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How long your rotors last will depend on a few things; how often and hard are you on the brakes (an expressway only car will go a lot more miles than an urban stop & go car will), what type pads are you using?, etc.
To check, you need a micrometer. Rotor Wear Limit is 22.6mm (Fr) and 18.6mm (Rr). The Rotor Machining Limit is 22.0mm (Fr) and 18mm (Rr).
If you have a ridge built-up on the rotor, this can be machined off and the pad roughed up (smooth isn't better) - usually about $15/rotor
You should also check for rotor lateral runout (warpage). This spec is 0.03mm. There is also a Peak-to-Valley surface roughness spec after machining of 0.006mm.
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