demodulation_impl.cc

/* -*- c++ -*- */
/*
 * Copyright 2022 gr-droneid author.
 *
 * This 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, or (at your option)
 * any later version.
 *
 * This software 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 this software; see the file COPYING.  If not, write to
 * the Free Software Foundation, Inc., 51 Franklin Street,
 * Boston, MA 02110-1301, USA.
 */

#ifdef HAVE_CONFIG_H
#include "config.h"
#endif

#include <boost/filesystem.hpp>
#include <gnuradio/io_signature.h>
#include "demodulation_impl.h"
#include "droneid/misc_utils.h"
#include <volk/volk.h>
#include <gnuradio/fft/fft.h>
#include <gnuradio/fft/fft_shift.h>
#include <numeric>
#include <droneid/lte_decode.h>

namespace gr {
    namespace droneid {
        using path = boost::filesystem::path;
        using utils = misc_utils;

        demodulation::sptr
        demodulation::make(double sample_rate, const std::string & debug_path) {
            return gnuradio::get_initial_sptr
                    (new demodulation_impl(sample_rate, debug_path));
        }


        /*
         * The private constructor
         */
        demodulation_impl::demodulation_impl(const double sample_rate, const std::string & debug_path)
                : gr::sync_block("demodulation",
                                 gr::io_signature::make(0, 0, 0),
                                 gr::io_signature::make(0, 0, 0)),
                                 sample_rate_(sample_rate), fft_size_(misc_utils::get_fft_size(sample_rate)), long_cp_len_(
                        misc_utils::get_long_cp_len(sample_rate)), short_cp_len_(misc_utils::get_short_cp_len(sample_rate)),
                        debug_path_(debug_path){
            if (! debug_path_.empty()) {
                const auto p = path(debug_path_);
                if (! boost::filesystem::is_directory(p)) {
                    boost::filesystem::create_directories(p);
                }
            }

            message_port_register_in(pmt::mp("pdus"));
            message_port_register_out(pmt::mp("pdus"));
            set_msg_handler(pmt::mp("pdus"), [this](pmt::pmt_t pdu){handle_msg(pdu);});
            cfo_cp_len_ = short_cp_len_;
            burst_counter_ = 0;
            cfo_buffer_.resize(cfo_cp_len_ * 2);
//            sample_buffer_.resize((fft_size_ * 9) + (long_cp_len_ * 2) + (short_cp_len_ * 7));

            cp_lengths_ = {
                    long_cp_len_,
                    short_cp_len_,
                    short_cp_len_,
                    short_cp_len_,
                    short_cp_len_,
                    short_cp_len_,
                    short_cp_len_,
                    short_cp_len_,
                    long_cp_len_
            };

            symbols_.resize(cp_lengths_.size());
            for (auto & vec : symbols_) {
                vec.resize(fft_size_);
            }

            std::cout << "FFT SIZE: " << fft_size_ << ", sample rate: " << sample_rate_ << "\n";

            zc_ = misc_utils::create_zc_sequence(sample_rate_, 600);
            fft_ = std::unique_ptr<gr::fft::fft_complex>(new gr::fft::fft_complex(static_cast<int>(fft_size_), true, 1));
            fft_shift_ = std::unique_ptr<gr::fft::fft_shift<std::complex<float>>>(new gr::fft::fft_shift<std::complex<float>>(fft_size_));

            std::copy(zc_.begin(), zc_.end(), fft_->get_inbuf());
            fft_->execute();
            std::copy(fft_->get_outbuf(), fft_->get_outbuf() + fft_size_, zc_.begin());
            std::for_each(zc_.begin(), zc_.end(), [this](std::complex<float> & sample){ sample /= static_cast<float>(fft_size_);});
            fft_shift_->shift(zc_);
            channel_.resize(fft_size_);

            if (! debug_path_.empty()) {
                misc_utils::write_samples((path(debug_path_) / "zc").string(), zc_);
            }
        }

        /*
         * Our virtual destructor.
         */
        demodulation_impl::~demodulation_impl() {
        }

        void demodulation_impl::handle_msg(pmt::pmt_t pdu) {
            burst_counter_++;

            const auto meta = pmt::car(pdu);
            const auto vec = pmt::cdr(pdu);
            const std::complex<float> I = {0, 1};

            std::vector<std::complex<float>> samples(pmt::c32vector_elements(vec));

            if (! debug_path_.empty()) {
                misc_utils::write_samples((path(debug_path_) / ("burst_" + std::to_string(burst_counter_))).string(), samples);
            }

            if (sample_buffer_.size() < samples.size()) {
                sample_buffer_.resize(samples.size());
            }


            const auto start_idx_pmt = pmt::dict_ref(meta, pmt::mp("start_idx"), pmt::from_uint64(0));
            const auto start_idx = pmt::to_uint64(start_idx_pmt);
            /////////////////////////////////////////////////////////////////////////////////////
            /// Find the ZC sequence
            /////////////////////////////////////////////////////////////////////////////////////
            const auto zc_start_idx = utils::find_zc_seq_start_idx(samples, sample_rate_);
            const auto est_start_index = zc_start_idx - (fft_size_ * 3) - long_cp_len_ - (short_cp_len_ * 3);
            std::cout << "ZC start index: " << zc_start_idx << ", est start index: " << est_start_index << "\n";

            const auto total_sample_count = est_start_index + (fft_size_ * 9) + (long_cp_len_ * 2) + (short_cp_len_ * 7);
            if (est_start_index > samples.size() || total_sample_count > samples.size()) {
                std::cout << "Did not receive enough samples!  Skipping burst\n";
                return;
            }

            /////////////////////////////////////////////////////////////////////////////////////
            /// Coarse CFO estimate
            /////////////////////////////////////////////////////////////////////////////////////
            const auto cfo_backoff = 16;
            const auto cfo_size = short_cp_len_ - (cfo_backoff * 2);
            const std::vector<std::complex<float>> zc_seq_full_symbol(
                    &samples[zc_start_idx - short_cp_len_], &samples[zc_start_idx + fft_size_]);
            const std::vector<std::complex<float>> cyclic_prefix(
                    zc_seq_full_symbol.begin() + cfo_backoff, zc_seq_full_symbol.begin() + cfo_backoff + cfo_size);
            const std::vector<std::complex<float>> end_of_symbol(
                    zc_seq_full_symbol.end() - cfo_backoff - cfo_size, zc_seq_full_symbol.end() - cfo_backoff);

            if (! debug_path_.empty()) {
                misc_utils::write_samples((path(debug_path_) / ("received_zc_" + std::to_string(burst_counter_))).string(), zc_seq_full_symbol);
                misc_utils::write_samples((path(debug_path_) / ("expected_zc_" + std::to_string(burst_counter_))).string(), zc_);
                misc_utils::write_samples((path(debug_path_) / ("cfo_estimate_cyclic_prefix_" + std::to_string(burst_counter_))).string(), cyclic_prefix);
                misc_utils::write_samples((path(debug_path_) / ("cfo_estimate_end_of_symbol_" + std::to_string(burst_counter_))).string(), end_of_symbol);
            }

            std::complex<float> cfo_dot_prod {0, 0};
            for (uint32_t idx = 0; idx < cyclic_prefix.size(); idx++) {
                cfo_dot_prod += cyclic_prefix[idx] * std::conj(end_of_symbol[idx]);
            }
            const auto cfo_angle = std::arg(cfo_dot_prod) / static_cast<float>(fft_size_);
            const auto cfo_phase_angle = std::exp(I * -cfo_angle);

            /////////////////////////////////////////////////////////////////////////////////////
            /// Coarse CFO correction
            /////////////////////////////////////////////////////////////////////////////////////
            std::complex<float> starting_cfo_phase {1, 0};
            volk_32fc_s32fc_x2_rotator_32fc(&samples[0], &samples[0], cfo_phase_angle, &starting_cfo_phase, samples.size());

            if (! debug_path_.empty()) {
                misc_utils::write_samples((path(debug_path_) / ("burst_post_coarse_cfo_correction_" + std::to_string(burst_counter_))).string(), samples);
            }

            /////////////////////////////////////////////////////////////////////////////////////
            /// Channel estimation
            /////////////////////////////////////////////////////////////////////////////////////
            const auto symbols = utils::extract_ofdm_symbol_samples(samples, sample_rate_, est_start_index);

            const auto zc_symbol_4_freq_domain = symbols[3].second;
            const auto zc_symbol_6_freq_domain = symbols[5].second;

            const auto zc_4_data_only = utils::extract_data_carriers(zc_symbol_4_freq_domain, fft_size_);
            const auto zc_6_data_only = utils::extract_data_carriers(zc_symbol_6_freq_domain, fft_size_);

//            utils::write_samples("/tmp/symbol_4", zc_4_data_only);
//            utils::write_samples("/tmp/symbol_6", zc_6_data_only);

            const auto zc_4_channel = utils::calculate_channel(zc_4_data_only, sample_rate_, 4);
            const auto zc_6_channel = utils::calculate_channel(zc_6_data_only, sample_rate_, 6);

//            utils::write_samples("/tmp/channel_4", zc_4_channel);
//            utils::write_samples("/tmp/channel_6", zc_6_channel);

            const auto zc_4_channel_angles = utils::angle(zc_4_channel);
            const auto zc_6_channel_angles = utils::angle(zc_6_channel);

            const auto zc_4_channel_phase = std::accumulate(zc_4_channel_angles.begin(), zc_4_channel_angles.end(), 0.0f) / 600;
            const auto zc_6_channel_phase = std::accumulate(zc_6_channel_angles.begin(), zc_6_channel_angles.end(), 0.0f) / 600;

//            std::cout << "4 phase: " << zc_4_channel_phase << "\n";
//            std::cout << "6 phase: " << zc_6_channel_phase << "\n";

            const auto channel_phase_adj = (zc_4_channel_phase - zc_6_channel_phase) / 2;

            /////////////////////////////////////////////////////////////////////////////////////
            /// Save Constellation
            /////////////////////////////////////////////////////////////////////////////////////
            std::vector<std::complex<float>> all_data_carriers;
            for (int idx = 0; idx < 9; idx++) {
                if (idx == 1 || idx == 3 || idx == 5) {
                    continue;
                }
                auto data_carriers = utils::extract_data_carriers(symbols[idx].second, fft_size_);

                for(uint32_t i = 0; i < 600; i++) {
                    data_carriers[i] *= zc_4_channel[i];
//            data_carriers[i] *= std::exp(I * (-channel_phase_adj * static_cast<float>(idx - 6)));
                }

                all_data_carriers.insert(all_data_carriers.end(), data_carriers.begin(), data_carriers.end());
            }

            message_port_pub(pmt::mp("pdus"), pmt::cons(pmt::make_dict(), pmt::init_c32vector(all_data_carriers.size(), all_data_carriers)));

//            utils::write_samples("/tmp/all_data", all_data_carriers);

            /////////////////////////////////////////////////////////////////////////////////////
            /// QPSK to bits
            /////////////////////////////////////////////////////////////////////////////////////
            auto bits = utils::qpsk_to_bits(all_data_carriers);

            for (int idx = 0; idx < 7200; idx++) {
                if (bits[idx] == 1 && XOR_BIT_VEC[idx] == 1) {
                    bits[idx] = 0;
                } else if (bits[idx] == 0 && XOR_BIT_VEC[idx] == 0) {
                    bits[idx] = 0;
                } else {
                    bits[idx] = 1;
                }
            }

            ////////////////////////////////////////////////////////////////////////////////////////////////////////////////////
            // Setup and run the Turbo decoder
            ////////////////////////////////////////////////////////////////////////////////////////////////////////////////////
            const size_t input_file_bit_count = 7200;

            const int turbo_iterations = 4;
            const int turbo_decoder_bit_count = 1412;  // Number of bits that the Turbo decoder will take in
            const int expected_payload_bytes = 176;    // Number of bytes that the Turbo decoder will output
            const int expected_payload_bits = expected_payload_bytes * 8;

            // Allocate buffers for the Turbo decoder
            std::vector<int8_t> d1(turbo_decoder_bit_count);
            std::vector<int8_t> d2(turbo_decoder_bit_count);
            std::vector<int8_t> d3(turbo_decoder_bit_count);
            std::vector<uint8_t> decoded_bytes(expected_payload_bytes);

            // Create the required structures to run the Turbo decoder
            struct lte_rate_matcher * rate_matcher = lte_rate_matcher_alloc();
            struct tdecoder * turbo_decoder = alloc_tdec();
            struct lte_rate_matcher_io rate_matcher_io = {
                    .D = turbo_decoder_bit_count,
                    .E = input_file_bit_count,
                    .d = {&d1[0], &d2[0], &d3[0]},
                    .e = &bits[0]
            };

            // Setup the rate matching logic
            lte_rate_match_rv(rate_matcher, &rate_matcher_io, 0);

            // Run the turbo decoder (will do rate matching as well)
            const int decode_status = lte_turbo_decode(turbo_decoder, expected_payload_bits, turbo_iterations,
                                                       &decoded_bytes[0], &d1[0], &d2[0], &d3[0]);

            if (decode_status != 0) {
                std::cerr << "Failed to decode\n";
            } else {
                for (const auto & b : decoded_bytes) {
                    fprintf(stdout, "%02x", b);
                }
                fprintf(stdout, "\n");

                const auto crc_out = CRC::Calculate(&decoded_bytes[0], decoded_bytes.size(), CRC::CRC_24_LTEA());
                if (crc_out != 0) {
                    std::cerr << "CRC Check Failed!\n";
                }
            }

            free_tdec(turbo_decoder);
            lte_rate_matcher_free(rate_matcher);
        }

        int
        demodulation_impl::work(int noutput_items,
                                gr_vector_const_void_star &input_items,
                                gr_vector_void_star &output_items) {
            // Do <+signal processing+>

            // Tell runtime system how many output items we produced.
            return noutput_items;
        }

        const uint8_t demodulation_impl::XOR_BIT_VEC[7200] = {
                1, 1, 0, 1, 0, 0, 1, 0, 1, 1, 1, 0, 0, 0, 0, 1, 1, 1, 0, 1, 1, 1, 1, 0, 0, 1, 1, 1, 1, 0, 0, 1, 0, 1, 0, 0, 1, 1, 1, 1
                , 1, 1, 1, 0, 1, 1, 1, 1, 0, 0, 0, 0, 1, 0, 1, 1, 0, 1, 1, 1, 0, 0, 0, 0, 1, 0, 0, 1, 1, 0, 1, 1, 0, 0, 0, 1, 0, 1, 1, 0
                , 1, 1, 0, 0, 0, 0, 0, 0, 0, 1, 0, 0, 0, 1, 1, 0, 1, 1, 1, 0, 1, 0, 0, 1, 1, 0, 0, 1, 0, 1, 0, 1, 1, 1, 0, 1, 0, 1, 1, 0
                , 1, 0, 0, 1, 0, 0, 1, 1, 1, 0, 1, 1, 0, 1, 1, 1, 0, 1, 1, 0, 1, 0, 0, 0, 1, 0, 0, 1, 1, 1, 0, 1, 1, 0, 1, 1, 0, 1, 1, 0
                , 0, 0, 1, 0, 1, 1, 1, 1, 0, 0, 0, 0, 1, 0, 1, 0, 0, 1, 1, 0, 0, 0, 1, 0, 0, 0, 0, 0, 0, 0, 0, 0, 1, 1, 0, 1, 0, 0, 1, 0
                , 1, 1, 1, 0, 0, 0, 0, 1, 1, 1, 0, 1, 1, 0, 0, 0, 1, 0, 1, 1, 1, 1, 0, 1, 1, 0, 1, 0, 0, 1, 0, 1, 1, 0, 0, 1, 1, 1, 1, 0
                , 1, 0, 0, 1, 1, 1, 1, 1, 1, 0, 0, 1, 1, 1, 0, 0, 0, 1, 1, 0, 0, 0, 0, 1, 0, 1, 0, 1, 1, 0, 0, 0, 0, 1, 1, 0, 0, 0, 1, 0
                , 0, 1, 0, 0, 1, 1, 0, 1, 0, 1, 0, 1, 1, 0, 1, 0, 1, 0, 1, 1, 0, 0, 1, 0, 0, 1, 0, 1, 0, 1, 0, 1, 0, 1, 0, 0, 0, 0, 1, 0
                , 1, 0, 0, 0, 0, 1, 1, 1, 0, 0, 1, 1, 0, 1, 0, 0, 1, 0, 1, 1, 1, 0, 0, 0, 0, 0, 1, 1, 0, 1, 0, 1, 0, 1, 1, 1, 0, 1, 1, 0
                , 1, 1, 1, 0, 0, 0, 1, 1, 0, 0, 1, 1, 1, 0, 0, 1, 0, 0, 1, 0, 1, 1, 0, 1, 0, 1, 0, 1, 1, 0, 0, 1, 0, 1, 1, 0, 0, 0, 1, 1
                , 1, 0, 1, 0, 1, 1, 0, 1, 0, 1, 1, 0, 0, 1, 1, 0, 1, 0, 0, 0, 0, 1, 1, 0, 0, 1, 0, 1, 1, 1, 1, 0, 1, 0, 0, 1, 0, 0, 0, 1
                , 0, 0, 0, 0, 0, 1, 1, 1, 1, 0, 0, 1, 1, 0, 0, 1, 1, 0, 1, 1, 0, 1, 1, 1, 0, 1, 0, 0, 1, 0, 0, 0, 1, 0, 0, 0, 0, 0, 0, 0
                , 0, 0, 0, 0, 0, 0, 1, 1, 0, 1, 1, 1, 1, 1, 0, 1, 0, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 0, 1, 0, 0, 0, 0, 0, 1, 0, 0, 1, 1, 1
                , 0, 0, 1, 1, 0, 0, 1, 1, 0, 0, 0, 0, 1, 1, 1, 0, 1, 1, 1, 0, 0, 0, 1, 1, 1, 0, 0, 1, 1, 0, 0, 0, 0, 0, 0, 0, 0, 0, 1, 0
                , 0, 1, 0, 1, 0, 1, 0, 0, 1, 1, 0, 0, 1, 1, 0, 0, 0, 0, 0, 1, 0, 0, 0, 0, 0, 0, 1, 1, 0, 1, 0, 1, 0, 1, 1, 1, 1, 1, 0, 1
                , 0, 1, 0, 0, 1, 0, 0, 1, 1, 1, 1, 0, 0, 0, 1, 0, 1, 0, 1, 0, 1, 0, 1, 1, 0, 0, 1, 1, 1, 1, 1, 1, 1, 1, 1, 0, 0, 1, 0, 1
                , 0, 1, 1, 1, 1, 1, 1, 1, 0, 1, 0, 0, 0, 0, 0, 0, 0, 1, 1, 1, 0, 1, 0, 0, 0, 0, 1, 0, 0, 0, 1, 1, 1, 1, 1, 0, 0, 1, 1, 0
                , 0, 0, 1, 0, 1, 0, 1, 1, 0, 1, 1, 0, 0, 0, 0, 1, 1, 1, 1, 0, 0, 1, 1, 0, 0, 1, 1, 0, 1, 0, 1, 0, 1, 0, 1, 0, 0, 0, 0, 0
                , 1, 0, 0, 0, 0, 0, 0, 1, 1, 1, 1, 0, 1, 0, 0, 0, 1, 0, 0, 0, 0, 0, 0, 0, 1, 1, 0, 0, 1, 1, 1, 1, 1, 1, 1, 1, 0, 0, 1, 0
                , 1, 1, 1, 0, 1, 1, 1, 1, 0, 0, 0, 0, 1, 0, 0, 0, 0, 0, 1, 0, 1, 1, 1, 1, 0, 0, 1, 0, 1, 1, 0, 0, 0, 1, 0, 0, 1, 0, 1, 0
                , 1, 1, 1, 1, 0, 0, 1, 1, 1, 0, 0, 0, 1, 1, 0, 1, 1, 0, 0, 0, 0, 0, 1, 0, 0, 0, 0, 0, 0, 1, 1, 0, 1, 0, 0, 0, 0, 0, 1, 0
                , 0, 0, 0, 1, 1, 1, 0, 0, 0, 1, 1, 1, 0, 0, 1, 0, 1, 1, 0, 0, 1, 0, 1, 1, 1, 1, 0, 1, 1, 0, 1, 0, 0, 0, 1, 1, 0, 0, 1, 1
                , 1, 1, 1, 0, 0, 0, 0, 1, 0, 1, 0, 1, 0, 1, 0, 0, 0, 0, 0, 1, 0, 1, 0, 1, 0, 1, 0, 1, 0, 0, 1, 0, 1, 1, 1, 0, 0, 0, 1, 0
                , 1, 1, 1, 1, 1, 1, 0, 1, 0, 1, 0, 0, 0, 0, 1, 1, 0, 1, 0, 1, 1, 0, 1, 1, 1, 0, 1, 0, 1, 1, 0, 1, 1, 0, 1, 1, 0, 1, 0, 0
                , 0, 0, 0, 1, 0, 0, 1, 0, 0, 1, 1, 0, 1, 0, 1, 0, 0, 1, 0, 1, 0, 1, 0, 0, 0, 0, 0, 0, 1, 0, 0, 1, 1, 1, 0, 1, 1, 0, 0, 0
                , 0, 1, 1, 0, 0, 0, 1, 0, 1, 1, 1, 1, 0, 0, 1, 1, 0, 1, 0, 0, 0, 1, 1, 1, 1, 0, 0, 1, 1, 0, 1, 1, 0, 0, 1, 0, 1, 0, 0, 1
                , 1, 1, 1, 0, 1, 0, 0, 0, 1, 0, 0, 1, 0, 1, 0, 0, 1, 1, 0, 1, 1, 0, 1, 0, 0, 1, 1, 0, 1, 1, 0, 1, 1, 0, 1, 1, 0, 0, 0, 0
                , 0, 0, 0, 1, 1, 1, 1, 0, 1, 1, 0, 0, 1, 0, 1, 0, 1, 1, 0, 0, 1, 0, 1, 1, 1, 1, 0, 1, 0, 1, 0, 0, 1, 0, 1, 1, 0, 1, 0, 0
                , 1, 0, 1, 0, 0, 0, 0, 1, 0, 1, 1, 1, 0, 1, 0, 1, 1, 0, 1, 0, 0, 0, 0, 0, 0, 0, 0, 0, 1, 0, 1, 1, 0, 1, 0, 0, 0, 0, 1, 1
                , 0, 1, 1, 1, 1, 1, 0, 0, 1, 1, 1, 1, 1, 1, 1, 1, 1, 0, 0, 1, 0, 0, 1, 1, 0, 0, 0, 1, 1, 1, 0, 1, 0, 0, 1, 0, 1, 1, 0, 1
                , 1, 0, 0, 0, 1, 1, 1, 0, 0, 0, 1, 0, 0, 1, 0, 1, 1, 0, 1, 0, 0, 0, 0, 1, 1, 0, 1, 1, 1, 1, 1, 0, 0, 0, 0, 0, 1, 1, 0, 0
                , 0, 0, 0, 0, 1, 0, 1, 0, 0, 0, 1, 1, 0, 1, 0, 0, 0, 0, 1, 0, 0, 0, 0, 0, 0, 1, 0, 0, 0, 1, 0, 1, 1, 0, 0, 0, 0, 0, 0, 1
                , 1, 1, 1, 0, 1, 1, 1, 1, 1, 1, 1, 0, 0, 0, 1, 0, 1, 0, 1, 0, 0, 1, 1, 1, 0, 1, 1, 1, 0, 0, 0, 1, 1, 1, 0, 0, 1, 0, 1, 1
                , 0, 1, 1, 0, 1, 1, 1, 0, 1, 1, 1, 0, 0, 1, 0, 1, 0, 0, 1, 1, 1, 1, 0, 0, 1, 0, 1, 0, 0, 0, 1, 1, 0, 0, 1, 0, 0, 1, 0, 0
                , 0, 1, 1, 1, 1, 0, 0, 1, 0, 0, 0, 1, 1, 1, 1, 0, 0, 1, 0, 1, 0, 1, 1, 1, 1, 0, 1, 1, 1, 1, 1, 0, 0, 0, 1, 0, 1, 1, 1, 1
                , 1, 0, 0, 0, 1, 1, 0, 0, 0, 0, 1, 1, 1, 0, 1, 1, 1, 0, 1, 0, 0, 1, 1, 1, 1, 0, 1, 0, 1, 0, 0, 1, 1, 1, 0, 1, 0, 1, 1, 0
                , 0, 0, 1, 0, 0, 1, 0, 1, 1, 1, 1, 1, 1, 0, 1, 1, 0, 1, 1, 1, 1, 0, 1, 0, 0, 1, 0, 1, 0, 0, 1, 1, 1, 0, 1, 0, 1, 1, 0, 0
                , 0, 1, 1, 1, 1, 0, 0, 0, 0, 0, 0, 0, 0, 1, 1, 1, 1, 1, 1, 0, 0, 1, 1, 0, 0, 1, 0, 0, 1, 1, 0, 1, 1, 0, 1, 1, 1, 0, 0, 0
                , 0, 1, 0, 1, 0, 0, 0, 0, 1, 1, 0, 1, 0, 0, 1, 1, 0, 0, 0, 1, 0, 1, 0, 0, 1, 0, 0, 0, 0, 1, 1, 0, 0, 1, 1, 1, 0, 1, 1, 1
                , 1, 1, 1, 0, 0, 0, 1, 1, 0, 1, 1, 1, 1, 1, 0, 0, 1, 1, 1, 0, 0, 0, 0, 0, 0, 0, 1, 0, 0, 1, 1, 0, 0, 0, 1, 0, 1, 0, 0, 0
                , 0, 1, 0, 0, 1, 1, 1, 0, 0, 0, 0, 1, 1, 1, 0, 1, 0, 1, 0, 1, 1, 1, 0, 1, 0, 1, 0, 1, 1, 1, 1, 1, 0, 0, 1, 1, 1, 0, 1, 0
                , 0, 0, 1, 0, 0, 0, 0, 0, 1, 1, 1, 0, 0, 0, 1, 0, 1, 0, 0, 1, 1, 0, 0, 0, 0, 0, 0, 0, 0, 1, 0, 0, 0, 1, 1, 0, 1, 0, 1, 0
                , 0, 1, 1, 1, 0, 0, 1, 1, 1, 0, 1, 1, 1, 1, 1, 1, 0, 0, 0, 1, 0, 0, 0, 1, 1, 1, 0, 1, 1, 0, 1, 1, 1, 0, 0, 1, 0, 1, 1, 0
                , 0, 0, 1, 0, 0, 0, 1, 1, 1, 1, 1, 1, 1, 0, 0, 0, 0, 0, 1, 1, 1, 0, 0, 1, 0, 0, 0, 0, 1, 1, 1, 0, 0, 0, 1, 1, 1, 0, 0, 0
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        };

    } /* namespace droneid */
} /* namespace gr */