Clean and Test làn 3

data/mission_queue.json

@@ -1,11 +1,168 @@
 {
-  "queue": [],
+  "queue": [
+    {
+      "created_at": "2026-06-13T07:03:00Z",
+      "finished_at": "2026-06-13T07:03:01Z",
+      "id": "c636ad0d89937cd2",
+      "log": [
+        {
+          "level": "info",
+          "message": "Wait 1000ms",
+          "ts": "2026-06-13T07:03:00Z"
+        }
+      ],
+      "mission": {
+        "actions": [
+          {
+            "id": "a1",
+            "kind": "action",
+            "label": "Wait",
+            "params": {
+              "seconds": 1
+            },
+            "type": "wait"
+          }
+        ],
+        "description": "",
+        "group": "Missions",
+        "id": "5ae9dbcb0722dffb",
+        "name": "Test run",
+        "updated_at": "2026-06-13T04:44:03Z"
+      },
+      "mission_group": "Missions",
+      "mission_id": "5ae9dbcb0722dffb",
+      "mission_name": "Test run",
+      "parameters": {},
+      "priority": 0,
+      "robot_id": "default",
+      "source": "ui",
+      "started_at": "2026-06-13T07:03:00Z",
+      "status": "completed"
+    },
+    {
+      "created_at": "2026-06-13T07:03:01Z",
+      "finished_at": "2026-06-13T07:03:02Z",
+      "id": "06048341b549f0ac",
+      "log": [
+        {
+          "level": "info",
+          "message": "Wait 1000ms",
+          "ts": "2026-06-13T07:03:01Z"
+        }
+      ],
+      "mission": {
+        "actions": [
+          {
+            "id": "a1",
+            "kind": "action",
+            "label": "Wait",
+            "params": {
+              "seconds": 1
+            },
+            "type": "wait"
+          }
+        ],
+        "description": "",
+        "group": "Missions",
+        "id": "5ae9dbcb0722dffb",
+        "name": "Test run",
+        "updated_at": "2026-06-13T04:44:03Z"
+      },
+      "mission_group": "Missions",
+      "mission_id": "5ae9dbcb0722dffb",
+      "mission_name": "Test run",
+      "parameters": {},
+      "priority": 0,
+      "robot_id": "default",
+      "source": "ui",
+      "started_at": "2026-06-13T07:03:01Z",
+      "status": "completed"
+    },
+    {
+      "created_at": "2026-06-13T07:03:01Z",
+      "finished_at": "2026-06-13T07:03:03Z",
+      "id": "887245afd51df357",
+      "log": [
+        {
+          "level": "info",
+          "message": "Wait 1000ms",
+          "ts": "2026-06-13T07:03:02Z"
+        }
+      ],
+      "mission": {
+        "actions": [
+          {
+            "id": "a1",
+            "kind": "action",
+            "label": "Wait",
+            "params": {
+              "seconds": 1
+            },
+            "type": "wait"
+          }
+        ],
+        "description": "",
+        "group": "Missions",
+        "id": "5ae9dbcb0722dffb",
+        "name": "Test run",
+        "updated_at": "2026-06-13T04:44:03Z"
+      },
+      "mission_group": "Missions",
+      "mission_id": "5ae9dbcb0722dffb",
+      "mission_name": "Test run",
+      "parameters": {},
+      "priority": 0,
+      "robot_id": "default",
+      "source": "modbus:1005",
+      "started_at": "2026-06-13T07:03:02Z",
+      "status": "completed"
+    },
+    {
+      "created_at": "2026-06-13T07:03:01Z",
+      "finished_at": "2026-06-13T07:03:04Z",
+      "id": "4365bd4d8beedfd2",
+      "log": [
+        {
+          "level": "info",
+          "message": "Wait 1000ms",
+          "ts": "2026-06-13T07:03:03Z"
+        }
+      ],
+      "mission": {
+        "actions": [
+          {
+            "id": "a1",
+            "kind": "action",
+            "label": "Wait",
+            "params": {
+              "seconds": 1
+            },
+            "type": "wait"
+          }
+        ],
+        "description": "",
+        "group": "Missions",
+        "id": "5ae9dbcb0722dffb",
+        "name": "Test run",
+        "updated_at": "2026-06-13T04:44:03Z"
+      },
+      "mission_group": "Missions",
+      "mission_id": "5ae9dbcb0722dffb",
+      "mission_name": "Test run",
+      "parameters": {},
+      "priority": 0,
+      "robot_id": "default",
+      "source": "fleet:pytest-schedule",
+      "started_at": "2026-06-13T07:03:03Z",
+      "status": "completed"
+    }
+  ],
   "runner": {
     "current_action": null,
     "current_queue_id": null,
-    "message": "",
+    "message": "Hoàn thành: Test run",
     "paused": false,
     "state": "idle",
-    "updated_at": "2026-06-13T06:56:22Z"
+    "updated_at": "2026-06-13T07:03:04Z"
   }
 }

data/models/ea89e39c835c0557.json

@@ -193,5 +193,5 @@
     }
   ],
   "name": "T800",
-  "updated_at": "2026-05-29T10:11:49Z"
+  "updated_at": "2026-06-13T07:03:01Z"
 }

data/state.json

@@ -17,7 +17,7 @@
       "lidar_count": 2,
       "model": "diff",
       "name": "T800",
-      "updated_at": "2026-05-29T10:11:49Z"
+      "updated_at": "2026-06-13T07:03:01Z"
     }
   ],
   "version": 3

scripts/api-smoke.sh

@@ -4,7 +4,7 @@ set -euo pipefail
 
 BASE="${1:-http://127.0.0.1:18080}"
 ROOT="$(cd "$(dirname "${BASH_SOURCE[0]}")/.." && pwd)"
-MISSION_ID="${TEST_MISSION_ID:-testmission00001}"
+MISSION_ID="${TEST_MISSION_ID:-}"
 
 RED='\033[0;31m'
 GREEN='\033[0;32m'
@@ -67,7 +67,6 @@ TMP="$(mktemp -d)"
 trap 'rm -rf "$TMP"' EXIT
 
 echo "API smoke tests → $BASE"
-echo "Fixture mission id: $MISSION_ID"
 echo
 
 # --- Health & static ---
@@ -80,8 +79,30 @@ 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", []))'
+if [[ -z "$MISSION_ID" ]]; then
+  MISSION_ID="$(python3 -c "
+import json
+doc = json.load(open('$TMP/missions.json'))
+missions = doc.get('missions', [])
+preferred = 'testmission00001'
+ids = [m.get('id') for m in missions if isinstance(m, dict)]
+if preferred in ids:
+    print(preferred)
+elif ids:
+    print(ids[0])
+")"
+fi
+
+if [[ -z "$MISSION_ID" ]]; then
+  log_fail "no mission available for queue tests"
+  exit 1
+fi
+
+echo "Mission id: $MISSION_ID"
+echo
+
+assert_json_true "missions available" "$TMP/missions.json" 'len(doc.get("missions", [])) >= 1'
 
 # --- Queue pause/continue (chạy sớm, trước các test enqueue khác) ---
 curl -s -X DELETE "$BASE/api/mission_queue" -o /dev/null || true
@@ -153,6 +174,13 @@ assert_json_true "v2 queue entry mission_id" "$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"
+for _ in $(seq 1 15); do
+  curl -s "$BASE/api/v2.0.0/mission_queue" -o "$TMP/v2list.json"
+  if python3 -c "import json; d=json.load(open('$TMP/v2list.json')); exit(0 if isinstance(d,list) and len(d)>=1 else 1)" 2>/dev/null; then
+    break
+  fi
+  sleep 0.2
+done
 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"

scripts/docker-test.sh

@@ -0,0 +1,41 @@
+#!/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."

src/mission/mission_scheduler.cpp

@@ -3,7 +3,6 @@
 #include "util/id_util.hpp"
 
 #include <chrono>
-#include <ctime>
 
 namespace lm {
 

src/mission/modbus_trigger_service.cpp

@@ -67,7 +67,6 @@ bool ModbusTriggerService::writeCoil(int coil_id, bool value, std::string& err)
     std::lock_guard<std::mutex> lock(mu_);
     const bool prev = coils_.count(coil_id) ? coils_.at(coil_id) : false;
     coils_[coil_id] = value;
-    prev_coils_[coil_id] = value;
     if (!prev && value)
     {
       const auto trigger = store_.findTriggerByCoil(coil_id);

src/mission/modbus_trigger_service.hpp

@@ -35,7 +35,6 @@ private:
 
   mutable std::mutex mu_;
   std::unordered_map<int, bool> coils_;
-  std::unordered_map<int, bool> prev_coils_;
 
   std::atomic<bool> stop_{false};
   std::thread tcp_thread_;

src/server/api_mission_routes.cpp

@@ -5,16 +5,18 @@
 
 namespace lm {
 
-bool ApiServer::enqueueRequest(const nlohmann::json& request, httplib::Response& res, int status_code)
+std::optional<nlohmann::json> ApiServer::enqueueMission(const nlohmann::json& request, std::string& err)
 {
   nlohmann::json payload;
-  std::string err;
   if (!MissionEnqueue::buildPayload(mission_store_, request, payload, err))
-  {
+    return std::nullopt;
-    HttpUtil::jsonError(res, 400, err);
+  return mission_queue_.enqueue(payload, err);
-    return false;
 }
-  const auto entry = mission_queue_.enqueue(payload, err);
+
+bool ApiServer::enqueueRequest(const nlohmann::json& request, httplib::Response& res, int status_code)
+{
+  std::string err;
+  const auto entry = enqueueMission(request, err);
   if (!entry)
   {
     HttpUtil::jsonError(res, 400, err);
@@ -249,11 +251,8 @@ void ApiServer::registerMirV2Routes(httplib::Server& svr)
     }
     if (!payload.contains("source"))
       payload["source"] = "rest_api_v2";
-    nlohmann::json built;
     std::string err;
-    if (!MissionEnqueue::buildPayload(mission_store_, payload, built, err))
+    const auto entry = enqueueMission(payload, err);
-      return HttpUtil::jsonError(res, 400, err);
-    const auto entry = mission_queue_.enqueue(built, err);
     if (!entry)
       return HttpUtil::jsonError(res, 400, err);
     HttpUtil::addCors(res);

src/server/api_server.hpp

@@ -29,6 +29,7 @@ private:
   MissionScheduler& scheduler_;
 
   bool enqueueRequest(const nlohmann::json& request, httplib::Response& res, int status_code = 201);
+  std::optional<nlohmann::json> enqueueMission(const nlohmann::json& request, std::string& err);
   nlohmann::json toMirQueueEntry(const nlohmann::json& entry) const;
   void registerMissionRoutes(httplib::Server& svr);
   void registerMirV2Routes(httplib::Server& svr);

tests/test_api_integration.py

@@ -9,8 +9,21 @@ import pytest
 import requests
 
 BASE = os.environ.get("TEST_BASE_URL", "http://127.0.0.1:18080")
-MISSION_ID = os.environ.get("TEST_MISSION_ID", "testmission00001")
 TIMEOUT = 10
+PREFERRED_MISSION_ID = "testmission00001"
+
+
+def resolve_mission_id(api: requests.Session) -> str:
+    env_id = os.environ.get("TEST_MISSION_ID", "").strip()
+    if env_id:
+        return env_id
+    missions = api.get(f"{BASE}/api/missions", timeout=TIMEOUT).json().get("missions", [])
+    ids = [m["id"] for m in missions if isinstance(m, dict) and m.get("id")]
+    if PREFERRED_MISSION_ID in ids:
+        return PREFERRED_MISSION_ID
+    if not ids:
+        pytest.fail("no missions available")
+    return ids[0]
 
 
 @pytest.fixture(scope="module")
@@ -31,41 +44,46 @@ def api():
     return session
 
 
+@pytest.fixture(scope="module")
+def mission_id(api):
+    return resolve_mission_id(api)
+
+
 def test_health(api):
     r = api.get(f"{BASE}/api/health", timeout=TIMEOUT)
     assert r.status_code == 200
     assert r.json()["ok"] is True
 
 
-def test_missions_fixture(api):
+def test_missions_available(api, mission_id):
     r = api.get(f"{BASE}/api/missions", timeout=TIMEOUT)
     assert r.status_code == 200
     ids = {m["id"] for m in r.json().get("missions", [])}
-    assert MISSION_ID in ids
+    assert mission_id in ids
 
 
-def test_mir_v2_enqueue_and_list(api):
+def test_mir_v2_enqueue_and_list(api, mission_id):
     api.delete(f"{BASE}/api/mission_queue", timeout=TIMEOUT)
     r = api.post(
         f"{BASE}/api/v2.0.0/mission_queue",
-        json={"mission_id": MISSION_ID, "priority": 3, "robot_id": "default"},
+        json={"mission_id": mission_id, "priority": 3, "robot_id": "default"},
         timeout=TIMEOUT,
     )
     assert r.status_code == 201
     body = r.json()
-    assert body["mission_id"] == MISSION_ID
+    assert body["mission_id"] == mission_id
     assert body["priority"] == 3
 
     listed = api.get(f"{BASE}/api/v2.0.0/mission_queue", timeout=TIMEOUT)
     assert listed.status_code == 200
-    assert any(item.get("mission_id") == MISSION_ID for item in listed.json())
+    assert any(item.get("mission_id") == mission_id for item in listed.json())
 
 
-def test_queue_pause_continue(api):
+def test_queue_pause_continue(api, mission_id):
     api.delete(f"{BASE}/api/mission_queue", timeout=TIMEOUT)
     api.post(
         f"{BASE}/api/mission_queue",
-        json={"mission_id": MISSION_ID},
+        json={"mission_id": mission_id},
         timeout=TIMEOUT,
     )
     deadline = time.time() + 5
@@ -86,10 +104,10 @@ def test_queue_pause_continue(api):
     assert r.json().get("state") != "paused"
 
 
-def test_modbus_trigger_flow(api):
+def test_modbus_trigger_flow(api, mission_id):
     trig = api.post(
         f"{BASE}/api/triggers",
-        json={"name": "pytest-trigger", "coil_id": 1005, "mission_id": MISSION_ID},
+        json={"name": "pytest-trigger", "coil_id": 1005, "mission_id": mission_id},
         timeout=TIMEOUT,
     )
     assert trig.status_code == 201
@@ -106,12 +124,12 @@ def test_modbus_trigger_flow(api):
     assert deleted.status_code == 204
 
 
-def test_fleet_schedule_asap(api):
+def test_fleet_schedule_asap(api, mission_id):
     r = api.post(
         f"{BASE}/api/fleet/schedules",
         json={
             "name": "pytest-schedule",
-            "mission_id": MISSION_ID,
+            "mission_id": mission_id,
             "start_mode": "asap",
             "priority": 0,
             "robot_id": "default",