X-Git-Url: https://zdv2.bktei.com/gitweb/EVA-2020-02.git/blobdiff_plain/08134562ff1a040e33229c9ff4c2a1d353bf8b4b..8659e486422a24bb62d900190eff5764c5b00674:/exec/bkgpslog diff --git a/exec/bkgpslog b/exec/bkgpslog index 2b19e31..2dd88ed 100755 --- a/exec/bkgpslog +++ b/exec/bkgpslog @@ -14,7 +14,7 @@ DIR_TMP_DEFAULT="/dev/shm"; # Default parent of working directory 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="0.4.3"; # Define version of script. +SCRIPT_VERSION="0.5.5"; # 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) @@ -24,9 +24,11 @@ declare -Ag appRollCall # Associative array for storing app status declare -Ag fileRollCall # Associative array for storing file status declare -Ag dirRollCall # Associative array for storing dir status declare -a argRecPubKeys # for processArguments function +# declare -a errorHistory # for correcting buffer lag ## Initialize variables OPTION_VERBOSE=""; OPTION_ENCRYPT=""; OPTION_COMPRESS=""; OPTION_TMPDIR=""; +errReset=0; BUFFER_TTL_ADJ_FLOAT=""; #===BEGIN Declare local script functions=== checkapp() { @@ -341,7 +343,7 @@ dateTimeShort(){ # Input: arg1: 'date'-parsable timestamp string (optional) # Output: stdout: timestamp (ISO-8601, no separators) # Depends: yell - local TIME_CURRENT TIME_CURRENT_SHORT + local TIME_CURRENT TIME_CURRENT_SHORT argTime argTime="$1"; # Get Current Time @@ -358,7 +360,7 @@ dateTimeShort(){ TIME_INPUT="$argTime"; else ### F: Time argument not valid; exit - yell "ERROR:Invalid time argument supplied. Exiting."; exit 1; + yell "ERROR:Invalid time argument supplied: \"$argTime\""; yell "Exiting."; exit 1; fi fi # Construct and deliver separator-les date string @@ -891,6 +893,126 @@ validateInput() { # Return error if no condition matched. return 1; } # Validates strings +timeEpochNS() { + # Desc: Get epoch nanoseconds + # Usage: timeEpochNS + # Version 0.2.2 + # Input: arg1: 'date'-parsable timestamp string (optional) + # Output: Nanoseconds since 1970-01-01 + # Depends: date 8, yell() + # Ref/Attrib: Force base 10 Bash arith with '10#'. https://stackoverflow.com/a/24777667 + local TIME_CURRENT TIME_INPUT TIME_EPOCH_FLOAT TIME_EPOCH_NSFRAC + local TIME_EPOCH_NS + + argTime="$1"; + + # Get Current Time + TIME_CURRENT="$(date --iso-8601=ns)"; # Produce `date`-parsable current timestamp with resolution of 1 nanosecond. + + # Decide to parse current or supplied time + ## Check if time argument empty + if [[ -z "$argTime" ]]; then + ## T: Time argument empty, use current time + TIME_INPUT="$TIME_CURRENT"; + else + ## F: Time argument exists, validate time + if date --date="$argTime" 1>/dev/null 2>&1; then + ### T: Time argument is valid; use it + TIME_INPUT="$argTime"; + else + ### F: Time argument not valid; exit + yell "ERROR:Invalid time argument supplied. Exiting."; exit 1; + fi; + fi; + # Construct and deliver nanoseconds since 1970-01-01 + TIME_EPOCH_FLOAT="$(date --date="$TIME_INPUT" +%s.%N)"; # Save ssss.NNNNNNNNN + TIME_EPOCH_INT="$(echo "$TIME_EPOCH_FLOAT" | cut -d. -f1)"; # Get ssss + TIME_EPOCH_NSFRAC="$(echo "$TIME_EPOCH_FLOAT" | cut -d. -f2)"; # Get NNNNNNNNN + TIME_EPOCH_NS="$(( (10#"$TIME_EPOCH_INT" * 10**9) + (10#"$TIME_EPOCH_NSFRAC") ))"; + echo "$TIME_EPOCH_NS"; +} # Nanoseconds since 1970-01-01 +magicBufferSleepPID() { + # Desc: Compensates for lag so buffer rounds start every BUFFER_TTL seconds + # Input: vars: BUFFER_TTL, errResetx10e3, K_P, T_I, T_D + # # Input: array: errorHistory + # Output: vars: BUFFER_TTL_ADJ_FLOAT + # Re/Attrib: https://en.wikipedia.org/wiki/PID_controller#Standard_versus_parallel_(ideal)_form + local BUFFER_TTL_NS + local timeBufferStartNS timeBufferStartNSExp errNS errNSx10e3 + local errResetx10e3 errRatex10e3 ADJ BUFFER_TTL_ADJ_NS BUFFER_TTL_ADJ_INT + local BUFFER_TTL_ADJ_FLOATFRAC + # local errorHistorySize + + # ## Define errorHistorySize + # errorHistorySize=100; + ## Define BUFFER_TTL in nanoseconds + 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="$(timeEpochNS)" && vbm "timeBufferStartNS :$timeBufferStartNS"; + ## Calculate expected time (from start time, current buffer round number, nominal BUFFER_TTL) + timeBufferStartNSExp="$(( (timeBufferFirstNS) + (BUFFER_TTL_NS * bufferRound) ))" && vbm "timeBufferStartNSExp:$timeBufferStartNSExp"; + ## Calculate error (diff between timeBufferStartNSExp and timeBufferStartNS; usually negative) + 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 + # while [[ "${#errorHistory[@]}" -gt "errorHistorySize" ]]; then do + # unset "errorHistory[0]"; # remove oldest entry, creating sparse array + # errorHistory=("${errorHistory[@]}"); # reindex sparse array + # vbm "STATUS:Trimmed errorHistory array. Entry count:${#errorHistory[@]}"; + # done; + + # Calculate errReset in nanoseconds^2 + ## errReset = int(errHistory(t),wrt(delta_BUFFER_TTL)) + ## Integrate errorHistory with respect to time + # for value in "${errorHistory[@]}"; do + # errReset=$(( errReset + ( value*BUFFER_TTL_NS ) )); + # done; + vbm "errReset(orig):$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*(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))" && vbm "BUFFER_TTL_ADJ_NS:$BUFFER_TTL_ADJ_NS"; + ## Calculate integer seconds + BUFFER_TTL_ADJ_INT="$((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 + ### 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" && 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() { # Desc: Appends time-stamped VERSION to PATHOUT_TAR # Usage: magicWriteVersion @@ -927,17 +1049,23 @@ magicWriteVersion() { } # bkgpslog: write version data to PATHOUT_TAR via appendArgTar() magicGatherWriteBuffer() { # Desc: bkgpslog-specific meta function for writing data to DIR_TMP then appending each file to PATHOUT_TAR - # Inputs: PATHOUT_TAR FILEOUT_{NMEA,GPX,KML} CMD_CONV_{NMEA,GPX,KML} CMD_{COMPRESS,ENCRYPT} DIR_TMP, - # Inputs: BUFFER_TTL bufferTTL_STR SCRIPT_HOSTNAME CMD_COMPRESS_SUFFIX CMD_ENCRYPT_SUFFIX - # Depends: yell, try, vbm, appendArgTar, tar - local FN="${FUNCNAME[0]}"; - wait; # Wait to avoid collision with older magicWriteBuffer() instances (see https://www.tldp.org/LDP/abs/html/x9644.html ) + # Inputs: vars: PATHOUT_TAR FILEOUT_{NMEA,GPX,KML} CMD_CONV_{NMEA,GPX,KML} CMD_{COMPRESS,ENCRYPT} DIR_TMP, + # Inputs: vars: BUFFER_TTL bufferTTL_STR SCRIPT_HOSTNAME CMD_COMPRESS_SUFFIX CMD_ENCRYPT_SUFFIX + # Output: file: (PATHOUT_TAR) + # Depends: yell(), try(), vbm(), appendArgTar(), tar 1, sleep 8, checkMakeTar() + # Depends: magicWriteVersion(), appendFileTar() + local FN + + vbm "DEBUG:STATUS:$FN:Started magicGatherWriteBuffer()."; + # Debug:Get function name + FN="${FUNCNAME[0]}"; + # Create buffer file with unique name - PATHOUT_BUFFER="$DIR_TMP/buffer$SECONDS"; + PATHOUT_BUFFER="$DIR_TMP/buffer$SECONDS" && vbm "PATHOUT_BUFFER:$PATHOUT_BUFFER"; # Fill buffer timeout "$BUFFER_TTL"s gpspipe -r -o "$PATHOUT_BUFFER" ; - timeBufferStart="$(dateTimeShort "$(date --date="$BUFFER_TTL seconds ago")")"; # Note start time - vbm "DEBUG:STATUS:$FN:Started magicWriteBuffer()."; + timeBufferStartLong="$(date --date="$BUFFER_TTL seconds ago" --iso-8601=seconds)" && vbm "timeBufferStartLong:$timeBufferStartLong" || yell "ERROR:timeBufferStartLong fail"; + timeBufferStart="$(dateTimeShort "$timeBufferStartLong" )" && vbm "timeBufferStart:$timeBufferStart" || yell "ERROR:timeBufferStart fail"; # Note start time # Determine file paths (time is start of buffer period) FILEOUT_BASENAME="$timeBufferStart""--""$bufferTTL_STR""..""$SCRIPT_HOSTNAME""_location" && vbm "STATUS:Set FILEOUT_BASENAME to:$FILEOUT_BASENAME"; ## Files saved to DIR_TMP @@ -952,26 +1080,33 @@ magicGatherWriteBuffer() { PATHOUT_TAR="$DIR_OUT"/"$(dateShort "$(date --date="$BUFFER_TTL seconds ago")")".."$SCRIPT_HOSTNAME""_location""$CMD_COMPRESS_SUFFIX""$CMD_ENCRYPT_SUFFIX".tar && \ vbm "STATUS:Set PATHOUT_TAR to:$PATHOUT_TAR"; # DEBUG: check vars - vbm "STATUS:DIR_TMP :$DIR_TMP"; - vbm "STATUS:PATHOUT_TAR :$PATHOUT_TAR"; - vbm "STATUS:PATHOUT_NMEA:$PATHOUT_NMEA"; - vbm "STATUS:PATHOUT_GPX:$PATHOUT_GPX"; - vbm "STATUS:PATHOUT_KML:$PATHOUT_KML"; + vbm "STATUS:FN :$FN"; + vbm "STATUS:DIR_TMP :$DIR_TMP"; + vbm "STATUS:PATHOUT_TAR :$PATHOUT_TAR"; + vbm "STATUS:PATHOUT_NMEA :$PATHOUT_NMEA"; + vbm "STATUS:PATHOUT_GPX :$PATHOUT_GPX"; + vbm "STATUS:PATHOUT_KML :$PATHOUT_KML"; + vbm "STATUS:BUFFER_TTL :$BUFFER_TTL"; + vbm "STATUS:PATHOUT_BUFFER :$PATHOUT_BUFFER"; + vbm "STATUS:timeBufferStart:$timeBufferStart"; + vbm "FILEOUT_BASENAME :$FILEOUT_BASENAME"; # Validate PATHOUT_TAR as tar. checkMakeTar "$PATHOUT_TAR"; ## Add VERSION file if checkMakeTar had to create a tar (exited 1) or replace one (exited 2) + vbm "exit status before magicWriteVersion:$?" if [[ $? -eq 1 ]] || [[ $? -eq 2 ]]; then magicWriteVersion; fi # Write bufferBash to PATHOUT_TAR + wait; # Wait to avoid collision with older magicWriteBuffer() instances (see https://www.tldp.org/LDP/abs/html/x9644.html ) appendFileTar "$PATHOUT_BUFFER" "$FILEOUT_NMEA" "$PATHOUT_TAR" "$DIR_TMP" "$CMD_CONV_NMEA" "$CMD_COMPRESS" "$CMD_ENCRYPT"; # Write NMEA data appendFileTar "$PATHOUT_BUFFER" "$FILEOUT_GPX" "$PATHOUT_TAR" "$DIR_TMP" "$CMD_CONV_GPX" "$CMD_COMPRESS" "$CMD_ENCRYPT"; # Write GPX file appendFileTar "$PATHOUT_BUFFER" "$FILEOUT_KML" "$PATHOUT_TAR" "$DIR_TMP" "$CMD_CONV_KML" "$CMD_COMPRESS" "$CMD_ENCRYPT"; # Write KML file # Remove secured chunks from DIR_TMP rm "$PATHOUT_BUFFER" "$PATHOUT_NMEA" "$PATHOUT_GPX" "$PATHOUT_KML"; - vbm "DEBUG:STATUS:$FN:Finished magicWriteBuffer()."; + vbm "DEBUG:STATUS:$FN:Finished magicGatherWriteBuffer()."; } # write buffer to disk magicParseRecipientDir() { # Desc: Updates recPubKeysValid with pubkeys in dir specified by '-R' option ("recipient directory") @@ -1008,7 +1143,7 @@ magicParseRecipientDir() { done #### Write updated recPubKeysValid array to recPubKeysValid if no failure detected if ! [[ "$updateRecipients" = "false" ]]; then - recPubKeysValid=("${candRecPubKeysValid[@]}") && vbm "STATUS:Wrote candRecPubkeysValid to recPubKeysValid:\"${recPubKeysValid[@]}\""; + recPubKeysValid=("${candRecPubKeysValid[@]}") && vbm "STATUS:Wrote candRecPubkeysValid to recPubKeysValid:\"${recPubKeysValid[*]}\""; fi; else yell "ERROR:$0:Recipient directory $argRecDir does not exist. Exiting."; exit 1; @@ -1045,8 +1180,8 @@ magicParseRecipientArgs() { fi; done vbm "DEBUG:Finished processing argRecPubKeys array"; - vbm "STATUS:Array of validated pubkeys:${recPubKeysValid[@]}"; - recPubKeysValidStatic="${recPubKeysValid[@]}"; # Save static image of pubkeys validated by this function + vbm "STATUS:Array of validated pubkeys:${recPubKeysValid[*]}"; + recPubKeysValidStatic=("${recPubKeysValid[@]}"); # Save static image of pubkeys validated by this function ## Form age command string CMD_ENCRYPT="age ""$recipients " && vbm "CMD_ENCRYPT:$CMD_ENCRYPT"; @@ -1130,7 +1265,7 @@ magicParseCustomTTL() { ## T: Check if argCustomBufferTTL is an integer if validateInput "$argCustomBufferTTL" "integer"; then ### T: argCustomBufferTTL is an integer - BUFFER_TTL="$argCustomBufferTTL"; + BUFFER_TTL="$argCustomBufferTTL" && vbm "Custom BUFFER_TTL from -b:$BUFFER_TTL"; else ### F: argcustomBufferTTL is not an integer yell "ERROR:Invalid integer argument for custom buffer time-to-live."; showUsage; exit 1; @@ -1143,7 +1278,7 @@ magicParseCustomTTL() { ## T: Check if argCustomScriptTTL is a time element (ex: "day", "hour") if validateInput "$argCustomScriptTTL" "time_element"; then ### T: argCustomScriptTTL is a time element - SCRIPT_TTL_TE="$argCustomScriptTTL"; + SCRIPT_TTL_TE="$argCustomScriptTTL" && vbm "Custom SCRIPT_TTL_TE from -B:$SCRIPT_TTL_TE"; else ### F: argcustomScriptTTL is not a time element yell "ERROR:Invalid time element argument for custom script time-to-live."; showUsage; exit 1; @@ -1154,6 +1289,8 @@ magicParseCustomTTL() { main() { + # DEBUG: Print environment variables + vbm "echo $(printenv)"; # Process arguments processArguments "$@"; ## Act upon arguments @@ -1199,10 +1336,13 @@ main() { 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; BUFFER_TTL_ADJ_FLOAT="$BUFFER_TTL"; while [[ "$SECONDS" -lt "$SCRIPT_TTL" ]]; do - magicParseRecipientDir + magicParseRecipientDir; magicGatherWriteBuffer & - sleep "$BUFFER_TTL"; + 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