diff --git a/.pre-commit-config.yaml b/.pre-commit-config.yaml
index 85bd06c5f3..50554acceb 100644
--- a/.pre-commit-config.yaml
+++ b/.pre-commit-config.yaml
@@ -56,6 +56,10 @@ repos:
         language: system
         types: [python]
         exclude: '^(pyextra/)|(cereal/)|(rednose/)|(panda/)|(laika/)|(laika_repo/)|(rednose_repo/)'
+        args:
+        - -rn
+        - -sn
+        - --rcfile=.pylintrc
 -   repo: local
     hooks:
     -   id: cppcheck
diff --git a/Pipfile b/Pipfile
index 81669e4807..644fd2a90b 100644
--- a/Pipfile
+++ b/Pipfile
@@ -88,6 +88,7 @@ urllib3 = "*"
 utm = "*"
 websocket_client = "*"
 hatanaka = "==2.4"
+PySide2 = "*"
 
 [requires]
 python_version = "3.8"
diff --git a/Pipfile.lock b/Pipfile.lock
index 0612d0ff39..e6f05fbcd4 100644
--- a/Pipfile.lock
+++ b/Pipfile.lock
@@ -1,7 +1,7 @@
 {
     "_meta": {
         "hash": {
-            "sha256": "c92514c0e6968af008916446514f41b4e004aa7aa4a2951cc1e9e258ac072111"
+            "sha256": "adf64558652d394d9de8e45777f1a2f50ed1ac37b75664206e7957792832b5a4"
         },
         "pipfile-spec": 6,
         "requires": {
@@ -18,19 +18,18 @@
     "default": {
         "astroid": {
             "hashes": [
-                "sha256:4f933d0bf5e408b03a6feb5d23793740c27e07340605f236496cd6ce552043d6",
-                "sha256:ba33a82a9a9c06a5ceed98180c5aab16e29c285b828d94696bf32d6015ea82a9"
+                "sha256:396c88d0a58d7f8daadf730b2ce90838bf338c6752558db719ec6f99c18ec20e",
+                "sha256:d612609242996c4365aeb0345e61edba34363eaaba55f1c0addf6a98f073bef6"
             ],
-            "markers": "python_full_version >= '3.6.2'",
-            "version": "==2.11.6"
+            "markers": "python_full_version >= '3.7.2'",
+            "version": "==2.12.5"
         },
         "atomicwrites": {
             "hashes": [
-                "sha256:6d1784dea7c0c8d4a5172b6c620f40b6e4cbfdf96d783691f2e1302a7b88e197",
-                "sha256:ae70396ad1a434f9c7046fd2dd196fc04b12f9e91ffb859164193be8b6168a7a"
+                "sha256:81b2c9071a49367a7f770170e5eec8cb66567cfbbc8c73d20ce5ca4a8d71cf11"
             ],
             "index": "pypi",
-            "version": "==1.4.0"
+            "version": "==1.4.1"
         },
         "casadi": {
             "hashes": [
@@ -157,11 +156,11 @@
         },
         "charset-normalizer": {
             "hashes": [
-                "sha256:5189b6f22b01957427f35b6a08d9a0bc45b46d3788ef5a92e978433c7a35f8a5",
-                "sha256:575e708016ff3a5e3681541cb9d79312c416835686d054a23accb873b254f413"
+                "sha256:5a3d016c7c547f69d6f81fb0db9449ce888b418b5b9952cc5e6e66843e9dd845",
+                "sha256:83e9a75d1911279afd89352c68b45348559d1fc0506b054b346651b5e7fee29f"
             ],
             "markers": "python_version >= '3.6'",
-            "version": "==2.1.0"
+            "version": "==2.1.1"
         },
         "click": {
             "hashes": [
@@ -171,6 +170,14 @@
             "markers": "python_version >= '3.7'",
             "version": "==8.1.3"
         },
+        "coloredlogs": {
+            "hashes": [
+                "sha256:612ee75c546f53e92e70049c9dbfcc18c935a2b9a53b66085ce9ef6a6e5c0934",
+                "sha256:7c991aa71a4577af2f82600d8f8f3a89f936baeaf9b50a9c197da014e5bf16b0"
+            ],
+            "markers": "python_version >= '2.7' and python_version not in '3.0, 3.1, 3.2, 3.3, 3.4'",
+            "version": "==15.0.1"
+        },
         "crcmod": {
             "hashes": [
                 "sha256:50586ab48981f11e5b117523d97bb70864a2a1af246cf6e4f5c4a21ef4611cd1",
@@ -211,49 +218,49 @@
         },
         "cython": {
             "hashes": [
-                "sha256:019d330ac580b2ca4a457c464ac0b8c35009d820ef5d09f328d6e31a10e1ce89",
-                "sha256:0b83a342a071c4f14e7410568e0c0bd95e2f20c0b32944e3a721649a1357fda4",
-                "sha256:0cd6c932e945af15ae4ddcf8fdc0532bda48784c92ed0a53cf4fae897067ccd1",
-                "sha256:1e078943bbde703ca08d43e719480eb8b187d9023cbd91798619f5b5e18d0d71",
-                "sha256:20778297c8bcba201ca122a2f792a9899d6e64c68a92363dd7eb24306d54d7ce",
-                "sha256:2235b62da8fe6fa8b99422c8e583f2fb95e143867d337b5c75e4b9a1a865f9e3",
-                "sha256:28db751e2d8365b39664d9cb62dc1668688b8fcc5b954e9ca9d20e0b8e03d8b0",
-                "sha256:3993aafd68a7311ef94e00e44a137f6a50a69af0575ebcc8a0a074ad4152a2b2",
-                "sha256:3d0239c7a22a0f3fb1deec75cab0078eba4dd17868aa992a54a178851e0c8684",
-                "sha256:5183356c756b56c2df12d96300d602e47ffb89943c5a0bded66faca5d3da7be0",
-                "sha256:58d2b734250c1093bc69c1c3a6f5736493b9f8b34eb765f0a28a4a09468c0b00",
-                "sha256:5a8a3709ad9343a1dc02b8ec9cf6bb284be248d2c64af85464d9c3525eec74a5",
-                "sha256:5c7cfd908efc77306ddd41ef07f5a7a352c9205ced5c1e00a0e5ece4391707c4",
-                "sha256:5f2dae7dd56860018d5fd5032a71f11fdc224020932b463d0511a1536f27df85",
-                "sha256:60d370c33d56077d30e5f425026e58c2559e93b4784106f61581cf54071f6270",
-                "sha256:6b389a94b42909ff56d3491fde7c44802053a103701a7d210dcdd449a5b4f7b4",
-                "sha256:71fd1d910aced510c001936667fc7f2901c49b2ca7a2ad67358979c94a7f42ac",
-                "sha256:786ee7b0cdb508b6de64c0f1f9c74f207186dfafad1ef938f25b7494cc481a80",
-                "sha256:7eff71c39b98078deaad1d1bdbf10864d234e2ab5d5257e980a6926a8523f697",
-                "sha256:80a7255ad84620f53235c0720cdee2bc7431d9e3db7b3742823a606c329eb539",
-                "sha256:88c5e2f92f16cd999ddfc43d572639679e8a057587088e627e98118e46a803e6",
-                "sha256:8e08f18d249b9b65e272a5a60f3360a8922c4c149036b98fc821fe1afad5bdae",
-                "sha256:9462e9cf284d9b1d2c5b53d62188e3c09cc5c7a0018ba349d99b73cf930238de",
-                "sha256:9826981308802c61a76f967875b31b7c683b7fc369eabaa6cbc22efeb12c90e8",
-                "sha256:9f1fe924c920b699af27aefebd722df4cfbb85206291623cd37d1a7ddfd57792",
-                "sha256:a30092c6e2d24255fbfe0525f9a750554f96a263ed986d12ac3c9f7d9a85a424",
-                "sha256:abcaf99f90cddc0f53600613eaafc81d27c4ac0671f0df8bce5466d4e86d54a1",
-                "sha256:acb72e0b42079862cf2f894964b41f261e941e75677e902c5f4304b3eb00af33",
-                "sha256:b17639b6a155abaa61a89f6f1323fb57b138d0529911ca03978d594945d062ba",
-                "sha256:c299c5b250ae9f81c38200441b6f1d023aeee9d8e7f61c04001c7437181ccb06",
-                "sha256:c79685dd4631a188e2385dc6a232896c7b67ea2e3e5f8b5555b4b743f475d6d7",
-                "sha256:d0859a958e0155b6ae4dee04170ccfac2c3d613a7e3bee8749614530b9e3b4a4",
-                "sha256:d0f34b44078e3e0b2f1be2b99044619b37127128e7d55c54bbd2438adcaf31d3",
-                "sha256:d166d9f853db436f5e10733a9bd615699ddb4238feadcbdf5ae50dc0b18b18f5",
-                "sha256:d52d5733dcb144deca8985f0a197c19cf71e6bd6bd9d8034f3f67b2dea68d12b",
-                "sha256:e29d3487f357108b711f2f29319811d92166643d29aec1b8e063aad46a346775",
-                "sha256:e36755e71fd20eceb410cc441b7f2586654c2edb013f4663842fdaf60b96c1ca",
-                "sha256:e5cb144728a335d7a7fd0a61dff6abb7a9aeff9acd46d50b886b7d9a95bb7311",
-                "sha256:e605635a92ae862cb46d84d1d6883324518f9aaff4a71cede6d61df20b6a410c",
-                "sha256:ffa8c09617833ff0824aa7926fa4fa9d2ec3929c67168e89105f276b7f36a63e"
-            ],
-            "index": "pypi",
-            "version": "==0.29.30"
+                "sha256:061e25151c38f2361bc790d3bcf7f9d9828a0b6a4d5afa56fbed3bd33fb2373a",
+                "sha256:06be83490c906b6429b4389e13487a26254ccaad2eef6f3d4ee21d8d3a4aaa2b",
+                "sha256:07d173d3289415bb496e72cb0ddd609961be08fe2968c39094d5712ffb78672b",
+                "sha256:0bbc27abdf6aebfa1bce34cd92bd403070356f28b0ecb3198ff8a182791d58b9",
+                "sha256:0ea8267fc373a2c5064ad77d8ff7bf0ea8b88f7407098ff51829381f8ec1d5d9",
+                "sha256:3875c2b2ea752816a4d7ae59d45bb546e7c4c79093c83e3ba7f4d9051dd02928",
+                "sha256:39afb4679b8c6bf7ccb15b24025568f4f9b4d7f9bf3cbd981021f542acecd75b",
+                "sha256:3f85eb2343d20d91a4ea9cf14e5748092b376a64b7e07fc224e85b2753e9070b",
+                "sha256:40eff7aa26e91cf108fd740ffd4daf49f39b2fdffadabc7292b4b7dc5df879f0",
+                "sha256:479690d2892ca56d34812fe6ab8f58e4b2e0129140f3d94518f15993c40553da",
+                "sha256:4a4b03ab483271f69221c3210f7cde0dcc456749ecf8243b95bc7a701e5677e0",
+                "sha256:513e9707407608ac0d306c8b09d55a28be23ea4152cbd356ceaec0f32ef08d65",
+                "sha256:5514f3b4122cb22317122a48e175a7194e18e1803ca555c4c959d7dfe68eaf98",
+                "sha256:5ba622326f2862f9c1f99ca8d47ade49871241920a352c917e16861e25b0e5c3",
+                "sha256:63b79d9e1f7c4d1f498ab1322156a0d7dc1b6004bf981a8abda3f66800e140cd",
+                "sha256:656dc5ff1d269de4d11ee8542f2ffd15ab466c447c1f10e5b8aba6f561967276",
+                "sha256:67fdd2f652f8d4840042e2d2d91e15636ba2bcdcd92e7e5ffbc68e6ef633a754",
+                "sha256:79e3bab19cf1b021b613567c22eb18b76c0c547b9bc3903881a07bfd9e7e64cf",
+                "sha256:856d2fec682b3f31583719cb6925c6cdbb9aa30f03122bcc45c65c8b6f515754",
+                "sha256:8669cadeb26d9a58a5e6b8ce34d2c8986cc3b5c0bfa77eda6ceb471596cb2ec3",
+                "sha256:8733cf4758b79304f2a4e39ebfac5e92341bce47bcceb26c1254398b2f8c1af7",
+                "sha256:97335b2cd4acebf30d14e2855d882de83ad838491a09be2011745579ac975833",
+                "sha256:afbce249133a830f121b917f8c9404a44f2950e0e4f5d1e68f043da4c2e9f457",
+                "sha256:b0595aee62809ba353cebc5c7978e0e443760c3e882e2c7672c73ffe46383673",
+                "sha256:b6da3063c5c476f5311fd76854abae6c315f1513ef7d7904deed2e774623bbb9",
+                "sha256:c8e8025f496b5acb6ba95da2fb3e9dacffc97d9a92711aacfdd42f9c5927e094",
+                "sha256:cddc47ec746a08603037731f5d10aebf770ced08666100bd2cdcaf06a85d4d1b",
+                "sha256:cdf10af3e2e3279dc09fdc5f95deaa624850a53913f30350ceee824dc14fc1a6",
+                "sha256:d968ffc403d92addf20b68924d95428d523436adfd25cf505d427ed7ba3bee8b",
+                "sha256:dbee03b8d42dca924e6aa057b836a064c769ddfd2a4c2919e65da2c8a362d528",
+                "sha256:e1958e0227a4a6a2c06fd6e35b7469de50adf174102454db397cec6e1403cce3",
+                "sha256:e6ffa08aa1c111a1ebcbd1cf4afaaec120bc0bbdec3f2545f8bb7d3e8e77a1cd",
+                "sha256:e83228e0994497900af954adcac27f64c9a57cd70a9ec768ab0cb2c01fd15cf1",
+                "sha256:ea1dcc07bfb37367b639415333cfbfe4a93c3be340edf1db10964bc27d42ed64",
+                "sha256:eca3065a1279456e81c615211d025ea11bfe4e19f0c5650b859868ca04b3fcbd",
+                "sha256:ed087eeb88a8cf96c60fb76c5c3b5fb87188adee5e179f89ec9ad9a43c0c54b3",
+                "sha256:eeb475eb6f0ccf6c039035eb4f0f928eb53ead88777e0a760eccb140ad90930b",
+                "sha256:eefd2b9a5f38ded8d859fe96cc28d7d06e098dc3f677e7adbafda4dcdd4a461c",
+                "sha256:f3fd44cc362eee8ae569025f070d56208908916794b6ab21e139cea56470a2b3",
+                "sha256:f9944013588a3543fca795fffb0a070a31a243aa4f2d212f118aa95e69485831"
+            ],
+            "index": "pypi",
+            "version": "==0.29.32"
         },
         "dill": {
             "hashes": [
@@ -265,26 +272,26 @@
         },
         "flake8": {
             "hashes": [
-                "sha256:479b1304f72536a55948cb40a32dce8bb0ffe3501e26eaf292c7e60eb5e0428d",
-                "sha256:806e034dda44114815e23c16ef92f95c91e4c71100ff52813adf7132a6ad870d"
+                "sha256:6fbe320aad8d6b95cec8b8e47bc933004678dc63095be98528b7bdd2a9f510db",
+                "sha256:7a1cf6b73744f5806ab95e526f6f0d8c01c66d7bbe349562d22dfca20610b248"
             ],
             "index": "pypi",
-            "version": "==4.0.1"
+            "version": "==5.0.4"
         },
         "flask": {
             "hashes": [
-                "sha256:315ded2ddf8a6281567edb27393010fe3406188bafbfe65a3339d5787d89e477",
-                "sha256:fad5b446feb0d6db6aec0c3184d16a8c1f6c3e464b511649c8918a9be100b4fe"
+                "sha256:642c450d19c4ad482f96729bd2a8f6d32554aa1e231f4f6b4e7e5264b16cca2b",
+                "sha256:b9c46cc36662a7949f34b52d8ec7bb59c0d74ba08ba6cb9ce9adc1d8676d9526"
             ],
             "index": "pypi",
-            "version": "==2.1.2"
+            "version": "==2.2.2"
         },
         "flatbuffers": {
             "hashes": [
-                "sha256:12158ab0272375eab8db2d663ae97370c33f152b27801fa6024e1d6105fd4dd2",
-                "sha256:3751954f0604580d3219ae49a85fafec9d85eec599c0b96226e1bc0b48e57474"
+                "sha256:0ae7d69c5b82bf41962ca5fde9cc43033bc9501311d975fd5a25e8a7d29c1245",
+                "sha256:71e135d533be527192819aaab757c5e3d109cb10fbb01e687f6bdb7a61ad39d1"
             ],
-            "version": "==2.0"
+            "version": "==2.0.7"
         },
         "future-fstrings": {
             "hashes": [
@@ -356,6 +363,14 @@
             "index": "pypi",
             "version": "==3.3"
         },
+        "humanfriendly": {
+            "hashes": [
+                "sha256:1697e1a8a8f550fd43c2865cd84542fc175a61dcb779b6fee18cf6b6ccba1477",
+                "sha256:6b0b831ce8f15f7300721aa49829fc4e83921a9a301cc7f606be6686a2288ddc"
+            ],
+            "markers": "python_version >= '2.7' and python_version not in '3.0, 3.1, 3.2, 3.3, 3.4'",
+            "version": "==10.0"
+        },
         "idna": {
             "hashes": [
                 "sha256:84d9dd047ffa80596e0f246e2eab0b391788b0503584e8945f2368256d2735ff",
@@ -374,18 +389,18 @@
         },
         "importlib-resources": {
             "hashes": [
-                "sha256:568c9f16cb204f9decc8d6d24a572eeea27dacbb4cee9e6b03a8025736769751",
-                "sha256:7952325ffd516c05a8ad0858c74dff2c3343f136fe66a6002b2623dd1d43f223"
+                "sha256:5481e97fb45af8dcf2f798952625591c58fe599d0735d86b10f54de086a61681",
+                "sha256:f78a8df21a79bcc30cfd400bdc38f314333de7c0fb619763f6b9dabab8268bb7"
             ],
             "markers": "python_version >= '3.7'",
-            "version": "==5.8.0"
+            "version": "==5.9.0"
         },
         "isort": {
             "hashes": [
                 "sha256:6f62d78e2f89b4500b080fe3a81690850cd254227f27f75c3a0c491a1f351ba7",
                 "sha256:e8443a5e7a020e9d7f97f1d7d9cd17c88bcb3bc7e218bf9cf5095fe550be2951"
             ],
-            "markers": "python_version < '4' and python_full_version >= '3.6.1'",
+            "markers": "python_version < '4.0' and python_full_version >= '3.6.1'",
             "version": "==5.10.1"
         },
         "itsdangerous": {
@@ -513,10 +528,11 @@
         },
         "mccabe": {
             "hashes": [
-                "sha256:ab8a6258860da4b6677da4bd2fe5dc2c659cff31b3ee4f7f5d64e79735b80d42",
-                "sha256:dd8d182285a0fe56bace7f45b5e7d1a6ebcbf524e8f3bd87eb0f125271b8831f"
+                "sha256:348e0240c33b60bbdf4e523192ef919f28cb2c3d7d5c7794f74009290f236325",
+                "sha256:6c2d30ab6be0e4a46919781807b4f0d834ebdd6c6e3dca0bda5a15f863427b6e"
             ],
-            "version": "==0.6.1"
+            "markers": "python_version >= '3.6'",
+            "version": "==0.7.0"
         },
         "mpmath": {
             "hashes": [
@@ -577,31 +593,37 @@
         },
         "numpy": {
             "hashes": [
-                "sha256:092f5e6025813e64ad6d1b52b519165d08c730d099c114a9247c9bb635a2a450",
-                "sha256:196cd074c3f97c4121601790955f915187736f9cf458d3ee1f1b46aff2b1ade0",
-                "sha256:1c29b44905af288b3919803aceb6ec7fec77406d8b08aaa2e8b9e63d0fe2f160",
-                "sha256:2b2da66582f3a69c8ce25ed7921dcd8010d05e59ac8d89d126a299be60421171",
-                "sha256:5043bcd71fcc458dfb8a0fc5509bbc979da0131b9d08e3d5f50fb0bbb36f169a",
-                "sha256:58bfd40eb478f54ff7a5710dd61c8097e169bc36cc68333d00a9bcd8def53b38",
-                "sha256:79a506cacf2be3a74ead5467aee97b81fca00c9c4c8b3ba16dbab488cd99ba10",
-                "sha256:94b170b4fa0168cd6be4becf37cb5b127bd12a795123984385b8cd4aca9857e5",
-                "sha256:97a76604d9b0e79f59baeca16593c711fddb44936e40310f78bfef79ee9a835f",
-                "sha256:98e8e0d8d69ff4d3fa63e6c61e8cfe2d03c29b16b58dbef1f9baa175bbed7860",
-                "sha256:ac86f407873b952679f5f9e6c0612687e51547af0e14ddea1eedfcb22466babd",
-                "sha256:ae8adff4172692ce56233db04b7ce5792186f179c415c37d539c25de7298d25d",
-                "sha256:bd3fa4fe2e38533d5336e1272fc4e765cabbbde144309ccee8675509d5cd7b05",
-                "sha256:d0d2094e8f4d760500394d77b383a1b06d3663e8892cdf5df3c592f55f3bff66",
-                "sha256:d54b3b828d618a19779a84c3ad952e96e2c2311b16384e973e671aa5be1f6187",
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-            "version": "==1.23.0"
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+                "sha256:d98addfd3c8728ee8b2c49126f3c44c703e2b005d4a95998e2167af176a9e722",
+                "sha256:dc76bca1ca98f4b122114435f83f1fcf3c0fe48e4e6f660e07996abf2f53903c",
+                "sha256:dec198619b7dbd6db58603cd256e092bcadef22a796f778bf87f8592b468441d",
+                "sha256:df28dda02c9328e122661f399f7655cdcbcf22ea42daa3650a26bce08a187450",
+                "sha256:e603ca1fb47b913942f3e660a15e55a9ebca906857edfea476ae5f0fe9b457d5",
+                "sha256:ecfdd68d334a6b97472ed032b5b37a30d8217c097acfff15e8452c710e775524"
+            ],
+            "index": "pypi",
+            "version": "==1.23.2"
         },
         "onnx": {
             "hashes": [
@@ -632,16 +654,26 @@
         },
         "onnxruntime-gpu": {
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+                "sha256:b37872527d03d3df10756408ca44014bd6ac354a044ab1c4286cd42dc138e518",
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+                "sha256:e2be6f7f5a1ce0bc8471ce42e10eab92cfb19d0748b857edcb5320b5e98311b7",
+                "sha256:ecfe97335027e569d4f46725ba89316041e562b8c499690e25e11cfee4601cd1",
+                "sha256:fd919373be35b9ba54210688265df38ad5e19a530449385c40dab51da407345d"
             ],
             "index": "pypi",
             "markers": "platform_system != 'Darwin'",
-            "version": "==1.11.1"
+            "version": "==1.12.1"
+        },
+        "packaging": {
+            "hashes": [
+                "sha256:dd47c42927d89ab911e606518907cc2d3a1f38bbd026385970643f9c5b8ecfeb",
+                "sha256:ef103e05f519cdc783ae24ea4e2e0f508a9c99b2d4969652eed6a2e1ea5bd522"
+            ],
+            "markers": "python_version >= '3.6'",
+            "version": "==21.3"
         },
         "pillow": {
             "hashes": [
@@ -818,11 +850,11 @@
         },
         "pycodestyle": {
             "hashes": [
-                "sha256:720f8b39dde8b293825e7ff02c475f3077124006db4f440dcbc9a20b76548a20",
-                "sha256:eddd5847ef438ea1c7870ca7eb78a9d47ce0cdb4851a5523949f2601d0cbbe7f"
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+                "sha256:d1735fc58b418fd7c5f658d28d943854f8a849b01a5d0a1e6f3f3fdd0166804b"
             ],
-            "markers": "python_version >= '2.7' and python_version not in '3.0, 3.1, 3.2, 3.3, 3.4'",
-            "version": "==2.8.0"
+            "markers": "python_version >= '3.6'",
+            "version": "==2.9.1"
         },
         "pycparser": {
             "hashes": [
@@ -869,11 +901,11 @@
         },
         "pyflakes": {
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-                "sha256:3bb3a3f256f4b7968c9c788781e4ff07dce46bdf12339dcda61053375426ee2e"
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+                "sha256:491feb020dca48ccc562a8c0cbe8df07ee13078df59813b83959cbdada312ea3"
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-            "markers": "python_version >= '2.7' and python_version not in '3.0, 3.1, 3.2, 3.3'",
-            "version": "==2.4.0"
+            "markers": "python_version >= '3.6'",
+            "version": "==2.5.0"
         },
         "pyjwt": {
             "hashes": [
@@ -885,11 +917,11 @@
         },
         "pylint": {
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-                "sha256:47705453aa9dce520e123a7d51843d5f0032cbfa06870f89f00927aa1f735a4a",
-                "sha256:89b61867db16eefb7b3c5b84afc94081edaf11544189e2b238154677529ad69f"
+                "sha256:4b124affc198b7f7c9b5f9ab690d85db48282a025ef9333f51d2d7281b92a6c3",
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-            "version": "==2.14.4"
+            "version": "==2.15.0"
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         "pyopencl": {
             "hashes": [
@@ -934,6 +966,14 @@
             "index": "pypi",
             "version": "==2022.1.6"
         },
+        "pyparsing": {
+            "hashes": [
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+                "sha256:5026bae9a10eeaefb61dab2f09052b9f4307d44aee4eda64b309723d8d206bbc"
+            ],
+            "markers": "python_full_version >= '3.6.8'",
+            "version": "==3.0.9"
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         "pyserial": {
             "hashes": [
                 "sha256:3c77e014170dfffbd816e6ffc205e9842efb10be9f58ec16d3e8675b4925cddb",
@@ -942,6 +982,18 @@
             "index": "pypi",
             "version": "==3.5"
         },
+        "pyside2": {
+            "hashes": [
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@@ -998,66 +1050,82 @@
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@@ -1069,104 +1137,105 @@
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-            "version": "==63.1.0"
+            "version": "==65.3.0"
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@@ -1186,19 +1255,19 @@
         },
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-            "version": "==1.10.1"
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-            "version": "==6.0.1"
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@@ -1210,11 +1279,11 @@
         },
         "tomlkit": {
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-                "sha256:1c5bebdf19d5051e2e1de6cf70adfc5948d47221f097fcff7a3ffc91e953eaf5",
-                "sha256:61901f81ff4017951119cd0d1ed9b7af31c821d6845c8c477587bbdcd5e5854e"
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-            "markers": "python_version >= '3.6' and python_version < '4'",
-            "version": "==0.11.1"
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+            "version": "==0.11.4"
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@@ -1229,16 +1298,16 @@
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-            "markers": "python_version >= '3.7'",
+            "markers": "python_version < '3.10'",
             "version": "==4.3.0"
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-            "version": "==1.26.10"
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@@ -1249,19 +1318,19 @@
         },
         "websocket-client": {
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-            "version": "==1.3.3"
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@@ -1330,16 +1399,16 @@
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@@ -1352,11 +1421,11 @@
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-            "version": "==21.4.0"
+            "markers": "python_version >= '3.5'",
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@@ -1434,20 +1503,21 @@
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@@ -1559,11 +1629,11 @@
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@@ -1574,50 +1644,59 @@
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@@ -1665,10 +1744,10 @@
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@@ -1731,46 +1810,52 @@
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@@ -1791,11 +1876,11 @@
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@@ -2005,11 +2162,11 @@
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@@ -2021,32 +2178,32 @@
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@@ -2260,11 +2423,11 @@
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@@ -2354,11 +2517,11 @@
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@@ -2425,10 +2588,10 @@
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@@ -2486,40 +2649,40 @@
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-                "sha256:f3e7a8867f307e3359cc0ed2c63b61a1e33a19080f92fe377bc7d49f646f2ec1"
-            ],
-            "index": "pypi",
-            "version": "==1.8.1"
+                "sha256:0419485dbcd0ed78c0d5bf234c5dd63e86065b39b4d669e45810d42199d49521",
+                "sha256:09412eb7fb60b8f00b328037fd814d25d261066ebc43a1e339cdce4f7502877e",
+                "sha256:26d28c468900e6d5fdb37d2812ab46db0ccd22c63baa095057871faa3a498bc9",
+                "sha256:34441dfbee5b002f9e15285014fd56e5e3372493c3e64ae297bae2c4b9659f5a",
+                "sha256:39ab9240cd215a9349c85ab908dda6d732f7d3b4b192fa05780812495536acc4",
+                "sha256:3bc1ab68b9a096f368ba06c3a5e1d1d50957a86665fc929c4332d21355e7e8f4",
+                "sha256:3c6f5d1d4b9a5e4fe5e14f26ffc9444fc59473bbf8d45dc4a9a15283b7063a72",
+                "sha256:47d1a95bd9d37302afcfe1b84c8011377c4f81e33649c5a5785db9ab827a6ade",
+                "sha256:71487c503e036740635f18324f62a11f283a632ace9d35933b2b0a04fd898c98",
+                "sha256:7a412c476a91b080e456229e413792bbb5d6202865dae963d1e6e28c2bb58691",
+                "sha256:825951b88f56765aeb6e5e38ac9d7d47407cfaaeb008d40aa1b45a2d7ea2731e",
+                "sha256:8cc81ac25659fec73599ccc52c989670e5ccd8974cf34bacd7b54a8d809aff1a",
+                "sha256:8d3faa40ac16c6357aaf7ea50394ea6f1e8e99d75e927a51102b1943b311b4d9",
+                "sha256:90c805f30c46cf60f1e76e947574f02954d25e3bb1e97aa8a07bc53aa31cf7d1",
+                "sha256:96d7cf7b25c9f23c59a766385f6370dab0659741699ecc7a451f9b94604938ce",
+                "sha256:b97b479f39c7e4aaf807efd0424dec74bbb379108f7d22cf09323086afcd312c",
+                "sha256:bc4e2c77d4cd015d739e75e74ebbafed59ba8497a7ed0fd400231ed7683497c4",
+                "sha256:c61b4a91a702e8e04aeb0bfc40460e1f17a640977c04dda8757efb0199c75332",
+                "sha256:d79da472015d0120ba9b357b28a99146cd6c17b9609403164b1a8ed149b4dfc8",
+                "sha256:e8fe305d9d67a81255e06203454729405706907dccbdfcc330b7b3482a6c371d",
+                "sha256:eb954f5aca4d26f468bbebcdc5448348eb287f7bea536c6306f62ea062f63d9a",
+                "sha256:f7c39f7dbb57cce00c108d06d731f3b0e2a4d3a95c66d96bce697684876ce4d4",
+                "sha256:f950a04b33e17b38ff561d5a0951caf3f5b47caa841edd772ffb7959f20a6af0"
+            ],
+            "index": "pypi",
+            "version": "==1.9.1"
         },
         "setuptools": {
             "hashes": [
-                "sha256:16923d366ced322712c71ccb97164d07472abeecd13f3a6c283f6d5d26722793",
-                "sha256:db3b8e2f922b2a910a29804776c643ea609badb6a32c4bcc226fd4fd902cce65"
+                "sha256:2e24e0bec025f035a2e72cdd1961119f557d78ad331bb00ff82efb2ab8da8e82",
+                "sha256:7732871f4f7fa58fb6bdcaeadb0161b2bd046c85905dbaa066bdcbcc81953b57"
             ],
             "markers": "python_version >= '3.7'",
-            "version": "==63.1.0"
+            "version": "==65.3.0"
         },
         "six": {
             "hashes": [
@@ -2545,11 +2708,11 @@
         },
         "sphinx": {
             "hashes": [
-                "sha256:b18e978ea7565720f26019c702cd85c84376e948370f1cd43d60265010e1c7b0",
-                "sha256:d3e57663eed1d7c5c50895d191fdeda0b54ded6f44d5621b50709466c338d1e8"
+                "sha256:309a8da80cb6da9f4713438e5b55861877d5d7976b69d87e336733637ea12693",
+                "sha256:ba3224a4e206e1fbdecf98a4fae4992ef9b24b85ebf7b584bb340156eaf08d89"
             ],
             "index": "pypi",
-            "version": "==5.0.2"
+            "version": "==5.1.1"
         },
         "sphinx-rtd-theme": {
             "hashes": [
@@ -2661,32 +2824,32 @@
                 "sha256:25642c956049920a5aa49edcdd6ab1e06d7e5d467fc00e0506c44ac86fbfca02",
                 "sha256:e6d2677a32f47fc7eb2795db1dd15c1f34eff616bcaf2cfb5e997f854fa1c4a6"
             ],
-            "markers": "python_version >= '3.7'",
+            "markers": "python_version < '3.10'",
             "version": "==4.3.0"
         },
         "urllib3": {
             "hashes": [
-                "sha256:8298d6d56d39be0e3bc13c1c97d133f9b45d797169a0e11cdd0e0489d786f7ec",
-                "sha256:879ba4d1e89654d9769ce13121e0f94310ea32e8d2f8cf587b77c08bbcdb30d6"
+                "sha256:3fa96cf423e6987997fc326ae8df396db2a8b7c667747d47ddd8ecba91f4a74e",
+                "sha256:b930dd878d5a8afb066a637fbb35144fe7901e3b209d1cd4f524bd0e9deee997"
             ],
             "index": "pypi",
-            "version": "==1.26.10"
+            "version": "==1.26.12"
         },
         "virtualenv": {
             "hashes": [
-                "sha256:288171134a2ff3bfb1a2f54f119e77cd1b81c29fc1265a2356f3e8d14c7d58c4",
-                "sha256:b30aefac647e86af6d82bfc944c556f8f1a9c90427b2fb4e3bfbf338cb82becf"
+                "sha256:4193b7bc8a6cd23e4eb251ac64f29b4398ab2c233531e66e40b19a6b7b0d30c1",
+                "sha256:d86ea0bb50e06252d79e6c241507cb904fcd66090c3271381372d6221a3970f9"
             ],
-            "markers": "python_version >= '2.7' and python_version not in '3.0, 3.1, 3.2, 3.3, 3.4'",
-            "version": "==20.15.1"
+            "markers": "python_version >= '3.6'",
+            "version": "==20.16.3"
         },
         "zipp": {
             "hashes": [
-                "sha256:56bf8aadb83c24db6c4b577e13de374ccfb67da2078beba1d037c17980bf43ad",
-                "sha256:c4f6e5bbf48e74f7a38e7cc5b0480ff42b0ae5178957d564d18932525d5cf099"
+                "sha256:05b45f1ee8f807d0cc928485ca40a07cb491cf092ff587c0df9cb1fd154848d2",
+                "sha256:47c40d7fe183a6f21403a199b3e4192cca5774656965b0a4988ad2f8feb5f009"
             ],
             "markers": "python_version >= '3.7'",
-            "version": "==3.8.0"
+            "version": "==3.8.1"
         }
     }
 }
diff --git a/selfdrive/athena/tests/helpers.py b/selfdrive/athena/tests/helpers.py
index bb5fcd1063..071393cb14 100644
--- a/selfdrive/athena/tests/helpers.py
+++ b/selfdrive/athena/tests/helpers.py
@@ -116,7 +116,7 @@ def with_http_server(func):
     with Timeout(2, 'HTTP Server seeding failed'):
       while True:
         try:
-          requests.put(f'http://{host}:{port}/qlog.bz2', data='')
+          requests.put(f'http://{host}:{port}/qlog.bz2', data='', timeout=10)
           break
         except requests.exceptions.ConnectionError:
           time.sleep(0.1)
diff --git a/selfdrive/navd/navd.py b/selfdrive/navd/navd.py
index ee54252079..72874b2113 100755
--- a/selfdrive/navd/navd.py
+++ b/selfdrive/navd/navd.py
@@ -135,7 +135,7 @@ class RouteEngine:
 
     url = self.mapbox_host + f'/directions/v5/mapbox/driving-traffic/{self.last_position.longitude},{self.last_position.latitude};{destination.longitude},{destination.latitude}'
     try:
-      resp = requests.get(url, params=params)
+      resp = requests.get(url, params=params, timeout=10)
       resp.raise_for_status()
 
       r = resp.json()
diff --git a/selfdrive/ui/translations/create_badges.py b/selfdrive/ui/translations/create_badges.py
index 451fbb23eb..32904f242a 100755
--- a/selfdrive/ui/translations/create_badges.py
+++ b/selfdrive/ui/translations/create_badges.py
@@ -30,7 +30,7 @@ if __name__ == "__main__":
     percent_finished = int(100 - (unfinished_translations / total_translations * 100.))
     color = "green" if percent_finished == 100 else "orange" if percent_finished >= 70 else "red"
 
-    r = requests.get(f"https://img.shields.io/badge/LANGUAGE {name}-{percent_finished}%25 complete-{color}")
+    r = requests.get(f"https://img.shields.io/badge/LANGUAGE {name}-{percent_finished}%25 complete-{color}", timeout=10)
     assert r.status_code == 200, "Error downloading badge"
     content_svg = r.content.decode("utf-8")
 
diff --git a/system/hardware/tici/agnos.py b/system/hardware/tici/agnos.py
index 9a1759e99f..51998bf8b7 100755
--- a/system/hardware/tici/agnos.py
+++ b/system/hardware/tici/agnos.py
@@ -20,7 +20,7 @@ class StreamingDecompressor:
   def __init__(self, url: str) -> None:
     self.buf = b""
 
-    self.req = requests.get(url, stream=True, headers={'Accept-Encoding': None})  # type: ignore
+    self.req = requests.get(url, stream=True, headers={'Accept-Encoding': None})  # type: ignore # pylint: disable=missing-timeout
     self.it = self.req.iter_content(chunk_size=1024 * 1024)
     self.decompressor = lzma.LZMADecompressor(format=lzma.FORMAT_AUTO)
     self.eof = False
diff --git a/system/hardware/tici/test_agnos_updater.py b/system/hardware/tici/test_agnos_updater.py
index 9f188b83dc..e0d6ed8814 100755
--- a/system/hardware/tici/test_agnos_updater.py
+++ b/system/hardware/tici/test_agnos_updater.py
@@ -15,7 +15,7 @@ class TestAgnosUpdater(unittest.TestCase):
       m = json.load(f)
 
     for img in m:
-      r = requests.head(img['url'])
+      r = requests.head(img['url'], timeout=10)
       r.raise_for_status()
       self.assertEqual(r.headers['Content-Type'], "application/x-xz")
       if not img['sparse']:
diff --git a/system/hardware/tici/tests/compare_casync_manifest.py b/system/hardware/tici/tests/compare_casync_manifest.py
index 5e5fa24556..b462e93ebc 100755
--- a/system/hardware/tici/tests/compare_casync_manifest.py
+++ b/system/hardware/tici/tests/compare_casync_manifest.py
@@ -17,7 +17,7 @@ def get_chunk_download_size(chunk):
   if os.path.isfile(path):
     return os.path.getsize(path)
   else:
-    r = requests.head(path)
+    r = requests.head(path, timeout=10)
     r.raise_for_status()
     return int(r.headers['content-length'])
 
diff --git a/tools/joystick/joystickd.py b/tools/joystick/joystickd.py
index 35ecca351d..8374cf8a74 100755
--- a/tools/joystick/joystickd.py
+++ b/tools/joystick/joystickd.py
@@ -77,7 +77,7 @@ def send_thread(joystick):
     print('\n' + ', '.join(f'{name}: {round(v, 3)}' for name, v in joystick.axes_values.items()))
     if "WEB" in os.environ:
       import requests
-      requests.get("http://"+os.environ["WEB"]+":5000/control/%f/%f" % tuple([joystick.axes_values[a] for a in joystick.axes_order][::-1]))
+      requests.get("http://"+os.environ["WEB"]+":5000/control/%f/%f" % tuple([joystick.axes_values[a] for a in joystick.axes_order][::-1]), timeout=None)
     rk.keep_time()
 
 def joystick_thread(use_keyboard):
diff --git a/tools/lib/tests/test_readers.py b/tools/lib/tests/test_readers.py
index c982459f92..6efa0dc351 100755
--- a/tools/lib/tests/test_readers.py
+++ b/tools/lib/tests/test_readers.py
@@ -21,7 +21,7 @@ class TestReaders(unittest.TestCase):
       self.assertEqual(hist['logMessage'], 6857)
 
     with tempfile.NamedTemporaryFile(suffix=".bz2") as fp:
-      r = requests.get("https://github.com/commaai/comma2k19/blob/master/Example_1/b0c9d2329ad1606b%7C2018-08-02--08-34-47/40/raw_log.bz2?raw=true")
+      r = requests.get("https://github.com/commaai/comma2k19/blob/master/Example_1/b0c9d2329ad1606b%7C2018-08-02--08-34-47/40/raw_log.bz2?raw=true", timeout=10)
       fp.write(r.content)
       fp.flush()
 
@@ -53,7 +53,7 @@ class TestReaders(unittest.TestCase):
       assert np.all(frame_first_30[15] == frame_15[0])
 
     with tempfile.NamedTemporaryFile(suffix=".hevc") as fp:
-      r = requests.get("https://github.com/commaai/comma2k19/blob/master/Example_1/b0c9d2329ad1606b%7C2018-08-02--08-34-47/40/video.hevc?raw=true")
+      r = requests.get("https://github.com/commaai/comma2k19/blob/master/Example_1/b0c9d2329ad1606b%7C2018-08-02--08-34-47/40/video.hevc?raw=true", timeout=10)
       fp.write(r.content)
       fp.flush()
 
diff --git a/tools/plotjuggler/juggle.py b/tools/plotjuggler/juggle.py
index e3d0aec59b..b7c32d9bf1 100755
--- a/tools/plotjuggler/juggle.py
+++ b/tools/plotjuggler/juggle.py
@@ -37,7 +37,7 @@ def install():
   os.mkdir(INSTALL_DIR)
 
   url = os.path.join(RELEASES_URL, m + ".tar.gz")
-  with requests.get(url, stream=True) as r, tempfile.NamedTemporaryFile() as tmp:
+  with requests.get(url, stream=True, timeout=10) as r, tempfile.NamedTemporaryFile() as tmp:
     r.raise_for_status()
     with open(tmp.name, 'wb') as tmpf:
       for chunk in r.iter_content(chunk_size=1024*1024):
diff --git a/tools/scripts/fetch_image_from_route.py b/tools/scripts/fetch_image_from_route.py
index 39751ba551..139373f665 100755
--- a/tools/scripts/fetch_image_from_route.py
+++ b/tools/scripts/fetch_image_from_route.py
@@ -18,7 +18,7 @@ segment = int(sys.argv[2])
 frame = int(sys.argv[3])
 
 url = 'https://api.commadotai.com/v1/route/'+sys.argv[1]+"/files"
-r = requests.get(url, headers={"Authorization": "JWT "+jwt})
+r = requests.get(url, headers={"Authorization": "JWT "+jwt}, timeout=10)
 assert r.status_code == 200
 print("got api response")
 
diff --git a/tools/scripts/setup_ssh_keys.py b/tools/scripts/setup_ssh_keys.py
index 5b5ebfbac5..b6d4486733 100755
--- a/tools/scripts/setup_ssh_keys.py
+++ b/tools/scripts/setup_ssh_keys.py
@@ -11,7 +11,7 @@ if __name__ == "__main__":
     exit(1)
 
   username = sys.argv[1]
-  keys = requests.get(f"https://github.com/{username}.keys")
+  keys = requests.get(f"https://github.com/{username}.keys", timeout=10)
 
   if keys.status_code == 200:
     Params().put("GithubSshKeys", keys.text)
diff --git a/update_requirements.sh b/update_requirements.sh
index 719a28c359..060dca76ef 100755
--- a/update_requirements.sh
+++ b/update_requirements.sh
@@ -44,6 +44,7 @@ pip install pip==21.3.1
 pip install pipenv==2021.11.23
 
 if [ -d "./xx" ]; then
+  echo "WARNING: using xx Pipfile ******"
   export PIPENV_SYSTEM=1
   export PIPENV_PIPFILE=./xx/Pipfile
 fi
@@ -56,7 +57,8 @@ else
 fi
 
 echo "pip packages install..."
-pipenv install --dev --deploy --clear
+pipenv sync --dev
+pipenv --clear
 pyenv rehash
 
 echo "pre-commit hooks install..."