X-Git-Url: https://zdv2.bktei.com/gitweb/EVA-2020-02.git/blobdiff_plain/c2fcb46715de5f57043bc5f1d7c981d1c0c04d3e..adf766fc1b00708d11179e50d8eeb5dbeff97af6:/exec/bkgpslog

diff --git a/exec/bkgpslog b/exec/bkgpslog
index 487d232..58b0465 100755
--- a/exec/bkgpslog
+++ b/exec/bkgpslog
@@ -1,8 +1,5 @@
 #!/bin/bash
-
-# Desc: Records gps data until midnight
-# Author: Steven Baltakatei Sandoval; License: GPLv3+
-# Usage: bkgpslog -o [output dir]
+# Desc: Records gps data
 
 #==BEGIN Define script parameters==
 ## Logging Behavior parameters
@@ -14,7 +11,7 @@ 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="0.5.7";          # 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 +25,7 @@ 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() {
@@ -347,7 +340,7 @@ 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="$1";
     # Get Current Time
@@ -364,7 +357,7 @@ dateTimeShort(){
 	    TIME_INPUT="$argTime";
 	else
 	    ### F: Time argument not valid; exit
-	    yell "ERROR:Invalid time argument supplied. Exiting."; exit 1;
+	    yell "ERROR:Invalid time argument supplied: \"$argTime\""; yell "Exiting."; exit 1;
 	fi
     fi
     # Construct and deliver separator-les date string
@@ -395,7 +388,7 @@ dateShort(){
 	    TIME_INPUT="$argTime";
 	else
 	    ### F: Time argument not valid; exit
-	    yell "ERROR:Invalid time argument supplied. Exiting."; exit 1;
+	    yell "ERROR:Invalid time argument supplied: \"$argTime\""; yell "Exiting."; exit 1;
 	fi
     fi
     # Construct and deliver separator-les date string    
@@ -951,15 +944,20 @@ magicBufferSleepPID() {
     # errorHistorySize=100;
     ## Define BUFFER_TTL in nanoseconds
     BUFFER_TTL_NS=$((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";
+    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";
+#    errNSx10e3="$((errNS*10**3))" && vbm "errNSx10e3:$errNSx10e3";
     # ## Append error to errorHistory
     # errorHistory+=("errNS");
     # ### Trim errorHistory array if over errorHistorySize
@@ -975,14 +973,23 @@ magicBufferSleepPID() {
     # for value in "${errorHistory[@]}"; do
     # 	errReset=$(( errReset + ( value*BUFFER_TTL_NS ) ));
     # done;
-    errResetx10e3="$(( ( errResetx10e3 + ( errNSx10e3 * BUFFER_TTL_NS ) )*10**3 ))" && vbm "errResetx10e3:$errResetx10e3";
-
-    # Calculate errRate in nanoseconds per 1000 nanoseconds
-    errRatex10e3="$(( ( errNSx10e3 ) / BUFFER_TTL_NS ))" && vbm "errRatex10e3:$errRatex10e3";
+    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="$((K_P*(errNSx10e3 + (errResetx10e3/T_I) + (errRatex10e3*T_D) )/(10**3)))" && vbm "ADJ:$ADJ";
+    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)
@@ -995,11 +1002,13 @@ magicBufferSleepPID() {
 	yell "WARNING:Buffer lag adjustment yielded negative seconds.";
     fi;
     ## Calculate nanosecond remainder
-    BUFFER_TTL_ADJ_FLOATFRAC="$((BUFFER_TTL_NS - (BUFFER_TTL_ADJ_INT*(10**9)) ))" && vbm "BUFFER_TTL_ADJ_FLOATFRAC:$BUFFER_TTL_ADJ_FLOATFRAC";
+    ### 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
@@ -1044,15 +1053,16 @@ 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:$FN:Started magicWriteBuffer().";
+    timeBufferStartLong="$(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:$FILEOUT_BASENAME";
     ## Files saved to DIR_TMP
@@ -1064,19 +1074,25 @@ magicGatherWriteBuffer() {
     PATHOUT_KML="$DIR_TMP"/"$FILEOUT_KML" && vbm "STATUS:Set PATHOUT_KML to:$PATHOUT_KML";
     ## Files saved to disk (DIR_OUT)
     ### one file per day (Ex: "20200731..hostname_location.[.gpx.gz].tar")
-    PATHOUT_TAR="$DIR_OUT"/"$(dateShort "$(date --date="$BUFFER_TTL seconds ago")")".."$SCRIPT_HOSTNAME""_location""$CMD_COMPRESS_SUFFIX""$CMD_ENCRYPT_SUFFIX".tar && \
+    PATHOUT_TAR="$DIR_OUT"/"$(dateShort "$(date --date="$BUFFER_TTL seconds ago" --iso-8601=seconds)")".."$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
@@ -1087,7 +1103,7 @@ 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")
@@ -1246,7 +1262,7 @@ 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;
@@ -1259,7 +1275,7 @@ 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;
@@ -1270,6 +1286,8 @@ magicParseCustomTTL() {
 
 
 main() {
+    # DEBUG: Print environment variables
+    vbm "echo $(printenv)";
     # Process arguments
     processArguments "$@";
     ## Act upon arguments
@@ -1295,10 +1313,10 @@ main() {
     ## Note: SCRIPT_TTL_TE is time element string (ex: "day") while SCRIPT_TTL is integer seconds
 
     # File name substring (ISO-8601 duration from BUFFER_TTL)
-    bufferTTL_STR="$(timeDuration "$BUFFER_TTL")";
+    bufferTTL_STR="$(timeDuration "$BUFFER_TTL")" && vbm "DEBUG:bufferTTL_STR:$bufferTTL_STR";
 
     # Init temp working dir
-    try mkdir "$DIR_TMP" && vbm "DEBUG:Working dir creatd at:$DIR_TMP";
+    try mkdir "$DIR_TMP" && vbm "DEBUG:Working dir created at DIR_TMP:$DIR_TMP";
 
     # Initialize 'tar' archive
     ## Define output tar path (note: each day gets *one* tar file (Ex: "20200731..hostname_location.[.gpx.gz].tar"))
@@ -1315,18 +1333,19 @@ 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="$(timeEpochNS)"; bufferRound=0; BUFFER_TTL_ADJ_FLOAT="10.0";
+    timeBufferFirstNS="$(timeEpochNS)"; bufferRound=0; BUFFER_TTL_ADJ_FLOAT="$BUFFER_TTL";
     while [[ "$SECONDS" -lt "$SCRIPT_TTL" ]]; do
+	if ! [[ -d "$DIR_TMP" ]]; then yell "ERROR:DIR_TMP existence failure:$DIR_TMP"; try mkdir "$DIR_TMP" && vbm "DEBUG:Working dir recreated DIR_TMP:$DIR_TMP"; fi
 	magicParseRecipientDir;
 	magicGatherWriteBuffer &
-	sleep "$BUFFER_TTL_ADJ_FLOAT";
-	magicBufferSleepPID; # Calculates BUFFER_TTL_ADJ from BUFFER_TTL given buffer expected start time vs. actual
+	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
     ## Remove DIR_TMP
-    try rm -r "$DIR_TMP";
+    try rm -r "$DIR_TMP" && vbm "Removed DIR_TMP:$DIR_TMP";
 
     vbm "STATUS:Main function finished.";
 } # Main function.
@@ -1338,3 +1357,6 @@ main() {
 main "$@" # Run main function.
 exit 0;
 #==END Perform work and exit==
+
+# Author: Steven Baltakatei Sandoval;
+# License: GPLv3+