[system-health] Make check interval more accurate (#14085)

- Why I did it

Healthd check system status every 60 seconds. However, running checker may take several seconds. Say checker takes X seconds, healthd takes (60 + X) seconds to finish one iteration. This implementation makes sonic-mgmt test case not so stable because the value X is hard to predict and different among different platforms. This PR introduces an interval
compensation mechanism to healthd main loop.

- How I did it

Introduces an interval compensation mechanism to healthd main loop: healthd should wait (60 - X) seconds for next iteration

- How to verify it

Manual test
Unit test

src/system-health/pytest.ini

@@ -1,2 +1,2 @@
 [pytest]
-addopts = --cov=health_checker --cov-report html --cov-report term --cov-report xml
+addopts = --cov=health_checker --cov=healthd --cov-report html --cov-report term --cov-report xml

src/system-health/scripts/healthd

@@ -7,6 +7,7 @@
 
 import signal
 import threading
+import time
 
 from sonic_py_common.daemon_base import DaemonBase
 from swsscommon.swsscommon import SonicV2Connector
@@ -79,18 +80,27 @@ class HealthDaemon(DaemonBase):
                 return
             sysmon = Sysmonitor()
             sysmon.task_run()
-            while 1:
-                stat = manager.check(chassis)
-                self._process_stat(chassis, manager.config, stat)
-
-                if self.stop_event.wait(manager.config.interval):
-                    break
+            while self._run_checker(manager, chassis):
+                pass
         except ImportError:
             self.log_warning("sonic_platform package not installed. Cannot start system-health daemon")
 
         self.deinit()
         sysmon.task_stop()
 
+    def _run_checker(self, manager, chassis):
+        begin = time.time()
+        stat = manager.check(chassis)
+        self._process_stat(chassis, manager.config, stat)
+        elapse = time.time() - begin
+        sleep_time_in_sec = manager.config.interval - elapse
+        if sleep_time_in_sec < 0:
+            self.log_notice(f'System health takes {elapse} seconds for one iteration')
+            sleep_time_in_sec = 1
+        if self.stop_event.wait(sleep_time_in_sec):
+            return False
+        return True
+
     def _process_stat(self, chassis, config, stat):
         from health_checker.health_checker import HealthChecker
         self._clear_system_health_table()

src/system-health/tests/test_system_health.py

@@ -12,6 +12,7 @@
 import copy
 import os
 import sys
+from imp import load_source
 from swsscommon import swsscommon
 
 from mock import Mock, MagicMock, patch
@@ -23,7 +24,9 @@ swsscommon.SonicV2Connector = MockConnector
 
 test_path = os.path.dirname(os.path.abspath(__file__))
 modules_path = os.path.dirname(test_path)
+scripts_path = os.path.join(modules_path, 'scripts')
 sys.path.insert(0, modules_path)
+sys.path.insert(0, scripts_path)
 from health_checker import utils
 from health_checker.config import Config
 from health_checker.hardware_checker import HardwareChecker
@@ -35,6 +38,9 @@ from health_checker.sysmonitor import Sysmonitor
 from health_checker.sysmonitor import MonitorStateDbTask
 from health_checker.sysmonitor import MonitorSystemBusTask
 
+load_source('healthd', os.path.join(scripts_path, 'healthd'))
+from healthd import HealthDaemon
+
 mock_supervisorctl_output = """
 snmpd                       RUNNING   pid 67, uptime 1:03:56
 snmp-subagent               EXITED    Oct 19 01:53 AM
@@ -740,3 +746,26 @@ def test_get_service_from_feature_table():
     sysmon.get_service_from_feature_table(dir_list)
     assert 'bgp.service' in dir_list
     assert 'swss.service' not in dir_list
+
+
+@patch('healthd.time.time')
+def test_healthd_check_interval(mock_time):
+    daemon = HealthDaemon()
+    manager = MagicMock()
+    manager.check = MagicMock()
+    manager.config = MagicMock()
+    chassis = MagicMock()
+    daemon._process_stat = MagicMock()
+    daemon.stop_event = MagicMock()
+    daemon.stop_event.wait = MagicMock()
+
+    daemon.stop_event.wait.return_value = False
+    manager.config.interval = 60
+    mock_time.side_effect = [0, 3, 0, 61, 0, 1]
+    assert daemon._run_checker(manager, chassis)
+    daemon.stop_event.wait.assert_called_with(57)
+    assert daemon._run_checker(manager, chassis)
+    daemon.stop_event.wait.assert_called_with(1)
+
+    daemon.stop_event.wait.return_value = True
+    assert not daemon._run_checker(manager, chassis)