Update Python packages

2026-07-24 22:52:05 +08:00 · 2026-07-20 15:57:03 +00:00
33 changed files with 269 additions and 6691 deletions
@@ -1,10 +1,10 @@
-<!--- AUTOGENERATED FROM selfdrive/car/CARS_template.md, DO NOT EDIT. --->
+<!--- AUTOGENERATED FROM openpilot/selfdrive/car/CARS_template.md, DO NOT EDIT. --->

 # Supported Cars

 A supported vehicle is one that just works when you install a comma device. All supported cars provide a better experience than any stock system. Supported vehicles reference the US market unless otherwise specified.

-# 341 Supported Cars
+# 342 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|Setup Video|
 |---|---|---|:---:|:---:|:---:|:---:|:---:|:---:|:---:|:---:|
@@ -78,7 +78,7 @@ A supported vehicle is one that just works when you install a comma device. All
 |Honda|Accord 2018-22|All|openpilot available[<sup>1,5</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 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Honda 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" /></a>||
 |Honda|Accord 2023-25|All|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Honda Bosch C connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Honda Accord 2023-25">Buy Here</a></sub></details>|||
 |Honda|Accord Hybrid 2018-22|All|openpilot available[<sup>1,5</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 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Honda Accord Hybrid 2018-22">Buy Here</a></sub></details>|||
-|Honda|Accord Hybrid 2023-25|All|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Honda Bosch C connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Honda Accord Hybrid 2023-25">Buy Here</a></sub></details>|||
+|Honda|Accord Hybrid 2023-26|All|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Honda Bosch C connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Honda Accord Hybrid 2023-26">Buy Here</a></sub></details>|||
 |Honda|City (Brazil only) 2023|All|openpilot available[<sup>1,5</sup>](#footnotes)|0 mph|14 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 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Honda City (Brazil only) 2023">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 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Honda Civic 2016-18">Buy Here</a></sub></details>|<a href="https://youtu.be/-IkImTe1NYE" target="_blank"><img height="18px" src="assets/icon-youtube.svg" /></a>||
 |Honda|Civic 2019-21|All|openpilot available[<sup>1,5</sup>](#footnotes)|0 mph|2 mph[<sup>4</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 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Honda 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" /></a>||
@@ -230,14 +230,15 @@ A supported vehicle is one that just works when you install a comma device. All
 |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 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Mazda 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" /></a>||
 |Nissan[<sup>6</sup>](#footnotes)|Altima 2019-24|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 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Nissan Altima 2019-24">Buy Here</a></sub></details>|||
 |Nissan[<sup>6</sup>](#footnotes)|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 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Nissan 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" /></a>||
+|Nissan[<sup>6</sup>](#footnotes)|Leaf IC 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 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Nissan Leaf IC 2018-23">Buy Here</a></sub></details>|<a href="https://youtu.be/vaMbtAh_0cY" target="_blank"><img height="18px" src="assets/icon-youtube.svg" /></a>||
 |Nissan[<sup>6</sup>](#footnotes)|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 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Nissan Rogue 2018-20">Buy Here</a></sub></details>|||
 |Nissan[<sup>6</sup>](#footnotes)|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 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Nissan X-Trail 2017">Buy Here</a></sub></details>|||
 |Ram|1500 2019-24|Adaptive Cruise Control (ACC)|Stock|32 mph|1 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 Ram connector<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Ram 1500 2019-24">Buy Here</a></sub></details>|||
 |Ram|2500 2020-24|Adaptive Cruise Control (ACC)|Stock|0 mph|36 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 Ram connector<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Ram 2500 2020-24">Buy Here</a></sub></details>|||
 |Ram|3500 2019-22|Adaptive Cruise Control (ACC)|Stock|0 mph|36 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 Ram connector<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Ram 3500 2019-22">Buy Here</a></sub></details>|||
-|Rivian|R1S 2022-24|All|openpilot|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 Rivian A connector<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Rivian R1S 2022-24">Buy Here</a></sub></details>||<a href="https://youtu.be/uaISd1j7Z4U" target="_blank"><img height="18px" src="assets/icon-youtube.svg" /></a>|
+|Rivian|R1S 2022-24|All|openpilot|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 Rivian A connector<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Rivian R1S 2022-24">Buy Here</a></sub></details>|<a href="https://youtu.be/dflSSGQwYNc" target="_blank"><img height="18px" src="assets/icon-youtube.svg" /></a>|<a href="https://youtu.be/uaISd1j7Z4U" target="_blank"><img height="18px" src="assets/icon-youtube.svg" /></a>|
 |Rivian|R1S 2025|All|openpilot|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 Rivian B connector<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Rivian R1S 2025">Buy Here</a></sub></details>|||
-|Rivian|R1T 2022-24|All|openpilot|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 Rivian A connector<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Rivian R1T 2022-24">Buy Here</a></sub></details>||<a href="https://youtu.be/uaISd1j7Z4U" target="_blank"><img height="18px" src="assets/icon-youtube.svg" /></a>|
+|Rivian|R1T 2022-24|All|openpilot|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 Rivian A connector<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Rivian R1T 2022-24">Buy Here</a></sub></details>|<a href="https://youtu.be/dflSSGQwYNc" target="_blank"><img height="18px" src="assets/icon-youtube.svg" /></a>|<a href="https://youtu.be/uaISd1j7Z4U" target="_blank"><img height="18px" src="assets/icon-youtube.svg" /></a>|
 |Rivian|R1T 2025|All|openpilot|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 Rivian B connector<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Rivian R1T 2025">Buy Here</a></sub></details>|||
 |SEAT[<sup>12</sup>](#footnotes)|Ateca 2016-23|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,16</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 VW J533 connector<br>- 1 comma four<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=SEAT Ateca 2016-23">Buy Here</a></sub></details>|||
 |SEAT[<sup>12</sup>](#footnotes)|Leon 2014-20|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,16</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 VW J533 connector<br>- 1 comma four<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=SEAT Leon 2014-20">Buy Here</a></sub></details>|||
@@ -177,7 +177,6 @@ inline static std::unordered_map<std::string, ParamKeyAttributes> keys = {
    {"OnroadUploads", {PERSISTENT | BACKUP, BOOL, "1"}},
    {"QuickBootToggle", {PERSISTENT | BACKUP, BOOL, "0"}},
    {"QuietMode", {PERSISTENT | BACKUP, BOOL, "0"}},
-    {"RadarTracks", {PERSISTENT | BACKUP, INT, "0"}},
    {"RainbowMode", {PERSISTENT | BACKUP, BOOL, "0"}},
    {"RocketFuel", {PERSISTENT | BACKUP, BOOL, "0"}},
    {"ShowAdvancedControls", {PERSISTENT | BACKUP, BOOL, "0"}},
@@ -182,8 +182,6 @@ class Car:

    self.is_metric = self.params.get_bool("IsMetric")
    self.experimental_mode = self.params.get_bool("ExperimentalMode")
-    self.radar_tracks = int(self.params.get("RadarTracks", return_default=True))
-    self._applied_radar_tracks = getattr(self.RI, "radar_mode", self.radar_tracks)

    # card is driven by can recv, expected at 100Hz
    self.rk = Ratekeeper(100, print_delay_threshold=None)
@@ -201,8 +199,6 @@ class Car:
    CS, CS_SP = self.CI.update(can_list)
    CS_SP = convert_to_capnp(CS_SP)

-    self._update_radar_tracks()
-
    # Update radar tracks from CAN
    RD: structs.RadarDataT | None = self.RI.update(can_list)

@@ -229,18 +225,6 @@ class Car:

    return CS, CS_SP, RD

-  def _update_radar_tracks(self) -> None:
-    if self.CP.brand != "hyundai" or self.radar_tracks == self._applied_radar_tracks:
-      return
-
-    if self.RI.set_radar_mode(self.radar_tracks):
-      self.CP_SP_capnp = convert_to_capnp(self.CP_SP)
-      cp_sp_bytes = self.CP_SP_capnp.to_bytes()
-      self.params.put("CarParamsSP", cp_sp_bytes)
-      self.params.put("CarParamsSPCache", cp_sp_bytes)
-      self.params.put("CarParamsSPPersistent", cp_sp_bytes)
-    self._applied_radar_tracks = self.radar_tracks
-
  def state_publish(self, CS: car.CarState, CS_SP: custom.CarStateSP, RD: structs.RadarDataT | None):
    """carState and carParams publish loop"""

@@ -319,7 +303,6 @@ class Car:
    while not evt.is_set():
      self.is_metric = self.params.get_bool("IsMetric")
      self.experimental_mode = self.params.get_bool("ExperimentalMode") and self.CP.openpilotLongitudinalControl
-      self.radar_tracks = int(self.params.get("RadarTracks", return_default=True))

      # sunnypilot
      self.dynamic_experimental_control = self.params.get_bool("DynamicExperimentalControl")
@@ -23,14 +23,13 @@ def main():
  cloudlog.info("plannerd got CarParamsSP")

  gps_location_service = get_gps_location_service(params)
-  ignore_services = ["liveMapDataSP", gps_location_service]

  ldw = LaneDepartureWarning()
  longitudinal_planner = LongitudinalPlanner(CP, CP_SP)
  pm = messaging.PubMaster(['longitudinalPlan', 'driverAssistance', 'longitudinalPlanSP'])
  sm = messaging.SubMaster(['carControl', 'carState', 'controlsState', 'liveParameters', 'radarState', 'modelV2', 'selfdriveState',
                            'liveMapDataSP', 'carStateSP', gps_location_service],
-                           poll='carState', ignore_alive=ignore_services, ignore_avg_freq=ignore_services, ignore_valid=ignore_services)
+                           poll='carState')

  while True:
    sm.update()
@@ -26,8 +26,6 @@ SPEED, ACCEL = 0, 1     # Kalman filter states enum

 # stationary qualification parameters
 V_EGO_STATIONARY = 4.   # no stationary object flag below this speed
-DBC_MOTION_STATIONARY = 1
-DBC_MOTION_MOVING = 2

 RADAR_TO_CAMERA = 1.52  # RADAR is ~ 1.5m ahead from center of mesh frame

@@ -193,14 +191,8 @@ def get_custom_yrel(CP: structs.CarParams, CP_SP: structs.CarParamsSP, lead_dict
  return lead_dict


-def radar_point_eligible_for_fusion(CP: structs.CarParams, CP_SP: structs.CarParamsSP,
-                                    point: car.RadarData.RadarPoint) -> bool:
-  use_dbc_motion = CP.brand == "hyundai" and CP_SP.flags & HyundaiFlagsSP.RADAR_FULL_RADAR
-  return not use_dbc_motion or point.motionState in (DBC_MOTION_STATIONARY, DBC_MOTION_MOVING)
-
-
 class RadarD:
-  def __init__(self, CP: structs.CarParams, CP_SP: structs.CarParamsSP, delay: float = 0.0):
+  def __init__(self, CP: structs.CarParams, CP_SP: structs.CarParams, delay: float = 0.0):
    self.CP = CP
    self.CP_SP = CP_SP

@@ -228,11 +220,7 @@ class RadarD:
      self.v_ego_hist.append(self.v_ego)
      self.last_v_ego_frame = sm.recv_frame['carState']

-    ar_pts = {
-      pt.trackId: [pt.dRel, pt.yRel, pt.vRel]
-      for pt in rr.points
-      if radar_point_eligible_for_fusion(self.CP, self.CP_SP, pt)
-    }
+    ar_pts = {pt.trackId: [pt.dRel, pt.yRel, pt.vRel] for pt in rr.points}

    # *** remove missing points from meta data ***
    for ids in list(self.tracks.keys()):
@@ -1,29 +0,0 @@
-from opendbc.car import structs
-from opendbc.car.structs import car
-from opendbc.sunnypilot.car.hyundai.values import HyundaiFlagsSP
-from openpilot.cereal import custom
-from openpilot.selfdrive.controls.radard import radar_point_eligible_for_fusion
-
-
-def radar_point(motion_state: int):
-  point = car.RadarData.RadarPoint.new_message()
-  point.motionState = motion_state
-  return point
-
-
-def test_hyundai_full_radar_fuses_only_classified_points():
-  CP = structs.CarParams(brand="hyundai")
-  CP_SP = custom.CarParamsSP.new_message()
-  CP_SP.flags = HyundaiFlagsSP.RADAR_FULL_RADAR.value
-
-  assert radar_point_eligible_for_fusion(CP, CP_SP, radar_point(1))
-  assert radar_point_eligible_for_fusion(CP, CP_SP, radar_point(2))
-  assert not radar_point_eligible_for_fusion(CP, CP_SP, radar_point(0))
-  assert not radar_point_eligible_for_fusion(CP, CP_SP, radar_point(255))
-
-
-def test_radar_motion_filter_does_not_affect_other_modes_or_brands():
-  CP_SP = custom.CarParamsSP.new_message()
-
-  assert radar_point_eligible_for_fusion(structs.CarParams(brand="hyundai"), CP_SP, radar_point(0))
-  assert radar_point_eligible_for_fusion(structs.CarParams(brand="toyota"), CP_SP, radar_point(0))
@@ -34,11 +34,7 @@ class MainLayout(Widget):
    # Initialize layouts
    self._home_layout = HomeLayout()
    self._home_body_layout = BodyLayout()
-    self._layouts = {
-      MainState.HOME: self._home_layout,
-      MainState.SETTINGS: SettingsLayout(),
-      MainState.ONROAD: AugmentedRoadView(radar_tracks_settings_callback=lambda: self.open_settings(PanelType.TOGGLES)),
-    }
+    self._layouts = {MainState.HOME: self._home_layout, MainState.SETTINGS: SettingsLayout(), MainState.ONROAD: AugmentedRoadView()}

    self._sidebar_rect = rl.Rectangle(0, 0, 0, 0)
    self._content_rect = rl.Rectangle(0, 0, 0, 0)
@@ -106,18 +106,7 @@ class TogglesLayout(Widget):
      icon="speed_limit.png"
    )

-    self._radar_tracks_setting = None
    self._toggles = {}
-    if gui_app.sunnypilot_ui():
-      self._radar_tracks_setting = multiple_button_item(
-        lambda: tr("Radar Tracks"),
-        "",
-        buttons=[lambda: tr("Off"), lambda: tr("Lead Only"), lambda: tr("Full Radar")],
-        button_width=250,
-        callback=self._set_radar_tracks,
-        selected_index=self._params.get("RadarTracks", return_default=True),
-      )
-      self._toggles["RadarTracks"] = self._radar_tracks_setting
    self._locked_toggles = set()
    for param, (title, desc, icon, needs_restart) in self._toggle_defs.items():
      toggle = toggle_item(
@@ -214,8 +203,6 @@ class TogglesLayout(Widget):
    # refresh toggles from params to mirror external changes
    for param in self._toggle_defs:
      self._toggles[param].action_item.set_state(self._params.get_bool(param))
-    if self._radar_tracks_setting is not None:
-      self._radar_tracks_setting.action_item.set_selected_button(self._params.get("RadarTracks", return_default=True))

    # these toggles need restart, block while engaged
    for toggle_def in self._toggle_defs:
@@ -260,6 +247,3 @@ class TogglesLayout(Widget):

  def _set_longitudinal_personality(self, button_index: int):
    self._params.put("LongitudinalPersonality", button_index, block=True)
-
-  def _set_radar_tracks(self, button_index: int):
-    self._params.put("RadarTracks", button_index, block=True)
@@ -32,8 +32,7 @@ class MiciMainLayout(Scroller):
    self._home_layout = MiciHomeLayout()
    self._alerts_layout = MiciOffroadAlerts()
    self._settings_layout = SettingsLayout()
-    self._car_onroad_layout = AugmentedRoadView(bookmark_callback=self._on_bookmark_clicked,
-                                                radar_tracks_settings_callback=self._settings_layout.open_toggles)
+    self._car_onroad_layout = AugmentedRoadView(bookmark_callback=self._on_bookmark_clicked)
    self._body_onroad_layout = BodyLayout()

    # Initialize widget rects
@@ -20,9 +20,9 @@ class SettingsLayout(NavScroller):
    super().__init__()
    self._params = Params()

-    self._toggles_panel = TogglesLayoutMici()
+    toggles_panel = TogglesLayoutMici()
    toggles_btn = SettingsBigButton("toggles", "", gui_app.texture("icons_mici/settings.png", 64, 64))
-    toggles_btn.set_click_callback(lambda: gui_app.push_widget(self._toggles_panel))
+    toggles_btn.set_click_callback(lambda: gui_app.push_widget(toggles_panel))

    network_panel = NetworkLayoutMici()
    network_btn = SettingsBigButton("network", "", gui_app.texture("icons_mici/settings/network/wifi_strength_full.png", 76, 56))
@@ -56,8 +56,3 @@ class SettingsLayout(NavScroller):
    ])

    self._font_medium = gui_app.font(FontWeight.MEDIUM)
-
-  def open_toggles(self) -> None:
-    if not gui_app.widget_in_stack(self):
-      gui_app.push_widget(self)
-    gui_app.push_widget(self._toggles_panel)
@@ -21,10 +21,8 @@ class TogglesLayoutMici(NavScroller):
    record_front = BigParamControl("record & upload driver camera", "RecordFront", toggle_callback=restart_needed_callback)
    record_mic = BigParamControl("record & upload mic audio", "RecordAudio", toggle_callback=restart_needed_callback)
    enable_openpilot = BigParamControl("enable sunnypilot", "OpenpilotEnabledToggle", toggle_callback=restart_needed_callback)
-    radar_tracks = BigMultiParamToggle("radar tracks", "RadarTracks", ["off", "lead only", "full radar"])

    self._scroller.add_widgets([
-      radar_tracks,
      self._personality_toggle,
      self._experimental_btn,
      is_metric_toggle,
@@ -37,7 +35,6 @@ class TogglesLayoutMici(NavScroller):

    # Toggle lists
    self._refresh_toggles = (
-      ("RadarTracks", radar_tracks),
      ("ExperimentalMode", self._experimental_btn),
      ("IsMetric", is_metric_toggle),
      ("IsLdwEnabled", ldw_toggle),
@@ -11,7 +11,6 @@ from openpilot.selfdrive.ui.mici.onroad.hud_renderer import HudRenderer
 from openpilot.selfdrive.ui.mici.onroad.model_renderer import ModelRenderer
 from openpilot.selfdrive.ui.mici.onroad.confidence_ball import ConfidenceBall
 from openpilot.selfdrive.ui.mici.onroad.cameraview import CameraView
-from openpilot.selfdrive.ui.sunnypilot.onroad.radar_tracks import RadarTracksStatus
 from openpilot.system.ui.lib.application import FontWeight, gui_app, MousePos, MouseEvent
 from openpilot.system.ui.widgets.label import UnifiedLabel
 from openpilot.system.ui.widgets import Widget
@@ -135,11 +134,9 @@ class BookmarkIcon(Widget):


 class AugmentedRoadView(CameraView):
-  def __init__(self, bookmark_callback=None, stream_type: VisionStreamType = VisionStreamType.VISION_STREAM_ROAD,
-               radar_tracks_settings_callback=None):
+  def __init__(self, bookmark_callback=None, stream_type: VisionStreamType = VisionStreamType.VISION_STREAM_ROAD):
    super().__init__("camerad", stream_type)
    self._bookmark_callback = bookmark_callback
-    self._radar_tracks_status = RadarTracksStatus(radar_tracks_settings_callback)
    self._set_placeholder_color(rl.BLACK)

    self.device_camera: DeviceCameraConfig | None = None
@@ -173,13 +170,6 @@ class AugmentedRoadView(CameraView):
  def _update_state(self):
    super()._update_state()

-    if ui_state.sm.updated["liveTracks"]:
-      self._radar_tracks_status.update(
-        ui_state.sm["liveTracks"], ui_state.sm.valid["liveTracks"], ui_state.radar_tracks, ui_state.sm["carState"].vEgo,
-      )
-    elif not ui_state.sm.alive["liveTracks"]:
-      self._radar_tracks_status.reset()
-
    # update offroad label
    if ui_state.panda_type == log.PandaState.PandaType.unknown:
      self._offroad_label.set_text("system booting")
@@ -189,9 +179,6 @@ class AugmentedRoadView(CameraView):
      self._offroad_label.set_text("start the car to\nuse sunnypilot")

  def _handle_mouse_release(self, mouse_pos: MousePos):
-    if self._radar_tracks_status.handle_mouse(mouse_pos):
-      return
-
    # Don't trigger click callback if bookmark was triggered
    if not self._bookmark_icon.interacting():
      super()._handle_mouse_release(mouse_pos)
@@ -234,8 +221,6 @@ class AugmentedRoadView(CameraView):
    # Fade out bottom of overlays for looks
    rl.draw_texture_ex(self._fade_texture, rl.Vector2(self._content_rect.x, self._content_rect.y), 0.0, 1.0, rl.WHITE)

-    self._radar_tracks_status.render(self._content_rect)
-
    alert_to_render, not_animating_out = self._alert_renderer.will_render()

    # Hide DMoji when disengaged unless AlwaysOnDM is enabled
@@ -14,7 +14,6 @@ from openpilot.system.ui.lib.shader_polygon import draw_polygon, Gradient
 from openpilot.system.ui.widgets import Widget

 from openpilot.selfdrive.ui.sunnypilot.mici.onroad.model_renderer import LANE_LINE_COLORS_SP, ModelRendererSP
-from openpilot.selfdrive.ui.sunnypilot.onroad.radar_tracks import draw_radar_lead_connectors, radar_lead_track_colors

 CLIP_MARGIN = 500
 MIN_DRAW_DISTANCE = 10.0
@@ -39,6 +38,7 @@ LANE_LINE_COLORS = {
  **LANE_LINE_COLORS_SP,
 }

+
@dataclass
 class ModelPoints:
  raw_points: np.ndarray = field(default_factory=lambda: np.empty((0, 3), dtype=np.float32))
@@ -47,12 +47,9 @@ class ModelPoints:

@dataclass
 class LeadVehicle:
-  glow: list[tuple[float, float]] = field(default_factory=list)
-  chevron: list[tuple[float, float]] = field(default_factory=list)
+  glow: list[float] = field(default_factory=list)
+  chevron: list[float] = field(default_factory=list)
  fill_alpha: int = 0
-  position: tuple[float, float] | None = None
-  radar_track_id: int = -1
-  radar: bool = False


 class ModelRenderer(Widget, ModelRendererSP):
@@ -135,12 +132,11 @@ class ModelRenderer(Widget, ModelRendererSP):
    model = sm['modelV2']
    radar_state = sm['radarState'] if sm.valid['radarState'] else None
    lead_one = radar_state.leadOne if radar_state else None
-    render_lead_indicator = ui_state.radar_tracks != 0 and radar_state is not None
+    render_lead_indicator = self._longitudinal_control and radar_state is not None

    # Update model data when needed
    model_updated = sm.updated['modelV2']
-    transform_updated = self._transform_dirty
-    if model_updated or sm.updated['radarState'] or transform_updated:
+    if model_updated or sm.updated['radarState'] or self._transform_dirty:
      if model_updated:
        self._update_raw_points(model)

@@ -158,27 +154,8 @@ class ModelRenderer(Widget, ModelRendererSP):
      self._draw_lane_lines()
      self._draw_path(sm)

-    if sm.valid['liveTracks'] and sm.recv_frame['liveTracks'] >= ui_state.started_frame:
-      if (sm.updated['liveTracks'] or sm.updated['liveCalibration'] or transform_updated or
-          not self.radar_tracks.projection_initialized):
-        self.radar_tracks.update_radar_tracks(
-          sm['liveTracks'], self._map_to_screen, self._path_offset_z,
-        )
-      highlighted_tracks = radar_lead_track_colors(radar_state) if render_lead_indicator else {}
-      matched_positions = self.radar_tracks.draw_cached_radar_tracks(
-        screen_offset=(self._rect.x, self._rect.y),
-        highlighted_tracks=highlighted_tracks,
-      )
-      if render_lead_indicator:
-        draw_radar_lead_connectors(
-          self._lead_vehicles, matched_positions, highlighted_tracks,
-          screen_offset=(self._rect.x, self._rect.y),
-        )
-    else:
-      self.radar_tracks.clear_projection()
-
-    if render_lead_indicator:
-      self._draw_lead_indicator()
+    # if render_lead_indicator and radar_state:
+    #   self._draw_lead_indicator()

  def _update_raw_points(self, model):
    """Update raw 3D points from model data"""
@@ -208,11 +185,7 @@ class ModelRenderer(Widget, ModelRendererSP):
        z = self._path.raw_points[idx, 2] if idx < len(self._path.raw_points) else 0.0
        point = self._map_to_screen(d_rel, -y_rel + self._camera_offset, z + self._path_offset_z)
        if point:
-          lead_vehicle = self._update_lead_vehicle(d_rel, v_rel, point, self._rect)
-          lead_vehicle.position = lead_vehicle.chevron[1]
-          lead_vehicle.radar_track_id = int(lead_data.radarTrackId)
-          lead_vehicle.radar = lead_data.radar
-          self._lead_vehicles[i] = lead_vehicle
+          self._lead_vehicles[i] = self._update_lead_vehicle(d_rel, v_rel, point, self._rect)

  def _update_model(self, lead, path_x_array):
    """Update model visualization data based on model message"""
@@ -407,10 +380,8 @@ class ModelRenderer(Widget, ModelRendererSP):
      if not lead.glow or not lead.chevron:
        continue

-      offset_glow = [(x + self._rect.x, y + self._rect.y) for x, y in lead.glow]
-      offset_chevron = [(x + self._rect.x, y + self._rect.y) for x, y in lead.chevron]
-      rl.draw_triangle_fan(offset_glow, len(offset_glow), rl.Color(218, 202, 37, 255))
-      rl.draw_triangle_fan(offset_chevron, len(offset_chevron), rl.Color(201, 34, 49, lead.fill_alpha))
+      rl.draw_triangle_fan(lead.glow, len(lead.glow), rl.Color(218, 202, 37, 255))
+      rl.draw_triangle_fan(lead.chevron, len(lead.chevron), rl.Color(201, 34, 49, lead.fill_alpha))

  @staticmethod
  def _get_path_length_idx(pos_x_array: np.ndarray, path_height: float) -> int:
@@ -18,7 +18,6 @@ if gui_app.sunnypilot_ui():
  from openpilot.selfdrive.ui.sunnypilot.onroad.augmented_road_view import BORDER_COLORS_SP, AugmentedRoadViewSP
  from openpilot.selfdrive.ui.sunnypilot.onroad.driver_state import DriverStateRendererSP as DriverStateRenderer
  from openpilot.selfdrive.ui.sunnypilot.onroad.hud_renderer import HudRendererSP as HudRenderer
-  from openpilot.selfdrive.ui.sunnypilot.onroad.radar_tracks import RadarTracksStatus
  from openpilot.selfdrive.ui.sunnypilot.ui_state import OnroadTimerStatus

 OpState = log.SelfdriveState.OpenpilotState
@@ -40,7 +39,7 @@ INF_POINT = np.array([1000.0, 0.0, 0.0])


 class AugmentedRoadView(CameraView, AugmentedRoadViewSP):
-  def __init__(self, stream_type: VisionStreamType = VisionStreamType.VISION_STREAM_ROAD, radar_tracks_settings_callback=None):
+  def __init__(self, stream_type: VisionStreamType = VisionStreamType.VISION_STREAM_ROAD):
    CameraView.__init__(self, "camerad", stream_type)
    AugmentedRoadViewSP.__init__(self)
    self._set_placeholder_color(BORDER_COLORS[UIStatus.DISENGAGED])
@@ -52,24 +51,12 @@ class AugmentedRoadView(CameraView, AugmentedRoadViewSP):
    self._matrix_cache_key = (0, 0.0, 0.0, stream_type)
    self._cached_matrix: np.ndarray | None = None
    self._content_rect = rl.Rectangle()
-    self._radar_tracks_status = RadarTracksStatus(radar_tracks_settings_callback, right_margin=240) if gui_app.sunnypilot_ui() else None

    self.model_renderer = ModelRenderer()
    self._hud_renderer = HudRenderer()
    self.alert_renderer = AlertRenderer()
    self.driver_state_renderer = DriverStateRenderer()

-  def _update_state(self):
-    super()._update_state()
-    if self._radar_tracks_status is None:
-      return
-    if ui_state.sm.updated["liveTracks"]:
-      self._radar_tracks_status.update(
-        ui_state.sm["liveTracks"], ui_state.sm.valid["liveTracks"], ui_state.radar_tracks, ui_state.sm["carState"].vEgo,
-      )
-    elif not ui_state.sm.alive["liveTracks"]:
-      self._radar_tracks_status.reset()
-
  def _render(self, rect):
    # Only render when system is started to avoid invalid data access
    if not ui_state.started:
@@ -103,8 +90,6 @@ class AugmentedRoadView(CameraView, AugmentedRoadViewSP):
    # Draw all UI overlays
    self.model_renderer.render(self._content_rect)
    AugmentedRoadViewSP.update_fade_out_bottom_overlay(self, self._content_rect)
-    if self._radar_tracks_status is not None:
-      self._radar_tracks_status.render(self._content_rect)
    self._hud_renderer.render(self._content_rect)
    self.alert_renderer.render(self._content_rect)
    self.driver_state_renderer.render(self._content_rect)
@@ -118,9 +103,7 @@ class AugmentedRoadView(CameraView, AugmentedRoadViewSP):
    # Draw colored border based on driving state
    self._draw_border(rect)

-  def _handle_mouse_press(self, mouse_pos):
-    if self._radar_tracks_status is not None and self._radar_tracks_status.handle_mouse(mouse_pos):
-      return
+  def _handle_mouse_press(self, _):
    if not self._hud_renderer.user_interacting() and self._click_callback is not None:
      self._click_callback()

@@ -13,7 +13,6 @@ from openpilot.system.ui.lib.shader_polygon import draw_polygon, Gradient
 from openpilot.system.ui.widgets import Widget

 from openpilot.selfdrive.ui.sunnypilot.onroad.model_renderer import ChevronMetrics, ModelRendererSP
-from openpilot.selfdrive.ui.sunnypilot.onroad.radar_tracks import draw_radar_lead_connectors, radar_lead_track_colors

 CLIP_MARGIN = 500
 MIN_DRAW_DISTANCE = 10.0
@@ -40,12 +39,9 @@ class ModelPoints:

@dataclass
 class LeadVehicle:
-  glow: list[tuple[float, float]] = field(default_factory=list)
-  chevron: list[tuple[float, float]] = field(default_factory=list)
+  glow: list[float] = field(default_factory=list)
+  chevron: list[float] = field(default_factory=list)
  fill_alpha: int = 0
-  position: tuple[float, float] | None = None
-  radar_track_id: int = -1
-  radar: bool = False


 class ModelRenderer(Widget, ChevronMetrics, ModelRendererSP):
@@ -119,12 +115,11 @@ class ModelRenderer(Widget, ChevronMetrics, ModelRendererSP):
    model = sm['modelV2']
    radar_state = sm['radarState'] if sm.valid['radarState'] else None
    lead_one = radar_state.leadOne if radar_state else None
-    render_lead_indicator = ui_state.radar_tracks != 0 and radar_state is not None
+    render_lead_indicator = self._longitudinal_control and radar_state is not None

    # Update model data when needed
    model_updated = sm.updated['modelV2']
-    transform_updated = self._transform_dirty
-    if model_updated or sm.updated['radarState'] or transform_updated:
+    if model_updated or sm.updated['radarState'] or self._transform_dirty:
      if model_updated:
        self._update_raw_points(model)

@@ -141,21 +136,6 @@ class ModelRenderer(Widget, ChevronMetrics, ModelRendererSP):
    self._draw_lane_lines()
    self._draw_path(sm)

-    if sm.valid['liveTracks'] and sm.recv_frame['liveTracks'] >= ui_state.started_frame:
-      if (sm.updated['liveTracks'] or sm.updated['liveCalibration'] or transform_updated or
-          not self.radar_tracks.projection_initialized):
-        self.radar_tracks.update_radar_tracks(
-          sm['liveTracks'], self._map_to_screen, self._path_offset_z,
-        )
-      highlighted_tracks = radar_lead_track_colors(radar_state) if render_lead_indicator else {}
-      matched_positions = self.radar_tracks.draw_cached_radar_tracks(
-        highlighted_tracks=highlighted_tracks,
-      )
-      if render_lead_indicator:
-        draw_radar_lead_connectors(self._lead_vehicles, matched_positions, highlighted_tracks)
-    else:
-      self.radar_tracks.clear_projection()
-
    if render_lead_indicator and radar_state:
      self._draw_lead_indicator()
      self.chevron_metrics.draw_lead_status(sm, radar_state, self._rect, self._lead_vehicles)
@@ -188,11 +168,7 @@ class ModelRenderer(Widget, ChevronMetrics, ModelRendererSP):
        z = self._path.raw_points[idx, 2] if idx < len(self._path.raw_points) else 0.0
        point = self._map_to_screen(d_rel, -y_rel + self._camera_offset, z + self._path_offset_z)
        if point:
-          lead_vehicle = self._update_lead_vehicle(d_rel, v_rel, point, self._rect)
-          lead_vehicle.position = lead_vehicle.chevron[1]
-          lead_vehicle.radar_track_id = int(lead_data.radarTrackId)
-          lead_vehicle.radar = lead_data.radar
-          self._lead_vehicles[i] = lead_vehicle
+          self._lead_vehicles[i] = self._update_lead_vehicle(d_rel, v_rel, point, self._rect)

  def _update_model(self, lead, path_x_array):
    """Update model visualization data based on model message"""
@@ -7,7 +7,6 @@ See the LICENSE.md file in the root directory for more details.
 import pyray as rl
 from openpilot.selfdrive.ui.ui_state import UIStatus
 from openpilot.selfdrive.ui.sunnypilot.onroad.rainbow_path import RainbowPath
-from openpilot.selfdrive.ui.sunnypilot.onroad.radar_tracks import RadarTracks

 LANE_LINE_COLORS_SP = {
  UIStatus.LAT_ONLY: rl.Color(0, 255, 64, 255),
@@ -18,4 +17,3 @@ LANE_LINE_COLORS_SP = {
 class ModelRendererSP:
  def __init__(self):
    self.rainbow_path = RainbowPath()
-    self.radar_tracks = RadarTracks()
@@ -6,12 +6,9 @@ See the LICENSE.md file in the root directory for more details.
 """
 from openpilot.selfdrive.ui.sunnypilot.onroad.chevron_metrics import ChevronMetrics
 from openpilot.selfdrive.ui.sunnypilot.onroad.rainbow_path import RainbowPath
-from openpilot.selfdrive.ui.sunnypilot.onroad.radar_tracks import RadarTracks


 class ModelRendererSP:
  def __init__(self):
    self.rainbow_path = RainbowPath()
    self.chevron_metrics = ChevronMetrics()
-    self.radar_tracks = RadarTracks()
-
@@ -1,339 +0,0 @@
-"""
-Copyright (c) 2021-, Haibin Wen, sunnypilot, and a number of other contributors.
-
-This file is part of sunnypilot and is licensed under the MIT License.
-See the LICENSE.md file in the root directory for more details.
-"""
-from dataclasses import dataclass
-import math
-import pyray as rl
-from opendbc.car.hyundai.radar_interface import RADAR_235_248, RADAR_3A5_3C4
-from openpilot.system.ui.lib.application import FontWeight
-from openpilot.system.ui.widgets.label import UnifiedLabel
-
-NEUTRAL_COLOR = (255, 255, 255)
-DBC_MOVING_COLOR = (190, 125, 255)
-DBC_UNKNOWN_COLOR = (154, 168, 184)
-DBC_MOTION_STATIONARY = 1
-DBC_MOTION_MOVING = 2
-LEAD_TRACK_COLORS = (
-  rl.Color(255, 215, 0, 255),
-  rl.Color(255, 140, 0, 220),
-)
-
-
-@dataclass(frozen=True)
-class ProjectedRadarTrack:
-  x: float
-  y: float
-  radius: float
-  color: object
-  source_index: int
-  camera_object: bool
-  track_id: int
-
-
-def is_preferred_radar_source(source) -> bool:
-  return source.startAddress == RADAR_3A5_3C4.start_addr and source.endAddress == RADAR_3A5_3C4.end_addr
-
-
-def radar_source_sort_key(source) -> tuple[bool, int, int, int]:
-  return (
-    not is_preferred_radar_source(source),
-    int(source.startAddress),
-    int(source.endAddress),
-    int(source.bus),
-  )
-
-
-def sorted_radar_sources(live_tracks):
-  return sorted(live_tracks.trackSources, key=radar_source_sort_key)
-
-
-def radar_track_source_index(track, sources) -> int:
-  address = int(track.sourceAddress)
-  bus = int(track.sourceBus)
-  if address != 0:
-    return next((
-      index for index, source in enumerate(sources)
-      if source.startAddress <= address <= source.endAddress and source.bus == bus
-    ), 0)
-  return 0
-
-
-def is_camera_object_source(source) -> bool:
-  return source.startAddress == RADAR_235_248.start_addr and source.endAddress == RADAR_235_248.end_addr
-
-
-def radar_track_source(track, sources):
-  address = int(track.sourceAddress)
-  bus = int(track.sourceBus)
-  if address == 0:
-    return None
-  return next((
-    source for source in sources
-    if source.startAddress <= address <= source.endAddress and source.bus == bus
-  ), None)
-
-
-def radar_source_label(source) -> str:
-  prefix = "CAM " if is_camera_object_source(source) else ""
-  return f"{prefix}{source.startAddress:X}-{source.endAddress:X}"
-
-
-def draw_radar_source_marker(center: rl.Vector2, radius: float, color: rl.Color, source_index: int,
-                             camera_object: bool = False) -> None:
-  if camera_object:
-    rl.draw_poly(center, 3, radius, -90.0, color)
-    return
-  if source_index <= 0:
-    rl.draw_circle(int(center.x), int(center.y), radius, color)
-    return
-  sides = (4, 3, 5, 6)[(source_index - 1) % 4]
-  rotation = 45.0 if sides == 4 else -90.0
-  rl.draw_poly(center, sides, radius, rotation, color)
-
-
-def radar_track_display(motion_state: int) -> tuple[rl.Color, bool]:
-  """Color tracks exclusively from the radar's DBC motion classification."""
-  if motion_state == DBC_MOTION_STATIONARY:
-    return rl.Color(*NEUTRAL_COLOR, 255), True
-  if motion_state == DBC_MOTION_MOVING:
-    return rl.Color(*DBC_MOVING_COLOR, 255), False
-  return rl.Color(*DBC_UNKNOWN_COLOR, 255), False
-
-
-def radar_lead_track_colors(radar_state) -> dict[int, rl.Color]:
-  highlighted_tracks = {}
-  if radar_state is None:
-    return highlighted_tracks
-
-  for lead, color in zip((radar_state.leadOne, radar_state.leadTwo), LEAD_TRACK_COLORS, strict=True):
-    if lead.present and lead.radar and lead.radarTrackId >= 0:
-      highlighted_tracks.setdefault(int(lead.radarTrackId), color)
-  return highlighted_tracks
-
-
-def draw_radar_lead_connectors(lead_vehicles, matched_positions, highlighted_tracks, screen_offset=(0, 0)) -> None:
-  for lead in lead_vehicles:
-    if not lead.radar or lead.position is None or lead.radar_track_id not in matched_positions:
-      continue
-
-    radar_position = matched_positions[lead.radar_track_id]
-    lead_position = (lead.position[0] + screen_offset[0], lead.position[1] + screen_offset[1])
-    if math.dist(lead_position, radar_position) < 4:
-      continue
-
-    rl.draw_line_ex(
-      rl.Vector2(*lead_position), rl.Vector2(*radar_position), 2,
-      highlighted_tracks[lead.radar_track_id],
-    )
-
-
-def format_radar_tracks_onroad_columns(live_tracks, v_ego: float = 0.0) -> tuple[str, str, str, str, str, str]:
-  sources = sorted_radar_sources(live_tracks)
-  if not sources:
-    return "", "none", "", "", "", ""
-
-  range_text = "\n".join(radar_source_label(source) for source in sources)
-  count_text = "\n".join(str(source.trackCount) for source in sources)
-  motion_states = [int(track.motionState) for track in live_tracks.points]
-
-  moving_count = sum(state == DBC_MOTION_MOVING for state in motion_states)
-  stationary_count = sum(state == DBC_MOTION_STATIONARY for state in motion_states)
-  unknown_count = len(motion_states) - moving_count - stationary_count
-  return range_text, count_text, str(moving_count), str(stationary_count), str(unknown_count), ""
-
-
-class RadarTracksStatus:
-  HORIZONTAL_PADDING = 8
-  COLUMN_GAP = 8
-  SOURCE_MARKER_WIDTH = 18
-
-  def __init__(self, settings_callback=None, right_margin: int = 12):
-    self._settings_callback = settings_callback
-    self._right_margin = right_margin
-    self._rect = rl.Rectangle()
-    text_args = {
-      "font_size": 26,
-      "font_weight": FontWeight.SEMI_BOLD,
-      "alignment": rl.GuiTextAlignment.TEXT_ALIGN_RIGHT,
-      "alignment_vertical": rl.GuiTextAlignmentVertical.TEXT_ALIGN_TOP,
-      "wrap_text": False,
-    }
-    self._labels = (
-      UnifiedLabel("", text_color=rl.Color(0, 255, 64, 255), **text_args),
-      UnifiedLabel("none", text_color=rl.Color(0, 255, 64, 255), **text_args),
-      UnifiedLabel("", text_color=rl.Color(*DBC_MOVING_COLOR, 255), **text_args),
-      UnifiedLabel("", text_color=rl.Color(*NEUTRAL_COLOR, 255), **text_args),
-      UnifiedLabel("", text_color=rl.Color(*DBC_UNKNOWN_COLOR, 255), **text_args),
-      UnifiedLabel("", text_color=rl.Color(*DBC_UNKNOWN_COLOR, 255), **text_args),
-    )
-    self._status = ("", "none", "", "", "", "")
-    self._status_colors: tuple[tuple[int, int, int], ...] = ()
-    self._source_count = 0
-    self._layout_key: tuple[str, str, str, str, str, str, int] | None = None
-    self._column_widths = [0, 36, 0, 0, 0, 0]
-    self._width = 52
-    self._height = 42
-
-  def update(self, live_tracks, valid: bool, radar_mode: int, v_ego: float = 0.0) -> None:
-    if live_tracks.radarTracksAvailable and radar_mode != 2:
-      status = ("", "radar detected\ntap to enable", "", "", "", "")
-      status_colors = ()
-      source_count = 0
-    else:
-      status = format_radar_tracks_onroad_columns(live_tracks, v_ego) if valid else ("", "none", "", "", "", "")
-      status_colors = (DBC_MOVING_COLOR, NEUTRAL_COLOR, DBC_UNKNOWN_COLOR, DBC_UNKNOWN_COLOR)
-      source_count = len(live_tracks.trackSources) if valid else 0
-    self._set_status(status, status_colors, source_count)
-
-  def reset(self) -> None:
-    self._set_status(("", "none", "", "", "", ""), (), 0)
-
-  def handle_mouse(self, mouse_pos) -> bool:
-    if self._settings_callback is None or not rl.check_collision_point_rec(mouse_pos, self._rect):
-      return False
-
-    self._settings_callback()
-    return True
-
-  def render(self, content_rect: rl.Rectangle) -> None:
-    self._update_layout(int(content_rect.width - 40))
-    self._rect = rl.Rectangle(
-      content_rect.x + content_rect.width - self._width - self._right_margin,
-      content_rect.y + 8,
-      self._width,
-      self._height,
-    )
-    rl.draw_rectangle_rounded(self._rect, 0.5, 8, rl.Color(0, 0, 0, 170))
-    x = self._rect.x + self.HORIZONTAL_PADDING
-    active_columns = [
-      (column_index, label, width)
-      for column_index, (label, width) in enumerate(zip(self._labels, self._column_widths, strict=True))
-      if width
-    ]
-    for active_index, (column_index, label, width) in enumerate(active_columns):
-      label_x = x
-      label_width = width
-      if column_index == 0 and self._source_count:
-        marker_height = (self._rect.height - 10) / self._source_count
-        for source_index in range(self._source_count):
-          draw_radar_source_marker(
-            rl.Vector2(x + 6, self._rect.y + 5 + marker_height * (source_index + 0.5)),
-            5.0, rl.Color(0, 255, 64, 255), source_index,
-          )
-        label_x += self.SOURCE_MARKER_WIDTH
-        label_width -= self.SOURCE_MARKER_WIDTH
-      label.render(rl.Rectangle(label_x, self._rect.y + 5, label_width, self._rect.height - 10))
-      x += width + (self.COLUMN_GAP if active_index < len(active_columns) - 1 else 0)
-
-  def _set_status(self, status: tuple[str, str, str, str, str, str],
-                  status_colors: tuple[tuple[int, int, int], ...], source_count: int) -> None:
-    if status == self._status and status_colors == self._status_colors and source_count == self._source_count:
-      return
-
-    self._status = status
-    self._status_colors = status_colors
-    self._source_count = source_count
-    for label, text in zip(self._labels, status, strict=True):
-      label.set_text(text)
-    for label, color in zip(self._labels[2:], status_colors, strict=False):
-      label.set_text_color(rl.Color(*color, 255))
-    self._layout_key = None
-
-  def _update_layout(self, max_inner_width: int) -> None:
-    layout_key = (*self._status, max_inner_width)
-    if layout_key == self._layout_key:
-      return
-
-    for label in self._labels:
-      label.get_content_height(max_inner_width)
-    self._column_widths = [
-      math.ceil(label.text_width) if text else 0
-      for label, text in zip(self._labels, self._status, strict=True)
-    ]
-    if self._column_widths[0] and self._source_count:
-      self._column_widths[0] += self.SOURCE_MARKER_WIDTH
-    self._column_widths[1] = max(36, self._column_widths[1])
-    for index in (2, 3, 4):
-      if self._column_widths[index]:
-        self._column_widths[index] = max(36, self._column_widths[index])
-    active_widths = [width for width in self._column_widths if width]
-    inner_width = sum(active_widths) + self.COLUMN_GAP * (len(active_widths) - 1)
-    self._width = inner_width + self.HORIZONTAL_PADDING * 2
-    self._height = max(
-      42,
-      *(label.get_content_height(max(width, 1)) + 10
-        for label, width in zip(self._labels, self._column_widths, strict=True) if width),
-    )
-    self._layout_key = layout_key
-
-
-class RadarTracks:
-  def __init__(self):
-    self._projected_tracks: tuple[ProjectedRadarTrack, ...] = ()
-    self._projection_initialized = False
-
-  @property
-  def projection_initialized(self) -> bool:
-    return self._projection_initialized
-
-  def clear_projection(self) -> None:
-    self._projected_tracks = ()
-    self._projection_initialized = False
-
-  def update_radar_tracks(self, live_tracks, map_to_screen, path_offset_z, track_size=7) -> None:
-    projected_tracks = []
-    sources = sorted_radar_sources(live_tracks)
-
-    for track in live_tracks.points:
-      d_rel, y_rel, v_rel = track.dRel, track.yRel, track.vRel
-      if not (math.isfinite(d_rel) and math.isfinite(y_rel) and math.isfinite(v_rel)):
-        continue
-
-      motion_state = int(track.motionState)
-      if motion_state not in (DBC_MOTION_STATIONARY, DBC_MOTION_MOVING):
-        continue
-
-      pt = map_to_screen(d_rel, -y_rel, path_offset_z)
-      if pt is None:
-        continue
-
-      color, stationary = radar_track_display(motion_state)
-      radius = max(1, track_size - 5) if stationary else track_size
-      source = radar_track_source(track, sources)
-      projected_tracks.append(ProjectedRadarTrack(
-        x=pt[0],
-        y=pt[1],
-        radius=radius,
-        color=color,
-        source_index=radar_track_source_index(track, sources),
-        camera_object=source is not None and is_camera_object_source(source),
-        track_id=int(track.trackId),
-      ))
-
-    self._projected_tracks = tuple(projected_tracks)
-    self._projection_initialized = True
-
-  def draw_cached_radar_tracks(self, screen_offset=(0, 0), highlighted_tracks=None):
-    highlighted_tracks = highlighted_tracks or {}
-    highlighted_positions = {}
-
-    for track in self._projected_tracks:
-      x, y = track.x + screen_offset[0], track.y + screen_offset[1]
-      highlight_color = highlighted_tracks.get(track.track_id)
-      if highlight_color is not None:
-        center = rl.Vector2(int(x), int(y))
-        rl.draw_ring(center, track.radius + 2, track.radius + 5, 0, 360, 24, highlight_color)
-        highlighted_positions[track.track_id] = (x, y)
-      draw_radar_source_marker(
-        rl.Vector2(x, y), track.radius, track.color, track.source_index, track.camera_object,
-      )
-
-    return highlighted_positions
-
-  def draw_radar_tracks(self, live_tracks, map_to_screen, path_offset_z, track_size=7, screen_offset=(0, 0), v_ego=0.0,
-                        highlighted_tracks=None):
-    self.update_radar_tracks(live_tracks, map_to_screen, path_offset_z, track_size)
-    return self.draw_cached_radar_tracks(screen_offset, highlighted_tracks)
@@ -1,324 +0,0 @@
-from types import SimpleNamespace
-
-from opendbc.car.structs import car
-
-from openpilot.selfdrive.ui.sunnypilot.onroad import radar_tracks
-from openpilot.selfdrive.ui.sunnypilot.onroad.radar_tracks import draw_radar_lead_connectors, format_radar_tracks_onroad_columns, \
-  radar_lead_track_colors, radar_track_display
-
-
-def color_tuple(color):
-  return color.r, color.g, color.b, color.a
-
-
-def test_dbc_motion_colors():
-  assert color_tuple(radar_track_display(2)[0]) == (190, 125, 255, 255)
-  assert not radar_track_display(2)[1]
-  assert color_tuple(radar_track_display(1)[0]) == (255, 255, 255, 255)
-  assert radar_track_display(1)[1]
-
-
-def test_unknown_dbc_motion_uses_neutral_dbc_color():
-  color, stationary = radar_track_display(0)
-
-  assert color_tuple(color) == (*radar_tracks.DBC_UNKNOWN_COLOR, 255)
-  assert not stationary
-
-
-def test_radar_lead_track_colors_only_highlight_radar_matches():
-  radar_state = SimpleNamespace(
-    leadOne=SimpleNamespace(present=True, radar=True, radarTrackId=7),
-    leadTwo=SimpleNamespace(present=True, radar=False, radarTrackId=9),
-  )
-
-  colors = radar_lead_track_colors(radar_state)
-
-  assert list(colors) == [7]
-  assert color_tuple(colors[7]) == color_tuple(radar_tracks.LEAD_TRACK_COLORS[0])
-
-
-def test_draw_radar_lead_connectors_applies_screen_offset(monkeypatch):
-  lead = SimpleNamespace(radar=True, position=(10, 20), radar_track_id=7)
-  color = radar_tracks.LEAD_TRACK_COLORS[0]
-  drawn = []
-  monkeypatch.setattr(
-    radar_tracks.rl, "draw_line_ex",
-    lambda start, end, width, line_color: drawn.append(
-      ((start.x, start.y), (end.x, end.y), width, color_tuple(line_color))
-    ),
-  )
-
-  draw_radar_lead_connectors(
-    [lead], {7: (120, 30)}, {7: color}, screen_offset=(100, 5),
-  )
-
-  assert drawn == [((110, 25), (120, 30), 2, color_tuple(color))]
-
-
-def test_format_radar_tracks_columns_none():
-  live_tracks = car.RadarData.new_message()
-
-  assert format_radar_tracks_onroad_columns(live_tracks) == ("", "none", "", "", "", "")
-
-
-def test_format_radar_tracks_columns_range_and_count():
-  live_tracks = car.RadarData.new_message()
-  live_tracks.trackSources = [{"startAddress": 0x3A5, "endAddress": 0x3C4, "bus": 1, "trackCount": 2}]
-  points = live_tracks.init("points", 2)
-  points[0].motionState = 2
-  points[1].motionState = 1
-
-  assert format_radar_tracks_onroad_columns(live_tracks) == ("3A5-3C4", "2", "1", "1", "0", "")
-
-
-def test_format_camera_objects_are_not_labeled_as_radar():
-  live_tracks = car.RadarData.new_message()
-  live_tracks.trackSources = [{"startAddress": 0x235, "endAddress": 0x248, "bus": 1, "trackCount": 3}]
-  points = live_tracks.init("points", 3)
-  for point in points:
-    point.motionState = 2
-
-  assert format_radar_tracks_onroad_columns(live_tracks) == ("CAM 235-248", "3", "3", "0", "0", "")
-
-
-def test_format_radar_tracks_columns_stacks_all_ranges_with_preferred_first():
-  live_tracks = car.RadarData.new_message()
-  live_tracks.trackSources = [
-    {"startAddress": 0x500, "endAddress": 0x51F, "bus": 2, "trackCount": 3},
-    {"startAddress": 0x3A5, "endAddress": 0x3C4, "bus": 1, "trackCount": 2},
-  ]
-  points = live_tracks.init("points", 3)
-  points[0].motionState = 2
-  points[0].sourceAddress = 0x3A5
-  points[1].motionState = 1
-  points[1].sourceAddress = 0x3A6
-  points[2].motionState = 0
-  points[2].sourceAddress = 0x500
-
-  assert format_radar_tracks_onroad_columns(live_tracks) == (
-    "3A5-3C4\n500-51F",
-    "2\n3",
-    "1",
-    "1",
-    "1",
-    "",
-  )
-
-
-def test_format_radar_tracks_columns_shows_non_motion_source():
-  live_tracks = car.RadarData.new_message()
-  live_tracks.trackSources = [{"startAddress": 0x500, "endAddress": 0x51F, "bus": 1, "trackCount": 4}]
-  points = live_tracks.init("points", 4)
-  for point, v_rel in zip(points, (-5.0, 0.2, -20.0, 5.0), strict=True):
-    point.vRel = v_rel
-    point.motionState = 0
-    point.sourceAddress = 0x500
-
-  assert format_radar_tracks_onroad_columns(live_tracks, v_ego=20.0) == ("500-51F", "4", "0", "0", "4", "")
-
-
-def test_format_radar_tracks_columns_shows_64_track_source():
-  live_tracks = car.RadarData.new_message()
-  live_tracks.trackSources = [{"startAddress": 0x500, "endAddress": 0x53F, "bus": 1, "trackCount": 7}]
-
-  assert format_radar_tracks_onroad_columns(live_tracks) == ("500-53F", "7", "0", "0", "0", "")
-
-
-def test_draw_radar_tracks_applies_screen_offset(monkeypatch):
-  live_tracks = car.RadarData.new_message()
-  points = live_tracks.init("points", 1)
-  points[0].dRel = 10
-  points[0].yRel = 1
-  points[0].vRel = 2
-  points[0].motionState = radar_tracks.DBC_MOTION_MOVING
-  drawn_circles = []
-  monkeypatch.setattr(radar_tracks.rl, "draw_circle", lambda x, y, size, color: drawn_circles.append((x, y, size)))
-
-  radar_tracks.RadarTracks().draw_radar_tracks(
-    live_tracks,
-    lambda d_rel, y_rel, z: (20, 30),
-    path_offset_z=1.2,
-    track_size=3,
-    screen_offset=(100, 7),
-  )
-
-  assert drawn_circles == [(120, 37, 3)]
-
-
-def test_draw_radar_tracks_hides_unknown_motion(monkeypatch):
-  live_tracks = car.RadarData.new_message()
-  point = live_tracks.init("points", 1)[0]
-  point.dRel = 10
-  point.yRel = 1
-  point.vRel = -5
-  point.motionState = 0
-  drawn_colors = []
-  monkeypatch.setattr(radar_tracks.rl, "draw_circle", lambda x, y, size, color: drawn_colors.append(color_tuple(color)))
-
-  radar_tracks.RadarTracks().draw_radar_tracks(live_tracks, lambda d_rel, y_rel, z: (20, 30), path_offset_z=1.2)
-
-  assert drawn_colors == []
-
-
-def test_draw_radar_tracks_hides_unknown_motion_from_other_source(monkeypatch):
-  live_tracks = car.RadarData.new_message()
-  point = live_tracks.init("points", 1)[0]
-  point.dRel = 10
-  point.yRel = 1
-  point.vRel = -5
-  point.motionState = 0
-  point.sourceAddress = 0x500
-  drawn_circles = []
-  monkeypatch.setattr(radar_tracks.rl, "draw_circle", lambda *args: drawn_circles.append(args))
-
-  radar_tracks.RadarTracks().draw_radar_tracks(
-    live_tracks, lambda d_rel, y_rel, z: (20, 30), path_offset_z=1.2,
-  )
-
-  assert drawn_circles == []
-
-
-def test_draw_radar_tracks_uses_source_shapes_with_preferred_circle(monkeypatch):
-  live_tracks = car.RadarData.new_message()
-  live_tracks.trackSources = [
-    {"startAddress": 0x500, "endAddress": 0x51F, "bus": 1, "trackCount": 1},
-    {"startAddress": 0x3A5, "endAddress": 0x3C4, "bus": 1, "trackCount": 1},
-  ]
-  points = live_tracks.init("points", 2)
-  for point, address in zip(points, (0x500, 0x3A5), strict=True):
-    point.dRel = address
-    point.yRel = 1
-    point.vRel = 2
-    point.motionState = radar_tracks.DBC_MOTION_MOVING
-    point.sourceAddress = address
-    point.sourceBus = 1
-
-  circles = []
-  polygons = []
-  monkeypatch.setattr(radar_tracks.rl, "draw_circle", lambda x, y, radius, color: circles.append((x, radius)))
-  monkeypatch.setattr(
-    radar_tracks.rl, "draw_poly",
-    lambda center, sides, radius, rotation, color: polygons.append((center.x, sides, radius, rotation)),
-  )
-
-  radar_tracks.RadarTracks().draw_radar_tracks(
-    live_tracks, lambda d_rel, y_rel, z: (d_rel, 30), path_offset_z=1.2, track_size=6,
-  )
-
-  assert circles == [(0x3A5, 6)]
-  assert polygons == [(0x500, 4, 6, 45.0)]
-
-
-def test_draw_camera_objects_uses_triangle(monkeypatch):
-  live_tracks = car.RadarData.new_message()
-  live_tracks.trackSources = [{"startAddress": 0x235, "endAddress": 0x248, "bus": 1, "trackCount": 1}]
-  point = live_tracks.init("points", 1)[0]
-  point.dRel = 25
-  point.yRel = 1
-  point.vRel = 2
-  point.motionState = radar_tracks.DBC_MOTION_MOVING
-  point.sourceAddress = 0x235
-  point.sourceBus = 1
-  polygons = []
-  monkeypatch.setattr(
-    radar_tracks.rl, "draw_poly",
-    lambda center, sides, radius, rotation, color: polygons.append((center.x, sides, radius, rotation)),
-  )
-
-  radar_tracks.RadarTracks().draw_radar_tracks(
-    live_tracks, lambda d_rel, y_rel, z: (d_rel, 30), path_offset_z=1.2, track_size=6,
-  )
-
-  assert polygons == [(25, 3, 6, -90.0)]
-
-
-def test_draw_radar_tracks_shrinks_stationary_dots(monkeypatch):
-  live_tracks = car.RadarData.new_message()
-  point = live_tracks.init("points", 1)[0]
-  point.dRel = 10
-  point.yRel = 1
-  point.vRel = -20
-  point.motionState = 1
-  drawn_sizes = []
-  monkeypatch.setattr(radar_tracks.rl, "draw_circle", lambda x, y, size, color: drawn_sizes.append(size))
-
-  radar_tracks.RadarTracks().draw_radar_tracks(
-    live_tracks, lambda d_rel, y_rel, z: (20, 30), path_offset_z=1.2, track_size=6, v_ego=20,
-  )
-
-  assert drawn_sizes == [1]
-
-
-def test_draw_radar_tracks_keeps_matched_speed_dots_large(monkeypatch):
-  live_tracks = car.RadarData.new_message()
-  point = live_tracks.init("points", 1)[0]
-  point.dRel = 10
-  point.yRel = 1
-  point.vRel = 0.5
-  point.motionState = radar_tracks.DBC_MOTION_MOVING
-  drawn_sizes = []
-  monkeypatch.setattr(radar_tracks.rl, "draw_circle", lambda x, y, size, color: drawn_sizes.append(size))
-
-  radar_tracks.RadarTracks().draw_radar_tracks(
-    live_tracks, lambda d_rel, y_rel, z: (20, 30), path_offset_z=1.2, track_size=6, v_ego=20,
-  )
-
-  assert drawn_sizes == [6]
-
-
-def test_draw_radar_tracks_highlights_and_returns_matched_track(monkeypatch):
-  live_tracks = car.RadarData.new_message()
-  points = live_tracks.init("points", 2)
-  for track_id, point in enumerate(points, start=10):
-    point.trackId = track_id
-    point.dRel = track_id
-    point.yRel = 1
-    point.vRel = 2
-    point.motionState = radar_tracks.DBC_MOTION_MOVING
-
-  highlight_color = radar_tracks.rl.Color(255, 215, 0, 255)
-  drawn_rings = []
-  monkeypatch.setattr(radar_tracks.rl, "draw_circle", lambda *args: None)
-  monkeypatch.setattr(
-    radar_tracks.rl,
-    "draw_ring",
-    lambda center, inner, outer, start, end, segments, color: drawn_rings.append(
-      ((center.x, center.y), inner, outer, color_tuple(color))
-    ),
-  )
-
-  matched_positions = radar_tracks.RadarTracks().draw_radar_tracks(
-    live_tracks, lambda d_rel, y_rel, z: (d_rel, 30), path_offset_z=1.2,
-    screen_offset=(100, 7), highlighted_tracks={11: highlight_color},
-  )
-
-  assert drawn_rings == [((111, 37), 9, 12, (255, 215, 0, 255))]
-  assert matched_positions == {11: (111, 37)}
-
-
-def test_cached_radar_tracks_only_reproject_on_update(monkeypatch):
-  live_tracks = car.RadarData.new_message()
-  point = live_tracks.init("points", 1)[0]
-  point.trackId = 7
-  point.dRel = 10
-  point.yRel = 1
-  point.vRel = 0
-  point.motionState = radar_tracks.DBC_MOTION_MOVING
-  projected = []
-  drawn = []
-
-  def map_to_screen(d_rel, y_rel, z):
-    projected.append((d_rel, y_rel, z))
-    return (20, 30)
-
-  monkeypatch.setattr(
-    radar_tracks.rl, "draw_circle",
-    lambda x, y, radius, color: drawn.append((x, y)),
-  )
-  renderer = radar_tracks.RadarTracks()
-  renderer.update_radar_tracks(live_tracks, map_to_screen, path_offset_z=1.2)
-  renderer.draw_cached_radar_tracks(screen_offset=(100, 7))
-  renderer.draw_cached_radar_tracks(screen_offset=(200, 9))
-
-  assert projected == [(10, -1, 1.2)]
-  assert drawn == [(120, 37), (220, 39)]
@@ -44,7 +44,6 @@ class UIStateSP:
    self.custom_interactive_timeout: int = 0
    self.developer_ui = None
    self.hide_v_ego_ui: bool = False
-    self.radar_tracks: int = self.params.get("RadarTracks", return_default=True)
    self.onroad_brightness: int = 0
    self.onroad_brightness_timer: int = 0
    self.onroad_brightness_timer_param: int = 0
@@ -153,7 +152,6 @@ class UIStateSP:
    self.custom_interactive_timeout = self.params.get("InteractivityTimeout", return_default=True)
    self.developer_ui = self.params.get("DevUIInfo")
    self.hide_v_ego_ui = self.params.get_bool("HideVEgoUI")
-    self.radar_tracks = self.params.get("RadarTracks", return_default=True)
    self.onroad_brightness = int(float(self.params.get("OnroadScreenOffBrightness", return_default=True)))
    self.onroad_brightness_timer_param = self.params.get("OnroadScreenOffTimer", return_default=True)
    self.rainbow_path = self.params.get_bool("RainbowMode")
@@ -63,7 +63,6 @@ class UIState(UIStateSP):
        "liveParameters",
        "testJoystick",
        "rawAudioData",
-        "liveTracks",
      ] + self.sm_services_ext
    )

@@ -109,8 +109,6 @@ def setup_interfaces(CI: CarInterfaceBase, params: Params = None) -> None:
 def initialize_params(params) -> list[dict[str, Any]]:
  keys: list = []

-  keys.append("RadarTracks")
-
  # hyundai
  keys.extend([
    "HyundaiLongitudinalTuning",
@@ -1,62 +0,0 @@
-# Hyundai/Kia/Genesis radar range matrix
-
-This is a forum-ready summary of the routes analyzed for the sunnypilot radar
-tracks work. It describes observed protocol families, not guaranteed equipment
-for every model year, market, trim, or harness. A range can be present but empty
-when the radar is inactive. Raw bus number is also not a layout identifier:
-follow the sustained logical A-CAN source and reject brief forwarded copies.
-
-Status terms:
-
- **Confirmed**: complete range, checksum/cadence, and tracked-object layout
-  were validated across route data.
- **Observed/optional**: verified on at least one qualifying route, but not
-  every route or trim carrying the main front-radar family.
- **Candidate**: source association or exact semantics remain incomplete.
- **Not radar**: camera or fused-output traffic overlapping radar-like ranges.
-
-## Platform matrix
-
-| Platform or platform group | Front tracked-object range | Front layout | Additional radar traffic | Camera/fused traffic that is not another radar | Status and notes |
-| --- | --- | --- | --- | --- | --- |
-| Kia K7 2017; older Hyundai Ioniq; sampled Ioniq PHEV | `0x500–0x53F` | 64 slots, 8 B each, about 20 Hz | `0x4E0`, `0x4E1`, `0x4E3` status/path messages | Legacy `0x238–0x24F` may coexist on applicable cars | **Confirmed** 64-slot legacy/Delphi-ESR dialect. |
-| Kia Niro EV first generation; legacy Hyundai Palisade; Sonata; Sonata Hybrid | `0x500–0x51F` | 32 slots, 8 B each, about 20 Hz | `0x4E0–0x4E5` status/build/health/alignment family | Legacy `0x238–0x255` or related camera candidates may coexist by platform | **Confirmed** 32-slot legacy dialect. The upper `0x520–0x53F` bank is absent. |
-| Hyundai Kona EV 2022; Kia Ceed PHEV | `0x602–0x617` | Two packed tracks in implemented messages | None established | None established | **Observed/candidate** legacy front family; the relationship between `0x602–0x611` and `0x612–0x617` remains incomplete. |
-| Hyundai Elantra HEV 2024 | `0x210–0x21F` | Detailed dialect, 32 tracks in 16 × 32 B messages, 20 Hz | No paired corner family established | Platform-dependent camera traffic | **Confirmed** detailed `210` front radar. |
-| Hyundai Ioniq 5; Hyundai Palisade 2023; Kia EV6, older HDA2 samples | `0x210–0x21F` | Detailed dialect, 32 tracks | Right-front candidate: `0x240–0x24F` objects plus `0x270–0x277` compact records. Left-front candidate: `0x278–0x287` objects plus `0x288–0x28F` compact records. | Isolated `0x235` traffic is not a complete camera-object family | **Confirmed** front radar. Paired front corners are **observed/optional** only on qualifying routes; A=right and B=left are strongly inferred but still need physical occlusion confirmation. |
-| Hyundai Santa Cruz 2025; Tucson 4th generation; Tucson HEV 2025; Kia Sportage 5th generation | `0x210–0x21F` | Compact dialect, 32 tracks | No corner family established in checked routes | Platform-dependent camera traffic | **Confirmed** compact `210` front radar. Compact and detailed `210` share core kinematics but use different lifecycle fields. |
-| Hyundai Ioniq 6 | `0x3A5–0x3C4` | Common 32-track layout, 24 B each, 20 Hz | No independent corner range established | `0x235–0x248` camera objects and `0x360–0x366` camera lane/path may be present | **Confirmed** common `3A5` front radar. |
-| Hyundai Kona/Kona HEV/Kona EV 2nd generation; Santa Fe HEV 5th generation; Sonata 2024 | `0x3A5–0x3C4` | Common 32-track layout | No independent corner range established | Platform-dependent `0x235`, `0x360`, and CCNC `0x162` fused traffic | **Confirmed** common `3A5` front radar. CCNC/HDA generation does not imply rich radar extensions. |
-| Kia Carnival HEV 2026; EV6 2025; K4 2025; K5 2025; Niro EV/HEV 2nd generation | `0x3A5–0x3C4` | Common 32-track layout | No independent corner range established | Platform-dependent `0x235`, `0x360`, and CCNC `0x162` fused traffic | **Confirmed** common `3A5` front radar. Bus 0/1 varies by architecture; a bus-2 copy can be forwarding. |
-| Kia EV9; Hyundai Ioniq 9 | `0x3A5–0x3C4` | Rich 32-track layout with optional width, length, absolute speed, and orientation | `0x3D0–0x3D4` synchronized 32-position auxiliary scan array | `0x235–0x248` camera objects; `0x360–0x366` camera lane/path; CCNC `0x162` fused traffic | **Confirmed** rich `3A5`; `3D0` is **observed/optional** radar auxiliary traffic. Former `3D0` speed/azimuth interpretations were falsified, so it is counted but not projected as geometry. |
-| Kia Sportage HEV 2026 forum sample | Overlaps `0x3A5–0x3C4` addresses | Payload is incompatible with the common `3A5` layout | Unknown | Unknown | **Excluded** from the common decoder; address overlap alone is not layout compatibility. |
-
-## Other observed ranges
-
-| Range | Applicable examples | Classification |
-| --- | --- | --- |
-| `0x235–0x248`, 32 B at about 33 Hz | Newer CAN-FD platforms, including rich EV9/Ioniq 9 captures | **Not radar:** forward-camera object list with class, motion, ID, geometry, velocity, and acceleration. |
-| `0x360–0x366`, 32 B | Newer CAN-FD platforms carrying camera lane/path output | **Not radar:** forward-camera lane/path family. |
-| `0x180–0x184`, `0x1B6–0x1B9`, `0x2BB–0x2BE` | Sampled Kia Sorento/Sorento HEV and Genesis GV70 candidates | **Not radar:** forward-camera auxiliary lists according to downloaded Hyundai DBCs. |
-| `0x238–0x24F`, 8 B | Ioniq PHEV/HEV 2022, legacy Palisade, Niro PHEV candidates | **Not established as radar:** strong legacy forward-camera-perception candidate. |
-| `0x238–0x255`, 8 B, often with `0x25A–0x25E` | Custin, Elantra/Elantra HEV 2021, Sonata/Sonata Hybrid candidates | **Not established as radar:** extended legacy forward-camera-perception candidate. |
-| `CCNC_0x162` | CCNC platforms | **Not raw radar:** stock fused/cluster lead, side, and rear slots with unknown upstream fusion. |
-| Bus-9 `0x300/0x400/0x500/0x600` blocks | Historical EV6 prototype capture | **Historical candidate:** four-corner FL/FR/RL/RR prototype; not reconfirmed in the current production-route corpus. |
-
-## Supported combinations observed in the corpus
-
-| Combination | Front | Corners or radar auxiliary |
-| --- | --- | --- |
-| Legacy front, 32 slots | `0x500–0x51F` | `0x4E0–0x4E5` companion/status |
-| Legacy front, 64 slots | `0x500–0x53F` | `0x4E0`, `0x4E1`, `0x4E3` companion/status |
-| Legacy alternate front | `0x602–0x617` | None established |
-| CAN-FD detailed front only | `0x210–0x21F` | None established |
-| CAN-FD detailed front plus paired front corners | `0x210–0x21F` | A/right candidate `0x240/0x270` families plus B/left candidate `0x278/0x288` families |
-| CAN-FD compact front only | `0x210–0x21F` | None established |
-| CAN-FD common front | `0x3A5–0x3C4` | Camera/fused families may coexist but are not independent radar tracks |
-| CAN-FD rich front plus auxiliary scan | `0x3A5–0x3C4` | Optional `0x3D0–0x3D4` auxiliary radar array |
-
-No checked route proves a combination containing both the paired
-`0x240/0x270–0x28F` corner family and `0x3D0–0x3D4`. No distinct production
-rear-radar tracked-object range has been confirmed. Rear objects in
-`CCNC_0x162` are fused outputs and do not prove a raw rear-radar range.
@@ -1,228 +0,0 @@
-# Hyundai/Kia/Genesis radar source inventory
-
-This document separates physical radar sources from camera and fused-object
-traffic. Signal-level evidence is in [SIGNALS.md](SIGNALS.md).
-The copy-ready vehicle/range summary is in
-[PLATFORM_MATRIX.md](PLATFORM_MATRIX.md).
-
-## Confidence and safety rules
-
- **Confirmed layout** means that bit positions, scales, and behavior agree
-  across multiple routes. It does not automatically prove the physical ECU.
- **Strong role** means that topology, cadence, geometry, and related messages
-  support the assignment, but a controlled sensor-occlusion test is still
-  desirable.
- **Candidate** means useful research data only. Candidate fields must not
-  affect control or production filtering.
- Identify a source by the complete address set, payload sizes, cadence,
-  checksum behavior, and logical CAN path. An address or raw bus number alone
-  is not enough.
- A short copy on another bus is normally a forwarding echo. It is not a
-  second sensor unless timestamps and payload differences prove independence.
-
-## Current source families
-
-| Source | Layout | Role | Current conclusion |
-| --- | --- | --- | --- |
-| `0x500–0x51F` or `0x500–0x53F` | 32 or 64 × 8 B at about 20 Hz | Front radar | Shared legacy core with a Delphi ESR extension on the 64-slot dialect. K7, older Ioniq, and Ioniq PHEV samples carry 64 slots; Niro EV, Palisade, Sonata, and Sonata Hybrid samples carry 32. Implemented as standardized `RADAR_500_53F` with an optional upper half, per-source cycle end, and runtime 32-to-64 upgrade. Corrected 0.1-degree geometry is shared; 64-slot-only ESR fields use explicit aliases for 0.05 m/s² acceleration, lateral rate, width, oncoming, grouping, bridge-object, and range mode, while 32-slot acceleration retains 0.02 m/s². |
-| `0x4E0–0x4E5` | 8 B at the `500` radar cadence | Front-radar companion/status | Strong source association across every sampled `500` route. Shared `4E0` is decoded as ESR vehicle speed, yaw, curvature, 16-bit scan index, timestamp, counter, and communication health. The 64-slot radar's `4E1` matches ESR Status2; 32-slot `4E1` retains only the shared counter plus unresolved static metadata. `4E3` path IDs are shared and route-validated. The 32-slot-only `4E2`, `4E4`, and `4E5` carry BCD build metadata, protocol-derived raw ADC channels, and factory/vertical alignment status. |
-| `0x602–0x617` | 8 B, two packed tracks in the implemented messages | Front radar | Implemented legacy front layout. The relationship between `602–611` and the alternate `612–617` definitions remains incomplete. |
-| `0x210–0x21F` | 16 × 32 B at 20 Hz, two tracks per message | Front radar | Confirmed 32-track front layout. Detailed and compact dialects share the same core. |
-| `0x3A5–0x3C4` | 32 × 24 B at 20 Hz, one track per message | Front radar | Confirmed front layout. EV9 and Ioniq 9 populate its optional object-size/orientation extension. |
-| `0x235–0x248` | 20 × 32 B at about 33 Hz | **Forward-camera objects** | Corrected classification. Its first 124 bits exactly match the downloaded `FR_CMR_Obj` schema and carry camera quality, class, motion, ID, geometry, velocity, and acceleration. It is not corner radar. |
-| `0x240–0x24F` + `0x270–0x277` | status + 15 × 24 B objects + 8 × 32 B scan blocks | Candidate right-front corner channel A | Strong two-sensor topology on older HDA2 Ioniq 5, Palisade 2023, and EV6 routes. A=right is route/video-inferred; tracked-object position and velocity are decoded. Compact scan semantics remain unresolved. |
-| `0x278–0x28F` | status + 15 × 24 B objects + 8 × 32 B scan blocks | Candidate left-front corner channel B | Symmetric partner to channel A. B=left is route/video-inferred. The compact low field is only a distance candidate; property/auxiliary bits are unresolved. |
-| `0x3D0–0x3D4` | 5 × 32 B, seven packed records per message | Front-radar auxiliary scan list | Optional companion to `3A5–3C4` on sampled EV9/Ioniq 9 routes. It has 32 usable record positions and shares the radar cycle counter, but synchronized testing falsified the former radial-speed and azimuth interpretations. The low 12 bits remain only a distance candidate. |
-| `0x360–0x366` | 7 × 32 B | **Forward-camera lane/path** | Camera lane/path geometry, not radar. `362` contains lane confidence; `360/361/363/364` are active geometry, while `365/366` are often default-filled optional slots. |
-| legacy `0x238–0x24F` or `0x238–0x255` | 24 or 30 × 8 B at about 32 Hz | **Candidate forward-camera perception** | All 13 checked legacy routes carry one of these exact variants. Several carry a simultaneous `500` front radar at a different cadence, arguing strongly against this being a second radar. The 30-message variant also carries synchronized `25A–25E`; exact fields remain unparsed. Do not confuse these 8-byte messages with the CAN-FD `235–248` camera layout or `240/270` corner layout. |
-| CAN-FD `0x180–0x184`, `0x1B6–0x1B9`, `0x2BB–0x2BE` | 32 B at about 30 Hz | **Forward-camera auxiliary lists** | Downloaded Hyundai DBCs identify the transmitters/messages as camera traffic, and route payloads have camera-list cadence and slot behavior. Not a radar family. |
-| `CCNC_0x162` | fixed lead/left/right/rear slots | Fused/cluster output | Stock ADAS/cluster output with unknown upstream fusion. Do not publish it as independent raw radar. |
-| bus 9 `0x300/0x400/0x500/0x600` eight-address blocks | old prototype, eight subtracks per message | Four-corner prototype | Prior EV6 reverse-engineering mapped four blocks to FL/FR/RL/RR, but status and relative speed were unfinished and the family has not been reconfirmed in the current corpus. |
-
-The confirmed `3A5–3C4` layout was checked across 21 compatible forum routes
-and 817,852 checksum-valid frames. All 726 advertised segments from the 20
-unique `210–21F` routes were scanned: 16 routes had active targets, three had
-a complete but empty stream, and one non-HDA2 Telluride route had no 210
-range. The 16 active routes split evenly between detailed and compact
-dialects, and all 13,210,543 checked 210 frames passed the HKG checksum.
-
-The forum candidates are now classified at the family level. The legacy
-`238–24F` and `238–255` variants are strong forward-camera candidates but
-remain unparsed. The `180/1B6/2BB` groups are CAN-FD camera auxiliary lists.
-The incomplete Ioniq PHEV `500–?` observation is a complete `500–53F`
-64-slot front radar. None must be conflated with the CAN-FD `235` camera or
-`240/270` corner layouts merely because their addresses overlap.
-
-The `4E0/4E1` 2-bit counters matched in all 2,552 paired frames checked across
-seven routes. On the three 64-slot routes, `4E3` matched the same counter in
-all 1,133 paired frames. Every one of the 2,369 distinct `4E0` 16-bit
-`SCAN_INDEX` steps incremented by one. In a fresh six-route full-segment pass,
-decoded `4E0` vehicle speed correlated with `carState.vEgo` at
-0.9976–0.99996, with 0.02–0.19 m/s mean absolute error. Both checked 64-slot
-routes held `MAXIMUM_TRACKS_ACK=64`; all four 32-slot routes decoded that ESR
-field as 1, confirming a different `4E1` dialect. The four sampled 32-slot
-variants carried plausible BCD build timestamps in `4E2`; their remaining
-`4E1` metadata stayed platform-static. All 7,347 nonzero `4E3` path IDs
-referenced active one-based target slots. The 32-slot `4E4/4E5` payloads match
-Hyundai-relocated ESR Status5/6 layouts: raw ADC health channels and alignment
-status. Across 4,698 `4E5` frames, both factory-alignment fields remained
-within the documented 0–3 enum subset; unexercised flags and physical ADC or
-misalignment scales remain research-only.
-
-Two other consecutive lookalikes are currently excluded from radar work:
-downloaded Hyundai DBCs identify `630–63D` as head-unit/amplifier traffic, and
-`5ED–5EF` occurs on routes without `500` tracks and does not follow the
-otherwise strong `4E0`/`500` source association.
-
-### Outstanding forum platform queue
-
-| Platform | Remaining candidate |
-| --- | --- |
-| Hyundai Ioniq PHEV / Ioniq HEV 2022 / Palisade / Kia Niro PHEV 2022 | legacy camera candidate `238–24F`, plus its synchronized `201/20A/266/26D` companion groups |
-| Hyundai Custin / Elantra 2021 / Elantra HEV 2021 / Sonata / Sonata Hybrid | extended legacy camera candidate `238–255`, plus `25A–25E` and the same companion groups |
-| Kia Sorento / Sorento HEV 4th gen / Genesis GV70 | confirm semantics within the classified CAN-FD camera `180/1B6/2BB` auxiliary groups |
-| Legacy `500` front-radar platforms | identify static 32-slot `4E1` metadata and calibrate/actively exercise the decoded `4E4/4E5` health and alignment fields |
-
-The forum also listed Acura MDX and Honda Clarity examples. They remain out of
-this Hyundai/Kia/Genesis inventory because the Acura range was unrelated and
-the Honda routes did not expose tracks.
-
-## Confirmed and possible vehicle combinations
-
-These are distinct source combinations supported by the corpus. “Possible”
-describes protocol combinations, not a promise that every trim exposes them.
-
-| Combination | Front tracked objects | Corner source | Camera/auxiliary source | Known examples or status |
-| --- | --- | --- | --- | --- |
-| Legacy front only A | `500–51F` or `500–53F` | none observed | `4E0–4E5` radar companion/status | 32- and 64-slot platform variants |
-| Legacy front only B | `602–617` | none observed | none established | Kona EV 2022, Ceed PHEV candidates |
-| CAN-FD front only A | `210–21F` | none observed | none established | Elantra HEV 2024 and compact-dialect Tucson/Santa Cruz/Sportage routes |
-| CAN-FD front + paired front corners | `210–21F` | inferred right A `240–24F` + `270–277`; inferred left B `278–28F` | none required | Older HDA2 Ioniq 5, Palisade 2023, and EV6 observations |
-| CAN-FD front only B | `3A5–3C4` | none observed | camera objects/lanes may be absent or not logged | Compatible HDA1 routes |
-| CAN-FD front + camera perception | `3A5–3C4` | none established | camera objects `235–248` and lanes `360–366` | Common newer HDA2 pattern; camera traffic is not another radar |
-| Rich front + camera perception + auxiliary radar scan | rich `3A5–3C4` | none established | `235–248`, `360–366`, plus radar auxiliary records `3D0–3D4` | EV9 and Ioniq 9 sampled routes |
-| Front + four-corner prototype | layout depends on the old EV6 capture | bus-9 FL/FR/RL/RR blocks | unknown | Historical prototype only; not current-production support |
-
-No current evidence proves a combination containing both the paired
-`240/270` corner family and the newer `3D0` auxiliary scan family. No distinct
-rear-radar tracked-object range has been confirmed in the current routes.
-Rear objects shown by `CCNC_0x162` may be fused from other sensors and do not
-prove a rear radar source.
-
-## Platform observations
-
-| Platform group | Front | Additional observed traffic |
-| --- | --- | --- |
-| Ioniq 5 / Palisade 2023 / EV6 older HDA2 samples | detailed `210–21F` | paired `240/270–28F` front corners; A=right and B=left strongly inferred |
-| Elantra HEV 2024 | detailed `210–21F` | no corner family established |
-| Santa Cruz 2025 / Tucson family / Sportage 5th gen | compact `210–21F` | no corner family established in the checked samples |
-| Ioniq 6 / Kona 2 / Kona EV 2 / Santa Fe 5 / Sonata 2024 / Carnival HEV / EV6 2025 / K4 / K5 / Niro 2 | common `3A5–3C4` where compatible | platform-dependent camera `235` and `360` traffic; no decoded corner family established |
-| EV9 / Ioniq 9 | rich `3A5–3C4` | camera objects `235`, camera lanes `360`, optional front-radar auxiliary scan `3D0` |
-| Sportage HEV 2026 forum sample | overlapping but incompatible `3A5` bytes | excluded from the common-layout decoder |
-
-HDA2 changes where traffic is exposed, but raw bus number is not a reliable
-layout discriminator. Follow sustained logical A-CAN and reject short
-forwarded copies.
-
-## What remains to prove
-
-1. Confirm the route/video-derived A=right and B=left assignment with a
-   controlled sensor occlusion or authoritative service mapping.
-2. Finish both corner status messages and the remaining 24-byte object
-   fields: the stable 2-bit unknown category, persistent ID, classification,
-   dimensions, and sensor-health flags. The former acceleration candidate was
-   falsified and returned to raw bits. Position and longitudinal/lateral
-   velocity are resolved, and `0x278` byte 3 is the confirmed pre-truncation
-   channel-A object count: exported A slots equal `min(count, 15)`.
-   Preserve all remaining unknown bits until they correlate with the compact
-   scan bins.
-3. Decode the 56 fixed-position `270–277` / `288–28F` scan candidates,
-   including the low 13-bit distance candidate, seven-bit property, and
-   nine-bit auxiliary fields. Direct same-cycle range association and a linear
-   record-index-to-angle map both failed time-shift controls, so do not project
-   these records as geometry until an independent mapping is found.
-4. Decode the `3D0` auxiliary scan array without restoring the falsified
-   radial-speed or azimuth names. Determine whether the low 12 bits are
-   distance, identify the role and physical angular ordering of the 32 record
-   positions, and decode the four flag bits plus both unknown bytes. Two rich
-   routes confirm exact counter synchronization and the sentinel/zero empty
-   forms, but reject range-only, candidate-geometry, and direct slot-to-slot
-   associations with `3A5`. Production RadarData must continue to exclude it.
-5. Decode the active polynomial/path fields in `360/361/363/364`. Treat
-   `365/366` constant payloads as unavailable lane slots, not missing radar.
-6. Resolve `235–248` `UNKNOWN_1/2/3`, identify every checksum variant, and
-   validate native camera classification/motion values against video. Confirm
-   the camera-source assignment and forwarding path on each platform carrying
-   the range.
-7. Search explicitly for the old four-corner topology and for a distinct rear
-   tracked-object source. Record verified absence when the correct buses and
-   maneuvers were covered.
-8. Resolve the static 32-slot `4E1` metadata, physically calibrate the
-   protocol-derived `4E4` ADC channels, and capture alignment events to verify
-   the inactive `4E5` flags and misalignment scales. Exercise the currently
-   zero FCW path IDs and low `4E3` status flags on a 32-slot platform. Shared
-   `4E0` and path IDs are resolved; do not transfer unsupported 64-slot
-   Status2 fields onto the 32-slot payload.
-9. Decode the legacy camera candidates `238–24F` and `238–255`, including
-   their `201/20A/25A/266/26D` companion groups. Determine whether `250–255`
-   and `25A–25E` are extra objects, path/lane data, or metadata, and correlate
-   classification and geometry against video. Keep these out of production
-   RadarData unless source evidence overturns the current camera assignment.
-10. Complete the per-platform combination matrix across HDA1/HDA2 and
-   CCNC/non-CCNC cars. Record the sustained logical CAN source, forwarded
-   echoes, empty-but-present ranges, and verified absences rather than relying
-   on raw bus numbers.
-11. Add representative replay fixtures and debugger/on-road UI tests for each
-    confirmed source combination. Promote candidate names or fields only after
-    multi-route and controlled-scene validation.
-
-## Useful work that does not require video
-
-1. Cluster every unknown field by platform, object lifecycle, motion class,
-   address/slot, and empty/default state. Stable cross-platform enums can be
-   separated from platform configuration bytes.
-2. Use consecutive-cycle derivatives and ego-motion compensation to test
-   velocity, acceleration, yaw, and sensor-frame hypotheses. Always compare
-   against opposite-channel and time-shifted controls.
-3. Search counter phase and bounded latency, not merely nearest timestamps,
-   when testing associations between tracked objects, compact scan arrays,
-   camera objects, and status messages.
-4. Build transition matrices for the corner unknown category and remaining
-   flags. The first pass proved the 2-bit category is
-   stable within a continuous object but is not lifecycle or validity: all four
-   values occur on active targets, while empty slots use `LONG_DIST=204.7 m`.
-   Continue searching the remaining fields for birth, coast, replacement, and
-   deletion behavior without assuming the visual object class.
-5. Compare the same physical field across detailed `210`, compact `210`,
-   `3A5`, corner objects, and legacy `500` tracks after normalizing coordinates
-   and lifecycle. Shared scaling should survive route and platform changes.
-6. Mine downloaded and public DBC/source comments for transmitter identity and
-   bit boundaries, but require route evidence before adopting physical names or
-   scales.
-7. Measure source dropouts, checksum/counter discontinuities, and status-bit
-   transitions together. This can identify communication health, blockage,
-   alignment, and reset fields without video.
-8. Generate debugger capture instructions for later physical confirmation:
-   cover one corner sensor at a time, use a single stationary target at a
-   measured distance, and record straight approach/recede passes at known
-   speed. These tests can settle side assignment and physical scan fields with
-   much less ambiguity than unconstrained road scenes.
-
-## Implementation policy
-
- Production RadarData contains the confirmed tracked-object layouts only.
- `235–248` remains available through RadarData as a camera-object source for
-  research, with explicit source labeling and its native object-ID validity.
- The corner and `3D0` generators are research DBCs. Their unresolved fields
-  are named unknown or candidate in comments and are not used for control.
- `4E0–4E5` status fields are present in the `RADAR_500_53F` DBC for research,
-  and inventoried by the desktop radar debugger, but are not required for
-  source detection or production track parsing.
- The on-road UI labels `235–248` as `CAM` and uses triangle markers.
- The desktop radar debugger plots confirmed production tracks, the
-  debugger-only `612–617` alternate objects, and the decoded `240/278` corner
-  objects. Its `SIGNALS` table exposes the compact `270/288` records, `3D0`
-  records, `4E0–4E5` status, `360–366` raw camera payloads, and all six
-  `CCNC_0x162` fused slots. Compact scans and `3D0` remain table-only and are
-  never projected as geometry. `0x162` is explicitly labeled fused and is not
-  published as an independent radar source.
@@ -1,450 +0,0 @@
-# Hyundai radar, camera-object, and auxiliary signal notes
-
-This document tracks the evidence behind the 24-byte `RADAR_3A5_3C4` layout
-and its shared signal semantics with the 32-byte `RADAR_210_21F` layout.
-It also records the now-identified `0x235–0x248` camera objects and the
-research-only corner and raw-detection families. It deliberately separates a
-signal being active from its meaning being known.
-The cross-family and per-platform investigation plan lives in
-[RADAR_RESEARCH.md](RADAR_RESEARCH.md).
-The forum-ready platform/range summary lives in
-[PLATFORM_MATRIX.md](PLATFORM_MATRIX.md).
-
-## Status terms
-
- **Confirmed core**: populated across compatible platforms and its meaning is
-  supported by position, motion, or lifecycle behavior.
- **Optional useful**: meaning is supported, but many platforms transmit a
-  default value instead of the signal.
- **Active unknown**: the field changes consistently, but its meaning is not
-  established well enough to use.
- **Redundant**: understood, but duplicates a better primary field.
- **Reserved/dead**: remained zero across the tested raw frames.
-
-An optional field that is dead on one platform is not globally dead.
-
-## Evidence corpus
-
- The original layout was checked against 817,852 frames from 21 forum routes.
- The 3A5 checksum was rechecked on all 817,852 frames and matched the HKG
-  CAN-FD checksum with the CAN address as data ID, with zero failures.
- All 726 advertised 210-route segments were scanned across 20 unique routes:
-  16 routes had active targets, three had complete but empty streams, and one
-  non-HDA2 Telluride route had no 210 stream. The 16 active routes split evenly
-  between detailed and compact dialects, with no third active layout.
- The 210 HKG checksum matched all 13,210,543 checked frames.
- The documented route corpus was expanded to 107 route/segment entries:
-  all 36 canonical Hyundai/Kia CAN-FD test routes plus the forum radar and
-  consecutive-range route lists. A qlog pre-screen identified candidates
-  carrying 24-byte 3A5 traffic, then full rlogs were used for layout decisions.
- The combined full-rlog pass contains 24 compatible route segments and
-  492,679 active (`STATE` 3/4) observations. Fourteen segments are HDA2 and ten
-  are HDA1. The compatible set covers every architecture combination:
-  HDA1/HDA2 and CCNC/non-CCNC.
- Full geometry/kinematics data was populated only by EV9 and Ioniq 9. Both
-  are HDA2 + CCNC, but HDA2 + CCNC Kona EV, EV6 2025, and K4 routes left those
-  fields at their unavailable defaults. A second Ioniq 9 segment independently
-  reproduced the rich extension.
- The 36 canonical CAN-FD test routes contributed eight compatible 3A5
-  segments and 150,489 active observations. This independently reproduced the
-  layout on HDA1 and HDA2 cars.
- An additional eight-segment local recording supplied 89,233 active track
-  observations. Its replay fingerprint is unavailable, so it is used for
-  layout/range evidence but not platform attribution.
- The known reserved bits were rechecked across 320,454 additional K5 and
-  local-recording frames; all remained zero.
- The Sportage HEV 2026 forum route has an incompatible overlapping layout and
-  is excluded from this matrix.
- A downloaded Hyundai DBC archive supplied two related but non-bit-compatible
-  object layouts. The BN7 front-radar DBC defines a persistent global object
-  ID and `0/1/2/3 = unknown/stationary/moving/stopped`; the HMVS4 object DBC
-  independently defines value 3 as stopped, a 7-bit quality level, and alive
-  age/lifetime. Neither DBC directly contains the 210 or 3A5 radar layout.
- The same archive's `FR_CMR_Obj` definition matches the first 124 bits of
-  `0x235–0x248` exactly. Together with its 33 Hz cadence and co-location with
-  `0x360–0x366`, this corrects the former corner-radar classification:
-  `0x235–0x248` is a forward-camera object list.
- The repository's Delphi `ESR.dbc` exactly matches the `0x500–0x53F` target
-  packing and the 64-slot radar's `0x4E0/0x4E1/0x4E3` status packing. A fresh
-  six-route full-segment check covered two 64-slot and four 32-slot variants.
-  `0x4E0` radar speed correlated with `carState.vEgo` at 0.9976–0.99996 with
-  0.02–0.19 m/s mean absolute error. Both 64-slot variants acknowledged 64
-  tracks in `0x4E1`; the four 32-slot payloads decoded as 1, proving that
-  their `0x4E1` uses a different dialect.
-
-## 500-53F legacy front-radar layout
-
-Every eight-byte message is one target slot. The lower 32 slots
-`0x500–0x51F` are required; some radar variants add an identically packed
-upper bank at `0x520–0x53F`. Inter-arrival timing on all six freshly checked
-full segments is about 50 ms, confirming the established 20 Hz cadence. A gap
-inside these logs makes frame count divided by total segment span misleading.
-
-| Signal | Start bit | Size | Scale / offset | Status |
-| --- | ---: | ---: | --- | --- |
-| `UNKNOWN_1` | 7 | 8 signed | raw | Preserve on 32-slot variants. Its low bits are active but do not behave like ESR target flags. |
-| `ONCOMING_ESR` | 0 | 1 | boolean | 64-slot only. Every flagged target in both full-segment checks had negative ground-frame speed. Clear does not distinguish stationary from same-direction moving. |
-| `GROUPING_CHANGED_ESR` | 1 | 1 | boolean | 64-slot ESR identity; exact tracker behavior remains to be correlated. |
-| `REL_LAT_SPEED_ESR` | 7 | 6 signed | 0.25 / 0 m/s | 64-slot ESR lateral target rate. It is not published for 32-slot variants. |
-| `AZIMUTH` | 12 | 10 signed | 0.1 / 0 deg | Corrected from the former 0.2-degree scale. Lateral projection now uses the angle directly rather than a compensating half-scale. |
-| `STATE` | 15 | 3 | enum | Track lifecycle; values 3 and 4 are the measured/coasted valid states used by the parser. |
-| `LONG_DIST` | 18 | 11 | 0.1 / 0 m | Target range. |
-| `REL_ACCEL` | 33 | 10 signed | 0.02 / 0 m/s² | 32-slot dialect scale retained from route behavior. |
-| `REL_ACCEL_ESR` | 33 | 10 signed | 0.05 / 0 m/s² | 64-slot ESR scale. Separate overlapping names prevent applying it to the 32-slot dialect. |
-| `WIDTH_ESR` | 37 | 4 | 0.5 / 0 m | 64-slot ESR target width. It was populated on both checked 64-slot routes and identically zero on all four 32-slot routes. |
-| `COUNTER` | 38 | 1 | 1 / 0 | Per-target rolling count. |
-| `BRIDGE_OBJECT_ESR` | 39 | 1 | boolean | 64-slot ESR identity; exact tracker behavior remains to be correlated. |
-| `REL_SPEED` | 53 | 14 signed | 0.01 / 0 m/s | Radial range rate. |
-| `MED_RANGE_MODE_ESR` | 55 | 2 | enum | 64-slot ESR medium-range operating-mode field. |
-
-### 4E0-4E5 companion messages
-
-`0x4E0` has the shared ESR status layout on both 32- and 64-slot variants:
-
-| Signal | Start bit | Size | Scale / offset |
-| --- | ---: | ---: | --- |
-| `DSP_TIMESTAMP` | 5 | 7 | 2 / 0 ms |
-| `GROUP_COUNTER` | 6 | 2 | 1 / 0 |
-| `COMM_ERROR` | 14 | 1 | boolean |
-| `RADIUS_CURVATURE` | 13 | 14 signed | 1 / 0 m |
-| `SCAN_INDEX` | 31 | 16 | 1 / 0 |
-| `YAW_RATE` | 47 | 12 signed | 0.0625 / 0 deg/s |
-| `VEHICLE_SPEED` | 50 | 11 | 0.0625 / 0 m/s |
-
-The 64-slot variant exactly matches ESR Status2 at `0x4E1`. On 32-slot
-variants only its low two-bit rolling counter is active; the other 62 bits
-are platform-static and do not acknowledge 32 tracks, so the ESR Status2
-names remain 64-slot-only. The `0x4E3` in-path path-ID bytes are shared across
-both variants, while its low status flags, counter, range mode, and alignment
-angle are confirmed only on the 64-slot variant.
-
-| `0x4E1` 64-slot signal | Start bit | Size | Scale / offset |
-| --- | ---: | ---: | --- |
-| `GROUP_COUNTER` | 1 | 2 | 1 / 0 |
-| `MAXIMUM_TRACKS_ACK` | 7 | 6 | 1 / 1 |
-| `STEERING_ANGLE_ACK` | 10 | 11 | 1 / 0 deg |
-| `RAW_DATA_MODE`, `TRANSCEIVER_OPERATIONAL`, `INTERNAL_ERROR`, `RANGE_PERFORMANCE_ERROR`, `OVERHEAT_ERROR` | 11–15 | 1 each | boolean |
-| `TEMPERATURE` | 31 | 8 signed | 1 / 0 °C |
-| `GROUPING_MODE` | 33 | 2 | 1 / 0 |
-| `VEHICLE_SPEED_COMP_FACTOR` | 39 | 6 signed | 0.00195 / 1 |
-| `YAW_RATE_BIAS` | 47 | 8 signed | 0.125 / 0 deg/s |
-| `DSP_SOFTWARE_VERSION` | 55 | 16 | 1 / 0 |
-
-| `0x4E3` signal | Start bit | Size | Scale / offset |
-| --- | ---: | ---: | --- |
-| `GROUP_COUNTER` | 1 | 2 | 1 / 0; 64-slot confirmed |
-| `MEDIUM_LONG_RANGE_MODE` | 3 | 2 | 1 / 0; 64-slot confirmed |
-| `PARTIAL_BLOCKAGE`, `SIDELOBE_BLOCKAGE`, `LONG_RANGE_GRATING_LOBE_DETECTED`, `TRUCK_TARGET_DETECTED` | 4–7 | 1 each; 64-slot confirmed |
-| `ACC_MOVING_PATH_ID` | 15 | 8 | one-based target slot; shared |
-| `CMBB_MOVING_PATH_ID`, `CMBB_STATIONARY_PATH_ID` | 23, 31 | 8 each | one-based target slots; shared |
-| `FCW_MOVING_PATH_ID`, `FCW_STATIONARY_PATH_ID` | 39, 47 | 8 each | protocol-defined; unexercised on sampled 32-slot routes |
-| `AUTO_ALIGN_ANGLE` | 55 | 8 signed | 0.0625 / 0 deg; 64-slot confirmed |
-| `ACC_STATIONARY_PATH_ID` | 63 | 8 | one-based target slot; shared |
-
-All 7,347 nonzero `0x4E3` path-ID observations across the four 32-slot routes
-referenced an active `0x500–0x51F` target slot. IDs reached 32, proving
-one-based indexing. ACC and CMBB moving selectors commonly referenced the
-same slot, as did their stationary selectors.
-
-The 32-slot variants additionally send `0x4E2`, `0x4E4`, and `0x4E5`:
-
- `0x4E2` consistently encodes plausible BCD build timestamps across all four
-  sampled platforms.
- `0x4E4` matches the byte order and address-shifted envelope of Delphi ESR
-  Status5: switched-battery, ignition, two temperature, and four supply ADC
-  channels. The identities are protocol-derived and the raw ADC values are
-  intentionally uncalibrated; they must not drive a health decision.
- `0x4E5` matches the similarly relocated ESR Status6 alignment payload. In
-  4,698 checked frames its two factory-alignment fields used only documented
-  enum values 0–3. The other flags and alignment-value bytes remained zero,
-  so their identities are protocol-derived but not independently exercised.
-
-Although generic ESR defines eight-byte input messages at `0x4F0/0x4F1`, no
-such messages were present on these source buses. The observed Hyundai
-`0x4F1` was four bytes on other/forwarded buses and is not assigned the ESR
-input schema.
-
-## Signal matrix
-
-| Signal | Status | Availability and evidence |
-| --- | --- | --- |
-| `CHECKSUM` | Confirmed core | 16-bit HKG CAN-FD checksum using the CAN address as data ID. It matched all 817,852 checked 3A5 frames. |
-| `COUNTER` | Confirmed core | Global transmit-cycle counter covering 0-255 and wrapping. |
-| `STATE_ALT` | Redundant | Exact compressed mirror in all 325,110 active samples: `STATE=3 -> 2`, `STATE=4 -> 3`. |
-| `MOTION_STATE` | Confirmed core | Ground-frame class: unknown, stationary, or moving. Correctly marked observed crossing traffic as moving. Related Hyundai radar data assigns the unused fourth 2-bit value to stopped, not oncoming; that bit remained zero throughout the tested 3A5 corpus. |
-| `TRACK_COUNTER` | Confirmed core | Modulo-4 per-track update counter. Separate from the transmit counter. |
-| `TRACK_QUALITY` | Confirmed core | Unsigned 7-bit track quality/existence score. Empty and tentative tracks are low, measured tracks are high, and coasted tracks decline with `COAST_AGE`. A related Hyundai object layout describes its 7-bit quality level as reliability, validity, or probability evidence; the radar's raw scale is not confirmed to be a percentage. |
-| `AGE` | Confirmed core | Per-track alive age/lifetime count, 0-255. |
-| `COAST_AGE` | Confirmed core | Zero for measured tracks and increments while a track is coasted/predicted. |
-| `STATE` | Confirmed core | Track lifecycle: empty, tentative, measured, coasted, or unresolved tentative. |
-| `RCS` | Confirmed core | Signed radar cross-section/return-strength value. At controlled distances its median consistently increases from small to passenger to large targets. The raw unit is not calibrated. |
-| `LONG_DIST` | Confirmed core | Longitudinal target distance in meters. |
-| `LAT_DIST` | Confirmed core | Lateral target position relative to the ego axis in meters. |
-| `REL_SPEED` | Confirmed core | Longitudinal target speed relative to ego. |
-| `NEW_SIGNAL_4` | Active unknown | Category 0-2. Nonzero in about 25% of moving samples, 10% of stationary samples, and 6% of unknown samples; it is related to target state but is not another motion class. |
-| `REL_LAT_SPEED` | Confirmed core | Lateral target speed relative to the ego axis. A live crossing target showed `+6.78 m/s` lateral versus `-0.51 m/s` forward. An EV9 route independently supplied hundreds of perpendicular-motion samples. |
-| `REL_ACCEL` | Confirmed core | Longitudinal target acceleration relative to ego. |
-| `NEW_SIGNAL_18` | Optional active unknown | A lifecycle/measurement-status attribute on rich layouts. In the public EV9/Ioniq 9 data, values 1/2 occur almost exclusively while `STATE=3` is measured and 0 while `STATE=4` is coasted; one anomalous coasted sample retained 2. The distinction between 1 and 2 is unknown. Most platforms always send 0, and a compatible long recording contains the rare value 3. |
-| `NEW_SIGNAL_5` | Optional active unknown | Sparse value observed from 0 to 32 on both HDA1 and HDA2 routes, including platforms without rich geometry. No stable correlation is known. |
-| `WIDTH` | Optional useful | Target width in 0.1 m units. Populated on EV9/Ioniq 9; passenger-car values cluster around 1.8-2.0 m. Zero means unavailable on other sampled platforms. Every address in 3A5-3C4 can carry it, so it does not identify a separate track bank. |
-| `LENGTH` | Optional useful | Target length in 0.1 m units. Passenger cars cluster around 4 m and long vehicles reach roughly 13-15.5 m. It is available on the same target samples as `WIDTH`. |
-| `ABS_SPEED` | Optional useful | Absolute target-speed magnitude. On Ioniq 9 it matches `hypot(vEgo + REL_SPEED, REL_LAT_SPEED)` with about 0.08-0.15 m/s median error. It was populated for 28,735/28,860 active Ioniq 9 samples and 23,252/27,339 EV9 samples, including many targets without dimensions. Zero is the platform default when unsupported. |
-| `ORIENTATION_ANGLE` | Optional useful | Target orientation relative to the ego axis. Ioniq 9 follows motion heading within roughly 2 degrees median; EV9 crossing traffic rotated from about -45 to -83 degrees. It is associated with dimension-bearing targets. Values near `+/-180` can represent real rearward orientation on rich tracks, while compatible non-rich platforms consistently use +180 as unavailable/default. |
-| `NEW_SIGNAL_13` | Optional active unknown | Shape/geometry metadata from 0-10. It was nonzero only on dimension-bearing targets in the EV9/Ioniq 9 routes. Confidence-like behavior is plausible but not established. |
-| `NEW_SIGNAL_12` | Optional active unknown | Strong geometry-age/maturity candidate. Two independent Ioniq 9 routes progressed `0 -> 1 -> 2 -> ... -> 10` and saturated at 10. It remains unnamed pending confirmation on another rich platform. |
-| `NEW_SIGNAL_14` | Optional active unknown | Shape/geometry category 0-3. It is zero when the associated geometry metadata is unavailable. |
-| `NEW_SIGNAL_15` | Optional active unknown | Shape/geometry category 0-2. It is zero when the associated geometry metadata is unavailable. |
-| `NEW_SIGNAL_16` | Optional active unknown | Shape/geometry category 0-3. It is zero when the associated geometry metadata is unavailable. |
-| `NEW_SIGNAL_17` | Optional active unknown | Shape/geometry category 0-2. It is zero when the associated geometry metadata is unavailable. The most common rich-layout `14/15/16/17` tuple is `2/2/2/1`. |
-
-## Cross-family layout and naming findings
-
-Both families expose 32 tracks at approximately 20 Hz per address:
-
-| Layout | Envelope | Tracks per message | Shared core | Family-specific extension |
-| --- | --- | --- | --- | --- |
-| 210 detailed | `0x210-0x21F`, 32 bytes | 2 | State, motion, quality, age/coast age, RCS, range, relative velocity/acceleration | Detailed state/RCS/category are populated; compact object-ID bytes are normally zero |
-| 210 compact | `0x210-0x21F`, 32 bytes | 2 | Same bit positions and scales except for the documented lateral-speed sign convention | Uses `STATE_ALT`, per-target status and persistent 6-bit `OBJECT_ID`; detailed state/RCS/category remain zero |
-| 3A5 common | `0x3A5-0x3C4`, 24 bytes | 1 | Homologous first 16 bytes | Bytes 16-23 carry measurement status and optional dimensions, absolute speed, orientation, and geometry metadata |
-
-The shared signal conclusions are:
-
- The old signed `NEW_SIGNAL_2` decoding was wrong. Raw values use 0-99 in the
-  tested corpus, and the signed interpretation created an artificial wrap at
-  63/64. The standardized name is `TRACK_QUALITY`, unsigned 7-bit.
- Detailed 210 and 3A5 `TRACK_QUALITY` distributions are nearly identical.
-  Compact 210 uses a higher calibration, commonly around 70 while measured,
-  that falls toward the low 20s at long coast ages. The semantic name is
-  shared, but no percentage unit is assigned.
- The old `NEW_SIGNAL_8` is standardized as `RCS`. Detailed 210 and 3A5 have
-  closely matching distributions, and size ordering is preserved within every
-  tested distance band. 210 supplies eight signed bits; 3A5 supplies seven
-  because the remaining bit extends `LONG_DIST` from 12 to 13 bits.
- `NEW_SIGNAL_4` occupies the same physical two bits and has nearly identical
-  0-2 distributions in detailed 210 and 3A5, but its exact category remains
-  unknown.
- Compact 210 `OBJECT_ID` remains strongly supported: it held through 99.9%
-  of consecutive same-track updates and changed when a slot acquired a
-  replacement target. A related Hyundai BN7 radar DBC independently defines
-  `ObjectId` as a global ID that remains constant while an object is tracked.
-  Sparse 3A5 `NEW_SIGNAL_5` does not behave like the same field and remains
-  unknown.
-
-## Oncoming classification
-
-Oncoming candidates were cross-checked using fresh ego speed and
-`vEgo + REL_SPEED < -3 m/s`.
-
-| Layout | Evidence | Conclusion |
-| --- | --- | --- |
-| 210 compact | Motion code 4 appeared on 4,870 active rows. Synchronized code-4 rows had -13.30 m/s median ground-frame longitudinal speed, with 3,516 strong oncoming candidates. Related Hyundai BN7 radar and HMVS4 object DBCs independently label motion value 3 as stopped. | `MOTION_STATE=3` is stopped and `MOTION_STATE=4` is the compact oncoming class. |
-| 210 detailed | Bit 29 never set across 317,965 active rows. Its 4,924 physics-based candidates remained in motion values 0-2. | No dedicated detailed-210 oncoming value. |
-| 3A5 common | Bit 29 remained zero in all 817,852 frames. Among 6,104 physics-based candidates across 14 routes, motion was 0 for 5,792, 1 for 312, and never 2. | No dedicated 3A5 oncoming value or flag. |
-
-`NEW_SIGNAL_4` and `NEW_SIGNAL_18` also failed to isolate the 3A5 oncoming
-candidates. Do not widen 3A5 `MOTION_STATE` to three bits. If oncoming
-classification is needed for 3A5 or detailed 210, derive it from ego-relative
-kinematics with persistence, hysteresis, and lane plausibility.
-
-## Platform and cluster conclusions
-
-| Architecture | Compatible examples | Rich geometry |
-| --- | --- | --- |
-| HDA2 + CCNC | Kona EV 2, EV6 2025, K4, EV9, Ioniq 9 | EV9 and Ioniq 9 only |
-| HDA2 + non-CCNC | Ioniq 6, Niro EV 2, Carnival HEV | None observed |
-| HDA1 + CCNC | Kona 2/HEV, Sonata/HEV, K4, K5, Santa Fe 5 | None observed |
-| HDA1 + non-CCNC | Niro EV 2/HEV | None observed |
-
- HDA2 changes the normal 3A5 bus from bus 1 to bus 0, but does not imply
-  rich extension support.
- EV6 2025 carried a complete 3A5 range on buses 0 and 2. The bus-2 subset was
-  a 99.6% exact byte-for-byte subset of bus 0, consistent with forwarding
-  rather than a second radar. The runtime selects one active bus per range.
- The optional bytes are attributes on the same 32 addresses, not extra
-  objects. Dimension-bearing targets appeared throughout 3A5-3C4 rather than
-  in a dedicated address subset.
- Stock `CCNC_0x162` is a separate fused cluster-object output. Two HDA2 +
-  CCNC Kona EV routes exercised lead, left/right, and both rear slots while
-  every 3A5 width/length/absolute-speed/shape field remained unavailable.
-  Rear-slot distance capped at 20 m and the stock lateral value was fixed at
-  3.0 m. `LEAD_ALT` remained hidden in both sampled segments.
- Therefore, the additional cluster tofus are real stock CCNC/ADAS outputs,
-  but they cannot be reconstructed merely by reading the 3A5 rich extension.
-  Rear tofus in particular need a source beyond the forward 3A5 radar.
-
-## 235-248 forward-camera object layout
-
-Each 32-byte message is one camera-object slot. `OBJECT_ID=0` is unused in the
-observed routes. The production parser normalizes the native camera motion
-enum to the shared `unknown/stationary/moving` display enum, but preserves the
-raw DBC value.
-
-| Signal | Start bit | Size | Scale / offset | Status |
-| --- | ---: | ---: | --- | --- |
-| `CHECKSUM` | 0 | 16 | 1 / 0 | Checksum field; platform variants exist, so the generator does not force the standard HKG algorithm. |
-| `COUNTER` | 16 | 8 | 1 / 0 | Transmit-cycle counter. |
-| `QUALITY` | 24 | 7 | 1 / 0 | Camera-object quality/reliability level. |
-| `AGE` | 32 | 8 | 1 / 0 | Object alive age. |
-| `MOTION_STATE` | 40 | 4 | 1 / 0 | Native camera motion class. |
-| `OBJECT_ID` | 44 | 7 | 1 / 0 | Persistent object ID; zero is unused. |
-| `WIDTH` | 52 | 7 | 0.05 / 0 m | Estimated width. |
-| `CLASSIFICATION` | 60 | 3 | 1 / 0 | Unknown, truck, car, motorcycle, bicycle, pedestrian, undecided. |
-| `LONG_DIST` | 64 | 13 | 0.05 / 0 m | Longitudinal relative position. |
-| `LAT_DIST` | 78 | 12 | 0.05 / -102.4 m | Lateral relative position. |
-| `REL_SPEED` | 91 | 12 | 0.05 / -100 m/s | Longitudinal relative velocity. |
-| `REL_LAT_SPEED` | 104 | 10 | 0.05 / -25 m/s | Lateral relative velocity. |
-| `REL_ACCEL` | 115 | 9 signed | 0.05 / 0 m/s² | Longitudinal relative acceleration. |
-| `UNKNOWN_1` | 125 | 12 | raw | Active extension; semantics unknown. |
-| `UNKNOWN_2` | 138 | 12 | raw | Active extension; semantics unknown. |
-| `UNKNOWN_3` | 151 | 10 | raw | Active extension; semantics unknown. |
-| `AZIMUTH` | 176 | 14 | 360/16384 / -180 deg | Route-validated high-resolution object azimuth. |
-
-Native motion values are: 0 undefined, 1 standing, 2 parked, 3 stopped,
-4 unknown movable, 5 moving, 6 stopped oncoming, 7 unknown oncoming,
-8 moving oncoming, and 9 crossing bicycle. This is the only newly decoded
-family with explicit oncoming moving and stopped-oncoming values.
-
-## 240/270-28F candidate corner-radar layout
-
-The address sizes and symmetry form two complete sensor channels:
-
-| Channel | Inferred physical side | Status | Object slots | Compact scan records |
-| --- | --- | --- | --- | --- |
-| A | right front | `240`, 16 B | `241–24F`, 15 × 24 B | `270–277`, 8 × 32 B, seven records each |
-| B | left front | `278`, 8 B | `279–287`, 15 × 24 B | `288–28F`, 8 × 32 B, seven records each |
-
-Both channels run at about 20 Hz and validate with the HKG CAN-FD checksum in
-the sampled Ioniq 5, Palisade 2023, and EV6 data. All 288,021 checked frames
-from five complete segment samples passed. A synchronized Palisade
-parking-garage sweep strongly assigns A to the right-front sensor and B to
-the left-front sensor: A alone retained close objects at large negative
-lateral position, while B alone retained the corresponding positive-side
-objects. This is strong route/video evidence, but a controlled sensor
-occlusion remains the final physical confirmation.
-
-The 24-byte tracked-object record is:
-
-| Signal | Bit | Size | Scale / offset | Status |
-| --- | ---: | ---: | --- | --- |
-| `UNKNOWN_CATEGORY` | 24 | 2 | raw | Stable within continuous same-slot tracks and changes mainly when a spatially different target replaces the slot. All values 0–3 occur on active objects, so this is not lifecycle or validity. |
-| `RCS` | 56 | 7 signed | 1 / 0 | Strong shared-core identification; raw unit uncalibrated. |
-| `LONG_DIST` | 63 | 13 | 0.05 / 0 m | Confirmed vehicle-frame longitudinal position. |
-| `LAT_DIST` | 76 | 11 signed | 0.05 / 0 m | Confirmed vehicle-frame lateral position. |
-| `UNKNOWN_BIT_87` | 87 | 1 | raw | Active unknown. |
-| `REL_SPEED` | 88 | 10 signed | 0.2 / 0 m/s | Confirmed longitudinal relative velocity. Four held-out Palisade samples exercised bit 97 independently of bit 96 at 351–357 m; consecutive distance changes matched approximately -52 m/s rather than the false positive speed produced by the former 9-bit decode. |
-| `REL_LAT_SPEED` | 98 | 10 signed | 0.05 / 0 m/s | Confirmed lateral relative velocity. |
-| `UNKNOWN_BITS_108_117` | 108 | 10 | raw | Former centered acceleration candidate. Its correlations with consecutive `REL_SPEED` derivatives were -0.445, -0.043, -0.009, -0.111, and -0.124 across five Ioniq 5, Palisade, and EV6 samples, so the physical name and scale were falsified. |
-
-Empty object slots use the exact `LONG_DIST=204.7 m` (`0xFFE`) sentinel;
-`UNKNOWN_CATEGORY=0` must not be used as an empty test. This correction was
-validated on five Ioniq 5, Palisade 2023, and EV6 samples. Including
-category-zero objects produced longitudinal position-derivative correlations
-of 0.949, 0.603, 0.962, 0.948, and 0.967 across those samples.
-
-The position decode was independently checked against simultaneous
-`210–21F` front-radar targets. The 116 unambiguous A matches and 86 B matches
-had longitudinal/lateral correlations of 0.999/0.991 and 0.999/0.993,
-respectively, with about 0.3 m mean absolute error. Across 14,939 consecutive
-same-slot updates, decoded longitudinal and lateral velocity correlated with
-position derivatives at 0.964 and 0.944. No lifecycle field has been
-identified, and the former acceleration candidate failed derivative checks.
-The remaining header, classification, dimension, ID, and health fields stay
-bit-preserved rather than borrowing names from the related front-radar core.
-
-The first payload byte after the counter in `0x278` is
-`CHANNEL_A_OBJECT_COUNT`. Across 5,999 synchronized cycles on five Ioniq 5,
-Palisade, and EV6 samples, the number of non-sentinel `0x241–0x24F` slots equaled
-`min(CHANNEL_A_OBJECT_COUNT, 15)` exactly. It ranged from 0–22; values above
-15 prove it is the pre-truncation internal candidate count rather than merely
-the number of exported slots. The `0x240` status payload remains unresolved;
-notably, it was entirely zero after checksum/counter on one Palisade and one
-EV6 sample while being active on the other three routes.
-
-The compact arrays are not alternate encodings of that object count. Depending
-on route and channel, 11–55 of their 56 bins were non-sentinel in a cycle,
-versus at most 15 exported tracked objects; count correlations ranged from
-weak to moderate and were never exact.
-
-The compact 32-bit scan record is:
-
-| Record field | Relative bit | Size | Scale | Status |
-| --- | ---: | ---: | --- | --- |
-| `DISTANCE_CANDIDATE` | 0 | 13 | 0.05 m | Range-like distribution and 400 m endpoint; no synchronized object association, so physical distance is not confirmed. |
-| `RESERVED` | 13 | 3 | raw | Preserve. |
-| `PROPERTY` | 16 | 7 | raw | Active categorical unknown; sampled values were quantized. |
-| `AUX` | 23 | 9 | raw | Active unknown; velocity and split flag/state hypotheses were falsified. |
-
-Record 0 starts at message bit 24, message bit 56 is a frame-status byte, and
-records 1–6 start at bits 64, 96, 128, 160, 192, and 224. Unused records
-commonly contain `0x010D1F40`, with AUX variants such as `0x018D1F40`; its
-low-field component is the 400 m endpoint. Contemporaneous range matching was no
-better than the opposite channel or a 500 ms-shifted control. Each of the 56
-record positions instead has a characteristic occupancy/range profile, making
-this a strong fixed scan/bin-array candidate rather than 56 freely assigned
-tracked detections. A direct linear record-index-to-angle search on Ioniq 5
-and Palisade data also performed no better than a 500 ms-shifted control.
-Decoding the low field, physical ordering, `PROPERTY`, and `AUX` remains open.
-
-## 3D0-3D4 front-radar auxiliary scan records
-
-This optional list accompanies `3A5–3C4` on sampled EV9 and Ioniq 9 routes.
-Five 32-byte messages contain seven record positions each; the final three
-positions of `3D4` are outside the 32-position list. The repeated
-`0xC8782EE0` value and, on EV9, zero are unused records. All 12,090 checked
-message frames passed the HKG CAN-FD checksum and carried the same cycle
-counter as `3A5–3C4`.
-
-| Record field | Relative bit | Size | Scale / offset | Status |
-| --- | ---: | ---: | --- | --- |
-| `DISTANCE_CANDIDATE` | 0 | 12 | 0.05 / 0 m | Range-like distribution and endpoint, but no synchronized tracked-object match; not confirmed. |
-| `FLAGS_UNKNOWN` | 12 | 4 | raw | Active values 0–2 in the sampled routes; semantics unknown. |
-| `UNKNOWN_BYTE_16` | 16 | 8 | raw | Former radial-speed candidate was falsified. |
-| `UNKNOWN_BYTE_24` | 24 | 8 | raw | Former azimuth candidate was falsified. |
-
-Packing positions match the corner scan records: record 0 at message bit 24,
-one alignment byte at bit 56, then records 1–6 at bits 64 through 224. However,
-the exact corner `13/3/7/9` field split is not transferred onto this
-`12/4/8/8` layout without evidence.
-
-The stronger synchronized test falsified three tempting interpretations:
-
- Range-only, candidate polar-geometry, and direct record-index-to-track-index
-  associations were no better than opposite or 500 ms-shifted controls.
- `UNKNOWN_BYTE_16` had essentially zero correlation with `3A5` longitudinal
-  or radial relative speed.
- `UNKNOWN_BYTE_24` had essentially zero correlation with `3A5` target angle.
-
-The 32 positions do show stable position-dependent occupancy and low-field
-profiles, so a fixed scan/bin or intermediate radar-array role remains
-plausible. They are not independent tracked objects, remain excluded from
-production RadarData, and are shown only as raw records in the debugger's
-`SIGNALS` table, never projected as geometry.
-
-## 360-366 forward-camera lane/path family
-
-These seven 32-byte messages belong to the forward camera. `362` already
-contains left/right lane-line confidence. `360`, `361`, `363`, and `364`
-carry changing lane/path polynomial-like geometry; their field boundaries are
-not yet decoded. `365` and `366` are commonly constant/default-filled,
-consistent with unavailable extra lane slots. Their presence or emptiness
-must not be interpreted as a radar hardware combination.
-
-## Reserved/dead bits
-
-Bits `26`, `29`, `39`, `55`, `117`, `136-137`, `143`, `171`, and
-`188-191` remain zero. No new signal location was found in the follow-up
-routes.
-
-## Parser guidance
-
- Detect support per radar source instead of treating extension defaults as
-  real measurements.
- Treat zero dimensions as unavailable. Treat +180 as unavailable on non-rich
-  platforms, but do not discard near-180 rich tracks without checking their
-  other geometry and lifecycle fields.
- Do not use any `NEW_SIGNAL_*` field for control or filtering until its
-  meaning is independently validated.
- `TRACK_QUALITY` and `RCS` are decoded for research and diagnostics, but
-  neither has a calibrated physical/percentage scale suitable for control.
- `REL_LAT_SPEED` is suitable for debugging cross traffic, but a production
-  cross-traffic filter still needs lane-change validation and track history.
@@ -1,343 +0,0 @@
-#!/usr/bin/env python3
-import argparse
-import concurrent.futures
-import os
-import signal
-import subprocess
-import sys
-import time
-from collections import Counter, defaultdict
-
-import cereal.messaging as messaging
-from msgq.ipc_pyx import IpcError
-from opendbc.car.tests.routes import CarTestRoute, routes
-from openpilot.tools.radar.custom_routes import CUSTOM_ROUTES
-from openpilot.tools.radar.radar_helpers import (
-  build_seen_address_map,
-  get_radar_spec,
-  is_exclusive_full_range_match,
-)
-
-
-REPLAY_PATH = os.path.join(os.path.dirname(__file__), "..", "replay", "replay")
-REPLAY_PLAYBACK_SPEED = "3.0"
-REPLAY_ALLOW_SERVICES = "can"
-DETECTION_TIMEOUT_SECONDS = 20.0
-DETECTION_MIN_HITS = 10
-SOCKET_WAIT_TIMEOUT_SECONDS = 10.0
-CAR_MODEL_WIDTH = 38
-RADAR_TYPE_WIDTH = 10
-
-ANSI_RESET = "\033[0m"
-ANSI_BOLD = "\033[1m"
-ANSI_DIM = "\033[2m"
-ANSI_RED = "\033[31m"
-ANSI_GREEN = "\033[32m"
-ANSI_YELLOW = "\033[33m"
-ANSI_BLUE = "\033[34m"
-ANSI_MAGENTA = "\033[35m"
-ANSI_CYAN = "\033[36m"
-
-RADAR_FAMILY_COLORS = {
-  "RADAR_500_51F": ANSI_CYAN,
-  "RADAR_210_21F": ANSI_YELLOW,
-  "RADAR_3A5_3C4": ANSI_GREEN,
-  "RADAR_602_611": ANSI_BLUE,
-}
-
-
-def build_arg_parser() -> argparse.ArgumentParser:
-  parser = argparse.ArgumentParser(
-    description="Replay Hyundai/Kia/Genesis test routes and auto-detect radar type.",
-    formatter_class=argparse.ArgumentDefaultsHelpFormatter,
-  )
-  parser.add_argument("--routes", action="store_true",
-                      help="Use Hyundai/Kia/Genesis routes from opendbc/car/tests/routes.py.")
-  parser.add_argument("--custom-routes", action="store_true",
-                      help="Use routes from tools/radar/custom_routes.py.")
-  parser.add_argument("--route", action="append", default=[],
-                      help="Specific route(s) to test. If omitted, use Hyundai/Kia/Genesis routes from opendbc/car/tests/routes.py.")
-  parser.add_argument("--data-dir", default=None,
-                      help="Optional local directory of route data to pass through to replay.")
-  parser.add_argument("--timeout", type=float, default=DETECTION_TIMEOUT_SECONDS,
-                      help="Seconds to wait for a radar-family detection before giving up on a route.")
-  parser.add_argument("--min-hits", type=int, default=DETECTION_MIN_HITS,
-                      help="Minimum CAN hits in a radar-family address range before considering it detected.")
-  parser.add_argument("--playback", default=REPLAY_PLAYBACK_SPEED,
-                      help="Replay playback speed.")
-  parser.add_argument("--limit", type=int, default=None,
-                      help="Only process the first N matching routes.")
-  parser.add_argument("--jobs", type=int, default=1,
-                      help="Number of routes to process in parallel.")
-  parser.add_argument("--prefix", default="auto-radar-detect",
-                      help="Base OPENPILOT_PREFIX to isolate replay sockets.")
-  return parser
-
-
-def get_hkg_routes() -> list[CarTestRoute]:
-  hkg_prefixes = ("HYUNDAI_", "KIA_", "GENESIS_")
-  return [
-    route for route in routes
-    if route.car_model is not None and getattr(route.car_model, "name", str(route.car_model)).startswith(hkg_prefixes)
-  ]
-
-
-def get_selected_routes(args: argparse.Namespace) -> list[CarTestRoute]:
-  selected_sources = int(bool(args.route)) + int(bool(args.routes)) + int(bool(args.custom_routes))
-  if selected_sources > 1:
-    raise ValueError("Use only one of --route, --routes, or --custom-routes.")
-
-  if args.route:
-    route_map = {route.route: route for route in get_hkg_routes()}
-    selected = []
-    for route_name in args.route:
-      selected.append(route_map.get(route_name, CarTestRoute(route_name, None)))
-    return selected[:args.limit] if args.limit is not None else selected
-
-  if args.custom_routes:
-    selected = [CarTestRoute(route.route, route.car_model) for route in CUSTOM_ROUTES]
-    return selected[:args.limit] if args.limit is not None else selected
-
-  selected = get_hkg_routes()
-  return selected[:args.limit] if args.limit is not None else selected
-
-
-def terminate_process(proc: subprocess.Popen) -> None:
-  if proc.poll() is not None:
-    return
-
-  proc.terminate()
-  try:
-    proc.wait(timeout=5)
-  except subprocess.TimeoutExpired:
-    proc.kill()
-    proc.wait(timeout=5)
-
-
-def start_replay(route: str, prefix: str, args: argparse.Namespace) -> subprocess.Popen:
-  cmd = [
-    REPLAY_PATH,
-    "--no-vipc",
-    "--no-loop",
-    "--playback", args.playback,
-    "--allow", REPLAY_ALLOW_SERVICES,
-    "--prefix", prefix,
-  ]
-  if args.data_dir:
-    cmd.extend(["--data_dir", args.data_dir])
-  cmd.append(route)
-
-  env = os.environ.copy()
-  env["OPENPILOT_PREFIX"] = prefix
-  return subprocess.Popen(
-    cmd,
-    cwd=os.path.dirname(REPLAY_PATH),
-    env=env,
-    stdout=subprocess.DEVNULL,
-    stderr=subprocess.DEVNULL,
-    preexec_fn=os.setsid if os.name != "nt" else None,
-  )
-
-
-def stop_replay(proc: subprocess.Popen) -> None:
-  if proc.poll() is not None:
-    return
-
-  if os.name != "nt":
-    try:
-      os.killpg(proc.pid, signal.SIGTERM)
-    except ProcessLookupError:
-      return
-  else:
-    proc.terminate()
-
-  try:
-    proc.wait(timeout=5)
-  except subprocess.TimeoutExpired:
-    if os.name != "nt":
-      try:
-        os.killpg(proc.pid, signal.SIGKILL)
-      except ProcessLookupError:
-        return
-    else:
-      proc.kill()
-    proc.wait(timeout=5)
-
-
-def wait_for_can_socket(prefix: str, timeout: float) -> messaging.SubSocket:
-  socket_path = os.path.join("/tmp", f"msgq_{prefix}", "can")
-  started = time.monotonic()
-  while True:
-    if os.path.exists(socket_path):
-      break
-    if time.monotonic() - started > timeout:
-      raise TimeoutError(f"Timed out waiting for CAN socket at {socket_path}")
-    time.sleep(0.1)
-
-  while True:
-    try:
-      return messaging.sub_sock("can", conflate=False, timeout=100)
-    except IpcError:
-      if time.monotonic() - started > timeout:
-        raise
-      time.sleep(0.1)
-
-
-def detect_radar_family(route: CarTestRoute, route_idx: int, args: argparse.Namespace) -> dict:
-  prefix = f"{args.prefix}-{os.getpid()}-{route_idx}"
-  os.environ["OPENPILOT_PREFIX"] = prefix
-  messaging.reset_context()
-  proc = start_replay(route.route, prefix, args)
-  logcan = wait_for_can_socket(prefix, min(args.timeout, SOCKET_WAIT_TIMEOUT_SECONDS))
-  counts = Counter()
-  buses = defaultdict(set)
-  seen_addresses = build_seen_address_map()
-  started = time.monotonic()
-  detected = None
-
-  try:
-    while True:
-      if proc.poll() is not None and (time.monotonic() - started) > 1.0:
-        break
-      if time.monotonic() - started > args.timeout:
-        break
-
-      msgs = messaging.drain_sock(logcan, wait_for_one=True)
-      for msg in msgs:
-        for can_msg in msg.can:
-          radar_spec = get_radar_spec(can_msg.address)
-          if radar_spec is not None:
-            counts[radar_spec.name] += 1
-            buses[radar_spec.name].add(can_msg.src)
-            seen_addresses[radar_spec.name].add(can_msg.address)
-            if counts[radar_spec.name] >= args.min_hits and is_exclusive_full_range_match(radar_spec, seen_addresses):
-              detected = radar_spec.name
-          if detected is not None:
-            break
-        if detected is not None:
-          break
-      if detected is not None:
-        break
-  finally:
-    stop_replay(proc)
-
-  dominant_family = detected
-
-  return {
-    "route": route.route,
-    "car_model": str(route.car_model) if route.car_model is not None else "UNKNOWN",
-    "detected": dominant_family or "NONE",
-    "counts": dict(counts),
-    "buses": {name: sorted(bus_set) for name, bus_set in buses.items()},
-    "seen_addresses": {name: sorted(addresses) for name, addresses in seen_addresses.items()},
-  }
-
-
-def print_results(results: list[dict]) -> None:
-  print(f"{'Car Model':<{CAR_MODEL_WIDTH}}  {'Detected':<{RADAR_TYPE_WIDTH}}  Route")
-  print("-" * (CAR_MODEL_WIDTH + RADAR_TYPE_WIDTH + 9 + 60))
-  for result in results:
-    detected_plain = "" if result["detected"] == "NONE" else result["detected"]
-    model = format_car_model(result["car_model"])[:CAR_MODEL_WIDTH]
-    detected = f"{detected_plain:<{RADAR_TYPE_WIDTH}}"
-    if supports_color() and detected_plain:
-      detected = f"{colorize_detected(detected_plain)}" + " " * max(0, RADAR_TYPE_WIDTH - len(detected_plain))
-    print(f"{model:<{CAR_MODEL_WIDTH}}  {detected}  {result['route']}")
-
-
-def supports_color() -> bool:
-  return sys.stdout.isatty() and os.getenv("TERM") not in (None, "dumb")
-
-
-def format_car_model(car_model: object) -> str:
-  return str(car_model) if car_model is not None else "UNKNOWN"
-
-
-def colorize_detected(detected: str) -> str:
-  if detected == "NONE":
-    return ""
-
-  if not supports_color():
-    return detected
-
-  color = RADAR_FAMILY_COLORS.get(detected, ANSI_MAGENTA)
-  return f"{color}{detected}{ANSI_RESET}"
-
-
-def print_progress_line(index: int, total: int, route: CarTestRoute, detected: str) -> None:
-  left = f"[{index}/{total}]"
-  model = format_car_model(route.car_model)[:CAR_MODEL_WIDTH]
-  detected_plain = "" if detected == "NONE" else detected
-  route_text = route.route
-  if supports_color():
-    left = f"{ANSI_DIM}{left}{ANSI_RESET}"
-    model = f"{ANSI_CYAN}{model:<{CAR_MODEL_WIDTH}}{ANSI_RESET}"
-    detected_text = colorize_detected(detected_plain).ljust(len(colorize_detected(detected_plain)))
-    route_text = f"{ANSI_DIM}{route_text}{ANSI_RESET}"
-  else:
-    model = f"{model:<{CAR_MODEL_WIDTH}}"
-    detected_text = detected_plain
-
-  detected_text = f"{detected_plain:<{RADAR_TYPE_WIDTH}}" if not supports_color() else (
-    f"{colorize_detected(detected_plain)}" + " " * max(0, RADAR_TYPE_WIDTH - len(detected_plain))
-  )
-
-  print(f"{left} {model}  {detected_text}  {route_text}")
-
-
-def main() -> int:
-  args = build_arg_parser().parse_args(sys.argv[1:])
-  try:
-    selected_routes = get_selected_routes(args)
-  except ValueError as e:
-    print(str(e), file=sys.stderr)
-    return 2
-  if not selected_routes:
-    print("No matching routes found.", file=sys.stderr)
-    return 1
-
-  results = []
-  total = len(selected_routes)
-  jobs = max(1, min(args.jobs, total))
-
-  header_model = "Car Model"
-  header_detected = "Radar"
-  if supports_color():
-    header_model = f"{ANSI_BOLD}{header_model:<{CAR_MODEL_WIDTH}}{ANSI_RESET}"
-    header_detected = f"{ANSI_BOLD}{header_detected:<{RADAR_TYPE_WIDTH}}{ANSI_RESET}"
-  else:
-    header_model = f"{header_model:<{CAR_MODEL_WIDTH}}"
-    header_detected = f"{header_detected:<{RADAR_TYPE_WIDTH}}"
-  print(f"     {header_model}  {header_detected}  Route")
-
-  if jobs == 1:
-    for idx, route in enumerate(selected_routes):
-      result = detect_radar_family(route, idx, args)
-      print_progress_line(idx + 1, total, route, result['detected'])
-      results.append((idx, result))
-  else:
-    with concurrent.futures.ProcessPoolExecutor(max_workers=jobs) as executor:
-      future_to_job = {
-        executor.submit(detect_radar_family, route, idx, args): (idx, route)
-        for idx, route in enumerate(selected_routes)
-      }
-      completed = 0
-      for future in concurrent.futures.as_completed(future_to_job):
-        idx, route = future_to_job[future]
-        result = future.result()
-        completed += 1
-        print_progress_line(completed, total, route, result['detected'])
-        results.append((idx, result))
-
-  results = sorted(
-    (result for _, result in results),
-    key=lambda result: (result["car_model"], result["route"]),
-  )
-
-  print()
-  print_results(results)
-  return 0
-
-
-if __name__ == "__main__":
-  raise SystemExit(main())
@@ -1,68 +0,0 @@
-#!/usr/bin/env python3
-from dataclasses import dataclass
-
-
-@dataclass(frozen=True)
-class CustomRoute:
-  car_model: str
-  route: str
-
-
-CUSTOM_ROUTES = [
-  CustomRoute("HYUNDAI_ELANTRA_HEV_2024", "07a48901db7b2503|0000012d--61aba9f832"),
-  CustomRoute("HYUNDAI_IONIQ_5", "c5a5f79df9b6a084/0000005d--24c0a7a7ee"),
-  CustomRoute("HYUNDAI_IONIQ_5", "90950642f47cf05b/00000681--6a904aaa98"),
-  CustomRoute("HYUNDAI_IONIQ_5", "102161de13e822d1/0000000d--f74a52a624"),
-  CustomRoute("HYUNDAI_PALISADE_2023", "17ef028fec0ccf81/00000010--dba8455015"),
-  CustomRoute("HYUNDAI_PALISADE_2023", "6b8052042ba3ee05/00000199--3ed3fb5799"),
-  CustomRoute("KIA_EV6", "455a0ab75ce5c1e0/000000d1--098f32028c"),
-  CustomRoute("KIA_EV6", "6d2092783bf67457/0000008c--5caf525813"),
-  CustomRoute("KIA_EV6", "4961cb0f7bdd77a2/00000105--b636ed2f65"),
-  CustomRoute("KIA_K8_HEV_1ST_GEN", "78ad5150de133637|2023-09-13--16-15-57"),
-  CustomRoute("GENESIS_GV60_EV_1ST_GEN", "b1e441e63f1c99dd|0000009d--14cde5aeaf"),
-  CustomRoute("HYUNDAI_IONIQ_6", "faa815c21279fef7/00000187--ce36ae7c11"),
-  CustomRoute("HYUNDAI_IONIQ_6", "faa815c21279fef7/00000191--e5c3ffb55b"),
-  CustomRoute("HYUNDAI_IONIQ_6", "ce8a3764a8bb9141/000000f6--775693a6d6"),
-  CustomRoute("HYUNDAI_IONIQ_6", "ce8a3764a8bb9141/00000100--ba8bd692f5"),
-  CustomRoute("HYUNDAI_KONA_2ND_GEN", "32025f26789d8fab/00000022--a499e8ffa3"),
-  CustomRoute("HYUNDAI_KONA_EV_2ND_GEN", "1618132d68afc876/00000021--bf0f957649"),
-  CustomRoute("HYUNDAI_KONA_HEV_2ND_GEN", "97ca61196eb73e0d/00000052--4555329470"),
-  CustomRoute("HYUNDAI_SANTA_FE_HEV_5TH_GEN", "d54302f1d5e7a7cc|00000656--5dae9f54a7"),
-  CustomRoute("HYUNDAI_SONATA_2024", "4267ea8a353cdb36/00000262--8a427003c7"),
-  CustomRoute("KIA_CARNIVAL_HEV_4TH_GEN_2026", "7b8cc7bb46000e53/0000000b--2abacaff78"),
-  CustomRoute("KIA_EV6_2025", "48c27f77f9fd1a9b|00000199--193ee1ba20"),
-  CustomRoute("KIA_EV9", "ccfd4a1af758ee73/00000091--7fa49719a5"),
-  CustomRoute("KIA_K4_2025", "baf39eeaba1217ca/00000002--b36e3fa031"),
-  CustomRoute("KIA_K4_2025", "ac30936e794b297a/00000021--dde25fcfda/24"),
-  CustomRoute("KIA_K5_2025", "c4a804b067623789/0000007c--163f831540"),
-  CustomRoute("KIA_NIRO_EV_2ND_GEN", "80b8e9a6ad0acec3/0000032d--8379197bd3"),
-  CustomRoute("KIA_NIRO_EV_2ND_GEN", "80b8e9a6ad0acec3/0000032c--0055eeee96"),
-  CustomRoute("KIA_NIRO_EV_2ND_GEN", "cdde60a79a049bf4/00000002--f448ca40b4"),
-  CustomRoute("KIA_NIRO_HEV_2ND_GEN", "0d4257d1c6741384/00000067--42230e4b8d"),
-  CustomRoute("HYUNDAI_KONA_EV_2022", "e174e1a0b92263ed/00000003--d0591c14ec"),
-  CustomRoute("HYUNDAI_KONA_EV_2022", "e174e1a0b92263ed/00000001--18955a967e"),
-  CustomRoute("KIA_CEED_PHEV", "26064e18b24ae44c/00000000--4eb95fc137"),
-  CustomRoute("HYUNDAI_IONIQ", "ac27c9808ac91710/00000002--e0aab81e4d"),
-  CustomRoute("KIA_K7_2017", "74fbff45aa20fe9e/00000010--6f173d5799"),
-  CustomRoute("KIA_NIRO_EV", "b27d9eafeb61976e/00000233--03a9c0858c"),
-  CustomRoute("KIA_CARNIVAL_4TH_GEN", "a0cb448c2ffb9383/00000157--ecaf77a801"),
-  CustomRoute("KIA_CARNIVAL_4TH_GEN", "a0cb448c2ffb9383/00000158--f7e70e1435"),
-  CustomRoute("KIA_CARNIVAL_4TH_GEN", "a0cb448c2ffb9383/00000154--3471fc4ab3"),
-  CustomRoute("KIA_SORENTO_4TH_GEN", "bf42073ef09e0af2/00000017--3edc1f8259"),
-  CustomRoute("KIA_SORENTO_HEV_4TH_GEN", "833262b0c9e4016a/0000004a--0227a058e3"),
-  CustomRoute("HYUNDAI_PALISADE", "662bedbf8453b81e/00000124--7dc358f20c"),
-  CustomRoute("HYUNDAI_SONATA", "8f52823c702cb300/00000177--177d1aa6ff"),
-  CustomRoute("HYUNDAI_SONATA_HYBRID", "e3ae9e987a2a4e57/0000002b--30a6963e88"),
-  CustomRoute("HYUNDAI_ELANTRA_HEV_2021", "7bc0de9da607c543/00000031--4cb0d8aca5"),
-  CustomRoute("HYUNDAI_ELANTRA_HEV_2021", "7bc0de9da607c543/00000042--302b371266"),
-  CustomRoute("HYUNDAI_IONIQ_HEV_2022", "4a975fc1d9e71801/00000005--50d176008a"),
-  CustomRoute("HYUNDAI_IONIQ_9", "71e4e67d29034771/00000014--25fc6b216f"),
-  CustomRoute("HYUNDAI_IONIQ_9", "71e4e67d29034771/0000000e--d3b19ad6f6/10"),
-  CustomRoute("HYUNDAI_SANTA_CRUZ_2025", "6e7904b03a4aafc2/00000010--31034184b6"),
-  CustomRoute("HYUNDAI_TUCSON_4TH_GEN", "26da1db30eff4fcc/00000061--a60470e363"),
-  CustomRoute("HYUNDAI_TUCSON_4TH_GEN", "a6d25e95d936fdc4/000002ed--89d7944c52"),
-  CustomRoute("HYUNDAI_TUCSON_4TH_GEN", "6722665fbbf2a644/00000534--4ab7b733c5"),
-  CustomRoute("HYUNDAI_TUCSON_HEV_2025", "5868ec006e2bb61e/00000021--7d10df95e8"),
-  CustomRoute("KIA_SPORTAGE_5TH_GEN", "ce05e32158479f42/000003f4--9543087719"),
-  CustomRoute("KIA_SPORTAGE_HEV_2026", "343d5e350abaedcf/00000020--1c864750b6"),
-]
@@ -1,329 +0,0 @@
-#!/usr/bin/env python3
-from __future__ import annotations
-
-import argparse
-from collections import Counter, defaultdict
-from collections.abc import Iterable, Iterator
-from pathlib import Path
-import re
-import sys
-from urllib.parse import unquote
-
-
-SUNNYPILOT_ROOT = Path(__file__).resolve().parents[4]
-if (SUNNYPILOT_ROOT / "tools/lib/logreader.py").exists():
-  sys.path.insert(0, str(SUNNYPILOT_ROOT))
-
-
-DEFAULT_ROUTES = """
-faa815c21279fef7/00000187--ce36ae7c11
-faa815c21279fef7/00000191--e5c3ffb55b
-ce8a3764a8bb9141/000000f6--775693a6d6
-ce8a3764a8bb9141/00000100--ba8bd692f5
-32025f26789d8fab/00000022--a499e8ffa3
-1618132d68afc876/00000021--bf0f957649
-97ca61196eb73e0d/00000052--4555329470
-d54302f1d5e7a7cc/00000656--5dae9f54a7
-4267ea8a353cdb36/00000262--8a427003c7
-7b8cc7bb46000e53/0000000b--2abacaff78
-48c27f77f9fd1a9b/00000199--193ee1ba20
-ccfd4a1af758ee73/00000091--7fa49719a5
-baf39eeaba1217ca/00000002--b36e3fa031
-ac30936e794b297a/00000021--dde25fcfda
-c4a804b067623789/0000007c--163f831540
-80b8e9a6ad0acec3/0000032d--8379197bd3
-80b8e9a6ad0acec3/0000032c--0055eeee96
-cdde60a79a049bf4/00000002--f448ca40b4
-0d4257d1c6741384/00000067--42230e4b8d
-343d5e350abaedcf/00000020--1c864750b6
-71e4e67d29034771/00000014--25fc6b216f
-71e4e67d29034771/0000000e--d3b19ad6f6
-07a48901db7b2503/0000012d--61aba9f832
-c5a5f79df9b6a084/0000005d--24c0a7a7ee
-90950642f47cf05b/00000681--6a904aaa98
-102161de13e822d1/0000000d--f74a52a624
-17ef028fec0ccf81/00000010--dba8455015
-6b8052042ba3ee05/00000199--3ed3fb5799
-464ac801173f6dca/00000382--27ce9e4ade
-455a0ab75ce5c1e0/000000d1--098f32028c
-6d2092783bf67457/0000008c--5caf525813
-4961cb0f7bdd77a2/00000105--b636ed2f65
-f9522b6cd6e4e621/00000170--ac6979bdda
-ed2717e2c1912f87/00000009--d550f4d5b6
-78ad5150de133637/2023-09-13--16-15-57
-6e7904b03a4aafc2/00000010--31034184b6
-26da1db30eff4fcc/00000061--a60470e363
-a6d25e95d936fdc4/000002ed--89d7944c52
-6722665fbbf2a644/00000534--4ab7b733c5
-477e0b6c352e8bba/0000000e--5e3a5c981c
-5868ec006e2bb61e/00000021--7d10df95e8
-ce05e32158479f42/000003f4--9543087719
-ac27c9808ac91710/00000002--e0aab81e4d
-74fbff45aa20fe9e/00000010--6f173d5799
-b27d9eafeb61976e/00000233--03a9c0858c
-f6324c8fb8b6f68d/00000058--5330471811
-e174e1a0b92263ed/00000001--18955a967e
-26064e18b24ae44c/00000000--4eb95fc137
-4709fe68b0cc9c0a/00000125--ed2a02e7a8
-4709fe68b0cc9c0a/0000012b--f29c054b05
-ce7eada09318e376/0000000e--0cc3d1c6cc
-662bedbf8453b81e/00000124--7dc358f20c
-4a975fc1d9e71801/00000005--50d176008a
-3e4f79d5bf692518/00000001--f53d01f8e3
-3e4f79d5bf692518/00000002--b18171f9a9
-810a7ca7cb31ed86/00000001--b6f9cdd134
-224d1e774b6acc2e/0000001d--0ae7d5fa70
-8f52823c702cb300/00000177--177d1aa6ff
-e3ae9e987a2a4e57/0000002b--30a6963e88
-7bc0de9da607c543/00000031--4cb0d8aca5
-7bc0de9da607c543/00000042--302b371266
-bf42073ef09e0af2/00000017--3edc1f8259
-833262b0c9e4016a/0000004a--0227a058e3
-3cce51ba4cc49950/0000003c--51ebc96f4c
-3cce51ba4cc49950/0000003e--d78c337cc5
-ad9840558640c31d/0000001a--d6cd4871c2
-a468064f19bc0267/00000001--6a0c7d2514
-a468064f19bc0267/00000012--1feb5188ec
-a468064f19bc0267/00000015--27b5b89e1b
-a468064f19bc0267/00000016--31baf70a9f
-a468064f19bc0267/00000017--c63c64192b
-518f8ad60a03f394/00000016--e0300496c8
-"""
-
-
-def import_logreader():
-  for mod_name in ("openpilot.tools.lib.logreader", "tools.lib.logreader"):
-    try:
-      mod = __import__(mod_name, fromlist=["LogReader"])
-      return mod.LogReader, mod.ReadMode
-    except ImportError:
-      pass
-
-  raise SystemExit(
-    "Could not import LogReader. Run this from an openpilot/comma tooling environment, "
-    + "or install the package that provides openpilot.tools.lib.logreader."
-  )
-
-
-def normalize_route(route: str) -> str:
-  return unquote(route.strip()).replace("|", "/")
-
-
-def add_segment(route: str, segment: int | None) -> str:
-  if segment is None:
-    return route
-
-  parts = route.split("/")
-  if len(parts) == 2:
-    return f"{route}/{segment}"
-  return route
-
-
-def parse_routes(text: str, segment: int | None) -> list[str]:
-  oneboxes = re.findall(r"onebox=([^) \t\n\r]+)", text)
-  routes = oneboxes if oneboxes else [line for line in text.splitlines() if line.strip() and not line.lstrip().startswith("#")]
-
-  deduped = dict.fromkeys(add_segment(normalize_route(route), segment) for route in routes)
-  return list(deduped)
-
-
-def event_time_s(event, start_time_ns: int) -> float:
-  return (event.logMonoTime - start_time_ns) / 1e9
-
-
-def can_messages(event) -> Iterable:
-  which = event.which()
-  if which == "can":
-    return event.can
-  if which == "sendcan":
-    return event.sendcan
-  return ()
-
-
-def similar_count(count: int, reference: float, tolerance: float) -> bool:
-  if reference == 0:
-    return count == 0
-  return abs(count - reference) / reference <= tolerance
-
-
-def consecutive_ranges(address_counts: Counter[int], min_len: int, count_tolerance: float) -> Iterator[tuple[int, int]]:
-  sorted_addresses = sorted(address_counts)
-  if not sorted_addresses:
-    return
-
-  start = prev = sorted_addresses[0]
-  run_counts = [address_counts[start]]
-  for addr in sorted_addresses[1:]:
-    reference_count = sum(run_counts) / len(run_counts)
-    if addr == prev + 1 and similar_count(address_counts[addr], reference_count, count_tolerance):
-      run_counts.append(address_counts[addr])
-      prev = addr
-      continue
-
-    if prev - start + 1 >= min_len:
-      yield start, prev
-    start = prev = addr
-    run_counts = [address_counts[addr]]
-
-  if prev - start + 1 >= min_len:
-    yield start, prev
-
-
-def parse_buses(buses: str) -> set[int]:
-  return {int(bus.strip(), 0) for bus in buses.split(",") if bus.strip()}
-
-
-def scan_route(LogReader, ReadMode, route: str, skip_s: float, duration_s: float | None,
-               include_sendcan: bool, buses: set[int]) -> tuple[dict[int, Counter[int]], float]:
-  counts_by_bus: dict[int, Counter[int]] = defaultdict(Counter)
-  start_time_ns = None
-  end_s = None if duration_s is None else skip_s + duration_s
-  last_scanned_t = skip_s
-
-  for event in LogReader(route, default_mode=ReadMode.RLOG):
-    if start_time_ns is None:
-      start_time_ns = event.logMonoTime
-
-    t = event_time_s(event, start_time_ns)
-    if t < skip_s:
-      continue
-    if end_s is not None and t > end_s:
-      break
-    last_scanned_t = t
-
-    if event.which() == "sendcan" and not include_sendcan:
-      continue
-
-    for msg in can_messages(event):
-      if msg.src not in buses:
-        continue
-      counts_by_bus[msg.src][msg.address] += 1
-
-  return counts_by_bus, max(last_scanned_t - skip_s, 0.0)
-
-
-def range_freq(counts: Counter[int], start: int, end: int, duration_s: float) -> float:
-  if duration_s <= 0:
-    return 0.0
-
-  freqs = [counts[addr] / duration_s for addr in range(start, end + 1)]
-  return sum(freqs) / len(freqs)
-
-
-def fmt_addr(addr: int) -> str:
-  return f"0x{addr:X}"
-
-
-def sorted_range_counts(counts: Counter[tuple[int | None, int, int]]) -> list[tuple[tuple[int | None, int, int], int]]:
-  return sorted(counts.items(), key=lambda item: (-((item[0][2] - item[0][1]) + 1), -item[1], -1 if item[0][0] is None else item[0][0], item[0][1]))
-
-
-def print_range(bus: int | None, start: int, end: int, count: int, avg_hz: float, example: str | None = None, bus_label: str | None = None) -> None:
-  bus_label = bus_label or ("all buses" if bus is None else f"bus {bus}")
-  example_text = "" if example is None else f"  e.g. {example}"
-  print(f"{count:>4}x  {bus_label:>8}  {fmt_addr(start)}-{fmt_addr(end)}  len={end - start + 1:<3}  freq={avg_hz:>6.1f} Hz{example_text}", flush=True)
-
-
-def main() -> None:
-  parser = argparse.ArgumentParser(description="Find consecutive CAN address ranges observed after a route warm-up period.")
-  parser.add_argument("input", nargs="?", help="Optional route, onebox URL, or file containing onebox URLs/routes. Defaults to the pasted side-quest routes.")
-  parser.add_argument("--segment", type=int, default=1, help="Segment to append to route identifiers that do not already include one. Defaults to 1.")
-  parser.add_argument("--all-segments", action="store_true", help="Do not append a segment; scan all segments selected by each identifier.")
-  parser.add_argument("--skip-s", type=float, default=60.0, help="Seconds to skip from the start of each loaded route/segment.")
-  parser.add_argument("--duration-s", type=float, default=None, help="Optional scan duration after --skip-s. Defaults to the rest of the log.")
-  parser.add_argument("--min-len", type=int, default=4, help="Minimum consecutive address range length.")
-  parser.add_argument("--count-tolerance", type=float, default=0.2, help="Maximum relative message-count difference within a range. Defaults to 0.2.")
-  parser.add_argument("--buses", default="0,1,2", help="Comma-separated CAN buses to scan. Defaults to 0,1,2.")
-  parser.add_argument("--include-sendcan", action="store_true", help="Include sendcan events in addition to received can events.")
-  parser.add_argument("--merge-buses", "--no-bus", action="store_true", help="Merge addresses from all CAN buses before finding ranges.")
-  parser.add_argument("--split-summary-buses", action="store_true", help="Keep aggregate summary counts separate per bus.")
-  args = parser.parse_args()
-
-  if args.input:
-    input_path = Path(args.input)
-    text = input_path.read_text() if input_path.exists() else args.input
-  else:
-    text = DEFAULT_ROUTES
-  routes = parse_routes(text, None if args.all_segments else args.segment)
-  LogReader, ReadMode = import_logreader()
-  buses = parse_buses(args.buses)
-
-  counts: Counter[tuple[int | None, int, int]] = Counter()
-  freq_sums: Counter[tuple[int | None, int, int]] = Counter()
-  examples: dict[tuple[int | None, int, int], str] = {}
-  failed: list[tuple[str, str]] = []
-
-  for idx, route in enumerate(routes, 1):
-    print(f"[{idx:>3}/{len(routes)}] scanning {route}", file=sys.stderr, flush=True)
-    try:
-      counts_by_bus, scanned_duration_s = scan_route(LogReader, ReadMode, route, args.skip_s, args.duration_s, args.include_sendcan, buses)
-    except Exception as e:
-      failed.append((route, f"{type(e).__name__}: {e}"))
-      continue
-
-    if args.merge_buses:
-      merged = Counter()
-      for address_counts in counts_by_bus.values():
-        merged.update(address_counts)
-      range_sources = {None: merged}
-    else:
-      range_sources = counts_by_bus
-
-    route_ranges = set()
-    route_freqs = {}
-    for bus, address_counts in range_sources.items():
-      for start, end in consecutive_ranges(address_counts, args.min_len, args.count_tolerance):
-        route_ranges.add((bus, start, end))
-        route_freqs[(bus, start, end)] = range_freq(address_counts, start, end, scanned_duration_s)
-
-    per_route_counts: Counter[tuple[int | None, int, int]] = Counter(route_ranges)
-    print(f"\n{route}", flush=True)
-    for (bus, start, end), route_count in sorted_range_counts(per_route_counts):
-      print_range(bus, start, end, route_count, route_freqs[(bus, start, end)])
-
-    for range_key in route_ranges:
-      counts[range_key] += 1
-      freq_sums[range_key] += route_freqs[range_key]
-      examples.setdefault(range_key, route)
-
-  print(f"\nScanned routes: {len(routes) - len(failed)}/{len(routes)}", flush=True)
-  print(f"Minimum range length: {args.min_len}", flush=True)
-  print(f"Count tolerance: {args.count_tolerance:g}", flush=True)
-  print(f"Skipped first: {args.skip_s:g}s", flush=True)
-  print(f"Buses: {','.join(str(bus) for bus in sorted(buses))}", flush=True)
-  if args.duration_s is not None:
-    print(f"Scan duration: {args.duration_s:g}s", flush=True)
-  print(flush=True)
-
-  if args.split_summary_buses:
-    for (bus, start, end), count in sorted_range_counts(counts):
-      avg_hz = freq_sums[(bus, start, end)] / count
-      print_range(bus, start, end, count, avg_hz, examples[(bus, start, end)])
-  else:
-    combined_counts: Counter[tuple[int, int]] = Counter()
-    combined_freq_sums: Counter[tuple[int, int]] = Counter()
-    combined_examples: dict[tuple[int, int], str] = {}
-    combined_buses: dict[tuple[int, int], set[int]] = defaultdict(set)
-
-    for (bus, start, end), count in counts.items():
-      range_key = (start, end)
-      combined_counts[range_key] += count
-      combined_freq_sums[range_key] += freq_sums[(bus, start, end)]
-      combined_examples.setdefault(range_key, examples[(bus, start, end)])
-      if bus is not None:
-        combined_buses[range_key].add(bus)
-
-    sorted_combined = sorted(combined_counts.items(), key=lambda item: (-((item[0][1] - item[0][0]) + 1), -item[1], item[0][0]))
-    for (start, end), count in sorted_combined:
-      avg_hz = combined_freq_sums[(start, end)] / count
-      buses_label = "buses " + ",".join(str(bus) for bus in sorted(combined_buses[(start, end)]))
-      print_range(None, start, end, count, avg_hz, combined_examples[(start, end)], bus_label=buses_label)
-
-  if failed:
-    print("\nFailed routes:", file=sys.stderr)
-    for route, error in failed:
-      print(f"  {route}: {error}", file=sys.stderr)
-
-
-if __name__ == "__main__":
-  main()
@@ -1,232 +0,0 @@
-#!/usr/bin/env python3
-import math
-import os
-import tempfile
-from dataclasses import dataclass
-
-from opendbc.can.parser import CANParser
-from opendbc.dbc.generator.hyundai.hyundai_radar_3a5_3c4 import RADAR_3A5_3C4_MESSAGE_COMMENT, RADAR_3A5_3C4_SIGNAL_COMMENTS
-
-
-RADAR_500_51F_DBC_TEMPLATE = """
-BO_ {addr_dec} RADAR_TRACK_{addr_hex}: 8 RADAR
- SG_ UNKNOWN_1 : 7|8@0- (1,0) [-128|127] "" XXX
- SG_ AZIMUTH : 12|10@0- (0.2,0) [-102.4|102.2] "" XXX
- SG_ STATE : 15|3@0+ (1,0) [0|7] "" XXX
- SG_ LONG_DIST : 18|11@0+ (0.1,0) [0|204.7] "" XXX
- SG_ REL_ACCEL : 33|10@0- (0.02,0) [-10.24|10.22] "" XXX
- SG_ ZEROS : 37|4@0+ (1,0) [0|255] "" XXX
- SG_ COUNTER : 38|1@0+ (1,0) [0|1] "" XXX
- SG_ STATE_3 : 39|1@0+ (1,0) [0|1] "" XXX
- SG_ REL_SPEED : 53|14@0- (0.01,0) [-81.92|81.92] "" XXX
- SG_ STATE_2 : 55|2@0+ (1,0) [0|3] "" XXX
-"""
-
-RADAR_3A5_3C4_DBC_TEMPLATE = """
-BO_ {addr_dec} RADAR_TRACK_{addr_hex}: 24 RADAR
- SG_ CHECKSUM : 0|16@1+ (1,0) [0|65535] "" XXX
- SG_ COUNTER : 16|8@1+ (1,0) [0|255] "" XXX
- SG_ STATE_ALT : 25|2@0+ (1,0) [0|3] "" XXX
- SG_ MOTION_STATE : 28|2@0+ (1,0) [0|2] "" XXX
- SG_ TRACK_COUNTER : 31|2@0+ (1,0) [0|3] "" XXX
- SG_ TRACK_QUALITY : 38|7@0+ (1,0) [0|127] "" XXX
- SG_ AGE : 47|8@0+ (1,0) [0|255] "" XXX
- SG_ COAST_AGE : 51|4@0+ (1,0) [0|15] "" XXX
- SG_ STATE : 54|3@0+ (1,0) [0|7] "" XXX
- SG_ RCS : 62|7@0- (1,0) [-64|63] "" XXX
- SG_ LONG_DIST : 63|13@1+ (0.05,0) [0|409.55] "m" XXX
- SG_ LAT_DIST : 76|12@1- (0.05,0) [-102.4|102.35] "m" XXX
- SG_ REL_SPEED : 88|14@1- (0.01,0) [-81.92|81.91] "m/s" XXX
- SG_ NEW_SIGNAL_4 : 103|2@0+ (1,0) [0|2] "" XXX
- SG_ REL_LAT_SPEED : 104|13@1- (0.01,0) [-40.96|40.95] "m/s" XXX
- SG_ REL_ACCEL : 118|10@1- (0.02,0) [-10.24|10.22] "m/s^2" XXX
- SG_ NEW_SIGNAL_18 : 129|2@0+ (1,0) [0|2] "" XXX
- SG_ NEW_SIGNAL_5 : 135|6@0+ (1,0) [0|32] "" XXX
- SG_ WIDTH : 138|5@1+ (0.1,0) [0|3.1] "m" XXX
- SG_ LENGTH : 151|8@0+ (0.1,0) [0|25.5] "m" XXX
- SG_ ABS_SPEED : 152|10@1+ (0.1,0) [0|102.3] "m/s" XXX
- SG_ ORIENTATION_ANGLE : 162|9@1- (1,0) [-180|180] "deg" XXX
- SG_ NEW_SIGNAL_13 : 175|4@0+ (1,0) [0|10] "" XXX
- SG_ NEW_SIGNAL_12 : 179|4@0+ (1,0) [0|10] "" XXX
- SG_ NEW_SIGNAL_14 : 181|2@0+ (1,0) [0|3] "" XXX
- SG_ NEW_SIGNAL_15 : 183|2@0+ (1,0) [0|2] "" XXX
- SG_ NEW_SIGNAL_16 : 185|2@0+ (1,0) [0|3] "" XXX
- SG_ NEW_SIGNAL_17 : 187|2@0+ (1,0) [0|2] "" XXX
-
-VAL_ {addr_dec} STATE_ALT 0 "EMPTY" 1 "TENTATIVE" 2 "MEASURED" 3 "COASTED" ;
-VAL_ {addr_dec} MOTION_STATE 0 "UNKNOWN" 1 "STATIONARY" 2 "MOVING" ;
-VAL_ {addr_dec} STATE 0 "EMPTY" 1 "TENTATIVE_1" 2 "TENTATIVE_2" 3 "MEASURED" 4 "COASTED" 7 "UNRESOLVED_TENTATIVE" ;
-"""
-
-RADAR_3A5_3C4_DBC_TEMPLATE += "\n".join((
-  'CM_ BO_ {addr_dec} "' + RADAR_3A5_3C4_MESSAGE_COMMENT + '";',
-  *(f'CM_ SG_ {{addr_dec}} {signal} "{comment}";' for signal, comment in RADAR_3A5_3C4_SIGNAL_COMMENTS),
-)) + "\n"
-
-RADAR_210_21F_DBC_TEMPLATE = """
-BO_ {addr_dec} RADAR_TRACK_{addr_hex}: 32 RADAR
- SG_ CHECKSUM : 0|16@1+ (1,0) [0|65535] "" XXX
- SG_ COUNTER : 16|8@1+ (1,0) [0|255] "" XXX
- SG_ 1_AGE : 47|8@0+ (1,0) [0|255] "" XXX
- SG_ 1_STATE_ALT : 51|4@0+ (1,0) [0|15] "" XXX
- SG_ 1_STATE : 55|4@0+ (1,0) [0|15] "" XXX
- SG_ 1_NEW_SIGNAL_3 : 63|8@0- (1,0) [0|255] "" XXX
- SG_ 1_LONG_DIST : 64|12@1+ (0.05,0) [0|4095] "" XXX
- SG_ 1_LAT_DIST : 76|12@1- (0.05,0) [0|4095] "" XXX
- SG_ 1_REL_SPEED : 88|14@1- (0.01,0) [0|16383] "" XXX
- SG_ 1_NEW_SIGNAL_1 : 102|2@1+ (1,0) [0|3] "" XXX
- SG_ 1_LAT_ACCEL : 104|13@1- (1,0) [0|8191] "" XXX
- SG_ 1_REL_ACCEL : 118|10@1- (1,0) [0|1023] "" XXX
- SG_ 2_AGE : 175|8@0+ (1,0) [0|255] "" XXX
- SG_ 2_STATE_ALT : 179|4@0+ (1,0) [0|15] "" XXX
- SG_ 2_STATE : 183|4@0+ (1,0) [0|15] "" XXX
- SG_ 2_NEW_SIGNAL_3 : 191|8@0- (1,0) [0|255] "" XXX
- SG_ 2_LONG_DIST : 192|12@1+ (0.05,0) [0|4095] "" XXX
- SG_ 2_LAT_DIST : 204|12@1- (0.05,0) [0|4095] "" XXX
- SG_ 2_REL_SPEED : 216|14@1- (0.01,0) [0|65535] "" XXX
- SG_ 2_NEW_SIGNAL_1 : 230|2@1+ (1,0) [0|3] "" XXX
- SG_ 2_LAT_ACCEL : 232|13@1- (1,0) [0|8191] "" XXX
- SG_ 2_REL_ACCEL : 246|10@1- (1,0) [0|1023] "" XXX
-"""
-
-RADAR_602_611_DBC_TEMPLATE = """
-BO_ {addr_dec} RADAR_TRACK_{addr_hex}: 8 RADAR
- SG_ 1_DISTANCE : 0|10@1+ (0.25,0) [0|255.75] "" XXX
- SG_ 1_LATERAL : 10|11@1+ (0.03,-30.705) [-30.705|30.705] "" XXX
- SG_ 1_SPEED : 21|10@1+ (0.25,-128) [-128|127.75] "" XXX
- SG_ 2_DISTANCE : 31|10@1+ (0.25,0) [0|255.75] "" XXX
- SG_ 2_LATERAL : 41|11@1+ (0.03,-30.705) [-30.705|30.705] "" XXX
- SG_ 2_SPEED : 52|8@1- (0.25,0) [-32|31.75] "" XXX
- SG_ UNKNOWN_2 : 60|2@1+ (1,0) [0|3] "" XXX
- SG_ COUNTER : 62|2@1+ (1,0) [0|3] "" XXX
-"""
-
-
-@dataclass(frozen=True)
-class RadarSpec:
-  name: str
-  start_addr: int
-  msg_count: int
-  dbc_template: str
-  track_prefixes: tuple[str, ...]
-  frequency: int
-
-  @property
-  def end_addr(self) -> int:
-    return self.start_addr + self.msg_count - 1
-
-  def contains(self, address: int) -> bool:
-    return self.start_addr <= address <= self.end_addr
-
-
-RADAR_SPECS = (
-  RadarSpec("RADAR_500_51F", 0x500, 32, RADAR_500_51F_DBC_TEMPLATE, ("",), frequency=20),
-  RadarSpec("RADAR_210_21F", 0x210, 16, RADAR_210_21F_DBC_TEMPLATE, ("1_", "2_"), frequency=20),
-  RadarSpec("RADAR_3A5_3C4", 0x3A5, 32, RADAR_3A5_3C4_DBC_TEMPLATE, ("",), frequency=20),
-  RadarSpec("RADAR_602_611", 0x602, 16, RADAR_602_611_DBC_TEMPLATE, ("1_", "2_"), frequency=10),
-)
-
-
-def build_seen_address_map() -> dict[str, set[int]]:
-  return {radar_spec.name: set() for radar_spec in RADAR_SPECS}
-
-
-def get_radar_spec(address: int) -> RadarSpec | None:
-  for radar_spec in RADAR_SPECS:
-    if radar_spec.contains(address):
-      return radar_spec
-  return None
-
-
-def is_exclusive_full_range_match(radar_spec: RadarSpec, seen_addresses: dict[str, set[int]]) -> bool:
-  expected_addresses = set(range(radar_spec.start_addr, radar_spec.end_addr + 1))
-  if seen_addresses[radar_spec.name] != expected_addresses:
-    return False
-
-  for other_spec in RADAR_SPECS:
-    if other_spec.name == radar_spec.name:
-      continue
-
-    other_expected_addresses = set(range(other_spec.start_addr, other_spec.end_addr + 1))
-    if seen_addresses[other_spec.name] == other_expected_addresses:
-      return False
-
-  return True
-
-
-def get_radar_dbc_path(radar_spec: RadarSpec) -> str:
-  dbc_path = os.path.join(tempfile.gettempdir(), f"{radar_spec.name.lower()}_radar_ui.dbc")
-  dbc_content = "\n".join(
-    radar_spec.dbc_template.format(addr_dec=addr, addr_hex=f"{addr:x}")
-    for addr in range(radar_spec.start_addr, radar_spec.end_addr + 1)
-  )
-  if not os.path.exists(dbc_path) or open(dbc_path).read() != dbc_content:
-    with open(dbc_path, "w") as f:
-      f.write(dbc_content)
-  return dbc_path
-
-
-def get_radar_can_parser(radar_spec: RadarSpec, bus: int) -> CANParser:
-  messages = [(f"RADAR_TRACK_{addr:x}", radar_spec.frequency) for addr in range(radar_spec.start_addr, radar_spec.end_addr + 1)]
-  return CANParser(get_radar_dbc_path(radar_spec), messages, bus)
-
-
-def get_track_storage_key(radar_spec: RadarSpec, bus: int, addr: int, track_prefix: str) -> tuple[str, int, int]:
-  if radar_spec.name in ("RADAR_500_51F", "RADAR_3A5_3C4"):
-    return (radar_spec.name, bus, addr)
-
-  track_index = int(track_prefix[0]) - 1
-  return (radar_spec.name, bus, addr * 2 + track_index)
-
-
-def get_track_ts_nanos(parser: CANParser, msg_name: str, radar_spec: RadarSpec, track_prefix: str) -> int:
-  if radar_spec.name == "RADAR_602_611":
-    return parser.ts_nanos[msg_name][f"{track_prefix}DISTANCE"]
-  if radar_spec.name == "RADAR_210_21F":
-    return parser.ts_nanos[msg_name][f"{track_prefix}LONG_DIST"]
-  return parser.ts_nanos[msg_name]["LONG_DIST"]
-
-
-def decode_radar_track(radar_spec: RadarSpec, track_msg, track_prefix: str) -> tuple[float, float, float, float]:
-  if radar_spec.name == "RADAR_602_611":
-    return (
-      track_msg[f"{track_prefix}DISTANCE"],
-      track_msg[f"{track_prefix}LATERAL"],
-      track_msg[f"{track_prefix}SPEED"],
-      float("nan"),
-    )
-
-  if radar_spec.name == "RADAR_210_21F":
-    return (
-      track_msg[f"{track_prefix}LONG_DIST"],
-      track_msg[f"{track_prefix}LAT_DIST"],
-      track_msg[f"{track_prefix}REL_SPEED"],
-      float("nan"),
-    )
-
-  if radar_spec.name == "RADAR_500_51F":
-    azimuth = math.radians(track_msg["AZIMUTH"])
-    long_dist = track_msg["LONG_DIST"]
-    return (
-      math.cos(azimuth) * long_dist,
-      0.5 * -math.sin(azimuth) * long_dist,
-      track_msg["REL_SPEED"],
-      track_msg["REL_ACCEL"],
-    )
-
-  return (
-    track_msg["LONG_DIST"],
-    track_msg["LAT_DIST"],
-    track_msg["REL_SPEED"],
-    track_msg["REL_ACCEL"],
-  )
-
-
-def is_radar_track_valid(radar_spec: RadarSpec, track_msg, track_prefix: str) -> bool:
-  if radar_spec.name == "RADAR_602_611":
-    return 0 < track_msg[f"{track_prefix}DISTANCE"] < 255.75
-
-  if radar_spec.name == "RADAR_210_21F":
-    return track_msg[f"{track_prefix}STATE"] in (3, 4)
-
-  return track_msg["STATE"] in (3, 4)
@@ -1,912 +0,0 @@
-#!/usr/bin/env python3
-import argparse
-import os
-import signal
-import subprocess
-import sys
-import time
-from dataclasses import dataclass
-
-import cv2
-import numpy as np
-import pyray as rl
-
-import cereal.messaging as messaging
-from opendbc.car.tests.routes import routes
-from openpilot.common.basedir import BASEDIR
-from openpilot.common.transformations.camera import DEVICE_CAMERAS
-from openpilot.tools.radar.custom_routes import CUSTOM_ROUTES
-from openpilot.tools.replay.lib.ui_helpers import (
-  UP,
-  BLACK,
-  GREEN,
-  Calibration,
-  get_blank_lid_overlay,
-  init_plots,
-  plot_lead,
-  plot_model,
-  to_topdown_pt,
-)
-from openpilot.tools.radar.radar_helpers import (
-  RADAR_SPECS,
-  build_seen_address_map,
-  decode_radar_track,
-  get_radar_can_parser,
-  get_radar_spec,
-  get_track_storage_key,
-  get_track_ts_nanos,
-  is_exclusive_full_range_match,
-  is_radar_track_valid,
-)
-from openpilot.selfdrive.controls.radard import RADAR_TO_CAMERA
-from msgq.visionipc import VisionIpcClient, VisionStreamType
-
-os.environ['BASEDIR'] = BASEDIR
-
-ANGLE_SCALE = 5.0
-RADAR_TRACK_TIMEOUT_FRAMES = 10
-RADAR_FORMAT_SWITCH_MISS_FRAMES = 30
-RADAR_TRACK_RADIUS = 4
-CAMERA_RADAR_Y_OFFSET = 25
-RADAR_HEATMAP_DECAY = 0.975
-RADAR_HEATMAP_ALPHA = 0.65
-CAMERA_RADAR_HEATMAP_ALPHA = 0.45
-REPLAY_PATH = os.path.join(os.path.dirname(__file__), "..", "replay", "replay")
-REPLAY_SOCKET_WAIT_TIMEOUT_SECONDS = 10.0
-REPLAY_SPEEDS = (0.2, 0.5, 1.0, 2.0, 4.0, 8.0)
-CAMERA_DRAW_WIDTH = 640
-CAMERA_DRAW_HEIGHT = 480
-TOP_DOWN_DRAW_WIDTH = 384
-PLOT_DRAW_WIDTH = 480
-PLOT_DRAW_HEIGHT = 480
-RADAR_HEATMAP_MODES = ("OFF", "TOP", "CAMERA", "BOTH")
-CYAN = (90, 235, 255)
-AMBER = (255, 210, 90)
-SOFT_WHITE = (235, 235, 235)
-SLATE = (140, 180, 210)
-
-
-@dataclass
-class RadarTrackPoint:
-  trackId: int
-  measured: bool = True
-  dRel: float = 0.0
-  yRel: float = 0.0
-  vRel: float = 0.0
-  aRel: float = 0.0
-  yvRel: float = float("nan")
-
-
-def draw_radar_points(tracks, lid_overlay):
-  for track in tracks:
-    px, py = to_topdown_pt(track.dRel, -track.yRel)
-    if px != -1:
-      cv2.circle(lid_overlay, (py, px), RADAR_TRACK_RADIUS, 255, thickness=-1, lineType=cv2.LINE_AA)
-
-
-def update_radar_heatmap(tracks, radar_heatmap):
-  radar_heatmap *= RADAR_HEATMAP_DECAY
-  for track in tracks:
-    px, py = to_topdown_pt(track.dRel, -track.yRel)
-    if px != -1:
-      cv2.circle(radar_heatmap, (py, px), RADAR_TRACK_RADIUS + 2, 255.0, thickness=-1, lineType=cv2.LINE_AA)
-
-
-def update_radar_camera_heatmap(tracks, radar_heatmap, calibration, shape):
-  radar_heatmap *= RADAR_HEATMAP_DECAY
-  if calibration is None:
-    return
-
-  height, width = shape[:2]
-  for track in tracks:
-    if track.dRel <= 0.0:
-      continue
-
-    pt = calibration.car_space_to_bb(
-      np.asarray([track.dRel - RADAR_TO_CAMERA]),
-      np.asarray([-track.yRel]),
-      np.asarray([1.0]),
-    )
-    x, y = np.round(pt[0]).astype(int)
-    y += CAMERA_RADAR_Y_OFFSET
-    if 0 <= x < width and 0 <= y < height:
-      cv2.circle(radar_heatmap, (x, y), RADAR_TRACK_RADIUS + 3, 255.0, thickness=-1, lineType=cv2.LINE_AA)
-
-
-def overlay_heatmap(img, radar_heatmap, alpha_scale):
-  radar_heat_uint8 = np.ascontiguousarray(np.clip(radar_heatmap, 0, 255).astype(np.uint8))
-  radar_heat_mask = radar_heat_uint8 > 0
-  if not np.any(radar_heat_mask):
-    return
-
-  heat_rgb = cv2.cvtColor(cv2.applyColorMap(radar_heat_uint8, cv2.COLORMAP_TURBO), cv2.COLOR_BGR2RGB).astype(np.float32)
-  img_rgb = img.astype(np.float32)
-  alpha = ((radar_heat_uint8.astype(np.float32) / 255.0) * alpha_scale)[..., None]
-  img[:] = np.where(
-    radar_heat_mask[..., None],
-    np.clip(img_rgb * (1.0 - alpha) + heat_rgb * alpha, 0, 255).astype(np.uint8),
-    img,
-  )
-
-
-def draw_radar_points_camera(tracks, img, calibration):
-  if calibration is None:
-    return
-
-  for track in tracks:
-    if track.dRel <= 0.0:
-      continue
-
-    # Match the road-space projection convention used by other UI overlays.
-    pt = calibration.car_space_to_bb(
-      np.asarray([track.dRel - RADAR_TO_CAMERA]),
-      np.asarray([-track.yRel]),
-      np.asarray([1.0]),
-    )
-    x, y = np.round(pt[0]).astype(int)
-    y += CAMERA_RADAR_Y_OFFSET
-    if 0 <= x < img.shape[1] and 0 <= y < img.shape[0]:
-      cv2.circle(img, (x, y), RADAR_TRACK_RADIUS, (255, 255, 255), thickness=-1, lineType=cv2.LINE_AA)
-
-
-def draw_loading_overlay(font, lines, camera_texture, top_down_texture, hor_mode, panel_x, panel_y):
-  rl.draw_texture_pro(
-    camera_texture,
-    rl.Rectangle(0, 0, camera_texture.width, camera_texture.height),
-    rl.Rectangle(0, 0, CAMERA_DRAW_WIDTH, CAMERA_DRAW_HEIGHT),
-    rl.Vector2(0, 0),
-    0.0,
-    rl.WHITE,
-  )
-  rl.draw_texture(top_down_texture, CAMERA_DRAW_WIDTH, 0, rl.WHITE)  # noqa: TID251
-
-  if hor_mode:
-    panel_width = 620
-    panel_height = 300
-  else:
-    panel_width = 700
-    panel_height = 320
-
-  rl.draw_rectangle(panel_x - 20, panel_y - 30, panel_width, panel_height, rl.Color(0, 0, 0, 140))
-  rl.draw_rectangle_lines(panel_x - 20, panel_y - 30, panel_width, panel_height, rl.Color(255, 255, 255, 90))
-
-  for i, line in enumerate(lines):
-    if line:
-      rl.draw_text_ex(font, line, rl.Vector2(panel_x, panel_y + i * 40), 28 if i == 0 else 20, 0, rl.WHITE)
-
-
-def start_replay(route: str, prefix: str, playback: str, data_dir: str | None, start_seconds: int) -> subprocess.Popen:
-  cmd = [
-    REPLAY_PATH,
-    "--playback", playback,
-    "--prefix", prefix,
-  ]
-  if start_seconds > 0:
-    cmd.extend(["--start", str(start_seconds)])
-  if data_dir:
-    cmd.extend(["--data_dir", data_dir])
-  cmd.append(route)
-
-  env = os.environ.copy()
-  env["OPENPILOT_PREFIX"] = prefix
-  return subprocess.Popen(
-    cmd,
-    cwd=os.path.dirname(REPLAY_PATH),
-    env=env,
-    stdout=subprocess.DEVNULL,
-    stderr=subprocess.DEVNULL,
-    preexec_fn=os.setsid if os.name != "nt" else None,
-  )
-
-
-def stop_replay(proc: subprocess.Popen | None) -> None:
-  if proc is not None and proc.poll() is None:
-    if os.name != "nt":
-      try:
-        os.killpg(proc.pid, signal.SIGTERM)
-      except ProcessLookupError:
-        pass
-    else:
-      proc.terminate()
-
-    try:
-      proc.wait(timeout=5)
-    except subprocess.TimeoutExpired:
-      if os.name != "nt":
-        try:
-          os.killpg(proc.pid, signal.SIGKILL)
-        except ProcessLookupError:
-          pass
-      else:
-        proc.kill()
-      proc.wait(timeout=5)
-
-  # `replay` can leave helper processes like `replayd` behind, so do one
-  # targeted cleanup pass on shutdown as well.
-  for pattern in ("/tools/replay/replay", "replayd"):
-    try:
-      subprocess.run(
-        ["pkill", "-f", pattern],
-        stdout=subprocess.DEVNULL,
-        stderr=subprocess.DEVNULL,
-        check=False,
-      )
-    except FileNotFoundError:
-      pass
-
-
-def wait_for_can_socket(prefix: str, timeout: float) -> None:
-  socket_path = os.path.join("/tmp", f"msgq_{prefix}", "can")
-  started = time.monotonic()
-  while not os.path.exists(socket_path):
-    if time.monotonic() - started > timeout:
-      raise TimeoutError(f"Timed out waiting for CAN socket at {socket_path}")
-    time.sleep(0.1)
-
-
-def get_hkg_routes() -> list[tuple[str, str]]:
-  hkg_prefixes = ("HYUNDAI_", "KIA_", "GENESIS_")
-  return [
-    (route.route, getattr(route.car_model, "name", str(route.car_model)))
-    for route in routes
-    if route.car_model is not None and getattr(route.car_model, "name", str(route.car_model)).startswith(hkg_prefixes)
-  ]
-
-
-def get_custom_routes() -> list[tuple[str, str]]:
-  return [(route.route, route.car_model) for route in CUSTOM_ROUTES]
-
-
-def make_submaster(addr):
-  return messaging.SubMaster(
-    [
-      'carState',
-      'longitudinalPlan',
-      'carControl',
-      'radarState',
-      'liveCalibration',
-      'controlsState',
-      'selfdriveState',
-      'liveTracks',
-      'modelV2',
-      'liveParameters',
-      'roadCameraState',
-    ],
-    addr=addr,
-  )
-
-
-def reset_radar_state():
-  return (
-    0,
-    None,
-    0,
-    {radar_spec.name: 0 for radar_spec in RADAR_SPECS},
-    build_seen_address_map(),
-    {},
-    0,
-    {},
-    {},
-    {},
-  )
-
-
-def ui_thread(addr, route_entries=None, playback="1.0", data_dir=None, prefix="ui-replay", start_route_idx=0):
-  cv2.setNumThreads(1)
-
-  # Get monitor info before creating window
-  rl.set_config_flags(rl.ConfigFlags.FLAG_MSAA_4X_HINT)
-  rl.init_window(1, 1, "")
-  max_height = rl.get_monitor_height(0)
-  rl.close_window()
-
-  hor_mode = os.getenv("HORIZONTAL") is not None
-  hor_mode = True if max_height < 960 + 300 else hor_mode
-
-  if hor_mode:
-    size = (CAMERA_DRAW_WIDTH + TOP_DOWN_DRAW_WIDTH + PLOT_DRAW_WIDTH, 960)
-    write_x = 5
-    write_y = 480
-  else:
-    size = (CAMERA_DRAW_WIDTH + TOP_DOWN_DRAW_WIDTH, 960 + 300)
-    write_x = CAMERA_DRAW_WIDTH + 5
-    write_y = 970
-
-  rl.set_trace_log_level(rl.TraceLogLevel.LOG_ERROR)
-  rl.set_config_flags(rl.ConfigFlags.FLAG_MSAA_4X_HINT)
-  rl.init_window(size[0], size[1], "openpilot debug UI")
-  rl.set_target_fps(60)
-
-  # Load font
-  font_path = os.path.join(BASEDIR, "selfdrive/assets/fonts/JetBrainsMono-Medium.ttf")
-  font = rl.load_font_ex(font_path, 32, None, 0)
-
-  # Create textures for camera and top-down view
-  camera_image = rl.gen_image_color(640, 480, rl.BLACK)
-  camera_texture = rl.load_texture_from_image(camera_image)
-  rl.unload_image(camera_image)
-
-  # lid_overlay array is (lidar_x, lidar_y) = (384, 960)
-  # pygame treats first axis as width, so texture is 384 wide x 960 tall
-  # For raylib, we need to transpose to get (height, width) = (960, 384) for the RGBA array
-  top_down_image = rl.gen_image_color(UP.lidar_x, UP.lidar_y, rl.BLACK)
-  top_down_texture = rl.load_texture_from_image(top_down_image)
-  rl.unload_image(top_down_image)
-
-  current_route_idx = start_route_idx
-  current_route_name = None
-  current_route_model = None
-  replay_proc = None
-  current_start_seconds = 0
-  paused = False
-  state_checks_enabled = False
-  radar_heatmap_mode_idx = 0
-  current_playback = min(REPLAY_SPEEDS, key=lambda speed: abs(speed - float(playback)))
-  last_replay_started_at = time.monotonic()
-  playback_ready = False
-  loading_status = "Initializing UI"
-
-  def current_offset_seconds() -> int:
-    if paused or not playback_ready or replay_proc is None or replay_proc.poll() is not None:
-      return current_start_seconds
-    return max(0, int(current_start_seconds + (time.monotonic() - last_replay_started_at) * current_playback))
-
-  def connect_streams():
-    nonlocal replay_proc, current_route_name, current_route_model, current_route_idx, current_start_seconds, loading_status, paused, \
-             last_replay_started_at, current_playback, playback_ready
-
-    if route_entries:
-      current_route_name, current_route_model = route_entries[current_route_idx]
-      loading_status = f"Starting replay for route {current_route_idx + 1}/{len(route_entries)} at {current_start_seconds}s ({current_playback:.1f}x)"
-      stop_replay(replay_proc)
-      os.environ["OPENPILOT_PREFIX"] = prefix
-      messaging.reset_context()
-      replay_proc = start_replay(current_route_name, prefix, f"{current_playback:.1f}", data_dir, current_start_seconds)
-      paused = False
-      playback_ready = False
-      loading_status = "Waiting for CAN socket"
-      wait_for_can_socket(prefix, REPLAY_SOCKET_WAIT_TIMEOUT_SECONDS)
-
-    loading_status = "Connecting to messaging streams"
-    sm_local = make_submaster(addr)
-    logcan_local = messaging.sub_sock("can", addr=addr, conflate=False, timeout=100)
-    loading_status = "Waiting for road camera frames"
-    return sm_local, logcan_local
-
-  sm, logcan = connect_streams()
-
-  img = np.zeros((480, 640, 3), dtype='uint8')
-  imgff = None
-  num_px = 0
-  calibration = None
-  (can_range_msg_count,
-   active_radar_format_name,
-   active_radar_format_miss_count,
-   radar_format_total_counts,
-   radar_format_seen_addresses,
-   radar_track_ids,
-   next_radar_track_id,
-   radar_tracks,
-   radar_track_last_seen,
-   radar_parsers) = reset_radar_state()
-
-  lid_overlay_blank = get_blank_lid_overlay(UP)
-  radar_heatmap = np.zeros_like(lid_overlay_blank, dtype=np.float32)
-  camera_radar_heatmap = np.zeros(img.shape[:2], dtype=np.float32)
-
-  # plots
-  name_to_arr_idx = {
-    "gas": 0,
-    "computer_gas": 1,
-    "user_brake": 2,
-    "computer_brake": 3,
-    "v_ego": 4,
-    "v_pid": 5,
-    "angle_steers_des": 6,
-    "angle_steers": 7,
-    "angle_steers_k": 8,
-    "steer_torque": 9,
-    "v_override": 10,
-    "v_cruise": 11,
-    "a_ego": 12,
-    "a_target": 13,
-  }
-
-  plot_arr = np.zeros((100, len(name_to_arr_idx.values())))
-
-  plot_xlims = [(0, plot_arr.shape[0]), (0, plot_arr.shape[0]), (0, plot_arr.shape[0]), (0, plot_arr.shape[0])]
-  plot_ylims = [(-0.1, 1.1), (-ANGLE_SCALE, ANGLE_SCALE), (0.0, 75.0), (-3.0, 2.0)]
-  plot_names = [
-    ["gas", "computer_gas", "user_brake", "computer_brake"],
-    ["angle_steers", "angle_steers_des", "angle_steers_k", "steer_torque"],
-    ["v_ego", "v_override", "v_pid", "v_cruise"],
-    ["a_ego", "a_target"],
-  ]
-  plot_colors = [["b", "b", "g", "r", "y"], ["b", "g", "y", "r"], ["b", "g", "r", "y"], ["b", "r"]]
-  plot_styles = [["-", "-", "-", "-", "-"], ["-", "-", "-", "-"], ["-", "-", "-", "-"], ["-", "-"]]
-
-  draw_plots = init_plots(plot_arr, name_to_arr_idx, plot_xlims, plot_ylims, plot_names, plot_colors, plot_styles)
-
-  # Palette for converting lid_overlay grayscale indices to RGBA colors
-  palette = np.zeros((256, 4), dtype=np.uint8)
-  palette[:, 3] = 255  # alpha
-  palette[1] = [255, 0, 0, 255]  # RED
-  palette[2] = [0, 255, 0, 255]  # GREEN
-  palette[3] = [0, 0, 255, 255]  # BLUE
-  palette[4] = [255, 255, 0, 255]  # YELLOW
-  palette[110] = [110, 110, 110, 255]  # car_color (gray)
-  palette[255] = [255, 255, 255, 255]  # WHITE
-
-  vipc_client = VisionIpcClient("camerad", VisionStreamType.VISION_STREAM_ROAD, True)
-  while not rl.window_should_close():
-    # ***** frame *****
-    if not vipc_client.is_connected():
-      vipc_client.connect(False)
-
-    rl.begin_drawing()
-    rl.clear_background(rl.Color(64, 64, 64, 255))
-
-    if rl.is_key_released(rl.KeyboardKey.KEY_Q):
-      rl.end_drawing()
-      stop_replay(replay_proc)
-      replay_proc = None
-      break
-
-    shift_down = rl.is_key_down(rl.KeyboardKey.KEY_LEFT_SHIFT) or rl.is_key_down(rl.KeyboardKey.KEY_RIGHT_SHIFT)
-
-    if route_entries and rl.is_key_released(rl.KeyboardKey.KEY_SPACE):
-      if paused:
-        sm, logcan = connect_streams()
-        vipc_client = VisionIpcClient("camerad", VisionStreamType.VISION_STREAM_ROAD, True)
-      else:
-        current_start_seconds = current_offset_seconds()
-        paused = True
-        loading_status = "Paused"
-        stop_replay(replay_proc)
-        replay_proc = None
-
-    if route_entries and rl.is_key_released(rl.KeyboardKey.KEY_RIGHT):
-      current_route_idx = (current_route_idx + 1) % len(route_entries)
-      current_start_seconds = 0
-      paused = False
-      (can_range_msg_count,
-       active_radar_format_name,
-       active_radar_format_miss_count,
-       radar_format_total_counts,
-       radar_format_seen_addresses,
-       radar_track_ids,
-       next_radar_track_id,
-       radar_tracks,
-       radar_track_last_seen,
-       radar_parsers) = reset_radar_state()
-      radar_heatmap.fill(0)
-      camera_radar_heatmap.fill(0)
-      sm, logcan = connect_streams()
-      vipc_client = VisionIpcClient("camerad", VisionStreamType.VISION_STREAM_ROAD, True)
-
-    if route_entries and rl.is_key_released(rl.KeyboardKey.KEY_LEFT):
-      current_route_idx = (current_route_idx - 1) % len(route_entries)
-      current_start_seconds = 0
-      paused = False
-      (can_range_msg_count,
-       active_radar_format_name,
-       active_radar_format_miss_count,
-       radar_format_total_counts,
-       radar_format_seen_addresses,
-       radar_track_ids,
-       next_radar_track_id,
-       radar_tracks,
-       radar_track_last_seen,
-       radar_parsers) = reset_radar_state()
-      radar_heatmap.fill(0)
-      camera_radar_heatmap.fill(0)
-      sm, logcan = connect_streams()
-      vipc_client = VisionIpcClient("camerad", VisionStreamType.VISION_STREAM_ROAD, True)
-
-    if route_entries and rl.is_key_released(rl.KeyboardKey.KEY_M):
-      current_start_seconds = max(0, current_offset_seconds() + (-60 if shift_down else 60))
-      paused = False
-      (can_range_msg_count,
-       active_radar_format_name,
-       active_radar_format_miss_count,
-       radar_format_total_counts,
-       radar_format_seen_addresses,
-       radar_track_ids,
-       next_radar_track_id,
-       radar_tracks,
-       radar_track_last_seen,
-       radar_parsers) = reset_radar_state()
-      radar_heatmap.fill(0)
-      camera_radar_heatmap.fill(0)
-      sm, logcan = connect_streams()
-      vipc_client = VisionIpcClient("camerad", VisionStreamType.VISION_STREAM_ROAD, True)
-
-    if route_entries and rl.is_key_released(rl.KeyboardKey.KEY_S):
-      current_start_seconds = max(0, current_offset_seconds() + (-10 if shift_down else 10))
-      paused = False
-      (can_range_msg_count,
-       active_radar_format_name,
-       active_radar_format_miss_count,
-       radar_format_total_counts,
-       radar_format_seen_addresses,
-       radar_track_ids,
-       next_radar_track_id,
-       radar_tracks,
-       radar_track_last_seen,
-       radar_parsers) = reset_radar_state()
-      sm, logcan = connect_streams()
-      vipc_client = VisionIpcClient("camerad", VisionStreamType.VISION_STREAM_ROAD, True)
-
-    if route_entries and (rl.is_key_released(rl.KeyboardKey.KEY_EQUAL) or rl.is_key_released(rl.KeyboardKey.KEY_KP_ADD)):
-      for speed in REPLAY_SPEEDS:
-        if speed > current_playback:
-          current_playback = speed
-          break
-      if not paused:
-        current_start_seconds = current_offset_seconds()
-        (can_range_msg_count,
-         active_radar_format_name,
-         active_radar_format_miss_count,
-         radar_format_total_counts,
-         radar_format_seen_addresses,
-         radar_track_ids,
-         next_radar_track_id,
-         radar_tracks,
-         radar_track_last_seen,
-         radar_parsers) = reset_radar_state()
-        radar_heatmap.fill(0)
-        camera_radar_heatmap.fill(0)
-        sm, logcan = connect_streams()
-        vipc_client = VisionIpcClient("camerad", VisionStreamType.VISION_STREAM_ROAD, True)
-
-    if route_entries and (rl.is_key_released(rl.KeyboardKey.KEY_MINUS) or rl.is_key_released(rl.KeyboardKey.KEY_KP_SUBTRACT)):
-      for speed in reversed(REPLAY_SPEEDS):
-        if speed < current_playback:
-          current_playback = speed
-          break
-      if not paused:
-        current_start_seconds = current_offset_seconds()
-        (can_range_msg_count,
-         active_radar_format_name,
-         active_radar_format_miss_count,
-         radar_format_total_counts,
-         radar_format_seen_addresses,
-         radar_track_ids,
-         next_radar_track_id,
-         radar_tracks,
-         radar_track_last_seen,
-         radar_parsers) = reset_radar_state()
-        radar_heatmap.fill(0)
-        camera_radar_heatmap.fill(0)
-        sm, logcan = connect_streams()
-        vipc_client = VisionIpcClient("camerad", VisionStreamType.VISION_STREAM_ROAD, True)
-
-    if rl.is_key_released(rl.KeyboardKey.KEY_C):
-      state_checks_enabled = not state_checks_enabled
-
-    if rl.is_key_released(rl.KeyboardKey.KEY_H):
-      radar_heatmap_mode_idx = (radar_heatmap_mode_idx + 1) % len(RADAR_HEATMAP_MODES)
-      if RADAR_HEATMAP_MODES[radar_heatmap_mode_idx] == "OFF":
-        radar_heatmap.fill(0)
-        camera_radar_heatmap.fill(0)
-
-    yuv_img_raw = vipc_client.recv()
-    if yuv_img_raw is None or not yuv_img_raw.data.any():
-      if replay_proc is not None and replay_proc.poll() is not None:
-        loading_status = f"Replay exited with code {replay_proc.poll()}"
-
-      loading_lines = [
-        f"{loading_status}{' (paused)' if paused else ''}",
-        f"Route {current_route_idx + 1}/{len(route_entries)}" if route_entries else "Connected to external replay",
-        f"Platform: {current_route_model}" if current_route_model is not None else "",
-        f"Route: {current_route_name}" if current_route_name is not None else "",
-        f"Offset: {current_offset_seconds()}s" if route_entries else "",
-        f"Playback: {current_playback:.1f}x" if route_entries else "",
-        f"Radar state checks: {'ON' if state_checks_enabled else 'OFF'}",
-        f"Radar heatmap: {RADAR_HEATMAP_MODES[radar_heatmap_mode_idx]}",
-        "Keys: SPACE play/pause, RIGHT next, LEFT prev, M +/-60s, S +/-10s, +/- speed, C checks, H heatmap, Q quit" \
-        if route_entries else "Keys: C checks, H heatmap, Q quit",
-      ]
-      draw_loading_overlay(font, loading_lines, camera_texture, top_down_texture, hor_mode, 80, 160)
-      rl.end_drawing()
-      continue
-
-    if not playback_ready:
-      playback_ready = True
-      last_replay_started_at = time.monotonic()
-    loading_status = "Streaming"
-
-    lid_overlay = lid_overlay_blank.copy()
-    top_down = top_down_texture, lid_overlay
-
-    sm.update(0)
-
-    camera = DEVICE_CAMERAS[("tici", str(sm['roadCameraState'].sensor))]
-
-    # Use received buffer dimensions (full HEVC can have stride != buffer_len/rows due to VENUS padding)
-    h, w, stride = yuv_img_raw.height, yuv_img_raw.width, yuv_img_raw.stride
-    nv12_size = h * 3 // 2 * stride
-    imgff = np.frombuffer(yuv_img_raw.data, dtype=np.uint8, count=nv12_size).reshape((h * 3 // 2, stride))
-    num_px = w * h
-    rgb = cv2.cvtColor(imgff[: h * 3 // 2, : w], cv2.COLOR_YUV2RGB_NV12)
-
-    qcam = "QCAM" in os.environ
-    bb_scale = 0.825 if qcam else 0.8
-    calib_scale = camera.fcam.width / 640.0
-    zoom_matrix = np.asarray([[bb_scale, 0.0, 0.0], [0.0, bb_scale, 0.0], [0.0, 0.0, 1.0]])
-    cv2.warpAffine(rgb, zoom_matrix[:2], (img.shape[1], img.shape[0]), dst=img, flags=cv2.WARP_INVERSE_MAP)
-
-    intrinsic_matrix = camera.fcam.intrinsics
-
-    w = sm['controlsState'].lateralControlState.which()
-    if w == 'lqrStateDEPRECATED':
-      angle_steers_k = sm['controlsState'].lateralControlState.lqrStateDEPRECATED.steeringAngleDeg
-    elif w == 'indiState':
-      angle_steers_k = sm['controlsState'].lateralControlState.indiState.steeringAngleDeg
-    else:
-      angle_steers_k = np.inf
-
-    plot_arr[:-1] = plot_arr[1:]
-    plot_arr[-1, name_to_arr_idx['angle_steers']] = sm['carState'].steeringAngleDeg
-    plot_arr[-1, name_to_arr_idx['angle_steers_des']] = sm['carControl'].actuators.steeringAngleDeg
-    plot_arr[-1, name_to_arr_idx['angle_steers_k']] = angle_steers_k
-    plot_arr[-1, name_to_arr_idx['gas']] = sm['carState'].gasDEPRECATED
-    # TODO gas is deprecated
-    plot_arr[-1, name_to_arr_idx['computer_gas']] = np.clip(sm['carControl'].actuators.accel / 4.0, 0.0, 1.0)
-    plot_arr[-1, name_to_arr_idx['user_brake']] = sm['carState'].brake
-    plot_arr[-1, name_to_arr_idx['steer_torque']] = sm['carControl'].actuators.torque * ANGLE_SCALE
-    # TODO brake is deprecated
-    plot_arr[-1, name_to_arr_idx['computer_brake']] = np.clip(-sm['carControl'].actuators.accel / 4.0, 0.0, 1.0)
-    plot_arr[-1, name_to_arr_idx['v_ego']] = sm['carState'].vEgo
-    plot_arr[-1, name_to_arr_idx['v_cruise']] = sm['carState'].cruiseState.speed
-    plot_arr[-1, name_to_arr_idx['a_ego']] = sm['carState'].aEgo
-
-    if len(sm['longitudinalPlan'].accels):
-      plot_arr[-1, name_to_arr_idx['a_target']] = sm['longitudinalPlan'].accels[0]
-
-    if sm.recv_frame['modelV2']:
-      plot_model(sm['modelV2'], img, calibration, top_down)
-
-    if sm.recv_frame['radarState']:
-      plot_lead(sm['radarState'], top_down)
-
-    if sm.updated['liveCalibration'] and num_px:
-      rpyCalib = np.asarray(sm['liveCalibration'].rpyCalib)
-      calibration = Calibration(num_px, rpyCalib, intrinsic_matrix, calib_scale)
-
-    can_packets = messaging.drain_sock(logcan)
-    if can_packets:
-      can_strings = [
-        (can_packet.logMonoTime, [(msg.address, msg.dat, msg.src) for msg in can_packet.can])
-        for can_packet in can_packets
-      ]
-      detected_format_counts = {radar_spec.name: 0 for radar_spec in RADAR_SPECS}
-
-      for can_packet in can_packets:
-        for msg in can_packet.can:
-          radar_spec = get_radar_spec(msg.address)
-          if radar_spec is not None:
-            can_range_msg_count += 1
-            detected_format_counts[radar_spec.name] += 1
-            radar_format_total_counts[radar_spec.name] += 1
-            radar_format_seen_addresses[radar_spec.name].add(msg.address)
-            if radar_spec.name not in radar_parsers:
-              radar_parsers[radar_spec.name] = {}
-            if msg.src not in radar_parsers[radar_spec.name]:
-              radar_parsers[radar_spec.name][msg.src] = get_radar_can_parser(radar_spec, msg.src)
-
-      matching_formats = [
-        radar_spec.name
-        for radar_spec in RADAR_SPECS
-        if is_exclusive_full_range_match(radar_spec, radar_format_seen_addresses)
-      ]
-      if len(matching_formats) == 1:
-        if active_radar_format_name == matching_formats[0]:
-          active_radar_format_miss_count = 0
-        elif active_radar_format_name is None:
-          active_radar_format_name = matching_formats[0]
-          active_radar_format_miss_count = 0
-        else:
-          active_radar_format_miss_count += 1
-          if active_radar_format_miss_count >= RADAR_FORMAT_SWITCH_MISS_FRAMES:
-            active_radar_format_name = matching_formats[0]
-            active_radar_format_miss_count = 0
-      elif len(matching_formats) == 0 and active_radar_format_name is not None:
-        active_radar_format_miss_count += 1
-        if active_radar_format_miss_count >= RADAR_FORMAT_SWITCH_MISS_FRAMES:
-          active_radar_format_name = None
-          active_radar_format_miss_count = 0
-
-      active_radar_spec = next((spec for spec in RADAR_SPECS if spec.name == active_radar_format_name), None)
-      if active_radar_spec is not None:
-        for bus, parser in radar_parsers.get(active_radar_spec.name, {}).items():
-          updated_addrs = parser.update(can_strings)
-          relevant_updated_addrs = {
-            track_addr for track_addr in updated_addrs
-            if active_radar_spec.start_addr <= track_addr <= active_radar_spec.end_addr
-          }
-          if not relevant_updated_addrs:
-            continue
-
-          for track_addr in relevant_updated_addrs:
-            msg_name = f"RADAR_TRACK_{track_addr:x}"
-            track_msg = parser.vl[msg_name]
-            for track_prefix in active_radar_spec.track_prefixes:
-              track_key = get_track_storage_key(active_radar_spec, bus, track_addr, track_prefix)
-              ts_nanos = get_track_ts_nanos(parser, msg_name, active_radar_spec, track_prefix)
-              if ts_nanos == 0:
-                continue
-
-              if state_checks_enabled and not is_radar_track_valid(active_radar_spec, track_msg, track_prefix):
-                radar_tracks.pop(track_key, None)
-                radar_track_last_seen.pop(track_key, None)
-                continue
-
-              d_rel, y_rel, v_rel, a_rel = decode_radar_track(active_radar_spec, track_msg, track_prefix)
-
-              if track_key not in radar_track_ids:
-                radar_track_ids[track_key] = next_radar_track_id
-                next_radar_track_id += 1
-
-              radar_tracks[track_key] = RadarTrackPoint(
-                trackId=radar_track_ids[track_key],
-                dRel=d_rel,
-                yRel=y_rel,
-                vRel=v_rel,
-                aRel=a_rel,
-              )
-              radar_track_last_seen[track_key] = sm.frame
-
-      stale_tracks = [
-        track_key for track_key, last_seen in radar_track_last_seen.items()
-        if (sm.frame - last_seen) > RADAR_TRACK_TIMEOUT_FRAMES
-      ]
-      for track_key in stale_tracks:
-        radar_track_last_seen.pop(track_key, None)
-        radar_tracks.pop(track_key, None)
-
-    active_radar_tracks = [
-      track for track_key, track in radar_tracks.items()
-      if active_radar_format_name is not None and track_key[0] == active_radar_format_name
-    ]
-    active_radar_buses = sorted({
-      track_key[1] for track_key in radar_tracks
-      if active_radar_format_name is not None and track_key[0] == active_radar_format_name
-    })
-    if len(active_radar_tracks) == 0:
-      active_radar_tracks = sm['liveTracks'].points
-      active_radar_buses = []
-
-    radar_heatmap_mode = RADAR_HEATMAP_MODES[radar_heatmap_mode_idx]
-    if radar_heatmap_mode in ("TOP", "BOTH"):
-      update_radar_heatmap(active_radar_tracks, radar_heatmap)
-    if radar_heatmap_mode in ("CAMERA", "BOTH"):
-      update_radar_camera_heatmap(active_radar_tracks, camera_radar_heatmap, calibration, img.shape)
-      overlay_heatmap(img, camera_radar_heatmap, CAMERA_RADAR_HEATMAP_ALPHA)
-
-    # draw decoded radar tracks when present, otherwise fall back to liveTracks
-    draw_radar_points(active_radar_tracks, top_down[1])
-    draw_radar_points_camera(active_radar_tracks, img, calibration)
-
-    # *** blits ***
-    # Update camera texture from numpy array
-    img_rgba = cv2.cvtColor(img, cv2.COLOR_RGB2RGBA)
-    rl.update_texture(camera_texture, rl.ffi.cast("void *", img_rgba.ctypes.data))
-    rl.draw_texture_pro(
-      camera_texture,
-      rl.Rectangle(0, 0, camera_texture.width, camera_texture.height),
-      rl.Rectangle(0, 0, CAMERA_DRAW_WIDTH, CAMERA_DRAW_HEIGHT),
-      rl.Vector2(0, 0),
-      0.0,
-      rl.WHITE,
-    )
-
-    # display alerts
-    rl.draw_text_ex(font, sm['selfdriveState'].alertText1, rl.Vector2(180, 150), 30, 0, rl.RED)
-    rl.draw_text_ex(font, sm['selfdriveState'].alertText2, rl.Vector2(180, 190), 20, 0, rl.RED)
-
-    # draw plots (texture is reused internally)
-    plot_texture = draw_plots(plot_arr)
-    if hor_mode:
-      rl.draw_texture_pro(
-        plot_texture,
-        rl.Rectangle(0, 0, plot_texture.width, plot_texture.height),
-        rl.Rectangle(CAMERA_DRAW_WIDTH + TOP_DOWN_DRAW_WIDTH, 0, PLOT_DRAW_WIDTH, PLOT_DRAW_HEIGHT),
-        rl.Vector2(0, 0),
-        0.0,
-        rl.WHITE,
-      )
-    else:
-      rl.draw_texture(plot_texture, 0, 300, rl.WHITE)  # noqa: TID251
-
-    # Convert lid_overlay to RGBA and update top_down texture
-    # lid_overlay is (384, 960), need to transpose to (960, 384) for row-major RGBA buffer
-    lid_rgba = palette[lid_overlay.T]
-    if radar_heatmap_mode in ("TOP", "BOTH"):
-      overlay_heatmap(lid_rgba[..., :3], radar_heatmap.T, RADAR_HEATMAP_ALPHA)
-    rl.update_texture(top_down_texture, rl.ffi.cast("void *", np.ascontiguousarray(lid_rgba).ctypes.data))
-    rl.draw_texture(top_down_texture, CAMERA_DRAW_WIDTH, 0, rl.WHITE)  # noqa: TID251
-
-    SPACING = 20
-    lines = [
-      ("ENABLED", GREEN if sm['selfdriveState'].enabled else BLACK),
-      ("SPEED: " + str(round(sm['carState'].vEgo, 1)) + " m/s", CYAN),
-      ("LONG CONTROL STATE: " + str(sm['controlsState'].longControlState), CYAN),
-      ("LONG MPC SOURCE: " + str(sm['longitudinalPlan'].longitudinalPlanSource), CYAN),
-      (f"RADAR FORMAT: {active_radar_format_name or 'NONE'}", AMBER),
-      (f"RADAR CAN MSGS: {can_range_msg_count}", AMBER),
-      (f"RADAR TRACKS: {len(active_radar_tracks)}"
-       + (f" (BUS {','.join(str(bus) for bus in active_radar_buses)})" if active_radar_buses else ""),
-       AMBER),
-      (f"RADAR STATE CHECKS: {'ON' if state_checks_enabled else 'OFF'}", AMBER),
-      (f"RADAR HEATMAP: {RADAR_HEATMAP_MODES[radar_heatmap_mode_idx]}", AMBER),
-      (f"ROUTE: {current_route_name}" if current_route_name is not None else "", SLATE),
-      (f"PLATFORM: {current_route_model}" if current_route_model is not None else "", SLATE),
-      (f"OFFSET: {current_offset_seconds()}s" if route_entries else "", SOFT_WHITE),
-      (f"PLAYBACK: {current_playback:.1f}x" if route_entries else "", SOFT_WHITE),
-      (f"STATUS: {'PAUSED' if paused else 'PLAYING'}" if route_entries else "", SOFT_WHITE),
-      ("ANGLE OFFSET (AVG): " + str(round(sm['liveParameters'].angleOffsetAverageDeg, 2)) + " deg", SOFT_WHITE),
-      ("ANGLE OFFSET (INSTANT): " + str(round(sm['liveParameters'].angleOffsetDeg, 2)) + " deg", SOFT_WHITE),
-      ("STIFFNESS: " + str(round(sm['liveParameters'].stiffnessFactor * 100.0, 2)) + " %", SOFT_WHITE),
-      ("STEER RATIO: " + str(round(sm['liveParameters'].steerRatio, 2)), SOFT_WHITE),
-    ]
-
-    hud_height = len(lines) * SPACING + 18
-    rl.draw_rectangle(write_x - 10, write_y - 12, 560, hud_height, rl.Color(8, 12, 18, 155))
-    rl.draw_rectangle(write_x - 10, write_y - 12, 4, hud_height, rl.Color(90, 235, 255, 255))
-    rl.draw_rectangle_lines(write_x - 10, write_y - 12, 560, hud_height, rl.Color(90, 235, 255, 80))
-
-    for i, line in enumerate(lines):
-      if line is not None:
-        color = rl.Color(line[1][0], line[1][1], line[1][2], 255)
-        rl.draw_text_ex(font, line[0], rl.Vector2(write_x, write_y + i * SPACING), 20, 0, color)
-
-    rl.end_drawing()
-
-  rl.unload_texture(camera_texture)
-  rl.unload_texture(top_down_texture)
-  rl.unload_font(font)
-  rl.close_window()
-  stop_replay(replay_proc)
-
-
-def get_arg_parser():
-  parser = argparse.ArgumentParser(description="Show replay data in a UI.", formatter_class=argparse.ArgumentDefaultsHelpFormatter)
-
-  parser.add_argument("ip_address", nargs="?", default="127.0.0.1", help="The ip address on which to receive zmq messages.")
-  parser.add_argument("--route", default=None, help="Route to replay locally before opening the UI.")
-  parser.add_argument("--routes", action="store_true", help="Cycle Hyundai/Kia/Genesis routes from opendbc/car/tests/routes.py.")
-  parser.add_argument("--custom-routes", nargs="?", type=int, const=1, default=None,
-                      help="Cycle routes from tools/radar/custom_routes.py, optionally starting from a 1-based route index.")
-  parser.add_argument("--data-dir", default=None, help="Optional local route data directory to pass to replay.")
-  parser.add_argument("--playback", default="1.0", help="Replay playback speed when using --route.")
-  parser.add_argument("--prefix", default="ui-replay", help="OPENPILOT_PREFIX to use when launching replay from the UI.")
-  parser.add_argument("--frame-address", default=None, help="The frame address (fully qualified ZMQ endpoint for frames) on which to receive zmq messages.")
-  return parser
-
-
-if __name__ == "__main__":
-  args = get_arg_parser().parse_args(sys.argv[1:])
-
-  selected_sources = int(args.route is not None) + int(args.routes) + int(args.custom_routes is not None)
-  if selected_sources > 1:
-    raise SystemExit("Use only one of --route, --routes, or --custom-routes.")
-
-  route_entries = None
-  start_route_idx = 0
-  if args.route is not None:
-    route_entries = [(args.route, "MANUAL_ROUTE")]
-  elif args.routes:
-    route_entries = get_hkg_routes()
-  elif args.custom_routes is not None:
-    route_entries = get_custom_routes()
-    start_route_idx = max(0, min(len(route_entries) - 1, args.custom_routes - 1))
-
-  if route_entries:
-    os.environ["OPENPILOT_PREFIX"] = args.prefix
-    messaging.reset_context()
-  elif args.ip_address != "127.0.0.1":
-    os.environ["ZMQ"] = "1"
-    messaging.reset_context()
-
-  ui_thread(args.ip_address, route_entries=route_entries, playback=args.playback, data_dir=args.data_dir, prefix=args.prefix, start_route_idx=start_route_idx)
@@ -68,7 +68,7 @@ wheels = [

 [[package]]
 name = "aiortc"
-version = "1.14.0"
+version = "1.15.0"
 source = { registry = "https://pypi.org/simple" }
 dependencies = [
    { name = "aioice" },
@@ -79,9 +79,9 @@ dependencies = [
    { name = "pylibsrtp" },
    { name = "pyopenssl" },
 ]
-sdist = { url = "https://files.pythonhosted.org/packages/51/9c/4e027bfe0195de0442da301e2389329496745d40ae44d2d7c4571c4290ce/aiortc-1.14.0.tar.gz", hash = "sha256:adc8a67ace10a085721e588e06a00358ed8eaf5f6b62f0a95358ff45628dd762", size = 1180864, upload-time = "2025-10-13T21:40:37.905Z" }
+sdist = { url = "https://files.pythonhosted.org/packages/2d/42/af1e5755f4cdeb5926ef4aee4bd99d2fbc04b497dfe09f036d359219993e/aiortc-1.15.0.tar.gz", hash = "sha256:ee6c0757ca070cf6d6bee441936d6ede24eef51211bbff6653409c540f72e625", size = 1182039, upload-time = "2026-07-13T19:26:43.314Z" }
 wheels = [
-    { url = "https://files.pythonhosted.org/packages/57/ab/31646a49209568cde3b97eeade0d28bb78b400e6645c56422c101df68932/aiortc-1.14.0-py3-none-any.whl", hash = "sha256:4b244d7e482f4e1f67e685b3468269628eca1ec91fa5b329ab517738cfca086e", size = 93183, upload-time = "2025-10-13T21:40:36.59Z" },
+    { url = "https://files.pythonhosted.org/packages/0c/5f/8435ba02c9278b6cec6f168db92e1d3280dd3af8f2225e20dc7c3be5ab22/aiortc-1.15.0-py3-none-any.whl", hash = "sha256:4e1e54bff31a9c2cb654c7b7edc068085a7df53365e5df24a5cb24168e3f95f7", size = 93678, upload-time = "2026-07-13T19:26:42.241Z" },
 ]

 [[package]]
@@ -108,17 +108,19 @@ wheels = [

 [[package]]
 name = "av"
-version = "16.1.0"
+version = "18.0.0"
 source = { registry = "https://pypi.org/simple" }
-sdist = { url = "https://files.pythonhosted.org/packages/78/cd/3a83ffbc3cc25b39721d174487fb0d51a76582f4a1703f98e46170ce83d4/av-16.1.0.tar.gz", hash = "sha256:a094b4fd87a3721dacf02794d3d2c82b8d712c85b9534437e82a8a978c175ffd", size = 4285203, upload-time = "2026-01-11T07:31:33.772Z" }
+sdist = { url = "https://files.pythonhosted.org/packages/ae/a4/570a5a35c8638aba01e739925846c35fdd6b0756a15526766d0a4dd3b7df/av-18.0.0.tar.gz", hash = "sha256:4ef7e72c3d3a872584a1215173b16e0226811037f40dcdbf75992631098df1ba", size = 4340222, upload-time = "2026-07-02T06:37:58.907Z" }
 wheels = [
-    { url = "https://files.pythonhosted.org/packages/9c/84/2535f55edcd426cebec02eb37b811b1b0c163f26b8d3f53b059e2ec32665/av-16.1.0-cp312-cp312-macosx_11_0_x86_64.whl", hash = "sha256:640f57b93f927fba8689f6966c956737ee95388a91bd0b8c8b5e0481f73513d6", size = 26945785, upload-time = "2026-01-09T20:18:34.486Z" },
-    { url = "https://files.pythonhosted.org/packages/b6/17/ffb940c9e490bf42e86db4db1ff426ee1559cd355a69609ec1efe4d3a9eb/av-16.1.0-cp312-cp312-macosx_14_0_arm64.whl", hash = "sha256:ae3fb658eec00852ebd7412fdc141f17f3ddce8afee2d2e1cf366263ad2a3b35", size = 21481147, upload-time = "2026-01-09T20:18:36.716Z" },
-    { url = "https://files.pythonhosted.org/packages/15/c1/e0d58003d2d83c3921887d5c8c9b8f5f7de9b58dc2194356a2656a45cfdc/av-16.1.0-cp312-cp312-manylinux_2_28_aarch64.whl", hash = "sha256:27ee558d9c02a142eebcbe55578a6d817fedfde42ff5676275504e16d07a7f86", size = 39517197, upload-time = "2026-01-11T09:57:31.937Z" },
-    { url = "https://files.pythonhosted.org/packages/32/77/787797b43475d1b90626af76f80bfb0c12cfec5e11eafcfc4151b8c80218/av-16.1.0-cp312-cp312-manylinux_2_28_x86_64.whl", hash = "sha256:7ae547f6d5fa31763f73900d43901e8c5fa6367bb9a9840978d57b5a7ae14ed2", size = 41174337, upload-time = "2026-01-11T09:57:35.792Z" },
-    { url = "https://files.pythonhosted.org/packages/8e/ac/d90df7f1e3b97fc5554cf45076df5045f1e0a6adf13899e10121229b826c/av-16.1.0-cp312-cp312-musllinux_1_2_aarch64.whl", hash = "sha256:8cf065f9d438e1921dc31fc7aa045790b58aee71736897866420d80b5450f62a", size = 40817720, upload-time = "2026-01-11T09:57:39.039Z" },
-    { url = "https://files.pythonhosted.org/packages/80/6f/13c3a35f9dbcebafd03fe0c4cbd075d71ac8968ec849a3cfce406c35a9d2/av-16.1.0-cp312-cp312-musllinux_1_2_x86_64.whl", hash = "sha256:a345877a9d3cc0f08e2bc4ec163ee83176864b92587afb9d08dff50f37a9a829", size = 42267396, upload-time = "2026-01-11T09:57:42.115Z" },
-    { url = "https://files.pythonhosted.org/packages/c8/b9/275df9607f7fb44317ccb1d4be74827185c0d410f52b6e2cd770fe209118/av-16.1.0-cp312-cp312-win_amd64.whl", hash = "sha256:f49243b1d27c91cd8c66fdba90a674e344eb8eb917264f36117bf2b6879118fd", size = 31752045, upload-time = "2026-01-11T09:57:45.106Z" },
+    { url = "https://files.pythonhosted.org/packages/18/4a/9e3463df030e063d757fa12f0f39be6541b45b06b5bad48c2ce361b924bf/av-18.0.0-cp311-abi3-macosx_11_0_x86_64.whl", hash = "sha256:149289d40e732a6e49c9530bc245b49d9964cfd1c8c9e06778703b7d5bba6b25", size = 22499354, upload-time = "2026-07-02T06:36:58.751Z" },
+    { url = "https://files.pythonhosted.org/packages/77/b3/2576a44b4f39c7462ced4c17fec04c756f7b0f3c5cb940d124173e417d6a/av-18.0.0-cp311-abi3-macosx_14_0_arm64.whl", hash = "sha256:35274c20d2ad3b4774fe632bcef2e34af79858ddf899352339cc3babbc13a484", size = 18175248, upload-time = "2026-07-02T06:37:01.741Z" },
+    { url = "https://files.pythonhosted.org/packages/84/74/6732f17b96dc23fd23b876b2805435855abdc8a3b397142be4e581165de8/av-18.0.0-cp311-abi3-manylinux_2_28_aarch64.whl", hash = "sha256:4d683b7747a0ba9222b8a5f81e41db5f796e7f64473454ec4fe2548e083c2fa0", size = 33387843, upload-time = "2026-07-02T06:37:05.097Z" },
+    { url = "https://files.pythonhosted.org/packages/6d/b9/7708c43fed7ae28b4a1bad060b4221e3334cd827cec24f7165902a6ac1f4/av-18.0.0-cp311-abi3-manylinux_2_28_x86_64.whl", hash = "sha256:ae56b40b6f8b067a8ad2dac664fbfbabac7f7a55b9a7bb031eb99289252bc017", size = 35536910, upload-time = "2026-07-02T06:37:08.806Z" },
+    { url = "https://files.pythonhosted.org/packages/5a/94/eba99691d184f6a395a242d54dc370e2fd2265e95bbc98e2963a0fdbdd6c/av-18.0.0-cp311-abi3-manylinux_2_31_armv7l.whl", hash = "sha256:ea2e8ebbce521f21b55df9400e00d721623c9020ef158f5a188a96130be0743f", size = 38984619, upload-time = "2026-07-02T06:37:11.861Z" },
+    { url = "https://files.pythonhosted.org/packages/c9/cf/0d7aee07fe16aa9ffdf96043c14bed5485a52c0dea4259de87aa306ecab4/av-18.0.0-cp311-abi3-musllinux_1_2_aarch64.whl", hash = "sha256:ef96dabb3e50dac249913145dff5424b302b257fd95dcb64be3c7b7a8aef16d1", size = 34451176, upload-time = "2026-07-02T06:37:15.154Z" },
+    { url = "https://files.pythonhosted.org/packages/76/92/810da80b12680d4c4fe235bd1b4003289be9213ac7f114b77b8ecf0e3b3e/av-18.0.0-cp311-abi3-musllinux_1_2_x86_64.whl", hash = "sha256:0f65518a184613e41536f29e8758c8e3d8293e46bf5bef108f04f925bbfa3f44", size = 36619869, upload-time = "2026-07-02T06:37:18.495Z" },
+    { url = "https://files.pythonhosted.org/packages/11/85/0f121ff43dc5a70696676c98a8f1674e2fa787614c2abaacb15fa1a9bc99/av-18.0.0-cp311-abi3-win_amd64.whl", hash = "sha256:aaf4d354d2beaa6651e4f92e54409a578bde64f79c0beef9a30b388d06f7c629", size = 27556236, upload-time = "2026-07-02T06:37:21.388Z" },
+    { url = "https://files.pythonhosted.org/packages/8b/f6/2509754d4d2356abc6fc0ea3d57c12ade29bac23a1fb7fc215a53ca518fb/av-18.0.0-cp311-abi3-win_arm64.whl", hash = "sha256:adac2b3833b6cb9bd6cb52664a522b94db453615b3675b1dbb26e13fe1c80da6", size = 20221133, upload-time = "2026-07-02T06:37:23.88Z" },
 ]

 [[package]]
@@ -132,50 +134,47 @@ wheels = [

 [[package]]
 name = "cffi"
-version = "2.0.0"
+version = "2.1.0"
 source = { registry = "https://pypi.org/simple" }
 dependencies = [
    { name = "pycparser", marker = "implementation_name != 'PyPy'" },
 ]
-sdist = { url = "https://files.pythonhosted.org/packages/eb/56/b1ba7935a17738ae8453301356628e8147c79dbb825bcbc73dc7401f9846/cffi-2.0.0.tar.gz", hash = "sha256:44d1b5909021139fe36001ae048dbdde8214afa20200eda0f64c068cac5d5529", size = 523588, upload-time = "2025-09-08T23:24:04.541Z" }
+sdist = { url = "https://files.pythonhosted.org/packages/57/5f/ff100cae70ebe9d8df1c01a00e510e45d9adb5c1fdda84791b199141de97/cffi-2.1.0.tar.gz", hash = "sha256:efc1cdd798b1aaf39b4610bba7aad28c9bea9b910f25c784ccf9ec1fa719d1f9", size = 531036, upload-time = "2026-07-06T21:34:30.382Z" }
 wheels = [
-    { url = "https://files.pythonhosted.org/packages/ea/47/4f61023ea636104d4f16ab488e268b93008c3d0bb76893b1b31db1f96802/cffi-2.0.0-cp312-cp312-macosx_10_13_x86_64.whl", hash = "sha256:6d02d6655b0e54f54c4ef0b94eb6be0607b70853c45ce98bd278dc7de718be5d", size = 185271, upload-time = "2025-09-08T23:22:44.795Z" },
-    { url = "https://files.pythonhosted.org/packages/df/a2/781b623f57358e360d62cdd7a8c681f074a71d445418a776eef0aadb4ab4/cffi-2.0.0-cp312-cp312-macosx_11_0_arm64.whl", hash = "sha256:8eca2a813c1cb7ad4fb74d368c2ffbbb4789d377ee5bb8df98373c2cc0dee76c", size = 181048, upload-time = "2025-09-08T23:22:45.938Z" },
-    { url = "https://files.pythonhosted.org/packages/ff/df/a4f0fbd47331ceeba3d37c2e51e9dfc9722498becbeec2bd8bc856c9538a/cffi-2.0.0-cp312-cp312-manylinux1_i686.manylinux2014_i686.manylinux_2_17_i686.manylinux_2_5_i686.whl", hash = "sha256:21d1152871b019407d8ac3985f6775c079416c282e431a4da6afe7aefd2bccbe", size = 212529, upload-time = "2025-09-08T23:22:47.349Z" },
-    { url = "https://files.pythonhosted.org/packages/d5/72/12b5f8d3865bf0f87cf1404d8c374e7487dcf097a1c91c436e72e6badd83/cffi-2.0.0-cp312-cp312-manylinux2014_aarch64.manylinux_2_17_aarch64.whl", hash = "sha256:b21e08af67b8a103c71a250401c78d5e0893beff75e28c53c98f4de42f774062", size = 220097, upload-time = "2025-09-08T23:22:48.677Z" },
-    { url = "https://files.pythonhosted.org/packages/c2/95/7a135d52a50dfa7c882ab0ac17e8dc11cec9d55d2c18dda414c051c5e69e/cffi-2.0.0-cp312-cp312-manylinux2014_ppc64le.manylinux_2_17_ppc64le.whl", hash = "sha256:1e3a615586f05fc4065a8b22b8152f0c1b00cdbc60596d187c2a74f9e3036e4e", size = 207983, upload-time = "2025-09-08T23:22:50.06Z" },
-    { url = "https://files.pythonhosted.org/packages/3a/c8/15cb9ada8895957ea171c62dc78ff3e99159ee7adb13c0123c001a2546c1/cffi-2.0.0-cp312-cp312-manylinux2014_s390x.manylinux_2_17_s390x.whl", hash = "sha256:81afed14892743bbe14dacb9e36d9e0e504cd204e0b165062c488942b9718037", size = 206519, upload-time = "2025-09-08T23:22:51.364Z" },
-    { url = "https://files.pythonhosted.org/packages/78/2d/7fa73dfa841b5ac06c7b8855cfc18622132e365f5b81d02230333ff26e9e/cffi-2.0.0-cp312-cp312-manylinux2014_x86_64.manylinux_2_17_x86_64.whl", hash = "sha256:3e17ed538242334bf70832644a32a7aae3d83b57567f9fd60a26257e992b79ba", size = 219572, upload-time = "2025-09-08T23:22:52.902Z" },
-    { url = "https://files.pythonhosted.org/packages/07/e0/267e57e387b4ca276b90f0434ff88b2c2241ad72b16d31836adddfd6031b/cffi-2.0.0-cp312-cp312-musllinux_1_2_aarch64.whl", hash = "sha256:3925dd22fa2b7699ed2617149842d2e6adde22b262fcbfada50e3d195e4b3a94", size = 222963, upload-time = "2025-09-08T23:22:54.518Z" },
-    { url = "https://files.pythonhosted.org/packages/b6/75/1f2747525e06f53efbd878f4d03bac5b859cbc11c633d0fb81432d98a795/cffi-2.0.0-cp312-cp312-musllinux_1_2_x86_64.whl", hash = "sha256:2c8f814d84194c9ea681642fd164267891702542f028a15fc97d4674b6206187", size = 221361, upload-time = "2025-09-08T23:22:55.867Z" },
-    { url = "https://files.pythonhosted.org/packages/7b/2b/2b6435f76bfeb6bbf055596976da087377ede68df465419d192acf00c437/cffi-2.0.0-cp312-cp312-win32.whl", hash = "sha256:da902562c3e9c550df360bfa53c035b2f241fed6d9aef119048073680ace4a18", size = 172932, upload-time = "2025-09-08T23:22:57.188Z" },
-    { url = "https://files.pythonhosted.org/packages/f8/ed/13bd4418627013bec4ed6e54283b1959cf6db888048c7cf4b4c3b5b36002/cffi-2.0.0-cp312-cp312-win_amd64.whl", hash = "sha256:da68248800ad6320861f129cd9c1bf96ca849a2771a59e0344e88681905916f5", size = 183557, upload-time = "2025-09-08T23:22:58.351Z" },
-    { url = "https://files.pythonhosted.org/packages/95/31/9f7f93ad2f8eff1dbc1c3656d7ca5bfd8fb52c9d786b4dcf19b2d02217fa/cffi-2.0.0-cp312-cp312-win_arm64.whl", hash = "sha256:4671d9dd5ec934cb9a73e7ee9676f9362aba54f7f34910956b84d727b0d73fb6", size = 177762, upload-time = "2025-09-08T23:22:59.668Z" },
+    { url = "https://files.pythonhosted.org/packages/1e/85/990925db5df586ec90beb97529c853497e7f85ba0234830447faf41c3057/cffi-2.1.0-cp312-cp312-macosx_10_15_x86_64.whl", hash = "sha256:df2b82571a1b30f58a87bf4e5a9e78d2b1eff6c6ce8fd3aa3757221f93f0863f", size = 184829, upload-time = "2026-07-06T21:32:44.324Z" },
+    { url = "https://files.pythonhosted.org/packages/4b/92/e7bb136ad6b5352603732cf907ef862ca103f20f2031c1735a46300c20c9/cffi-2.1.0-cp312-cp312-macosx_11_0_arm64.whl", hash = "sha256:78474632761faa0fb96f30b1c928c84ebcf68713cbb80d15bab09dfe61640fde", size = 184728, upload-time = "2026-07-06T21:32:45.683Z" },
+    { url = "https://files.pythonhosted.org/packages/c3/c0/d1ec30ffb370f748f2fb54425972bfef9871e0132e82fb589c46b6676049/cffi-2.1.0-cp312-cp312-manylinux1_i686.manylinux2014_i686.manylinux_2_17_i686.manylinux_2_5_i686.whl", hash = "sha256:5972433ad71a9e46516584ef60a0fda12d9dc459938d1539c3ddecf9bdc1368d", size = 214815, upload-time = "2026-07-06T21:32:48.557Z" },
+    { url = "https://files.pythonhosted.org/packages/1b/dc/5620cf930688be01f2d673804291de757a934c90b946dbdc3d84130c2ea4/cffi-2.1.0-cp312-cp312-manylinux2014_aarch64.manylinux_2_17_aarch64.whl", hash = "sha256:b6422532152adf4e59b110cb2808cee7a033800952f5c036b4af047ee43199e7", size = 222429, upload-time = "2026-07-06T21:32:49.848Z" },
+    { url = "https://files.pythonhosted.org/packages/4b/a4/77b53abbf7a1e0beb9637edbef2a94d15f9c822f591e85d439ffd91519a6/cffi-2.1.0-cp312-cp312-manylinux2014_ppc64le.manylinux_2_17_ppc64le.whl", hash = "sha256:46b1c8db8f6122420f32d02fffb924c2fe9bc772d228c7c711748fff56aabb2b", size = 210315, upload-time = "2026-07-06T21:32:51.221Z" },
+    { url = "https://files.pythonhosted.org/packages/58/0c/f528df19cc94b675087324d4760d9e6d5bfae97d6217aa4fac43de4f5fcc/cffi-2.1.0-cp312-cp312-manylinux2014_s390x.manylinux_2_17_s390x.whl", hash = "sha256:d9fafc5aa2e2a39aaf7f8cc0c1f044a9b07fca12e558dca53a3cc5c654ad67a7", size = 208859, upload-time = "2026-07-06T21:32:52.512Z" },
+    { url = "https://files.pythonhosted.org/packages/62/f2/c9522a81c32132799a1972c39f5c5f8b4c8b9f00488a23feaa6c06f07741/cffi-2.1.0-cp312-cp312-manylinux2014_x86_64.manylinux_2_17_x86_64.whl", hash = "sha256:1e9f50d192a3e525b15a75ab5114e442d83d657b7ec29182a991bc9a88fd3a66", size = 221844, upload-time = "2026-07-06T21:32:53.704Z" },
+    { url = "https://files.pythonhosted.org/packages/6e/28/bd53988b9833e8f8ad539d26f4c07a6b3f6bcb1e9e02e7ca038250b3428d/cffi-2.1.0-cp312-cp312-musllinux_1_2_aarch64.whl", hash = "sha256:98fff996e983a36d3aa2eca83af40c5821202e7e6f32d13ae94e3d2286f10cfe", size = 225287, upload-time = "2026-07-06T21:32:54.907Z" },
+    { url = "https://files.pythonhosted.org/packages/79/99/0d0fd37f055224085f42bbb2c022d002e17dde4a97972822327b07d84101/cffi-2.1.0-cp312-cp312-musllinux_1_2_x86_64.whl", hash = "sha256:379de10ce1ba048b1448599d1b37b24caee16309d1ac98d3982fc997f768700b", size = 223681, upload-time = "2026-07-06T21:32:56.329Z" },
+    { url = "https://files.pythonhosted.org/packages/b0/80/c138990aa2a70b1a269f6e06348729836d733d6f970867943f61d367f8cc/cffi-2.1.0-cp312-cp312-win32.whl", hash = "sha256:9b8f0f26ca4e7513c534d351eca551947d053fac438f2a04ac96d882909b0d3a", size = 175269, upload-time = "2026-07-06T21:32:57.777Z" },
+    { url = "https://files.pythonhosted.org/packages/a8/eb/f636456ff21a83fc13c032b58cc5dde061691546ac79efa284b2989b7982/cffi-2.1.0-cp312-cp312-win_amd64.whl", hash = "sha256:c97f080ea627e2863524c5af3836e2270b5f5dfff1f104392b959f8df0c5d384", size = 185881, upload-time = "2026-07-06T21:32:59.253Z" },
+    { url = "https://files.pythonhosted.org/packages/dd/2c/400ea43e721727dca8a65c4521390e9196757caba4a45643acb2b63271b8/cffi-2.1.0-cp312-cp312-win_arm64.whl", hash = "sha256:6d194185eabd279f1c05ebe3504265ddfc5ad2b58d0714f7db9f01da592e9eb6", size = 180088, upload-time = "2026-07-06T21:33:02.278Z" },
 ]

 [[package]]
 name = "charset-normalizer"
-version = "3.4.7"
+version = "3.4.9"
 source = { registry = "https://pypi.org/simple" }
-sdist = { url = "https://files.pythonhosted.org/packages/e7/a1/67fe25fac3c7642725500a3f6cfe5821ad557c3abb11c9d20d12c7008d3e/charset_normalizer-3.4.7.tar.gz", hash = "sha256:ae89db9e5f98a11a4bf50407d4363e7b09b31e55bc117b4f7d80aab97ba009e5", size = 144271, upload-time = "2026-04-02T09:28:39.342Z" }
+sdist = { url = "https://files.pythonhosted.org/packages/bd/2a/23f34ec9d04624958e137efdc394888716353190e75f25dd22c7a2c7a8aa/charset_normalizer-3.4.9.tar.gz", hash = "sha256:673611bbd43f0810bec0b0f028ddeaaa501190339cac411f347ac76917c3ae7b", size = 152439, upload-time = "2026-07-07T14:34:58.454Z" }
 wheels = [
-    { url = "https://files.pythonhosted.org/packages/0c/eb/4fc8d0a7110eb5fc9cc161723a34a8a6c200ce3b4fbf681bc86feee22308/charset_normalizer-3.4.7-cp312-cp312-macosx_10_13_universal2.whl", hash = "sha256:eca9705049ad3c7345d574e3510665cb2cf844c2f2dcfe675332677f081cbd46", size = 311328, upload-time = "2026-04-02T09:26:24.331Z" },
-    { url = "https://files.pythonhosted.org/packages/f8/e3/0fadc706008ac9d7b9b5be6dc767c05f9d3e5df51744ce4cc9605de7b9f4/charset_normalizer-3.4.7-cp312-cp312-manylinux2014_aarch64.manylinux_2_17_aarch64.manylinux_2_28_aarch64.whl", hash = "sha256:6178f72c5508bfc5fd446a5905e698c6212932f25bcdd4b47a757a50605a90e2", size = 208061, upload-time = "2026-04-02T09:26:25.568Z" },
-    { url = "https://files.pythonhosted.org/packages/42/f0/3dd1045c47f4a4604df85ec18ad093912ae1344ac706993aff91d38773a2/charset_normalizer-3.4.7-cp312-cp312-manylinux2014_ppc64le.manylinux_2_17_ppc64le.manylinux_2_28_ppc64le.whl", hash = "sha256:e1421b502d83040e6d7fb2fb18dff63957f720da3d77b2fbd3187ceb63755d7b", size = 229031, upload-time = "2026-04-02T09:26:26.865Z" },
-    { url = "https://files.pythonhosted.org/packages/dc/67/675a46eb016118a2fbde5a277a5d15f4f69d5f3f5f338e5ee2f8948fcf43/charset_normalizer-3.4.7-cp312-cp312-manylinux2014_s390x.manylinux_2_17_s390x.manylinux_2_28_s390x.whl", hash = "sha256:edac0f1ab77644605be2cbba52e6b7f630731fc42b34cb0f634be1a6eface56a", size = 225239, upload-time = "2026-04-02T09:26:28.044Z" },
-    { url = "https://files.pythonhosted.org/packages/4b/f8/d0118a2f5f23b02cd166fa385c60f9b0d4f9194f574e2b31cef350ad7223/charset_normalizer-3.4.7-cp312-cp312-manylinux2014_x86_64.manylinux_2_17_x86_64.manylinux_2_28_x86_64.whl", hash = "sha256:5649fd1c7bade02f320a462fdefd0b4bd3ce036065836d4f42e0de958038e116", size = 216589, upload-time = "2026-04-02T09:26:29.239Z" },
-    { url = "https://files.pythonhosted.org/packages/b1/f1/6d2b0b261b6c4ceef0fcb0d17a01cc5bc53586c2d4796fa04b5c540bc13d/charset_normalizer-3.4.7-cp312-cp312-manylinux_2_31_armv7l.whl", hash = "sha256:203104ed3e428044fd943bc4bf45fa73c0730391f9621e37fe39ecf477b128cb", size = 202733, upload-time = "2026-04-02T09:26:30.5Z" },
-    { url = "https://files.pythonhosted.org/packages/6f/c0/7b1f943f7e87cc3db9626ba17807d042c38645f0a1d4415c7a14afb5591f/charset_normalizer-3.4.7-cp312-cp312-manylinux_2_31_riscv64.manylinux_2_39_riscv64.whl", hash = "sha256:298930cec56029e05497a76988377cbd7457ba864beeea92ad7e844fe74cd1f1", size = 212652, upload-time = "2026-04-02T09:26:31.709Z" },
-    { url = "https://files.pythonhosted.org/packages/38/dd/5a9ab159fe45c6e72079398f277b7d2b523e7f716acc489726115a910097/charset_normalizer-3.4.7-cp312-cp312-musllinux_1_2_aarch64.whl", hash = "sha256:708838739abf24b2ceb208d0e22403dd018faeef86ddac04319a62ae884c4f15", size = 211229, upload-time = "2026-04-02T09:26:33.282Z" },
-    { url = "https://files.pythonhosted.org/packages/d5/ff/531a1cad5ca855d1c1a8b69cb71abfd6d85c0291580146fda7c82857caa1/charset_normalizer-3.4.7-cp312-cp312-musllinux_1_2_armv7l.whl", hash = "sha256:0f7eb884681e3938906ed0434f20c63046eacd0111c4ba96f27b76084cd679f5", size = 203552, upload-time = "2026-04-02T09:26:34.845Z" },
-    { url = "https://files.pythonhosted.org/packages/c1/4c/a5fb52d528a8ca41f7598cb619409ece30a169fbdf9cdce592e53b46c3a6/charset_normalizer-3.4.7-cp312-cp312-musllinux_1_2_ppc64le.whl", hash = "sha256:4dc1e73c36828f982bfe79fadf5919923f8a6f4df2860804db9a98c48824ce8d", size = 230806, upload-time = "2026-04-02T09:26:36.152Z" },
-    { url = "https://files.pythonhosted.org/packages/59/7a/071feed8124111a32b316b33ae4de83d36923039ef8cf48120266844285b/charset_normalizer-3.4.7-cp312-cp312-musllinux_1_2_riscv64.whl", hash = "sha256:aed52fea0513bac0ccde438c188c8a471c4e0f457c2dd20cdbf6ea7a450046c7", size = 212316, upload-time = "2026-04-02T09:26:37.672Z" },
-    { url = "https://files.pythonhosted.org/packages/fd/35/f7dba3994312d7ba508e041eaac39a36b120f32d4c8662b8814dab876431/charset_normalizer-3.4.7-cp312-cp312-musllinux_1_2_s390x.whl", hash = "sha256:fea24543955a6a729c45a73fe90e08c743f0b3334bbf3201e6c4bc1b0c7fa464", size = 227274, upload-time = "2026-04-02T09:26:38.93Z" },
-    { url = "https://files.pythonhosted.org/packages/8a/2d/a572df5c9204ab7688ec1edc895a73ebded3b023bb07364710b05dd1c9be/charset_normalizer-3.4.7-cp312-cp312-musllinux_1_2_x86_64.whl", hash = "sha256:bb6d88045545b26da47aa879dd4a89a71d1dce0f0e549b1abcb31dfe4a8eac49", size = 218468, upload-time = "2026-04-02T09:26:40.17Z" },
-    { url = "https://files.pythonhosted.org/packages/86/eb/890922a8b03a568ca2f336c36585a4713c55d4d67bf0f0c78924be6315ca/charset_normalizer-3.4.7-cp312-cp312-win32.whl", hash = "sha256:2257141f39fe65a3fdf38aeccae4b953e5f3b3324f4ff0daf9f15b8518666a2c", size = 148460, upload-time = "2026-04-02T09:26:41.416Z" },
-    { url = "https://files.pythonhosted.org/packages/35/d9/0e7dffa06c5ab081f75b1b786f0aefc88365825dfcd0ac544bdb7b2b6853/charset_normalizer-3.4.7-cp312-cp312-win_amd64.whl", hash = "sha256:5ed6ab538499c8644b8a3e18debabcd7ce684f3fa91cf867521a7a0279cab2d6", size = 159330, upload-time = "2026-04-02T09:26:42.554Z" },
-    { url = "https://files.pythonhosted.org/packages/9e/5d/481bcc2a7c88ea6b0878c299547843b2521ccbc40980cb406267088bc701/charset_normalizer-3.4.7-cp312-cp312-win_arm64.whl", hash = "sha256:56be790f86bfb2c98fb742ce566dfb4816e5a83384616ab59c49e0604d49c51d", size = 147828, upload-time = "2026-04-02T09:26:44.075Z" },
-    { url = "https://files.pythonhosted.org/packages/db/8f/61959034484a4a7c527811f4721e75d02d653a35afb0b6054474d8185d4c/charset_normalizer-3.4.7-py3-none-any.whl", hash = "sha256:3dce51d0f5e7951f8bb4900c257dad282f49190fdbebecd4ba99bcc41fef404d", size = 61958, upload-time = "2026-04-02T09:28:37.794Z" },
+    { url = "https://files.pythonhosted.org/packages/70/4a/ecbd131485c07fcdfad54e28946d513e3da22ef3b4bd854dcafae54ec739/charset_normalizer-3.4.9-cp312-cp312-macosx_10_13_universal2.whl", hash = "sha256:45b0cc4e3556cd875e09102988d1ab8356c998b596c9fced84547c8138b487a0", size = 319300, upload-time = "2026-07-07T14:33:15.666Z" },
+    { url = "https://files.pythonhosted.org/packages/ec/96/5d9364e3342d69f3a045e1777bc47c85c383e6e9466d561b33fdb419d1f9/charset_normalizer-3.4.9-cp312-cp312-manylinux2014_aarch64.manylinux_2_17_aarch64.manylinux_2_28_aarch64.whl", hash = "sha256:9b2aff1c7b3884512b9512c3eaadd9bab39fb45042ffaaa1dd08ff2b9f8109d9", size = 215802, upload-time = "2026-07-07T14:33:17.031Z" },
+    { url = "https://files.pythonhosted.org/packages/4b/4c/5361f9aa7f2cb58d94f2ab831b3d493f69efb1d239654b4744e3c09527cb/charset_normalizer-3.4.9-cp312-cp312-manylinux2014_ppc64le.manylinux_2_17_ppc64le.manylinux_2_28_ppc64le.whl", hash = "sha256:9104ed0bd76a429d46f9ec0dbc9b08ad1d2dcdf2b00a5a0daa1c145329b35b44", size = 237171, upload-time = "2026-07-07T14:33:18.576Z" },
+    { url = "https://files.pythonhosted.org/packages/50/78/ce342ca4ff30b2eb49fe6d9578df85974f90c67d294113e94efdd9664cbd/charset_normalizer-3.4.9-cp312-cp312-manylinux2014_s390x.manylinux_2_17_s390x.manylinux_2_28_s390x.whl", hash = "sha256:7b86a2b16095d250c6f58b3d9b2eee6f4147754344f3dab0922f7c9bf7d226c9", size = 233075, upload-time = "2026-07-07T14:33:20.084Z" },
+    { url = "https://files.pythonhosted.org/packages/01/c4/4fa4c8b3097a11f3c5f09a35b72ed6855fb1d332469504962ab7bafcc702/charset_normalizer-3.4.9-cp312-cp312-manylinux2014_x86_64.manylinux_2_17_x86_64.manylinux_2_28_x86_64.whl", hash = "sha256:5e226f6218febc71f6c1fc2fafb91c226f75bdc1d8fb12d66823716e891608fd", size = 224256, upload-time = "2026-07-07T14:33:21.747Z" },
+    { url = "https://files.pythonhosted.org/packages/87/3a/ad914516df7e358a81aae018caa5e0470ba827fa6d763b1d2e87d920a5f6/charset_normalizer-3.4.9-cp312-cp312-manylinux_2_31_armv7l.whl", hash = "sha256:90c44bc373b7687f6948b693cceaea1348ae0975d7474746559494468e3c1d84", size = 208784, upload-time = "2026-07-07T14:33:23.313Z" },
+    { url = "https://files.pythonhosted.org/packages/d7/74/3c12f9755717dfe5c5c87da63f35d765fa0c00382ec26bf23f7fae34f2ba/charset_normalizer-3.4.9-cp312-cp312-manylinux_2_31_riscv64.manylinux_2_39_riscv64.whl", hash = "sha256:9cdef90ae47919cae358d8ab15797a800ed41da7aba5d72419fb510729e2ed4b", size = 219928, upload-time = "2026-07-07T14:33:24.814Z" },
+    { url = "https://files.pythonhosted.org/packages/33/9a/895095b83e7907abd6d3d99aad3a38ad0d9686cc186cb0c94c24320fe63e/charset_normalizer-3.4.9-cp312-cp312-musllinux_1_2_aarch64.whl", hash = "sha256:60f44ade2cf573dad7a277e6f8ca9a51a21dda572b13bd7d8539bb3cd5dbedde", size = 218489, upload-time = "2026-07-07T14:33:26.42Z" },
+    { url = "https://files.pythonhosted.org/packages/a1/34/ef5c05f412f42520d7709b7d3784d19640839eb7366ded1755511585429f/charset_normalizer-3.4.9-cp312-cp312-musllinux_1_2_armv7l.whl", hash = "sha256:a1786910334ed46ab1dd73222f2cd1e05c2c3bb39f6dddb4f8b36fc382058a39", size = 210267, upload-time = "2026-07-07T14:33:27.952Z" },
+    { url = "https://files.pythonhosted.org/packages/83/dc/9b29fa4412b318bf3bfea985c35d67eb55e04b59a7c3f2237168b0e0be6f/charset_normalizer-3.4.9-cp312-cp312-musllinux_1_2_x86_64.whl", hash = "sha256:03d07803992c6c7bbc976327f34b18b6160327fc81cb82c9d504720ac0be3b62", size = 226030, upload-time = "2026-07-07T14:33:29.397Z" },
+    { url = "https://files.pythonhosted.org/packages/0e/42/6dbc00b8cd16011691203e33570fa42ed5746599a2e878112d16eab403a3/charset_normalizer-3.4.9-cp312-cp312-win32.whl", hash = "sha256:78841cccf1af7b40f6f716338d50c0902dbe88d9f800b3c973b7a9a0a693a642", size = 151185, upload-time = "2026-07-07T14:33:30.781Z" },
+    { url = "https://files.pythonhosted.org/packages/80/cc/f920afd1a23c58ccd53c1d36085a71893a4737ff5e66e0371efab6809850/charset_normalizer-3.4.9-cp312-cp312-win_amd64.whl", hash = "sha256:4b3dac63058cc36820b0dd072f89898604e2d39686fe05321729d00d8ac185a0", size = 162557, upload-time = "2026-07-07T14:33:32.176Z" },
+    { url = "https://files.pythonhosted.org/packages/f0/e6/0386d43a261ff4e4b30c5857af7df877254b46bec7b9d1b74b6bf969a90b/charset_normalizer-3.4.9-cp312-cp312-win_arm64.whl", hash = "sha256:78fa18e436a1a0e58dbd7e02fc4473f3f32cceb12df9dfca542d075961c307d2", size = 152665, upload-time = "2026-07-07T14:33:33.711Z" },
+    { url = "https://files.pythonhosted.org/packages/98/2b/f97f1c193fb855c345d678f5077d6926034db0722df74c8f057020e05a25/charset_normalizer-3.4.9-py3-none-any.whl", hash = "sha256:68e5f26a1ad57ded6d1cfb85331d1c1a195314756471d97758c48498bb4dcdf5", size = 64538, upload-time = "2026-07-07T14:34:56.993Z" },
 ]

 [[package]]
@@ -192,11 +191,11 @@ wheels = [

 [[package]]
 name = "codespell"
-version = "2.4.2"
+version = "2.4.3"
 source = { registry = "https://pypi.org/simple" }
-sdist = { url = "https://files.pythonhosted.org/packages/2d/9d/1d0903dff693160f893ca6abcabad545088e7a2ee0a6deae7c24e958be69/codespell-2.4.2.tar.gz", hash = "sha256:3c33be9ae34543807f088aeb4832dfad8cb2dae38da61cac0a7045dd376cfdf3", size = 352058, upload-time = "2026-03-05T18:10:42.936Z" }
+sdist = { url = "https://files.pythonhosted.org/packages/80/19/45e941380f69c042b43423513d201e6592346f992394347f5e7174c31407/codespell-2.4.3.tar.gz", hash = "sha256:cbe085e331227b37bb86ef8bddd08dc768c704ee9a07ca869852c093fa2793e2", size = 352773, upload-time = "2026-07-15T11:51:54.159Z" }
 wheels = [
-    { url = "https://files.pythonhosted.org/packages/42/a1/52fa05533e95fe45bcc09bcf8a503874b1c08f221a4e35608017e0938f55/codespell-2.4.2-py3-none-any.whl", hash = "sha256:97e0c1060cf46bd1d5db89a936c98db8c2b804e1fdd4b5c645e82a1ec6b1f886", size = 353715, upload-time = "2026-03-05T18:10:41.398Z" },
+    { url = "https://files.pythonhosted.org/packages/8b/bf/bdb951d34eb169140b546f44be9ec4525d1acefb9eb5572071f5492b19fc/codespell-2.4.3-py3-none-any.whl", hash = "sha256:af2505b335e8573dbd2d384d1c4ef498f4006f4ba2d6fceca01e55b91f52628a", size = 340736, upload-time = "2026-07-15T11:51:52.925Z" },
 ]

 [[package]]
@@ -210,164 +209,164 @@ wheels = [

 [[package]]
 name = "comma-deps-acados"
-version = "0.2.2.post95"
+version = "0.2.2.post96"
 source = { registry = "https://pypi.org/simple" }
 dependencies = [
    { name = "numpy" },
 ]
 wheels = [
-    { url = "https://files.pythonhosted.org/packages/58/83/e76d3f89de07a672c5fc452d81b6f00f972721342eb75de2171d2c3a8b19/comma_deps_acados-0.2.2.post95-py3-none-macosx_11_0_arm64.whl", hash = "sha256:fd7c583ac2a33b414540c0601173e3a9c28c5d8f825cb24736c64e3c07271f56", size = 10631724, upload-time = "2026-06-24T23:58:31.726Z" },
-    { url = "https://files.pythonhosted.org/packages/64/96/4b8e50a153dcb5f34628f854dc58774588b8dbfb26b6bedd0b99acb4aa71/comma_deps_acados-0.2.2.post95-py3-none-manylinux_2_28_aarch64.whl", hash = "sha256:1f47c3a665193937c993d3ee15989be5ba75eb427c9733fe1b9e800bf33c56aa", size = 11663713, upload-time = "2026-06-24T23:58:33.725Z" },
-    { url = "https://files.pythonhosted.org/packages/1b/2f/bf57b9656e86950ba19c7a88992fccc0abb89878f9c30fb1b2252d57f0a7/comma_deps_acados-0.2.2.post95-py3-none-manylinux_2_28_x86_64.whl", hash = "sha256:00b49d5b691fa97d07fa5e5b842e0d2e1a6faa6856d2a081eefcee649f93329b", size = 13167209, upload-time = "2026-06-24T23:58:35.941Z" },
+    { url = "https://files.pythonhosted.org/packages/b3/8a/7a04dd5d2e8c0137c78d73683d60ece68461214c35e4b99708fbaf6dd199/comma_deps_acados-0.2.2.post96-py3-none-macosx_11_0_arm64.whl", hash = "sha256:a7aa3e3258d3b0fe02d95c25510d150112f5192577b1aac2f15491d82d865acb", size = 10630864, upload-time = "2026-07-09T03:30:30.618Z" },
+    { url = "https://files.pythonhosted.org/packages/bf/18/0a1ad89e8f95ce1b83868b7e034024086d9316f5555ca501bccf75986608/comma_deps_acados-0.2.2.post96-py3-none-manylinux_2_28_aarch64.whl", hash = "sha256:fdaa5d9207a618ed10c3e45c0d45eae1126ec64220e9a75e2ceea66a19068975", size = 11664268, upload-time = "2026-07-09T03:30:35.029Z" },
+    { url = "https://files.pythonhosted.org/packages/5a/73/4b3c0c9c6fd0ee3bcea6fdd91a7cfdf8f922365c7bb36eead41a83936c70/comma_deps_acados-0.2.2.post96-py3-none-manylinux_2_28_x86_64.whl", hash = "sha256:21028c6e9797744b6ec4c718792e0b9fe1a0989e02ac74ca43972bbe1e7c043b", size = 13165541, upload-time = "2026-07-09T03:30:39.391Z" },
 ]

 [[package]]
 name = "comma-deps-bootstrap-icons"
-version = "1.10.5.0.post95"
+version = "1.10.5.0.post96"
 source = { registry = "https://pypi.org/simple" }
 wheels = [
-    { url = "https://files.pythonhosted.org/packages/44/0b/bb713dd4bed94b0b2b21657b7337e264953bd785a2b2f5c1b0706cdcde29/comma_deps_bootstrap_icons-1.10.5.0.post95-py3-none-any.whl", hash = "sha256:d59fc8d3e642e00f83d7a4854164f1dee21c3d17c726d5537b1b72b149f5788b", size = 386001, upload-time = "2026-06-24T23:58:37.84Z" },
+    { url = "https://files.pythonhosted.org/packages/5a/c4/cf9c07ddbb637146f3140711db66cf12a1096fa73b07f7230d7912dc2abb/comma_deps_bootstrap_icons-1.10.5.0.post96-py3-none-any.whl", hash = "sha256:aaeab00496f5ed1bf45df0da767036b127cd79da9632888e89ac105e6d78e06d", size = 386001, upload-time = "2026-07-09T03:30:43.643Z" },
 ]

 [[package]]
 name = "comma-deps-bzip2"
-version = "1.0.8.post95"
+version = "1.0.8.post96"
 source = { registry = "https://pypi.org/simple" }
 wheels = [
-    { url = "https://files.pythonhosted.org/packages/f8/ac/539d76e9bcebbc53d62274a19c47522b118dce3261fc6baea045f93c98b6/comma_deps_bzip2-1.0.8.post95-py3-none-macosx_11_0_arm64.whl", hash = "sha256:be466743b7fc56fa18c2c389a46bdeb0fc885cf3cf39b779d748ce540609ebd5", size = 42832, upload-time = "2026-06-24T23:58:39.592Z" },
-    { url = "https://files.pythonhosted.org/packages/a1/fe/5206bd6d716022cea259c4878c6a1927ab3555f4caa48a74efaa83d8f418/comma_deps_bzip2-1.0.8.post95-py3-none-manylinux_2_28_aarch64.whl", hash = "sha256:7c015d720cc5462f87062b4482c54684de6a237b4edb60612c2f58721413682f", size = 38629, upload-time = "2026-06-24T23:58:40.496Z" },
-    { url = "https://files.pythonhosted.org/packages/39/0e/78218f9a645ad9d27000153795d6819b3b52ca62d882aa46a413e40887be/comma_deps_bzip2-1.0.8.post95-py3-none-manylinux_2_28_x86_64.whl", hash = "sha256:3188a197aaf3efbfac975193887c59600b91a3b4eb7f62cc975377133cd48834", size = 36271, upload-time = "2026-06-24T23:58:41.2Z" },
+    { url = "https://files.pythonhosted.org/packages/72/61/c767ffbfbc9032f416056899dc029e9292b01ce592ce151f310d9aeaef02/comma_deps_bzip2-1.0.8.post96-py3-none-macosx_11_0_arm64.whl", hash = "sha256:efefbf8d60dcad1985300c1a4553420b6f31f6bbf34d69d28543b177f43a9653", size = 42844, upload-time = "2026-07-09T03:30:47.14Z" },
+    { url = "https://files.pythonhosted.org/packages/ea/4c/676920ee4bc4c54059ba006ca6cffc6674a1ea2596a54ab309f641210a02/comma_deps_bzip2-1.0.8.post96-py3-none-manylinux_2_28_aarch64.whl", hash = "sha256:d23fa2604bdbd9ffa90486fa3d909e4b8b2698ce37e31eee3ef8180b68e3e91e", size = 38619, upload-time = "2026-07-09T03:30:50.34Z" },
+    { url = "https://files.pythonhosted.org/packages/89/f8/bbfc2e42cf8798298e4f8cc4d8fb6387ea8e86c312d6205eac41978963f7/comma_deps_bzip2-1.0.8.post96-py3-none-manylinux_2_28_x86_64.whl", hash = "sha256:2691b48542f73803ab3e8987f3ced5d032db98dc52a8b85e3748c9851ee6b722", size = 36274, upload-time = "2026-07-09T03:30:53.465Z" },
 ]

 [[package]]
 name = "comma-deps-capnproto"
-version = "1.0.1.post93"
+version = "1.0.1.post96"
 source = { registry = "https://pypi.org/simple" }
 wheels = [
-    { url = "https://files.pythonhosted.org/packages/19/a6/97c22a112e23f530db28f8ecf7b191ec16685d282fdbe892dff7437bdf6d/comma_deps_capnproto-1.0.1.post93-py3-none-macosx_11_0_arm64.whl", hash = "sha256:6717e8e34ef12116502f244b23f092984c1d15afa4e40b956450b74a0d4d2520", size = 2407330, upload-time = "2026-07-08T19:30:41.395Z" },
-    { url = "https://files.pythonhosted.org/packages/6d/f2/79a15ff5f2c97a741923a97357f6a4235e4ced928ba1d4079d01c66df4b0/comma_deps_capnproto-1.0.1.post93-py3-none-manylinux_2_28_aarch64.whl", hash = "sha256:a70349446e2ec17b281ebaaae02ca4c35495f4210043c716c55139a05a826090", size = 2506341, upload-time = "2026-07-08T19:30:45.607Z" },
-    { url = "https://files.pythonhosted.org/packages/80/a9/f61fe62045c4ea867f51f2d74b4edfabd6c272c62a3281a9f1f33825a725/comma_deps_capnproto-1.0.1.post93-py3-none-manylinux_2_28_x86_64.whl", hash = "sha256:f98cdba8f8c7f08a7a0c0a4b7cc0bfcf515e29ad8f1b5cb8eda4e253bef5e6e3", size = 2590769, upload-time = "2026-07-08T19:30:49.728Z" },
+    { url = "https://files.pythonhosted.org/packages/ee/ea/fa60fb3a28165368778a633b206fc282d1beb101ac60112ddfc344a176bc/comma_deps_capnproto-1.0.1.post96-py3-none-macosx_11_0_arm64.whl", hash = "sha256:38c225a85af494f8ab5aed72b0cea0eb5861bbe36017f9a18aeec739a5ee776f", size = 2407333, upload-time = "2026-07-09T03:30:56.728Z" },
+    { url = "https://files.pythonhosted.org/packages/49/49/79258f9552702d168395014f39e4ff865d7eaefaf2b17998cbd10b867399/comma_deps_capnproto-1.0.1.post96-py3-none-manylinux_2_28_aarch64.whl", hash = "sha256:2aac477726d81889f281c921914c00f0380bbb5155e86226e8be518a51a7a939", size = 2506361, upload-time = "2026-07-09T03:31:00.37Z" },
+    { url = "https://files.pythonhosted.org/packages/3f/aa/0a56403ad4086093e6e893c373397f5facd8ac0fa6b9bf4db9e91bf949bf/comma_deps_capnproto-1.0.1.post96-py3-none-manylinux_2_28_x86_64.whl", hash = "sha256:1aadf57fec57e491a31742ce4876c678b6bf2c0904af2eb6f03d397811881666", size = 2590770, upload-time = "2026-07-09T03:31:04.005Z" },
 ]

 [[package]]
 name = "comma-deps-catch2"
-version = "2.13.10.post93"
+version = "2.13.10.post96"
 source = { registry = "https://pypi.org/simple" }
 wheels = [
-    { url = "https://files.pythonhosted.org/packages/88/ee/b4ef7758d04a024775d49558ca930fec19aa37cd691ad9182b7141f4d4d7/comma_deps_catch2-2.13.10.post93-py3-none-any.whl", hash = "sha256:8f23293251b5db48c08885d8816ca252b3fb11b0c1c26775bae36e8b217e865e", size = 137085, upload-time = "2026-07-08T19:30:53.44Z" },
+    { url = "https://files.pythonhosted.org/packages/d2/be/5a5683f63648c4e8fab3f39c3032c117774e6bd64273f4585be7ce63dd40/comma_deps_catch2-2.13.10.post96-py3-none-any.whl", hash = "sha256:ab456417e68147784be2e42d47919067cf20500913be1fac0a53877c546c46fb", size = 137087, upload-time = "2026-07-09T03:31:07.72Z" },
 ]

 [[package]]
 name = "comma-deps-eigen"
-version = "3.4.0.post93"
+version = "3.4.0.post96"
 source = { registry = "https://pypi.org/simple" }
 wheels = [
-    { url = "https://files.pythonhosted.org/packages/fa/3c/b262d6103a3b7a5cb0296b821eb4f1385b349e527bba75d7efe057cea802/comma_deps_eigen-3.4.0.post93-py3-none-macosx_11_0_arm64.whl", hash = "sha256:f90433cea3f59f1b9ed58bd92d0f1b55721eff8b473d579ed40fa2fcdc2c1787", size = 2275895, upload-time = "2026-07-08T19:31:08.983Z" },
-    { url = "https://files.pythonhosted.org/packages/00/a1/b9bf332a096267ff26ebd546b104d9a92b905857c59bae899794897c790b/comma_deps_eigen-3.4.0.post93-py3-none-manylinux_2_28_aarch64.whl", hash = "sha256:3169d82b825ca8accdae5f3e1a9cddd9f28f8bd5f66e4353fedae68b23f13cdb", size = 2275897, upload-time = "2026-07-08T19:31:12.66Z" },
-    { url = "https://files.pythonhosted.org/packages/bd/c6/1132467acd1257ea159cf4608c6f00ef0b3ca353fd86aaced0d76dcce62c/comma_deps_eigen-3.4.0.post93-py3-none-manylinux_2_28_x86_64.whl", hash = "sha256:d0b042c817070a0124b8c0e78b87ff5e8b44db21a1abea740afe7115f5bd8447", size = 2275900, upload-time = "2026-07-08T19:31:16.352Z" },
+    { url = "https://files.pythonhosted.org/packages/77/57/c995cab098a87406d6d25f79c76fc15f11316bdaa6488444fbbaebbbc4d7/comma_deps_eigen-3.4.0.post96-py3-none-macosx_11_0_arm64.whl", hash = "sha256:740bd35eaca62590b515b3f294c4aaaad11e605eedf735f16fd208d5e79b41bc", size = 2275894, upload-time = "2026-07-09T03:31:22.36Z" },
+    { url = "https://files.pythonhosted.org/packages/56/4b/bea74739267568208d76443b22cf64bfa08b12ae88e029282097a25ed779/comma_deps_eigen-3.4.0.post96-py3-none-manylinux_2_28_aarch64.whl", hash = "sha256:37b329d45f2bb8ee3508f81a986ef02e8ff43dc295e663aca195784b9cfafeff", size = 2275897, upload-time = "2026-07-09T03:31:26.18Z" },
+    { url = "https://files.pythonhosted.org/packages/6f/be/24579a0404b699caf78920b04536ee48fdc9882c5732e7b32676fcae3090/comma_deps_eigen-3.4.0.post96-py3-none-manylinux_2_28_x86_64.whl", hash = "sha256:7f6aa668bc23824e8d0067c4df643244846e02f38b973f9de988a944e7af042f", size = 2275899, upload-time = "2026-07-09T03:31:29.863Z" },
 ]

 [[package]]
 name = "comma-deps-ffmpeg"
-version = "7.1.0.post94"
+version = "7.1.0.post96"
 source = { registry = "https://pypi.org/simple" }
 wheels = [
-    { url = "https://files.pythonhosted.org/packages/7d/5c/47e10049fd96b581e8ddc9fba31c3397562732fcc99db6c062690e862300/comma_deps_ffmpeg-7.1.0.post94-py3-none-macosx_11_0_arm64.whl", hash = "sha256:2e87b4dd0fb0fc25d6992167ee266b5c9e92305aefa3d343ddd22a17219363b8", size = 7329953, upload-time = "2026-07-09T03:07:11.516Z" },
-    { url = "https://files.pythonhosted.org/packages/a7/d5/c4edfbbe488983ff45fb6cacab78342fc56cc0f28010a946e8697613ffe2/comma_deps_ffmpeg-7.1.0.post94-py3-none-manylinux_2_28_aarch64.whl", hash = "sha256:7ea34368c5b564cecab0fd77d6423bc15d8f100051648f64ad79a3499f43dafb", size = 4441314, upload-time = "2026-07-09T03:07:15.679Z" },
-    { url = "https://files.pythonhosted.org/packages/80/8f/76a876a26572c52d52dbcf8ed39227f5023d343201a32af4b992c4b9f13e/comma_deps_ffmpeg-7.1.0.post94-py3-none-manylinux_2_28_x86_64.whl", hash = "sha256:5b2d6cfbba59ecd673dd0c8bd8eb5a5b3472bdfa025e1063c011e6234877fe84", size = 4685134, upload-time = "2026-07-09T03:07:19.596Z" },
+    { url = "https://files.pythonhosted.org/packages/ff/2f/87f58c56b2f2ef38157b35c9a7038cec8230a82b8f9bdf5544d803d050e9/comma_deps_ffmpeg-7.1.0.post96-py3-none-macosx_11_0_arm64.whl", hash = "sha256:48e6b56dac292bc03a5d99a368c296cd4769711a98c876e5cb3c63f350c38a3a", size = 7329952, upload-time = "2026-07-09T03:31:33.498Z" },
+    { url = "https://files.pythonhosted.org/packages/88/1f/14cc038f1ec1dc261d06d3bd30cbc786bc65b42b872b8ae46bf4280b217f/comma_deps_ffmpeg-7.1.0.post96-py3-none-manylinux_2_28_aarch64.whl", hash = "sha256:0267b26a30bc3e4f078567808a3f1cb7a6d9bb2f47a2cf31a58cfc377c88d23c", size = 4441309, upload-time = "2026-07-09T03:31:37.61Z" },
+    { url = "https://files.pythonhosted.org/packages/ac/99/d1b08b3309a0021fd8877385570856955d3f673cd97629f9b3dc53e89c20/comma_deps_ffmpeg-7.1.0.post96-py3-none-manylinux_2_28_x86_64.whl", hash = "sha256:e6f7cf7cfef4f3eef044c1a37251e57d00fb0402364ceb795df7d620c9b23c0d", size = 4685133, upload-time = "2026-07-09T03:31:41.497Z" },
 ]

 [[package]]
 name = "comma-deps-gcc-arm-none-eabi"
-version = "13.2.1.post93"
+version = "13.2.1.post96"
 source = { registry = "https://pypi.org/simple" }
 wheels = [
-    { url = "https://files.pythonhosted.org/packages/c0/9f/9a6c7f04faf18fdc4ab3e5b55ecfdbcb3998333a450fd5a1c986af571d15/comma_deps_gcc_arm_none_eabi-13.2.1.post93-py3-none-macosx_11_0_arm64.whl", hash = "sha256:00de06a94ecf4379c79b150d36b3116d0f37bc341bbf1ef2ad850c8a5985eeb1", size = 15238809, upload-time = "2026-07-08T19:31:33.509Z" },
-    { url = "https://files.pythonhosted.org/packages/83/94/1cdb11c170b96f2677dfd1be7cfb9a2994d3518555c154f2a131929057da/comma_deps_gcc_arm_none_eabi-13.2.1.post93-py3-none-manylinux_2_28_aarch64.whl", hash = "sha256:de1cf3ff89ea84fac5df62c65d843af877eaa2634439d793f527f0cfeea66e59", size = 17367238, upload-time = "2026-07-08T19:31:38.137Z" },
-    { url = "https://files.pythonhosted.org/packages/23/3c/4b2f60274f080b9583da2fdaad54f692f4f8719bd360558d4460d79f8fb4/comma_deps_gcc_arm_none_eabi-13.2.1.post93-py3-none-manylinux_2_28_x86_64.whl", hash = "sha256:3cf7f022ffa1b3d3e20eb32610c7e59f84932e516d9ed11236df787546d82d67", size = 16941134, upload-time = "2026-07-08T19:31:43.102Z" },
+    { url = "https://files.pythonhosted.org/packages/e1/90/45053db962d2861cac7818c6a934260c6d05d0bf7a72664dce820a000034/comma_deps_gcc_arm_none_eabi-13.2.1.post96-py3-none-macosx_11_0_arm64.whl", hash = "sha256:320130335aca11adc3ca8965c4c473217247dea0d5dab209e99a97ab1995814d", size = 15238810, upload-time = "2026-07-09T03:31:45.432Z" },
+    { url = "https://files.pythonhosted.org/packages/d1/43/f102ab9e4255162e3e2d3767cd968683168e243de16133bd5956b32e8c26/comma_deps_gcc_arm_none_eabi-13.2.1.post96-py3-none-manylinux_2_28_aarch64.whl", hash = "sha256:a19203ba8dfeebb3224aeb7e34ff609cbb039784b9adb892ea6dc1889915ca46", size = 17367240, upload-time = "2026-07-09T03:31:50.055Z" },
+    { url = "https://files.pythonhosted.org/packages/37/6a/f314d9eab1f0c9f75cc12fa26f8aa8d20d6cc586c9194cd0846972e8b28c/comma_deps_gcc_arm_none_eabi-13.2.1.post96-py3-none-manylinux_2_28_x86_64.whl", hash = "sha256:8d821106d78f2fd19c924c3b68633cd2f67d8932aa00dbb5219dbc9778a5ec7b", size = 16941137, upload-time = "2026-07-09T03:31:54.638Z" },
 ]

 [[package]]
 name = "comma-deps-git-lfs"
-version = "3.6.1.post93"
+version = "3.6.1.post96"
 source = { registry = "https://pypi.org/simple" }
 wheels = [
-    { url = "https://files.pythonhosted.org/packages/df/62/e06ea6fb98b8cee2686fb409fb28426d902f3318b077cbd78d9bbec0354b/comma_deps_git_lfs-3.6.1.post93-py3-none-macosx_11_0_arm64.whl", hash = "sha256:89cbffd3d6800fa8e366301b98c09c4ccbc973fb59721aa2546b36158b9b64c0", size = 4685107, upload-time = "2026-07-08T19:31:47.273Z" },
-    { url = "https://files.pythonhosted.org/packages/ce/cf/f08dc359e8bc7e1b21b7f4a93167a14ac61dc78f1bfb27a0e7554c78cb09/comma_deps_git_lfs-3.6.1.post93-py3-none-manylinux_2_28_aarch64.whl", hash = "sha256:39844960733a3885d99bbfdf4f7b414e7d0bf4b4d56f9d77a88ea10d72f549c5", size = 4485276, upload-time = "2026-07-08T19:31:51.253Z" },
-    { url = "https://files.pythonhosted.org/packages/2f/af/3dfae2a56320165b45ceab0d7a2c6dea69cc5766928f408d17997ff2a525/comma_deps_git_lfs-3.6.1.post93-py3-none-manylinux_2_28_x86_64.whl", hash = "sha256:e445cbadec41856997de775d5d415d1e707db0ba563c705df1b55ce198179bbe", size = 4889583, upload-time = "2026-07-08T19:31:55.153Z" },
+    { url = "https://files.pythonhosted.org/packages/48/0d/d465a5ac9bf1e60fb5d79adf0e5046446384d3d075fac2282270cb9a28ae/comma_deps_git_lfs-3.6.1.post96-py3-none-macosx_11_0_arm64.whl", hash = "sha256:b3e3f314873cf24efe8aa24258643b0c06af9a94d593227cd21c13f69017bba1", size = 4685105, upload-time = "2026-07-09T03:31:58.982Z" },
+    { url = "https://files.pythonhosted.org/packages/32/56/9b11854a86bef70b857f1b23aa7a713db481861c09a786ac38dca250e825/comma_deps_git_lfs-3.6.1.post96-py3-none-manylinux_2_28_aarch64.whl", hash = "sha256:fcd1f49eb5cb49f92e77d17172e4270578a2ba294ae815a1c20f71e05944b089", size = 4485277, upload-time = "2026-07-09T03:32:03.027Z" },
+    { url = "https://files.pythonhosted.org/packages/0a/d3/960ce88264849cd2d56d52399016fd5cbf1bdd05211cc2119ab65a712d61/comma_deps_git_lfs-3.6.1.post96-py3-none-manylinux_2_28_x86_64.whl", hash = "sha256:48d527daa1259fd069895bbeecf1962670a99efb314c5383e00b72b55dec8598", size = 4889583, upload-time = "2026-07-09T03:32:06.855Z" },
 ]

 [[package]]
 name = "comma-deps-imgui"
-version = "1.92.7.post93"
+version = "1.92.7.post96"
 source = { registry = "https://pypi.org/simple" }
 wheels = [
-    { url = "https://files.pythonhosted.org/packages/48/e8/a5f99714d4b2ef85744bd6af9ee46b016a70cea8383c9cca3097847c6940/comma_deps_imgui-1.92.7.post93-py3-none-macosx_11_0_arm64.whl", hash = "sha256:ae7cbb655cd61157b785e7f388cc1bfe17bf6a2bf8c40ff9484702bd9be71074", size = 1688022, upload-time = "2026-07-08T19:31:58.849Z" },
-    { url = "https://files.pythonhosted.org/packages/86/f1/0ebcbb7d55ef1ad0f516831c52f37cafdf0ed94b73e0396c531ecd89dbc1/comma_deps_imgui-1.92.7.post93-py3-none-manylinux_2_28_aarch64.whl", hash = "sha256:efc689e8279900c10e3922e9bf188fe34e16ab28d8660878e82b7192d7d86c68", size = 2522798, upload-time = "2026-07-08T19:32:02.435Z" },
-    { url = "https://files.pythonhosted.org/packages/c3/94/6f0bd31d599f5748736b57e0b71a42d15ec0782906155f268bc7056fd0ac/comma_deps_imgui-1.92.7.post93-py3-none-manylinux_2_28_x86_64.whl", hash = "sha256:b08a763c00a1f037dc5e2e2e0322c46960fe8a2cc972ce17781d547ccce3eaa6", size = 2655457, upload-time = "2026-07-08T19:32:06.273Z" },
+    { url = "https://files.pythonhosted.org/packages/57/24/60d6f5459fb8cf8b402c2afb4bf0b91b666251d06a32ab06dc4384d38bfe/comma_deps_imgui-1.92.7.post96-py3-none-macosx_11_0_arm64.whl", hash = "sha256:6a3c23253e57b527e14b57c4f5db7c354383604960c2577e50a9c9d1752adc49", size = 1688013, upload-time = "2026-07-09T03:32:10.758Z" },
+    { url = "https://files.pythonhosted.org/packages/64/c3/6220f0d026e88780e5452d0b7c92b23ba3f1eee41e6782951d7840113e3e/comma_deps_imgui-1.92.7.post96-py3-none-manylinux_2_28_aarch64.whl", hash = "sha256:94a4123f54e9a2a5b7660c7c4f4187c8bbe80cd0b800b5c76198861735af0246", size = 2522795, upload-time = "2026-07-09T03:32:14.653Z" },
+    { url = "https://files.pythonhosted.org/packages/6f/7d/20a647384a92a0c3f68cc2de0fce72c3418a0c8d44cfcf7c8710c913beb9/comma_deps_imgui-1.92.7.post96-py3-none-manylinux_2_28_x86_64.whl", hash = "sha256:dc8e62dce7b73d8b289f73c5df12dfb9024352eb56aa910238fd7d33ed12e8ac", size = 2655473, upload-time = "2026-07-09T03:32:18.321Z" },
 ]

 [[package]]
 name = "comma-deps-json11"
-version = "20170411.0.post93"
+version = "20170411.0.post96"
 source = { registry = "https://pypi.org/simple" }
 wheels = [
-    { url = "https://files.pythonhosted.org/packages/b7/3e/f2bb5d0e0d9e63535007c64859b2ab5e17164ca1f4cfa279fd228dbcef80/comma_deps_json11-20170411.0.post93-py3-none-macosx_11_0_arm64.whl", hash = "sha256:0088d66fd76ea27712d09f2ffa783596f7d70b5b152a039c36d65befcebe3863", size = 34033, upload-time = "2026-07-08T19:32:10.175Z" },
-    { url = "https://files.pythonhosted.org/packages/b8/6e/9576bb1ba5d8371f32664268401fa61231ca1092aa5da45141c37984d868/comma_deps_json11-20170411.0.post93-py3-none-manylinux_2_28_aarch64.whl", hash = "sha256:659c18d4b2634bf7d2388c6e855c6f083f384d2a70052945c1c9ddabbb0dcb21", size = 41846, upload-time = "2026-07-08T19:32:13.457Z" },
-    { url = "https://files.pythonhosted.org/packages/cc/34/6d673c311c9a23e65a0db56352878b53b575aca0539e57c71121d2fe544b/comma_deps_json11-20170411.0.post93-py3-none-manylinux_2_28_x86_64.whl", hash = "sha256:4c24a9c9db71b38192ec9c515f13fd14b4495b8080bb1f687b84b193613d95be", size = 42603, upload-time = "2026-07-08T19:32:16.601Z" },
+    { url = "https://files.pythonhosted.org/packages/e4/c8/aae6240029c92d1e2dd0dccfec147834cebdb22a5dfabaf0fb11963e2f8c/comma_deps_json11-20170411.0.post96-py3-none-macosx_11_0_arm64.whl", hash = "sha256:43c60aa4cff53c65027ee69d36fc5aa5816aad089873be87944985915800c997", size = 34031, upload-time = "2026-07-09T03:32:21.828Z" },
+    { url = "https://files.pythonhosted.org/packages/39/d6/d37a7b65b2a9ec185a4768089af5a445a84c9bdef91d6c0d237edf4a7a93/comma_deps_json11-20170411.0.post96-py3-none-manylinux_2_28_aarch64.whl", hash = "sha256:59510ad9115482ef37ef79ec90ed8551edb6baf74b8c43c00e85cbb6d6c49cba", size = 41847, upload-time = "2026-07-09T03:32:25.228Z" },
+    { url = "https://files.pythonhosted.org/packages/6f/63/800cc4920e00e6fe7b24a71aec888ae44dd52cbe6392058878b887681022/comma_deps_json11-20170411.0.post96-py3-none-manylinux_2_28_x86_64.whl", hash = "sha256:805a98ef9a2a014c643debd3f38e75fdcee4f69c7793bd841d9222b2668f0801", size = 42606, upload-time = "2026-07-09T03:32:28.482Z" },
 ]

 [[package]]
 name = "comma-deps-libusb"
-version = "1.0.29.post93"
+version = "1.0.29.post96"
 source = { registry = "https://pypi.org/simple" }
 wheels = [
-    { url = "https://files.pythonhosted.org/packages/56/a3/4fb912d8af7af134a0a54eeb893beecc9e1cb3ed8371e055319faa74a580/comma_deps_libusb-1.0.29.post93-py3-none-macosx_11_0_arm64.whl", hash = "sha256:1dba5fe7832877994ea9ff3daf056851f1b5c9a47552525af08b35074c5ff65e", size = 102339, upload-time = "2026-07-08T19:32:19.785Z" },
-    { url = "https://files.pythonhosted.org/packages/ce/ad/6d36327352fa1030997409ee650de3f307cc26e3fec4f2a8ea6254430e6a/comma_deps_libusb-1.0.29.post93-py3-none-manylinux_2_28_aarch64.whl", hash = "sha256:c2a29c888668cb4c0ab549ac71206d6b53da8d2db5e581a55a113574aaabe950", size = 94439, upload-time = "2026-07-08T19:32:23.104Z" },
-    { url = "https://files.pythonhosted.org/packages/84/47/f4f2da67db202bacc3fa578fdebdb916f45c97bee0c3d2c5fbe845a6f129/comma_deps_libusb-1.0.29.post93-py3-none-manylinux_2_28_x86_64.whl", hash = "sha256:f136dbbfc461d228378731361cc66a90a483e17d55f8ba43f23eeab6bcf41963", size = 93461, upload-time = "2026-07-08T19:32:26.434Z" },
+    { url = "https://files.pythonhosted.org/packages/ba/9a/3f4f374fb5cbc70da69e0da643d9af2f8507b2cd25af4359df4e09616eb7/comma_deps_libusb-1.0.29.post96-py3-none-macosx_11_0_arm64.whl", hash = "sha256:0b538bed71a8ff576528789596128f108cbec04f3340b977ebd473dc4fa0d931", size = 102339, upload-time = "2026-07-09T03:32:31.631Z" },
+    { url = "https://files.pythonhosted.org/packages/43/eb/0f75ad8a0685d9acc12aa577e2be62b9aab1b4984db505800c3978bfca99/comma_deps_libusb-1.0.29.post96-py3-none-manylinux_2_28_aarch64.whl", hash = "sha256:f3085ea40e88c4167563d3fcec6841ea3cbd4394ec42846d44877f49de8e8be1", size = 94434, upload-time = "2026-07-09T03:32:35.092Z" },
+    { url = "https://files.pythonhosted.org/packages/f8/a6/9cc0d37d352333a23dd6d3d1b47db90ea44d1f7eac842affdc2e3824d24b/comma_deps_libusb-1.0.29.post96-py3-none-manylinux_2_28_x86_64.whl", hash = "sha256:908b17b8f02c7c9209bf0dd5f59303bc29454682f1dd404d9344190b66a335c4", size = 93461, upload-time = "2026-07-09T03:32:38.253Z" },
 ]

 [[package]]
 name = "comma-deps-ncurses"
-version = "6.5.post93"
+version = "6.5.post96"
 source = { registry = "https://pypi.org/simple" }
 wheels = [
-    { url = "https://files.pythonhosted.org/packages/1c/3d/f85c036037e9d72c8cc444a1613ae8ca6967c0997148fbc8c03b8cdeb21c/comma_deps_ncurses-6.5.post93-py3-none-macosx_11_0_arm64.whl", hash = "sha256:0fbc94bdb42577389ec9e475deb7425f027b4e6a097b7b326ee0ee3ecb4c26ff", size = 264892, upload-time = "2026-07-08T22:08:58.325Z" },
-    { url = "https://files.pythonhosted.org/packages/f4/da/13881cefe9ca963665a57f066683fd9995c15349839f0268686741942cd7/comma_deps_ncurses-6.5.post93-py3-none-manylinux_2_28_aarch64.whl", hash = "sha256:a8786c9e7693fbe235044ed068292ddae1e8c25e9cc3ffba9364c233b6df9f9c", size = 260837, upload-time = "2026-07-08T22:09:02.514Z" },
-    { url = "https://files.pythonhosted.org/packages/11/98/6a278e4436ca901c084ae111dc23f064e3eb5f64481dc970111aff8a91fd/comma_deps_ncurses-6.5.post93-py3-none-manylinux_2_28_x86_64.whl", hash = "sha256:1de1011e71833d46d545a0d64150316f980385d13731eb138f9fc53642942c55", size = 248341, upload-time = "2026-07-08T22:09:06.591Z" },
+    { url = "https://files.pythonhosted.org/packages/7d/9f/3eaa0d6477ee6a0b130549792eb660dd20f5f5b9665037f247792005f98c/comma_deps_ncurses-6.5.post96-py3-none-macosx_11_0_arm64.whl", hash = "sha256:57d540ff70449ad6af3a08586a6acaccbe05f2d12a689afc8f19180f79ad6bf1", size = 264904, upload-time = "2026-07-09T03:32:41.581Z" },
+    { url = "https://files.pythonhosted.org/packages/8b/84/4a16be38a057031f365bdff9a6b51ce6eccf1f7610d5296a244ddfe45147/comma_deps_ncurses-6.5.post96-py3-none-manylinux_2_28_aarch64.whl", hash = "sha256:b3b37f6317ecafcbf3f500a64d97b9120f2a273ce0acc6ff2eb1962b085a3fcd", size = 260830, upload-time = "2026-07-09T03:32:45.526Z" },
+    { url = "https://files.pythonhosted.org/packages/75/55/0a36c958f9fdb78d6f0e0e6aeec061ead04505d2eaaecde7e3da9872e25d/comma_deps_ncurses-6.5.post96-py3-none-manylinux_2_28_x86_64.whl", hash = "sha256:226846f91d475fdb3eaf149e5f2f54acf1f4e8a8add84d877f4e096fb7465b57", size = 248341, upload-time = "2026-07-09T03:32:48.841Z" },
 ]

 [[package]]
 name = "comma-deps-raylib"
-version = "6.0.0.1.post93"
+version = "6.0.0.1.post96"
 source = { registry = "https://pypi.org/simple" }
 dependencies = [
    { name = "cffi" },
 ]
 wheels = [
-    { url = "https://files.pythonhosted.org/packages/ee/5a/1abdc781fc242e0db517e22c53fa676fc81b76344c5d6c86677bdd5d6a9a/comma_deps_raylib-6.0.0.1.post93-py3-none-macosx_11_0_arm64.whl", hash = "sha256:ef4dbc7036e4449f9ee029cec077c23f64975b55b60cce0be818b70640c1732a", size = 2004199, upload-time = "2026-07-08T22:09:10.731Z" },
-    { url = "https://files.pythonhosted.org/packages/79/90/919fd98aa72c8c1d31e657abc0bc28b3933d7408f4dc8ccbb7272ef638a9/comma_deps_raylib-6.0.0.1.post93-py3-none-manylinux_2_28_aarch64.whl", hash = "sha256:a64f2a77ad55b05350ed4301f3a1a814176810d1d408c77bdbaa1bd5a3ab5135", size = 7203010, upload-time = "2026-07-08T22:09:15.323Z" },
-    { url = "https://files.pythonhosted.org/packages/ef/b6/419b387b132efe43ace20dced9852448f36195d71d1305fccfd5e0617083/comma_deps_raylib-6.0.0.1.post93-py3-none-manylinux_2_28_x86_64.whl", hash = "sha256:11bf076441b636434bc76a00b2e349c22a825e0b83416a4fb3dd4b8217638f8a", size = 5055450, upload-time = "2026-07-08T22:09:19.844Z" },
+    { url = "https://files.pythonhosted.org/packages/02/ac/94f0ddf2650163acb40bd697012609a88ee704f10da8184da46f582b0d04/comma_deps_raylib-6.0.0.1.post96-py3-none-macosx_11_0_arm64.whl", hash = "sha256:d27a64ac11e6dfe70cd6995e8f64e5562b6f9700765edeedef70f191f71394a7", size = 2004195, upload-time = "2026-07-09T03:32:52.276Z" },
+    { url = "https://files.pythonhosted.org/packages/5d/e2/02bb9b27470b6c4d05ccb6874bbad32f4a8b2d5dbe71562e05ee50229d94/comma_deps_raylib-6.0.0.1.post96-py3-none-manylinux_2_28_aarch64.whl", hash = "sha256:204f2711af9c99e8d35edac3d00b7621bbbd9ac42c2214f91f308dd375328ee2", size = 7203031, upload-time = "2026-07-09T03:32:56.103Z" },
+    { url = "https://files.pythonhosted.org/packages/7f/0e/00f08ad617a38aeaf182234ed0fe6a6646ac329765bfad74700b6fd8e853/comma_deps_raylib-6.0.0.1.post96-py3-none-manylinux_2_28_x86_64.whl", hash = "sha256:f087ecb952b9c0bf667bfa23916c5122a40191b6a5c95587de6277ff712f6bc9", size = 5055451, upload-time = "2026-07-09T03:33:00.009Z" },
 ]

 [[package]]
 name = "comma-deps-zeromq"
-version = "4.3.5.post93"
+version = "4.3.5.post96"
 source = { registry = "https://pypi.org/simple" }
 wheels = [
-    { url = "https://files.pythonhosted.org/packages/fb/6f/d50752a3a6f6ecd4b4289bf76090fd35c11ac8d4b9353534e91e9a640512/comma_deps_zeromq-4.3.5.post93-py3-none-macosx_11_0_arm64.whl", hash = "sha256:b5951b302ec3db7ad3638161af00dff6ad1d8e0272aa242a0b57d692a093bacc", size = 815166, upload-time = "2026-07-08T22:09:24.48Z" },
-    { url = "https://files.pythonhosted.org/packages/57/24/0fa08db746438533a67e44886bffb1cd7e2a587c68d57fba745e84036965/comma_deps_zeromq-4.3.5.post93-py3-none-manylinux_2_28_aarch64.whl", hash = "sha256:a7d4813155ea13548158204a60e6a37e2dedfcf7ae34cbb78491474ac784ac24", size = 833412, upload-time = "2026-07-08T22:09:28.872Z" },
-    { url = "https://files.pythonhosted.org/packages/c5/83/9083466d8269bf273a7ff4ff154fbcd300a8d9c79ca7754fb98215caf602/comma_deps_zeromq-4.3.5.post93-py3-none-manylinux_2_28_x86_64.whl", hash = "sha256:378f121eea1084c7cd45ee73c3dbc437e3d07547e8333d230174711e963f958d", size = 798729, upload-time = "2026-07-08T22:09:32.859Z" },
+    { url = "https://files.pythonhosted.org/packages/6f/14/7156c631b7370ebe44d1668ad869827eaa195526809d5da3592cb2080f58/comma_deps_zeromq-4.3.5.post96-py3-none-macosx_11_0_arm64.whl", hash = "sha256:6d28e28a149a303fed3682c1d2e509e193037aea67f75e335533224221d3e3dd", size = 815110, upload-time = "2026-07-09T03:33:03.804Z" },
+    { url = "https://files.pythonhosted.org/packages/85/b9/8d97fbe1837576460bc7b84bc9127d82244e9184fb782d0c9c4aab020d84/comma_deps_zeromq-4.3.5.post96-py3-none-manylinux_2_28_aarch64.whl", hash = "sha256:a8eca17a1235b666200517abb9ebf79767648a08e17325546d536782fbcdcea0", size = 833436, upload-time = "2026-07-09T03:33:07.382Z" },
+    { url = "https://files.pythonhosted.org/packages/d9/fd/8f0b9e54d45f797f4e677b92339791448a4c17fb2ba23434e2a88417374f/comma_deps_zeromq-4.3.5.post96-py3-none-manylinux_2_28_x86_64.whl", hash = "sha256:c3d900ba3fbe177cf18975d4218760b7719dd65c9a9c098de6fb43fee2c278fe", size = 798757, upload-time = "2026-07-09T03:33:10.925Z" },
 ]

 [[package]]
 name = "comma-deps-zstd"
-version = "1.5.6.post93"
+version = "1.5.6.post96"
 source = { registry = "https://pypi.org/simple" }
 wheels = [
-    { url = "https://files.pythonhosted.org/packages/b4/32/e62e39d77d356675b07fa0c03286d3f5620bb39fe8619285bfaf3c085f6b/comma_deps_zstd-1.5.6.post93-py3-none-macosx_11_0_arm64.whl", hash = "sha256:9c40c10fa541c5ed975a06327f4e5cc5fe380d49c50fd2899f367c52e0d535a1", size = 1065092, upload-time = "2026-07-08T22:09:37.023Z" },
-    { url = "https://files.pythonhosted.org/packages/a8/f9/80e530ffed74b767591e50367dd51413c99e8aa10a975745086f2f10eac8/comma_deps_zstd-1.5.6.post93-py3-none-manylinux_2_28_aarch64.whl", hash = "sha256:3a1da859191a9b4c778498afdaa80a7000e5967d4851d827e422c467aa159f9a", size = 1006181, upload-time = "2026-07-08T22:09:41.332Z" },
-    { url = "https://files.pythonhosted.org/packages/ad/b1/5b544af0a50235b1efe9a9de469180ded30814feb8e6a2cd89d4064f995e/comma_deps_zstd-1.5.6.post93-py3-none-manylinux_2_28_x86_64.whl", hash = "sha256:fe85e5fd24ac81964cac30ad04327ae157b5976a69725604ec960e773f06a9a8", size = 1030331, upload-time = "2026-07-08T22:09:45.535Z" },
+    { url = "https://files.pythonhosted.org/packages/8b/62/b6d2fc8c5691ab61739e725f7b334557846934aef0c5bf6d0269dee3b6fc/comma_deps_zstd-1.5.6.post96-py3-none-macosx_11_0_arm64.whl", hash = "sha256:22a98c67e289970e6dc6eb3e7c3b9ac8f589f5b0a59818f2e80348d114ec7059", size = 1065138, upload-time = "2026-07-09T03:33:14.3Z" },
+    { url = "https://files.pythonhosted.org/packages/91/7e/37ca1ba7019d3fd3ed0f93506de543458a50640263f79d12fb7f2283acdd/comma_deps_zstd-1.5.6.post96-py3-none-manylinux_2_28_aarch64.whl", hash = "sha256:ce286d1c4a43513766bcd713cd625d24e43e99850451e7502f9fb4bda19675da", size = 1006163, upload-time = "2026-07-09T03:33:18.216Z" },
+    { url = "https://files.pythonhosted.org/packages/5f/6b/23fbbaaf0523aa28d52b221d62540fb5207ff4af9a786e8143970330f4ef/comma_deps_zstd-1.5.6.post96-py3-none-manylinux_2_28_x86_64.whl", hash = "sha256:f6d2a8b974cbdf49aae50bba6437c62f2ce8e94a38c516467066b7d67b674da3", size = 1030318, upload-time = "2026-07-09T03:33:21.714Z" },
 ]

 [[package]]
@@ -394,26 +393,26 @@ wheels = [

 [[package]]
 name = "coverage"
-version = "7.15.0"
+version = "7.15.2"
 source = { registry = "https://pypi.org/simple" }
-sdist = { url = "https://files.pythonhosted.org/packages/cc/8b/adeb62ea8951f13c4c7fef2e7a85e1a06b499c8d8237ea589d496029e53f/coverage-7.15.0.tar.gz", hash = "sha256:9ac3fe7a1435986463eaa8ee253ae2f2a268709ba4ae5c7dd1f52a05391ad78f", size = 925362, upload-time = "2026-07-02T13:10:50.535Z" }
+sdist = { url = "https://files.pythonhosted.org/packages/76/d0/55fe630f4cf94e3fcba868240fad8c8cdd1f764e2a932f8926347e6ec4cd/coverage-7.15.2.tar.gz", hash = "sha256:3df60dc267f0a2ca23cb7a9ab1109c62b9335ffbf519fcfe167157c28c09b81d", size = 927741, upload-time = "2026-07-15T18:56:19.558Z" }
 wheels = [
-    { url = "https://files.pythonhosted.org/packages/2a/74/fd4c0901137c4f8d81a76ada99e43c65163b4c94a02ece107a4ec0c6b615/coverage-7.15.0-cp312-cp312-macosx_10_13_x86_64.whl", hash = "sha256:b75ee5e8cb7575636ac598719b4307ac529ec8fcd79608a35c3cd4d4dada812d", size = 220838, upload-time = "2026-07-02T13:09:02.084Z" },
-    { url = "https://files.pythonhosted.org/packages/0f/2e/2347583467bd7f0402635101a916961915cc68fce652cd0db5f173ea04fc/coverage-7.15.0-cp312-cp312-macosx_11_0_arm64.whl", hash = "sha256:ffb31267816b93b075302248cc1737506081b4f163df4401e9df1a6424aafabe", size = 221197, upload-time = "2026-07-02T13:09:03.617Z" },
-    { url = "https://files.pythonhosted.org/packages/f0/17/99fa688541ae1d6e84543a0e544f83de0c944815b63e9e7b1ed411d15036/coverage-7.15.0-cp312-cp312-manylinux1_i686.manylinux_2_28_i686.manylinux_2_5_i686.whl", hash = "sha256:e4d0bb73455bf97ab243a8f12c37c686ccf1c13bb614b7b85f1d062f06f42b2c", size = 252705, upload-time = "2026-07-02T13:09:05.059Z" },
-    { url = "https://files.pythonhosted.org/packages/fb/02/6a95a5cd83b74839017ef9cf48d2d8c9ae60af919e17a3f336e6f9f1b7bd/coverage-7.15.0-cp312-cp312-manylinux1_x86_64.manylinux_2_28_x86_64.manylinux_2_5_x86_64.whl", hash = "sha256:20d9ccc4ebd0edc434d86dfd2a1dd2a8efa6b6b3073d0485a394fee86459ebb4", size = 255441, upload-time = "2026-07-02T13:09:06.559Z" },
-    { url = "https://files.pythonhosted.org/packages/67/f2/406f6c57d600f68185942422c4c00f1a3255d60aee6e5fd961425cd9987e/coverage-7.15.0-cp312-cp312-manylinux2014_aarch64.manylinux_2_17_aarch64.manylinux_2_28_aarch64.whl", hash = "sha256:20c8a976c365c8cb12f0cbd099508772ea41fb5fa80657a8506df0e11bd278c5", size = 256556, upload-time = "2026-07-02T13:09:08.197Z" },
-    { url = "https://files.pythonhosted.org/packages/74/8e/d3fa48489c15ecdec1ba48fd61f68798555dddd2f6716f9ad42adeb1a2a9/coverage-7.15.0-cp312-cp312-manylinux2014_ppc64le.manylinux_2_17_ppc64le.manylinux_2_28_ppc64le.whl", hash = "sha256:f948fd5ba1b9cbca91f0ae08b4c1ce2b139509149a435e2585d056d57d70bf01", size = 258815, upload-time = "2026-07-02T13:09:09.691Z" },
-    { url = "https://files.pythonhosted.org/packages/47/2e/2d40ddd110462c6a2769677cf7f1c119a52b45f568978fc6c98e4cc0dd0f/coverage-7.15.0-cp312-cp312-manylinux_2_31_riscv64.manylinux_2_39_riscv64.whl", hash = "sha256:f58185f06edf6ad68ec9fb155d63ef650c82f3fbd7e1770e2867751fb13158f4", size = 253117, upload-time = "2026-07-02T13:09:11.212Z" },
-    { url = "https://files.pythonhosted.org/packages/51/c0/310782f0d7c3cb2b5ac05ba8d205fe91f24a36f6bf3256098f1782181c38/coverage-7.15.0-cp312-cp312-musllinux_1_2_aarch64.whl", hash = "sha256:02adc79a920c73c647c5d117f55747df7f2de94571884758ce8bc58e04f0a796", size = 254475, upload-time = "2026-07-02T13:09:13.029Z" },
-    { url = "https://files.pythonhosted.org/packages/86/f7/702da6c275f8ae6ade423d2877243122932c9b27f5403003b9ef8c927d12/coverage-7.15.0-cp312-cp312-musllinux_1_2_i686.whl", hash = "sha256:6eb7c300fbed667fd6e3588eba71c1904cdb06110ca6fdf908c26bdd88b8e382", size = 252619, upload-time = "2026-07-02T13:09:14.699Z" },
-    { url = "https://files.pythonhosted.org/packages/fb/84/c5b15a7e5ecba4e56218d772d99fe80a63e63f8d11f12783723a6005ab45/coverage-7.15.0-cp312-cp312-musllinux_1_2_ppc64le.whl", hash = "sha256:b5fb23fa2de9dce1f5c36c09066d8fcda16cd96e8e26686caa2d7cb9b567d65c", size = 256689, upload-time = "2026-07-02T13:09:16.103Z" },
-    { url = "https://files.pythonhosted.org/packages/95/2f/c8b07559b57701230c61b23a953858c052890c12ef568d81780c6c46e92e/coverage-7.15.0-cp312-cp312-musllinux_1_2_riscv64.whl", hash = "sha256:cec79341dbe6281484024979976d0c7f22beae08b4a254655decd25d42cbe766", size = 252189, upload-time = "2026-07-02T13:09:17.828Z" },
-    { url = "https://files.pythonhosted.org/packages/6b/80/6d2f049dd3fd3dbfd60b62ba6b2162a04009e2c002ce70b24cf3878dec7a/coverage-7.15.0-cp312-cp312-musllinux_1_2_x86_64.whl", hash = "sha256:6c664c5444b1d970b1b2a450e21fb19ee5c9cfdf151ded2dda37260031cca0da", size = 254059, upload-time = "2026-07-02T13:09:19.304Z" },
-    { url = "https://files.pythonhosted.org/packages/ce/92/b0287a2c42031d25c628f815f89a3cd9f8268ee78bb1252c9356cda1c689/coverage-7.15.0-cp312-cp312-win32.whl", hash = "sha256:5f764a3fa339bde6b3aa97657f5a6a3a9451e4a5b4ea98a2892c773a43525f77", size = 222893, upload-time = "2026-07-02T13:09:20.812Z" },
-    { url = "https://files.pythonhosted.org/packages/a9/69/e34c481915fecb499b3146975061dac528752e37706edc1804f32c822469/coverage-7.15.0-cp312-cp312-win_amd64.whl", hash = "sha256:52f9a4d2c4c56c8848bc2f524916698354b0211488b38c49ad9ae54f6cafbff6", size = 223429, upload-time = "2026-07-02T13:09:22.315Z" },
-    { url = "https://files.pythonhosted.org/packages/fe/98/6e878f0b571d32684ef3f38d7c03db241ca5b82a5da8a5391596a8f209c4/coverage-7.15.0-cp312-cp312-win_arm64.whl", hash = "sha256:31e5c3e70c85307ea35a12964e2e40f56ca2ee4b1c8c721ccf4609d17071080b", size = 222810, upload-time = "2026-07-02T13:09:23.812Z" },
-    { url = "https://files.pythonhosted.org/packages/52/30/21b2ad45959cd50e909e02ebac1e30b4ceb7162e91c11d4c570223a458b7/coverage-7.15.0-py3-none-any.whl", hash = "sha256:56da6a4cbe8f7e9e80bd072ca9cefe67d7106a440a7ec06519ec6507ac94ad19", size = 212632, upload-time = "2026-07-02T13:10:48.641Z" },
+    { url = "https://files.pythonhosted.org/packages/6a/50/eb5bf42e531611a9f8d272556b1ed4de503f84a91413584094487cf69f8f/coverage-7.15.2-cp312-cp312-macosx_10_13_x86_64.whl", hash = "sha256:1adac78e5abc7c5438f7a209c9ca69d06542f0bf481d728b6989ea80b813fdf9", size = 221587, upload-time = "2026-07-15T18:54:18.439Z" },
+    { url = "https://files.pythonhosted.org/packages/06/d1/da99af464c335d4e023a6efcd7ec30f63b88a43c93745154ab74ffb31cea/coverage-7.15.2-cp312-cp312-macosx_11_0_arm64.whl", hash = "sha256:b868acc62aa5de3be7a9d05c2333bf8359ca987e43f9cb30ff8fbda6a024ab73", size = 221943, upload-time = "2026-07-15T18:54:20.062Z" },
+    { url = "https://files.pythonhosted.org/packages/5b/8a/13c42723d61ca447eafa18732e8141dd6a63f2732e1c7e1502c182dd88d7/coverage-7.15.2-cp312-cp312-manylinux1_i686.manylinux_2_28_i686.manylinux_2_5_i686.whl", hash = "sha256:6f6966fc30e6f06ca8f98fb0ce51eda6b111b3ee8d066a8b1ec9e77fa06ab55d", size = 253450, upload-time = "2026-07-15T18:54:21.765Z" },
+    { url = "https://files.pythonhosted.org/packages/d7/29/99021303f98fbdcb63504b4d07bea4cc025b9b2dd907c4f07c85d50a0dab/coverage-7.15.2-cp312-cp312-manylinux1_x86_64.manylinux_2_28_x86_64.manylinux_2_5_x86_64.whl", hash = "sha256:68af907f595ab01a78f794932ff3bdf929c316d3000810d38dbc247129e26f8b", size = 256187, upload-time = "2026-07-15T18:54:23.4Z" },
+    { url = "https://files.pythonhosted.org/packages/f9/a8/fd503715ed6ca9c5d742923aa5209257340b367a867b2ced0c7d4ba8a0b9/coverage-7.15.2-cp312-cp312-manylinux2014_aarch64.manylinux_2_17_aarch64.manylinux_2_28_aarch64.whl", hash = "sha256:afa29e2eff3d5729267e2cb2fd4ce9d61c952932fb2694e34ccb5d9540c6a296", size = 257301, upload-time = "2026-07-15T18:54:25.183Z" },
+    { url = "https://files.pythonhosted.org/packages/da/40/3f4b8fb409810036ebc2857d36adc0498c6e957b5df0290c5036b2e143f1/coverage-7.15.2-cp312-cp312-manylinux2014_ppc64le.manylinux_2_17_ppc64le.manylinux_2_28_ppc64le.whl", hash = "sha256:bbf44513ceb1589e31948e20eafbde9deaface90e1a1afa5f5f77b4423d17ce6", size = 259562, upload-time = "2026-07-15T18:54:27.204Z" },
+    { url = "https://files.pythonhosted.org/packages/0b/8a/9bdffbef47db77cce3d6b02a28f7e919b19f0106c4b080c2c2246040f885/coverage-7.15.2-cp312-cp312-manylinux_2_31_riscv64.manylinux_2_39_riscv64.whl", hash = "sha256:9deddf09eecb717b7f980414b43d90a5b22ff3967d2949ab29cb0aa83d9e9098", size = 253841, upload-time = "2026-07-15T18:54:29.134Z" },
+    { url = "https://files.pythonhosted.org/packages/1b/1e/9031efde019d31a06646261fce6dfc5c3c74e951e27a71e5c9a424563178/coverage-7.15.2-cp312-cp312-musllinux_1_2_aarch64.whl", hash = "sha256:ae901f7e55ba405c84ee1cab3d3e962e4e871e4a2bcb9c90911adbd69b42ac5a", size = 255221, upload-time = "2026-07-15T18:54:31.142Z" },
+    { url = "https://files.pythonhosted.org/packages/56/db/787acde872389fc84a9ef9d8cd1ccc658e391ab4cb5b28092a714426a394/coverage-7.15.2-cp312-cp312-musllinux_1_2_i686.whl", hash = "sha256:a0f47002c6eeb7c280228467a4cb0cc15ca2103a8421b986b2d3ec04a0f9bd8b", size = 253366, upload-time = "2026-07-15T18:54:32.886Z" },
+    { url = "https://files.pythonhosted.org/packages/2f/9b/6f57bc4b93c842eef1695f8cdaf2318e35e7ba54f5ba80d84be213ab7858/coverage-7.15.2-cp312-cp312-musllinux_1_2_ppc64le.whl", hash = "sha256:1cd7a5beb7af3e864a13b1f0fb26efd3695da43ef0daf71e586adfffaf34d5b2", size = 257434, upload-time = "2026-07-15T18:54:34.7Z" },
+    { url = "https://files.pythonhosted.org/packages/88/26/b3186a21b2acc83e451118978905c81c7072c3333707804db09a78c096a2/coverage-7.15.2-cp312-cp312-musllinux_1_2_riscv64.whl", hash = "sha256:97a5c5457a9fb1d6c4e06cfb5dc835871fbfb6a6a51addc9e925bdeff5ef7440", size = 252935, upload-time = "2026-07-15T18:54:36.548Z" },
+    { url = "https://files.pythonhosted.org/packages/20/c2/c9f3376b2e717ea69ed7a6e9a5fcab968fb0b290db6cf4bd9a1fc7541b75/coverage-7.15.2-cp312-cp312-musllinux_1_2_x86_64.whl", hash = "sha256:0901cfe6c13bcd2302da4f83e884555d2a22bda6e4c476f09ef204ba20ca536e", size = 254807, upload-time = "2026-07-15T18:54:38.296Z" },
+    { url = "https://files.pythonhosted.org/packages/f0/e1/dfc15401f4a8aaeb486e1ba3e9e3c40522a6e38bd0ecf0b3f29cb8082957/coverage-7.15.2-cp312-cp312-win32.whl", hash = "sha256:b171bdd71cb7ff792bf32e376173b0ace7e7963e7e57c58dfc42063a6a7174cd", size = 223641, upload-time = "2026-07-15T18:54:40.103Z" },
+    { url = "https://files.pythonhosted.org/packages/91/40/81b6d809d320cd366ec5bdf8176575e897dcb8efe7fb4b489ef9e93e4d13/coverage-7.15.2-cp312-cp312-win_amd64.whl", hash = "sha256:582edc45c2040543fef83341be23c43024a3ab3ae0c2d8bc498a06282905ad40", size = 224172, upload-time = "2026-07-15T18:54:41.882Z" },
+    { url = "https://files.pythonhosted.org/packages/ef/28/9f14ec438149f7de557f45518f09b4a7917b795cc37083aa7db482693f8c/coverage-7.15.2-cp312-cp312-win_arm64.whl", hash = "sha256:a638db90c61cd219aeee65e83a24fdaa57269a741ae0cf773309208ac862cee3", size = 223556, upload-time = "2026-07-15T18:54:43.674Z" },
+    { url = "https://files.pythonhosted.org/packages/ec/82/32e3bd191d498e64f6f911ad55d14006a0861e54869d2d32452326399e65/coverage-7.15.2-py3-none-any.whl", hash = "sha256:eb6bcae8d1a9d305351ecb108232441d11c5cfe9de840a04388ba5d2db8d735c", size = 213375, upload-time = "2026-07-15T18:56:17.305Z" },
 ]

 [[package]]
@@ -731,7 +730,7 @@ wheels = [

 [[package]]
 name = "matplotlib"
-version = "3.11.0"
+version = "3.11.1"
 source = { registry = "https://pypi.org/simple" }
 dependencies = [
    { name = "contourpy" },
@@ -744,15 +743,15 @@ dependencies = [
    { name = "pyparsing" },
    { name = "python-dateutil" },
 ]
-sdist = { url = "https://files.pythonhosted.org/packages/1f/24/080c99d223d158d3a8902769269ab6da5b50f7a0e6e072513907e02b7a6c/matplotlib-3.11.0.tar.gz", hash = "sha256:68c0c7be01b30dcca3638934f7f591df73401235cbdbf0d1ab1c71e7db7f8b57", size = 33251176, upload-time = "2026-06-12T02:29:15.508Z" }
+sdist = { url = "https://files.pythonhosted.org/packages/49/64/f9a391af28f518b11ad45a8a712353c94a0aefce09d3703200e5c54b610a/matplotlib-3.11.1.tar.gz", hash = "sha256:69647db5746941c793d6e445a4cd349323ffb87d9cc958c2ad84a659b4832d30", size = 32612045, upload-time = "2026-07-18T03:39:46.63Z" }
 wheels = [
-    { url = "https://files.pythonhosted.org/packages/da/17/f5276b496c61477a6c4fc5e7401f4bfe1c2e5ef7c6cd67896f2ade3809cb/matplotlib-3.11.0-cp312-cp312-macosx_10_13_x86_64.whl", hash = "sha256:06b5872e9cf11adc8f589ded3ce11bc3e1061ad498259664fabc1f6615beb918", size = 9449976, upload-time = "2026-06-12T02:27:50.989Z" },
-    { url = "https://files.pythonhosted.org/packages/82/34/bdd77418adb2178a1d59f044bd67bfebb115896e91b840b8a197eb3f4f4e/matplotlib-3.11.0-cp312-cp312-macosx_11_0_arm64.whl", hash = "sha256:0515d495124be3124340e59f164d901ed4484e2246a5b74cfa483cac3b80bd97", size = 9279307, upload-time = "2026-06-12T02:27:53.247Z" },
-    { url = "https://files.pythonhosted.org/packages/94/95/7f522393c88313336b20d70fc849555757b2e5febc22b83b3a3f0fd4bce9/matplotlib-3.11.0-cp312-cp312-manylinux2014_x86_64.manylinux_2_17_x86_64.whl", hash = "sha256:be5f93a1d21981bfb802ded0d77a0caa92d4342a47d45754fac77e314a506344", size = 10031353, upload-time = "2026-06-12T02:27:55.215Z" },
-    { url = "https://files.pythonhosted.org/packages/87/ce/8f25a0e3186aefd61913e7467d1b999465bcd0d0c03ac695c1b26ca559b7/matplotlib-3.11.0-cp312-cp312-manylinux_2_26_aarch64.manylinux_2_28_aarch64.whl", hash = "sha256:41635d7909d19e52e924a521dde6d8f670b0f53ab1d0e8c331fa831554f681d1", size = 10839232, upload-time = "2026-06-12T02:27:57.746Z" },
-    { url = "https://files.pythonhosted.org/packages/85/c2/db15da2bbdf9e3ca66df7db8e2c33a1dfed67be24a24d2c878efaaff01d6/matplotlib-3.11.0-cp312-cp312-musllinux_1_2_x86_64.whl", hash = "sha256:94f5000f67ca9faa300863ea17f8bce9175cb67b88bec4bc7780502d53dd7c9e", size = 10923899, upload-time = "2026-06-12T02:28:00.223Z" },
-    { url = "https://files.pythonhosted.org/packages/e5/2f/a58a4443a4d052a4ea77557478336aefc26c7981f6408d37adba763aa758/matplotlib-3.11.0-cp312-cp312-win_amd64.whl", hash = "sha256:ac6f1ef39f3d0f9e2463303013094992cdbe0f85f43bc54155bc472b2042768e", size = 9329528, upload-time = "2026-06-12T02:28:02.27Z" },
-    { url = "https://files.pythonhosted.org/packages/61/0f/4b669589d47733b97ab9df4b58d6fc1e68acb5ea42a928dc7cbdd6bf5871/matplotlib-3.11.0-cp312-cp312-win_arm64.whl", hash = "sha256:9dd11fb612ce7bc60b1de5b4fc87ff959d22317b5de42aabf392f66f97af22eb", size = 9003413, upload-time = "2026-06-12T02:28:04.49Z" },
+    { url = "https://files.pythonhosted.org/packages/f2/6c/7ef7ebcb2bd9739b2b66b18b076e077f44bb46fdbe28ca0506edb3c62c79/matplotlib-3.11.1-cp312-cp312-macosx_10_13_x86_64.whl", hash = "sha256:e15ef41507f3d525f46154ac9e3ae785dacde9f20e593a25de8986267892ef74", size = 9453849, upload-time = "2026-07-18T03:38:19.593Z" },
+    { url = "https://files.pythonhosted.org/packages/eb/f8/6d0c312c8d9738e7d9677f09fe5c986b3239e651a7b73a2deb38b65e4a71/matplotlib-3.11.1-cp312-cp312-macosx_11_0_arm64.whl", hash = "sha256:21a67b961a6d597bca54fae826cd20695ba4a6e4d05424a08da6e13e3176fd6b", size = 9283113, upload-time = "2026-07-18T03:38:21.95Z" },
+    { url = "https://files.pythonhosted.org/packages/c9/cf/b4ad2cc81b6672ea29ea04e64e350a9f9b493b0908ccd884c67eeff8f7b2/matplotlib-3.11.1-cp312-cp312-manylinux2014_x86_64.manylinux_2_17_x86_64.whl", hash = "sha256:ba8f811b8ddfac493734d6af0b2dff96919d0c28ca0d641858dab4262777c6ea", size = 10035615, upload-time = "2026-07-18T03:38:24.315Z" },
+    { url = "https://files.pythonhosted.org/packages/88/90/4e10e033d9b66589d8ed98b84c95cdbb57033d57c1f41339d7393dbd2f2e/matplotlib-3.11.1-cp312-cp312-manylinux_2_26_aarch64.manylinux_2_28_aarch64.whl", hash = "sha256:c52f7ad20ef476806ed212380b1d54d20310c8b86bdc2c9a68b51f0024a44472", size = 10842559, upload-time = "2026-07-18T03:38:26.285Z" },
+    { url = "https://files.pythonhosted.org/packages/88/eb/799612d0f8cd3e816a10fec59329fca52cd2353264df80378dfc541ae855/matplotlib-3.11.1-cp312-cp312-musllinux_1_2_x86_64.whl", hash = "sha256:8b14eb22961fe865efb0e4ff167e333e428908b00115a8d800ccb65ee108e481", size = 10927532, upload-time = "2026-07-18T03:38:28.532Z" },
+    { url = "https://files.pythonhosted.org/packages/88/89/56649bbaa2fd12e20f3be03dbcc135b0c8676d88bac17977599e3eb442a0/matplotlib-3.11.1-cp312-cp312-win_amd64.whl", hash = "sha256:88a2a27dd9691ae448dfae4b26f59036be90c3c28757edd3553a29559d00859f", size = 9333886, upload-time = "2026-07-18T03:38:30.477Z" },
+    { url = "https://files.pythonhosted.org/packages/c1/11/4d124efbbad677b7b7552f6f85a3bd432d4232f95400cea98fcd2ae36ef3/matplotlib-3.11.1-cp312-cp312-win_arm64.whl", hash = "sha256:480194afceca4df2f137c2721227d3cba67121fbf4397b69cee7f83714b0a58a", size = 9007545, upload-time = "2026-07-18T03:38:32.833Z" },
 ]

 [[package]]
@@ -814,21 +813,21 @@ wheels = [

 [[package]]
 name = "numpy"
-version = "2.5.0"
+version = "2.5.1"
 source = { registry = "https://pypi.org/simple" }
-sdist = { url = "https://files.pythonhosted.org/packages/e7/05/3d27272d30698dc0ecb7fdfaa41ad70303b444f81722bb99bce1d818638a/numpy-2.5.0.tar.gz", hash = "sha256:5a129578019311b6e56bdd714250f19b518f7dceeeb8d1af5490f4942d3f891c", size = 20652461, upload-time = "2026-06-21T20:57:51.95Z" }
+sdist = { url = "https://files.pythonhosted.org/packages/22/fd/89965aa4ac08c74998539fcbf24fa3540f3e15237fbeb6bcf9c908f4aade/numpy-2.5.1.tar.gz", hash = "sha256:a48a113e6afea91f5608793bafa7ef2ad481fefbda87ec5069f483de61cb9fa3", size = 20755553, upload-time = "2026-07-04T17:08:00.933Z" }
 wheels = [
-    { url = "https://files.pythonhosted.org/packages/fa/0a/11486d02add7b1384dff7374d124b1cfbb0ee864dcc9f6a2c0380638cf84/numpy-2.5.0-cp312-cp312-macosx_10_13_x86_64.whl", hash = "sha256:489780423903667933b4ed6197b6ec3b75ea5dd17d1d8f0f38d798feb6921561", size = 16789987, upload-time = "2026-06-21T20:56:16.657Z" },
-    { url = "https://files.pythonhosted.org/packages/55/b2/285f48640a181947b4587a3766d21ec1eaa7fea833d4b49957e09da467a2/numpy-2.5.0-cp312-cp312-macosx_11_0_arm64.whl", hash = "sha256:ece55976ced6bca95a03ae2839e2e5ccffe8eb6a3e7022415645eb154a81e4e6", size = 11760322, upload-time = "2026-06-21T20:56:19.813Z" },
-    { url = "https://files.pythonhosted.org/packages/dd/67/b032db1eb03ca30d16eda3b0c22aaa615338b9263c2fd559d0f29451aca4/numpy-2.5.0-cp312-cp312-macosx_14_0_arm64.whl", hash = "sha256:c83b664b0e6eee9594fa920cf0639d8af796606d3fad6cc70180c87e4b97c7be", size = 5319605, upload-time = "2026-06-21T20:56:22.173Z" },
-    { url = "https://files.pythonhosted.org/packages/b9/83/03fc7300c7c6b6c84c487b1dc80d322817b95fbd1f4dd57a85e23b7198de/numpy-2.5.0-cp312-cp312-macosx_14_0_x86_64.whl", hash = "sha256:bf80333980bf37f523341ddd72c783f39d6829ec7736b9eb99086388a2d52cc2", size = 6653628, upload-time = "2026-06-21T20:56:23.914Z" },
-    { url = "https://files.pythonhosted.org/packages/82/49/2ec21730bc63ccfda829323f7040a8ed4715b3852ce658689cf74ee96a8c/numpy-2.5.0-cp312-cp312-manylinux_2_27_aarch64.manylinux_2_28_aarch64.whl", hash = "sha256:a1a4874217b36d5ac8fc876f52e39df56f8182c88463e9e2dceabf7ca8b7efb8", size = 15153691, upload-time = "2026-06-21T20:56:25.631Z" },
-    { url = "https://files.pythonhosted.org/packages/bb/6b/f4a3d0637692c49da8ef99d72d52526f92e0a8d6ac4f0ca9f31441b9d9ea/numpy-2.5.0-cp312-cp312-manylinux_2_27_x86_64.manylinux_2_28_x86_64.whl", hash = "sha256:aaa760137137e8d3c920d27927748215b56014f92667dc9b6c27dfc61249255a", size = 16660066, upload-time = "2026-06-21T20:56:28.009Z" },
-    { url = "https://files.pythonhosted.org/packages/3a/2f/c354ec86d1f3f5c19649463b0d39652e160736e5b0a4cd18dff0576715c4/numpy-2.5.0-cp312-cp312-musllinux_1_2_aarch64.whl", hash = "sha256:7174ce8265fc7f7417d171c9ea8fe905220748893ea67a2a7abe726ec331c4b0", size = 16514638, upload-time = "2026-06-21T20:56:30.26Z" },
-    { url = "https://files.pythonhosted.org/packages/06/34/43efdcb319988648580f93c11f1ae82cf7e2faa74925e98e454ae3aa95f8/numpy-2.5.0-cp312-cp312-musllinux_1_2_x86_64.whl", hash = "sha256:b8c3daaf99de52415d20b42f8e8155c78642cb04207d02f9d317a0dcf1b3fb54", size = 18419647, upload-time = "2026-06-21T20:56:32.41Z" },
-    { url = "https://files.pythonhosted.org/packages/71/e2/f5d1676b1d7fb682eb5e9a1641e7ebd2414b3216c370661d1029778908b4/numpy-2.5.0-cp312-cp312-win32.whl", hash = "sha256:6206db0af545d73d068add6d992279145f158428d1da6cc49adc4b630c5d6ee5", size = 6056688, upload-time = "2026-06-21T20:56:34.657Z" },
-    { url = "https://files.pythonhosted.org/packages/8f/7c/48f115d1c58a34032facebcd51fdf2d02df2c51d4a46a81dd1197bb2ea6b/numpy-2.5.0-cp312-cp312-win_amd64.whl", hash = "sha256:6f2d6873e2940c860a309d21e25b1e69af6aaffdd80aa056b04c16380db1c4f2", size = 12419237, upload-time = "2026-06-21T20:56:36.24Z" },
-    { url = "https://files.pythonhosted.org/packages/86/26/2e0882f4044d1b1a1b63e875151fb2393389032022a8b7f5657a7996d3b2/numpy-2.5.0-cp312-cp312-win_arm64.whl", hash = "sha256:a55e1eb2bca2cfd17a16b213c99dfc8502d47b0d494224d2122277d0400935ca", size = 10339912, upload-time = "2026-06-21T20:56:38.733Z" },
+    { url = "https://files.pythonhosted.org/packages/62/7b/14687aa674250e5e546f616f486b0d56d3631cd5b2415739141ce40bdcea/numpy-2.5.1-cp312-cp312-macosx_10_13_x86_64.whl", hash = "sha256:2c889b56fe48b1018f764b0eec8df59ab654e9148aa91faa12596043500de277", size = 16801574, upload-time = "2026-07-04T17:06:12.423Z" },
+    { url = "https://files.pythonhosted.org/packages/e1/19/cc5bb2a3f2913d27d6dbb2c78d25921fabaedc6741d4a5a615a11f3c5bf3/numpy-2.5.1-cp312-cp312-macosx_11_0_arm64.whl", hash = "sha256:ab451b59c5643c570974c43aef780703ef1d3b4965d2be07afd530615a9358d1", size = 11772250, upload-time = "2026-07-04T17:06:15.726Z" },
+    { url = "https://files.pythonhosted.org/packages/42/77/fdf34a71dd30f54979b18603bee915e0aaf825b07afe79acd60b04b691e2/numpy-2.5.1-cp312-cp312-macosx_14_0_arm64.whl", hash = "sha256:78798bd5b9ad744056af8efa90e3b9ddaa53272a0848a483084a1cc0a13b2dc0", size = 5331516, upload-time = "2026-07-04T17:06:17.913Z" },
+    { url = "https://files.pythonhosted.org/packages/ce/e2/eb7efa015b4cce41e2517bf182a7fce0d7d5b9d9ed76a29bfa0f4fe4505c/numpy-2.5.1-cp312-cp312-macosx_14_0_x86_64.whl", hash = "sha256:2ae0ca40bcb22d6ba59c1dfd5446f49940b0f2d821fde133f10dda11f816b84e", size = 6664863, upload-time = "2026-07-04T17:06:20.02Z" },
+    { url = "https://files.pythonhosted.org/packages/a9/4b/a2b32dd94ee9ffbeecb28152240042a3949db33b1c834d44090b80e1b3b8/numpy-2.5.1-cp312-cp312-manylinux_2_27_aarch64.manylinux_2_28_aarch64.whl", hash = "sha256:61ac47e772e6b8ea489e1d2f441a34c5c3ac17327e7ce294cbdf535795ad4e75", size = 15167977, upload-time = "2026-07-04T17:06:21.621Z" },
+    { url = "https://files.pythonhosted.org/packages/b8/a9/6e73d68500f80773f65f0654ea932019d6694329a0eb0ed0533de38df376/numpy-2.5.1-cp312-cp312-manylinux_2_27_x86_64.manylinux_2_28_x86_64.whl", hash = "sha256:59fda5e192b570217ec2580c96f00e9a7e12ef6866a900eb089b62c1a32545ca", size = 16672469, upload-time = "2026-07-04T17:06:24.064Z" },
+    { url = "https://files.pythonhosted.org/packages/24/7d/ad3e59015135f5261c95fd4cafeff159c955febd83a99a1d9250c4233815/numpy-2.5.1-cp312-cp312-musllinux_1_2_aarch64.whl", hash = "sha256:f7119ebff1a9829e9f431a4f9d28e703023bb6b9fe7c8f724467dbfc27c94ab3", size = 16527531, upload-time = "2026-07-04T17:06:26.69Z" },
+    { url = "https://files.pythonhosted.org/packages/83/d0/a39b2fbcde9cb17a1dac678f254b33a6336298af9df338824c685425d5e8/numpy-2.5.1-cp312-cp312-musllinux_1_2_x86_64.whl", hash = "sha256:e824c2acf8862052246be5a44c15da1777940c60d010dd2aab897824d9c430f9", size = 18431940, upload-time = "2026-07-04T17:06:29.521Z" },
+    { url = "https://files.pythonhosted.org/packages/04/12/cff070947791c1ed425ff76413189adbdc2fbe215eba7ce7fa454a03c7f8/numpy-2.5.1-cp312-cp312-win32.whl", hash = "sha256:08d60c810432eb83360958dea0999ac4cfb94531ea8efcbf0b7f277c2068aeb2", size = 6066764, upload-time = "2026-07-04T17:06:32.571Z" },
+    { url = "https://files.pythonhosted.org/packages/65/66/53f31807a48a750f9d748da273bc3fcedd12b27ff1f3e373bfec55ef2dc0/numpy-2.5.1-cp312-cp312-win_amd64.whl", hash = "sha256:f7d60026c0bdb1380e83bfa7a0419c4577ee4b9a08880afcb6dadeb74c649fa2", size = 12430966, upload-time = "2026-07-04T17:06:34.926Z" },
+    { url = "https://files.pythonhosted.org/packages/2b/2a/d1a88066b1c14186f5d3c0d18c94f17b064511982bab0578d49ee9d43c29/numpy-2.5.1-cp312-cp312-win_arm64.whl", hash = "sha256:17a25e09640602e10bc8de0e6fa2b3fd68eedd84ba6d7842dc8f32f9ab87bd0b", size = 10350488, upload-time = "2026-07-04T17:06:37.785Z" },
 ]

 [[package]]
@@ -1032,6 +1031,7 @@ dependencies = [
    { name = "libusb-package" },
    { name = "libusb1" },
    { name = "opendbc" },
+    { name = "spidev", marker = "sys_platform == 'linux'" },
 ]

 [package.metadata]
@@ -1051,6 +1051,7 @@ requires-dist = [
    { name = "ruff", marker = "extra == 'dev'" },
    { name = "scons", marker = "extra == 'dev'" },
    { name = "setuptools", marker = "extra == 'dev'" },
+    { name = "spidev", marker = "sys_platform == 'linux'" },
 ]
 provides-extras = ["dev"]

@@ -1308,7 +1309,7 @@ wheels = [

 [[package]]
 name = "pytest-xdist"
-version = "3.7.1.dev24+g2b4372b"
+version = "3.7.1.dev24+g2b4372bd6"
 source = { git = "https://github.com/sshane/pytest-xdist?rev=2b4372bd62699fb412c4fe2f95bf9f01bd2018da#2b4372bd62699fb412c4fe2f95bf9f01bd2018da" }
 dependencies = [
    { name = "execnet" },
@@ -1433,27 +1434,27 @@ wheels = [

 [[package]]
 name = "ruff"
-version = "0.15.20"
+version = "0.15.22"
 source = { registry = "https://pypi.org/simple" }
-sdist = { url = "https://files.pythonhosted.org/packages/43/dc/35b341fc554ba02f217fc10da57d1a75168cfbcf75b0ef2202176d4c4f2d/ruff-0.15.20.tar.gz", hash = "sha256:1416eb04349192646b54de98f146c4f59afe37d0decfc02c3cbbf396f3a28566", size = 4755489, upload-time = "2026-06-25T17:20:37.578Z" }
+sdist = { url = "https://files.pythonhosted.org/packages/3a/06/ae069393fc66e8ff33036d4b368003833bf6e88ccf182e17e7a2f1c754fd/ruff-0.15.22.tar.gz", hash = "sha256:3f15175b1fb580126f58285a5dae6b2ea89000136d980c64499211f116b54809", size = 4785063, upload-time = "2026-07-16T15:14:13.244Z" }
 wheels = [
-    { url = "https://files.pythonhosted.org/packages/94/d9/2d5014f0253ba541d2061d9fa7193f48e941c8b21bb88a7ff9bbe0bd0596/ruff-0.15.20-py3-none-linux_armv6l.whl", hash = "sha256:00e188c53e499c3c1637f73c91dcf2fb56d576cab76ce1be50a27c4e80e37078", size = 10839665, upload-time = "2026-06-25T17:19:44.702Z" },
-    { url = "https://files.pythonhosted.org/packages/c6/d3/ac1798ba64f670698867fcfc591d50e7e421bef137db564858f619a30fcf/ruff-0.15.20-py3-none-macosx_10_12_x86_64.whl", hash = "sha256:9ebd1fd9b9c95fc0bd7b2761aebec1f030013d2e193a2901b224af68fe47251b", size = 11208649, upload-time = "2026-06-25T17:19:48.787Z" },
-    { url = "https://files.pythonhosted.org/packages/47/47/d3ac899991202095dfcf3d5176be4272642be3cf981a2f1a30f72a2afb95/ruff-0.15.20-py3-none-macosx_11_0_arm64.whl", hash = "sha256:c5b16cdd67ca108185cd36dce98c576350c03b1660a751de725fb049193a0632", size = 10622638, upload-time = "2026-06-25T17:19:51.354Z" },
-    { url = "https://files.pythonhosted.org/packages/33/13/4e043fe30aa94d4ff5213a9881fc296d12960f5971b234a5263fdc225312/ruff-0.15.20-py3-none-manylinux_2_17_aarch64.manylinux2014_aarch64.whl", hash = "sha256:3413bb3c3d2ca6a8208f1f4809cd2dca3c6de6d0b491c0e70847672bde6e6efd", size = 10984227, upload-time = "2026-06-25T17:19:54.044Z" },
-    { url = "https://files.pythonhosted.org/packages/76/e6/92e7bf40388bc5800073b96564f56264f7e48bfd1a498f5ced6ae6d5a769/ruff-0.15.20-py3-none-manylinux_2_17_armv7l.manylinux2014_armv7l.whl", hash = "sha256:bd7ec42b3bb3da066488db093308a69c4ac5ee6d2af333a86ba6e2eb2e7dd44b", size = 10622882, upload-time = "2026-06-25T17:19:57.037Z" },
-    { url = "https://files.pythonhosted.org/packages/13/7a/43460be3f24495a3aa46d4b16873e2c4941b3b5f0b00cf88c03b7b94b339/ruff-0.15.20-py3-none-manylinux_2_17_i686.manylinux2014_i686.whl", hash = "sha256:e1a36ad0eb77fba9aabfb69ede54de6f376d04ac18ebea022847046d340a8267", size = 11474808, upload-time = "2026-06-25T17:20:00.357Z" },
-    { url = "https://files.pythonhosted.org/packages/27/a0/f37077884873221c6b33b4ab49eb18f9f88e54a16a25a5bca59bef46dd66/ruff-0.15.20-py3-none-manylinux_2_17_ppc64le.manylinux2014_ppc64le.whl", hash = "sha256:b6df3b1e4610432f0386dba04d853b5f08cbbc903410c6fcc02f620f05aff53c", size = 12293094, upload-time = "2026-06-25T17:20:03.446Z" },
-    { url = "https://files.pythonhosted.org/packages/a6/74/165545b60256a9704c21ac0ec4a0d07933b320812f9584836c9f4aca4292/ruff-0.15.20-py3-none-manylinux_2_17_s390x.manylinux2014_s390x.whl", hash = "sha256:e89f198a1ea6ef0d727c1cf16088bc91a6cb0ab947dedc966715691647186eae", size = 11526176, upload-time = "2026-06-25T17:20:06.301Z" },
-    { url = "https://files.pythonhosted.org/packages/86/b1/a976a136d40ade83ce743578399865f57001003a409acadc0ecbb3051082/ruff-0.15.20-py3-none-manylinux_2_17_x86_64.manylinux2014_x86_64.whl", hash = "sha256:309809086c2acb67624950a3c8133e80f32d0d3e27106c0cd60ff26657c9f24b", size = 11520767, upload-time = "2026-06-25T17:20:09.191Z" },
-    { url = "https://files.pythonhosted.org/packages/19/0f/f032696cb01c9b54c0263fa393474d7758f1cdc021a01b04e3cbc2500999/ruff-0.15.20-py3-none-manylinux_2_31_riscv64.whl", hash = "sha256:2d2374caa2f2c2f9e2b7da0a50802cfb8b79f55a9b5e49379f564544fbf56487", size = 11500132, upload-time = "2026-06-25T17:20:13.602Z" },
-    { url = "https://files.pythonhosted.org/packages/4b/f4/51b1a14bc69e8c224b15dab9cce8e99b425e0455d462caa2b3c9be2b6a8e/ruff-0.15.20-py3-none-musllinux_1_2_aarch64.whl", hash = "sha256:a1ed17b65293e0c2f22fc387bc13198a5de94bf4429589b0ff6946b0feaf21a3", size = 10943828, upload-time = "2026-06-25T17:20:16.635Z" },
-    { url = "https://files.pythonhosted.org/packages/71/4b/fe267640783cd02bf6c5cc290b1df1051be2ec294c678b5c15fe19e52343/ruff-0.15.20-py3-none-musllinux_1_2_armv7l.whl", hash = "sha256:f701305e66b38ea6c91882490eb73459796808e4c6362a1b765255e0cdcd4053", size = 10645418, upload-time = "2026-06-25T17:20:19.4Z" },
-    { url = "https://files.pythonhosted.org/packages/b0/c0/a65aa4ec2f5e87a1df32dc3ec1fede434fe3dfd5cbcf3b503cafc676ab54/ruff-0.15.20-py3-none-musllinux_1_2_i686.whl", hash = "sha256:5b9c0c367ad8e5d0d5b5b8537864c469a0a0e55417aadfbeca41fa61333be9f4", size = 11211770, upload-time = "2026-06-25T17:20:22.033Z" },
-    { url = "https://files.pythonhosted.org/packages/5a/a4/0caa331d954ae2723d729d351c989cb4ca8b6077d5c6c2cb6de75e98c041/ruff-0.15.20-py3-none-musllinux_1_2_x86_64.whl", hash = "sha256:01cc00dd58f0df339d0e902219dd53990ea99996a0344e5d9cc8d45d5307e460", size = 11618698, upload-time = "2026-06-25T17:20:25.259Z" },
-    { url = "https://files.pythonhosted.org/packages/10/9b/5f14927848d2fd4aa891fd88d883788c5a7baba561c7874732364045708c/ruff-0.15.20-py3-none-win32.whl", hash = "sha256:ed65ef510e43a137207e0f01cfcf998aeddb1aeeda5c9d35023e910284d7cf21", size = 10857322, upload-time = "2026-06-25T17:20:28.612Z" },
-    { url = "https://files.pythonhosted.org/packages/fa/f0/fe47c501f9dea92a26d788ff98bb5d92ed4cb4c88792c5c88af6b697dc8e/ruff-0.15.20-py3-none-win_amd64.whl", hash = "sha256:a525c81c70fb0380344dd1d8745d8cc1c890b7fc94a58d5a07bd8eb9557b8415", size = 11993274, upload-time = "2026-06-25T17:20:31.871Z" },
-    { url = "https://files.pythonhosted.org/packages/d7/2b/9555445e1201d92b3195f45cdb153a0b68f24e0a4273f6e3d5ab46e212bb/ruff-0.15.20-py3-none-win_arm64.whl", hash = "sha256:2f5b2a6d614e8700388806a14996c40fab2c47b819ef57d790a34878858ed9ca", size = 11343498, upload-time = "2026-06-25T17:20:35.03Z" },
+    { url = "https://files.pythonhosted.org/packages/23/18/ee54b7ae1e121be7a28ea6da4b67564ebb0530e183a54415ab7e3bcd2c4e/ruff-0.15.22-py3-none-linux_armv6l.whl", hash = "sha256:44423e73493737f5e7c5b41d475483898ff37afcdae38bc3da5085e29af1c2d8", size = 10781258, upload-time = "2026-07-16T15:13:19.452Z" },
+    { url = "https://files.pythonhosted.org/packages/2f/d2/2520cb14761ddbeaf57642a76942fc36adcbdbe53b4532241995f6fc485c/ruff-0.15.22-py3-none-macosx_10_12_x86_64.whl", hash = "sha256:b82c6482946e9eda7ff2e091d25b8bad3f718684e1916d41bd56873cee05b697", size = 10999477, upload-time = "2026-07-16T15:13:23.318Z" },
+    { url = "https://files.pythonhosted.org/packages/c9/10/74e53572aa758dfaa678c2a2646b5c5515d884b7ca56be4d2ce03ca4b560/ruff-0.15.22-py3-none-macosx_11_0_arm64.whl", hash = "sha256:11c1c715af53a09f714e011106bffc419751ec8232fcb5da42173284ea3fec6f", size = 10466716, upload-time = "2026-07-16T15:13:26.162Z" },
+    { url = "https://files.pythonhosted.org/packages/1e/cc/44eaaf0844e028182f2d0a8f2190d0f359159aed0a9e5ab861d892f1ae2a/ruff-0.15.22-py3-none-manylinux_2_17_aarch64.manylinux2014_aarch64.whl", hash = "sha256:742a29cf29bddb7c8327895d6a10e0e6c5b38a96dd407af9b5d0857f809c0576", size = 10892644, upload-time = "2026-07-16T15:13:29.229Z" },
+    { url = "https://files.pythonhosted.org/packages/9f/21/8edf559014d2b0f82beea19cfb713993ad802ccda16868769979c6090a84/ruff-0.15.22-py3-none-manylinux_2_17_armv7l.manylinux2014_armv7l.whl", hash = "sha256:72af58b951b0ae395935ae79763dc349bc0eb706319d28f7a33ad2cfb3cfc178", size = 10576719, upload-time = "2026-07-16T15:13:32.35Z" },
+    { url = "https://files.pythonhosted.org/packages/bf/1e/3a13abd392a3b50b62e5938a831f9ab6e588358cacad5c18545b716d2182/ruff-0.15.22-py3-none-manylinux_2_17_i686.manylinux2014_i686.whl", hash = "sha256:62d425005c1835eb24e2ee4161cb90e8db263415f4a71c8c72c33abaa6c0c224", size = 11376494, upload-time = "2026-07-16T15:13:35.958Z" },
+    { url = "https://files.pythonhosted.org/packages/bf/3e/422d3d95bcf04dd78e1aeac22184d4f9a8fb2c01865d39d44618484a0317/ruff-0.15.22-py3-none-manylinux_2_17_ppc64le.manylinux2014_ppc64le.whl", hash = "sha256:e8b9b3f8779a4f08c969defc3c8c35abffaa757e601ed5ae66d6d1db6519969a", size = 12208370, upload-time = "2026-07-16T15:13:39.185Z" },
+    { url = "https://files.pythonhosted.org/packages/1e/91/5d065a0e0a02bf4813f5119ad278462eed081d2b832eb7c021ade0ec9e65/ruff-0.15.22-py3-none-manylinux_2_17_s390x.manylinux2014_s390x.whl", hash = "sha256:1e0dd1b2e4d3d585f897a0d137cbf4eaf6223bef4e8ce34d6bb12556c5f9249e", size = 11581098, upload-time = "2026-07-16T15:13:42.132Z" },
+    { url = "https://files.pythonhosted.org/packages/f6/f9/a0d4871d12fae702eb1f41b686caf05f1f8b124dc6db6f784f53d74918fa/ruff-0.15.22-py3-none-manylinux_2_17_x86_64.manylinux2014_x86_64.whl", hash = "sha256:365523eb91d9224e1bcb03b022fbf0facb8f9e23792a2c53d9d4b3924bdbdebb", size = 11399422, upload-time = "2026-07-16T15:13:45.2Z" },
+    { url = "https://files.pythonhosted.org/packages/18/80/c843a5176cddbceb0b7e8dd41cf9993490796c1c469348d384f5a5c13c56/ruff-0.15.22-py3-none-manylinux_2_31_riscv64.whl", hash = "sha256:fabfd168afdf29fee5be98b831efa9683c94d7c5a3b58b9ce5a2e38444589a74", size = 11381683, upload-time = "2026-07-16T15:13:48.46Z" },
+    { url = "https://files.pythonhosted.org/packages/d4/00/8485de0ae92239438a36cfc51350db9b9e85c9ebdfaea91b18e422706662/ruff-0.15.22-py3-none-musllinux_1_2_aarch64.whl", hash = "sha256:225dbf095a87f1d9f90f5fd7924d2613ee452a75a4308c63a8f50f761787aa7c", size = 10850295, upload-time = "2026-07-16T15:13:51.655Z" },
+    { url = "https://files.pythonhosted.org/packages/fa/91/24977ec2ec72eaf15e4394ace2959fdff2dd1e14f03e005e838023407169/ruff-0.15.22-py3-none-musllinux_1_2_armv7l.whl", hash = "sha256:1877d63b9d24ed278744f1523fd11b85540566d54641f97c566d7d9dc5ca5296", size = 10579640, upload-time = "2026-07-16T15:13:54.79Z" },
+    { url = "https://files.pythonhosted.org/packages/9c/47/9b51216951974df1f263ac19da550d34252e0ed7218c25f10c5ef9ed7517/ruff-0.15.22-py3-none-musllinux_1_2_i686.whl", hash = "sha256:a1606c510bd7215680d32efab38965f7cdec3ef69f5170a3f4791404ffdd5262", size = 11105077, upload-time = "2026-07-16T15:13:57.915Z" },
+    { url = "https://files.pythonhosted.org/packages/c2/47/20e9d4a3b8016778acea5fc32bb50d35d207500a17ddb529ffa6996feef8/ruff-0.15.22-py3-none-musllinux_1_2_x86_64.whl", hash = "sha256:630479b18625f5ffc373f77603a22a9f8ac0acd7ff0501178b5db28ec71e9c64", size = 11490980, upload-time = "2026-07-16T15:14:01.032Z" },
+    { url = "https://files.pythonhosted.org/packages/4d/76/3f72d8fc38c1cb77b38c56a70da9d0c17700cc1cc50f9649c9d3c8f5ba71/ruff-0.15.22-py3-none-win32.whl", hash = "sha256:e5ba0e4a13fd14abbed2a77b517a3911290c6c6c59ef67784328d1668fab76cf", size = 10789165, upload-time = "2026-07-16T15:14:04.16Z" },
+    { url = "https://files.pythonhosted.org/packages/cb/46/4965251734c2b6fcdca1b1b187d20bcac3af0ee5b083b89c910bb961ce3a/ruff-0.15.22-py3-none-win_amd64.whl", hash = "sha256:9be63ba1eb936acd2d1342fb8337c356353706fce233b2a15a09a97037e6acde", size = 11938297, upload-time = "2026-07-16T15:14:07.316Z" },
+    { url = "https://files.pythonhosted.org/packages/57/c9/e69b1ff4c8b69093ef08b8919ab767af0569666865b39c30a8795d88d3c6/ruff-0.15.22-py3-none-win_arm64.whl", hash = "sha256:e1168075b72158510839f250027659cdd78476f40507dd517892304c41318661", size = 11298172, upload-time = "2026-07-16T15:14:10.51Z" },
 ]

 [[package]]
@@ -1467,15 +1468,15 @@ wheels = [

 [[package]]
 name = "sentry-sdk"
-version = "2.64.0"
+version = "2.66.0"
 source = { registry = "https://pypi.org/simple" }
 dependencies = [
    { name = "certifi" },
    { name = "urllib3" },
 ]
-sdist = { url = "https://files.pythonhosted.org/packages/60/31/b7341f156a5f6f36f0b4845d6f1c28a2ae4799171dba7007f3a1e9b234b4/sentry_sdk-2.64.0.tar.gz", hash = "sha256:68be2c29e14ae310f8a39e1a79916b6d85c6cb41dcce789d14ff05fe293e4c55", size = 921020, upload-time = "2026-06-30T08:13:47.682Z" }
+sdist = { url = "https://files.pythonhosted.org/packages/48/ff/670abe04c5072719b5060ed93851d0d69525d60f8f2c5810f8becd58f9c1/sentry_sdk-2.66.0.tar.gz", hash = "sha256:9727d35aa83c56cd53294676fe65b96296a334c9ce107fa2142bd70f47acb265", size = 935745, upload-time = "2026-07-16T12:42:04.663Z" }
 wheels = [
-    { url = "https://files.pythonhosted.org/packages/36/a8/3fb9a4319efa3b26f5be0e90e6d8918df43fa7c7e977d26390f589501d82/sentry_sdk-2.64.0-py3-none-any.whl", hash = "sha256:715ea91ca860a819e8d8a50a7bde3a80d0df3b4ed7b6660a20fb9a2d084188f1", size = 498901, upload-time = "2026-06-30T08:13:45.566Z" },
+    { url = "https://files.pythonhosted.org/packages/c7/bb/49b10783f29067da2eec179320617e94faf63196609de47aeab3c26c3325/sentry_sdk-2.66.0-py3-none-any.whl", hash = "sha256:096136c214c602be2b323524d30755dc5b30ec5a218a206207f33b12c05c6f11", size = 504769, upload-time = "2026-07-16T12:42:02.919Z" },
 ]

 [[package]]
@@ -1498,11 +1499,11 @@ wheels = [

 [[package]]
 name = "setuptools"
-version = "82.0.1"
+version = "83.0.0"
 source = { registry = "https://pypi.org/simple" }
-sdist = { url = "https://files.pythonhosted.org/packages/4f/db/cfac1baf10650ab4d1c111714410d2fbb77ac5a616db26775db562c8fab2/setuptools-82.0.1.tar.gz", hash = "sha256:7d872682c5d01cfde07da7bccc7b65469d3dca203318515ada1de5eda35efbf9", size = 1152316, upload-time = "2026-03-09T12:47:17.221Z" }
+sdist = { url = "https://files.pythonhosted.org/packages/34/26/f5d29e25ffdb535afef2d35cdb55b325298f96debd670da4c325e08d70f4/setuptools-83.0.0.tar.gz", hash = "sha256:025bccbbf0fa05b6192bc64ae1e7b16e001fd6d6d4d5de03c97b1c1ade523bef", size = 1154254, upload-time = "2026-07-04T15:31:22.699Z" }
 wheels = [
-    { url = "https://files.pythonhosted.org/packages/9d/76/f789f7a86709c6b087c5a2f52f911838cad707cc613162401badc665acfe/setuptools-82.0.1-py3-none-any.whl", hash = "sha256:a59e362652f08dcd477c78bb6e7bd9d80a7995bc73ce773050228a348ce2e5bb", size = 1006223, upload-time = "2026-03-09T12:47:15.026Z" },
+    { url = "https://files.pythonhosted.org/packages/5d/40/e1e72872c6354b306daef1703549e8e83b4d43cfea356311bf722a043752/setuptools-83.0.0-py3-none-any.whl", hash = "sha256:29b23c360f22f414dc7336bb39178cc7bcbf6021ed2733cde173f09dba19abb3", size = 1008090, upload-time = "2026-07-04T15:31:20.885Z" },
 ]

 [[package]]
@@ -1539,6 +1540,12 @@ wheels = [
    { url = "https://files.pythonhosted.org/packages/4e/39/a61d4b83a7746b70d23d9173be688c0c6bfc7173772344b7442c2c155497/sounddevice-0.5.5-py3-none-win_arm64.whl", hash = "sha256:3861901ddd8230d2e0e8ae62ac320cdd4c688d81df89da036dcb812f757bb3e6", size = 317115, upload-time = "2026-01-23T18:36:42.235Z" },
 ]

+[[package]]
+name = "spidev"
+version = "3.8"
+source = { registry = "https://pypi.org/simple" }
+sdist = { url = "https://files.pythonhosted.org/packages/67/87/039b6eeea781598015b538691bc174cc0bf77df9d4d2d3b8bf9245c0de8c/spidev-3.8.tar.gz", hash = "sha256:2bc02fb8c6312d519ebf1f4331067427c0921d3f77b8bcaf05189a2e8b8382c0", size = 13893, upload-time = "2025-09-15T18:56:20.672Z" }
+
 [[package]]
 name = "sympy"
 version = "1.14.0"
@@ -1654,39 +1661,39 @@ wheels = [

 [[package]]
 name = "tqdm"
-version = "4.68.3"
+version = "4.69.0"
 source = { registry = "https://pypi.org/simple" }
 dependencies = [
    { name = "colorama", marker = "sys_platform == 'win32'" },
 ]
-sdist = { url = "https://files.pythonhosted.org/packages/87/d7/0535a28b1f5f24f6612fb3ff1e89fb1a8d160fee0f976e0aa6803862134b/tqdm-4.68.3.tar.gz", hash = "sha256:00dfa48452b6b6cfae3dd9885636c23d3422d1ec97c66d96818cbd5e0821d482", size = 170596, upload-time = "2026-06-17T07:36:52.105Z" }
+sdist = { url = "https://files.pythonhosted.org/packages/8c/69/40407dfc835517f058b603dbf37a6df094d8582b015a51eddc988febbcb7/tqdm-4.69.0.tar.gz", hash = "sha256:700c5e85dcd5f009dd6222588a29180a193a748247a5d855b4d67db93d79a53b", size = 792569, upload-time = "2026-07-17T18:09:06.2Z" }
 wheels = [
-    { url = "https://files.pythonhosted.org/packages/d8/8e/bb97bb0c71802080bfc8952937d174e49cfc50de5c951dd47b2496f0dcdb/tqdm-4.68.3-py3-none-any.whl", hash = "sha256:39832cc2def2789a6f29df83f172db7416cea70052c0907a57801c5f2fdccb03", size = 78337, upload-time = "2026-06-17T07:36:50.132Z" },
+    { url = "https://files.pythonhosted.org/packages/fe/21/99a0cdaf54eb35e77623c41b5a2c9472ee4404bba687052791fe2aba6773/tqdm-4.69.0-py3-none-any.whl", hash = "sha256:9979978912be667a6ef21fd5d8abf54e324e63d82f7f43c360792ebc2bc4e622", size = 676680, upload-time = "2026-07-17T18:09:04.172Z" },
 ]

 [[package]]
 name = "ty"
-version = "0.0.56"
+version = "0.0.61"
 source = { registry = "https://pypi.org/simple" }
-sdist = { url = "https://files.pythonhosted.org/packages/55/07/fb29aea5235b0aa8ecfc4d1cc6ddf9fba8b863d67d96c6d345694d644c43/ty-0.0.56.tar.gz", hash = "sha256:84d114dc3796361c0fc72945016eabd74d46b9ee64f198cb0e485719704681e5", size = 6050123, upload-time = "2026-07-01T16:44:56.036Z" }
+sdist = { url = "https://files.pythonhosted.org/packages/92/63/6944925d0fe9a4bb9cc744e6c045a42bbd2ee4654c103190674577a36c3f/ty-0.0.61.tar.gz", hash = "sha256:acbf0d914cc7e2e57ccc440036af36114819e2a604a5ffb554e72e4ca7dd65a2", size = 6234957, upload-time = "2026-07-18T01:39:54.696Z" }
 wheels = [
-    { url = "https://files.pythonhosted.org/packages/dc/48/bce79e7ca5c1cc529d3e0d37ddd1121aea4b68a4f749974ad1cc77161871/ty-0.0.56-py3-none-linux_armv6l.whl", hash = "sha256:186d4a53e15747c947e1ec3d7eec8e345d8e40a1ca10e634c585db52497e87dd", size = 11643066, upload-time = "2026-07-01T16:44:18.374Z" },
-    { url = "https://files.pythonhosted.org/packages/80/d1/22555d8a1d719661f10050f3865d877bbf497da908961c75fe22217dd18a/ty-0.0.56-py3-none-macosx_10_12_x86_64.whl", hash = "sha256:aae1a980fd9535da0469b7ba2b2e1b54a907743a5e0f442dd57eee9f5bfd034c", size = 11407487, upload-time = "2026-07-01T16:44:20.956Z" },
-    { url = "https://files.pythonhosted.org/packages/cf/2d/b3b7a74ce8bc59ef48843ad80179bb0d9598bbd6cfc0d11d519bdf6b1352/ty-0.0.56-py3-none-macosx_11_0_arm64.whl", hash = "sha256:afd3058c0a6c5f241e814734f133008c93ee805f61c9cf4ce7412b8822b5d9ad", size = 10962270, upload-time = "2026-07-01T16:44:22.959Z" },
-    { url = "https://files.pythonhosted.org/packages/64/ac/6c2fd7de0304a8a7218a756af74f7e62a5e8540fdb175e0a869e51042345/ty-0.0.56-py3-none-manylinux_2_17_aarch64.manylinux2014_aarch64.whl", hash = "sha256:058b52f7a823ac13aae3cae30809dd6b5145794b64d8478f9ef38c75d79b4483", size = 11471406, upload-time = "2026-07-01T16:44:25.327Z" },
-    { url = "https://files.pythonhosted.org/packages/50/b6/11d861156861c03c7726b74558f9a0e0092661aff83a4fda1279df28c425/ty-0.0.56-py3-none-manylinux_2_17_armv7l.manylinux2014_armv7l.whl", hash = "sha256:2c66e00c1522add1f2bbdd2e45828c953b35c306b7bef03ec9169c75a63699a0", size = 11445612, upload-time = "2026-07-01T16:44:27.531Z" },
-    { url = "https://files.pythonhosted.org/packages/fb/ba/09df108582090f3c0770ec4bc8675affed60248f6793a78d909be16211d9/ty-0.0.56-py3-none-manylinux_2_17_i686.manylinux2014_i686.whl", hash = "sha256:40903d71c669a30691b5a5d5728056c7877a1bd6be4f233a38883a8b28cf34d7", size = 12093889, upload-time = "2026-07-01T16:44:29.548Z" },
-    { url = "https://files.pythonhosted.org/packages/d7/f7/dbb4b4ccb69cd64c209ae55b1ab788ace8222c2bc1f6845be9e7cbedbf25/ty-0.0.56-py3-none-manylinux_2_17_ppc64le.manylinux2014_ppc64le.whl", hash = "sha256:63fe3947fe0c46c69a7d950e6832ee70a9ec17321fefbff3d2e3c20baf9e5bd0", size = 12666337, upload-time = "2026-07-01T16:44:31.586Z" },
-    { url = "https://files.pythonhosted.org/packages/86/e9/73f903fe4a3d9ea02f26f57c1eb07e3b1029ec92b0e8c2364718893440e3/ty-0.0.56-py3-none-manylinux_2_17_s390x.manylinux2014_s390x.whl", hash = "sha256:71a0c1a72f9854532e710e119b6871ffe4542c8a65146f1f65dcd78fecd885b4", size = 12280247, upload-time = "2026-07-01T16:44:33.637Z" },
-    { url = "https://files.pythonhosted.org/packages/d6/90/cebd222495832f1a00dcd321ba25f3cab804221a4991b992c2178bec68ee/ty-0.0.56-py3-none-manylinux_2_17_x86_64.manylinux2014_x86_64.whl", hash = "sha256:70d1665596494e24d8ebd198438872b5a56ec3cae5f2bcf6c673be797acc4e3c", size = 11991107, upload-time = "2026-07-01T16:44:36.122Z" },
-    { url = "https://files.pythonhosted.org/packages/b7/07/8f7337a07250f42d975cdb6decf47fc5b421e6c7da5e3e7be1e85f63a7e5/ty-0.0.56-py3-none-manylinux_2_31_riscv64.whl", hash = "sha256:778f99e51558afc1dbbe48ee38ab6aae7b31390ed8c1a1ef1499b295e9f1e82f", size = 12298970, upload-time = "2026-07-01T16:44:38.243Z" },
-    { url = "https://files.pythonhosted.org/packages/3c/b9/a52cd59034a48f5f18c6b155cc2cc36861d874b6d0af204b12c898024c3d/ty-0.0.56-py3-none-musllinux_1_2_aarch64.whl", hash = "sha256:867bc5708e0066bb4ff6c7db524bd5deea2676c62bfe71d3303138b3be850af0", size = 11425683, upload-time = "2026-07-01T16:44:40.473Z" },
-    { url = "https://files.pythonhosted.org/packages/1d/2e/48e42d33357d52eefb695c0c3fcfc96879b73668a7447d1d1e0ad774fedc/ty-0.0.56-py3-none-musllinux_1_2_armv7l.whl", hash = "sha256:a6012f4189c928edb330a37deb9930f982380bd4aa7c4b8e0428eec9651c7551", size = 11469258, upload-time = "2026-07-01T16:44:42.513Z" },
-    { url = "https://files.pythonhosted.org/packages/d5/01/ad1b4138be1e3fa97863af3925aa2134f17a593240c35dc38c3429fb5ad1/ty-0.0.56-py3-none-musllinux_1_2_i686.whl", hash = "sha256:8ee83de1a7ff4cc32837ec06134ce391d441bc5b35ecd8d3cfe053f120f3e4c1", size = 11758736, upload-time = "2026-07-01T16:44:44.567Z" },
-    { url = "https://files.pythonhosted.org/packages/09/34/9d81967ff240eaa57e9249728ef7b7790747cf6d3c9a98ec86b2cfdcc8ee/ty-0.0.56-py3-none-musllinux_1_2_x86_64.whl", hash = "sha256:62619b3b0e2c6248ef30d3f0e2f2217ae9893040585be07f32324242f197cd6f", size = 12100242, upload-time = "2026-07-01T16:44:46.584Z" },
-    { url = "https://files.pythonhosted.org/packages/c3/36/f51d4666d2de6cf33c1f3a1fcc4bb6b70b197dd6ceaa491eef71d78fe8e8/ty-0.0.56-py3-none-win32.whl", hash = "sha256:b30687bb5cd9729d34c889a289edf32770388d9bb05243e534e723fb45e0381b", size = 11093759, upload-time = "2026-07-01T16:44:49.171Z" },
-    { url = "https://files.pythonhosted.org/packages/5e/b4/8fb5d4acfa4afb152245b20fa263069a7547bd1f8e4bfca4eda280c897d7/ty-0.0.56-py3-none-win_amd64.whl", hash = "sha256:ad4c8c47b6f4e3f9ed3fc0b1a5d650088d229e17dd8f63c1826d6bbe94cc3235", size = 12100327, upload-time = "2026-07-01T16:44:51.26Z" },
-    { url = "https://files.pythonhosted.org/packages/b8/fc/6a183e71edde90d0c35c2303f23f7a45b6891d1a2c45daf7b8f869831e19/ty-0.0.56-py3-none-win_arm64.whl", hash = "sha256:57538f273d444a5f1293fa7860e967178afe3917611fc5eff16b64e1204fe0d6", size = 11538780, upload-time = "2026-07-01T16:44:53.8Z" },
+    { url = "https://files.pythonhosted.org/packages/dc/cf/044f31523e2768e3e64b0ca2ec32f70b3a731d4a2caa6ea110baf26e251c/ty-0.0.61-py3-none-linux_armv6l.whl", hash = "sha256:148779b8675eac93f40ec58bd70037fe67537117f20a23272264f8f136d41336", size = 11891448, upload-time = "2026-07-18T01:39:18.449Z" },
+    { url = "https://files.pythonhosted.org/packages/d2/55/558cfe76b65d91d1854bbfac336020bd42fd887caa632d845d13c0c539eb/ty-0.0.61-py3-none-macosx_10_12_x86_64.whl", hash = "sha256:08217382b3385808ee7288501ea3214b32631b08d1fd091ece6799b0c95264c5", size = 11602442, upload-time = "2026-07-18T01:39:20.914Z" },
+    { url = "https://files.pythonhosted.org/packages/27/be/78c0ae6634cd606a68e5b46b338db427a48a1800c96a749b2d2f7a702e03/ty-0.0.61-py3-none-macosx_11_0_arm64.whl", hash = "sha256:6d99c729011b47dec20e78a32ac9c8f6defd4cf62f7bb851bbccf70dde6cee50", size = 11125286, upload-time = "2026-07-18T01:39:22.893Z" },
+    { url = "https://files.pythonhosted.org/packages/a4/18/a40793962f1b6337938ddb0bca7496b54e70879e23b4d2cc8dfd7e5d1af3/ty-0.0.61-py3-none-manylinux_2_17_aarch64.manylinux2014_aarch64.whl", hash = "sha256:5cda607978ae271b77e51c947663218bce635c3507e256865444b10c37cdb60d", size = 11663403, upload-time = "2026-07-18T01:39:25.017Z" },
+    { url = "https://files.pythonhosted.org/packages/98/c1/7879244da5b30407dc368946d36be5024380073408b079f144ffe034030e/ty-0.0.61-py3-none-manylinux_2_17_armv7l.manylinux2014_armv7l.whl", hash = "sha256:0d78f160a0f9434d570cdcdbc4dafba1f6aac3c47a32f9f63995b3cb55ffe4b6", size = 11715250, upload-time = "2026-07-18T01:39:27.045Z" },
+    { url = "https://files.pythonhosted.org/packages/35/c4/8a4637cd58abd37f315dd515e24c582986cb1bfdf2edc4786882f5a4f69a/ty-0.0.61-py3-none-manylinux_2_17_i686.manylinux2014_i686.whl", hash = "sha256:09aeab4800b36e93e4ce918699004da642d74988cac920b7592a6a2b9be6611c", size = 12393876, upload-time = "2026-07-18T01:39:29.197Z" },
+    { url = "https://files.pythonhosted.org/packages/27/4b/27e7c640b1272743503229aa17ae2167a538040c4716a2fa1777c2b34fea/ty-0.0.61-py3-none-manylinux_2_17_ppc64le.manylinux2014_ppc64le.whl", hash = "sha256:dccc8136df44142a109953a168be17b4915c99876b047d0b6672c31dae939bdf", size = 12958187, upload-time = "2026-07-18T01:39:31.308Z" },
+    { url = "https://files.pythonhosted.org/packages/3a/f5/70eaaefb6081fb0a8115cff66fbfaa20dafac8c646df2477adad95a59de2/ty-0.0.61-py3-none-manylinux_2_17_s390x.manylinux2014_s390x.whl", hash = "sha256:220760c2d13a887d027ee1093172c24ac35b6e634805329c93a30908ae4d3f5c", size = 12560101, upload-time = "2026-07-18T01:39:33.35Z" },
+    { url = "https://files.pythonhosted.org/packages/e3/5a/17bae3b6429b5c479dc6c1e344d34e1f79efbc27531f15f3ee5b5da63745/ty-0.0.61-py3-none-manylinux_2_17_x86_64.manylinux2014_x86_64.whl", hash = "sha256:effefbb89da7128d18059529d1c2ea390fe7f1f3882690d257ca2143d49a0c34", size = 12225389, upload-time = "2026-07-18T01:39:35.436Z" },
+    { url = "https://files.pythonhosted.org/packages/d2/0e/2ac380ba20d6395542c8df1d6fa4f00e2aead784c2e6aaefa1e02ed0610c/ty-0.0.61-py3-none-manylinux_2_31_riscv64.whl", hash = "sha256:ba8b28a5ef811d5bb6461e37d76110c06fd20487474865c323d3d18b08b972b2", size = 12548403, upload-time = "2026-07-18T01:39:37.556Z" },
+    { url = "https://files.pythonhosted.org/packages/b0/e5/7da4b73e825e1a9808c26d68b0156e9a37aede1846191210dfffb8c64042/ty-0.0.61-py3-none-musllinux_1_2_aarch64.whl", hash = "sha256:88ecd6d9b05e8174b1860dac9bd3e188d6cef5702b0d3239fd9f94f6ac73a29d", size = 11621813, upload-time = "2026-07-18T01:39:39.919Z" },
+    { url = "https://files.pythonhosted.org/packages/9b/3c/5b58015e998cd0d89b17a463b6321421457d86d987574e8dac65ddfceba3/ty-0.0.61-py3-none-musllinux_1_2_armv7l.whl", hash = "sha256:fb0cdfe4c48542ffb9a1139825dfa3d4aae49e96e966682ef7da762ab97831ff", size = 11734101, upload-time = "2026-07-18T01:39:42.097Z" },
+    { url = "https://files.pythonhosted.org/packages/a6/21/294f4cc819b7b12ed659fd860e5cdfbd592d4c768c8f23596685dbc43e6b/ty-0.0.61-py3-none-musllinux_1_2_i686.whl", hash = "sha256:dff03873c0c3d0b44738f8b6d403b0756a31cf54c65136397df7624c6159b1f0", size = 11988401, upload-time = "2026-07-18T01:39:44.183Z" },
+    { url = "https://files.pythonhosted.org/packages/2e/26/0f96f79fdac118521a9771e9eef3f9b3f447d647b2c77953e80a1715c7e8/ty-0.0.61-py3-none-musllinux_1_2_x86_64.whl", hash = "sha256:a9210e80e3d41c1dfc751e9e8e0980272f475031fafd0fb0f48aee233c78da03", size = 12330624, upload-time = "2026-07-18T01:39:46.662Z" },
+    { url = "https://files.pythonhosted.org/packages/e3/08/1e62d1bca5c0cebdc7a34db1f4b61557aab85961cedd56953dd2c32d3e66/ty-0.0.61-py3-none-win32.whl", hash = "sha256:e3e1fe06f49a5492a922a5df2739834aa5ee978c7dd10414119dc8755cc40c9c", size = 11313991, upload-time = "2026-07-18T01:39:48.761Z" },
+    { url = "https://files.pythonhosted.org/packages/26/f1/d8e33b3aeb36b73d81ae34d10e46ec4abf506d68f4e0a1491a76a593dd42/ty-0.0.61-py3-none-win_amd64.whl", hash = "sha256:25f2291169e0298fcdbba1b1fea64f8207a6c1908dddef32346fd5e3e6ac9221", size = 12311717, upload-time = "2026-07-18T01:39:50.881Z" },
+    { url = "https://files.pythonhosted.org/packages/e1/14/7caec26d93a943c0e7d15eb7374644508d08cbd387d112b722b12d14e044/ty-0.0.61-py3-none-win_arm64.whl", hash = "sha256:3e496f7698bc4b5bbb1eb66d8b5799ba87596d88d36604ca359083893fa2fc49", size = 11693485, upload-time = "2026-07-18T01:39:52.73Z" },
 ]

 [[package]]
@@ -1736,38 +1743,38 @@ wheels = [

 [[package]]
 name = "yarl"
-version = "1.24.2"
+version = "1.24.5"
 source = { registry = "https://pypi.org/simple" }
 dependencies = [
    { name = "idna" },
    { name = "multidict" },
    { name = "propcache" },
 ]
-sdist = { url = "https://files.pythonhosted.org/packages/79/12/1e8f37460ea0f7eb59c221fdaf0ed75e7ac43e97f8093b9c6f411df50a78/yarl-1.24.2.tar.gz", hash = "sha256:9ac374123c6fd7abf64d1fec93962b0bd4ee2c19751755a762a72dd96c0378f8", size = 210798, upload-time = "2026-05-19T21:31:05.599Z" }
+sdist = { url = "https://files.pythonhosted.org/packages/31/33/ebe9e3d1f86c7a0b51094c0a146392045ca1631d2664889539dec8088a33/yarl-1.24.5.tar.gz", hash = "sha256:e81b83143bee16329c23db3c1b2d82b29892fcbcb849186d2f6e98a5abe9a57f", size = 228679, upload-time = "2026-07-20T02:07:45.435Z" }
 wheels = [
-    { url = "https://files.pythonhosted.org/packages/f0/da/866bcb01076ba49d2b42b309867bed3826421f1c479655eb7a607b44f20b/yarl-1.24.2-cp312-cp312-macosx_10_13_universal2.whl", hash = "sha256:b975866c184564c827e0877380f0dae57dcca7e52782128381b72feff6dfceb8", size = 129957, upload-time = "2026-05-19T21:28:51.695Z" },
-    { url = "https://files.pythonhosted.org/packages/bf/1d/fcefb70922ea2268a8971d8e5874d9a8218644200fb8465f1dcad55e6851/yarl-1.24.2-cp312-cp312-macosx_10_13_x86_64.whl", hash = "sha256:3b075301a2836a0e297b1b658cb6d6135df535d62efefdd60366bd589c2c82f2", size = 92164, upload-time = "2026-05-19T21:28:53.242Z" },
-    { url = "https://files.pythonhosted.org/packages/29/b6/170e2b8d4e3bc30e6bfdcca53556537f5bf595e938632dfcb059311f3ff6/yarl-1.24.2-cp312-cp312-macosx_11_0_arm64.whl", hash = "sha256:8ae44649b00947634ab0dab2a374a638f52923a6e67083f2c156cd5cbd1a881d", size = 91688, upload-time = "2026-05-19T21:28:54.865Z" },
-    { url = "https://files.pythonhosted.org/packages/fe/a5/c9f655d5553ea0b99fdac9d6a99ad3f9b3e73b8e5758bb46f58c9831f74c/yarl-1.24.2-cp312-cp312-manylinux2014_aarch64.manylinux_2_17_aarch64.manylinux_2_28_aarch64.whl", hash = "sha256:507cc19f0b45454e2d6dcd62ff7d062b9f77a2812404e62dbdaec05b50faa035", size = 102902, upload-time = "2026-05-19T21:28:56.963Z" },
-    { url = "https://files.pythonhosted.org/packages/5d/bc/6b9664d815d79af4ee553337f9d606c56bbf269186ada9172de45f1b5f60/yarl-1.24.2-cp312-cp312-manylinux2014_armv7l.manylinux_2_17_armv7l.manylinux_2_31_armv7l.whl", hash = "sha256:c4c17bad5a530912d2111825d3f05e89bab2dd376aaa8cbc77e449e6db63e576", size = 97931, upload-time = "2026-05-19T21:28:58.56Z" },
-    { url = "https://files.pythonhosted.org/packages/98/ec/32ba48acae30fecd60928f5791188b80a9d6ee3840507ffda29fecd37b71/yarl-1.24.2-cp312-cp312-manylinux2014_ppc64le.manylinux_2_17_ppc64le.manylinux_2_28_ppc64le.whl", hash = "sha256:f5f0cbb112838a4a293985b6ed73948a547dadcc1ba6d2089938e7abdedceef8", size = 111030, upload-time = "2026-05-19T21:29:00.148Z" },
-    { url = "https://files.pythonhosted.org/packages/82/5a/6f4cd081e5f4934d2ae3a8ef4abe3afacc010d26f0035ee91b35cd7d7c37/yarl-1.24.2-cp312-cp312-manylinux2014_s390x.manylinux_2_17_s390x.manylinux_2_28_s390x.whl", hash = "sha256:5ec8356b8a6afcf81fc7aeeef13b1ff7a49dec00f313394bbb9e83830d32ccd7", size = 110392, upload-time = "2026-05-19T21:29:02.155Z" },
-    { url = "https://files.pythonhosted.org/packages/7a/da/323a01c349bd5fb01bb6652e314d9bb218cee630a736bdb810ad50e4013f/yarl-1.24.2-cp312-cp312-manylinux2014_x86_64.manylinux_2_17_x86_64.manylinux_2_28_x86_64.whl", hash = "sha256:7e7ebcdef69dec6c6451e616f32b622a6d4a2e92b445c992f7c8e5274a6bbc4c", size = 105612, upload-time = "2026-05-19T21:29:04.247Z" },
-    { url = "https://files.pythonhosted.org/packages/7c/80/264ab684f181e1a876389374519ff05d10248725535ae2ac4e8ac4e563d6/yarl-1.24.2-cp312-cp312-manylinux_2_31_riscv64.manylinux_2_39_riscv64.whl", hash = "sha256:47a55d6cf6db2f401017a9e96e5288844e5051911fb4e0c8311a3980f5e59a7d", size = 104487, upload-time = "2026-05-19T21:29:06.491Z" },
-    { url = "https://files.pythonhosted.org/packages/41/07/efabe5df87e96d7ad5959760b888344be48cd6884db127b407c6b5503adc/yarl-1.24.2-cp312-cp312-musllinux_1_2_aarch64.whl", hash = "sha256:3065657c80a2321225e804048597ad55658a7e76b32d6f5ee4074d04c50401db", size = 102333, upload-time = "2026-05-19T21:29:08.267Z" },
-    { url = "https://files.pythonhosted.org/packages/44/0c/bcf7c42603e1009295f586d8890f2ba032c8b53310e815adf0a202c73d9f/yarl-1.24.2-cp312-cp312-musllinux_1_2_armv7l.whl", hash = "sha256:cb84b80d88e19ede158619b80813968713d8d008b0e2497a576e6a0557d50712", size = 99025, upload-time = "2026-05-19T21:29:10.682Z" },
-    { url = "https://files.pythonhosted.org/packages/4f/82/84482ab1a57a0f21a08afe6a7004c61d741f8f2ecc3b05c321577c612164/yarl-1.24.2-cp312-cp312-musllinux_1_2_ppc64le.whl", hash = "sha256:990de4f680b1c217e77ff0d6aa0029f9eb79889c11fb3e9a3942c7eba29c1996", size = 110507, upload-time = "2026-05-19T21:29:12.954Z" },
-    { url = "https://files.pythonhosted.org/packages/c4/8d/a546ba1dfe1b0f290e05fef145cd07614c0f15df1a707195e512d1e39d1d/yarl-1.24.2-cp312-cp312-musllinux_1_2_riscv64.whl", hash = "sha256:abb8ec0323b80161e3802da3150ef660b41d0e9be2048b76a363d93eee992c2b", size = 103719, upload-time = "2026-05-19T21:29:14.893Z" },
-    { url = "https://files.pythonhosted.org/packages/1a/b6/267f2a09213138473adfce6b8a6e17791d7fee70bd4d9003218e4dec58b0/yarl-1.24.2-cp312-cp312-musllinux_1_2_s390x.whl", hash = "sha256:e7977781f83638a4c73e0f88425563d70173e0dfd90ac006a45c65036293ee3c", size = 110438, upload-time = "2026-05-19T21:29:16.485Z" },
-    { url = "https://files.pythonhosted.org/packages/48/2d/1c8d89c7c5f9cad9fb2902445d94e2ab1d7aa35de029afbb8ae95c42d00f/yarl-1.24.2-cp312-cp312-musllinux_1_2_x86_64.whl", hash = "sha256:e30dd55825dc554ec5b66a94953b8eda8745926514c5089dfcacecb9c99b5bd1", size = 105719, upload-time = "2026-05-19T21:29:18.367Z" },
-    { url = "https://files.pythonhosted.org/packages/a7/25/722e3b93bd687009afb2d59a35e13d30ddd8f80571445bb0c4e4ce26ec66/yarl-1.24.2-cp312-cp312-win_amd64.whl", hash = "sha256:7dafe10c12ddd4d120d528c4b5599c953bd7b12845347d507b95451195bb6cad", size = 92901, upload-time = "2026-05-19T21:29:20.014Z" },
-    { url = "https://files.pythonhosted.org/packages/39/47/4486ccfb674c04854a1ef8aa77868b6a6f765feaf69633409d7ca4f02cb8/yarl-1.24.2-cp312-cp312-win_arm64.whl", hash = "sha256:044a09d8401fcf8681977faef6d286b8ade1e2d2e9dceda175d1cfa5ca496f30", size = 87229, upload-time = "2026-05-19T21:29:22.1Z" },
-    { url = "https://files.pythonhosted.org/packages/fd/4d/4b880086bd0d3e034d25647be1d830afc3e3f610e98c4ab3490af6b1b6d5/yarl-1.24.2-py3-none-any.whl", hash = "sha256:2783d9226db8797636cd6896e4de81feed252d1db72265686c9558d97a4d94b9", size = 53576, upload-time = "2026-05-19T21:31:03.909Z" },
+    { url = "https://files.pythonhosted.org/packages/1b/84/71d051c850b5af41d168c679d9eb67eb7c55283ac4ee131673edf134bc4e/yarl-1.24.5-cp312-cp312-macosx_10_13_universal2.whl", hash = "sha256:d693396e5aea78db03decd60aec9ece16c9b40ba00a587f089615ff4e718a81d", size = 136035, upload-time = "2026-07-20T02:05:25.489Z" },
+    { url = "https://files.pythonhosted.org/packages/03/4d/8ad27f9a1b7e69313cca5d695b925b48efe51208d3490e0844bae97cabc0/yarl-1.24.5-cp312-cp312-macosx_10_13_x86_64.whl", hash = "sha256:3363fcc96e665878946ad7a106b9a13eac0541766a690ef287c0232ac768b6ec", size = 97642, upload-time = "2026-07-20T02:05:27.429Z" },
+    { url = "https://files.pythonhosted.org/packages/ea/b4/05b4131c407006cd1e410e9c6539f16a0945724677e5364447313c15ea3e/yarl-1.24.5-cp312-cp312-macosx_11_0_arm64.whl", hash = "sha256:9d399bdcfb4a0f659b9b3788bbc89babe63d9a6a65aacdf4d4e7065ff2e6316c", size = 97323, upload-time = "2026-07-20T02:05:29.441Z" },
+    { url = "https://files.pythonhosted.org/packages/20/16/e618c875c73e0e39611f20a581b3d5e8d59b8857bf001bee3263044c6deb/yarl-1.24.5-cp312-cp312-manylinux2014_aarch64.manylinux_2_17_aarch64.manylinux_2_28_aarch64.whl", hash = "sha256:90333fd89b43c0d08ac85f3f1447593fc2c66de18c3d6378d7125ea118dc7a54", size = 107741, upload-time = "2026-07-20T02:05:31.367Z" },
+    { url = "https://files.pythonhosted.org/packages/d9/9a/c4defeaf3ed33fcb346aacf9c6e971a8d4e2bde04a0310e79abb208e7965/yarl-1.24.5-cp312-cp312-manylinux2014_armv7l.manylinux_2_17_armv7l.manylinux_2_31_armv7l.whl", hash = "sha256:665b0a2c463cc9423dd647e0bfd9f4ccc9b50f768c55304d5e9f80b177c1de12", size = 103570, upload-time = "2026-07-20T02:05:33.303Z" },
+    { url = "https://files.pythonhosted.org/packages/5f/e7/0e0e0de5865ebd5914537ef486f36c727a59865c3ac0cf5ff1b32aececbf/yarl-1.24.5-cp312-cp312-manylinux2014_ppc64le.manylinux_2_17_ppc64le.manylinux_2_28_ppc64le.whl", hash = "sha256:e006d3a974c4ee19512e5f058abedb6eef36a5e553c14812bdeba1758d812e6d", size = 115815, upload-time = "2026-07-20T02:05:35.292Z" },
+    { url = "https://files.pythonhosted.org/packages/2b/27/ca56b700cb170aba25a3893b75355b213935657dc5714d2383354a270e62/yarl-1.24.5-cp312-cp312-manylinux2014_s390x.manylinux_2_17_s390x.manylinux_2_28_s390x.whl", hash = "sha256:e7d42c531243450ef0d4d9c172e7ed6ef052640f195629065041b5add4e058d1", size = 116025, upload-time = "2026-07-20T02:05:37.503Z" },
+    { url = "https://files.pythonhosted.org/packages/d6/d0/d56c859b8222116f5d68459199f48359e0bf121b6f65a69bf329b3602ba0/yarl-1.24.5-cp312-cp312-manylinux2014_x86_64.manylinux_2_17_x86_64.manylinux_2_28_x86_64.whl", hash = "sha256:f08c7513ecef5aad65687bfdf6bc601ae9fccd04a42904501f8f7141abad9eb9", size = 109835, upload-time = "2026-07-20T02:05:39.506Z" },
+    { url = "https://files.pythonhosted.org/packages/70/a2/3a35557e4d1a79425040eba202ccaf08bdc8717680fc77e2498a1ad2e0a5/yarl-1.24.5-cp312-cp312-manylinux_2_31_riscv64.manylinux_2_39_riscv64.whl", hash = "sha256:6c95b17fe34ed802f17e205112e6e10db92275c34fee290aa9bdc55a9c724027", size = 108884, upload-time = "2026-07-20T02:05:41.584Z" },
+    { url = "https://files.pythonhosted.org/packages/e4/35/ef4c26356b7913c68983bac2d72a4212b3347af551cb8d250b99b5ed7b7f/yarl-1.24.5-cp312-cp312-musllinux_1_2_aarch64.whl", hash = "sha256:56b149b22de33b23b0c6077ab9518c6dcb538ad462e1830e68d06591ccf6e38b", size = 107308, upload-time = "2026-07-20T02:05:43.697Z" },
+    { url = "https://files.pythonhosted.org/packages/d5/91/ff0dc66c2ccf3e0153ab97ff61eabab4400e6a5264af427ab30cd69f1857/yarl-1.24.5-cp312-cp312-musllinux_1_2_armv7l.whl", hash = "sha256:a8fe66b8f300da93798025a785a5b90b42f3810dc2b72283ff84a41aaaebc293", size = 103646, upload-time = "2026-07-20T02:05:45.895Z" },
+    { url = "https://files.pythonhosted.org/packages/74/f0/33b9271c7f881766359d58266fa0811d2e5210ed860e28da7dc6d7786344/yarl-1.24.5-cp312-cp312-musllinux_1_2_ppc64le.whl", hash = "sha256:377fe3732edbaf78ee74efdf2c9f49f6e99f20e7f9d2649fda3eb4badd77d76e", size = 115305, upload-time = "2026-07-20T02:05:47.832Z" },
+    { url = "https://files.pythonhosted.org/packages/ef/65/fd79fb1868c4a80db8661091de525bf430f63c3bea1b20e8b6a84fc7d359/yarl-1.24.5-cp312-cp312-musllinux_1_2_riscv64.whl", hash = "sha256:e8ffa78582120024f476a611d7befc123cee59e47e8309d470cf667d806e613b", size = 108404, upload-time = "2026-07-20T02:05:49.604Z" },
+    { url = "https://files.pythonhosted.org/packages/ff/ba/dbabe6b262f17a816c70cfc09558dbf03ece3ec76684d02f911a3d3a189c/yarl-1.24.5-cp312-cp312-musllinux_1_2_s390x.whl", hash = "sha256:daba5e594f06114e37db186efd2dd916609071e59daca901a0a2e71f02b142ce", size = 115940, upload-time = "2026-07-20T02:05:51.741Z" },
+    { url = "https://files.pythonhosted.org/packages/a5/43/fab2d1dad9d340a268cdde63756a123d069723efff6a372d123fa74a9517/yarl-1.24.5-cp312-cp312-musllinux_1_2_x86_64.whl", hash = "sha256:65be18ec59496c13908f02a2472751d9ef840b4f3fb5726f129306bf6a2a7bba", size = 110006, upload-time = "2026-07-20T02:05:53.554Z" },
+    { url = "https://files.pythonhosted.org/packages/c4/27/41eb51bbd1b8d89546b83897cfb0164f1e109304fd408dbb151b639eec0f/yarl-1.24.5-cp312-cp312-win_amd64.whl", hash = "sha256:a929d878fec099030c292803b31e5d5540a7b6a31e6a3cc76cb4685fc2a2f51b", size = 97618, upload-time = "2026-07-20T02:05:55.57Z" },
+    { url = "https://files.pythonhosted.org/packages/3c/25/b2553764b3d65db711d8f45416351ec4f420847558eb669edcbcaadf5780/yarl-1.24.5-cp312-cp312-win_arm64.whl", hash = "sha256:7ce27823052e2013b597e0c738b13e7e36b8ccb9400df8959417b052ab0fd92c", size = 93018, upload-time = "2026-07-20T02:05:57.554Z" },
+    { url = "https://files.pythonhosted.org/packages/61/02/962c1cbfc401a30c1d034dc67ff395f64b52302c6d62de556c1fca99acc0/yarl-1.24.5-py3-none-any.whl", hash = "sha256:a33700d13d9b7d84fd10947b09ff69fb9a792e519c8cb9764a3ca70baa6c23a7", size = 58612, upload-time = "2026-07-20T02:07:43.461Z" },
 ]

 [[package]]
 name = "zensical"
-version = "0.0.46"
+version = "0.0.51"
 source = { registry = "https://pypi.org/simple" }
 dependencies = [
    { name = "click" },
@@ -1779,20 +1786,20 @@ dependencies = [
    { name = "pyyaml" },
    { name = "tomli" },
 ]
-sdist = { url = "https://files.pythonhosted.org/packages/aa/57/c7bbb71f943e1e0ba5ce460f4930ec836ead7286969e7fd742f7a6c049ab/zensical-0.0.46.tar.gz", hash = "sha256:3ec21f4fb1e78cd7c0d6b07ae336b04770e27ba020dabc457b2790e5d34f1978", size = 3973968, upload-time = "2026-06-21T18:52:40.368Z" }
+sdist = { url = "https://files.pythonhosted.org/packages/b8/f7/d07ffb268ca86afb26b7f32dbabe25dec03d3aa63ba4d876720c84681d33/zensical-0.0.51.tar.gz", hash = "sha256:de25de067bedfa18f916d7f366fd64a7fbf09bfcc615b44d1ddbe3b5fe02ab49", size = 3979640, upload-time = "2026-07-17T18:08:03.445Z" }
 wheels = [
-    { url = "https://files.pythonhosted.org/packages/4c/bd/bbc499ee35ac9ec5459dbfec7bb7231556689e97eaa13a5eddbe1f0443b5/zensical-0.0.46-cp310-abi3-macosx_10_12_x86_64.whl", hash = "sha256:d91af81ab058c8693dfd75f2f77b4c73bcba4125681d1d276f38624291820bd2", size = 12796482, upload-time = "2026-06-21T18:52:07.369Z" },
-    { url = "https://files.pythonhosted.org/packages/88/1b/7acc273184d59b8e894d15ebe3cf1c5e81b3a822fde1792ea3e33be37a2e/zensical-0.0.46-cp310-abi3-macosx_11_0_arm64.whl", hash = "sha256:d9221264a9a87409900a47e29985607b0c9245dacb89077e87c8e16e31edc167", size = 12660030, upload-time = "2026-06-21T18:52:10.186Z" },
-    { url = "https://files.pythonhosted.org/packages/80/df/bd0a68de98a19fc6050c58be11f36d05ea72a213b6a7ff7395d33c793747/zensical-0.0.46-cp310-abi3-manylinux_2_17_aarch64.manylinux2014_aarch64.whl", hash = "sha256:ec43018d5343ca2e1d71aa352eeddd560fef504effd03025840a5a783abefa4f", size = 13057130, upload-time = "2026-06-21T18:52:12.911Z" },
-    { url = "https://files.pythonhosted.org/packages/f4/db/e27635f5787a42245f900e658340698a6654e165d466f9a3b640efced2cd/zensical-0.0.46-cp310-abi3-manylinux_2_17_armv7l.manylinux2014_armv7l.whl", hash = "sha256:26e98fb8ab7ab50cdd20a73e2c7d4d9aae0b46cf2d8691e6bb22f9c261b8a60a", size = 13022345, upload-time = "2026-06-21T18:52:15.84Z" },
-    { url = "https://files.pythonhosted.org/packages/e7/9d/6ce2ba11c97154870b458a8dae4637ade93b7097912f0102f5ea7fe8cf5b/zensical-0.0.46-cp310-abi3-manylinux_2_17_i686.manylinux2014_i686.whl", hash = "sha256:46fe578f26963f8ee89567983e62737b6fadc9197d4742e1020b522e092d7baa", size = 13377445, upload-time = "2026-06-21T18:52:18.538Z" },
-    { url = "https://files.pythonhosted.org/packages/68/06/9930d43cd9d2f899b648d63491007c1b4f9716cf118b0c98e867b933069c/zensical-0.0.46-cp310-abi3-manylinux_2_17_x86_64.manylinux2014_x86_64.whl", hash = "sha256:aef03fa186a5589148e10b62610500989c6b075a2c08e1554233adbf91b2a3dc", size = 13086749, upload-time = "2026-06-21T18:52:21.452Z" },
-    { url = "https://files.pythonhosted.org/packages/c4/ed/2342cf860fbb02314938b0d1f1b02344935801b04d185ff3151ef1812898/zensical-0.0.46-cp310-abi3-musllinux_1_2_aarch64.whl", hash = "sha256:bc7446cdf97a8dea390f20ed2bd6b030cddc1bd36a8ce113ea3efef6fa61c573", size = 13231120, upload-time = "2026-06-21T18:52:24.171Z" },
-    { url = "https://files.pythonhosted.org/packages/de/b0/d2ece02f63cd767fcf10fd7608dc8e0a995f87dc5261209b1dbc296fd57b/zensical-0.0.46-cp310-abi3-musllinux_1_2_armv7l.whl", hash = "sha256:bbee37801f1ed500f158dc0992c569282950f780ae353c37fe6969f99983d701", size = 13295035, upload-time = "2026-06-21T18:52:26.942Z" },
-    { url = "https://files.pythonhosted.org/packages/4b/b2/cb0048a612e63e615399fc507472a557d1c5b7c2f74065c5bf11998fd597/zensical-0.0.46-cp310-abi3-musllinux_1_2_i686.whl", hash = "sha256:9487c147c9cceb50c04d0ad70b024821a6eab1629dafd70ab6d1e86ec841e623", size = 13437191, upload-time = "2026-06-21T18:52:29.69Z" },
-    { url = "https://files.pythonhosted.org/packages/91/16/515f81db8055b109a510063be481e60a657c4fad1a883680b2ee4aa9a424/zensical-0.0.46-cp310-abi3-musllinux_1_2_x86_64.whl", hash = "sha256:f42a4683c762f026878d19ede4bcf7bfbb84dbecb5ad923949abb77806ed88a5", size = 13369382, upload-time = "2026-06-21T18:52:32.521Z" },
-    { url = "https://files.pythonhosted.org/packages/b9/5c/da54ee65b642eb7d88dd4a3db35845d0765915638e05d5d434a10b42f1c3/zensical-0.0.46-cp310-abi3-win32.whl", hash = "sha256:85f018f2a7ee76a83915c87ddb12b58cf343fd6154081d33ac95b6751b011dd7", size = 12354298, upload-time = "2026-06-21T18:52:34.976Z" },
-    { url = "https://files.pythonhosted.org/packages/73/26/fc7ef081acbdada8436825221cb728ee84a81d4d78a7bb79aa58bd150d31/zensical-0.0.46-cp310-abi3-win_amd64.whl", hash = "sha256:1543a693a160de60e86ca589592401b584670e7e12c5ae30e3c2ba76786f7ec3", size = 12599687, upload-time = "2026-06-21T18:52:37.913Z" },
+    { url = "https://files.pythonhosted.org/packages/48/21/02db3e1fb3904016bfac310037c95b9f1eaaf0ffe7b4a84f14263a7d95df/zensical-0.0.51-cp310-abi3-macosx_10_12_x86_64.whl", hash = "sha256:134d776afa526098e05e34713e2f577c075e57a232e01b97842bb0206716afce", size = 12791154, upload-time = "2026-07-17T18:07:20.748Z" },
+    { url = "https://files.pythonhosted.org/packages/a2/35/b0d96f58253514cb3d08f5779020ab01ee5472334fb984b92e3fc9e9c9ac/zensical-0.0.51-cp310-abi3-macosx_11_0_arm64.whl", hash = "sha256:e97ab39668ae3b452c550634e921a0336443743aae5e1fe031c7bb57d049e535", size = 12692190, upload-time = "2026-07-17T18:07:24.553Z" },
+    { url = "https://files.pythonhosted.org/packages/2e/90/7a60e126a10c37c6b789938ff17e73fe76bba707fa029cb40ac659aeaa82/zensical-0.0.51-cp310-abi3-manylinux_2_17_aarch64.manylinux2014_aarch64.whl", hash = "sha256:3c9579809f88608e7aa2cff516fff9d267d74a843cf6088a5f4227de2f092bb5", size = 13139337, upload-time = "2026-07-17T18:07:27.885Z" },
+    { url = "https://files.pythonhosted.org/packages/ae/c3/9101c97b90d4713ef2816db03366a45ae4762efebffd296737a2dd2df325/zensical-0.0.51-cp310-abi3-manylinux_2_17_armv7l.manylinux2014_armv7l.whl", hash = "sha256:296dc7a14aa28b81a58eb57df2d5c9c9a4b0de7e90c11d99c943354287952925", size = 13069851, upload-time = "2026-07-17T18:07:31.814Z" },
+    { url = "https://files.pythonhosted.org/packages/d2/79/0474df9e15a2c18f6281a786e10177c1b6e16feac1c568e7f36ad39b339c/zensical-0.0.51-cp310-abi3-manylinux_2_17_i686.manylinux2014_i686.whl", hash = "sha256:f779d2d87b4bf228cf2e279bc0ae6bcf3b36a9335ff283a317d01f7c15ae46b2", size = 13451083, upload-time = "2026-07-17T18:07:35.543Z" },
+    { url = "https://files.pythonhosted.org/packages/fe/6f/91bbf78f704d5fd4c0c9be27d6bce3b6e4c2c339e4dcd6e7cf19ecda643c/zensical-0.0.51-cp310-abi3-manylinux_2_17_x86_64.manylinux2014_x86_64.whl", hash = "sha256:67f813a1514a90890ca86248a8d54b81b2164bcbff11a6bcf11b01e1c01a1454", size = 13110446, upload-time = "2026-07-17T18:07:38.783Z" },
+    { url = "https://files.pythonhosted.org/packages/d9/89/aa9a95f81771614c37bdc52b8ab21fcdef4c8de7c9cedf34e9bf62674281/zensical-0.0.51-cp310-abi3-musllinux_1_2_aarch64.whl", hash = "sha256:186ef37e0eee0e969e2cfae47b1b97775e3164e2cba95c71faa4dd6ef47ed009", size = 13315871, upload-time = "2026-07-17T18:07:42.43Z" },
+    { url = "https://files.pythonhosted.org/packages/08/11/1bf6e9ded29d376f8c12644cc4de04676b010fee8caa17f682606b1f16d5/zensical-0.0.51-cp310-abi3-musllinux_1_2_armv7l.whl", hash = "sha256:f5d91ce246ed930224603083cef02ae8947132fc7c52901d72015ea03526fa58", size = 13344382, upload-time = "2026-07-17T18:07:46.066Z" },
+    { url = "https://files.pythonhosted.org/packages/d6/ec/663f16ff82d08b212e7c3236a88bd332f73331f94ddac1c91aaf882bbd1e/zensical-0.0.51-cp310-abi3-musllinux_1_2_i686.whl", hash = "sha256:b1108eae82c6e8ffc33026f60b485c1512647a5333be4f547166b7c8877b98af", size = 13499628, upload-time = "2026-07-17T18:07:49.196Z" },
+    { url = "https://files.pythonhosted.org/packages/60/b4/7f1b6c3cf06d9f6ff5216523168a5d6ccc693444d5ceeb911eca97b30d98/zensical-0.0.51-cp310-abi3-musllinux_1_2_x86_64.whl", hash = "sha256:6fa0ecaf14f56841bfc595fa141396350c72aafbec73a016ebe3c824ed21ac72", size = 13451420, upload-time = "2026-07-17T18:07:52.563Z" },
+    { url = "https://files.pythonhosted.org/packages/0a/44/be4bc09ec8f69e7be1b07b875887961c4e0e478b03a10d2cc624ef28fbe6/zensical-0.0.51-cp310-abi3-win32.whl", hash = "sha256:fb7ff4946b72168759c6af0a29cf5de4c38aebe633a83292e8cd4145b5213cc2", size = 12375639, upload-time = "2026-07-17T18:07:56.081Z" },
+    { url = "https://files.pythonhosted.org/packages/1f/85/aa827c244ed4f404e99a91c3ecf5e5adb62eca806a9e9c8e3333bbad8660/zensical-0.0.51-cp310-abi3-win_amd64.whl", hash = "sha256:12529d3d3991b63820952111dc1d1edc29b2c9b3a3abb16c243bcb649631ebf2", size = 12628965, upload-time = "2026-07-17T18:07:59.741Z" },
 ]

 [[package]]