#!/usr/bin/env bash
# =========================================================================
# TURN-IN-PLACE regression check for the #52 fallthrough fix.
#
# The fix only changes ONE path: case 0 no longer falls into the port's
# turn block.  Entry INTO state 4 is unaffected -- masters arm it via the
# leg twin's lockstep (mech2.cpp:1014) and peers via the #82 block
# (mech4.cpp:2851), and both set the state so the NEXT frame dispatches
# straight to case 4.  This bench exercises that claim instead of asserting
# it: force sustained PIVOTING and confirm state 4 is still entered, still
# advances, and still exits -- on both the master and the peer.
#
# PROVOCATION: BT_GOTO with a tiny throttle and a stop radius it can never
# reach -- the mech steers at the enemy forever while creeping below
# standSpeed, which is exactly the trn entry gate (turning + speed in
# [0, standSpeed] + turnCapable).
# =========================================================================
set -x
MODE="${1:-fixed}"
DUR="${2:-150}"
. /c/git/bt411/scratchpad/night6/bench_common.sh
cd /c/git/bt411/content || exit 1

taskkill //F //IM btl4.exe > /dev/null 2>&1
sleep 2
rm -f tr_${MODE}_a.log tr_${MODE}_b.log tr_${MODE}_relay.log

bt_expert_egg MP.EGG TR.EGG
sed -i "s/^map=.*/map=grass/; s/^time=.*/time=day/; s/^vehicle=.*/vehicle=madcat/" TR.EGG

LEGACY=""
[ "$MODE" = "legacy" ] && LEGACY=1

# v2: MUTUAL goto converged instantly -- both mechs faced each other, err~0,
# nothing ever turned (146 samples parked at Standing).  A pivot needs a target
# that keeps MOVING, so B autodrives away and A creeps-and-steers after it:
# heading error stays live while A's speed stays under standSpeed, which is the
# trn entry gate.
( export BT_AUTODRIVE=0.6                       # B: the moving target
  export BT_BODY_SM_LOG=1 BT_MP_LOG=1
  [ -n "$LEGACY" ] && export BT_NO_BODY_FALLTHRU=1
  bt_launch tr_${MODE}_b.log TR.EGG 0x0C -net 1601 )
sleep 2
( export BT_GOTO=enemy BT_GOTO_STOP=5 BT_GOTO_THR=0.02 BT_GOTO_LOG=1
  export BT_BODY_SM_LOG=1 BT_MP_LOG=1           # A: the pivoter
  [ -n "$LEGACY" ] && export BT_NO_BODY_FALLTHRU=1
  bt_launch tr_${MODE}_a.log TR.EGG 0x03 -net 1501 )
sleep 5
python ../tools/btconsole.py TR.EGG 127.0.0.1:1501 127.0.0.1:1601 > tr_${MODE}_relay.log 2>&1 &
RELAY=$!
sleep "$DUR"
kill $RELAY 2>/dev/null
bt_kill_ours
sleep 2
taskkill //F //IM btl4.exe > /dev/null 2>&1
sleep 3

echo "=================== TURN REGRESSION  MODE=$MODE ==================="
echo "--- MASTER: does the turn-in-place clip still get entered + advanced? ---"
for n in a b; do
  echo "node $n  body state=4 samples : $(grep -a '\[gaitSM\] adv=' tr_${MODE}_${n}.log | grep -caE ' state=4 ')"
  echo "node $n  leg  state=4 samples : $(grep -a '\[gaitSM\] adv=' tr_${MODE}_${n}.log | grep -caE ' legState=4')"
  echo "node $n  full body distribution:"
  grep -a "\[gaitSM\] adv=" tr_${MODE}_${n}.log | grep -oaE "state=[0-9]+" | sort | uniq -c | sort -rn | head -6
done
echo
echo "--- PEER: does a replicant still pivot (body state 4 while moving)? ---"
grep -a "\[peergait\]" tr_${MODE}_b.log | grep -oaE "bstate=[0-9-]+" | sort | uniq -c | sort -rn | head -8
echo
echo "--- no new lock / no skate ---"
echo -n "STANDING-LOCK a/b: "; echo "$(grep -ac 'STANDING-LOCK' tr_${MODE}_a.log) / $(grep -ac 'STANDING-LOCK' tr_${MODE}_b.log)"
echo -n "SKATING      a/b: "; echo "$(grep -ac 'SKATING' tr_${MODE}_a.log) / $(grep -ac 'SKATING' tr_${MODE}_b.log)"