From: Steven Baltakatei Sandoval <baltakatei@gmail.com>
Date: Tue, 7 Jul 2020 08:45:42 +0000 (+0000)
Subject: test(bkgpslog):Debug testing PID loop
X-Git-Url: https://zdv2.bktei.com/gitweb/EVA-2020-02.git/commitdiff_plain/d59a052d726ec948737314b6abec6e2073cf7a37

test(bkgpslog):Debug testing PID loop
---

diff --git a/exec/bkgpslog b/exec/bkgpslog
index db8af89..1705ab2 100755
--- a/exec/bkgpslog
+++ b/exec/bkgpslog
@@ -950,16 +950,16 @@ 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";
     
     # 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
@@ -975,25 +975,26 @@ magicBufferSleepPID() {
     # for value in "${errorHistory[@]}"; do
     # 	errReset=$(( errReset + ( value*BUFFER_TTL_NS ) ));
     # done;
-    errResetx10e3="$(( ( errResetx10e3 + ( errNS * BUFFER_TTL_NS ) )*10**3 ))";
+    errResetx10e3="$(( ( errResetx10e3 + ( errNS * BUFFER_TTL_NS ) )*10**3 ))" && vbm "errResetx10e3:$errResetx10e3";
 
     # Calculate errRate in nanoseconds per 1000 nanoseconds
-    errRatex10e3="$(( ( errNSx10e3 ) / BUFFER_TTL_NS ))";
+    errRatex10e3="$(( ( errNSx10e3 ) / BUFFER_TTL_NS ))" && vbm "errRatex10e3:$errRatex10e3";
     
     # 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*(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";
     ## Calculate nanosecond remainder
-    BUFFER_TTL_ADJ_FLOATFRAC="$((BUFFER_TTL_NS - (BUFFER_TTL_ADJ_INT*(10**9)) ))";
+    BUFFER_TTL_ADJ_FLOATFRAC="$((BUFFER_TTL_NS - (BUFFER_TTL_ADJ_INT*(10**9)) ))" && 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";
+    sleep 1 # Debug
 } # Calc BUFFER_TTL_ADJ_FLOAT so buffer starts every BUFFER_TTL seconds
 magicWriteVersion() {
     # Desc: Appends time-stamped VERSION to PATHOUT_TAR