diff --git a/panda b/panda
index dd78b2bf6c..ed8ff7e48a 160000
--- a/panda
+++ b/panda
@@ -1 +1 @@
-Subproject commit dd78b2bf6c9d63ef59e81d0c400e85c8b477a8be
+Subproject commit ed8ff7e48ad41b5b7c0ce9df5bb2bb5024b6429d
diff --git a/poetry.lock b/poetry.lock
index e1d0df6b6d..dd2359108f 100644
--- a/poetry.lock
+++ b/poetry.lock
@@ -20,14 +20,6 @@ category = "dev"
 optional = false
 python-versions = "*"
 
-[[package]]
-name = "aiofiles"
-version = "22.1.0"
-description = "File support for asyncio."
-category = "dev"
-optional = false
-python-versions = ">=3.7,<4.0"
-
 [[package]]
 name = "aiohttp"
 version = "3.8.5"
@@ -59,18 +51,6 @@ python-versions = ">=3.7"
 [package.dependencies]
 frozenlist = ">=1.1.0"
 
-[[package]]
-name = "aiosqlite"
-version = "0.19.0"
-description = "asyncio bridge to the standard sqlite3 module"
-category = "dev"
-optional = false
-python-versions = ">=3.7"
-
-[package.extras]
-dev = ["aiounittest (==1.4.1)", "attribution (==1.6.2)", "black (==23.3.0)", "coverage[toml] (==7.2.3)", "flake8 (==5.0.4)", "flake8-bugbear (==23.3.12)", "flit (==3.7.1)", "mypy (==1.2.0)", "ufmt (==2.1.0)", "usort (==1.0.6)"]
-docs = ["sphinx (==6.1.3)", "sphinx-mdinclude (==0.5.3)"]
-
 [[package]]
 name = "alabaster"
 version = "0.7.13"
@@ -228,6 +208,14 @@ six = "*"
 [package.extras]
 test = ["astroid", "pytest"]
 
+[[package]]
+name = "async-lru"
+version = "2.0.3"
+description = "Simple LRU cache for asyncio"
+category = "dev"
+optional = false
+python-versions = ">=3.8"
+
 [[package]]
 name = "async-timeout"
 version = "4.0.2"
@@ -535,7 +523,6 @@ python-versions = "*"
 [package.source]
 type = "url"
 url = "https://github.com/commaai/carla/releases/download/3.11.4/carla-0.9.14-cp311-cp311-linux_x86_64.whl"
-
 [[package]]
 name = "casadi"
 version = "3.6.3"
@@ -549,7 +536,7 @@ numpy = "*"
 
 [[package]]
 name = "certifi"
-version = "2023.5.7"
+version = "2023.7.22"
 description = "Python package for providing Mozilla's CA Bundle."
 category = "main"
 optional = false
@@ -692,11 +679,11 @@ typing = ["mypy (>=0.990)"]
 
 [[package]]
 name = "configargparse"
-version = "1.5.5"
+version = "1.7"
 description = "A drop-in replacement for argparse that allows options to also be set via config files and/or environment variables."
 category = "dev"
 optional = false
-python-versions = ">=2.7, !=3.0.*, !=3.1.*, !=3.2.*, !=3.3.*, !=3.4.*"
+python-versions = ">=3.5"
 
 [package.extras]
 test = ["PyYAML", "mock", "pytest"]
@@ -740,7 +727,7 @@ test = ["pytest", "pytest-timeout"]
 
 [[package]]
 name = "coverage"
-version = "6.5.0"
+version = "7.2.7"
 description = "Code coverage measurement for Python"
 category = "dev"
 optional = false
@@ -767,37 +754,39 @@ python-versions = "*"
 
 [[package]]
 name = "cryptography"
-version = "37.0.4"
+version = "41.0.2"
 description = "cryptography is a package which provides cryptographic recipes and primitives to Python developers."
 category = "main"
 optional = false
-python-versions = ">=3.6"
+python-versions = ">=3.7"
 
 [package.dependencies]
 cffi = ">=1.12"
 
 [package.extras]
-docs = ["sphinx (>=1.6.5,!=1.8.0,!=3.1.0,!=3.1.1)", "sphinx_rtd_theme"]
+docs = ["sphinx (>=5.3.0)", "sphinx-rtd-theme (>=1.1.1)"]
 docstest = ["pyenchant (>=1.6.11)", "sphinxcontrib-spelling (>=4.0.1)", "twine (>=1.12.0)"]
-pep8test = ["black", "flake8", "flake8-import-order", "pep8-naming"]
-sdist = ["setuptools_rust (>=0.11.4)"]
+nox = ["nox"]
+pep8test = ["black", "check-sdist", "mypy", "ruff"]
+sdist = ["build"]
 ssh = ["bcrypt (>=3.1.5)"]
-test = ["hypothesis (>=1.11.4,!=3.79.2)", "iso8601", "pretend", "pytest (>=6.2.0)", "pytest-benchmark", "pytest-cov", "pytest-subtests", "pytest-xdist", "pytz"]
+test = ["pretend", "pytest (>=6.2.0)", "pytest-benchmark", "pytest-cov", "pytest-xdist"]
+test-randomorder = ["pytest-randomly"]
 
 [[package]]
 name = "cupy-cuda11x"
-version = "11.6.0"
+version = "12.1.0"
 description = "CuPy: NumPy & SciPy for GPU"
 category = "dev"
 optional = false
-python-versions = ">=3.7"
+python-versions = ">=3.8"
 
 [package.dependencies]
 fastrlock = ">=0.5"
 numpy = ">=1.20,<1.27"
 
 [package.extras]
-all = ["Cython (>=0.29.22,<3)", "optuna (>=2.0)", "scipy (>=1.6,<1.12)"]
+all = ["Cython (>=0.29.22,<3)", "optuna (>=2.0)", "scipy (>=1.6,<1.13)"]
 stylecheck = ["autopep8 (==1.5.5)", "flake8 (==3.8.4)", "mypy (==0.950)", "pbr (==5.5.1)", "pycodestyle (==2.6.0)", "types-setuptools (==57.4.14)"]
 test = ["hypothesis (>=6.37.2,<6.55.0)", "pytest (>=7.2)"]
 
@@ -819,7 +808,7 @@ python-versions = ">=2.7, !=3.0.*, !=3.1.*, !=3.2.*, !=3.3.*"
 
 [[package]]
 name = "datadog"
-version = "0.44.0"
+version = "0.46.0"
 description = "The Datadog Python library"
 category = "dev"
 optional = false
@@ -868,8 +857,8 @@ tests = ["check-manifest (>=0.42)", "mock (>=1.3.0)", "pytest (==5.4.3)", "pytes
 
 [[package]]
 name = "dill"
-version = "0.3.6"
-description = "serialize all of python"
+version = "0.3.7"
+description = "serialize all of Python"
 category = "dev"
 optional = false
 python-versions = ">=3.7"
@@ -939,7 +928,7 @@ torch = "*"
 
 [[package]]
 name = "einops"
-version = "0.5.0"
+version = "0.6.1"
 description = "A new flavour of deep learning operations"
 category = "dev"
 optional = false
@@ -1013,7 +1002,7 @@ test = ["scipy (>=1.6.3)"]
 
 [[package]]
 name = "fastjsonschema"
-version = "2.17.1"
+version = "2.18.0"
 description = "Fastest Python implementation of JSON schema"
 category = "dev"
 optional = false
@@ -1066,16 +1055,16 @@ test = ["Fiona[s3]", "pytest (>=7)", "pytest-cov", "pytz"]
 
 [[package]]
 name = "flake8"
-version = "4.0.1"
+version = "6.0.0"
 description = "the modular source code checker: pep8 pyflakes and co"
 category = "main"
 optional = false
-python-versions = ">=3.6"
+python-versions = ">=3.8.1"
 
 [package.dependencies]
-mccabe = ">=0.6.0,<0.7.0"
-pycodestyle = ">=2.8.0,<2.9.0"
-pyflakes = ">=2.4.0,<2.5.0"
+mccabe = ">=0.7.0,<0.8.0"
+pycodestyle = ">=2.10.0,<2.11.0"
+pyflakes = ">=3.0.0,<3.1.0"
 
 [[package]]
 name = "flask"
@@ -1098,7 +1087,7 @@ dotenv = ["python-dotenv"]
 
 [[package]]
 name = "flask-cors"
-version = "3.0.10"
+version = "4.0.0"
 description = "A Flask extension adding a decorator for CORS support"
 category = "dev"
 optional = false
@@ -1106,7 +1095,6 @@ python-versions = "*"
 
 [package.dependencies]
 Flask = ">=0.9"
-Six = "*"
 
 [[package]]
 name = "flask-socketio"
@@ -1130,7 +1118,7 @@ python-versions = "*"
 
 [[package]]
 name = "fonttools"
-version = "4.41.0"
+version = "4.41.1"
 description = "Tools to manipulate font files"
 category = "dev"
 optional = false
@@ -1227,7 +1215,7 @@ rewrite = ["tokenize-rt (>=3)"]
 
 [[package]]
 name = "geoalchemy2"
-version = "0.12.5"
+version = "0.14.0"
 description = "Using SQLAlchemy with Spatial Databases"
 category = "dev"
 optional = false
@@ -1237,6 +1225,9 @@ python-versions = ">=3.7"
 packaging = "*"
 SQLAlchemy = ">=1.4"
 
+[package.extras]
+shapely = ["Shapely (>=1.7)"]
+
 [[package]]
 name = "geopandas"
 version = "0.13.2"
@@ -1301,14 +1292,14 @@ test = ["objgraph", "psutil"]
 
 [[package]]
 name = "gunicorn"
-version = "20.1.0"
+version = "21.2.0"
 description = "WSGI HTTP Server for UNIX"
 category = "main"
 optional = false
 python-versions = ">=3.5"
 
 [package.dependencies]
-setuptools = ">=3.0"
+packaging = "*"
 
 [package.extras]
 eventlet = ["eventlet (>=0.24.1)"]
@@ -1441,7 +1432,7 @@ zoneinfo = ["backports.zoneinfo (>=0.2.1)", "tzdata (>=2022.1)"]
 
 [[package]]
 name = "identify"
-version = "2.5.25"
+version = "2.5.26"
 description = "File identification library for Python"
 category = "dev"
 optional = false
@@ -1941,105 +1932,92 @@ cli = ["click", "rich"]
 docs = ["jupyterlite-sphinx", "myst-parser", "pydata-sphinx-theme", "sphinxcontrib-spelling"]
 test = ["click", "coverage", "pre-commit", "pytest (>=7.0)", "pytest-asyncio (>=0.19.0)", "pytest-console-scripts", "pytest-cov", "rich"]
 
+[[package]]
+name = "jupyter-lsp"
+version = "2.2.0"
+description = "Multi-Language Server WebSocket proxy for Jupyter Notebook/Lab server"
+category = "dev"
+optional = false
+python-versions = ">=3.8"
+
+[package.dependencies]
+jupyter-server = ">=1.1.2"
+
 [[package]]
 name = "jupyter-server"
-version = "1.24.0"
+version = "2.7.0"
 description = "The backend—i.e. core services, APIs, and REST endpoints—to Jupyter web applications."
 category = "dev"
 optional = false
-python-versions = ">=3.7"
+python-versions = ">=3.8"
 
 [package.dependencies]
-anyio = ">=3.1.0,<4"
+anyio = ">=3.1.0"
 argon2-cffi = "*"
 jinja2 = "*"
-jupyter-client = ">=6.1.12"
+jupyter-client = ">=7.4.4"
 jupyter-core = ">=4.12,<5.0.0 || >=5.1.0"
+jupyter-events = ">=0.6.0"
+jupyter-server-terminals = "*"
 nbconvert = ">=6.4.4"
-nbformat = ">=5.2.0"
+nbformat = ">=5.3.0"
+overrides = "*"
 packaging = "*"
 prometheus-client = "*"
 pywinpty = {version = "*", markers = "os_name == \"nt\""}
-pyzmq = ">=17"
-Send2Trash = "*"
+pyzmq = ">=24"
+send2trash = "*"
 terminado = ">=0.8.3"
-tornado = ">=6.1.0"
-traitlets = ">=5.1"
+tornado = ">=6.2.0"
+traitlets = ">=5.6.0"
 websocket-client = "*"
 
 [package.extras]
-test = ["coverage", "ipykernel", "pre-commit", "pytest (>=7.0)", "pytest-console-scripts", "pytest-cov", "pytest-mock", "pytest-timeout", "pytest-tornasync", "requests"]
+docs = ["ipykernel", "jinja2", "jupyter-client", "jupyter-server", "myst-parser", "nbformat", "prometheus-client", "pydata-sphinx-theme", "send2trash", "sphinx-autodoc-typehints", "sphinxcontrib-github-alt", "sphinxcontrib-openapi (>=0.8.0)", "sphinxcontrib-spelling", "sphinxemoji", "tornado", "typing-extensions"]
+test = ["flaky", "ipykernel", "pre-commit", "pytest (>=7.0)", "pytest-console-scripts", "pytest-jupyter[server] (>=0.4)", "pytest-timeout", "requests"]
 
 [[package]]
-name = "jupyter-server-fileid"
-version = "0.9.0"
-description = ""
+name = "jupyter-server-terminals"
+version = "0.4.4"
+description = "A Jupyter Server Extension Providing Terminals."
 category = "dev"
 optional = false
-python-versions = ">=3.7"
-
-[package.dependencies]
-jupyter-events = ">=0.5.0"
-jupyter-server = ">=1.15,<3"
-
-[package.extras]
-cli = ["click"]
-test = ["jupyter-server[test] (>=1.15,<3)", "pytest", "pytest-cov"]
-
-[[package]]
-name = "jupyter-server-ydoc"
-version = "0.8.0"
-description = "A Jupyter Server Extension Providing Y Documents."
-category = "dev"
-optional = false
-python-versions = ">=3.7"
-
-[package.dependencies]
-jupyter-server-fileid = ">=0.6.0,<1"
-jupyter-ydoc = ">=0.2.0,<0.4.0"
-ypy-websocket = ">=0.8.2,<0.9.0"
-
-[package.extras]
-test = ["coverage", "jupyter-server[test] (>=2.0.0a0)", "pytest (>=7.0)", "pytest-cov", "pytest-timeout", "pytest-tornasync"]
-
-[[package]]
-name = "jupyter-ydoc"
-version = "0.2.5"
-description = "Document structures for collaborative editing using Ypy"
-category = "dev"
-optional = false
-python-versions = ">=3.7"
+python-versions = ">=3.8"
 
 [package.dependencies]
-y-py = ">=0.6.0,<0.7.0"
+pywinpty = {version = ">=2.0.3", markers = "os_name == \"nt\""}
+terminado = ">=0.8.3"
 
 [package.extras]
-dev = ["click", "jupyter-releaser"]
-test = ["pre-commit", "pytest", "pytest-asyncio", "websockets (>=10.0)", "ypy-websocket (>=0.8.4,<0.9.0)"]
+docs = ["jinja2", "jupyter-server", "mistune (<3.0)", "myst-parser", "nbformat", "packaging", "pydata-sphinx-theme", "sphinxcontrib-github-alt", "sphinxcontrib-openapi", "sphinxcontrib-spelling", "sphinxemoji", "tornado"]
+test = ["coverage", "jupyter-server (>=2.0.0)", "pytest (>=7.0)", "pytest-cov", "pytest-jupyter[server] (>=0.5.3)", "pytest-timeout"]
 
 [[package]]
 name = "jupyterlab"
-version = "3.6.5"
+version = "4.0.3"
 description = "JupyterLab computational environment"
 category = "dev"
 optional = false
-python-versions = ">=3.7"
+python-versions = ">=3.8"
 
 [package.dependencies]
-ipython = "*"
-jinja2 = ">=2.1"
+async-lru = ">=1.0.0"
+ipykernel = "*"
+jinja2 = ">=3.0.3"
 jupyter-core = "*"
-jupyter-server = ">=1.16.0,<3"
-jupyter-server-ydoc = ">=0.8.0,<0.9.0"
-jupyter-ydoc = ">=0.2.4,<0.3.0"
-jupyterlab-server = ">=2.19,<3.0"
-nbclassic = "*"
-notebook = "<7"
+jupyter-lsp = ">=2.0.0"
+jupyter-server = ">=2.4.0,<3"
+jupyterlab-server = ">=2.19.0,<3"
+notebook-shim = ">=0.2"
 packaging = "*"
-tornado = ">=6.1.0"
+tornado = ">=6.2.0"
+traitlets = "*"
 
 [package.extras]
-test = ["check-manifest", "coverage", "jupyterlab-server[test]", "pre-commit", "pytest (>=6.0)", "pytest-check-links (>=0.5)", "pytest-console-scripts", "pytest-cov", "pytest-jupyter (>=0.5.3)", "requests", "requests-cache", "virtualenv"]
+dev = ["black[jupyter] (==23.3.0)", "build", "bump2version", "coverage", "hatch", "pre-commit", "pytest-cov", "ruff (==0.0.271)"]
+docs = ["jsx-lexer", "myst-parser", "pydata-sphinx-theme (>=0.13.0)", "pytest", "pytest-check-links", "pytest-tornasync", "sphinx (>=1.8)", "sphinx-copybutton"]
+docs-screenshots = ["altair (==5.0.1)", "ipython (==8.14.0)", "ipywidgets (==8.0.6)", "jupyterlab-geojson (==3.4.0)", "jupyterlab-language-pack-zh-cn (==4.0.post0)", "matplotlib (==3.7.1)", "nbconvert (>=7.0.0)", "pandas (==2.0.2)", "scipy (==1.10.1)", "vega-datasets (==0.9.0)"]
+test = ["coverage", "pytest (>=7.0)", "pytest-check-links (>=0.7)", "pytest-console-scripts", "pytest-cov", "pytest-jupyter (>=0.5.3)", "pytest-timeout", "pytest-tornasync", "requests", "requests-cache", "virtualenv"]
 
 [[package]]
 name = "jupyterlab-pygments"
@@ -2051,7 +2029,7 @@ python-versions = ">=3.7"
 
 [[package]]
 name = "jupyterlab-server"
-version = "2.23.0"
+version = "2.24.0"
 description = "A set of server components for JupyterLab and JupyterLab like applications."
 category = "dev"
 optional = false
@@ -2069,11 +2047,11 @@ requests = ">=2.28"
 [package.extras]
 docs = ["autodoc-traits", "jinja2 (<3.2.0)", "mistune (<4)", "myst-parser", "pydata-sphinx-theme", "sphinx", "sphinx-copybutton", "sphinxcontrib-openapi (>0.8)"]
 openapi = ["openapi-core (>=0.16.1,<0.17.0)", "ruamel-yaml"]
-test = ["hatch", "ipykernel", "jupyterlab-server[openapi]", "openapi-spec-validator (>=0.5.1,<0.6.0)", "pytest (>=7.0)", "pytest-console-scripts", "pytest-cov", "pytest-jupyter[server] (>=0.6.2)", "pytest-timeout", "requests-mock", "sphinxcontrib-spelling", "strict-rfc3339", "werkzeug"]
+test = ["hatch", "ipykernel", "jupyterlab-server[openapi]", "openapi-spec-validator (>=0.5.1,<0.7.0)", "pytest (>=7.0)", "pytest-console-scripts", "pytest-cov", "pytest-jupyter[server] (>=0.6.2)", "pytest-timeout", "requests-mock", "sphinxcontrib-spelling", "strict-rfc3339", "werkzeug"]
 
 [[package]]
 name = "jupyterlab-vim"
-version = "0.15.1"
+version = "0.16.0"
 description = "Code cell vim bindings"
 category = "dev"
 optional = false
@@ -2130,6 +2108,18 @@ pygments = "*"
 pyyaml = "*"
 tabulate = "*"
 
+[[package]]
+name = "lazy-loader"
+version = "0.3"
+description = "lazy_loader"
+category = "dev"
+optional = false
+python-versions = ">=3.7"
+
+[package.extras]
+lint = ["pre-commit (>=3.3)"]
+test = ["pytest (>=7.4)", "pytest-cov (>=4.1)"]
+
 [[package]]
 name = "lazy-object-proxy"
 version = "1.9.0"
@@ -2216,11 +2206,11 @@ testing = ["coverage", "pyyaml"]
 
 [[package]]
 name = "markdown-it-py"
-version = "2.2.0"
+version = "3.0.0"
 description = "Python port of markdown-it. Markdown parsing, done right!"
 category = "dev"
 optional = false
-python-versions = ">=3.7"
+python-versions = ">=3.8"
 
 [package.dependencies]
 mdurl = ">=0.1,<1.0"
@@ -2232,7 +2222,7 @@ compare = ["commonmark (>=0.9,<1.0)", "markdown (>=3.4,<4.0)", "mistletoe (>=1.0
 linkify = ["linkify-it-py (>=1,<3)"]
 plugins = ["mdit-py-plugins"]
 profiling = ["gprof2dot"]
-rtd = ["attrs", "myst-parser", "pyyaml", "sphinx", "sphinx-copybutton", "sphinx-design", "sphinx_book_theme"]
+rtd = ["jupyter_sphinx", "mdit-py-plugins", "myst-parser", "pyyaml", "sphinx", "sphinx-copybutton", "sphinx-design", "sphinx_book_theme"]
 testing = ["coverage", "pytest", "pytest-cov", "pytest-regressions"]
 
 [[package]]
@@ -2276,26 +2266,26 @@ traitlets = "*"
 
 [[package]]
 name = "mccabe"
-version = "0.6.1"
+version = "0.7.0"
 description = "McCabe checker, plugin for flake8"
 category = "main"
 optional = false
-python-versions = "*"
+python-versions = ">=3.6"
 
 [[package]]
 name = "mdit-py-plugins"
-version = "0.3.5"
+version = "0.4.0"
 description = "Collection of plugins for markdown-it-py"
 category = "dev"
 optional = false
-python-versions = ">=3.7"
+python-versions = ">=3.8"
 
 [package.dependencies]
-markdown-it-py = ">=1.0.0,<3.0.0"
+markdown-it-py = ">=1.0.0,<4.0.0"
 
 [package.extras]
 code-style = ["pre-commit"]
-rtd = ["attrs", "myst-parser (>=0.16.1,<0.17.0)", "sphinx-book-theme (>=0.1.0,<0.2.0)"]
+rtd = ["myst-parser", "sphinx-book-theme"]
 testing = ["coverage", "pytest", "pytest-cov", "pytest-regressions"]
 
 [[package]]
@@ -2316,11 +2306,11 @@ python-versions = ">=3.7"
 
 [[package]]
 name = "more-itertools"
-version = "9.1.0"
+version = "10.0.0"
 description = "More routines for operating on iterables, beyond itertools"
 category = "main"
 optional = false
-python-versions = ">=3.7"
+python-versions = ">=3.8"
 
 [[package]]
 name = "mpld3"
@@ -2487,26 +2477,26 @@ python-versions = ">=3.5"
 
 [[package]]
 name = "myst-parser"
-version = "0.18.1"
-description = "An extended commonmark compliant parser, with bridges to docutils & sphinx."
+version = "2.0.0"
+description = "An extended [CommonMark](https://spec.commonmark.org/) compliant parser,"
 category = "dev"
 optional = false
-python-versions = ">=3.7"
+python-versions = ">=3.8"
 
 [package.dependencies]
-docutils = ">=0.15,<0.20"
+docutils = ">=0.16,<0.21"
 jinja2 = "*"
-markdown-it-py = ">=1.0.0,<3.0.0"
-mdit-py-plugins = ">=0.3.1,<0.4.0"
+markdown-it-py = ">=3.0,<4.0"
+mdit-py-plugins = ">=0.4,<1.0"
 pyyaml = "*"
-sphinx = ">=4,<6"
-typing-extensions = "*"
+sphinx = ">=6,<8"
 
 [package.extras]
-code-style = ["pre-commit (>=2.12,<3.0)"]
-linkify = ["linkify-it-py (>=1.0,<2.0)"]
-rtd = ["ipython", "sphinx-book-theme", "sphinx-design", "sphinxcontrib.mermaid (>=0.7.1,<0.8.0)", "sphinxext-opengraph (>=0.6.3,<0.7.0)", "sphinxext-rediraffe (>=0.2.7,<0.3.0)"]
-testing = ["beautifulsoup4", "coverage[toml]", "pytest (>=6,<7)", "pytest-cov", "pytest-param-files (>=0.3.4,<0.4.0)", "pytest-regressions", "sphinx (<5.2)", "sphinx-pytest"]
+code-style = ["pre-commit (>=3.0,<4.0)"]
+linkify = ["linkify-it-py (>=2.0,<3.0)"]
+rtd = ["ipython", "pydata-sphinx-theme (==v0.13.0rc4)", "sphinx-autodoc2 (>=0.4.2,<0.5.0)", "sphinx-book-theme (==1.0.0rc2)", "sphinx-copybutton", "sphinx-design2", "sphinx-pyscript", "sphinx-tippy (>=0.3.1)", "sphinx-togglebutton", "sphinxext-opengraph (>=0.8.2,<0.9.0)", "sphinxext-rediraffe (>=0.2.7,<0.3.0)"]
+testing = ["beautifulsoup4", "coverage[toml]", "pytest (>=7,<8)", "pytest-cov", "pytest-param-files (>=0.3.4,<0.4.0)", "pytest-regressions", "sphinx-pytest"]
+testing-docutils = ["pygments", "pytest (>=7,<8)", "pytest-param-files (>=0.3.4,<0.4.0)"]
 
 [[package]]
 name = "natsort"
@@ -2520,38 +2510,6 @@ python-versions = ">=3.7"
 fast = ["fastnumbers (>=2.0.0)"]
 icu = ["PyICU (>=1.0.0)"]
 
-[[package]]
-name = "nbclassic"
-version = "1.0.0"
-description = "Jupyter Notebook as a Jupyter Server extension."
-category = "dev"
-optional = false
-python-versions = ">=3.7"
-
-[package.dependencies]
-argon2-cffi = "*"
-ipykernel = "*"
-ipython-genutils = "*"
-jinja2 = "*"
-jupyter-client = ">=6.1.1"
-jupyter-core = ">=4.6.1"
-jupyter-server = ">=1.8"
-nbconvert = ">=5"
-nbformat = "*"
-nest-asyncio = ">=1.5"
-notebook-shim = ">=0.2.3"
-prometheus-client = "*"
-pyzmq = ">=17"
-Send2Trash = ">=1.8.0"
-terminado = ">=0.8.3"
-tornado = ">=6.1"
-traitlets = ">=4.2.1"
-
-[package.extras]
-docs = ["myst-parser", "nbsphinx", "sphinx", "sphinx-rtd-theme", "sphinxcontrib-github-alt"]
-json-logging = ["json-logging"]
-test = ["coverage", "nbval", "pytest", "pytest-cov", "pytest-jupyter", "pytest-playwright", "pytest-tornasync", "requests", "requests-unixsocket", "testpath"]
-
 [[package]]
 name = "nbclient"
 version = "0.8.0"
@@ -2670,34 +2628,23 @@ setuptools = "*"
 
 [[package]]
 name = "notebook"
-version = "6.5.4"
-description = "A web-based notebook environment for interactive computing"
+version = "7.0.0"
+description = "Jupyter Notebook - A web-based notebook environment for interactive computing"
 category = "dev"
 optional = false
-python-versions = ">=3.7"
+python-versions = ">=3.8"
 
 [package.dependencies]
-argon2-cffi = "*"
-ipykernel = "*"
-ipython-genutils = "*"
-jinja2 = "*"
-jupyter-client = ">=5.3.4"
-jupyter-core = ">=4.6.1"
-nbclassic = ">=0.4.7"
-nbconvert = ">=5"
-nbformat = "*"
-nest-asyncio = ">=1.5"
-prometheus-client = "*"
-pyzmq = ">=17"
-Send2Trash = ">=1.8.0"
-terminado = ">=0.8.3"
-tornado = ">=6.1"
-traitlets = ">=4.2.1"
+jupyter-server = ">=2.4.0,<3"
+jupyterlab = ">=4.0.2,<5"
+jupyterlab-server = ">=2.22.1,<3"
+notebook-shim = ">=0.2,<0.3"
+tornado = ">=6.2.0"
 
 [package.extras]
-docs = ["myst-parser", "nbsphinx", "sphinx", "sphinx-rtd-theme", "sphinxcontrib-github-alt"]
-json-logging = ["json-logging"]
-test = ["coverage", "nbval", "pytest", "pytest-cov", "requests", "requests-unixsocket", "selenium (==4.1.5)", "testpath"]
+dev = ["hatch", "pre-commit"]
+docs = ["myst-parser", "nbsphinx", "pydata-sphinx-theme", "sphinx (>=1.3.6)", "sphinxcontrib-github-alt", "sphinxcontrib-spelling"]
+test = ["ipykernel", "jupyter-server[test] (>=2.4.0,<3)", "jupyterlab-server[test] (>=2.22.1,<3)", "nbval", "pytest (>=7.0)", "pytest-console-scripts", "pytest-timeout", "pytest-tornasync", "requests"]
 
 [[package]]
 name = "notebook-shim"
@@ -2836,7 +2783,6 @@ numpy = [
 [package.source]
 type = "url"
 url = "https://github.com/commaai/opencv-python-builder/releases/download/4.5.5.64%2Bcu118-cp311/opencv_python_headless-4.5.5.64-cp311-cp311-manylinux_2_31_x86_64.whl"
-
 [[package]]
 name = "osmium"
 version = "3.6.0"
@@ -2873,6 +2819,14 @@ nearest-neighbor = ["scikit-learn", "scipy"]
 raster = ["gdal", "rasterio"]
 web-map = ["folium"]
 
+[[package]]
+name = "overrides"
+version = "7.3.1"
+description = "A decorator to automatically detect mismatch when overriding a method."
+category = "dev"
+optional = false
+python-versions = ">=3.6"
+
 [[package]]
 name = "packaging"
 version = "23.1"
@@ -2929,6 +2883,154 @@ pytz = ">=2020.1"
 [package.extras]
 test = ["hypothesis (>=5.5.3)", "pytest (>=6.0)", "pytest-xdist (>=1.31)"]
 
+[[package]]
+name = "pandas"
+version = "2.0.0"
+description = "Powerful data structures for data analysis, time series, and statistics"
+category = "dev"
+optional = false
+python-versions = ">=3.8"
+
+[package.dependencies]
+numpy = {version = ">=1.21.0", markers = "python_version >= \"3.10\""}
+python-dateutil = ">=2.8.2"
+pytz = ">=2020.1"
+tzdata = ">=2022.1"
+
+[package.extras]
+all = ["PyQt5 (>=5.15.1)", "SQLAlchemy (>=1.4.16)", "beautifulsoup4 (>=4.9.3)", "bottleneck (>=1.3.2)", "brotlipy (>=0.7.0)", "fastparquet (>=0.6.3)", "fsspec (>=2021.07.0)", "gcsfs (>=2021.07.0)", "html5lib (>=1.1)", "hypothesis (>=6.34.2)", "jinja2 (>=3.0.0)", "lxml (>=4.6.3)", "matplotlib (>=3.6.1)", "numba (>=0.53.1)", "numexpr (>=2.7.3)", "odfpy (>=1.4.1)", "openpyxl (>=3.0.7)", "pandas-gbq (>=0.15.0)", "psycopg2 (>=2.8.6)", "pyarrow (>=7.0.0)", "pymysql (>=1.0.2)", "pyreadstat (>=1.1.2)", "pytest (>=7.0.0)", "pytest-asyncio (>=0.17.0)", "pytest-xdist (>=2.2.0)", "python-snappy (>=0.6.0)", "pyxlsb (>=1.0.8)", "qtpy (>=2.2.0)", "s3fs (>=2021.08.0)", "scipy (>=1.7.1)", "tables (>=3.6.1)", "tabulate (>=0.8.9)", "xarray (>=0.21.0)", "xlrd (>=2.0.1)", "xlsxwriter (>=1.4.3)", "zstandard (>=0.15.2)"]
+aws = ["s3fs (>=2021.08.0)"]
+clipboard = ["PyQt5 (>=5.15.1)", "qtpy (>=2.2.0)"]
+compression = ["brotlipy (>=0.7.0)", "python-snappy (>=0.6.0)", "zstandard (>=0.15.2)"]
+computation = ["scipy (>=1.7.1)", "xarray (>=0.21.0)"]
+excel = ["odfpy (>=1.4.1)", "openpyxl (>=3.0.7)", "pyxlsb (>=1.0.8)", "xlrd (>=2.0.1)", "xlsxwriter (>=1.4.3)"]
+feather = ["pyarrow (>=7.0.0)"]
+fss = ["fsspec (>=2021.07.0)"]
+gcp = ["gcsfs (>=2021.07.0)", "pandas-gbq (>=0.15.0)"]
+hdf5 = ["tables (>=3.6.1)"]
+html = ["beautifulsoup4 (>=4.9.3)", "html5lib (>=1.1)", "lxml (>=4.6.3)"]
+mysql = ["SQLAlchemy (>=1.4.16)", "pymysql (>=1.0.2)"]
+output-formatting = ["jinja2 (>=3.0.0)", "tabulate (>=0.8.9)"]
+parquet = ["pyarrow (>=7.0.0)"]
+performance = ["bottleneck (>=1.3.2)", "numba (>=0.53.1)", "numexpr (>=2.7.1)"]
+plot = ["matplotlib (>=3.6.1)"]
+postgresql = ["SQLAlchemy (>=1.4.16)", "psycopg2 (>=2.8.6)"]
+spss = ["pyreadstat (>=1.1.2)"]
+sql-other = ["SQLAlchemy (>=1.4.16)"]
+test = ["hypothesis (>=6.34.2)", "pytest (>=7.0.0)", "pytest-asyncio (>=0.17.0)", "pytest-xdist (>=2.2.0)"]
+xml = ["lxml (>=4.6.3)"]
+
+[[package]]
+name = "pandas"
+version = "2.0.1"
+description = "Powerful data structures for data analysis, time series, and statistics"
+category = "dev"
+optional = false
+python-versions = ">=3.8"
+
+[package.dependencies]
+numpy = {version = ">=1.21.0", markers = "python_version >= \"3.10\""}
+python-dateutil = ">=2.8.2"
+pytz = ">=2020.1"
+tzdata = ">=2022.1"
+
+[package.extras]
+all = ["PyQt5 (>=5.15.1)", "SQLAlchemy (>=1.4.16)", "beautifulsoup4 (>=4.9.3)", "bottleneck (>=1.3.2)", "brotlipy (>=0.7.0)", "fastparquet (>=0.6.3)", "fsspec (>=2021.07.0)", "gcsfs (>=2021.07.0)", "html5lib (>=1.1)", "hypothesis (>=6.34.2)", "jinja2 (>=3.0.0)", "lxml (>=4.6.3)", "matplotlib (>=3.6.1)", "numba (>=0.53.1)", "numexpr (>=2.7.3)", "odfpy (>=1.4.1)", "openpyxl (>=3.0.7)", "pandas-gbq (>=0.15.0)", "psycopg2 (>=2.8.6)", "pyarrow (>=7.0.0)", "pymysql (>=1.0.2)", "pyreadstat (>=1.1.2)", "pytest (>=7.0.0)", "pytest-asyncio (>=0.17.0)", "pytest-xdist (>=2.2.0)", "python-snappy (>=0.6.0)", "pyxlsb (>=1.0.8)", "qtpy (>=2.2.0)", "s3fs (>=2021.08.0)", "scipy (>=1.7.1)", "tables (>=3.6.1)", "tabulate (>=0.8.9)", "xarray (>=0.21.0)", "xlrd (>=2.0.1)", "xlsxwriter (>=1.4.3)", "zstandard (>=0.15.2)"]
+aws = ["s3fs (>=2021.08.0)"]
+clipboard = ["PyQt5 (>=5.15.1)", "qtpy (>=2.2.0)"]
+compression = ["brotlipy (>=0.7.0)", "python-snappy (>=0.6.0)", "zstandard (>=0.15.2)"]
+computation = ["scipy (>=1.7.1)", "xarray (>=0.21.0)"]
+excel = ["odfpy (>=1.4.1)", "openpyxl (>=3.0.7)", "pyxlsb (>=1.0.8)", "xlrd (>=2.0.1)", "xlsxwriter (>=1.4.3)"]
+feather = ["pyarrow (>=7.0.0)"]
+fss = ["fsspec (>=2021.07.0)"]
+gcp = ["gcsfs (>=2021.07.0)", "pandas-gbq (>=0.15.0)"]
+hdf5 = ["tables (>=3.6.1)"]
+html = ["beautifulsoup4 (>=4.9.3)", "html5lib (>=1.1)", "lxml (>=4.6.3)"]
+mysql = ["SQLAlchemy (>=1.4.16)", "pymysql (>=1.0.2)"]
+output-formatting = ["jinja2 (>=3.0.0)", "tabulate (>=0.8.9)"]
+parquet = ["pyarrow (>=7.0.0)"]
+performance = ["bottleneck (>=1.3.2)", "numba (>=0.53.1)", "numexpr (>=2.7.1)"]
+plot = ["matplotlib (>=3.6.1)"]
+postgresql = ["SQLAlchemy (>=1.4.16)", "psycopg2 (>=2.8.6)"]
+spss = ["pyreadstat (>=1.1.2)"]
+sql-other = ["SQLAlchemy (>=1.4.16)"]
+test = ["hypothesis (>=6.34.2)", "pytest (>=7.0.0)", "pytest-asyncio (>=0.17.0)", "pytest-xdist (>=2.2.0)"]
+xml = ["lxml (>=4.6.3)"]
+
+[[package]]
+name = "pandas"
+version = "2.0.2"
+description = "Powerful data structures for data analysis, time series, and statistics"
+category = "dev"
+optional = false
+python-versions = ">=3.8"
+
+[package.dependencies]
+numpy = {version = ">=1.21.0", markers = "python_version >= \"3.10\""}
+python-dateutil = ">=2.8.2"
+pytz = ">=2020.1"
+tzdata = ">=2022.1"
+
+[package.extras]
+all = ["PyQt5 (>=5.15.1)", "SQLAlchemy (>=1.4.16)", "beautifulsoup4 (>=4.9.3)", "bottleneck (>=1.3.2)", "brotlipy (>=0.7.0)", "fastparquet (>=0.6.3)", "fsspec (>=2021.07.0)", "gcsfs (>=2021.07.0)", "html5lib (>=1.1)", "hypothesis (>=6.34.2)", "jinja2 (>=3.0.0)", "lxml (>=4.6.3)", "matplotlib (>=3.6.1)", "numba (>=0.53.1)", "numexpr (>=2.7.3)", "odfpy (>=1.4.1)", "openpyxl (>=3.0.7)", "pandas-gbq (>=0.15.0)", "psycopg2 (>=2.8.6)", "pyarrow (>=7.0.0)", "pymysql (>=1.0.2)", "pyreadstat (>=1.1.2)", "pytest (>=7.0.0)", "pytest-asyncio (>=0.17.0)", "pytest-xdist (>=2.2.0)", "python-snappy (>=0.6.0)", "pyxlsb (>=1.0.8)", "qtpy (>=2.2.0)", "s3fs (>=2021.08.0)", "scipy (>=1.7.1)", "tables (>=3.6.1)", "tabulate (>=0.8.9)", "xarray (>=0.21.0)", "xlrd (>=2.0.1)", "xlsxwriter (>=1.4.3)", "zstandard (>=0.15.2)"]
+aws = ["s3fs (>=2021.08.0)"]
+clipboard = ["PyQt5 (>=5.15.1)", "qtpy (>=2.2.0)"]
+compression = ["brotlipy (>=0.7.0)", "python-snappy (>=0.6.0)", "zstandard (>=0.15.2)"]
+computation = ["scipy (>=1.7.1)", "xarray (>=0.21.0)"]
+excel = ["odfpy (>=1.4.1)", "openpyxl (>=3.0.7)", "pyxlsb (>=1.0.8)", "xlrd (>=2.0.1)", "xlsxwriter (>=1.4.3)"]
+feather = ["pyarrow (>=7.0.0)"]
+fss = ["fsspec (>=2021.07.0)"]
+gcp = ["gcsfs (>=2021.07.0)", "pandas-gbq (>=0.15.0)"]
+hdf5 = ["tables (>=3.6.1)"]
+html = ["beautifulsoup4 (>=4.9.3)", "html5lib (>=1.1)", "lxml (>=4.6.3)"]
+mysql = ["SQLAlchemy (>=1.4.16)", "pymysql (>=1.0.2)"]
+output-formatting = ["jinja2 (>=3.0.0)", "tabulate (>=0.8.9)"]
+parquet = ["pyarrow (>=7.0.0)"]
+performance = ["bottleneck (>=1.3.2)", "numba (>=0.53.1)", "numexpr (>=2.7.1)"]
+plot = ["matplotlib (>=3.6.1)"]
+postgresql = ["SQLAlchemy (>=1.4.16)", "psycopg2 (>=2.8.6)"]
+spss = ["pyreadstat (>=1.1.2)"]
+sql-other = ["SQLAlchemy (>=1.4.16)"]
+test = ["hypothesis (>=6.34.2)", "pytest (>=7.0.0)", "pytest-asyncio (>=0.17.0)", "pytest-xdist (>=2.2.0)"]
+xml = ["lxml (>=4.6.3)"]
+
+[[package]]
+name = "pandas"
+version = "2.0.3"
+description = "Powerful data structures for data analysis, time series, and statistics"
+category = "dev"
+optional = false
+python-versions = ">=3.8"
+
+[package.dependencies]
+numpy = {version = ">=1.21.0", markers = "python_version >= \"3.10\""}
+python-dateutil = ">=2.8.2"
+pytz = ">=2020.1"
+tzdata = ">=2022.1"
+
+[package.extras]
+all = ["PyQt5 (>=5.15.1)", "SQLAlchemy (>=1.4.16)", "beautifulsoup4 (>=4.9.3)", "bottleneck (>=1.3.2)", "brotlipy (>=0.7.0)", "fastparquet (>=0.6.3)", "fsspec (>=2021.07.0)", "gcsfs (>=2021.07.0)", "html5lib (>=1.1)", "hypothesis (>=6.34.2)", "jinja2 (>=3.0.0)", "lxml (>=4.6.3)", "matplotlib (>=3.6.1)", "numba (>=0.53.1)", "numexpr (>=2.7.3)", "odfpy (>=1.4.1)", "openpyxl (>=3.0.7)", "pandas-gbq (>=0.15.0)", "psycopg2 (>=2.8.6)", "pyarrow (>=7.0.0)", "pymysql (>=1.0.2)", "pyreadstat (>=1.1.2)", "pytest (>=7.3.2)", "pytest-asyncio (>=0.17.0)", "pytest-xdist (>=2.2.0)", "python-snappy (>=0.6.0)", "pyxlsb (>=1.0.8)", "qtpy (>=2.2.0)", "s3fs (>=2021.08.0)", "scipy (>=1.7.1)", "tables (>=3.6.1)", "tabulate (>=0.8.9)", "xarray (>=0.21.0)", "xlrd (>=2.0.1)", "xlsxwriter (>=1.4.3)", "zstandard (>=0.15.2)"]
+aws = ["s3fs (>=2021.08.0)"]
+clipboard = ["PyQt5 (>=5.15.1)", "qtpy (>=2.2.0)"]
+compression = ["brotlipy (>=0.7.0)", "python-snappy (>=0.6.0)", "zstandard (>=0.15.2)"]
+computation = ["scipy (>=1.7.1)", "xarray (>=0.21.0)"]
+excel = ["odfpy (>=1.4.1)", "openpyxl (>=3.0.7)", "pyxlsb (>=1.0.8)", "xlrd (>=2.0.1)", "xlsxwriter (>=1.4.3)"]
+feather = ["pyarrow (>=7.0.0)"]
+fss = ["fsspec (>=2021.07.0)"]
+gcp = ["gcsfs (>=2021.07.0)", "pandas-gbq (>=0.15.0)"]
+hdf5 = ["tables (>=3.6.1)"]
+html = ["beautifulsoup4 (>=4.9.3)", "html5lib (>=1.1)", "lxml (>=4.6.3)"]
+mysql = ["SQLAlchemy (>=1.4.16)", "pymysql (>=1.0.2)"]
+output-formatting = ["jinja2 (>=3.0.0)", "tabulate (>=0.8.9)"]
+parquet = ["pyarrow (>=7.0.0)"]
+performance = ["bottleneck (>=1.3.2)", "numba (>=0.53.1)", "numexpr (>=2.7.1)"]
+plot = ["matplotlib (>=3.6.1)"]
+postgresql = ["SQLAlchemy (>=1.4.16)", "psycopg2 (>=2.8.6)"]
+spss = ["pyreadstat (>=1.1.2)"]
+sql-other = ["SQLAlchemy (>=1.4.16)"]
+test = ["hypothesis (>=6.34.2)", "pytest (>=7.3.2)", "pytest-asyncio (>=0.17.0)", "pytest-xdist (>=2.2.0)"]
+xml = ["lxml (>=4.6.3)"]
+
 [[package]]
 name = "pandocfilters"
 version = "1.5.0"
@@ -2967,23 +3069,21 @@ dev = ["jinja2"]
 
 [[package]]
 name = "paramiko"
-version = "2.12.0"
+version = "3.2.0"
 description = "SSH2 protocol library"
 category = "dev"
 optional = false
-python-versions = "*"
+python-versions = ">=3.6"
 
 [package.dependencies]
-bcrypt = ">=3.1.3"
-cryptography = ">=2.5"
-pynacl = ">=1.0.1"
-six = "*"
+bcrypt = ">=3.2"
+cryptography = ">=3.3"
+pynacl = ">=1.5"
 
 [package.extras]
-all = ["bcrypt (>=3.1.3)", "gssapi (>=1.4.1)", "invoke (>=1.3)", "pyasn1 (>=0.1.7)", "pynacl (>=1.0.1)", "pywin32 (>=2.1.8)"]
-ed25519 = ["bcrypt (>=3.1.3)", "pynacl (>=1.0.1)"]
+all = ["gssapi (>=1.4.1)", "invoke (>=2.0)", "pyasn1 (>=0.1.7)", "pywin32 (>=2.1.8)"]
 gssapi = ["gssapi (>=1.4.1)", "pyasn1 (>=0.1.7)", "pywin32 (>=2.1.8)"]
-invoke = ["invoke (>=1.3)"]
+invoke = ["invoke (>=2.0)"]
 
 [[package]]
 name = "parso"
@@ -3018,11 +3118,11 @@ python-versions = "*"
 
 [[package]]
 name = "pillow"
-version = "9.5.0"
+version = "10.0.0"
 description = "Python Imaging Library (Fork)"
 category = "main"
 optional = false
-python-versions = ">=3.7"
+python-versions = ">=3.8"
 
 [package.extras]
 docs = ["furo", "olefile", "sphinx (>=2.4)", "sphinx-copybutton", "sphinx-inline-tabs", "sphinx-removed-in", "sphinxext-opengraph"]
@@ -3154,14 +3254,15 @@ poetry-core = ">=1.3.0,<2.0.0"
 
 [[package]]
 name = "polyline"
-version = "1.4.0"
+version = "2.0.0"
 description = "A Python implementation of Google's Encoded Polyline Algorithm Format."
 category = "main"
 optional = false
-python-versions = "*"
+python-versions = ">=3.7"
 
-[package.dependencies]
-six = ">=1.8.0"
+[package.extras]
+dev = ["pylint (>=2.15.10,<2.16.0)", "pytest (>=7.0,<8.0)", "pytest-cov (>=4.0,<5.0)", "sphinx (>=4.2.0,<4.3.0)", "sphinx-rtd-theme (>=1.0.0,<1.1.0)", "toml (>=0.10.2,<0.11.0)"]
+publish = ["build (>=0.8,<1.0)", "twine (>=4.0,<5.0)"]
 
 [[package]]
 name = "portalocker"
@@ -3189,11 +3290,11 @@ python-versions = "*"
 
 [[package]]
 name = "pre-commit"
-version = "2.21.0"
+version = "3.3.3"
 description = "A framework for managing and maintaining multi-language pre-commit hooks."
 category = "dev"
 optional = false
-python-versions = ">=3.7"
+python-versions = ">=3.8"
 
 [package.dependencies]
 cfgv = ">=2.0.0"
@@ -3276,14 +3377,6 @@ python-versions = "*"
 [package.extras]
 tests = ["pytest"]
 
-[[package]]
-name = "py"
-version = "1.11.0"
-description = "library with cross-python path, ini-parsing, io, code, log facilities"
-category = "main"
-optional = false
-python-versions = ">=2.7, !=3.0.*, !=3.1.*, !=3.2.*, !=3.3.*, !=3.4.*"
-
 [[package]]
 name = "pycapnp"
 version = "1.3.0"
@@ -3294,11 +3387,11 @@ python-versions = "*"
 
 [[package]]
 name = "pycodestyle"
-version = "2.8.0"
+version = "2.10.0"
 description = "Python style guide checker"
 category = "main"
 optional = false
-python-versions = ">=2.7, !=3.0.*, !=3.1.*, !=3.2.*, !=3.3.*, !=3.4.*"
+python-versions = ">=3.6"
 
 [[package]]
 name = "pycparser"
@@ -3339,11 +3432,11 @@ python-versions = ">=3.5"
 
 [[package]]
 name = "pyflakes"
-version = "2.4.0"
+version = "3.0.1"
 description = "passive checker of Python programs"
 category = "main"
 optional = false
-python-versions = ">=2.7, !=3.0.*, !=3.1.*, !=3.2.*, !=3.3.*"
+python-versions = ">=3.6"
 
 [[package]]
 name = "pygame"
@@ -3457,7 +3550,7 @@ develop = false
 numpy = "*"
 
 [package.extras]
-dev = ["PytorchNvCodec", "onnx", "opencv-python", "pycuda", "pyopengl", "tensorrt", "torch", "torchvision"]
+dev = ["PytorchNvCodec @ file:///home/batman/.cache/pypoetry/virtualenvs/openpilot-KeCh4I9p-py3.11/src/VideoProcessingFramework/src/PytorchNvCodec", "onnx", "opencv-python", "pycuda", "pyopengl", "tensorrt", "torch", "torchvision"]
 samples = ["PytorchNvCodec @ git+https://github.com/NVIDIA/VideoProcessingFramework.git#subdirectory=src/PytorchNvCodec/", "onnx", "opencv-python", "pycuda", "pyopengl", "tensorrt", "torch", "torchvision", "tqdm"]
 tensorrt = ["PytorchNvCodec @ git+https://github.com/NVIDIA/VideoProcessingFramework.git#subdirectory=src/PytorchNvCodec/", "torch", "torchvision"]
 tests = ["PytorchNvCodec @ git+https://github.com/NVIDIA/VideoProcessingFramework.git#subdirectory=src/PytorchNvCodec/", "opencv-python", "pycuda", "pyopengl", "torch", "torchvision"]
@@ -3471,7 +3564,7 @@ resolved_reference = "3347e555ed795ba7de98b4e6b9bf7fe441784663"
 
 [[package]]
 name = "pyopencl"
-version = "2022.3.1"
+version = "2023.1.1"
 description = "Python wrapper for OpenCL"
 category = "main"
 optional = false
@@ -3489,17 +3582,17 @@ test = ["Mako", "pytest (>=7.0.0)"]
 
 [[package]]
 name = "pyopenssl"
-version = "22.0.0"
+version = "23.2.0"
 description = "Python wrapper module around the OpenSSL library"
 category = "dev"
 optional = false
 python-versions = ">=3.6"
 
 [package.dependencies]
-cryptography = ">=35.0"
+cryptography = ">=38.0.0,<40.0.0 || >40.0.0,<40.0.1 || >40.0.1,<42"
 
 [package.extras]
-docs = ["sphinx", "sphinx-rtd-theme"]
+docs = ["sphinx (!=5.2.0,!=5.2.0.post0)", "sphinx-rtd-theme"]
 test = ["flaky", "pretend", "pytest (>=3.0.1)"]
 
 [[package]]
@@ -3576,30 +3669,17 @@ pluggy = ">=0.12,<2.0"
 [package.extras]
 testing = ["argcomplete", "attrs (>=19.2.0)", "hypothesis (>=3.56)", "mock", "nose", "pygments (>=2.7.2)", "requests", "setuptools", "xmlschema"]
 
-[[package]]
-name = "pytest-forked"
-version = "1.6.0"
-description = "run tests in isolated forked subprocesses"
-category = "dev"
-optional = false
-python-versions = ">=3.7"
-
-[package.dependencies]
-py = "*"
-pytest = ">=3.10"
-
 [[package]]
 name = "pytest-xdist"
-version = "2.5.0"
-description = "pytest xdist plugin for distributed testing and loop-on-failing modes"
+version = "3.3.1"
+description = "pytest xdist plugin for distributed testing, most importantly across multiple CPUs"
 category = "dev"
 optional = false
-python-versions = ">=3.6"
+python-versions = ">=3.7"
 
 [package.dependencies]
 execnet = ">=1.1"
 pytest = ">=6.2.0"
-pytest-forked = "*"
 
 [package.extras]
 psutil = ["psutil (>=3.0)"]
@@ -3737,7 +3817,7 @@ python-versions = ">=3.6"
 
 [[package]]
 name = "pyzmq"
-version = "23.2.1"
+version = "25.1.0"
 description = "Python bindings for 0MQ"
 category = "main"
 optional = false
@@ -3745,7 +3825,6 @@ python-versions = ">=3.6"
 
 [package.dependencies]
 cffi = {version = "*", markers = "implementation_name == \"pypy\""}
-py = {version = "*", markers = "implementation_name == \"pypy\""}
 
 [[package]]
 name = "qtconsole"
@@ -3972,27 +4051,31 @@ torch = ["torch (>=1.10)"]
 
 [[package]]
 name = "scikit-image"
-version = "0.19.3"
+version = "0.21.0"
 description = "Image processing in Python"
 category = "dev"
 optional = false
-python-versions = ">=3.7"
+python-versions = ">=3.8"
 
 [package.dependencies]
-imageio = ">=2.4.1"
-networkx = ">=2.2"
-numpy = ">=1.17.0"
-packaging = ">=20.0"
-pillow = ">=6.1.0,<7.1.0 || >7.1.0,<7.1.1 || >7.1.1,<8.3.0 || >8.3.0"
+imageio = ">=2.27"
+lazy_loader = ">=0.2"
+networkx = ">=2.8"
+numpy = ">=1.21.1"
+packaging = ">=21"
+pillow = ">=9.0.1"
 PyWavelets = ">=1.1.1"
-scipy = ">=1.4.1"
-tifffile = ">=2019.7.26"
+scipy = ">=1.8"
+tifffile = ">=2022.8.12"
 
 [package.extras]
-data = ["pooch (>=1.3.0)"]
-docs = ["cloudpickle (>=0.2.1)", "dask[array] (>=0.15.0,!=2.17.0)", "ipywidgets", "kaleido", "matplotlib (>=3.3)", "myst-parser", "numpydoc (>=1.0)", "pandas (>=0.23.0)", "plotly (>=4.14.0)", "pooch (>=1.3.0)", "pytest-runner", "scikit-learn", "seaborn (>=0.7.1)", "sphinx (>=1.8)", "sphinx-copybutton", "sphinx-gallery (>=0.10.1)", "tifffile (>=2020.5.30)"]
-optional = ["SimpleITK", "astropy (>=3.1.2)", "cloudpickle (>=0.2.1)", "dask[array] (>=1.0.0,!=2.17.0)", "matplotlib (>=3.0.3)", "pooch (>=1.3.0)", "pyamg", "qtpy"]
-test = ["asv", "codecov", "flake8", "matplotlib (>=3.0.3)", "pooch (>=1.3.0)", "pytest (>=5.2.0)", "pytest-cov (>=2.7.0)", "pytest-faulthandler", "pytest-localserver"]
+build = ["Cython (>=0.29.32)", "build", "meson-python (>=0.13)", "ninja", "numpy (>=1.21.1)", "packaging (>=21)", "pythran", "setuptools (>=67)", "spin (==0.3)", "wheel"]
+data = ["pooch (>=1.6.0)"]
+default = ["PyWavelets (>=1.1.1)", "imageio (>=2.27)", "lazy_loader (>=0.2)", "networkx (>=2.8)", "numpy (>=1.21.1)", "packaging (>=21)", "pillow (>=9.0.1)", "scipy (>=1.8)", "tifffile (>=2022.8.12)"]
+developer = ["pre-commit", "rtoml"]
+docs = ["dask[array] (>=2022.9.2)", "ipykernel", "ipywidgets", "kaleido", "matplotlib (>=3.5)", "myst-parser", "numpydoc (>=1.5)", "pandas (>=1.5)", "plotly (>=5.10)", "pooch (>=1.6)", "pydata-sphinx-theme (>=0.13)", "pytest-runner", "scikit-learn (>=0.24.0)", "seaborn (>=0.11)", "sphinx (>=5.0)", "sphinx-copybutton", "sphinx-gallery (>=0.11)", "sphinx_design (>=0.3)", "tifffile (>=2022.8.12)"]
+optional = ["SimpleITK", "astropy (>=5.0)", "cloudpickle (>=0.2.1)", "dask[array] (>=2021.1.0)", "matplotlib (>=3.5)", "pooch (>=1.6.0)", "pyamg", "scikit-learn (>=0.24.0)"]
+test = ["asv", "matplotlib (>=3.5)", "pooch (>=1.6.0)", "pytest (>=7.0)", "pytest-cov (>=2.11.0)", "pytest-faulthandler", "pytest-localserver"]
 
 [[package]]
 name = "scikit-learn"
@@ -4044,10 +4127,10 @@ setuptools = "*"
 [[package]]
 name = "sconscontrib"
 version = "1.0"
-description = ""
+description = "Contributed builders and other useful logic for the SCons build system.,"
 category = "main"
 optional = false
-python-versions = ">=3.6, <4"
+python-versions = "<4,>=3.6"
 develop = false
 
 [package.dependencies]
@@ -4284,22 +4367,22 @@ python-versions = ">=3.7"
 
 [[package]]
 name = "sphinx"
-version = "5.3.0"
+version = "6.2.1"
 description = "Python documentation generator"
 category = "main"
 optional = false
-python-versions = ">=3.6"
+python-versions = ">=3.8"
 
 [package.dependencies]
 alabaster = ">=0.7,<0.8"
 babel = ">=2.9"
 colorama = {version = ">=0.4.5", markers = "sys_platform == \"win32\""}
-docutils = ">=0.14,<0.20"
+docutils = ">=0.18.1,<0.20"
 imagesize = ">=1.3"
 Jinja2 = ">=3.0"
 packaging = ">=21.0"
-Pygments = ">=2.12"
-requests = ">=2.5.0"
+Pygments = ">=2.13"
+requests = ">=2.25.0"
 snowballstemmer = ">=2.0"
 sphinxcontrib-applehelp = "*"
 sphinxcontrib-devhelp = "*"
@@ -4310,8 +4393,8 @@ sphinxcontrib-serializinghtml = ">=1.1.5"
 
 [package.extras]
 docs = ["sphinxcontrib-websupport"]
-lint = ["docutils-stubs", "flake8 (>=3.5.0)", "flake8-bugbear", "flake8-comprehensions", "flake8-simplify", "isort", "mypy (>=0.981)", "sphinx-lint", "types-requests", "types-typed-ast"]
-test = ["cython", "html5lib", "pytest (>=4.6)", "typed_ast"]
+lint = ["docutils-stubs", "flake8 (>=3.5.0)", "flake8-simplify", "isort", "mypy (>=0.990)", "ruff", "sphinx-lint", "types-requests"]
+test = ["cython", "filelock", "html5lib", "pytest (>=4.6)"]
 
 [[package]]
 name = "sphinx-rtd-theme"
@@ -4443,35 +4526,39 @@ ioctl-opt = "*"
 
 [[package]]
 name = "sqlalchemy"
-version = "1.4.49"
+version = "2.0.19"
 description = "Database Abstraction Library"
 category = "dev"
 optional = false
-python-versions = "!=3.0.*,!=3.1.*,!=3.2.*,!=3.3.*,!=3.4.*,!=3.5.*,>=2.7"
+python-versions = ">=3.7"
 
 [package.dependencies]
-greenlet = {version = "!=0.4.17", markers = "python_version >= \"3\" and (platform_machine == \"aarch64\" or platform_machine == \"ppc64le\" or platform_machine == \"x86_64\" or platform_machine == \"amd64\" or platform_machine == \"AMD64\" or platform_machine == \"win32\" or platform_machine == \"WIN32\")"}
+greenlet = {version = "!=0.4.17", markers = "platform_machine == \"aarch64\" or platform_machine == \"ppc64le\" or platform_machine == \"x86_64\" or platform_machine == \"amd64\" or platform_machine == \"AMD64\" or platform_machine == \"win32\" or platform_machine == \"WIN32\""}
+typing-extensions = ">=4.2.0"
 
 [package.extras]
 aiomysql = ["aiomysql", "greenlet (!=0.4.17)"]
-aiosqlite = ["aiosqlite", "greenlet (!=0.4.17)", "typing_extensions (!=3.10.0.1)"]
+aiosqlite = ["aiosqlite", "greenlet (!=0.4.17)", "typing-extensions (!=3.10.0.1)"]
 asyncio = ["greenlet (!=0.4.17)"]
-asyncmy = ["asyncmy (>=0.2.3,!=0.2.4)", "greenlet (!=0.4.17)"]
-mariadb-connector = ["mariadb (>=1.0.1,!=1.1.2)"]
+asyncmy = ["asyncmy (>=0.2.3,!=0.2.4,!=0.2.6)", "greenlet (!=0.4.17)"]
+mariadb-connector = ["mariadb (>=1.0.1,!=1.1.2,!=1.1.5)"]
 mssql = ["pyodbc"]
 mssql-pymssql = ["pymssql"]
 mssql-pyodbc = ["pyodbc"]
-mypy = ["mypy (>=0.910)", "sqlalchemy2-stubs"]
-mysql = ["mysqlclient (>=1.4.0)", "mysqlclient (>=1.4.0,<2)"]
+mypy = ["mypy (>=0.910)"]
+mysql = ["mysqlclient (>=1.4.0)"]
 mysql-connector = ["mysql-connector-python"]
-oracle = ["cx_oracle (>=7)", "cx_oracle (>=7,<8)"]
+oracle = ["cx-oracle (>=7)"]
+oracle-oracledb = ["oracledb (>=1.0.1)"]
 postgresql = ["psycopg2 (>=2.7)"]
 postgresql-asyncpg = ["asyncpg", "greenlet (!=0.4.17)"]
-postgresql-pg8000 = ["pg8000 (>=1.16.6,!=1.29.0)"]
+postgresql-pg8000 = ["pg8000 (>=1.29.1)"]
+postgresql-psycopg = ["psycopg (>=3.0.7)"]
 postgresql-psycopg2binary = ["psycopg2-binary"]
 postgresql-psycopg2cffi = ["psycopg2cffi"]
-pymysql = ["pymysql", "pymysql (<1)"]
-sqlcipher = ["sqlcipher3_binary"]
+postgresql-psycopgbinary = ["psycopg[binary] (>=3.0.7)"]
+pymysql = ["pymysql"]
+sqlcipher = ["sqlcipher3-binary"]
 
 [[package]]
 name = "stack-data"
@@ -4502,11 +4589,11 @@ mpmath = ">=0.19"
 
 [[package]]
 name = "tabulate"
-version = "0.8.10"
+version = "0.9.0"
 description = "Pretty-print tabular data"
 category = "dev"
 optional = false
-python-versions = ">=2.7, !=3.0.*, !=3.1.*, !=3.2.*, !=3.3.*, !=3.4.*"
+python-versions = ">=3.7"
 
 [package.extras]
 widechars = ["wcwidth"]
@@ -4652,7 +4739,6 @@ opt-einsum = ["opt-einsum (>=3.3)"]
 [package.source]
 type = "url"
 url = "https://download.pytorch.org/whl/cu118/torch-2.0.1%2Bcu118-cp311-cp311-linux_x86_64.whl"
-
 [[package]]
 name = "torchsummary"
 version = "1.5.1"
@@ -4681,7 +4767,6 @@ scipy = ["scipy"]
 [package.source]
 type = "url"
 url = "https://download.pytorch.org/whl/cu118/torchvision-0.15.2%2Bcu118-cp311-cp311-linux_x86_64.whl"
-
 [[package]]
 name = "tornado"
 version = "6.3.2"
@@ -4875,7 +4960,7 @@ types-urllib3 = "*"
 
 [[package]]
 name = "types-tabulate"
-version = "0.8.11"
+version = "0.9.0.3"
 description = "Typing stubs for tabulate"
 category = "dev"
 optional = false
@@ -4897,6 +4982,14 @@ category = "main"
 optional = false
 python-versions = ">=3.7"
 
+[[package]]
+name = "tzdata"
+version = "2023.3"
+description = "Provider of IANA time zone data"
+category = "dev"
+optional = false
+python-versions = ">=2"
+
 [[package]]
 name = "uri-template"
 version = "1.3.0"
@@ -5036,14 +5129,6 @@ python-versions = "*"
 [package.dependencies]
 cffi = ">=1.0"
 
-[[package]]
-name = "y-py"
-version = "0.6.0"
-description = "Python bindings for the Y-CRDT built from yrs (Rust)"
-category = "dev"
-optional = false
-python-versions = "*"
-
 [[package]]
 name = "yarl"
 version = "1.9.2"
@@ -5056,22 +5141,6 @@ python-versions = ">=3.7"
 idna = ">=2.0"
 multidict = ">=4.0"
 
-[[package]]
-name = "ypy-websocket"
-version = "0.8.4"
-description = "WebSocket connector for Ypy"
-category = "dev"
-optional = false
-python-versions = ">=3.7"
-
-[package.dependencies]
-aiofiles = ">=22.1.0,<23"
-aiosqlite = ">=0.17.0,<1"
-y-py = ">=0.6.0,<0.7.0"
-
-[package.extras]
-test = ["mypy", "pre-commit", "pytest", "pytest-asyncio", "websockets (>=10.0)"]
-
 [[package]]
 name = "zerorpc"
 version = "0.6.3"
@@ -5140,7 +5209,7 @@ testing = ["coverage (>=5.0.3)", "zope.event", "zope.testing"]
 [metadata]
 lock-version = "1.1"
 python-versions = "~3.11"
-content-hash = "4d0cc4b21d5c400e874754367d7dcf9ada3b39c94cbafa27984d695daae5ee84"
+content-hash = "73876a0777273f5be78264e5bb56b3229bb62f8863027fd4d8397e190afa886a"
 
 [metadata.files]
 adal = [
@@ -5152,10 +5221,6 @@ aenum = [
     {file = "aenum-3.1.15-py3-none-any.whl", hash = "sha256:e0dfaeea4c2bd362144b87377e2c61d91958c5ed0b4daf89cb6f45ae23af6288"},
     {file = "aenum-3.1.15.tar.gz", hash = "sha256:8cbd76cd18c4f870ff39b24284d3ea028fbe8731a58df3aa581e434c575b9559"},
 ]
-aiofiles = [
-    {file = "aiofiles-22.1.0-py3-none-any.whl", hash = "sha256:1142fa8e80dbae46bb6339573ad4c8c0841358f79c6eb50a493dceca14621bad"},
-    {file = "aiofiles-22.1.0.tar.gz", hash = "sha256:9107f1ca0b2a5553987a94a3c9959fe5b491fdf731389aa5b7b1bd0733e32de6"},
-]
 aiohttp = [
     {file = "aiohttp-3.8.5-cp310-cp310-macosx_10_9_universal2.whl", hash = "sha256:a94159871304770da4dd371f4291b20cac04e8c94f11bdea1c3478e557fbe0d8"},
     {file = "aiohttp-3.8.5-cp310-cp310-macosx_10_9_x86_64.whl", hash = "sha256:13bf85afc99ce6f9ee3567b04501f18f9f8dbbb2ea11ed1a2e079670403a7c84"},
@@ -5249,10 +5314,6 @@ aiosignal = [
     {file = "aiosignal-1.3.1-py3-none-any.whl", hash = "sha256:f8376fb07dd1e86a584e4fcdec80b36b7f81aac666ebc724e2c090300dd83b17"},
     {file = "aiosignal-1.3.1.tar.gz", hash = "sha256:54cd96e15e1649b75d6c87526a6ff0b6c1b0dd3459f43d9ca11d48c339b68cfc"},
 ]
-aiosqlite = [
-    {file = "aiosqlite-0.19.0-py3-none-any.whl", hash = "sha256:edba222e03453e094a3ce605db1b970c4b3376264e56f32e2a4959f948d66a96"},
-    {file = "aiosqlite-0.19.0.tar.gz", hash = "sha256:95ee77b91c8d2808bd08a59fbebf66270e9090c3d92ffbf260dc0db0b979577d"},
-]
 alabaster = [
     {file = "alabaster-0.7.13-py3-none-any.whl", hash = "sha256:1ee19aca801bbabb5ba3f5f258e4422dfa86f82f3e9cefb0859b283cdd7f62a3"},
     {file = "alabaster-0.7.13.tar.gz", hash = "sha256:a27a4a084d5e690e16e01e03ad2b2e552c61a65469419b907243193de1a84ae2"},
@@ -5323,6 +5384,10 @@ asttokens = [
     {file = "asttokens-2.2.1-py2.py3-none-any.whl", hash = "sha256:6b0ac9e93fb0335014d382b8fa9b3afa7df546984258005da0b9e7095b3deb1c"},
     {file = "asttokens-2.2.1.tar.gz", hash = "sha256:4622110b2a6f30b77e1473affaa97e711bc2f07d3f10848420ff1898edbe94f3"},
 ]
+async-lru = [
+    {file = "async-lru-2.0.3.tar.gz", hash = "sha256:b714c9d1415fca4e264da72a9e2abc66880ce7430e03a973341f88ea4c0d4869"},
+    {file = "async_lru-2.0.3-py3-none-any.whl", hash = "sha256:00c0a8899c20b9c88663a47732689ff98189c9fa08ad9f734d7722f934d250b1"},
+]
 async-timeout = [
     {file = "async-timeout-4.0.2.tar.gz", hash = "sha256:2163e1640ddb52b7a8c80d0a67a08587e5d245cc9c553a74a847056bc2976b15"},
     {file = "async_timeout-4.0.2-py3-none-any.whl", hash = "sha256:8ca1e4fcf50d07413d66d1a5e416e42cfdf5851c981d679a09851a6853383b3c"},
@@ -5610,8 +5675,8 @@ casadi = [
     {file = "casadi-3.6.3.tar.gz", hash = "sha256:2a953bd001327c9ae79018a1efa455852c8a4b4f47f5bdda5f0a07ec820d1880"},
 ]
 certifi = [
-    {file = "certifi-2023.5.7-py3-none-any.whl", hash = "sha256:c6c2e98f5c7869efca1f8916fed228dd91539f9f1b444c314c06eef02980c716"},
-    {file = "certifi-2023.5.7.tar.gz", hash = "sha256:0f0d56dc5a6ad56fd4ba36484d6cc34451e1c6548c61daad8c320169f91eddc7"},
+    {file = "certifi-2023.7.22-py3-none-any.whl", hash = "sha256:92d6037539857d8206b8f6ae472e8b77db8058fec5937a1ef3f54304089edbb9"},
+    {file = "certifi-2023.7.22.tar.gz", hash = "sha256:539cc1d13202e33ca466e88b2807e29f4c13049d6d87031a3c110744495cb082"},
 ]
 cffi = [
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@@ -5812,8 +5877,8 @@ comm = [
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@@ -9907,10 +10004,6 @@ yarl = [
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diff --git a/pyproject.toml b/pyproject.toml
index 1c9b0988e8..542f138921 100644
--- a/pyproject.toml
+++ b/pyproject.toml
@@ -11,167 +11,168 @@ documentation = "https://docs.comma.ai"
 
 [tool.poetry.dependencies]
 python = "~3.11"
-atomicwrites = "^1.4.0"
+atomicwrites = "*"
 casadi = "==3.6.3"
-cffi = "^1.15.1"
-crcmod = "^1.7"
-cryptography = "^37.0.4"
-Cython = "^3.0.0"
-flake8 = "^4.0.1"
-Flask = "^2.1.2"
-future-fstrings = "^1.2.0"  # for acados
-gunicorn = "^20.1.0"
+cffi = "*"
+crcmod = "*"
+cryptography = "*"
+Cython = "*"
+flake8 = "*"
+Flask = "*"
+future-fstrings = "*"  # for acados
+gunicorn = "*"
 hatanaka = "==2.4"
-hexdump = "^3.3"
-Jinja2 = "^3.1.2"
-json-rpc = "^1.13.0"
-libusb1 = "^3.0.0"
+hexdump = "*"
+Jinja2 = "*"
+json-rpc = "*"
+libusb1 = "*"
 numpy = "==1.23.0"  # locked pending deprecation fixes in xx
-onnx = "^1.14.0"
-onnxruntime-gpu = { version = "^1.15.1", platform = "linux", markers = "platform_machine == 'x86_64'" }
-pillow = "^9.2.0"
+onnx = ">=1.14.0"
+onnxruntime-gpu = { version = ">=1.15.1", platform = "linux", markers = "platform_machine == 'x86_64'" }
+pillow = "*"
 poetry = "==1.2.2"
-psutil = "^5.9.1"
-pycapnp = "^1.3.0"
-pycryptodome = "^3.15.0"
-PyJWT = "^2.5.0"
-pyopencl = "^2022.2.4"
-pyserial = "^3.5"
-python-dateutil = "^2.8.2"
-PyYAML = "^6.0"
-pyzmq = "^23.2.0"
-requests = "^2.28.1"
-scons = "^4.5.2"
-sentry-sdk = "^1.6.0"
-setproctitle = "^1.2.3"
-smbus2 = "^0.4.2"
-sounddevice = "^0.4.5"
-spidev = { version = "^3.6", platform = "linux" }
-spidev2 = { version = "^0.9.0", platform = "linux" }
-sympy = "^1.11.1"
-timezonefinder = "^6.2.0"
-tqdm = "^4.64.0"
-urllib3 = "^1.26.10"
-utm = "^0.7.0"
-websocket_client = "^1.3.3"
-polyline = "^1.4.0"
+protobuf = "==3.20.3"
+psutil = "*"
+pycapnp = "*"
+pycryptodome = "*"
+PyJWT = "*"
+pyopencl = "*"
+pyserial = "*"
+python-dateutil = "*"
+PyYAML = "*"
+pyzmq = "*"
+requests = "*"
+scons = "*"
+sentry-sdk = "*"
+setproctitle = "*"
+smbus2 = "*"
+sounddevice = "*"
+spidev = { version = "*", platform = "linux" }
+spidev2 = { version = "*", platform = "linux" }
+sympy = "*"
+timezonefinder = "*"
+tqdm = "*"
+urllib3 = "*"
+utm = "*"
+websocket_client = "*"
+polyline = "*"
 sconscontrib = {git = "https://github.com/SCons/scons-contrib.git"}
 
 
 [tool.poetry.group.dev.dependencies]
-av = "^10.0.0"
+av = "*"
 azure-storage-blob = "~2.1"
-breathe = "^4.34.0"
+breathe = "*"
 carla = { url = "https://github.com/commaai/carla/releases/download/3.11.4/carla-0.9.14-cp311-cp311-linux_x86_64.whl", platform = "linux", markers = "platform_machine == 'x86_64'" }
-control = "^0.9.2"
-coverage = "^6.4.1"
-dictdiffer = "^0.9.0"
-fastcluster = "^1.2.6"
-ft4222 = "^1.4.1"
-hexdump = "^3.3"
+control = "*"
+coverage = "*"
+dictdiffer = "*"
+fastcluster = "*"
+ft4222 = "*"
+hexdump = "*"
 hypothesis = "==6.46.7"
-inputs = "^0.5"
-lru-dict = "^1.1.7"
-lxml = "^4.9.1"
-markdown-it-py = "^2.1.0"
-matplotlib = "^3.5.2"
-mpld3 = "^0.5.8"
-mypy = "^1.4.0"
-myst-parser = "^0.18.0"
-natsort = "^8.1.0"
+inputs = "*"
+lru-dict = "*"
+lxml = "*"
+markdown-it-py = "*"
+matplotlib = "*"
+mpld3 = "*"
+mypy = "*"
+myst-parser = "*"
+natsort = "*"
 opencv-python-headless = { url = "https://github.com/commaai/opencv-python-builder/releases/download/4.5.5.64%2Bcu118-cp311/opencv_python_headless-4.5.5.64-cp311-cp311-manylinux_2_31_x86_64.whl", platform = "linux" }
-pandas = "^1.4.3"
-parameterized = "^0.8.1"
-paramiko = "^2.11.0"
-pprofile = "^2.1.0"
-pre-commit = "^2.19.0"
-pycurl = "^7.45.1"
-pygame = "^2.4.0"
-pylint = "^2.17.4"
-pyprof2calltree = "^1.4.5"
-pytest = "^7.1.2"
-pytest-xdist = "^2.5.0"
-reverse_geocoder = "^1.5.1"
+pandas = "*"
+parameterized = "^0.8"
+paramiko = "*"
+pprofile = "*"
+pre-commit = "*"
+pycurl = "*"
+pygame = "*"
+pylint = "*"
+pyprof2calltree = "*"
+pytest = "*"
+pytest-xdist = "*"
+reverse_geocoder = "*"
 scipy = "==1.9.3"  # pinned until xx refs changes can be checked
-sphinx = "^5.0.2"
-sphinx-rtd-theme = "^1.0.0"
-sphinx-sitemap = "^2.2.0"
-tabulate = "^0.8.10"
-tenacity = "^8.0.1"
-types-atomicwrites = "^1.4.5"
-types-certifi = "^2021.10.8"
-types-pycurl = "^7.45.1"
-types-python-dateutil = "^2.8.19.13"
-types-PyYAML = "^6.0"
-types-requests = "^2.28.11"
-types-tabulate = "^0.8.10"
+sphinx = "*"
+sphinx-rtd-theme = "*"
+sphinx-sitemap = "*"
+tabulate = "*"
+tenacity = "*"
+types-atomicwrites = "*"
+types-certifi = "*"
+types-pycurl = "*"
+types-python-dateutil = "*"
+types-PyYAML = "*"
+types-requests = "*"
+types-tabulate = "*"
 
 
 [tool.poetry.group.xx]
 optional = true
 
 [tool.poetry.group.xx.dependencies]
-aenum = "^3.1.11"
-aiohttp = "^3.8.1"
-albumentations = "^1.2.1"
-azure-cli-core = "^2.38.0"
-azure-common = "^1.1.28"
-azure-core = "^1.24.2"
+aenum = "*"
+aiohttp = "*"
+albumentations = "*"
+azure-cli-core = "*"
+azure-common = "*"
+azure-core = "*"
 azure-nspkg = "~3.0"
 azure-storage-common = "~2.1"
 azure-storage-nspkg = "~3.1"
 blosc = "==1.9.2"
-cloudpickle = "^2.1.0"
-configargparse = "^1.5.3"
-cupy-cuda11x = "^11.6.0"
-datadog = "^0.44.0"
-dotmap = "^1.3.30"
-einops = "^0.5.0"
-elasticsearch = "^8.3.1"
-Flask-Cors = "^3.0.10"
-Flask-SocketIO = "^5.2.0"
-GeoAlchemy2 = "^0.12.1"
-imageio = "^2.19.5"
-influxdb-client = "^1.30.0"
-ipykernel = "^6.15.1"
-ipython = "^8.4.0"
-joblib = "^1.1.0"
-json-logging-py = "^0.2"
-jupyter = "^1.0.0"
-jupyterlab = "^3.4.4"
-jupyterlab-vim = "^0.15.1"
-Markdown = "^3.4.1"
-msgpack-python = "^0.5.6"
+cloudpickle = "*"
+configargparse = "*"
+cupy-cuda11x = "*"
+datadog = "*"
+dotmap = "*"
+einops = "*"
+elasticsearch = "*"
+Flask-Cors = "*"
+Flask-SocketIO = "*"
+GeoAlchemy2 = "*"
+imageio = "*"
+influxdb-client = "*"
+ipykernel = "*"
+ipython = "*"
+joblib = "*"
+json-logging-py = "*"
+jupyter = "*"
+jupyterlab = "*"
+jupyterlab-vim = "*"
+Markdown = "*"
+msgpack-python = "*"
 networkx = "~2.8"
-nvidia-ml-py3 = "^7.352.0"
-onnx2torch = "^1.5.4"
-onnxoptimizer = "^0.3.1"
-osmium = "^3.3.0"
-pillow-avif-plugin = "^1.2.2"
+nvidia-ml-py3 = "*"
+onnx2torch = "*"
+onnxoptimizer = "*"
+osmium = "*"
+pillow-avif-plugin = "*"
 pipenv = "==2022.10.12"
-plotly = "^5.9.0"
-pycuda = "^2022.1"
-Pygments = "^2.12.0"
+plotly = "*"
+pycuda = "*"
+Pygments = "*"
 PyMySQL = "~0.9"
-pyproj = "^3.3.1"
-python-logstash = "^0.4.8"
-redis = "^4.3.4"
-s2sphere = "^0.2.5"
-scikit-image = "^0.19.3"
-scikit-learn = "^1.1.1"
+pyproj = "*"
+python-logstash = "*"
+redis = "*"
+s2sphere = "*"
+scikit-image = "*"
+scikit-learn = "*"
 segmentation-models-pytorch = "==0.3.3"
-simplejson = "^3.17.6"
-SQLAlchemy = "^1.4.39"
+simplejson = "*"
+SQLAlchemy = "*"
 torch = { url = "https://download.pytorch.org/whl/cu118/torch-2.0.1%2Bcu118-cp311-cp311-linux_x86_64.whl" }
-torchsummary = "^1.5.1"
+torchsummary = "*"
 torchvision = { url = "https://download.pytorch.org/whl/cu118/torchvision-0.15.2%2Bcu118-cp311-cp311-linux_x86_64.whl" }
-triton = "^2.0.0"
-Werkzeug = "^2.1.2"
+triton = "*"
+Werkzeug = "*"
 zerorpc = { git = "https://github.com/commaai/zerorpc-python.git", branch = "master" }
-omegaconf = "^2.3.0"
+omegaconf = "*"
 osmnx = "==1.2.2"
 tritonclient = {version = "2.28.0", extras = ["http"]}
-transformers = "^4.29.2"
+transformers = "*"
 timm = "==0.9.2"
 PyNvCodec = { git = "https://github.com/NVIDIA/VideoProcessingFramework.git", rev = "3347e55" }
 
diff --git a/selfdrive/boardd/boardd.cc b/selfdrive/boardd/boardd.cc
index a5203994fa..e6afe9f8fb 100644
--- a/selfdrive/boardd/boardd.cc
+++ b/selfdrive/boardd/boardd.cc
@@ -301,6 +301,10 @@ std::optional<bool> send_panda_states(PubMaster *pm, const std::vector<Panda *>
   std::vector<std::array<can_health_t, PANDA_CAN_CNT>> pandaCanStates;
   pandaCanStates.reserve(pandas_cnt);
 
+  const bool red_panda_comma_three = (pandas.size() == 2) &&
+                                     (pandas[0]->hw_type == cereal::PandaState::PandaType::DOS) &&
+                                     (pandas[1]->hw_type == cereal::PandaState::PandaType::RED_PANDA);
+
   for (const auto& panda : pandas){
     auto health_opt = panda->get_state();
     if (!health_opt) {
@@ -323,6 +327,13 @@ std::optional<bool> send_panda_states(PubMaster *pm, const std::vector<Panda *>
       health.ignition_line_pkt = 1;
     }
 
+    // on comma three setups with a red panda, the dos can
+    // get false positive ignitions due to the harness box
+    // without a harness connector, so ignore it
+    if (red_panda_comma_three && (panda->hw_type == cereal::PandaState::PandaType::DOS)) {
+      health.ignition_line_pkt = 0;
+    }
+
     ignition_local |= ((health.ignition_line_pkt != 0) || (health.ignition_can_pkt != 0));
 
     pandaStates.push_back(health);
diff --git a/selfdrive/boardd/spi.cc b/selfdrive/boardd/spi.cc
index 7e6e579b7a..1732e902d5 100644
--- a/selfdrive/boardd/spi.cc
+++ b/selfdrive/boardd/spi.cc
@@ -236,9 +236,12 @@ int PandaSpiHandle::spi_transfer_retry(uint8_t endpoint, uint8_t *tx_data, uint1
       std::this_thread::yield();
 
       if (ret == SpiError::NACK) {
-        // prevent busy wait while the panda is NACK'ing
+        // prevent busy waiting while the panda is NACK'ing
+        // due to full TX buffers
         nack_count += 1;
-        usleep(std::clamp(nack_count*10, 200, 2000));
+        if (nack_count > 3) {
+          usleep(std::clamp(nack_count*10, 200, 2000));
+        }
       }
     }
   } while (ret < 0 && connected && !timed_out);
@@ -260,7 +263,6 @@ int PandaSpiHandle::wait_for_ack(uint8_t ack, uint8_t tx, unsigned int timeout,
   spi_ioc_transfer transfer = {
     .tx_buf = (uint64_t)tx_buf,
     .rx_buf = (uint64_t)rx_buf,
-    .delay_usecs = 10,
     .len = length
   };
   tx_buf[0] = tx;
@@ -284,9 +286,6 @@ int PandaSpiHandle::wait_for_ack(uint8_t ack, uint8_t tx, unsigned int timeout,
       LOGD("SPI: timed out waiting for ACK");
       return SpiError::ACK_TIMEOUT;
     }
-
-    // backoff
-    transfer.delay_usecs = std::clamp(transfer.delay_usecs*2, 10, 250);
   }
 
   return 0;
diff --git a/selfdrive/car/volkswagen/values.py b/selfdrive/car/volkswagen/values.py
index 5e61ac56c8..ac80055300 100755
--- a/selfdrive/car/volkswagen/values.py
+++ b/selfdrive/car/volkswagen/values.py
@@ -361,11 +361,13 @@ FW_VERSIONS = {
       b'\xf1\x8703H906026S \xf1\x896693',
       b'\xf1\x8703H906026S \xf1\x899970',
       b'\xf1\x873CN906259  \xf1\x890005',
+      b'\xf1\x873CN906259F \xf1\x890002',
     ],
     (Ecu.transmission, 0x7e1, None): [
       b'\xf1\x8709G927158A \xf1\x893387',
       b'\xf1\x8709G927158DR\xf1\x893536',
       b'\xf1\x8709G927158DR\xf1\x893742',
+      b'\xf1\x8709G927158EN\xf1\x893691',
       b'\xf1\x8709G927158F \xf1\x893489',
       b'\xf1\x8709G927158FT\xf1\x893835',
       b'\xf1\x8709G927158GL\xf1\x893939',
diff --git a/selfdrive/ui/qt/maps/map.cc b/selfdrive/ui/qt/maps/map.cc
index 704a94208f..bcc028d803 100644
--- a/selfdrive/ui/qt/maps/map.cc
+++ b/selfdrive/ui/qt/maps/map.cc
@@ -164,10 +164,10 @@ void MapWindow::updateState(const UIState &s) {
 
     // Only open the map on setting destination the first time
     if (allow_open) {
+      emit requestSettings(false);
       emit requestVisible(true); // Show map on destination set/change
       allow_open = false;
     }
-    emit requestSettings(false);
   }
 
   loaded_once = loaded_once || (m_map && m_map->isFullyLoaded());