HiepLM/App
1
0
Fork 0
Code Issues Pull Requests Actions 1 Packages Projects Releases Wiki Activity

final TESTING
Some checks failed
Test / test (push) Has been cancelled
Details

Browse Source
This commit is contained in:
HiepLM
2026-06-13 14:11:42 +07:00
parent c05b1d5f5c
commit 9776e29d7d
24 changed files with 434 additions and 392 deletions
Download Patch File Download Diff File Expand all files Collapse all files

4
.github/workflows/test.yml vendored
View File

@@ -29,5 +29,5 @@ jobs:
- name: Run test suite - name: Run test suite
run: | run: |
chmod +x scripts/run-tests.sh scripts/api-smoke.sh chmod +x scripts/lm.sh scripts/test/*.sh scripts/lib/*.sh
./scripts/run-tests.sh ./scripts/lm.sh test run

25
README.md
View File

@@ -36,20 +36,20 @@ Mô phỏng cấu hình controller tối thiểu SICK (Dual-Core, 4 GB) trên m
```bash ```bash
cd /home/robotics/RD/Test3 cd /home/robotics/RD/Test3
sudo docker compose up --build -d ./scripts/lm.sh docker up
# hoặc: sudo ./scripts/docker-up.sh # hoặc: sudo docker compose up --build -d
``` ```
Kiểm tra giới hạn: Kiểm tra giới hạn:
```bash ```bash
sudo ./scripts/docker-stats.sh ./scripts/lm.sh docker stats
``` ```
Dừng: Dừng:
```bash ```bash
sudo docker compose down ./scripts/lm.sh docker down
``` ```
Dữ liệu layout vẫn lưu tại `data/` trên host (volume mount). Dữ liệu layout vẫn lưu tại `data/` trên host (volume mount).
@@ -58,8 +58,7 @@ Kiểm tra tài nguyên trong container:
```bash ```bash
# Vào shell container # Vào shell container
sudo docker exec -it lidar-manager-limited bash ./scripts/lm.sh docker shell
# hoặc: sudo ./scripts/docker-shell.sh
# Trong container, thử: # Trong container, thử:
htop # CPU/RAM (q để thoát) htop # CPU/RAM (q để thoát)
@@ -70,8 +69,8 @@ cat /proc/meminfo | head
``` ```
```bash ```bash
sudo ./scripts/docker-htop.sh ./scripts/lm.sh docker htop
sudo ./scripts/docker-stats.sh ./scripts/lm.sh docker stats
``` ```
## Test tự động ## Test tự động
@@ -80,8 +79,8 @@ Chạy toàn bộ: unit C++ (GTest), API smoke (`curl`), pytest integration.
```bash ```bash
cd /home/robotics/RD/Test3 cd /home/robotics/RD/Test3
chmod +x scripts/run-tests.sh scripts/api-smoke.sh chmod +x scripts/lm.sh scripts/test/*.sh
./scripts/run-tests.sh ./scripts/lm.sh test run
``` ```
Chỉ unit test C++: Chỉ unit test C++:
@@ -96,7 +95,7 @@ Chỉ API smoke (server đang chạy, dùng fixture `tests/fixtures/data/`):
```bash ```bash
./build/lidar_manager_web 18080 www tests/fixtures/data/state.json & ./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`). 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`): Benchmark hiệu năng trong container (cần `docker compose up -d`):
```bash ```bash
chmod +x scripts/docker-benchmark.sh ./scripts/lm.sh docker bench
sudo ./scripts/docker-benchmark.sh # hoặc chỉ HTTP: ./scripts/lm.sh bench http
``` ```
CI: GitHub Actions workflow `.github/workflows/test.yml`. CI: GitHub Actions workflow `.github/workflows/test.yml`.

43
scripts/README.md Normal file
View File

@@ -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 |

17
scripts/bench/http.sh Executable file
View File

@@ -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

93
scripts/benchmark-http.sh
View File

@@ -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

125
scripts/docker-benchmark.sh
View File

@@ -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"

21
scripts/docker-htop.sh
View File

@@ -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

44
scripts/docker-stats.sh
View File

@@ -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"

41
scripts/docker-test.sh
View File

@@ -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."

20
scripts/docker-up.sh
View File

@@ -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

31
scripts/docker/bench.sh Executable file
View File

@@ -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"

11
scripts/docker/down.sh Executable file
View File

@@ -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

14
scripts/docker/htop.sh Executable file
View File

@@ -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

10
scripts/docker/shell.sh Executable file
View File

@@ -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

29
scripts/docker/stats.sh Executable file
View File

@@ -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"

26
scripts/docker/test.sh Executable file
View File

@@ -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."

19
scripts/docker/up.sh Executable file
View File

@@ -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"

71
scripts/lib/bench.sh Executable file
View File

@@ -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
}

33
scripts/lib/common.sh Executable file
View File

@@ -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
}

15
scripts/docker-lib.sh → scripts/lib/docker.sh Normal file → Executable file
View File

@@ -1,4 +1,6 @@
#!/usr/bin/env bash # shellcheck shell=bash
# shellcheck source=common.sh
source "$(dirname "${BASH_SOURCE[0]}")/common.sh"
docker_cmd() { docker_cmd() {
if docker info >/dev/null 2>&1; then if docker info >/dev/null 2>&1; then
@@ -10,8 +12,17 @@ docker_cmd() {
fi fi
} }
require_container() {
local name="${1:-$LM_CONTAINER}"
docker_cmd
if ! "${DOCKER[@]}" ps --format '{{.Names}}' | grep -qx "$name"; then
echo "Container '$name' không chạy. Thử: ./scripts/lm.sh docker up" >&2
exit 1
fi
}
print_container_limits() { print_container_limits() {
local name="${1:-lidar-manager-limited}" local name="${1:-$LM_CONTAINER}"
local nano mem cpus ram_mb local nano mem cpus ram_mb
nano="$("${DOCKER[@]}" inspect -f '{{.HostConfig.NanoCpus}}' "$name")" nano="$("${DOCKER[@]}" inspect -f '{{.HostConfig.NanoCpus}}' "$name")"
mem="$("${DOCKER[@]}" inspect -f '{{.HostConfig.Memory}}' "$name")" mem="$("${DOCKER[@]}" inspect -f '{{.HostConfig.Memory}}' "$name")"

74
scripts/lm.sh Executable file
View File

@@ -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

38
scripts/run-tests.sh → scripts/test/run.sh
View File

@@ -1,23 +1,17 @@
#!/usr/bin/env bash #!/usr/bin/env bash
# Build unit tests, start lidar_manager_web on a temp data dir, run API smoke + pytest.
set -euo pipefail set -euo pipefail
ROOT="$(cd "$(dirname "${BASH_SOURCE[0]}")/.." && pwd)" # shellcheck source=../lib/common.sh
cd "$ROOT" 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}" BASE="http://127.0.0.1:${PORT}"
BIN="${ROOT}/build/lidar_manager_web" BIN="${LM_ROOT}/build/lidar_manager_web"
DATA_DIR="$(mktemp -d)" DATA_DIR="$(mktemp -d)"
SERVER_PID="" SERVER_PID=""
# Dọn server test cũ trên cùng port (nếu còn). free_port "$PORT"
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 $PIDS 2>/dev/null || true
fi
sleep 0.2 sleep 0.2
cleanup() { cleanup() {
@@ -41,30 +35,22 @@ cp -a tests/fixtures/data/. "$DATA_DIR/"
mkdir -p "$DATA_DIR/models" mkdir -p "$DATA_DIR/models"
echo "==> Start server on port $PORT" 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" >"$DATA_DIR/server.log" 2>&1 &
SERVER_PID=$! SERVER_PID=$!
for i in $(seq 1 30); do if ! wait_for_health "$BASE" 30; then
if curl -sf "$BASE/api/health" >/dev/null 2>&1; then
break
fi
if ! kill -0 "$SERVER_PID" 2>/dev/null; then if ! kill -0 "$SERVER_PID" 2>/dev/null; then
echo "Server exited early:" >&2 echo "Server exited early:" >&2
cat "$DATA_DIR/server.log" >&2 || true 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 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 exit 1
fi fi
echo "==> API smoke tests" echo "==> API smoke tests"
chmod +x scripts/api-smoke.sh "$LM_SCRIPTS/test/smoke.sh" "$BASE"
./scripts/api-smoke.sh "$BASE"
if command -v python3 >/dev/null 2>&1; then if command -v python3 >/dev/null 2>&1; then
echo "==> Python integration tests (pytest)" echo "==> Python integration tests (pytest)"

8
scripts/api-smoke.sh → scripts/test/smoke.sh
View File

@@ -1,9 +1,11 @@
#!/usr/bin/env bash #!/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 set -euo pipefail
BASE="${1:-http://127.0.0.1:18080}" # shellcheck source=../lib/common.sh
ROOT="$(cd "$(dirname "${BASH_SOURCE[0]}")/.." && pwd)" source "$(dirname "$0")/../lib/common.sh"
BASE="${1:-http://127.0.0.1:${LM_TEST_PORT}}"
MISSION_ID="${TEST_MISSION_ID:-}" MISSION_ID="${TEST_MISSION_ID:-}"
RED='\033[0;31m' RED='\033[0;31m'

14
tests/test_mission_store.cpp
View File

@@ -2,7 +2,9 @@
#include <gtest/gtest.h> #include <gtest/gtest.h>
#include <atomic>
#include <filesystem> #include <filesystem>
#include <unistd.h>
namespace { namespace {
@@ -11,8 +13,10 @@ class MissionStoreTest : public ::testing::Test
protected: protected:
void SetUp() override void SetUp() override
{ {
dir_ = std::filesystem::temp_directory_path() / "lm_test_store"; static std::atomic<unsigned> seq{0};
std::filesystem::remove_all(dir_); dir_ = std::filesystem::temp_directory_path()
/ ("lm_test_" + std::to_string(getpid()) + "_"
+ std::to_string(seq.fetch_add(1)));
std::filesystem::create_directories(dir_); std::filesystem::create_directories(dir_);
store_path_ = dir_ / "missions.json"; store_path_ = dir_ / "missions.json";
std::filesystem::copy_file(std::filesystem::path(TEST_FIXTURE_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_); 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 dir_;
std::filesystem::path store_path_; std::filesystem::path store_path_;
std::unique_ptr<lm::MissionStore> store_; std::unique_ptr<lm::MissionStore> store_;