uwrovctr-module.h

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//
// Copyright (c) 2017 Regents of the SIGNET lab, University of Padova.
// All rights reserved.
//
// Redistribution and use in source and binary forms, with or without
// modification, are permitted provided that the following conditions
// are met:
// 1. Redistributions of source code must retain the above copyright
// notice, this list of conditions and the following disclaimer.
// 2. Redistributions in binary form must reproduce the above copyright
// notice, this list of conditions and the following disclaimer in the
// documentation and/or other materials provided with the distribution.
// 3. Neither the name of the University of Padova (SIGNET lab) nor the
// names of its contributors may be used to endorse or promote products
// derived from this software without specific prior written permission.
//
// THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
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#ifndef UWROV_CTR_MODULE_H
#define UWROV_CTR_MODULE_H
 
#include "uwrov-packet.h"
#include <node-core.h>
#include <uwcbr-module.h>
 
#define UWROV_DROP_REASON_UNKNOWN_TYPE \
    "UKT" 
#define UWROV_DROP_REASON_OUT_OF_SEQUENCE \
    "OOS" 
#define UWROV_DROP_REASON_DUPLICATED_PACKET \
    "DPK" 
#define HDR_UWROV_MONITORING(p) (hdr_uwROV_monitoring::access(p))
#define HDR_UWROV_CTR(p) (hdr_uwROV_ctr::access(p))
 
class UwROVCtrModule;
 
class UwROVCtrSendTimer : public UwSendTimer
{
public:
    UwROVCtrSendTimer(UwROVCtrModule *m)
        : UwSendTimer((UwCbrModule *) (m)) {};
};
 
class UwROVCtrModule : public UwCbrModule
{
public:
    UwROVCtrModule();
 
    virtual ~UwROVCtrModule() = default;
 
    virtual int command(int argc, const char *const *argv) override;
 
    virtual void initPkt(Packet *p) override;
 
    void
    reset_retx()
    {
        pkt = nullptr;
        sendTmr_.force_cancel();
    }
 
    virtual void recv(Packet *) override;
 
    virtual void recv(Packet *p, Handler *h) override;
 
    virtual void transmit() override;
 
    virtual void start() override;
 
    static int
    getROVMonHeaderSize()
    {
        return sizeof(hdr_uwROV_monitoring);
    }
 
    static int
    getROVCTRHeaderSize()
    {
        return sizeof(hdr_uwROV_ctr);
    }
 
protected:
    int sn; 
    int adaptiveRTO; 
    double adaptiveRTO_parameter; 
    float x_rov; 
    float y_rov; 
    float z_rov; 
    float newX; 
    float newY; 
    float newZ; 
    float speed; 
    Position *posit; 
    Packet *pkt;
};
 
#endif // UWROVCtr_MODULE_H