Merge remote-tracking branch 'origin/master' into ui_remove_qt_spinner_text

.github/workflows/selfdrive_tests.yaml

@@ -331,6 +331,7 @@ jobs:
     runs-on:
       - ${{ ((github.repository == 'commaai/openpilot') && ((github.event_name != 'pull_request') || (github.event.pull_request.head.repo.full_name == 'commaai/openpilot'))) && 'namespace-profile-amd64-8x16' || 'ubuntu-24.04' }}
       - ${{ ((github.repository == 'commaai/openpilot') && ((github.event_name != 'pull_request') || (github.event.pull_request.head.repo.full_name == 'commaai/openpilot'))) && 'namespace-experiments:docker.builds.local-cache=separate' || 'ubuntu-24.04' }}
+    if: false  # FIXME: FrameReader is broken on CI runners
     steps:
       - uses: actions/checkout@v4
         with:

.github/workflows/ui_preview.yaml

@@ -19,7 +19,8 @@ env:
 
 jobs:
   preview:
-    if: github.repository == 'commaai/openpilot'
+    #if: github.repository == 'commaai/openpilot'
+    if: false  # FIXME: FrameReader is broken on CI runners
     name: preview
     runs-on: ubuntu-latest
     timeout-minutes: 20

cereal/services.py

@@ -36,6 +36,7 @@ _services: dict[str, tuple] = {
   "errorLogMessage": (True, 0., 1),
   "liveCalibration": (True, 4., 4),
   "liveTorqueParameters": (True, 4., 1),
+  "liveDelay": (True, 4., 1),
   "androidLog": (True, 0.),
   "carState": (True, 100., 10),
   "carControl": (True, 100., 10),

common/params_keys.h

@@ -34,7 +34,7 @@ inline static std::unordered_map<std::string, uint32_t> keys = {
     {"DoReboot", CLEAR_ON_MANAGER_START},
     {"DoShutdown", CLEAR_ON_MANAGER_START},
     {"DoUninstall", CLEAR_ON_MANAGER_START},
-    {"ExperimentalLongitudinalEnabled", PERSISTENT | DEVELOPMENT_ONLY},
+    {"AlphaLongitudinalEnabled", PERSISTENT | DEVELOPMENT_ONLY},
     {"ExperimentalMode", PERSISTENT},
     {"ExperimentalModeConfirmed", PERSISTENT},
     {"FirmwareQueryDone", CLEAR_ON_MANAGER_START | CLEAR_ON_ONROAD_TRANSITION},
@@ -71,6 +71,7 @@ inline static std::unordered_map<std::string, uint32_t> keys = {
     {"LastPowerDropDetected", CLEAR_ON_MANAGER_START},
     {"LastUpdateException", CLEAR_ON_MANAGER_START},
     {"LastUpdateTime", PERSISTENT},
+    {"LiveDelay", PERSISTENT},
     {"LiveParameters", PERSISTENT},
     {"LiveParametersV2", PERSISTENT},
     {"LiveTorqueParameters", PERSISTENT | DONT_LOG},

docs/CARS.md

@@ -4,7 +4,7 @@
 
 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.
 
-# 302 Supported Cars
+# 304 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|
 |---|---|---|:---:|:---:|:---:|:---:|:---:|:---:|:---:|
@@ -71,6 +71,8 @@ A supported vehicle is one that just works when you install a comma device. All
 |Honda|Civic 2022-24|All|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Honda Bosch B connector<br>- 1 comma 3X<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Honda&model=Civic 2022-24">Buy Here</a></sub></details>|<a href="https://youtu.be/ytiOT5lcp6Q" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>|
 |Honda|Civic Hatchback 2017-21|Honda Sensing|openpilot available[<sup>1</sup>](#footnotes)|0 mph|12 mph|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Honda Bosch A connector<br>- 1 comma 3X<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Honda&model=Civic Hatchback 2017-21">Buy Here</a></sub></details>||
 |Honda|Civic Hatchback 2022-24|All|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Honda Bosch B connector<br>- 1 comma 3X<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Honda&model=Civic Hatchback 2022-24">Buy Here</a></sub></details>|<a href="https://youtu.be/ytiOT5lcp6Q" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>|
+|Honda|Civic Hatchback Hybrid 2023 (Europe only)|All|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Honda Bosch B connector<br>- 1 comma 3X<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Honda&model=Civic Hatchback Hybrid 2023 (Europe only)">Buy Here</a></sub></details>||
+|Honda|Civic Hatchback Hybrid 2025|All|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Honda Bosch B connector<br>- 1 comma 3X<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Honda&model=Civic Hatchback Hybrid 2025">Buy Here</a></sub></details>||
 |Honda|CR-V 2015-16|Touring Trim|openpilot|26 mph|12 mph|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|<details><summary>Parts</summary><sub>- 1 Honda Nidec connector<br>- 1 comma 3X<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Honda&model=CR-V 2015-16">Buy Here</a></sub></details>||
 |Honda|CR-V 2017-22|Honda Sensing|openpilot available[<sup>1</sup>](#footnotes)|0 mph|12 mph|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Honda Bosch A connector<br>- 1 comma 3X<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Honda&model=CR-V 2017-22">Buy Here</a></sub></details>||
 |Honda|CR-V Hybrid 2017-22|Honda Sensing|openpilot available[<sup>1</sup>](#footnotes)|0 mph|12 mph|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Honda Bosch A connector<br>- 1 comma 3X<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Honda&model=CR-V Hybrid 2017-22">Buy Here</a></sub></details>||

opendbc_repo

@@ -1 +1 @@
-Subproject commit 81820502a038b64e97caae81377ac65a3b86703e
+Subproject commit 3b33a71a2bf08b57dd5b2bf77e26cc376dcd7cc9

panda

@@ -1 +1 @@
-Subproject commit 8a583aaa8c1a27a3d13747b7ecead6a3d73a4e81
+Subproject commit d319ea2bbae4ee0f5dea12d7ca5456cd34288d55

selfdrive/car/card.py

@@ -89,7 +89,7 @@ class Car:
         if len(can.can) > 0:
           break
 
-      experimental_long_allowed = self.params.get_bool("ExperimentalLongitudinalEnabled")
+      alpha_long_allowed = self.params.get_bool("AlphaLongitudinalEnabled")
       num_pandas = len(messaging.recv_one_retry(self.sm.sock['pandaStates']).pandaStates)
 
       cached_params = None
@@ -98,7 +98,7 @@ class Car:
         with car.CarParams.from_bytes(cached_params_raw) as _cached_params:
           cached_params = _cached_params
 
-      self.CI = get_car(*self.can_callbacks, obd_callback(self.params), experimental_long_allowed, num_pandas, cached_params)
+      self.CI = get_car(*self.can_callbacks, obd_callback(self.params), alpha_long_allowed, num_pandas, cached_params)
       self.RI = interfaces[self.CI.CP.carFingerprint].RadarInterface(self.CI.CP)
       self.CP = self.CI.CP
 

selfdrive/car/tests/test_car_interfaces.py

@@ -39,7 +39,7 @@ class TestCarInterfaces:
     args = get_fuzzy_car_interface_args(data.draw)
 
     car_params = CarInterface.get_params(car_name, args['fingerprints'], args['car_fw'],
-                                         experimental_long=args['experimental_long'], docs=False)
+                                         alpha_long=args['alpha_long'], docs=False)
     car_params = car_params.as_reader()
     car_interface = CarInterface(car_params)
     assert car_params

selfdrive/car/tests/test_models.py

@@ -78,7 +78,7 @@ class TestCarModelBase(unittest.TestCase):
     cls.elm_frame = None
     cls.car_safety_mode_frame = None
     cls.fingerprint = gen_empty_fingerprint()
-    experimental_long = False
+    alpha_long = False
     for msg in lr:
       if msg.which() == "can":
         can = can_capnp_to_list((msg.as_builder().to_bytes(),))[0]
@@ -91,7 +91,7 @@ class TestCarModelBase(unittest.TestCase):
       elif msg.which() == "carParams":
         car_fw = msg.carParams.carFw
         if msg.carParams.openpilotLongitudinalControl:
-          experimental_long = True
+          alpha_long = True
         if cls.platform is None:
           live_fingerprint = msg.carParams.carFingerprint
           cls.platform = MIGRATION.get(live_fingerprint, live_fingerprint)
@@ -113,7 +113,7 @@ class TestCarModelBase(unittest.TestCase):
           cls.car_safety_mode_frame = len(can_msgs)
 
     assert len(can_msgs) > int(50 / DT_CTRL), "no can data found"
-    return car_fw, can_msgs, experimental_long
+    return car_fw, can_msgs, alpha_long
 
   @classmethod
   def get_testing_data(cls):
@@ -146,13 +146,13 @@ class TestCarModelBase(unittest.TestCase):
         raise unittest.SkipTest
       raise Exception(f"missing test route for {cls.platform}")
 
-    car_fw, cls.can_msgs, experimental_long = cls.get_testing_data()
+    car_fw, cls.can_msgs, alpha_long = cls.get_testing_data()
 
     # if relay is expected to be open in the route
     cls.openpilot_enabled = cls.car_safety_mode_frame is not None
 
     cls.CarInterface = interfaces[cls.platform]
-    cls.CP = cls.CarInterface.get_params(cls.platform, cls.fingerprint, car_fw, experimental_long, docs=False)
+    cls.CP = cls.CarInterface.get_params(cls.platform, cls.fingerprint, car_fw, alpha_long, docs=False)
     assert cls.CP
     assert cls.CP.carFingerprint == cls.platform
 

selfdrive/debug/set_car_params.py

@@ -15,7 +15,7 @@ if __name__ == "__main__":
   else:
     CP = car.CarParams.new_message()
     CP.openpilotLongitudinalControl = True
-    CP.experimentalLongitudinalAvailable = False
+    CP.alphaLongitudinalAvailable = False
 
   cp_bytes = CP.to_bytes()
   for p in ("CarParams", "CarParamsCache", "CarParamsPersistent"):

selfdrive/locationd/helpers.py

@@ -1,10 +1,48 @@
 import numpy as np
 from typing import Any
+from functools import cache
 
 from cereal import log
 from openpilot.common.transformations.orientation import rot_from_euler, euler_from_rot
 
 
+@cache
+def fft_next_good_size(n: int) -> int:
+    """
+    smallest composite of 2, 3, 5, 7, 11 that is >= n
+    inspired by pocketfft
+    """
+    if n <= 6:
+      return n
+    best, f2 = 2 * n, 1
+    while f2 < best:
+        f23 = f2
+        while f23 < best:
+            f235 = f23
+            while f235 < best:
+                f2357 = f235
+                while f2357 < best:
+                    f235711 = f2357
+                    while f235711 < best:
+                        best = f235711 if f235711 >= n else best
+                        f235711 *= 11
+                    f2357 *= 7
+                f235 *= 5
+            f23 *= 3
+        f2 *= 2
+    return best
+
+
+def parabolic_peak_interp(R, max_index):
+  if max_index == 0 or max_index == len(R) - 1:
+    return max_index
+
+  y_m1, y_0, y_p1 = R[max_index - 1], R[max_index], R[max_index + 1]
+  offset = 0.5 * (y_p1 - y_m1) / (2 * y_0 - y_p1 - y_m1)
+
+  return max_index + offset
+
+
 def rotate_cov(rot_matrix, cov_in):
   return rot_matrix @ cov_in @ rot_matrix.T
 

selfdrive/locationd/lagd.py

@@ -0,0 +1,333 @@
+#!/usr/bin/env python3
+import os
+import numpy as np
+import capnp
+from collections import deque
+from functools import partial
+
+import cereal.messaging as messaging
+from cereal import car, log
+from cereal.services import SERVICE_LIST
+from openpilot.common.params import Params
+from openpilot.common.realtime import config_realtime_process
+from openpilot.common.swaglog import cloudlog
+from openpilot.selfdrive.locationd.helpers import PoseCalibrator, Pose, fft_next_good_size, parabolic_peak_interp
+
+BLOCK_SIZE = 100
+BLOCK_NUM = 50
+BLOCK_NUM_NEEDED = 5
+MOVING_WINDOW_SEC = 300.0
+MIN_OKAY_WINDOW_SEC = 25.0
+MIN_RECOVERY_BUFFER_SEC = 2.0
+MIN_VEGO = 15.0
+MIN_ABS_YAW_RATE = np.radians(1.0)
+MIN_NCC = 0.95
+MAX_LAG = 1.0
+
+
+def masked_normalized_cross_correlation(expected_sig: np.ndarray, actual_sig: np.ndarray, mask: np.ndarray, n: int):
+  """
+  References:
+    D. Padfield. "Masked FFT registration". In Proc. Computer Vision and
+    Pattern Recognition, pp. 2918-2925 (2010).
+    :DOI:`10.1109/CVPR.2010.5540032`
+  """
+
+  eps = np.finfo(np.float64).eps
+  expected_sig = np.asarray(expected_sig, dtype=np.float64)
+  actual_sig = np.asarray(actual_sig, dtype=np.float64)
+
+  expected_sig[~mask] = 0.0
+  actual_sig[~mask] = 0.0
+
+  rotated_expected_sig = expected_sig[::-1]
+  rotated_mask = mask[::-1]
+
+  fft = partial(np.fft.fft, n=n)
+
+  actual_sig_fft = fft(actual_sig)
+  rotated_expected_sig_fft = fft(rotated_expected_sig)
+  actual_mask_fft = fft(mask.astype(np.float64))
+  rotated_mask_fft = fft(rotated_mask.astype(np.float64))
+
+  number_overlap_masked_samples = np.fft.ifft(rotated_mask_fft * actual_mask_fft).real
+  number_overlap_masked_samples[:] = np.round(number_overlap_masked_samples)
+  number_overlap_masked_samples[:] = np.fmax(number_overlap_masked_samples, eps)
+  masked_correlated_actual_fft = np.fft.ifft(rotated_mask_fft * actual_sig_fft).real
+  masked_correlated_expected_fft = np.fft.ifft(actual_mask_fft * rotated_expected_sig_fft).real
+
+  numerator = np.fft.ifft(rotated_expected_sig_fft * actual_sig_fft).real
+  numerator -= masked_correlated_actual_fft * masked_correlated_expected_fft / number_overlap_masked_samples
+
+  actual_squared_fft = fft(actual_sig ** 2)
+  actual_sig_denom = np.fft.ifft(rotated_mask_fft * actual_squared_fft).real
+  actual_sig_denom -= masked_correlated_actual_fft ** 2 / number_overlap_masked_samples
+  actual_sig_denom[:] = np.fmax(actual_sig_denom, 0.0)
+
+  rotated_expected_squared_fft = fft(rotated_expected_sig ** 2)
+  expected_sig_denom = np.fft.ifft(actual_mask_fft * rotated_expected_squared_fft).real
+  expected_sig_denom -= masked_correlated_expected_fft ** 2 / number_overlap_masked_samples
+  expected_sig_denom[:] = np.fmax(expected_sig_denom, 0.0)
+
+  denom = np.sqrt(actual_sig_denom * expected_sig_denom)
+
+  # zero-out samples with very small denominators
+  tol = 1e3 * eps * np.max(np.abs(denom), keepdims=True)
+  nonzero_indices = denom > tol
+
+  ncc = np.zeros_like(denom, dtype=np.float64)
+  ncc[nonzero_indices] = numerator[nonzero_indices] / denom[nonzero_indices]
+  np.clip(ncc, -1, 1, out=ncc)
+
+  return ncc
+
+
+class Points:
+  def __init__(self, num_points: int):
+    self.times = deque[float]([0.0] * num_points, maxlen=num_points)
+    self.okay = deque[bool]([False] * num_points, maxlen=num_points)
+    self.desired = deque[float]([0.0] * num_points, maxlen=num_points)
+    self.actual = deque[float]([0.0] * num_points, maxlen=num_points)
+
+  @property
+  def num_points(self):
+    return len(self.desired)
+
+  @property
+  def num_okay(self):
+    return np.count_nonzero(self.okay)
+
+  def update(self, t: float, desired: float, actual: float, okay: bool):
+    self.times.append(t)
+    self.okay.append(okay)
+    self.desired.append(desired)
+    self.actual.append(actual)
+
+  def get(self) -> tuple[np.ndarray, np.ndarray, np.ndarray, np.ndarray]:
+    return np.array(self.times), np.array(self.desired), np.array(self.actual), np.array(self.okay)
+
+
+class BlockAverage:
+  def __init__(self, num_blocks: int, block_size: int, valid_blocks: int, initial_value: float):
+    self.num_blocks = num_blocks
+    self.block_size = block_size
+    self.block_idx = valid_blocks % num_blocks
+    self.idx = 0
+
+    self.values = np.tile(initial_value, (num_blocks, 1))
+    self.valid_blocks = valid_blocks
+
+  def update(self, value: float):
+    self.values[self.block_idx] = (self.idx * self.values[self.block_idx] + value) / (self.idx + 1)
+    self.idx = (self.idx + 1) % self.block_size
+    if self.idx == 0:
+      self.block_idx = (self.block_idx + 1) % self.num_blocks
+      self.valid_blocks = min(self.valid_blocks + 1, self.num_blocks)
+
+  def get(self) -> tuple[float, float]:
+    valid_block_idx = [i for i in range(self.valid_blocks) if i != self.block_idx]
+    valid_and_current_idx = valid_block_idx + ([self.block_idx] if self.idx > 0 else [])
+
+    valid_mean = float(np.mean(self.values[valid_block_idx], axis=0).item()) if len(valid_block_idx) > 0 else float('nan')
+    current_mean = float(np.mean(self.values[valid_and_current_idx], axis=0).item()) if len(valid_and_current_idx) > 0 else float('nan')
+    return valid_mean, current_mean
+
+
+class LateralLagEstimator:
+  inputs = {"carControl", "carState", "controlsState", "liveCalibration", "livePose"}
+
+  def __init__(self, CP: car.CarParams, dt: float,
+               block_count: int = BLOCK_NUM, min_valid_block_count: int = BLOCK_NUM_NEEDED, block_size: int = BLOCK_SIZE,
+               window_sec: float = MOVING_WINDOW_SEC, okay_window_sec: float = MIN_OKAY_WINDOW_SEC, min_recovery_buffer_sec: float = MIN_RECOVERY_BUFFER_SEC,
+               min_vego: float = MIN_VEGO, min_yr: float = MIN_ABS_YAW_RATE, min_ncc: float = MIN_NCC):
+    self.dt = dt
+    self.window_sec = window_sec
+    self.okay_window_sec = okay_window_sec
+    self.min_recovery_buffer_sec = min_recovery_buffer_sec
+    self.initial_lag = CP.steerActuatorDelay + 0.2
+    self.block_size = block_size
+    self.block_count = block_count
+    self.min_valid_block_count = min_valid_block_count
+    self.min_vego = min_vego
+    self.min_yr = min_yr
+    self.min_ncc = min_ncc
+
+    self.t = 0.0
+    self.lat_active = False
+    self.steering_pressed = False
+    self.steering_saturated = False
+    self.desired_curvature = 0.0
+    self.v_ego = 0.0
+    self.yaw_rate = 0.0
+
+    self.last_lat_inactive_t = 0.0
+    self.last_steering_pressed_t = 0.0
+    self.last_steering_saturated_t = 0.0
+    self.last_estimate_t = 0.0
+
+    self.calibrator = PoseCalibrator()
+
+    self.reset(self.initial_lag, 0)
+
+  def reset(self, initial_lag: float, valid_blocks: int):
+    window_len = int(self.window_sec / self.dt)
+    self.points = Points(window_len)
+    self.block_avg = BlockAverage(self.block_count, self.block_size, valid_blocks, initial_lag)
+
+  def get_msg(self, valid: bool, debug: bool = False) -> capnp._DynamicStructBuilder:
+    msg = messaging.new_message('liveDelay')
+
+    msg.valid = valid
+
+    liveDelay = msg.liveDelay
+
+    valid_mean_lag, current_mean_lag = self.block_avg.get()
+    if self.block_avg.valid_blocks >= self.min_valid_block_count and not np.isnan(valid_mean_lag):
+      liveDelay.status = log.LiveDelayData.Status.estimated
+      liveDelay.lateralDelay = valid_mean_lag
+    else:
+      liveDelay.status = log.LiveDelayData.Status.unestimated
+      liveDelay.lateralDelay = self.initial_lag
+    if not np.isnan(current_mean_lag):
+      liveDelay.lateralDelayEstimate = current_mean_lag
+    else:
+      liveDelay.lateralDelayEstimate = self.initial_lag
+    liveDelay.validBlocks = self.block_avg.valid_blocks
+    if debug:
+      liveDelay.points = self.block_avg.values.flatten().tolist()
+
+    return msg
+
+  def handle_log(self, t: float, which: str, msg: capnp._DynamicStructReader):
+    if which == "carControl":
+      self.lat_active = msg.latActive
+    elif which == "carState":
+      self.steering_pressed = msg.steeringPressed
+      self.v_ego = msg.vEgo
+    elif which == "controlsState":
+      self.steering_saturated = getattr(msg.lateralControlState, msg.lateralControlState.which()).saturated
+      self.desired_curvature = msg.desiredCurvature
+    elif which == "liveCalibration":
+      self.calibrator.feed_live_calib(msg)
+    elif which == "livePose":
+      device_pose = Pose.from_live_pose(msg)
+      calibrated_pose = self.calibrator.build_calibrated_pose(device_pose)
+      self.yaw_rate = calibrated_pose.angular_velocity.z
+    self.t = t
+
+  def points_enough(self):
+    return self.points.num_points >= int(self.okay_window_sec / self.dt)
+
+  def points_valid(self):
+    return self.points.num_okay >= int(self.okay_window_sec / self.dt)
+
+  def update_points(self):
+    if not self.lat_active:
+      self.last_lat_inactive_t = self.t
+    if self.steering_pressed:
+      self.last_steering_pressed_t = self.t
+    if self.steering_saturated:
+      self.last_steering_saturated_t = self.t
+
+    la_desired = self.desired_curvature * self.v_ego * self.v_ego
+    la_actual_pose = self.yaw_rate * self.v_ego
+
+    fast = self.v_ego > self.min_vego
+    turning = np.abs(self.yaw_rate) >= self.min_yr
+    has_recovered = all( # wait for recovery after !lat_active, steering_pressed, steering_saturated
+      self.t - last_t >= self.min_recovery_buffer_sec
+      for last_t in [self.last_lat_inactive_t, self.last_steering_pressed_t, self.last_steering_saturated_t]
+    )
+    okay = self.lat_active and not self.steering_pressed and not self.steering_saturated and fast and turning and has_recovered
+
+    self.points.update(self.t, la_desired, la_actual_pose, okay)
+
+  def update_estimate(self):
+    if not self.points_enough():
+      return
+
+    times, desired, actual, okay = self.points.get()
+    # check if there are any new valid data points since the last update
+    is_valid = self.points_valid()
+    if self.last_estimate_t != 0 and times[0] <= self.last_estimate_t:
+      new_values_start_idx = next(-i for i, t in enumerate(reversed(times)) if t <= self.last_estimate_t)
+      is_valid = is_valid and not (new_values_start_idx == 0 or not np.any(okay[new_values_start_idx:]))
+
+    delay, corr = self.actuator_delay(desired, actual, okay, self.dt, MAX_LAG)
+    if corr < self.min_ncc or not is_valid:
+      return
+
+    self.block_avg.update(delay)
+    self.last_estimate_t = self.t
+
+  def actuator_delay(self, expected_sig: np.ndarray, actual_sig: np.ndarray, mask: np.ndarray, dt: float, max_lag: float) -> tuple[float, float]:
+    assert len(expected_sig) == len(actual_sig)
+    max_lag_samples = int(max_lag / dt)
+    padded_size = fft_next_good_size(len(expected_sig) + max_lag_samples)
+
+    ncc = masked_normalized_cross_correlation(expected_sig, actual_sig, mask, padded_size)
+
+    # only consider lags from 0 to max_lag
+    roi_ncc = ncc[len(expected_sig) - 1: len(expected_sig) - 1 + max_lag_samples]
+
+    max_corr_index = np.argmax(roi_ncc)
+    corr = roi_ncc[max_corr_index]
+    lag = parabolic_peak_interp(roi_ncc, max_corr_index) * dt
+
+    return lag, corr
+
+
+def retrieve_initial_lag(params_reader: Params, CP: car.CarParams):
+  last_lag_data = params_reader.get("LiveDelay")
+  last_carparams_data = params_reader.get("CarParamsPrevRoute")
+
+  if last_lag_data is not None:
+    try:
+      with log.Event.from_bytes(last_lag_data) as last_lag_msg, car.CarParams.from_bytes(last_carparams_data) as last_CP:
+        ld = last_lag_msg.liveDelay
+        if last_CP.carFingerprint != CP.carFingerprint:
+          raise Exception("Car model mismatch")
+
+        lag, valid_blocks = ld.lateralDelayEstimate, ld.validBlocks
+        assert valid_blocks <= BLOCK_NUM, "Invalid number of valid blocks"
+        return lag, valid_blocks
+    except Exception as e:
+      cloudlog.error(f"Failed to retrieve initial lag: {e}")
+
+  return None
+
+
+def main():
+  config_realtime_process([0, 1, 2, 3], 5)
+
+  DEBUG = bool(int(os.getenv("DEBUG", "0")))
+
+  pm = messaging.PubMaster(['liveDelay'])
+  sm = messaging.SubMaster(['livePose', 'liveCalibration', 'carState', 'controlsState', 'carControl'], poll='livePose')
+
+  params_reader = Params()
+  CP = messaging.log_from_bytes(params_reader.get("CarParams", block=True), car.CarParams)
+
+  lag_learner = LateralLagEstimator(CP, 1. / SERVICE_LIST['livePose'].frequency)
+  if (initial_lag_params := retrieve_initial_lag(params_reader, CP)) is not None:
+    lag, valid_blocks = initial_lag_params
+    lag_learner.reset(lag, valid_blocks)
+
+  while True:
+    sm.update()
+    if sm.all_checks():
+      for which in sorted(sm.updated.keys(), key=lambda x: sm.logMonoTime[x]):
+        if sm.updated[which]:
+          t = sm.logMonoTime[which] * 1e-9
+          lag_learner.handle_log(t, which, sm[which])
+      lag_learner.update_points()
+
+    # 4Hz driven by livePose
+    if sm.frame % 5 == 0:
+      lag_learner.update_estimate()
+      lag_msg = lag_learner.get_msg(sm.all_checks(), DEBUG)
+      lag_msg_dat = lag_msg.to_bytes()
+      pm.send('liveDelay', lag_msg_dat)
+
+      if sm.frame % 1200 == 0: # cache every 60 seconds
+        params_reader.put_nonblocking("LiveDelay", lag_msg_dat)

selfdrive/locationd/test/test_lagd.py

@@ -0,0 +1,137 @@
+import random
+import numpy as np
+import time
+import pytest
+
+from cereal import messaging
+from openpilot.selfdrive.locationd.lagd import LateralLagEstimator, retrieve_initial_lag, masked_normalized_cross_correlation, \
+                                               BLOCK_NUM_NEEDED, BLOCK_SIZE, MIN_OKAY_WINDOW_SEC
+from openpilot.selfdrive.test.process_replay.migration import migrate, migrate_carParams
+from openpilot.selfdrive.locationd.test.test_locationd_scenarios import TEST_ROUTE
+from openpilot.common.params import Params
+from openpilot.tools.lib.logreader import LogReader
+from openpilot.system.hardware import PC
+
+MAX_ERR_FRAMES = 1
+DT = 0.05
+
+
+def process_messages(mocker, estimator, lag_frames, n_frames, vego=20.0, rejection_threshold=0.0):
+  class ZeroMock(mocker.Mock):
+    def __getattr__(self, *args):
+      return 0
+
+  for i in range(n_frames):
+    t = i * estimator.dt
+    desired_la = np.cos(t)
+    actual_la = np.cos(t - lag_frames * estimator.dt)
+
+    # if sample is masked out, set it to desired value (no lag)
+    rejected = random.uniform(0, 1) < rejection_threshold
+    if rejected:
+      actual_la = desired_la
+
+    desired_cuvature = desired_la / (vego ** 2)
+    actual_yr = actual_la / vego
+    msgs = [
+      (t, "carControl", mocker.Mock(latActive=not rejected)),
+      (t, "carState", mocker.Mock(vEgo=vego, steeringPressed=False)),
+      (t, "controlsState", mocker.Mock(desiredCurvature=desired_cuvature,
+                                        lateralControlState=mocker.Mock(which=mocker.Mock(return_value='debugControlState'), debugControlState=ZeroMock()))),
+      (t, "livePose", mocker.Mock(orientationNED=ZeroMock(),
+                                velocityDevice=ZeroMock(),
+                                accelerationDevice=ZeroMock(),
+                                angularVelocityDevice=ZeroMock(z=actual_yr))),
+    ]
+    for t, w, m in msgs:
+      estimator.handle_log(t, w, m)
+    estimator.update_points()
+    estimator.update_estimate()
+
+
+class TestLagd:
+  def test_read_saved_params(self):
+    params = Params()
+
+    lr = migrate(LogReader(TEST_ROUTE), [migrate_carParams])
+    CP = next(m for m in lr if m.which() == "carParams").carParams
+
+    msg = messaging.new_message('liveDelay')
+    msg.liveDelay.lateralDelayEstimate = random.random()
+    msg.liveDelay.validBlocks = random.randint(1, 10)
+    params.put("LiveDelay", msg.to_bytes())
+    params.put("CarParamsPrevRoute", CP.as_builder().to_bytes())
+
+    saved_lag_params = retrieve_initial_lag(params, CP)
+    assert saved_lag_params is not None
+
+    lag, valid_blocks = saved_lag_params
+    assert lag == msg.liveDelay.lateralDelayEstimate
+    assert valid_blocks == msg.liveDelay.validBlocks
+
+  def test_ncc(self):
+    lag_frames = random.randint(1, 19)
+
+    desired_sig = np.sin(np.arange(0.0, 10.0, 0.1))
+    actual_sig = np.sin(np.arange(0.0, 10.0, 0.1) - lag_frames * 0.1)
+    mask = np.ones(len(desired_sig), dtype=bool)
+
+    corr = masked_normalized_cross_correlation(desired_sig, actual_sig, mask, 200)[len(desired_sig) - 1:len(desired_sig) + 20]
+    assert np.argmax(corr) == lag_frames
+
+    # add some noise
+    desired_sig += np.random.normal(0, 0.05, len(desired_sig))
+    actual_sig += np.random.normal(0, 0.05, len(actual_sig))
+    corr = masked_normalized_cross_correlation(desired_sig, actual_sig, mask, 200)[len(desired_sig) - 1:len(desired_sig) + 20]
+    assert np.argmax(corr)  in range(lag_frames - MAX_ERR_FRAMES, lag_frames + MAX_ERR_FRAMES + 1)
+
+    # mask out 40% of the values, and make them noise
+    mask = np.random.choice([True, False], size=len(desired_sig), p=[0.6, 0.4])
+    desired_sig[~mask] = np.random.normal(0, 1, size=np.sum(~mask))
+    actual_sig[~mask] = np.random.normal(0, 1, size=np.sum(~mask))
+    corr = masked_normalized_cross_correlation(desired_sig, actual_sig, mask, 200)[len(desired_sig) - 1:len(desired_sig) + 20]
+    assert np.argmax(corr) in range(lag_frames - MAX_ERR_FRAMES, lag_frames + MAX_ERR_FRAMES + 1)
+
+  def test_empty_estimator(self, mocker):
+    mocked_CP = mocker.Mock(steerActuatorDelay=0.8)
+    estimator = LateralLagEstimator(mocked_CP, DT)
+    msg = estimator.get_msg(True)
+    assert msg.liveDelay.status == 'unestimated'
+    assert np.allclose(msg.liveDelay.lateralDelay, estimator.initial_lag)
+    assert np.allclose(msg.liveDelay.lateralDelayEstimate, estimator.initial_lag)
+    assert msg.liveDelay.validBlocks == 0
+
+  def test_estimator_basics(self, mocker, subtests):
+    for lag_frames in range(5):
+      with subtests.test(msg=f"lag_frames={lag_frames}"):
+        mocked_CP = mocker.Mock(steerActuatorDelay=0.8)
+        estimator = LateralLagEstimator(mocked_CP, DT, min_recovery_buffer_sec=0.0, min_yr=0.0)
+        process_messages(mocker, estimator, lag_frames, int(MIN_OKAY_WINDOW_SEC / DT) + BLOCK_NUM_NEEDED * BLOCK_SIZE)
+        msg = estimator.get_msg(True)
+        assert msg.liveDelay.status == 'estimated'
+        assert np.allclose(msg.liveDelay.lateralDelay, lag_frames * DT, atol=0.01)
+        assert np.allclose(msg.liveDelay.lateralDelayEstimate, lag_frames * DT, atol=0.01)
+        assert msg.liveDelay.validBlocks == BLOCK_NUM_NEEDED
+
+  def test_estimator_masking(self, mocker):
+    mocked_CP, lag_frames = mocker.Mock(steerActuatorDelay=0.8), random.randint(1, 19)
+    estimator = LateralLagEstimator(mocked_CP, DT, min_recovery_buffer_sec=0.0, min_yr=0.0, min_valid_block_count=1)
+    process_messages(mocker, estimator, lag_frames, (int(MIN_OKAY_WINDOW_SEC / DT) + BLOCK_SIZE) * 2, rejection_threshold=0.4)
+    msg = estimator.get_msg(True)
+    assert np.allclose(msg.liveDelay.lateralDelayEstimate, lag_frames * DT, atol=0.01)
+
+  @pytest.mark.skipif(PC, reason="only on device")
+  @pytest.mark.timeout(60)
+  def test_estimator_performance(self, mocker):
+    mocked_CP = mocker.Mock(steerActuatorDelay=0.8)
+    estimator = LateralLagEstimator(mocked_CP, DT)
+
+    ds = []
+    for _ in range(1000):
+      st = time.perf_counter()
+      estimator.update_points()
+      estimator.update_estimate()
+      d = time.perf_counter() - st
+      ds.append(d)
+
+    assert np.mean(ds) < DT

selfdrive/selfdrived/selfdrived.py

@@ -75,7 +75,7 @@ class SelfdriveD:
       # no vipc in replay will make them ignored anyways
       ignore += ['roadCameraState', 'wideRoadCameraState']
     self.sm = messaging.SubMaster(['deviceState', 'pandaStates', 'peripheralState', 'modelV2', 'liveCalibration',
-                                   'carOutput', 'driverMonitoringState', 'longitudinalPlan', 'livePose',
+                                   'carOutput', 'driverMonitoringState', 'longitudinalPlan', 'livePose', 'liveDelay',
                                    'managerState', 'liveParameters', 'radarState', 'liveTorqueParameters',
                                    'controlsState', 'carControl', 'driverAssistance', 'alertDebug'] + \
                                    self.camera_packets + self.sensor_packets + self.gps_packets,
@@ -89,8 +89,8 @@ class SelfdriveD:
     car_recognized = self.CP.brand != 'mock'
 
     # cleanup old params
-    if not self.CP.experimentalLongitudinalAvailable:
+    if not self.CP.alphaLongitudinalAvailable:
-      self.params.remove("ExperimentalLongitudinalEnabled")
+      self.params.remove("AlphaLongitudinalEnabled")
     if not self.CP.openpilotLongitudinalControl:
       self.params.remove("ExperimentalMode")
 

selfdrive/test/process_replay/process_replay.py

@@ -363,7 +363,7 @@ def get_car_params_callback(rc, pm, msgs, fingerprint):
       with car.CarParams.from_bytes(cached_params_raw) as _cached_params:
         cached_params = _cached_params
 
-    CP = get_car(*can_callbacks, lambda obd: None, Params().get_bool("ExperimentalLongitudinalEnabled"), cached_params=cached_params).CP
+    CP = get_car(*can_callbacks, lambda obd: None, Params().get_bool("AlphaLongitudinalEnabled"), cached_params=cached_params).CP
 
     if not params.get_bool("DisengageOnAccelerator"):
       CP.alternativeExperience |= ALTERNATIVE_EXPERIENCE.DISABLE_DISENGAGE_ON_GAS
@@ -462,7 +462,7 @@ CONFIGS = [
     proc_name="selfdrived",
     pubs=[
       "carState", "deviceState", "pandaStates", "peripheralState", "liveCalibration", "driverMonitoringState",
-      "longitudinalPlan", "livePose", "liveParameters", "radarState",
+      "longitudinalPlan", "livePose", "liveDelay", "liveParameters", "radarState",
       "modelV2", "driverCameraState", "roadCameraState", "wideRoadCameraState", "managerState",
       "liveTorqueParameters", "accelerometer", "gyroscope", "carOutput",
       "gpsLocationExternal", "gpsLocation", "controlsState", "carControl", "driverAssistance", "alertDebug",
@@ -551,6 +551,15 @@ CONFIGS = [
     tolerance=NUMPY_TOLERANCE,
     processing_time=0.004,
   ),
+  ProcessConfig(
+    proc_name="lagd",
+    pubs=["livePose", "liveCalibration", "carState", "carControl", "controlsState"],
+    subs=["liveDelay"],
+    ignore=["logMonoTime"],
+    init_callback=get_car_params_callback,
+    should_recv_callback=MessageBasedRcvCallback("livePose"),
+    tolerance=NUMPY_TOLERANCE,
+  ),
   ProcessConfig(
     proc_name="ubloxd",
     pubs=["ubloxRaw"],
@@ -768,7 +777,7 @@ def generate_params_config(lr=None, CP=None, fingerprint=None, custom_params=Non
         params_dict["CarParamsCache"] = CP.as_builder().to_bytes()
 
     if CP.openpilotLongitudinalControl:
-      params_dict["ExperimentalLongitudinalEnabled"] = True
+      params_dict["AlphaLongitudinalEnabled"] = True
 
     if CP.notCar:
       params_dict["JoystickDebugMode"] = True

selfdrive/test/process_replay/ref_commit

@@ -1 +1 @@
-37fd7afb99bf188c1e5375d01f011ae35821f640
+3d3f875dc211ab0ca8a8e564ecf6dd3f52fcf7d9

selfdrive/test/process_replay/test_processes.py

@@ -41,23 +41,23 @@ source_segments = [
 ]
 
 segments = [
-  ("BODY", "regenA67A128BCD8|2024-08-30--02-36-22--0"),
+  ("BODY", "regen2F3C7259F1B|2025-04-08--23-00-23--0"),
-  ("HYUNDAI", "regenCCD47FEBC0C|2025-03-04--03-21-48--0"),
+  ("HYUNDAI", "regenAA0FC4ED71E|2025-04-08--22-57-50--0"),
-  ("HYUNDAI2", "regen306779F6870|2024-10-03--04-03-23--0"),
+  ("HYUNDAI2", "regenAFB9780D823|2025-04-08--23-00-34--0"),
-  ("TOYOTA", "regen4A5115B248D|2025-03-04--03-21-43--0"),
+  ("TOYOTA", "regen218A4DCFAA1|2025-04-08--22-57-51--0"),
-  ("TOYOTA2", "regen6E484EDAB96|2024-08-30--02-47-37--0"),
+  ("TOYOTA2", "regen107352E20EB|2025-04-08--22-57-46--0"),
-  ("TOYOTA3", "8011d605be1cbb77|000000cc--8e8d8ec716--6"),
+  ("TOYOTA3", "regen1455E3B4BDF|2025-04-09--03-26-06--0"),
-  ("HONDA", "regenB8CABEC09CC|2025-03-04--03-32-55--0"),
+  ("HONDA", "regenB328FF8BA0A|2025-04-08--22-57-45--0"),
-  ("HONDA2", "regen4B38A7428CD|2024-08-30--02-56-31--0"),
+  ("HONDA2", "regen6170C8C9A35|2025-04-08--22-57-46--0"),
-  ("CHRYSLER", "regenF3DBBA9E8DF|2024-08-30--02-59-03--0"),
+  ("CHRYSLER", "regen5B28FC2A437|2025-04-08--23-04-24--0"),
-  ("RAM", "regenDB02684E00A|2024-08-30--03-02-54--0"),
+  ("RAM", "regenBF81EA96E08|2025-04-08--23-06-54--0"),
-  ("SUBARU", "regen5E3347D0A0F|2025-03-04--03-23-55--0"),
+  ("SUBARU", "regen7366F13F6A1|2025-04-08--23-07-07--0"),
-  ("GM", "regen9ADBECBCD1C|2024-08-30--03-13-04--0"),
+  ("GM", "regen1271097D038|2025-04-09--03-26-00--0"),
-  ("NISSAN", "regen58464878D07|2024-08-30--03-15-31--0"),
+  ("NISSAN", "regen15D60604EAB|2025-04-08--23-06-59--0"),
-  ("VOLKSWAGEN", "regenED976DEB757|2024-08-30--03-18-02--0"),
+  ("VOLKSWAGEN", "regen0F2F06C9539|2025-04-08--23-06-56--0"),
   ("MAZDA", "regenACF84CCF482|2024-08-30--03-21-55--0"),
-  ("FORD", "regenA75209BD115|2025-03-04--03-23-53--0"),
+  ("FORD", "regen755D8CB1E1F|2025-04-08--23-13-43--0"),
-  ("RIVIAN", "bc095dc92e101734|000000db--ee9fe46e57--1"),
+  ("RIVIAN", "regen5FCAC896BBE|2025-04-08--23-13-35--0"),
 ]
 
 # dashcamOnly makes don't need to be tested until a full port is done
@@ -195,7 +195,7 @@ if __name__ == "__main__":
           continue
 
         # to speed things up, we only test all segments on card
-        if cfg.proc_name != 'card' and car_brand not in ('HYUNDAI', 'TOYOTA', 'HONDA', 'SUBARU', 'FORD'):
+        if cfg.proc_name != 'card' and car_brand not in ('HYUNDAI', 'TOYOTA', 'HONDA', 'SUBARU', 'FORD', 'RIVIAN'):
           continue
 
         cur_log_fn = os.path.join(FAKEDATA, f"{segment}_{cfg.proc_name}_{cur_commit}.zst")

selfdrive/test/test_onroad.py

@@ -44,7 +44,6 @@ PROCS = {
   "./camerad": 10.0,
   "selfdrive.controls.plannerd": 9.0,
   "./ui": 18.0,
-  "selfdrive.locationd.paramsd": 9.0,
   "./sensord": 7.0,
   "selfdrive.controls.radard": 2.0,
   "selfdrive.modeld.modeld": 22.0,
@@ -53,6 +52,8 @@ PROCS = {
   "selfdrive.locationd.calibrationd": 2.0,
   "selfdrive.locationd.torqued": 5.0,
   "selfdrive.locationd.locationd": 25.0,
+  "selfdrive.locationd.paramsd": 9.0,
+  "selfdrive.locationd.lagd": 11.0,
   "selfdrive.ui.soundd": 3.0,
   "selfdrive.monitoring.dmonitoringd": 4.0,
   "./proclogd": 2.0,

selfdrive/ui/qt/offroad/developer_panel.cc

@@ -26,7 +26,7 @@ DeveloperPanel::DeveloperPanel(SettingsWindow *parent) : ListWidget(parent) {
   addItem(longManeuverToggle);
 
   experimentalLongitudinalToggle = new ParamControl(
-    "ExperimentalLongitudinalEnabled",
+    "AlphaLongitudinalEnabled",
     tr("openpilot Longitudinal Control (Alpha)"),
     QString("<b>%1</b><br><br>%2")
       .arg(tr("WARNING: openpilot longitudinal control is in alpha for this car and will disable Automatic Emergency Braking (AEB)."))
@@ -68,8 +68,8 @@ void DeveloperPanel::updateToggles(bool _offroad) {
     capnp::FlatArrayMessageReader cmsg(aligned_buf.align(cp_bytes.data(), cp_bytes.size()));
     cereal::CarParams::Reader CP = cmsg.getRoot<cereal::CarParams>();
 
-    if (!CP.getExperimentalLongitudinalAvailable() || is_release) {
+    if (!CP.getAlphaLongitudinalAvailable() || is_release) {
-      params.remove("ExperimentalLongitudinalEnabled");
+      params.remove("AlphaLongitudinalEnabled");
       experimentalLongitudinalToggle->setEnabled(false);
     }
 
@@ -78,7 +78,7 @@ void DeveloperPanel::updateToggles(bool _offroad) {
      * - is not a release branch, and
      * - the car supports experimental longitudinal control (alpha)
      */
-    experimentalLongitudinalToggle->setVisible(CP.getExperimentalLongitudinalAvailable() && !is_release);
+    experimentalLongitudinalToggle->setVisible(CP.getAlphaLongitudinalAvailable() && !is_release);
 
     longManeuverToggle->setEnabled(hasLongitudinalControl(CP) && _offroad);
   } else {

selfdrive/ui/qt/offroad/settings.cc

@@ -152,7 +152,7 @@ void TogglesPanel::updateToggles() {
 
       QString long_desc = unavailable + " " + \
                           tr("openpilot longitudinal control may come in a future update.");
-      if (CP.getExperimentalLongitudinalAvailable()) {
+      if (CP.getAlphaLongitudinalAvailable()) {
         if (is_release) {
           long_desc = unavailable + " " + tr("An alpha version of openpilot longitudinal control can be tested, along with Experimental mode, on non-release branches.");
         } else {

selfdrive/ui/qt/util.cc

@@ -193,8 +193,8 @@ QPixmap bootstrapPixmap(const QString &id) {
 bool hasLongitudinalControl(const cereal::CarParams::Reader &car_params) {
   // Using the experimental longitudinal toggle, returns whether longitudinal control
   // will be active without needing a restart of openpilot
-  return car_params.getExperimentalLongitudinalAvailable()
+  return car_params.getAlphaLongitudinalAvailable()
-             ? Params().getBool("ExperimentalLongitudinalEnabled")
+             ? Params().getBool("AlphaLongitudinalEnabled")
              : car_params.getOpenpilotLongitudinalControl();
 }
 

selfdrive/ui/tests/test_ui/run.py

@@ -56,7 +56,7 @@ def setup_settings_firehose(click, pm: PubMaster):
 
 def setup_settings_developer(click, pm: PubMaster):
   CP = car.CarParams()
-  CP.experimentalLongitudinalAvailable = True
+  CP.alphaLongitudinalAvailable = True
   Params().put("CarParamsPersistent", CP.to_bytes())
 
   setup_settings_device(click, pm)

system/hardware/fan_controller.py

@@ -27,7 +27,7 @@ class TiciFanController(BaseFanController):
     if ignition != self.last_ignition:
       self.controller.reset()
 
-    error = 70 - cur_temp
+    error = 75 - cur_temp
     fan_pwr_out = -int(self.controller.update(
                       error=error,
                       feedforward=np.interp(cur_temp, [60.0, 100.0], [0, -100])

system/manager/process_config.py

@@ -94,6 +94,7 @@ procs = [
   PythonProcess("qcomgpsd", "system.qcomgpsd.qcomgpsd", qcomgps, enabled=TICI),
   PythonProcess("pandad", "selfdrive.pandad.pandad", always_run),
   PythonProcess("paramsd", "selfdrive.locationd.paramsd", only_onroad),
+  PythonProcess("lagd", "selfdrive.locationd.lagd", only_onroad),
   NativeProcess("ubloxd", "system/ubloxd", ["./ubloxd"], ublox, enabled=TICI),
   PythonProcess("pigeond", "system.ubloxd.pigeond", ublox, enabled=TICI),
   PythonProcess("plannerd", "selfdrive.controls.plannerd", not_long_maneuver),

tools/sim/bridge/common.py

@@ -40,7 +40,7 @@ class SimulatorBridge(ABC):
   def __init__(self, dual_camera, high_quality):
     set_params_enabled()
     self.params = Params()
-    self.params.put_bool("ExperimentalLongitudinalEnabled", True)
+    self.params.put_bool("AlphaLongitudinalEnabled", True)
 
     self.rk = Ratekeeper(100, None)
 

uv.lock

@@ -70,15 +70,15 @@ wheels = [
 
 [[package]]
 name = "aioice"
-version = "0.9.0"
+version = "0.10.1"
 source = { registry = "https://pypi.org/simple" }
 dependencies = [
     { name = "dnspython" },
     { name = "ifaddr" },
 ]
-sdist = { url = "https://files.pythonhosted.org/packages/33/b6/e2b0e48ccb5b04fe29265e93f14a0915f416e359c897ae87d570566c430b/aioice-0.9.0.tar.gz", hash = "sha256:fc2401b1c4b6e19372eaaeaa28fd1bd9cbf6b0e412e48625297c53b495eebd1e", size = 40324 }
+sdist = { url = "https://files.pythonhosted.org/packages/95/a2/45dfab1d5a7f96c48595a5770379acf406cdf02a2cd1ac1729b599322b08/aioice-0.10.1.tar.gz", hash = "sha256:5c8e1422103448d171925c678fb39795e5fe13d79108bebb00aa75a899c2094a", size = 44304 }
 wheels = [
-    { url = "https://files.pythonhosted.org/packages/b6/35/d21e48d3ba25d32aba5d142d54c4491376c659dd74d052a30dd25198007b/aioice-0.9.0-py3-none-any.whl", hash = "sha256:b609597a3a5a611e0004ff04772e16aceb881d51c25c0afc4ceac05d5e50024e", size = 24177 },
+    { url = "https://files.pythonhosted.org/packages/3b/58/af07dda649c22a1ae954ffb7aaaf4d4a57f1bf00ebdf62307affc0b8552f/aioice-0.10.1-py3-none-any.whl", hash = "sha256:f31ae2abc8608b1283ed5f21aebd7b6bd472b152ff9551e9b559b2d8efed79e9", size = 24872 },
 ]
 
 [[package]]
@@ -877,11 +877,11 @@ wheels = [
 
 [[package]]
 name = "markdown"
-version = "3.7"
+version = "3.8"
 source = { registry = "https://pypi.org/simple" }
-sdist = { url = "https://files.pythonhosted.org/packages/54/28/3af612670f82f4c056911fbbbb42760255801b3068c48de792d354ff4472/markdown-3.7.tar.gz", hash = "sha256:2ae2471477cfd02dbbf038d5d9bc226d40def84b4fe2986e49b59b6b472bbed2", size = 357086 }
+sdist = { url = "https://files.pythonhosted.org/packages/2f/15/222b423b0b88689c266d9eac4e61396fe2cc53464459d6a37618ac863b24/markdown-3.8.tar.gz", hash = "sha256:7df81e63f0df5c4b24b7d156eb81e4690595239b7d70937d0409f1b0de319c6f", size = 360906 }
 wheels = [
-    { url = "https://files.pythonhosted.org/packages/3f/08/83871f3c50fc983b88547c196d11cf8c3340e37c32d2e9d6152abe2c61f7/Markdown-3.7-py3-none-any.whl", hash = "sha256:7eb6df5690b81a1d7942992c97fad2938e956e79df20cbc6186e9c3a77b1c803", size = 106349 },
+    { url = "https://files.pythonhosted.org/packages/51/3f/afe76f8e2246ffbc867440cbcf90525264df0e658f8a5ca1f872b3f6192a/markdown-3.8-py3-none-any.whl", hash = "sha256:794a929b79c5af141ef5ab0f2f642d0f7b1872981250230e72682346f7cc90dc", size = 106210 },
 ]
 
 [[package]]
@@ -1092,41 +1092,45 @@ wheels = [
 
 [[package]]
 name = "multidict"
-version = "6.3.2"
+version = "6.4.3"
-source = { registry = "https://pypi.org/simple" }
+source = { registry = "https://pypi.org/simple" }
-sdist = { url = "https://files.pythonhosted.org/packages/fa/2d/6e0d6771cadd5ad14d13193cc8326dc0b341cc1659c306cbfce7a5058fff/multidict-6.3.2.tar.gz", hash = "sha256:c1035eea471f759fa853dd6e76aaa1e389f93b3e1403093fa0fd3ab4db490678", size = 88060 }
+sdist = { url = "https://files.pythonhosted.org/packages/da/2c/e367dfb4c6538614a0c9453e510d75d66099edf1c4e69da1b5ce691a1931/multidict-6.4.3.tar.gz", hash = "sha256:3ada0b058c9f213c5f95ba301f922d402ac234f1111a7d8fd70f1b99f3c281ec", size = 89372 }
-wheels = [
+wheels = [
-    { url = "https://files.pythonhosted.org/packages/b1/e3/443e682e42eaddad0b217b7a59627927fa42b6cd7ba7174f0a01eb3fe6b8/multidict-6.3.2-cp311-cp311-macosx_10_9_universal2.whl", hash = "sha256:45a034f41fcd16968c0470d8912d293d7b0d0822fc25739c5c2ff7835b85bc56", size = 62734 },
+    { url = "https://files.pythonhosted.org/packages/16/e0/53cf7f27eda48fffa53cfd4502329ed29e00efb9e4ce41362cbf8aa54310/multidict-6.4.3-cp311-cp311-macosx_10_9_universal2.whl", hash = "sha256:f6f19170197cc29baccd33ccc5b5d6a331058796485857cf34f7635aa25fb0cd", size = 65259 },
-    { url = "https://files.pythonhosted.org/packages/b1/4f/2126e9bc37f5be2fdfa36cc192e7ef10b3e9c58eec75a4468706aca96891/multidict-6.3.2-cp311-cp311-macosx_10_9_x86_64.whl", hash = "sha256:352585cec45f5d83d886fc522955492bb436fca032b11d487b12d31c5a81b9e3", size = 37115 },
+    { url = "https://files.pythonhosted.org/packages/44/79/1dcd93ce7070cf01c2ee29f781c42b33c64fce20033808f1cc9ec8413d6e/multidict-6.4.3-cp311-cp311-macosx_10_9_x86_64.whl", hash = "sha256:f2882bf27037eb687e49591690e5d491e677272964f9ec7bc2abbe09108bdfb8", size = 38451 },
-    { url = "https://files.pythonhosted.org/packages/6a/af/5aae0c05a66fdf8bf015ee6903d3a250a7d9c6cc75c9478d04995e6ff1e2/multidict-6.3.2-cp311-cp311-macosx_11_0_arm64.whl", hash = "sha256:da9d89d293511fd0a83a90559dc131f8b3292b6975eb80feff19e5f4663647e2", size = 36371 },
+    { url = "https://files.pythonhosted.org/packages/f4/35/2292cf29ab5f0d0b3613fad1b75692148959d3834d806be1885ceb49a8ff/multidict-6.4.3-cp311-cp311-macosx_11_0_arm64.whl", hash = "sha256:fbf226ac85f7d6b6b9ba77db4ec0704fde88463dc17717aec78ec3c8546c70ad", size = 37706 },
-    { url = "https://files.pythonhosted.org/packages/94/27/42390b75c20ff63f43fce44f36f9f66be466cd9ee05326051e4caacdb75b/multidict-6.3.2-cp311-cp311-manylinux_2_17_aarch64.manylinux2014_aarch64.whl", hash = "sha256:79fa716592224aa652b9347a586cfe018635229074565663894eb4eb21f8307f", size = 243444 },
+    { url = "https://files.pythonhosted.org/packages/f6/d1/6b157110b2b187b5a608b37714acb15ee89ec773e3800315b0107ea648cd/multidict-6.4.3-cp311-cp311-manylinux_2_17_aarch64.manylinux2014_aarch64.whl", hash = "sha256:2e329114f82ad4b9dd291bef614ea8971ec119ecd0f54795109976de75c9a852", size = 226669 },
-    { url = "https://files.pythonhosted.org/packages/21/55/77077af851d7678fe0845c4050a537321d82fb12a04d4f6db334a1cc6ff7/multidict-6.3.2-cp311-cp311-manylinux_2_17_ppc64le.manylinux2014_ppc64le.whl", hash = "sha256:0326278a44c56e94792475268e5cd3d47fbc0bd41ee56928c3bbb103ba7f58fe", size = 256750 },
+    { url = "https://files.pythonhosted.org/packages/40/7f/61a476450651f177c5570e04bd55947f693077ba7804fe9717ee9ae8de04/multidict-6.4.3-cp311-cp311-manylinux_2_17_armv7l.manylinux2014_armv7l.manylinux_2_31_armv7l.whl", hash = "sha256:1f4e0334d7a555c63f5c8952c57ab6f1c7b4f8c7f3442df689fc9f03df315c08", size = 223182 },
-    { url = "https://files.pythonhosted.org/packages/f1/09/4c5bfeb2fc8a1e14002239bd6a4d9ba2963fb148889d444b05a20db32a41/multidict-6.3.2-cp311-cp311-manylinux_2_17_s390x.manylinux2014_s390x.whl", hash = "sha256:bb1ea87f7fe45e5079f6315e95d64d4ca8b43ef656d98bed63a02e3756853a22", size = 251630 },
+    { url = "https://files.pythonhosted.org/packages/51/7b/eaf7502ac4824cdd8edcf5723e2e99f390c879866aec7b0c420267b53749/multidict-6.4.3-cp311-cp311-manylinux_2_17_ppc64le.manylinux2014_ppc64le.whl", hash = "sha256:740915eb776617b57142ce0bb13b7596933496e2f798d3d15a20614adf30d229", size = 235025 },
-    { url = "https://files.pythonhosted.org/packages/24/a9/286756a1afb8648772de851f8f39d2dd4076506f0c0fc2b751259fcbf0dd/multidict-6.3.2-cp311-cp311-manylinux_2_17_x86_64.manylinux2014_x86_64.whl", hash = "sha256:7cff3c5a98d037024a9065aafc621a8599fad7b423393685dc83cf7a32f8b691", size = 238522 },
+    { url = "https://files.pythonhosted.org/packages/3b/f6/facdbbd73c96b67a93652774edd5778ab1167854fa08ea35ad004b1b70ad/multidict-6.4.3-cp311-cp311-manylinux_2_17_s390x.manylinux2014_s390x.whl", hash = "sha256:255dac25134d2b141c944b59a0d2f7211ca12a6d4779f7586a98b4b03ea80508", size = 231481 },
-    { url = "https://files.pythonhosted.org/packages/c2/03/4bb17df70742aae786fcbc27e89e2e49c322134698cd0739aec93e91c669/multidict-6.3.2-cp311-cp311-manylinux_2_5_i686.manylinux1_i686.manylinux_2_17_i686.manylinux2014_i686.whl", hash = "sha256:ed99834b053c655d980fb98029003cb24281e47a796052faad4543aa9e01b8e8", size = 230230 },
+    { url = "https://files.pythonhosted.org/packages/70/57/c008e861b3052405eebf921fd56a748322d8c44dcfcab164fffbccbdcdc4/multidict-6.4.3-cp311-cp311-manylinux_2_17_x86_64.manylinux2014_x86_64.whl", hash = "sha256:d4e8535bd4d741039b5aad4285ecd9b902ef9e224711f0b6afda6e38d7ac02c7", size = 223492 },
-    { url = "https://files.pythonhosted.org/packages/53/cc/30df95ba07a9f233ae48d0605b3f72457364836b61a8a8e3d333fdcd32c0/multidict-6.3.2-cp311-cp311-musllinux_1_2_aarch64.whl", hash = "sha256:7048440e505d2b4741e5d0b32bd2f427c901f38c7760fc245918be2cf69b3b85", size = 239676 },
+    { url = "https://files.pythonhosted.org/packages/30/4d/7d8440d3a12a6ae5d6b202d6e7f2ac6ab026e04e99aaf1b73f18e6bc34bc/multidict-6.4.3-cp311-cp311-manylinux_2_5_i686.manylinux1_i686.manylinux_2_17_i686.manylinux2014_i686.whl", hash = "sha256:30c433a33be000dd968f5750722eaa0991037be0be4a9d453eba121774985bc8", size = 217279 },
-    { url = "https://files.pythonhosted.org/packages/25/37/2d9fe2944c2df5b71ba90cf657b90ad65f1542989cdabe4d1bdbf8c51530/multidict-6.3.2-cp311-cp311-musllinux_1_2_i686.whl", hash = "sha256:27248c27b563f5889556da8a96e18e98a56ff807ac1a7d56cf4453c2c9e4cd91", size = 238143 },
+    { url = "https://files.pythonhosted.org/packages/7f/e7/bca0df4dd057597b94138d2d8af04eb3c27396a425b1b0a52e082f9be621/multidict-6.4.3-cp311-cp311-musllinux_1_2_aarch64.whl", hash = "sha256:4eb33b0bdc50acd538f45041f5f19945a1f32b909b76d7b117c0c25d8063df56", size = 228733 },
-    { url = "https://files.pythonhosted.org/packages/ce/13/8f833f9f992eae49f4cb1a1ad05b8fbe183721a154d51c2136b177a41bdb/multidict-6.3.2-cp311-cp311-musllinux_1_2_ppc64le.whl", hash = "sha256:6323b4ba0e018bd266f776c35f3f0943fc4ee77e481593c9f93bd49888f24e94", size = 248817 },
+    { url = "https://files.pythonhosted.org/packages/88/f5/383827c3f1c38d7c92dbad00a8a041760228573b1c542fbf245c37bbca8a/multidict-6.4.3-cp311-cp311-musllinux_1_2_armv7l.whl", hash = "sha256:75482f43465edefd8a5d72724887ccdcd0c83778ded8f0cb1e0594bf71736cc0", size = 218089 },
-    { url = "https://files.pythonhosted.org/packages/15/d4/4f49c41af6c4cab962ad51436e6c5acfbdab4fa54f5e98faa56f66f89b03/multidict-6.3.2-cp311-cp311-musllinux_1_2_s390x.whl", hash = "sha256:81f7ce5ec7c27d0b45c10449c8f0fed192b93251e2e98cb0b21fec779ef1dc4d", size = 241268 },
+    { url = "https://files.pythonhosted.org/packages/36/8a/a5174e8a7d8b94b4c8f9c1e2cf5d07451f41368ffe94d05fc957215b8e72/multidict-6.4.3-cp311-cp311-musllinux_1_2_i686.whl", hash = "sha256:ce5b3082e86aee80b3925ab4928198450d8e5b6466e11501fe03ad2191c6d777", size = 225257 },
-    { url = "https://files.pythonhosted.org/packages/af/60/e723a00f7bb44366eab8d02fe6f076ecfad58331e10f6f0ce94cb989819c/multidict-6.3.2-cp311-cp311-musllinux_1_2_x86_64.whl", hash = "sha256:03bfcf2825b3bed0ba08a9d854acd18b938cab0d2dba3372b51c78e496bac811", size = 238267 },
+    { url = "https://files.pythonhosted.org/packages/8c/76/1d4b7218f0fd00b8e5c90b88df2e45f8af127f652f4e41add947fa54c1c4/multidict-6.4.3-cp311-cp311-musllinux_1_2_ppc64le.whl", hash = "sha256:e413152e3212c4d39f82cf83c6f91be44bec9ddea950ce17af87fbf4e32ca6b2", size = 234728 },
-    { url = "https://files.pythonhosted.org/packages/62/a6/f6b63fc51c8a4e228e6d2105061be3048b02d490d47e67f7ec2de575f1d0/multidict-6.3.2-cp311-cp311-win32.whl", hash = "sha256:f32c2790512cae6ca886920e58cdc8c784bdc4bb2a5ec74127c71980369d18dc", size = 34986 },
+    { url = "https://files.pythonhosted.org/packages/64/44/18372a4f6273fc7ca25630d7bf9ae288cde64f29593a078bff450c7170b6/multidict-6.4.3-cp311-cp311-musllinux_1_2_s390x.whl", hash = "sha256:8aac2eeff69b71f229a405c0a4b61b54bade8e10163bc7b44fcd257949620618", size = 230087 },
-    { url = "https://files.pythonhosted.org/packages/85/56/ea976a5e3ebe0e871e004d9cacfe4c803f8ade353eaf4a247580e9dd7b9d/multidict-6.3.2-cp311-cp311-win_amd64.whl", hash = "sha256:0b0c15e58e038a2cd75ef7cf7e072bc39b5e0488b165902efb27978984bbad70", size = 38427 },
+    { url = "https://files.pythonhosted.org/packages/0f/ae/28728c314a698d8a6d9491fcacc897077348ec28dd85884d09e64df8a855/multidict-6.4.3-cp311-cp311-musllinux_1_2_x86_64.whl", hash = "sha256:ab583ac203af1d09034be41458feeab7863c0635c650a16f15771e1386abf2d7", size = 223137 },
-    { url = "https://files.pythonhosted.org/packages/83/ae/bd7518193b4374484c04ba0f6522d0572dc17fcd53d238deb3cb3643c858/multidict-6.3.2-cp312-cp312-macosx_10_13_universal2.whl", hash = "sha256:d1e0ba1ce1b8cc79117196642d95f4365e118eaf5fb85f57cdbcc5a25640b2a4", size = 62680 },
+    { url = "https://files.pythonhosted.org/packages/22/50/785bb2b3fe16051bc91c70a06a919f26312da45c34db97fc87441d61e343/multidict-6.4.3-cp311-cp311-win32.whl", hash = "sha256:1b2019317726f41e81154df636a897de1bfe9228c3724a433894e44cd2512378", size = 34959 },
-    { url = "https://files.pythonhosted.org/packages/59/e0/a0a9247c32f385ac4c1afefe9c3f2271fb8e235aad72332d42384c41b9cb/multidict-6.3.2-cp312-cp312-macosx_10_13_x86_64.whl", hash = "sha256:029bbd7d782251a78975214b78ee632672310f9233d49531fc93e8e99154af25", size = 37366 },
+    { url = "https://files.pythonhosted.org/packages/2f/63/2a22e099ae2f4d92897618c00c73a09a08a2a9aa14b12736965bf8d59fd3/multidict-6.4.3-cp311-cp311-win_amd64.whl", hash = "sha256:43173924fa93c7486402217fab99b60baf78d33806af299c56133a3755f69589", size = 38541 },
-    { url = "https://files.pythonhosted.org/packages/c3/fa/8c23cdd4492d59bea0e762662285f2163766e69e5ea715fe6a03a8670660/multidict-6.3.2-cp312-cp312-macosx_11_0_arm64.whl", hash = "sha256:d7db41e3b56817d9175264e5fe00192fbcb8e1265307a59f53dede86161b150e", size = 36103 },
+    { url = "https://files.pythonhosted.org/packages/fc/bb/3abdaf8fe40e9226ce8a2ba5ecf332461f7beec478a455d6587159f1bf92/multidict-6.4.3-cp312-cp312-macosx_10_13_universal2.whl", hash = "sha256:1f1c2f58f08b36f8475f3ec6f5aeb95270921d418bf18f90dffd6be5c7b0e676", size = 64019 },
-    { url = "https://files.pythonhosted.org/packages/87/35/3bcc3616cb54d3a327b1d26dbec284c3eb7b179e8a78a6075852dbb51dac/multidict-6.3.2-cp312-cp312-manylinux_2_17_aarch64.manylinux2014_aarch64.whl", hash = "sha256:1fcab18e65cc555ac29981a581518c23311f2b1e72d8f658f9891590465383be", size = 248231 },
+    { url = "https://files.pythonhosted.org/packages/7e/b5/1b2e8de8217d2e89db156625aa0fe4a6faad98972bfe07a7b8c10ef5dd6b/multidict-6.4.3-cp312-cp312-macosx_10_13_x86_64.whl", hash = "sha256:26ae9ad364fc61b936fb7bf4c9d8bd53f3a5b4417142cd0be5c509d6f767e2f1", size = 37925 },
-    { url = "https://files.pythonhosted.org/packages/b8/c3/17ddbfd6fc3eed9ab7326a43651e1a97da73f7acc69b78a7bb04b59c073d/multidict-6.3.2-cp312-cp312-manylinux_2_17_ppc64le.manylinux2014_ppc64le.whl", hash = "sha256:0d50eff89aa4d145a5486b171a2177042d08ea5105f813027eb1050abe91839f", size = 259423 },
+    { url = "https://files.pythonhosted.org/packages/b4/e2/3ca91c112644a395c8eae017144c907d173ea910c913ff8b62549dcf0bbf/multidict-6.4.3-cp312-cp312-macosx_11_0_arm64.whl", hash = "sha256:659318c6c8a85f6ecfc06b4e57529e5a78dfdd697260cc81f683492ad7e9435a", size = 37008 },
-    { url = "https://files.pythonhosted.org/packages/1f/67/64b18180e8f559cc93efaaaac2fe0746b9c978560866b6fdd626d3237129/multidict-6.3.2-cp312-cp312-manylinux_2_17_s390x.manylinux2014_s390x.whl", hash = "sha256:643e57b403d3e240045a3681f9e6a04d35a33eddc501b4cbbbdbc9c70122e7bc", size = 256204 },
+    { url = "https://files.pythonhosted.org/packages/60/23/79bc78146c7ac8d1ac766b2770ca2e07c2816058b8a3d5da6caed8148637/multidict-6.4.3-cp312-cp312-manylinux_2_17_aarch64.manylinux2014_aarch64.whl", hash = "sha256:e1eb72c741fd24d5a28242ce72bb61bc91f8451877131fa3fe930edb195f7054", size = 224374 },
-    { url = "https://files.pythonhosted.org/packages/21/f6/e81a8e4817c2d32787b33ae58c72dc3fe08e0ba8e56e660a225df3cb8619/multidict-6.3.2-cp312-cp312-manylinux_2_17_x86_64.manylinux2014_x86_64.whl", hash = "sha256:9d17b37b9715b30605b5bab1460569742d0c309e5c20079263b440f5d7746e7e", size = 249663 },
+    { url = "https://files.pythonhosted.org/packages/86/35/77950ed9ebd09136003a85c1926ba42001ca5be14feb49710e4334ee199b/multidict-6.4.3-cp312-cp312-manylinux_2_17_armv7l.manylinux2014_armv7l.manylinux_2_31_armv7l.whl", hash = "sha256:3cd06d88cb7398252284ee75c8db8e680aa0d321451132d0dba12bc995f0adcc", size = 230869 },
-    { url = "https://files.pythonhosted.org/packages/3e/e8/44ca66758df031a8119483cf5385e2ff3b09b9c6df8f3396d626c325b553/multidict-6.3.2-cp312-cp312-manylinux_2_5_i686.manylinux1_i686.manylinux_2_17_i686.manylinux2014_i686.whl", hash = "sha256:68acd51fa94e63312b8ddf84bfc9c3d3442fe1f9988bbe1b6c703043af8867fe", size = 232236 },
+    { url = "https://files.pythonhosted.org/packages/49/97/2a33c6e7d90bc116c636c14b2abab93d6521c0c052d24bfcc231cbf7f0e7/multidict-6.4.3-cp312-cp312-manylinux_2_17_ppc64le.manylinux2014_ppc64le.whl", hash = "sha256:4543d8dc6470a82fde92b035a92529317191ce993533c3c0c68f56811164ed07", size = 231949 },
-    { url = "https://files.pythonhosted.org/packages/93/76/d2faabbac582dc100a4d7ecf7d0ab8dd2aadf7f10d5d5a19e9932cf63a2e/multidict-6.3.2-cp312-cp312-musllinux_1_2_aarch64.whl", hash = "sha256:347eea2852ab7f697cc5ed9b1aae96b08f8529cca0c6468f747f0781b1842898", size = 252638 },
+    { url = "https://files.pythonhosted.org/packages/56/ce/e9b5d9fcf854f61d6686ada7ff64893a7a5523b2a07da6f1265eaaea5151/multidict-6.4.3-cp312-cp312-manylinux_2_17_s390x.manylinux2014_s390x.whl", hash = "sha256:30a3ebdc068c27e9d6081fca0e2c33fdf132ecea703a72ea216b81a66860adde", size = 231032 },
-    { url = "https://files.pythonhosted.org/packages/63/37/f5a6ea10dab96491b7300be940f86a5490dc474d18473c438f2550b78da3/multidict-6.3.2-cp312-cp312-musllinux_1_2_i686.whl", hash = "sha256:e4d3f8e57027dcda84a1aa181501c15c45eab9566eb6fcc274cbd1e7561224f8", size = 247917 },
+    { url = "https://files.pythonhosted.org/packages/f0/ac/7ced59dcdfeddd03e601edb05adff0c66d81ed4a5160c443e44f2379eef0/multidict-6.4.3-cp312-cp312-manylinux_2_17_x86_64.manylinux2014_x86_64.whl", hash = "sha256:b038f10e23f277153f86f95c777ba1958bcd5993194fda26a1d06fae98b2f00c", size = 223517 },
-    { url = "https://files.pythonhosted.org/packages/d4/b1/2c32b684763b69becbaaa61b7af8a45a6f757fc82d9b4b123ca90cb69f75/multidict-6.3.2-cp312-cp312-musllinux_1_2_ppc64le.whl", hash = "sha256:9ca57a841ffcf712e47875d026aa49d6e67f9560624d54b51628603700d5d287", size = 261754 },
+    { url = "https://files.pythonhosted.org/packages/db/e6/325ed9055ae4e085315193a1b58bdb4d7fc38ffcc1f4975cfca97d015e17/multidict-6.4.3-cp312-cp312-manylinux_2_5_i686.manylinux1_i686.manylinux_2_17_i686.manylinux2014_i686.whl", hash = "sha256:c605a2b2dc14282b580454b9b5d14ebe0668381a3a26d0ac39daa0ca115eb2ae", size = 216291 },
-    { url = "https://files.pythonhosted.org/packages/cd/f2/badedad94e1731debe56d076c9e61a1658c5e9d65dfa9c1ee74d1e3d31d7/multidict-6.3.2-cp312-cp312-musllinux_1_2_s390x.whl", hash = "sha256:7cafdafb44c4e646118410368307693e49d19167e5f119cbe3a88697d2d1a636", size = 256389 },
+    { url = "https://files.pythonhosted.org/packages/fa/84/eeee6d477dd9dcb7691c3bb9d08df56017f5dd15c730bcc9383dcf201cf4/multidict-6.4.3-cp312-cp312-musllinux_1_2_aarch64.whl", hash = "sha256:8bd2b875f4ca2bb527fe23e318ddd509b7df163407b0fb717df229041c6df5d3", size = 228982 },
-    { url = "https://files.pythonhosted.org/packages/c6/3a/0a3488be2e5a6499f512e748d31e8fb90b753eb35793ecf390b9d8548e66/multidict-6.3.2-cp312-cp312-musllinux_1_2_x86_64.whl", hash = "sha256:430120c6ce3715a9c6075cabcee557daccbcca8ba25a9fedf05c7bf564532f2d", size = 251902 },
+    { url = "https://files.pythonhosted.org/packages/82/94/4d1f3e74e7acf8b0c85db350e012dcc61701cd6668bc2440bb1ecb423c90/multidict-6.4.3-cp312-cp312-musllinux_1_2_armv7l.whl", hash = "sha256:c2e98c840c9c8e65c0e04b40c6c5066c8632678cd50c8721fdbcd2e09f21a507", size = 226823 },
-    { url = "https://files.pythonhosted.org/packages/fe/44/62f76d0a5d836b96168f39a402a75dd3114d0df3cbb5669e0310034b71be/multidict-6.3.2-cp312-cp312-win32.whl", hash = "sha256:13bec31375235a68457ab887ce1bbf4f59d5810d838ae5d7e5b416242e1f3ed4", size = 35101 },
+    { url = "https://files.pythonhosted.org/packages/09/f0/1e54b95bda7cd01080e5732f9abb7b76ab5cc795b66605877caeb2197476/multidict-6.4.3-cp312-cp312-musllinux_1_2_i686.whl", hash = "sha256:66eb80dd0ab36dbd559635e62fba3083a48a252633164857a1d1684f14326427", size = 222714 },
-    { url = "https://files.pythonhosted.org/packages/8f/a4/7aaf2313e1766710010c35f9d738fd6309fb71a758f8c0e81853b90afb3d/multidict-6.3.2-cp312-cp312-win_amd64.whl", hash = "sha256:c3b6d7620e6e90c6d97eaf3a63bf7fbd2ba253aab89120a4a9c660bf2d675391", size = 38479 },
+    { url = "https://files.pythonhosted.org/packages/e7/a2/f6cbca875195bd65a3e53b37ab46486f3cc125bdeab20eefe5042afa31fb/multidict-6.4.3-cp312-cp312-musllinux_1_2_ppc64le.whl", hash = "sha256:c23831bdee0a2a3cf21be057b5e5326292f60472fb6c6f86392bbf0de70ba731", size = 233739 },
-    { url = "https://files.pythonhosted.org/packages/aa/c1/7832c95a50641148b567b5366dd3354489950dcfd01c8fc28472bec63b9a/multidict-6.3.2-py3-none-any.whl", hash = "sha256:71409d4579f716217f23be2f5e7afca5ca926aaeb398aa11b72d793bff637a1f", size = 10347 },
+    { url = "https://files.pythonhosted.org/packages/79/68/9891f4d2b8569554723ddd6154375295f789dc65809826c6fb96a06314fd/multidict-6.4.3-cp312-cp312-musllinux_1_2_s390x.whl", hash = "sha256:1535cec6443bfd80d028052e9d17ba6ff8a5a3534c51d285ba56c18af97e9713", size = 230809 },
+    { url = "https://files.pythonhosted.org/packages/e6/72/a7be29ba1e87e4fc5ceb44dabc7940b8005fd2436a332a23547709315f70/multidict-6.4.3-cp312-cp312-musllinux_1_2_x86_64.whl", hash = "sha256:3b73e7227681f85d19dec46e5b881827cd354aabe46049e1a61d2f9aaa4e285a", size = 226934 },
+    { url = "https://files.pythonhosted.org/packages/12/c1/259386a9ad6840ff7afc686da96808b503d152ac4feb3a96c651dc4f5abf/multidict-6.4.3-cp312-cp312-win32.whl", hash = "sha256:8eac0c49df91b88bf91f818e0a24c1c46f3622978e2c27035bfdca98e0e18124", size = 35242 },
+    { url = "https://files.pythonhosted.org/packages/06/24/c8fdff4f924d37225dc0c56a28b1dca10728fc2233065fafeb27b4b125be/multidict-6.4.3-cp312-cp312-win_amd64.whl", hash = "sha256:11990b5c757d956cd1db7cb140be50a63216af32cd6506329c2c59d732d802db", size = 38635 },
+    { url = "https://files.pythonhosted.org/packages/96/10/7d526c8974f017f1e7ca584c71ee62a638e9334d8d33f27d7cdfc9ae79e4/multidict-6.4.3-py3-none-any.whl", hash = "sha256:59fe01ee8e2a1e8ceb3f6dbb216b09c8d9f4ef1c22c4fc825d045a147fa2ebc9", size = 10400 },
 ]
 
 [[package]]
@@ -1478,32 +1482,39 @@ wheels = [
 
 [[package]]
 name = "pillow"
-version = "11.1.0"
+version = "11.2.1"
-source = { registry = "https://pypi.org/simple" }
+source = { registry = "https://pypi.org/simple" }
-sdist = { url = "https://files.pythonhosted.org/packages/f3/af/c097e544e7bd278333db77933e535098c259609c4eb3b85381109602fb5b/pillow-11.1.0.tar.gz", hash = "sha256:368da70808b36d73b4b390a8ffac11069f8a5c85f29eff1f1b01bcf3ef5b2a20", size = 46742715 }
+sdist = { url = "https://files.pythonhosted.org/packages/af/cb/bb5c01fcd2a69335b86c22142b2bccfc3464087efb7fd382eee5ffc7fdf7/pillow-11.2.1.tar.gz", hash = "sha256:a64dd61998416367b7ef979b73d3a85853ba9bec4c2925f74e588879a58716b6", size = 47026707 }
-wheels = [
+wheels = [
-    { url = "https://files.pythonhosted.org/packages/dd/d6/2000bfd8d5414fb70cbbe52c8332f2283ff30ed66a9cde42716c8ecbe22c/pillow-11.1.0-cp311-cp311-macosx_10_10_x86_64.whl", hash = "sha256:e06695e0326d05b06833b40b7ef477e475d0b1ba3a6d27da1bb48c23209bf457", size = 3229968 },
+    { url = "https://files.pythonhosted.org/packages/68/08/3fbf4b98924c73037a8e8b4c2c774784805e0fb4ebca6c5bb60795c40125/pillow-11.2.1-cp311-cp311-macosx_10_10_x86_64.whl", hash = "sha256:35ca289f712ccfc699508c4658a1d14652e8033e9b69839edf83cbdd0ba39e70", size = 3198450 },
-    { url = "https://files.pythonhosted.org/packages/d9/45/3fe487010dd9ce0a06adf9b8ff4f273cc0a44536e234b0fad3532a42c15b/pillow-11.1.0-cp311-cp311-macosx_11_0_arm64.whl", hash = "sha256:96f82000e12f23e4f29346e42702b6ed9a2f2fea34a740dd5ffffcc8c539eb35", size = 3101806 },
+    { url = "https://files.pythonhosted.org/packages/84/92/6505b1af3d2849d5e714fc75ba9e69b7255c05ee42383a35a4d58f576b16/pillow-11.2.1-cp311-cp311-macosx_11_0_arm64.whl", hash = "sha256:e0409af9f829f87a2dfb7e259f78f317a5351f2045158be321fd135973fff7bf", size = 3030550 },
-    { url = "https://files.pythonhosted.org/packages/e3/72/776b3629c47d9d5f1c160113158a7a7ad177688d3a1159cd3b62ded5a33a/pillow-11.1.0-cp311-cp311-manylinux_2_17_aarch64.manylinux2014_aarch64.whl", hash = "sha256:a3cd561ded2cf2bbae44d4605837221b987c216cff94f49dfeed63488bb228d2", size = 4322283 },
+    { url = "https://files.pythonhosted.org/packages/3c/8c/ac2f99d2a70ff966bc7eb13dacacfaab57c0549b2ffb351b6537c7840b12/pillow-11.2.1-cp311-cp311-manylinux_2_17_aarch64.manylinux2014_aarch64.whl", hash = "sha256:d4e5c5edee874dce4f653dbe59db7c73a600119fbea8d31f53423586ee2aafd7", size = 4415018 },
-    { url = "https://files.pythonhosted.org/packages/e4/c2/e25199e7e4e71d64eeb869f5b72c7ddec70e0a87926398785ab944d92375/pillow-11.1.0-cp311-cp311-manylinux_2_17_x86_64.manylinux2014_x86_64.whl", hash = "sha256:f189805c8be5ca5add39e6f899e6ce2ed824e65fb45f3c28cb2841911da19070", size = 4402945 },
+    { url = "https://files.pythonhosted.org/packages/1f/e3/0a58b5d838687f40891fff9cbaf8669f90c96b64dc8f91f87894413856c6/pillow-11.2.1-cp311-cp311-manylinux_2_17_x86_64.manylinux2014_x86_64.whl", hash = "sha256:b93a07e76d13bff9444f1a029e0af2964e654bfc2e2c2d46bfd080df5ad5f3d8", size = 4498006 },
-    { url = "https://files.pythonhosted.org/packages/c1/ed/51d6136c9d5911f78632b1b86c45241c712c5a80ed7fa7f9120a5dff1eba/pillow-11.1.0-cp311-cp311-manylinux_2_28_aarch64.whl", hash = "sha256:dd0052e9db3474df30433f83a71b9b23bd9e4ef1de13d92df21a52c0303b8ab6", size = 4361228 },
+    { url = "https://files.pythonhosted.org/packages/21/f5/6ba14718135f08fbfa33308efe027dd02b781d3f1d5c471444a395933aac/pillow-11.2.1-cp311-cp311-manylinux_2_28_aarch64.whl", hash = "sha256:e6def7eed9e7fa90fde255afaf08060dc4b343bbe524a8f69bdd2a2f0018f600", size = 4517773 },
-    { url = "https://files.pythonhosted.org/packages/48/a4/fbfe9d5581d7b111b28f1d8c2762dee92e9821bb209af9fa83c940e507a0/pillow-11.1.0-cp311-cp311-manylinux_2_28_x86_64.whl", hash = "sha256:837060a8599b8f5d402e97197d4924f05a2e0d68756998345c829c33186217b1", size = 4484021 },
+    { url = "https://files.pythonhosted.org/packages/20/f2/805ad600fc59ebe4f1ba6129cd3a75fb0da126975c8579b8f57abeb61e80/pillow-11.2.1-cp311-cp311-manylinux_2_28_x86_64.whl", hash = "sha256:8f4f3724c068be008c08257207210c138d5f3731af6c155a81c2b09a9eb3a788", size = 4607069 },
-    { url = "https://files.pythonhosted.org/packages/39/db/0b3c1a5018117f3c1d4df671fb8e47d08937f27519e8614bbe86153b65a5/pillow-11.1.0-cp311-cp311-musllinux_1_2_aarch64.whl", hash = "sha256:aa8dd43daa836b9a8128dbe7d923423e5ad86f50a7a14dc688194b7be5c0dea2", size = 4287449 },
+    { url = "https://files.pythonhosted.org/packages/71/6b/4ef8a288b4bb2e0180cba13ca0a519fa27aa982875882392b65131401099/pillow-11.2.1-cp311-cp311-musllinux_1_2_aarch64.whl", hash = "sha256:a0a6709b47019dff32e678bc12c63008311b82b9327613f534e496dacaefb71e", size = 4583460 },
-    { url = "https://files.pythonhosted.org/packages/d9/58/bc128da7fea8c89fc85e09f773c4901e95b5936000e6f303222490c052f3/pillow-11.1.0-cp311-cp311-musllinux_1_2_x86_64.whl", hash = "sha256:0a2f91f8a8b367e7a57c6e91cd25af510168091fb89ec5146003e424e1558a96", size = 4419972 },
+    { url = "https://files.pythonhosted.org/packages/62/ae/f29c705a09cbc9e2a456590816e5c234382ae5d32584f451c3eb41a62062/pillow-11.2.1-cp311-cp311-musllinux_1_2_x86_64.whl", hash = "sha256:f6b0c664ccb879109ee3ca702a9272d877f4fcd21e5eb63c26422fd6e415365e", size = 4661304 },
-    { url = "https://files.pythonhosted.org/packages/5f/bb/58f34379bde9fe197f51841c5bbe8830c28bbb6d3801f16a83b8f2ad37df/pillow-11.1.0-cp311-cp311-win32.whl", hash = "sha256:c12fc111ef090845de2bb15009372175d76ac99969bdf31e2ce9b42e4b8cd88f", size = 2291201 },
+    { url = "https://files.pythonhosted.org/packages/6e/1a/c8217b6f2f73794a5e219fbad087701f412337ae6dbb956db37d69a9bc43/pillow-11.2.1-cp311-cp311-win32.whl", hash = "sha256:cc5d875d56e49f112b6def6813c4e3d3036d269c008bf8aef72cd08d20ca6df6", size = 2331809 },
-    { url = "https://files.pythonhosted.org/packages/3a/c6/fce9255272bcf0c39e15abd2f8fd8429a954cf344469eaceb9d0d1366913/pillow-11.1.0-cp311-cp311-win_amd64.whl", hash = "sha256:fbd43429d0d7ed6533b25fc993861b8fd512c42d04514a0dd6337fb3ccf22761", size = 2625686 },
+    { url = "https://files.pythonhosted.org/packages/e2/72/25a8f40170dc262e86e90f37cb72cb3de5e307f75bf4b02535a61afcd519/pillow-11.2.1-cp311-cp311-win_amd64.whl", hash = "sha256:0f5c7eda47bf8e3c8a283762cab94e496ba977a420868cb819159980b6709193", size = 2676338 },
-    { url = "https://files.pythonhosted.org/packages/c8/52/8ba066d569d932365509054859f74f2a9abee273edcef5cd75e4bc3e831e/pillow-11.1.0-cp311-cp311-win_arm64.whl", hash = "sha256:f7955ecf5609dee9442cbface754f2c6e541d9e6eda87fad7f7a989b0bdb9d71", size = 2375194 },
+    { url = "https://files.pythonhosted.org/packages/06/9e/76825e39efee61efea258b479391ca77d64dbd9e5804e4ad0fa453b4ba55/pillow-11.2.1-cp311-cp311-win_arm64.whl", hash = "sha256:4d375eb838755f2528ac8cbc926c3e31cc49ca4ad0cf79cff48b20e30634a4a7", size = 2414918 },
-    { url = "https://files.pythonhosted.org/packages/95/20/9ce6ed62c91c073fcaa23d216e68289e19d95fb8188b9fb7a63d36771db8/pillow-11.1.0-cp312-cp312-macosx_10_13_x86_64.whl", hash = "sha256:2062ffb1d36544d42fcaa277b069c88b01bb7298f4efa06731a7fd6cc290b81a", size = 3226818 },
+    { url = "https://files.pythonhosted.org/packages/c7/40/052610b15a1b8961f52537cc8326ca6a881408bc2bdad0d852edeb6ed33b/pillow-11.2.1-cp312-cp312-macosx_10_13_x86_64.whl", hash = "sha256:78afba22027b4accef10dbd5eed84425930ba41b3ea0a86fa8d20baaf19d807f", size = 3190185 },
-    { url = "https://files.pythonhosted.org/packages/b9/d8/f6004d98579a2596c098d1e30d10b248798cceff82d2b77aa914875bfea1/pillow-11.1.0-cp312-cp312-macosx_11_0_arm64.whl", hash = "sha256:a85b653980faad27e88b141348707ceeef8a1186f75ecc600c395dcac19f385b", size = 3101662 },
+    { url = "https://files.pythonhosted.org/packages/e5/7e/b86dbd35a5f938632093dc40d1682874c33dcfe832558fc80ca56bfcb774/pillow-11.2.1-cp312-cp312-macosx_11_0_arm64.whl", hash = "sha256:78092232a4ab376a35d68c4e6d5e00dfd73454bd12b230420025fbe178ee3b0b", size = 3030306 },
-    { url = "https://files.pythonhosted.org/packages/08/d9/892e705f90051c7a2574d9f24579c9e100c828700d78a63239676f960b74/pillow-11.1.0-cp312-cp312-manylinux_2_17_aarch64.manylinux2014_aarch64.whl", hash = "sha256:9409c080586d1f683df3f184f20e36fb647f2e0bc3988094d4fd8c9f4eb1b3b3", size = 4329317 },
+    { url = "https://files.pythonhosted.org/packages/a4/5c/467a161f9ed53e5eab51a42923c33051bf8d1a2af4626ac04f5166e58e0c/pillow-11.2.1-cp312-cp312-manylinux_2_17_aarch64.manylinux2014_aarch64.whl", hash = "sha256:25a5f306095c6780c52e6bbb6109624b95c5b18e40aab1c3041da3e9e0cd3e2d", size = 4416121 },
-    { url = "https://files.pythonhosted.org/packages/8c/aa/7f29711f26680eab0bcd3ecdd6d23ed6bce180d82e3f6380fb7ae35fcf3b/pillow-11.1.0-cp312-cp312-manylinux_2_17_x86_64.manylinux2014_x86_64.whl", hash = "sha256:7fdadc077553621911f27ce206ffcbec7d3f8d7b50e0da39f10997e8e2bb7f6a", size = 4412999 },
+    { url = "https://files.pythonhosted.org/packages/62/73/972b7742e38ae0e2ac76ab137ca6005dcf877480da0d9d61d93b613065b4/pillow-11.2.1-cp312-cp312-manylinux_2_17_x86_64.manylinux2014_x86_64.whl", hash = "sha256:0c7b29dbd4281923a2bfe562acb734cee96bbb129e96e6972d315ed9f232bef4", size = 4501707 },
-    { url = "https://files.pythonhosted.org/packages/c8/c4/8f0fe3b9e0f7196f6d0bbb151f9fba323d72a41da068610c4c960b16632a/pillow-11.1.0-cp312-cp312-manylinux_2_28_aarch64.whl", hash = "sha256:93a18841d09bcdd774dcdc308e4537e1f867b3dec059c131fde0327899734aa1", size = 4368819 },
+    { url = "https://files.pythonhosted.org/packages/e4/3a/427e4cb0b9e177efbc1a84798ed20498c4f233abde003c06d2650a6d60cb/pillow-11.2.1-cp312-cp312-manylinux_2_28_aarch64.whl", hash = "sha256:3e645b020f3209a0181a418bffe7b4a93171eef6c4ef6cc20980b30bebf17b7d", size = 4522921 },
-    { url = "https://files.pythonhosted.org/packages/38/0d/84200ed6a871ce386ddc82904bfadc0c6b28b0c0ec78176871a4679e40b3/pillow-11.1.0-cp312-cp312-manylinux_2_28_x86_64.whl", hash = "sha256:9aa9aeddeed452b2f616ff5507459e7bab436916ccb10961c4a382cd3e03f47f", size = 4496081 },
+    { url = "https://files.pythonhosted.org/packages/fe/7c/d8b1330458e4d2f3f45d9508796d7caf0c0d3764c00c823d10f6f1a3b76d/pillow-11.2.1-cp312-cp312-manylinux_2_28_x86_64.whl", hash = "sha256:b2dbea1012ccb784a65349f57bbc93730b96e85b42e9bf7b01ef40443db720b4", size = 4612523 },
-    { url = "https://files.pythonhosted.org/packages/84/9c/9bcd66f714d7e25b64118e3952d52841a4babc6d97b6d28e2261c52045d4/pillow-11.1.0-cp312-cp312-musllinux_1_2_aarch64.whl", hash = "sha256:3cdcdb0b896e981678eee140d882b70092dac83ac1cdf6b3a60e2216a73f2b91", size = 4296513 },
+    { url = "https://files.pythonhosted.org/packages/b3/2f/65738384e0b1acf451de5a573d8153fe84103772d139e1e0bdf1596be2ea/pillow-11.2.1-cp312-cp312-musllinux_1_2_aarch64.whl", hash = "sha256:da3104c57bbd72948d75f6a9389e6727d2ab6333c3617f0a89d72d4940aa0443", size = 4587836 },
-    { url = "https://files.pythonhosted.org/packages/db/61/ada2a226e22da011b45f7104c95ebda1b63dcbb0c378ad0f7c2a710f8fd2/pillow-11.1.0-cp312-cp312-musllinux_1_2_x86_64.whl", hash = "sha256:36ba10b9cb413e7c7dfa3e189aba252deee0602c86c309799da5a74009ac7a1c", size = 4431298 },
+    { url = "https://files.pythonhosted.org/packages/6a/c5/e795c9f2ddf3debb2dedd0df889f2fe4b053308bb59a3cc02a0cd144d641/pillow-11.2.1-cp312-cp312-musllinux_1_2_x86_64.whl", hash = "sha256:598174aef4589af795f66f9caab87ba4ff860ce08cd5bb447c6fc553ffee603c", size = 4669390 },
-    { url = "https://files.pythonhosted.org/packages/e7/c4/fc6e86750523f367923522014b821c11ebc5ad402e659d8c9d09b3c9d70c/pillow-11.1.0-cp312-cp312-win32.whl", hash = "sha256:cfd5cd998c2e36a862d0e27b2df63237e67273f2fc78f47445b14e73a810e7e6", size = 2291630 },
+    { url = "https://files.pythonhosted.org/packages/96/ae/ca0099a3995976a9fce2f423166f7bff9b12244afdc7520f6ed38911539a/pillow-11.2.1-cp312-cp312-win32.whl", hash = "sha256:1d535df14716e7f8776b9e7fee118576d65572b4aad3ed639be9e4fa88a1cad3", size = 2332309 },
-    { url = "https://files.pythonhosted.org/packages/08/5c/2104299949b9d504baf3f4d35f73dbd14ef31bbd1ddc2c1b66a5b7dfda44/pillow-11.1.0-cp312-cp312-win_amd64.whl", hash = "sha256:a697cd8ba0383bba3d2d3ada02b34ed268cb548b369943cd349007730c92bddf", size = 2626369 },
+    { url = "https://files.pythonhosted.org/packages/7c/18/24bff2ad716257fc03da964c5e8f05d9790a779a8895d6566e493ccf0189/pillow-11.2.1-cp312-cp312-win_amd64.whl", hash = "sha256:14e33b28bf17c7a38eede290f77db7c664e4eb01f7869e37fa98a5aa95978941", size = 2676768 },
-    { url = "https://files.pythonhosted.org/packages/37/f3/9b18362206b244167c958984b57c7f70a0289bfb59a530dd8af5f699b910/pillow-11.1.0-cp312-cp312-win_arm64.whl", hash = "sha256:4dd43a78897793f60766563969442020e90eb7847463eca901e41ba186a7d4a5", size = 2375240 },
+    { url = "https://files.pythonhosted.org/packages/da/bb/e8d656c9543276517ee40184aaa39dcb41e683bca121022f9323ae11b39d/pillow-11.2.1-cp312-cp312-win_arm64.whl", hash = "sha256:21e1470ac9e5739ff880c211fc3af01e3ae505859392bf65458c224d0bf283eb", size = 2415087 },
+    { url = "https://files.pythonhosted.org/packages/a4/ad/2613c04633c7257d9481ab21d6b5364b59fc5d75faafd7cb8693523945a3/pillow-11.2.1-pp311-pypy311_pp73-macosx_10_15_x86_64.whl", hash = "sha256:80f1df8dbe9572b4b7abdfa17eb5d78dd620b1d55d9e25f834efdbee872d3aed", size = 3181734 },
+    { url = "https://files.pythonhosted.org/packages/a4/fd/dcdda4471ed667de57bb5405bb42d751e6cfdd4011a12c248b455c778e03/pillow-11.2.1-pp311-pypy311_pp73-macosx_11_0_arm64.whl", hash = "sha256:ea926cfbc3957090becbcbbb65ad177161a2ff2ad578b5a6ec9bb1e1cd78753c", size = 2999841 },
+    { url = "https://files.pythonhosted.org/packages/ac/89/8a2536e95e77432833f0db6fd72a8d310c8e4272a04461fb833eb021bf94/pillow-11.2.1-pp311-pypy311_pp73-manylinux_2_17_aarch64.manylinux2014_aarch64.whl", hash = "sha256:738db0e0941ca0376804d4de6a782c005245264edaa253ffce24e5a15cbdc7bd", size = 3437470 },
+    { url = "https://files.pythonhosted.org/packages/9d/8f/abd47b73c60712f88e9eda32baced7bfc3e9bd6a7619bb64b93acff28c3e/pillow-11.2.1-pp311-pypy311_pp73-manylinux_2_17_x86_64.manylinux2014_x86_64.whl", hash = "sha256:9db98ab6565c69082ec9b0d4e40dd9f6181dab0dd236d26f7a50b8b9bfbd5076", size = 3460013 },
+    { url = "https://files.pythonhosted.org/packages/f6/20/5c0a0aa83b213b7a07ec01e71a3d6ea2cf4ad1d2c686cc0168173b6089e7/pillow-11.2.1-pp311-pypy311_pp73-manylinux_2_28_aarch64.whl", hash = "sha256:036e53f4170e270ddb8797d4c590e6dd14d28e15c7da375c18978045f7e6c37b", size = 3527165 },
+    { url = "https://files.pythonhosted.org/packages/58/0e/2abab98a72202d91146abc839e10c14f7cf36166f12838ea0c4db3ca6ecb/pillow-11.2.1-pp311-pypy311_pp73-manylinux_2_28_x86_64.whl", hash = "sha256:14f73f7c291279bd65fda51ee87affd7c1e097709f7fdd0188957a16c264601f", size = 3571586 },
+    { url = "https://files.pythonhosted.org/packages/21/2c/5e05f58658cf49b6667762cca03d6e7d85cededde2caf2ab37b81f80e574/pillow-11.2.1-pp311-pypy311_pp73-win_amd64.whl", hash = "sha256:208653868d5c9ecc2b327f9b9ef34e0e42a4cdd172c2988fd81d62d2bc9bc044", size = 2674751 },
 ]
 
 [[package]]
@@ -4387,14 +4398,14 @@ wheels = [
 
 [[package]]
 name = "pytest-repeat"
-version = "0.9.3"
+version = "0.9.4"
 source = { registry = "https://pypi.org/simple" }
 dependencies = [
     { name = "pytest" },
 ]
-sdist = { url = "https://files.pythonhosted.org/packages/86/5e/99365eb229efff0b1bd475886150fc6db9937ab7e1bd21f6f65c1279e0eb/pytest_repeat-0.9.3.tar.gz", hash = "sha256:ffd3836dfcd67bb270bec648b330e20be37d2966448c4148c4092d1e8aba8185", size = 6272 }
+sdist = { url = "https://files.pythonhosted.org/packages/80/d4/69e9dbb9b8266df0b157c72be32083403c412990af15c7c15f7a3fd1b142/pytest_repeat-0.9.4.tar.gz", hash = "sha256:d92ac14dfaa6ffcfe6917e5d16f0c9bc82380c135b03c2a5f412d2637f224485", size = 6488 }
 wheels = [
-    { url = "https://files.pythonhosted.org/packages/49/a8/0a0aec0c2541b8baf4a0b95af2ba99abce217ee43534adf9cb7c908cf184/pytest_repeat-0.9.3-py3-none-any.whl", hash = "sha256:26ab2df18226af9d5ce441c858f273121e92ff55f5bb311d25755b8d7abdd8ed", size = 4196 },
+    { url = "https://files.pythonhosted.org/packages/73/d4/8b706b81b07b43081bd68a2c0359fe895b74bf664b20aca8005d2bb3be71/pytest_repeat-0.9.4-py3-none-any.whl", hash = "sha256:c1738b4e412a6f3b3b9e0b8b29fcd7a423e50f87381ad9307ef6f5a8601139f3", size = 4180 },
 ]
 
 [[package]]
@@ -4713,27 +4724,27 @@ wheels = [
 
 [[package]]
 name = "ruff"
-version = "0.11.4"
+version = "0.11.5"
-source = { registry = "https://pypi.org/simple" }
+source = { registry = "https://pypi.org/simple" }
-sdist = { url = "https://files.pythonhosted.org/packages/e8/5b/3ae20f89777115944e89c2d8c2e795dcc5b9e04052f76d5347e35e0da66e/ruff-0.11.4.tar.gz", hash = "sha256:f45bd2fb1a56a5a85fae3b95add03fb185a0b30cf47f5edc92aa0355ca1d7407", size = 3933063 }
+sdist = { url = "https://files.pythonhosted.org/packages/45/71/5759b2a6b2279bb77fe15b1435b89473631c2cd6374d45ccdb6b785810be/ruff-0.11.5.tar.gz", hash = "sha256:cae2e2439cb88853e421901ec040a758960b576126dab520fa08e9de431d1bef", size = 3976488 }
-wheels = [
+wheels = [
-    { url = "https://files.pythonhosted.org/packages/9c/db/baee59ac88f57527fcbaad3a7b309994e42329c6bc4d4d2b681a3d7b5426/ruff-0.11.4-py3-none-linux_armv6l.whl", hash = "sha256:d9f4a761ecbde448a2d3e12fb398647c7f0bf526dbc354a643ec505965824ed2", size = 10106493 },
+    { url = "https://files.pythonhosted.org/packages/23/db/6efda6381778eec7f35875b5cbefd194904832a1153d68d36d6b269d81a8/ruff-0.11.5-py3-none-linux_armv6l.whl", hash = "sha256:2561294e108eb648e50f210671cc56aee590fb6167b594144401532138c66c7b", size = 10103150 },
-    { url = "https://files.pythonhosted.org/packages/c1/d6/9a0962cbb347f4ff98b33d699bf1193ff04ca93bed4b4222fd881b502154/ruff-0.11.4-py3-none-macosx_10_12_x86_64.whl", hash = "sha256:8c1747d903447d45ca3d40c794d1a56458c51e5cc1bc77b7b64bd2cf0b1626cc", size = 10876382 },
+    { url = "https://files.pythonhosted.org/packages/44/f2/06cd9006077a8db61956768bc200a8e52515bf33a8f9b671ee527bb10d77/ruff-0.11.5-py3-none-macosx_10_12_x86_64.whl", hash = "sha256:ac12884b9e005c12d0bd121f56ccf8033e1614f736f766c118ad60780882a077", size = 10898637 },
-    { url = "https://files.pythonhosted.org/packages/3a/8f/62bab0c7d7e1ae3707b69b157701b41c1ccab8f83e8501734d12ea8a839f/ruff-0.11.4-py3-none-macosx_11_0_arm64.whl", hash = "sha256:51a6494209cacca79e121e9b244dc30d3414dac8cc5afb93f852173a2ecfc906", size = 10237050 },
+    { url = "https://files.pythonhosted.org/packages/18/f5/af390a013c56022fe6f72b95c86eb7b2585c89cc25d63882d3bfe411ecf1/ruff-0.11.5-py3-none-macosx_11_0_arm64.whl", hash = "sha256:4bfd80a6ec559a5eeb96c33f832418bf0fb96752de0539905cf7b0cc1d31d779", size = 10236012 },
-    { url = "https://files.pythonhosted.org/packages/09/96/e296965ae9705af19c265d4d441958ed65c0c58fc4ec340c27cc9d2a1f5b/ruff-0.11.4-py3-none-manylinux_2_17_aarch64.manylinux2014_aarch64.whl", hash = "sha256:3f171605f65f4fc49c87f41b456e882cd0c89e4ac9d58e149a2b07930e1d466f", size = 10424984 },
+    { url = "https://files.pythonhosted.org/packages/b8/ca/b9bf954cfed165e1a0c24b86305d5c8ea75def256707f2448439ac5e0d8b/ruff-0.11.5-py3-none-manylinux_2_17_aarch64.manylinux2014_aarch64.whl", hash = "sha256:0947c0a1afa75dcb5db4b34b070ec2bccee869d40e6cc8ab25aca11a7d527794", size = 10415338 },
-    { url = "https://files.pythonhosted.org/packages/e5/56/644595eb57d855afed6e54b852e2df8cd5ca94c78043b2f29bdfb29882d5/ruff-0.11.4-py3-none-manylinux_2_17_armv7l.manylinux2014_armv7l.whl", hash = "sha256:ebf99ea9af918878e6ce42098981fc8c1db3850fef2f1ada69fb1dcdb0f8e79e", size = 9957438 },
+    { url = "https://files.pythonhosted.org/packages/d9/4d/2522dde4e790f1b59885283f8786ab0046958dfd39959c81acc75d347467/ruff-0.11.5-py3-none-manylinux_2_17_armv7l.manylinux2014_armv7l.whl", hash = "sha256:ad871ff74b5ec9caa66cb725b85d4ef89b53f8170f47c3406e32ef040400b038", size = 9965277 },
-    { url = "https://files.pythonhosted.org/packages/86/83/9d3f3bed0118aef3e871ded9e5687fb8c5776bde233427fd9ce0a45db2d4/ruff-0.11.4-py3-none-manylinux_2_17_i686.manylinux2014_i686.whl", hash = "sha256:edad2eac42279df12e176564a23fc6f4aaeeb09abba840627780b1bb11a9d223", size = 11547282 },
+    { url = "https://files.pythonhosted.org/packages/e5/7a/749f56f150eef71ce2f626a2f6988446c620af2f9ba2a7804295ca450397/ruff-0.11.5-py3-none-manylinux_2_17_i686.manylinux2014_i686.whl", hash = "sha256:e6cf918390cfe46d240732d4d72fa6e18e528ca1f60e318a10835cf2fa3dc19f", size = 11541614 },
-    { url = "https://files.pythonhosted.org/packages/40/e6/0c6e4f5ae72fac5ccb44d72c0111f294a5c2c8cc5024afcb38e6bda5f4b3/ruff-0.11.4-py3-none-manylinux_2_17_ppc64.manylinux2014_ppc64.whl", hash = "sha256:f103a848be9ff379fc19b5d656c1f911d0a0b4e3e0424f9532ececf319a4296e", size = 12182020 },
+    { url = "https://files.pythonhosted.org/packages/89/b2/7d9b8435222485b6aac627d9c29793ba89be40b5de11584ca604b829e960/ruff-0.11.5-py3-none-manylinux_2_17_ppc64.manylinux2014_ppc64.whl", hash = "sha256:56145ee1478582f61c08f21076dc59153310d606ad663acc00ea3ab5b2125f82", size = 12198873 },
-    { url = "https://files.pythonhosted.org/packages/b5/92/4aed0e460aeb1df5ea0c2fbe8d04f9725cccdb25d8da09a0d3f5b8764bf8/ruff-0.11.4-py3-none-manylinux_2_17_ppc64le.manylinux2014_ppc64le.whl", hash = "sha256:193e6fac6eb60cc97b9f728e953c21cc38a20077ed64f912e9d62b97487f3f2d", size = 11679154 },
+    { url = "https://files.pythonhosted.org/packages/00/e0/a1a69ef5ffb5c5f9c31554b27e030a9c468fc6f57055886d27d316dfbabd/ruff-0.11.5-py3-none-manylinux_2_17_ppc64le.manylinux2014_ppc64le.whl", hash = "sha256:e5f66f8f1e8c9fc594cbd66fbc5f246a8d91f916cb9667e80208663ec3728304", size = 11670190 },
-    { url = "https://files.pythonhosted.org/packages/1b/d3/7316aa2609f2c592038e2543483eafbc62a0e1a6a6965178e284808c095c/ruff-0.11.4-py3-none-manylinux_2_17_s390x.manylinux2014_s390x.whl", hash = "sha256:7af4e5f69b7c138be8dcffa5b4a061bf6ba6a3301f632a6bce25d45daff9bc99", size = 13905985 },
+    { url = "https://files.pythonhosted.org/packages/05/61/c1c16df6e92975072c07f8b20dad35cd858e8462b8865bc856fe5d6ccb63/ruff-0.11.5-py3-none-manylinux_2_17_s390x.manylinux2014_s390x.whl", hash = "sha256:80b4df4d335a80315ab9afc81ed1cff62be112bd165e162b5eed8ac55bfc8470", size = 13902301 },
-    { url = "https://files.pythonhosted.org/packages/63/80/734d3d17546e47ff99871f44ea7540ad2bbd7a480ed197fe8a1c8a261075/ruff-0.11.4-py3-none-manylinux_2_17_x86_64.manylinux2014_x86_64.whl", hash = "sha256:126b1bf13154aa18ae2d6c3c5efe144ec14b97c60844cfa6eb960c2a05188222", size = 11348343 },
+    { url = "https://files.pythonhosted.org/packages/79/89/0af10c8af4363304fd8cb833bd407a2850c760b71edf742c18d5a87bb3ad/ruff-0.11.5-py3-none-manylinux_2_17_x86_64.manylinux2014_x86_64.whl", hash = "sha256:3068befab73620b8a0cc2431bd46b3cd619bc17d6f7695a3e1bb166b652c382a", size = 11350132 },
-    { url = "https://files.pythonhosted.org/packages/04/7b/70fc7f09a0161dce9613a4671d198f609e653d6f4ff9eee14d64c4c240fb/ruff-0.11.4-py3-none-musllinux_1_2_aarch64.whl", hash = "sha256:e8806daaf9dfa881a0ed603f8a0e364e4f11b6ed461b56cae2b1c0cab0645304", size = 10308487 },
+    { url = "https://files.pythonhosted.org/packages/b9/e1/ecb4c687cbf15164dd00e38cf62cbab238cad05dd8b6b0fc68b0c2785e15/ruff-0.11.5-py3-none-musllinux_1_2_aarch64.whl", hash = "sha256:f5da2e710a9641828e09aa98b92c9ebbc60518fdf3921241326ca3e8f8e55b8b", size = 10312937 },
-    { url = "https://files.pythonhosted.org/packages/1a/22/1cdd62dabd678d75842bf4944fd889cf794dc9e58c18cc547f9eb28f95ed/ruff-0.11.4-py3-none-musllinux_1_2_armv7l.whl", hash = "sha256:5d94bb1cc2fc94a769b0eb975344f1b1f3d294da1da9ddbb5a77665feb3a3019", size = 9929091 },
+    { url = "https://files.pythonhosted.org/packages/cf/4f/0e53fe5e500b65934500949361e3cd290c5ba60f0324ed59d15f46479c06/ruff-0.11.5-py3-none-musllinux_1_2_armv7l.whl", hash = "sha256:ef39f19cb8ec98cbc762344921e216f3857a06c47412030374fffd413fb8fd3a", size = 9936683 },
-    { url = "https://files.pythonhosted.org/packages/9f/20/40e0563506332313148e783bbc1e4276d657962cc370657b2fff20e6e058/ruff-0.11.4-py3-none-musllinux_1_2_i686.whl", hash = "sha256:995071203d0fe2183fc7a268766fd7603afb9996785f086b0d76edee8755c896", size = 10924659 },
+    { url = "https://files.pythonhosted.org/packages/04/a8/8183c4da6d35794ae7f76f96261ef5960853cd3f899c2671961f97a27d8e/ruff-0.11.5-py3-none-musllinux_1_2_i686.whl", hash = "sha256:b2a7cedf47244f431fd11aa5a7e2806dda2e0c365873bda7834e8f7d785ae159", size = 10950217 },
-    { url = "https://files.pythonhosted.org/packages/b5/41/eef9b7aac8819d9e942f617f9db296f13d2c4576806d604aba8db5a753f1/ruff-0.11.4-py3-none-musllinux_1_2_x86_64.whl", hash = "sha256:7a37ca937e307ea18156e775a6ac6e02f34b99e8c23fe63c1996185a4efe0751", size = 11428160 },
+    { url = "https://files.pythonhosted.org/packages/26/88/9b85a5a8af21e46a0639b107fcf9bfc31da4f1d263f2fc7fbe7199b47f0a/ruff-0.11.5-py3-none-musllinux_1_2_x86_64.whl", hash = "sha256:81be52e7519f3d1a0beadcf8e974715b2dfc808ae8ec729ecfc79bddf8dbb783", size = 11404521 },
-    { url = "https://files.pythonhosted.org/packages/ff/61/c488943414fb2b8754c02f3879de003e26efdd20f38167ded3fb3fc1cda3/ruff-0.11.4-py3-none-win32.whl", hash = "sha256:0e9365a7dff9b93af933dab8aebce53b72d8f815e131796268709890b4a83270", size = 10311496 },
+    { url = "https://files.pythonhosted.org/packages/fc/52/047f35d3b20fd1ae9ccfe28791ef0f3ca0ef0b3e6c1a58badd97d450131b/ruff-0.11.5-py3-none-win32.whl", hash = "sha256:e268da7b40f56e3eca571508a7e567e794f9bfcc0f412c4b607931d3af9c4afe", size = 10320697 },
-    { url = "https://files.pythonhosted.org/packages/b6/2b/2a1c8deb5f5dfa3871eb7daa41492c4d2b2824a74d2b38e788617612a66d/ruff-0.11.4-py3-none-win_amd64.whl", hash = "sha256:5a9fa1c69c7815e39fcfb3646bbfd7f528fa8e2d4bebdcf4c2bd0fa037a255fb", size = 11399146 },
+    { url = "https://files.pythonhosted.org/packages/b9/fe/00c78010e3332a6e92762424cf4c1919065707e962232797d0b57fd8267e/ruff-0.11.5-py3-none-win_amd64.whl", hash = "sha256:6c6dc38af3cfe2863213ea25b6dc616d679205732dc0fb673356c2d69608f800", size = 11378665 },
-    { url = "https://files.pythonhosted.org/packages/4f/03/3aec4846226d54a37822e4c7ea39489e4abd6f88388fba74e3d4abe77300/ruff-0.11.4-py3-none-win_arm64.whl", hash = "sha256:d435db6b9b93d02934cf61ef332e66af82da6d8c69aefdea5994c89997c7a0fc", size = 10450306 },
+    { url = "https://files.pythonhosted.org/packages/43/7c/c83fe5cbb70ff017612ff36654edfebec4b1ef79b558b8e5fd933bab836b/ruff-0.11.5-py3-none-win_arm64.whl", hash = "sha256:67e241b4314f4eacf14a601d586026a962f4002a475aa702c69980a38087aa4e", size = 10460287 },
 ]
 
 [[package]]
@@ -4747,15 +4758,15 @@ wheels = [
 
 [[package]]
 name = "sentry-sdk"
-version = "2.25.1"
+version = "2.26.0"
 source = { registry = "https://pypi.org/simple" }
 dependencies = [
     { name = "certifi" },
     { name = "urllib3" },
 ]
-sdist = { url = "https://files.pythonhosted.org/packages/85/2f/a0f732270cc7c1834f5ec45539aec87c360d5483a8bd788217a9102ccfbd/sentry_sdk-2.25.1.tar.gz", hash = "sha256:f9041b7054a7cf12d41eadabe6458ce7c6d6eea7a97cfe1b760b6692e9562cf0", size = 322190 }
+sdist = { url = "https://files.pythonhosted.org/packages/f0/e2/f8ebb2086046d89cb692f12cc7f9d84e02669d19e263f9b0347553ac6e8c/sentry_sdk-2.26.0.tar.gz", hash = "sha256:88643459716dd0c6e412e5141fcc94ce3b5725e4b6b312210b91332b3b46a0e2", size = 322738 }
 wheels = [
-    { url = "https://files.pythonhosted.org/packages/96/b6/84049ab0967affbc7cc7590d86ae0170c1b494edb69df8786707100420e5/sentry_sdk-2.25.1-py2.py3-none-any.whl", hash = "sha256:60b016d0772789454dc55a284a6a44212044d4a16d9f8448725effee97aaf7f6", size = 339851 },
+    { url = "https://files.pythonhosted.org/packages/dd/da/195136b1113e5bc34f31ba04a345bc15c1e66a4eacfc1b317de111abe8c5/sentry_sdk-2.26.0-py2.py3-none-any.whl", hash = "sha256:82496fc359296dac57ec923300b18cc1f14a1279c1e7108d46d35dbb4cf8f5f8", size = 340184 },
 ]
 
 [[package]]
@@ -4979,20 +4990,20 @@ wheels = [
 
 [[package]]
 name = "typing-extensions"
-version = "4.13.1"
+version = "4.13.2"
 source = { registry = "https://pypi.org/simple" }
-sdist = { url = "https://files.pythonhosted.org/packages/76/ad/cd3e3465232ec2416ae9b983f27b9e94dc8171d56ac99b345319a9475967/typing_extensions-4.13.1.tar.gz", hash = "sha256:98795af00fb9640edec5b8e31fc647597b4691f099ad75f469a2616be1a76dff", size = 106633 }
+sdist = { url = "https://files.pythonhosted.org/packages/f6/37/23083fcd6e35492953e8d2aaaa68b860eb422b34627b13f2ce3eb6106061/typing_extensions-4.13.2.tar.gz", hash = "sha256:e6c81219bd689f51865d9e372991c540bda33a0379d5573cddb9a3a23f7caaef", size = 106967 }
 wheels = [
-    { url = "https://files.pythonhosted.org/packages/df/c5/e7a0b0f5ed69f94c8ab7379c599e6036886bffcde609969a5325f47f1332/typing_extensions-4.13.1-py3-none-any.whl", hash = "sha256:4b6cf02909eb5495cfbc3f6e8fd49217e6cc7944e145cdda8caa3734777f9e69", size = 45739 },
+    { url = "https://files.pythonhosted.org/packages/8b/54/b1ae86c0973cc6f0210b53d508ca3641fb6d0c56823f288d108bc7ab3cc8/typing_extensions-4.13.2-py3-none-any.whl", hash = "sha256:a439e7c04b49fec3e5d3e2beaa21755cadbbdc391694e28ccdd36ca4a1408f8c", size = 45806 },
 ]
 
 [[package]]
 name = "urllib3"
-version = "2.3.0"
+version = "2.4.0"
 source = { registry = "https://pypi.org/simple" }
-sdist = { url = "https://files.pythonhosted.org/packages/aa/63/e53da845320b757bf29ef6a9062f5c669fe997973f966045cb019c3f4b66/urllib3-2.3.0.tar.gz", hash = "sha256:f8c5449b3cf0861679ce7e0503c7b44b5ec981bec0d1d3795a07f1ba96f0204d", size = 307268 }
+sdist = { url = "https://files.pythonhosted.org/packages/8a/78/16493d9c386d8e60e442a35feac5e00f0913c0f4b7c217c11e8ec2ff53e0/urllib3-2.4.0.tar.gz", hash = "sha256:414bc6535b787febd7567804cc015fee39daab8ad86268f1310a9250697de466", size = 390672 }
 wheels = [
-    { url = "https://files.pythonhosted.org/packages/c8/19/4ec628951a74043532ca2cf5d97b7b14863931476d117c471e8e2b1eb39f/urllib3-2.3.0-py3-none-any.whl", hash = "sha256:1cee9ad369867bfdbbb48b7dd50374c0967a0bb7710050facf0dd6911440e3df", size = 128369 },
+    { url = "https://files.pythonhosted.org/packages/6b/11/cc635220681e93a0183390e26485430ca2c7b5f9d33b15c74c2861cb8091/urllib3-2.4.0-py3-none-any.whl", hash = "sha256:4e16665048960a0900c702d4a66415956a584919c03361cac9f1df5c5dd7e813", size = 128680 },
 ]
 
 [[package]]