SCRIPT_TIME_START=$(date +%Y%m%dT%H%M%S.%N);
PATH="$HOME/.local/bin:$PATH"; # Add "$(systemd-path user-binaries)" path in case apps saved there
SCRIPT_HOSTNAME=$(hostname); # Save hostname of system running this script.
-SCRIPT_VERSION="0.4.4-alpha"; # Define version of script.
+SCRIPT_VERSION="0.5.1"; # Define version of script.
SCRIPT_NAME="bkgpslog"; # Define basename of script file.
SCRIPT_URL="https://gitlab.com/baltakatei/ninfacyzga-01"; # Define wesite hosting this script.
AGE_VERSION="1.0.0-beta2"; # Define version of age (encryption program)
## Initialize variables
OPTION_VERBOSE=""; OPTION_ENCRYPT=""; OPTION_COMPRESS=""; OPTION_TMPDIR="";
-errResetx10e3=0; BUFFER_TTL_ADJ_FLOAT="";
-### PID Control factors
-K_P=10; # Gain for compensating buffer round lag
-T_I=2; # Consider this number of past buffer rounds to eliminate error
-T_D=1; # Predict value this number of buffer rounds into the future
+errReset=0; BUFFER_TTL_ADJ_FLOAT="";
#===BEGIN Declare local script functions===
checkapp() {
# ## Define errorHistorySize
# errorHistorySize=100;
## Define BUFFER_TTL in nanoseconds
- BUFFER_TTL_NS=$((BUFFER_TTL * 10**9));
+ BUFFER_TTL_NS=$((BUFFER_TTL * 10**9)) && vbm "BUFFER_TTL_NS:$BUFFER_TTL_NS";
+
+ ### PID Control factors
+ K_P=1; # Gain for compensating buffer round lag
+ T_I="$(((4)*BUFFER_TTL_NS/(1)))"; # Consider this number of past nanoseconds to eliminate error
+ T_D="$(((1)*BUFFER_TTL_NS/(1)))"; # Predict value this number of nanoseconds into the future
# Calculate Error, errNS, in nanoseconds
## Get current time
- timeBufferStartNS="$(timeEpochNS)";
+ timeBufferStartNS="$(timeEpochNS)" && vbm "timeBufferStartNS :$timeBufferStartNS";
## Calculate expected time (from start time, current buffer round number, nominal BUFFER_TTL)
- timeBufferStartNSExp="$(( (timeBufferFirstNS) + (BUFFER_TTL_NS * bufferRound) ))";
+ timeBufferStartNSExp="$(( (timeBufferFirstNS) + (BUFFER_TTL_NS * bufferRound) ))" && vbm "timeBufferStartNSExp:$timeBufferStartNSExp";
## Calculate error (diff between timeBufferStartNSExp and timeBufferStartNS; usually negative)
- errNS="$(( timeBufferStartNSExp - timeBufferStartNS ))";
- errNSx10e3="$((errNS*10**3))";
+ errNS="$(( timeBufferStartNSExp - timeBufferStartNS ))" && vbm "errNS:$errNS";
+# errNSx10e3="$((errNS*10**3))" && vbm "errNSx10e3:$errNSx10e3";
# ## Append error to errorHistory
# errorHistory+=("errNS");
# ### Trim errorHistory array if over errorHistorySize
# for value in "${errorHistory[@]}"; do
# errReset=$(( errReset + ( value*BUFFER_TTL_NS ) ));
# done;
- errResetx10e3="$(( ( errResetx10e3 + ( errNS * BUFFER_TTL_NS ) )*10**3 ))";
-
- # Calculate errRate in nanoseconds per 1000 nanoseconds
- errRatex10e3="$(( ( errNSx10e3 ) / BUFFER_TTL_NS ))";
+ vbm "errReset(orig):$errReset"
+ errReset="$(( (errReset + (errNS*BUFFER_TTL_NS)) ))" && vbm "errReset(post):$errReset";
+# errResetx10e3="$(( ( errResetx10e3 + ( errNSx10e3 * BUFFER_TTL_NS ) )*10**3 ))" && vbm "errResetx10e3:$errResetx10e3";
+
+ # Calculate errRate in nanoseconds per nanosecond
+ errRate="$(( errNS / BUFFER_TTL_NS ))" && vbm "errRate:$errRate";
+# errRatex10e3="$(( ( errNSx10e3 ) / BUFFER_TTL_NS ))" && vbm "errRatex10e3:$errRatex10e3";
+
+ # Debug
+ vbm "errNS :$errNS";
+ vbm "errResetTerm:$((errReset/T_I))";
+ vbm "errRateTerm :$((errRate*T_D))";
# Calculate PID control signal
## ADJ = K_P * (errNS + errReset/T_I + errRate*T_D)
- ADJ="$((K_P*(errNSx10e3 + (errResetx10e3/T_I) + (errRatex10e3*T_D) )/10**3))";
+ ADJ="$(( K_P*(errNS + errReset/T_I + errRate*T_D) ))" && vbm "ADJ:$ADJ";
+# ADJ="$((K_P*(errNSx10e3 + (errResetx10e3/T_I) + (errRatex10e3*T_D) )/(10**3)))" && vbm "ADJ:$ADJ";
# Calculate BUFFER_TTL_ADJ_FLOAT from ADJ (ns)
## Calculate BUFFER_TTL_ADJ in nanoseconds (BUFFER_TTL_ADJ_NS = BUFFER_TTL_NS + ADJ)
- BUFFER_TTL_ADJ_NS="$((BUFFER_TTL_NS + ADJ))";
+ BUFFER_TTL_ADJ_NS="$((BUFFER_TTL_NS + ADJ))" && vbm "BUFFER_TTL_ADJ_NS:$BUFFER_TTL_ADJ_NS";
## Calculate integer seconds
- BUFFER_TTL_ADJ_INT="$((BUFFER_TTL_ADJ_NS/(10**9)))";
+ BUFFER_TTL_ADJ_INT="$((BUFFER_TTL_ADJ_NS/(10**9)))" && vbm "BUFFER_TTL_ADJ_INT:$BUFFER_TTL_ADJ_INT";
+ ### Catch negative integer seconds, set minimum of BUFFER_TTL/10 seconds
+ if [[ "$BUFFER_TTL_ADJ_INT" -le "$((BUFFER_TTL/10))" ]]; then
+ BUFFER_TTL_ADJ_INT="$((BUFFER_TTL/10))";
+ yell "WARNING:Buffer lag adjustment yielded negative seconds.";
+ fi;
## Calculate nanosecond remainder
- BUFFER_TTL_ADJ_FLOATFRAC="$((BUFFER_TTL_NS - (BUFFER_TTL_ADJ_INT*(10**9)) ))";
+ ### Remove integer
+ BUFFER_TTL_ADJ_FLOATFRAC="$((BUFFER_TTL_ADJ_NS - (BUFFER_TTL_ADJ_INT*(10**9)) ))" && vbm "BUFFER_TTL_ADJ_FLOATFRAC:$BUFFER_TTL_ADJ_FLOATFRAC";
+ ### Calc absolute value of fraction (by removing '-' if present; see https://stackoverflow.com/a/47240327
+ BUFFER_TTL_ADJ_FLOATFRAC="${BUFFER_TTL_ADJ_FLOATFRAC#-}" && vbm "BUFFER_TTL_ADJ_FLOATFRAC:$BUFFER_TTL_ADJ_FLOATFRAC";
## Form float BUFFER_TTL_ADJ_FLOAT
- BUFFER_TTL_ADJ_FLOAT="$BUFFER_TTL_ADJ_INT"."$BUFFER_TTL_ADJ_FLOATFRAC";
+ BUFFER_TTL_ADJ_FLOAT="$BUFFER_TTL_ADJ_INT"."$BUFFER_TTL_ADJ_FLOATFRAC" && vbm "BUFFER_TTL_ADJ_FLOAT:$BUFFER_TTL_ADJ_FLOAT";
vbm "STATUS:Calculated adjusted BUFFER_TTL (seconds):$BUFFER_TTL_ADJ_FLOAT";
} # Calc BUFFER_TTL_ADJ_FLOAT so buffer starts every BUFFER_TTL seconds
magicWriteVersion() {
CMD_CONV_KML="gpsbabel -i nmea -f - -o kml -F - " && vbm "STATUS:Set CMD_CONV_KML to:$CMD_CONV_KML"; # convert NMEA to KML
# MAIN LOOP:Record gps data until script lifespan ends
- timeBufferFirstNS="$(timeEpochNS)"; bufferRound=0
+ timeBufferFirstNS="$(timeEpochNS)"; bufferRound=0; BUFFER_TTL_ADJ_FLOAT="10.0";
while [[ "$SECONDS" -lt "$SCRIPT_TTL" ]]; do
magicParseRecipientDir;
magicGatherWriteBuffer &
- magicBufferSleepPID; # Calculates BUFFER_TTL_ADJ from BUFFER_TTL given buffer expected start time vs. actual
- sleep "$BUFFER_TTL_ADJ_FLOAT";
+ sleep "$BUFFER_TTL_ADJ_FLOAT"; # adjusted by magicBufferSleepPID
((bufferRound++));
+ magicBufferSleepPID; # Calculates BUFFER_TTL_ADJ_FLOAT from BUFFER_TTL given buffer expected start time vs. actual
done
# Cleanup
projects / EVA-2020-02.git / blobdiff