test(bkgpslog):Debug testing PID loop

[EVA-2020-02.git] / exec / bkgpslog

diff --git a/exec/bkgpslog b/exec/bkgpslog
index db8af896939b24dd57473ba416c925cf9fcb43bd..1705ab2e51ebbe17fe4e0e5c5e5e87b966e73699 100755 (executable)
--- a/exec/bkgpslog
+++ b/exec/bkgpslog
@@ -950,16 +950,16 @@ magicBufferSleepPID() {
     # ## Define errorHistorySize
     # errorHistorySize=100;
     ## Define BUFFER_TTL in nanoseconds
     # ## 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";

     
     # Calculate Error, errNS, in nanoseconds
     ## Get current time
     
     # 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)
     ## 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)
     ## 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
     # ## Append error to errorHistory
     # errorHistory+=("errNS");
     # ### Trim errorHistory array if over errorHistorySize


@@ -975,25 +975,26 @@ magicBufferSleepPID() {
     # for value in "${errorHistory[@]}"; do
     #  errReset=$(( errReset + ( value*BUFFER_TTL_NS ) ));
     # done;
     # for value in "${errorHistory[@]}"; do
     #  errReset=$(( errReset + ( value*BUFFER_TTL_NS ) ));
     # done;

-    errResetx10e3="$(( ( errResetx10e3 + ( errNS * BUFFER_TTL_NS ) )*10**3 ))";
+    errResetx10e3="$(( ( errResetx10e3 + ( errNS * BUFFER_TTL_NS ) )*10**3 ))" && vbm "errResetx10e3:$errResetx10e3";

 
     # Calculate errRate in nanoseconds per 1000 nanoseconds
 
     # Calculate errRate in nanoseconds per 1000 nanoseconds

-    errRatex10e3="$(( ( errNSx10e3 ) / BUFFER_TTL_NS ))";
+    errRatex10e3="$(( ( errNSx10e3 ) / BUFFER_TTL_NS ))" && vbm "errRatex10e3:$errRatex10e3";

     
     # Calculate PID control signal
     ## ADJ = K_P * (errNS + errReset/T_I + 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*(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)
 
     # 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
     ## 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";

     ## Calculate nanosecond remainder
     ## Calculate nanosecond remainder

-    BUFFER_TTL_ADJ_FLOATFRAC="$((BUFFER_TTL_NS - (BUFFER_TTL_ADJ_INT*(10**9)) ))";
+    BUFFER_TTL_ADJ_FLOATFRAC="$((BUFFER_TTL_NS - (BUFFER_TTL_ADJ_INT*(10**9)) ))" && vbm "BUFFER_TTL_ADJ_FLOATFRAC:$BUFFER_TTL_ADJ_FLOATFRAC";

     ## Form float BUFFER_TTL_ADJ_FLOAT
     ## 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):$BUFFER_TTL_ADJ_FLOAT";
     vbm "STATUS:Calculated adjusted BUFFER_TTL (seconds):$BUFFER_TTL_ADJ_FLOAT";

+    sleep 1 # Debug

 } # Calc BUFFER_TTL_ADJ_FLOAT so buffer starts every BUFFER_TTL seconds
 magicWriteVersion() {
     # Desc: Appends time-stamped VERSION to PATHOUT_TAR
 } # Calc BUFFER_TTL_ADJ_FLOAT so buffer starts every BUFFER_TTL seconds
 magicWriteVersion() {
     # Desc: Appends time-stamped VERSION to PATHOUT_TAR