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rig harness: gate the host monitor's CPU on the mean (≤ 3 % of a core) #287

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rig harness: gate the host monitor's CPU on the mean (≤ 3 % of a core) #287

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10 changes: 7 additions & 3 deletions rig/tests/test_ros2_poc.py
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Original file line number Diff line number Diff line change
Expand Up @@ -52,7 +52,7 @@
bag on its own (recovered:true, whole bag left)
host monitor (2026-10-28; rig_nodes.host_monitor) /rig/host in the bag ≥ 0.8 Hz, fields = the installed
HostStats (typed) / the read fields (JSON), the graph's
nodes pinned; its own CPU ≤ 2 % of a core, ≤ 5 % of the
nodes pinned; its own CPU ≤ 3 % of a core (mean), ≤ 5 % of the
compressed bag — skipped (info) when the installed
rig_nodes has no host monitor

Expand Down Expand Up @@ -301,6 +301,7 @@ def host_monitor_values(bag: Path) -> dict:
return {"samples": len(host), "schema": sorted(s or "std_msgs/msg/String" for s in schemas), "run_s": round(run_s, 1) if run_s else None, "fields_ok": bool(good) and len(good) == len(objs) and not bad,
"bad_fields": bad, "cores_ok": cores_ok, "ncpu": len(good[0]["core_busy_mean"]) if good else None,
"groups": sorted({p["group"] for o in good for p in o.get("procs", []) if p.get("group")}),
"self_cpu_mean": round(statistics.mean(self_cpu), 4) if self_cpu else None,
"self_cpu_median": round(statistics.median(self_cpu), 4) if self_cpu else None,
"self_cpu_max": round(max(self_cpu), 4) if self_cpu else None,
"bytes_per_sample": round(sum(map(len, host)) / len(host)) if host else None,
Expand Down Expand Up @@ -783,8 +784,11 @@ def side_actor() -> None:
hm.get("cores_ok", False), f"{hm.get('ncpu')} CPUs")
check("host monitor: the graph's processes pinned by script (py:bridge_node, py:fictrac_udp_adapter, py:host_monitor)",
{"py:bridge_node", "py:fictrac_udp_adapter", "py:host_monitor"} <= set(hm.get("groups") or []), str(hm.get("groups")))
check("host monitor cost: its own CPU ≤ 2 % of one core (median after the first 2 samples)",
hm.get("self_cpu_median") is not None and hm["self_cpu_median"] <= 0.02, f"median {hm.get('self_cpu_median')} max {hm.get('self_cpu_max')} cores")
# the MEAN, not the median: on macOS/Linux the full process-table read every 5 s
# (rig_nodes 0.3.1 --proc-rescan) is a minority of windows, and a median hides it
check("host monitor cost: its own CPU ≤ 3 % of one core (mean after the first 2 samples)",
hm.get("self_cpu_mean") is not None and hm["self_cpu_mean"] <= 0.03,
f"mean {hm.get('self_cpu_mean')} median {hm.get('self_cpu_median')} max {hm.get('self_cpu_max')} cores")
check("host monitor storage: /rig/host ≤ 5 % of the run's compressed payload (zstd, as the bag)",
hm.get("share_compressed") is not None and hm["share_compressed"] <= 0.05, f"{hm.get('share_compressed')} ({hm.get('host_kb_per_h_zstd')} KB/h)")
check("bridge node still alive at the end of the main run", bridge.alive())
Expand Down
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