Test lần 2

CMakeLists.txt

@@ -63,7 +63,7 @@ target_compile_definitions(lidar_manager_web PRIVATE
   _DEFAULT_SOURCE
 )
 
-option(BUILD_TESTING "Build unit and integration test helpers" ON)
+option(BUILD_TESTING "Build unit tests (requires tests/ directory)" OFF)
 
 if(BUILD_TESTING)
   enable_testing()

Dockerfile

@@ -13,7 +13,7 @@ WORKDIR /src
 COPY CMakeLists.txt ./
 COPY src ./src
 
-RUN cmake -S . -B build -DCMAKE_BUILD_TYPE=Release \
+RUN cmake -S . -B build -DCMAKE_BUILD_TYPE=Release -DBUILD_TESTING=OFF \
     && cmake --build build -j"$(nproc)"
 
 FROM ubuntu:20.04 AS runtime

README.md

@@ -101,5 +101,12 @@ Chỉ API smoke (server đang chạy, dùng fixture `tests/fixtures/data/`):
 
 Fixture mission id mặc định: `testmission00001` (`tests/fixtures/data/missions.json`).
 
+Benchmark hiệu năng trong container (cần `docker compose up -d`):
+
+```bash
+chmod +x scripts/docker-benchmark.sh
+sudo ./scripts/docker-benchmark.sh
+```
+
 CI: GitHub Actions workflow `.github/workflows/test.yml`.
 

data/mission_queue.json

@@ -1,51 +1,11 @@
 {
-  "queue": [
-    {
-      "created_at": "2026-06-13T06:34:14Z",
-      "finished_at": "2026-06-13T06:34:15Z",
-      "id": "e164539b35bf3886",
-      "log": [
-        {
-          "level": "info",
-          "message": "Wait 1000ms",
-          "ts": "2026-06-13T06:34:14Z"
-        }
-      ],
-      "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": "rest_api_v2",
-      "started_at": "2026-06-13T06:34:14Z",
-      "status": "completed"
-    }
-  ],
+  "queue": [],
   "runner": {
     "current_action": null,
     "current_queue_id": null,
-    "message": "Hoàn thành: Test run",
+    "message": "",
     "paused": false,
     "state": "idle",
-    "updated_at": "2026-06-13T06:34:15Z"
+    "updated_at": "2026-06-13T06:56:22Z"
   }
 }

scripts/benchmark-http.sh

@@ -0,0 +1,93 @@
+#!/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

scripts/docker-benchmark.sh

@@ -0,0 +1,125 @@
+#!/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"

scripts/run-tests.sh

@@ -11,6 +11,15 @@ BIN="${ROOT}/build/lidar_manager_web"
 DATA_DIR="$(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 $PIDS 2>/dev/null || true
+fi
+sleep 0.2
+
 cleanup() {
   if [[ -n "$SERVER_PID" ]] && kill -0 "$SERVER_PID" 2>/dev/null; then
     kill "$SERVER_PID" 2>/dev/null || true

src/mission/mission_queue.cpp

@@ -3,7 +3,6 @@
 #include "util/file_util.hpp"
 #include "util/id_util.hpp"
 
-#include <algorithm>
 #include <chrono>
 #include <stdexcept>
 #include <thread>
@@ -97,12 +96,6 @@ void MissionQueue::ensureRunnerDefaults()
     runner_["paused"] = false;
 }
 
-void MissionQueue::saveLocked() const
-{
-  std::lock_guard<std::recursive_mutex> lock(mu_);
-  saveUnlocked();
-}
-
 void MissionQueue::startWorkerIfNeeded()
 {
   if (worker_.joinable())

src/mission/mission_queue.hpp

@@ -51,7 +51,6 @@ private:
                               const nlohmann::json& parameters,
                               nlohmann::json& log,
                               int loop_depth);
-  void saveLocked() const;
   void sleepMs(int ms);
   void setRunnerState(const std::string& state, const std::string& message = "");
   void insertByPriorityUnlocked(nlohmann::json& entry);

src/mission/modbus_trigger_service.cpp

@@ -55,11 +55,6 @@ nlohmann::json ModbusTriggerService::coilStates() const
   return out;
 }
 
-void ModbusTriggerService::onCoilRisingEdgeUnlocked(int coil_id)
-{
-  (void)coil_id;
-}
-
 bool ModbusTriggerService::writeCoil(int coil_id, bool value, std::string& err)
 {
   if (!coilIdValid(coil_id))

src/mission/modbus_trigger_service.hpp

@@ -40,7 +40,6 @@ private:
   std::atomic<bool> stop_{false};
   std::thread tcp_thread_;
 
-  void onCoilRisingEdgeUnlocked(int coil_id);
   void tcpLoop();
   void handleTcpClient(int client_fd);
 };

src/server/api_mission_routes.cpp

@@ -5,15 +5,6 @@
 
 namespace lm {
 
-namespace {
-
-nlohmann::json mirError(const std::string& msg)
-{
-  return nlohmann::json{{"error", msg}, {"error_code", 400}};
-}
-
-}  // namespace
-
 bool ApiServer::enqueueRequest(const nlohmann::json& request, httplib::Response& res, int status_code)
 {
   nlohmann::json payload;