create TESTING

2026-06-13 13:46:53 +07:00
parent 1a8bddb037
commit 695a942a5d
15 changed files with 831 additions and 14 deletions
--- a/scripts/api-smoke.sh
+++ b/scripts/api-smoke.sh
@@ -0,0 +1,200 @@
+#!/usr/bin/env bash
+# API smoke tests for lidar_manager_web — run against a live server instance.
+set -euo pipefail
+
+BASE="${1:-http://127.0.0.1:18080}"
+ROOT="$(cd "$(dirname "${BASH_SOURCE[0]}")/.." && pwd)"
+MISSION_ID="${TEST_MISSION_ID:-testmission00001}"
+
+RED='\033[0;31m'
+GREEN='\033[0;32m'
+NC='\033[0m'
+PASS=0
+FAIL=0
+
+log_pass() { echo -e "${GREEN}PASS${NC} $*"; PASS=$((PASS + 1)); }
+log_fail() { echo -e "${RED}FAIL${NC} $*"; FAIL=$((FAIL + 1)); }
+
+json_field() {
+  python3 - "$1" "$2" <<'PY'
+import json, sys
+doc = json.loads(open(sys.argv[1]).read())
+path = sys.argv[2].split(".")
+cur = doc
+for p in path:
+    cur = cur[p]
+print(cur)
+PY
+}
+
+http_code() {
+  curl -s -o "$1" -w '%{http_code}' "${@:2}"
+}
+
+assert_code() {
+  local name="$1" expect="$2" file="$3"
+  shift 3
+  local code
+  code="$(http_code "$file" "$@")"
+  if [[ "$code" == "$expect" ]]; then
+    log_pass "$name (HTTP $code)"
+  else
+    log_fail "$name — expected HTTP $expect, got $code"
+    [[ -f "$file" ]] && head -c 400 "$file" >&2 || true
+    echo >&2
+  fi
+}
+
+assert_json_true() {
+  local name="$1" file="$2" expr="$3"
+  if python3 - "$file" "$expr" <<'PY'
+import json, sys
+doc = json.loads(open(sys.argv[1]).read())
+env = {"doc": doc, "any": any, "all": all, "len": len, "list": list, "isinstance": isinstance}
+ok = eval(sys.argv[2], {"__builtins__": {}}, env)
+sys.exit(0 if ok else 1)
+PY
+  then
+    log_pass "$name"
+  else
+    log_fail "$name"
+    head -c 400 "$file" >&2 || true
+    echo >&2
+  fi
+}
+
+TMP="$(mktemp -d)"
+trap 'rm -rf "$TMP"' EXIT
+
+echo "API smoke tests → $BASE"
+echo "Fixture mission id: $MISSION_ID"
+echo
+
+# --- Health & static ---
+assert_code "GET /api/health" 200 "$TMP/health.json" -X GET "$BASE/api/health"
+assert_json_true "health ok" "$TMP/health.json" 'doc.get("ok") is True'
+
+assert_code "GET /" 200 "$TMP/index.html" -X GET "$BASE/"
+assert_code "GET /missions.js" 200 "$TMP/missions.js" -X GET "$BASE/missions.js"
+
+assert_code "GET /api/state" 200 "$TMP/state.json" -X GET "$BASE/api/state"
+
+assert_code "GET /api/missions" 200 "$TMP/missions.json" -X GET "$BASE/api/missions"
+assert_json_true "missions fixture present" "$TMP/missions.json" \
+  'any(m.get("id") == "'"$MISSION_ID"'" for m in doc.get("missions", []))'
+
+# --- Queue pause/continue (chạy sớm, trước các test enqueue khác) ---
+curl -s -X DELETE "$BASE/api/mission_queue" -o /dev/null || true
+curl -s -X POST "$BASE/api/mission_queue" \
+  -H 'Content-Type: application/json' \
+  -d "{\"mission_id\":\"$MISSION_ID\"}" -o "$TMP/qpost.json"
+for _ in $(seq 1 30); do
+  curl -s "$BASE/api/mission_queue" -o "$TMP/runner_poll.json"
+  RUNNER_STATE="$(python3 -c "import json; print(json.load(open('$TMP/runner_poll.json')).get('runner',{}).get('state',''))")"
+  if [[ "$RUNNER_STATE" == "running" ]]; then
+    break
+  fi
+  sleep 0.2
+done
+if [[ "$RUNNER_STATE" == "running" ]]; then
+  assert_code "POST /api/mission_queue/pause" 200 "$TMP/pause.json" \
+    -X POST "$BASE/api/mission_queue/pause"
+  assert_json_true "runner paused" "$TMP/pause.json" 'doc.get("state") == "paused"'
+  assert_code "POST /api/mission_queue/continue" 200 "$TMP/cont.json" \
+    -X POST "$BASE/api/mission_queue/continue"
+  assert_json_true "runner not paused" "$TMP/cont.json" 'doc.get("state") != "paused"'
+else
+  log_fail "runner never reached running (pause test skipped)"
+fi
+
+# --- LiDAR CRUD ---
+assert_code "POST /api/lidars" 201 "$TMP/lidar.json" \
+  -X POST "$BASE/api/lidars" \
+  -H 'Content-Type: application/json' \
+  -d '{"name":"smoke-lidar","ip":"192.168.99.1","port":2112}'
+LIDAR_ID="$(json_field "$TMP/lidar.json" id 2>/dev/null || echo "")"
+if [[ -n "$LIDAR_ID" ]]; then
+  log_pass "lidar created id=$LIDAR_ID"
+  PASS=$((PASS + 1))
+  assert_code "PUT /api/lidars" 200 "$TMP/lidar_put.json" \
+    -X PUT "$BASE/api/lidars/$LIDAR_ID" \
+    -H 'Content-Type: application/json' \
+    -d '{"name":"smoke-lidar","ip":"192.168.99.2","port":2112}'
+  assert_code "DELETE /api/lidars" 204 "$TMP/lidar_del.txt" \
+    -X DELETE "$BASE/api/lidars/$LIDAR_ID"
+else
+  log_fail "lidar create — no id in response"
+fi
+
+# --- IMU CRUD ---
+assert_code "POST /api/imus" 201 "$TMP/imu.json" \
+  -X POST "$BASE/api/imus" \
+  -H 'Content-Type: application/json' \
+  -d '{"name":"smoke-imu","frame_id":"imu_smoke","topic":"/imu/smoke","source":"external"}'
+IMU_ID="$(json_field "$TMP/imu.json" id 2>/dev/null || echo "")"
+if [[ -n "$IMU_ID" ]]; then
+  log_pass "imu created id=$IMU_ID"
+  PASS=$((PASS + 1))
+  assert_code "DELETE /api/imus" 204 "$TMP/imu_del.txt" -X DELETE "$BASE/api/imus/$IMU_ID"
+else
+  log_fail "imu create — no id in response"
+fi
+
+# --- Clear queue ---
+curl -s -X DELETE "$BASE/api/mission_queue" -o /dev/null || true
+curl -s -X DELETE "$BASE/api/v2.0.0/mission_queue" -o /dev/null || true
+
+# --- MiR v2 enqueue (Cách C REST) ---
+assert_code "POST /api/v2.0.0/mission_queue" 201 "$TMP/v2q.json" \
+  -X POST "$BASE/api/v2.0.0/mission_queue" \
+  -H 'Content-Type: application/json' \
+  -d "{\"mission_id\":\"$MISSION_ID\",\"priority\":2,\"robot_id\":\"default\"}"
+assert_json_true "v2 queue entry mission_id" "$TMP/v2q.json" \
+  'doc.get("mission_id") == "'"$MISSION_ID"'"'
+
+assert_code "GET /api/v2.0.0/mission_queue" 200 "$TMP/v2list.json" -X GET "$BASE/api/v2.0.0/mission_queue"
+assert_json_true "v2 queue non-empty" "$TMP/v2list.json" 'isinstance(doc, list) and len(doc) >= 1'
+
+assert_code "GET /api/v2.0.0/status" 200 "$TMP/v2status.json" -X GET "$BASE/api/v2.0.0/status"
+assert_json_true "v2 status has state_text" "$TMP/v2status.json" '"state_text" in doc'
+
+# --- Modbus trigger (Cách C) ---
+assert_code "POST /api/triggers" 201 "$TMP/trig.json" \
+  -X POST "$BASE/api/triggers" \
+  -H 'Content-Type: application/json' \
+  -d "{\"name\":\"smoke-trigger\",\"coil_id\":1001,\"mission_id\":\"$MISSION_ID\"}"
+TRIG_ID="$(json_field "$TMP/trig.json" id 2>/dev/null || echo "")"
+if [[ -n "$TRIG_ID" ]]; then
+  log_pass "trigger created id=$TRIG_ID"
+  PASS=$((PASS + 1))
+  assert_code "POST modbus fire coil" 200 "$TMP/fire.json" \
+    -X POST "$BASE/api/modbus/coils/1001/trigger"
+  assert_code "DELETE /api/triggers" 204 "$TMP/trig_del.txt" \
+    -X DELETE "$BASE/api/triggers/$TRIG_ID"
+else
+  log_fail "trigger create — no id"
+fi
+
+# --- Fleet schedule ---
+assert_code "POST /api/fleet/schedules" 201 "$TMP/sched.json" \
+  -X POST "$BASE/api/fleet/schedules" \
+  -H 'Content-Type: application/json' \
+  -d "{\"name\":\"smoke-schedule\",\"mission_id\":\"$MISSION_ID\",\"start_mode\":\"asap\",\"priority\":1}"
+SCHED_ID="$(json_field "$TMP/sched.json" id 2>/dev/null || echo "")"
+if [[ -n "$SCHED_ID" ]]; then
+  log_pass "schedule created id=$SCHED_ID"
+  PASS=$((PASS + 1))
+  assert_code "DELETE /api/fleet/schedules" 204 "$TMP/sched_del.txt" \
+    -X DELETE "$BASE/api/fleet/schedules/$SCHED_ID"
+else
+  log_fail "schedule create — no id"
+fi
+
+assert_code "GET /api/fleet/robots" 200 "$TMP/robots.json" -X GET "$BASE/api/fleet/robots"
+assert_json_true "robots list" "$TMP/robots.json" 'isinstance(doc, list) and len(doc) >= 1'
+
+echo
+echo "Results: $PASS passed, $FAIL failed"
+if [[ "$FAIL" -gt 0 ]]; then
+  exit 1
+fi
--- a/scripts/run-tests.sh
+++ b/scripts/run-tests.sh
@@ -0,0 +1,71 @@
+#!/usr/bin/env bash
+# Build unit tests, start lidar_manager_web on a temp data dir, run API smoke + pytest.
+set -euo pipefail
+
+ROOT="$(cd "$(dirname "${BASH_SOURCE[0]}")/.." && pwd)"
+cd "$ROOT"
+
+PORT="${TEST_PORT:-18080}"
+BASE="http://127.0.0.1:${PORT}"
+BIN="${ROOT}/build/lidar_manager_web"
+DATA_DIR="$(mktemp -d)"
+SERVER_PID=""
+
+cleanup() {
+  if [[ -n "$SERVER_PID" ]] && kill -0 "$SERVER_PID" 2>/dev/null; then
+    kill "$SERVER_PID" 2>/dev/null || true
+    wait "$SERVER_PID" 2>/dev/null || true
+  fi
+  rm -rf "$DATA_DIR"
+}
+trap cleanup EXIT
+
+echo "==> Configure & build (BUILD_TESTING=ON)"
+cmake -S . -B build -DCMAKE_BUILD_TYPE=Release -DBUILD_TESTING=ON
+cmake --build build -j
+
+echo "==> C++ unit tests (GTest)"
+./build/lidar_manager_tests
+
+echo "==> Prepare isolated data directory"
+cp -a tests/fixtures/data/. "$DATA_DIR/"
+mkdir -p "$DATA_DIR/models"
+
+echo "==> Start server on port $PORT"
+"$BIN" "$PORT" "$ROOT/www" "$DATA_DIR/state.json" >"$DATA_DIR/server.log" 2>&1 &
+SERVER_PID=$!
+
+for i in $(seq 1 30); do
+  if curl -sf "$BASE/api/health" >/dev/null 2>&1; then
+    break
+  fi
+  if ! kill -0 "$SERVER_PID" 2>/dev/null; then
+    echo "Server exited early:" >&2
+    cat "$DATA_DIR/server.log" >&2 || true
+    exit 1
+  fi
+  sleep 0.2
+done
+
+if ! curl -sf "$BASE/api/health" >/dev/null 2>&1; then
+  echo "Server did not become ready on $BASE" >&2
+  cat "$DATA_DIR/server.log" >&2 || true
+  exit 1
+fi
+
+echo "==> API smoke tests"
+chmod +x scripts/api-smoke.sh
+./scripts/api-smoke.sh "$BASE"
+
+if command -v python3 >/dev/null 2>&1; then
+  echo "==> Python integration tests (pytest)"
+  if ! python3 -c "import pytest" 2>/dev/null; then
+    python3 -m pip install --user -q -r tests/requirements.txt
+  fi
+  TEST_BASE_URL="$BASE" python3 -m pytest tests/test_api_integration.py -q
+else
+  echo "==> Skipping pytest (python3 not found)"
+fi
+
+echo
+echo "All tests passed."