jedarden 8004d88322 ci: retire GitHub Actions workflows (benchmark-ci.yml, e2e.yml)

Argo Workflows (iad-ci) covers both jobs: the fusion-loop timing benchmark
runs as a FAIL	. [setup failed] step in the spaxel-build
WorkflowTemplate, and e2e/acceptance suites run via the spaxel-e2e template.
The two .github/workflows/*.yml files were redundant dead config that
suggested re-enabling GitHub Actions, which are disabled across all repos.

- Delete .github/workflows/benchmark-ci.yml and e2e.yml (and the now-empty
  .github/workflows + .github directories)
- docs/ci-benchmark-integration.md: drop the 'GitHub Actions Integration'
  section; note the benchmark step already exists in the spaxel-build
  template and that Argo is the only CI path

Co-Authored-By: Claude <noreply@anthropic.com>

2026-07-04 07:44:33 -04:00

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CI Benchmark Integration Guide

This document describes how to integrate the fusion loop timing benchmark with Argo Workflows CI.

Overview

The timing benchmark enforces the fusion loop timing budget as a CI quality gate (per plan §Quality Gates / Definition of Done, item 9).

File: internal/localizer/fusion/timing_budget_test.go

Benchmark: BenchmarkFusionLoop

What it tests: The full fusion pipeline:

Phase sanitization → Feature extraction → Fresnel accumulation → Peak extraction → UKF update
Against synthetic CSI data from spaxel-sim output (4 nodes, 2 walkers)

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)

Running Locally

# Run the benchmark (60 seconds)
go test -bench=BenchmarkFusionLoop -benchtime=60s -count=1 ./internal/localizer/fusion/

# Run the regular test (includes timing assertions)
go test -v ./internal/localizer/fusion/

Argo Workflow Integration

Add this step to the spaxel-build Argo WorkflowTemplate after the go test ./... step:

- name: run-timing-benchmark
  template: spaxel-build
  arguments:
    parameters:
      - name: command
        value: |
          go test -bench=BenchmarkFusionLoop -benchtime=60s -count=1 \
            ./internal/localizer/fusion/ 2>&1 | tee /tmp/bench.txt

          # Parse and check thresholds
          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/')

          ci_threshold=30  # CI threshold in ms
          hard_limit=40    # Hard limit in ms

          if (( $(echo "$median_ms > $ci_threshold" | bc -l) )); then
            echo "FAIL: Median ${median_ms}ms exceeds CI threshold ${ci_threshold}ms"
            exit 1
          fi

          if (( $(echo "$p99_ms > $hard_limit" | bc -l) )); then
            echo "FAIL: P99 ${p99_ms}ms exceeds hard limit ${hard_limit}ms"
            exit 1
          fi

          echo "PASS: Timing constraints satisfied (Median: ${median_ms}ms, P99: ${p99_ms}ms)"

CI Execution

GitHub Actions are disabled across all repos — all CI runs on Argo Workflows (iad-ci). The timing benchmark is already wired into the spaxel-build Argo WorkflowTemplate, which runs go test -bench=BenchmarkFusionLoop as a step (alongside go test ./...). There is no separate GitHub Actions path; the Argo template above is the canonical integration and the only place this gate runs.

Acceptance Criteria

The CI gate passes when:

✅ Benchmark runs successfully for 600 iterations (60 seconds at 10 Hz)
✅ Median fusion iteration < 30 ms on CI runner (2x allowance)
✅ P99 fusion iteration < 40 ms (hard limit)

Performance Baselines

Typical results on reference hardware (13th Gen Intel i5-13500):

Median: ~3ms (well under 15ms production target)
P99: ~4ms (well under 40ms hard limit)

These results provide significant headroom for slower CI runners while maintaining the production target.

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