rpl nearly finished, rpl_test now with shell

projects/test_rpl/Jamfile

@@ -1,5 +1,5 @@
 SubDir TOP projects test_rpl ;
 
-Module test_rpl : main.c : auto_init vtimer 6lowpan uart0 posix_io cc110x_ng rpl ;
+Module test_rpl : main.c : shell posix_io uart0 auto_init vtimer 6lowpan uart0 posix_io cc110x_ng rpl ;
 
 UseModule test_rpl ;

projects/test_rpl/main.c

@@ -2,25 +2,118 @@
 #include <string.h>
 #include <vtimer.h>
 #include <thread.h>
+
+#include <posix_io.h>
+#include <shell.h>
+#include <board_uart0.h>
+
 #include "sys/net/sixlowpan/sixlowip.h"
 #include "sys/net/sixlowpan/sixlowpan.h"
 #include "sys/net/sixlowpan/sixlowerror.h"
 #include "sys/net/sixlowpan/rpl/rpl.h"
 
-int main(void)
+void init(char *str){
-{
+    char command;
-	uint16_t root = 0x0002;
+    uint16_t r_addr;
     ipv6_addr_t std_addr;
-	uint16_t r_addr = root;
+
+    int res = sscanf(str, "init %c %hu", &command, &r_addr);
+
+    if(res < 1){
+        printf("Usage: init address\n");
+        printf("\tr\tinitialize as root\n");
+        printf("\tn\tinitialize as node router\n");
+        printf("\taddress must be an 8 bit integer\n");
+    }
+
 	ipv6_init_address(&std_addr, 0xABCD,0,0,0,0x1234,0xFFFF,0xFEDC,r_addr);
-	uint8_t state = rpl_init(TRANSCEIVER_CC1100, &std_addr);
+	uint8_t state;
+    switch (command) {
+        case 'r':
+            printf("INFO: Initialize as root on address \n");
+			ipv6_print_addr(&std_addr);
+            if (r_addr > 255) {
+                printf("ERROR: address not an 8 bit integer\n");
+                return;
+            }
+			state = rpl_init(TRANSCEIVER_CC1100, &std_addr);
 			if(state != SUCCESS){
 				printf("Error initializing RPL\n");
 			}
-	if(root == 0x0001){
 			rpl_init_root();
+            break;
+        case 'n':
+            printf("INFO: Initialize as node on address \n");
+			ipv6_print_addr(&std_addr);
+            if (r_addr > 255) {
+                printf("ERROR: address not an 8 bit integer\n");
+                return;
+            }
+            state = rpl_init(TRANSCEIVER_CC1100, &std_addr);
+            if(state != SUCCESS){
+                printf("Error initializing RPL\n");
+            }
+            break;
+        default:
+            printf("ERROR: Unknown command '%c'\n", command);
+            break;
     }
-	printf("RPL INIT FINISHED\n");
+}
-    while(1);
+
+void table(char *str){
+	rpl_routing_entry_t * rtable;
+	rtable = rpl_get_routing_table();
+	printf("---------------------------\n");
+	printf("OUTPUT\n");
+	printf("---------------------------\n");
+	for(int i=0;i<RPL_MAX_ROUTING_ENTRIES;i++){
+		if(rtable[i].used){
+			ipv6_print_addr(&rtable[i].address);
+			printf("--------------\n");
+		}
+	}
+}
+
+const shell_command_t shell_commands[] = {
+    {"init", "", init},
+    {"table", "", table},
+	{NULL, NULL, NULL}
+};
+
+int main(void) {
+    printf("RPL Test Application\n");
+    vtimer_init();
+
+    posix_open(uart0_handler_pid, 0);
+
+    shell_t shell;
+    shell_init(&shell, shell_commands, uart0_readc, uart0_putc);
+
+    shell_run(&shell);
+
+    return 0;
+}
+
+
+
+int old_main(void)
+{
+	timex_t mytime = timex_set(10,0);
+    while(1){
+		
+		rpl_routing_entry_t * rtable;
+		rtable = rpl_get_routing_table();
+		printf("---------------------------\n");
+		printf("OUTPUT\n");
+		printf("---------------------------\n");
+		for(int i=0;i<RPL_MAX_ROUTING_ENTRIES;i++){
+			if(rtable[i].used){
+				ipv6_print_addr(&rtable[i].address);
+				printf("--------------\n");
+			}
+		}
+		
+		vtimer_sleep(mytime);	
+	};
 }
 

sys/net/sixlowpan/rpl/rpl.c

@@ -9,6 +9,7 @@
 #include "sys/net/sixlowpan/sixlowmac.h"
 #include "sys/net/sixlowpan/sixlowip.h"
 #include "sys/net/sixlowpan/sixlowpan.h"
+#include "sys/net/sixlowpan/sixlownd.h"
 #include "sys/net/sixlowpan/sixlowerror.h"
 
 char rpl_process_buf[RPL_PROCESS_STACKSIZE];
@@ -152,6 +153,7 @@ void send_DIO(ipv6_addr_t* destination){
 
 	icmp_buf->type = ICMP_RPL_CONTROL;
 	icmp_buf->code = ICMP_CODE_DIO; 
+	icmp_buf->checksum = ~icmpv6_csum(PROTO_NUM_ICMPV6);
 
 	rpl_dio_buf = get_rpl_dio_buf();
 	memset(rpl_dio_buf, 0, sizeof(*rpl_dio_buf));
@@ -163,8 +165,8 @@ void send_DIO(ipv6_addr_t* destination){
 	rpl_dio_buf->flags = 0;
 	rpl_dio_buf->reserved = 0;
 	rpl_dio_buf->dodagid = mydodag->dodag_id;
-	printf("Send DIO with DODAGID: \n");
+	//printf("Send DIO with DODAGID: \n");
-	ipv6_print_addr(&rpl_dio_buf->dodagid);
+	//ipv6_print_addr(&rpl_dio_buf->dodagid);
 
 	int opt_hdr_len = 0; 
 	//DODAG Configuration Option!
@@ -196,6 +198,8 @@ void send_DIS(ipv6_addr_t *destination){
 
 	icmp_buf->type = ICMP_RPL_CONTROL;
 	icmp_buf->code = ICMP_CODE_DIO;
+	icmp_buf->checksum = ~icmpv6_csum(PROTO_NUM_ICMPV6);
+	
 	rpl_dis_buf = get_rpl_dis_buf();
 
 	uint16_t plen = ICMPV6_HDR_LEN + DIS_BASE_LEN;
@@ -203,10 +207,14 @@ void send_DIS(ipv6_addr_t *destination){
 }
 
 void send_DAO(){
+	if(i_am_root){
+		return;
+	}
 	icmp_buf  = get_icmpv6_buf(ipv6_ext_hdr_len);
 
 	icmp_buf->type = ICMP_RPL_CONTROL;
 	icmp_buf->code = ICMP_CODE_DAO; 
+	icmp_buf->checksum = ~icmpv6_csum(PROTO_NUM_ICMPV6);
 
 	rpl_dodag_t * my_dodag;
 	my_dodag = rpl_get_my_dodag();
@@ -217,25 +225,32 @@ void send_DAO(){
 	memset(rpl_dao_buf,0,sizeof(*rpl_dao_buf));
 	rpl_dao_buf->rpl_instanceid = my_dodag->instance->id;
 	//rpl_dao_buf->k_d_flags = 0x00;
-	//TODO:dao_sequence handling
+	rpl_dao_buf->dao_sequence = my_dodag->dao_seq;
-	rpl_dao_buf->dao_sequence = 0x00;
 	uint16_t opt_len = 0;
 	rpl_opt_target_buf = get_rpl_opt_target_buf(DAO_BASE_LEN);
 	//Alle Ziele aus der Routing Tabelle als Target eintragen
-	//TODO: Ausnahme default_route zu Parent
 	for(uint8_t i=0; i<RPL_MAX_ROUTING_ENTRIES;i++){
 		if(routing_table[i].used){
 			rpl_opt_target_buf->type=RPL_OPT_TARGET;
 			rpl_opt_target_buf->length=RPL_OPT_TARGET_LEN;
 			rpl_opt_target_buf->flags=0x00;
-			rpl_opt_target_buf->prefix_length=16;
+			rpl_opt_target_buf->prefix_length= RPL_DODAG_ID_LEN;
 			memcpy(&rpl_opt_target_buf->target,&routing_table[i].address,sizeof(ipv6_addr_t));
 			opt_len += RPL_OPT_TARGET_LEN +2;
 			rpl_opt_target_buf = get_rpl_opt_target_buf(DAO_BASE_LEN + opt_len);
 		}
 	}
+	//Add own address
+	rpl_opt_target_buf->type=RPL_OPT_TARGET;
+	rpl_opt_target_buf->length=RPL_OPT_TARGET_LEN;
+	rpl_opt_target_buf->flags=0x00;
+	rpl_opt_target_buf->prefix_length= RPL_DODAG_ID_LEN;
+	memcpy(&rpl_opt_target_buf->target,&my_address,sizeof(ipv6_addr_t));
+	printf("Sending DAO with length %d\n",rpl_opt_target_buf->prefix_length);
+	opt_len += RPL_OPT_TARGET_LEN +2;
 	
 	uint16_t plen = ICMPV6_HDR_LEN + DAO_BASE_LEN + opt_len;
+	printf("Sending DAO\n");
 	rpl_send(&my_dodag->my_preferred_parent->addr,(uint8_t*)icmp_buf, plen, PROTO_NUM_ICMPV6, NULL);
 }
 
@@ -397,9 +412,11 @@ void recv_rpl_dio(void){
 
 	if(rpl_equal_id(&my_dodag->dodag_id, &dio_dodag.dodag_id)){
 		//Mein DODAG
-		if( dio_dodag.version > my_dodag->version){
+		if(RPL_COUNTER_GREATER_THAN(dio_dodag.version,my_dodag->version) ){
 			printf("New Version of dodag\n");
 			if(my_dodag->my_rank == ROOT_RANK){
+				//Jemand hat ein DIO mit einer höheren Version als der richtigen gesendet
+				//Wir erhöhen diese Version noch einmal, und machen sie zur neuen
 				my_dodag->version = RPL_COUNTER_INCREMENT(dio_dodag.version);
 				reset_trickletimer();
 			}
@@ -408,7 +425,8 @@ void recv_rpl_dio(void){
 			}
 			return;
 		}
-		else if( dio_dodag.version < my_dodag->version){
+		else if( RPL_COUNTER_GREATER_THAN(my_dodag->version, dio_dodag.version) ){
+			//ein Knoten hat noch eine kleinere Versionsnummer -> mehr DIOs senden
 			reset_trickletimer();
 			return;
 		}		
@@ -427,6 +445,7 @@ void recv_rpl_dio(void){
 	parent = rpl_find_parent(&ipv6_buf->srcaddr);
 	if(parent == NULL){
 		//neuen Elternknoten hinzufuegen
+		//TODO: Checken, ob der Knoten parent sein darf
 		parent = rpl_new_parent(&dio_dodag, &ipv6_buf->srcaddr, rpl_dio_buf->rank);
 		if(parent == NULL){
 			return;
@@ -492,10 +511,16 @@ void recv_rpl_dis(void){
 }
 
 void recv_rpl_dao(void){
+	printf("Receiving DAO\n");
+	rpl_dodag_t *my_dodag = rpl_get_my_dodag();
+	if(my_dodag == NULL){
+		printf("[Error] got DAO without beeing part of a Dodag\n");
+		return;
+	}
 	ipv6_buf = get_ipv6_buf();
-	
 	rpl_dao_buf = get_rpl_dao_buf();
 	int len = DAO_BASE_LEN;
+	uint8_t increment_seq = 0;
 	while(len < (ipv6_buf->length - ICMPV6_HDR_LEN) ){
 		rpl_opt_buf = get_rpl_opt_buf(len);
 		switch(rpl_opt_buf->type){
@@ -513,6 +538,12 @@ void recv_rpl_dao(void){
 				break;
 			}
 			case(RPL_OPT_TARGET):{
+				rpl_opt_target_buf = get_rpl_opt_target_buf(len);
+				if(rpl_opt_target_buf->prefix_length != RPL_DODAG_ID_LEN){
+					printf("prefixes are not supported yet");
+				}
+				rpl_add_routing_entry(&rpl_opt_target_buf->target, &ipv6_buf->srcaddr);
+				increment_seq = 1;
 				len += rpl_opt_buf->length +2;
 				break;
 			}
@@ -529,6 +560,10 @@ void recv_rpl_dao(void){
 				break;
 		}
 	}
+	if(increment_seq){
+		RPL_COUNTER_INCREMENT(my_dodag->dao_seq);
+		delay_dao();
+	}
 }
 
 void rpl_send(ipv6_addr_t *destination, uint8_t *payload, uint16_t p_len, uint8_t next_header, void *tcp_socket){
@@ -573,13 +608,17 @@ void rpl_send(ipv6_addr_t *destination, uint8_t *payload, uint16_t p_len, uint8_
 		ipv6_addr_t *next_hop = rpl_get_next_hop(&ipv6_buf->destaddr);
 		if(next_hop == NULL){
 			if(i_am_root){
-				//oops... entweder bin ich root und weiß nicht wohin mit dem paket, oder es ist kein 
+				//oops... ich bin root und weiß nicht wohin mit dem paketn 
-				//preferred parent eingetragen, was nicht passieren sollte.
 				printf("[Error] destination unknown\n");
 				return;
 			}
 			else{
 				next_hop = rpl_get_my_preferred_parent();
+				if(next_hop == NULL){
+					//kein preferred parent eingetragen, was nicht passieren sollte.
+					printf("[Error] no preferred parent\n");
+					return;
+				}
 			}
 		}
 	    lowpan_init((ieee_802154_long_t*)&(next_hop->uint16[4]),(uint8_t*)ipv6_buf);
@@ -597,11 +636,12 @@ ipv6_addr_t *rpl_get_next_hop(ipv6_addr_t * addr){
 }
 
 void rpl_add_routing_entry(ipv6_addr_t *addr, ipv6_addr_t *next_hop){
-	//TODO: if no free entry, delete worst parent
 	for(uint8_t i=0; i<RPL_MAX_ROUTING_ENTRIES; i++){
 		if(!routing_table[i].used){
 			routing_table[i].address = *addr;
 			routing_table[i].next_hop = *next_hop;
+			routing_table[i].used = 1;
+			break;
 		}
 	} 
 }
@@ -621,3 +661,8 @@ void rpl_clear_routing_table(){
 	}
 
 }
+
+//This function is for debug output purpose only...
+rpl_routing_entry_t *rpl_get_routing_table(void){
+	return routing_table;
+}

sys/net/sixlowpan/rpl/rpl.h

@@ -24,3 +24,4 @@ ipv6_addr_t *rpl_get_next_hop(ipv6_addr_t * addr);
 void rpl_add_routing_entry(ipv6_addr_t *addr, ipv6_addr_t *next_hop);
 void rpl_del_routing_entry(ipv6_addr_t *addr);
 void rpl_clear_routing_table();
+rpl_routing_entry_t *rpl_get_routing_table(void);

sys/net/sixlowpan/rpl/rpl_dodag.c

@@ -87,7 +87,9 @@ void rpl_del_dodag(rpl_dodag_t *dodag){
 void rpl_leave_dodag(rpl_dodag_t * dodag){
 	dodag->joined = 0;
 	dodag->my_preferred_parent = NULL;
-	//TODO: parents aus Liste löschen?
+	//parents aus Liste löschen
+	rpl_delete_all_parents();
+	//TODO: Poison mit INFINITE_RANK
 }
 
 bool rpl_equal_id(ipv6_addr_t *id1, ipv6_addr_t *id2){
@@ -97,6 +99,7 @@ bool rpl_equal_id(ipv6_addr_t *id1, ipv6_addr_t *id2){
 		}
 	}
 	return true;
+
 }
 
 rpl_parent_t *rpl_new_parent(rpl_dodag_t *dodag, ipv6_addr_t *address, uint16_t rank){
@@ -113,7 +116,8 @@ rpl_parent_t *rpl_new_parent(rpl_dodag_t *dodag, ipv6_addr_t *address, uint16_t
 			return parent;
 		}
 	}
-	return NULL;
+	rpl_delete_worst_parent();
+	return rpl_new_parent(dodag, address, rank);
 }
 
 rpl_parent_t *rpl_find_parent(ipv6_addr_t *address){
@@ -128,22 +132,54 @@ rpl_parent_t *rpl_find_parent(ipv6_addr_t *address){
 	return NULL;
 }
 
-void rpl_delete_parent(ipv6_addr_t * address){
+void rpl_delete_parent(rpl_parent_t * parent){
 	rpl_dodag_t * my_dodag = rpl_get_my_dodag();
-	//TODO:check if this was the preferred parent, find new parent, if it was last parent leave dodag
+	//check if this was the preferred parent, find new parent, if it was last parent leave dodag
-	if(rpl_equal_id(&my_dodag->my_preferred_parent->addr,address)){
+	char new_preferred_parent = 0;
-		//set_new_preferred_parent
+	if( (my_dodag != NULL) && rpl_equal_id(&my_dodag->my_preferred_parent->addr, &parent->addr) ){
+		new_preferred_parent = 1;
+		memset(parent,0,sizeof(*parent));
 	}
+	uint8_t best = 0xFF;
+	uint16_t min_rank = 0xFFFF;
+	if(new_preferred_parent){
+		for(int i=0;i<RPL_MAX_PARENTS;i++){
+			if(parents[i].rank < min_rank){
+				best = i;
+				min_rank = parents[i].rank;
+			}
+		}
+		if(best == 0xFF){
+			//we have no more parents for this dodag -> leave dodag;
+			//TODO: Erst nach Ablauf eines Timers verlassen, siehe RPL draft 8.2.2.1 DODAG Version
+			rpl_leave_dodag(my_dodag);
+		}
+		my_dodag->my_preferred_parent = &parents[best];
+	}
+}
+
+void rpl_delete_worst_parent(void){
+	uint8_t worst = 0xFF;
+	uint16_t max_rank = 0x0000;
+	for(int i=0;i<RPL_MAX_PARENTS;i++){
+		if(parents[i].rank > max_rank){
+			worst = i;
+			max_rank = parents[i].rank;
+		}
+	}
+	if(worst == 0xFF){
+		//Fehler, keine parents -> sollte nicht passieren
+		return;
+	}
+	rpl_delete_parent(&parents[worst]);
+
+}
+
+void rpl_delete_all_parents(void){
 	for(int i=0;i<RPL_MAX_PARENTS;i++){
-		if( parents[i].used && (rpl_equal_id(address, &parents[i].addr)) ){
 		memset(&parents[i],0,sizeof(parents[i]));
 	}
 }
-}
-
-void rpl_delete_parents_for_dodag(ipv6_addr_t * dodag_id){
-
-}
 
 void rpl_join_dodag(rpl_dodag_t *dodag, ipv6_addr_t *parent, uint16_t parent_rank){
 	rpl_dodag_t *my_dodag;
@@ -174,6 +210,7 @@ void rpl_join_dodag(rpl_dodag_t *dodag, ipv6_addr_t *parent, uint16_t parent_ran
 	my_dodag->joined = 1;
 	my_dodag->my_preferred_parent = preferred_parent;
 	my_dodag->my_rank = dodag->of->calc_rank(preferred_parent, dodag->my_rank);
+	my_dodag->dao_seq = RPL_COUNTER_INIT;
 	my_dodag->min_rank = my_dodag->my_rank;
 	
 	start_trickle(my_dodag->dio_min, my_dodag->dio_interval_doubling, my_dodag->dio_redundancy);
@@ -186,6 +223,7 @@ void rpl_global_repair(rpl_dodag_t *dodag){
 		printf("Error - no global repair possible, if not part of a DODAG\n");
 		return;
 	}
+	//TODO: nachschauen - soll das wirklich so überschrieben werden? 
 	my_dodag->version = dodag->version;
 	my_dodag->dtsn = dodag->dtsn;
 }

sys/net/sixlowpan/rpl/rpl_dodag.h

@@ -15,3 +15,6 @@ void rpl_leave_dodag(rpl_dodag_t * dodag);
 bool rpl_equal_id(ipv6_addr_t *id1, ipv6_addr_t *id2);
 void rpl_global_repair(rpl_dodag_t *dodag);
 ipv6_addr_t *rpl_get_my_preferred_parent();
+void rpl_delete_parent(rpl_parent_t *parent);
+void rpl_delete_worst_parent(void);
+void rpl_delete_all_parents(void);

sys/net/sixlowpan/rpl/rpl_structs.h

@@ -68,6 +68,7 @@
 #define DEFAULT_MIN_HOP_RANK_INCREASE 256
 //DAO_DELAY is in seconds
 #define DEFAULT_DAO_DELAY 1
+#define RPL_DODAG_ID_LEN 16
 
 //others
 
@@ -197,6 +198,7 @@ typedef struct rpl_dodag_t {
     uint8_t version;
     uint8_t grounded;
     uint16_t my_rank;
+	uint8_t dao_seq;
 	uint16_t min_rank;
     uint8_t joined;
     rpl_parent_t *my_preferred_parent;