kernel_pid_t gnrc_rpl_init(kernel_pid_t if_pid)
{
/* check if RPL was initialized before */
if (gnrc_rpl_pid == KERNEL_PID_UNDEF) {
/* start the event loop */
gnrc_rpl_pid = thread_create(_stack, sizeof(_stack), GNRC_RPL_PRIO, CREATE_STACKTEST,
_event_loop, NULL, "RPL");
if (gnrc_rpl_pid == KERNEL_PID_UNDEF) {
DEBUG("RPL: could not start the event loop\n");
return KERNEL_PID_UNDEF;
}
_me_reg.demux_ctx = ICMPV6_RPL_CTRL;
_me_reg.pid = gnrc_rpl_pid;
/* register interest in all ICMPv6 packets */
gnrc_netreg_register(GNRC_NETTYPE_ICMPV6, &_me_reg);
gnrc_rpl_of_manager_init();
_lt_time = timex_set(GNRC_RPL_LIFETIME_UPDATE_STEP, 0);
vtimer_set_msg(&_lt_timer, _lt_time, gnrc_rpl_pid, GNRC_RPL_MSG_TYPE_LIFETIME_UPDATE, NULL);
}
/* register all_RPL_nodes multicast address */
ipv6_addr_t all_RPL_nodes = GNRC_RPL_ALL_NODES_ADDR;
gnrc_ipv6_netif_add_addr(if_pid, &all_RPL_nodes, IPV6_ADDR_BIT_LEN, 0);
gnrc_rpl_send_DIS(NULL, &all_RPL_nodes);
return gnrc_rpl_pid;
}
kernel_pid_t gnrc_rpl_init(kernel_pid_t if_pid)
{
/* check if RPL was initialized before */
if (gnrc_rpl_pid == KERNEL_PID_UNDEF) {
_instance_id = 0;
/* start the event loop */
gnrc_rpl_pid = thread_create(_stack, sizeof(_stack), GNRC_RPL_PRIO,
THREAD_CREATE_STACKTEST,
_event_loop, NULL, "RPL");
if (gnrc_rpl_pid == KERNEL_PID_UNDEF) {
DEBUG("RPL: could not start the event loop\n");
return KERNEL_PID_UNDEF;
}
_me_reg.demux_ctx = ICMPV6_RPL_CTRL;
_me_reg.target.pid = gnrc_rpl_pid;
/* register interest in all ICMPv6 packets */
gnrc_netreg_register(GNRC_NETTYPE_ICMPV6, &_me_reg);
gnrc_rpl_of_manager_init();
xtimer_set_msg(&_lt_timer, _lt_time, &_lt_msg, gnrc_rpl_pid);
#ifdef MODULE_NETSTATS_RPL
memset(&gnrc_rpl_netstats, 0, sizeof(gnrc_rpl_netstats));
#endif
}
/* register all_RPL_nodes multicast address */
gnrc_ipv6_netif_add_addr(if_pid, &ipv6_addr_all_rpl_nodes, IPV6_ADDR_BIT_LEN, 0);
gnrc_rpl_send_DIS(NULL, (ipv6_addr_t *) &ipv6_addr_all_rpl_nodes);
return gnrc_rpl_pid;
}
void _update_lifetime(void)
{
uint32_t now = xtimer_now();
uint16_t now_sec = now / SEC_IN_USEC;
gnrc_rpl_parent_t *parent;
gnrc_rpl_instance_t *inst;
for (uint8_t i = 0; i < GNRC_RPL_PARENTS_NUMOF; ++i) {
parent = &gnrc_rpl_parents[i];
if (parent->state != 0) {
if ((int32_t)(parent->lifetime - now_sec) <= GNRC_RPL_LIFETIME_UPDATE_STEP) {
gnrc_rpl_dodag_t *dodag = parent->dodag;
gnrc_rpl_parent_remove(parent);
gnrc_rpl_parent_update(dodag, NULL);
continue;
}
else if ((int32_t)(parent->lifetime - now_sec) <= (GNRC_RPL_LIFETIME_UPDATE_STEP * 2)) {
gnrc_rpl_send_DIS(parent->dodag->instance, &parent->addr);
}
}
}
for (int i = 0; i < GNRC_RPL_INSTANCES_NUMOF; ++i) {
inst = &gnrc_rpl_instances[i];
if (inst->state != 0) {
if ((inst->cleanup > 0) && (inst->dodag.parents == NULL) &&
(inst->dodag.my_rank == GNRC_RPL_INFINITE_RANK)) {
inst->cleanup -= GNRC_RPL_LIFETIME_UPDATE_STEP;
if (inst->cleanup <= 0) {
/* no parents - delete this instance and DODAG */
gnrc_rpl_instance_remove(inst);
continue;
}
}
if (inst->dodag.dao_time > GNRC_RPL_LIFETIME_UPDATE_STEP) {
inst->dodag.dao_time -= GNRC_RPL_LIFETIME_UPDATE_STEP;
}
else {
_dao_handle_send(&inst->dodag);
}
}
}
#ifdef MODULE_GNRC_RPL_P2P
gnrc_rpl_p2p_update();
#endif
xtimer_set_msg(&_lt_timer, _lt_time, &_lt_msg, gnrc_rpl_pid);
}
void _update_lifetime(void)
{
uint64_t now = xtimer_now64();
gnrc_rpl_parent_t *parent;
for (uint8_t i = 0; i < GNRC_RPL_PARENTS_NUMOF; ++i) {
parent = &gnrc_rpl_parents[i];
if (parent->state != 0) {
if ((int64_t)(parent->lifetime - now) <= (int64_t) (GNRC_RPL_LIFETIME_UPDATE_STEP
* SEC_IN_USEC)) {
gnrc_rpl_dodag_t *dodag = parent->dodag;
gnrc_rpl_parent_remove(parent);
gnrc_rpl_parent_update(dodag, NULL);
continue;
}
else if ((int64_t)(parent->lifetime - now) <=
(int64_t) (GNRC_RPL_LIFETIME_UPDATE_STEP * SEC_IN_USEC * 2)) {
gnrc_rpl_send_DIS(parent->dodag, &parent->addr);
}
}
}
xtimer_set_msg(&_lt_timer, _lt_time, &_lt_msg, gnrc_rpl_pid);
}
void _update_lifetime(void)
{
timex_t now;
vtimer_now(&now);
gnrc_rpl_parent_t *parent;
for (uint8_t i = 0; i < GNRC_RPL_PARENTS_NUMOF; ++i) {
parent = &gnrc_rpl_parents[i];
if (parent->state != 0) {
if ((signed)(parent->lifetime.seconds - now.seconds) <= GNRC_RPL_LIFETIME_UPDATE_STEP) {
gnrc_rpl_dodag_t *dodag = parent->dodag;
gnrc_rpl_parent_remove(parent);
gnrc_rpl_parent_update(dodag, NULL);
continue;
}
else if (((signed)(parent->lifetime.seconds - now.seconds) <=
GNRC_RPL_LIFETIME_UPDATE_STEP * 2)) {
gnrc_rpl_send_DIS(parent->dodag, &parent->addr);
}
}
}
vtimer_remove(&_lt_timer);
vtimer_set_msg(&_lt_timer, _lt_time, gnrc_rpl_pid, GNRC_RPL_MSG_TYPE_LIFETIME_UPDATE, NULL);
}
void gnrc_rpl_recv_DIO(gnrc_rpl_dio_t *dio, kernel_pid_t iface, ipv6_addr_t *src, uint16_t len)
{
gnrc_rpl_instance_t *inst = NULL;
gnrc_rpl_dodag_t *dodag = NULL;
if (!_gnrc_rpl_check_DIO_validity(dio, len)) {
return;
}
len -= (sizeof(gnrc_rpl_dio_t) + sizeof(icmpv6_hdr_t));
if (gnrc_rpl_instance_add(dio->instance_id, &inst)) {
/* new instance and DODAG */
if (byteorder_ntohs(dio->rank) == GNRC_RPL_INFINITE_RANK) {
DEBUG("RPL: ignore INFINITE_RANK DIO when we are not yet part of this DODAG\n");
gnrc_rpl_instance_remove(inst);
return;
}
inst->mop = (dio->g_mop_prf >> GNRC_RPL_MOP_SHIFT) & GNRC_RPL_SHIFTED_MOP_MASK;
inst->of = gnrc_rpl_get_of_for_ocp(GNRC_RPL_DEFAULT_OCP);
if (iface == KERNEL_PID_UNDEF) {
iface = gnrc_ipv6_netif_find_by_addr(NULL, &ipv6_addr_all_rpl_nodes);
assert(iface != KERNEL_PID_UNDEF);
}
gnrc_rpl_dodag_init(inst, &dio->dodag_id, iface, NULL);
dodag = &inst->dodag;
DEBUG("RPL: Joined DODAG (%s).\n",
ipv6_addr_to_str(addr_str, &dio->dodag_id, sizeof(addr_str)));
gnrc_rpl_parent_t *parent = NULL;
if (!gnrc_rpl_parent_add_by_addr(dodag, src, &parent) && (parent == NULL)) {
DEBUG("RPL: Could not allocate new parent.\n");
gnrc_rpl_instance_remove(inst);
return;
}
dodag->version = dio->version_number;
dodag->grounded = dio->g_mop_prf >> GNRC_RPL_GROUNDED_SHIFT;
dodag->prf = dio->g_mop_prf & GNRC_RPL_PRF_MASK;
parent->rank = byteorder_ntohs(dio->rank);
uint32_t included_opts = 0;
if(!_parse_options(GNRC_RPL_ICMPV6_CODE_DIO, inst, (gnrc_rpl_opt_t *)(dio + 1), len,
src, &included_opts)) {
DEBUG("RPL: Error encountered during DIO option parsing - remove DODAG\n");
gnrc_rpl_instance_remove(inst);
return;
}
if (!(included_opts & (((uint32_t) 1) << GNRC_RPL_OPT_DODAG_CONF))) {
#ifndef GNRC_RPL_DODAG_CONF_OPTIONAL_ON_JOIN
DEBUG("RPL: DIO without DODAG_CONF option - remove DODAG and request new DIO\n");
gnrc_rpl_instance_remove(inst);
gnrc_rpl_send_DIS(NULL, src);
return;
#else
DEBUG("RPL: DIO without DODAG_CONF option - use default trickle parameters\n");
gnrc_rpl_send_DIS(NULL, src);
#endif
}
/* if there was no netif_addr created manually or by a PIO, then leave this DODAG */
if (!dodag->netif_addr) {
ipv6_addr_t *configured_addr;
if (!(configured_addr = gnrc_ipv6_netif_match_prefix(dodag->iface, &dodag->dodag_id))) {
DEBUG("RPL: no IPv6 address configured to match the given dodag id: %s\n",
ipv6_addr_to_str(addr_str, &(dodag->dodag_id), sizeof(addr_str)));
gnrc_rpl_instance_remove(inst);
return;
}
if (!(dodag->netif_addr = gnrc_ipv6_netif_addr_get(configured_addr))) {
DEBUG("RPL: no netif address found for %s\n",
ipv6_addr_to_str(addr_str, configured_addr, sizeof(addr_str)));
gnrc_rpl_instance_remove(inst);
return;
}
}
gnrc_rpl_delay_dao(dodag);
trickle_start(gnrc_rpl_pid, &dodag->trickle, GNRC_RPL_MSG_TYPE_TRICKLE_INTERVAL,
GNRC_RPL_MSG_TYPE_TRICKLE_CALLBACK, (1 << dodag->dio_min),
dodag->dio_interval_doubl, dodag->dio_redun);
gnrc_rpl_parent_update(dodag, parent);
return;
}
else if (inst == NULL) {
