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:
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// 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.
//
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#ifndef UWROV_CTR_MODULE_H
#define UWROV_CTR_MODULE_H
#include <uwcbr-module.h>
#include "uwrov-packet.h"
#include "node-core.h"
#include <queue>
#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))
using namespace std;
class UwROVCtrModule;
 
class UwROVCtrSendTimer : public UwSendTimer {
    public:
 
    UwROVCtrSendTimer(UwROVCtrModule *m) : UwSendTimer((UwCbrModule*)(m)){
    };
};
 
class UwROVCtrModule : public UwCbrModule {
public:
 
    UwROVCtrModule();
 
    UwROVCtrModule(Position p);
 
    virtual ~UwROVCtrModule();
 
    virtual int command(int argc, const char*const* argv);
 
    virtual void initPkt(Packet* p) ;
 
    inline void reset_retx() {p=NULL; sendTmr_.force_cancel();}
 
    virtual void setPosition(Position p);
 
    inline Position getPosition() { return posit;}
    
    inline Position getMonitoredROVPosition() { 
        Position monitored_p_rov;
        monitored_p_rov.setX(x_rov);
        monitored_p_rov.setY(y_rov);
        monitored_p_rov.setZ(z_rov);
        return monitored_p_rov;
    }
 
    virtual void recv(Packet*);
 
    virtual void recv(Packet* p, Handler* h);
 
    virtual void transmit();
 
    virtual void start();
 
    static inline int getROVMonHeaderSize() { return sizeof(hdr_uwROV_monitoring); }
 
    static inline int getROVCTRHeaderSize() { return sizeof(hdr_uwROV_ctr); }
 
 
 
protected:
 
    Position posit; 
    float x_rov; 
    float y_rov; 
    float z_rov; 
    float newX; 
    float newY; 
    float newZ; 
    float speed; 
    int sn; 
    Packet* p;
    int adaptiveRTO; 
    double adaptiveRTO_parameter; 
};
 
#endif // UWROVCtr_MODULE_H