X-Git-Url: https://zdv2.bktei.com/gitweb/EVA-2020-02.git/blobdiff_plain/d59a052d726ec948737314b6abec6e2073cf7a37..8f51861e28df37a07c6297082899e0fd8001fae6:/exec/bkgpslog diff --git a/exec/bkgpslog b/exec/bkgpslog index 1705ab2..429ffa9 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=$(hostname); # Save hostname of system running this script. -SCRIPT_VERSION="0.4.4-alpha"; # Define version of script. +SCRIPT_VERSION="0.5.3"; # Define version of script. SCRIPT_NAME="bkgpslog"; # Define basename of script file. SCRIPT_URL="https://gitlab.com/baltakatei/ninfacyzga-01"; # Define wesite hosting this script. AGE_VERSION="1.0.0-beta2"; # Define version of age (encryption program) @@ -28,11 +28,7 @@ declare -a argRecPubKeys # for processArguments function ## Initialize variables OPTION_VERBOSE=""; OPTION_ENCRYPT=""; OPTION_COMPRESS=""; OPTION_TMPDIR=""; -errResetx10e3=0; BUFFER_TTL_ADJ_FLOAT=""; -### PID Control factors -K_P=10; # Gain for compensating buffer round lag -T_I=2; # Consider this number of past buffer rounds to eliminate error -T_D=1; # Predict value this number of buffer rounds into the future +errReset=0; BUFFER_TTL_ADJ_FLOAT=""; #===BEGIN Declare local script functions=== checkapp() { @@ -951,15 +947,20 @@ magicBufferSleepPID() { # errorHistorySize=100; ## Define BUFFER_TTL in nanoseconds BUFFER_TTL_NS=$((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:$errNSx10e3"; # ## Append error to errorHistory # errorHistory+=("errNS"); # ### Trim errorHistory array if over errorHistorySize @@ -975,26 +976,42 @@ magicBufferSleepPID() { # for value in "${errorHistory[@]}"; do # errReset=$(( errReset + ( value*BUFFER_TTL_NS ) )); # done; - errResetx10e3="$(( ( errResetx10e3 + ( errNS * 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:$ADJ"; # Calculate BUFFER_TTL_ADJ_FLOAT from ADJ (ns) ## Calculate BUFFER_TTL_ADJ in nanoseconds (BUFFER_TTL_ADJ_NS = BUFFER_TTL_NS + ADJ) BUFFER_TTL_ADJ_NS="$((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 - 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 @@ -1039,6 +1056,7 @@ magicGatherWriteBuffer() { # Depends: magicWriteVersion(), appendFileTar() local FN + vbm "DEBUG:STATUS:$FN:Started magicGatherWriteBuffer()."; # Debug:Get function name FN="${FUNCNAME[0]}"; @@ -1047,7 +1065,6 @@ magicGatherWriteBuffer() { # 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()."; # 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 @@ -1082,7 +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") @@ -1310,13 +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