diff --git a/platform/cooja/net/radio-uip-uaodv.c b/platform/cooja/net/radio-uip-uaodv.c
index 895d589c7..cb409cd77 100644
--- a/platform/cooja/net/radio-uip-uaodv.c
+++ b/platform/cooja/net/radio-uip-uaodv.c
@@ -28,7 +28,7 @@
  *
  * This file is part of the Contiki operating system.
  *
- * @(#)$Id: radio-uip-uaodv.c,v 1.1 2007/05/19 14:25:43 fros4943 Exp $
+ * @(#)$Id: radio-uip-uaodv.c,v 1.2 2007/07/11 15:23:42 fros4943 Exp $
  */
 
 #include "radio-uip-uaodv.h"
@@ -40,18 +40,56 @@
 #include <string.h>
 #include <stdio.h>
 
-static const struct radio_driver *radio;
+#define UNICAST_ACKED 1 /* Define to acknowledge unicast packets */
+#define BAD_REPLY_ON_NO_ROUTE 0 /* TODO */
 
 #define uip_udp_sender() (&((struct uip_udpip_hdr *)&uip_buf[UIP_LLH_LEN])->srcipaddr)
 
-#define HEADER_ID_LENGTH strlen(uniqueID)
+#define HEADER_ID_LENGTH strlen(uniqueFwdHeader)
 #define HEADER_NEXT_FWD HEADER_ID_LENGTH
 #define HEADER_LENGTH HEADER_NEXT_FWD + 4
-static char* uniqueID = "fWd:";
 
+
+#if UNICAST_ACKED
+
+#include "lib/crc16.h"
+#include "list.h"
+
+enum {
+  EVENT_SEND_ACK
+};
+
+struct bufferedPacket {
+  struct bufferedPacket *next;
+  u8_t data[UIP_BUFSIZE];
+  int len;
+  u8_t resends;
+  u8_t acked;
+  u16_t crc;
+  struct etimer etimer;
+};
+
+LIST(bufferedPackets);
+MEMB(bufferedPacketsMEMB, struct bufferedPacket, 10);
+
+PROCESS(radio_uip_ack_process, "radio uIP uAODV ack process");
+#endif
+
+static const char* uniqueFwdHeader = "fWd:";
+#if UNICAST_ACKED
+static const char* uniqueAckHeader = "aCk";
+#define ACK_HEADER_LENGTH 3
+#define ACK_LENGTH ACK_HEADER_LENGTH + 2
+#endif
+static const struct radio_driver *radio;
 static struct uaodv_rt_entry *route;
 
+
 /*---------------------------------------------------------------------------*/
+#if UNICAST_ACKED
+int radio_uip_wait_for_ack(u8_t *buf, int len);
+int radio_uip_is_ack(u8_t *buf, int len);
+#endif
 int radio_uip_uaodv_add_header(u8_t *buf, int len, uip_ipaddr_t *addr);
 int radio_uip_uaodv_remove_header(u8_t *buf, int len);
 void radio_uip_uaodv_change_header(u8_t *buf, int len, uip_ipaddr_t *addr);
@@ -62,6 +100,61 @@ int radio_uip_uaodv_fwd_is_me(u8_t *buf, int len);
 int radio_uip_uaodv_dest_is_me(u8_t *buf, int len);
 int radio_uip_uaodv_dest_port(u8_t *buf, int len);
 /*---------------------------------------------------------------------------*/
+
+#if UNICAST_ACKED
+PROCESS_THREAD(radio_uip_ack_process, ev, data)
+{
+  struct bufferedPacket *bufPacket;
+
+  PROCESS_BEGIN();
+
+  while(1) {
+    PROCESS_YIELD();
+
+    /* We should either send an ack, or resend a packet */
+    if(ev == EVENT_SEND_ACK) {
+      char ackPacket[ACK_LENGTH];
+      
+      /* Prepare and send ack */
+      memcpy(ackPacket, uniqueAckHeader, ACK_HEADER_LENGTH);
+      memcpy(&ackPacket[ACK_HEADER_LENGTH], &data, 2);
+      radio->send(ackPacket, ACK_LENGTH);
+
+    } else if(ev == PROCESS_EVENT_TIMER) {
+
+      /* Locate which packet acknowledgement timed out */
+      for(bufPacket = list_head(bufferedPackets);
+          bufPacket != NULL;
+          bufPacket = bufPacket->next) {
+        if (etimer_expired(&bufPacket->etimer)) {
+
+          if (bufPacket->acked) {
+            /* This packet was already acknowledged! */
+            list_remove(bufferedPackets, bufPacket);
+            memb_free(&bufferedPacketsMEMB, bufPacket);
+          } else if (bufPacket->resends < 3) {
+            /* Resend packet a number of times */
+            bufPacket->resends++;
+
+            /* TODO Compress packets? */
+            radio->send(bufPacket->data, bufPacket->len);
+            etimer_restart(&bufPacket->etimer);
+          } else {
+            /* Too many resends, give up */
+            list_remove(bufferedPackets, bufPacket);
+            memb_free(&bufferedPacketsMEMB, bufPacket);
+            /* TODO: Report non-delivered packet */
+          }
+        }
+      }
+    }
+
+  }
+  PROCESS_END();
+}
+/*---------------------------------------------------------------------------*/
+#endif
+
 static void
 receiver(const struct radio_driver *d)
 {
@@ -69,8 +162,29 @@ receiver(const struct radio_driver *d)
   if (uip_len <= 0) {
     return;
   }
+
+#if UNICAST_ACKED
+  /* Detect and parse acknowledgements */
+  if (radio_uip_is_ack(&uip_buf[UIP_LLH_LEN], uip_len)) {
+    radio_uip_handle_ack(&uip_buf[UIP_LLH_LEN], uip_len);
+    return;
+  }
+#endif
+
+#if UNICAST_ACKED
+  /* uAODV RREP and RERR messages should be acked as soon as possible */
+  if (radio_uip_uaodv_dest_is_me(&uip_buf[UIP_LLH_LEN], uip_len) &&
+      radio_uip_uaodv_dest_port(&uip_buf[UIP_LLH_LEN], uip_len) == HTONS(UAODV_UDPPORT)) {
+    struct uaodv_msg *m = (struct uaodv_msg *)&uip_buf[UIP_LLH_LEN + UIP_IPUDPH_LEN];
+    if (m->type == UAODV_RREP_TYPE || m->type == UAODV_RERR_TYPE) {
+      u16_t crc;
+      crc = radio_uip_calc_crc(&uip_buf[UIP_LLH_LEN], uip_len);
+      process_post(&radio_uip_ack_process, EVENT_SEND_ACK, crc);
+    }
+  }
+#endif
   
-  /* If no uAODV header, receive as usual */
+  /* If no uAODV header, receive as usual (compatibility) */
   if (!radio_uip_uaodv_header_exists(&uip_buf[UIP_LLH_LEN], uip_len)) {
     uip_len = hc_inflate(&uip_buf[UIP_LLH_LEN], uip_len);
     tcpip_input();
@@ -92,7 +206,17 @@ receiver(const struct radio_driver *d)
   }
       
   /* If we are final destination, strip header and receive */
-  if (radio_uip_uaodv_dest_is_me(&uip_buf[UIP_LLH_LEN], uip_len)) {
+  if (radio_uip_uaodv_dest_is_me(&uip_buf[UIP_LLH_LEN + HEADER_LENGTH], uip_len)) {
+
+#if UNICAST_ACKED
+    {
+      /* Unicast packets should be acked as soon as possible */
+      u16_t crc;
+      crc = radio_uip_calc_crc(&uip_buf[UIP_LLH_LEN], uip_len);
+      process_post(&radio_uip_ack_process, EVENT_SEND_ACK, crc);
+    }
+#endif
+
     uip_len = radio_uip_uaodv_remove_header(&uip_buf[UIP_LLH_LEN], uip_len);
     uip_len = hc_inflate(&uip_buf[UIP_LLH_LEN], uip_len);
     tcpip_input();
@@ -104,21 +228,51 @@ receiver(const struct radio_driver *d)
   /* TODO Assuming uAODV already knows a path */
   route = uaodv_rt_lookup((&((struct uip_udpip_hdr *)&uip_buf[UIP_LLH_LEN + HEADER_LENGTH])->destipaddr));
   if (route != NULL) {
+
+#if UNICAST_ACKED
+    {
+      /* Ack last forwarder as soon as possible */
+      u16_t crc;
+      crc = radio_uip_calc_crc(&uip_buf[UIP_LLH_LEN], uip_len);
+      process_post(&radio_uip_ack_process, EVENT_SEND_ACK, crc);
+    }
+#endif
+
     radio_uip_uaodv_change_header(&uip_buf[UIP_LLH_LEN], uip_len, &route->nexthop);
+
+#if UNICAST_ACKED
+    /* Wait for ack from next forwarded */
+    radio_uip_wait_for_ack(&uip_buf[UIP_LLH_LEN], uip_len);
+#endif
+
     d->send(&uip_buf[UIP_LLH_LEN], uip_len);
+
+#if BAD_REPLY_ON_NO_ROUTE
+  } else {
+  	NOT IMPLEMENTED
+#endif
   }
-  
 }
 /*---------------------------------------------------------------------------*/
 u8_t
 radio_uip_uaodv_send(void)
 {
-  /* uAODV process messages should be sent as usual */
+  /* uAODV RREQ messages should be sent as usual */
   if (radio_uip_uaodv_dest_port(&uip_buf[UIP_LLH_LEN], uip_len) == HTONS(UAODV_UDPPORT)) {
+    struct uaodv_msg *m = (struct uaodv_msg *)&uip_buf[UIP_LLH_LEN + UIP_IPUDPH_LEN];
+    if (m->type == UAODV_RREQ_TYPE) {
+      uip_len = hc_compress(&uip_buf[UIP_LLH_LEN], uip_len);
+      return radio->send(&uip_buf[UIP_LLH_LEN], uip_len);
+    }
+
+    /* uAODV RREP and RERR messages should be acked */
+#if UNICAST_ACKED
+    radio_uip_wait_for_ack(&uip_buf[UIP_LLH_LEN], uip_len);
+#endif
     uip_len = hc_compress(&uip_buf[UIP_LLH_LEN], uip_len);
     return radio->send(&uip_buf[UIP_LLH_LEN], uip_len);
   } 
-  
+
   if (radio_uip_uaodv_is_broadcast(uip_udp_sender())) {
     uip_len = hc_compress(&uip_buf[UIP_LLH_LEN], uip_len);
     
@@ -131,6 +285,11 @@ radio_uip_uaodv_send(void)
     route = uaodv_rt_lookup((&((struct uip_udpip_hdr *)&uip_buf[UIP_LLH_LEN])->destipaddr));
     if (route == NULL) return UIP_FW_NOROUTE;
     uip_len = radio_uip_uaodv_add_header(&uip_buf[UIP_LLH_LEN], uip_len, &route->nexthop); /* TODO Correct? */
+
+#if UNICAST_ACKED
+    /* We expect to get an ack for this unicast packet */
+    radio_uip_wait_for_ack(&uip_buf[UIP_LLH_LEN], uip_len);
+#endif
   }
   
   return radio->send(&uip_buf[UIP_LLH_LEN], uip_len);
@@ -139,15 +298,95 @@ radio_uip_uaodv_send(void)
 void
 radio_uip_uaodv_init(const struct radio_driver *d)
 {
+#if UNICAST_ACKED
+  memb_init(&bufferedPacketsMEMB);
+  list_init(bufferedPackets);
+  process_start(&radio_uip_ack_process, NULL);
+#endif
+
   radio = d;
   radio->set_receive_function(receiver);
-  radio->on();}
+  radio->on();
+}
+#if UNICAST_ACKED
+/*---------------------------------------------------------------------------*/
+u16_t
+radio_uip_calc_crc(u8_t *buf, int len)
+{
+    u16_t crcacc = 0xffff;
+    int counter;
+
+    for (counter = 0; counter < len; counter++) {
+      crcacc = crc16_add(buf[counter], crcacc);
+    }
+    return crcacc;
+}
+/*---------------------------------------------------------------------------*/
+int
+radio_uip_wait_for_ack(u8_t *buf, int len)
+{
+  struct bufferedPacket *bufPacket;
+
+  /* Allocate storage memory */
+  bufPacket = (struct bufferedPacket *)memb_alloc(&bufferedPacketsMEMB);
+  if (bufPacket == NULL) {
+    return 1;
+  }
+
+  /* Store packet specific data and set timer */
+  memcpy(bufPacket->data, buf, len);
+  bufPacket->len = len;
+  bufPacket->resends = 0;
+  bufPacket->acked = 0;
+  bufPacket->crc = radio_uip_calc_crc(&uip_buf[UIP_LLH_LEN], uip_len);
+  PROCESS_CONTEXT_BEGIN(&radio_uip_ack_process);
+  etimer_set(&bufPacket->etimer, CLOCK_SECOND * 1);
+  PROCESS_CONTEXT_END(&radio_uip_ack_process);
+
+  /* Add to list for later reference */
+  list_add(bufferedPackets, bufPacket);
+
+  return 0;
+}
+/*---------------------------------------------------------------------------*/
+int
+radio_uip_is_ack(u8_t *buf, int len)
+{
+  struct bufferedPacket *bufPacket;
+
+  if (uip_len != ACK_LENGTH)
+    return 0;
+  
+  return strncmp(buf, uniqueAckHeader, ACK_HEADER_LENGTH) == 0;
+}
+/*---------------------------------------------------------------------------*/
+int
+radio_uip_handle_ack(u8_t *buf, int len)
+{
+  struct bufferedPacket *bufPacket;
+  u16_t ackCRC;
+  
+  memcpy(&ackCRC, &buf[ACK_HEADER_LENGTH], 2);
+  
+  /* Locate which packet was acknowledged */
+  for(bufPacket = list_head(bufferedPackets);
+      bufPacket != NULL;
+      bufPacket = bufPacket->next) {
+    if (bufPacket->crc == ackCRC) {
+      /* Signal packet has been acknowledged */
+      bufPacket->acked = 1;
+      return 0;
+    }
+  }
+  return 1;
+}
+#endif
 /*---------------------------------------------------------------------------*/
 int
 radio_uip_uaodv_add_header(u8_t *buf, int len, uip_ipaddr_t *addr)
 {
   memcpy(&buf[HEADER_LENGTH], buf, len);
-  memcpy(buf, uniqueID, HEADER_ID_LENGTH);
+  memcpy(buf, uniqueFwdHeader, HEADER_ID_LENGTH);
   memcpy(&buf[HEADER_NEXT_FWD], (char*)addr, 4);
   return HEADER_LENGTH + len;     
 }
@@ -169,7 +408,7 @@ radio_uip_uaodv_change_header(u8_t *buf, int len, uip_ipaddr_t *addr)
 int
 radio_uip_uaodv_header_exists(u8_t *buf, int len)
 {
-  return !memcmp(buf, uniqueID, HEADER_ID_LENGTH);
+  return !memcmp(buf, uniqueFwdHeader, HEADER_ID_LENGTH);
 }
 /*---------------------------------------------------------------------------*/
 int
@@ -193,12 +432,14 @@ radio_uip_uaodv_fwd_is_me(u8_t *buf, int len)
 int
 radio_uip_uaodv_dest_is_me(u8_t *buf, int len)
 {
-  return !memcmp((&((struct uip_udpip_hdr *)&buf[HEADER_LENGTH])->destipaddr), &uip_hostaddr, 4);
+  return !memcmp((&((struct uip_udpip_hdr *)buf)->destipaddr), &uip_hostaddr, 4);
 }
 /*---------------------------------------------------------------------------*/
 int
 radio_uip_uaodv_dest_port(u8_t *buf, int len)
 {
+  if (len < sizeof(struct uip_udpip_hdr))
+    return -1;
   return (int) ((struct uip_udpip_hdr *)buf)->destport;
 }
 /*---------------------------------------------------------------------------*/