#!/bin/bash
# Program:
#       This script is a finger daemon of program ximeaImageRecorder and psdkProgram. It has three function:
#       1) ensure that the programs ximeaImagerRecorder and psdkProgram are runing; if not run the programs;
#       2) generate log file name based the local time and directory if not exist;
#       3) redirect the output of programs to file generated in (2);
# Usage:
#	1) crontab -e
#	2) */1 * * * * /home/pi/tc_ShellScripts/finger_daemon.sh
# History:
#       2021/07/13    Tangchao    First release
#       2022/06/24    Tangchao    Second release
#

#sleep 60s #rockpi need sleep 180s when start because if not wired lan which psdk's image transmission use don't work normal.

rowNumberDisconnect=0

while true
do

#    echo "current time is " $(date)
    
#    echo "the current directory is " $(pwd)
    
    LogDirectory=/media/nvme/300TC/programRunLog
    
    if [ ! -e $LogDirectory  ]; then
            sudo mkdir -p $LogDirectory
    else
            #echo directory $LogDirectory exist!
            delete=2
    fi
    
    
    # run psdk program
    cd $LogDirectory
    if [ ! -e djiLog  ]; then
            sudo mkdir djiLog
    else
#            echo directory "djiLog" exist!
            delete=2
    fi
    
    #python /home/pi/tc_ShellScripts/test.py
    
    bool=`ps -ef | grep dji_300tc | grep -v grep  | wc -l`
    
    if [ $bool -eq 0 ] ; then
            psdkLogFileName=$(date +%Y%m%d_%H%M_%S).dji_log
            sudo /bin/echo $(/bin/date +%F_%T) >> $LogDirectory"/djiLog/runtime.log"
    
    #	      sudo /home/300tc/projects/psdk/psdk_demo &> $LogDirectory"/djiLog/"$psdkLogFileName &
    
            cd  /home/300tc/projects_source/Payload-SDK/samples/sample_c/platform/linux/manifold2/build/bin
            sudo /home/300tc/projects_source/Payload-SDK/samples/sample_c/platform/linux/manifold2/build/bin/dji_300tc &> $LogDirectory"/djiLog/"$psdkLogFileName &
    
            runtimes=$(head -n +1 $LogDirectory"/djiLog/Number_of_runs.txt")
            echo $runtimes
            runtimes=$[runtimes+1]
            echo $runtimes
    
            sudo sed -i "1i $runtimes" $LogDirectory"/djiLog/Number_of_runs.txt"
    
            echo "Now, start run dji program!"
    else
#            echo "Dji program already runing!"
            tmp1=$(dmesg | grep -n disconnect | grep "usb 1-1.1" | awk '{match($0, /^[0-9]+/); print substr($0, RSTART, RLENGTH)}' | awk 'BEGIN {max = rowNumberDisconnect} {if ($1 > max) max = $1} END {print max}')
            if [ $tmp1 -gt $rowNumberDisconnect ]; then
                echo "new disconnect! "$rowNumberDisconnect"\t"$tmp1
                
                dmesg -T &> $LogDirectory"/djiLog/"kernalLog_$(date +%Y%m%d-%H%M%S).txt
                
                rowNumberDisconnect=$tmp1
                
                kill -9 $(ps -ef | grep dji_300tc | grep -v grep | awk '{print $2}')
            else
                echo "no disconnect!"
            fi
    fi
    
    
    
    # run ximea program
    while [ ! -f "/media/nvme/300TC/config/timesyncfromdji" ]
    do
      sleep 1s
      echo "timesyncfromdji don't exist"
      
    done
    
    while [ ! -s "/media/nvme/300TC/config/timesyncfromdji" ]
    do
      sleep 1s
      echo "timesyncfromdji is empty"
      
    done
    
    number=$(cat /media/nvme/300TC/config/timesyncfromdji)
    while [ "$number" -eq 0 ]
    do
      sleep 1s
      echo "Time synchronization is not performed."
      
      number=$(cat /media/nvme/300TC/config/timesyncfromdji)
    done
    
    cd $LogDirectory
    if [ ! -e hyperspectralLog  ]; then
            sudo mkdir hyperspectralLog
    else
#            echo directory "hyperspectralLog" exist!
              delete=2
    fi
    
    
    procnum=`ps -ef | grep ximeaAirborneSystem | grep -v grep | wc -l`
    
    if [ $procnum -eq 0 ] ; then
            fileName=$(date +%Y%m%d_%H%M_%S).hyperspectral_log
    
            echo $fileName
    	
    	sudo /home/300tc/projects/ximeaAirborneSystem/ximeaAirborneSystem &> $LogDirectory"/hyperspectralLog/"$fileName & 
    
            echo "Now, start run hyperspectral program!"
    else
#            echo "HyperspectralLog program already runing!"
            delete=2
    fi
    
    sleep 1s
    
done