#!/bin/bash

rm ../config/master.cfg
ln ../config/structlighttest.cfg ../config/master.cfg
rm ../config/dir_tree


DIVE_NUMBER="d$(date +%Y%m%d)"
SURV_TYPE="laser_surv_$(date +%H%M)"


IM_DIR_PATH="./images"

mkdir -p $IM_DIR_PATH'/'${DIVE_NUMBER}
mkdir -p $IM_DIR_PATH'/'${DIVE_NUMBER}'/'${SURV_TYPE}

IM_PATH=$IM_DIR_PATH'/'${DIVE_NUMBER}'/'${SURV_TYPE}'/images'
NAV_PATH=$IM_DIR_PATH'/'${DIVE_NUMBER}'/'${SURV_TYPE}'/nav'
SON_PATH=$IM_DIR_PATH'/'${DIVE_NUMBER}'/'${SURV_TYPE}'/sonar'

export IM_PATH

mkdir -p $IM_PATH
mkdir -p $NAV_PATH
mkdir -p $SON_PATH

#add a route for multicast traffic and set the TTL
 export LCM_DEFAULT_URL=udpm://239.255.76.67:7667?ttl=1
 sudo route add -net 239.255.0.0/16 dev eth0

#run lcm-spy to configure local environment variables
lcm-spy

#make the directory for the bw images
echo "making new image directory: ${IM_PATH}/bw"
mkdir -p $IM_PATH/bw

#run the driver, 

./prosilica -k sensor.mono --publish true -s 10 -d ${IM_PATH}/bw  --strftime IMG-%Y%m%d-%H%M%S-%i-%f.tif -l 2> /dev/null > ${IM_PATH}/bw/logfile.txt &

#prosilica -k sensor.mono --publish true -d ${IM_PATH}/bw  --strftime IMG-%Y%m%d-%H%M%S-%I 2> /dev/null &
