X-Git-Url: https://zdv2.bktei.com/gitweb/EVA-2020-02.git/blobdiff_plain/52f05d074daddd15d135e8ba63dcca004a059fc6..7df2db7e26e6a4361b4e960a32c88c17b5697d28:/exec/bkgpslog?ds=sidebyside

diff --git a/exec/bkgpslog b/exec/bkgpslog
index db8af89..d425434 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="0.4.4-alpha";          # Define version of script.
+SCRIPT_VERSION="0.5.3";          # 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)
@@ -28,11 +28,7 @@ declare -a argRecPubKeys # for processArguments function
 
 ## 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() {
@@ -950,16 +946,21 @@ magicBufferSleepPID() {
     # ## 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
@@ -975,24 +976,41 @@ magicBufferSleepPID() {
     # 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() {
@@ -1038,15 +1056,15 @@ magicGatherWriteBuffer() {
     # 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:$FN:Started magicWriteBuffer().";
+    timeBufferStart="$(dateTimeShort "$(date --date="$BUFFER_TTL seconds ago")" )" && vbm "timeBufferStart:$timeBufferStart"; # Note start time
     # Determine file paths (time is start of buffer period)
     FILEOUT_BASENAME="$timeBufferStart""--""$bufferTTL_STR""..""$SCRIPT_HOSTNAME""_location" && vbm "STATUS:Set FILEOUT_BASENAME to:$FILEOUT_BASENAME";
     ## Files saved to DIR_TMP
@@ -1081,7 +1099,7 @@ magicGatherWriteBuffer() {
 
     # 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")
@@ -1240,7 +1258,7 @@ 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;
@@ -1253,7 +1271,7 @@ 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;
@@ -1309,13 +1327,13 @@ 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="$(timeEpochNS)"; bufferRound=0
+    timeBufferFirstNS="$(timeEpochNS)"; bufferRound=0; BUFFER_TTL_ADJ_FLOAT="$BUFFER_TTL";
     while [[ "$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