#!/bin/sh
# CPU the program spends while the camera streams and nothing is saved: the
# tower's installed build against the branch (buffer reuse). Manual mode, one
# snapshot to start the stream, then 60 s measured. ~5 min.
set -u
export GENICAM_GENTL64_PATH=/opt/VimbaX/cti   # as scripts/fgc does
T=~/thermal-test
CFG=$T/manual-config.ini
# The tower's config, but starting in manual (still homing: a snapshot needs it).
sed 's/^mode = auto/mode = manual/' ~/.config/fire_gimbal_control/config.ini > "$CFG"
ln -sf ~/.config/fire_gimbal_control/scan.csv "$T/scan.csv"
ln -sfn ~/.config/fire_gimbal_control/camera_profiles "$T/camera_profiles"
HZ=$(getconf CLK_TCK)

measure() {   # label binary
    FIFO=$T/cmd2.fifo
    rm -f "$FIFO"; mkfifo "$FIFO"
    sleep 100000 > "$FIFO" &
    holder=$!
    "$2" -c "$CFG" --no-tui --no-mqtt --no-log-file < "$FIFO" > "$T/stream_$1.log" 2>&1 &
    pid=$!
    sleep 60                          # start + homing
    echo snapshot > "$FIFO"
    sleep 15                          # the snapshot saved; the stream keeps running
    a=$(awk '{print $14 + $15}' /proc/$pid/stat)
    sleep 60
    b=$(awk '{print $14 + $15}' /proc/$pid/stat)
    echo "$1: $(echo "scale=1; 100 * ($b - $a) / $HZ / 60" | bc) % of one core while streaming"
    kill -TERM "$pid"; sleep 10; kill "$holder" 2>/dev/null; sleep 3
    kill -0 "$pid" 2>/dev/null && kill -KILL "$pid"
    rm -f "$FIFO"
}
measure installed ~/projects/fwt_2a/software/build/fire_gimbal_control
measure branch $T/software/build/fire_gimbal_control