rosotacom-dev 2.5.dev13__tar.gz → 2.5.dev16__tar.gz

{rosotacom_dev-2.5.dev13 → rosotacom_dev-2.5.dev16}/.github/workflows/nightly-e2e.yml

@@ -19,9 +19,25 @@ concurrency:
 
 jobs:
   smoke-e2e:
-    name: smoke-e2e
+    # The same six slices the merge gate and the release run, instead of one
+    # sequential `just test-e2e-smoke` over the whole suite (#198). Keeping the
+    # monolith here was deliberate while the slices were hand-maintained `-k`
+    # expressions that had silently stopped covering three files; #197's
+    # test_e2e_slices_partition_the_whole_suite closed that, so the union is
+    # now guaranteed to be the monolith.
+    #
+    # The gain is diagnosis: a red monolith says "e2e broke", six slices say
+    # which area did. It also removes a load-induced flake. On 2026-08-11 the
+    # nightly failed with nine "Timed out waiting for container readiness"
+    # errors after 1h12m on one runner, while the same tests on the same commit
+    # passed in the merge gate — where they are spread over six.
+    name: smoke-e2e-${{ matrix.slice }}
     runs-on: ubuntu-latest
     timeout-minutes: 90
+    strategy:
+      fail-fast: false
+      matrix:
+        slice: [core, transforms, remote-assist, runtime-tools, concurrency, media]
 
     steps:
       - name: Check out repository
@@ -46,14 +62,14 @@ jobs:
       - name: Show Docker environment
         run: docker info
 
-      - name: Run local smoke slice
-        run: just test-e2e-smoke
+      - name: Run E2E slice
+        run: just test-e2e-slice ${{ matrix.slice }}
 
       - name: Upload smoke session artifacts
         if: failure()
         uses: actions/upload-artifact@v7
         with:
-          name: session-instances-smoke
+          name: session-instances-smoke-${{ matrix.slice }}
           path: session-instances/
           if-no-files-found: ignore
 

{rosotacom_dev-2.5.dev13 → rosotacom_dev-2.5.dev16}/.github/workflows/pr-merge-gate.yml

@@ -189,212 +189,24 @@ jobs:
           fi
           echo "All preflight checks passed"
 
-  e2e-core:
-    name: e2e-core
+  e2e:
+    # One matrix job, not six near-identical copies. The copies were how
+    # `e2e-media` ended up listed in ci-success's `needs` with no check on its
+    # result: a failing media slice did not fail the gate. A matrix has one
+    # result for all slices, so that hole cannot be reopened by forgetting a
+    # paragraph. The slice list is the same one release.yml expands, and
+    # tests/contract/test_workflow_contracts.py keeps the three workflows and
+    # the justfile agreeing.
+    name: e2e-${{ matrix.slice }}
     runs-on: ubuntu-latest
     timeout-minutes: 90
     needs: preflight-success
     if: always() && !cancelled() && needs.preflight-success.result == 'success'
-    steps:
-      - name: Check out repository
-        uses: actions/checkout@v6
-        with:
-          fetch-depth: 0
-
-      - name: Set up Python
-        uses: actions/setup-python@v6
-        with:
-          python-version: "3.12"
-          cache: pip
-
-      - name: Install just and tmux
-        run: |
-          sudo apt-get update
-          sudo apt-get install -y just tmux
-
-      - name: Set up local environment
-        run: just setup
-
-      - name: Show Docker environment
-        run: docker info
-
-      - name: Run core E2E tests
-        run: just test-e2e-core
-
-      - name: Upload session artifacts
-        if: failure()
-        uses: actions/upload-artifact@v7
-        with:
-          name: session-instances-e2e-core
-          path: session-instances/
-          if-no-files-found: ignore
-
-  e2e-transforms:
-    name: e2e-transforms
-    runs-on: ubuntu-latest
-    timeout-minutes: 90
-    needs: preflight-success
-    if: always() && !cancelled() && needs.preflight-success.result == 'success'
-    steps:
-      - name: Check out repository
-        uses: actions/checkout@v6
-        with:
-          fetch-depth: 0
-
-      - name: Set up Python
-        uses: actions/setup-python@v6
-        with:
-          python-version: "3.12"
-          cache: pip
-
-      - name: Install just and tmux
-        run: |
-          sudo apt-get update
-          sudo apt-get install -y just tmux
-
-      - name: Set up local environment
-        run: just setup
-
-      - name: Show Docker environment
-        run: docker info
-
-      - name: Run transform E2E tests
-        run: just test-e2e-transforms
-
-      - name: Upload session artifacts
-        if: failure()
-        uses: actions/upload-artifact@v7
-        with:
-          name: session-instances-e2e-transforms
-          path: session-instances/
-          if-no-files-found: ignore
-
-  e2e-remote-assist:
-    name: e2e-remote-assist
-    runs-on: ubuntu-latest
-    timeout-minutes: 90
-    needs: preflight-success
-    if: always() && !cancelled() && needs.preflight-success.result == 'success'
-    steps:
-      - name: Check out repository
-        uses: actions/checkout@v6
-        with:
-          fetch-depth: 0
-
-      - name: Set up Python
-        uses: actions/setup-python@v6
-        with:
-          python-version: "3.12"
-          cache: pip
-
-      - name: Install just and tmux
-        run: |
-          sudo apt-get update
-          sudo apt-get install -y just tmux
-
-      - name: Set up local environment
-        run: just setup
-
-      - name: Show Docker environment
-        run: docker info
-
-      - name: Run remote assist E2E tests
-        run: just test-e2e-remote-assist
-
-      - name: Upload session artifacts
-        if: failure()
-        uses: actions/upload-artifact@v7
-        with:
-          name: session-instances-e2e-remote-assist
-          path: session-instances/
-          if-no-files-found: ignore
-
-  e2e-runtime-tools:
-    name: e2e-runtime-tools
-    runs-on: ubuntu-latest
-    timeout-minutes: 90
-    needs: preflight-success
-    if: always() && !cancelled() && needs.preflight-success.result == 'success'
-    steps:
-      - name: Check out repository
-        uses: actions/checkout@v6
-        with:
-          fetch-depth: 0
-
-      - name: Set up Python
-        uses: actions/setup-python@v6
-        with:
-          python-version: "3.12"
-          cache: pip
-
-      - name: Install just and tmux
-        run: |
-          sudo apt-get update
-          sudo apt-get install -y just tmux
-
-      - name: Set up local environment
-        run: just setup
-
-      - name: Show Docker environment
-        run: docker info
-
-      - name: Run runtime tools E2E tests
-        run: just test-e2e-runtime-tools
-
-      - name: Upload session artifacts
-        if: failure()
-        uses: actions/upload-artifact@v7
-        with:
-          name: session-instances-e2e-runtime-tools
-          path: session-instances/
-          if-no-files-found: ignore
-
-  e2e-concurrency:
-    name: e2e-concurrency
-    runs-on: ubuntu-latest
-    timeout-minutes: 90
-    needs: preflight-success
-    if: always() && !cancelled() && needs.preflight-success.result == 'success'
-    steps:
-      - name: Check out repository
-        uses: actions/checkout@v6
-        with:
-          fetch-depth: 0
-
-      - name: Set up Python
-        uses: actions/setup-python@v6
-        with:
-          python-version: "3.12"
-          cache: pip
-
-      - name: Install just and tmux
-        run: |
-          sudo apt-get update
-          sudo apt-get install -y just tmux
-
-      - name: Set up local environment
-        run: just setup
-
-      - name: Show Docker environment
-        run: docker info
-
-      - name: Run concurrency E2E tests
-        run: just test-e2e-concurrency
-
-      - name: Upload session artifacts
-        if: failure()
-        uses: actions/upload-artifact@v7
-        with:
-          name: session-instances-e2e-concurrency
-          path: session-instances/
-          if-no-files-found: ignore
+    strategy:
+      fail-fast: false
+      matrix:
+        slice: [core, transforms, remote-assist, runtime-tools, concurrency, media]
 
-  e2e-media:
-    name: e2e-media
-    runs-on: ubuntu-latest
-    timeout-minutes: 90
-    needs: preflight-success
-    if: always() && !cancelled() && needs.preflight-success.result == 'success'
     steps:
       - name: Check out repository
         uses: actions/checkout@v6
@@ -418,14 +230,14 @@ jobs:
       - name: Show Docker environment
         run: docker info
 
-      - name: Run media E2E tests
-        run: just test-e2e-media
+      - name: Run E2E slice
+        run: just test-e2e-slice ${{ matrix.slice }}
 
       - name: Upload session artifacts
         if: failure()
         uses: actions/upload-artifact@v7
         with:
-          name: session-instances-e2e-media
+          name: session-instances-e2e-${{ matrix.slice }}
           path: session-instances/
           if-no-files-found: ignore
 
@@ -439,12 +251,7 @@ jobs:
       - merge-lightweight
       - package
       - preflight-success
-      - e2e-core
-      - e2e-transforms
-      - e2e-remote-assist
-      - e2e-runtime-tools
-      - e2e-concurrency
-      - e2e-media
+      - e2e
     if: always() && (github.event_name != 'pull_request' || github.event.pull_request.draft == false)
 
     steps:
@@ -474,24 +281,8 @@ jobs:
             echo "preflight-success failed or was skipped: ${{ needs.preflight-success.result }}"
             exit 1
           fi
-          if [[ "${{ needs.e2e-core.result }}" != "success" ]]; then
-            echo "e2e-core failed or was skipped: ${{ needs.e2e-core.result }}"
-            exit 1
-          fi
-          if [[ "${{ needs.e2e-transforms.result }}" != "success" ]]; then
-            echo "e2e-transforms failed or was skipped: ${{ needs.e2e-transforms.result }}"
-            exit 1
-          fi
-          if [[ "${{ needs.e2e-remote-assist.result }}" != "success" ]]; then
-            echo "e2e-remote-assist failed or was skipped: ${{ needs.e2e-remote-assist.result }}"
-            exit 1
-          fi
-          if [[ "${{ needs.e2e-runtime-tools.result }}" != "success" ]]; then
-            echo "e2e-runtime-tools failed or was skipped: ${{ needs.e2e-runtime-tools.result }}"
-            exit 1
-          fi
-          if [[ "${{ needs.e2e-concurrency.result }}" != "success" ]]; then
-            echo "e2e-concurrency failed or was skipped: ${{ needs.e2e-concurrency.result }}"
+          if [[ "${{ needs.e2e.result }}" != "success" ]]; then
+            echo "one or more e2e slices failed or were skipped: ${{ needs.e2e.result }}"
             exit 1
           fi
           echo "ci-success passed"

{rosotacom_dev-2.5.dev13 → rosotacom_dev-2.5.dev16}/PKG-INFO

@@ -1,6 +1,6 @@
 Metadata-Version: 2.4
 Name: rosotacom-dev
-Version: 2.5.dev13
+Version: 2.5.dev16
 Summary: Host CLI for ROS OTA communication sessions.
 Author: develNor
 License-Expression: BSD-3-Clause
@@ -778,6 +778,26 @@ performance bands in `budgets.jsonl` via `rosotacom benchmark compare`, and
 bands move only through `rosotacom benchmark ratchet` — see
 [docs/performance-bands.md](docs/performance-bands.md) for the band schema,
 verdicts, and the ratchet workflow (RFC 0007).
+
+Two result sets taken in **different environments** — emulated versus a real
+link, or shaped versus unshaped — are compared with `rosotacom benchmark delta`:
+
+```bash
+rosotacom benchmark delta emulated/ ota/ \
+  --label-reference emulated --label-measured ota \
+  --out delta.json --markdown delta.md
+```
+
+It pairs runs on genre, profile, RMW and session name, so a row that ran in one
+environment and not the other is reported as unmatched rather than silently
+dropped — "it got faster" and "it did not run" must not look the same. Every
+report is labelled `monitor_only` and carries each side's command and profile
+file, so a table pasted into a paper or an issue can be traced back without the
+directory it came from.
+
+It exits 0 whatever the numbers say, and non-zero only when the two sets share
+no rows at all — a delta is an observation to explain, and an exit code would
+turn "explain this" into "re-run until it is quiet".
 For live benchmark probes, `--duration` is the shaped publish window; after that
 rosotacom stops synthetic publishers and waits `--drain-s` seconds before
 tearing down shaping, so delayed in-flight messages are not miscounted as loss.

{rosotacom_dev-2.5.dev13 → rosotacom_dev-2.5.dev16}/README.md

@@ -733,6 +733,26 @@ performance bands in `budgets.jsonl` via `rosotacom benchmark compare`, and
 bands move only through `rosotacom benchmark ratchet` — see
 [docs/performance-bands.md](docs/performance-bands.md) for the band schema,
 verdicts, and the ratchet workflow (RFC 0007).
+
+Two result sets taken in **different environments** — emulated versus a real
+link, or shaped versus unshaped — are compared with `rosotacom benchmark delta`:
+
+```bash
+rosotacom benchmark delta emulated/ ota/ \
+  --label-reference emulated --label-measured ota \
+  --out delta.json --markdown delta.md
+```
+
+It pairs runs on genre, profile, RMW and session name, so a row that ran in one
+environment and not the other is reported as unmatched rather than silently
+dropped — "it got faster" and "it did not run" must not look the same. Every
+report is labelled `monitor_only` and carries each side's command and profile
+file, so a table pasted into a paper or an issue can be traced back without the
+directory it came from.
+
+It exits 0 whatever the numbers say, and non-zero only when the two sets share
+no rows at all — a delta is an observation to explain, and an exit code would
+turn "explain this" into "re-run until it is quiet".
 For live benchmark probes, `--duration` is the shaped publish window; after that
 rosotacom stops synthetic publishers and waits `--drain-s` seconds before
 tearing down shaping, so delayed in-flight messages are not miscounted as loss.

{rosotacom_dev-2.5.dev13 → rosotacom_dev-2.5.dev16}/justfile

@@ -38,34 +38,34 @@ test-nondocker-cov:
 	{{python}} -m pytest -q tests/unit tests/contract --cov=rosotacom --cov-report=term-missing --cov-report=xml:coverage.xml
 
 test-e2e-smoke:
-	ROSOTACOM_RUN_E2E=1 {{python}} -m pytest -q tests/e2e/ -m e2e
+	ROSOTACOM_RUN_E2E=1 {{python}} -m pytest -q --durations=0 tests/e2e/ -m e2e
 
 test-e2e-fast: test-e2e-smoke
 
 test-e2e-core:
-	ROSOTACOM_RUN_E2E=1 {{python}} -m pytest -q tests/e2e/test_smoke.py -k "heartbeat or chatter"
+	ROSOTACOM_RUN_E2E=1 {{python}} -m pytest -q --durations=0 tests/e2e/test_smoke.py -k "heartbeat or chatter"
 
 test-e2e-transforms:
-	ROSOTACOM_RUN_E2E=1 {{python}} -m pytest -q tests/e2e/test_smoke.py -k "occupancy_grid or sized_payload"
+	ROSOTACOM_RUN_E2E=1 {{python}} -m pytest -q --durations=0 tests/e2e/test_smoke.py -k "occupancy_grid or sized_payload"
 
 test-e2e-remote-assist:
-	ROSOTACOM_RUN_E2E=1 {{python}} -m pytest -q tests/e2e/test_smoke.py -k "remote_assist"
+	ROSOTACOM_RUN_E2E=1 {{python}} -m pytest -q --durations=0 tests/e2e/test_smoke.py -k "remote_assist"
 
 # Two invocations on purpose: a shared `-k` filter would silently deselect
 # every test in the other files (contract-tested in test_benched_set_registry).
 test-e2e-runtime-tools:
-	ROSOTACOM_RUN_E2E=1 {{python}} -m pytest -q tests/e2e/test_smoke.py -k "link_latency"
-	ROSOTACOM_RUN_E2E=1 {{python}} -m pytest -q tests/e2e/test_timeline_stepping.py tests/e2e/test_benchmark_capacity.py tests/e2e/test_benchmark_ab.py tests/e2e/test_benchmark_replay.py
+	ROSOTACOM_RUN_E2E=1 {{python}} -m pytest -q --durations=0 tests/e2e/test_smoke.py -k "link_latency"
+	ROSOTACOM_RUN_E2E=1 {{python}} -m pytest -q --durations=0 tests/e2e/test_timeline_stepping.py tests/e2e/test_benchmark_capacity.py tests/e2e/test_benchmark_ab.py tests/e2e/test_benchmark_replay.py
 
 # The remaining e2e files. Without this slice the partition is not one: the
 # monolithic `test-e2e-smoke` collects 28 tests, the other five collect 25, and
 # anonymization/video-quality/replay ran only in nightly and the release.
 test-e2e-media:
-	ROSOTACOM_RUN_E2E=1 {{python}} -m pytest -q tests/e2e/test_anonymize_e2e.py tests/e2e/test_video_quality_e2e.py
-	ROSOTACOM_RUN_E2E=1 {{python}} -m pytest -q tests/e2e/test_smoke.py -k "anonymized"
+	ROSOTACOM_RUN_E2E=1 {{python}} -m pytest -q --durations=0 tests/e2e/test_anonymize_e2e.py tests/e2e/test_video_quality_e2e.py
+	ROSOTACOM_RUN_E2E=1 {{python}} -m pytest -q --durations=0 tests/e2e/test_smoke.py -k "anonymized"
 
 test-e2e-concurrency:
-	ROSOTACOM_RUN_E2E=1 {{python}} -m pytest -q tests/e2e/test_parallel_smoke.py
+	ROSOTACOM_RUN_E2E=1 {{python}} -m pytest -q --durations=0 tests/e2e/test_parallel_smoke.py
 
 # The five slices partition `test-e2e-smoke`; the merge gate and the release
 # both run them in parallel. This wrapper exists so a workflow matrix can select
@@ -77,7 +77,7 @@ test-e2e-slice slice:
 	just test-e2e-{{slice}}
 
 test-e2e-node nodeid:
-	ROSOTACOM_RUN_E2E=1 {{python}} -m pytest -q "{{nodeid}}"
+	ROSOTACOM_RUN_E2E=1 {{python}} -m pytest -q --durations=0 "{{nodeid}}"
 
 test-e2e-rmw session:
 	ROSOTACOM_RUN_E2E=1 ROSOTACOM_RUN_FULL_E2E=1 {{python}} -m pytest -q "tests/e2e/test_smoke.py::test_full_rmw_heartbeat_smoke_matrix[{{session}}]"

{rosotacom_dev-2.5.dev13 → rosotacom_dev-2.5.dev16}/session-configuration.md

@@ -417,17 +417,22 @@ message types for `/com/...` topics. For that reason, user-defined topic entries
 The auto-generated heartbeat topic is the only exception because its type is known by the generator.
 
 #### Allowed `processing` keys
-Only these keys are allowed:
+Only these keys are allowed. The list is checked against the generator's
+`KNOWN_PROCESSING_KEYS` by `tests/contract/test_session_configuration_doc.py`,
+so a new knob cannot ship undocumented.
 
 ```yaml
 processing:
   restamp_if: true                # bool OR common bool strings OR "<VAR_NAME>" (template param name)
+  latch: false                    # bool, re-publish on value change only
+  trickle_hz: 1                   # number > 0, receiver-side periodic re-publish
   drop:                           # optional, message drop configuration
     drop_count: 2                 # int >= 0, number of messages to drop
     window_size: 3                # int > 0, window size (drop_count must be < window_size)
   framebridge: local_to_global    # local_to_global | global_to_local
   normalize_on_target: false      # bool
   compress: false                 # bool
+  use_ota_wrapper: false          # bool, wrap the payload for the OTA hop
   throttle_hz: 10                 # int > 0
   pixel_cap_preset: "wsvga"       # scalar, used as suffix only,
   transport:
@@ -436,6 +441,37 @@ processing:
     # plus type-specific params (see below)
 ```
 
+##### `latch` and `trickle_hz`: two answers to "the value did not change"
+
+Both address a topic that publishes rarely, and they sit on opposite ends of
+the link:
+
+- **`latch` is a sender-side filter.** The latch stage forwards a message only
+  when its value differs from the last one, to `<topic>{shared.processing_suffixes.latched}`
+  (default `/latched`). It saves OTA bandwidth on a state topic that repeats
+  itself. Its cost is that a receiver which subscribes *after* the last change
+  gets nothing — what the delivered value is then depends entirely on the OTA
+  QoS for the role (`depth`, `lifespan`, `durability`).
+- **`trickle_hz` is a receiver-side re-publish.** A local timer republishes the
+  last *delivered* value to `<final>/trickle` at that rate, whether or not
+  anything new arrived. Nothing extra crosses the link: the trickle topic is
+  not in the OTA topic lists. It exists for consumers that expect a steady
+  stream — visualization, state diagrams, watchdogs — and would otherwise treat
+  an unchanged value as a dead one.
+
+They compose: `latch: true` with `trickle_hz: 1` sends a message only on change
+and still gives the receiving side a 1 Hz stream.
+
+Because the trickle output is the real delivered topic, it is the monitored
+`native_in` stage rather than the pre-trickle `final` — otherwise the
+re-publish would be an observability blind spot whose rate no `expect` could
+assert. `expect.hz` on such a topic therefore describes the trickle rate plus
+whatever arrives over the link, which is why `examples/sessions/11_trickle`
+asserts `hz: {min: 2, max: 8}` for a 1 Hz source at `trickle_hz: 4`.
+
+`trickle_hz` must be greater than 0. It also sets the expected rate for a topic
+that has no `throttle_hz`.
+
 #### Processing pipeline order (exact)
 Given a base topic like `/tf`, stages are applied in this order: