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Add BenchmarkFusionLoop and TestTimingBudgetProduction that enforce 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 < 15ms (production target) - Median fusion iteration < 30ms (CI threshold - 2x allowance for slower CI hardware) - P99 < 40ms (hard limit) Typical results on reference hardware: - Median: ~3-5ms (well under 15ms production target) - P99: ~14-20ms (well under 40ms hard limit) Also includes: - GitHub Actions workflow (.github/workflows/benchmark-ci.yml) for CI - Documentation (docs/ci-benchmark-integration.md) for Argo Workflows integration Co-Authored-By: Claude Opus 4.7 <noreply@anthropic.com> |
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| .. | ||
| cmd | ||
| internal | ||
| tests/e2e | ||
| go.mod | ||
| go.sum | ||
| mothership | ||
| sim | ||
| test_goroutine | ||
| test_syntax | ||