The network structure of a WirelessHART network. The WirelessHART network with field devices deployed as mesh topology. The network consists of a network manager, a gateway, and 13 field nodes. All data packets generated by the field nodes flow to the gateway. For example, the packets from node d travel through the intermediate nodes to the gateway. Based on the enhanced Dijkstra’s algorithm, once the first route setup is completed, each node has one shortest path to the gateway, which is marked as a blue line.