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gnss-sdr/src/algorithms/telemetry_decoder/libs/viterbi_decoder.cc

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/*!
* \file viterbi_decoder.cc
* \brief Implementation of a Viterbi decoder class based on the Iterative Solutions
* Coded Modulation Library by Matthew C. Valenti
* \author Daniel Fehr 2013. daniel.co(at)bluewin.ch
*
* -------------------------------------------------------------------------
*
* Copyright (C) 2010-2018 (see AUTHORS file for a list of contributors)
*
* GNSS-SDR is a software defined Global Navigation
* Satellite Systems receiver
*
* This file is part of GNSS-SDR.
*
* GNSS-SDR is free software: you can redistribute it and/or modify
* it under the terms of the GNU General Public License as published by
* the Free Software Foundation, either version 3 of the License, or
* (at your option) any later version.
*
* GNSS-SDR is distributed in the hope that it will be useful,
* but WITHOUT ANY WARRANTY; without even the implied warranty of
* MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
* GNU General Public License for more details.
*
* You should have received a copy of the GNU General Public License
* along with GNSS-SDR. If not, see <https://www.gnu.org/licenses/>.
*
* -------------------------------------------------------------------------
*/
#include "viterbi_decoder.h"
#include <glog/logging.h>
// logging
#define EVENT 2 // logs important events which don't occur every block
#define FLOW 3 // logs the function calls of block processing functions
#define BLOCK 4 // once per block
#define SAMPLE 5 // about one log entry per sample
#define LMORE 6 // many entries per sample / very specific stuff
const float MAXLOG = 1e7; /* Define infinity */
Viterbi_Decoder::Viterbi_Decoder(const int g_encoder[], const int KK, const int nn)
{
d_nn = nn; // Coding rate 1/n
d_KK = KK; // Constraint Length
// derived code properties
d_mm = d_KK - 1;
d_states = 1 << d_mm; /* 2^mm */
d_number_symbols = 1 << d_nn; /* 2^nn */
/* create appropriate transition matrices (trellis) */
d_out0 = new int[d_states];
d_out1 = new int[d_states];
d_state0 = new int[d_states];
d_state1 = new int[d_states];
nsc_transit(d_out0, d_state0, 0, g_encoder, d_KK, d_nn);
nsc_transit(d_out1, d_state1, 1, g_encoder, d_KK, d_nn);
// initialise trellis state
d_trellis_state_is_initialised = false;
Viterbi_Decoder::init_trellis_state();
}
Viterbi_Decoder::~Viterbi_Decoder()
{
// trellis definition
delete[] d_out0;
delete[] d_out1;
delete[] d_state0;
delete[] d_state1;
// init trellis state
delete[] d_pm_t;
delete[] d_rec_array;
delete[] d_metric_c;
}
void Viterbi_Decoder::reset()
{
init_trellis_state();
}
/* Function decode_block()
Description: Uses the Viterbi algorithm to perform hard-decision decoding of a convolutional code.
Input parameters:
r[] The received signal in LLR-form. For BPSK, must be in form r = 2*a*y/(sigma^2).
LL The number of data bits to be decoded (doesn't include the mm zero-tail-bits)
Output parameters:
output_u_int[] Hard decisions on the data bits (without the mm zero-tail-bits)
*/
float Viterbi_Decoder::decode_block(const double input_c[], int output_u_int[], const int LL)
{
int state;
int decoding_length_mismatch;
VLOG(FLOW) << "decode_block(): LL=" << LL;
// init
init_trellis_state();
// do add compare select
do_acs(input_c, LL + d_mm);
// tail, no need to output -> traceback, but don't decode
state = do_traceback(d_mm);
// traceback and decode
decoding_length_mismatch = do_tb_and_decode(d_mm, LL, state, output_u_int, d_indicator_metric);
VLOG(FLOW) << "decoding length mismatch: " << decoding_length_mismatch;
return d_indicator_metric;
}
float Viterbi_Decoder::decode_continuous(const double sym[],
const int traceback_depth,
int bits[],
const int nbits_requested,
int& nbits_decoded)
{
int state;
int decoding_length_mismatch;
VLOG(FLOW) << "decode_continuous(): nbits_requested=" << nbits_requested;
// do add compare select
do_acs(sym, nbits_requested);
// the ML sequence in the newest part of the trellis can not be decoded
// since it depends on the future values -> traceback, but don't decode
state = do_traceback(traceback_depth);
// traceback and decode
decoding_length_mismatch = do_tb_and_decode(traceback_depth, nbits_requested, state, bits, d_indicator_metric);
nbits_decoded = nbits_requested + decoding_length_mismatch;
VLOG(FLOW) << "decoding length mismatch (continuous decoding): " << decoding_length_mismatch;
return d_indicator_metric;
}
void Viterbi_Decoder::init_trellis_state()
{
int state;
// if trellis state has been initialised, free old state memory
if (d_trellis_state_is_initialised)
{
// init trellis state
delete[] d_pm_t;
delete[] d_rec_array;
delete[] d_metric_c;
}
// reserve new trellis state memory
d_pm_t = new float[d_states];
d_trellis_paths = std::deque<Prev>();
d_rec_array = new float[d_nn];
d_metric_c = new float[d_number_symbols];
d_trellis_state_is_initialised = true;
/* initialize trellis */
for (state = 0; state < d_states; state++)
{
d_pm_t[state] = -MAXLOG;
//d_pm_t_next[state] = -MAXLOG;
}
d_pm_t[0] = 0; /* start in all-zeros state */
d_indicator_metric = 0;
}
int Viterbi_Decoder::do_acs(const double sym[], int nbits)
{
int t, i, state_at_t;
float metric;
float max_val;
auto* pm_t_next = new float[d_states];
/* t:
* - state: state at t
* - d_prev_section[state_at_t]: path metric at t for state state_at_t
* - d_out0[state_at_t]: sent symbols for a data bit 0 if state is state_at_t at time t
*
*/
for (state_at_t = 0; state_at_t < d_states; state_at_t++)
{
pm_t_next[state_at_t] = -MAXLOG;
}
/* go through trellis */
for (t = 0; t < nbits; t++)
{
/* Temporarily store the received symbols current decoding step */
for (i = 0; i < d_nn; i++)
d_rec_array[i] = static_cast<float>(sym[d_nn * t + i]);
/* precompute all possible branch metrics */
for (i = 0; i < d_number_symbols; i++)
{
d_metric_c[i] = gamma(d_rec_array, i, d_nn);
VLOG(LMORE) << "metric for (tx_sym=" << i << "|ry_sym=(" << d_rec_array[0] << ", " << d_rec_array[1] << ") = " << d_metric_c[i];
}
// find the survivor branches leading the trellis states at t+1
Prev next_trellis_states(d_states, t + 1);
/* step through all states */
for (state_at_t = 0; state_at_t < d_states; state_at_t++)
{
int next_state_if_0 = d_state0[state_at_t];
int next_state_if_1 = d_state1[state_at_t];
/* hypothesis: info bit is a zero */
int bm_0 = d_metric_c[d_out0[state_at_t]];
metric = d_pm_t[state_at_t] + bm_0; // path metric + zerobranch metric
/* store new metric if more than metric in storage */
if (metric > pm_t_next[next_state_if_0])
{
pm_t_next[next_state_if_0] = metric;
next_trellis_states.set_current_state_as_ancestor_of_next_state(next_state_if_0, state_at_t);
next_trellis_states.set_decoded_bit_for_next_state(next_state_if_0, 0);
next_trellis_states.set_survivor_branch_metric_of_next_state(next_state_if_0, bm_0);
}
/* hypothesis: info bit is a one */
int bm_1 = d_metric_c[d_out1[state_at_t]];
metric = d_pm_t[state_at_t] + bm_1; // path metric + onebranch metric
/* store new metric if more than metric in storage */
if (metric > pm_t_next[next_state_if_1])
{
pm_t_next[next_state_if_1] = metric;
next_trellis_states.set_current_state_as_ancestor_of_next_state(next_state_if_1, state_at_t);
next_trellis_states.set_decoded_bit_for_next_state(next_state_if_1, 1);
next_trellis_states.set_survivor_branch_metric_of_next_state(next_state_if_1, bm_1);
}
}
d_trellis_paths.push_front(next_trellis_states);
/* normalize -> afterwards, the largest metric value is always 0 */
//max_val = 0;
max_val = -MAXLOG;
for (state_at_t = 0; state_at_t < d_states; state_at_t++)
{
if (pm_t_next[state_at_t] > max_val)
{
max_val = pm_t_next[state_at_t];
}
}
VLOG(LMORE) << "max_val at t=" << t << ": " << max_val;
for (state_at_t = 0; state_at_t < d_states; state_at_t++)
{
d_pm_t[state_at_t] = pm_t_next[state_at_t] - max_val;
pm_t_next[state_at_t] = -MAXLOG;
}
}
delete[] pm_t_next;
return t;
}
int Viterbi_Decoder::do_traceback(size_t traceback_length)
{
// traceback_length is in bits
int state;
std::deque<Prev>::iterator it;
VLOG(FLOW) << "do_traceback(): traceback_length=" << traceback_length << std::endl;
if (d_trellis_paths.size() < traceback_length)
{
traceback_length = d_trellis_paths.size();
}
state = 0; // maybe start not at state 0, but at state with best metric
for (it = d_trellis_paths.begin(); it < d_trellis_paths.begin() + traceback_length; ++it)
{
state = it->get_anchestor_state_of_current_state(state);
}
return state;
}
int Viterbi_Decoder::do_tb_and_decode(int traceback_length, int requested_decoding_length, int state, int output_u_int[], float& indicator_metric)
{
int n_of_branches_for_indicator_metric = 500;
int t_out;
std::deque<Prev>::iterator it;
int decoding_length_mismatch;
int overstep_length;
int n_im = 0;
VLOG(FLOW) << "do_tb_and_decode(): requested_decoding_length=" << requested_decoding_length;
// decode only decode_length bits -> overstep newer bits which are too much
decoding_length_mismatch = d_trellis_paths.size() - (traceback_length + requested_decoding_length);
VLOG(BLOCK) << "decoding_length_mismatch=" << decoding_length_mismatch;
overstep_length = decoding_length_mismatch >= 0 ? decoding_length_mismatch : 0;
VLOG(BLOCK) << "overstep_length=" << overstep_length;
for (it = d_trellis_paths.begin() + traceback_length;
it < d_trellis_paths.begin() + traceback_length + overstep_length; ++it)
{
state = it->get_anchestor_state_of_current_state(state);
}
t_out = d_trellis_paths.end() - (d_trellis_paths.begin() + traceback_length + overstep_length) - 1; //requested_decoding_length-1;
indicator_metric = 0;
for (it = d_trellis_paths.begin() + traceback_length + overstep_length; it < d_trellis_paths.end(); ++it)
{
if (it - (d_trellis_paths.begin() + traceback_length + overstep_length) < n_of_branches_for_indicator_metric)
{
n_im++;
indicator_metric += it->get_metric_of_current_state(state);
VLOG(SAMPLE) << "@t=" << it->get_t() << " b=" << it->get_bit_of_current_state(state) << " sm=" << indicator_metric << " d=" << it->get_metric_of_current_state(state);
}
output_u_int[t_out] = it->get_bit_of_current_state(state);
state = it->get_anchestor_state_of_current_state(state);
t_out--;
}
if (n_im > 0)
{
indicator_metric /= n_im;
}
VLOG(BLOCK) << "indicator metric: " << indicator_metric;
// remove old states
if (d_trellis_paths.begin() + traceback_length + overstep_length <= d_trellis_paths.end())
{
d_trellis_paths.erase(d_trellis_paths.begin() + traceback_length + overstep_length, d_trellis_paths.end());
}
return decoding_length_mismatch;
}
/* function Gamma()
Description: Computes the branch metric used for decoding.
Output parameters:
(returned float) The metric between the hypothetical symbol and the recevieved vector
Input parameters:
rec_array The received vector, of length nn
symbol The hypothetical symbol
nn The length of the received vector
This function is used by siso() */
float Viterbi_Decoder::gamma(const float rec_array[], int symbol, int nn)
{
float rm = 0;
int i;
int mask;
float txsym;
mask = 1;
for (i = 0; i < nn; i++)
{
//if (symbol & mask) rm += rec_array[nn - i - 1];
txsym = symbol & mask ? 1 : -1;
rm += txsym * rec_array[nn - i - 1];
mask = mask << 1;
}
//rm = rm > 50 ? rm : -1000;
return (rm);
}
/* function that creates the transit and output vectors */
void Viterbi_Decoder::nsc_transit(int output_p[], int trans_p[], int input, const int g[],
int KK, int nn)
{
int nextstate[1];
int state, states;
states = (1 << (KK - 1)); /* The number of states: 2^mm */
/* Determine the output and next state for each possible starting state */
for (state = 0; state < states; state++)
{
output_p[state] = nsc_enc_bit(nextstate, input, state, g, KK, nn);
trans_p[state] = nextstate[0];
}
return;
}
/* Function nsc_enc_bit()
Description: Convolutionally encodes a single bit using a rate 1/n encoder.
Takes in one input bit at a time, and produces a n-bit output.
Input parameters:
input The input data bit (i.e. a 0 or 1).
state_in The starting state of the encoder (an int from 0 to 2^m-1).
g[] An n-element vector containing the code generators in binary form.
KK The constraint length of the convolutional code.
nn number of symbols bits per input bits (rate 1/nn)
Output parameters:
output_p[] An n-element vector containing the encoded bits.
state_out_p[] An integer containing the final state of the encoder
(i.e. the state after encoding this bit)
This function is used by rsc_encode(), nsc_transit(), rsc_transit(), and nsc_transit() */
int Viterbi_Decoder::nsc_enc_bit(int state_out_p[], int input, int state_in,
const int g[], int KK, int nn)
{
/* declare variables */
int state, i;
int out = 0;
/* create a word made up of state and new input */
state = (input << (KK - 1)) ^ state_in;
/* AND the word with the generators */
for (i = 0; i < nn; i++)
{
/* update output symbol */
out = (out << 1) + parity_counter(state & g[i], KK);
}
/* shift the state to make the new state */
state_out_p[0] = state >> 1;
return (out);
}
/* function parity_counter()
Description: Determines if a symbol has odd (1) or even (0) parity
Output parameters:
(returned int): The symbol's parity = 1 for odd and 0 for even
Input parameters:
symbol: The integer-valued symbol
length: The highest bit position in the symbol
This function is used by nsc_enc_bit(), rsc_enc_bit(), and rsc_tail() */
int Viterbi_Decoder::parity_counter(int symbol, int length)
{
int counter;
int temp_parity = 0;
for (counter = 0; counter < length; counter++)
{
temp_parity = temp_parity ^ (symbol & 1);
symbol = symbol >> 1;
}
return (temp_parity);
}
// prev helper class
Viterbi_Decoder::Prev::Prev(int states, int t)
{
this->t = t;
num_states = states;
state = new int[states];
bit = new int[states];
metric = new float[states];
refcount = new int;
*refcount = 1;
memset(state, 0, sizeof(int) * num_states);
memset(bit, 0, sizeof(int) * num_states);
memset(metric, 0, sizeof(float) * num_states);
}
// copy constructor
Viterbi_Decoder::Prev::Prev(const Prev& prev)
{
refcount = prev.refcount;
(*refcount)++;
t = prev.t;
state = prev.state;
num_states = prev.num_states;
bit = prev.bit;
metric = prev.metric;
VLOG(LMORE) << "Prev("
<< "?"
<< ", " << t << ")"
<< " copy, new refcount = " << *refcount;
}
// assignment constructor
Viterbi_Decoder::Prev& Viterbi_Decoder::Prev::operator=(const Prev& other)
{
// check for self-assignment
if (&other == this)
{
return *this;
}
// handle old resources
if (*refcount == 1)
{ // if they are not used anymore -> unallocate them
delete[] state;
delete[] bit;
delete[] metric;
delete refcount;
}
else
{ // this object is not anymore using them
(*refcount)--;
}
// increase ref counter for this resource set
refcount = other.refcount;
(*refcount)++;
// take over resources
t = other.t;
state = other.state;
bit = other.bit;
metric = other.metric;
VLOG(LMORE) << "Prev("
<< "?"
<< ", " << t << ")"
<< " assignment, new refcount = " << *refcount;
return *this;
}
Viterbi_Decoder::Prev::~Prev()
{
if (*refcount == 1)
{
delete[] state;
delete[] bit;
delete[] metric;
delete refcount;
//std::cout << "~Prev(" << "?" << ", " << t << ")" << " destructor with delete" << std::endl;
}
else
{
(*refcount)--;
VLOG(LMORE) << "~Prev("
<< "?"
<< ", " << t << ")"
<< " destructor after copy, new refcount = " << *refcount;
}
}
int Viterbi_Decoder::Prev::get_anchestor_state_of_current_state(int current_state)
{
//std::cout << "get prev state: for state " << current_state << " at time " << t << ", the prev state at time " << t-1 << " is " << state[current_state] << std::endl;
if (num_states > current_state)
{
return state[current_state];
}
//std::cout<<"alarm "<<"num_states="<<num_states<<" current_state="<<current_state<<std::endl;
//return state[current_state];
return 0;
}
int Viterbi_Decoder::Prev::get_bit_of_current_state(int current_state)
{
//std::cout << "get prev bit : for state " << current_state << " at time " << t << ", the send bit is " << bit[current_state] << std::endl;
if (num_states > current_state)
{
return bit[current_state];
}
return 0;
}
float Viterbi_Decoder::Prev::get_metric_of_current_state(int current_state)
{
if (num_states > current_state)
{
return metric[current_state];
}
return 0;
}
int Viterbi_Decoder::Prev::get_t()
{
return t;
}
void Viterbi_Decoder::Prev::set_current_state_as_ancestor_of_next_state(int next_state, int current_state)
{
if (num_states > next_state)
{
state[next_state] = current_state;
}
}
void Viterbi_Decoder::Prev::set_decoded_bit_for_next_state(int next_state, int bit)
{
if (num_states > next_state)
{
this->bit[next_state] = bit;
}
}
void Viterbi_Decoder::Prev::set_survivor_branch_metric_of_next_state(int next_state, float metric)
{
if (num_states > next_state)
{
this->metric[next_state] = metric;
}
}
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