# CI Pipeline Timing Benchmark Gate
#
# This workflow enforces the fusion loop timing budget as a CI quality gate,
# per plan §Quality Gates / Definition of Done (item 9).
#
# The benchmark runs the full fusion pipeline:
#   - Phase sanitization → Feature extraction → Fresnel accumulation → Peak extraction → UKF update
#   - Against synthetic CSI data from spaxel-sim output
#
# Timing constraints:
#   - Median fusion iteration < 15 ms (production target)
#   - Median fusion iteration < 30 ms (CI threshold - 2x allowance for slower hardware)
#   - P99 < 40 ms (hard limit)
#
# To integrate with Argo Workflows CI, add this step after go test ./...:
#   go test -bench=BenchmarkFusionLoop -benchtime=60s -count=1 ./internal/localizer/fusion/

name: CI Benchmark - Fusion Loop Timing

on:
  push:
    branches: [main]
  pull_request:
    branches: [main]
  workflow_dispatch:  # Allow manual triggering

jobs:
  timing-benchmark:
    name: Fusion Loop Timing Benchmark
    runs-on: ubuntu-latest
    timeout-minutes: 10

    steps:
      - name: Checkout code
        uses: actions/checkout@v4

      - name: Set up Go
        uses: actions/setup-go@v5
        with:
          go-version: '1.25'
          cache-dependency-path: mothership/go.sum

      - name: Run fusion loop timing benchmark
        working-directory: mothership
        run: |
          echo "Running fusion loop timing benchmark..."
          go test -bench=BenchmarkFusionLoop -benchtime=60s -count=1 ./internal/localizer/fusion/ 2>&1 | tee /tmp/bench.txt

      - name: Check timing thresholds
        working-directory: mothership
        run: |
          echo "Checking timing thresholds..."

          # Parse benchmark output for median and P99
          # Expected output format:
          #   Median: Xms (target: 15ms, CI threshold: 30ms)
          #   P99: Yms (hard limit: 40ms)

          if ! grep -q "Median:" /tmp/bench.txt; then
            echo "ERROR: Benchmark output missing Median timing"
            exit 1
          fi

          # Extract median value (format: "Median: 2.557768ms")
          median_ms=$(grep "Median:" /tmp/bench.txt | sed 's/.*Median: \([0-9.]*\)ms.*/\1/')
          p99_ms=$(grep "P99:" /tmp/bench.txt | sed 's/.*P99: \([0-9.]*\)ms.*/\1/')

          echo "Median: ${median_ms}ms (CI threshold: 30ms, Production target: 15ms)"
          echo "P99: ${p99_ms}ms (Hard limit: 40ms)"

          # Convert to integer for comparison (multiply by 1000 to avoid floating point issues)
          median_int=$(echo "$median_ms * 1000" | bc | cut -d. -f1)
          p99_int=$(echo "$p99_ms * 1000" | bc | cut -d. -f1)

          ci_threshold=30000  # 30ms in microseconds
          hard_limit=40000    # 40ms in microseconds

          # Check CI threshold
          if [ "$median_int" -gt "$ci_threshold" ]; then
            echo "FAIL: Median fusion iteration ${median_ms}ms exceeds CI threshold 30ms"
            exit 1
          fi

          # Check hard limit
          if [ "$p99_int" -gt "$hard_limit" ]; then
            echo "FAIL: P99 fusion iteration ${p99_ms}ms exceeds hard limit 40ms"
            exit 1
          fi

          echo "PASS: Timing constraints satisfied"

      - name: Report metrics
        working-directory: mothership
        run: |
          echo "## Fusion Loop Timing Results" >> $GITHUB_STEP_SUMMARY
          echo "" >> $GITHUB_STEP_SUMMARY
          cat /tmp/bench.txt | grep -E "(Median|P99|Min|Max)" >> $GITHUB_STEP_SUMMARY