From c12afe13e705244e15a05abc5aa1d8a05d9ceb35 Mon Sep 17 00:00:00 2001
From: firestar5683 <168790843+firestar5683@users.noreply.github.com>
Date: Sat, 24 Oct 2026 21:46:43 -0500
Subject: [PATCH] Capture native audio callback timing

---
 openpilot/selfdrive/ui/soundd.py              |   6 +-
 .../starpilot/audio/native/audio_mixer.c      |  73 ++++++++-
 .../starpilot/audio/native/libaudio_mixer.so  | Bin 79264 -> 84040 bytes
 openpilot/starpilot/audio/native_playback.py  |  34 ++++
 .../audio/tests/native/test_diagnostic.c      |  48 ++++++
 .../tests/native/test_diagnostic_concurrent.c |  58 +++++++
 .../audio/tests/test_native_diagnostics.py    |  14 ++
 .../audio/tests/test_native_timing_report.py  | 146 ++++++++++++++++++
 prebuilt.json                                 |   2 +-
 9 files changed, 376 insertions(+), 5 deletions(-)
 create mode 100644 openpilot/starpilot/audio/tests/native/test_diagnostic.c
 create mode 100644 openpilot/starpilot/audio/tests/native/test_diagnostic_concurrent.c
 create mode 100644 openpilot/starpilot/audio/tests/test_native_diagnostics.py
 create mode 100644 openpilot/starpilot/audio/tests/test_native_timing_report.py

diff --git a/openpilot/selfdrive/ui/soundd.py b/openpilot/selfdrive/ui/soundd.py
index fe4d8058f9..75dc46f8b8 100644
--- a/openpilot/selfdrive/ui/soundd.py
+++ b/openpilot/selfdrive/ui/soundd.py
@@ -280,6 +280,7 @@ class Soundd:
         sm.update(0)
         if self.native_audio is not None:
           self.native_audio.sync_owner()
+          self.native_audio.report_underflow_timing()
         self.log_pending_stream_status(stream)
         self.refresh_saved_volumes(time.monotonic())
         self.load_sounds()
@@ -298,7 +299,10 @@ class Soundd:
 
         rk.keep_time()
 
-        assert stream.active
+        active = stream.active
+        if not active and self.native_audio is not None:
+          self.native_audio.report_underflow_timing(closing=True)
+        assert active
 
 
 def main():
diff --git a/openpilot/starpilot/audio/native/audio_mixer.c b/openpilot/starpilot/audio/native/audio_mixer.c
index f1cae365a0..9c1b86af6f 100644
--- a/openpilot/starpilot/audio/native/audio_mixer.c
+++ b/openpilot/starpilot/audio/native/audio_mixer.c
@@ -6,6 +6,11 @@
 #include <stdlib.h>
 #include <string.h>
 #include <math.h>
+#include <time.h>
+
+#define DIAG_ROWS 32U
+#define DIAG_WORDS 22U
+#define DIAG_HEADER 10U
 
 #define SLOTS 16
 #define MAX_PCM 1440000U
@@ -24,6 +29,10 @@ struct audio {
   float gain;
   bool pending_stop;
   atomic_flag rendering;
+  // Bounded first-underflow timing. Callback is sole ring writer; getter reads atomics.
+  _Atomic uint64_t diag_seq, diag_frozen, diag_total, diag_first;
+  _Atomic uint64_t diag_abort_count, diag_clock_errors;
+  _Atomic uint64_t diag_rows[DIAG_ROWS][DIAG_WORDS];
 };
 static void free_bank(struct bank *b) { if (b) { for(unsigned i=0;i<SLOTS;i++) free(b->pcm[i]); free(b); } }
 unsigned audio_mixer_abi(void) { return 3; }
@@ -75,13 +84,70 @@ int audio_prepare(struct audio *a) {
   accept_command(a);
   return a->active!=NULL && a->applied_seq!=0;
 }
+// Diagnostic ABI1: clock failures are explicit, never fake valid timestamps.
+static uint64_t diag_clock(clockid_t clock, uint64_t bit, uint64_t *errors) {
+  struct timespec ts;
+  if(clock_gettime(clock,&ts)!=0) { *errors|=bit;return 0; }
+  return (uint64_t)ts.tv_sec*1000000000ULL+(uint64_t)ts.tv_nsec;
+}
+static uint64_t diag_double(double value) { uint64_t bits;memcpy(&bits,&value,sizeof(bits));return bits; }
+static void diag_finish(struct audio *a,uint64_t entry_mono,uint64_t entry_cpu,
+                        const struct pa_time *t,unsigned long frames,unsigned long flags,uint64_t errors) {
+  uint64_t exit_cpu=diag_clock(CLOCK_THREAD_CPUTIME_ID,4U,&errors);
+  uint64_t exit_mono=diag_clock(CLOCK_MONOTONIC,8U,&errors);
+  uint64_t ordinal=atomic_load(&a->diag_total)+1U;
+  uint64_t first=atomic_load(&a->diag_first);
+  if(!first && (flags&4U)) first=ordinal;
+  uint64_t values[DIAG_WORDS]={ordinal,entry_mono,entry_cpu,exit_mono,exit_cpu,
+    t?diag_double(t->input_adc):0,t?diag_double(t->current):0,t?diag_double(t->output_dac):0,
+    frames,flags,a->applied_seq,a->restart,a->sound,a->frame,a->active?a->active->revision:0,
+    a->status_count,a->underflows,a->last_flags,errors,t!=NULL,
+    atomic_load(&a->pending)!=NULL,atomic_load(&a->retired)!=NULL};
+  uint64_t seq=atomic_load(&a->diag_seq);atomic_store(&a->diag_seq,seq+1U);
+  unsigned index=(unsigned)((ordinal-1U)%DIAG_ROWS);
+  for(unsigned i=0;i<DIAG_WORDS;i++) atomic_store(&a->diag_rows[index][i],values[i]);
+  atomic_store(&a->diag_total,ordinal);atomic_store(&a->diag_first,first);
+  if(errors) atomic_fetch_add(&a->diag_clock_errors,1U); // Rows with any failed clock.
+  if(first && ordinal>=first+4U) atomic_store(&a->diag_frozen,1U);
+  atomic_store(&a->diag_seq,seq+2U);
+}
+unsigned audio_diagnostic_abi(void) { return 1; }
+// Returns words copied,0 if unavailable/too-small. At most3 attempts; no wait.
+unsigned audio_diagnostic_snapshot(struct audio *a,uint64_t *out,unsigned capacity) {
+  if(!a || !out || capacity<DIAG_HEADER+DIAG_ROWS*DIAG_WORDS) return 0;
+  for(unsigned attempt=0;attempt<3;attempt++) {
+    uint64_t seq=atomic_load(&a->diag_seq);if(seq&1U) continue;
+    uint64_t total=atomic_load(&a->diag_total),first=atomic_load(&a->diag_first);
+    uint64_t start=first?(first>16U?first-16U:1U):(total>DIAG_ROWS?total-DIAG_ROWS+1U:1U);
+    uint64_t count=total>=start?total-start+1U:0;
+    if(count>DIAG_ROWS) return 0;
+    out[0]=1;out[1]=DIAG_WORDS;out[2]=DIAG_ROWS;out[3]=total;out[4]=first;
+    out[5]=atomic_load(&a->diag_frozen);out[6]=start;out[7]=count;
+    out[8]=atomic_load(&a->diag_abort_count);out[9]=atomic_load(&a->diag_clock_errors);
+    for(uint64_t row=0;row<count;row++) {
+      unsigned index=(unsigned)((start+row-1U)%DIAG_ROWS);
+      for(unsigned col=0;col<DIAG_WORDS;col++) out[DIAG_HEADER+row*DIAG_WORDS+col]=atomic_load(&a->diag_rows[index][col]);
+    }
+    if(seq==atomic_load(&a->diag_seq)) return DIAG_HEADER+(unsigned)count*DIAG_WORDS;
+  }
+  return 0;
+}
 static int audio_callback(const void *input,void *output,unsigned long frames,const struct pa_time *t,unsigned long flags,void *user) {
-  (void)input;(void)t;struct audio *a=user;
-  if(!a || !output || frames>MAX_FRAMES || atomic_flag_test_and_set(&a->rendering)) return 2;
+  (void)input;struct audio *a=user;
+  if(!a) return 2;
+  if(!output || frames>MAX_FRAMES || atomic_flag_test_and_set(&a->rendering)) {
+    atomic_fetch_add(&a->diag_abort_count,1U);return 2;
+  }
+  bool diagnostic=!atomic_load(&a->diag_frozen);
+  uint64_t errors=0,entry_mono=0,entry_cpu=0;
+  if(diagnostic) {
+    entry_mono=diag_clock(CLOCK_MONOTONIC,1U,&errors);
+    entry_cpu=diag_clock(CLOCK_THREAD_CPUTIME_ID,2U,&errors);
+  }
   accept_command(a);
   float *out=output;memset(out,0,frames*sizeof(float));
   unsigned length=a->active?a->active->lengths[a->sound]:0;
-  if(a->alert && !length) { atomic_flag_clear(&a->rendering);return 2; }
+  if(a->alert && !length) { atomic_fetch_add(&a->diag_abort_count,1U);atomic_flag_clear(&a->rendering);return 2; }
   unsigned written=0;
   while(a->alert && written<frames && (a->loops<0 || a->frame/length<(uint64_t)a->loops)) {
     unsigned pos=(unsigned)(a->frame%length),n=length-pos;
@@ -99,6 +165,7 @@ static int audio_callback(const void *input,void *output,unsigned long frames,co
   atomic_store(&a->status[6],1U);atomic_store(&a->status[7],a->applied_seq);
   atomic_store(&a->status[8],a->restart);atomic_store(&a->status[9],a->sound);
   atomic_store(&a->status_seq,status_seq+2);
+  if(diagnostic) diag_finish(a,entry_mono,entry_cpu,t,frames,flags,errors);
   atomic_flag_clear(&a->rendering);return 0;
 }
 uintptr_t audio_callback_address(void) { return (uintptr_t)&audio_callback; }
diff --git a/openpilot/starpilot/audio/native/libaudio_mixer.so b/openpilot/starpilot/audio/native/libaudio_mixer.so
index a5c890f0d14168c04db0bf1fe9232efdd6a851b3..b56c2653070c63be352568e1cafbb237bfc0f7c5 100755
GIT binary patch
literal 84040
zcmeHvdwf*Ywf{bI&Y4Fhk4ea5@*+ccg#ZcRA)p|`I|-nO!Gc95lVl(RNhT%}1Yd-R
zN+oSG1uIoFsnQlGZF9ZpEmB$|<#&H+>+OwK>P=g&Mt}4+3T>lCn<$vyckQzeOoq^F
z@9pRJ`{x{7XRW>V+H0@<-LEs}?6`aR>J=tQV)`YsAF*pG#@r&KaM3lbo6Tbu<V;}W
zxvi=f9)+LF)Ra1B!aI30gL<xL`8`)O|2p4k()5jj>*Xj(<@!areo;>6-6Bk#TQxUK
z0VnDb`H_5ru+ur&(zW*Y!3vUlQ+e__epXX6o$KZ9Ksk!@^Ii^NxK7k}BV2L>9y%Az
z;cZKV4;i%bw)O1r(vxeBU3u+{vbk|r^Ka9y-1R~8JgS27V?pG`0&=s`Mgnw?^n|1I
z%hGbnO8_N-I+woldc~&x=51e*CL~?_#j~INa>~H@^(UY8@BCK&@x&i5|D<w9(PR1l
z{9u=Vtn&{kvz;jNS1*~_SgGD2VU{v#E94PfQ=WuKaYSB(lPgk*^a@b+DEe^#Xf!|n
z0Nc^@`8TkyyMaC7?*c_$cih0w<1iep-f7UgBAp<;l>4!>Zh`J<Ve>EG3CzwKV>E?Z
z=zT)JHcC_E2>r`K-x94U`h~t(=-1jch2Dv~guYSu$q@EYA|7|VrV#EJ`J;GTahl#G
z#_3JMzCT&h_aaT#dJx&Wg@1imJSX(EA|98p|DDh~gn!+hc|2RI12vxdptmmQ@i0$O
z$r?|Eug<sCUmx_<m8@A>6{zu*c+0AMTHfe6p7Nbu&lZ1;x5|INk9iv^`~gq3f2Xg`
z<1O=xba|c68}zYqZ&g*GT-ODvs(j@^wx!Oe7c2MHcxoHUs{Hkp!bqe%W!{?YtXeBx
z?W-=Y-F4MVb+xyqLN~AT)q3l6cNKo`)|x<l&|e-FN|>^~##>uo83^jG;J(aTzTM-k
zsHpSR*Ryg2yWO+Z7YzEVeGJvs`*d4i7Hp^&1uJ~@!MeaM!qXS@HtgKttzuRFvhuw8
zK;BJk<?5m(OFc953g)u>hWfgEIQ3TL@9@>^$cIsW?XF;Dpk`KH!OZ-6f6zC*77=*2
z`s(wyY^kpGZO!-BpsuPavPD1AWnvOY|EI|kbff>H)n8)wU@YkC<Wr%qW7RUTtzvxW
z`-UtQ;2Acpo?fv(T-A&5))%4g754f%q}%K1u3@br3I6ppo@(e0(}(YaJz;uLB@d`K
zOfROc7AV?6mkG{kjn*$~m_FRUBTOH@&p5;Mw7%<?D@=cN?jSQKOfMkdMP`KQ!{eV9
zrWaF`+q=W``kFu)SuXk4R~~rz*cF+DZf5M@l?Prq+9`Y9;DvDOM;_LW{`k*U4msXg
z6mpre-k>r%IV9E+Z*mVgOpNF8v>EB_uyhpCOTyBzNSB4B6Oe8SOD7}!d{{aS=`&&J
zu}HrYmd-}nB=P#GEzH#TZ`7WThKHYGF6*6md}^U~xt2-uscpSz54*H-$jw+s-|%n>
z>Gbws7`HID6rwWYz!x!gv6Hcqw^3%?g_T2Il<AkH;|w@(oFeSUG4{*s%e!A+9KC1%
zxXX(VyaM}oP<BcG$|1}xlr>!~t6~3Bj{S#rHZ%slN|!92@0QqH9%J9ip+=P9F->p}
z9YcG1KrYs}u5^hs|3kZb=*k0Ucz@~fpGSLinRqE|!`r9#HTjVK(6sId{FR~(D{D-!
z4zic@{?~oz_L7^0dgZL+?XosTFdGud#;vlBD-Zni7{yPRTM_4nGCSTYTaSN(eCN7{
zo+6&-9(t1aO!v?M;y1a6Ld0)&4}F#Rt?r>O6JO#U+E09id+1BVi`_$y6Ti(p^eFLl
z?x9DB-{l_KL;P;{&~D<J-9rx%FLMt)0NyK)Ij-Y#UsxZvQCnSz^U7OYSrU7{H>EW#
z9G^ZOdsgmlH@kPAiIr5ESjRHZl?P58yBv^?eX`YbY|tYg`}hmWv4PuF-gmZfEHnlF
zrbw&<808M!z8v|>V7C<ZOHgj{u`3V!Gw-JXj2&sQhUJGC3xAQ7;~&d%?jZ2m2y9Ov
zcHTFsjq4UdZo4wv@eyK5VQlCwnav(TAAIsw<GQ=Ayj=IGoSggM{ku*USy=o&InACW
z*|xucn7@AiuE8CM`KiA={CcmPa(q1e9F0xg&nB{=HpKY0oP7Kp=;KKrmAZevg@ty@
zsTVVB?4><dhD)sDF}E;2lCHFN{R^<`m6MJ?2HT%Q?nC|KEo?R(PCGmc*u7n5R<c`R
z1^dBmY|_~1{+AQTCU+N0Sf#Q%c1zLQS4*XLG(Y6L^Wx;zwAL%qy_dijN$lQtUuaH?
z?*GBMi!ba?^T2LfQfpfAuUpfKBwMacVRI!%-dN@uH}-@K-=!>MZ)Bky;M~gCy-_Oq
z(8fZ!i19sH%H77fDc9b{LL_f{(0#z(smW2jEOgP*nzjo1D8y)I61RzRNulMW!#rO>
zyi^LU1kVA{_@!~t3%tU|H;rwqs|PDh?xCX?OO+URd>p|)%?av%ecVxb8aJO}Zj3f=
ztfee82JN}i%H~=(VH}&R7ke$N#M;P0HpG&QJZl>Zr4a9AAt&)(7D^({q);MpmlR4P
z?w0tNo)4L@qVc%fWV`59sb4Uc5bG3)Vzpgt#2B%;G#kI7=@&`Xi`Y9$tZr>?9F^G*
zCD?qb&4=SJn%F_V>>i@|@t&NH`JH~eP?ZLYfR(k>J>-$C7u{GV(;kdI_Ogk+pS)@8
zls;hM#F~;?$%d><ng45=dleKz>cw){X7#g|vY=1A%w8I^i4D=b`4nqf_}tOwjlLey
zxEwiOvvOSy)**pBIre*h7RO4kAGTu*=DHisES$njp(v$sojtj69ro44SeFv|6|iZQ
zVlTGEqP;4M&x&F9_QtT1Xyi2`uWHybH>Okx{Qz=IqY`Qd|KmgKwc$PN{qH^6`gH6P
z_WrNHv(V1(OJ8~VkMQ-!xnF+zW#k{Vvl7I(aE5~o<t~tp#krNxpHY5#1{=yhX*w3y
zrls>;Y$&c%$P?Jmnooy2e)SLw{aLmh@0Vka>+O9l-u*R)nY~|N`tCEo!kC}=juKk;
z*;`#7NST8(O{ymEft)R5Y3$(4CAuDRnXb<ooY|!7AwRF{+0e{0LRKNaBV-$7lUeg0
z136pB@sO7YISF!^kW(Qy2{{w;^Fkg6`HYaU{>*$w$WtJjESmr6kh6tc0C|a!=RhvA
zgbJEOdOjN}K-=G6$cFy>iYYYiFT*9x+M1M$`I<}PqRZ5{u1IQJ*EZ3bPHDzyKUYKg
zm{GA`4KFplcI5#X>#~CNS;abS#(HhRdTu>-<!3DPp{!zEmX43Z8u~HTXpiE4AMYbd
zyk>>3iyvXl9+2hZZ%gbT_U5^jOO#ML`uG9Z4`S`ROlveK8{^IUyjJE<uyteX4%}Xd
zx>lmj6{veTVpxW~Vd*i%#A75IiuIdI*=sb`Q{CTKx3T^^b>F{&wR-aIV_8`HD6bTG
zgP32|iK)+gGG^b?-$s5TW3#Dlr@Z?`JfkL(eFpMrFMRW};it}gtnCMHV{SYTds@T#
zFem*VyI-=}Z2MDf?w2Y*aKChvu{l`d60z6hQraqE-+@kV%a75PN??(7rPcaN;D7ld
zJ2n`HIj*wVH196UskwL-=FbOyDv!Nsio#}pf<EdprCt0v)^q<B_fW3w{L|Y%alf>k
z4bJsQ_KVrj7kw+^nO~aHR^`gJRlQMZ`?I8|ixlV1f+y0pAx_iohhMkGMD4dubPq|0
zxs=)gUslPv-)~wrzj6y3@?RdFZG-QeZ)QAWy*&KG-5;=*cAJ#>ccFh?#aycVKo0%l
zvDT;G!aP2MI^P9m7ZLY1tOZj(diZrFxqtHZHveg69XGaj+mzGq%2Bz+$Xg^OUzCT3
zOZ-g|--l=qqW#BT;~q-FJ~0^Q9-0DO!w$qy!-hUm9CH_-pQZqdZ9CjUB$Le~q^Ult
zw^d~Y?#md*S4v-xMyzikzU?L@^mD|wTS~czb-U!<C>wCFUHsW6!zJwJ?lnb!eDG@*
z@w|KqYlYXg`+Loc+54vR*)`?y?(a$G$JNN^$Jcmmiy%*^DOa0Ly#3j5i3jB`%C_9M
z2Zu|#(P!K0+(Q^E)UMFBIyUqk_W13<vFds3BiL8>qg_>Jq|kQsAD7>O417u6ZZd_c
zmY70*lC#0#i)4S9DKr&rd;;>eCdick?N!HCQTlmPi1vzYXJC(hBw53;wd>P3_CtM4
z4_wy9F+Jxv<%eISadd3z?qgQWgF?)M`BSXV=yT&;VN1^&PWhqhY;$1iFH=ITGP`#g
z=BK|&;rrryDa}tmg?8f^<oz#7UwZl==D?S7-N*LhcM5*qB~rh<2SOhmul?z&V>O7k
z8ra;6ad-!83&6{=S*Uyo3)P`tE3%c4w`t9>C70joYQ}oqihZFR@?p@Uc(!`<a%-1@
z{ik`&k!SY4t%ROJdatC0e*cX7*kdG*Q@PFF#cF6D()+w>C>8kZ+oOhT#J{PAzO=_2
ziX!<HHT1+Q=8&D_x7E;o$%5wu$dVb)1>ob%AqVlr=1?4QuQ?P8J{|O>Z<<52Cwmz7
z6Qmb|o_O0FdKbFg(7BPW1MMGY3B3p1PLdZ}LY3hAycR8%Jr*8EC2&oFz7m+GgC7De
z-ZR=-_m6l!`V{HPF)TEUXPQSahG~tQg0aEdV`m|Mwt_i?@>oacnTghtmp<dqm$}%N
zJNAIAjS}j7tLsa67L00>LdB4C85@e~6tV)jSIAb#*z37XG-Q{Mu@6VNg`5bvRLD-q
zjY7uW9MvXd7vxSMPk@X%7hw&;?>^es`Pxjs9gZR<8)Bm8EX?mA8)D)zVzMD7E+Zxz
zGifqnvbltem~3t#BPLs^kP(xuQOJnN)+S`cWa|_%VzM=A{%K7Z5f}9Tzwsh$=vgv6
zF4`0H{n?E*n4YHxZkPCPrvW@q(lhlw^Ws5z=B~n=uEgA8@Z+cX{n=YxTfu1$8@Qc*
zN1Zt;U%vL6-7`V{bw7SzJ60^7UyJ?E)z~|a_RoHq<+?6=tTQghTVER<o}=&oqu37$
z`{S_hf_>LtwP(E}?BkhZf5GLrt{;Teq5o#qe@o*T<mx2}DOqqSUB2ZkWc<EkYyUhv
z+>MR91^hhHo#1F2S~onbpx|2Y9Pm=`67X8^O7J%D7Vu8+lcaxtc=!T%3-};-`v=3r
zz@4>yh;rb);17b&zzdR2a5wll@Y25w5BGuBf?o!ATp1oNL_GbU4G(VucMlH_?*p#|
zZv$@wKM78kLt{+3e;reHj+N4*v$&4lSD*OP@bC<gPj=HlUC=EMIv2PbGyq*8I9nX+
zdRBQ(UUI;6+nfLKI(_nB^zEbq<N_vGqpx1!^-2$ptXF}pRai~{r+OK5ImDO6I+jIe
zI-WB<t89qQax9BwZ~h0=WLE;R!j8XF53^exW=B3A1d+cJ#0z6xh0&R=1IlyeXRW5@
z=qy)ZEPI{%q!^Ea_QF<wf4>ar(;(_=7y5{8iY?s`omqOobWnNH{B`S7QHP?x5&N{`
znS{fM&m}+Wj9MF=Rk{Hl&;9z1fA9ItZ-00G&Hq@2hcxm{W1|v%-w&BCYJ(HHW$1r5
zDMrLraWyo`bHi>E><TG{WjBa{M<6?-h!Ci8RR3P8A7f0%nskSttANghaYPsCPC!>X
zFgzU1H3$p56S^ws+UVtJVQh=E>92uc+7z7ylaVm21`OPPH0tUc8XoS2Pr9g&sQ%_p
zhlf{_LdO9ZQ!iBsB+j8BG``NlwjH*7oRB>((w~REYZUze^u5r};Fj8r#!NKk#LkPu
z!_*HL%Z_JF&q*uZ{0}~kH7nz8AYdS1AYdS1AYdS1AYdS1AYdS1AYdS1AYdS1AYdS1
zAYdS1AYdS1AYdS1AYdS1AYdS1AYdS1AYdS1AYdS1AYdS1AYdS1AYdS1AYdS1AYdS1
zAYdS1AYdS1AYdS1AYdS1AYdS1AYdS1AYdS1AYdS1AYdS1AYdS1AYdS1AYdS1AYdS1
zAYdS1AYdS1AYdS1AYdS1AYdS1AYdS1AYdS1AYdS1AYdS1AYdS1AYdS1AYdS1AYdS1
zAYdS1AYdS1AYdS1AYdS1AYdS1AYdS1AYdS1AYdS1AYdS1AYdS1AYdS1AYdS1AYdS1
zAYdS1AYdS1AYdS1AYdS1AYdS1AYdS1AYdS1AYdS1AYdS1AYdS1AYdS1AYdS1AYdS1
zAYdS1AYdS1AYdS1AYdS1AYdS1AYdS1AYdS1AYdS1AYdS1AYdS1AYdS1AYdS1AYdS1
zAYdS1AYdS1AYdS1AYdS1AYdS1AYdS1AYdS1AYdS1AYdS1AYdS1AYdS1AYdS1AYdS1
zAYdS1AYdS1AYdS1AYdS1AYdS1AYdS1AYdS1AYdS1AYdS1AYdS1AYdS1An^A=V1`Ze
zGb2jly&^3M_xA`PQ>5!eI$ESlt(p)c((S35AQ<bpq7_IN`3}L;1n(3186qv*v5!6*
z4v?x})TfI4PDK;UBE8n62_k&<qOiA%e5c^D;C;iIfhfj$gg#Mli{L4O?-L4L-z6&6
z<Lnf60yd`C_t~%(|50H-EYc!8)-Td^B7aDvMe~H$zaQ%tIRAG&Hi`!SPkABJkYBlU
z>CLX3^<@n;!3I~sth||dGp5g+)xguUrw9!b`Q=sKnys!KzPfsUpvF}&FRvhPmMf<~
zvo4sz9t8R-lX!>{%M=otYGUVO86!Q7S0a-<8+S!YP-Kf$c0)GH>0GCprps%QwkhfI
z25_rsnqpC{N|Z(6`F8boC0bSFAo616G<g$vj44;;?xn!pY!YeAQV#A?^%vRXHuSZH
zC1`^6M^Kw=(jBtnWS&i0D-|#n6=#0IG!=ULH2ub+Wts_6^#K%)k)Fam_5u_Ni&IbV
zj7@B!!&J#89tDo^=6%pv5bi{(n<WION`ANUyN%zY_}$L$(fl66@3H(I$L|h)kLULU
zejmf{iTs|#@5!;`KZT8Pn15ihQ{c?(qyaAl?qO3ZAvlx-Hig>F660A;QUc52iR5ol
zxq0(aSdw!L1<sP0GwnkXQmoE&O>j6f21(;|Iy0|u!Q~vQX-b`0Hk!cBN~dccI7>b0
z9H$AL&TLKSa*o%8Zs!Cpr1dx_YC^Abk|y*yCv%+A`<*$OFyQ2Ivy4G!?w_gB%*&}$
zlc=t-OiG=eN>Y|2r55l&##yD*nVRH~QfFzBQ%aq!NiHdM4wtfXq|}=<X@-<KcOiKh
zKTl%G-$NB?sa-75naCqbWX_~tQMHLyXUdygC}imrTE=gYa<I%~t0nzCh$5X#K`Kr~
z8A~vZB`4`r5zn@U$x%$1W|HJ_sCtIwJ83f{%Xgf4Gmx@;hcS5`gnY~9vDDIQ<z3uM
zGBc;T&|gyZW|qr4RZU>I)Q=8x3d_A6bIoB%V!7ocSp6)Q!gbgZSuRCmu~)L`6k8UJ
z;4~LhY?>SsMI)KHm?e4x%j3`|(6CPD(;|aUi!Mo<7S=ull?mDOI3^)kjitn+5TfRr
z+pbL*X3pw|QVMw39IDz8lfdRsoa3ZBCbKzI%Q$IWjxOCfh0USnjFU>X3CYyr&Si55
z(s9!IahjKL(p}qi=?mjE$r5`Po5x!hx1P<fM#C-fRcvk*ytyQcV*|UHH;I{DZm6W{
zQnro*myp2LQ9udb!LmM%#bp;FAys?XLdTc{wve(ciFdJEx$ER=b}PBgu41>5=lJpD
z%#yT$xw-fF39BicQp1)Kz7}VIt>ANssS~Zpkpg9`jx5cST*#LK<t#`^M`{8K3Rr4c
z@ISGW0+xHVOqa=$R>yXbolCZ)``P_GmW;dDeO$<_XFItt_D&&W1=%jr#7|y8;kz2x
zZc4h8>@ToJ?nkwZ+rjpbs9kDKGz2M7!M<AxVf@W(1C>a+g>85P!6e-((u>#z3NG8t
zHeLj0@|(CXv|41sa)IesGL=eO?y%XNi)Cz^HV1PqwUdx!WqiqAVrt`jndyH`Siv@9
z{n<<nPg=<~^BM~UFJhjrp<L4K%tO0D(pte6F%Q{g-@!^bU&p+h-^t23FJWbzuV=nj
zP(J%EwvDI1z_wF!CuVP8Ra(1~pF;km!?>m0=44}>#Xo__#xUn<O|UxGXo7<&s}yTG
zxe>E(@{~5TTdMZ4$Eo2-53$F0(NxR6k3CLnu4DY|>~RX)F`<Y(PVI0^Tq`t_c4{`3
z$q8&9HQka^$i70(EmKwsA$O4w3ToLwT3ReKcd;iaY|E_s*;8DYJC?QamOaeAOlw5W
z_YjhqwK!s?{SZ>j)Suu!W%|G1uH{)+C@v<S=jHLd89dKrwak8ieS`a)^Pna$m(6n1
z2KF2WDr*el&mBah>}W!+RGvaf(^nl?8n;d+E>+}nwq-77zD1l>t^}Jh?{>P+{{r1_
z_R#&7t#n@yp!>r6aL=OPbElySR+=<brXZ&&6y$VMsFsJxEv9k{Z}L=$TUbX}xT2=q
zx(~jvBAvlxo5q(aEL-rPX{M8Amad`sPP@G65m6w2L^ipY5$=LTZHyWxQFq&EO4#3k
z0ZXP?U@qtdI8tB>J3-lwMG5Q#bu8AnT6Tiwi_30t*Rk&toUUlg;=9-nsOMZUmL(fl
zI|mubyqUCkNYz`}KRK2ruzw;Kd<CAx@3Z-R4&UEzV#y^KZ<99Smb{rHS|F1vNg{XG
z#;TPiKMZX?lj5a`6UV6X#JUtmO8Uh3^aOK#N-(8a!c(*<4rSzIRy0PQc(eT$JeMmI
zm^|@TyB(sM$H>_2ygyaTot#=UW)XfnnDeC3Gc2>2DO<BG8Ut_(rQKs5!jB7E5i>a-
zc4CjnlX$jDt`?+{GrNk~@%VSmX91EiDm;-8TgY~gX_8X+NbnPP%}9?3sFUfnO5^Q3
zI3P$RsrE6~D%Gk?6bk!fMBo|+w3Ae{ngF0slH+(pDPs_;UDaT5#=xLx3?=3Pn$)l)
zdO3}o+BMU3Ng^*9<KSg3Y%>W_yZu&(V^?y|S(#G77(#G^eWU#g(7Wu?`tcYxXo>S$
z9NDwOf*OA<=Atn?<_Xs{JU!8lhD@5oYnXgJP!v-RRlI(@UhNd>E&>_P$tEWWQ&pA`
zL&7u&aU@KK4bRHE-X(Qk{v?bb_ESs=de%-w2$Cdy8XH3l38pEs01{vVxj_w}10Y$-
zGR3K5?Z1M|KC&N5nX<|B&leZ``ShKpZs!%~q-o3g#y$TJPiDNC*ZygquX1Y~+?n2f
z?4H(lTHpTRuYSGuN2iv5^|=&MP7M6w$A5nQ!K44Wxq9xp%{9rBNLlgByqim3e&J$E
z-v;-K?LT$RhEjgHebKSA+a7st&d;WPt@S5A{>nm9?tcE#i?g5DGT2f4(l_t^iM?(G
zlu}0SpK_mEc)7&VurO=sGyeP5L8;iDZcJK`dv5>#{%GKv`+iwHVKXV$pHEuz;Rk7V
zA6s_*2dAD{`f)A!jLYxn`N_qJ^MCW5H9b9ZT)P#fW=Aob$t`{k%M&G)eW=ckYEsvj
zPstmL)%Eh^V)ZMMy;x=D57h!>Og7t3sng9-KT_A5KTy{;sq356wJ<FH``^9AsJH5r
zI?EjOn0k}BSiP-D&22&?KUQr~kEl6j)3gND+$5uJ$t=&do-oU+i`4?NoKtL;H=L4l
zPN|4K!F;<q)qF~2#p<$RRW`3O%j=5OBsuStYBR4=6X7@S1Jzm#f2-6uq+*-Y1x>1o
z6hKfj%_~u;81fobUU@rem)Cq?mgk^!)GBp_*&39KO=~6jref7$-m7M=Rvm?^dzCu9
zNR`*9(^sk~tJKU@MNsSkSKTksJ$|K{33t}ttI{gf93`hTA+b=6S*50-Dp#>OwOIb{
z?o-sPHyA>fx59gr^?PdCBM6{aO)FNj&5x*dlY5M6HaDqJNW?=wu~@}D1*zCaz>3vL
z#p;wM)k+qt)YK2vs3LXBDm5SNiZic9QTS<s;cC@hM1kH?q~@#wV#R7QnwtTR{{Y5q
z2nr6?AtjmZtJKL+@_5q(43+^x!7T6J{Q*FdKSr!EatzQ!OjFHrJ(`6g35X{jnnbv`
z34Auv=?EdQ34#^Pctl+Wvq{BjG%Oat0{u>+9pao~bvEw}v%F_F#U(dN)&**Mky^4^
zO)sSToiHmYR`2|Oe?P_REk<h!F<^=jVH5S)V-g17Cl5ENH=E^0Bw+Tanj0lk=S0by
zF?jy+uqj7UW6kmtWccyJ#U!YcnjoIyBG5=g2blMo<@X;hhHH7hgmND}%!kBr$$9|;
z1I3P`nAt41?=Ch2ld-(J#x^06regWqKx>-(Tc$}VX8CuR0aM`_9W@W5{Sh?@iDXQs
zG2pX`)y!f{h(~A&$nPO`oBVZnkAuERU3m(sQ|L(fkkn+B`w&w!#1AksNlt)_DOIda
zpmFkuI&}}`EGoi)q#j1E7pZZpRcn!&zKZU-G!BYYXR$g1U0bYTp|QhoW0C4yrH)4q
z2JHM|brr?B+AP2GFece^Qj?lptWHPd0Ou4rPcffHJy;OrUc?I=zDaPtg@DGAsOCW+
zd@w-YgmR-<K0?u-f0z%}=Ok;8`(6OwAE;O?5_!mQ58pW$x>{8{nQ8u*obZA#NX3t>
zz-oat0bu~YjapmtDO{xXsM)I^VQP`$5j7VfQik~v`9*ZpsT=joDTG?|*Rm7Mcc?L|
z)x<(IVU-$#IaNqWbuT)RR$uvPjJ_nZ{0Gd!d}z?gi;LA;F)?TatyU*MH_2S2I?xjs
zu9)X2yj-2IMs=)0kd%2^Rpt9ldnJjMr%7wn%pYMoQpOr}!H-BGV-3ndd(3E8EOMgF
zKQ_yu-No{sF}Sdlpq=u3ELb0D>%!~k7Yv#opfd`%pH&zUO*GRd{_Xb|tO!_r{}o+{
zIo2UzJTCuxy5&>%s$0Z|`u>j5n&nq9V><vvt~qM2dJA?>Y(Z<9)TK@8y~Qe4`27-X
zcuz{FObQ-WKIhBKK&`K))?XC}=GO<kb(-XDsPG5!YrH}K4qrY`c&hz7eRX-|EI(LX
ztEr|3?yK=tOb?U?XU>^EqkuKk)cdzW<EjeOY-RQS`+c4u^LQHkHNl%^b5WPBT0+4n
zzcyHR)ppiQh~?g@D!fqGQs?tAt^V>rRh6$i$h^#3PGPYsU(MEFWj$(Gyl&m%jh;J;
z?q2RG*|>JO$HQvNtJ#*SfH%m{xC%eQsq+Q>b-oH#9;mMN)>L@vefKi7H`q|mMQ?3w
zmEWhS>wE-65ZQrR&z3qbei;kP@&H~Rqn#DLI(WaYo>h74gPtu_-mUe_TjirNu&7{F
zfk16N+v@e#==FQZ8S^X&1ga1UIiR3CcX_KC(7<4z+F$M|qf8-_PgddgZspN&VM|@$
zeqW8I3<iSUDoxztud5GgqPHwi7xZXB@*?HHaJ$D>R~M+O*G%dtY7Qu?)*!xS2qbv{
ze+4?A%pYXI9jLt=>Y%@x`V#3HO;NwAo_ferPhCwpFsQGEtrn@j#$R8_d^N$kU7qSd
zO+bj{wGGT)Q`->qcq?EUXeg`lvGRsG01{+@h9Kosc*|L>m)D5i2ln;Mx6_YSp)41;
zzd#*26$tDg{OaMf!nc!Yt=;MiQZ!=J@KNjWmihHjROj;seSBPb%Dgq(b+xy~Q;TpY
zY;CxS)CePO=;#J@zFKb`>M1Yx)e`D_T!~DAp(aotM6X_}J4{($<E^c)3}7_VMDq}q
zWnOfZx1s{0PxR1LwXo6#p<V+9X<c9!D`V6QPn~avpFUPlztyuHtj4z!kXBU?te8x-
z-g19%7Y0|*S6v%q7zLOJRRVL?Q17b~(}~?z=Z6u-ZGd1!kMJ(l+QLrbHvs)6(jWKN
zipTy6!5alXBzT+P?Sgj--X(aq;5~x(3f?Dpzu<#{GyJfm%PP1-aHrrd!E*$kAvpcM
zrE8hsYXz?r{G8weg7YsourH(+iMW~tZxOsve0@A5c&Fe4f^Wb_Ai5m%E&`WJ@IJxa
z@tS_E;C+c&Ix$J((Fq!#CirT>2ZWtV*!3rCcHMXnLDzubOneQs3Z5wVjo0q{hWfhv
zDt}piRn?B_=>_w+%s+$WBjK+puWG39vHU=7Fdu{3KOGA|T>x7K6%)DnUT<A_<xR7v
zSNUric23_~(~!>x<6kZG-*TBB+*ONN|2J-29<0F?6}~MVZD-1>WZVrn^w@)@(?(Qt
zEjc2ksR58CXsa~js|zOA*EN&}`O-yeAvClQf#qO0(6m{GE^=TBC4(k_7K45cdJXg^
zkb?JKX`ov{n?co}2SEow-vZIsoB<Gh-&qdY45|h-fPM<viMN1{gT4xS5p)LB1Nsx_
zW6)<HGhSQF0KE%x;05D!P%(&JVtxhmUC_UQ-UCJ9BlH+h252HE4>T9#1{H!fgBm~&
zfto?z0(F2+gU*6p2mKCo7}M$qr~%XG6zFx(UuY@;7iGdcX)ROSYo)cy+D*y}(%M$0
zl<q`oXQN3fR~k+GOkAt%Gc}vYw6;+)&1h8`rG1jApjFu?wMeF!txAh@NHWc8RSrpQ
zl4*9U(k301OmkY5qf)zMx~WxZmrhEixvk1csZ%n|YgIa>F3B{%Rq2wtCDYBVO1IP_
znQm!SdZb>-w4hb#mHH&p!d9hE>X%HnwkrM7pk!Lqstii|OeQyiY%v|-@wA&dz?BYD
zze(Dlw8$r9uoH5(g7>RRJ8AEL_Mi-QkhB#-yAIkmSz4#Gk+xiD?}YZKEZwObm3w7r
zi_$B1DAIQ2tOA?u!lnc^M`Wo)IYKsDl}6>D0*p!!)Iq)avoclRDR;?;t&3{#G38a*
z6L#FGUvuhbaDCbgtJCIAv*>_xYOgA7U`n6bugZ5HuqyrPWmP?3CGoPl&#WGBkl1WK
zWOf{Ie(`|yfOY)=>s<$|Ux4<I`J~x?Am^%rDVNkimHKK>-D{@4+G}n$Q(rZkTg((s
zi}|pb`s}dzh?)BAi1~z>`s{?c!%ThF0gvc2G|${-mhMKo%;zZLbLK%a#>k-gvL1M&
z<*XGMXRQ~k1lJKuyN#gjuyk6eqE1Vfg#ziabXzEpZcC4a0_m~zS}1^COP_@T=(F@&
zD1d&;fQ14Wu<W(+0LX#71&t&RW(Zp$lNXyNS0YKyqOT@>(2(1>a7_i2R7XODavSti
zXVUfh4agd>bXc9EX8DoZVLf3>xjy%R6`4$FvmUid8<lf}40^Vk_(rDm+AhTauuC!h
zG1@fikGV{W%Q20yVlWKYTB3L_MO}!YqAgKvQPMriB}(3-^utiPM`$-G9i-i)X*Z#x
zqW0P)4^z6LPTHkXrd)_>w@aIua@2m(PCifCyX>|`_7Ka6-<^(rh`A6GttaE9Y;^fq
z`+078-ri@YuIsZ8*s1FV?2XaXb&b)@(bRR#(TAd`>kdU9iKebQ65Sq6UDqCcI-2JD
z>FBO#KHsCyMbmsg7u_38^Sw9vQZ&u?OVNYTG~WlK_r}nC-y72sL-V~Q=5P$=yK*?@
zXpCtw){~fy7}FAr$(YU<(^3qnnC=+UG7P1do*2_|tqG<T2)rfsbS&ol>DZPy%+dC^
zlW|C$j60l+)Zyf|RG@nYH#-}PMc`~~V;rVCH(Lj@_Ec#L`8XeowctEuR%n@bYMEF?
zT4H-*u?X}~rccW((K0dBTVhYfO6!%Au?OQYLk`BZ$DzLUfP><Io+`k^7-<%fc?q6*
zC&dkNJ{Wg7PO4Ha$L)2Hdaq;9Ayr{^Up4FFW_@v&9n!XN{ROVS5O>KTRVtSp?Wv}(
zIx!~V`s2`}k;0d2vF=b6Gm*uGS-L=3%??5kE1~1GL-H$~j?+nCXOqr>VSG6*^Vs&q
zx5U$G9DgC6Lg^rm(SADq)p+S{<<<D+1X>=O6Iv3eCG81k6Xg4Mw<>27UQM9&<$S`S
zF(`g0@nj;6_;X2ZspP#e`D6;E4<;W;##}mrUZhoqdXqvrl6)dL9t*-(9Uv@;n6fl4
zPb7CFr(CDrsI8_Q$(^H>=}bPG?7Bf2EVr2Dw62^@?n<8YUs;tNuzFzImHcY*l+S0o
z8RoAhUr3(zxy|oEi3`b>l4t)dB@Q^t4p?cyyaZTp{+mi#?>Jyxd%!BnpG<i*Wqw$B
z4!ef$Rjf1=&@zO2U}W)EQ+iV7MHc71^La}5q+Cdub6si2=P7z2<)Cxsbwz1`N9X>P
zfDby4I%j>Ja^8rR9(A5}Uf<GDDvT(2zzQ^#)6Rb9E&q*bd1?L-;T&*=_cQOO1EW_T
z*1uQF4>$*%b3bPQ2OQeqxLSD7*_N7lqrwN=7>AhODVWGu(V9~ZrO>)?DCI~B?KwwM
zPNdMDb0Vc9h4!3|l+!7+=bTPCn?ifeSqwnhb6!p9PN6-d8zYMLo}QHRDYS>2#~7hK
z=t4?g3hg0%Dg7z57xkwMrqEtAn9}H^y{OT-&q;gHK4-I&{4_fcJ83UE>}+$ApEhT^
zllG!^XNQygbT~Vmv=?<cyPUKabve78d@pkLIQd@WyyWD2QG0548aDOrv~y|NE`Khq
zFCB`$^h@cQ;!=8JCKQdCdowk~-ppoFG-tMG3M`(fuci?y=h7~u6DpU|FK6&Y`YbZ&
z(ITyfSP!zXc3w*FCpG{hT6w!t&!zIhslBOGxHt7uDnWWFbug769ZcPuMv(4JYe^$W
zThb1v5u}IHj;0ZmN7Fje2*QrE&NPCqGY!E2y7Os$JgC03fi&_vkk*(^ejC%9)5&jh
z`k{34dno-#I{7`4-kwf=+tW{{li$<nUFqbvEB#zL`8}78#!;7~@6Dii_hz(Ykl&V!
z!_-*iaK_OL@_RI+BZK^QWOQbb-_DFzGx!k5=*i$+pK&3BcX>vC2Jh+&fORuAvX;!F
zgzM4F?o4dV-I+ZC@1D%_(6e~_4y50T^af!bXep=+R1JCv^kvW?&<mjNgI)ri1^ou}
zE@%jZ=ll+ZKixxAyHz~KUsCZ1KdADDcmCLoN9hhTQyTHOrVQYb4}syaPC0QcebRo`
zu5{U7wJY8B9^{9KC*#h=Dd*$xIzu@ZcRr5q(o8uN-xja5V{4_2^<09|KITv&&7~Hn
za>#kashn`0bYc<d!Pei25yQt3A4HTsOX>6JNDpMtXz5Ht*Pcs9KlEqdvp0dFU6aA?
z0@Z>Z20aRT9JCA60{R;0Y0!5-1kyi%{t<K<^fOQw=nYU0=#tFXTi|~HeF_=|xu8?g
z2{E7~&|0MFJViJ7G;kcNWXnNr&??XdP&udu6a?K5Y6LwB`WomE=y}jF&<{bcfPMjb
z1N1iN5{S-9$Dxg>pe)cN&{R+XXclN8$O`%kVpt4b2)YBb5wsl?1T}*8gHE9hPlC6C
zz76_5=q1oApi0!!1^yc7KOz4P{QrRH5CNUc+6Vvr;GcnFA*X{Tg64vXK^s6@K=i`l
z3D6PHk3qix{X6LQAUaX-WzZiWe+2pjbQvV!<%0^cff7K!gU!vLG{|E?*`O()JkT7_
zLeMRs#h{g-&vD62VqI_<dC3?*`nmq_JekQ%KhHl>udvQhs+2JZ_4D&1?afR-cRx~Z
zVfy*~k$NlB&-stk+gK@%okU(Ti(-wV>g_nz6={uQ8hC%H|6N3QuFPUscWSsslVz+n
zy`$>m*irotC&G%!I4G?Dokf@$^~N*(?<+>?6WC~f4<O@!VyF1~h>`Y*O#i!yk@_U2
zpXVQ`PiAXrjfl8poE;zSl9_WfHR2xy1X#-an9ub^WQL<yqg*n>k~PXD<4*-fyJQ^x
z9_^A@)@W+P<GM~y!(L(U(+W1?(uR$l(Gk1wi{5mb@IGDFi#N;IdFZ-+9BTUO#}y%Y
z<9cnZHe%fBeojX~O)b5#pX<kYF6=3Oef&>Anl3lLUq3!IeKNZvVw`CDIMyD~HA~^=
zuf<avf#+?or+6auYlXfo!d|QQ`te*Y?DfBkLXuy*aL0lEtK(c>=G;8@`gup&qBP2U
zJOMq&P5-3A%U{E-H{$PhPI5mE7O8jha&hc*#QLD=uf@sDaQk=AXn6jf8`!UYQqt|;
zgFtcWpO7eSx&}a`*FU+?33s|=&aYqJtk9Fa{;8!+JV($8J8V338*ycDeZ=5|1w8`b
z4?;%RQi2ZUVbiADh-)g>yGH0JF@x)`UpMA({q^exZISdhFsq4$U5mIrj=3US(W8lW
zEHTU&B0Z|$;O0mrQg=W<TEA%X)XrQHP`J5=I93_q>Wlw{pS3se(-`5$_h0yFyn&xX
z5q@qofA#pgBkb=*y%LLKk$P(GX!z`gy=jzvmLB_Pyy>`2<9Oj42={;ee5c1kve(-+
zL)f1YdL1|2&u_S&YwH-2{2Ji;_lG0*S#3IBzrQ=MT}mwJ>UtvFunew$e>ieqo(a9_
zhWo<x&nNR>FTPspt~oD;-Zes_CAM&TJJUa9>f@arZ4(Gj{ZlH^bbSRpTN6jzk8=AF
zDxRRnU-F}Wx^)Yaf4zbI+c(hD-;RyeE)|cs<X`_J+bcRI0eY9HE1c0EN{!}+{!)tk
zxW)RcZ=Z!iuYYpS5zf{Nz5Z#sU+Bw)UjM}H67lTN{fJN9`ie%6{-ecnNZ2=uc=Q$O
z+d{8@;@0D&p94I8@o76+#Pe^^yM#P~mDdIRc>y*7=Qrp?$$dWWcF&d?26YY8RrS8<
zI873SNX%2|-Qn{<>CwKx*0TvX(o+|#4>oMsg2PETSL562uMhfgoT!>kv((@_vBy&p
z@NBILlzFQ>6+s+@@pv0hTcEnO$`|xi<jok}!m|Z6dc1XY-d!Gkltnv_;;Cq;uHJ<r
z{B(+z^6=QgO|^3!`kAQ-J5dRpWfI3p%10a-nNX2e5OEL$&B~iew^?+XO}9C8yNPad
z={ApU^XXPFgWn7IeI~2FuhvuGnGL{5n#ZN83U5V)kUgFi>lUwB?pc1@G8~lRjYMO_
zw|fuD6nMPl_u@cF6~R&;0OU0lIHz;XhI^YAW))U=H1&0T=2^D!w#93Tmcr-C+tz!Q
z7mAPym#u@UWX)1NxRtAKU$S_$=k^sV?p$8tDOtQ^^>TzvV6$ppb$RVB_sZ2pOO|?O
z<`v9ko}!X9o@)aDZm9c9ymZJ&>y8R>W=5p0ozb~^90w<$c6tdDZxxQOg?k@yxF|eB
zb5<)(18Ik<!t)Vmy)PK9p>ZB457%fu#Q7eNXDiM);jjYEpivKbaH0tV7Dt_~FLHz9
zO`5-vN0LT6&=hv+iALx3{;wXo<HwZ34lrFi)kLisadwIKgFX#M^a9JP-&Gy-mVpQB
zG+wDoHG!Zn4`)X5${PGt71R9{jHfESIFXfCv8x6pH6E<fa>QR}k4Sishk@&*0z#^-
z3bH&tV)BA?CMu6+HSz)#-k_J^4=}_$uB<>=J*Ab<=Dt=!m*LopvwEl%hqvgK$1BjB
zmEq)89-&U>+43rUWer;~Shoap*;`hIb6R=|$7FoE3>0(`Gxe%WCKw3U(t&auQNsZ*
z;k>S9>xeW=J%KG-Fy87%tg-)t1U+6_K-l*9rN3X%x&FILWaC+B<duiy$M}B@=;ihI
zFgo8P%&|T2OW#LClD`AheyeI4{e6wjYlUN~mwf2u^?l7P^m_fBB0!zLDE38|@hc*U
z_YHV07#6?&{zvDtML9iwy&j#fM?U?(8T7RNo=E2|QJ%u0y7l;lnpHrcJiWaBK1t`D
z!cebYFR!=1MwDM7?DY3eI`0W9PwxOC%kPAa;=*wtew7LXo$K|8?CbiU24Z;mMp0hp
z?Rr7M9T91I#T#B;|GlsC#)twDNwznly#8KH=lXjOy;{OL{CWZjs$YLL>K4C0bRJos
zp4R!-M0vgcdPRAipAD}Ja%BB&5#{ywaXO!-cf9bU_n%0z;}Bv&x|#mouIGwop~tD)
z>*aO+PspH0Z@s+!ey>lI*X?dp{tPl`?C9n7-zWW|d^drMOK-RCPmk-D$RiWIy#BkS
zQ@rWQp~7L8US8+j$O|v8zgO%N<x9iLlBk!{`EQ^LFR#CUEacj2_PQIroSuG5_|)Uq
z-&3x=L3sg(UYuQkM7kMQHJYH8UlXC%%j^7)$k*j?(`SXYG2*>cr0viR%4bGtmKFNI
z7S1EfTcC*4k?EdjO?xH+ut?i6qI_igm(sTxT<i3K!&BGl(*2AT<wf>Y_9XpXC$3K2
zP~=1;@yFn!<G(&#v%D{&fS%Mjy}!|AQ3YqOYA>4DG@6`YSEOz64ayHvV7LSfS3N|Q
zzxxK|W9VBJE;@4>enpn2bc6{vcjjr9-Qss-HndwodUxvk0u3*H?DK-+);C`(PoLnz
ZugLo8XJmv4H$O*z<BF>~qCiBF{a-egt@{7~

delta 8715
zcmbVSdw5jUwO{)@=9Niu=8?=yUNaLy$csE6yul0*Gzka+gFLE+K!7BWha@OcFGG=!
zqH=5EKo34@0>(<X(HkXRBw|S`y$!VwT2RxL+TdreQK$_VF;QUdTIZqMSpT`3@0Ydq
zZ>_WT+K+SgIeX}97TYcf&1tTIECzZBz;rM|0LDRbOM&0A+oc+IyIN|p%?+Gd+tzaE
zhyEdlS{W-lwNRa*V)n$0A3iW=!B?5?#;6Hj6`ZcGm<V;B|0g-{h)4vrY(UKYL7Q~+
z0CziaHiR?e;k?!_s~#xclk?vXpQ%oAhbov)<iQMG^2KZx!#g1mdX!rc8sXgRYUqC6
z6-wiCnKN{ebA=lC+@JwN+aUsSwLBMLR4Ttk5Z`N6s@PYxtVcn7vstaDY5XaTKO3PE
zLmIzN<C`ri;nw(vR6Yp3TA&2Y@E6qprBN!OwGX2@PyNO+pv}f|)G48zS{##N1$a*5
zyR?RVnm?46Z>+7aD{pM7*wR!U`kio2T34}o^V*7ao60LHE4Qp~Yz%!WJ{Ee=5E<HI
zNJyk`4FA#fk``NT`7zE02N|KC8(hT=T9X4e)FyaAb!*Tv8XUv>G(Lb4sObKIkl#4p
zqZt*;Kv<2)Frqc|Z^pMHy*~b(8{a?Gaf64Jsi9iau~4o#k)?zdn<toktc5XX_WMFR
z{!i^?^ZfMWxibO`rVRiL!QdUEI{~_}PtD*9jJ^~O%l!x+>|C}cITUA^&-r(T$}M@^
zHtyJymeq{&bD>Wo>R8ONd##xqx1EI^i`o;!1e;;!jFw)${9Vc_fR~pGfh$MsP<G?{
zZ*+XQk#&rea~;=K@EyZT1SR8ZJUhy4(ES-N9{r^R-4zC*g_<4ag`=PI+|g+a_76~+
zyyNJ8OzH5o9p?u4*rOMDZ^p`-VY!M6jHWT@uD%uso-moskGsr)6IE9OCk6qg;J`U4
zi3XHk;046*1;~F8ZNyh0KPW){AlgQFR|bx$vl@Mhcuzz+@}s;d;|S-ubcTnr>J5R>
z40Hd}o4yR3*aRcf%2~vvWaNuqa6j`OoM+)DT+qC**W!8H%Pf~DtL=G@#noI3oR}Bf
zan2NJdE7KUFv>7NFJ+CvOf2s4YOZib)dm=?z8=muWAL;??q^Kb!><Le!igX!%vjDr
zcc%faR9)p;j_zrF`qVtQvepD;AM@U$moVuX5p3z7?>Gl6@aE5BYpPFz$)D6)lYa7J
z-jY#*#sU@-dcxre=Hn2hi_p^a05(<!qvt`ITC*iEiasqhTVNEIowMnIz-SF7w&^fy
z8NlEsGum#n_HFtFYpKCeQS=W`$D~QG;kcG!lF3|4HO3;ndLGwOvzBYgM?D=!Sh4To
zSWBqanG&qR$@Si7H4QH*#6>V47sEVU6mvUneE*k6XwguYsB5hv<h6YfF57ow&AH8A
zgkL*_L$HYxS~_qDf-LsZqX1=REI5?Rd}-XZa2cEl+*$mOho5|V7qndF%|~hR5h~2V
zm-fwtE8K<Tx^=cdD97oS*l@V4BOG?=KF<%uax>d+;G85w3*7iy-yzg@-uzo%D@s~*
z!%HZ^UmTfrBka;wc6kc_&Jf->Qfer}lfzO&t39cqZjTgX@%*e#ybqj+ox|a913s>M
zQJ%*75Xyd(xu1u_m&uM&!n?T{<!qE~C`(bEMY#>-5Xv^<uZ6?ELD`EEZv`0mA{<V`
z2|GK2*P)a~!{JJlYrYI;gpZ)o@MSoBl877OFzpwCa5(Hl*^Dwk387pWIuti9WB9Xh
zI2Ti)A|bL!Vw$swz~Vy$5VMCvpT;F~Rl^~Bd`9dd^e`byB?UoO6%B`$#iw$m!=ddc
zuy!~;Bk4Ejs6X8c(di_jA2}cP0`3XbCAdN?VM1&db`(cbDHP9*=6%;fw<V-<?bkvZ
z66OWFu*+7>BY^TCdUPT;h`q#Zp|s4JSQ_H?3kM88Hp!NQ)~BMLmY%c!#A)GEIIFj`
zEDFw@f9Kuz`v3Ij_y1am+Y$Bk0>)U0BSk|>B@Hozddl^1co7jrQNAK;q7UPSRwTwu
z-H&Y*p^bX07n<fy8tE}S?OdmkH(fc_lbAGcY#_1JuuR_+^i4p2=xgmO+X)3$_7{{>
zG=tvpE+bjh-Jj$IM=0awef}zeD(cGs$pDQB7HyM*t)Y&aIjlGIr<-2e5WO*A(IP=^
z$Q;gLQfNll%e^m#R)>E&_pE07|H{CDVphgw7!I^D4|m;spobNd@%h-MMO-387zM#9
z3VajRqxd+!5@jTpAp$KYRzDdMi7_ym3s##CNo_a=M%>I5#dI8L&diqb(q2x!ld;+E
zDUcv>1(2{7J8d)UMZ1v?KtiQ_h_M~Pso<+ZN)qhgqe$Sifj7nuUZoQI0#dF#69dWZ
zpaA&(<c@oZ6uZeCuPTx|;Z<TBZg=8wMe(_lRA!Ca`<B8~xqZ{o1)Q(D{i@RIPDTYc
zL}#CSoJyT_rzlEHzk9r@47gKOWzao=x(%^I?le^ycBfO~;2LpfbWj`a>z>Ttli~s9
znRt%0INaG|H=-8j>4RvuQ;8J~?wGw~jW)Sm!Gnrc1o0F#ffld?iLoYQd^@UIJ(l7N
zZb3+*AxNSq@zg)XY`R6afRM#8{x4|DHNF^^%Zx9&vp>O_@kM-Lxr$1T@xCNV(%|vo
z$g<j1)4;Eczi0<P4Y_1+f&Yw%iZKTKe<j5<7yOi+WOjlwc*ckVNTF1`A-p2ahc+0;
zM_Od8fe(z<0F1Ac?-W=PYnC?)EG{_7(8gt=F+#aB4PJVbu=?qcMSYPX?T|%n``OY7
zkVQ@T*|IcUyDJ^CC`CUjo2O}9b07n<XjJ@cxnGUqXLrxnwH4!3%@|b(IoL!HjL{1q
z_ap3$(RMpzZ^m#wW|RVur%Waod;z3b?F=YZM#FB0V#>(AM8Gy6I=Kidtac{kOAb5a
zlga2TgejE1G4>9aLZOpyhXoYbHjaWBV*)TuiEc{?E+WEJ1T$&WjP7EXqbz0+$6L|D
z>SsaKJ*bRJrKcsUoehgAjhMS&@n<vxo)TD0!zaZpgvE5D#+1S0QL@A@QVA*HPSwSj
zXon?Aeo2dA87(5CcS#WLqD+jwQdq7iDM@f2<?iE*{-v-&;gXlB3ix;<_TU~RcM}c3
z1T!n;9zl0Q+5nA1{T!%PhH1PVs;MoUxW!PNhEFb^U`$;No9J4fXq-?8o2i+g&tOao
zK&=uI>nZ6pAguN_Xq3|J&`2@tA0m~Z{LNJUW<}K_JrQDmhaDY%4*$gVlSb1X`vGYb
zE}r6RH$v<PvZ=8*$;M+cajV=A<zAj*@S{%@xL2gmvo*@(Ua2Y)2zLvnSc-5w!NPvc
z<SiCv$45d+HnYXs4FUId4?lip#H@%3o&paBO@(6o;7U!!3*ZvALJ!4vQD=;O6%|PW
zGX?}IUV*%*!7M}tf@fYXT1+z0OE?rgUe;r-KD3p8>J#(R)0b>~89A0!IOsndeC0sG
z``KMzWv{Q=*o!Q8anHT2AGBV4?RW2#9`9N3#B+T_j<5gq8~;4~@R8r&S37OleRZ+#
z5n1`n^qFf;J%6craAn}tuAlk-jwFAotDxg_%_GlEc`NhD);Hhy(WgWP4_|&Y|FI1t
z-6baut$s6N%NIzpgp5x!4$R59US`}n$2<R->IVf7lPzH8^sh8Nfr;>$m~Yu7-f8IJ
z*OrLO`6T)6NOpMIeI+6@@R_Dg1HZgP%ro%b5(8h+!+U$g2_>T4utdx>^oUR*7M6&-
zVWENlUWpjPkC)q{*o@e_uNwHQ9?@)BDBf-`HSu?GrHr2_e-_0`P2IsBiu_x7VKm!6
zF~h<qb19ewzu_wSFEa35K`xE)XEAbC308U()u1#YAF{EeiJie+qM1JrJz{hTPZhg?
ze;0Nc_@luR(TXajrRa9l<*PRKy<mF~lehr8#N-ljVu_emB076SzC?5xPKuKayU_nI
z#xWT9zhSdU*jP4-5+oLiiC9}@7#8{BpWQB|VdYM|((s0ugO{x$b)mSbSmYlOla(Cb
z5Hrv~4q)J)!JydHkCp%p<5QR(Z@@H6O$Ht_nvLpJG0ikvbfQ7YivHr&YK97lQ6f!E
zG?E7X$7)|MgDg4O!pJ8v9!9@{{k1QUZBABVeo}4l3dnCb*<$-Q9tQr2U<ta)@i8nY
zJXpVFll*E7%W_uNH8nJCDQ|+Ub&b^<>(*ELs_TwljbV0Xt=L*wT@SVRQC`1J4!GG4
z`5$h!aN+|Mo42lSgtgU8jqm`}t>4xJ^_wf9err?1)+X4nrJ@$CTN~GJAxduWusFHj
z#j=7GO-<`-8=9aA?<Ts<^d+dDV6<yr+`XFY*W`dEhcv0bW0|yfElHDZP5LyMrpa7Y
z24T8J1T<Ns$x=<O)Z`jXR%x<9liM`8Ta(S2?9!xDJ95d_WI&U96^YM?-)Mw>Hlv^E
z^wX9>g^rW3<ZJSvCiNqjHQG^3w<b%qBN+Y6s7yOMTBFG-O*WA<A##*?uZw5f<(e3l
zBQHx}%Y(ngCmPL1209!;&~uBv8UBQ*z`3eM>_I$>cop$3;u=E4r?wN3iI{^}fY^t4
z2k}?LH3Xi3K_udCgoKYzdW23u+<~|k(I~)VcodaZ#A}GR5g#BvL5w2o_)LyNlq0qw
zo<+Q1IQ~D0Y&Rd=Yhg=;y_T*hwn6BMIvFKA&z80dy-|J9Yy$`b=5`BPCbV0QM6vZM
zyPnuK3o8@aEbWo3Qe`WNZMLxGLNocUQ`vRj#dcdhv|xjmEkShN@O5+jL~j&^D8xpU
z-3Y?&i2V^<ZmaNYM0*5VDYQq7M6hZQ`be$<;cUb}1Y0c(M6_914G3-4b}M<Gw)R{3
z?ZH-|-#TDrt3epDc1N<6=pQ{Ku~K138kU6TgRHbw7?$?hk=bkCXUFa%vCrP-K%&jj
z?of$#M<)@TjxLn|;X?FfiJBRfcH6l;y5w00H>nkb57EF@AwNQ51kIT9K6^8X{pds~
z4@M71D;GxxcS>~iPHCTnR}1^3gAzBnRX8ZMOI&`d&@OdJ+>}<KOFAiWQ(J|TQlG?4
zYZdyW^Ab0`RX8sVNZgE8VL-xcX0{5~rM)%^yw|qhMsfGs+H4fJ&DLq7xSh7wZ4~!)
z+i4rcJsq^2wNc=+whJ~2e8Dzoqrii<VH*V=wqf@$@IiaKodUPpyOi#B*-zRj@JV~0
zodWmS&)X^RdHaB!0uR_P+bQm4`-q+5j@WlQDDG}YvxDL`J8-yWw!#9T%h5+e+vgZ^
z;IbKVjA%nX;<%1H?8iHZ?kxJaqmR=Gh}#iM5%hAn8S$_@Ba>wZJ0rRygwwbTXb}ur
zg??PbxBziJlvz@yi0U6w{kje7`yDhF0}_tgunqgz?0^QkD={V&YU^$UwNrz*AJK?d
zk9Zid1F;9ujChJZntp;xD}o*YbmrZS_yyuL;vu}1-$r>3@e$$@g1+RhprrF)dP%aP
zPbA8FQPNpL3L+0dr}cQA2!)6xh}DQShz*F%i2D&cg7{}Q;zx)Bh(m~%5XTTbh+iY#
zLtI3BhA?0w^z2DS<ROX>D-e~4Er>q!xef6Uq6zChl)F$qiue(t8F2vd6rv3=vkV<x
zM1{^3x)Ai$c?$6+g1$F@ioHC8l0E|ejQ9ZY55(sj9`q;4`PnSrqn`nw>(_+`0jlI5
zWHXoNeSK=aHsV_wzD`Q=D`;l9Bw~0I45`Z3zZ_WLtojo|1T=*1=VFSjcnEPz3{B;6
z_t1abxYf$zdvcreRz}r%h?ZM(n2VQSP(FkT8zK?I+o4xxxh#e`WIU#D(JvQr9@gd9
zToxBv%bapyE;}#h<}qK%e%e)TDYU_H_#=SM>+Py;*d@9ZZYe5H9g?5UW7+Aw-(epd
z(_ydtgGtPnJ*IWq!Kiip%qK-_DWJ$`xnL4=WyU};I^9}Sa}=y`-O2*Ym-F(Nx1wuI
zD~r*KS{ciiYW%<$e>FUg;+SUFY5qQ$O=dBk7%0*la49M!p!}8OoXO1Pz**9MzEF+0
zROMH&Kk~pNW{8gl{YMYo`Z_8MkeBC9VlhG#bUWogPGYI@*~!e8r@wpY-k+dCebV2x
zIyJ+v#)It7XO0+h(O*K8Q$RG^<)u?_@wnuceC9GHD9O8IJo|RZ8}gZ5K9Y}z266JQ
z@>$OOSXiV5*2PT4AHU>cbVij03XflCW6A>g3PmoR!UVZ{3QI`eIc8-9lnbIDcg$oi
zmtUE}ym4LM;a=pDCrxEp2~n_f%!TEc3B!A6r%T>Gm8Ax2vChG_@4-fe$KSuS7P7R=
zA5*UX_Vm-yin5Hx_`j_9f3r%ls+2Pde?^`)joE^KRM>Cd@PAjFoL?^`?OM2^UL5WX
zD;MfC81YWv;JfZieDaLBA0yG<4j}&ulMuaF@!{jo;hCk--~REkSoTlHC*L~FtiSID
zwD#|pe?ASD&LgTgpom0z3e)e1`pfNrmT|Y<8hcA|4ANuxU;W@nr(^%>m(edYUVr<h
z6Dun8j!OReYrIcu(5><MYrb1`hYW=W`J?H~mN!##>eW6@Xq%@}r1AQzyH%y3{P-Vc
zusG&WzOBmjA3PzYGCNPcIg?F^Y<#exJg+=IyB<)Jm(60ua`!BDB(l7G-L{JI4b^oO
zo2$3W&(3Bea>pF@U&lAz#uAvkw}7o-i{y_BSdJ}#{iLGHG&wzhw0>f(%dK)X(fY2W
z%WSy=X|seM1ym&YVt`FE=W5kl**_Pn`ib@sRUNodY@N%-S@ef{mr*`Emrb?li$|Aj
zp+lTQzCM>F*!3s0E;mQW8S_}SMc>$PKUj-(kJgp1H#U8P>y$eRm^b|(W=ON8yXpI!
zE<e-_@|6NyXouzE`K*AwEI&%3M?OR1E!kX%qE9X^WL~yXekBjLx*hYG#q$R(I!>ih
z0$Mu(`A{L7AijsBN&fdjmKh50g8XoRSv?n!ql9vm3%>bNB>NYz3Buozk(XvOM+6*D
z`~b2Ia!r6G3G^zZnckxR3xI`jsww=9=`^03Q~9T;n35x~`mfqM7Nz>#;N*-27(EuN
zN^}c!*;LauntyL{GS-L~n{k>$b>o>DVG>rg{4$-Y=?_}!^K_F1uE(jSgP}a$p$v(z
zOt<1&LA+{hVsgzLY-)@tQLT?ylum&kMTPv@9W2ufX{zZV`Qtlq!9A3zR@W;@|1Zz-
BpF98n

diff --git a/openpilot/starpilot/audio/native_playback.py b/openpilot/starpilot/audio/native_playback.py
index 33d0eb8190..dc3671befd 100644
--- a/openpilot/starpilot/audio/native_playback.py
+++ b/openpilot/starpilot/audio/native_playback.py
@@ -9,6 +9,12 @@ import numpy as np
 from openpilot.starpilot.audio.alert_volume import effective_volume
 
 LIBRARY = Path(__file__).with_name('native') / 'libaudio_mixer.so'
+TIMING_HEADER = ('abi', 'row_words', 'capacity', 'total_recorded', 'first_underflow', 'frozen',
+                 'start_ordinal', 'row_count', 'callback_aborts', 'clock_error_rows')
+TIMING_COLUMNS = ('ordinal', 'entry_mono_ns', 'entry_cpu_ns', 'exit_mono_ns', 'exit_cpu_ns',
+                  'pa_input_bits', 'pa_current_bits', 'pa_output_bits', 'frames', 'flags', 'command',
+                  'restart', 'slot', 'cursor', 'bank_revision', 'status_callbacks', 'underflows',
+                  'last_flags', 'clock_error_mask', 'timeinfo_present', 'pending_bank', 'retired_bank')
 # sounddevice marks its pointer closed even when Pa_CloseStream returns an error.
 # Keep code, userdata and PCM alive until process exit if that fence fails.
 _unclosed_streams = []
@@ -59,6 +65,11 @@ class NativePlayback:
     self.stop_frame = 0
     self.previous_alert = self.previous_sound = None
     self.status_count = 0
+    self.timing_reported = False
+    self.timing_getter = getattr(self.lib, 'audio_diagnostic_snapshot', None)
+    if self.timing_getter is not None:
+      self.timing_getter.argtypes = [ctypes.c_void_p, ctypes.POINTER(ctypes.c_uint64), ctypes.c_uint]
+      self.timing_getter.restype = ctypes.c_uint
     try:
       if not self.publish():
         raise ValueError('Native sounds were not admitted')
@@ -150,6 +161,29 @@ class NativePlayback:
       self.status_count = value[3]
     owner.stream_status_count, owner.output_underflow_count = value[3], value[4]
 
+  def report_underflow_timing(self, *, closing=False):
+    """Read one fixed native trace on the service thread, after four recovery callbacks."""
+    if self.timing_reported or self.timing_getter is None or (not closing and not self.owner.output_underflow_count):
+      return
+    values = (ctypes.c_uint64 * 714)()
+    words = self.timing_getter(self.handle, values, len(values))
+    if not words or (not closing and not values[5]):
+      return
+    if not values[4] and not values[8]:
+      return
+    self.timing_reported = True
+    from openpilot.common.swaglog import cloudlog
+    # Integer clock values and raw PortAudio double bits keep invalid clocks
+    # explicit and make JSON finite. Decode host stream clocks separately.
+    count = values[7]
+    if values[0] != 1 or values[1] != 22 or values[2] != 32 or count > 32 or words != 10 + 22 * count:
+      cloudlog.error({'event': 'soundd_underflow_timing', 'error': 'invalid_native_diagnostic'})
+      return
+    cloudlog.error({'event': 'soundd_underflow_timing', 'schema': 1, 'sample_rate': self.rate,
+                    'block_frames': self.buffer, 'header_columns': TIMING_HEADER, 'columns': TIMING_COLUMNS,
+                    'header': list(values[:10]),
+                    'rows': [list(values[i:i + 22]) for i in range(10, words, 22)]})
+
   def stream(self):
     # Public OutputStream/RawOutputStream wrap callbacks in Python; only the existing base CData path avoids the GIL.
     callback = self.sd._ffi.cast('PaStreamCallback*', self.lib.audio_callback_address())
diff --git a/openpilot/starpilot/audio/tests/native/test_diagnostic.c b/openpilot/starpilot/audio/tests/native/test_diagnostic.c
new file mode 100644
index 0000000000..00375109d3
--- /dev/null
+++ b/openpilot/starpilot/audio/tests/native/test_diagnostic.c
@@ -0,0 +1,48 @@
+#define _GNU_SOURCE
+#include <time.h>
+#include <assert.h>
+#include <stdint.h>
+static unsigned clock_calls;
+static int fail_clocks;
+static int fake_clock(clockid_t id,struct timespec *ts) {
+  (void)id;clock_calls++;
+  if(fail_clocks)return -1;
+  ts->tv_sec=1;ts->tv_nsec=clock_calls*1000;return 0;
+}
+#define clock_gettime fake_clock
+#include "../../native/audio_mixer.c"
+#undef clock_gettime
+static struct audio *fixture(void) {
+  struct audio *a=audio_create();assert(a);
+  static const float pcm[]={.25f,.5f,.75f,1.f};
+  const float *p[]={pcm};const unsigned lengths[]={4};
+  assert(audio_publish_bank(a,p,lengths,1,1));
+  assert(audio_command(a,1,0,-1,0,0.f,1,1,0)==2);
+  assert(audio_prepare(a));return a;
+}
+int main(void) {
+  uint64_t out[DIAG_HEADER+DIAG_ROWS*DIAG_WORDS];float rendered[4];
+  struct pa_time t={1.,2.,3.};struct audio *a=fixture();
+  for(unsigned i=0;i<20;i++)assert(audio_callback(NULL,rendered,4,&t,0,a)==0);
+  assert(audio_callback(NULL,rendered,4,&t,4,a)==0);
+  for(unsigned i=0;i<4;i++)assert(audio_callback(NULL,rendered,4,&t,0,a)==0);
+  assert(clock_calls==100);assert(audio_diagnostic_snapshot(a,out,714)==10+21*22);
+  assert(out[0]==1 && out[3]==25 && out[4]==21 && out[5]==1 && out[6]==5 && out[7]==21);
+  for(unsigned i=0;i<21;i++)assert(out[10+i*22]==5+i);
+  assert(out[10+16*22+9]==4);assert(out[10+16*22+16]==1);
+  for(unsigned i=0;i<4;i++)assert(rendered[i]==0.f); // Gain0 still advances real cursor.
+  assert(a->frame==100);assert(a->underflows==1);
+  for(unsigned i=0;i<3;i++)assert(audio_callback(NULL,rendered,4,&t,0,a)==0);
+  assert(clock_calls==100 && a->frame==112); // Frozen ring adds no further clock calls.
+  assert(audio_diagnostic_snapshot(a,out,713)==0);
+  atomic_store(&a->diag_seq,3);assert(audio_diagnostic_snapshot(a,out,714)==0);atomic_store(&a->diag_seq,4);
+  atomic_flag_test_and_set(&a->rendering);assert(audio_callback(NULL,rendered,4,&t,0,a)==2);
+  assert(atomic_load(&a->diag_abort_count)==1);atomic_flag_clear(&a->rendering);audio_destroy(a);
+  a=fixture();for(unsigned i=0;i<40;i++)assert(audio_callback(NULL,rendered,4,NULL,0,a)==0);
+  assert(audio_diagnostic_snapshot(a,out,714)==714);assert(out[3]==40 && out[4]==0 && out[5]==0 && out[6]==9 && out[7]==32);
+  assert(out[10+19]==0); // Missing PaTimeInfo explicit.
+  fail_clocks=1;assert(audio_callback(NULL,rendered,4,NULL,0,a)==0);
+  assert(audio_diagnostic_snapshot(a,out,714)==714);assert(out[9]==1);
+  unsigned last=10+31*22;assert(out[last+18]==15 && out[last+1]==0 && out[last+4]==0);
+  audio_destroy(a);return 0;
+}
diff --git a/openpilot/starpilot/audio/tests/native/test_diagnostic_concurrent.c b/openpilot/starpilot/audio/tests/native/test_diagnostic_concurrent.c
new file mode 100644
index 0000000000..d38d5b642e
--- /dev/null
+++ b/openpilot/starpilot/audio/tests/native/test_diagnostic_concurrent.c
@@ -0,0 +1,58 @@
+#define _GNU_SOURCE
+#include <assert.h>
+#include <pthread.h>
+#include <sched.h>
+#include <stdio.h>
+#include <unistd.h>
+#include "../../native/audio_mixer.c"
+static struct audio *engine;
+static pthread_mutex_t barrier_mutex = PTHREAD_MUTEX_INITIALIZER;
+static pthread_cond_t barrier_cond = PTHREAD_COND_INITIALIZER;
+static unsigned barrier_arrived;
+static void barrier_wait(void) {
+  assert(pthread_mutex_lock(&barrier_mutex) == 0);
+  barrier_arrived++;
+  if (barrier_arrived == 2) assert(pthread_cond_broadcast(&barrier_cond) == 0);
+  while (barrier_arrived < 2) assert(pthread_cond_wait(&barrier_cond, &barrier_mutex) == 0);
+  assert(pthread_mutex_unlock(&barrier_mutex) == 0);
+}
+static _Atomic int done;
+static uint64_t reader_attempts,reader_successes,reader_unavailable,accepted_unfrozen,accepted_wrapped_unfrozen;
+static void validate(const uint64_t *out,unsigned words) {
+  assert(out[0]==1 && out[1]==22 && out[2]==32 && out[7]<=32);
+  assert(words==10+out[7]*22);
+  for(uint64_t n=0;n<out[7];n++) {
+    const uint64_t *row=out+10+n*22;
+    assert(row[0]==out[6]+n && row[8]==64 && row[18]==0 && row[19]==1);
+    assert(row[3]>=row[1] && row[4]>=row[2]);
+    assert(row[10]==2 && row[11]==1 && row[12]==0 && row[14]==1);
+  }
+  if(out[5])assert(out[4] && out[3]==out[4]+4 && out[7]==21);
+}
+static void *reader(void *unused) {
+  (void)unused;uint64_t out[714];
+  barrier_wait();
+  while(!atomic_load(&done)) {
+    unsigned words=audio_diagnostic_snapshot(engine,out,714);reader_attempts++;
+    if(words) {validate(out,words);reader_successes++;if(!out[5]){accepted_unfrozen++;if(out[3]>32)accepted_wrapped_unfrozen++;}}else reader_unavailable++;
+  }
+  unsigned words=audio_diagnostic_snapshot(engine,out,714);assert(words);validate(out,words);
+  return NULL;
+}
+int main(void) {
+  alarm(15);engine=audio_create();assert(engine);
+  float pcm[1024];for(unsigned i=0;i<1024;i++)pcm[i]=(float)(i%31)/31.f;
+  const float *p[]={pcm};unsigned lengths[]={1024};float output[64];struct pa_time t={0,1,2};
+  assert(audio_publish_bank(engine,p,lengths,1,1));assert(audio_command(engine,1,0,-1,0,.25f,1,1,0)==2);assert(audio_prepare(engine));
+  pthread_t thread;assert(pthread_create(&thread,NULL,reader,NULL)==0);
+  barrier_wait();
+  for(unsigned n=0;n<100000;n++){assert(audio_callback(NULL,output,64,&t,n==99990?4:0,engine)==0);if(n%128==0)sched_yield();}
+  // Test-only additional postfreeze yields; prefreeze writer also yields every128 calls.
+  for(unsigned n=0;n<1000;n++){assert(audio_callback(NULL,output,64,&t,0,engine)==0);sched_yield();}
+  atomic_store(&done,1);assert(pthread_join(thread,NULL)==0);assert(reader_attempts>0 && reader_successes>0 && accepted_unfrozen>0 && accepted_wrapped_unfrozen>0);
+  uint64_t out[714];assert(audio_diagnostic_snapshot(engine,out,714)==472);assert(out[3]==99995 && out[4]==99991 && out[5]==1);
+  assert(engine->underflows==1 && atomic_load(&engine->diag_abort_count)==0 && atomic_load(&engine->diag_clock_errors)==0);
+  printf("{\"attempts\":%llu,\"accepted\":%llu,\"boundedUnavailable\":%llu,\"joined\":true}\n",(unsigned long long)reader_attempts,(unsigned long long)reader_successes,(unsigned long long)reader_unavailable);
+  printf("{\"acceptedUnfrozen\":%llu,\"acceptedWrappedUnfrozen\":%llu}\n",(unsigned long long)accepted_unfrozen,(unsigned long long)accepted_wrapped_unfrozen);
+  assert(pthread_cond_destroy(&barrier_cond)==0);assert(pthread_mutex_destroy(&barrier_mutex)==0);audio_destroy(engine);alarm(0);return 0;
+}
diff --git a/openpilot/starpilot/audio/tests/test_native_diagnostics.py b/openpilot/starpilot/audio/tests/test_native_diagnostics.py
new file mode 100644
index 0000000000..fc5ee21d5a
--- /dev/null
+++ b/openpilot/starpilot/audio/tests/test_native_diagnostics.py
@@ -0,0 +1,14 @@
+"""Native ring wrap/freeze/faults and concurrent snapshots; no output device needed."""
+from pathlib import Path
+import subprocess
+
+import pytest
+
+
+@pytest.mark.parametrize('name', ('test_diagnostic', 'test_diagnostic_concurrent'))
+def test_native_diagnostic_contract(tmp_path, name):
+  source = Path(__file__).with_name('native') / (name + '.c')
+  executable = tmp_path / name
+  subprocess.run(['cc', '-std=c11', '-O2', '-Wall', '-Wextra', '-Werror', '-pthread', str(source),
+                  '-o', str(executable)], check=True, capture_output=True, timeout=15)
+  subprocess.run([str(executable)], check=True, capture_output=True, timeout=20)
diff --git a/openpilot/starpilot/audio/tests/test_native_timing_report.py b/openpilot/starpilot/audio/tests/test_native_timing_report.py
new file mode 100644
index 0000000000..ee247c71f9
--- /dev/null
+++ b/openpilot/starpilot/audio/tests/test_native_timing_report.py
@@ -0,0 +1,146 @@
+from types import SimpleNamespace
+from unittest.mock import patch
+
+from openpilot.starpilot.audio.native_playback import NativePlayback
+
+
+def playback(*, frozen=1, count=21, words=None, underflows=1, clock_errors=0):
+  obj = NativePlayback.__new__(NativePlayback)
+  obj.owner = SimpleNamespace(output_underflow_count=underflows)
+  obj.timing_reported = False
+  obj.handle, obj.rate, obj.buffer = 1, 48000, 4096
+  calls = []
+  def read(handle, values, capacity):
+    calls.append((handle, capacity))
+    header = (1, 22, 32, 25, 21, frozen, 5, count, 0, clock_errors)
+    for index, value in enumerate(header):
+      values[index] = value
+    for row in range(min(count, 32)):
+      values[10 + row * 22] = 5 + row
+    return 10 + 22 * count if words is None else words
+  obj.timing_getter = read
+  return obj, calls
+
+
+def test_healthy_or_old_native_library_does_not_poll_or_log():
+  obj, calls = playback(underflows=0)
+  with patch('openpilot.common.swaglog.cloudlog.error') as error:
+    obj.report_underflow_timing()
+    obj.owner.output_underflow_count = 1
+    obj.timing_getter = None
+    obj.report_underflow_timing()
+  assert not calls
+  error.assert_not_called()
+
+
+def test_waits_for_recovery_then_logs_one_bounded_trace():
+  obj, calls = playback(frozen=0)
+  with patch('openpilot.common.swaglog.cloudlog.error') as error:
+    obj.report_underflow_timing()
+    error.assert_not_called()
+    assert not obj.timing_reported
+    obj.timing_getter = playback()[0].timing_getter
+    obj.report_underflow_timing()
+    obj.report_underflow_timing()
+  assert len(calls) == 1
+  error.assert_called_once()
+  trace = error.call_args.args[0]
+  assert trace['event'] == 'soundd_underflow_timing' and trace['schema'] == 1
+  assert trace['sample_rate'] == 48000 and trace['block_frames'] == 4096
+  assert len(trace['columns']) == 22 and trace['columns'][1:5] == ('entry_mono_ns', 'entry_cpu_ns', 'exit_mono_ns', 'exit_cpu_ns')
+  assert len(trace['header_columns']) == 10 and trace['header_columns'][8] == 'callback_aborts'
+  assert trace['header'] == [1, 22, 32, 25, 21, 1, 5, 21, 0, 0]
+  assert len(trace['rows']) == 21 and all(len(row) == 22 for row in trace['rows'])
+  assert [row[0] for row in trace['rows']] == list(range(5, 26))
+
+
+def test_unavailable_snapshot_retries_and_clock_errors_remain_explicit():
+  obj, calls = playback(words=0)
+  with patch('openpilot.common.swaglog.cloudlog.error') as error:
+    obj.report_underflow_timing()
+    assert not obj.timing_reported
+    obj.timing_getter = playback(clock_errors=3)[0].timing_getter
+    obj.report_underflow_timing()
+  assert len(calls) == 1
+  assert error.call_args.args[0]['header'][9] == 3
+
+
+def test_invalid_native_metadata_is_an_error_without_unbounded_rows():
+  for count, words in ((33, 736), (21, 999)):
+    obj, _ = playback(count=count, words=words)
+    with patch('openpilot.common.swaglog.cloudlog.error') as error:
+      obj.report_underflow_timing()
+      obj.report_underflow_timing()
+    error.assert_called_once_with({'event': 'soundd_underflow_timing', 'error': 'invalid_native_diagnostic'})
+
+
+def test_closing_stream_preserves_partial_underflow_trace():
+  obj, _ = playback(frozen=0)
+  with patch('openpilot.common.swaglog.cloudlog.error') as error:
+    obj.report_underflow_timing(closing=True)
+  error.assert_called_once()
+  assert error.call_args.args[0]['header'][5] == 0
+  assert error.call_args.args[0]['rows']
+
+
+def test_closing_stream_reports_native_abort_without_claiming_an_underflow():
+  obj, _ = playback(frozen=0, underflows=0)
+  read = obj.timing_getter
+  def aborted(handle, values, capacity):
+    words = read(handle, values, capacity)
+    values[4], values[8] = 0, 1
+    return words
+  obj.timing_getter = aborted
+  with patch('openpilot.common.swaglog.cloudlog.error') as error:
+    obj.report_underflow_timing(closing=True)
+  header = error.call_args.args[0]['header']
+  assert header[4] == 0 and header[8] == 1
+
+
+def test_compiled_native_trace_reaches_service_logger_with_exact_pcm(tmp_path):
+  import ctypes
+  import subprocess
+  from pathlib import Path
+
+  source = Path(__file__).parents[1] / 'native/audio_mixer.c'
+  library = tmp_path / 'mixer.so'
+  subprocess.run(['cc', '-std=c11', '-O2', '-shared', '-fPIC', str(source), '-o', str(library)],
+                 check=True, capture_output=True, timeout=15)
+  lib = ctypes.CDLL(str(library))
+  lib.audio_create.restype = ctypes.c_void_p
+  lib.audio_destroy.argtypes = [ctypes.c_void_p]
+  lib.audio_callback_address.restype = ctypes.c_size_t
+  lib.audio_publish_bank.argtypes = [ctypes.c_void_p, ctypes.POINTER(ctypes.POINTER(ctypes.c_float)),
+                                    ctypes.POINTER(ctypes.c_uint), ctypes.c_uint, ctypes.c_uint64]
+  lib.audio_command.argtypes = [ctypes.c_void_p, ctypes.c_uint, ctypes.c_uint, ctypes.c_int, ctypes.c_int,
+                               ctypes.c_float, ctypes.c_uint64, ctypes.c_uint64, ctypes.c_uint64]
+  lib.audio_prepare.argtypes = [ctypes.c_void_p]
+  lib.audio_diagnostic_snapshot.argtypes = [ctypes.c_void_p, ctypes.POINTER(ctypes.c_uint64), ctypes.c_uint]
+  lib.audio_diagnostic_snapshot.restype = ctypes.c_uint
+  obj, _ = playback()
+  obj.handle = lib.audio_create()
+  assert obj.handle
+  obj.timing_getter = lib.audio_diagnostic_snapshot
+  samples = (ctypes.c_float * 4)(.25, -.5, .75, -1.)
+  bank = (ctypes.POINTER(ctypes.c_float) * 1)(samples)
+  lengths = (ctypes.c_uint * 1)(4)
+  output = (ctypes.c_float * 4)()
+  callback = ctypes.CFUNCTYPE(ctypes.c_int, ctypes.c_void_p, ctypes.c_void_p, ctypes.c_ulong,
+                             ctypes.c_void_p, ctypes.c_ulong, ctypes.c_void_p)(lib.audio_callback_address())
+  try:
+    assert lib.audio_publish_bank(obj.handle, bank, lengths, 1, 1)
+    assert lib.audio_command(obj.handle, 1, 0, -1, 0, .5, 1, 1, 0)
+    assert lib.audio_prepare(obj.handle)
+    with patch('openpilot.common.swaglog.cloudlog.error') as error:
+      for index in range(25):
+        assert callback(None, output, 4, None, 4 if index == 20 else 0, obj.handle) == 0
+        assert list(output) == [.125, -.25, .375, -.5]
+        obj.report_underflow_timing()
+      obj.report_underflow_timing()
+    error.assert_called_once()
+    trace = error.call_args.args[0]
+    assert trace['header'][:8] == [1, 22, 32, 25, 21, 1, 5, 21]
+    assert trace['rows'][16][9] == 4 and trace['rows'][16][16] == 1
+    assert all(row[19] == 0 for row in trace['rows'])  # Missing host clock metadata remains explicit.
+  finally:
+    lib.audio_destroy(obj.handle)
diff --git a/prebuilt.json b/prebuilt.json
index e126105566..49b3241455 100644
--- a/prebuilt.json
+++ b/prebuilt.json
@@ -1 +1 @@
-{"protected_inventory_sha256": "e34dc5ce97408242abb88bb2622d2e6818238101b65cbc8a64e640118694c8a2", "schema_version": 1}
+{"protected_inventory_sha256": "82d25db7fd74f13c48363100d4e16fd4936a1e1c05da3241b2c8d019f6ef5ef0", "schema_version": 1}