#!/usr/bin/env bash
# =========================================================================
# Sauron: "toggled through advanced controls from standard to advanced and
# back to standard -- lost torso control."
#
# THE MECHANISM (@004afbe0, the binary's CycleControlModeMessageHandler):
# the mode cycles 0 Basic -> 1 Standard -> 2 Veteran -> WRAPS TO BASIC.  So
# getting from Veteran/"advanced" back to Standard PASSES THROUGH BASIC, and
# the Basic arm re-centres the torso.
#
# The port set that re-centre with CommandRecenter() -> centerCommand (@0x208).
# That is the HELD-BUTTON cell: TorsoSimulation re-arms `recenterActive` from
# it EVERY frame it is non-zero and only the input path clears it -- and a mode
# switch has no button release to follow.  One visit to Basic pinned it at 1
# forever.  Digital twist commands are processed BEFORE the centerCommand
# block, so they were overridden as fast as they were applied = "lost torso
# control".  The binary writes recenterActive (@0x274) instead: a ONE-SHOT that
# self-clears on settle and is cancelled by any twist input.
#
# THE MEASUREMENT.  BT_MODECYCLE_EVERY=<n> cycles the control mode every n mapper ticks
# frames from that frame.  BT_TORSO_LOG's gate probe now prints the two cells:
#     [torso] ... ctrCmd=<centerCommand> recen=<recenterActive> vLim=(lo..hi)
#
#   PASS: ctrCmd stays 0 across every cycle (the one-shot is used instead), and
#         vLim SWAPS between the Basic pair and the assisted pair as the mode
#         changes -- proving the elevation-limit swap (@0x228/@0x22C vs
#         @0x230/@0x234) that the port previously never implemented.
#   FAIL: ctrCmd latches to 1 after the first pass through Basic and never
#         returns to 0 -> the torso re-centres forever.
#
# Single node: this is entirely local control state, no peer needed.
# =========================================================================
set -x
. /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 mc_a.log
bt_expert_egg MP.EGG MC.EGG
sed -i "s/^map=.*/map=grass/; s/^time=.*/time=day/; s/^vehicle=.*/vehicle=madcat/" MC.EGG

( export BT_MODECYCLE_EVERY=400
  export BT_TORSO_LOG=1 BT_KEY_NOFOCUS=1 BT_KEY_BRIDGE=0 BT_TWIST_PULSE=150 ${LEGACY:+BT_LEGACY_MODE_RECENTER=1}
  bt_launch mc_a.log MC.EGG 0x03 )
sleep 150
bt_kill_ours; sleep 2; taskkill //F //IM btl4.exe > /dev/null 2>&1; sleep 3

echo "=================== CONTROL-MODE TORSO STATE ==================="
echo "--- the mode cycles that happened ---"
grep -a "\[mode\] control mode" mc_a.log | head -10
echo
echo "--- centerCommand must NEVER latch (ctrCmd=1 with no button = the bug) ---"
echo -n "  samples with ctrCmd=1 : "; grep -ao "ctrCmd=[0-9]*" mc_a.log | grep -c "ctrCmd=1"
echo -n "  samples with ctrCmd=0 : "; grep -ao "ctrCmd=[0-9]*" mc_a.log | grep -c "ctrCmd=0"
echo
echo "--- the elevation-limit SWAP (should differ between Basic and assisted) ---"
grep -ao "vLim=([^)]*)" mc_a.log | sort | uniq -c | sort -rn | head -5
echo
echo "--- torso state around each mode change ---"
grep -aE "\[mode\] control mode|ctrCmd=" mc_a.log | grep -aA1 "\[mode\]" | head -12