X-Git-Url: https://zdv2.bktei.com/gitweb/EVA-2020-02.git/blobdiff_plain/08134562ff1a040e33229c9ff4c2a1d353bf8b4b..c8ebb71cde973439d2a2161cc72f170bfed3a25b:/exec/bkgpslog

diff --git a/exec/bkgpslog b/exec/bkgpslog
index 2b19e31..b69b8be 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="0.4.4-alpha2";          # 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() {
@@ -891,6 +893,127 @@ 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";
+    sleep 1 # Debug
+} # Calc BUFFER_TTL_ADJ_FLOAT so buffer starts every BUFFER_TTL seconds
 magicWriteVersion() {
     # Desc: Appends time-stamped VERSION to PATHOUT_TAR
     # Usage: magicWriteVersion
@@ -927,11 +1050,16 @@ 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="${FUNCNAME[0]}";
-    wait; # Wait to avoid collision with older magicWriteBuffer() instances (see https://www.tldp.org/LDP/abs/html/x9644.html )
+    # Inputs: vars: PATHOUT_TAR FILEOUT_{NMEA,GPX,KML} CMD_CONV_{NMEA,GPX,KML} CMD_{COMPRESS,ENCRYPT} DIR_TMP,
+    # Inputs: vars: BUFFER_TTL bufferTTL_STR SCRIPT_HOSTNAME CMD_COMPRESS_SUFFIX CMD_ENCRYPT_SUFFIX
+    # Output: file: (PATHOUT_TAR)
+    # Depends: yell(), try(), vbm(), appendArgTar(), tar 1, sleep 8, checkMakeTar()
+    # Depends: magicWriteVersion(), appendFileTar()
+    local FN
+
+    # Debug:Get function name
+    FN="${FUNCNAME[0]}";
+    
     # Create buffer file with unique name
     PATHOUT_BUFFER="$DIR_TMP/buffer$SECONDS";
     # Fill buffer
@@ -965,6 +1093,7 @@ magicGatherWriteBuffer() {
     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" "$CMD_ENCRYPT"; # Write KML file
@@ -1008,7 +1137,7 @@ magicParseRecipientDir() {
 	    done
 	    #### Write updated recPubKeysValid array to recPubKeysValid if no failure detected
 	    if ! [[ "$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 $argRecDir does not exist. Exiting."; exit 1;
@@ -1045,8 +1174,8 @@ magicParseRecipientArgs() {
 		fi;
 	    done
 	    vbm "DEBUG:Finished processing argRecPubKeys array";
-	    vbm "STATUS:Array of validated pubkeys:${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";
@@ -1199,10 +1328,13 @@ 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="$(timeEpochNS)"; bufferRound=0; BUFFER_TTL_ADJ_FLOAT="10.0";
     while [[ "$SECONDS" -lt "$SCRIPT_TTL" ]]; do
-	magicParseRecipientDir
+	magicParseRecipientDir;
 	magicGatherWriteBuffer &
-	sleep "$BUFFER_TTL";
+	sleep "$BUFFER_TTL_ADJ_FLOAT";
+	((bufferRound++));
+	magicBufferSleepPID; # Calculates BUFFER_TTL_ADJ from BUFFER_TTL given buffer expected start time vs. actual
     done    
 
     # Cleanup