#!/bin/bash

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


DIVE_NUMBER="d$(date +%Y%m%d)"
SURV_TYPE="stereo_surv_$(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'

echo $IM_PATH

echo '#!/bin/bash' >> ../config/dir_tree
echo export IM_PATH=${IM_PATH} >> ../config/dir_tree
echo export SON_PATH=${SON_PATH} >> ../config/dir_tree

sudo chmod 775 ../config/dir_tree

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


#run camunits
#/home/ginglis/Desktop/camunits-0.2.1/camview/camview --chain bw_chain.xml&
#/home/ginglis/Desktop/camunits-0.2.1/camview/camview --chain color_chain.xml&


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

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

#run the driver, 
#These first two pipe output to a log file
./prosilica -k sensor.color --publish true -d ${IM_PATH}/color  --strftime cIMG-%Y%m%d-%H%M%S-%i-%f.tif -l 2> /dev/null > ${IM_PATH}/color/logfile.txt  &

./prosilica -k sensor.mono --publish true -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.color --publish true -d ${IM_PATH}/color  --strftime cIMG-%Y%m%d-%H%M%S-%i-%f.tif -l 

#./prosilica -k sensor.mono --publish true -d ${IM_PATH}/bw  --strftime IMG-%Y%m%d-%H%M%S-%i-%f.tif -l 


