uwPosBasedRt.h

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//
// Copyright (c) 2017 Regents of the SIGNET lab, University of Padova.
// All rights reserved.
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#ifndef UW_POS_BASED_RT_H
#define UW_POS_BASED_RT_H
 
#define DROP_NEXT_HOP_NOT_FOUND \
    "NNF"
#define DROP_IP_NOT_SET \
    "INS"
 
#define pi (4 * atan(1.0))
 
#include <module.h>
#include <utility>
#include "uwip-module.h"
#include "uwPosBasedRt-hdr.h"
#include "node-core.h"
#include "uwsmposition.h"
#include "uwPosEstimation.h"
#include <map>
#include <list>
#include <tclcl.h>
 
class UwPosBasedRt : public Module
{
public:
    UwPosBasedRt();
 
    virtual ~UwPosBasedRt();
 
protected:
    virtual int command(int, const char *const *);
 
    virtual void recv(Packet* p);
 
    virtual void initPkt(Packet* p);
 
 
    virtual void updatePosInfo(Packet* p);
 
    virtual uint8_t findNextHop(const Packet* p);
 
    virtual void addRoute(
            const uint8_t &dst, const uint8_t &next, const int toFixedNode);
 
    virtual void setMaxTxRange(double newRange);
 
private:
    virtual double nodesDistance(Position& p1, Position& p2); 
 
 
    uint8_t ipAddr;
 
    double timestamp; 
    double ROV_speed; 
    double maxTxRange; 
    Position node_pos;  
    std::map<uint8_t, uint8_t> static_routing; 
    std::map<uint8_t,UwPosEstimation> ROV_routing; 
    int debug_; 
};
 
#endif //UW_POS_BASED_RT_H