Improve memory management in Viterbi decoder

src/algorithms/telemetry_decoder/gnuradio_blocks/galileo_e1b_telemetry_decoder_cc.cc

@@ -37,6 +37,7 @@
 #include <boost/lexical_cast.hpp>
 #include <gnuradio/io_signature.h>
 #include <glog/logging.h>
+#include <volk_gnsssdr/volk_gnsssdr.h>
 #include <iostream>
 
 
@@ -54,38 +55,8 @@ galileo_e1b_make_telemetry_decoder_cc(const Gnss_Satellite &satellite, bool dump
 
 void galileo_e1b_telemetry_decoder_cc::viterbi_decoder(double *page_part_symbols, int *page_part_bits)
 {
-    int CodeLength = 240;
-    int DataLength;
-    int nn, KK, mm, max_states;
-    int g_encoder[2];
-
-    nn = 2;              // Coding rate 1/n
-    KK = 7;              // Constraint Length
-    g_encoder[0] = 121;  // Polynomial G1
-    g_encoder[1] = 91;   // Polynomial G2
-
-    mm = KK - 1;
-    max_states = 1 << mm; /* 2^mm */
-    DataLength = (CodeLength / nn) - mm;
-
-    /* create appropriate transition matrices */
-    int *out0, *out1, *state0, *state1;
-    out0 = static_cast<int *>(calloc(max_states, sizeof(int)));
-    out1 = static_cast<int *>(calloc(max_states, sizeof(int)));
-    state0 = static_cast<int *>(calloc(max_states, sizeof(int)));
-    state1 = static_cast<int *>(calloc(max_states, sizeof(int)));
-
-    nsc_transit(out0, state0, 0, g_encoder, KK, nn);
-    nsc_transit(out1, state1, 1, g_encoder, KK, nn);
-
     Viterbi(page_part_bits, out0, state0, out1, state1,
         page_part_symbols, KK, nn, DataLength);
-
-    /* Clean up memory */
-    free(out0);
-    free(out1);
-    free(state0);
-    free(state1);
 }
 
 
@@ -122,7 +93,7 @@ galileo_e1b_telemetry_decoder_cc::galileo_e1b_telemetry_decoder_cc(
     memcpy(static_cast<unsigned short int *>(this->d_preambles_bits), static_cast<unsigned short int *>(preambles_bits), GALILEO_INAV_PREAMBLE_LENGTH_BITS * sizeof(unsigned short int));
 
     // preamble bits to sampled symbols
-    d_preambles_symbols = static_cast<signed int *>(malloc(sizeof(signed int) * d_symbols_per_preamble));
+    d_preambles_symbols = static_cast<int *>(volk_gnsssdr_malloc(d_symbols_per_preamble * sizeof(int), volk_gnsssdr_get_alignment()));
     int n = 0;
     for (int i = 0; i < GALILEO_INAV_PREAMBLE_LENGTH_BITS; i++)
         {
@@ -153,12 +124,28 @@ galileo_e1b_telemetry_decoder_cc::galileo_e1b_telemetry_decoder_cc(
     d_flag_preamble = false;
     d_channel = 0;
     flag_TOW_set = false;
+
+    // vars for Viterbi decoder
+    int max_states = 1 << mm; /* 2^mm */
+    g_encoder[0] = 121;       // Polynomial G1
+    g_encoder[1] = 91;        // Polynomial G2
+    out0 = static_cast<int *>(volk_gnsssdr_malloc(max_states * sizeof(int), volk_gnsssdr_get_alignment()));
+    out1 = static_cast<int *>(volk_gnsssdr_malloc(max_states * sizeof(int), volk_gnsssdr_get_alignment()));
+    state0 = static_cast<int *>(volk_gnsssdr_malloc(max_states * sizeof(int), volk_gnsssdr_get_alignment()));
+    state1 = static_cast<int *>(volk_gnsssdr_malloc(max_states * sizeof(int), volk_gnsssdr_get_alignment()));
+    /* create appropriate transition matrices */
+    nsc_transit(out0, state0, 0, g_encoder, KK, nn);
+    nsc_transit(out1, state1, 1, g_encoder, KK, nn);
 }
 
 
 galileo_e1b_telemetry_decoder_cc::~galileo_e1b_telemetry_decoder_cc()
 {
-    delete d_preambles_symbols;
+    volk_gnsssdr_free(d_preambles_symbols);
+    volk_gnsssdr_free(out0);
+    volk_gnsssdr_free(out1);
+    volk_gnsssdr_free(state0);
+    volk_gnsssdr_free(state1);
     if (d_dump_file.is_open() == true)
         {
             try
@@ -213,13 +200,13 @@ void galileo_e1b_telemetry_decoder_cc::decode_word(double *page_part_symbols, in
             d_nav.split_page(page_String, flag_even_word_arrived);
             if (d_nav.flag_CRC_test == true)
                 {
-                    LOG(INFO) << "Galileo E1 CRC correct on channel " << d_channel << " from satellite " << d_satellite;
+                    LOG(INFO) << "Galileo E1 CRC correct in channel " << d_channel << " from satellite " << d_satellite;
                     //std::cout << "Galileo E1 CRC correct on channel " << d_channel << " from satellite " << d_satellite << std::endl;
                 }
             else
                 {
-                    std::cout << "Galileo E1 CRC error on channel " << d_channel << " from satellite " << d_satellite << std::endl;
+                    std::cout << "Galileo E1 CRC error in channel " << d_channel << " from satellite " << d_satellite << std::endl;
-                    LOG(INFO) << "Galileo E1 CRC error on channel " << d_channel << " from satellite " << d_satellite;
+                    LOG(INFO) << "Galileo E1 CRC error in channel " << d_channel << " from satellite " << d_satellite;
                 }
             flag_even_word_arrived = 0;
         }
@@ -235,21 +222,21 @@ void galileo_e1b_telemetry_decoder_cc::decode_word(double *page_part_symbols, in
         {
             // get object for this SV (mandatory)
             std::shared_ptr<Galileo_Ephemeris> tmp_obj = std::make_shared<Galileo_Ephemeris>(d_nav.get_ephemeris());
-            std::cout << "New Galileo E1 I/NAV message received: ephemeris from satellite " << d_satellite << std::endl;
+            std::cout << "New Galileo E1 I/NAV message received in channel " << d_channel << ": ephemeris from satellite " << d_satellite << std::endl;
             this->message_port_pub(pmt::mp("telemetry"), pmt::make_any(tmp_obj));
         }
     if (d_nav.have_new_iono_and_GST() == true)
         {
             // get object for this SV (mandatory)
             std::shared_ptr<Galileo_Iono> tmp_obj = std::make_shared<Galileo_Iono>(d_nav.get_iono());
-            std::cout << "New Galileo E1 I/NAV message received: iono/GST model parameters from satellite " << d_satellite << std::endl;
+            std::cout << "New Galileo E1 I/NAV message received in channel " << d_channel << ": iono/GST model parameters from satellite " << d_satellite << std::endl;
             this->message_port_pub(pmt::mp("telemetry"), pmt::make_any(tmp_obj));
         }
     if (d_nav.have_new_utc_model() == true)
         {
             // get object for this SV (mandatory)
             std::shared_ptr<Galileo_Utc_Model> tmp_obj = std::make_shared<Galileo_Utc_Model>(d_nav.get_utc_model());
-            std::cout << "New Galileo E1 I/NAV message received: UTC model parameters from satellite " << d_satellite << std::endl;
+            std::cout << "New Galileo E1 I/NAV message received in channel " << d_channel << ": UTC model parameters from satellite " << d_satellite << std::endl;
             this->message_port_pub(pmt::mp("telemetry"), pmt::make_any(tmp_obj));
         }
     if (d_nav.have_new_almanac() == true)
@@ -257,7 +244,7 @@ void galileo_e1b_telemetry_decoder_cc::decode_word(double *page_part_symbols, in
             std::shared_ptr<Galileo_Almanac> tmp_obj = std::make_shared<Galileo_Almanac>(d_nav.get_almanac());
             this->message_port_pub(pmt::mp("telemetry"), pmt::make_any(tmp_obj));
             //debug
-            std::cout << "Galileo E1 I/NAV almanac received!" << std::endl;
+            std::cout << "Galileo E1 I/NAV almanac received in channel " << d_channel << " from satellite " << d_satellite << std::endl;
             DLOG(INFO) << "GPS_to_Galileo time conversion:";
             DLOG(INFO) << "A0G=" << tmp_obj->A_0G_10;
             DLOG(INFO) << "A1G=" << tmp_obj->A_1G_10;

src/algorithms/telemetry_decoder/gnuradio_blocks/galileo_e1b_telemetry_decoder_cc.h

@@ -112,6 +112,15 @@ private:
 
     std::string d_dump_filename;
     std::ofstream d_dump_file;
+
+    // vars for Viterbi decoder
+    int *out0, *out1, *state0, *state1;
+    int g_encoder[2];
+    const int nn = 2;  // Coding rate 1/n
+    const int KK = 7;  // Constraint Length
+    int mm = KK - 1;
+    const int CodeLength = 240;
+    int DataLength = (CodeLength / nn) - mm;
 };
 
 #endif

src/algorithms/telemetry_decoder/gnuradio_blocks/galileo_e5a_telemetry_decoder_cc.cc

@@ -37,9 +37,11 @@
 #include "galileo_e5a_telemetry_decoder_cc.h"
 #include "control_message_factory.h"
 #include "convolutional.h"
+#include "display.h"
 #include <boost/lexical_cast.hpp>
 #include <gnuradio/io_signature.h>
 #include <glog/logging.h>
+#include <volk_gnsssdr/volk_gnsssdr.h>
 #include <cmath>
 #include <iostream>
 
@@ -58,42 +60,8 @@ galileo_e5a_make_telemetry_decoder_cc(const Gnss_Satellite &satellite, bool dump
 
 void galileo_e5a_telemetry_decoder_cc::viterbi_decoder(double *page_part_symbols, int *page_part_bits)
 {
-    //    int CodeLength = 240;
-    int CodeLength = 488;
-    int DataLength;
-    int nn, KK, mm, max_states;
-    int g_encoder[2];
-
-    nn = 2;              // Coding rate 1/n
-    KK = 7;              // Constraint Length
-    g_encoder[0] = 121;  // Polynomial G1
-    g_encoder[1] = 91;   // Polynomial G2
-    //    g_encoder[0] = 171; // Polynomial G1
-    //    g_encoder[1] = 133;  // Polynomial G2
-
-    mm = KK - 1;
-    max_states = 1 << mm;  // 2^mm
-    DataLength = (CodeLength / nn) - mm;
-
-    //create appropriate transition matrices
-
-    int *out0, *out1, *state0, *state1;
-    out0 = static_cast<int *>(calloc(max_states, sizeof(int)));
-    out1 = static_cast<int *>(calloc(max_states, sizeof(int)));
-    state0 = static_cast<int *>(calloc(max_states, sizeof(int)));
-    state1 = static_cast<int *>(calloc(max_states, sizeof(int)));
-
-    nsc_transit(out0, state0, 0, g_encoder, KK, nn);
-    nsc_transit(out1, state1, 1, g_encoder, KK, nn);
-
     Viterbi(page_part_bits, out0, state0, out1, state1,
         page_part_symbols, KK, nn, DataLength);
-
-    //Clean up memory
-    free(out0);
-    free(out1);
-    free(state0);
-    free(state1);
 }
 
 
@@ -147,32 +115,32 @@ void galileo_e5a_telemetry_decoder_cc::decode_word(double *page_symbols, int fra
     d_nav.split_page(page_String);
     if (d_nav.flag_CRC_test == true)
         {
-            LOG(INFO) << "Galileo E5a CRC correct on channel " << d_channel << " from satellite " << d_satellite;
+            LOG(INFO) << "Galileo E5a CRC correct in channel " << d_channel << " from satellite " << d_satellite;
             //std::cout << "Galileo E5a CRC correct on channel " << d_channel << " from satellite " << d_satellite << std::endl;
         }
     else
         {
-            std::cout << "Galileo E5a CRC error on channel " << d_channel << " from satellite " << d_satellite << std::endl;
+            std::cout << "Galileo E5a CRC error in channel " << d_channel << " from satellite " << d_satellite << std::endl;
-            LOG(INFO) << "Galileo E5a CRC error on channel " << d_channel << " from satellite " << d_satellite;
+            LOG(INFO) << "Galileo E5a CRC error in channel " << d_channel << " from satellite " << d_satellite;
         }
 
     // 4. Push the new navigation data to the queues
     if (d_nav.have_new_ephemeris() == true)
         {
             std::shared_ptr<Galileo_Ephemeris> tmp_obj = std::make_shared<Galileo_Ephemeris>(d_nav.get_ephemeris());
-            std::cout << "New Galileo E5a F/NAV message received: ephemeris from satellite " << d_satellite << std::endl;
+            std::cout << TEXT_MAGENTA << "New Galileo E5a F/NAV message received in channel " << d_channel << ": ephemeris from satellite " << d_satellite << TEXT_RESET << std::endl;
             this->message_port_pub(pmt::mp("telemetry"), pmt::make_any(tmp_obj));
         }
     if (d_nav.have_new_iono_and_GST() == true)
         {
             std::shared_ptr<Galileo_Iono> tmp_obj = std::make_shared<Galileo_Iono>(d_nav.get_iono());
-            std::cout << "New Galileo E5a F/NAV message received: iono/GST model parameters from satellite " << d_satellite << std::endl;
+            std::cout << TEXT_MAGENTA << "New Galileo E5a F/NAV message received in channel " << d_channel << ": iono/GST model parameters from satellite " << d_satellite << TEXT_RESET << std::endl;
             this->message_port_pub(pmt::mp("telemetry"), pmt::make_any(tmp_obj));
         }
     if (d_nav.have_new_utc_model() == true)
         {
             std::shared_ptr<Galileo_Utc_Model> tmp_obj = std::make_shared<Galileo_Utc_Model>(d_nav.get_utc_model());
-            std::cout << "New Galileo E5a F/NAV message received: UTC model parameters from satellite " << d_satellite << std::endl;
+            std::cout << TEXT_MAGENTA << "New Galileo E5a F/NAV message received in channel " << d_channel << ": UTC model parameters from satellite " << d_satellite << TEXT_RESET << std::endl;
             this->message_port_pub(pmt::mp("telemetry"), pmt::make_any(tmp_obj));
         }
 }
@@ -226,11 +194,27 @@ galileo_e5a_telemetry_decoder_cc::galileo_e5a_telemetry_decoder_cc(
     flag_bit_start = false;
     new_symbol = false;
     required_symbols = GALILEO_FNAV_SYMBOLS_PER_PAGE + GALILEO_FNAV_PREAMBLE_LENGTH_BITS;
+
+    // vars for Viterbi decoder
+    int max_states = 1 << mm; /* 2^mm */
+    g_encoder[0] = 121;       // Polynomial G1
+    g_encoder[1] = 91;        // Polynomial G2
+    out0 = static_cast<int *>(volk_gnsssdr_malloc(max_states * sizeof(int), volk_gnsssdr_get_alignment()));
+    out1 = static_cast<int *>(volk_gnsssdr_malloc(max_states * sizeof(int), volk_gnsssdr_get_alignment()));
+    state0 = static_cast<int *>(volk_gnsssdr_malloc(max_states * sizeof(int), volk_gnsssdr_get_alignment()));
+    state1 = static_cast<int *>(volk_gnsssdr_malloc(max_states * sizeof(int), volk_gnsssdr_get_alignment()));
+    /* create appropriate transition matrices */
+    nsc_transit(out0, state0, 0, g_encoder, KK, nn);
+    nsc_transit(out1, state1, 1, g_encoder, KK, nn);
 }
 
 
 galileo_e5a_telemetry_decoder_cc::~galileo_e5a_telemetry_decoder_cc()
 {
+    volk_gnsssdr_free(out0);
+    volk_gnsssdr_free(out1);
+    volk_gnsssdr_free(state0);
+    volk_gnsssdr_free(state1);
     if (d_dump_file.is_open() == true)
         {
             try

src/algorithms/telemetry_decoder/gnuradio_blocks/galileo_e5a_telemetry_decoder_cc.h

@@ -112,6 +112,15 @@ private:
     Gnss_Satellite d_satellite;
     // navigation message vars
     Galileo_Fnav_Message d_nav;
+
+    // vars for Viterbi decoder
+    int *out0, *out1, *state0, *state1;
+    int g_encoder[2];
+    const int nn = 2;  // Coding rate 1/n
+    const int KK = 7;  // Constraint Length
+    int mm = KK - 1;
+    const int CodeLength = 488;
+    int DataLength = (CodeLength / nn) - mm;
 };
 
 #endif /* GNSS_SDR_GALILEO_E5A_TELEMETRY_DECODER_CC_H_ */