angle:
+      ret.steerFaultTemporary = ret.steerFaultTemporary or cp.vl["EPS_STATUS"]["LTA_STATE"] in TEMP_STEER_FAULTS
+      ret.steerFaultPermanent = ret.steerFaultPermanent or cp.vl["EPS_STATUS"]["LTA_STATE"] in PERM_STEER_FAULTS
 
     if self.CP.carFingerprint in UNSUPPORTED_DSU_CAR:
       # TODO: find the bit likely in DSU_CRUISE that describes an ACC fault. one may also exist in CLUTCH
@@ -117,7 +132,7 @@ class CarState(CarStateBase):
     if self.CP.carFingerprint in (TSS2_CAR | RADAR_ACC_CAR):
       if not (self.CP.flags & ToyotaFlags.SMART_DSU.value):
         self.acc_type = cp_acc.vl["ACC_CONTROL"]["ACC_TYPE"]
-      ret.stockFcw = bool(cp_acc.vl["ACC_HUD"]["FCW"])
+      ret.stockFcw = bool(cp_acc.vl["PCS_HUD"]["FCW"])
 
     # some TSS2 cars have low speed lockout permanently set, so ignore on those cars
     # these cars are identified by an ACC_TYPE value of 2.
@@ -151,40 +166,7 @@ class CarState(CarStateBase):
 
   @staticmethod
   def get_can_parser(CP):
-    signals = [
-      # sig_name, sig_address
-      ("STEER_ANGLE", "STEER_ANGLE_SENSOR"),
-      ("GEAR", "GEAR_PACKET"),
-      ("BRAKE_PRESSED", "BRAKE_MODULE"),
-      ("WHEEL_SPEED_FL", "WHEEL_SPEEDS"),
-      ("WHEEL_SPEED_FR", "WHEEL_SPEEDS"),
-      ("WHEEL_SPEED_RL", "WHEEL_SPEEDS"),
-      ("WHEEL_SPEED_RR", "WHEEL_SPEEDS"),
-      ("DOOR_OPEN_FL", "BODY_CONTROL_STATE"),
-      ("DOOR_OPEN_FR", "BODY_CONTROL_STATE"),
-      ("DOOR_OPEN_RL", "BODY_CONTROL_STATE"),
-      ("DOOR_OPEN_RR", "BODY_CONTROL_STATE"),
-      ("SEATBELT_DRIVER_UNLATCHED", "BODY_CONTROL_STATE"),
-      ("PARKING_BRAKE", "BODY_CONTROL_STATE"),
-      ("UNITS", "BODY_CONTROL_STATE_2"),
-      ("TC_DISABLED", "ESP_CONTROL"),
-      ("BRAKE_HOLD_ACTIVE", "ESP_CONTROL"),
-      ("STEER_FRACTION", "STEER_ANGLE_SENSOR"),
-      ("STEER_RATE", "STEER_ANGLE_SENSOR"),
-      ("CRUISE_ACTIVE", "PCM_CRUISE"),
-      ("CRUISE_STATE", "PCM_CRUISE"),
-      ("GAS_RELEASED", "PCM_CRUISE"),
-      ("UI_SET_SPEED", "PCM_CRUISE_SM"),
-      ("STEER_TORQUE_DRIVER", "STEER_TORQUE_SENSOR"),
-      ("STEER_TORQUE_EPS", "STEER_TORQUE_SENSOR"),
-      ("STEER_ANGLE", "STEER_TORQUE_SENSOR"),
-      ("STEER_ANGLE_INITIALIZING", "STEER_TORQUE_SENSOR"),
-      ("TURN_SIGNALS", "BLINKERS_STATE"),
-      ("LKA_STATE", "EPS_STATUS"),
-      ("AUTO_HIGH_BEAM", "LIGHT_STALK"),
-    ]
-
-    checks = [
+    messages = [
       ("GEAR_PACKET", 1),
       ("LIGHT_STALK", 1),
       ("BLINKERS_STATE", 0.15),
@@ -201,94 +183,53 @@ class CarState(CarStateBase):
     ]
 
     if CP.flags & ToyotaFlags.HYBRID:
-      signals.append(("GAS_PEDAL", "GAS_PEDAL_HYBRID"))
-      checks.append(("GAS_PEDAL_HYBRID", 33))
+      messages.append(("GAS_PEDAL_HYBRID", 33))
     else:
-      signals.append(("GAS_PEDAL", "GAS_PEDAL"))
-      checks.append(("GAS_PEDAL", 33))
+      messages.append(("GAS_PEDAL", 33))
 
     if CP.carFingerprint in UNSUPPORTED_DSU_CAR:
-      signals.append(("MAIN_ON", "DSU_CRUISE"))
-      signals.append(("SET_SPEED", "DSU_CRUISE"))
-      signals.append(("UI_SET_SPEED", "PCM_CRUISE_ALT"))
-      checks.append(("DSU_CRUISE", 5))
-      checks.append(("PCM_CRUISE_ALT", 1))
+      messages.append(("DSU_CRUISE", 5))
+      messages.append(("PCM_CRUISE_ALT", 1))
     else:
-      signals.append(("MAIN_ON", "PCM_CRUISE_2"))
-      signals.append(("SET_SPEED", "PCM_CRUISE_2"))
-      signals.append(("ACC_FAULTED", "PCM_CRUISE_2"))
-      signals.append(("LOW_SPEED_LOCKOUT", "PCM_CRUISE_2"))
-      checks.append(("PCM_CRUISE_2", 33))
+      messages.append(("PCM_CRUISE_2", 33))
 
     # add gas interceptor reading if we are using it
     if CP.enableGasInterceptor:
-      signals.append(("INTERCEPTOR_GAS", "GAS_SENSOR"))
-      signals.append(("INTERCEPTOR_GAS2", "GAS_SENSOR"))
-      checks.append(("GAS_SENSOR", 50))
+      messages.append(("GAS_SENSOR", 50))
 
     if CP.enableBsm:
-      signals += [
-        ("L_ADJACENT", "BSM"),
-        ("L_APPROACHING", "BSM"),
-        ("R_ADJACENT", "BSM"),
-        ("R_APPROACHING", "BSM"),
-      ]
-      checks.append(("BSM", 1))
+      messages.append(("BSM", 1))
 
     if CP.carFingerprint in RADAR_ACC_CAR:
       if not CP.flags & ToyotaFlags.SMART_DSU.value:
-        signals += [
-          ("ACC_TYPE", "ACC_CONTROL"),
-        ]
-        checks += [
+        messages += [
           ("ACC_CONTROL", 33),
         ]
-      signals += [
-        ("FCW", "ACC_HUD"),
-      ]
-      checks += [
-        ("ACC_HUD", 1),
+      messages += [
+        ("PCS_HUD", 1),
       ]
 
     if CP.carFingerprint not in (TSS2_CAR - RADAR_ACC_CAR) and not CP.enableDsu:
-      signals += [
-        ("FORCE", "PRE_COLLISION"),
-        ("PRECOLLISION_ACTIVE", "PRE_COLLISION"),
-      ]
-      checks += [
+      messages += [
         ("PRE_COLLISION", 33),
       ]
 
-    return CANParser(DBC[CP.carFingerprint]["pt"], signals, checks, 0)
+    return CANParser(DBC[CP.carFingerprint]["pt"], messages, 0)
 
   @staticmethod
   def get_cam_can_parser(CP):
-    signals = []
-    checks = []
+    messages = []
 
     if CP.carFingerprint != CAR.PRIUS_V:
-      signals += [
-        ("LANE_SWAY_FLD", "LKAS_HUD"),
-        ("LANE_SWAY_BUZZER", "LKAS_HUD"),
-        ("LANE_SWAY_WARNING", "LKAS_HUD"),
-        ("LANE_SWAY_SENSITIVITY", "LKAS_HUD"),
-        ("LANE_SWAY_TOGGLE", "LKAS_HUD"),
-      ]
-      checks += [
+      messages += [
         ("LKAS_HUD", 1),
       ]
 
     if CP.carFingerprint in (TSS2_CAR - RADAR_ACC_CAR):
-      signals += [
-        ("PRECOLLISION_ACTIVE", "PRE_COLLISION"),
-        ("FORCE", "PRE_COLLISION"),
-        ("ACC_TYPE", "ACC_CONTROL"),
-        ("FCW", "ACC_HUD"),
-      ]
-      checks += [
+      messages += [
         ("PRE_COLLISION", 33),
         ("ACC_CONTROL", 33),
-        ("ACC_HUD", 1),
+        ("PCS_HUD", 1),
       ]
 
-    return CANParser(DBC[CP.carFingerprint]["pt"], signals, checks, 2)
+    return CANParser(DBC[CP.carFingerprint]["pt"], messages, 2)
diff --git a/selfdrive/car/toyota/interface.py b/selfdrive/car/toyota/interface.py
index c222363d18..b35ceb0f1f 100644
--- a/selfdrive/car/toyota/interface.py
+++ b/selfdrive/car/toyota/interface.py
@@ -8,6 +8,7 @@ from selfdrive.car import STD_CARGO_KG, scale_tire_stiffness, get_safety_config
 from selfdrive.car.interfaces import CarInterfaceBase
 
 EventName = car.CarEvent.EventName
+SteerControlType = car.CarParams.SteerControlType
 
 
 class CarInterface(CarInterfaceBase):
@@ -27,16 +28,21 @@ class CarInterface(CarInterfaceBase):
 
     if candidate in ANGLE_CONTROL_CAR:
       ret.dashcamOnly = True
-      ret.steerControlType = car.CarParams.SteerControlType.angle
+      ret.steerControlType = SteerControlType.angle
       ret.safetyConfigs[0].safetyParam |= Panda.FLAG_TOYOTA_LTA
+
+      # LTA control can be more delayed and winds up more often
+      ret.steerActuatorDelay = 0.25
+      ret.steerLimitTimer = 0.8
     else:
       CarInterfaceBase.configure_torque_tune(candidate, ret.lateralTuning)
 
-    ret.steerActuatorDelay = 0.12  # Default delay, Prius has larger delay
-    ret.steerLimitTimer = 0.4
+      ret.steerActuatorDelay = 0.12  # Default delay, Prius has larger delay
+      ret.steerLimitTimer = 0.4
+
     ret.stoppingControl = False  # Toyota starts braking more when it thinks you want to stop
 
-    stop_and_go = False
+    stop_and_go = candidate in TSS2_CAR
 
     if candidate == CAR.PRIUS:
       stop_and_go = True
@@ -110,7 +116,6 @@ class CarInterface(CarInterfaceBase):
 
     elif candidate in (CAR.RAV4_TSS2, CAR.RAV4_TSS2_2022, CAR.RAV4H_TSS2, CAR.RAV4H_TSS2_2022,
                        CAR.RAV4_TSS2_2023, CAR.RAV4H_TSS2_2023):
-      stop_and_go = True
       ret.wheelbase = 2.68986
       ret.steerRatio = 14.3
       tire_stiffness_factor = 0.7933
@@ -132,7 +137,6 @@ class CarInterface(CarInterfaceBase):
           break
 
     elif candidate in (CAR.COROLLA_TSS2, CAR.COROLLAH_TSS2):
-      stop_and_go = True
       ret.wheelbase = 2.67  # Average between 2.70 for sedan and 2.64 for hatchback
       ret.steerRatio = 13.9
       tire_stiffness_factor = 0.444  # not optimized yet
@@ -153,7 +157,7 @@ class CarInterface(CarInterfaceBase):
       tire_stiffness_factor = 0.444
       ret.mass = 4590. * CV.LB_TO_KG + STD_CARGO_KG
 
-    elif candidate in (CAR.LEXUS_IS, CAR.LEXUS_RC):
+    elif candidate in (CAR.LEXUS_IS, CAR.LEXUS_IS_TSS2, CAR.LEXUS_RC):
       ret.wheelbase = 2.79908
       ret.steerRatio = 13.3
       tire_stiffness_factor = 0.444
@@ -174,7 +178,6 @@ class CarInterface(CarInterfaceBase):
       ret.mass = 4070 * CV.LB_TO_KG + STD_CARGO_KG
 
     elif candidate == CAR.PRIUS_TSS2:
-      stop_and_go = True
       ret.wheelbase = 2.70002  # from toyota online sepc.
       ret.steerRatio = 13.4   # True steerRatio from older prius
       tire_stiffness_factor = 0.6371   # hand-tune
@@ -188,7 +191,6 @@ class CarInterface(CarInterfaceBase):
       ret.mass = 4300. * CV.LB_TO_KG + STD_CARGO_KG
 
     elif candidate in (CAR.ALPHARD_TSS2, CAR.ALPHARDH_TSS2):
-      stop_and_go = True
       ret.wheelbase = 3.00
       ret.steerRatio = 14.2
       tire_stiffness_factor = 0.444
@@ -207,13 +209,30 @@ class CarInterface(CarInterfaceBase):
     if 0x2FF in fingerprint[0]:
       ret.flags |= ToyotaFlags.SMART_DSU.value
 
+    # No radar dbc for cars without DSU which are not TSS 2.0
+    # TODO: make an adas dbc file for dsu-less models
+    ret.radarUnavailable = DBC[candidate]['radar'] is None or candidate in (NO_DSU_CAR - TSS2_CAR)
+
     # In TSS2 cars, the camera does long control
     found_ecus = [fw.ecu for fw in car_fw]
-    ret.enableDsu = len(found_ecus) > 0 and Ecu.dsu not in found_ecus and candidate not in (NO_DSU_CAR | UNSUPPORTED_DSU_CAR) and not (ret.flags & ToyotaFlags.SMART_DSU)
+    ret.enableDsu = len(found_ecus) > 0 and Ecu.dsu not in found_ecus and candidate not in (NO_DSU_CAR | UNSUPPORTED_DSU_CAR) \
+                                        and not (ret.flags & ToyotaFlags.SMART_DSU)
     ret.enableGasInterceptor = 0x201 in fingerprint[0]
 
-    # if the smartDSU is detected, openpilot can send ACC_CMD (and the smartDSU will block it from the DSU) or not (the DSU is "connected")
-    ret.openpilotLongitudinalControl = bool(ret.flags & ToyotaFlags.SMART_DSU) or ret.enableDsu or candidate in (TSS2_CAR - RADAR_ACC_CAR)
+    # if the smartDSU is detected, openpilot can send ACC_CONTROL and the smartDSU will block it from the DSU or radar.
+    # since we don't yet parse radar on TSS2 radar-based ACC cars, gate longitudinal behind experimental toggle
+    use_sdsu = bool(ret.flags & ToyotaFlags.SMART_DSU)
+    if candidate in RADAR_ACC_CAR:
+      ret.experimentalLongitudinalAvailable = use_sdsu
+      use_sdsu = use_sdsu and experimental_long
+
+    # openpilot longitudinal enabled by default:
+    #  - non-(TSS2 radar ACC cars) w/ smartDSU installed
+    #  - cars w/ DSU disconnected
+    #  - TSS2 cars with camera sending ACC_CONTROL where we can block it
+    # openpilot longitudinal behind experimental long toggle:
+    #  - TSS2 radar ACC cars w/ smartDSU installed
+    ret.openpilotLongitudinalControl = use_sdsu or ret.enableDsu or candidate in (TSS2_CAR - RADAR_ACC_CAR)
     ret.autoResumeSng = ret.openpilotLongitudinalControl and candidate in NO_STOP_TIMER_CAR
 
     if not ret.openpilotLongitudinalControl:
@@ -255,6 +274,11 @@ class CarInterface(CarInterfaceBase):
     # events
     events = self.create_common_events(ret)
 
+    # Lane Tracing Assist control is unavailable (EPS_STATUS->LTA_STATE=0) until
+    # the more accurate angle sensor signal is initialized
+    if self.CP.steerControlType == SteerControlType.angle and not self.CS.accurate_steer_angle_seen:
+      events.add(EventName.vehicleSensorsInvalid)
+
     if self.CP.openpilotLongitudinalControl:
       if ret.cruiseState.standstill and not ret.brakePressed and not self.CP.enableGasInterceptor:
         events.add(EventName.resumeRequired)
diff --git a/selfdrive/car/toyota/radar_interface.py b/selfdrive/car/toyota/radar_interface.py
index 8c87704ff2..ad6238b601 100755
--- a/selfdrive/car/toyota/radar_interface.py
+++ b/selfdrive/car/toyota/radar_interface.py
@@ -1,14 +1,11 @@
 #!/usr/bin/env python3
 from opendbc.can.parser import CANParser
 from cereal import car
-from selfdrive.car.toyota.values import NO_DSU_CAR, DBC, TSS2_CAR
+from selfdrive.car.toyota.values import DBC, TSS2_CAR
 from selfdrive.car.interfaces import RadarInterfaceBase
 
 
 def _create_radar_can_parser(car_fingerprint):
-  if DBC[car_fingerprint]['radar'] is None:
-    return None
-
   if car_fingerprint in TSS2_CAR:
     RADAR_A_MSGS = list(range(0x180, 0x190))
     RADAR_B_MSGS = list(range(0x190, 0x1a0))
@@ -18,14 +15,9 @@ def _create_radar_can_parser(car_fingerprint):
 
   msg_a_n = len(RADAR_A_MSGS)
   msg_b_n = len(RADAR_B_MSGS)
+  messages = list(zip(RADAR_A_MSGS + RADAR_B_MSGS, [20] * (msg_a_n + msg_b_n)))
 
-  signals = list(zip(['LONG_DIST'] * msg_a_n + ['NEW_TRACK'] * msg_a_n + ['LAT_DIST'] * msg_a_n +
-                     ['REL_SPEED'] * msg_a_n + ['VALID'] * msg_a_n + ['SCORE'] * msg_b_n,
-                     RADAR_A_MSGS * 5 + RADAR_B_MSGS))
-
-  checks = list(zip(RADAR_A_MSGS + RADAR_B_MSGS, [20] * (msg_a_n + msg_b_n)))
-
-  return CANParser(DBC[car_fingerprint]['radar'], signals, checks, 1)
+  return CANParser(DBC[car_fingerprint]['radar'], messages, 1)
 
 class RadarInterface(RadarInterfaceBase):
   def __init__(self, CP):
@@ -42,16 +34,12 @@ class RadarInterface(RadarInterfaceBase):
 
     self.valid_cnt = {key: 0 for key in self.RADAR_A_MSGS}
 
-    self.rcp = _create_radar_can_parser(CP.carFingerprint)
+    self.rcp = None if CP.radarUnavailable else _create_radar_can_parser(CP.carFingerprint)
     self.trigger_msg = self.RADAR_B_MSGS[-1]
     self.updated_messages = set()
 
-    # No radar dbc for cars without DSU which are not TSS 2.0
-    # TODO: make a adas dbc file for dsu-less models
-    self.no_radar = CP.carFingerprint in NO_DSU_CAR and CP.carFingerprint not in TSS2_CAR
-
   def update(self, can_strings):
-    if self.no_radar or self.rcp is None:
+    if self.rcp is None:
       return super().update(None)
 
     vls = self.rcp.update_strings(can_strings)
diff --git a/selfdrive/car/toyota/tests/test_toyota.py b/selfdrive/car/toyota/tests/test_toyota.py
index 5648f75fe7..46e3fc2d27 100755
--- a/selfdrive/car/toyota/tests/test_toyota.py
+++ b/selfdrive/car/toyota/tests/test_toyota.py
@@ -1,13 +1,42 @@
 #!/usr/bin/env python3
+from cereal import car
 import unittest
 
-from selfdrive.car.toyota.values import TSS2_CAR, ANGLE_CONTROL_CAR
+from selfdrive.car.toyota.values import CAR, DBC, TSS2_CAR, ANGLE_CONTROL_CAR, FW_VERSIONS
+
+Ecu = car.CarParams.Ecu
 
 
 class TestToyotaInterfaces(unittest.TestCase):
   def test_angle_car_set(self):
     self.assertTrue(len(ANGLE_CONTROL_CAR - TSS2_CAR) == 0)
 
+  def test_tss2_dbc(self):
+    # We make some assumptions about TSS2 platforms,
+    # like looking up certain signals only in this DBC
+    for car_model, dbc in DBC.items():
+      if car_model in TSS2_CAR:
+        self.assertEqual(dbc["pt"], "toyota_nodsu_pt_generated")
+
+  def test_essential_ecus(self):
+    # Asserts standard ECUs exist for each platform
+    common_ecus = {Ecu.fwdRadar, Ecu.fwdCamera}
+    for car_model, ecus in FW_VERSIONS.items():
+      with self.subTest(car_model=car_model):
+        present_ecus = {ecu[0] for ecu in ecus}
+        missing_ecus = common_ecus - present_ecus
+        self.assertEqual(len(missing_ecus), 0)
+
+        # Some exceptions for other common ECUs
+        if car_model not in (CAR.ALPHARD_TSS2,):
+          self.assertIn(Ecu.abs, present_ecus)
+
+        if car_model not in (CAR.MIRAI,):
+          self.assertIn(Ecu.engine, present_ecus)
+
+        if car_model not in (CAR.PRIUS_V, CAR.LEXUS_CTH):
+          self.assertIn(Ecu.eps, present_ecus)
+
 
 if __name__ == "__main__":
   unittest.main()
diff --git a/selfdrive/car/toyota/toyotacan.py b/selfdrive/car/toyota/toyotacan.py
index 1031361350..0c3330efa2 100644
--- a/selfdrive/car/toyota/toyotacan.py
+++ b/selfdrive/car/toyota/toyotacan.py
@@ -9,20 +9,20 @@ def create_steer_command(packer, steer, steer_req):
   return packer.make_can_msg("STEERING_LKA", 0, values)
 
 
-def create_lta_steer_command(packer, steer, steer_req, raw_cnt):
+def create_lta_steer_command(packer, steer_angle, steer_req, frame, setme_x64):
   """Creates a CAN message for the Toyota LTA Steer Command."""
 
   values = {
-    "COUNTER": raw_cnt + 128,
+    "COUNTER": frame + 128,
     "SETME_X1": 1,
     "SETME_X3": 3,
     "PERCENTAGE": 100,
-    "SETME_X64": 0,
+    "SETME_X64": setme_x64,
     "ANGLE": 0,
-    "STEER_ANGLE_CMD": steer,
+    "STEER_ANGLE_CMD": steer_angle,
     "STEER_REQUEST": steer_req,
     "STEER_REQUEST_2": steer_req,
-    "BIT": 0,
+    "CLEAR_HOLD_STEERING_ALERT": 0,
   }
   return packer.make_can_msg("STEERING_LTA", 0, values)
 
@@ -46,7 +46,7 @@ def create_acc_cancel_command(packer):
   values = {
     "GAS_RELEASED": 0,
     "CRUISE_ACTIVE": 0,
-    "STANDSTILL_ON": 0,
+    "ACC_BRAKING": 0,
     "ACCEL_NET": 0,
     "CRUISE_STATE": 0,
     "CANCEL_REQ": 1,
@@ -63,7 +63,7 @@ def create_fcw_command(packer, fcw):
     "PCS_OFF": 1,
     "PCS_SENSITIVITY": 0,
   }
-  return packer.make_can_msg("ACC_HUD", 0, values)
+  return packer.make_can_msg("PCS_HUD", 0, values)
 
 
 def create_ui_command(packer, steer, chime, left_line, right_line, left_lane_depart, right_lane_depart, enabled, stock_lkas_hud):
@@ -87,7 +87,7 @@ def create_ui_command(packer, steer, chime, left_line, right_line, left_lane_dep
     "LANE_SWAY_SENSITIVITY": 2,
     "LANE_SWAY_TOGGLE": 1,
     "LDA_ON_MESSAGE": 0,
-    "LDA_SPEED_TOO_LOW": 0,
+    "LDA_MESSAGES": 0,
     "LDA_SA_TOGGLE": 1,
     "LDA_SENSITIVITY": 2,
     "LDA_UNAVAILABLE": 0,
diff --git a/selfdrive/car/toyota/values.py b/selfdrive/car/toyota/values.py
index 422c7560fe..ad6a2c639c 100644
--- a/selfdrive/car/toyota/values.py
+++ b/selfdrive/car/toyota/values.py
@@ -1,11 +1,11 @@
 from collections import defaultdict
-from dataclasses import dataclass
+from dataclasses import dataclass, field
 from enum import Enum, IntFlag
 from typing import Dict, List, Union
 
 from cereal import car
 from common.conversions import Conversions as CV
-from selfdrive.car import dbc_dict
+from selfdrive.car import AngleRateLimit, dbc_dict
 from selfdrive.car.docs_definitions import CarFootnote, CarInfo, Column, CarParts, CarHarness
 from selfdrive.car.fw_query_definitions import FwQueryConfig, Request, StdQueries
 
@@ -22,6 +22,14 @@ class CarControllerParams:
   STEER_MAX = 1500
   STEER_ERROR_MAX = 350     # max delta between torque cmd and torque motor
 
+  # Lane Tracing Assist (LTA) control limits
+  # Assuming a steering ratio of 13.7:
+  # Limit to ~2.0 m/s^3 up (7.5 deg/s), ~3.5 m/s^3 down (13 deg/s) at 75 mph
+  # Worst case, the low speed limits will allow ~4.0 m/s^3 up (15 deg/s) and ~4.9 m/s^3 down (18 deg/s) at 75 mph,
+  # however the EPS has its own internal limits at all speeds which are less than that
+  ANGLE_RATE_LIMIT_UP = AngleRateLimit(speed_bp=[5, 25], angle_v=[0.3, 0.15])
+  ANGLE_RATE_LIMIT_DOWN = AngleRateLimit(speed_bp=[5, 25], angle_v=[0.36, 0.26])
+
   def __init__(self, CP):
     if CP.lateralTuning.which == 'torque':
       self.STEER_DELTA_UP = 15       # 1.0s time to peak torque
@@ -82,6 +90,7 @@ class CAR:
   LEXUS_ES_TSS2 = "LEXUS ES 2019"
   LEXUS_ESH_TSS2 = "LEXUS ES HYBRID 2019"
   LEXUS_IS = "LEXUS IS 2018"
+  LEXUS_IS_TSS2 = "LEXUS IS 2023"
   LEXUS_NX = "LEXUS NX 2018"
   LEXUS_NXH = "LEXUS NX HYBRID 2018"
   LEXUS_NX_TSS2 = "LEXUS NX 2020"
@@ -102,7 +111,7 @@ class Footnote(Enum):
 @dataclass
 class ToyotaCarInfo(CarInfo):
   package: str = "All"
-  car_parts: CarParts = CarParts.common([CarHarness.toyota])
+  car_parts: CarParts = field(default_factory=CarParts.common([CarHarness.toyota_a]))
 
 
 CAR_INFO: Dict[str, Union[ToyotaCarInfo, List[ToyotaCarInfo]]] = {
@@ -135,7 +144,7 @@ CAR_INFO: Dict[str, Union[ToyotaCarInfo, List[ToyotaCarInfo]]] = {
     ToyotaCarInfo("Toyota Corolla Hybrid 2020-22"),
     ToyotaCarInfo("Toyota Corolla Hybrid (Non-US only) 2020-23", min_enable_speed=7.5),
     ToyotaCarInfo("Toyota Corolla Cross Hybrid (Non-US only) 2020-22", min_enable_speed=7.5),
-    ToyotaCarInfo("Lexus UX Hybrid 2019-22"),
+    ToyotaCarInfo("Lexus UX Hybrid 2019-23"),
   ],
   CAR.HIGHLANDER: ToyotaCarInfo("Toyota Highlander 2017-19", video_link="https://www.youtube.com/watch?v=0wS0wXSLzoo"),
   CAR.HIGHLANDER_TSS2: ToyotaCarInfo("Toyota Highlander 2020-23"),
@@ -175,6 +184,7 @@ CAR_INFO: Dict[str, Union[ToyotaCarInfo, List[ToyotaCarInfo]]] = {
   CAR.LEXUS_ES_TSS2: ToyotaCarInfo("Lexus ES 2019-22"),
   CAR.LEXUS_ESH_TSS2: ToyotaCarInfo("Lexus ES Hybrid 2019-23", video_link="https://youtu.be/BZ29osRVJeg?t=12"),
   CAR.LEXUS_IS: ToyotaCarInfo("Lexus IS 2017-19"),
+  CAR.LEXUS_IS_TSS2: ToyotaCarInfo("Lexus IS 2023"),
   CAR.LEXUS_NX: ToyotaCarInfo("Lexus NX 2018-19"),
   CAR.LEXUS_NXH: ToyotaCarInfo("Lexus NX Hybrid 2018-19"),
   CAR.LEXUS_NX_TSS2: ToyotaCarInfo("Lexus NX 2020-21"),
@@ -189,53 +199,68 @@ CAR_INFO: Dict[str, Union[ToyotaCarInfo, List[ToyotaCarInfo]]] = {
     ToyotaCarInfo("Lexus RX Hybrid 2017-19"),
   ],
   CAR.LEXUS_RX_TSS2: ToyotaCarInfo("Lexus RX 2020-22"),
-  CAR.LEXUS_RXH_TSS2: ToyotaCarInfo("Lexus RX Hybrid 2020-21"),
+  CAR.LEXUS_RXH_TSS2: ToyotaCarInfo("Lexus RX Hybrid 2020-22"),
 }
 
 # (addr, cars, bus, 1/freq*100, vl)
 STATIC_DSU_MSGS = [
   (0x128, (CAR.PRIUS, CAR.RAV4H, CAR.LEXUS_RXH, CAR.LEXUS_NXH, CAR.LEXUS_NX, CAR.RAV4, CAR.COROLLA, CAR.AVALON), 1,   3, b'\xf4\x01\x90\x83\x00\x37'),
   (0x128, (CAR.HIGHLANDER, CAR.HIGHLANDERH, CAR.SIENNA, CAR.LEXUS_CTH, CAR.LEXUS_ES, CAR.LEXUS_ESH), 1,   3, b'\x03\x00\x20\x00\x00\x52'),
-  (0x141, (CAR.PRIUS, CAR.RAV4H, CAR.LEXUS_RXH, CAR.LEXUS_NXH, CAR.LEXUS_NX, CAR.RAV4, CAR.COROLLA, CAR.HIGHLANDER, CAR.HIGHLANDERH, CAR.AVALON, CAR.SIENNA, CAR.LEXUS_CTH, CAR.LEXUS_ES, CAR.LEXUS_ESH, CAR.LEXUS_RX, CAR.PRIUS_V), 1,   2, b'\x00\x00\x00\x46'),
-  (0x160, (CAR.PRIUS, CAR.RAV4H, CAR.LEXUS_RXH, CAR.LEXUS_NXH, CAR.LEXUS_NX, CAR.RAV4, CAR.COROLLA, CAR.HIGHLANDER, CAR.HIGHLANDERH, CAR.AVALON, CAR.SIENNA, CAR.LEXUS_CTH, CAR.LEXUS_ES, CAR.LEXUS_ESH, CAR.LEXUS_RX, CAR.PRIUS_V), 1,   7, b'\x00\x00\x08\x12\x01\x31\x9c\x51'),
-  (0x161, (CAR.PRIUS, CAR.RAV4H, CAR.LEXUS_RXH, CAR.LEXUS_NXH, CAR.LEXUS_NX, CAR.RAV4, CAR.COROLLA, CAR.AVALON, CAR.LEXUS_RX, CAR.PRIUS_V, CAR.LEXUS_ES), 1,   7, b'\x00\x1e\x00\x00\x00\x80\x07'),
+  (0x141, (CAR.PRIUS, CAR.RAV4H, CAR.LEXUS_RXH, CAR.LEXUS_NXH, CAR.LEXUS_NX, CAR.RAV4, CAR.COROLLA, CAR.HIGHLANDER, CAR.HIGHLANDERH, CAR.AVALON,
+           CAR.SIENNA, CAR.LEXUS_CTH, CAR.LEXUS_ES, CAR.LEXUS_ESH, CAR.LEXUS_RX, CAR.PRIUS_V), 1,   2, b'\x00\x00\x00\x46'),
+  (0x160, (CAR.PRIUS, CAR.RAV4H, CAR.LEXUS_RXH, CAR.LEXUS_NXH, CAR.LEXUS_NX, CAR.RAV4, CAR.COROLLA, CAR.HIGHLANDER, CAR.HIGHLANDERH, CAR.AVALON,
+           CAR.SIENNA, CAR.LEXUS_CTH, CAR.LEXUS_ES, CAR.LEXUS_ESH, CAR.LEXUS_RX, CAR.PRIUS_V), 1,   7, b'\x00\x00\x08\x12\x01\x31\x9c\x51'),
+  (0x161, (CAR.PRIUS, CAR.RAV4H, CAR.LEXUS_RXH, CAR.LEXUS_NXH, CAR.LEXUS_NX, CAR.RAV4, CAR.COROLLA, CAR.AVALON, CAR.LEXUS_RX, CAR.PRIUS_V, CAR.LEXUS_ES),
+                                                                                               1,   7, b'\x00\x1e\x00\x00\x00\x80\x07'),
   (0X161, (CAR.HIGHLANDERH, CAR.HIGHLANDER, CAR.SIENNA, CAR.LEXUS_CTH, CAR.LEXUS_ESH), 1,  7, b'\x00\x1e\x00\xd4\x00\x00\x5b'),
-  (0x283, (CAR.PRIUS, CAR.RAV4H, CAR.LEXUS_RXH, CAR.LEXUS_NXH, CAR.LEXUS_NX, CAR.RAV4, CAR.COROLLA, CAR.HIGHLANDER, CAR.HIGHLANDERH, CAR.AVALON, CAR.SIENNA, CAR.LEXUS_CTH, CAR.LEXUS_ES, CAR.LEXUS_ESH, CAR.LEXUS_RX, CAR.PRIUS_V), 0,   3, b'\x00\x00\x00\x00\x00\x00\x8c'),
+  (0x283, (CAR.PRIUS, CAR.RAV4H, CAR.LEXUS_RXH, CAR.LEXUS_NXH, CAR.LEXUS_NX, CAR.RAV4, CAR.COROLLA, CAR.HIGHLANDER, CAR.HIGHLANDERH, CAR.AVALON,
+           CAR.SIENNA, CAR.LEXUS_CTH, CAR.LEXUS_ES, CAR.LEXUS_ESH, CAR.LEXUS_RX, CAR.PRIUS_V), 0,   3, b'\x00\x00\x00\x00\x00\x00\x8c'),
   (0x2E6, (CAR.PRIUS, CAR.RAV4H, CAR.LEXUS_RXH), 0,   3, b'\xff\xf8\x00\x08\x7f\xe0\x00\x4e'),
   (0x2E7, (CAR.PRIUS, CAR.RAV4H, CAR.LEXUS_RXH), 0,   3, b'\xa8\x9c\x31\x9c\x00\x00\x00\x02'),
   (0x33E, (CAR.PRIUS, CAR.RAV4H, CAR.LEXUS_RXH), 0,  20, b'\x0f\xff\x26\x40\x00\x1f\x00'),
-  (0x344, (CAR.PRIUS, CAR.RAV4H, CAR.LEXUS_RXH, CAR.LEXUS_NXH, CAR.LEXUS_NX, CAR.RAV4, CAR.COROLLA, CAR.HIGHLANDER, CAR.HIGHLANDERH, CAR.AVALON, CAR.SIENNA, CAR.LEXUS_CTH, CAR.LEXUS_ES, CAR.LEXUS_ESH, CAR.LEXUS_RX, CAR.PRIUS_V), 0,   5, b'\x00\x00\x01\x00\x00\x00\x00\x50'),
+  (0x344, (CAR.PRIUS, CAR.RAV4H, CAR.LEXUS_RXH, CAR.LEXUS_NXH, CAR.LEXUS_NX, CAR.RAV4, CAR.COROLLA, CAR.HIGHLANDER, CAR.HIGHLANDERH, CAR.AVALON,
+           CAR.SIENNA, CAR.LEXUS_CTH, CAR.LEXUS_ES, CAR.LEXUS_ESH, CAR.LEXUS_RX, CAR.PRIUS_V), 0,   5, b'\x00\x00\x01\x00\x00\x00\x00\x50'),
   (0x365, (CAR.PRIUS, CAR.LEXUS_RXH, CAR.LEXUS_NXH, CAR.LEXUS_NX, CAR.HIGHLANDERH), 0,  20, b'\x00\x00\x00\x80\x03\x00\x08'),
-  (0x365, (CAR.RAV4, CAR.RAV4H, CAR.COROLLA, CAR.HIGHLANDER, CAR.AVALON, CAR.SIENNA, CAR.LEXUS_CTH, CAR.LEXUS_ES, CAR.LEXUS_ESH, CAR.LEXUS_RX, CAR.PRIUS_V), 0,  20, b'\x00\x00\x00\x80\xfc\x00\x08'),
+  (0x365, (CAR.RAV4, CAR.RAV4H, CAR.COROLLA, CAR.HIGHLANDER, CAR.AVALON, CAR.SIENNA, CAR.LEXUS_CTH, CAR.LEXUS_ES, CAR.LEXUS_ESH, CAR.LEXUS_RX,
+           CAR.PRIUS_V), 0,  20, b'\x00\x00\x00\x80\xfc\x00\x08'),
   (0x366, (CAR.PRIUS, CAR.RAV4H, CAR.LEXUS_RXH, CAR.LEXUS_NXH, CAR.LEXUS_NX, CAR.HIGHLANDERH), 0,  20, b'\x00\x00\x4d\x82\x40\x02\x00'),
-  (0x366, (CAR.RAV4, CAR.COROLLA, CAR.HIGHLANDER, CAR.AVALON, CAR.SIENNA, CAR.LEXUS_CTH, CAR.LEXUS_ESH, CAR.LEXUS_RX, CAR.PRIUS_V), 0,  20, b'\x00\x72\x07\xff\x09\xfe\x00'),
+  (0x366, (CAR.RAV4, CAR.COROLLA, CAR.HIGHLANDER, CAR.AVALON, CAR.SIENNA, CAR.LEXUS_CTH, CAR.LEXUS_ESH, CAR.LEXUS_RX, CAR.PRIUS_V),
+          0,  20, b'\x00\x72\x07\xff\x09\xfe\x00'),
   (0x366, (CAR.LEXUS_ES,), 0,  20, b'\x00\x95\x07\xfe\x08\x05\x00'),
   (0x470, (CAR.PRIUS, CAR.LEXUS_RXH), 1, 100, b'\x00\x00\x02\x7a'),
   (0x470, (CAR.HIGHLANDER, CAR.HIGHLANDERH, CAR.RAV4H, CAR.SIENNA, CAR.LEXUS_CTH, CAR.LEXUS_ES, CAR.LEXUS_ESH, CAR.PRIUS_V), 1,  100, b'\x00\x00\x01\x79'),
-  (0x4CB, (CAR.PRIUS, CAR.RAV4H, CAR.LEXUS_RXH, CAR.LEXUS_NXH, CAR.LEXUS_NX, CAR.RAV4, CAR.COROLLA, CAR.HIGHLANDERH, CAR.HIGHLANDER, CAR.AVALON, CAR.SIENNA, CAR.LEXUS_CTH, CAR.LEXUS_ES, CAR.LEXUS_ESH, CAR.LEXUS_RX, CAR.PRIUS_V), 0, 100, b'\x0c\x00\x00\x00\x00\x00\x00\x00'),
+  (0x4CB, (CAR.PRIUS, CAR.RAV4H, CAR.LEXUS_RXH, CAR.LEXUS_NXH, CAR.LEXUS_NX, CAR.RAV4, CAR.COROLLA, CAR.HIGHLANDERH, CAR.HIGHLANDER, CAR.AVALON,
+           CAR.SIENNA, CAR.LEXUS_CTH, CAR.LEXUS_ES, CAR.LEXUS_ESH, CAR.LEXUS_RX, CAR.PRIUS_V), 0, 100, b'\x0c\x00\x00\x00\x00\x00\x00\x00'),
 ]
 
-TOYOTA_VERSION_REQUEST = b'\x1a\x88\x01'
-TOYOTA_VERSION_RESPONSE = b'\x5a\x88\x01'
+# Some ECUs that use KWP2000 have their FW versions on non-standard data identifiers.
+# Toyota diagnostic software first gets the supported data ids, then queries them one by one.
+# For example, sends: 0x1a8800, receives: 0x1a8800010203, queries: 0x1a8801, 0x1a8802, 0x1a8803
+TOYOTA_VERSION_REQUEST_KWP = b'\x1a\x88\x01'
+TOYOTA_VERSION_RESPONSE_KWP = b'\x5a\x88\x01'
 
 FW_QUERY_CONFIG = FwQueryConfig(
+  # TODO: look at data to whitelist new ECUs effectively
   requests=[
     Request(
-      [StdQueries.SHORT_TESTER_PRESENT_REQUEST, TOYOTA_VERSION_REQUEST],
-      [StdQueries.SHORT_TESTER_PRESENT_RESPONSE, TOYOTA_VERSION_RESPONSE],
-      whitelist_ecus=[Ecu.fwdCamera, Ecu.fwdRadar, Ecu.dsu, Ecu.abs, Ecu.eps],
+      [StdQueries.SHORT_TESTER_PRESENT_REQUEST, TOYOTA_VERSION_REQUEST_KWP],
+      [StdQueries.SHORT_TESTER_PRESENT_RESPONSE, TOYOTA_VERSION_RESPONSE_KWP],
+      whitelist_ecus=[Ecu.fwdCamera, Ecu.fwdRadar, Ecu.dsu, Ecu.abs, Ecu.eps, Ecu.epb, Ecu.telematics,
+                      Ecu.hybrid, Ecu.srs, Ecu.combinationMeter, Ecu.transmission, Ecu.gateway, Ecu.hvac],
       bus=0,
     ),
     Request(
       [StdQueries.SHORT_TESTER_PRESENT_REQUEST, StdQueries.OBD_VERSION_REQUEST],
       [StdQueries.SHORT_TESTER_PRESENT_RESPONSE, StdQueries.OBD_VERSION_RESPONSE],
-      whitelist_ecus=[Ecu.engine],
+      whitelist_ecus=[Ecu.engine, Ecu.epb, Ecu.telematics, Ecu.hybrid, Ecu.srs, Ecu.combinationMeter, Ecu.transmission,
+                      Ecu.gateway, Ecu.hvac],
       bus=0,
     ),
     Request(
       [StdQueries.TESTER_PRESENT_REQUEST, StdQueries.DEFAULT_DIAGNOSTIC_REQUEST, StdQueries.EXTENDED_DIAGNOSTIC_REQUEST, StdQueries.UDS_VERSION_REQUEST],
       [StdQueries.TESTER_PRESENT_RESPONSE, StdQueries.DEFAULT_DIAGNOSTIC_RESPONSE, StdQueries.EXTENDED_DIAGNOSTIC_RESPONSE, StdQueries.UDS_VERSION_RESPONSE],
-      whitelist_ecus=[Ecu.engine, Ecu.fwdRadar, Ecu.fwdCamera, Ecu.abs, Ecu.eps],
+      whitelist_ecus=[Ecu.engine, Ecu.fwdRadar, Ecu.fwdCamera, Ecu.abs, Ecu.eps, Ecu.epb, Ecu.telematics,
+                      Ecu.hybrid, Ecu.srs, Ecu.combinationMeter, Ecu.transmission, Ecu.gateway, Ecu.hvac],
       bus=0,
     ),
   ],
@@ -244,7 +269,39 @@ FW_QUERY_CONFIG = FwQueryConfig(
     Ecu.abs: [CAR.RAV4, CAR.COROLLA, CAR.HIGHLANDER, CAR.SIENNA, CAR.LEXUS_IS],
     # On some models, the engine can show on two different addresses
     Ecu.engine: [CAR.CAMRY, CAR.COROLLA_TSS2, CAR.CHR, CAR.CHR_TSS2, CAR.LEXUS_IS, CAR.LEXUS_RC],
-  }
+  },
+  extra_ecus=[
+    # All known ECUs on a late-model Toyota vehicle not queried here:
+    # Responds to UDS:
+    # - HV Battery (0x713, 0x747)
+    # - Motor Generator (0x716, 0x724)
+    # - 2nd ABS "Brake/EPB" (0x730)
+    # Responds to KWP (0x1a8801):
+    # - Steering Angle Sensor (0x7b3)
+    # - EPS/EMPS (0x7a0, 0x7a1)
+    # Responds to KWP (0x1a8881):
+    # - Body Control Module ((0x750, 0x40))
+
+    # Hybrid control computer can be on 0x7e2 (KWP) or 0x7d2 (UDS) depending on platform
+    (Ecu.hybrid, 0x7e2, None),  # Hybrid Control Assembly & Computer
+    # TODO: if these duplicate ECUs always exist together, remove one
+    (Ecu.srs, 0x780, None),     # SRS Airbag
+    (Ecu.srs, 0x784, None),     # SRS Airbag 2
+    # Likely only exists on cars where EPB isn't standard (e.g. Camry, Avalon (/Hybrid))
+    # On some cars, EPB is controlled by the ABS module
+    (Ecu.epb, 0x750, 0x2c),     # Electronic Parking Brake
+    # This isn't accessible on all cars
+    (Ecu.gateway, 0x750, 0x5f),
+    # On some cars, this only responds to b'\x1a\x88\x81', which is reflected by the b'\x1a\x88\x00' query
+    (Ecu.telematics, 0x750, 0xc7),
+    # Transmission is combined with engine on some platforms, such as TSS-P RAV4
+    (Ecu.transmission, 0x701, None),
+    # A few platforms have a tester present response on this address, add to log
+    (Ecu.transmission, 0x7e1, None),
+    # On some cars, this only responds to b'\x1a\x88\x80'
+    (Ecu.combinationMeter, 0x7c0, None),
+    (Ecu.hvac, 0x7c4, None),
+  ],
 )
 
 FW_VERSIONS = {
@@ -391,6 +448,7 @@ FW_VERSIONS = {
       b'\x018966333Q6000\x00\x00\x00\x00',
       b'\x018966333Q6200\x00\x00\x00\x00',
       b'\x018966333Q6300\x00\x00\x00\x00',
+      b'\x018966333Q6500\x00\x00\x00\x00',
       b'\x018966333W6000\x00\x00\x00\x00',
     ],
     (Ecu.engine, 0x7e0, None): [
@@ -697,6 +755,7 @@ FW_VERSIONS = {
       b'F152610040\x00\x00\x00\x00\x00\x00',
       b'F152610190\x00\x00\x00\x00\x00\x00',
       b'F152610200\x00\x00\x00\x00\x00\x00',
+      b'F152610220\x00\x00\x00\x00\x00\x00',
       b'F152610230\x00\x00\x00\x00\x00\x00',
     ],
     (Ecu.dsu, 0x791, None): [
@@ -875,7 +934,6 @@ FW_VERSIONS = {
       b'\x01F152612B81\x00\x00\x00\x00\x00\x00',
       b'\x01F152612B90\x00\x00\x00\x00\x00\x00',
       b'\x01F152612C00\x00\x00\x00\x00\x00\x00',
-      b'F152602191\x00\x00\x00\x00\x00\x00',
       b'\x01F152612862\x00\x00\x00\x00\x00\x00',
       b'\x01F152612B91\x00\x00\x00\x00\x00\x00',
       b'\x01F15260A070\x00\x00\x00\x00\x00\x00',
@@ -938,6 +996,7 @@ FW_VERSIONS = {
       b'8965B16170\x00\x00\x00\x00\x00\x00',
       b'8965B76012\x00\x00\x00\x00\x00\x00',
       b'8965B76050\x00\x00\x00\x00\x00\x00',
+      b'8965B76091\x00\x00\x00\x00\x00\x00',
       b'\x018965B12350\x00\x00\x00\x00\x00\x00',
       b'\x018965B12470\x00\x00\x00\x00\x00\x00',
       b'\x018965B12490\x00\x00\x00\x00\x00\x00',
@@ -968,12 +1027,14 @@ FW_VERSIONS = {
       b'F152676293\x00\x00\x00\x00\x00\x00',
       b'F152676303\x00\x00\x00\x00\x00\x00',
       b'F152676304\x00\x00\x00\x00\x00\x00',
+      b'F152676371\x00\x00\x00\x00\x00\x00',
     ],
     (Ecu.fwdRadar, 0x750, 0xf): [
       b'\x018821F3301100\x00\x00\x00\x00',
       b'\x018821F3301200\x00\x00\x00\x00',
       b'\x018821F3301300\x00\x00\x00\x00',
       b'\x018821F3301400\x00\x00\x00\x00',
+      b'\x018821F6201400\x00\x00\x00\x00',
     ],
     (Ecu.fwdCamera, 0x750, 0x6d): [
       b'\x028646F12010D0\x00\x00\x00\x008646G26011A0\x00\x00\x00\x00',
@@ -990,6 +1051,7 @@ FW_VERSIONS = {
       b'\x028646F76020C0\x00\x00\x00\x008646G26011A0\x00\x00\x00\x00',
       b'\x028646F7603100\x00\x00\x00\x008646G2601200\x00\x00\x00\x00',
       b'\x028646F7603200\x00\x00\x00\x008646G2601400\x00\x00\x00\x00',
+      b'\x028646F7605100\x00\x00\x00\x008646G3304000\x00\x00\x00\x00',
     ],
   },
   CAR.HIGHLANDER: {
@@ -1192,6 +1254,23 @@ FW_VERSIONS = {
       b'8646F5301400\x00\x00\x00\x00',
     ],
   },
+  CAR.LEXUS_IS_TSS2: {
+    (Ecu.engine, 0x700, None): [
+      b'\x018966353S1000\x00\x00\x00\x00',
+    ],
+    (Ecu.abs, 0x7b0, None): [
+      b'\x01F15265342000\x00\x00\x00\x00',
+    ],
+    (Ecu.eps, 0x7a1, None): [
+      b'8965B53450\x00\x00\x00\x00\x00\x00',
+    ],
+    (Ecu.fwdRadar, 0x750, 0xf): [
+      b'\x018821F6201300\x00\x00\x00\x00',
+    ],
+    (Ecu.fwdCamera, 0x750, 0x6d): [
+      b'\x028646F5303400\x00\x00\x00\x008646G3304000\x00\x00\x00\x00',
+    ],
+  },
   CAR.PRIUS: {
     (Ecu.engine, 0x700, None): [
       b'\x02896634761000\x00\x00\x00\x008966A4703000\x00\x00\x00\x00',
@@ -1491,6 +1570,7 @@ FW_VERSIONS = {
       b'\x028965B0R11000\x00\x00\x00\x008965B0R12000\x00\x00\x00\x00',
     ],
     (Ecu.engine, 0x700, None): [
+      b'\x01896634A88100\x00\x00\x00\x00',
       b'\x01896634AJ2000\x00\x00\x00\x00',
     ],
     (Ecu.fwdRadar, 0x750, 0xf): [
@@ -1590,12 +1670,20 @@ FW_VERSIONS = {
   CAR.RAV4H_TSS2_2023: {
     (Ecu.abs, 0x7b0, None): [
       b'\x01F15264283200\x00\x00\x00\x00',
+      b'\x01F15264283300\x00\x00\x00\x00',
     ],
     (Ecu.eps, 0x7a1, None): [
       b'\x028965B0R11000\x00\x00\x00\x008965B0R12000\x00\x00\x00\x00',
+      b'8965B42371\x00\x00\x00\x00\x00\x00',
     ],
     (Ecu.engine, 0x700, None): [
       b'\x01896634AE1001\x00\x00\x00\x00',
+      b'\x01896634AF0000\x00\x00\x00\x00',
+    ],
+    (Ecu.hybrid, 0x7d2, None): [
+      b'\x02899830R41000\x00\x00\x00\x00899850R20000\x00\x00\x00\x00',
+      b'\x028998342C0000\x00\x00\x00\x00899854224000\x00\x00\x00\x00',
+      b'\x02899830R39000\x00\x00\x00\x00899850R20000\x00\x00\x00\x00',
     ],
     (Ecu.fwdRadar, 0x750, 0xf): [
       b'\x018821F0R03100\x00\x00\x00\x00',
@@ -1836,9 +1924,11 @@ FW_VERSIONS = {
     (Ecu.engine, 0x7e0, None): [
       b'\x0237887000\x00\x00\x00\x00\x00\x00\x00\x00A4701000\x00\x00\x00\x00\x00\x00\x00\x00',
       b'\x02378A0000\x00\x00\x00\x00\x00\x00\x00\x00A4701000\x00\x00\x00\x00\x00\x00\x00\x00',
+      b'\x02378F4000\x00\x00\x00\x00\x00\x00\x00\x00A4701000\x00\x00\x00\x00\x00\x00\x00\x00',
     ],
     (Ecu.abs, 0x7b0, None): [
       b'F152678210\x00\x00\x00\x00\x00\x00',
+      b'F152678211\x00\x00\x00\x00\x00\x00',
     ],
     (Ecu.eps, 0x7a1, None): [
       b'8965B78120\x00\x00\x00\x00\x00\x00',
@@ -1849,6 +1939,7 @@ FW_VERSIONS = {
     ],
     (Ecu.fwdCamera, 0x750, 0x6d): [
       b'\x028646F78030A0\x00\x00\x00\x008646G2601200\x00\x00\x00\x00',
+      b'\x028646F7803100\x00\x00\x00\x008646G2601400\x00\x00\x00\x00',
     ],
   },
   CAR.LEXUS_NXH: {
@@ -2066,15 +2157,16 @@ FW_VERSIONS = {
       b'F152648811\x00\x00\x00\x00\x00\x00',
     ],
     (Ecu.eps, 0x7a1, None): [
-      b'8965B48271\x00\x00\x00\x00\x00\x00',
       b'8965B48261\x00\x00\x00\x00\x00\x00',
+      b'8965B48271\x00\x00\x00\x00\x00\x00',
     ],
     (Ecu.fwdRadar, 0x750, 0xf): [
       b'\x018821F3301400\x00\x00\x00\x00',
     ],
     (Ecu.fwdCamera, 0x750, 0x6d): [
-      b'\x028646F4810200\x00\x00\x00\x008646G2601400\x00\x00\x00\x00',
       b'\x028646F4810100\x00\x00\x00\x008646G2601200\x00\x00\x00\x00',
+      b'\x028646F4810200\x00\x00\x00\x008646G2601400\x00\x00\x00\x00',
+      b'\x028646F4810300\x00\x00\x00\x008646G2601400\x00\x00\x00\x00',
     ],
   },
   CAR.PRIUS_TSS2: {
@@ -2082,6 +2174,7 @@ FW_VERSIONS = {
       b'\x028966347B1000\x00\x00\x00\x008966A4703000\x00\x00\x00\x00',
       b'\x028966347C4000\x00\x00\x00\x008966A4703000\x00\x00\x00\x00',
       b'\x028966347C6000\x00\x00\x00\x008966A4703000\x00\x00\x00\x00',
+      b'\x028966347C7000\x00\x00\x00\x008966A4703000\x00\x00\x00\x00',
       b'\x028966347C8000\x00\x00\x00\x008966A4703000\x00\x00\x00\x00',
       b'\x038966347C0000\x00\x00\x00\x008966A4703000\x00\x00\x00\x00897CF4710101\x00\x00\x00\x00',
       b'\x038966347C1000\x00\x00\x00\x008966A4703000\x00\x00\x00\x00897CF4710101\x00\x00\x00\x00',
@@ -2195,6 +2288,7 @@ DBC = {
   CAR.LEXUS_ESH: dbc_dict('toyota_new_mc_pt_generated', 'toyota_adas'),
   CAR.SIENNA: dbc_dict('toyota_tnga_k_pt_generated', 'toyota_adas'),
   CAR.LEXUS_IS: dbc_dict('toyota_tnga_k_pt_generated', 'toyota_adas'),
+  CAR.LEXUS_IS_TSS2: dbc_dict('toyota_nodsu_pt_generated', 'toyota_tss2_adas'),
   CAR.LEXUS_CTH: dbc_dict('toyota_new_mc_pt_generated', 'toyota_adas'),
   CAR.RAV4H_TSS2: dbc_dict('toyota_nodsu_pt_generated', 'toyota_tss2_adas'),
   CAR.RAV4H_TSS2_2022: dbc_dict('toyota_nodsu_pt_generated', None),
@@ -2213,9 +2307,10 @@ DBC = {
 EPS_SCALE = defaultdict(lambda: 73, {CAR.PRIUS: 66, CAR.COROLLA: 88, CAR.LEXUS_IS: 77, CAR.LEXUS_RC: 77, CAR.LEXUS_CTH: 100, CAR.PRIUS_V: 100})
 
 # Toyota/Lexus Safety Sense 2.0 and 2.5
-TSS2_CAR = {CAR.RAV4_TSS2, CAR.RAV4_TSS2_2022, CAR.RAV4_TSS2_2023, CAR.COROLLA_TSS2, CAR.COROLLAH_TSS2, CAR.LEXUS_ES_TSS2, CAR.LEXUS_ESH_TSS2, CAR.RAV4H_TSS2, CAR.RAV4H_TSS2_2022,
-            CAR.RAV4H_TSS2_2023, CAR.LEXUS_RX_TSS2, CAR.LEXUS_RXH_TSS2, CAR.HIGHLANDER_TSS2, CAR.HIGHLANDERH_TSS2, CAR.PRIUS_TSS2, CAR.CAMRY_TSS2, CAR.CAMRYH_TSS2,
-            CAR.MIRAI, CAR.LEXUS_NX_TSS2, CAR.LEXUS_NXH_TSS2, CAR.ALPHARD_TSS2, CAR.AVALON_TSS2, CAR.AVALONH_TSS2, CAR.ALPHARDH_TSS2, CAR.CHR_TSS2, CAR.CHRH_TSS2}
+TSS2_CAR = {CAR.RAV4_TSS2, CAR.RAV4_TSS2_2022, CAR.RAV4_TSS2_2023, CAR.COROLLA_TSS2, CAR.COROLLAH_TSS2, CAR.LEXUS_ES_TSS2, CAR.LEXUS_ESH_TSS2,
+            CAR.RAV4H_TSS2, CAR.RAV4H_TSS2_2022, CAR.RAV4H_TSS2_2023, CAR.LEXUS_RX_TSS2, CAR.LEXUS_RXH_TSS2, CAR.HIGHLANDER_TSS2,
+            CAR.HIGHLANDERH_TSS2, CAR.PRIUS_TSS2, CAR.CAMRY_TSS2, CAR.CAMRYH_TSS2, CAR.LEXUS_IS_TSS2, CAR.MIRAI, CAR.LEXUS_NX_TSS2,
+            CAR.LEXUS_NXH_TSS2, CAR.ALPHARD_TSS2, CAR.AVALON_TSS2, CAR.AVALONH_TSS2, CAR.ALPHARDH_TSS2, CAR.CHR_TSS2, CAR.CHRH_TSS2}
 
 NO_DSU_CAR = TSS2_CAR | {CAR.CHR, CAR.CHRH, CAR.CAMRY, CAR.CAMRYH}
 
@@ -2228,8 +2323,9 @@ RADAR_ACC_CAR = {CAR.RAV4H_TSS2_2022, CAR.RAV4_TSS2_2022, CAR.RAV4H_TSS2_2023, C
 # these cars use the Lane Tracing Assist (LTA) message for lateral control
 ANGLE_CONTROL_CAR = {CAR.RAV4H_TSS2_2023, CAR.RAV4_TSS2_2023}
 
-EV_HYBRID_CAR = {CAR.AVALONH_2019, CAR.AVALONH_TSS2, CAR.CAMRYH, CAR.CAMRYH_TSS2, CAR.CHRH, CAR.CHRH_TSS2, CAR.COROLLAH_TSS2, CAR.HIGHLANDERH, CAR.HIGHLANDERH_TSS2, CAR.PRIUS,
-                 CAR.PRIUS_V, CAR.RAV4H, CAR.RAV4H_TSS2, CAR.RAV4H_TSS2_2022, CAR.RAV4H_TSS2_2023, CAR.LEXUS_CTH, CAR.MIRAI, CAR.LEXUS_ESH, CAR.LEXUS_ESH_TSS2, CAR.LEXUS_NXH, CAR.LEXUS_RXH,
+EV_HYBRID_CAR = {CAR.AVALONH_2019, CAR.AVALONH_TSS2, CAR.CAMRYH, CAR.CAMRYH_TSS2, CAR.CHRH, CAR.CHRH_TSS2, CAR.COROLLAH_TSS2,
+                 CAR.HIGHLANDERH, CAR.HIGHLANDERH_TSS2, CAR.PRIUS, CAR.PRIUS_V, CAR.RAV4H, CAR.RAV4H_TSS2, CAR.RAV4H_TSS2_2022,
+                 CAR.RAV4H_TSS2_2023, CAR.LEXUS_CTH, CAR.MIRAI, CAR.LEXUS_ESH, CAR.LEXUS_ESH_TSS2, CAR.LEXUS_NXH, CAR.LEXUS_RXH,
                  CAR.LEXUS_RXH_TSS2, CAR.LEXUS_NXH_TSS2, CAR.PRIUS_TSS2, CAR.ALPHARDH_TSS2}
 
 # no resume button press required
diff --git a/selfdrive/car/volkswagen/carcontroller.py b/selfdrive/car/volkswagen/carcontroller.py
index 3b897c0c16..ddcf80f006 100644
--- a/selfdrive/car/volkswagen/carcontroller.py
+++ b/selfdrive/car/volkswagen/carcontroller.py
@@ -21,8 +21,9 @@ class CarController:
     self.apply_steer_last = 0
     self.gra_acc_counter_last = None
     self.frame = 0
-    self.hcaSameTorqueCount = 0
-    self.hcaEnabledFrameCount = 0
+    self.eps_timer_soft_disable_alert = False
+    self.hca_frame_timer_running = 0
+    self.hca_frame_same_torque = 0
 
   def update(self, CC, CS, ext_bus, now_nanos):
     actuators = CC.actuators
@@ -38,36 +39,31 @@ class CarController:
       #   * Don't send > 3.00 Newton-meters torque
       #   * Don't send the same torque for > 6 seconds
       #   * Don't send uninterrupted steering for > 360 seconds
-      # One frame of HCA disabled is enough to reset the timer, without zeroing the
-      # torque value. Do that anytime we happen to have 0 torque, or failing that,
-      # when exceeding ~1/3 the 360 second timer.
+      # MQB racks reset the uninterrupted steering timer after a single frame
+      # of HCA disabled; this is done whenever output happens to be zero.
 
       if CC.latActive:
         new_steer = int(round(actuators.steer * self.CCP.STEER_MAX))
         apply_steer = apply_driver_steer_torque_limits(new_steer, self.apply_steer_last, CS.out.steeringTorque, self.CCP)
-        if apply_steer == 0:
-          hcaEnabled = False
-          self.hcaEnabledFrameCount = 0
+        self.hca_frame_timer_running += self.CCP.STEER_STEP
+        if self.apply_steer_last == apply_steer:
+          self.hca_frame_same_torque += self.CCP.STEER_STEP
+          if self.hca_frame_same_torque > self.CCP.STEER_TIME_STUCK_TORQUE / DT_CTRL:
+            apply_steer -= (1, -1)[apply_steer < 0]
+            self.hca_frame_same_torque = 0
         else:
-          self.hcaEnabledFrameCount += 1
-          if self.hcaEnabledFrameCount >= 118 * (100 / self.CCP.STEER_STEP):  # 118s
-            hcaEnabled = False
-            self.hcaEnabledFrameCount = 0
-          else:
-            hcaEnabled = True
-            if self.apply_steer_last == apply_steer:
-              self.hcaSameTorqueCount += 1
-              if self.hcaSameTorqueCount > 1.9 * (100 / self.CCP.STEER_STEP):  # 1.9s
-                apply_steer -= (1, -1)[apply_steer < 0]
-                self.hcaSameTorqueCount = 0
-            else:
-              self.hcaSameTorqueCount = 0
+          self.hca_frame_same_torque = 0
+        hca_enabled = abs(apply_steer) > 0
       else:
-        hcaEnabled = False
+        hca_enabled = False
         apply_steer = 0
 
+      if not hca_enabled:
+        self.hca_frame_timer_running = 0
+
+      self.eps_timer_soft_disable_alert = self.hca_frame_timer_running > self.CCP.STEER_TIME_ALERT / DT_CTRL
       self.apply_steer_last = apply_steer
-      can_sends.append(self.CCS.create_steering_control(self.packer_pt, CANBUS.pt, apply_steer, hcaEnabled))
+      can_sends.append(self.CCS.create_steering_control(self.packer_pt, CANBUS.pt, apply_steer, hca_enabled))
 
     # **** Acceleration Controls ******************************************** #
 
@@ -93,7 +89,8 @@ class CarController:
       if hud_control.leadVisible and self.frame * DT_CTRL > 1.0:  # Don't display lead until we know the scaling factor
         lead_distance = 512 if CS.upscale_lead_car_signal else 8
       acc_hud_status = self.CCS.acc_hud_status_value(CS.out.cruiseState.available, CS.out.accFaulted, CC.longActive)
-      set_speed = hud_control.setSpeed * CV.MS_TO_KPH  # FIXME: follow the recent displayed-speed updates, also use mph_kmh toggle to fix display rounding problem?
+      # FIXME: follow the recent displayed-speed updates, also use mph_kmh toggle to fix display rounding problem?
+      set_speed = hud_control.setSpeed * CV.MS_TO_KPH
       can_sends.append(self.CCS.create_acc_hud_control(self.packer_pt, CANBUS.pt, acc_hud_status, set_speed,
                                                        lead_distance))
 
@@ -110,4 +107,4 @@ class CarController:
 
     self.gra_acc_counter_last = CS.gra_stock_values["COUNTER"]
     self.frame += 1
-    return new_actuators, can_sends
+    return new_actuators, can_sends, self.eps_timer_soft_disable_alert
diff --git a/selfdrive/car/volkswagen/carstate.py b/selfdrive/car/volkswagen/carstate.py
index f3cd2808a8..35f7e8bf67 100644
--- a/selfdrive/car/volkswagen/carstate.py
+++ b/selfdrive/car/volkswagen/carstate.py
@@ -254,54 +254,7 @@ class CarState(CarStateBase):
     if CP.carFingerprint in PQ_CARS:
       return CarState.get_can_parser_pq(CP)
 
-    signals = [
-      # sig_name, sig_address
-      ("LWI_Lenkradwinkel", "LWI_01"),           # Absolute steering angle
-      ("LWI_VZ_Lenkradwinkel", "LWI_01"),        # Steering angle sign
-      ("LWI_Lenkradw_Geschw", "LWI_01"),         # Absolute steering rate
-      ("LWI_VZ_Lenkradw_Geschw", "LWI_01"),      # Steering rate sign
-      ("ESP_VL_Radgeschw_02", "ESP_19"),         # ABS wheel speed, front left
-      ("ESP_VR_Radgeschw_02", "ESP_19"),         # ABS wheel speed, front right
-      ("ESP_HL_Radgeschw_02", "ESP_19"),         # ABS wheel speed, rear left
-      ("ESP_HR_Radgeschw_02", "ESP_19"),         # ABS wheel speed, rear right
-      ("ESP_Gierrate", "ESP_02"),                # Absolute yaw rate
-      ("ESP_VZ_Gierrate", "ESP_02"),             # Yaw rate sign
-      ("ZV_FT_offen", "Gateway_72"),             # Door open, driver
-      ("ZV_BT_offen", "Gateway_72"),             # Door open, passenger
-      ("ZV_HFS_offen", "Gateway_72"),            # Door open, rear left
-      ("ZV_HBFS_offen", "Gateway_72"),           # Door open, rear right
-      ("ZV_HD_offen", "Gateway_72"),             # Trunk or hatch open
-      ("Comfort_Signal_Left", "Blinkmodi_02"),   # Left turn signal including comfort blink interval
-      ("Comfort_Signal_Right", "Blinkmodi_02"),  # Right turn signal including comfort blink interval
-      ("AB_Gurtschloss_FA", "Airbag_02"),        # Seatbelt status, driver
-      ("AB_Gurtschloss_BF", "Airbag_02"),        # Seatbelt status, passenger
-      ("ESP_Fahrer_bremst", "ESP_05"),           # Driver applied brake pressure over threshold
-      ("MO_Fahrer_bremst", "Motor_14"),          # Brake pedal switch
-      ("ESP_Bremsdruck", "ESP_05"),              # Brake pressure
-      ("MO_Fahrpedalrohwert_01", "Motor_20"),    # Accelerator pedal value
-      ("EPS_Lenkmoment", "LH_EPS_03"),           # Absolute driver torque input
-      ("EPS_VZ_Lenkmoment", "LH_EPS_03"),        # Driver torque input sign
-      ("EPS_HCA_Status", "LH_EPS_03"),           # EPS HCA control status
-      ("ESP_Tastung_passiv", "ESP_21"),          # Stability control disabled
-      ("ESP_Haltebestaetigung", "ESP_21"),       # ESP hold confirmation
-      ("KBI_Handbremse", "Kombi_01"),            # Manual handbrake applied
-      ("KBI_Variante", "Kombi_03"),              # Digital/full-screen instrument cluster installed
-      ("TSK_Status", "TSK_06"),                  # ACC engagement status from drivetrain coordinator
-      ("GRA_Hauptschalter", "GRA_ACC_01"),       # ACC button, on/off
-      ("GRA_Abbrechen", "GRA_ACC_01"),           # ACC button, cancel
-      ("GRA_Tip_Setzen", "GRA_ACC_01"),          # ACC button, set
-      ("GRA_Tip_Hoch", "GRA_ACC_01"),            # ACC button, increase or accel
-      ("GRA_Tip_Runter", "GRA_ACC_01"),          # ACC button, decrease or decel
-      ("GRA_Tip_Wiederaufnahme", "GRA_ACC_01"),  # ACC button, resume
-      ("GRA_Verstellung_Zeitluecke", "GRA_ACC_01"),  # ACC button, time gap adj
-      ("GRA_Typ_Hauptschalter", "GRA_ACC_01"),   # ACC main button type
-      ("GRA_Codierung", "GRA_ACC_01"),           # ACC button configuration/coding
-      ("GRA_Tip_Stufe_2", "GRA_ACC_01"),         # unknown related to stalk type
-      ("GRA_ButtonTypeInfo", "GRA_ACC_01"),      # unknown related to stalk type
-      ("COUNTER", "GRA_ACC_01"),                 # GRA_ACC_01 CAN message counter
-    ]
-
-    checks = [
+    messages = [
       # sig_address, frequency
       ("LWI_01", 100),      # From J500 Steering Assist with integrated sensors
       ("LH_EPS_03", 100),   # From J500 Steering Assist with integrated sensors
@@ -321,108 +274,41 @@ class CarState(CarStateBase):
     ]
 
     if CP.transmissionType == TransmissionType.automatic:
-      signals.append(("GE_Fahrstufe", "Getriebe_11"))  # Auto trans gear selector position
-      checks.append(("Getriebe_11", 20))  # From J743 Auto transmission control module
+      messages.append(("Getriebe_11", 20))  # From J743 Auto transmission control module
     elif CP.transmissionType == TransmissionType.direct:
-      signals.append(("GearPosition", "EV_Gearshift"))  # EV gear selector position
-      checks.append(("EV_Gearshift", 10))  # From J??? unknown EV control module
-    elif CP.transmissionType == TransmissionType.manual:
-      signals += [("MO_Kuppl_schalter", "Motor_14"),  # Clutch switch
-                  ("BCM1_Rueckfahrlicht_Schalter", "Gateway_72")]  # Reverse light from BCM
+      messages.append(("EV_Gearshift", 10))  # From J??? unknown EV control module
 
     if CP.networkLocation == NetworkLocation.fwdCamera:
       # Radars are here on CANBUS.pt
-      signals += MqbExtraSignals.fwd_radar_signals
-      checks += MqbExtraSignals.fwd_radar_checks
+      messages += MqbExtraSignals.fwd_radar_messages
       if CP.enableBsm:
-        signals += MqbExtraSignals.bsm_radar_signals
-        checks += MqbExtraSignals.bsm_radar_checks
+        messages += MqbExtraSignals.bsm_radar_messages
 
-    return CANParser(DBC[CP.carFingerprint]["pt"], signals, checks, CANBUS.pt)
+    return CANParser(DBC[CP.carFingerprint]["pt"], messages, CANBUS.pt)
 
   @staticmethod
   def get_cam_can_parser(CP):
     if CP.carFingerprint in PQ_CARS:
       return CarState.get_cam_can_parser_pq(CP)
 
-    signals = []
-    checks = []
+    messages = []
 
     if CP.networkLocation == NetworkLocation.fwdCamera:
-      signals += [
-        # sig_name, sig_address
-        ("LDW_SW_Warnung_links", "LDW_02"),      # Blind spot in warning mode on left side due to lane departure
-        ("LDW_SW_Warnung_rechts", "LDW_02"),     # Blind spot in warning mode on right side due to lane departure
-        ("LDW_Seite_DLCTLC", "LDW_02"),          # Direction of most likely lane departure (left or right)
-        ("LDW_DLC", "LDW_02"),                   # Lane departure, distance to line crossing
-        ("LDW_TLC", "LDW_02"),                   # Lane departure, time to line crossing
-      ]
-      checks += [
+      messages += [
         # sig_address, frequency
         ("LDW_02", 10)      # From R242 Driver assistance camera
       ]
     else:
       # Radars are here on CANBUS.cam
-      signals += MqbExtraSignals.fwd_radar_signals
-      checks += MqbExtraSignals.fwd_radar_checks
+      messages += MqbExtraSignals.fwd_radar_messages
       if CP.enableBsm:
-        signals += MqbExtraSignals.bsm_radar_signals
-        checks += MqbExtraSignals.bsm_radar_checks
+        messages += MqbExtraSignals.bsm_radar_messages
 
-    return CANParser(DBC[CP.carFingerprint]["pt"], signals, checks, CANBUS.cam)
+    return CANParser(DBC[CP.carFingerprint]["pt"], messages, CANBUS.cam)
 
   @staticmethod
   def get_can_parser_pq(CP):
-    signals = [
-      # sig_name, sig_address, default
-      ("LH3_BLW", "Lenkhilfe_3"),                # Absolute steering angle
-      ("LH3_BLWSign", "Lenkhilfe_3"),            # Steering angle sign
-      ("LH3_LM", "Lenkhilfe_3"),                 # Absolute driver torque input
-      ("LH3_LMSign", "Lenkhilfe_3"),             # Driver torque input sign
-      ("LH2_Sta_HCA", "Lenkhilfe_2"),            # Steering rack HCA status
-      ("Lenkradwinkel_Geschwindigkeit", "Lenkwinkel_1"),  # Absolute steering rate
-      ("Lenkradwinkel_Geschwindigkeit_S", "Lenkwinkel_1"),  # Steering rate sign
-      ("Geschwindigkeit_neu__Bremse_1_", "Bremse_1"),  # Vehicle speed from ABS
-      ("Radgeschw__VL_4_1", "Bremse_3"),         # ABS wheel speed, front left
-      ("Radgeschw__VR_4_1", "Bremse_3"),         # ABS wheel speed, front right
-      ("Radgeschw__HL_4_1", "Bremse_3"),         # ABS wheel speed, rear left
-      ("Radgeschw__HR_4_1", "Bremse_3"),         # ABS wheel speed, rear right
-      ("Giergeschwindigkeit", "Bremse_5"),       # Absolute yaw rate
-      ("Vorzeichen_der_Giergeschwindigk", "Bremse_5"),  # Yaw rate sign
-      ("Gurtschalter_Fahrer", "Airbag_1"),       # Seatbelt status, driver
-      ("Gurtschalter_Beifahrer", "Airbag_1"),    # Seatbelt status, passenger
-      ("Bremstestschalter", "Motor_2"),          # Brake pedal pressed (brake light test switch)
-      ("Bremslichtschalter", "Motor_2"),         # Brakes applied (brake light switch)
-      ("Bremsdruck", "Bremse_5"),                # Brake pressure applied
-      ("Vorzeichen_Bremsdruck", "Bremse_5"),     # Brake pressure applied sign (???)
-      ("Fahrpedal_Rohsignal", "Motor_3"),        # Accelerator pedal value
-      ("ESP_Passiv_getastet", "Bremse_1"),       # Stability control disabled
-      ("GRA_Hauptschalter", "Motor_5"),          # ACC main switch
-      ("GRA_Status", "Motor_2"),                 # ACC engagement status
-      ("GK1_Fa_Tuerkont", "Gate_Komf_1"),        # Door open, driver
-      ("BSK_BT_geoeffnet", "Gate_Komf_1"),       # Door open, passenger
-      ("BSK_HL_geoeffnet", "Gate_Komf_1"),       # Door open, rear left
-      ("BSK_HR_geoeffnet", "Gate_Komf_1"),       # Door open, rear right
-      ("BSK_HD_Hauptraste", "Gate_Komf_1"),      # Trunk or hatch open
-      ("GK1_Blinker_li", "Gate_Komf_1"),         # Left turn signal on
-      ("GK1_Blinker_re", "Gate_Komf_1"),         # Right turn signal on
-      ("Bremsinfo", "Kombi_1"),                  # Manual handbrake applied
-      ("GRA_Hauptschalt", "GRA_Neu"),            # ACC button, on/off
-      ("GRA_Typ_Hauptschalt", "GRA_Neu"),        # ACC button, momentary vs latching
-      ("GRA_Kodierinfo", "GRA_Neu"),             # ACC button, configuration
-      ("GRA_Abbrechen", "GRA_Neu"),              # ACC button, cancel
-      ("GRA_Neu_Setzen", "GRA_Neu"),             # ACC button, set
-      ("GRA_Up_lang", "GRA_Neu"),                # ACC button, increase or accel, long press
-      ("GRA_Down_lang", "GRA_Neu"),              # ACC button, decrease or decel, long press
-      ("GRA_Up_kurz", "GRA_Neu"),                # ACC button, increase or accel, short press
-      ("GRA_Down_kurz", "GRA_Neu"),              # ACC button, decrease or decel, short press
-      ("GRA_Recall", "GRA_Neu"),                 # ACC button, resume
-      ("GRA_Zeitluecke", "GRA_Neu"),             # ACC button, time gap adj
-      ("COUNTER", "GRA_Neu"),                    # ACC button, message counter
-      ("GRA_Sender", "GRA_Neu"),                 # ACC button, CAN message originator
-    ]
-
-    checks = [
+    messages = [
       # sig_address, frequency
       ("Bremse_1", 100),    # From J104 ABS/ESP controller
       ("Bremse_3", 100),    # From J104 ABS/ESP controller
@@ -440,95 +326,55 @@ class CarState(CarStateBase):
     ]
 
     if CP.transmissionType == TransmissionType.automatic:
-      signals += [("Waehlhebelposition__Getriebe_1_", "Getriebe_1", 0)]  # Auto trans gear selector position
-      checks += [("Getriebe_1", 100)]  # From J743 Auto transmission control module
+      messages += [("Getriebe_1", 100)]  # From J743 Auto transmission control module
     elif CP.transmissionType == TransmissionType.manual:
-      signals += [("Kupplungsschalter", "Motor_1", 0),  # Clutch switch
-                  ("GK1_Rueckfahr", "Gate_Komf_1", 0)]  # Reverse light from BCM
-      checks += [("Motor_1", 100)]  # From J623 Engine control module
+      messages += [("Motor_1", 100)]  # From J623 Engine control module
 
     if CP.networkLocation == NetworkLocation.fwdCamera:
       # Extended CAN devices other than the camera are here on CANBUS.pt
-      signals += PqExtraSignals.fwd_radar_signals
-      checks += PqExtraSignals.fwd_radar_checks
+      messages += PqExtraSignals.fwd_radar_messages
       if CP.enableBsm:
-        signals += PqExtraSignals.bsm_radar_signals
-        checks += PqExtraSignals.bsm_radar_checks
+        messages += PqExtraSignals.bsm_radar_messages
 
-    return CANParser(DBC[CP.carFingerprint]["pt"], signals, checks, CANBUS.pt)
+    return CANParser(DBC[CP.carFingerprint]["pt"], messages, CANBUS.pt)
 
   @staticmethod
   def get_cam_can_parser_pq(CP):
 
-    signals = []
-    checks = []
+    messages = []
 
     if CP.networkLocation == NetworkLocation.fwdCamera:
-      signals += [
-        # sig_name, sig_address
-        ("LDW_SW_Warnung_links", "LDW_Status"),      # Blind spot in warning mode on left side due to lane departure
-        ("LDW_SW_Warnung_rechts", "LDW_Status"),     # Blind spot in warning mode on right side due to lane departure
-        ("LDW_Seite_DLCTLC", "LDW_Status"),          # Direction of most likely lane departure (left or right)
-        ("LDW_DLC", "LDW_Status"),                   # Lane departure, distance to line crossing
-        ("LDW_TLC", "LDW_Status"),                   # Lane departure, time to line crossing
-      ]
-      checks += [
+      messages += [
         # sig_address, frequency
         ("LDW_Status", 10)      # From R242 Driver assistance camera
       ]
 
     if CP.networkLocation == NetworkLocation.gateway:
       # Radars are here on CANBUS.cam
-      signals += PqExtraSignals.fwd_radar_signals
-      checks += PqExtraSignals.fwd_radar_checks
+      messages += PqExtraSignals.fwd_radar_messages
       if CP.enableBsm:
-        signals += PqExtraSignals.bsm_radar_signals
-        checks += PqExtraSignals.bsm_radar_checks
+        messages += PqExtraSignals.bsm_radar_messages
 
-    return CANParser(DBC[CP.carFingerprint]["pt"], signals, checks, CANBUS.cam)
+    return CANParser(DBC[CP.carFingerprint]["pt"], messages, CANBUS.cam)
 
 
 class MqbExtraSignals:
   # Additional signal and message lists for optional or bus-portable controllers
-  fwd_radar_signals = [
-    ("ACC_Wunschgeschw_02", "ACC_02"),           # ACC set speed
-    ("ACC_Typ", "ACC_06"),                       # Basic vs FtS vs SnG
-    ("AWV2_Freigabe", "ACC_10"),                 # FCW brake jerk release
-    ("ANB_Teilbremsung_Freigabe", "ACC_10"),     # AEB partial braking release
-    ("ANB_Zielbremsung_Freigabe", "ACC_10"),     # AEB target braking release
-  ]
-  fwd_radar_checks = [
+  fwd_radar_messages = [
     ("ACC_06", 50),                              # From J428 ACC radar control module
     ("ACC_10", 50),                              # From J428 ACC radar control module
     ("ACC_02", 17),                              # From J428 ACC radar control module
   ]
-  bsm_radar_signals = [
-    ("SWA_Infostufe_SWA_li", "SWA_01"),          # Blind spot object info, left
-    ("SWA_Warnung_SWA_li", "SWA_01"),            # Blind spot object warning, left
-    ("SWA_Infostufe_SWA_re", "SWA_01"),          # Blind spot object info, right
-    ("SWA_Warnung_SWA_re", "SWA_01"),            # Blind spot object warning, right
-  ]
-  bsm_radar_checks = [
+  bsm_radar_messages = [
     ("SWA_01", 20),                              # From J1086 Lane Change Assist
   ]
 
 class PqExtraSignals:
   # Additional signal and message lists for optional or bus-portable controllers
-  fwd_radar_signals = [
-    ("ACS_Typ_ACC", "ACC_System"),               # Basic vs FtS (no SnG support on PQ)
-    ("ACA_StaACC", "ACC_GRA_Anzeige"),           # ACC drivetrain coordinator status
-    ("ACA_V_Wunsch", "ACC_GRA_Anzeige"),         # ACC set speed
-  ]
-  fwd_radar_checks = [
+  fwd_radar_messages = [
     ("ACC_System", 50),                          # From J428 ACC radar control module
     ("ACC_GRA_Anzeige", 25),                     # From J428 ACC radar control module
   ]
-  bsm_radar_signals = [
-    ("SWA_Infostufe_SWA_li", "SWA_1"),           # Blind spot object info, left
-    ("SWA_Warnung_SWA_li", "SWA_1"),             # Blind spot object warning, left
-    ("SWA_Infostufe_SWA_re", "SWA_1"),           # Blind spot object info, right
-    ("SWA_Warnung_SWA_re", "SWA_1"),             # Blind spot object warning, right
-  ]
-  bsm_radar_checks = [
+  bsm_radar_messages = [
     ("SWA_1", 20),                               # From J1086 Lane Change Assist
   ]
diff --git a/selfdrive/car/volkswagen/interface.py b/selfdrive/car/volkswagen/interface.py
index 874b85e68e..2b0603f162 100644
--- a/selfdrive/car/volkswagen/interface.py
+++ b/selfdrive/car/volkswagen/interface.py
@@ -20,6 +20,8 @@ class CarInterface(CarInterfaceBase):
       self.ext_bus = CANBUS.cam
       self.cp_ext = self.cp_cam
 
+    self.eps_timer_soft_disable_alert = False
+
   @staticmethod
   def _get_params(ret, candidate, fingerprint, car_fw, experimental_long, docs):
     ret.carName = "volkswagen"
@@ -90,6 +92,7 @@ class CarInterface(CarInterfaceBase):
     ret.stoppingControl = True
     ret.startingState = True
     ret.startAccel = 1.0
+    ret.stopAccel = -0.55
     ret.vEgoStarting = 1.0
     ret.vEgoStopping = 1.0
     ret.longitudinalTuning.kpV = [0.1]
@@ -242,9 +245,13 @@ class CarInterface(CarInterfaceBase):
       if c.enabled and ret.vEgo < self.CP.minEnableSpeed:
         events.add(EventName.speedTooLow)
 
+    if self.eps_timer_soft_disable_alert:
+      events.add(EventName.steerTimeLimit)
+
     ret.events = events.to_msg()
 
     return ret
 
   def apply(self, c, now_nanos):
-    return self.CC.update(c, self.CS, self.ext_bus, now_nanos)
+    new_actuators, can_sends, self.eps_timer_soft_disable_alert = self.CC.update(c, self.CS, self.ext_bus, now_nanos)
+    return new_actuators, can_sends
diff --git a/selfdrive/car/volkswagen/values.py b/selfdrive/car/volkswagen/values.py
index 68df7ea2d4..3a6ed0e30c 100755
--- a/selfdrive/car/volkswagen/values.py
+++ b/selfdrive/car/volkswagen/values.py
@@ -1,5 +1,5 @@
 from collections import defaultdict, namedtuple
-from dataclasses import dataclass
+from dataclasses import dataclass, field
 from enum import Enum
 from typing import Dict, List, Union
 
@@ -19,20 +19,25 @@ Button = namedtuple('Button', ['event_type', 'can_addr', 'can_msg', 'values'])
 
 
 class CarControllerParams:
-  STEER_STEP = 2                          # HCA_01/HCA_1 message frequency 50Hz
-  ACC_CONTROL_STEP = 2                    # ACC_06/ACC_07/ACC_System frequency 50Hz
+  STEER_STEP = 2                           # HCA_01/HCA_1 message frequency 50Hz
+  ACC_CONTROL_STEP = 2                     # ACC_06/ACC_07/ACC_System frequency 50Hz
 
-  ACCEL_MAX = 2.0                         # 2.0 m/s max acceleration
-  ACCEL_MIN = -3.5                        # 3.5 m/s max deceleration
+  # Documented lateral limits: 3.00 Nm max, rate of change 5.00 Nm/sec.
+  # MQB vs PQ maximums are shared, but rate-of-change limited differently
+  # based on safety requirements driven by lateral accel testing.
+
+  STEER_MAX = 300                          # Max heading control assist torque 3.00 Nm
+  STEER_DRIVER_MULTIPLIER = 3              # weight driver torque heavily
+  STEER_DRIVER_FACTOR = 1                  # from dbc
+
+  STEER_TIME_MAX = 360                     # Max time that EPS allows uninterrupted HCA steering control
+  STEER_TIME_ALERT = STEER_TIME_MAX - 10   # If mitigation fails, time to soft disengage before EPS timer expires
+  STEER_TIME_STUCK_TORQUE = 1.9            # EPS limits same torque to 6 seconds, reset timer 3x within that period
+
+  ACCEL_MAX = 2.0                          # 2.0 m/s max acceleration
+  ACCEL_MIN = -3.5                         # 3.5 m/s max deceleration
 
   def __init__(self, CP):
-    # Documented lateral limits: 3.00 Nm max, rate of change 5.00 Nm/sec.
-    # MQB vs PQ maximums are shared, but rate-of-change limited differently
-    # based on safety requirements driven by lateral accel testing.
-    self.STEER_MAX = 300                  # Max heading control assist torque 3.00 Nm
-    self.STEER_DRIVER_MULTIPLIER = 3      # weight driver torque heavily
-    self.STEER_DRIVER_FACTOR = 1          # from dbc
-
     can_define = CANDefine(DBC[CP.carFingerprint]["pt"])
 
     if CP.carFingerprint in PQ_CARS:
@@ -154,7 +159,11 @@ class Footnote(Enum):
   PASSAT = CarFootnote(
     "Refers only to the MQB-based European B8 Passat, not the NMS Passat in the USA/China/Mideast markets.",
     Column.MODEL)
-  VW_EXP_LONG = CarFootnote (
+  SKODA_HEATED_WINDSHIELD = CarFootnote(
+    "Some Škoda vehicles are equipped with heated windshields, which are known " +
+    "to block GPS signal needed for some comma three functionality.",
+    Column.MODEL)
+  VW_EXP_LONG = CarFootnote(
     "Only available for vehicles using a gateway (J533) harness. At this time, vehicles using a camera harness " +
     "are limited to using stock ACC.",
     Column.LONGITUDINAL)
@@ -167,10 +176,12 @@ class Footnote(Enum):
 @dataclass
 class VWCarInfo(CarInfo):
   package: str = "Adaptive Cruise Control (ACC) & Lane Assist"
-  car_parts: CarParts = CarParts.common([CarHarness.j533])
+  car_parts: CarParts = field(default_factory=CarParts.common([CarHarness.j533]))
 
   def init_make(self, CP: car.CarParams):
-    self.footnotes.insert(0, Footnote.VW_EXP_LONG)
+    self.footnotes.append(Footnote.VW_EXP_LONG)
+    if "SKODA" in CP.carFingerprint:
+      self.footnotes.append(Footnote.SKODA_HEATED_WINDSHIELD)
 
     if CP.carFingerprint in (CAR.CRAFTER_MK2, CAR.TRANSPORTER_T61):
       self.car_parts = CarParts([Device.three_angled_mount, CarHarness.j533])
@@ -178,9 +189,9 @@ class VWCarInfo(CarInfo):
 
 CAR_INFO: Dict[str, Union[VWCarInfo, List[VWCarInfo]]] = {
   CAR.ARTEON_MK1: [
-    VWCarInfo("Volkswagen Arteon 2018-22", video_link="https://youtu.be/FAomFKPFlDA"),
-    VWCarInfo("Volkswagen Arteon R 2020-22", video_link="https://youtu.be/FAomFKPFlDA"),
-    VWCarInfo("Volkswagen Arteon eHybrid 2020-22", video_link="https://youtu.be/FAomFKPFlDA"),
+    VWCarInfo("Volkswagen Arteon 2018-23", video_link="https://youtu.be/FAomFKPFlDA"),
+    VWCarInfo("Volkswagen Arteon R 2020-23", video_link="https://youtu.be/FAomFKPFlDA"),
+    VWCarInfo("Volkswagen Arteon eHybrid 2020-23", video_link="https://youtu.be/FAomFKPFlDA"),
     VWCarInfo("Volkswagen CC 2018-22", video_link="https://youtu.be/FAomFKPFlDA"),
   ],
   CAR.ATLAS_MK1: [
@@ -225,7 +236,7 @@ CAR_INFO: Dict[str, Union[VWCarInfo, List[VWCarInfo]]] = {
     VWCarInfo("Volkswagen Sharan 2018-22"),
     VWCarInfo("SEAT Alhambra 2018-20"),
   ],
-  CAR.TAOS_MK1: VWCarInfo("Volkswagen Taos 2022"),
+  CAR.TAOS_MK1: VWCarInfo("Volkswagen Taos 2022-23"),
   CAR.TCROSS_MK1: VWCarInfo("Volkswagen T-Cross 2021", footnotes=[Footnote.VW_MQB_A0]),
   CAR.TIGUAN_MK2: [
     VWCarInfo("Volkswagen Tiguan 2018-23"),
@@ -249,9 +260,9 @@ CAR_INFO: Dict[str, Union[VWCarInfo, List[VWCarInfo]]] = {
   CAR.SEAT_LEON_MK3: VWCarInfo("SEAT Leon 2014-20"),
   CAR.SKODA_FABIA_MK4: VWCarInfo("Škoda Fabia 2022-23", footnotes=[Footnote.VW_MQB_A0]),
   CAR.SKODA_KAMIQ_MK1: VWCarInfo("Škoda Kamiq 2021", footnotes=[Footnote.VW_MQB_A0, Footnote.KAMIQ]),
-  CAR.SKODA_KAROQ_MK1: VWCarInfo("Škoda Karoq 2019-21"),
+  CAR.SKODA_KAROQ_MK1: VWCarInfo("Škoda Karoq 2019-23"),
   CAR.SKODA_KODIAQ_MK1: VWCarInfo("Škoda Kodiaq 2017-23"),
-  CAR.SKODA_SCALA_MK1: VWCarInfo("Škoda Scala 2020", footnotes=[Footnote.VW_MQB_A0]),
+  CAR.SKODA_SCALA_MK1: VWCarInfo("Škoda Scala 2020-23", footnotes=[Footnote.VW_MQB_A0]),
   CAR.SKODA_SUPERB_MK3: VWCarInfo("Škoda Superb 2015-22"),
   CAR.SKODA_OCTAVIA_MK3: [
     VWCarInfo("Škoda Octavia 2015, 2018-19"),
@@ -296,6 +307,7 @@ FW_QUERY_CONFIG = FwQueryConfig(
 FW_VERSIONS = {
   CAR.ARTEON_MK1: {
     (Ecu.engine, 0x7e0, None): [
+      b'\xf1\x873G0906259AH\xf1\x890001',
       b'\xf1\x873G0906259F \xf1\x890004',
       b'\xf1\x873G0906259G \xf1\x890004',
       b'\xf1\x873G0906259G \xf1\x890005',
@@ -309,6 +321,7 @@ FW_VERSIONS = {
       b'\xf1\x870DL300014C \xf1\x893704',
       b'\xf1\x870GC300011L \xf1\x891401',
       b'\xf1\x870GC300014M \xf1\x892802',
+      b'\xf1\x870GC300019G \xf1\x892804',
       b'\xf1\x870GC300040P \xf1\x891401',
     ],
     (Ecu.srs, 0x715, None): [
@@ -316,7 +329,7 @@ FW_VERSIONS = {
       b'\xf1\x873Q0959655BK\xf1\x890703\xf1\x82\x0e1616001613121177161113772900',
       b'\xf1\x873Q0959655CK\xf1\x890711\xf1\x82\x0e1712141712141105121122052900',
       b'\xf1\x873Q0959655DA\xf1\x890720\xf1\x82\x0e1712141712141105121122052900',
-      b'\xf1\x873Q0959655DL\xf1\x890732\xf1\x82\0161812141812171105141123052J00',
+      b'\xf1\x873Q0959655DL\xf1\x890732\xf1\x82\x0e1812141812171105141123052J00',
       b'\xf1\x875QF959655AP\xf1\x890755\xf1\x82\x1311110011111311111100110200--1611125F49',
     ],
     (Ecu.eps, 0x712, None): [
@@ -325,6 +338,7 @@ FW_VERSIONS = {
       b'\xf1\x875Q0910143C \xf1\x892211\xf1\x82\x0567B0020800',
       b'\xf1\x875WA907145M \xf1\x891051\xf1\x82\x002MB4092M7N',
       b'\xf1\x875WA907145M \xf1\x891051\xf1\x82\x002NB4202N7N',
+      b'\xf1\x875WA907145Q \xf1\x891063\xf1\x82\x002KB4092KOM',
     ],
     (Ecu.fwdRadar, 0x757, None): [
       b'\xf1\x872Q0907572AA\xf1\x890396',
@@ -347,11 +361,13 @@ FW_VERSIONS = {
       b'\xf1\x8703H906026S \xf1\x896693',
       b'\xf1\x8703H906026S \xf1\x899970',
       b'\xf1\x873CN906259  \xf1\x890005',
+      b'\xf1\x873CN906259F \xf1\x890002',
     ],
     (Ecu.transmission, 0x7e1, None): [
       b'\xf1\x8709G927158A \xf1\x893387',
       b'\xf1\x8709G927158DR\xf1\x893536',
       b'\xf1\x8709G927158DR\xf1\x893742',
+      b'\xf1\x8709G927158EN\xf1\x893691',
       b'\xf1\x8709G927158F \xf1\x893489',
       b'\xf1\x8709G927158FT\xf1\x893835',
       b'\xf1\x8709G927158GL\xf1\x893939',
@@ -381,23 +397,28 @@ FW_VERSIONS = {
   CAR.CRAFTER_MK2: {
     (Ecu.engine, 0x7e0, None): [
       b'\xf1\x8704L906056EK\xf1\x896391',
+      b'\xf1\x8705L906023BC\xf1\x892688',
     ],
     # Only current upstreamed vehicle has a manual transmission
     #(Ecu.transmission, 0x7e1, None): [
     #],
     (Ecu.srs, 0x715, None): [
       b'\xf1\x873Q0959655BG\xf1\x890703\xf1\x82\x0e16120016130012051G1313052900',
+      b'\xf1\x875QF959655AS\xf1\x890755\xf1\x82\x1315140015150011111100050200--1311120749',
     ],
     (Ecu.eps, 0x712, None): [
       b'\xf1\x872N0909143E \xf1\x897021\xf1\x82\x05163AZ306A2',
+      b'\xf1\x872N0909144K \xf1\x897045\xf1\x82\x05233AZ810A2',
     ],
     (Ecu.fwdRadar, 0x757, None): [
+      b'\xf1\x872Q0907572AA\xf1\x890396',
       b'\xf1\x872Q0907572M \xf1\x890233',
     ],
   },
   CAR.GOLF_MK7: {
     (Ecu.engine, 0x7e0, None): [
       b'\xf1\x8704E906016A \xf1\x897697',
+      b'\xf1\x8704E906016N \xf1\x899105',
       b'\xf1\x8704E906016AD\xf1\x895758',
       b'\xf1\x8704E906016CE\xf1\x899096',
       b'\xf1\x8704E906016CH\xf1\x899226',
@@ -476,6 +497,7 @@ FW_VERSIONS = {
       b'\xf1\x870D9300041P \xf1\x894507',
       b'\xf1\x870DD300045K \xf1\x891120',
       b'\xf1\x870DD300046F \xf1\x891601',
+      b'\xf1\x870GC300012A \xf1\x891401',
       b'\xf1\x870GC300012A \xf1\x891403',
       b'\xf1\x870GC300014B \xf1\x892401',
       b'\xf1\x870GC300014B \xf1\x892405',
@@ -492,6 +514,7 @@ FW_VERSIONS = {
       b'\xf1\x875Q0959655AA\xf1\x890388\xf1\x82\x111413001113120043114417121411149113',
       b'\xf1\x875Q0959655AA\xf1\x890388\xf1\x82\x111413001113120053114317121C111C9113',
       b'\xf1\x875Q0959655AR\xf1\x890317\xf1\x82\x13141500111233003142114A2131219333313100',
+      b'\xf1\x875Q0959655BH\xf1\x890336\xf1\x82\x1314160011123300314211012230229333423100',
       b'\xf1\x875Q0959655BH\xf1\x890336\xf1\x82\x1314160011123300314211012230229333463100',
       b'\xf1\x875Q0959655BS\xf1\x890403\xf1\x82\x1314160011123300314240012250229333463100',
       b'\xf1\x875Q0959655BT\xf1\x890403\xf1\x82\x13141600111233003142404A2251229333463100',
@@ -540,6 +563,7 @@ FW_VERSIONS = {
       b'\xf1\x875Q0909144S \xf1\x891063\xf1\x82\x0516A00504A1',
       b'\xf1\x875Q0909144S \xf1\x891063\xf1\x82\x0516A00604A1',
       b'\xf1\x875Q0909144S \xf1\x891063\xf1\x82\x0516A07A02A1',
+      b'\xf1\x875Q0909144T \xf1\x891072\xf1\x82\x0521A00407A1',
       b'\xf1\x875Q0909144T \xf1\x891072\xf1\x82\x0521A00507A1',
       b'\xf1\x875Q0909144T \xf1\x891072\xf1\x82\x0521A07B04A1',
       b'\xf1\x875Q0909144T \xf1\x891072\xf1\x82\x0521A20B03A1',
@@ -564,6 +588,7 @@ FW_VERSIONS = {
       b'\xf1\x875Q0907572F \xf1\x890400\xf1\x82\x0101',
       b'\xf1\x875Q0907572G \xf1\x890571',
       b'\xf1\x875Q0907572H \xf1\x890620',
+      b'\xf1\x875Q0907572J \xf1\x890653',
       b'\xf1\x875Q0907572J \xf1\x890654',
       b'\xf1\x875Q0907572P \xf1\x890682',
       b'\xf1\x875Q0907572R \xf1\x890771',
@@ -738,9 +763,11 @@ FW_VERSIONS = {
   CAR.TAOS_MK1: {
     (Ecu.engine, 0x7e0, None): [
       b'\xf1\x8704E906027NJ\xf1\x891445',
+      b'\xf1\x8704E906027NP\xf1\x891286',
       b'\xf1\x8705E906013E \xf1\x891624',
     ],
     (Ecu.transmission, 0x7e1, None): [
+      b'\xf1\x8709G927158EM\xf1\x893812',
       b'\xf1\x8709S927158BL\xf1\x893791',
       b'\xf1\x8709S927158FF\xf1\x893876',
     ],
@@ -749,10 +776,12 @@ FW_VERSIONS = {
       b'\xf1\x875Q0959655CE\xf1\x890421\xf1\x82\x1311110011333300314240021350139333613100',
     ],
     (Ecu.eps, 0x712, None): [
+      b'\xf1\x875QM907144D \xf1\x891063\xf1\x82\x001O06081OOM',
       b'\xf1\x875QM909144C \xf1\x891082\xf1\x82\x0521060405A1',
       b'\xf1\x875QM909144C \xf1\x891082\xf1\x82\x0521060605A1',
     ],
     (Ecu.fwdRadar, 0x757, None): [
+      b'\xf1\x872Q0907572AA\xf1\x890396',
       b'\xf1\x872Q0907572T \xf1\x890383',
     ],
   },
@@ -870,24 +899,28 @@ FW_VERSIONS = {
       b'\xf1\x8704L906056AL\xf1\x899970',
       b'\xf1\x8704L906057AP\xf1\x891186',
       b'\xf1\x8704L906057N \xf1\x890413',
+      b'\xf1\x8705L906023E \xf1\x891352',
     ],
     (Ecu.transmission, 0x7e1, None): [
       b'\xf1\x870BT300012G \xf1\x893102',
       b'\xf1\x870BT300012E \xf1\x893105',
       b'\xf1\x870BT300046R \xf1\x893102',
+      b'\xf1\x870DV300012B \xf1\x893701',
     ],
     (Ecu.srs, 0x715, None): [
       b'\xf1\x872Q0959655AE\xf1\x890506\xf1\x82\x1316170411110411--04041704161611152S1411',
       b'\xf1\x872Q0959655AE\xf1\x890506\xf1\x82\x1316170411110411--04041704171711152S1411',
       b'\xf1\x872Q0959655AF\xf1\x890506\xf1\x82\x1316171111110411--04041711121211152S1413',
+      b'\xf1\x872Q0959655AQ\xf1\x890511\xf1\x82\x1316170411110411--0404170426261215391421',
     ],
     (Ecu.eps, 0x712, None): [
       b'\xf1\x877LA909144F \xf1\x897150\xf1\x82\x0532380518A2',
       b'\xf1\x877LA909144G \xf1\x897160\xf1\x82\x05333A5519A2',
-      b'\xf1\x877LA909144F \xf1\x897150\xf1\x82\005323A5519A2',
+      b'\xf1\x877LA909144F \xf1\x897150\xf1\x82\x05323A5519A2',
     ],
     (Ecu.fwdRadar, 0x757, None): [
       b'\xf1\x872Q0907572R \xf1\x890372',
+      b'\xf1\x872Q0907572AA\xf1\x890396',
     ],
   },
   CAR.TROC_MK1: {
@@ -917,6 +950,7 @@ FW_VERSIONS = {
       b'\xf1\x8704E906027CJ\xf1\x897798',
       b'\xf1\x8704L997022N \xf1\x899459',
       b'\xf1\x875G0906259A \xf1\x890004',
+      b'\xf1\x875G0906259D \xf1\x890002',
       b'\xf1\x875G0906259L \xf1\x890002',
       b'\xf1\x875G0906259Q \xf1\x890002',
       b'\xf1\x878V0906259F \xf1\x890002',
@@ -926,7 +960,7 @@ FW_VERSIONS = {
       b'\xf1\x878V0906264B \xf1\x890003',
       b'\xf1\x878V0907115B \xf1\x890007',
       b'\xf1\x878V0907404A \xf1\x890005',
-      b'\xf1\x875G0906259D \xf1\x890002',
+      b'\xf1\x878V0907404G \xf1\x890005',
     ],
     (Ecu.transmission, 0x7e1, None): [
       b'\xf1\x870CW300044T \xf1\x895245',
@@ -943,6 +977,7 @@ FW_VERSIONS = {
       b'\xf1\x870DD300046F \xf1\x891602',
       b'\xf1\x870DD300046G \xf1\x891601',
       b'\xf1\x870DL300012E \xf1\x892012',
+      b'\xf1\x870DL300012H \xf1\x892112',
       b'\xf1\x870GC300011  \xf1\x890403',
       b'\xf1\x870GC300013M \xf1\x892402',
       b'\xf1\x870GC300042J \xf1\x891402',
@@ -955,9 +990,9 @@ FW_VERSIONS = {
       b'\xf1\x875Q0959655BJ\xf1\x890339\xf1\x82\x1311110011131100311111011731179321342100',
       b'\xf1\x875Q0959655J \xf1\x890825\xf1\x82\x13111112111111--241115141112221291163221',
       b'\xf1\x875Q0959655J \xf1\x890825\xf1\x82\023111112111111--171115141112221291163221',
-      b'\xf1\x875Q0959655J \xf1\x890830\xf1\x82\023121111111211--261117141112231291163221',
       b'\xf1\x875Q0959655J \xf1\x890830\xf1\x82\x13111112111111--241115141112221291163221',
       b'\xf1\x875Q0959655J \xf1\x890830\xf1\x82\x13121111111111--341117141212231291163221',
+      b'\xf1\x875Q0959655J \xf1\x890830\xf1\x82\x13121111111211--261117141112231291163221',
       b'\xf1\x875Q0959655N \xf1\x890361\xf1\x82\0211212001112110004110411111421149114',
       b'\xf1\x875Q0959655N \xf1\x890361\xf1\x82\0211212001112111104110411111521159114',
     ],
@@ -966,6 +1001,7 @@ FW_VERSIONS = {
       b'\xf1\x873Q0909144J \xf1\x895063\xf1\x82\x0566G0HA14A1',
       b'\xf1\x873Q0909144K \xf1\x895072\xf1\x82\x0571G01A16A1',
       b'\xf1\x873Q0909144K \xf1\x895072\xf1\x82\x0571G0HA16A1',
+      b'\xf1\x873Q0909144K \xf1\x895072\xf1\x82\x0571G0JA13A1',
       b'\xf1\x873Q0909144L \xf1\x895081\xf1\x82\x0571G0JA14A1',
       b'\xf1\x875Q0909144AB\xf1\x891082\xf1\x82\00521G0G809A1',
       b'\xf1\x875Q0909144P \xf1\x891043\xf1\x82\00503G00303A0',
@@ -1055,24 +1091,29 @@ FW_VERSIONS = {
       b'\xf1\x8704L906021EL\xf1\x897542',
       b'\xf1\x8704L906026BP\xf1\x891198',
       b'\xf1\x8704L906026BP\xf1\x897608',
+      b'\xf1\x8704L906056CR\xf1\x892181',
       b'\xf1\x8704L906056CR\xf1\x892797',
       b'\xf1\x8705E906018AS\xf1\x899596',
       b'\xf1\x878V0906264H \xf1\x890005',
+      b'\xf1\x878V0907115E \xf1\x890002',
     ],
     (Ecu.transmission, 0x7e1, None): [
       b'\xf1\x870CW300041D \xf1\x891004',
       b'\xf1\x870CW300041G \xf1\x891003',
       b'\xf1\x870CW300050J \xf1\x891908',
       b'\xf1\x870D9300042M \xf1\x895016',
+      b'\xf1\x870GC300043A \xf1\x892304',
     ],
     (Ecu.srs, 0x715, None): [
       b'\xf1\x873Q0959655AC\xf1\x890189\xf1\x82\r11110011110011021511110200',
       b'\xf1\x873Q0959655AS\xf1\x890200\xf1\x82\r11110011110011021511110200',
       b'\xf1\x873Q0959655AS\xf1\x890200\xf1\x82\r12110012120012021612110200',
       b'\xf1\x873Q0959655BH\xf1\x890703\xf1\x82\x0e1312001313001305171311052900',
+      b'\xf1\x873Q0959655BH\xf1\x890712\xf1\x82\x0e1312001313001305171311052900',
       b'\xf1\x873Q0959655CM\xf1\x890720\xf1\x82\0161312001313001305171311052900',
     ],
     (Ecu.eps, 0x712, None): [
+      b'\xf1\x875Q0909144AA\xf1\x891081\xf1\x82\x0521N01842A1',
       b'\xf1\x875Q0909144AB\xf1\x891082\xf1\x82\00521N01342A1',
       b'\xf1\x875Q0909144P \xf1\x891043\xf1\x82\00511N01805A0',
       b'\xf1\x875Q0909144T \xf1\x891072\xf1\x82\x0521N01309A1',
@@ -1083,6 +1124,7 @@ FW_VERSIONS = {
       b'\xf1\x875Q0907572H \xf1\x890620',
       b'\xf1\x875Q0907572K \xf1\x890402\xf1\x82\x0101',
       b'\xf1\x875Q0907572P \xf1\x890682',
+      b'\xf1\x875Q0907572R \xf1\x890771',
     ],
   },
   CAR.SKODA_FABIA_MK4: {
@@ -1121,22 +1163,30 @@ FW_VERSIONS = {
   },
   CAR.SKODA_KAROQ_MK1: {
     (Ecu.engine, 0x7e0, None): [
+      b'\xf1\x8705E906013H \xf1\x892407',
+      b'\xf1\x8705E906018P \xf1\x895472',
       b'\xf1\x8705E906018P \xf1\x896020',
       b'\xf1\x8705L906022BS\xf1\x890913',
     ],
     (Ecu.transmission, 0x7e1, None): [
+      b'\xf1\x870CW300020T \xf1\x892202',
       b'\xf1\x870CW300041S \xf1\x891615',
       b'\xf1\x870GC300014L \xf1\x892802',
     ],
     (Ecu.srs, 0x715, None): [
+      b'\xf1\x875QF959655AT\xf1\x890755\xf1\x82\x1312110012120011111100010200--2521210749',
+      b'\xf1\x873Q0959655BH\xf1\x890703\xf1\x82\x0e1213001211001101131112012100',
       b'\xf1\x873Q0959655BH\xf1\x890712\xf1\x82\0161213001211001101131122012100',
       b'\xf1\x873Q0959655DE\xf1\x890731\xf1\x82\x0e1213001211001101131121012J00',
     ],
     (Ecu.eps, 0x712, None): [
-      b'\xf1\x875Q0910143C \xf1\x892211\xf1\x82\00567T6100500',
+      b'\xf1\x875Q0910143B \xf1\x892201\xf1\x82\x0563T6090500',
+      b'\xf1\x875Q0910143C \xf1\x892211\xf1\x82\x0567T6100500',
       b'\xf1\x875Q0910143C \xf1\x892211\xf1\x82\x0567T6100700',
     ],
     (Ecu.fwdRadar, 0x757, None): [
+      b'\xf1\x872Q0907572AA\xf1\x890396',
+      b'\xf1\x872Q0907572AB\xf1\x890397',
       b'\xf1\x872Q0907572M \xf1\x890233',
       b'\xf1\x872Q0907572T \xf1\x890383',
     ],
@@ -1144,6 +1194,8 @@ FW_VERSIONS = {
   CAR.SKODA_KODIAQ_MK1: {
     (Ecu.engine, 0x7e0, None): [
       b'\xf1\x8704E906027DD\xf1\x893123',
+      b'\xf1\x8704E906027NB\xf1\x899504',
+      b'\xf1\x8704E906027NB\xf1\x896517',
       b'\xf1\x8704L906026DE\xf1\x895418',
       b'\xf1\x8704L906026EJ\xf1\x893661',
       b'\xf1\x8704L906026HT\xf1\x893617',
@@ -1152,6 +1204,7 @@ FW_VERSIONS = {
       b'\xf1\x8705E906018DJ\xf1\x891903',
       b'\xf1\x875NA907115E \xf1\x890003',
       b'\xf1\x875NA907115E \xf1\x890005',
+      b'\xf1\x875NA906259E \xf1\x890003',
     ],
     (Ecu.transmission, 0x7e1, None): [
       b'\xf1\x870D9300043  \xf1\x895202',
@@ -1160,6 +1213,7 @@ FW_VERSIONS = {
       b'\xf1\x870DL300012N \xf1\x892110',
       b'\xf1\x870DL300013G \xf1\x892119',
       b'\xf1\x870GC300014N \xf1\x892801',
+      b'\xf1\x870GC300019H \xf1\x892806',
       b'\xf1\x870GC300046Q \xf1\x892802',
     ],
     (Ecu.srs, 0x715, None): [
@@ -1169,6 +1223,7 @@ FW_VERSIONS = {
       b'\xf1\x873Q0959655CN\xf1\x890720\xf1\x82\x0e1213001211001205212112052100',
       b'\xf1\x873Q0959655CQ\xf1\x890720\xf1\x82\x0e1213111211001205212112052111',
       b'\xf1\x873Q0959655DJ\xf1\x890731\xf1\x82\x0e1513001511001205232113052J00',
+      b'\xf1\x875QF959655AT\xf1\x890755\xf1\x82\x1311110011110011111100010200--1121240749',
     ],
     (Ecu.eps, 0x712, None): [
       b'\xf1\x875Q0909143P \xf1\x892051\xf1\x820527T6050405',
@@ -1176,6 +1231,7 @@ FW_VERSIONS = {
       b'\xf1\x875Q0909143P \xf1\x892051\xf1\x820527T6070405',
       b'\xf1\x875Q0910143C \xf1\x892211\xf1\x82\x0567T600G500',
       b'\xf1\x875Q0910143C \xf1\x892211\xf1\x82\x0567T600G600',
+      b'\xf1\x875TA907145F \xf1\x891063\xf1\x82\x002LT61A2LOM',
     ],
     (Ecu.fwdRadar, 0x757, None): [
       b'\xf1\x872Q0907572Q \xf1\x890342',
@@ -1231,19 +1287,24 @@ FW_VERSIONS = {
   CAR.SKODA_SCALA_MK1: {
     (Ecu.engine, 0x7e0, None): [
       b'\xf1\x8704C906025AK\xf1\x897053',
+      b'\xf1\x8705C906032M \xf1\x892365',
     ],
     (Ecu.transmission, 0x7e1, None): [
+      b'\xf1\x870CW300020  \xf1\x891907',
       b'\xf1\x870CW300050  \xf1\x891709',
     ],
     (Ecu.srs, 0x715, None): [
       b'\xf1\x872Q0959655AJ\xf1\x890250\xf1\x82\x1211110411110411--04040404131111112H14',
       b'\xf1\x872Q0959655AM\xf1\x890351\xf1\x82\022111104111104112104040404111111112H14',
+      b'\xf1\x872Q0959655AS\xf1\x890411\xf1\x82\x1311150411110411210404040417151215391413',
     ],
     (Ecu.eps, 0x712, None): [
       b'\xf1\x872Q1909144M \xf1\x896041',
+      b'\xf1\x872Q1909144AB\xf1\x896050',
     ],
     (Ecu.fwdRadar, 0x757, None): [
       b'\xf1\x872Q0907572R \xf1\x890372',
+      b'\xf1\x872Q0907572AA\xf1\x890396',
     ],
   },
   CAR.SKODA_SUPERB_MK3: {
@@ -1263,6 +1324,7 @@ FW_VERSIONS = {
       b'\xf1\x870D9300011T \xf1\x894801',
       b'\xf1\x870D9300012  \xf1\x894940',
       b'\xf1\x870D9300013A \xf1\x894905',
+      b'\xf1\x870D9300014K \xf1\x895006',
       b'\xf1\x870D9300041H \xf1\x894905',
       b'\xf1\x870D9300043F \xf1\x895202',
       b'\xf1\x870GC300014M \xf1\x892801',
@@ -1273,7 +1335,9 @@ FW_VERSIONS = {
       b'\xf1\x875Q0959655AE\xf1\x890130\xf1\x82\x12111200111121001121110012211292221111',
       b'\xf1\x875Q0959655AE\xf1\x890130\xf1\x82\022111200111121001121118112231292221111',
       b'\xf1\x875Q0959655AK\xf1\x890130\xf1\x82\022111200111121001121110012211292221111',
+      b'\xf1\x875Q0959655AS\xf1\x890317\xf1\x82\x1331310031313100313131823133319331313100',
       b'\xf1\x875Q0959655BH\xf1\x890336\xf1\x82\02331310031313100313131013141319331413100',
+      b'\xf1\x875Q0959655BK\xf1\x890336\xf1\x82\x1331310031313100313131013141319331413100',
       b'\xf1\x875Q0959655CA\xf1\x890403\xf1\x82\x1331310031313100313151013141319331423100',
       b'\xf1\x875Q0959655CH\xf1\x890421\xf1\x82\x1333310031313100313152025350539331463100',
       b'\xf1\x875Q0959655CH\xf1\x890421\xf1\x82\x1333310031313100313152855372539331463100',
@@ -1281,6 +1345,7 @@ FW_VERSIONS = {
     (Ecu.eps, 0x712, None): [
       b'\xf1\x875Q0909143K \xf1\x892033\xf1\x820514UZ070203',
       b'\xf1\x875Q0909143M \xf1\x892041\xf1\x820522UZ070303',
+      b'\xf1\x875Q0909143P \xf1\x892051\xf1\x820526UZ070505',
       b'\xf1\x875Q0910143B \xf1\x892201\xf1\x82\00563UZ060700',
       b'\xf1\x875Q0910143B \xf1\x892201\xf1\x82\x0563UZ060600',
       b'\xf1\x875Q0910143C \xf1\x892211\xf1\x82\x0567UZ070600',
diff --git a/selfdrive/controls/controlsd.py b/selfdrive/controls/controlsd.py
index 3903340c8d..8084b18ff6 100755
--- a/selfdrive/controls/controlsd.py
+++ b/selfdrive/controls/controlsd.py
@@ -7,8 +7,9 @@ from cereal import car, log
 from common.numpy_fast import clip
 from common.realtime import sec_since_boot, config_realtime_process, Priority, Ratekeeper, DT_CTRL
 from common.profiler import Profiler
-from common.params import Params, put_nonblocking
+from common.params import Params, put_nonblocking, put_bool_nonblocking
 import cereal.messaging as messaging
+from cereal.visionipc import VisionIpcClient, VisionStreamType
 from common.conversions import Conversions as CV
 from panda import ALTERNATIVE_EXPERIENCE
 from system.swaglog import cloudlog
@@ -82,8 +83,6 @@ class Controls:
       ignore = ['testJoystick']
       if SIMULATION:
         ignore += ['driverCameraState', 'managerState']
-      if self.params.get_bool('WideCameraOnly'):
-        ignore += ['roadCameraState']
       self.sm = messaging.SubMaster(['deviceState', 'pandaStates', 'peripheralState', 'modelV2', 'liveCalibration',
                                      'driverMonitoringState', 'longitudinalPlan', 'lateralPlan', 'liveLocationKalman',
                                      'managerState', 'liveParameters', 'radarState', 'liveTorqueParameters', 'testJoystick'] + self.camera_packets,
@@ -170,6 +169,7 @@ class Controls:
     self.events_prev = []
     self.current_alert_types = [ET.PERMANENT]
     self.logged_comm_issue = None
+    self.not_running_prev = None
     self.last_actuators = car.CarControl.Actuators.new_message()
     self.steer_limited = False
     self.desired_curvature = 0.0
@@ -206,8 +206,8 @@ class Controls:
     if REPLAY:
       controls_state = Params().get("ReplayControlsState")
       if controls_state is not None:
-        controls_state = log.ControlsState.from_bytes(controls_state)
-        self.v_cruise_helper.v_cruise_kph = controls_state.vCruise
+        with log.ControlsState.from_bytes(controls_state) as controls_state:
+          self.v_cruise_helper.v_cruise_kph = controls_state.vCruise
 
       if any(ps.controlsAllowed for ps in self.sm['pandaStates']):
         self.state = State.enabled
@@ -261,7 +261,6 @@ class Controls:
     if self.sm['deviceState'].freeSpacePercent < 7 and not SIMULATION:
       # under 7% of space free no enable allowed
       self.events.add(EventName.outOfSpace)
-    # TODO: make tici threshold the same
     if self.sm['deviceState'].memoryUsagePercent > 90 and not SIMULATION:
       self.events.add(EventName.lowMemory)
 
@@ -330,6 +329,9 @@ class Controls:
     not_running = {p.name for p in self.sm['managerState'].processes if not p.running and p.shouldBeRunning}
     if self.sm.rcv_frame['managerState'] and (not_running - IGNORE_PROCESSES):
       self.events.add(EventName.processNotRunning)
+      if not_running != self.not_running_prev:
+        cloudlog.event("process_not_running", not_running=not_running, error=True)
+      self.not_running_prev = not_running
     else:
       if not SIMULATION and not self.rk.lagging:
         if not self.sm.all_alive(self.camera_packets):
@@ -349,7 +351,7 @@ class Controls:
 
     # generic catch-all. ideally, a more specific event should be added above instead
     can_rcv_timeout = self.can_rcv_timeout_counter >= 5
-    has_disable_events = self.events.any(ET.NO_ENTRY) and (self.events.any(ET.SOFT_DISABLE) or self.events.any(ET.IMMEDIATE_DISABLE))
+    has_disable_events = self.events.contains(ET.NO_ENTRY) and (self.events.contains(ET.SOFT_DISABLE) or self.events.contains(ET.IMMEDIATE_DISABLE))
     no_system_errors = (not has_disable_events) or (len(self.events) == num_events)
     if (not self.sm.all_checks() or can_rcv_timeout) and no_system_errors:
       if not self.sm.all_alive():
@@ -371,7 +373,7 @@ class Controls:
     else:
       self.logged_comm_issue = None
 
-    if not self.sm['liveParameters'].valid and not TESTING_CLOSET:
+    if not self.sm['liveParameters'].valid and not TESTING_CLOSET and (not SIMULATION or REPLAY):
       self.events.add(EventName.vehicleModelInvalid)
     if not self.sm['lateralPlan'].mpcSolutionValid:
       self.events.add(EventName.plannerError)
@@ -409,7 +411,7 @@ class Controls:
         pass
 
     # TODO: fix simulator
-    if not SIMULATION:
+    if not SIMULATION or REPLAY:
       if not NOSENSOR:
         if not self.sm['liveLocationKalman'].gpsOK and self.sm['liveLocationKalman'].inputsOK and (self.distance_traveled > 1000):
           # Not show in first 1 km to allow for driving out of garage. This event shows after 5 minutes
@@ -434,13 +436,19 @@ class Controls:
     if not self.initialized:
       all_valid = CS.canValid and self.sm.all_checks()
       timed_out = self.sm.frame * DT_CTRL > (6. if REPLAY else 3.5)
-      if all_valid or timed_out or SIMULATION:
+      if all_valid or timed_out or (SIMULATION and not REPLAY):
+        available_streams = VisionIpcClient.available_streams("camerad", block=False)
+        if VisionStreamType.VISION_STREAM_ROAD not in available_streams:
+          self.sm.ignore_alive.append('roadCameraState')
+        if VisionStreamType.VISION_STREAM_WIDE_ROAD not in available_streams:
+          self.sm.ignore_alive.append('wideRoadCameraState')
+
         if not self.read_only:
           self.CI.init(self.CP, self.can_sock, self.pm.sock['sendcan'])
 
         self.initialized = True
         self.set_initial_state()
-        Params().put_bool("ControlsReady", True)
+        put_bool_nonblocking("ControlsReady", True)
 
     # Check for CAN timeout
     if not can_strs:
@@ -479,29 +487,29 @@ class Controls:
     # ENABLED, SOFT DISABLING, PRE ENABLING, OVERRIDING
     if self.state != State.disabled:
       # user and immediate disable always have priority in a non-disabled state
-      if self.events.any(ET.USER_DISABLE):
+      if self.events.contains(ET.USER_DISABLE):
         self.state = State.disabled
         self.current_alert_types.append(ET.USER_DISABLE)
 
-      elif self.events.any(ET.IMMEDIATE_DISABLE):
+      elif self.events.contains(ET.IMMEDIATE_DISABLE):
         self.state = State.disabled
         self.current_alert_types.append(ET.IMMEDIATE_DISABLE)
 
       else:
         # ENABLED
         if self.state == State.enabled:
-          if self.events.any(ET.SOFT_DISABLE):
+          if self.events.contains(ET.SOFT_DISABLE):
             self.state = State.softDisabling
             self.soft_disable_timer = int(SOFT_DISABLE_TIME / DT_CTRL)
             self.current_alert_types.append(ET.SOFT_DISABLE)
 
-          elif self.events.any(ET.OVERRIDE_LATERAL) or self.events.any(ET.OVERRIDE_LONGITUDINAL):
+          elif self.events.contains(ET.OVERRIDE_LATERAL) or self.events.contains(ET.OVERRIDE_LONGITUDINAL):
             self.state = State.overriding
             self.current_alert_types += [ET.OVERRIDE_LATERAL, ET.OVERRIDE_LONGITUDINAL]
 
         # SOFT DISABLING
         elif self.state == State.softDisabling:
-          if not self.events.any(ET.SOFT_DISABLE):
+          if not self.events.contains(ET.SOFT_DISABLE):
             # no more soft disabling condition, so go back to ENABLED
             self.state = State.enabled
 
@@ -513,32 +521,32 @@ class Controls:
 
         # PRE ENABLING
         elif self.state == State.preEnabled:
-          if not self.events.any(ET.PRE_ENABLE):
+          if not self.events.contains(ET.PRE_ENABLE):
             self.state = State.enabled
           else:
             self.current_alert_types.append(ET.PRE_ENABLE)
 
         # OVERRIDING
         elif self.state == State.overriding:
-          if self.events.any(ET.SOFT_DISABLE):
+          if self.events.contains(ET.SOFT_DISABLE):
             self.state = State.softDisabling
             self.soft_disable_timer = int(SOFT_DISABLE_TIME / DT_CTRL)
             self.current_alert_types.append(ET.SOFT_DISABLE)
-          elif not (self.events.any(ET.OVERRIDE_LATERAL) or self.events.any(ET.OVERRIDE_LONGITUDINAL)):
+          elif not (self.events.contains(ET.OVERRIDE_LATERAL) or self.events.contains(ET.OVERRIDE_LONGITUDINAL)):
             self.state = State.enabled
           else:
             self.current_alert_types += [ET.OVERRIDE_LATERAL, ET.OVERRIDE_LONGITUDINAL]
 
     # DISABLED
     elif self.state == State.disabled:
-      if self.events.any(ET.ENABLE):
-        if self.events.any(ET.NO_ENTRY):
+      if self.events.contains(ET.ENABLE):
+        if self.events.contains(ET.NO_ENTRY):
           self.current_alert_types.append(ET.NO_ENTRY)
 
         else:
-          if self.events.any(ET.PRE_ENABLE):
+          if self.events.contains(ET.PRE_ENABLE):
             self.state = State.preEnabled
-          elif self.events.any(ET.OVERRIDE_LATERAL) or self.events.any(ET.OVERRIDE_LONGITUDINAL):
+          elif self.events.contains(ET.OVERRIDE_LATERAL) or self.events.contains(ET.OVERRIDE_LONGITUDINAL):
             self.state = State.overriding
           else:
             self.state = State.enabled
@@ -564,7 +572,8 @@ class Controls:
     if self.CP.lateralTuning.which() == 'torque':
       torque_params = self.sm['liveTorqueParameters']
       if self.sm.all_checks(['liveTorqueParameters']) and torque_params.useParams:
-        self.LaC.update_live_torque_params(torque_params.latAccelFactorFiltered, torque_params.latAccelOffsetFiltered, torque_params.frictionCoefficientFiltered)
+        self.LaC.update_live_torque_params(torque_params.latAccelFactorFiltered, torque_params.latAccelOffsetFiltered,
+                                           torque_params.frictionCoefficientFiltered)
 
     lat_plan = self.sm['lateralPlan']
     long_plan = self.sm['longitudinalPlan']
@@ -576,7 +585,7 @@ class Controls:
     standstill = CS.vEgo <= max(self.CP.minSteerSpeed, MIN_LATERAL_CONTROL_SPEED) or CS.standstill
     CC.latActive = self.active and not CS.steerFaultTemporary and not CS.steerFaultPermanent and \
                    (not standstill or self.joystick_mode)
-    CC.longActive = self.enabled and not self.events.any(ET.OVERRIDE_LONGITUDINAL) and self.CP.openpilotLongitudinalControl
+    CC.longActive = self.enabled and not self.events.contains(ET.OVERRIDE_LONGITUDINAL) and self.CP.openpilotLongitudinalControl
 
     actuators = CC.actuators
     actuators.longControlState = self.LoC.long_control_state
@@ -632,7 +641,7 @@ class Controls:
     recent_steer_pressed = (self.sm.frame - self.last_steering_pressed_frame)*DT_CTRL < 2.0
 
     # Send a "steering required alert" if saturation count has reached the limit
-    if lac_log.active and not recent_steer_pressed:
+    if lac_log.active and not recent_steer_pressed and not self.CP.notCar:
       if self.CP.lateralTuning.which() == 'torque' and not self.joystick_mode:
         undershooting = abs(lac_log.desiredLateralAccel) / abs(1e-3 + lac_log.actualLateralAccel) > 1.2
         turning = abs(lac_log.desiredLateralAccel) > 1.0
@@ -774,7 +783,7 @@ class Controls:
     controlsState.desiredCurvature = self.desired_curvature
     controlsState.desiredCurvatureRate = self.desired_curvature_rate
     controlsState.state = self.state
-    controlsState.engageable = not self.events.any(ET.NO_ENTRY)
+    controlsState.engageable = not self.events.contains(ET.NO_ENTRY)
     controlsState.longControlState = self.LoC.long_control_state
     controlsState.vPid = float(self.LoC.v_pid)
     controlsState.vCruise = float(self.v_cruise_helper.v_cruise_kph)
diff --git a/selfdrive/controls/lib/alertmanager.py b/selfdrive/controls/lib/alertmanager.py
index cb878483de..f32e838333 100644
--- a/selfdrive/controls/lib/alertmanager.py
+++ b/selfdrive/controls/lib/alertmanager.py
@@ -16,10 +16,8 @@ with open(os.path.join(BASEDIR, "selfdrive/controls/lib/alerts_offroad.json")) a
 
 def set_offroad_alert(alert: str, show_alert: bool, extra_text: Optional[str] = None) -> None:
   if show_alert:
-    a = OFFROAD_ALERTS[alert]
-    if extra_text is not None:
-      a = copy.copy(OFFROAD_ALERTS[alert])
-      a['text'] += extra_text
+    a = copy.copy(OFFROAD_ALERTS[alert])
+    a['extra'] = extra_text or ''
     Params().put(alert, json.dumps(a))
   else:
     Params().remove(alert)
diff --git a/selfdrive/controls/lib/alerts_offroad.json b/selfdrive/controls/lib/alerts_offroad.json
index 9226c94d85..35446ca22b 100644
--- a/selfdrive/controls/lib/alerts_offroad.json
+++ b/selfdrive/controls/lib/alerts_offroad.json
@@ -1,21 +1,21 @@
 {
   "Offroad_TemperatureTooHigh": {
-    "text": "Device temperature too high. System won't start.",
+    "text": "Device temperature too high. System cooling down before starting. Current internal component temperature: %1",
     "severity": 1
   },
   "Offroad_ConnectivityNeededPrompt": {
-    "text": "Immediately connect to the internet to check for updates. If you do not connect to the internet, openpilot won't engage in ",
+    "text": "Immediately connect to the internet to check for updates. If you do not connect to the internet, openpilot won't engage in %1",
     "severity": 0,
-    "_comment": "Append the number of days at the end of the text"
+    "_comment": "Set extra field to number of days"
   },
   "Offroad_ConnectivityNeeded": {
     "text": "Connect to internet to check for updates. openpilot won't automatically start until it connects to internet to check for updates.",
     "severity": 1
   },
   "Offroad_UpdateFailed": {
-    "text": "Unable to download updates\n",
+    "text": "Unable to download updates\n%1",
     "severity": 1,
-    "_comment": "Append the command and error to the text."
+    "_comment": "Set extra field to the failed reason."
   },
   "Offroad_InvalidTime": {
     "text": "Invalid date and time settings, system won't start. Connect to internet to set time.",
diff --git a/selfdrive/controls/lib/desire_helper.py b/selfdrive/controls/lib/desire_helper.py
index 4790b8f0eb..4652b41c1c 100644
--- a/selfdrive/controls/lib/desire_helper.py
+++ b/selfdrive/controls/lib/desire_helper.py
@@ -69,6 +69,7 @@ class DesireHelper:
 
         if not one_blinker or below_lane_change_speed:
           self.lane_change_state = LaneChangeState.off
+          self.lane_change_direction = LaneChangeDirection.none
         elif torque_applied and not blindspot_detected:
           self.lane_change_state = LaneChangeState.laneChangeStarting
 
diff --git a/selfdrive/controls/lib/drive_helpers.py b/selfdrive/controls/lib/drive_helpers.py
index 7cbcbc3d49..ab65da2e1d 100644
--- a/selfdrive/controls/lib/drive_helpers.py
+++ b/selfdrive/controls/lib/drive_helpers.py
@@ -194,7 +194,8 @@ def get_lag_adjusted_curvature(CP, v_ego, psis, curvatures, curvature_rates):
   return safe_desired_curvature, safe_desired_curvature_rate
 
 
-def get_friction(lateral_accel_error: float, lateral_accel_deadzone: float, friction_threshold: float, torque_params: car.CarParams.LateralTorqueTuning, friction_compensation: bool) -> float:
+def get_friction(lateral_accel_error: float, lateral_accel_deadzone: float, friction_threshold: float,
+                 torque_params: car.CarParams.LateralTorqueTuning, friction_compensation: bool) -> float:
   friction_interp = interp(
     apply_center_deadzone(lateral_accel_error, lateral_accel_deadzone),
     [-friction_threshold, friction_threshold],
diff --git a/selfdrive/controls/lib/events.py b/selfdrive/controls/lib/events.py
old mode 100644
new mode 100755
index da358127c7..e552e18966
--- a/selfdrive/controls/lib/events.py
+++ b/selfdrive/controls/lib/events.py
@@ -67,7 +67,7 @@ class Events:
     self.events_prev = {k: (v + 1 if k in self.events else 0) for k, v in self.events_prev.items()}
     self.events = self.static_events.copy()
 
-  def any(self, event_type: str) -> bool:
+  def contains(self, event_type: str) -> bool:
     return any(event_type in EVENTS.get(e, {}) for e in self.events)
 
   def create_alerts(self, event_types: List[str], callback_args=None):
@@ -193,7 +193,7 @@ class StartupAlert(Alert):
   def __init__(self, alert_text_1: str, alert_text_2: str = "Always keep hands on wheel and eyes on road", alert_status=AlertStatus.normal):
     super().__init__(alert_text_1, alert_text_2,
                      alert_status, AlertSize.mid,
-                     Priority.LOWER, VisualAlert.none, AudibleAlert.none, 10.),
+                     Priority.LOWER, VisualAlert.none, AudibleAlert.none, 5.),
 
 
 # ********** helper functions **********
@@ -549,7 +549,7 @@ EVENTS: Dict[int, Dict[str, Union[Alert, AlertCallbackType]]] = {
       "Take Control",
       "Turn Exceeds Steering Limit",
       AlertStatus.userPrompt, AlertSize.mid,
-      Priority.LOW, VisualAlert.steerRequired, AudibleAlert.promptRepeat, 1.),
+      Priority.LOW, VisualAlert.steerRequired, AudibleAlert.promptRepeat, 2.),
   },
 
   # Thrown when the fan is driven at >50% but is not rotating
@@ -724,7 +724,7 @@ EVENTS: Dict[int, Dict[str, Union[Alert, AlertCallbackType]]] = {
     ET.SOFT_DISABLE: soft_disable_alert("Calibration Incomplete"),
     ET.NO_ENTRY: NoEntryAlert("Calibration in Progress"),
   },
-  
+
   EventName.calibrationRecalibrating: {
     ET.PERMANENT: calibration_incomplete_alert,
     ET.SOFT_DISABLE: soft_disable_alert("Device Remount Detected: Recalibrating"),
@@ -954,3 +954,36 @@ EVENTS: Dict[int, Dict[str, Union[Alert, AlertCallbackType]]] = {
   },
 
 }
+
+
+if __name__ == '__main__':
+  # print all alerts by type and priority
+  from cereal.services import service_list
+  from collections import defaultdict, OrderedDict
+
+  event_names = {v: k for k, v in EventName.schema.enumerants.items()}
+  alerts_by_type: Dict[str, Dict[int, List[str]]] = defaultdict(lambda: defaultdict(list))
+
+  CP = car.CarParams.new_message()
+  CS = car.CarState.new_message()
+  sm = messaging.SubMaster(list(service_list.keys()))
+
+  for i, alerts in EVENTS.items():
+    for et, alert in alerts.items():
+      if callable(alert):
+        alert = alert(CP, CS, sm, False, 1)
+      priority = alert.priority
+      alerts_by_type[et][priority].append(event_names[i])
+
+  all_alerts = {}
+  for et, priority_alerts in alerts_by_type.items():
+    all_alerts[et] = OrderedDict([
+      (str(priority), l)
+      for priority, l in sorted(priority_alerts.items(), key=lambda x: -int(x[0]))
+    ])
+
+  for status, evs in sorted(all_alerts.items(), key=lambda x: x[0]):
+    print(f"**** {status} ****")
+    for p, alert_list in evs.items():
+      print(f"  {p}:")
+      print("   ", ', '.join(alert_list), "\n")
diff --git a/selfdrive/controls/lib/lateral_mpc_lib/SConscript b/selfdrive/controls/lib/lateral_mpc_lib/SConscript
index 745ed99d10..507964efe4 100644
--- a/selfdrive/controls/lib/lateral_mpc_lib/SConscript
+++ b/selfdrive/controls/lib/lateral_mpc_lib/SConscript
@@ -49,17 +49,16 @@ acados_templates_dir = '#third_party/acados/acados_template/c_templates_tera'
 source_list = ['lat_mpc.py',
   '#/selfdrive/modeld/constants.py',
   f'{acados_dir}/include/acados_c/ocp_nlp_interface.h',
-  f'{acados_dir}/x86_64/lib/libacados.so',
-  f'{acados_dir}/larch64/lib/libacados.so',
   f'{acados_templates_dir}/acados_solver.in.c',
 ]
 
 lenv = env.Clone()
 lenv.Clean(generated_files, Dir(gen))
 
-lenv.Command(generated_files,
-             source_list,
-             f"cd {Dir('.').abspath} && python3 lat_mpc.py")
+generated_lat = lenv.Command(generated_files,
+                             source_list,
+                             f"cd {Dir('.').abspath} && python3 lat_mpc.py")
+lenv.Depends(generated_lat, "#common")
 
 lenv["CFLAGS"].append("-DACADOS_WITH_QPOASES")
 lenv["CXXFLAGS"].append("-DACADOS_WITH_QPOASES")
diff --git a/selfdrive/controls/lib/lateral_mpc_lib/lat_mpc.py b/selfdrive/controls/lib/lateral_mpc_lib/lat_mpc.py
index ca7b991e69..2a58a8667f 100755
--- a/selfdrive/controls/lib/lateral_mpc_lib/lat_mpc.py
+++ b/selfdrive/controls/lib/lateral_mpc_lib/lat_mpc.py
@@ -10,7 +10,7 @@ from selfdrive.modeld.constants import T_IDXS
 if __name__ == '__main__':  # generating code
   from third_party.acados.acados_template import AcadosModel, AcadosOcp, AcadosOcpSolver
 else:
-  from selfdrive.controls.lib.lateral_mpc_lib.c_generated_code.acados_ocp_solver_pyx import AcadosOcpSolverCython  # pylint: disable=no-name-in-module, import-error
+  from selfdrive.controls.lib.lateral_mpc_lib.c_generated_code.acados_ocp_solver_pyx import AcadosOcpSolverCython
 
 LAT_MPC_DIR = os.path.dirname(os.path.abspath(__file__))
 EXPORT_DIR = os.path.join(LAT_MPC_DIR, "c_generated_code")
diff --git a/selfdrive/controls/lib/lateral_planner.py b/selfdrive/controls/lib/lateral_planner.py
index 0593becba5..5914312420 100644
--- a/selfdrive/controls/lib/lateral_planner.py
+++ b/selfdrive/controls/lib/lateral_planner.py
@@ -25,7 +25,7 @@ STEERING_RATE_COST = 700.0
 
 
 class LateralPlanner:
-  def __init__(self, CP):
+  def __init__(self, CP, debug=False):
     self.DH = DesireHelper()
 
     # Vehicle model parameters used to calculate lateral movement of car
@@ -45,6 +45,8 @@ class LateralPlanner:
     self.l_lane_change_prob = 0.0
     self.r_lane_change_prob = 0.0
 
+    self.debug_mode = debug
+
     self.lat_mpc = LateralMpc()
     self.reset_mpc(np.zeros(4))
 
@@ -132,6 +134,11 @@ class LateralPlanner:
 
     lateralPlan.mpcSolutionValid = bool(plan_solution_valid)
     lateralPlan.solverExecutionTime = self.lat_mpc.solve_time
+    if self.debug_mode:
+      lateralPlan.solverCost = self.lat_mpc.cost
+      lateralPlan.solverState = log.LateralPlan.SolverState.new_message()
+      lateralPlan.solverState.x = self.lat_mpc.x_sol.tolist()
+      lateralPlan.solverState.u = self.lat_mpc.u_sol.flatten().tolist()
 
     lateralPlan.desire = self.DH.desire
     lateralPlan.useLaneLines = False
diff --git a/selfdrive/controls/lib/longitudinal_mpc_lib/SConscript b/selfdrive/controls/lib/longitudinal_mpc_lib/SConscript
index 7f5daf157c..8717bdf89b 100644
--- a/selfdrive/controls/lib/longitudinal_mpc_lib/SConscript
+++ b/selfdrive/controls/lib/longitudinal_mpc_lib/SConscript
@@ -56,17 +56,16 @@ acados_templates_dir = '#third_party/acados/acados_template/c_templates_tera'
 source_list = ['long_mpc.py',
   '#/selfdrive/modeld/constants.py',
   f'{acados_dir}/include/acados_c/ocp_nlp_interface.h',
-  f'{acados_dir}/x86_64/lib/libacados.so',
-  f'{acados_dir}/larch64/lib/libacados.so',
   f'{acados_templates_dir}/acados_solver.in.c',
 ]
 
 lenv = env.Clone()
 lenv.Clean(generated_files, Dir(gen))
 
-lenv.Command(generated_files,
-             source_list,
-             f"cd {Dir('.').abspath} && python3 long_mpc.py")
+generated_long = lenv.Command(generated_files,
+                              source_list,
+                              f"cd {Dir('.').abspath} && python3 long_mpc.py")
+lenv.Depends(generated_long, "#cereal")
 
 lenv["CFLAGS"].append("-DACADOS_WITH_QPOASES")
 lenv["CXXFLAGS"].append("-DACADOS_WITH_QPOASES")
diff --git a/selfdrive/controls/lib/longitudinal_mpc_lib/long_mpc.py b/selfdrive/controls/lib/longitudinal_mpc_lib/long_mpc.py
index 660002691a..afc400ede8 100644
--- a/selfdrive/controls/lib/longitudinal_mpc_lib/long_mpc.py
+++ b/selfdrive/controls/lib/longitudinal_mpc_lib/long_mpc.py
@@ -1,18 +1,19 @@
 #!/usr/bin/env python3
 import os
 import numpy as np
-
+from cereal import log
 from common.realtime import sec_since_boot
 from common.numpy_fast import clip
 from system.swaglog import cloudlog
 # WARNING: imports outside of constants will not trigger a rebuild
 from selfdrive.modeld.constants import index_function
-from selfdrive.controls.lib.radar_helpers import _LEAD_ACCEL_TAU
+from selfdrive.car.interfaces import ACCEL_MIN
+from selfdrive.controls.radard import _LEAD_ACCEL_TAU
 
 if __name__ == '__main__':  # generating code
   from third_party.acados.acados_template import AcadosModel, AcadosOcp, AcadosOcpSolver
 else:
-  from selfdrive.controls.lib.longitudinal_mpc_lib.c_generated_code.acados_ocp_solver_pyx import AcadosOcpSolverCython  # pylint: disable=no-name-in-module, import-error
+  from selfdrive.controls.lib.longitudinal_mpc_lib.c_generated_code.acados_ocp_solver_pyx import AcadosOcpSolverCython
 
 from casadi import SX, vertcat
 
@@ -52,20 +53,38 @@ T_IDXS_LST = [index_function(idx, max_val=MAX_T, max_idx=N) for idx in range(N+1
 T_IDXS = np.array(T_IDXS_LST)
 FCW_IDXS = T_IDXS < 5.0
 T_DIFFS = np.diff(T_IDXS, prepend=[0.])
-MIN_ACCEL = -3.5
-MAX_ACCEL = 2.0
-T_FOLLOW = 1.45
 COMFORT_BRAKE = 2.5
 STOP_DISTANCE = 6.0
 
+def get_jerk_factor(personality=log.LongitudinalPersonality.standard):
+  if personality==log.LongitudinalPersonality.relaxed:
+    return 1.0
+  elif personality==log.LongitudinalPersonality.standard:
+    return 1.0
+  elif personality==log.LongitudinalPersonality.aggressive:
+    return 0.5
+  else:
+    raise NotImplementedError("Longitudinal personality not supported")
+
+
+def get_T_FOLLOW(personality=log.LongitudinalPersonality.standard):
+  if personality==log.LongitudinalPersonality.relaxed:
+    return 1.75
+  elif personality==log.LongitudinalPersonality.standard:
+    return 1.45
+  elif personality==log.LongitudinalPersonality.aggressive:
+    return 1.25
+  else:
+    raise NotImplementedError("Longitudinal personality not supported")
+
 def get_stopped_equivalence_factor(v_lead):
   return (v_lead**2) / (2 * COMFORT_BRAKE)
 
-def get_safe_obstacle_distance(v_ego, t_follow=T_FOLLOW):
+def get_safe_obstacle_distance(v_ego, t_follow):
   return (v_ego**2) / (2 * COMFORT_BRAKE) + t_follow * v_ego + STOP_DISTANCE
 
-def desired_follow_distance(v_ego, v_lead):
-  return get_safe_obstacle_distance(v_ego) - get_stopped_equivalence_factor(v_lead)
+def desired_follow_distance(v_ego, v_lead, t_follow=get_T_FOLLOW()):
+  return get_safe_obstacle_distance(v_ego, t_follow) - get_stopped_equivalence_factor(v_lead)
 
 
 def gen_long_model():
@@ -161,7 +180,8 @@ def gen_long_ocp():
 
   x0 = np.zeros(X_DIM)
   ocp.constraints.x0 = x0
-  ocp.parameter_values = np.array([-1.2, 1.2, 0.0, 0.0, T_FOLLOW, LEAD_DANGER_FACTOR])
+  ocp.parameter_values = np.array([-1.2, 1.2, 0.0, 0.0, get_T_FOLLOW(), LEAD_DANGER_FACTOR])
+
 
   # We put all constraint cost weights to 0 and only set them at runtime
   cost_weights = np.zeros(CONSTR_DIM)
@@ -249,10 +269,11 @@ class LongitudinalMpc:
     for i in range(N):
       self.solver.cost_set(i, 'Zl', Zl)
 
-  def set_weights(self, prev_accel_constraint=True):
+  def set_weights(self, prev_accel_constraint=True, personality=log.LongitudinalPersonality.standard):
+    jerk_factor = get_jerk_factor(personality)
     if self.mode == 'acc':
       a_change_cost = A_CHANGE_COST if prev_accel_constraint else 0
-      cost_weights = [X_EGO_OBSTACLE_COST, X_EGO_COST, V_EGO_COST, A_EGO_COST, a_change_cost, J_EGO_COST]
+      cost_weights = [X_EGO_OBSTACLE_COST, X_EGO_COST, V_EGO_COST, A_EGO_COST, jerk_factor * a_change_cost, jerk_factor * J_EGO_COST]
       constraint_cost_weights = [LIMIT_COST, LIMIT_COST, LIMIT_COST, DANGER_ZONE_COST]
     elif self.mode == 'blended':
       a_change_cost = 40.0 if prev_accel_constraint else 0
@@ -294,7 +315,7 @@ class LongitudinalMpc:
 
     # MPC will not converge if immediate crash is expected
     # Clip lead distance to what is still possible to brake for
-    min_x_lead = ((v_ego + v_lead)/2) * (v_ego - v_lead) / (-MIN_ACCEL * 2)
+    min_x_lead = ((v_ego + v_lead)/2) * (v_ego - v_lead) / (-ACCEL_MIN * 2)
     x_lead = clip(x_lead, min_x_lead, 1e8)
     v_lead = clip(v_lead, 0.0, 1e8)
     a_lead = clip(a_lead, -10., 5.)
@@ -307,7 +328,8 @@ class LongitudinalMpc:
     self.cruise_min_a = min_a
     self.max_a = max_a
 
-  def update(self, radarstate, v_cruise, x, v, a, j):
+  def update(self, radarstate, v_cruise, x, v, a, j, personality=log.LongitudinalPersonality.standard):
+    t_follow = get_T_FOLLOW(personality)
     v_ego = self.x0[1]
     self.status = radarstate.leadOne.status or radarstate.leadTwo.status
 
@@ -320,7 +342,7 @@ class LongitudinalMpc:
     lead_0_obstacle = lead_xv_0[:,0] + get_stopped_equivalence_factor(lead_xv_0[:,1])
     lead_1_obstacle = lead_xv_1[:,0] + get_stopped_equivalence_factor(lead_xv_1[:,1])
 
-    self.params[:,0] = MIN_ACCEL
+    self.params[:,0] = ACCEL_MIN
     self.params[:,1] = self.max_a
 
     # Update in ACC mode or ACC/e2e blend
@@ -334,7 +356,7 @@ class LongitudinalMpc:
       v_cruise_clipped = np.clip(v_cruise * np.ones(N+1),
                                  v_lower,
                                  v_upper)
-      cruise_obstacle = np.cumsum(T_DIFFS * v_cruise_clipped) + get_safe_obstacle_distance(v_cruise_clipped)
+      cruise_obstacle = np.cumsum(T_DIFFS * v_cruise_clipped) + get_safe_obstacle_distance(v_cruise_clipped, t_follow)
       x_obstacles = np.column_stack([lead_0_obstacle, lead_1_obstacle, cruise_obstacle])
       self.source = SOURCES[np.argmin(x_obstacles[0])]
 
@@ -368,7 +390,7 @@ class LongitudinalMpc:
 
     self.params[:,2] = np.min(x_obstacles, axis=1)
     self.params[:,3] = np.copy(self.prev_a)
-    self.params[:,4] = T_FOLLOW
+    self.params[:,4] = t_follow
 
     self.run()
     if (np.any(lead_xv_0[FCW_IDXS,0] - self.x_sol[FCW_IDXS,0] < CRASH_DISTANCE) and
@@ -380,9 +402,9 @@ class LongitudinalMpc:
     # Check if it got within lead comfort range
     # TODO This should be done cleaner
     if self.mode == 'blended':
-      if any((lead_0_obstacle - get_safe_obstacle_distance(self.x_sol[:,1], T_FOLLOW))- self.x_sol[:,0] < 0.0):
+      if any((lead_0_obstacle - get_safe_obstacle_distance(self.x_sol[:,1], t_follow))- self.x_sol[:,0] < 0.0):
         self.source = 'lead0'
-      if any((lead_1_obstacle - get_safe_obstacle_distance(self.x_sol[:,1], T_FOLLOW))- self.x_sol[:,0] < 0.0) and \
+      if any((lead_1_obstacle - get_safe_obstacle_distance(self.x_sol[:,1], t_follow))- self.x_sol[:,0] < 0.0) and \
          (lead_1_obstacle[0] - lead_0_obstacle[0]):
         self.source = 'lead1'
 
@@ -401,7 +423,8 @@ class LongitudinalMpc:
     self.time_integrator = float(self.solver.get_stats('time_sim')[0])
 
     # qp_iter = self.solver.get_stats('statistics')[-1][-1] # SQP_RTI specific
-    # print(f"long_mpc timings: tot {self.solve_time:.2e}, qp {self.time_qp_solution:.2e}, lin {self.time_linearization:.2e}, integrator {self.time_integrator:.2e}, qp_iter {qp_iter}")
+    # print(f"long_mpc timings: tot {self.solve_time:.2e}, qp {self.time_qp_solution:.2e}, lin {self.time_linearization:.2e}, \
+    # integrator {self.time_integrator:.2e}, qp_iter {qp_iter}")
     # res = self.solver.get_residuals()
     # print(f"long_mpc residuals: {res[0]:.2e}, {res[1]:.2e}, {res[2]:.2e}, {res[3]:.2e}")
     # self.solver.print_statistics()
@@ -424,7 +447,8 @@ class LongitudinalMpc:
         cloudlog.warning(f"Long mpc reset, solution_status: {self.solution_status}")
       self.reset()
       # reset = 1
-    # print(f"long_mpc timings: total internal {self.solve_time:.2e}, external: {(sec_since_boot() - t0):.2e} qp {self.time_qp_solution:.2e}, lin {self.time_linearization:.2e} qp_iter {qp_iter}, reset {reset}")
+    # print(f"long_mpc timings: total internal {self.solve_time:.2e}, external: {(sec_since_boot() - t0):.2e} qp {self.time_qp_solution:.2e}, \
+    # lin {self.time_linearization:.2e} qp_iter {qp_iter}, reset {reset}")
 
 
 if __name__ == "__main__":
diff --git a/selfdrive/controls/lib/longitudinal_planner.py b/selfdrive/controls/lib/longitudinal_planner.py
index 3089499687..5765272928 100755
--- a/selfdrive/controls/lib/longitudinal_planner.py
+++ b/selfdrive/controls/lib/longitudinal_planner.py
@@ -2,14 +2,17 @@
 import math
 import numpy as np
 from common.numpy_fast import clip, interp
+from common.params import Params
+from cereal import log
 
 import cereal.messaging as messaging
 from common.conversions import Conversions as CV
 from common.filter_simple import FirstOrderFilter
 from common.realtime import DT_MDL
 from selfdrive.modeld.constants import T_IDXS
+from selfdrive.car.interfaces import ACCEL_MIN, ACCEL_MAX
 from selfdrive.controls.lib.longcontrol import LongCtrlState
-from selfdrive.controls.lib.longitudinal_mpc_lib.long_mpc import LongitudinalMpc, MIN_ACCEL, MAX_ACCEL
+from selfdrive.controls.lib.longitudinal_mpc_lib.long_mpc import LongitudinalMpc
 from selfdrive.controls.lib.longitudinal_mpc_lib.long_mpc import T_IDXS as T_IDXS_MPC
 from selfdrive.controls.lib.drive_helpers import V_CRUISE_MAX, CONTROL_N, get_speed_error
 from system.swaglog import cloudlog
@@ -57,6 +60,16 @@ class LongitudinalPlanner:
     self.a_desired_trajectory = np.zeros(CONTROL_N)
     self.j_desired_trajectory = np.zeros(CONTROL_N)
     self.solverExecutionTime = 0.0
+    self.params = Params()
+    self.param_read_counter = 0
+    self.read_param()
+    self.personality = log.LongitudinalPersonality.standard
+
+  def read_param(self):
+    try:
+      self.personality = int(self.params.get('LongitudinalPersonality'))
+    except (ValueError, TypeError):
+      self.personality = log.LongitudinalPersonality.standard
 
   @staticmethod
   def parse_model(model_msg, model_error):
@@ -75,11 +88,13 @@ class LongitudinalPlanner:
     return x, v, a, j
 
   def update(self, sm):
+    if self.param_read_counter % 50 == 0:
+      self.read_param()
+    self.param_read_counter += 1
     self.mpc.mode = 'blended' if sm['controlsState'].experimentalMode else 'acc'
 
     v_ego = sm['carState'].vEgo
-    v_cruise_kph = sm['controlsState'].vCruise
-    v_cruise_kph = min(v_cruise_kph, V_CRUISE_MAX)
+    v_cruise_kph = min(sm['controlsState'].vCruise, V_CRUISE_MAX)
     v_cruise = v_cruise_kph * CV.KPH_TO_MS
 
     long_control_off = sm['controlsState'].longControlState == LongCtrlState.off
@@ -95,8 +110,8 @@ class LongitudinalPlanner:
       accel_limits = [A_CRUISE_MIN, get_max_accel(v_ego)]
       accel_limits_turns = limit_accel_in_turns(v_ego, sm['carState'].steeringAngleDeg, accel_limits, self.CP)
     else:
-      accel_limits = [MIN_ACCEL, MAX_ACCEL]
-      accel_limits_turns = [MIN_ACCEL, MAX_ACCEL]
+      accel_limits = [ACCEL_MIN, ACCEL_MAX]
+      accel_limits_turns = [ACCEL_MIN, ACCEL_MAX]
 
     if reset_state:
       self.v_desired_filter.x = v_ego
@@ -114,11 +129,11 @@ class LongitudinalPlanner:
     accel_limits_turns[0] = min(accel_limits_turns[0], self.a_desired + 0.05)
     accel_limits_turns[1] = max(accel_limits_turns[1], self.a_desired - 0.05)
 
-    self.mpc.set_weights(prev_accel_constraint)
+    self.mpc.set_weights(prev_accel_constraint, personality=self.personality)
     self.mpc.set_accel_limits(accel_limits_turns[0], accel_limits_turns[1])
     self.mpc.set_cur_state(self.v_desired_filter.x, self.a_desired)
     x, v, a, j = self.parse_model(sm['modelV2'], self.v_model_error)
-    self.mpc.update(sm['radarState'], v_cruise, x, v, a, j)
+    self.mpc.update(sm['radarState'], v_cruise, x, v, a, j, personality=self.personality)
 
     self.v_desired_trajectory_full = np.interp(T_IDXS, T_IDXS_MPC, self.mpc.v_solution)
     self.a_desired_trajectory_full = np.interp(T_IDXS, T_IDXS_MPC, self.mpc.a_solution)
@@ -154,5 +169,6 @@ class LongitudinalPlanner:
     longitudinalPlan.fcw = self.fcw
 
     longitudinalPlan.solverExecutionTime = self.mpc.solve_time
+    longitudinalPlan.personality = self.personality
 
     pm.send('longitudinalPlan', plan_send)
diff --git a/selfdrive/controls/lib/radar_helpers.py b/selfdrive/controls/lib/radar_helpers.py
deleted file mode 100644
index 4184340dc5..0000000000
--- a/selfdrive/controls/lib/radar_helpers.py
+++ /dev/null
@@ -1,159 +0,0 @@
-from common.numpy_fast import mean
-from common.kalman.simple_kalman import KF1D
-
-
-# Default lead acceleration decay set to 50% at 1s
-_LEAD_ACCEL_TAU = 1.5
-
-# radar tracks
-SPEED, ACCEL = 0, 1   # Kalman filter states enum
-
-# stationary qualification parameters
-v_ego_stationary = 4.   # no stationary object flag below this speed
-
-RADAR_TO_CENTER = 2.7   # (deprecated) RADAR is ~ 2.7m ahead from center of car
-RADAR_TO_CAMERA = 1.52   # RADAR is ~ 1.5m ahead from center of mesh frame
-
-class Track():
-  def __init__(self, v_lead, kalman_params):
-    self.cnt = 0
-    self.aLeadTau = _LEAD_ACCEL_TAU
-    self.K_A = kalman_params.A
-    self.K_C = kalman_params.C
-    self.K_K = kalman_params.K
-    self.kf = KF1D([[v_lead], [0.0]], self.K_A, self.K_C, self.K_K)
-
-  def update(self, d_rel, y_rel, v_rel, v_lead, measured):
-    # relative values, copy
-    self.dRel = d_rel   # LONG_DIST
-    self.yRel = y_rel   # -LAT_DIST
-    self.vRel = v_rel   # REL_SPEED
-    self.vLead = v_lead
-    self.measured = measured   # measured or estimate
-
-    # computed velocity and accelerations
-    if self.cnt > 0:
-      self.kf.update(self.vLead)
-
-    self.vLeadK = float(self.kf.x[SPEED][0])
-    self.aLeadK = float(self.kf.x[ACCEL][0])
-
-    # Learn if constant acceleration
-    if abs(self.aLeadK) < 0.5:
-      self.aLeadTau = _LEAD_ACCEL_TAU
-    else:
-      self.aLeadTau *= 0.9
-
-    self.cnt += 1
-
-  def get_key_for_cluster(self):
-    # Weigh y higher since radar is inaccurate in this dimension
-    return [self.dRel, self.yRel*2, self.vRel]
-
-  def reset_a_lead(self, aLeadK, aLeadTau):
-    self.kf = KF1D([[self.vLead], [aLeadK]], self.K_A, self.K_C, self.K_K)
-    self.aLeadK = aLeadK
-    self.aLeadTau = aLeadTau
-
-
-class Cluster():
-  def __init__(self):
-    self.tracks = set()
-
-  def add(self, t):
-    # add the first track
-    self.tracks.add(t)
-
-  # TODO: make generic
-  @property
-  def dRel(self):
-    return mean([t.dRel for t in self.tracks])
-
-  @property
-  def yRel(self):
-    return mean([t.yRel for t in self.tracks])
-
-  @property
-  def vRel(self):
-    return mean([t.vRel for t in self.tracks])
-
-  @property
-  def aRel(self):
-    return mean([t.aRel for t in self.tracks])
-
-  @property
-  def vLead(self):
-    return mean([t.vLead for t in self.tracks])
-
-  @property
-  def dPath(self):
-    return mean([t.dPath for t in self.tracks])
-
-  @property
-  def vLat(self):
-    return mean([t.vLat for t in self.tracks])
-
-  @property
-  def vLeadK(self):
-    return mean([t.vLeadK for t in self.tracks])
-
-  @property
-  def aLeadK(self):
-    if all(t.cnt <= 1 for t in self.tracks):
-      return 0.
-    else:
-      return mean([t.aLeadK for t in self.tracks if t.cnt > 1])
-
-  @property
-  def aLeadTau(self):
-    if all(t.cnt <= 1 for t in self.tracks):
-      return _LEAD_ACCEL_TAU
-    else:
-      return mean([t.aLeadTau for t in self.tracks if t.cnt > 1])
-
-  @property
-  def measured(self):
-    return any(t.measured for t in self.tracks)
-
-  def get_RadarState(self, model_prob=0.0):
-    return {
-      "dRel": float(self.dRel),
-      "yRel": float(self.yRel),
-      "vRel": float(self.vRel),
-      "vLead": float(self.vLead),
-      "vLeadK": float(self.vLeadK),
-      "aLeadK": float(self.aLeadK),
-      "status": True,
-      "fcw": self.is_potential_fcw(model_prob),
-      "modelProb": model_prob,
-      "radar": True,
-      "aLeadTau": float(self.aLeadTau)
-    }
-
-  def get_RadarState_from_vision(self, lead_msg, v_ego, model_v_ego):
-    lead_v_rel_pred = lead_msg.v[0] - model_v_ego
-    return {
-      "dRel": float(lead_msg.x[0] - RADAR_TO_CAMERA),
-      "yRel": float(-lead_msg.y[0]),
-      "vRel": float(lead_v_rel_pred),
-      "vLead": float(v_ego + lead_v_rel_pred),
-      "vLeadK": float(v_ego + lead_v_rel_pred),
-      "aLeadK": 0.0,
-      "aLeadTau": 0.3,
-      "fcw": False,
-      "modelProb": float(lead_msg.prob),
-      "radar": False,
-      "status": True
-    }
-
-  def __str__(self):
-    ret = f"x: {self.dRel:4.1f}  y: {self.yRel:4.1f}  v: {self.vRel:4.1f}  a: {self.aLeadK:4.1f}"
-    return ret
-
-  def potential_low_speed_lead(self, v_ego):
-    # stop for stuff in front of you and low speed, even without model confirmation
-    # Radar points closer than 0.75, are almost always glitches on toyota radars
-    return abs(self.yRel) < 1.0 and (v_ego < v_ego_stationary) and (0.75 < self.dRel < 25)
-
-  def is_potential_fcw(self, model_prob):
-    return model_prob > .9
diff --git a/selfdrive/controls/plannerd.py b/selfdrive/controls/plannerd.py
index 14934254af..7e61efcf45 100755
--- a/selfdrive/controls/plannerd.py
+++ b/selfdrive/controls/plannerd.py
@@ -1,4 +1,5 @@
 #!/usr/bin/env python3
+import os
 import numpy as np
 from cereal import car
 from common.params import Params
@@ -31,11 +32,14 @@ def plannerd_thread(sm=None, pm=None):
 
   cloudlog.info("plannerd is waiting for CarParams")
   params = Params()
-  CP = car.CarParams.from_bytes(params.get("CarParams", block=True))
+  with car.CarParams.from_bytes(params.get("CarParams", block=True)) as msg:
+    CP = msg
   cloudlog.info("plannerd got CarParams: %s", CP.carName)
 
+  debug_mode = bool(int(os.getenv("DEBUG", "0")))
+
   longitudinal_planner = LongitudinalPlanner(CP)
-  lateral_planner = LateralPlanner(CP)
+  lateral_planner = LateralPlanner(CP, debug=debug_mode)
 
   if sm is None:
     sm = messaging.SubMaster(['carControl', 'carState', 'controlsState', 'radarState', 'modelV2'],
diff --git a/selfdrive/controls/radard.py b/selfdrive/controls/radard.py
index 521cea816f..cce866a093 100755
--- a/selfdrive/controls/radard.py
+++ b/selfdrive/controls/radard.py
@@ -1,20 +1,34 @@
 #!/usr/bin/env python3
 import importlib
 import math
-from collections import defaultdict, deque
+from collections import deque
+from typing import Optional, Dict, Any
 
-import cereal.messaging as messaging
-from cereal import car
+import capnp
+from cereal import messaging, log, car
 from common.numpy_fast import interp
 from common.params import Params
 from common.realtime import Ratekeeper, Priority, config_realtime_process
-from selfdrive.controls.lib.radar_helpers import Cluster, Track, RADAR_TO_CAMERA
 from system.swaglog import cloudlog
-from third_party.cluster.fastcluster_py import cluster_points_centroid
+
+from common.kalman.simple_kalman import KF1D
 
 
-class KalmanParams():
-  def __init__(self, dt):
+# Default lead acceleration decay set to 50% at 1s
+_LEAD_ACCEL_TAU = 1.5
+
+# radar tracks
+SPEED, ACCEL = 0, 1     # Kalman filter states enum
+
+# stationary qualification parameters
+V_EGO_STATIONARY = 4.   # no stationary object flag below this speed
+
+RADAR_TO_CENTER = 2.7   # (deprecated) RADAR is ~ 2.7m ahead from center of car
+RADAR_TO_CAMERA = 1.52  # RADAR is ~ 1.5m ahead from center of mesh frame
+
+
+class KalmanParams:
+  def __init__(self, dt: float):
     # Lead Kalman Filter params, calculating K from A, C, Q, R requires the control library.
     # hardcoding a lookup table to compute K for values of radar_ts between 0.01s and 0.2s
     assert dt > .01 and dt < .2, "Radar time step must be between .01s and 0.2s"
@@ -35,13 +49,81 @@ class KalmanParams():
     self.K = [[interp(dt, dts, K0)], [interp(dt, dts, K1)]]
 
 
-def laplacian_pdf(x, mu, b):
+class Track:
+  def __init__(self, v_lead: float, kalman_params: KalmanParams):
+    self.cnt = 0
+    self.aLeadTau = _LEAD_ACCEL_TAU
+    self.K_A = kalman_params.A
+    self.K_C = kalman_params.C
+    self.K_K = kalman_params.K
+    self.kf = KF1D([[v_lead], [0.0]], self.K_A, self.K_C, self.K_K)
+
+  def update(self, d_rel: float, y_rel: float, v_rel: float, v_lead: float, measured: float):
+    # relative values, copy
+    self.dRel = d_rel   # LONG_DIST
+    self.yRel = y_rel   # -LAT_DIST
+    self.vRel = v_rel   # REL_SPEED
+    self.vLead = v_lead
+    self.measured = measured   # measured or estimate
+
+    # computed velocity and accelerations
+    if self.cnt > 0:
+      self.kf.update(self.vLead)
+
+    self.vLeadK = float(self.kf.x[SPEED][0])
+    self.aLeadK = float(self.kf.x[ACCEL][0])
+
+    # Learn if constant acceleration
+    if abs(self.aLeadK) < 0.5:
+      self.aLeadTau = _LEAD_ACCEL_TAU
+    else:
+      self.aLeadTau *= 0.9
+
+    self.cnt += 1
+
+  def get_key_for_cluster(self):
+    # Weigh y higher since radar is inaccurate in this dimension
+    return [self.dRel, self.yRel*2, self.vRel]
+
+  def reset_a_lead(self, aLeadK: float, aLeadTau: float):
+    self.kf = KF1D([[self.vLead], [aLeadK]], self.K_A, self.K_C, self.K_K)
+    self.aLeadK = aLeadK
+    self.aLeadTau = aLeadTau
+
+  def get_RadarState(self, model_prob: float = 0.0):
+    return {
+      "dRel": float(self.dRel),
+      "yRel": float(self.yRel),
+      "vRel": float(self.vRel),
+      "vLead": float(self.vLead),
+      "vLeadK": float(self.vLeadK),
+      "aLeadK": float(self.aLeadK),
+      "status": True,
+      "fcw": self.is_potential_fcw(model_prob),
+      "modelProb": model_prob,
+      "radar": True,
+      "aLeadTau": float(self.aLeadTau)
+    }
+
+  def potential_low_speed_lead(self, v_ego: float):
+    # stop for stuff in front of you and low speed, even without model confirmation
+    # Radar points closer than 0.75, are almost always glitches on toyota radars
+    return abs(self.yRel) < 1.0 and (v_ego < V_EGO_STATIONARY) and (0.75 < self.dRel < 25)
+
+  def is_potential_fcw(self, model_prob: float):
+    return model_prob > .9
+
+  def __str__(self):
+    ret = f"x: {self.dRel:4.1f}  y: {self.yRel:4.1f}  v: {self.vRel:4.1f}  a: {self.aLeadK:4.1f}"
+    return ret
+
+
+def laplacian_pdf(x: float, mu: float, b: float):
   b = max(b, 1e-4)
   return math.exp(-abs(x-mu)/b)
 
 
-def match_vision_to_cluster(v_ego, lead, clusters):
-  # match vision point to best statistical cluster match
+def match_vision_to_track(v_ego: float, lead: capnp._DynamicStructReader, tracks: Dict[int, Track]):
   offset_vision_dist = lead.x[0] - RADAR_TO_CAMERA
 
   def prob(c):
@@ -52,59 +134,85 @@ def match_vision_to_cluster(v_ego, lead, clusters):
     # This is isn't exactly right, but good heuristic
     return prob_d * prob_y * prob_v
 
-  cluster = max(clusters, key=prob)
+  track = max(tracks.values(), key=prob)
 
   # if no 'sane' match is found return -1
   # stationary radar points can be false positives
-  dist_sane = abs(cluster.dRel - offset_vision_dist) < max([(offset_vision_dist)*.25, 5.0])
-  vel_sane = (abs(cluster.vRel + v_ego - lead.v[0]) < 10) or (v_ego + cluster.vRel > 3)
+  dist_sane = abs(track.dRel - offset_vision_dist) < max([(offset_vision_dist)*.25, 5.0])
+  vel_sane = (abs(track.vRel + v_ego - lead.v[0]) < 10) or (v_ego + track.vRel > 3)
   if dist_sane and vel_sane:
-    return cluster
+    return track
   else:
     return None
 
 
-def get_lead(v_ego, ready, clusters, lead_msg, model_v_ego, low_speed_override=True):
+def get_RadarState_from_vision(lead_msg: capnp._DynamicStructReader, v_ego: float, model_v_ego: float):
+  lead_v_rel_pred = lead_msg.v[0] - model_v_ego
+  return {
+    "dRel": float(lead_msg.x[0] - RADAR_TO_CAMERA),
+    "yRel": float(-lead_msg.y[0]),
+    "vRel": float(lead_v_rel_pred),
+    "vLead": float(v_ego + lead_v_rel_pred),
+    "vLeadK": float(v_ego + lead_v_rel_pred),
+    "aLeadK": 0.0,
+    "aLeadTau": 0.3,
+    "fcw": False,
+    "modelProb": float(lead_msg.prob),
+    "radar": False,
+    "status": True
+  }
+
+
+def get_lead(v_ego: float, ready: bool, tracks: Dict[int, Track], lead_msg: capnp._DynamicStructReader,
+             model_v_ego: float, low_speed_override: bool = True) -> Dict[str, Any]:
   # Determine leads, this is where the essential logic happens
-  if len(clusters) > 0 and ready and lead_msg.prob > .5:
-    cluster = match_vision_to_cluster(v_ego, lead_msg, clusters)
+  if len(tracks) > 0 and ready and lead_msg.prob > .5:
+    track = match_vision_to_track(v_ego, lead_msg, tracks)
   else:
-    cluster = None
+    track = None
 
   lead_dict = {'status': False}
-  if cluster is not None:
-    lead_dict = cluster.get_RadarState(lead_msg.prob)
-  elif (cluster is None) and ready and (lead_msg.prob > .5):
-    lead_dict = Cluster().get_RadarState_from_vision(lead_msg, v_ego, model_v_ego)
+  if track is not None:
+    lead_dict = track.get_RadarState(lead_msg.prob)
+  elif (track is None) and ready and (lead_msg.prob > .5):
+    lead_dict = get_RadarState_from_vision(lead_msg, v_ego, model_v_ego)
 
   if low_speed_override:
-    low_speed_clusters = [c for c in clusters if c.potential_low_speed_lead(v_ego)]
-    if len(low_speed_clusters) > 0:
-      closest_cluster = min(low_speed_clusters, key=lambda c: c.dRel)
+    low_speed_tracks = [c for c in tracks.values() if c.potential_low_speed_lead(v_ego)]
+    if len(low_speed_tracks) > 0:
+      closest_track = min(low_speed_tracks, key=lambda c: c.dRel)
 
-      # Only choose new cluster if it is actually closer than the previous one
-      if (not lead_dict['status']) or (closest_cluster.dRel < lead_dict['dRel']):
-        lead_dict = closest_cluster.get_RadarState()
+      # Only choose new track if it is actually closer than the previous one
+      if (not lead_dict['status']) or (closest_track.dRel < lead_dict['dRel']):
+        lead_dict = closest_track.get_RadarState()
 
   return lead_dict
 
 
-class RadarD():
-  def __init__(self, radar_ts, delay=0):
-    self.current_time = 0
+class RadarD:
+  def __init__(self, radar_ts: float, delay: int = 0):
+    self.current_time = 0.0
 
-    self.tracks = defaultdict(dict)
+    self.tracks: Dict[int, Track] = {}
     self.kalman_params = KalmanParams(radar_ts)
 
-    # v_ego
-    self.v_ego = 0.
-    self.v_ego_hist = deque([0], maxlen=delay+1)
+    self.v_ego = 0.0
+    self.v_ego_hist = deque([0.0], maxlen=delay+1)
+
+    self.radar_state: Optional[capnp._DynamicStructBuilder] = None
+    self.radar_state_valid = False
 
     self.ready = False
 
-  def update(self, sm, rr):
+  def update(self, sm: messaging.SubMaster, rr: Optional[car.RadarData]):
     self.current_time = 1e-9*max(sm.logMonoTime.values())
 
+    radar_points = []
+    radar_errors = []
+    if rr is not None:
+      radar_points = rr.points
+      radar_errors = rr.errors
+
     if sm.updated['carState']:
       self.v_ego = sm['carState'].vEgo
       self.v_ego_hist.append(self.v_ego)
@@ -112,7 +220,7 @@ class RadarD():
       self.ready = True
 
     ar_pts = {}
-    for pt in rr.points:
+    for pt in radar_points:
       ar_pts[pt.trackId] = [pt.dRel, pt.yRel, pt.vRel, pt.measured]
 
     # *** remove missing points from meta data ***
@@ -132,41 +240,12 @@ class RadarD():
         self.tracks[ids] = Track(v_lead, self.kalman_params)
       self.tracks[ids].update(rpt[0], rpt[1], rpt[2], v_lead, rpt[3])
 
-    idens = list(sorted(self.tracks.keys()))
-    track_pts = [self.tracks[iden].get_key_for_cluster() for iden in idens]
-
-    # If we have multiple points, cluster them
-    if len(track_pts) > 1:
-      cluster_idxs = cluster_points_centroid(track_pts, 2.5)
-      clusters = [None] * (max(cluster_idxs) + 1)
-
-      for idx in range(len(track_pts)):
-        cluster_i = cluster_idxs[idx]
-        if clusters[cluster_i] is None:
-          clusters[cluster_i] = Cluster()
-        clusters[cluster_i].add(self.tracks[idens[idx]])
-    elif len(track_pts) == 1:
-      # FIXME: cluster_point_centroid hangs forever if len(track_pts) == 1
-      cluster_idxs = [0]
-      clusters = [Cluster()]
-      clusters[0].add(self.tracks[idens[0]])
-    else:
-      clusters = []
-
-    # if a new point, reset accel to the rest of the cluster
-    for idx in range(len(track_pts)):
-      if self.tracks[idens[idx]].cnt <= 1:
-        aLeadK = clusters[cluster_idxs[idx]].aLeadK
-        aLeadTau = clusters[cluster_idxs[idx]].aLeadTau
-        self.tracks[idens[idx]].reset_a_lead(aLeadK, aLeadTau)
-
     # *** publish radarState ***
-    dat = messaging.new_message('radarState')
-    dat.valid = sm.all_checks() and len(rr.errors) == 0
-    radarState = dat.radarState
-    radarState.mdMonoTime = sm.logMonoTime['modelV2']
-    radarState.radarErrors = list(rr.errors)
-    radarState.carStateMonoTime = sm.logMonoTime['carState']
+    self.radar_state_valid = sm.all_checks() and len(radar_errors) == 0
+    self.radar_state = log.RadarState.new_message()
+    self.radar_state.mdMonoTime = sm.logMonoTime['modelV2']
+    self.radar_state.radarErrors = list(radar_errors)
+    self.radar_state.carStateMonoTime = sm.logMonoTime['carState']
 
     if len(sm['modelV2'].temporalPose.trans):
       model_v_ego = sm['modelV2'].temporalPose.trans[0]
@@ -174,18 +253,38 @@ class RadarD():
       model_v_ego = self.v_ego
     leads_v3 = sm['modelV2'].leadsV3
     if len(leads_v3) > 1:
-      radarState.leadOne = get_lead(self.v_ego, self.ready, clusters, leads_v3[0], model_v_ego, low_speed_override=True)
-      radarState.leadTwo = get_lead(self.v_ego, self.ready, clusters, leads_v3[1], model_v_ego, low_speed_override=False)
-    return dat
+      self.radar_state.leadOne = get_lead(self.v_ego, self.ready, self.tracks, leads_v3[0], model_v_ego, low_speed_override=True)
+      self.radar_state.leadTwo = get_lead(self.v_ego, self.ready, self.tracks, leads_v3[1], model_v_ego, low_speed_override=False)
+
+  def publish(self, pm: messaging.PubMaster, lag_ms: float):
+    assert self.radar_state is not None
+
+    radar_msg = messaging.new_message("radarState")
+    radar_msg.valid = self.radar_state_valid
+    radar_msg.radarState = self.radar_state
+    radar_msg.radarState.cumLagMs = lag_ms
+    pm.send("radarState", radar_msg)
+
+    # publish tracks for UI debugging (keep last)
+    tracks_msg = messaging.new_message('liveTracks', len(self.tracks))
+    for index, tid in enumerate(sorted(self.tracks.keys())):
+      tracks_msg.liveTracks[index] = {
+        "trackId": tid,
+        "dRel": float(self.tracks[tid].dRel),
+        "yRel": float(self.tracks[tid].yRel),
+        "vRel": float(self.tracks[tid].vRel),
+      }
+    pm.send('liveTracks', tracks_msg)
 
 
 # fuses camera and radar data for best lead detection
-def radard_thread(sm=None, pm=None, can_sock=None):
+def radard_thread(sm: Optional[messaging.SubMaster] = None, pm: Optional[messaging.PubMaster] = None, can_sock: Optional[messaging.SubSocket] = None):
   config_realtime_process(5, Priority.CTRL_LOW)
 
   # wait for stats about the car to come in from controls
   cloudlog.info("radard is waiting for CarParams")
-  CP = car.CarParams.from_bytes(Params().get("CarParams", block=True))
+  with car.CarParams.from_bytes(Params().get("CarParams", block=True)) as msg:
+    CP = msg
   cloudlog.info("radard got CarParams")
 
   # import the radar from the fingerprint
@@ -214,28 +313,13 @@ def radard_thread(sm=None, pm=None, can_sock=None):
 
     sm.update(0)
 
-    dat = RD.update(sm, rr)
-    dat.radarState.cumLagMs = -rk.remaining*1000.
-
-    pm.send('radarState', dat)
-
-    # *** publish tracks for UI debugging (keep last) ***
-    tracks = RD.tracks
-    dat = messaging.new_message('liveTracks', len(tracks))
-
-    for cnt, ids in enumerate(sorted(tracks.keys())):
-      dat.liveTracks[cnt] = {
-        "trackId": ids,
-        "dRel": float(tracks[ids].dRel),
-        "yRel": float(tracks[ids].yRel),
-        "vRel": float(tracks[ids].vRel),
-      }
-    pm.send('liveTracks', dat)
+    RD.update(sm, rr)
+    RD.publish(pm, -rk.remaining*1000.0)
 
     rk.monitor_time()
 
 
-def main(sm=None, pm=None, can_sock=None):
+def main(sm: Optional[messaging.SubMaster] = None, pm: Optional[messaging.PubMaster] = None, can_sock: messaging.SubSocket = None):
   radard_thread(sm, pm, can_sock)
 
 
diff --git a/selfdrive/controls/tests/test_alerts.py b/selfdrive/controls/tests/test_alerts.py
index 60c080163f..c0d70b3b6f 100755
--- a/selfdrive/controls/tests/test_alerts.py
+++ b/selfdrive/controls/tests/test_alerts.py
@@ -1,4 +1,5 @@
 #!/usr/bin/env python3
+import copy
 import json
 import os
 import unittest
@@ -76,9 +77,10 @@ class TestAlerts(unittest.TestCase):
           break
 
         font = fonts[alert.alert_size][i]
-        w, _ = draw.textsize(txt, font)
+        left, _, right, _ = draw.textbbox((0, 0), txt, font)
+        width = right - left
         msg = f"type: {alert.alert_type} msg: {txt}"
-        self.assertLessEqual(w, max_text_width, msg=msg)
+        self.assertLessEqual(width, max_text_width, msg=msg)
 
   def test_alert_sanity_check(self):
     for event_types in EVENTS.values():
@@ -108,8 +110,9 @@ class TestAlerts(unittest.TestCase):
     params = Params()
     for a in self.offroad_alerts:
       # set the alert
-      alert = self.offroad_alerts[a]
+      alert = copy.copy(self.offroad_alerts[a])
       set_offroad_alert(a, True)
+      alert['extra'] = ''
       self.assertTrue(json.dumps(alert) == params.get(a, encoding='utf8'))
 
       # then delete it
@@ -124,9 +127,9 @@ class TestAlerts(unittest.TestCase):
       alert = self.offroad_alerts[a]
       set_offroad_alert(a, True, extra_text="a"*i)
 
-      expected_txt = alert['text'] + "a"*i
-      written_txt = json.loads(params.get(a, encoding='utf8'))['text']
-      self.assertTrue(expected_txt == written_txt)
+      written_alert = json.loads(params.get(a, encoding='utf8'))
+      self.assertTrue("a"*i == written_alert['extra'])
+      self.assertTrue(alert["text"] == written_alert['text'])
 
 if __name__ == "__main__":
   unittest.main()
diff --git a/selfdrive/controls/tests/test_cruise_speed.py b/selfdrive/controls/tests/test_cruise_speed.py
index b83116af45..6d11c30ab2 100755
--- a/selfdrive/controls/tests/test_cruise_speed.py
+++ b/selfdrive/controls/tests/test_cruise_speed.py
@@ -1,8 +1,10 @@
 #!/usr/bin/env python3
 import numpy as np
-from parameterized import parameterized_class
 import unittest
 
+from parameterized import parameterized_class
+from cereal import log
+from common.params import Params
 from selfdrive.controls.lib.drive_helpers import VCruiseHelper, V_CRUISE_MIN, V_CRUISE_MAX, V_CRUISE_INITIAL, IMPERIAL_INCREMENT
 from cereal import car
 from common.conversions import Conversions as CV
@@ -31,13 +33,19 @@ def run_cruise_simulation(cruise, e2e, t_end=20.):
 
 class TestCruiseSpeed(unittest.TestCase):
   def test_cruise_speed(self):
-    for e2e in [False, True]:
-      for speed in np.arange(5, 40, 5):
-        print(f'Testing {speed} m/s')
-        cruise_speed = float(speed)
+    params = Params()
+    personalities = [log.LongitudinalPersonality.relaxed,
+                     log.LongitudinalPersonality.standard,
+                     log.LongitudinalPersonality.aggressive]
+    for personality in personalities:
+      params.put("LongitudinalPersonality", str(personality))
+      for e2e in [False, True]:
+        for speed in [5,35]:
+          print(f'Testing {speed} m/s')
+          cruise_speed = float(speed)
 
-        simulation_steady_state = run_cruise_simulation(cruise_speed, e2e)
-        self.assertAlmostEqual(simulation_steady_state, cruise_speed, delta=.01, msg=f'Did not reach {speed} m/s')
+          simulation_steady_state = run_cruise_simulation(cruise_speed, e2e)
+          self.assertAlmostEqual(simulation_steady_state, cruise_speed, delta=.01, msg=f'Did not reach {speed} m/s')
 
 
 # TODO: test pcmCruise
diff --git a/selfdrive/controls/tests/test_following_distance.py b/selfdrive/controls/tests/test_following_distance.py
index 5185867d2d..9ee7bdfb3b 100644
--- a/selfdrive/controls/tests/test_following_distance.py
+++ b/selfdrive/controls/tests/test_following_distance.py
@@ -1,8 +1,9 @@
 #!/usr/bin/env python3
 import unittest
-import numpy as np
+from common.params import Params
+from cereal import log
 
-from selfdrive.controls.lib.longitudinal_mpc_lib.long_mpc import desired_follow_distance
+from selfdrive.controls.lib.longitudinal_mpc_lib.long_mpc import desired_follow_distance, get_T_FOLLOW
 from selfdrive.test.longitudinal_maneuvers.maneuver import Maneuver
 
 
@@ -24,14 +25,20 @@ def run_following_distance_simulation(v_lead, t_end=100.0, e2e=False):
 
 class TestFollowingDistance(unittest.TestCase):
   def test_following_distance(self):
-    for e2e in [False, True]:
-      for speed in np.arange(0, 40, 5):
-        print(f'Testing {speed} m/s')
-        v_lead = float(speed)
-        simulation_steady_state = run_following_distance_simulation(v_lead, e2e=e2e)
-        correct_steady_state = desired_follow_distance(v_lead, v_lead)
-        err_ratio = 0.2 if e2e else 0.1
-        self.assertAlmostEqual(simulation_steady_state, correct_steady_state, delta=(err_ratio * correct_steady_state + .5))
+    params = Params()
+    personalities = [log.LongitudinalPersonality.relaxed,
+                     log.LongitudinalPersonality.standard,
+                     log.LongitudinalPersonality.aggressive]
+    for personality in personalities:
+      params.put("LongitudinalPersonality", str(personality))
+      for e2e in [False, True]:
+        for speed in [0,10,35]:
+          print(f'Testing {speed} m/s')
+          v_lead = float(speed)
+          simulation_steady_state = run_following_distance_simulation(v_lead, e2e=e2e)
+          correct_steady_state = desired_follow_distance(v_lead, v_lead, get_T_FOLLOW(personality))
+          err_ratio = 0.2 if e2e else 0.1
+          self.assertAlmostEqual(simulation_steady_state, correct_steady_state, delta=(err_ratio * correct_steady_state + .5))
 
 
 if __name__ == "__main__":
diff --git a/selfdrive/debug/clear_dtc.py b/selfdrive/debug/clear_dtc.py
index d84828079d..dea21331b7 100755
--- a/selfdrive/debug/clear_dtc.py
+++ b/selfdrive/debug/clear_dtc.py
@@ -35,6 +35,6 @@ try:
 except MessageTimeoutError:
   # functional address isn't properly handled so a timeout occurs
   if args.addr != 0x7DF:
-    pass 
+    pass
 print("")
 print("you may need to power cycle your vehicle now")
diff --git a/selfdrive/debug/dump.py b/selfdrive/debug/dump.py
index fdb825eead..8436fbd0b0 100755
--- a/selfdrive/debug/dump.py
+++ b/selfdrive/debug/dump.py
@@ -3,14 +3,15 @@ import os
 import sys
 import argparse
 import json
-from hexdump import hexdump
 import codecs
-codecs.register_error("strict", codecs.backslashreplace_errors)
-
-from cereal import log
 import cereal.messaging as messaging
+
+from hexdump import hexdump
+from cereal import log
 from cereal.services import service_list
 
+codecs.register_error("strict", codecs.backslashreplace_errors)
+
 if __name__ == "__main__":
 
   parser = argparse.ArgumentParser(description='Dump communication sockets. See cereal/services.py for a complete list of available sockets.')
@@ -41,7 +42,8 @@ if __name__ == "__main__":
     polld = poller.poll(100)
     for sock in polld:
       msg = sock.receive()
-      evt = log.Event.from_bytes(msg)
+      with log.Event.from_bytes(msg) as log_evt:
+        evt = log_evt
 
       if not args.no_print:
         if args.pipe:
diff --git a/selfdrive/debug/hyundai_enable_radar_points.py b/selfdrive/debug/hyundai_enable_radar_points.py
index 3a0ff33cb6..ac3651bf2f 100755
--- a/selfdrive/debug/hyundai_enable_radar_points.py
+++ b/selfdrive/debug/hyundai_enable_radar_points.py
@@ -59,6 +59,9 @@ SUPPORTED_FW_VERSIONS = {
   b"TM__ SCC F-CUP      1.00 1.00 99110-S1210\x19\x01%\x168    ": ConfigValues(
     default_config=b"\x00\x00\x00\x01\x00\x00",
     tracks_enabled=b"\x00\x00\x00\x01\x00\x01"),
+  b"TM__ SCC F-CUP      1.00 1.02 99110-S2000\x18\x07\x08\x18W    ": ConfigValues(
+    default_config=b"\x00\x00\x00\x01\x00\x00",
+    tracks_enabled=b"\x00\x00\x00\x01\x00\x01"),
 }
 
 if __name__ == "__main__":
diff --git a/selfdrive/debug/internal/check_alive_valid.py b/selfdrive/debug/internal/check_alive_valid.py
deleted file mode 100755
index da488c2140..0000000000
--- a/selfdrive/debug/internal/check_alive_valid.py
+++ /dev/null
@@ -1,19 +0,0 @@
-#!/usr/bin/env python3
-import time
-import cereal.messaging as messaging
-
-
-if __name__ == "__main__":
-  sm = messaging.SubMaster(['deviceState', 'pandaStates', 'modelV2', 'liveCalibration', 'driverMonitoringState', 'longitudinalPlan', 'lateralPlan'])
-
-  i = 0
-  while True:
-    sm.update(0)
-
-    i += 1
-    if i % 100 == 0:
-      print()
-      print("alive", sm.alive)
-      print("valid", sm.valid)
-
-    time.sleep(0.01)
diff --git a/selfdrive/debug/internal/check_frame_frequencies.py b/selfdrive/debug/internal/check_frame_frequencies.py
deleted file mode 100755
index 9ac8bfc80e..0000000000
--- a/selfdrive/debug/internal/check_frame_frequencies.py
+++ /dev/null
@@ -1,43 +0,0 @@
-#!/usr/bin/env python3
-
-import time
-import statistics
-import cereal.messaging as messaging
-
-from typing import Dict
-
-camera_states = [
-  'roadCameraState',
-  'wideRoadCameraState',
-  'driverCameraState'
-]
-
-def fmt(val):
-  ref = 0.05
-  return f"{val:.6f} ({100 * val / ref:.2f}%)"
-
-if __name__ == "__main__":
-  sm = messaging.SubMaster(camera_states)
-
-  prev_sof = {state: None for state in camera_states}
-  diffs: Dict[str, list] = {state: [] for state in camera_states}
-
-  st = time.monotonic()
-  while True:
-    sm.update()
-
-    for state in camera_states:
-      if sm.updated[state]:
-        if prev_sof[state] is not None:
-          diffs[state].append((sm[state].timestampSof - prev_sof[state]) / 1e9)
-        prev_sof[state] = sm[state].timestampSof
-
-    if time.monotonic() - st > 10:
-      for state in camera_states:
-        values = diffs[state]
-        ref = 0.05
-        print(f"{state}  \tMean: {fmt(statistics.mean(values))} \t Min: {fmt(min(values))} \t Max: {fmt(max(values))} \t Std: {statistics.stdev(values):.6f} \t Num frames: {len(values)}")
-        diffs[state] = []
-
-      print()
-      st = time.monotonic()
diff --git a/selfdrive/debug/internal/design_lqr.py b/selfdrive/debug/internal/design_lqr.py
deleted file mode 100755
index e86926f607..0000000000
--- a/selfdrive/debug/internal/design_lqr.py
+++ /dev/null
@@ -1,32 +0,0 @@
-#!/usr/bin/env python3
-import numpy as np
-import control  # pylint: disable=import-error
-
-dt = 0.01
-A = np.array([[ 0.        ,  1.        ],       [-0.78823806,  1.78060701]])
-B = np.array([[-2.23399437e-05],       [ 7.58330763e-08]])
-C = np.array([[1., 0.]])
-
-
-# Kalman tuning
-Q = np.diag([1, 1])
-R = np.atleast_2d(1e5)
-
-(_, _, L) = control.dare(A.T, C.T, Q, R)
-L = L.T
-
-# LQR tuning
-Q = np.diag([2e5, 1e-5])
-R = np.atleast_2d(1)
-(_, _, K) = control.dare(A, B, Q, R)
-
-A_cl = (A - B.dot(K))
-sys = control.ss(A_cl, B, C, 0, dt)
-dc_gain = control.dcgain(sys)
-
-print(("self.A = np." + A.__repr__()).replace('\n', ''))
-print(("self.B = np." + B.__repr__()).replace('\n', ''))
-print(("self.C = np." + C.__repr__()).replace('\n', ''))
-print(("self.K = np." + K.__repr__()).replace('\n', ''))
-print(("self.L = np." + L.__repr__()).replace('\n', ''))
-print("self.dc_gain = " + str(dc_gain))
diff --git a/selfdrive/debug/internal/measure_torque_time_to_max.py b/selfdrive/debug/internal/measure_torque_time_to_max.py
index 2cc68df438..ef3152b50c 100755
--- a/selfdrive/debug/internal/measure_torque_time_to_max.py
+++ b/selfdrive/debug/internal/measure_torque_time_to_max.py
@@ -34,7 +34,8 @@ if __name__ == "__main__":
     polld = poller.poll(1000)
     for sock in polld:
       msg = sock.receive()
-      evt = log.Event.from_bytes(msg)
+      with log.Event.from_bytes(msg) as log_evt:
+        evt = log_evt
 
       for item in evt.can:
         if item.address == 0xe4 and item.src == 128:
diff --git a/selfdrive/debug/internal/power_monitor.py b/selfdrive/debug/internal/power_monitor.py
deleted file mode 100755
index 34d2a12adc..0000000000
--- a/selfdrive/debug/internal/power_monitor.py
+++ /dev/null
@@ -1,64 +0,0 @@
-#!/usr/bin/env python3
-import os
-import time
-import sys
-from datetime import datetime
-
-def average(avg, sample):
-  # Weighted avg between existing value and new sample
-  return ((avg[0] * avg[1] + sample) / (avg[1] + 1), avg[1] + 1)
-
-
-if __name__ == '__main__':
-  start_time = datetime.now()
-  try:
-    if len(sys.argv) > 1 and sys.argv[1] == "--charge":
-      print("not disabling charging")
-    else:
-      print("disabling charging")
-      os.system('echo "0" > /sys/class/power_supply/battery/charging_enabled')
-
-    voltage_average = (0., 0)  # average, count
-    current_average = (0., 0)
-    power_average = (0., 0)
-    capacity_average = (0., 0)
-    bat_temp_average = (0., 0)
-    while 1:
-      with open("/sys/class/power_supply/bms/voltage_now") as f:
-        voltage = int(f.read()) / 1e6   # volts
-
-      with open("/sys/class/power_supply/bms/current_now") as f:
-        current = int(f.read()) / 1e3   # ma
-
-      power = voltage * current
-
-      with open("/sys/class/power_supply/bms/capacity_raw") as f:
-        capacity = int(f.read()) / 1e2  # percent
-
-      with open("/sys/class/power_supply/bms/temp") as f:
-        bat_temp = int(f.read()) / 1e1  # celsius
-
-      # compute averages
-      voltage_average = average(voltage_average, voltage)
-      current_average = average(current_average, current)
-      power_average = average(power_average, power)
-      capacity_average = average(capacity_average, capacity)
-      bat_temp_average = average(bat_temp_average, bat_temp)
-
-      print(f"{voltage:.2f} volts {current:12.2f} ma {power:12.2f} mW {capacity:8.2f}% battery {bat_temp:8.1f} degC")
-      time.sleep(0.1)
-  finally:
-    stop_time = datetime.now()
-    print("\n----------------------Average-----------------------------------")
-    voltage = voltage_average[0]
-    current = current_average[0]
-    power = power_average[0]
-    capacity = capacity_average[0]
-    bat_temp = bat_temp_average[0]
-    print(f"{voltage:.2f} volts {current:12.2f} ma {power:12.2f} mW {capacity:8.2f}% battery {bat_temp:8.1f} degC")
-    print(f"  {(stop_time - start_time).total_seconds():.2f} Seconds     {voltage_average[1]} samples")
-    print("----------------------------------------------------------------")
-
-    # re-enable charging
-    os.system('echo "1" > /sys/class/power_supply/battery/charging_enabled')
-    print("charging enabled\n")
diff --git a/selfdrive/debug/internal/run_paramsd_on_route.py b/selfdrive/debug/internal/run_paramsd_on_route.py
deleted file mode 100755
index 54519e3777..0000000000
--- a/selfdrive/debug/internal/run_paramsd_on_route.py
+++ /dev/null
@@ -1,150 +0,0 @@
-#!/usr/bin/env python3
-# pylint: skip-file
-# flake8: noqa
-# type: ignore
-
-import math
-import multiprocessing
-
-import numpy as np
-from tqdm import tqdm
-
-from selfdrive.locationd.paramsd import ParamsLearner, States
-from tools.lib.logreader import LogReader
-from tools.lib.route import Route
-
-ROUTE = "b2f1615665781088|2021-03-14--17-27-47"
-PLOT = True
-
-
-def load_segment(segment_name):
-  print(f"Loading {segment_name}")
-  if segment_name is None:
-    return []
-
-  try:
-    return list(LogReader(segment_name))
-  except ValueError as e:
-    print(f"Error parsing {segment_name}: {e}")
-    return []
-
-
-if __name__ == "__main__":
-  route = Route(ROUTE)
-
-  msgs = []
-  with multiprocessing.Pool(24) as pool:
-    for d in pool.map(load_segment, route.log_paths()):
-      msgs += d
-
-  for m in msgs:
-    if m.which() == 'carParams':
-      CP = m.carParams
-      break
-
-  params = {
-    'carFingerprint': CP.carFingerprint,
-    'steerRatio': CP.steerRatio,
-    'stiffnessFactor': 1.0,
-    'angleOffsetAverageDeg': 0.0,
-  }
-
-  for m in msgs:
-    if m.which() == 'liveParameters':
-      params['steerRatio'] = m.liveParameters.steerRatio
-      params['angleOffsetAverageDeg'] = m.liveParameters.angleOffsetAverageDeg
-      break
-
-  for m in msgs:
-    if m.which() == 'carState':
-      last_carstate = m
-      break
-
-  print(params)
-  learner = ParamsLearner(CP, params['steerRatio'], params['stiffnessFactor'], math.radians(params['angleOffsetAverageDeg']))
-  msgs = [m for m in tqdm(msgs) if m.which() in ('liveLocationKalman', 'carState', 'liveParameters')]
-  msgs = sorted(msgs, key=lambda m: m.logMonoTime)
-
-  ts = []
-  ts_log = []
-  results = []
-  results_log = []
-  for m in tqdm(msgs):
-    if m.which() == 'carState':
-      last_carstate = m
-
-    elif m.which() == 'liveLocationKalman':
-      t = last_carstate.logMonoTime / 1e9
-      learner.handle_log(t, 'carState', last_carstate.carState)
-
-      t = m.logMonoTime / 1e9
-      learner.handle_log(t, 'liveLocationKalman', m.liveLocationKalman)
-
-      x = learner.kf.x
-      sr = float(x[States.STEER_RATIO])
-      st = float(x[States.STIFFNESS])
-      ao_avg = math.degrees(x[States.ANGLE_OFFSET])
-      ao = ao_avg + math.degrees(x[States.ANGLE_OFFSET_FAST])
-      r = [sr, st, ao_avg, ao]
-      if any(math.isnan(v) for v in r):
-        print("NaN", t)
-
-      ts.append(t)
-      results.append(r)
-
-    elif m.which() == 'liveParameters':
-      t = m.logMonoTime / 1e9
-      mm = m.liveParameters
-
-      r = [mm.steerRatio, mm.stiffnessFactor, mm.angleOffsetAverageDeg, mm.angleOffsetDeg]
-      if any(math.isnan(v) for v in r):
-        print("NaN in log", t)
-      ts_log.append(t)
-      results_log.append(r)
-
-  results = np.asarray(results)
-  results_log = np.asarray(results_log)
-
-  if PLOT:
-    import matplotlib.pyplot as plt
-    plt.figure()
-
-    plt.subplot(3, 2, 1)
-    plt.plot(ts, results[:, 0], label='Steer Ratio')
-    plt.grid()
-    plt.ylim([0, 20])
-    plt.legend()
-
-    plt.subplot(3, 2, 3)
-    plt.plot(ts, results[:, 1], label='Stiffness')
-    plt.ylim([0, 2])
-    plt.grid()
-    plt.legend()
-
-    plt.subplot(3, 2, 5)
-    plt.plot(ts, results[:, 2], label='Angle offset (average)')
-    plt.plot(ts, results[:, 3], label='Angle offset (instant)')
-    plt.ylim([-5, 5])
-    plt.grid()
-    plt.legend()
-
-    plt.subplot(3, 2, 2)
-    plt.plot(ts_log, results_log[:, 0], label='Steer Ratio')
-    plt.grid()
-    plt.ylim([0, 20])
-    plt.legend()
-
-    plt.subplot(3, 2, 4)
-    plt.plot(ts_log, results_log[:, 1], label='Stiffness')
-    plt.ylim([0, 2])
-    plt.grid()
-    plt.legend()
-
-    plt.subplot(3, 2, 6)
-    plt.plot(ts_log, results_log[:, 2], label='Angle offset (average)')
-    plt.plot(ts_log, results_log[:, 3], label='Angle offset (instant)')
-    plt.ylim([-5, 5])
-    plt.grid()
-    plt.legend()
-    plt.show()
-
diff --git a/selfdrive/debug/internal/test_paramsd.py b/selfdrive/debug/internal/test_paramsd.py
deleted file mode 100755
index 81524496f7..0000000000
--- a/selfdrive/debug/internal/test_paramsd.py
+++ /dev/null
@@ -1,133 +0,0 @@
-#!/usr/bin/env python3
-# pylint: skip-file
-# type: ignore
-
-import numpy as np
-import math
-from tqdm import tqdm
-from typing import cast
-
-import seaborn as sns
-import matplotlib.pyplot as plt
-
-
-from selfdrive.car.honda.interface import CarInterface
-from selfdrive.car.honda.values import CAR
-from selfdrive.controls.lib.vehicle_model import VehicleModel, create_dyn_state_matrices
-from selfdrive.locationd.kalman.models.car_kf import CarKalman, ObservationKind, States
-
-T_SIM = 5 * 60  # s
-DT = 0.01
-
-
-CP = CarInterface.get_non_essential_params(CAR.CIVIC)
-VM = VehicleModel(CP)
-
-x, y = 0, 0  # m, m
-psi = math.radians(0)  # rad
-
-# The state is x = [v, r]^T
-# with v lateral speed [m/s], and r rotational speed [rad/s]
-state = np.array([[0.0], [0.0]])
-
-
-ts = np.arange(0, T_SIM, DT)
-speeds = 10 * np.sin(2 * np.pi * ts / 200.) + 25
-
-angle_offsets = math.radians(1.0) * np.ones_like(ts)
-angle_offsets[ts > 60] = 0
-steering_angles = cast(np.ndarray, np.radians(5 * np.cos(2 * np.pi * ts / 100.)))
-
-xs = []
-ys = []
-psis = []
-yaw_rates = []
-speed_ys = []
-
-
-kf_states = []
-kf_ps = []
-
-kf = CarKalman()
-
-for i, t in tqdm(list(enumerate(ts))):
-  u = speeds[i]
-  sa = steering_angles[i]
-  ao = angle_offsets[i]
-
-  A, B = create_dyn_state_matrices(u, VM)
-
-  state += DT * (A.dot(state) + B.dot(sa + ao))
-
-  x += u * math.cos(psi) * DT
-  y += (float(state[0]) * math.sin(psi) + u * math.sin(psi)) * DT
-  psi += float(state[1]) * DT
-
-  kf.predict_and_observe(t, ObservationKind.CAL_DEVICE_FRAME_YAW_RATE, [float(state[1])])
-  kf.predict_and_observe(t, ObservationKind.CAL_DEVICE_FRAME_XY_SPEED, [[u, float(state[0])]])
-  kf.predict_and_observe(t, ObservationKind.STEER_ANGLE, [sa])
-  kf.predict_and_observe(t, ObservationKind.ANGLE_OFFSET_FAST, [0])
-  kf.predict(t)
-
-  speed_ys.append(float(state[0]))
-  yaw_rates.append(float(state[1]))
-  kf_states.append(kf.x.copy())
-  kf_ps.append(kf.P.copy())
-
-  xs.append(x)
-  ys.append(y)
-  psis.append(psi)
-
-
-xs = np.asarray(xs)
-ys = np.asarray(ys)
-psis = np.asarray(psis)
-speed_ys = np.asarray(speed_ys)
-kf_states = np.asarray(kf_states)
-kf_ps = np.asarray(kf_ps)
-
-
-palette = sns.color_palette()
-
-def plot_with_bands(ts, state, label, ax, idx=1, converter=None):
-  mean = kf_states[:, state].flatten()
-  stds = np.sqrt(kf_ps[:, state, state].flatten())
-
-  if converter is not None:
-    mean = converter(mean)
-    stds = converter(stds)
-
-  sns.lineplot(ts, mean, label=label, ax=ax)
-  ax.fill_between(ts, mean - stds, mean + stds, alpha=.2, color=palette[idx])
-
-
-print(kf.x)
-
-sns.set_context("paper")
-f, axes = plt.subplots(6, 1)
-
-sns.lineplot(ts, np.degrees(steering_angles), label='Steering Angle [deg]', ax=axes[0])
-plot_with_bands(ts, States.STEER_ANGLE, 'Steering Angle kf [deg]', axes[0], converter=np.degrees)
-
-sns.lineplot(ts, np.degrees(yaw_rates), label='Yaw Rate [deg]', ax=axes[1])
-plot_with_bands(ts, States.YAW_RATE, 'Yaw Rate kf [deg]', axes[1], converter=np.degrees)
-
-sns.lineplot(ts, np.ones_like(ts) * VM.sR, label='Steer ratio [-]', ax=axes[2])
-plot_with_bands(ts, States.STEER_RATIO, 'Steer ratio kf [-]', axes[2])
-axes[2].set_ylim([10, 20])
-
-
-sns.lineplot(ts, np.ones_like(ts), label='Tire stiffness[-]', ax=axes[3])
-plot_with_bands(ts, States.STIFFNESS, 'Tire stiffness kf [-]', axes[3])
-axes[3].set_ylim([0.8, 1.2])
-
-
-sns.lineplot(ts, np.degrees(angle_offsets), label='Angle offset [deg]', ax=axes[4])
-plot_with_bands(ts, States.ANGLE_OFFSET, 'Angle offset kf deg', axes[4], converter=np.degrees)
-plot_with_bands(ts, States.ANGLE_OFFSET_FAST, 'Fast Angle offset kf deg', axes[4], converter=np.degrees, idx=2)
-
-axes[4].set_ylim([-2, 2])
-
-sns.lineplot(ts, speeds, ax=axes[5])
-
-plt.show()
diff --git a/selfdrive/debug/print_docs_diff.py b/selfdrive/debug/print_docs_diff.py
index 103dd52dd8..1cb6c3cdda 100755
--- a/selfdrive/debug/print_docs_diff.py
+++ b/selfdrive/debug/print_docs_diff.py
@@ -9,7 +9,8 @@ from selfdrive.car.docs_definitions import Column
 
 FOOTNOTE_TAG = "<sup>{}</sup>"
 STAR_ICON = '<a href="##"><img valign="top" src="https://raw.githubusercontent.com/commaai/openpilot/master/docs/assets/icon-star-{}.svg" width="22" /></a>'
-VIDEO_ICON = '<a href="{}" target="_blank"><img height="18px" src="https://raw.githubusercontent.com/commaai/openpilot/master/docs/assets/icon-youtube.svg"></img></a>'
+VIDEO_ICON = '<a href="{}" target="_blank">\
+                          <img height="18px" src="https://raw.githubusercontent.com/commaai/openpilot/master/docs/assets/icon-youtube.svg"></img></a>'
 COLUMNS = "|" + "|".join([column.value for column in Column]) + "|"
 COLUMN_HEADER = "|---|---|---|{}|".format("|".join([":---:"] * (len(Column) - 3)))
 ARROW_SYMBOL = "➡️"
@@ -99,7 +100,8 @@ def print_car_info_diff(path):
   if any(len(c) for c in changes.values()):
     markdown_builder = ["### ⚠️ This PR makes changes to [CARS.md](../blob/master/docs/CARS.md) ⚠️"]
 
-    for title, category in (("## 🔀 Column Changes", "column"), ("## ❌ Removed", "removals"), ("## ➕ Added", "additions"), ("## 📖 Detail Sentence Changes", "detail")):
+    for title, category in (("## 🔀 Column Changes", "column"), ("## ❌ Removed", "removals"),
+                            ("## ➕ Added", "additions"), ("## 📖 Detail Sentence Changes", "detail")):
       if len(changes[category]):
         markdown_builder.append(title)
         if category not in ("detail",):
diff --git a/selfdrive/debug/run_process_on_route.py b/selfdrive/debug/run_process_on_route.py
index 63b0733bba..c7a1434975 100755
--- a/selfdrive/debug/run_process_on_route.py
+++ b/selfdrive/debug/run_process_on_route.py
@@ -2,10 +2,10 @@
 
 import argparse
 
-from selfdrive.test.process_replay.compare_logs import save_log
 from selfdrive.test.process_replay.process_replay import CONFIGS, replay_process
 from tools.lib.logreader import MultiLogIterator
 from tools.lib.route import Route
+from tools.lib.helpers import save_log
 
 if __name__ == "__main__":
   parser = argparse.ArgumentParser(description="Run process on route and create new logs",
@@ -25,7 +25,7 @@ if __name__ == "__main__":
   # Remove message generated by the process under test and merge in the new messages
   produces = {o.which() for o in outputs}
   inputs = [i for i in inputs if i.which() not in produces]
-  outputs = sorted(inputs + outputs, key=lambda x: x.logMonoTime)  # type: ignore
+  outputs = sorted(inputs + outputs, key=lambda x: x.logMonoTime)
 
   fn = f"{args.route}_{args.process}.bz2"
   save_log(fn, outputs)
diff --git a/selfdrive/debug/show_matching_cars.py b/selfdrive/debug/show_matching_cars.py
index d5199b2a9e..a97c41f128 100755
--- a/selfdrive/debug/show_matching_cars.py
+++ b/selfdrive/debug/show_matching_cars.py
@@ -4,7 +4,7 @@ import cereal.messaging as messaging
 
 
 # rav4 2019 and corolla tss2
-fingerprint = {896: 8, 898: 8, 900: 6, 976: 1, 1541: 8, 902: 6, 905: 8, 810: 2, 1164: 8, 1165: 8, 1166: 8, 1167: 8, 1552: 8, 1553: 8, 1556: 8, 1571: 8, 921: 8, 1056: 8, 544: 4, 1570: 8, 1059: 1, 36: 8, 37: 8, 550: 8, 935: 8, 552: 4, 170: 8, 812: 8, 944: 8, 945: 8, 562: 6, 180: 8, 1077: 8, 951: 8, 1592: 8, 1076: 8, 186: 4, 955: 8, 956: 8, 1001: 8, 705: 8, 452: 8, 1788: 8, 464: 8, 824: 8, 466: 8, 467: 8, 761: 8, 728: 8, 1572: 8, 1114: 8, 933: 8, 800: 8, 608: 8, 865: 8, 610: 8, 1595: 8, 934: 8, 998: 5, 1745: 8, 1000: 8, 764: 8, 1002: 8, 999: 7, 1789: 8, 1649: 8, 1779: 8, 1568: 8, 1017: 8, 1786: 8, 1787: 8, 1020: 8, 426: 6, 1279: 8}
+fingerprint = {896: 8, 898: 8, 900: 6, 976: 1, 1541: 8, 902: 6, 905: 8, 810: 2, 1164: 8, 1165: 8, 1166: 8, 1167: 8, 1552: 8, 1553: 8, 1556: 8, 1571: 8, 921: 8, 1056: 8, 544: 4, 1570: 8, 1059: 1, 36: 8, 37: 8, 550: 8, 935: 8, 552: 4, 170: 8, 812: 8, 944: 8, 945: 8, 562: 6, 180: 8, 1077: 8, 951: 8, 1592: 8, 1076: 8, 186: 4, 955: 8, 956: 8, 1001: 8, 705: 8, 452: 8, 1788: 8, 464: 8, 824: 8, 466: 8, 467: 8, 761: 8, 728: 8, 1572: 8, 1114: 8, 933: 8, 800: 8, 608: 8, 865: 8, 610: 8, 1595: 8, 934: 8, 998: 5, 1745: 8, 1000: 8, 764: 8, 1002: 8, 999: 7, 1789: 8, 1649: 8, 1779: 8, 1568: 8, 1017: 8, 1786: 8, 1787: 8, 1020: 8, 426: 6, 1279: 8} # noqa: E501
 
 candidate_cars = all_legacy_fingerprint_cars()
 
diff --git a/selfdrive/debug/test_car_model.py b/selfdrive/debug/test_car_model.py
index c2f51c9355..3f7a1a167b 100755
--- a/selfdrive/debug/test_car_model.py
+++ b/selfdrive/debug/test_car_model.py
@@ -1,7 +1,7 @@
 #!/usr/bin/env python3
 import argparse
 import sys
-from typing import List, Tuple
+from typing import List
 import unittest
 
 from selfdrive.car.tests.routes import CarTestRoute
@@ -9,11 +9,11 @@ from selfdrive.car.tests.test_models import TestCarModel
 from tools.lib.route import SegmentName
 
 
-def create_test_models_suite(routes: List[Tuple[str, CarTestRoute]], ci=False) -> unittest.TestSuite:
+def create_test_models_suite(routes: List[CarTestRoute], ci=False) -> unittest.TestSuite:
   test_suite = unittest.TestSuite()
-  for car_model, test_route in routes:
+  for test_route in routes:
     # create new test case and discover tests
-    test_case_args = {"car_model": car_model, "test_route": test_route, "ci": ci}
+    test_case_args = {"car_model": test_route.car_model, "test_route": test_route, "ci": ci}
     CarModelTestCase = type("CarModelTestCase", (TestCarModel,), test_case_args)
     test_suite.addTest(unittest.TestLoader().loadTestsFromTestCase(CarModelTestCase))
   return test_suite
@@ -33,6 +33,6 @@ if __name__ == "__main__":
   route_or_segment_name = SegmentName(args.route_or_segment_name.strip(), allow_route_name=True)
   segment_num = route_or_segment_name.segment_num if route_or_segment_name.segment_num != -1 else None
   test_route = CarTestRoute(route_or_segment_name.route_name.canonical_name, args.car, segment=segment_num)
-  test_suite = create_test_models_suite([(args.car, test_route)], ci=args.ci)
+  test_suite = create_test_models_suite([test_route], ci=args.ci)
 
   unittest.TextTestRunner().run(test_suite)
diff --git a/selfdrive/debug/test_fw_query_on_routes.py b/selfdrive/debug/test_fw_query_on_routes.py
index 0bb9aa5e54..51cd426315 100755
--- a/selfdrive/debug/test_fw_query_on_routes.py
+++ b/selfdrive/debug/test_fw_query_on_routes.py
@@ -18,9 +18,9 @@ SUPPORTED_CARS = [brand for brand in SUPPORTED_BRANDS for brand in interface_nam
 UNKNOWN_BRAND = "unknown"
 
 try:
-  from xx.pipeline.c.CarState import migration
+  from xx.pipeline.lib.fingerprint import MIGRATION
 except ImportError:
-  migration = {}
+  MIGRATION = {}
 
 if __name__ == "__main__":
   parser = argparse.ArgumentParser(description='Run FW fingerprint on Qlog of route or list of routes')
@@ -78,7 +78,7 @@ if __name__ == "__main__":
             break
 
           live_fingerprint = CP.carFingerprint
-          live_fingerprint = migration.get(live_fingerprint, live_fingerprint)
+          live_fingerprint = MIGRATION.get(live_fingerprint, live_fingerprint)
 
           if args.car is not None:
             live_fingerprint = args.car
@@ -112,7 +112,8 @@ if __name__ == "__main__":
           padding = max([len(fw.brand or UNKNOWN_BRAND) for fw in car_fw])
           for version in sorted(car_fw, key=lambda fw: fw.brand):
             subaddr = None if version.subAddress == 0 else hex(version.subAddress)
-            print(f"  Brand: {version.brand or UNKNOWN_BRAND:{padding}}, bus: {version.bus} - (Ecu.{version.ecu}, {hex(version.address)}, {subaddr}): [{version.fwVersion}],")
+            print(f"  Brand: {version.brand or UNKNOWN_BRAND:{padding}}, bus: {version.bus} - \
+                      (Ecu.{version.ecu}, {hex(version.address)}, {subaddr}): [{version.fwVersion}],")
 
           print("Mismatches")
           found = False
diff --git a/selfdrive/locationd/calibrationd.py b/selfdrive/locationd/calibrationd.py
index c9d9340a2d..7f8fd03b98 100755
--- a/selfdrive/locationd/calibrationd.py
+++ b/selfdrive/locationd/calibrationd.py
@@ -73,11 +73,11 @@ class Calibrator:
 
     if param_put and calibration_params:
       try:
-        msg = log.Event.from_bytes(calibration_params)
-        rpy_init = np.array(msg.liveCalibration.rpyCalib)
-        valid_blocks = msg.liveCalibration.validBlocks
-        wide_from_device_euler = np.array(msg.liveCalibration.wideFromDeviceEuler)
-        height = np.array(msg.liveCalibration.height)
+        with log.Event.from_bytes(calibration_params) as msg:
+          rpy_init = np.array(msg.liveCalibration.rpyCalib)
+          valid_blocks = msg.liveCalibration.validBlocks
+          wide_from_device_euler = np.array(msg.liveCalibration.wideFromDeviceEuler)
+          height = np.array(msg.liveCalibration.height)
       except Exception:
         cloudlog.exception("Error reading cached CalibrationParams")
 
@@ -211,7 +211,8 @@ class Calibrator:
       new_height = HEIGHT_INIT
 
     self.rpys[self.block_idx] = moving_avg_with_linear_decay(self.rpys[self.block_idx], new_rpy, self.idx, float(BLOCK_SIZE))
-    self.wide_from_device_eulers[self.block_idx] = moving_avg_with_linear_decay(self.wide_from_device_eulers[self.block_idx], new_wide_from_device_euler, self.idx, float(BLOCK_SIZE))
+    self.wide_from_device_eulers[self.block_idx] = moving_avg_with_linear_decay(self.wide_from_device_eulers[self.block_idx],
+                                                                                new_wide_from_device_euler, self.idx, float(BLOCK_SIZE))
     self.heights[self.block_idx] = moving_avg_with_linear_decay(self.heights[self.block_idx], new_height, self.idx, float(BLOCK_SIZE))
 
     self.idx = (self.idx + 1) % BLOCK_SIZE
diff --git a/selfdrive/locationd/laikad.py b/selfdrive/locationd/laikad.py
index 71b81cc307..e4a408d130 100755
--- a/selfdrive/locationd/laikad.py
+++ b/selfdrive/locationd/laikad.py
@@ -81,7 +81,8 @@ class Laikad:
     valid_ephem_types: Valid ephemeris types to be used by AstroDog
     save_ephemeris: If true saves and loads nav and orbit ephemeris to cache.
     """
-    self.astro_dog = AstroDog(valid_const=valid_const, auto_update=auto_update, valid_ephem_types=valid_ephem_types, clear_old_ephemeris=True, cache_dir=DOWNLOADS_CACHE_FOLDER)
+    self.astro_dog = AstroDog(valid_const=valid_const, auto_update=auto_update, valid_ephem_types=valid_ephem_types,
+                              clear_old_ephemeris=True, cache_dir=DOWNLOADS_CACHE_FOLDER)
     self.gnss_kf = GNSSKalman(GENERATED_DIR, cython=True, erratic_clock=use_qcom)
 
     self.auto_fetch_navs = auto_fetch_navs
@@ -98,11 +99,14 @@ class Laikad:
     self.velfix_function = get_velfix_sympy_func()
     self.last_fix_pos = None
     self.last_fix_t = None
-    self.gps_week = None
     self.use_qcom = use_qcom
     self.first_log_time = None
     self.ttff = -1
 
+    # qcom specific stuff
+    self.qcom_reports_received = 1
+    self.qcom_reports = []
+
   def load_cache(self):
     if not self.save_ephemeris:
       return
@@ -113,9 +117,9 @@ class Laikad:
 
     nav_dict = {}
     try:
-      ephem_cache = ephemeris_structs.EphemerisCache.from_bytes(cache_bytes)
-      glonass_navs = [GLONASSEphemeris(data_struct, file_name=EPHEMERIS_CACHE) for data_struct in ephem_cache.glonassEphemerides]
-      gps_navs = [GPSEphemeris(data_struct, file_name=EPHEMERIS_CACHE) for data_struct in ephem_cache.gpsEphemerides]
+      with ephemeris_structs.EphemerisCache.from_bytes(cache_bytes) as ephem_cache:
+        glonass_navs = [GLONASSEphemeris(data_struct, file_name=EPHEMERIS_CACHE) for data_struct in ephem_cache.glonassEphemerides]
+        gps_navs = [GPSEphemeris(data_struct, file_name=EPHEMERIS_CACHE) for data_struct in ephem_cache.gpsEphemerides]
       for e in sum([glonass_navs, gps_navs], []):
         if e.prn not in nav_dict:
           nav_dict[e.prn] = []
@@ -130,26 +134,27 @@ class Laikad:
 
     if self.save_ephemeris and (self.last_report_time - self.last_cached_t > SECS_IN_MIN):
       nav_list: List = sum([v for k,v in self.astro_dog.navs.items()], [])
-      ephem_cache = ephemeris_structs.EphemerisCache(**{'glonassEphemerides': [e.data for e in nav_list if e.prn[0]=='R'],
-                                                        'gpsEphemerides': [e.data for e in nav_list if e.prn[0]=='G']})
-
-      put_nonblocking(EPHEMERIS_CACHE, ephem_cache.to_bytes())
-      cloudlog.debug("Cache saved")
+      #TODO this only saves currently valid ephems, when we download future ephems we should save them too
+      valid_navs = [e for e in nav_list if e.valid(self.last_report_time)]
+      if len(valid_navs) > 0:
+        ephem_cache = ephemeris_structs.EphemerisCache(glonassEphemerides=[e.data for e in valid_navs if e.prn[0]=='R'],
+                                                       gpsEphemerides=[e.data for e in valid_navs if e.prn[0]=='G'])
+        put_nonblocking(EPHEMERIS_CACHE, ephem_cache.to_bytes())
+        cloudlog.debug("Cache saved")
       self.last_cached_t = self.last_report_time
 
   def create_ephem_statuses(self):
     ephemeris_statuses = []
-    prns_to_check = list(self.astro_dog.get_all_ephem_prns())
-    prns_to_check.sort()
-    for prn in prns_to_check:
-      eph = self.astro_dog.get_eph(prn, self.last_report_time)
-      if eph is not None:
-        status = log.GnssMeasurements.EphemerisStatus.new_message()
-        status.constellationId = ConstellationId.from_rinex_char(prn[0]).value
-        status.svId = get_sv_id(prn)
-        status.type = get_log_eph_type(eph).value
-        status.source = get_log_eph_source(eph).value
-        ephemeris_statuses.append(status)
+    eph_list: List = sum([v for k,v in self.astro_dog.navs.items()], []) + sum([v for k,v in self.astro_dog.qcom_polys.items()], [])
+    for eph in eph_list:
+      status = log.GnssMeasurements.EphemerisStatus.new_message()
+      status.constellationId = ConstellationId.from_rinex_char(eph.prn[0]).value
+      status.svId = get_sv_id(eph.prn)
+      status.type = get_log_eph_type(eph).value
+      status.source = get_log_eph_source(eph).value
+      status.tow = eph.epoch.tow
+      status.gpsWeek = eph.epoch.week
+      ephemeris_statuses.append(status)
     return ephemeris_statuses
 
 
@@ -192,15 +197,15 @@ class Laikad:
 
   def is_good_report(self, gnss_msg):
     if gnss_msg.which() == 'drMeasurementReport' and self.use_qcom:
-      constellation_id = ConstellationId.from_qcom_source(gnss_msg.drMeasurementReport.source)
       # TODO: Understand and use remaining unknown constellations
       try:
+        constellation_id = ConstellationId.from_qcom_source(gnss_msg.drMeasurementReport.source)
         good_constellation = constellation_id in [ConstellationId.GPS, ConstellationId.SBAS, ConstellationId.GLONASS]
+        report_time = self.gps_time_from_qcom_report(gnss_msg)
       except NotImplementedError:
-        good_constellation = False
+        return False
       # Garbage timestamps with week > 32767 are sometimes sent by module.
       # This is an issue with gpsTime and GLONASS time.
-      report_time = self.gps_time_from_qcom_report(gnss_msg)
       good_week = report_time.week < np.iinfo(np.int16).max
       return good_constellation and good_week
     elif gnss_msg.which() == 'measurementReport' and not self.use_qcom:
@@ -210,18 +215,19 @@ class Laikad:
 
   def read_report(self, gnss_msg):
     if self.use_qcom:
-      # QCOM reports are per constellation, should always send 3 reports
+      # QCOM reports are per constellation, so we need to aggregate them
       report = gnss_msg.drMeasurementReport
       report_time = self.gps_time_from_qcom_report(gnss_msg)
 
       if report_time - self.last_report_time > 0:
+        self.qcom_reports_received = max(1, len(self.qcom_reports))
         self.qcom_reports = [report]
       else:
         self.qcom_reports.append(report)
       self.last_report_time = report_time
 
       new_meas = []
-      if len(self.qcom_reports) == 3:
+      if len(self.qcom_reports) == self.qcom_reports_received:
         for report in self.qcom_reports:
           new_meas.extend(read_raw_qcom(report))
 
@@ -239,11 +245,8 @@ class Laikad:
 
   def read_ephemeris(self, gnss_msg):
     if self.use_qcom:
-      # TODO this is not robust to gps week rollover
-      if self.gps_week is None:
-        return
       try:
-        ephem = parse_qcom_ephem(gnss_msg.drSvPoly, self.gps_week)
+        ephem = parse_qcom_ephem(gnss_msg.drSvPoly)
         self.astro_dog.add_qcom_polys({ephem.prn: [ephem]})
       except Exception:
         cloudlog.exception("Error parsing qcom svPoly ephemeris from qcom module")
@@ -304,7 +307,6 @@ class Laikad:
       self.read_ephemeris(gnss_msg)
     elif self.is_good_report(gnss_msg):
       report_t, new_meas = self.read_report(gnss_msg)
-      self.gps_week = report_t.week
       if report_t.week > 0:
         if self.auto_fetch_navs:
           self.fetch_navs(report_t, block)
@@ -447,7 +449,7 @@ def clear_tmp_cache():
 def main(sm=None, pm=None):
   #clear_tmp_cache()
 
-  use_qcom = not Params().get_bool("UbloxAvailable", block=True)
+  use_qcom = not Params().get_bool("UbloxAvailable")
   if use_qcom:
     raw_name = "qcomGnss"
   else:
@@ -457,12 +459,10 @@ def main(sm=None, pm=None):
     pm = messaging.PubMaster(['gnssMeasurements'])
 
   # disable until set as main gps source, to better analyze startup time
+  # TODO ensure low CPU usage before enabling
   use_internet = False  # "LAIKAD_NO_INTERNET" not in os.environ
 
   replay = "REPLAY" in os.environ
-  if replay:
-    use_internet = True
-
   laikad = Laikad(save_ephemeris=not replay, auto_fetch_navs=use_internet, use_qcom=use_qcom)
 
   while True:
diff --git a/selfdrive/locationd/liblocationd.cc b/selfdrive/locationd/liblocationd.cc
index 32fec7724a..6f298deab6 100755
--- a/selfdrive/locationd/liblocationd.cc
+++ b/selfdrive/locationd/liblocationd.cc
@@ -4,7 +4,7 @@ extern "C" {
   typedef Localizer* Localizer_t;
 
   Localizer *localizer_init(bool has_ublox) {
-    return new Localizer(has_ublox);
+    return new Localizer(has_ublox ? LocalizerGnssSource::UBLOX : LocalizerGnssSource::QCOM);
   }
 
   void localizer_get_message_bytes(Localizer *localizer, bool inputsOK, bool sensorsOK, bool gpsOK, bool msgValid,
diff --git a/selfdrive/locationd/locationd.cc b/selfdrive/locationd/locationd.cc
index af31218499..9b3e3b3b85 100755
--- a/selfdrive/locationd/locationd.cc
+++ b/selfdrive/locationd/locationd.cc
@@ -70,7 +70,7 @@ static VectorXd rotate_std(const MatrixXdr& rot_matrix, const VectorXd& std_in)
   return rotate_cov(rot_matrix, std_in.array().square().matrix().asDiagonal()).diagonal().array().sqrt();
 }
 
-Localizer::Localizer() {
+Localizer::Localizer(LocalizerGnssSource gnss_source) {
   this->kf = std::make_unique<LiveKalman>();
   this->reset_kalman();
 
@@ -84,10 +84,9 @@ Localizer::Localizer() {
 
   VectorXd ecef_pos = this->kf->get_x().segment<STATE_ECEF_POS_LEN>(STATE_ECEF_POS_START);
   this->converter = std::make_unique<LocalCoord>((ECEF) { .x = ecef_pos[0], .y = ecef_pos[1], .z = ecef_pos[2] });
+  this->configure_gnss_source(gnss_source);
 }
 
-Localizer::Localizer(bool has_ublox) : Localizer() { ublox_available = has_ublox; }
-
 void Localizer::build_live_location(cereal::LiveLocationKalman::Builder& fix) {
   VectorXd predicted_state = this->kf->get_x();
   MatrixXdr predicted_cov = this->kf->get_P();
@@ -325,12 +324,7 @@ void Localizer::handle_gps(double current_time, const cereal::GpsLocationData::R
 
   VectorXd ecef_pos = this->converter->ned2ecef({ 0.0, 0.0, 0.0 }).to_vector();
   VectorXd ecef_vel = this->converter->ned2ecef({ log.getVNED()[0], log.getVNED()[1], log.getVNED()[2] }).to_vector() - ecef_pos;
-  float ecef_pos_std;
-  if (ublox_available) {
-    ecef_pos_std = std::sqrt(std::pow(log.getAccuracy(), 2) + std::pow(log.getVerticalAccuracy(), 2));
-  } else {
-    ecef_pos_std = std::sqrt(3 * std::pow(log.getVerticalAccuracy(), 2));
-  }
+  float ecef_pos_std = std::sqrt(this->gps_variance_factor * std::pow(log.getAccuracy(), 2) + this->gps_vertical_variance_factor * std::pow(log.getVerticalAccuracy(), 2));
   MatrixXdr ecef_pos_R = Vector3d::Constant(std::pow(this->gps_std_factor * ecef_pos_std, 2)).asDiagonal();
   MatrixXdr ecef_vel_R = Vector3d::Constant(std::pow(this->gps_std_factor * log.getSpeedAccuracy(), 2)).asDiagonal();
 
@@ -372,10 +366,7 @@ void Localizer::handle_gnss(double current_time, const cereal::GnssMeasurements:
   }
 
   double sensor_time = log.getMeasTime() * 1e-9;
-  if (ublox_available)
-    sensor_time -= GPS_UBLOX_SENSOR_TIME_OFFSET;
-  else
-    sensor_time -= GPS_QUECTEL_SENSOR_TIME_OFFSET;
+  sensor_time -= this->gps_time_offset;
 
   auto ecef_pos_v = log.getPositionECEF().getValue();
   VectorXd ecef_pos = Vector3d(ecef_pos_v[0], ecef_pos_v[1], ecef_pos_v[2]);
@@ -664,16 +655,33 @@ void Localizer::determine_gps_mode(double current_time) {
   }
 }
 
-int Localizer::locationd_thread() {
-  ublox_available = Params().getBool("UbloxAvailable", true);
-  const char* gps_location_socket;
-  if (ublox_available) {
-    gps_location_socket = "gpsLocationExternal";
+void Localizer::configure_gnss_source(LocalizerGnssSource source) {
+  this->gnss_source = source;
+  if (source == LocalizerGnssSource::UBLOX) {
     this->gps_std_factor = 10.0;
+    this->gps_variance_factor = 1.0;
+    this->gps_vertical_variance_factor = 1.0;
+    this->gps_time_offset = GPS_UBLOX_SENSOR_TIME_OFFSET;
   } else {
-    gps_location_socket = "gpsLocation";
     this->gps_std_factor = 2.0;
+    this->gps_variance_factor = 0.0;
+    this->gps_vertical_variance_factor = 3.0;
+    this->gps_time_offset = GPS_QUECTEL_SENSOR_TIME_OFFSET;
   }
+}
+
+int Localizer::locationd_thread() {
+  LocalizerGnssSource source;
+  const char* gps_location_socket;
+  if (Params().getBool("UbloxAvailable")) {
+    source = LocalizerGnssSource::UBLOX;
+    gps_location_socket = "gpsLocationExternal";
+  } else {
+    source = LocalizerGnssSource::QCOM;
+    gps_location_socket = "gpsLocation";
+  }
+
+  this->configure_gnss_source(source);
   const std::initializer_list<const char *> service_list = {gps_location_socket, "cameraOdometry", "liveCalibration",
                                                           "carState", "carParams", "accelerometer", "gyroscope"};
 
diff --git a/selfdrive/locationd/locationd.h b/selfdrive/locationd/locationd.h
index e2b2096afc..e8f2f04a2c 100755
--- a/selfdrive/locationd/locationd.h
+++ b/selfdrive/locationd/locationd.h
@@ -21,10 +21,13 @@
 
 #define POSENET_STD_HIST_HALF 20
 
+enum LocalizerGnssSource {
+  UBLOX, QCOM
+};
+
 class Localizer {
 public:
-  Localizer();
-  Localizer(bool has_ublox);
+  Localizer(LocalizerGnssSource gnss_source = LocalizerGnssSource::UBLOX);
 
   int locationd_thread();
 
@@ -81,10 +84,15 @@ private:
   double first_valid_log_time = NAN;
   double ttff = NAN;
   double last_gps_msg = 0;
-  bool ublox_available = true;
+  LocalizerGnssSource gnss_source;
   bool observation_timings_invalid = false;
   std::map<std::string, double> observation_values_invalid;
   bool standstill = true;
   int32_t orientation_reset_count = 0;
   float gps_std_factor;
+  float gps_variance_factor;
+  float gps_vertical_variance_factor;
+  double gps_time_offset;
+
+  void configure_gnss_source(LocalizerGnssSource source);
 };
diff --git a/selfdrive/locationd/models/car_kf.py b/selfdrive/locationd/models/car_kf.py
index 3faf4f8d4e..a5abf8514a 100755
--- a/selfdrive/locationd/models/car_kf.py
+++ b/selfdrive/locationd/models/car_kf.py
@@ -171,7 +171,8 @@ class CarKalman(KalmanFilter):
     if P_initial is not None:
       self.P_initial = P_initial
     # init filter
-    self.filter = EKF_sym_pyx(generated_dir, self.name, self.Q, self.initial_x, self.P_initial, dim_state, dim_state_err, global_vars=self.global_vars, logger=cloudlog)
+    self.filter = EKF_sym_pyx(generated_dir, self.name, self.Q, self.initial_x, self.P_initial,
+                              dim_state, dim_state_err, global_vars=self.global_vars, logger=cloudlog)
 
 
 if __name__ == "__main__":
diff --git a/selfdrive/locationd/models/live_kf.py b/selfdrive/locationd/models/live_kf.py
index 023479d10e..dc439c23f6 100755
--- a/selfdrive/locationd/models/live_kf.py
+++ b/selfdrive/locationd/models/live_kf.py
@@ -212,14 +212,14 @@ class LiveKalman():
     live_kf_header = "#pragma once\n\n"
     live_kf_header += "#include <unordered_map>\n"
     live_kf_header += "#include <eigen3/Eigen/Dense>\n\n"
-    for state, slc in inspect.getmembers(States, lambda x: type(x) == slice):
+    for state, slc in inspect.getmembers(States, lambda x: isinstance(x, slice)):
       assert(slc.step is None)  # unsupported
       live_kf_header += f'#define STATE_{state}_START {slc.start}\n'
       live_kf_header += f'#define STATE_{state}_END {slc.stop}\n'
       live_kf_header += f'#define STATE_{state}_LEN {slc.stop - slc.start}\n'
     live_kf_header += "\n"
 
-    for kind, val in inspect.getmembers(ObservationKind, lambda x: type(x) == int):
+    for kind, val in inspect.getmembers(ObservationKind, lambda x: isinstance(x, int)):
       live_kf_header += f'#define OBSERVATION_{kind} {val}\n'
     live_kf_header += "\n"
 
diff --git a/selfdrive/locationd/models/loc_kf.py b/selfdrive/locationd/models/loc_kf.py
index 4c947422b1..12f3cb7d00 100755
--- a/selfdrive/locationd/models/loc_kf.py
+++ b/selfdrive/locationd/models/loc_kf.py
@@ -33,7 +33,8 @@ class States():
   ACCELEROMETER_BIAS = slice(30, 33)  # bias of mems accelerometer
   # TODO the offset is likely a translation of the sensor, not a rotation of the camera
   WIDE_FROM_DEVICE_EULER = slice(33, 36)  # wide camera offset angles in radians (tici only)
-  # We currently do not use ACCELEROMETER_SCALE to avoid instability due to too many free variables (ACCELEROMETER_SCALE, ACCELEROMETER_BIAS, IMU_FROM_DEVICE_EULER).
+  # We currently do not use ACCELEROMETER_SCALE to avoid instability due to too many free variables
+  # (ACCELEROMETER_SCALE, ACCELEROMETER_BIAS, IMU_FROM_DEVICE_EULER).
   # From experiments we see that ACCELEROMETER_BIAS is more correct than ACCELEROMETER_SCALE
 
   # Error-state has different slices because it is an ESKF
@@ -324,7 +325,8 @@ class LocKalman():
       obs_eqs.append([h_track_sym, ObservationKind.ORB_FEATURES, track_epos_sym])
       obs_eqs.append([h_track_wide_cam_sym, ObservationKind.ORB_FEATURES_WIDE, track_epos_sym])
       obs_eqs.append([h_track_sym, ObservationKind.FEATURE_TRACK_TEST, track_epos_sym])
-      msckf_params = [dim_main, dim_augment, dim_main_err, dim_augment_err, N, [ObservationKind.MSCKF_TEST, ObservationKind.ORB_FEATURES, ObservationKind.ORB_FEATURES_WIDE]]
+      msckf_params = [dim_main, dim_augment, dim_main_err, dim_augment_err, N,
+                      [ObservationKind.MSCKF_TEST, ObservationKind.ORB_FEATURES, ObservationKind.ORB_FEATURES_WIDE]]
     else:
       msckf_params = None
     gen_code(generated_dir, name, f_sym, dt, state_sym, obs_eqs, dim_state, dim_state_err, eskf_params, msckf_params, maha_test_kinds)
@@ -334,12 +336,13 @@ class LocKalman():
 
 
     # process noise
-    clock_error_drift = 100.0 if erratic_clock else 0.1
+    q_clock_error = 100.0 if erratic_clock else 0.1
+    q_clock_error_rate = 10 if erratic_clock else 0.0
     self.Q = np.diag([0.03**2, 0.03**2, 0.03**2,
                       0.0**2, 0.0**2, 0.0**2,
                       0.0**2, 0.0**2, 0.0**2,
                       0.1**2, 0.1**2, 0.1**2,
-                      (clock_error_drift)**2, (0)**2,
+                      (q_clock_error)**2, (q_clock_error_rate)**2,
                       (0.005 / 100)**2, (0.005 / 100)**2, (0.005 / 100)**2,
                       (0.02 / 100)**2,
                       3**2, 3**2, 3**2,
@@ -369,7 +372,7 @@ class LocKalman():
     self.dim_state_err = self.dim_main_err + self.dim_augment_err * self.N
 
     if self.N > 0:
-      x_initial, P_initial, Q = self.pad_augmented(self.x_initial, self.P_initial, self.Q)  # lgtm[py/mismatched-multiple-assignment] pylint: disable=unbalanced-tuple-unpacking
+      x_initial, P_initial, Q = self.pad_augmented(self.x_initial, self.P_initial, self.Q)  # lgtm[py/mismatched-multiple-assignment]
       self.computer = LstSqComputer(generated_dir, N)
 
     self.quaternion_idxs = [3, ] + [(self.dim_main + i * self.dim_augment + 3)for i in range(self.N)]
diff --git a/selfdrive/locationd/paramsd.py b/selfdrive/locationd/paramsd.py
index 7e30b1e3a7..de1265f0d7 100755
--- a/selfdrive/locationd/paramsd.py
+++ b/selfdrive/locationd/paramsd.py
@@ -1,10 +1,12 @@
 #!/usr/bin/env python3
+import os
 import math
 import json
 import numpy as np
 
 import cereal.messaging as messaging
 from cereal import car
+from cereal import log
 from common.params import Params, put_nonblocking
 from common.realtime import config_realtime_process, DT_MDL
 from common.numpy_fast import clip
@@ -16,8 +18,11 @@ from system.swaglog import cloudlog
 MAX_ANGLE_OFFSET_DELTA = 20 * DT_MDL  # Max 20 deg/s
 ROLL_MAX_DELTA = math.radians(20.0) * DT_MDL  # 20deg in 1 second is well within curvature limits
 ROLL_MIN, ROLL_MAX = math.radians(-10), math.radians(10)
+ROLL_LOWERED_MAX = math.radians(8)
 ROLL_STD_MAX = math.radians(1.5)
 LATERAL_ACC_SENSOR_THRESHOLD = 4.0
+OFFSET_MAX = 10.0
+OFFSET_LOWERED_MAX = 8.0
 
 
 class ParamsLearner:
@@ -102,9 +107,20 @@ class ParamsLearner:
       self.kf.filter.reset_rewind()
 
 
+def check_valid_with_hysteresis(current_valid: bool, val: float, threshold: float, lowered_threshold: float):
+  if current_valid:
+    current_valid = abs(val) < threshold
+  else:
+    current_valid = abs(val) < lowered_threshold
+  return current_valid
+
+
 def main(sm=None, pm=None):
   config_realtime_process([0, 1, 2, 3], 5)
 
+  DEBUG = bool(int(os.getenv("DEBUG", "0")))
+  REPLAY = bool(int(os.getenv("REPLAY", "0")))
+
   if sm is None:
     sm = messaging.SubMaster(['liveLocationKalman', 'carState'], poll=['liveLocationKalman'])
   if pm is None:
@@ -113,7 +129,8 @@ def main(sm=None, pm=None):
   params_reader = Params()
   # wait for stats about the car to come in from controls
   cloudlog.info("paramsd is waiting for CarParams")
-  CP = car.CarParams.from_bytes(params_reader.get("CarParams", block=True))
+  with car.CarParams.from_bytes(params_reader.get("CarParams", block=True)) as msg:
+    CP = msg
   cloudlog.info("paramsd got CarParams")
 
   min_sr, max_sr = 0.5 * CP.steerRatio, 2.0 * CP.steerRatio
@@ -130,10 +147,8 @@ def main(sm=None, pm=None):
   # Check if starting values are sane
   if params is not None:
     try:
-      angle_offset_sane = abs(params.get('angleOffsetAverageDeg')) < 10.0
       steer_ratio_sane = min_sr <= params['steerRatio'] <= max_sr
-      params_sane = angle_offset_sane and steer_ratio_sane
-      if not params_sane:
+      if not steer_ratio_sane:
         cloudlog.info(f"Invalid starting values found {params}")
         params = None
     except Exception as e:
@@ -150,13 +165,22 @@ def main(sm=None, pm=None):
     }
     cloudlog.info("Parameter learner resetting to default values")
 
-  # When driving in wet conditions the stiffness can go down, and then be too low on the next drive
-  # Without a way to detect this we have to reset the stiffness every drive
-  params['stiffnessFactor'] = 1.0
-  learner = ParamsLearner(CP, params['steerRatio'], params['stiffnessFactor'], math.radians(params['angleOffsetAverageDeg']))
+  if not REPLAY:
+    # When driving in wet conditions the stiffness can go down, and then be too low on the next drive
+    # Without a way to detect this we have to reset the stiffness every drive
+    params['stiffnessFactor'] = 1.0
+
+  pInitial = None
+  if DEBUG:
+    pInitial = np.array(params['filterState']['std']) if 'filterState' in params else None
+
+  learner = ParamsLearner(CP, params['steerRatio'], params['stiffnessFactor'], math.radians(params['angleOffsetAverageDeg']), pInitial)
   angle_offset_average = params['angleOffsetAverageDeg']
   angle_offset = angle_offset_average
   roll = 0.0
+  avg_offset_valid = True
+  total_offset_valid = True
+  roll_valid = True
 
   while True:
     sm.update()
@@ -174,12 +198,17 @@ def main(sm=None, pm=None):
         learner = ParamsLearner(CP, CP.steerRatio, 1.0, 0.0)
         x = learner.kf.x
 
-      angle_offset_average = clip(math.degrees(x[States.ANGLE_OFFSET]), angle_offset_average - MAX_ANGLE_OFFSET_DELTA, angle_offset_average + MAX_ANGLE_OFFSET_DELTA)
-      angle_offset = clip(math.degrees(x[States.ANGLE_OFFSET] + x[States.ANGLE_OFFSET_FAST]), angle_offset - MAX_ANGLE_OFFSET_DELTA, angle_offset + MAX_ANGLE_OFFSET_DELTA)
+      angle_offset_average = clip(math.degrees(x[States.ANGLE_OFFSET]),
+                                  angle_offset_average - MAX_ANGLE_OFFSET_DELTA, angle_offset_average + MAX_ANGLE_OFFSET_DELTA)
+      angle_offset = clip(math.degrees(x[States.ANGLE_OFFSET] + x[States.ANGLE_OFFSET_FAST]),
+                          angle_offset - MAX_ANGLE_OFFSET_DELTA, angle_offset + MAX_ANGLE_OFFSET_DELTA)
       roll = clip(float(x[States.ROAD_ROLL]), roll - ROLL_MAX_DELTA, roll + ROLL_MAX_DELTA)
       roll_std = float(P[States.ROAD_ROLL])
       # Account for the opposite signs of the yaw rates
       sensors_valid = bool(abs(learner.speed * (x[States.YAW_RATE] + learner.yaw_rate)) < LATERAL_ACC_SENSOR_THRESHOLD)
+      avg_offset_valid = check_valid_with_hysteresis(avg_offset_valid, angle_offset_average, OFFSET_MAX, OFFSET_LOWERED_MAX)
+      total_offset_valid = check_valid_with_hysteresis(total_offset_valid, angle_offset, OFFSET_MAX, OFFSET_LOWERED_MAX)
+      roll_valid = check_valid_with_hysteresis(roll_valid, roll, ROLL_MAX, ROLL_LOWERED_MAX)
 
       msg = messaging.new_message('liveParameters')
 
@@ -192,9 +221,9 @@ def main(sm=None, pm=None):
       liveParameters.angleOffsetAverageDeg = angle_offset_average
       liveParameters.angleOffsetDeg = angle_offset
       liveParameters.valid = all((
-        abs(liveParameters.angleOffsetAverageDeg) < 10.0,
-        abs(liveParameters.angleOffsetDeg) < 10.0,
-        abs(liveParameters.roll) < ROLL_MAX,
+        avg_offset_valid,
+        total_offset_valid,
+        roll_valid,
         roll_std < ROLL_STD_MAX,
         0.2 <= liveParameters.stiffnessFactor <= 5.0,
         min_sr <= liveParameters.steerRatio <= max_sr,
@@ -203,6 +232,11 @@ def main(sm=None, pm=None):
       liveParameters.stiffnessFactorStd = float(P[States.STIFFNESS])
       liveParameters.angleOffsetAverageStd = float(P[States.ANGLE_OFFSET])
       liveParameters.angleOffsetFastStd = float(P[States.ANGLE_OFFSET_FAST])
+      if DEBUG:
+        liveParameters.filterState = log.LiveLocationKalman.Measurement.new_message()
+        liveParameters.filterState.value = x.tolist()
+        liveParameters.filterState.std = P.tolist()
+        liveParameters.filterState.valid = True
 
       msg.valid = sm.all_checks()
 
diff --git a/selfdrive/locationd/test/_test_locationd_lib.py b/selfdrive/locationd/test/_test_locationd_lib.py
index 819bb1570e..97207908e7 100755
--- a/selfdrive/locationd/test/_test_locationd_lib.py
+++ b/selfdrive/locationd/test/_test_locationd_lib.py
@@ -10,10 +10,12 @@ from cffi import FFI
 import cereal.messaging as messaging
 from cereal import log
 
+from common.ffi_wrapper import suffix
+
 SENSOR_DECIMATION = 1
 VISION_DECIMATION = 1
 
-LIBLOCATIOND_PATH = os.path.abspath(os.path.join(os.path.dirname(__file__), '../liblocationd.so'))
+LIBLOCATIOND_PATH = os.path.abspath(os.path.join(os.path.dirname(__file__), '../liblocationd' + suffix()))
 
 
 class TestLocationdLib(unittest.TestCase):
@@ -38,7 +40,8 @@ void localizer_handle_msg_bytes(Localizer_t localizer, const char *data, size_t
 
   def localizer_get_msg(self, t=0, inputsOK=True, sensorsOK=True, gpsOK=True, msgValid=True):
     self.lib.localizer_get_message_bytes(self.localizer, inputsOK, sensorsOK, gpsOK, msgValid, self.ffi.addressof(self.msg_buff, 0), self.buff_size)
-    return log.Event.from_bytes(self.ffi.buffer(self.msg_buff), nesting_limit=self.buff_size // 8)
+    with log.Event.from_bytes(self.ffi.buffer(self.msg_buff), nesting_limit=self.buff_size // 8) as log_evt:
+      return log_evt
 
   def test_liblocalizer(self):
     msg = messaging.new_message('liveCalibration')
diff --git a/selfdrive/locationd/test/test_calibrationd.py b/selfdrive/locationd/test/test_calibrationd.py
index 96f996413d..e3e8c3ca7c 100755
--- a/selfdrive/locationd/test/test_calibrationd.py
+++ b/selfdrive/locationd/test/test_calibrationd.py
@@ -7,7 +7,8 @@ import numpy as np
 import cereal.messaging as messaging
 from cereal import log
 from common.params import Params
-from selfdrive.locationd.calibrationd import Calibrator, INPUTS_NEEDED, INPUTS_WANTED, BLOCK_SIZE, MIN_SPEED_FILTER, MAX_YAW_RATE_FILTER, SMOOTH_CYCLES, HEIGHT_INIT
+from selfdrive.locationd.calibrationd import Calibrator, INPUTS_NEEDED, INPUTS_WANTED, BLOCK_SIZE, MIN_SPEED_FILTER, \
+                                                         MAX_YAW_RATE_FILTER, SMOOTH_CYCLES, HEIGHT_INIT
 
 
 class TestCalibrationd(unittest.TestCase):
diff --git a/selfdrive/locationd/test/test_laikad.py b/selfdrive/locationd/test/test_laikad.py
index 2902790fa5..bf314e9be8 100755
--- a/selfdrive/locationd/test/test_laikad.py
+++ b/selfdrive/locationd/test/test_laikad.py
@@ -20,12 +20,12 @@ from tools.lib.logreader import LogReader
 from selfdrive.test.process_replay.process_replay import get_process_config, replay_process
 
 GPS_TIME_PREDICTION_ORBITS_RUSSIAN_SRC = GPSTime.from_datetime(datetime(2022, month=1, day=29, hour=12))
+UBLOX_TEST_ROUTE = "4cf7a6ad03080c90|2021-09-29--13-46-36"
+QCOM_TEST_ROUTE = "616dc83ca1f7f11e|2023-07-11--10-52-31"
 
 
-def get_log_ublox(segs=range(0)):
-  logs = []
-  for i in segs:
-    logs.extend(LogReader(get_url("4cf7a6ad03080c90|2021-09-29--13-46-36", i)))
+def get_log_ublox():
+  logs = LogReader(get_url(UBLOX_TEST_ROUTE, 0))
 
   ublox_cfg = get_process_config("ubloxd")
   all_logs = replay_process(ublox_cfg, logs)
@@ -47,10 +47,8 @@ def get_log_ublox(segs=range(0)):
   return all_logs, low_gnss
 
 
-def get_log_qcom(segs=range(0)):
-  logs = []
-  for i in segs:
-    logs.extend(LogReader(get_url("b0b3cba7abf862d1|2023-03-11--09-40-33", i)))
+def get_log_qcom():
+  logs = LogReader(get_url(QCOM_TEST_ROUTE, 0))
   all_logs = [m for m in logs if m.which() == 'qcomGnss']
   return all_logs
 
@@ -98,10 +96,10 @@ class TestLaikad(unittest.TestCase):
 
   @classmethod
   def setUpClass(cls):
-    logs, low_gnss = get_log_ublox(range(1))
+    logs, low_gnss = get_log_ublox()
     cls.logs = logs
     cls.low_gnss = low_gnss
-    cls.logs_qcom = get_log_qcom(range(1))
+    cls.logs_qcom = get_log_qcom()
     first_gps_time = get_first_gps_time(logs)
     cls.first_gps_time = first_gps_time
 
@@ -113,7 +111,7 @@ class TestLaikad(unittest.TestCase):
     laikad = Laikad()
     laikad.fetch_navs(gpstime, block=False)
     laikad.orbit_fetch_future.result(30)
-    
+
     # Get results and save orbits to laikad:
     laikad.fetch_navs(gpstime, block=False)
     ephem = laikad.astro_dog.navs['G01'][0]
@@ -179,8 +177,8 @@ class TestLaikad(unittest.TestCase):
       laikad = Laikad(auto_update=True, valid_ephem_types=EphemerisType.NAV, use_qcom=use_qcom)
       # Disable fetch_orbits to test NAV only
       correct_msgs = verify_messages(logs, laikad)
-      correct_msgs_expected = 44 if use_qcom else 560
-      valid_fix_expected = 43 if use_qcom else 560
+      correct_msgs_expected = 56 if use_qcom else 560
+      valid_fix_expected = 56 if use_qcom else 560
 
       self.assertEqual(correct_msgs_expected, len(correct_msgs))
       self.assertEqual(valid_fix_expected, len([m for m in correct_msgs if m.gnssMeasurements.positionECEF.valid]))
@@ -238,9 +236,9 @@ class TestLaikad(unittest.TestCase):
           has_polys = len(vals) > 0 and max([len(v) for v in vals]) > 0
           has_fix = has_fix or out_msg.gnssMeasurements.positionECEF.valid
           if len(out_msg.gnssMeasurements.ephemerisStatuses):
-            seen_chip_eph = seen_chip_eph or any([x.source == 'gnssChip' for x in out_msg.gnssMeasurements.ephemerisStatuses])
-            seen_internet_eph = seen_internet_eph or any([x.source == 'internet' for x in out_msg.gnssMeasurements.ephemerisStatuses])
-            
+            seen_chip_eph = seen_chip_eph or any(x.source == 'gnssChip' for x in out_msg.gnssMeasurements.ephemerisStatuses)
+            seen_internet_eph = seen_internet_eph or any(x.source == 'internet' for x in out_msg.gnssMeasurements.ephemerisStatuses)
+
         self.assertTrue(has_navs or has_polys)
         self.assertTrue(has_fix)
         self.assertTrue(seen_chip_eph or auto_fetch_navs)
@@ -251,6 +249,7 @@ class TestLaikad(unittest.TestCase):
   def test_cache(self):
     use_qcom = True
     for use_qcom, logs in zip([True, False], [self.logs_qcom, self.logs]):
+      Params().remove(EPHEMERIS_CACHE)
       laikad = Laikad(auto_update=True, save_ephemeris=True, use_qcom=use_qcom)
       def wait_for_cache():
         max_time = 2
@@ -263,8 +262,8 @@ class TestLaikad(unittest.TestCase):
       # Test cache with no ephemeris
       laikad.last_report_time = GPSTime(1,0)
       laikad.cache_ephemeris()
-      wait_for_cache()
-      Params().remove(EPHEMERIS_CACHE)
+      if Params().get(EPHEMERIS_CACHE) is not None:
+        self.fail("Cache should not have been written without valid ephem")
 
       #laikad.astro_dog.get_navs(self.first_gps_time)
       msg = verify_messages(logs, laikad, return_one_success=True)
@@ -279,10 +278,10 @@ class TestLaikad(unittest.TestCase):
       # Verify cache is working for only nav by running a segment
       msg = verify_messages(logs, laikad, return_one_success=True)
       self.assertTrue(len(msg.gnssMeasurements.ephemerisStatuses))
-      self.assertTrue(any([x.source=='cache' for x in msg.gnssMeasurements.ephemerisStatuses]))
+      self.assertTrue(any(x.source=='cache' for x in msg.gnssMeasurements.ephemerisStatuses))
       self.assertIsNotNone(msg)
 
-      #TODO test cache with only orbits 
+      #TODO test cache with only orbits
       #with patch('selfdrive.locationd.laikad.get_orbit_data', return_value=None) as mock_method:
       #  # Verify no orbit downloads even if orbit fetch times is reset since the cache has recently been saved and we don't want to download high frequently
       #  laikad.astro_dog.orbit_fetched_times = TimeRangeHolder()
diff --git a/selfdrive/locationd/test/test_locationd.py b/selfdrive/locationd/test/test_locationd.py
index 9f643e2b8f..96233f5320 100755
--- a/selfdrive/locationd/test/test_locationd.py
+++ b/selfdrive/locationd/test/test_locationd.py
@@ -14,7 +14,6 @@ from selfdrive.manager.process_config import managed_processes
 
 
 class TestLocationdProc(unittest.TestCase):
-  MAX_WAITS = 1000
   LLD_MSGS = ['gpsLocationExternal', 'cameraOdometry', 'carState', 'liveCalibration',
               'accelerometer', 'gyroscope', 'magnetometer']
 
@@ -23,30 +22,20 @@ class TestLocationdProc(unittest.TestCase):
 
     self.pm = messaging.PubMaster(self.LLD_MSGS)
 
-    Params().put_bool("UbloxAvailable", True)
+    self.params = Params()
+    self.params.put_bool("UbloxAvailable", True)
     managed_processes['locationd'].prepare()
     managed_processes['locationd'].start()
 
-    time.sleep(1)
-
   def tearDown(self):
     managed_processes['locationd'].stop()
 
-  def send_msg(self, msg):
-    self.pm.send(msg.which(), msg)
-    waits_left = self.MAX_WAITS
-    while waits_left and not self.pm.all_readers_updated(msg.which()):
-      time.sleep(0)
-      waits_left -= 1
-    time.sleep(0.0001)
-
-  def get_fake_msg(self, name, t):
+  def get_msg(self, name, t):
     try:
       msg = messaging.new_message(name)
     except capnp.lib.capnp.KjException:
       msg = messaging.new_message(name, 0)
 
-
     if name == "gpsLocationExternal":
       msg.gpsLocationExternal.flags = 1
       msg.gpsLocationExternal.verticalAccuracy = 1.0
@@ -74,27 +63,27 @@ class TestLocationdProc(unittest.TestCase):
     return msg
 
   def test_params_gps(self):
-    # first reset params
-    Params().remove('LastGPSPosition')
+    self.params.remove('LastGPSPosition')
 
     self.x = -2710700 + (random.random() * 1e5)
     self.y = -4280600 + (random.random() * 1e5)
     self.z = 3850300 + (random.random() * 1e5)
     self.lat, self.lon, self.alt = ecef2geodetic([self.x, self.y, self.z])
 
-    self.fake_duration = 90  # secs
     # get fake messages at the correct frequency, listed in services.py
-    fake_msgs = []
-    for sec in range(self.fake_duration):
+    msgs = []
+    for sec in range(65):
       for name in self.LLD_MSGS:
         for j in range(int(service_list[name].frequency)):
-          fake_msgs.append(self.get_fake_msg(name, int((sec + j / service_list[name].frequency) * 1e9)))
+          msgs.append(self.get_msg(name, int((sec + j / service_list[name].frequency) * 1e9)))
 
-    for fake_msg in sorted(fake_msgs, key=lambda x: x.logMonoTime):
-      self.send_msg(fake_msg)
+    for msg in sorted(msgs, key=lambda x: x.logMonoTime):
+      self.pm.send(msg.which(), msg)
+      if msg.which() == "cameraOdometry":
+        self.pm.wait_for_readers_to_update(msg.which(), 0.1)
     time.sleep(1)  # wait for async params write
 
-    lastGPS = json.loads(Params().get('LastGPSPosition'))
+    lastGPS = json.loads(self.params.get('LastGPSPosition'))
     self.assertAlmostEqual(lastGPS['latitude'], self.lat, places=3)
     self.assertAlmostEqual(lastGPS['longitude'], self.lon, places=3)
     self.assertAlmostEqual(lastGPS['altitude'], self.alt, places=3)
diff --git a/selfdrive/locationd/torqued.py b/selfdrive/locationd/torqued.py
index fcc068d34e..66898bd163 100755
--- a/selfdrive/locationd/torqued.py
+++ b/selfdrive/locationd/torqued.py
@@ -63,7 +63,7 @@ class PointBuckets:
   def __init__(self, x_bounds, min_points, min_points_total):
     self.x_bounds = x_bounds
     self.buckets = {bounds: NPQueue(maxlen=POINTS_PER_BUCKET, rowsize=3) for bounds in x_bounds}
-    self.buckets_min_points = {bounds: min_point for bounds, min_point in zip(x_bounds, min_points)}
+    self.buckets_min_points = dict(zip(x_bounds, min_points))
     self.min_points_total = min_points_total
 
   def bucket_lengths(self):
@@ -139,8 +139,10 @@ class TorqueEstimator:
     torque_cache = params.get("LiveTorqueParameters")
     if params_cache is not None and torque_cache is not None:
       try:
-        cache_ltp = log.Event.from_bytes(torque_cache).liveTorqueParameters
-        cache_CP = car.CarParams.from_bytes(params_cache)
+        with log.Event.from_bytes(torque_cache) as log_evt:
+          cache_ltp = log_evt.liveTorqueParameters
+        with car.CarParams.from_bytes(params_cache) as msg:
+          cache_CP = msg
         if self.get_restore_key(cache_CP, cache_ltp.version) == self.get_restore_key(CP, VERSION):
           if cache_ltp.liveValid:
             initial_params = {
@@ -228,7 +230,7 @@ class TorqueEstimator:
       liveTorqueParameters.latAccelOffsetRaw = float(latAccelOffset)
       liveTorqueParameters.frictionCoefficientRaw = float(frictionCoeff)
 
-      if any([val is None or np.isnan(val) for val in [latAccelFactor, latAccelOffset, frictionCoeff]]):
+      if any(val is None or np.isnan(val) for val in [latAccelFactor, latAccelOffset, frictionCoeff]):
         cloudlog.exception("Live torque parameters are invalid.")
         liveTorqueParameters.liveValid = False
         self.reset()
@@ -262,8 +264,8 @@ def main(sm=None, pm=None):
     pm = messaging.PubMaster(['liveTorqueParameters'])
 
   params = Params()
-  CP = car.CarParams.from_bytes(params.get("CarParams", block=True))
-  estimator = TorqueEstimator(CP)
+  with car.CarParams.from_bytes(params.get("CarParams", block=True)) as CP:
+    estimator = TorqueEstimator(CP)
 
   def cache_params(sig, frame):
     signal.signal(sig, signal.SIG_DFL)
diff --git a/selfdrive/manager/manager.py b/selfdrive/manager/manager.py
index c6b135935f..e9a1b2cb5b 100755
--- a/selfdrive/manager/manager.py
+++ b/selfdrive/manager/manager.py
@@ -7,6 +7,7 @@ import sys
 import traceback
 from typing import List, Tuple, Union
 
+from cereal import log
 import cereal.messaging as messaging
 import selfdrive.sentry as sentry
 from common.basedir import BASEDIR
@@ -44,6 +45,7 @@ def manager_init() -> None:
     ("HasAcceptedTerms", "0"),
     ("LanguageSetting", "main_en"),
     ("OpenpilotEnabledToggle", "1"),
+    ("LongitudinalPersonality", str(log.LongitudinalPersonality.standard)),
   ]
   if not PC:
     default_params.append(("LastUpdateTime", datetime.datetime.utcnow().isoformat().encode('utf8')))
diff --git a/selfdrive/manager/process.py b/selfdrive/manager/process.py
index ce18073d9b..76a49eda5b 100644
--- a/selfdrive/manager/process.py
+++ b/selfdrive/manager/process.py
@@ -17,7 +17,6 @@ from common.basedir import BASEDIR
 from common.params import Params
 from common.realtime import sec_since_boot
 from system.swaglog import cloudlog
-from system.hardware import HARDWARE
 from cereal import log
 
 WATCHDOG_FN = "/dev/shm/wd_"
@@ -67,7 +66,6 @@ def join_process(process: Process, timeout: float) -> None:
 
 
 class ManagerProcess(ABC):
-  unkillable = False
   daemon = False
   sigkill = False
   onroad = True
@@ -91,7 +89,7 @@ class ManagerProcess(ABC):
     pass
 
   def restart(self) -> None:
-    self.stop()
+    self.stop(sig=signal.SIGKILL)
     self.start()
 
   def check_watchdog(self, started: bool) -> None:
@@ -100,29 +98,30 @@ class ManagerProcess(ABC):
 
     try:
       fn = WATCHDOG_FN + str(self.proc.pid)
-      # TODO: why can't pylint find struct.unpack?
-      self.last_watchdog_time = struct.unpack('Q', open(fn, "rb").read())[0] # pylint: disable=no-member
+      with open(fn, "rb") as f:
+        # TODO: why can't pylint find struct.unpack?
+        self.last_watchdog_time = struct.unpack('Q', f.read())[0] # pylint: disable=no-member
     except Exception:
       pass
 
     dt = sec_since_boot() - self.last_watchdog_time / 1e9
 
     if dt > self.watchdog_max_dt:
-      # Only restart while offroad for now
       if self.watchdog_seen and ENABLE_WATCHDOG:
         cloudlog.error(f"Watchdog timeout for {self.name} (exitcode {self.proc.exitcode}) restarting ({started=})")
         self.restart()
     else:
       self.watchdog_seen = True
 
-  def stop(self, retry: bool=True, block: bool=True) -> Optional[int]:
+  def stop(self, retry: bool = True, block: bool = True, sig: Optional[signal.Signals] = None) -> Optional[int]:
     if self.proc is None:
       return None
 
     if self.proc.exitcode is None:
       if not self.shutting_down:
         cloudlog.info(f"killing {self.name}")
-        sig = signal.SIGKILL if self.sigkill else signal.SIGINT
+        if sig is None:
+          sig = signal.SIGKILL if self.sigkill else signal.SIGINT
         self.signal(sig)
         self.shutting_down = True
 
@@ -131,22 +130,11 @@ class ManagerProcess(ABC):
 
       join_process(self.proc, 5)
 
-      # If process failed to die send SIGKILL or reboot
+      # If process failed to die send SIGKILL
       if self.proc.exitcode is None and retry:
-        if self.unkillable:
-          cloudlog.critical(f"unkillable process {self.name} failed to exit! rebooting in 15 if it doesn't die")
-          join_process(self.proc, 15)
-
-          if self.proc.exitcode is None:
-            cloudlog.critical(f"unkillable process {self.name} failed to die!")
-            os.system("date >> /data/unkillable_reboot")
-            os.sync()
-            HARDWARE.reboot()
-            raise RuntimeError
-        else:
-          cloudlog.info(f"killing {self.name} with SIGKILL")
-          self.signal(signal.SIGKILL)
-          self.proc.join()
+        cloudlog.info(f"killing {self.name} with SIGKILL")
+        self.signal(signal.SIGKILL)
+        self.proc.join()
 
     ret = self.proc.exitcode
     cloudlog.info(f"{self.name} is dead with {ret}")
@@ -195,6 +183,7 @@ class NativeProcess(ManagerProcess):
     self.unkillable = unkillable
     self.sigkill = sigkill
     self.watchdog_max_dt = watchdog_max_dt
+    self.launcher = nativelauncher
 
   def prepare(self) -> None:
     pass
@@ -209,7 +198,7 @@ class NativeProcess(ManagerProcess):
 
     cwd = os.path.join(BASEDIR, self.cwd)
     cloudlog.info(f"starting process {self.name}")
-    self.proc = Process(name=self.name, target=nativelauncher, args=(self.cmdline, cwd, self.name))
+    self.proc = Process(name=self.name, target=self.launcher, args=(self.cmdline, cwd, self.name))
     self.proc.start()
     self.watchdog_seen = False
     self.shutting_down = False
@@ -226,6 +215,7 @@ class PythonProcess(ManagerProcess):
     self.unkillable = unkillable
     self.sigkill = sigkill
     self.watchdog_max_dt = watchdog_max_dt
+    self.launcher = launcher
 
   def prepare(self) -> None:
     if self.enabled:
@@ -241,7 +231,7 @@ class PythonProcess(ManagerProcess):
       return
 
     cloudlog.info(f"starting python {self.module}")
-    self.proc = Process(name=self.name, target=launcher, args=(self.module, self.name))
+    self.proc = Process(name=self.name, target=self.launcher, args=(self.module, self.name))
     self.proc.start()
     self.watchdog_seen = False
     self.shutting_down = False
@@ -257,14 +247,16 @@ class DaemonProcess(ManagerProcess):
     self.enabled = enabled
     self.onroad = True
     self.offroad = True
+    self.params = None
 
   def prepare(self) -> None:
     pass
 
   def start(self) -> None:
-    params = Params()
-    pid = params.get(self.param_name, encoding='utf-8')
+    if self.params is None:
+      self.params = Params()
 
+    pid = self.params.get(self.param_name, encoding='utf-8')
     if pid is not None:
       try:
         os.kill(int(pid), 0)
@@ -283,9 +275,9 @@ class DaemonProcess(ManagerProcess):
                                stderr=open('/dev/null', 'w'),
                                preexec_fn=os.setpgrp)
 
-    params.put(self.param_name, str(proc.pid))
+    self.params.put(self.param_name, str(proc.pid))
 
-  def stop(self, retry=True, block=True) -> None:
+  def stop(self, retry=True, block=True, sig=None) -> None:
     pass
 
 
diff --git a/selfdrive/manager/process_config.py b/selfdrive/manager/process_config.py
index 57c42aaaaa..2fd786875c 100644
--- a/selfdrive/manager/process_config.py
+++ b/selfdrive/manager/process_config.py
@@ -22,15 +22,15 @@ def ublox_available() -> bool:
 
 def ublox(started, params, CP: car.CarParams) -> bool:
   use_ublox = ublox_available()
-  params.put_bool("UbloxAvailable", use_ublox)
+  if use_ublox != params.get_bool("UbloxAvailable"):
+    params.put_bool("UbloxAvailable", use_ublox)
   return started and use_ublox
 
 def qcomgps(started, params, CP: car.CarParams) -> bool:
   return started and not ublox_available()
 
 procs = [
-  # due to qualcomm kernel bugs SIGKILLing camerad sometimes causes page table corruption
-  NativeProcess("camerad", "system/camerad", ["./camerad"], unkillable=True, callback=driverview),
+  NativeProcess("camerad", "system/camerad", ["./camerad"], callback=driverview),
   NativeProcess("clocksd", "system/clocksd", ["./clocksd"]),
   NativeProcess("logcatd", "system/logcatd", ["./logcatd"]),
   NativeProcess("proclogd", "system/proclogd", ["./proclogd"]),
@@ -43,11 +43,11 @@ procs = [
   NativeProcess("encoderd", "system/loggerd", ["./encoderd"]),
   NativeProcess("loggerd", "system/loggerd", ["./loggerd"], onroad=False, callback=logging),
   NativeProcess("modeld", "selfdrive/modeld", ["./modeld"]),
-  NativeProcess("mapsd", "selfdrive/navd", ["./map_renderer"], enabled=False),
-  NativeProcess("navmodeld", "selfdrive/modeld", ["./navmodeld"], enabled=False),
+  NativeProcess("mapsd", "selfdrive/navd", ["./mapsd"]),
+  NativeProcess("navmodeld", "selfdrive/modeld", ["./navmodeld"]),
   NativeProcess("sensord", "system/sensord", ["./sensord"], enabled=not PC),
   NativeProcess("ui", "selfdrive/ui", ["./ui"], offroad=True, watchdog_max_dt=(5 if not PC else None)),
-  NativeProcess("soundd", "selfdrive/ui/soundd", ["./soundd"], offroad=True),
+  NativeProcess("soundd", "selfdrive/ui/soundd", ["./soundd"]),
   NativeProcess("locationd", "selfdrive/locationd", ["./locationd"]),
   NativeProcess("boardd", "selfdrive/boardd", ["./boardd"], enabled=False),
   PythonProcess("calibrationd", "selfdrive.locationd.calibrationd"),
@@ -72,7 +72,7 @@ procs = [
 
   # debug procs
   NativeProcess("bridge", "cereal/messaging", ["./bridge"], onroad=False, callback=notcar),
-  PythonProcess("webjoystick", "tools.joystick.web", onroad=False, callback=notcar),
+  PythonProcess("webjoystick", "tools.bodyteleop.web", onroad=False, callback=notcar),
 ]
 
 managed_processes = {p.name: p for p in procs}
diff --git a/selfdrive/manager/test/test_manager.py b/selfdrive/manager/test/test_manager.py
index 889ab3d279..39bda1e156 100755
--- a/selfdrive/manager/test/test_manager.py
+++ b/selfdrive/manager/test/test_manager.py
@@ -59,6 +59,10 @@ class TestManager(unittest.TestCase):
         self.assertTrue(state.running, f"{p.name} not running")
         exit_code = p.stop(retry=False)
 
+        # TODO: mapsd should exit cleanly
+        if p.name == "mapsd":
+          continue
+
         self.assertTrue(exit_code is not None, f"{p.name} failed to exit")
 
         # TODO: interrupted blocking read exits with 1 in cereal. use a more unique return code
diff --git a/selfdrive/modeld/.gitignore b/selfdrive/modeld/.gitignore
new file mode 100644
index 0000000000..742d3d1205
--- /dev/null
+++ b/selfdrive/modeld/.gitignore
@@ -0,0 +1 @@
+*_pyx.cpp
diff --git a/selfdrive/modeld/SConscript b/selfdrive/modeld/SConscript
index c7e0dc5d86..7be4446e67 100644
--- a/selfdrive/modeld/SConscript
+++ b/selfdrive/modeld/SConscript
@@ -55,7 +55,8 @@ else:
     del libs[libs.index('OpenCL')]
     lenv['FRAMEWORKS'] = ['OpenCL']
 
-    # no SNPE on Mac
+  if arch == "Darwin" or arch == "aarch64":
+    # no SNPE on Mac and ARM Linux
     del libs[libs.index('SNPE')]
     del common_src[common_src.index('runners/snpemodel.cc')]
 
diff --git a/selfdrive/modeld/dmonitoringmodeld.cc b/selfdrive/modeld/dmonitoringmodeld.cc
index cde13a9bee..2890b44fe0 100644
--- a/selfdrive/modeld/dmonitoringmodeld.cc
+++ b/selfdrive/modeld/dmonitoringmodeld.cc
@@ -5,6 +5,7 @@
 #include <cstdlib>
 
 #include "cereal/visionipc/visionipc_client.h"
+#include "common/params.h"
 #include "common/swaglog.h"
 #include "common/util.h"
 #include "selfdrive/modeld/models/dmonitoring.h"
@@ -15,7 +16,7 @@ void run_model(DMonitoringModelState &model, VisionIpcClient &vipc_client) {
   PubMaster pm({"driverStateV2"});
   SubMaster sm({"liveCalibration"});
   float calib[CALIB_LEN] = {0};
-  double last = 0;
+  // double last = 0;
 
   while (!do_exit) {
     VisionIpcBufExtra extra = {};
@@ -37,8 +38,8 @@ void run_model(DMonitoringModelState &model, VisionIpcClient &vipc_client) {
     // send dm packet
     dmonitoring_publish(pm, extra.frame_id, model_res, (t2 - t1) / 1000.0, model.output);
 
-    //printf("dmonitoring process: %.2fms, from last %.2fms\n", t2 - t1, t1 - last);
-    last = t1;
+    // printf("dmonitoring process: %.2fms, from last %.2fms\n", t2 - t1, t1 - last);
+    // last = t1;
   }
 }
 
@@ -49,6 +50,9 @@ int main(int argc, char **argv) {
   DMonitoringModelState model;
   dmonitoring_init(&model);
 
+  Params().putBool("DmModelInitialized", true);
+
+  LOGW("connecting to driver stream");
   VisionIpcClient vipc_client = VisionIpcClient("camerad", VISION_STREAM_DRIVER, true);
   while (!do_exit && !vipc_client.connect(false)) {
     util::sleep_for(100);
@@ -56,7 +60,7 @@ int main(int argc, char **argv) {
 
   // run the models
   if (vipc_client.connected) {
-    LOGW("connected with buffer size: %d", vipc_client.buffers[0].len);
+    LOGW("connected with buffer size: %zu", vipc_client.buffers[0].len);
     run_model(model, vipc_client);
   }
 
diff --git a/selfdrive/modeld/modeld.cc b/selfdrive/modeld/modeld.cc
index 0a8a8d6358..f19138b179 100644
--- a/selfdrive/modeld/modeld.cc
+++ b/selfdrive/modeld/modeld.cc
@@ -43,7 +43,7 @@ mat3 update_calibration(Eigen::Vector3d device_from_calib_euler, bool wide_camer
      1.0,  0.0,  0.0).finished();
 
 
-  const auto cam_intrinsics = Eigen::Matrix<float, 3, 3, Eigen::RowMajor>(wide_camera ? ecam_intrinsic_matrix.v : fcam_intrinsic_matrix.v);
+  const auto cam_intrinsics = Eigen::Matrix<float, 3, 3, Eigen::RowMajor>(wide_camera ? ECAM_INTRINSIC_MATRIX.v : FCAM_INTRINSIC_MATRIX.v);
   Eigen::Matrix<float, 3, 3, Eigen::RowMajor>  device_from_calib = euler2rot(device_from_calib_euler).cast <float> ();
   auto calib_from_model = bigmodel_frame ? calib_from_sbigmodel : calib_from_medmodel;
   auto camera_from_calib = cam_intrinsics * view_from_device * device_from_calib;
@@ -53,28 +53,32 @@ mat3 update_calibration(Eigen::Vector3d device_from_calib_euler, bool wide_camer
   for (int i=0; i<3*3; i++) {
     transform.v[i] = warp_matrix(i / 3, i % 3);
   }
-  static const mat3 yuv_transform = get_model_yuv_transform();
-  return matmul3(yuv_transform, transform);
+  return transform;
 }
 
 
 void run_model(ModelState &model, VisionIpcClient &vipc_client_main, VisionIpcClient &vipc_client_extra, bool main_wide_camera, bool use_extra_client) {
   // messaging
   PubMaster pm({"modelV2", "cameraOdometry"});
-  SubMaster sm({"lateralPlan", "roadCameraState", "liveCalibration", "driverMonitoringState"});
+  SubMaster sm({"lateralPlan", "roadCameraState", "liveCalibration", "driverMonitoringState", "navModel", "navInstruction"});
+
+  Params params;
+  PublishState ps = {};
 
   // setup filter to track dropped frames
   FirstOrderFilter frame_dropped_filter(0., 10., 1. / MODEL_FREQ);
 
   uint32_t frame_id = 0, last_vipc_frame_id = 0;
-  double last = 0;
+  // double last = 0;
   uint32_t run_count = 0;
 
   mat3 model_transform_main = {};
   mat3 model_transform_extra = {};
+  bool nav_enabled = false;
   bool live_calib_seen = false;
   float driving_style[DRIVING_STYLE_LEN] = {1, 0, 0, 0, 0, 1, 0, 0, 0, 0, 0, 0};
   float nav_features[NAV_FEATURE_LEN] = {0};
+  float nav_instructions[NAV_INSTRUCTION_LEN] = {0};
 
   VisionBuf *buf_main = nullptr;
   VisionBuf *buf_extra = nullptr;
@@ -137,6 +141,40 @@ void run_model(ModelState &model, VisionIpcClient &vipc_client_main, VisionIpcCl
       vec_desire[desire] = 1.0;
     }
 
+    // Enable/disable nav features
+    uint64_t timestamp_llk = sm["navModel"].getNavModel().getLocationMonoTime();
+    bool nav_valid = sm["navModel"].getValid() && (nanos_since_boot() - timestamp_llk < 1e9);
+    bool use_nav = nav_valid && params.getBool("ExperimentalMode");
+    if (!nav_enabled && use_nav) {
+      nav_enabled = true;
+    } else if (nav_enabled && !use_nav) {
+      memset(nav_features, 0, sizeof(float)*NAV_FEATURE_LEN);
+      memset(nav_instructions, 0, sizeof(float)*NAV_INSTRUCTION_LEN);
+      nav_enabled = false;
+    }
+
+    if (nav_enabled && sm.updated("navModel")) {
+      auto nav_model_features = sm["navModel"].getNavModel().getFeatures();
+      for (int i=0; i<NAV_FEATURE_LEN; i++) {
+        nav_features[i] = nav_model_features[i];
+      }
+    }
+
+    if (nav_enabled && sm.updated("navInstruction")) {
+      memset(nav_instructions, 0, sizeof(float)*NAV_INSTRUCTION_LEN);
+      auto maneuvers = sm["navInstruction"].getNavInstruction().getAllManeuvers();
+      for (int i=0; i<maneuvers.size(); i++) {
+        int distance_idx = 25 + (int)(maneuvers[i].getDistance() / 20);
+        std::string direction = maneuvers[i].getModifier();
+        int direction_idx = 0;
+        if (direction == "left" || direction == "slight left" || direction == "sharp left") direction_idx = 1;
+        if (direction == "right" || direction == "slight right" || direction == "sharp right") direction_idx = 2;
+        if (distance_idx >= 0 && distance_idx < 50) {
+          nav_instructions[distance_idx*3 + direction_idx] = 1;
+        }
+      }
+    }
+
     // tracked dropped frames
     uint32_t vipc_dropped_frames = meta_main.frame_id - last_vipc_frame_id - 1;
     float frames_dropped = frame_dropped_filter.update((float)std::min(vipc_dropped_frames, 10U));
@@ -154,18 +192,18 @@ void run_model(ModelState &model, VisionIpcClient &vipc_client_main, VisionIpcCl
     }
 
     double mt1 = millis_since_boot();
-    ModelOutput *model_output = model_eval_frame(&model, buf_main, buf_extra, model_transform_main, model_transform_extra, vec_desire, is_rhd, driving_style, nav_features, prepare_only);
+    ModelOutput *model_output = model_eval_frame(&model, buf_main, buf_extra, model_transform_main, model_transform_extra, vec_desire, is_rhd, driving_style, nav_features, nav_instructions, prepare_only);
     double mt2 = millis_since_boot();
     float model_execution_time = (mt2 - mt1) / 1000.0;
 
     if (model_output != nullptr) {
-      model_publish(pm, meta_main.frame_id, meta_extra.frame_id, frame_id, frame_drop_ratio, *model_output, meta_main.timestamp_eof, model_execution_time,
-                    kj::ArrayPtr<const float>(model.output.data(), model.output.size()), live_calib_seen);
+      model_publish(pm, meta_main.frame_id, meta_extra.frame_id, frame_id, frame_drop_ratio, *model_output, model, ps, meta_main.timestamp_eof, timestamp_llk, model_execution_time,
+                    nav_enabled, live_calib_seen);
       posenet_publish(pm, meta_main.frame_id, vipc_dropped_frames, *model_output, meta_main.timestamp_eof, live_calib_seen);
     }
 
-    //printf("model process: %.2fms, from last %.2fms, vipc_frame_id %u, frame_id, %u, frame_drop %.3f\n", mt2 - mt1, mt1 - last, extra.frame_id, frame_id, frame_drop_ratio);
-    last = mt1;
+    // printf("model process: %.2fms, from last %.2fms, vipc_frame_id %u, frame_id, %u, frame_drop %.3f\n", mt2 - mt1, mt1 - last, extra.frame_id, frame_id, frame_drop_ratio);
+    // last = mt1;
     last_vipc_frame_id = meta_main.frame_id;
   }
 }
@@ -179,9 +217,6 @@ int main(int argc, char **argv) {
     assert(ret == 0);
   }
 
-  bool main_wide_camera = Params().getBool("WideCameraOnly");
-  bool use_extra_client = !main_wide_camera;  // set for single camera mode
-
   // cl init
   cl_device_id device_id = cl_get_device_id(CL_DEVICE_TYPE_DEFAULT);
   cl_context context = CL_CHECK_ERR(clCreateContext(NULL, 1, &device_id, NULL, NULL, &err));
@@ -191,8 +226,22 @@ int main(int argc, char **argv) {
   model_init(&model, device_id, context);
   LOGW("models loaded, modeld starting");
 
+  bool main_wide_camera = false;
+  bool use_extra_client = true; // set to false to use single camera
+  while (!do_exit) {
+    auto streams = VisionIpcClient::getAvailableStreams("camerad", false);
+    if (!streams.empty()) {
+      use_extra_client = streams.count(VISION_STREAM_WIDE_ROAD) > 0 && streams.count(VISION_STREAM_ROAD) > 0;
+      main_wide_camera = streams.count(VISION_STREAM_ROAD) == 0;
+      break;
+    }
+
+    util::sleep_for(100);
+  }
+
   VisionIpcClient vipc_client_main = VisionIpcClient("camerad", main_wide_camera ? VISION_STREAM_WIDE_ROAD : VISION_STREAM_ROAD, true, device_id, context);
   VisionIpcClient vipc_client_extra = VisionIpcClient("camerad", VISION_STREAM_WIDE_ROAD, false, device_id, context);
+  LOGW("vision stream set up, main_wide_camera: %d, use_extra_client: %d", main_wide_camera, use_extra_client);
 
   while (!do_exit && !vipc_client_main.connect(false)) {
     util::sleep_for(100);
@@ -206,11 +255,11 @@ int main(int argc, char **argv) {
   // vipc_client.connected is false only when do_exit is true
   if (!do_exit) {
     const VisionBuf *b = &vipc_client_main.buffers[0];
-    LOGW("connected main cam with buffer size: %d (%d x %d)", b->len, b->width, b->height);
+    LOGW("connected main cam with buffer size: %zu (%zu x %zu)", b->len, b->width, b->height);
 
     if (use_extra_client) {
       const VisionBuf *wb = &vipc_client_extra.buffers[0];
-      LOGW("connected extra cam with buffer size: %d (%d x %d)", wb->len, wb->width, wb->height);
+      LOGW("connected extra cam with buffer size: %zu (%zu x %zu)", wb->len, wb->width, wb->height);
     }
 
     run_model(model, vipc_client_main, vipc_client_extra, main_wide_camera, use_extra_client);
diff --git a/selfdrive/modeld/models/README.md b/selfdrive/modeld/models/README.md
index 04964f3eab..11808ef552 100644
--- a/selfdrive/modeld/models/README.md
+++ b/selfdrive/modeld/models/README.md
@@ -32,7 +32,7 @@ Read [here](https://github.com/commaai/openpilot/blob/90af436a121164a51da9fa48d0
 * .dlc file is a pre-quantized model and only runs on qualcomm DSPs
 
 ### input format
-* single image W = 1440  H = 960 represented in planar YUV420 format:
+* single image W = 1440 H = 960 luminance channel (Y) from the planar YUV420 format:
   * full input size is 1440 * 960 = 1382400
   * normalized ranging from 0.0 to 1.0 in float32 (onnx runner) or ranging from 0 to 255 in uint8 (snpe runner)
 * camera calibration angles (roll, pitch, yaw) from liveCalibration: 3 x float32 inputs
diff --git a/selfdrive/modeld/models/dmonitoring.cc b/selfdrive/modeld/models/dmonitoring.cc
index e7e6d46612..eb5239bef0 100644
--- a/selfdrive/modeld/models/dmonitoring.cc
+++ b/selfdrive/modeld/models/dmonitoring.cc
@@ -1,7 +1,5 @@
 #include <cstring>
 
-#include "libyuv.h"
-
 #include "common/mat.h"
 #include "common/modeldata.h"
 #include "common/params.h"
@@ -22,12 +20,13 @@ static inline T *get_buffer(std::vector<T> &buf, const size_t size) {
 void dmonitoring_init(DMonitoringModelState* s) {
 
 #ifdef USE_ONNX_MODEL
-  s->m = new ONNXModel("models/dmonitoring_model.onnx", &s->output[0], OUTPUT_SIZE, USE_DSP_RUNTIME, false, true);
+  s->m = new ONNXModel("models/dmonitoring_model.onnx", &s->output[0], OUTPUT_SIZE, USE_DSP_RUNTIME, true);
 #else
-  s->m = new SNPEModel("models/dmonitoring_model_q.dlc", &s->output[0], OUTPUT_SIZE, USE_DSP_RUNTIME, false, true);
+  s->m = new SNPEModel("models/dmonitoring_model_q.dlc", &s->output[0], OUTPUT_SIZE, USE_DSP_RUNTIME, true);
 #endif
 
-  s->m->addCalib(s->calib, CALIB_LEN);
+  s->m->addInput("input_imgs", NULL, 0);
+  s->m->addInput("calib", s->calib, CALIB_LEN);
 }
 
 void parse_driver_data(DriverStateResult &ds_res, const DMonitoringModelState* s, int out_idx_offset) {
@@ -92,7 +91,7 @@ DMonitoringModelResult dmonitoring_eval_frame(DMonitoringModelState* s, void* st
   // fclose(dump_yuv_file);
 
   double t1 = millis_since_boot();
-  s->m->addImage((float*)net_input_buf, yuv_buf_len / 4);
+  s->m->setInputBuffer("input_imgs", (float*)net_input_buf, yuv_buf_len / sizeof(float));
   for (int i = 0; i < CALIB_LEN; i++) {
     s->calib[i] = calib[i];
   }
diff --git a/selfdrive/modeld/models/driving.cc b/selfdrive/modeld/models/driving.cc
index 6b0e626c5c..fb42fcd4f9 100644
--- a/selfdrive/modeld/models/driving.cc
+++ b/selfdrive/modeld/models/driving.cc
@@ -13,12 +13,6 @@
 #include "common/timing.h"
 #include "common/swaglog.h"
 
-constexpr float FCW_THRESHOLD_5MS2_HIGH = 0.15;
-constexpr float FCW_THRESHOLD_5MS2_LOW = 0.05;
-constexpr float FCW_THRESHOLD_3MS2 = 0.7;
-
-std::array<float, 5> prev_brake_5ms2_probs = {0,0,0,0,0};
-std::array<float, 3> prev_brake_3ms2_probs = {0,0,0};
 
 // #define DUMP_YUV
 
@@ -33,32 +27,37 @@ void model_init(ModelState* s, cl_device_id device_id, cl_context context) {
 #else
   s->m = std::make_unique<SNPEModel>("models/supercombo.dlc",
 #endif
-   &s->output[0], NET_OUTPUT_SIZE, USE_GPU_RUNTIME, true, false, context);
+   &s->output[0], NET_OUTPUT_SIZE, USE_GPU_RUNTIME, false, context);
 
-#ifdef TEMPORAL
-  s->m->addRecurrent(&s->feature_buffer[0], TEMPORAL_SIZE);
-#endif
+  s->m->addInput("input_imgs", NULL, 0);
+  s->m->addInput("big_input_imgs", NULL, 0);
 
+  // TODO: the input is important here, still need to fix this
 #ifdef DESIRE
-  s->m->addDesire(s->pulse_desire, DESIRE_LEN*(HISTORY_BUFFER_LEN+1));
+  s->m->addInput("desire_pulse", s->pulse_desire, DESIRE_LEN*(HISTORY_BUFFER_LEN+1));
 #endif
 
 #ifdef TRAFFIC_CONVENTION
-  s->m->addTrafficConvention(s->traffic_convention, TRAFFIC_CONVENTION_LEN);
+  s->m->addInput("traffic_convention", s->traffic_convention, TRAFFIC_CONVENTION_LEN);
 #endif
 
 #ifdef DRIVING_STYLE
-  s->m->addDrivingStyle(s->driving_style, DRIVING_STYLE_LEN);
+  s->m->addInput("driving_style", s->driving_style, DRIVING_STYLE_LEN);
 #endif
 
 #ifdef NAV
-  s->m->addNavFeatures(s->nav_features, NAV_FEATURE_LEN);
+  s->m->addInput("nav_features", s->nav_features, NAV_FEATURE_LEN);
+  s->m->addInput("nav_instructions", s->nav_instructions, NAV_INSTRUCTION_LEN);
+#endif
+
+#ifdef TEMPORAL
+  s->m->addInput("feature_buffer", &s->feature_buffer[0], TEMPORAL_SIZE);
 #endif
 
 }
 
-ModelOutput* model_eval_frame(ModelState* s, VisionBuf* buf, VisionBuf* wbuf,
-                              const mat3 &transform, const mat3 &transform_wide, float *desire_in, bool is_rhd, float *driving_style, float *nav_features, bool prepare_only) {
+ModelOutput* model_eval_frame(ModelState* s, VisionBuf* buf, VisionBuf* wbuf, const mat3 &transform, const mat3 &transform_wide,
+                              float *desire_in, bool is_rhd, float *driving_style, float *nav_features, float *nav_instructions, bool prepare_only) {
 #ifdef DESIRE
   std::memmove(&s->pulse_desire[0], &s->pulse_desire[DESIRE_LEN], sizeof(float) * DESIRE_LEN*HISTORY_BUFFER_LEN);
   if (desire_in != NULL) {
@@ -78,6 +77,7 @@ LOGT("Desire enqueued");
 
 #ifdef NAV
   std::memcpy(s->nav_features, nav_features, sizeof(float)*NAV_FEATURE_LEN);
+  std::memcpy(s->nav_instructions, nav_instructions, sizeof(float)*NAV_INSTRUCTION_LEN);
 #endif
 
 #ifdef DRIVING_STYLE
@@ -89,13 +89,13 @@ LOGT("Desire enqueued");
   s->traffic_convention[1-rhd_idx] = 0.0;
 
   // if getInputBuf is not NULL, net_input_buf will be
-  auto net_input_buf = s->frame->prepare(buf->buf_cl, buf->width, buf->height, buf->stride, buf->uv_offset, transform, static_cast<cl_mem*>(s->m->getInputBuf()));
-  s->m->addImage(net_input_buf, s->frame->buf_size);
+  auto net_input_buf = s->frame->prepare(buf->buf_cl, buf->width, buf->height, buf->stride, buf->uv_offset, transform, static_cast<cl_mem*>(s->m->getCLBuffer("input_imgs")));
+  s->m->setInputBuffer("input_imgs", net_input_buf, s->frame->buf_size);
   LOGT("Image added");
 
   if (wbuf != nullptr) {
-    auto net_extra_buf = s->wide_frame->prepare(wbuf->buf_cl, wbuf->width, wbuf->height, wbuf->stride, wbuf->uv_offset, transform_wide, static_cast<cl_mem*>(s->m->getExtraBuf()));
-    s->m->addExtra(net_extra_buf, s->wide_frame->buf_size);
+    auto net_extra_buf = s->wide_frame->prepare(wbuf->buf_cl, wbuf->width, wbuf->height, wbuf->stride, wbuf->uv_offset, transform_wide, static_cast<cl_mem*>(s->m->getCLBuffer("big_input_imgs")));
+    s->m->setInputBuffer("big_input_imgs", net_extra_buf, s->wide_frame->buf_size);
     LOGT("Extra image added");
   }
 
@@ -148,7 +148,7 @@ void fill_lead(cereal::ModelDataV2::LeadDataV3::Builder lead, const ModelOutputL
   lead.setAStd(to_kj_array_ptr(lead_a_std));
 }
 
-void fill_meta(cereal::ModelDataV2::MetaData::Builder meta, const ModelOutputMeta &meta_data) {
+void fill_meta(cereal::ModelDataV2::MetaData::Builder meta, const ModelOutputMeta &meta_data, PublishState &ps) {
   std::array<float, DESIRE_LEN> desire_state_softmax;
   softmax(meta_data.desire_state_prob.array.data(), desire_state_softmax.data(), DESIRE_LEN);
 
@@ -170,18 +170,18 @@ void fill_meta(cereal::ModelDataV2::MetaData::Builder meta, const ModelOutputMet
     //gas_pressed_sigmoid[i] = sigmoid(meta_data.disengage_prob[i].gas_pressed);
   }
 
-  std::memmove(prev_brake_5ms2_probs.data(), &prev_brake_5ms2_probs[1], 4*sizeof(float));
-  std::memmove(prev_brake_3ms2_probs.data(), &prev_brake_3ms2_probs[1], 2*sizeof(float));
-  prev_brake_5ms2_probs[4] = brake_5ms2_sigmoid[0];
-  prev_brake_3ms2_probs[2] = brake_3ms2_sigmoid[0];
+  std::memmove(ps.prev_brake_5ms2_probs.data(), &ps.prev_brake_5ms2_probs[1], 4*sizeof(float));
+  std::memmove(ps.prev_brake_3ms2_probs.data(), &ps.prev_brake_3ms2_probs[1], 2*sizeof(float));
+  ps.prev_brake_5ms2_probs[4] = brake_5ms2_sigmoid[0];
+  ps.prev_brake_3ms2_probs[2] = brake_3ms2_sigmoid[0];
 
   bool above_fcw_threshold = true;
-  for (int i=0; i<prev_brake_5ms2_probs.size(); i++) {
+  for (int i=0; i<ps.prev_brake_5ms2_probs.size(); i++) {
     float threshold = i < 2 ? FCW_THRESHOLD_5MS2_LOW : FCW_THRESHOLD_5MS2_HIGH;
-    above_fcw_threshold = above_fcw_threshold && prev_brake_5ms2_probs[i] > threshold;
+    above_fcw_threshold = above_fcw_threshold && ps.prev_brake_5ms2_probs[i] > threshold;
   }
-  for (int i=0; i<prev_brake_3ms2_probs.size(); i++) {
-    above_fcw_threshold = above_fcw_threshold && prev_brake_3ms2_probs[i] > FCW_THRESHOLD_3MS2;
+  for (int i=0; i<ps.prev_brake_3ms2_probs.size(); i++) {
+    above_fcw_threshold = above_fcw_threshold && ps.prev_brake_3ms2_probs[i] > FCW_THRESHOLD_3MS2;
   }
 
   auto disengage = meta.initDisengagePredictions();
@@ -199,6 +199,44 @@ void fill_meta(cereal::ModelDataV2::MetaData::Builder meta, const ModelOutputMet
   meta.setHardBrakePredicted(above_fcw_threshold);
 }
 
+void fill_confidence(cereal::ModelDataV2::Builder &framed, PublishState &ps) {
+  if (framed.getFrameId() % (2*MODEL_FREQ) == 0) {
+    // update every 2s to match predictions interval
+    auto dbps = framed.getMeta().getDisengagePredictions().getBrakeDisengageProbs();
+    auto dgps = framed.getMeta().getDisengagePredictions().getGasDisengageProbs();
+    auto dsps = framed.getMeta().getDisengagePredictions().getSteerOverrideProbs();
+
+    float any_dp[DISENGAGE_LEN];
+    float dp_ind[DISENGAGE_LEN];
+
+    for (int i = 0; i < DISENGAGE_LEN; i++) {
+      any_dp[i] = 1 - ((1-dbps[i])*(1-dgps[i])*(1-dsps[i])); // any disengage prob
+    }
+
+    dp_ind[0] = any_dp[0];
+    for (int i = 0; i < DISENGAGE_LEN-1; i++) {
+      dp_ind[i+1] = (any_dp[i+1] - any_dp[i]) / (1 - any_dp[i]); // independent disengage prob for each 2s slice
+    }
+
+    // rolling buf for 2, 4, 6, 8, 10s
+    std::memmove(&ps.disengage_buffer[0], &ps.disengage_buffer[DISENGAGE_LEN], sizeof(float) * DISENGAGE_LEN * (DISENGAGE_LEN-1));
+    std::memcpy(&ps.disengage_buffer[DISENGAGE_LEN * (DISENGAGE_LEN-1)], &dp_ind[0], sizeof(float) * DISENGAGE_LEN);
+  }
+
+  float score = 0;
+  for (int i = 0; i < DISENGAGE_LEN; i++) {
+    score += ps.disengage_buffer[i*DISENGAGE_LEN+DISENGAGE_LEN-1-i] / DISENGAGE_LEN;
+  }
+
+  if (score < RYG_GREEN) {
+    framed.setConfidence(cereal::ModelDataV2::ConfidenceClass::GREEN);
+  } else if (score < RYG_YELLOW) {
+    framed.setConfidence(cereal::ModelDataV2::ConfidenceClass::YELLOW);
+  } else {
+    framed.setConfidence(cereal::ModelDataV2::ConfidenceClass::RED);
+  }
+}
+
 template<size_t size>
 void fill_xyzt(cereal::XYZTData::Builder xyzt, const std::array<float, size> &t,
                const std::array<float, size> &x, const std::array<float, size> &y, const std::array<float, size> &z) {
@@ -313,7 +351,7 @@ void fill_road_edges(cereal::ModelDataV2::Builder &framed, const std::array<floa
   });
 }
 
-void fill_model(cereal::ModelDataV2::Builder &framed, const ModelOutput &net_outputs) {
+void fill_model(cereal::ModelDataV2::Builder &framed, const ModelOutput &net_outputs, PublishState &ps) {
   const auto &best_plan = net_outputs.plans.get_best_prediction();
   std::array<float, TRAJECTORY_SIZE> plan_t;
   std::fill_n(plan_t.data(), plan_t.size(), NAN);
@@ -341,7 +379,10 @@ void fill_model(cereal::ModelDataV2::Builder &framed, const ModelOutput &net_out
   fill_road_edges(framed, plan_t, net_outputs.road_edges);
 
   // meta
-  fill_meta(framed.initMeta(), net_outputs.meta);
+  fill_meta(framed.initMeta(), net_outputs.meta, ps);
+
+  // confidence
+  fill_confidence(framed, ps);
 
   // leads
   auto leads = framed.initLeadsV3(LEAD_MHP_SELECTION);
@@ -363,8 +404,8 @@ void fill_model(cereal::ModelDataV2::Builder &framed, const ModelOutput &net_out
 }
 
 void model_publish(PubMaster &pm, uint32_t vipc_frame_id, uint32_t vipc_frame_id_extra, uint32_t frame_id, float frame_drop,
-                   const ModelOutput &net_outputs, uint64_t timestamp_eof,
-                   float model_execution_time, kj::ArrayPtr<const float> raw_pred, const bool valid) {
+                   const ModelOutput &net_outputs, ModelState &s, PublishState &ps, uint64_t timestamp_eof, uint64_t timestamp_llk,
+                   float model_execution_time, const bool nav_enabled, const bool valid) {
   const uint32_t frame_age = (frame_id > vipc_frame_id) ? (frame_id - vipc_frame_id) : 0;
   MessageBuilder msg;
   auto framed = msg.initEvent(valid).initModelV2();
@@ -373,11 +414,13 @@ void model_publish(PubMaster &pm, uint32_t vipc_frame_id, uint32_t vipc_frame_id
   framed.setFrameAge(frame_age);
   framed.setFrameDropPerc(frame_drop * 100);
   framed.setTimestampEof(timestamp_eof);
+  framed.setLocationMonoTime(timestamp_llk);
   framed.setModelExecutionTime(model_execution_time);
+  framed.setNavEnabled(nav_enabled);
   if (send_raw_pred) {
-    framed.setRawPredictions(raw_pred.asBytes());
+    framed.setRawPredictions((kj::ArrayPtr<const float>(s.output.data(), s.output.size())).asBytes());
   }
-  fill_model(framed, net_outputs);
+  fill_model(framed, net_outputs, ps);
   pm.send("modelV2", msg);
 }
 
diff --git a/selfdrive/modeld/models/driving.h b/selfdrive/modeld/models/driving.h
index 1214c30062..53f81ccde1 100644
--- a/selfdrive/modeld/models/driving.h
+++ b/selfdrive/modeld/models/driving.h
@@ -39,6 +39,10 @@ constexpr int LEAD_MHP_SELECTION = 3;
 // Padding to get output shape as multiple of 4
 constexpr int PAD_SIZE = 2;
 
+constexpr float FCW_THRESHOLD_5MS2_HIGH = 0.15;
+constexpr float FCW_THRESHOLD_5MS2_LOW = 0.05;
+constexpr float FCW_THRESHOLD_3MS2 = 0.7;
+
 struct ModelOutputXYZ {
   float x;
   float y;
@@ -276,15 +280,22 @@ struct ModelState {
 #endif
 #ifdef NAV
   float nav_features[NAV_FEATURE_LEN] = {};
+  float nav_instructions[NAV_INSTRUCTION_LEN] = {};
 #endif
 };
 
+struct PublishState {
+  std::array<float, DISENGAGE_LEN * DISENGAGE_LEN> disengage_buffer = {};
+  std::array<float, 5> prev_brake_5ms2_probs = {};
+  std::array<float, 3> prev_brake_3ms2_probs = {};
+};
+
 void model_init(ModelState* s, cl_device_id device_id, cl_context context);
-ModelOutput *model_eval_frame(ModelState* s, VisionBuf* buf, VisionBuf* buf_wide,
-                              const mat3 &transform, const mat3 &transform_wide, float *desire_in, bool is_rhd, float *driving_style, float *nav_features, bool prepare_only);
+ModelOutput *model_eval_frame(ModelState* s, VisionBuf* buf, VisionBuf* buf_wide, const mat3 &transform, const mat3 &transform_wide,
+                              float *desire_in, bool is_rhd, float *driving_style, float *nav_features, float *nav_instructions, bool prepare_only);
 void model_free(ModelState* s);
 void model_publish(PubMaster &pm, uint32_t vipc_frame_id, uint32_t vipc_frame_id_extra, uint32_t frame_id, float frame_drop,
-                   const ModelOutput &net_outputs, uint64_t timestamp_eof,
-                   float model_execution_time, kj::ArrayPtr<const float> raw_pred, const bool valid);
+                   const ModelOutput &net_outputs, ModelState &s, PublishState &ps, uint64_t timestamp_eof, uint64_t timestamp_llk,
+                   float model_execution_time, const bool nav_enabled, const bool valid);
 void posenet_publish(PubMaster &pm, uint32_t vipc_frame_id, uint32_t vipc_dropped_frames,
                      const ModelOutput &net_outputs, uint64_t timestamp_eof, const bool valid);
diff --git a/selfdrive/modeld/models/nav.cc b/selfdrive/modeld/models/nav.cc
index 861795e172..8208b0bfef 100644
--- a/selfdrive/modeld/models/nav.cc
+++ b/selfdrive/modeld/models/nav.cc
@@ -10,17 +10,19 @@
 
 void navmodel_init(NavModelState* s) {
   #ifdef USE_ONNX_MODEL
-    s->m = new ONNXModel("models/navmodel.onnx", &s->output[0], NAV_NET_OUTPUT_SIZE, USE_DSP_RUNTIME, false, true);
+    s->m = new ONNXModel("models/navmodel.onnx", &s->output[0], NAV_NET_OUTPUT_SIZE, USE_DSP_RUNTIME, true);
   #else
-    s->m = new SNPEModel("models/navmodel_q.dlc", &s->output[0], NAV_NET_OUTPUT_SIZE, USE_DSP_RUNTIME, false, true);
+    s->m = new SNPEModel("models/navmodel_q.dlc", &s->output[0], NAV_NET_OUTPUT_SIZE, USE_DSP_RUNTIME, true);
   #endif
+
+  s->m->addInput("map", NULL, 0);
 }
 
 NavModelResult* navmodel_eval_frame(NavModelState* s, VisionBuf* buf) {
   memcpy(s->net_input_buf, buf->addr, NAV_INPUT_SIZE);
 
   double t1 = millis_since_boot();
-  s->m->addImage((float*)s->net_input_buf, NAV_INPUT_SIZE/sizeof(float));
+  s->m->setInputBuffer("map", (float*)s->net_input_buf, NAV_INPUT_SIZE/sizeof(float));
   s->m->execute();
   double t2 = millis_since_boot();
 
@@ -47,11 +49,14 @@ void fill_plan(cereal::NavModelData::Builder &framed, const NavModelOutputPlan &
   position.setYStd(to_kj_array_ptr(pos_y_std));
 }
 
-void navmodel_publish(PubMaster &pm, uint32_t frame_id, const NavModelResult &model_res, float execution_time) {
+void navmodel_publish(PubMaster &pm, VisionIpcBufExtra &extra, const NavModelResult &model_res, float execution_time, bool route_valid) {
   // make msg
   MessageBuilder msg;
-  auto framed = msg.initEvent().initNavModel();
-  framed.setFrameId(frame_id);
+  auto evt = msg.initEvent();
+  auto framed = evt.initNavModel();
+  evt.setValid(extra.valid && route_valid);
+  framed.setFrameId(extra.frame_id);
+  framed.setLocationMonoTime(extra.timestamp_sof);
   framed.setModelExecutionTime(execution_time);
   framed.setDspExecutionTime(model_res.dsp_execution_time);
   framed.setFeatures(to_kj_array_ptr(model_res.features.values));
diff --git a/selfdrive/modeld/models/nav.h b/selfdrive/modeld/models/nav.h
index b2955ad2c5..800abec252 100644
--- a/selfdrive/modeld/models/nav.h
+++ b/selfdrive/modeld/models/nav.h
@@ -8,7 +8,8 @@
 #include "selfdrive/modeld/runners/run.h"
 
 constexpr int NAV_INPUT_SIZE = 256*256;
-constexpr int NAV_FEATURE_LEN = 64;
+constexpr int NAV_FEATURE_LEN = 256;
+constexpr int NAV_INSTRUCTION_LEN = 150;
 constexpr int NAV_DESIRE_LEN = 32;
 
 struct NavModelOutputXY {
@@ -52,5 +53,5 @@ struct NavModelState {
 
 void navmodel_init(NavModelState* s);
 NavModelResult* navmodel_eval_frame(NavModelState* s, VisionBuf* buf);
-void navmodel_publish(PubMaster &pm, uint32_t frame_id, const NavModelResult &model_res, float execution_time);
+void navmodel_publish(PubMaster &pm, VisionIpcBufExtra &extra, const NavModelResult &model_res, float execution_time, bool route_valid);
 void navmodel_free(NavModelState* s);
diff --git a/selfdrive/modeld/models/navmodel.onnx b/selfdrive/modeld/models/navmodel.onnx
index 397b8d90e2..3b0961537e 100644
--- a/selfdrive/modeld/models/navmodel.onnx
+++ b/selfdrive/modeld/models/navmodel.onnx
@@ -1,3 +1,3 @@
 version https://git-lfs.github.com/spec/v1
-oid sha256:9028b36a591763724e95205b48f37f09260b4434fb1f3c6f228db1710a401aa8
-size 12258591
+oid sha256:adc5aca6753b6ae0a1469f3e5bcb943d00cc9de75218489f2e4c3d960e7af048
+size 14138061
diff --git a/selfdrive/modeld/models/navmodel_q.dlc b/selfdrive/modeld/models/navmodel_q.dlc
index 984cf0a553..e878ec25af 100644
--- a/selfdrive/modeld/models/navmodel_q.dlc
+++ b/selfdrive/modeld/models/navmodel_q.dlc
@@ -1,3 +1,3 @@
 version https://git-lfs.github.com/spec/v1
-oid sha256:bc7ade56bb4f9525c84a46df22252ea1e321a0518cbcef8bdfc76ccd8ad10b41
-size 3154304
+oid sha256:c808717d073a0bb347f9ba929953c0b2b792ce9997f343f7e44a0b2b0e139132
+size 3630942
diff --git a/selfdrive/modeld/models/supercombo.onnx b/selfdrive/modeld/models/supercombo.onnx
index 53c1224ae8..88f19a7d28 100644
--- a/selfdrive/modeld/models/supercombo.onnx
+++ b/selfdrive/modeld/models/supercombo.onnx
@@ -1,3 +1,3 @@
 version https://git-lfs.github.com/spec/v1
-oid sha256:4aa77af40335462062c6eb06632bb84cbc8e5c9e3ad759f66862711620e2a840
-size 46117948
+oid sha256:c63ea3eb6c9b5a20c7420c2dc6d6d0f80a6949a39f6d8b74e574f52734154820
+size 47654714
diff --git a/selfdrive/modeld/navmodeld.cc b/selfdrive/modeld/navmodeld.cc
index 75f2c62ab3..4610f503d1 100644
--- a/selfdrive/modeld/navmodeld.cc
+++ b/selfdrive/modeld/navmodeld.cc
@@ -5,6 +5,7 @@
 #include <cstdlib>
 
 #include "cereal/visionipc/visionipc_client.h"
+#include "common/params.h"
 #include "common/swaglog.h"
 #include "common/util.h"
 #include "selfdrive/modeld/models/nav.h"
@@ -12,32 +13,42 @@
 ExitHandler do_exit;
 
 void run_model(NavModelState &model, VisionIpcClient &vipc_client) {
+  SubMaster sm({"navInstruction"});
   PubMaster pm({"navModel"});
 
-  double last_ts = 0;
-  uint32_t last_frame_id = 0;
+  //double last_ts = 0;
+  //uint32_t last_frame_id = 0;
   VisionIpcBufExtra extra = {};
 
   while (!do_exit) {
     VisionBuf *buf = vipc_client.recv(&extra);
     if (buf == nullptr) continue;
 
+    sm.update(0);
+
     double t1 = millis_since_boot();
     NavModelResult *model_res = navmodel_eval_frame(&model, buf);
     double t2 = millis_since_boot();
 
     // send navmodel packet
-    navmodel_publish(pm, extra.frame_id, *model_res, (t2 - t1) / 1000.0);
+    navmodel_publish(pm, extra, *model_res, (t2 - t1) / 1000.0, sm["navInstruction"].getValid());
 
     //printf("navmodel process: %.2fms, from last %.2fms\n", t2 - t1, t1 - last_ts);
-    last_ts = t1;
-    last_frame_id = extra.frame_id;
+    //last_ts = t1;
+    //last_frame_id = extra.frame_id;
   }
 }
 
 int main(int argc, char **argv) {
   setpriority(PRIO_PROCESS, 0, -15);
 
+  // there exists a race condition when two processes try to create a
+  // SNPE model runner at the same time, wait for dmonitoringmodeld to finish
+  LOGW("waiting for dmonitoringmodeld to initialize");
+  if (!Params().getBool("DmModelInitialized", true)) {
+    return 0;
+  }
+
   // init the models
   NavModelState model;
   navmodel_init(&model);
@@ -50,7 +61,7 @@ int main(int argc, char **argv) {
 
   // run the models
   if (vipc_client.connected) {
-    LOGW("connected with buffer size: %d", vipc_client.buffers[0].len);
+    LOGW("connected with buffer size: %zu", vipc_client.buffers[0].len);
     run_model(model, vipc_client);
   }
 
diff --git a/selfdrive/modeld/runners/onnx_runner.py b/selfdrive/modeld/runners/onnx_runner.py
index d4a11a7c0b..8e45760a3e 100755
--- a/selfdrive/modeld/runners/onnx_runner.py
+++ b/selfdrive/modeld/runners/onnx_runner.py
@@ -3,11 +3,12 @@
 import os
 import sys
 import numpy as np
+from typing import Tuple, Dict, Union, Any
 
 os.environ["OMP_NUM_THREADS"] = "4"
 os.environ["OMP_WAIT_POLICY"] = "PASSIVE"
 
-import onnxruntime as ort # pylint: disable=import-error
+import onnxruntime as ort
 
 ORT_TYPES_TO_NP_TYPES = {'tensor(float16)': np.float16, 'tensor(float)': np.float32, 'tensor(uint8)': np.uint8}
 
@@ -55,14 +56,15 @@ if __name__ == "__main__":
   print("Onnx available providers: ", ort.get_available_providers(), file=sys.stderr)
   options = ort.SessionOptions()
   options.graph_optimization_level = ort.GraphOptimizationLevel.ORT_DISABLE_ALL
+
+  provider: Union[str, Tuple[str, Dict[Any, Any]]]
   if 'OpenVINOExecutionProvider' in ort.get_available_providers() and 'ONNXCPU' not in os.environ:
     provider = 'OpenVINOExecutionProvider'
   elif 'CUDAExecutionProvider' in ort.get_available_providers() and 'ONNXCPU' not in os.environ:
     options.intra_op_num_threads = 2
-    provider = 'CUDAExecutionProvider'
+    provider = ('CUDAExecutionProvider', {'cudnn_conv_algo_search': 'DEFAULT'})
   else:
     options.intra_op_num_threads = 2
-    options.inter_op_num_threads = 8
     options.execution_mode = ort.ExecutionMode.ORT_SEQUENTIAL
     options.graph_optimization_level = ort.GraphOptimizationLevel.ORT_ENABLE_ALL
     provider = 'CPUExecutionProvider'
diff --git a/selfdrive/modeld/runners/onnxmodel.cc b/selfdrive/modeld/runners/onnxmodel.cc
index a5a83bccdc..48c16457fd 100644
--- a/selfdrive/modeld/runners/onnxmodel.cc
+++ b/selfdrive/modeld/runners/onnxmodel.cc
@@ -1,25 +1,18 @@
 #include "selfdrive/modeld/runners/onnxmodel.h"
 
-#include <poll.h>
-#include <unistd.h>
-
-#include <cassert>
 #include <csignal>
 #include <cstdio>
 #include <cstdlib>
-#include <cstring>
-#include <stdexcept>
-#include <string>
+#include <poll.h>
+#include <unistd.h>
 
-#include "common/swaglog.h"
 #include "common/util.h"
 
-ONNXModel::ONNXModel(const char *path, float *_output, size_t _output_size, int runtime, bool _use_extra, bool _use_tf8, cl_context context) {
-  LOGD("loading model %s", path);
+ONNXModel::ONNXModel(const std::string path, float *_output, size_t _output_size, int runtime, bool _use_tf8, cl_context context) {
+  LOGD("loading model %s", path.c_str());
 
   output = _output;
   output_size = _output_size;
-  use_extra = _use_extra;
   use_tf8 = _use_tf8;
 
   int err = pipe(pipein);
@@ -34,7 +27,7 @@ ONNXModel::ONNXModel(const char *path, float *_output, size_t _output_size, int
   proc_pid = fork();
   if (proc_pid == 0) {
     LOGD("spawning onnx process %s", onnx_runner.c_str());
-    char *argv[] = {(char*)onnx_runner.c_str(), (char*)path, (char*)tf8_arg.c_str(), nullptr};
+    char *argv[] = {(char*)onnx_runner.c_str(), (char*)path.c_str(), (char*)tf8_arg.c_str(), nullptr};
     dup2(pipein[0], 0);
     dup2(pipeout[1], 1);
     close(pipein[0]);
@@ -78,7 +71,7 @@ void ONNXModel::pread(float *buf, int size) {
     int err;
     err = poll(fds, 1, 10000);  // 10 second timeout
     assert(err == 1 || (err == -1 && errno == EINTR));
-    LOGD("host read remaining %d/%d poll %d", tr, size*sizeof(float), err);
+    LOGD("host read remaining %d/%lu poll %d", tr, size*sizeof(float), err);
     err = read(pipeout[0], cbuf, tr);
     assert(err > 0 || (err == 0 && errno == EINTR));
     cbuf += err;
@@ -87,72 +80,9 @@ void ONNXModel::pread(float *buf, int size) {
   LOGD("host read done");
 }
 
-void ONNXModel::addRecurrent(float *state, int state_size) {
-  rnn_input_buf = state;
-  rnn_state_size = state_size;
-}
-
-void ONNXModel::addDesire(float *state, int state_size) {
-  desire_input_buf = state;
-  desire_state_size = state_size;
-}
-
-void ONNXModel::addNavFeatures(float *state, int state_size) {
-  nav_features_input_buf = state;
-  nav_features_size = state_size;
-}
-
-void ONNXModel::addDrivingStyle(float *state, int state_size) {
-    driving_style_input_buf = state;
-    driving_style_size = state_size;
-}
-
-void ONNXModel::addTrafficConvention(float *state, int state_size) {
-  traffic_convention_input_buf = state;
-  traffic_convention_size = state_size;
-}
-
-void ONNXModel::addCalib(float *state, int state_size) {
-  calib_input_buf = state;
-  calib_size = state_size;
-}
-
-void ONNXModel::addImage(float *image_buf, int buf_size) {
-  image_input_buf = image_buf;
-  image_buf_size = buf_size;
-}
-
-void ONNXModel::addExtra(float *image_buf, int buf_size) {
-  extra_input_buf = image_buf;
-  extra_buf_size = buf_size;
-}
-
 void ONNXModel::execute() {
-  // order must be this
-  if (image_input_buf != NULL) {
-    pwrite(image_input_buf, image_buf_size);
-  }
-  if (extra_input_buf != NULL) {
-    pwrite(extra_input_buf, extra_buf_size);
-  }
-  if (desire_input_buf != NULL) {
-    pwrite(desire_input_buf, desire_state_size);
-  }
-  if (traffic_convention_input_buf != NULL) {
-    pwrite(traffic_convention_input_buf, traffic_convention_size);
-  }
-  if (driving_style_input_buf != NULL) {
-    pwrite(driving_style_input_buf, driving_style_size);
-  }
-  if (nav_features_input_buf != NULL) {
-    pwrite(nav_features_input_buf, nav_features_size);
-  }
-  if (calib_input_buf != NULL) {
-    pwrite(calib_input_buf, calib_size);
-  }
-  if (rnn_input_buf != NULL) {
-    pwrite(rnn_input_buf, rnn_state_size);
+  for (auto &input : inputs) {
+    pwrite(input->buffer, input->size);
   }
   pread(output, output_size);
 }
-
diff --git a/selfdrive/modeld/runners/onnxmodel.h b/selfdrive/modeld/runners/onnxmodel.h
index 9990bf1b45..6c325f644e 100644
--- a/selfdrive/modeld/runners/onnxmodel.h
+++ b/selfdrive/modeld/runners/onnxmodel.h
@@ -1,51 +1,21 @@
 #pragma once
 
-#include <cstdlib>
-
 #include "selfdrive/modeld/runners/runmodel.h"
 
 class ONNXModel : public RunModel {
 public:
-  ONNXModel(const char *path, float *output, size_t output_size, int runtime, bool use_extra = false, bool _use_tf8 = false, cl_context context = NULL);
+  ONNXModel(const std::string path, float *output, size_t output_size, int runtime, bool _use_tf8 = false, cl_context context = NULL);
 	~ONNXModel();
-  void addRecurrent(float *state, int state_size);
-  void addDesire(float *state, int state_size);
-  void addNavFeatures(float *state, int state_size);
-  void addDrivingStyle(float *state, int state_size);
-  void addTrafficConvention(float *state, int state_size);
-  void addCalib(float *state, int state_size);
-  void addImage(float *image_buf, int buf_size);
-  void addExtra(float *image_buf, int buf_size);
   void execute();
 private:
   int proc_pid;
-
   float *output;
   size_t output_size;
-
-  float *rnn_input_buf = NULL;
-  int rnn_state_size;
-  float *desire_input_buf = NULL;
-  int desire_state_size;
-  float *nav_features_input_buf = NULL;
-  int nav_features_size;
-  float *driving_style_input_buf = NULL;
-  int driving_style_size;
-  float *traffic_convention_input_buf = NULL;
-  int traffic_convention_size;
-  float *calib_input_buf = NULL;
-  int calib_size;
-  float *image_input_buf = NULL;
-  int image_buf_size;
   bool use_tf8;
-  float *extra_input_buf = NULL;
-  int extra_buf_size;
-  bool use_extra;
 
-  // pipe to communicate to keras subprocess
+  // pipe to communicate to onnx_runner subprocess
   void pread(float *buf, int size);
   void pwrite(float *buf, int size);
   int pipein[2];
   int pipeout[2];
 };
-
diff --git a/selfdrive/modeld/runners/runmodel.h b/selfdrive/modeld/runners/runmodel.h
index 673ddb50b5..00c88131bf 100644
--- a/selfdrive/modeld/runners/runmodel.h
+++ b/selfdrive/modeld/runners/runmodel.h
@@ -1,18 +1,45 @@
 #pragma once
+
+#include <string>
+#include <vector>
+#include <memory>
+#include <cassert>
+
 #include "common/clutil.h"
-class RunModel {
-public:
-  virtual ~RunModel() {}
-  virtual void addRecurrent(float *state, int state_size) {}
-  virtual void addDesire(float *state, int state_size) {}
-  virtual void addNavFeatures(float *state, int state_size) {}
-  virtual void addDrivingStyle(float *state, int state_size) {}
-  virtual void addTrafficConvention(float *state, int state_size) {}
-  virtual void addCalib(float *state, int state_size) {}
-  virtual void addImage(float *image_buf, int buf_size) {}
-  virtual void addExtra(float *image_buf, int buf_size) {}
-  virtual void execute() {}
-  virtual void* getInputBuf() { return nullptr; }
-  virtual void* getExtraBuf() { return nullptr; }
+#include "common/swaglog.h"
+
+struct ModelInput {
+  const std::string name;
+  float *buffer;
+  int size;
+
+  ModelInput(const std::string _name, float *_buffer, int _size) : name(_name), buffer(_buffer), size(_size) {}
+  virtual void setBuffer(float *_buffer, int _size) {
+    assert(size == _size || size == 0);
+    buffer = _buffer;
+    size = _size;
+  }
 };
 
+class RunModel {
+public:
+  std::vector<std::unique_ptr<ModelInput>> inputs;
+
+  virtual ~RunModel() {}
+  virtual void execute() {}
+  virtual void* getCLBuffer(const std::string name) { return nullptr; }
+
+  virtual void addInput(const std::string name, float *buffer, int size) {
+    inputs.push_back(std::unique_ptr<ModelInput>(new ModelInput(name, buffer, size)));
+  }
+  virtual void setInputBuffer(const std::string name, float *buffer, int size) {
+    for (auto &input : inputs) {
+      if (name == input->name) {
+        input->setBuffer(buffer, size);
+        return;
+      }
+    }
+    LOGE("Tried to update input `%s` but no input with this name exists", name.c_str());
+    assert(false);
+  }
+};
diff --git a/selfdrive/modeld/runners/snpemodel.cc b/selfdrive/modeld/runners/snpemodel.cc
index 609a7a6657..441122c522 100644
--- a/selfdrive/modeld/runners/snpemodel.cc
+++ b/selfdrive/modeld/runners/snpemodel.cc
@@ -2,8 +2,6 @@
 
 #include "selfdrive/modeld/runners/snpemodel.h"
 
-#include <cassert>
-#include <cstdlib>
 #include <cstring>
 
 #include "common/util.h"
@@ -14,20 +12,20 @@ void PrintErrorStringAndExit() {
   std::exit(EXIT_FAILURE);
 }
 
-SNPEModel::SNPEModel(const char *path, float *loutput, size_t loutput_size, int runtime, bool luse_extra, bool luse_tf8, cl_context context) {
-  output = loutput;
-  output_size = loutput_size;
-  use_extra = luse_extra;
-  use_tf8 = luse_tf8;
+SNPEModel::SNPEModel(const std::string path, float *_output, size_t _output_size, int runtime, bool _use_tf8, cl_context context) {
+  output = _output;
+  output_size = _output_size;
+  use_tf8 = _use_tf8;
+
 #ifdef QCOM2
-  if (runtime==USE_GPU_RUNTIME) {
-    Runtime = zdl::DlSystem::Runtime_t::GPU;
-  } else if (runtime==USE_DSP_RUNTIME) {
-    Runtime = zdl::DlSystem::Runtime_t::DSP;
+  if (runtime == USE_GPU_RUNTIME) {
+    snpe_runtime = zdl::DlSystem::Runtime_t::GPU;
+  } else if (runtime == USE_DSP_RUNTIME) {
+    snpe_runtime = zdl::DlSystem::Runtime_t::DSP;
   } else {
-    Runtime = zdl::DlSystem::Runtime_t::CPU;
+    snpe_runtime = zdl::DlSystem::Runtime_t::CPU;
   }
-  assert(zdl::SNPE::SNPEFactory::isRuntimeAvailable(Runtime));
+  assert(zdl::SNPE::SNPEFactory::isRuntimeAvailable(snpe_runtime));
 #endif
   model_data = util::read_file(path);
   assert(model_data.size() > 0);
@@ -35,175 +33,86 @@ SNPEModel::SNPEModel(const char *path, float *loutput, size_t loutput_size, int
   // load model
   std::unique_ptr<zdl::DlContainer::IDlContainer> container = zdl::DlContainer::IDlContainer::open((uint8_t*)model_data.data(), model_data.size());
   if (!container) { PrintErrorStringAndExit(); }
-  printf("loaded model with size: %lu\n", model_data.size());
+  LOGW("loaded model with size: %lu", model_data.size());
 
   // create model runner
-  zdl::SNPE::SNPEBuilder snpeBuilder(container.get());
+  zdl::SNPE::SNPEBuilder snpe_builder(container.get());
   while (!snpe) {
 #ifdef QCOM2
-    snpe = snpeBuilder.setOutputLayers({})
-                      .setRuntimeProcessor(Runtime)
-                      .setUseUserSuppliedBuffers(true)
-                      .setPerformanceProfile(zdl::DlSystem::PerformanceProfile_t::HIGH_PERFORMANCE)
-                      .build();
+    snpe = snpe_builder.setOutputLayers({})
+                       .setRuntimeProcessor(snpe_runtime)
+                       .setUseUserSuppliedBuffers(true)
+                       .setPerformanceProfile(zdl::DlSystem::PerformanceProfile_t::HIGH_PERFORMANCE)
+                       .build();
 #else
-    snpe = snpeBuilder.setOutputLayers({})
-                      .setUseUserSuppliedBuffers(true)
-                      .setPerformanceProfile(zdl::DlSystem::PerformanceProfile_t::HIGH_PERFORMANCE)
-                      .build();
+    snpe = snpe_builder.setOutputLayers({})
+                       .setUseUserSuppliedBuffers(true)
+                       .setPerformanceProfile(zdl::DlSystem::PerformanceProfile_t::HIGH_PERFORMANCE)
+                       .build();
 #endif
     if (!snpe) std::cerr << zdl::DlSystem::getLastErrorString() << std::endl;
   }
 
-  // get input and output names
-  const auto &strListi_opt = snpe->getInputTensorNames();
-  if (!strListi_opt) throw std::runtime_error("Error obtaining Input tensor names");
-  const auto &strListi = *strListi_opt;
-  //assert(strListi.size() == 1);
-  const char *input_tensor_name = strListi.at(0);
-
-  const auto &strListo_opt = snpe->getOutputTensorNames();
-  if (!strListo_opt) throw std::runtime_error("Error obtaining Output tensor names");
-  const auto &strListo = *strListo_opt;
-  assert(strListo.size() == 1);
-  const char *output_tensor_name = strListo.at(0);
-
-  printf("model: %s -> %s\n", input_tensor_name, output_tensor_name);
-
-  zdl::DlSystem::UserBufferEncodingFloat userBufferEncodingFloat;
-  zdl::DlSystem::UserBufferEncodingTf8 userBufferEncodingTf8(0, 1./255); // network takes 0-1
-  zdl::DlSystem::IUserBufferFactory& ubFactory = zdl::SNPE::SNPEFactory::getUserBufferFactory();
-  size_t size_of_input = use_tf8 ? sizeof(uint8_t) : sizeof(float);
-
-  // create input buffer
-  {
-    const auto &inputDims_opt = snpe->getInputDimensions(input_tensor_name);
-    const zdl::DlSystem::TensorShape& bufferShape = *inputDims_opt;
-    std::vector<size_t> strides(bufferShape.rank());
-    strides[strides.size() - 1] = size_of_input;
-    size_t product = 1;
-    for (size_t i = 0; i < bufferShape.rank(); i++) product *= bufferShape[i];
-    size_t stride = strides[strides.size() - 1];
-    for (size_t i = bufferShape.rank() - 1; i > 0; i--) {
-      stride *= bufferShape[i];
-      strides[i-1] = stride;
-    }
-    printf("input product is %lu\n", product);
-    inputBuffer = ubFactory.createUserBuffer(NULL,
-                                             product*size_of_input,
-                                             strides,
-                                             use_tf8 ? (zdl::DlSystem::UserBufferEncoding*)&userBufferEncodingTf8 : (zdl::DlSystem::UserBufferEncoding*)&userBufferEncodingFloat);
-
-    inputMap.add(input_tensor_name, inputBuffer.get());
-  }
-
-  if (use_extra) {
-    const char *extra_tensor_name = strListi.at(1);
-    const auto &extraDims_opt = snpe->getInputDimensions(extra_tensor_name);
-    const zdl::DlSystem::TensorShape& bufferShape = *extraDims_opt;
-    std::vector<size_t> strides(bufferShape.rank());
-    strides[strides.size() - 1] = sizeof(float);
-    size_t product = 1;
-    for (size_t i = 0; i < bufferShape.rank(); i++) product *= bufferShape[i];
-    size_t stride = strides[strides.size() - 1];
-    for (size_t i = bufferShape.rank() - 1; i > 0; i--) {
-      stride *= bufferShape[i];
-      strides[i-1] = stride;
-    }
-    printf("extra product is %lu\n", product);
-    extraBuffer = ubFactory.createUserBuffer(NULL, product*sizeof(float), strides, &userBufferEncodingFloat);
-
-    inputMap.add(extra_tensor_name, extraBuffer.get());
-  }
-
   // create output buffer
-  {
-    const zdl::DlSystem::TensorShape& bufferShape = snpe->getInputOutputBufferAttributes(output_tensor_name)->getDims();
-    if (output_size != 0) {
-      assert(output_size == bufferShape[1]);
-    } else {
-      output_size = bufferShape[1];
-    }
+  zdl::DlSystem::UserBufferEncodingFloat ub_encoding_float;
+  zdl::DlSystem::IUserBufferFactory &ub_factory = zdl::SNPE::SNPEFactory::getUserBufferFactory();
 
-    std::vector<size_t> outputStrides = {output_size * sizeof(float), sizeof(float)};
-    outputBuffer = ubFactory.createUserBuffer(output, output_size * sizeof(float), outputStrides, &userBufferEncodingFloat);
-    outputMap.add(output_tensor_name, outputBuffer.get());
+  const auto &output_tensor_names_opt = snpe->getOutputTensorNames();
+  if (!output_tensor_names_opt) throw std::runtime_error("Error obtaining output tensor names");
+  const auto &output_tensor_names = *output_tensor_names_opt;
+  assert(output_tensor_names.size() == 1);
+  const char *output_tensor_name = output_tensor_names.at(0);
+  const zdl::DlSystem::TensorShape &buffer_shape = snpe->getInputOutputBufferAttributes(output_tensor_name)->getDims();
+  if (output_size != 0) {
+    assert(output_size == buffer_shape[1]);
+  } else {
+    output_size = buffer_shape[1];
   }
+  std::vector<size_t> output_strides = {output_size * sizeof(float), sizeof(float)};
+  output_buffer = ub_factory.createUserBuffer(output, output_size * sizeof(float), output_strides, &ub_encoding_float);
+  output_map.add(output_tensor_name, output_buffer.get());
 
 #ifdef USE_THNEED
-  if (Runtime == zdl::DlSystem::Runtime_t::GPU) {
+  if (snpe_runtime == zdl::DlSystem::Runtime_t::GPU) {
     thneed.reset(new Thneed());
   }
 #endif
 }
 
-void SNPEModel::addRecurrent(float *state, int state_size) {
-  recurrent = state;
-  recurrent_size = state_size;
-  recurrentBuffer = this->addExtra(state, state_size, 3);
-}
+void SNPEModel::addInput(const std::string name, float *buffer, int size) {
+  const int idx = inputs.size();
+  const auto &input_tensor_names_opt = snpe->getInputTensorNames();
+  if (!input_tensor_names_opt) throw std::runtime_error("Error obtaining input tensor names");
+  const auto &input_tensor_names = *input_tensor_names_opt;
+  const char *input_tensor_name = input_tensor_names.at(idx);
+  const bool input_tf8 = use_tf8 && strcmp(input_tensor_name, "input_img") == 0;  // TODO: This is a terrible hack, get rid of this name check both here and in onnx_runner.py
+  LOGW("adding index %d: %s", idx, input_tensor_name);
 
-void SNPEModel::addTrafficConvention(float *state, int state_size) {
-  trafficConvention = state;
-  trafficConventionBuffer = this->addExtra(state, state_size, 2);
-}
+  zdl::DlSystem::UserBufferEncodingFloat ub_encoding_float;
+  zdl::DlSystem::UserBufferEncodingTf8 ub_encoding_tf8(0, 1./255); // network takes 0-1
+  zdl::DlSystem::IUserBufferFactory &ub_factory = zdl::SNPE::SNPEFactory::getUserBufferFactory();
+  zdl::DlSystem::UserBufferEncoding *input_encoding = input_tf8 ? (zdl::DlSystem::UserBufferEncoding*)&ub_encoding_tf8 : (zdl::DlSystem::UserBufferEncoding*)&ub_encoding_float;
 
-void SNPEModel::addDesire(float *state, int state_size) {
-  desire = state;
-  desireBuffer = this->addExtra(state, state_size, 1);
-}
+  const auto &buffer_shape_opt = snpe->getInputDimensions(input_tensor_name);
+  const zdl::DlSystem::TensorShape &buffer_shape = *buffer_shape_opt;
+  size_t size_of_input = input_tf8 ? sizeof(uint8_t) : sizeof(float);
+  std::vector<size_t> strides(buffer_shape.rank());
+  strides[strides.size() - 1] = size_of_input;
+  size_t product = 1;
+  for (size_t i = 0; i < buffer_shape.rank(); i++) product *= buffer_shape[i];
+  size_t stride = strides[strides.size() - 1];
+  for (size_t i = buffer_shape.rank() - 1; i > 0; i--) {
+    stride *= buffer_shape[i];
+    strides[i-1] = stride;
+  }
 
-void SNPEModel::addNavFeatures(float *state, int state_size) {
-  navFeatures = state;
-  navFeaturesBuffer = this->addExtra(state, state_size, 1);
-}
-
-void SNPEModel::addDrivingStyle(float *state, int state_size) {
-    drivingStyle = state;
-    drivingStyleBuffer = this->addExtra(state, state_size, 2);
-}
-
-void SNPEModel::addCalib(float *state, int state_size) {
-  calib = state;
-  calibBuffer = this->addExtra(state, state_size, 1);
-}
-
-void SNPEModel::addImage(float *image_buf, int buf_size) {
-  input = image_buf;
-  input_size = buf_size;
-}
-
-void SNPEModel::addExtra(float *image_buf, int buf_size) {
-  extra = image_buf;
-  extra_size = buf_size;
-}
-
-std::unique_ptr<zdl::DlSystem::IUserBuffer> SNPEModel::addExtra(float *state, int state_size, int idx) {
-  // get input and output names
-  const auto real_idx = idx + (use_extra ? 1 : 0);
-  const auto &strListi_opt = snpe->getInputTensorNames();
-  if (!strListi_opt) throw std::runtime_error("Error obtaining Input tensor names");
-  const auto &strListi = *strListi_opt;
-  const char *input_tensor_name = strListi.at(real_idx);
-  printf("adding index %d: %s\n", real_idx, input_tensor_name);
-
-  zdl::DlSystem::UserBufferEncodingFloat userBufferEncodingFloat;
-  zdl::DlSystem::IUserBufferFactory& ubFactory = zdl::SNPE::SNPEFactory::getUserBufferFactory();
-  std::vector<size_t> retStrides = {state_size * sizeof(float), sizeof(float)};
-  auto ret = ubFactory.createUserBuffer(state, state_size * sizeof(float), retStrides, &userBufferEncodingFloat);
-  inputMap.add(input_tensor_name, ret.get());
-  return ret;
+  auto input_buffer = ub_factory.createUserBuffer(buffer, product*size_of_input, strides, input_encoding);
+  input_map.add(input_tensor_name, input_buffer.get());
+  inputs.push_back(std::unique_ptr<SNPEModelInput>(new SNPEModelInput(name, buffer, size, std::move(input_buffer))));
 }
 
 void SNPEModel::execute() {
-  bool ret = inputBuffer->setBufferAddress(input);
-  assert(ret == true);
-  if (use_extra) {
-    bool extra_ret = extraBuffer->setBufferAddress(extra);
-    assert(extra_ret == true);
-  }
-  if (!snpe->execute(inputMap, outputMap)) {
+  if (!snpe->execute(input_map, output_map)) {
     PrintErrorStringAndExit();
   }
 }
-
diff --git a/selfdrive/modeld/runners/snpemodel.h b/selfdrive/modeld/runners/snpemodel.h
index 0d84d1d482..e646e5225b 100644
--- a/selfdrive/modeld/runners/snpemodel.h
+++ b/selfdrive/modeld/runners/snpemodel.h
@@ -11,7 +11,7 @@
 #include <SNPE/SNPEBuilder.hpp>
 #include <SNPE/SNPEFactory.hpp>
 
-#include "runmodel.h"
+#include "selfdrive/modeld/runners/runmodel.h"
 
 #define USE_CPU_RUNTIME 0
 #define USE_GPU_RUNTIME 1
@@ -21,17 +21,20 @@
 #include "selfdrive/modeld/thneed/thneed.h"
 #endif
 
+struct SNPEModelInput : public ModelInput {
+  std::unique_ptr<zdl::DlSystem::IUserBuffer> snpe_buffer;
+
+  SNPEModelInput(const std::string _name, float *_buffer, int _size, std::unique_ptr<zdl::DlSystem::IUserBuffer> _snpe_buffer) : ModelInput(_name, _buffer, _size), snpe_buffer(std::move(_snpe_buffer)) {}
+  void setBuffer(float *_buffer, int _size) {
+    ModelInput::setBuffer(_buffer, _size);
+    assert(snpe_buffer->setBufferAddress(_buffer) == true);
+  }
+};
+
 class SNPEModel : public RunModel {
 public:
-  SNPEModel(const char *path, float *loutput, size_t loutput_size, int runtime, bool luse_extra = false, bool use_tf8 = false, cl_context context = NULL);
-  void addRecurrent(float *state, int state_size);
-  void addTrafficConvention(float *state, int state_size);
-  void addCalib(float *state, int state_size);
-  void addDesire(float *state, int state_size);
-  void addDrivingStyle(float *state, int state_size);
-  void addNavFeatures(float *state, int state_size);
-  void addImage(float *image_buf, int buf_size);
-  void addExtra(float *image_buf, int buf_size);
+  SNPEModel(const std::string path, float *_output, size_t _output_size, int runtime, bool use_tf8 = false, cl_context context = NULL);
+  void addInput(const std::string name, float *buffer, int size);
   void execute();
 
 #ifdef USE_THNEED
@@ -43,44 +46,16 @@ private:
   std::string model_data;
 
 #ifdef QCOM2
-  zdl::DlSystem::Runtime_t Runtime;
+  zdl::DlSystem::Runtime_t snpe_runtime;
 #endif
 
   // snpe model stuff
   std::unique_ptr<zdl::SNPE::SNPE> snpe;
+  zdl::DlSystem::UserBufferMap input_map;
+  zdl::DlSystem::UserBufferMap output_map;
+  std::unique_ptr<zdl::DlSystem::IUserBuffer> output_buffer;
 
-  // snpe input stuff
-  zdl::DlSystem::UserBufferMap inputMap;
-  std::unique_ptr<zdl::DlSystem::IUserBuffer> inputBuffer;
-  float *input;
-  size_t input_size;
   bool use_tf8;
-
-  // snpe output stuff
-  zdl::DlSystem::UserBufferMap outputMap;
-  std::unique_ptr<zdl::DlSystem::IUserBuffer> outputBuffer;
   float *output;
   size_t output_size;
-
-  // extra input stuff
-  std::unique_ptr<zdl::DlSystem::IUserBuffer> extraBuffer;
-  float *extra;
-  size_t extra_size;
-  bool use_extra;
-
-  // recurrent and desire
-  std::unique_ptr<zdl::DlSystem::IUserBuffer> addExtra(float *state, int state_size, int idx);
-  float *recurrent;
-  size_t recurrent_size;
-  std::unique_ptr<zdl::DlSystem::IUserBuffer> recurrentBuffer;
-  float *trafficConvention;
-  std::unique_ptr<zdl::DlSystem::IUserBuffer> trafficConventionBuffer;
-  float *desire;
-  std::unique_ptr<zdl::DlSystem::IUserBuffer> desireBuffer;
-  float *navFeatures;
-  std::unique_ptr<zdl::DlSystem::IUserBuffer> navFeaturesBuffer;
-  float *drivingStyle;
-  std::unique_ptr<zdl::DlSystem::IUserBuffer> drivingStyleBuffer;
-  float *calib;
-  std::unique_ptr<zdl::DlSystem::IUserBuffer> calibBuffer;
 };
diff --git a/selfdrive/modeld/runners/thneedmodel.cc b/selfdrive/modeld/runners/thneedmodel.cc
index 2ac3d64495..0f35c94800 100644
--- a/selfdrive/modeld/runners/thneedmodel.cc
+++ b/selfdrive/modeld/runners/thneedmodel.cc
@@ -1,78 +1,56 @@
 #include "selfdrive/modeld/runners/thneedmodel.h"
 
-#include <cassert>
+#include "common/swaglog.h"
 
-ThneedModel::ThneedModel(const char *path, float *loutput, size_t loutput_size, int runtime, bool luse_extra, bool luse_tf8, cl_context context) {
+ThneedModel::ThneedModel(const std::string path, float *_output, size_t _output_size, int runtime, bool luse_tf8, cl_context context) {
   thneed = new Thneed(true, context);
-  thneed->load(path);
+  thneed->load(path.c_str());
   thneed->clexec();
 
   recorded = false;
-  output = loutput;
-  use_extra = luse_extra;
+  output = _output;
 }
 
-void ThneedModel::addRecurrent(float *state, int state_size) {
-  recurrent = state;
-}
+void* ThneedModel::getCLBuffer(const std::string name) {
+  int index = -1;
+  for (int i = 0; i < inputs.size(); i++) {
+    if (name == inputs[i]->name) {
+      index = i;
+      break;
+    }
+  }
 
-void ThneedModel::addTrafficConvention(float *state, int state_size) {
-  trafficConvention = state;
-}
+  if (index == -1) {
+    LOGE("Tried to get CL buffer for input `%s` but no input with this name exists", name.c_str());
+    assert(false);
+  }
 
-void ThneedModel::addDesire(float *state, int state_size) {
-  desire = state;
-}
-
-void ThneedModel::addDrivingStyle(float *state, int state_size) {
-    drivingStyle = state;
-}
-
-void ThneedModel::addNavFeatures(float *state, int state_size) {
-  navFeatures = state;
-}
-
-void ThneedModel::addImage(float *image_input_buf, int buf_size) {
-  input = image_input_buf;
-}
-
-void ThneedModel::addExtra(float *extra_input_buf, int buf_size) {
-  extra = extra_input_buf;
-}
-
-void* ThneedModel::getInputBuf() {
-  if (use_extra && thneed->input_clmem.size() > 5) return &(thneed->input_clmem[5]);
-  else if (!use_extra && thneed->input_clmem.size() > 4) return &(thneed->input_clmem[4]);
-  else return nullptr;
-}
-
-void* ThneedModel::getExtraBuf() {
-  if (thneed->input_clmem.size() > 4) return &(thneed->input_clmem[4]);
-  else return nullptr;
+  if (thneed->input_clmem.size() >= inputs.size()) {
+    return &thneed->input_clmem[inputs.size() - index - 1];
+  } else {
+    return nullptr;
+  }
 }
 
 void ThneedModel::execute() {
   if (!recorded) {
     thneed->record = true;
-    if (use_extra) {
-      float *inputs[6] = {recurrent, navFeatures, trafficConvention, desire, extra, input};
-      thneed->copy_inputs(inputs);
-    } else {
-      float *inputs[5] = {recurrent, navFeatures, trafficConvention, desire, input};
-      thneed->copy_inputs(inputs);
+    float *input_buffers[inputs.size()];
+    for (int i = 0; i < inputs.size(); i++) {
+      input_buffers[inputs.size() - i - 1] = inputs[i]->buffer;
     }
+
+    thneed->copy_inputs(input_buffers);
     thneed->clexec();
     thneed->copy_output(output);
     thneed->stop();
 
     recorded = true;
   } else {
-    if (use_extra) {
-      float *inputs[6] = {recurrent, navFeatures, trafficConvention, desire, extra, input};
-      thneed->execute(inputs, output);
-    } else {
-      float *inputs[5] = {recurrent, navFeatures, trafficConvention, desire, input};
-      thneed->execute(inputs, output);
+    float *input_buffers[inputs.size()];
+    for (int i = 0; i < inputs.size(); i++) {
+      input_buffers[inputs.size() - i - 1] = inputs[i]->buffer;
     }
+    thneed->execute(input_buffers, output);
   }
 }
diff --git a/selfdrive/modeld/runners/thneedmodel.h b/selfdrive/modeld/runners/thneedmodel.h
index 63712f1d00..90c40239bf 100644
--- a/selfdrive/modeld/runners/thneedmodel.h
+++ b/selfdrive/modeld/runners/thneedmodel.h
@@ -5,31 +5,11 @@
 
 class ThneedModel : public RunModel {
 public:
-  ThneedModel(const char *path, float *loutput, size_t loutput_size, int runtime, bool luse_extra = false, bool use_tf8 = false, cl_context context = NULL);
-  void addRecurrent(float *state, int state_size);
-  void addTrafficConvention(float *state, int state_size);
-  void addDesire(float *state, int state_size);
-  void addNavFeatures(float *state, int state_size);
-  void addDrivingStyle(float *state, int state_size);
-  void addImage(float *image_buf, int buf_size);
-  void addExtra(float *image_buf, int buf_size);
+  ThneedModel(const std::string path, float *_output, size_t _output_size, int runtime, bool use_tf8 = false, cl_context context = NULL);
+  void *getCLBuffer(const std::string name);
   void execute();
-  void* getInputBuf();
-  void* getExtraBuf();
 private:
   Thneed *thneed = NULL;
   bool recorded;
-  bool use_extra;
-
-  float *input;
-  float *extra;
   float *output;
-
-  // recurrent and desire
-  float *recurrent;
-  float *trafficConvention;
-  float *drivingStyle;
-  float *desire;
-  float *navFeatures;
 };
-
diff --git a/selfdrive/modeld/tests/test_modeld.py b/selfdrive/modeld/tests/test_modeld.py
index 2fcff785a9..758948811e 100755
--- a/selfdrive/modeld/tests/test_modeld.py
+++ b/selfdrive/modeld/tests/test_modeld.py
@@ -9,10 +9,7 @@ from cereal.visionipc import VisionIpcServer, VisionStreamType
 from common.transformations.camera import tici_f_frame_size
 from common.realtime import DT_MDL
 from selfdrive.manager.process_config import managed_processes
-
-
-VIPC_STREAM = {"roadCameraState": VisionStreamType.VISION_STREAM_ROAD, "driverCameraState": VisionStreamType.VISION_STREAM_DRIVER,
-               "wideRoadCameraState": VisionStreamType.VISION_STREAM_WIDE_ROAD}
+from selfdrive.test.process_replay.vision_meta import meta_from_camera_state
 
 IMG = np.zeros(int(tici_f_frame_size[0]*tici_f_frame_size[1]*(3/2)), dtype=np.uint8)
 IMG_BYTES = IMG.flatten().tobytes()
@@ -48,9 +45,10 @@ class TestModeld(unittest.TestCase):
       cs.frameId = frame_id
       cs.timestampSof = int((frame_id * DT_MDL) * 1e9)
       cs.timestampEof = int(cs.timestampSof + (DT_MDL * 1e9))
+      cam_meta = meta_from_camera_state(cam)
 
       self.pm.send(msg.which(), msg)
-      self.vipc_server.send(VIPC_STREAM[msg.which()], IMG_BYTES, cs.frameId,
+      self.vipc_server.send(cam_meta.stream, IMG_BYTES, cs.frameId,
                             cs.timestampSof, cs.timestampEof)
     return cs
 
diff --git a/selfdrive/modeld/thneed/lib.py b/selfdrive/modeld/thneed/lib.py
index 38ef3f4262..c058638fad 100644
--- a/selfdrive/modeld/thneed/lib.py
+++ b/selfdrive/modeld/thneed/lib.py
@@ -1,4 +1,5 @@
-import struct, json
+import struct
+import json
 
 def load_thneed(fn):
   with open(fn, "rb") as f:
diff --git a/selfdrive/modeld/thneed/thneed_qcom2.cc b/selfdrive/modeld/thneed/thneed_qcom2.cc
index a29a82c8c8..a3bfb8a8c2 100644
--- a/selfdrive/modeld/thneed/thneed_qcom2.cc
+++ b/selfdrive/modeld/thneed/thneed_qcom2.cc
@@ -43,7 +43,7 @@ int ioctl(int filedes, unsigned long request, void *argp) {
   if (request == IOCTL_KGSL_DRAWCTXT_CREATE) {
     struct kgsl_drawctxt_create *create = (struct kgsl_drawctxt_create *)argp;
     create->flags &= ~KGSL_CONTEXT_PRIORITY_MASK;
-    create->flags |= 1 << KGSL_CONTEXT_PRIORITY_SHIFT;   // priority from 1-15, 1 is max priority
+    create->flags |= 6 << KGSL_CONTEXT_PRIORITY_SHIFT;   // priority from 1-15, 1 is max priority
     printf("IOCTL_KGSL_DRAWCTXT_CREATE: creating context with flags 0x%x\n", create->flags);
   }
 
@@ -238,24 +238,6 @@ void Thneed::execute(float **finputs, float *foutput, bool slow) {
   // ****** copy inputs
   copy_inputs(finputs, true);
 
-  // ****** set power constraint
-  int ret;
-  struct kgsl_device_constraint_pwrlevel pwrlevel;
-  pwrlevel.level = KGSL_CONSTRAINT_PWR_MAX;
-
-  struct kgsl_device_constraint constraint;
-  constraint.type = KGSL_CONSTRAINT_PWRLEVEL;
-  constraint.context_id = context_id;
-  constraint.data = (void*)&pwrlevel;
-  constraint.size = sizeof(pwrlevel);
-
-  struct kgsl_device_getproperty prop;
-  prop.type = KGSL_PROP_PWR_CONSTRAINT;
-  prop.value = (void*)&constraint;
-  prop.sizebytes = sizeof(constraint);
-  ret = ioctl(fd, IOCTL_KGSL_SETPROPERTY, &prop);
-  assert(ret == 0);
-
   // ****** run commands
   int i = 0;
   for (auto &it : cmds) {
@@ -268,14 +250,6 @@ void Thneed::execute(float **finputs, float *foutput, bool slow) {
   // ****** copy outputs
   copy_output(foutput);
 
-  // ****** unset power constraint
-  constraint.type = KGSL_CONSTRAINT_NONE;
-  constraint.data = NULL;
-  constraint.size = 0;
-
-  ret = ioctl(fd, IOCTL_KGSL_SETPROPERTY, &prop);
-  assert(ret == 0);
-
   if (debug >= 1) {
     te = nanos_since_boot();
     printf("model exec in %lu us\n", (te-tb)/1000);
diff --git a/selfdrive/monitoring/driver_monitor.py b/selfdrive/monitoring/driver_monitor.py
index a2cddc2462..7d7a55e5d8 100644
--- a/selfdrive/monitoring/driver_monitor.py
+++ b/selfdrive/monitoring/driver_monitor.py
@@ -212,7 +212,8 @@ class DriverStatus():
       distracted_types.append(DistractedType.DISTRACTED_BLINK)
 
     if self.ee1_calibrated:
-      ee1_dist = self.eev1 > max(min(self.ee1_offseter.filtered_stat.M, self.settings._EE_MAX_OFFSET1), self.settings._EE_MIN_OFFSET1) * self.settings._EE_THRESH12
+      ee1_dist = self.eev1 > max(min(self.ee1_offseter.filtered_stat.M, self.settings._EE_MAX_OFFSET1), self.settings._EE_MIN_OFFSET1) \
+                              * self.settings._EE_THRESH12
     else:
       ee1_dist = self.eev1 > self.settings._EE_THRESH11
     # if self.ee2_calibrated:
@@ -263,14 +264,17 @@ class DriverStatus():
     self.pose.yaw_std = driver_data.faceOrientationStd[1]
     model_std_max = max(self.pose.pitch_std, self.pose.yaw_std)
     self.pose.low_std = model_std_max < self.settings._POSESTD_THRESHOLD
-    self.blink.left_blink = driver_data.leftBlinkProb * (driver_data.leftEyeProb > self.settings._EYE_THRESHOLD) * (driver_data.sunglassesProb < self.settings._SG_THRESHOLD)
-    self.blink.right_blink = driver_data.rightBlinkProb * (driver_data.rightEyeProb > self.settings._EYE_THRESHOLD) * (driver_data.sunglassesProb < self.settings._SG_THRESHOLD)
+    self.blink.left_blink = driver_data.leftBlinkProb * (driver_data.leftEyeProb > self.settings._EYE_THRESHOLD) \
+                                                                  * (driver_data.sunglassesProb < self.settings._SG_THRESHOLD)
+    self.blink.right_blink = driver_data.rightBlinkProb * (driver_data.rightEyeProb > self.settings._EYE_THRESHOLD) \
+                                                                  * (driver_data.sunglassesProb < self.settings._SG_THRESHOLD)
     self.eev1 = driver_data.notReadyProb[0]
     self.eev2 = driver_data.readyProb[0]
 
     self.distracted_types = self._get_distracted_types()
-    self.driver_distracted = (DistractedType.DISTRACTED_E2E in self.distracted_types or DistractedType.DISTRACTED_POSE in self.distracted_types or DistractedType.DISTRACTED_BLINK in self.distracted_types) and \
-                                          driver_data.faceProb > self.settings._FACE_THRESHOLD and self.pose.low_std
+    self.driver_distracted = (DistractedType.DISTRACTED_E2E in self.distracted_types or DistractedType.DISTRACTED_POSE in self.distracted_types
+                                or DistractedType.DISTRACTED_BLINK in self.distracted_types) \
+                              and driver_data.faceProb > self.settings._FACE_THRESHOLD and self.pose.low_std
     self.driver_distraction_filter.update(self.driver_distracted)
 
     # update offseter
@@ -306,7 +310,8 @@ class DriverStatus():
         self._reset_awareness()
         return
       # only restore awareness when paying attention and alert is not red
-      self.awareness = min(self.awareness + ((self.settings._RECOVERY_FACTOR_MAX-self.settings._RECOVERY_FACTOR_MIN)*(1.-self.awareness)+self.settings._RECOVERY_FACTOR_MIN)*self.step_change, 1.)
+      self.awareness = min(self.awareness + ((self.settings._RECOVERY_FACTOR_MAX-self.settings._RECOVERY_FACTOR_MIN)*
+                                             (1.-self.awareness)+self.settings._RECOVERY_FACTOR_MIN)*self.step_change, 1.)
       if self.awareness == 1.:
         self.awareness_passive = min(self.awareness_passive + self.step_change, 1.)
       # don't display alert banner when awareness is recovering and has cleared orange
diff --git a/selfdrive/monitoring/test_monitoring.py b/selfdrive/monitoring/test_monitoring.py
index f72b4a3aaa..98d3f43f12 100755
--- a/selfdrive/monitoring/test_monitoring.py
+++ b/selfdrive/monitoring/test_monitoring.py
@@ -82,7 +82,8 @@ class TestMonitoring(unittest.TestCase):
     events, d_status = self._run_seq(always_distracted, always_false, always_true, always_false)
     self.assertEqual(len(events[int((d_status.settings._DISTRACTED_TIME-d_status.settings._DISTRACTED_PRE_TIME_TILL_TERMINAL)/2/DT_DMON)]), 0)
     self.assertEqual(events[int((d_status.settings._DISTRACTED_TIME-d_status.settings._DISTRACTED_PRE_TIME_TILL_TERMINAL +
-                      ((d_status.settings._DISTRACTED_PRE_TIME_TILL_TERMINAL-d_status.settings._DISTRACTED_PROMPT_TIME_TILL_TERMINAL)/2))/DT_DMON)].names[0], EventName.preDriverDistracted)
+                      ((d_status.settings._DISTRACTED_PRE_TIME_TILL_TERMINAL-d_status.settings._DISTRACTED_PROMPT_TIME_TILL_TERMINAL)/2))/DT_DMON)].names[0],
+                      EventName.preDriverDistracted)
     self.assertEqual(events[int((d_status.settings._DISTRACTED_TIME-d_status.settings._DISTRACTED_PROMPT_TIME_TILL_TERMINAL +
                       ((d_status.settings._DISTRACTED_PROMPT_TIME_TILL_TERMINAL)/2))/DT_DMON)].names[0], EventName.promptDriverDistracted)
     self.assertEqual(events[int((d_status.settings._DISTRACTED_TIME +
@@ -94,7 +95,8 @@ class TestMonitoring(unittest.TestCase):
     events, d_status = self._run_seq(always_no_face, always_false, always_true, always_false)
     self.assertTrue(len(events[int((d_status.settings._AWARENESS_TIME-d_status.settings._AWARENESS_PRE_TIME_TILL_TERMINAL)/2/DT_DMON)]) == 0)
     self.assertEqual(events[int((d_status.settings._AWARENESS_TIME-d_status.settings._AWARENESS_PRE_TIME_TILL_TERMINAL +
-                      ((d_status.settings._AWARENESS_PRE_TIME_TILL_TERMINAL-d_status.settings._AWARENESS_PROMPT_TIME_TILL_TERMINAL)/2))/DT_DMON)].names[0], EventName.preDriverUnresponsive)
+                      ((d_status.settings._AWARENESS_PRE_TIME_TILL_TERMINAL-d_status.settings._AWARENESS_PROMPT_TIME_TILL_TERMINAL)/2))/DT_DMON)].names[0],
+                      EventName.preDriverUnresponsive)
     self.assertEqual(events[int((d_status.settings._AWARENESS_TIME-d_status.settings._AWARENESS_PROMPT_TIME_TILL_TERMINAL +
                       ((d_status.settings._AWARENESS_PROMPT_TIME_TILL_TERMINAL)/2))/DT_DMON)].names[0], EventName.promptDriverUnresponsive)
     self.assertEqual(events[int((d_status.settings._AWARENESS_TIME +
@@ -125,10 +127,14 @@ class TestMonitoring(unittest.TestCase):
     ds_vector = always_distracted[:]
     interaction_vector = always_false[:]
     op_vector = always_true[:]
-    ds_vector[int(DISTRACTED_SECONDS_TO_ORANGE/DT_DMON):int((DISTRACTED_SECONDS_TO_ORANGE+_invisible_time)/DT_DMON)] = [msg_NO_FACE_DETECTED] * int(_invisible_time/DT_DMON)
-    ds_vector[int((DISTRACTED_SECONDS_TO_RED+_invisible_time)/DT_DMON):int((DISTRACTED_SECONDS_TO_RED+2*_invisible_time)/DT_DMON)] = [msg_NO_FACE_DETECTED] * int(_invisible_time/DT_DMON)
-    interaction_vector[int((DISTRACTED_SECONDS_TO_RED+2*_invisible_time+0.5)/DT_DMON):int((DISTRACTED_SECONDS_TO_RED+2*_invisible_time+1.5)/DT_DMON)] = [True] * int(1/DT_DMON)
-    op_vector[int((DISTRACTED_SECONDS_TO_RED+2*_invisible_time+2.5)/DT_DMON):int((DISTRACTED_SECONDS_TO_RED+2*_invisible_time+3)/DT_DMON)] = [False] * int(0.5/DT_DMON)
+    ds_vector[int(DISTRACTED_SECONDS_TO_ORANGE/DT_DMON):int((DISTRACTED_SECONDS_TO_ORANGE+_invisible_time)/DT_DMON)] \
+                                                        = [msg_NO_FACE_DETECTED] * int(_invisible_time/DT_DMON)
+    ds_vector[int((DISTRACTED_SECONDS_TO_RED+_invisible_time)/DT_DMON):int((DISTRACTED_SECONDS_TO_RED+2*_invisible_time)/DT_DMON)] \
+                                                        = [msg_NO_FACE_DETECTED] * int(_invisible_time/DT_DMON)
+    interaction_vector[int((DISTRACTED_SECONDS_TO_RED+2*_invisible_time+0.5)/DT_DMON):int((DISTRACTED_SECONDS_TO_RED+2*_invisible_time+1.5)/DT_DMON)] \
+                                                        = [True] * int(1/DT_DMON)
+    op_vector[int((DISTRACTED_SECONDS_TO_RED+2*_invisible_time+2.5)/DT_DMON):int((DISTRACTED_SECONDS_TO_RED+2*_invisible_time+3)/DT_DMON)] \
+                                                        = [False] * int(0.5/DT_DMON)
     events, _ = self._run_seq(ds_vector, interaction_vector, op_vector, always_false)
     self.assertEqual(events[int((DISTRACTED_SECONDS_TO_ORANGE+0.5*_invisible_time)/DT_DMON)].names[0], EventName.promptDriverDistracted)
     self.assertEqual(events[int((DISTRACTED_SECONDS_TO_RED+1.5*_invisible_time)/DT_DMON)].names[0], EventName.driverDistracted)
@@ -141,7 +147,8 @@ class TestMonitoring(unittest.TestCase):
     _visible_time = np.random.choice([0.5, 10])
     ds_vector = always_no_face[:]*2
     interaction_vector = always_false[:]*2
-    ds_vector[int((2*INVISIBLE_SECONDS_TO_ORANGE+1)/DT_DMON):int((2*INVISIBLE_SECONDS_TO_ORANGE+1+_visible_time)/DT_DMON)] = [msg_ATTENTIVE] * int(_visible_time/DT_DMON)
+    ds_vector[int((2*INVISIBLE_SECONDS_TO_ORANGE+1)/DT_DMON):int((2*INVISIBLE_SECONDS_TO_ORANGE+1+_visible_time)/DT_DMON)] = \
+                                                                                             [msg_ATTENTIVE] * int(_visible_time/DT_DMON)
     interaction_vector[int((INVISIBLE_SECONDS_TO_ORANGE)/DT_DMON):int((INVISIBLE_SECONDS_TO_ORANGE+1)/DT_DMON)] = [True] * int(1/DT_DMON)
     events, _ = self._run_seq(ds_vector, interaction_vector, 2*always_true, 2*always_false)
     self.assertTrue(len(events[int(INVISIBLE_SECONDS_TO_ORANGE*0.5/DT_DMON)]) == 0)
@@ -185,7 +192,8 @@ class TestMonitoring(unittest.TestCase):
     standstill_vector = always_true[:]
     standstill_vector[int(_redlight_time/DT_DMON):] = [False] * int((TEST_TIMESPAN-_redlight_time)/DT_DMON)
     events, d_status = self._run_seq(always_distracted, always_false, always_true, standstill_vector)
-    self.assertEqual(events[int((d_status.settings._DISTRACTED_TIME-d_status.settings._DISTRACTED_PRE_TIME_TILL_TERMINAL+1)/DT_DMON)].names[0], EventName.preDriverDistracted)
+    self.assertEqual(events[int((d_status.settings._DISTRACTED_TIME-d_status.settings._DISTRACTED_PRE_TIME_TILL_TERMINAL+1)/DT_DMON)].names[0],
+                                                                                                                    EventName.preDriverDistracted)
     self.assertEqual(events[int((_redlight_time-0.1)/DT_DMON)].names[0], EventName.preDriverDistracted)
     self.assertEqual(events[int((_redlight_time+0.5)/DT_DMON)].names[0], EventName.promptDriverDistracted)
 
@@ -195,9 +203,12 @@ class TestMonitoring(unittest.TestCase):
     ds_vector = [msg_DISTRACTED_BUT_SOMEHOW_UNCERTAIN] * int(TEST_TIMESPAN/DT_DMON)
     interaction_vector = always_false[:]
     events, d_status = self._run_seq(ds_vector, interaction_vector, always_true, always_false)
-    self.assertTrue(EventName.preDriverUnresponsive in events[int((INVISIBLE_SECONDS_TO_ORANGE-1+DT_DMON*d_status.settings._HI_STD_FALLBACK_TIME-0.1)/DT_DMON)].names)
-    self.assertTrue(EventName.promptDriverUnresponsive in events[int((INVISIBLE_SECONDS_TO_ORANGE-1+DT_DMON*d_status.settings._HI_STD_FALLBACK_TIME+0.1)/DT_DMON)].names)
-    self.assertTrue(EventName.driverUnresponsive in events[int((INVISIBLE_SECONDS_TO_RED-1+DT_DMON*d_status.settings._HI_STD_FALLBACK_TIME+0.1)/DT_DMON)].names)
+    self.assertTrue(EventName.preDriverUnresponsive in
+                              events[int((INVISIBLE_SECONDS_TO_ORANGE-1+DT_DMON*d_status.settings._HI_STD_FALLBACK_TIME-0.1)/DT_DMON)].names)
+    self.assertTrue(EventName.promptDriverUnresponsive in
+                              events[int((INVISIBLE_SECONDS_TO_ORANGE-1+DT_DMON*d_status.settings._HI_STD_FALLBACK_TIME+0.1)/DT_DMON)].names)
+    self.assertTrue(EventName.driverUnresponsive in
+                              events[int((INVISIBLE_SECONDS_TO_RED-1+DT_DMON*d_status.settings._HI_STD_FALLBACK_TIME+0.1)/DT_DMON)].names)
 
 
 if __name__ == "__main__":
diff --git a/selfdrive/navd/.gitignore b/selfdrive/navd/.gitignore
index a070fe32bb..4801d60a2c 100644
--- a/selfdrive/navd/.gitignore
+++ b/selfdrive/navd/.gitignore
@@ -1,5 +1,6 @@
 moc_*
 *.moc
 
+mapsd
 map_renderer
 libmap_renderer.so
diff --git a/selfdrive/navd/README.md b/selfdrive/navd/README.md
index 6c7f7eabe3..3047b7f8eb 100644
--- a/selfdrive/navd/README.md
+++ b/selfdrive/navd/README.md
@@ -1,6 +1,6 @@
 # navigation
 
-This directory contains two daemons, `navd` and `map_renderer`, which support navigation in the openpilot stack.
+This directory contains two daemons, `navd` and `mapsd`, which support navigation in the openpilot stack.
 
 ### navd
 
diff --git a/selfdrive/navd/SConscript b/selfdrive/navd/SConscript
index 23b36adc0a..d1db79506a 100644
--- a/selfdrive/navd/SConscript
+++ b/selfdrive/navd/SConscript
@@ -6,7 +6,7 @@ libs = ['qt_widgets', 'qt_util', 'qmapboxgl', common, messaging, cereal, visioni
 if arch == 'larch64':
   libs.append('EGL')
 
-if arch in ['larch64', 'x86_64']:
+if arch in ['larch64', 'aarch64', 'x86_64']:
   if arch == 'x86_64':
     rpath = Dir(f"#third_party/mapbox-gl-native-qt/{arch}").srcnode().abspath
     map_env["RPATH"] += [rpath, ]
@@ -17,4 +17,4 @@ if arch in ['larch64', 'x86_64']:
   map_env["RPATH"].append(Dir('.').abspath)
   map_env["LIBPATH"].append(Dir('.').abspath)
   maplib = map_env.SharedLibrary("maprender", ["map_renderer.cc"], LIBS=libs)
-  map_env.Program("map_renderer", ["main.cc", ], LIBS=[maplib[0].get_path(), ] + libs)
+  map_env.Program("mapsd", ["main.cc", ], LIBS=[maplib[0].get_path(), ] + libs)
diff --git a/selfdrive/navd/helpers.py b/selfdrive/navd/helpers.py
index eda813154a..050c571923 100644
--- a/selfdrive/navd/helpers.py
+++ b/selfdrive/navd/helpers.py
@@ -29,7 +29,10 @@ class Coordinate:
     return {'latitude': self.latitude, 'longitude': self.longitude}
 
   def __str__(self) -> str:
-    return f"({self.latitude}, {self.longitude})"
+    return f'Coordinate({self.latitude}, {self.longitude})'
+
+  def __repr__(self) -> str:
+    return self.__str__()
 
   def __eq__(self, other) -> bool:
     if not isinstance(other, Coordinate):
@@ -128,35 +131,40 @@ def maxspeed_to_ms(maxspeed: Dict[str, Union[str, float]]) -> float:
   return SPEED_CONVERSIONS[unit] * speed
 
 
-def parse_banner_instructions(instruction: Any, banners: Any, distance_to_maneuver: float = 0.0) -> None:
-  if not len(banners):
-    return
+def field_valid(dat: dict, field: str) -> bool:
+  return field in dat and dat[field] is not None
 
-  current_banner = banners[0]
+
+def parse_banner_instructions(banners: Any, distance_to_maneuver: float = 0.0) -> Optional[Dict[str, Any]]:
+  if not len(banners):
+    return None
+
+  instruction = {}
 
   # A segment can contain multiple banners, find one that we need to show now
+  current_banner = banners[0]
   for banner in banners:
     if distance_to_maneuver < banner['distanceAlongGeometry']:
       current_banner = banner
 
   # Only show banner when close enough to maneuver
-  instruction.showFull = distance_to_maneuver < current_banner['distanceAlongGeometry']
+  instruction['showFull'] = distance_to_maneuver < current_banner['distanceAlongGeometry']
 
   # Primary
   p = current_banner['primary']
-  if 'text' in p:
-    instruction.maneuverPrimaryText = p['text']
-  if 'type' in p:
-    instruction.maneuverType = p['type']
-  if 'modifier' in p:
-    instruction.maneuverModifier = p['modifier']
+  if field_valid(p, 'text'):
+    instruction['maneuverPrimaryText'] = p['text']
+  if field_valid(p, 'type'):
+    instruction['maneuverType'] = p['type']
+  if field_valid(p, 'modifier'):
+    instruction['maneuverModifier'] = p['modifier']
 
   # Secondary
-  if 'secondary' in current_banner:
-    instruction.maneuverSecondaryText = current_banner['secondary']['text']
+  if field_valid(current_banner, 'secondary'):
+    instruction['maneuverSecondaryText'] = current_banner['secondary']['text']
 
   # Lane lines
-  if 'sub' in current_banner:
+  if field_valid(current_banner, 'sub'):
     lanes = []
     for component in current_banner['sub']['components']:
       if component['type'] != 'lane':
@@ -167,8 +175,10 @@ def parse_banner_instructions(instruction: Any, banners: Any, distance_to_maneuv
         'directions': [string_to_direction(d) for d in component['directions']],
       }
 
-      if 'active_direction' in component:
+      if field_valid(component, 'active_direction'):
         lane['activeDirection'] = string_to_direction(component['active_direction'])
 
       lanes.append(lane)
-    instruction.lanes = lanes
+    instruction['lanes'] = lanes
+
+  return instruction
diff --git a/selfdrive/navd/main.cc b/selfdrive/navd/main.cc
index 8cef07edcf..f8501bf4a5 100644
--- a/selfdrive/navd/main.cc
+++ b/selfdrive/navd/main.cc
@@ -1,6 +1,8 @@
+#include <csignal>
+#include <sys/resource.h>
+
 #include <QApplication>
 #include <QDebug>
-#include <csignal>
 
 #include "selfdrive/ui/qt/util.h"
 #include "selfdrive/ui/qt/maps/map_helpers.h"
@@ -9,6 +11,7 @@
 
 int main(int argc, char *argv[]) {
   qInstallMessageHandler(swagLogMessageHandler);
+  setpriority(PRIO_PROCESS, 0, -20);
 
   QApplication app(argc, argv);
   std::signal(SIGINT, sigTermHandler);
diff --git a/selfdrive/navd/map_renderer.cc b/selfdrive/navd/map_renderer.cc
index 5c7e17cd51..44acc67b94 100644
--- a/selfdrive/navd/map_renderer.cc
+++ b/selfdrive/navd/map_renderer.cc
@@ -70,8 +70,14 @@ MapRenderer::MapRenderer(const QMapboxGLSettings &settings, bool online) : m_set
   gl_functions->glViewport(0, 0, WIDTH, HEIGHT);
 
   QObject::connect(m_map.data(), &QMapboxGL::mapChanged, [=](QMapboxGL::MapChange change) {
+    // Ignore expected signals
     // https://github.com/mapbox/mapbox-gl-native/blob/cf734a2fec960025350d8de0d01ad38aeae155a0/platform/qt/include/qmapboxgl.hpp#L116
-    //LOGD("new state %d", change);
+    if (change != QMapboxGL::MapChange::MapChangeRegionWillChange &&
+        change != QMapboxGL::MapChange::MapChangeRegionDidChange &&
+        change != QMapboxGL::MapChange::MapChangeWillStartRenderingFrame &&
+        change != QMapboxGL::MapChange::MapChangeDidFinishRenderingFrameFullyRendered) {
+      LOGD("New map state: %d", change);
+    }
   });
 
   QObject::connect(m_map.data(), &QMapboxGL::mapLoadingFailed, [=](QMapboxGL::MapLoadingFailure err_code, const QString &reason) {
@@ -101,22 +107,24 @@ void MapRenderer::msgUpdate() {
     auto pos = location.getPositionGeodetic();
     auto orientation = location.getCalibratedOrientationNED();
 
-    bool localizer_valid = (location.getStatus() == cereal::LiveLocationKalman::Status::VALID) && pos.getValid();
-    if (localizer_valid && (sm->rcv_frame("liveLocationKalman") % LLK_DECIMATION) == 0) {
+    if ((sm->rcv_frame("liveLocationKalman") % LLK_DECIMATION) == 0) {
       float bearing = RAD2DEG(orientation.getValue()[2]);
       updatePosition(get_point_along_line(pos.getValue()[0], pos.getValue()[1], bearing, MAP_OFFSET), bearing);
 
-      // TODO: use the static rendering mode
-      if (!loaded() && frame_id > 0) {
-        for (int i = 0; i < 5 && !loaded(); i++) {
-          LOGW("map render retry #%d, %d", i+1, m_map.isNull());
-          QApplication::processEvents(QEventLoop::AllEvents, 100);
-          update();
+      // TODO: use the static rendering mode instead
+      // retry render a few times
+      for (int i = 0; i < 5 && !rendered(); i++) {
+        QApplication::processEvents(QEventLoop::AllEvents, 100);
+        update();
+        if (rendered()) {
+          LOGW("rendered after %d retries", i+1);
+          break;
         }
+      }
 
-        if (!loaded()) {
-          LOGE("failed to render map after retry");
-        }
+      // fallback to sending a blank frame
+      if (!rendered()) {
+        publish(0, false);
       }
     }
   }
@@ -161,7 +169,8 @@ void MapRenderer::update() {
   double end_t = millis_since_boot();
 
   if ((vipc_server != nullptr) && loaded()) {
-    publish((end_t - start_t) / 1000.0);
+    publish((end_t - start_t) / 1000.0, true);
+    last_llk_rendered = (*sm)["liveLocationKalman"].getLogMonoTime();
   }
 }
 
@@ -174,14 +183,18 @@ void MapRenderer::sendThumbnail(const uint64_t ts, const kj::Array<capnp::byte>
   pm->send("navThumbnail", msg);
 }
 
-void MapRenderer::publish(const double render_time) {
+void MapRenderer::publish(const double render_time, const bool loaded) {
   QImage cap = fbo->toImage().convertToFormat(QImage::Format_RGB888, Qt::AutoColor);
+
+  auto location = (*sm)["liveLocationKalman"].getLiveLocationKalman();
+  bool valid = loaded && (location.getStatus() == cereal::LiveLocationKalman::Status::VALID) && location.getPositionGeodetic().getValid();
   uint64_t ts = nanos_since_boot();
   VisionBuf* buf = vipc_server->get_buffer(VisionStreamType::VISION_STREAM_MAP);
   VisionIpcBufExtra extra = {
     .frame_id = frame_id,
     .timestamp_sof = (*sm)["liveLocationKalman"].getLogMonoTime(),
     .timestamp_eof = ts,
+    .valid = valid,
   };
 
   assert(cap.sizeInBytes() >= buf->len);
@@ -214,7 +227,9 @@ void MapRenderer::publish(const double render_time) {
 
   // Send state msg
   MessageBuilder msg;
-  auto state = msg.initEvent().initMapRenderState();
+  auto evt = msg.initEvent();
+  auto state = evt.initMapRenderState();
+  evt.setValid(valid);
   state.setLocationMonoTime((*sm)["liveLocationKalman"].getLogMonoTime());
   state.setRenderTime(render_time);
   state.setFrameId(frame_id);
@@ -252,6 +267,7 @@ void MapRenderer::updateRoute(QList<QGeoCoordinate> coordinates) {
 
 void MapRenderer::initLayers() {
   if (!m_map->layerExists("navLayer")) {
+    LOGD("Initializing navLayer");
     QVariantMap nav;
     nav["id"] = "navLayer";
     nav["type"] = "line";
diff --git a/selfdrive/navd/map_renderer.h b/selfdrive/navd/map_renderer.h
index 0019030b6d..5739ba88f2 100644
--- a/selfdrive/navd/map_renderer.h
+++ b/selfdrive/navd/map_renderer.h
@@ -34,7 +34,7 @@ private:
   std::unique_ptr<VisionIpcServer> vipc_server;
   std::unique_ptr<PubMaster> pm;
   std::unique_ptr<SubMaster> sm;
-  void publish(const double render_time);
+  void publish(const double render_time, const bool loaded);
   void sendThumbnail(const uint64_t ts, const kj::Array<capnp::byte> &buf);
 
   QMapboxGLSettings m_settings;
@@ -43,6 +43,10 @@ private:
   void initLayers();
 
   uint32_t frame_id = 0;
+  uint64_t last_llk_rendered = 0;
+  bool rendered() {
+    return last_llk_rendered == (*sm)["liveLocationKalman"].getLogMonoTime();
+  }
 
   QTimer* timer;
 
diff --git a/selfdrive/navd/map_renderer.py b/selfdrive/navd/map_renderer.py
index aa5682169f..57d5e0593c 100755
--- a/selfdrive/navd/map_renderer.py
+++ b/selfdrive/navd/map_renderer.py
@@ -74,7 +74,7 @@ if __name__ == "__main__":
   renderer = lib.map_renderer_init(ffi.NULL, ffi.NULL)
   wait_ready(lib, renderer)
 
-  geometry = r"{yxk}@|obn~Eg@@eCFqc@J{RFw@?kA@gA?q|@Riu@NuJBgi@ZqVNcRBaPBkG@iSD{I@_H@cH?gG@mG@gG?aD@{LDgDDkVVyQLiGDgX@q_@@qI@qKhS{R~[}NtYaDbGoIvLwNfP_b@|f@oFnF_JxHel@bf@{JlIuxAlpAkNnLmZrWqFhFoh@jd@kX|TkJxH_RnPy^|[uKtHoZ~Um`DlkCorC``CuShQogCtwB_ThQcr@fk@sVrWgRhVmSb\\oj@jxA{Qvg@u]tbAyHzSos@xjBeKbWszAbgEc~@~jCuTrl@cYfo@mRn\\_m@v}@ij@jp@om@lk@y|A`pAiXbVmWzUod@xj@wNlTw}@|uAwSn\\kRfYqOdS_IdJuK`KmKvJoOhLuLbHaMzGwO~GoOzFiSrEsOhD}PhCqw@vJmnAxSczA`Vyb@bHk[fFgl@pJeoDdl@}}@zIyr@hG}X`BmUdBcM^aRR}Oe@iZc@mR_@{FScHxAn_@vz@zCzH~GjPxAhDlB~DhEdJlIbMhFfG|F~GlHrGjNjItLnGvQ~EhLnBfOn@p`@AzAAvn@CfC?fc@`@lUrArStCfSxEtSzGxM|ElFlBrOzJlEbDnC~BfDtCnHjHlLvMdTnZzHpObOf^pKla@~G|a@dErg@rCbj@zArYlj@ttJ~AfZh@r]LzYg@`TkDbj@gIdv@oE|i@kKzhA{CdNsEfOiGlPsEvMiDpLgBpHyB`MkB|MmArPg@|N?|P^rUvFz~AWpOCdAkB|PuB`KeFfHkCfGy@tAqC~AsBPkDs@uAiAcJwMe@s@eKkPMoXQux@EuuCoH?eI?Kas@}Dy@wAUkMOgDL"
+  geometry = r"{yxk}@|obn~Eg@@eCFqc@J{RFw@?kA@gA?q|@Riu@NuJBgi@ZqVNcRBaPBkG@iSD{I@_H@cH?gG@mG@gG?aD@{LDgDDkVVyQLiGDgX@q_@@qI@qKhS{R~[}NtYaDbGoIvLwNfP_b@|f@oFnF_JxHel@bf@{JlIuxAlpAkNnLmZrWqFhFoh@jd@kX|TkJxH_RnPy^|[uKtHoZ~Um`DlkCorC``CuShQogCtwB_ThQcr@fk@sVrWgRhVmSb\\oj@jxA{Qvg@u]tbAyHzSos@xjBeKbWszAbgEc~@~jCuTrl@cYfo@mRn\\_m@v}@ij@jp@om@lk@y|A`pAiXbVmWzUod@xj@wNlTw}@|uAwSn\\kRfYqOdS_IdJuK`KmKvJoOhLuLbHaMzGwO~GoOzFiSrEsOhD}PhCqw@vJmnAxSczA`Vyb@bHk[fFgl@pJeoDdl@}}@zIyr@hG}X`BmUdBcM^aRR}Oe@iZc@mR_@{FScHxAn_@vz@zCzH~GjPxAhDlB~DhEdJlIbMhFfG|F~GlHrGjNjItLnGvQ~EhLnBfOn@p`@AzAAvn@CfC?fc@`@lUrArStCfSxEtSzGxM|ElFlBrOzJlEbDnC~BfDtCnHjHlLvMdTnZzHpObOf^pKla@~G|a@dErg@rCbj@zArYlj@ttJ~AfZh@r]LzYg@`TkDbj@gIdv@oE|i@kKzhA{CdNsEfOiGlPsEvMiDpLgBpHyB`MkB|MmArPg@|N?|P^rUvFz~AWpOCdAkB|PuB`KeFfHkCfGy@tAqC~AsBPkDs@uAiAcJwMe@s@eKkPMoXQux@EuuCoH?eI?Kas@}Dy@wAUkMOgDL" # noqa: E501
   lib.map_renderer_update_route(renderer, geometry.encode())
 
   POSITIONS = [
diff --git a/selfdrive/navd/navd.py b/selfdrive/navd/navd.py
index 7af911ab2a..3a8897e8e2 100755
--- a/selfdrive/navd/navd.py
+++ b/selfdrive/navd/navd.py
@@ -102,6 +102,7 @@ class RouteEngine:
     new_destination = coordinate_from_param("NavDestination", self.params)
     if new_destination is None:
       self.clear_route()
+      self.reset_recompute_limits()
       return
 
     should_recompute = self.should_recompute()
@@ -218,9 +219,39 @@ class RouteEngine:
     along_geometry = distance_along_geometry(geometry, self.last_position)
     distance_to_maneuver_along_geometry = step['distance'] - along_geometry
 
+    # Banner instructions are for the following maneuver step, don't use empty last step
+    banner_step = step
+    if not len(banner_step['bannerInstructions']) and self.step_idx == len(self.route) - 1:
+      banner_step = self.route[max(self.step_idx - 1, 0)]
+
     # Current instruction
     msg.navInstruction.maneuverDistance = distance_to_maneuver_along_geometry
-    parse_banner_instructions(msg.navInstruction, step['bannerInstructions'], distance_to_maneuver_along_geometry)
+    instruction = parse_banner_instructions(banner_step['bannerInstructions'], distance_to_maneuver_along_geometry)
+    if instruction is not None:
+      for k,v in instruction.items():
+        setattr(msg.navInstruction, k, v)
+
+    # All instructions
+    maneuvers = []
+    for i, step_i in enumerate(self.route):
+      if i < self.step_idx:
+        distance_to_maneuver = -sum(self.route[j]['distance'] for j in range(i+1, self.step_idx)) - along_geometry
+      elif i == self.step_idx:
+        distance_to_maneuver = distance_to_maneuver_along_geometry
+      else:
+        distance_to_maneuver = distance_to_maneuver_along_geometry + sum(self.route[j]['distance'] for j in range(self.step_idx+1, i+1))
+
+      instruction = parse_banner_instructions(step_i['bannerInstructions'], distance_to_maneuver)
+      if instruction is None:
+        continue
+      maneuver = {'distance': distance_to_maneuver}
+      if 'maneuverType' in instruction:
+        maneuver['type'] = instruction['maneuverType']
+      if 'maneuverModifier' in instruction:
+        maneuver['modifier'] = instruction['maneuverModifier']
+      maneuvers.append(maneuver)
+
+    msg.navInstruction.allManeuvers = maneuvers
 
     # Compute total remaining time and distance
     remaining = 1.0 - along_geometry / max(step['distance'], 1)
@@ -265,15 +296,14 @@ class RouteEngine:
     if distance_to_maneuver_along_geometry < -MANEUVER_TRANSITION_THRESHOLD:
       if self.step_idx + 1 < len(self.route):
         self.step_idx += 1
-        self.recompute_backoff = 0
-        self.recompute_countdown = 0
+        self.reset_recompute_limits()
       else:
         cloudlog.warning("Destination reached")
-        Params().remove("NavDestination")
 
         # Clear route if driving away from destination
         dist = self.nav_destination.distance_to(self.last_position)
         if dist > REROUTE_DISTANCE:
+          self.params.remove("NavDestination")
           self.clear_route()
 
   def send_route(self):
@@ -293,6 +323,10 @@ class RouteEngine:
     self.step_idx = None
     self.nav_destination = None
 
+  def reset_recompute_limits(self):
+    self.recompute_backoff = 0
+    self.recompute_countdown = 0
+
   def should_recompute(self):
     if self.step_idx is None or self.route is None:
       return True
diff --git a/selfdrive/navd/tests/test_map_renderer.py b/selfdrive/navd/tests/test_map_renderer.py
new file mode 100755
index 0000000000..e3eda8bdef
--- /dev/null
+++ b/selfdrive/navd/tests/test_map_renderer.py
@@ -0,0 +1,192 @@
+#!/usr/bin/env python3
+import os
+import unittest
+import requests
+import threading
+import http.server
+import cereal.messaging as messaging
+
+from typing import Any
+from cereal.visionipc import VisionIpcClient, VisionStreamType
+from selfdrive.manager.process_config import managed_processes
+
+LLK_DECIMATION = 10
+CACHE_PATH = "/data/mbgl-cache-navd.db"
+
+LOCATION1 = (32.7174, -117.16277)
+LOCATION2 = (32.7558, -117.2037)
+
+def gen_llk(location=LOCATION1):
+  msg = messaging.new_message('liveLocationKalman')
+  msg.liveLocationKalman.positionGeodetic = {'value': [*location, 0], 'std': [0., 0., 0.], 'valid': True}
+  msg.liveLocationKalman.calibratedOrientationNED = {'value': [0., 0., 0.], 'std': [0., 0., 0.], 'valid': True}
+  msg.liveLocationKalman.status = 'valid'
+  return msg
+
+
+class MapBoxInternetDisabledRequestHandler(http.server.BaseHTTPRequestHandler):
+  INTERNET_ACTIVE = True
+
+  def setup(self):
+    if self.INTERNET_ACTIVE:
+      super().setup()
+
+  def handle(self):
+    if self.INTERNET_ACTIVE:
+      super().handle()
+
+  def finish(self):
+    if self.INTERNET_ACTIVE:
+      super().finish()
+
+  def do_GET(self):
+    url = f'https://api.mapbox.com{self.path}'
+
+    headers = dict(self.headers)
+    headers["Host"] = "api.mapbox.com"
+
+    r = requests.get(url, headers=headers, timeout=5)
+
+    self.send_response(r.status_code)
+    self.end_headers()
+    self.wfile.write(r.content)
+
+  def log_message(self, *args: Any) -> None:
+    return
+
+  def log_error(self, *args: Any) -> None:
+    return
+
+
+class MapBoxInternetDisabledServer(threading.Thread):
+  def run(self):
+    self.server = http.server.HTTPServer(("127.0.0.1", 5000), MapBoxInternetDisabledRequestHandler)
+    self.server.serve_forever()
+
+  def stop(self):
+    self.server.shutdown()
+
+  def disable_internet(self):
+    MapBoxInternetDisabledRequestHandler.INTERNET_ACTIVE = False
+
+  def enable_internet(self):
+    MapBoxInternetDisabledRequestHandler.INTERNET_ACTIVE = True
+
+
+class TestMapRenderer(unittest.TestCase):
+  server = MapBoxInternetDisabledServer()
+
+  @classmethod
+  def setUpClass(cls):
+    assert "MAPBOX_TOKEN" in os.environ
+    cls.original_token = os.environ["MAPBOX_TOKEN"]
+    cls.server.start()
+
+  @classmethod
+  def tearDownClass(cls) -> None:
+    cls.server.stop()
+
+  def setUp(self):
+    self.server.enable_internet()
+    os.environ['MAPS_HOST'] = 'http://localhost:5000'
+
+    self.sm = messaging.SubMaster(['mapRenderState'])
+    self.pm = messaging.PubMaster(['liveLocationKalman'])
+    self.vipc = VisionIpcClient("navd", VisionStreamType.VISION_STREAM_MAP, True)
+
+    if os.path.exists(CACHE_PATH):
+      os.remove(CACHE_PATH)
+
+  def tearDown(self):
+    managed_processes['mapsd'].stop()
+
+  def _setup_test(self):
+    # start + sync up
+    managed_processes['mapsd'].start()
+
+    assert self.pm.wait_for_readers_to_update("liveLocationKalman", 10)
+
+    assert VisionIpcClient.available_streams("navd", False) == {VisionStreamType.VISION_STREAM_MAP, }
+    assert self.vipc.connect(False)
+    self.vipc.recv()
+
+
+  def _run_test(self, expect_valid, location=LOCATION1):
+    starting_frame_id = None
+
+    self.location = location
+
+    # run test
+    prev_frame_id = -1
+    for i in range(30*LLK_DECIMATION):
+      frame_expected = (i+1) % LLK_DECIMATION == 0
+
+      if self.sm.logMonoTime['mapRenderState'] == 0:
+        prev_valid = False
+        prev_frame_id = -1
+      else:
+        prev_valid = self.sm.valid['mapRenderState']
+        prev_frame_id = self.sm['mapRenderState'].frameId
+
+      if starting_frame_id is None:
+        starting_frame_id = prev_frame_id
+
+      llk = gen_llk(self.location)
+      self.pm.send("liveLocationKalman", llk)
+      self.pm.wait_for_readers_to_update("liveLocationKalman", 10)
+      self.sm.update(1000 if frame_expected else 0)
+      assert self.sm.updated['mapRenderState'] == frame_expected, "renderer running at wrong frequency"
+
+      if not frame_expected:
+        continue
+
+      frames_since_test_start = self.sm['mapRenderState'].frameId - starting_frame_id
+
+      # give a few frames to switch from valid to invalid, or vice versa
+      invalid_and_not_previously_valid = (expect_valid and not self.sm.valid['mapRenderState'] and not prev_valid)
+      valid_and_not_previously_invalid = (not expect_valid and self.sm.valid['mapRenderState'] and prev_valid)
+
+      if (invalid_and_not_previously_valid or valid_and_not_previously_invalid) and frames_since_test_start < 5:
+        continue
+
+      # check output
+      assert self.sm.valid['mapRenderState'] == expect_valid
+      assert self.sm['mapRenderState'].frameId == (prev_frame_id + 1)
+      assert self.sm['mapRenderState'].locationMonoTime == llk.logMonoTime
+      if not expect_valid:
+        assert self.sm['mapRenderState'].renderTime == 0.
+      else:
+        assert 0. < self.sm['mapRenderState'].renderTime < 0.1
+
+      # check vision ipc output
+      assert self.vipc.recv() is not None
+      assert self.vipc.valid == expect_valid
+      assert self.vipc.timestamp_sof == llk.logMonoTime
+      assert self.vipc.frame_id == self.sm['mapRenderState'].frameId
+
+  def test_with_internet(self):
+    self._setup_test()
+    self._run_test(True)
+
+  def test_with_no_internet(self):
+    self.server.disable_internet()
+    self._setup_test()
+    self._run_test(False)
+
+  def test_recover_from_no_internet(self):
+    self._setup_test()
+    self._run_test(True)
+
+    self.server.disable_internet()
+
+    # change locations to force mapsd to refetch
+    self._run_test(False, LOCATION2)
+
+    self.server.enable_internet()
+    self._run_test(True, LOCATION2)
+
+    self.location = LOCATION1
+    self._run_test(True, LOCATION2)
+
+if __name__ == "__main__":
+  unittest.main()
diff --git a/selfdrive/test/fuzzy_generation.py b/selfdrive/test/fuzzy_generation.py
new file mode 100644
index 0000000000..28c70a0ff4
--- /dev/null
+++ b/selfdrive/test/fuzzy_generation.py
@@ -0,0 +1,84 @@
+import capnp
+import hypothesis.strategies as st
+from typing import Any, Callable, Dict, List, Optional, Union
+
+from cereal import log
+
+DrawType = Callable[[st.SearchStrategy], Any]
+
+
+class FuzzyGenerator:
+  def __init__(self, draw: DrawType, real_floats: bool):
+    self.draw = draw
+    self.real_floats = real_floats
+
+  def generate_native_type(self, field: str) -> st.SearchStrategy[Union[bool, int, float, str, bytes]]:
+    def floats(**kwargs) -> st.SearchStrategy[float]:
+      allow_nan = not self.real_floats
+      allow_infinity = not self.real_floats
+      return st.floats(**kwargs, allow_nan=allow_nan, allow_infinity=allow_infinity)
+
+    if field == 'bool':
+      return st.booleans()
+    elif field == 'int8':
+      return st.integers(min_value=-2**7, max_value=2**7-1)
+    elif field == 'int16':
+      return st.integers(min_value=-2**15, max_value=2**15-1)
+    elif field == 'int32':
+      return st.integers(min_value=-2**31, max_value=2**31-1)
+    elif field == 'int64':
+      return st.integers(min_value=-2**63, max_value=2**63-1)
+    elif field == 'uint8':
+      return st.integers(min_value=0, max_value=2**8-1)
+    elif field == 'uint16':
+      return st.integers(min_value=0, max_value=2**16-1)
+    elif field == 'uint32':
+      return st.integers(min_value=0, max_value=2**32-1)
+    elif field == 'uint64':
+      return st.integers(min_value=0, max_value=2**64-1)
+    elif field == 'float32':
+      return floats(width=32)
+    elif field == 'float64':
+      return floats(width=64)
+    elif field == 'text':
+      return st.text(max_size=1000)
+    elif field == 'data':
+      return st.binary(max_size=1000)
+    elif field == 'anyPointer':
+      return st.text()
+    else:
+      raise NotImplementedError(f'Invalid type : {field}')
+
+  def generate_field(self, field: capnp.lib.capnp._StructSchemaField) -> st.SearchStrategy:
+    def rec(field_type: capnp.lib.capnp._DynamicStructReader) -> st.SearchStrategy:
+      if field_type.which() == 'struct':
+        return self.generate_struct(field.schema.elementType if base_type == 'list' else field.schema)
+      elif field_type.which() == 'list':
+        return st.lists(rec(field_type.list.elementType))
+      elif field_type.which() == 'enum':
+        schema = field.schema.elementType if base_type == 'list' else field.schema
+        return st.sampled_from(list(schema.enumerants.keys()))
+      else:
+        return self.generate_native_type(field_type.which())
+
+    if 'slot' in field.proto.to_dict():
+      base_type = field.proto.slot.type.which()
+      return rec(field.proto.slot.type)
+    else:
+      return self.generate_struct(field.schema)
+
+  def generate_struct(self, schema: capnp.lib.capnp._StructSchema, event: Optional[str] = None) -> st.SearchStrategy[Dict[str, Any]]:
+    full_fill: List[str] = list(schema.non_union_fields)
+    single_fill: List[str] = [event] if event else [self.draw(st.sampled_from(schema.union_fields))] if schema.union_fields else []
+    return st.fixed_dictionaries({field: self.generate_field(schema.fields[field]) for field in full_fill + single_fill})
+
+  @classmethod
+  def get_random_msg(cls, draw: DrawType, struct: capnp.lib.capnp._StructModule, real_floats: bool = False) -> Dict[str, Any]:
+    fg = cls(draw, real_floats=real_floats)
+    data: Dict[str, Any] = draw(fg.generate_struct(struct.schema))
+    return data
+
+  @classmethod
+  def get_random_event_msg(cls, draw: DrawType, events: List[str], real_floats: bool = False) -> List[Dict[str, Any]]:
+    fg = cls(draw, real_floats=real_floats)
+    return [draw(fg.generate_struct(log.Event.schema, e)) for e in sorted(events)]
diff --git a/selfdrive/test/longitudinal_maneuvers/plant.py b/selfdrive/test/longitudinal_maneuvers/plant.py
index 8febbf4022..541f7d8747 100755
--- a/selfdrive/test/longitudinal_maneuvers/plant.py
+++ b/selfdrive/test/longitudinal_maneuvers/plant.py
@@ -8,7 +8,7 @@ from common.realtime import Ratekeeper, DT_MDL
 from selfdrive.controls.lib.longcontrol import LongCtrlState
 from selfdrive.modeld.constants import T_IDXS
 from selfdrive.controls.lib.longitudinal_planner import LongitudinalPlanner
-from selfdrive.controls.lib.radar_helpers import _LEAD_ACCEL_TAU
+from selfdrive.controls.radard import _LEAD_ACCEL_TAU
 
 
 class Plant:
diff --git a/selfdrive/test/openpilotci.py b/selfdrive/test/openpilotci.py
index 5f4b9f1f35..3a7868aaa6 100755
--- a/selfdrive/test/openpilotci.py
+++ b/selfdrive/test/openpilotci.py
@@ -17,8 +17,9 @@ def get_sas_token():
     sas_token = open(TOKEN_PATH).read().strip()
 
   if sas_token is None:
-    sas_token = subprocess.check_output("az storage container generate-sas --account-name commadataci --name openpilotci --https-only --permissions lrw \
-                                         --expiry $(date -u '+%Y-%m-%dT%H:%M:%SZ' -d '+1 hour') --auth-mode login --as-user --output tsv", shell=True).decode().strip("\n")
+    sas_token = subprocess.check_output("az storage container generate-sas --account-name commadataci --name openpilotci \
+                                         --https-only --permissions lrw --expiry $(date -u '+%Y-%m-%dT%H:%M:%SZ' -d '+1 hour') \
+                                         --auth-mode login --as-user --output tsv", shell=True).decode().strip("\n")
 
   return sas_token
 
diff --git a/selfdrive/test/process_replay/README.md b/selfdrive/test/process_replay/README.md
index 531ddb3a02..d1743ac539 100644
--- a/selfdrive/test/process_replay/README.md
+++ b/selfdrive/test/process_replay/README.md
@@ -15,9 +15,10 @@ Currently the following processes are tested:
 * calibrationd
 * dmonitoringd
 * locationd
-* laikad
 * paramsd
 * ubloxd
+* laikad
+* torqued
 
 ### Usage
 ```
@@ -45,3 +46,83 @@ To generate new logs:
 `./test_processes.py`
 
 Then, check in the new logs using git-lfs. Make sure to also update the `ref_commit` file to the current commit.
+
+## API
+
+Process replay test suite exposes programmatic APIs for simultaneously running processes or groups of processes on provided logs. 
+
+```py
+def replay_process_with_name(name: Union[str, Iterable[str]], lr: Union[LogReader, List[capnp._DynamicStructReader]], *args, **kwargs) -> List[capnp._DynamicStructReader]:
+
+def replay_process(
+  cfg: Union[ProcessConfig, Iterable[ProcessConfig]], lr: Union[LogReader, List[capnp._DynamicStructReader]], frs: Optional[Dict[str, Any]] = None, 
+  fingerprint: Optional[str] = None, return_all_logs: bool = False, custom_params: Optional[Dict[str, Any]] = None, disable_progress: bool = False
+) -> List[capnp._DynamicStructReader]:
+```
+
+Example usage:
+```py
+from selfdrive.test.process_replay import replay_process_with_name
+from tools.lib.logreader import LogReader
+
+lr = LogReader(...)
+
+# provide a name of the process to replay
+output_logs = replay_process_with_name('locationd', lr)
+
+# or list of names
+output_logs = replay_process_with_name(['ubloxd', 'locationd', 'laikad'], lr)
+```
+
+Supported processes: 
+* controlsd
+* radard
+* plannerd
+* calibrationd
+* dmonitoringd
+* locationd
+* paramsd 
+* ubloxd
+* laikad
+* torqued
+* modeld
+* dmonitoringmodeld
+
+Certain processes may require an initial state, which is usually supplied within `Params` and persisting from segment to segment (e.g CalibrationParams, LiveParameters). The `custom_params` is dictionary  used to prepopulate `Params` with arbitrary values. The `get_custom_params_from_lr` helper is provided to fetch meaningful values from log files.
+
+```py
+from selfdrive.test.process_replay import get_custom_params_from_lr
+
+previous_segment_lr = LogReader(...)
+current_segment_lr = LogReader(...)
+
+custom_params = get_custom_params_from_lr(previous_segment_lr, 'last')
+
+output_logs = replay_process_with_name('calibrationd', lr, custom_params=custom_params)
+```
+
+Replaying processes that use VisionIPC (e.g. modeld, dmonitoringmodeld) require additional `frs` dictionary with camera states as keys and `FrameReader` objects as values.
+
+```py
+from tools.lib.framereader import FrameReader
+
+frs = {
+  'roadCameraState': FrameReader(...),
+  'wideRoadCameraState': FrameReader(...),
+  'driverCameraState': FrameReader(...),
+}
+
+output_logs = replay_process_with_name(['modeld', 'dmonitoringmodeld'], lr, frs=frs)
+```
+
+To capture stdout/stderr of the replayed process, `captured_output_store` can be provided.
+
+```py
+output_store = dict()
+# pass dictionary by reference, it will be filled with standard outputs - even if process replay fails
+output_logs = replay_process_with_name(['radard', 'plannerd'], lr, captured_output_store=output_store)
+
+# entries with captured output in format { 'out': '...', 'err': '...' } will be added to provided dictionary for each replayed process
+print(output_store['radard']['out']) # radard stdout
+print(output_store['radard']['err']) # radard stderr
+```
\ No newline at end of file
diff --git a/selfdrive/test/process_replay/__init__.py b/selfdrive/test/process_replay/__init__.py
index e69de29bb2..a872c310d7 100644
--- a/selfdrive/test/process_replay/__init__.py
+++ b/selfdrive/test/process_replay/__init__.py
@@ -0,0 +1,2 @@
+from selfdrive.test.process_replay.process_replay import CONFIGS, get_process_config, get_custom_params_from_lr, \
+                                                                  replay_process, replay_process_with_name  # noqa: F401
diff --git a/selfdrive/test/process_replay/capture.py b/selfdrive/test/process_replay/capture.py
new file mode 100644
index 0000000000..28206c6b91
--- /dev/null
+++ b/selfdrive/test/process_replay/capture.py
@@ -0,0 +1,59 @@
+import os
+import sys
+
+from typing import Tuple, no_type_check
+
+class FdRedirect:
+  def __init__(self, file_prefix: str, fd: int):
+    fname = os.path.join("/tmp", f"{file_prefix}.{fd}")
+    if os.path.exists(fname):
+      os.unlink(fname)
+    self.dest_fd = os.open(fname, os.O_WRONLY | os.O_CREAT)
+    self.dest_fname = fname
+    self.source_fd = fd
+    os.set_inheritable(self.dest_fd, True)
+
+  def __del__(self):
+    os.close(self.dest_fd)
+
+  def purge(self) -> None:
+    os.unlink(self.dest_fname)
+
+  def read(self) -> bytes:
+    with open(self.dest_fname, "rb") as f:
+      return f.read() or b""
+
+  def link(self) -> None:
+    os.dup2(self.dest_fd, self.source_fd)
+
+
+class ProcessOutputCapture:
+  def __init__(self, proc_name: str, prefix: str):
+    prefix = f"{proc_name}_{prefix}"
+    self.stdout_redirect = FdRedirect(prefix, 1)
+    self.stderr_redirect = FdRedirect(prefix, 2)
+
+  def __del__(self):
+    self.stdout_redirect.purge()
+    self.stderr_redirect.purge()
+
+  @no_type_check # ipython classes have incompatible signatures
+  def link_with_current_proc(self) -> None:
+    try:
+      # prevent ipykernel from redirecting stdout/stderr of python subprocesses
+      from ipykernel.iostream import OutStream
+      if isinstance(sys.stdout, OutStream):
+        sys.stdout = sys.__stdout__
+      if isinstance(sys.stderr, OutStream):
+        sys.stderr = sys.__stderr__
+    except ImportError:
+      pass
+
+    # link stdout/stderr to the fifo
+    self.stdout_redirect.link()
+    self.stderr_redirect.link()
+
+  def read_outerr(self) -> Tuple[str, str]:
+    out_str = self.stdout_redirect.read().decode()
+    err_str = self.stderr_redirect.read().decode()
+    return out_str, err_str
diff --git a/selfdrive/test/process_replay/compare_logs.py b/selfdrive/test/process_replay/compare_logs.py
index 48752d2222..aadfe2064a 100755
--- a/selfdrive/test/process_replay/compare_logs.py
+++ b/selfdrive/test/process_replay/compare_logs.py
@@ -1,5 +1,4 @@
 #!/usr/bin/env python3
-import bz2
 import sys
 import math
 import capnp
@@ -12,16 +11,6 @@ from tools.lib.logreader import LogReader
 EPSILON = sys.float_info.epsilon
 
 
-def save_log(dest, log_msgs, compress=True):
-  dat = b"".join(msg.as_builder().to_bytes() for msg in log_msgs)
-
-  if compress:
-    dat = bz2.compress(dat)
-
-  with open(dest, "wb") as f:
-    f.write(dat)
-
-
 def remove_ignored_fields(msg, ignore):
   msg = msg.as_builder()
   for key in ignore:
@@ -71,7 +60,7 @@ def compare_logs(log1, log2, ignore_fields=None, ignore_msgs=None, tolerance=Non
   default_tolerance = EPSILON if tolerance is None else tolerance
 
   log1, log2 = (
-    sorted((m for m in log if m.which() not in ignore_msgs), key=lambda m: (m.logMonoTime, m.which()))
+    [m for m in log if m.which() not in ignore_msgs]
     for log in (log1, log2)
   )
 
diff --git a/selfdrive/test/process_replay/helpers.py b/selfdrive/test/process_replay/helpers.py
index 8571f36c36..5cf1acfa59 100644
--- a/selfdrive/test/process_replay/helpers.py
+++ b/selfdrive/test/process_replay/helpers.py
@@ -2,12 +2,15 @@ import os
 import shutil
 import uuid
 
+from typing import List, Optional
+
 from common.params import Params
 
 class OpenpilotPrefix(object):
-  def __init__(self, prefix: str = None) -> None:
+  def __init__(self, prefix: Optional[str] = None, clean_dirs_on_exit: bool = True):
     self.prefix = prefix if prefix else str(uuid.uuid4())
     self.msgq_path = os.path.join('/dev/shm', self.prefix)
+    self.clean_dirs_on_exit = clean_dirs_on_exit
 
   def __enter__(self):
     os.environ['OPENPILOT_PREFIX'] = self.prefix
@@ -16,11 +19,31 @@ class OpenpilotPrefix(object):
     except FileExistsError:
       pass
 
+    return self
+
   def __exit__(self, exc_type, exc_obj, exc_tb):
+    if self.clean_dirs_on_exit:
+      self.clean_dirs()
+    del os.environ['OPENPILOT_PREFIX']
+    return False
+
+  def clean_dirs(self):
     symlink_path = Params().get_param_path()
     if os.path.exists(symlink_path):
       shutil.rmtree(os.path.realpath(symlink_path), ignore_errors=True)
       os.remove(symlink_path)
     shutil.rmtree(self.msgq_path, ignore_errors=True)
-    del os.environ['OPENPILOT_PREFIX']
-    return False
+
+
+class DummySocket:
+  def __init__(self):
+    self.data: List[bytes] = []
+
+  def receive(self, non_blocking: bool = False) -> Optional[bytes]:
+    if non_blocking:
+      return None
+
+    return self.data.pop()
+
+  def send(self, data: bytes):
+    self.data.append(data)
diff --git a/selfdrive/test/process_replay/migration.py b/selfdrive/test/process_replay/migration.py
new file mode 100644
index 0000000000..eb2aba8799
--- /dev/null
+++ b/selfdrive/test/process_replay/migration.py
@@ -0,0 +1,109 @@
+from collections import defaultdict
+
+from cereal import messaging
+from selfdrive.test.process_replay.vision_meta import meta_from_encode_index
+
+
+def migrate_all(lr, old_logtime=False, camera_states=False):
+  msgs = migrate_sensorEvents(lr, old_logtime)
+  msgs = migrate_carParams(msgs, old_logtime)
+  if camera_states:
+    msgs = migrate_cameraStates(msgs)
+
+  return msgs
+
+
+def migrate_cameraStates(lr):
+  all_msgs = []
+  frame_to_encode_id = defaultdict(dict)
+
+  for msg in lr:
+    if msg.which() not in ["roadEncodeIdx", "wideRoadEncodeIdx", "driverEncodeIdx"]:
+      continue
+
+    encode_index = getattr(msg, msg.which())
+    meta = meta_from_encode_index(msg.which())
+
+    assert encode_index.segmentId < 1200, f"Encoder index segmentId greater that 1200: {msg.which()} {encode_index.segmentId}"
+    frame_to_encode_id[meta.camera_state][encode_index.frameId] = encode_index.segmentId
+
+  for msg in lr:
+    if msg.which() not in ["roadCameraState", "wideRoadCameraState", "driverCameraState"]:
+      all_msgs.append(msg)
+      continue
+
+    camera_state = getattr(msg, msg.which())
+    encode_id = frame_to_encode_id[msg.which()].get(camera_state.frameId)
+    if encode_id is None:
+      print(f"Missing encoded frame for camera feed {msg.which()} with frameId: {camera_state.frameId}")
+      continue
+
+    new_msg = messaging.new_message(msg.which())
+    new_camera_state = getattr(new_msg, new_msg.which())
+    new_camera_state.frameId = encode_id
+    new_camera_state.encodeId = encode_id
+    new_camera_state.timestampSof = camera_state.timestampSof
+    new_camera_state.timestampEof = camera_state.timestampEof
+    new_msg.logMonoTime = msg.logMonoTime
+    new_msg.valid = msg.valid
+
+    all_msgs.append(new_msg.as_reader())
+
+  return all_msgs
+
+
+def migrate_carParams(lr, old_logtime=False):
+  all_msgs = []
+  for msg in lr:
+    if msg.which() == 'carParams':
+      CP = messaging.new_message('carParams')
+      CP.carParams = msg.carParams.as_builder()
+      for car_fw in CP.carParams.carFw:
+        car_fw.brand = CP.carParams.carName
+      if old_logtime:
+        CP.logMonoTime = msg.logMonoTime
+      msg = CP.as_reader()
+    all_msgs.append(msg)
+
+  return all_msgs
+
+
+def migrate_sensorEvents(lr, old_logtime=False):
+  all_msgs = []
+  for msg in lr:
+    if msg.which() != 'sensorEventsDEPRECATED':
+      all_msgs.append(msg)
+      continue
+
+    # migrate to split sensor events
+    for evt in msg.sensorEventsDEPRECATED:
+      # build new message for each sensor type
+      sensor_service = ''
+      if evt.which() == 'acceleration':
+        sensor_service = 'accelerometer'
+      elif evt.which() == 'gyro' or evt.which() == 'gyroUncalibrated':
+        sensor_service = 'gyroscope'
+      elif evt.which() == 'light' or evt.which() == 'proximity':
+        sensor_service = 'lightSensor'
+      elif evt.which() == 'magnetic' or evt.which() == 'magneticUncalibrated':
+        sensor_service = 'magnetometer'
+      elif evt.which() == 'temperature':
+        sensor_service = 'temperatureSensor'
+
+      m = messaging.new_message(sensor_service)
+      m.valid = True
+      if old_logtime:
+        m.logMonoTime = msg.logMonoTime
+
+      m_dat = getattr(m, sensor_service)
+      m_dat.version = evt.version
+      m_dat.sensor = evt.sensor
+      m_dat.type = evt.type
+      m_dat.source = evt.source
+      if old_logtime:
+        m_dat.timestamp = evt.timestamp
+      setattr(m_dat, evt.which(), getattr(evt, evt.which()))
+
+      all_msgs.append(m.as_reader())
+
+  return all_msgs
diff --git a/selfdrive/test/process_replay/model_replay.py b/selfdrive/test/process_replay/model_replay.py
index 9c1ec4e931..56bb3e1b3e 100755
--- a/selfdrive/test/process_replay/model_replay.py
+++ b/selfdrive/test/process_replay/model_replay.py
@@ -4,21 +4,20 @@ import sys
 import time
 from collections import defaultdict
 from typing import Any
-from itertools import zip_longest
 
 import cereal.messaging as messaging
-from cereal.visionipc import VisionIpcServer, VisionStreamType
+from common.params import Params
 from common.spinner import Spinner
-from common.timeout import Timeout
-from common.transformations.camera import tici_f_frame_size, tici_d_frame_size
 from system.hardware import PC
 from selfdrive.manager.process_config import managed_processes
 from selfdrive.test.openpilotci import BASE_URL, get_url
-from selfdrive.test.process_replay.compare_logs import compare_logs, save_log
+from selfdrive.test.process_replay.compare_logs import compare_logs
 from selfdrive.test.process_replay.test_processes import format_diff
+from selfdrive.test.process_replay.process_replay import get_process_config, replay_process
 from system.version import get_commit
 from tools.lib.framereader import FrameReader
 from tools.lib.logreader import LogReader
+from tools.lib.helpers import save_log
 
 TEST_ROUTE = "2f4452b03ccb98f0|2022-12-03--13-45-30"
 SEGMENT = 6
@@ -26,20 +25,30 @@ MAX_FRAMES = 100 if PC else 600
 NAV_FRAMES = 50
 
 NO_NAV = "NO_NAV" in os.environ
-SEND_EXTRA_INPUTS = bool(os.getenv("SEND_EXTRA_INPUTS", "0"))
+SEND_EXTRA_INPUTS = bool(int(os.getenv("SEND_EXTRA_INPUTS", "0")))
 
-VIPC_STREAM = {"roadCameraState": VisionStreamType.VISION_STREAM_ROAD, "driverCameraState": VisionStreamType.VISION_STREAM_DRIVER,
-               "wideRoadCameraState": VisionStreamType.VISION_STREAM_WIDE_ROAD}
 
 def get_log_fn(ref_commit, test_route):
   return f"{test_route}_model_tici_{ref_commit}.bz2"
 
 
-def replace_calib(msg, calib):
-  msg = msg.as_builder()
-  if calib is not None:
-    msg.liveCalibration.rpyCalib = calib.tolist()
-  return msg
+def trim_logs_to_max_frames(logs, max_frames, frs_types, include_all_types):
+  all_msgs = []
+  cam_state_counts = defaultdict(int)
+  # keep adding messages until cam states are equal to MAX_FRAMES
+  for msg in sorted(logs, key=lambda m: m.logMonoTime):
+    all_msgs.append(msg)
+    if msg.which() in frs_types:
+      cam_state_counts[msg.which()] += 1
+
+    if all(cam_state_counts[state] == max_frames for state in frs_types):
+      break
+
+  if len(include_all_types) != 0:
+    other_msgs = [m for m in logs if m.which() in include_all_types]
+    all_msgs.extend(other_msgs)
+
+  return all_msgs
 
 
 def nav_model_replay(lr):
@@ -54,6 +63,7 @@ def nav_model_replay(lr):
   try:
     assert "MAPBOX_TOKEN" in os.environ
     os.environ['MAP_RENDER_TEST_MODE'] = '1'
+    Params().put_bool('DmModelInitialized', True)
     managed_processes['mapsd'].start()
     managed_processes['navmodeld'].start()
 
@@ -101,102 +111,38 @@ def model_replay(lr, frs):
   else:
     spinner = None
 
-  vipc_server = VisionIpcServer("camerad")
-  vipc_server.create_buffers(VisionStreamType.VISION_STREAM_ROAD, 40, False, *(tici_f_frame_size))
-  vipc_server.create_buffers(VisionStreamType.VISION_STREAM_DRIVER, 40, False, *(tici_d_frame_size))
-  vipc_server.create_buffers(VisionStreamType.VISION_STREAM_WIDE_ROAD, 40, False, *(tici_f_frame_size))
-  vipc_server.start_listener()
+  log_msgs = []
 
-  sm = messaging.SubMaster(['modelV2', 'driverStateV2'])
-  pm = messaging.PubMaster(['roadCameraState', 'wideRoadCameraState', 'driverCameraState', 'liveCalibration', 'lateralPlan'])
+  # modeld is using frame pairs
+  modeld_logs = trim_logs_to_max_frames(lr, MAX_FRAMES, {"roadCameraState", "wideRoadCameraState"}, {"roadEncodeIdx", "wideRoadEncodeIdx"})
+  dmodeld_logs = trim_logs_to_max_frames(lr, MAX_FRAMES, {"driverCameraState"}, {"driverEncodeIdx"})
+  if not SEND_EXTRA_INPUTS:
+    modeld_logs = [msg for msg in modeld_logs if msg.which() not in ["liveCalibration", "lateralPlan"]]
+    dmodeld_logs = [msg for msg in dmodeld_logs if msg.which() not in ["liveCalibration", "lateralPlan"]]
+  # initial calibration
+  cal_msg = next(msg for msg in lr if msg.which() == "liveCalibration").as_builder()
+  cal_msg.logMonoTime = lr[0].logMonoTime
+  modeld_logs.insert(0, cal_msg.as_reader())
+  dmodeld_logs.insert(0, cal_msg.as_reader())
+
+  modeld = get_process_config("modeld")
+  dmonitoringmodeld = get_process_config("dmonitoringmodeld")
 
   try:
-    managed_processes['modeld'].start()
-    managed_processes['dmonitoringmodeld'].start()
-    time.sleep(5)
-    sm.update(1000)
-
-    log_msgs = []
-    last_desire = None
-    recv_cnt = defaultdict(int)
-    frame_idxs = defaultdict(int)
-
-    # init modeld with valid calibration
-    cal_msgs = [msg for msg in lr if msg.which() == "liveCalibration"]
-    for _ in range(5):
-      pm.send(cal_msgs[0].which(), cal_msgs[0].as_builder())
-      time.sleep(0.1)
-
-    msgs = defaultdict(list)
-    for msg in lr:
-      msgs[msg.which()].append(msg)
-
-    for cam_msgs in zip_longest(msgs['roadCameraState'], msgs['wideRoadCameraState'], msgs['driverCameraState']):
-      # need a pair of road/wide msgs
-      if None in (cam_msgs[0], cam_msgs[1]):
-        break
-
-      for msg in cam_msgs:
-        if msg is None:
-          continue
-
-        if SEND_EXTRA_INPUTS:
-          if msg.which() == "liveCalibration":
-            last_calib = list(msg.liveCalibration.rpyCalib)
-            pm.send(msg.which(), replace_calib(msg, last_calib))
-          elif msg.which() == "lateralPlan":
-            last_desire = msg.lateralPlan.desire
-            dat = messaging.new_message('lateralPlan')
-            dat.lateralPlan.desire = last_desire
-            pm.send('lateralPlan', dat)
-
-        if msg.which() in VIPC_STREAM:
-          msg = msg.as_builder()
-          camera_state = getattr(msg, msg.which())
-          img = frs[msg.which()].get(frame_idxs[msg.which()], pix_fmt="nv12")[0]
-          frame_idxs[msg.which()] += 1
-
-          # send camera state and frame
-          camera_state.frameId = frame_idxs[msg.which()]
-          pm.send(msg.which(), msg)
-          vipc_server.send(VIPC_STREAM[msg.which()], img.flatten().tobytes(), camera_state.frameId,
-                           camera_state.timestampSof, camera_state.timestampEof)
-
-          recv = None
-          if msg.which() in ('roadCameraState', 'wideRoadCameraState'):
-            if min(frame_idxs['roadCameraState'], frame_idxs['wideRoadCameraState']) > recv_cnt['modelV2']:
-              recv = "modelV2"
-          elif msg.which() == 'driverCameraState':
-            recv = "driverStateV2"
-
-          # wait for a response
-          with Timeout(15, f"timed out waiting for {recv}"):
-            if recv:
-              recv_cnt[recv] += 1
-              log_msgs.append(messaging.recv_one(sm.sock[recv]))
-
-          if spinner:
-            spinner.update("replaying models:  road %d/%d,  driver %d/%d" % (frame_idxs['roadCameraState'],
-                           frs['roadCameraState'].frame_count, frame_idxs['driverCameraState'], frs['driverCameraState'].frame_count))
-
-
-      if any(frame_idxs[c] >= frs[c].frame_count for c in frame_idxs.keys()) or frame_idxs['roadCameraState'] == MAX_FRAMES:
-        break
-      else:
-        print(f'Received {frame_idxs["roadCameraState"]} frames')
-
+    if spinner:
+      spinner.update("running model replay")
+    modeld_msgs = replay_process(modeld, modeld_logs, frs)
+    dmonitoringmodeld_msgs = replay_process(dmonitoringmodeld, dmodeld_logs, frs)
+    log_msgs.extend([m for m in modeld_msgs if m.which() == "modelV2"])
+    log_msgs.extend([m for m in dmonitoringmodeld_msgs if m.which() == "driverStateV2"])
   finally:
     if spinner:
       spinner.close()
-    managed_processes['modeld'].stop()
-    managed_processes['dmonitoringmodeld'].stop()
-
 
   return log_msgs
 
 
 if __name__ == "__main__":
-
   update = "--update" in sys.argv
   replay_dir = os.path.dirname(os.path.abspath(__file__))
   ref_commit_fn = os.path.join(replay_dir, "model_replay_ref_commit")
@@ -246,10 +192,18 @@ if __name__ == "__main__":
       ref_commit = f.read().strip()
     log_fn = get_log_fn(ref_commit, TEST_ROUTE)
     try:
-      expected_msgs = 2*MAX_FRAMES
+      all_logs = list(LogReader(BASE_URL + log_fn))
+      cmp_log = []
+
+      # logs are ordered based on type: modelV2, driverStateV2, nav messages (navThumbnail, mapRenderState, navModel)
+      model_start_index = next(i for i, m in enumerate(all_logs) if m.which() == "modelV2")
+      cmp_log += all_logs[model_start_index:model_start_index + MAX_FRAMES]
+      dmon_start_index = next(i for i, m in enumerate(all_logs) if m.which() == "driverStateV2")
+      cmp_log += all_logs[dmon_start_index:dmon_start_index + MAX_FRAMES]
       if not NO_NAV:
-        expected_msgs += NAV_FRAMES*3
-      cmp_log = list(LogReader(BASE_URL + log_fn))[:expected_msgs]
+        nav_start_index = next(i for i, m in enumerate(all_logs) if m.which() in ["navThumbnail", "mapRenderState", "navModel"])
+        nav_logs = all_logs[nav_start_index:nav_start_index + NAV_FRAMES*3]
+        cmp_log += nav_logs
 
       ignore = [
         'logMonoTime',
diff --git a/selfdrive/test/process_replay/model_replay_ref_commit b/selfdrive/test/process_replay/model_replay_ref_commit
index b89468eebb..e101afb227 100644
--- a/selfdrive/test/process_replay/model_replay_ref_commit
+++ b/selfdrive/test/process_replay/model_replay_ref_commit
@@ -1 +1 @@
-69270554b3c3ae574b9f357f2473395edf7db8af
+377ed362faa9410a8b81d50978d74ee60b8e6f6a
diff --git a/selfdrive/test/process_replay/process_replay.py b/selfdrive/test/process_replay/process_replay.py
index d6d5b25bde..96d625c2cb 100755
--- a/selfdrive/test/process_replay/process_replay.py
+++ b/selfdrive/test/process_replay/process_replay.py
@@ -1,52 +1,79 @@
 #!/usr/bin/env python3
 import os
 import time
+import copy
+import json
+import heapq
 import signal
 import platform
 from collections import OrderedDict
 from dataclasses import dataclass, field
-from typing import Dict, List, Optional, Callable
+from typing import Dict, List, Optional, Callable, Union, Any, Iterable, Tuple
+from tqdm import tqdm
+import capnp
 
 import cereal.messaging as messaging
 from cereal import car
 from cereal.services import service_list
+from cereal.visionipc import VisionIpcServer, get_endpoint_name as vipc_get_endpoint_name
 from common.params import Params
 from common.timeout import Timeout
 from common.realtime import DT_CTRL
 from panda.python import ALTERNATIVE_EXPERIENCE
 from selfdrive.car.car_helpers import get_car, interfaces
 from selfdrive.manager.process_config import managed_processes
-from selfdrive.test.process_replay.helpers import OpenpilotPrefix
+from selfdrive.test.process_replay.helpers import OpenpilotPrefix, DummySocket
+from selfdrive.test.process_replay.vision_meta import meta_from_camera_state, available_streams
+from selfdrive.test.process_replay.migration import migrate_all
+from selfdrive.test.process_replay.capture import ProcessOutputCapture
+from tools.lib.logreader import LogReader
 
 # Numpy gives different results based on CPU features after version 19
 NUMPY_TOLERANCE = 1e-7
-CI = "CI" in os.environ
-TIMEOUT = 15
 PROC_REPLAY_DIR = os.path.dirname(os.path.abspath(__file__))
 FAKEDATA = os.path.join(PROC_REPLAY_DIR, "fakedata/")
 
 
+class LauncherWithCapture:
+  def __init__(self, capture: ProcessOutputCapture, launcher: Callable):
+    self.capture = capture
+    self.launcher = launcher
+
+  def __call__(self, *args, **kwargs):
+    self.capture.link_with_current_proc()
+    self.launcher(*args, **kwargs)
+
+
 class ReplayContext:
   def __init__(self, cfg):
     self.proc_name = cfg.proc_name
     self.pubs = cfg.pubs
-    self.drained_pub = cfg.drained_pub
-    assert(len(self.pubs) != 0 or self.drained_pub is not None)
-  
-  def __enter__(self):
-    messaging.toggle_fake_events(True)
-    messaging.set_fake_prefix(self.proc_name)
+    self.main_pub = cfg.main_pub
+    self.main_pub_drained = cfg.main_pub_drained
+    self.unlocked_pubs = cfg.unlocked_pubs
+    assert(len(self.pubs) != 0 or self.main_pub is not None)
 
-    if self.drained_pub is None:
-      self.events = OrderedDict()
-      for pub in self.pubs:
-        self.events[pub] = messaging.fake_event_handle(pub, enable=True)
-    else:
-      self.events = {self.drained_pub: messaging.fake_event_handle(self.drained_pub, enable=True)}
+  def __enter__(self):
+    self.open_context()
 
     return self
 
   def __exit__(self, exc_type, exc_obj, exc_tb):
+    self.close_context()
+
+  def open_context(self):
+    messaging.toggle_fake_events(True)
+    messaging.set_fake_prefix(self.proc_name)
+
+    if self.main_pub is None:
+      self.events = OrderedDict()
+      pubs_with_events = [pub for pub in self.pubs if pub not in self.unlocked_pubs]
+      for pub in pubs_with_events:
+        self.events[pub] = messaging.fake_event_handle(pub, enable=True)
+    else:
+      self.events = {self.main_pub: messaging.fake_event_handle(self.main_pub, enable=True)}
+
+  def close_context(self):
     del self.events
 
     messaging.toggle_fake_events(False)
@@ -55,7 +82,7 @@ class ReplayContext:
   @property
   def all_recv_called_events(self):
     return [man.recv_called_event for man in self.events.values()]
-  
+
   @property
   def all_recv_ready_events(self):
     return [man.recv_ready_event for man in self.events.values()]
@@ -77,9 +104,9 @@ class ReplayContext:
   def wait_for_recv_called(self):
     messaging.wait_for_one_event(self.all_recv_called_events)
 
-  def wait_for_next_recv(self, end_of_cycle):
+  def wait_for_next_recv(self, trigger_empty_recv):
     index = messaging.wait_for_one_event(self.all_recv_called_events)
-    if self.drained_pub is not None and end_of_cycle:
+    if self.main_pub is not None and self.main_pub_drained and trigger_empty_recv:
       self.all_recv_called_events[index].clear()
       self.all_recv_ready_events[index].set()
       self.all_recv_called_events[index].wait()
@@ -91,30 +118,176 @@ class ProcessConfig:
   pubs: List[str]
   subs: List[str]
   ignore: List[str]
-  config_callback: Optional[Callable]
-  init_callback: Optional[Callable]
-  should_recv_callback: Optional[Callable]
+  config_callback: Optional[Callable] = None
+  init_callback: Optional[Callable] = None
+  should_recv_callback: Optional[Callable] = None
   tolerance: Optional[float] = None
-  environ: Dict[str, str] = field(default_factory=dict)
-  subtest_name: str = ""
+  processing_time: float = 0.001
   field_tolerances: Dict[str, float] = field(default_factory=dict)
   timeout: int = 30
   simulation: bool = True
-  drained_pub: Optional[str] = None
+  main_pub: Optional[str] = None
+  main_pub_drained: bool = True
+  vision_pubs: List[str] = field(default_factory=list)
+  ignore_alive_pubs: List[str] = field(default_factory=list)
+  unlocked_pubs: List[str] = field(default_factory=list)
 
 
-class DummySocket:
-  def __init__(self):
-    self.data = []
+class ProcessContainer:
+  def __init__(self, cfg: ProcessConfig):
+    self.prefix = OpenpilotPrefix(clean_dirs_on_exit=False)
+    self.cfg = copy.deepcopy(cfg)
+    self.process = copy.deepcopy(managed_processes[cfg.proc_name])
+    self.msg_queue: List[capnp._DynamicStructReader] = []
+    self.cnt = 0
+    self.pm: Optional[messaging.PubMaster] = None
+    self.sockets: Optional[List[messaging.SubSocket]] = None
+    self.rc: Optional[ReplayContext] = None
+    self.vipc_server: Optional[VisionIpcServer] = None
+    self.capture: Optional[ProcessOutputCapture] = None
 
-  def receive(self, non_blocking=False):
-    if non_blocking:
-      return None
+  @property
+  def has_empty_queue(self) -> bool:
+    return len(self.msg_queue) == 0
 
-    return self.data.pop()
+  @property
+  def pubs(self) -> List[str]:
+    return self.cfg.pubs
 
-  def send(self, data):
-    self.data.append(data)
+  @property
+  def subs(self) -> List[str]:
+    return self.cfg.subs
+
+  def _setup_env(self, params_config: Dict[str, Any], environ_config: Dict[str, Any]):
+    for k, v in environ_config.items():
+      if len(v) != 0:
+        os.environ[k] = v
+      elif k in os.environ:
+        del os.environ[k]
+
+    os.environ["PROC_NAME"] = self.cfg.proc_name
+    if self.cfg.simulation:
+      os.environ["SIMULATION"] = "1"
+    elif "SIMULATION" in os.environ:
+      del os.environ["SIMULATION"]
+
+    params = Params()
+    for k, v in params_config.items():
+      if isinstance(v, bool):
+        params.put_bool(k, v)
+      else:
+        params.put(k, v)
+
+  def _setup_vision_ipc(self, all_msgs):
+    assert len(self.cfg.vision_pubs) != 0
+
+    device_type = next(msg.initData.deviceType for msg in all_msgs if msg.which() == "initData")
+
+    vipc_server = VisionIpcServer("camerad")
+    streams_metas = available_streams(all_msgs)
+    for meta in streams_metas:
+      if meta.camera_state in self.cfg.vision_pubs:
+        vipc_server.create_buffers(meta.stream, 2, False, *meta.frame_sizes[device_type])
+    vipc_server.start_listener()
+
+    self.vipc_server = vipc_server
+
+  def _start_process(self):
+    if self.capture is not None:
+      self.process.launcher = LauncherWithCapture(self.capture, self.process.launcher)
+    self.process.prepare()
+    self.process.start()
+
+  def start(
+    self, params_config: Dict[str, Any], environ_config: Dict[str, Any],
+    all_msgs: Union[LogReader, List[capnp._DynamicStructReader]],
+    fingerprint: Optional[str], capture_output: bool
+  ):
+    with self.prefix as p:
+      self._setup_env(params_config, environ_config)
+
+      if self.cfg.config_callback is not None:
+        params = Params()
+        self.cfg.config_callback(params, self.cfg, all_msgs)
+
+      self.rc = ReplayContext(self.cfg)
+      self.rc.open_context()
+
+      self.pm = messaging.PubMaster(self.cfg.pubs)
+      self.sockets = [messaging.sub_sock(s, timeout=100) for s in self.cfg.subs]
+
+      if len(self.cfg.vision_pubs) != 0:
+        self._setup_vision_ipc(all_msgs)
+        assert self.vipc_server is not None
+
+      if capture_output:
+        self.capture = ProcessOutputCapture(self.cfg.proc_name, p.prefix)
+
+      self._start_process()
+
+      if self.cfg.init_callback is not None:
+        self.cfg.init_callback(self.rc, self.pm, all_msgs, fingerprint)
+
+      # wait for process to startup
+      with Timeout(10, error_msg=f"timed out waiting for process to start: {repr(self.cfg.proc_name)}"):
+        while not all(self.pm.all_readers_updated(s) for s in self.cfg.pubs if s not in self.cfg.ignore_alive_pubs):
+          time.sleep(0)
+
+  def stop(self):
+    with self.prefix:
+      self.process.signal(signal.SIGKILL)
+      self.process.stop()
+      self.rc.close_context()
+      self.prefix.clean_dirs()
+
+  def run_step(self, msg: capnp._DynamicStructReader, frs: Optional[Dict[str, Any]]) -> List[capnp._DynamicStructReader]:
+    assert self.rc and self.pm and self.sockets and self.process.proc
+
+    output_msgs = []
+    with self.prefix, Timeout(self.cfg.timeout, error_msg=f"timed out testing process {repr(self.cfg.proc_name)}"):
+      end_of_cycle = True
+      if self.cfg.should_recv_callback is not None:
+        end_of_cycle = self.cfg.should_recv_callback(msg, self.cfg, self.cnt)
+
+      self.msg_queue.append(msg)
+      if end_of_cycle:
+        self.rc.wait_for_recv_called()
+
+        # call recv to let sub-sockets reconnect, after we know the process is ready
+        if self.cnt == 0:
+          for s in self.sockets:
+            messaging.recv_one_or_none(s)
+
+        # empty recv on drained pub indicates the end of messages, only do that if there're any
+        trigger_empty_recv = False
+        if self.cfg.main_pub and self.cfg.main_pub_drained:
+          trigger_empty_recv = next((True for m in self.msg_queue if m.which() == self.cfg.main_pub), False)
+
+        for m in self.msg_queue:
+          self.pm.send(m.which(), m.as_builder())
+          # send frames if needed
+          if self.vipc_server is not None and m.which() in self.cfg.vision_pubs:
+            camera_state = getattr(m, m.which())
+            camera_meta = meta_from_camera_state(m.which())
+            assert frs is not None
+            img = frs[m.which()].get(camera_state.frameId, pix_fmt="nv12")[0]
+            self.vipc_server.send(camera_meta.stream, img.flatten().tobytes(),
+                                  camera_state.frameId, camera_state.timestampSof, camera_state.timestampEof)
+        self.msg_queue = []
+
+        self.rc.unlock_sockets()
+        self.rc.wait_for_next_recv(trigger_empty_recv)
+
+        for socket in self.sockets:
+          ms = messaging.drain_sock(socket)
+          for m in ms:
+            m = m.as_builder()
+            m.logMonoTime = msg.logMonoTime + int(self.cfg.processing_time * 1e9)
+            output_msgs.append(m.as_reader())
+        self.cnt += 1
+    assert self.process.proc.is_alive()
+
+    return output_msgs
 
 
 def controlsd_fingerprint_callback(rc, pm, msgs, fingerprint):
@@ -139,6 +312,7 @@ def controlsd_fingerprint_callback(rc, pm, msgs, fingerprint):
 
 
 def get_car_params_callback(rc, pm, msgs, fingerprint):
+  params = Params()
   if fingerprint:
     CarInterface, _, _ = interfaces[fingerprint]
     CP = CarInterface.get_non_essential_params(fingerprint)
@@ -147,16 +321,22 @@ def get_car_params_callback(rc, pm, msgs, fingerprint):
     sendcan = DummySocket()
 
     canmsgs = [msg for msg in msgs if msg.which() == "can"]
+    has_cached_cp = params.get("CarParamsCache") is not None
+    assert len(canmsgs) != 0, "CAN messages are required for fingerprinting"
+    assert os.environ.get("SKIP_FW_QUERY", False) or has_cached_cp, \
+            "CarParamsCache is required for fingerprinting. Make sure to keep carParams msgs in the logs."
+
     for m in canmsgs[:300]:
       can.send(m.as_builder().to_bytes())
     _, CP = get_car(can, sendcan, Params().get_bool("ExperimentalLongitudinalEnabled"))
-  Params().put("CarParams", CP.to_bytes())
+  params.put("CarParams", CP.to_bytes())
+  return CP
 
 
 def controlsd_rcv_callback(msg, cfg, frame):
   # no sendcan until controlsd is initialized
   if msg.which() != "can":
-    return False 
+    return False
 
   socks = [
     s for s in cfg.subs if
@@ -167,10 +347,6 @@ def controlsd_rcv_callback(msg, cfg, frame):
   return len(socks) > 0
 
 
-def radar_rcv_callback(msg, cfg, frame):
-  return msg.which() == "can"
-
-
 def calibration_rcv_callback(msg, cfg, frame):
   # calibrationd publishes 1 calibrationData every 5 cameraOdometry packets.
   # should_recv always true to increment frame
@@ -182,6 +358,42 @@ def torqued_rcv_callback(msg, cfg, frame):
   return (frame - 1) == 0 or msg.which() == 'liveLocationKalman'
 
 
+def dmonitoringmodeld_rcv_callback(msg, cfg, frame):
+  return msg.which() == "driverCameraState"
+
+
+class ModeldCameraSyncRcvCallback:
+  def __init__(self):
+    self.road_present = False
+    self.wide_road_present = False
+    self.is_dual_camera = True
+
+  def __call__(self, msg, cfg, frame):
+    if msg.which() == "initData":
+      self.is_dual_camera = msg.initData.deviceType in ["tici", "tizi"]
+    elif msg.which() == "roadCameraState":
+      self.road_present = True
+    elif msg.which() == "wideRoadCameraState":
+      self.wide_road_present = True
+
+    if self.road_present and self.wide_road_present:
+      self.road_present, self.wide_road_present = False, False
+      return True
+    elif self.road_present and not self.is_dual_camera:
+      self.road_present = False
+      return True
+    else:
+      return False
+
+
+class MessageBasedRcvCallback:
+  def __init__(self, trigger_msg_type):
+    self.trigger_msg_type = trigger_msg_type
+
+  def __call__(self, msg, cfg, frame):
+    return msg.which() == self.trigger_msg_type
+
+
 class FrequencyBasedRcvCallback:
   def __init__(self, trigger_msg_type):
     self.trigger_msg_type = trigger_msg_type
@@ -197,19 +409,36 @@ class FrequencyBasedRcvCallback:
     return bool(len(resp_sockets))
 
 
-def laikad_config_pubsub_callback(params, cfg):
+def controlsd_config_callback(params, cfg, lr):
+  controlsState = None
+  initialized = False
+  for msg in lr:
+    if msg.which() == "controlsState":
+      controlsState = msg.controlsState
+      if initialized:
+        break
+    elif msg.which() == "carEvents":
+      initialized = car.CarEvent.EventName.controlsInitializing not in [e.name for e in msg.carEvents]
+
+  assert controlsState is not None and initialized, "controlsState never initialized"
+  params.put("ReplayControlsState", controlsState.as_builder().to_bytes())
+
+
+def laikad_config_pubsub_callback(params, cfg, lr):
   ublox = params.get_bool("UbloxAvailable")
-  drained_key = "ubloxGnss" if ublox else "qcomGnss"
+  main_key = "ubloxGnss" if ublox else "qcomGnss"
   sub_keys = ({"qcomGnss", } if ublox else {"ubloxGnss", })
 
-  return set(cfg.pubs) - sub_keys, drained_key
+  cfg.pubs = set(cfg.pubs) - sub_keys
+  cfg.main_pub = main_key
+  cfg.main_pub_drained = True
 
 
-def locationd_config_pubsub_callback(params, cfg):
+def locationd_config_pubsub_callback(params, cfg, lr):
   ublox = params.get_bool("UbloxAvailable")
   sub_keys = ({"gpsLocation", } if ublox else {"gpsLocationExternal", })
-  
-  return set(cfg.pubs) - sub_keys, None
+
+  cfg.pubs = set(cfg.pubs) - sub_keys
 
 
 CONFIGS = [
@@ -223,29 +452,27 @@ CONFIGS = [
     ],
     subs=["controlsState", "carState", "carControl", "sendcan", "carEvents", "carParams"],
     ignore=["logMonoTime", "valid", "controlsState.startMonoTime", "controlsState.cumLagMs"],
-    config_callback=None,
+    config_callback=controlsd_config_callback,
     init_callback=controlsd_fingerprint_callback,
     should_recv_callback=controlsd_rcv_callback,
     tolerance=NUMPY_TOLERANCE,
-    simulation=False,
-    drained_pub="can",
+    processing_time=0.004,
+    main_pub="can",
   ),
   ProcessConfig(
     proc_name="radard",
     pubs=["can", "carState", "modelV2"],
     subs=["radarState", "liveTracks"],
     ignore=["logMonoTime", "valid", "radarState.cumLagMs"],
-    config_callback=None,
     init_callback=get_car_params_callback,
-    should_recv_callback=radar_rcv_callback,
-    drained_pub="can",
+    should_recv_callback=MessageBasedRcvCallback("can"),
+    main_pub="can",
   ),
   ProcessConfig(
     proc_name="plannerd",
     pubs=["modelV2", "carControl", "carState", "controlsState", "radarState"],
     subs=["lateralPlan", "longitudinalPlan", "uiPlan"],
     ignore=["logMonoTime", "valid", "longitudinalPlan.processingDelay", "longitudinalPlan.solverExecutionTime", "lateralPlan.solverExecutionTime"],
-    config_callback=None,
     init_callback=get_car_params_callback,
     should_recv_callback=FrequencyBasedRcvCallback("modelV2"),
     tolerance=NUMPY_TOLERANCE,
@@ -255,8 +482,6 @@ CONFIGS = [
     pubs=["carState", "cameraOdometry", "carParams"],
     subs=["liveCalibration"],
     ignore=["logMonoTime", "valid"],
-    config_callback=None,
-    init_callback=get_car_params_callback,
     should_recv_callback=calibration_rcv_callback,
   ),
   ProcessConfig(
@@ -264,22 +489,18 @@ CONFIGS = [
     pubs=["driverStateV2", "liveCalibration", "carState", "modelV2", "controlsState"],
     subs=["driverMonitoringState"],
     ignore=["logMonoTime", "valid"],
-    config_callback=None,
-    init_callback=get_car_params_callback,
     should_recv_callback=FrequencyBasedRcvCallback("driverStateV2"),
     tolerance=NUMPY_TOLERANCE,
   ),
   ProcessConfig(
     proc_name="locationd",
     pubs=[
-      "cameraOdometry", "accelerometer", "gyroscope", "gpsLocationExternal", 
+      "cameraOdometry", "accelerometer", "gyroscope", "gpsLocationExternal",
       "liveCalibration", "carState", "carParams", "gpsLocation"
     ],
     subs=["liveLocationKalman"],
     ignore=["logMonoTime", "valid"],
     config_callback=locationd_config_pubsub_callback,
-    init_callback=get_car_params_callback,
-    should_recv_callback=None,
     tolerance=NUMPY_TOLERANCE,
   ),
   ProcessConfig(
@@ -287,19 +508,16 @@ CONFIGS = [
     pubs=["liveLocationKalman", "carState"],
     subs=["liveParameters"],
     ignore=["logMonoTime", "valid"],
-    config_callback=None,
     init_callback=get_car_params_callback,
     should_recv_callback=FrequencyBasedRcvCallback("liveLocationKalman"),
     tolerance=NUMPY_TOLERANCE,
+    processing_time=0.004,
   ),
   ProcessConfig(
     proc_name="ubloxd",
     pubs=["ubloxRaw"],
     subs=["ubloxGnss", "gpsLocationExternal"],
     ignore=["logMonoTime"],
-    config_callback=None,
-    init_callback=None,
-    should_recv_callback=None,
   ),
   ProcessConfig(
     proc_name="laikad",
@@ -307,184 +525,255 @@ CONFIGS = [
     subs=["gnssMeasurements"],
     ignore=["logMonoTime"],
     config_callback=laikad_config_pubsub_callback,
-    init_callback=get_car_params_callback,
-    should_recv_callback=None,
     tolerance=NUMPY_TOLERANCE,
+    processing_time=0.002,
     timeout=60*10,  # first messages are blocked on internet assistance
-    drained_pub="ubloxGnss", # config_callback will switch this to qcom if needed 
+    main_pub="ubloxGnss", # config_callback will switch this to qcom if needed
   ),
   ProcessConfig(
     proc_name="torqued",
     pubs=["liveLocationKalman", "carState", "carControl"],
     subs=["liveTorqueParameters"],
     ignore=["logMonoTime"],
-    config_callback=None,
     init_callback=get_car_params_callback,
     should_recv_callback=torqued_rcv_callback,
     tolerance=NUMPY_TOLERANCE,
   ),
+  ProcessConfig(
+    proc_name="modeld",
+    pubs=["lateralPlan", "roadCameraState", "wideRoadCameraState", "liveCalibration", "driverMonitoringState"],
+    subs=["modelV2", "cameraOdometry"],
+    ignore=["logMonoTime", "modelV2.frameDropPerc", "modelV2.modelExecutionTime"],
+    should_recv_callback=ModeldCameraSyncRcvCallback(),
+    tolerance=NUMPY_TOLERANCE,
+    processing_time=0.020,
+    main_pub=vipc_get_endpoint_name("camerad", meta_from_camera_state("roadCameraState").stream),
+    main_pub_drained=False,
+    vision_pubs=["roadCameraState", "wideRoadCameraState"],
+    ignore_alive_pubs=["wideRoadCameraState"],
+  ),
+  ProcessConfig(
+    proc_name="dmonitoringmodeld",
+    pubs=["liveCalibration", "driverCameraState"],
+    subs=["driverStateV2"],
+    ignore=["logMonoTime", "driverStateV2.modelExecutionTime", "driverStateV2.dspExecutionTime"],
+    should_recv_callback=dmonitoringmodeld_rcv_callback,
+    tolerance=NUMPY_TOLERANCE,
+    processing_time=0.020,
+    main_pub=vipc_get_endpoint_name("camerad", meta_from_camera_state("driverCameraState").stream),
+    main_pub_drained=False,
+    vision_pubs=["driverCameraState"],
+    ignore_alive_pubs=["driverCameraState"],
+  ),
 ]
 
 
-def get_process_config(name):
+def get_process_config(name: str) -> ProcessConfig:
   try:
-    return next(c for c in CONFIGS if c.proc_name == name)
+    return copy.deepcopy(next(c for c in CONFIGS if c.proc_name == name))
   except StopIteration as ex:
     raise Exception(f"Cannot find process config with name: {name}") from ex
 
 
-def replay_process(cfg, lr, fingerprint=None):
-  with OpenpilotPrefix():
-    controlsState = None
-    initialized = False
-    if cfg.proc_name == "controlsd":
-      for msg in lr:
-        if msg.which() == "controlsState":
-          controlsState = msg.controlsState
-          if initialized:
-            break
-        elif msg.which() == "carEvents":
-          initialized = car.CarEvent.EventName.controlsInitializing not in [e.name for e in msg.carEvents]
+def get_custom_params_from_lr(lr: Union[LogReader, List[capnp._DynamicStructReader]], initial_state: str = "first") -> Dict[str, Any]:
+  """
+  Use this to get custom params dict based on provided logs.
+  Useful when replaying following processes: calibrationd, paramsd, torqued
+  The params may be based on first or last message of given type (carParams, liveCalibration, liveParameters, liveTorqueParameters) in the logs.
+  """
 
-      assert controlsState is not None and initialized, "controlsState never initialized"
+  car_params = [m for m in lr if m.which() == "carParams"]
+  live_calibration = [m for m in lr if m.which() == "liveCalibration"]
+  live_parameters = [m for m in lr if m.which() == "liveParameters"]
+  live_torque_parameters = [m for m in lr if m.which() == "liveTorqueParameters"]
 
-    if fingerprint is not None:
-      setup_env(cfg=cfg, controlsState=controlsState, lr=lr, fingerprint=fingerprint)
-    else:
-      CP = next((m.carParams for m in lr if m.which() == "carParams"), None)
-      assert CP is not None or "carParams" not in cfg.pubs, "carParams are missing and process needs it" 
-      setup_env(CP=CP, cfg=cfg, controlsState=controlsState, lr=lr)
+  assert initial_state in ["first", "last"]
+  msg_index = 0 if initial_state == "first" else -1
 
-    if cfg.config_callback is not None:
-      params = Params()
-      cfg.pubs, cfg.drained_pub = cfg.config_callback(params, cfg)
+  assert len(car_params) > 0, "carParams required for initial state of liveParameters and liveTorqueCarParams"
+  CP = car_params[msg_index].carParams
 
-    all_msgs = sorted(lr, key=lambda msg: msg.logMonoTime)
-    pub_msgs = [msg for msg in all_msgs if msg.which() in set(cfg.pubs)]
+  custom_params = {}
+  if len(live_calibration) > 0:
+    custom_params["CalibrationParams"] = live_calibration[msg_index].as_builder().to_bytes()
+  if len(live_parameters) > 0:
+    lp_dict = live_parameters[msg_index].to_dict()
+    lp_dict["carFingerprint"] = CP.carFingerprint
+    custom_params["LiveParameters"] = json.dumps(lp_dict)
+  if len(live_torque_parameters) > 0:
+    custom_params["LiveTorqueCarParams"] = CP.as_builder().to_bytes()
+    custom_params["LiveTorqueParameters"] = live_torque_parameters[msg_index].as_builder().to_bytes()
 
-    with ReplayContext(cfg) as rc:
-      pm = messaging.PubMaster(cfg.pubs)
-      sockets = {s: messaging.sub_sock(s, timeout=100) for s in cfg.subs}
-
-      managed_processes[cfg.proc_name].prepare()
-      managed_processes[cfg.proc_name].start()
-
-      if cfg.init_callback is not None:
-        cfg.init_callback(rc, pm, all_msgs, fingerprint)
-
-      log_msgs, msg_queue = [], []
-      try:
-        # Wait for process to startup
-        with Timeout(10, error_msg=f"timed out waiting for process to start: {repr(cfg.proc_name)}"):
-          while not all(pm.all_readers_updated(s) for s in cfg.pubs):
-            time.sleep(0)
-
-        # Do the replay
-        cnt = 0
-        for msg in pub_msgs:
-          with Timeout(cfg.timeout, error_msg=f"timed out testing process {repr(cfg.proc_name)}, {cnt}/{len(pub_msgs)} msgs done"):
-            resp_sockets, end_of_cycle = cfg.subs, True
-            if cfg.should_recv_callback is not None:
-              end_of_cycle = cfg.should_recv_callback(msg, cfg, cnt)
-
-            msg_queue.append(msg)
-            if end_of_cycle:
-              rc.wait_for_recv_called()
-
-              # call recv to let sub-sockets reconnect, after we know the process is ready
-              if cnt == 0:
-                for s in sockets.values():
-                  messaging.recv_one_or_none(s)
-
-              for m in msg_queue:
-                pm.send(m.which(), m.as_builder())
-              msg_queue = []
-
-              rc.unlock_sockets()
-              rc.wait_for_next_recv(True)
-
-              for s in resp_sockets:
-                ms = messaging.drain_sock(sockets[s])  
-                for m in ms:
-                  m = m.as_builder()
-                  m.logMonoTime = msg.logMonoTime
-                  log_msgs.append(m.as_reader())
-              cnt += 1
-          assert(managed_processes[cfg.proc_name].proc.is_alive())
-      finally:
-        managed_processes[cfg.proc_name].signal(signal.SIGKILL)
-        managed_processes[cfg.proc_name].stop()
-
-      return log_msgs
+  return custom_params
 
 
-def setup_env(CP=None, cfg=None, controlsState=None, lr=None, fingerprint=None, log_dir=None):
-  if platform.system() != "Darwin":
-    os.environ["PARAMS_ROOT"] = "/dev/shm/params"
-  if log_dir is not None:
-    os.environ["LOG_ROOT"] = log_dir
+def replay_process_with_name(name: Union[str, Iterable[str]], lr: Union[LogReader,
+                             List[capnp._DynamicStructReader]], *args, **kwargs) -> List[capnp._DynamicStructReader]:
+  if isinstance(name, str):
+    cfgs = [get_process_config(name)]
+  elif isinstance(name, Iterable):
+    cfgs = [get_process_config(n) for n in name]
+  else:
+    raise ValueError("name must be str or collections of strings")
 
-  params = Params()
-  params.clear_all()
-  params.put_bool("OpenpilotEnabledToggle", True)
-  params.put_bool("Passive", False)
-  params.put_bool("DisengageOnAccelerator", True)
-  params.put_bool("WideCameraOnly", False)
-  params.put_bool("DisableLogging", False)
+  return replay_process(cfgs, lr, *args, **kwargs)
 
-  os.environ["NO_RADAR_SLEEP"] = "1"
-  os.environ["REPLAY"] = "1"
+
+def replay_process(
+  cfg: Union[ProcessConfig, Iterable[ProcessConfig]], lr: Union[LogReader, List[capnp._DynamicStructReader]], frs: Optional[Dict[str, Any]] = None,
+  fingerprint: Optional[str] = None, return_all_logs: bool = False, custom_params: Optional[Dict[str, Any]] = None,
+  captured_output_store: Optional[Dict[str, Dict[str, str]]] = None, disable_progress: bool = False
+) -> List[capnp._DynamicStructReader]:
+  if isinstance(cfg, Iterable):
+    cfgs = list(cfg)
+  else:
+    cfgs = [cfg]
+
+  all_msgs = migrate_all(lr, old_logtime=True, camera_states=any(len(cfg.vision_pubs) != 0 for cfg in cfgs))
+  process_logs = _replay_multi_process(cfgs, all_msgs, frs, fingerprint, custom_params, captured_output_store, disable_progress)
+
+  if return_all_logs:
+    keys = {m.which() for m in process_logs}
+    modified_logs = [m for m in all_msgs if m.which() not in keys]
+    modified_logs.extend(process_logs)
+    modified_logs.sort(key=lambda m: int(m.logMonoTime))
+    log_msgs = modified_logs
+  else:
+    log_msgs = process_logs
+
+  return log_msgs
+
+
+def _replay_multi_process(
+  cfgs: List[ProcessConfig], lr: Union[LogReader, List[capnp._DynamicStructReader]], frs: Optional[Dict[str, Any]], fingerprint: Optional[str],
+  custom_params: Optional[Dict[str, Any]], captured_output_store: Optional[Dict[str, Dict[str, str]]], disable_progress: bool
+) -> List[capnp._DynamicStructReader]:
   if fingerprint is not None:
-    os.environ['SKIP_FW_QUERY'] = "1"
-    os.environ['FINGERPRINT'] = fingerprint
+    params_config = generate_params_config(lr=lr, fingerprint=fingerprint, custom_params=custom_params)
+    env_config = generate_environ_config(fingerprint=fingerprint)
   else:
-    os.environ["SKIP_FW_QUERY"] = ""
-    os.environ["FINGERPRINT"] = ""
+    CP = next((m.carParams for m in lr if m.which() == "carParams"), None)
+    params_config = generate_params_config(lr=lr, CP=CP, custom_params=custom_params)
+    env_config = generate_environ_config(CP=CP)
 
+  # validate frs and vision pubs
+  for cfg in cfgs:
+    if len(cfg.vision_pubs) == 0:
+      continue
+
+    assert frs is not None, "frs must be provided when replaying process using vision streams"
+    assert all(meta_from_camera_state(st) is not None for st in cfg.vision_pubs),\
+                                                     f"undefined vision stream spotted, probably misconfigured process: {cfg.vision_pubs}"
+    assert all(st in frs for st in cfg.vision_pubs), f"frs for this process must contain following vision streams: {cfg.vision_pubs}"
+
+  all_msgs = sorted(lr, key=lambda msg: msg.logMonoTime)
+  log_msgs = []
+  try:
+    containers = []
+    for cfg in cfgs:
+      container = ProcessContainer(cfg)
+      container.start(params_config, env_config, all_msgs, fingerprint, captured_output_store is not None)
+      containers.append(container)
+
+    all_pubs = {pub for container in containers for pub in container.pubs}
+    all_subs = {sub for container in containers for sub in container.subs}
+    lr_pubs = all_pubs - all_subs
+    pubs_to_containers = {pub: [container for container in containers if pub in container.pubs] for pub in all_pubs}
+
+    pub_msgs = [msg for msg in all_msgs if msg.which() in lr_pubs]
+    # external queue for messages taken from logs; internal queue for messages generated by processes, which will be republished
+    external_pub_queue: List[capnp._DynamicStructReader] = pub_msgs.copy()
+    internal_pub_queue: List[capnp._DynamicStructReader] = []
+    # heap for maintaining the order of messages generated by processes, where each element: (logMonoTime, index in internal_pub_queue)
+    internal_pub_index_heap: List[Tuple[int, int]] = []
+
+    pbar = tqdm(total=len(external_pub_queue), disable=disable_progress)
+    while len(external_pub_queue) != 0 or (len(internal_pub_index_heap) != 0 and not all(c.has_empty_queue for c in containers)):
+      if len(internal_pub_index_heap) == 0 or (len(external_pub_queue) != 0 and external_pub_queue[0].logMonoTime < internal_pub_index_heap[0][0]):
+        msg = external_pub_queue.pop(0)
+        pbar.update(1)
+      else:
+        _, index = heapq.heappop(internal_pub_index_heap)
+        msg = internal_pub_queue[index]
+
+      target_containers = pubs_to_containers[msg.which()]
+      for container in target_containers:
+        output_msgs = container.run_step(msg, frs)
+        for m in output_msgs:
+          if m.which() in all_pubs:
+            internal_pub_queue.append(m)
+            heapq.heappush(internal_pub_index_heap, (m.logMonoTime, len(internal_pub_queue) - 1))
+        log_msgs.extend(output_msgs)
+  finally:
+    for container in containers:
+      container.stop()
+      if captured_output_store is not None:
+        assert container.capture is not None
+        out, err = container.capture.read_outerr()
+        captured_output_store[container.cfg.proc_name] = {"out": out, "err": err}
+
+  return log_msgs
+
+
+def generate_params_config(lr=None, CP=None, fingerprint=None, custom_params=None) -> Dict[str, Any]:
+  params_dict = {
+    "OpenpilotEnabledToggle": True,
+    "Passive": False,
+    "DisengageOnAccelerator": True,
+    "DisableLogging": False,
+  }
+
+  if custom_params is not None:
+    params_dict.update(custom_params)
   if lr is not None:
-    services = {m.which() for m in lr}
-    params.put_bool("UbloxAvailable", "ubloxGnss" in services)
-  
-  if cfg is not None:
-    # Clear all custom processConfig environment variables
-    for config in CONFIGS:
-      for k, _ in config.environ.items():
-        if k in os.environ:
-          del os.environ[k]
+    has_ublox = any(msg.which() == "ubloxGnss" for msg in lr)
+    params_dict["UbloxAvailable"] = has_ublox
+    is_rhd = next((msg.driverMonitoringState.isRHD for msg in lr if msg.which() == "driverMonitoringState"), False)
+    params_dict["IsRhdDetected"] = is_rhd
 
-    os.environ.update(cfg.environ)
-    os.environ['PROC_NAME'] = cfg.proc_name
-
-  if cfg is not None and cfg.simulation:
-    os.environ["SIMULATION"] = "1"
-  elif "SIMULATION" in os.environ:
-    del os.environ["SIMULATION"]
-
-  # Initialize controlsd with a controlsState packet
-  if controlsState is not None:
-    params.put("ReplayControlsState", controlsState.as_builder().to_bytes())
-  else:
-    params.remove("ReplayControlsState")
-
-  # Regen or python process
   if CP is not None:
     if CP.alternativeExperience == ALTERNATIVE_EXPERIENCE.DISABLE_DISENGAGE_ON_GAS:
-      params.put_bool("DisengageOnAccelerator", False)
+      params_dict["DisengageOnAccelerator"] = False
 
     if fingerprint is None:
       if CP.fingerprintSource == "fw":
-        params.put("CarParamsCache", CP.as_builder().to_bytes())
-        os.environ['SKIP_FW_QUERY'] = ""
-        os.environ['FINGERPRINT'] = ""
-      else:
-        os.environ['SKIP_FW_QUERY'] = "1"
-        os.environ['FINGERPRINT'] = CP.carFingerprint
+        params_dict["CarParamsCache"] = CP.as_builder().to_bytes()
 
     if CP.openpilotLongitudinalControl:
-      params.put_bool("ExperimentalLongitudinalEnabled", True)
+      params_dict["ExperimentalLongitudinalEnabled"] = True
+
+  return params_dict
 
 
-def check_enabled(msgs):
+def generate_environ_config(CP=None, fingerprint=None, log_dir=None) -> Dict[str, Any]:
+  environ_dict = {}
+  if platform.system() != "Darwin":
+    environ_dict["PARAMS_ROOT"] = "/dev/shm/params"
+  if log_dir is not None:
+    environ_dict["LOG_ROOT"] = log_dir
+
+  environ_dict["NO_RADAR_SLEEP"] = "1"
+  environ_dict["REPLAY"] = "1"
+
+  # Regen or python process
+  if CP is not None and fingerprint is None:
+    if CP.fingerprintSource == "fw":
+      environ_dict['SKIP_FW_QUERY'] = ""
+      environ_dict['FINGERPRINT'] = ""
+    else:
+      environ_dict['SKIP_FW_QUERY'] = "1"
+      environ_dict['FINGERPRINT'] = CP.carFingerprint
+  elif fingerprint is not None:
+    environ_dict['SKIP_FW_QUERY'] = "1"
+    environ_dict['FINGERPRINT'] = fingerprint
+  else:
+    environ_dict["SKIP_FW_QUERY"] = ""
+    environ_dict["FINGERPRINT"] = ""
+
+  return environ_dict
+
+
+def check_openpilot_enabled(msgs: Union[LogReader, List[capnp._DynamicStructReader]]) -> bool:
   cur_enabled_count = 0
   max_enabled_count = 0
   for msg in msgs:
diff --git a/selfdrive/test/process_replay/ref_commit b/selfdrive/test/process_replay/ref_commit
index c794a0434a..f76b19eddb 100644
--- a/selfdrive/test/process_replay/ref_commit
+++ b/selfdrive/test/process_replay/ref_commit
@@ -1 +1 @@
-dfe1e4a5fd7a464c91c0d2e70592b4b1470fda8d
\ No newline at end of file
+8fd42f02d1ecac695327bfc0afd4be1918ab680a
\ No newline at end of file
diff --git a/selfdrive/test/process_replay/regen.py b/selfdrive/test/process_replay/regen.py
index 63eb37d29d..07d3c04e37 100755
--- a/selfdrive/test/process_replay/regen.py
+++ b/selfdrive/test/process_replay/regen.py
@@ -1,410 +1,114 @@
 #!/usr/bin/env python3
-import bz2
 import os
-import time
-import multiprocessing
 import argparse
-from tqdm import tqdm
-# run DM procs
-os.environ["USE_WEBCAM"] = "1"
+import time
+import capnp
 
-import cereal.messaging as messaging
-from cereal import car
-from cereal.services import service_list
-from cereal.visionipc import VisionIpcServer, VisionStreamType
-from common.params import Params
-from common.realtime import Ratekeeper, DT_MDL, DT_DMON, sec_since_boot
-from common.transformations.camera import eon_f_frame_size, eon_d_frame_size, tici_f_frame_size, tici_d_frame_size, tici_e_frame_size
-from panda.python import Panda
-from selfdrive.car.toyota.values import EPS_SCALE
-from selfdrive.manager.process import ensure_running
-from selfdrive.manager.process_config import managed_processes
-from selfdrive.test.process_replay.process_replay import CONFIGS, FAKEDATA, setup_env, check_enabled
+from typing import Union, Iterable, Optional, List, Any, Dict, Tuple
+
+from selfdrive.test.process_replay.process_replay import CONFIGS, FAKEDATA, replay_process, get_process_config, \
+                                                        check_openpilot_enabled, get_custom_params_from_lr
 from selfdrive.test.update_ci_routes import upload_route
 from tools.lib.route import Route
 from tools.lib.framereader import FrameReader
 from tools.lib.logreader import LogReader
-
-def replay_panda_states(s, msgs):
-  pm = messaging.PubMaster([s, 'peripheralState'])
-  rk = Ratekeeper(service_list[s].frequency, print_delay_threshold=None)
-  smsgs = [m for m in msgs if m.which() in ['pandaStates', 'pandaStateDEPRECATED']]
-
-  # TODO: safety param migration should be handled automatically
-  safety_param_migration = {
-    "TOYOTA PRIUS 2017": EPS_SCALE["TOYOTA PRIUS 2017"] | Panda.FLAG_TOYOTA_STOCK_LONGITUDINAL,
-    "TOYOTA RAV4 2017": EPS_SCALE["TOYOTA RAV4 2017"] | Panda.FLAG_TOYOTA_ALT_BRAKE,
-    "KIA EV6 2022": Panda.FLAG_HYUNDAI_EV_GAS | Panda.FLAG_HYUNDAI_CANFD_HDA2,
-  }
-
-  # Migrate safety param base on carState
-  cp = [m for m in msgs if m.which() == 'carParams'][0].carParams
-  if cp.carFingerprint in safety_param_migration:
-    safety_param = safety_param_migration[cp.carFingerprint]
-  elif len(cp.safetyConfigs):
-    safety_param = cp.safetyConfigs[0].safetyParam
-    if cp.safetyConfigs[0].safetyParamDEPRECATED != 0:
-      safety_param = cp.safetyConfigs[0].safetyParamDEPRECATED
-  else:
-    safety_param = cp.safetyParamDEPRECATED
-
-  while True:
-    for m in smsgs:
-      if m.which() == 'pandaStateDEPRECATED':
-        new_m = messaging.new_message('pandaStates', 1)
-        new_m.pandaStates[0] = m.pandaStateDEPRECATED
-        new_m.pandaStates[0].safetyParam = safety_param
-        pm.send(s, new_m)
-      else:
-        new_m = m.as_builder()
-        new_m.pandaStates[-1].safetyParam = safety_param
-        new_m.logMonoTime = int(sec_since_boot() * 1e9)
-      pm.send(s, new_m)
-
-      new_m = messaging.new_message('peripheralState')
-      pm.send('peripheralState', new_m)
-
-      rk.keep_time()
+from tools.lib.helpers import save_log
 
 
-def replay_manager_state(s, msgs):
-  pm = messaging.PubMaster([s, ])
-  rk = Ratekeeper(service_list[s].frequency, print_delay_threshold=None)
-
-  while True:
-    new_m = messaging.new_message('managerState')
-    new_m.managerState.processes = [{'name': name, 'running': True} for name in managed_processes]
-    pm.send(s, new_m)
-    rk.keep_time()
-
-
-def replay_device_state(s, msgs):
-  pm = messaging.PubMaster([s, ])
-  rk = Ratekeeper(service_list[s].frequency, print_delay_threshold=None)
-  smsgs = [m for m in msgs if m.which() == s]
-  while True:
-    for m in smsgs:
-      new_m = m.as_builder()
-      new_m.logMonoTime = int(sec_since_boot() * 1e9)
-      new_m.deviceState.freeSpacePercent = 50
-      new_m.deviceState.memoryUsagePercent = 50
-      pm.send(s, new_m)
-      rk.keep_time()
-
-
-def replay_sensor_event(s, msgs):
-  pm = messaging.PubMaster([s, ])
-  rk = Ratekeeper(service_list[s].frequency, print_delay_threshold=None)
-  smsgs = [m for m in msgs if m.which() == s]
-  while True:
-    for m in smsgs:
-      m = m.as_builder()
-      m.logMonoTime = int(sec_since_boot() * 1e9)
-      getattr(m, m.which()).timestamp = m.logMonoTime
-      pm.send(m.which(), m)
-      rk.keep_time()
-
-
-def replay_service(s, msgs):
-  pm = messaging.PubMaster([s, ])
-  rk = Ratekeeper(service_list[s].frequency, print_delay_threshold=None)
-  smsgs = [m for m in msgs if m.which() == s]
-  while True:
-    for m in smsgs:
-      new_m = m.as_builder()
-      new_m.logMonoTime = int(sec_since_boot() * 1e9)
-      pm.send(s, new_m)
-      rk.keep_time()
-
-
-def replay_cameras(lr, frs, disable_tqdm=False):
-  eon_cameras = [
-    ("roadCameraState", DT_MDL, eon_f_frame_size, VisionStreamType.VISION_STREAM_ROAD, True),
-    ("driverCameraState", DT_DMON, eon_d_frame_size, VisionStreamType.VISION_STREAM_DRIVER, False),
-  ]
-  tici_cameras = [
-    ("roadCameraState", DT_MDL, tici_f_frame_size, VisionStreamType.VISION_STREAM_ROAD, False),
-    ("wideRoadCameraState", DT_MDL, tici_e_frame_size, VisionStreamType.VISION_STREAM_WIDE_ROAD, False),
-    ("driverCameraState", DT_DMON, tici_d_frame_size, VisionStreamType.VISION_STREAM_DRIVER, False),
-  ]
-
-  def replay_camera(s, stream, dt, vipc_server, frames, size, use_extra_client):
-    services = [(s, stream)]
-    if use_extra_client:
-      services.append(("wideRoadCameraState", VisionStreamType.VISION_STREAM_WIDE_ROAD))
-    pm = messaging.PubMaster([s for s, _ in services])
-    rk = Ratekeeper(1 / dt, print_delay_threshold=None)
-
-    img = b"\x00" * int(size[0] * size[1] * 3 / 2)
-    while True:
-      if frames is not None:
-        img = frames[rk.frame % len(frames)]
-
-      rk.keep_time()
-
-      for s, stream in services:
-        m = messaging.new_message(s)
-        msg = getattr(m, s)
-        msg.frameId = rk.frame
-        msg.timestampSof = m.logMonoTime
-        msg.timestampEof = m.logMonoTime
-        pm.send(s, m)
-
-        vipc_server.send(stream, img, msg.frameId, msg.timestampSof, msg.timestampEof)
-
-  init_data = [m for m in lr if m.which() == 'initData'][0]
-  cameras = tici_cameras if (init_data.initData.deviceType == 'tici') else eon_cameras
-
-  # init vipc server and cameras
-  p = []
-  vs = VisionIpcServer("camerad")
-  for (s, dt, size, stream, use_extra_client) in cameras:
-    fr = frs.get(s, None)
-
-    frames = None
-    if fr is not None:
-      print(f"Decompressing frames {s}")
-      frames = []
-      for i in tqdm(range(fr.frame_count), disable=disable_tqdm):
-        img = fr.get(i, pix_fmt='nv12')[0]
-        frames.append(img.flatten().tobytes())
-
-    vs.create_buffers(stream, 40, False, size[0], size[1])
-    if use_extra_client:
-      vs.create_buffers(VisionStreamType.VISION_STREAM_WIDE_ROAD, 40, False, size[0], size[1])
-    p.append(multiprocessing.Process(target=replay_camera,
-                                     args=(s, stream, dt, vs, frames, size, use_extra_client)))
-
-  vs.start_listener()
-  return vs, p
-
-
-def migrate_carparams(lr):
-  all_msgs = []
-  for msg in lr:
-    if msg.which() == 'carParams':
-      CP = messaging.new_message('carParams')
-      CP.carParams = msg.carParams.as_builder()
-      for car_fw in CP.carParams.carFw:
-        car_fw.brand = CP.carParams.carName
-      msg = CP.as_reader()
-    all_msgs.append(msg)
-
-  return all_msgs
-
-
-def migrate_sensorEvents(lr, old_logtime=False):
-  all_msgs = []
-  for msg in lr:
-    if msg.which() != 'sensorEventsDEPRECATED':
-      all_msgs.append(msg)
-      continue
-
-    # migrate to split sensor events
-    for evt in msg.sensorEventsDEPRECATED:
-      # build new message for each sensor type
-      sensor_service = ''
-      if evt.which() == 'acceleration':
-        sensor_service = 'accelerometer'
-      elif evt.which() == 'gyro' or evt.which() == 'gyroUncalibrated':
-        sensor_service = 'gyroscope'
-      elif evt.which() == 'light' or evt.which() == 'proximity':
-        sensor_service = 'lightSensor'
-      elif evt.which() == 'magnetic' or evt.which() == 'magneticUncalibrated':
-        sensor_service = 'magnetometer'
-      elif evt.which() == 'temperature':
-        sensor_service = 'temperatureSensor'
-
-      m = messaging.new_message(sensor_service)
-      m.valid = True
-      if old_logtime:
-        m.logMonoTime = msg.logMonoTime
-
-      m_dat = getattr(m, sensor_service)
-      m_dat.version = evt.version
-      m_dat.sensor = evt.sensor
-      m_dat.type = evt.type
-      m_dat.source = evt.source
-      if old_logtime:
-        m_dat.timestamp = evt.timestamp
-      setattr(m_dat, evt.which(), getattr(evt, evt.which()))
-
-      all_msgs.append(m.as_reader())
-
-  return all_msgs
-
-
-def regen_segment(lr, frs=None, daemons="all", outdir=FAKEDATA, disable_tqdm=False):
+def regen_segment(
+  lr: Union[LogReader, List[capnp._DynamicStructReader]], frs: Optional[Dict[str, Any]] = None,
+  daemons: Union[str, Iterable[str]] = "all", disable_tqdm: bool = False
+) -> List[capnp._DynamicStructReader]:
   if not isinstance(daemons, str) and not hasattr(daemons, "__iter__"):
     raise ValueError("whitelist_proc must be a string or iterable")
 
-  lr = migrate_carparams(list(lr))
-  lr = migrate_sensorEvents(list(lr))
-  if frs is None:
-    frs = dict()
+  all_msgs = sorted(lr, key=lambda m: m.logMonoTime)
+  custom_params = get_custom_params_from_lr(all_msgs)
 
-  # Get and setup initial state
-  CP = [m for m in lr if m.which() == 'carParams'][0].carParams
-  controlsState = [m for m in lr if m.which() == 'controlsState'][0].controlsState
-  liveCalibration = [m for m in lr if m.which() == 'liveCalibration'][0]
-
-  setup_env(CP=CP, controlsState=controlsState, log_dir=outdir)
-
-  params = Params()
-  params.put("CalibrationParams", liveCalibration.as_builder().to_bytes())
-
-  vs, cam_procs = replay_cameras(lr, frs, disable_tqdm=disable_tqdm)
-  fake_daemons = {
-    'sensord': [
-      multiprocessing.Process(target=replay_sensor_event, args=('accelerometer', lr)),
-      multiprocessing.Process(target=replay_sensor_event, args=('gyroscope', lr)),
-      multiprocessing.Process(target=replay_sensor_event, args=('magnetometer', lr)),
-    ],
-    'pandad': [
-      multiprocessing.Process(target=replay_service, args=('can', lr)),
-      multiprocessing.Process(target=replay_service, args=('ubloxRaw', lr)),
-      multiprocessing.Process(target=replay_panda_states, args=('pandaStates', lr)),
-    ],
-    'manager': [
-      multiprocessing.Process(target=replay_manager_state, args=('managerState', lr)),
-    ],
-    'thermald': [
-      multiprocessing.Process(target=replay_device_state, args=('deviceState', lr)),
-    ],
-    'rawgpsd': [
-      multiprocessing.Process(target=replay_service, args=('qcomGnss', lr)),
-      multiprocessing.Process(target=replay_service, args=('gpsLocation', lr)),
-    ],
-    'camerad': [
-      *cam_procs,
-    ],
-  }
-  # TODO add configs for modeld, dmonitoringmodeld
-  fakeable_daemons = {}
-  for config in CONFIGS:
-    processes = [
-      multiprocessing.Process(target=replay_service, args=(msg, lr)) 
-      for msg in config.subs
-    ]
-    fakeable_daemons[config.proc_name] = processes
-
-  additional_fake_daemons = {}
   if daemons != "all":
-    additional_fake_daemons = fakeable_daemons
     if isinstance(daemons, str):
       raise ValueError(f"Invalid value for daemons: {daemons}")
 
+    replayed_processes = []
     for d in daemons:
-      if d in fake_daemons:
-        raise ValueError(f"Running daemon {d} is not supported!")
-      
-      if d in fakeable_daemons:
-        del additional_fake_daemons[d]
+      cfg = get_process_config(d)
+      replayed_processes.append(cfg)
+  else:
+    replayed_processes = CONFIGS
 
-  all_fake_daemons = {**fake_daemons, **additional_fake_daemons}
+  print("Replayed processes:", [p.proc_name for p in replayed_processes])
+  print("\n\n", "*"*30, "\n\n", sep="")
 
-  try:
-    # TODO: make first run of onnxruntime CUDA provider fast
-    if "modeld" not in all_fake_daemons:
-      managed_processes["modeld"].start()
-    if "dmonitoringmodeld" not in all_fake_daemons:
-      managed_processes["dmonitoringmodeld"].start()
-    time.sleep(5)
+  output_logs = replay_process(replayed_processes, all_msgs, frs, return_all_logs=True, custom_params=custom_params, disable_progress=disable_tqdm)
 
-    # start procs up
-    ignore = list(all_fake_daemons.keys()) \
-           + ['ui', 'manage_athenad', 'uploader', 'soundd', 'micd', 'navd']
-    
-    print("Faked daemons:", ", ".join(all_fake_daemons.keys()))
-    print("Running daemons:", ", ".join([key for key in managed_processes.keys() if key not in ignore]))
-
-    ensure_running(managed_processes.values(), started=True, params=Params(), CP=car.CarParams(), not_run=ignore)
-    for procs in all_fake_daemons.values():
-      for p in procs:
-        p.start()
-
-    for _ in tqdm(range(60), disable=disable_tqdm):
-      # ensure all procs are running
-      for d, procs in all_fake_daemons.items():
-        for p in procs:
-          if not p.is_alive():
-            raise Exception(f"{d}'s {p.name} died")
-      time.sleep(1)
-  finally:
-    # kill everything
-    for p in managed_processes.values():
-      p.stop()
-    for procs in all_fake_daemons.values():
-      for p in procs:
-        p.terminate()
-
-  del vs
-
-  segment = params.get("CurrentRoute", encoding='utf-8') + "--0"
-  seg_path = os.path.join(outdir, segment)
-  # check to make sure openpilot is engaged in the route
-  if not check_enabled(LogReader(os.path.join(seg_path, "rlog"))):
-    raise Exception(f"Route did not engage for long enough: {segment}")
-
-  return seg_path
+  return output_logs
 
 
-def regen_and_save(route, sidx, daemons="all", upload=False, use_route_meta=False, outdir=FAKEDATA, disable_tqdm=False):
+def setup_data_readers(route: str, sidx: int, use_route_meta: bool) -> Tuple[LogReader, Dict[str, Any]]:
   if use_route_meta:
     r = Route(route)
     lr = LogReader(r.log_paths()[sidx])
-    fr = FrameReader(r.camera_paths()[sidx])
-    if r.ecamera_paths()[sidx] is not None:
-      wfr = FrameReader(r.ecamera_paths()[sidx])
-    else:
-      wfr = None
+    frs = {}
+    if len(r.camera_paths()) > sidx and r.camera_paths()[sidx] is not None:
+      frs['roadCameraState'] = FrameReader(r.camera_paths()[sidx])
+    if len(r.ecamera_paths()) > sidx and r.ecamera_paths()[sidx] is not None:
+      frs['wideCameraState'] = FrameReader(r.ecamera_paths()[sidx])
+    if len(r.dcamera_paths()) > sidx and r.dcamera_paths()[sidx] is not None:
+      frs['driverCameraState'] = FrameReader(r.dcamera_paths()[sidx])
   else:
     lr = LogReader(f"cd:/{route.replace('|', '/')}/{sidx}/rlog.bz2")
-    fr = FrameReader(f"cd:/{route.replace('|', '/')}/{sidx}/fcamera.hevc")
-    device_type = next(iter(lr)).initData.deviceType
-    if device_type == 'tici':
-      wfr = FrameReader(f"cd:/{route.replace('|', '/')}/{sidx}/ecamera.hevc")
-    else:
-      wfr = None
-  
-  frs = {'roadCameraState': fr}
-  if wfr is not None:
-    frs['wideRoadCameraState'] = wfr
-  rpath = regen_segment(lr, frs, daemons, outdir=outdir, disable_tqdm=disable_tqdm)
+    frs = {
+      'roadCameraState': FrameReader(f"cd:/{route.replace('|', '/')}/{sidx}/fcamera.hevc"),
+      'driverCameraState': FrameReader(f"cd:/{route.replace('|', '/')}/{sidx}/dcamera.hevc"),
+    }
+    if next((True for m in lr if m.which() == "wideRoadCameraState"), False):
+      frs['wideRoadCameraState'] = FrameReader(f"cd:/{route.replace('|', '/')}/{sidx}/ecamera.hevc")
 
-  # compress raw rlog before uploading
-  with open(os.path.join(rpath, "rlog"), "rb") as f:
-    data = bz2.compress(f.read())
-  with open(os.path.join(rpath, "rlog.bz2"), "wb") as f:
-    f.write(data)
-  os.remove(os.path.join(rpath, "rlog"))
+  return lr, frs
 
-  lr = LogReader(os.path.join(rpath, 'rlog.bz2'))
-  controls_state_active = [m.controlsState.active for m in lr if m.which() == 'controlsState']
-  assert any(controls_state_active), "Segment did not engage"
 
-  relr = os.path.relpath(rpath)
+def regen_and_save(
+  route: str, sidx: int, daemons: Union[str, Iterable[str]] = "all", outdir: str = FAKEDATA,
+  upload: bool = False, use_route_meta: bool = False, disable_tqdm: bool = False
+) -> str:
+  lr, frs = setup_data_readers(route, sidx, use_route_meta)
+  output_logs = regen_segment(lr, frs, daemons, disable_tqdm=disable_tqdm)
+
+  log_dir = os.path.join(outdir, time.strftime("%Y-%m-%d--%H-%M-%S--0", time.gmtime()))
+  rel_log_dir = os.path.relpath(log_dir)
+  rpath = os.path.join(log_dir, "rlog.bz2")
+
+  os.makedirs(log_dir)
+  save_log(rpath, output_logs, compress=True)
+
+  print("\n\n", "*"*30, "\n\n", sep="")
+  print("New route:", rel_log_dir, "\n")
+
+  if not check_openpilot_enabled(output_logs):
+    raise Exception("Route did not engage for long enough")
 
-  print("\n\n", "*"*30, "\n\n")
-  print("New route:", relr, "\n")
   if upload:
-    upload_route(relr, exclude_patterns=['*.hevc', ])
-  return relr
+    upload_route(rel_log_dir)
+
+  return rel_log_dir
 
 
 if __name__ == "__main__":
   def comma_separated_list(string):
-    if string == "all":
-      return string
     return string.split(",")
 
+  all_procs = [p.proc_name for p in CONFIGS]
   parser = argparse.ArgumentParser(description="Generate new segments from old ones")
   parser.add_argument("--upload", action="store_true", help="Upload the new segment to the CI bucket")
   parser.add_argument("--outdir", help="log output dir", default=FAKEDATA)
-  parser.add_argument("--whitelist-procs", type=comma_separated_list, default="all",
-                      help="Comma-separated whitelist of processes to regen (e.g. controlsd). Pass 'all' to whitelist all processes.")
+  parser.add_argument("--whitelist-procs", type=comma_separated_list, default=all_procs,
+                      help="Comma-separated whitelist of processes to regen (e.g. controlsd,radard)")
+  parser.add_argument("--blacklist-procs", type=comma_separated_list, default=[],
+                      help="Comma-separated blacklist of processes to regen (e.g. controlsd,radard)")
   parser.add_argument("route", type=str, help="The source route")
   parser.add_argument("seg", type=int, help="Segment in source route")
   args = parser.parse_args()
 
-  regen_and_save(args.route, args.seg, args.whitelist_procs, args.upload, outdir=args.outdir)
+  blacklist_set = set(args.blacklist_procs)
+  daemons = [p for p in args.whitelist_procs if p not in blacklist_set]
+  regen_and_save(args.route, args.seg, daemons=daemons, upload=args.upload, outdir=args.outdir)
diff --git a/selfdrive/test/process_replay/test_fuzzy.py b/selfdrive/test/process_replay/test_fuzzy.py
index 12f5fca37d..c58599caee 100755
--- a/selfdrive/test/process_replay/test_fuzzy.py
+++ b/selfdrive/test/process_replay/test_fuzzy.py
@@ -1,174 +1,31 @@
 #!/usr/bin/env python3
-import sys
-import unittest
-
+import copy
+from hypothesis import given, HealthCheck, Phase, settings
 import hypothesis.strategies as st
-import numpy as np
-from hypothesis import given, settings, note
+from parameterized import parameterized
+import unittest
 
 from cereal import log
 from selfdrive.car.toyota.values import CAR as TOYOTA
+from selfdrive.test.fuzzy_generation import FuzzyGenerator
 import selfdrive.test.process_replay.process_replay as pr
 
+# These processes currently fail because of unrealistic data breaking assumptions
+# that openpilot makes causing error with NaN, inf, int size, array indexing ...
+# TODO: Make each one testable
+NOT_TESTED = ['controlsd', 'plannerd', 'calibrationd', 'dmonitoringd', 'paramsd', 'laikad', 'dmonitoringmodeld', 'modeld']
+TEST_CASES = [(cfg.proc_name, copy.deepcopy(cfg)) for cfg in pr.CONFIGS if cfg.proc_name not in NOT_TESTED]
 
-def get_process_config(process):
-  return [cfg for cfg in pr.CONFIGS if cfg.proc_name == process][0]
-
-
-def get_event_union_strategy(r, name):
-  return st.fixed_dictionaries({
-    'valid': st.just(True),
-    'logMonoTime': st.integers(min_value=0, max_value=2**64-1),
-    name: r[name[0].upper() + name[1:]],
-  })
-
-
-def get_strategy_for_events(event_types, finite=False):
-  # TODO: generate automatically based on capnp definitions
-  def floats(**kwargs):
-    allow_nan = False if finite else None
-    allow_infinity = False if finite else None
-    return st.floats(**kwargs, allow_nan=allow_nan, allow_infinity=allow_infinity)
-
-  r = {}
-  r['liveLocationKalman.Measurement'] = st.fixed_dictionaries({
-    'value': st.lists(floats(), min_size=3, max_size=3),
-    'std': st.lists(floats(), min_size=3, max_size=3),
-    'valid': st.just(True),
-  })
-  r['LiveLocationKalman'] = st.fixed_dictionaries({
-    'angularVelocityCalibrated': r['liveLocationKalman.Measurement'],
-    'inputsOK': st.booleans(),
-    'posenetOK': st.booleans(),
-  })
-  r['CarState'] = st.fixed_dictionaries({
-    'vEgo': floats(width=32),
-    'vEgoRaw': floats(width=32),
-    'steeringPressed': st.booleans(),
-    'steeringAngleDeg': floats(width=32),
-  })
-  r['CameraOdometry'] = st.fixed_dictionaries({
-    'frameId': st.integers(min_value=0, max_value=2**32 - 1),
-    'timestampEof': st.integers(min_value=0, max_value=2**64 - 1),
-    'trans': st.lists(floats(width=32), min_size=3, max_size=3),
-    'rot': st.lists(floats(width=32), min_size=3, max_size=3),
-    'transStd': st.lists(floats(width=32), min_size=3, max_size=3),
-    'rotStd': st.lists(floats(width=32), min_size=3, max_size=3),
-  })
-  r['SensorEventData.SensorVec'] = st.fixed_dictionaries({
-    'v': st.lists(floats(width=32), min_size=3, max_size=3),
-    'status': st.just(1),
-  })
-  r['SensorEventData_gyro'] = st.fixed_dictionaries({
-    'version': st.just(1),
-    'sensor': st.just(5),
-    'type': st.just(16),
-    'timestamp': st.integers(min_value=0, max_value=2**63 - 1),
-    'source': st.just(8),  # BMX055
-    'gyroUncalibrated': r['SensorEventData.SensorVec'],
-  })
-  r['SensorEventData_accel'] = st.fixed_dictionaries({
-    'version': st.just(1),
-    'sensor': st.just(1),
-    'type': st.just(1),
-    'timestamp': st.integers(min_value=0, max_value=2**63 - 1),
-    'source': st.just(8),  # BMX055
-    'acceleration': r['SensorEventData.SensorVec'],
-  })
-  r['SensorEvents'] = st.lists(st.one_of(r['SensorEventData_gyro'], r['SensorEventData_accel']), min_size=1)
-  r['GpsLocationExternal'] = st.fixed_dictionaries({
-    'flags': st.just(1),
-    'latitude': floats(),
-    'longitude': floats(),
-    'altitude': floats(),
-    'speed': floats(width=32),
-    'bearingDeg': floats(width=32),
-    'accuracy': floats(width=32),
-    'timestamp': st.integers(min_value=0, max_value=2**63 - 1),
-    'source': st.just(6),  # Ublox
-    'vNED': st.lists(floats(width=32), min_size=3, max_size=3),
-    'verticalAccuracy': floats(width=32),
-    'bearingAccuracyDeg': floats(width=32),
-    'speedAccuracy': floats(width=32),
-  })
-  r['LiveCalibration'] = st.fixed_dictionaries({
-    'rpyCalib': st.lists(floats(width=32), min_size=3, max_size=3),
-  })
-
-  return st.lists(st.one_of(*[get_event_union_strategy(r, n) for n in event_types]))
-
-
-def get_strategy_for_process(process, finite=False):
-  return get_strategy_for_events(get_process_config(process).pubs, finite)
-
-
-def convert_to_lr(msgs):
-  return [log.Event.new_message(**m).as_reader() for m in msgs]
-
-
-def is_finite(d, exclude=[], prefix=""):  # pylint: disable=dangerous-default-value
-  ret = True
-  for k, v in d.items():
-    name = prefix + f"{k}"
-    if name in exclude:
-      continue
-
-    if isinstance(v, dict):
-      if not is_finite(v, exclude, name + "."):
-        ret = False
-    else:
-      try:
-        if not np.isfinite(v).all():
-          note((name, v))
-          ret = False
-      except TypeError:
-        pass
-
-  return ret
-
-
-def test_process(dat, name):
-  cfg = get_process_config(name)
-  lr = convert_to_lr(dat)
-  pr.TIMEOUT = 0.1
-  return pr.replay_process(cfg, lr, TOYOTA.COROLLA_TSS2)
-
-
-class TestFuzzy(unittest.TestCase):
-  @given(get_strategy_for_process('paramsd'))
-  @settings(deadline=1000)
-  def test_paramsd(self, dat):
-    for r in test_process(dat, 'paramsd'):
-      d = r.liveParameters.to_dict()
-      assert is_finite(d)
-
-  @given(get_strategy_for_process('locationd', finite=True))
-  @settings(deadline=1000)
-  def test_locationd(self, dat):
-    exclude = [
-      'positionGeodetic.std',
-      'velocityNED.std',
-      'orientationNED.std',
-      'calibratedOrientationECEF.std',
-    ]
-    for r in test_process(dat, 'locationd'):
-      d = r.liveLocationKalman.to_dict()
-      assert is_finite(d, exclude)
+class TestFuzzProcesses(unittest.TestCase):
 
+  @parameterized.expand(TEST_CASES)
+  @given(st.data())
+  @settings(phases=[Phase.generate, Phase.target], max_examples=50, deadline=1000, suppress_health_check=[HealthCheck.too_slow, HealthCheck.data_too_large])
+  def test_fuzz_process(self, proc_name, cfg, data):
+    msgs = FuzzyGenerator.get_random_event_msg(data.draw, events=cfg.pubs, real_floats=True)
+    lr = [log.Event.new_message(**m).as_reader() for m in msgs]
+    cfg.timeout = 5
+    pr.replay_process(cfg, lr, fingerprint=TOYOTA.COROLLA_TSS2, disable_progress=True)
 
 if __name__ == "__main__":
-  procs = {
-    'locationd': TestFuzzy().test_locationd,
-    'paramsd': TestFuzzy().test_paramsd,
-  }
-
-  if len(sys.argv) != 2:
-    print("Usage: ./test_fuzzy.py <process name>")
-    sys.exit(0)
-
-  proc = sys.argv[1]
-  if proc not in procs:
-    print(f"{proc} not available")
-    sys.exit(0)
-  else:
-    procs[proc]()
+  unittest.main()
diff --git a/selfdrive/test/process_replay/test_processes.py b/selfdrive/test/process_replay/test_processes.py
index deed1ec48f..0e099d83e2 100755
--- a/selfdrive/test/process_replay/test_processes.py
+++ b/selfdrive/test/process_replay/test_processes.py
@@ -9,11 +9,12 @@ from typing import Any, DefaultDict, Dict
 
 from selfdrive.car.car_helpers import interface_names
 from selfdrive.test.openpilotci import get_url, upload_file
-from selfdrive.test.process_replay.compare_logs import compare_logs, save_log
-from selfdrive.test.process_replay.process_replay import CONFIGS, PROC_REPLAY_DIR, FAKEDATA, check_enabled, replay_process
+from selfdrive.test.process_replay.compare_logs import compare_logs
+from selfdrive.test.process_replay.process_replay import CONFIGS, PROC_REPLAY_DIR, FAKEDATA, check_openpilot_enabled, replay_process
 from system.version import get_commit
 from tools.lib.filereader import FileReader
 from tools.lib.logreader import LogReader
+from tools.lib.helpers import save_log
 
 source_segments = [
   ("BODY", "937ccb7243511b65|2022-05-24--16-03-09--1"),        # COMMA.BODY
@@ -40,23 +41,23 @@ source_segments = [
 ]
 
 segments = [
-  ("BODY", "aregenECF15D9E559|2023-05-10--14-26-40--0"), 
-  ("HYUNDAI", "aregenAB9F543F70A|2023-05-10--14-28-25--0"), 
-  ("HYUNDAI2", "aregen39F5A028F96|2023-05-10--14-31-00--0"), 
-  ("TOYOTA", "aregen8D6A8B36E8D|2023-05-10--14-32-38--0"), 
-  ("TOYOTA2", "aregenB1933C49809|2023-05-10--14-34-14--0"), 
-  ("TOYOTA3", "aregen5D9915223DC|2023-05-10--14-36-43--0"), 
-  ("HONDA", "aregen484B732B675|2023-05-10--14-38-23--0"), 
-  ("HONDA2", "aregenAF6ACED4713|2023-05-10--14-40-01--0"), 
-  ("CHRYSLER", "aregen99B094E1E2E|2023-05-10--14-41-40--0"), 
-  ("RAM", "aregen5C2487E1EEB|2023-05-10--14-44-09--0"), 
-  ("SUBARU", "aregen98D277B792E|2023-05-10--14-46-46--0"), 
-  ("GM", "aregen377BA28D848|2023-05-10--14-48-28--0"), 
-  ("GM2", "aregen7CA0CC0F0C2|2023-05-10--14-51-00--0"), 
-  ("NISSAN", "aregen7097BF01563|2023-05-10--14-52-43--0"), 
-  ("VOLKSWAGEN", "aregen765AF3D2CB5|2023-05-10--14-54-23--0"), 
-  ("MAZDA", "aregen3053762FF2E|2023-05-10--14-56-53--0"), 
-  ("FORD", "aregenDDE0F89FA1E|2023-05-10--14-59-26--0"), 
+  ("BODY", "aregenECF15D9E559|2023-05-10--14-26-40--0"),
+  ("HYUNDAI", "aregenAB9F543F70A|2023-05-10--14-28-25--0"),
+  ("HYUNDAI2", "aregen39F5A028F96|2023-05-10--14-31-00--0"),
+  ("TOYOTA", "aregen8D6A8B36E8D|2023-05-10--14-32-38--0"),
+  ("TOYOTA2", "aregenB1933C49809|2023-05-10--14-34-14--0"),
+  ("TOYOTA3", "aregen5D9915223DC|2023-05-10--14-36-43--0"),
+  ("HONDA", "aregen484B732B675|2023-05-10--14-38-23--0"),
+  ("HONDA2", "aregenAF6ACED4713|2023-05-10--14-40-01--0"),
+  ("CHRYSLER", "aregen99B094E1E2E|2023-05-10--14-41-40--0"),
+  ("RAM", "aregen5C2487E1EEB|2023-05-10--14-44-09--0"),
+  ("SUBARU", "aregen98D277B792E|2023-05-10--14-46-46--0"),
+  ("GM", "aregen377BA28D848|2023-05-10--14-48-28--0"),
+  ("GM2", "aregen7CA0CC0F0C2|2023-05-10--14-51-00--0"),
+  ("NISSAN", "aregen7097BF01563|2023-05-10--14-52-43--0"),
+  ("VOLKSWAGEN", "aregen765AF3D2CB5|2023-05-10--14-54-23--0"),
+  ("MAZDA", "aregen3053762FF2E|2023-05-10--14-56-53--0"),
+  ("FORD", "aregenDDE0F89FA1E|2023-05-10--14-59-26--0"),
   ]
 
 # dashcamOnly makes don't need to be tested until a full port is done
@@ -64,6 +65,7 @@ excluded_interfaces = ["mock", "mazda", "tesla"]
 
 BASE_URL = "https://commadataci.blob.core.windows.net/openpilotci/"
 REF_COMMIT_FN = os.path.join(PROC_REPLAY_DIR, "ref_commit")
+EXCLUDED_PROCS = {"modeld", "dmonitoringmodeld"}
 
 
 def run_test_process(data):
@@ -80,7 +82,7 @@ def run_test_process(data):
     assert os.path.exists(cur_log_fn), f"Cannot find log to upload: {cur_log_fn}"
     upload_file(cur_log_fn, os.path.basename(cur_log_fn))
     os.remove(cur_log_fn)
-  return (segment, cfg.proc_name, cfg.subtest_name, res)
+  return (segment, cfg.proc_name, res)
 
 
 def get_log_data(segment):
@@ -98,13 +100,13 @@ def test_process(cfg, lr, segment, ref_log_path, new_log_path, ignore_fields=Non
   ref_log_msgs = list(LogReader(ref_log_path))
 
   try:
-    log_msgs = replay_process(cfg, lr)
+    log_msgs = replay_process(cfg, lr, disable_progress=True)
   except Exception as e:
     raise Exception("failed on segment: " + segment) from e
 
   # check to make sure openpilot is engaged in the route
   if cfg.proc_name == "controlsd":
-    if not check_enabled(log_msgs):
+    if not check_openpilot_enabled(log_msgs):
       return f"Route did not enable at all or for long enough: {new_log_path}", log_msgs
 
   try:
@@ -154,7 +156,7 @@ def format_diff(results, log_paths, ref_commit):
 
 if __name__ == "__main__":
   all_cars = {car for car, _ in segments}
-  all_procs = {cfg.proc_name for cfg in CONFIGS}
+  all_procs = {cfg.proc_name for cfg in CONFIGS if cfg.proc_name not in EXCLUDED_PROCS}
 
   parser = argparse.ArgumentParser(description="Regression test to identify changes in a process's output")
   parser.add_argument("--whitelist-procs", type=str, nargs="*", default=all_procs,
@@ -222,24 +224,24 @@ if __name__ == "__main__":
         if cfg.proc_name not in tested_procs:
           continue
 
-        cur_log_fn = os.path.join(FAKEDATA, f"{segment}_{cfg.proc_name}{cfg.subtest_name}_{cur_commit}.bz2")
+        cur_log_fn = os.path.join(FAKEDATA, f"{segment}_{cfg.proc_name}_{cur_commit}.bz2")
         if args.update_refs:  # reference logs will not exist if routes were just regenerated
           ref_log_path = get_url(*segment.rsplit("--", 1))
         else:
-          ref_log_fn = os.path.join(FAKEDATA, f"{segment}_{cfg.proc_name}{cfg.subtest_name}_{ref_commit}.bz2")
+          ref_log_fn = os.path.join(FAKEDATA, f"{segment}_{cfg.proc_name}_{ref_commit}.bz2")
           ref_log_path = ref_log_fn if os.path.exists(ref_log_fn) else BASE_URL + os.path.basename(ref_log_fn)
 
         dat = None if args.upload_only else log_data[segment]
         pool_args.append((segment, cfg, args, cur_log_fn, ref_log_path, dat))
 
-        log_paths[segment][cfg.proc_name + cfg.subtest_name]['ref'] = ref_log_path
-        log_paths[segment][cfg.proc_name + cfg.subtest_name]['new'] = cur_log_fn
+        log_paths[segment][cfg.proc_name]['ref'] = ref_log_path
+        log_paths[segment][cfg.proc_name]['new'] = cur_log_fn
 
     results: Any = defaultdict(dict)
     p2 = pool.map(run_test_process, pool_args)
-    for (segment, proc, subtest_name, result) in tqdm(p2, desc="Running Tests", total=len(pool_args)):
+    for (segment, proc, result) in tqdm(p2, desc="Running Tests", total=len(pool_args)):
       if not args.upload_only:
-        results[segment][proc + subtest_name] = result
+        results[segment][proc] = result
 
   diff1, diff2, failed = format_diff(results, log_paths, ref_commit)
   if not upload:
diff --git a/selfdrive/test/process_replay/vision_meta.py b/selfdrive/test/process_replay/vision_meta.py
new file mode 100644
index 0000000000..77c6b0345d
--- /dev/null
+++ b/selfdrive/test/process_replay/vision_meta.py
@@ -0,0 +1,43 @@
+from collections import namedtuple
+from cereal.visionipc import VisionStreamType
+from common.realtime import DT_MDL, DT_DMON
+from common.transformations.camera import tici_f_frame_size, tici_d_frame_size, tici_e_frame_size, eon_f_frame_size, eon_d_frame_size
+
+VideoStreamMeta = namedtuple("VideoStreamMeta", ["camera_state", "encode_index", "stream", "dt", "frame_sizes"])
+ROAD_CAMERA_FRAME_SIZES = {"tici": tici_f_frame_size, "tizi": tici_f_frame_size, "eon": eon_f_frame_size}
+WIDE_ROAD_CAMERA_FRAME_SIZES = {"tici": tici_e_frame_size, "tizi": tici_e_frame_size}
+DRIVER_FRAME_SIZES = {"tici": tici_d_frame_size, "tizi": tici_d_frame_size, "eon": eon_d_frame_size}
+VIPC_STREAM_METADATA = [
+  # metadata: (state_msg_type, encode_msg_type, stream_type, dt, frame_sizes)
+  ("roadCameraState", "roadEncodeIdx", VisionStreamType.VISION_STREAM_ROAD, DT_MDL, ROAD_CAMERA_FRAME_SIZES),
+  ("wideRoadCameraState", "wideRoadEncodeIdx", VisionStreamType.VISION_STREAM_WIDE_ROAD, DT_MDL, WIDE_ROAD_CAMERA_FRAME_SIZES),
+  ("driverCameraState", "driverEncodeIdx", VisionStreamType.VISION_STREAM_DRIVER, DT_DMON, DRIVER_FRAME_SIZES),
+]
+
+
+def meta_from_camera_state(state):
+  meta = next((VideoStreamMeta(*meta) for meta in VIPC_STREAM_METADATA if meta[0] == state), None)
+  return meta
+
+
+def meta_from_encode_index(encode_index):
+  meta = next((VideoStreamMeta(*meta) for meta in VIPC_STREAM_METADATA if meta[1] == encode_index), None)
+  return meta
+
+
+def meta_from_stream_type(stream_type):
+  meta = next((VideoStreamMeta(*meta) for meta in VIPC_STREAM_METADATA if meta[2] == stream_type), None)
+  return meta
+
+
+def available_streams(lr=None):
+  if lr is None:
+    return [VideoStreamMeta(*meta) for meta in VIPC_STREAM_METADATA]
+
+  result = []
+  for meta in VIPC_STREAM_METADATA:
+    has_cam_state = next((True for m in lr if m.which() == meta[0]), False)
+    if has_cam_state:
+      result.append(VideoStreamMeta(*meta))
+
+  return result
diff --git a/selfdrive/test/setup_device_ci.sh b/selfdrive/test/setup_device_ci.sh
index b7d586a83b..4ac9707408 100755
--- a/selfdrive/test/setup_device_ci.sh
+++ b/selfdrive/test/setup_device_ci.sh
@@ -33,6 +33,7 @@ echo tici-$(cat /proc/cmdline | sed -e 's/^.*androidboot.serialno=//' -e 's/ .*$
 sudo sed -i "s,/data/params/d/GithubSshKeys,/usr/comma/setup_keys," /etc/ssh/sshd_config
 sudo systemctl daemon-reload
 sudo systemctl restart ssh
+sudo systemctl restart NetworkManager
 sudo systemctl disable ssh-param-watcher.path
 sudo systemctl disable ssh-param-watcher.service
 sudo mount -o ro,remount /
@@ -54,7 +55,9 @@ if [ ! -d "$SOURCE_DIR" ]; then
 fi
 cd $SOURCE_DIR
 
-rm -f .git/index.lock
+# cleanup orphaned locks
+find .git -type f -name "*.lock" -exec rm {} +
+
 git reset --hard
 git fetch --no-tags --no-recurse-submodules -j4 --verbose --depth 1 origin $GIT_COMMIT
 find . -maxdepth 1 -not -path './.git' -not -name '.' -not -name '..' -exec rm -rf '{}' \;
diff --git a/selfdrive/test/test_onroad.py b/selfdrive/test/test_onroad.py
index 12a3ef48ac..b27f2407a2 100755
--- a/selfdrive/test/test_onroad.py
+++ b/selfdrive/test/test_onroad.py
@@ -30,17 +30,19 @@ PROCS = {
   "./encoderd": 17.0,
   "./camerad": 14.5,
   "./locationd": 11.0,
+  "./mapsd": 2.0,
   "selfdrive.controls.plannerd": 16.5,
-  "./_ui": 21.0,
+  "./_ui": 18.0,
   "selfdrive.locationd.paramsd": 9.0,
   "./_sensord": 12.0,
   "selfdrive.controls.radard": 4.5,
   "./_modeld": 4.48,
   "./_dmonitoringmodeld": 5.0,
+  "./_navmodeld": 1.0,
   "selfdrive.thermald.thermald": 3.87,
   "selfdrive.locationd.calibrationd": 2.0,
   "selfdrive.locationd.torqued": 5.0,
-  "./_soundd": 1.0,
+  "./_soundd": (15.0, 65.0),
   "selfdrive.monitoring.dmonitoringd": 4.0,
   "./proclogd": 1.54,
   "system.logmessaged": 0.2,
@@ -54,7 +56,7 @@ PROCS = {
   "selfdrive.navd.navd": 0.4,
   "system.loggerd.uploader": 3.0,
   "system.loggerd.deleter": 0.1,
-  "selfdrive.locationd.laikad": None,  # TODO: laikad cpu usage is sporadic
+  "selfdrive.locationd.laikad": (1.0, 80.0),  # TODO: better GPS setup in testing closet
 }
 
 PROCS.update({
@@ -67,7 +69,7 @@ PROCS.update({
      "./boardd": 19.0,
     "system.sensord.rawgps.rawgpsd": 1.0,
   }
-}[HARDWARE.get_device_type()])
+}.get(HARDWARE.get_device_type(), {}))
 
 TIMINGS = {
   # rtols: max/min, rsd
@@ -84,6 +86,8 @@ TIMINGS = {
   "driverCameraState": [2.5, 0.35],
   "modelV2": [2.5, 0.35],
   "driverStateV2": [2.5, 0.40],
+  "navModel": [2.5, 0.35],
+  "mapRenderState": [2.5, 0.35],
   "liveLocationKalman": [2.5, 0.35],
   "wideRoadCameraState": [1.5, 0.35],
 }
@@ -113,6 +117,7 @@ class TestOnroad(unittest.TestCase):
     os.environ['TESTING_CLOSET'] = '1'
     if os.path.exists(ROOT):
       shutil.rmtree(ROOT)
+    os.system("rm /dev/shm/*")
 
     # Make sure athena isn't running
     os.system("pkill -9 -f athena")
@@ -200,10 +205,14 @@ class TestOnroad(unittest.TestCase):
     result += "------------------------------------------------\n"
     print(result)
 
-    #self.assertLess(max(ts), 30.)
+    self.assertLess(max(ts), 250.)
     self.assertLess(np.mean(ts), 10.)
     #self.assertLess(np.std(ts), 5.)
 
+    # some slow frames are expected since camerad/modeld can preempt ui
+    veryslow = [x for x in ts if x > 40.]
+    assert len(veryslow) < 5, f"Too many slow frame draw times: {veryslow}"
+
   def test_cpu_usage(self):
     result = "\n"
     result += "------------------------------------------------\n"
@@ -229,24 +238,27 @@ class TestOnroad(unittest.TestCase):
         cpu_time = cputime_total(x[-1]) - cputime_total(x[0])
         cpu_usage = cpu_time / dt * 100.
 
-        if expected_cpu is None:
-          result += f"{proc_name.ljust(35)}  {cpu_usage:5.2f}% ({expected_cpu}) SKIPPED\n"
-          continue
-        elif cpu_usage > max(expected_cpu * 1.15, expected_cpu + 5.0):
-          # cpu usage is high while playing sounds
-          if not (proc_name == "./_soundd" and cpu_usage < 65.):
-            err = "using more CPU than normal"
-        elif cpu_usage < min(expected_cpu * 0.65, max(expected_cpu - 1.0, 0.0)):
-          err = "using less CPU than normal"
+        if isinstance(expected_cpu, tuple):
+          exp = str(expected_cpu)
+          minn, maxx = expected_cpu
+        else:
+          exp = f"{expected_cpu:5.2f}"
+          minn = min(expected_cpu * 0.65, max(expected_cpu - 1.0, 0.0))
+          maxx = max(expected_cpu * 1.15, expected_cpu + 5.0)
+
+        if cpu_usage > maxx:
+          err = "using more CPU than expected"
+        elif cpu_usage < minn:
+          err = "using less CPU than expected"
       else:
         err = "NO METRICS FOUND"
 
-      result += f"{proc_name.ljust(35)}  {cpu_usage:5.2f}% ({expected_cpu:5.2f}%) {err}\n"
+      result += f"{proc_name.ljust(35)}  {cpu_usage:5.2f}% ({exp}%) {err}\n"
       if len(err) > 0:
         cpu_ok = False
 
     # Ensure there's no missing procs
-    all_procs = set([p.name for p in self.service_msgs['managerState'][0].managerState.processes if p.shouldBeRunning])
+    all_procs = {p.name for p in self.service_msgs['managerState'][0].managerState.processes if p.shouldBeRunning}
     for p in all_procs:
       with self.subTest(proc=p):
         assert any(p in pp for pp in PROCS.keys()), f"Expected CPU usage missing for {p}"
@@ -256,6 +268,14 @@ class TestOnroad(unittest.TestCase):
 
     self.assertTrue(cpu_ok)
 
+  def test_memory_usage(self):
+    mems = [m.deviceState.memoryUsagePercent for m in self.service_msgs['deviceState']]
+    print("Memory usage: ", mems)
+
+    # check for big leaks. note that memory usage is
+    # expected to go up while the MSGQ buffers fill up
+    self.assertLessEqual(max(mems) - min(mems), 3.0)
+
   def test_camera_processing_time(self):
     result = "\n"
     result += "------------------------------------------------\n"
diff --git a/selfdrive/test/test_valgrind_replay.py b/selfdrive/test/test_valgrind_replay.py
index 46dd4901e5..a831ad6e2e 100755
--- a/selfdrive/test/test_valgrind_replay.py
+++ b/selfdrive/test/test_valgrind_replay.py
@@ -73,7 +73,7 @@ class TestValgrind(unittest.TestCase):
       self.leak = False
 
   def replay_process(self, config, logreader):
-    pub_sockets = [s for s in config.pub_sub.keys()]  # We dump data from logs here
+    pub_sockets = list(config.pub_sub.keys())  # We dump data from logs here
     sub_sockets = [s for _, sub in config.pub_sub.items() for s in sub]  # We get responses here
     pm = messaging.PubMaster(pub_sockets)
     sm = messaging.SubMaster(sub_sockets)
diff --git a/selfdrive/test/update_ci_routes.py b/selfdrive/test/update_ci_routes.py
index a2b971999c..78b2fb6f5a 100755
--- a/selfdrive/test/update_ci_routes.py
+++ b/selfdrive/test/update_ci_routes.py
@@ -6,6 +6,7 @@ from tqdm import tqdm
 from azure.storage.blob import BlockBlobService  # pylint: disable=import-error
 
 from selfdrive.car.tests.routes import routes as test_car_models_routes
+from selfdrive.locationd.test.test_laikad import UBLOX_TEST_ROUTE, QCOM_TEST_ROUTE
 from selfdrive.test.process_replay.test_processes import source_segments as replay_segments
 from xx.chffr.lib import azureutil  # pylint: disable=import-error
 from xx.chffr.lib.storage import _DATA_ACCOUNT_PRODUCTION, _DATA_ACCOUNT_CI, _DATA_BUCKET_PRODUCTION  # pylint: disable=import-error
@@ -81,6 +82,7 @@ if __name__ == "__main__":
 
   if not len(to_sync):
     # sync routes from the car tests routes and process replay
+    to_sync.extend([UBLOX_TEST_ROUTE, QCOM_TEST_ROUTE])
     to_sync.extend([rt.route for rt in test_car_models_routes])
     to_sync.extend([s[1].rsplit('--', 1)[0] for s in replay_segments])
 
diff --git a/selfdrive/thermald/tests/test_power_monitoring.py b/selfdrive/thermald/tests/test_power_monitoring.py
index 6b1be2d7ef..57b16accff 100755
--- a/selfdrive/thermald/tests/test_power_monitoring.py
+++ b/selfdrive/thermald/tests/test_power_monitoring.py
@@ -120,7 +120,8 @@ class TestPowerMonitoring(unittest.TestCase):
     POWER_DRAW = 0 # To stop shutting down for other reasons
     TEST_TIME = 350
     VOLTAGE_SHUTDOWN_MIN_OFFROAD_TIME_S = 50
-    with pm_patch("VOLTAGE_SHUTDOWN_MIN_OFFROAD_TIME_S", VOLTAGE_SHUTDOWN_MIN_OFFROAD_TIME_S, constant=True), pm_patch("HARDWARE.get_current_power_draw", POWER_DRAW):
+    with pm_patch("VOLTAGE_SHUTDOWN_MIN_OFFROAD_TIME_S", VOLTAGE_SHUTDOWN_MIN_OFFROAD_TIME_S, constant=True), \
+         pm_patch("HARDWARE.get_current_power_draw", POWER_DRAW):
       pm = PowerMonitoring()
       pm.car_battery_capacity_uWh = CAR_BATTERY_CAPACITY_uWh
       ignition = False
@@ -177,23 +178,23 @@ class TestPowerMonitoring(unittest.TestCase):
         if i % 10 == 0:
           self.assertFalse(pm.should_shutdown(ignition, False, ssb, False))
       self.assertFalse(pm.should_shutdown(ignition, False, ssb, False))
-      
+
   def test_delay_shutdown_time(self):
     pm = PowerMonitoring()
     pm.car_battery_capacity_uWh = 0
     ignition = False
-    in_car = True 
+    in_car = True
     offroad_timestamp = ssb
     started_seen = True
     pm.calculate(VOLTAGE_BELOW_PAUSE_CHARGING, ignition)
 
     while ssb < offroad_timestamp + DELAY_SHUTDOWN_TIME_S:
-      self.assertFalse(pm.should_shutdown(ignition, in_car, 
-                                          offroad_timestamp, 
-                                          started_seen), 
+      self.assertFalse(pm.should_shutdown(ignition, in_car,
+                                          offroad_timestamp,
+                                          started_seen),
                        f"Should not shutdown before {DELAY_SHUTDOWN_TIME_S} seconds offroad time")
-    self.assertTrue(pm.should_shutdown(ignition, in_car, 
-                                       offroad_timestamp, 
+    self.assertTrue(pm.should_shutdown(ignition, in_car,
+                                       offroad_timestamp,
                                        started_seen),
                     f"Should shutdown after {DELAY_SHUTDOWN_TIME_S} seconds offroad time")
 
diff --git a/selfdrive/thermald/thermald.py b/selfdrive/thermald/thermald.py
index 57387e5186..572c205ec7 100755
--- a/selfdrive/thermald/thermald.py
+++ b/selfdrive/thermald/thermald.py
@@ -1,6 +1,7 @@
 #!/usr/bin/env python3
 import datetime
 import os
+import json
 import queue
 import threading
 import time
@@ -13,6 +14,7 @@ import psutil
 import cereal.messaging as messaging
 from cereal import log
 from common.dict_helpers import strip_deprecated_keys
+from common.time import MIN_DATE
 from common.filter_simple import FirstOrderFilter
 from common.params import Params
 from common.realtime import DT_TRML, sec_since_boot
@@ -34,19 +36,20 @@ DISCONNECT_TIMEOUT = 5.  # wait 5 seconds before going offroad after disconnect
 PANDA_STATES_TIMEOUT = int(1000 * 1.5 * DT_TRML)  # 1.5x the expected pandaState frequency
 
 ThermalBand = namedtuple("ThermalBand", ['min_temp', 'max_temp'])
-HardwareState = namedtuple("HardwareState", ['network_type', 'network_info', 'network_strength', 'network_stats', 'network_metered', 'nvme_temps', 'modem_temps'])
+HardwareState = namedtuple("HardwareState", ['network_type', 'network_info', 'network_strength', 'network_stats',
+                                             'network_metered', 'nvme_temps', 'modem_temps'])
 
 # List of thermal bands. We will stay within this region as long as we are within the bounds.
 # When exiting the bounds, we'll jump to the lower or higher band. Bands are ordered in the dict.
 THERMAL_BANDS = OrderedDict({
   ThermalStatus.green: ThermalBand(None, 80.0),
   ThermalStatus.yellow: ThermalBand(75.0, 96.0),
-  ThermalStatus.red: ThermalBand(80.0, 107.),
+  ThermalStatus.red: ThermalBand(88.0, 107.),
   ThermalStatus.danger: ThermalBand(94.0, None),
 })
 
 # Override to highest thermal band when offroad and above this temp
-OFFROAD_DANGER_TEMP = 79.5
+OFFROAD_DANGER_TEMP = 75
 
 prev_offroad_states: Dict[str, Tuple[bool, Optional[str]]] = {}
 
@@ -101,6 +104,8 @@ def hw_state_thread(end_event, hw_queue):
   modem_version = None
   modem_nv = None
   modem_configured = False
+  modem_restarted = False
+  modem_missing_count = 0
 
   while not end_event.is_set():
     # these are expensive calls. update every 10s
@@ -118,6 +123,16 @@ def hw_state_thread(end_event, hw_queue):
 
           if (modem_version is not None) and (modem_nv is not None):
             cloudlog.event("modem version", version=modem_version, nv=modem_nv)
+          else:
+            if not modem_restarted:
+              # TODO: we may be able to remove this with a MM update
+              # ModemManager's probing on startup can fail
+              # rarely, restart the service to probe again.
+              modem_missing_count += 1
+              if modem_missing_count > 3:
+                modem_restarted = True
+                cloudlog.event("restarting ModemManager")
+                os.system("sudo systemctl restart --no-block ModemManager")
 
         tx, rx = HARDWARE.get_modem_data_usage()
 
@@ -165,7 +180,8 @@ def thermald_thread(end_event, hw_queue):
   off_ts = None
   started_ts = None
   started_seen = False
-  thermal_status = ThermalStatus.green
+  startup_blocked_ts = None
+  thermal_status = ThermalStatus.yellow
 
   last_hw_state = HardwareState(
     network_type=NetworkType.none,
@@ -177,8 +193,8 @@ def thermald_thread(end_event, hw_queue):
     modem_temps=[],
   )
 
-  all_temp_filter = FirstOrderFilter(0., TEMP_TAU, DT_TRML)
-  offroad_temp_filter = FirstOrderFilter(0., TEMP_TAU, DT_TRML)
+  all_temp_filter = FirstOrderFilter(0., TEMP_TAU, DT_TRML, initialized=False)
+  offroad_temp_filter = FirstOrderFilter(0., TEMP_TAU, DT_TRML, initialized=False)
   should_start_prev = False
   in_car = False
   engaged_prev = False
@@ -196,6 +212,7 @@ def thermald_thread(end_event, hw_queue):
 
     pandaStates = sm['pandaStates']
     peripheralState = sm['peripheralState']
+    peripheral_panda_present = peripheralState.pandaType != log.PandaState.PandaType.unknown
 
     msg = read_thermal(thermal_config)
 
@@ -209,7 +226,7 @@ def thermald_thread(end_event, hw_queue):
       in_car = pandaState.harnessStatus != log.PandaState.HarnessStatus.notConnected
 
       # Setup fan handler on first connect to panda
-      if fan_controller is None and peripheralState.pandaType != log.PandaState.PandaType.unknown:
+      if fan_controller is None and peripheral_panda_present:
         if TICI:
           fan_controller = TiciFanController()
 
@@ -240,7 +257,7 @@ def thermald_thread(end_event, hw_queue):
 
     msg.deviceState.screenBrightnessPercent = HARDWARE.get_screen_brightness()
 
-    # this one is only used for offroad
+    # this subset is only used for offroad
     temp_sources = [
       msg.deviceState.memoryTempC,
       max(msg.deviceState.cpuTempC),
@@ -251,14 +268,15 @@ def thermald_thread(end_event, hw_queue):
     # this drives the thermal status while onroad
     temp_sources.append(max(msg.deviceState.pmicTempC))
     all_comp_temp = all_temp_filter.update(max(temp_sources))
+    msg.deviceState.maxTempC = all_comp_temp
 
     if fan_controller is not None:
       msg.deviceState.fanSpeedPercentDesired = fan_controller.update(all_comp_temp, onroad_conditions["ignition"])
 
     is_offroad_for_5_min = (started_ts is None) and ((not started_seen) or (off_ts is None) or (sec_since_boot() - off_ts > 60 * 5))
     if is_offroad_for_5_min and offroad_comp_temp > OFFROAD_DANGER_TEMP:
-      # If device is offroad we want to cool down before going onroad
-      # since going onroad increases load and can make temps go over 107
+      # if device is offroad and already hot without the extra onroad load,
+      # we want to cool down first before increasing load
       thermal_status = ThermalStatus.danger
     else:
       current_band = THERMAL_BANDS[thermal_status]
@@ -272,13 +290,12 @@ def thermald_thread(end_event, hw_queue):
 
     # Ensure date/time are valid
     now = datetime.datetime.utcnow()
-    startup_conditions["time_valid"] = (now.year > 2020) or (now.year == 2020 and now.month >= 10)
-    set_offroad_alert_if_changed("Offroad_InvalidTime", (not startup_conditions["time_valid"]))
+    startup_conditions["time_valid"] = now > MIN_DATE
+    set_offroad_alert_if_changed("Offroad_InvalidTime", (not startup_conditions["time_valid"]) and peripheral_panda_present)
 
     startup_conditions["up_to_date"] = params.get("Offroad_ConnectivityNeeded") is None or params.get_bool("DisableUpdates") or params.get_bool("SnoozeUpdate")
     startup_conditions["not_uninstalling"] = not params.get_bool("DoUninstall")
     startup_conditions["accepted_terms"] = params.get("HasAcceptedTerms") == terms_version
-    startup_conditions["offroad_min_time"] = (not started_seen) or ((off_ts is not None) and (sec_since_boot() - off_ts) > 5.)
 
     # with 2% left, we killall, otherwise the phone will take a long time to boot
     startup_conditions["free_space"] = msg.deviceState.freeSpacePercent > 2
@@ -286,10 +303,15 @@ def thermald_thread(end_event, hw_queue):
                                                params.get_bool("Passive")
     startup_conditions["not_driver_view"] = not params.get_bool("IsDriverViewEnabled")
     startup_conditions["not_taking_snapshot"] = not params.get_bool("IsTakingSnapshot")
-    # if any CPU gets above 107 or the battery gets above 63, kill all processes
-    # controls will warn with CPU above 95 or battery above 60
+
+    # must be at an engageable thermal band to go onroad
+    startup_conditions["device_temp_engageable"] = thermal_status < ThermalStatus.red
+
+    # if the temperature enters the danger zone, go offroad to cool down
     onroad_conditions["device_temp_good"] = thermal_status < ThermalStatus.danger
-    set_offroad_alert_if_changed("Offroad_TemperatureTooHigh", (not onroad_conditions["device_temp_good"]))
+    extra_text = f"{offroad_comp_temp:.1f}C"
+    show_alert = (not onroad_conditions["device_temp_good"] or not startup_conditions["device_temp_engageable"]) and onroad_conditions["ignition"]
+    set_offroad_alert_if_changed("Offroad_TemperatureTooHigh", show_alert, extra_text=extra_text)
 
     # TODO: this should move to TICI.initialize_hardware, but we currently can't import params there
     if TICI:
@@ -334,10 +356,16 @@ def thermald_thread(end_event, hw_queue):
       if started_ts is None:
         started_ts = sec_since_boot()
         started_seen = True
+        if startup_blocked_ts is not None:
+          cloudlog.event("Startup after block", block_duration=(sec_since_boot() - startup_blocked_ts),
+                         startup_conditions=startup_conditions, onroad_conditions=onroad_conditions,
+                         startup_conditions_prev=startup_conditions_prev, error=True)
+      startup_blocked_ts = None
     else:
       if onroad_conditions["ignition"] and (startup_conditions != startup_conditions_prev):
         cloudlog.event("Startup blocked", startup_conditions=startup_conditions, onroad_conditions=onroad_conditions, error=True)
         startup_conditions_prev = startup_conditions.copy()
+        startup_blocked_ts = sec_since_boot()
 
       started_ts = None
       if off_ts is None:
@@ -371,8 +399,6 @@ def thermald_thread(end_event, hw_queue):
     msg.deviceState.thermalStatus = thermal_status
     pm.send("deviceState", msg)
 
-    should_start_prev = should_start
-
     # Log to statsd
     statlog.gauge("free_space_percent", msg.deviceState.freeSpacePercent)
     statlog.gauge("gpu_usage_percent", msg.deviceState.gpuUsagePercent)
@@ -395,15 +421,26 @@ def thermald_thread(end_event, hw_queue):
     statlog.gauge("screen_brightness_percent", msg.deviceState.screenBrightnessPercent)
 
     # report to server once every 10 minutes
-    if (count % int(600. / DT_TRML)) == 0:
-      cloudlog.event("STATUS_PACKET",
-                     count=count,
-                     pandaStates=[strip_deprecated_keys(p.to_dict()) for p in pandaStates],
-                     peripheralState=strip_deprecated_keys(peripheralState.to_dict()),
-                     location=(strip_deprecated_keys(sm["gpsLocationExternal"].to_dict()) if sm.alive["gpsLocationExternal"] else None),
-                     deviceState=strip_deprecated_keys(msg.to_dict()))
+    rising_edge_started = should_start and not should_start_prev
+    if rising_edge_started or (count % int(600. / DT_TRML)) == 0:
+      dat = {
+        'count': count,
+        'pandaStates': [strip_deprecated_keys(p.to_dict()) for p in pandaStates],
+        'peripheralState': strip_deprecated_keys(peripheralState.to_dict()),
+        'location': (strip_deprecated_keys(sm["gpsLocationExternal"].to_dict()) if sm.alive["gpsLocationExternal"] else None),
+        'deviceState': strip_deprecated_keys(msg.to_dict())
+      }
+      cloudlog.event("STATUS_PACKET", **dat)
+
+      # save last one before going onroad
+      if rising_edge_started:
+        try:
+          params.put("LastOffroadStatusPacket", json.dumps(dat))
+        except Exception:
+          cloudlog.exception("failed to save offroad status")
 
     count += 1
+    should_start_prev = should_start
 
 
 def main():
diff --git a/selfdrive/ui/.gitignore b/selfdrive/ui/.gitignore
index 60eb4b43c7..cb95652191 100644
--- a/selfdrive/ui/.gitignore
+++ b/selfdrive/ui/.gitignore
@@ -12,3 +12,4 @@ qt/setup/setup
 qt/setup/reset
 qt/setup/wifi
 qt/setup/updater
+translations/alerts_generated.h
diff --git a/selfdrive/ui/SConscript b/selfdrive/ui/SConscript
index f54d72ae31..7e90423fc2 100644
--- a/selfdrive/ui/SConscript
+++ b/selfdrive/ui/SConscript
@@ -9,9 +9,9 @@ base_libs = [common, messaging, cereal, visionipc, transformations, 'zmq',
 if arch == 'larch64':
   base_libs.append('EGL')
 
-maps = arch in ['larch64', 'x86_64']
+maps = arch in ['larch64', 'aarch64', 'x86_64']
 
-if maps and arch == 'x86_64':
+if maps and arch != 'larch64':
   rpath = [Dir(f"#third_party/mapbox-gl-native-qt/{arch}").srcnode().abspath]
   qt_env["RPATH"] += rpath
 
@@ -20,7 +20,7 @@ if arch == "Darwin":
   qt_env['FRAMEWORKS'] += ['OpenCL']
 
 qt_util = qt_env.Library("qt_util", ["#selfdrive/ui/qt/api.cc", "#selfdrive/ui/qt/util.cc"], LIBS=base_libs)
-widgets_src = ["ui.cc", "qt/widgets/input.cc", "qt/widgets/drive_stats.cc",
+widgets_src = ["ui.cc", "qt/widgets/input.cc", "qt/widgets/drive_stats.cc", "qt/widgets/wifi.cc",
                "qt/widgets/ssh_keys.cc", "qt/widgets/toggle.cc", "qt/widgets/controls.cc",
                "qt/widgets/offroad_alerts.cc", "qt/widgets/prime.cc", "qt/widgets/keyboard.cc",
                "qt/widgets/scrollview.cc", "qt/widgets/cameraview.cc", "#third_party/qrcode/QrCode.cc",
@@ -29,7 +29,8 @@ widgets_src = ["ui.cc", "qt/widgets/input.cc", "qt/widgets/drive_stats.cc",
 qt_env['CPPDEFINES'] = []
 if maps:
   base_libs += ['qmapboxgl']
-  widgets_src += ["qt/maps/map_helpers.cc", "qt/maps/map_settings.cc", "qt/maps/map.cc"]
+  widgets_src += ["qt/maps/map_helpers.cc", "qt/maps/map_settings.cc", "qt/maps/map.cc", "qt/maps/map_panel.cc",
+                  "qt/maps/map_eta.cc", "qt/maps/map_instructions.cc"]
   qt_env['CPPDEFINES'] += ["ENABLE_MAPS"]
 
 widgets = qt_env.Library("qt_widgets", widgets_src, LIBS=base_libs)
@@ -104,7 +105,7 @@ if GetOption('extras'):
   installers = [
     ("openpilot", release),
     ("openpilot_test", f"{release}-staging"),
-    ("openpilot_nightly", "master-ci"),
+    ("openpilot_nightly", "nightly"),
     ("openpilot_internal", "master"),
     ("dashcam", dashcam),
     ("dashcam_test", f"{dashcam}-staging"),
@@ -130,5 +131,5 @@ if GetOption('extras'):
     assert f[0].get_size() < 300*1e3
 
 # build watch3
-if arch in ['x86_64', 'Darwin'] or GetOption('extras'):
+if arch in ['x86_64', 'aarch64', 'Darwin'] or GetOption('extras'):
   qt_env.Program("watch3", ["watch3.cc"], LIBS=qt_libs + ['common', 'json11', 'zmq', 'visionipc', 'messaging'])
diff --git a/selfdrive/ui/mui.cc b/selfdrive/ui/mui.cc
index 55b9a47474..e2b4358b65 100644
--- a/selfdrive/ui/mui.cc
+++ b/selfdrive/ui/mui.cc
@@ -110,14 +110,8 @@ int main(int argc, char *argv[]) {
     if (onroad) {
       auto cs = sm["controlsState"].getControlsState();
       UIStatus status = cs.getEnabled() ? STATUS_ENGAGED : STATUS_DISENGAGED;
-      if (cs.getAlertStatus() == cereal::ControlsState::AlertStatus::USER_PROMPT) {
-        status = STATUS_WARNING;
-      } else if (cs.getAlertStatus() == cereal::ControlsState::AlertStatus::CRITICAL) {
-        status = STATUS_ALERT;
-      }
-
       auto lp = sm["lateralPlan"].getLateralPlan();
-      if (lp.getLaneChangeState() == cereal::LateralPlan::LaneChangeState::PRE_LANE_CHANGE || status == STATUS_ALERT) {
+      if (lp.getLaneChangeState() == cereal::LateralPlan::LaneChangeState::PRE_LANE_CHANGE) {
         status_bar->blinkingColor(bg_colors[status]);
       } else if (lp.getLaneChangeState() == cereal::LateralPlan::LaneChangeState::LANE_CHANGE_STARTING ||
                  lp.getLaneChangeState() == cereal::LateralPlan::LaneChangeState::LANE_CHANGE_FINISHING) {
diff --git a/selfdrive/ui/qt/home.cc b/selfdrive/ui/qt/home.cc
index 2b8974f73a..b674d39fbd 100644
--- a/selfdrive/ui/qt/home.cc
+++ b/selfdrive/ui/qt/home.cc
@@ -2,13 +2,19 @@
 
 #include <QHBoxLayout>
 #include <QMouseEvent>
+#include <QStackedWidget>
 #include <QVBoxLayout>
 
 #include "selfdrive/ui/qt/offroad/experimental_mode.h"
 #include "selfdrive/ui/qt/util.h"
-#include "selfdrive/ui/qt/widgets/drive_stats.h"
 #include "selfdrive/ui/qt/widgets/prime.h"
 
+#ifdef ENABLE_MAPS
+#include "selfdrive/ui/qt/maps/map_settings.h"
+#else
+#include "selfdrive/ui/qt/widgets/drive_stats.h"
+#endif
+
 // HomeWindow: the container for the offroad and onroad UIs
 
 HomeWindow::HomeWindow(QWidget* parent) : QWidget(parent) {
@@ -28,6 +34,7 @@ HomeWindow::HomeWindow(QWidget* parent) : QWidget(parent) {
   slayout->addWidget(home);
 
   onroad = new OnroadWindow(this);
+  QObject::connect(onroad, &OnroadWindow::mapPanelRequested, this, [=] { sidebar->hide(); });
   slayout->addWidget(onroad);
 
   body = new BodyWindow(this);
@@ -48,6 +55,10 @@ void HomeWindow::showSidebar(bool show) {
   sidebar->setVisible(show);
 }
 
+void HomeWindow::showMapPanel(bool show) {
+  onroad->showMapPanel(show);
+}
+
 void HomeWindow::updateState(const UIState &s) {
   const SubMaster &sm = *(s.sm);
 
@@ -136,21 +147,39 @@ OffroadHome::OffroadHome(QWidget* parent) : QFrame(parent) {
     home_layout->setContentsMargins(0, 0, 0, 0);
     home_layout->setSpacing(30);
 
-    // left: ExperimentalModeButton, DriveStats
-    QWidget* left_widget = new QWidget(this);
-    QVBoxLayout* left_column = new QVBoxLayout(left_widget);
-    left_column->setContentsMargins(0, 0, 0, 0);
-    left_column->setSpacing(30);
+    // left: MapSettings/PrimeAdWidget
+    QStackedWidget *left_widget = new QStackedWidget(this);
+#ifdef ENABLE_MAPS
+    left_widget->addWidget(new MapSettings);
+#else
+    left_widget->addWidget(new DriveStats);
+#endif
+    left_widget->addWidget(new PrimeAdWidget);
+    left_widget->setStyleSheet("border-radius: 10px;");
 
-    ExperimentalModeButton *experimental_mode = new ExperimentalModeButton(this);
-    QObject::connect(experimental_mode, &ExperimentalModeButton::openSettings, this, &OffroadHome::openSettings);
-    left_column->addWidget(experimental_mode, 1);
-    left_column->addWidget(new DriveStats, 1);
+    left_widget->setCurrentIndex(uiState()->primeType() ? 0 : 1);
+    connect(uiState(), &UIState::primeTypeChanged, [=](int prime_type) {
+      left_widget->setCurrentIndex(prime_type ? 0 : 1);
+    });
 
     home_layout->addWidget(left_widget, 1);
 
-    // right: SetupWidget
-    home_layout->addWidget(new SetupWidget);
+    // right: ExperimentalModeButton, SetupWidget
+    QWidget* right_widget = new QWidget(this);
+    QVBoxLayout* right_column = new QVBoxLayout(right_widget);
+    right_column->setContentsMargins(0, 0, 0, 0);
+    right_widget->setFixedWidth(750);
+    right_column->setSpacing(30);
+
+    ExperimentalModeButton *experimental_mode = new ExperimentalModeButton(this);
+    QObject::connect(experimental_mode, &ExperimentalModeButton::openSettings, this, &OffroadHome::openSettings);
+    right_column->addWidget(experimental_mode, 1);
+
+    SetupWidget *setup_widget = new SetupWidget;
+    QObject::connect(setup_widget, &SetupWidget::openSettings, this, &OffroadHome::openSettings);
+    right_column->addWidget(setup_widget, 1);
+
+    home_layout->addWidget(right_widget, 1);
   }
   center_layout->addWidget(home_widget);
 
@@ -170,7 +199,7 @@ OffroadHome::OffroadHome(QWidget* parent) : QFrame(parent) {
 
   setStyleSheet(R"(
     * {
-     color: white;
+      color: white;
     }
     OffroadHome {
       background-color: black;
diff --git a/selfdrive/ui/qt/home.h b/selfdrive/ui/qt/home.h
index ed1c215467..c6032852a1 100644
--- a/selfdrive/ui/qt/home.h
+++ b/selfdrive/ui/qt/home.h
@@ -55,6 +55,7 @@ public slots:
   void offroadTransition(bool offroad);
   void showDriverView(bool show);
   void showSidebar(bool show);
+  void showMapPanel(bool show);
 
 protected:
   void mousePressEvent(QMouseEvent* e) override;
diff --git a/selfdrive/ui/qt/maps/map.cc b/selfdrive/ui/qt/maps/map.cc
index abbf434d69..c971bf9c0b 100644
--- a/selfdrive/ui/qt/maps/map.cc
+++ b/selfdrive/ui/qt/maps/map.cc
@@ -1,22 +1,16 @@
 #include "selfdrive/ui/qt/maps/map.h"
 
 #include <eigen3/Eigen/Dense>
-#include <cmath>
 
 #include <QDebug>
-#include <QFileInfo>
-#include <QPainterPath>
 
-#include "common/swaglog.h"
 #include "common/transformations/coordinates.hpp"
 #include "selfdrive/ui/qt/maps/map_helpers.h"
-#include "selfdrive/ui/qt/request_repeater.h"
 #include "selfdrive/ui/qt/util.h"
 #include "selfdrive/ui/ui.h"
 
 
 const int PAN_TIMEOUT = 100;
-const float MANEUVER_TRANSITION_THRESHOLD = 10;
 
 const float MAX_ZOOM = 17;
 const float MIN_ZOOM = 14;
@@ -24,25 +18,30 @@ const float MAX_PITCH = 50;
 const float MIN_PITCH = 0;
 const float MAP_SCALE = 2;
 
-const QString ICON_SUFFIX = ".png";
-
 MapWindow::MapWindow(const QMapboxGLSettings &settings) : m_settings(settings), velocity_filter(0, 10, 0.05) {
   QObject::connect(uiState(), &UIState::uiUpdate, this, &MapWindow::updateState);
 
+  map_overlay = new QWidget (this);
+  map_overlay->setAttribute(Qt::WA_TranslucentBackground, true);
+  QVBoxLayout *overlay_layout = new QVBoxLayout(map_overlay);
+  overlay_layout->setContentsMargins(0, 0, 0, 0);
+
   // Instructions
   map_instructions = new MapInstructions(this);
-  QObject::connect(this, &MapWindow::instructionsChanged, map_instructions, &MapInstructions::updateInstructions);
-  QObject::connect(this, &MapWindow::distanceChanged, map_instructions, &MapInstructions::updateDistance);
-  map_instructions->setFixedWidth(width());
   map_instructions->setVisible(false);
 
   map_eta = new MapETA(this);
-  QObject::connect(this, &MapWindow::ETAChanged, map_eta, &MapETA::updateETA);
+  map_eta->setSizePolicy(QSizePolicy::Expanding, QSizePolicy::Fixed);
+  map_eta->setFixedHeight(120);
 
-  const int h = 120;
-  map_eta->setFixedHeight(h);
-  map_eta->move(25, 1080 - h - bdr_s*2);
-  map_eta->setVisible(false);
+  error = new QLabel(this);
+  error->setStyleSheet(R"(color:white;padding:50px 11px;font-size: 90px; background-color:rgba(0, 0, 0, 150);)");
+  error->setAlignment(Qt::AlignCenter);
+
+  overlay_layout->addWidget(error);
+  overlay_layout->addWidget(map_instructions);
+  overlay_layout->addStretch(1);
+  overlay_layout->addWidget(map_eta);
 
   auto last_gps_position = coordinate_from_param("LastGPSPosition");
   if (last_gps_position.has_value()) {
@@ -77,10 +76,28 @@ void MapWindow::initLayers() {
     nav["type"] = "line";
     nav["source"] = "navSource";
     m_map->addLayer(nav, "road-intersection");
-    m_map->setPaintProperty("navLayer", "line-color", QColor("#31a1ee"));
+
+    QVariantMap transition;
+    transition["duration"] = 400;  // ms
+    m_map->setPaintProperty("navLayer", "line-color", getNavPathColor(uiState()->scene.navigate_on_openpilot));
+    m_map->setPaintProperty("navLayer", "line-color-transition", transition);
     m_map->setPaintProperty("navLayer", "line-width", 7.5);
     m_map->setLayoutProperty("navLayer", "line-cap", "round");
-    m_map->addAnnotationIcon("default_marker", QImage("../assets/navigation/default_marker.svg"));
+  }
+  if (!m_map->layerExists("pinLayer")) {
+    qDebug() << "Initializing pinLayer";
+    m_map->addImage("default_marker", QImage("../assets/navigation/default_marker.svg"));
+    QVariantMap pin;
+    pin["id"] = "pinLayer";
+    pin["type"] = "symbol";
+    pin["source"] = "pinSource";
+    m_map->addLayer(pin);
+    m_map->setLayoutProperty("pinLayer", "icon-pitch-alignment", "viewport");
+    m_map->setLayoutProperty("pinLayer", "icon-image", "default_marker");
+    m_map->setLayoutProperty("pinLayer", "icon-ignore-placement", true);
+    m_map->setLayoutProperty("pinLayer", "icon-allow-overlap", true);
+    m_map->setLayoutProperty("pinLayer", "symbol-sort-key", 0);
+    m_map->setLayoutProperty("pinLayer", "icon-anchor", "bottom");
   }
   if (!m_map->layerExists("carPosLayer")) {
     qDebug() << "Initializing carPosLayer";
@@ -96,6 +113,7 @@ void MapWindow::initLayers() {
     m_map->setLayoutProperty("carPosLayer", "icon-size", 0.5);
     m_map->setLayoutProperty("carPosLayer", "icon-ignore-placement", true);
     m_map->setLayoutProperty("carPosLayer", "icon-allow-overlap", true);
+    // TODO: remove, symbol-sort-key does not seem to matter outside of each layer
     m_map->setLayoutProperty("carPosLayer", "symbol-sort-key", 0);
   }
 }
@@ -107,14 +125,32 @@ void MapWindow::updateState(const UIState &s) {
   const SubMaster &sm = *(s.sm);
   update();
 
+  if (sm.updated("modelV2")) {
+    // set path color on change, and show map on rising edge of navigate on openpilot
+    bool nav_enabled = sm["modelV2"].getModelV2().getNavEnabled() &&
+                       sm["controlsState"].getControlsState().getEnabled();
+    if (nav_enabled != uiState()->scene.navigate_on_openpilot) {
+      if (loaded_once) {
+        m_map->setPaintProperty("navLayer", "line-color", getNavPathColor(nav_enabled));
+      }
+      if (nav_enabled) {
+        emit requestVisible(true);
+      }
+    }
+    uiState()->scene.navigate_on_openpilot = nav_enabled;
+  }
+
   if (sm.updated("liveLocationKalman")) {
     auto locationd_location = sm["liveLocationKalman"].getLiveLocationKalman();
     auto locationd_pos = locationd_location.getPositionGeodetic();
     auto locationd_orientation = locationd_location.getCalibratedOrientationNED();
     auto locationd_velocity = locationd_location.getVelocityCalibrated();
 
-    locationd_valid = (locationd_location.getStatus() == cereal::LiveLocationKalman::Status::VALID) &&
-      locationd_pos.getValid() && locationd_orientation.getValid() && locationd_velocity.getValid();
+    // Check std norm
+    auto pos_ecef_std = locationd_location.getPositionECEF().getStd();
+    bool pos_accurate_enough = sqrt(pow(pos_ecef_std[0], 2) + pow(pos_ecef_std[1], 2) + pow(pos_ecef_std[2], 2)) < 100;
+
+    locationd_valid = (locationd_pos.getValid() && locationd_orientation.getValid() && locationd_velocity.getValid() && pos_accurate_enough);
 
     if (locationd_valid) {
       last_position = QMapbox::Coordinate(locationd_pos.getValue()[0], locationd_pos.getValue()[1]);
@@ -128,26 +164,28 @@ void MapWindow::updateState(const UIState &s) {
 
     // Only open the map on setting destination the first time
     if (allow_open) {
-      setVisible(true); // Show map on destination set/change
+      emit requestSettings(false);
+      emit requestVisible(true); // Show map on destination set/change
       allow_open = false;
     }
   }
 
-  if (m_map.isNull()) {
-    return;
-  }
-
-  loaded_once = loaded_once || m_map->isFullyLoaded();
+  loaded_once = loaded_once || (m_map && m_map->isFullyLoaded());
   if (!loaded_once) {
-    map_instructions->showError(tr("Map Loading"));
+    setError(tr("Map Loading"));
     return;
   }
-
   initLayers();
 
-  if (locationd_valid || laikad_valid) {
-    map_instructions->noError();
+  if (!locationd_valid) {
+    setError(tr("Waiting for GPS"));
+  } else if (routing_problem) {
+    setError(tr("Waiting for route"));
+  } else {
+    setError("");
+  }
 
+  if (locationd_valid) {
     // Update current location marker
     auto point = coordinate_to_collection(*last_position);
     QMapbox::Feature feature1(QMapbox::Feature::PointType, point, {}, {});
@@ -155,8 +193,6 @@ void MapWindow::updateState(const UIState &s) {
     carPosSource["type"] = "geojson";
     carPosSource["data"] = QVariant::fromValue<QMapbox::Feature>(feature1);
     m_map->updateSource("carPosSource", carPosSource);
-  } else {
-    map_instructions->showError(tr("Waiting for GPS"));
   }
 
   if (pan_counter == 0) {
@@ -168,20 +204,24 @@ void MapWindow::updateState(const UIState &s) {
 
   if (zoom_counter == 0) {
     m_map->setZoom(util::map_val<float>(velocity_filter.x(), 0, 30, MAX_ZOOM, MIN_ZOOM));
-    zoom_counter = -1;
-  } else if (zoom_counter > 0) {
+  } else {
     zoom_counter--;
   }
 
   if (sm.updated("navInstruction")) {
+    // an invalid navInstruction packet with a nav destination is only possible if:
+    // - API exception/no internet
+    // - route response is empty
+    // - any time navd is waiting for recompute_countdown
+    routing_problem = !sm.valid("navInstruction") && coordinate_from_param("NavDestination").has_value();
+
     if (sm.valid("navInstruction")) {
       auto i = sm["navInstruction"].getNavInstruction();
-      emit ETAChanged(i.getTimeRemaining(), i.getTimeRemainingTypical(), i.getDistanceRemaining());
+      map_eta->updateETA(i.getTimeRemaining(), i.getTimeRemainingTypical(), i.getDistanceRemaining());
 
-      if (locationd_valid || laikad_valid) {
+      if (locationd_valid) {
         m_map->setPitch(MAX_PITCH); // TODO: smooth pitching based on maneuver distance
-        emit distanceChanged(i.getManeuverDistance()); // TODO: combine with instructionsChanged
-        emit instructionsChanged(i);
+        map_instructions->updateInstructions(i);
       }
     } else {
       clearRoute();
@@ -204,9 +244,17 @@ void MapWindow::updateState(const UIState &s) {
   }
 }
 
+void MapWindow::setError(const QString &err_str) {
+  if (err_str != error->text()) {
+    error->setText(err_str);
+    error->setVisible(!err_str.isEmpty());
+    if (!err_str.isEmpty()) map_instructions->setVisible(false);
+  }
+}
+
 void MapWindow::resizeGL(int w, int h) {
   m_map->resize(size() / MAP_SCALE);
-  map_instructions->setFixedWidth(width());
+  map_overlay->setFixedSize(width(), height());
 }
 
 void MapWindow::initializeGL() {
@@ -220,9 +268,13 @@ void MapWindow::initializeGL() {
 
   m_map->setMargins({0, 350, 0, 50});
   m_map->setPitch(MIN_PITCH);
-  m_map->setStyleUrl("mapbox://styles/commaai/ckr64tlwp0azb17nqvr9fj13s");
+  m_map->setStyleUrl("mapbox://styles/commaai/clkqztk0f00ou01qyhsa5bzpj");
 
   QObject::connect(m_map.data(), &QMapboxGL::mapChanged, [=](QMapboxGL::MapChange change) {
+    // set global animation duration to 0 ms so visibility changes are instant
+    if (change == QMapboxGL::MapChange::MapChangeDidFinishLoadingStyle) {
+      m_map->setTransitionOptions(0, 0);
+    }
     if (change == QMapboxGL::MapChange::MapChangeDidFinishLoadingMap) {
       loaded_once = true;
     }
@@ -241,7 +293,7 @@ void MapWindow::clearRoute() {
     updateDestinationMarker();
   }
 
-  map_instructions->hideIfNoError();
+  map_instructions->setVisible(false);
   map_eta->setVisible(false);
   allow_open = true;
 }
@@ -319,348 +371,26 @@ void MapWindow::pinchTriggered(QPinchGesture *gesture) {
 void MapWindow::offroadTransition(bool offroad) {
   if (offroad) {
     clearRoute();
+    uiState()->scene.navigate_on_openpilot = false;
+    routing_problem = false;
   } else {
     auto dest = coordinate_from_param("NavDestination");
-    setVisible(dest.has_value());
+    emit requestVisible(dest.has_value());
   }
   last_bearing = {};
 }
 
 void MapWindow::updateDestinationMarker() {
-  if (marker_id != -1) {
-    m_map->removeAnnotation(marker_id);
-    marker_id = -1;
-  }
+  m_map->setPaintProperty("pinLayer", "visibility", "none");
 
   auto nav_dest = coordinate_from_param("NavDestination");
   if (nav_dest.has_value()) {
-    auto ano = QMapbox::SymbolAnnotation {*nav_dest, "default_marker"};
-    marker_id = m_map->addAnnotation(QVariant::fromValue<QMapbox::SymbolAnnotation>(ano));
+    auto point = coordinate_to_collection(*nav_dest);
+    QMapbox::Feature feature(QMapbox::Feature::PointType, point, {}, {});
+    QVariantMap pinSource;
+    pinSource["type"] = "geojson";
+    pinSource["data"] = QVariant::fromValue<QMapbox::Feature>(feature);
+    m_map->updateSource("pinSource", pinSource);
+    m_map->setPaintProperty("pinLayer", "visibility", "visible");
   }
 }
-
-MapInstructions::MapInstructions(QWidget * parent) : QWidget(parent) {
-  is_rhd = Params().getBool("IsRhdDetected");
-  QHBoxLayout *main_layout = new QHBoxLayout(this);
-  main_layout->setContentsMargins(11, 50, 11, 11);
-  {
-    QVBoxLayout *layout = new QVBoxLayout;
-    icon_01 = new QLabel;
-    layout->addWidget(icon_01);
-    layout->addStretch();
-    main_layout->addLayout(layout);
-  }
-
-  {
-    QVBoxLayout *layout = new QVBoxLayout;
-
-    distance = new QLabel;
-    distance->setStyleSheet(R"(font-size: 90px;)");
-    layout->addWidget(distance);
-
-    primary = new QLabel;
-    primary->setStyleSheet(R"(font-size: 60px;)");
-    primary->setWordWrap(true);
-    layout->addWidget(primary);
-
-    secondary = new QLabel;
-    secondary->setStyleSheet(R"(font-size: 50px;)");
-    secondary->setWordWrap(true);
-    layout->addWidget(secondary);
-
-    lane_widget = new QWidget;
-    lane_widget->setFixedHeight(125);
-
-    lane_layout = new QHBoxLayout(lane_widget);
-    layout->addWidget(lane_widget);
-
-    main_layout->addLayout(layout);
-  }
-
-  setStyleSheet(R"(
-    * {
-      color: white;
-      font-family: "Inter";
-    }
-  )");
-
-  QPalette pal = palette();
-  pal.setColor(QPalette::Background, QColor(0, 0, 0, 150));
-  setAutoFillBackground(true);
-  setPalette(pal);
-}
-
-void MapInstructions::updateDistance(float d) {
-  d = std::max(d, 0.0f);
-  QString distance_str;
-
-  if (uiState()->scene.is_metric) {
-    if (d > 500) {
-      distance_str.setNum(d / 1000, 'f', 1);
-      distance_str += tr(" km");
-    } else {
-      distance_str.setNum(50 * int(d / 50));
-      distance_str += tr(" m");
-    }
-  } else {
-    float miles = d * METER_TO_MILE;
-    float feet = d * METER_TO_FOOT;
-
-    if (feet > 500) {
-      distance_str.setNum(miles, 'f', 1);
-      distance_str += tr(" mi");
-    } else {
-      distance_str.setNum(50 * int(feet / 50));
-      distance_str += tr(" ft");
-    }
-  }
-
-  distance->setAlignment(Qt::AlignLeft);
-  distance->setText(distance_str);
-}
-
-void MapInstructions::showError(QString error_text) {
-  primary->setText("");
-  distance->setText(error_text);
-  distance->setAlignment(Qt::AlignCenter);
-
-  secondary->setVisible(false);
-  icon_01->setVisible(false);
-
-  this->error = true;
-  lane_widget->setVisible(false);
-
-  setVisible(true);
-}
-
-void MapInstructions::noError() {
-  error = false;
-}
-
-void MapInstructions::updateInstructions(cereal::NavInstruction::Reader instruction) {
-  // Word wrap widgets need fixed width
-  primary->setFixedWidth(width() - 250);
-  secondary->setFixedWidth(width() - 250);
-
-
-  // Show instruction text
-  QString primary_str = QString::fromStdString(instruction.getManeuverPrimaryText());
-  QString secondary_str = QString::fromStdString(instruction.getManeuverSecondaryText());
-
-  primary->setText(primary_str);
-  secondary->setVisible(secondary_str.length() > 0);
-  secondary->setText(secondary_str);
-
-  // Show arrow with direction
-  QString type = QString::fromStdString(instruction.getManeuverType());
-  QString modifier = QString::fromStdString(instruction.getManeuverModifier());
-  if (!type.isEmpty()) {
-    QString fn = "../assets/navigation/direction_" + type;
-    if (!modifier.isEmpty()) {
-      fn += "_" + modifier;
-    }
-    fn += ICON_SUFFIX;
-    fn = fn.replace(' ', '_');
-
-    // for rhd, reflect direction and then flip
-    if (is_rhd) {
-      if (fn.contains("left")) {
-        fn.replace("left", "right");
-      } else if (fn.contains("right")) {
-        fn.replace("right", "left");
-      }
-    }
-
-    QPixmap pix(fn);
-    if (is_rhd) {
-      pix = pix.transformed(QTransform().scale(-1, 1));
-    }
-    icon_01->setPixmap(pix.scaledToWidth(200, Qt::SmoothTransformation));
-    icon_01->setSizePolicy(QSizePolicy(QSizePolicy::Fixed, QSizePolicy::Fixed));
-    icon_01->setVisible(true);
-  }
-
-  // Show lanes
-  bool has_lanes = false;
-  clearLayout(lane_layout);
-  for (auto const &lane: instruction.getLanes()) {
-    has_lanes = true;
-    bool active = lane.getActive();
-
-    // TODO: only use active direction if active
-    bool left = false, straight = false, right = false;
-    for (auto const &direction: lane.getDirections()) {
-      left |= direction == cereal::NavInstruction::Direction::LEFT;
-      right |= direction == cereal::NavInstruction::Direction::RIGHT;
-      straight |= direction == cereal::NavInstruction::Direction::STRAIGHT;
-    }
-
-    // TODO: Make more images based on active direction and combined directions
-    QString fn = "../assets/navigation/direction_";
-    if (left) {
-      fn += "turn_left";
-    } else if (right) {
-      fn += "turn_right";
-    } else if (straight) {
-      fn += "turn_straight";
-    }
-
-    if (!active) {
-      fn += "_inactive";
-    }
-
-    auto icon = new QLabel;
-    icon->setPixmap(loadPixmap(fn + ICON_SUFFIX, {125, 125}, Qt::IgnoreAspectRatio));
-    icon->setSizePolicy(QSizePolicy(QSizePolicy::Fixed, QSizePolicy::Fixed));
-    lane_layout->addWidget(icon);
-  }
-  lane_widget->setVisible(has_lanes);
-
-  show();
-  resize(sizeHint());
-}
-
-
-void MapInstructions::hideIfNoError() {
-  if (!error) {
-    hide();
-  }
-}
-
-MapETA::MapETA(QWidget * parent) : QWidget(parent) {
-  QHBoxLayout *main_layout = new QHBoxLayout(this);
-  main_layout->setContentsMargins(40, 25, 40, 25);
-
-  {
-    QHBoxLayout *layout = new QHBoxLayout;
-    eta = new QLabel;
-    eta->setAlignment(Qt::AlignCenter);
-    eta->setStyleSheet("font-weight:600");
-
-    eta_unit = new QLabel;
-    eta_unit->setAlignment(Qt::AlignCenter);
-
-    layout->addWidget(eta);
-    layout->addWidget(eta_unit);
-    main_layout->addLayout(layout);
-  }
-  main_layout->addSpacing(40);
-  {
-    QHBoxLayout *layout = new QHBoxLayout;
-    time = new QLabel;
-    time->setAlignment(Qt::AlignCenter);
-
-    time_unit = new QLabel;
-    time_unit->setAlignment(Qt::AlignCenter);
-
-    layout->addWidget(time);
-    layout->addWidget(time_unit);
-    main_layout->addLayout(layout);
-  }
-  main_layout->addSpacing(40);
-  {
-    QHBoxLayout *layout = new QHBoxLayout;
-    distance = new QLabel;
-    distance->setAlignment(Qt::AlignCenter);
-    distance->setStyleSheet("font-weight:600");
-
-    distance_unit = new QLabel;
-    distance_unit->setAlignment(Qt::AlignCenter);
-
-    layout->addWidget(distance);
-    layout->addWidget(distance_unit);
-    main_layout->addLayout(layout);
-  }
-
-  setStyleSheet(R"(
-    * {
-      color: white;
-      font-family: "Inter";
-      font-size: 70px;
-    }
-  )");
-
-  QPalette pal = palette();
-  pal.setColor(QPalette::Background, QColor(0, 0, 0, 150));
-  setAutoFillBackground(true);
-  setPalette(pal);
-}
-
-
-void MapETA::updateETA(float s, float s_typical, float d) {
-  if (d < MANEUVER_TRANSITION_THRESHOLD) {
-    hide();
-    return;
-  }
-
-  // ETA
-  auto eta_time = QDateTime::currentDateTime().addSecs(s).time();
-  if (params.getBool("NavSettingTime24h")) {
-    eta->setText(eta_time.toString("HH:mm"));
-    eta_unit->setText(tr("eta"));
-  } else {
-    auto t = eta_time.toString("h:mm a").split(' ');
-    eta->setText(t[0]);
-    eta_unit->setText(t[1]);
-  }
-
-  // Remaining time
-  if (s < 3600) {
-    time->setText(QString::number(int(s / 60)));
-    time_unit->setText(tr("min"));
-  } else {
-    int hours = int(s) / 3600;
-    time->setText(QString::number(hours) + ":" + QString::number(int((s - hours * 3600) / 60)).rightJustified(2, '0'));
-    time_unit->setText(tr("hr"));
-  }
-
-  QString color;
-  if (s / s_typical > 1.5) {
-    color = "#DA3025";
-  } else if (s / s_typical > 1.2) {
-    color = "#DAA725";
-  } else {
-    color = "#25DA6E";
-  }
-
-  time->setStyleSheet(QString(R"(color: %1; font-weight:600;)").arg(color));
-  time_unit->setStyleSheet(QString(R"(color: %1;)").arg(color));
-
-  // Distance
-  QString distance_str;
-  float num = 0;
-  if (uiState()->scene.is_metric) {
-    num = d / 1000.0;
-    distance_unit->setText(tr("km"));
-  } else {
-    num = d * METER_TO_MILE;
-    distance_unit->setText(tr("mi"));
-  }
-
-  distance_str.setNum(num, 'f', num < 100 ? 1 : 0);
-  distance->setText(distance_str);
-
-  show();
-  adjustSize();
-  repaint();
-  adjustSize();
-
-  // Rounded corners
-  const int radius = 25;
-  const auto r = rect();
-
-  // Top corners rounded
-  QPainterPath path;
-  path.setFillRule(Qt::WindingFill);
-  path.addRoundedRect(r, radius, radius);
-
-  // Bottom corners not rounded
-  path.addRect(r.marginsRemoved(QMargins(0, radius, 0, 0)));
-
-  // Set clipping mask
-  QRegion mask = QRegion(path.simplified().toFillPolygon().toPolygon());
-  setMask(mask);
-
-  // Center
-  move(static_cast<QWidget*>(parent())->width() / 2 - width() / 2, 1080 - height() - bdr_s*2);
-}
diff --git a/selfdrive/ui/qt/maps/map.h b/selfdrive/ui/qt/maps/map.h
index 0d8b93a5f4..d57f6517b5 100644
--- a/selfdrive/ui/qt/maps/map.h
+++ b/selfdrive/ui/qt/maps/map.h
@@ -4,66 +4,24 @@
 
 #include <QGeoCoordinate>
 #include <QGestureEvent>
-#include <QHBoxLayout>
 #include <QLabel>
 #include <QMap>
 #include <QMapboxGL>
 #include <QMouseEvent>
 #include <QOpenGLWidget>
 #include <QPixmap>
+#include <QPushButton>
 #include <QScopedPointer>
 #include <QString>
 #include <QVBoxLayout>
 #include <QWheelEvent>
-#include <QtGlobal>
 
 #include "cereal/messaging/messaging.h"
 #include "common/params.h"
 #include "common/util.h"
 #include "selfdrive/ui/ui.h"
-
-class MapInstructions : public QWidget {
-  Q_OBJECT
-
-private:
-  QLabel *distance;
-  QLabel *primary;
-  QLabel *secondary;
-  QLabel *icon_01;
-  QWidget *lane_widget;
-  QHBoxLayout *lane_layout;
-  bool error = false;
-  bool is_rhd = false;
-
-public:
-  MapInstructions(QWidget * parent=nullptr);
-  void showError(QString error);
-  void noError();
-  void hideIfNoError();
-
-public slots:
-  void updateDistance(float d);
-  void updateInstructions(cereal::NavInstruction::Reader instruction);
-};
-
-class MapETA : public QWidget {
-  Q_OBJECT
-
-private:
-  QLabel *eta;
-  QLabel *eta_unit;
-  QLabel *time;
-  QLabel *time_unit;
-  QLabel *distance;
-  QLabel *distance_unit;
-  Params params;
-
-public:
-  MapETA(QWidget * parent=nullptr);
-
-public slots:
-  void updateETA(float seconds, float seconds_typical, float distance);
-};
+#include "selfdrive/ui/qt/maps/map_eta.h"
+#include "selfdrive/ui/qt/maps/map_instructions.h"
 
 class MapWindow : public QOpenGLWidget {
   Q_OBJECT
@@ -79,7 +37,6 @@ private:
 
   QMapboxGLSettings m_settings;
   QScopedPointer<QMapboxGL> m_map;
-  QMapbox::AnnotationID marker_id = -1;
 
   void initLayers();
 
@@ -90,8 +47,7 @@ private:
   bool event(QEvent *event) final;
   bool gestureEvent(QGestureEvent *event);
   void pinchTriggered(QPinchGesture *gesture);
-
-  bool m_sourceAdded = false;
+  void setError(const QString &err_str);
 
   bool loaded_once = false;
   bool allow_open = true;
@@ -99,18 +55,25 @@ private:
   // Panning
   QPointF m_lastPos;
   int pan_counter = 0;
-  int zoom_counter = -1;
+  int zoom_counter = 0;
 
   // Position
   std::optional<QMapbox::Coordinate> last_position;
   std::optional<float> last_bearing;
   FirstOrderFilter velocity_filter;
-  bool laikad_valid = false;
   bool locationd_valid = false;
+  bool routing_problem = false;
 
+  QWidget *map_overlay;
+  QLabel *error;
   MapInstructions* map_instructions;
   MapETA* map_eta;
 
+  // Blue with normal nav, green when nav is input into the model
+  QColor getNavPathColor(bool nav_enabled) {
+    return nav_enabled ? QColor("#31ee73") : QColor("#31a1ee");
+  }
+
   void clearRoute();
   void updateDestinationMarker();
   uint64_t route_rcv_frame = 0;
@@ -122,8 +85,6 @@ public slots:
   void offroadTransition(bool offroad);
 
 signals:
-  void distanceChanged(float distance);
-  void instructionsChanged(cereal::NavInstruction::Reader instruction);
-  void ETAChanged(float seconds, float seconds_typical, float distance);
+  void requestVisible(bool visible);
+  void requestSettings(bool settings);
 };
-
diff --git a/selfdrive/ui/qt/maps/map_eta.cc b/selfdrive/ui/qt/maps/map_eta.cc
new file mode 100644
index 0000000000..13e11e5597
--- /dev/null
+++ b/selfdrive/ui/qt/maps/map_eta.cc
@@ -0,0 +1,57 @@
+#include "selfdrive/ui/qt/maps/map_eta.h"
+
+#include <QDateTime>
+#include <QPainter>
+
+#include "selfdrive/ui/ui.h"
+
+const float MANEUVER_TRANSITION_THRESHOLD = 10;
+
+MapETA::MapETA(QWidget *parent) : QWidget(parent) {
+  setVisible(false);
+  setAttribute(Qt::WA_TranslucentBackground);
+  eta_doc.setUndoRedoEnabled(false);
+  eta_doc.setDefaultStyleSheet("body {font-family:Inter;font-size:70px;color:white;} b{font-weight:600;} td{padding:0 3px;}");
+}
+
+void MapETA::paintEvent(QPaintEvent *event) {
+  if (!eta_doc.isEmpty()) {
+    QPainter p(this);
+    p.setRenderHint(QPainter::Antialiasing);
+    p.setPen(Qt::NoPen);
+    p.setBrush(QColor(0, 0, 0, 150));
+    QSizeF txt_size = eta_doc.size();
+    p.drawRoundedRect((width() - txt_size.width()) / 2 - UI_BORDER_SIZE, 0, txt_size.width() + UI_BORDER_SIZE * 2, height() + 25, 25, 25);
+    p.translate((width() - txt_size.width()) / 2, (height() - txt_size.height()) / 2);
+    eta_doc.drawContents(&p);
+  }
+}
+
+void MapETA::updateETA(float s, float s_typical, float d) {
+  // ETA
+  auto eta_t = QDateTime::currentDateTime().addSecs(s).time();
+  auto eta = format_24h ? std::array{eta_t.toString("HH:mm"), tr("eta")}
+                        : std::array{eta_t.toString("h:mm a").split(' ')[0], eta_t.toString("a")};
+
+  // Remaining time
+  auto remaining = s < 3600 ? std::array{QString::number(int(s / 60)), tr("min")}
+                            : std::array{QString("%1:%2").arg((int)s / 3600).arg(((int)s % 3600) / 60, 2, 10, QLatin1Char('0')), tr("hr")};
+  QString color = "#25DA6E";
+  if (s / s_typical > 1.5)
+    color = "#DA3025";
+  else if (s / s_typical > 1.2)
+    color = "#DAA725";
+
+  // Distance
+  float num = uiState()->scene.is_metric ? (d / 1000.0) : (d * METER_TO_MILE);
+  auto distance = std::array{QString::number(num, 'f', num < 100 ? 1 : 0),
+                             uiState()->scene.is_metric ? tr("km") : tr("mi")};
+
+  eta_doc.setHtml(QString(R"(<body><table><tr style="vertical-align:bottom;"><td><b>%1</b></td><td>%2</td>
+                             <td style="padding-left:40px;color:%3;"><b>%4</b></td><td style="padding-right:40px;color:%3;">%5</td>
+                             <td><b>%6</b></td><td>%7</td></tr></body>)")
+                      .arg(eta[0], eta[1], color, remaining[0], remaining[1], distance[0], distance[1]));
+
+  setVisible(d >= MANEUVER_TRANSITION_THRESHOLD);
+  update();
+}
diff --git a/selfdrive/ui/qt/maps/map_eta.h b/selfdrive/ui/qt/maps/map_eta.h
new file mode 100644
index 0000000000..6e59837de3
--- /dev/null
+++ b/selfdrive/ui/qt/maps/map_eta.h
@@ -0,0 +1,23 @@
+#pragma once
+
+#include <QPaintEvent>
+#include <QTextDocument>
+#include <QWidget>
+
+#include "common/params.h"
+
+class MapETA : public QWidget {
+  Q_OBJECT
+
+public:
+  MapETA(QWidget * parent=nullptr);
+  void updateETA(float seconds, float seconds_typical, float distance);
+
+private:
+  void paintEvent(QPaintEvent *event) override;
+  void showEvent(QShowEvent *event) override { format_24h = param.getBool("NavSettingTime24h"); }
+
+  bool format_24h = false;
+  QTextDocument eta_doc;
+  Params param;
+};
diff --git a/selfdrive/ui/qt/maps/map_instructions.cc b/selfdrive/ui/qt/maps/map_instructions.cc
new file mode 100644
index 0000000000..25fec5c274
--- /dev/null
+++ b/selfdrive/ui/qt/maps/map_instructions.cc
@@ -0,0 +1,147 @@
+#include "selfdrive/ui/qt/maps/map_instructions.h"
+
+#include <QDir>
+#include <QVBoxLayout>
+
+#include "selfdrive/ui/ui.h"
+
+const QString ICON_SUFFIX = ".png";
+
+MapInstructions::MapInstructions(QWidget *parent) : QWidget(parent) {
+  is_rhd = Params().getBool("IsRhdDetected");
+  QHBoxLayout *main_layout = new QHBoxLayout(this);
+  main_layout->setContentsMargins(11, 50, 11, 11);
+  main_layout->addWidget(icon_01 = new QLabel, 0, Qt::AlignTop);
+
+  QWidget *right_container = new QWidget(this);
+  right_container->setSizePolicy(QSizePolicy::Expanding, QSizePolicy::Preferred);
+  QVBoxLayout *layout = new QVBoxLayout(right_container);
+
+  layout->addWidget(distance = new QLabel);
+  distance->setStyleSheet(R"(font-size: 90px;)");
+
+  layout->addWidget(primary = new QLabel);
+  primary->setStyleSheet(R"(font-size: 60px;)");
+  primary->setWordWrap(true);
+
+  layout->addWidget(secondary = new QLabel);
+  secondary->setStyleSheet(R"(font-size: 50px;)");
+  secondary->setWordWrap(true);
+
+  layout->addLayout(lane_layout = new QHBoxLayout);
+  main_layout->addWidget(right_container);
+
+  setStyleSheet("color:white");
+  QPalette pal = palette();
+  pal.setColor(QPalette::Background, QColor(0, 0, 0, 150));
+  setAutoFillBackground(true);
+  setPalette(pal);
+
+  buildPixmapCache();
+}
+
+void MapInstructions::buildPixmapCache() {
+  QDir dir("../assets/navigation");
+  for (QString fn : dir.entryList({"*" + ICON_SUFFIX}, QDir::Files)) {
+    QPixmap pm(dir.filePath(fn));
+    QString key = fn.left(fn.size() - ICON_SUFFIX.length());
+    pm = pm.scaledToWidth(200, Qt::SmoothTransformation);
+
+    // Maneuver icons
+    pixmap_cache[key] = pm;
+    // lane direction icons
+    if (key.contains("turn_")) {
+      pixmap_cache["lane_" + key] = pm.scaled({125, 125}, Qt::IgnoreAspectRatio, Qt::SmoothTransformation);
+    }
+
+    // for rhd, reflect direction and then flip
+    if (key.contains("_left")) {
+      pixmap_cache["rhd_" + key.replace("_left", "_right")] = pm.transformed(QTransform().scale(-1, 1));
+    } else if (key.contains("_right")) {
+      pixmap_cache["rhd_" + key.replace("_right", "_left")] = pm.transformed(QTransform().scale(-1, 1));
+    }
+  }
+}
+
+QString MapInstructions::getDistance(float d) {
+  d = std::max(d, 0.0f);
+  if (uiState()->scene.is_metric) {
+    return (d > 500) ? QString::number(d / 1000, 'f', 1) + tr(" km")
+                     : QString::number(50 * qRound(d / 50)) + tr(" m");
+  } else {
+    float feet = d * METER_TO_FOOT;
+    return (feet > 500) ? QString::number(d * METER_TO_MILE, 'f', 1) + tr(" mi")
+                        : QString::number(50 * qRound(feet / 50)) + tr(" ft");
+  }
+}
+
+void MapInstructions::updateInstructions(cereal::NavInstruction::Reader instruction) {
+  setUpdatesEnabled(false);
+
+  // Show instruction text
+  QString primary_str = QString::fromStdString(instruction.getManeuverPrimaryText());
+  QString secondary_str = QString::fromStdString(instruction.getManeuverSecondaryText());
+
+  primary->setText(primary_str);
+  secondary->setVisible(secondary_str.length() > 0);
+  secondary->setText(secondary_str);
+  distance->setText(getDistance(instruction.getManeuverDistance()));
+
+  // Show arrow with direction
+  QString type = QString::fromStdString(instruction.getManeuverType());
+  QString modifier = QString::fromStdString(instruction.getManeuverModifier());
+  if (!type.isEmpty()) {
+    QString fn = "direction_" + type;
+    if (!modifier.isEmpty()) {
+      fn += "_" + modifier;
+    }
+    fn = fn.replace(' ', '_');
+    bool rhd = is_rhd && (fn.contains("_left") || fn.contains("_right"));
+    icon_01->setPixmap(pixmap_cache[!rhd ? fn : "rhd_" + fn]);
+    icon_01->setSizePolicy(QSizePolicy(QSizePolicy::Fixed, QSizePolicy::Fixed));
+    icon_01->setVisible(true);
+  }
+
+  // Hide distance after arrival
+  distance->setVisible(type != "arrive" || instruction.getManeuverDistance() > 0);
+
+  // Show lanes
+  auto lanes = instruction.getLanes();
+  for (int i = 0; i < lanes.size(); ++i) {
+    bool active = lanes[i].getActive();
+    const auto active_direction = lanes[i].getActiveDirection();
+
+    // TODO: Make more images based on active direction and combined directions
+    QString fn = "lane_direction_";
+
+    // active direction has precedence
+    if (active && active_direction != cereal::NavInstruction::Direction::NONE) {
+      fn += "turn_" + DIRECTIONS[active_direction];
+    } else {
+      for (auto const &direction : lanes[i].getDirections()) {
+        if (direction != cereal::NavInstruction::Direction::NONE) {
+          fn += "turn_" + DIRECTIONS[direction];
+          break;
+        }
+      }
+    }
+
+    if (!active) {
+      fn += "_inactive";
+    }
+
+    QLabel *label = (i < lane_labels.size()) ? lane_labels[i] : lane_labels.emplace_back(new QLabel);
+    if (!label->parentWidget()) {
+      lane_layout->addWidget(label);
+    }
+    label->setPixmap(pixmap_cache[fn]);
+    label->setVisible(true);
+  }
+
+  for (int i = lanes.size(); i < lane_labels.size(); ++i) {
+    lane_labels[i]->setVisible(false);
+  }
+
+  setUpdatesEnabled(true);
+  setVisible(true);
+}
diff --git a/selfdrive/ui/qt/maps/map_instructions.h b/selfdrive/ui/qt/maps/map_instructions.h
new file mode 100644
index 0000000000..26bcb4d580
--- /dev/null
+++ b/selfdrive/ui/qt/maps/map_instructions.h
@@ -0,0 +1,34 @@
+#pragma once
+
+#include <QHash>
+#include <QHBoxLayout>
+#include <QLabel>
+
+#include "cereal/gen/cpp/log.capnp.h"
+
+static std::map<cereal::NavInstruction::Direction, QString> DIRECTIONS = {
+  {cereal::NavInstruction::Direction::NONE, "none"},
+  {cereal::NavInstruction::Direction::LEFT, "left"},
+  {cereal::NavInstruction::Direction::RIGHT, "right"},
+  {cereal::NavInstruction::Direction::STRAIGHT, "straight"},
+};
+
+class MapInstructions : public QWidget {
+  Q_OBJECT
+
+private:
+  QLabel *distance;
+  QLabel *primary;
+  QLabel *secondary;
+  QLabel *icon_01;
+  QHBoxLayout *lane_layout;
+  bool is_rhd = false;
+  std::vector<QLabel *> lane_labels;
+  QHash<QString, QPixmap> pixmap_cache;
+
+public:
+  MapInstructions(QWidget * parent=nullptr);
+  void buildPixmapCache();
+  QString getDistance(float d);
+  void updateInstructions(cereal::NavInstruction::Reader instruction);
+};
diff --git a/selfdrive/ui/qt/maps/map_panel.cc b/selfdrive/ui/qt/maps/map_panel.cc
new file mode 100644
index 0000000000..f1b8f812fa
--- /dev/null
+++ b/selfdrive/ui/qt/maps/map_panel.cc
@@ -0,0 +1,43 @@
+#include "selfdrive/ui/qt/maps/map_panel.h"
+
+#include <QHBoxLayout>
+#include <QWidget>
+
+#include "selfdrive/ui/qt/maps/map.h"
+#include "selfdrive/ui/qt/maps/map_settings.h"
+#include "selfdrive/ui/qt/util.h"
+#include "selfdrive/ui/ui.h"
+
+MapPanel::MapPanel(const QMapboxGLSettings &mapboxSettings, QWidget *parent) : QFrame(parent) {
+  content_stack = new QStackedLayout(this);
+  content_stack->setContentsMargins(0, 0, 0, 0);
+
+  auto map = new MapWindow(mapboxSettings);
+  QObject::connect(uiState(), &UIState::offroadTransition, map, &MapWindow::offroadTransition);
+  QObject::connect(device(), &Device::interactiveTimeout, [=]() {
+    content_stack->setCurrentIndex(0);
+  });
+  QObject::connect(map, &MapWindow::requestVisible, [=](bool visible) {
+    // when we show the map for a new route, signal HomeWindow to hide the sidebar
+    if (visible) { emit mapPanelRequested(); }
+    setVisible(visible);
+  });
+  QObject::connect(map, &MapWindow::requestSettings, [=](bool settings) {
+    content_stack->setCurrentIndex(settings ? 1 : 0);
+  });
+  content_stack->addWidget(map);
+
+  auto settings = new MapSettings(true, parent);
+  QObject::connect(settings, &MapSettings::closeSettings, [=]() {
+    content_stack->setCurrentIndex(0);
+  });
+  content_stack->addWidget(settings);
+}
+
+void MapPanel::toggleMapSettings() {
+  // show settings if not visible, then toggle between map and settings
+  int new_index = isVisible() ? (1 - content_stack->currentIndex()) : 1;
+  content_stack->setCurrentIndex(new_index);
+  emit mapPanelRequested();
+  show();
+}
diff --git a/selfdrive/ui/qt/maps/map_panel.h b/selfdrive/ui/qt/maps/map_panel.h
new file mode 100644
index 0000000000..43a2cc7c89
--- /dev/null
+++ b/selfdrive/ui/qt/maps/map_panel.h
@@ -0,0 +1,21 @@
+#pragma once
+
+#include <QFrame>
+#include <QMapboxGL>
+#include <QStackedLayout>
+
+class MapPanel : public QFrame {
+  Q_OBJECT
+
+public:
+  explicit MapPanel(const QMapboxGLSettings &settings, QWidget *parent = nullptr);
+
+signals:
+  void mapPanelRequested();
+
+public slots:
+  void toggleMapSettings();
+
+private:
+  QStackedLayout *content_stack;
+};
diff --git a/selfdrive/ui/qt/maps/map_settings.cc b/selfdrive/ui/qt/maps/map_settings.cc
index 3205ca517d..018d0df984 100644
--- a/selfdrive/ui/qt/maps/map_settings.cc
+++ b/selfdrive/ui/qt/maps/map_settings.cc
@@ -1,144 +1,305 @@
 #include "map_settings.h"
 
+#include <QApplication>
 #include <QDebug>
 
 #include "common/util.h"
-#include "selfdrive/ui/qt/util.h"
 #include "selfdrive/ui/qt/request_repeater.h"
-#include "selfdrive/ui/qt/widgets/controls.h"
 #include "selfdrive/ui/qt/widgets/scrollview.h"
 
-static QString shorten(const QString &str, int max_len) {
-  return str.size() > max_len ? str.left(max_len).trimmed() + "…" : str;
-}
+MapSettings::MapSettings(bool closeable, QWidget *parent) : QFrame(parent) {
+  setContentsMargins(0, 0, 0, 0);
+  setAttribute(Qt::WA_NoMousePropagation);
 
-MapPanel::MapPanel(QWidget* parent) : QWidget(parent) {
-  stack = new QStackedWidget;
+  auto *frame = new QVBoxLayout(this);
+  frame->setContentsMargins(40, 40, 40, 0);
+  frame->setSpacing(0);
 
-  QWidget * main_widget = new QWidget;
-  QVBoxLayout *main_layout = new QVBoxLayout(main_widget);
-  const int icon_size = 200;
-
-  // Home
-  QHBoxLayout *home_layout = new QHBoxLayout;
-  home_button = new QPushButton;
-  home_button->setIconSize(QSize(icon_size, icon_size));
-  home_layout->addWidget(home_button);
-
-  home_address = new QLabel;
-  home_address->setWordWrap(true);
-  home_layout->addSpacing(30);
-  home_layout->addWidget(home_address);
-  home_layout->addStretch();
-
-  // Work
-  QHBoxLayout *work_layout = new QHBoxLayout;
-  work_button = new QPushButton;
-  work_button->setIconSize(QSize(icon_size, icon_size));
-  work_layout->addWidget(work_button);
-
-  work_address = new QLabel;
-  work_address->setWordWrap(true);
-  work_layout->addSpacing(30);
-  work_layout->addWidget(work_address);
-  work_layout->addStretch();
-
-  // Home & Work layout
-  QHBoxLayout *home_work_layout = new QHBoxLayout;
-  home_work_layout->addLayout(home_layout, 1);
-  home_work_layout->addSpacing(50);
-  home_work_layout->addLayout(work_layout, 1);
-
-  main_layout->addLayout(home_work_layout);
-  main_layout->addSpacing(20);
-  main_layout->addWidget(horizontal_line());
-  main_layout->addSpacing(20);
-
-  // Current route
+  auto *heading_frame = new QHBoxLayout;
+  heading_frame->setContentsMargins(0, 0, 0, 0);
+  heading_frame->setSpacing(32);
   {
-    current_widget = new QWidget(this);
-    QVBoxLayout *current_layout = new QVBoxLayout(current_widget);
-
-    QLabel *title = new QLabel(tr("Current Destination"));
-    title->setStyleSheet("font-size: 55px");
-    current_layout->addWidget(title);
-
-    current_route = new ButtonControl("", tr("CLEAR"));
-    current_route->setStyleSheet("padding-left: 40px;");
-    current_layout->addWidget(current_route);
-    QObject::connect(current_route, &ButtonControl::clicked, [=]() {
-      params.remove("NavDestination");
-      updateCurrentRoute();
-    });
-
-    current_layout->addSpacing(10);
-    current_layout->addWidget(horizontal_line());
-    current_layout->addSpacing(20);
-  }
-  main_layout->addWidget(current_widget);
-
-  // Recents
-  QLabel *recents_title = new QLabel(tr("Recent Destinations"));
-  recents_title->setStyleSheet("font-size: 55px");
-  main_layout->addWidget(recents_title);
-  main_layout->addSpacing(20);
-
-  recent_layout = new QVBoxLayout;
-  QWidget *recent_widget = new LayoutWidget(recent_layout, this);
-  ScrollView *recent_scroller = new ScrollView(recent_widget, this);
-  main_layout->addWidget(recent_scroller);
-
-  // No prime upsell
-  QWidget * no_prime_widget = new QWidget;
-  {
-    QVBoxLayout *no_prime_layout = new QVBoxLayout(no_prime_widget);
-    QLabel *signup_header = new QLabel(tr("Try the Navigation Beta"));
-    signup_header->setStyleSheet(R"(font-size: 75px; color: white; font-weight:600;)");
-    signup_header->setAlignment(Qt::AlignCenter);
-
-    no_prime_layout->addWidget(signup_header);
-    no_prime_layout->addSpacing(50);
-
-    QLabel *screenshot = new QLabel;
-    QPixmap pm = QPixmap("../assets/navigation/screenshot.png");
-    screenshot->setPixmap(pm.scaledToWidth(1080, Qt::SmoothTransformation));
-    no_prime_layout->addWidget(screenshot, 0, Qt::AlignHCenter);
-
-    QLabel *signup = new QLabel(tr("Get turn-by-turn directions displayed and more with a comma\nprime subscription. Sign up now: https://connect.comma.ai"));
-    signup->setStyleSheet(R"(font-size: 45px; color: white; font-weight:300;)");
-    signup->setAlignment(Qt::AlignCenter);
-
-    no_prime_layout->addSpacing(20);
-    no_prime_layout->addWidget(signup);
-    no_prime_layout->addStretch();
-  }
-
-  stack->addWidget(main_widget);
-  stack->addWidget(no_prime_widget);
-  connect(uiState(), &UIState::primeTypeChanged, [=](int prime_type) {
-    stack->setCurrentIndex(prime_type ? 0 : 1);
-  });
-
-  QVBoxLayout *wrapper = new QVBoxLayout(this);
-  wrapper->addWidget(stack);
-
-
-  clear();
-
-  if (auto dongle_id = getDongleId()) {
-    // Fetch favorite and recent locations
-    {
-      QString url = CommaApi::BASE_URL + "/v1/navigation/" + *dongle_id + "/locations";
-      RequestRepeater* repeater = new RequestRepeater(this, url, "ApiCache_NavDestinations", 30, true);
-      QObject::connect(repeater, &RequestRepeater::requestDone, this, &MapPanel::parseResponse);
+    if (closeable) {
+      auto *close_btn = new QPushButton("←");
+      close_btn->setStyleSheet(R"(
+        QPushButton {
+          color: #FFFFFF;
+          font-size: 100px;
+          padding-bottom: 8px;
+          border 1px grey solid;
+          border-radius: 70px;
+          background-color: #292929;
+          font-weight: 500;
+        }
+        QPushButton:pressed {
+          background-color: #3B3B3B;
+        }
+      )");
+      close_btn->setFixedSize(140, 140);
+      QObject::connect(close_btn, &QPushButton::clicked, [=]() { emit closeSettings(); });
+      // TODO: read map_on_left from ui state
+      heading_frame->addWidget(close_btn);
     }
 
-    // Destination set while offline
+    auto *heading = new QVBoxLayout;
+    heading->setContentsMargins(0, 0, 0, 0);
+    heading->setSpacing(16);
     {
-      QString url = CommaApi::BASE_URL + "/v1/navigation/" + *dongle_id + "/next";
-      RequestRepeater* repeater = new RequestRepeater(this, url, "", 10, true);
-      HttpRequest* deleter = new HttpRequest(this);
+      auto *title = new QLabel(tr("NAVIGATION"), this);
+      title->setStyleSheet("color: #FFFFFF; font-size: 54px; font-weight: 600;");
+      heading->addWidget(title);
 
+      auto *subtitle = new QLabel(tr("Manage at connect.comma.ai"), this);
+      subtitle->setStyleSheet("color: #A0A0A0; font-size: 40px; font-weight: 300;");
+      heading->addWidget(subtitle);
+    }
+    heading_frame->addLayout(heading, 1);
+  }
+  frame->addLayout(heading_frame);
+  frame->addSpacing(32);
+
+  current_widget = new DestinationWidget(this);
+  QObject::connect(current_widget, &DestinationWidget::actionClicked, [=]() {
+    if (current_destination.empty()) return;
+    params.remove("NavDestination");
+    updateCurrentRoute();
+  });
+  frame->addWidget(current_widget);
+  frame->addSpacing(32);
+
+  QWidget *destinations_container = new QWidget(this);
+  destinations_layout = new QVBoxLayout(destinations_container);
+  destinations_layout->setContentsMargins(0, 32, 0, 32);
+  destinations_layout->setSpacing(20);
+  destinations_layout->addWidget(home_widget = new DestinationWidget(this));
+  destinations_layout->addWidget(work_widget = new DestinationWidget(this));
+  QObject::connect(home_widget, &DestinationWidget::navigateTo, this, &MapSettings::navigateTo);
+  QObject::connect(work_widget, &DestinationWidget::navigateTo, this, &MapSettings::navigateTo);
+  destinations_layout->addStretch();
+
+  ScrollView *destinations_scroller = new ScrollView(destinations_container, this);
+  destinations_scroller->setFrameShape(QFrame::NoFrame);
+  frame->addWidget(destinations_scroller);
+
+  setStyleSheet("MapSettings { background-color: #333333; }");
+
+  QObject::connect(NavigationRequest::instance(), &NavigationRequest::locationsUpdated, this, &MapSettings::updateLocations);
+  QObject::connect(NavigationRequest::instance(), &NavigationRequest::nextDestinationUpdated, this, &MapSettings::updateCurrentRoute);
+
+  current_locations = NavigationRequest::instance()->currentLocations();
+}
+
+void MapSettings::showEvent(QShowEvent *event) {
+  updateCurrentRoute();
+}
+
+void MapSettings::updateCurrentRoute() {
+  auto dest = QString::fromStdString(params.get("NavDestination"));
+  if (dest.size()) {
+    QJsonDocument doc = QJsonDocument::fromJson(dest.trimmed().toUtf8());
+    if (doc.isNull()) {
+      qWarning() << "JSON Parse failed on NavDestination" << dest;
+      return;
+    }
+    current_destination = doc.object();
+    current_widget->set(current_destination, true);
+  } else {
+    current_destination = {};
+    current_widget->unset("", true);
+  }
+  if (isVisible()) refresh();
+}
+
+void MapSettings::updateLocations(const QJsonArray &locations) {
+  current_locations = locations;
+  refresh();
+}
+
+void MapSettings::refresh() {
+  setUpdatesEnabled(false);
+
+  auto get_w = [this](int i) {
+    auto w = i < widgets.size() ? widgets[i] : widgets.emplace_back(new DestinationWidget);
+    if (!w->parentWidget()) {
+      destinations_layout->insertWidget(destinations_layout->count() - 1, w);
+      QObject::connect(w, &DestinationWidget::navigateTo, this, &MapSettings::navigateTo);
+    }
+    return w;
+  };
+
+  home_widget->unset(NAV_FAVORITE_LABEL_HOME);
+  work_widget->unset(NAV_FAVORITE_LABEL_WORK);
+
+  int n = 0;
+  for (auto location : current_locations) {
+    DestinationWidget *w = nullptr;
+    auto dest = location.toObject();
+    if (dest["save_type"].toString() == NAV_TYPE_FAVORITE) {
+      auto label = dest["label"].toString();
+      if (label == NAV_FAVORITE_LABEL_HOME) w = home_widget;
+      if (label == NAV_FAVORITE_LABEL_WORK) w = work_widget;
+    }
+    w = w ? w : get_w(n++);
+    w->set(dest, false);
+    w->setVisible(dest != current_destination);
+  }
+  for (; n < widgets.size(); ++n) widgets[n]->setVisible(false);
+
+  setUpdatesEnabled(true);
+}
+
+void MapSettings::navigateTo(const QJsonObject &place) {
+  QJsonDocument doc(place);
+  params.put("NavDestination", doc.toJson().toStdString());
+  updateCurrentRoute();
+  emit closeSettings();
+}
+
+DestinationWidget::DestinationWidget(QWidget *parent) : QPushButton(parent) {
+  setContentsMargins(0, 0, 0, 0);
+
+  auto *frame = new QHBoxLayout(this);
+  frame->setContentsMargins(32, 24, 32, 24);
+  frame->setSpacing(32);
+
+  icon = new QLabel(this);
+  icon->setAlignment(Qt::AlignCenter);
+  icon->setFixedSize(96, 96);
+  icon->setObjectName("icon");
+  frame->addWidget(icon);
+
+  auto *inner_frame = new QVBoxLayout;
+  inner_frame->setContentsMargins(0, 0, 0, 0);
+  inner_frame->setSpacing(0);
+  {
+    title = new ElidedLabel(this);
+    title->setAttribute(Qt::WA_TransparentForMouseEvents);
+    inner_frame->addWidget(title);
+
+    subtitle = new ElidedLabel(this);
+    subtitle->setAttribute(Qt::WA_TransparentForMouseEvents);
+    subtitle->setObjectName("subtitle");
+    inner_frame->addWidget(subtitle);
+  }
+  frame->addLayout(inner_frame, 1);
+
+  action = new QPushButton(this);
+  action->setFixedSize(96, 96);
+  action->setObjectName("action");
+  action->setStyleSheet("font-size: 65px; font-weight: 600;");
+  QObject::connect(action, &QPushButton::clicked, this, &QPushButton::clicked);
+  QObject::connect(action, &QPushButton::clicked, this,  &DestinationWidget::actionClicked);
+  frame->addWidget(action);
+
+  setFixedHeight(164);
+  setStyleSheet(R"(
+    DestinationWidget { background-color: #202123; border-radius: 10px; }
+    QLabel { color: #FFFFFF; font-size: 48px; font-weight: 400; }
+    #icon { background-color: #3B4356; border-radius: 48px; }
+    #subtitle { color: #9BA0A5; }
+    #action { border: none; border-radius: 48px; color: #FFFFFF; padding-bottom: 4px; }
+
+    /* current destination */
+    [current="true"] { background-color: #E8E8E8; }
+    [current="true"] QLabel { color: #000000; }
+    [current="true"] #icon { background-color: #42906B; }
+    [current="true"] #subtitle { color: #333333; }
+    [current="true"] #action { color: #202123; }
+
+    /* no saved destination */
+    [set="false"] QLabel { color: #9BA0A5; }
+    [current="true"][set="false"] QLabel { color: #A0000000; }
+
+    /* pressed */
+    [current="false"]:pressed { background-color: #18191B; }
+    [current="true"] #action:pressed { background-color: #D6D6D6; }
+  )");
+  QObject::connect(this, &QPushButton::clicked, [this]() { if (!dest.isEmpty()) emit navigateTo(dest); });
+}
+
+void DestinationWidget::set(const QJsonObject &destination, bool current) {
+  if (dest == destination) return;
+
+  dest = destination;
+  setProperty("current", current);
+  setProperty("set", true);
+
+  auto icon_pixmap = current ? icons().directions : icons().recent;
+  auto title_text = destination["place_name"].toString();
+  auto subtitle_text = destination["place_details"].toString();
+
+  if (destination["save_type"] == NAV_TYPE_FAVORITE) {
+    if (destination["label"] == NAV_FAVORITE_LABEL_HOME) {
+      icon_pixmap = icons().home;
+      subtitle_text = title_text + ", " + subtitle_text;
+      title_text = tr("Home");
+    } else if (destination["label"] == NAV_FAVORITE_LABEL_WORK) {
+      icon_pixmap = icons().work;
+      subtitle_text = title_text + ", " + subtitle_text;
+      title_text = tr("Work");
+    } else {
+      icon_pixmap = icons().favorite;
+    }
+  }
+
+  icon->setPixmap(icon_pixmap);
+
+  title->setText(title_text);
+  subtitle->setText(subtitle_text);
+  subtitle->setVisible(true);
+
+  // TODO: use pixmap
+  action->setAttribute(Qt::WA_TransparentForMouseEvents, !current);
+  action->setText(current ? "×" : "→");
+  action->setVisible(true);
+
+  setStyleSheet(styleSheet());
+}
+
+void DestinationWidget::unset(const QString &label, bool current) {
+  dest = {};
+  setProperty("current", current);
+  setProperty("set", false);
+
+  if (label.isEmpty()) {
+    icon->setPixmap(icons().directions);
+    title->setText(tr("No destination set"));
+  } else {
+    QString title_text = label == NAV_FAVORITE_LABEL_HOME ? tr("home") : tr("work");
+    icon->setPixmap(label == NAV_FAVORITE_LABEL_HOME ? icons().home : icons().work);
+    title->setText(tr("No %1 location set").arg(title_text));
+  }
+
+  subtitle->setVisible(false);
+  action->setVisible(false);
+
+  setStyleSheet(styleSheet());
+  setVisible(true);
+}
+
+// singleton NavigationRequest
+
+NavigationRequest *NavigationRequest::instance() {
+  static NavigationRequest *request = new NavigationRequest(qApp);
+  return request;
+}
+
+NavigationRequest::NavigationRequest(QObject *parent) : QObject(parent) {
+  if (auto dongle_id = getDongleId()) {
+    {
+      // Fetch favorite and recent locations
+      QString url = CommaApi::BASE_URL + "/v1/navigation/" + *dongle_id + "/locations";
+      RequestRepeater *repeater = new RequestRepeater(this, url, "ApiCache_NavDestinations", 30, true);
+      QObject::connect(repeater, &RequestRepeater::requestDone, this, &NavigationRequest::parseLocationsResponse);
+    }
+    {
+      auto param_watcher = new ParamWatcher(this);
+      QObject::connect(param_watcher, &ParamWatcher::paramChanged, this, &NavigationRequest::nextDestinationUpdated);
+
+      // Destination set while offline
+      QString url = CommaApi::BASE_URL + "/v1/navigation/" + *dongle_id + "/next";
+      HttpRequest *deleter = new HttpRequest(this);
+      RequestRepeater *repeater = new RequestRepeater(this, url, "", 10, true);
       QObject::connect(repeater, &RequestRepeater::requestDone, [=](const QString &resp, bool success) {
         if (success && resp != "null") {
           if (params.get("NavDestination").empty()) {
@@ -147,157 +308,36 @@ MapPanel::MapPanel(QWidget* parent) : QWidget(parent) {
           } else {
             qWarning() << "Got location from /next, but NavDestination already set";
           }
-
           // Send DELETE to clear destination server side
           deleter->sendRequest(url, HttpRequest::Method::DELETE);
         }
+
+        // athena can set destination at any time
+        param_watcher->addParam("NavDestination");
       });
     }
   }
 }
 
-void MapPanel::showEvent(QShowEvent *event) {
-  updateCurrentRoute();
-  refresh();
-}
+static void swap(QJsonValueRef v1, QJsonValueRef v2) { std::swap(v1, v2); }
 
-void MapPanel::clear() {
-  home_button->setIcon(QPixmap("../assets/navigation/home_inactive.png"));
-  home_address->setStyleSheet(R"(font-size: 50px; color: grey;)");
-  home_address->setText(tr("No home\nlocation set"));
-  home_button->disconnect();
+void NavigationRequest::parseLocationsResponse(const QString &response, bool success) {
+  if (!success || response == prev_response) return;
 
-  work_button->setIcon(QPixmap("../assets/navigation/work_inactive.png"));
-  work_address->setStyleSheet(R"(font-size: 50px; color: grey;)");
-  work_address->setText(tr("No work\nlocation set"));
-  work_button->disconnect();
-
-  clearLayout(recent_layout);
-}
-
-void MapPanel::updateCurrentRoute() {
-  auto dest = QString::fromStdString(params.get("NavDestination"));
-  QJsonDocument doc = QJsonDocument::fromJson(dest.trimmed().toUtf8());
-  if (dest.size() && !doc.isNull()) {
-    auto name = doc["place_name"].toString();
-    auto details = doc["place_details"].toString();
-    current_route->setTitle(shorten(name + " " + details, 42));
-  }
-  current_widget->setVisible(dest.size() && !doc.isNull());
-}
-
-void MapPanel::parseResponse(const QString &response, bool success) {
-  if (!success) return;
-
-  cur_destinations = response;
-  if (isVisible()) {
-    refresh();
-  }
-}
-
-void MapPanel::refresh() {
-  if (cur_destinations == prev_destinations) return;
-
-  QJsonDocument doc = QJsonDocument::fromJson(cur_destinations.trimmed().toUtf8());
+  prev_response = response;
+  QJsonDocument doc = QJsonDocument::fromJson(response.trimmed().toUtf8());
   if (doc.isNull()) {
-    qDebug() << "JSON Parse failed on navigation locations";
+    qWarning() << "JSON Parse failed on navigation locations" << response;
     return;
   }
 
-  prev_destinations = cur_destinations;
-  clear();
-
-  bool has_recents = false;
-  for (auto &save_type: {"favorite", "recent"}) {
-    for (auto location : doc.array()) {
-      auto obj = location.toObject();
-
-      auto type = obj["save_type"].toString();
-      auto label = obj["label"].toString();
-      auto name = obj["place_name"].toString();
-      auto details = obj["place_details"].toString();
-
-      if (type != save_type) continue;
-
-      if (type == "favorite" && label == "home") {
-        home_address->setText(name);
-        home_address->setStyleSheet(R"(font-size: 50px; color: white;)");
-        home_button->setIcon(QPixmap("../assets/navigation/home.png"));
-        QObject::connect(home_button, &QPushButton::clicked, [=]() {
-          navigateTo(obj);
-          emit closeSettings();
-        });
-      } else if (type == "favorite" && label == "work") {
-        work_address->setText(name);
-        work_address->setStyleSheet(R"(font-size: 50px; color: white;)");
-        work_button->setIcon(QPixmap("../assets/navigation/work.png"));
-        QObject::connect(work_button, &QPushButton::clicked, [=]() {
-          navigateTo(obj);
-          emit closeSettings();
-        });
-      } else {
-        ClickableWidget *widget = new ClickableWidget;
-        QHBoxLayout *layout = new QHBoxLayout(widget);
-        layout->setContentsMargins(15, 14, 40, 14);
-
-        QLabel *star = new QLabel("★");
-        auto sp = star->sizePolicy();
-        sp.setRetainSizeWhenHidden(true);
-        star->setSizePolicy(sp);
-
-        star->setVisible(type == "favorite");
-        star->setStyleSheet(R"(font-size: 60px;)");
-        layout->addWidget(star);
-        layout->addSpacing(10);
-
-
-        QLabel *recent_label = new QLabel(shorten(name + " " + details, 45));
-        recent_label->setStyleSheet(R"(font-size: 50px;)");
-
-        layout->addWidget(recent_label);
-        layout->addStretch();
-
-        QLabel *arrow = new QLabel("→");
-        arrow->setStyleSheet(R"(font-size: 60px;)");
-        layout->addWidget(arrow);
-
-        widget->setStyleSheet(R"(
-          .ClickableWidget {
-            border-radius: 10px;
-            border-width: 1px;
-            border-style: solid;
-            border-color: gray;
-          }
-          QWidget {
-            background-color: #393939;
-            color: #9c9c9c;
-          }
-        )");
-
-        QObject::connect(widget, &ClickableWidget::clicked, [=]() {
-          navigateTo(obj);
-          emit closeSettings();
-        });
-
-        recent_layout->addWidget(widget);
-        recent_layout->addSpacing(10);
-        has_recents = true;
-      }
-    }
-
-  }
-
-  if (!has_recents) {
-    QLabel *no_recents = new QLabel(tr("no recent destinations"));
-    no_recents->setStyleSheet(R"(font-size: 50px; color: #9c9c9c)");
-    recent_layout->addWidget(no_recents);
-  }
-
-  recent_layout->addStretch();
-  repaint();
-}
-
-void MapPanel::navigateTo(const QJsonObject &place) {
-  QJsonDocument doc(place);
-  params.put("NavDestination", doc.toJson().toStdString());
+  // Sort: alphabetical FAVORITES, and then most recent (as returned by API).
+  // We don't need to care about the ordering of HOME and WORK. DestinationWidget always displays them at the top.
+  locations = doc.array();
+  std::stable_sort(locations.begin(), locations.end(), [](const QJsonValue &a, const QJsonValue &b) {
+    bool has_favorite = a["save_type"] == NAV_TYPE_FAVORITE || b["save_type"] == NAV_TYPE_FAVORITE;
+    return has_favorite && (std::tuple(a["save_type"].toString(), a["place_name"].toString()) <
+                            std::tuple(b["save_type"].toString(), b["place_name"].toString()));
+  });
+  emit locationsUpdated(locations);
 }
diff --git a/selfdrive/ui/qt/maps/map_settings.h b/selfdrive/ui/qt/maps/map_settings.h
index 165673b7c1..bfffd9206d 100644
--- a/selfdrive/ui/qt/maps/map_settings.h
+++ b/selfdrive/ui/qt/maps/map_settings.h
@@ -1,39 +1,100 @@
 #pragma once
+
+#include <QFrame>
 #include <QJsonArray>
 #include <QJsonDocument>
 #include <QJsonObject>
 #include <QLabel>
 #include <QPushButton>
 #include <QVBoxLayout>
-#include <QWidget>
-#include <QStackedWidget>
 
 #include "common/params.h"
+#include "selfdrive/ui/qt/util.h"
 #include "selfdrive/ui/qt/widgets/controls.h"
 
-class MapPanel : public QWidget {
+const QString NAV_TYPE_FAVORITE = "favorite";
+const QString NAV_TYPE_RECENT = "recent";
+
+const QString NAV_FAVORITE_LABEL_HOME = "home";
+const QString NAV_FAVORITE_LABEL_WORK = "work";
+
+class DestinationWidget;
+
+class NavigationRequest : public QObject {
+  Q_OBJECT
+
+public:
+  static NavigationRequest *instance();
+  QJsonArray currentLocations() const { return locations; };
+
+signals:
+  void locationsUpdated(const QJsonArray &locations);
+  void nextDestinationUpdated();
+
+private:
+  NavigationRequest(QObject *parent);
+  void parseLocationsResponse(const QString &response, bool success);
+
+  Params params;
+  QString prev_response;
+  QJsonArray locations;
+};
+
+class MapSettings : public QFrame {
   Q_OBJECT
 public:
-  explicit MapPanel(QWidget* parent = nullptr);
+  explicit MapSettings(bool closeable = false, QWidget *parent = nullptr);
 
   void navigateTo(const QJsonObject &place);
-  void parseResponse(const QString &response, bool success);
+  void updateLocations(const QJsonArray &locations);
   void updateCurrentRoute();
-  void clear();
 
 private:
   void showEvent(QShowEvent *event) override;
   void refresh();
 
   Params params;
-  QString prev_destinations, cur_destinations;
-  QStackedWidget *stack;
-  QPushButton *home_button, *work_button;
-  QLabel *home_address, *work_address;
-  QVBoxLayout *recent_layout;
-  QWidget *current_widget;
-  ButtonControl *current_route;
+  QJsonArray current_locations;
+  QJsonObject current_destination;
+  QVBoxLayout *destinations_layout;
+  DestinationWidget *current_widget;
+  DestinationWidget *home_widget;
+  DestinationWidget *work_widget;
+  std::vector<DestinationWidget *> widgets;
 
 signals:
   void closeSettings();
 };
+
+class DestinationWidget : public QPushButton {
+  Q_OBJECT
+public:
+  explicit DestinationWidget(QWidget *parent = nullptr);
+  void set(const QJsonObject &location, bool current = false);
+  void unset(const QString &label, bool current = false);
+
+signals:
+  void actionClicked();
+  void navigateTo(const QJsonObject &destination);
+
+private:
+  struct NavIcons {
+    QPixmap home, work, favorite, recent, directions;
+  };
+
+  static NavIcons icons() {
+    static NavIcons nav_icons {
+      loadPixmap("../assets/navigation/icon_home.svg", {48, 48}),
+      loadPixmap("../assets/navigation/icon_work.svg", {48, 48}),
+      loadPixmap("../assets/navigation/icon_favorite.svg", {48, 48}),
+      loadPixmap("../assets/navigation/icon_recent.svg", {48, 48}),
+      loadPixmap("../assets/navigation/icon_directions.svg", {48, 48}),
+    };
+    return nav_icons;
+  }
+
+private:
+  QLabel *icon, *title, *subtitle;
+  QPushButton *action;
+  QJsonObject dest;
+};
diff --git a/selfdrive/ui/qt/offroad/driverview.cc b/selfdrive/ui/qt/offroad/driverview.cc
index 327c7537a2..0a216766a2 100644
--- a/selfdrive/ui/qt/offroad/driverview.cc
+++ b/selfdrive/ui/qt/offroad/driverview.cc
@@ -52,7 +52,7 @@ void DriverViewScene::paintEvent(QPaintEvent* event) {
   if (!frame_updated) {
     p.setPen(Qt::white);
     p.setRenderHint(QPainter::TextAntialiasing);
-    configFont(p, "Inter", 100, "Bold");
+    p.setFont(InterFont(100, QFont::Bold));
     p.drawText(geometry(), Qt::AlignCenter, tr("camera starting"));
     return;
   }
diff --git a/selfdrive/ui/qt/offroad/networking.cc b/selfdrive/ui/qt/offroad/networking.cc
index d69d67edeb..c146345eb4 100644
--- a/selfdrive/ui/qt/offroad/networking.cc
+++ b/selfdrive/ui/qt/offroad/networking.cc
@@ -248,6 +248,9 @@ WifiUI::WifiUI(QWidget *parent, WifiManager* wifi) : QWidget(parent), wifi(wifi)
       padding-bottom: 16px;
       padding-top: 16px;
     }
+    #forgetBtn:pressed {
+      background-color: #828282;
+    }
     #connecting {
       font-size: 32px;
       font-weight: 600;
@@ -283,6 +286,7 @@ void WifiUI::refresh() {
   scanningLabel->setVisible(is_empty);
   if (is_empty) return;
 
+  const bool is_tethering_enabled = wifi->isTetheringEnabled();
   QList<Network> sortedNetworks = wifi->seenNetworks.values();
   std::sort(sortedNetworks.begin(), sortedNetworks.end(), compare_by_strength);
 
@@ -310,7 +314,7 @@ void WifiUI::refresh() {
     }
 
     // Forget button
-    if (wifi->isKnownConnection(network.ssid) && !wifi->isTetheringEnabled()) {
+    if (wifi->isKnownConnection(network.ssid) && !is_tethering_enabled) {
       QPushButton *forgetBtn = new QPushButton(tr("FORGET"));
       forgetBtn->setObjectName("forgetBtn");
       QObject::connect(forgetBtn, &QPushButton::clicked, [=]() {
diff --git a/selfdrive/ui/qt/offroad/onboarding.cc b/selfdrive/ui/qt/offroad/onboarding.cc
index 72c341fdf9..5bf1b6fc43 100644
--- a/selfdrive/ui/qt/offroad/onboarding.cc
+++ b/selfdrive/ui/qt/offroad/onboarding.cc
@@ -4,6 +4,7 @@
 #include <QPainter>
 #include <QQmlContext>
 #include <QQuickWidget>
+#include <QTransform>
 #include <QVBoxLayout>
 
 #include "common/util.h"
@@ -21,36 +22,54 @@ void TrainingGuide::mouseReleaseEvent(QMouseEvent *e) {
   }
   click_timer.restart();
 
-  if (boundingRect[currentIndex].contains(e->x(), e->y())) {
+  auto contains = [this](QRect r, const QPoint &pt) {
+    if (image.size() != image_raw_size) {
+      QTransform transform;
+      transform.translate((width()- image.width()) / 2.0, (height()- image.height()) / 2.0);
+      transform.scale(image.width() / (float)image_raw_size.width(), image.height() / (float)image_raw_size.height());
+      r= transform.mapRect(r);
+    }
+    return r.contains(pt);
+  };
+
+  if (contains(boundingRect[currentIndex], e->pos())) {
     if (currentIndex == 9) {
       const QRect yes = QRect(707, 804, 531, 164);
-      Params().putBool("RecordFront", yes.contains(e->x(), e->y()));
+      Params().putBool("RecordFront", contains(yes, e->pos()));
     }
     currentIndex += 1;
-  } else if (currentIndex == (boundingRect.size() - 2) && boundingRect.last().contains(e->x(), e->y())) {
+  } else if (currentIndex == (boundingRect.size() - 2) && contains(boundingRect.last(), e->pos())) {
     currentIndex = 0;
   }
 
   if (currentIndex >= (boundingRect.size() - 1)) {
     emit completedTraining();
   } else {
-    image.load(img_path + "step" + QString::number(currentIndex) + ".png");
     update();
   }
 }
 
 void TrainingGuide::showEvent(QShowEvent *event) {
   currentIndex = 0;
-  image.load(img_path + "step0.png");
   click_timer.start();
 }
 
+QImage TrainingGuide::loadImage(int id) {
+  QImage img(img_path + QString("step%1.png").arg(id));
+  image_raw_size = img.size();
+  if (image_raw_size != rect().size()) {
+    img = img.scaled(width(), height(), Qt::KeepAspectRatio, Qt::SmoothTransformation);
+  }
+  return img;
+}
+
 void TrainingGuide::paintEvent(QPaintEvent *event) {
   QPainter painter(this);
 
   QRect bg(0, 0, painter.device()->width(), painter.device()->height());
   painter.fillRect(bg, QColor("#000000"));
 
+  image = loadImage(currentIndex);
   QRect rect(image.rect());
   rect.moveCenter(bg.center());
   painter.drawImage(rect.topLeft(), image);
diff --git a/selfdrive/ui/qt/offroad/onboarding.h b/selfdrive/ui/qt/offroad/onboarding.h
index d347d1e613..2fdae35de0 100644
--- a/selfdrive/ui/qt/offroad/onboarding.h
+++ b/selfdrive/ui/qt/offroad/onboarding.h
@@ -20,8 +20,10 @@ private:
   void showEvent(QShowEvent *event) override;
   void paintEvent(QPaintEvent *event) override;
   void mouseReleaseEvent(QMouseEvent* e) override;
+  QImage loadImage(int id);
 
   QImage image;
+  QSize image_raw_size;
   int currentIndex = 0;
 
   // Bounding boxes for each training guide step
diff --git a/selfdrive/ui/qt/offroad/settings.cc b/selfdrive/ui/qt/offroad/settings.cc
index 0c8132343c..94a673dd71 100644
--- a/selfdrive/ui/qt/offroad/settings.cc
+++ b/selfdrive/ui/qt/offroad/settings.cc
@@ -8,10 +8,6 @@
 
 #include "selfdrive/ui/qt/offroad/networking.h"
 
-#ifdef ENABLE_MAPS
-#include "selfdrive/ui/qt/maps/map_settings.h"
-#endif
-
 #include "common/params.h"
 #include "common/watchdog.h"
 #include "common/util.h"
@@ -27,7 +23,7 @@
 #include "selfdrive/ui/qt/widgets/input.h"
 
 TogglesPanel::TogglesPanel(SettingsWindow *parent) : ListWidget(parent) {
-  // param, title, desc, icon, confirm
+  // param, title, desc, icon
   std::vector<std::tuple<QString, QString, QString, QString>> toggle_defs{
     {
       "OpenpilotEnabledToggle",
@@ -89,6 +85,12 @@ TogglesPanel::TogglesPanel(SettingsWindow *parent) : ListWidget(parent) {
 #endif
   };
 
+
+  std::vector<QString> longi_button_texts{tr("Aggressive"), tr("Standard"), tr("Relaxed")};
+  long_personality_setting = new ButtonParamControl("LongitudinalPersonality", tr("Driving Personality"),
+                                          tr("Standard is recommended. In aggressive mode, openpilot will follow lead cars closer and be more aggressive with the gas and brake. In relaxed mode openpilot will stay further away from lead cars."),
+                                          "../assets/offroad/icon_speed_limit.png",
+                                          longi_button_texts);
   for (auto &[param, title, desc, icon] : toggle_defs) {
     auto toggle = new ParamControl(param, title, desc, icon, this);
 
@@ -97,6 +99,11 @@ TogglesPanel::TogglesPanel(SettingsWindow *parent) : ListWidget(parent) {
 
     addItem(toggle);
     toggles[param.toStdString()] = toggle;
+
+    // insert longitudinal personality after NDOG toggle
+    if (param == "DisengageOnAccelerator") {
+      addItem(long_personality_setting);
+    }
   }
 
   // Toggles with confirmation dialogs
@@ -118,19 +125,26 @@ void TogglesPanel::showEvent(QShowEvent *event) {
 }
 
 void TogglesPanel::updateToggles() {
-  auto e2e_toggle = toggles["ExperimentalMode"];
+  auto experimental_mode_toggle = toggles["ExperimentalMode"];
   auto op_long_toggle = toggles["ExperimentalLongitudinalEnabled"];
   const QString e2e_description = QString("%1<br>"
                                           "<h4>%2</h4><br>"
                                           "%3<br>"
                                           "<h4>%4</h4><br>"
-                                          "%5")
+                                          "%5<br>"
+                                          "<h4>%6</h4><br>"
+                                          "%7")
                                   .arg(tr("openpilot defaults to driving in <b>chill mode</b>. Experimental mode enables <b>alpha-level features</b> that aren't ready for chill mode. Experimental features are listed below:"))
-                                  .arg(tr("🌮 End-to-End Longitudinal Control 🌮"))
+                                  .arg(tr("End-to-End Longitudinal Control" ))
                                   .arg(tr("Let the driving model control the gas and brakes. openpilot will drive as it thinks a human would, including stopping for red lights and stop signs. "
-                                       "Since the driving model decides the speed to drive, the set speed will only act as an upper bound. This is an alpha quality feature; mistakes should be expected."))
+                                          "Since the driving model decides the speed to drive, the set speed will only act as an upper bound. This is an alpha quality feature; mistakes should be expected."))
+                                  .arg(tr("Navigate on openpilot"))
+                                  .arg(tr("When navigation has a destination, openpilot will input the map information into the model. This provides useful context for the model and allows openpilot to keep left or right appropriately at forks/exits. "
+                                          "Lane change behavior is unchanged and still activated by the driver. This is an alpha quality feature; mistakes should be expected, particularly around exits and forks. "
+					                                "These mistakes can include unintended laneline crossings, late exit taking, driving towards dividing barriers in the gore areas, etc."))
                                   .arg(tr("New Driving Visualization"))
-                                  .arg(tr("The driving visualization will transition to the road-facing wide-angle camera at low speeds to better show some turns. The Experimental mode logo will also be shown in the top right corner."));
+                                  .arg(tr("The driving visualization will transition to the road-facing wide-angle camera at low speeds to better show some turns. The Experimental mode logo will also be shown in the top right corner. "
+                                          "When a navigation destination is set and the driving model is using it as input, the driving path on the map will turn green."));
 
   const bool is_release = params.getBool("IsReleaseBranch");
   auto cp_bytes = params.get("CarParamsPersistent");
@@ -143,16 +157,15 @@ void TogglesPanel::updateToggles() {
       params.remove("ExperimentalLongitudinalEnabled");
     }
     op_long_toggle->setVisible(CP.getExperimentalLongitudinalAvailable() && !is_release);
-
-    const bool op_long = CP.getOpenpilotLongitudinalControl() && !CP.getExperimentalLongitudinalAvailable();
-    const bool exp_long_enabled = CP.getExperimentalLongitudinalAvailable() && params.getBool("ExperimentalLongitudinalEnabled");
-    if (op_long || exp_long_enabled) {
+    if (hasLongitudinalControl(CP)) {
       // normal description and toggle
-      e2e_toggle->setEnabled(true);
-      e2e_toggle->setDescription(e2e_description);
+      experimental_mode_toggle->setEnabled(true);
+      experimental_mode_toggle->setDescription(e2e_description);
+      long_personality_setting->setEnabled(true);
     } else {
       // no long for now
-      e2e_toggle->setEnabled(false);
+      experimental_mode_toggle->setEnabled(false);
+      long_personality_setting->setEnabled(false);
       params.remove("ExperimentalMode");
 
       const QString unavailable = tr("Experimental mode is currently unavailable on this car since the car's stock ACC is used for longitudinal control.");
@@ -161,17 +174,17 @@ void TogglesPanel::updateToggles() {
                           tr("openpilot longitudinal control may come in a future update.");
       if (CP.getExperimentalLongitudinalAvailable()) {
         if (is_release) {
-          long_desc = unavailable + " " + tr("An experimental version of openpilot longitudinal control can be tested, along with Experimental mode, on non-release branches.");
+          long_desc = unavailable + " " + tr("An alpha version of openpilot longitudinal control can be tested, along with Experimental mode, on non-release branches.");
         } else {
-          long_desc = tr("Enable experimental longitudinal control to allow Experimental mode.");
+          long_desc = tr("Enable the openpilot longitudinal control (alpha) toggle to allow Experimental mode.");
         }
       }
-      e2e_toggle->setDescription("<b>" + long_desc + "</b><br><br>" + e2e_description);
+      experimental_mode_toggle->setDescription("<b>" + long_desc + "</b><br><br>" + e2e_description);
     }
 
-    e2e_toggle->refresh();
+    experimental_mode_toggle->refresh();
   } else {
-    e2e_toggle->setDescription(e2e_description);
+    experimental_mode_toggle->setDescription(e2e_description);
     op_long_toggle->setVisible(false);
   }
 }
@@ -223,7 +236,7 @@ DevicePanel::DevicePanel(SettingsWindow *parent) : ListWidget(parent) {
     QString selection = MultiOptionDialog::getSelection(tr("Select a language"), langs.keys(), langs.key(uiState()->language), this);
     if (!selection.isEmpty()) {
       // put language setting, exit Qt UI, and trigger fast restart
-      Params().put("LanguageSetting", langs[selection].toStdString());
+      params.put("LanguageSetting", langs[selection].toStdString());
       qApp->exit(18);
       watchdog_kick(0);
     }
@@ -267,7 +280,7 @@ void DevicePanel::updateCalibDescription() {
   QString desc =
       tr("openpilot requires the device to be mounted within 4° left or right and "
          "within 5° up or 8° down. openpilot is continuously calibrating, resetting is rarely required.");
-  std::string calib_bytes = Params().get("CalibrationParams");
+  std::string calib_bytes = params.get("CalibrationParams");
   if (!calib_bytes.empty()) {
     try {
       AlignedBuffer aligned_buf;
@@ -292,7 +305,7 @@ void DevicePanel::reboot() {
     if (ConfirmationDialog::confirm(tr("Are you sure you want to reboot?"), tr("Reboot"), this)) {
       // Check engaged again in case it changed while the dialog was open
       if (!uiState()->engaged()) {
-        Params().putBool("DoReboot", true);
+        params.putBool("DoReboot", true);
       }
     }
   } else {
@@ -305,7 +318,7 @@ void DevicePanel::poweroff() {
     if (ConfirmationDialog::confirm(tr("Are you sure you want to power off?"), tr("Power Off"), this)) {
       // Check engaged again in case it changed while the dialog was open
       if (!uiState()->engaged()) {
-        Params().putBool("DoShutdown", true);
+        params.putBool("DoShutdown", true);
       }
     }
   } else {
@@ -372,12 +385,6 @@ SettingsWindow::SettingsWindow(QWidget *parent) : QFrame(parent) {
     {tr("Software"), new SoftwarePanel(this)},
   };
 
-#ifdef ENABLE_MAPS
-  auto map_panel = new MapPanel(this);
-  panels.push_back({tr("Navigation"), map_panel});
-  QObject::connect(map_panel, &MapPanel::closeSettings, this, &SettingsWindow::closeSettings);
-#endif
-
   nav_btns = new QButtonGroup(this);
   for (auto &[name, panel] : panels) {
     QPushButton *btn = new QPushButton(name);
diff --git a/selfdrive/ui/qt/offroad/settings.h b/selfdrive/ui/qt/offroad/settings.h
index c63be4e138..edba5be800 100644
--- a/selfdrive/ui/qt/offroad/settings.h
+++ b/selfdrive/ui/qt/offroad/settings.h
@@ -1,7 +1,6 @@
 #pragma once
 
 #include <QButtonGroup>
-#include <QFileSystemWatcher>
 #include <QFrame>
 #include <QLabel>
 #include <QPushButton>
@@ -9,6 +8,7 @@
 #include <QWidget>
 
 
+#include "selfdrive/ui/qt/util.h"
 #include "selfdrive/ui/qt/widgets/controls.h"
 
 // ********** settings window + top-level panels **********
@@ -64,6 +64,7 @@ public slots:
 private:
   Params params;
   std::map<std::string, ParamControl*> toggles;
+  ButtonParamControl *long_personality_setting;
 
   void updateToggles();
 };
@@ -87,5 +88,5 @@ private:
   ButtonControl *targetBranchBtn;
 
   Params params;
-  QFileSystemWatcher *fs_watch;
+  ParamWatcher *fs_watch;
 };
diff --git a/selfdrive/ui/qt/offroad/software_settings.cc b/selfdrive/ui/qt/offroad/software_settings.cc
index 6db6a6cdfe..15c022db9a 100644
--- a/selfdrive/ui/qt/offroad/software_settings.cc
+++ b/selfdrive/ui/qt/offroad/software_settings.cc
@@ -83,8 +83,8 @@ SoftwarePanel::SoftwarePanel(QWidget* parent) : ListWidget(parent) {
   });
   addItem(uninstallBtn);
 
-  fs_watch = new QFileSystemWatcher(this);
-  QObject::connect(fs_watch, &QFileSystemWatcher::fileChanged, [=](const QString path) {
+  fs_watch = new ParamWatcher(this);
+  QObject::connect(fs_watch, &ParamWatcher::paramChanged, [=](const QString &param_name, const QString &param_value) {
     updateLabels();
   });
 
@@ -105,10 +105,10 @@ void SoftwarePanel::showEvent(QShowEvent *event) {
 
 void SoftwarePanel::updateLabels() {
   // add these back in case the files got removed
-  fs_watch->addPath(QString::fromStdString(params.getParamPath("LastUpdateTime")));
-  fs_watch->addPath(QString::fromStdString(params.getParamPath("UpdateFailedCount")));
-  fs_watch->addPath(QString::fromStdString(params.getParamPath("UpdaterState")));
-  fs_watch->addPath(QString::fromStdString(params.getParamPath("UpdateAvailable")));
+  fs_watch->addParam("LastUpdateTime");
+  fs_watch->addParam("UpdateFailedCount");
+  fs_watch->addParam("UpdaterState");
+  fs_watch->addParam("UpdateAvailable");
 
   if (!isVisible()) {
     return;
@@ -126,19 +126,19 @@ void SoftwarePanel::updateLabels() {
     downloadBtn->setValue(updater_state);
   } else {
     if (failed) {
-      downloadBtn->setText("CHECK");
-      downloadBtn->setValue("failed to check for update");
+      downloadBtn->setText(tr("CHECK"));
+      downloadBtn->setValue(tr("failed to check for update"));
     } else if (params.getBool("UpdaterFetchAvailable")) {
-      downloadBtn->setText("DOWNLOAD");
-      downloadBtn->setValue("update available");
+      downloadBtn->setText(tr("DOWNLOAD"));
+      downloadBtn->setValue(tr("update available"));
     } else {
-      QString lastUpdate = "never";
+      QString lastUpdate = tr("never");
       auto tm = params.get("LastUpdateTime");
       if (!tm.empty()) {
         lastUpdate = timeAgo(QDateTime::fromString(QString::fromStdString(tm + "Z"), Qt::ISODate));
       }
-      downloadBtn->setText("CHECK");
-      downloadBtn->setValue("up to date, last checked " + lastUpdate);
+      downloadBtn->setText(tr("CHECK"));
+      downloadBtn->setValue(tr("up to date, last checked %1").arg(lastUpdate));
     }
     downloadBtn->setEnabled(true);
   }
diff --git a/selfdrive/ui/qt/offroad/wifiManager.h b/selfdrive/ui/qt/offroad/wifiManager.h
index 01f9cd6b65..8be4c6c31b 100644
--- a/selfdrive/ui/qt/offroad/wifiManager.h
+++ b/selfdrive/ui/qt/offroad/wifiManager.h
@@ -71,9 +71,7 @@ private:
 
   QString getAdapter(const uint = NM_DEVICE_TYPE_WIFI);
   uint getAdapterType(const QDBusObjectPath &path);
-  bool isWirelessAdapter(const QDBusObjectPath &path);
   QString getIp4Address();
-  void connect(const QByteArray &ssid, const QString &username, const QString &password, SecurityType security_type);
   void deactivateConnectionBySsid(const QString &ssid);
   void deactivateConnection(const QDBusObjectPath &path);
   QVector<QDBusObjectPath> getActiveConnections();
diff --git a/selfdrive/ui/qt/onroad.cc b/selfdrive/ui/qt/onroad.cc
index af07f179c4..7c070d2adf 100644
--- a/selfdrive/ui/qt/onroad.cc
+++ b/selfdrive/ui/qt/onroad.cc
@@ -3,17 +3,29 @@
 #include <cmath>
 
 #include <QDebug>
+#include <QMouseEvent>
 
 #include "common/timing.h"
 #include "selfdrive/ui/qt/util.h"
 #ifdef ENABLE_MAPS
-#include "selfdrive/ui/qt/maps/map.h"
 #include "selfdrive/ui/qt/maps/map_helpers.h"
+#include "selfdrive/ui/qt/maps/map_panel.h"
 #endif
 
+static void drawIcon(QPainter &p, const QPoint &center, const QPixmap &img, const QBrush &bg, float opacity) {
+  p.setRenderHint(QPainter::Antialiasing);
+  p.setOpacity(1.0);  // bg dictates opacity of ellipse
+  p.setPen(Qt::NoPen);
+  p.setBrush(bg);
+  p.drawEllipse(center, btn_size / 2, btn_size / 2);
+  p.setOpacity(opacity);
+  p.drawPixmap(center - QPoint(img.width() / 2, img.height() / 2), img);
+  p.setOpacity(1.0);
+}
+
 OnroadWindow::OnroadWindow(QWidget *parent) : QWidget(parent) {
   QVBoxLayout *main_layout  = new QVBoxLayout(this);
-  main_layout->setMargin(bdr_s);
+  main_layout->setMargin(UI_BORDER_SIZE);
   QStackedLayout *stacked_layout = new QStackedLayout;
   stacked_layout->setStackingMode(QStackedLayout::StackAll);
   main_layout->addLayout(stacked_layout);
@@ -51,16 +63,13 @@ OnroadWindow::OnroadWindow(QWidget *parent) : QWidget(parent) {
 }
 
 void OnroadWindow::updateState(const UIState &s) {
+  if (!s.scene.started) {
+    return;
+  }
+
   QColor bgColor = bg_colors[s.status];
   Alert alert = Alert::get(*(s.sm), s.scene.started_frame);
-  if (s.sm->updated("controlsState") || !alert.equal({})) {
-    if (alert.type == "controlsUnresponsive") {
-      bgColor = bg_colors[STATUS_ALERT];
-    } else if (alert.type == "controlsUnresponsivePermanent") {
-      bgColor = bg_colors[STATUS_DISENGAGED];
-    }
-    alerts->updateAlert(alert, bgColor);
-  }
+  alerts->updateAlert(alert);
 
   if (s.scene.map_on_left) {
     split->setDirection(QBoxLayout::LeftToRight);
@@ -78,10 +87,14 @@ void OnroadWindow::updateState(const UIState &s) {
 }
 
 void OnroadWindow::mousePressEvent(QMouseEvent* e) {
+#ifdef ENABLE_MAPS
   if (map != nullptr) {
+    // Switch between map and sidebar when using navigate on openpilot
     bool sidebarVisible = geometry().x() > 0;
-    map->setVisible(!sidebarVisible && !map->isVisible());
+    bool show_map = uiState()->scene.navigate_on_openpilot ? sidebarVisible : !sidebarVisible;
+    map->setVisible(show_map && !map->isVisible());
   }
+#endif
   // propagation event to parent(HomeWindow)
   QWidget::mousePressEvent(e);
 }
@@ -90,21 +103,23 @@ void OnroadWindow::offroadTransition(bool offroad) {
 #ifdef ENABLE_MAPS
   if (!offroad) {
     if (map == nullptr && (uiState()->primeType() || !MAPBOX_TOKEN.isEmpty())) {
-      MapWindow * m = new MapWindow(get_mapbox_settings());
+      auto m = new MapPanel(get_mapbox_settings());
       map = m;
 
-      QObject::connect(uiState(), &UIState::offroadTransition, m, &MapWindow::offroadTransition);
+      QObject::connect(m, &MapPanel::mapPanelRequested, this, &OnroadWindow::mapPanelRequested);
+      QObject::connect(nvg->map_settings_btn, &MapSettingsButton::clicked, m, &MapPanel::toggleMapSettings);
+      nvg->map_settings_btn->setEnabled(true);
 
-      m->setFixedWidth(topWidget(this)->width() / 2);
+      m->setFixedWidth(topWidget(this)->width() / 2 - UI_BORDER_SIZE);
       split->insertWidget(0, m);
 
-      // Make map visible after adding to split
-      m->offroadTransition(offroad);
+      // hidden by default, made visible when navRoute is published
+      m->setVisible(false);
     }
   }
 #endif
 
-  alerts->updateAlert({}, bg);
+  alerts->updateAlert({});
 }
 
 void OnroadWindow::paintEvent(QPaintEvent *event) {
@@ -115,10 +130,9 @@ void OnroadWindow::paintEvent(QPaintEvent *event) {
 // ***** onroad widgets *****
 
 // OnroadAlerts
-void OnroadAlerts::updateAlert(const Alert &a, const QColor &color) {
-  if (!alert.equal(a) || color != bg) {
+void OnroadAlerts::updateAlert(const Alert &a) {
+  if (!alert.equal(a)) {
     alert = a;
-    bg = color;
     update();
   }
 }
@@ -127,22 +141,28 @@ void OnroadAlerts::paintEvent(QPaintEvent *event) {
   if (alert.size == cereal::ControlsState::AlertSize::NONE) {
     return;
   }
-  static std::map<cereal::ControlsState::AlertSize, const int> alert_sizes = {
+  static std::map<cereal::ControlsState::AlertSize, const int> alert_heights = {
     {cereal::ControlsState::AlertSize::SMALL, 271},
     {cereal::ControlsState::AlertSize::MID, 420},
     {cereal::ControlsState::AlertSize::FULL, height()},
   };
-  int h = alert_sizes[alert.size];
-  QRect r = QRect(0, height() - h, width(), h);
+  int h = alert_heights[alert.size];
+
+  int margin = 40;
+  int radius = 30;
+  if (alert.size == cereal::ControlsState::AlertSize::FULL) {
+    margin = 0;
+    radius = 0;
+  }
+  QRect r = QRect(0 + margin, height() - h + margin, width() - margin*2, h - margin*2);
 
   QPainter p(this);
 
   // draw background + gradient
   p.setPen(Qt::NoPen);
   p.setCompositionMode(QPainter::CompositionMode_SourceOver);
-
-  p.setBrush(QBrush(bg));
-  p.drawRect(r);
+  p.setBrush(QBrush(alert_colors[alert.status]));
+  p.drawRoundedRect(r, radius, radius);
 
   QLinearGradient g(0, r.y(), 0, r.bottom());
   g.setColorAt(0, QColor::fromRgbF(0, 0, 0, 0.05));
@@ -150,7 +170,7 @@ void OnroadAlerts::paintEvent(QPaintEvent *event) {
 
   p.setCompositionMode(QPainter::CompositionMode_DestinationOver);
   p.setBrush(QBrush(g));
-  p.fillRect(r, g);
+  p.drawRoundedRect(r, radius, radius);
   p.setCompositionMode(QPainter::CompositionMode_SourceOver);
 
   // text
@@ -158,79 +178,87 @@ void OnroadAlerts::paintEvent(QPaintEvent *event) {
   p.setPen(QColor(0xff, 0xff, 0xff));
   p.setRenderHint(QPainter::TextAntialiasing);
   if (alert.size == cereal::ControlsState::AlertSize::SMALL) {
-    configFont(p, "Inter", 74, "SemiBold");
+    p.setFont(InterFont(74, QFont::DemiBold));
     p.drawText(r, Qt::AlignCenter, alert.text1);
   } else if (alert.size == cereal::ControlsState::AlertSize::MID) {
-    configFont(p, "Inter", 88, "Bold");
+    p.setFont(InterFont(88, QFont::Bold));
     p.drawText(QRect(0, c.y() - 125, width(), 150), Qt::AlignHCenter | Qt::AlignTop, alert.text1);
-    configFont(p, "Inter", 66, "Regular");
+    p.setFont(InterFont(66));
     p.drawText(QRect(0, c.y() + 21, width(), 90), Qt::AlignHCenter, alert.text2);
   } else if (alert.size == cereal::ControlsState::AlertSize::FULL) {
     bool l = alert.text1.length() > 15;
-    configFont(p, "Inter", l ? 132 : 177, "Bold");
+    p.setFont(InterFont(l ? 132 : 177, QFont::Bold));
     p.drawText(QRect(0, r.y() + (l ? 240 : 270), width(), 600), Qt::AlignHCenter | Qt::TextWordWrap, alert.text1);
-    configFont(p, "Inter", 88, "Regular");
+    p.setFont(InterFont(88));
     p.drawText(QRect(0, r.height() - (l ? 361 : 420), width(), 300), Qt::AlignHCenter | Qt::TextWordWrap, alert.text2);
   }
 }
 
-
-ExperimentalButton::ExperimentalButton(QWidget *parent) : QPushButton(parent) {
-  setVisible(false);
+// ExperimentalButton
+ExperimentalButton::ExperimentalButton(QWidget *parent) : experimental_mode(false), engageable(false), QPushButton(parent) {
   setFixedSize(btn_size, btn_size);
-  setCheckable(true);
 
   params = Params();
   engage_img = loadPixmap("../assets/img_chffr_wheel.png", {img_size, img_size});
   experimental_img = loadPixmap("../assets/img_experimental.svg", {img_size, img_size});
+  QObject::connect(this, &QPushButton::clicked, this, &ExperimentalButton::changeMode);
+}
 
-  QObject::connect(this, &QPushButton::toggled, [=](bool checked) {
-    params.putBool("ExperimentalMode", checked);
-  });
+void ExperimentalButton::changeMode() {
+  const auto cp = (*uiState()->sm)["carParams"].getCarParams();
+  bool can_change = hasLongitudinalControl(cp) && params.getBool("ExperimentalModeConfirmed");
+  if (can_change) {
+    params.putBool("ExperimentalMode", !experimental_mode);
+  }
 }
 
 void ExperimentalButton::updateState(const UIState &s) {
-  const SubMaster &sm = *(s.sm);
-
-  // button is "visible" if engageable or enabled
-  const auto cs = sm["controlsState"].getControlsState();
-  setVisible(cs.getEngageable() || cs.getEnabled());
-
-  // button is "checked" if experimental mode is enabled
-  setChecked(sm["controlsState"].getControlsState().getExperimentalMode());
-
-  // disable button when experimental mode is not available, or has not been confirmed for the first time
-  const auto cp = sm["carParams"].getCarParams();
-  const bool experimental_mode_available = cp.getExperimentalLongitudinalAvailable() ? params.getBool("ExperimentalLongitudinalEnabled") : cp.getOpenpilotLongitudinalControl();
-  setEnabled(params.getBool("ExperimentalModeConfirmed") && experimental_mode_available);
+  const auto cs = (*s.sm)["controlsState"].getControlsState();
+  bool eng = cs.getEngageable() || cs.getEnabled();
+  if ((cs.getExperimentalMode() != experimental_mode) || (eng != engageable)) {
+    engageable = eng;
+    experimental_mode = cs.getExperimentalMode();
+    update();
+  }
 }
 
 void ExperimentalButton::paintEvent(QPaintEvent *event) {
   QPainter p(this);
-  p.setRenderHint(QPainter::Antialiasing);
-
-  QPoint center(btn_size / 2, btn_size / 2);
-  QPixmap img = isChecked() ? experimental_img : engage_img;
-
-  p.setOpacity(1.0);
-  p.setPen(Qt::NoPen);
-  p.setBrush(QColor(0, 0, 0, 166));
-  p.drawEllipse(center, btn_size / 2, btn_size / 2);
-  p.setOpacity(isDown() ? 0.8 : 1.0);
-  p.drawPixmap((btn_size - img_size) / 2, (btn_size - img_size) / 2, img);
+  QPixmap img = experimental_mode ? experimental_img : engage_img;
+  drawIcon(p, QPoint(btn_size / 2, btn_size / 2), img, QColor(0, 0, 0, 166), (isDown() || !engageable) ? 0.6 : 1.0);
 }
 
 
+// MapSettingsButton
+MapSettingsButton::MapSettingsButton(QWidget *parent) : QPushButton(parent) {
+  setFixedSize(btn_size, btn_size);
+  settings_img = loadPixmap("../assets/navigation/icon_directions_outlined.svg", {img_size, img_size});
+
+  // hidden by default, made visible if map is created (has prime or mapbox token)
+  setVisible(false);
+  setEnabled(false);
+}
+
+void MapSettingsButton::paintEvent(QPaintEvent *event) {
+  QPainter p(this);
+  drawIcon(p, QPoint(btn_size / 2, btn_size / 2), settings_img, QColor(0, 0, 0, 166), isDown() ? 0.6 : 1.0);
+}
+
+
+// Window that shows camera view and variety of info drawn on top
 AnnotatedCameraWidget::AnnotatedCameraWidget(VisionStreamType type, QWidget* parent) : fps_filter(UI_FREQ, 3, 1. / UI_FREQ), CameraWidget("camerad", type, true, parent) {
   pm = std::make_unique<PubMaster, const std::initializer_list<const char *>>({"uiDebug"});
 
-  QVBoxLayout *main_layout  = new QVBoxLayout(this);
-  main_layout->setMargin(bdr_s);
+  main_layout = new QVBoxLayout(this);
+  main_layout->setMargin(UI_BORDER_SIZE);
   main_layout->setSpacing(0);
 
   experimental_btn = new ExperimentalButton(this);
   main_layout->addWidget(experimental_btn, 0, Qt::AlignTop | Qt::AlignRight);
 
+  map_settings_btn = new MapSettingsButton(this);
+  main_layout->addWidget(map_settings_btn, 0, Qt::AlignBottom | Qt::AlignRight);
+
   dm_img = loadPixmap("../assets/img_driver_face.png", {img_size + 5, img_size + 5});
 }
 
@@ -242,6 +270,8 @@ void AnnotatedCameraWidget::updateState(const UIState &s) {
   const bool nav_alive = sm.alive("navInstruction") && sm["navInstruction"].getValid();
 
   const auto cs = sm["controlsState"].getControlsState();
+  const auto car_state = sm["carState"].getCarState();
+  const auto nav_instruction = sm["navInstruction"].getNavInstruction();
 
   // Handle older routes where vCruiseCluster is not set
   float v_cruise =  cs.getVCruiseCluster() == 0.0 ? cs.getVCruise() : cs.getVCruiseCluster();
@@ -253,17 +283,17 @@ void AnnotatedCameraWidget::updateState(const UIState &s) {
 
   // Handle older routes where vEgoCluster is not set
   float v_ego;
-  if (sm["carState"].getCarState().getVEgoCluster() == 0.0 && !v_ego_cluster_seen) {
-    v_ego = sm["carState"].getCarState().getVEgo();
+  if (car_state.getVEgoCluster() == 0.0 && !v_ego_cluster_seen) {
+    v_ego = car_state.getVEgo();
   } else {
-    v_ego = sm["carState"].getCarState().getVEgoCluster();
+    v_ego = car_state.getVEgoCluster();
     v_ego_cluster_seen = true;
   }
   float cur_speed = cs_alive ? std::max<float>(0.0, v_ego) : 0.0;
   cur_speed *= s.scene.is_metric ? MS_TO_KPH : MS_TO_MPH;
 
-  auto speed_limit_sign = sm["navInstruction"].getNavInstruction().getSpeedLimitSign();
-  float speed_limit = nav_alive ? sm["navInstruction"].getNavInstruction().getSpeedLimit() : 0.0;
+  auto speed_limit_sign = nav_instruction.getSpeedLimitSign();
+  float speed_limit = nav_alive ? nav_instruction.getSpeedLimit() : 0.0;
   speed_limit *= (s.scene.is_metric ? MS_TO_KPH : MS_TO_MPH);
 
   setProperty("speedLimit", speed_limit);
@@ -275,7 +305,7 @@ void AnnotatedCameraWidget::updateState(const UIState &s) {
   setProperty("speed", cur_speed);
   setProperty("setSpeed", set_speed);
   setProperty("speedUnit", s.scene.is_metric ? tr("km/h") : tr("mph"));
-  setProperty("hideDM", (cs.getAlertSize() != cereal::ControlsState::AlertSize::NONE));
+  setProperty("hideBottomIcons", (cs.getAlertSize() != cereal::ControlsState::AlertSize::NONE));
   setProperty("status", s.status);
 
   // update engageability/experimental mode button
@@ -287,181 +317,120 @@ void AnnotatedCameraWidget::updateState(const UIState &s) {
   setProperty("rightHandDM", dm_state.getIsRHD());
   // DM icon transition
   dm_fade_state = std::clamp(dm_fade_state+0.2*(0.5-dmActive), 0.0, 1.0);
+
+  // hide map settings button for alerts and flip for right hand DM
+  if (map_settings_btn->isEnabled()) {
+    map_settings_btn->setVisible(!hideBottomIcons);
+    main_layout->setAlignment(map_settings_btn, (rightHandDM ? Qt::AlignLeft : Qt::AlignRight) | Qt::AlignBottom);
+  }
 }
 
 void AnnotatedCameraWidget::drawHud(QPainter &p) {
   p.save();
 
   // Header gradient
-  QLinearGradient bg(0, header_h - (header_h / 2.5), 0, header_h);
+  QLinearGradient bg(0, UI_HEADER_HEIGHT - (UI_HEADER_HEIGHT / 2.5), 0, UI_HEADER_HEIGHT);
   bg.setColorAt(0, QColor::fromRgbF(0, 0, 0, 0.45));
   bg.setColorAt(1, QColor::fromRgbF(0, 0, 0, 0));
-  p.fillRect(0, 0, width(), header_h, bg);
+  p.fillRect(0, 0, width(), UI_HEADER_HEIGHT, bg);
 
   QString speedLimitStr = (speedLimit > 1) ? QString::number(std::nearbyint(speedLimit)) : "–";
   QString speedStr = QString::number(std::nearbyint(speed));
   QString setSpeedStr = is_cruise_set ? QString::number(std::nearbyint(setSpeed)) : "–";
 
   // Draw outer box + border to contain set speed and speed limit
-  int default_rect_width = 172;
-  int rect_width = default_rect_width;
-  if (is_metric || has_eu_speed_limit) rect_width = 200;
-  if (has_us_speed_limit && speedLimitStr.size() >= 3) rect_width = 223;
+  const int sign_margin = 12;
+  const int us_sign_height = 186;
+  const int eu_sign_size = 176;
 
-  int rect_height = 204;
-  if (has_us_speed_limit) rect_height = 402;
-  else if (has_eu_speed_limit) rect_height = 392;
+  const QSize default_size = {172, 204};
+  QSize set_speed_size = default_size;
+  if (is_metric || has_eu_speed_limit) set_speed_size.rwidth() = 200;
+  if (has_us_speed_limit && speedLimitStr.size() >= 3) set_speed_size.rwidth() = 223;
+
+  if (has_us_speed_limit) set_speed_size.rheight() += us_sign_height + sign_margin;
+  else if (has_eu_speed_limit) set_speed_size.rheight() += eu_sign_size + sign_margin;
 
   int top_radius = 32;
   int bottom_radius = has_eu_speed_limit ? 100 : 32;
 
-  QRect set_speed_rect(60 + default_rect_width / 2 - rect_width / 2, 45, rect_width, rect_height);
+  QRect set_speed_rect(QPoint(60 + (default_size.width() - set_speed_size.width()) / 2, 45), set_speed_size);
   p.setPen(QPen(whiteColor(75), 6));
   p.setBrush(blackColor(166));
   drawRoundedRect(p, set_speed_rect, top_radius, top_radius, bottom_radius, bottom_radius);
 
   // Draw MAX
+  QColor max_color = QColor(0x80, 0xd8, 0xa6, 0xff);
+  QColor set_speed_color = whiteColor();
   if (is_cruise_set) {
     if (status == STATUS_DISENGAGED) {
-      p.setPen(whiteColor());
+      max_color = whiteColor();
     } else if (status == STATUS_OVERRIDE) {
-      p.setPen(QColor(0x91, 0x9b, 0x95, 0xff));
+      max_color = QColor(0x91, 0x9b, 0x95, 0xff);
     } else if (speedLimit > 0) {
-      p.setPen(interpColor(
-        setSpeed,
-        {speedLimit + 5, speedLimit + 15, speedLimit + 25},
-        {QColor(0x80, 0xd8, 0xa6, 0xff), QColor(0xff, 0xe4, 0xbf, 0xff), QColor(0xff, 0xbf, 0xbf, 0xff)}
-      ));
-    } else {
-      p.setPen(QColor(0x80, 0xd8, 0xa6, 0xff));
+      auto interp_color = [=](QColor c1, QColor c2, QColor c3) {
+        return speedLimit > 0 ? interpColor(setSpeed, {speedLimit + 5, speedLimit + 15, speedLimit + 25}, {c1, c2, c3}) : c1;
+      };
+      max_color = interp_color(max_color, QColor(0xff, 0xe4, 0xbf), QColor(0xff, 0xbf, 0xbf));
+      set_speed_color = interp_color(set_speed_color, QColor(0xff, 0x95, 0x00), QColor(0xff, 0x00, 0x00));
     }
   } else {
-    p.setPen(QColor(0xa6, 0xa6, 0xa6, 0xff));
+    max_color = QColor(0xa6, 0xa6, 0xa6, 0xff);
+    set_speed_color = QColor(0x72, 0x72, 0x72, 0xff);
   }
-  configFont(p, "Inter", 40, "SemiBold");
-  QRect max_rect = getTextRect(p, Qt::AlignCenter, tr("MAX"));
-  max_rect.moveCenter({set_speed_rect.center().x(), 0});
-  max_rect.moveTop(set_speed_rect.top() + 27);
-  p.drawText(max_rect, Qt::AlignCenter, tr("MAX"));
-
-  // Draw set speed
-  if (is_cruise_set) {
-    if (speedLimit > 0 && status != STATUS_DISENGAGED && status != STATUS_OVERRIDE) {
-      p.setPen(interpColor(
-        setSpeed,
-        {speedLimit + 5, speedLimit + 15, speedLimit + 25},
-        {whiteColor(), QColor(0xff, 0x95, 0x00, 0xff), QColor(0xff, 0x00, 0x00, 0xff)}
-      ));
-    } else {
-      p.setPen(whiteColor());
-    }
-  } else {
-    p.setPen(QColor(0x72, 0x72, 0x72, 0xff));
-  }
-  configFont(p, "Inter", 90, "Bold");
-  QRect speed_rect = getTextRect(p, Qt::AlignCenter, setSpeedStr);
-  speed_rect.moveCenter({set_speed_rect.center().x(), 0});
-  speed_rect.moveTop(set_speed_rect.top() + 77);
-  p.drawText(speed_rect, Qt::AlignCenter, setSpeedStr);
-
-
+  p.setFont(InterFont(40, QFont::DemiBold));
+  p.setPen(max_color);
+  p.drawText(set_speed_rect.adjusted(0, 27, 0, 0), Qt::AlignTop | Qt::AlignHCenter, tr("MAX"));
+  p.setFont(InterFont(90, QFont::Bold));
+  p.setPen(set_speed_color);
+  p.drawText(set_speed_rect.adjusted(0, 77, 0, 0), Qt::AlignTop | Qt::AlignHCenter, setSpeedStr);
 
+  const QRect sign_rect = set_speed_rect.adjusted(sign_margin, default_size.height(), -sign_margin, -sign_margin);
   // US/Canada (MUTCD style) sign
   if (has_us_speed_limit) {
-    const int border_width = 6;
-    const int sign_width = rect_width - 24;
-    const int sign_height = 186;
-
-    // White outer square
-    QRect sign_rect_outer(set_speed_rect.left() + 12, set_speed_rect.bottom() - 11 - sign_height, sign_width, sign_height);
     p.setPen(Qt::NoPen);
     p.setBrush(whiteColor());
-    p.drawRoundedRect(sign_rect_outer, 24, 24);
+    p.drawRoundedRect(sign_rect, 24, 24);
+    p.setPen(QPen(blackColor(), 6));
+    p.drawRoundedRect(sign_rect.adjusted(9, 9, -9, -9), 16, 16);
 
-    // Smaller white square with black border
-    QRect sign_rect(sign_rect_outer.left() + 1.5 * border_width, sign_rect_outer.top() + 1.5 * border_width, sign_width - 3 * border_width, sign_height - 3 * border_width);
-    p.setPen(QPen(blackColor(), border_width));
-    p.setBrush(whiteColor());
-    p.drawRoundedRect(sign_rect, 16, 16);
-
-    // "SPEED"
-    configFont(p, "Inter", 28, "SemiBold");
-    QRect text_speed_rect = getTextRect(p, Qt::AlignCenter, tr("SPEED"));
-    text_speed_rect.moveCenter({sign_rect.center().x(), 0});
-    text_speed_rect.moveTop(sign_rect_outer.top() + 22);
-    p.drawText(text_speed_rect, Qt::AlignCenter, tr("SPEED"));
-
-    // "LIMIT"
-    QRect text_limit_rect = getTextRect(p, Qt::AlignCenter, tr("LIMIT"));
-    text_limit_rect.moveCenter({sign_rect.center().x(), 0});
-    text_limit_rect.moveTop(sign_rect_outer.top() + 51);
-    p.drawText(text_limit_rect, Qt::AlignCenter, tr("LIMIT"));
-
-    // Speed limit value
-    configFont(p, "Inter", 70, "Bold");
-    QRect speed_limit_rect = getTextRect(p, Qt::AlignCenter, speedLimitStr);
-    speed_limit_rect.moveCenter({sign_rect.center().x(), 0});
-    speed_limit_rect.moveTop(sign_rect_outer.top() + 85);
-    p.drawText(speed_limit_rect, Qt::AlignCenter, speedLimitStr);
+    p.setFont(InterFont(28, QFont::DemiBold));
+    p.drawText(sign_rect.adjusted(0, 22, 0, 0), Qt::AlignTop | Qt::AlignHCenter, tr("SPEED"));
+    p.drawText(sign_rect.adjusted(0, 51, 0, 0), Qt::AlignTop | Qt::AlignHCenter, tr("LIMIT"));
+    p.setFont(InterFont(70, QFont::Bold));
+    p.drawText(sign_rect.adjusted(0, 85, 0, 0), Qt::AlignTop | Qt::AlignHCenter, speedLimitStr);
   }
 
   // EU (Vienna style) sign
   if (has_eu_speed_limit) {
-    int outer_radius = 176 / 2;
-    int inner_radius_1 = outer_radius - 6; // White outer border
-    int inner_radius_2 = inner_radius_1 - 20; // Red circle
-
-    // Draw white circle with red border
-    QPoint center(set_speed_rect.center().x() + 1, set_speed_rect.top() + 204 + outer_radius);
     p.setPen(Qt::NoPen);
     p.setBrush(whiteColor());
-    p.drawEllipse(center, outer_radius, outer_radius);
-    p.setBrush(QColor(255, 0, 0, 255));
-    p.drawEllipse(center, inner_radius_1, inner_radius_1);
-    p.setBrush(whiteColor());
-    p.drawEllipse(center, inner_radius_2, inner_radius_2);
+    p.drawEllipse(sign_rect);
+    p.setPen(QPen(Qt::red, 20));
+    p.drawEllipse(sign_rect.adjusted(16, 16, -16, -16));
 
-    // Speed limit value
-    int font_size = (speedLimitStr.size() >= 3) ? 60 : 70;
-    configFont(p, "Inter", font_size, "Bold");
-    QRect speed_limit_rect = getTextRect(p, Qt::AlignCenter, speedLimitStr);
-    speed_limit_rect.moveCenter(center);
+    p.setFont(InterFont((speedLimitStr.size() >= 3) ? 60 : 70, QFont::Bold));
     p.setPen(blackColor());
-    p.drawText(speed_limit_rect, Qt::AlignCenter, speedLimitStr);
+    p.drawText(sign_rect, Qt::AlignCenter, speedLimitStr);
   }
 
   // current speed
-  configFont(p, "Inter", 176, "Bold");
+  p.setFont(InterFont(176, QFont::Bold));
   drawText(p, rect().center().x(), 210, speedStr);
-  configFont(p, "Inter", 66, "Regular");
+  p.setFont(InterFont(66));
   drawText(p, rect().center().x(), 290, speedUnit, 200);
 
   p.restore();
 }
 
-
-// Window that shows camera view and variety of
-// info drawn on top
-
 void AnnotatedCameraWidget::drawText(QPainter &p, int x, int y, const QString &text, int alpha) {
-  QRect real_rect = getTextRect(p, 0, text);
+  QRect real_rect = p.fontMetrics().boundingRect(text);
   real_rect.moveCenter({x, y - real_rect.height() / 2});
 
   p.setPen(QColor(0xff, 0xff, 0xff, alpha));
   p.drawText(real_rect.x(), real_rect.bottom(), text);
 }
 
-void AnnotatedCameraWidget::drawIcon(QPainter &p, int x, int y, QPixmap &img, QBrush bg, float opacity) {
-  p.setOpacity(1.0);  // bg dictates opacity of ellipse
-  p.setPen(Qt::NoPen);
-  p.setBrush(bg);
-  p.drawEllipse(x - btn_size / 2, y - btn_size / 2, btn_size, btn_size);
-  p.setOpacity(opacity);
-  p.drawPixmap(x - img.size().width() / 2, y - img.size().height() / 2, img);
-  p.setOpacity(1.0);
-}
-
-
 void AnnotatedCameraWidget::initializeGL() {
   CameraWidget::initializeGL();
   qInfo() << "OpenGL version:" << QString((const char*)glGetString(GL_VERSION));
@@ -556,10 +525,11 @@ void AnnotatedCameraWidget::drawDriverState(QPainter &painter, const UIState *s)
   painter.save();
 
   // base icon
-  int x = rightHandDM ? rect().right() -  (btn_size - 24) / 2 - (bdr_s * 2) : (btn_size - 24) / 2 + (bdr_s * 2);
-  int y = rect().bottom() - footer_h / 2;
+  int offset = UI_BORDER_SIZE + btn_size / 2;
+  int x = rightHandDM ? width() - offset : offset;
+  int y = height() - offset;
   float opacity = dmActive ? 0.65 : 0.2;
-  drawIcon(painter, x, y, dm_img, blackColor(70), opacity);
+  drawIcon(painter, QPoint(x, y), dm_img, blackColor(70), opacity);
 
   // face
   QPointF face_kpts_draw[std::size(default_face_kpts_3d)];
@@ -682,9 +652,9 @@ void AnnotatedCameraWidget::paintGL() {
 
   if (s->worldObjectsVisible()) {
     if (sm.rcv_frame("modelV2") > s->scene.started_frame) {
-      update_model(s, sm["modelV2"].getModelV2(), sm["uiPlan"].getUiPlan());
+      update_model(s, model, sm["uiPlan"].getUiPlan());
       if (sm.rcv_frame("radarState") > s->scene.started_frame) {
-        update_leads(s, radar_state, sm["modelV2"].getModelV2().getPosition());
+        update_leads(s, radar_state, model.getPosition());
       }
     }
 
@@ -703,7 +673,7 @@ void AnnotatedCameraWidget::paintGL() {
   }
 
   // DMoji
-  if (!hideDM && (sm.rcv_frame("driverStateV2") > s->scene.started_frame)) {
+  if (!hideBottomIcons && (sm.rcv_frame("driverStateV2") > s->scene.started_frame)) {
     update_dmonitoring(s, sm["driverStateV2"].getDriverStateV2(), dm_fade_state, rightHandDM);
     drawDriverState(painter, s);
   }
diff --git a/selfdrive/ui/qt/onroad.h b/selfdrive/ui/qt/onroad.h
index 73c2a37892..778322ed08 100644
--- a/selfdrive/ui/qt/onroad.h
+++ b/selfdrive/ui/qt/onroad.h
@@ -19,7 +19,7 @@ class OnroadAlerts : public QWidget {
 
 public:
   OnroadAlerts(QWidget *parent = 0) : QWidget(parent) {};
-  void updateAlert(const Alert &a, const QColor &color);
+  void updateAlert(const Alert &a);
 
 protected:
   void paintEvent(QPaintEvent*) override;
@@ -38,10 +38,26 @@ public:
 
 private:
   void paintEvent(QPaintEvent *event) override;
+  void changeMode();
 
   Params params;
   QPixmap engage_img;
   QPixmap experimental_img;
+  bool experimental_mode;
+  bool engageable;
+};
+
+
+class MapSettingsButton : public QPushButton {
+  Q_OBJECT
+
+public:
+  explicit MapSettingsButton(QWidget *parent = 0);
+
+private:
+  void paintEvent(QPaintEvent *event) override;
+
+  QPixmap settings_img;
 };
 
 // container window for the NVG UI
@@ -57,7 +73,7 @@ class AnnotatedCameraWidget : public CameraWidget {
   Q_PROPERTY(bool is_metric MEMBER is_metric);
 
   Q_PROPERTY(bool dmActive MEMBER dmActive);
-  Q_PROPERTY(bool hideDM MEMBER hideDM);
+  Q_PROPERTY(bool hideBottomIcons MEMBER hideBottomIcons);
   Q_PROPERTY(bool rightHandDM MEMBER rightHandDM);
   Q_PROPERTY(int status MEMBER status);
 
@@ -65,10 +81,12 @@ public:
   explicit AnnotatedCameraWidget(VisionStreamType type, QWidget* parent = 0);
   void updateState(const UIState &s);
 
+  MapSettingsButton *map_settings_btn;
+
 private:
-  void drawIcon(QPainter &p, int x, int y, QPixmap &img, QBrush bg, float opacity);
   void drawText(QPainter &p, int x, int y, const QString &text, int alpha = 255);
 
+  QVBoxLayout *main_layout;
   ExperimentalButton *experimental_btn;
   QPixmap dm_img;
   float speed;
@@ -78,7 +96,7 @@ private:
   bool is_cruise_set = false;
   bool is_metric = false;
   bool dmActive = false;
-  bool hideDM = false;
+  bool hideBottomIcons = false;
   bool rightHandDM = false;
   float dm_fade_state = 1.0;
   bool has_us_speed_limit = false;
@@ -114,6 +132,10 @@ class OnroadWindow : public QWidget {
 public:
   OnroadWindow(QWidget* parent = 0);
   bool isMapVisible() const { return map && map->isVisible(); }
+  void showMapPanel(bool show) { if (map) map->setVisible(show); }
+
+signals:
+  void mapPanelRequested();
 
 private:
   void paintEvent(QPaintEvent *event);
diff --git a/selfdrive/ui/qt/qt_window.cc b/selfdrive/ui/qt/qt_window.cc
index b83db70671..f71cea04e9 100644
--- a/selfdrive/ui/qt/qt_window.cc
+++ b/selfdrive/ui/qt/qt_window.cc
@@ -1,15 +1,15 @@
 #include "selfdrive/ui/qt/qt_window.h"
 
 void setMainWindow(QWidget *w) {
+  const float scale = util::getenv("SCALE", 1.0f);
   const QSize sz = QGuiApplication::primaryScreen()->size();
-  if (Hardware::PC() && sz.width() <= 1920 && sz.height() <= 1080 && getenv("SCALE") == nullptr) {
+
+  if (Hardware::PC() && scale == 1.0 && !(sz - DEVICE_SCREEN_SIZE).isValid()) {
     w->setMinimumSize(QSize(640, 480)); // allow resize smaller than fullscreen
-    w->setMaximumSize(QSize(2160, 1080));
+    w->setMaximumSize(DEVICE_SCREEN_SIZE);
     w->resize(sz);
   } else {
-    const float scale = util::getenv("SCALE", 1.0f);
-    const bool wide = (sz.width() >= WIDE_WIDTH) ^ (getenv("INVERT_WIDTH") != NULL);
-    w->setFixedSize(QSize(wide ? WIDE_WIDTH : 1920, 1080) * scale);
+    w->setFixedSize(DEVICE_SCREEN_SIZE * scale);
   }
   w->show();
 
diff --git a/selfdrive/ui/qt/qt_window.h b/selfdrive/ui/qt/qt_window.h
index 02d127e7ff..6f16e00957 100644
--- a/selfdrive/ui/qt/qt_window.h
+++ b/selfdrive/ui/qt/qt_window.h
@@ -15,7 +15,6 @@
 #include "system/hardware/hw.h"
 
 const QString ASSET_PATH = ":/";
-
-const int WIDE_WIDTH = 2160;
+const QSize DEVICE_SCREEN_SIZE = {2160, 1080};
 
 void setMainWindow(QWidget *w);
diff --git a/selfdrive/ui/qt/request_repeater.cc b/selfdrive/ui/qt/request_repeater.cc
index fa37c015f7..7aa731898c 100644
--- a/selfdrive/ui/qt/request_repeater.cc
+++ b/selfdrive/ui/qt/request_repeater.cc
@@ -5,7 +5,7 @@ RequestRepeater::RequestRepeater(QObject *parent, const QString &requestURL, con
   timer = new QTimer(this);
   timer->setTimerType(Qt::VeryCoarseTimer);
   QObject::connect(timer, &QTimer::timeout, [=]() {
-    if ((!uiState()->scene.started || while_onroad) && uiState()->awake && !active()) {
+    if ((!uiState()->scene.started || while_onroad) && device()->isAwake() && !active()) {
       sendRequest(requestURL);
     }
   });
diff --git a/selfdrive/ui/qt/sidebar.cc b/selfdrive/ui/qt/sidebar.cc
index 212f195625..15f7c47607 100644
--- a/selfdrive/ui/qt/sidebar.cc
+++ b/selfdrive/ui/qt/sidebar.cc
@@ -20,16 +20,8 @@ void Sidebar::drawMetric(QPainter &p, const QPair<QString, QString> &label, QCol
   p.drawRoundedRect(rect, 20, 20);
 
   p.setPen(QColor(0xff, 0xff, 0xff));
-  configFont(p, "Inter", 35, "SemiBold");
-
-  QRect label_rect = getTextRect(p, Qt::AlignCenter, label.first);
-  label_rect.setWidth(218);
-  label_rect.moveLeft(rect.left() + 22);
-  label_rect.moveTop(rect.top() + 19);
-  p.drawText(label_rect, Qt::AlignCenter, label.first);
-
-  label_rect.moveTop(rect.top() + 65);
-  p.drawText(label_rect, Qt::AlignCenter, label.second);
+  p.setFont(InterFont(35, QFont::DemiBold));
+  p.drawText(rect.adjusted(22, 0, 0, 0), Qt::AlignCenter, label.first + "\n" + label.second);
 }
 
 Sidebar::Sidebar(QWidget *parent) : QFrame(parent), onroad(false), flag_pressed(false), settings_pressed(false) {
@@ -137,7 +129,7 @@ void Sidebar::paintEvent(QPaintEvent *event) {
     x += 37;
   }
 
-  configFont(p, "Inter", 35, "Regular");
+  p.setFont(InterFont(35));
   p.setPen(QColor(0xff, 0xff, 0xff));
   const QRect r = QRect(50, 247, 100, 50);
   p.drawText(r, Qt::AlignCenter, net_type);
diff --git a/selfdrive/ui/qt/util.cc b/selfdrive/ui/qt/util.cc
index c844cb2ba0..a2926548ed 100644
--- a/selfdrive/ui/qt/util.cc
+++ b/selfdrive/ui/qt/util.cc
@@ -2,6 +2,7 @@
 
 #include <QApplication>
 #include <QFile>
+#include <QFileInfo>
 #include <QHash>
 #include <QJsonDocument>
 #include <QJsonObject>
@@ -11,7 +12,6 @@
 #include <QTextStream>
 #include <QtXml/QDomDocument>
 
-#include "common/params.h"
 #include "common/swaglog.h"
 #include "system/hardware/hw.h"
 
@@ -51,13 +51,6 @@ QMap<QString, QString> getSupportedLanguages() {
   return map;
 }
 
-void configFont(QPainter &p, const QString &family, int size, const QString &style) {
-  QFont f(family);
-  f.setPixelSize(size);
-  f.setStyleName(style);
-  p.setFont(f);
-}
-
 void clearLayout(QLayout* layout) {
   while (layout->count() > 0) {
     QLayoutItem* item = layout->takeAt(0);
@@ -103,6 +96,7 @@ void setQtSurfaceFormat() {
   fmt.setRenderableType(QSurfaceFormat::OpenGLES);
 #endif
   fmt.setSamples(16);
+  fmt.setStencilBufferSize(1);
   QSurfaceFormat::setDefaultFormat(fmt);
 }
 
@@ -162,12 +156,6 @@ QPixmap loadPixmap(const QString &fileName, const QSize &size, Qt::AspectRatioMo
   }
 }
 
-QRect getTextRect(QPainter &p, int flags, const QString &text) {
-  QFontMetrics fm(p.font());
-  QRect init_rect = fm.boundingRect(text);
-  return fm.boundingRect(init_rect, flags, text);
-}
-
 void drawRoundedRect(QPainter &painter, const QRectF &rect, qreal xRadiusTop, qreal yRadiusTop, qreal xRadiusBottom, qreal yRadiusBottom){
   qreal w_2 = rect.width() / 2;
   qreal h_2 = rect.height() / 2;
@@ -256,3 +244,35 @@ QPixmap bootstrapPixmap(const QString &id) {
   }
   return pixmap;
 }
+
+bool hasLongitudinalControl(const cereal::CarParams::Reader &car_params) {
+  // Using the experimental longitudinal toggle, returns whether longitudinal control
+  // will be active without needing a restart of openpilot
+  return car_params.getExperimentalLongitudinalAvailable()
+             ? Params().getBool("ExperimentalLongitudinalEnabled")
+             : car_params.getOpenpilotLongitudinalControl();
+}
+
+// ParamWatcher
+
+ParamWatcher::ParamWatcher(QObject *parent) : QObject(parent) {
+  watcher = new QFileSystemWatcher(this);
+  QObject::connect(watcher, &QFileSystemWatcher::fileChanged, this, &ParamWatcher::fileChanged);
+}
+
+void ParamWatcher::fileChanged(const QString &path) {
+  auto param_name = QFileInfo(path).fileName();
+  auto param_value = QString::fromStdString(params.get(param_name.toStdString()));
+
+  auto it = params_hash.find(param_name);
+  bool content_changed = (it == params_hash.end()) || (it.value() != param_value);
+  params_hash[param_name] = param_value;
+  // emit signal when the content changes.
+  if (content_changed) {
+    emit paramChanged(param_name, param_value);
+  }
+}
+
+void ParamWatcher::addParam(const QString &param_name) {
+  watcher->addPath(QString::fromStdString(params.getParamPath(param_name.toStdString())));
+}
diff --git a/selfdrive/ui/qt/util.h b/selfdrive/ui/qt/util.h
index b86bbcf899..68c7bd2712 100644
--- a/selfdrive/ui/qt/util.h
+++ b/selfdrive/ui/qt/util.h
@@ -3,18 +3,21 @@
 #include <optional>
 
 #include <QDateTime>
+#include <QFileSystemWatcher>
 #include <QLayout>
 #include <QPainter>
 #include <QPixmap>
 #include <QSurfaceFormat>
 #include <QWidget>
 
+#include "cereal/gen/cpp/car.capnp.h"
+#include "common/params.h"
+
 QString getVersion();
 QString getBrand();
 QString getUserAgent();
 std::optional<QString> getDongleId();
 QMap<QString, QString> getSupportedLanguages();
-void configFont(QPainter &p, const QString &family, int size, const QString &style);
 void clearLayout(QLayout* layout);
 void setQtSurfaceFormat();
 void sigTermHandler(int s);
@@ -25,6 +28,31 @@ QWidget* topWidget (QWidget* widget);
 QPixmap loadPixmap(const QString &fileName, const QSize &size = {}, Qt::AspectRatioMode aspectRatioMode = Qt::KeepAspectRatio);
 QPixmap bootstrapPixmap(const QString &id);
 
-QRect getTextRect(QPainter &p, int flags, const QString &text);
 void drawRoundedRect(QPainter &painter, const QRectF &rect, qreal xRadiusTop, qreal yRadiusTop, qreal xRadiusBottom, qreal yRadiusBottom);
 QColor interpColor(float xv, std::vector<float> xp, std::vector<QColor> fp);
+bool hasLongitudinalControl(const cereal::CarParams::Reader &car_params);
+
+struct InterFont : public QFont {
+  InterFont(int pixel_size, QFont::Weight weight = QFont::Normal) : QFont("Inter") {
+    setPixelSize(pixel_size);
+    setWeight(weight);
+  }
+};
+
+class ParamWatcher : public QObject {
+  Q_OBJECT
+
+public:
+  ParamWatcher(QObject *parent);
+  void addParam(const QString &param_name);
+
+signals:
+  void paramChanged(const QString &param_name, const QString &param_value);
+
+private:
+  void fileChanged(const QString &path);
+
+  QFileSystemWatcher *watcher;
+  QHash<QString, QString> params_hash;
+  Params params;
+};
diff --git a/selfdrive/ui/qt/widgets/cameraview.cc b/selfdrive/ui/qt/widgets/cameraview.cc
index 016129c348..4da5b7b18e 100644
--- a/selfdrive/ui/qt/widgets/cameraview.cc
+++ b/selfdrive/ui/qt/widgets/cameraview.cc
@@ -209,10 +209,10 @@ void CameraWidget::updateFrameMat() {
       // for narrow come and a little lower for wide cam.
       // TODO: use proper perspective transform?
       if (active_stream_type == VISION_STREAM_WIDE_ROAD) {
-        intrinsic_matrix = ecam_intrinsic_matrix;
+        intrinsic_matrix = ECAM_INTRINSIC_MATRIX;
         zoom = 2.0;
       } else {
-        intrinsic_matrix = fcam_intrinsic_matrix;
+        intrinsic_matrix = FCAM_INTRINSIC_MATRIX;
         zoom = 1.1;
       }
       const vec3 inf = {{1000., 0., 0.}};
diff --git a/selfdrive/ui/qt/widgets/cameraview.h b/selfdrive/ui/qt/widgets/cameraview.h
index 8a140e5290..67568ea55c 100644
--- a/selfdrive/ui/qt/widgets/cameraview.h
+++ b/selfdrive/ui/qt/widgets/cameraview.h
@@ -83,7 +83,7 @@ protected:
   float y_offset = 0;
   float zoom = 1.0;
   mat3 calibration = DEFAULT_CALIBRATION;
-  mat3 intrinsic_matrix = fcam_intrinsic_matrix;
+  mat3 intrinsic_matrix = FCAM_INTRINSIC_MATRIX;
 
   std::recursive_mutex frame_lock;
   std::deque<std::pair<uint32_t, VisionBuf*>> frames;
diff --git a/selfdrive/ui/qt/widgets/controls.cc b/selfdrive/ui/qt/widgets/controls.cc
index 456cf748f4..e440bc6441 100644
--- a/selfdrive/ui/qt/widgets/controls.cc
+++ b/selfdrive/ui/qt/widgets/controls.cc
@@ -3,20 +3,6 @@
 #include <QPainter>
 #include <QStyleOption>
 
-QFrame *horizontal_line(QWidget *parent) {
-  QFrame *line = new QFrame(parent);
-  line->setFrameShape(QFrame::StyledPanel);
-  line->setStyleSheet(R"(
-    margin-left: 40px;
-    margin-right: 40px;
-    border-width: 1px;
-    border-bottom-style: solid;
-    border-color: gray;
-  )");
-  line->setFixedHeight(2);
-  return line;
-}
-
 AbstractControl::AbstractControl(const QString &title, const QString &desc, const QString &icon, QWidget *parent) : QFrame(parent) {
   QVBoxLayout *main_layout = new QVBoxLayout(this);
   main_layout->setMargin(0);
@@ -127,19 +113,3 @@ void ElidedLabel::paintEvent(QPaintEvent *event) {
   opt.initFrom(this);
   style()->drawItemText(&painter, contentsRect(), alignment(), opt.palette, isEnabled(), elidedText_, foregroundRole());
 }
-
-ClickableWidget::ClickableWidget(QWidget *parent) : QWidget(parent) { }
-
-void ClickableWidget::mouseReleaseEvent(QMouseEvent *event) {
-  if (rect().contains(event->pos())) {
-    emit clicked();
-  }
-}
-
-// Fix stylesheets
-void ClickableWidget::paintEvent(QPaintEvent *) {
-  QStyleOption opt;
-  opt.init(this);
-  QPainter p(this);
-  style()->drawPrimitive(QStyle::PE_Widget, &opt, &p, this);
-}
diff --git a/selfdrive/ui/qt/widgets/controls.h b/selfdrive/ui/qt/widgets/controls.h
index 770b9b92dd..fac66de9ed 100644
--- a/selfdrive/ui/qt/widgets/controls.h
+++ b/selfdrive/ui/qt/widgets/controls.h
@@ -1,5 +1,6 @@
 #pragma once
 
+#include <QButtonGroup>
 #include <QFrame>
 #include <QHBoxLayout>
 #include <QLabel>
@@ -10,8 +11,6 @@
 #include "selfdrive/ui/qt/widgets/input.h"
 #include "selfdrive/ui/qt/widgets/toggle.h"
 
-QFrame *horizontal_line(QWidget *parent = nullptr);
-
 class ElidedLabel : public QLabel {
   Q_OBJECT
 
@@ -60,7 +59,7 @@ public:
 public slots:
   void showDescription() {
     description->setVisible(true);
-  };
+  }
 
 signals:
   void showDescriptionEvent();
@@ -106,7 +105,7 @@ signals:
   void clicked();
 
 public slots:
-  void setEnabled(bool enabled) { btn.setEnabled(enabled); };
+  void setEnabled(bool enabled) { btn.setEnabled(enabled); }
 
 private:
   QPushButton btn;
@@ -163,7 +162,7 @@ public:
   void setConfirmation(bool _confirm, bool _store_confirm) {
     confirm = _confirm;
     store_confirm = _store_confirm;
-  };
+  }
 
   void setActiveIcon(const QString &icon) {
     active_icon_pixmap = QPixmap(icon).scaledToWidth(80, Qt::SmoothTransformation);
@@ -175,11 +174,11 @@ public:
       toggle.togglePosition();
       setIcon(state);
     }
-  };
+  }
 
   void showEvent(QShowEvent *event) override {
     refresh();
-  };
+  }
 
 private:
   void setIcon(bool state) {
@@ -188,7 +187,7 @@ private:
     } else if (!icon_pixmap.isNull()) {
       icon_label->setPixmap(icon_pixmap);
     }
-  };
+  }
 
   std::string key;
   Params params;
@@ -197,6 +196,65 @@ private:
   bool store_confirm = false;
 };
 
+class ButtonParamControl : public AbstractControl {
+  Q_OBJECT
+public:
+  ButtonParamControl(const QString &param, const QString &title, const QString &desc, const QString &icon,
+                     const std::vector<QString> &button_texts, const int minimum_button_width = 225) : AbstractControl(title, desc, icon) {
+    const QString style = R"(
+      QPushButton {
+        border-radius: 50px;
+        font-size: 40px;
+        font-weight: 500;
+        height:100px;
+        padding: 0 25 0 25;
+        color: #E4E4E4;
+        background-color: #393939;
+      }
+      QPushButton:pressed {
+        background-color: #4a4a4a;
+      }
+      QPushButton:checked:enabled {
+        background-color: #33Ab4C;
+      }
+      QPushButton:disabled {
+        color: #33E4E4E4;
+      }
+    )";
+    key = param.toStdString();
+    int value = atoi(params.get(key).c_str());
+
+    button_group = new QButtonGroup(this);
+    button_group->setExclusive(true);
+    for (int i = 0; i < button_texts.size(); i++) {
+      QPushButton *button = new QPushButton(button_texts[i], this);
+      button->setCheckable(true);
+      button->setChecked(i == value);
+      button->setStyleSheet(style);
+      button->setMinimumWidth(minimum_button_width);
+      hlayout->addWidget(button);
+      button_group->addButton(button, i);
+    }
+
+    QObject::connect(button_group, QOverload<int, bool>::of(&QButtonGroup::buttonToggled), [=](int id, bool checked) {
+      if (checked) {
+        params.put(key, std::to_string(id));
+      }
+    });
+  }
+
+  void setEnabled(bool enable) {
+    for (auto btn : button_group->buttons()) {
+      btn->setEnabled(enable);
+    }
+  }
+
+private:
+  std::string key;
+  Params params;
+  QButtonGroup *button_group;
+};
+
 class ListWidget : public QWidget {
   Q_OBJECT
  public:
@@ -236,19 +294,5 @@ class LayoutWidget : public QWidget {
 public:
   LayoutWidget(QLayout *l, QWidget *parent = nullptr) : QWidget(parent) {
     setLayout(l);
-  };
-};
-
-class ClickableWidget : public QWidget {
-  Q_OBJECT
-
-public:
-  ClickableWidget(QWidget *parent = nullptr);
-
-protected:
-  void mouseReleaseEvent(QMouseEvent *event) override;
-  void paintEvent(QPaintEvent *) override;
-
-signals:
-  void clicked();
+  }
 };
diff --git a/selfdrive/ui/qt/widgets/offroad_alerts.cc b/selfdrive/ui/qt/widgets/offroad_alerts.cc
index ceb823fb2b..cdfa86c8eb 100644
--- a/selfdrive/ui/qt/widgets/offroad_alerts.cc
+++ b/selfdrive/ui/qt/widgets/offroad_alerts.cc
@@ -92,7 +92,11 @@ int OffroadAlert::refresh() {
     std::string bytes = params.get(key);
     if (bytes.size()) {
       auto doc_par = QJsonDocument::fromJson(bytes.c_str());
-      text = doc_par["text"].toString();
+      text = tr(doc_par["text"].toString().toUtf8().data());
+      auto extra = doc_par["extra"].toString();
+      if (!extra.isEmpty()) {
+        text = text.arg(extra);
+      }
     }
     label->setText(text);
     label->setVisible(!text.isEmpty());
diff --git a/selfdrive/ui/qt/widgets/prime.cc b/selfdrive/ui/qt/widgets/prime.cc
index fb4aea2b1c..782b7cb5ce 100644
--- a/selfdrive/ui/qt/widgets/prime.cc
+++ b/selfdrive/ui/qt/widgets/prime.cc
@@ -14,6 +14,7 @@
 #include "selfdrive/ui/qt/request_repeater.h"
 #include "selfdrive/ui/qt/util.h"
 #include "selfdrive/ui/qt/qt_window.h"
+#include "selfdrive/ui/qt/widgets/wifi.h"
 
 using qrcodegen::QrCode;
 
@@ -25,10 +26,12 @@ PairingQRWidget::PairingQRWidget(QWidget* parent) : QWidget(parent) {
 void PairingQRWidget::showEvent(QShowEvent *event) {
   refresh();
   timer->start(5 * 60 * 1000);
+  device()->setOffroadBrightness(100);
 }
 
 void PairingQRWidget::hideEvent(QHideEvent *event) {
   timer->stop();
+  device()->setOffroadBrightness(BACKLIGHT_OFFROAD);
 }
 
 void PairingQRWidget::refresh() {
@@ -123,26 +126,18 @@ PrimeUserWidget::PrimeUserWidget(QWidget* parent) : QFrame(parent) {
   QWidget *primeWidget = new QWidget;
   primeWidget->setObjectName("primeWidget");
   QVBoxLayout *primeLayout = new QVBoxLayout(primeWidget);
-  primeLayout->setContentsMargins(60, 50, 60, 50);
+  primeLayout->setContentsMargins(56, 40, 56, 40);
+  primeLayout->setSpacing(20);
 
   QLabel *subscribed = new QLabel(tr("✓ SUBSCRIBED"));
   subscribed->setStyleSheet("font-size: 41px; font-weight: bold; color: #86FF4E;");
-  primeLayout->addWidget(subscribed, 0, Qt::AlignTop);
-
-  primeLayout->addSpacing(60);
+  primeLayout->addWidget(subscribed);
 
   QLabel *commaPrime = new QLabel(tr("comma prime"));
   commaPrime->setStyleSheet("font-size: 75px; font-weight: bold;");
-  primeLayout->addWidget(commaPrime, 0, Qt::AlignTop);
-
-  primeLayout->addSpacing(20);
-
-  QLabel *connectUrl = new QLabel(tr("CONNECT.COMMA.AI"));
-  connectUrl->setStyleSheet("font-size: 41px; font-family: Inter SemiBold; color: #A0A0A0;");
-  primeLayout->addWidget(connectUrl, 0, Qt::AlignTop);
+  primeLayout->addWidget(commaPrime);
 
   mainLayout->addWidget(primeWidget);
-
   mainLayout->addStretch();
 }
 
@@ -158,7 +153,7 @@ PrimeAdWidget::PrimeAdWidget(QWidget* parent) : QFrame(parent) {
   main_layout->addSpacing(50);
 
   QLabel *description = new QLabel(tr("Become a comma prime member at connect.comma.ai"));
-  description->setStyleSheet("font-size: 60px; font-weight: light; color: white;");
+  description->setStyleSheet("font-size: 56px; font-weight: light; color: white;");
   description->setWordWrap(true);
   main_layout->addWidget(description, 0, Qt::AlignTop);
 
@@ -169,7 +164,7 @@ PrimeAdWidget::PrimeAdWidget(QWidget* parent) : QFrame(parent) {
   main_layout->addWidget(features, 0, Qt::AlignBottom);
   main_layout->addSpacing(30);
 
-  QVector<QString> bullets = {tr("Remote access"), tr("1 year of storage"), tr("Developer perks")};
+  QVector<QString> bullets = {tr("Remote access"), tr("24/7 LTE connectivity"), tr("1 year of drive storage"), tr("Turn-by-turn navigation")};
   for (auto &b: bullets) {
     const QString check = "<b><font color='#465BEA'>✓</font></b> ";
     QLabel *l = new QLabel(check + b);
@@ -195,8 +190,8 @@ SetupWidget::SetupWidget(QWidget* parent) : QFrame(parent) {
   QFrame* finishRegistration = new QFrame;
   finishRegistration->setObjectName("primeWidget");
   QVBoxLayout* finishRegistationLayout = new QVBoxLayout(finishRegistration);
-  finishRegistationLayout->setSpacing(40);
-  finishRegistationLayout->setContentsMargins(64, 64, 64, 64);
+  finishRegistationLayout->setSpacing(38);
+  finishRegistationLayout->setContentsMargins(64, 48, 64, 48);
 
   QLabel* registrationTitle = new QLabel(tr("Finish Setup"));
   registrationTitle->setStyleSheet("font-size: 75px; font-weight: bold;");
@@ -204,7 +199,7 @@ SetupWidget::SetupWidget(QWidget* parent) : QFrame(parent) {
 
   QLabel* registrationDescription = new QLabel(tr("Pair your device with comma connect (connect.comma.ai) and claim your comma prime offer."));
   registrationDescription->setWordWrap(true);
-  registrationDescription->setStyleSheet("font-size: 55px; font-weight: light;");
+  registrationDescription->setStyleSheet("font-size: 50px; font-weight: light;");
   finishRegistationLayout->addWidget(registrationDescription);
 
   finishRegistationLayout->addStretch();
@@ -234,15 +229,24 @@ SetupWidget::SetupWidget(QWidget* parent) : QFrame(parent) {
   outer_layout->setContentsMargins(0, 0, 0, 0);
   outer_layout->addWidget(mainLayout);
 
-  primeAd = new PrimeAdWidget;
-  mainLayout->addWidget(primeAd);
+  QWidget *content = new QWidget;
+  QVBoxLayout *content_layout = new QVBoxLayout(content);
+  content_layout->setContentsMargins(0, 0, 0, 0);
+  content_layout->setSpacing(30);
 
   primeUser = new PrimeUserWidget;
-  mainLayout->addWidget(primeUser);
+  content_layout->addWidget(primeUser);
 
-  mainLayout->setCurrentWidget(uiState()->primeType() ? (QWidget*)primeUser : (QWidget*)primeAd);
+  WiFiPromptWidget *wifi_prompt = new WiFiPromptWidget;
+  QObject::connect(wifi_prompt, &WiFiPromptWidget::openSettings, this, &SetupWidget::openSettings);
+  content_layout->addWidget(wifi_prompt);
+  content_layout->addStretch();
+
+  mainLayout->addWidget(content);
+
+  primeUser->setVisible(uiState()->primeType());
+  mainLayout->setCurrentIndex(1);
 
-  setFixedWidth(750);
   setStyleSheet(R"(
     #primeWidget {
       border-radius: 10px;
@@ -282,10 +286,7 @@ void SetupWidget::replyFinished(const QString &response, bool success) {
   } else {
     popup->reject();
 
-    if (prime_type) {
-      mainLayout->setCurrentWidget(primeUser);
-    } else {
-      mainLayout->setCurrentWidget(primeAd);
-    }
+    primeUser->setVisible(prime_type);
+    mainLayout->setCurrentIndex(1);
   }
 }
diff --git a/selfdrive/ui/qt/widgets/prime.h b/selfdrive/ui/qt/widgets/prime.h
index 9c7b4460fc..b41bab1695 100644
--- a/selfdrive/ui/qt/widgets/prime.h
+++ b/selfdrive/ui/qt/widgets/prime.h
@@ -69,10 +69,12 @@ class SetupWidget : public QFrame {
 public:
   explicit SetupWidget(QWidget* parent = 0);
 
+signals:
+  void openSettings(int index = 0, const QString &param = "");
+
 private:
   PairingPopup *popup;
   QStackedWidget *mainLayout;
-  PrimeAdWidget *primeAd;
   PrimeUserWidget *primeUser;
 
 private slots:
diff --git a/selfdrive/ui/qt/widgets/wifi.cc b/selfdrive/ui/qt/widgets/wifi.cc
new file mode 100644
index 0000000000..ed5825ab77
--- /dev/null
+++ b/selfdrive/ui/qt/widgets/wifi.cc
@@ -0,0 +1,103 @@
+#include "selfdrive/ui/qt/widgets/wifi.h"
+
+#include <QHBoxLayout>
+#include <QLabel>
+#include <QPixmap>
+#include <QPushButton>
+
+WiFiPromptWidget::WiFiPromptWidget(QWidget *parent) : QFrame(parent) {
+  stack = new QStackedLayout(this);
+
+  // Setup Wi-Fi
+  QFrame *setup = new QFrame;
+  QVBoxLayout *setup_layout = new QVBoxLayout(setup);
+  setup_layout->setContentsMargins(56, 40, 56, 40);
+  setup_layout->setSpacing(20);
+  {
+    QHBoxLayout *title_layout = new QHBoxLayout;
+    title_layout->setSpacing(32);
+    {
+      QLabel *icon = new QLabel;
+      QPixmap *pixmap = new QPixmap("../assets/offroad/icon_wifi_strength_full.svg");
+      icon->setPixmap(pixmap->scaledToWidth(80, Qt::SmoothTransformation));
+      title_layout->addWidget(icon);
+
+      QLabel *title = new QLabel(tr("Setup Wi-Fi"));
+      title->setStyleSheet("font-size: 64px; font-weight: 600;");
+      title_layout->addWidget(title);
+      title_layout->addStretch();
+    }
+    setup_layout->addLayout(title_layout);
+
+    QLabel *desc = new QLabel(tr("Connect to Wi-Fi to upload driving data and help improve openpilot"));
+    desc->setStyleSheet("font-size: 40px; font-weight: 400;");
+    desc->setWordWrap(true);
+    setup_layout->addWidget(desc);
+
+    QPushButton *settings_btn = new QPushButton(tr("Open Settings"));
+    connect(settings_btn, &QPushButton::clicked, [=]() { emit openSettings(1); });
+    settings_btn->setStyleSheet(R"(
+      QPushButton {
+        font-size: 48px;
+        font-weight: 500;
+        border-radius: 10px;
+        background-color: #465BEA;
+        padding: 32px;
+      }
+      QPushButton:pressed {
+        background-color: #3049F4;
+      }
+    )");
+    setup_layout->addWidget(settings_btn);
+  }
+  stack->addWidget(setup);
+
+  // Uploading data
+  QWidget *uploading = new QWidget;
+  QVBoxLayout *uploading_layout = new QVBoxLayout(uploading);
+  uploading_layout->setContentsMargins(64, 56, 64, 56);
+  uploading_layout->setSpacing(36);
+  {
+    QHBoxLayout *title_layout = new QHBoxLayout;
+    {
+      QLabel *title = new QLabel(tr("Ready to upload"));
+      title->setStyleSheet("font-size: 64px; font-weight: 600;");
+      title->setWordWrap(true);
+      title->setSizePolicy(QSizePolicy::Expanding, QSizePolicy::Minimum);
+      title_layout->addWidget(title);
+      title_layout->addStretch();
+
+      QLabel *icon = new QLabel;
+      QPixmap *pixmap = new QPixmap("../assets/offroad/icon_wifi_uploading.svg");
+      icon->setPixmap(pixmap->scaledToWidth(120, Qt::SmoothTransformation));
+      title_layout->addWidget(icon);
+    }
+    uploading_layout->addLayout(title_layout);
+
+    QLabel *desc = new QLabel(tr("Training data will be pulled periodically while your device is on Wi-Fi"));
+    desc->setStyleSheet("font-size: 48px; font-weight: 400;");
+    desc->setWordWrap(true);
+    uploading_layout->addWidget(desc);
+  }
+  stack->addWidget(uploading);
+
+  setStyleSheet(R"(
+    WiFiPromptWidget {
+      background-color: #333333;
+      border-radius: 10px;
+    }
+  )");
+
+  QObject::connect(uiState(), &UIState::uiUpdate, this, &WiFiPromptWidget::updateState);
+}
+
+void WiFiPromptWidget::updateState(const UIState &s) {
+  if (!isVisible()) return;
+
+  auto &sm = *(s.sm);
+
+  auto network_type = sm["deviceState"].getDeviceState().getNetworkType();
+  auto uploading = network_type == cereal::DeviceState::NetworkType::WIFI ||
+      network_type == cereal::DeviceState::NetworkType::ETHERNET;
+  stack->setCurrentIndex(uploading ? 1 : 0);
+}
diff --git a/selfdrive/ui/qt/widgets/wifi.h b/selfdrive/ui/qt/widgets/wifi.h
new file mode 100644
index 0000000000..60c865f2b8
--- /dev/null
+++ b/selfdrive/ui/qt/widgets/wifi.h
@@ -0,0 +1,23 @@
+#pragma once
+
+#include <QFrame>
+#include <QStackedLayout>
+#include <QWidget>
+
+#include "selfdrive/ui/ui.h"
+
+class WiFiPromptWidget : public QFrame {
+  Q_OBJECT
+
+public:
+  explicit WiFiPromptWidget(QWidget* parent = 0);
+
+signals:
+  void openSettings(int index = 0, const QString &param = "");
+
+public slots:
+  void updateState(const UIState &s);
+
+protected:
+  QStackedLayout *stack;
+};
diff --git a/selfdrive/ui/qt/window.cc b/selfdrive/ui/qt/window.cc
index a1aa4b8315..74fd05ed7b 100644
--- a/selfdrive/ui/qt/window.cc
+++ b/selfdrive/ui/qt/window.cc
@@ -38,7 +38,7 @@ MainWindow::MainWindow(QWidget *parent) : QWidget(parent) {
       closeSettings();
     }
   });
-  QObject::connect(&device, &Device::interactiveTimout, [=]() {
+  QObject::connect(device(), &Device::interactiveTimeout, [=]() {
     if (main_layout->currentWidget() == settingsWindow) {
       closeSettings();
     }
@@ -75,20 +75,28 @@ void MainWindow::closeSettings() {
 
   if (uiState()->scene.started) {
     homeWindow->showSidebar(false);
+    // Map is always shown when using navigate on openpilot
+    if (uiState()->scene.navigate_on_openpilot) {
+      homeWindow->showMapPanel(true);
+    }
   }
 }
 
 bool MainWindow::eventFilter(QObject *obj, QEvent *event) {
+  bool ignore = false;
   switch (event->type()) {
     case QEvent::TouchBegin:
     case QEvent::TouchUpdate:
     case QEvent::TouchEnd:
     case QEvent::MouseButtonPress:
-    case QEvent::MouseMove:
-      device.resetInteractiveTimout();
+    case QEvent::MouseMove: {
+      // ignore events when device is awakened by resetInteractiveTimeout
+      ignore = !device()->isAwake();
+      device()->resetInteractiveTimeout();
       break;
+    }
     default:
       break;
   }
-  return false;
+  return ignore;
 }
diff --git a/selfdrive/ui/qt/window.h b/selfdrive/ui/qt/window.h
index 71fc466c20..05b61e1f76 100644
--- a/selfdrive/ui/qt/window.h
+++ b/selfdrive/ui/qt/window.h
@@ -18,8 +18,6 @@ private:
   void openSettings(int index = 0, const QString &param = "");
   void closeSettings();
 
-  Device device;
-
   QStackedLayout *main_layout;
   HomeWindow *homeWindow;
   SettingsWindow *settingsWindow;
diff --git a/selfdrive/ui/tests/test_sound_stability.py b/selfdrive/ui/tests/test_sound_stability.py
deleted file mode 100755
index f0d51ec960..0000000000
--- a/selfdrive/ui/tests/test_sound_stability.py
+++ /dev/null
@@ -1,49 +0,0 @@
-#!/usr/bin/env python3
-import os
-import random
-import subprocess
-import time
-from pathlib import Path
-from common.basedir import BASEDIR
-
-os.environ["LD_LIBRARY_PATH"] = ""
-
-# pull this from the provisioning tests
-play_sound = os.path.join(BASEDIR, "selfdrive/ui/test/play_sound")
-waste = os.path.join(BASEDIR, "scripts/waste")
-sound_path = Path(os.path.join(BASEDIR, "selfdrive/assets/sounds"))
-
-def sound_test():
-
-  # max volume
-  vol = 15
-  sound_files = [p.absolute() for p in sound_path.iterdir() if str(p).endswith(".wav")]
-
-  # start waste
-  p = subprocess.Popen([waste], stdout=subprocess.DEVNULL, stderr=subprocess.DEVNULL)
-
-  start_time = time.monotonic()
-  frame = 0
-  while True:
-    # start a few processes
-    procs = []
-    for _ in range(random.randint(5, 20)):
-      sound = random.choice(sound_files)
-      p = subprocess.Popen([play_sound, str(sound), str(vol)], stdout=subprocess.DEVNULL, stderr=subprocess.DEVNULL)
-      procs.append(p)
-      time.sleep(random.uniform(0, 0.75))
-
-    # and kill them
-    time.sleep(random.uniform(0, 5))
-    for p in procs:
-      p.terminate()
-
-    # write stats
-    stats = f"running time {time.monotonic() - start_time}s, cycle {frame}"
-    with open("/tmp/sound_stats.txt", "a") as f:
-      f.write(stats)
-    print(stats)
-    frame +=1
-
-if __name__ == "__main__":
-  sound_test()
diff --git a/selfdrive/ui/tests/test_translations.py b/selfdrive/ui/tests/test_translations.py
index 26d6c39349..5e52eabe3a 100755
--- a/selfdrive/ui/tests/test_translations.py
+++ b/selfdrive/ui/tests/test_translations.py
@@ -88,7 +88,7 @@ class TestTranslations(unittest.TestCase):
                 continue
 
               self.assertNotIn(None, numerusform, "Ensure all plural translation forms are completed.")
-              self.assertTrue(all([re.search("%[0-9]+", t) is None for t in numerusform]),
+              self.assertTrue(all(re.search("%[0-9]+", t) is None for t in numerusform),
                               "Plural translations must use %n, not %1, %2, etc.: {}".format(numerusform))
 
   def test_no_locations(self):
diff --git a/selfdrive/ui/translations/README.md b/selfdrive/ui/translations/README.md
index 91a6c3ca2f..4f11fe3388 100644
--- a/selfdrive/ui/translations/README.md
+++ b/selfdrive/ui/translations/README.md
@@ -31,11 +31,22 @@ openpilot provides a few tools to help contributors manage their translations an
    ```shell
    scons -j$(nproc) selfdrive/ui && selfdrive/ui/ui
    ```
+5. Read [Checking the UI](#checking-the-ui) to double-check your translations fit in the UI.
 
 ### Improving an Existing Language
 
 Follow step 3. above, you can review existing translations and add missing ones. Once you're done, just open a pull request to openpilot.
 
+### Checking the UI
+Different languages use varying space to convey the same message, so it's a good idea to double-check that your translations do not overlap and fit into each widget. Start the UI (step 4. above) and view each page, making adjustments to translations as needed.
+
+#### To view offroad alerts:
+
+With the UI started, you can view the offroad alerts with:
+```shell
+selfdrive/ui/tests/cycle_offroad_alerts.py
+```
+
 ### Updating the UI
 
 Any time you edit source code in the UI, you need to update the translations to ensure the line numbers and contexts are up to date (first step above).
diff --git a/selfdrive/ui/translations/create_badges.py b/selfdrive/ui/translations/create_badges.py
index 575584dd50..08cf0743d4 100755
--- a/selfdrive/ui/translations/create_badges.py
+++ b/selfdrive/ui/translations/create_badges.py
@@ -54,7 +54,8 @@ if __name__ == "__main__":
 
     badge_svg.extend([f'<g transform="translate(0, {idx * BADGE_HEIGHT})">', content_svg, "</g>"])
 
-  badge_svg.insert(0, f'<svg xmlns="http://www.w3.org/2000/svg" xmlns:xlink="http://www.w3.org/1999/xlink" height="{len(translation_files) * BADGE_HEIGHT}" width="{max_badge_width}">')
+  badge_svg.insert(0, f'<svg xmlns="http://www.w3.org/2000/svg" xmlns:xlink="http://www.w3.org/1999/xlink" \
+                             height="{len(translation_files) * BADGE_HEIGHT}" width="{max_badge_width}">')
   badge_svg.append("</svg>")
 
   with open(os.path.join(BASEDIR, "translation_badge.svg"), "w") as badge_f:
diff --git a/selfdrive/ui/translations/main_de.ts b/selfdrive/ui/translations/main_de.ts
index 5bec3f674a..74b60f4b74 100644
--- a/selfdrive/ui/translations/main_de.ts
+++ b/selfdrive/ui/translations/main_de.ts
@@ -116,6 +116,33 @@
         <translation>Ablehnen, deinstallieren %1</translation>
     </message>
 </context>
+<context>
+    <name>DestinationWidget</name>
+    <message>
+        <source>Home</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Work</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>No destination set</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>No %1 location set</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>home</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>work</source>
+        <translation type="unfinished"></translation>
+    </message>
+</context>
 <context>
     <name>DevicePanel</name>
     <message>
@@ -356,42 +383,14 @@
     </message>
 </context>
 <context>
-    <name>MapPanel</name>
+    <name>MapSettings</name>
     <message>
-        <source>Current Destination</source>
-        <translation>Aktuelles Ziel</translation>
+        <source>NAVIGATION</source>
+        <translation type="unfinished"></translation>
     </message>
     <message>
-        <source>CLEAR</source>
-        <translation>LÖSCHEN</translation>
-    </message>
-    <message>
-        <source>Recent Destinations</source>
-        <translation>Letzte Ziele</translation>
-    </message>
-    <message>
-        <source>Try the Navigation Beta</source>
-        <translation>Beta Navigation ausprobieren</translation>
-    </message>
-    <message>
-        <source>Get turn-by-turn directions displayed and more with a comma
-prime subscription. Sign up now: https://connect.comma.ai</source>
-        <translation>Erhalte echtzeit Wegführung und mehr mit dem comma prime
-Abonnement. Melde dich jetzt an: https://connect.comma.ai</translation>
-    </message>
-    <message>
-        <source>No home
-location set</source>
-        <translation>Keine Heimadresse gesetzt</translation>
-    </message>
-    <message>
-        <source>No work
-location set</source>
-        <translation>Keine Arbeitsadresse gesetzt</translation>
-    </message>
-    <message>
-        <source>no recent destinations</source>
-        <translation>Keine kürzlich gewählten Ziele</translation>
+        <source>Manage at connect.comma.ai</source>
+        <translation type="unfinished"></translation>
     </message>
 </context>
 <context>
@@ -404,6 +403,10 @@ location set</source>
         <source>Waiting for GPS</source>
         <translation>Warten auf GPS</translation>
     </message>
+    <message>
+        <source>Waiting for route</source>
+        <translation type="unfinished"></translation>
+    </message>
 </context>
 <context>
     <name>MultiOptionDialog</name>
@@ -435,6 +438,62 @@ location set</source>
         <translation>Falsches Passwort</translation>
     </message>
 </context>
+<context>
+    <name>OffroadAlert</name>
+    <message>
+        <source>Immediately connect to the internet to check for updates. If you do not connect to the internet, openpilot won&apos;t engage in %1</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Connect to internet to check for updates. openpilot won&apos;t automatically start until it connects to internet to check for updates.</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Unable to download updates
+%1</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Invalid date and time settings, system won&apos;t start. Connect to internet to set time.</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Taking camera snapshots. System won&apos;t start until finished.</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>An update to your device&apos;s operating system is downloading in the background. You will be prompted to update when it&apos;s ready to install.</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Device failed to register. It will not connect to or upload to comma.ai servers, and receives no support from comma.ai. If this is an official device, visit https://comma.ai/support.</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>NVMe drive not mounted.</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Unsupported NVMe drive detected. Device may draw significantly more power and overheat due to the unsupported NVMe.</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>openpilot was unable to identify your car. Your car is either unsupported or its ECUs are not recognized. Please submit a pull request to add the firmware versions to the proper vehicle. Need help? Join discord.comma.ai.</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>openpilot was unable to identify your car. Check integrity of cables and ensure all connections are secure, particularly that the comma power is fully inserted in the OBD-II port of the vehicle. Need help? Join discord.comma.ai.</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>openpilot detected a change in the device&apos;s mounting position. Ensure the device is fully seated in the mount and the mount is firmly secured to the windshield.</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Device temperature too high. System cooling down before starting. Current internal component temperature: %1</source>
+        <translation type="unfinished"></translation>
+    </message>
+</context>
 <context>
     <name>OffroadHome</name>
     <message>
@@ -499,12 +558,16 @@ location set</source>
         <translation>Fernzugriff</translation>
     </message>
     <message>
-        <source>1 year of storage</source>
-        <translation>1 Jahr Speicherplatz</translation>
+        <source>24/7 LTE connectivity</source>
+        <translation type="unfinished"></translation>
     </message>
     <message>
-        <source>Developer perks</source>
-        <translation>Entwickler Vorteile</translation>
+        <source>Turn-by-turn navigation</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>1 year of drive storage</source>
+        <translation type="unfinished"></translation>
     </message>
 </context>
 <context>
@@ -517,10 +580,6 @@ location set</source>
         <source>comma prime</source>
         <translation>comma prime</translation>
     </message>
-    <message>
-        <source>CONNECT.COMMA.AI</source>
-        <translation>CONNECT.COMMA.AI</translation>
-    </message>
 </context>
 <context>
     <name>QObject</name>
@@ -624,10 +683,6 @@ This may take up to a minute.</source>
         <source>Software</source>
         <translation>Software</translation>
     </message>
-    <message>
-        <source>Navigation</source>
-        <translation>Navigation</translation>
-    </message>
 </context>
 <context>
     <name>Setup</name>
@@ -862,6 +917,26 @@ This may take up to a minute.</source>
         <source>Uninstall</source>
         <translation>Deinstallieren</translation>
     </message>
+    <message>
+        <source>failed to check for update</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>up to date, last checked %1</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>DOWNLOAD</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>update available</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>never</source>
+        <translation type="unfinished"></translation>
+    </message>
 </context>
 <context>
     <name>SshControl</name>
@@ -996,10 +1071,6 @@ This may take up to a minute.</source>
         <source>openpilot defaults to driving in &lt;b&gt;chill mode&lt;/b&gt;. Experimental mode enables &lt;b&gt;alpha-level features&lt;/b&gt; that aren&apos;t ready for chill mode. Experimental features are listed below:</source>
         <translation>Openpilot fährt standardmäßig im &lt;b&gt;entspannten Modus&lt;/b&gt;. Der Experimentelle Modus aktiviert&lt;b&gt;Alpha-level Funktionen&lt;/b&gt;, die noch nicht für den entspannten Modus bereit sind. Die experimentellen Funktionen sind die Folgenden:</translation>
     </message>
-    <message>
-        <source>🌮 End-to-End Longitudinal Control 🌮</source>
-        <translation>🌮 Ende-zu-Ende Tempomat 🌮</translation>
-    </message>
     <message>
         <source>Let the driving model control the gas and brakes. openpilot will drive as it thinks a human would, including stopping for red lights and stop signs. Since the driving model decides the speed to drive, the set speed will only act as an upper bound. This is an alpha quality feature; mistakes should be expected.</source>
         <translation>Lass das Fahrmodell Gas und Bremse kontrollieren. Openpilot wird so fahren, wie es dies von einem Menschen erwarten würde; inklusive des Anhaltens für Ampeln und Stoppschildern. Da das Fahrmodell entscheidet wie schnell es fährt stellt die gesetzte Geschwindigkeit lediglich das obere Limit dar. Dies ist ein Alpha-level Funktion. Fehler sind zu erwarten.</translation>
@@ -1008,10 +1079,6 @@ This may take up to a minute.</source>
         <source>New Driving Visualization</source>
         <translation>Neue Fahrvisualisierung</translation>
     </message>
-    <message>
-        <source>The driving visualization will transition to the road-facing wide-angle camera at low speeds to better show some turns. The Experimental mode logo will also be shown in the top right corner.</source>
-        <translation>Die Fahrvisualisierung wechselt bei niedrigen Geschwindigkeiten zur Straßengewandten Weitwinkelkamera, um manche Kurven besser zu zeigen. Außerdem wird das Experimenteller Modus logo oben rechts angezeigt.</translation>
-    </message>
     <message>
         <source>Experimental mode is currently unavailable on this car since the car&apos;s stock ACC is used for longitudinal control.</source>
         <translation>Der experimentelle Modus ist momentan für dieses Auto nicht verfügbar da es den eingebauten adaptiven Tempomaten des Autos benutzt.</translation>
@@ -1020,14 +1087,6 @@ This may take up to a minute.</source>
         <source>openpilot longitudinal control may come in a future update.</source>
         <translation type="unfinished"></translation>
     </message>
-    <message>
-        <source>An experimental version of openpilot longitudinal control can be tested, along with Experimental mode, on non-release branches.</source>
-        <translation type="unfinished"></translation>
-    </message>
-    <message>
-        <source>Enable experimental longitudinal control to allow Experimental mode.</source>
-        <translation>Aktiviere den experimentellen Openpilot Tempomaten für experimentelle Funktionen.</translation>
-    </message>
     <message>
         <source>openpilot Longitudinal Control (Alpha)</source>
         <translation type="unfinished"></translation>
@@ -1040,6 +1099,50 @@ This may take up to a minute.</source>
         <source>On this car, openpilot defaults to the car&apos;s built-in ACC instead of openpilot&apos;s longitudinal control. Enable this to switch to openpilot longitudinal control. Enabling Experimental mode is recommended when enabling openpilot longitudinal control alpha.</source>
         <translation type="unfinished"></translation>
     </message>
+    <message>
+        <source>Aggressive</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Standard</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Relaxed</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Driving Personality</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Standard is recommended. In aggressive mode, openpilot will follow lead cars closer and be more aggressive with the gas and brake. In relaxed mode openpilot will stay further away from lead cars.</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>An alpha version of openpilot longitudinal control can be tested, along with Experimental mode, on non-release branches.</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Navigate on openpilot</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Enable the openpilot longitudinal control (alpha) toggle to allow Experimental mode.</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>End-to-End Longitudinal Control</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>When navigation has a destination, openpilot will input the map information into the model. This provides useful context for the model and allows openpilot to keep left or right appropriately at forks/exits. Lane change behavior is unchanged and still activated by the driver. This is an alpha quality feature; mistakes should be expected, particularly around exits and forks. These mistakes can include unintended laneline crossings, late exit taking, driving towards dividing barriers in the gore areas, etc.</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>The driving visualization will transition to the road-facing wide-angle camera at low speeds to better show some turns. The Experimental mode logo will also be shown in the top right corner. When a navigation destination is set and the driving model is using it as input, the driving path on the map will turn green.</source>
+        <translation type="unfinished"></translation>
+    </message>
 </context>
 <context>
     <name>Updater</name>
@@ -1076,6 +1179,29 @@ This may take up to a minute.</source>
         <translation>Aktualisierung fehlgeschlagen</translation>
     </message>
 </context>
+<context>
+    <name>WiFiPromptWidget</name>
+    <message>
+        <source>Setup Wi-Fi</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Connect to Wi-Fi to upload driving data and help improve openpilot</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Open Settings</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Ready to upload</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Training data will be pulled periodically while your device is on Wi-Fi</source>
+        <translation type="unfinished"></translation>
+    </message>
+</context>
 <context>
     <name>WifiUI</name>
     <message>
diff --git a/selfdrive/ui/translations/main_ja.ts b/selfdrive/ui/translations/main_ja.ts
index 43e4974784..ef9eb93e80 100644
--- a/selfdrive/ui/translations/main_ja.ts
+++ b/selfdrive/ui/translations/main_ja.ts
@@ -116,6 +116,33 @@
         <translation>拒否して %1 をｱﾝｲﾝｽﾄｰﾙ</translation>
     </message>
 </context>
+<context>
+    <name>DestinationWidget</name>
+    <message>
+        <source>Home</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Work</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>No destination set</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>No %1 location set</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>home</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>work</source>
+        <translation type="unfinished"></translation>
+    </message>
+</context>
 <context>
     <name>DevicePanel</name>
     <message>
@@ -355,44 +382,14 @@
     </message>
 </context>
 <context>
-    <name>MapPanel</name>
+    <name>MapSettings</name>
     <message>
-        <source>Current Destination</source>
-        <translation>現在の目的地</translation>
+        <source>NAVIGATION</source>
+        <translation type="unfinished"></translation>
     </message>
     <message>
-        <source>CLEAR</source>
-        <translation>削除</translation>
-    </message>
-    <message>
-        <source>Recent Destinations</source>
-        <translation>最近の目的地</translation>
-    </message>
-    <message>
-        <source>Try the Navigation Beta</source>
-        <translation>β版ﾅﾋﾞｹﾞｰｼｮﾝを試す</translation>
-    </message>
-    <message>
-        <source>Get turn-by-turn directions displayed and more with a comma
-prime subscription. Sign up now: https://connect.comma.ai</source>
-        <translation>より詳細な案内情報を得ることができます。
-詳しくはこちら：https://connect.comma.ai</translation>
-    </message>
-    <message>
-        <source>No home
-location set</source>
-        <translation>自宅の住所はまだ
-設定されていません</translation>
-    </message>
-    <message>
-        <source>No work
-location set</source>
-        <translation>職場の住所はまだ
-設定されていません</translation>
-    </message>
-    <message>
-        <source>no recent destinations</source>
-        <translation>最近の目的地履歴がありません</translation>
+        <source>Manage at connect.comma.ai</source>
+        <translation type="unfinished"></translation>
     </message>
 </context>
 <context>
@@ -405,6 +402,10 @@ location set</source>
         <source>Waiting for GPS</source>
         <translation>GPS信号を探しています</translation>
     </message>
+    <message>
+        <source>Waiting for route</source>
+        <translation type="unfinished"></translation>
+    </message>
 </context>
 <context>
     <name>MultiOptionDialog</name>
@@ -436,6 +437,62 @@ location set</source>
         <translation>ﾊﾟｽﾜｰﾄﾞが間違っています</translation>
     </message>
 </context>
+<context>
+    <name>OffroadAlert</name>
+    <message>
+        <source>Immediately connect to the internet to check for updates. If you do not connect to the internet, openpilot won&apos;t engage in %1</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Connect to internet to check for updates. openpilot won&apos;t automatically start until it connects to internet to check for updates.</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Unable to download updates
+%1</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Invalid date and time settings, system won&apos;t start. Connect to internet to set time.</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Taking camera snapshots. System won&apos;t start until finished.</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>An update to your device&apos;s operating system is downloading in the background. You will be prompted to update when it&apos;s ready to install.</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Device failed to register. It will not connect to or upload to comma.ai servers, and receives no support from comma.ai. If this is an official device, visit https://comma.ai/support.</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>NVMe drive not mounted.</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Unsupported NVMe drive detected. Device may draw significantly more power and overheat due to the unsupported NVMe.</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>openpilot was unable to identify your car. Your car is either unsupported or its ECUs are not recognized. Please submit a pull request to add the firmware versions to the proper vehicle. Need help? Join discord.comma.ai.</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>openpilot was unable to identify your car. Check integrity of cables and ensure all connections are secure, particularly that the comma power is fully inserted in the OBD-II port of the vehicle. Need help? Join discord.comma.ai.</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>openpilot detected a change in the device&apos;s mounting position. Ensure the device is fully seated in the mount and the mount is firmly secured to the windshield.</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Device temperature too high. System cooling down before starting. Current internal component temperature: %1</source>
+        <translation type="unfinished"></translation>
+    </message>
+</context>
 <context>
     <name>OffroadHome</name>
     <message>
@@ -500,12 +557,16 @@ location set</source>
         <translation>リモートアクセス</translation>
     </message>
     <message>
-        <source>1 year of storage</source>
-        <translation>一年間の保存期間</translation>
+        <source>24/7 LTE connectivity</source>
+        <translation type="unfinished"></translation>
     </message>
     <message>
-        <source>Developer perks</source>
-        <translation>開発者向け特典</translation>
+        <source>Turn-by-turn navigation</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>1 year of drive storage</source>
+        <translation type="unfinished"></translation>
     </message>
 </context>
 <context>
@@ -518,10 +579,6 @@ location set</source>
         <source>comma prime</source>
         <translation>comma prime</translation>
     </message>
-    <message>
-        <source>CONNECT.COMMA.AI</source>
-        <translation>CONNECT.COMMA.AI</translation>
-    </message>
 </context>
 <context>
     <name>QObject</name>
@@ -622,10 +679,6 @@ This may take up to a minute.</source>
         <source>Software</source>
         <translation>ｿﾌﾄｳｪｱ</translation>
     </message>
-    <message>
-        <source>Navigation</source>
-        <translation>ﾅﾋﾞｹﾞｰｼｮﾝ</translation>
-    </message>
 </context>
 <context>
     <name>Setup</name>
@@ -858,6 +911,26 @@ This may take up to a minute.</source>
         <source>Uninstall</source>
         <translation>アンインストール</translation>
     </message>
+    <message>
+        <source>failed to check for update</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>up to date, last checked %1</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>DOWNLOAD</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>update available</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>never</source>
+        <translation type="unfinished"></translation>
+    </message>
 </context>
 <context>
     <name>SshControl</name>
@@ -990,10 +1063,6 @@ This may take up to a minute.</source>
         <source>openpilot defaults to driving in &lt;b&gt;chill mode&lt;/b&gt;. Experimental mode enables &lt;b&gt;alpha-level features&lt;/b&gt; that aren&apos;t ready for chill mode. Experimental features are listed below:</source>
         <translation>openpilotは標準ではゆっくりとくつろげる運転を提供します。この実験モードを有効にすると、以下のくつろげる段階ではない開発中の機能を利用する事ができます。</translation>
     </message>
-    <message>
-        <source>🌮 End-to-End Longitudinal Control 🌮</source>
-        <translation>🌮 エンドツーエンドアクセル制御 🌮</translation>
-    </message>
     <message>
         <source>Let the driving model control the gas and brakes. openpilot will drive as it thinks a human would, including stopping for red lights and stop signs. Since the driving model decides the speed to drive, the set speed will only act as an upper bound. This is an alpha quality feature; mistakes should be expected.</source>
         <translation>openpilotにアクセルとブレーキを任せます。openpilotは赤信号や一時停止サインでの停止を含み、人間と同じように考えて運転を行います。openpilotが運転速度を決定するため、あなたが設定する速度は上限速度になります。この機能は実験段階のため、openpilotの運転ミスに常に備えて注意してください。</translation>
@@ -1002,10 +1071,6 @@ This may take up to a minute.</source>
         <source>New Driving Visualization</source>
         <translation>新しい運転画面</translation>
     </message>
-    <message>
-        <source>The driving visualization will transition to the road-facing wide-angle camera at low speeds to better show some turns. The Experimental mode logo will also be shown in the top right corner.</source>
-        <translation>新しい運転画面では、低速時に広角カメラの映像を表示することで、曲がる際の道路の視覚を向上します。実験段階を表すマークが右上に表示されます。</translation>
-    </message>
     <message>
         <source>Experimental mode is currently unavailable on this car since the car&apos;s stock ACC is used for longitudinal control.</source>
         <translation>この車のACCがアクセル制御を行うため実験モードを利用することができません。</translation>
@@ -1014,14 +1079,6 @@ This may take up to a minute.</source>
         <source>openpilot longitudinal control may come in a future update.</source>
         <translation type="unfinished"></translation>
     </message>
-    <message>
-        <source>An experimental version of openpilot longitudinal control can be tested, along with Experimental mode, on non-release branches.</source>
-        <translation type="unfinished"></translation>
-    </message>
-    <message>
-        <source>Enable experimental longitudinal control to allow Experimental mode.</source>
-        <translation>実験段階のopenpilotによるアクセル制御を有効にしてください。</translation>
-    </message>
     <message>
         <source>openpilot Longitudinal Control (Alpha)</source>
         <translation type="unfinished"></translation>
@@ -1034,6 +1091,50 @@ This may take up to a minute.</source>
         <source>On this car, openpilot defaults to the car&apos;s built-in ACC instead of openpilot&apos;s longitudinal control. Enable this to switch to openpilot longitudinal control. Enabling Experimental mode is recommended when enabling openpilot longitudinal control alpha.</source>
         <translation type="unfinished"></translation>
     </message>
+    <message>
+        <source>Aggressive</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Standard</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Relaxed</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Driving Personality</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Standard is recommended. In aggressive mode, openpilot will follow lead cars closer and be more aggressive with the gas and brake. In relaxed mode openpilot will stay further away from lead cars.</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>An alpha version of openpilot longitudinal control can be tested, along with Experimental mode, on non-release branches.</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Navigate on openpilot</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Enable the openpilot longitudinal control (alpha) toggle to allow Experimental mode.</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>End-to-End Longitudinal Control</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>When navigation has a destination, openpilot will input the map information into the model. This provides useful context for the model and allows openpilot to keep left or right appropriately at forks/exits. Lane change behavior is unchanged and still activated by the driver. This is an alpha quality feature; mistakes should be expected, particularly around exits and forks. These mistakes can include unintended laneline crossings, late exit taking, driving towards dividing barriers in the gore areas, etc.</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>The driving visualization will transition to the road-facing wide-angle camera at low speeds to better show some turns. The Experimental mode logo will also be shown in the top right corner. When a navigation destination is set and the driving model is using it as input, the driving path on the map will turn green.</source>
+        <translation type="unfinished"></translation>
+    </message>
 </context>
 <context>
     <name>Updater</name>
@@ -1070,6 +1171,29 @@ This may take up to a minute.</source>
         <translation>更新失敗</translation>
     </message>
 </context>
+<context>
+    <name>WiFiPromptWidget</name>
+    <message>
+        <source>Setup Wi-Fi</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Connect to Wi-Fi to upload driving data and help improve openpilot</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Open Settings</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Ready to upload</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Training data will be pulled periodically while your device is on Wi-Fi</source>
+        <translation type="unfinished"></translation>
+    </message>
+</context>
 <context>
     <name>WifiUI</name>
     <message>
diff --git a/selfdrive/ui/translations/main_ko.ts b/selfdrive/ui/translations/main_ko.ts
index c985fae0e9..b2473a3fb9 100644
--- a/selfdrive/ui/translations/main_ko.ts
+++ b/selfdrive/ui/translations/main_ko.ts
@@ -64,7 +64,7 @@
     </message>
     <message>
         <source>Prevent large data uploads when on a metered connection</source>
-        <translation>데이터 요금제 연결 시 대용량 데이터 업로드 방지</translation>
+        <translation>데이터 요금제 연결 시 대용량 데이터 업로드를 방지합니다</translation>
     </message>
 </context>
 <context>
@@ -116,6 +116,33 @@
         <translation>거절, %1 제거</translation>
     </message>
 </context>
+<context>
+    <name>DestinationWidget</name>
+    <message>
+        <source>Home</source>
+        <translation>집</translation>
+    </message>
+    <message>
+        <source>Work</source>
+        <translation>회사</translation>
+    </message>
+    <message>
+        <source>No destination set</source>
+        <translation>목적지가 설정되지 않았습니다</translation>
+    </message>
+    <message>
+        <source>No %1 location set</source>
+        <translation>%1 위치가 설정되지 않았습니다</translation>
+    </message>
+    <message>
+        <source>home</source>
+        <translation>집</translation>
+    </message>
+    <message>
+        <source>work</source>
+        <translation>회사</translation>
+    </message>
+</context>
 <context>
     <name>DevicePanel</name>
     <message>
@@ -140,7 +167,7 @@
     </message>
     <message>
         <source>Preview the driver facing camera to ensure that driver monitoring has good visibility. (vehicle must be off)</source>
-        <translation>운전자 모니터링이 좋은 가시성을 갖도록 운전자를 향한 카메라를 미리 봅니다. (차량연결은 해제되어있어야 합니다)</translation>
+        <translation>운전자 모니터링이 잘 되는지 확인하기 위해 카메라를 향한 운전자를 미리 봅니다. (차량연결은 해제되어있어야 합니다)</translation>
     </message>
     <message>
         <source>Reset Calibration</source>
@@ -200,11 +227,11 @@
     </message>
     <message>
         <source>openpilot requires the device to be mounted within 4° left or right and within 5° up or 8° down. openpilot is continuously calibrating, resetting is rarely required.</source>
-        <translation>openpilot은 좌우측은 4° 이내, 위쪽은 5° 아래쪽은 8° 이내로 장치를 설치해야 합니다. openpilot은 지속적으로 보정되므로 리셋은 거의 필요하지 않습니다.</translation>
+        <translation>openpilot 장치는 좌우측 4° 이내, 위쪽 5° 아래쪽 8° 이내로 장착되어야 합니다. openpilot은 지속적으로 보정되며 재설정은 거의 필요하지 않습니다.</translation>
     </message>
     <message>
         <source> Your device is pointed %1° %2 and %3° %4.</source>
-        <translation> 사용자의 장치가 %1° %2 및 %3° %4 위치에 설치되어있습니다.</translation>
+        <translation> 사용자의 장치는 %1° %2 및 %3° %4 의 위치에 장착되어 있습니다.</translation>
     </message>
     <message>
         <source>down</source>
@@ -355,44 +382,14 @@
     </message>
 </context>
 <context>
-    <name>MapPanel</name>
+    <name>MapSettings</name>
     <message>
-        <source>Current Destination</source>
-        <translation>현재 목적지</translation>
+        <source>NAVIGATION</source>
+        <translation>내비게이션</translation>
     </message>
     <message>
-        <source>CLEAR</source>
-        <translation>삭제</translation>
-    </message>
-    <message>
-        <source>Recent Destinations</source>
-        <translation>최근 목적지</translation>
-    </message>
-    <message>
-        <source>Try the Navigation Beta</source>
-        <translation>네비게이션(베타)를 사용해보세요</translation>
-    </message>
-    <message>
-        <source>Get turn-by-turn directions displayed and more with a comma
-prime subscription. Sign up now: https://connect.comma.ai</source>
-        <translation>자세한 경로안내를 원하시면 comma prime을 구독하세요.
-등록：https://connect.comma.ai</translation>
-    </message>
-    <message>
-        <source>No home
-location set</source>
-        <translation>집
-설정되지않음</translation>
-    </message>
-    <message>
-        <source>No work
-location set</source>
-        <translation>회사
-설정되지않음</translation>
-    </message>
-    <message>
-        <source>no recent destinations</source>
-        <translation>최근 목적지 없음</translation>
+        <source>Manage at connect.comma.ai</source>
+        <translation>connect.comma.ai에서 관리됩니다</translation>
     </message>
 </context>
 <context>
@@ -403,7 +400,11 @@ location set</source>
     </message>
     <message>
         <source>Waiting for GPS</source>
-        <translation>GPS 수신중 입니다</translation>
+        <translation>GPS 수신중</translation>
+    </message>
+    <message>
+        <source>Waiting for route</source>
+        <translation>경로를 기다리는중</translation>
     </message>
 </context>
 <context>
@@ -429,13 +430,70 @@ location set</source>
     </message>
     <message>
         <source>for &quot;%1&quot;</source>
-        <translation>&quot;%1&quot;에 접속하려면 인증이 필요합니다</translation>
+        <translation>&quot;%1&quot;에 접속하려면 비밀번호가 필요합니다</translation>
     </message>
     <message>
         <source>Wrong password</source>
         <translation>비밀번호가 틀렸습니다</translation>
     </message>
 </context>
+<context>
+    <name>OffroadAlert</name>
+    <message>
+        <source>Immediately connect to the internet to check for updates. If you do not connect to the internet, openpilot won&apos;t engage in %1</source>
+        <translation>즉시 인터넷에 연결하여 업데이트를 확인하세요. 인터넷에 연결되어 있지 않으면 %1 이후에는 openpilot이 활성화되지 않습니다.</translation>
+    </message>
+    <message>
+        <source>Connect to internet to check for updates. openpilot won&apos;t automatically start until it connects to internet to check for updates.</source>
+        <translation>업데이트를 확인하려면 인터넷에 연결하세요. openpilot은 업데이트를 확인하기 위해 인터넷에 연결할 때까지 자동으로 시작되지 않습니다.</translation>
+    </message>
+    <message>
+        <source>Unable to download updates
+%1</source>
+        <translation>업데이트를 다운로드할수 없습니다
+%1</translation>
+    </message>
+    <message>
+        <source>Invalid date and time settings, system won&apos;t start. Connect to internet to set time.</source>
+        <translation>날짜 및 시간 설정이 잘못되어 시스템이 시작되지 않습니다. 날짜와 시간을 동기화하려면 인터넷에 연결하세요.</translation>
+    </message>
+    <message>
+        <source>Taking camera snapshots. System won&apos;t start until finished.</source>
+        <translation>카메라 스냅샷 찍기가 완료될 때까지 시스템이 시작되지 않습니다.</translation>
+    </message>
+    <message>
+        <source>An update to your device&apos;s operating system is downloading in the background. You will be prompted to update when it&apos;s ready to install.</source>
+        <translation>백그라운드에서 운영 체제에 대한 업데이트가 다운로드되고 있습니다. 설치준비가 완료되면 업데이트하라는 메시지가 표시됩니다.</translation>
+    </message>
+    <message>
+        <source>Device failed to register. It will not connect to or upload to comma.ai servers, and receives no support from comma.ai. If this is an official device, visit https://comma.ai/support.</source>
+        <translation>장치를 등록하지 못했습니다. comma.ai 서버에 연결하거나 업로드하지 않으며 comma.ai에서 지원을 받지 않습니다. 공식 장치인경우 https://comma.ai/support 에 방문하여 문의하세요.</translation>
+    </message>
+    <message>
+        <source>NVMe drive not mounted.</source>
+        <translation>NVMe 드라이브가 마운트되지 않았습니다.</translation>
+    </message>
+    <message>
+        <source>Unsupported NVMe drive detected. Device may draw significantly more power and overheat due to the unsupported NVMe.</source>
+        <translation>지원되지 않는 NVMe 드라이브가 감지되었습니다. 지원되지 않는 NVMe 드라이브로 인해 장치가 훨씬 더 많은 전력을 소비하고 과열될 수 있습니다.</translation>
+    </message>
+    <message>
+        <source>openpilot was unable to identify your car. Your car is either unsupported or its ECUs are not recognized. Please submit a pull request to add the firmware versions to the proper vehicle. Need help? Join discord.comma.ai.</source>
+        <translation>opepilot이 차량을 식별할수 없었습니다. 지원되지 않는 차량이거나 ECU가 인식되지 않습니다. 해당 차량에 펌웨어 버전을 추가하려면 PR을 제출하세요. 도움이 필요하시면 discord.comma.ai에 가입하세요.</translation>
+    </message>
+    <message>
+        <source>openpilot was unable to identify your car. Check integrity of cables and ensure all connections are secure, particularly that the comma power is fully inserted in the OBD-II port of the vehicle. Need help? Join discord.comma.ai.</source>
+        <translation>openpilot이 차량을 식별할수 없었습니다. 케이블의 무결성을 점검하고 모든 연결부, 특히 comma power가 차량의 OBD-II 포트에 완전히 삽입되었는지 확인하세요. 도움이 필요하시면 discord.comma.ai에 가입하세요.</translation>
+    </message>
+    <message>
+        <source>openpilot detected a change in the device&apos;s mounting position. Ensure the device is fully seated in the mount and the mount is firmly secured to the windshield.</source>
+        <translation>openpilot 장치의 장착 위치 변경을 감지했습니다. 장치가 마운트에 완전히 장착되고 마운트가 앞유리에 단단히 고정되었는지 확인하세요. </translation>
+    </message>
+    <message>
+        <source>Device temperature too high. System cooling down before starting. Current internal component temperature: %1</source>
+        <translation>장치 온도가 너무 높습니다. 시작하기 전에 장치온도를 낮춰주세요. 현재 내부 구성 요소 온도: %1</translation>
+    </message>
+</context>
 <context>
     <name>OffroadHome</name>
     <message>
@@ -455,7 +513,7 @@ location set</source>
     <name>PairingPopup</name>
     <message>
         <source>Pair your device to your comma account</source>
-        <translation>장치를 콤마 계정과 페어링합니다</translation>
+        <translation>장치를 comma 계정과 페어링합니다</translation>
     </message>
     <message>
         <source>Go to https://connect.comma.ai on your phone</source>
@@ -467,7 +525,7 @@ location set</source>
     </message>
     <message>
         <source>Bookmark connect.comma.ai to your home screen to use it like an app</source>
-        <translation>connect.comma.ai을 앱처럼 사용하려면 홈 화면에 바로가기를 만드십시오</translation>
+        <translation>connect.comma.ai를 앱처럼 사용하려면 홈 화면에 바로가기를 만드세요.</translation>
     </message>
 </context>
 <context>
@@ -485,11 +543,11 @@ location set</source>
     <name>PrimeAdWidget</name>
     <message>
         <source>Upgrade Now</source>
-        <translation>지금 업그레이드</translation>
+        <translation>지금 업그레이드 하세요</translation>
     </message>
     <message>
         <source>Become a comma prime member at connect.comma.ai</source>
-        <translation>connect.comma.ai 접속 comma prime 가입</translation>
+        <translation>connect.comma.ai에 접속하여 comma prime 회원이 되세요</translation>
     </message>
     <message>
         <source>PRIME FEATURES:</source>
@@ -500,12 +558,16 @@ location set</source>
         <translation>원격 접속</translation>
     </message>
     <message>
-        <source>1 year of storage</source>
-        <translation>1년간 저장</translation>
+        <source>24/7 LTE connectivity</source>
+        <translation>항상 LTE 연결</translation>
     </message>
     <message>
-        <source>Developer perks</source>
-        <translation>개발자 혜택</translation>
+        <source>Turn-by-turn navigation</source>
+        <translation>내비게이션 경로안내</translation>
+    </message>
+    <message>
+        <source>1 year of drive storage</source>
+        <translation>1년간 저장</translation>
     </message>
 </context>
 <context>
@@ -518,10 +580,6 @@ location set</source>
         <source>comma prime</source>
         <translation>comma prime</translation>
     </message>
-    <message>
-        <source>CONNECT.COMMA.AI</source>
-        <translation>CONNECT.COMMA.AI</translation>
-    </message>
 </context>
 <context>
     <name>QObject</name>
@@ -588,7 +646,7 @@ location set</source>
     </message>
     <message>
         <source>Unable to mount data partition. Partition may be corrupted. Press confirm to erase and reset your device.</source>
-        <translation>데이터 파티션을 마운트할 수 없습니다. 파티션이 손상되었을 수 있습니다. 장치를 초기화하려면 확인을 누르세요.</translation>
+        <translation>데이터 파티션을 마운트할 수 없습니다. 파티션이 손상되었을 수 있습니다. 모든 내용을 지우고 장치를 초기화하려면 확인을 누르세요.</translation>
     </message>
     <message>
         <source>Press confirm to erase all content and settings. Press cancel to resume boot.</source>
@@ -597,7 +655,7 @@ location set</source>
     <message>
         <source>Resetting device...
 This may take up to a minute.</source>
-        <translation>장치 초기화 중...
+        <translation>장치를 초기화하는 중...
 최대 1분이 소요될 수 있습니다.</translation>
     </message>
 </context>
@@ -623,10 +681,6 @@ This may take up to a minute.</source>
         <source>Software</source>
         <translation>소프트웨어</translation>
     </message>
-    <message>
-        <source>Navigation</source>
-        <translation>네비게이션</translation>
-    </message>
 </context>
 <context>
     <name>Setup</name>
@@ -668,7 +722,7 @@ This may take up to a minute.</source>
     </message>
     <message>
         <source>Waiting for internet</source>
-        <translation>네트워크 접속을 기다립니다</translation>
+        <translation>인터넷 대기중</translation>
     </message>
     <message>
         <source>Enter URL</source>
@@ -676,7 +730,7 @@ This may take up to a minute.</source>
     </message>
     <message>
         <source>for Custom Software</source>
-        <translation>for Custom Software</translation>
+        <translation>커스텀 소프트웨어</translation>
     </message>
     <message>
         <source>Downloading...</source>
@@ -688,7 +742,7 @@ This may take up to a minute.</source>
     </message>
     <message>
         <source>Ensure the entered URL is valid, and the device’s internet connection is good.</source>
-        <translation>입력된 URL이 유효하고 장치의 네트워크 연결이 잘 되어 있는지 확인하세요.</translation>
+        <translation>입력된 URL이 유효하고 장치의 인터넷 연결이 양호한지 확인하세요.</translation>
     </message>
     <message>
         <source>Reboot device</source>
@@ -715,7 +769,7 @@ This may take up to a minute.</source>
     </message>
     <message>
         <source>Pair your device with comma connect (connect.comma.ai) and claim your comma prime offer.</source>
-        <translation>장치를 (connect.comma.ai)에서 페어링하고 comma prime 오퍼를 청구합니다.</translation>
+        <translation>장치를 comma connect (connect.comma.ai)에서 페어링하고 comma prime 제안을 요청하세요.</translation>
     </message>
     <message>
         <source>Pair device</source>
@@ -782,11 +836,11 @@ This may take up to a minute.</source>
     </message>
     <message>
         <source>Wi-Fi</source>
-        <translation>Wi-Fi</translation>
+        <translation>wifi</translation>
     </message>
     <message>
         <source>ETH</source>
-        <translation>이더넷</translation>
+        <translation>LAN</translation>
     </message>
     <message>
         <source>2G</source>
@@ -859,6 +913,26 @@ This may take up to a minute.</source>
         <source>Uninstall</source>
         <translation>제거</translation>
     </message>
+    <message>
+        <source>failed to check for update</source>
+        <translation>업데이트 확인 실패</translation>
+    </message>
+    <message>
+        <source>up to date, last checked %1</source>
+        <translation>최신 상태 입니다, %1에 마지막으로 확인</translation>
+    </message>
+    <message>
+        <source>DOWNLOAD</source>
+        <translation>다운로드</translation>
+    </message>
+    <message>
+        <source>update available</source>
+        <translation>업데이트 가능</translation>
+    </message>
+    <message>
+        <source>never</source>
+        <translation>업데이트 안함</translation>
+    </message>
 </context>
 <context>
     <name>SshControl</name>
@@ -888,7 +962,7 @@ This may take up to a minute.</source>
     </message>
     <message>
         <source>Username &apos;%1&apos; has no keys on GitHub</source>
-        <translation>&apos;%1&apos;의 키가 GitHub에 없습니다</translation>
+        <translation>사용자 &apos;%1&apos;의 키가 GitHub에 없습니다</translation>
     </message>
     <message>
         <source>Request timed out</source>
@@ -896,7 +970,7 @@ This may take up to a minute.</source>
     </message>
     <message>
         <source>Username &apos;%1&apos; doesn&apos;t exist on GitHub</source>
-        <translation>&apos;%1&apos;은 GitHub에 없습니다</translation>
+        <translation>사용자 &apos;%1&apos;는 GitHub에 없습니다</translation>
     </message>
 </context>
 <context>
@@ -918,7 +992,7 @@ This may take up to a minute.</source>
     </message>
     <message>
         <source>Scroll to accept</source>
-        <translation>허용하려면 아래로 스크롤하세요</translation>
+        <translation>동의하려면 아래로 스크롤하세요</translation>
     </message>
     <message>
         <source>Agree</source>
@@ -941,7 +1015,7 @@ This may take up to a minute.</source>
     </message>
     <message>
         <source>Receive alerts to steer back into the lane when your vehicle drifts over a detected lane line without a turn signal activated while driving over 31 mph (50 km/h).</source>
-        <translation>차량이 50km/h(31mph) 이상의 속도로 주행하는 동안 방향지시등 없이 감지된 차선 위를 주행할 경우 차선이탈 경고를 표시합니다.</translation>
+        <translation>차량이 50km/h(31mph) 이상의 속도로 주행하는 동안 방향지시등이 켜지지 않은 상태에서 차량이 감지된 차선을 벗어나면 차선이탈 경고를 합니다.</translation>
     </message>
     <message>
         <source>Use Metric System</source>
@@ -965,7 +1039,7 @@ This may take up to a minute.</source>
     </message>
     <message>
         <source>When enabled, pressing the accelerator pedal will disengage openpilot.</source>
-        <translation>활성화된 경우 가속 페달을 누르면 openpilot이 해제됩니다.</translation>
+        <translation>활성화된 경우 가속 페달을 밟으면 openpilot이 해제됩니다.</translation>
     </message>
     <message>
         <source>Show ETA in 24h Format</source>
@@ -991,10 +1065,6 @@ This may take up to a minute.</source>
         <source>openpilot defaults to driving in &lt;b&gt;chill mode&lt;/b&gt;. Experimental mode enables &lt;b&gt;alpha-level features&lt;/b&gt; that aren&apos;t ready for chill mode. Experimental features are listed below:</source>
         <translation>openpilot은 기본적으로 &lt;b&gt;안정적 모드&lt;/b&gt;로 주행합니다. 실험적 모드는 안정적 모드에 준비되지 않은 &lt;b&gt;알파 수준 기능&lt;/b&gt;을 활성화 합니다. 실험적 모드의 특징은 아래에 나열되어 있습니다</translation>
     </message>
-    <message>
-        <source>🌮 End-to-End Longitudinal Control 🌮</source>
-        <translation>🌮 E2E 롱컨트롤 🌮</translation>
-    </message>
     <message>
         <source>Let the driving model control the gas and brakes. openpilot will drive as it thinks a human would, including stopping for red lights and stop signs. Since the driving model decides the speed to drive, the set speed will only act as an upper bound. This is an alpha quality feature; mistakes should be expected.</source>
         <translation>주행모델이 가속과 감속을 제어하도록 합니다. openpilot은 신호등과 정지표지판을 보고 멈추는 것을 포함하여 운전자가 생각하는것처럼 주행합니다. 주행 모델이 주행할 속도를 결정하므로 설정된 속도는 상한선으로만 작용합니다. 이것은 알파 기능이므로 사용에 주의해야 합니다.</translation>
@@ -1003,25 +1073,13 @@ This may take up to a minute.</source>
         <source>New Driving Visualization</source>
         <translation>새로운 주행 시각화</translation>
     </message>
-    <message>
-        <source>The driving visualization will transition to the road-facing wide-angle camera at low speeds to better show some turns. The Experimental mode logo will also be shown in the top right corner.</source>
-        <translation>주행 시각화는 저속에서 도로를 향하는 광각 카메라로 전환되어 일부 회전을 더 잘 보여줍니다. 실험적 모드의 로고도 우측상단에 표시됩니다.</translation>
-    </message>
     <message>
         <source>Experimental mode is currently unavailable on this car since the car&apos;s stock ACC is used for longitudinal control.</source>
         <translation>차량에 장착된 ACC가 롱컨트롤에 사용되기 때문에 현재 이 차량은 실험적 모드를 사용할 수 없습니다.</translation>
     </message>
     <message>
         <source>openpilot longitudinal control may come in a future update.</source>
-        <translation>오픈파일럿 롱컨트롤은 향후 업데이트에서 제공될 수 있습니다.</translation>
-    </message>
-    <message>
-        <source>An experimental version of openpilot longitudinal control can be tested, along with Experimental mode, on non-release branches.</source>
-        <translation>오픈파일럿 롱컨트롤의 실험 버전은 실험적 모드와 함께 릴리즈 되지 않은 브랜치에서 테스트할 수 있습니다.</translation>
-    </message>
-    <message>
-        <source>Enable experimental longitudinal control to allow Experimental mode.</source>
-        <translation>실험적 롱컨트롤을 사용하려면 실험적 모드를 활성화 하세요.</translation>
+        <translation>openpilot 롱컨트롤은 향후 업데이트에서 제공될 수 있습니다.</translation>
     </message>
     <message>
         <source>openpilot Longitudinal Control (Alpha)</source>
@@ -1033,7 +1091,51 @@ This may take up to a minute.</source>
     </message>
     <message>
         <source>On this car, openpilot defaults to the car&apos;s built-in ACC instead of openpilot&apos;s longitudinal control. Enable this to switch to openpilot longitudinal control. Enabling Experimental mode is recommended when enabling openpilot longitudinal control alpha.</source>
-        <translation>이 차량은 openpilot 롱컨트롤 대신 차량의 내장 ACC로 기본 설정됩니다. openpilot 롱컨트롤으로 전환하려면 이 기능을 활성화하세요. openpilot 롱컨트롤 알파를 활성화하는경우 실험적 모드 활성화를 권장합니다.</translation>
+        <translation>이 차량은 openpilot 롱컨트롤 대신 차량의 ACC로 기본 설정됩니다. openpilot 롱컨트롤으로 전환하려면 이 기능을 활성화하세요. openpilot 롱컨트롤 알파를 활성화하는경우 실험적 모드 활성화를 권장합니다.</translation>
+    </message>
+    <message>
+        <source>Aggressive</source>
+        <translation>공격적</translation>
+    </message>
+    <message>
+        <source>Standard</source>
+        <translation>표준</translation>
+    </message>
+    <message>
+        <source>Relaxed</source>
+        <translation>편안한</translation>
+    </message>
+    <message>
+        <source>Driving Personality</source>
+        <translation>주행 모드</translation>
+    </message>
+    <message>
+        <source>Standard is recommended. In aggressive mode, openpilot will follow lead cars closer and be more aggressive with the gas and brake. In relaxed mode openpilot will stay further away from lead cars.</source>
+        <translation>표준 모드를 권장합니다. 공격적 모드에서는 openpilot은 앞차를 더 가까이 따라가며 가속과 감속을 더 공격적으로 사용합니다. 편안한 모드에서 openpilot은 선두 차량에서 더 멀리 떨어져 있습니다.</translation>
+    </message>
+    <message>
+        <source>An alpha version of openpilot longitudinal control can be tested, along with Experimental mode, on non-release branches.</source>
+        <translation>openpilot 롱컨트롤 알파 버전은 비 릴리스 분기에서 실험적 모드와 함께 테스트할 수 있습니다.</translation>
+    </message>
+    <message>
+        <source>Navigate on openpilot</source>
+        <translation>Navigate on openpilot (NOO)</translation>
+    </message>
+    <message>
+        <source>Enable the openpilot longitudinal control (alpha) toggle to allow Experimental mode.</source>
+        <translation>openpilot E2E 롱컨트롤 (알파) 토글을 활성화하여 실험적 모드를 허용합니다.</translation>
+    </message>
+    <message>
+        <source>End-to-End Longitudinal Control</source>
+        <translation>E2E 롱컨트롤</translation>
+    </message>
+    <message>
+        <source>When navigation has a destination, openpilot will input the map information into the model. This provides useful context for the model and allows openpilot to keep left or right appropriately at forks/exits. Lane change behavior is unchanged and still activated by the driver. This is an alpha quality feature; mistakes should be expected, particularly around exits and forks. These mistakes can include unintended laneline crossings, late exit taking, driving towards dividing barriers in the gore areas, etc.</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>The driving visualization will transition to the road-facing wide-angle camera at low speeds to better show some turns. The Experimental mode logo will also be shown in the top right corner. When a navigation destination is set and the driving model is using it as input, the driving path on the map will turn green.</source>
+        <translation type="unfinished"></translation>
     </message>
 </context>
 <context>
@@ -1071,6 +1173,29 @@ This may take up to a minute.</source>
         <translation>업데이트 실패</translation>
     </message>
 </context>
+<context>
+    <name>WiFiPromptWidget</name>
+    <message>
+        <source>Setup Wi-Fi</source>
+        <translation>wifi 설정</translation>
+    </message>
+    <message>
+        <source>Connect to Wi-Fi to upload driving data and help improve openpilot</source>
+        <translation>wifi에 연결하여 주행 데이터를 업로드하고 openpilot 개선에 참여하세요.</translation>
+    </message>
+    <message>
+        <source>Open Settings</source>
+        <translation>설정 열기</translation>
+    </message>
+    <message>
+        <source>Ready to upload</source>
+        <translation>업로드 준비완료</translation>
+    </message>
+    <message>
+        <source>Training data will be pulled periodically while your device is on Wi-Fi</source>
+        <translation>기기가 wifi에 연결되어 있는 동안 트레이닝 데이터를 주기적으로 전송합니다.</translation>
+    </message>
+</context>
 <context>
     <name>WifiUI</name>
     <message>
@@ -1087,7 +1212,7 @@ This may take up to a minute.</source>
     </message>
     <message>
         <source>Forget Wi-Fi Network &quot;%1&quot;?</source>
-        <translation>wifi 네트워크 저장안함 &quot;%1&quot;?</translation>
+        <translation>&quot;%1&quot;를 저장하지 않겠습니까?</translation>
     </message>
     <message>
         <source>Forget</source>
diff --git a/selfdrive/ui/translations/main_pt-BR.ts b/selfdrive/ui/translations/main_pt-BR.ts
index 9eeedea29c..d102fb39ca 100644
--- a/selfdrive/ui/translations/main_pt-BR.ts
+++ b/selfdrive/ui/translations/main_pt-BR.ts
@@ -116,6 +116,33 @@
         <translation>Rejeitar, desintalar %1</translation>
     </message>
 </context>
+<context>
+    <name>DestinationWidget</name>
+    <message>
+        <source>Home</source>
+        <translation>Casa</translation>
+    </message>
+    <message>
+        <source>Work</source>
+        <translation>Trabalho</translation>
+    </message>
+    <message>
+        <source>No destination set</source>
+        <translation>Nenhum destino definido</translation>
+    </message>
+    <message>
+        <source>No %1 location set</source>
+        <translation>Endereço de %1 não definido</translation>
+    </message>
+    <message>
+        <source>home</source>
+        <translation>casa</translation>
+    </message>
+    <message>
+        <source>work</source>
+        <translation>trabalho</translation>
+    </message>
+</context>
 <context>
     <name>DevicePanel</name>
     <message>
@@ -285,11 +312,11 @@
     <name>ExperimentalModeButton</name>
     <message>
         <source>EXPERIMENTAL MODE ON</source>
-        <translation>MODO EXPERIMENTAL ATIVADO</translation>
+        <translation>MODO EXPERIMENTAL ON</translation>
     </message>
     <message>
         <source>CHILL MODE ON</source>
-        <translation>MODO CHILL ATIVADO</translation>
+        <translation>MODO CHILL ON</translation>
     </message>
 </context>
 <context>
@@ -356,44 +383,14 @@
     </message>
 </context>
 <context>
-    <name>MapPanel</name>
+    <name>MapSettings</name>
     <message>
-        <source>Current Destination</source>
-        <translation>Destino Atual</translation>
+        <source>NAVIGATION</source>
+        <translation>NAVEGAÇÃO</translation>
     </message>
     <message>
-        <source>CLEAR</source>
-        <translation>LIMPAR</translation>
-    </message>
-    <message>
-        <source>Recent Destinations</source>
-        <translation>Destinos Recentes</translation>
-    </message>
-    <message>
-        <source>Try the Navigation Beta</source>
-        <translation>Experimente a Navegação Beta</translation>
-    </message>
-    <message>
-        <source>Get turn-by-turn directions displayed and more with a comma
-prime subscription. Sign up now: https://connect.comma.ai</source>
-        <translation>Obtenha instruções passo a passo exibidas e muito mais com
-uma assinatura prime. Inscreva-se agora:  https://connect.comma.ai</translation>
-    </message>
-    <message>
-        <source>No home
-location set</source>
-        <translation>Sem local
-residência definido</translation>
-    </message>
-    <message>
-        <source>No work
-location set</source>
-        <translation>Sem local de
-trabalho definido</translation>
-    </message>
-    <message>
-        <source>no recent destinations</source>
-        <translation>sem destinos recentes</translation>
+        <source>Manage at connect.comma.ai</source>
+        <translation>Gerencie em connect.comma.ai</translation>
     </message>
 </context>
 <context>
@@ -404,7 +401,11 @@ trabalho definido</translation>
     </message>
     <message>
         <source>Waiting for GPS</source>
-        <translation>Esperando por GPS</translation>
+        <translation>Aguardando GPS</translation>
+    </message>
+    <message>
+        <source>Waiting for route</source>
+        <translation>Aguardando rota</translation>
     </message>
 </context>
 <context>
@@ -437,6 +438,63 @@ trabalho definido</translation>
         <translation>Senha incorreta</translation>
     </message>
 </context>
+<context>
+    <name>OffroadAlert</name>
+    <message>
+        <source>Immediately connect to the internet to check for updates. If you do not connect to the internet, openpilot won&apos;t engage in %1</source>
+        <translation>Conecte-se imediatamente à internet para verificar se há atualizações. Se você não se conectar à internet em %1 não será possível acionar o openpilot.</translation>
+    </message>
+    <message>
+        <source>Connect to internet to check for updates. openpilot won&apos;t automatically start until it connects to internet to check for updates.</source>
+        <translation>Conecte-se à internet para verificar se há atualizações. O openpilot não será iniciado automaticamente até que ele se conecte à internet para verificar se há atualizações.</translation>
+    </message>
+    <message>
+        <source>Unable to download updates
+%1</source>
+        <translation>Não é possível baixar atualizações
+%1</translation>
+    </message>
+    <message>
+        <source>Invalid date and time settings, system won&apos;t start. Connect to internet to set time.</source>
+        <translation>Configurações de data e hora inválidas, o sistema não será iniciado. Conecte-se à internet para definir o horário.</translation>
+    </message>
+    <message>
+        <source>Taking camera snapshots. System won&apos;t start until finished.</source>
+        <translation>Tirando fotos da câmera. O sistema não será iniciado até terminar.</translation>
+    </message>
+    <message>
+        <source>An update to your device&apos;s operating system is downloading in the background. You will be prompted to update when it&apos;s ready to install.</source>
+        <translation>Uma atualização para o sistema operacional do seu dispositivo está sendo baixada em segundo plano. Você será solicitado a atualizar quando estiver pronto para instalar.</translation>
+    </message>
+    <message>
+        <source>Device failed to register. It will not connect to or upload to comma.ai servers, and receives no support from comma.ai. If this is an official device, visit https://comma.ai/support.</source>
+        <translation>Falha ao registrar o dispositivo. Ele não se conectará ou fará upload para os servidores comma.ai e não receberá suporte da comma.ai. Se este for um dispositivo oficial, visite https://comma.ai/support.</translation>
+    </message>
+    <message>
+        <source>NVMe drive not mounted.</source>
+        <translation>Unidade NVMe não montada.</translation>
+    </message>
+    <message>
+        <source>Unsupported NVMe drive detected. Device may draw significantly more power and overheat due to the unsupported NVMe.</source>
+        <translation>Unidade NVMe não suportada detectada. O dispositivo pode consumir significativamente mais energia e superaquecimento devido ao NVMe não suportado.</translation>
+    </message>
+    <message>
+        <source>openpilot was unable to identify your car. Your car is either unsupported or its ECUs are not recognized. Please submit a pull request to add the firmware versions to the proper vehicle. Need help? Join discord.comma.ai.</source>
+        <translation>O openpilot não conseguiu identificar o seu carro. Seu carro não é suportado ou seus ECUs não são reconhecidos. Envie um pull request para adicionar as versões de firmware ao veículo adequado. Precisa de ajuda? Junte-se discord.comma.ai.</translation>
+    </message>
+    <message>
+        <source>openpilot was unable to identify your car. Check integrity of cables and ensure all connections are secure, particularly that the comma power is fully inserted in the OBD-II port of the vehicle. Need help? Join discord.comma.ai.</source>
+        <translation>O openpilot não conseguiu identificar o seu carro. Verifique a integridade dos cabos e certifique-se de que todas as conexões estejam seguras, especialmente se o comma power está totalmente inserido na porta OBD-II do veículo. Precisa de ajuda? Junte-se discord.comma.ai.</translation>
+    </message>
+    <message>
+        <source>openpilot detected a change in the device&apos;s mounting position. Ensure the device is fully seated in the mount and the mount is firmly secured to the windshield.</source>
+        <translation>O openpilot detectou uma mudança na posição de montagem do dispositivo. Verifique se o dispositivo está totalmente encaixado no suporte e se o suporte está firmemente preso ao para-brisa.</translation>
+    </message>
+    <message>
+        <source>Device temperature too high. System cooling down before starting. Current internal component temperature: %1</source>
+        <translation>Temperatura do dispositivo muito alta. O sistema está sendo resfriado antes de iniciar. A temperatura atual do componente interno é: %1</translation>
+    </message>
+</context>
 <context>
     <name>OffroadHome</name>
     <message>
@@ -498,15 +556,19 @@ trabalho definido</translation>
     </message>
     <message>
         <source>Remote access</source>
-        <translation>Acesso remoto</translation>
+        <translation>Acesso remoto (proxy comma)</translation>
     </message>
     <message>
-        <source>1 year of storage</source>
-        <translation>1 ano na nuvem</translation>
+        <source>24/7 LTE connectivity</source>
+        <translation>Conectividade LTE (só nos EUA)</translation>
     </message>
     <message>
-        <source>Developer perks</source>
-        <translation>Benefícios para devs</translation>
+        <source>Turn-by-turn navigation</source>
+        <translation>Navegação passo a passo</translation>
+    </message>
+    <message>
+        <source>1 year of drive storage</source>
+        <translation>1 ano de dados em nuvem</translation>
     </message>
 </context>
 <context>
@@ -519,10 +581,6 @@ trabalho definido</translation>
         <source>comma prime</source>
         <translation>comma prime</translation>
     </message>
-    <message>
-        <source>CONNECT.COMMA.AI</source>
-        <translation>CONNECT.COMMA.AI</translation>
-    </message>
 </context>
 <context>
     <name>QObject</name>
@@ -627,10 +685,6 @@ Isso pode levar até um minuto.</translation>
         <source>Software</source>
         <translation>Software</translation>
     </message>
-    <message>
-        <source>Navigation</source>
-        <translation>Navegação</translation>
-    </message>
 </context>
 <context>
     <name>Setup</name>
@@ -863,6 +917,26 @@ Isso pode levar até um minuto.</translation>
         <source>Uninstall</source>
         <translation>Desinstalar</translation>
     </message>
+    <message>
+        <source>failed to check for update</source>
+        <translation>falha ao verificar por atualizações</translation>
+    </message>
+    <message>
+        <source>up to date, last checked %1</source>
+        <translation>atualizado, última verificação %1</translation>
+    </message>
+    <message>
+        <source>DOWNLOAD</source>
+        <translation>BAIXAR</translation>
+    </message>
+    <message>
+        <source>update available</source>
+        <translation>atualização disponível</translation>
+    </message>
+    <message>
+        <source>never</source>
+        <translation>nunca</translation>
+    </message>
 </context>
 <context>
     <name>SshControl</name>
@@ -993,51 +1067,79 @@ Isso pode levar até um minuto.</translation>
     </message>
     <message>
         <source>openpilot defaults to driving in &lt;b&gt;chill mode&lt;/b&gt;. Experimental mode enables &lt;b&gt;alpha-level features&lt;/b&gt; that aren&apos;t ready for chill mode. Experimental features are listed below:</source>
-        <translation>openpilot por padrão funciona em &lt;b&gt;modo chill&lt;/b&gt;. modo Experimental ativa &lt;b&gt;recursos de nível-alfa&lt;/b&gt; que não estão prontos para o modo chill. Recursos experimentais estão listados abaixo:</translation>
-    </message>
-    <message>
-        <source>🌮 End-to-End Longitudinal Control 🌮</source>
-        <translation>🌮 Controle Longitudinal de Ponta a Ponta 🌮</translation>
+        <translation>openpilot por padrão funciona em &lt;b&gt;modo chill&lt;/b&gt;. modo Experimental ativa &lt;b&gt;recursos de nível-embrionário&lt;/b&gt; que não estão prontos para o modo chill. Recursos experimentais estão listados abaixo:</translation>
     </message>
     <message>
         <source>Let the driving model control the gas and brakes. openpilot will drive as it thinks a human would, including stopping for red lights and stop signs. Since the driving model decides the speed to drive, the set speed will only act as an upper bound. This is an alpha quality feature; mistakes should be expected.</source>
-        <translation>Deixe o modelo de IA controlar o acelerador e os freios. O openpilot irá dirigir como pensa que um humano faria, incluindo parar em sinais vermelhos e sinais de parada. Uma vez que o modelo de condução decide a velocidade a conduzir, a velocidade definida apenas funcionará como um limite superior. Este é um recurso de qualidade alfa; erros devem ser esperados.</translation>
+        <translation>Deixe o modelo de IA controlar o acelerador e os freios. O openpilot irá dirigir como pensa que um humano faria, incluindo parar em sinais vermelhos e sinais de parada. Uma vez que o modelo de condução decide a velocidade a conduzir, a velocidade definida apenas funcionará como um limite superior. Este é um recurso de qualidade embrionária; erros devem ser esperados.</translation>
     </message>
     <message>
         <source>New Driving Visualization</source>
         <translation>Nova Visualização de Condução</translation>
     </message>
-    <message>
-        <source>The driving visualization will transition to the road-facing wide-angle camera at low speeds to better show some turns. The Experimental mode logo will also be shown in the top right corner.</source>
-        <translation>A visualização da direção fará a transição para a câmera grande angular voltada para a estrada em baixas velocidades para mostrar melhor algumas curvas. O logotipo do modo Experimental também será exibido no canto superior direito.</translation>
-    </message>
     <message>
         <source>Experimental mode is currently unavailable on this car since the car&apos;s stock ACC is used for longitudinal control.</source>
         <translation>O modo Experimental está atualmente indisponível para este carro já que o ACC original do carro é usado para controle longitudinal.</translation>
     </message>
     <message>
         <source>openpilot longitudinal control may come in a future update.</source>
-        <translation>O controle longitudinal openpilot pode vir em uma atualização futura.</translation>
-    </message>
-    <message>
-        <source>An experimental version of openpilot longitudinal control can be tested, along with Experimental mode, on non-release branches.</source>
-        <translation>Uma versão experimental do controle longitudinal openpilot pode ser testada, juntamente com o modo Experimental, em branches de desenvolvimento.</translation>
-    </message>
-    <message>
-        <source>Enable experimental longitudinal control to allow Experimental mode.</source>
-        <translation>Ative o controle longitudinal experimental para permitir o modo Experimental.</translation>
+        <translation>O controle longitudinal openpilot poderá vir em uma atualização futura.</translation>
     </message>
     <message>
         <source>openpilot Longitudinal Control (Alpha)</source>
-        <translation>Controle Longitudinal openpilot (Alpha)</translation>
+        <translation>Controle Longitudinal openpilot (Embrionário)</translation>
     </message>
     <message>
         <source>WARNING: openpilot longitudinal control is in alpha for this car and will disable Automatic Emergency Braking (AEB).</source>
-        <translation>AVISO: o controle longitudinal openpilot está em alfa para este carro e desativará a Frenagem Automática de Emergência (AEB).</translation>
+        <translation>AVISO: o controle longitudinal openpilot está em estado embrionário para este carro e desativará a Frenagem Automática de Emergência (AEB).</translation>
     </message>
     <message>
         <source>On this car, openpilot defaults to the car&apos;s built-in ACC instead of openpilot&apos;s longitudinal control. Enable this to switch to openpilot longitudinal control. Enabling Experimental mode is recommended when enabling openpilot longitudinal control alpha.</source>
-        <translation>Neste carro, o openpilot tem como padrão o ACC embutido do carro em vez do controle longitudinal do openpilot. Habilite isso para alternar para o controle longitudinal openpilot. Recomenda-se ativar o modo Experimental ao ativar o alfa de controle longitudinal openpilot.</translation>
+        <translation>Neste carro, o openpilot tem como padrão o ACC embutido do carro em vez do controle longitudinal do openpilot. Habilite isso para alternar para o controle longitudinal openpilot. Recomenda-se ativar o modo Experimental ao ativar o embrionário controle longitudinal openpilot.</translation>
+    </message>
+    <message>
+        <source>Aggressive</source>
+        <translation>Disputa</translation>
+    </message>
+    <message>
+        <source>Standard</source>
+        <translation>Neutro</translation>
+    </message>
+    <message>
+        <source>Relaxed</source>
+        <translation>Calmo</translation>
+    </message>
+    <message>
+        <source>Driving Personality</source>
+        <translation>Temperamento de Direção</translation>
+    </message>
+    <message>
+        <source>Standard is recommended. In aggressive mode, openpilot will follow lead cars closer and be more aggressive with the gas and brake. In relaxed mode openpilot will stay further away from lead cars.</source>
+        <translation>Neutro é o recomendado. No modo disputa o openpilot seguirá o carro da frente mais de perto e será mais agressivo com a aceleração e frenagem. No modo calmo o openpilot se manterá mais longe do carro da frente.</translation>
+    </message>
+    <message>
+        <source>An alpha version of openpilot longitudinal control can be tested, along with Experimental mode, on non-release branches.</source>
+        <translation>Uma versão embrionária do controle longitudinal openpilot pode ser testada em conjunto com o modo Experimental, em branches que não sejam de produção.</translation>
+    </message>
+    <message>
+        <source>Navigate on openpilot</source>
+        <translation>Navegação no openpilot</translation>
+    </message>
+    <message>
+        <source>Enable the openpilot longitudinal control (alpha) toggle to allow Experimental mode.</source>
+        <translation>Habilite o controle longitudinal (embrionário) openpilot para permitir o modo Experimental.</translation>
+    </message>
+    <message>
+        <source>End-to-End Longitudinal Control</source>
+        <translation>Controle Longitudinal de Ponta a Ponta</translation>
+    </message>
+    <message>
+        <source>When navigation has a destination, openpilot will input the map information into the model. This provides useful context for the model and allows openpilot to keep left or right appropriately at forks/exits. Lane change behavior is unchanged and still activated by the driver. This is an alpha quality feature; mistakes should be expected, particularly around exits and forks. These mistakes can include unintended laneline crossings, late exit taking, driving towards dividing barriers in the gore areas, etc.</source>
+        <translation>Quando a navegação tem um destino, o openpilot insere as informações do mapa no modelo. Isso fornece contexto útil para o modelo e permite que o openpilot mantenha a esquerda ou a direita apropriadamente em bifurcações/saídas. O comportamento de mudança de faixa permanece inalterado e ainda é ativado somente pelo motorista. Este é um recurso de qualidade embrionária; erros devem ser esperados, principalmente em torno de saídas e bifurcações. Esses erros podem incluir travessias não intencionais na faixa de rodagem, saída tardia, condução em direção a barreiras divisórias nas áreas de marcas de canalização, etc.</translation>
+    </message>
+    <message>
+        <source>The driving visualization will transition to the road-facing wide-angle camera at low speeds to better show some turns. The Experimental mode logo will also be shown in the top right corner. When a navigation destination is set and the driving model is using it as input, the driving path on the map will turn green.</source>
+        <translation>A visualização de condução fará a transição para a câmera grande angular voltada para a estrada em baixas velocidades para mostrar melhor algumas curvas. O logotipo do modo Experimental também será mostrado no canto superior direito. Quando um destino de navegação é definido e o modelo de condução o utiliza como entrada o caminho de condução no mapa fica verde.</translation>
     </message>
 </context>
 <context>
@@ -1075,6 +1177,29 @@ Isso pode levar até um minuto.</translation>
         <translation>Falha na atualização</translation>
     </message>
 </context>
+<context>
+    <name>WiFiPromptWidget</name>
+    <message>
+        <source>Setup Wi-Fi</source>
+        <translation>Configurar Wi-Fi</translation>
+    </message>
+    <message>
+        <source>Connect to Wi-Fi to upload driving data and help improve openpilot</source>
+        <translation>Conecte se ao Wi-Fi para realizar upload de dados de condução e ajudar a melhorar o openpilot</translation>
+    </message>
+    <message>
+        <source>Open Settings</source>
+        <translation>Abrir Configurações</translation>
+    </message>
+    <message>
+        <source>Ready to upload</source>
+        <translation>Pronto para upload</translation>
+    </message>
+    <message>
+        <source>Training data will be pulled periodically while your device is on Wi-Fi</source>
+        <translation>Os dados de treinamento serão extraídos periodicamente enquanto o dispositivo estiver no Wi-Fi</translation>
+    </message>
+</context>
 <context>
     <name>WifiUI</name>
     <message>
diff --git a/selfdrive/ui/translations/main_th.ts b/selfdrive/ui/translations/main_th.ts
index 45f91f1cdb..843356c402 100644
--- a/selfdrive/ui/translations/main_th.ts
+++ b/selfdrive/ui/translations/main_th.ts
@@ -116,6 +116,33 @@
         <translation>ปฏิเสธ และถอนการติดตั้ง %1</translation>
     </message>
 </context>
+<context>
+    <name>DestinationWidget</name>
+    <message>
+        <source>Home</source>
+        <translation>บ้าน</translation>
+    </message>
+    <message>
+        <source>Work</source>
+        <translation>ที่ทำงาน</translation>
+    </message>
+    <message>
+        <source>No destination set</source>
+        <translation>ยังไม่ได้เลือกจุดหมาย</translation>
+    </message>
+    <message>
+        <source>home</source>
+        <translation>บ้าน</translation>
+    </message>
+    <message>
+        <source>work</source>
+        <translation>ที่ทำงาน</translation>
+    </message>
+    <message>
+        <source>No %1 location set</source>
+        <translation>ยังไม่ได้เลือกตำแหน่ง%1</translation>
+    </message>
+</context>
 <context>
     <name>DevicePanel</name>
     <message>
@@ -355,44 +382,14 @@
     </message>
 </context>
 <context>
-    <name>MapPanel</name>
+    <name>MapSettings</name>
     <message>
-        <source>Current Destination</source>
-        <translation>ปลายทางปัจจุบัน</translation>
+        <source>NAVIGATION</source>
+        <translation>การนำทาง</translation>
     </message>
     <message>
-        <source>CLEAR</source>
-        <translation>ล้างข้อมูล</translation>
-    </message>
-    <message>
-        <source>Recent Destinations</source>
-        <translation>ปลายทางล่าสุด</translation>
-    </message>
-    <message>
-        <source>Try the Navigation Beta</source>
-        <translation>ลองใช้ระบบนำทาง (เบต้า)</translation>
-    </message>
-    <message>
-        <source>Get turn-by-turn directions displayed and more with a comma
-prime subscription. Sign up now: https://connect.comma.ai</source>
-        <translation>รับการแสดงเส้นทางแบบเลี้ยวต่อเลี้ยว และอื่นๆ ด้วยการสมัครบริการ
-comma prime สมัครเลย: https://connect.comma.ai</translation>
-    </message>
-    <message>
-        <source>No home
-location set</source>
-        <translation>ยังไม่ได้กำหนด
-ตำแหน่งของบ้าน</translation>
-    </message>
-    <message>
-        <source>No work
-location set</source>
-        <translation>ยังไม่ได้กำหนด
-ตำแหน่งของที่ทำงาน</translation>
-    </message>
-    <message>
-        <source>no recent destinations</source>
-        <translation>ไม่พบปลายทางล่าสุด</translation>
+        <source>Manage at connect.comma.ai</source>
+        <translation>จัดการได้ที่ connect.comma.ai</translation>
     </message>
 </context>
 <context>
@@ -405,6 +402,10 @@ location set</source>
         <source>Waiting for GPS</source>
         <translation>กำลังรอสัญญาณ GPS</translation>
     </message>
+    <message>
+        <source>Waiting for route</source>
+        <translation>กำลังรอเส้นทาง</translation>
+    </message>
 </context>
 <context>
     <name>MultiOptionDialog</name>
@@ -436,6 +437,63 @@ location set</source>
         <translation>รหัสผ่านผิด</translation>
     </message>
 </context>
+<context>
+    <name>OffroadAlert</name>
+    <message>
+        <source>Device temperature too high. System cooling down before starting. Current internal component temperature: %1</source>
+        <translation>อุณหภูมิของอุปกรณ์สูงเกินไป ระบบกำลังทำความเย็นก่อนเริ่ม อุณหภูมิของชิ้นส่วนภายในปัจจุบัน: %1</translation>
+    </message>
+    <message>
+        <source>Immediately connect to the internet to check for updates. If you do not connect to the internet, openpilot won&apos;t engage in %1</source>
+        <translation>กรุณาเชื่อมต่ออินเตอร์เน็ตเพื่อตรวจสอบอัปเดทเดี๋ยวนี้ ถ้าคุณไม่เชื่อมต่ออินเตอร์เน็ต openpilot จะไม่ทำงานในอีก %1</translation>
+    </message>
+    <message>
+        <source>Connect to internet to check for updates. openpilot won&apos;t automatically start until it connects to internet to check for updates.</source>
+        <translation>กรุณาเชื่อมต่ออินเตอร์เน็ตเพื่อตรวจสอบอัปเดท openpilot จะไม่เริ่มทำงานอัตโนมัติจนกว่าจะได้เชื่อมต่อกับอินเตอร์เน็ตเพื่อตรวจสอบอัปเดท</translation>
+    </message>
+    <message>
+        <source>Unable to download updates
+%1</source>
+        <translation>ไม่สามารถดาวน์โหลดอัพเดทได้
+%1</translation>
+    </message>
+    <message>
+        <source>Invalid date and time settings, system won&apos;t start. Connect to internet to set time.</source>
+        <translation>วันที่และเวลาไม่ถูกต้อง ระบบจะไม่เริ่มทำงาน เชื่อต่ออินเตอร์เน็ตเพื่อตั้งเวลา</translation>
+    </message>
+    <message>
+        <source>Taking camera snapshots. System won&apos;t start until finished.</source>
+        <translation>กล้องกำลังถ่ายภาพ ระบบจะไม่เริ่มทำงานจนกว่าจะเสร็จ</translation>
+    </message>
+    <message>
+        <source>An update to your device&apos;s operating system is downloading in the background. You will be prompted to update when it&apos;s ready to install.</source>
+        <translation>กำลังดาวน์โหลดอัปเดทสำหรับระบบปฏิบัติการอยู่เบื้องหลัง คุณจะได้รับการแจ้งเตือนเมื่อระบบพร้อมสำหรับการติดตั้ง</translation>
+    </message>
+    <message>
+        <source>Device failed to register. It will not connect to or upload to comma.ai servers, and receives no support from comma.ai. If this is an official device, visit https://comma.ai/support.</source>
+        <translation>ไม่สามารถลงทะเบียนอุปกรณ์ได้ อุปกรณ์จะไม่สามารถเชื่อมต่อหรืออัปโหลดไปยังเซิร์ฟเวอร์ของ comma.ai ได้และจะไม่ได้รับการสนับสนุนจาก comma.ai ถ้านี่คืออุปกรณ์อย่างเป็นทางการ กรุณาติดต่อ https://comma.ai/support</translation>
+    </message>
+    <message>
+        <source>NVMe drive not mounted.</source>
+        <translation>ไม่ได้ติดตั้งไดร์ฟ NVMe</translation>
+    </message>
+    <message>
+        <source>Unsupported NVMe drive detected. Device may draw significantly more power and overheat due to the unsupported NVMe.</source>
+        <translation>ตรวจพบไดร์ฟ NVMe ที่ไม่รองรับ อุปกรณ์อาจใช้พลังงานมากขึ้นและร้อนเกินไปเนื่องจากไดร์ฟ NVMe ที่ไม่รองรับ</translation>
+    </message>
+    <message>
+        <source>openpilot was unable to identify your car. Your car is either unsupported or its ECUs are not recognized. Please submit a pull request to add the firmware versions to the proper vehicle. Need help? Join discord.comma.ai.</source>
+        <translation>openpilot ไม่สามารถระบุรถยนต์ของคุณได้ ระบบอาจไม่รองรับรถยนต์ของคุณหรือไม่รู้จัก ECU กรุณาส่ง pull request เพื่อเพิ่มรุ่นของเฟิร์มแวร์ให้กับรถยนต์ที่เหมาะสม หากต้องการความช่วยเหลือให้เข้าร่วม discord.comma.ai</translation>
+    </message>
+    <message>
+        <source>openpilot was unable to identify your car. Check integrity of cables and ensure all connections are secure, particularly that the comma power is fully inserted in the OBD-II port of the vehicle. Need help? Join discord.comma.ai.</source>
+        <translation>openpilot ไม่สามารถระบุรถยนต์ของคุณได้ กรุณาตรวจสอบสายเคเบิ้ลและจุดเชื่อมต่อทั้งหมดว่าแน่นหนา โดยเฉพาะ comma power ว่าได้ดันเข้าไปยังพอร์ต OBD II ของรถยนต์จนสุด หากต้องการความช่วยเหลือให้เข้าร่วม discord.comma.ai</translation>
+    </message>
+    <message>
+        <source>openpilot detected a change in the device&apos;s mounting position. Ensure the device is fully seated in the mount and the mount is firmly secured to the windshield.</source>
+        <translation>openpilot ตรวจพบการเปลี่ยนแปลงของตำแหน่งที่ติดตั้ง กรุณาตรวจสอบว่าได้เลื่อนอุปกรณ์เข้ากับจุดติดตั้งจนสุดแล้ว และจุดติดตั้งได้ยึดติดกับกระจกหน้าอย่างแน่นหนา</translation>
+    </message>
+</context>
 <context>
     <name>OffroadHome</name>
     <message>
@@ -500,12 +558,16 @@ location set</source>
         <translation>การเข้าถึงระยะไกล</translation>
     </message>
     <message>
-        <source>1 year of storage</source>
-        <translation>จัดเก็บข้อมูลนาน 1 ปี</translation>
+        <source>24/7 LTE connectivity</source>
+        <translation>การเชื่อมต่อ LTE แบบ 24/7</translation>
     </message>
     <message>
-        <source>Developer perks</source>
-        <translation>สิทธิพิเศษสำหรับนักพัฒนา</translation>
+        <source>1 year of drive storage</source>
+        <translation>จัดเก็บข้อมูลการขับขี่นาน 1 ปี</translation>
+    </message>
+    <message>
+        <source>Turn-by-turn navigation</source>
+        <translation>การนำทางแบบเลี้ยวต่อเลี้ยว</translation>
     </message>
 </context>
 <context>
@@ -518,14 +580,6 @@ location set</source>
         <source>comma prime</source>
         <translation>comma prime</translation>
     </message>
-    <message>
-        <source>CONNECT.COMMA.AI</source>
-        <translation>CONNECT.COMMA.AI</translation>
-    </message>
-    <message>
-        <source>COMMA POINTS</source>
-        <translation>คะแนน COMMA</translation>
-    </message>
 </context>
 <context>
     <name>QObject</name>
@@ -627,10 +681,6 @@ This may take up to a minute.</source>
         <source>Software</source>
         <translation>ซอฟต์แวร์</translation>
     </message>
-    <message>
-        <source>Navigation</source>
-        <translation>การนำทาง</translation>
-    </message>
 </context>
 <context>
     <name>Setup</name>
@@ -863,6 +913,26 @@ This may take up to a minute.</source>
         <source>Uninstall</source>
         <translation>ถอนการติดตั้ง</translation>
     </message>
+    <message>
+        <source>failed to check for update</source>
+        <translation>ไม่สามารถตรวจสอบอัปเดตได้</translation>
+    </message>
+    <message>
+        <source>DOWNLOAD</source>
+        <translation>ดาวน์โหลด</translation>
+    </message>
+    <message>
+        <source>update available</source>
+        <translation>มีอัปเดตใหม่</translation>
+    </message>
+    <message>
+        <source>never</source>
+        <translation>ไม่เคย</translation>
+    </message>
+    <message>
+        <source>up to date, last checked %1</source>
+        <translation>ล่าสุดแล้ว ตรวจสอบครั้งสุดท้ายเมื่อ %1</translation>
+    </message>
 </context>
 <context>
     <name>SshControl</name>
@@ -987,30 +1057,14 @@ This may take up to a minute.</source>
         <source>Show map on left side when in split screen view.</source>
         <translation>แสดงแผนที่ด้านซ้ายของหน้าจอเมื่ออยู่ในโหมดแบ่งหน้าจอ</translation>
     </message>
-    <message>
-        <source>Experimental openpilot Longitudinal Control</source>
-        <translation>ทดลองใช้ระบบควบคุมการเร่ง/เบรคโดย openpilot</translation>
-    </message>
     <message>
         <source>Experimental Mode</source>
         <translation>โหมดทดลอง</translation>
     </message>
-    <message>
-        <source>WARNING: openpilot longitudinal control is experimental for this car and will disable Automatic Emergency Braking (AEB).</source>
-        <translation>คำเตือน: การควบคุมการเร่ง/เบรคโดย openpilot สำหรับรถคันนี้ยังอยู่ในขั้นพัฒนา และระบบเบรคฉุกเฉินอัตโนมัติ (AEB) จะถูกปิด</translation>
-    </message>
-    <message>
-        <source>On this car, openpilot defaults to the car&apos;s built-in ACC instead of openpilot&apos;s longitudinal control. Enable this to switch to openpilot longitudinal control. Enabling Experimental mode is recommended when using experimental openpilot longitudinal control.</source>
-        <translation>โดยปกติสำหรับรถคันนี้ openpilot จะควบคุมการเร่ง/เบรคด้วยระบบ ACC จากโรงงาน แทนการควยคุมโดย openpilot เปิดสวิตซ์นี้เพื่อให้ openpilot ควบคุมการเร่ง/เบรค แนะนำให้เปิดโหมดทดลองเมื่อต้องการให้ openpilot ควบคุมการเร่ง/เบรค ซึ่งอยู่ในขั้นพัฒนา</translation>
-    </message>
     <message>
         <source>openpilot defaults to driving in &lt;b&gt;chill mode&lt;/b&gt;. Experimental mode enables &lt;b&gt;alpha-level features&lt;/b&gt; that aren&apos;t ready for chill mode. Experimental features are listed below:</source>
         <translation>โดยปกติ openpilot จะขับใน&lt;b&gt;โหมดชิล&lt;/b&gt; เปิดโหมดทดลองเพื่อใช้&lt;b&gt;ความสามารถในขั้นพัฒนา&lt;/b&gt; ซึ่งยังไม่พร้อมสำหรับโหมดชิล ความสามารถในขั้นพัฒนามีดังนี้:</translation>
     </message>
-    <message>
-        <source>🌮 End-to-End Longitudinal Control 🌮</source>
-        <translation>🌮 ควบคุมเร่ง/เบรคแบบ End-to-End 🌮</translation>
-    </message>
     <message>
         <source>Let the driving model control the gas and brakes. openpilot will drive as it thinks a human would, including stopping for red lights and stop signs. Since the driving model decides the speed to drive, the set speed will only act as an upper bound. This is an alpha quality feature; mistakes should be expected.</source>
         <translation>ให้ openpilot ควบคุมการเร่ง/เบรค โดย openpilot จะขับอย่างที่มนุษย์คิด รวมถึงการหยุดที่ไฟแดง และป้ายหยุดรถ เนื่องจาก openpilot จะกำหนดความเร็วในการขับด้วยตัวเอง การตั้งความเร็วจะเป็นเพียงการกำหนดความเร็วสูงสูดเท่านั้น ความสามารถนี้ยังอยู่ในขั้นพัฒนา อาจเกิดข้อผิดพลาดขึ้นได้</translation>
@@ -1019,10 +1073,6 @@ This may take up to a minute.</source>
         <source>New Driving Visualization</source>
         <translation>การแสดงภาพการขับขี่แบบใหม่</translation>
     </message>
-    <message>
-        <source>The driving visualization will transition to the road-facing wide-angle camera at low speeds to better show some turns. The Experimental mode logo will also be shown in the top right corner.</source>
-        <translation>การแสดงภาพการขับขี่จะเปลี่ยนไปใช้กล้องมุมกว้างที่หันหน้าไปทางถนนเมื่ออยู่ในความเร็วต่ำ เพื่อแสดงภาพการเลี้ยวที่ดีขึ้น โลโก้โหมดการทดลองจะแสดงที่มุมบนขวาด้วย</translation>
-    </message>
     <message>
         <source>Experimental mode is currently unavailable on this car since the car&apos;s stock ACC is used for longitudinal control.</source>
         <translation>ขณะนี้โหมดทดลองไม่สามารถใช้งานได้ในรถคันนี้ เนื่องจากเปิดใช้ระบบควบคุมการเร่ง/เบรคของรถที่ติดตั้งจากโรงงานอยู่</translation>
@@ -1032,12 +1082,60 @@ This may take up to a minute.</source>
         <translation>ระบบควบคุมการเร่ง/เบรคโดย openpilot อาจมาในการอัปเดตในอนาคต</translation>
     </message>
     <message>
-        <source>An experimental version of openpilot longitudinal control can be tested, along with Experimental mode, on non-release branches.</source>
-        <translation>เวอร์ชันทดลองของระบบควบคุมการเร่ง/เบรคโดย openpilot สามารถทดสอบได้พร้อมกับโหมดการทดลอง บน branch ที่กำลังพัฒนา</translation>
+        <source>openpilot Longitudinal Control (Alpha)</source>
+        <translation>ระบบควบคุมการเร่ง/เบรคโดย openpilot (Alpha)</translation>
     </message>
     <message>
-        <source>Enable experimental longitudinal control to allow Experimental mode.</source>
-        <translation>เปิดระบบควบคุมการเร่ง/เบรคขั้นพัฒนาโดย openpilot เพื่อเปิดใช้งานโหมดทดลอง</translation>
+        <source>WARNING: openpilot longitudinal control is in alpha for this car and will disable Automatic Emergency Braking (AEB).</source>
+        <translation>คำเตือน: การควบคุมการเร่ง/เบรคโดย openpilot สำหรับรถคันนี้ยังอยู่ในสถานะ alpha และระบบเบรคฉุกเฉินอัตโนมัติ (AEB) จะถูกปิด</translation>
+    </message>
+    <message>
+        <source>On this car, openpilot defaults to the car&apos;s built-in ACC instead of openpilot&apos;s longitudinal control. Enable this to switch to openpilot longitudinal control. Enabling Experimental mode is recommended when enabling openpilot longitudinal control alpha.</source>
+        <translation>โดยปกติสำหรับรถคันนี้ openpilot จะควบคุมการเร่ง/เบรคด้วยระบบ ACC จากโรงงาน แทนการควยคุมโดย openpilot เปิดสวิตซ์นี้เพื่อให้ openpilot ควบคุมการเร่ง/เบรค แนะนำให้เปิดโหมดทดลองเมื่อต้องการให้ openpilot ควบคุมการเร่ง/เบรค ซึ่งอยู่ในสถานะ alpha</translation>
+    </message>
+    <message>
+        <source>Aggressive</source>
+        <translation>ดุดัน</translation>
+    </message>
+    <message>
+        <source>Standard</source>
+        <translation>มาตรฐาน</translation>
+    </message>
+    <message>
+        <source>Relaxed</source>
+        <translation>ผ่อนคลาย</translation>
+    </message>
+    <message>
+        <source>Driving Personality</source>
+        <translation>บุคลิกการขับขี่</translation>
+    </message>
+    <message>
+        <source>Standard is recommended. In aggressive mode, openpilot will follow lead cars closer and be more aggressive with the gas and brake. In relaxed mode openpilot will stay further away from lead cars.</source>
+        <translation>แนะนำให้ใช้แบบมาตรฐาน ในโหมดดุดัน openpilot จะตามรถคันหน้าใกล้ขึ้นและเร่งและเบรคแบบดุดันมากขึ้น ในโหมดผ่อนคลาย openpilot จะอยู่ห่างจากรถคันหน้ามากขึ้น</translation>
+    </message>
+    <message>
+        <source>An alpha version of openpilot longitudinal control can be tested, along with Experimental mode, on non-release branches.</source>
+        <translation>ระบบควบคุมการเร่ง/เบรคโดย openpilot เวอร์ชัน alpha สามารถทดสอบได้พร้อมกับโหมดการทดลอง บน branch ที่กำลังพัฒนา</translation>
+    </message>
+    <message>
+        <source>End-to-End Longitudinal Control</source>
+        <translation>ควบคุมเร่ง/เบรคแบบ End-to-End</translation>
+    </message>
+    <message>
+        <source>Navigate on openpilot</source>
+        <translation>การนำทางบน openpilot</translation>
+    </message>
+    <message>
+        <source>When navigation has a destination, openpilot will input the map information into the model. This provides useful context for the model and allows openpilot to keep left or right appropriately at forks/exits. Lane change behavior is unchanged and still activated by the driver. This is an alpha quality feature; mistakes should be expected, particularly around exits and forks. These mistakes can include unintended laneline crossings, late exit taking, driving towards dividing barriers in the gore areas, etc.</source>
+        <translation>เมื่อการนำทางมีจุดหมายปลายทาง openpilot จะป้อนข้อมูลแผนที่เข้าไปยังโมเดล ซึ่งจะเป็นบริบทที่มีประโยชน์สำหรับโมเดลและจะทำให้ openpilot สามารถรักษาเลนซ้ายหรือขวาได้อย่างเหมาะสมบริเวณทางแยกหรือทางออก พฤติกรรมการเปลี่ยนเลนยังคงเหมือนเดิมและยังคงต้องถูกเริ่มโดยคนขับ ความสามารถนี้ยังอยู่ในระดับ alpha ซึ่งอาจะเกิดความผิดพลาดได้โดยเฉพาะบริเวณทางแยกหรือทางออก ความผิดพลาดที่อาจเกิดขึ้นได้อาจรวมถึงการข้ามเส้นแบ่งเลนโดยไม่ตั้งใจ, การเข้าช่องทางออกช้ากว่าปกติ, การขับเข้าหาแบริเออร์ในเขตปลอดภัย, ฯลฯ</translation>
+    </message>
+    <message>
+        <source>The driving visualization will transition to the road-facing wide-angle camera at low speeds to better show some turns. The Experimental mode logo will also be shown in the top right corner. When a navigation destination is set and the driving model is using it as input, the driving path on the map will turn green.</source>
+        <translation>การแสดงภาพการขับขี่จะเปลี่ยนไปใช้กล้องมุมกว้างที่หันหน้าไปทางถนนเมื่ออยู่ในความเร็วต่ำ เพื่อแสดงภาพการเลี้ยวที่ดีขึ้น โลโก้โหมดการทดลองจะแสดงที่มุมบนขวาด้วย เมื่อเป้าหมายการนำทางถูกเลือกและโมเดลการขับขี่กำลังใช้เป็นอินพุต เส้นทางการขับขี่บนแผนที่จะเปลี่ยนเป็นสีเขียว</translation>
+    </message>
+    <message>
+        <source>Enable the openpilot longitudinal control (alpha) toggle to allow Experimental mode.</source>
+        <translation>เปิดระบบควบคุมการเร่ง/เบรคโดย openpilot (alpha) เพื่อเปิดใช้งานโหมดทดลอง</translation>
     </message>
 </context>
 <context>
@@ -1075,6 +1173,29 @@ This may take up to a minute.</source>
         <translation>การอัปเดตล้มเหลว</translation>
     </message>
 </context>
+<context>
+    <name>WiFiPromptWidget</name>
+    <message>
+        <source>Setup Wi-Fi</source>
+        <translation>ตั้งค่า Wi-Fi</translation>
+    </message>
+    <message>
+        <source>Connect to Wi-Fi to upload driving data and help improve openpilot</source>
+        <translation>เชื่อมต่อกับ Wi-Fi เพื่ออัปโหลดข้อมูลการขับขี่และช่วยปรับปรุง openpilot</translation>
+    </message>
+    <message>
+        <source>Open Settings</source>
+        <translation>เปิดการตั้งค่า</translation>
+    </message>
+    <message>
+        <source>Ready to upload</source>
+        <translation>พร้อมจะอัปโหลด</translation>
+    </message>
+    <message>
+        <source>Training data will be pulled periodically while your device is on Wi-Fi</source>
+        <translation>ข้อมูลการฝึกฝนจะถูกดึงเป็นระยะระหว่างที่อุปกรณ์ของคุณเชื่อมต่อกับ Wi-Fi</translation>
+    </message>
+</context>
 <context>
     <name>WifiUI</name>
     <message>
diff --git a/selfdrive/ui/translations/main_zh-CHS.ts b/selfdrive/ui/translations/main_zh-CHS.ts
index 9302047ab0..17c768eb79 100644
--- a/selfdrive/ui/translations/main_zh-CHS.ts
+++ b/selfdrive/ui/translations/main_zh-CHS.ts
@@ -116,6 +116,33 @@
         <translation>拒绝并卸载%1</translation>
     </message>
 </context>
+<context>
+    <name>DestinationWidget</name>
+    <message>
+        <source>Home</source>
+        <translation>住家</translation>
+    </message>
+    <message>
+        <source>Work</source>
+        <translation>工作</translation>
+    </message>
+    <message>
+        <source>No destination set</source>
+        <translation>尚未设置目的地</translation>
+    </message>
+    <message>
+        <source>No %1 location set</source>
+        <translation>尚未设置 %1 的位置</translation>
+    </message>
+    <message>
+        <source>home</source>
+        <translation>住家</translation>
+    </message>
+    <message>
+        <source>work</source>
+        <translation>工作</translation>
+    </message>
+</context>
 <context>
     <name>DevicePanel</name>
     <message>
@@ -164,7 +191,7 @@
     </message>
     <message>
         <source>Review the rules, features, and limitations of openpilot</source>
-        <translation>查看openpilot的使用规则，以及其功能和限制。</translation>
+        <translation>查看 openpilot 的使用规则，以及其功能和限制</translation>
     </message>
     <message>
         <source>Are you sure you want to review the training guide?</source>
@@ -316,7 +343,7 @@
     <name>MapETA</name>
     <message>
         <source>eta</source>
-        <translation>埃塔</translation>
+        <translation>抵达</translation>
     </message>
     <message>
         <source>min</source>
@@ -355,42 +382,14 @@
     </message>
 </context>
 <context>
-    <name>MapPanel</name>
+    <name>MapSettings</name>
     <message>
-        <source>Current Destination</source>
-        <translation>当前目的地</translation>
+        <source>NAVIGATION</source>
+        <translation>导航</translation>
     </message>
     <message>
-        <source>CLEAR</source>
-        <translation>清空</translation>
-    </message>
-    <message>
-        <source>Recent Destinations</source>
-        <translation>最近目的地</translation>
-    </message>
-    <message>
-        <source>Try the Navigation Beta</source>
-        <translation>试用导航测试版</translation>
-    </message>
-    <message>
-        <source>Get turn-by-turn directions displayed and more with a comma
-prime subscription. Sign up now: https://connect.comma.ai</source>
-        <translation>订阅comma prime以获取导航。
-立即注册：https://connect.comma.ai</translation>
-    </message>
-    <message>
-        <source>No home
-location set</source>
-        <translation>家：未设定</translation>
-    </message>
-    <message>
-        <source>No work
-location set</source>
-        <translation>工作：未设定</translation>
-    </message>
-    <message>
-        <source>no recent destinations</source>
-        <translation>无最近目的地</translation>
+        <source>Manage at connect.comma.ai</source>
+        <translation>请在 connect.comma.ai 上管理</translation>
     </message>
 </context>
 <context>
@@ -403,6 +402,10 @@ location set</source>
         <source>Waiting for GPS</source>
         <translation>等待 GPS</translation>
     </message>
+    <message>
+        <source>Waiting for route</source>
+        <translation>等待路线</translation>
+    </message>
 </context>
 <context>
     <name>MultiOptionDialog</name>
@@ -434,6 +437,63 @@ location set</source>
         <translation>密码错误</translation>
     </message>
 </context>
+<context>
+    <name>OffroadAlert</name>
+    <message>
+        <source>Immediately connect to the internet to check for updates. If you do not connect to the internet, openpilot won&apos;t engage in %1</source>
+        <translation>请立即连接网络检查更新。如果不连接网络，openpilot 将在 %1 后便无法使用</translation>
+    </message>
+    <message>
+        <source>Connect to internet to check for updates. openpilot won&apos;t automatically start until it connects to internet to check for updates.</source>
+        <translation>请连接至互联网以检查更新。在连接至互联网并完成更新检查之前，openpilot 将不会自动启动。</translation>
+    </message>
+    <message>
+        <source>Unable to download updates
+%1</source>
+        <translation>无法下载更新
+%1</translation>
+    </message>
+    <message>
+        <source>Invalid date and time settings, system won&apos;t start. Connect to internet to set time.</source>
+        <translation>日期和时间设置无效，系统无法启动。请连接至互联网以设置时间。</translation>
+    </message>
+    <message>
+        <source>Taking camera snapshots. System won&apos;t start until finished.</source>
+        <translation>正在使用相机拍摄中。在完成之前，系统将无法启动。</translation>
+    </message>
+    <message>
+        <source>An update to your device&apos;s operating system is downloading in the background. You will be prompted to update when it&apos;s ready to install.</source>
+        <translation>一个针对您设备的操作系统更新正在后台下载中。当更新准备好安装时，您将收到提示进行更新。</translation>
+    </message>
+    <message>
+        <source>Device failed to register. It will not connect to or upload to comma.ai servers, and receives no support from comma.ai. If this is an official device, visit https://comma.ai/support.</source>
+        <translation>设备注册失败。它将无法连接或上传至 comma.ai 服务器，并且无法获得 comma.ai 的支持。如果这是一个官方设备，请访问 https://comma.ai/support。</translation>
+    </message>
+    <message>
+        <source>NVMe drive not mounted.</source>
+        <translation>NVMe固态硬盘未被挂载。</translation>
+    </message>
+    <message>
+        <source>Unsupported NVMe drive detected. Device may draw significantly more power and overheat due to the unsupported NVMe.</source>
+        <translation>检测到不支持的 NVMe 固态硬盘。您的设备因为使用了不支持的 NVMe 固态硬盘可能会消耗更多电力并更易过热。</translation>
+    </message>
+    <message>
+        <source>openpilot was unable to identify your car. Your car is either unsupported or its ECUs are not recognized. Please submit a pull request to add the firmware versions to the proper vehicle. Need help? Join discord.comma.ai.</source>
+        <translation>openpilot 无法识别您的车辆。您的车辆可能未被支持，或是其电控单元 (ECU) 未被识别。请提交一个 Pull Request 为您的车辆添加正确的固件版本。需要帮助吗？请加入 discord.comma.ai。</translation>
+    </message>
+    <message>
+        <source>openpilot was unable to identify your car. Check integrity of cables and ensure all connections are secure, particularly that the comma power is fully inserted in the OBD-II port of the vehicle. Need help? Join discord.comma.ai.</source>
+        <translation>openpilot 无法识别您的车辆。请检查线路是否正确安装并确保所有的连接都牢固，特别是确保 comma power 完全插入车辆的 OBD-II 接口。需要帮助吗？请加入 discord.comma.ai。</translation>
+    </message>
+    <message>
+        <source>openpilot detected a change in the device&apos;s mounting position. Ensure the device is fully seated in the mount and the mount is firmly secured to the windshield.</source>
+        <translation>openpilot 检测到设备的安装位置发生变化。请确保设备完全安装在支架上，并确保支架牢固地固定在挡风玻璃上。</translation>
+    </message>
+    <message>
+        <source>Device temperature too high. System cooling down before starting. Current internal component temperature: %1</source>
+        <translation>设备温度过高。系统正在冷却中，等冷却完毕后才会启动。目前内部组件温度：%1</translation>
+    </message>
+</context>
 <context>
     <name>OffroadHome</name>
     <message>
@@ -498,12 +558,16 @@ location set</source>
         <translation>远程访问</translation>
     </message>
     <message>
-        <source>1 year of storage</source>
-        <translation>1年数据存储</translation>
+        <source>24/7 LTE connectivity</source>
+        <translation>全天候 LTE 連線</translation>
     </message>
     <message>
-        <source>Developer perks</source>
-        <translation>开发者福利</translation>
+        <source>Turn-by-turn navigation</source>
+        <translation>领航功能</translation>
+    </message>
+    <message>
+        <source>1 year of drive storage</source>
+        <translation>一年的行驶记录储存空间</translation>
     </message>
 </context>
 <context>
@@ -516,10 +580,6 @@ location set</source>
         <source>comma prime</source>
         <translation>comma prime</translation>
     </message>
-    <message>
-        <source>CONNECT.COMMA.AI</source>
-        <translation>CONNECT.COMMA.AI</translation>
-    </message>
 </context>
 <context>
     <name>QObject</name>
@@ -586,16 +646,17 @@ location set</source>
     </message>
     <message>
         <source>Unable to mount data partition. Partition may be corrupted. Press confirm to erase and reset your device.</source>
-        <translation type="unfinished"></translation>
+        <translation>无法挂载数据分区。分区可能已经损坏。请确认是否要删除并重新设置。</translation>
     </message>
     <message>
         <source>Press confirm to erase all content and settings. Press cancel to resume boot.</source>
-        <translation type="unfinished"></translation>
+        <translation>按下确认以删除所有内容及设置。按下取消来继续开机。</translation>
     </message>
     <message>
         <source>Resetting device...
 This may take up to a minute.</source>
-        <translation type="unfinished"></translation>
+        <translation>设备重置中…
+这可能需要一分钟的时间。</translation>
     </message>
 </context>
 <context>
@@ -620,10 +681,6 @@ This may take up to a minute.</source>
         <source>Software</source>
         <translation>软件</translation>
     </message>
-    <message>
-        <source>Navigation</source>
-        <translation>导航</translation>
-    </message>
 </context>
 <context>
     <name>Setup</name>
@@ -697,11 +754,11 @@ This may take up to a minute.</source>
     </message>
     <message>
         <source>No custom software found at this URL.</source>
-        <translation type="unfinished"></translation>
+        <translation>在此网址找不到自定义软件。</translation>
     </message>
     <message>
         <source>Something went wrong. Reboot the device.</source>
-        <translation type="unfinished"></translation>
+        <translation>发生了一些错误。请重新启动您的设备。</translation>
     </message>
 </context>
 <context>
@@ -856,6 +913,26 @@ This may take up to a minute.</source>
         <source>Uninstall</source>
         <translation>卸载</translation>
     </message>
+    <message>
+        <source>failed to check for update</source>
+        <translation>检查更新失败</translation>
+    </message>
+    <message>
+        <source>up to date, last checked %1</source>
+        <translation>已经是最新版本，上次检查时间为 %1</translation>
+    </message>
+    <message>
+        <source>DOWNLOAD</source>
+        <translation>下载</translation>
+    </message>
+    <message>
+        <source>update available</source>
+        <translation>有可用的更新</translation>
+    </message>
+    <message>
+        <source>never</source>
+        <translation>从未更新</translation>
+    </message>
 </context>
 <context>
     <name>SshControl</name>
@@ -988,10 +1065,6 @@ This may take up to a minute.</source>
         <source>openpilot defaults to driving in &lt;b&gt;chill mode&lt;/b&gt;. Experimental mode enables &lt;b&gt;alpha-level features&lt;/b&gt; that aren&apos;t ready for chill mode. Experimental features are listed below:</source>
         <translation>openpilot 默认 &lt;b&gt;轻松模式&lt;/b&gt;驾驶车辆。试验模式启用一些轻松模式之外的 &lt;b&gt;试验性功能&lt;/b&gt;。试验性功能包括：</translation>
     </message>
-    <message>
-        <source>🌮 End-to-End Longitudinal Control 🌮</source>
-        <translation>🌮 端到端（End-to-End） 纵向控制 🌮</translation>
-    </message>
     <message>
         <source>Let the driving model control the gas and brakes. openpilot will drive as it thinks a human would, including stopping for red lights and stop signs. Since the driving model decides the speed to drive, the set speed will only act as an upper bound. This is an alpha quality feature; mistakes should be expected.</source>
         <translation>允许驾驶模型控制加速和制动，openpilot将模仿人类驾驶车辆，包括在红灯和停车让行标识前停车。鉴于驾驶模型确定行驶车速，所设定的车速仅作为上限。此功能尚处于早期测试状态，有可能会出现操作错误。</translation>
@@ -1000,37 +1073,69 @@ This may take up to a minute.</source>
         <source>New Driving Visualization</source>
         <translation>新驾驶视角</translation>
     </message>
-    <message>
-        <source>The driving visualization will transition to the road-facing wide-angle camera at low speeds to better show some turns. The Experimental mode logo will also be shown in the top right corner.</source>
-        <translation>当低速行驶时，驾驶视角将切换到前向广角摄像头，便于更完整地显示转向路径。右上角将显示试验模式图标。</translation>
-    </message>
     <message>
         <source>Experimental mode is currently unavailable on this car since the car&apos;s stock ACC is used for longitudinal control.</source>
         <translation>由于此车辆使用自带的ACC纵向控制，当前无法使用试验模式。</translation>
     </message>
     <message>
         <source>openpilot longitudinal control may come in a future update.</source>
-        <translation type="unfinished"></translation>
-    </message>
-    <message>
-        <source>An experimental version of openpilot longitudinal control can be tested, along with Experimental mode, on non-release branches.</source>
-        <translation type="unfinished"></translation>
-    </message>
-    <message>
-        <source>Enable experimental longitudinal control to allow Experimental mode.</source>
-        <translation>启用试验性的纵向控制，以便允许使用试验模式。</translation>
+        <translation>openpilot纵向控制可能会在未来的更新中提供。</translation>
     </message>
     <message>
         <source>openpilot Longitudinal Control (Alpha)</source>
-        <translation type="unfinished"></translation>
+        <translation>openpilot纵向控制（Alpha 版）</translation>
     </message>
     <message>
         <source>WARNING: openpilot longitudinal control is in alpha for this car and will disable Automatic Emergency Braking (AEB).</source>
-        <translation type="unfinished"></translation>
+        <translation>警告：此车辆的 openpilot 纵向控制功能目前处于Alpha版本，使用此功能将会停用自动紧急制动（AEB）功能。</translation>
     </message>
     <message>
         <source>On this car, openpilot defaults to the car&apos;s built-in ACC instead of openpilot&apos;s longitudinal control. Enable this to switch to openpilot longitudinal control. Enabling Experimental mode is recommended when enabling openpilot longitudinal control alpha.</source>
-        <translation type="unfinished"></translation>
+        <translation>在这辆车上，openpilot 默认使用车辆内建的主动巡航控制（ACC），而非 openpilot 的纵向控制。启用此项功能可切换至 openpilot 的纵向控制。当启用 openpilot 纵向控制 Alpha 版本时，建议同时启用实验性模式（Experimental mode）。</translation>
+    </message>
+    <message>
+        <source>Aggressive</source>
+        <translation>积极</translation>
+    </message>
+    <message>
+        <source>Standard</source>
+        <translation>标准</translation>
+    </message>
+    <message>
+        <source>Relaxed</source>
+        <translation>舒适</translation>
+    </message>
+    <message>
+        <source>Driving Personality</source>
+        <translation>驾驶风格</translation>
+    </message>
+    <message>
+        <source>Standard is recommended. In aggressive mode, openpilot will follow lead cars closer and be more aggressive with the gas and brake. In relaxed mode openpilot will stay further away from lead cars.</source>
+        <translation>推荐使用标准模式。在积极模式中，openpilot 会更靠近前车并在加速和刹车方面更积极。在舒适模式中，openpilot 会与前车保持较远的距离。</translation>
+    </message>
+    <message>
+        <source>An alpha version of openpilot longitudinal control can be tested, along with Experimental mode, on non-release branches.</source>
+        <translation>在正式（release）版本以外的分支上，可以测试 openpilot 纵向控制的 Alpha 版本以及实验模式。</translation>
+    </message>
+    <message>
+        <source>Navigate on openpilot</source>
+        <translation>Navigate on openpilot</translation>
+    </message>
+    <message>
+        <source>Enable the openpilot longitudinal control (alpha) toggle to allow Experimental mode.</source>
+        <translation>启用 openpilot 纵向控制（alpha）开关以允许实验模式。</translation>
+    </message>
+    <message>
+        <source>End-to-End Longitudinal Control</source>
+        <translation>端到端纵向控制</translation>
+    </message>
+    <message>
+        <source>When navigation has a destination, openpilot will input the map information into the model. This provides useful context for the model and allows openpilot to keep left or right appropriately at forks/exits. Lane change behavior is unchanged and still activated by the driver. This is an alpha quality feature; mistakes should be expected, particularly around exits and forks. These mistakes can include unintended laneline crossings, late exit taking, driving towards dividing barriers in the gore areas, etc.</source>
+        <translation>当导航有目的地时，openpilot 将输入地图信息到模型中。这为模型提供了有用的背景信息，使 openpilot 能够在叉路/出口时适当地保持左侧或右侧行驶。车道变换行为保持不变，仍由驾驶员激活。这是一个 Alpha 版的功能；可能会出现错误，特别是在出口和分叉处。这些错误可能包括意外的车道越界、晚出口、朝着分隔栏驶向安全地带等。</translation>
+    </message>
+    <message>
+        <source>The driving visualization will transition to the road-facing wide-angle camera at low speeds to better show some turns. The Experimental mode logo will also be shown in the top right corner. When a navigation destination is set and the driving model is using it as input, the driving path on the map will turn green.</source>
+        <translation>行驶画面将在低速时切换到道路朝向的广角摄像头，以更好地显示一些转弯。实验模式标志也将显示在右上角。当设置了导航目的地并且驾驶模型正在使用它作为输入时，地图上的驾驶路径将变为绿色。</translation>
     </message>
 </context>
 <context>
@@ -1068,6 +1173,29 @@ This may take up to a minute.</source>
         <translation>更新失败</translation>
     </message>
 </context>
+<context>
+    <name>WiFiPromptWidget</name>
+    <message>
+        <source>Setup Wi-Fi</source>
+        <translation>设置 Wi-Fi 连接</translation>
+    </message>
+    <message>
+        <source>Connect to Wi-Fi to upload driving data and help improve openpilot</source>
+        <translation>请连接至 Wi-Fi 上传驾驶数据以协助改进openpilot</translation>
+    </message>
+    <message>
+        <source>Open Settings</source>
+        <translation>打开设置</translation>
+    </message>
+    <message>
+        <source>Ready to upload</source>
+        <translation>准备好上传</translation>
+    </message>
+    <message>
+        <source>Training data will be pulled periodically while your device is on Wi-Fi</source>
+        <translation>训练数据将定期通过 Wi-Fi 上载</translation>
+    </message>
+</context>
 <context>
     <name>WifiUI</name>
     <message>
diff --git a/selfdrive/ui/translations/main_zh-CHT.ts b/selfdrive/ui/translations/main_zh-CHT.ts
index 5d17a7b86a..83ab5d8aa3 100644
--- a/selfdrive/ui/translations/main_zh-CHT.ts
+++ b/selfdrive/ui/translations/main_zh-CHT.ts
@@ -116,6 +116,33 @@
         <translation>拒絕並解除安裝 %1</translation>
     </message>
 </context>
+<context>
+    <name>DestinationWidget</name>
+    <message>
+        <source>Home</source>
+        <translation>住家</translation>
+    </message>
+    <message>
+        <source>Work</source>
+        <translation>工作</translation>
+    </message>
+    <message>
+        <source>No destination set</source>
+        <translation>尚未設定目的地</translation>
+    </message>
+    <message>
+        <source>No %1 location set</source>
+        <translation>尚未設定 %1 的位置</translation>
+    </message>
+    <message>
+        <source>home</source>
+        <translation>住家</translation>
+    </message>
+    <message>
+        <source>work</source>
+        <translation>工作</translation>
+    </message>
+</context>
 <context>
     <name>DevicePanel</name>
     <message>
@@ -355,44 +382,14 @@
     </message>
 </context>
 <context>
-    <name>MapPanel</name>
+    <name>MapSettings</name>
     <message>
-        <source>Current Destination</source>
-        <translation>當前目的地</translation>
+        <source>NAVIGATION</source>
+        <translation>導航</translation>
     </message>
     <message>
-        <source>CLEAR</source>
-        <translation>清除</translation>
-    </message>
-    <message>
-        <source>Recent Destinations</source>
-        <translation>最近目的地</translation>
-    </message>
-    <message>
-        <source>Try the Navigation Beta</source>
-        <translation>試用導航功能</translation>
-    </message>
-    <message>
-        <source>Get turn-by-turn directions displayed and more with a comma
-prime subscription. Sign up now: https://connect.comma.ai</source>
-        <translation>成為 comma 高級會員來使用導航功能
-立即註冊：https://connect.comma.ai</translation>
-    </message>
-    <message>
-        <source>No home
-location set</source>
-        <translation>未設定
-住家位置</translation>
-    </message>
-    <message>
-        <source>No work
-location set</source>
-        <translation>未設定
-工作位置</translation>
-    </message>
-    <message>
-        <source>no recent destinations</source>
-        <translation>沒有最近的導航記錄</translation>
+        <source>Manage at connect.comma.ai</source>
+        <translation>請在 connect.comma.ai 上管理</translation>
     </message>
 </context>
 <context>
@@ -405,6 +402,10 @@ location set</source>
         <source>Waiting for GPS</source>
         <translation>等待 GPS</translation>
     </message>
+    <message>
+        <source>Waiting for route</source>
+        <translation>等待路線</translation>
+    </message>
 </context>
 <context>
     <name>MultiOptionDialog</name>
@@ -436,6 +437,63 @@ location set</source>
         <translation>密碼錯誤</translation>
     </message>
 </context>
+<context>
+    <name>OffroadAlert</name>
+    <message>
+        <source>Immediately connect to the internet to check for updates. If you do not connect to the internet, openpilot won&apos;t engage in %1</source>
+        <translation>請立即連接網路檢查更新。如果不連接網路，openpilot 將在 %1 後便無法使用</translation>
+    </message>
+    <message>
+        <source>Connect to internet to check for updates. openpilot won&apos;t automatically start until it connects to internet to check for updates.</source>
+        <translation>請連接至網際網路以檢查更新。在連接至網際網路並完成更新檢查之前，openpilot 將不會自動啟動。</translation>
+    </message>
+    <message>
+        <source>Unable to download updates
+%1</source>
+        <translation>無法下載更新
+%1</translation>
+    </message>
+    <message>
+        <source>Invalid date and time settings, system won&apos;t start. Connect to internet to set time.</source>
+        <translation>日期和時間設定無效，系統無法啟動。請連接至網際網路以設定時間。</translation>
+    </message>
+    <message>
+        <source>Taking camera snapshots. System won&apos;t start until finished.</source>
+        <translation>正在使用相機拍攝中。在完成之前，系統將無法啟動。</translation>
+    </message>
+    <message>
+        <source>An update to your device&apos;s operating system is downloading in the background. You will be prompted to update when it&apos;s ready to install.</source>
+        <translation>一個給您設備的操作系統的更新正在後台下載中。當更新準備好安裝時，您將收到提示進行更新。</translation>
+    </message>
+    <message>
+        <source>Device failed to register. It will not connect to or upload to comma.ai servers, and receives no support from comma.ai. If this is an official device, visit https://comma.ai/support.</source>
+        <translation>設備註冊失敗。它將無法連接或上傳至 comma.ai 伺服器，並且無法獲得 comma.ai 的支援。如果這是一個官方設備，請訪問 https://comma.ai/support 。</translation>
+    </message>
+    <message>
+        <source>NVMe drive not mounted.</source>
+        <translation>NVMe 固態硬碟未被掛載。</translation>
+    </message>
+    <message>
+        <source>Unsupported NVMe drive detected. Device may draw significantly more power and overheat due to the unsupported NVMe.</source>
+        <translation>檢測到不支援的 NVMe 固態硬碟。您的設備因為使用了不支援的 NVMe 固態硬碟可能會消耗更多電力並更易過熱。</translation>
+    </message>
+    <message>
+        <source>openpilot was unable to identify your car. Your car is either unsupported or its ECUs are not recognized. Please submit a pull request to add the firmware versions to the proper vehicle. Need help? Join discord.comma.ai.</source>
+        <translation>openpilot 無法識別您的車輛。您的車輛可能未被支援，或是其電控單元 (ECU) 未被識別。請提交一個 Pull Request 為您的車輛添加正確的固件版本。需要幫助嗎？請加入 discord.comma.ai 。</translation>
+    </message>
+    <message>
+        <source>openpilot was unable to identify your car. Check integrity of cables and ensure all connections are secure, particularly that the comma power is fully inserted in the OBD-II port of the vehicle. Need help? Join discord.comma.ai.</source>
+        <translation>openpilot 無法識別您的車輛。請檢查線路是否正確的安裝並確保所有的連接都牢固，特別是確保 comma power 完全插入車輛的 OBD-II 接口。需要幫助嗎？請加入 discord.comma.ai 。</translation>
+    </message>
+    <message>
+        <source>openpilot detected a change in the device&apos;s mounting position. Ensure the device is fully seated in the mount and the mount is firmly secured to the windshield.</source>
+        <translation>openpilot 偵測到設備的安裝位置發生變化。請確保設備完全安裝在支架上，並確保支架牢固地固定在擋風玻璃上。</translation>
+    </message>
+    <message>
+        <source>Device temperature too high. System cooling down before starting. Current internal component temperature: %1</source>
+        <translation>設備溫度過高。系統正在冷卻中，等冷卻完畢後才會啟動。目前內部組件溫度：%1</translation>
+    </message>
+</context>
 <context>
     <name>OffroadHome</name>
     <message>
@@ -500,12 +558,16 @@ location set</source>
         <translation>遠程訪問</translation>
     </message>
     <message>
-        <source>1 year of storage</source>
-        <translation>一年的雲端行車記錄</translation>
+        <source>24/7 LTE connectivity</source>
+        <translation>24/7 LTE 連線</translation>
     </message>
     <message>
-        <source>Developer perks</source>
-        <translation>開發者福利</translation>
+        <source>Turn-by-turn navigation</source>
+        <translation>導航功能</translation>
+    </message>
+    <message>
+        <source>1 year of drive storage</source>
+        <translation>一年的行駛記錄儲存空間</translation>
     </message>
 </context>
 <context>
@@ -518,10 +580,6 @@ location set</source>
         <source>comma prime</source>
         <translation>comma 高級會員</translation>
     </message>
-    <message>
-        <source>CONNECT.COMMA.AI</source>
-        <translation>CONNECT.COMMA.AI</translation>
-    </message>
 </context>
 <context>
     <name>QObject</name>
@@ -588,16 +646,17 @@ location set</source>
     </message>
     <message>
         <source>Unable to mount data partition. Partition may be corrupted. Press confirm to erase and reset your device.</source>
-        <translation>無法掛載資料分割區 分割區可能已經毀損 請確認是否要刪除並重新設定</translation>
+        <translation>無法掛載資料分割區。分割區可能已經毀損。請確認是否要刪除並重新設定。</translation>
     </message>
     <message>
         <source>Press confirm to erase all content and settings. Press cancel to resume boot.</source>
-        <translation>按下確認以刪除所有內容及設定 按下取消來繼續開機</translation>
+        <translation>按下確認以刪除所有內容及設定。按下取消來繼續開機。</translation>
     </message>
     <message>
         <source>Resetting device...
 This may take up to a minute.</source>
-        <translation>設備重置中 此過程可能需要幾分鐘</translation>
+        <translation>設備重置中…
+這可能需要一分鐘的時間。</translation>
     </message>
 </context>
 <context>
@@ -622,10 +681,6 @@ This may take up to a minute.</source>
         <source>Software</source>
         <translation>軟體</translation>
     </message>
-    <message>
-        <source>Navigation</source>
-        <translation>導航</translation>
-    </message>
 </context>
 <context>
     <name>Setup</name>
@@ -699,11 +754,11 @@ This may take up to a minute.</source>
     </message>
     <message>
         <source>No custom software found at this URL.</source>
-        <translation>無法在此URL找到定制的軟體</translation>
+        <translation>在此網址找不到自訂軟體。</translation>
     </message>
     <message>
         <source>Something went wrong. Reboot the device.</source>
-        <translation>發生了一些錯誤 請重新啟動您的設備</translation>
+        <translation>發生了一些錯誤。請重新啟動您的設備。</translation>
     </message>
 </context>
 <context>
@@ -858,6 +913,26 @@ This may take up to a minute.</source>
         <source>Uninstall</source>
         <translation>解除安裝</translation>
     </message>
+    <message>
+        <source>failed to check for update</source>
+        <translation>檢查更新失敗</translation>
+    </message>
+    <message>
+        <source>up to date, last checked %1</source>
+        <translation>已經是最新版本，上次檢查時間為 %1</translation>
+    </message>
+    <message>
+        <source>DOWNLOAD</source>
+        <translation>下載</translation>
+    </message>
+    <message>
+        <source>update available</source>
+        <translation>有可用的更新</translation>
+    </message>
+    <message>
+        <source>never</source>
+        <translation>從未更新</translation>
+    </message>
 </context>
 <context>
     <name>SshControl</name>
@@ -990,10 +1065,6 @@ This may take up to a minute.</source>
         <source>openpilot defaults to driving in &lt;b&gt;chill mode&lt;/b&gt;. Experimental mode enables &lt;b&gt;alpha-level features&lt;/b&gt; that aren&apos;t ready for chill mode. Experimental features are listed below:</source>
         <translation>openpilot 預設以 &lt;b&gt;輕鬆模式&lt;/b&gt; 駕駛。    實驗模式啟用了尚未準備好進入輕鬆模式的 &lt;b&gt;alpha 級功能&lt;/b&gt;。實驗功能如下：</translation>
     </message>
-    <message>
-        <source>🌮 End-to-End Longitudinal Control 🌮</source>
-        <translation>🌮端到端縱向控制🌮</translation>
-    </message>
     <message>
         <source>Let the driving model control the gas and brakes. openpilot will drive as it thinks a human would, including stopping for red lights and stop signs. Since the driving model decides the speed to drive, the set speed will only act as an upper bound. This is an alpha quality feature; mistakes should be expected.</source>
         <translation>讓駕駛模型來控制油門及煞車。openpilot將會模擬人類的駕駛行為，包含在看見紅燈及停止標示時停車。由於車速將由駕駛模型決定，因此您設定的時速將成為速度上限。本功能仍在早期實驗階段，請預期模型有犯錯的可能性。</translation>
@@ -1002,37 +1073,69 @@ This may take up to a minute.</source>
         <source>New Driving Visualization</source>
         <translation>新的駕駛視覺介面</translation>
     </message>
-    <message>
-        <source>The driving visualization will transition to the road-facing wide-angle camera at low speeds to better show some turns. The Experimental mode logo will also be shown in the top right corner.</source>
-        <translation>低速行駛時，將會切換成路側廣角鏡頭，以完整顯示轉彎路徑，右上角將出現實驗模式圖案。</translation>
-    </message>
     <message>
         <source>Experimental mode is currently unavailable on this car since the car&apos;s stock ACC is used for longitudinal control.</source>
         <translation>因車輛使用內建ACC系統，無法在本車輛上啟動實驗模式。</translation>
     </message>
     <message>
         <source>openpilot longitudinal control may come in a future update.</source>
-        <translation>未來可能會推出openpilot縱向控制</translation>
-    </message>
-    <message>
-        <source>An experimental version of openpilot longitudinal control can be tested, along with Experimental mode, on non-release branches.</source>
-        <translation>在非發行分支中 可找到包含實驗模式的openpilot縱向控制測試版本</translation>
-    </message>
-    <message>
-        <source>Enable experimental longitudinal control to allow Experimental mode.</source>
-        <translation>啟用實驗性縱向控制以使用實驗模式。</translation>
+        <translation>openpilot 縱向控制可能會在未來的更新中提供。</translation>
     </message>
     <message>
         <source>openpilot Longitudinal Control (Alpha)</source>
-        <translation type="unfinished"></translation>
+        <translation>openpilot 縱向控制 (Alpha 版)</translation>
     </message>
     <message>
         <source>WARNING: openpilot longitudinal control is in alpha for this car and will disable Automatic Emergency Braking (AEB).</source>
-        <translation type="unfinished"></translation>
+        <translation>警告：此車輛的 openpilot 縱向控制功能目前處於 Alpha 版本，使用此功能將會停用自動緊急制動（AEB）功能。</translation>
     </message>
     <message>
         <source>On this car, openpilot defaults to the car&apos;s built-in ACC instead of openpilot&apos;s longitudinal control. Enable this to switch to openpilot longitudinal control. Enabling Experimental mode is recommended when enabling openpilot longitudinal control alpha.</source>
-        <translation type="unfinished"></translation>
+        <translation>在這輛車上，openpilot 預設使用車輛內建的主動巡航控制（ACC），而非 openpilot 的縱向控制。啟用此項功能可切換至 openpilot 的縱向控制。當啟用 openpilot 縱向控制 Alpha 版本時，建議同時啟用實驗性模式（Experimental mode）。</translation>
+    </message>
+    <message>
+        <source>Aggressive</source>
+        <translation>積極</translation>
+    </message>
+    <message>
+        <source>Standard</source>
+        <translation>標準</translation>
+    </message>
+    <message>
+        <source>Relaxed</source>
+        <translation>舒適</translation>
+    </message>
+    <message>
+        <source>Driving Personality</source>
+        <translation>駕駛風格</translation>
+    </message>
+    <message>
+        <source>Standard is recommended. In aggressive mode, openpilot will follow lead cars closer and be more aggressive with the gas and brake. In relaxed mode openpilot will stay further away from lead cars.</source>
+        <translation>推薦使用標準模式。在積極模式中，openpilot 會更靠近前車並在加速和剎車方面更積極。在舒適模式中，openpilot 會與前車保持較遠的距離。</translation>
+    </message>
+    <message>
+        <source>An alpha version of openpilot longitudinal control can be tested, along with Experimental mode, on non-release branches.</source>
+        <translation>在正式 (release) 版以外的分支上可以測試 openpilot 縱向控制的 Alpha 版本以及實驗模式。</translation>
+    </message>
+    <message>
+        <source>Navigate on openpilot</source>
+        <translation>Navigate on openpilot</translation>
+    </message>
+    <message>
+        <source>Enable the openpilot longitudinal control (alpha) toggle to allow Experimental mode.</source>
+        <translation>啟用 openpilot 縱向控制（alpha）切換以允許實驗模式。</translation>
+    </message>
+    <message>
+        <source>End-to-End Longitudinal Control</source>
+        <translation>端到端縱向控制</translation>
+    </message>
+    <message>
+        <source>When navigation has a destination, openpilot will input the map information into the model. This provides useful context for the model and allows openpilot to keep left or right appropriately at forks/exits. Lane change behavior is unchanged and still activated by the driver. This is an alpha quality feature; mistakes should be expected, particularly around exits and forks. These mistakes can include unintended laneline crossings, late exit taking, driving towards dividing barriers in the gore areas, etc.</source>
+        <translation>当导航有目的地时，openpilot 将把地图信息输入模型中。这为模型提供了有用的背景信息，使 openpilot 能够在叉路/出口时适当地保持左侧或右侧行驶。车道变换行为保持不变，仍由驾驶员激活。这是一个 Alpha 版的功能；可能会出现错误，特别是在出口和分叉处。这些错误可能包括意外的车道越界、晚出口、朝着分隔栏驶向分隔带区域等。</translation>
+    </message>
+    <message>
+        <source>The driving visualization will transition to the road-facing wide-angle camera at low speeds to better show some turns. The Experimental mode logo will also be shown in the top right corner. When a navigation destination is set and the driving model is using it as input, the driving path on the map will turn green.</source>
+        <translation>行駛畫面將在低速時切換至道路朝向的廣角鏡頭，以更好地顯示一些轉彎。實驗模式圖標也將顯示在右上角。當設定了導航目的地並且行駛模型正在將其作為輸入時，地圖上的行駛路徑將變為綠色。</translation>
     </message>
 </context>
 <context>
@@ -1070,6 +1173,29 @@ This may take up to a minute.</source>
         <translation>更新失敗</translation>
     </message>
 </context>
+<context>
+    <name>WiFiPromptWidget</name>
+    <message>
+        <source>Setup Wi-Fi</source>
+        <translation>設置 Wi-Fi 連接</translation>
+    </message>
+    <message>
+        <source>Connect to Wi-Fi to upload driving data and help improve openpilot</source>
+        <translation>請連接至 Wi-Fi 傳駕駛數據以協助改進 openpilot</translation>
+    </message>
+    <message>
+        <source>Open Settings</source>
+        <translation>開啟設置</translation>
+    </message>
+    <message>
+        <source>Ready to upload</source>
+        <translation>準備好上傳</translation>
+    </message>
+    <message>
+        <source>Training data will be pulled periodically while your device is on Wi-Fi</source>
+        <translation>訓練數據將定期經過 Wi-Fi 上傳</translation>
+    </message>
+</context>
 <context>
     <name>WifiUI</name>
     <message>
diff --git a/selfdrive/ui/ui.cc b/selfdrive/ui/ui.cc
index ac8caa0f20..95be0e3ed9 100644
--- a/selfdrive/ui/ui.cc
+++ b/selfdrive/ui/ui.cc
@@ -14,7 +14,6 @@
 
 #define BACKLIGHT_DT 0.05
 #define BACKLIGHT_TS 10.00
-#define BACKLIGHT_OFFROAD 50
 
 // Projects a point in car to space to the corresponding point in full frame
 // image space.
@@ -24,7 +23,7 @@ static bool calib_frame_to_full_frame(const UIState *s, float in_x, float in_y,
 
   const vec3 pt = (vec3){{in_x, in_y, in_z}};
   const vec3 Ep = matvecmul3(s->scene.wide_cam ? s->scene.view_from_wide_calib : s->scene.view_from_calib, pt);
-  const vec3 KEp = matvecmul3(s->scene.wide_cam ? ecam_intrinsic_matrix : fcam_intrinsic_matrix, Ep);
+  const vec3 KEp = matvecmul3(s->scene.wide_cam ? ECAM_INTRINSIC_MATRIX : FCAM_INTRINSIC_MATRIX, Ep);
 
   // Project.
   QPointF point = s->car_space_transform.map(QPointF{KEp.v[0] / KEp.v[2], KEp.v[1] / KEp.v[2]});
@@ -79,7 +78,7 @@ void update_line_data(const UIState *s, const cereal::XYZTData::Reader &line,
   *pvd = left_points + right_points;
 }
 
-void update_model(UIState *s, 
+void update_model(UIState *s,
                   const cereal::ModelDataV2::Reader &model,
                   const cereal::UiPlan::Reader &plan) {
   UIScene &scene = s->scene;
@@ -159,8 +158,9 @@ static void update_state(UIState *s) {
   UIScene &scene = s->scene;
 
   if (sm.updated("liveCalibration")) {
-    auto rpy_list = sm["liveCalibration"].getLiveCalibration().getRpyCalib();
-    auto wfde_list = sm["liveCalibration"].getLiveCalibration().getWideFromDeviceEuler();
+    auto live_calib = sm["liveCalibration"].getLiveCalibration();
+    auto rpy_list = live_calib.getRpyCalib();
+    auto wfde_list = live_calib.getWideFromDeviceEuler();
     Eigen::Vector3d rpy;
     Eigen::Vector3d wfde;
     if (rpy_list.size() == 3) rpy << rpy_list[0], rpy_list[1], rpy_list[2];
@@ -179,7 +179,7 @@ static void update_state(UIState *s) {
         scene.view_from_wide_calib.v[i*3 + j] = view_from_wide_calib(i,j);
       }
     }
-    scene.calibration_valid = sm["liveCalibration"].getLiveCalibration().getCalStatus() == cereal::LiveCalibrationData::Status::CALIBRATED;
+    scene.calibration_valid = live_calib.getCalStatus() == cereal::LiveCalibrationData::Status::CALIBRATED;
     scene.calibration_wide_valid = wfde_list.size() == 3;
   }
   if (sm.updated("pandaStates")) {
@@ -201,8 +201,9 @@ static void update_state(UIState *s) {
     scene.longitudinal_control = sm["carParams"].getCarParams().getOpenpilotLongitudinalControl();
   }
   if (sm.updated("wideRoadCameraState")) {
-    float scale = (sm["wideRoadCameraState"].getWideRoadCameraState().getSensor() == cereal::FrameData::ImageSensor::AR0231) ? 6.0f : 1.0f;
-    scene.light_sensor = std::max(100.0f - scale * sm["wideRoadCameraState"].getWideRoadCameraState().getExposureValPercent(), 0.0f);
+    auto cam_state = sm["wideRoadCameraState"].getWideRoadCameraState();
+    float scale = (cam_state.getSensor() == cereal::FrameData::ImageSensor::AR0231) ? 6.0f : 1.0f;
+    scene.light_sensor = std::max(100.0f - scale * cam_state.getExposureValPercent(), 0.0f);
   }
   scene.started = sm["deviceState"].getDeviceState().getStarted() && scene.ignition;
 }
@@ -216,13 +217,8 @@ void ui_update_params(UIState *s) {
 void UIState::updateStatus() {
   if (scene.started && sm->updated("controlsState")) {
     auto controls_state = (*sm)["controlsState"].getControlsState();
-    auto alert_status = controls_state.getAlertStatus();
     auto state = controls_state.getState();
-    if (alert_status == cereal::ControlsState::AlertStatus::USER_PROMPT) {
-      status = STATUS_WARNING;
-    } else if (alert_status == cereal::ControlsState::AlertStatus::CRITICAL) {
-      status = STATUS_ALERT;
-    } else if (state == cereal::ControlsState::OpenpilotState::PRE_ENABLED || state == cereal::ControlsState::OpenpilotState::OVERRIDING) {
+    if (state == cereal::ControlsState::OpenpilotState::PRE_ENABLED || state == cereal::ControlsState::OpenpilotState::OVERRIDING) {
       status = STATUS_OVERRIDE;
     } else {
       status = controls_state.getEnabled() ? STATUS_ENGAGED : STATUS_DISENGAGED;
@@ -278,7 +274,7 @@ void UIState::setPrimeType(int type) {
 
 Device::Device(QObject *parent) : brightness_filter(BACKLIGHT_OFFROAD, BACKLIGHT_TS, BACKLIGHT_DT), QObject(parent) {
   setAwake(true);
-  resetInteractiveTimout();
+  resetInteractiveTimeout();
 
   QObject::connect(uiState(), &UIState::uiUpdate, this, &Device::update);
 }
@@ -286,9 +282,6 @@ Device::Device(QObject *parent) : brightness_filter(BACKLIGHT_OFFROAD, BACKLIGHT
 void Device::update(const UIState &s) {
   updateBrightness(s);
   updateWakefulness(s);
-
-  // TODO: remove from UIState and use signals
-  uiState()->awake = awake;
 }
 
 void Device::setAwake(bool on) {
@@ -300,12 +293,12 @@ void Device::setAwake(bool on) {
   }
 }
 
-void Device::resetInteractiveTimout() {
+void Device::resetInteractiveTimeout() {
   interactive_timeout = (ignition_on ? 10 : 30) * UI_FREQ;
 }
 
 void Device::updateBrightness(const UIState &s) {
-  float clipped_brightness = BACKLIGHT_OFFROAD;
+  float clipped_brightness = offroad_brightness;
   if (s.scene.started) {
     clipped_brightness = s.scene.light_sensor;
 
@@ -338,9 +331,9 @@ void Device::updateWakefulness(const UIState &s) {
   ignition_on = s.scene.ignition;
 
   if (ignition_just_turned_off) {
-    resetInteractiveTimout();
+    resetInteractiveTimeout();
   } else if (interactive_timeout > 0 && --interactive_timeout == 0) {
-    emit interactiveTimout();
+    emit interactiveTimeout();
   }
 
   setAwake(s.scene.ignition || interactive_timeout > 0);
@@ -350,3 +343,8 @@ UIState *uiState() {
   static UIState ui_state;
   return &ui_state;
 }
+
+Device *device() {
+  static Device _device;
+  return &_device;
+}
diff --git a/selfdrive/ui/ui.h b/selfdrive/ui/ui.h
index 2df0470035..572065d961 100644
--- a/selfdrive/ui/ui.h
+++ b/selfdrive/ui/ui.h
@@ -16,11 +16,11 @@
 #include "common/params.h"
 #include "common/timing.h"
 
-const int bdr_s = 30;
-const int header_h = 420;
-const int footer_h = 280;
+const int UI_BORDER_SIZE = 30;
+const int UI_HEADER_HEIGHT = 420;
 
 const int UI_FREQ = 20; // Hz
+const int BACKLIGHT_OFFROAD = 50;
 typedef cereal::CarControl::HUDControl::AudibleAlert AudibleAlert;
 
 const mat3 DEFAULT_CALIBRATION = {{ 0.0, 1.0, 0.0, 0.0, 0.0, 1.0, 1.0, 0.0, 0.0 }};
@@ -40,6 +40,7 @@ struct Alert {
   QString text2;
   QString type;
   cereal::ControlsState::AlertSize size;
+  cereal::ControlsState::AlertStatus status;
   AudibleAlert sound;
 
   bool equal(const Alert &a2) {
@@ -48,34 +49,43 @@ struct Alert {
 
   static Alert get(const SubMaster &sm, uint64_t started_frame) {
     const cereal::ControlsState::Reader &cs = sm["controlsState"].getControlsState();
-    if (sm.updated("controlsState")) {
-      return {cs.getAlertText1().cStr(), cs.getAlertText2().cStr(),
-              cs.getAlertType().cStr(), cs.getAlertSize(),
-              cs.getAlertSound()};
-    } else if ((sm.frame - started_frame) > 5 * UI_FREQ) {
+    const uint64_t controls_frame = sm.rcv_frame("controlsState");
+
+    Alert alert = {};
+    if (controls_frame >= started_frame) {  // Don't get old alert.
+      alert = {cs.getAlertText1().cStr(), cs.getAlertText2().cStr(),
+               cs.getAlertType().cStr(), cs.getAlertSize(),
+               cs.getAlertStatus(),
+               cs.getAlertSound()};
+    }
+
+    if (!sm.updated("controlsState") && (sm.frame - started_frame) > 5 * UI_FREQ) {
       const int CONTROLS_TIMEOUT = 5;
       const int controls_missing = (nanos_since_boot() - sm.rcv_time("controlsState")) / 1e9;
 
       // Handle controls timeout
-      if (sm.rcv_frame("controlsState") < started_frame) {
+      if (controls_frame < started_frame) {
         // car is started, but controlsState hasn't been seen at all
-        return {"openpilot Unavailable", "Waiting for controls to start",
-                "controlsWaiting", cereal::ControlsState::AlertSize::MID,
-                AudibleAlert::NONE};
+        alert = {"openpilot Unavailable", "Waiting for controls to start",
+                 "controlsWaiting", cereal::ControlsState::AlertSize::MID,
+                 cereal::ControlsState::AlertStatus::NORMAL,
+                 AudibleAlert::NONE};
       } else if (controls_missing > CONTROLS_TIMEOUT && !Hardware::PC()) {
         // car is started, but controls is lagging or died
         if (cs.getEnabled() && (controls_missing - CONTROLS_TIMEOUT) < 10) {
-          return {"TAKE CONTROL IMMEDIATELY", "Controls Unresponsive",
-                  "controlsUnresponsive", cereal::ControlsState::AlertSize::FULL,
-                  AudibleAlert::WARNING_IMMEDIATE};
+          alert = {"TAKE CONTROL IMMEDIATELY", "Controls Unresponsive",
+                   "controlsUnresponsive", cereal::ControlsState::AlertSize::FULL,
+                   cereal::ControlsState::AlertStatus::CRITICAL,
+                   AudibleAlert::WARNING_IMMEDIATE};
         } else {
-          return {"Controls Unresponsive", "Reboot Device",
-                  "controlsUnresponsivePermanent", cereal::ControlsState::AlertSize::MID,
-                  AudibleAlert::NONE};
+          alert = {"Controls Unresponsive", "Reboot Device",
+                   "controlsUnresponsivePermanent", cereal::ControlsState::AlertSize::MID,
+                   cereal::ControlsState::AlertStatus::NORMAL,
+                   AudibleAlert::NONE};
         }
       }
     }
-    return {};
+    return alert;
   }
 };
 
@@ -83,16 +93,18 @@ typedef enum UIStatus {
   STATUS_DISENGAGED,
   STATUS_OVERRIDE,
   STATUS_ENGAGED,
-  STATUS_WARNING,
-  STATUS_ALERT,
 } UIStatus;
 
 const QColor bg_colors [] = {
   [STATUS_DISENGAGED] = QColor(0x17, 0x33, 0x49, 0xc8),
   [STATUS_OVERRIDE] = QColor(0x91, 0x9b, 0x95, 0xf1),
   [STATUS_ENGAGED] = QColor(0x17, 0x86, 0x44, 0xf1),
-  [STATUS_WARNING] = QColor(0xDA, 0x6F, 0x25, 0xf1),
-  [STATUS_ALERT] = QColor(0xC9, 0x22, 0x31, 0xf1),
+};
+
+static std::map<cereal::ControlsState::AlertStatus, QColor> alert_colors = {
+  {cereal::ControlsState::AlertStatus::NORMAL, QColor(0x15, 0x15, 0x15, 0xf1)},
+  {cereal::ControlsState::AlertStatus::USER_PROMPT, QColor(0xDA, 0x6F, 0x25, 0xf1)},
+  {cereal::ControlsState::AlertStatus::CRITICAL, QColor(0xC9, 0x22, 0x31, 0xf1)},
 };
 
 typedef struct UIScene {
@@ -120,6 +132,8 @@ typedef struct UIScene {
   float driver_pose_coss[3];
   vec3 face_kpts_draw[std::size(default_face_kpts_3d)];
 
+  bool navigate_on_openpilot = false;
+
   float light_sensor;
   bool started, ignition, is_metric, map_on_left, longitudinal_control;
   uint64_t started_frame;
@@ -148,7 +162,6 @@ public:
   UIStatus status;
   UIScene scene = {};
 
-  bool awake;
   QString language;
 
   QTransform car_space_transform;
@@ -175,29 +188,36 @@ class Device : public QObject {
 
 public:
   Device(QObject *parent = 0);
+  bool isAwake() { return awake; }
+  void setOffroadBrightness(int brightness) {
+    offroad_brightness = std::clamp(brightness, 0, 100);
+  }
 
 private:
   bool awake = false;
   int interactive_timeout = 0;
   bool ignition_on = false;
+
+  int offroad_brightness = BACKLIGHT_OFFROAD;
   int last_brightness = 0;
   FirstOrderFilter brightness_filter;
   QFuture<void> brightness_future;
 
   void updateBrightness(const UIState &s);
   void updateWakefulness(const UIState &s);
-  bool motionTriggered(const UIState &s);
   void setAwake(bool on);
 
 signals:
   void displayPowerChanged(bool on);
-  void interactiveTimout();
+  void interactiveTimeout();
 
 public slots:
-  void resetInteractiveTimout();
+  void resetInteractiveTimeout();
   void update(const UIState &s);
 };
 
+Device *device();
+
 void ui_update_params(UIState *s);
 int get_path_length_idx(const cereal::XYZTData::Reader &line, const float path_height);
 void update_model(UIState *s,
diff --git a/selfdrive/ui/update_translations.py b/selfdrive/ui/update_translations.py
index 5964eb49dc..e8460c4274 100755
--- a/selfdrive/ui/update_translations.py
+++ b/selfdrive/ui/update_translations.py
@@ -8,9 +8,23 @@ from common.basedir import BASEDIR
 UI_DIR = os.path.join(BASEDIR, "selfdrive", "ui")
 TRANSLATIONS_DIR = os.path.join(UI_DIR, "translations")
 LANGUAGES_FILE = os.path.join(TRANSLATIONS_DIR, "languages.json")
+TRANSLATIONS_INCLUDE_FILE = os.path.join(TRANSLATIONS_DIR, "alerts_generated.h")
 
 
+def generate_translations_include():
+  # offroad alerts
+  # TODO translate events from selfdrive/controls/lib/events.py
+  content = "// THIS IS AN AUTOGENERATED FILE, PLEASE EDIT alerts_offroad.json\n"
+  with open(os.path.join(BASEDIR, "selfdrive/controls/lib/alerts_offroad.json")) as f:
+    for alert in json.load(f).values():
+      content += f'QT_TRANSLATE_NOOP("OffroadAlert", R"({alert["text"]})");\n'
+
+  with open(TRANSLATIONS_INCLUDE_FILE, "w") as f:
+    f.write(content)
+
 def update_translations(vanish=False, plural_only=None, translations_dir=TRANSLATIONS_DIR):
+  generate_translations_include()
+
   if plural_only is None:
     plural_only = []
 
@@ -32,7 +46,8 @@ if __name__ == "__main__":
   parser = argparse.ArgumentParser(description="Update translation files for UI",
                                    formatter_class=argparse.ArgumentDefaultsHelpFormatter)
   parser.add_argument("--vanish", action="store_true", help="Remove translations with source text no longer found")
-  parser.add_argument("--plural-only", type=str, nargs="*", default=["main_en"], help="Translation codes to only create plural translations for (ie. the base language)")
+  parser.add_argument("--plural-only", type=str, nargs="*", default=["main_en"],
+                      help="Translation codes to only create plural translations for (ie. the base language)")
   args = parser.parse_args()
 
   update_translations(args.vanish, args.plural_only)
diff --git a/selfdrive/updated.py b/selfdrive/updated.py
index 2cb7d1c13b..5761f4ec61 100755
--- a/selfdrive/updated.py
+++ b/selfdrive/updated.py
@@ -16,6 +16,7 @@ from markdown_it import MarkdownIt
 
 from common.basedir import BASEDIR
 from common.params import Params
+from common.time import system_time_valid
 from system.hardware import AGNOS, HARDWARE
 from system.swaglog import cloudlog
 from selfdrive.controls.lib.alertmanager import set_offroad_alert
@@ -256,14 +257,14 @@ class Updater:
   def get_commit_hash(self, path: str = OVERLAY_MERGED) -> str:
     return run(["git", "rev-parse", "HEAD"], path).rstrip()
 
-  def set_params(self, failed_count: int, exception: Optional[str]) -> None:
+  def set_params(self, update_success: bool, failed_count: int, exception: Optional[str]) -> None:
     self.params.put("UpdateFailedCount", str(failed_count))
 
     self.params.put_bool("UpdaterFetchAvailable", self.update_available)
     self.params.put("UpdaterAvailableBranches", ','.join(self.branches.keys()))
 
     last_update = datetime.datetime.utcnow()
-    if failed_count == 0:
+    if update_success:
       t = last_update.isoformat()
       self.params.put("LastUpdateTime", t.encode('utf8'))
     else:
@@ -317,11 +318,12 @@ class Updater:
       else:
         extra_text = exception
       set_offroad_alert("Offroad_UpdateFailed", True, extra_text=extra_text)
-    elif dt.days > DAYS_NO_CONNECTIVITY_MAX and failed_count > 1:
-      set_offroad_alert("Offroad_ConnectivityNeeded", True)
-    elif dt.days > DAYS_NO_CONNECTIVITY_PROMPT:
-      remaining = max(DAYS_NO_CONNECTIVITY_MAX - dt.days, 1)
-      set_offroad_alert("Offroad_ConnectivityNeededPrompt", True, extra_text=f"{remaining} day{'' if remaining == 1 else 's'}.")
+    elif failed_count > 0:
+      if dt.days > DAYS_NO_CONNECTIVITY_MAX:
+        set_offroad_alert("Offroad_ConnectivityNeeded", True)
+      elif dt.days > DAYS_NO_CONNECTIVITY_PROMPT:
+        remaining = max(DAYS_NO_CONNECTIVITY_MAX - dt.days, 1)
+        set_offroad_alert("Offroad_ConnectivityNeededPrompt", True, extra_text=f"{remaining} day{'' if remaining == 1 else 's'}.")
 
   def check_for_update(self) -> None:
     cloudlog.info("checking for updates")
@@ -417,7 +419,7 @@ def main() -> None:
     params.put("InstallDate", t.encode('utf8'))
 
   updater = Updater()
-  update_failed_count = 0  # TODO: Load from param?
+  update_failed_count = 0 # TODO: Load from param?
 
   # no fetch on the first time
   wait_helper = WaitTimeHelper()
@@ -437,7 +439,12 @@ def main() -> None:
       init_overlay()
 
       # ensure we have some params written soon after startup
-      updater.set_params(update_failed_count, exception)
+      updater.set_params(False, update_failed_count, exception)
+
+      if not system_time_valid():
+        wait_helper.sleep(60)
+        continue
+
       update_failed_count += 1
 
       # check for update
@@ -466,7 +473,8 @@ def main() -> None:
 
     try:
       params.put("UpdaterState", "idle")
-      updater.set_params(update_failed_count, exception)
+      update_successful = (update_failed_count == 0)
+      updater.set_params(update_successful, update_failed_count, exception)
     except Exception:
       cloudlog.exception("uncaught updated exception while setting params, shouldn't happen")
 
diff --git a/system/camerad/cameras/camera_common.cc b/system/camerad/cameras/camera_common.cc
index 9ef5d89a4e..1b2594bc80 100644
--- a/system/camerad/cameras/camera_common.cc
+++ b/system/camerad/cameras/camera_common.cc
@@ -82,8 +82,6 @@ void CameraBuf::init(cl_device_id device_id, cl_context context, CameraState *s,
   rgb_width = ci->frame_width;
   rgb_height = ci->frame_height;
 
-  yuv_transform = get_model_yuv_transform();
-
   int nv12_width = VENUS_Y_STRIDE(COLOR_FMT_NV12, rgb_width);
   int nv12_height = VENUS_Y_SCANLINES(COLOR_FMT_NV12, rgb_height);
   assert(nv12_width == VENUS_UV_STRIDE(COLOR_FMT_NV12, rgb_width));
@@ -151,7 +149,6 @@ void fill_frame_data(cereal::FrameData::Builder &framed, const FrameMetadata &fr
   framed.setFrameId(frame_data.frame_id);
   framed.setTimestampEof(frame_data.timestamp_eof);
   framed.setTimestampSof(frame_data.timestamp_sof);
-  framed.setFrameLength(frame_data.frame_length);
   framed.setIntegLines(frame_data.integ_lines);
   framed.setGain(frame_data.gain);
   framed.setHighConversionGain(frame_data.high_conversion_gain);
diff --git a/system/camerad/cameras/camera_common.h b/system/camerad/cameras/camera_common.h
index 07d1291a2a..3e56f5690d 100644
--- a/system/camerad/cameras/camera_common.h
+++ b/system/camerad/cameras/camera_common.h
@@ -53,7 +53,6 @@ typedef struct CameraInfo {
 
 typedef struct FrameMetadata {
   uint32_t frame_id;
-  unsigned int frame_length;
 
   // Timestamps
   uint64_t timestamp_sof; // only set on tici
@@ -91,8 +90,6 @@ public:
   std::unique_ptr<FrameMetadata[]> camera_bufs_metadata;
   int rgb_width, rgb_height, rgb_stride;
 
-  mat3 yuv_transform;
-
   CameraBuf() = default;
   ~CameraBuf();
   void init(cl_device_id device_id, cl_context context, CameraState *s, VisionIpcServer * v, int frame_cnt, VisionStreamType yuv_type);
diff --git a/system/camerad/cameras/camera_qcom2.cc b/system/camerad/cameras/camera_qcom2.cc
index 4325eccde5..6f4a134438 100644
--- a/system/camerad/cameras/camera_qcom2.cc
+++ b/system/camerad/cameras/camera_qcom2.cc
@@ -143,7 +143,7 @@ void CameraState::sensors_start() {
 void CameraState::sensors_poke(int request_id) {
   uint32_t cam_packet_handle = 0;
   int size = sizeof(struct cam_packet);
-  struct cam_packet *pkt = (struct cam_packet *)mm.alloc(size, &cam_packet_handle);
+  auto pkt = mm.alloc<struct cam_packet>(size, &cam_packet_handle);
   pkt->num_cmd_buf = 0;
   pkt->kmd_cmd_buf_index = -1;
   pkt->header.size = size;
@@ -156,15 +156,13 @@ void CameraState::sensors_poke(int request_id) {
     enabled = false;
     return;
   }
-
-  mm.free(pkt);
 }
 
 void CameraState::sensors_i2c(struct i2c_random_wr_payload* dat, int len, int op_code, bool data_word) {
   // LOGD("sensors_i2c: %d", len);
   uint32_t cam_packet_handle = 0;
   int size = sizeof(struct cam_packet)+sizeof(struct cam_cmd_buf_desc)*1;
-  struct cam_packet *pkt = (struct cam_packet *)mm.alloc(size, &cam_packet_handle);
+  auto pkt = mm.alloc<struct cam_packet>(size, &cam_packet_handle);
   pkt->num_cmd_buf = 1;
   pkt->kmd_cmd_buf_index = -1;
   pkt->header.size = size;
@@ -174,7 +172,7 @@ void CameraState::sensors_i2c(struct i2c_random_wr_payload* dat, int len, int op
   buf_desc[0].size = buf_desc[0].length = sizeof(struct i2c_rdwr_header) + len*sizeof(struct i2c_random_wr_payload);
   buf_desc[0].type = CAM_CMD_BUF_I2C;
 
-  struct cam_cmd_i2c_random_wr *i2c_random_wr = (struct cam_cmd_i2c_random_wr *)mm.alloc(buf_desc[0].size, (uint32_t*)&buf_desc[0].mem_handle);
+  auto i2c_random_wr = mm.alloc<struct cam_cmd_i2c_random_wr>(buf_desc[0].size, (uint32_t*)&buf_desc[0].mem_handle);
   i2c_random_wr->header.count = len;
   i2c_random_wr->header.op_code = 1;
   i2c_random_wr->header.cmd_type = CAMERA_SENSOR_CMD_TYPE_I2C_RNDM_WR;
@@ -188,9 +186,6 @@ void CameraState::sensors_i2c(struct i2c_random_wr_payload* dat, int len, int op
     enabled = false;
     return;
   }
-
-  mm.free(i2c_random_wr);
-  mm.free(pkt);
 }
 
 static cam_cmd_power *power_set_wait(cam_cmd_power *power, int16_t delay_ms) {
@@ -204,7 +199,7 @@ static cam_cmd_power *power_set_wait(cam_cmd_power *power, int16_t delay_ms) {
 int CameraState::sensors_init() {
   uint32_t cam_packet_handle = 0;
   int size = sizeof(struct cam_packet)+sizeof(struct cam_cmd_buf_desc)*2;
-  struct cam_packet *pkt = (struct cam_packet *)mm.alloc(size, &cam_packet_handle);
+  auto pkt = mm.alloc<struct cam_packet>(size, &cam_packet_handle);
   pkt->num_cmd_buf = 2;
   pkt->kmd_cmd_buf_index = -1;
   pkt->header.op_code = 0x1000000 | CAM_SENSOR_PACKET_OPCODE_SENSOR_PROBE;
@@ -213,8 +208,8 @@ int CameraState::sensors_init() {
 
   buf_desc[0].size = buf_desc[0].length = sizeof(struct cam_cmd_i2c_info) + sizeof(struct cam_cmd_probe);
   buf_desc[0].type = CAM_CMD_BUF_LEGACY;
-  struct cam_cmd_i2c_info *i2c_info = (struct cam_cmd_i2c_info *)mm.alloc(buf_desc[0].size, (uint32_t*)&buf_desc[0].mem_handle);
-  auto probe = (struct cam_cmd_probe *)(i2c_info + 1);
+  auto i2c_info = mm.alloc<struct cam_cmd_i2c_info>(buf_desc[0].size, (uint32_t*)&buf_desc[0].mem_handle);
+  auto probe = (struct cam_cmd_probe *)(i2c_info.get() + 1);
 
   probe->camera_id = camera_num;
   switch (camera_num) {
@@ -255,11 +250,11 @@ int CameraState::sensors_init() {
   //buf_desc[1].size = buf_desc[1].length = 148;
   buf_desc[1].size = buf_desc[1].length = 196;
   buf_desc[1].type = CAM_CMD_BUF_I2C;
-  struct cam_cmd_power *power_settings = (struct cam_cmd_power *)mm.alloc(buf_desc[1].size, (uint32_t*)&buf_desc[1].mem_handle);
-  memset(power_settings, 0, buf_desc[1].size);
+  auto power_settings = mm.alloc<struct cam_cmd_power>(buf_desc[1].size, (uint32_t*)&buf_desc[1].mem_handle);
+  memset(power_settings.get(), 0, buf_desc[1].size);
 
   // power on
-  struct cam_cmd_power *power = power_settings;
+  struct cam_cmd_power *power = power_settings.get();
   power->count = 4;
   power->cmd_type = CAMERA_SENSOR_CMD_TYPE_PWR_UP;
   power->power_settings[0].power_seq_type = 3; // clock??
@@ -315,11 +310,6 @@ int CameraState::sensors_init() {
 
   int ret = do_cam_control(sensor_fd, CAM_SENSOR_PROBE_CMD, (void *)(uintptr_t)cam_packet_handle, 0);
   LOGD("probing the sensor: %d", ret);
-
-  mm.free(i2c_info);
-  mm.free(power_settings);
-  mm.free(pkt);
-
   return ret;
 }
 
@@ -329,7 +319,7 @@ void CameraState::config_isp(int io_mem_handle, int fence, int request_id, int b
   if (io_mem_handle != 0) {
     size += sizeof(struct cam_buf_io_cfg);
   }
-  struct cam_packet *pkt = (struct cam_packet *)mm.alloc(size, &cam_packet_handle);
+  auto pkt = mm.alloc<struct cam_packet>(size, &cam_packet_handle);
   pkt->num_cmd_buf = 2;
   pkt->kmd_cmd_buf_index = 0;
   // YUV has kmd_cmd_buf_offset = 1780
@@ -424,8 +414,8 @@ void CameraState::config_isp(int io_mem_handle, int fence, int request_id, int b
   buf_desc[1].length = buf_desc[1].size - buf_desc[1].offset;
   buf_desc[1].type = CAM_CMD_BUF_GENERIC;
   buf_desc[1].meta_data = CAM_ISP_PACKET_META_GENERIC_BLOB_COMMON;
-  uint32_t *buf2 = (uint32_t *)mm.alloc(buf_desc[1].size, (uint32_t*)&buf_desc[1].mem_handle);
-  memcpy(buf2, &tmp, sizeof(tmp));
+  auto buf2 = mm.alloc<uint32_t>(buf_desc[1].size, (uint32_t*)&buf_desc[1].mem_handle);
+  memcpy(buf2.get(), &tmp, sizeof(tmp));
 
   if (io_mem_handle != 0) {
     io_cfg[0].mem_handle[0] = io_mem_handle;
@@ -459,9 +449,6 @@ void CameraState::config_isp(int io_mem_handle, int fence, int request_id, int b
   if (ret != 0) {
     LOGE("isp config failed");
   }
-
-  mm.free(buf2);
-  mm.free(pkt);
 }
 
 void CameraState::enqueue_buffer(int i, bool dp) {
@@ -496,7 +483,7 @@ void CameraState::enqueue_buffer(int i, bool dp) {
   strcpy(sync_create.name, "NodeOutputPortFence");
   ret = do_cam_control(multi_cam_state->cam_sync_fd, CAM_SYNC_CREATE, &sync_create, sizeof(sync_create));
   if (ret != 0) {
-    LOGE("failed to create fence: %d %d", ret, sync_create.sync_obj)
+    LOGE("failed to create fence: %d %d", ret, sync_create.sync_obj);
   }
   sync_objs[i] = sync_create.sync_obj;
 
@@ -746,7 +733,7 @@ void CameraState::camera_open(MultiCameraState *multi_cam_state_, int camera_num
   {
     uint32_t cam_packet_handle = 0;
     int size = sizeof(struct cam_packet)+sizeof(struct cam_cmd_buf_desc)*1;
-    struct cam_packet *pkt = (struct cam_packet *)mm.alloc(size, &cam_packet_handle);
+    auto pkt = mm.alloc<struct cam_packet>(size, &cam_packet_handle);
     pkt->num_cmd_buf = 1;
     pkt->kmd_cmd_buf_index = -1;
     pkt->header.size = size;
@@ -755,7 +742,7 @@ void CameraState::camera_open(MultiCameraState *multi_cam_state_, int camera_num
     buf_desc[0].size = buf_desc[0].length = sizeof(struct cam_csiphy_info);
     buf_desc[0].type = CAM_CMD_BUF_GENERIC;
 
-    struct cam_csiphy_info *csiphy_info = (struct cam_csiphy_info *)mm.alloc(buf_desc[0].size, (uint32_t*)&buf_desc[0].mem_handle);
+    auto csiphy_info = mm.alloc<struct cam_csiphy_info>(buf_desc[0].size, (uint32_t*)&buf_desc[0].mem_handle);
     csiphy_info->lane_mask = 0x1f;
     csiphy_info->lane_assign = 0x3210;// skip clk. How is this 16 bit for 5 channels??
     csiphy_info->csiphy_3phase = 0x0; // no 3 phase, only 2 conductors per lane
@@ -767,9 +754,6 @@ void CameraState::camera_open(MultiCameraState *multi_cam_state_, int camera_num
 
     int ret_ = device_config(csiphy_fd, session_handle, csiphy_dev_handle, cam_packet_handle);
     assert(ret_ == 0);
-
-    mm.free(csiphy_info);
-    mm.free(pkt);
   }
 
   // link devices
@@ -1242,10 +1226,6 @@ void process_road_camera(MultiCameraState *s, CameraState *c, int cnt) {
     framed.setImage(get_raw_frame_image(b));
   }
   LOGT(c->buf.cur_frame_data.frame_id, "%s: Image set", c == &s->road_cam ? "RoadCamera" : "WideRoadCamera");
-  if (c == &s->road_cam) {
-    framed.setTransform(b->yuv_transform.v);
-    LOGT(c->buf.cur_frame_data.frame_id, "%s: Transformed", "RoadCamera");
-  }
 
   if (c->camera_id == CAMERA_ID_AR0231) {
     ar0231_process_registers(s, c, framed);
diff --git a/system/camerad/cameras/camera_util.cc b/system/camerad/cameras/camera_util.cc
index 6d139590e4..5e8640e99a 100644
--- a/system/camerad/cameras/camera_util.cc
+++ b/system/camerad/cameras/camera_util.cc
@@ -98,7 +98,7 @@ void release_fd(int video0_fd, uint32_t handle) {
   release(video0_fd, handle);
 }
 
-void *MemoryManager::alloc(int size, uint32_t *handle) {
+void *MemoryManager::alloc_buf(int size, uint32_t *handle) {
   lock.lock();
   void *ptr;
   if (!cached_allocations[size].empty()) {
diff --git a/system/camerad/cameras/camera_util.h b/system/camerad/cameras/camera_util.h
index e408f6c0e2..b36f404c0f 100644
--- a/system/camerad/cameras/camera_util.h
+++ b/system/camerad/cameras/camera_util.h
@@ -1,6 +1,8 @@
 #pragma once
 
+ #include <functional>
 #include <map>
+#include <memory>
 #include <mutex>
 #include <optional>
 #include <queue>
@@ -18,10 +20,17 @@ void release(int video0_fd, uint32_t handle);
 class MemoryManager {
   public:
     void init(int _video0_fd) { video0_fd = _video0_fd; }
-    void *alloc(int len, uint32_t *handle);
-    void free(void *ptr);
     ~MemoryManager();
+
+    template <class T>
+    auto alloc(int len, uint32_t *handle) {
+      return std::unique_ptr<T, std::function<void(void *)>>((T*)alloc_buf(len, handle), [this](void *ptr) { this->free(ptr); });
+    }
+
   private:
+    void *alloc_buf(int len, uint32_t *handle);
+    void free(void *ptr);
+
     std::mutex lock;
     std::map<void *, uint32_t> handle_lookup;
     std::map<void *, int> size_lookup;
diff --git a/system/camerad/snapshot/snapshot.py b/system/camerad/snapshot/snapshot.py
index 48dfc9e02d..447062fb2e 100755
--- a/system/camerad/snapshot/snapshot.py
+++ b/system/camerad/snapshot/snapshot.py
@@ -43,10 +43,10 @@ def yuv_to_rgb(y, u, v):
   return rgb.astype(np.uint8)
 
 
-def extract_image(buf, w, h, stride, uv_offset):
-  y = np.array(buf[:uv_offset], dtype=np.uint8).reshape((-1, stride))[:h, :w]
-  u = np.array(buf[uv_offset::2], dtype=np.uint8).reshape((-1, stride//2))[:h//2, :w//2]
-  v = np.array(buf[uv_offset+1::2], dtype=np.uint8).reshape((-1, stride//2))[:h//2, :w//2]
+def extract_image(buf):
+  y = np.array(buf.data[:buf.uv_offset], dtype=np.uint8).reshape((-1, buf.stride))[:buf.height, :buf.width]
+  u = np.array(buf.data[buf.uv_offset::2], dtype=np.uint8).reshape((-1, buf.stride//2))[:buf.height//2, :buf.width//2]
+  v = np.array(buf.data[buf.uv_offset+1::2], dtype=np.uint8).reshape((-1, buf.stride//2))[:buf.height//2, :buf.width//2]
 
   return yuv_to_rgb(y, u, v)
 
@@ -67,10 +67,10 @@ def get_snapshots(frame="roadCameraState", front_frame="driverCameraState"):
   rear, front = None, None
   if frame is not None:
     c = vipc_clients[frame]
-    rear = extract_image(c.recv(), c.width, c.height, c.stride, c.uv_offset)
+    rear = extract_image(c.recv())
   if front_frame is not None:
     c = vipc_clients[front_frame]
-    front = extract_image(c.recv(), c.width, c.height, c.stride, c.uv_offset)
+    front = extract_image(c.recv())
   return rear, front
 
 
diff --git a/system/camerad/test/frame_test.py b/system/camerad/test/frame_test.py
deleted file mode 100755
index 39198e19da..0000000000
--- a/system/camerad/test/frame_test.py
+++ /dev/null
@@ -1,37 +0,0 @@
-#!/usr/bin/env python3
-import numpy as np
-import cereal.messaging as messaging
-from PIL import ImageFont, ImageDraw, Image
-
-font = ImageFont.truetype("arial", size=72)
-def get_frame(idx):
-  img = np.zeros((874, 1164, 3), np.uint8)
-  img[100:400, 100:100+(idx % 10) * 100] = 255
-
-  # big number
-  im2 = Image.new("RGB", (200, 200))
-  draw = ImageDraw.Draw(im2)
-  draw.text((10, 100), "%02d" % idx, font=font)
-  img[400:600, 400:600] = np.array(im2.getdata()).reshape((200, 200, 3))
-  return img.tostring()
-
-if __name__ == "__main__":
-  from common.realtime import Ratekeeper
-  rk = Ratekeeper(20)
-
-  pm = messaging.PubMaster(['roadCameraState'])
-  frm = [get_frame(x) for x in range(30)]
-  idx = 0
-  while 1:
-    print("send %d" % idx)
-    dat = messaging.new_message('roadCameraState')
-    dat.valid = True
-    dat.frame = {
-      "frameId": idx,
-      "image": frm[idx % len(frm)],
-    }
-    pm.send('roadCameraState', dat)
-
-    idx += 1
-    rk.keep_time()
-    #time.sleep(1.0)
diff --git a/system/camerad/test/test_exposure.py b/system/camerad/test/test_exposure.py
index 201b205c4f..979272d024 100755
--- a/system/camerad/test/test_exposure.py
+++ b/system/camerad/test/test_exposure.py
@@ -3,7 +3,7 @@ import time
 import unittest
 import numpy as np
 
-from selfdrive.test.helpers import with_processes
+from selfdrive.test.helpers import with_processes, phone_only
 from system.camerad.snapshot.snapshot import get_snapshots
 
 TEST_TIME = 45
@@ -28,6 +28,7 @@ class TestCamerad(unittest.TestCase):
     print([i_median, i_mean])
     return med_ex[0] < i_median < med_ex[1] and mean_ex[0] < i_mean < mean_ex[1]
 
+  @phone_only
   @with_processes(['camerad'])
   def test_camera_operation(self):
     passed = 0
diff --git a/system/hardware/tici/agnos.json b/system/hardware/tici/agnos.json
index 6730f82706..90933e8fef 100644
--- a/system/hardware/tici/agnos.json
+++ b/system/hardware/tici/agnos.json
@@ -1,19 +1,19 @@
 [
   {
     "name": "boot",
-    "url": "https://commadist.azureedge.net/agnosupdate/boot-7d953f5e1bc606984e4d49c6f957421a4172f72b4ebd359baa689ef43b7e911c.img.xz",
-    "hash": "7d953f5e1bc606984e4d49c6f957421a4172f72b4ebd359baa689ef43b7e911c",
-    "hash_raw": "7d953f5e1bc606984e4d49c6f957421a4172f72b4ebd359baa689ef43b7e911c",
-    "size": 15153152,
+    "url": "https://commadist.azureedge.net/agnosupdate/boot-8d8d8620de8b2687f3a8fffdb81b2abd1fe2ead5bc831361a1a212e5589ac279.img.xz",
+    "hash": "8d8d8620de8b2687f3a8fffdb81b2abd1fe2ead5bc831361a1a212e5589ac279",
+    "hash_raw": "8d8d8620de8b2687f3a8fffdb81b2abd1fe2ead5bc831361a1a212e5589ac279",
+    "size": 15636480,
     "sparse": false,
     "full_check": true,
     "has_ab": true
   },
   {
     "name": "abl",
-    "url": "https://commadist.azureedge.net/agnosupdate/abl-50329ac734ff7a6c20c3f552dce9b13f84b3eb2e73faa64b9810049d9b406602.img.xz",
-    "hash": "50329ac734ff7a6c20c3f552dce9b13f84b3eb2e73faa64b9810049d9b406602",
-    "hash_raw": "50329ac734ff7a6c20c3f552dce9b13f84b3eb2e73faa64b9810049d9b406602",
+    "url": "https://commadist.azureedge.net/agnosupdate/abl-0084fcf79fea067632a1c2d9519b6445ad484aa8b09f49f22e6b45b4dccacd2d.img.xz",
+    "hash": "0084fcf79fea067632a1c2d9519b6445ad484aa8b09f49f22e6b45b4dccacd2d",
+    "hash_raw": "0084fcf79fea067632a1c2d9519b6445ad484aa8b09f49f22e6b45b4dccacd2d",
     "size": 274432,
     "sparse": false,
     "full_check": true,
@@ -21,9 +21,9 @@
   },
   {
     "name": "xbl",
-    "url": "https://commadist.azureedge.net/agnosupdate/xbl-dc297986b38f50c47584bd8549b188b37b1d6a0c77b3255859dd675c177b5c15.img.xz",
-    "hash": "dc297986b38f50c47584bd8549b188b37b1d6a0c77b3255859dd675c177b5c15",
-    "hash_raw": "dc297986b38f50c47584bd8549b188b37b1d6a0c77b3255859dd675c177b5c15",
+    "url": "https://commadist.azureedge.net/agnosupdate/xbl-942b9b2914d89c2a70fdf27380b59e04b549ac2fd53ecb29d6549d1a9c8daeaa.img.xz",
+    "hash": "942b9b2914d89c2a70fdf27380b59e04b549ac2fd53ecb29d6549d1a9c8daeaa",
+    "hash_raw": "942b9b2914d89c2a70fdf27380b59e04b549ac2fd53ecb29d6549d1a9c8daeaa",
     "size": 3282672,
     "sparse": false,
     "full_check": true,
@@ -31,9 +31,9 @@
   },
   {
     "name": "xbl_config",
-    "url": "https://commadist.azureedge.net/agnosupdate/xbl_config-b73fbbb42934aabc6d4f16ce84ac6c8c0205bc70e0a85412a771f3cc1d62cc40.img.xz",
-    "hash": "b73fbbb42934aabc6d4f16ce84ac6c8c0205bc70e0a85412a771f3cc1d62cc40",
-    "hash_raw": "b73fbbb42934aabc6d4f16ce84ac6c8c0205bc70e0a85412a771f3cc1d62cc40",
+    "url": "https://commadist.azureedge.net/agnosupdate/xbl_config-6881d94599f65d94c13bcc0bd860184dfba2dfe96ec776d08fb35ac5b5f85bbf.img.xz",
+    "hash": "6881d94599f65d94c13bcc0bd860184dfba2dfe96ec776d08fb35ac5b5f85bbf",
+    "hash_raw": "6881d94599f65d94c13bcc0bd860184dfba2dfe96ec776d08fb35ac5b5f85bbf",
     "size": 98124,
     "sparse": false,
     "full_check": true,
@@ -41,9 +41,9 @@
   },
   {
     "name": "devcfg",
-    "url": "https://commadist.azureedge.net/agnosupdate/devcfg-2d3063d106813006ac9ceeaf8818a31d4b33996873e81178ac5129f5e1b82bca.img.xz",
-    "hash": "2d3063d106813006ac9ceeaf8818a31d4b33996873e81178ac5129f5e1b82bca",
-    "hash_raw": "2d3063d106813006ac9ceeaf8818a31d4b33996873e81178ac5129f5e1b82bca",
+    "url": "https://commadist.azureedge.net/agnosupdate/devcfg-9bbf168baff6101f4890c5c95c118e30813c2610cfb35b8e19e363f04a32a262.img.xz",
+    "hash": "9bbf168baff6101f4890c5c95c118e30813c2610cfb35b8e19e363f04a32a262",
+    "hash_raw": "9bbf168baff6101f4890c5c95c118e30813c2610cfb35b8e19e363f04a32a262",
     "size": 40336,
     "sparse": false,
     "full_check": true,
@@ -51,9 +51,9 @@
   },
   {
     "name": "aop",
-    "url": "https://commadist.azureedge.net/agnosupdate/aop-d69450d5438b3e5e2ba5b77db1ae49e1cf9cab17836f563aa57192b5b3a4ac3e.img.xz",
-    "hash": "d69450d5438b3e5e2ba5b77db1ae49e1cf9cab17836f563aa57192b5b3a4ac3e",
-    "hash_raw": "d69450d5438b3e5e2ba5b77db1ae49e1cf9cab17836f563aa57192b5b3a4ac3e",
+    "url": "https://commadist.azureedge.net/agnosupdate/aop-c1d9d712980f6b2a4b12196597f4d1bf3fe4fec6c59edf29ae63ef21f11b8222.img.xz",
+    "hash": "c1d9d712980f6b2a4b12196597f4d1bf3fe4fec6c59edf29ae63ef21f11b8222",
+    "hash_raw": "c1d9d712980f6b2a4b12196597f4d1bf3fe4fec6c59edf29ae63ef21f11b8222",
     "size": 184364,
     "sparse": false,
     "full_check": true,
@@ -61,9 +61,9 @@
   },
   {
     "name": "system",
-    "url": "https://commadist.azureedge.net/agnosupdate/system-4a8311dd591006e0c2a6f60060d6ef579ceec9b3d688e8438a9aef4e230ae028.img.xz",
-    "hash": "23c9f111f81fc3ee83f85016cb320e03a46aad6721a85e1b4a3f04b6a764e934",
-    "hash_raw": "4a8311dd591006e0c2a6f60060d6ef579ceec9b3d688e8438a9aef4e230ae028",
+    "url": "https://commadist.azureedge.net/agnosupdate/system-e1fa3018bce9bad01c6967e5e21f1141cf5c8f02d2edfaed51c738f74a32a432.img.xz",
+    "hash": "611011f3e3f147bc24f371105a9dd3760ec11ba424c56d4a442a66b098c784c0",
+    "hash_raw": "e1fa3018bce9bad01c6967e5e21f1141cf5c8f02d2edfaed51c738f74a32a432",
     "size": 10737418240,
     "sparse": true,
     "full_check": false,
diff --git a/system/hardware/tici/hardware.py b/system/hardware/tici/hardware.py
index d52710e950..8dc74ce3db 100644
--- a/system/hardware/tici/hardware.py
+++ b/system/hardware/tici/hardware.py
@@ -8,7 +8,7 @@ from functools import cached_property, lru_cache
 from pathlib import Path
 
 from cereal import log
-from common.gpio import gpio_set, gpio_init, get_irq_for_action
+from common.gpio import gpio_set, gpio_init, get_irqs_for_action
 from system.hardware.base import HardwareBase, ThermalConfig
 from system.hardware.tici import iwlist
 from system.hardware.tici.pins import GPIO
@@ -61,17 +61,27 @@ MM_MODEM_ACCESS_TECHNOLOGY_LTE = 1 << 14
 
 
 def sudo_write(val, path):
-  os.system(f"sudo su -c 'echo {val} > {path}'")
+  try:
+    with open(path, 'w') as f:
+      f.write(str(val))
+  except PermissionError:
+    os.system(f"sudo chmod a+w {path}")
+    try:
+      with open(path, 'w') as f:
+        f.write(str(val))
+    except PermissionError:
+      # fallback for debugfs files
+      os.system(f"sudo su -c 'echo {val} > {path}'")
 
 
 def affine_irq(val, action):
-  irq = get_irq_for_action(action)
-  if len(irq) == 0:
+  irqs = get_irqs_for_action(action)
+  if len(irqs) == 0:
     print(f"No IRQs found for '{action}'")
     return
-  for i in irq:
-    sudo_write(str(val), f"/proc/irq/{i}/smp_affinity_list")
 
+  for i in irqs:
+    sudo_write(str(val), f"/proc/irq/{i}/smp_affinity_list")
 
 class Tici(HardwareBase):
   @cached_property
@@ -106,8 +116,10 @@ class Tici(HardwareBase):
     return model
 
   def get_sound_card_online(self):
-    return (os.path.isfile('/proc/asound/card0/state') and
-            open('/proc/asound/card0/state').read().strip() == 'ONLINE')
+    if os.path.isfile('/proc/asound/card0/state'):
+      with open('/proc/asound/card0/state') as f:
+        return f.read().strip() == 'ONLINE'
+    return False
 
   def reboot(self, reason=None):
     subprocess.check_output(["sudo", "reboot"])
@@ -307,7 +319,8 @@ class Tici(HardwareBase):
       (True, tc + ["class", "add", "dev", adapter, "parent", "1:", "classid", "1:20", "htb", "rate", f"{upload_speed_kbps}kbit"]),
 
       # Create universal 32 bit filter on adapter that sends all outbound ip traffic through the class
-      (True, tc + ["filter", "add", "dev", adapter, "parent", "1:", "protocol", "ip", "prio", "10", "u32", "match", "ip", "dst", "0.0.0.0/0", "flowid", "1:20"]),
+      (True, tc + ["filter", "add", "dev", adapter, "parent", "1:", "protocol", "ip", "prio", \
+                   "10", "u32", "match", "ip", "dst", "0.0.0.0/0", "flowid", "1:20"]),
     ]
 
     download = [
@@ -316,7 +329,8 @@ class Tici(HardwareBase):
 
       # Redirect ingress (incoming) to egress ifb0
       (True, tc + ["qdisc", "add", "dev", adapter, "handle", "ffff:", "ingress"]),
-      (True, tc + ["filter", "add", "dev", adapter, "parent", "ffff:", "protocol", "ip", "u32", "match", "u32", "0", "0", "action", "mirred", "egress", "redirect", "dev", ifb]),
+      (True, tc + ["filter", "add", "dev", adapter, "parent", "ffff:", "protocol", "ip", "u32", \
+                   "match", "u32", "0", "0", "action", "mirred", "egress", "redirect", "dev", ifb]),
 
       # Add class and rules for virtual interface
       (True, tc + ["qdisc", "add", "dev", ifb, "root", "handle", "2:", "htb"]),
@@ -436,23 +450,24 @@ class Tici(HardwareBase):
 
     # *** IRQ config ***
 
-    # GPU
-    affine_irq(5, "kgsl-3d0")
-
     # boardd core
     affine_irq(4, "spi_geni")         # SPI
     affine_irq(4, "xhci-hcd:usb3")    # aux panda USB (or potentially anything else on USB)
     if "tici" in self.get_device_type():
-      affine_irq(4, "xhci-hcd:usb1")  # internal panda USB
+      affine_irq(4, "xhci-hcd:usb1")  # internal panda USB (also modem)
+
+    # GPU
+    affine_irq(5, "kgsl-3d0")
 
     # camerad core
-    camera_irqs = ("cci", "cpas_camnoc", "cpas-cdm", "csid", "ife", "csid", "csid-lite", "ife-lite")
+    camera_irqs = ("cci", "cpas_camnoc", "cpas-cdm", "csid", "ife", "csid-lite", "ife-lite")
     for n in camera_irqs:
       affine_irq(5, n)
 
   def get_gpu_usage_percent(self):
     try:
-      used, total = open('/sys/class/kgsl/kgsl-3d0/gpubusy').read().strip().split()
+      with open('/sys/class/kgsl/kgsl-3d0/gpubusy') as f:
+        used, total = f.read().strip().split()
       return 100.0 * int(used) / int(total)
     except Exception:
       return 0
@@ -469,14 +484,14 @@ class Tici(HardwareBase):
 
     # *** IRQ config ***
 
-    # move these off the default core
-    affine_irq(1, "msm_drm")
-    affine_irq(1, "msm_vidc")
-    affine_irq(1, "i2c_geni")
-
     # mask off big cluster from default affinity
     sudo_write("f", "/proc/irq/default_smp_affinity")
 
+    # move these off the default core
+    affine_irq(1, "msm_drm")   # display
+    affine_irq(1, "msm_vidc")  # encoders
+    affine_irq(1, "i2c_geni")  # sensors
+
     # *** GPU config ***
     # https://github.com/commaai/agnos-kernel-sdm845/blob/master/arch/arm64/boot/dts/qcom/sdm845-gpu.dtsi#L216
     sudo_write("1", "/sys/class/kgsl/kgsl-3d0/min_pwrlevel")
@@ -484,7 +499,7 @@ class Tici(HardwareBase):
     sudo_write("1", "/sys/class/kgsl/kgsl-3d0/force_bus_on")
     sudo_write("1", "/sys/class/kgsl/kgsl-3d0/force_clk_on")
     sudo_write("1", "/sys/class/kgsl/kgsl-3d0/force_rail_on")
-    sudo_write("1000000", "/sys/class/kgsl/kgsl-3d0/idle_timer")
+    sudo_write("1000", "/sys/class/kgsl/kgsl-3d0/idle_timer")
     sudo_write("performance", "/sys/class/kgsl/kgsl-3d0/devfreq/governor")
     sudo_write("596", "/sys/class/kgsl/kgsl-3d0/max_clock_mhz")
 
diff --git a/system/hardware/tici/pins.py b/system/hardware/tici/pins.py
index 082a402f15..5ac0158082 100644
--- a/system/hardware/tici/pins.py
+++ b/system/hardware/tici/pins.py
@@ -10,6 +10,7 @@ class GPIO:
   STM_RST_N = 124
   STM_BOOT0 = 134
 
+  SIREN = 42
   SOM_ST_IO = 49
 
   LTE_RST_N = 50
diff --git a/system/hardware/tici/power_draw_test.py b/system/hardware/tici/power_draw_test.py
index bde92ae4a5..3c303ff61f 100755
--- a/system/hardware/tici/power_draw_test.py
+++ b/system/hardware/tici/power_draw_test.py
@@ -4,7 +4,7 @@ import time
 import numpy as np
 from system.hardware.tici.hardware import Tici
 from system.hardware.tici.pins import GPIO
-from common.gpio import gpio_init, gpio_set
+from common.gpio import gpio_init, gpio_set, gpio_export
 
 def read_power():
   with open("/sys/bus/i2c/devices/0-0040/hwmon/hwmon1/in1_input") as f:
@@ -33,13 +33,6 @@ def read_power_avg():
   return "total %7.2f mW  SOM %7.2f mW" % (power_total, power_som)
 
 
-def gpio_export(pin):
-  try:
-    with open("/sys/class/gpio/export", 'w') as f:
-      f.write(str(pin))
-  except Exception:
-    print(f"Failed to export gpio {pin}")
-
 if __name__ == "__main__":
   gpio_export(GPIO.CAM0_AVDD_EN)
   gpio_export(GPIO.CAM0_RSTN)
diff --git a/system/hardware/tici/restart_modem.sh b/system/hardware/tici/restart_modem.sh
index 26c04e4fba..3c67d9d21d 100755
--- a/system/hardware/tici/restart_modem.sh
+++ b/system/hardware/tici/restart_modem.sh
@@ -7,7 +7,7 @@ sudo nmcli connection reload
 
 sudo systemctl stop ModemManager
 nmcli con down lte
-nmcli con down magenta-prime
+nmcli con down blue-prime
 
 # power cycle modem
 /usr/comma/lte/lte.sh stop_blocking
diff --git a/system/hardware/tici/tests/test_amplifier.py b/system/hardware/tici/tests/test_amplifier.py
index 5d5a86c512..6019495449 100755
--- a/system/hardware/tici/tests/test_amplifier.py
+++ b/system/hardware/tici/tests/test_amplifier.py
@@ -5,7 +5,7 @@ import unittest
 import subprocess
 
 from panda import Panda
-from system.hardware import TICI
+from system.hardware import TICI, HARDWARE
 from system.hardware.tici.hardware import Tici
 from system.hardware.tici.amplifier import Amplifier
 
@@ -21,37 +21,40 @@ class TestAmplifier(unittest.TestCase):
     # clear dmesg
     subprocess.check_call("sudo dmesg -C", shell=True)
 
+    HARDWARE.reset_internal_panda()
+    Panda.wait_for_panda(None, 30)
     self.panda = Panda()
-    self.panda.reset()
 
   def tearDown(self):
-    self.panda.reset(reconnect=False)
+    HARDWARE.reset_internal_panda()
 
   def _check_for_i2c_errors(self, expected):
     dmesg = subprocess.check_output("dmesg", shell=True, encoding='utf8')
     i2c_lines = [l for l in dmesg.strip().splitlines() if 'i2c_geni a88000.i2c' in l]
     i2c_str = '\n'.join(i2c_lines)
+
     if not expected:
-      assert len(i2c_lines) == 0
+      return len(i2c_lines) == 0
     else:
-      assert "i2c error :-107" in i2c_str or "Bus arbitration lost" in i2c_str
+      return "i2c error :-107" in i2c_str or "Bus arbitration lost" in i2c_str
 
   def test_init(self):
     amp = Amplifier(debug=True)
     r = amp.initialize_configuration(Tici().get_device_type())
     assert r
-    self._check_for_i2c_errors(False)
+    assert self._check_for_i2c_errors(False)
 
   def test_shutdown(self):
     amp = Amplifier(debug=True)
     for _ in range(10):
       r = amp.set_global_shutdown(True)
       r = amp.set_global_shutdown(False)
+      # amp config should be successful, with no i2c errors
       assert r
-      self._check_for_i2c_errors(False)
+      assert self._check_for_i2c_errors(False)
 
   def test_init_while_siren_play(self):
-    for _ in range(5):
+    for _ in range(10):
       self.panda.set_siren(False)
       time.sleep(0.1)
 
@@ -62,8 +65,10 @@ class TestAmplifier(unittest.TestCase):
       r = amp.initialize_configuration(Tici().get_device_type())
       assert r
 
-    # make sure we're a good test
-    self._check_for_i2c_errors(True)
+      if self._check_for_i2c_errors(True):
+        break
+    else:
+      self.fail("didn't hit any i2c errors")
 
 
 if __name__ == "__main__":
diff --git a/system/hardware/tici/tests/test_hardware.py b/system/hardware/tici/tests/test_hardware.py
new file mode 100755
index 0000000000..d910b13ec4
--- /dev/null
+++ b/system/hardware/tici/tests/test_hardware.py
@@ -0,0 +1,31 @@
+#!/usr/bin/env python3
+import time
+import unittest
+import numpy as np
+
+from system.hardware import TICI
+from system.hardware.tici.hardware import Tici
+
+HARDWARE = Tici()
+
+class TestHardware(unittest.TestCase):
+
+  @classmethod
+  def setUpClass(cls):
+    if not TICI:
+      raise unittest.SkipTest
+
+  def test_power_save_time(self):
+    ts = []
+    for _ in range(5):
+      for on in (True, False):
+        st = time.monotonic()
+        HARDWARE.set_power_save(on)
+        ts.append(time.monotonic() - st)
+
+    assert 0.1 < np.mean(ts) < 0.2
+    assert max(ts) < 0.3
+
+
+if __name__ == "__main__":
+  unittest.main()
diff --git a/system/hardware/tici/tests/test_power_draw.py b/system/hardware/tici/tests/test_power_draw.py
index df4852183e..a35f231c4e 100755
--- a/system/hardware/tici/tests/test_power_draw.py
+++ b/system/hardware/tici/tests/test_power_draw.py
@@ -2,30 +2,47 @@
 import unittest
 import time
 import math
+import threading
 from dataclasses import dataclass
 from tabulate import tabulate
+from typing import List
 
+import cereal.messaging as messaging
+from cereal.services import service_list
 from system.hardware import HARDWARE, TICI
 from system.hardware.tici.power_monitor import get_power
 from selfdrive.manager.process_config import managed_processes
 from selfdrive.manager.manager import manager_cleanup
+from selfdrive.navd.tests.test_map_renderer import gen_llk
 
+SAMPLE_TIME = 8   # seconds to sample power
 
 @dataclass
 class Proc:
   name: str
   power: float
+  msgs: List[str]
   rtol: float = 0.05
   atol: float = 0.12
   warmup: float = 6.
 
 PROCS = [
-  Proc('camerad', 2.1),
-  Proc('modeld', 0.93, atol=0.2),
-  Proc('dmonitoringmodeld', 0.4),
-  Proc('encoderd', 0.23),
+  Proc('camerad', 2.1, msgs=['roadCameraState', 'wideRoadCameraState', 'driverCameraState']),
+  Proc('modeld', 0.93, atol=0.2, msgs=['modelV2']),
+  Proc('dmonitoringmodeld', 0.4, msgs=['driverStateV2']),
+  Proc('encoderd', 0.23, msgs=[]),
+  Proc('mapsd', 0.05, msgs=['mapRenderState']),
+  Proc('navmodeld', 0.05, msgs=['navModel']),
 ]
 
+def send_llk_msg(done):
+  # Send liveLocationKalman at 20Hz
+  pm = messaging.PubMaster(['liveLocationKalman'])
+  while not done.is_set():
+    msg = gen_llk()
+    pm.send('liveLocationKalman', msg)
+    time.sleep(1/20.)
+
 
 class TestPowerDraw(unittest.TestCase):
 
@@ -46,27 +63,39 @@ class TestPowerDraw(unittest.TestCase):
 
   def test_camera_procs(self):
     baseline = get_power()
+    done = threading.Event()
+    thread = threading.Thread(target=send_llk_msg, args=(done,), daemon=True)
+    thread.start()
 
     prev = baseline
     used = {}
+    msg_counts = {}
     for proc in PROCS:
+      socks = {msg: messaging.sub_sock(msg) for msg in proc.msgs}
       managed_processes[proc.name].start()
       time.sleep(proc.warmup)
+      for sock in socks.values():
+        messaging.drain_sock_raw(sock)
 
-      now = get_power(8)
+      now = get_power(SAMPLE_TIME)
       used[proc.name] = now - prev
       prev = now
+      for msg,sock in socks.items():
+        msg_counts[msg] = len(messaging.drain_sock_raw(sock))
 
+    done.set()
     manager_cleanup()
 
-    tab = []
-    tab.append(['process', 'expected (W)', 'measured (W)'])
+    tab = [['process', 'expected (W)', 'measured (W)', '# msgs expected', '# msgs received']]
     for proc in PROCS:
       cur = used[proc.name]
       expected = proc.power
-      tab.append([proc.name, round(expected, 2), round(cur, 2)])
+      msgs_received = sum(msg_counts[msg] for msg in proc.msgs)
+      msgs_expected = int(sum(SAMPLE_TIME * service_list[msg].frequency for msg in proc.msgs))
+      tab.append([proc.name, round(expected, 2), round(cur, 2), msgs_expected, msgs_received])
       with self.subTest(proc=proc.name):
         self.assertTrue(math.isclose(cur, expected, rel_tol=proc.rtol, abs_tol=proc.atol))
+        self.assertTrue(math.isclose(msgs_expected, msgs_received, rel_tol=.02, abs_tol=2))
     print(tabulate(tab))
     print(f"Baseline {baseline:.2f}W\n")
 
diff --git a/system/loggerd/config.py b/system/loggerd/config.py
index 168c9fba91..df187a48c0 100644
--- a/system/loggerd/config.py
+++ b/system/loggerd/config.py
@@ -5,7 +5,7 @@ from system.hardware import PC
 if os.environ.get('LOG_ROOT', False):
   ROOT = os.environ['LOG_ROOT']
 elif PC:
-  ROOT = os.path.join(str(Path.home()), ".comma", "media", "0", "realdata")
+  ROOT = str(Path.home() / ".comma" / "media" / "0" / "realdata")
 else:
   ROOT = '/data/media/0/realdata/'
 
@@ -16,7 +16,7 @@ SEGMENT_LENGTH = 60
 STATS_DIR_FILE_LIMIT = 10000
 STATS_SOCKET = "ipc:///tmp/stats"
 if PC:
-  STATS_DIR = os.path.join(str(Path.home()), ".comma", "stats")
+  STATS_DIR = str(Path.home() / ".comma" / "stats")
 else:
   STATS_DIR = "/data/stats/"
 STATS_FLUSH_TIME_S = 60
diff --git a/system/loggerd/deleter.py b/system/loggerd/deleter.py
index 5fb2b9eb41..5e7b31f583 100644
--- a/system/loggerd/deleter.py
+++ b/system/loggerd/deleter.py
@@ -2,15 +2,48 @@
 import os
 import shutil
 import threading
+from typing import List
+
 from system.swaglog import cloudlog
 from system.loggerd.config import ROOT, get_available_bytes, get_available_percent
 from system.loggerd.uploader import listdir_by_creation
+from system.loggerd.xattr_cache import getxattr
 
 MIN_BYTES = 5 * 1024 * 1024 * 1024
 MIN_PERCENT = 10
 
 DELETE_LAST = ['boot', 'crash']
 
+PRESERVE_ATTR_NAME = 'user.preserve'
+PRESERVE_ATTR_VALUE = b'1'
+PRESERVE_COUNT = 5
+
+
+def has_preserve_xattr(d: str) -> bool:
+  return getxattr(os.path.join(ROOT, d), PRESERVE_ATTR_NAME) == PRESERVE_ATTR_VALUE
+
+
+def get_preserved_segments(dirs_by_creation: List[str]) -> List[str]:
+  preserved = []
+  for n, d in enumerate(filter(has_preserve_xattr, reversed(dirs_by_creation))):
+    if n == PRESERVE_COUNT:
+      break
+    date_str, _, seg_str = d.rpartition("--")
+
+    # ignore non-segment directories
+    if not date_str:
+      continue
+    try:
+      seg_num = int(seg_str)
+    except ValueError:
+      continue
+
+    # preserve segment and its prior
+    preserved.append(d)
+    preserved.append(f"{date_str}--{seg_num - 1}")
+
+  return preserved
+
 
 def deleter_thread(exit_event):
   while not exit_event.is_set():
@@ -18,9 +51,13 @@ def deleter_thread(exit_event):
     out_of_percent = get_available_percent(default=MIN_PERCENT + 1) < MIN_PERCENT
 
     if out_of_percent or out_of_bytes:
+      dirs = listdir_by_creation(ROOT)
+
+      # skip deleting most recent N preserved segments (and their prior segment)
+      preserved_dirs = get_preserved_segments(dirs)
+
       # remove the earliest directory we can
-      dirs = sorted(listdir_by_creation(ROOT), key=lambda x: x in DELETE_LAST)
-      for delete_dir in dirs:
+      for delete_dir in sorted(dirs, key=lambda d: (d in DELETE_LAST, d in preserved_dirs)):
         delete_path = os.path.join(ROOT, delete_dir)
 
         if any(name.endswith(".lock") for name in os.listdir(delete_path)):
diff --git a/system/loggerd/encoder/encoder.cc b/system/loggerd/encoder/encoder.cc
index 08eaf0ff01..869b4617b3 100644
--- a/system/loggerd/encoder/encoder.cc
+++ b/system/loggerd/encoder/encoder.cc
@@ -1,14 +1,8 @@
-#include <cassert>
 #include "system/loggerd/encoder/encoder.h"
 
-VideoEncoder::~VideoEncoder() {}
-
-void VideoEncoder::publisher_init() {
-  // publish
-  service_name = this->type == DriverCam ? "driverEncodeData" :
-    (this->type == WideRoadCam ? "wideRoadEncodeData" :
-    (this->in_width == this->out_width ? "roadEncodeData" : "qRoadEncodeData"));
-  pm.reset(new PubMaster({service_name}));
+VideoEncoder::VideoEncoder(const EncoderInfo &encoder_info, int in_width, int in_height)
+    : encoder_info(encoder_info), in_width(in_width), in_height(in_height) {
+  pm.reset(new PubMaster({encoder_info.publish_name}));
 }
 
 void VideoEncoder::publisher_publish(VideoEncoder *e, int segment_num, uint32_t idx, VisionIpcBufExtra &extra,
@@ -16,9 +10,7 @@ void VideoEncoder::publisher_publish(VideoEncoder *e, int segment_num, uint32_t
   // broadcast packet
   MessageBuilder msg;
   auto event = msg.initEvent(true);
-  auto edat = (e->type == DriverCam) ? event.initDriverEncodeData() :
-    ((e->type == WideRoadCam) ? event.initWideRoadEncodeData() :
-    (e->in_width == e->out_width ? event.initRoadEncodeData() : event.initQRoadEncodeData()));
+  auto edat = (event.*(e->encoder_info.init_encode_data_func))();
   auto edata = edat.initIdx();
   struct timespec ts;
   timespec_get(&ts, TIME_UTC);
@@ -26,7 +18,7 @@ void VideoEncoder::publisher_publish(VideoEncoder *e, int segment_num, uint32_t
   edata.setFrameId(extra.frame_id);
   edata.setTimestampSof(extra.timestamp_sof);
   edata.setTimestampEof(extra.timestamp_eof);
-  edata.setType(e->codec);
+  edata.setType(e->encoder_info.encode_type);
   edata.setEncodeId(e->cnt++);
   edata.setSegmentNum(segment_num);
   edata.setSegmentId(idx);
@@ -37,46 +29,6 @@ void VideoEncoder::publisher_publish(VideoEncoder *e, int segment_num, uint32_t
 
   auto words = new kj::Array<capnp::word>(capnp::messageToFlatArray(msg));
   auto bytes = words->asBytes();
-  e->pm->send(e->service_name, bytes.begin(), bytes.size());
-  if (e->write) {
-    e->to_write.push(words);
-  } else {
-    delete words;
-  }
-}
-
-// TODO: writing should be moved to loggerd
-void VideoEncoder::write_handler(VideoEncoder *e, const char *path) {
-  VideoWriter writer(path, e->filename, e->codec != cereal::EncodeIndex::Type::FULL_H_E_V_C, e->out_width, e->out_height, e->fps, e->codec);
-
-  bool first = true;
-  kj::Array<capnp::word>* out_buf;
-  while ((out_buf = e->to_write.pop())) {
-    capnp::FlatArrayMessageReader cmsg(*out_buf);
-    cereal::Event::Reader event = cmsg.getRoot<cereal::Event>();
-
-    auto edata = (e->type == DriverCam) ? event.getDriverEncodeData() :
-      ((e->type == WideRoadCam) ? event.getWideRoadEncodeData() :
-      (e->in_width == e->out_width ? event.getRoadEncodeData() : event.getQRoadEncodeData()));
-    auto idx = edata.getIdx();
-    auto flags = idx.getFlags();
-
-    if (first) {
-      assert(flags & V4L2_BUF_FLAG_KEYFRAME);
-      auto header = edata.getHeader();
-      writer.write((uint8_t *)header.begin(), header.size(), idx.getTimestampEof()/1000, true, false);
-      first = false;
-    }
-
-    // dangerous cast from const, but should be fine
-    auto data = edata.getData();
-    if (data.size() > 0) {
-      writer.write((uint8_t *)data.begin(), data.size(), idx.getTimestampEof()/1000, false, flags & V4L2_BUF_FLAG_KEYFRAME);
-    }
-
-    // free the data
-    delete out_buf;
-  }
-
-  // VideoWriter is freed on out of scope
+  e->pm->send(e->encoder_info.publish_name, bytes.begin(), bytes.size());
+  delete words;
 }
diff --git a/system/loggerd/encoder/encoder.h b/system/loggerd/encoder/encoder.h
index 88dd5cee23..59ec4357ae 100644
--- a/system/loggerd/encoder/encoder.h
+++ b/system/loggerd/encoder/encoder.h
@@ -7,56 +7,28 @@
 #include "cereal/messaging/messaging.h"
 #include "cereal/visionipc/visionipc.h"
 #include "common/queue.h"
-#include "system/loggerd/video_writer.h"
 #include "system/camerad/cameras/camera_common.h"
+#include "system/loggerd/loggerd.h"
 
 #define V4L2_BUF_FLAG_KEYFRAME 8
 
 class VideoEncoder {
 public:
-  VideoEncoder(const char* filename, CameraType type, int in_width, int in_height, int fps,
-              int bitrate, cereal::EncodeIndex::Type codec, int out_width, int out_height, bool write)
-  : filename(filename), type(type), in_width(in_width), in_height(in_height), fps(fps),
-    bitrate(bitrate), codec(codec), out_width(out_width), out_height(out_height), write(write) { }
-  virtual ~VideoEncoder();
+  VideoEncoder(const EncoderInfo &encoder_info, int in_width, int in_height);
+  virtual ~VideoEncoder() {};
   virtual int encode_frame(VisionBuf* buf, VisionIpcBufExtra *extra) = 0;
   virtual void encoder_open(const char* path) = 0;
   virtual void encoder_close() = 0;
 
-  void publisher_init();
   static void publisher_publish(VideoEncoder *e, int segment_num, uint32_t idx, VisionIpcBufExtra &extra, unsigned int flags, kj::ArrayPtr<capnp::byte> header, kj::ArrayPtr<capnp::byte> dat);
 
-  void writer_open(const char* path) {
-    if (this->write) write_handler_thread = std::thread(VideoEncoder::write_handler, this, path);
-  }
-
-  void writer_close() {
-    if (this->write) {
-      to_write.push(NULL);
-      write_handler_thread.join();
-    }
-    assert(to_write.empty());
-  }
 
 protected:
-  bool write;
-  const char* filename;
   int in_width, in_height;
-  int out_width, out_height, fps;
-  int bitrate;
-  cereal::EncodeIndex::Type codec;
-  CameraType type;
+  const EncoderInfo encoder_info;
 
 private:
   // total frames encoded
   int cnt = 0;
-
-  // publishing
   std::unique_ptr<PubMaster> pm;
-  const char *service_name;
-
-  // writing support
-  static void write_handler(VideoEncoder *e, const char *path);
-  std::thread write_handler_thread;
-  SafeQueue<kj::Array<capnp::word>* > to_write;
 };
diff --git a/system/loggerd/encoder/ffmpeg_encoder.cc b/system/loggerd/encoder/ffmpeg_encoder.cc
index 275da34f18..b73f4e8f5d 100644
--- a/system/loggerd/encoder/ffmpeg_encoder.cc
+++ b/system/loggerd/encoder/ffmpeg_encoder.cc
@@ -24,23 +24,22 @@ extern "C" {
 
 const int env_debug_encoder = (getenv("DEBUG_ENCODER") != NULL) ? atoi(getenv("DEBUG_ENCODER")) : 0;
 
-void FfmpegEncoder::encoder_init() {
+FfmpegEncoder::FfmpegEncoder(const EncoderInfo &encoder_info, int in_width, int in_height)
+    : VideoEncoder(encoder_info, in_width, in_height) {
   frame = av_frame_alloc();
   assert(frame);
   frame->format = AV_PIX_FMT_YUV420P;
-  frame->width = out_width;
-  frame->height = out_height;
-  frame->linesize[0] = out_width;
-  frame->linesize[1] = out_width/2;
-  frame->linesize[2] = out_width/2;
+  frame->width = encoder_info.frame_width;
+  frame->height = encoder_info.frame_height;
+  frame->linesize[0] = encoder_info.frame_width;
+  frame->linesize[1] = encoder_info.frame_width/2;
+  frame->linesize[2] = encoder_info.frame_width/2;
 
   convert_buf.resize(in_width * in_height * 3 / 2);
 
-  if (in_width != out_width || in_height != out_height) {
-    downscale_buf.resize(out_width * out_height * 3 / 2);
+  if (in_width != encoder_info.frame_width || in_height != encoder_info.frame_height) {
+    downscale_buf.resize(encoder_info.frame_width * encoder_info.frame_height * 3 / 2);
   }
-
-  publisher_init();
 }
 
 FfmpegEncoder::~FfmpegEncoder() {
@@ -56,11 +55,10 @@ void FfmpegEncoder::encoder_open(const char* path) {
   this->codec_ctx->width = frame->width;
   this->codec_ctx->height = frame->height;
   this->codec_ctx->pix_fmt = AV_PIX_FMT_YUV420P;
-  this->codec_ctx->time_base = (AVRational){ 1, fps };
+  this->codec_ctx->time_base = (AVRational){ 1, encoder_info.fps };
   int err = avcodec_open2(this->codec_ctx, codec, NULL);
   assert(err >= 0);
 
-  writer_open(path);
   is_open = true;
   segment_num++;
   counter = 0;
@@ -69,7 +67,6 @@ void FfmpegEncoder::encoder_open(const char* path) {
 void FfmpegEncoder::encoder_close() {
   if (!is_open) return;
 
-  writer_close();
   avcodec_free_context(&codec_ctx);
   is_open = false;
 }
@@ -138,7 +135,7 @@ int FfmpegEncoder::encode_frame(VisionBuf* buf, VisionIpcBufExtra *extra) {
     }
 
     if (env_debug_encoder) {
-      printf("%20s got %8d bytes flags %8x idx %4d id %8d\n", this->filename, pkt.size, pkt.flags, counter, extra->frame_id);
+      printf("%20s got %8d bytes flags %8x idx %4d id %8d\n", encoder_info.filename, pkt.size, pkt.flags, counter, extra->frame_id);
     }
 
     publisher_publish(this, segment_num, counter, *extra,
diff --git a/system/loggerd/encoder/ffmpeg_encoder.h b/system/loggerd/encoder/ffmpeg_encoder.h
index 9095a6e815..9e45a3d82d 100644
--- a/system/loggerd/encoder/ffmpeg_encoder.h
+++ b/system/loggerd/encoder/ffmpeg_encoder.h
@@ -15,12 +15,9 @@ extern "C" {
 #include "system/loggerd/loggerd.h"
 
 class FfmpegEncoder : public VideoEncoder {
- public:
-  FfmpegEncoder(const char* filename, CameraType type, int in_width, int in_height, int fps,
-                int bitrate, cereal::EncodeIndex::Type codec, int out_width, int out_height, bool write) :
-                VideoEncoder(filename, type, in_width, in_height, fps, bitrate, cereal::EncodeIndex::Type::BIG_BOX_LOSSLESS, out_width, out_height, write) { encoder_init(); }
+public:
+  FfmpegEncoder(const EncoderInfo &encoder_info, int in_width, int in_height);
   ~FfmpegEncoder();
-  void encoder_init();
   int encode_frame(VisionBuf* buf, VisionIpcBufExtra *extra);
   void encoder_open(const char* path);
   void encoder_close();
diff --git a/system/loggerd/encoder/v4l_encoder.cc b/system/loggerd/encoder/v4l_encoder.cc
index 16e7246ff4..a319d414ca 100644
--- a/system/loggerd/encoder/v4l_encoder.cc
+++ b/system/loggerd/encoder/v4l_encoder.cc
@@ -68,7 +68,7 @@ static void request_buffers(int fd, v4l2_buf_type buf_type, unsigned int count)
 }
 
 void V4LEncoder::dequeue_handler(V4LEncoder *e) {
-  std::string dequeue_thread_name = "dq-"+std::string(e->filename);
+  std::string dequeue_thread_name = "dq-"+std::string(e->encoder_info.filename);
   util::set_thread_name(dequeue_thread_name.c_str());
 
   e->segment_num++;
@@ -88,7 +88,7 @@ void V4LEncoder::dequeue_handler(V4LEncoder *e) {
     if (!rc) { LOGE("encoder dequeue poll timeout"); continue; }
 
     if (env_debug_encoder >= 2) {
-      printf("%20s poll %x at %.2f ms\n", e->filename, pfd.revents, millis_since_boot());
+      printf("%20s poll %x at %.2f ms\n", e->encoder_info.filename, pfd.revents, millis_since_boot());
     }
 
     int frame_id = -1;
@@ -116,7 +116,7 @@ void V4LEncoder::dequeue_handler(V4LEncoder *e) {
 
       if (env_debug_encoder) {
         printf("%20s got(%d) %6d bytes flags %8x idx %3d/%4d id %8d ts %ld lat %.2f ms (%lu frames free)\n",
-          e->filename, index, bytesused, flags, e->segment_num, idx, frame_id, ts, millis_since_boot()-(ts/1000.), e->free_buf_in.size());
+          e->encoder_info.filename, index, bytesused, flags, e->segment_num, idx, frame_id, ts, millis_since_boot()-(ts/1000.), e->free_buf_in.size());
       }
 
       // requeue the buffer
@@ -131,7 +131,8 @@ void V4LEncoder::dequeue_handler(V4LEncoder *e) {
   }
 }
 
-void V4LEncoder::encoder_init() {
+V4LEncoder::V4LEncoder(const EncoderInfo &encoder_info, int in_width, int in_height)
+    : VideoEncoder(encoder_info, in_width, in_height) {
   fd = open("/dev/v4l/by-path/platform-aa00000.qcom_vidc-video-index1", O_RDWR|O_NONBLOCK);
   assert(fd >= 0);
 
@@ -146,9 +147,9 @@ void V4LEncoder::encoder_init() {
     .fmt = {
       .pix_mp = {
         // downscales are free with v4l
-        .width = (unsigned int)out_width,
-        .height = (unsigned int)out_height,
-        .pixelformat = (codec == cereal::EncodeIndex::Type::FULL_H_E_V_C) ? V4L2_PIX_FMT_HEVC : V4L2_PIX_FMT_H264,
+        .width = (unsigned int)encoder_info.frame_width,
+        .height = (unsigned int)encoder_info.frame_height,
+        .pixelformat = (encoder_info.encode_type == cereal::EncodeIndex::Type::FULL_H_E_V_C) ? V4L2_PIX_FMT_HEVC : V4L2_PIX_FMT_H264,
         .field = V4L2_FIELD_ANY,
         .colorspace = V4L2_COLORSPACE_DEFAULT,
       }
@@ -192,7 +193,7 @@ void V4LEncoder::encoder_init() {
   {
     struct v4l2_control ctrls[] = {
       { .id = V4L2_CID_MPEG_VIDEO_HEADER_MODE, .value = V4L2_MPEG_VIDEO_HEADER_MODE_SEPARATE},
-      { .id = V4L2_CID_MPEG_VIDEO_BITRATE, .value = bitrate},
+      { .id = V4L2_CID_MPEG_VIDEO_BITRATE, .value = encoder_info.bitrate},
       { .id = V4L2_CID_MPEG_VIDC_VIDEO_RATE_CONTROL, .value = V4L2_CID_MPEG_VIDC_VIDEO_RATE_CONTROL_VBR_CFR},
       { .id = V4L2_CID_MPEG_VIDC_VIDEO_PRIORITY, .value = V4L2_MPEG_VIDC_VIDEO_PRIORITY_REALTIME_DISABLE},
       { .id = V4L2_CID_MPEG_VIDC_VIDEO_IDR_PERIOD, .value = 1},
@@ -202,10 +203,11 @@ void V4LEncoder::encoder_init() {
     }
   }
 
-  if (codec == cereal::EncodeIndex::Type::FULL_H_E_V_C) {
+  if (encoder_info.encode_type == cereal::EncodeIndex::Type::FULL_H_E_V_C) {
     struct v4l2_control ctrls[] = {
       { .id = V4L2_CID_MPEG_VIDC_VIDEO_HEVC_PROFILE, .value = V4L2_MPEG_VIDC_VIDEO_HEVC_PROFILE_MAIN},
       { .id = V4L2_CID_MPEG_VIDC_VIDEO_HEVC_TIER_LEVEL, .value = V4L2_MPEG_VIDC_VIDEO_HEVC_LEVEL_HIGH_TIER_LEVEL_5},
+      { .id = V4L2_CID_MPEG_VIDC_VIDEO_VUI_TIMING_INFO, .value = V4L2_MPEG_VIDC_VIDEO_VUI_TIMING_INFO_ENABLED},
       { .id = V4L2_CID_MPEG_VIDC_VIDEO_NUM_P_FRAMES, .value = 29},
       { .id = V4L2_CID_MPEG_VIDC_VIDEO_NUM_B_FRAMES, .value = 0},
     };
@@ -249,13 +251,10 @@ void V4LEncoder::encoder_init() {
   for (unsigned int i = 0; i < BUF_IN_COUNT; i++) {
     free_buf_in.push(i);
   }
-
-  publisher_init();
 }
 
 void V4LEncoder::encoder_open(const char* path) {
   dequeue_handler_thread = std::thread(V4LEncoder::dequeue_handler, this);
-  writer_open(path);
   this->is_open = true;
   this->counter = 0;
 }
@@ -288,7 +287,6 @@ void V4LEncoder::encoder_close() {
     // join waits for V4L2_QCOM_BUF_FLAG_EOS
     dequeue_handler_thread.join();
     assert(extras.empty());
-    writer_close();
   }
   this->is_open = false;
 }
diff --git a/system/loggerd/encoder/v4l_encoder.h b/system/loggerd/encoder/v4l_encoder.h
index d4b0a1211d..9336bf3d8b 100644
--- a/system/loggerd/encoder/v4l_encoder.h
+++ b/system/loggerd/encoder/v4l_encoder.h
@@ -8,11 +8,8 @@
 
 class V4LEncoder : public VideoEncoder {
 public:
-  V4LEncoder(const char* filename, CameraType type, int in_width, int in_height, int fps,
-             int bitrate, cereal::EncodeIndex::Type codec, int out_width, int out_height, bool write) :
-             VideoEncoder(filename, type, in_width, in_height, fps, bitrate, codec, out_width, out_height, write) { encoder_init(); }
+  V4LEncoder(const EncoderInfo &encoder_info, int in_width, int in_height);
   ~V4LEncoder();
-  void encoder_init();
   int encode_frame(VisionBuf* buf, VisionIpcBufExtra *extra);
   void encoder_open(const char* path);
   void encoder_close();
diff --git a/system/loggerd/encoderd.cc b/system/loggerd/encoderd.cc
index 12b58b6591..1646b1ec08 100644
--- a/system/loggerd/encoderd.cc
+++ b/system/loggerd/encoderd.cc
@@ -1,5 +1,15 @@
+#include <cassert>
+
 #include "system/loggerd/loggerd.h"
 
+#ifdef QCOM2
+#include "system/loggerd/encoder/v4l_encoder.h"
+#define Encoder V4LEncoder
+#else
+#include "system/loggerd/encoder/ffmpeg_encoder.h"
+#define Encoder FfmpegEncoder
+#endif
+
 ExitHandler do_exit;
 
 struct EncoderdState {
@@ -35,7 +45,7 @@ bool sync_encoders(EncoderdState *s, CameraType cam_type, uint32_t frame_id) {
 
 
 void encoder_thread(EncoderdState *s, const LogCameraInfo &cam_info) {
-  util::set_thread_name(cam_info.filename);
+  util::set_thread_name(cam_info.thread_name);
 
   std::vector<Encoder *> encoders;
   VisionIpcClient vipc_client = VisionIpcClient("camerad", cam_info.stream_type, false);
@@ -50,25 +60,11 @@ void encoder_thread(EncoderdState *s, const LogCameraInfo &cam_info) {
     // init encoders
     if (encoders.empty()) {
       VisionBuf buf_info = vipc_client.buffers[0];
-      LOGW("encoder %s init %dx%d", cam_info.filename, buf_info.width, buf_info.height);
+      LOGW("encoder %s init %zux%zu", cam_info.thread_name, buf_info.width, buf_info.height);
+      assert(buf_info.width > 0 && buf_info.height > 0);
 
-      if (buf_info.width > 0 && buf_info.height > 0) {
-        // main encoder
-        encoders.push_back(new Encoder(cam_info.filename, cam_info.type, buf_info.width, buf_info.height,
-                                      cam_info.fps, cam_info.bitrate,
-                                      cam_info.is_h265 ? cereal::EncodeIndex::Type::FULL_H_E_V_C : cereal::EncodeIndex::Type::QCAMERA_H264,
-                                      buf_info.width, buf_info.height, false));
-        // qcamera encoder
-        if (cam_info.has_qcamera) {
-          encoders.push_back(new Encoder(qcam_info.filename, cam_info.type, buf_info.width, buf_info.height,
-                                        qcam_info.fps, qcam_info.bitrate,
-                                        qcam_info.is_h265 ? cereal::EncodeIndex::Type::FULL_H_E_V_C : cereal::EncodeIndex::Type::QCAMERA_H264,
-                                        qcam_info.frame_width, qcam_info.frame_height, false));
-        }
-      } else {
-        LOGE("not initting empty encoder");
-        s->max_waiting--;
-        break;
+      for (const auto &encoder_info : cam_info.encoder_infos) {
+        encoders.push_back(new Encoder(encoder_info, buf_info.width, buf_info.height));
       }
     }
 
@@ -85,7 +81,7 @@ void encoder_thread(EncoderdState *s, const LogCameraInfo &cam_info) {
       // detect loop around and drop the frames
       if (buf->get_frame_id() != extra.frame_id) {
         if (!lagging) {
-          LOGE("encoder %s lag  buffer id: %d  extra id: %d", cam_info.filename, buf->get_frame_id(), extra.frame_id);
+          LOGE("encoder %s lag  buffer id: %" PRIu64 " extra id: %d", cam_info.thread_name, buf->get_frame_id(), extra.frame_id);
           lagging = true;
         }
         continue;
@@ -128,12 +124,27 @@ void encoder_thread(EncoderdState *s, const LogCameraInfo &cam_info) {
 void encoderd_thread() {
   EncoderdState s;
 
-  std::vector<std::thread> encoder_threads;
-  for (const auto &cam : cameras_logged) {
-    encoder_threads.push_back(std::thread(encoder_thread, &s, cam));
-    s.max_waiting++;
+  std::set<VisionStreamType> streams;
+  while (!do_exit) {
+    streams = VisionIpcClient::getAvailableStreams("camerad", false);
+    if (!streams.empty()) {
+      break;
+    }
+    util::sleep_for(100);
+  }
+
+  if (!streams.empty()) {
+    std::vector<std::thread> encoder_threads;
+    for (auto stream : streams) {
+      auto it = std::find_if(std::begin(cameras_logged), std::end(cameras_logged),
+                             [stream](auto &cam) { return cam.stream_type == stream; });
+      assert(it != std::end(cameras_logged));
+      ++s.max_waiting;
+      encoder_threads.push_back(std::thread(encoder_thread, &s, *it));
+    }
+
+    for (auto &t : encoder_threads) t.join();
   }
-  for (auto &t : encoder_threads) t.join();
 }
 
 int main() {
diff --git a/system/loggerd/logger.cc b/system/loggerd/logger.cc
index a3152aa88a..1e710759e6 100644
--- a/system/loggerd/logger.cc
+++ b/system/loggerd/logger.cc
@@ -83,7 +83,7 @@ kj::Array<capnp::word> logger_build_init_data() {
   }
 
   int i = log_commands.size();
-  for (auto [key, value] : hw_logs) {
+  for (auto &[key, value] : hw_logs) {
     auto lentry = commands[i];
     lentry.setKey(key);
     lentry.setValue(capnp::Data::Reader((const kj::byte*)value.data(), value.size()));
diff --git a/system/loggerd/loggerd.cc b/system/loggerd/loggerd.cc
index a7f7db4801..5bbeb43d53 100644
--- a/system/loggerd/loggerd.cc
+++ b/system/loggerd/loggerd.cc
@@ -1,3 +1,8 @@
+#include <sys/xattr.h>
+
+#include <unordered_map>
+
+#include "system/loggerd/encoder/encoder.h"
 #include "system/loggerd/loggerd.h"
 #include "system/loggerd/video_writer.h"
 
@@ -58,18 +63,13 @@ struct RemoteEncoder {
   bool seen_first_packet = false;
 };
 
-int handle_encoder_msg(LoggerdState *s, Message *msg, std::string &name, struct RemoteEncoder &re) {
-  const LogCameraInfo &cam_info = (name == "driverEncodeData") ? cameras_logged[1] :
-    ((name == "wideRoadEncodeData") ? cameras_logged[2] :
-    ((name == "qRoadEncodeData") ? qcam_info : cameras_logged[0]));
+int handle_encoder_msg(LoggerdState *s, Message *msg, std::string &name, struct RemoteEncoder &re, const EncoderInfo &encoder_info) {
   int bytes_count = 0;
 
   // extract the message
   capnp::FlatArrayMessageReader cmsg(kj::ArrayPtr<capnp::word>((capnp::word *)msg->getData(), msg->getSize() / sizeof(capnp::word)));
   auto event = cmsg.getRoot<cereal::Event>();
-  auto edata = (name == "driverEncodeData") ? event.getDriverEncodeData() :
-    ((name == "wideRoadEncodeData") ? event.getWideRoadEncodeData() :
-    ((name == "qRoadEncodeData") ? event.getQRoadEncodeData() : event.getRoadEncodeData()));
+  auto edata = (event.*(encoder_info.get_encode_data_func))();
   auto idx = edata.getIdx();
   auto flags = idx.getFlags();
 
@@ -95,7 +95,7 @@ int handle_encoder_msg(LoggerdState *s, Message *msg, std::string &name, struct
       // we are in this segment now, process any queued messages before this one
       if (!re.q.empty()) {
         for (auto &qmsg: re.q) {
-          bytes_count += handle_encoder_msg(s, qmsg, name, re);
+          bytes_count += handle_encoder_msg(s, qmsg, name, re, encoder_info);
         }
         re.q.clear();
       }
@@ -111,10 +111,10 @@ int handle_encoder_msg(LoggerdState *s, Message *msg, std::string &name, struct
           re.dropped_frames = 0;
         }
         // if we aren't actually recording, don't create the writer
-        if (cam_info.record) {
+        if (encoder_info.record) {
           re.writer.reset(new VideoWriter(s->segment_path,
-            cam_info.filename, idx.getType() != cereal::EncodeIndex::Type::FULL_H_E_V_C,
-            cam_info.frame_width, cam_info.frame_height, cam_info.fps, idx.getType()));
+            encoder_info.filename, idx.getType() != cereal::EncodeIndex::Type::FULL_H_E_V_C,
+            encoder_info.frame_width, encoder_info.frame_height, encoder_info.fps, idx.getType()));
           // write the header
           auto header = edata.getHeader();
           re.writer->write((uint8_t *)header.begin(), header.size(), idx.getTimestampEof()/1000, true, false);
@@ -142,10 +142,7 @@ int handle_encoder_msg(LoggerdState *s, Message *msg, std::string &name, struct
     MessageBuilder bmsg;
     auto evt = bmsg.initEvent(event.getValid());
     evt.setLogMonoTime(event.getLogMonoTime());
-    if (name == "driverEncodeData") { evt.setDriverEncodeIdx(idx); }
-    if (name == "wideRoadEncodeData") { evt.setWideRoadEncodeIdx(idx); }
-    if (name == "qRoadEncodeData") { evt.setQRoadEncodeIdx(idx); }
-    if (name == "roadEncodeData") { evt.setRoadEncodeIdx(idx); }
+    (evt.*(encoder_info.set_encode_idx_func))(idx);
     auto new_msg = bmsg.toBytes();
     logger_log(&s->logger, (uint8_t *)new_msg.begin(), new_msg.size(), true);   // always in qlog?
     bytes_count += new_msg.size();
@@ -175,14 +172,31 @@ int handle_encoder_msg(LoggerdState *s, Message *msg, std::string &name, struct
   return bytes_count;
 }
 
+void handle_user_flag(LoggerdState *s) {
+  static int prev_segment = -1;
+  if (s->rotate_segment == prev_segment) return;
+
+  LOGW("preserving %s", s->segment_path);
+
+#ifdef __APPLE__
+  int ret = setxattr(s->segment_path, PRESERVE_ATTR_NAME, &PRESERVE_ATTR_VALUE, 1, 0, 0);
+#else
+  int ret = setxattr(s->segment_path, PRESERVE_ATTR_NAME, &PRESERVE_ATTR_VALUE, 1, 0);
+#endif
+  if (ret) {
+    LOGE("setxattr %s failed for %s: %s", PRESERVE_ATTR_NAME, s->segment_path, strerror(errno));
+  }
+  prev_segment = s->rotate_segment.load();
+}
+
 void loggerd_thread() {
   // setup messaging
-  typedef struct QlogState {
+  typedef struct ServiceState {
     std::string name;
     int counter, freq;
-    bool encoder;
-  } QlogState;
-  std::unordered_map<SubSocket*, QlogState> qlog_states;
+    bool encoder, user_flag;
+  } ServiceState;
+  std::unordered_map<SubSocket*, ServiceState> service_state;
   std::unordered_map<SubSocket*, struct RemoteEncoder> remote_encoders;
 
   std::unique_ptr<Context> ctx(Context::create());
@@ -197,11 +211,12 @@ void loggerd_thread() {
     SubSocket * sock = SubSocket::create(ctx.get(), it.name);
     assert(sock != NULL);
     poller->registerSocket(sock);
-    qlog_states[sock] = {
+    service_state[sock] = {
       .name = it.name,
       .counter = 0,
       .freq = it.decimation,
       .encoder = encoder,
+      .user_flag = (strcmp(it.name, "userFlag") == 0),
     };
   }
 
@@ -211,11 +226,12 @@ void loggerd_thread() {
   logger_rotate(&s);
   Params().put("CurrentRoute", s.logger.route_name);
 
-  // init encoders
-  s.last_camera_seen_tms = millis_since_boot();
+  std::map<std::string, EncoderInfo> encoder_infos_dict;
   for (const auto &cam : cameras_logged) {
-    s.max_waiting++;
-    if (cam.has_qcamera) { s.max_waiting++; }
+    for (const auto &encoder_info: cam.encoder_infos) {
+      encoder_infos_dict[encoder_info.publish_name] = encoder_info;
+      s.max_waiting++;
+    }
   }
 
   uint64_t msg_count = 0, bytes_count = 0;
@@ -225,16 +241,19 @@ void loggerd_thread() {
     for (auto sock : poller->poll(1000)) {
       if (do_exit) break;
 
+      ServiceState &service = service_state[sock];
+      if (service.user_flag) {
+        handle_user_flag(&s);
+      }
+
       // drain socket
       int count = 0;
-      QlogState &qs = qlog_states[sock];
       Message *msg = nullptr;
       while (!do_exit && (msg = sock->receive(true))) {
-        const bool in_qlog = qs.freq != -1 && (qs.counter++ % qs.freq == 0);
-
-        if (qs.encoder) {
+        const bool in_qlog = service.freq != -1 && (service.counter++ % service.freq == 0);
+        if (service.encoder) {
           s.last_camera_seen_tms = millis_since_boot();
-          bytes_count += handle_encoder_msg(&s, msg, qs.name, remote_encoders[sock]);
+          bytes_count += handle_encoder_msg(&s, msg, service.name, remote_encoders[sock], encoder_infos_dict[service.name]);
         } else {
           logger_log(&s.logger, (uint8_t *)msg->getData(), msg->getSize(), in_qlog);
           bytes_count += msg->getSize();
@@ -245,12 +264,12 @@ void loggerd_thread() {
 
         if ((++msg_count % 1000) == 0) {
           double seconds = (millis_since_boot() - start_ts) / 1000.0;
-          LOGD("%lu messages, %.2f msg/sec, %.2f KB/sec", msg_count, msg_count / seconds, bytes_count * 0.001 / seconds);
+          LOGD("%" PRIu64 " messages, %.2f msg/sec, %.2f KB/sec", msg_count, msg_count / seconds, bytes_count * 0.001 / seconds);
         }
 
         count++;
         if (count >= 200) {
-          LOGD("large volume of '%s' messages", qs.name.c_str());
+          LOGD("large volume of '%s' messages", service.name.c_str());
           break;
         }
       }
@@ -267,7 +286,7 @@ void loggerd_thread() {
   }
 
   // messaging cleanup
-  for (auto &[sock, qs] : qlog_states) delete sock;
+  for (auto &[sock, service] : service_state) delete sock;
 }
 
 int main(int argc, char** argv) {
diff --git a/system/loggerd/loggerd.h b/system/loggerd/loggerd.h
index 1b8f9e0d2a..4100f12f8d 100644
--- a/system/loggerd/loggerd.h
+++ b/system/loggerd/loggerd.h
@@ -1,103 +1,104 @@
 #pragma once
 
-#include <unistd.h>
-
-#include <atomic>
-#include <cassert>
-#include <cerrno>
-#include <condition_variable>
-#include <mutex>
-#include <string>
-#include <thread>
-#include <unordered_map>
-#include <utility>
-
 #include "cereal/messaging/messaging.h"
 #include "cereal/services.h"
-#include "cereal/visionipc/visionipc.h"
 #include "cereal/visionipc/visionipc_client.h"
 #include "system/camerad/cameras/camera_common.h"
+#include "system/hardware/hw.h"
 #include "common/params.h"
 #include "common/swaglog.h"
-#include "common/timing.h"
 #include "common/util.h"
-#include "system/hardware/hw.h"
 
-#include "system/loggerd/encoder/encoder.h"
 #include "system/loggerd/logger.h"
-#ifdef QCOM2
-#include "system/loggerd/encoder/v4l_encoder.h"
-#define Encoder V4LEncoder
-#else
-#include "system/loggerd/encoder/ffmpeg_encoder.h"
-#define Encoder FfmpegEncoder
-#endif
 
 constexpr int MAIN_FPS = 20;
 const int MAIN_BITRATE = 10000000;
-const int DCAM_BITRATE = MAIN_BITRATE;
 
-#define NO_CAMERA_PATIENCE 500 // fall back to time-based rotation if all cameras are dead
+#define NO_CAMERA_PATIENCE 500  // fall back to time-based rotation if all cameras are dead
+
+#define INIT_ENCODE_FUNCTIONS(encode_type)                                \
+  .get_encode_data_func = &cereal::Event::Reader::get##encode_type##Data, \
+  .set_encode_idx_func = &cereal::Event::Builder::set##encode_type##Idx,  \
+  .init_encode_data_func = &cereal::Event::Builder::init##encode_type##Data
 
 const bool LOGGERD_TEST = getenv("LOGGERD_TEST");
 const int SEGMENT_LENGTH = LOGGERD_TEST ? atoi(getenv("LOGGERD_SEGMENT_LENGTH")) : 60;
 
-struct LogCameraInfo {
-  CameraType type;
+constexpr char PRESERVE_ATTR_NAME[] = "user.preserve";
+constexpr char PRESERVE_ATTR_VALUE = '1';
+
+class EncoderInfo {
+public:
+  const char *publish_name;
   const char *filename;
-  VisionStreamType stream_type;
-  int frame_width, frame_height;
-  int fps;
-  int bitrate;
-  bool is_h265;
-  bool has_qcamera;
-  bool record;
+  bool record = true;
+  int frame_width = 1928;
+  int frame_height = 1208;
+  int fps = MAIN_FPS;
+  int bitrate = MAIN_BITRATE;
+  cereal::EncodeIndex::Type encode_type = Hardware::PC() ? cereal::EncodeIndex::Type::BIG_BOX_LOSSLESS
+                                                         : cereal::EncodeIndex::Type::FULL_H_E_V_C;
+  ::cereal::EncodeData::Reader (cereal::Event::Reader::*get_encode_data_func)() const;
+  void (cereal::Event::Builder::*set_encode_idx_func)(::cereal::EncodeIndex::Reader);
+  cereal::EncodeData::Builder (cereal::Event::Builder::*init_encode_data_func)();
 };
 
-const LogCameraInfo cameras_logged[] = {
-  {
-    .type = RoadCam,
-    .stream_type = VISION_STREAM_ROAD,
-    .filename = "fcamera.hevc",
-    .fps = MAIN_FPS,
-    .bitrate = MAIN_BITRATE,
-    .is_h265 = true,
-    .has_qcamera = true,
-    .record = true,
-    .frame_width = 1928,
-    .frame_height = 1208,
-  },
-  {
-    .type = DriverCam,
-    .stream_type = VISION_STREAM_DRIVER,
-    .filename = "dcamera.hevc",
-    .fps = MAIN_FPS,
-    .bitrate = DCAM_BITRATE,
-    .is_h265 = true,
-    .has_qcamera = false,
-    .record = Params().getBool("RecordFront"),
-    .frame_width = 1928,
-    .frame_height = 1208,
-  },
-  {
-    .type = WideRoadCam,
-    .stream_type = VISION_STREAM_WIDE_ROAD,
-    .filename = "ecamera.hevc",
-    .fps = MAIN_FPS,
-    .bitrate = MAIN_BITRATE,
-    .is_h265 = true,
-    .has_qcamera = false,
-    .record = true,
-    .frame_width = 1928,
-    .frame_height = 1208,
-  },
+class LogCameraInfo {
+public:
+  const char *thread_name;
+  int fps = MAIN_FPS;
+  CameraType type;
+  VisionStreamType stream_type;
+  std::vector<EncoderInfo> encoder_infos;
 };
-const LogCameraInfo qcam_info = {
+
+const EncoderInfo main_road_encoder_info = {
+  .publish_name = "roadEncodeData",
+  .filename = "fcamera.hevc",
+  INIT_ENCODE_FUNCTIONS(RoadEncode),
+};
+const EncoderInfo main_wide_road_encoder_info = {
+  .publish_name = "wideRoadEncodeData",
+  .filename = "ecamera.hevc",
+  INIT_ENCODE_FUNCTIONS(WideRoadEncode),
+};
+const EncoderInfo main_driver_encoder_info = {
+  .publish_name = "driverEncodeData",
+  .filename = "dcamera.hevc",
+  .record = Params().getBool("RecordFront"),
+  INIT_ENCODE_FUNCTIONS(DriverEncode),
+};
+
+const EncoderInfo qcam_encoder_info = {
+  .publish_name = "qRoadEncodeData",
   .filename = "qcamera.ts",
-  .fps = MAIN_FPS,
   .bitrate = 256000,
-  .is_h265 = false,
-  .record = true,
+  .encode_type = cereal::EncodeIndex::Type::QCAMERA_H264,
   .frame_width = 526,
   .frame_height = 330,
+  INIT_ENCODE_FUNCTIONS(QRoadEncode),
 };
+
+
+const LogCameraInfo road_camera_info{
+  .thread_name = "road_cam_encoder",
+  .type = RoadCam,
+  .stream_type = VISION_STREAM_ROAD,
+  .encoder_infos = {main_road_encoder_info, qcam_encoder_info}
+};
+
+const LogCameraInfo wide_road_camera_info{
+  .thread_name = "wide_road_cam_encoder",
+  .type = WideRoadCam,
+  .stream_type = VISION_STREAM_WIDE_ROAD,
+  .encoder_infos = {main_wide_road_encoder_info}
+};
+
+const LogCameraInfo driver_camera_info{
+  .thread_name = "driver_cam_encoder",
+  .type = DriverCam,
+  .stream_type = VISION_STREAM_DRIVER,
+  .encoder_infos = {main_driver_encoder_info}
+};
+
+const LogCameraInfo cameras_logged[] = {road_camera_info, wide_road_camera_info, driver_camera_info};
diff --git a/system/loggerd/tests/fill_eon.py b/system/loggerd/tests/fill.py
similarity index 57%
rename from system/loggerd/tests/fill_eon.py
rename to system/loggerd/tests/fill.py
index e0c52ea0d7..4bf4f73604 100755
--- a/system/loggerd/tests/fill_eon.py
+++ b/system/loggerd/tests/fill.py
@@ -1,7 +1,7 @@
 #!/usr/bin/env python3
-"""Script to fill up EON with fake data"""
+"""Script to fill up storage with fake data"""
 
-import os
+from pathlib import Path
 
 from system.loggerd.config import ROOT, get_available_percent
 from system.loggerd.tests.loggerd_tests_common import create_random_file
@@ -10,13 +10,13 @@ from system.loggerd.tests.loggerd_tests_common import create_random_file
 if __name__ == "__main__":
   segment_idx = 0
   while True:
-    seg_name = "1970-01-01--00-00-00--%d" % segment_idx
-    seg_path = os.path.join(ROOT, seg_name)
+    seg_name = f"1970-01-01--00-00-00--{segment_idx}"
+    seg_path = Path(ROOT) / seg_name
 
     print(seg_path)
 
-    create_random_file(os.path.join(seg_path, 'fcamera.hevc'), 36)
-    create_random_file(os.path.join(seg_path, 'rlog.bz2'), 2)
+    create_random_file(seg_path / "fcamera.hevc", 36)
+    create_random_file(seg_path / "rlog.bz2", 2)
 
     segment_idx += 1
 
diff --git a/system/loggerd/tests/loggerd_tests_common.py b/system/loggerd/tests/loggerd_tests_common.py
index 780316ad0c..7d71516dfe 100644
--- a/system/loggerd/tests/loggerd_tests_common.py
+++ b/system/loggerd/tests/loggerd_tests_common.py
@@ -4,29 +4,31 @@ import shutil
 import random
 import tempfile
 import unittest
+from pathlib import Path
+from typing import Optional
 
+import system.loggerd.deleter as deleter
 import system.loggerd.uploader as uploader
+from system.loggerd.xattr_cache import setxattr
 
-def create_random_file(file_path, size_mb, lock=False, xattr=None):
-  try:
-    os.mkdir(os.path.dirname(file_path))
-  except OSError:
-    pass
 
-  lock_path = file_path + ".lock"
+def create_random_file(file_path: Path, size_mb: float, lock: bool = False, upload_xattr: Optional[bytes] = None) -> None:
+  file_path.parent.mkdir(parents=True, exist_ok=True)
+
   if lock:
+    lock_path = str(file_path) + ".lock"
     os.close(os.open(lock_path, os.O_CREAT | os.O_EXCL))
 
   chunks = 128
   chunk_bytes = int(size_mb * 1024 * 1024 / chunks)
   data = os.urandom(chunk_bytes)
 
-  with open(file_path, 'wb') as f:
+  with open(file_path, "wb") as f:
     for _ in range(chunks):
       f.write(data)
 
-  if xattr is not None:
-    uploader.setxattr(file_path, uploader.UPLOAD_ATTR_NAME, xattr)
+  if upload_xattr is not None:
+    setxattr(str(file_path), uploader.UPLOAD_ATTR_NAME, upload_xattr)
 
 class MockResponse():
   def __init__(self, text, status_code):
@@ -75,12 +77,18 @@ class MockParams():
 class UploaderTestCase(unittest.TestCase):
   f_type = "UNKNOWN"
 
+  root: Path
+  seg_num: int
+  seg_format: str
+  seg_format2: str
+  seg_dir: str
+
   def set_ignore(self):
     uploader.Api = MockApiIgnore
 
   def setUp(self):
-    self.root = tempfile.mkdtemp()
-    uploader.ROOT = self.root  # Monkey patch root dir
+    self.root = Path(tempfile.mkdtemp())
+    uploader.ROOT = str(self.root)  # Monkey patch root dir
     uploader.Api = MockApi
     uploader.Params = MockParams
     uploader.fake_upload = True
@@ -98,8 +106,12 @@ class UploaderTestCase(unittest.TestCase):
       if e.errno != errno.ENOENT:
         raise
 
-  def make_file_with_data(self, f_dir, fn, size_mb=.1, lock=False, xattr=None):
-    file_path = os.path.join(self.root, f_dir, fn)
-    create_random_file(file_path, size_mb, lock, xattr)
+  def make_file_with_data(self, f_dir: str, fn: str, size_mb: float = .1, lock: bool = False,
+                          upload_xattr: Optional[bytes] = None, preserve_xattr: Optional[bytes] = None) -> Path:
+    file_path = self.root / f_dir / fn
+    create_random_file(file_path, size_mb, lock, upload_xattr)
+
+    if preserve_xattr is not None:
+      setxattr(str(file_path.parent), deleter.PRESERVE_ATTR_NAME, preserve_xattr)
 
     return file_path
diff --git a/system/loggerd/tests/test_deleter.py b/system/loggerd/tests/test_deleter.py
index 5b54a43f3b..9474b30f82 100755
--- a/system/loggerd/tests/test_deleter.py
+++ b/system/loggerd/tests/test_deleter.py
@@ -1,12 +1,13 @@
 #!/usr/bin/env python3
-import os
 import time
 import threading
 import unittest
 from collections import namedtuple
+from pathlib import Path
+from typing import Sequence
 
-from common.timeout import Timeout, TimeoutException
 import system.loggerd.deleter as deleter
+from common.timeout import Timeout, TimeoutException
 from system.loggerd.tests.loggerd_tests_common import UploaderTestCase
 
 Stats = namedtuple("Stats", ['f_bavail', 'f_blocks', 'f_frsize'])
@@ -21,7 +22,7 @@ class TestDeleter(UploaderTestCase):
     super().setUp()
     self.fake_stats = Stats(f_bavail=0, f_blocks=10, f_frsize=4096)
     deleter.os.statvfs = self.fake_statvfs
-    deleter.ROOT = self.root
+    deleter.ROOT = str(self.root)
 
   def start_thread(self):
     self.end_event = threading.Event()
@@ -38,31 +39,59 @@ class TestDeleter(UploaderTestCase):
 
     self.start_thread()
 
-    with Timeout(5, "Timeout waiting for file to be deleted"):
-      while os.path.exists(f_path):
-        time.sleep(0.01)
-    self.join_thread()
+    try:
+      with Timeout(2, "Timeout waiting for file to be deleted"):
+        while f_path.exists():
+          time.sleep(0.01)
+    finally:
+      self.join_thread()
 
-    self.assertFalse(os.path.exists(f_path), "File not deleted")
-
-  def test_delete_files_in_create_order(self):
-    f_path_1 = self.make_file_with_data(self.seg_dir, self.f_type)
-    time.sleep(1)
-    self.seg_num += 1
-    self.seg_dir = self.seg_format.format(self.seg_num)
-    f_path_2 = self.make_file_with_data(self.seg_dir, self.f_type)
+  def assertDeleteOrder(self, f_paths: Sequence[Path], timeout: int = 5) -> None:
+    deleted_order = []
 
     self.start_thread()
+    try:
+      with Timeout(timeout, "Timeout waiting for files to be deleted"):
+        while True:
+          for f in f_paths:
+            if not f.exists() and f not in deleted_order:
+              deleted_order.append(f)
+          if len(deleted_order) == len(f_paths):
+            break
+          time.sleep(0.01)
+    except TimeoutException:
+      print("Not deleted:", [f for f in f_paths if f not in deleted_order])
+      raise
+    finally:
+      self.join_thread()
 
-    with Timeout(5, "Timeout waiting for file to be deleted"):
-      while os.path.exists(f_path_1) and os.path.exists(f_path_2):
-        time.sleep(0.01)
+    self.assertEqual(deleted_order, f_paths, "Files not deleted in expected order")
 
-    self.join_thread()
+  def test_delete_order(self):
+    self.assertDeleteOrder([
+      self.make_file_with_data(self.seg_format.format(0), self.f_type),
+      self.make_file_with_data(self.seg_format.format(1), self.f_type),
+      self.make_file_with_data(self.seg_format2.format(0), self.f_type),
+    ])
 
-    self.assertFalse(os.path.exists(f_path_1), "Older file not deleted")
+  def test_delete_many_preserved(self):
+    self.assertDeleteOrder([
+      self.make_file_with_data(self.seg_format.format(0), self.f_type),
+      self.make_file_with_data(self.seg_format.format(1), self.f_type, preserve_xattr=deleter.PRESERVE_ATTR_VALUE),
+      self.make_file_with_data(self.seg_format.format(2), self.f_type),
+    ] + [
+      self.make_file_with_data(self.seg_format2.format(i), self.f_type, preserve_xattr=deleter.PRESERVE_ATTR_VALUE)
+      for i in range(5)
+    ])
 
-    self.assertTrue(os.path.exists(f_path_2), "Newer file deleted before older file")
+  def test_delete_last(self):
+    self.assertDeleteOrder([
+      self.make_file_with_data(self.seg_format.format(1), self.f_type),
+      self.make_file_with_data(self.seg_format2.format(0), self.f_type),
+      self.make_file_with_data(self.seg_format.format(0), self.f_type, preserve_xattr=deleter.PRESERVE_ATTR_VALUE),
+      self.make_file_with_data("boot", self.seg_format[:-4]),
+      self.make_file_with_data("crash", self.seg_format2[:-4]),
+    ])
 
   def test_no_delete_when_available_space(self):
     f_path = self.make_file_with_data(self.seg_dir, self.f_type)
@@ -72,33 +101,23 @@ class TestDeleter(UploaderTestCase):
     self.fake_stats = Stats(f_bavail=available, f_blocks=10, f_frsize=block_size)
 
     self.start_thread()
+    start_time = time.monotonic()
+    while f_path.exists() and time.monotonic() - start_time < 2:
+      time.sleep(0.01)
+    self.join_thread()
 
-    try:
-      with Timeout(2, "Timeout waiting for file to be deleted"):
-        while os.path.exists(f_path):
-          time.sleep(0.01)
-    except TimeoutException:
-      pass
-    finally:
-      self.join_thread()
-
-    self.assertTrue(os.path.exists(f_path), "File deleted with available space")
+    self.assertTrue(f_path.exists(), "File deleted with available space")
 
   def test_no_delete_with_lock_file(self):
     f_path = self.make_file_with_data(self.seg_dir, self.f_type, lock=True)
 
     self.start_thread()
+    start_time = time.monotonic()
+    while f_path.exists() and time.monotonic() - start_time < 2:
+      time.sleep(0.01)
+    self.join_thread()
 
-    try:
-      with Timeout(2, "Timeout waiting for file to be deleted"):
-        while os.path.exists(f_path):
-          time.sleep(0.01)
-    except TimeoutException:
-      pass
-    finally:
-      self.join_thread()
-
-    self.assertTrue(os.path.exists(f_path), "File deleted when locked")
+    self.assertTrue(f_path.exists(), "File deleted when locked")
 
 
 if __name__ == "__main__":
diff --git a/system/loggerd/tests/test_loggerd.py b/system/loggerd/tests/test_loggerd.py
index a2166016e0..957e6bf3a0 100755
--- a/system/loggerd/tests/test_loggerd.py
+++ b/system/loggerd/tests/test_loggerd.py
@@ -8,6 +8,7 @@ import time
 import unittest
 from collections import defaultdict
 from pathlib import Path
+from typing import Dict, List
 
 import cereal.messaging as messaging
 from cereal import log
@@ -16,6 +17,8 @@ from common.basedir import BASEDIR
 from common.params import Params
 from common.timeout import Timeout
 from system.loggerd.config import ROOT
+from system.loggerd.xattr_cache import getxattr
+from system.loggerd.deleter import PRESERVE_ATTR_NAME, PRESERVE_ATTR_VALUE
 from selfdrive.manager.process_config import managed_processes
 from system.version import get_version
 from tools.lib.logreader import LogReader
@@ -71,6 +74,30 @@ class TestLoggerd(unittest.TestCase):
     end_type = SentinelType.endOfRoute if route else SentinelType.endOfSegment
     self.assertTrue(msgs[-1].sentinel.type == end_type)
 
+  def _publish_random_messages(self, services: List[str]) -> Dict[str, list]:
+    pm = messaging.PubMaster(services)
+
+    managed_processes["loggerd"].start()
+    for s in services:
+      self.assertTrue(pm.wait_for_readers_to_update(s, timeout=5))
+
+    sent_msgs = defaultdict(list)
+    for _ in range(random.randint(2, 10) * 100):
+      for s in services:
+        try:
+          m = messaging.new_message(s)
+        except Exception:
+          m = messaging.new_message(s, random.randint(2, 10))
+        pm.send(s, m)
+        sent_msgs[s].append(m)
+      time.sleep(0.01)
+
+    for s in services:
+      self.assertTrue(pm.wait_for_readers_to_update(s, timeout=5))
+    managed_processes["loggerd"].stop()
+
+    return sent_msgs
+
   def test_init_data_values(self):
     os.environ["CLEAN"] = random.choice(["0", "1"])
 
@@ -103,7 +130,7 @@ class TestLoggerd(unittest.TestCase):
 
     # check params
     logged_params = {entry.key: entry.value for entry in initData.params.entries}
-    expected_params = set(k for k, _, __ in fake_params) | {'LaikadEphemerisV3'}
+    expected_params = {k for k, _, __ in fake_params} | {'LaikadEphemerisV3'}
     assert set(logged_params.keys()) == expected_params, set(logged_params.keys()) ^ expected_params
     assert logged_params['LaikadEphemerisV3'] == b'', f"DONT_LOG param value was logged: {repr(logged_params['LaikadEphemerisV3'])}"
     for param_key, initData_key, v in fake_params:
@@ -193,29 +220,7 @@ class TestLoggerd(unittest.TestCase):
 
     services = random.sample(qlog_services, random.randint(2, min(10, len(qlog_services)))) + \
                random.sample(no_qlog_services, random.randint(2, min(10, len(no_qlog_services))))
-
-    pm = messaging.PubMaster(services)
-
-    # sleep enough for the first poll to time out
-    # TODO: fix loggerd bug dropping the msgs from the first poll
-    managed_processes["loggerd"].start()
-    for s in services:
-      while not pm.all_readers_updated(s):
-        time.sleep(0.1)
-
-    sent_msgs = defaultdict(list)
-    for _ in range(random.randint(2, 10) * 100):
-      for s in services:
-        try:
-          m = messaging.new_message(s)
-        except Exception:
-          m = messaging.new_message(s, random.randint(2, 10))
-        pm.send(s, m)
-        sent_msgs[s].append(m)
-      time.sleep(0.01)
-
-    time.sleep(1)
-    managed_processes["loggerd"].stop()
+    sent_msgs = self._publish_random_messages(services)
 
     qlog_path = os.path.join(self._get_latest_log_dir(), "qlog")
     lr = list(LogReader(qlog_path))
@@ -241,27 +246,7 @@ class TestLoggerd(unittest.TestCase):
 
   def test_rlog(self):
     services = random.sample(CEREAL_SERVICES, random.randint(5, 10))
-    pm = messaging.PubMaster(services)
-
-    # sleep enough for the first poll to time out
-    # TODO: fix loggerd bug dropping the msgs from the first poll
-    managed_processes["loggerd"].start()
-    for s in services:
-      while not pm.all_readers_updated(s):
-        time.sleep(0.1)
-
-    sent_msgs = defaultdict(list)
-    for _ in range(random.randint(2, 10) * 100):
-      for s in services:
-        try:
-          m = messaging.new_message(s)
-        except Exception:
-          m = messaging.new_message(s, random.randint(2, 10))
-        pm.send(s, m)
-        sent_msgs[s].append(m)
-
-    time.sleep(2)
-    managed_processes["loggerd"].stop()
+    sent_msgs = self._publish_random_messages(services)
 
     lr = list(LogReader(os.path.join(self._get_latest_log_dir(), "rlog")))
 
@@ -276,6 +261,20 @@ class TestLoggerd(unittest.TestCase):
       sent.clear_write_flag()
       self.assertEqual(sent.to_bytes(), m.as_builder().to_bytes())
 
+  def test_preserving_flagged_segments(self):
+    services = set(random.sample(CEREAL_SERVICES, random.randint(5, 10))) | {"userFlag"}
+    self._publish_random_messages(services)
+
+    segment_dir = self._get_latest_log_dir()
+    self.assertEqual(getxattr(segment_dir, PRESERVE_ATTR_NAME), PRESERVE_ATTR_VALUE)
+
+  def test_not_preserving_unflagged_segments(self):
+    services = set(random.sample(CEREAL_SERVICES, random.randint(5, 10))) - {"userFlag"}
+    self._publish_random_messages(services)
+
+    segment_dir = self._get_latest_log_dir()
+    self.assertIsNone(getxattr(segment_dir, PRESERVE_ATTR_NAME))
+
 
 if __name__ == "__main__":
   unittest.main()
diff --git a/system/loggerd/tests/test_uploader.py b/system/loggerd/tests/test_uploader.py
index df99651447..580d1efae2 100755
--- a/system/loggerd/tests/test_uploader.py
+++ b/system/loggerd/tests/test_uploader.py
@@ -5,6 +5,8 @@ import threading
 import unittest
 import logging
 import json
+from pathlib import Path
+from typing import List, Optional
 
 from system.swaglog import cloudlog
 from system.loggerd.uploader import uploader_fn, UPLOAD_ATTR_NAME, UPLOAD_ATTR_VALUE
@@ -50,16 +52,16 @@ class TestUploader(UploaderTestCase):
     self.end_event.set()
     self.up_thread.join()
 
-  def gen_files(self, lock=False, xattr=None, boot=True):
-    f_paths = list()
+  def gen_files(self, lock=False, xattr: Optional[bytes] = None, boot=True) -> List[Path]:
+    f_paths = []
     for t in ["qlog", "rlog", "dcamera.hevc", "fcamera.hevc"]:
-      f_paths.append(self.make_file_with_data(self.seg_dir, t, 1, lock=lock, xattr=xattr))
+      f_paths.append(self.make_file_with_data(self.seg_dir, t, 1, lock=lock, upload_xattr=xattr))
 
     if boot:
-      f_paths.append(self.make_file_with_data("boot", f"{self.seg_dir}", 1, lock=lock, xattr=xattr))
+      f_paths.append(self.make_file_with_data("boot", f"{self.seg_dir}", 1, lock=lock, upload_xattr=xattr))
     return f_paths
 
-  def gen_order(self, seg1, seg2, boot=True):
+  def gen_order(self, seg1: List[int], seg2: List[int], boot=True) -> List[str]:
     keys = []
     if boot:
       keys += [f"boot/{self.seg_format.format(i)}.bz2" for i in seg1]
@@ -82,7 +84,7 @@ class TestUploader(UploaderTestCase):
     self.assertFalse(len(log_handler.upload_order) < len(exp_order), "Some files failed to upload")
     self.assertFalse(len(log_handler.upload_order) > len(exp_order), "Some files were uploaded twice")
     for f_path in exp_order:
-      self.assertEqual(os.getxattr(os.path.join(self.root, f_path.replace('.bz2', '')), UPLOAD_ATTR_NAME), UPLOAD_ATTR_VALUE, "All files not uploaded")
+      self.assertEqual(os.getxattr((self.root / f_path).with_suffix(""), UPLOAD_ATTR_NAME), UPLOAD_ATTR_VALUE, "All files not uploaded")
 
     self.assertTrue(log_handler.upload_order == exp_order, "Files uploaded in wrong order")
 
@@ -100,7 +102,7 @@ class TestUploader(UploaderTestCase):
     self.assertFalse(len(log_handler.upload_order) < len(exp_order), "Some files failed to upload")
     self.assertFalse(len(log_handler.upload_order) > len(exp_order), "Some files were uploaded twice")
     for f_path in exp_order:
-      self.assertEqual(os.getxattr(os.path.join(self.root, f_path.replace('.bz2', '')), UPLOAD_ATTR_NAME), UPLOAD_ATTR_VALUE, "All files not uploaded")
+      self.assertEqual(os.getxattr((self.root / f_path).with_suffix(""), UPLOAD_ATTR_NAME), UPLOAD_ATTR_VALUE, "All files not uploaded")
 
     self.assertTrue(log_handler.upload_order == exp_order, "Files uploaded in wrong order")
 
@@ -119,7 +121,7 @@ class TestUploader(UploaderTestCase):
     self.assertFalse(len(log_handler.upload_ignored) < len(exp_order), "Some files failed to ignore")
     self.assertFalse(len(log_handler.upload_ignored) > len(exp_order), "Some files were ignored twice")
     for f_path in exp_order:
-      self.assertEqual(os.getxattr(os.path.join(self.root, f_path.replace('.bz2', '')), UPLOAD_ATTR_NAME), UPLOAD_ATTR_VALUE, "All files not ignored")
+      self.assertEqual(os.getxattr((self.root / f_path).with_suffix(""), UPLOAD_ATTR_NAME), UPLOAD_ATTR_VALUE, "All files not ignored")
 
     self.assertTrue(log_handler.upload_ignored == exp_order, "Files ignored in wrong order")
 
@@ -144,7 +146,7 @@ class TestUploader(UploaderTestCase):
     self.assertFalse(len(log_handler.upload_order) < len(exp_order), "Some files failed to upload")
     self.assertFalse(len(log_handler.upload_order) > len(exp_order), "Some files were uploaded twice")
     for f_path in exp_order:
-      self.assertEqual(os.getxattr(os.path.join(self.root, f_path.replace('.bz2', '')), UPLOAD_ATTR_NAME), UPLOAD_ATTR_VALUE, "All files not uploaded")
+      self.assertEqual(os.getxattr((self.root / f_path).with_suffix(""), UPLOAD_ATTR_NAME), UPLOAD_ATTR_VALUE, "All files not uploaded")
 
     self.assertTrue(log_handler.upload_order == exp_order, "Files uploaded in wrong order")
 
@@ -159,7 +161,7 @@ class TestUploader(UploaderTestCase):
     self.join_thread()
 
     for f_path in f_paths:
-      fn = f_path.replace('.bz2', '')
+      fn = f_path.with_suffix(f_path.suffix.replace(".bz2", ""))
       uploaded = UPLOAD_ATTR_NAME in os.listxattr(fn) and os.getxattr(fn, UPLOAD_ATTR_NAME) == UPLOAD_ATTR_VALUE
       self.assertFalse(uploaded, "File upload when locked")
 
@@ -180,7 +182,8 @@ class TestUploader(UploaderTestCase):
     self.join_thread()
 
     for f_path in f_paths:
-      self.assertFalse(os.path.isfile(f_path + ".lock"), "File lock not cleared on startup")
+      lock_path = f_path.with_suffix(f_path.suffix + ".lock")
+      self.assertFalse(lock_path.is_file(), "File lock not cleared on startup")
 
 
 if __name__ == "__main__":
diff --git a/system/loggerd/uploader.py b/system/loggerd/uploader.py
index 245e5cbcf9..196e5b3c2b 100644
--- a/system/loggerd/uploader.py
+++ b/system/loggerd/uploader.py
@@ -46,7 +46,7 @@ class FakeResponse:
 UploadResponse = Union[requests.Response, FakeResponse]
 
 def get_directory_sort(d: str) -> List[str]:
-  return list(map(lambda s: s.rjust(10, '0'), d.rsplit('--', 1)))
+  return [s.rjust(10, '0') for s in d.rsplit('--', 1)]
 
 def listdir_by_creation(d: str) -> List[str]:
   try:
@@ -211,7 +211,8 @@ class Uploader:
         else:
           content_length = int(stat.request.headers.get("Content-Length", 0))
           self.last_speed = (content_length / 1e6) / self.last_time
-          cloudlog.event("upload_success", key=key, fn=fn, sz=sz, content_length=content_length, network_type=network_type, metered=metered, speed=self.last_speed)
+          cloudlog.event("upload_success", key=key, fn=fn, sz=sz, content_length=content_length,
+                         network_type=network_type, metered=metered, speed=self.last_speed)
         success = True
       else:
         success = False
diff --git a/system/loggerd/video_writer.cc b/system/loggerd/video_writer.cc
index 91bf09355f..1b449056cb 100644
--- a/system/loggerd/video_writer.cc
+++ b/system/loggerd/video_writer.cc
@@ -89,7 +89,7 @@ void VideoWriter::write(uint8_t *data, int len, long long timestamp, bool codecc
 
       // TODO: can use av_write_frame for non raw?
       int err = av_interleaved_write_frame(ofmt_ctx, &pkt);
-      if (err < 0) { LOGW("ts encoder write issue len: %d ts: %lu", len, timestamp); }
+      if (err < 0) { LOGW("ts encoder write issue len: %d ts: %lld", len, timestamp); }
 
       av_packet_unref(&pkt);
     }
diff --git a/system/loggerd/xattr_cache.py b/system/loggerd/xattr_cache.py
index 95e39f2032..5feeff34d2 100644
--- a/system/loggerd/xattr_cache.py
+++ b/system/loggerd/xattr_cache.py
@@ -1,6 +1,6 @@
 import os
 import errno
-from typing import Dict, Tuple, Optional
+from typing import Dict, Optional, Tuple
 
 _cached_attributes: Dict[Tuple, Optional[bytes]] = {}
 
diff --git a/system/logmessaged.py b/system/logmessaged.py
index 280a23cf1d..04101d042b 100755
--- a/system/logmessaged.py
+++ b/system/logmessaged.py
@@ -12,7 +12,7 @@ def main() -> NoReturn:
   log_handler.setFormatter(SwagLogFileFormatter(None))
   log_level = 20  # logging.INFO
 
-  ctx = zmq.Context().instance()
+  ctx = zmq.Context.instance()
   sock = ctx.socket(zmq.PULL)
   sock.bind("ipc:///tmp/logmessage")
 
@@ -20,23 +20,37 @@ def main() -> NoReturn:
   log_message_sock = messaging.pub_sock('logMessage')
   error_log_message_sock = messaging.pub_sock('errorLogMessage')
 
-  while True:
-    dat = b''.join(sock.recv_multipart())
-    level = dat[0]
-    record = dat[1:].decode("utf-8")
-    if level >= log_level:
-      log_handler.emit(record)
+  try:
+    while True:
+      dat = b''.join(sock.recv_multipart())
+      level = dat[0]
+      record = dat[1:].decode("utf-8")
+      if level >= log_level:
+        log_handler.emit(record)
 
-    # then we publish them
-    msg = messaging.new_message()
-    msg.logMessage = record
-    log_message_sock.send(msg.to_bytes())
+      if len(record) > 2*1024*1024:
+        print("WARNING: log too big to publish", len(record))
+        print(print(record[:100]))
+        continue
 
-    if level >= 40:  # logging.ERROR
+      # then we publish them
       msg = messaging.new_message()
-      msg.errorLogMessage = record
-      error_log_message_sock.send(msg.to_bytes())
+      msg.logMessage = record
+      log_message_sock.send(msg.to_bytes())
 
+      if level >= 40:  # logging.ERROR
+        msg = messaging.new_message()
+        msg.errorLogMessage = record
+        error_log_message_sock.send(msg.to_bytes())
+  finally:
+    sock.close()
+    ctx.term()
+
+    # can hit this if interrupted during a rollover
+    try:
+      log_handler.close()
+    except ValueError:
+      pass
 
 if __name__ == "__main__":
   main()
diff --git a/system/sensord/pigeond.py b/system/sensord/pigeond.py
index c9ad7ff22a..f9ac2eaf95 100755
--- a/system/sensord/pigeond.py
+++ b/system/sensord/pigeond.py
@@ -164,12 +164,12 @@ def initialize_pigeon(pigeon: TTYPigeon) -> bool:
       pigeon.send_with_ack(b"\xB5\x62\x06\x08\x06\x00\x64\x00\x01\x00\x00\x00\x79\x10")
 
       # UBX-CFG-NAV5 (0x06 0x24)
-      pigeon.send_with_ack(b"\xB5\x62\x06\x24\x24\x00\x05\x00\x04\x03\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x5A\x63")
+      pigeon.send_with_ack(b"\xB5\x62\x06\x24\x24\x00\x05\x00\x04\x03\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x5A\x63") # noqa: E501
 
       # UBX-CFG-ODO (0x06 0x1E)
       pigeon.send_with_ack(b"\xB5\x62\x06\x1E\x14\x00\x00\x00\x00\x00\x01\x03\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x3C\x37")
       pigeon.send_with_ack(b"\xB5\x62\x06\x39\x08\x00\xFF\xAD\x62\xAD\x1E\x63\x00\x00\x83\x0C")
-      pigeon.send_with_ack(b"\xB5\x62\x06\x23\x28\x00\x00\x00\x00\x04\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x01\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x56\x24")
+      pigeon.send_with_ack(b"\xB5\x62\x06\x23\x28\x00\x00\x00\x00\x04\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x01\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x56\x24") # noqa: E501
 
       # UBX-CFG-NAV5 (0x06 0x24)
       pigeon.send_with_ack(b"\xB5\x62\x06\x24\x00\x00\x2A\x84")
diff --git a/system/sensord/rawgps/compare.py b/system/sensord/rawgps/compare.py
index 0ec15b81fb..e1daa7f918 100755
--- a/system/sensord/rawgps/compare.py
+++ b/system/sensord/rawgps/compare.py
@@ -19,8 +19,8 @@ if __name__ == "__main__":
     recv_time = report.milliseconds / 1000
 
     car = []
-    print("qcom has ", list(sorted([x.svId for x in report.sv])))
-    print("ublox has", list(sorted([x.svId for x in meas if x.gnssId == (6 if GLONASS else 0)])))
+    print("qcom has ", sorted([x.svId for x in report.sv]))
+    print("ublox has", sorted([x.svId for x in meas if x.gnssId == (6 if GLONASS else 0)]))
     for i in report.sv:
       # match to ublox
       tm = None
@@ -56,7 +56,7 @@ if __name__ == "__main__":
     pr_err /= len(car)
     speed_err /= len(car)
     print("avg psuedorange err %f avg speed err %f" % (pr_err, speed_err))
-    for c in sorted(car, key=lambda x: abs(x[1] - x[3] - pr_err)):  # type: ignore
+    for c in sorted(car, key=lambda x: abs(x[1] - x[3] - pr_err)):
       svid, ublox_psuedorange, ublox_speed, qcom_psuedorange, qcom_speed, cno = c
       print("svid: %3d  pseudorange: %10.2f m  speed: %8.2f m/s   meas: %12.2f  speed: %10.2f   meas_err: %10.3f speed_err: %8.3f cno: %d" %
         (svid, ublox_psuedorange, ublox_speed, qcom_psuedorange, qcom_speed,
diff --git a/system/sensord/rawgps/rawgpsd.py b/system/sensord/rawgps/rawgpsd.py
index a5eafb268d..54106ca2f9 100755
--- a/system/sensord/rawgps/rawgpsd.py
+++ b/system/sensord/rawgps/rawgpsd.py
@@ -6,15 +6,19 @@ import itertools
 import math
 import time
 import pycurl
+import shutil
 import subprocess
 from datetime import datetime
-from typing import NoReturn
+from multiprocessing import Process, Event
+from typing import NoReturn, Optional
 from struct import unpack_from, calcsize, pack
 
 from cereal import log
 import cereal.messaging as messaging
 from common.gpio import gpio_init, gpio_set
-from laika.gps_time import GPSTime
+from laika.gps_time import GPSTime, utc_to_gpst, get_leap_seconds
+from laika.helpers import get_prn_from_nmea_id
+from laika.constants import SECS_IN_HR, SECS_IN_DAY, SECS_IN_WEEK
 from system.hardware.tici.pins import GPIO
 from system.swaglog import cloudlog
 from system.sensord.rawgps.modemdiag import ModemDiag, DIAG_LOG_F, setup_logs, send_recv
@@ -27,6 +31,9 @@ from system.sensord.rawgps.structs import (dict_unpacker, position_report, relis
                                               LOG_GNSS_OEMDRE_SVPOLY_REPORT)
 
 DEBUG = int(os.getenv("DEBUG", "0"))==1
+ASSIST_DATA_FILE = '/tmp/xtra3grc.bin'
+ASSIST_DATA_FILE_DOWNLOAD = ASSIST_DATA_FILE + '.download'
+ASSISTANCE_URL = 'http://xtrapath3.izatcloud.net/xtra3grc.bin'
 
 LOG_TYPES = [
   LOG_GNSS_GPS_MEASUREMENT_REPORT,
@@ -82,24 +89,24 @@ measurementStatusGlonassFields = {
 
 
 def try_setup_logs(diag, log_types):
-  for _ in range(5):
+  for _ in range(10):
     try:
       setup_logs(diag, log_types)
       break
     except Exception:
       cloudlog.exception("setup logs failed, trying again")
+      time.sleep(1.0)
   else:
     raise Exception(f"setup logs failed, {log_types=}")
 
-def at_cmd(cmd: str) -> None:
-  for _ in range(5):
+def at_cmd(cmd: str) -> Optional[str]:
+  for _ in range(3):
     try:
-      subprocess.check_call(f"mmcli -m any --timeout 30 --command='{cmd}'", shell=True)
-      break
+      return subprocess.check_output(f"mmcli -m any --timeout 30 --command='{cmd}'", shell=True, encoding='utf8')
     except subprocess.CalledProcessError:
       cloudlog.exception("rawgps.mmcli_command_failed")
-  else:
-    raise Exception(f"failed to execute mmcli command {cmd=}")
+      time.sleep(1.0)
+  raise Exception(f"failed to execute mmcli command {cmd=}")
 
 
 def gps_enabled() -> bool:
@@ -109,41 +116,54 @@ def gps_enabled() -> bool:
   except subprocess.CalledProcessError as exc:
     raise Exception("failed to execute QGPS mmcli command") from exc
 
-def download_and_inject_assistance():
-  assist_data_file = '/tmp/xtra3grc.bin'
-  assistance_url = 'http://xtrapath3.izatcloud.net/xtra3grc.bin'
-
+def download_assistance():
   try:
-    # download assistance
-    try:
-      c = pycurl.Curl()
-      c.setopt(c.URL, assistance_url)
-      c.setopt(c.NOBODY, 1)
-      c.setopt(pycurl.CONNECTTIMEOUT, 2)
-      c.perform()
-      bytes_n = c.getinfo(c.CONTENT_LENGTH_DOWNLOAD)
-      c.close()
-      if bytes_n > 1e5:
-        cloudlog.error("Qcom assistance data larger than expected")
-        return
-
-      with open(assist_data_file, 'wb') as fp:
-        c = pycurl.Curl()
-        c.setopt(pycurl.URL, assistance_url)
-        c.setopt(pycurl.CONNECTTIMEOUT, 5)
-
-        c.setopt(pycurl.WRITEDATA, fp)
-        c.perform()
-        c.close()
-    except pycurl.error:
-      cloudlog.exception("Failed to download assistance file")
+    c = pycurl.Curl()
+    c.setopt(pycurl.URL, ASSISTANCE_URL)
+    c.setopt(pycurl.NOBODY, 1)
+    c.setopt(pycurl.CONNECTTIMEOUT, 2)
+    c.perform()
+    bytes_n = c.getinfo(pycurl.CONTENT_LENGTH_DOWNLOAD)
+    c.close()
+    if bytes_n > 1e5:
+      cloudlog.error("Qcom assistance data larger than expected")
       return
 
-    # inject into module
+    with open(ASSIST_DATA_FILE_DOWNLOAD, 'wb') as fp:
+      c = pycurl.Curl()
+      c.setopt(pycurl.URL, ASSISTANCE_URL)
+      c.setopt(pycurl.CONNECTTIMEOUT, 5)
+
+      c.setopt(pycurl.WRITEDATA, fp)
+      c.perform()
+      c.close()
+      os.rename(ASSIST_DATA_FILE_DOWNLOAD, ASSIST_DATA_FILE)
+  except pycurl.error:
+    cloudlog.exception("Failed to download assistance file")
+    return
+
+def downloader_loop(event):
+  if os.path.exists(ASSIST_DATA_FILE):
+    os.remove(ASSIST_DATA_FILE)
+
+  alt_path = os.getenv("QCOM_ALT_ASSISTANCE_PATH", None)
+  if alt_path is not None and os.path.exists(alt_path):
+    shutil.copyfile(alt_path, ASSIST_DATA_FILE)
+
+  try:
+    while not os.path.exists(ASSIST_DATA_FILE) and not event.is_set():
+      download_assistance()
+      event.wait(timeout=10)
+  except KeyboardInterrupt:
+    pass
+
+def inject_assistance():
+  for _ in range(5):
     try:
-      cmd = f"mmcli -m any --timeout 30 --location-inject-assistance-data={assist_data_file}"
+      cmd = f"mmcli -m any --timeout 30 --location-inject-assistance-data={ASSIST_DATA_FILE}"
       subprocess.check_output(cmd, stderr=subprocess.PIPE, shell=True)
       cloudlog.info("successfully loaded assistance data")
+      return
     except subprocess.CalledProcessError as e:
       cloudlog.event(
         "rawgps.assistance_loading_failed",
@@ -152,12 +172,12 @@ def download_and_inject_assistance():
         output=e.output,
         returncode=e.returncode
       )
-  finally:
-    if os.path.exists(assist_data_file):
-      os.remove(assist_data_file)
+    time.sleep(0.2)
+  cloudlog.error("failed to load assistance after retry")
 
+def setup_quectel(diag: ModemDiag) -> bool:
+  ret = False
 
-def setup_quectel(diag: ModemDiag):
   # enable OEMDRE in the NV
   # TODO: it has to reboot for this to take effect
   DIAG_NV_READ_F = 38
@@ -166,7 +186,7 @@ def setup_quectel(diag: ModemDiag):
   send_recv(diag, DIAG_NV_WRITE_F, pack('<HI', NV_GNSS_OEM_FEATURE_MASK, 1))
   send_recv(diag, DIAG_NV_READ_F, pack('<H', NV_GNSS_OEM_FEATURE_MASK))
 
-  setup_logs(diag, LOG_TYPES)
+  try_setup_logs(diag, LOG_TYPES)
 
   if gps_enabled():
     at_cmd("AT+QGPSEND")
@@ -179,11 +199,15 @@ def setup_quectel(diag: ModemDiag):
 
   # Do internet assistance
   at_cmd("AT+QGPSXTRA=1")
-  download_and_inject_assistance()
+  at_cmd("AT+QGPSSUPLURL=\"NULL\"")
+  if os.path.exists(ASSIST_DATA_FILE):
+    ret = True
+    inject_assistance()
+    os.remove(ASSIST_DATA_FILE)
   #at_cmd("AT+QGPSXTRADATA?")
   time_str = datetime.utcnow().strftime("%Y/%m/%d,%H:%M:%S")
   at_cmd(f"AT+QGPSXTRATIME=0,\"{time_str}\",1,1,1000")
-  
+
   at_cmd("AT+QGPSCFG=\"outport\",\"usbnmea\"")
   at_cmd("AT+QGPS=1")
 
@@ -206,6 +230,8 @@ def setup_quectel(diag: ModemDiag):
     0,0
   ))
 
+  return ret
+
 def teardown_quectel(diag):
   at_cmd("AT+QGPSCFG=\"outport\",\"none\"")
   if gps_enabled():
@@ -213,6 +239,15 @@ def teardown_quectel(diag):
   try_setup_logs(diag, [])
 
 
+def wait_for_modem():
+  cloudlog.warning("waiting for modem to come up")
+  while True:
+    ret = subprocess.call("mmcli -m any --timeout 10 --command=\"AT+QGPS?\"", stdout=subprocess.DEVNULL, stderr=subprocess.DEVNULL, shell=True)
+    if ret == 0:
+      return
+    time.sleep(0.1)
+
+
 def main() -> NoReturn:
   unpack_gps_meas, size_gps_meas = dict_unpacker(gps_measurement_report, True)
   unpack_gps_meas_sv, size_gps_meas_sv = dict_unpacker(gps_measurement_report_sv, True)
@@ -228,27 +263,31 @@ def main() -> NoReturn:
 
   unpack_position, _ = dict_unpacker(position_report)
 
-  # wait for ModemManager to come up
-  cloudlog.warning("waiting for modem to come up")
-  while True:
-    ret = subprocess.call("mmcli -m any --timeout 10 --command=\"AT+QGPS?\"", stdout=subprocess.DEVNULL, stderr=subprocess.DEVNULL, shell=True)
-    if ret == 0:
-      break
-    time.sleep(0.1)
-
-  # connect to modem
-  diag = ModemDiag()
+  wait_for_modem()
 
+  stop_download_event = Event()
+  assist_fetch_proc = Process(target=downloader_loop, args=(stop_download_event,))
+  assist_fetch_proc.start()
   def cleanup(sig, frame):
-    cloudlog.warning(f"caught sig {sig}, disabling quectel gps")
+    cloudlog.warning("caught sig disabling quectel gps")
+
     gpio_set(GPIO.UBLOX_PWR_EN, False)
     teardown_quectel(diag)
     cloudlog.warning("quectel cleanup done")
+
+    stop_download_event.set()
+    assist_fetch_proc.kill()
+    assist_fetch_proc.join()
+
     sys.exit(0)
   signal.signal(signal.SIGINT, cleanup)
   signal.signal(signal.SIGTERM, cleanup)
 
-  setup_quectel(diag)
+  # connect to modem
+  diag = ModemDiag()
+  r = setup_quectel(diag)
+  want_assistance = not r
+  current_gps_time = utc_to_gpst(GPSTime.from_datetime(datetime.utcnow()))
   cloudlog.warning("quectel setup done")
   gpio_init(GPIO.UBLOX_PWR_EN, True)
   gpio_set(GPIO.UBLOX_PWR_EN, True)
@@ -256,6 +295,10 @@ def main() -> NoReturn:
   pm = messaging.PubMaster(['qcomGnss', 'gpsLocation'])
 
   while 1:
+    if os.path.exists(ASSIST_DATA_FILE) and want_assistance:
+      setup_quectel(diag)
+      want_assistance = False
+
     opcode, payload = diag.recv()
     if opcode != DIAG_LOG_F:
       cloudlog.error(f"Unhandled opcode: {opcode}")
@@ -317,6 +360,8 @@ def main() -> NoReturn:
               setattr(sv.measurementStatus, kk, bool(v & (1<<vv)))
           else:
             setattr(sv, k, v)
+      if report.source == log.QcomGnss.MeasurementSource.gps:
+        current_gps_time = GPSTime(report.gpsWeek, report.gpsMilliseconds / 1000.0)
       pm.send('qcomGnss', msg)
     elif log_type == LOG_GNSS_POSITION_REPORT:
       report = unpack_position(log_payload)
@@ -337,10 +382,14 @@ def main() -> NoReturn:
       gps.source = log.GpsLocationData.SensorSource.qcomdiag
       gps.vNED = vNED
       gps.verticalAccuracy = report["q_FltVdop"]
-      gps.bearingAccuracyDeg = report["q_FltHeadingUncRad"] * 180/math.pi
+      gps.bearingAccuracyDeg = report["q_FltHeadingUncRad"] * 180/math.pi if (report["q_FltHeadingUncRad"] != 0) else 180
       gps.speedAccuracy = math.sqrt(sum([x**2 for x in vNEDsigma]))
       # quectel gps verticalAccuracy is clipped to 500, set invalid if so
       gps.flags = 1 if gps.verticalAccuracy != 500 else 0
+      if gps.flags:
+        want_assistance = False
+        stop_download_event.set()
+
 
       pm.send('gpsLocation', msg)
 
@@ -359,6 +408,21 @@ def main() -> NoReturn:
           pass
         else:
           setattr(poly, k, v)
+
+      prn = get_prn_from_nmea_id(poly.svId)
+      if prn[0] == 'R':
+        epoch = GPSTime(current_gps_time.week, (poly.t0 - 3*SECS_IN_HR + SECS_IN_DAY) % (SECS_IN_WEEK) + get_leap_seconds(current_gps_time))
+      else:
+        epoch = GPSTime(current_gps_time.week, poly.t0)
+
+      # handle week rollover
+      if epoch.tow < SECS_IN_DAY and current_gps_time.tow > 6*SECS_IN_DAY:
+        epoch.week += 1
+      elif epoch.tow > 6*SECS_IN_DAY and current_gps_time.tow < SECS_IN_DAY:
+        epoch.week -= 1
+
+      poly.gpsWeek = epoch.week
+      poly.gpsTow = epoch.tow
       pm.send('qcomGnss', msg)
 
     elif log_type in [LOG_GNSS_GPS_MEASUREMENT_REPORT, LOG_GNSS_GLONASS_MEASUREMENT_REPORT]:
diff --git a/system/sensord/rawgps/structs.py b/system/sensord/rawgps/structs.py
index 97e3d3d605..e2f1e1cdc5 100644
--- a/system/sensord/rawgps/structs.py
+++ b/system/sensord/rawgps/structs.py
@@ -255,7 +255,7 @@ position_report = """
   uint32      q_FltRawAlt;              /* Raw height-above-ellipsoid altitude in meters as computed by WLS */
   uint32      q_FltRawAltSigma;         /* Gaussian 1-sigma value for raw height-above-ellipsoid altitude in meters */
   uint32   align_Flt[14];
-  uint32      q_FltPdop;                /* 3D position dilution of precision as computed from the unweighted 
+  uint32      q_FltPdop;                /* 3D position dilution of precision as computed from the unweighted
   uint32      q_FltHdop;                /* Horizontal position dilution of precision as computed from the unweighted least-squares covariance matrix */
   uint32      q_FltVdop;                /* Vertical position dilution of precision as computed from the unweighted least-squares covariance matrix */
   uint8       u_EllipseConfidence;      /* Statistical measure of the confidence (percentage) associated with the uncertainty ellipse values */
@@ -276,7 +276,7 @@ position_report = """
   uint8       u_TotalGloSvs;            /* Total number of Glonass SVs detected by searcher, including ones not used in position calculation */
   uint8       u_NumBdsSvsUsed;          /* The number of BeiDou SVs used in the fix */
   uint8       u_TotalBdsSvs;            /* Total number of BeiDou SVs detected by searcher, including ones not used in position calculation */
-"""
+""" # noqa: E501
 
 def name_to_camelcase(nam):
   ret = []
diff --git a/system/sensord/rawgps/test_rawgps.py b/system/sensord/rawgps/test_rawgps.py
index 5bd0833955..8c2e246764 100755
--- a/system/sensord/rawgps/test_rawgps.py
+++ b/system/sensord/rawgps/test_rawgps.py
@@ -1,12 +1,19 @@
 #!/usr/bin/env python3
+import os
 import json
 import time
+import datetime
 import unittest
 import subprocess
+import numpy as np
 
 import cereal.messaging as messaging
 from system.hardware import TICI
+from system.sensord.rawgps.rawgpsd import at_cmd, wait_for_modem
 from selfdrive.manager.process_config import managed_processes
+from common.transformations.coordinates import ecef_from_geodetic
+
+GOOD_SIGNAL = bool(int(os.getenv("GOOD_SIGNAL", '0')))
 
 
 class TestRawgpsd(unittest.TestCase):
@@ -15,27 +22,56 @@ class TestRawgpsd(unittest.TestCase):
     if not TICI:
       raise unittest.SkipTest
 
+    os.system("sudo systemctl start systemd-resolved")
+    os.system("sudo systemctl restart ModemManager lte")
+    wait_for_modem()
+
+  @classmethod
+  def tearDownClass(cls):
+    managed_processes['rawgpsd'].stop()
+    os.system("sudo systemctl restart systemd-resolved")
+    os.system("sudo systemctl restart ModemManager lte")
+
+  def setUp(self):
+    at_cmd("AT+QGPSDEL=0")
+    self.sm = messaging.SubMaster(['qcomGnss', 'gpsLocation', 'gnssMeasurements'])
+
   def tearDown(self):
     managed_processes['rawgpsd'].stop()
+    os.system("sudo systemctl restart systemd-resolved")
+
+  def _wait_for_output(self, t):
+    dt = 0.1
+    for _ in range(t*int(1/dt)):
+      self.sm.update(0)
+      if self.sm.updated['qcomGnss']:
+        break
+      time.sleep(dt)
+    return self.sm.updated['qcomGnss']
+
+  def test_no_crash_double_command(self):
+    at_cmd("AT+QGPSDEL=0")
+    at_cmd("AT+QGPSDEL=0")
+
+  def test_wait_for_modem(self):
+    os.system("sudo systemctl stop ModemManager")
+    managed_processes['rawgpsd'].start()
+    assert not self._wait_for_output(5)
+
+    os.system("sudo systemctl restart ModemManager")
+    assert self._wait_for_output(30)
 
   def test_startup_time(self):
-    for _ in range(5):
-      sm = messaging.SubMaster(['qcomGnss'])
-      managed_processes['rawgpsd'].start()
-
-      start_time = time.monotonic()
-      for __ in range(10):
-        sm.update(1 * 1000)
-        if sm.updated['qcomGnss']:
-          break
-      assert sm.rcv_frame['qcomGnss'] > 0, "rawgpsd didn't start outputting messages in time"
-
-      et = time.monotonic() - start_time
-      assert et < 5, f"rawgpsd took {et:.1f}s to start"
-      managed_processes['rawgpsd'].stop()
+    for internet in (True, False):
+      if not internet:
+        os.system("sudo systemctl stop systemd-resolved")
+      with self.subTest(internet=internet):
+        managed_processes['rawgpsd'].start()
+        assert self._wait_for_output(7)
+        managed_processes['rawgpsd'].stop()
 
   def test_turns_off_gnss(self):
-    for s in (0.1, 0.5, 1, 5):
+    for s in (0.1, 1, 5):
       managed_processes['rawgpsd'].start()
       time.sleep(s)
       managed_processes['rawgpsd'].stop()
@@ -45,5 +81,64 @@ class TestRawgpsd(unittest.TestCase):
       assert set(loc_status['modem']['location']['enabled']) <= {'3gpp-lac-ci'}
 
 
+  def check_assistance(self, should_be_loaded):
+    # after QGPSDEL: '+QGPSXTRADATA: 0,"1980/01/05,19:00:00"'
+    # after loading: '+QGPSXTRADATA: 10080,"2023/06/24,19:00:00"'
+    out = at_cmd("AT+QGPSXTRADATA?")
+    out = out.split("+QGPSXTRADATA:")[1].split("'")[0].strip()
+    valid_duration, injected_time_str = out.split(",", 1)
+    if should_be_loaded:
+      assert valid_duration == "10080"  # should be max time
+      injected_time = datetime.datetime.strptime(injected_time_str.replace("\"", ""), "%Y/%m/%d,%H:%M:%S")
+      self.assertLess(abs((datetime.datetime.utcnow() - injected_time).total_seconds()), 60*60*12)
+    else:
+      valid_duration, injected_time_str = out.split(",", 1)
+      injected_time_str = injected_time_str.replace('\"', '').replace('\'', '')
+      assert injected_time_str[:] == '1980/01/05,19:00:00'[:]
+      assert valid_duration == '0'
+
+  def test_assistance_loading(self):
+    managed_processes['rawgpsd'].start()
+    assert self._wait_for_output(10)
+    managed_processes['rawgpsd'].stop()
+    self.check_assistance(True)
+
+  def test_no_assistance_loading(self):
+    os.system("sudo systemctl stop systemd-resolved")
+
+    managed_processes['rawgpsd'].start()
+    assert self._wait_for_output(10)
+    managed_processes['rawgpsd'].stop()
+    self.check_assistance(False)
+
+  def test_late_assistance_loading(self):
+    os.system("sudo systemctl stop systemd-resolved")
+
+    managed_processes['rawgpsd'].start()
+    self._wait_for_output(17)
+    assert self.sm.updated['qcomGnss']
+
+    os.system("sudo systemctl restart systemd-resolved")
+    time.sleep(15)
+    managed_processes['rawgpsd'].stop()
+    self.check_assistance(True)
+
+  @unittest.skipIf(not GOOD_SIGNAL, "No good GPS signal")
+  def test_fix(self):
+    managed_processes['rawgpsd'].start()
+    managed_processes['laikad'].start()
+    assert self._wait_for_output(60)
+    assert self.sm.updated['qcomGnss']
+    assert self.sm.updated['gpsLocation']
+    assert self.sm['gpsLocation'].flags == 1
+    module_fix = ecef_from_geodetic([self.sm['gpsLocation'].latitude,
+                                     self.sm['gpsLocation'].longitude,
+                                     self.sm['gpsLocation'].altitude])
+    assert self.sm['gnssMeasurements'].positionECEF.valid
+    total_diff = np.array(self.sm['gnssMeasurements'].positionECEF.value) - module_fix
+    self.assertLess(np.linalg.norm(total_diff), 100)
+    managed_processes['laikad'].stop()
+    managed_processes['rawgpsd'].stop()
+
 if __name__ == "__main__":
-  unittest.main()
+  unittest.main(failfast=True)
diff --git a/system/sensord/sensors/bmx055_accel.cc b/system/sensord/sensors/bmx055_accel.cc
index 78f5d64e79..0c48d1e3ba 100644
--- a/system/sensord/sensors/bmx055_accel.cc
+++ b/system/sensord/sensors/bmx055_accel.cc
@@ -44,7 +44,7 @@ int BMX055_Accel::shutdown()  {
   // enter deep suspend mode (lowest power mode)
   int ret = set_register(BMX055_ACCEL_I2C_REG_PMU, BMX055_ACCEL_DEEP_SUSPEND);
   if (ret < 0) {
-    LOGE("Could not move BMX055 ACCEL in deep suspend mode!")
+    LOGE("Could not move BMX055 ACCEL in deep suspend mode!");
   }
 
   return ret;
diff --git a/system/sensord/sensors/bmx055_gyro.cc b/system/sensord/sensors/bmx055_gyro.cc
index 2a938044f3..ba41f3b47c 100644
--- a/system/sensord/sensors/bmx055_gyro.cc
+++ b/system/sensord/sensors/bmx055_gyro.cc
@@ -54,7 +54,7 @@ int BMX055_Gyro::shutdown()  {
   // enter deep suspend mode (lowest power mode)
   int ret = set_register(BMX055_GYRO_I2C_REG_LPM1, BMX055_GYRO_DEEP_SUSPEND);
   if (ret < 0) {
-    LOGE("Could not move BMX055 GYRO in deep suspend mode!")
+    LOGE("Could not move BMX055 GYRO in deep suspend mode!");
   }
 
   return ret;
diff --git a/system/sensord/sensors/bmx055_magn.cc b/system/sensord/sensors/bmx055_magn.cc
index 2f0d10412c..7716ce25c0 100644
--- a/system/sensord/sensors/bmx055_magn.cc
+++ b/system/sensord/sensors/bmx055_magn.cc
@@ -150,7 +150,7 @@ int BMX055_Magn::shutdown() {
   // move to suspend mode
   int ret = set_register(BMX055_MAGN_I2C_REG_PWR_0, 0);
   if (ret < 0) {
-    LOGE("Could not move BMX055 MAGN in suspend mode!")
+    LOGE("Could not move BMX055 MAGN in suspend mode!");
   }
 
   return ret;
diff --git a/system/sensord/sensors/lsm6ds3_accel.cc b/system/sensord/sensors/lsm6ds3_accel.cc
index c8eeb6e5dc..2a09702c96 100644
--- a/system/sensord/sensors/lsm6ds3_accel.cc
+++ b/system/sensord/sensors/lsm6ds3_accel.cc
@@ -194,7 +194,7 @@ int LSM6DS3_Accel::shutdown() {
   value &= ~(LSM6DS3_ACCEL_INT1_DRDY_XL);
   ret = set_register(LSM6DS3_ACCEL_I2C_REG_INT1_CTRL, value);
   if (ret < 0) {
-    LOGE("Could not disable lsm6ds3 acceleration interrupt!")
+    LOGE("Could not disable lsm6ds3 acceleration interrupt!");
     goto fail;
   }
 
@@ -208,7 +208,7 @@ int LSM6DS3_Accel::shutdown() {
   value &= 0x0F;
   ret = set_register(LSM6DS3_ACCEL_I2C_REG_CTRL1_XL, value);
   if (ret < 0) {
-    LOGE("Could not power-down lsm6ds3 accelerometer!")
+    LOGE("Could not power-down lsm6ds3 accelerometer!");
     goto fail;
   }
 
diff --git a/system/sensord/sensors/lsm6ds3_gyro.cc b/system/sensord/sensors/lsm6ds3_gyro.cc
index d9f5b4cb6a..9bc43485af 100644
--- a/system/sensord/sensors/lsm6ds3_gyro.cc
+++ b/system/sensord/sensors/lsm6ds3_gyro.cc
@@ -177,7 +177,7 @@ int LSM6DS3_Gyro::shutdown() {
   value &= ~(LSM6DS3_GYRO_INT1_DRDY_G);
   ret = set_register(LSM6DS3_GYRO_I2C_REG_INT1_CTRL, value);
   if (ret < 0) {
-    LOGE("Could not disable lsm6ds3 gyroscope interrupt!")
+    LOGE("Could not disable lsm6ds3 gyroscope interrupt!");
     goto fail;
   }
 
@@ -191,7 +191,7 @@ int LSM6DS3_Gyro::shutdown() {
   value &= 0x0F;
   ret = set_register(LSM6DS3_GYRO_I2C_REG_CTRL2_G, value);
   if (ret < 0) {
-    LOGE("Could not power-down lsm6ds3 gyroscope!")
+    LOGE("Could not power-down lsm6ds3 gyroscope!");
     goto fail;
   }
 
diff --git a/system/sensord/sensors/mmc5603nj_magn.cc b/system/sensord/sensors/mmc5603nj_magn.cc
index cdb82a4a12..048095786e 100644
--- a/system/sensord/sensors/mmc5603nj_magn.cc
+++ b/system/sensord/sensors/mmc5603nj_magn.cc
@@ -63,7 +63,7 @@ int MMC5603NJ_Magn::shutdown() {
   return ret;
 
 fail:
-  LOGE("Could not disable mmc5603nj auto set reset")
+  LOGE("Could not disable mmc5603nj auto set reset");
   return ret;
 }
 
diff --git a/system/sensord/tests/test_pigeond.py b/system/sensord/tests/test_pigeond.py
index d15b731d0c..9519183aac 100755
--- a/system/sensord/tests/test_pigeond.py
+++ b/system/sensord/tests/test_pigeond.py
@@ -26,8 +26,8 @@ class TestPigeond(unittest.TestCase):
     sm = messaging.SubMaster(['ubloxRaw'])
 
     # setup time
-    time.sleep(2)
-    sm.update()
+    for _ in range(int(5 * service_list['ubloxRaw'].frequency)):
+      sm.update()
 
     for _ in range(int(10 * service_list['ubloxRaw'].frequency)):
       sm.update()
diff --git a/system/sensord/tests/test_sensord.py b/system/sensord/tests/test_sensord.py
index 6e8dda79bb..eea527ed63 100755
--- a/system/sensord/tests/test_sensord.py
+++ b/system/sensord/tests/test_sensord.py
@@ -7,7 +7,7 @@ from collections import namedtuple, defaultdict
 
 import cereal.messaging as messaging
 from cereal import log
-from common.gpio import get_irq_for_action
+from common.gpio import get_irqs_for_action
 from system.hardware import TICI
 from selfdrive.manager.process_config import managed_processes
 
@@ -41,33 +41,33 @@ SENSOR_CONFIGURATIONS = (
 )
 
 Sensor = log.SensorEventData.SensorSource
-SensorConfig = namedtuple('SensorConfig', ['type', 'sanity_min', 'sanity_max'])
+SensorConfig = namedtuple('SensorConfig', ['type', 'sanity_min', 'sanity_max', 'expected_freq'])
 ALL_SENSORS = {
   Sensor.rpr0521: {
-    SensorConfig("light", 0, 1023),
+    SensorConfig("light", 0, 1023, 100),
   },
 
   Sensor.lsm6ds3: {
-    SensorConfig("acceleration", 5, 15),
-    SensorConfig("gyroUncalibrated", 0, .2),
-    SensorConfig("temperature", 0, 60),
+    SensorConfig("acceleration", 5, 15, 100),
+    SensorConfig("gyroUncalibrated", 0, .2, 100),
+    SensorConfig("temperature", 0, 60, 100),
   },
 
   Sensor.lsm6ds3trc: {
-    SensorConfig("acceleration", 5, 15),
-    SensorConfig("gyroUncalibrated", 0, .2),
-    SensorConfig("temperature", 0, 60),
+    SensorConfig("acceleration", 5, 15, 104),
+    SensorConfig("gyroUncalibrated", 0, .2, 104),
+    SensorConfig("temperature", 0, 60, 100),
   },
 
   Sensor.bmx055: {
-    SensorConfig("acceleration", 5, 15),
-    SensorConfig("gyroUncalibrated", 0, .2),
-    SensorConfig("magneticUncalibrated", 0, 300),
-    SensorConfig("temperature", 0, 60),
+    SensorConfig("acceleration", 5, 15, 100),
+    SensorConfig("gyroUncalibrated", 0, .2, 100),
+    SensorConfig("magneticUncalibrated", 0, 300, 100),
+    SensorConfig("temperature", 0, 60, 100),
   },
 
   Sensor.mmc5603nj: {
-    SensorConfig("magneticUncalibrated", 0, 300),
+    SensorConfig("magneticUncalibrated", 0, 300, 100),
   }
 }
 
@@ -113,7 +113,7 @@ class TestSensord(unittest.TestCase):
       cls.events = read_sensor_events(cls.sample_secs)
 
       # determine sensord's irq
-      cls.sensord_irq = get_irq_for_action("sensord")[0]
+      cls.sensord_irq = get_irqs_for_action("sensord")[0]
     finally:
       # teardown won't run if this doesn't succeed
       managed_processes["sensord"].stop()
@@ -235,7 +235,7 @@ class TestSensord(unittest.TestCase):
 
         key = (sensor, s.type)
         val_cnt = len(sensor_values[key])
-        min_samples = self.sample_secs * 100  # Hz
+        min_samples = self.sample_secs * s.expected_freq
         err_msg = f"Sensor {sensor} {s.type} got {val_cnt} measurements, expected {min_samples}"
         assert min_samples*0.9 < val_cnt < min_samples*1.1, err_msg
 
diff --git a/system/swaglog.py b/system/swaglog.py
index 68664330a5..28beb5a4d1 100644
--- a/system/swaglog.py
+++ b/system/swaglog.py
@@ -1,6 +1,7 @@
 import logging
 import os
 import time
+import warnings
 from pathlib import Path
 from logging.handlers import BaseRotatingHandler
 
@@ -72,6 +73,15 @@ class UnixDomainSocketHandler(logging.Handler):
     self.setFormatter(formatter)
     self.pid = None
 
+    self.zctx = None
+    self.sock = None
+
+  def __del__(self):
+    if self.sock is not None:
+      self.sock.close()
+    if self.zctx is not None:
+      self.zctx.term()
+
   def connect(self):
     self.zctx = zmq.Context()
     self.sock = self.zctx.socket(zmq.PUSH)
@@ -81,6 +91,8 @@ class UnixDomainSocketHandler(logging.Handler):
 
   def emit(self, record):
     if os.getpid() != self.pid:
+      # TODO suppresses warning about forking proc with zmq socket, fix root cause
+      warnings.filterwarnings("ignore", category=ResourceWarning, message="unclosed.*<zmq.*>")
       self.connect()
 
     msg = self.format(record).rstrip('\n')
diff --git a/system/tests/__init__.py b/system/tests/__init__.py
new file mode 100644
index 0000000000..e69de29bb2
diff --git a/system/tests/test_logmessaged.py b/system/tests/test_logmessaged.py
new file mode 100755
index 0000000000..08335517ae
--- /dev/null
+++ b/system/tests/test_logmessaged.py
@@ -0,0 +1,60 @@
+#!/usr/bin/env python3
+import glob
+import os
+import shutil
+import time
+import unittest
+
+import cereal.messaging as messaging
+from selfdrive.manager.process_config import managed_processes
+from system.swaglog import cloudlog, SWAGLOG_DIR
+
+
+class TestLogmessaged(unittest.TestCase):
+
+  def setUp(self):
+    if os.path.exists(SWAGLOG_DIR):
+      shutil.rmtree(SWAGLOG_DIR)
+
+    managed_processes['logmessaged'].start()
+    self.sock = messaging.sub_sock("logMessage", timeout=1000, conflate=False)
+    self.error_sock = messaging.sub_sock("logMessage", timeout=1000, conflate=False)
+
+    # ensure sockets are connected
+    time.sleep(0.2)
+    messaging.drain_sock(self.sock)
+    messaging.drain_sock(self.error_sock)
+
+  def tearDown(self):
+    del self.sock
+    del self.error_sock
+    managed_processes['logmessaged'].stop(block=True)
+
+  def _get_log_files(self):
+    return list(glob.glob(os.path.join(SWAGLOG_DIR, "swaglog.*")))
+
+  def test_simple_log(self):
+    msgs = [f"abc {i}" for i in range(10)]
+    for m in msgs:
+      cloudlog.error(m)
+    time.sleep(3)
+    m = messaging.drain_sock(self.sock)
+    assert len(m) == len(msgs)
+    assert len(self._get_log_files()) >= 1
+
+  def test_big_log(self):
+    n = 10
+    msg = "a"*3*1024*1024
+    for _ in range(n):
+      cloudlog.info(msg)
+    time.sleep(3)
+
+    msgs = messaging.drain_sock(self.sock)
+    assert len(msgs) == 0
+
+    logsize = sum([os.path.getsize(f) for f in self._get_log_files()])
+    assert (n*len(msg)) < logsize < (n*(len(msg)+1024))
+
+
+if __name__ == "__main__":
+  unittest.main()
diff --git a/system/ubloxd/tests/ublox.py b/system/ubloxd/tests/ublox.py
index 0d271ad785..ddfea174b7 100644
--- a/system/ubloxd/tests/ublox.py
+++ b/system/ubloxd/tests/ublox.py
@@ -324,7 +324,7 @@ class UBloxDescriptor:
       msg._buf += struct.pack(self.format2, *tuple(f2))
     msg._buf += struct.pack('<BB', *msg.checksum(data=msg._buf[2:]))
 
-  def format(self, msg):
+  def format_json(self, msg):
     '''return a formatted string for a message'''
     if not msg._unpacked:
       self.unpack(msg)
@@ -555,19 +555,19 @@ class UBloxMessage:
     '''format a message as a string'''
     if not self.valid():
       return 'UBloxMessage(INVALID)'
-    type = self.msg_type()
-    if type in msg_types:
-      return msg_types[type].format(self)
-    return 'UBloxMessage(UNKNOWN %s, %u)' % (str(type), self.msg_length())
+    msg_type = self.msg_type()
+    if msg_type in msg_types:
+      return msg_types[msg_type].format(self)
+    return 'UBloxMessage(UNKNOWN %s, %u)' % (str(msg_type), self.msg_length())
 
   def as_dict(self):
     '''format a message as a string'''
     if not self.valid():
       return 'UBloxMessage(INVALID)'
-    type = self.msg_type()
-    if type in msg_types:
-      return msg_types[type].format(self)
-    return 'UBloxMessage(UNKNOWN %s, %u)' % (str(type), self.msg_length())
+    msg_type = self.msg_type()
+    if msg_type in msg_types:
+      return msg_types[msg_type].format(self)
+    return 'UBloxMessage(UNKNOWN %s, %u)' % (str(msg_type), self.msg_length())
 
   def __getattr__(self, name):
     '''allow access to message fields'''
@@ -598,29 +598,29 @@ class UBloxMessage:
     '''unpack a message'''
     if not self.valid():
       raise UBloxError('INVALID MESSAGE')
-    type = self.msg_type()
-    if type not in msg_types:
-      raise UBloxError('Unknown message %s length=%u' % (str(type), len(self._buf)))
-    msg_types[type].unpack(self)
+    msg_type = self.msg_type()
+    if msg_type not in msg_types:
+      raise UBloxError('Unknown message %s length=%u' % (str(msg_type), len(self._buf)))
+    msg_types[msg_type].unpack(self)
     return self._fields, self._recs
 
   def pack(self):
     '''pack a message'''
     if not self.valid():
       raise UBloxError('INVALID MESSAGE')
-    type = self.msg_type()
-    if type not in msg_types:
-      raise UBloxError('Unknown message %s' % str(type))
-    msg_types[type].pack(self)
+    msg_type = self.msg_type()
+    if msg_type not in msg_types:
+      raise UBloxError('Unknown message %s' % str(msg_type))
+    msg_types[msg_type].pack(self)
 
   def name(self):
     '''return the short string name for a message'''
     if not self.valid():
       raise UBloxError('INVALID MESSAGE')
-    type = self.msg_type()
-    if type not in msg_types:
-      raise UBloxError('Unknown message %s length=%u' % (str(type), len(self._buf)))
-    return msg_types[type].name
+    msg_type = self.msg_type()
+    if msg_type not in msg_types:
+      raise UBloxError('Unknown message %s length=%u' % (str(msg_types), len(self._buf)))
+    return msg_types[msg_type].name
 
   def msg_class(self):
     '''return the message class'''
@@ -655,9 +655,9 @@ class UBloxMessage:
       return False
     return True
 
-  def add(self, bytes):
+  def add(self, data):
     '''add some bytes to a message'''
-    self._buf += bytes
+    self._buf += data
     while not self.valid_so_far() and len(self._buf) > 0:
       '''handle corrupted streams'''
       self._buf = self._buf[1:]
@@ -768,7 +768,7 @@ class UBlox:
     if not self.read_only:
       if self.use_sendrecv:
         return self.dev.send(buf)
-      if type(buf) == str:
+      if isinstance(buf, str):
         return self.dev.write(str.encode(buf))
       else:
         return self.dev.write(buf)
@@ -933,7 +933,7 @@ class UBlox:
                           0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0)
     self.send_message(CLASS_CFG, MSG_CFG_NAVX5, payload)
 
-  def module_reset(self, set, mode):
+  def module_reset(self, reset, mode):
     ''' Reset the module for hot/warm/cold start'''
-    payload = struct.pack('<HBB', set, mode, 0)
+    payload = struct.pack('<HBB', reset, mode, 0)
     self.send_message(CLASS_CFG, MSG_CFG_RST, payload)
diff --git a/system/ubloxd/ublox_msg.cc b/system/ubloxd/ublox_msg.cc
index 92a2ba678c..7cecf58bed 100644
--- a/system/ubloxd/ublox_msg.cc
+++ b/system/ubloxd/ublox_msg.cc
@@ -390,7 +390,7 @@ kj::Array<capnp::word> UbloxMsgParser::parse_glonass_ephemeris(ubx_t::rxm_sfrbx_
     eph.setP4(data->p4());
     eph.setSvURA(glonass_URA_lookup.at(data->f_t()));
     if (msg->sv_id() != data->n()) {
-      LOGE("SV_ID != SLOT_NUMBER: %d %d", msg->sv_id(), data->n())
+      LOGE("SV_ID != SLOT_NUMBER: %d %" PRIu64, msg->sv_id(), data->n());
     }
     eph.setSvType(data->m());
   }
diff --git a/system/version.py b/system/version.py
index 55f80afa35..c9ab443694 100644
--- a/system/version.py
+++ b/system/version.py
@@ -90,7 +90,7 @@ def is_comma_remote() -> bool:
   if origin is None:
     return False
 
-  return origin.startswith('git@github.com:commaai') or origin.startswith('https://github.com/commaai')
+  return origin.startswith(('git@github.com:commaai', 'https://github.com/commaai'))
 
 
 @cache
diff --git a/third_party/acados/.gitignore b/third_party/acados/.gitignore
index 9787bd1b55..68858c62e4 100644
--- a/third_party/acados/.gitignore
+++ b/third_party/acados/.gitignore
@@ -1,4 +1,5 @@
 acados_repo/
+lib
 !x86_64/
 !larch64/
 !aarch64/
diff --git a/third_party/acados/Darwin/lib/libacados.dylib b/third_party/acados/Darwin/lib/libacados.dylib
index 6d133f693d..ca6c280297 100755
Binary files a/third_party/acados/Darwin/lib/libacados.dylib and b/third_party/acados/Darwin/lib/libacados.dylib differ
diff --git a/third_party/acados/Darwin/lib/libblasfeo.dylib b/third_party/acados/Darwin/lib/libblasfeo.dylib
index 7ba6a8b32d..0217db1048 100755
Binary files a/third_party/acados/Darwin/lib/libblasfeo.dylib and b/third_party/acados/Darwin/lib/libblasfeo.dylib differ
diff --git a/third_party/acados/Darwin/lib/libhpipm.dylib b/third_party/acados/Darwin/lib/libhpipm.dylib
index 69141c8178..420ac45753 100755
Binary files a/third_party/acados/Darwin/lib/libhpipm.dylib and b/third_party/acados/Darwin/lib/libhpipm.dylib differ
diff --git a/third_party/acados/Darwin/lib/libqpOASES_e.3.1.dylib b/third_party/acados/Darwin/lib/libqpOASES_e.3.1.dylib
index b0cf93b060..07dc6ea9b0 100755
Binary files a/third_party/acados/Darwin/lib/libqpOASES_e.3.1.dylib and b/third_party/acados/Darwin/lib/libqpOASES_e.3.1.dylib differ
diff --git a/third_party/acados/Darwin/t_renderer b/third_party/acados/Darwin/t_renderer
index 1afbd81519..f40327a59e 100755
Binary files a/third_party/acados/Darwin/t_renderer and b/third_party/acados/Darwin/t_renderer differ
diff --git a/third_party/acados/aarch64 b/third_party/acados/aarch64
new file mode 120000
index 0000000000..062c65e8d9
--- /dev/null
+++ b/third_party/acados/aarch64
@@ -0,0 +1 @@
+larch64/
\ No newline at end of file
diff --git a/third_party/acados/build.sh b/third_party/acados/build.sh
index 9b18b2b67d..574a577b4d 100755
--- a/third_party/acados/build.sh
+++ b/third_party/acados/build.sh
@@ -13,13 +13,8 @@ fi
 ACADOS_FLAGS="-DACADOS_WITH_QPOASES=ON -UBLASFEO_TARGET -DBLASFEO_TARGET=$BLAS_TARGET"
 
 if [[ "$OSTYPE" == "darwin"* ]]; then
-  if [[  $(uname -m) == "x86_64" ]]; then
-    ACADOS_FLAGS="$ACADOS_FLAGS -DCMAKE_OSX_ARCHITECTURES=x86_64"
-    ARCHNAME="Darwin_x86_64"
-  else
-    ACADOS_FLAGS="$ACADOS_FLAGS -DCMAKE_OSX_ARCHITECTURES=arm64;x86_64"
-    ARCHNAME="Darwin"
-  fi
+  ACADOS_FLAGS="$ACADOS_FLAGS -DCMAKE_OSX_ARCHITECTURES=arm64;x86_64 -DCMAKE_MACOSX_RPATH=1"
+  ARCHNAME="Darwin"
 fi
 
 if [ ! -d acados_repo/ ]; then
@@ -51,5 +46,11 @@ cp -r $DIR/acados_repo/interfaces/acados_template/acados_template $DIR/
 
 # build tera
 cd $DIR/acados_repo/interfaces/acados_template/tera_renderer/
-cargo build --verbose --release
+if [[ "$OSTYPE" == "darwin"* ]]; then
+  cargo build --verbose --release --target aarch64-apple-darwin
+  cargo build --verbose --release --target x86_64-apple-darwin
+  lipo -create -output target/release/t_renderer target/x86_64-apple-darwin/release/t_renderer target/aarch64-apple-darwin/release/t_renderer
+else 
+  cargo build --verbose --release
+fi
 cp target/release/t_renderer $INSTALL_DIR/
diff --git a/third_party/curl/build.txt b/third_party/curl/build.txt
deleted file mode 100644
index def0763b46..0000000000
--- a/third_party/curl/build.txt
+++ /dev/null
@@ -1,5 +0,0 @@
-# with neos tree
-cd ~/android/system
-mka libcurl
-
-cp ~/android/system/out/target/product/oneplus3/obj/STATIC_LIBRARIES/libcurl_intermediates/libcurl.a lib/
diff --git a/third_party/curl/include/Makefile.am b/third_party/curl/include/Makefile.am
deleted file mode 100644
index 3b24860299..0000000000
--- a/third_party/curl/include/Makefile.am
+++ /dev/null
@@ -1,5 +0,0 @@
-SUBDIRS = curl
-
-EXTRA_DIST = README
-
-AUTOMAKE_OPTIONS = foreign no-dependencies
diff --git a/third_party/curl/include/README b/third_party/curl/include/README
deleted file mode 100644
index 3e52a1d0a6..0000000000
--- a/third_party/curl/include/README
+++ /dev/null
@@ -1,55 +0,0 @@
-                                  _   _ ____  _
-                              ___| | | |  _ \| |
-                             / __| | | | |_) | |
-                            | (__| |_| |  _ <| |___
-                             \___|\___/|_| \_\_____|
-
-Include files for libcurl, external users.
-
-They're all placed in the curl subdirectory here for better fit in any kind
-of environment. You must include files from here using...
-
-        #include <curl/curl.h>
-
-... style and point the compiler's include path to the directory holding the
-curl subdirectory. It makes it more likely to survive future modifications.
-
-NOTE FOR LIBCURL HACKERS
-
-The following notes apply to libcurl version 7.19.0 and later.
-
-* The distributed curl/curlbuild.h file is only intended to be used on systems
-  which can not run the also distributed configure script.
-
-* The distributed curlbuild.h file is generated as a copy of curlbuild.h.dist
-  when the libcurl source code distribution archive file is originally created.
-
-* If you check out from git on a non-configure platform, you must run the
-  appropriate buildconf* script to set up curlbuild.h and other local files
-  before being able of compiling the library.
-
-* On systems capable of running the configure script, the configure process
-  will overwrite the distributed include/curl/curlbuild.h file with one that
-  is suitable and specific to the library being configured and built, which
-  is generated from the include/curl/curlbuild.h.in template file.
-
-* If you intend to distribute an already compiled libcurl library you _MUST_
-  also distribute along with it the generated curl/curlbuild.h which has been
-  used to compile it. Otherwise the library will be of no use for the users of
-  the library that you have built. It is _your_ responsibility to provide this
-  file. No one at the cURL project can know how you have built the library.
-
-* File curl/curlbuild.h includes platform and configuration dependent info,
-  and must not be modified by anyone. Configure script generates it for you.
-
-* We cannot assume anything else but very basic compiler features being
-  present. While libcurl requires an ANSI C compiler to build, some of the
-  earlier ANSI compilers clearly can't deal with some preprocessor operators.
-
-* Newlines must remain unix-style for older compilers' sake.
-
-* Comments must be written in the old-style /* unnested C-fashion */
-
-To figure out how to do good and portable checks for features, operating
-systems or specific hardwarare, a very good resource is Bjorn Reese's
-collection at http://predef.sf.net/
diff --git a/third_party/curl/include/curl/.gitignore b/third_party/curl/include/curl/.gitignore
deleted file mode 100644
index 5f3bc3ce01..0000000000
--- a/third_party/curl/include/curl/.gitignore
+++ /dev/null
@@ -1,3 +0,0 @@
-stamp-h2
-stamp-h3
-curlver.h.dist
diff --git a/third_party/curl/include/curl/Makefile.am b/third_party/curl/include/curl/Makefile.am
deleted file mode 100644
index 86e8b78344..0000000000
--- a/third_party/curl/include/curl/Makefile.am
+++ /dev/null
@@ -1,53 +0,0 @@
-#***************************************************************************
-#                                  _   _ ____  _
-#  Project                     ___| | | |  _ \| |
-#                             / __| | | | |_) | |
-#                            | (__| |_| |  _ <| |___
-#                             \___|\___/|_| \_\_____|
-#
-# Copyright (C) 1998 - 2011, Daniel Stenberg, <daniel@haxx.se>, et al.
-#
-# This software is licensed as described in the file COPYING, which
-# you should have received as part of this distribution. The terms
-# are also available at http://curl.haxx.se/docs/copyright.html.
-#
-# You may opt to use, copy, modify, merge, publish, distribute and/or sell
-# copies of the Software, and permit persons to whom the Software is
-# furnished to do so, under the terms of the COPYING file.
-#
-# This software is distributed on an "AS IS" basis, WITHOUT WARRANTY OF ANY
-# KIND, either express or implied.
-#
-###########################################################################
-pkginclude_HEADERS = \
-	curl.h curlver.h easy.h mprintf.h stdcheaders.h multi.h \
-	typecheck-gcc.h curlbuild.h curlrules.h
-
-pkgincludedir= $(includedir)/curl
-
-# curlbuild.h does not exist in the git tree. When the original libcurl
-# source code distribution archive file is created, curlbuild.h.dist is
-# renamed to curlbuild.h and included in the tarball so that it can be
-# used directly on non-configure systems.
-#
-# The distributed curlbuild.h will be overwritten on configure systems
-# when the configure script runs, with one that is suitable and specific
-# to the library being configured and built.
-#
-# curlbuild.h.in is the distributed template file from which the configure
-# script creates curlbuild.h at library configuration time, overwiting the
-# one included in the distribution archive.
-#
-# curlbuild.h.dist is not included in the source code distribution archive.
-
-EXTRA_DIST = curlbuild.h.in
-
-DISTCLEANFILES = curlbuild.h
-
-checksrc:
-	@@PERL@ $(top_srcdir)/lib/checksrc.pl -Wcurlbuild.h -D$(top_srcdir)/include/curl $(pkginclude_HEADERS) $(EXTRA_DIST)
-
-if CURLDEBUG
-# for debug builds, we scan the sources on all regular make invokes
-all-local: checksrc
-endif
diff --git a/third_party/curl/include/curl/curl.h b/third_party/curl/include/curl/curl.h
deleted file mode 100644
index eab2f6e99a..0000000000
--- a/third_party/curl/include/curl/curl.h
+++ /dev/null
@@ -1,2376 +0,0 @@
-#ifndef __CURL_CURL_H
-#define __CURL_CURL_H
-/***************************************************************************
- *                                  _   _ ____  _
- *  Project                     ___| | | |  _ \| |
- *                             / __| | | | |_) | |
- *                            | (__| |_| |  _ <| |___
- *                             \___|\___/|_| \_\_____|
- *
- * Copyright (C) 1998 - 2015, Daniel Stenberg, <daniel@haxx.se>, et al.
- *
- * This software is licensed as described in the file COPYING, which
- * you should have received as part of this distribution. The terms
- * are also available at http://curl.haxx.se/docs/copyright.html.
- *
- * You may opt to use, copy, modify, merge, publish, distribute and/or sell
- * copies of the Software, and permit persons to whom the Software is
- * furnished to do so, under the terms of the COPYING file.
- *
- * This software is distributed on an "AS IS" basis, WITHOUT WARRANTY OF ANY
- * KIND, either express or implied.
- *
- ***************************************************************************/
-
-/*
- * If you have libcurl problems, all docs and details are found here:
- *   http://curl.haxx.se/libcurl/
- *
- * curl-library mailing list subscription and unsubscription web interface:
- *   http://cool.haxx.se/mailman/listinfo/curl-library/
- */
-
-#include "curlver.h"         /* libcurl version defines   */
-#include "curlbuild.h"       /* libcurl build definitions */
-#include "curlrules.h"       /* libcurl rules enforcement */
-
-/*
- * Define WIN32 when build target is Win32 API
- */
-
-#if (defined(_WIN32) || defined(__WIN32__)) && \
-     !defined(WIN32) && !defined(__SYMBIAN32__)
-#define WIN32
-#endif
-
-#include <stdio.h>
-#include <limits.h>
-
-#if defined(__FreeBSD__) && (__FreeBSD__ >= 2)
-/* Needed for __FreeBSD_version symbol definition */
-#include <osreldate.h>
-#endif
-
-/* The include stuff here below is mainly for time_t! */
-#include <sys/types.h>
-#include <time.h>
-
-#if defined(WIN32) && !defined(_WIN32_WCE) && !defined(__CYGWIN__)
-#if !(defined(_WINSOCKAPI_) || defined(_WINSOCK_H) || defined(__LWIP_OPT_H__))
-/* The check above prevents the winsock2 inclusion if winsock.h already was
-   included, since they can't co-exist without problems */
-#include <winsock2.h>
-#include <ws2tcpip.h>
-#endif
-#endif
-
-/* HP-UX systems version 9, 10 and 11 lack sys/select.h and so does oldish
-   libc5-based Linux systems. Only include it on systems that are known to
-   require it! */
-#if defined(_AIX) || defined(__NOVELL_LIBC__) || defined(__NetBSD__) || \
-    defined(__minix) || defined(__SYMBIAN32__) || defined(__INTEGRITY) || \
-    defined(ANDROID) || defined(__ANDROID__) || defined(__OpenBSD__) || \
-   (defined(__FreeBSD_version) && (__FreeBSD_version < 800000))
-#include <sys/select.h>
-#endif
-
-#if !defined(WIN32) && !defined(_WIN32_WCE)
-#include <sys/socket.h>
-#endif
-
-#if !defined(WIN32) && !defined(__WATCOMC__) && !defined(__VXWORKS__)
-#include <sys/time.h>
-#endif
-
-#ifdef __BEOS__
-#include <support/SupportDefs.h>
-#endif
-
-#ifdef  __cplusplus
-extern "C" {
-#endif
-
-typedef void CURL;
-
-/*
- * libcurl external API function linkage decorations.
- */
-
-#ifdef CURL_STATICLIB
-#  define CURL_EXTERN
-#elif defined(WIN32) || defined(_WIN32) || defined(__SYMBIAN32__)
-#  if defined(BUILDING_LIBCURL)
-#    define CURL_EXTERN  __declspec(dllexport)
-#  else
-#    define CURL_EXTERN  __declspec(dllimport)
-#  endif
-#elif defined(BUILDING_LIBCURL) && defined(CURL_HIDDEN_SYMBOLS)
-#  define CURL_EXTERN CURL_EXTERN_SYMBOL
-#else
-#  define CURL_EXTERN
-#endif
-
-#ifndef curl_socket_typedef
-/* socket typedef */
-#if defined(WIN32) && !defined(__LWIP_OPT_H__)
-typedef SOCKET curl_socket_t;
-#define CURL_SOCKET_BAD INVALID_SOCKET
-#else
-typedef int curl_socket_t;
-#define CURL_SOCKET_BAD -1
-#endif
-#define curl_socket_typedef
-#endif /* curl_socket_typedef */
-
-struct curl_httppost {
-  struct curl_httppost *next;       /* next entry in the list */
-  char *name;                       /* pointer to allocated name */
-  long namelength;                  /* length of name length */
-  char *contents;                   /* pointer to allocated data contents */
-  long contentslength;              /* length of contents field */
-  char *buffer;                     /* pointer to allocated buffer contents */
-  long bufferlength;                /* length of buffer field */
-  char *contenttype;                /* Content-Type */
-  struct curl_slist* contentheader; /* list of extra headers for this form */
-  struct curl_httppost *more;       /* if one field name has more than one
-                                       file, this link should link to following
-                                       files */
-  long flags;                       /* as defined below */
-#define HTTPPOST_FILENAME (1<<0)    /* specified content is a file name */
-#define HTTPPOST_READFILE (1<<1)    /* specified content is a file name */
-#define HTTPPOST_PTRNAME (1<<2)     /* name is only stored pointer
-                                       do not free in formfree */
-#define HTTPPOST_PTRCONTENTS (1<<3) /* contents is only stored pointer
-                                       do not free in formfree */
-#define HTTPPOST_BUFFER (1<<4)      /* upload file from buffer */
-#define HTTPPOST_PTRBUFFER (1<<5)   /* upload file from pointer contents */
-#define HTTPPOST_CALLBACK (1<<6)    /* upload file contents by using the
-                                       regular read callback to get the data
-                                       and pass the given pointer as custom
-                                       pointer */
-
-  char *showfilename;               /* The file name to show. If not set, the
-                                       actual file name will be used (if this
-                                       is a file part) */
-  void *userp;                      /* custom pointer used for
-                                       HTTPPOST_CALLBACK posts */
-};
-
-/* This is the CURLOPT_PROGRESSFUNCTION callback proto. It is now considered
-   deprecated but was the only choice up until 7.31.0 */
-typedef int (*curl_progress_callback)(void *clientp,
-                                      double dltotal,
-                                      double dlnow,
-                                      double ultotal,
-                                      double ulnow);
-
-/* This is the CURLOPT_XFERINFOFUNCTION callback proto. It was introduced in
-   7.32.0, it avoids floating point and provides more detailed information. */
-typedef int (*curl_xferinfo_callback)(void *clientp,
-                                      curl_off_t dltotal,
-                                      curl_off_t dlnow,
-                                      curl_off_t ultotal,
-                                      curl_off_t ulnow);
-
-#ifndef CURL_MAX_WRITE_SIZE
-  /* Tests have proven that 20K is a very bad buffer size for uploads on
-     Windows, while 16K for some odd reason performed a lot better.
-     We do the ifndef check to allow this value to easier be changed at build
-     time for those who feel adventurous. The practical minimum is about
-     400 bytes since libcurl uses a buffer of this size as a scratch area
-     (unrelated to network send operations). */
-#define CURL_MAX_WRITE_SIZE 16384
-#endif
-
-#ifndef CURL_MAX_HTTP_HEADER
-/* The only reason to have a max limit for this is to avoid the risk of a bad
-   server feeding libcurl with a never-ending header that will cause reallocs
-   infinitely */
-#define CURL_MAX_HTTP_HEADER (100*1024)
-#endif
-
-/* This is a magic return code for the write callback that, when returned,
-   will signal libcurl to pause receiving on the current transfer. */
-#define CURL_WRITEFUNC_PAUSE 0x10000001
-
-typedef size_t (*curl_write_callback)(char *buffer,
-                                      size_t size,
-                                      size_t nitems,
-                                      void *outstream);
-
-
-
-/* enumeration of file types */
-typedef enum {
-  CURLFILETYPE_FILE = 0,
-  CURLFILETYPE_DIRECTORY,
-  CURLFILETYPE_SYMLINK,
-  CURLFILETYPE_DEVICE_BLOCK,
-  CURLFILETYPE_DEVICE_CHAR,
-  CURLFILETYPE_NAMEDPIPE,
-  CURLFILETYPE_SOCKET,
-  CURLFILETYPE_DOOR, /* is possible only on Sun Solaris now */
-
-  CURLFILETYPE_UNKNOWN /* should never occur */
-} curlfiletype;
-
-#define CURLFINFOFLAG_KNOWN_FILENAME    (1<<0)
-#define CURLFINFOFLAG_KNOWN_FILETYPE    (1<<1)
-#define CURLFINFOFLAG_KNOWN_TIME        (1<<2)
-#define CURLFINFOFLAG_KNOWN_PERM        (1<<3)
-#define CURLFINFOFLAG_KNOWN_UID         (1<<4)
-#define CURLFINFOFLAG_KNOWN_GID         (1<<5)
-#define CURLFINFOFLAG_KNOWN_SIZE        (1<<6)
-#define CURLFINFOFLAG_KNOWN_HLINKCOUNT  (1<<7)
-
-/* Content of this structure depends on information which is known and is
-   achievable (e.g. by FTP LIST parsing). Please see the url_easy_setopt(3) man
-   page for callbacks returning this structure -- some fields are mandatory,
-   some others are optional. The FLAG field has special meaning. */
-struct curl_fileinfo {
-  char *filename;
-  curlfiletype filetype;
-  time_t time;
-  unsigned int perm;
-  int uid;
-  int gid;
-  curl_off_t size;
-  long int hardlinks;
-
-  struct {
-    /* If some of these fields is not NULL, it is a pointer to b_data. */
-    char *time;
-    char *perm;
-    char *user;
-    char *group;
-    char *target; /* pointer to the target filename of a symlink */
-  } strings;
-
-  unsigned int flags;
-
-  /* used internally */
-  char * b_data;
-  size_t b_size;
-  size_t b_used;
-};
-
-/* return codes for CURLOPT_CHUNK_BGN_FUNCTION */
-#define CURL_CHUNK_BGN_FUNC_OK      0
-#define CURL_CHUNK_BGN_FUNC_FAIL    1 /* tell the lib to end the task */
-#define CURL_CHUNK_BGN_FUNC_SKIP    2 /* skip this chunk over */
-
-/* if splitting of data transfer is enabled, this callback is called before
-   download of an individual chunk started. Note that parameter "remains" works
-   only for FTP wildcard downloading (for now), otherwise is not used */
-typedef long (*curl_chunk_bgn_callback)(const void *transfer_info,
-                                        void *ptr,
-                                        int remains);
-
-/* return codes for CURLOPT_CHUNK_END_FUNCTION */
-#define CURL_CHUNK_END_FUNC_OK      0
-#define CURL_CHUNK_END_FUNC_FAIL    1 /* tell the lib to end the task */
-
-/* If splitting of data transfer is enabled this callback is called after
-   download of an individual chunk finished.
-   Note! After this callback was set then it have to be called FOR ALL chunks.
-   Even if downloading of this chunk was skipped in CHUNK_BGN_FUNC.
-   This is the reason why we don't need "transfer_info" parameter in this
-   callback and we are not interested in "remains" parameter too. */
-typedef long (*curl_chunk_end_callback)(void *ptr);
-
-/* return codes for FNMATCHFUNCTION */
-#define CURL_FNMATCHFUNC_MATCH    0 /* string corresponds to the pattern */
-#define CURL_FNMATCHFUNC_NOMATCH  1 /* pattern doesn't match the string */
-#define CURL_FNMATCHFUNC_FAIL     2 /* an error occurred */
-
-/* callback type for wildcard downloading pattern matching. If the
-   string matches the pattern, return CURL_FNMATCHFUNC_MATCH value, etc. */
-typedef int (*curl_fnmatch_callback)(void *ptr,
-                                     const char *pattern,
-                                     const char *string);
-
-/* These are the return codes for the seek callbacks */
-#define CURL_SEEKFUNC_OK       0
-#define CURL_SEEKFUNC_FAIL     1 /* fail the entire transfer */
-#define CURL_SEEKFUNC_CANTSEEK 2 /* tell libcurl seeking can't be done, so
-                                    libcurl might try other means instead */
-typedef int (*curl_seek_callback)(void *instream,
-                                  curl_off_t offset,
-                                  int origin); /* 'whence' */
-
-/* This is a return code for the read callback that, when returned, will
-   signal libcurl to immediately abort the current transfer. */
-#define CURL_READFUNC_ABORT 0x10000000
-/* This is a return code for the read callback that, when returned, will
-   signal libcurl to pause sending data on the current transfer. */
-#define CURL_READFUNC_PAUSE 0x10000001
-
-typedef size_t (*curl_read_callback)(char *buffer,
-                                      size_t size,
-                                      size_t nitems,
-                                      void *instream);
-
-typedef enum  {
-  CURLSOCKTYPE_IPCXN,  /* socket created for a specific IP connection */
-  CURLSOCKTYPE_ACCEPT, /* socket created by accept() call */
-  CURLSOCKTYPE_LAST    /* never use */
-} curlsocktype;
-
-/* The return code from the sockopt_callback can signal information back
-   to libcurl: */
-#define CURL_SOCKOPT_OK 0
-#define CURL_SOCKOPT_ERROR 1 /* causes libcurl to abort and return
-                                CURLE_ABORTED_BY_CALLBACK */
-#define CURL_SOCKOPT_ALREADY_CONNECTED 2
-
-typedef int (*curl_sockopt_callback)(void *clientp,
-                                     curl_socket_t curlfd,
-                                     curlsocktype purpose);
-
-struct curl_sockaddr {
-  int family;
-  int socktype;
-  int protocol;
-  unsigned int addrlen; /* addrlen was a socklen_t type before 7.18.0 but it
-                           turned really ugly and painful on the systems that
-                           lack this type */
-  struct sockaddr addr;
-};
-
-typedef curl_socket_t
-(*curl_opensocket_callback)(void *clientp,
-                            curlsocktype purpose,
-                            struct curl_sockaddr *address);
-
-typedef int
-(*curl_closesocket_callback)(void *clientp, curl_socket_t item);
-
-typedef enum {
-  CURLIOE_OK,            /* I/O operation successful */
-  CURLIOE_UNKNOWNCMD,    /* command was unknown to callback */
-  CURLIOE_FAILRESTART,   /* failed to restart the read */
-  CURLIOE_LAST           /* never use */
-} curlioerr;
-
-typedef enum  {
-  CURLIOCMD_NOP,         /* no operation */
-  CURLIOCMD_RESTARTREAD, /* restart the read stream from start */
-  CURLIOCMD_LAST         /* never use */
-} curliocmd;
-
-typedef curlioerr (*curl_ioctl_callback)(CURL *handle,
-                                         int cmd,
-                                         void *clientp);
-
-/*
- * The following typedef's are signatures of malloc, free, realloc, strdup and
- * calloc respectively.  Function pointers of these types can be passed to the
- * curl_global_init_mem() function to set user defined memory management
- * callback routines.
- */
-typedef void *(*curl_malloc_callback)(size_t size);
-typedef void (*curl_free_callback)(void *ptr);
-typedef void *(*curl_realloc_callback)(void *ptr, size_t size);
-typedef char *(*curl_strdup_callback)(const char *str);
-typedef void *(*curl_calloc_callback)(size_t nmemb, size_t size);
-
-/* the kind of data that is passed to information_callback*/
-typedef enum {
-  CURLINFO_TEXT = 0,
-  CURLINFO_HEADER_IN,    /* 1 */
-  CURLINFO_HEADER_OUT,   /* 2 */
-  CURLINFO_DATA_IN,      /* 3 */
-  CURLINFO_DATA_OUT,     /* 4 */
-  CURLINFO_SSL_DATA_IN,  /* 5 */
-  CURLINFO_SSL_DATA_OUT, /* 6 */
-  CURLINFO_END
-} curl_infotype;
-
-typedef int (*curl_debug_callback)
-       (CURL *handle,      /* the handle/transfer this concerns */
-        curl_infotype type, /* what kind of data */
-        char *data,        /* points to the data */
-        size_t size,       /* size of the data pointed to */
-        void *userptr);    /* whatever the user please */
-
-/* All possible error codes from all sorts of curl functions. Future versions
-   may return other values, stay prepared.
-
-   Always add new return codes last. Never *EVER* remove any. The return
-   codes must remain the same!
- */
-
-typedef enum {
-  CURLE_OK = 0,
-  CURLE_UNSUPPORTED_PROTOCOL,    /* 1 */
-  CURLE_FAILED_INIT,             /* 2 */
-  CURLE_URL_MALFORMAT,           /* 3 */
-  CURLE_NOT_BUILT_IN,            /* 4 - [was obsoleted in August 2007 for
-                                    7.17.0, reused in April 2011 for 7.21.5] */
-  CURLE_COULDNT_RESOLVE_PROXY,   /* 5 */
-  CURLE_COULDNT_RESOLVE_HOST,    /* 6 */
-  CURLE_COULDNT_CONNECT,         /* 7 */
-  CURLE_FTP_WEIRD_SERVER_REPLY,  /* 8 */
-  CURLE_REMOTE_ACCESS_DENIED,    /* 9 a service was denied by the server
-                                    due to lack of access - when login fails
-                                    this is not returned. */
-  CURLE_FTP_ACCEPT_FAILED,       /* 10 - [was obsoleted in April 2006 for
-                                    7.15.4, reused in Dec 2011 for 7.24.0]*/
-  CURLE_FTP_WEIRD_PASS_REPLY,    /* 11 */
-  CURLE_FTP_ACCEPT_TIMEOUT,      /* 12 - timeout occurred accepting server
-                                    [was obsoleted in August 2007 for 7.17.0,
-                                    reused in Dec 2011 for 7.24.0]*/
-  CURLE_FTP_WEIRD_PASV_REPLY,    /* 13 */
-  CURLE_FTP_WEIRD_227_FORMAT,    /* 14 */
-  CURLE_FTP_CANT_GET_HOST,       /* 15 */
-  CURLE_HTTP2,                   /* 16 - A problem in the http2 framing layer.
-                                    [was obsoleted in August 2007 for 7.17.0,
-                                    reused in July 2014 for 7.38.0] */
-  CURLE_FTP_COULDNT_SET_TYPE,    /* 17 */
-  CURLE_PARTIAL_FILE,            /* 18 */
-  CURLE_FTP_COULDNT_RETR_FILE,   /* 19 */
-  CURLE_OBSOLETE20,              /* 20 - NOT USED */
-  CURLE_QUOTE_ERROR,             /* 21 - quote command failure */
-  CURLE_HTTP_RETURNED_ERROR,     /* 22 */
-  CURLE_WRITE_ERROR,             /* 23 */
-  CURLE_OBSOLETE24,              /* 24 - NOT USED */
-  CURLE_UPLOAD_FAILED,           /* 25 - failed upload "command" */
-  CURLE_READ_ERROR,              /* 26 - couldn't open/read from file */
-  CURLE_OUT_OF_MEMORY,           /* 27 */
-  /* Note: CURLE_OUT_OF_MEMORY may sometimes indicate a conversion error
-           instead of a memory allocation error if CURL_DOES_CONVERSIONS
-           is defined
-  */
-  CURLE_OPERATION_TIMEDOUT,      /* 28 - the timeout time was reached */
-  CURLE_OBSOLETE29,              /* 29 - NOT USED */
-  CURLE_FTP_PORT_FAILED,         /* 30 - FTP PORT operation failed */
-  CURLE_FTP_COULDNT_USE_REST,    /* 31 - the REST command failed */
-  CURLE_OBSOLETE32,              /* 32 - NOT USED */
-  CURLE_RANGE_ERROR,             /* 33 - RANGE "command" didn't work */
-  CURLE_HTTP_POST_ERROR,         /* 34 */
-  CURLE_SSL_CONNECT_ERROR,       /* 35 - wrong when connecting with SSL */
-  CURLE_BAD_DOWNLOAD_RESUME,     /* 36 - couldn't resume download */
-  CURLE_FILE_COULDNT_READ_FILE,  /* 37 */
-  CURLE_LDAP_CANNOT_BIND,        /* 38 */
-  CURLE_LDAP_SEARCH_FAILED,      /* 39 */
-  CURLE_OBSOLETE40,              /* 40 - NOT USED */
-  CURLE_FUNCTION_NOT_FOUND,      /* 41 */
-  CURLE_ABORTED_BY_CALLBACK,     /* 42 */
-  CURLE_BAD_FUNCTION_ARGUMENT,   /* 43 */
-  CURLE_OBSOLETE44,              /* 44 - NOT USED */
-  CURLE_INTERFACE_FAILED,        /* 45 - CURLOPT_INTERFACE failed */
-  CURLE_OBSOLETE46,              /* 46 - NOT USED */
-  CURLE_TOO_MANY_REDIRECTS ,     /* 47 - catch endless re-direct loops */
-  CURLE_UNKNOWN_OPTION,          /* 48 - User specified an unknown option */
-  CURLE_TELNET_OPTION_SYNTAX ,   /* 49 - Malformed telnet option */
-  CURLE_OBSOLETE50,              /* 50 - NOT USED */
-  CURLE_PEER_FAILED_VERIFICATION, /* 51 - peer's certificate or fingerprint
-                                     wasn't verified fine */
-  CURLE_GOT_NOTHING,             /* 52 - when this is a specific error */
-  CURLE_SSL_ENGINE_NOTFOUND,     /* 53 - SSL crypto engine not found */
-  CURLE_SSL_ENGINE_SETFAILED,    /* 54 - can not set SSL crypto engine as
-                                    default */
-  CURLE_SEND_ERROR,              /* 55 - failed sending network data */
-  CURLE_RECV_ERROR,              /* 56 - failure in receiving network data */
-  CURLE_OBSOLETE57,              /* 57 - NOT IN USE */
-  CURLE_SSL_CERTPROBLEM,         /* 58 - problem with the local certificate */
-  CURLE_SSL_CIPHER,              /* 59 - couldn't use specified cipher */
-  CURLE_SSL_CACERT,              /* 60 - problem with the CA cert (path?) */
-  CURLE_BAD_CONTENT_ENCODING,    /* 61 - Unrecognized/bad encoding */
-  CURLE_LDAP_INVALID_URL,        /* 62 - Invalid LDAP URL */
-  CURLE_FILESIZE_EXCEEDED,       /* 63 - Maximum file size exceeded */
-  CURLE_USE_SSL_FAILED,          /* 64 - Requested FTP SSL level failed */
-  CURLE_SEND_FAIL_REWIND,        /* 65 - Sending the data requires a rewind
-                                    that failed */
-  CURLE_SSL_ENGINE_INITFAILED,   /* 66 - failed to initialise ENGINE */
-  CURLE_LOGIN_DENIED,            /* 67 - user, password or similar was not
-                                    accepted and we failed to login */
-  CURLE_TFTP_NOTFOUND,           /* 68 - file not found on server */
-  CURLE_TFTP_PERM,               /* 69 - permission problem on server */
-  CURLE_REMOTE_DISK_FULL,        /* 70 - out of disk space on server */
-  CURLE_TFTP_ILLEGAL,            /* 71 - Illegal TFTP operation */
-  CURLE_TFTP_UNKNOWNID,          /* 72 - Unknown transfer ID */
-  CURLE_REMOTE_FILE_EXISTS,      /* 73 - File already exists */
-  CURLE_TFTP_NOSUCHUSER,         /* 74 - No such user */
-  CURLE_CONV_FAILED,             /* 75 - conversion failed */
-  CURLE_CONV_REQD,               /* 76 - caller must register conversion
-                                    callbacks using curl_easy_setopt options
-                                    CURLOPT_CONV_FROM_NETWORK_FUNCTION,
-                                    CURLOPT_CONV_TO_NETWORK_FUNCTION, and
-                                    CURLOPT_CONV_FROM_UTF8_FUNCTION */
-  CURLE_SSL_CACERT_BADFILE,      /* 77 - could not load CACERT file, missing
-                                    or wrong format */
-  CURLE_REMOTE_FILE_NOT_FOUND,   /* 78 - remote file not found */
-  CURLE_SSH,                     /* 79 - error from the SSH layer, somewhat
-                                    generic so the error message will be of
-                                    interest when this has happened */
-
-  CURLE_SSL_SHUTDOWN_FAILED,     /* 80 - Failed to shut down the SSL
-                                    connection */
-  CURLE_AGAIN,                   /* 81 - socket is not ready for send/recv,
-                                    wait till it's ready and try again (Added
-                                    in 7.18.2) */
-  CURLE_SSL_CRL_BADFILE,         /* 82 - could not load CRL file, missing or
-                                    wrong format (Added in 7.19.0) */
-  CURLE_SSL_ISSUER_ERROR,        /* 83 - Issuer check failed.  (Added in
-                                    7.19.0) */
-  CURLE_FTP_PRET_FAILED,         /* 84 - a PRET command failed */
-  CURLE_RTSP_CSEQ_ERROR,         /* 85 - mismatch of RTSP CSeq numbers */
-  CURLE_RTSP_SESSION_ERROR,      /* 86 - mismatch of RTSP Session Ids */
-  CURLE_FTP_BAD_FILE_LIST,       /* 87 - unable to parse FTP file list */
-  CURLE_CHUNK_FAILED,            /* 88 - chunk callback reported error */
-  CURLE_NO_CONNECTION_AVAILABLE, /* 89 - No connection available, the
-                                    session will be queued */
-  CURLE_SSL_PINNEDPUBKEYNOTMATCH, /* 90 - specified pinned public key did not
-                                     match */
-  CURLE_SSL_INVALIDCERTSTATUS,   /* 91 - invalid certificate status */
-  CURL_LAST /* never use! */
-} CURLcode;
-
-#ifndef CURL_NO_OLDIES /* define this to test if your app builds with all
-                          the obsolete stuff removed! */
-
-/* Previously obsolete error code re-used in 7.38.0 */
-#define CURLE_OBSOLETE16 CURLE_HTTP2
-
-/* Previously obsolete error codes re-used in 7.24.0 */
-#define CURLE_OBSOLETE10 CURLE_FTP_ACCEPT_FAILED
-#define CURLE_OBSOLETE12 CURLE_FTP_ACCEPT_TIMEOUT
-
-/*  compatibility with older names */
-#define CURLOPT_ENCODING CURLOPT_ACCEPT_ENCODING
-
-/* The following were added in 7.21.5, April 2011 */
-#define CURLE_UNKNOWN_TELNET_OPTION CURLE_UNKNOWN_OPTION
-
-/* The following were added in 7.17.1 */
-/* These are scheduled to disappear by 2009 */
-#define CURLE_SSL_PEER_CERTIFICATE CURLE_PEER_FAILED_VERIFICATION
-
-/* The following were added in 7.17.0 */
-/* These are scheduled to disappear by 2009 */
-#define CURLE_OBSOLETE CURLE_OBSOLETE50 /* no one should be using this! */
-#define CURLE_BAD_PASSWORD_ENTERED CURLE_OBSOLETE46
-#define CURLE_BAD_CALLING_ORDER CURLE_OBSOLETE44
-#define CURLE_FTP_USER_PASSWORD_INCORRECT CURLE_OBSOLETE10
-#define CURLE_FTP_CANT_RECONNECT CURLE_OBSOLETE16
-#define CURLE_FTP_COULDNT_GET_SIZE CURLE_OBSOLETE32
-#define CURLE_FTP_COULDNT_SET_ASCII CURLE_OBSOLETE29
-#define CURLE_FTP_WEIRD_USER_REPLY CURLE_OBSOLETE12
-#define CURLE_FTP_WRITE_ERROR CURLE_OBSOLETE20
-#define CURLE_LIBRARY_NOT_FOUND CURLE_OBSOLETE40
-#define CURLE_MALFORMAT_USER CURLE_OBSOLETE24
-#define CURLE_SHARE_IN_USE CURLE_OBSOLETE57
-#define CURLE_URL_MALFORMAT_USER CURLE_NOT_BUILT_IN
-
-#define CURLE_FTP_ACCESS_DENIED CURLE_REMOTE_ACCESS_DENIED
-#define CURLE_FTP_COULDNT_SET_BINARY CURLE_FTP_COULDNT_SET_TYPE
-#define CURLE_FTP_QUOTE_ERROR CURLE_QUOTE_ERROR
-#define CURLE_TFTP_DISKFULL CURLE_REMOTE_DISK_FULL
-#define CURLE_TFTP_EXISTS CURLE_REMOTE_FILE_EXISTS
-#define CURLE_HTTP_RANGE_ERROR CURLE_RANGE_ERROR
-#define CURLE_FTP_SSL_FAILED CURLE_USE_SSL_FAILED
-
-/* The following were added earlier */
-
-#define CURLE_OPERATION_TIMEOUTED CURLE_OPERATION_TIMEDOUT
-
-#define CURLE_HTTP_NOT_FOUND CURLE_HTTP_RETURNED_ERROR
-#define CURLE_HTTP_PORT_FAILED CURLE_INTERFACE_FAILED
-#define CURLE_FTP_COULDNT_STOR_FILE CURLE_UPLOAD_FAILED
-
-#define CURLE_FTP_PARTIAL_FILE CURLE_PARTIAL_FILE
-#define CURLE_FTP_BAD_DOWNLOAD_RESUME CURLE_BAD_DOWNLOAD_RESUME
-
-/* This was the error code 50 in 7.7.3 and a few earlier versions, this
-   is no longer used by libcurl but is instead #defined here only to not
-   make programs break */
-#define CURLE_ALREADY_COMPLETE 99999
-
-/* Provide defines for really old option names */
-#define CURLOPT_FILE CURLOPT_WRITEDATA /* name changed in 7.9.7 */
-#define CURLOPT_INFILE CURLOPT_READDATA /* name changed in 7.9.7 */
-#define CURLOPT_WRITEHEADER CURLOPT_HEADERDATA
-
-/* Since long deprecated options with no code in the lib that does anything
-   with them. */
-#define CURLOPT_WRITEINFO CURLOPT_OBSOLETE40
-#define CURLOPT_CLOSEPOLICY CURLOPT_OBSOLETE72
-
-#endif /*!CURL_NO_OLDIES*/
-
-/* This prototype applies to all conversion callbacks */
-typedef CURLcode (*curl_conv_callback)(char *buffer, size_t length);
-
-typedef CURLcode (*curl_ssl_ctx_callback)(CURL *curl,    /* easy handle */
-                                          void *ssl_ctx, /* actually an
-                                                            OpenSSL SSL_CTX */
-                                          void *userptr);
-
-typedef enum {
-  CURLPROXY_HTTP = 0,   /* added in 7.10, new in 7.19.4 default is to use
-                           CONNECT HTTP/1.1 */
-  CURLPROXY_HTTP_1_0 = 1,   /* added in 7.19.4, force to use CONNECT
-                               HTTP/1.0  */
-  CURLPROXY_SOCKS4 = 4, /* support added in 7.15.2, enum existed already
-                           in 7.10 */
-  CURLPROXY_SOCKS5 = 5, /* added in 7.10 */
-  CURLPROXY_SOCKS4A = 6, /* added in 7.18.0 */
-  CURLPROXY_SOCKS5_HOSTNAME = 7 /* Use the SOCKS5 protocol but pass along the
-                                   host name rather than the IP address. added
-                                   in 7.18.0 */
-} curl_proxytype;  /* this enum was added in 7.10 */
-
-/*
- * Bitmasks for CURLOPT_HTTPAUTH and CURLOPT_PROXYAUTH options:
- *
- * CURLAUTH_NONE         - No HTTP authentication
- * CURLAUTH_BASIC        - HTTP Basic authentication (default)
- * CURLAUTH_DIGEST       - HTTP Digest authentication
- * CURLAUTH_NEGOTIATE    - HTTP Negotiate (SPNEGO) authentication
- * CURLAUTH_GSSNEGOTIATE - Alias for CURLAUTH_NEGOTIATE (deprecated)
- * CURLAUTH_NTLM         - HTTP NTLM authentication
- * CURLAUTH_DIGEST_IE    - HTTP Digest authentication with IE flavour
- * CURLAUTH_NTLM_WB      - HTTP NTLM authentication delegated to winbind helper
- * CURLAUTH_ONLY         - Use together with a single other type to force no
- *                         authentication or just that single type
- * CURLAUTH_ANY          - All fine types set
- * CURLAUTH_ANYSAFE      - All fine types except Basic
- */
-
-#define CURLAUTH_NONE         ((unsigned long)0)
-#define CURLAUTH_BASIC        (((unsigned long)1)<<0)
-#define CURLAUTH_DIGEST       (((unsigned long)1)<<1)
-#define CURLAUTH_NEGOTIATE    (((unsigned long)1)<<2)
-/* Deprecated since the advent of CURLAUTH_NEGOTIATE */
-#define CURLAUTH_GSSNEGOTIATE CURLAUTH_NEGOTIATE
-#define CURLAUTH_NTLM         (((unsigned long)1)<<3)
-#define CURLAUTH_DIGEST_IE    (((unsigned long)1)<<4)
-#define CURLAUTH_NTLM_WB      (((unsigned long)1)<<5)
-#define CURLAUTH_ONLY         (((unsigned long)1)<<31)
-#define CURLAUTH_ANY          (~CURLAUTH_DIGEST_IE)
-#define CURLAUTH_ANYSAFE      (~(CURLAUTH_BASIC|CURLAUTH_DIGEST_IE))
-
-#define CURLSSH_AUTH_ANY       ~0     /* all types supported by the server */
-#define CURLSSH_AUTH_NONE      0      /* none allowed, silly but complete */
-#define CURLSSH_AUTH_PUBLICKEY (1<<0) /* public/private key files */
-#define CURLSSH_AUTH_PASSWORD  (1<<1) /* password */
-#define CURLSSH_AUTH_HOST      (1<<2) /* host key files */
-#define CURLSSH_AUTH_KEYBOARD  (1<<3) /* keyboard interactive */
-#define CURLSSH_AUTH_AGENT     (1<<4) /* agent (ssh-agent, pageant...) */
-#define CURLSSH_AUTH_DEFAULT CURLSSH_AUTH_ANY
-
-#define CURLGSSAPI_DELEGATION_NONE        0      /* no delegation (default) */
-#define CURLGSSAPI_DELEGATION_POLICY_FLAG (1<<0) /* if permitted by policy */
-#define CURLGSSAPI_DELEGATION_FLAG        (1<<1) /* delegate always */
-
-#define CURL_ERROR_SIZE 256
-
-enum curl_khtype {
-  CURLKHTYPE_UNKNOWN,
-  CURLKHTYPE_RSA1,
-  CURLKHTYPE_RSA,
-  CURLKHTYPE_DSS
-};
-
-struct curl_khkey {
-  const char *key; /* points to a zero-terminated string encoded with base64
-                      if len is zero, otherwise to the "raw" data */
-  size_t len;
-  enum curl_khtype keytype;
-};
-
-/* this is the set of return values expected from the curl_sshkeycallback
-   callback */
-enum curl_khstat {
-  CURLKHSTAT_FINE_ADD_TO_FILE,
-  CURLKHSTAT_FINE,
-  CURLKHSTAT_REJECT, /* reject the connection, return an error */
-  CURLKHSTAT_DEFER,  /* do not accept it, but we can't answer right now so
-                        this causes a CURLE_DEFER error but otherwise the
-                        connection will be left intact etc */
-  CURLKHSTAT_LAST    /* not for use, only a marker for last-in-list */
-};
-
-/* this is the set of status codes pass in to the callback */
-enum curl_khmatch {
-  CURLKHMATCH_OK,       /* match */
-  CURLKHMATCH_MISMATCH, /* host found, key mismatch! */
-  CURLKHMATCH_MISSING,  /* no matching host/key found */
-  CURLKHMATCH_LAST      /* not for use, only a marker for last-in-list */
-};
-
-typedef int
-  (*curl_sshkeycallback) (CURL *easy,     /* easy handle */
-                          const struct curl_khkey *knownkey, /* known */
-                          const struct curl_khkey *foundkey, /* found */
-                          enum curl_khmatch, /* libcurl's view on the keys */
-                          void *clientp); /* custom pointer passed from app */
-
-/* parameter for the CURLOPT_USE_SSL option */
-typedef enum {
-  CURLUSESSL_NONE,    /* do not attempt to use SSL */
-  CURLUSESSL_TRY,     /* try using SSL, proceed anyway otherwise */
-  CURLUSESSL_CONTROL, /* SSL for the control connection or fail */
-  CURLUSESSL_ALL,     /* SSL for all communication or fail */
-  CURLUSESSL_LAST     /* not an option, never use */
-} curl_usessl;
-
-/* Definition of bits for the CURLOPT_SSL_OPTIONS argument: */
-
-/* - ALLOW_BEAST tells libcurl to allow the BEAST SSL vulnerability in the
-   name of improving interoperability with older servers. Some SSL libraries
-   have introduced work-arounds for this flaw but those work-arounds sometimes
-   make the SSL communication fail. To regain functionality with those broken
-   servers, a user can this way allow the vulnerability back. */
-#define CURLSSLOPT_ALLOW_BEAST (1<<0)
-
-#ifndef CURL_NO_OLDIES /* define this to test if your app builds with all
-                          the obsolete stuff removed! */
-
-/* Backwards compatibility with older names */
-/* These are scheduled to disappear by 2009 */
-
-#define CURLFTPSSL_NONE CURLUSESSL_NONE
-#define CURLFTPSSL_TRY CURLUSESSL_TRY
-#define CURLFTPSSL_CONTROL CURLUSESSL_CONTROL
-#define CURLFTPSSL_ALL CURLUSESSL_ALL
-#define CURLFTPSSL_LAST CURLUSESSL_LAST
-#define curl_ftpssl curl_usessl
-#endif /*!CURL_NO_OLDIES*/
-
-/* parameter for the CURLOPT_FTP_SSL_CCC option */
-typedef enum {
-  CURLFTPSSL_CCC_NONE,    /* do not send CCC */
-  CURLFTPSSL_CCC_PASSIVE, /* Let the server initiate the shutdown */
-  CURLFTPSSL_CCC_ACTIVE,  /* Initiate the shutdown */
-  CURLFTPSSL_CCC_LAST     /* not an option, never use */
-} curl_ftpccc;
-
-/* parameter for the CURLOPT_FTPSSLAUTH option */
-typedef enum {
-  CURLFTPAUTH_DEFAULT, /* let libcurl decide */
-  CURLFTPAUTH_SSL,     /* use "AUTH SSL" */
-  CURLFTPAUTH_TLS,     /* use "AUTH TLS" */
-  CURLFTPAUTH_LAST /* not an option, never use */
-} curl_ftpauth;
-
-/* parameter for the CURLOPT_FTP_CREATE_MISSING_DIRS option */
-typedef enum {
-  CURLFTP_CREATE_DIR_NONE,  /* do NOT create missing dirs! */
-  CURLFTP_CREATE_DIR,       /* (FTP/SFTP) if CWD fails, try MKD and then CWD
-                               again if MKD succeeded, for SFTP this does
-                               similar magic */
-  CURLFTP_CREATE_DIR_RETRY, /* (FTP only) if CWD fails, try MKD and then CWD
-                               again even if MKD failed! */
-  CURLFTP_CREATE_DIR_LAST   /* not an option, never use */
-} curl_ftpcreatedir;
-
-/* parameter for the CURLOPT_FTP_FILEMETHOD option */
-typedef enum {
-  CURLFTPMETHOD_DEFAULT,   /* let libcurl pick */
-  CURLFTPMETHOD_MULTICWD,  /* single CWD operation for each path part */
-  CURLFTPMETHOD_NOCWD,     /* no CWD at all */
-  CURLFTPMETHOD_SINGLECWD, /* one CWD to full dir, then work on file */
-  CURLFTPMETHOD_LAST       /* not an option, never use */
-} curl_ftpmethod;
-
-/* bitmask defines for CURLOPT_HEADEROPT */
-#define CURLHEADER_UNIFIED  0
-#define CURLHEADER_SEPARATE (1<<0)
-
-/* CURLPROTO_ defines are for the CURLOPT_*PROTOCOLS options */
-#define CURLPROTO_HTTP   (1<<0)
-#define CURLPROTO_HTTPS  (1<<1)
-#define CURLPROTO_FTP    (1<<2)
-#define CURLPROTO_FTPS   (1<<3)
-#define CURLPROTO_SCP    (1<<4)
-#define CURLPROTO_SFTP   (1<<5)
-#define CURLPROTO_TELNET (1<<6)
-#define CURLPROTO_LDAP   (1<<7)
-#define CURLPROTO_LDAPS  (1<<8)
-#define CURLPROTO_DICT   (1<<9)
-#define CURLPROTO_FILE   (1<<10)
-#define CURLPROTO_TFTP   (1<<11)
-#define CURLPROTO_IMAP   (1<<12)
-#define CURLPROTO_IMAPS  (1<<13)
-#define CURLPROTO_POP3   (1<<14)
-#define CURLPROTO_POP3S  (1<<15)
-#define CURLPROTO_SMTP   (1<<16)
-#define CURLPROTO_SMTPS  (1<<17)
-#define CURLPROTO_RTSP   (1<<18)
-#define CURLPROTO_RTMP   (1<<19)
-#define CURLPROTO_RTMPT  (1<<20)
-#define CURLPROTO_RTMPE  (1<<21)
-#define CURLPROTO_RTMPTE (1<<22)
-#define CURLPROTO_RTMPS  (1<<23)
-#define CURLPROTO_RTMPTS (1<<24)
-#define CURLPROTO_GOPHER (1<<25)
-#define CURLPROTO_SMB    (1<<26)
-#define CURLPROTO_SMBS   (1<<27)
-#define CURLPROTO_ALL    (~0) /* enable everything */
-
-/* long may be 32 or 64 bits, but we should never depend on anything else
-   but 32 */
-#define CURLOPTTYPE_LONG          0
-#define CURLOPTTYPE_OBJECTPOINT   10000
-#define CURLOPTTYPE_FUNCTIONPOINT 20000
-#define CURLOPTTYPE_OFF_T         30000
-
-/* name is uppercase CURLOPT_<name>,
-   type is one of the defined CURLOPTTYPE_<type>
-   number is unique identifier */
-#ifdef CINIT
-#undef CINIT
-#endif
-
-#ifdef CURL_ISOCPP
-#define CINIT(na,t,nu) CURLOPT_ ## na = CURLOPTTYPE_ ## t + nu
-#else
-/* The macro "##" is ISO C, we assume pre-ISO C doesn't support it. */
-#define LONG          CURLOPTTYPE_LONG
-#define OBJECTPOINT   CURLOPTTYPE_OBJECTPOINT
-#define FUNCTIONPOINT CURLOPTTYPE_FUNCTIONPOINT
-#define OFF_T         CURLOPTTYPE_OFF_T
-#define CINIT(name,type,number) CURLOPT_/**/name = type + number
-#endif
-
-/*
- * This macro-mania below setups the CURLOPT_[what] enum, to be used with
- * curl_easy_setopt(). The first argument in the CINIT() macro is the [what]
- * word.
- */
-
-typedef enum {
-  /* This is the FILE * or void * the regular output should be written to. */
-  CINIT(WRITEDATA, OBJECTPOINT, 1),
-
-  /* The full URL to get/put */
-  CINIT(URL, OBJECTPOINT, 2),
-
-  /* Port number to connect to, if other than default. */
-  CINIT(PORT, LONG, 3),
-
-  /* Name of proxy to use. */
-  CINIT(PROXY, OBJECTPOINT, 4),
-
-  /* "user:password;options" to use when fetching. */
-  CINIT(USERPWD, OBJECTPOINT, 5),
-
-  /* "user:password" to use with proxy. */
-  CINIT(PROXYUSERPWD, OBJECTPOINT, 6),
-
-  /* Range to get, specified as an ASCII string. */
-  CINIT(RANGE, OBJECTPOINT, 7),
-
-  /* not used */
-
-  /* Specified file stream to upload from (use as input): */
-  CINIT(READDATA, OBJECTPOINT, 9),
-
-  /* Buffer to receive error messages in, must be at least CURL_ERROR_SIZE
-   * bytes big. If this is not used, error messages go to stderr instead: */
-  CINIT(ERRORBUFFER, OBJECTPOINT, 10),
-
-  /* Function that will be called to store the output (instead of fwrite). The
-   * parameters will use fwrite() syntax, make sure to follow them. */
-  CINIT(WRITEFUNCTION, FUNCTIONPOINT, 11),
-
-  /* Function that will be called to read the input (instead of fread). The
-   * parameters will use fread() syntax, make sure to follow them. */
-  CINIT(READFUNCTION, FUNCTIONPOINT, 12),
-
-  /* Time-out the read operation after this amount of seconds */
-  CINIT(TIMEOUT, LONG, 13),
-
-  /* If the CURLOPT_INFILE is used, this can be used to inform libcurl about
-   * how large the file being sent really is. That allows better error
-   * checking and better verifies that the upload was successful. -1 means
-   * unknown size.
-   *
-   * For large file support, there is also a _LARGE version of the key
-   * which takes an off_t type, allowing platforms with larger off_t
-   * sizes to handle larger files.  See below for INFILESIZE_LARGE.
-   */
-  CINIT(INFILESIZE, LONG, 14),
-
-  /* POST static input fields. */
-  CINIT(POSTFIELDS, OBJECTPOINT, 15),
-
-  /* Set the referrer page (needed by some CGIs) */
-  CINIT(REFERER, OBJECTPOINT, 16),
-
-  /* Set the FTP PORT string (interface name, named or numerical IP address)
-     Use i.e '-' to use default address. */
-  CINIT(FTPPORT, OBJECTPOINT, 17),
-
-  /* Set the User-Agent string (examined by some CGIs) */
-  CINIT(USERAGENT, OBJECTPOINT, 18),
-
-  /* If the download receives less than "low speed limit" bytes/second
-   * during "low speed time" seconds, the operations is aborted.
-   * You could i.e if you have a pretty high speed connection, abort if
-   * it is less than 2000 bytes/sec during 20 seconds.
-   */
-
-  /* Set the "low speed limit" */
-  CINIT(LOW_SPEED_LIMIT, LONG, 19),
-
-  /* Set the "low speed time" */
-  CINIT(LOW_SPEED_TIME, LONG, 20),
-
-  /* Set the continuation offset.
-   *
-   * Note there is also a _LARGE version of this key which uses
-   * off_t types, allowing for large file offsets on platforms which
-   * use larger-than-32-bit off_t's.  Look below for RESUME_FROM_LARGE.
-   */
-  CINIT(RESUME_FROM, LONG, 21),
-
-  /* Set cookie in request: */
-  CINIT(COOKIE, OBJECTPOINT, 22),
-
-  /* This points to a linked list of headers, struct curl_slist kind. This
-     list is also used for RTSP (in spite of its name) */
-  CINIT(HTTPHEADER, OBJECTPOINT, 23),
-
-  /* This points to a linked list of post entries, struct curl_httppost */
-  CINIT(HTTPPOST, OBJECTPOINT, 24),
-
-  /* name of the file keeping your private SSL-certificate */
-  CINIT(SSLCERT, OBJECTPOINT, 25),
-
-  /* password for the SSL or SSH private key */
-  CINIT(KEYPASSWD, OBJECTPOINT, 26),
-
-  /* send TYPE parameter? */
-  CINIT(CRLF, LONG, 27),
-
-  /* send linked-list of QUOTE commands */
-  CINIT(QUOTE, OBJECTPOINT, 28),
-
-  /* send FILE * or void * to store headers to, if you use a callback it
-     is simply passed to the callback unmodified */
-  CINIT(HEADERDATA, OBJECTPOINT, 29),
-
-  /* point to a file to read the initial cookies from, also enables
-     "cookie awareness" */
-  CINIT(COOKIEFILE, OBJECTPOINT, 31),
-
-  /* What version to specifically try to use.
-     See CURL_SSLVERSION defines below. */
-  CINIT(SSLVERSION, LONG, 32),
-
-  /* What kind of HTTP time condition to use, see defines */
-  CINIT(TIMECONDITION, LONG, 33),
-
-  /* Time to use with the above condition. Specified in number of seconds
-     since 1 Jan 1970 */
-  CINIT(TIMEVALUE, LONG, 34),
-
-  /* 35 = OBSOLETE */
-
-  /* Custom request, for customizing the get command like
-     HTTP: DELETE, TRACE and others
-     FTP: to use a different list command
-     */
-  CINIT(CUSTOMREQUEST, OBJECTPOINT, 36),
-
-  /* HTTP request, for odd commands like DELETE, TRACE and others */
-  CINIT(STDERR, OBJECTPOINT, 37),
-
-  /* 38 is not used */
-
-  /* send linked-list of post-transfer QUOTE commands */
-  CINIT(POSTQUOTE, OBJECTPOINT, 39),
-
-  CINIT(OBSOLETE40, OBJECTPOINT, 40), /* OBSOLETE, do not use! */
-
-  CINIT(VERBOSE, LONG, 41),      /* talk a lot */
-  CINIT(HEADER, LONG, 42),       /* throw the header out too */
-  CINIT(NOPROGRESS, LONG, 43),   /* shut off the progress meter */
-  CINIT(NOBODY, LONG, 44),       /* use HEAD to get http document */
-  CINIT(FAILONERROR, LONG, 45),  /* no output on http error codes >= 400 */
-  CINIT(UPLOAD, LONG, 46),       /* this is an upload */
-  CINIT(POST, LONG, 47),         /* HTTP POST method */
-  CINIT(DIRLISTONLY, LONG, 48),  /* bare names when listing directories */
-
-  CINIT(APPEND, LONG, 50),       /* Append instead of overwrite on upload! */
-
-  /* Specify whether to read the user+password from the .netrc or the URL.
-   * This must be one of the CURL_NETRC_* enums below. */
-  CINIT(NETRC, LONG, 51),
-
-  CINIT(FOLLOWLOCATION, LONG, 52),  /* use Location: Luke! */
-
-  CINIT(TRANSFERTEXT, LONG, 53), /* transfer data in text/ASCII format */
-  CINIT(PUT, LONG, 54),          /* HTTP PUT */
-
-  /* 55 = OBSOLETE */
-
-  /* DEPRECATED
-   * Function that will be called instead of the internal progress display
-   * function. This function should be defined as the curl_progress_callback
-   * prototype defines. */
-  CINIT(PROGRESSFUNCTION, FUNCTIONPOINT, 56),
-
-  /* Data passed to the CURLOPT_PROGRESSFUNCTION and CURLOPT_XFERINFOFUNCTION
-     callbacks */
-  CINIT(PROGRESSDATA, OBJECTPOINT, 57),
-#define CURLOPT_XFERINFODATA CURLOPT_PROGRESSDATA
-
-  /* We want the referrer field set automatically when following locations */
-  CINIT(AUTOREFERER, LONG, 58),
-
-  /* Port of the proxy, can be set in the proxy string as well with:
-     "[host]:[port]" */
-  CINIT(PROXYPORT, LONG, 59),
-
-  /* size of the POST input data, if strlen() is not good to use */
-  CINIT(POSTFIELDSIZE, LONG, 60),
-
-  /* tunnel non-http operations through a HTTP proxy */
-  CINIT(HTTPPROXYTUNNEL, LONG, 61),
-
-  /* Set the interface string to use as outgoing network interface */
-  CINIT(INTERFACE, OBJECTPOINT, 62),
-
-  /* Set the krb4/5 security level, this also enables krb4/5 awareness.  This
-   * is a string, 'clear', 'safe', 'confidential' or 'private'.  If the string
-   * is set but doesn't match one of these, 'private' will be used.  */
-  CINIT(KRBLEVEL, OBJECTPOINT, 63),
-
-  /* Set if we should verify the peer in ssl handshake, set 1 to verify. */
-  CINIT(SSL_VERIFYPEER, LONG, 64),
-
-  /* The CApath or CAfile used to validate the peer certificate
-     this option is used only if SSL_VERIFYPEER is true */
-  CINIT(CAINFO, OBJECTPOINT, 65),
-
-  /* 66 = OBSOLETE */
-  /* 67 = OBSOLETE */
-
-  /* Maximum number of http redirects to follow */
-  CINIT(MAXREDIRS, LONG, 68),
-
-  /* Pass a long set to 1 to get the date of the requested document (if
-     possible)! Pass a zero to shut it off. */
-  CINIT(FILETIME, LONG, 69),
-
-  /* This points to a linked list of telnet options */
-  CINIT(TELNETOPTIONS, OBJECTPOINT, 70),
-
-  /* Max amount of cached alive connections */
-  CINIT(MAXCONNECTS, LONG, 71),
-
-  CINIT(OBSOLETE72, LONG, 72), /* OBSOLETE, do not use! */
-
-  /* 73 = OBSOLETE */
-
-  /* Set to explicitly use a new connection for the upcoming transfer.
-     Do not use this unless you're absolutely sure of this, as it makes the
-     operation slower and is less friendly for the network. */
-  CINIT(FRESH_CONNECT, LONG, 74),
-
-  /* Set to explicitly forbid the upcoming transfer's connection to be re-used
-     when done. Do not use this unless you're absolutely sure of this, as it
-     makes the operation slower and is less friendly for the network. */
-  CINIT(FORBID_REUSE, LONG, 75),
-
-  /* Set to a file name that contains random data for libcurl to use to
-     seed the random engine when doing SSL connects. */
-  CINIT(RANDOM_FILE, OBJECTPOINT, 76),
-
-  /* Set to the Entropy Gathering Daemon socket pathname */
-  CINIT(EGDSOCKET, OBJECTPOINT, 77),
-
-  /* Time-out connect operations after this amount of seconds, if connects are
-     OK within this time, then fine... This only aborts the connect phase. */
-  CINIT(CONNECTTIMEOUT, LONG, 78),
-
-  /* Function that will be called to store headers (instead of fwrite). The
-   * parameters will use fwrite() syntax, make sure to follow them. */
-  CINIT(HEADERFUNCTION, FUNCTIONPOINT, 79),
-
-  /* Set this to force the HTTP request to get back to GET. Only really usable
-     if POST, PUT or a custom request have been used first.
-   */
-  CINIT(HTTPGET, LONG, 80),
-
-  /* Set if we should verify the Common name from the peer certificate in ssl
-   * handshake, set 1 to check existence, 2 to ensure that it matches the
-   * provided hostname. */
-  CINIT(SSL_VERIFYHOST, LONG, 81),
-
-  /* Specify which file name to write all known cookies in after completed
-     operation. Set file name to "-" (dash) to make it go to stdout. */
-  CINIT(COOKIEJAR, OBJECTPOINT, 82),
-
-  /* Specify which SSL ciphers to use */
-  CINIT(SSL_CIPHER_LIST, OBJECTPOINT, 83),
-
-  /* Specify which HTTP version to use! This must be set to one of the
-     CURL_HTTP_VERSION* enums set below. */
-  CINIT(HTTP_VERSION, LONG, 84),
-
-  /* Specifically switch on or off the FTP engine's use of the EPSV command. By
-     default, that one will always be attempted before the more traditional
-     PASV command. */
-  CINIT(FTP_USE_EPSV, LONG, 85),
-
-  /* type of the file keeping your SSL-certificate ("DER", "PEM", "ENG") */
-  CINIT(SSLCERTTYPE, OBJECTPOINT, 86),
-
-  /* name of the file keeping your private SSL-key */
-  CINIT(SSLKEY, OBJECTPOINT, 87),
-
-  /* type of the file keeping your private SSL-key ("DER", "PEM", "ENG") */
-  CINIT(SSLKEYTYPE, OBJECTPOINT, 88),
-
-  /* crypto engine for the SSL-sub system */
-  CINIT(SSLENGINE, OBJECTPOINT, 89),
-
-  /* set the crypto engine for the SSL-sub system as default
-     the param has no meaning...
-   */
-  CINIT(SSLENGINE_DEFAULT, LONG, 90),
-
-  /* Non-zero value means to use the global dns cache */
-  CINIT(DNS_USE_GLOBAL_CACHE, LONG, 91), /* DEPRECATED, do not use! */
-
-  /* DNS cache timeout */
-  CINIT(DNS_CACHE_TIMEOUT, LONG, 92),
-
-  /* send linked-list of pre-transfer QUOTE commands */
-  CINIT(PREQUOTE, OBJECTPOINT, 93),
-
-  /* set the debug function */
-  CINIT(DEBUGFUNCTION, FUNCTIONPOINT, 94),
-
-  /* set the data for the debug function */
-  CINIT(DEBUGDATA, OBJECTPOINT, 95),
-
-  /* mark this as start of a cookie session */
-  CINIT(COOKIESESSION, LONG, 96),
-
-  /* The CApath directory used to validate the peer certificate
-     this option is used only if SSL_VERIFYPEER is true */
-  CINIT(CAPATH, OBJECTPOINT, 97),
-
-  /* Instruct libcurl to use a smaller receive buffer */
-  CINIT(BUFFERSIZE, LONG, 98),
-
-  /* Instruct libcurl to not use any signal/alarm handlers, even when using
-     timeouts. This option is useful for multi-threaded applications.
-     See libcurl-the-guide for more background information. */
-  CINIT(NOSIGNAL, LONG, 99),
-
-  /* Provide a CURLShare for mutexing non-ts data */
-  CINIT(SHARE, OBJECTPOINT, 100),
-
-  /* indicates type of proxy. accepted values are CURLPROXY_HTTP (default),
-     CURLPROXY_SOCKS4, CURLPROXY_SOCKS4A and CURLPROXY_SOCKS5. */
-  CINIT(PROXYTYPE, LONG, 101),
-
-  /* Set the Accept-Encoding string. Use this to tell a server you would like
-     the response to be compressed. Before 7.21.6, this was known as
-     CURLOPT_ENCODING */
-  CINIT(ACCEPT_ENCODING, OBJECTPOINT, 102),
-
-  /* Set pointer to private data */
-  CINIT(PRIVATE, OBJECTPOINT, 103),
-
-  /* Set aliases for HTTP 200 in the HTTP Response header */
-  CINIT(HTTP200ALIASES, OBJECTPOINT, 104),
-
-  /* Continue to send authentication (user+password) when following locations,
-     even when hostname changed. This can potentially send off the name
-     and password to whatever host the server decides. */
-  CINIT(UNRESTRICTED_AUTH, LONG, 105),
-
-  /* Specifically switch on or off the FTP engine's use of the EPRT command (
-     it also disables the LPRT attempt). By default, those ones will always be
-     attempted before the good old traditional PORT command. */
-  CINIT(FTP_USE_EPRT, LONG, 106),
-
-  /* Set this to a bitmask value to enable the particular authentications
-     methods you like. Use this in combination with CURLOPT_USERPWD.
-     Note that setting multiple bits may cause extra network round-trips. */
-  CINIT(HTTPAUTH, LONG, 107),
-
-  /* Set the ssl context callback function, currently only for OpenSSL ssl_ctx
-     in second argument. The function must be matching the
-     curl_ssl_ctx_callback proto. */
-  CINIT(SSL_CTX_FUNCTION, FUNCTIONPOINT, 108),
-
-  /* Set the userdata for the ssl context callback function's third
-     argument */
-  CINIT(SSL_CTX_DATA, OBJECTPOINT, 109),
-
-  /* FTP Option that causes missing dirs to be created on the remote server.
-     In 7.19.4 we introduced the convenience enums for this option using the
-     CURLFTP_CREATE_DIR prefix.
-  */
-  CINIT(FTP_CREATE_MISSING_DIRS, LONG, 110),
-
-  /* Set this to a bitmask value to enable the particular authentications
-     methods you like. Use this in combination with CURLOPT_PROXYUSERPWD.
-     Note that setting multiple bits may cause extra network round-trips. */
-  CINIT(PROXYAUTH, LONG, 111),
-
-  /* FTP option that changes the timeout, in seconds, associated with
-     getting a response.  This is different from transfer timeout time and
-     essentially places a demand on the FTP server to acknowledge commands
-     in a timely manner. */
-  CINIT(FTP_RESPONSE_TIMEOUT, LONG, 112),
-#define CURLOPT_SERVER_RESPONSE_TIMEOUT CURLOPT_FTP_RESPONSE_TIMEOUT
-
-  /* Set this option to one of the CURL_IPRESOLVE_* defines (see below) to
-     tell libcurl to resolve names to those IP versions only. This only has
-     affect on systems with support for more than one, i.e IPv4 _and_ IPv6. */
-  CINIT(IPRESOLVE, LONG, 113),
-
-  /* Set this option to limit the size of a file that will be downloaded from
-     an HTTP or FTP server.
-
-     Note there is also _LARGE version which adds large file support for
-     platforms which have larger off_t sizes.  See MAXFILESIZE_LARGE below. */
-  CINIT(MAXFILESIZE, LONG, 114),
-
-  /* See the comment for INFILESIZE above, but in short, specifies
-   * the size of the file being uploaded.  -1 means unknown.
-   */
-  CINIT(INFILESIZE_LARGE, OFF_T, 115),
-
-  /* Sets the continuation offset.  There is also a LONG version of this;
-   * look above for RESUME_FROM.
-   */
-  CINIT(RESUME_FROM_LARGE, OFF_T, 116),
-
-  /* Sets the maximum size of data that will be downloaded from
-   * an HTTP or FTP server.  See MAXFILESIZE above for the LONG version.
-   */
-  CINIT(MAXFILESIZE_LARGE, OFF_T, 117),
-
-  /* Set this option to the file name of your .netrc file you want libcurl
-     to parse (using the CURLOPT_NETRC option). If not set, libcurl will do
-     a poor attempt to find the user's home directory and check for a .netrc
-     file in there. */
-  CINIT(NETRC_FILE, OBJECTPOINT, 118),
-
-  /* Enable SSL/TLS for FTP, pick one of:
-     CURLUSESSL_TRY     - try using SSL, proceed anyway otherwise
-     CURLUSESSL_CONTROL - SSL for the control connection or fail
-     CURLUSESSL_ALL     - SSL for all communication or fail
-  */
-  CINIT(USE_SSL, LONG, 119),
-
-  /* The _LARGE version of the standard POSTFIELDSIZE option */
-  CINIT(POSTFIELDSIZE_LARGE, OFF_T, 120),
-
-  /* Enable/disable the TCP Nagle algorithm */
-  CINIT(TCP_NODELAY, LONG, 121),
-
-  /* 122 OBSOLETE, used in 7.12.3. Gone in 7.13.0 */
-  /* 123 OBSOLETE. Gone in 7.16.0 */
-  /* 124 OBSOLETE, used in 7.12.3. Gone in 7.13.0 */
-  /* 125 OBSOLETE, used in 7.12.3. Gone in 7.13.0 */
-  /* 126 OBSOLETE, used in 7.12.3. Gone in 7.13.0 */
-  /* 127 OBSOLETE. Gone in 7.16.0 */
-  /* 128 OBSOLETE. Gone in 7.16.0 */
-
-  /* When FTP over SSL/TLS is selected (with CURLOPT_USE_SSL), this option
-     can be used to change libcurl's default action which is to first try
-     "AUTH SSL" and then "AUTH TLS" in this order, and proceed when a OK
-     response has been received.
-
-     Available parameters are:
-     CURLFTPAUTH_DEFAULT - let libcurl decide
-     CURLFTPAUTH_SSL     - try "AUTH SSL" first, then TLS
-     CURLFTPAUTH_TLS     - try "AUTH TLS" first, then SSL
-  */
-  CINIT(FTPSSLAUTH, LONG, 129),
-
-  CINIT(IOCTLFUNCTION, FUNCTIONPOINT, 130),
-  CINIT(IOCTLDATA, OBJECTPOINT, 131),
-
-  /* 132 OBSOLETE. Gone in 7.16.0 */
-  /* 133 OBSOLETE. Gone in 7.16.0 */
-
-  /* zero terminated string for pass on to the FTP server when asked for
-     "account" info */
-  CINIT(FTP_ACCOUNT, OBJECTPOINT, 134),
-
-  /* feed cookies into cookie engine */
-  CINIT(COOKIELIST, OBJECTPOINT, 135),
-
-  /* ignore Content-Length */
-  CINIT(IGNORE_CONTENT_LENGTH, LONG, 136),
-
-  /* Set to non-zero to skip the IP address received in a 227 PASV FTP server
-     response. Typically used for FTP-SSL purposes but is not restricted to
-     that. libcurl will then instead use the same IP address it used for the
-     control connection. */
-  CINIT(FTP_SKIP_PASV_IP, LONG, 137),
-
-  /* Select "file method" to use when doing FTP, see the curl_ftpmethod
-     above. */
-  CINIT(FTP_FILEMETHOD, LONG, 138),
-
-  /* Local port number to bind the socket to */
-  CINIT(LOCALPORT, LONG, 139),
-
-  /* Number of ports to try, including the first one set with LOCALPORT.
-     Thus, setting it to 1 will make no additional attempts but the first.
-  */
-  CINIT(LOCALPORTRANGE, LONG, 140),
-
-  /* no transfer, set up connection and let application use the socket by
-     extracting it with CURLINFO_LASTSOCKET */
-  CINIT(CONNECT_ONLY, LONG, 141),
-
-  /* Function that will be called to convert from the
-     network encoding (instead of using the iconv calls in libcurl) */
-  CINIT(CONV_FROM_NETWORK_FUNCTION, FUNCTIONPOINT, 142),
-
-  /* Function that will be called to convert to the
-     network encoding (instead of using the iconv calls in libcurl) */
-  CINIT(CONV_TO_NETWORK_FUNCTION, FUNCTIONPOINT, 143),
-
-  /* Function that will be called to convert from UTF8
-     (instead of using the iconv calls in libcurl)
-     Note that this is used only for SSL certificate processing */
-  CINIT(CONV_FROM_UTF8_FUNCTION, FUNCTIONPOINT, 144),
-
-  /* if the connection proceeds too quickly then need to slow it down */
-  /* limit-rate: maximum number of bytes per second to send or receive */
-  CINIT(MAX_SEND_SPEED_LARGE, OFF_T, 145),
-  CINIT(MAX_RECV_SPEED_LARGE, OFF_T, 146),
-
-  /* Pointer to command string to send if USER/PASS fails. */
-  CINIT(FTP_ALTERNATIVE_TO_USER, OBJECTPOINT, 147),
-
-  /* callback function for setting socket options */
-  CINIT(SOCKOPTFUNCTION, FUNCTIONPOINT, 148),
-  CINIT(SOCKOPTDATA, OBJECTPOINT, 149),
-
-  /* set to 0 to disable session ID re-use for this transfer, default is
-     enabled (== 1) */
-  CINIT(SSL_SESSIONID_CACHE, LONG, 150),
-
-  /* allowed SSH authentication methods */
-  CINIT(SSH_AUTH_TYPES, LONG, 151),
-
-  /* Used by scp/sftp to do public/private key authentication */
-  CINIT(SSH_PUBLIC_KEYFILE, OBJECTPOINT, 152),
-  CINIT(SSH_PRIVATE_KEYFILE, OBJECTPOINT, 153),
-
-  /* Send CCC (Clear Command Channel) after authentication */
-  CINIT(FTP_SSL_CCC, LONG, 154),
-
-  /* Same as TIMEOUT and CONNECTTIMEOUT, but with ms resolution */
-  CINIT(TIMEOUT_MS, LONG, 155),
-  CINIT(CONNECTTIMEOUT_MS, LONG, 156),
-
-  /* set to zero to disable the libcurl's decoding and thus pass the raw body
-     data to the application even when it is encoded/compressed */
-  CINIT(HTTP_TRANSFER_DECODING, LONG, 157),
-  CINIT(HTTP_CONTENT_DECODING, LONG, 158),
-
-  /* Permission used when creating new files and directories on the remote
-     server for protocols that support it, SFTP/SCP/FILE */
-  CINIT(NEW_FILE_PERMS, LONG, 159),
-  CINIT(NEW_DIRECTORY_PERMS, LONG, 160),
-
-  /* Set the behaviour of POST when redirecting. Values must be set to one
-     of CURL_REDIR* defines below. This used to be called CURLOPT_POST301 */
-  CINIT(POSTREDIR, LONG, 161),
-
-  /* used by scp/sftp to verify the host's public key */
-  CINIT(SSH_HOST_PUBLIC_KEY_MD5, OBJECTPOINT, 162),
-
-  /* Callback function for opening socket (instead of socket(2)). Optionally,
-     callback is able change the address or refuse to connect returning
-     CURL_SOCKET_BAD.  The callback should have type
-     curl_opensocket_callback */
-  CINIT(OPENSOCKETFUNCTION, FUNCTIONPOINT, 163),
-  CINIT(OPENSOCKETDATA, OBJECTPOINT, 164),
-
-  /* POST volatile input fields. */
-  CINIT(COPYPOSTFIELDS, OBJECTPOINT, 165),
-
-  /* set transfer mode (;type=<a|i>) when doing FTP via an HTTP proxy */
-  CINIT(PROXY_TRANSFER_MODE, LONG, 166),
-
-  /* Callback function for seeking in the input stream */
-  CINIT(SEEKFUNCTION, FUNCTIONPOINT, 167),
-  CINIT(SEEKDATA, OBJECTPOINT, 168),
-
-  /* CRL file */
-  CINIT(CRLFILE, OBJECTPOINT, 169),
-
-  /* Issuer certificate */
-  CINIT(ISSUERCERT, OBJECTPOINT, 170),
-
-  /* (IPv6) Address scope */
-  CINIT(ADDRESS_SCOPE, LONG, 171),
-
-  /* Collect certificate chain info and allow it to get retrievable with
-     CURLINFO_CERTINFO after the transfer is complete. */
-  CINIT(CERTINFO, LONG, 172),
-
-  /* "name" and "pwd" to use when fetching. */
-  CINIT(USERNAME, OBJECTPOINT, 173),
-  CINIT(PASSWORD, OBJECTPOINT, 174),
-
-    /* "name" and "pwd" to use with Proxy when fetching. */
-  CINIT(PROXYUSERNAME, OBJECTPOINT, 175),
-  CINIT(PROXYPASSWORD, OBJECTPOINT, 176),
-
-  /* Comma separated list of hostnames defining no-proxy zones. These should
-     match both hostnames directly, and hostnames within a domain. For
-     example, local.com will match local.com and www.local.com, but NOT
-     notlocal.com or www.notlocal.com. For compatibility with other
-     implementations of this, .local.com will be considered to be the same as
-     local.com. A single * is the only valid wildcard, and effectively
-     disables the use of proxy. */
-  CINIT(NOPROXY, OBJECTPOINT, 177),
-
-  /* block size for TFTP transfers */
-  CINIT(TFTP_BLKSIZE, LONG, 178),
-
-  /* Socks Service */
-  CINIT(SOCKS5_GSSAPI_SERVICE, OBJECTPOINT, 179),
-
-  /* Socks Service */
-  CINIT(SOCKS5_GSSAPI_NEC, LONG, 180),
-
-  /* set the bitmask for the protocols that are allowed to be used for the
-     transfer, which thus helps the app which takes URLs from users or other
-     external inputs and want to restrict what protocol(s) to deal
-     with. Defaults to CURLPROTO_ALL. */
-  CINIT(PROTOCOLS, LONG, 181),
-
-  /* set the bitmask for the protocols that libcurl is allowed to follow to,
-     as a subset of the CURLOPT_PROTOCOLS ones. That means the protocol needs
-     to be set in both bitmasks to be allowed to get redirected to. Defaults
-     to all protocols except FILE and SCP. */
-  CINIT(REDIR_PROTOCOLS, LONG, 182),
-
-  /* set the SSH knownhost file name to use */
-  CINIT(SSH_KNOWNHOSTS, OBJECTPOINT, 183),
-
-  /* set the SSH host key callback, must point to a curl_sshkeycallback
-     function */
-  CINIT(SSH_KEYFUNCTION, FUNCTIONPOINT, 184),
-
-  /* set the SSH host key callback custom pointer */
-  CINIT(SSH_KEYDATA, OBJECTPOINT, 185),
-
-  /* set the SMTP mail originator */
-  CINIT(MAIL_FROM, OBJECTPOINT, 186),
-
-  /* set the SMTP mail receiver(s) */
-  CINIT(MAIL_RCPT, OBJECTPOINT, 187),
-
-  /* FTP: send PRET before PASV */
-  CINIT(FTP_USE_PRET, LONG, 188),
-
-  /* RTSP request method (OPTIONS, SETUP, PLAY, etc...) */
-  CINIT(RTSP_REQUEST, LONG, 189),
-
-  /* The RTSP session identifier */
-  CINIT(RTSP_SESSION_ID, OBJECTPOINT, 190),
-
-  /* The RTSP stream URI */
-  CINIT(RTSP_STREAM_URI, OBJECTPOINT, 191),
-
-  /* The Transport: header to use in RTSP requests */
-  CINIT(RTSP_TRANSPORT, OBJECTPOINT, 192),
-
-  /* Manually initialize the client RTSP CSeq for this handle */
-  CINIT(RTSP_CLIENT_CSEQ, LONG, 193),
-
-  /* Manually initialize the server RTSP CSeq for this handle */
-  CINIT(RTSP_SERVER_CSEQ, LONG, 194),
-
-  /* The stream to pass to INTERLEAVEFUNCTION. */
-  CINIT(INTERLEAVEDATA, OBJECTPOINT, 195),
-
-  /* Let the application define a custom write method for RTP data */
-  CINIT(INTERLEAVEFUNCTION, FUNCTIONPOINT, 196),
-
-  /* Turn on wildcard matching */
-  CINIT(WILDCARDMATCH, LONG, 197),
-
-  /* Directory matching callback called before downloading of an
-     individual file (chunk) started */
-  CINIT(CHUNK_BGN_FUNCTION, FUNCTIONPOINT, 198),
-
-  /* Directory matching callback called after the file (chunk)
-     was downloaded, or skipped */
-  CINIT(CHUNK_END_FUNCTION, FUNCTIONPOINT, 199),
-
-  /* Change match (fnmatch-like) callback for wildcard matching */
-  CINIT(FNMATCH_FUNCTION, FUNCTIONPOINT, 200),
-
-  /* Let the application define custom chunk data pointer */
-  CINIT(CHUNK_DATA, OBJECTPOINT, 201),
-
-  /* FNMATCH_FUNCTION user pointer */
-  CINIT(FNMATCH_DATA, OBJECTPOINT, 202),
-
-  /* send linked-list of name:port:address sets */
-  CINIT(RESOLVE, OBJECTPOINT, 203),
-
-  /* Set a username for authenticated TLS */
-  CINIT(TLSAUTH_USERNAME, OBJECTPOINT, 204),
-
-  /* Set a password for authenticated TLS */
-  CINIT(TLSAUTH_PASSWORD, OBJECTPOINT, 205),
-
-  /* Set authentication type for authenticated TLS */
-  CINIT(TLSAUTH_TYPE, OBJECTPOINT, 206),
-
-  /* Set to 1 to enable the "TE:" header in HTTP requests to ask for
-     compressed transfer-encoded responses. Set to 0 to disable the use of TE:
-     in outgoing requests. The current default is 0, but it might change in a
-     future libcurl release.
-
-     libcurl will ask for the compressed methods it knows of, and if that
-     isn't any, it will not ask for transfer-encoding at all even if this
-     option is set to 1.
-
-  */
-  CINIT(TRANSFER_ENCODING, LONG, 207),
-
-  /* Callback function for closing socket (instead of close(2)). The callback
-     should have type curl_closesocket_callback */
-  CINIT(CLOSESOCKETFUNCTION, FUNCTIONPOINT, 208),
-  CINIT(CLOSESOCKETDATA, OBJECTPOINT, 209),
-
-  /* allow GSSAPI credential delegation */
-  CINIT(GSSAPI_DELEGATION, LONG, 210),
-
-  /* Set the name servers to use for DNS resolution */
-  CINIT(DNS_SERVERS, OBJECTPOINT, 211),
-
-  /* Time-out accept operations (currently for FTP only) after this amount
-     of miliseconds. */
-  CINIT(ACCEPTTIMEOUT_MS, LONG, 212),
-
-  /* Set TCP keepalive */
-  CINIT(TCP_KEEPALIVE, LONG, 213),
-
-  /* non-universal keepalive knobs (Linux, AIX, HP-UX, more) */
-  CINIT(TCP_KEEPIDLE, LONG, 214),
-  CINIT(TCP_KEEPINTVL, LONG, 215),
-
-  /* Enable/disable specific SSL features with a bitmask, see CURLSSLOPT_* */
-  CINIT(SSL_OPTIONS, LONG, 216),
-
-  /* Set the SMTP auth originator */
-  CINIT(MAIL_AUTH, OBJECTPOINT, 217),
-
-  /* Enable/disable SASL initial response */
-  CINIT(SASL_IR, LONG, 218),
-
-  /* Function that will be called instead of the internal progress display
-   * function. This function should be defined as the curl_xferinfo_callback
-   * prototype defines. (Deprecates CURLOPT_PROGRESSFUNCTION) */
-  CINIT(XFERINFOFUNCTION, FUNCTIONPOINT, 219),
-
-  /* The XOAUTH2 bearer token */
-  CINIT(XOAUTH2_BEARER, OBJECTPOINT, 220),
-
-  /* Set the interface string to use as outgoing network
-   * interface for DNS requests.
-   * Only supported by the c-ares DNS backend */
-  CINIT(DNS_INTERFACE, OBJECTPOINT, 221),
-
-  /* Set the local IPv4 address to use for outgoing DNS requests.
-   * Only supported by the c-ares DNS backend */
-  CINIT(DNS_LOCAL_IP4, OBJECTPOINT, 222),
-
-  /* Set the local IPv4 address to use for outgoing DNS requests.
-   * Only supported by the c-ares DNS backend */
-  CINIT(DNS_LOCAL_IP6, OBJECTPOINT, 223),
-
-  /* Set authentication options directly */
-  CINIT(LOGIN_OPTIONS, OBJECTPOINT, 224),
-
-  /* Enable/disable TLS NPN extension (http2 over ssl might fail without) */
-  CINIT(SSL_ENABLE_NPN, LONG, 225),
-
-  /* Enable/disable TLS ALPN extension (http2 over ssl might fail without) */
-  CINIT(SSL_ENABLE_ALPN, LONG, 226),
-
-  /* Time to wait for a response to a HTTP request containing an
-   * Expect: 100-continue header before sending the data anyway. */
-  CINIT(EXPECT_100_TIMEOUT_MS, LONG, 227),
-
-  /* This points to a linked list of headers used for proxy requests only,
-     struct curl_slist kind */
-  CINIT(PROXYHEADER, OBJECTPOINT, 228),
-
-  /* Pass in a bitmask of "header options" */
-  CINIT(HEADEROPT, LONG, 229),
-
-  /* The public key in DER form used to validate the peer public key
-     this option is used only if SSL_VERIFYPEER is true */
-  CINIT(PINNEDPUBLICKEY, OBJECTPOINT, 230),
-
-  /* Path to Unix domain socket */
-  CINIT(UNIX_SOCKET_PATH, OBJECTPOINT, 231),
-
-  /* Set if we should verify the certificate status. */
-  CINIT(SSL_VERIFYSTATUS, LONG, 232),
-
-  /* Set if we should enable TLS false start. */
-  CINIT(SSL_FALSESTART, LONG, 233),
-
-  /* Do not squash dot-dot sequences */
-  CINIT(PATH_AS_IS, LONG, 234),
-
-  /* Proxy Service Name */
-  CINIT(PROXY_SERVICE_NAME, OBJECTPOINT, 235),
-
-  /* Service Name */
-  CINIT(SERVICE_NAME, OBJECTPOINT, 236),
-
-  /* Wait/don't wait for pipe/mutex to clarify */
-  CINIT(PIPEWAIT, LONG, 237),
-
-  CURLOPT_LASTENTRY /* the last unused */
-} CURLoption;
-
-#ifndef CURL_NO_OLDIES /* define this to test if your app builds with all
-                          the obsolete stuff removed! */
-
-/* Backwards compatibility with older names */
-/* These are scheduled to disappear by 2011 */
-
-/* This was added in version 7.19.1 */
-#define CURLOPT_POST301 CURLOPT_POSTREDIR
-
-/* These are scheduled to disappear by 2009 */
-
-/* The following were added in 7.17.0 */
-#define CURLOPT_SSLKEYPASSWD CURLOPT_KEYPASSWD
-#define CURLOPT_FTPAPPEND CURLOPT_APPEND
-#define CURLOPT_FTPLISTONLY CURLOPT_DIRLISTONLY
-#define CURLOPT_FTP_SSL CURLOPT_USE_SSL
-
-/* The following were added earlier */
-
-#define CURLOPT_SSLCERTPASSWD CURLOPT_KEYPASSWD
-#define CURLOPT_KRB4LEVEL CURLOPT_KRBLEVEL
-
-#else
-/* This is set if CURL_NO_OLDIES is defined at compile-time */
-#undef CURLOPT_DNS_USE_GLOBAL_CACHE /* soon obsolete */
-#endif
-
-
-  /* Below here follows defines for the CURLOPT_IPRESOLVE option. If a host
-     name resolves addresses using more than one IP protocol version, this
-     option might be handy to force libcurl to use a specific IP version. */
-#define CURL_IPRESOLVE_WHATEVER 0 /* default, resolves addresses to all IP
-                                     versions that your system allows */
-#define CURL_IPRESOLVE_V4       1 /* resolve to IPv4 addresses */
-#define CURL_IPRESOLVE_V6       2 /* resolve to IPv6 addresses */
-
-  /* three convenient "aliases" that follow the name scheme better */
-#define CURLOPT_RTSPHEADER CURLOPT_HTTPHEADER
-
-  /* These enums are for use with the CURLOPT_HTTP_VERSION option. */
-enum {
-  CURL_HTTP_VERSION_NONE, /* setting this means we don't care, and that we'd
-                             like the library to choose the best possible
-                             for us! */
-  CURL_HTTP_VERSION_1_0,  /* please use HTTP 1.0 in the request */
-  CURL_HTTP_VERSION_1_1,  /* please use HTTP 1.1 in the request */
-  CURL_HTTP_VERSION_2_0,  /* please use HTTP 2.0 in the request */
-
-  CURL_HTTP_VERSION_LAST /* *ILLEGAL* http version */
-};
-
-/* Convenience definition simple because the name of the version is HTTP/2 and
-   not 2.0. The 2_0 version of the enum name was set while the version was
-   still planned to be 2.0 and we stick to it for compatibility. */
-#define CURL_HTTP_VERSION_2 CURL_HTTP_VERSION_2_0
-
-/*
- * Public API enums for RTSP requests
- */
-enum {
-    CURL_RTSPREQ_NONE, /* first in list */
-    CURL_RTSPREQ_OPTIONS,
-    CURL_RTSPREQ_DESCRIBE,
-    CURL_RTSPREQ_ANNOUNCE,
-    CURL_RTSPREQ_SETUP,
-    CURL_RTSPREQ_PLAY,
-    CURL_RTSPREQ_PAUSE,
-    CURL_RTSPREQ_TEARDOWN,
-    CURL_RTSPREQ_GET_PARAMETER,
-    CURL_RTSPREQ_SET_PARAMETER,
-    CURL_RTSPREQ_RECORD,
-    CURL_RTSPREQ_RECEIVE,
-    CURL_RTSPREQ_LAST /* last in list */
-};
-
-  /* These enums are for use with the CURLOPT_NETRC option. */
-enum CURL_NETRC_OPTION {
-  CURL_NETRC_IGNORED,     /* The .netrc will never be read.
-                           * This is the default. */
-  CURL_NETRC_OPTIONAL,    /* A user:password in the URL will be preferred
-                           * to one in the .netrc. */
-  CURL_NETRC_REQUIRED,    /* A user:password in the URL will be ignored.
-                           * Unless one is set programmatically, the .netrc
-                           * will be queried. */
-  CURL_NETRC_LAST
-};
-
-enum {
-  CURL_SSLVERSION_DEFAULT,
-  CURL_SSLVERSION_TLSv1, /* TLS 1.x */
-  CURL_SSLVERSION_SSLv2,
-  CURL_SSLVERSION_SSLv3,
-  CURL_SSLVERSION_TLSv1_0,
-  CURL_SSLVERSION_TLSv1_1,
-  CURL_SSLVERSION_TLSv1_2,
-
-  CURL_SSLVERSION_LAST /* never use, keep last */
-};
-
-enum CURL_TLSAUTH {
-  CURL_TLSAUTH_NONE,
-  CURL_TLSAUTH_SRP,
-  CURL_TLSAUTH_LAST /* never use, keep last */
-};
-
-/* symbols to use with CURLOPT_POSTREDIR.
-   CURL_REDIR_POST_301, CURL_REDIR_POST_302 and CURL_REDIR_POST_303
-   can be bitwise ORed so that CURL_REDIR_POST_301 | CURL_REDIR_POST_302
-   | CURL_REDIR_POST_303 == CURL_REDIR_POST_ALL */
-
-#define CURL_REDIR_GET_ALL  0
-#define CURL_REDIR_POST_301 1
-#define CURL_REDIR_POST_302 2
-#define CURL_REDIR_POST_303 4
-#define CURL_REDIR_POST_ALL \
-    (CURL_REDIR_POST_301|CURL_REDIR_POST_302|CURL_REDIR_POST_303)
-
-typedef enum {
-  CURL_TIMECOND_NONE,
-
-  CURL_TIMECOND_IFMODSINCE,
-  CURL_TIMECOND_IFUNMODSINCE,
-  CURL_TIMECOND_LASTMOD,
-
-  CURL_TIMECOND_LAST
-} curl_TimeCond;
-
-
-/* curl_strequal() and curl_strnequal() are subject for removal in a future
-   libcurl, see lib/README.curlx for details */
-CURL_EXTERN int (curl_strequal)(const char *s1, const char *s2);
-CURL_EXTERN int (curl_strnequal)(const char *s1, const char *s2, size_t n);
-
-/* name is uppercase CURLFORM_<name> */
-#ifdef CFINIT
-#undef CFINIT
-#endif
-
-#ifdef CURL_ISOCPP
-#define CFINIT(name) CURLFORM_ ## name
-#else
-/* The macro "##" is ISO C, we assume pre-ISO C doesn't support it. */
-#define CFINIT(name) CURLFORM_/**/name
-#endif
-
-typedef enum {
-  CFINIT(NOTHING),        /********* the first one is unused ************/
-
-  /*  */
-  CFINIT(COPYNAME),
-  CFINIT(PTRNAME),
-  CFINIT(NAMELENGTH),
-  CFINIT(COPYCONTENTS),
-  CFINIT(PTRCONTENTS),
-  CFINIT(CONTENTSLENGTH),
-  CFINIT(FILECONTENT),
-  CFINIT(ARRAY),
-  CFINIT(OBSOLETE),
-  CFINIT(FILE),
-
-  CFINIT(BUFFER),
-  CFINIT(BUFFERPTR),
-  CFINIT(BUFFERLENGTH),
-
-  CFINIT(CONTENTTYPE),
-  CFINIT(CONTENTHEADER),
-  CFINIT(FILENAME),
-  CFINIT(END),
-  CFINIT(OBSOLETE2),
-
-  CFINIT(STREAM),
-
-  CURLFORM_LASTENTRY /* the last unused */
-} CURLformoption;
-
-#undef CFINIT /* done */
-
-/* structure to be used as parameter for CURLFORM_ARRAY */
-struct curl_forms {
-  CURLformoption option;
-  const char     *value;
-};
-
-/* use this for multipart formpost building */
-/* Returns code for curl_formadd()
- *
- * Returns:
- * CURL_FORMADD_OK             on success
- * CURL_FORMADD_MEMORY         if the FormInfo allocation fails
- * CURL_FORMADD_OPTION_TWICE   if one option is given twice for one Form
- * CURL_FORMADD_NULL           if a null pointer was given for a char
- * CURL_FORMADD_MEMORY         if the allocation of a FormInfo struct failed
- * CURL_FORMADD_UNKNOWN_OPTION if an unknown option was used
- * CURL_FORMADD_INCOMPLETE     if the some FormInfo is not complete (or error)
- * CURL_FORMADD_MEMORY         if a curl_httppost struct cannot be allocated
- * CURL_FORMADD_MEMORY         if some allocation for string copying failed.
- * CURL_FORMADD_ILLEGAL_ARRAY  if an illegal option is used in an array
- *
- ***************************************************************************/
-typedef enum {
-  CURL_FORMADD_OK, /* first, no error */
-
-  CURL_FORMADD_MEMORY,
-  CURL_FORMADD_OPTION_TWICE,
-  CURL_FORMADD_NULL,
-  CURL_FORMADD_UNKNOWN_OPTION,
-  CURL_FORMADD_INCOMPLETE,
-  CURL_FORMADD_ILLEGAL_ARRAY,
-  CURL_FORMADD_DISABLED, /* libcurl was built with this disabled */
-
-  CURL_FORMADD_LAST /* last */
-} CURLFORMcode;
-
-/*
- * NAME curl_formadd()
- *
- * DESCRIPTION
- *
- * Pretty advanced function for building multi-part formposts. Each invoke
- * adds one part that together construct a full post. Then use
- * CURLOPT_HTTPPOST to send it off to libcurl.
- */
-CURL_EXTERN CURLFORMcode curl_formadd(struct curl_httppost **httppost,
-                                      struct curl_httppost **last_post,
-                                      ...);
-
-/*
- * callback function for curl_formget()
- * The void *arg pointer will be the one passed as second argument to
- *   curl_formget().
- * The character buffer passed to it must not be freed.
- * Should return the buffer length passed to it as the argument "len" on
- *   success.
- */
-typedef size_t (*curl_formget_callback)(void *arg, const char *buf,
-                                        size_t len);
-
-/*
- * NAME curl_formget()
- *
- * DESCRIPTION
- *
- * Serialize a curl_httppost struct built with curl_formadd().
- * Accepts a void pointer as second argument which will be passed to
- * the curl_formget_callback function.
- * Returns 0 on success.
- */
-CURL_EXTERN int curl_formget(struct curl_httppost *form, void *arg,
-                             curl_formget_callback append);
-/*
- * NAME curl_formfree()
- *
- * DESCRIPTION
- *
- * Free a multipart formpost previously built with curl_formadd().
- */
-CURL_EXTERN void curl_formfree(struct curl_httppost *form);
-
-/*
- * NAME curl_getenv()
- *
- * DESCRIPTION
- *
- * Returns a malloc()'ed string that MUST be curl_free()ed after usage is
- * complete. DEPRECATED - see lib/README.curlx
- */
-CURL_EXTERN char *curl_getenv(const char *variable);
-
-/*
- * NAME curl_version()
- *
- * DESCRIPTION
- *
- * Returns a static ascii string of the libcurl version.
- */
-CURL_EXTERN char *curl_version(void);
-
-/*
- * NAME curl_easy_escape()
- *
- * DESCRIPTION
- *
- * Escapes URL strings (converts all letters consider illegal in URLs to their
- * %XX versions). This function returns a new allocated string or NULL if an
- * error occurred.
- */
-CURL_EXTERN char *curl_easy_escape(CURL *handle,
-                                   const char *string,
-                                   int length);
-
-/* the previous version: */
-CURL_EXTERN char *curl_escape(const char *string,
-                              int length);
-
-
-/*
- * NAME curl_easy_unescape()
- *
- * DESCRIPTION
- *
- * Unescapes URL encoding in strings (converts all %XX codes to their 8bit
- * versions). This function returns a new allocated string or NULL if an error
- * occurred.
- * Conversion Note: On non-ASCII platforms the ASCII %XX codes are
- * converted into the host encoding.
- */
-CURL_EXTERN char *curl_easy_unescape(CURL *handle,
-                                     const char *string,
-                                     int length,
-                                     int *outlength);
-
-/* the previous version */
-CURL_EXTERN char *curl_unescape(const char *string,
-                                int length);
-
-/*
- * NAME curl_free()
- *
- * DESCRIPTION
- *
- * Provided for de-allocation in the same translation unit that did the
- * allocation. Added in libcurl 7.10
- */
-CURL_EXTERN void curl_free(void *p);
-
-/*
- * NAME curl_global_init()
- *
- * DESCRIPTION
- *
- * curl_global_init() should be invoked exactly once for each application that
- * uses libcurl and before any call of other libcurl functions.
- *
- * This function is not thread-safe!
- */
-CURL_EXTERN CURLcode curl_global_init(long flags);
-
-/*
- * NAME curl_global_init_mem()
- *
- * DESCRIPTION
- *
- * curl_global_init() or curl_global_init_mem() should be invoked exactly once
- * for each application that uses libcurl.  This function can be used to
- * initialize libcurl and set user defined memory management callback
- * functions.  Users can implement memory management routines to check for
- * memory leaks, check for mis-use of the curl library etc.  User registered
- * callback routines with be invoked by this library instead of the system
- * memory management routines like malloc, free etc.
- */
-CURL_EXTERN CURLcode curl_global_init_mem(long flags,
-                                          curl_malloc_callback m,
-                                          curl_free_callback f,
-                                          curl_realloc_callback r,
-                                          curl_strdup_callback s,
-                                          curl_calloc_callback c);
-
-/*
- * NAME curl_global_cleanup()
- *
- * DESCRIPTION
- *
- * curl_global_cleanup() should be invoked exactly once for each application
- * that uses libcurl
- */
-CURL_EXTERN void curl_global_cleanup(void);
-
-/* linked-list structure for the CURLOPT_QUOTE option (and other) */
-struct curl_slist {
-  char *data;
-  struct curl_slist *next;
-};
-
-/*
- * NAME curl_slist_append()
- *
- * DESCRIPTION
- *
- * Appends a string to a linked list. If no list exists, it will be created
- * first. Returns the new list, after appending.
- */
-CURL_EXTERN struct curl_slist *curl_slist_append(struct curl_slist *,
-                                                 const char *);
-
-/*
- * NAME curl_slist_free_all()
- *
- * DESCRIPTION
- *
- * free a previously built curl_slist.
- */
-CURL_EXTERN void curl_slist_free_all(struct curl_slist *);
-
-/*
- * NAME curl_getdate()
- *
- * DESCRIPTION
- *
- * Returns the time, in seconds since 1 Jan 1970 of the time string given in
- * the first argument. The time argument in the second parameter is unused
- * and should be set to NULL.
- */
-CURL_EXTERN time_t curl_getdate(const char *p, const time_t *unused);
-
-/* info about the certificate chain, only for OpenSSL builds. Asked
-   for with CURLOPT_CERTINFO / CURLINFO_CERTINFO */
-struct curl_certinfo {
-  int num_of_certs;             /* number of certificates with information */
-  struct curl_slist **certinfo; /* for each index in this array, there's a
-                                   linked list with textual information in the
-                                   format "name: value" */
-};
-
-/* enum for the different supported SSL backends */
-typedef enum {
-  CURLSSLBACKEND_NONE = 0,
-  CURLSSLBACKEND_OPENSSL = 1,
-  CURLSSLBACKEND_GNUTLS = 2,
-  CURLSSLBACKEND_NSS = 3,
-  CURLSSLBACKEND_OBSOLETE4 = 4,  /* Was QSOSSL. */
-  CURLSSLBACKEND_GSKIT = 5,
-  CURLSSLBACKEND_POLARSSL = 6,
-  CURLSSLBACKEND_CYASSL = 7,
-  CURLSSLBACKEND_SCHANNEL = 8,
-  CURLSSLBACKEND_DARWINSSL = 9,
-  CURLSSLBACKEND_AXTLS = 10
-} curl_sslbackend;
-
-/* Information about the SSL library used and the respective internal SSL
-   handle, which can be used to obtain further information regarding the
-   connection. Asked for with CURLINFO_TLS_SESSION. */
-struct curl_tlssessioninfo {
-  curl_sslbackend backend;
-  void *internals;
-};
-
-#define CURLINFO_STRING   0x100000
-#define CURLINFO_LONG     0x200000
-#define CURLINFO_DOUBLE   0x300000
-#define CURLINFO_SLIST    0x400000
-#define CURLINFO_MASK     0x0fffff
-#define CURLINFO_TYPEMASK 0xf00000
-
-typedef enum {
-  CURLINFO_NONE, /* first, never use this */
-  CURLINFO_EFFECTIVE_URL    = CURLINFO_STRING + 1,
-  CURLINFO_RESPONSE_CODE    = CURLINFO_LONG   + 2,
-  CURLINFO_TOTAL_TIME       = CURLINFO_DOUBLE + 3,
-  CURLINFO_NAMELOOKUP_TIME  = CURLINFO_DOUBLE + 4,
-  CURLINFO_CONNECT_TIME     = CURLINFO_DOUBLE + 5,
-  CURLINFO_PRETRANSFER_TIME = CURLINFO_DOUBLE + 6,
-  CURLINFO_SIZE_UPLOAD      = CURLINFO_DOUBLE + 7,
-  CURLINFO_SIZE_DOWNLOAD    = CURLINFO_DOUBLE + 8,
-  CURLINFO_SPEED_DOWNLOAD   = CURLINFO_DOUBLE + 9,
-  CURLINFO_SPEED_UPLOAD     = CURLINFO_DOUBLE + 10,
-  CURLINFO_HEADER_SIZE      = CURLINFO_LONG   + 11,
-  CURLINFO_REQUEST_SIZE     = CURLINFO_LONG   + 12,
-  CURLINFO_SSL_VERIFYRESULT = CURLINFO_LONG   + 13,
-  CURLINFO_FILETIME         = CURLINFO_LONG   + 14,
-  CURLINFO_CONTENT_LENGTH_DOWNLOAD   = CURLINFO_DOUBLE + 15,
-  CURLINFO_CONTENT_LENGTH_UPLOAD     = CURLINFO_DOUBLE + 16,
-  CURLINFO_STARTTRANSFER_TIME = CURLINFO_DOUBLE + 17,
-  CURLINFO_CONTENT_TYPE     = CURLINFO_STRING + 18,
-  CURLINFO_REDIRECT_TIME    = CURLINFO_DOUBLE + 19,
-  CURLINFO_REDIRECT_COUNT   = CURLINFO_LONG   + 20,
-  CURLINFO_PRIVATE          = CURLINFO_STRING + 21,
-  CURLINFO_HTTP_CONNECTCODE = CURLINFO_LONG   + 22,
-  CURLINFO_HTTPAUTH_AVAIL   = CURLINFO_LONG   + 23,
-  CURLINFO_PROXYAUTH_AVAIL  = CURLINFO_LONG   + 24,
-  CURLINFO_OS_ERRNO         = CURLINFO_LONG   + 25,
-  CURLINFO_NUM_CONNECTS     = CURLINFO_LONG   + 26,
-  CURLINFO_SSL_ENGINES      = CURLINFO_SLIST  + 27,
-  CURLINFO_COOKIELIST       = CURLINFO_SLIST  + 28,
-  CURLINFO_LASTSOCKET       = CURLINFO_LONG   + 29,
-  CURLINFO_FTP_ENTRY_PATH   = CURLINFO_STRING + 30,
-  CURLINFO_REDIRECT_URL     = CURLINFO_STRING + 31,
-  CURLINFO_PRIMARY_IP       = CURLINFO_STRING + 32,
-  CURLINFO_APPCONNECT_TIME  = CURLINFO_DOUBLE + 33,
-  CURLINFO_CERTINFO         = CURLINFO_SLIST  + 34,
-  CURLINFO_CONDITION_UNMET  = CURLINFO_LONG   + 35,
-  CURLINFO_RTSP_SESSION_ID  = CURLINFO_STRING + 36,
-  CURLINFO_RTSP_CLIENT_CSEQ = CURLINFO_LONG   + 37,
-  CURLINFO_RTSP_SERVER_CSEQ = CURLINFO_LONG   + 38,
-  CURLINFO_RTSP_CSEQ_RECV   = CURLINFO_LONG   + 39,
-  CURLINFO_PRIMARY_PORT     = CURLINFO_LONG   + 40,
-  CURLINFO_LOCAL_IP         = CURLINFO_STRING + 41,
-  CURLINFO_LOCAL_PORT       = CURLINFO_LONG   + 42,
-  CURLINFO_TLS_SESSION      = CURLINFO_SLIST  + 43,
-  /* Fill in new entries below here! */
-
-  CURLINFO_LASTONE          = 43
-} CURLINFO;
-
-/* CURLINFO_RESPONSE_CODE is the new name for the option previously known as
-   CURLINFO_HTTP_CODE */
-#define CURLINFO_HTTP_CODE CURLINFO_RESPONSE_CODE
-
-typedef enum {
-  CURLCLOSEPOLICY_NONE, /* first, never use this */
-
-  CURLCLOSEPOLICY_OLDEST,
-  CURLCLOSEPOLICY_LEAST_RECENTLY_USED,
-  CURLCLOSEPOLICY_LEAST_TRAFFIC,
-  CURLCLOSEPOLICY_SLOWEST,
-  CURLCLOSEPOLICY_CALLBACK,
-
-  CURLCLOSEPOLICY_LAST /* last, never use this */
-} curl_closepolicy;
-
-#define CURL_GLOBAL_SSL (1<<0)
-#define CURL_GLOBAL_WIN32 (1<<1)
-#define CURL_GLOBAL_ALL (CURL_GLOBAL_SSL|CURL_GLOBAL_WIN32)
-#define CURL_GLOBAL_NOTHING 0
-#define CURL_GLOBAL_DEFAULT CURL_GLOBAL_ALL
-#define CURL_GLOBAL_ACK_EINTR (1<<2)
-
-
-/*****************************************************************************
- * Setup defines, protos etc for the sharing stuff.
- */
-
-/* Different data locks for a single share */
-typedef enum {
-  CURL_LOCK_DATA_NONE = 0,
-  /*  CURL_LOCK_DATA_SHARE is used internally to say that
-   *  the locking is just made to change the internal state of the share
-   *  itself.
-   */
-  CURL_LOCK_DATA_SHARE,
-  CURL_LOCK_DATA_COOKIE,
-  CURL_LOCK_DATA_DNS,
-  CURL_LOCK_DATA_SSL_SESSION,
-  CURL_LOCK_DATA_CONNECT,
-  CURL_LOCK_DATA_LAST
-} curl_lock_data;
-
-/* Different lock access types */
-typedef enum {
-  CURL_LOCK_ACCESS_NONE = 0,   /* unspecified action */
-  CURL_LOCK_ACCESS_SHARED = 1, /* for read perhaps */
-  CURL_LOCK_ACCESS_SINGLE = 2, /* for write perhaps */
-  CURL_LOCK_ACCESS_LAST        /* never use */
-} curl_lock_access;
-
-typedef void (*curl_lock_function)(CURL *handle,
-                                   curl_lock_data data,
-                                   curl_lock_access locktype,
-                                   void *userptr);
-typedef void (*curl_unlock_function)(CURL *handle,
-                                     curl_lock_data data,
-                                     void *userptr);
-
-typedef void CURLSH;
-
-typedef enum {
-  CURLSHE_OK,  /* all is fine */
-  CURLSHE_BAD_OPTION, /* 1 */
-  CURLSHE_IN_USE,     /* 2 */
-  CURLSHE_INVALID,    /* 3 */
-  CURLSHE_NOMEM,      /* 4 out of memory */
-  CURLSHE_NOT_BUILT_IN, /* 5 feature not present in lib */
-  CURLSHE_LAST        /* never use */
-} CURLSHcode;
-
-typedef enum {
-  CURLSHOPT_NONE,  /* don't use */
-  CURLSHOPT_SHARE,   /* specify a data type to share */
-  CURLSHOPT_UNSHARE, /* specify which data type to stop sharing */
-  CURLSHOPT_LOCKFUNC,   /* pass in a 'curl_lock_function' pointer */
-  CURLSHOPT_UNLOCKFUNC, /* pass in a 'curl_unlock_function' pointer */
-  CURLSHOPT_USERDATA,   /* pass in a user data pointer used in the lock/unlock
-                           callback functions */
-  CURLSHOPT_LAST  /* never use */
-} CURLSHoption;
-
-CURL_EXTERN CURLSH *curl_share_init(void);
-CURL_EXTERN CURLSHcode curl_share_setopt(CURLSH *, CURLSHoption option, ...);
-CURL_EXTERN CURLSHcode curl_share_cleanup(CURLSH *);
-
-/****************************************************************************
- * Structures for querying information about the curl library at runtime.
- */
-
-typedef enum {
-  CURLVERSION_FIRST,
-  CURLVERSION_SECOND,
-  CURLVERSION_THIRD,
-  CURLVERSION_FOURTH,
-  CURLVERSION_LAST /* never actually use this */
-} CURLversion;
-
-/* The 'CURLVERSION_NOW' is the symbolic name meant to be used by
-   basically all programs ever that want to get version information. It is
-   meant to be a built-in version number for what kind of struct the caller
-   expects. If the struct ever changes, we redefine the NOW to another enum
-   from above. */
-#define CURLVERSION_NOW CURLVERSION_FOURTH
-
-typedef struct {
-  CURLversion age;          /* age of the returned struct */
-  const char *version;      /* LIBCURL_VERSION */
-  unsigned int version_num; /* LIBCURL_VERSION_NUM */
-  const char *host;         /* OS/host/cpu/machine when configured */
-  int features;             /* bitmask, see defines below */
-  const char *ssl_version;  /* human readable string */
-  long ssl_version_num;     /* not used anymore, always 0 */
-  const char *libz_version; /* human readable string */
-  /* protocols is terminated by an entry with a NULL protoname */
-  const char * const *protocols;
-
-  /* The fields below this were added in CURLVERSION_SECOND */
-  const char *ares;
-  int ares_num;
-
-  /* This field was added in CURLVERSION_THIRD */
-  const char *libidn;
-
-  /* These field were added in CURLVERSION_FOURTH */
-
-  /* Same as '_libiconv_version' if built with HAVE_ICONV */
-  int iconv_ver_num;
-
-  const char *libssh_version; /* human readable string */
-
-} curl_version_info_data;
-
-#define CURL_VERSION_IPV6         (1<<0)  /* IPv6-enabled */
-#define CURL_VERSION_KERBEROS4    (1<<1)  /* Kerberos V4 auth is supported
-                                             (deprecated) */
-#define CURL_VERSION_SSL          (1<<2)  /* SSL options are present */
-#define CURL_VERSION_LIBZ         (1<<3)  /* libz features are present */
-#define CURL_VERSION_NTLM         (1<<4)  /* NTLM auth is supported */
-#define CURL_VERSION_GSSNEGOTIATE (1<<5)  /* Negotiate auth is supported
-                                             (deprecated) */
-#define CURL_VERSION_DEBUG        (1<<6)  /* Built with debug capabilities */
-#define CURL_VERSION_ASYNCHDNS    (1<<7)  /* Asynchronous DNS resolves */
-#define CURL_VERSION_SPNEGO       (1<<8)  /* SPNEGO auth is supported */
-#define CURL_VERSION_LARGEFILE    (1<<9)  /* Supports files larger than 2GB */
-#define CURL_VERSION_IDN          (1<<10) /* Internationized Domain Names are
-                                             supported */
-#define CURL_VERSION_SSPI         (1<<11) /* Built against Windows SSPI */
-#define CURL_VERSION_CONV         (1<<12) /* Character conversions supported */
-#define CURL_VERSION_CURLDEBUG    (1<<13) /* Debug memory tracking supported */
-#define CURL_VERSION_TLSAUTH_SRP  (1<<14) /* TLS-SRP auth is supported */
-#define CURL_VERSION_NTLM_WB      (1<<15) /* NTLM delegation to winbind helper
-                                             is suported */
-#define CURL_VERSION_HTTP2        (1<<16) /* HTTP2 support built-in */
-#define CURL_VERSION_GSSAPI       (1<<17) /* Built against a GSS-API library */
-#define CURL_VERSION_KERBEROS5    (1<<18) /* Kerberos V5 auth is supported */
-#define CURL_VERSION_UNIX_SOCKETS (1<<19) /* Unix domain sockets support */
-
- /*
- * NAME curl_version_info()
- *
- * DESCRIPTION
- *
- * This function returns a pointer to a static copy of the version info
- * struct. See above.
- */
-CURL_EXTERN curl_version_info_data *curl_version_info(CURLversion);
-
-/*
- * NAME curl_easy_strerror()
- *
- * DESCRIPTION
- *
- * The curl_easy_strerror function may be used to turn a CURLcode value
- * into the equivalent human readable error string.  This is useful
- * for printing meaningful error messages.
- */
-CURL_EXTERN const char *curl_easy_strerror(CURLcode);
-
-/*
- * NAME curl_share_strerror()
- *
- * DESCRIPTION
- *
- * The curl_share_strerror function may be used to turn a CURLSHcode value
- * into the equivalent human readable error string.  This is useful
- * for printing meaningful error messages.
- */
-CURL_EXTERN const char *curl_share_strerror(CURLSHcode);
-
-/*
- * NAME curl_easy_pause()
- *
- * DESCRIPTION
- *
- * The curl_easy_pause function pauses or unpauses transfers. Select the new
- * state by setting the bitmask, use the convenience defines below.
- *
- */
-CURL_EXTERN CURLcode curl_easy_pause(CURL *handle, int bitmask);
-
-#define CURLPAUSE_RECV      (1<<0)
-#define CURLPAUSE_RECV_CONT (0)
-
-#define CURLPAUSE_SEND      (1<<2)
-#define CURLPAUSE_SEND_CONT (0)
-
-#define CURLPAUSE_ALL       (CURLPAUSE_RECV|CURLPAUSE_SEND)
-#define CURLPAUSE_CONT      (CURLPAUSE_RECV_CONT|CURLPAUSE_SEND_CONT)
-
-#ifdef  __cplusplus
-}
-#endif
-
-/* unfortunately, the easy.h and multi.h include files need options and info
-  stuff before they can be included! */
-#include "easy.h" /* nothing in curl is fun without the easy stuff */
-#include "multi.h"
-
-/* the typechecker doesn't work in C++ (yet) */
-#if defined(__GNUC__) && defined(__GNUC_MINOR__) && \
-    ((__GNUC__ > 4) || (__GNUC__ == 4 && __GNUC_MINOR__ >= 3)) && \
-    !defined(__cplusplus) && !defined(CURL_DISABLE_TYPECHECK)
-#include "typecheck-gcc.h"
-#else
-#if defined(__STDC__) && (__STDC__ >= 1)
-/* This preprocessor magic that replaces a call with the exact same call is
-   only done to make sure application authors pass exactly three arguments
-   to these functions. */
-#define curl_easy_setopt(handle,opt,param) curl_easy_setopt(handle,opt,param)
-#define curl_easy_getinfo(handle,info,arg) curl_easy_getinfo(handle,info,arg)
-#define curl_share_setopt(share,opt,param) curl_share_setopt(share,opt,param)
-#define curl_multi_setopt(handle,opt,param) curl_multi_setopt(handle,opt,param)
-#endif /* __STDC__ >= 1 */
-#endif /* gcc >= 4.3 && !__cplusplus */
-
-#endif /* __CURL_CURL_H */
diff --git a/third_party/curl/include/curl/curlbuild.h b/third_party/curl/include/curl/curlbuild.h
deleted file mode 100644
index 2bf01cf37c..0000000000
--- a/third_party/curl/include/curl/curlbuild.h
+++ /dev/null
@@ -1,195 +0,0 @@
-/* include/curl/curlbuild.h.  Generated from curlbuild.h.in by configure.  */
-#ifndef __CURL_CURLBUILD_H
-#define __CURL_CURLBUILD_H
-/***************************************************************************
- *                                  _   _ ____  _
- *  Project                     ___| | | |  _ \| |
- *                             / __| | | | |_) | |
- *                            | (__| |_| |  _ <| |___
- *                             \___|\___/|_| \_\_____|
- *
- * Copyright (C) 1998 - 2012, Daniel Stenberg, <daniel@haxx.se>, et al.
- *
- * This software is licensed as described in the file COPYING, which
- * you should have received as part of this distribution. The terms
- * are also available at http://curl.haxx.se/docs/copyright.html.
- *
- * You may opt to use, copy, modify, merge, publish, distribute and/or sell
- * copies of the Software, and permit persons to whom the Software is
- * furnished to do so, under the terms of the COPYING file.
- *
- * This software is distributed on an "AS IS" basis, WITHOUT WARRANTY OF ANY
- * KIND, either express or implied.
- *
- ***************************************************************************/
-
-/* ================================================================ */
-/*               NOTES FOR CONFIGURE CAPABLE SYSTEMS                */
-/* ================================================================ */
-
-/*
- * NOTE 1:
- * -------
- *
- * Nothing in this file is intended to be modified or adjusted by the
- * curl library user nor by the curl library builder.
- *
- * If you think that something actually needs to be changed, adjusted
- * or fixed in this file, then, report it on the libcurl development
- * mailing list: http://cool.haxx.se/mailman/listinfo/curl-library/
- *
- * This header file shall only export symbols which are 'curl' or 'CURL'
- * prefixed, otherwise public name space would be polluted.
- *
- * NOTE 2:
- * -------
- *
- * Right now you might be staring at file include/curl/curlbuild.h.in or
- * at file include/curl/curlbuild.h, this is due to the following reason:
- *
- * On systems capable of running the configure script, the configure process
- * will overwrite the distributed include/curl/curlbuild.h file with one that
- * is suitable and specific to the library being configured and built, which
- * is generated from the include/curl/curlbuild.h.in template file.
- *
- */
-
-/* ================================================================ */
-/*  DEFINITION OF THESE SYMBOLS SHALL NOT TAKE PLACE ANYWHERE ELSE  */
-/* ================================================================ */
-
-#ifdef CURL_SIZEOF_LONG
-#error "CURL_SIZEOF_LONG shall not be defined except in curlbuild.h"
-   Error Compilation_aborted_CURL_SIZEOF_LONG_already_defined
-#endif
-
-#ifdef CURL_TYPEOF_CURL_SOCKLEN_T
-#error "CURL_TYPEOF_CURL_SOCKLEN_T shall not be defined except in curlbuild.h"
-   Error Compilation_aborted_CURL_TYPEOF_CURL_SOCKLEN_T_already_defined
-#endif
-
-#ifdef CURL_SIZEOF_CURL_SOCKLEN_T
-#error "CURL_SIZEOF_CURL_SOCKLEN_T shall not be defined except in curlbuild.h"
-   Error Compilation_aborted_CURL_SIZEOF_CURL_SOCKLEN_T_already_defined
-#endif
-
-#ifdef CURL_TYPEOF_CURL_OFF_T
-#error "CURL_TYPEOF_CURL_OFF_T shall not be defined except in curlbuild.h"
-   Error Compilation_aborted_CURL_TYPEOF_CURL_OFF_T_already_defined
-#endif
-
-#ifdef CURL_FORMAT_CURL_OFF_T
-#error "CURL_FORMAT_CURL_OFF_T shall not be defined except in curlbuild.h"
-   Error Compilation_aborted_CURL_FORMAT_CURL_OFF_T_already_defined
-#endif
-
-#ifdef CURL_FORMAT_CURL_OFF_TU
-#error "CURL_FORMAT_CURL_OFF_TU shall not be defined except in curlbuild.h"
-   Error Compilation_aborted_CURL_FORMAT_CURL_OFF_TU_already_defined
-#endif
-
-#ifdef CURL_FORMAT_OFF_T
-#error "CURL_FORMAT_OFF_T shall not be defined except in curlbuild.h"
-   Error Compilation_aborted_CURL_FORMAT_OFF_T_already_defined
-#endif
-
-#ifdef CURL_SIZEOF_CURL_OFF_T
-#error "CURL_SIZEOF_CURL_OFF_T shall not be defined except in curlbuild.h"
-   Error Compilation_aborted_CURL_SIZEOF_CURL_OFF_T_already_defined
-#endif
-
-#ifdef CURL_SUFFIX_CURL_OFF_T
-#error "CURL_SUFFIX_CURL_OFF_T shall not be defined except in curlbuild.h"
-   Error Compilation_aborted_CURL_SUFFIX_CURL_OFF_T_already_defined
-#endif
-
-#ifdef CURL_SUFFIX_CURL_OFF_TU
-#error "CURL_SUFFIX_CURL_OFF_TU shall not be defined except in curlbuild.h"
-   Error Compilation_aborted_CURL_SUFFIX_CURL_OFF_TU_already_defined
-#endif
-
-/* ================================================================ */
-/*  EXTERNAL INTERFACE SETTINGS FOR CONFIGURE CAPABLE SYSTEMS ONLY  */
-/* ================================================================ */
-
-/* Configure process defines this to 1 when it finds out that system  */
-/* header file ws2tcpip.h must be included by the external interface. */
-/* #undef CURL_PULL_WS2TCPIP_H */
-#ifdef CURL_PULL_WS2TCPIP_H
-#  ifndef WIN32_LEAN_AND_MEAN
-#    define WIN32_LEAN_AND_MEAN
-#  endif
-#  include <windows.h>
-#  include <winsock2.h>
-#  include <ws2tcpip.h>
-#endif
-
-/* Configure process defines this to 1 when it finds out that system   */
-/* header file sys/types.h must be included by the external interface. */
-#define CURL_PULL_SYS_TYPES_H 1
-#ifdef CURL_PULL_SYS_TYPES_H
-#  include <sys/types.h>
-#endif
-
-/* Configure process defines this to 1 when it finds out that system */
-/* header file stdint.h must be included by the external interface.  */
-#define CURL_PULL_STDINT_H 1
-#ifdef CURL_PULL_STDINT_H
-#  include <stdint.h>
-#endif
-
-/* Configure process defines this to 1 when it finds out that system  */
-/* header file inttypes.h must be included by the external interface. */
-#define CURL_PULL_INTTYPES_H 1
-#ifdef CURL_PULL_INTTYPES_H
-#  include <inttypes.h>
-#endif
-
-/* Configure process defines this to 1 when it finds out that system    */
-/* header file sys/socket.h must be included by the external interface. */
-#define CURL_PULL_SYS_SOCKET_H 1
-#ifdef CURL_PULL_SYS_SOCKET_H
-#  include <sys/socket.h>
-#endif
-
-/* Configure process defines this to 1 when it finds out that system  */
-/* header file sys/poll.h must be included by the external interface. */
-/* #undef CURL_PULL_SYS_POLL_H */
-#ifdef CURL_PULL_SYS_POLL_H
-#  include <sys/poll.h>
-#endif
-
-/* Integral data type used for curl_socklen_t. */
-#define CURL_TYPEOF_CURL_SOCKLEN_T socklen_t
-
-/* The size of `curl_socklen_t', as computed by sizeof. */
-#define CURL_SIZEOF_CURL_SOCKLEN_T 4
-
-/* Data type definition of curl_socklen_t. */
-typedef CURL_TYPEOF_CURL_SOCKLEN_T curl_socklen_t;
-
-/* Signed integral data type used for curl_off_t. */
-#define CURL_TYPEOF_CURL_OFF_T int64_t
-
-/* Data type definition of curl_off_t. */
-typedef CURL_TYPEOF_CURL_OFF_T curl_off_t;
-
-/* curl_off_t formatting string directive without "%" conversion specifier. */
-#define CURL_FORMAT_CURL_OFF_T "lld"
-
-/* unsigned curl_off_t formatting string without "%" conversion specifier. */
-#define CURL_FORMAT_CURL_OFF_TU "llu"
-
-/* curl_off_t formatting string directive with "%" conversion specifier. */
-#define CURL_FORMAT_OFF_T "%lld"
-
-/* The size of `curl_off_t', as computed by sizeof. */
-#define CURL_SIZEOF_CURL_OFF_T 8
-
-/* curl_off_t constant suffix. */
-#define CURL_SUFFIX_CURL_OFF_T LL
-
-/* unsigned curl_off_t constant suffix. */
-#define CURL_SUFFIX_CURL_OFF_TU ULL
-
-#endif /* __CURL_CURLBUILD_H */
diff --git a/third_party/curl/include/curl/curlbuild.h.cmake b/third_party/curl/include/curl/curlbuild.h.cmake
deleted file mode 100644
index 60bc7a70ec..0000000000
--- a/third_party/curl/include/curl/curlbuild.h.cmake
+++ /dev/null
@@ -1,197 +0,0 @@
-#ifndef __CURL_CURLBUILD_H
-#define __CURL_CURLBUILD_H
-/***************************************************************************
- *                                  _   _ ____  _
- *  Project                     ___| | | |  _ \| |
- *                             / __| | | | |_) | |
- *                            | (__| |_| |  _ <| |___
- *                             \___|\___/|_| \_\_____|
- *
- * Copyright (C) 1998 - 2008, Daniel Stenberg, <daniel@haxx.se>, et al.
- *
- * This software is licensed as described in the file COPYING, which
- * you should have received as part of this distribution. The terms
- * are also available at http://curl.haxx.se/docs/copyright.html.
- *
- * You may opt to use, copy, modify, merge, publish, distribute and/or sell
- * copies of the Software, and permit persons to whom the Software is
- * furnished to do so, under the terms of the COPYING file.
- *
- * This software is distributed on an "AS IS" basis, WITHOUT WARRANTY OF ANY
- * KIND, either express or implied.
- *
- ***************************************************************************/
-
-/* ================================================================ */
-/*               NOTES FOR CONFIGURE CAPABLE SYSTEMS                */
-/* ================================================================ */
-
-/*
- * NOTE 1:
- * -------
- *
- * Nothing in this file is intended to be modified or adjusted by the
- * curl library user nor by the curl library builder.
- *
- * If you think that something actually needs to be changed, adjusted
- * or fixed in this file, then, report it on the libcurl development
- * mailing list: http://cool.haxx.se/mailman/listinfo/curl-library/
- *
- * This header file shall only export symbols which are 'curl' or 'CURL'
- * prefixed, otherwise public name space would be polluted.
- *
- * NOTE 2:
- * -------
- *
- * Right now you might be staring at file include/curl/curlbuild.h.in or
- * at file include/curl/curlbuild.h, this is due to the following reason:
- *
- * On systems capable of running the configure script, the configure process
- * will overwrite the distributed include/curl/curlbuild.h file with one that
- * is suitable and specific to the library being configured and built, which
- * is generated from the include/curl/curlbuild.h.in template file.
- *
- */
-
-/* ================================================================ */
-/*  DEFINITION OF THESE SYMBOLS SHALL NOT TAKE PLACE ANYWHERE ELSE  */
-/* ================================================================ */
-
-#ifdef CURL_SIZEOF_LONG
-#error "CURL_SIZEOF_LONG shall not be defined except in curlbuild.h"
-   Error Compilation_aborted_CURL_SIZEOF_LONG_already_defined
-#endif
-
-#ifdef CURL_TYPEOF_CURL_SOCKLEN_T
-#error "CURL_TYPEOF_CURL_SOCKLEN_T shall not be defined except in curlbuild.h"
-   Error Compilation_aborted_CURL_TYPEOF_CURL_SOCKLEN_T_already_defined
-#endif
-
-#ifdef CURL_SIZEOF_CURL_SOCKLEN_T
-#error "CURL_SIZEOF_CURL_SOCKLEN_T shall not be defined except in curlbuild.h"
-   Error Compilation_aborted_CURL_SIZEOF_CURL_SOCKLEN_T_already_defined
-#endif
-
-#ifdef CURL_TYPEOF_CURL_OFF_T
-#error "CURL_TYPEOF_CURL_OFF_T shall not be defined except in curlbuild.h"
-   Error Compilation_aborted_CURL_TYPEOF_CURL_OFF_T_already_defined
-#endif
-
-#ifdef CURL_FORMAT_CURL_OFF_T
-#error "CURL_FORMAT_CURL_OFF_T shall not be defined except in curlbuild.h"
-   Error Compilation_aborted_CURL_FORMAT_CURL_OFF_T_already_defined
-#endif
-
-#ifdef CURL_FORMAT_CURL_OFF_TU
-#error "CURL_FORMAT_CURL_OFF_TU shall not be defined except in curlbuild.h"
-   Error Compilation_aborted_CURL_FORMAT_CURL_OFF_TU_already_defined
-#endif
-
-#ifdef CURL_FORMAT_OFF_T
-#error "CURL_FORMAT_OFF_T shall not be defined except in curlbuild.h"
-   Error Compilation_aborted_CURL_FORMAT_OFF_T_already_defined
-#endif
-
-#ifdef CURL_SIZEOF_CURL_OFF_T
-#error "CURL_SIZEOF_CURL_OFF_T shall not be defined except in curlbuild.h"
-   Error Compilation_aborted_CURL_SIZEOF_CURL_OFF_T_already_defined
-#endif
-
-#ifdef CURL_SUFFIX_CURL_OFF_T
-#error "CURL_SUFFIX_CURL_OFF_T shall not be defined except in curlbuild.h"
-   Error Compilation_aborted_CURL_SUFFIX_CURL_OFF_T_already_defined
-#endif
-
-#ifdef CURL_SUFFIX_CURL_OFF_TU
-#error "CURL_SUFFIX_CURL_OFF_TU shall not be defined except in curlbuild.h"
-   Error Compilation_aborted_CURL_SUFFIX_CURL_OFF_TU_already_defined
-#endif
-
-/* ================================================================ */
-/*  EXTERNAL INTERFACE SETTINGS FOR CONFIGURE CAPABLE SYSTEMS ONLY  */
-/* ================================================================ */
-
-/* Configure process defines this to 1 when it finds out that system  */
-/* header file ws2tcpip.h must be included by the external interface. */
-#cmakedefine CURL_PULL_WS2TCPIP_H
-#ifdef CURL_PULL_WS2TCPIP_H
-#  ifndef WIN32_LEAN_AND_MEAN
-#    define WIN32_LEAN_AND_MEAN
-#  endif
-#  include <windows.h>
-#  include <winsock2.h>
-#  include <ws2tcpip.h>
-#endif
-
-/* Configure process defines this to 1 when it finds out that system   */
-/* header file sys/types.h must be included by the external interface. */
-#cmakedefine CURL_PULL_SYS_TYPES_H
-#ifdef CURL_PULL_SYS_TYPES_H
-#  include <sys/types.h>
-#endif
-
-/* Configure process defines this to 1 when it finds out that system */
-/* header file stdint.h must be included by the external interface.  */
-#cmakedefine CURL_PULL_STDINT_H
-#ifdef CURL_PULL_STDINT_H
-#  include <stdint.h>
-#endif
-
-/* Configure process defines this to 1 when it finds out that system  */
-/* header file inttypes.h must be included by the external interface. */
-#cmakedefine CURL_PULL_INTTYPES_H
-#ifdef CURL_PULL_INTTYPES_H
-#  include <inttypes.h>
-#endif
-
-/* Configure process defines this to 1 when it finds out that system    */
-/* header file sys/socket.h must be included by the external interface. */
-#cmakedefine CURL_PULL_SYS_SOCKET_H
-#ifdef CURL_PULL_SYS_SOCKET_H
-#  include <sys/socket.h>
-#endif
-
-/* Configure process defines this to 1 when it finds out that system  */
-/* header file sys/poll.h must be included by the external interface. */
-#cmakedefine CURL_PULL_SYS_POLL_H
-#ifdef CURL_PULL_SYS_POLL_H
-#  include <sys/poll.h>
-#endif
-
-/* The size of `long', as computed by sizeof. */
-#define CURL_SIZEOF_LONG ${CURL_SIZEOF_LONG}
-
-/* Integral data type used for curl_socklen_t. */
-#define CURL_TYPEOF_CURL_SOCKLEN_T ${CURL_TYPEOF_CURL_SOCKLEN_T}
-
-/* The size of `curl_socklen_t', as computed by sizeof. */
-#define CURL_SIZEOF_CURL_SOCKLEN_T ${CURL_SIZEOF_CURL_SOCKLEN_T}
-
-/* Data type definition of curl_socklen_t. */
-typedef CURL_TYPEOF_CURL_SOCKLEN_T curl_socklen_t;
-
-/* Signed integral data type used for curl_off_t. */
-#define CURL_TYPEOF_CURL_OFF_T ${CURL_TYPEOF_CURL_OFF_T}
-
-/* Data type definition of curl_off_t. */
-typedef CURL_TYPEOF_CURL_OFF_T curl_off_t;
-
-/* curl_off_t formatting string directive without "%" conversion specifier. */
-#define CURL_FORMAT_CURL_OFF_T "${CURL_FORMAT_CURL_OFF_T}"
-
-/* unsigned curl_off_t formatting string without "%" conversion specifier. */
-#define CURL_FORMAT_CURL_OFF_TU "${CURL_FORMAT_CURL_OFF_TU}"
-
-/* curl_off_t formatting string directive with "%" conversion specifier. */
-#define CURL_FORMAT_OFF_T "${CURL_FORMAT_OFF_T}"
-
-/* The size of `curl_off_t', as computed by sizeof. */
-#define CURL_SIZEOF_CURL_OFF_T ${CURL_SIZEOF_CURL_OFF_T}
-
-/* curl_off_t constant suffix. */
-#define CURL_SUFFIX_CURL_OFF_T ${CURL_SUFFIX_CURL_OFF_T}
-
-/* unsigned curl_off_t constant suffix. */
-#define CURL_SUFFIX_CURL_OFF_TU ${CURL_SUFFIX_CURL_OFF_TU}
-
-#endif /* __CURL_CURLBUILD_H */
diff --git a/third_party/curl/include/curl/curlbuild.h.dist b/third_party/curl/include/curl/curlbuild.h.dist
deleted file mode 100644
index f09419a843..0000000000
--- a/third_party/curl/include/curl/curlbuild.h.dist
+++ /dev/null
@@ -1,585 +0,0 @@
-#ifndef __CURL_CURLBUILD_H
-#define __CURL_CURLBUILD_H
-/***************************************************************************
- *                                  _   _ ____  _
- *  Project                     ___| | | |  _ \| |
- *                             / __| | | | |_) | |
- *                            | (__| |_| |  _ <| |___
- *                             \___|\___/|_| \_\_____|
- *
- * Copyright (C) 1998 - 2013, Daniel Stenberg, <daniel@haxx.se>, et al.
- *
- * This software is licensed as described in the file COPYING, which
- * you should have received as part of this distribution. The terms
- * are also available at http://curl.haxx.se/docs/copyright.html.
- *
- * You may opt to use, copy, modify, merge, publish, distribute and/or sell
- * copies of the Software, and permit persons to whom the Software is
- * furnished to do so, under the terms of the COPYING file.
- *
- * This software is distributed on an "AS IS" basis, WITHOUT WARRANTY OF ANY
- * KIND, either express or implied.
- *
- ***************************************************************************/
-
-/* ================================================================ */
-/*               NOTES FOR CONFIGURE CAPABLE SYSTEMS                */
-/* ================================================================ */
-
-/*
- * NOTE 1:
- * -------
- *
- * See file include/curl/curlbuild.h.in, run configure, and forget
- * that this file exists it is only used for non-configure systems.
- * But you can keep reading if you want ;-)
- *
- */
-
-/* ================================================================ */
-/*                 NOTES FOR NON-CONFIGURE SYSTEMS                  */
-/* ================================================================ */
-
-/*
- * NOTE 1:
- * -------
- *
- * Nothing in this file is intended to be modified or adjusted by the
- * curl library user nor by the curl library builder.
- *
- * If you think that something actually needs to be changed, adjusted
- * or fixed in this file, then, report it on the libcurl development
- * mailing list: http://cool.haxx.se/mailman/listinfo/curl-library/
- *
- * Try to keep one section per platform, compiler and architecture,
- * otherwise, if an existing section is reused for a different one and
- * later on the original is adjusted, probably the piggybacking one can
- * be adversely changed.
- *
- * In order to differentiate between platforms/compilers/architectures
- * use only compiler built in predefined preprocessor symbols.
- *
- * This header file shall only export symbols which are 'curl' or 'CURL'
- * prefixed, otherwise public name space would be polluted.
- *
- * NOTE 2:
- * -------
- *
- * For any given platform/compiler curl_off_t must be typedef'ed to a
- * 64-bit wide signed integral data type. The width of this data type
- * must remain constant and independent of any possible large file
- * support settings.
- *
- * As an exception to the above, curl_off_t shall be typedef'ed to a
- * 32-bit wide signed integral data type if there is no 64-bit type.
- *
- * As a general rule, curl_off_t shall not be mapped to off_t. This
- * rule shall only be violated if off_t is the only 64-bit data type
- * available and the size of off_t is independent of large file support
- * settings. Keep your build on the safe side avoiding an off_t gating.
- * If you have a 64-bit off_t then take for sure that another 64-bit
- * data type exists, dig deeper and you will find it.
- *
- * NOTE 3:
- * -------
- *
- * Right now you might be staring at file include/curl/curlbuild.h.dist or
- * at file include/curl/curlbuild.h, this is due to the following reason:
- * file include/curl/curlbuild.h.dist is renamed to include/curl/curlbuild.h
- * when the libcurl source code distribution archive file is created.
- *
- * File include/curl/curlbuild.h.dist is not included in the distribution
- * archive. File include/curl/curlbuild.h is not present in the git tree.
- *
- * The distributed include/curl/curlbuild.h file is only intended to be used
- * on systems which can not run the also distributed configure script.
- *
- * On systems capable of running the configure script, the configure process
- * will overwrite the distributed include/curl/curlbuild.h file with one that
- * is suitable and specific to the library being configured and built, which
- * is generated from the include/curl/curlbuild.h.in template file.
- *
- * If you check out from git on a non-configure platform, you must run the
- * appropriate buildconf* script to set up curlbuild.h and other local files.
- *
- */
-
-/* ================================================================ */
-/*  DEFINITION OF THESE SYMBOLS SHALL NOT TAKE PLACE ANYWHERE ELSE  */
-/* ================================================================ */
-
-#ifdef CURL_SIZEOF_LONG
-#  error "CURL_SIZEOF_LONG shall not be defined except in curlbuild.h"
-   Error Compilation_aborted_CURL_SIZEOF_LONG_already_defined
-#endif
-
-#ifdef CURL_TYPEOF_CURL_SOCKLEN_T
-#  error "CURL_TYPEOF_CURL_SOCKLEN_T shall not be defined except in curlbuild.h"
-   Error Compilation_aborted_CURL_TYPEOF_CURL_SOCKLEN_T_already_defined
-#endif
-
-#ifdef CURL_SIZEOF_CURL_SOCKLEN_T
-#  error "CURL_SIZEOF_CURL_SOCKLEN_T shall not be defined except in curlbuild.h"
-   Error Compilation_aborted_CURL_SIZEOF_CURL_SOCKLEN_T_already_defined
-#endif
-
-#ifdef CURL_TYPEOF_CURL_OFF_T
-#  error "CURL_TYPEOF_CURL_OFF_T shall not be defined except in curlbuild.h"
-   Error Compilation_aborted_CURL_TYPEOF_CURL_OFF_T_already_defined
-#endif
-
-#ifdef CURL_FORMAT_CURL_OFF_T
-#  error "CURL_FORMAT_CURL_OFF_T shall not be defined except in curlbuild.h"
-   Error Compilation_aborted_CURL_FORMAT_CURL_OFF_T_already_defined
-#endif
-
-#ifdef CURL_FORMAT_CURL_OFF_TU
-#  error "CURL_FORMAT_CURL_OFF_TU shall not be defined except in curlbuild.h"
-   Error Compilation_aborted_CURL_FORMAT_CURL_OFF_TU_already_defined
-#endif
-
-#ifdef CURL_FORMAT_OFF_T
-#  error "CURL_FORMAT_OFF_T shall not be defined except in curlbuild.h"
-   Error Compilation_aborted_CURL_FORMAT_OFF_T_already_defined
-#endif
-
-#ifdef CURL_SIZEOF_CURL_OFF_T
-#  error "CURL_SIZEOF_CURL_OFF_T shall not be defined except in curlbuild.h"
-   Error Compilation_aborted_CURL_SIZEOF_CURL_OFF_T_already_defined
-#endif
-
-#ifdef CURL_SUFFIX_CURL_OFF_T
-#  error "CURL_SUFFIX_CURL_OFF_T shall not be defined except in curlbuild.h"
-   Error Compilation_aborted_CURL_SUFFIX_CURL_OFF_T_already_defined
-#endif
-
-#ifdef CURL_SUFFIX_CURL_OFF_TU
-#  error "CURL_SUFFIX_CURL_OFF_TU shall not be defined except in curlbuild.h"
-   Error Compilation_aborted_CURL_SUFFIX_CURL_OFF_TU_already_defined
-#endif
-
-/* ================================================================ */
-/*    EXTERNAL INTERFACE SETTINGS FOR NON-CONFIGURE SYSTEMS ONLY    */
-/* ================================================================ */
-
-#if defined(__DJGPP__) || defined(__GO32__)
-#  if defined(__DJGPP__) && (__DJGPP__ > 1)
-#    define CURL_SIZEOF_LONG           4
-#    define CURL_TYPEOF_CURL_OFF_T     long long
-#    define CURL_FORMAT_CURL_OFF_T     "lld"
-#    define CURL_FORMAT_CURL_OFF_TU    "llu"
-#    define CURL_FORMAT_OFF_T          "%lld"
-#    define CURL_SIZEOF_CURL_OFF_T     8
-#    define CURL_SUFFIX_CURL_OFF_T     LL
-#    define CURL_SUFFIX_CURL_OFF_TU    ULL
-#  else
-#    define CURL_SIZEOF_LONG           4
-#    define CURL_TYPEOF_CURL_OFF_T     long
-#    define CURL_FORMAT_CURL_OFF_T     "ld"
-#    define CURL_FORMAT_CURL_OFF_TU    "lu"
-#    define CURL_FORMAT_OFF_T          "%ld"
-#    define CURL_SIZEOF_CURL_OFF_T     4
-#    define CURL_SUFFIX_CURL_OFF_T     L
-#    define CURL_SUFFIX_CURL_OFF_TU    UL
-#  endif
-#  define CURL_TYPEOF_CURL_SOCKLEN_T int
-#  define CURL_SIZEOF_CURL_SOCKLEN_T 4
-
-#elif defined(__SALFORDC__)
-#  define CURL_SIZEOF_LONG           4
-#  define CURL_TYPEOF_CURL_OFF_T     long
-#  define CURL_FORMAT_CURL_OFF_T     "ld"
-#  define CURL_FORMAT_CURL_OFF_TU    "lu"
-#  define CURL_FORMAT_OFF_T          "%ld"
-#  define CURL_SIZEOF_CURL_OFF_T     4
-#  define CURL_SUFFIX_CURL_OFF_T     L
-#  define CURL_SUFFIX_CURL_OFF_TU    UL
-#  define CURL_TYPEOF_CURL_SOCKLEN_T int
-#  define CURL_SIZEOF_CURL_SOCKLEN_T 4
-
-#elif defined(__BORLANDC__)
-#  if (__BORLANDC__ < 0x520)
-#    define CURL_SIZEOF_LONG           4
-#    define CURL_TYPEOF_CURL_OFF_T     long
-#    define CURL_FORMAT_CURL_OFF_T     "ld"
-#    define CURL_FORMAT_CURL_OFF_TU    "lu"
-#    define CURL_FORMAT_OFF_T          "%ld"
-#    define CURL_SIZEOF_CURL_OFF_T     4
-#    define CURL_SUFFIX_CURL_OFF_T     L
-#    define CURL_SUFFIX_CURL_OFF_TU    UL
-#  else
-#    define CURL_SIZEOF_LONG           4
-#    define CURL_TYPEOF_CURL_OFF_T     __int64
-#    define CURL_FORMAT_CURL_OFF_T     "I64d"
-#    define CURL_FORMAT_CURL_OFF_TU    "I64u"
-#    define CURL_FORMAT_OFF_T          "%I64d"
-#    define CURL_SIZEOF_CURL_OFF_T     8
-#    define CURL_SUFFIX_CURL_OFF_T     i64
-#    define CURL_SUFFIX_CURL_OFF_TU    ui64
-#  endif
-#  define CURL_TYPEOF_CURL_SOCKLEN_T int
-#  define CURL_SIZEOF_CURL_SOCKLEN_T 4
-
-#elif defined(__TURBOC__)
-#  define CURL_SIZEOF_LONG           4
-#  define CURL_TYPEOF_CURL_OFF_T     long
-#  define CURL_FORMAT_CURL_OFF_T     "ld"
-#  define CURL_FORMAT_CURL_OFF_TU    "lu"
-#  define CURL_FORMAT_OFF_T          "%ld"
-#  define CURL_SIZEOF_CURL_OFF_T     4
-#  define CURL_SUFFIX_CURL_OFF_T     L
-#  define CURL_SUFFIX_CURL_OFF_TU    UL
-#  define CURL_TYPEOF_CURL_SOCKLEN_T int
-#  define CURL_SIZEOF_CURL_SOCKLEN_T 4
-
-#elif defined(__WATCOMC__)
-#  if defined(__386__)
-#    define CURL_SIZEOF_LONG           4
-#    define CURL_TYPEOF_CURL_OFF_T     __int64
-#    define CURL_FORMAT_CURL_OFF_T     "I64d"
-#    define CURL_FORMAT_CURL_OFF_TU    "I64u"
-#    define CURL_FORMAT_OFF_T          "%I64d"
-#    define CURL_SIZEOF_CURL_OFF_T     8
-#    define CURL_SUFFIX_CURL_OFF_T     i64
-#    define CURL_SUFFIX_CURL_OFF_TU    ui64
-#  else
-#    define CURL_SIZEOF_LONG           4
-#    define CURL_TYPEOF_CURL_OFF_T     long
-#    define CURL_FORMAT_CURL_OFF_T     "ld"
-#    define CURL_FORMAT_CURL_OFF_TU    "lu"
-#    define CURL_FORMAT_OFF_T          "%ld"
-#    define CURL_SIZEOF_CURL_OFF_T     4
-#    define CURL_SUFFIX_CURL_OFF_T     L
-#    define CURL_SUFFIX_CURL_OFF_TU    UL
-#  endif
-#  define CURL_TYPEOF_CURL_SOCKLEN_T int
-#  define CURL_SIZEOF_CURL_SOCKLEN_T 4
-
-#elif defined(__POCC__)
-#  if (__POCC__ < 280)
-#    define CURL_SIZEOF_LONG           4
-#    define CURL_TYPEOF_CURL_OFF_T     long
-#    define CURL_FORMAT_CURL_OFF_T     "ld"
-#    define CURL_FORMAT_CURL_OFF_TU    "lu"
-#    define CURL_FORMAT_OFF_T          "%ld"
-#    define CURL_SIZEOF_CURL_OFF_T     4
-#    define CURL_SUFFIX_CURL_OFF_T     L
-#    define CURL_SUFFIX_CURL_OFF_TU    UL
-#  elif defined(_MSC_VER)
-#    define CURL_SIZEOF_LONG           4
-#    define CURL_TYPEOF_CURL_OFF_T     __int64
-#    define CURL_FORMAT_CURL_OFF_T     "I64d"
-#    define CURL_FORMAT_CURL_OFF_TU    "I64u"
-#    define CURL_FORMAT_OFF_T          "%I64d"
-#    define CURL_SIZEOF_CURL_OFF_T     8
-#    define CURL_SUFFIX_CURL_OFF_T     i64
-#    define CURL_SUFFIX_CURL_OFF_TU    ui64
-#  else
-#    define CURL_SIZEOF_LONG           4
-#    define CURL_TYPEOF_CURL_OFF_T     long long
-#    define CURL_FORMAT_CURL_OFF_T     "lld"
-#    define CURL_FORMAT_CURL_OFF_TU    "llu"
-#    define CURL_FORMAT_OFF_T          "%lld"
-#    define CURL_SIZEOF_CURL_OFF_T     8
-#    define CURL_SUFFIX_CURL_OFF_T     LL
-#    define CURL_SUFFIX_CURL_OFF_TU    ULL
-#  endif
-#  define CURL_TYPEOF_CURL_SOCKLEN_T int
-#  define CURL_SIZEOF_CURL_SOCKLEN_T 4
-
-#elif defined(__LCC__)
-#  define CURL_SIZEOF_LONG           4
-#  define CURL_TYPEOF_CURL_OFF_T     long
-#  define CURL_FORMAT_CURL_OFF_T     "ld"
-#  define CURL_FORMAT_CURL_OFF_TU    "lu"
-#  define CURL_FORMAT_OFF_T          "%ld"
-#  define CURL_SIZEOF_CURL_OFF_T     4
-#  define CURL_SUFFIX_CURL_OFF_T     L
-#  define CURL_SUFFIX_CURL_OFF_TU    UL
-#  define CURL_TYPEOF_CURL_SOCKLEN_T int
-#  define CURL_SIZEOF_CURL_SOCKLEN_T 4
-
-#elif defined(__SYMBIAN32__)
-#  if defined(__EABI__)  /* Treat all ARM compilers equally */
-#    define CURL_SIZEOF_LONG           4
-#    define CURL_TYPEOF_CURL_OFF_T     long long
-#    define CURL_FORMAT_CURL_OFF_T     "lld"
-#    define CURL_FORMAT_CURL_OFF_TU    "llu"
-#    define CURL_FORMAT_OFF_T          "%lld"
-#    define CURL_SIZEOF_CURL_OFF_T     8
-#    define CURL_SUFFIX_CURL_OFF_T     LL
-#    define CURL_SUFFIX_CURL_OFF_TU    ULL
-#  elif defined(__CW32__)
-#    pragma longlong on
-#    define CURL_SIZEOF_LONG           4
-#    define CURL_TYPEOF_CURL_OFF_T     long long
-#    define CURL_FORMAT_CURL_OFF_T     "lld"
-#    define CURL_FORMAT_CURL_OFF_TU    "llu"
-#    define CURL_FORMAT_OFF_T          "%lld"
-#    define CURL_SIZEOF_CURL_OFF_T     8
-#    define CURL_SUFFIX_CURL_OFF_T     LL
-#    define CURL_SUFFIX_CURL_OFF_TU    ULL
-#  elif defined(__VC32__)
-#    define CURL_SIZEOF_LONG           4
-#    define CURL_TYPEOF_CURL_OFF_T     __int64
-#    define CURL_FORMAT_CURL_OFF_T     "lld"
-#    define CURL_FORMAT_CURL_OFF_TU    "llu"
-#    define CURL_FORMAT_OFF_T          "%lld"
-#    define CURL_SIZEOF_CURL_OFF_T     8
-#    define CURL_SUFFIX_CURL_OFF_T     LL
-#    define CURL_SUFFIX_CURL_OFF_TU    ULL
-#  endif
-#  define CURL_TYPEOF_CURL_SOCKLEN_T unsigned int
-#  define CURL_SIZEOF_CURL_SOCKLEN_T 4
-
-#elif defined(__MWERKS__)
-#  define CURL_SIZEOF_LONG           4
-#  define CURL_TYPEOF_CURL_OFF_T     long long
-#  define CURL_FORMAT_CURL_OFF_T     "lld"
-#  define CURL_FORMAT_CURL_OFF_TU    "llu"
-#  define CURL_FORMAT_OFF_T          "%lld"
-#  define CURL_SIZEOF_CURL_OFF_T     8
-#  define CURL_SUFFIX_CURL_OFF_T     LL
-#  define CURL_SUFFIX_CURL_OFF_TU    ULL
-#  define CURL_TYPEOF_CURL_SOCKLEN_T int
-#  define CURL_SIZEOF_CURL_SOCKLEN_T 4
-
-#elif defined(_WIN32_WCE)
-#  define CURL_SIZEOF_LONG           4
-#  define CURL_TYPEOF_CURL_OFF_T     __int64
-#  define CURL_FORMAT_CURL_OFF_T     "I64d"
-#  define CURL_FORMAT_CURL_OFF_TU    "I64u"
-#  define CURL_FORMAT_OFF_T          "%I64d"
-#  define CURL_SIZEOF_CURL_OFF_T     8
-#  define CURL_SUFFIX_CURL_OFF_T     i64
-#  define CURL_SUFFIX_CURL_OFF_TU    ui64
-#  define CURL_TYPEOF_CURL_SOCKLEN_T int
-#  define CURL_SIZEOF_CURL_SOCKLEN_T 4
-
-#elif defined(__MINGW32__)
-#  define CURL_SIZEOF_LONG           4
-#  define CURL_TYPEOF_CURL_OFF_T     long long
-#  define CURL_FORMAT_CURL_OFF_T     "I64d"
-#  define CURL_FORMAT_CURL_OFF_TU    "I64u"
-#  define CURL_FORMAT_OFF_T          "%I64d"
-#  define CURL_SIZEOF_CURL_OFF_T     8
-#  define CURL_SUFFIX_CURL_OFF_T     LL
-#  define CURL_SUFFIX_CURL_OFF_TU    ULL
-#  define CURL_TYPEOF_CURL_SOCKLEN_T int
-#  define CURL_SIZEOF_CURL_SOCKLEN_T 4
-
-#elif defined(__VMS)
-#  if defined(__VAX)
-#    define CURL_SIZEOF_LONG           4
-#    define CURL_TYPEOF_CURL_OFF_T     long
-#    define CURL_FORMAT_CURL_OFF_T     "ld"
-#    define CURL_FORMAT_CURL_OFF_TU    "lu"
-#    define CURL_FORMAT_OFF_T          "%ld"
-#    define CURL_SIZEOF_CURL_OFF_T     4
-#    define CURL_SUFFIX_CURL_OFF_T     L
-#    define CURL_SUFFIX_CURL_OFF_TU    UL
-#  else
-#    define CURL_SIZEOF_LONG           4
-#    define CURL_TYPEOF_CURL_OFF_T     long long
-#    define CURL_FORMAT_CURL_OFF_T     "lld"
-#    define CURL_FORMAT_CURL_OFF_TU    "llu"
-#    define CURL_FORMAT_OFF_T          "%lld"
-#    define CURL_SIZEOF_CURL_OFF_T     8
-#    define CURL_SUFFIX_CURL_OFF_T     LL
-#    define CURL_SUFFIX_CURL_OFF_TU    ULL
-#  endif
-#  define CURL_TYPEOF_CURL_SOCKLEN_T unsigned int
-#  define CURL_SIZEOF_CURL_SOCKLEN_T 4
-
-#elif defined(__OS400__)
-#  if defined(__ILEC400__)
-#    define CURL_SIZEOF_LONG           4
-#    define CURL_TYPEOF_CURL_OFF_T     long long
-#    define CURL_FORMAT_CURL_OFF_T     "lld"
-#    define CURL_FORMAT_CURL_OFF_TU    "llu"
-#    define CURL_FORMAT_OFF_T          "%lld"
-#    define CURL_SIZEOF_CURL_OFF_T     8
-#    define CURL_SUFFIX_CURL_OFF_T     LL
-#    define CURL_SUFFIX_CURL_OFF_TU    ULL
-#    define CURL_TYPEOF_CURL_SOCKLEN_T socklen_t
-#    define CURL_SIZEOF_CURL_SOCKLEN_T 4
-#    define CURL_PULL_SYS_TYPES_H      1
-#    define CURL_PULL_SYS_SOCKET_H     1
-#  endif
-
-#elif defined(__MVS__)
-#  if defined(__IBMC__) || defined(__IBMCPP__)
-#    if defined(_ILP32)
-#      define CURL_SIZEOF_LONG           4
-#    elif defined(_LP64)
-#      define CURL_SIZEOF_LONG           8
-#    endif
-#    if defined(_LONG_LONG)
-#      define CURL_TYPEOF_CURL_OFF_T     long long
-#      define CURL_FORMAT_CURL_OFF_T     "lld"
-#      define CURL_FORMAT_CURL_OFF_TU    "llu"
-#      define CURL_FORMAT_OFF_T          "%lld"
-#      define CURL_SIZEOF_CURL_OFF_T     8
-#      define CURL_SUFFIX_CURL_OFF_T     LL
-#      define CURL_SUFFIX_CURL_OFF_TU    ULL
-#    elif defined(_LP64)
-#      define CURL_TYPEOF_CURL_OFF_T     long
-#      define CURL_FORMAT_CURL_OFF_T     "ld"
-#      define CURL_FORMAT_CURL_OFF_TU    "lu"
-#      define CURL_FORMAT_OFF_T          "%ld"
-#      define CURL_SIZEOF_CURL_OFF_T     8
-#      define CURL_SUFFIX_CURL_OFF_T     L
-#      define CURL_SUFFIX_CURL_OFF_TU    UL
-#    else
-#      define CURL_TYPEOF_CURL_OFF_T     long
-#      define CURL_FORMAT_CURL_OFF_T     "ld"
-#      define CURL_FORMAT_CURL_OFF_TU    "lu"
-#      define CURL_FORMAT_OFF_T          "%ld"
-#      define CURL_SIZEOF_CURL_OFF_T     4
-#      define CURL_SUFFIX_CURL_OFF_T     L
-#      define CURL_SUFFIX_CURL_OFF_TU    UL
-#    endif
-#    define CURL_TYPEOF_CURL_SOCKLEN_T socklen_t
-#    define CURL_SIZEOF_CURL_SOCKLEN_T 4
-#    define CURL_PULL_SYS_TYPES_H      1
-#    define CURL_PULL_SYS_SOCKET_H     1
-#  endif
-
-#elif defined(__370__)
-#  if defined(__IBMC__) || defined(__IBMCPP__)
-#    if defined(_ILP32)
-#      define CURL_SIZEOF_LONG           4
-#    elif defined(_LP64)
-#      define CURL_SIZEOF_LONG           8
-#    endif
-#    if defined(_LONG_LONG)
-#      define CURL_TYPEOF_CURL_OFF_T     long long
-#      define CURL_FORMAT_CURL_OFF_T     "lld"
-#      define CURL_FORMAT_CURL_OFF_TU    "llu"
-#      define CURL_FORMAT_OFF_T          "%lld"
-#      define CURL_SIZEOF_CURL_OFF_T     8
-#      define CURL_SUFFIX_CURL_OFF_T     LL
-#      define CURL_SUFFIX_CURL_OFF_TU    ULL
-#    elif defined(_LP64)
-#      define CURL_TYPEOF_CURL_OFF_T     long
-#      define CURL_FORMAT_CURL_OFF_T     "ld"
-#      define CURL_FORMAT_CURL_OFF_TU    "lu"
-#      define CURL_FORMAT_OFF_T          "%ld"
-#      define CURL_SIZEOF_CURL_OFF_T     8
-#      define CURL_SUFFIX_CURL_OFF_T     L
-#      define CURL_SUFFIX_CURL_OFF_TU    UL
-#    else
-#      define CURL_TYPEOF_CURL_OFF_T     long
-#      define CURL_FORMAT_CURL_OFF_T     "ld"
-#      define CURL_FORMAT_CURL_OFF_TU    "lu"
-#      define CURL_FORMAT_OFF_T          "%ld"
-#      define CURL_SIZEOF_CURL_OFF_T     4
-#      define CURL_SUFFIX_CURL_OFF_T     L
-#      define CURL_SUFFIX_CURL_OFF_TU    UL
-#    endif
-#    define CURL_TYPEOF_CURL_SOCKLEN_T socklen_t
-#    define CURL_SIZEOF_CURL_SOCKLEN_T 4
-#    define CURL_PULL_SYS_TYPES_H      1
-#    define CURL_PULL_SYS_SOCKET_H     1
-#  endif
-
-#elif defined(TPF)
-#  define CURL_SIZEOF_LONG           8
-#  define CURL_TYPEOF_CURL_OFF_T     long
-#  define CURL_FORMAT_CURL_OFF_T     "ld"
-#  define CURL_FORMAT_CURL_OFF_TU    "lu"
-#  define CURL_FORMAT_OFF_T          "%ld"
-#  define CURL_SIZEOF_CURL_OFF_T     8
-#  define CURL_SUFFIX_CURL_OFF_T     L
-#  define CURL_SUFFIX_CURL_OFF_TU    UL
-#  define CURL_TYPEOF_CURL_SOCKLEN_T int
-#  define CURL_SIZEOF_CURL_SOCKLEN_T 4
-
-/* ===================================== */
-/*    KEEP MSVC THE PENULTIMATE ENTRY    */
-/* ===================================== */
-
-#elif defined(_MSC_VER)
-#  if (_MSC_VER >= 900) && (_INTEGRAL_MAX_BITS >= 64)
-#    define CURL_SIZEOF_LONG           4
-#    define CURL_TYPEOF_CURL_OFF_T     __int64
-#    define CURL_FORMAT_CURL_OFF_T     "I64d"
-#    define CURL_FORMAT_CURL_OFF_TU    "I64u"
-#    define CURL_FORMAT_OFF_T          "%I64d"
-#    define CURL_SIZEOF_CURL_OFF_T     8
-#    define CURL_SUFFIX_CURL_OFF_T     i64
-#    define CURL_SUFFIX_CURL_OFF_TU    ui64
-#  else
-#    define CURL_SIZEOF_LONG           4
-#    define CURL_TYPEOF_CURL_OFF_T     long
-#    define CURL_FORMAT_CURL_OFF_T     "ld"
-#    define CURL_FORMAT_CURL_OFF_TU    "lu"
-#    define CURL_FORMAT_OFF_T          "%ld"
-#    define CURL_SIZEOF_CURL_OFF_T     4
-#    define CURL_SUFFIX_CURL_OFF_T     L
-#    define CURL_SUFFIX_CURL_OFF_TU    UL
-#  endif
-#  define CURL_TYPEOF_CURL_SOCKLEN_T int
-#  define CURL_SIZEOF_CURL_SOCKLEN_T 4
-
-/* ===================================== */
-/*    KEEP GENERIC GCC THE LAST ENTRY    */
-/* ===================================== */
-
-#elif defined(__GNUC__)
-#  if defined(__ILP32__) || \
-      defined(__i386__) || defined(__ppc__) || defined(__arm__) || defined(__sparc__)
-#    define CURL_SIZEOF_LONG           4
-#    define CURL_TYPEOF_CURL_OFF_T     long long
-#    define CURL_FORMAT_CURL_OFF_T     "lld"
-#    define CURL_FORMAT_CURL_OFF_TU    "llu"
-#    define CURL_FORMAT_OFF_T          "%lld"
-#    define CURL_SIZEOF_CURL_OFF_T     8
-#    define CURL_SUFFIX_CURL_OFF_T     LL
-#    define CURL_SUFFIX_CURL_OFF_TU    ULL
-#  elif defined(__LP64__) || \
-        defined(__x86_64__) || defined(__ppc64__) || defined(__sparc64__)
-#    define CURL_SIZEOF_LONG           8
-#    define CURL_TYPEOF_CURL_OFF_T     long
-#    define CURL_FORMAT_CURL_OFF_T     "ld"
-#    define CURL_FORMAT_CURL_OFF_TU    "lu"
-#    define CURL_FORMAT_OFF_T          "%ld"
-#    define CURL_SIZEOF_CURL_OFF_T     8
-#    define CURL_SUFFIX_CURL_OFF_T     L
-#    define CURL_SUFFIX_CURL_OFF_TU    UL
-#  endif
-#  define CURL_TYPEOF_CURL_SOCKLEN_T socklen_t
-#  define CURL_SIZEOF_CURL_SOCKLEN_T 4
-#  define CURL_PULL_SYS_TYPES_H      1
-#  define CURL_PULL_SYS_SOCKET_H     1
-
-#else
-#  error "Unknown non-configure build target!"
-   Error Compilation_aborted_Unknown_non_configure_build_target
-#endif
-
-/* CURL_PULL_SYS_TYPES_H is defined above when inclusion of header file  */
-/* sys/types.h is required here to properly make type definitions below. */
-#ifdef CURL_PULL_SYS_TYPES_H
-#  include <sys/types.h>
-#endif
-
-/* CURL_PULL_SYS_SOCKET_H is defined above when inclusion of header file  */
-/* sys/socket.h is required here to properly make type definitions below. */
-#ifdef CURL_PULL_SYS_SOCKET_H
-#  include <sys/socket.h>
-#endif
-
-/* Data type definition of curl_socklen_t. */
-
-#ifdef CURL_TYPEOF_CURL_SOCKLEN_T
-  typedef CURL_TYPEOF_CURL_SOCKLEN_T curl_socklen_t;
-#endif
-
-/* Data type definition of curl_off_t. */
-
-#ifdef CURL_TYPEOF_CURL_OFF_T
-  typedef CURL_TYPEOF_CURL_OFF_T curl_off_t;
-#endif
-
-#endif /* __CURL_CURLBUILD_H */
diff --git a/third_party/curl/include/curl/curlbuild.h.in b/third_party/curl/include/curl/curlbuild.h.in
deleted file mode 100644
index 7cb2b6ef7e..0000000000
--- a/third_party/curl/include/curl/curlbuild.h.in
+++ /dev/null
@@ -1,194 +0,0 @@
-#ifndef __CURL_CURLBUILD_H
-#define __CURL_CURLBUILD_H
-/***************************************************************************
- *                                  _   _ ____  _
- *  Project                     ___| | | |  _ \| |
- *                             / __| | | | |_) | |
- *                            | (__| |_| |  _ <| |___
- *                             \___|\___/|_| \_\_____|
- *
- * Copyright (C) 1998 - 2012, Daniel Stenberg, <daniel@haxx.se>, et al.
- *
- * This software is licensed as described in the file COPYING, which
- * you should have received as part of this distribution. The terms
- * are also available at http://curl.haxx.se/docs/copyright.html.
- *
- * You may opt to use, copy, modify, merge, publish, distribute and/or sell
- * copies of the Software, and permit persons to whom the Software is
- * furnished to do so, under the terms of the COPYING file.
- *
- * This software is distributed on an "AS IS" basis, WITHOUT WARRANTY OF ANY
- * KIND, either express or implied.
- *
- ***************************************************************************/
-
-/* ================================================================ */
-/*               NOTES FOR CONFIGURE CAPABLE SYSTEMS                */
-/* ================================================================ */
-
-/*
- * NOTE 1:
- * -------
- *
- * Nothing in this file is intended to be modified or adjusted by the
- * curl library user nor by the curl library builder.
- *
- * If you think that something actually needs to be changed, adjusted
- * or fixed in this file, then, report it on the libcurl development
- * mailing list: http://cool.haxx.se/mailman/listinfo/curl-library/
- *
- * This header file shall only export symbols which are 'curl' or 'CURL'
- * prefixed, otherwise public name space would be polluted.
- *
- * NOTE 2:
- * -------
- *
- * Right now you might be staring at file include/curl/curlbuild.h.in or
- * at file include/curl/curlbuild.h, this is due to the following reason:
- *
- * On systems capable of running the configure script, the configure process
- * will overwrite the distributed include/curl/curlbuild.h file with one that
- * is suitable and specific to the library being configured and built, which
- * is generated from the include/curl/curlbuild.h.in template file.
- *
- */
-
-/* ================================================================ */
-/*  DEFINITION OF THESE SYMBOLS SHALL NOT TAKE PLACE ANYWHERE ELSE  */
-/* ================================================================ */
-
-#ifdef CURL_SIZEOF_LONG
-#error "CURL_SIZEOF_LONG shall not be defined except in curlbuild.h"
-   Error Compilation_aborted_CURL_SIZEOF_LONG_already_defined
-#endif
-
-#ifdef CURL_TYPEOF_CURL_SOCKLEN_T
-#error "CURL_TYPEOF_CURL_SOCKLEN_T shall not be defined except in curlbuild.h"
-   Error Compilation_aborted_CURL_TYPEOF_CURL_SOCKLEN_T_already_defined
-#endif
-
-#ifdef CURL_SIZEOF_CURL_SOCKLEN_T
-#error "CURL_SIZEOF_CURL_SOCKLEN_T shall not be defined except in curlbuild.h"
-   Error Compilation_aborted_CURL_SIZEOF_CURL_SOCKLEN_T_already_defined
-#endif
-
-#ifdef CURL_TYPEOF_CURL_OFF_T
-#error "CURL_TYPEOF_CURL_OFF_T shall not be defined except in curlbuild.h"
-   Error Compilation_aborted_CURL_TYPEOF_CURL_OFF_T_already_defined
-#endif
-
-#ifdef CURL_FORMAT_CURL_OFF_T
-#error "CURL_FORMAT_CURL_OFF_T shall not be defined except in curlbuild.h"
-   Error Compilation_aborted_CURL_FORMAT_CURL_OFF_T_already_defined
-#endif
-
-#ifdef CURL_FORMAT_CURL_OFF_TU
-#error "CURL_FORMAT_CURL_OFF_TU shall not be defined except in curlbuild.h"
-   Error Compilation_aborted_CURL_FORMAT_CURL_OFF_TU_already_defined
-#endif
-
-#ifdef CURL_FORMAT_OFF_T
-#error "CURL_FORMAT_OFF_T shall not be defined except in curlbuild.h"
-   Error Compilation_aborted_CURL_FORMAT_OFF_T_already_defined
-#endif
-
-#ifdef CURL_SIZEOF_CURL_OFF_T
-#error "CURL_SIZEOF_CURL_OFF_T shall not be defined except in curlbuild.h"
-   Error Compilation_aborted_CURL_SIZEOF_CURL_OFF_T_already_defined
-#endif
-
-#ifdef CURL_SUFFIX_CURL_OFF_T
-#error "CURL_SUFFIX_CURL_OFF_T shall not be defined except in curlbuild.h"
-   Error Compilation_aborted_CURL_SUFFIX_CURL_OFF_T_already_defined
-#endif
-
-#ifdef CURL_SUFFIX_CURL_OFF_TU
-#error "CURL_SUFFIX_CURL_OFF_TU shall not be defined except in curlbuild.h"
-   Error Compilation_aborted_CURL_SUFFIX_CURL_OFF_TU_already_defined
-#endif
-
-/* ================================================================ */
-/*  EXTERNAL INTERFACE SETTINGS FOR CONFIGURE CAPABLE SYSTEMS ONLY  */
-/* ================================================================ */
-
-/* Configure process defines this to 1 when it finds out that system  */
-/* header file ws2tcpip.h must be included by the external interface. */
-#undef CURL_PULL_WS2TCPIP_H
-#ifdef CURL_PULL_WS2TCPIP_H
-#  ifndef WIN32_LEAN_AND_MEAN
-#    define WIN32_LEAN_AND_MEAN
-#  endif
-#  include <windows.h>
-#  include <winsock2.h>
-#  include <ws2tcpip.h>
-#endif
-
-/* Configure process defines this to 1 when it finds out that system   */
-/* header file sys/types.h must be included by the external interface. */
-#undef CURL_PULL_SYS_TYPES_H
-#ifdef CURL_PULL_SYS_TYPES_H
-#  include <sys/types.h>
-#endif
-
-/* Configure process defines this to 1 when it finds out that system */
-/* header file stdint.h must be included by the external interface.  */
-#undef CURL_PULL_STDINT_H
-#ifdef CURL_PULL_STDINT_H
-#  include <stdint.h>
-#endif
-
-/* Configure process defines this to 1 when it finds out that system  */
-/* header file inttypes.h must be included by the external interface. */
-#undef CURL_PULL_INTTYPES_H
-#ifdef CURL_PULL_INTTYPES_H
-#  include <inttypes.h>
-#endif
-
-/* Configure process defines this to 1 when it finds out that system    */
-/* header file sys/socket.h must be included by the external interface. */
-#undef CURL_PULL_SYS_SOCKET_H
-#ifdef CURL_PULL_SYS_SOCKET_H
-#  include <sys/socket.h>
-#endif
-
-/* Configure process defines this to 1 when it finds out that system  */
-/* header file sys/poll.h must be included by the external interface. */
-#undef CURL_PULL_SYS_POLL_H
-#ifdef CURL_PULL_SYS_POLL_H
-#  include <sys/poll.h>
-#endif
-
-/* Integral data type used for curl_socklen_t. */
-#undef CURL_TYPEOF_CURL_SOCKLEN_T
-
-/* The size of `curl_socklen_t', as computed by sizeof. */
-#undef CURL_SIZEOF_CURL_SOCKLEN_T
-
-/* Data type definition of curl_socklen_t. */
-typedef CURL_TYPEOF_CURL_SOCKLEN_T curl_socklen_t;
-
-/* Signed integral data type used for curl_off_t. */
-#undef CURL_TYPEOF_CURL_OFF_T
-
-/* Data type definition of curl_off_t. */
-typedef CURL_TYPEOF_CURL_OFF_T curl_off_t;
-
-/* curl_off_t formatting string directive without "%" conversion specifier. */
-#undef CURL_FORMAT_CURL_OFF_T
-
-/* unsigned curl_off_t formatting string without "%" conversion specifier. */
-#undef CURL_FORMAT_CURL_OFF_TU
-
-/* curl_off_t formatting string directive with "%" conversion specifier. */
-#undef CURL_FORMAT_OFF_T
-
-/* The size of `curl_off_t', as computed by sizeof. */
-#undef CURL_SIZEOF_CURL_OFF_T
-
-/* curl_off_t constant suffix. */
-#undef CURL_SUFFIX_CURL_OFF_T
-
-/* unsigned curl_off_t constant suffix. */
-#undef CURL_SUFFIX_CURL_OFF_TU
-
-#endif /* __CURL_CURLBUILD_H */
diff --git a/third_party/curl/include/curl/curlrules.h b/third_party/curl/include/curl/curlrules.h
deleted file mode 100644
index 1163e95f48..0000000000
--- a/third_party/curl/include/curl/curlrules.h
+++ /dev/null
@@ -1,248 +0,0 @@
-#ifndef __CURL_CURLRULES_H
-#define __CURL_CURLRULES_H
-/***************************************************************************
- *                                  _   _ ____  _
- *  Project                     ___| | | |  _ \| |
- *                             / __| | | | |_) | |
- *                            | (__| |_| |  _ <| |___
- *                             \___|\___/|_| \_\_____|
- *
- * Copyright (C) 1998 - 2012, Daniel Stenberg, <daniel@haxx.se>, et al.
- *
- * This software is licensed as described in the file COPYING, which
- * you should have received as part of this distribution. The terms
- * are also available at http://curl.haxx.se/docs/copyright.html.
- *
- * You may opt to use, copy, modify, merge, publish, distribute and/or sell
- * copies of the Software, and permit persons to whom the Software is
- * furnished to do so, under the terms of the COPYING file.
- *
- * This software is distributed on an "AS IS" basis, WITHOUT WARRANTY OF ANY
- * KIND, either express or implied.
- *
- ***************************************************************************/
-
-/* ================================================================ */
-/*                    COMPILE TIME SANITY CHECKS                    */
-/* ================================================================ */
-
-/*
- * NOTE 1:
- * -------
- *
- * All checks done in this file are intentionally placed in a public
- * header file which is pulled by curl/curl.h when an application is
- * being built using an already built libcurl library. Additionally
- * this file is also included and used when building the library.
- *
- * If compilation fails on this file it is certainly sure that the
- * problem is elsewhere. It could be a problem in the curlbuild.h
- * header file, or simply that you are using different compilation
- * settings than those used to build the library.
- *
- * Nothing in this file is intended to be modified or adjusted by the
- * curl library user nor by the curl library builder.
- *
- * Do not deactivate any check, these are done to make sure that the
- * library is properly built and used.
- *
- * You can find further help on the libcurl development mailing list:
- * http://cool.haxx.se/mailman/listinfo/curl-library/
- *
- * NOTE 2
- * ------
- *
- * Some of the following compile time checks are based on the fact
- * that the dimension of a constant array can not be a negative one.
- * In this way if the compile time verification fails, the compilation
- * will fail issuing an error. The error description wording is compiler
- * dependent but it will be quite similar to one of the following:
- *
- *   "negative subscript or subscript is too large"
- *   "array must have at least one element"
- *   "-1 is an illegal array size"
- *   "size of array is negative"
- *
- * If you are building an application which tries to use an already
- * built libcurl library and you are getting this kind of errors on
- * this file, it is a clear indication that there is a mismatch between
- * how the library was built and how you are trying to use it for your
- * application. Your already compiled or binary library provider is the
- * only one who can give you the details you need to properly use it.
- */
-
-/*
- * Verify that some macros are actually defined.
- */
-
-#ifndef CURL_TYPEOF_CURL_SOCKLEN_T
-#  error "CURL_TYPEOF_CURL_SOCKLEN_T definition is missing!"
-   Error Compilation_aborted_CURL_TYPEOF_CURL_SOCKLEN_T_is_missing
-#endif
-
-#ifndef CURL_SIZEOF_CURL_SOCKLEN_T
-#  error "CURL_SIZEOF_CURL_SOCKLEN_T definition is missing!"
-   Error Compilation_aborted_CURL_SIZEOF_CURL_SOCKLEN_T_is_missing
-#endif
-
-#ifndef CURL_TYPEOF_CURL_OFF_T
-#  error "CURL_TYPEOF_CURL_OFF_T definition is missing!"
-   Error Compilation_aborted_CURL_TYPEOF_CURL_OFF_T_is_missing
-#endif
-
-#ifndef CURL_FORMAT_CURL_OFF_T
-#  error "CURL_FORMAT_CURL_OFF_T definition is missing!"
-   Error Compilation_aborted_CURL_FORMAT_CURL_OFF_T_is_missing
-#endif
-
-#ifndef CURL_FORMAT_CURL_OFF_TU
-#  error "CURL_FORMAT_CURL_OFF_TU definition is missing!"
-   Error Compilation_aborted_CURL_FORMAT_CURL_OFF_TU_is_missing
-#endif
-
-#ifndef CURL_FORMAT_OFF_T
-#  error "CURL_FORMAT_OFF_T definition is missing!"
-   Error Compilation_aborted_CURL_FORMAT_OFF_T_is_missing
-#endif
-
-#ifndef CURL_SIZEOF_CURL_OFF_T
-#  error "CURL_SIZEOF_CURL_OFF_T definition is missing!"
-   Error Compilation_aborted_CURL_SIZEOF_CURL_OFF_T_is_missing
-#endif
-
-#ifndef CURL_SUFFIX_CURL_OFF_T
-#  error "CURL_SUFFIX_CURL_OFF_T definition is missing!"
-   Error Compilation_aborted_CURL_SUFFIX_CURL_OFF_T_is_missing
-#endif
-
-#ifndef CURL_SUFFIX_CURL_OFF_TU
-#  error "CURL_SUFFIX_CURL_OFF_TU definition is missing!"
-   Error Compilation_aborted_CURL_SUFFIX_CURL_OFF_TU_is_missing
-#endif
-
-/*
- * Macros private to this header file.
- */
-
-#define CurlchkszEQ(t, s) sizeof(t) == s ? 1 : -1
-
-#define CurlchkszGE(t1, t2) sizeof(t1) >= sizeof(t2) ? 1 : -1
-
-/*
- * Verify that the size previously defined and expected for
- * curl_off_t is actually the the same as the one reported
- * by sizeof() at compile time.
- */
-
-typedef char
-  __curl_rule_02__
-    [CurlchkszEQ(curl_off_t, CURL_SIZEOF_CURL_OFF_T)];
-
-/*
- * Verify at compile time that the size of curl_off_t as reported
- * by sizeof() is greater or equal than the one reported for long
- * for the current compilation.
- */
-
-typedef char
-  __curl_rule_03__
-    [CurlchkszGE(curl_off_t, long)];
-
-/*
- * Verify that the size previously defined and expected for
- * curl_socklen_t is actually the the same as the one reported
- * by sizeof() at compile time.
- */
-
-typedef char
-  __curl_rule_04__
-    [CurlchkszEQ(curl_socklen_t, CURL_SIZEOF_CURL_SOCKLEN_T)];
-
-/*
- * Verify at compile time that the size of curl_socklen_t as reported
- * by sizeof() is greater or equal than the one reported for int for
- * the current compilation.
- */
-
-typedef char
-  __curl_rule_05__
-    [CurlchkszGE(curl_socklen_t, int)];
-
-/* ================================================================ */
-/*          EXTERNALLY AND INTERNALLY VISIBLE DEFINITIONS           */
-/* ================================================================ */
-
-/*
- * CURL_ISOCPP and CURL_OFF_T_C definitions are done here in order to allow
- * these to be visible and exported by the external libcurl interface API,
- * while also making them visible to the library internals, simply including
- * curl_setup.h, without actually needing to include curl.h internally.
- * If some day this section would grow big enough, all this should be moved
- * to its own header file.
- */
-
-/*
- * Figure out if we can use the ## preprocessor operator, which is supported
- * by ISO/ANSI C and C++. Some compilers support it without setting __STDC__
- * or  __cplusplus so we need to carefully check for them too.
- */
-
-#if defined(__STDC__) || defined(_MSC_VER) || defined(__cplusplus) || \
-  defined(__HP_aCC) || defined(__BORLANDC__) || defined(__LCC__) || \
-  defined(__POCC__) || defined(__SALFORDC__) || defined(__HIGHC__) || \
-  defined(__ILEC400__)
-  /* This compiler is believed to have an ISO compatible preprocessor */
-#define CURL_ISOCPP
-#else
-  /* This compiler is believed NOT to have an ISO compatible preprocessor */
-#undef CURL_ISOCPP
-#endif
-
-/*
- * Macros for minimum-width signed and unsigned curl_off_t integer constants.
- */
-
-#if defined(__BORLANDC__) && (__BORLANDC__ == 0x0551)
-#  define __CURL_OFF_T_C_HLPR2(x) x
-#  define __CURL_OFF_T_C_HLPR1(x) __CURL_OFF_T_C_HLPR2(x)
-#  define CURL_OFF_T_C(Val)  __CURL_OFF_T_C_HLPR1(Val) ## \
-                             __CURL_OFF_T_C_HLPR1(CURL_SUFFIX_CURL_OFF_T)
-#  define CURL_OFF_TU_C(Val) __CURL_OFF_T_C_HLPR1(Val) ## \
-                             __CURL_OFF_T_C_HLPR1(CURL_SUFFIX_CURL_OFF_TU)
-#else
-#  ifdef CURL_ISOCPP
-#    define __CURL_OFF_T_C_HLPR2(Val,Suffix) Val ## Suffix
-#  else
-#    define __CURL_OFF_T_C_HLPR2(Val,Suffix) Val/**/Suffix
-#  endif
-#  define __CURL_OFF_T_C_HLPR1(Val,Suffix) __CURL_OFF_T_C_HLPR2(Val,Suffix)
-#  define CURL_OFF_T_C(Val)  __CURL_OFF_T_C_HLPR1(Val,CURL_SUFFIX_CURL_OFF_T)
-#  define CURL_OFF_TU_C(Val) __CURL_OFF_T_C_HLPR1(Val,CURL_SUFFIX_CURL_OFF_TU)
-#endif
-
-/*
- * Get rid of macros private to this header file.
- */
-
-#undef CurlchkszEQ
-#undef CurlchkszGE
-
-/*
- * Get rid of macros not intended to exist beyond this point.
- */
-
-#undef CURL_PULL_WS2TCPIP_H
-#undef CURL_PULL_SYS_TYPES_H
-#undef CURL_PULL_SYS_SOCKET_H
-#undef CURL_PULL_SYS_POLL_H
-#undef CURL_PULL_STDINT_H
-#undef CURL_PULL_INTTYPES_H
-
-#undef CURL_TYPEOF_CURL_SOCKLEN_T
-#undef CURL_TYPEOF_CURL_OFF_T
-
-#ifdef CURL_NO_OLDIES
-#undef CURL_FORMAT_OFF_T /* not required since 7.19.0 - obsoleted in 7.20.0 */
-#endif
-
-#endif /* __CURL_CURLRULES_H */
diff --git a/third_party/curl/include/curl/curlver.h b/third_party/curl/include/curl/curlver.h
deleted file mode 100644
index be442eff8f..0000000000
--- a/third_party/curl/include/curl/curlver.h
+++ /dev/null
@@ -1,77 +0,0 @@
-#ifndef __CURL_CURLVER_H
-#define __CURL_CURLVER_H
-/***************************************************************************
- *                                  _   _ ____  _
- *  Project                     ___| | | |  _ \| |
- *                             / __| | | | |_) | |
- *                            | (__| |_| |  _ <| |___
- *                             \___|\___/|_| \_\_____|
- *
- * Copyright (C) 1998 - 2015, Daniel Stenberg, <daniel@haxx.se>, et al.
- *
- * This software is licensed as described in the file COPYING, which
- * you should have received as part of this distribution. The terms
- * are also available at http://curl.haxx.se/docs/copyright.html.
- *
- * You may opt to use, copy, modify, merge, publish, distribute and/or sell
- * copies of the Software, and permit persons to whom the Software is
- * furnished to do so, under the terms of the COPYING file.
- *
- * This software is distributed on an "AS IS" basis, WITHOUT WARRANTY OF ANY
- * KIND, either express or implied.
- *
- ***************************************************************************/
-
-/* This header file contains nothing but libcurl version info, generated by
-   a script at release-time. This was made its own header file in 7.11.2 */
-
-/* This is the global package copyright */
-#define LIBCURL_COPYRIGHT "1996 - 2015 Daniel Stenberg, <daniel@haxx.se>."
-
-/* This is the version number of the libcurl package from which this header
-   file origins: */
-#define LIBCURL_VERSION "7.43.0-DEV"
-
-/* The numeric version number is also available "in parts" by using these
-   defines: */
-#define LIBCURL_VERSION_MAJOR 7
-#define LIBCURL_VERSION_MINOR 43
-#define LIBCURL_VERSION_PATCH 0
-
-/* This is the numeric version of the libcurl version number, meant for easier
-   parsing and comparions by programs. The LIBCURL_VERSION_NUM define will
-   always follow this syntax:
-
-         0xXXYYZZ
-
-   Where XX, YY and ZZ are the main version, release and patch numbers in
-   hexadecimal (using 8 bits each). All three numbers are always represented
-   using two digits.  1.2 would appear as "0x010200" while version 9.11.7
-   appears as "0x090b07".
-
-   This 6-digit (24 bits) hexadecimal number does not show pre-release number,
-   and it is always a greater number in a more recent release. It makes
-   comparisons with greater than and less than work.
-
-   Note: This define is the full hex number and _does not_ use the
-   CURL_VERSION_BITS() macro since curl's own configure script greps for it
-   and needs it to contain the full number.
-*/
-#define LIBCURL_VERSION_NUM 0x072B00
-
-/*
- * This is the date and time when the full source package was created. The
- * timestamp is not stored in git, as the timestamp is properly set in the
- * tarballs by the maketgz script.
- *
- * The format of the date should follow this template:
- *
- * "Mon Feb 12 11:35:33 UTC 2007"
- */
-#define LIBCURL_TIMESTAMP "DEV"
-
-#define CURL_VERSION_BITS(x,y,z) ((x)<<16|(y)<<8|z)
-#define CURL_AT_LEAST_VERSION(x,y,z) \
-  (LIBCURL_VERSION_NUM >= CURL_VERSION_BITS(x, y, z))
-
-#endif /* __CURL_CURLVER_H */
diff --git a/third_party/curl/include/curl/easy.h b/third_party/curl/include/curl/easy.h
deleted file mode 100644
index c1e3e76096..0000000000
--- a/third_party/curl/include/curl/easy.h
+++ /dev/null
@@ -1,102 +0,0 @@
-#ifndef __CURL_EASY_H
-#define __CURL_EASY_H
-/***************************************************************************
- *                                  _   _ ____  _
- *  Project                     ___| | | |  _ \| |
- *                             / __| | | | |_) | |
- *                            | (__| |_| |  _ <| |___
- *                             \___|\___/|_| \_\_____|
- *
- * Copyright (C) 1998 - 2008, Daniel Stenberg, <daniel@haxx.se>, et al.
- *
- * This software is licensed as described in the file COPYING, which
- * you should have received as part of this distribution. The terms
- * are also available at http://curl.haxx.se/docs/copyright.html.
- *
- * You may opt to use, copy, modify, merge, publish, distribute and/or sell
- * copies of the Software, and permit persons to whom the Software is
- * furnished to do so, under the terms of the COPYING file.
- *
- * This software is distributed on an "AS IS" basis, WITHOUT WARRANTY OF ANY
- * KIND, either express or implied.
- *
- ***************************************************************************/
-#ifdef  __cplusplus
-extern "C" {
-#endif
-
-CURL_EXTERN CURL *curl_easy_init(void);
-CURL_EXTERN CURLcode curl_easy_setopt(CURL *curl, CURLoption option, ...);
-CURL_EXTERN CURLcode curl_easy_perform(CURL *curl);
-CURL_EXTERN void curl_easy_cleanup(CURL *curl);
-
-/*
- * NAME curl_easy_getinfo()
- *
- * DESCRIPTION
- *
- * Request internal information from the curl session with this function.  The
- * third argument MUST be a pointer to a long, a pointer to a char * or a
- * pointer to a double (as the documentation describes elsewhere).  The data
- * pointed to will be filled in accordingly and can be relied upon only if the
- * function returns CURLE_OK.  This function is intended to get used *AFTER* a
- * performed transfer, all results from this function are undefined until the
- * transfer is completed.
- */
-CURL_EXTERN CURLcode curl_easy_getinfo(CURL *curl, CURLINFO info, ...);
-
-
-/*
- * NAME curl_easy_duphandle()
- *
- * DESCRIPTION
- *
- * Creates a new curl session handle with the same options set for the handle
- * passed in. Duplicating a handle could only be a matter of cloning data and
- * options, internal state info and things like persistent connections cannot
- * be transferred. It is useful in multithreaded applications when you can run
- * curl_easy_duphandle() for each new thread to avoid a series of identical
- * curl_easy_setopt() invokes in every thread.
- */
-CURL_EXTERN CURL* curl_easy_duphandle(CURL *curl);
-
-/*
- * NAME curl_easy_reset()
- *
- * DESCRIPTION
- *
- * Re-initializes a CURL handle to the default values. This puts back the
- * handle to the same state as it was in when it was just created.
- *
- * It does keep: live connections, the Session ID cache, the DNS cache and the
- * cookies.
- */
-CURL_EXTERN void curl_easy_reset(CURL *curl);
-
-/*
- * NAME curl_easy_recv()
- *
- * DESCRIPTION
- *
- * Receives data from the connected socket. Use after successful
- * curl_easy_perform() with CURLOPT_CONNECT_ONLY option.
- */
-CURL_EXTERN CURLcode curl_easy_recv(CURL *curl, void *buffer, size_t buflen,
-                                    size_t *n);
-
-/*
- * NAME curl_easy_send()
- *
- * DESCRIPTION
- *
- * Sends data over the connected socket. Use after successful
- * curl_easy_perform() with CURLOPT_CONNECT_ONLY option.
- */
-CURL_EXTERN CURLcode curl_easy_send(CURL *curl, const void *buffer,
-                                    size_t buflen, size_t *n);
-
-#ifdef  __cplusplus
-}
-#endif
-
-#endif
diff --git a/third_party/curl/include/curl/mprintf.h b/third_party/curl/include/curl/mprintf.h
deleted file mode 100644
index c6b0d7679a..0000000000
--- a/third_party/curl/include/curl/mprintf.h
+++ /dev/null
@@ -1,74 +0,0 @@
-#ifndef __CURL_MPRINTF_H
-#define __CURL_MPRINTF_H
-/***************************************************************************
- *                                  _   _ ____  _
- *  Project                     ___| | | |  _ \| |
- *                             / __| | | | |_) | |
- *                            | (__| |_| |  _ <| |___
- *                             \___|\___/|_| \_\_____|
- *
- * Copyright (C) 1998 - 2015, Daniel Stenberg, <daniel@haxx.se>, et al.
- *
- * This software is licensed as described in the file COPYING, which
- * you should have received as part of this distribution. The terms
- * are also available at http://curl.haxx.se/docs/copyright.html.
- *
- * You may opt to use, copy, modify, merge, publish, distribute and/or sell
- * copies of the Software, and permit persons to whom the Software is
- * furnished to do so, under the terms of the COPYING file.
- *
- * This software is distributed on an "AS IS" basis, WITHOUT WARRANTY OF ANY
- * KIND, either express or implied.
- *
- ***************************************************************************/
-
-#include <stdarg.h>
-#include <stdio.h> /* needed for FILE */
-
-#include "curl.h"
-
-#ifdef  __cplusplus
-extern "C" {
-#endif
-
-CURL_EXTERN int curl_mprintf(const char *format, ...);
-CURL_EXTERN int curl_mfprintf(FILE *fd, const char *format, ...);
-CURL_EXTERN int curl_msprintf(char *buffer, const char *format, ...);
-CURL_EXTERN int curl_msnprintf(char *buffer, size_t maxlength,
-                               const char *format, ...);
-CURL_EXTERN int curl_mvprintf(const char *format, va_list args);
-CURL_EXTERN int curl_mvfprintf(FILE *fd, const char *format, va_list args);
-CURL_EXTERN int curl_mvsprintf(char *buffer, const char *format, va_list args);
-CURL_EXTERN int curl_mvsnprintf(char *buffer, size_t maxlength,
-                                const char *format, va_list args);
-CURL_EXTERN char *curl_maprintf(const char *format, ...);
-CURL_EXTERN char *curl_mvaprintf(const char *format, va_list args);
-
-#ifdef _MPRINTF_REPLACE
-# undef printf
-# undef fprintf
-# undef sprintf
-# undef vsprintf
-# undef snprintf
-# undef vprintf
-# undef vfprintf
-# undef vsnprintf
-# undef aprintf
-# undef vaprintf
-# define printf curl_mprintf
-# define fprintf curl_mfprintf
-# define sprintf curl_msprintf
-# define vsprintf curl_mvsprintf
-# define snprintf curl_msnprintf
-# define vprintf curl_mvprintf
-# define vfprintf curl_mvfprintf
-# define vsnprintf curl_mvsnprintf
-# define aprintf curl_maprintf
-# define vaprintf curl_mvaprintf
-#endif
-
-#ifdef  __cplusplus
-}
-#endif
-
-#endif /* __CURL_MPRINTF_H */
diff --git a/third_party/curl/include/curl/multi.h b/third_party/curl/include/curl/multi.h
deleted file mode 100644
index 0d859f8fd9..0000000000
--- a/third_party/curl/include/curl/multi.h
+++ /dev/null
@@ -1,404 +0,0 @@
-#ifndef __CURL_MULTI_H
-#define __CURL_MULTI_H
-/***************************************************************************
- *                                  _   _ ____  _
- *  Project                     ___| | | |  _ \| |
- *                             / __| | | | |_) | |
- *                            | (__| |_| |  _ <| |___
- *                             \___|\___/|_| \_\_____|
- *
- * Copyright (C) 1998 - 2015, Daniel Stenberg, <daniel@haxx.se>, et al.
- *
- * This software is licensed as described in the file COPYING, which
- * you should have received as part of this distribution. The terms
- * are also available at http://curl.haxx.se/docs/copyright.html.
- *
- * You may opt to use, copy, modify, merge, publish, distribute and/or sell
- * copies of the Software, and permit persons to whom the Software is
- * furnished to do so, under the terms of the COPYING file.
- *
- * This software is distributed on an "AS IS" basis, WITHOUT WARRANTY OF ANY
- * KIND, either express or implied.
- *
- ***************************************************************************/
-/*
-  This is an "external" header file. Don't give away any internals here!
-
-  GOALS
-
-  o Enable a "pull" interface. The application that uses libcurl decides where
-    and when to ask libcurl to get/send data.
-
-  o Enable multiple simultaneous transfers in the same thread without making it
-    complicated for the application.
-
-  o Enable the application to select() on its own file descriptors and curl's
-    file descriptors simultaneous easily.
-
-*/
-
-/*
- * This header file should not really need to include "curl.h" since curl.h
- * itself includes this file and we expect user applications to do #include
- * <curl/curl.h> without the need for especially including multi.h.
- *
- * For some reason we added this include here at one point, and rather than to
- * break existing (wrongly written) libcurl applications, we leave it as-is
- * but with this warning attached.
- */
-#include "curl.h"
-
-#ifdef  __cplusplus
-extern "C" {
-#endif
-
-typedef void CURLM;
-
-typedef enum {
-  CURLM_CALL_MULTI_PERFORM = -1, /* please call curl_multi_perform() or
-                                    curl_multi_socket*() soon */
-  CURLM_OK,
-  CURLM_BAD_HANDLE,      /* the passed-in handle is not a valid CURLM handle */
-  CURLM_BAD_EASY_HANDLE, /* an easy handle was not good/valid */
-  CURLM_OUT_OF_MEMORY,   /* if you ever get this, you're in deep sh*t */
-  CURLM_INTERNAL_ERROR,  /* this is a libcurl bug */
-  CURLM_BAD_SOCKET,      /* the passed in socket argument did not match */
-  CURLM_UNKNOWN_OPTION,  /* curl_multi_setopt() with unsupported option */
-  CURLM_ADDED_ALREADY,   /* an easy handle already added to a multi handle was
-                            attempted to get added - again */
-  CURLM_LAST
-} CURLMcode;
-
-/* just to make code nicer when using curl_multi_socket() you can now check
-   for CURLM_CALL_MULTI_SOCKET too in the same style it works for
-   curl_multi_perform() and CURLM_CALL_MULTI_PERFORM */
-#define CURLM_CALL_MULTI_SOCKET CURLM_CALL_MULTI_PERFORM
-
-/* bitmask bits for CURLMOPT_PIPELINING */
-#define CURLPIPE_NOTHING   0L
-#define CURLPIPE_HTTP1     1L
-#define CURLPIPE_MULTIPLEX 2L
-
-typedef enum {
-  CURLMSG_NONE, /* first, not used */
-  CURLMSG_DONE, /* This easy handle has completed. 'result' contains
-                   the CURLcode of the transfer */
-  CURLMSG_LAST /* last, not used */
-} CURLMSG;
-
-struct CURLMsg {
-  CURLMSG msg;       /* what this message means */
-  CURL *easy_handle; /* the handle it concerns */
-  union {
-    void *whatever;    /* message-specific data */
-    CURLcode result;   /* return code for transfer */
-  } data;
-};
-typedef struct CURLMsg CURLMsg;
-
-/* Based on poll(2) structure and values.
- * We don't use pollfd and POLL* constants explicitly
- * to cover platforms without poll(). */
-#define CURL_WAIT_POLLIN    0x0001
-#define CURL_WAIT_POLLPRI   0x0002
-#define CURL_WAIT_POLLOUT   0x0004
-
-struct curl_waitfd {
-  curl_socket_t fd;
-  short events;
-  short revents; /* not supported yet */
-};
-
-/*
- * Name:    curl_multi_init()
- *
- * Desc:    inititalize multi-style curl usage
- *
- * Returns: a new CURLM handle to use in all 'curl_multi' functions.
- */
-CURL_EXTERN CURLM *curl_multi_init(void);
-
-/*
- * Name:    curl_multi_add_handle()
- *
- * Desc:    add a standard curl handle to the multi stack
- *
- * Returns: CURLMcode type, general multi error code.
- */
-CURL_EXTERN CURLMcode curl_multi_add_handle(CURLM *multi_handle,
-                                            CURL *curl_handle);
-
- /*
-  * Name:    curl_multi_remove_handle()
-  *
-  * Desc:    removes a curl handle from the multi stack again
-  *
-  * Returns: CURLMcode type, general multi error code.
-  */
-CURL_EXTERN CURLMcode curl_multi_remove_handle(CURLM *multi_handle,
-                                               CURL *curl_handle);
-
- /*
-  * Name:    curl_multi_fdset()
-  *
-  * Desc:    Ask curl for its fd_set sets. The app can use these to select() or
-  *          poll() on. We want curl_multi_perform() called as soon as one of
-  *          them are ready.
-  *
-  * Returns: CURLMcode type, general multi error code.
-  */
-CURL_EXTERN CURLMcode curl_multi_fdset(CURLM *multi_handle,
-                                       fd_set *read_fd_set,
-                                       fd_set *write_fd_set,
-                                       fd_set *exc_fd_set,
-                                       int *max_fd);
-
-/*
- * Name:     curl_multi_wait()
- *
- * Desc:     Poll on all fds within a CURLM set as well as any
- *           additional fds passed to the function.
- *
- * Returns:  CURLMcode type, general multi error code.
- */
-CURL_EXTERN CURLMcode curl_multi_wait(CURLM *multi_handle,
-                                      struct curl_waitfd extra_fds[],
-                                      unsigned int extra_nfds,
-                                      int timeout_ms,
-                                      int *ret);
-
- /*
-  * Name:    curl_multi_perform()
-  *
-  * Desc:    When the app thinks there's data available for curl it calls this
-  *          function to read/write whatever there is right now. This returns
-  *          as soon as the reads and writes are done. This function does not
-  *          require that there actually is data available for reading or that
-  *          data can be written, it can be called just in case. It returns
-  *          the number of handles that still transfer data in the second
-  *          argument's integer-pointer.
-  *
-  * Returns: CURLMcode type, general multi error code. *NOTE* that this only
-  *          returns errors etc regarding the whole multi stack. There might
-  *          still have occurred problems on invidual transfers even when this
-  *          returns OK.
-  */
-CURL_EXTERN CURLMcode curl_multi_perform(CURLM *multi_handle,
-                                         int *running_handles);
-
- /*
-  * Name:    curl_multi_cleanup()
-  *
-  * Desc:    Cleans up and removes a whole multi stack. It does not free or
-  *          touch any individual easy handles in any way. We need to define
-  *          in what state those handles will be if this function is called
-  *          in the middle of a transfer.
-  *
-  * Returns: CURLMcode type, general multi error code.
-  */
-CURL_EXTERN CURLMcode curl_multi_cleanup(CURLM *multi_handle);
-
-/*
- * Name:    curl_multi_info_read()
- *
- * Desc:    Ask the multi handle if there's any messages/informationals from
- *          the individual transfers. Messages include informationals such as
- *          error code from the transfer or just the fact that a transfer is
- *          completed. More details on these should be written down as well.
- *
- *          Repeated calls to this function will return a new struct each
- *          time, until a special "end of msgs" struct is returned as a signal
- *          that there is no more to get at this point.
- *
- *          The data the returned pointer points to will not survive calling
- *          curl_multi_cleanup().
- *
- *          The 'CURLMsg' struct is meant to be very simple and only contain
- *          very basic informations. If more involved information is wanted,
- *          we will provide the particular "transfer handle" in that struct
- *          and that should/could/would be used in subsequent
- *          curl_easy_getinfo() calls (or similar). The point being that we
- *          must never expose complex structs to applications, as then we'll
- *          undoubtably get backwards compatibility problems in the future.
- *
- * Returns: A pointer to a filled-in struct, or NULL if it failed or ran out
- *          of structs. It also writes the number of messages left in the
- *          queue (after this read) in the integer the second argument points
- *          to.
- */
-CURL_EXTERN CURLMsg *curl_multi_info_read(CURLM *multi_handle,
-                                          int *msgs_in_queue);
-
-/*
- * Name:    curl_multi_strerror()
- *
- * Desc:    The curl_multi_strerror function may be used to turn a CURLMcode
- *          value into the equivalent human readable error string.  This is
- *          useful for printing meaningful error messages.
- *
- * Returns: A pointer to a zero-terminated error message.
- */
-CURL_EXTERN const char *curl_multi_strerror(CURLMcode);
-
-/*
- * Name:    curl_multi_socket() and
- *          curl_multi_socket_all()
- *
- * Desc:    An alternative version of curl_multi_perform() that allows the
- *          application to pass in one of the file descriptors that have been
- *          detected to have "action" on them and let libcurl perform.
- *          See man page for details.
- */
-#define CURL_POLL_NONE   0
-#define CURL_POLL_IN     1
-#define CURL_POLL_OUT    2
-#define CURL_POLL_INOUT  3
-#define CURL_POLL_REMOVE 4
-
-#define CURL_SOCKET_TIMEOUT CURL_SOCKET_BAD
-
-#define CURL_CSELECT_IN   0x01
-#define CURL_CSELECT_OUT  0x02
-#define CURL_CSELECT_ERR  0x04
-
-typedef int (*curl_socket_callback)(CURL *easy,      /* easy handle */
-                                    curl_socket_t s, /* socket */
-                                    int what,        /* see above */
-                                    void *userp,     /* private callback
-                                                        pointer */
-                                    void *socketp);  /* private socket
-                                                        pointer */
-/*
- * Name:    curl_multi_timer_callback
- *
- * Desc:    Called by libcurl whenever the library detects a change in the
- *          maximum number of milliseconds the app is allowed to wait before
- *          curl_multi_socket() or curl_multi_perform() must be called
- *          (to allow libcurl's timed events to take place).
- *
- * Returns: The callback should return zero.
- */
-typedef int (*curl_multi_timer_callback)(CURLM *multi,    /* multi handle */
-                                         long timeout_ms, /* see above */
-                                         void *userp);    /* private callback
-                                                             pointer */
-
-CURL_EXTERN CURLMcode curl_multi_socket(CURLM *multi_handle, curl_socket_t s,
-                                        int *running_handles);
-
-CURL_EXTERN CURLMcode curl_multi_socket_action(CURLM *multi_handle,
-                                               curl_socket_t s,
-                                               int ev_bitmask,
-                                               int *running_handles);
-
-CURL_EXTERN CURLMcode curl_multi_socket_all(CURLM *multi_handle,
-                                            int *running_handles);
-
-#ifndef CURL_ALLOW_OLD_MULTI_SOCKET
-/* This macro below was added in 7.16.3 to push users who recompile to use
-   the new curl_multi_socket_action() instead of the old curl_multi_socket()
-*/
-#define curl_multi_socket(x,y,z) curl_multi_socket_action(x,y,0,z)
-#endif
-
-/*
- * Name:    curl_multi_timeout()
- *
- * Desc:    Returns the maximum number of milliseconds the app is allowed to
- *          wait before curl_multi_socket() or curl_multi_perform() must be
- *          called (to allow libcurl's timed events to take place).
- *
- * Returns: CURLM error code.
- */
-CURL_EXTERN CURLMcode curl_multi_timeout(CURLM *multi_handle,
-                                         long *milliseconds);
-
-#undef CINIT /* re-using the same name as in curl.h */
-
-#ifdef CURL_ISOCPP
-#define CINIT(name,type,num) CURLMOPT_ ## name = CURLOPTTYPE_ ## type + num
-#else
-/* The macro "##" is ISO C, we assume pre-ISO C doesn't support it. */
-#define LONG          CURLOPTTYPE_LONG
-#define OBJECTPOINT   CURLOPTTYPE_OBJECTPOINT
-#define FUNCTIONPOINT CURLOPTTYPE_FUNCTIONPOINT
-#define OFF_T         CURLOPTTYPE_OFF_T
-#define CINIT(name,type,number) CURLMOPT_/**/name = type + number
-#endif
-
-typedef enum {
-  /* This is the socket callback function pointer */
-  CINIT(SOCKETFUNCTION, FUNCTIONPOINT, 1),
-
-  /* This is the argument passed to the socket callback */
-  CINIT(SOCKETDATA, OBJECTPOINT, 2),
-
-    /* set to 1 to enable pipelining for this multi handle */
-  CINIT(PIPELINING, LONG, 3),
-
-   /* This is the timer callback function pointer */
-  CINIT(TIMERFUNCTION, FUNCTIONPOINT, 4),
-
-  /* This is the argument passed to the timer callback */
-  CINIT(TIMERDATA, OBJECTPOINT, 5),
-
-  /* maximum number of entries in the connection cache */
-  CINIT(MAXCONNECTS, LONG, 6),
-
-  /* maximum number of (pipelining) connections to one host */
-  CINIT(MAX_HOST_CONNECTIONS, LONG, 7),
-
-  /* maximum number of requests in a pipeline */
-  CINIT(MAX_PIPELINE_LENGTH, LONG, 8),
-
-  /* a connection with a content-length longer than this
-     will not be considered for pipelining */
-  CINIT(CONTENT_LENGTH_PENALTY_SIZE, OFF_T, 9),
-
-  /* a connection with a chunk length longer than this
-     will not be considered for pipelining */
-  CINIT(CHUNK_LENGTH_PENALTY_SIZE, OFF_T, 10),
-
-  /* a list of site names(+port) that are blacklisted from
-     pipelining */
-  CINIT(PIPELINING_SITE_BL, OBJECTPOINT, 11),
-
-  /* a list of server types that are blacklisted from
-     pipelining */
-  CINIT(PIPELINING_SERVER_BL, OBJECTPOINT, 12),
-
-  /* maximum number of open connections in total */
-  CINIT(MAX_TOTAL_CONNECTIONS, LONG, 13),
-
-  CURLMOPT_LASTENTRY /* the last unused */
-} CURLMoption;
-
-
-/*
- * Name:    curl_multi_setopt()
- *
- * Desc:    Sets options for the multi handle.
- *
- * Returns: CURLM error code.
- */
-CURL_EXTERN CURLMcode curl_multi_setopt(CURLM *multi_handle,
-                                        CURLMoption option, ...);
-
-
-/*
- * Name:    curl_multi_assign()
- *
- * Desc:    This function sets an association in the multi handle between the
- *          given socket and a private pointer of the application. This is
- *          (only) useful for curl_multi_socket uses.
- *
- * Returns: CURLM error code.
- */
-CURL_EXTERN CURLMcode curl_multi_assign(CURLM *multi_handle,
-                                        curl_socket_t sockfd, void *sockp);
-
-#ifdef __cplusplus
-} /* end of extern "C" */
-#endif
-
-#endif
diff --git a/third_party/curl/include/curl/stdcheaders.h b/third_party/curl/include/curl/stdcheaders.h
deleted file mode 100644
index ad82ef6335..0000000000
--- a/third_party/curl/include/curl/stdcheaders.h
+++ /dev/null
@@ -1,33 +0,0 @@
-#ifndef __STDC_HEADERS_H
-#define __STDC_HEADERS_H
-/***************************************************************************
- *                                  _   _ ____  _
- *  Project                     ___| | | |  _ \| |
- *                             / __| | | | |_) | |
- *                            | (__| |_| |  _ <| |___
- *                             \___|\___/|_| \_\_____|
- *
- * Copyright (C) 1998 - 2010, Daniel Stenberg, <daniel@haxx.se>, et al.
- *
- * This software is licensed as described in the file COPYING, which
- * you should have received as part of this distribution. The terms
- * are also available at http://curl.haxx.se/docs/copyright.html.
- *
- * You may opt to use, copy, modify, merge, publish, distribute and/or sell
- * copies of the Software, and permit persons to whom the Software is
- * furnished to do so, under the terms of the COPYING file.
- *
- * This software is distributed on an "AS IS" basis, WITHOUT WARRANTY OF ANY
- * KIND, either express or implied.
- *
- ***************************************************************************/
-
-#include <sys/types.h>
-
-size_t fread (void *, size_t, size_t, FILE *);
-size_t fwrite (const void *, size_t, size_t, FILE *);
-
-int strcasecmp(const char *, const char *);
-int strncasecmp(const char *, const char *, size_t);
-
-#endif /* __STDC_HEADERS_H */
diff --git a/third_party/curl/include/curl/typecheck-gcc.h b/third_party/curl/include/curl/typecheck-gcc.h
deleted file mode 100644
index 13fb0fa9ee..0000000000
--- a/third_party/curl/include/curl/typecheck-gcc.h
+++ /dev/null
@@ -1,612 +0,0 @@
-#ifndef __CURL_TYPECHECK_GCC_H
-#define __CURL_TYPECHECK_GCC_H
-/***************************************************************************
- *                                  _   _ ____  _
- *  Project                     ___| | | |  _ \| |
- *                             / __| | | | |_) | |
- *                            | (__| |_| |  _ <| |___
- *                             \___|\___/|_| \_\_____|
- *
- * Copyright (C) 1998 - 2014, Daniel Stenberg, <daniel@haxx.se>, et al.
- *
- * This software is licensed as described in the file COPYING, which
- * you should have received as part of this distribution. The terms
- * are also available at http://curl.haxx.se/docs/copyright.html.
- *
- * You may opt to use, copy, modify, merge, publish, distribute and/or sell
- * copies of the Software, and permit persons to whom the Software is
- * furnished to do so, under the terms of the COPYING file.
- *
- * This software is distributed on an "AS IS" basis, WITHOUT WARRANTY OF ANY
- * KIND, either express or implied.
- *
- ***************************************************************************/
-
-/* wraps curl_easy_setopt() with typechecking */
-
-/* To add a new kind of warning, add an
- *   if(_curl_is_sometype_option(_curl_opt))
- *     if(!_curl_is_sometype(value))
- *       _curl_easy_setopt_err_sometype();
- * block and define _curl_is_sometype_option, _curl_is_sometype and
- * _curl_easy_setopt_err_sometype below
- *
- * NOTE: We use two nested 'if' statements here instead of the && operator, in
- *       order to work around gcc bug #32061.  It affects only gcc 4.3.x/4.4.x
- *       when compiling with -Wlogical-op.
- *
- * To add an option that uses the same type as an existing option, you'll just
- * need to extend the appropriate _curl_*_option macro
- */
-#define curl_easy_setopt(handle, option, value)                               \
-__extension__ ({                                                              \
-  __typeof__ (option) _curl_opt = option;                                     \
-  if(__builtin_constant_p(_curl_opt)) {                                       \
-    if(_curl_is_long_option(_curl_opt))                                       \
-      if(!_curl_is_long(value))                                               \
-        _curl_easy_setopt_err_long();                                         \
-    if(_curl_is_off_t_option(_curl_opt))                                      \
-      if(!_curl_is_off_t(value))                                              \
-        _curl_easy_setopt_err_curl_off_t();                                   \
-    if(_curl_is_string_option(_curl_opt))                                     \
-      if(!_curl_is_string(value))                                             \
-        _curl_easy_setopt_err_string();                                       \
-    if(_curl_is_write_cb_option(_curl_opt))                                   \
-      if(!_curl_is_write_cb(value))                                           \
-        _curl_easy_setopt_err_write_callback();                               \
-    if((_curl_opt) == CURLOPT_READFUNCTION)                                   \
-      if(!_curl_is_read_cb(value))                                            \
-        _curl_easy_setopt_err_read_cb();                                      \
-    if((_curl_opt) == CURLOPT_IOCTLFUNCTION)                                  \
-      if(!_curl_is_ioctl_cb(value))                                           \
-        _curl_easy_setopt_err_ioctl_cb();                                     \
-    if((_curl_opt) == CURLOPT_SOCKOPTFUNCTION)                                \
-      if(!_curl_is_sockopt_cb(value))                                         \
-        _curl_easy_setopt_err_sockopt_cb();                                   \
-    if((_curl_opt) == CURLOPT_OPENSOCKETFUNCTION)                             \
-      if(!_curl_is_opensocket_cb(value))                                      \
-        _curl_easy_setopt_err_opensocket_cb();                                \
-    if((_curl_opt) == CURLOPT_PROGRESSFUNCTION)                               \
-      if(!_curl_is_progress_cb(value))                                        \
-        _curl_easy_setopt_err_progress_cb();                                  \
-    if((_curl_opt) == CURLOPT_DEBUGFUNCTION)                                  \
-      if(!_curl_is_debug_cb(value))                                           \
-        _curl_easy_setopt_err_debug_cb();                                     \
-    if((_curl_opt) == CURLOPT_SSL_CTX_FUNCTION)                               \
-      if(!_curl_is_ssl_ctx_cb(value))                                         \
-        _curl_easy_setopt_err_ssl_ctx_cb();                                   \
-    if(_curl_is_conv_cb_option(_curl_opt))                                    \
-      if(!_curl_is_conv_cb(value))                                            \
-        _curl_easy_setopt_err_conv_cb();                                      \
-    if((_curl_opt) == CURLOPT_SEEKFUNCTION)                                   \
-      if(!_curl_is_seek_cb(value))                                            \
-        _curl_easy_setopt_err_seek_cb();                                      \
-    if(_curl_is_cb_data_option(_curl_opt))                                    \
-      if(!_curl_is_cb_data(value))                                            \
-        _curl_easy_setopt_err_cb_data();                                      \
-    if((_curl_opt) == CURLOPT_ERRORBUFFER)                                    \
-      if(!_curl_is_error_buffer(value))                                       \
-        _curl_easy_setopt_err_error_buffer();                                 \
-    if((_curl_opt) == CURLOPT_STDERR)                                         \
-      if(!_curl_is_FILE(value))                                               \
-        _curl_easy_setopt_err_FILE();                                         \
-    if(_curl_is_postfields_option(_curl_opt))                                 \
-      if(!_curl_is_postfields(value))                                         \
-        _curl_easy_setopt_err_postfields();                                   \
-    if((_curl_opt) == CURLOPT_HTTPPOST)                                       \
-      if(!_curl_is_arr((value), struct curl_httppost))                        \
-        _curl_easy_setopt_err_curl_httpost();                                 \
-    if(_curl_is_slist_option(_curl_opt))                                      \
-      if(!_curl_is_arr((value), struct curl_slist))                           \
-        _curl_easy_setopt_err_curl_slist();                                   \
-    if((_curl_opt) == CURLOPT_SHARE)                                          \
-      if(!_curl_is_ptr((value), CURLSH))                                      \
-        _curl_easy_setopt_err_CURLSH();                                       \
-  }                                                                           \
-  curl_easy_setopt(handle, _curl_opt, value);                                 \
-})
-
-/* wraps curl_easy_getinfo() with typechecking */
-/* FIXME: don't allow const pointers */
-#define curl_easy_getinfo(handle, info, arg)                                  \
-__extension__ ({                                                              \
-  __typeof__ (info) _curl_info = info;                                        \
-  if(__builtin_constant_p(_curl_info)) {                                      \
-    if(_curl_is_string_info(_curl_info))                                      \
-      if(!_curl_is_arr((arg), char *))                                        \
-        _curl_easy_getinfo_err_string();                                      \
-    if(_curl_is_long_info(_curl_info))                                        \
-      if(!_curl_is_arr((arg), long))                                          \
-        _curl_easy_getinfo_err_long();                                        \
-    if(_curl_is_double_info(_curl_info))                                      \
-      if(!_curl_is_arr((arg), double))                                        \
-        _curl_easy_getinfo_err_double();                                      \
-    if(_curl_is_slist_info(_curl_info))                                       \
-      if(!_curl_is_arr((arg), struct curl_slist *))                           \
-        _curl_easy_getinfo_err_curl_slist();                                  \
-  }                                                                           \
-  curl_easy_getinfo(handle, _curl_info, arg);                                 \
-})
-
-/* TODO: typechecking for curl_share_setopt() and curl_multi_setopt(),
- * for now just make sure that the functions are called with three
- * arguments
- */
-#define curl_share_setopt(share,opt,param) curl_share_setopt(share,opt,param)
-#define curl_multi_setopt(handle,opt,param) curl_multi_setopt(handle,opt,param)
-
-
-/* the actual warnings, triggered by calling the _curl_easy_setopt_err*
- * functions */
-
-/* To define a new warning, use _CURL_WARNING(identifier, "message") */
-#define _CURL_WARNING(id, message)                                            \
-  static void __attribute__((__warning__(message)))                           \
-  __attribute__((__unused__)) __attribute__((__noinline__))                   \
-  id(void) { __asm__(""); }
-
-_CURL_WARNING(_curl_easy_setopt_err_long,
-  "curl_easy_setopt expects a long argument for this option")
-_CURL_WARNING(_curl_easy_setopt_err_curl_off_t,
-  "curl_easy_setopt expects a curl_off_t argument for this option")
-_CURL_WARNING(_curl_easy_setopt_err_string,
-              "curl_easy_setopt expects a "
-              "string (char* or char[]) argument for this option"
-  )
-_CURL_WARNING(_curl_easy_setopt_err_write_callback,
-  "curl_easy_setopt expects a curl_write_callback argument for this option")
-_CURL_WARNING(_curl_easy_setopt_err_read_cb,
-  "curl_easy_setopt expects a curl_read_callback argument for this option")
-_CURL_WARNING(_curl_easy_setopt_err_ioctl_cb,
-  "curl_easy_setopt expects a curl_ioctl_callback argument for this option")
-_CURL_WARNING(_curl_easy_setopt_err_sockopt_cb,
-  "curl_easy_setopt expects a curl_sockopt_callback argument for this option")
-_CURL_WARNING(_curl_easy_setopt_err_opensocket_cb,
-              "curl_easy_setopt expects a "
-              "curl_opensocket_callback argument for this option"
-  )
-_CURL_WARNING(_curl_easy_setopt_err_progress_cb,
-  "curl_easy_setopt expects a curl_progress_callback argument for this option")
-_CURL_WARNING(_curl_easy_setopt_err_debug_cb,
-  "curl_easy_setopt expects a curl_debug_callback argument for this option")
-_CURL_WARNING(_curl_easy_setopt_err_ssl_ctx_cb,
-  "curl_easy_setopt expects a curl_ssl_ctx_callback argument for this option")
-_CURL_WARNING(_curl_easy_setopt_err_conv_cb,
-  "curl_easy_setopt expects a curl_conv_callback argument for this option")
-_CURL_WARNING(_curl_easy_setopt_err_seek_cb,
-  "curl_easy_setopt expects a curl_seek_callback argument for this option")
-_CURL_WARNING(_curl_easy_setopt_err_cb_data,
-              "curl_easy_setopt expects a "
-              "private data pointer as argument for this option")
-_CURL_WARNING(_curl_easy_setopt_err_error_buffer,
-              "curl_easy_setopt expects a "
-              "char buffer of CURL_ERROR_SIZE as argument for this option")
-_CURL_WARNING(_curl_easy_setopt_err_FILE,
-  "curl_easy_setopt expects a FILE* argument for this option")
-_CURL_WARNING(_curl_easy_setopt_err_postfields,
-  "curl_easy_setopt expects a void* or char* argument for this option")
-_CURL_WARNING(_curl_easy_setopt_err_curl_httpost,
-  "curl_easy_setopt expects a struct curl_httppost* argument for this option")
-_CURL_WARNING(_curl_easy_setopt_err_curl_slist,
-  "curl_easy_setopt expects a struct curl_slist* argument for this option")
-_CURL_WARNING(_curl_easy_setopt_err_CURLSH,
-  "curl_easy_setopt expects a CURLSH* argument for this option")
-
-_CURL_WARNING(_curl_easy_getinfo_err_string,
-  "curl_easy_getinfo expects a pointer to char * for this info")
-_CURL_WARNING(_curl_easy_getinfo_err_long,
-  "curl_easy_getinfo expects a pointer to long for this info")
-_CURL_WARNING(_curl_easy_getinfo_err_double,
-  "curl_easy_getinfo expects a pointer to double for this info")
-_CURL_WARNING(_curl_easy_getinfo_err_curl_slist,
-  "curl_easy_getinfo expects a pointer to struct curl_slist * for this info")
-
-/* groups of curl_easy_setops options that take the same type of argument */
-
-/* To add a new option to one of the groups, just add
- *   (option) == CURLOPT_SOMETHING
- * to the or-expression. If the option takes a long or curl_off_t, you don't
- * have to do anything
- */
-
-/* evaluates to true if option takes a long argument */
-#define _curl_is_long_option(option)                                          \
-  (0 < (option) && (option) < CURLOPTTYPE_OBJECTPOINT)
-
-#define _curl_is_off_t_option(option)                                         \
-  ((option) > CURLOPTTYPE_OFF_T)
-
-/* evaluates to true if option takes a char* argument */
-#define _curl_is_string_option(option)                                        \
-  ((option) == CURLOPT_URL ||                                                 \
-   (option) == CURLOPT_PROXY ||                                               \
-   (option) == CURLOPT_INTERFACE ||                                           \
-   (option) == CURLOPT_NETRC_FILE ||                                          \
-   (option) == CURLOPT_USERPWD ||                                             \
-   (option) == CURLOPT_USERNAME ||                                            \
-   (option) == CURLOPT_PASSWORD ||                                            \
-   (option) == CURLOPT_PROXYUSERPWD ||                                        \
-   (option) == CURLOPT_PROXYUSERNAME ||                                       \
-   (option) == CURLOPT_PROXYPASSWORD ||                                       \
-   (option) == CURLOPT_NOPROXY ||                                             \
-   (option) == CURLOPT_ACCEPT_ENCODING ||                                     \
-   (option) == CURLOPT_REFERER ||                                             \
-   (option) == CURLOPT_USERAGENT ||                                           \
-   (option) == CURLOPT_COOKIE ||                                              \
-   (option) == CURLOPT_COOKIEFILE ||                                          \
-   (option) == CURLOPT_COOKIEJAR ||                                           \
-   (option) == CURLOPT_COOKIELIST ||                                          \
-   (option) == CURLOPT_FTPPORT ||                                             \
-   (option) == CURLOPT_FTP_ALTERNATIVE_TO_USER ||                             \
-   (option) == CURLOPT_FTP_ACCOUNT ||                                         \
-   (option) == CURLOPT_RANGE ||                                               \
-   (option) == CURLOPT_CUSTOMREQUEST ||                                       \
-   (option) == CURLOPT_SSLCERT ||                                             \
-   (option) == CURLOPT_SSLCERTTYPE ||                                         \
-   (option) == CURLOPT_SSLKEY ||                                              \
-   (option) == CURLOPT_SSLKEYTYPE ||                                          \
-   (option) == CURLOPT_KEYPASSWD ||                                           \
-   (option) == CURLOPT_SSLENGINE ||                                           \
-   (option) == CURLOPT_CAINFO ||                                              \
-   (option) == CURLOPT_CAPATH ||                                              \
-   (option) == CURLOPT_RANDOM_FILE ||                                         \
-   (option) == CURLOPT_EGDSOCKET ||                                           \
-   (option) == CURLOPT_SSL_CIPHER_LIST ||                                     \
-   (option) == CURLOPT_KRBLEVEL ||                                            \
-   (option) == CURLOPT_SSH_HOST_PUBLIC_KEY_MD5 ||                             \
-   (option) == CURLOPT_SSH_PUBLIC_KEYFILE ||                                  \
-   (option) == CURLOPT_SSH_PRIVATE_KEYFILE ||                                 \
-   (option) == CURLOPT_CRLFILE ||                                             \
-   (option) == CURLOPT_ISSUERCERT ||                                          \
-   (option) == CURLOPT_SOCKS5_GSSAPI_SERVICE ||                               \
-   (option) == CURLOPT_SSH_KNOWNHOSTS ||                                      \
-   (option) == CURLOPT_MAIL_FROM ||                                           \
-   (option) == CURLOPT_RTSP_SESSION_ID ||                                     \
-   (option) == CURLOPT_RTSP_STREAM_URI ||                                     \
-   (option) == CURLOPT_RTSP_TRANSPORT ||                                      \
-   (option) == CURLOPT_XOAUTH2_BEARER ||                                      \
-   (option) == CURLOPT_DNS_SERVERS ||                                         \
-   (option) == CURLOPT_DNS_INTERFACE ||                                       \
-   (option) == CURLOPT_DNS_LOCAL_IP4 ||                                       \
-   (option) == CURLOPT_DNS_LOCAL_IP6 ||                                       \
-   (option) == CURLOPT_LOGIN_OPTIONS ||                                       \
-   (option) == CURLOPT_PROXY_SERVICE_NAME ||                                  \
-   (option) == CURLOPT_SERVICE_NAME ||                                        \
-   0)
-
-/* evaluates to true if option takes a curl_write_callback argument */
-#define _curl_is_write_cb_option(option)                                      \
-  ((option) == CURLOPT_HEADERFUNCTION ||                                      \
-   (option) == CURLOPT_WRITEFUNCTION)
-
-/* evaluates to true if option takes a curl_conv_callback argument */
-#define _curl_is_conv_cb_option(option)                                       \
-  ((option) == CURLOPT_CONV_TO_NETWORK_FUNCTION ||                            \
-   (option) == CURLOPT_CONV_FROM_NETWORK_FUNCTION ||                          \
-   (option) == CURLOPT_CONV_FROM_UTF8_FUNCTION)
-
-/* evaluates to true if option takes a data argument to pass to a callback */
-#define _curl_is_cb_data_option(option)                                       \
-  ((option) == CURLOPT_WRITEDATA ||                                           \
-   (option) == CURLOPT_READDATA ||                                            \
-   (option) == CURLOPT_IOCTLDATA ||                                           \
-   (option) == CURLOPT_SOCKOPTDATA ||                                         \
-   (option) == CURLOPT_OPENSOCKETDATA ||                                      \
-   (option) == CURLOPT_PROGRESSDATA ||                                        \
-   (option) == CURLOPT_HEADERDATA ||                                         \
-   (option) == CURLOPT_DEBUGDATA ||                                           \
-   (option) == CURLOPT_SSL_CTX_DATA ||                                        \
-   (option) == CURLOPT_SEEKDATA ||                                            \
-   (option) == CURLOPT_PRIVATE ||                                             \
-   (option) == CURLOPT_SSH_KEYDATA ||                                         \
-   (option) == CURLOPT_INTERLEAVEDATA ||                                      \
-   (option) == CURLOPT_CHUNK_DATA ||                                          \
-   (option) == CURLOPT_FNMATCH_DATA ||                                        \
-   0)
-
-/* evaluates to true if option takes a POST data argument (void* or char*) */
-#define _curl_is_postfields_option(option)                                    \
-  ((option) == CURLOPT_POSTFIELDS ||                                          \
-   (option) == CURLOPT_COPYPOSTFIELDS ||                                      \
-   0)
-
-/* evaluates to true if option takes a struct curl_slist * argument */
-#define _curl_is_slist_option(option)                                         \
-  ((option) == CURLOPT_HTTPHEADER ||                                          \
-   (option) == CURLOPT_HTTP200ALIASES ||                                      \
-   (option) == CURLOPT_QUOTE ||                                               \
-   (option) == CURLOPT_POSTQUOTE ||                                           \
-   (option) == CURLOPT_PREQUOTE ||                                            \
-   (option) == CURLOPT_TELNETOPTIONS ||                                       \
-   (option) == CURLOPT_MAIL_RCPT ||                                           \
-   0)
-
-/* groups of curl_easy_getinfo infos that take the same type of argument */
-
-/* evaluates to true if info expects a pointer to char * argument */
-#define _curl_is_string_info(info)                                            \
-  (CURLINFO_STRING < (info) && (info) < CURLINFO_LONG)
-
-/* evaluates to true if info expects a pointer to long argument */
-#define _curl_is_long_info(info)                                              \
-  (CURLINFO_LONG < (info) && (info) < CURLINFO_DOUBLE)
-
-/* evaluates to true if info expects a pointer to double argument */
-#define _curl_is_double_info(info)                                            \
-  (CURLINFO_DOUBLE < (info) && (info) < CURLINFO_SLIST)
-
-/* true if info expects a pointer to struct curl_slist * argument */
-#define _curl_is_slist_info(info)                                             \
-  (CURLINFO_SLIST < (info))
-
-
-/* typecheck helpers -- check whether given expression has requested type*/
-
-/* For pointers, you can use the _curl_is_ptr/_curl_is_arr macros,
- * otherwise define a new macro. Search for __builtin_types_compatible_p
- * in the GCC manual.
- * NOTE: these macros MUST NOT EVALUATE their arguments! The argument is
- * the actual expression passed to the curl_easy_setopt macro. This
- * means that you can only apply the sizeof and __typeof__ operators, no
- * == or whatsoever.
- */
-
-/* XXX: should evaluate to true iff expr is a pointer */
-#define _curl_is_any_ptr(expr)                                                \
-  (sizeof(expr) == sizeof(void*))
-
-/* evaluates to true if expr is NULL */
-/* XXX: must not evaluate expr, so this check is not accurate */
-#define _curl_is_NULL(expr)                                                   \
-  (__builtin_types_compatible_p(__typeof__(expr), __typeof__(NULL)))
-
-/* evaluates to true if expr is type*, const type* or NULL */
-#define _curl_is_ptr(expr, type)                                              \
-  (_curl_is_NULL(expr) ||                                                     \
-   __builtin_types_compatible_p(__typeof__(expr), type *) ||                  \
-   __builtin_types_compatible_p(__typeof__(expr), const type *))
-
-/* evaluates to true if expr is one of type[], type*, NULL or const type* */
-#define _curl_is_arr(expr, type)                                              \
-  (_curl_is_ptr((expr), type) ||                                              \
-   __builtin_types_compatible_p(__typeof__(expr), type []))
-
-/* evaluates to true if expr is a string */
-#define _curl_is_string(expr)                                                 \
-  (_curl_is_arr((expr), char) ||                                              \
-   _curl_is_arr((expr), signed char) ||                                       \
-   _curl_is_arr((expr), unsigned char))
-
-/* evaluates to true if expr is a long (no matter the signedness)
- * XXX: for now, int is also accepted (and therefore short and char, which
- * are promoted to int when passed to a variadic function) */
-#define _curl_is_long(expr)                                                   \
-  (__builtin_types_compatible_p(__typeof__(expr), long) ||                    \
-   __builtin_types_compatible_p(__typeof__(expr), signed long) ||             \
-   __builtin_types_compatible_p(__typeof__(expr), unsigned long) ||           \
-   __builtin_types_compatible_p(__typeof__(expr), int) ||                     \
-   __builtin_types_compatible_p(__typeof__(expr), signed int) ||              \
-   __builtin_types_compatible_p(__typeof__(expr), unsigned int) ||            \
-   __builtin_types_compatible_p(__typeof__(expr), short) ||                   \
-   __builtin_types_compatible_p(__typeof__(expr), signed short) ||            \
-   __builtin_types_compatible_p(__typeof__(expr), unsigned short) ||          \
-   __builtin_types_compatible_p(__typeof__(expr), char) ||                    \
-   __builtin_types_compatible_p(__typeof__(expr), signed char) ||             \
-   __builtin_types_compatible_p(__typeof__(expr), unsigned char))
-
-/* evaluates to true if expr is of type curl_off_t */
-#define _curl_is_off_t(expr)                                                  \
-  (__builtin_types_compatible_p(__typeof__(expr), curl_off_t))
-
-/* evaluates to true if expr is abuffer suitable for CURLOPT_ERRORBUFFER */
-/* XXX: also check size of an char[] array? */
-#define _curl_is_error_buffer(expr)                                           \
-  (_curl_is_NULL(expr) ||                                                     \
-   __builtin_types_compatible_p(__typeof__(expr), char *) ||                  \
-   __builtin_types_compatible_p(__typeof__(expr), char[]))
-
-/* evaluates to true if expr is of type (const) void* or (const) FILE* */
-#if 0
-#define _curl_is_cb_data(expr)                                                \
-  (_curl_is_ptr((expr), void) ||                                              \
-   _curl_is_ptr((expr), FILE))
-#else /* be less strict */
-#define _curl_is_cb_data(expr)                                                \
-  _curl_is_any_ptr(expr)
-#endif
-
-/* evaluates to true if expr is of type FILE* */
-#define _curl_is_FILE(expr)                                                   \
-  (__builtin_types_compatible_p(__typeof__(expr), FILE *))
-
-/* evaluates to true if expr can be passed as POST data (void* or char*) */
-#define _curl_is_postfields(expr)                                             \
-  (_curl_is_ptr((expr), void) ||                                              \
-   _curl_is_arr((expr), char))
-
-/* FIXME: the whole callback checking is messy...
- * The idea is to tolerate char vs. void and const vs. not const
- * pointers in arguments at least
- */
-/* helper: __builtin_types_compatible_p distinguishes between functions and
- * function pointers, hide it */
-#define _curl_callback_compatible(func, type)                                 \
-  (__builtin_types_compatible_p(__typeof__(func), type) ||                    \
-   __builtin_types_compatible_p(__typeof__(func), type*))
-
-/* evaluates to true if expr is of type curl_read_callback or "similar" */
-#define _curl_is_read_cb(expr)                                          \
-  (_curl_is_NULL(expr) ||                                                     \
-   __builtin_types_compatible_p(__typeof__(expr), __typeof__(fread)) ||       \
-   __builtin_types_compatible_p(__typeof__(expr), curl_read_callback) ||      \
-   _curl_callback_compatible((expr), _curl_read_callback1) ||                 \
-   _curl_callback_compatible((expr), _curl_read_callback2) ||                 \
-   _curl_callback_compatible((expr), _curl_read_callback3) ||                 \
-   _curl_callback_compatible((expr), _curl_read_callback4) ||                 \
-   _curl_callback_compatible((expr), _curl_read_callback5) ||                 \
-   _curl_callback_compatible((expr), _curl_read_callback6))
-typedef size_t (_curl_read_callback1)(char *, size_t, size_t, void*);
-typedef size_t (_curl_read_callback2)(char *, size_t, size_t, const void*);
-typedef size_t (_curl_read_callback3)(char *, size_t, size_t, FILE*);
-typedef size_t (_curl_read_callback4)(void *, size_t, size_t, void*);
-typedef size_t (_curl_read_callback5)(void *, size_t, size_t, const void*);
-typedef size_t (_curl_read_callback6)(void *, size_t, size_t, FILE*);
-
-/* evaluates to true if expr is of type curl_write_callback or "similar" */
-#define _curl_is_write_cb(expr)                                               \
-  (_curl_is_read_cb(expr) ||                                            \
-   __builtin_types_compatible_p(__typeof__(expr), __typeof__(fwrite)) ||      \
-   __builtin_types_compatible_p(__typeof__(expr), curl_write_callback) ||     \
-   _curl_callback_compatible((expr), _curl_write_callback1) ||                \
-   _curl_callback_compatible((expr), _curl_write_callback2) ||                \
-   _curl_callback_compatible((expr), _curl_write_callback3) ||                \
-   _curl_callback_compatible((expr), _curl_write_callback4) ||                \
-   _curl_callback_compatible((expr), _curl_write_callback5) ||                \
-   _curl_callback_compatible((expr), _curl_write_callback6))
-typedef size_t (_curl_write_callback1)(const char *, size_t, size_t, void*);
-typedef size_t (_curl_write_callback2)(const char *, size_t, size_t,
-                                       const void*);
-typedef size_t (_curl_write_callback3)(const char *, size_t, size_t, FILE*);
-typedef size_t (_curl_write_callback4)(const void *, size_t, size_t, void*);
-typedef size_t (_curl_write_callback5)(const void *, size_t, size_t,
-                                       const void*);
-typedef size_t (_curl_write_callback6)(const void *, size_t, size_t, FILE*);
-
-/* evaluates to true if expr is of type curl_ioctl_callback or "similar" */
-#define _curl_is_ioctl_cb(expr)                                         \
-  (_curl_is_NULL(expr) ||                                                     \
-   __builtin_types_compatible_p(__typeof__(expr), curl_ioctl_callback) ||     \
-   _curl_callback_compatible((expr), _curl_ioctl_callback1) ||                \
-   _curl_callback_compatible((expr), _curl_ioctl_callback2) ||                \
-   _curl_callback_compatible((expr), _curl_ioctl_callback3) ||                \
-   _curl_callback_compatible((expr), _curl_ioctl_callback4))
-typedef curlioerr (_curl_ioctl_callback1)(CURL *, int, void*);
-typedef curlioerr (_curl_ioctl_callback2)(CURL *, int, const void*);
-typedef curlioerr (_curl_ioctl_callback3)(CURL *, curliocmd, void*);
-typedef curlioerr (_curl_ioctl_callback4)(CURL *, curliocmd, const void*);
-
-/* evaluates to true if expr is of type curl_sockopt_callback or "similar" */
-#define _curl_is_sockopt_cb(expr)                                       \
-  (_curl_is_NULL(expr) ||                                                     \
-   __builtin_types_compatible_p(__typeof__(expr), curl_sockopt_callback) ||   \
-   _curl_callback_compatible((expr), _curl_sockopt_callback1) ||              \
-   _curl_callback_compatible((expr), _curl_sockopt_callback2))
-typedef int (_curl_sockopt_callback1)(void *, curl_socket_t, curlsocktype);
-typedef int (_curl_sockopt_callback2)(const void *, curl_socket_t,
-                                      curlsocktype);
-
-/* evaluates to true if expr is of type curl_opensocket_callback or
-   "similar" */
-#define _curl_is_opensocket_cb(expr)                                    \
-  (_curl_is_NULL(expr) ||                                                     \
-   __builtin_types_compatible_p(__typeof__(expr), curl_opensocket_callback) ||\
-   _curl_callback_compatible((expr), _curl_opensocket_callback1) ||           \
-   _curl_callback_compatible((expr), _curl_opensocket_callback2) ||           \
-   _curl_callback_compatible((expr), _curl_opensocket_callback3) ||           \
-   _curl_callback_compatible((expr), _curl_opensocket_callback4))
-typedef curl_socket_t (_curl_opensocket_callback1)
-  (void *, curlsocktype, struct curl_sockaddr *);
-typedef curl_socket_t (_curl_opensocket_callback2)
-  (void *, curlsocktype, const struct curl_sockaddr *);
-typedef curl_socket_t (_curl_opensocket_callback3)
-  (const void *, curlsocktype, struct curl_sockaddr *);
-typedef curl_socket_t (_curl_opensocket_callback4)
-  (const void *, curlsocktype, const struct curl_sockaddr *);
-
-/* evaluates to true if expr is of type curl_progress_callback or "similar" */
-#define _curl_is_progress_cb(expr)                                      \
-  (_curl_is_NULL(expr) ||                                                     \
-   __builtin_types_compatible_p(__typeof__(expr), curl_progress_callback) ||  \
-   _curl_callback_compatible((expr), _curl_progress_callback1) ||             \
-   _curl_callback_compatible((expr), _curl_progress_callback2))
-typedef int (_curl_progress_callback1)(void *,
-    double, double, double, double);
-typedef int (_curl_progress_callback2)(const void *,
-    double, double, double, double);
-
-/* evaluates to true if expr is of type curl_debug_callback or "similar" */
-#define _curl_is_debug_cb(expr)                                         \
-  (_curl_is_NULL(expr) ||                                                     \
-   __builtin_types_compatible_p(__typeof__(expr), curl_debug_callback) ||     \
-   _curl_callback_compatible((expr), _curl_debug_callback1) ||                \
-   _curl_callback_compatible((expr), _curl_debug_callback2) ||                \
-   _curl_callback_compatible((expr), _curl_debug_callback3) ||                \
-   _curl_callback_compatible((expr), _curl_debug_callback4) ||                \
-   _curl_callback_compatible((expr), _curl_debug_callback5) ||                \
-   _curl_callback_compatible((expr), _curl_debug_callback6) ||                \
-   _curl_callback_compatible((expr), _curl_debug_callback7) ||                \
-   _curl_callback_compatible((expr), _curl_debug_callback8))
-typedef int (_curl_debug_callback1) (CURL *,
-    curl_infotype, char *, size_t, void *);
-typedef int (_curl_debug_callback2) (CURL *,
-    curl_infotype, char *, size_t, const void *);
-typedef int (_curl_debug_callback3) (CURL *,
-    curl_infotype, const char *, size_t, void *);
-typedef int (_curl_debug_callback4) (CURL *,
-    curl_infotype, const char *, size_t, const void *);
-typedef int (_curl_debug_callback5) (CURL *,
-    curl_infotype, unsigned char *, size_t, void *);
-typedef int (_curl_debug_callback6) (CURL *,
-    curl_infotype, unsigned char *, size_t, const void *);
-typedef int (_curl_debug_callback7) (CURL *,
-    curl_infotype, const unsigned char *, size_t, void *);
-typedef int (_curl_debug_callback8) (CURL *,
-    curl_infotype, const unsigned char *, size_t, const void *);
-
-/* evaluates to true if expr is of type curl_ssl_ctx_callback or "similar" */
-/* this is getting even messier... */
-#define _curl_is_ssl_ctx_cb(expr)                                       \
-  (_curl_is_NULL(expr) ||                                                     \
-   __builtin_types_compatible_p(__typeof__(expr), curl_ssl_ctx_callback) ||   \
-   _curl_callback_compatible((expr), _curl_ssl_ctx_callback1) ||              \
-   _curl_callback_compatible((expr), _curl_ssl_ctx_callback2) ||              \
-   _curl_callback_compatible((expr), _curl_ssl_ctx_callback3) ||              \
-   _curl_callback_compatible((expr), _curl_ssl_ctx_callback4) ||              \
-   _curl_callback_compatible((expr), _curl_ssl_ctx_callback5) ||              \
-   _curl_callback_compatible((expr), _curl_ssl_ctx_callback6) ||              \
-   _curl_callback_compatible((expr), _curl_ssl_ctx_callback7) ||              \
-   _curl_callback_compatible((expr), _curl_ssl_ctx_callback8))
-typedef CURLcode (_curl_ssl_ctx_callback1)(CURL *, void *, void *);
-typedef CURLcode (_curl_ssl_ctx_callback2)(CURL *, void *, const void *);
-typedef CURLcode (_curl_ssl_ctx_callback3)(CURL *, const void *, void *);
-typedef CURLcode (_curl_ssl_ctx_callback4)(CURL *, const void *, const void *);
-#ifdef HEADER_SSL_H
-/* hack: if we included OpenSSL's ssl.h, we know about SSL_CTX
- * this will of course break if we're included before OpenSSL headers...
- */
-typedef CURLcode (_curl_ssl_ctx_callback5)(CURL *, SSL_CTX, void *);
-typedef CURLcode (_curl_ssl_ctx_callback6)(CURL *, SSL_CTX, const void *);
-typedef CURLcode (_curl_ssl_ctx_callback7)(CURL *, const SSL_CTX, void *);
-typedef CURLcode (_curl_ssl_ctx_callback8)(CURL *, const SSL_CTX,
-                                           const void *);
-#else
-typedef _curl_ssl_ctx_callback1 _curl_ssl_ctx_callback5;
-typedef _curl_ssl_ctx_callback1 _curl_ssl_ctx_callback6;
-typedef _curl_ssl_ctx_callback1 _curl_ssl_ctx_callback7;
-typedef _curl_ssl_ctx_callback1 _curl_ssl_ctx_callback8;
-#endif
-
-/* evaluates to true if expr is of type curl_conv_callback or "similar" */
-#define _curl_is_conv_cb(expr)                                          \
-  (_curl_is_NULL(expr) ||                                                     \
-   __builtin_types_compatible_p(__typeof__(expr), curl_conv_callback) ||      \
-   _curl_callback_compatible((expr), _curl_conv_callback1) ||                 \
-   _curl_callback_compatible((expr), _curl_conv_callback2) ||                 \
-   _curl_callback_compatible((expr), _curl_conv_callback3) ||                 \
-   _curl_callback_compatible((expr), _curl_conv_callback4))
-typedef CURLcode (*_curl_conv_callback1)(char *, size_t length);
-typedef CURLcode (*_curl_conv_callback2)(const char *, size_t length);
-typedef CURLcode (*_curl_conv_callback3)(void *, size_t length);
-typedef CURLcode (*_curl_conv_callback4)(const void *, size_t length);
-
-/* evaluates to true if expr is of type curl_seek_callback or "similar" */
-#define _curl_is_seek_cb(expr)                                          \
-  (_curl_is_NULL(expr) ||                                                     \
-   __builtin_types_compatible_p(__typeof__(expr), curl_seek_callback) ||      \
-   _curl_callback_compatible((expr), _curl_seek_callback1) ||                 \
-   _curl_callback_compatible((expr), _curl_seek_callback2))
-typedef CURLcode (*_curl_seek_callback1)(void *, curl_off_t, int);
-typedef CURLcode (*_curl_seek_callback2)(const void *, curl_off_t, int);
-
-
-#endif /* __CURL_TYPECHECK_GCC_H */
diff --git a/third_party/curl/lib/libcurl.a b/third_party/curl/lib/libcurl.a
deleted file mode 100644
index 494ac6c043..0000000000
Binary files a/third_party/curl/lib/libcurl.a and /dev/null differ
diff --git a/third_party/libyuv/mac/lib/libyuv.a b/third_party/libyuv/Darwin/lib/libyuv.a
similarity index 56%
rename from third_party/libyuv/mac/lib/libyuv.a
rename to third_party/libyuv/Darwin/lib/libyuv.a
index 4a1609ca7a..3265bd8da0 100644
Binary files a/third_party/libyuv/mac/lib/libyuv.a and b/third_party/libyuv/Darwin/lib/libyuv.a differ
diff --git a/third_party/libyuv/LICENSE.libyuv b/third_party/libyuv/LICENSE.libyuv
deleted file mode 100644
index c911747a6b..0000000000
--- a/third_party/libyuv/LICENSE.libyuv
+++ /dev/null
@@ -1,29 +0,0 @@
-Copyright 2011 The LibYuv Project Authors. All rights reserved.
-
-Redistribution and use in source and binary forms, with or without
-modification, are permitted provided that the following conditions are
-met:
-
-  * Redistributions of source code must retain the above copyright
-    notice, this list of conditions and the following disclaimer.
-
-  * Redistributions in binary form must reproduce the above copyright
-    notice, this list of conditions and the following disclaimer in
-    the documentation and/or other materials provided with the
-    distribution.
-
-  * Neither the name of Google nor the names of its contributors may
-    be used to endorse or promote products derived from this software
-    without specific prior written permission.
-
-THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
-"AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
-LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR
-A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT
-HOLDER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL,
-SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT
-LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS OF USE,
-DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND ON ANY
-THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT
-(INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE
-OF THIS SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
diff --git a/third_party/libyuv/aarch64 b/third_party/libyuv/aarch64
new file mode 120000
index 0000000000..062c65e8d9
--- /dev/null
+++ b/third_party/libyuv/aarch64
@@ -0,0 +1 @@
+larch64/
\ No newline at end of file
diff --git a/third_party/libyuv/build.sh b/third_party/libyuv/build.sh
new file mode 100644
index 0000000000..e044312d05
--- /dev/null
+++ b/third_party/libyuv/build.sh
@@ -0,0 +1,12 @@
+#!/usr/bin/env bash
+set -e
+
+git clone https://chromium.googlesource.com/libyuv/libyuv
+cd libyuv
+git reset --hard 4a14cb2e81235ecd656e799aecaaf139db8ce4a2
+cmake .
+
+## To create universal binary on Darwin:
+## ```
+## lipo -create -output Darwin/libyuv.a path-to-x64/libyuv.a path-to-arm64/libyuv.a
+## ```
\ No newline at end of file
diff --git a/third_party/libyuv/build.txt b/third_party/libyuv/build.txt
deleted file mode 100644
index 376e981ec7..0000000000
--- a/third_party/libyuv/build.txt
+++ /dev/null
@@ -1,4 +0,0 @@
-git clone https://chromium.googlesource.com/libyuv/libyuv
-cd libyuv
-git reset --hard 4a14cb2e81235ecd656e799aecaaf139db8ce4a2
-cmake .
diff --git a/third_party/libyuv/lib/libyuv.a b/third_party/libyuv/lib/libyuv.a
deleted file mode 100644
index 228de4d03e..0000000000
Binary files a/third_party/libyuv/lib/libyuv.a and /dev/null differ
diff --git a/third_party/libyuv/mac_arm64/lib/libyuv.a b/third_party/libyuv/mac_arm64/lib/libyuv.a
deleted file mode 100644
index 96c11829e5..0000000000
Binary files a/third_party/libyuv/mac_arm64/lib/libyuv.a and /dev/null differ
diff --git a/third_party/libyuv/x64/include b/third_party/libyuv/x86_64/include
similarity index 100%
rename from third_party/libyuv/x64/include
rename to third_party/libyuv/x86_64/include
diff --git a/third_party/libyuv/x64/lib/libyuv.a b/third_party/libyuv/x86_64/lib/libyuv.a
similarity index 100%
rename from third_party/libyuv/x64/lib/libyuv.a
rename to third_party/libyuv/x86_64/lib/libyuv.a
diff --git a/third_party/mapbox-gl-native-qt/aarch64/libqmapboxgl.so b/third_party/mapbox-gl-native-qt/aarch64/libqmapboxgl.so
new file mode 100755
index 0000000000..d417101ac0
Binary files /dev/null and b/third_party/mapbox-gl-native-qt/aarch64/libqmapboxgl.so differ
diff --git a/tools/README.md b/tools/README.md
index c3f5b0ada5..28c819c28b 100644
--- a/tools/README.md
+++ b/tools/README.md
@@ -2,7 +2,7 @@
 
 ## System Requirements
 
-openpilot is developed and tested on **Ubuntu 20.04**, which is the primary development target aside from the [supported embedded hardware](https://github.com/commaai/openpilot#running-on-pc). We also have a CI test to verify that openpilot builds on macOS, but the tools are untested. For the best experience, stick to Ubuntu 20.04, otherwise openpilot and the tools should work with minimal to no modifications on macOS and other Linux systems.
+openpilot is developed and tested on **Ubuntu 20.04**, which is the primary development target aside from the [supported embedded hardware](https://github.com/commaai/openpilot#running-on-a-dedicated-device-in-a-car). We also have a CI test to verify that openpilot builds on macOS, but the tools are untested. For the best experience, stick to Ubuntu 20.04, otherwise openpilot and the tools should work with minimal to no modifications on macOS and other Linux systems.
 
 ## Setup your PC
 
@@ -38,12 +38,11 @@ scons -u -j$(nproc)
 
 ### Windows
 
-Neither openpilot nor any of the tools are developed or tested on Windows, but the [Windows Subsystem for Linux (WSL)](https://docs.microsoft.com/en-us/windows/wsl/about) should get Windows users a similar experience to Ubuntu. [WSL 2](https://docs.microsoft.com/en-us/windows/wsl/compare-versions) specifically has been reported by several users to be a seamless experience.
+Neither openpilot nor any of the tools are developed or tested on Windows, but the [Windows Subsystem for Linux (WSL)](https://docs.microsoft.com/en-us/windows/wsl/about) should provide a similar experience to native Ubuntu. [WSL 2](https://docs.microsoft.com/en-us/windows/wsl/compare-versions) specifically has been reported by several users to be a seamless experience.
 
-Follow [these instructions](https://docs.microsoft.com/en-us/windows/wsl/install) to setup the WSL and install the `Ubuntu-20.04` distribution. Once your Ubuntu WSL environment is setup, follow the Linux setup instructions to finish setting up your environment.
-
-GUI applications do not work with WSL out of the box. You will have to either [upgrade your system to Windows 11](https://docs.microsoft.com/en-us/windows/wsl/tutorials/gui-apps) or [set up an Xorg server](https://techcommunity.microsoft.com/t5/windows-dev-appconsult/running-wsl-gui-apps-on-windows-10/ba-p/1493242).
+Follow [these instructions](https://docs.microsoft.com/en-us/windows/wsl/install) to setup the WSL and install the `Ubuntu-20.04` distribution. Once your Ubuntu WSL environment is setup, follow the Linux setup instructions to finish setting up your environment. See [these instructions](https://learn.microsoft.com/en-us/windows/wsl/tutorials/gui-apps) for running GUI apps.
 
+**NOTE**: If you are running WSL and any GUIs are failing (segfaulting or other strange issues) even after following the steps above, you may need to enable software rendering with `LIBGL_ALWAYS_SOFTWARE=1`, e.g. `LIBGL_ALWAYS_SOFTWARE=1 selfdrive/ui/ui`.
 
 ## CTF
 Learn about the openpilot ecosystem and tools by playing our [CTF](/tools/CTF.md).
diff --git a/tools/bodyteleop/.gitignore b/tools/bodyteleop/.gitignore
new file mode 100644
index 0000000000..adeab99a95
--- /dev/null
+++ b/tools/bodyteleop/.gitignore
@@ -0,0 +1,4 @@
+av
+av-10.0.0/*
+key.pem
+cert.pem
\ No newline at end of file
diff --git a/tools/bodyteleop/bodyav.py b/tools/bodyteleop/bodyav.py
new file mode 100644
index 0000000000..fc9559f8dc
--- /dev/null
+++ b/tools/bodyteleop/bodyav.py
@@ -0,0 +1,159 @@
+import asyncio
+import io
+import numpy as np
+import pyaudio
+import wave
+
+from aiortc.contrib.media import MediaBlackhole
+from aiortc.mediastreams import AudioStreamTrack, MediaStreamError, MediaStreamTrack
+from aiortc.mediastreams import VIDEO_CLOCK_RATE, VIDEO_TIME_BASE
+from aiortc.rtcrtpsender import RTCRtpSender
+from av import CodecContext, Packet
+from pydub import AudioSegment
+import cereal.messaging as messaging
+
+AUDIO_RATE = 16000
+SOUNDS = {
+  'engage': '../../selfdrive/assets/sounds/engage.wav',
+  'disengage': '../../selfdrive/assets/sounds/disengage.wav',
+  'error': '../../selfdrive/assets/sounds/warning_immediate.wav',
+}
+
+
+def force_codec(pc, sender, forced_codec='video/VP9', stream_type="video"):
+  codecs = RTCRtpSender.getCapabilities(stream_type).codecs
+  codec = [codec for codec in codecs if codec.mimeType == forced_codec]
+  transceiver = next(t for t in pc.getTransceivers() if t.sender == sender)
+  transceiver.setCodecPreferences(codec)
+
+
+class EncodedBodyVideo(MediaStreamTrack):
+  kind = "video"
+
+  _start: float
+  _timestamp: int
+
+  def __init__(self):
+    super().__init__()
+    sock_name = 'livestreamDriverEncodeData'
+    messaging.context = messaging.Context()
+    self.sock = messaging.sub_sock(sock_name, None, conflate=True)
+    self.pts = 0
+
+  async def recv(self) -> Packet:
+    while True:
+      msg = messaging.recv_one_or_none(self.sock)
+      if msg is not None:
+        break
+      await asyncio.sleep(0.005)
+
+    evta = getattr(msg, msg.which())
+    self.last_idx = evta.idx.encodeId
+
+    packet = Packet(evta.header + evta.data)
+    packet.time_base = VIDEO_TIME_BASE
+    packet.pts = self.pts
+    self.pts += 0.05 * VIDEO_CLOCK_RATE
+    return packet
+
+
+class WebClientSpeaker(MediaBlackhole):
+  def __init__(self):
+    super().__init__()
+    self.p = pyaudio.PyAudio()
+    self.buffer = io.BytesIO()
+    self.channels = 2
+    self.stream = self.p.open(format=pyaudio.paInt16, channels=self.channels, rate=48000, frames_per_buffer=9600,
+                              output=True, stream_callback=self.pyaudio_callback)
+
+  def pyaudio_callback(self, in_data, frame_count, time_info, status):
+    if self.buffer.getbuffer().nbytes < frame_count * self.channels * 2:
+      buff = np.zeros((frame_count, 2), dtype=np.int16).tobytes()
+    elif self.buffer.getbuffer().nbytes > 115200:  # 3x the usual read size
+      self.buffer.seek(0)
+      buff = self.buffer.read(frame_count * self.channels * 4)
+      buff = buff[:frame_count * self.channels * 2]
+      self.buffer.seek(2)
+    else:
+      self.buffer.seek(0)
+      buff = self.buffer.read(frame_count * self.channels * 2)
+      self.buffer.seek(2)
+    return (buff, pyaudio.paContinue)
+
+  async def consume(self, track):
+    while True:
+      try:
+        frame = await track.recv()
+      except MediaStreamError:
+        return
+      bio = bytes(frame.planes[0])
+      self.buffer.write(bio)
+
+  async def start(self):
+    for track, task in self._MediaBlackhole__tracks.items():  # pylint: disable=access-member-before-definition
+      if task is None:
+        self._MediaBlackhole__tracks[track] = asyncio.ensure_future(self.consume(track))
+
+  async def stop(self):
+    for task in self._MediaBlackhole__tracks.values():  # pylint: disable=access-member-before-definition
+      if task is not None:
+        task.cancel()
+    self._MediaBlackhole__tracks = {}
+    self.stream.stop_stream()
+    self.stream.close()
+    self.p.terminate()
+
+
+class BodyMic(AudioStreamTrack):
+  def __init__(self):
+    super().__init__()
+
+    self.sample_rate = AUDIO_RATE
+    self.AUDIO_PTIME = 0.020  # 20ms audio packetization
+    self.samples = int(self.AUDIO_PTIME * self.sample_rate)
+    self.FORMAT = pyaudio.paInt16
+    self.CHANNELS = 2
+    self.RATE = self.sample_rate
+    self.CHUNK = int(AUDIO_RATE * 0.020)
+    self.p = pyaudio.PyAudio()
+    self.mic_stream = self.p.open(format=self.FORMAT, channels=1, rate=self.RATE, input=True, frames_per_buffer=self.CHUNK)
+
+    self.codec = CodecContext.create('pcm_s16le', 'r')
+    self.codec.sample_rate = self.RATE
+    self.codec.channels = 2
+    self.audio_samples = 0
+    self.chunk_number = 0
+
+  async def recv(self):
+    mic_data = self.mic_stream.read(self.CHUNK)
+    mic_sound = AudioSegment(mic_data, sample_width=2, channels=1, frame_rate=self.RATE)
+    mic_sound = AudioSegment.from_mono_audiosegments(mic_sound, mic_sound)
+    mic_sound += 3  # increase volume by 3db
+    packet = Packet(mic_sound.raw_data)
+    frame = self.codec.decode(packet)[0]
+    frame.pts = self.audio_samples
+    self.audio_samples += frame.samples
+    self.chunk_number = self.chunk_number + 1
+    return frame
+
+
+async def play_sound(sound):
+  chunk = 5120
+  with wave.open(SOUNDS[sound], 'rb') as wf:
+    def callback(in_data, frame_count, time_info, status):
+      data = wf.readframes(frame_count)
+      return data, pyaudio.paContinue
+
+    p = pyaudio.PyAudio()
+    stream = p.open(format=p.get_format_from_width(wf.getsampwidth()),
+                    channels=wf.getnchannels(),
+                    rate=wf.getframerate(),
+                    output=True,
+                    frames_per_buffer=chunk,
+                    stream_callback=callback)
+    stream.start_stream()
+    while stream.is_active():
+      await asyncio.sleep(0)
+    stream.stop_stream()
+    stream.close()
+    p.terminate()
diff --git a/tools/bodyteleop/static/index.html b/tools/bodyteleop/static/index.html
new file mode 100644
index 0000000000..3654769756
--- /dev/null
+++ b/tools/bodyteleop/static/index.html
@@ -0,0 +1,103 @@
+<html>
+  <head>
+    <meta charset="UTF-8"/>
+    <meta name="viewport" content="width=device-width, initial-scale=1.0" />
+    <title>commabody</title>
+    <link rel="stylesheet" href="/static/main.css">
+    <link rel="stylesheet" href="https://cdnjs.cloudflare.com/ajax/libs/bootstrap/5.2.3/css/bootstrap.min.css" integrity="sha512-SbiR/eusphKoMVVXysTKG/7VseWii+Y3FdHrt0EpKgpToZeemhqHeZeLWLhJutz/2ut2Vw1uQEj2MbRF+TVBUA==" crossorigin="anonymous" referrerpolicy="no-referrer" /><script src="https://code.jquery.com/jquery-3.6.0.min.js"></script>
+    <link rel="stylesheet" href="https://cdn.jsdelivr.net/npm/bootstrap-icons@1.10.5/font/bootstrap-icons.css">
+    <script src="https://cdnjs.cloudflare.com/ajax/libs/bootstrap/5.2.3/js/bootstrap.min.js" integrity="sha512-1/RvZTcCDEUjY/CypiMz+iqqtaoQfAITmNSJY17Myp4Ms5mdxPS5UV7iOfdZoxcGhzFbOm6sntTKJppjvuhg4g==" crossorigin="anonymous" referrerpolicy="no-referrer"></script>
+    <script src="https://cdnjs.cloudflare.com/ajax/libs/moment.js/2.29.1/moment.min.js"></script>
+    <script src="https://cdn.jsdelivr.net/npm/chart.js@^3"></script>
+    <script src="https://cdn.jsdelivr.net/npm/moment@^2"></script>
+    <script src="https://cdn.jsdelivr.net/npm/chartjs-adapter-moment@^1"></script>
+  </head>
+  <body>
+    <div id="main">
+      <p class="jumbo">comma body</p>
+      <audio id="audio" autoplay="true"></audio>
+      <video id="video" playsinline autoplay muted loop poster="/static/poster.png"></video>
+      <div id="icon-panel" class="row">
+        <div class="col-sm-12 col-md-6 details">
+          <div class="icon-sup-panel col-12">
+            <div class="icon-sub-panel">
+              <div class="icon-sub-sub-panel">
+                <i class="bi bi-speaker-fill pre-blob"></i>
+                <i class="bi bi-mic-fill pre-blob"></i>
+                <i class="bi bi-camera-video-fill pre-blob"></i>
+              </div>
+              <p class="small">body</p>
+            </div>
+            <div class="icon-sub-panel">
+              <div class="icon-sub-sub-panel">
+                <i class="bi bi-speaker-fill pre-blob"></i>
+                <i class="bi bi-mic-fill pre-blob"></i>
+              </div>
+              <p class="small">you</p>
+            </div>
+          </div>
+        </div>
+        <div class="col-sm-12 col-md-6 details">
+          <div class="icon-sup-panel col-12">
+            <div class="icon-sub-panel">
+              <div class="icon-sub-sub-panel">
+                <i id="ping-time" class="pre-blob1">-</i>
+              </div>
+              <p class="bi bi-arrow-repeat small"> ping time</p>
+            </div>
+            <div class="icon-sub-panel">
+              <div class="icon-sub-sub-panel">
+                <i id="battery" class="pre-blob1">-</i>
+              </div>
+              <p class="bi bi-battery-half small"> battery</p>
+            </div>
+          </div>
+        </div>
+        <!-- <div class="icon-sub-panel">
+                <button type="button" id="start" class="btn btn-light btn-lg">Start</button>
+                <button type="button" id="stop" class="btn btn-light btn-lg">Stop</button>
+            </div> -->
+      </div>
+      <div class="row" style="width: 100%; padding: 0px 10px 0px 10px;">
+        <div id="wasd" class="col-md-12 row">
+          <div class="col-md-6 col-sm-12" style="justify-content: center; display: flex; flex-direction: column;">
+            <div class="wasd-row">
+              <div class="keys" id="key-w">W</div>
+              <div id="key-val"><span id="pos-vals">0,0</span><span>x,y</span></div>
+            </div>
+            <div class="wasd-row">
+              <div class="keys" id="key-a">A</div>
+              <div class="keys" id="key-s">S</div>
+              <div class="keys" id="key-d">D</div>
+            </div>
+          </div>
+          <div class="col-md-6 col-sm-12 form-group plan-form">
+            <label for="plan-text">Plan (w, a, s, d, t)</label>
+            <label style="font-size: 15px;" for="plan-text">*Extremely Experimental*</label>
+            <textarea class="form-control" id="plan-text" rows="7" placeholder="1,0,0,0,2"></textarea>
+            <button type="button" id="plan-button" class="btn btn-light btn-lg">Execute</button>
+          </div>
+        </div>
+      </div>
+      <div class="row" style="padding: 0px 10px 0px 10px; width: 100%;">
+        <div class="panel row">
+          <div class="col-sm-3" style="text-align: center;">
+            <p>Play Sounds</p>
+          </div>
+          <div class="btn-group col-sm-8">
+            <button type="button" id="sound-engage" class="btn btn-outline-success btn-lg sound">Engage</button>
+            <button type="button" id="sound-disengage" class="btn btn-outline-warning btn-lg sound">Disengage</button>
+            <button type="button" id="sound-error" class="btn btn-outline-danger btn-lg sound">Error</button>
+          </div>
+        </div>
+      </div>
+      <div class="row" style="padding: 0px 10px 0px 10px; width: 100%;">
+        <div class="panel row">
+          <div class="col-sm-6"><canvas id="chart-ping"></canvas></div>
+          <div class="col-sm-6"><canvas id="chart-battery"></canvas></div>
+        </div>
+      </div>
+    </div>
+    <script src="/static/js/jsmain.js" type="module"></script>
+  </body>
+</html>
diff --git a/tools/bodyteleop/static/js/controls.js b/tools/bodyteleop/static/js/controls.js
new file mode 100644
index 0000000000..b1e0e7ee70
--- /dev/null
+++ b/tools/bodyteleop/static/js/controls.js
@@ -0,0 +1,54 @@
+const keyVals = {w: 0, a: 0, s: 0, d: 0}
+
+export function getXY() {
+  let x = -keyVals.w + keyVals.s
+  let y = -keyVals.d + keyVals.a
+  return {x, y}
+}
+
+export const handleKeyX = (key, setValue) => {
+  if (['w', 'a', 's', 'd'].includes(key)){
+    keyVals[key] = setValue;
+    let color = "#333";
+    if (setValue === 1){
+      color = "#e74c3c";
+    }
+    $("#key-"+key).css('background', color);
+    const {x, y} = getXY();
+    $("#pos-vals").text(x+","+y);
+  }
+};
+
+export async function executePlan() {
+  let plan = $("#plan-text").val();
+  const planList = [];
+  plan.split("\n").forEach(function(e){
+    let line = e.split(",").map(k=>parseInt(k));
+    if (line.length != 5 || line.slice(0, 4).map(e=>[1, 0].includes(e)).includes(false) || line[4] < 0 || line[4] > 10){
+      console.log("invalid plan");
+    }
+    else{
+      planList.push(line)
+    }
+  });
+
+  async function execute() {
+    for (var i = 0; i < planList.length; i++) {
+      let [w, a, s, d, t] = planList[i];
+      while(t > 0){
+        console.log(w, a, s, d, t);
+        if(w==1){$("#key-w").mousedown();}
+        if(a==1){$("#key-a").mousedown();}
+        if(s==1){$("#key-s").mousedown();}
+        if(d==1){$("#key-d").mousedown();}
+        await sleep(50);
+        $("#key-w").mouseup();
+        $("#key-a").mouseup();
+        $("#key-s").mouseup();
+        $("#key-d").mouseup();
+        t = t - 0.05;
+      }
+    }
+  }
+  execute();
+}
\ No newline at end of file
diff --git a/tools/bodyteleop/static/js/jsmain.js b/tools/bodyteleop/static/js/jsmain.js
new file mode 100644
index 0000000000..f521905724
--- /dev/null
+++ b/tools/bodyteleop/static/js/jsmain.js
@@ -0,0 +1,23 @@
+import { handleKeyX, executePlan } from "./controls.js";
+import { start, stop, last_ping } from "./webrtc.js";
+
+export var pc = null;
+export var dc = null;
+
+document.addEventListener('keydown', (e)=>(handleKeyX(e.key.toLowerCase(), 1)));
+document.addEventListener('keyup', (e)=>(handleKeyX(e.key.toLowerCase(), 0)));
+$(".keys").bind("mousedown touchstart", (e)=>handleKeyX($(e.target).attr('id').replace('key-', ''), 1));
+$(".keys").bind("mouseup touchend", (e)=>handleKeyX($(e.target).attr('id').replace('key-', ''), 0));
+$("#plan-button").click(executePlan);
+
+setInterval( () => {
+  const dt = new Date().getTime();
+  if ((dt - last_ping) > 1000) {
+    $(".pre-blob").removeClass('blob');
+    $("#battery").text("-");
+    $("#ping-time").text('-');
+    $("video")[0].load();
+  }
+}, 5000);
+
+start(pc, dc);
\ No newline at end of file
diff --git a/tools/bodyteleop/static/js/plots.js b/tools/bodyteleop/static/js/plots.js
new file mode 100644
index 0000000000..5327bf71be
--- /dev/null
+++ b/tools/bodyteleop/static/js/plots.js
@@ -0,0 +1,53 @@
+export const pingPoints = [];
+export const batteryPoints = [];
+
+function getChartConfig(pts, color, title, ymax=100) {
+  return {
+    type: 'line',
+    data: {
+      datasets: [{
+        label: title,
+        data: pts,
+        borderWidth: 1,
+        borderColor: color,
+        backgroundColor: color,
+        fill: 'origin'
+      }]
+    },
+    options: {
+      scales: {
+        x: {
+          type: 'time',
+          time: {
+            unit: 'minute',
+            displayFormats: {
+              second: 'h:mm a'
+            }
+          },
+          grid: {
+            color: '#222', // Grid lines color
+          },
+          ticks: {
+            source: 'data',
+            fontColor: 'rgba(255, 255, 255, 1.0)', // Y-axis label color
+          }
+        },
+        y: {
+          beginAtZero: true,
+          max: ymax,
+          grid: {
+            color: 'rgba(255, 255, 255, 0.1)', // Grid lines color
+          },
+          ticks: {
+            fontColor: 'rgba(255, 255, 255, 0.7)', // Y-axis label color
+          }
+        }
+      }
+    }
+  }
+}
+
+const ctxPing = document.getElementById('chart-ping');
+const ctxBattery = document.getElementById('chart-battery');
+export const chartPing = new Chart(ctxPing, getChartConfig(pingPoints, 'rgba(192, 57, 43, 0.7)', 'Controls Ping Time (ms)', 250));
+export const chartBattery = new Chart(ctxBattery, getChartConfig(batteryPoints, 'rgba(41, 128, 185, 0.7)', 'Battery %', 100));
diff --git a/tools/bodyteleop/static/js/webrtc.js b/tools/bodyteleop/static/js/webrtc.js
new file mode 100644
index 0000000000..8bc8e77317
--- /dev/null
+++ b/tools/bodyteleop/static/js/webrtc.js
@@ -0,0 +1,217 @@
+import { getXY } from "./controls.js";
+import { pingPoints, batteryPoints, chartPing, chartBattery } from "./plots.js";
+
+export let dcInterval = null;
+export let batteryInterval = null;
+export let last_ping = null;
+
+
+export function createPeerConnection(pc) {
+  var config = {
+    sdpSemantics: 'unified-plan'
+  };
+
+  pc = new RTCPeerConnection(config);
+
+  // connect audio / video
+  pc.addEventListener('track', function(evt) {
+    console.log("Adding Tracks!")
+    if (evt.track.kind == 'video')
+      document.getElementById('video').srcObject = evt.streams[0];
+    else
+      document.getElementById('audio').srcObject = evt.streams[0];
+  });
+  return pc;
+}
+
+
+export function negotiate(pc) {
+  return pc.createOffer({offerToReceiveAudio:true, offerToReceiveVideo:true}).then(function(offer) {
+    return pc.setLocalDescription(offer);
+  }).then(function() {
+    return new Promise(function(resolve) {
+      if (pc.iceGatheringState === 'complete') {
+        resolve();
+      }
+      else {
+        function checkState() {
+          if (pc.iceGatheringState === 'complete') {
+            pc.removeEventListener('icegatheringstatechange', checkState);
+            resolve();
+          }
+        }
+        pc.addEventListener('icegatheringstatechange', checkState);
+      }
+    });
+  }).then(function() {
+    var offer = pc.localDescription;
+    return fetch('/offer', {
+      body: JSON.stringify({
+        sdp: offer.sdp,
+        type: offer.type,
+      }),
+      headers: {
+        'Content-Type': 'application/json'
+      },
+      method: 'POST'
+    });
+  }).then(function(response) {
+    console.log(response);
+    return response.json();
+  }).then(function(answer) {
+    return pc.setRemoteDescription(answer);
+  }).catch(function(e) {
+    alert(e);
+  });
+}
+
+
+function isMobile() {
+    let check = false;
+    (function(a){if(/(android|bb\d+|meego).+mobile|avantgo|bada\/|blackberry|blazer|compal|elaine|fennec|hiptop|iemobile|ip(hone|od)|iris|kindle|lge |maemo|midp|mmp|mobile.+firefox|netfront|opera m(ob|in)i|palm( os)?|phone|p(ixi|re)\/|plucker|pocket|psp|series(4|6)0|symbian|treo|up\.(browser|link)|vodafone|wap|windows ce|xda|xiino/i.test(a)||/1207|6310|6590|3gso|4thp|50[1-6]i|770s|802s|a wa|abac|ac(er|oo|s\-)|ai(ko|rn)|al(av|ca|co)|amoi|an(ex|ny|yw)|aptu|ar(ch|go)|as(te|us)|attw|au(di|\-m|r |s )|avan|be(ck|ll|nq)|bi(lb|rd)|bl(ac|az)|br(e|v)w|bumb|bw\-(n|u)|c55\/|capi|ccwa|cdm\-|cell|chtm|cldc|cmd\-|co(mp|nd)|craw|da(it|ll|ng)|dbte|dc\-s|devi|dica|dmob|do(c|p)o|ds(12|\-d)|el(49|ai)|em(l2|ul)|er(ic|k0)|esl8|ez([4-7]0|os|wa|ze)|fetc|fly(\-|_)|g1 u|g560|gene|gf\-5|g\-mo|go(\.w|od)|gr(ad|un)|haie|hcit|hd\-(m|p|t)|hei\-|hi(pt|ta)|hp( i|ip)|hs\-c|ht(c(\-| |_|a|g|p|s|t)|tp)|hu(aw|tc)|i\-(20|go|ma)|i230|iac( |\-|\/)|ibro|idea|ig01|ikom|im1k|inno|ipaq|iris|ja(t|v)a|jbro|jemu|jigs|kddi|keji|kgt( |\/)|klon|kpt |kwc\-|kyo(c|k)|le(no|xi)|lg( g|\/(k|l|u)|50|54|\-[a-w])|libw|lynx|m1\-w|m3ga|m50\/|ma(te|ui|xo)|mc(01|21|ca)|m\-cr|me(rc|ri)|mi(o8|oa|ts)|mmef|mo(01|02|bi|de|do|t(\-| |o|v)|zz)|mt(50|p1|v )|mwbp|mywa|n10[0-2]|n20[2-3]|n30(0|2)|n50(0|2|5)|n7(0(0|1)|10)|ne((c|m)\-|on|tf|wf|wg|wt)|nok(6|i)|nzph|o2im|op(ti|wv)|oran|owg1|p800|pan(a|d|t)|pdxg|pg(13|\-([1-8]|c))|phil|pire|pl(ay|uc)|pn\-2|po(ck|rt|se)|prox|psio|pt\-g|qa\-a|qc(07|12|21|32|60|\-[2-7]|i\-)|qtek|r380|r600|raks|rim9|ro(ve|zo)|s55\/|sa(ge|ma|mm|ms|ny|va)|sc(01|h\-|oo|p\-)|sdk\/|se(c(\-|0|1)|47|mc|nd|ri)|sgh\-|shar|sie(\-|m)|sk\-0|sl(45|id)|sm(al|ar|b3|it|t5)|so(ft|ny)|sp(01|h\-|v\-|v )|sy(01|mb)|t2(18|50)|t6(00|10|18)|ta(gt|lk)|tcl\-|tdg\-|tel(i|m)|tim\-|t\-mo|to(pl|sh)|ts(70|m\-|m3|m5)|tx\-9|up(\.b|g1|si)|utst|v400|v750|veri|vi(rg|te)|vk(40|5[0-3]|\-v)|vm40|voda|vulc|vx(52|53|60|61|70|80|81|83|85|98)|w3c(\-| )|webc|whit|wi(g |nc|nw)|wmlb|wonu|x700|yas\-|your|zeto|zte\-/i.test(a.substr(0,4))) check = true;})(navigator.userAgent||navigator.vendor||window.opera);
+    return check;
+};
+
+
+export const constraints = {
+  audio: {
+    autoGainControl: false,
+    sampleRate: 48000,
+    sampleSize: 16,
+    echoCancellation: true,
+    noiseSuppression: true,
+    channelCount: 1
+  },
+  video: isMobile()
+};
+
+
+export function createDummyVideoTrack() {
+  const canvas = document.createElement('canvas');
+  const context = canvas.getContext('2d');
+  
+  const frameWidth = 5; // Set the width of the frame
+  const frameHeight = 5; // Set the height of the frame
+  canvas.width = frameWidth;
+  canvas.height = frameHeight;
+  
+  context.fillStyle = 'black';
+  context.fillRect(0, 0, frameWidth, frameHeight);
+  
+  const stream = canvas.captureStream();
+  const videoTrack = stream.getVideoTracks()[0];
+  
+  return videoTrack;
+}
+
+
+export function start(pc, dc) {
+  pc = createPeerConnection(pc);
+
+  if (constraints.audio || constraints.video) {
+    // add audio track
+    navigator.mediaDevices.getUserMedia(constraints).then(function(stream) {
+      stream.getTracks().forEach(function(track) {
+        pc.addTrack(track, stream);
+        // only audio?
+        // if (track.kind === 'audio'){
+        //     pc.addTrack(track, stream);
+        // }
+      });
+        return negotiate(pc);
+      }, function(err) {
+        alert('Could not acquire media: ' + err);
+      });
+
+    // add a fake video?
+    // const dummyVideoTrack = createDummyVideoTrack();
+    // const dummyMediaStream = new MediaStream();
+    // dummyMediaStream.addTrack(dummyVideoTrack);
+    // pc.addTrack(dummyVideoTrack, dummyMediaStream);
+
+  } else {
+    negotiate(pc);
+  }
+  
+  // setInterval(() => {pc.getStats(null).then((stats) => {stats.forEach((report) => console.log(report))})}, 10000)
+  // var video = document.querySelector('video');
+  // var print = function (e, f){console.log(e, f);  video.requestVideoFrameCallback(print);};
+  // video.requestVideoFrameCallback(print);
+
+
+  var parameters = {"ordered": true};
+  dc = pc.createDataChannel('data', parameters);
+  dc.onclose = function() {
+    console.log("data channel closed");
+    clearInterval(dcInterval);
+    clearInterval(batteryInterval);
+  };
+  function controlCommand() {
+    const {x, y} = getXY();
+    const dt = new Date().getTime();
+    var message = JSON.stringify({type: 'control_command', x, y, dt});
+    dc.send(message);
+  }
+
+  function batteryLevel() {
+    var message = JSON.stringify({type: 'battery_level'});
+    dc.send(message);
+  }
+  
+  dc.onopen = function() {
+    dcInterval = setInterval(controlCommand, 50);
+    batteryInterval = setInterval(batteryLevel, 10000);
+    controlCommand();
+    batteryLevel();
+    $(".sound").click((e)=>{
+      const sound = $(e.target).attr('id').replace('sound-', '')
+      dc.send(JSON.stringify({type: 'play_sound', sound}));
+    });
+  };
+
+  let val_print_idx = 0;
+  dc.onmessage = function(evt) {
+    const data = JSON.parse(evt.data);
+    if(val_print_idx == 0 && data.type === 'ping_time') {
+      const dt = new Date().getTime();
+      const pingtime = dt - data.incoming_time;
+      pingPoints.push({'x': dt, 'y': pingtime});
+        if (pingPoints.length > 1000) {
+        pingPoints.shift();
+      }
+      chartPing.update();
+      $("#ping-time").text((pingtime) + "ms");
+      last_ping = dt;
+      $(".pre-blob").addClass('blob');
+    }
+    val_print_idx = (val_print_idx + 1 ) % 20;
+    if(data.type === 'battery_level') {
+      $("#battery").text(data.value + "%");
+      batteryPoints.push({'x': new Date().getTime(), 'y': data.value});
+        if (batteryPoints.length > 1000) {
+        batteryPoints.shift();
+      }
+      chartBattery.update();
+    }
+  };
+}
+
+
+export function stop(pc, dc) {
+  if (dc) {
+    dc.close();
+  }
+  if (pc.getTransceivers) {
+    pc.getTransceivers().forEach(function(transceiver) {
+      if (transceiver.stop) {
+        transceiver.stop();
+      }
+    });
+  }
+  pc.getSenders().forEach(function(sender) {
+    sender.track.stop();
+  });
+  setTimeout(function() {
+    pc.close();
+  }, 500);
+}
diff --git a/tools/bodyteleop/static/main.css b/tools/bodyteleop/static/main.css
new file mode 100644
index 0000000000..1bfb5982b4
--- /dev/null
+++ b/tools/bodyteleop/static/main.css
@@ -0,0 +1,185 @@
+body {
+  background: #333 !important;
+  color: #fff !important;
+  display: flex;
+  justify-content: center;
+  align-items: start;
+}
+
+p {
+  margin: 0px !important;
+}
+
+i {
+  font-style: normal;
+}
+
+.small {
+  font-size: 1em !important
+}
+
+.jumbo {
+  font-size: 8rem;
+}
+
+
+@media (max-width: 600px) {
+  .small {
+      font-size: 0.5em !important
+  }
+  .jumbo {
+      display: none;
+  }
+  
+}
+
+#main {
+  display: flex;
+  flex-direction: column;
+  align-content: center;
+  justify-content: center;
+  align-items: center;
+  font-size: 30px;
+  width: 100%;
+  max-width: 1200px;
+}
+
+video {
+  width: 95%;
+}
+
+.pre-blob {
+  display: flex;
+  background: #333;
+  border-radius: 50%;
+  margin: 10px;
+  height: 45px;
+  width: 45px;
+  justify-content: center;
+  align-items: center;
+  font-size: 1rem;
+}
+
+.blob {
+  background: rgba(231, 76, 60,1.0);
+  box-shadow: 0 0 0 0 rgba(231, 76, 60,1.0);
+  animation: pulse 2s infinite;
+}
+
+@keyframes pulse {
+  0% {
+    box-shadow: 0 0 0 0px rgba(192, 57, 43, 1);
+  }
+  100% {
+    box-shadow: 0 0 0 20px rgba(192, 57, 43, 0);
+  }
+}
+
+
+.icon-sup-panel {
+  display: flex;
+  flex-direction: row;
+  justify-content: space-around;
+  align-items: center;
+  background: #222;
+  border-radius: 10px;
+  padding: 5px;
+  margin: 5px 0px 5px 0px;
+}
+
+.icon-sub-panel {
+  display: flex;
+  flex-direction: column;
+  justify-content: space-between;
+  align-items: center;
+}
+
+#icon-panel {
+  display: flex;
+  width: 100%;
+  justify-content: space-between;
+  margin-top: 5px;
+}
+
+.icon-sub-sub-panel {
+  display: flex;
+  flex-direction: row;
+}
+
+.keys, #key-val {
+  background: #333;
+  padding: 2rem;
+  margin: 5px;
+  color: #fff;
+  display: flex;
+  justify-content: center;
+  align-items: center;
+  border-radius: 10px;
+  cursor: pointer;
+}
+
+#key-val {
+  pointer-events: none;
+  background: #fff;
+  color: #333;
+  line-height: 1;
+  font-size: 20px;
+  flex-direction: column;
+}
+
+.wasd-row {
+  display: flex;
+  flex-direction: row;
+  justify-content: center;
+  align-items: stretch;
+}
+
+#wasd {
+  margin: 5px 0px 5px 0px;
+  background: #222;
+  border-radius: 10px;
+  width: 100%;
+  padding: 20px;
+  display: flex;
+  flex-direction: row;
+  justify-content: space-around;
+  align-items: stretch;
+
+  user-select: none;
+  -webkit-touch-callout: none;
+  -webkit-user-select: none;
+  -khtml-user-select: none;
+  -moz-user-select: none;
+  -ms-user-select: none;
+  touch-action: manipulation;
+}
+
+.panel {
+  display: flex;
+  justify-content: center;
+  margin: 5px 0px 5px 0px !important;
+  background: #222;
+  border-radius: 10px;
+  width: 100%;
+  padding: 10px;
+}
+
+#ping-time, #battery {
+  font-size: 25px;
+}
+
+#stop {
+  display: none;
+}
+
+.plan-form {
+  display: flex;
+  flex-direction: column;
+  justify-content: space-between;
+  align-items: center;
+}
+
+.details {
+  display: flex;
+  padding: 0px 10px 0px 10px;
+}
diff --git a/tools/bodyteleop/static/poster.png b/tools/bodyteleop/static/poster.png
new file mode 100644
index 0000000000..ba0e846b22
Binary files /dev/null and b/tools/bodyteleop/static/poster.png differ
diff --git a/tools/bodyteleop/web.py b/tools/bodyteleop/web.py
new file mode 100644
index 0000000000..e39756964f
--- /dev/null
+++ b/tools/bodyteleop/web.py
@@ -0,0 +1,202 @@
+import asyncio
+import json
+import logging
+import os
+import ssl
+import uuid
+import time
+
+from common.basedir import BASEDIR
+from aiohttp import web
+from aiortc import RTCPeerConnection, RTCSessionDescription
+
+import cereal.messaging as messaging
+from tools.bodyteleop.bodyav import BodyMic, WebClientSpeaker, force_codec, play_sound, MediaBlackhole, EncodedBodyVideo
+
+logger = logging.getLogger("pc")
+logging.basicConfig(level=logging.INFO)
+
+pcs = set()
+pm, sm = None, None
+TELEOPDIR = f"{BASEDIR}/tools/bodyteleop"
+
+
+async def index(request):
+  content = open(TELEOPDIR + "/static/index.html", "r").read()
+  now = time.monotonic()
+  request.app['mutable_vals']['last_send_time'] = now
+  request.app['mutable_vals']['last_override_time'] = now
+  request.app['mutable_vals']['prev_command'] = []
+  request.app['mutable_vals']['find_person'] = False
+
+  return web.Response(content_type="text/html", text=content)
+
+
+async def control_body(data, app):
+  now = time.monotonic()
+  if (data['type'] == 'dummy_controls') and (now < (app['mutable_vals']['last_send_time'] + 0.2)):
+    return
+  if (data['type'] == 'control_command') and (app['mutable_vals']['prev_command'] == [data['x'], data['y']] and data['x'] == 0 and data['y'] == 0):
+    return
+
+  logger.info(str(data))
+  x = max(-1.0, min(1.0, data['x']))
+  y = max(-1.0, min(1.0, data['y']))
+  dat = messaging.new_message('testJoystick')
+  dat.testJoystick.axes = [x, y]
+  dat.testJoystick.buttons = [False]
+  pm.send('testJoystick', dat)
+  app['mutable_vals']['last_send_time'] = now
+  if (data['type'] == 'control_command'):
+    app['mutable_vals']['last_override_time'] = now
+    app['mutable_vals']['prev_command'] = [data['x'], data['y']]
+
+
+async def dummy_controls_msg(app):
+  while True:
+    if 'last_send_time' in app['mutable_vals']:
+      this_time = time.monotonic()
+      if (app['mutable_vals']['last_send_time'] + 0.2) < this_time:
+        await control_body({'type': 'dummy_controls', 'x': 0, 'y': 0}, app)
+    await asyncio.sleep(0.2)
+
+
+async def start_background_tasks(app):
+  app['bgtask_dummy_controls_msg'] = asyncio.create_task(dummy_controls_msg(app))
+
+
+async def stop_background_tasks(app):
+  app['bgtask_dummy_controls_msg'].cancel()
+  await app['bgtask_dummy_controls_msg']
+
+
+async def offer(request):
+  logger.info("\n\n\nnewoffer!\n\n")
+
+  params = await request.json()
+  offer = RTCSessionDescription(sdp=params["sdp"], type=params["type"])
+  speaker = WebClientSpeaker()
+  blackhole = MediaBlackhole()
+
+  pc = RTCPeerConnection()
+  pc_id = "PeerConnection(%s)" % uuid.uuid4()
+  pcs.add(pc)
+
+  def log_info(msg, *args):
+    logger.info(pc_id + " " + msg, *args)
+
+  log_info("Created for %s", request.remote)
+
+  @pc.on("datachannel")
+  def on_datachannel(channel):
+    request.app['mutable_vals']['remote_channel'] = channel
+
+    @channel.on("message")
+    async def on_message(message):
+      data = json.loads(message)
+      if data['type'] == 'control_command':
+        await control_body(data, request.app)
+        times = {
+          'type': 'ping_time',
+          'incoming_time': data['dt'],
+          'outgoing_time': int(time.time() * 1000),
+        }
+        channel.send(json.dumps(times))
+      if data['type'] == 'battery_level':
+        sm.update(timeout=0)
+        if sm.updated['carState']:
+          channel.send(json.dumps({'type': 'battery_level', 'value': int(sm['carState'].fuelGauge * 100)}))
+      if data['type'] == 'play_sound':
+        logger.info(f"Playing sound: {data['sound']}")
+        await play_sound(data['sound'])
+      if data['type'] == 'find_person':
+        request.app['mutable_vals']['find_person'] = data['value']
+
+  @pc.on("connectionstatechange")
+  async def on_connectionstatechange():
+    log_info("Connection state is %s", pc.connectionState)
+    if pc.connectionState == "failed":
+      await pc.close()
+      pcs.discard(pc)
+
+  @pc.on('track')
+  def on_track(track):
+    logger.info(f"Track received: {track.kind}")
+    if track.kind == "audio":
+      speaker.addTrack(track)
+    elif track.kind == "video":
+      blackhole.addTrack(track)
+
+    @track.on("ended")
+    async def on_ended():
+      log_info("Remote %s track ended", track.kind)
+      if track.kind == "audio":
+        await speaker.stop()
+      elif track.kind == "video":
+        await blackhole.stop()
+
+  video_sender = pc.addTrack(EncodedBodyVideo())
+  force_codec(pc, video_sender, forced_codec='video/H264')
+  _ = pc.addTrack(BodyMic())
+
+  await pc.setRemoteDescription(offer)
+  await speaker.start()
+  await blackhole.start()
+  answer = await pc.createAnswer()
+  await pc.setLocalDescription(answer)
+
+  return web.Response(
+    content_type="application/json",
+    text=json.dumps(
+      {"sdp": pc.localDescription.sdp, "type": pc.localDescription.type}
+    ),
+  )
+
+
+async def on_shutdown(app):
+  coros = [pc.close() for pc in pcs]
+  await asyncio.gather(*coros)
+  pcs.clear()
+
+
+async def run(cmd):
+  proc = await asyncio.create_subprocess_shell(
+    cmd,
+    stdout=asyncio.subprocess.PIPE,
+    stderr=asyncio.subprocess.PIPE
+  )
+  stdout, stderr = await proc.communicate()
+  logger.info("Created key and cert!")
+  if stdout:
+    logger.info(f'[stdout]\n{stdout.decode()}')
+  if stderr:
+    logger.info(f'[stderr]\n{stderr.decode()}')
+
+
+def main():
+  global pm, sm
+  pm = messaging.PubMaster(['testJoystick'])
+  sm = messaging.SubMaster(['carState', 'logMessage'])
+  # App needs to be HTTPS for microphone and audio autoplay to work on the browser
+  cert_path = TELEOPDIR + '/cert.pem'
+  key_path = TELEOPDIR + '/key.pem'
+  if (not os.path.exists(cert_path)) or (not os.path.exists(key_path)):
+    asyncio.run(run(f'openssl req -x509 -newkey rsa:4096 -nodes -out {cert_path} -keyout {key_path} \
+                     -days 365 -subj "/C=US/ST=California/O=commaai/OU=comma body"'))
+  else:
+    logger.info("Certificate exists!")
+  ssl_context = ssl.SSLContext()
+  ssl_context.load_cert_chain(cert_path, key_path)
+  app = web.Application()
+  app['mutable_vals'] = {}
+  app.on_shutdown.append(on_shutdown)
+  app.router.add_post("/offer", offer)
+  app.router.add_get("/", index)
+  app.router.add_static('/static', TELEOPDIR + '/static')
+  app.on_startup.append(start_background_tasks)
+  app.on_cleanup.append(stop_background_tasks)
+  web.run_app(app, access_log=None, host="0.0.0.0", port=5000, ssl_context=ssl_context)
+
+
+if __name__ == "__main__":
+  main()
diff --git a/tools/cabana/SConscript b/tools/cabana/SConscript
index f12888b792..d726872718 100644
--- a/tools/cabana/SConscript
+++ b/tools/cabana/SConscript
@@ -29,7 +29,7 @@ cabana_env.Depends(assets, Glob('/assets/*', exclude=[assets, assets_src, "asset
 
 prev_moc_path = cabana_env['QT_MOCHPREFIX']
 cabana_env['QT_MOCHPREFIX'] = os.path.dirname(prev_moc_path) + '/cabana/moc_'
-cabana_lib = cabana_env.Library("cabana_lib", ['mainwin.cc', 'streams/pandastream.cc', 'streams/devicestream.cc', 'streams/livestream.cc', 'streams/abstractstream.cc', 'streams/replaystream.cc', 'binaryview.cc', 'historylog.cc', 'videowidget.cc', 'signalview.cc', 
+cabana_lib = cabana_env.Library("cabana_lib", ['mainwin.cc', 'streams/pandastream.cc', 'streams/devicestream.cc', 'streams/livestream.cc', 'streams/abstractstream.cc', 'streams/replaystream.cc', 'binaryview.cc', 'historylog.cc', 'videowidget.cc', 'signalview.cc',
                                                'dbc/dbc.cc', 'dbc/dbcfile.cc', 'dbc/dbcmanager.cc',
                                                'chart/chartswidget.cc', 'chart/chart.cc', 'chart/signalselector.cc', 'chart/tiplabel.cc', 'chart/sparkline.cc',
                                                'commands.cc', 'messageswidget.cc', 'streamselector.cc', 'settings.cc', 'util.cc', 'detailwidget.cc', 'tools/findsimilarbits.cc', 'tools/findsignal.cc'], LIBS=cabana_libs, FRAMEWORKS=base_frameworks)
@@ -38,6 +38,7 @@ cabana_env.Program('cabana', ['cabana.cc', cabana_lib, assets], LIBS=cabana_libs
 if GetOption('test'):
   cabana_env.Program('tests/test_cabana', ['tests/test_runner.cc', 'tests/test_cabana.cc', cabana_lib], LIBS=[cabana_libs])
 
-def generate_dbc_json(target, source, env):
-  env.Execute('tools/cabana/dbc/generate_dbc_json.py --out tools/cabana/dbc/car_fingerprint_to_dbc.json')
-cabana_env.Command('generate_dbc_json', [], generate_dbc_json)
+generate_dbc = cabana_env.Command('generate_dbc_json',
+                                   [],
+                                   "python3 tools/cabana/dbc/generate_dbc_json.py --out tools/cabana/dbc/car_fingerprint_to_dbc.json")
+cabana_env.Depends(generate_dbc, ["#common", "#selfdrive/boardd", "#opendbc", "#cereal"])
diff --git a/tools/cabana/binaryview.cc b/tools/cabana/binaryview.cc
index 50f66e5182..6aac56cc78 100644
--- a/tools/cabana/binaryview.cc
+++ b/tools/cabana/binaryview.cc
@@ -1,7 +1,5 @@
 #include "tools/cabana/binaryview.h"
 
-#include <cmath>
-
 #include <QFontDatabase>
 #include <QHeaderView>
 #include <QMouseEvent>
@@ -11,16 +9,12 @@
 #include <QToolTip>
 
 #include "tools/cabana/commands.h"
-#include "tools/cabana/signalview.h"
 
 // BinaryView
 
 const int CELL_HEIGHT = 36;
 const int VERTICAL_HEADER_WIDTH = 30;
-
-inline int get_bit_index(const QModelIndex &index, bool little_endian) {
-  return index.row() * 8 + (little_endian ? 7 - index.column() : index.column());
-}
+inline int get_bit_pos(const QModelIndex &index) { return flipBitPos(index.row() * 8 + index.column()); }
 
 BinaryView::BinaryView(QWidget *parent) : QTableView(parent) {
   model = new BinaryViewModel(this);
@@ -66,7 +60,7 @@ void BinaryView::addShortcuts() {
   QObject::connect(shortcut_delete_backspace, &QShortcut::activated, shortcut_delete_x, &QShortcut::activated);
   QObject::connect(shortcut_delete_x, &QShortcut::activated, [=]{
     if (hovered_sig != nullptr) {
-      emit removeSignal(hovered_sig);
+      UndoStack::push(new RemoveSigCommand(model->msg_id, hovered_sig));
       hovered_sig = nullptr;
     }
   });
@@ -75,13 +69,9 @@ void BinaryView::addShortcuts() {
   QShortcut *shortcut_endian = new QShortcut(QKeySequence(Qt::Key_E), this);
   QObject::connect(shortcut_endian, &QShortcut::activated, [=]{
     if (hovered_sig != nullptr) {
-      const cabana::Signal *hovered_sig_prev = hovered_sig;
       cabana::Signal s = *hovered_sig;
       s.is_little_endian = !s.is_little_endian;
       emit editSignal(hovered_sig, s);
-
-      hovered_sig = nullptr;
-      highlight(hovered_sig_prev);
     }
   });
 
@@ -89,13 +79,9 @@ void BinaryView::addShortcuts() {
   QShortcut *shortcut_sign = new QShortcut(QKeySequence(Qt::Key_S), this);
   QObject::connect(shortcut_sign, &QShortcut::activated, [=]{
     if (hovered_sig != nullptr) {
-      const cabana::Signal *hovered_sig_prev = hovered_sig;
       cabana::Signal s = *hovered_sig;
       s.is_signed = !s.is_signed;
       emit editSignal(hovered_sig, s);
-
-      hovered_sig = nullptr;
-      highlight(hovered_sig_prev);
     }
   });
 
@@ -127,15 +113,6 @@ void BinaryView::highlight(const cabana::Signal *sig) {
       }
     }
 
-    if (sig && underMouse()) {
-      QString tooltip = tr(R"(%1<br /><span style="color:gray;font-size:small">
-        Size:%2 LE:%3 SGD:%4</span>
-      )").arg(sig->name).arg(sig->size).arg(sig->is_little_endian ? "Y" : "N").arg(sig->is_signed ? "Y" : "N");
-      QToolTip::showText(QCursor::pos(), tooltip, this, rect());
-    } else {
-      QToolTip::showText(QCursor::pos(), "", this, rect());
-    }
-
     hovered_sig = sig;
     emit signalHovered(hovered_sig);
   }
@@ -148,24 +125,24 @@ void BinaryView::setSelection(const QRect &rect, QItemSelectionModel::SelectionF
 
   QItemSelection selection;
   auto [start, size, is_lb] = getSelection(index);
-  for (int i = start; i < start + size; ++i) {
-    auto idx = model->bitIndex(i, is_lb);
-    selection.merge({idx, idx}, flags);
+  for (int i = 0; i < size; ++i) {
+    int pos = is_lb ? flipBitPos(start + i) : flipBitPos(start) + i;
+    selection << QItemSelectionRange{model->index(pos / 8, pos % 8)};
   }
   selectionModel()->select(selection, flags);
 }
 
 void BinaryView::mousePressEvent(QMouseEvent *event) {
-  delegate->selection_color = (palette().color(QPalette::Active, QPalette::Highlight));
+  resize_sig = nullptr;
   if (auto index = indexAt(event->pos()); index.isValid() && index.column() != 8) {
     anchor_index = index;
     auto item = (const BinaryViewModel::Item *)anchor_index.internalPointer();
-    int bit_idx = get_bit_index(anchor_index, true);
+    int bit_pos = get_bit_pos(anchor_index);
     for (auto s : item->sigs) {
-      if (bit_idx == s->lsb || bit_idx == s->msb) {
-        anchor_index = model->bitIndex(bit_idx == s->lsb ? s->msb : s->lsb, true);
+      if (bit_pos == s->lsb || bit_pos == s->msb) {
+        int idx = flipBitPos(bit_pos == s->lsb ? s->msb : s->lsb);
+        anchor_index = model->index(idx / 8, idx % 8);
         resize_sig = s;
-        delegate->selection_color = getColor(s);
         break;
       }
     }
@@ -192,9 +169,10 @@ void BinaryView::mouseReleaseEvent(QMouseEvent *event) {
   auto release_index = indexAt(event->pos());
   if (release_index.isValid() && anchor_index.isValid()) {
     if (selectionModel()->hasSelection()) {
-      auto [start_bit, size, is_lb] = getSelection(release_index);
-      resize_sig ? emit resizeSignal(resize_sig, start_bit, size)
-                 : emit addSignal(start_bit, size, is_lb);
+      auto sig = resize_sig ? *resize_sig : cabana::Signal{};
+      std::tie(sig.start_bit, sig.size, sig.is_little_endian) = getSelection(release_index);
+      resize_sig ? emit editSignal(resize_sig, sig)
+                 : UndoStack::push(new AddSigCommand(model->msg_id, sig));
     } else {
       auto item = (const BinaryViewModel::Item *)anchor_index.internalPointer();
       if (item && item->sigs.size() > 0)
@@ -228,9 +206,12 @@ void BinaryView::refresh() {
 
 QSet<const cabana::Signal *> BinaryView::getOverlappingSignals() const {
   QSet<const cabana::Signal *> overlapping;
-  for (auto &item : model->items) {
-    if (item.sigs.size() > 1)
-      for (auto s : item.sigs) overlapping += s;
+  for (const auto &item : model->items) {
+    if (item.sigs.size() > 1) {
+      for (auto s : item.sigs) {
+        if (s->type == cabana::Signal::Type::Normal) overlapping += s;
+      }
+    }
   }
   return overlapping;
 }
@@ -252,10 +233,11 @@ std::tuple<int, int, bool> BinaryView::getSelection(QModelIndex index) {
     is_lb = false;
   }
 
-  int cur_bit_idx = get_bit_index(index, is_lb);
-  int anchor_bit_idx = get_bit_index(anchor_index, is_lb);
-  auto [start_bit, end_bit] = std::minmax(cur_bit_idx, anchor_bit_idx);
-  return {start_bit, end_bit - start_bit + 1, is_lb};
+  int cur_bit_pos = get_bit_pos(index);
+  int anchor_bit_pos = get_bit_pos(anchor_index);
+  int start_bit = is_lb ? std::min(cur_bit_pos, anchor_bit_pos) : get_bit_pos(std::min(index, anchor_index));
+  int size = is_lb ? std::abs(cur_bit_pos - anchor_bit_pos) + 1 : std::abs(flipBitPos(cur_bit_pos) - flipBitPos(anchor_bit_pos)) + 1;
+  return {start_bit, size, is_lb};
 }
 
 // BinaryViewModel
@@ -267,16 +249,15 @@ void BinaryViewModel::refresh() {
     row_count = dbc_msg->size;
     items.resize(row_count * column_count);
     for (auto sig : dbc_msg->getSignals()) {
-      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;
+      for (int j = 0; j < sig->size; ++j) {
+        int pos = sig->is_little_endian ? flipBitPos(sig->start_bit + j) : flipBitPos(sig->start_bit) + j;
+        int idx = column_count * (pos / 8) + pos % 8;
         if (idx >= items.size()) {
           qWarning() << "signal " << sig->name << "out of bounds.start_bit:" << sig->start_bit << "size:" << sig->size;
           break;
         }
-        if (j == start) sig->is_little_endian ? items[idx].is_lsb = true : items[idx].is_msb = true;
-        if (j == end) sig->is_little_endian ? items[idx].is_msb = true : items[idx].is_lsb = true;
+        if (j == 0) sig->is_little_endian ? items[idx].is_lsb = true : items[idx].is_msb = true;
+        if (j == sig->size - 1) sig->is_little_endian ? items[idx].is_msb = true : items[idx].is_lsb = true;
 
         auto &sigs = items[idx].sigs;
         sigs.push_back(sig);
@@ -349,6 +330,16 @@ QVariant BinaryViewModel::headerData(int section, Qt::Orientation orientation, i
   return {};
 }
 
+QVariant BinaryViewModel::data(const QModelIndex &index, int role) const {
+  if (role == Qt::ToolTipRole) {
+    auto item = (const BinaryViewModel::Item *)index.internalPointer();
+    if (item && !item->sigs.empty()) {
+      return signalToolTip(item->sigs.back());
+    }
+  }
+  return {};
+}
+
 // BinaryItemDelegate
 
 BinaryItemDelegate::BinaryItemDelegate(QObject *parent) : QStyledItemDelegate(parent) {
@@ -375,13 +366,14 @@ void BinaryItemDelegate::paint(QPainter *painter, const QStyleOptionViewItem &op
       painter->fillRect(option.rect, item->bg_color);
     }
   } else if (option.state & QStyle::State_Selected) {
-    painter->fillRect(option.rect, selection_color);
+    auto color = bin_view->resize_sig ? bin_view->resize_sig->color : option.palette.color(QPalette::Active, QPalette::Highlight);
+    painter->fillRect(option.rect, color);
     painter->setPen(option.palette.color(QPalette::BrightText));
   } else if (!bin_view->selectionModel()->hasSelection() || !item->sigs.contains(bin_view->resize_sig)) {  // not resizing
     if (item->sigs.size() > 0) {
       for (auto &s : item->sigs) {
         if (s == bin_view->hovered_sig) {
-          painter->fillRect(option.rect, getColor(bin_view->hovered_sig).darker(125));  // 4/5x brightness
+          painter->fillRect(option.rect, s->color.darker(125));  // 4/5x brightness
         } else {
           drawSignalCell(painter, option, index, s);
         }
@@ -434,13 +426,14 @@ void BinaryItemDelegate::drawSignalCell(QPainter *painter, const QStyleOptionVie
   painter->setClipRegion(QRegion(rc).subtracted(subtract));
 
   auto item = (const BinaryViewModel::Item *)index.internalPointer();
-  auto sig_color = getColor(sig);
-  QColor color = sig_color;
+  QColor color = sig->color;
   color.setAlpha(item->bg_color.alpha());
-  painter->fillRect(rc, Qt::white);
+  // Mixing the signal colour with the Base background color to fade it
+  painter->fillRect(rc, option.palette.color(QPalette::Base));
   painter->fillRect(rc, color);
 
-  color = sig_color.darker(125);
+  // Draw edges
+  color = sig->color.darker(125);
   painter->setPen(QPen(color, 1));
   if (draw_left) painter->drawLine(rc.topLeft(), rc.bottomLeft());
   if (draw_right) painter->drawLine(rc.topRight(), rc.bottomRight());
diff --git a/tools/cabana/binaryview.h b/tools/cabana/binaryview.h
index baeb79cba7..161b2aad8a 100644
--- a/tools/cabana/binaryview.h
+++ b/tools/cabana/binaryview.h
@@ -1,6 +1,5 @@
 #pragma once
 
-#include <QApplication>
 #include <QList>
 #include <QSet>
 #include <QStyledItemDelegate>
@@ -13,12 +12,10 @@ class BinaryItemDelegate : public QStyledItemDelegate {
 public:
   BinaryItemDelegate(QObject *parent);
   void paint(QPainter *painter, const QStyleOptionViewItem &option, const QModelIndex &index) const override;
-  void setSelectionColor(const QColor &color) { selection_color = color; }
   bool hasSignal(const QModelIndex &index, int dx, int dy, const cabana::Signal *sig) const;
   void drawSignalCell(QPainter* painter, const QStyleOptionViewItem &option, const QModelIndex &index, const cabana::Signal *sig) const;
 
   QFont small_font, hex_font;
-  QColor selection_color;
 };
 
 class BinaryViewModel : public QAbstractTableModel {
@@ -28,10 +25,9 @@ public:
   void updateState();
   void updateItem(int row, int col, const QString &val, const QColor &color);
   QVariant headerData(int section, Qt::Orientation orientation, int role = Qt::DisplayRole) const override;
-  QVariant data(const QModelIndex &index, int role = Qt::DisplayRole) const { return {}; }
+  QVariant data(const QModelIndex &index, int role = Qt::DisplayRole) const override;
   int rowCount(const QModelIndex &parent = QModelIndex()) const override { return row_count; }
   int columnCount(const QModelIndex &parent = QModelIndex()) const override { return column_count; }
-  inline QModelIndex bitIndex(int bit, bool is_lb) const { return index(bit / 8, is_lb ? (7 - bit % 8) : bit % 8); }
   QModelIndex index(int row, int column, const QModelIndex &parent = QModelIndex()) const override {
     return createIndex(row, column, (void *)&items[row * column_count + column]);
   }
@@ -68,9 +64,6 @@ public:
 signals:
   void signalClicked(const cabana::Signal *sig);
   void signalHovered(const cabana::Signal *sig);
-  void addSignal(int start_bit, int size, bool little_endian);
-  void resizeSignal(const cabana::Signal *sig, int from, int size);
-  void removeSignal(const cabana::Signal *sig);
   void editSignal(const cabana::Signal *origin_s, cabana::Signal &s);
   void showChart(const MessageId &id, const cabana::Signal *sig, bool show, bool merge);
 
diff --git a/tools/cabana/cabana.cc b/tools/cabana/cabana.cc
index 0a4b9eb112..49b8fcf6ca 100644
--- a/tools/cabana/cabana.cc
+++ b/tools/cabana/cabana.cc
@@ -15,6 +15,8 @@ int main(int argc, char *argv[]) {
   QApplication app(argc, argv);
   app.setApplicationDisplayName("Cabana");
   app.setWindowIcon(QIcon(":cabana-icon.png"));
+
+  UnixSignalHandler signalHandler;
   utils::setTheme(settings.theme);
 
   QCommandLineParser cmd_parser;
@@ -42,7 +44,12 @@ int main(int argc, char *argv[]) {
     if (cmd_parser.isSet("panda-serial")) {
       config.serial = cmd_parser.value("panda-serial");
     }
-    stream = new PandaStream(&app, config);
+    try {
+      stream = new PandaStream(&app, config);
+    } catch (std::exception &e) {
+      qWarning() << e.what();
+      return 0;
+    }
   } else {
     uint32_t replay_flags = REPLAY_FLAG_NONE;
     if (cmd_parser.isSet("ecam")) {
@@ -83,5 +90,8 @@ int main(int argc, char *argv[]) {
     w.loadFile(dbc_file);
   }
   w.show();
-  return app.exec();
+
+  int ret = app.exec();
+  delete can;
+  return ret;
 }
diff --git a/tools/cabana/chart/chart.cc b/tools/cabana/chart/chart.cc
index a7f700f3c2..7ba2e87110 100644
--- a/tools/cabana/chart/chart.cc
+++ b/tools/cabana/chart/chart.cc
@@ -38,7 +38,6 @@ ChartView::ChartView(const std::pair<double, double> &x_range, ChartsWidget *par
   setChart(chart);
 
   createToolButtons();
-  // TODO: enable zoomIn/seekTo in live streaming mode.
   setRubberBand(QChartView::HorizontalRubberBand);
   setMouseTracking(true);
   setTheme(settings.theme == DARK_THEME ? QChart::QChart::ChartThemeDark : QChart::ChartThemeLight);
@@ -107,14 +106,14 @@ void ChartView::setTheme(QChart::ChartTheme theme) {
     chart()->legend()->setLabelColor(palette().color(QPalette::Text));
   }
   for (auto &s : sigs) {
-    s.series->setColor(getColor(s.sig));
+    s.series->setColor(s.sig->color);
   }
 }
 
 void ChartView::addSignal(const MessageId &msg_id, const cabana::Signal *sig) {
   if (hasSignal(msg_id, sig)) return;
 
-  QXYSeries *series = createSeries(series_type, getColor(sig));
+  QXYSeries *series = createSeries(series_type, sig->color);
   sigs.push_back({.msg_id = msg_id, .sig = sig, .series = series});
   updateSeries(sig);
   updateSeriesPoints();
@@ -154,8 +153,9 @@ void ChartView::signalUpdated(const cabana::Signal *sig) {
 }
 
 void ChartView::msgUpdated(MessageId id) {
-  if (std::any_of(sigs.cbegin(), sigs.cend(), [=](auto &s) { return s.msg_id == id; }))
+  if (std::any_of(sigs.cbegin(), sigs.cend(), [=](auto &s) { return s.msg_id.address == id.address; })) {
     updateTitle();
+  }
 }
 
 void ChartView::manageSignals() {
@@ -213,9 +213,19 @@ void ChartView::updateTitle() {
   for (QLegendMarker *marker : chart()->legend()->markers()) {
     QObject::connect(marker, &QLegendMarker::clicked, this, &ChartView::handleMarkerClicked, Qt::UniqueConnection);
   }
+
+  // Use CSS to draw titles in the WindowText color
+  auto tmp = palette().color(QPalette::WindowText);
+  auto titleColorCss = tmp.name(QColor::HexArgb);
+  // Draw message details in similar color, but slightly fade it to the background
+  tmp.setAlpha(180);
+  auto msgColorCss = tmp.name(QColor::HexArgb);
+
   for (auto &s : sigs) {
     auto decoration = s.series->isVisible() ? "none" : "line-through";
-    s.series->setName(QString("<span style=\"text-decoration:%1\"><b>%2</b> <font color=\"gray\">%3 %4</font></span>").arg(decoration, s.sig->name, msgName(s.msg_id), s.msg_id.toString()));
+    s.series->setName(QString("<span style=\"text-decoration:%1; color:%2\"><b>%3</b> <font color=\"%4\">%5 %6</font></span>")
+                      .arg(decoration, titleColorCss, s.sig->name,
+                           msgColorCss, msgName(s.msg_id), s.msg_id.toString()));
   }
   split_chart_act->setEnabled(sigs.size() > 1);
   resetChartCache();
@@ -267,7 +277,7 @@ void ChartView::updateSeries(const cabana::Signal *sig, bool clear) {
         s.step_vals.clear();
         s.last_value_mono_time = 0;
       }
-      s.series->setColor(getColor(s.sig));
+      s.series->setColor(s.sig->color);
 
       const auto &msgs = can->events(s.msg_id);
       s.vals.reserve(msgs.capacity());
@@ -279,14 +289,16 @@ void ChartView::updateSeries(const cabana::Signal *sig, bool clear) {
       const double route_start_time = can->routeStartTime();
       for (auto end = msgs.cend(); first != end; ++first) {
         const CanEvent *e = *first;
-        double value = get_raw_value(e->dat, e->size, *s.sig);
-        double ts = e->mono_time / 1e9 - route_start_time;  // seconds
-        s.vals.append({ts, value});
-        if (!s.step_vals.empty()) {
-          s.step_vals.append({ts, s.step_vals.back().y()});
+        double value = 0;
+        if (s.sig->getValue(e->dat, e->size, &value)) {
+          double ts = e->mono_time / 1e9 - route_start_time;  // seconds
+          s.vals.append({ts, value});
+          if (!s.step_vals.empty()) {
+            s.step_vals.append({ts, s.step_vals.back().y()});
+          }
+          s.step_vals.append({ts, value});
+          s.last_value_mono_time = e->mono_time;
         }
-        s.step_vals.append({ts, value});
-        s.last_value_mono_time = e->mono_time;
       }
       if (!can->liveStreaming()) {
         s.segment_tree.build(s.vals);
@@ -472,7 +484,7 @@ void ChartView::mouseReleaseEvent(QMouseEvent *event) {
     if (rubber->width() <= 0) {
       // no rubber dragged, seek to mouse position
       can->seekTo(min);
-    } else if (rubber->width() > 10) {
+    } else if (rubber->width() > 10 && (max - min) > 0.01) { // Minimum range is 10 milliseconds.
       charts_widget->zoom_undo_stack->push(new ZoomCommand(charts_widget, {min, max}));
     } else {
       viewport()->update();
@@ -789,7 +801,7 @@ void ChartView::setSeriesType(SeriesType type) {
       s.series->deleteLater();
     }
     for (auto &s : sigs) {
-      auto series = createSeries(series_type, getColor(s.sig));
+      auto series = createSeries(series_type, s.sig->color);
       series->replace(series_type == SeriesType::StepLine ? s.step_vals : s.vals);
       s.series = series;
     }
diff --git a/tools/cabana/chart/chart.h b/tools/cabana/chart/chart.h
index 3bb191e5cd..272ea0d193 100644
--- a/tools/cabana/chart/chart.h
+++ b/tools/cabana/chart/chart.h
@@ -56,7 +56,7 @@ private slots:
   void manageSignals();
   void handleMarkerClicked();
   void msgUpdated(MessageId id);
-  void msgRemoved(MessageId id) { removeIf([=](auto &s) { return s.msg_id == id; }); }
+  void msgRemoved(MessageId id) { removeIf([=](auto &s) { return s.msg_id.address == id.address && !dbc()->msg(id); }); }
   void signalRemoved(const cabana::Signal *sig) { removeIf([=](auto &s) { return s.sig == sig; }); }
 
 private:
diff --git a/tools/cabana/chart/chartswidget.cc b/tools/cabana/chart/chartswidget.cc
index 567fceebad..ebc463af0e 100644
--- a/tools/cabana/chart/chartswidget.cc
+++ b/tools/cabana/chart/chartswidget.cc
@@ -402,7 +402,7 @@ void ChartsWidget::removeAll() {
 
   if (!charts.isEmpty()) {
     for (auto c : charts) {
-      c->deleteLater();
+      delete c;
     }
     charts.clear();
     updateToolBar();
diff --git a/tools/cabana/chart/signalselector.cc b/tools/cabana/chart/signalselector.cc
index 1aa8fc5016..50fe861a03 100644
--- a/tools/cabana/chart/signalselector.cc
+++ b/tools/cabana/chart/signalselector.cc
@@ -91,7 +91,7 @@ void SignalSelector::updateAvailableList(int index) {
 }
 
 void SignalSelector::addItemToList(QListWidget *parent, const MessageId id, const cabana::Signal *sig, bool show_msg_name) {
-  QString text = QString("<span style=\"color:%0;\">■ </span> %1").arg(getColor(sig).name(), sig->name);
+  QString text = QString("<span style=\"color:%0;\">■ </span> %1").arg(sig->color.name(), sig->name);
   if (show_msg_name) text += QString(" <font color=\"gray\">%0 %1</font>").arg(msgName(id), id.toString());
 
   QLabel *label = new QLabel(text);
diff --git a/tools/cabana/chart/sparkline.cc b/tools/cabana/chart/sparkline.cc
index 6d7b35f3a9..baedee8bb2 100644
--- a/tools/cabana/chart/sparkline.cc
+++ b/tools/cabana/chart/sparkline.cc
@@ -22,22 +22,31 @@ void Sparkline::update(const MessageId &msg_id, const cabana::Signal *sig, doubl
   if (first != last) {
     if (update_values) {
       values.clear();
-      values.reserve(std::distance(first, last));
+      if (values.capacity() < std::distance(first, last)) {
+        values.reserve(std::distance(first, last) * 2);
+      }
       min_val = std::numeric_limits<double>::max();
       max_val = std::numeric_limits<double>::lowest();
       for (auto it = first; it != last; ++it) {
         const CanEvent *e = *it;
-        double value = get_raw_value(e->dat, e->size, *sig);
-        values.emplace_back((e->mono_time - (*first)->mono_time) / 1e9, value);
-        if (min_val > value) min_val = value;
-        if (max_val < value) max_val = value;
+        double value = 0;
+        if (sig->getValue(e->dat, e->size, &value)) {
+          values.emplace_back((e->mono_time - (*first)->mono_time) / 1e9, value);
+          if (min_val > value) min_val = value;
+          if (max_val < value) max_val = value;
+        }
       }
       if (min_val == max_val) {
         min_val -= 1;
         max_val += 1;
       }
     }
-    render(getColor(sig), size);
+  } else {
+    values.clear();
+  }
+
+  if (!values.empty()) {
+    render(sig->color, size);
   } else {
     pixmap = QPixmap();
     min_val = -1;
@@ -49,7 +58,7 @@ void Sparkline::render(const QColor &color, QSize size) {
   const double xscale = (size.width() - 1) / (double)time_range;
   const double yscale = (size.height() - 3) / (max_val - min_val);
   points.clear();
-  points.reserve(values.size());
+  points.reserve(values.capacity());
   for (auto &v : values) {
     points.emplace_back(v.x() * xscale, 1 + std::abs(v.y() - max_val) * yscale);
   }
diff --git a/tools/cabana/chart/sparkline.h b/tools/cabana/chart/sparkline.h
index 69d4f4bc55..2061966ebb 100644
--- a/tools/cabana/chart/sparkline.h
+++ b/tools/cabana/chart/sparkline.h
@@ -10,6 +10,9 @@ class Sparkline {
 public:
   void update(const MessageId &msg_id, const cabana::Signal *sig, double last_msg_ts, int range, QSize size);
   const QSize size() const { return pixmap.size() / pixmap.devicePixelRatio(); }
+  inline double freq() const {
+    return values.empty() ? 0 : values.size() / std::max(values.back().x() - values.front().x(), 1.0);
+  }
 
   QPixmap pixmap;
   double min_val = 0;
diff --git a/tools/cabana/commands.cc b/tools/cabana/commands.cc
index d64e173338..cf48abb4c9 100644
--- a/tools/cabana/commands.cc
+++ b/tools/cabana/commands.cc
@@ -56,28 +56,61 @@ AddSigCommand::AddSigCommand(const MessageId &id, const cabana::Signal &sig, QUn
   setText(QObject::tr("add signal %1 to %2:%3").arg(sig.name).arg(msgName(id)).arg(id.address));
 }
 
-void AddSigCommand::undo() { dbc()->removeSignal(id, signal.name); }
-void AddSigCommand::redo() { dbc()->addSignal(id, signal); }
+void AddSigCommand::undo() {
+  dbc()->removeSignal(id, signal.name);
+  if (msg_created) dbc()->removeMsg(id);
+}
+
+void AddSigCommand::redo() {
+  if (auto msg = dbc()->msg(id); !msg) {
+    msg_created = true;
+    dbc()->updateMsg(id, dbc()->newMsgName(id), can->lastMessage(id).dat.size(), "");
+  }
+  signal.name = dbc()->newSignalName(id);
+  signal.max = std::pow(2, signal.size) - 1;
+  dbc()->addSignal(id, signal);
+}
 
 // RemoveSigCommand
 
 RemoveSigCommand::RemoveSigCommand(const MessageId &id, const cabana::Signal *sig, QUndoCommand *parent)
-    : id(id), signal(*sig), QUndoCommand(parent) {
-  setText(QObject::tr("remove signal %1 from %2:%3").arg(signal.name).arg(msgName(id)).arg(id.address));
+    : id(id), QUndoCommand(parent) {
+  sigs.push_back(*sig);
+  if (sig->type == cabana::Signal::Type::Multiplexor) {
+    for (const auto &s : dbc()->msg(id)->sigs) {
+      if (s->type == cabana::Signal::Type::Multiplexed) {
+        sigs.push_back(*s);
+      }
+    }
+  }
+  setText(QObject::tr("remove signal %1 from %2:%3").arg(sig->name).arg(msgName(id)).arg(id.address));
 }
 
-void RemoveSigCommand::undo() { dbc()->addSignal(id, signal); }
-void RemoveSigCommand::redo() { dbc()->removeSignal(id, signal.name); }
+void RemoveSigCommand::undo() { for (const auto &s : sigs) dbc()->addSignal(id, s); }
+void RemoveSigCommand::redo() { for (const auto &s : sigs) dbc()->removeSignal(id, s.name); }
 
 // EditSignalCommand
 
 EditSignalCommand::EditSignalCommand(const MessageId &id, const cabana::Signal *sig, const cabana::Signal &new_sig, QUndoCommand *parent)
-    : id(id), old_signal(*sig), new_signal(new_sig), QUndoCommand(parent) {
-  setText(QObject::tr("edit signal %1 in %2:%3").arg(old_signal.name).arg(msgName(id)).arg(id.address));
+    : id(id), QUndoCommand(parent) {
+  sigs.push_back({*sig, new_sig});
+  if (sig->type == cabana::Signal::Type::Multiplexor && new_sig.type == cabana::Signal::Type::Normal) {
+    // convert all multiplexed signals to normal signals
+    auto msg = dbc()->msg(id);
+    assert(msg);
+    for (const auto &s : msg->sigs) {
+      if (s->type == cabana::Signal::Type::Multiplexed) {
+        auto new_s = *s;
+        new_s.type = cabana::Signal::Type::Normal;
+        sigs.push_back({*s, new_s});
+      }
+    }
+  }
+  setText(QObject::tr("edit signal %1 in %2:%3").arg(sig->name).arg(msgName(id)).arg(id.address));
 }
 
-void EditSignalCommand::undo() { dbc()->updateSignal(id, new_signal.name, old_signal); }
-void EditSignalCommand::redo() { dbc()->updateSignal(id, old_signal.name, new_signal); }
+void EditSignalCommand::undo() { for (const auto &s : sigs) dbc()->updateSignal(id, s.second.name, s.first); }
+void EditSignalCommand::redo() { for (const auto &s : sigs) dbc()->updateSignal(id, s.first.name, s.second); }
 
 namespace UndoStack {
 
diff --git a/tools/cabana/commands.h b/tools/cabana/commands.h
index 2552115229..a1e667807e 100644
--- a/tools/cabana/commands.h
+++ b/tools/cabana/commands.h
@@ -37,6 +37,7 @@ public:
 
 private:
   const MessageId id;
+  bool msg_created = false;
   cabana::Signal signal = {};
 };
 
@@ -48,7 +49,7 @@ public:
 
 private:
   const MessageId id;
-  cabana::Signal signal = {};
+  QList<cabana::Signal> sigs;
 };
 
 class EditSignalCommand : public QUndoCommand {
@@ -59,8 +60,7 @@ public:
 
 private:
   const MessageId id;
-  cabana::Signal old_signal = {};
-  cabana::Signal new_signal = {};
+  QList<std::pair<cabana::Signal, cabana::Signal>> sigs; // QList<{old_sig, new_sig}>
 };
 
 namespace UndoStack {
diff --git a/tools/cabana/dbc/dbc.cc b/tools/cabana/dbc/dbc.cc
index cb5ebff602..691a1c4fb8 100644
--- a/tools/cabana/dbc/dbc.cc
+++ b/tools/cabana/dbc/dbc.cc
@@ -1,26 +1,102 @@
 #include "tools/cabana/dbc/dbc.h"
+
 #include "tools/cabana/util.h"
 
 uint qHash(const MessageId &item) {
   return qHash(item.source) ^ qHash(item.address);
 }
 
-std::vector<const cabana::Signal*> cabana::Msg::getSignals() const {
-  std::vector<const Signal*> ret;
-  ret.reserve(sigs.size());
-  for (auto &sig : sigs) ret.push_back(&sig);
-  std::sort(ret.begin(), ret.end(), [](auto l, auto r) { return l->start_bit < r->start_bit; });
-  return ret;
+// cabana::Msg
+
+cabana::Msg::~Msg() {
+  for (auto s : sigs) {
+    delete s;
+  }
 }
 
-void cabana::Msg::updateMask() {
-  mask = QVector<uint8_t>(size, 0x00).toList();
-  for (auto &sig : sigs) {
-    int i = sig.msb / 8;
-    int bits = sig.size;
+cabana::Signal *cabana::Msg::addSignal(const cabana::Signal &sig) {
+  auto s = sigs.emplace_back(new cabana::Signal(sig));
+  update();
+  return s;
+}
+
+cabana::Signal *cabana::Msg::updateSignal(const QString &sig_name, const cabana::Signal &new_sig) {
+  auto s = sig(sig_name);
+  if (s) {
+    *s = new_sig;
+    update();
+  }
+  return s;
+}
+
+void cabana::Msg::removeSignal(const QString &sig_name) {
+  auto it = std::find_if(sigs.begin(), sigs.end(), [&](auto &s) { return s->name == sig_name; });
+  if (it != sigs.end()) {
+    delete *it;
+    sigs.erase(it);
+    update();
+  }
+}
+
+cabana::Msg &cabana::Msg::operator=(const cabana::Msg &other) {
+  address = other.address;
+  name = other.name;
+  size = other.size;
+  comment = other.comment;
+
+  for (auto s : sigs) delete s;
+  sigs.clear();
+  for (auto s : other.sigs) {
+    sigs.push_back(new cabana::Signal(*s));
+  }
+
+  update();
+  return *this;
+}
+
+cabana::Signal *cabana::Msg::sig(const QString &sig_name) const {
+  auto it = std::find_if(sigs.begin(), sigs.end(), [&](auto &s) { return s->name == sig_name; });
+  return it != sigs.end() ? *it : nullptr;
+}
+
+int cabana::Msg::indexOf(const cabana::Signal *sig) const {
+  for (int i = 0; i < sigs.size(); ++i) {
+    if (sigs[i] == sig) return i;
+  }
+  return -1;
+}
+
+QString cabana::Msg::newSignalName() {
+  QString new_name;
+  for (int i = 1; /**/; ++i) {
+    new_name = QString("NEW_SIGNAL_%1").arg(i);
+    if (sig(new_name) == nullptr) break;
+  }
+  return new_name;
+}
+
+void cabana::Msg::update() {
+  mask.assign(size, 0x00);
+  multiplexor = nullptr;
+
+  // sort signals
+  std::sort(sigs.begin(), sigs.end(), [](auto l, auto r) {
+    return std::tie(r->type, l->multiplex_value, l->start_bit, l->name) <
+           std::tie(l->type, r->multiplex_value, r->start_bit, r->name);
+  });
+
+  for (auto sig : sigs) {
+    if (sig->type == cabana::Signal::Type::Multiplexor) {
+      multiplexor = sig;
+    }
+    sig->update();
+
+    // update mask
+    int i = sig->msb / 8;
+    int bits = sig->size;
     while (i >= 0 && i < 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 lsb = (int)(sig->lsb / 8) == i ? sig->lsb : i * 8;
+      int msb = (int)(sig->msb / 8) == i ? sig->msb : (i + 1) * 8 - 1;
 
       int sz = msb - lsb + 1;
       int shift = (lsb - (i * 8));
@@ -28,19 +104,41 @@ void cabana::Msg::updateMask() {
       mask[i] |= ((1ULL << sz) - 1) << shift;
 
       bits -= size;
-      i = sig.is_little_endian ? i - 1 : i + 1;
+      i = sig->is_little_endian ? i - 1 : i + 1;
+    }
+  }
+
+  for (auto sig : sigs) {
+    sig->multiplexor = sig->type == cabana::Signal::Type::Multiplexed ? multiplexor : nullptr;
+    if (!sig->multiplexor) {
+      if (sig->type == cabana::Signal::Type::Multiplexed) {
+        sig->type = cabana::Signal::Type::Normal;
+      }
+      sig->multiplex_value = 0;
     }
   }
 }
 
-void cabana::Signal::updatePrecision() {
+// cabana::Signal
+
+void cabana::Signal::update() {
+  updateMsbLsb(*this);
+
+  float h = 19 * (float)lsb / 64.0;
+  h = fmod(h, 1.0);
+  size_t hash = qHash(name);
+  float s = 0.25 + 0.25 * (float)(hash & 0xff) / 255.0;
+  float v = 0.75 + 0.25 * (float)((hash >> 8) & 0xff) / 255.0;
+
+  color = QColor::fromHsvF(h, s, v);
   precision = std::max(num_decimals(factor), num_decimals(offset));
 }
 
 QString cabana::Signal::formatValue(double value) const {
   // Show enum string
-  for (auto &[val, desc] : val_desc) {
-    if (std::abs(value - val) < 1e-6) {
+  int64_t raw_value = round((value - offset) / factor);
+  for (const auto &[val, desc] : val_desc) {
+    if (std::abs(raw_value - val) < 1e-6) {
       return desc;
     }
   }
@@ -52,15 +150,25 @@ QString cabana::Signal::formatValue(double value) const {
   return val_str;
 }
 
-// helper functions
+bool cabana::Signal::getValue(const uint8_t *data, size_t data_size, double *val) const {
+  if (multiplexor && get_raw_value(data, data_size, *multiplexor) != multiplex_value) {
+    return false;
+  }
+  *val = get_raw_value(data, data_size, *this);
+  return true;
+}
 
-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;
-}();
+bool cabana::Signal::operator==(const cabana::Signal &other) const {
+  return name == other.name && size == other.size &&
+         start_bit == other.start_bit &&
+         msb == other.msb && lsb == other.lsb &&
+         is_signed == other.is_signed && is_little_endian == other.is_little_endian &&
+         factor == other.factor && offset == other.offset &&
+         min == other.min && max == other.max && comment == other.comment && unit == other.unit && val_desc == other.val_desc &&
+         multiplex_value == other.multiplex_value && type == other.type && receiver_name == other.receiver_name;
+}
+
+// helper functions
 
 double get_raw_value(const uint8_t *data, size_t data_size, const cabana::Signal &sig) {
   int64_t val = 0;
@@ -84,32 +192,12 @@ double get_raw_value(const uint8_t *data, size_t data_size, const cabana::Signal
   return val * sig.factor + sig.offset;
 }
 
-bool cabana::operator==(const cabana::Signal &l, const cabana::Signal &r) {
-  return l.name == r.name && l.size == r.size &&
-         l.start_bit == r.start_bit &&
-         l.msb == r.msb && l.lsb == r.lsb &&
-         l.is_signed == r.is_signed && l.is_little_endian == r.is_little_endian &&
-         l.factor == r.factor && l.offset == r.offset &&
-         l.min == r.min && l.max == r.max && l.comment == r.comment && l.unit == r.unit && l.val_desc == r.val_desc;
-}
-
-int bigEndianStartBitsIndex(int start_bit) { return BIG_ENDIAN_START_BITS[start_bit]; }
-int bigEndianBitIndex(int index) { return BIG_ENDIAN_START_BITS.indexOf(index); }
-
-void updateSigSizeParamsFromRange(cabana::Signal &s, int start_bit, int size) {
-  s.start_bit = s.is_little_endian ? start_bit : bigEndianBitIndex(start_bit);
-  s.size = size;
+void updateMsbLsb(cabana::Signal &s) {
   if (s.is_little_endian) {
     s.lsb = s.start_bit;
     s.msb = s.start_bit + s.size - 1;
   } else {
-    s.lsb = bigEndianStartBitsIndex(bigEndianBitIndex(s.start_bit) + s.size - 1);
+    s.lsb = flipBitPos(flipBitPos(s.start_bit) + s.size - 1);
     s.msb = s.start_bit;
   }
 }
-
-std::pair<int, int> getSignalRange(const cabana::Signal *s) {
-  int from = s->is_little_endian ? s->start_bit : bigEndianBitIndex(s->start_bit);
-  int to = from + s->size - 1;
-  return {from, to};
-}
diff --git a/tools/cabana/dbc/dbc.h b/tools/cabana/dbc/dbc.h
index ad5f33a260..6a3084d943 100644
--- a/tools/cabana/dbc/dbc.h
+++ b/tools/cabana/dbc/dbc.h
@@ -1,9 +1,10 @@
 #pragma once
 
-#include <limits>
+#include <QColor>
 #include <QList>
 #include <QMetaType>
 #include <QString>
+#include <limits>
 
 #include "opendbc/can/common_dbc.h"
 
@@ -45,48 +46,74 @@ struct std::hash<MessageId> {
 typedef QList<std::pair<double, QString>> ValueDescription;
 
 namespace cabana {
-  struct Signal {
-    QString name;
-    int start_bit, msb, lsb, size;
-    bool is_signed;
-    double factor, offset;
-    bool is_little_endian;
-    double min, max;
-    QString unit;
-    QString comment;
-    ValueDescription val_desc;
-    int precision = 0;
-    void updatePrecision();
-    QString formatValue(double value) const;
+
+class Signal {
+public:
+  Signal() = default;
+  Signal(const Signal &other) = default;
+  void update();
+  bool getValue(const uint8_t *data, size_t data_size, double *val) const;
+  QString formatValue(double value) const;
+  bool operator==(const cabana::Signal &other) const;
+  inline bool operator!=(const cabana::Signal &other) const { return !(*this == other); }
+
+  enum class Type {
+    Normal = 0,
+    Multiplexed,
+    Multiplexor
   };
 
-  struct Msg {
-    uint32_t address;
-    QString name;
-    uint32_t size;
-    QString comment;
-    QList<cabana::Signal> sigs;
+  Type type = Type::Normal;
+  QString name;
+  int start_bit, msb, lsb, size;
+  double factor = 1.0;
+  double offset = 0;
+  bool is_signed;
+  bool is_little_endian;
+  double min, max;
+  QString unit;
+  QString comment;
+  QString receiver_name;
+  ValueDescription val_desc;
+  int precision = 0;
+  QColor color;
 
-    QList<uint8_t> mask;
-    void updateMask();
+  // Multiplexed
+  int multiplex_value = 0;
+  Signal *multiplexor = nullptr;
+};
 
-    std::vector<const cabana::Signal*> getSignals() const;
-    const cabana::Signal *sig(const QString &sig_name) const {
-        auto it = std::find_if(sigs.begin(), sigs.end(), [&](auto &s) { return s.name == sig_name; });
-        return it != sigs.end() ? &(*it) : nullptr;
-    }
-  };
+class Msg {
+public:
+  Msg() = default;
+  Msg(const Msg &other) { *this = other; }
+  ~Msg();
+  cabana::Signal *addSignal(const cabana::Signal &sig);
+  cabana::Signal *updateSignal(const QString &sig_name, const cabana::Signal &sig);
+  void removeSignal(const QString &sig_name);
+  Msg &operator=(const Msg &other);
+  int indexOf(const cabana::Signal *sig) const;
+  cabana::Signal *sig(const QString &sig_name) const;
+  QString newSignalName();
+  void update();
+  inline const std::vector<cabana::Signal *> &getSignals() const { return sigs; }
 
-  bool operator==(const cabana::Signal &l, const cabana::Signal &r);
-  inline bool operator!=(const cabana::Signal &l, const cabana::Signal &r) { return !(l == r); }
-}
+  uint32_t address;
+  QString name;
+  uint32_t size;
+  QString comment;
+  QString transmitter;
+  std::vector<cabana::Signal *> sigs;
+
+  std::vector<uint8_t> mask;
+  cabana::Signal *multiplexor = nullptr;
+};
+
+}  // namespace cabana
 
 // Helper functions
 double get_raw_value(const uint8_t *data, size_t data_size, const cabana::Signal &sig);
-int bigEndianStartBitsIndex(int start_bit);
-int bigEndianBitIndex(int index);
-void updateSigSizeParamsFromRange(cabana::Signal &s, int start_bit, int size);
-std::pair<int, int> getSignalRange(const cabana::Signal *s);
+void updateMsbLsb(cabana::Signal &s);
+inline int flipBitPos(int start_bit) { return 8 * (start_bit / 8) + 7 - start_bit % 8; }
 inline std::vector<std::string> allDBCNames() { return get_dbc_names(); }
 inline QString doubleToString(double value) { return QString::number(value, 'g', std::numeric_limits<double>::digits10); }
-
diff --git a/tools/cabana/dbc/dbcfile.cc b/tools/cabana/dbc/dbcfile.cc
index 2a8d3d2d54..2f93c1543e 100644
--- a/tools/cabana/dbc/dbcfile.cc
+++ b/tools/cabana/dbc/dbcfile.cc
@@ -16,7 +16,7 @@ DBCFile::DBCFile(const QString &dbc_file_name, QObject *parent) : QObject(parent
     if (dbc_file_name.endsWith(AUTO_SAVE_EXTENSION)) {
       filename.chop(AUTO_SAVE_EXTENSION.length());
     }
-    open(file.readAll());
+    parse(file.readAll());
   } else {
     throw std::runtime_error("Failed to open file.");
   }
@@ -24,41 +24,11 @@ DBCFile::DBCFile(const QString &dbc_file_name, QObject *parent) : QObject(parent
 
 DBCFile::DBCFile(const QString &name, const QString &content, QObject *parent) : QObject(parent), name_(name), filename("") {
   // Open from clipboard
-  open(content);
-}
-
-void DBCFile::open(const QString &content) {
-  std::istringstream stream(content.toStdString());
-  auto dbc = const_cast<DBC *>(dbc_parse_from_stream(name_.toStdString(), stream));
-  msgs.clear();
-  for (auto &msg : dbc->msgs) {
-    auto &m = msgs[msg.address];
-    m.address = msg.address;
-    m.name = msg.name.c_str();
-    m.size = msg.size;
-    for (auto &s : msg.sigs) {
-      m.sigs.push_back({});
-      auto &sig = m.sigs.last();
-      sig.name = s.name.c_str();
-      sig.start_bit = s.start_bit;
-      sig.msb = s.msb;
-      sig.lsb = s.lsb;
-      sig.size = s.size;
-      sig.is_signed = s.is_signed;
-      sig.factor = s.factor;
-      sig.offset = s.offset;
-      sig.is_little_endian = s.is_little_endian;
-      sig.updatePrecision();
-    }
-    m.updateMask();
-  }
-  parseExtraInfo(content);
-
-  delete dbc;
+  parse(content);
 }
 
 bool DBCFile::save() {
-  assert (!filename.isEmpty());
+  assert(!filename.isEmpty());
   if (writeContents(filename)) {
     cleanupAutoSaveFile();
     return true;
@@ -90,41 +60,6 @@ bool DBCFile::writeContents(const QString &fn) {
   return false;
 }
 
-cabana::Signal *DBCFile::addSignal(const MessageId &id, const cabana::Signal &sig) {
-  if (auto m = const_cast<cabana::Msg *>(msg(id.address))) {
-    m->sigs.push_back(sig);
-    m->updateMask();
-    return &m->sigs.last();
-  }
-  return nullptr;
-}
-
- cabana::Signal *DBCFile::updateSignal(const MessageId &id, const QString &sig_name, const cabana::Signal &sig) {
-  if (auto m = const_cast<cabana::Msg *>(msg(id))) {
-    if (auto s = (cabana::Signal *)m->sig(sig_name)) {
-      *s = sig;
-      m->updateMask();
-      return s;
-    }
-  }
-  return nullptr;
-}
-
-cabana::Signal *DBCFile::getSignal(const MessageId &id, const QString &sig_name) {
-  auto m = msg(id);
-  return m ? (cabana::Signal *)m->sig(sig_name) : nullptr;
-}
-
-void DBCFile::removeSignal(const MessageId &id, const QString &sig_name) {
-  if (auto m = const_cast<cabana::Msg *>(msg(id))) {
-    auto it = std::find_if(m->sigs.begin(), m->sigs.end(), [&](auto &s) { return s.name == sig_name; });
-    if (it != m->sigs.end()) {
-      m->sigs.erase(it);
-      m->updateMask();
-    }
-  }
-}
-
 void DBCFile::updateMsg(const MessageId &id, const QString &name, uint32_t size, const QString &comment) {
   auto &m = msgs[id.address];
   m.address = id.address;
@@ -133,90 +68,56 @@ void DBCFile::updateMsg(const MessageId &id, const QString &name, uint32_t size,
   m.comment = comment;
 }
 
-void DBCFile::removeMsg(const MessageId &id) {
-  msgs.erase(id.address);
-}
-
-QString DBCFile::newMsgName(const MessageId &id) {
-  return QString("NEW_MSG_") + QString::number(id.address, 16).toUpper();
-}
-
-QString DBCFile::newSignalName(const MessageId &id) {
-  auto m = msg(id);
-  assert(m != nullptr);
-
-  QString name;
-  for (int i = 1; /**/; ++i) {
-    name = QString("NEW_SIGNAL_%1").arg(i);
-    if (m->sig(name) == nullptr) break;
-  }
-  return name;
-}
-
-const QList<uint8_t>& DBCFile::mask(const MessageId &id) const {
-  auto m = msg(id);
-  return m ? m->mask : empty_mask;
-}
-
-const cabana::Msg *DBCFile::msg(uint32_t address) const {
+cabana::Msg *DBCFile::msg(uint32_t address) {
   auto it = msgs.find(address);
   return it != msgs.end() ? &it->second : nullptr;
 }
 
-const cabana::Msg* DBCFile::msg(const QString &name) {
-  auto it = std::find_if(msgs.cbegin(), msgs.cend(), [&name](auto &m) { return m.second.name == name; });
-  return it != msgs.cend() ? &(it->second) : nullptr;
+cabana::Msg *DBCFile::msg(const QString &name) {
+  auto it = std::find_if(msgs.begin(), msgs.end(), [&name](auto &m) { return m.second.name == name; });
+  return it != msgs.end() ? &(it->second) : nullptr;
 }
 
-QStringList DBCFile::signalNames() const {
-  // Used for autocompletion
-  QStringList ret;
-  for (auto const& [_, msg] : msgs) {
-    for (auto sig: msg.getSignals()) {
-      ret << sig->name;
-    }
-  }
-  ret.sort();
-  ret.removeDuplicates();
-  return ret;
-}
-
-int DBCFile::signalCount(const MessageId &id) const {
-  if (msgs.count(id.address) == 0) return 0;
-  return msgs.at(id.address).sigs.size();
-}
-
-int DBCFile::signalCount() const {
+int DBCFile::signalCount() {
   return std::accumulate(msgs.cbegin(), msgs.cend(), 0, [](int &n, const auto &m) { return n + m.second.sigs.size(); });
 }
 
-void DBCFile::parseExtraInfo(const QString &content) {
+void DBCFile::parse(const QString &content) {
   static QRegularExpression bo_regexp(R"(^BO_ (\w+) (\w+) *: (\w+) (\w+))");
   static QRegularExpression sg_regexp(R"(^SG_ (\w+) : (\d+)\|(\d+)@(\d+)([\+|\-]) \(([0-9.+\-eE]+),([0-9.+\-eE]+)\) \[([0-9.+\-eE]+)\|([0-9.+\-eE]+)\] \"(.*)\" (.*))");
   static QRegularExpression sgm_regexp(R"(^SG_ (\w+) (\w+) *: (\d+)\|(\d+)@(\d+)([\+|\-]) \(([0-9.+\-eE]+),([0-9.+\-eE]+)\) \[([0-9.+\-eE]+)\|([0-9.+\-eE]+)\] \"(.*)\" (.*))");
-  static QRegularExpression msg_comment_regexp(R"(^CM_ BO_ *(\w+) *\"([^"]*)\";)");
-  static QRegularExpression sg_comment_regexp(R"(^CM_ SG_ *(\w+) *(\w+) *\"([^"]*)\";)");
+  static QRegularExpression msg_comment_regexp(R"(^CM_ BO_ *(\w+) *\"([^"]*)\"\s*;)");
+  static QRegularExpression sg_comment_regexp(R"(^CM_ SG_ *(\w+) *(\w+) *\"([^"]*)\"\s*;)");
   static QRegularExpression val_regexp(R"(VAL_ (\w+) (\w+) (\s*[-+]?[0-9]+\s+\".+?\"[^;]*))");
 
   int line_num = 0;
   QString line;
-  auto dbc_assert = [&line_num, &line, this](bool condition) {
-    if (!condition) throw std::runtime_error(QString("[%1:%2]: %3").arg(filename).arg(line_num).arg(line).toStdString());
+  auto dbc_assert = [&line_num, &line, this](bool condition, const QString &msg = "") {
+    if (!condition) throw std::runtime_error(QString("[%1:%2]%3: %4").arg(filename).arg(line_num).arg(msg).arg(line).toStdString());
   };
   auto get_sig = [this](uint32_t address, const QString &name) -> cabana::Signal * {
     auto m = (cabana::Msg *)msg(address);
     return m ? (cabana::Signal *)m->sig(name) : nullptr;
   };
 
+  msgs.clear();
   QTextStream stream((QString *)&content);
-  uint32_t address = 0;
+  cabana::Msg *current_msg = nullptr;
+  int multiplexor_cnt = 0;
   while (!stream.atEnd()) {
     ++line_num;
     line = stream.readLine().trimmed();
     if (line.startsWith("BO_ ")) {
+      multiplexor_cnt = 0;
       auto match = bo_regexp.match(line);
       dbc_assert(match.hasMatch());
-      address = match.captured(1).toUInt();
+      auto address = match.captured(1).toUInt();
+      dbc_assert(msgs.count(address) == 0, QString("Duplicate message address: %1").arg(address));
+      current_msg = &msgs[address];
+      current_msg->address = address;
+      current_msg->name = match.captured(2);
+      current_msg->size = match.captured(3).toULong();
+      current_msg->transmitter = match.captured(4).trimmed();
     } else if (line.startsWith("SG_ ")) {
       int offset = 0;
       auto match = sg_regexp.match(line);
@@ -225,11 +126,34 @@ void DBCFile::parseExtraInfo(const QString &content) {
         offset = 1;
       }
       dbc_assert(match.hasMatch());
-      if (auto s = get_sig(address, match.captured(1))) {
-        s->min = match.captured(8 + offset).toDouble();
-        s->max = match.captured(9 + offset).toDouble();
-        s->unit = match.captured(10 + offset);
+      dbc_assert(current_msg, "No Message");
+      auto name = match.captured(1);
+      dbc_assert(current_msg->sig(name) == nullptr, "Duplicate signal name");
+      cabana::Signal s{};
+      if (offset == 1) {
+        auto indicator = match.captured(2);
+        if (indicator == "M") {
+          // Only one signal within a single message can be the multiplexer switch.
+          dbc_assert(++multiplexor_cnt < 2, "Multiple multiplexor");
+          s.type = cabana::Signal::Type::Multiplexor;
+        } else {
+          s.type = cabana::Signal::Type::Multiplexed;
+          s.multiplex_value = indicator.mid(1).toInt();
+        }
       }
+      s.name = name;
+      s.start_bit = match.captured(offset + 2).toInt();
+      s.size = match.captured(offset + 3).toInt();
+      s.is_little_endian = match.captured(offset + 4).toInt() == 1;
+      s.is_signed = match.captured(offset + 5) == "-";
+      s.factor = match.captured(offset + 6).toDouble();
+      s.offset = match.captured(offset + 7).toDouble();
+      s.min = match.captured(8 + offset).toDouble();
+      s.max = match.captured(9 + offset).toDouble();
+      s.unit = match.captured(10 + offset);
+      s.receiver_name = match.captured(11 + offset).trimmed();
+
+      current_msg->sigs.push_back(new cabana::Signal(s));
     } else if (line.startsWith("VAL_ ")) {
       auto match = val_regexp.match(line);
       dbc_assert(match.hasMatch());
@@ -265,18 +189,29 @@ void DBCFile::parseExtraInfo(const QString &content) {
       }
     }
   }
+
+  for (auto &[_, m] : msgs) {
+    m.update();
+  }
 }
 
 QString DBCFile::generateDBC() {
   QString dbc_string, signal_comment, message_comment, val_desc;
   for (const auto &[address, m] : msgs) {
-    dbc_string += QString("BO_ %1 %2: %3 XXX\n").arg(address).arg(m.name).arg(m.size);
+    dbc_string += QString("BO_ %1 %2: %3 %4\n").arg(address).arg(m.name).arg(m.size).arg(m.transmitter.isEmpty() ? "XXX" : m.transmitter);
     if (!m.comment.isEmpty()) {
       message_comment += QString("CM_ BO_ %1 \"%2\";\n").arg(address).arg(m.comment);
     }
     for (auto sig : m.getSignals()) {
-      dbc_string += QString(" SG_ %1 : %2|%3@%4%5 (%6,%7) [%8|%9] \"%10\" XXX\n")
+      QString multiplexer_indicator;
+      if (sig->type == cabana::Signal::Type::Multiplexor) {
+        multiplexer_indicator = "M ";
+      } else if (sig->type == cabana::Signal::Type::Multiplexed) {
+        multiplexer_indicator = QString("m%1 ").arg(sig->multiplex_value);
+      }
+      dbc_string += QString(" SG_ %1 %2: %3|%4@%5%6 (%7,%8) [%9|%10] \"%11\" %12\n")
                         .arg(sig->name)
+                        .arg(multiplexer_indicator)
                         .arg(sig->start_bit)
                         .arg(sig->size)
                         .arg(sig->is_little_endian ? '1' : '0')
@@ -285,7 +220,8 @@ QString DBCFile::generateDBC() {
                         .arg(doubleToString(sig->offset))
                         .arg(doubleToString(sig->min))
                         .arg(doubleToString(sig->max))
-                        .arg(sig->unit);
+                        .arg(sig->unit)
+                        .arg(sig->receiver_name.isEmpty() ? "XXX" : sig->receiver_name);
       if (!sig->comment.isEmpty()) {
         signal_comment += QString("CM_ SG_ %1 %2 \"%3\";\n").arg(address).arg(sig->name).arg(sig->comment);
       }
diff --git a/tools/cabana/dbc/dbcfile.h b/tools/cabana/dbc/dbcfile.h
index 1ed9e9cd0a..78a73d58e4 100644
--- a/tools/cabana/dbc/dbcfile.h
+++ b/tools/cabana/dbc/dbcfile.h
@@ -1,9 +1,7 @@
 #pragma once
 
 #include <map>
-#include <QList>
 #include <QObject>
-#include <QString>
 
 #include "tools/cabana/dbc/dbc.h"
 
@@ -17,8 +15,6 @@ public:
   DBCFile(const QString &name, const QString &content, QObject *parent=nullptr);
   ~DBCFile() {}
 
-  void open(const QString &content);
-
   bool save();
   bool saveAs(const QString &new_filename);
   bool autoSave();
@@ -26,36 +22,23 @@ public:
   void cleanupAutoSaveFile();
   QString generateDBC();
 
-  cabana::Signal *addSignal(const MessageId &id, const cabana::Signal &sig);
-  cabana::Signal *updateSignal(const MessageId &id, const QString &sig_name, const cabana::Signal &sig);
-  cabana::Signal *getSignal(const MessageId &id, const QString &sig_name);
-  void removeSignal(const MessageId &id, const QString &sig_name);
-
   void updateMsg(const MessageId &id, const QString &name, uint32_t size, const QString &comment);
-  void removeMsg(const MessageId &id);
+  inline void removeMsg(const MessageId &id) { msgs.erase(id.address); }
 
-  QString newMsgName(const MessageId &id);
-  QString newSignalName(const MessageId &id);
+  inline const std::map<uint32_t, cabana::Msg> &getMessages() const { return msgs; }
+  cabana::Msg *msg(uint32_t address);
+  cabana::Msg *msg(const QString &name);
+  inline cabana::Msg *msg(const MessageId &id) { return msg(id.address); }
 
-  const QList<uint8_t>& mask(const MessageId &id) const;
-
-  inline std::map<uint32_t, cabana::Msg> getMessages() const { return msgs; }
-  const cabana::Msg *msg(uint32_t address) const;
-  const cabana::Msg* msg(const QString &name);
-  inline const cabana::Msg *msg(const MessageId &id) const { return msg(id.address); };
-
-  QStringList signalNames() const;
-  int signalCount(const MessageId &id) const;
-  int signalCount() const;
-  inline int msgCount() const { return msgs.size(); }
-  inline QString name() const { return name_.isEmpty() ? "untitled" : name_; }
-  inline bool isEmpty() const { return (signalCount() == 0) && name_.isEmpty(); }
+  int signalCount();
+  inline int msgCount() { return msgs.size(); }
+  inline QString name() { return name_.isEmpty() ? "untitled" : name_; }
+  inline bool isEmpty() { return (signalCount() == 0) && name_.isEmpty(); }
 
   QString filename;
 
 private:
-  void parseExtraInfo(const QString &content);
+  void parse(const QString &content);
   std::map<uint32_t, cabana::Msg> msgs;
   QString name_;
-  QList<uint8_t> empty_mask;
 };
diff --git a/tools/cabana/dbc/dbcmanager.cc b/tools/cabana/dbc/dbcmanager.cc
index 2176635caa..5736ac1e89 100644
--- a/tools/cabana/dbc/dbcmanager.cc
+++ b/tools/cabana/dbc/dbcmanager.cc
@@ -1,21 +1,16 @@
 #include "tools/cabana/dbc/dbcmanager.h"
+
 #include <algorithm>
+#include <numeric>
 
-bool DBCManager::open(SourceSet s, const QString &dbc_file_name, QString *error) {
-  for (int i = 0; i < dbc_files.size(); i++) {
-    auto [ss, dbc_file] = dbc_files[i];
-
-    // Check if file is already open, and merge sources
-    if (dbc_file->filename == dbc_file_name) {
-      dbc_files[i] = {ss | s, dbc_file};
-
-      emit DBCFileChanged();
-      return true;
-    }
-  }
-
+bool DBCManager::open(const SourceSet &sources, const QString &dbc_file_name, QString *error) {
   try {
-    dbc_files.push_back({s, new DBCFile(dbc_file_name, this)});
+    auto it = std::find_if(dbc_files.begin(), dbc_files.end(),
+                           [&](auto &f) { return f.second && f.second->filename == dbc_file_name; });
+    auto file = (it != dbc_files.end()) ? it->second : std::make_shared<DBCFile>(dbc_file_name, this);
+    for (auto s : sources) {
+      dbc_files[s] = file;
+    }
   } catch (std::exception &e) {
     if (error) *error = e.what();
     return false;
@@ -25,9 +20,12 @@ bool DBCManager::open(SourceSet s, const QString &dbc_file_name, QString *error)
   return true;
 }
 
-bool DBCManager::open(SourceSet s, const QString &name, const QString &content, QString *error) {
+bool DBCManager::open(const SourceSet &sources, const QString &name, const QString &content, QString *error) {
   try {
-    dbc_files.push_back({s, new DBCFile(name, content, this)});
+    auto file = std::make_shared<DBCFile>(name, content, this);
+    for (auto s : sources) {
+      dbc_files[s] = file;
+    }
   } catch (std::exception &e) {
     if (error) *error = e.what();
     return false;
@@ -37,263 +35,158 @@ bool DBCManager::open(SourceSet s, const QString &name, const QString &content,
   return true;
 }
 
-void DBCManager::close(SourceSet s) {
-  // Build new list of dbc files, removing the ones that match the sourceset
-  QList<std::pair<SourceSet, DBCFile*>> new_dbc_files;
-  for (auto entry : dbc_files) {
-    if (entry.first == s) {
-      delete entry.second;
-    } else {
-      new_dbc_files.push_back(entry);
-    }
+void DBCManager::close(const SourceSet &sources) {
+  for (auto s : sources) {
+    dbc_files[s] = nullptr;
   }
-
-  dbc_files = new_dbc_files;
   emit DBCFileChanged();
 }
 
 void DBCManager::close(DBCFile *dbc_file) {
-  assert(dbc_file != nullptr);
-
-  // Build new list of dbc files, removing the one that matches dbc_file*
-  QList<std::pair<SourceSet, DBCFile*>> new_dbc_files;
-  for (auto entry : dbc_files) {
-    if (entry.second == dbc_file) {
-      delete entry.second;
-    } else {
-      new_dbc_files.push_back(entry);
-    }
+  for (auto &[_, f] : dbc_files) {
+    if (f.get() == dbc_file) f = nullptr;
   }
-
-  dbc_files = new_dbc_files;
   emit DBCFileChanged();
 }
 
 void DBCManager::closeAll() {
-  if (dbc_files.isEmpty()) return;
-
-  while (dbc_files.size()) {
-    DBCFile *dbc_file = dbc_files.back().second;
-    dbc_files.pop_back();
-    delete dbc_file;
-  }
+  dbc_files.clear();
   emit DBCFileChanged();
 }
 
-void DBCManager::removeSourcesFromFile(DBCFile *dbc_file, SourceSet s) {
-  assert(dbc_file != nullptr);
-
-  // Build new list of dbc files, for the given dbc_file* remove s from the current sources
-  QList<std::pair<SourceSet, DBCFile*>> new_dbc_files;
-  for (auto entry : dbc_files) {
-    if (entry.second == dbc_file) {
-      SourceSet ss = (entry.first == SOURCE_ALL) ? sources : entry.first;
-      ss -= s;
-      if (ss.empty()) { // Close file if no more sources remain
-        delete dbc_file;
-      } else {
-        new_dbc_files.push_back({ss, dbc_file});
-      }
-    } else {
-      new_dbc_files.push_back(entry);
-    }
-  }
-
-  dbc_files = new_dbc_files;
-  emit DBCFileChanged();
-}
-
-
 void DBCManager::addSignal(const MessageId &id, const cabana::Signal &sig) {
-  auto sources_dbc_file = findDBCFile(id);
-  assert(sources_dbc_file); // Create new DBC?
-  auto [dbc_sources, dbc_file] = *sources_dbc_file;
-
-  cabana::Signal *s = dbc_file->addSignal(id, sig);
-
-  if (s != nullptr) {
-    dbc_sources.insert(id.source);
-    for (uint8_t source : dbc_sources) {
-      emit signalAdded({.source = source, .address = id.address}, s);
+  if (auto m = msg(id)) {
+    if (auto s = m->addSignal(sig)) {
+      emit signalAdded(id, s);
+      emit maskUpdated();
     }
   }
 }
 
 void DBCManager::updateSignal(const MessageId &id, const QString &sig_name, const cabana::Signal &sig) {
-  auto sources_dbc_file = findDBCFile(id);
-  assert(sources_dbc_file); // This should be impossible
-  auto [_, dbc_file] = *sources_dbc_file;
-
-  cabana::Signal *s = dbc_file->updateSignal(id, sig_name, sig);
-
-  if (s != nullptr) {
-    emit signalUpdated(s);
+  if (auto m = msg(id)) {
+    if (auto s = m->updateSignal(sig_name, sig)) {
+      emit signalUpdated(s);
+      emit maskUpdated();
+    }
   }
 }
 
 void DBCManager::removeSignal(const MessageId &id, const QString &sig_name) {
-  auto sources_dbc_file = findDBCFile(id);
-  assert(sources_dbc_file); // This should be impossible
-  auto [_, dbc_file] = *sources_dbc_file;
-
-  cabana::Signal *s = dbc_file->getSignal(id, sig_name);
-
-  if (s != nullptr) {
-    emit signalRemoved(s);
-    dbc_file->removeSignal(id, sig_name);
+  if (auto m = msg(id)) {
+    if (auto s = m->sig(sig_name)) {
+      emit signalRemoved(s);
+      m->removeSignal(sig_name);
+      emit maskUpdated();
+    }
   }
 }
 
 void DBCManager::updateMsg(const MessageId &id, const QString &name, uint32_t size, const QString &comment) {
-  auto sources_dbc_file = findDBCFile(id);
-  assert(sources_dbc_file); // This should be impossible
-  auto [dbc_sources, dbc_file] = *sources_dbc_file;
-
+  auto dbc_file = findDBCFile(id);
+  assert(dbc_file);  // This should be impossible
   dbc_file->updateMsg(id, name, size, comment);
-
-  for (uint8_t source : dbc_sources) {
-    emit msgUpdated({.source = source, .address = id.address});
-  }
+  emit msgUpdated(id);
 }
 
 void DBCManager::removeMsg(const MessageId &id) {
-  auto sources_dbc_file = findDBCFile(id);
-  assert(sources_dbc_file); // This should be impossible
-  auto [dbc_sources, dbc_file] = *sources_dbc_file;
-
+  auto dbc_file = findDBCFile(id);
+  assert(dbc_file);  // This should be impossible
   dbc_file->removeMsg(id);
-
-  for (uint8_t source : dbc_sources) {
-    emit msgRemoved({.source = source, .address = id.address});
-  }
+  emit msgRemoved(id);
+  emit maskUpdated();
 }
 
 QString DBCManager::newMsgName(const MessageId &id) {
-  auto sources_dbc_file = findDBCFile(id);
-  assert(sources_dbc_file); // This should be impossible
-  auto [_, dbc_file] = *sources_dbc_file;
-  return dbc_file->newMsgName(id);
+  return QString("NEW_MSG_") + QString::number(id.address, 16).toUpper();
 }
 
 QString DBCManager::newSignalName(const MessageId &id) {
-  auto sources_dbc_file = findDBCFile(id);
-  assert(sources_dbc_file); // This should be impossible
-  auto [_, dbc_file] = *sources_dbc_file;
-  return dbc_file->newSignalName(id);
+  auto m = msg(id);
+  return m ? m->newSignalName() : "";
 }
 
-const QList<uint8_t>& DBCManager::mask(const MessageId &id) const {
-  auto sources_dbc_file = findDBCFile(id);
-  if (!sources_dbc_file) {
-    return empty_mask;
-  }
-  auto [_, dbc_file] = *sources_dbc_file;
-  return dbc_file->mask(id);
+const std::vector<uint8_t> &DBCManager::mask(const MessageId &id) {
+  static std::vector<uint8_t> empty_mask;
+  auto m = msg(id);
+  return m ? m->mask : empty_mask;
 }
 
-std::map<MessageId, cabana::Msg> DBCManager::getMessages(uint8_t source) {
-  std::map<MessageId, cabana::Msg> ret;
-
-  auto sources_dbc_file = findDBCFile({.source = source, .address = 0});
-  if (!sources_dbc_file) {
-    return ret;
-  }
-
-  auto [_, dbc_file] = *sources_dbc_file;
-
-  for (auto &[address, msg] : dbc_file->getMessages()) {
-    MessageId id = {.source = source, .address = address};
-    ret[id] = msg;
-  }
-  return ret;
+const std::map<uint32_t, cabana::Msg> &DBCManager::getMessages(uint8_t source) {
+  static std::map<uint32_t, cabana::Msg> empty_msgs;
+  auto dbc_file = findDBCFile(source);
+  return dbc_file ? dbc_file->getMessages() : empty_msgs;
 }
 
-const cabana::Msg *DBCManager::msg(const MessageId &id) const {
-  auto sources_dbc_file = findDBCFile(id);
-  if (!sources_dbc_file) {
-    return nullptr;
-  }
-  auto [_, dbc_file] = *sources_dbc_file;
-  return dbc_file->msg(id);
+cabana::Msg *DBCManager::msg(const MessageId &id) {
+  auto dbc_file = findDBCFile(id);
+  return dbc_file ? dbc_file->msg(id) : nullptr;
 }
 
-const cabana::Msg* DBCManager::msg(uint8_t source, const QString &name) {
-  auto sources_dbc_file = findDBCFile({.source = source, .address = 0});
-  if (!sources_dbc_file) {
-    return nullptr;
-  }
-  auto [_, dbc_file] = *sources_dbc_file;
-  return dbc_file->msg(name);
+cabana::Msg *DBCManager::msg(uint8_t source, const QString &name) {
+  auto dbc_file = findDBCFile(source);
+  return dbc_file ? dbc_file->msg(name) : nullptr;
 }
 
-QStringList DBCManager::signalNames() const {
+QStringList DBCManager::signalNames() {
+  // Used for autocompletion
   QStringList ret;
-
-  for (auto &[_, dbc_file] : dbc_files) {
-    ret << dbc_file->signalNames();
+  for (auto &f : allDBCFiles()) {
+    for (auto &[_, m] : f->getMessages()) {
+      for (auto sig : m.getSignals()) {
+        ret << sig->name;
+      }
+    }
   }
-
   ret.sort();
   ret.removeDuplicates();
   return ret;
 }
 
-int DBCManager::signalCount(const MessageId &id) const {
-  auto sources_dbc_file = findDBCFile(id);
-  if (!sources_dbc_file) {
-    return 0;
-  }
-
-  auto [_, dbc_file] = *sources_dbc_file;
-  return dbc_file->signalCount(id);
+int DBCManager::signalCount(const MessageId &id) {
+  auto m = msg(id);
+  return m ? m->sigs.size() : 0;
 }
 
-int DBCManager::signalCount() const {
-  int ret = 0;
-
-  for (auto &[_, dbc_file] : dbc_files) {
-    ret += dbc_file->signalCount();
-  }
-
-  return ret;
+int DBCManager::signalCount() {
+  auto files = allDBCFiles();
+  return std::accumulate(files.cbegin(), files.cend(), 0, [](int &n, auto &f) { return n + f->signalCount(); });
 }
 
-int DBCManager::msgCount() const {
-  int ret = 0;
-
-  for (auto &[_, dbc_file] : dbc_files) {
-    ret += dbc_file->msgCount();
-  }
-
-  return ret;
+int DBCManager::msgCount() {
+  auto files = allDBCFiles();
+  return std::accumulate(files.cbegin(), files.cend(), 0, [](int &n, auto &f) { return n + f->msgCount(); });
 }
 
-int DBCManager::dbcCount() const {
-  return dbc_files.size();
+int DBCManager::dbcCount() {
+  return allDBCFiles().size();
 }
 
-int DBCManager::nonEmptyDBCCount() const {
-  return std::count_if(dbc_files.cbegin(), dbc_files.cend(), [](auto &f) { return !f.second->isEmpty(); });
+int DBCManager::nonEmptyDBCCount() {
+  auto files = allDBCFiles();
+  return std::count_if(files.cbegin(), files.cend(), [](auto &f) { return !f->isEmpty(); });
 }
 
-void DBCManager::updateSources(const SourceSet &s) {
-  sources = s;
-}
-
-std::optional<std::pair<SourceSet, DBCFile*>> DBCManager::findDBCFile(const uint8_t source) const {
+DBCFile *DBCManager::findDBCFile(const uint8_t source) {
   // Find DBC file that matches id.source, fall back to SOURCE_ALL if no specific DBC is found
-
-  for (auto &[source_set, dbc_file] : dbc_files) {
-    if (source_set.contains(source)) return {{source_set, dbc_file}};
-  }
-  for (auto &[source_set, dbc_file] : dbc_files) {
-    if (source_set == SOURCE_ALL) return {{sources, dbc_file}};
-  }
-  return {};
+  auto it = dbc_files.count(source) ? dbc_files.find(source) : dbc_files.find(-1);
+  return it != dbc_files.end() ? it->second.get() : nullptr;
 }
 
-std::optional<std::pair<SourceSet, DBCFile*>> DBCManager::findDBCFile(const MessageId &id) const {
-  return findDBCFile(id.source);
+std::set<DBCFile *> DBCManager::allDBCFiles() {
+  std::set<DBCFile *> files;
+  for (const auto &[_, f] : dbc_files) {
+    if (f) files.insert(f.get());
+  }
+  return files;
+}
+
+const SourceSet DBCManager::sources(const DBCFile *dbc_file) const {
+  SourceSet sources;
+  for (auto &[s, f] : dbc_files) {
+    if (f.get() == dbc_file) sources.insert(s);
+  }
+  return sources;
 }
 
 DBCManager *dbc() {
diff --git a/tools/cabana/dbc/dbcmanager.h b/tools/cabana/dbc/dbcmanager.h
index ba590ee56e..f20d4888e2 100644
--- a/tools/cabana/dbc/dbcmanager.h
+++ b/tools/cabana/dbc/dbcmanager.h
@@ -1,33 +1,27 @@
 #pragma once
 
+#include <memory>
 #include <map>
-#include <optional>
+#include <set>
 
-#include <QList>
-#include <QMetaType>
-#include <QObject>
-#include <QString>
-#include <QSet>
-
-#include "tools/cabana/dbc/dbc.h"
 #include "tools/cabana/dbc/dbcfile.h"
 
-typedef QSet<uint8_t> SourceSet;
-const SourceSet SOURCE_ALL = {};
+typedef std::set<int> SourceSet;
+const SourceSet SOURCE_ALL = {-1};
 const int INVALID_SOURCE = 0xff;
+inline bool operator<(const std::shared_ptr<DBCFile> &l, const std::shared_ptr<DBCFile> &r) { return l.get() < r.get(); }
 
 class DBCManager : public QObject {
   Q_OBJECT
 
 public:
-  DBCManager(QObject *parent) {}
+  DBCManager(QObject *parent) : QObject(parent) {}
   ~DBCManager() {}
-  bool open(SourceSet s, const QString &dbc_file_name, QString *error = nullptr);
-  bool open(SourceSet s, const QString &name, const QString &content, QString *error = nullptr);
-  void close(SourceSet s);
+  bool open(const SourceSet &sources, const QString &dbc_file_name, QString *error = nullptr);
+  bool open(const SourceSet &sources, const QString &name, const QString &content, QString *error = nullptr);
+  void close(const SourceSet &sources);
   void close(DBCFile *dbc_file);
   void closeAll();
-  void removeSourcesFromFile(DBCFile *dbc_file, SourceSet s);
 
   void addSignal(const MessageId &id, const cabana::Signal &sig);
   void updateSignal(const MessageId &id, const QString &sig_name, const cabana::Signal &sig);
@@ -38,31 +32,23 @@ public:
 
   QString newMsgName(const MessageId &id);
   QString newSignalName(const MessageId &id);
+  const std::vector<uint8_t>& mask(const MessageId &id);
 
-  const QList<uint8_t>& mask(const MessageId &id) const;
+  const std::map<uint32_t, cabana::Msg> &getMessages(uint8_t source);
+  cabana::Msg *msg(const MessageId &id);
+  cabana::Msg* msg(uint8_t source, const QString &name);
 
-  std::map<MessageId, cabana::Msg> getMessages(uint8_t source);
-  const cabana::Msg *msg(const MessageId &id) const;
-  const cabana::Msg* msg(uint8_t source, const QString &name);
+  QStringList signalNames();
+  int signalCount(const MessageId &id);
+  int signalCount();
+  int msgCount();
+  int dbcCount();
+  int nonEmptyDBCCount();
 
-  QStringList signalNames() const;
-  int signalCount(const MessageId &id) const;
-  int signalCount() const;
-  int msgCount() const;
-  int dbcCount() const;
-  int nonEmptyDBCCount() const;
-
-  std::optional<std::pair<SourceSet, DBCFile*>> findDBCFile(const uint8_t source) const;
-  std::optional<std::pair<SourceSet, DBCFile*>> findDBCFile(const MessageId &id) const;
-
-  QList<std::pair<SourceSet, DBCFile*>> dbc_files;
-
-private:
-  SourceSet sources;
-  QList<uint8_t> empty_mask;
-
-public slots:
-  void updateSources(const SourceSet &s);
+  const SourceSet sources(const DBCFile *dbc_file) const;
+  DBCFile *findDBCFile(const uint8_t source);
+  inline DBCFile *findDBCFile(const MessageId &id) { return findDBCFile(id.source); }
+  std::set<DBCFile *> allDBCFiles();
 
 signals:
   void signalAdded(MessageId id, const cabana::Signal *sig);
@@ -71,6 +57,10 @@ signals:
   void msgUpdated(MessageId id);
   void msgRemoved(MessageId id);
   void DBCFileChanged();
+  void maskUpdated();
+
+private:
+  std::map<int, std::shared_ptr<DBCFile>> dbc_files;
 };
 
 DBCManager *dbc();
@@ -80,16 +70,10 @@ inline QString msgName(const MessageId &id) {
   return msg ? msg->name : UNTITLED;
 }
 
-inline QString toString(SourceSet ss) {
-  if (ss == SOURCE_ALL) {
-    return "all";
-  } else {
-    QStringList ret;
-    QList source_list = ss.values();
-    std::sort(source_list.begin(), source_list.end());
-    for (auto s : source_list) {
-      ret << QString::number(s);
-    }
-    return ret.join(", ");
+inline QString toString(const SourceSet &ss) {
+  QStringList ret;
+  for (auto s : ss) {
+    ret << (s == -1 ? QString("all") : QString::number(s));
   }
+  return ret.join(", ");
 }
diff --git a/tools/cabana/detailwidget.cc b/tools/cabana/detailwidget.cc
index 92851761f9..2f6e9cbfe8 100644
--- a/tools/cabana/detailwidget.cc
+++ b/tools/cabana/detailwidget.cc
@@ -64,12 +64,9 @@ DetailWidget::DetailWidget(ChartsWidget *charts, QWidget *parent) : charts(chart
 
   QObject::connect(edit_btn, &QToolButton::clicked, this, &DetailWidget::editMsg);
   QObject::connect(remove_btn, &QToolButton::clicked, this, &DetailWidget::removeMsg);
-  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, [this](const cabana::Signal *s) { signal_view->selectSignal(s, true); });
   QObject::connect(binary_view, &BinaryView::editSignal, signal_view->model, &SignalModel::saveSignal);
-  QObject::connect(binary_view, &BinaryView::removeSignal, signal_view->model, &SignalModel::removeSignal);
   QObject::connect(binary_view, &BinaryView::showChart, charts, &ChartsWidget::showChart);
   QObject::connect(signal_view, &SignalView::showChart, charts, &ChartsWidget::showChart);
   QObject::connect(signal_view, &SignalView::highlight, binary_view, &BinaryView::highlight);
@@ -167,7 +164,8 @@ void DetailWidget::editMsg() {
   int size = msg ? msg->size : can->lastMessage(msg_id).dat.size();
   EditMessageDialog dlg(msg_id, msgName(msg_id), size, this);
   if (dlg.exec()) {
-    UndoStack::push(new EditMsgCommand(msg_id, dlg.name_edit->text().trimmed(), dlg.size_spin->value(), dlg.comment_edit->toPlainText().trimmed()));
+    UndoStack::push(new EditMsgCommand(msg_id, dlg.name_edit->text().trimmed(),
+                                       dlg.size_spin->value(), dlg.comment_edit->toPlainText().trimmed()));
   }
 }
 
diff --git a/tools/cabana/historylog.cc b/tools/cabana/historylog.cc
index 51abc3d50f..cf9dea88db 100644
--- a/tools/cabana/historylog.cc
+++ b/tools/cabana/historylog.cc
@@ -63,7 +63,10 @@ QVariant HistoryLogModel::headerData(int section, Qt::Orientation orientation, i
         return "Data";
       }
     } else if (role == Qt::BackgroundRole && section > 0 && show_signals) {
-      return QBrush(getColor(sigs[section - 1]));
+      // Alpha-blend the signal color with the background to ensure contrast
+      QColor sigColor = sigs[section - 1]->color;
+      sigColor.setAlpha(128);
+      return QBrush(sigColor);
     }
   }
   return {};
@@ -122,7 +125,7 @@ std::deque<HistoryLogModel::Message> HistoryLogModel::fetchData(InputIt first, I
   for (; first != last && (*first)->mono_time > min_time; ++first) {
     const CanEvent *e = *first;
     for (int i = 0; i < sigs.size(); ++i) {
-      values[i] = get_raw_value(e->dat, e->size, *sigs[i]);
+      sigs[i]->getValue(e->dat, e->size, &values[i]);
     }
     if (!filter_cmp || filter_cmp(values[filter_sig_idx], filter_value)) {
       auto &m = msgs.emplace_back();
@@ -138,7 +141,6 @@ std::deque<HistoryLogModel::Message> HistoryLogModel::fetchData(InputIt first, I
 }
 
 std::deque<HistoryLogModel::Message> HistoryLogModel::fetchData(uint64_t from_time, uint64_t min_time) {
-  const QList<uint8_t> mask;
   const auto &events = can->events(msg_id);
   const auto freq = can->lastMessage(msg_id).freq;
   const bool update_colors = !display_signals_mode || sigs.empty();
@@ -151,7 +153,7 @@ std::deque<HistoryLogModel::Message> HistoryLogModel::fetchData(uint64_t from_ti
     auto msgs = fetchData(first, events.rend(), min_time);
     if (update_colors && (min_time > 0 || messages.empty())) {
       for (auto it = msgs.rbegin(); it != msgs.rend(); ++it) {
-        hex_colors.compute(it->data.data(), it->data.size(), it->mono_time / (double)1e9, speed, mask, freq);
+        hex_colors.compute(it->data.data(), it->data.size(), it->mono_time / (double)1e9, speed, nullptr, freq);
         it->colors = hex_colors.colors;
       }
     }
@@ -164,7 +166,7 @@ std::deque<HistoryLogModel::Message> HistoryLogModel::fetchData(uint64_t from_ti
     auto msgs = fetchData(first, events.cend(), 0);
     if (update_colors) {
       for (auto it = msgs.begin(); it != msgs.end(); ++it) {
-        hex_colors.compute(it->data.data(), it->data.size(), it->mono_time / (double)1e9, speed, mask, freq);
+        hex_colors.compute(it->data.data(), it->data.size(), it->mono_time / (double)1e9, speed, nullptr, freq);
         it->colors = hex_colors.colors;
       }
     }
diff --git a/tools/cabana/historylog.h b/tools/cabana/historylog.h
index 1f8c157f21..2dea698f68 100644
--- a/tools/cabana/historylog.h
+++ b/tools/cabana/historylog.h
@@ -62,7 +62,7 @@ public:
   uint64_t last_fetch_time = 0;
   std::function<bool(double, double)> filter_cmp = nullptr;
   std::deque<Message> messages;
-  std::vector<const cabana::Signal *> sigs;
+  std::vector<cabana::Signal *> sigs;
   bool dynamic_mode = true;
   bool display_signals_mode = true;
 };
diff --git a/tools/cabana/mainwin.cc b/tools/cabana/mainwin.cc
index fd24c3f6db..fa91095706 100644
--- a/tools/cabana/mainwin.cc
+++ b/tools/cabana/mainwin.cc
@@ -32,6 +32,9 @@ MainWindow::MainWindow() : QMainWindow() {
   createStatusBar();
   createShortcuts();
 
+  // save default window state to allow resetting it
+  default_state = saveState();
+
   // restore states
   restoreGeometry(settings.geometry);
   if (isMaximized()) {
@@ -74,6 +77,7 @@ MainWindow::MainWindow() : QMainWindow() {
 }
 
 void MainWindow::createActions() {
+  // File menu
   QMenu *file_menu = menuBar()->addMenu(tr("&File"));
   file_menu->addAction(tr("Open Stream..."), this, &MainWindow::openStream);
   close_stream_act = file_menu->addAction(tr("Close stream"), this, &MainWindow::closeStream);
@@ -121,6 +125,7 @@ void MainWindow::createActions() {
   file_menu->addSeparator();
   file_menu->addAction(tr("E&xit"), qApp, &QApplication::closeAllWindows)->setShortcuts(QKeySequence::Quit);
 
+  // Edit Menu
   QMenu *edit_menu = menuBar()->addMenu(tr("&Edit"));
   auto undo_act = UndoStack::instance()->createUndoAction(this, tr("&Undo"));
   undo_act->setShortcuts(QKeySequence::Undo);
@@ -135,10 +140,22 @@ void MainWindow::createActions() {
   commands_act->setDefaultWidget(new QUndoView(UndoStack::instance()));
   commands_menu->addAction(commands_act);
 
+  // View Menu
+  QMenu *view_menu = menuBar()->addMenu(tr("&View"));
+  auto act = view_menu->addAction(tr("Full Screen"), this, &MainWindow::toggleFullScreen, QKeySequence::FullScreen);
+  addAction(act);
+  view_menu->addSeparator();
+  view_menu->addAction(messages_dock->toggleViewAction());
+  view_menu->addAction(video_dock->toggleViewAction());
+  view_menu->addSeparator();
+  view_menu->addAction(tr("Reset Window Layout"), [this]() { restoreState(default_state); });
+
+  // Tools Menu
   tools_menu = menuBar()->addMenu(tr("&Tools"));
   tools_menu->addAction(tr("Find &Similar Bits"), this, &MainWindow::findSimilarBits);
   tools_menu->addAction(tr("&Find Signal"), this, &MainWindow::findSignal);
 
+  // Help Menu
   QMenu *help_menu = menuBar()->addMenu(tr("&Help"));
   help_menu->addAction(tr("Help"), this, &MainWindow::onlineHelp)->setShortcuts(QKeySequence::HelpContents);
   help_menu->addAction(tr("About &Qt"), qApp, &QApplication::aboutQt);
@@ -148,13 +165,13 @@ void MainWindow::createDockWindows() {
   messages_dock = new QDockWidget(tr("MESSAGES"), this);
   messages_dock->setObjectName("MessagesPanel");
   messages_dock->setAllowedAreas(Qt::LeftDockWidgetArea | Qt::RightDockWidgetArea | Qt::TopDockWidgetArea | Qt::BottomDockWidgetArea);
-  messages_dock->setFeatures(QDockWidget::DockWidgetMovable | QDockWidget::DockWidgetFloatable);
+  messages_dock->setFeatures(QDockWidget::DockWidgetMovable | QDockWidget::DockWidgetFloatable | QDockWidget::DockWidgetClosable);
   addDockWidget(Qt::LeftDockWidgetArea, messages_dock);
 
   video_dock = new QDockWidget("", this);
   video_dock->setObjectName(tr("VideoPanel"));
   video_dock->setAllowedAreas(Qt::LeftDockWidgetArea | Qt::RightDockWidgetArea);
-  video_dock->setFeatures(QDockWidget::DockWidgetMovable | QDockWidget::DockWidgetFloatable);
+  video_dock->setFeatures(QDockWidget::DockWidgetMovable | QDockWidget::DockWidgetFloatable | QDockWidget::DockWidgetClosable);
   addDockWidget(Qt::RightDockWidgetArea, video_dock);
 }
 
@@ -173,7 +190,7 @@ void MainWindow::createDockWidgets() {
   video_splitter = new QSplitter(Qt::Vertical, this);
   video_widget = new VideoWidget(this);
   video_splitter->addWidget(video_widget);
-  QObject::connect(charts_widget, &ChartsWidget::rangeChanged, video_widget, &VideoWidget::rangeChanged);
+  QObject::connect(charts_widget, &ChartsWidget::rangeChanged, video_widget, &VideoWidget::updateTimeRange);
 
   video_splitter->addWidget(charts_container);
   video_splitter->setStretchFactor(1, 1);
@@ -199,8 +216,6 @@ void MainWindow::createStatusBar() {
 void MainWindow::createShortcuts() {
   auto shortcut = new QShortcut(QKeySequence(Qt::Key_Space), this, nullptr, nullptr, Qt::ApplicationShortcut);
   QObject::connect(shortcut, &QShortcut::activated, []() { can->pause(!can->isPaused()); });
-  shortcut = new QShortcut(QKeySequence(QKeySequence::FullScreen), this, nullptr, nullptr, Qt::ApplicationShortcut);
-  QObject::connect(shortcut, &QShortcut::activated, this, &MainWindow::toggleFullScreen);
   // TODO: add more shortcuts here.
 }
 
@@ -346,7 +361,6 @@ void MainWindow::streamStarted() {
 
   QObject::connect(messages_widget, &MessagesWidget::msgSelectionChanged, center_widget, &CenterWidget::setMessage);
   QObject::connect(can, &AbstractStream::eventsMerged, this, &MainWindow::eventsMerged);
-  QObject::connect(can, &AbstractStream::sourcesUpdated, dbc(), &DBCManager::updateSources);
   QObject::connect(can, &AbstractStream::sourcesUpdated, this, &MainWindow::updateLoadSaveMenus);
 }
 
@@ -359,7 +373,8 @@ void MainWindow::eventsMerged() {
     if (!dbc()->msgCount() && !car_fingerprint.isEmpty()) {
       auto dbc_name = fingerprint_to_dbc[car_fingerprint];
       if (dbc_name != QJsonValue::Undefined) {
-        loadDBCFromOpendbc(dbc_name.toString());
+        // Prevent dialog that load autosaved file from blocking replay->start().
+        QTimer::singleShot(0, [dbc_name, this]() { loadDBCFromOpendbc(dbc_name.toString()); });
       }
     }
   }
@@ -367,7 +382,7 @@ void MainWindow::eventsMerged() {
 
 void MainWindow::save() {
   // Save all open DBC files
-  for (auto &[s, dbc_file] : dbc()->dbc_files) {
+  for (auto dbc_file : dbc()->allDBCFiles()) {
     if (dbc_file->isEmpty()) continue;
     saveFile(dbc_file);
   }
@@ -375,7 +390,7 @@ void MainWindow::save() {
 
 void MainWindow::saveAs() {
   // Save as all open DBC files. Should not be called with more than 1 file open
-  for (auto &[s, dbc_file] : dbc()->dbc_files) {
+  for (auto dbc_file : dbc()->allDBCFiles()) {
     if (dbc_file->isEmpty()) continue;
     saveFileAs(dbc_file);
   }
@@ -383,7 +398,7 @@ void MainWindow::saveAs() {
 
 void MainWindow::autoSave() {
   if (!UndoStack::instance()->isClean()) {
-    for (auto &[_, dbc_file] : dbc()->dbc_files) {
+    for (auto dbc_file : dbc()->allDBCFiles()) {
       if (!dbc_file->filename.isEmpty()) {
         dbc_file->autoSave();
       }
@@ -392,7 +407,7 @@ void MainWindow::autoSave() {
 }
 
 void MainWindow::cleanupAutoSaveFile() {
-  for (auto &[_, dbc_file] : dbc()->dbc_files) {
+  for (auto dbc_file : dbc()->allDBCFiles()) {
     dbc_file->cleanupAutoSaveFile();
   }
 }
@@ -429,9 +444,7 @@ void MainWindow::saveFile(DBCFile *dbc_file) {
 }
 
 void MainWindow::saveFileAs(DBCFile *dbc_file) {
-  auto it = std::find_if(dbc()->dbc_files.begin(), dbc()->dbc_files.end(), [=](auto &f) { return f.second == dbc_file; });
-  assert(it != dbc()->dbc_files.end());
-  QString title = tr("Save File (bus: %1)").arg(toString(it->first));
+  QString title = tr("Save File (bus: %1)").arg(toString(dbc()->sources(dbc_file)));
   QString fn = QFileDialog::getSaveFileName(this, title, QDir::cleanPath(settings.last_dir + "/untitled.dbc"), tr("DBC (*.dbc)"));
   if (!fn.isEmpty()) {
     dbc_file->saveAs(fn);
@@ -440,15 +453,9 @@ void MainWindow::saveFileAs(DBCFile *dbc_file) {
   }
 }
 
-void MainWindow::removeBusFromFile(DBCFile *dbc_file, uint8_t source) {
-  assert(dbc_file != nullptr);
-  SourceSet ss = {source, uint8_t(source + 128), uint8_t(source + 192)};
-  dbc()->removeSourcesFromFile(dbc_file, ss);
-}
-
 void MainWindow::saveToClipboard() {
   // Copy all open DBC files to clipboard. Should not be called with more than 1 file open
-  for (auto &[s, dbc_file] : dbc()->dbc_files) {
+  for (auto dbc_file : dbc()->allDBCFiles()) {
     if (dbc_file->isEmpty()) continue;
     saveFileToClipboard(dbc_file);
   }
@@ -473,13 +480,10 @@ void MainWindow::updateLoadSaveMenus() {
   // TODO: Support clipboard for multiple files
   copy_dbc_to_clipboard->setEnabled(cnt == 1);
 
-  QList<uint8_t> sources_sorted = can->sources.toList();
-  std::sort(sources_sorted.begin(), sources_sorted.end());
-
   manage_dbcs_menu->clear();
   manage_dbcs_menu->setEnabled(dynamic_cast<DummyStream *>(can) == nullptr);
 
-  for (uint8_t source : sources_sorted) {
+  for (int source : can->sources) {
     if (source >= 64) continue; // Sent and blocked buses are handled implicitly
 
     SourceSet ss = {source, uint8_t(source + 128), uint8_t(source + 192)};
@@ -490,32 +494,26 @@ void MainWindow::updateLoadSaveMenus() {
     bus_menu->addAction(tr("Load DBC From Clipboard..."), [=]() { loadFromClipboard(ss, false); });
 
     // Show sub-menu for each dbc for this source.
-    QStringList bus_menu_fns;
-    for (auto it : dbc()->dbc_files) {
-      auto &[src, dbc_file] = it;
-      if (!src.contains(source) && (src != SOURCE_ALL)) {
-        continue;
-      }
-
+    QString file_name = "No DBCs loaded";
+    if (auto dbc_file = dbc()->findDBCFile(source)) {
       bus_menu->addSeparator();
-      bus_menu->addAction(dbc_file->name() + " (" + toString(src) + ")")->setEnabled(false);
-      bus_menu->addAction(tr("Save..."), [=]() { saveFile(it.second); });
-      bus_menu->addAction(tr("Save As..."), [=]() { saveFileAs(it.second); });
-      bus_menu->addAction(tr("Copy to Clipboard..."), [=]() { saveFileToClipboard(it.second); });
-      bus_menu->addAction(tr("Remove from this bus..."), [=]() { removeBusFromFile(it.second, source); });
-      bus_menu->addAction(tr("Remove from all buses..."), [=]() { closeFile(it.second); });
+      bus_menu->addAction(dbc_file->name() + " (" + toString(dbc()->sources(dbc_file)) + ")")->setEnabled(false);
+      bus_menu->addAction(tr("Save..."), [=]() { saveFile(dbc_file); });
+      bus_menu->addAction(tr("Save As..."), [=]() { saveFileAs(dbc_file); });
+      bus_menu->addAction(tr("Copy to Clipboard..."), [=]() { saveFileToClipboard(dbc_file); });
+      bus_menu->addAction(tr("Remove from this bus..."), [=]() { closeFile(ss); });
+      bus_menu->addAction(tr("Remove from all buses..."), [=]() { closeFile(dbc_file); });
 
-      bus_menu_fns << dbc_file->name();
+      file_name = dbc_file->name();
     }
 
     manage_dbcs_menu->addMenu(bus_menu);
-    QString bus_menu_title = bus_menu_fns.size() ? bus_menu_fns.join(", ") : "No DBCs loaded";
-    bus_menu->setTitle(tr("Bus %1 (%2)").arg(source).arg(bus_menu_title));
+    bus_menu->setTitle(tr("Bus %1 (%2)").arg(source).arg(file_name));
   }
 
   QStringList title;
-  for (auto &[src, dbc_file] : dbc()->dbc_files) {
-    title.push_back(tr("(%1) %2").arg(toString(src), dbc_file->name()));
+  for (auto f : dbc()->allDBCFiles()) {
+    title.push_back(tr("(%1) %2").arg(toString(dbc()->sources(f)), f->name()));
   }
   setWindowFilePath(title.join(" | "));
 }
diff --git a/tools/cabana/mainwin.h b/tools/cabana/mainwin.h
index 72ed0ae5cc..bbbe8730cb 100644
--- a/tools/cabana/mainwin.h
+++ b/tools/cabana/mainwin.h
@@ -50,7 +50,6 @@ protected:
   void saveFile(DBCFile *dbc_file);
   void saveFileAs(DBCFile *dbc_file);
   void saveFileToClipboard(DBCFile *dbc_file);
-  void removeBusFromFile(DBCFile *dbc_file, uint8_t source);
   void loadFromClipboard(SourceSet s = SOURCE_ALL, bool close_all = true);
   void autoSave();
   void cleanupAutoSaveFile();
@@ -98,6 +97,7 @@ protected:
   QString car_fingerprint;
   int prev_undostack_index = 0;
   int prev_undostack_count = 0;
+  QByteArray default_state;
   friend class OnlineHelp;
 };
 
diff --git a/tools/cabana/messageswidget.cc b/tools/cabana/messageswidget.cc
index e24e8ab291..fe4c7afb03 100644
--- a/tools/cabana/messageswidget.cc
+++ b/tools/cabana/messageswidget.cc
@@ -28,11 +28,13 @@ MessagesWidget::MessagesWidget(QWidget *parent) : QWidget(parent) {
   // message table
   view = new MessageView(this);
   model = new MessageListModel(this);
-  header = new MessageViewHeader(this, model);
+  header = new MessageViewHeader(this);
   auto delegate = new MessageBytesDelegate(view, settings.multiple_lines_bytes);
 
   view->setItemDelegate(delegate);
+  view->setHeader(header);
   view->setModel(model);
+  view->setHeader(header);
   view->setSortingEnabled(true);
   view->sortByColumn(MessageListModel::Column::NAME, Qt::AscendingOrder);
   view->setAllColumnsShowFocus(true);
@@ -40,7 +42,6 @@ MessagesWidget::MessagesWidget(QWidget *parent) : QWidget(parent) {
   view->setItemsExpandable(false);
   view->setIndentation(0);
   view->setRootIsDecorated(false);
-  view->setHeader(header);
 
   // Must be called before setting any header parameters to avoid overriding
   restoreHeaderState(settings.message_header_state);
@@ -82,6 +83,7 @@ MessagesWidget::MessagesWidget(QWidget *parent) : QWidget(parent) {
   });
   QObject::connect(suppress_defined_signals, &QCheckBox::stateChanged, [=](int state) {
     settings.suppress_defined_signals = (state == Qt::Checked);
+    emit settings.changed();
   });
   QObject::connect(can, &AbstractStream::msgsReceived, model, &MessageListModel::msgsReceived);
   QObject::connect(dbc(), &DBCManager::DBCFileChanged, this, &MessagesWidget::dbcModified);
@@ -130,7 +132,7 @@ void MessagesWidget::dbcModified() {
 void MessagesWidget::selectMessage(const MessageId &msg_id) {
   auto it = std::find(model->msgs.cbegin(), model->msgs.cend(), msg_id);
   if (it != model->msgs.cend()) {
-    view->selectionModel()->setCurrentIndex(model->index(std::distance(model->msgs.cbegin(), it), 0), QItemSelectionModel::Rows | QItemSelectionModel::ClearAndSelect);
+    view->setCurrentIndex(model->index(std::distance(model->msgs.cbegin(), it), 0));
   }
 }
 
@@ -209,7 +211,7 @@ void MessageListModel::setFilterStrings(const QMap<int, QString> &filters) {
 
 void MessageListModel::dbcModified() {
   dbc_address.clear();
-  for (const auto &[_, m] : dbc()->getMessages(0)) {
+  for (const auto &[_, m] : dbc()->getMessages(-1)) {
     dbc_address.insert(m.address);
   }
   fetchData();
@@ -273,7 +275,7 @@ bool MessageListModel::matchMessage(const MessageId &id, const CanData &data, co
       case Column::NAME: {
         const auto msg = dbc()->msg(id);
         match = re.match(msg ? msg->name : UNTITLED).hasMatch();
-        match |= msg && std::any_of(msg->sigs.cbegin(), msg->sigs.cend(), [&re](const auto &s) { return re.match(s.name).hasMatch(); });
+        match |= msg && std::any_of(msg->sigs.cbegin(), msg->sigs.cend(), [&re](const auto &s) { return re.match(s->name).hasMatch(); });
         break;
       }
       case Column::SOURCE:
@@ -444,7 +446,7 @@ void MessageView::headerContextMenuEvent(const QPoint &pos) {
   menu->popup(header()->mapToGlobal(pos));
 }
 
-MessageViewHeader::MessageViewHeader(QWidget *parent, MessageListModel *model) : model(model), QHeaderView(Qt::Horizontal, parent) {
+MessageViewHeader::MessageViewHeader(QWidget *parent) : QHeaderView(Qt::Horizontal, parent) {
   QObject::connect(this, &QHeaderView::sectionResized, this, &MessageViewHeader::updateHeaderPositions);
   QObject::connect(this, &QHeaderView::sectionMoved, this, &MessageViewHeader::updateHeaderPositions);
 }
@@ -483,7 +485,7 @@ void MessageViewHeader::updateHeaderPositions() {
 void MessageViewHeader::updateGeometries() {
   for (int i = 0; i < count(); i++) {
     if (!editors[i]) {
-      QString column_name = model->headerData(i, Qt::Horizontal, Qt::DisplayRole).toString();
+      QString column_name = model()->headerData(i, Qt::Horizontal, Qt::DisplayRole).toString();
       editors[i] = new QLineEdit(this);
       editors[i]->setClearButtonEnabled(true);
       editors[i]->setPlaceholderText(tr("Filter %1").arg(column_name));
diff --git a/tools/cabana/messageswidget.h b/tools/cabana/messageswidget.h
index 57011e51b4..2e165f5b7c 100644
--- a/tools/cabana/messageswidget.h
+++ b/tools/cabana/messageswidget.h
@@ -69,7 +69,7 @@ class MessageViewHeader : public QHeaderView {
 
   Q_OBJECT
 public:
-  MessageViewHeader(QWidget *parent, MessageListModel *model);
+  MessageViewHeader(QWidget *parent);
   void updateHeaderPositions();
 
   void updateGeometries() override;
@@ -85,8 +85,6 @@ private:
   void updateFilters();
 
   QMap<int, QLineEdit *> editors;
-  QMap<int, QSet<QString>> values;
-  MessageListModel *model;
 };
 
 class MessagesWidget : public QWidget {
diff --git a/tools/cabana/signalview.cc b/tools/cabana/signalview.cc
index 762b494f35..ce10576ffe 100644
--- a/tools/cabana/signalview.cc
+++ b/tools/cabana/signalview.cc
@@ -1,11 +1,9 @@
 #include "tools/cabana/signalview.h"
 
-#include <QApplication>
 #include <QCompleter>
 #include <QDialogButtonBox>
 #include <QHBoxLayout>
 #include <QHeaderView>
-#include <QHelpEvent>
 #include <QMessageBox>
 #include <QPainter>
 #include <QPainterPath>
@@ -18,6 +16,12 @@
 
 // SignalModel
 
+static QString signalTypeToString(cabana::Signal::Type type) {
+  if (type == cabana::Signal::Type::Multiplexor) return "Multiplexor Signal";
+  else if (type == cabana::Signal::Type::Multiplexed) return "Multiplexed Signal";
+  else return "Normal Signal";
+}
+
 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);
@@ -30,7 +34,8 @@ SignalModel::SignalModel(QObject *parent) : root(new Item), QAbstractItemModel(p
 void SignalModel::insertItem(SignalModel::Item *parent_item, int pos, const cabana::Signal *sig) {
   Item *item = new Item{.sig = sig, .parent = parent_item, .title = sig->name, .type = Item::Sig};
   parent_item->children.insert(pos, item);
-  QString titles[]{"Name", "Size", "Little Endian", "Signed", "Offset", "Factor", "Extra Info", "Unit", "Comment", "Minimum Value", "Maximum Value", "Value Descriptions"};
+  QString titles[]{"Name", "Size", "Little Endian", "Signed", "Offset", "Factor", "Type", "Multiplex Value", "Extra Info",
+                   "Unit", "Comment", "Minimum Value", "Maximum Value", "Value Descriptions"};
   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)});
   }
@@ -87,6 +92,9 @@ Qt::ItemFlags SignalModel::flags(const QModelIndex &index) const {
   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;
   }
+  if (item->type == Item::MultiplexValue && item->sig->type != cabana::Signal::Type::Multiplexed) {
+    flags &= ~Qt::ItemIsEnabled;
+  }
   return flags;
 }
 
@@ -124,6 +132,8 @@ QVariant SignalModel::data(const QModelIndex &index, int role) const {
           case Item::Sig: return item->sig_val;
           case Item::Name: return item->sig->name;
           case Item::Size: return item->sig->size;
+          case Item::SignalType: return signalTypeToString(item->sig->type);
+          case Item::MultiplexValue: return item->sig->multiplex_value;
           case Item::Offset: return doubleToString(item->sig->offset);
           case Item::Factor: return doubleToString(item->sig->factor);
           case Item::Unit: return item->sig->unit;
@@ -146,7 +156,7 @@ QVariant SignalModel::data(const QModelIndex &index, int role) const {
     } else if (role == Qt::DecorationRole && index.column() == 0 && item->type == Item::ExtraInfo) {
       return utils::icon(item->parent->extra_expanded ? "chevron-compact-down" : "chevron-compact-up");
     } else if (role == Qt::ToolTipRole && item->type == Item::Sig) {
-      return (index.column() == 0) ? item->sig->name : item->sig_val;
+      return (index.column() == 0) ? signalToolTip(item->sig) : QString();
     }
   }
   return {};
@@ -160,6 +170,8 @@ bool SignalModel::setData(const QModelIndex &index, const QVariant &value, int r
   switch (item->type) {
     case Item::Name: s.name = value.toString(); break;
     case Item::Size: s.size = value.toInt(); break;
+    case Item::SignalType: s.type = (cabana::Signal::Type)value.toInt(); break;
+    case Item::MultiplexValue: s.multiplex_value = 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;
@@ -171,7 +183,6 @@ bool SignalModel::setData(const QModelIndex &index, const QVariant &value, int r
     case Item::Desc: s.val_desc = value.value<ValueDescription>(); break;
     default: return false;
   }
-  s.updatePrecision();
   bool ret = saveSignal(item->sig, s);
   emit dataChanged(index, index, {Qt::DisplayRole, Qt::EditRole, Qt::CheckStateRole});
   return ret;
@@ -201,74 +212,44 @@ bool SignalModel::saveSignal(const cabana::Signal *origin_s, cabana::Signal &s)
   }
 
   if (s.is_little_endian != origin_s->is_little_endian) {
-    int start = std::floor(s.start_bit / 8);
-    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.start_bit = flipBitPos(s.start_bit);
   }
-  if (s.is_little_endian) {
-    s.lsb = s.start_bit;
-    s.msb = s.start_bit + s.size - 1;
-  } else {
-    s.lsb = bigEndianStartBitsIndex(bigEndianBitIndex(s.start_bit) + s.size - 1);
-    s.msb = s.start_bit;
-  }
-
   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);
-  if (!msg) {
-    QString name = dbc()->newMsgName(msg_id);
-    UndoStack::push(new EditMsgCommand(msg_id, name, can->lastMessage(msg_id).dat.size(), ""));
-    msg = dbc()->msg(msg_id);
-  }
-
-  cabana::Signal sig = {.name = dbc()->newSignalName(msg_id), .is_little_endian = little_endian, .factor = 1, .min = 0, .max = std::pow(2, size) - 1};
-  updateSigSizeParamsFromRange(sig, start_bit, size);
-  UndoStack::push(new AddSigCommand(msg_id, sig));
-}
-
-void SignalModel::resizeSignal(const cabana::Signal *sig, int start_bit, int size) {
-  cabana::Signal s = *sig;
-  updateSigSizeParamsFromRange(s, start_bit, size);
-  saveSignal(sig, s);
-}
-
-void SignalModel::removeSignal(const cabana::Signal *sig) {
-  UndoStack::push(new RemoveSigCommand(msg_id, sig));
-  if (dbc()->signalCount(msg_id) == 0) {
-    UndoStack::push(new RemoveMsgCommand(msg_id));
-  }
-}
-
 void SignalModel::handleMsgChanged(MessageId id) {
-  if (id == msg_id) {
+  if (id.address == msg_id.address) {
     refresh();
   }
 }
 
 void SignalModel::handleSignalAdded(MessageId id, const cabana::Signal *sig) {
   if (id == msg_id) {
-    int i = 0;
-    for (; i < root->children.size(); ++i) {
-      if (sig->start_bit < root->children[i]->sig->start_bit) break;
+    if (filter_str.isEmpty()) {
+      int i = dbc()->msg(msg_id)->indexOf(sig);
+      beginInsertRows({}, i, i);
+      insertItem(root.get(), i, sig);
+      endInsertRows();
+    } else if (sig->name.contains(filter_str, Qt::CaseInsensitive)) {
+      refresh();
     }
-    beginInsertRows({}, i, i);
-    insertItem(root.get(), i, sig);
-    endInsertRows();
   }
 }
 
 void SignalModel::handleSignalUpdated(const cabana::Signal *sig) {
   if (int row = signalRow(sig); row != -1) {
     emit dataChanged(index(row, 0), index(row, 1), {Qt::DisplayRole, Qt::EditRole, Qt::CheckStateRole});
+
+    if (filter_str.isEmpty()) {
+      // move row when the order changes.
+      int to = dbc()->msg(msg_id)->indexOf(sig);
+      if (to != row) {
+        beginMoveRows({}, row, row, {}, to > row ? to + 1 : to);
+        root->children.move(row, to);
+        endMoveRows();
+      }
+    }
   }
 }
 
@@ -293,29 +274,20 @@ SignalItemDelegate::SignalItemDelegate(QObject *parent) : QStyledItemDelegate(pa
 QSize SignalItemDelegate::sizeHint(const QStyleOptionViewItem &option, const QModelIndex &index) const {
   int width = option.widget->size().width() / 2;
   if (index.column() == 0) {
+    int spacing = option.widget->style()->pixelMetric(QStyle::PM_TreeViewIndentation) + color_label_width + 8;
     auto text = index.data(Qt::DisplayRole).toString();
+    auto item = (SignalModel::Item *)index.internalPointer();
+    if (item->type == SignalModel::Item::Sig && item->sig->type != cabana::Signal::Type::Normal) {
+      text += item->sig->type == cabana::Signal::Type::Multiplexor ? QString(" M ") : QString(" m%1 ").arg(item->sig->multiplex_value);
+      spacing += (option.widget->style()->pixelMetric(QStyle::PM_FocusFrameHMargin) + 1) * 2;
+    }
     auto it = width_cache.find(text);
     if (it == width_cache.end()) {
-      int spacing = option.widget->style()->pixelMetric(QStyle::PM_TreeViewIndentation) + color_label_width + 8;
-      it = width_cache.insert(text, option.fontMetrics.width(text) + spacing);
+      it = width_cache.insert(text, option.fontMetrics.width(text));
     }
-    width = std::min<int>(option.widget->size().width() / 3.0, it.value());
+    width = std::min<int>(option.widget->size().width() / 3.0, it.value() + spacing);
   }
-  return {width, QApplication::fontMetrics().height()};
-}
-
-bool SignalItemDelegate::helpEvent(QHelpEvent *event, QAbstractItemView *view, const QStyleOptionViewItem &option, const QModelIndex &index) {
-  if (event && event->type() == QEvent::ToolTip && index.isValid()) {
-    auto item = (SignalModel::Item *)index.internalPointer();
-    if (item->type == SignalModel::Item::Sig && index.column() == 1) {
-      QRect rc = option.rect.adjusted(0, 0, -option.rect.width() * 0.4, 0);
-      if (rc.contains(event->pos())) {
-        event->setAccepted(false);
-        return false;
-      }
-    }
-  }
-  return QStyledItemDelegate::helpEvent(event, view, option, index);
+  return {width, option.fontMetrics.height()};
 }
 
 void SignalItemDelegate::updateEditorGeometry(QWidget *editor, const QStyleOptionViewItem &option, const QModelIndex &index) const {
@@ -335,7 +307,7 @@ void SignalItemDelegate::paint(QPainter *painter, const QStyleOptionViewItem &op
   if (item && item->type == SignalModel::Item::Sig) {
     painter->setRenderHint(QPainter::Antialiasing);
     if (option.state & QStyle::State_Selected) {
-      painter->fillRect(option.rect, option.palette.highlight());
+      painter->fillRect(option.rect, option.palette.brush(QPalette::Normal, QPalette::Highlight));
     }
 
     int h_margin = option.widget->style()->pixelMetric(QStyle::PM_FocusFrameHMargin) + 1;
@@ -348,15 +320,28 @@ void SignalItemDelegate::paint(QPainter *painter, const QStyleOptionViewItem &op
       path.addRoundedRect(icon_rect, 3, 3);
       painter->setPen(item->highlight ? Qt::white : Qt::black);
       painter->setFont(label_font);
-      painter->fillPath(path, getColor(item->sig).darker(item->highlight ? 125 : 0));
+      painter->fillPath(path, item->sig->color.darker(item->highlight ? 125 : 0));
       painter->drawText(icon_rect, Qt::AlignCenter, QString::number(item->row() + 1));
 
       r.setLeft(icon_rect.right() + h_margin * 2);
+      // multiplexer indicator
+      if (item->sig->type != cabana::Signal::Type::Normal) {
+        QString indicator = item->sig->type == cabana::Signal::Type::Multiplexor ? QString(" M ") : QString(" m%1 ").arg(item->sig->multiplex_value);
+        QRect indicator_rect{r.x(), r.y(), option.fontMetrics.width(indicator), r.height()};
+        painter->setBrush(Qt::gray);
+        painter->setPen(Qt::NoPen);
+        painter->drawRoundedRect(indicator_rect, 3, 3);
+        painter->setPen(Qt::white);
+        painter->drawText(indicator_rect, Qt::AlignCenter, indicator);
+        r.setLeft(indicator_rect.right() + h_margin * 2);
+      }
+
+      // name
       auto text = option.fontMetrics.elidedText(index.data(Qt::DisplayRole).toString(), Qt::ElideRight, r.width());
       painter->setPen(option.palette.color(option.state & QStyle::State_Selected ? QPalette::HighlightedText : QPalette::Text));
       painter->setFont(option.font);
       painter->drawText(r, option.displayAlignment, text);
-    } else if (index.column() == 1) {
+    } else if (index.column() == 1 && !item->sparkline.pixmap.isNull()) {
       // sparkline
       QSize sparkline_size = item->sparkline.pixmap.size() / item->sparkline.pixmap.devicePixelRatio();
       painter->drawPixmap(QRect(r.topLeft(), sparkline_size), item->sparkline.pixmap);
@@ -374,8 +359,15 @@ void SignalItemDelegate::paint(QPainter *painter, const QStyleOptionViewItem &op
         painter->drawText(rect, Qt::AlignLeft | Qt::AlignBottom, min);
         QFontMetrics fm(minmax_font);
         value_adjust = std::max(fm.width(min), fm.width(max)) + 5;
+      } else if (item->sig->type == cabana::Signal::Type::Multiplexed) {
+        // display freq of multiplexed signal
+        painter->setFont(label_font);
+        QString freq = QString("%1 hz").arg(item->sparkline.freq(), 0, 'g', 2);
+        painter->drawText(rect.adjusted(5, 0, 0, 0), Qt::AlignLeft | Qt::AlignVCenter, freq);
+        QFontMetrics fm(label_font);
+        value_adjust = fm.width(freq) + 10;
       }
-      // value
+      // signal value
       painter->setFont(option.font);
       rect.adjust(value_adjust, 0, -button_size.width(), 0);
       auto text = option.fontMetrics.elidedText(index.data(Qt::DisplayRole).toString(), Qt::ElideRight, rect.width());
@@ -389,10 +381,11 @@ void SignalItemDelegate::paint(QPainter *painter, const QStyleOptionViewItem &op
 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 || item->type == SignalModel::Item::Min || item->type == SignalModel::Item::Max) {
+      item->type == SignalModel::Item::Factor || item->type == SignalModel::Item::MultiplexValue ||
+      item->type == SignalModel::Item::Min || item->type == SignalModel::Item::Max) {
     QLineEdit *e = new QLineEdit(parent);
     e->setFrame(false);
-    e->setValidator(index.row() == 0 ? name_validator : double_validator);
+    e->setValidator(item->type == SignalModel::Item::Name ? name_validator : double_validator);
 
     if (item->type == SignalModel::Item::Name) {
       QCompleter *completer = new QCompleter(dbc()->signalNames());
@@ -407,6 +400,15 @@ QWidget *SignalItemDelegate::createEditor(QWidget *parent, const QStyleOptionVie
     spin->setFrame(false);
     spin->setRange(1, 64);
     return spin;
+  } else if (item->type == SignalModel::Item::SignalType) {
+    QComboBox *c = new QComboBox(parent);
+    c->addItem(signalTypeToString(cabana::Signal::Type::Normal), (int)cabana::Signal::Type::Normal);
+    if (!dbc()->msg(((SignalModel *)index.model())->msg_id)->multiplexor) {
+      c->addItem(signalTypeToString(cabana::Signal::Type::Multiplexor), (int)cabana::Signal::Type::Multiplexor);
+    } else if (item->sig->type != cabana::Signal::Type::Multiplexor) {
+      c->addItem(signalTypeToString(cabana::Signal::Type::Multiplexed), (int)cabana::Signal::Type::Multiplexed);
+    }
+    return c;
   } else if (item->type == SignalModel::Item::Desc) {
     ValueDescriptionDlg dlg(item->sig->val_desc, parent);
     dlg.setWindowTitle(item->sig->name);
@@ -418,6 +420,15 @@ QWidget *SignalItemDelegate::createEditor(QWidget *parent, const QStyleOptionVie
   return QStyledItemDelegate::createEditor(parent, option, index);
 }
 
+void SignalItemDelegate::setModelData(QWidget *editor, QAbstractItemModel *model, const QModelIndex &index) const {
+  auto item = (SignalModel::Item *)index.internalPointer();
+  if (item->type == SignalModel::Item::SignalType) {
+    model->setData(index, ((QComboBox*)editor)->currentData().toInt());
+    return;
+  }
+  QStyledItemDelegate::setModelData(editor, model, index);
+}
+
 // SignalView
 
 SignalView::SignalView(ChartsWidget *charts, QWidget *parent) : charts(charts), QFrame(parent) {
@@ -456,10 +467,14 @@ SignalView::SignalView(ChartsWidget *charts, QWidget *parent) : charts(charts),
   tree->setHeaderHidden(true);
   tree->setMouseTracking(true);
   tree->setExpandsOnDoubleClick(false);
+  tree->setEditTriggers(QAbstractItemView::AllEditTriggers);
   tree->header()->setSectionResizeMode(0, QHeaderView::ResizeToContents);
   tree->header()->setStretchLastSection(true);
   tree->setMinimumHeight(300);
-  tree->setStyleSheet("QSpinBox{background-color:white;border:none;} QLineEdit{background-color:white;}");
+
+  // Use a distinctive background for the whole row containing a QSpinBox or QLineEdit
+  QString nodeBgColor = palette().color(QPalette::AlternateBase).name(QColor::HexArgb);
+  tree->setStyleSheet(QString("QSpinBox{background-color:%1;border:none;} QLineEdit{background-color:%1;}").arg(nodeBgColor));
 
   QVBoxLayout *main_layout = new QVBoxLayout(this);
   main_layout->setContentsMargins(0, 0, 0, 0);
@@ -476,7 +491,7 @@ SignalView::SignalView(ChartsWidget *charts, QWidget *parent) : charts(charts),
   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::rowsRemoved, this, &SignalView::rowsChanged);
-  QObject::connect(dbc(), &DBCManager::signalAdded, [this](MessageId id, const cabana::Signal *sig) { selectSignal(sig); });
+  QObject::connect(dbc(), &DBCManager::signalAdded, this, &SignalView::handleSignalAdded);
   QObject::connect(dbc(), &DBCManager::signalUpdated, this, &SignalView::handleSignalUpdated);
   QObject::connect(tree->verticalScrollBar(), &QScrollBar::valueChanged, [this]() { updateState(); });
   QObject::connect(tree->verticalScrollBar(), &QScrollBar::rangeChanged, [this]() { updateState(); });
@@ -513,7 +528,7 @@ void SignalView::rowsChanged() {
 
       tree->setIndexWidget(index, w);
       auto sig = model->getItem(index)->sig;
-      QObject::connect(remove_btn, &QToolButton::clicked, [=]() { model->removeSignal(sig); });
+      QObject::connect(remove_btn, &QToolButton::clicked, [=]() { UndoStack::push(new RemoveSigCommand(model->msg_id, sig)); });
       QObject::connect(plot_btn, &QToolButton::clicked, [=](bool checked) {
         emit showChart(model->msg_id, sig, checked, QGuiApplication::keyboardModifiers() & Qt::ShiftModifier);
       });
@@ -580,6 +595,12 @@ void SignalView::setSparklineRange(int value) {
   updateState();
 }
 
+void SignalView::handleSignalAdded(MessageId id, const cabana::Signal *sig) {
+  if (id.address == model->msg_id.address) {
+    selectSignal(sig);
+  }
+}
+
 void SignalView::handleSignalUpdated(const cabana::Signal *sig) {
   if (int row = model->signalRow(sig); row != -1) {
     auto item = model->getItem(model->index(row, 1));
@@ -594,8 +615,10 @@ void SignalView::updateState(const QHash<MessageId, CanData> *msgs) {
   if (model->rowCount() == 0 || (msgs && !msgs->contains(model->msg_id)) || last_msg.dat.size() == 0) return;
 
   for (auto item : model->root->children) {
-    double value = get_raw_value((uint8_t *)last_msg.dat.constData(), last_msg.dat.size(), *item->sig);
-    item->sig_val = item->sig->formatValue(value);
+    double value = 0;
+    if (item->sig->getValue((uint8_t *)last_msg.dat.constData(), last_msg.dat.size(), &value)) {
+      item->sig_val = item->sig->formatValue(value);
+    }
     max_value_width = std::max(max_value_width, fontMetrics().width(item->sig_val));
   }
 
@@ -635,11 +658,6 @@ void SignalView::resizeEvent(QResizeEvent* event) {
   QFrame::resizeEvent(event);
 }
 
-void SignalView::leaveEvent(QEvent *event) {
-  emit highlight(nullptr);
-  QWidget::leaveEvent(event);
-}
-
 // ValueDescriptionDlg
 
 ValueDescriptionDlg::ValueDescriptionDlg(const ValueDescription &descriptions, QWidget *parent) : QDialog(parent) {
diff --git a/tools/cabana/signalview.h b/tools/cabana/signalview.h
index 02741234a6..9541ac8a3b 100644
--- a/tools/cabana/signalview.h
+++ b/tools/cabana/signalview.h
@@ -15,7 +15,7 @@ class SignalModel : public QAbstractItemModel {
   Q_OBJECT
 public:
   struct Item {
-    enum Type {Root, Sig, Name, Size, Endian, Signed, Offset, Factor, ExtraInfo, Unit, Comment, Min, Max, Desc };
+    enum Type {Root, Sig, Name, Size, Endian, Signed, Offset, Factor, SignalType, MultiplexValue, ExtraInfo, Unit, Comment, Min, Max, Desc };
     ~Item() { qDeleteAll(children); }
     inline int row() { return parent->children.indexOf(this); }
 
@@ -41,10 +41,7 @@ public:
   bool setData(const QModelIndex &index, const QVariant &value, int role = Qt::EditRole) override;
   void setMessage(const MessageId &id);
   void setFilter(const QString &txt);
-  void addSignal(int start_bit, int size, bool little_endian);
   bool saveSignal(const cabana::Signal *origin_s, cabana::Signal &s);
-  void resizeSignal(const cabana::Signal *sig, int start_bit, int size);
-  void removeSignal(const cabana::Signal *sig);
   Item *getItem(const QModelIndex &index) const;
   int signalRow(const cabana::Signal *sig) const;
   void showExtraInfo(const QModelIndex &index);
@@ -85,8 +82,8 @@ public:
   void paint(QPainter *painter, const QStyleOptionViewItem &option, const QModelIndex &index) const override;
   QSize sizeHint(const QStyleOptionViewItem &option, const QModelIndex &index) const;
   QWidget *createEditor(QWidget *parent, const QStyleOptionViewItem &option, const QModelIndex &index) const override;
-  bool helpEvent(QHelpEvent *event, QAbstractItemView *view, const QStyleOptionViewItem &option, const QModelIndex &index) override;
   void updateEditorGeometry(QWidget *editor, const QStyleOptionViewItem &option, const QModelIndex &index) const override;
+  void setModelData(QWidget *editor, QAbstractItemModel *model, const QModelIndex &index) const override;
 
   QValidator *name_validator, *double_validator;
   QFont label_font, minmax_font;
@@ -113,10 +110,10 @@ signals:
 
 private:
   void rowsChanged();
-  void leaveEvent(QEvent *event) override;
   void resizeEvent(QResizeEvent* event) override;
   void updateToolBar();
   void setSparklineRange(int value);
+  void handleSignalAdded(MessageId id, const cabana::Signal *sig);
   void handleSignalUpdated(const cabana::Signal *sig);
   void updateState(const QHash<MessageId, CanData> *msgs = nullptr);
 
@@ -131,6 +128,10 @@ private:
       // Bypass the slow call to QTreeView::dataChanged.
       QAbstractItemView::dataChanged(topLeft, bottomRight, roles);
     }
+    void leaveEvent(QEvent *event) override {
+      emit ((SignalView *)parentWidget())->highlight(nullptr);
+      QTreeView::leaveEvent(event);
+    }
   };
   int max_value_width = 0;
   TreeView *tree;
diff --git a/tools/cabana/streams/abstractstream.cc b/tools/cabana/streams/abstractstream.cc
index dc23421a8c..7cd210d8f1 100644
--- a/tools/cabana/streams/abstractstream.cc
+++ b/tools/cabana/streams/abstractstream.cc
@@ -12,6 +12,9 @@ StreamNotifier *StreamNotifier::instance() {
 AbstractStream::AbstractStream(QObject *parent) : new_msgs(new QHash<MessageId, CanData>()), QObject(parent) {
   assert(parent != nullptr);
   QObject::connect(this, &AbstractStream::seekedTo, this, &AbstractStream::updateLastMsgsTo);
+  QObject::connect(&settings, &Settings::changed, this, &AbstractStream::updateMasks);
+  QObject::connect(dbc(), &DBCManager::DBCFileChanged, this, &AbstractStream::updateMasks);
+  QObject::connect(dbc(), &DBCManager::maskUpdated, this, &AbstractStream::updateMasks);
   QObject::connect(this, &AbstractStream::streamStarted, [this]() {
     emit StreamNotifier::instance()->changingStream();
     delete can;
@@ -20,6 +23,20 @@ AbstractStream::AbstractStream(QObject *parent) : new_msgs(new QHash<MessageId,
   });
 }
 
+void AbstractStream::updateMasks() {
+  std::lock_guard lk(mutex);
+  masks.clear();
+  if (settings.suppress_defined_signals) {
+    for (auto s : sources) {
+      if (auto f = dbc()->findDBCFile(s)) {
+        for (const auto &[address, m] : f->getMessages()) {
+          masks[{.source = (uint8_t)s, .address = address}] = m.mask;
+        }
+      }
+    }
+  }
+}
+
 void AbstractStream::updateMessages(QHash<MessageId, CanData> *messages) {
   auto prev_src_size = sources.size();
   auto prev_msg_size = last_msgs.size();
@@ -29,6 +46,7 @@ void AbstractStream::updateMessages(QHash<MessageId, CanData> *messages) {
     sources.insert(id.source);
   }
   if (sources.size() != prev_src_size) {
+    updateMasks();
     emit sourcesUpdated(sources);
   }
   emit updated();
@@ -38,7 +56,9 @@ void AbstractStream::updateMessages(QHash<MessageId, CanData> *messages) {
 }
 
 void AbstractStream::updateEvent(const MessageId &id, double sec, const uint8_t *data, uint8_t size) {
-  QList<uint8_t> mask = settings.suppress_defined_signals ? dbc()->mask(id) : QList<uint8_t>();
+  std::lock_guard lk(mutex);
+  auto mask_it = masks.find(id);
+  std::vector<uint8_t> *mask = mask_it == masks.end() ? nullptr : &mask_it->second;
   all_msgs[id].compute((const char *)data, size, sec, getSpeed(), mask);
   if (!new_msgs->contains(id)) {
     new_msgs->insert(id, {});
@@ -47,7 +67,8 @@ void AbstractStream::updateEvent(const MessageId &id, double sec, const uint8_t
 
 bool AbstractStream::postEvents() {
   // delay posting CAN message if UI thread is busy
-  if (processing.exchange(true) == false) {
+  if (processing == false) {
+    processing = true;
     for (auto it = new_msgs->begin(); it != new_msgs->end(); ++it) {
       it.value() = all_msgs[it.key()];
     }
@@ -84,7 +105,8 @@ void AbstractStream::updateLastMsgsTo(double sec) {
     auto it = std::lower_bound(ev.crbegin(), ev.crend(), last_ts, [](auto e, uint64_t ts) {
       return e->mono_time > ts;
     });
-    QList<uint8_t> mask = settings.suppress_defined_signals ? dbc()->mask(id) : QList<uint8_t>();
+    auto mask_it = masks.find(id);
+    std::vector<uint8_t> *mask = mask_it == masks.end() ? nullptr : &mask_it->second;
     if (it != ev.crend()) {
       double ts = (*it)->mono_time / 1e9 - routeStartTime();
       auto &m = all_msgs[id];
@@ -93,7 +115,10 @@ void AbstractStream::updateLastMsgsTo(double sec) {
       m.freq = m.count / std::max(1.0, ts);
     }
   }
+
+  // deep copy all_msgs to last_msgs to avoid multi-threading issue.
   last_msgs = all_msgs;
+  last_msgs.detach();
   // use a timer to prevent recursive calls
   QTimer::singleShot(0, [this]() {
     emit updated();
@@ -171,7 +196,7 @@ static inline QColor blend(const QColor &a, const QColor &b) {
   return QColor((a.red() + b.red()) / 2, (a.green() + b.green()) / 2, (a.blue() + b.blue()) / 2, (a.alpha() + b.alpha()) / 2);
 }
 
-void CanData::compute(const char *can_data, const int size, double current_sec, double playback_speed, const QList<uint8_t> &mask, uint32_t in_freq) {
+void CanData::compute(const char *can_data, const int size, double current_sec, double playback_speed, const std::vector<uint8_t> *mask, uint32_t in_freq) {
   ts = current_sec;
   ++count;
   const double sec_to_first_event = current_sec - (can->allEvents().front()->mono_time / 1e9 - can->routeStartTime());
@@ -180,7 +205,7 @@ void CanData::compute(const char *can_data, const int size, double current_sec,
     dat.resize(size);
     bit_change_counts.resize(size);
     colors = QVector(size, QColor(0, 0, 0, 0));
-    last_change_t = QVector(size, ts);
+    last_change_t.assign(size, ts);
     last_delta.resize(size);
     same_delta_counter.resize(size);
   } else {
@@ -190,7 +215,7 @@ void CanData::compute(const char *can_data, const int size, double current_sec,
     const QColor &greyish_blue = !lighter ? GREYISH_BLUE : GREYISH_BLUE_LIGHTER;
 
     for (int i = 0; i < size; ++i) {
-      const uint8_t mask_byte = (i < mask.size()) ? (~mask[i]) : 0xff;
+      const uint8_t mask_byte = (mask && i < mask->size()) ? (~((*mask)[i])) : 0xff;
       const uint8_t last = dat[i] & mask_byte;
       const uint8_t cur = can_data[i] & mask_byte;
       const int delta = cur - last;
diff --git a/tools/cabana/streams/abstractstream.h b/tools/cabana/streams/abstractstream.h
index cdb939b948..fb42a58e24 100644
--- a/tools/cabana/streams/abstractstream.h
+++ b/tools/cabana/streams/abstractstream.h
@@ -13,17 +13,17 @@
 #include "tools/replay/replay.h"
 
 struct CanData {
-  void compute(const char *dat, const int size, double current_sec, double playback_speed, const QList<uint8_t> &mask, uint32_t in_freq = 0);
+  void compute(const char *dat, const int size, double current_sec, double playback_speed, const std::vector<uint8_t> *mask, uint32_t in_freq = 0);
 
   double ts = 0.;
   uint32_t count = 0;
   double freq = 0;
   QByteArray dat;
   QVector<QColor> colors;
-  QVector<double> last_change_t;
-  QVector<std::array<uint32_t, 8>> bit_change_counts;
-  QVector<int> last_delta;
-  QVector<int> same_delta_counter;
+  std::vector<double> last_change_t;
+  std::vector<std::array<uint32_t, 8>> bit_change_counts;
+  std::vector<int> last_delta;
+  std::vector<int> same_delta_counter;
 };
 
 struct CanEvent {
@@ -57,7 +57,7 @@ public:
   virtual void pause(bool pause) {}
   const std::vector<const CanEvent *> &allEvents() const { return all_events_; }
   const std::vector<const CanEvent *> &events(const MessageId &id) const;
-  virtual const std::vector<std::tuple<int, int, TimelineType>> getTimeline() { return {}; }
+  virtual const std::vector<std::tuple<double, double, TimelineType>> getTimeline() { return {}; }
 
 signals:
   void paused();
@@ -79,6 +79,7 @@ protected:
   uint64_t lastEventMonoTime() const { return lastest_event_ts; }
   void updateEvent(const MessageId &id, double sec, const uint8_t *data, uint8_t size);
   void updateMessages(QHash<MessageId, CanData> *);
+  void updateMasks();
   void updateLastMsgsTo(double sec);
 
   uint64_t lastest_event_ts = 0;
@@ -88,6 +89,8 @@ protected:
   std::unordered_map<MessageId, std::vector<const CanEvent *>> events_;
   std::vector<const CanEvent *> all_events_;
   std::deque<std::unique_ptr<char[]>> memory_blocks;
+  std::mutex mutex;
+  std::unordered_map<MessageId, std::vector<uint8_t>> masks;
 };
 
 class AbstractOpenStreamWidget : public QWidget {
diff --git a/tools/cabana/streams/livestream.cc b/tools/cabana/streams/livestream.cc
index 6ad929b2ee..91c88c97ca 100644
--- a/tools/cabana/streams/livestream.cc
+++ b/tools/cabana/streams/livestream.cc
@@ -1,10 +1,30 @@
 #include "tools/cabana/streams/livestream.h"
 
+struct LiveStream::Logger {
+  Logger() : start_ts(seconds_since_epoch()), segment_num(-1) {}
+
+  void write(const char *data, const size_t size) {
+    int n = (seconds_since_epoch() - start_ts) / 60.0;
+    if (std::exchange(segment_num, n) != segment_num) {
+      QString dir = QString("%1/%2--%3")
+                        .arg(settings.log_path)
+                        .arg(QDateTime::fromSecsSinceEpoch(start_ts).toString("yyyy-MM-dd--hh-mm-ss"))
+                        .arg(n);
+      util::create_directories(dir.toStdString(), 0755);
+      fs.reset(new std::ofstream((dir + "/rlog").toStdString(), std::ios::binary | std::ios::out));
+    }
+
+    fs->write(data, size);
+  }
+
+  std::unique_ptr<std::ofstream> fs;
+  int segment_num;
+  uint64_t start_ts;
+};
+
 LiveStream::LiveStream(QObject *parent) : AbstractStream(parent) {
   if (settings.log_livestream) {
-    std::string path = (settings.log_path + "/" + QDateTime::currentDateTime().toString("yyyy-MM-dd--hh-mm-ss") + "--0").toStdString();
-    util::create_directories(path, 0755);
-    fs.reset(new std::ofstream(path + "/rlog", std::ios::binary | std::ios::out));
+    logger = std::make_unique<Logger>();
   }
   stream_thread = new QThread(this);
 
@@ -34,8 +54,8 @@ LiveStream::~LiveStream() {
 
 // called in streamThread
 void LiveStream::handleEvent(const char *data, const size_t size) {
-  if (fs) {
-    fs->write(data, size);
+  if (logger) {
+    logger->write(data, size);
   }
 
   std::lock_guard lk(lock);
diff --git a/tools/cabana/streams/livestream.h b/tools/cabana/streams/livestream.h
index 577074b415..b4816d090f 100644
--- a/tools/cabana/streams/livestream.h
+++ b/tools/cabana/streams/livestream.h
@@ -42,7 +42,6 @@ private:
   std::vector<Event *> receivedEvents;
   std::deque<Msg> receivedMessages;
 
-  std::unique_ptr<std::ofstream> fs;
   int timer_id;
   QBasicTimer update_timer;
 
@@ -53,4 +52,7 @@ private:
   bool post_last_event = true;
   double speed_ = 1;
   bool paused_ = false;
+
+  struct Logger;
+  std::unique_ptr<Logger> logger;
 };
diff --git a/tools/cabana/streams/replaystream.cc b/tools/cabana/streams/replaystream.cc
index c7c79c8388..2e580c0f0d 100644
--- a/tools/cabana/streams/replaystream.cc
+++ b/tools/cabana/streams/replaystream.cc
@@ -55,11 +55,12 @@ bool ReplayStream::eventFilter(const Event *event) {
       const auto dat = c.getDat();
       updateEvent(id, current_sec, (const uint8_t*)dat.begin(), dat.size());
     }
-    double ts = millis_since_boot();
-    if ((ts - prev_update_ts) > (1000.0 / settings.fps)) {
-      if (postEvents()) {
-        prev_update_ts = ts;
-      }
+  }
+
+  double ts = millis_since_boot();
+  if ((ts - prev_update_ts) > (1000.0 / settings.fps)) {
+    if (postEvents()) {
+      prev_update_ts = ts;
     }
   }
   return true;
diff --git a/tools/cabana/streams/replaystream.h b/tools/cabana/streams/replaystream.h
index a5705a14a6..eddcf514f7 100644
--- a/tools/cabana/streams/replaystream.h
+++ b/tools/cabana/streams/replaystream.h
@@ -11,7 +11,7 @@ public:
   void start() override;
   bool loadRoute(const QString &route, const QString &data_dir, uint32_t replay_flags = REPLAY_FLAG_NONE);
   bool eventFilter(const Event *event);
-  void seekTo(double ts) override { replay->seekTo(std::max(double(0), ts), false); };
+  void seekTo(double ts) override { replay->seekTo(std::max(double(0), ts), false); }
   inline QString routeName() const override { return replay->route()->name(); }
   inline QString carFingerprint() const override { return replay->carFingerprint().c_str(); }
   double totalSeconds() const override { return replay->totalSeconds(); }
@@ -23,7 +23,7 @@ public:
   inline float getSpeed() const { return replay->getSpeed(); }
   inline bool isPaused() const override { return replay->isPaused(); }
   void pause(bool pause) override;
-  inline const std::vector<std::tuple<int, int, TimelineType>> getTimeline() override { return replay->getTimeline(); }
+  inline const std::vector<std::tuple<double, double, TimelineType>> getTimeline() override { return replay->getTimeline(); }
   static AbstractOpenStreamWidget *widget(AbstractStream **stream);
 
 private:
diff --git a/tools/cabana/tests/test_cabana.cc b/tools/cabana/tests/test_cabana.cc
index abbb3dbf13..a3d014dd2c 100644
--- a/tools/cabana/tests/test_cabana.cc
+++ b/tools/cabana/tests/test_cabana.cc
@@ -7,16 +7,16 @@
 #include "tools/cabana/streams/abstractstream.h"
 
 // demo route, first segment
-const std::string TEST_RLOG_URL = "https://commadata2.blob.core.windows.net/commadata2/4cf7a6ad03080c90/2021-09-29--13-46-36/0/rlog.bz2";
+const std::string TEST_RLOG_URL = "https://commadata2.blob.core.windows.net/commadata2/a2a0ccea32023010/2023-07-27--13-01-19/0/rlog.bz2";
 
 TEST_CASE("DBCFile::generateDBC") {
-  QString fn = QString("%1/%2.dbc").arg(OPENDBC_FILE_PATH, "toyota_new_mc_pt_generated");
+  QString fn = QString("%1/%2.dbc").arg(OPENDBC_FILE_PATH, "tesla_can");
   DBCFile dbc_origin(fn);
   DBCFile dbc_from_generated("", dbc_origin.generateDBC());
 
   REQUIRE(dbc_origin.msgCount() == dbc_from_generated.msgCount());
-  auto msgs = dbc_origin.getMessages();
-  auto new_msgs = dbc_from_generated.getMessages();
+  auto &msgs = dbc_origin.getMessages();
+  auto &new_msgs = dbc_from_generated.getMessages();
   for (auto &[id, m] : msgs) {
     auto &new_m = new_msgs.at(id);
     REQUIRE(m.name == new_m.name);
@@ -72,13 +72,17 @@ TEST_CASE("Parse can messages") {
 
 TEST_CASE("Parse dbc") {
   QString content = R"(
-BO_ 160 message_1: 8 XXX
+BO_ 160 message_1: 8 EON
   SG_ signal_1 : 0|12@1+ (1,0) [0|4095] "unit"  XXX
   SG_ signal_2 : 12|1@1+ (1.0,0.0) [0.0|1] ""  XXX
 
+BO_ 162 message_1: 8 XXX
+  SG_ signal_1 M : 0|12@1+ (1,0) [0|4095] "unit" XXX
+  SG_ signal_2 M4 : 12|1@1+ (1.0,0.0) [0.0|1] "" XXX
+
 VAL_ 160 signal_1 0 "disabled" 1.2 "initializing" 2 "fault";
 
-CM_ BO_ 160 "message comment";
+CM_ BO_ 160 "message comment" ;
 CM_ SG_ 160 signal_1 "signal comment";
 CM_ SG_ 160 signal_2 "multiple line comment
 1
@@ -92,21 +96,34 @@ CM_ SG_ 160 signal_2 "multiple line comment
   REQUIRE(msg->size == 8);
   REQUIRE(msg->comment == "message comment");
   REQUIRE(msg->sigs.size() == 2);
+  REQUIRE(msg->transmitter == "EON");
   REQUIRE(file.msg("message_1") != nullptr);
 
-  auto &sig_1 = msg->sigs[0];
-  REQUIRE(sig_1.name == "signal_1");
-  REQUIRE(sig_1.start_bit == 0);
-  REQUIRE(sig_1.size == 12);
-  REQUIRE(sig_1.min == 0);
-  REQUIRE(sig_1.max == 4095);
-  REQUIRE(sig_1.unit == "unit");
-  REQUIRE(sig_1.comment == "signal comment");
-  REQUIRE(sig_1.val_desc.size() == 3);
-  REQUIRE(sig_1.val_desc[0] == std::pair<double, QString>{0, "disabled"});
-  REQUIRE(sig_1.val_desc[1] == std::pair<double, QString>{1.2, "initializing"});
-  REQUIRE(sig_1.val_desc[2] == std::pair<double, QString>{2, "fault"});
+  auto sig_1 = msg->sigs[0];
+  REQUIRE(sig_1->name == "signal_1");
+  REQUIRE(sig_1->start_bit == 0);
+  REQUIRE(sig_1->size == 12);
+  REQUIRE(sig_1->min == 0);
+  REQUIRE(sig_1->max == 4095);
+  REQUIRE(sig_1->unit == "unit");
+  REQUIRE(sig_1->comment == "signal comment");
+  REQUIRE(sig_1->receiver_name == "XXX");
+  REQUIRE(sig_1->val_desc.size() == 3);
+  REQUIRE(sig_1->val_desc[0] == std::pair<double, QString>{0, "disabled"});
+  REQUIRE(sig_1->val_desc[1] == std::pair<double, QString>{1.2, "initializing"});
+  REQUIRE(sig_1->val_desc[2] == std::pair<double, QString>{2, "fault"});
 
   auto &sig_2 = msg->sigs[1];
-  REQUIRE(sig_2.comment == "multiple line comment\n1\n2");
+  REQUIRE(sig_2->comment == "multiple line comment\n1\n2");
+
+  // multiplexed signals
+  msg = file.msg(162);
+  REQUIRE(msg != nullptr);
+  REQUIRE(msg->sigs.size() == 2);
+  REQUIRE(msg->sigs[0]->type == cabana::Signal::Type::Multiplexor);
+  REQUIRE(msg->sigs[1]->type == cabana::Signal::Type::Multiplexed);
+  REQUIRE(msg->sigs[1]->multiplex_value == 4);
+  REQUIRE(msg->sigs[1]->start_bit == 12);
+  REQUIRE(msg->sigs[1]->size == 1);
+  REQUIRE(msg->sigs[1]->receiver_name == "XXX");
 }
diff --git a/tools/cabana/tools/findsignal.cc b/tools/cabana/tools/findsignal.cc
index b7d2f4c015..fceb823bbb 100644
--- a/tools/cabana/tools/findsignal.cc
+++ b/tools/cabana/tools/findsignal.cc
@@ -231,7 +231,9 @@ void FindSignalDlg::setInitialSignals() {
         for (int size = min_size->value(); size <= max_size->value(); ++size) {
           for (int start = 0; start <= total_size - size; ++start) {
             FindSignalModel::SearchSignal s{.id = it.key(), .mono_time = first_time, .sig = sig};
-            updateSigSizeParamsFromRange(s.sig, start, size);
+            s.sig.start_bit = start;
+            s.sig.size = size;
+            updateMsbLsb(s.sig);
             s.value = get_raw_value((*e)->dat, (*e)->size, s.sig);
             model->initial_signals.push_back(s);
           }
@@ -258,12 +260,6 @@ void FindSignalDlg::customMenuRequested(const QPoint &pos) {
     menu.addAction(tr("Create Signal"));
     if (menu.exec(view->mapToGlobal(pos))) {
       auto &s = model->filtered_signals[index.row()];
-      auto msg = dbc()->msg(s.id);
-      if (!msg) {
-        UndoStack::push(new EditMsgCommand(s.id, dbc()->newMsgName(s.id), can->lastMessage(s.id).dat.size(), ""));
-        msg = dbc()->msg(s.id);
-      }
-      s.sig.name = dbc()->newSignalName(s.id);
       UndoStack::push(new AddSigCommand(s.id, s.sig));
       emit openMessage(s.id);
     }
diff --git a/tools/cabana/tools/findsimilarbits.cc b/tools/cabana/tools/findsimilarbits.cc
index add4ee7928..72429104a5 100644
--- a/tools/cabana/tools/findsimilarbits.cc
+++ b/tools/cabana/tools/findsimilarbits.cc
@@ -24,14 +24,12 @@ FindSimilarBitsDlg::FindSimilarBitsDlg(QWidget *parent) : QDialog(parent, Qt::Wi
     for (uint8_t bus : can->sources) {
       cb->addItem(QString::number(bus), bus);
     }
-    cb->model()->sort(0);
-    cb->setCurrentIndex(0);
   }
 
   msg_cb = new QComboBox(this);
   // TODO: update when src_bus_combo changes
-  for (auto &[id, msg] : dbc()->getMessages(0)) {
-    msg_cb->addItem(msg.name, id.address);
+  for (auto &[address, msg] : dbc()->getMessages(-1)) {
+    msg_cb->addItem(msg.name, address);
   }
   msg_cb->model()->sort(0);
   msg_cb->setCurrentIndex(0);
diff --git a/tools/cabana/util.cc b/tools/cabana/util.cc
index 2660ae6837..31a4486772 100644
--- a/tools/cabana/util.cc
+++ b/tools/cabana/util.cc
@@ -1,11 +1,16 @@
 #include "tools/cabana/util.h"
 
+#include <array>
+#include <csignal>
+#include <sys/socket.h>
+#include <unistd.h>
+
+#include <QDebug>
+#include <QColor>
 #include <QFontDatabase>
-#include <QHelpEvent>
 #include <QLocale>
 #include <QPainter>
 #include <QPixmapCache>
-#include <QToolTip>
 
 #include "selfdrive/ui/qt/util.h"
 
@@ -49,12 +54,6 @@ MessageBytesDelegate::MessageBytesDelegate(QObject *parent, bool multiple_lines)
   byte_size = QFontMetrics(fixed_font).size(Qt::TextSingleLine, "00 ") + QSize(0, 2);
 }
 
-void MessageBytesDelegate::setMultipleLines(bool v) {
-  if (std::exchange(multiple_lines, v) != multiple_lines) {
-    std::fill_n(size_cache, std::size(size_cache), QSize{});
-  }
-}
-
 int MessageBytesDelegate::widthForBytes(int n) const {
   int h_margin = QApplication::style()->pixelMetric(QStyle::PM_FocusFrameHMargin) + 1;
   return n * byte_size.width() + h_margin * 2;
@@ -68,19 +67,8 @@ QSize MessageBytesDelegate::sizeHint(const QStyleOptionViewItem &option, const Q
   }
   int n = data.toByteArray().size();
   assert(n >= 0 && n <= 64);
-
-  QSize size = size_cache[n];
-  if (size.isEmpty()) {
-    if (!multiple_lines) {
-      size.setWidth(widthForBytes(n));
-      size.setHeight(byte_size.height() + 2 * v_margin);
-    } else {
-      size.setWidth(widthForBytes(8));
-      size.setHeight(byte_size.height() * std::max(1, n / 8) + 2 * v_margin);
-    }
-    size_cache[n] = size;
-  }
-  return size;
+  return !multiple_lines ? QSize{widthForBytes(n), byte_size.height() + 2 * v_margin}
+                         : QSize{widthForBytes(8), byte_size.height() * std::max(1, n / 8) + 2 * v_margin};
 }
 
 void MessageBytesDelegate::paint(QPainter *painter, const QStyleOptionViewItem &option, const QModelIndex &index) const {
@@ -95,7 +83,7 @@ void MessageBytesDelegate::paint(QPainter *painter, const QStyleOptionViewItem &
   int v_margin = option.widget->style()->pixelMetric(QStyle::PM_FocusFrameVMargin);
   int h_margin = option.widget->style()->pixelMetric(QStyle::PM_FocusFrameHMargin);
   if (option.state & QStyle::State_Selected) {
-    painter->fillRect(option.rect, option.palette.highlight());
+    painter->fillRect(option.rect, option.palette.brush(QPalette::Normal, QPalette::Highlight));
   }
 
   const QPoint pt{option.rect.left() + h_margin, option.rect.top() + v_margin};
@@ -144,17 +132,40 @@ void TabBar::closeTabClicked() {
   }
 }
 
-QColor getColor(const cabana::Signal *sig) {
-  float h = 19 * (float)sig->lsb / 64.0;
-  h = fmod(h, 1.0);
+// UnixSignalHandler
 
-  size_t hash = qHash(sig->name);
-  float s = 0.25 + 0.25 * (float)(hash & 0xff) / 255.0;
-  float v = 0.75 + 0.25 * (float)((hash >> 8) & 0xff) / 255.0;
+UnixSignalHandler::UnixSignalHandler(QObject *parent) : QObject(nullptr) {
+  if (::socketpair(AF_UNIX, SOCK_STREAM, 0, sig_fd)) {
+    qFatal("Couldn't create TERM socketpair");
+  }
 
-  return QColor::fromHsvF(h, s, v);
+  sn = new QSocketNotifier(sig_fd[1], QSocketNotifier::Read, this);
+  connect(sn, &QSocketNotifier::activated, this, &UnixSignalHandler::handleSigTerm);
+  std::signal(SIGINT, signalHandler);
+  std::signal(SIGTERM, UnixSignalHandler::signalHandler);
 }
 
+UnixSignalHandler::~UnixSignalHandler() {
+  ::close(sig_fd[0]);
+  ::close(sig_fd[1]);
+}
+
+void UnixSignalHandler::signalHandler(int s) {
+  ::write(sig_fd[0], &s, sizeof(s));
+}
+
+void UnixSignalHandler::handleSigTerm() {
+  sn->setEnabled(false);
+  int tmp;
+  ::read(sig_fd[1], &tmp, sizeof(tmp));
+
+  printf("\nexiting...\n");
+  qApp->closeAllWindows();
+  qApp->exit();
+}
+
+// NameValidator
+
 NameValidator::NameValidator(QObject *parent) : QRegExpValidator(QRegExp("^(\\w+)"), parent) {}
 
 QValidator::State NameValidator::validate(QString &input, int &pos) const {
@@ -210,7 +221,7 @@ void setTheme(int theme) {
       new_palette.setColor(QPalette::BrightText, QColor("#f0f0f0"));
       new_palette.setColor(QPalette::Disabled, QPalette::ButtonText, QColor("#777777"));
       new_palette.setColor(QPalette::Disabled, QPalette::WindowText, QColor("#777777"));
-      new_palette.setColor(QPalette::Disabled, QPalette::Text, QColor("#777777"));;
+      new_palette.setColor(QPalette::Disabled, QPalette::Text, QColor("#777777"));
       new_palette.setColor(QPalette::Light, QColor("#777777"));
       new_palette.setColor(QPalette::Dark, QColor("#353535"));
     } else {
@@ -237,10 +248,16 @@ QString toHex(uint8_t byte) {
 
 int num_decimals(double num) {
   const QString string = QString::number(num);
-  const QStringList split = string.split('.');
-  if (split.size() == 1) {
-    return 0;
-  } else {
-    return split[1].size();
-  }
+  auto dot_pos = string.indexOf('.');
+  return dot_pos == -1 ? 0 : string.size() - dot_pos - 1;
+}
+
+QString signalToolTip(const cabana::Signal *sig) {
+  return QObject::tr(R"(
+    %1<br /><span font-size:small">
+    Start Bit: %2 Size: %3<br />
+    MSB: %4 LSB: %5<br />
+    Little Endian: %6 Signed: %7</span>
+  )").arg(sig->name).arg(sig->start_bit).arg(sig->size).arg(sig->msb).arg(sig->lsb)
+     .arg(sig->is_little_endian ? "Y" : "N").arg(sig->is_signed ? "Y" : "N");
 }
diff --git a/tools/cabana/util.h b/tools/cabana/util.h
index fed8ba94c3..76238569f0 100644
--- a/tools/cabana/util.h
+++ b/tools/cabana/util.h
@@ -2,14 +2,13 @@
 
 #include <cmath>
 
-#include <QAbstractItemView>
 #include <QApplication>
 #include <QByteArray>
 #include <QDateTime>
 #include <QDoubleValidator>
-#include <QColor>
 #include <QFont>
 #include <QRegExpValidator>
+#include <QSocketNotifier>
 #include <QStringBuilder>
 #include <QStyledItemDelegate>
 #include <QToolButton>
@@ -22,7 +21,7 @@ class LogSlider : public QSlider {
   Q_OBJECT
 
 public:
-  LogSlider(double factor, Qt::Orientation orientation, QWidget *parent = nullptr) : factor(factor), QSlider(orientation, parent) {};
+  LogSlider(double factor, Qt::Orientation orientation, QWidget *parent = nullptr) : factor(factor), QSlider(orientation, parent) {}
 
   void setRange(double min, double max) {
     log_min = factor * std::log10(min);
@@ -68,20 +67,18 @@ public:
   MessageBytesDelegate(QObject *parent, bool multiple_lines = false);
   void paint(QPainter *painter, const QStyleOptionViewItem &option, const QModelIndex &index) const override;
   QSize sizeHint(const QStyleOptionViewItem &option, const QModelIndex &index) const override;
-  void setMultipleLines(bool v);
-  int widthForBytes(int n) const;
   bool multipleLines() const { return multiple_lines; }
+  void setMultipleLines(bool v) { multiple_lines = v; }
+  int widthForBytes(int n) const;
 
 private:
   QFont fixed_font;
   QSize byte_size = {};
   bool multiple_lines = false;
-  mutable QSize size_cache[65] = {};
 };
 
 inline QString toHex(const QByteArray &dat) { return dat.toHex(' ').toUpper(); }
 QString toHex(uint8_t byte);
-QColor getColor(const cabana::Signal *sig);
 
 class NameValidator : public QRegExpValidator {
   Q_OBJECT
@@ -100,7 +97,7 @@ namespace utils {
 QPixmap icon(const QString &id);
 void setTheme(int theme);
 inline QString formatSeconds(int seconds) {
-  return QDateTime::fromTime_t(seconds).toString(seconds > 60 * 60 ? "hh:mm:ss" : "mm:ss");
+  return QDateTime::fromSecsSinceEpoch(seconds, Qt::UTC).toString(seconds > 60 * 60 ? "hh:mm:ss" : "mm:ss");
 }
 }
 
@@ -138,4 +135,21 @@ private:
   void closeTabClicked();
 };
 
+class UnixSignalHandler : public QObject {
+  Q_OBJECT
+
+public:
+  UnixSignalHandler(QObject *parent = nullptr);
+  ~UnixSignalHandler();
+  static void signalHandler(int s);
+
+public slots:
+  void handleSigTerm();
+
+private:
+  inline static int sig_fd[2] = {};
+  QSocketNotifier *sn;
+};
+
 int num_decimals(double num);
+QString signalToolTip(const cabana::Signal *sig);
diff --git a/tools/cabana/videowidget.cc b/tools/cabana/videowidget.cc
index 2af1db4635..46642e5244 100644
--- a/tools/cabana/videowidget.cc
+++ b/tools/cabana/videowidget.cc
@@ -40,7 +40,7 @@ VideoWidget::VideoWidget(QWidget *parent) : QFrame(parent) {
   for (float speed : {0.1, 0.5, 1., 2.}) {
     QPushButton *btn = new QPushButton(QString("%1x").arg(speed), this);
     btn->setCheckable(true);
-    QObject::connect(btn, &QPushButton::clicked, [=]() { can->setSpeed(speed); });
+    QObject::connect(btn, &QPushButton::clicked, [speed]() { can->setSpeed(speed); });
     control_layout->addWidget(btn);
     group->addButton(btn);
     if (speed == 1.0) btn->setChecked(true);
@@ -91,21 +91,19 @@ QWidget *VideoWidget::createCameraWidget() {
 
   // slider controls
   auto slider_layout = new QHBoxLayout();
-  time_label = new QLabel("00:00");
-  slider_layout->addWidget(time_label);
+  slider_layout->addWidget(time_label = new QLabel("00:00"));
 
   slider = new Slider(this);
   slider->setSingleStep(0);
   slider_layout->addWidget(slider);
 
-  end_time_label = new QLabel(this);
-  slider_layout->addWidget(end_time_label);
+  slider_layout->addWidget(end_time_label = new QLabel(this));
   l->addLayout(slider_layout);
 
   setMaximumTime(can->totalSeconds());
-  QObject::connect(slider, &QSlider::sliderReleased, [this]() { can->seekTo(slider->value() / 1000.0); });
-  QObject::connect(slider, &QSlider::valueChanged, [=](int value) { time_label->setText(utils::formatSeconds(value / 1000)); });
-  QObject::connect(slider, &Slider::updateMaximumTime, this, &VideoWidget::setMaximumTime);
+  QObject::connect(slider, &QSlider::sliderReleased, [this]() { can->seekTo(slider->currentSecond()); });
+  QObject::connect(slider, &QSlider::valueChanged, [=](int value) { time_label->setText(utils::formatSeconds(slider->currentSecond())); });
+  QObject::connect(slider, &Slider::updateMaximumTime, this, &VideoWidget::setMaximumTime, Qt::QueuedConnection);
   QObject::connect(cam_widget, &CameraWidget::clicked, []() { can->pause(!can->isPaused()); });
   QObject::connect(can, &AbstractStream::updated, this, &VideoWidget::updateState);
   return w;
@@ -114,10 +112,10 @@ QWidget *VideoWidget::createCameraWidget() {
 void VideoWidget::setMaximumTime(double sec) {
   maximum_time = sec;
   end_time_label->setText(utils::formatSeconds(sec));
-  slider->setRange(0, sec * 1000);
+  slider->setTimeRange(0, sec);
 }
 
-void VideoWidget::rangeChanged(double min, double max, bool is_zoomed) {
+void VideoWidget::updateTimeRange(double min, double max, bool is_zoomed) {
   if (can->liveStreaming()) return;
 
   if (!is_zoomed) {
@@ -125,21 +123,14 @@ void VideoWidget::rangeChanged(double min, double max, bool is_zoomed) {
     max = maximum_time;
   }
   end_time_label->setText(utils::formatSeconds(max));
-  slider->setRange(min * 1000, max * 1000);
+  slider->setTimeRange(min, max);
 }
 
 void VideoWidget::updateState() {
   if (!slider->isSliderDown()) {
-    slider->setValue(can->currentSec() * 1000);
-  }
-  std::lock_guard lk(slider->thumbnail_lock);
-  uint64_t mono_time = (can->currentSec() + can->routeStartTime()) * 1e9;
-  auto it = slider->alerts.lower_bound(mono_time);
-  if (it != slider->alerts.end() && (it->first - mono_time) < 1e9) {
-    alert_label->showAlert(it->second);
-  } else {
-    alert_label->showAlert({});
+    slider->setCurrentSecond(can->currentSec());
   }
+  alert_label->showAlert(slider->alertInfo(can->currentSec()));
 }
 
 void VideoWidget::updatePlayBtnState() {
@@ -148,6 +139,7 @@ void VideoWidget::updatePlayBtnState() {
 }
 
 // Slider
+
 Slider::Slider(QWidget *parent) : thumbnail_label(parent), QSlider(Qt::Horizontal, parent) {
   setMouseTracking(true);
   auto timer = new QTimer(this);
@@ -171,6 +163,26 @@ Slider::~Slider() {
   }
 }
 
+AlertInfo Slider::alertInfo(double seconds) {
+  std::lock_guard lk(thumbnail_lock);
+  uint64_t mono_time = (seconds + can->routeStartTime()) * 1e9;
+  auto alert_it = alerts.lower_bound(mono_time);
+  bool has_alert = (alert_it != alerts.end()) && ((alert_it->first - mono_time) <= 1e8);
+  return has_alert ? alert_it->second : AlertInfo{};
+}
+
+QPixmap Slider::thumbnail(double seconds)  {
+  std::lock_guard lk(thumbnail_lock);
+  uint64_t mono_time = (seconds + can->routeStartTime()) * 1e9;
+  auto it = thumbnails.lowerBound(mono_time);
+  return it != thumbnails.end() ? it.value() : QPixmap();
+}
+
+void Slider::setTimeRange(double min, double max) {
+  assert(min < max);
+  setRange(min * factor, max * factor);
+}
+
 void Slider::parseQLog() {
   const auto &segments = can->route()->segments();
   for (auto it = segments.rbegin(); it != segments.rend() && !abort_parse_qlog; ++it) {
@@ -178,7 +190,7 @@ void Slider::parseQLog() {
     std::string qlog = it->second.qlog.toStdString();
     if (!qlog.empty() && log.load(qlog, &abort_parse_qlog, {cereal::Event::Which::THUMBNAIL, cereal::Event::Which::CONTROLS_STATE}, true, 0, 3)) {
       if (it == segments.rbegin() && !log.events.empty()) {
-        double max_time = (*(log.events.rbegin()))->mono_time / 1e9 - can->routeStartTime();
+        double max_time = log.events.back()->mono_time / 1e9 - can->routeStartTime();
         emit updateMaximumTime(max_time);
       }
       for (auto ev = log.events.cbegin(); ev != log.events.cend() && !abort_parse_qlog; ++ev) {
@@ -192,7 +204,8 @@ void Slider::parseQLog() {
           }
         } else if ((*ev)->which == cereal::Event::Which::CONTROLS_STATE) {
           auto cs = (*ev)->event.getControlsState();
-          if (cs.getAlertType().size() > 0 && cs.getAlertText1().size() > 0) {
+          if (cs.getAlertType().size() > 0 && cs.getAlertText1().size() > 0 &&
+              cs.getAlertSize() != cereal::ControlsState::AlertSize::NONE) {
             std::lock_guard lk(thumbnail_lock);
             alerts.emplace((*ev)->mono_time, AlertInfo{cs.getAlertStatus(), cs.getAlertText1().cStr(), cs.getAlertText2().cStr()});
           }
@@ -202,30 +215,18 @@ void Slider::parseQLog() {
   }
 }
 
-void Slider::sliderChange(QAbstractSlider::SliderChange change) {
-  if (change == QAbstractSlider::SliderValueChange) {
-    int x = width() * ((value() - minimum()) / double(maximum() - minimum()));
-    if (x != slider_x) {
-      slider_x = x;
-      update();
-    }
-  } else {
-    QAbstractSlider::sliderChange(change);
-  }
-}
-
 void Slider::paintEvent(QPaintEvent *ev) {
   QPainter p(this);
   QRect r = rect().adjusted(0, 4, 0, -4);
   p.fillRect(r, timeline_colors[(int)TimelineType::None]);
-  double min = minimum() / 1000.0;
-  double max = maximum() / 1000.0;
+  double min = minimum() / factor;
+  double max = maximum() / factor;
 
   for (auto [begin, end, type] : timeline) {
     if (begin > max || end < min)
       continue;
-    r.setLeft(((std::max(min, (double)begin) - min) / (max - min)) * width());
-    r.setRight(((std::min(max, (double)end) - min) / (max - min)) * width());
+    r.setLeft(((std::max(min, begin) - min) / (max - min)) * width());
+    r.setRight(((std::min(max, end) - min) / (max - min)) * width());
     p.fillRect(r, timeline_colors[(int)type]);
   }
 
@@ -248,23 +249,16 @@ void Slider::mousePressEvent(QMouseEvent *e) {
 }
 
 void Slider::mouseMoveEvent(QMouseEvent *e) {
-  QPixmap thumb;
-  AlertInfo alert;
   int pos = std::clamp(e->pos().x(), 0, width());
-  double seconds = (minimum() + pos * ((maximum() - minimum()) / (double)width())) / 1000.0;
-  {
-    std::lock_guard lk(thumbnail_lock);
-    uint64_t mono_time = (seconds + can->routeStartTime()) * 1e9;
-    auto it = thumbnails.lowerBound(mono_time);
-    if (it != thumbnails.end()) thumb = it.value();
-    auto alert_it = alerts.lower_bound(mono_time);
-    if (alert_it != alerts.end() && (alert_it->first - mono_time) < 1e9) {
-      alert = alert_it->second;
-    }
+  double seconds = (minimum() + pos * ((maximum() - minimum()) / (double)width())) / factor;
+  QPixmap thumb = thumbnail(seconds);
+  if (!thumb.isNull()) {
+    int x = std::clamp(pos - thumb.width() / 2, THUMBNAIL_MARGIN, rect().right() - thumb.width() - THUMBNAIL_MARGIN);
+    int y = -thumb.height();
+    thumbnail_label.showPixmap(mapToParent({x, y}), utils::formatSeconds(seconds), thumb, alertInfo(seconds));
+  } else {
+    thumbnail_label.hide();
   }
-  int x = std::clamp(pos - thumb.width() / 2, THUMBNAIL_MARGIN, rect().right() - thumb.width() - THUMBNAIL_MARGIN);
-  int y = -thumb.height();
-  thumbnail_label.showPixmap(mapToParent({x, y}), utils::formatSeconds(seconds), thumb, alert);
   QSlider::mouseMoveEvent(e);
 }
 
@@ -291,15 +285,13 @@ InfoLabel::InfoLabel(QWidget *parent) : QWidget(parent, Qt::WindowStaysOnTopHint
 }
 
 void InfoLabel::showPixmap(const QPoint &pt, const QString &sec, const QPixmap &pm, const AlertInfo &alert) {
-  pixmap = pm;
   second = sec;
+  pixmap = pm;
   alert_info = alert;
-  setVisible(!pm.isNull());
-  if (isVisible()) {
-    resize(pm.size());
-    move(pt);
-    update();
-  }
+  resize(pm.size());
+  move(pt);
+  setVisible(true);
+  update();
 }
 
 void InfoLabel::showAlert(const AlertInfo &alert) {
diff --git a/tools/cabana/videowidget.h b/tools/cabana/videowidget.h
index 56edc83809..670e866534 100644
--- a/tools/cabana/videowidget.h
+++ b/tools/cabana/videowidget.h
@@ -34,6 +34,11 @@ class Slider : public QSlider {
 public:
   Slider(QWidget *parent);
   ~Slider();
+  double currentSecond() const { return value() / factor; }
+  void setCurrentSecond(double sec) { setValue(sec * factor); }
+  void setTimeRange(double min, double max);
+  AlertInfo alertInfo(double sec);
+  QPixmap thumbnail(double sec);
 
 signals:
   void updateMaximumTime(double);
@@ -42,20 +47,17 @@ private:
   void mousePressEvent(QMouseEvent *e) override;
   void mouseMoveEvent(QMouseEvent *e) override;
   bool event(QEvent *event) override;
-  void sliderChange(QAbstractSlider::SliderChange change) override;
   void paintEvent(QPaintEvent *ev) override;
   void parseQLog();
 
-  double max_sec = 0;
-  int slider_x = -1;
-  std::vector<std::tuple<int, int, TimelineType>> timeline;
+  const double factor = 1000.0;
+  std::vector<std::tuple<double, double, TimelineType>> timeline;
   std::mutex thumbnail_lock;
   std::atomic<bool> abort_parse_qlog = false;
   QMap<uint64_t, QPixmap> thumbnails;
   std::map<uint64_t, AlertInfo> alerts;
   std::unique_ptr<QFuture<void>> qlog_future;
   InfoLabel thumbnail_label;
-  friend class VideoWidget;
 };
 
 class VideoWidget : public QFrame {
@@ -63,7 +65,7 @@ class VideoWidget : public QFrame {
 
 public:
   VideoWidget(QWidget *parnet = nullptr);
-  void rangeChanged(double min, double max, bool is_zommed);
+  void updateTimeRange(double min, double max, bool is_zommed);
   void setMaximumTime(double sec);
 
 protected:
diff --git a/tools/camerastream/compressed_vipc.py b/tools/camerastream/compressed_vipc.py
index cab11493f2..495397d242 100755
--- a/tools/camerastream/compressed_vipc.py
+++ b/tools/camerastream/compressed_vipc.py
@@ -13,8 +13,16 @@ from cereal.visionipc import VisionIpcServer, VisionStreamType
 W, H = 1928, 1208
 V4L2_BUF_FLAG_KEYFRAME = 8
 
-def decoder(addr, sock_name, vipc_server, vst, nvidia):
-  print("start decoder for %s" % sock_name)
+ENCODE_SOCKETS = {
+  VisionStreamType.VISION_STREAM_ROAD: "roadEncodeData",
+  VisionStreamType.VISION_STREAM_WIDE_ROAD: "wideRoadEncodeData",
+  VisionStreamType.VISION_STREAM_DRIVER: "driverEncodeData",
+}
+
+def decoder(addr, vipc_server, vst, nvidia, debug=False):
+  sock_name = ENCODE_SOCKETS[vst]
+  if debug:
+    print("start decoder for %s" % sock_name)
   if nvidia:
     os.environ["NV_LOW_LATENCY"] = "3"    # both bLowLatency and CUVID_PKT_ENDOFPICTURE
     sys.path += os.environ["LD_LIBRARY_PATH"].split(":")
@@ -40,11 +48,12 @@ def decoder(addr, sock_name, vipc_server, vst, nvidia):
     msgs = messaging.drain_sock(sock, wait_for_one=True)
     for evt in msgs:
       evta = getattr(evt, evt.which())
-      if evta.idx.encodeId != 0 and evta.idx.encodeId != (last_idx+1):
+      if debug and evta.idx.encodeId != 0 and evta.idx.encodeId != (last_idx+1):
         print("DROP PACKET!")
       last_idx = evta.idx.encodeId
       if not seen_iframe and not (evta.idx.flags & V4L2_BUF_FLAG_KEYFRAME):
-        print("waiting for iframe")
+        if debug:
+          print("waiting for iframe")
         continue
       time_q.append(time.monotonic())
       network_latency = (int(time.time()*1e9) - evta.unixTimestampNanos)/1e6
@@ -62,14 +71,16 @@ def decoder(addr, sock_name, vipc_server, vst, nvidia):
       if nvidia:
         rawSurface = nvDec.DecodeSurfaceFromPacket(np.frombuffer(evta.data, dtype=np.uint8))
         if rawSurface.Empty():
-          print("DROP SURFACE")
+          if debug:
+            print("DROP SURFACE")
           continue
         convSurface = conv_yuv.Execute(rawSurface, cc1)
         nvDwn_yuv.DownloadSingleSurface(convSurface, img_yuv)
       else:
         frames = codec.decode(av.packet.Packet(evta.data))
         if len(frames) == 0:
-          print("DROP SURFACE")
+          if debug:
+            print("DROP SURFACE")
           continue
         assert len(frames) == 1
         img_yuv = frames[0].to_ndarray(format=av.video.format.VideoFormat('yuv420p')).flatten()
@@ -83,34 +94,47 @@ def decoder(addr, sock_name, vipc_server, vst, nvidia):
 
       pc_latency = (time.monotonic()-time_q[0])*1000
       time_q = time_q[1:]
-      print("%2d %4d %.3f %.3f roll %6.2f ms latency %6.2f ms + %6.2f ms + %6.2f ms = %6.2f ms" % (len(msgs), evta.idx.encodeId, evt.logMonoTime/1e9, evta.idx.timestampEof/1e6, frame_latency, process_latency, network_latency, pc_latency, process_latency+network_latency+pc_latency ), len(evta.data), sock_name)
+      if debug:
+        print("%2d %4d %.3f %.3f roll %6.2f ms latency %6.2f ms + %6.2f ms + %6.2f ms = %6.2f ms"
+              % (len(msgs), evta.idx.encodeId, evt.logMonoTime/1e9, evta.idx.timestampEof/1e6, frame_latency,
+                 process_latency, network_latency, pc_latency, process_latency+network_latency+pc_latency ), len(evta.data), sock_name)
 
-def main(addr, cams, nvidia=False):
-  vipc_server = VisionIpcServer("camerad")
-  for vst in cams.values():
-    vipc_server.create_buffers(vst, 4, False, W, H)
-  vipc_server.start_listener()
+class CompressedVipc:
+  def __init__(self, addr, vision_streams, nvidia=False, debug=False):
+    self.vipc_server = VisionIpcServer("camerad")
+    for vst in vision_streams:
+      self.vipc_server.create_buffers(vst, 4, False, W, H)
+    self.vipc_server.start_listener()
 
-  procs = []
-  for k, v in cams.items():
-    p = multiprocessing.Process(target=decoder, args=(addr, k, vipc_server, v, nvidia))
-    p.start()
-    procs.append(p)
+    self.procs = []
+    for vst in vision_streams:
+      p = multiprocessing.Process(target=decoder, args=(addr, self.vipc_server, vst, nvidia, debug))
+      p.start()
+      self.procs.append(p)
 
-  for p in procs:
-    p.join()
+  def join(self):
+    for p in self.procs:
+      p.join()
+
+  def kill(self):
+    for p in self.procs:
+      p.terminate()
+    self.join()
 
 if __name__ == "__main__":
   parser = argparse.ArgumentParser(description="Decode video streams and broadcast on VisionIPC")
   parser.add_argument("addr", help="Address of comma three")
   parser.add_argument("--nvidia", action="store_true", help="Use nvidia instead of ffmpeg")
   parser.add_argument("--cams", default="0,1,2", help="Cameras to decode")
+  parser.add_argument("--silent", action="store_true", help="Suppress debug output")
   args = parser.parse_args()
 
-  all_cams = [
-    ("roadEncodeData", VisionStreamType.VISION_STREAM_ROAD),
-    ("wideRoadEncodeData", VisionStreamType.VISION_STREAM_WIDE_ROAD),
-    ("driverEncodeData", VisionStreamType.VISION_STREAM_DRIVER),
+  vision_streams = [
+    VisionStreamType.VISION_STREAM_ROAD,
+    VisionStreamType.VISION_STREAM_WIDE_ROAD,
+    VisionStreamType.VISION_STREAM_DRIVER,
   ]
-  cams = dict([all_cams[int(x)] for x in args.cams.split(",")])
-  main(args.addr, cams, args.nvidia)
+
+  vsts = [vision_streams[int(x)] for x in args.cams.split(",")]
+  cvipc = CompressedVipc(args.addr, vsts, args.nvidia, debug=(not args.silent))
+  cvipc.join()
diff --git a/tools/joystick/web.py b/tools/joystick/web.py
deleted file mode 100755
index 5cba4e938d..0000000000
--- a/tools/joystick/web.py
+++ /dev/null
@@ -1,78 +0,0 @@
-#!/usr/bin/env python3
-import time
-import threading
-from flask import Flask
-
-import cereal.messaging as messaging
-
-app = Flask(__name__)
-pm = messaging.PubMaster(['testJoystick'])
-
-index = """
-<html>
-<head>
-<script src="https://github.com/bobboteck/JoyStick/releases/download/v1.1.6/joy.min.js"></script>
-</head>
-<body>
-<div id="joyDiv" style="width:100%;height:100%"></div>
-<script type="text/javascript">
-// Set up gamepad handlers
-let gamepad = null;
-window.addEventListener("gamepadconnected", function(e) {
-  gamepad = e.gamepad;
-});
-window.addEventListener("gamepaddisconnected", function(e) {
-  gamepad = null;
-});
-// Create JoyStick object into the DIV 'joyDiv'
-var joy = new JoyStick('joyDiv');
-setInterval(function(){
-  var x = -joy.GetX()/100;
-  var y = joy.GetY()/100;
-  if (x === 0 && y === 0 && gamepad !== null) {
-    let gamepadstate = navigator.getGamepads()[gamepad.index];
-    x = -gamepadstate.axes[0];
-    y = -gamepadstate.axes[1];
-  }
-  let xhr = new XMLHttpRequest();
-  xhr.open("GET", "/control/"+x+"/"+y);
-  xhr.send();
-}, 50);
-</script>
-"""
-
-@app.route("/")
-def hello_world():
-  return index
-
-last_send_time = time.monotonic()
-@app.route("/control/<x>/<y>")
-def control(x, y):
-  global last_send_time
-  x,y = float(x), float(y)
-  x = max(-1, min(1, x))
-  y = max(-1, min(1, y))
-  dat = messaging.new_message('testJoystick')
-  dat.testJoystick.axes = [y,x]
-  dat.testJoystick.buttons = [False]
-  pm.send('testJoystick', dat)
-  last_send_time = time.monotonic()
-  return ""
-
-def handle_timeout():
-  while 1:
-    this_time = time.monotonic()
-    if (last_send_time+0.5) < this_time:
-      #print("timeout, no web in %.2f s" % (this_time-last_send_time))
-      dat = messaging.new_message('testJoystick')
-      dat.testJoystick.axes = [0,0]
-      dat.testJoystick.buttons = [False]
-      pm.send('testJoystick', dat)
-    time.sleep(0.1)
-
-def main():
-  threading.Thread(target=handle_timeout, daemon=True).start()
-  app.run(host="0.0.0.0")
-
-if __name__ == '__main__':
-  main()
diff --git a/tools/lib/README.md b/tools/lib/README.md
index d77eef5ac5..8f540a5c82 100644
--- a/tools/lib/README.md
+++ b/tools/lib/README.md
@@ -6,7 +6,7 @@ Route is a class for conveniently accessing all the [logs](/system/loggerd/) fro
 from tools.lib.route import Route
 from tools.lib.logreader import LogReader
 
-r = Route("4cf7a6ad03080c90|2021-09-29--13-46-36")
+r = Route("a2a0ccea32023010|2023-07-27--13-01-19")
 
 # get a list of paths for the route's rlog files
 print(r.log_paths())
@@ -41,7 +41,7 @@ from tools.lib.route import Route
 from tools.lib.logreader import MultiLogIterator
 
 # setup a MultiLogIterator to read all the logs in the route
-r = Route("4cf7a6ad03080c90|2021-09-29--13-46-36")
+r = Route("a2a0ccea32023010|2023-07-27--13-01-19")
 lr = MultiLogIterator(r.log_paths())
 
 # print all the steering angles values from all the logs in the route
diff --git a/tools/lib/auth.py b/tools/lib/auth.py
index 086027968f..a1bcdb1c58 100755
--- a/tools/lib/auth.py
+++ b/tools/lib/auth.py
@@ -54,7 +54,7 @@ class ClientRedirectHandler(BaseHTTPRequestHandler):
     self.end_headers()
     self.wfile.write(b'Return to the CLI to continue')
 
-  def log_message(self, format, *args):  # pylint: disable=redefined-builtin
+  def log_message(self, *args):  # pylint: disable=redefined-builtin
     pass  # this prevent http server from dumping messages to stdout
 
 
diff --git a/tools/lib/filereader.py b/tools/lib/filereader.py
index 215f7b2185..718b853b1a 100644
--- a/tools/lib/filereader.py
+++ b/tools/lib/filereader.py
@@ -6,6 +6,6 @@ DATA_ENDPOINT = os.getenv("DATA_ENDPOINT", "http://data-raw.comma.internal/")
 def FileReader(fn, debug=False):
   if fn.startswith("cd:/"):
     fn = fn.replace("cd:/", DATA_ENDPOINT)
-  if fn.startswith("http://") or fn.startswith("https://"):
+  if fn.startswith(("http://", "https://")):
     return URLFile(fn, debug=debug)
   return open(fn, "rb")
diff --git a/tools/lib/helpers.py b/tools/lib/helpers.py
index efe704b9ec..067b64b6ac 100644
--- a/tools/lib/helpers.py
+++ b/tools/lib/helpers.py
@@ -1,3 +1,4 @@
+import bz2
 import datetime
 
 TIME_FMT = "%Y-%m-%d--%H-%M-%S"
@@ -13,8 +14,19 @@ class RE:
   EXPLORER_FILE = r'^(?P<segment_name>{})--(?P<file_name>[a-z]+\.[a-z0-9]+)$'.format(SEGMENT_NAME)
   OP_SEGMENT_DIR = r'^(?P<segment_name>{})$'.format(SEGMENT_NAME)
 
+
 def timestamp_to_datetime(t: str) -> datetime.datetime:
   """
     Convert an openpilot route timestamp to a python datetime
   """
   return datetime.datetime.strptime(t, TIME_FMT)
+
+
+def save_log(dest, log_msgs, compress=True):
+  dat = b"".join(msg.as_builder().to_bytes() for msg in log_msgs)
+
+  if compress:
+    dat = bz2.compress(dat)
+
+  with open(dest, "wb") as f:
+    f.write(dat)
diff --git a/tools/lib/tests/test_route_library.py b/tools/lib/tests/test_route_library.py
index fbe7f3e776..814017c9cc 100755
--- a/tools/lib/tests/test_route_library.py
+++ b/tools/lib/tests/test_route_library.py
@@ -8,13 +8,13 @@ class TestRouteLibrary(unittest.TestCase):
   def test_segment_name_formats(self):
     Case = namedtuple('Case', ['input', 'expected_route', 'expected_segment_num', 'expected_data_dir'])
 
-    cases = [ Case("4cf7a6ad03080c90|2021-09-29--13-46-36", "4cf7a6ad03080c90|2021-09-29--13-46-36", -1, None),
-              Case("4cf7a6ad03080c90/2021-09-29--13-46-36--1", "4cf7a6ad03080c90|2021-09-29--13-46-36", 1, None),
-              Case("4cf7a6ad03080c90|2021-09-29--13-46-36/2", "4cf7a6ad03080c90|2021-09-29--13-46-36", 2, None),
-              Case("4cf7a6ad03080c90/2021-09-29--13-46-36/3", "4cf7a6ad03080c90|2021-09-29--13-46-36", 3, None),
-              Case("/data/media/0/realdata/4cf7a6ad03080c90|2021-09-29--13-46-36", "4cf7a6ad03080c90|2021-09-29--13-46-36", -1, "/data/media/0/realdata"),
-              Case("/data/media/0/realdata/4cf7a6ad03080c90|2021-09-29--13-46-36--1", "4cf7a6ad03080c90|2021-09-29--13-46-36", 1, "/data/media/0/realdata"),
-              Case("/data/media/0/realdata/4cf7a6ad03080c90|2021-09-29--13-46-36/2", "4cf7a6ad03080c90|2021-09-29--13-46-36", 2, "/data/media/0/realdata") ]
+    cases = [ Case("a2a0ccea32023010|2023-07-27--13-01-19", "a2a0ccea32023010|2023-07-27--13-01-19", -1, None),
+              Case("a2a0ccea32023010/2023-07-27--13-01-19--1", "a2a0ccea32023010|2023-07-27--13-01-19", 1, None),
+              Case("a2a0ccea32023010|2023-07-27--13-01-19/2", "a2a0ccea32023010|2023-07-27--13-01-19", 2, None),
+              Case("a2a0ccea32023010/2023-07-27--13-01-19/3", "a2a0ccea32023010|2023-07-27--13-01-19", 3, None),
+              Case("/data/media/0/realdata/a2a0ccea32023010|2023-07-27--13-01-19", "a2a0ccea32023010|2023-07-27--13-01-19", -1, "/data/media/0/realdata"),
+              Case("/data/media/0/realdata/a2a0ccea32023010|2023-07-27--13-01-19--1", "a2a0ccea32023010|2023-07-27--13-01-19", 1, "/data/media/0/realdata"),
+              Case("/data/media/0/realdata/a2a0ccea32023010|2023-07-27--13-01-19/2", "a2a0ccea32023010|2023-07-27--13-01-19", 2, "/data/media/0/realdata") ]
 
     def _validate(case):
       route_or_segment_name = case.input
diff --git a/tools/mac_setup.sh b/tools/mac_setup.sh
index 6e6538c5c5..765cdd5a30 100755
--- a/tools/mac_setup.sh
+++ b/tools/mac_setup.sh
@@ -9,7 +9,7 @@ ARCH=$(uname -m)
 if [[ $SHELL == "/bin/zsh" ]]; then
   RC_FILE="$HOME/.zshrc"
 elif [[ $SHELL == "/bin/bash" ]]; then
-  RC_FILE="$HOME/.bashrc"
+  RC_FILE="$HOME/.bash_profile"
 fi
 
 # Install brew if required
@@ -28,7 +28,6 @@ if [[ $(command -v brew) == "" ]]; then
   fi
 fi
 
-# TODO: remove protobuf,protobuf-c,swig when casadi can be pip installed
 brew bundle --file=- <<-EOS
 brew "catch2"
 brew "cmake"
@@ -49,11 +48,9 @@ brew "openssl@3.0"
 brew "pyenv"
 brew "qt@5"
 brew "zeromq"
-brew "protobuf"
-brew "protobuf-c"
-brew "swig"
 brew "gcc@12"
 cask "gcc-arm-embedded"
+brew "portaudio"
 EOS
 
 echo "[ ] finished brew install t=$SECONDS"
@@ -69,6 +66,7 @@ export CPPFLAGS="$CPPFLAGS -I${BREW_PREFIX}/opt/bzip2/include"
 # pycurl curl/openssl backend dependencies
 export LDFLAGS="$LDFLAGS -L${BREW_PREFIX}/opt/openssl@3/lib"
 export CPPFLAGS="$CPPFLAGS -I${BREW_PREFIX}/opt/openssl@3/include"
+export PYCURL_CURL_CONFIG=/usr/bin/curl-config
 export PYCURL_SSL_LIBRARY=openssl
 
 # openpilot environment
@@ -83,29 +81,6 @@ $ROOT/update_requirements.sh
 eval "$(pyenv init --path)"
 echo "[ ] installed python dependencies t=$SECONDS"
 
-# install casadi
-VENV=`poetry env info --path`
-PYTHON_VER=3.8
-PYTHON_VERSION=$(cat $ROOT/.python-version)
-if [ ! -f "$VENV/include/casadi/casadi.hpp" ]; then
-  echo "-- casadi manual install"
-  cd /tmp/ && curl -L https://github.com/casadi/casadi/archive/refs/tags/ge6.tar.gz --output casadi.tar.gz
-  tar -xzf casadi.tar.gz
-  cd casadi-ge6/ && mkdir -p build && cd build
-  cmake .. \
-    -DWITH_PYTHON=ON \
-    -DWITH_EXAMPLES=OFF \
-    -DCMAKE_INSTALL_PREFIX:PATH=$VENV \
-    -DPYTHON_PREFIX:PATH=$VENV/lib/python$PYTHON_VER/site-packages \
-    -DPYTHON_LIBRARY:FILEPATH=$HOME/.pyenv/versions/$PYTHON_VERSION/lib/libpython$PYTHON_VER.dylib \
-    -DPYTHON_EXECUTABLE:FILEPATH=$HOME/.pyenv/versions/$PYTHON_VERSION/bin/python \
-    -DPYTHON_INCLUDE_DIR:PATH=$HOME/.pyenv/versions/$PYTHON_VERSION/include/python$PYTHON_VER \
-    -DCMAKE_CXX_FLAGS="-ferror-limit=0" -DCMAKE_C_FLAGS="-ferror-limit=0"
-  CFLAGS="-ferror-limit=0" make -j$(nproc) && make install
-else
-  echo "----   casadi found in venv. skipping build   ----"
-fi
-
 echo
 echo "----   OPENPILOT SETUP DONE   ----"
 echo "Open a new shell or configure your active shell env by running:"
diff --git a/tools/plotjuggler/README.md b/tools/plotjuggler/README.md
index b4190384db..ca9946145d 100644
--- a/tools/plotjuggler/README.md
+++ b/tools/plotjuggler/README.md
@@ -38,11 +38,11 @@ optional arguments:
 
 Examples using route name:
 
-`./juggle.py "4cf7a6ad03080c90|2021-09-29--13-46-36"`
+`./juggle.py "a2a0ccea32023010|2023-07-27--13-01-19"`
 
 Examples using segment name:
 
-`./juggle.py "4cf7a6ad03080c90|2021-09-29--13-46-36--1"`
+`./juggle.py "a2a0ccea32023010|2023-07-27--13-01-19--1"`
 
 ## Streaming
 
diff --git a/tools/plotjuggler/juggle.py b/tools/plotjuggler/juggle.py
index 1e592da3b1..a5d6974f9c 100755
--- a/tools/plotjuggler/juggle.py
+++ b/tools/plotjuggler/juggle.py
@@ -11,15 +11,15 @@ import requests
 import argparse
 
 from common.basedir import BASEDIR
-from selfdrive.test.process_replay.compare_logs import save_log
 from selfdrive.test.openpilotci import get_url
 from tools.lib.logreader import LogReader
 from tools.lib.route import Route, SegmentName
+from tools.lib.helpers import save_log
 from urllib.parse import urlparse, parse_qs
 
 juggle_dir = os.path.dirname(os.path.realpath(__file__))
 
-DEMO_ROUTE = "4cf7a6ad03080c90|2021-09-29--13-46-36"
+DEMO_ROUTE = "a2a0ccea32023010|2023-07-27--13-01-19"
 RELEASES_URL="https://github.com/commaai/PlotJuggler/releases/download/latest"
 INSTALL_DIR = os.path.join(juggle_dir, "bin")
 PLOTJUGGLER_BIN = os.path.join(juggle_dir, "bin/plotjuggler")
@@ -168,7 +168,7 @@ if __name__ == "__main__":
   if not os.path.exists(PLOTJUGGLER_BIN):
     print("PlotJuggler is missing. Downloading...")
     install()
-  
+
   if get_plotjuggler_version() < MINIMUM_PLOTJUGGLER_VERSION:
     print("PlotJuggler is out of date. Installing update...")
     install()
diff --git a/tools/plotjuggler/layouts/camera-timings.xml b/tools/plotjuggler/layouts/camera-timings.xml
index 5cc1650909..f91cbd3f53 100644
--- a/tools/plotjuggler/layouts/camera-timings.xml
+++ b/tools/plotjuggler/layouts/camera-timings.xml
@@ -132,7 +132,7 @@
     </DockSplitter>
    </Container>
   </Tab>
-  <currentTabIndex index="3"/>
+  <currentTabIndex index="0"/>
  </tabbed_widget>
  <use_relative_time_offset enabled="1"/>
  <!-- - - - - - - - - - - - - - - -->
diff --git a/tools/plotjuggler/layouts/thermal_debug.xml b/tools/plotjuggler/layouts/thermal_debug.xml
index c10b78f1c5..0a0a077245 100644
--- a/tools/plotjuggler/layouts/thermal_debug.xml
+++ b/tools/plotjuggler/layouts/thermal_debug.xml
@@ -1,12 +1,12 @@
 <?xml version='1.0' encoding='UTF-8'?>
 <root>
  <tabbed_widget name="Main Window" parent="main_window">
-  <Tab tab_name="tab1" containers="1">
+  <Tab containers="1" tab_name="tab1">
    <Container>
-    <DockSplitter orientation="-" count="5" sizes="0.199688;0.200468;0.199688;0.200468;0.199688">
+    <DockSplitter count="6" orientation="-" sizes="0.166785;0.166785;0.166075;0.166785;0.166785;0.166785">
      <DockArea name="...">
-      <plot flip_x="false" style="Lines" flip_y="false" mode="TimeSeries">
-       <range left="0.001973" right="4522.285082" bottom="59.907502" top="80.592498"/>
+      <plot flip_y="false" style="Lines" mode="TimeSeries" flip_x="false">
+       <range left="0.006955" top="87.987497" bottom="75.912497" right="301.842654"/>
        <limitY/>
        <curve name="/deviceState/cpuTempC/0" color="#1f77b4"/>
        <curve name="/deviceState/cpuTempC/1" color="#d62728"/>
@@ -19,8 +19,8 @@
       </plot>
      </DockArea>
      <DockArea name="...">
-      <plot flip_x="false" style="Lines" flip_y="false" mode="TimeSeries">
-       <range left="0.001973" right="4522.285082" bottom="53.190350" top="81.063652"/>
+      <plot flip_y="false" style="Lines" mode="TimeSeries" flip_x="false">
+       <range left="0.006955" top="85.861052" bottom="66.496950" right="301.842654"/>
        <limitY/>
        <curve name="/deviceState/pmicTempC/0" color="#1f77b4"/>
        <curve name="/deviceState/gpuTempC/0" color="#d62728"/>
@@ -29,40 +29,47 @@
       </plot>
      </DockArea>
      <DockArea name="...">
-      <plot flip_x="false" style="Lines" flip_y="false" mode="TimeSeries">
-       <range left="0.001973" right="4522.285082" bottom="-0.100000" top="0.100000"/>
+      <plot flip_y="false" style="Lines" mode="TimeSeries" flip_x="false">
+       <range left="0.006955" top="86.207876" bottom="70.665918" right="301.842654"/>
+       <limitY/>
+       <curve name="/deviceState/maxTempC" color="#1f77b4"/>
+      </plot>
+     </DockArea>
+     <DockArea name="...">
+      <plot flip_y="false" style="Lines" mode="TimeSeries" flip_x="false">
+       <range left="0.006955" top="1.025000" bottom="-0.025000" right="301.842654"/>
        <limitY/>
        <curve name="/deviceState/thermalStatus" color="#1f77b4"/>
       </plot>
      </DockArea>
-     <DockSplitter orientation="|" count="3" sizes="0.333333;0.333333;0.333333">
+     <DockSplitter count="3" orientation="|" sizes="0.333124;0.333752;0.333124">
       <DockArea name="...">
-       <plot flip_x="false" style="Lines" flip_y="false" mode="TimeSeries">
-        <range left="0.001973" right="4522.285082" bottom="4.522255" top="12.156595"/>
+       <plot flip_y="false" style="Lines" mode="TimeSeries" flip_x="false">
+        <range left="0.006955" top="12.057358" bottom="4.843517" right="301.842654"/>
         <limitY/>
         <curve name="/deviceState/powerDrawW" color="#ff7f0e"/>
        </plot>
       </DockArea>
       <DockArea name="...">
-       <plot flip_x="false" style="Lines" flip_y="false" mode="TimeSeries">
-        <range left="0.001973" right="4522.285082" bottom="0.000000" top="100.000000"/>
+       <plot flip_y="false" style="Lines" mode="TimeSeries" flip_x="false">
+        <range left="0.006955" top="100.000000" bottom="0.000000" right="301.842654"/>
         <limitY min="0" max="100"/>
         <curve name="/deviceState/fanSpeedPercentDesired" color="#9467bd"/>
         <curve name="/pandaStates/0/fanPower" color="#1f77b4"/>
        </plot>
       </DockArea>
       <DockArea name="...">
-       <plot flip_x="false" style="Lines" flip_y="false" mode="TimeSeries">
-        <range left="0.001973" right="4522.285082" bottom="-118.075000" top="4841.075000"/>
+       <plot flip_y="false" style="Lines" mode="TimeSeries" flip_x="false">
+        <range left="0.006955" top="5018.400000" bottom="255.600000" right="301.842654"/>
         <limitY/>
         <curve name="/peripheralState/fanSpeedRpm" color="#1f77b4"/>
        </plot>
       </DockArea>
      </DockSplitter>
-     <DockSplitter orientation="|" count="2" sizes="0.502445;0.497555">
+     <DockSplitter count="2" orientation="|" sizes="0.502513;0.497487">
       <DockArea name="...">
-       <plot flip_x="false" style="Lines" flip_y="false" mode="TimeSeries">
-        <range left="0.001973" right="4522.285082" bottom="-2.300000" top="94.300000"/>
+       <plot flip_y="false" style="Lines" mode="TimeSeries" flip_x="false">
+        <range left="0.006955" top="100.025000" bottom="14.975000" right="301.842654"/>
         <limitY/>
         <curve name="/deviceState/cpuUsagePercent/0" color="#1f77b4"/>
         <curve name="/deviceState/cpuUsagePercent/1" color="#d62728"/>
@@ -71,8 +78,8 @@
        </plot>
       </DockArea>
       <DockArea name="...">
-       <plot flip_x="false" style="Lines" flip_y="false" mode="TimeSeries">
-        <range left="0.001973" right="4522.285082" bottom="-2.450000" top="100.450000"/>
+       <plot flip_y="false" style="Lines" mode="TimeSeries" flip_x="false">
+        <range left="0.006955" top="102.500000" bottom="-2.500000" right="301.842654"/>
         <limitY/>
         <curve name="/deviceState/cpuUsagePercent/4" color="#f14cc1"/>
         <curve name="/deviceState/cpuUsagePercent/5" color="#9467bd"/>
diff --git a/tools/replay/README.md b/tools/replay/README.md
index 6c2cdf9521..91e89176a2 100644
--- a/tools/replay/README.md
+++ b/tools/replay/README.md
@@ -12,7 +12,7 @@ python tools/lib/auth.py
 tools/replay/replay <route-name>
 
 # Example:
-tools/replay/replay '4cf7a6ad03080c90|2021-09-29--13-46-36'
+tools/replay/replay 'a2a0ccea32023010|2023-07-27--13-01-19'
 # or use --demo to replay the default demo route:
 tools/replay/replay --demo
 
diff --git a/tools/replay/can_replay.py b/tools/replay/can_replay.py
index 52666c4db0..44b109514f 100755
--- a/tools/replay/can_replay.py
+++ b/tools/replay/can_replay.py
@@ -8,21 +8,11 @@ from tqdm import tqdm
 
 os.environ['FILEREADER_CACHE'] = '1'
 
-from common.basedir import BASEDIR
 from common.realtime import config_realtime_process, Ratekeeper, DT_CTRL
 from selfdrive.boardd.boardd import can_capnp_to_can_list
 from tools.plotjuggler.juggle import load_segment
 from tools.lib.logreader import logreader_from_route_or_segment
-from panda import Panda
-
-try:
-  # this bool can be replaced when mypy understands this pattern
-  panda_jungle_imported = True
-  from panda_jungle import PandaJungle  # pylint: disable=import-error  # type: ignore
-except ImportError:
-  PandaJungle = None
-  panda_jungle_imported = False
-
+from panda import Panda, PandaJungle
 
 def send_thread(s, flock):
   if "Jungle" in str(type(s)):
@@ -94,10 +84,6 @@ if __name__ == "__main__":
   parser.add_argument("route_or_segment_name", nargs='?', help="The route or segment name to replay. If not specified, a default public route will be used.")
   args = parser.parse_args()
 
-  if not panda_jungle_imported:
-    print("\33[31m", "WARNING: cannot connect to jungles. Clone the jungle library to enable support:", "\033[0m")
-    print("\033[34m", f"cd {BASEDIR} && git clone https://github.com/commaai/panda_jungle", "\033[0m")
-
   print("Loading log...")
   if args.route_or_segment_name is None:
     ROUTE = "77611a1fac303767/2020-03-24--09-50-38"
diff --git a/tools/replay/consoleui.cc b/tools/replay/consoleui.cc
index 077861ff96..5cbd3818a6 100644
--- a/tools/replay/consoleui.cc
+++ b/tools/replay/consoleui.cc
@@ -259,8 +259,8 @@ void ConsoleUI::updateTimeline() {
 
   const int total_sec = replay->totalSeconds();
   for (auto [begin, end, type] : replay->getTimeline()) {
-    int start_pos = ((double)begin / total_sec) * width;
-    int end_pos = ((double)end / total_sec) * width;
+    int start_pos = (begin / total_sec) * width;
+    int end_pos = (end / total_sec) * width;
     if (type == TimelineType::Engaged) {
       mvwchgat(win, 1, start_pos, end_pos - start_pos + 1, A_COLOR, Color::Engaged, NULL);
       mvwchgat(win, 2, start_pos, end_pos - start_pos + 1, A_COLOR, Color::Engaged, NULL);
diff --git a/tools/replay/lib/ui_helpers.py b/tools/replay/lib/ui_helpers.py
index d66fe79306..1c18298969 100644
--- a/tools/replay/lib/ui_helpers.py
+++ b/tools/replay/lib/ui_helpers.py
@@ -10,7 +10,7 @@ from matplotlib.backends.backend_agg import FigureCanvasAgg
 from common.transformations.camera import (eon_f_frame_size, eon_f_focal_length,
                                            tici_f_frame_size, tici_f_focal_length,
                                            get_view_frame_from_calib_frame)
-from selfdrive.controls.lib.radar_helpers import RADAR_TO_CAMERA
+from selfdrive.controls.radard import RADAR_TO_CAMERA
 
 
 RED = (255, 0, 0)
diff --git a/tools/replay/logreader.cc b/tools/replay/logreader.cc
index e3d5071412..9a5df2eeed 100644
--- a/tools/replay/logreader.cc
+++ b/tools/replay/logreader.cc
@@ -68,20 +68,16 @@ bool LogReader::parse(const std::set<cereal::Event::Which> &allow, std::atomic<b
   try {
     kj::ArrayPtr<const capnp::word> words((const capnp::word *)raw_.data(), raw_.size() / sizeof(capnp::word));
     while (words.size() > 0 && !(abort && *abort)) {
-      if (!allow.empty()) {
-        capnp::FlatArrayMessageReader reader(words);
-        auto which = reader.getRoot<cereal::Event>().which();
-        if (allow.find(which) == allow.end()) {
-          words = kj::arrayPtr(reader.getEnd(), words.end());
-          continue;
-        }
-      }
-
 #ifdef HAS_MEMORY_RESOURCE
       Event *evt = new (mbr_) Event(words);
 #else
       Event *evt = new Event(words);
 #endif
+      if (!allow.empty() && allow.find(evt->which) == allow.end()) {
+        words = kj::arrayPtr(evt->reader.getEnd(), words.end());
+        delete evt;
+        continue;
+      }
 
       // Add encodeIdx packet again as a frame packet for the video stream
       if (evt->which == cereal::Event::ROAD_ENCODE_IDX ||
diff --git a/tools/replay/replay.cc b/tools/replay/replay.cc
index ad6ad4a43d..74817584cd 100644
--- a/tools/replay/replay.cc
+++ b/tools/replay/replay.cc
@@ -100,7 +100,7 @@ void Replay::start(int seconds) {
 }
 
 void Replay::updateEvents(const std::function<bool()> &lambda) {
-  // set updating_events to true to force stream thread release the lock and wait for evnets_udpated.
+  // set updating_events to true to force stream thread release the lock and wait for events_updated.
   updating_events_ = true;
   {
     std::unique_lock lk(stream_lock_);
@@ -137,8 +137,18 @@ void Replay::seekToFlag(FindFlag flag) {
 
 void Replay::buildTimeline() {
   uint64_t engaged_begin = 0;
+  bool engaged = false;
+
+  auto alert_status = cereal::ControlsState::AlertStatus::NORMAL;
+  auto alert_size = cereal::ControlsState::AlertSize::NONE;
   uint64_t alert_begin = 0;
-  TimelineType alert_type = TimelineType::None;
+  std::string alert_type;
+
+  const TimelineType timeline_types[] = {
+    [(int)cereal::ControlsState::AlertStatus::NORMAL] = TimelineType::AlertInfo,
+    [(int)cereal::ControlsState::AlertStatus::USER_PROMPT] = TimelineType::AlertWarning,
+    [(int)cereal::ControlsState::AlertStatus::CRITICAL] = TimelineType::AlertCritical,
+  };
 
   for (auto it = segments_.cbegin(); it != segments_.cend() && !exit_; ++it) {
     LogReader log;
@@ -150,26 +160,24 @@ void Replay::buildTimeline() {
       if (e->which == cereal::Event::Which::CONTROLS_STATE) {
         auto cs = e->event.getControlsState();
 
-        if (!engaged_begin && cs.getEnabled()) {
+        if (engaged != cs.getEnabled()) {
+          if (engaged) {
+            std::lock_guard lk(timeline_lock);
+            timeline.push_back({toSeconds(engaged_begin), toSeconds(e->mono_time), TimelineType::Engaged});
+          }
           engaged_begin = e->mono_time;
-        } else if (engaged_begin && !cs.getEnabled()) {
-          std::lock_guard lk(timeline_lock);
-          timeline.push_back({toSeconds(engaged_begin), toSeconds(e->mono_time), TimelineType::Engaged});
-          engaged_begin = 0;
+          engaged = cs.getEnabled();
         }
 
-        if (!alert_begin && cs.getAlertType().size() > 0) {
-          alert_begin = e->mono_time;
-          alert_type = TimelineType::AlertInfo;
-          if (cs.getAlertStatus() != cereal::ControlsState::AlertStatus::NORMAL) {
-            alert_type = cs.getAlertStatus() == cereal::ControlsState::AlertStatus::USER_PROMPT
-                             ? TimelineType::AlertWarning
-                             : TimelineType::AlertCritical;
+        if (alert_type != cs.getAlertType().cStr() || alert_status != cs.getAlertStatus()) {
+          if (!alert_type.empty() && alert_size != cereal::ControlsState::AlertSize::NONE) {
+            std::lock_guard lk(timeline_lock);
+            timeline.push_back({toSeconds(alert_begin), toSeconds(e->mono_time), timeline_types[(int)alert_status]});
           }
-        } else if (alert_begin && cs.getAlertType().size() == 0) {
-          std::lock_guard lk(timeline_lock);
-          timeline.push_back({toSeconds(alert_begin), toSeconds(e->mono_time), alert_type});
-          alert_begin = 0;
+          alert_begin = e->mono_time;
+          alert_type = cs.getAlertType().cStr();
+          alert_size = cs.getAlertSize();
+          alert_status = cs.getAlertStatus();
         }
       } else if (e->which == cereal::Event::Which::USER_FLAG) {
         std::lock_guard lk(timeline_lock);
@@ -293,14 +301,14 @@ void Replay::mergeSegments(const SegmentMap::iterator &begin, const SegmentMap::
       }
     }
 
+    if (stream_thread_) {
+      emit segmentsMerged();
+    }
     updateEvents([&]() {
       events_.swap(new_events_);
       segments_merged_ = segments_need_merge;
       return true;
     });
-    if (stream_thread_) {
-      emit segmentsMerged();
-    }
   }
 }
 
diff --git a/tools/replay/replay.h b/tools/replay/replay.h
index bf66b8d8b9..a9a6bfd910 100644
--- a/tools/replay/replay.h
+++ b/tools/replay/replay.h
@@ -7,7 +7,7 @@
 #include "tools/replay/camera.h"
 #include "tools/replay/route.h"
 
-const QString DEMO_ROUTE = "4cf7a6ad03080c90|2021-09-29--13-46-36";
+const QString DEMO_ROUTE = "a2a0ccea32023010|2023-07-27--13-01-19";
 
 // one segment uses about 100M of memory
 constexpr int MIN_SEGMENTS_CACHE = 5;
@@ -67,14 +67,14 @@ public:
   inline double currentSeconds() const { return double(cur_mono_time_ - route_start_ts_) / 1e9; }
   inline QDateTime currentDateTime() const { return route_->datetime().addSecs(currentSeconds()); }
   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 double toSeconds(uint64_t mono_time) const { return (mono_time - route_start_ts_) / 1e9; }
+  inline int totalSeconds() const { return (!segments_.empty()) ? (segments_.rbegin()->first + 1) * 60 : 0; }
   inline void setSpeed(float speed) { speed_ = speed; }
   inline float getSpeed() const { return speed_; }
   inline const std::vector<Event *> *events() const { return events_.get(); }
   inline const std::map<int, std::unique_ptr<Segment>> &segments() const { return segments_; };
   inline const std::string &carFingerprint() const { return car_fingerprint_; }
-  inline const std::vector<std::tuple<int, int, TimelineType>> getTimeline() {
+  inline const std::vector<std::tuple<double, double, TimelineType>> getTimeline() {
     std::lock_guard lk(timeline_lock);
     return timeline;
   }
@@ -131,7 +131,7 @@ protected:
 
   std::mutex timeline_lock;
   QFuture<void> timeline_future;
-  std::vector<std::tuple<int, int, TimelineType>> timeline;
+  std::vector<std::tuple<double, double, TimelineType>> timeline;
   std::set<cereal::Event::Which> allow_list;
   std::string car_fingerprint_;
   float speed_ = 1.0;
diff --git a/tools/replay/tests/test_replay.cc b/tools/replay/tests/test_replay.cc
index f0b80269dc..b1e0735167 100644
--- a/tools/replay/tests/test_replay.cc
+++ b/tools/replay/tests/test_replay.cc
@@ -144,7 +144,7 @@ TEST_CASE("Route") {
     auto flags = GENERATE(REPLAY_FLAG_DCAM | REPLAY_FLAG_ECAM, REPLAY_FLAG_QCAMERA);
     Route route(DEMO_ROUTE);
     REQUIRE(route.load());
-    REQUIRE(route.segments().size() == 11);
+    REQUIRE(route.segments().size() == 13);
     for (int i = 0; i < 2; ++i) {
       read_segment(i, route.at(i), flags);
     }
diff --git a/tools/replay/ui.py b/tools/replay/ui.py
index 43cbef5bd6..a222e8e5b6 100755
--- a/tools/replay/ui.py
+++ b/tools/replay/ui.py
@@ -113,10 +113,10 @@ def ui_thread(addr):
 
     yuv_img_raw = vipc_client.recv()
 
-    if yuv_img_raw is None or not yuv_img_raw.any():
+    if yuv_img_raw is None or not yuv_img_raw.data.any():
       continue
 
-    imgff = np.frombuffer(yuv_img_raw, dtype=np.uint8).reshape((vipc_client.height * 3 // 2, vipc_client.width))
+    imgff = np.frombuffer(yuv_img_raw.data, dtype=np.uint8).reshape((vipc_client.height * 3 // 2, vipc_client.width))
     num_px = vipc_client.width * vipc_client.height
     bgr = cv2.cvtColor(imgff, cv2.COLOR_YUV2RGB_NV12)
 
diff --git a/tools/sim/bridge.py b/tools/sim/bridge.py
index 7bb12badb2..64446e1115 100755
--- a/tools/sim/bridge.py
+++ b/tools/sim/bridge.py
@@ -68,13 +68,14 @@ def steer_rate_limit(old, new):
 
 
 class Camerad:
-  def __init__(self):
+  def __init__(self, dual_camera):
     self.frame_road_id = 0
     self.frame_wide_id = 0
     self.vipc_server = VisionIpcServer("camerad")
 
     self.vipc_server.create_buffers(VisionStreamType.VISION_STREAM_ROAD, 5, False, W, H)
-    self.vipc_server.create_buffers(VisionStreamType.VISION_STREAM_WIDE_ROAD, 5, False, W, H)
+    if dual_camera:
+      self.vipc_server.create_buffers(VisionStreamType.VISION_STREAM_WIDE_ROAD, 5, False, W, H)
     self.vipc_server.start_listener()
 
     # set up for pyopencl rgb to yuv conversion
@@ -254,7 +255,7 @@ class CarlaBridge:
     msg.liveCalibration.validBlocks = 20
     msg.liveCalibration.rpyCalib = [0.0, 0.0, 0.0]
     self.params.put("CalibrationParams", msg.to_bytes())
-    self.params.put_bool("WideCameraOnly", not arguments.dual_camera)
+    self.params.put_bool("DisengageOnAccelerator", True)
 
     self._args = arguments
     self._carla_objects = []
@@ -349,14 +350,13 @@ class CarlaBridge:
       camera.listen(callback)
       return camera
 
-    self._camerad = Camerad()
+    self._camerad = Camerad(self._args.dual_camera)
 
     if self._args.dual_camera:
-      road_camera = create_camera(fov=40, callback=self._camerad.cam_callback_road)
-      self._carla_objects.append(road_camera)
-
-    road_wide_camera = create_camera(fov=120, callback=self._camerad.cam_callback_wide_road)  # fov bigger than 120 shows unwanted artifacts
-    self._carla_objects.append(road_wide_camera)
+      road_wide_camera = create_camera(fov=120, callback=self._camerad.cam_callback_wide_road)  # fov bigger than 120 shows unwanted artifacts
+      self._carla_objects.append(road_wide_camera)
+    road_camera = create_camera(fov=40, callback=self._camerad.cam_callback_road)
+    self._carla_objects.append(road_camera)
 
     vehicle_state = VehicleState()
 
@@ -545,23 +545,17 @@ if __name__ == "__main__":
   q: Any = Queue()
   args = parse_args()
 
-  try:
-    carla_bridge = CarlaBridge(args)
-    p = carla_bridge.run(q)
+  carla_bridge = CarlaBridge(args)
+  p = carla_bridge.run(q)
 
-    if args.joystick:
-      # start input poll for joystick
-      from tools.sim.lib.manual_ctrl import wheel_poll_thread
+  if args.joystick:
+    # start input poll for joystick
+    from tools.sim.lib.manual_ctrl import wheel_poll_thread
 
-      wheel_poll_thread(q)
-    else:
-      # start input poll for keyboard
-      from tools.sim.lib.keyboard_ctrl import keyboard_poll_thread
+    wheel_poll_thread(q)
+  else:
+    # start input poll for keyboard
+    from tools.sim.lib.keyboard_ctrl import keyboard_poll_thread
 
-      keyboard_poll_thread(q)
-    p.join()
-
-  finally:
-    # Try cleaning up the wide camera param
-    # in case users want to use replay after
-    Params().remove("WideCameraOnly")
+    keyboard_poll_thread(q)
+  p.join()
diff --git a/tools/sim/launch_openpilot.sh b/tools/sim/launch_openpilot.sh
index 2100f05b67..d5922a4819 100755
--- a/tools/sim/launch_openpilot.sh
+++ b/tools/sim/launch_openpilot.sh
@@ -6,7 +6,7 @@ export SIMULATION="1"
 export SKIP_FW_QUERY="1"
 export FINGERPRINT="HONDA CIVIC 2016"
 
-export BLOCK="camerad,loggerd,encoderd,micd"
+export BLOCK="camerad,loggerd,encoderd,micd,logmessaged"
 if [[ "$CI" ]]; then
   # TODO: offscreen UI should work
   export BLOCK="${BLOCK},ui"
diff --git a/tools/sim/lib/can.py b/tools/sim/lib/can.py
index af4339b2e4..fba4dc0e58 100755
--- a/tools/sim/lib/can.py
+++ b/tools/sim/lib/can.py
@@ -68,6 +68,7 @@ def can_function(pm, speed, angle, idx, cruise_button, is_engaged):
   # *** cam bus ***
   msg.append(packer.make_can_msg("STEERING_CONTROL", 2, {}))
   msg.append(packer.make_can_msg("ACC_HUD", 2, {}))
+  msg.append(packer.make_can_msg("LKAS_HUD", 2, {}))
   msg.append(packer.make_can_msg("BRAKE_COMMAND", 2, {}))
 
   # *** radar bus ***
diff --git a/tools/sim/start_carla.sh b/tools/sim/start_carla.sh
index 7ead6699f0..f14e0efd16 100755
--- a/tools/sim/start_carla.sh
+++ b/tools/sim/start_carla.sh
@@ -15,7 +15,7 @@ if ! $(apt list --installed | grep -q nvidia-container-toolkit); then
   fi
 fi
 
-docker pull carlasim/carla:0.9.13
+docker pull carlasim/carla:0.9.14
 
 EXTRA_ARGS="-it"
 if [[ "$DETACH" ]]; then
@@ -30,5 +30,5 @@ docker run \
   --net=host \
   -v /tmp/.X11-unix:/tmp/.X11-unix:rw \
   $EXTRA_ARGS \
-  carlasim/carla:0.9.13 \
+  carlasim/carla:0.9.14 \
   /bin/bash ./CarlaUE4.sh -opengl -nosound -RenderOffScreen -benchmark -fps=20 -quality-level=Low
diff --git a/tools/sim/tests/test_carla_integration.py b/tools/sim/tests/test_carla_integration.py
index f467391967..cfaf95ca01 100755
--- a/tools/sim/tests/test_carla_integration.py
+++ b/tools/sim/tests/test_carla_integration.py
@@ -68,7 +68,8 @@ class TestCarlaIntegration(unittest.TestCase):
         no_car_events_issues_once = True
         break
 
-    self.assertTrue(no_car_events_issues_once, f"Failed because no messages received, or CarEvents '{car_event_issues}' or processes not running '{not_running}'")
+    self.assertTrue(no_car_events_issues_once,
+                    f"Failed because no messages received, or CarEvents '{car_event_issues}' or processes not running '{not_running}'")
 
     start_time = time.monotonic()
     min_counts_control_active = 100
diff --git a/tools/ssh/README.md b/tools/ssh/README.md
index 67b5271a42..588ea71579 100644
--- a/tools/ssh/README.md
+++ b/tools/ssh/README.md
@@ -24,14 +24,12 @@ The `id_rsa` key in this directory only works while your device is in the setup
 See the [community wiki](https://github.com/commaai/openpilot/wiki/SSH) for more detailed instructions and information.
 
 # Connecting to ssh.comma.ai
-SSH into your comma device from anywhere with `ssh.comma.ai`.
+SSH into your comma device from anywhere with `ssh.comma.ai`. Requires a [comma prime subscription](https://comma.ai/connect).
 
 ## Setup
 
 With software version 0.6.1 or newer, enter your GitHub username on your device under Developer Settings. Your GitHub authorized public keys will become your authorized SSH keys for `ssh.comma.ai`. You can add any additional keys in `/system/comma/home/.ssh/authorized_keys.persist`.
 
-Requires [comma SIM with comma prime](https://comma.ai/shop) activated with comma connect, available on iOS and Android. comma two and EON ship with a pre-inserted comma SIM.
-
 ## Recommended .ssh/config
 
 With the below SSH configuration, you can type `ssh comma-{dongleid}` to connect to your device through `ssh.comma.ai`.<br />
diff --git a/tools/tuning/measure_steering_accuracy.py b/tools/tuning/measure_steering_accuracy.py
index 4819be770f..b816d82f91 100755
--- a/tools/tuning/measure_steering_accuracy.py
+++ b/tools/tuning/measure_steering_accuracy.py
@@ -105,7 +105,10 @@ class SteeringAccuracyTool:
           print(f"  {'-'*118}")
           for k in sorted(self.speed_group_stats[group].keys()):
             v = self.speed_group_stats[group][k]
-            print(f'  {k:#2}° | actuator:{int(v["steer"] / v["cnt"] * 100):#3}% | error: {round(v["err"] / v["cnt"], 2):2.2f}° | -:{int(v["-"] / v["cnt"] * 100):#3}% | =:{int(v["="] / v["cnt"] * 100):#3}% | +:{int(v["+"] / v["cnt"] * 100):#3}% | lim:{v["limited"]:#5} | sat:{v["saturated"]:#5} | path dev: {round(v["dpp"] / v["cnt"], 2):2.2f}m | total: {v["cnt"]:#5}')
+            print(f'  {k:#2}° | actuator:{int(v["steer"] / v["cnt"] * 100):#3}% \
+                              | error: {round(v["err"] / v["cnt"], 2):2.2f}° | -:{int(v["-"] / v["cnt"] * 100):#3}% \
+                              | =:{int(v["="] / v["cnt"] * 100):#3}% | +:{int(v["+"] / v["cnt"] * 100):#3}% | lim:{v["limited"]:#5} \
+                              | sat:{v["saturated"]:#5} | path dev: {round(v["dpp"] / v["cnt"], 2):2.2f}m | total: {v["cnt"]:#5}')
           print("")
 
 
diff --git a/tools/ubuntu_setup.sh b/tools/ubuntu_setup.sh
index 97b706de5b..63e8fcdf3d 100755
--- a/tools/ubuntu_setup.sh
+++ b/tools/ubuntu_setup.sh
@@ -69,6 +69,7 @@ function install_ubuntu_common_requirements() {
     ocl-icd-libopencl1 \
     ocl-icd-opencl-dev \
     clinfo \
+    portaudio19-dev \
     qml-module-qtquick2 \
     qtmultimedia5-dev \
     qtlocation5-dev \
diff --git a/update_requirements.sh b/update_requirements.sh
index b2b36e7097..c9b49486e5 100755
--- a/update_requirements.sh
+++ b/update_requirements.sh
@@ -45,8 +45,8 @@ fi
 eval "$(pyenv init --path)"
 
 echo "update pip"
-pip install pip==22.3.1
-pip install poetry==1.2.2
+pip install pip==23.2.1
+pip install poetry==1.5.1
 
 poetry config virtualenvs.prefer-active-python true --local
 
@@ -75,9 +75,8 @@ if [ "$(uname)" != "Darwin" ]; then
   echo "pre-commit hooks install..."
   shopt -s nullglob
   for f in .pre-commit-config.yaml */.pre-commit-config.yaml; do
-    cd $DIR/$(dirname $f)
-    if [ -e ".git" ]; then
-      $RUN pre-commit install
+    if [ -e "$DIR/$(dirname $f)/.git" ]; then
+      $RUN pre-commit install -c "$f"
     fi
   done
 fi