final TESTING

2026-06-13 14:11:42 +07:00
parent c05b1d5f5c
commit 9776e29d7d
24 changed files with 434 additions and 392 deletions
--- a/.github/workflows/test.yml
+++ b/.github/workflows/test.yml
@@ -29,5 +29,5 @@ jobs:

      - name: Run test suite
        run: |
-          chmod +x scripts/run-tests.sh scripts/api-smoke.sh
-          ./scripts/run-tests.sh
+          chmod +x scripts/lm.sh scripts/test/*.sh scripts/lib/*.sh
+          ./scripts/lm.sh test run
--- a/README.md
+++ b/README.md
@@ -36,20 +36,20 @@ Mô phỏng cấu hình controller tối thiểu SICK (Dual-Core, 4 GB) trên m

 ```bash
 cd /home/robotics/RD/Test3
-sudo docker compose up --build -d
-# hoặc: sudo ./scripts/docker-up.sh
+./scripts/lm.sh docker up
+# hoặc: sudo docker compose up --build -d
 ```

 Kiểm tra giới hạn:

 ```bash
-sudo ./scripts/docker-stats.sh
+./scripts/lm.sh docker stats
 ```

 Dừng:

 ```bash
-sudo docker compose down
+./scripts/lm.sh docker down
 ```

 Dữ liệu layout vẫn lưu tại `data/` trên host (volume mount).
@@ -58,8 +58,7 @@ Kiểm tra tài nguyên trong container:

 ```bash
 # Vào shell container
-sudo docker exec -it lidar-manager-limited bash
-# hoặc: sudo ./scripts/docker-shell.sh
+./scripts/lm.sh docker shell

 # Trong container, thử:
 htop          # CPU/RAM (q để thoát)
@@ -70,8 +69,8 @@ cat /proc/meminfo | head
 ```

 ```bash
-sudo ./scripts/docker-htop.sh
-sudo ./scripts/docker-stats.sh
+./scripts/lm.sh docker htop
+./scripts/lm.sh docker stats
 ```

 ## Test tự động
@@ -80,8 +79,8 @@ Chạy toàn bộ: unit C++ (GTest), API smoke (`curl`), pytest integration.

 ```bash
 cd /home/robotics/RD/Test3
-chmod +x scripts/run-tests.sh scripts/api-smoke.sh
-./scripts/run-tests.sh
+chmod +x scripts/lm.sh scripts/test/*.sh
+./scripts/lm.sh test run
 ```

 Chỉ unit test C++:
@@ -96,7 +95,7 @@ Chỉ API smoke (server đang chạy, dùng fixture `tests/fixtures/data/`):

 ```bash
 ./build/lidar_manager_web 18080 www tests/fixtures/data/state.json &
-./scripts/api-smoke.sh http://127.0.0.1:18080
+./scripts/lm.sh test smoke http://127.0.0.1:18080
 ```

 Fixture mission id mặc định: `testmission00001` (`tests/fixtures/data/missions.json`).
@@ -104,8 +103,8 @@ Fixture mission id mặc định: `testmission00001` (`tests/fixtures/data/missi
 Benchmark hiệu năng trong container (cần `docker compose up -d`):

 ```bash
-chmod +x scripts/docker-benchmark.sh
-sudo ./scripts/docker-benchmark.sh
+./scripts/lm.sh docker bench
+# hoặc chỉ HTTP: ./scripts/lm.sh bench http
 ```

 CI: GitHub Actions workflow `.github/workflows/test.yml`.
--- a/scripts/README.md
+++ b/scripts/README.md
@@ -0,0 +1,43 @@
+# Scripts Test3
+
+CLI thống nhất: `./scripts/lm.sh <nhóm> <lệnh>`
+
+## Cấu trúc
+
+```
+scripts/
+├── lm.sh              # entry point
+├── lib/
+│   ├── common.sh      # LM_ROOT, wait_for_health, free_port
+│   ├── docker.sh      # docker_cmd, require_container
+│   └── bench.sh       # bench_http_suite
+├── test/
+│   ├── run.sh         # GTest + smoke + pytest (server tạm :18080)
+│   └── smoke.sh       # API smoke (curl)
+├── docker/
+│   ├── up.sh down.sh stats.sh htop.sh shell.sh
+│   ├── bench.sh       # stats + HTTP latency trong container
+│   └── test.sh        # up + smoke + pytest trên :8080
+└── bench/
+    └── http.sh        # đo latency (local hoặc URL tùy chọn)
+```
+
+## Lệnh thường dùng
+
+| Mục đích | Lệnh |
+|----------|------|
+| Test đầy đủ (local) | `./scripts/lm.sh test run` |
+| API smoke | `./scripts/lm.sh test smoke [url]` |
+| Docker up | `./scripts/lm.sh docker up` |
+| Test trên container | `./scripts/lm.sh docker test` |
+| Benchmark HTTP | `./scripts/lm.sh bench http [url]` |
+
+## Biến môi trường
+
+| Biến | Mặc định | Ý nghĩa |
+|------|----------|---------|
+| `LM_URL` | `http://127.0.0.1:8080` | URL container |
+| `LM_TEST_PORT` | `18080` | Port server tạm khi `test run` |
+| `LM_CONTAINER` | `lidar-manager-limited` | Tên container |
+| `TEST_BASE_URL` | — | Base URL cho pytest |
+| `BENCH_REQUESTS` | `100` | Số request mỗi endpoint benchmark |
--- a/scripts/bench/http.sh
+++ b/scripts/bench/http.sh
@@ -0,0 +1,17 @@
+#!/usr/bin/env bash
+set -euo pipefail
+
+# shellcheck source=../lib/common.sh
+source "$(dirname "$0")/../lib/common.sh"
+# shellcheck source=../lib/bench.sh
+source "$(dirname "$0")/../lib/bench.sh"
+
+BASE="${1:-$LM_URL}"
+echo "=== HTTP benchmark ==="
+echo "URL: $BASE"
+echo
+bench_http_suite "$BASE"
+echo
+echo "=== Process ==="
+ps -C lidar_manager_web -o pid,rss,vsz,pcpu,pmem,etime,cmd 2>/dev/null \
+  || pgrep -af '[./]lidar_manager_web' | grep -v pgrep || true
--- a/scripts/benchmark-http.sh
+++ b/scripts/benchmark-http.sh
@@ -1,93 +0,0 @@
-#!/usr/bin/env bash
-# Benchmark HTTP latency + tài nguyên process (local hoặc container qua URL).
-set -euo pipefail
-
-ROOT="$(cd "$(dirname "${BASH_SOURCE[0]}")/.." && pwd)"
-BASE="${1:-http://127.0.0.1:8080}"
-REQUESTS="${BENCH_REQUESTS:-100}"
-WARMUP="${BENCH_WARMUP:-10}"
-LABEL="${2:-}"
-
-echo "=== lidar_manager_web benchmark ==="
-echo "URL: $BASE"
-echo "Requests/endpoint: $REQUESTS (warmup $WARMUP)"
-[[ -n "$LABEL" ]] && echo "Label: $LABEL"
-echo
-
-if ! curl -sf "$BASE/api/health" >/dev/null; then
-  echo "Server không phản hồi tại $BASE" >&2
-  exit 1
-fi
-
-bench_endpoint() {
-  local name="$1"
-  local method="$2"
-  local path="$3"
-  local body="${4:-}"
-  python3 - "$name" "$method" "$BASE$path" "$REQUESTS" "$WARMUP" "$body" <<'PY'
-import statistics
-import sys
-import time
-import urllib.error
-import urllib.request
-
-name, method, url, n_req, n_warm, body = sys.argv[1:7]
-n_req = int(n_req)
-n_warm = int(n_warm)
-data = body.encode() if body else None
-headers = {"Content-Type": "application/json"} if data else {}
-
-def once():
-    req = urllib.request.Request(url, data=data, headers=headers, method=method)
-    t0 = time.perf_counter()
-    with urllib.request.urlopen(req, timeout=10) as resp:
-        resp.read()
-    return (time.perf_counter() - t0) * 1000.0
-
-for _ in range(n_warm):
-    try:
-        once()
-    except Exception:
-        pass
-
-samples = []
-errors = 0
-for _ in range(n_req):
-    try:
-        samples.append(once())
-    except Exception as exc:
-        errors += 1
-
-if not samples:
-    print(f"{name}: FAIL errors={errors}")
-else:
-    samples.sort()
-    def pct(p):
-        i = max(0, min(len(samples) - 1, int(len(samples) * p / 100.0) - 1))
-        return samples[i]
-    print(
-        f"{name}: ok={len(samples)} err={errors} "
-        f"p50={pct(50):.2f}ms p95={pct(95):.2f}ms avg={statistics.mean(samples):.2f}ms max={samples[-1]:.2f}ms"
-    )
-PY
-}
-
-echo "=== HTTP latency ==="
-bench_endpoint "GET /api/health" GET "/api/health"
-bench_endpoint "GET /api/state" GET "/api/state"
-bench_endpoint "GET /api/missions" GET "/api/missions"
-bench_endpoint "GET /api/mission_queue" GET "/api/mission_queue"
-bench_endpoint "GET /api/v2.0.0/mission_queue" GET "/api/v2.0.0/mission_queue"
-bench_endpoint "GET /" GET "/"
-bench_endpoint "GET /missions.js" GET "/missions.js"
-
-MID="$(curl -sf "$BASE/api/missions" | python3 -c "import json,sys; m=json.load(sys.stdin).get('missions',[]); print(m[0]['id'] if m else '')" 2>/dev/null || true)"
-if [[ -n "$MID" ]]; then
-  bench_endpoint "POST /api/v2.0.0/mission_queue" POST "/api/v2.0.0/mission_queue" \
-    "{\"mission_id\":\"$MID\",\"priority\":0}"
-fi
-
-echo
-echo "=== Process lidar_manager_web ==="
-ps -C lidar_manager_web -o pid,rss,vsz,pcpu,pmem,etime,cmd 2>/dev/null \
-  || pgrep -af '[./]lidar_manager_web' | grep -v pgrep || true
--- a/scripts/docker-benchmark.sh
+++ b/scripts/docker-benchmark.sh
@@ -1,125 +0,0 @@
-#!/usr/bin/env bash
-# Hiệu năng lidar_manager_web trong container Docker.
-set -euo pipefail
-
-ROOT="$(cd "$(dirname "${BASH_SOURCE[0]}")/.." && pwd)"
-# shellcheck source=docker-lib.sh
-source "$ROOT/scripts/docker-lib.sh"
-
-docker_cmd
-
-NAME="${1:-lidar-manager-limited}"
-BASE="${2:-http://127.0.0.1:8080}"
-REQUESTS="${BENCH_REQUESTS:-100}"
-WARMUP="${BENCH_WARMUP:-10}"
-
-if ! "${DOCKER[@]}" ps --format '{{.Names}}' | grep -qx "$NAME"; then
-  echo "Container '$NAME' không chạy. Chạy: sudo docker compose up -d --build" >&2
-  exit 1
-fi
-
-echo "=== PhenikaaX lidar_manager_web — benchmark container ==="
-echo "Container: $NAME"
-echo "URL: $BASE"
-echo "Requests/endpoint: $REQUESTS (warmup $WARMUP)"
-echo
-
-echo "=== Docker stats (snapshot) ==="
-"${DOCKER[@]}" stats --no-stream --format \
-  'table {{.Name}}\t{{.CPUPerc}}\t{{.MemUsage}}\t{{.MemPerc}}\t{{.NetIO}}\t{{.BlockIO}}' "$NAME"
-echo
-print_container_limits "$NAME"
-echo
-
-echo "=== Process trong container ==="
-"${DOCKER[@]}" exec "$NAME" sh -c '
-  echo "PID  RSS_KB  VSZ_KB  CMD"
-  ps -o pid,rss,vsz,cmd -C lidar_manager_web 2>/dev/null || ps aux | grep lidar_manager_web | grep -v grep
-  echo
-  echo "--- /proc/meminfo (head) ---"
-  head -5 /proc/meminfo
-  echo "--- nproc ---"
-  nproc
-'
-echo
-
-bench_endpoint() {
-  local label="$1"
-  local method="$2"
-  local path="$3"
-  local body="${4:-}"
-
-  python3 - "$label" "$method" "$BASE$path" "$REQUESTS" "$WARMUP" "$body" <<'PY'
-import json
-import statistics
-import sys
-import time
-import urllib.error
-import urllib.request
-
-label, method, url, n_req, n_warm, body = sys.argv[1:7]
-n_req = int(n_req)
-n_warm = int(n_warm)
-data = body.encode() if body else None
-headers = {"Content-Type": "application/json"} if data else {}
-
-def once():
-    req = urllib.request.Request(url, data=data, headers=headers, method=method)
-    t0 = time.perf_counter()
-    with urllib.request.urlopen(req, timeout=10) as resp:
-        resp.read()
-    return (time.perf_counter() - t0) * 1000.0
-
-for _ in range(n_warm):
-    try:
-        once()
-    except Exception:
-        pass
-
-samples = []
-errors = 0
-for _ in range(n_req):
-    try:
-        samples.append(once())
-    except Exception:
-        errors += 1
-
-if not samples:
-    print(f"{label}: FAIL (no successful samples, errors={errors})")
-else:
-    samples.sort()
-    def pct(p):
-        i = max(0, min(len(samples) - 1, int(len(samples) * p / 100.0) - 1))
-        return samples[i]
-    print(
-        f"{label}: ok={len(samples)} err={errors} "
-        f"min={samples[0]:.2f}ms p50={pct(50):.2f}ms p95={pct(95):.2f}ms "
-        f"max={samples[-1]:.2f}ms avg={statistics.mean(samples):.2f}ms"
-    )
-PY
-}
-
-echo "=== HTTP latency (ms) ==="
-if ! curl -sf "$BASE/api/health" >/dev/null; then
-  echo "Server không phản hồi tại $BASE" >&2
-  exit 1
-fi
-
-bench_endpoint "GET /api/health" GET "/api/health"
-bench_endpoint "GET /api/state" GET "/api/state"
-bench_endpoint "GET /api/missions" GET "/api/missions"
-bench_endpoint "GET /api/mission_queue" GET "/api/mission_queue"
-bench_endpoint "GET /api/v2.0.0/mission_queue" GET "/api/v2.0.0/mission_queue"
-bench_endpoint "GET / (index.html)" GET "/"
-bench_endpoint "GET /missions.js" GET "/missions.js"
-
-MID="$(curl -sf "$BASE/api/missions" | python3 -c "import json,sys; m=json.load(sys.stdin).get('missions',[]); print(m[0]['id'] if m else '')")"
-if [[ -n "$MID" ]]; then
-  bench_endpoint "POST /api/v2.0.0/mission_queue" POST "/api/v2.0.0/mission_queue" \
-    "{\"mission_id\":\"$MID\",\"priority\":0}"
-fi
-
-echo
-echo "=== Docker stats (sau benchmark) ==="
-"${DOCKER[@]}" stats --no-stream --format \
-  'table {{.Name}}\t{{.CPUPerc}}\t{{.MemUsage}}\t{{.MemPerc}}' "$NAME"
--- a/scripts/docker-htop.sh
+++ b/scripts/docker-htop.sh
@@ -1,21 +0,0 @@
-#!/usr/bin/env bash
-set -euo pipefail
-
-ROOT="$(cd "$(dirname "${BASH_SOURCE[0]}")/.." && pwd)"
-cd "$ROOT"
-# shellcheck source=docker-lib.sh
-source "$ROOT/scripts/docker-lib.sh"
-
-docker_cmd
-
-if ! "${DOCKER[@]}" ps --format '{{.Names}}' | grep -qx 'lidar-manager-limited'; then
-  echo "Container chưa chạy. Khởi động: sudo docker compose up -d"
-  exit 1
-fi
-
-echo "Giới hạn container:"
-print_container_limits lidar-manager-limited
-
-echo
-echo "Mở htop trong container (q để thoát)..."
-exec "${DOCKER[@]}" exec -it lidar-manager-limited htop
--- a/scripts/docker-stats.sh
+++ b/scripts/docker-stats.sh
@@ -1,44 +0,0 @@
-#!/usr/bin/env bash
-set -euo pipefail
-
-ROOT="$(cd "$(dirname "${BASH_SOURCE[0]}")/.." && pwd)"
-# shellcheck source=docker-lib.sh
-source "$ROOT/scripts/docker-lib.sh"
-
-docker_cmd
-
-NAME="${1:-lidar-manager-limited}"
-
-if ! "${DOCKER[@]}" ps --format '{{.Names}}' | grep -qx "$NAME"; then
-  echo "Container '$NAME' không chạy."
-  exit 1
-fi
-
-echo "=== docker stats (live) ==="
-"${DOCKER[@]}" stats --no-stream "$NAME"
-
-echo
-echo "=== limits ==="
-print_container_limits "$NAME"
-
-CID="$("${DOCKER[@]}" inspect -f '{{.Id}}' "$NAME")"
-CG="/sys/fs/cgroup"
-
-echo
-echo "=== cgroup (host) ==="
-printf 'memory.usage = '
-cat "$CG/memory/docker/$CID/memory.usage_in_bytes" 2>/dev/null \
-  || cat "$CG/memory/system.slice/docker-$CID.scope/memory.usage_in_bytes" 2>/dev/null \
-  || echo "n/a"
-printf ' bytes\n'
-
-printf 'cpu.cfs_quota / period = '
-cat "$CG/cpu,cpuacct/docker/$CID/cpu.cfs_quota_us" 2>/dev/null \
-  || echo -n "n/a"
-printf ' / '
-cat "$CG/cpu,cpuacct/docker/$CID/cpu.cfs_period_us" 2>/dev/null \
-  || echo "n/a"
-
-echo
-echo "=== processes in container ==="
-"${DOCKER[@]}" top "$NAME"
--- a/scripts/docker-test.sh
+++ b/scripts/docker-test.sh
@@ -1,41 +0,0 @@
-#!/usr/bin/env bash
-# Build image, start container, chạy smoke + pytest trên port 8080.
-set -euo pipefail
-
-ROOT="$(cd "$(dirname "${BASH_SOURCE[0]}")/.." && pwd)"
-cd "$ROOT"
-# shellcheck source=docker-lib.sh
-source "$ROOT/scripts/docker-lib.sh"
-
-docker_cmd
-
-BASE="${TEST_BASE_URL:-http://127.0.0.1:8080}"
-
-echo "==> Docker compose up --build -d"
-"${DOCKER[@]}" compose up --build -d
-
-echo "==> Đợi server sẵn sàng ($BASE)"
-for i in $(seq 1 40); do
-  if curl -sf "$BASE/api/health" >/dev/null 2>&1; then
-    break
-  fi
-  sleep 0.5
-done
-
-if ! curl -sf "$BASE/api/health" >/dev/null 2>&1; then
-  echo "Container không phản hồi tại $BASE" >&2
-  "${DOCKER[@]}" logs --tail 30 lidar-manager-limited 2>&1 || true
-  exit 1
-fi
-
-echo "==> Unit + integration tests (local build)"
-./scripts/run-tests.sh
-
-echo "==> API smoke (container $BASE)"
-./scripts/api-smoke.sh "$BASE"
-
-echo "==> pytest (container $BASE)"
-TEST_BASE_URL="$BASE" python3 -m pytest tests/test_api_integration.py -q
-
-echo
-echo "Docker + tests OK."
--- a/scripts/docker-up.sh
+++ b/scripts/docker-up.sh
@@ -1,20 +0,0 @@
-#!/usr/bin/env bash
-set -euo pipefail
-
-ROOT="$(cd "$(dirname "${BASH_SOURCE[0]}")/.." && pwd)"
-cd "$ROOT"
-# shellcheck source=docker-lib.sh
-source "$ROOT/scripts/docker-lib.sh"
-
-docker_cmd
-
-if ! docker info >/dev/null 2>&1 && ! sudo -n docker info >/dev/null 2>&1; then
-  echo "Cần quyền Docker. Chạy một trong hai cách:"
-  echo "  sudo usermod -aG docker \$USER   # rồi đăng nhập lại"
-  echo "  sudo $0"
-fi
-
-"${DOCKER[@]}" compose up --build -d
-echo "Đã chạy: http://localhost:8080/"
-echo -n "Giới hạn: "
-print_container_limits lidar-manager-limited
--- a/scripts/docker/bench.sh
+++ b/scripts/docker/bench.sh
@@ -0,0 +1,31 @@
+#!/usr/bin/env bash
+set -euo pipefail
+
+# shellcheck source=../lib/common.sh
+source "$(dirname "$0")/../lib/common.sh"
+# shellcheck source=../lib/docker.sh
+source "$(dirname "$0")/../lib/docker.sh"
+# shellcheck source=../lib/bench.sh
+source "$(dirname "$0")/../lib/bench.sh"
+
+NAME="${1:-$LM_CONTAINER}"
+BASE="${2:-$LM_URL}"
+require_container "$NAME"
+
+echo "=== Benchmark container: $NAME ==="
+echo "URL: $BASE"
+echo
+
+echo "=== docker stats (trước) ==="
+"${DOCKER[@]}" stats --no-stream --format \
+  'table {{.Name}}\t{{.CPUPerc}}\t{{.MemUsage}}\t{{.MemPerc}}' "$NAME"
+print_container_limits "$NAME"
+echo
+
+echo "=== HTTP latency ==="
+bench_http_suite "$BASE"
+
+echo
+echo "=== docker stats (sau) ==="
+"${DOCKER[@]}" stats --no-stream --format \
+  'table {{.Name}}\t{{.CPUPerc}}\t{{.MemUsage}}\t{{.MemPerc}}' "$NAME"
--- a/scripts/docker/down.sh
+++ b/scripts/docker/down.sh
@@ -0,0 +1,11 @@
+#!/usr/bin/env bash
+set -euo pipefail
+
+# shellcheck source=../lib/common.sh
+source "$(dirname "$0")/../lib/common.sh"
+# shellcheck source=../lib/docker.sh
+source "$(dirname "$0")/../lib/docker.sh"
+
+cd "$LM_ROOT"
+docker_cmd
+"${DOCKER[@]}" compose down
--- a/scripts/docker/htop.sh
+++ b/scripts/docker/htop.sh
@@ -0,0 +1,14 @@
+#!/usr/bin/env bash
+set -euo pipefail
+
+# shellcheck source=../lib/common.sh
+source "$(dirname "$0")/../lib/common.sh"
+# shellcheck source=../lib/docker.sh
+source "$(dirname "$0")/../lib/docker.sh"
+
+require_container "$LM_CONTAINER"
+echo "Giới hạn container:"
+print_container_limits "$LM_CONTAINER"
+echo
+echo "htop (q để thoát)..."
+exec "${DOCKER[@]}" exec -it "$LM_CONTAINER" htop
--- a/scripts/docker/shell.sh
+++ b/scripts/docker/shell.sh
@@ -0,0 +1,10 @@
+#!/usr/bin/env bash
+set -euo pipefail
+
+# shellcheck source=../lib/common.sh
+source "$(dirname "$0")/../lib/common.sh"
+# shellcheck source=../lib/docker.sh
+source "$(dirname "$0")/../lib/docker.sh"
+
+require_container "$LM_CONTAINER"
+exec "${DOCKER[@]}" exec -it "$LM_CONTAINER" bash
--- a/scripts/docker/stats.sh
+++ b/scripts/docker/stats.sh
@@ -0,0 +1,29 @@
+#!/usr/bin/env bash
+set -euo pipefail
+
+# shellcheck source=../lib/common.sh
+source "$(dirname "$0")/../lib/common.sh"
+# shellcheck source=../lib/docker.sh
+source "$(dirname "$0")/../lib/docker.sh"
+
+NAME="${1:-$LM_CONTAINER}"
+require_container "$NAME"
+
+echo "=== docker stats ==="
+"${DOCKER[@]}" stats --no-stream "$NAME"
+echo
+echo "=== limits ==="
+print_container_limits "$NAME"
+
+CID="$("${DOCKER[@]}" inspect -f '{{.Id}}' "$NAME")"
+CG="/sys/fs/cgroup"
+echo
+echo "=== cgroup (host) ==="
+printf 'memory.usage = '
+cat "$CG/memory/docker/$CID/memory.usage_in_bytes" 2>/dev/null \
+  || cat "$CG/memory/system.slice/docker-$CID.scope/memory.usage_in_bytes" 2>/dev/null \
+  || echo "n/a"
+printf ' bytes\n'
+echo
+echo "=== processes ==="
+"${DOCKER[@]}" top "$NAME"
--- a/scripts/docker/test.sh
+++ b/scripts/docker/test.sh
@@ -0,0 +1,26 @@
+#!/usr/bin/env bash
+set -euo pipefail
+
+# shellcheck source=../lib/common.sh
+source "$(dirname "$0")/../lib/common.sh"
+
+BASE="${TEST_BASE_URL:-$LM_URL}"
+export LM_URL="$BASE"
+
+echo "==> Docker up"
+"$(dirname "$0")/up.sh"
+
+echo "==> Đợi server ($BASE)"
+if ! wait_for_health "$BASE"; then
+  echo "Container không phản hồi tại $BASE" >&2
+  exit 1
+fi
+
+echo "==> API smoke"
+"$LM_SCRIPTS/test/smoke.sh" "$BASE"
+
+echo "==> pytest"
+TEST_BASE_URL="$BASE" python3 -m pytest "$LM_ROOT/tests/test_api_integration.py" -q
+
+echo
+echo "Docker tests OK."
--- a/scripts/docker/up.sh
+++ b/scripts/docker/up.sh
@@ -0,0 +1,19 @@
+#!/usr/bin/env bash
+set -euo pipefail
+
+# shellcheck source=../lib/common.sh
+source "$(dirname "$0")/../lib/common.sh"
+# shellcheck source=../lib/docker.sh
+source "$(dirname "$0")/../lib/docker.sh"
+
+cd "$LM_ROOT"
+docker_cmd
+
+if ! docker info >/dev/null 2>&1 && ! sudo -n docker info >/dev/null 2>&1; then
+  echo "Cần quyền Docker. Thử: sudo $0 hoặc usermod -aG docker \$USER"
+fi
+
+"${DOCKER[@]}" compose up --build -d
+echo "Đã chạy: http://localhost:8080/"
+echo -n "Giới hạn: "
+print_container_limits "$LM_CONTAINER"
--- a/scripts/lib/bench.sh
+++ b/scripts/lib/bench.sh
@@ -0,0 +1,71 @@
+# shellcheck shell=bash
+
+bench_http_endpoint() {
+  local label="$1" method="$2" path="$3" base="$4"
+  local body="${5:-}" requests="${6:-${BENCH_REQUESTS:-100}}" warmup="${7:-${BENCH_WARMUP:-10}}"
+  python3 - "$label" "$method" "$base$path" "$requests" "$warmup" "$body" <<'PY'
+import statistics
+import sys
+import urllib.request
+
+label, method, url, n_req, n_warm, body = sys.argv[1:7]
+n_req = int(n_req)
+n_warm = int(n_warm)
+data = body.encode() if body else None
+headers = {"Content-Type": "application/json"} if data else {}
+
+def once():
+    req = urllib.request.Request(url, data=data, headers=headers, method=method)
+    t0 = __import__("time").perf_counter()
+    with urllib.request.urlopen(req, timeout=10) as resp:
+        resp.read()
+    return (__import__("time").perf_counter() - t0) * 1000.0
+
+for _ in range(n_warm):
+    try:
+        once()
+    except Exception:
+        pass
+
+samples = []
+errors = 0
+for _ in range(n_req):
+    try:
+        samples.append(once())
+    except Exception:
+        errors += 1
+
+if not samples:
+    print(f"{label}: FAIL errors={errors}")
+else:
+    samples.sort()
+    def pct(p):
+        i = max(0, min(len(samples) - 1, int(len(samples) * p / 100.0) - 1))
+        return samples[i]
+    print(
+        f"{label}: ok={len(samples)} err={errors} "
+        f"p50={pct(50):.2f}ms p95={pct(95):.2f}ms avg={statistics.mean(samples):.2f}ms max={samples[-1]:.2f}ms"
+    )
+PY
+}
+
+bench_http_suite() {
+  local base="${1:-$LM_URL}"
+  if ! curl -sf "${base}/api/health" >/dev/null; then
+    echo "Server không phản hồi tại $base" >&2
+    return 1
+  fi
+  bench_http_endpoint "GET /api/health" GET "/api/health" "$base"
+  bench_http_endpoint "GET /api/state" GET "/api/state" "$base"
+  bench_http_endpoint "GET /api/missions" GET "/api/missions" "$base"
+  bench_http_endpoint "GET /api/mission_queue" GET "/api/mission_queue" "$base"
+  bench_http_endpoint "GET /api/v2.0.0/mission_queue" GET "/api/v2.0.0/mission_queue" "$base"
+  bench_http_endpoint "GET /" GET "/" "$base"
+  bench_http_endpoint "GET /missions.js" GET "/missions.js" "$base"
+  local mid
+  mid="$(curl -sf "${base}/api/missions" | python3 -c "import json,sys; m=json.load(sys.stdin).get('missions',[]); print(m[0]['id'] if m else '')" 2>/dev/null || true)"
+  if [[ -n "$mid" ]]; then
+    bench_http_endpoint "POST /api/v2.0.0/mission_queue" POST "/api/v2.0.0/mission_queue" "$base" \
+      "{\"mission_id\":\"${mid}\",\"priority\":0}"
+  fi
+}
--- a/scripts/lib/common.sh
+++ b/scripts/lib/common.sh
@@ -0,0 +1,33 @@
+# Shared paths and helpers for Test3 scripts.
+# shellcheck shell=bash
+
+_lm_lib_dir="$(cd "$(dirname "${BASH_SOURCE[0]}")" && pwd)"
+LM_ROOT="$(cd "$_lm_lib_dir/../.." && pwd)"
+LM_SCRIPTS="$(cd "$_lm_lib_dir/.." && pwd)"
+LM_CONTAINER="${LM_CONTAINER:-lidar-manager-limited}"
+LM_URL="${LM_URL:-http://127.0.0.1:8080}"
+LM_TEST_PORT="${LM_TEST_PORT:-18080}"
+
+wait_for_health() {
+  local base="${1:-$LM_URL}"
+  local tries="${2:-40}"
+  local i
+  for ((i = 1; i <= tries; i++)); do
+    if curl -sf "${base}/api/health" >/dev/null 2>&1; then
+      return 0
+    fi
+    sleep 0.5
+  done
+  return 1
+}
+
+free_port() {
+  local port="$1"
+  if command -v fuser >/dev/null 2>&1; then
+    fuser -k "${port}/tcp" 2>/dev/null || true
+  elif command -v lsof >/dev/null 2>&1; then
+    local pids
+    pids="$(lsof -ti "tcp:${port}" 2>/dev/null || true)"
+    [[ -n "$pids" ]] && kill $pids 2>/dev/null || true
+  fi
+}
--- a/scripts/lib/docker.sh
+++ b/scripts/lib/docker.sh
@@ -1,4 +1,6 @@
-#!/usr/bin/env bash
+# shellcheck shell=bash
+# shellcheck source=common.sh
+source "$(dirname "${BASH_SOURCE[0]}")/common.sh"

 docker_cmd() {
  if docker info >/dev/null 2>&1; then
@@ -10,8 +12,17 @@ docker_cmd() {
  fi
 }

+require_container() {
+  local name="${1:-$LM_CONTAINER}"
+  docker_cmd
+  if ! "${DOCKER[@]}" ps --format '{{.Names}}' | grep -qx "$name"; then
+    echo "Container '$name' không chạy. Thử: ./scripts/lm.sh docker up" >&2
+    exit 1
+  fi
+}
+
 print_container_limits() {
-  local name="${1:-lidar-manager-limited}"
+  local name="${1:-$LM_CONTAINER}"
  local nano mem cpus ram_mb
  nano="$("${DOCKER[@]}" inspect -f '{{.HostConfig.NanoCpus}}' "$name")"
  mem="$("${DOCKER[@]}" inspect -f '{{.HostConfig.Memory}}' "$name")"
--- a/scripts/lm.sh
+++ b/scripts/lm.sh
@@ -0,0 +1,74 @@
+#!/usr/bin/env bash
+# PhenikaaX Test3 — CLI gom script theo nhóm.
+set -euo pipefail
+
+ROOT="$(cd "$(dirname "$0")" && pwd)"
+
+usage() {
+  cat <<EOF
+Usage: ./scripts/lm.sh <nhóm> <lệnh> [args...]
+
+Test (local build + server tạm):
+  test run              GTest + smoke + pytest (port \$LM_TEST_PORT, mặc định 18080)
+  test smoke [url]      Chỉ API smoke (mặc định http://127.0.0.1:18080)
+
+Docker (container :8080):
+  docker up             compose up --build -d
+  docker down           compose down
+  docker stats [name]   CPU/RAM/cgroup
+  docker htop           htop trong container
+  docker shell          bash trong container
+  docker bench [url]    Stats + đo latency HTTP
+  docker test           up + smoke + pytest trên container
+
+Benchmark:
+  bench http [url]      Đo latency (mặc định \$LM_URL)
+
+Biến môi trường: LM_URL, LM_TEST_PORT, LM_CONTAINER, TEST_BASE_URL, BENCH_REQUESTS
+EOF
+}
+
+cmd="${1:-help}"
+shift || true
+
+case "$cmd" in
+  help|-h|--help)
+    usage
+    ;;
+  test)
+    sub="${1:-run}"
+    shift || true
+    case "$sub" in
+      run) exec "$ROOT/test/run.sh" "$@" ;;
+      smoke) exec "$ROOT/test/smoke.sh" "$@" ;;
+      *) echo "Unknown: test $sub" >&2; usage >&2; exit 1 ;;
+    esac
+    ;;
+  docker)
+    sub="${1:-}"
+    shift || true
+    case "$sub" in
+      up) exec "$ROOT/docker/up.sh" "$@" ;;
+      down) exec "$ROOT/docker/down.sh" "$@" ;;
+      stats) exec "$ROOT/docker/stats.sh" "$@" ;;
+      htop) exec "$ROOT/docker/htop.sh" "$@" ;;
+      shell) exec "$ROOT/docker/shell.sh" "$@" ;;
+      bench) exec "$ROOT/docker/bench.sh" "$@" ;;
+      test) exec "$ROOT/docker/test.sh" "$@" ;;
+      *) echo "Unknown: docker $sub" >&2; usage >&2; exit 1 ;;
+    esac
+    ;;
+  bench)
+    sub="${1:-http}"
+    shift || true
+    case "$sub" in
+      http) exec "$ROOT/bench/http.sh" "$@" ;;
+      *) echo "Unknown: bench $sub" >&2; usage >&2; exit 1 ;;
+    esac
+    ;;
+  *)
+    echo "Unknown group: $cmd" >&2
+    usage >&2
+    exit 1
+    ;;
+esac
--- a/scripts/run-tests.sh
+++ b/scripts/run-tests.sh
@@ -1,23 +1,17 @@
 #!/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"
+# shellcheck source=../lib/common.sh
+source "$(dirname "$0")/../lib/common.sh"

-PORT="${TEST_PORT:-18080}"
+cd "$LM_ROOT"
+PORT="${TEST_PORT:-$LM_TEST_PORT}"
 BASE="http://127.0.0.1:${PORT}"
-BIN="${ROOT}/build/lidar_manager_web"
+BIN="${LM_ROOT}/build/lidar_manager_web"
 DATA_DIR="$(mktemp -d)"
 SERVER_PID=""

-# Dọn server test cũ trên cùng port (nếu còn).
-if command -v fuser >/dev/null 2>&1; then
-  fuser -k "${PORT}/tcp" 2>/dev/null || true
-elif command -v lsof >/dev/null 2>&1; then
-  PIDS="$(lsof -ti "tcp:${PORT}" 2>/dev/null || true)"
-  [[ -n "$PIDS" ]] && kill $PIDS 2>/dev/null || true
-fi
+free_port "$PORT"
 sleep 0.2

 cleanup() {
@@ -41,30 +35,22 @@ 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 &
+"$BIN" "$PORT" "$LM_ROOT/www" "$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 ! wait_for_health "$BASE" 30; then
  if ! kill -0 "$SERVER_PID" 2>/dev/null; then
    echo "Server exited early:" >&2
    cat "$DATA_DIR/server.log" >&2 || true
-    exit 1
+  else
+    echo "Server did not become ready on $BASE" >&2
+    cat "$DATA_DIR/server.log" >&2 || true
  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 "$BASE"
+"$LM_SCRIPTS/test/smoke.sh" "$BASE"

 if command -v python3 >/dev/null 2>&1; then
  echo "==> Python integration tests (pytest)"
--- a/scripts/test/smoke.sh
+++ b/scripts/test/smoke.sh
@@ -1,9 +1,11 @@
 #!/usr/bin/env bash
-# API smoke tests for lidar_manager_web — run against a live server instance.
+# API smoke tests — chạy trên server đang lắng nghe.
 set -euo pipefail

-BASE="${1:-http://127.0.0.1:18080}"
-ROOT="$(cd "$(dirname "${BASH_SOURCE[0]}")/.." && pwd)"
+# shellcheck source=../lib/common.sh
+source "$(dirname "$0")/../lib/common.sh"
+
+BASE="${1:-http://127.0.0.1:${LM_TEST_PORT}}"
 MISSION_ID="${TEST_MISSION_ID:-}"

 RED='\033[0;31m'
--- a/tests/test_mission_store.cpp
+++ b/tests/test_mission_store.cpp
@@ -2,7 +2,9 @@

 #include <gtest/gtest.h>

+#include <atomic>
 #include <filesystem>
+#include <unistd.h>

 namespace {

@@ -11,8 +13,10 @@ class MissionStoreTest : public ::testing::Test
 protected:
  void SetUp() override
  {
-    dir_ = std::filesystem::temp_directory_path() / "lm_test_store";
-    std::filesystem::remove_all(dir_);
+    static std::atomic<unsigned> seq{0};
+    dir_ = std::filesystem::temp_directory_path()
+           / ("lm_test_" + std::to_string(getpid()) + "_"
+              + std::to_string(seq.fetch_add(1)));
    std::filesystem::create_directories(dir_);
    store_path_ = dir_ / "missions.json";
    std::filesystem::copy_file(std::filesystem::path(TEST_FIXTURE_DIR) / "missions.json",
@@ -21,6 +25,12 @@ protected:
    store_ = std::make_unique<lm::MissionStore>(store_path_);
  }

+  void TearDown() override
+  {
+    std::error_code ec;
+    std::filesystem::remove_all(dir_, ec);
+  }
+
  std::filesystem::path dir_;
  std::filesystem::path store_path_;
  std::unique_ptr<lm::MissionStore> store_;