Merge pull request #1213 from joakimeriksson/dao_ack_handling

End-to-End DAO and DAO ACK handling for Contiki RPL.

core/contiki-default-conf.h

@@ -148,6 +148,13 @@
 #define UIP_CONF_IPV6_RPL 1
 #endif /* UIP_CONF_IPV6_RPL */
 
+/* If RPL is enabled also enable the RPL NBR Policy */
+#if UIP_CONF_IPV6_RPL
+#ifndef NBR_TABLE_FIND_REMOVABLE
+#define NBR_TABLE_FIND_REMOVABLE rpl_nbr_policy_find_removable
+#endif /* NBR_TABLE_FIND_REMOVABLE */
+#endif /* UIP_CONF_IPV6_RPL */
+
 /* UIP_CONF_MAX_ROUTES specifies the maximum number of routes that each
    node will be able to handle. */
 #ifndef UIP_CONF_MAX_ROUTES

core/net/ip/tcpip.c

@@ -644,7 +644,7 @@ tcpip_ipv6_output(void)
     nbr = uip_ds6_nbr_lookup(nexthop);
     if(nbr == NULL) {
 #if UIP_ND6_SEND_NA
-      if((nbr = uip_ds6_nbr_add(nexthop, NULL, 0, NBR_INCOMPLETE)) == NULL) {
+      if((nbr = uip_ds6_nbr_add(nexthop, NULL, 0, NBR_INCOMPLETE, NBR_TABLE_REASON_IPV6_ND, NULL)) == NULL) {
         uip_clear_buf();
         return;
       } else {

core/net/ipv6/uip-ds6-nbr.c

@@ -79,9 +79,11 @@ uip_ds6_neighbors_init(void)
 /*---------------------------------------------------------------------------*/
 uip_ds6_nbr_t *
 uip_ds6_nbr_add(const uip_ipaddr_t *ipaddr, const uip_lladdr_t *lladdr,
-                uint8_t isrouter, uint8_t state)
+                uint8_t isrouter, uint8_t state, nbr_table_reason_t reason,
+                void *data)
 {
-  uip_ds6_nbr_t *nbr = nbr_table_add_lladdr(ds6_neighbors, (linkaddr_t*)lladdr);
+  uip_ds6_nbr_t *nbr = nbr_table_add_lladdr(ds6_neighbors, (linkaddr_t*)lladdr
+                                            , reason, data);
   if(nbr) {
     uip_ipaddr_copy(&nbr->ipaddr, ipaddr);
 #if UIP_ND6_SEND_NA || UIP_ND6_SEND_RA || !UIP_CONF_ROUTER
@@ -115,7 +117,7 @@ uip_ds6_nbr_add(const uip_ipaddr_t *ipaddr, const uip_lladdr_t *lladdr,
 }
 
 /*---------------------------------------------------------------------------*/
-void
+int
 uip_ds6_nbr_rm(uip_ds6_nbr_t *nbr)
 {
   if(nbr != NULL) {
@@ -123,9 +125,9 @@ uip_ds6_nbr_rm(uip_ds6_nbr_t *nbr)
     uip_packetqueue_free(&nbr->packethandle);
 #endif /* UIP_CONF_IPV6_QUEUE_PKT */
     NEIGHBOR_STATE_CHANGED(nbr);
-    nbr_table_remove(ds6_neighbors, nbr);
+    return nbr_table_remove(ds6_neighbors, nbr);
   }
-  return;
+  return 0;
 }
 
 /*---------------------------------------------------------------------------*/

core/net/ipv6/uip-ds6-nbr.h

@@ -86,9 +86,11 @@ typedef struct uip_ds6_nbr {
 void uip_ds6_neighbors_init(void);
 
 /** \brief Neighbor Cache basic routines */
-uip_ds6_nbr_t *uip_ds6_nbr_add(const uip_ipaddr_t *ipaddr, const uip_lladdr_t *lladdr,
+uip_ds6_nbr_t *uip_ds6_nbr_add(const uip_ipaddr_t *ipaddr,
-                               uint8_t isrouter, uint8_t state);
+                               const uip_lladdr_t *lladdr,
-void uip_ds6_nbr_rm(uip_ds6_nbr_t *nbr);
+                               uint8_t isrouter, uint8_t state,
+                               nbr_table_reason_t reason, void *data);
+int uip_ds6_nbr_rm(uip_ds6_nbr_t *nbr);
 const uip_lladdr_t *uip_ds6_nbr_get_ll(const uip_ds6_nbr_t *nbr);
 const uip_ipaddr_t *uip_ds6_nbr_get_ipaddr(const uip_ds6_nbr_t *nbr);
 uip_ds6_nbr_t *uip_ds6_nbr_lookup(const uip_ipaddr_t *ipaddr);

core/net/ipv6/uip-ds6-route.c

@@ -207,6 +207,19 @@ uip_ds6_route_next(uip_ds6_route_t *r)
 }
 /*---------------------------------------------------------------------------*/
 int
+uip_ds6_route_is_nexthop(const uip_ipaddr_t *ipaddr)
+{
+  const uip_lladdr_t *lladdr;
+  lladdr = uip_ds6_nbr_lladdr_from_ipaddr(ipaddr);
+
+  if(lladdr == NULL) {
+    return 0;
+  }
+
+  return nbr_table_get_from_lladdr(nbr_routes, (linkaddr_t *)lladdr) != NULL;
+}
+/*---------------------------------------------------------------------------*/
+int
 uip_ds6_route_num_routes(void)
 {
   return num_routes;
@@ -307,11 +320,16 @@ uip_ds6_route_add(uip_ipaddr_t *ipaddr, uint8_t length,
        least recently used one we have. */
 
     if(uip_ds6_route_num_routes() == UIP_DS6_ROUTE_NB) {
+      uip_ds6_route_t *oldest;
+      oldest = NULL;
+#if UIP_DS6_ROUTE_REMOVE_LEAST_RECENTLY_USED
       /* Removing the oldest route entry from the route table. The
          least recently used route is the first route on the list. */
-      uip_ds6_route_t *oldest;
+      oldest = list_tail(routelist);
-
+#endif
-      oldest = list_tail(routelist); /* uip_ds6_route_head(); */
+      if(oldest == NULL) {
+        return NULL;
+      }
       PRINTF("uip_ds6_route_add: dropping route to ");
       PRINT6ADDR(&oldest->ipaddr);
       PRINTF("\n");
@@ -337,7 +355,8 @@ uip_ds6_route_add(uip_ipaddr_t *ipaddr, uint8_t length,
          initialize this pointer with the list of routing entries that
          are attached to this neighbor. */
       routes = nbr_table_add_lladdr(nbr_routes,
-                                    (linkaddr_t *)nexthop_lladdr);
+                                    (linkaddr_t *)nexthop_lladdr,
+                                    NBR_TABLE_REASON_ROUTE, NULL);
       if(routes == NULL) {
         /* This should not happen, as we explicitly deallocated one
            route table entry above. */

core/net/ipv6/uip-ds6-route.h

@@ -97,11 +97,48 @@ void uip_ds6_notification_rm(struct uip_ds6_notification *n);
 #ifndef UIP_DS6_ROUTE_STATE_TYPE
 #define UIP_DS6_ROUTE_STATE_TYPE rpl_route_entry_t
 /* Needed for the extended route entry state when using ContikiRPL */
+#define RPL_ROUTE_ENTRY_NOPATH_RECEIVED   0x01
+#define RPL_ROUTE_ENTRY_DAO_PENDING       0x02
+#define RPL_ROUTE_ENTRY_DAO_NACK          0x04
+
+#define RPL_ROUTE_IS_NOPATH_RECEIVED(route)                             \
+  (((route)->state.state_flags & RPL_ROUTE_ENTRY_NOPATH_RECEIVED) != 0)
+#define RPL_ROUTE_SET_NOPATH_RECEIVED(route) do {                       \
+    (route)->state.state_flags |= RPL_ROUTE_ENTRY_NOPATH_RECEIVED;      \
+  } while(0)
+#define RPL_ROUTE_CLEAR_NOPATH_RECEIVED(route) do {                       \
+    (route)->state.state_flags &= ~RPL_ROUTE_ENTRY_NOPATH_RECEIVED;      \
+  } while(0)
+
+#define RPL_ROUTE_IS_DAO_PENDING(route)                                 \
+  ((route->state.state_flags & RPL_ROUTE_ENTRY_DAO_PENDING) != 0)
+#define RPL_ROUTE_SET_DAO_PENDING(route) do {                           \
+    (route)->state.state_flags |= RPL_ROUTE_ENTRY_DAO_PENDING;          \
+  } while(0)
+#define RPL_ROUTE_CLEAR_DAO_PENDING(route) do {                         \
+    (route)->state.state_flags &= ~RPL_ROUTE_ENTRY_DAO_PENDING;         \
+  } while(0)
+
+#define RPL_ROUTE_IS_DAO_NACKED(route)                                  \
+  ((route->state.state_flags & RPL_ROUTE_ENTRY_DAO_NACK) != 0)
+#define RPL_ROUTE_SET_DAO_NACKED(route) do {                            \
+    (route)->state.state_flags |= RPL_ROUTE_ENTRY_DAO_NACK;             \
+  } while(0)
+#define RPL_ROUTE_CLEAR_DAO_NACKED(route) do {                          \
+    (route)->state.state_flags &= ~RPL_ROUTE_ENTRY_DAO_NACK;            \
+  } while(0)
+
+#define RPL_ROUTE_CLEAR_DAO(route) do {                                 \
+    (route)->state.state_flags &= ~(RPL_ROUTE_ENTRY_DAO_NACK|RPL_ROUTE_ENTRY_DAO_PENDING); \
+  } while(0)
+
+struct rpl_dag;
 typedef struct rpl_route_entry {
   uint32_t lifetime;
-  void *dag;
+  struct rpl_dag *dag;
-  uint8_t learned_from;
+  uint8_t dao_seqno_out;
-  uint8_t nopath_received;
+  uint8_t dao_seqno_in;
+  uint8_t state_flags;
 } rpl_route_entry_t;
 #endif /* UIP_DS6_ROUTE_STATE_TYPE */
 
@@ -166,7 +203,7 @@ uip_ipaddr_t *uip_ds6_route_nexthop(uip_ds6_route_t *);
 int uip_ds6_route_num_routes(void);
 uip_ds6_route_t *uip_ds6_route_head(void);
 uip_ds6_route_t *uip_ds6_route_next(uip_ds6_route_t *);
-
+int uip_ds6_route_is_nexthop(const uip_ipaddr_t *ipaddr);
 /** @} */
 
 #endif /* UIP_DS6_ROUTE_H */

core/net/ipv6/uip-nd6.c

@@ -203,7 +203,8 @@ ns_input(void)
         if(nbr == NULL) {
           uip_lladdr_t lladdr_aligned;
           extract_lladdr_aligned(&lladdr_aligned);
-          uip_ds6_nbr_add(&UIP_IP_BUF->srcipaddr, &lladdr_aligned, 0, NBR_STALE);
+          uip_ds6_nbr_add(&UIP_IP_BUF->srcipaddr, &lladdr_aligned,
+			  0, NBR_STALE, NBR_TABLE_REASON_IPV6_ND, NULL);
         } else {
           uip_lladdr_t *lladdr = (uip_lladdr_t *)uip_ds6_nbr_get_ll(nbr);
           if(memcmp(&nd6_opt_llao[UIP_ND6_OPT_DATA_OFFSET],
@@ -634,14 +635,16 @@ rs_input(void)
       extract_lladdr_aligned(&lladdr_aligned);
       if((nbr = uip_ds6_nbr_lookup(&UIP_IP_BUF->srcipaddr)) == NULL) {
         /* we need to add the neighbor */
-        uip_ds6_nbr_add(&UIP_IP_BUF->srcipaddr, &lladdr_aligned, 0, NBR_STALE);
+        uip_ds6_nbr_add(&UIP_IP_BUF->srcipaddr, &lladdr_aligned,
+                        0, NBR_STALE, NBR_TABLE_REASON_IPV6_ND, NULL);
       } else {
         /* If LL address changed, set neighbor state to stale */
         if(memcmp(&nd6_opt_llao[UIP_ND6_OPT_DATA_OFFSET],
-            uip_ds6_nbr_get_ll(nbr), UIP_LLADDR_LEN) != 0) {
+                  uip_ds6_nbr_get_ll(nbr), UIP_LLADDR_LEN) != 0) {
           uip_ds6_nbr_t nbr_data = *nbr;
           uip_ds6_nbr_rm(nbr);
-          nbr = uip_ds6_nbr_add(&UIP_IP_BUF->srcipaddr, &lladdr_aligned, 0, NBR_STALE);
+          nbr = uip_ds6_nbr_add(&UIP_IP_BUF->srcipaddr, &lladdr_aligned,
+                                0, NBR_STALE, NBR_TABLE_REASON_IPV6_ND, NULL);
           nbr->reachable = nbr_data.reachable;
           nbr->sendns = nbr_data.sendns;
           nbr->nscount = nbr_data.nscount;
@@ -870,7 +873,8 @@ ra_input(void)
       if(nbr == NULL) {
         uip_lladdr_t lladdr_aligned;
         extract_lladdr_aligned(&lladdr_aligned);
-        nbr = uip_ds6_nbr_add(&UIP_IP_BUF->srcipaddr, &lladdr_aligned, 1, NBR_STALE);
+        nbr = uip_ds6_nbr_add(&UIP_IP_BUF->srcipaddr, &lladdr_aligned,
+                              1, NBR_STALE, NBR_TABLE_REASON_IPV6_ND, NULL);
       } else {
         uip_lladdr_t *lladdr = (uip_lladdr_t *)uip_ds6_nbr_get_ll(nbr);
         if(nbr->state == NBR_INCOMPLETE) {

core/net/llsec/noncoresec/noncoresec.c

@@ -188,7 +188,7 @@ parse(void)
   
   info = nbr_table_get_from_lladdr(anti_replay_table, sender);
   if(!info) {
-    info = nbr_table_add_lladdr(anti_replay_table, sender);
+    info = nbr_table_add_lladdr(anti_replay_table, sender, NBR_TABLE_REASON_LLSEC, NULL);
     if(!info) {
       PRINTF("noncoresec: could not get nbr_table_item\n");
       return FRAMER_FAILED;

core/net/mac/phase.c

@@ -122,7 +122,7 @@ phase_update(const linkaddr_t *neighbor, rtimer_clock_t time,
   } else {
     /* No matching phase was found, so we allocate a new one. */
     if(mac_status == MAC_TX_OK && e == NULL) {
-      e = nbr_table_add_lladdr(nbr_phase, neighbor);
+      e = nbr_table_add_lladdr(nbr_phase, neighbor, NBR_TABLE_REASON_MAC, NULL);
       if(e) {
         e->time = time;
 #if PHASE_DRIFT_CORRECT

core/net/nbr-table.c

@@ -47,11 +47,20 @@
 static void handle_periodic_timer(void *ptr);
 static struct ctimer periodic_timer;
 static uint8_t initialized = 0;
+static void print_table();
 #define PRINTF(...) printf(__VA_ARGS__)
 #else
 #define PRINTF(...)
 #endif
 
+/* This is the callback function that will be called when there is a
+ *  nbr-policy active
+ **/
+#ifdef NBR_TABLE_FIND_REMOVABLE
+const linkaddr_t *NBR_TABLE_FIND_REMOVABLE(nbr_table_reason_t reason, void *data);
+#endif /* NBR_TABLE_FIND_REMOVABLE */
+
+
 /* List of link-layer addresses of the neighbors, used as key in the tables */
 typedef struct nbr_table_key {
   struct nbr_table_key *next;
@@ -170,7 +179,7 @@ nbr_set_bit(uint8_t *bitmap, nbr_table_t *table, nbr_table_item_t *item, int val
 }
 /*---------------------------------------------------------------------------*/
 static nbr_table_key_t *
-nbr_table_allocate(void)
+nbr_table_allocate(nbr_table_reason_t reason, void *data)
 {
   nbr_table_key_t *key;
   int least_used_count = 0;
@@ -179,39 +188,66 @@ nbr_table_allocate(void)
   key = memb_alloc(&neighbor_addr_mem);
   if(key != NULL) {
     return key;
-  } else { /* No more space, try to free a neighbor.
+  } else {
-            * The replacement policy is the following: remove neighbor that is:
+#ifdef NBR_TABLE_FIND_REMOVABLE
-            * (1) not locked
+    const linkaddr_t *lladdr;
-            * (2) used by fewest tables
+    lladdr = NBR_TABLE_FIND_REMOVABLE(reason, data);
-            * (3) oldest (the list is ordered by insertion time)
+    if(lladdr == NULL) {
-            * */
+      /* Nothing found that can be deleted - return NULL to indicate failure */
-    /* Get item from first key */
+      PRINTF("*** Not removing entry to allocate new\n");
-    key = list_head(nbr_table_keys);
+      return NULL;
-    while(key != NULL) {
+    } else {
-      int item_index = index_from_key(key);
+      /* used least_used_key to indicate what is the least useful entry */
-      int locked = locked_map[item_index];
+      int index;
-      /* Never delete a locked item */
+      int locked = 0;
-      if(!locked) {
+      if((index = index_from_lladdr(lladdr)) != -1) {
-        int used = used_map[item_index];
+        least_used_key = key_from_index(index);
-        int used_count = 0;
+        locked = locked_map[index];
-        /* Count how many tables are using this item */
+      }
-        while(used != 0) {
+      /* Allow delete of locked item? */
-          if((used & 1) == 1) {
+      if(least_used_key != NULL && locked) {
-            used_count++;
+        PRINTF("Deleting locked item!\n");
-          }
+        locked_map[index] = 0;
-          used >>= 1;
-        }
-        /* Find least used item */
-        if(least_used_key == NULL || used_count < least_used_count) {
-          least_used_key = key;
-          least_used_count = used_count;
-          if(used_count == 0) { /* We won't find any least used item */
-            break;
-          }
-        }
       }
-      key = list_item_next(key);
     }
+#endif /* NBR_TABLE_FIND_REMOVABLE */
+
+    if(least_used_key == NULL) {
+      /* No more space, try to free a neighbor.
+       * The replacement policy is the following: remove neighbor that is:
+       * (1) not locked
+       * (2) used by fewest tables
+       * (3) oldest (the list is ordered by insertion time)
+       * */
+      /* Get item from first key */
+      key = list_head(nbr_table_keys);
+      while(key != NULL) {
+        int item_index = index_from_key(key);
+        int locked = locked_map[item_index];
+        /* Never delete a locked item */
+        if(!locked) {
+          int used = used_map[item_index];
+          int used_count = 0;
+          /* Count how many tables are using this item */
+          while(used != 0) {
+            if((used & 1) == 1) {
+              used_count++;
+            }
+          used >>= 1;
+          }
+          /* Find least used item */
+          if(least_used_key == NULL || used_count < least_used_count) {
+            least_used_key = key;
+            least_used_count = used_count;
+            if(used_count == 0) { /* We won't find any least used item */
+              break;
+            }
+          }
+        }
+        key = list_item_next(key);
+      }
+    }
+
     if(least_used_key == NULL) {
       /* We haven't found any unlocked item, allocation fails */
       return NULL;
@@ -289,7 +325,7 @@ nbr_table_next(nbr_table_t *table, nbr_table_item_t *item)
 /*---------------------------------------------------------------------------*/
 /* Add a neighbor indexed with its link-layer address */
 nbr_table_item_t *
-nbr_table_add_lladdr(nbr_table_t *table, const linkaddr_t *lladdr)
+nbr_table_add_lladdr(nbr_table_t *table, const linkaddr_t *lladdr, nbr_table_reason_t reason, void *data)
 {
   int index;
   nbr_table_item_t *item;
@@ -303,7 +339,7 @@ nbr_table_add_lladdr(nbr_table_t *table, const linkaddr_t *lladdr)
 
   if((index = index_from_lladdr(lladdr)) == -1) {
      /* Neighbor not yet in table, let's try to allocate one */
-    key = nbr_table_allocate();
+    key = nbr_table_allocate(reason, data);
 
     /* No space available for new entry */
     if(key == NULL) {
@@ -327,6 +363,9 @@ nbr_table_add_lladdr(nbr_table_t *table, const linkaddr_t *lladdr)
   memset(item, 0, table->item_size);
   nbr_set_bit(used_map, table, item, 1);
 
+#if DEBUG
+  print_table();
+#endif
   return item;
 }
 /*---------------------------------------------------------------------------*/
@@ -379,7 +418,7 @@ nbr_table_get_lladdr(nbr_table_t *table, const void *item)
 /*---------------------------------------------------------------------------*/
 #if DEBUG
 static void
-handle_periodic_timer(void *ptr)
+print_table()
 {
   int i, j;
   /* Printout all neighbors and which tables they are used in */
@@ -394,6 +433,12 @@ handle_periodic_timer(void *ptr)
       PRINTF("\n");
     }
   }
+}
+/*---------------------------------------------------------------------------*/
+static void
+handle_periodic_timer(void *ptr)
+{
+  print_table();
   ctimer_reset(&periodic_timer);
 }
 #endif

core/net/nbr-table.h

@@ -75,6 +75,17 @@ typedef struct nbr_table {
 /** \brief Declaration of non-static neighbor tables */
 #define NBR_TABLE_DECLARE(name) extern nbr_table_t *name
 
+typedef enum {
+	NBR_TABLE_REASON_UNDEFINED,
+	NBR_TABLE_REASON_RPL_DIO,
+	NBR_TABLE_REASON_RPL_DAO,
+	NBR_TABLE_REASON_RPL_DIS,
+	NBR_TABLE_REASON_ROUTE,
+	NBR_TABLE_REASON_IPV6_ND,
+	NBR_TABLE_REASON_MAC,
+	NBR_TABLE_REASON_LLSEC
+} nbr_table_reason_t;
+
 /** \name Neighbor tables: register and loop through table elements */
 /** @{ */
 int nbr_table_register(nbr_table_t *table, nbr_table_callback *callback);
@@ -84,7 +95,7 @@ nbr_table_item_t *nbr_table_next(nbr_table_t *table, nbr_table_item_t *item);
 
 /** \name Neighbor tables: add and get data */
 /** @{ */
-nbr_table_item_t *nbr_table_add_lladdr(nbr_table_t *table, const linkaddr_t *lladdr);
+nbr_table_item_t *nbr_table_add_lladdr(nbr_table_t *table, const linkaddr_t *lladdr, nbr_table_reason_t reason, void *data);
 nbr_table_item_t *nbr_table_get_from_lladdr(nbr_table_t *table, const linkaddr_t *lladdr);
 /** @} */
 

core/net/rpl/rpl-conf.h

@@ -118,7 +118,7 @@
 #ifdef RPL_CONF_DEFAULT_ROUTE_INFINITE_LIFETIME
 #define RPL_DEFAULT_ROUTE_INFINITE_LIFETIME                    RPL_CONF_DEFAULT_ROUTE_INFINITE_LIFETIME
 #else
-#define RPL_DEFAULT_ROUTE_INFINITE_LIFETIME                    0
+#define RPL_DEFAULT_ROUTE_INFINITE_LIFETIME                    1
 #endif /* RPL_CONF_DEFAULT_ROUTE_INFINITE_LIFETIME */
 
 /*
@@ -200,7 +200,7 @@
  * used in RPL lifetime values, in seconds.
  */
 #ifndef RPL_CONF_DEFAULT_LIFETIME_UNIT
-#define RPL_DEFAULT_LIFETIME_UNIT       0xffff
+#define RPL_DEFAULT_LIFETIME_UNIT       0x60
 #else
 #define RPL_DEFAULT_LIFETIME_UNIT       RPL_CONF_DEFAULT_LIFETIME_UNIT
 #endif
@@ -209,7 +209,7 @@
  * Default route lifetime as a multiple of the lifetime unit.
  */
 #ifndef RPL_CONF_DEFAULT_LIFETIME
-#define RPL_DEFAULT_LIFETIME            0xff
+#define RPL_DEFAULT_LIFETIME            0x30
 #else
 #define RPL_DEFAULT_LIFETIME            RPL_CONF_DEFAULT_LIFETIME
 #endif
@@ -235,6 +235,39 @@
 #define RPL_INSERT_HBH_OPTION       1
 #endif
 
+/*
+ * RPL DAO ACK support. When enabled, DAO ACK will be sent and requested.
+ * This will also enable retransmission of DAO when no ack is received.
+ * */
+#ifdef RPL_CONF_WITH_DAO_ACK
+#define RPL_WITH_DAO_ACK RPL_CONF_WITH_DAO_ACK
+#else
+#define RPL_WITH_DAO_ACK 1
+#endif /* RPL_CONF_WITH_DAO_ACK */
+
+/*
+ * RPL REPAIR ON DAO NACK. When enabled, DAO NACK will trigger a local
+ * repair in order to quickly find a new parent to send DAO's to.
+ * NOTE: this is too agressive in some cases so use with care.
+ * */
+#ifdef RPL_CONF_RPL_REPAIR_ON_DAO_NACK
+#define RPL_REPAIR_ON_DAO_NACK RPL_CONF_RPL_REPAIR_ON_DAO_NACK
+#else
+#define RPL_REPAIR_ON_DAO_NACK 0
+#endif /* RPL_CONF_RPL_REPAIR_ON_DAO_NACK */
+
+/*
+ * Setting the DIO_REFRESH_DAO_ROUTES will make RPL always increase
+ * the DTSN (Destination Advertisement Trigger Sequence Number) when
+ * sending broadcast DIO. This is to get all children to re-register
+ * their DAO route.
+ * */
+#ifdef RPL_CONF_DIO_REFRESH_DAO_ROUTES
+#define RPL_DIO_REFRESH_DAO_ROUTES RPL_CONF_DIO_REFRESH_DAO_ROUTES
+#else
+#define RPL_DIO_REFRESH_DAO_ROUTES 0
+#endif /* RPL_CONF_DIO_REFRESH_DAO_ROUTES */
+
 /*
  * RPL probing. When enabled, probes will be sent periodically to keep
  * parent link estimates up to date.

core/net/rpl/rpl-dag.c

@@ -634,8 +634,9 @@ rpl_add_parent(rpl_dag_t *dag, rpl_dio_t *dio, uip_ipaddr_t *addr)
   PRINT6ADDR(addr);
   PRINTF("\n");
   if(lladdr != NULL) {
-    /* Add parent in rpl_parents */
+    /* Add parent in rpl_parents - again this is due to DIO */
-    p = nbr_table_add_lladdr(rpl_parents, (linkaddr_t *)lladdr);
+    p = nbr_table_add_lladdr(rpl_parents, (linkaddr_t *)lladdr,
+                             NBR_TABLE_REASON_RPL_DIO, dio);
     if(p == NULL) {
       PRINTF("RPL: rpl_add_parent p NULL\n");
     } else {
@@ -898,6 +899,18 @@ rpl_move_parent(rpl_dag_t *dag_src, rpl_dag_t *dag_dst, rpl_parent_t *parent)
   parent->dag = dag_dst;
 }
 /*---------------------------------------------------------------------------*/
+int
+rpl_has_downward_route(void)
+{
+  int i;
+  for(i = 0; i < RPL_MAX_INSTANCES; ++i) {
+    if(instance_table[i].used && instance_table[i].has_downward_route) {
+      return 1;
+    }
+  }
+  return 0;
+}
+/*---------------------------------------------------------------------------*/
 rpl_dag_t *
 rpl_get_any_dag(void)
 {
@@ -1155,6 +1168,7 @@ global_repair(uip_ipaddr_t *from, rpl_dag_t *dag, rpl_dio_t *dio)
 
   RPL_STAT(rpl_stats.global_repairs++);
 }
+
 /*---------------------------------------------------------------------------*/
 void
 rpl_local_repair(rpl_instance_t *instance)
@@ -1173,7 +1187,12 @@ rpl_local_repair(rpl_instance_t *instance)
     }
   }
 
+  /* no downward route anymore */
+  instance->has_downward_route = 0;
+
   rpl_reset_dio_timer(instance);
+  /* Request refresh of DAO registrations next DIO */
+  RPL_LOLLIPOP_INCREMENT(instance->dtsn_out);
 
   RPL_STAT(rpl_stats.local_repairs++);
 }
@@ -1250,6 +1269,19 @@ rpl_process_parent_event(rpl_instance_t *instance, rpl_parent_t *p)
   return return_value;
 }
 /*---------------------------------------------------------------------------*/
+static int
+add_nbr_from_dio(uip_ipaddr_t *from, rpl_dio_t *dio)
+{
+  /* add this to the neighbor cache if not already there */
+  if(rpl_icmp6_update_nbr_table(from, NBR_TABLE_REASON_RPL_DIO, dio) == NULL) {
+    PRINTF("RPL: Out of memory, dropping DIO from ");
+    PRINT6ADDR(from);
+    PRINTF("\n");
+    return 0;
+  }
+  return 1;
+}
+/*---------------------------------------------------------------------------*/
 void
 rpl_process_dio(uip_ipaddr_t *from, rpl_dio_t *dio)
 {
@@ -1303,7 +1335,11 @@ rpl_process_dio(uip_ipaddr_t *from, rpl_dio_t *dio)
 
   if(instance == NULL) {
     PRINTF("RPL: New instance detected (ID=%u): Joining...\n", dio->instance_id);
-    rpl_join_instance(from, dio);
+    if(add_nbr_from_dio(from, dio)) {
+      rpl_join_instance(from, dio);
+    } else {
+      PRINTF("RPL: Not joining since could not add parent\n");
+    }
     return;
   }
 
@@ -1315,6 +1351,10 @@ rpl_process_dio(uip_ipaddr_t *from, rpl_dio_t *dio)
   if(dag == NULL) {
 #if RPL_MAX_DAG_PER_INSTANCE > 1
     PRINTF("RPL: Adding new DAG to known instance.\n");
+    if(!add_nbr_from_dio(from, dio)) {
+      PRINTF("RPL: Could not add new DAG, could not add parent\n");
+      return;
+    }
     dag = rpl_add_dag(from, dio);
     if(dag == NULL) {
       PRINTF("RPL: Failed to add DAG.\n");
@@ -1363,6 +1403,11 @@ rpl_process_dio(uip_ipaddr_t *from, rpl_dio_t *dio)
    * whether to keep it in the set.
    */
 
+  if(!add_nbr_from_dio(from, dio)) {
+    PRINTF("RPL: Could not add parent based on DIO\n");
+    return;
+  }
+
   p = rpl_find_parent(dag, from);
   if(p == NULL) {
     previous_dag = find_parent_dag(instance, from);

core/net/rpl/rpl-icmp6.c

@@ -53,6 +53,7 @@
 #include "net/rpl/rpl-private.h"
 #include "net/packetbuf.h"
 #include "net/ipv6/multicast/uip-mcast6.h"
+#include "random.h"
 
 #include <limits.h>
 #include <string.h>
@@ -76,6 +77,9 @@ static void dio_input(void);
 static void dao_input(void);
 static void dao_ack_input(void);
 
+static void dao_output_target_seq(rpl_parent_t *parent, uip_ipaddr_t *prefix,
+				  uint8_t lifetime, uint8_t seq_no);
+
 /* some debug callbacks useful when debugging RPL networks */
 #ifdef RPL_DEBUG_DIO_INPUT
 void RPL_DEBUG_DIO_INPUT(uip_ipaddr_t *, rpl_dio_t *);
@@ -99,6 +103,38 @@ UIP_ICMP6_HANDLER(dio_handler, ICMP6_RPL, RPL_CODE_DIO, dio_input);
 UIP_ICMP6_HANDLER(dao_handler, ICMP6_RPL, RPL_CODE_DAO, dao_input);
 UIP_ICMP6_HANDLER(dao_ack_handler, ICMP6_RPL, RPL_CODE_DAO_ACK, dao_ack_input);
 /*---------------------------------------------------------------------------*/
+
+#if RPL_WITH_DAO_ACK
+static uip_ds6_route_t *
+find_route_entry_by_dao_ack(uint8_t seq)
+{
+  uip_ds6_route_t *re;
+  re = uip_ds6_route_head();
+  while(re != NULL) {
+    if(re->state.dao_seqno_out == seq && RPL_ROUTE_IS_DAO_PENDING(re)) {
+      /* found it! */
+      return re;
+    }
+    re = uip_ds6_route_next(re);
+  }
+  return NULL;
+}
+#endif /* RPL_WITH_DAO_ACK */
+
+/* prepare for forwarding of DAO */
+static uint8_t
+prepare_for_dao_fwd(uint8_t sequence, uip_ds6_route_t *rep)
+{
+  /* not pending - or pending but not a retransmission */
+  RPL_LOLLIPOP_INCREMENT(dao_sequence);
+
+  /* set DAO pending and sequence numbers */
+  rep->state.dao_seqno_in = sequence;
+  rep->state.dao_seqno_out = dao_sequence;
+  RPL_ROUTE_SET_DAO_PENDING(rep);
+  return dao_sequence;
+}
+/*---------------------------------------------------------------------------*/
 static int
 get_global_addr(uip_ipaddr_t *addr)
 {
@@ -147,6 +183,34 @@ set16(uint8_t *buffer, int pos, uint16_t value)
   buffer[pos++] = value & 0xff;
 }
 /*---------------------------------------------------------------------------*/
+uip_ds6_nbr_t *
+rpl_icmp6_update_nbr_table(uip_ipaddr_t *from, nbr_table_reason_t reason, void *data)
+{
+  uip_ds6_nbr_t *nbr;
+
+  if((nbr = uip_ds6_nbr_lookup(from)) == NULL) {
+    if((nbr = uip_ds6_nbr_add(from, (uip_lladdr_t *)
+                              packetbuf_addr(PACKETBUF_ADDR_SENDER),
+                              0, NBR_REACHABLE, reason, data)) != NULL) {
+      PRINTF("RPL: Neighbor added to neighbor cache ");
+      PRINT6ADDR(from);
+      PRINTF(", ");
+      PRINTLLADDR((uip_lladdr_t *)packetbuf_addr(PACKETBUF_ADDR_SENDER));
+      PRINTF("\n");
+    }
+  }
+
+  if(nbr != NULL) {
+#if UIP_ND6_SEND_NA
+    /* set reachable timer if we added or found the nbr entry - and update
+       neighbor entry to reachable to avoid sending NS/NA, etc.  */
+    stimer_set(&nbr->reachable, UIP_ND6_REACHABLE_TIME / 1000);
+    nbr->state = NBR_REACHABLE;
+#endif /* UIP_ND6_SEND_NA */
+  }
+  return nbr;
+ }
+/*---------------------------------------------------------------------------*/
 static void
 dis_input(void)
 {
@@ -170,8 +234,19 @@ dis_input(void)
         rpl_reset_dio_timer(instance);
       } else {
 #endif /* !RPL_LEAF_ONLY */
-        PRINTF("RPL: Unicast DIS, reply to sender\n");
+	/* Check if this neighbor should be added according to the policy. */
-        dio_output(instance, &UIP_IP_BUF->srcipaddr);
+        if(rpl_icmp6_update_nbr_table(&UIP_IP_BUF->srcipaddr,
+                                      NBR_TABLE_REASON_RPL_DIS, NULL) == NULL) {
+          PRINTF("RPL: Out of Memory, not sending unicast DIO, DIS from ");
+          PRINT6ADDR(&UIP_IP_BUF->srcipaddr);
+          PRINTF(", ");
+          PRINTLLADDR((uip_lladdr_t *)packetbuf_addr(PACKETBUF_ADDR_SENDER));
+          PRINTF("\n");
+        } else {
+          PRINTF("RPL: Unicast DIS, reply to sender\n");
+          dio_output(instance, &UIP_IP_BUF->srcipaddr);
+        }
+	/* } */
       }
     }
   }
@@ -218,7 +293,6 @@ dio_input(void)
   int i;
   int len;
   uip_ipaddr_t from;
-  uip_ds6_nbr_t *nbr;
 
   memset(&dio, 0, sizeof(dio));
 
@@ -239,32 +313,6 @@ dio_input(void)
   PRINT6ADDR(&from);
   PRINTF("\n");
 
-  if((nbr = uip_ds6_nbr_lookup(&from)) == NULL) {
-    if((nbr = uip_ds6_nbr_add(&from, (uip_lladdr_t *)
-                              packetbuf_addr(PACKETBUF_ADDR_SENDER),
-                              0, NBR_REACHABLE)) != NULL) {
-#if UIP_ND6_SEND_NA
-      /* set reachable timer */
-      stimer_set(&nbr->reachable, UIP_ND6_REACHABLE_TIME / 1000);
-#endif /* UIP_ND6_SEND_NA */
-      PRINTF("RPL: Neighbor added to neighbor cache ");
-      PRINT6ADDR(&from);
-      PRINTF(", ");
-      PRINTLLADDR((uip_lladdr_t *)packetbuf_addr(PACKETBUF_ADDR_SENDER));
-      PRINTF("\n");
-    } else {
-      PRINTF("RPL: Out of memory, dropping DIO from ");
-      PRINT6ADDR(&from);
-      PRINTF(", ");
-      PRINTLLADDR((uip_lladdr_t *)packetbuf_addr(PACKETBUF_ADDR_SENDER));
-      PRINTF("\n");
-
-      goto discard;
-    }
-  } else {
-    PRINTF("RPL: Neighbor already in neighbor cache\n");
-  }
-
   buffer_length = uip_len - uip_l3_icmp_hdr_len;
 
   /* Process the DIO base option. */
@@ -470,7 +518,7 @@ dio_output(rpl_instance_t *instance, uip_ipaddr_t *uc_addr)
 
   buffer[pos++] = instance->dtsn_out;
 
-  if(uc_addr == NULL) {
+  if(RPL_DIO_REFRESH_DAO_ROUTES && uc_addr == NULL) {
     /* Request new DAO to refresh route. We do not do this for unicast DIO
      * in order to avoid DAO messages after a DIS-DIO update,
      * or upon unicast DIO probing. */
@@ -605,17 +653,13 @@ dao_input(void)
   int learned_from;
   rpl_parent_t *parent;
   uip_ds6_nbr_t *nbr;
+  int is_root;
 
   prefixlen = 0;
   parent = NULL;
 
   uip_ipaddr_copy(&dao_sender_addr, &UIP_IP_BUF->srcipaddr);
 
-  /* Destination Advertisement Object */
-  PRINTF("RPL: Received a DAO from ");
-  PRINT6ADDR(&dao_sender_addr);
-  PRINTF("\n");
-
   buffer = UIP_ICMP_PAYLOAD;
   buffer_length = uip_len - uip_l3_icmp_hdr_len;
 
@@ -637,6 +681,8 @@ dao_input(void)
   sequence = buffer[pos++];
 
   dag = instance->current_dag;
+  is_root = (dag->rank == ROOT_RANK(instance));
+
   /* Is the DAG ID present? */
   if(flags & RPL_DAO_D_FLAG) {
     if(memcmp(&dag->dag_id, &buffer[pos], sizeof(dag->dag_id))) {
@@ -649,8 +695,12 @@ dao_input(void)
   learned_from = uip_is_addr_mcast(&dao_sender_addr) ?
                  RPL_ROUTE_FROM_MULTICAST_DAO : RPL_ROUTE_FROM_UNICAST_DAO;
 
-  PRINTF("RPL: DAO from %s\n",
+  /* Destination Advertisement Object */
-         learned_from == RPL_ROUTE_FROM_UNICAST_DAO? "unicast": "multicast");
+  PRINTF("RPL: Received a (%s) DAO with sequence number %u from ",
+      learned_from == RPL_ROUTE_FROM_UNICAST_DAO? "unicast": "multicast", sequence);
+  PRINT6ADDR(&dao_sender_addr);
+  PRINTF("\n");
+
   if(learned_from == RPL_ROUTE_FROM_UNICAST_DAO) {
     /* Check whether this is a DAO forwarding loop. */
     parent = rpl_find_parent(dag, &dao_sender_addr);
@@ -723,86 +773,125 @@ dao_input(void)
     PRINTF("RPL: No-Path DAO received\n");
     /* No-Path DAO received; invoke the route purging routine. */
     if(rep != NULL &&
-       rep->state.nopath_received == 0 &&
+       !RPL_ROUTE_IS_NOPATH_RECEIVED(rep) &&
        rep->length == prefixlen &&
        uip_ds6_route_nexthop(rep) != NULL &&
        uip_ipaddr_cmp(uip_ds6_route_nexthop(rep), &dao_sender_addr)) {
       PRINTF("RPL: Setting expiration timer for prefix ");
       PRINT6ADDR(&prefix);
       PRINTF("\n");
-      rep->state.nopath_received = 1;
+      RPL_ROUTE_SET_NOPATH_RECEIVED(rep);
       rep->state.lifetime = RPL_NOPATH_REMOVAL_DELAY;
 
       /* We forward the incoming No-Path DAO to our parent, if we have
          one. */
       if(dag->preferred_parent != NULL &&
          rpl_get_parent_ipaddr(dag->preferred_parent) != NULL) {
-        PRINTF("RPL: Forwarding No-Path DAO to parent ");
+        uint8_t out_seq;
+        out_seq = prepare_for_dao_fwd(sequence, rep);
+
+        PRINTF("RPL: Forwarding No-path DAO to parent - out_seq:%d",
+	       out_seq);
         PRINT6ADDR(rpl_get_parent_ipaddr(dag->preferred_parent));
         PRINTF("\n");
+
+        buffer = UIP_ICMP_PAYLOAD;
+        buffer[3] = out_seq; /* add an outgoing seq no before fwd */
         uip_icmp6_send(rpl_get_parent_ipaddr(dag->preferred_parent),
                        ICMP6_RPL, RPL_CODE_DAO, buffer_length);
       }
-      if(flags & RPL_DAO_K_FLAG) {
+    } 
-        dao_ack_output(instance, &dao_sender_addr, sequence);
+    /* independent if we remove or not - ACK the request */
-      }
+    if(flags & RPL_DAO_K_FLAG) {
+      /* indicate that we accepted the no-path DAO */
+      dao_ack_output(instance, &dao_sender_addr, sequence,
+                     RPL_DAO_ACK_UNCONDITIONAL_ACCEPT);
     }
     goto discard;
   }
 
-  PRINTF("RPL: adding DAO route\n");
+  PRINTF("RPL: Adding DAO route\n");
 
-  if((nbr = uip_ds6_nbr_lookup(&dao_sender_addr)) == NULL) {
+  /* Update and add neighbor - if no room - fail. */
-    if((nbr = uip_ds6_nbr_add(&dao_sender_addr,
+  if((nbr = rpl_icmp6_update_nbr_table(&dao_sender_addr, NBR_TABLE_REASON_RPL_DAO, instance)) == NULL) {
-                              (uip_lladdr_t *)packetbuf_addr(PACKETBUF_ADDR_SENDER),
+    PRINTF("RPL: Out of Memory, dropping DAO from ");
-                              0, NBR_REACHABLE)) != NULL) {
+    PRINT6ADDR(&dao_sender_addr);
-#if UIP_ND6_SEND_NA
+    PRINTF(", ");
-      /* set reachable timer */
+    PRINTLLADDR((uip_lladdr_t *)packetbuf_addr(PACKETBUF_ADDR_SENDER));
-      stimer_set(&nbr->reachable, UIP_ND6_REACHABLE_TIME / 1000);
+    PRINTF("\n");
-#endif /* UIP_ND6_SEND_NA */
+    if(flags & RPL_DAO_K_FLAG) {
-      PRINTF("RPL: Neighbor added to neighbor cache ");
+      /* signal the failure to add the node */
-      PRINT6ADDR(&dao_sender_addr);
+      dao_ack_output(instance, &dao_sender_addr, sequence,
-      PRINTF(", ");
+		     is_root ? RPL_DAO_ACK_UNABLE_TO_ADD_ROUTE_AT_ROOT :
-      PRINTLLADDR((uip_lladdr_t *)packetbuf_addr(PACKETBUF_ADDR_SENDER));
+		     RPL_DAO_ACK_UNABLE_TO_ACCEPT);
-      PRINTF("\n");
-    } else {
-      PRINTF("RPL: Out of Memory, dropping DAO from ");
-      PRINT6ADDR(&dao_sender_addr);
-      PRINTF(", ");
-      PRINTLLADDR((uip_lladdr_t *)packetbuf_addr(PACKETBUF_ADDR_SENDER));
-      PRINTF("\n");
-      goto discard;
     }
-  } else {
+    goto discard;
-    PRINTF("RPL: Neighbor already in neighbor cache\n");
   }
 
   rep = rpl_add_route(dag, &prefix, prefixlen, &dao_sender_addr);
   if(rep == NULL) {
     RPL_STAT(rpl_stats.mem_overflows++);
     PRINTF("RPL: Could not add a route after receiving a DAO\n");
+    if(flags & RPL_DAO_K_FLAG) {
+      /* signal the failure to add the node */
+      dao_ack_output(instance, &dao_sender_addr, sequence,
+		     is_root ? RPL_DAO_ACK_UNABLE_TO_ADD_ROUTE_AT_ROOT :
+		     RPL_DAO_ACK_UNABLE_TO_ACCEPT);
+    }
     goto discard;
   }
 
+  /* set lifetime and clear NOPATH bit */
   rep->state.lifetime = RPL_LIFETIME(instance, lifetime);
-  rep->state.learned_from = learned_from;
+  RPL_ROUTE_CLEAR_NOPATH_RECEIVED(rep);
-  rep->state.nopath_received = 0;
 
 #if RPL_CONF_MULTICAST
 fwd_dao:
 #endif
 
   if(learned_from == RPL_ROUTE_FROM_UNICAST_DAO) {
+    int should_ack = 0;
+
+    if(flags & RPL_DAO_K_FLAG) {
+      /*
+       * check if this route is already installed and we can ack now!
+       * not pending - and same seq-no means that we can ack.
+       * (e.g. the route is installed already so it will not take any
+       * more room that it already takes - so should be ok!)
+       */
+      if((!RPL_ROUTE_IS_DAO_PENDING(rep) &&
+          rep->state.dao_seqno_in == sequence) ||
+          dag->rank == ROOT_RANK(instance)) {
+        should_ack = 1;
+      }
+    }
+
     if(dag->preferred_parent != NULL &&
        rpl_get_parent_ipaddr(dag->preferred_parent) != NULL) {
+      uint8_t out_seq = 0;
+      /* if this is pending and we get the same seq no it is a retrans */
+      if(RPL_ROUTE_IS_DAO_PENDING(rep) &&
+         rep->state.dao_seqno_in == sequence) {
+        /* keep the same seq-no as before for parent also */
+        out_seq = rep->state.dao_seqno_out;
+      } else {
+        out_seq = prepare_for_dao_fwd(sequence, rep);
+      }
+
       PRINTF("RPL: Forwarding DAO to parent ");
       PRINT6ADDR(rpl_get_parent_ipaddr(dag->preferred_parent));
-      PRINTF("\n");
+      PRINTF(" in seq: %d out seq: %d\n", sequence, out_seq);
+
+      buffer = UIP_ICMP_PAYLOAD;
+      buffer[3] = out_seq; /* add an outgoing seq no before fwd */
       uip_icmp6_send(rpl_get_parent_ipaddr(dag->preferred_parent),
                      ICMP6_RPL, RPL_CODE_DAO, buffer_length);
     }
-    if(flags & RPL_DAO_K_FLAG) {
+
-      dao_ack_output(instance, &dao_sender_addr, sequence);
+    if(should_ack) {
+      PRINTF("RPL: Sending DAO ACK\n");
+      dao_ack_output(instance, &dao_sender_addr, sequence,
+                     RPL_DAO_ACK_UNCONDITIONAL_ACCEPT);
     }
   }
 
@@ -810,6 +899,61 @@ fwd_dao:
   uip_clear_buf();
 }
 /*---------------------------------------------------------------------------*/
+#if RPL_WITH_DAO_ACK
+static void
+handle_dao_retransmission(void *ptr)
+{
+  rpl_parent_t *parent;
+  uip_ipaddr_t prefix;
+  rpl_instance_t *instance;
+
+  parent = ptr;
+  if(parent == NULL || parent->dag == NULL || parent->dag->instance == NULL) {
+    return;
+  }
+  instance = parent->dag->instance;
+
+  if(instance->my_dao_transmissions >= RPL_DAO_MAX_RETRANSMISSIONS) {
+    /* No more retransmissions - give up. */
+    if(instance->lifetime_unit == 0xffff && instance->default_lifetime == 0xff) {
+      /*
+       * ContikiRPL was previously using infinite lifetime for routes
+       * and no DAO_ACK configured. This probably means that the root
+       * and possibly other nodes might be running an old version that
+       * does not support DAO ack. Assume that everything is ok for
+       * now and let the normal repair mechanisms detect any problems.
+       */
+      return;
+    }
+
+    if(instance->of->dao_ack_callback) {
+      /* Inform the objective function about the timeout. */
+      instance->of->dao_ack_callback(parent, RPL_DAO_ACK_TIMEOUT);
+    }
+
+    /* Perform local repair and hope to find another parent. */
+    rpl_local_repair(instance);
+    return;
+  }
+
+  PRINTF("Should retransmit DAO - seq:%d trans:%d\n", instance->my_dao_seqno,
+	 instance->my_dao_transmissions);
+
+  if(get_global_addr(&prefix) == 0) {
+    return;
+  }
+
+  ctimer_set(&instance->dao_retransmit_timer,
+             RPL_DAO_RETRANSMISSION_TIMEOUT / 2 +
+             (random_rand() % (RPL_DAO_RETRANSMISSION_TIMEOUT / 2)),
+	     handle_dao_retransmission, parent);
+
+  instance->my_dao_transmissions++;
+  dao_output_target_seq(parent, &prefix,
+			instance->default_lifetime, instance->my_dao_seqno);
+}
+#endif /* RPL_WITH_DAO_ACK */
+/*---------------------------------------------------------------------------*/
 void
 dao_output(rpl_parent_t *parent, uint8_t lifetime)
 {
@@ -821,12 +965,43 @@ dao_output(rpl_parent_t *parent, uint8_t lifetime)
     return;
   }
 
+  if(parent == NULL || parent->dag == NULL || parent->dag->instance == NULL) {
+    return;
+  }
+
+#if RPL_WITH_DAO_ACK
+  /* set up the state since this will be the first transmission of DAO */
+  /* retransmissions will call directly to dao_output_target_seq */
+  /* keep track of my own sending of DAO for handling ack and loss of ack */
+  if(lifetime != RPL_ZERO_LIFETIME) {
+    rpl_instance_t *instance;
+    instance = parent->dag->instance;
+
+    instance->my_dao_seqno = dao_sequence;
+    instance->my_dao_transmissions = 1;
+    ctimer_set(&instance->dao_retransmit_timer, RPL_DAO_RETRANSMISSION_TIMEOUT,
+ 	       handle_dao_retransmission, parent);
+  }
+#else
+   /* We know that we have tried to register so now we are assuming
+      that we have a down-link - unless this is a zero lifetime one */
+  parent->dag->instance->has_downward_route = lifetime != RPL_ZERO_LIFETIME;
+#endif /* RPL_WITH_DAO_ACK */
+
   /* Sending a DAO with own prefix as target */
   dao_output_target(parent, &prefix, lifetime);
 }
 /*---------------------------------------------------------------------------*/
 void
 dao_output_target(rpl_parent_t *parent, uip_ipaddr_t *prefix, uint8_t lifetime)
+{
+  RPL_LOLLIPOP_INCREMENT(dao_sequence);
+  dao_output_target_seq(parent, prefix, lifetime, dao_sequence);
+}
+/*---------------------------------------------------------------------------*/
+static void
+dao_output_target_seq(rpl_parent_t *parent, uip_ipaddr_t *prefix,
+		      uint8_t lifetime, uint8_t seq_no)
 {
   rpl_dag_t *dag;
   rpl_instance_t *instance;
@@ -867,8 +1042,6 @@ dao_output_target(rpl_parent_t *parent, uip_ipaddr_t *prefix, uint8_t lifetime)
 #endif
 
   buffer = UIP_ICMP_PAYLOAD;
-
-  RPL_LOLLIPOP_INCREMENT(dao_sequence);
   pos = 0;
 
   buffer[pos++] = instance->instance_id;
@@ -876,12 +1049,12 @@ dao_output_target(rpl_parent_t *parent, uip_ipaddr_t *prefix, uint8_t lifetime)
 #if RPL_DAO_SPECIFY_DAG
   buffer[pos] |= RPL_DAO_D_FLAG;
 #endif /* RPL_DAO_SPECIFY_DAG */
-#if RPL_CONF_DAO_ACK
+#if RPL_WITH_DAO_ACK
   buffer[pos] |= RPL_DAO_K_FLAG;
-#endif /* RPL_CONF_DAO_ACK */
+#endif /* RPL_WITH_DAO_ACK */
   ++pos;
   buffer[pos++] = 0; /* reserved */
-  buffer[pos++] = dao_sequence;
+  buffer[pos++] = seq_no;
 #if RPL_DAO_SPECIFY_DAG
   memcpy(buffer + pos, &dag->dag_id, sizeof(dag->dag_id));
   pos+=sizeof(dag->dag_id);
@@ -904,7 +1077,8 @@ dao_output_target(rpl_parent_t *parent, uip_ipaddr_t *prefix, uint8_t lifetime)
   buffer[pos++] = 0; /* path seq - ignored */
   buffer[pos++] = lifetime;
 
-  PRINTF("RPL: Sending %sDAO with prefix ", lifetime == RPL_ZERO_LIFETIME ? "No-Path " : "");
+  PRINTF("RPL: Sending a %sDAO with sequence number %u, lifetime %u, prefix ",
+      lifetime == RPL_ZERO_LIFETIME ? "No-Path " : "", seq_no, lifetime);
   PRINT6ADDR(prefix);
   PRINTF(" to ");
   PRINT6ADDR(rpl_get_parent_ipaddr(parent));
@@ -918,41 +1092,113 @@ dao_output_target(rpl_parent_t *parent, uip_ipaddr_t *prefix, uint8_t lifetime)
 static void
 dao_ack_input(void)
 {
-#if DEBUG
+#if RPL_WITH_DAO_ACK
-  unsigned char *buffer;
+
+  uint8_t *buffer;
+  uint8_t instance_id;
   uint8_t sequence;
   uint8_t status;
+  rpl_instance_t *instance;
+  rpl_parent_t *parent;
 
   buffer = UIP_ICMP_PAYLOAD;
 
+  instance_id = buffer[0];
   sequence = buffer[2];
   status = buffer[3];
 
-  PRINTF("RPL: Received a DAO ACK with sequence number %d and status %d from ",
+  instance = rpl_get_instance(instance_id);
-    sequence, status);
+  if(instance == NULL) {
+    uip_clear_buf();
+    return;
+  }
+
+  parent = rpl_find_parent(instance->current_dag, &UIP_IP_BUF->srcipaddr);
+  if(parent == NULL) {
+    /* not a known instance - drop the packet and ignore */
+    uip_clear_buf();
+    return;
+  }
+
+  PRINTF("RPL: Received a DAO %s with sequence number %d (%d) and status %d from ",
+   status < 128 ? "ACK" : "NACK",
+	 sequence, instance->my_dao_seqno, status);
   PRINT6ADDR(&UIP_IP_BUF->srcipaddr);
   PRINTF("\n");
-#endif /* DEBUG */
+
+  if(sequence == instance->my_dao_seqno) {
+    instance->has_downward_route = status < 128;
+
+    /* always stop the retransmit timer when the ACK arrived */
+    ctimer_stop(&instance->dao_retransmit_timer);
+
+    /* Inform objective function on status of the DAO ACK */
+    if(instance->of->dao_ack_callback) {
+      instance->of->dao_ack_callback(parent, status);
+    }
+
+#if RPL_REPAIR_ON_DAO_NACK
+    if(status >= RPL_DAO_ACK_UNABLE_TO_ACCEPT) {
+      /*
+       * Failed the DAO transmission - need to remove the default route.
+       * Trigger a local repair since we can not get our DAO in.
+       */
+      rpl_local_repair(instance);
+    }
+#endif
+
+  } else {
+    /* this DAO ACK should be forwarded to another recently registered route */
+    uip_ds6_route_t *re;
+    uip_ipaddr_t *nexthop;
+    if((re = find_route_entry_by_dao_ack(sequence)) != NULL) {
+      /* pick the recorded seq no from that node and forward DAO ACK - and
+         clear the pending flag*/
+      RPL_ROUTE_CLEAR_DAO_PENDING(re);
+
+      nexthop = uip_ds6_route_nexthop(re);
+      if(nexthop == NULL) {
+        PRINTF("RPL: No next hop to fwd DAO ACK to\n");
+      } else {
+        PRINTF("RPL: Fwd DAO ACK to:");
+        PRINT6ADDR(nexthop);
+        PRINTF("\n");
+        buffer[2] = re->state.dao_seqno_in;
+        uip_icmp6_send(nexthop, ICMP6_RPL, RPL_CODE_DAO_ACK, 4);
+      }
+
+      if(status >= RPL_DAO_ACK_UNABLE_TO_ACCEPT) {
+        /* this node did not get in to the routing tables above... - remove */
+        uip_ds6_route_rm(re);
+      }
+    } else {
+      PRINTF("RPL: No route entry to fwd DAO ACK to\n");
+    }
+  }
+#endif /* RPL_WITH_DAO_ACK */
   uip_clear_buf();
 }
 /*---------------------------------------------------------------------------*/
 void
-dao_ack_output(rpl_instance_t *instance, uip_ipaddr_t *dest, uint8_t sequence)
+dao_ack_output(rpl_instance_t *instance, uip_ipaddr_t *dest, uint8_t sequence,
+	       uint8_t status)
 {
+#if RPL_WITH_DAO_ACK
   unsigned char *buffer;
 
-  PRINTF("RPL: Sending a DAO ACK with sequence number %d to ", sequence);
+  PRINTF("RPL: Sending a DAO %s with sequence number %d to ", status < 128 ? "ACK" : "NACK", sequence);
   PRINT6ADDR(dest);
-  PRINTF("\n");
+  PRINTF(" with status %d\n", status);
 
   buffer = UIP_ICMP_PAYLOAD;
 
   buffer[0] = instance->instance_id;
   buffer[1] = 0;
   buffer[2] = sequence;
-  buffer[3] = 0;
+  buffer[3] = status;
 
   uip_icmp6_send(dest, ICMP6_RPL, RPL_CODE_DAO_ACK, 4);
+#endif /* RPL_WITH_DAO_ACK */
 }
 /*---------------------------------------------------------------------------*/
 void

core/net/rpl/rpl-mrhof.c

@@ -54,6 +54,9 @@
 
 static void reset(rpl_dag_t *);
 static void neighbor_link_callback(rpl_parent_t *, int, int);
+#if RPL_WITH_DAO_ACK
+static void dao_ack_callback(rpl_parent_t *, int);
+#endif
 static rpl_parent_t *best_parent(rpl_parent_t *, rpl_parent_t *);
 static rpl_dag_t *best_dag(rpl_dag_t *, rpl_dag_t *);
 static rpl_rank_t calculate_rank(rpl_parent_t *, rpl_rank_t);
@@ -62,6 +65,9 @@ static void update_metric_container(rpl_instance_t *);
 rpl_of_t rpl_mrhof = {
   reset,
   neighbor_link_callback,
+#if RPL_WITH_DAO_ACK
+  dao_ack_callback,
+#endif
   best_parent,
   best_dag,
   calculate_rank,
@@ -117,6 +123,25 @@ reset(rpl_dag_t *dag)
   PRINTF("RPL: Reset MRHOF\n");
 }
 
+#if RPL_WITH_DAO_ACK
+static void
+dao_ack_callback(rpl_parent_t *p, int status)
+{
+  if(status == RPL_DAO_ACK_UNABLE_TO_ADD_ROUTE_AT_ROOT) {
+    return;
+  }
+  /* here we need to handle failed DAO's and other stuff */
+  PRINTF("RPL: MRHOF - DAO ACK received with status: %d\n", status);
+  if(status >= RPL_DAO_ACK_UNABLE_TO_ACCEPT) {
+    /* punish the ETX as if this was 10 packets lost */
+    neighbor_link_callback(p, MAC_TX_OK, 10);
+  } else if(status == RPL_DAO_ACK_TIMEOUT) { /* timeout = no ack */
+    /* punish the total lack of ACK with a similar punishment */
+    neighbor_link_callback(p, MAC_TX_OK, 10);
+  }
+}
+#endif /* RPL_WITH_DAO_ACK */
+
 static void
 neighbor_link_callback(rpl_parent_t *p, int status, int numtx)
 {

core/net/rpl/rpl-nbr-policy.c

@@ -0,0 +1,258 @@
+/*
+ * Copyright (c) 2014-2015, Yanzi Networks AB.
+ * All rights reserved.
+ *
+ * Redistribution and use in source and binary forms, with or without
+ * modification, are permitted provided that the following conditions are met:
+ *    1. Redistributions of source code must retain the above copyright
+ *       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 copyright holders nor the
+ *       names of its contributors may be used to endorse or promote products
+ *       derived from this software without specific prior written permission.
+ *
+ * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
+ * "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
+ * LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
+ * FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
+ * COPYRIGHT HOLDERS BE LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL,
+ * SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT
+ * LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS OF
+ * USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND
+ * ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY,
+ * OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT
+ * OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF
+ * SUCH DAMAGE.
+ *
+ */
+/**
+ * \addtogroup uip6
+ * @{
+ */
+
+
+/**
+ * \file
+ *
+ * Default RPL NBR policy
+ * decides when to add a new discovered node to the nbr table from RPL.
+ *
+ * \author Joakim Eriksson <joakime@sics.se>
+ * Contributors: Niclas Finne <nfi@sics.se>, Oriol Piñol <oriol@yanzi.se>,
+ *
+ */
+
+#include "net/rpl/rpl-private.h"
+#include "net/nbr-table.h"
+#include "net/ipv6/uip-ds6-nbr.h"
+#include "net/ipv6/uip-ds6-route.h"
+
+#define DEBUG DEBUG_NONE
+#include "net/ip/uip-debug.h"
+
+/*
+ * Policy for neighbor adds
+ * - one node is locked (default route)
+ * - max X children (nexthops)
+ * - max Y "best parents"
+ * => at least MAX_NBRS - (Y + X + 1) free slots for other.
+ *
+ * NOTE: this policy assumes that all neighbors end up being IPv6
+ * neighbors and are not only MAC neighbors.
+ */
+#define MAX_CHILDREN (NBR_TABLE_MAX_NEIGHBORS - 2)
+#define UIP_IP_BUF       ((struct uip_ip_hdr *)&uip_buf[UIP_LLH_LEN])
+
+static int num_parents; /* any node that are possible parents */
+static int num_children;  /* all children that we have as nexthop */
+static int num_free;
+static linkaddr_t *worst_rank_nbr; /* the parent that has the worst rank */
+static rpl_rank_t worst_rank;
+/*---------------------------------------------------------------------------*/
+#if DEBUG == DEBUG_FULL
+/*
+ * This create a periodic call of the update_nbr function that will print
+ * useful debugging information when in DEBUG_FULL mode
+ */
+static void update_nbr(void);
+static struct ctimer periodic_timer;
+static int timer_init = 0;
+static void
+handle_periodic_timer(void *ptr)
+{
+  update_nbr();
+  ctimer_restart(&periodic_timer);
+}
+#endif /* DEBUG == DEBUG_FULL */
+/*---------------------------------------------------------------------------*/
+static void
+update_nbr(void)
+{
+  uip_ds6_nbr_t *nbr;
+  rpl_parent_t *parent;
+  int num_used;
+  int is_used;
+  rpl_rank_t rank;
+
+#if DEBUG == DEBUG_FULL
+  if(!timer_init) {
+    timer_init = 1;
+    ctimer_set(&periodic_timer, 60 * CLOCK_SECOND,
+               &handle_periodic_timer, NULL);
+  }
+#endif /* DEBUG == DEBUG_FULL */
+
+  worst_rank = 0;
+  worst_rank_nbr = NULL;
+  num_used = 0;
+  num_parents = 0;
+  num_children = 0;
+
+  nbr = nbr_table_head(ds6_neighbors);
+  while(nbr != NULL) {
+    linkaddr_t *lladdr = nbr_table_get_lladdr(ds6_neighbors, nbr);
+    is_used = 0;
+
+    /*
+     * Check if this neighbor is used as nexthop and therefor being a
+     * RPL child.
+    */
+
+    if(uip_ds6_route_is_nexthop(&nbr->ipaddr) != 0) {
+      is_used++;
+      num_children++;
+    }
+
+    parent = rpl_get_parent((uip_lladdr_t *)lladdr);
+    if(parent != NULL) {
+      num_parents++;
+
+      if(parent->dag != NULL && parent->dag->preferred_parent == parent) {
+        /*
+         * This is the preferred parent for the DAG and must not be removed
+         * Note: this assumes that only RPL adds default routes.
+         */
+      } else if(is_used == 0 && worst_rank < INFINITE_RANK &&
+                parent->rank > 0 &&
+                parent->dag != NULL &&
+                parent->dag->instance != NULL &&
+                (rank = parent->dag->instance->of->calculate_rank(parent, 0)) > worst_rank) {
+        /* This is the worst-rank neighbor - this is a good candidate for removal */
+        worst_rank = rank;
+        worst_rank_nbr = lladdr;
+      }
+      /* add to is_used after evaluation of is_used above */
+      is_used++;
+    }
+
+    if(is_used == 0) {
+      /* This neighbor is neither parent or child and can be safely removed */
+      worst_rank_nbr = lladdr;
+      worst_rank = INFINITE_RANK;
+    } else if(is_used > 1) {
+      PRINTF("NBR-POLICY: *** Neighbor is both child and candidate parent: ");
+      PRINTLLADDR((uip_lladdr_t *)lladdr);
+      PRINTF("\n");
+    }
+
+    nbr = nbr_table_next(ds6_neighbors, nbr);
+    num_used++;
+  }
+  /* how many more IP neighbors can be have? */
+  num_free = NBR_TABLE_MAX_NEIGHBORS - num_used;
+
+  PRINTF("NBR-POLICY: Free: %d, Children: %d, Parents: %d Routes: %d\n",
+	 num_free, num_children, num_parents, uip_ds6_route_num_routes());
+}
+/*---------------------------------------------------------------------------*/
+/* Called whenever we get a unicast DIS - e.g. someone that already
+   have this node in its table - since it is a unicast */
+const linkaddr_t *
+find_removable_dis(uip_ipaddr_t *from)
+{
+
+  update_nbr();
+  if(num_free > 0) {
+    /* there are free entries (e.g. unsused by RPL and ND6) but since it is
+       used by other modules we can not pick these entries for removal. */
+    PRINTF("Num-free > 0 = %d - Other for RPL/ND6 unused NBR entry exists .",
+           num_free);
+  }
+  if(num_children < MAX_CHILDREN) {
+    return worst_rank_nbr;
+  }
+  return NULL;
+}
+/*---------------------------------------------------------------------------*/
+const linkaddr_t *
+find_removable_dio(uip_ipaddr_t *from, rpl_dio_t *dio)
+{
+  rpl_instance_t *instance;
+  rpl_rank_t rank;
+
+  update_nbr();
+
+  instance = rpl_get_instance(dio->instance_id);
+  if(instance == NULL || instance->current_dag == NULL) {
+    PRINTF("Did not find instance id: %d\n", dio->instance_id);
+    return NULL;
+  }
+
+  /* Add the new neighbor only if it is better than the worst parent. */
+  rank = instance->of->calculate_rank(NULL, dio->rank);
+  if(rank < worst_rank - instance->min_hoprankinc / 2) {
+    /* Found *great* neighbor - add! */
+    PRINTF("Found better neighbor %d < %d - add to cache...\n",
+           rank, worst_rank);
+
+    return worst_rank_nbr;
+  }
+
+  PRINTF("Found worse neighbor with new %d and old %d - NOT add to cache.\n",
+         rank, worst_rank);
+  return NULL;
+}
+/*---------------------------------------------------------------------------*/
+const linkaddr_t *
+find_removable_dao(uip_ipaddr_t *from, rpl_instance_t *instance)
+{
+  int max = MAX_CHILDREN;
+  update_nbr();
+
+  if(instance != NULL) {
+    /* No need to reserve space for parents for RPL ROOT */
+    if(instance->current_dag->rank == ROOT_RANK(instance)) {
+      max = NBR_TABLE_MAX_NEIGHBORS;
+    }
+  }
+  
+  /* Check if this DAO sender is not yet neighbor and there is already too
+     many children. */
+  if(num_children >= max) {
+    PRINTF("Can not add another child - already at max.\n");
+    return NULL;
+  }
+  /* remove the worst ranked nbr */
+  return worst_rank_nbr;
+}
+/*---------------------------------------------------------------------------*/
+const linkaddr_t *
+rpl_nbr_policy_find_removable(nbr_table_reason_t reason,void * data)
+{
+  /* When we get the DIO/DAO/DIS we know that UIP contains the
+     incoming packet */
+  switch(reason) {
+  case NBR_TABLE_REASON_RPL_DIO:
+    return find_removable_dio(&UIP_IP_BUF->srcipaddr, data);
+  case NBR_TABLE_REASON_RPL_DAO:
+    return find_removable_dao(&UIP_IP_BUF->srcipaddr, data);
+  case NBR_TABLE_REASON_RPL_DIS:
+    return find_removable_dis(&UIP_IP_BUF->srcipaddr);
+  default:
+    return NULL;
+  }
+}
+/*---------------------------------------------------------------------------*/
+/** @}*/

core/net/rpl/rpl-of0.c

@@ -55,6 +55,9 @@ static void update_metric_container(rpl_instance_t *);
 rpl_of_t rpl_of0 = {
   reset,
   NULL,
+#if RPL_WITH_DAO_ACK
+  NULL,
+#endif
   best_parent,
   best_dag,
   calculate_rank,

core/net/rpl/rpl-private.h

@@ -90,6 +90,14 @@
 
 #define RPL_DAO_K_FLAG                   0x80 /* DAO ACK requested */
 #define RPL_DAO_D_FLAG                   0x40 /* DODAG ID present */
+
+#define RPL_DAO_ACK_UNCONDITIONAL_ACCEPT 0
+#define RPL_DAO_ACK_ACCEPT               1   /* 1 - 127 is OK but not good */
+#define RPL_DAO_ACK_UNABLE_TO_ACCEPT     128 /* >127 is fail */
+#define RPL_DAO_ACK_UNABLE_TO_ADD_ROUTE_AT_ROOT 255 /* root can not accept */
+
+#define RPL_DAO_ACK_TIMEOUT              -1
+
 /*---------------------------------------------------------------------------*/
 /* RPL IPv6 extension header option. */
 #define RPL_HDR_OPT_LEN			4
@@ -117,6 +125,18 @@
 #define RPL_NOPATH_REMOVAL_DELAY          60
 #endif /* RPL_CONF_NOPATH_REMOVAL_DELAY */
 
+#ifdef RPL_CONF_DAO_MAX_RETRANSMISSIONS
+#define RPL_DAO_MAX_RETRANSMISSIONS RPL_CONF_DAO_MAX_RETRANSMISSIONS
+#else
+#define RPL_DAO_MAX_RETRANSMISSIONS     5
+#endif /* RPL_CONF_DAO_MAX_RETRANSMISSIONS */
+
+#ifdef RPL_CONF_DAO_RETRANSMISSION_TIMEOUT
+#define RPL_DAO_RETRANSMISSION_TIMEOUT RPL_CONF_DAO_RETRANSMISSION_TIMEOUT
+#else
+#define RPL_DAO_RETRANSMISSION_TIMEOUT  (5 * CLOCK_SECOND)
+#endif /* RPL_CONF_DAO_RETRANSMISSION_TIMEOUT */
+
 /* Special value indicating immediate removal. */
 #define RPL_ZERO_LIFETIME               0
 
@@ -250,6 +270,8 @@ typedef struct rpl_stats rpl_stats_t;
 
 extern rpl_stats_t rpl_stats;
 #endif
+
+
 /*---------------------------------------------------------------------------*/
 /* RPL macros. */
 
@@ -268,8 +290,10 @@ void dis_output(uip_ipaddr_t *addr);
 void dio_output(rpl_instance_t *, uip_ipaddr_t *uc_addr);
 void dao_output(rpl_parent_t *, uint8_t lifetime);
 void dao_output_target(rpl_parent_t *, uip_ipaddr_t *, uint8_t lifetime);
-void dao_ack_output(rpl_instance_t *, uip_ipaddr_t *, uint8_t);
+void dao_ack_output(rpl_instance_t *, uip_ipaddr_t *, uint8_t, uint8_t);
 void rpl_icmp6_register_handlers(void);
+uip_ds6_nbr_t *rpl_icmp6_update_nbr_table(uip_ipaddr_t *from,
+                                          nbr_table_reason_t r, void *data);
 
 /* RPL logic functions. */
 void rpl_join_dag(uip_ipaddr_t *from, rpl_dio_t *dio);

core/net/rpl/rpl-timers.c

@@ -224,6 +224,8 @@ set_dao_lifetime_timer(rpl_instance_t *instance)
     expiration_time = (clock_time_t)instance->default_lifetime *
       (clock_time_t)instance->lifetime_unit *
       CLOCK_SECOND / 2;
+    /* make the time for the re registration be betwen 1/2 - 3/4 of lifetime */
+    expiration_time = expiration_time + (random_rand() % (expiration_time / 2));
     PRINTF("RPL: Scheduling DAO lifetime timer %u ticks in the future\n",
            (unsigned)expiration_time);
     ctimer_set(&instance->dao_lifetime_timer, expiration_time,

core/net/rpl/rpl.c

@@ -238,7 +238,8 @@ rpl_add_route(rpl_dag_t *dag, uip_ipaddr_t *prefix, int prefix_len,
 
   rep->state.dag = dag;
   rep->state.lifetime = RPL_LIFETIME(dag->instance, dag->instance->default_lifetime);
-  rep->state.learned_from = RPL_ROUTE_FROM_INTERNAL;
+  /* always clear state flags for the no-path received when adding/refreshing */
+  RPL_ROUTE_CLEAR_NOPATH_RECEIVED(rep);
 
   PRINTF("RPL: Added a route to ");
   PRINT6ADDR(prefix);

core/net/rpl/rpl.h

@@ -181,10 +181,19 @@ typedef struct rpl_instance rpl_instance_t;
  *  Updates the metric container for outgoing DIOs in a certain DAG.
  *  If the objective function of the DAG does not use metric containers,
  *  the function should set the object type to RPL_DAG_MC_NONE.
+ *
+ * dao_ack_callback(parent, status)
+ *
+ * A callback on the result of the DAO ACK. Similar to the neighbor link
+ * callback. A failed DAO_ACK (NACK) can be used for switching to another
+ * parent via changed link metric or other mechanisms.
  */
 struct rpl_of {
   void (*reset)(struct rpl_dag *);
   void (*neighbor_link_callback)(rpl_parent_t *, int, int);
+#if RPL_WITH_DAO_ACK
+  void (*dao_ack_callback)(rpl_parent_t *, int status);
+#endif
   rpl_parent_t *(*best_parent)(rpl_parent_t *, rpl_parent_t *);
   rpl_dag_t *(*best_dag)(rpl_dag_t *, rpl_dag_t *);
   rpl_rank_t (*calculate_rank)(rpl_parent_t *, rpl_rank_t);
@@ -216,6 +225,11 @@ struct rpl_instance {
   uint8_t dio_intcurrent;
   uint8_t dio_send; /* for keeping track of which mode the timer is in */
   uint8_t dio_counter;
+  /* my last registered DAO that I might be waiting for ACK on */
+  uint8_t my_dao_seqno;
+  uint8_t my_dao_transmissions;
+  /* this is intended to keep track if this instance have a route downward */
+  uint8_t has_downward_route;
   rpl_rank_t max_rankinc;
   rpl_rank_t min_hoprankinc;
   uint16_t lifetime_unit; /* lifetime in seconds = l_u * d_l */
@@ -233,6 +247,9 @@ struct rpl_instance {
   struct ctimer dao_lifetime_timer;
   struct ctimer unicast_dio_timer;
   rpl_parent_t *unicast_dio_target;
+#if RPL_WITH_DAO_ACK
+  struct ctimer dao_retransmit_timer;
+#endif /* RPL_WITH_DAO_ACK */
 };
 
 /*---------------------------------------------------------------------------*/
@@ -293,5 +310,13 @@ enum rpl_mode rpl_set_mode(enum rpl_mode mode);
  */
 enum rpl_mode rpl_get_mode(void);
 
+
+/**
+ * Get the RPL's best guess on if we have downward route or not.
+ *
+ * \retval 1 if we have a downward route from RPL Root, 0 if not.
+ */
+int rpl_has_downward_route(void);
+
 /*---------------------------------------------------------------------------*/
 #endif /* RPL_H */

examples/er-rest-example/project-conf.h

@@ -60,6 +60,9 @@
 #undef NETSTACK_CONF_RDC
 #define NETSTACK_CONF_RDC              nullrdc_driver
 
+#undef RPL_CONF_MAX_DAG_PER_INSTANCE
+#define RPL_CONF_MAX_DAG_PER_INSTANCE     1
+
 /* Disabling TCP on CoAP nodes. */
 #undef UIP_CONF_TCP
 #define UIP_CONF_TCP                   0
@@ -93,6 +96,13 @@
 #undef COAP_PROXY_OPTION_PROCESSING
 #define COAP_PROXY_OPTION_PROCESSING   0
 
+/* Turn of DAO ACK to make code smaller */
+#undef RPL_CONF_WITH_DAO_ACK
+#define RPL_CONF_WITH_DAO_ACK          0
+
+#undef RPL_CONF_OF
+#define RPL_CONF_OF                    rpl_of0
+
 /* Enable client-side support for COAP observe */
 #define COAP_OBSERVE_CLIENT 1
 #endif /* __PROJECT_ERBIUM_CONF_H__ */

examples/ipv6/rpl-collect/Makefile

@@ -3,6 +3,8 @@ APPS = powertrace collect-view
 CONTIKI_PROJECT = udp-sender udp-sink
 PROJECT_SOURCEFILES += collect-common.c
 
+CFLAGS += -DPROJECT_CONF_H=\"project-conf.h\"
+
 ifdef PERIOD
 CFLAGS=-DPERIOD=$(PERIOD)
 endif

examples/ipv6/rpl-collect/project-conf.h

@@ -0,0 +1,59 @@
+/*
+ * Copyright (c) 2015, Swedish Institute of Computer Science.
+ * All rights reserved.
+ *
+ * Redistribution and use in source and binary forms, with or without
+ * modification, are permitted provided that the following conditions
+ * are met:
+ * 1. Redistributions of source code must retain the above copyright
+ *    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 Institute nor the names of its contributors
+ *    may be used to endorse or promote products derived from this software
+ *    without specific prior written permission.
+ *
+ * THIS SOFTWARE IS PROVIDED BY THE INSTITUTE AND CONTRIBUTORS ``AS IS'' AND
+ * ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE
+ * IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE
+ * ARE DISCLAIMED.  IN NO EVENT SHALL THE INSTITUTE OR CONTRIBUTORS BE LIABLE
+ * FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL
+ * DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS
+ * OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION)
+ * HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
+ * LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY
+ * OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF
+ * SUCH DAMAGE.
+ */
+
+#ifndef PROJECT_CONF_H_
+#define PROJECT_CONF_H_
+
+#undef NBR_TABLE_CONF_MAX_NEIGHBORS
+#undef UIP_CONF_MAX_ROUTES
+
+#ifdef TEST_MORE_ROUTES
+/* configure number of neighbors and routes */
+#define NBR_TABLE_CONF_MAX_NEIGHBORS     10
+#define UIP_CONF_MAX_ROUTES   30
+#else
+/* configure number of neighbors and routes */
+#define NBR_TABLE_CONF_MAX_NEIGHBORS     10
+#define UIP_CONF_MAX_ROUTES   10
+#endif /* TEST_MORE_ROUTES */
+
+#undef NETSTACK_CONF_RDC
+#define NETSTACK_CONF_RDC     nullrdc_driver
+#undef NULLRDC_CONF_802154_AUTOACK
+#define NULLRDC_CONF_802154_AUTOACK       1
+
+/* Define as minutes */
+#define RPL_CONF_DEFAULT_LIFETIME_UNIT   60
+
+/* 10 minutes lifetime of routes */
+#define RPL_CONF_DEFAULT_LIFETIME        10
+
+#define RPL_CONF_DEFAULT_ROUTE_INFINITE_LIFETIME 1
+
+#endif /* PROJECT_CONF_H_ */

examples/ipv6/rpl-udp/Makefile

@@ -1,7 +1,8 @@
 all: udp-client udp-server
-APPS=servreg-hack
 CONTIKI=../../..
 
+CFLAGS += -DPROJECT_CONF_H=\"project-conf.h\"
+
 ifdef WITH_COMPOWER
 APPS+=powertrace
 CFLAGS+= -DCONTIKIMAC_CONF_COMPOWER=1 -DWITH_COMPOWER=1 -DQUEUEBUF_CONF_NUM=4

examples/ipv6/rpl-udp/project-conf.h

@@ -0,0 +1,59 @@
+/*
+ * Copyright (c) 2015, Swedish Institute of Computer Science.
+ * All rights reserved.
+ *
+ * Redistribution and use in source and binary forms, with or without
+ * modification, are permitted provided that the following conditions
+ * are met:
+ * 1. Redistributions of source code must retain the above copyright
+ *    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 Institute nor the names of its contributors
+ *    may be used to endorse or promote products derived from this software
+ *    without specific prior written permission.
+ *
+ * THIS SOFTWARE IS PROVIDED BY THE INSTITUTE AND CONTRIBUTORS ``AS IS'' AND
+ * ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE
+ * IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE
+ * ARE DISCLAIMED.  IN NO EVENT SHALL THE INSTITUTE OR CONTRIBUTORS BE LIABLE
+ * FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL
+ * DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS
+ * OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION)
+ * HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
+ * LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY
+ * OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF
+ * SUCH DAMAGE.
+ */
+
+#ifndef PROJECT_CONF_H_
+#define PROJECT_CONF_H_
+
+#undef NBR_TABLE_CONF_MAX_NEIGHBORS
+#undef UIP_CONF_MAX_ROUTES
+
+#ifdef TEST_MORE_ROUTES
+/* configure number of neighbors and routes */
+#define NBR_TABLE_CONF_MAX_NEIGHBORS     10
+#define UIP_CONF_MAX_ROUTES   30
+#else
+/* configure number of neighbors and routes */
+#define NBR_TABLE_CONF_MAX_NEIGHBORS     10
+#define UIP_CONF_MAX_ROUTES   10
+#endif /* TEST_MORE_ROUTES */
+
+#undef NETSTACK_CONF_RDC
+#define NETSTACK_CONF_RDC     nullrdc_driver
+#undef NULLRDC_CONF_802154_AUTOACK
+#define NULLRDC_CONF_802154_AUTOACK       1
+
+/* Define as minutes */
+#define RPL_CONF_DEFAULT_LIFETIME_UNIT   60
+
+/* 10 minutes lifetime of routes */
+#define RPL_CONF_DEFAULT_LIFETIME        10
+
+#define RPL_CONF_DEFAULT_ROUTE_INFINITE_LIFETIME 1
+
+#endif /* PROJECT_CONF_H_ */

examples/ipv6/rpl-udp/rpl-udp-scale-wismote.csc

@@ -0,0 +1,721 @@
+<?xml version="1.0" encoding="UTF-8"?>
+<simconf>
+  <project EXPORT="discard">[APPS_DIR]/mrm</project>
+  <project EXPORT="discard">[APPS_DIR]/mspsim</project>
+  <project EXPORT="discard">[APPS_DIR]/avrora</project>
+  <project EXPORT="discard">[APPS_DIR]/serial_socket</project>
+  <project EXPORT="discard">[APPS_DIR]/collect-view</project>
+  <project EXPORT="discard">[APPS_DIR]/powertracker</project>
+  <simulation>
+    <title>RPL up and downstream scaleability test network using IPv6 and RPL</title>
+    <randomseed>generated</randomseed>
+    <motedelay_us>5000000</motedelay_us>
+    <radiomedium>
+      org.contikios.cooja.radiomediums.UDGM
+      <transmitting_range>150.0</transmitting_range>
+      <interference_range>150.0</interference_range>
+      <success_ratio_tx>1.0</success_ratio_tx>
+      <success_ratio_rx>1.0</success_ratio_rx>
+    </radiomedium>
+    <events>
+      <logoutput>40000</logoutput>
+    </events>
+    <motetype>
+      org.contikios.cooja.mspmote.WismoteMoteType
+      <identifier>sky1</identifier>
+      <description>WisMote Type #sky1</description>
+      <source EXPORT="discard">[CONTIKI_DIR]/examples/ipv6/rpl-udp/udp-server.c</source>
+      <commands EXPORT="discard">make SERVER_REPLY=1 clean udp-server.wismote TARGET=wismote DEFINES=TEST_MORE_ROUTES=1</commands>
+      <firmware EXPORT="copy">[CONTIKI_DIR]/examples/ipv6/rpl-udp/udp-server.wismote</firmware>
+      <moteinterface>org.contikios.cooja.interfaces.Position</moteinterface>
+      <moteinterface>org.contikios.cooja.interfaces.RimeAddress</moteinterface>
+      <moteinterface>org.contikios.cooja.interfaces.IPAddress</moteinterface>
+      <moteinterface>org.contikios.cooja.interfaces.Mote2MoteRelations</moteinterface>
+      <moteinterface>org.contikios.cooja.interfaces.MoteAttributes</moteinterface>
+      <moteinterface>org.contikios.cooja.mspmote.interfaces.MspClock</moteinterface>
+      <moteinterface>org.contikios.cooja.mspmote.interfaces.MspMoteID</moteinterface>
+      <moteinterface>org.contikios.cooja.mspmote.interfaces.MspButton</moteinterface>
+      <moteinterface>org.contikios.cooja.mspmote.interfaces.Msp802154Radio</moteinterface>
+      <moteinterface>org.contikios.cooja.mspmote.interfaces.MspDefaultSerial</moteinterface>
+      <moteinterface>org.contikios.cooja.mspmote.interfaces.MspLED</moteinterface>
+      <moteinterface>org.contikios.cooja.mspmote.interfaces.MspDebugOutput</moteinterface>
+    </motetype>
+    <motetype>
+      org.contikios.cooja.mspmote.WismoteMoteType
+      <identifier>sky2</identifier>
+      <description>WisMote Type #sky2</description>
+      <source EXPORT="discard">[CONTIKI_DIR]/examples/ipv6/rpl-udp/udp-client.c</source>
+      <commands EXPORT="discard">make SERVER_REPLY=1 clean udp-client.wismote TARGET=wismote</commands>
+      <firmware EXPORT="copy">[CONTIKI_DIR]/examples/ipv6/rpl-udp/udp-client.wismote</firmware>
+      <moteinterface>org.contikios.cooja.interfaces.Position</moteinterface>
+      <moteinterface>org.contikios.cooja.interfaces.RimeAddress</moteinterface>
+      <moteinterface>org.contikios.cooja.interfaces.IPAddress</moteinterface>
+      <moteinterface>org.contikios.cooja.interfaces.Mote2MoteRelations</moteinterface>
+      <moteinterface>org.contikios.cooja.interfaces.MoteAttributes</moteinterface>
+      <moteinterface>org.contikios.cooja.mspmote.interfaces.MspClock</moteinterface>
+      <moteinterface>org.contikios.cooja.mspmote.interfaces.MspMoteID</moteinterface>
+      <moteinterface>org.contikios.cooja.mspmote.interfaces.MspButton</moteinterface>
+      <moteinterface>org.contikios.cooja.mspmote.interfaces.Msp802154Radio</moteinterface>
+      <moteinterface>org.contikios.cooja.mspmote.interfaces.MspDefaultSerial</moteinterface>
+      <moteinterface>org.contikios.cooja.mspmote.interfaces.MspLED</moteinterface>
+      <moteinterface>org.contikios.cooja.mspmote.interfaces.MspDebugOutput</moteinterface>
+    </motetype>
+    <mote>
+      <breakpoints />
+      <interface_config>
+        org.contikios.cooja.interfaces.Position
+        <x>48.435974731198804</x>
+        <y>-66.16503914182063</y>
+        <z>0.0</z>
+      </interface_config>
+      <interface_config>
+        org.contikios.cooja.mspmote.interfaces.MspClock
+        <deviation>1.0</deviation>
+      </interface_config>
+      <interface_config>
+        org.contikios.cooja.mspmote.interfaces.MspMoteID
+        <id>1</id>
+      </interface_config>
+      <motetype_identifier>sky1</motetype_identifier>
+    </mote>
+    <mote>
+      <breakpoints />
+      <interface_config>
+        org.contikios.cooja.interfaces.Position
+        <x>-65.3176930733124</x>
+        <y>17.4304162608286</y>
+        <z>0.0</z>
+      </interface_config>
+      <interface_config>
+        org.contikios.cooja.mspmote.interfaces.MspClock
+        <deviation>1.0</deviation>
+      </interface_config>
+      <interface_config>
+        org.contikios.cooja.mspmote.interfaces.MspMoteID
+        <id>2</id>
+      </interface_config>
+      <motetype_identifier>sky2</motetype_identifier>
+    </mote>
+    <mote>
+      <breakpoints />
+      <interface_config>
+        org.contikios.cooja.interfaces.Position
+        <x>127.9689727848476</x>
+        <y>91.71883780610729</y>
+        <z>0.0</z>
+      </interface_config>
+      <interface_config>
+        org.contikios.cooja.mspmote.interfaces.MspClock
+        <deviation>1.0</deviation>
+      </interface_config>
+      <interface_config>
+        org.contikios.cooja.mspmote.interfaces.MspMoteID
+        <id>3</id>
+      </interface_config>
+      <motetype_identifier>sky2</motetype_identifier>
+    </mote>
+    <mote>
+      <breakpoints />
+      <interface_config>
+        org.contikios.cooja.interfaces.Position
+        <x>154.92605604103275</x>
+        <y>40.97896551774433</y>
+        <z>0.0</z>
+      </interface_config>
+      <interface_config>
+        org.contikios.cooja.mspmote.interfaces.MspClock
+        <deviation>1.0</deviation>
+      </interface_config>
+      <interface_config>
+        org.contikios.cooja.mspmote.interfaces.MspMoteID
+        <id>4</id>
+      </interface_config>
+      <motetype_identifier>sky2</motetype_identifier>
+    </mote>
+    <mote>
+      <breakpoints />
+      <interface_config>
+        org.contikios.cooja.interfaces.Position
+        <x>47.34887596588397</x>
+        <y>-30.341495695501195</y>
+        <z>0.0</z>
+      </interface_config>
+      <interface_config>
+        org.contikios.cooja.mspmote.interfaces.MspClock
+        <deviation>1.0</deviation>
+      </interface_config>
+      <interface_config>
+        org.contikios.cooja.mspmote.interfaces.MspMoteID
+        <id>5</id>
+      </interface_config>
+      <motetype_identifier>sky2</motetype_identifier>
+    </mote>
+    <mote>
+      <breakpoints />
+      <interface_config>
+        org.contikios.cooja.interfaces.Position
+        <x>47.13486576528276</x>
+        <y>32.944481932122315</y>
+        <z>0.0</z>
+      </interface_config>
+      <interface_config>
+        org.contikios.cooja.mspmote.interfaces.MspClock
+        <deviation>1.0</deviation>
+      </interface_config>
+      <interface_config>
+        org.contikios.cooja.mspmote.interfaces.MspMoteID
+        <id>6</id>
+      </interface_config>
+      <motetype_identifier>sky2</motetype_identifier>
+    </mote>
+    <mote>
+      <breakpoints />
+      <interface_config>
+        org.contikios.cooja.interfaces.Position
+        <x>-11.42091423859419</x>
+        <y>17.879870626121914</y>
+        <z>0.0</z>
+      </interface_config>
+      <interface_config>
+        org.contikios.cooja.mspmote.interfaces.MspClock
+        <deviation>1.0</deviation>
+      </interface_config>
+      <interface_config>
+        org.contikios.cooja.mspmote.interfaces.MspMoteID
+        <id>7</id>
+      </interface_config>
+      <motetype_identifier>sky2</motetype_identifier>
+    </mote>
+    <mote>
+      <breakpoints />
+      <interface_config>
+        org.contikios.cooja.interfaces.Position
+        <x>118.92746659954325</x>
+        <y>57.05973076244069</y>
+        <z>0.0</z>
+      </interface_config>
+      <interface_config>
+        org.contikios.cooja.mspmote.interfaces.MspClock
+        <deviation>1.0</deviation>
+      </interface_config>
+      <interface_config>
+        org.contikios.cooja.mspmote.interfaces.MspMoteID
+        <id>8</id>
+      </interface_config>
+      <motetype_identifier>sky2</motetype_identifier>
+    </mote>
+    <mote>
+      <breakpoints />
+      <interface_config>
+        org.contikios.cooja.interfaces.Position
+        <x>56.66768196114595</x>
+        <y>74.35652008990945</y>
+        <z>0.0</z>
+      </interface_config>
+      <interface_config>
+        org.contikios.cooja.mspmote.interfaces.MspClock
+        <deviation>1.0</deviation>
+      </interface_config>
+      <interface_config>
+        org.contikios.cooja.mspmote.interfaces.MspMoteID
+        <id>9</id>
+      </interface_config>
+      <motetype_identifier>sky2</motetype_identifier>
+    </mote>
+    <mote>
+      <breakpoints />
+      <interface_config>
+        org.contikios.cooja.interfaces.Position
+        <x>16.45706316609417</x>
+        <y>23.9075414163248</y>
+        <z>0.0</z>
+      </interface_config>
+      <interface_config>
+        org.contikios.cooja.mspmote.interfaces.MspClock
+        <deviation>1.0</deviation>
+      </interface_config>
+      <interface_config>
+        org.contikios.cooja.mspmote.interfaces.MspMoteID
+        <id>10</id>
+      </interface_config>
+      <motetype_identifier>sky2</motetype_identifier>
+    </mote>
+    <mote>
+      <breakpoints />
+      <interface_config>
+        org.contikios.cooja.interfaces.Position
+        <x>-13.423161364506493</x>
+        <y>-38.483037144768275</y>
+        <z>0.0</z>
+      </interface_config>
+      <interface_config>
+        org.contikios.cooja.mspmote.interfaces.MspClock
+        <deviation>1.0</deviation>
+      </interface_config>
+      <interface_config>
+        org.contikios.cooja.mspmote.interfaces.MspMoteID
+        <id>11</id>
+      </interface_config>
+      <motetype_identifier>sky2</motetype_identifier>
+    </mote>
+    <mote>
+      <breakpoints />
+      <interface_config>
+        org.contikios.cooja.interfaces.Position
+        <x>-9.034961217472201</x>
+        <y>44.411389162165406</y>
+        <z>0.0</z>
+      </interface_config>
+      <interface_config>
+        org.contikios.cooja.mspmote.interfaces.MspClock
+        <deviation>1.0</deviation>
+      </interface_config>
+      <interface_config>
+        org.contikios.cooja.mspmote.interfaces.MspMoteID
+        <id>12</id>
+      </interface_config>
+      <motetype_identifier>sky2</motetype_identifier>
+    </mote>
+    <mote>
+      <breakpoints />
+      <interface_config>
+        org.contikios.cooja.interfaces.Position
+        <x>35.60049910164592</x>
+        <y>87.95154356223047</y>
+        <z>0.0</z>
+      </interface_config>
+      <interface_config>
+        org.contikios.cooja.mspmote.interfaces.MspClock
+        <deviation>1.0</deviation>
+      </interface_config>
+      <interface_config>
+        org.contikios.cooja.mspmote.interfaces.MspMoteID
+        <id>13</id>
+      </interface_config>
+      <motetype_identifier>sky2</motetype_identifier>
+    </mote>
+    <mote>
+      <breakpoints />
+      <interface_config>
+        org.contikios.cooja.interfaces.Position
+        <x>66.93880603404335</x>
+        <y>-42.39683727590697</y>
+        <z>0.0</z>
+      </interface_config>
+      <interface_config>
+        org.contikios.cooja.mspmote.interfaces.MspClock
+        <deviation>1.0</deviation>
+      </interface_config>
+      <interface_config>
+        org.contikios.cooja.mspmote.interfaces.MspMoteID
+        <id>14</id>
+      </interface_config>
+      <motetype_identifier>sky2</motetype_identifier>
+    </mote>
+    <mote>
+      <breakpoints />
+      <interface_config>
+        org.contikios.cooja.interfaces.Position
+        <x>94.81678343873172</x>
+        <y>26.921376811426246</y>
+        <z>0.0</z>
+      </interface_config>
+      <interface_config>
+        org.contikios.cooja.mspmote.interfaces.MspClock
+        <deviation>1.0</deviation>
+      </interface_config>
+      <interface_config>
+        org.contikios.cooja.mspmote.interfaces.MspMoteID
+        <id>15</id>
+      </interface_config>
+      <motetype_identifier>sky2</motetype_identifier>
+    </mote>
+    <mote>
+      <breakpoints />
+      <interface_config>
+        org.contikios.cooja.interfaces.Position
+        <x>-49.449656689283934</x>
+        <y>57.924813144367945</y>
+        <z>0.0</z>
+      </interface_config>
+      <interface_config>
+        org.contikios.cooja.mspmote.interfaces.MspClock
+        <deviation>1.0</deviation>
+      </interface_config>
+      <interface_config>
+        org.contikios.cooja.mspmote.interfaces.MspMoteID
+        <id>16</id>
+      </interface_config>
+      <motetype_identifier>sky2</motetype_identifier>
+    </mote>
+    <mote>
+      <breakpoints />
+      <interface_config>
+        org.contikios.cooja.interfaces.Position
+        <x>-34.02467970185502</x>
+        <y>-24.313824905298304</y>
+        <z>0.0</z>
+      </interface_config>
+      <interface_config>
+        org.contikios.cooja.mspmote.interfaces.MspClock
+        <deviation>1.0</deviation>
+      </interface_config>
+      <interface_config>
+        org.contikios.cooja.mspmote.interfaces.MspMoteID
+        <id>17</id>
+      </interface_config>
+      <motetype_identifier>sky2</motetype_identifier>
+    </mote>
+    <mote>
+      <breakpoints />
+      <interface_config>
+        org.contikios.cooja.interfaces.Position
+        <x>-28.750467760427494</x>
+        <y>48.01822457713635</y>
+        <z>0.0</z>
+      </interface_config>
+      <interface_config>
+        org.contikios.cooja.mspmote.interfaces.MspClock
+        <deviation>1.0</deviation>
+      </interface_config>
+      <interface_config>
+        org.contikios.cooja.mspmote.interfaces.MspMoteID
+        <id>18</id>
+      </interface_config>
+      <motetype_identifier>sky2</motetype_identifier>
+    </mote>
+    <mote>
+      <breakpoints />
+      <interface_config>
+        org.contikios.cooja.interfaces.Position
+        <x>124.95513738974614</x>
+        <y>20.140247172447996</y>
+        <z>0.0</z>
+      </interface_config>
+      <interface_config>
+        org.contikios.cooja.mspmote.interfaces.MspClock
+        <deviation>1.0</deviation>
+      </interface_config>
+      <interface_config>
+        org.contikios.cooja.mspmote.interfaces.MspMoteID
+        <id>19</id>
+      </interface_config>
+      <motetype_identifier>sky2</motetype_identifier>
+    </mote>
+    <mote>
+      <breakpoints />
+      <interface_config>
+        org.contikios.cooja.interfaces.Position
+        <x>14.85247487703553</x>
+        <y>-34.478542892943686</y>
+        <z>0.0</z>
+      </interface_config>
+      <interface_config>
+        org.contikios.cooja.mspmote.interfaces.MspClock
+        <deviation>1.0</deviation>
+      </interface_config>
+      <interface_config>
+        org.contikios.cooja.mspmote.interfaces.MspMoteID
+        <id>20</id>
+      </interface_config>
+      <motetype_identifier>sky2</motetype_identifier>
+    </mote>
+    <mote>
+      <breakpoints />
+      <interface_config>
+        org.contikios.cooja.interfaces.Position
+        <x>154.43072661267115</x>
+        <y>-3.279765376986134</y>
+        <z>0.0</z>
+      </interface_config>
+      <interface_config>
+        org.contikios.cooja.mspmote.interfaces.MspClock
+        <deviation>1.0</deviation>
+      </interface_config>
+      <interface_config>
+        org.contikios.cooja.mspmote.interfaces.MspMoteID
+        <id>21</id>
+      </interface_config>
+      <motetype_identifier>sky2</motetype_identifier>
+    </mote>
+    <mote>
+      <breakpoints />
+      <interface_config>
+        org.contikios.cooja.interfaces.Position
+        <x>99.90960713878738</x>
+        <y>-21.76043658444847</y>
+        <z>0.0</z>
+      </interface_config>
+      <interface_config>
+        org.contikios.cooja.mspmote.interfaces.MspClock
+        <deviation>1.0</deviation>
+      </interface_config>
+      <interface_config>
+        org.contikios.cooja.mspmote.interfaces.MspMoteID
+        <id>22</id>
+      </interface_config>
+      <motetype_identifier>sky2</motetype_identifier>
+    </mote>
+    <mote>
+      <breakpoints />
+      <interface_config>
+        org.contikios.cooja.interfaces.Position
+        <x>88.4612185198951</x>
+        <y>-49.763990463932714</y>
+        <z>0.0</z>
+      </interface_config>
+      <interface_config>
+        org.contikios.cooja.mspmote.interfaces.MspClock
+        <deviation>1.0</deviation>
+      </interface_config>
+      <interface_config>
+        org.contikios.cooja.mspmote.interfaces.MspMoteID
+        <id>23</id>
+      </interface_config>
+      <motetype_identifier>sky2</motetype_identifier>
+    </mote>
+    <mote>
+      <breakpoints />
+      <interface_config>
+        org.contikios.cooja.interfaces.Position
+        <x>24.745110502623138</x>
+        <y>-1.7100594420374744</y>
+        <z>0.0</z>
+      </interface_config>
+      <interface_config>
+        org.contikios.cooja.mspmote.interfaces.MspClock
+        <deviation>1.0</deviation>
+      </interface_config>
+      <interface_config>
+        org.contikios.cooja.mspmote.interfaces.MspMoteID
+        <id>24</id>
+      </interface_config>
+      <motetype_identifier>sky2</motetype_identifier>
+    </mote>
+    <mote>
+      <breakpoints />
+      <interface_config>
+        org.contikios.cooja.interfaces.Position
+        <x>94.06332458995635</x>
+        <y>-2.4635182908128352</y>
+        <z>0.0</z>
+      </interface_config>
+      <interface_config>
+        org.contikios.cooja.mspmote.interfaces.MspClock
+        <deviation>1.0</deviation>
+      </interface_config>
+      <interface_config>
+        org.contikios.cooja.mspmote.interfaces.MspMoteID
+        <id>25</id>
+      </interface_config>
+      <motetype_identifier>sky2</motetype_identifier>
+    </mote>
+    <mote>
+      <breakpoints />
+      <interface_config>
+        org.contikios.cooja.interfaces.Position
+        <x>-4.639784599615941</x>
+        <y>-10.849236218849724</y>
+        <z>0.0</z>
+      </interface_config>
+      <interface_config>
+        org.contikios.cooja.mspmote.interfaces.MspClock
+        <deviation>1.0</deviation>
+      </interface_config>
+      <interface_config>
+        org.contikios.cooja.mspmote.interfaces.MspMoteID
+        <id>26</id>
+      </interface_config>
+      <motetype_identifier>sky2</motetype_identifier>
+    </mote>
+    <mote>
+      <breakpoints />
+      <interface_config>
+        org.contikios.cooja.interfaces.Position
+        <x>2.4901685804620115</x>
+        <y>-60.89843789583528</y>
+        <z>0.0</z>
+      </interface_config>
+      <interface_config>
+        org.contikios.cooja.mspmote.interfaces.MspClock
+        <deviation>1.0</deviation>
+      </interface_config>
+      <interface_config>
+        org.contikios.cooja.mspmote.interfaces.MspMoteID
+        <id>27</id>
+      </interface_config>
+      <motetype_identifier>sky2</motetype_identifier>
+    </mote>
+    <mote>
+      <breakpoints />
+      <interface_config>
+        org.contikios.cooja.interfaces.Position
+        <x>100.55144245441083</x>
+        <y>97.41861446767646</y>
+        <z>0.0</z>
+      </interface_config>
+      <interface_config>
+        org.contikios.cooja.mspmote.interfaces.MspClock
+        <deviation>1.0</deviation>
+      </interface_config>
+      <interface_config>
+        org.contikios.cooja.mspmote.interfaces.MspMoteID
+        <id>28</id>
+      </interface_config>
+      <motetype_identifier>sky2</motetype_identifier>
+    </mote>
+    <mote>
+      <breakpoints />
+      <interface_config>
+        org.contikios.cooja.interfaces.Position
+        <x>-12.355761328741393</x>
+        <y>82.72616691655692</y>
+        <z>0.0</z>
+      </interface_config>
+      <interface_config>
+        org.contikios.cooja.mspmote.interfaces.MspClock
+        <deviation>1.0</deviation>
+      </interface_config>
+      <interface_config>
+        org.contikios.cooja.mspmote.interfaces.MspMoteID
+        <id>29</id>
+      </interface_config>
+      <motetype_identifier>sky2</motetype_identifier>
+    </mote>
+    <mote>
+      <breakpoints />
+      <interface_config>
+        org.contikios.cooja.interfaces.Position
+        <x>57.79962925723111</x>
+        <y>0.6828700499064966</y>
+        <z>0.0</z>
+      </interface_config>
+      <interface_config>
+        org.contikios.cooja.mspmote.interfaces.MspClock
+        <deviation>1.0</deviation>
+      </interface_config>
+      <interface_config>
+        org.contikios.cooja.mspmote.interfaces.MspMoteID
+        <id>30</id>
+      </interface_config>
+      <motetype_identifier>sky2</motetype_identifier>
+    </mote>
+    <mote>
+      <breakpoints />
+      <interface_config>
+        org.contikios.cooja.interfaces.Position
+        <x>76.5550413097159</x>
+        <y>77.33875258624342</y>
+        <z>0.0</z>
+      </interface_config>
+      <interface_config>
+        org.contikios.cooja.mspmote.interfaces.MspClock
+        <deviation>1.0</deviation>
+      </interface_config>
+      <interface_config>
+        org.contikios.cooja.mspmote.interfaces.MspMoteID
+        <id>31</id>
+      </interface_config>
+      <motetype_identifier>sky2</motetype_identifier>
+    </mote>
+  </simulation>
+  <plugin>
+    org.contikios.cooja.plugins.SimControl
+    <width>289</width>
+    <z>4</z>
+    <height>184</height>
+    <location_x>31</location_x>
+    <location_y>41</location_y>
+  </plugin>
+  <plugin>
+    org.contikios.cooja.plugins.Visualizer
+    <plugin_config>
+      <moterelations>true</moterelations>
+      <skin>org.contikios.cooja.plugins.skins.IDVisualizerSkin</skin>
+      <skin>org.contikios.cooja.plugins.skins.UDGMVisualizerSkin</skin>
+      <skin>org.contikios.cooja.plugins.skins.AttributeVisualizerSkin</skin>
+      <viewport>2.349818846983307 0.0 0.0 2.349818846983307 187.19773526533345 190.95275613586946</viewport>
+    </plugin_config>
+    <width>659</width>
+    <z>2</z>
+    <height>622</height>
+    <location_x>296</location_x>
+    <location_y>11</location_y>
+  </plugin>
+  <plugin>
+    org.contikios.cooja.plugins.LogListener
+    <plugin_config>
+      <filter>ID:22.*DAO</filter>
+      <formatted_time />
+      <coloring />
+    </plugin_config>
+    <width>937</width>
+    <z>3</z>
+    <height>442</height>
+    <location_x>20</location_x>
+    <location_y>297</location_y>
+  </plugin>
+  <plugin>
+    org.contikios.cooja.plugins.ScriptRunner
+    <plugin_config>
+      <script>TIMEOUT(12000000, log.log("Total PRR " + totalPRR + "\n"));
+packetsReceived= new Array();
+packetsSent = new Array();
+serverID = 1;
+nodeCount = 31;
+totalPRR = 0;
+
+for(i = 0; i &lt;= nodeCount; i++) {
+	packetsReceived[i] = 0;
+	packetsSent[i] = 0;
+}
+
+while(1) {
+	YIELD();
+
+	msgArray = msg.split(' ');
+	if(msgArray[0].equals("#A")) {
+		if(msgArray[1].charAt(0) == 'r') {
+			// Received packet
+			senderID = id;
+            arr2 = msgArray[1].split(',')[0].slice(2).split('/');
+            recv = parseInt(arr2[0]);
+            sent = parseInt(arr2[1]);
+            log.log("Sent:" + sent + " Recv:" + recv + "\n");
+            packetsSent[senderID] = sent;
+			packetsReceived[senderID] = recv;
+
+			log.log("SenderID " + senderID + " PRR " + packetsReceived[senderID] / packetsSent[senderID] + "\n");
+			totalReceived = totalSent = 0;
+			for(i = serverID + 1; i &lt;= nodeCount; i++) {
+				totalReceived += packetsReceived[i];
+				totalSent += packetsSent[i];
+			}
+			totalPRR = totalReceived / totalSent;
+			log.log("Total PRR " + totalPRR + " recv " + totalReceived + " sent " + totalSent + "\n");
+		}
+	}
+}</script>
+      <active>true</active>
+    </plugin_config>
+    <width>600</width>
+    <z>5</z>
+    <height>700</height>
+    <location_x>946</location_x>
+    <location_y>6</location_y>
+  </plugin>
+  <plugin>
+    org.contikios.cooja.plugins.MoteInterfaceViewer
+    <mote_arg>3</mote_arg>
+    <plugin_config>
+      <interface>Position</interface>
+      <scrollpos>0,0</scrollpos>
+    </plugin_config>
+    <width>350</width>
+    <z>6</z>
+    <height>300</height>
+    <location_x>976</location_x>
+    <location_y>36</location_y>
+  </plugin>
+</simconf>
+

examples/ipv6/rpl-udp/rpl-udp-scale.csc

@@ -0,0 +1,729 @@
+<?xml version="1.0" encoding="UTF-8"?>
+<simconf>
+  <project EXPORT="discard">[APPS_DIR]/mrm</project>
+  <project EXPORT="discard">[APPS_DIR]/mspsim</project>
+  <project EXPORT="discard">[APPS_DIR]/avrora</project>
+  <project EXPORT="discard">[APPS_DIR]/serial_socket</project>
+  <project EXPORT="discard">[APPS_DIR]/collect-view</project>
+  <project EXPORT="discard">[APPS_DIR]/powertracker</project>
+  <simulation>
+    <title>RPL up and downstream scaleability test network using IPv6 and RPL</title>
+    <randomseed>generated</randomseed>
+    <motedelay_us>5000000</motedelay_us>
+    <radiomedium>
+      org.contikios.cooja.radiomediums.UDGM
+      <transmitting_range>50.0</transmitting_range>
+      <interference_range>50.0</interference_range>
+      <success_ratio_tx>1.0</success_ratio_tx>
+      <success_ratio_rx>1.0</success_ratio_rx>
+    </radiomedium>
+    <events>
+      <logoutput>40000</logoutput>
+    </events>
+    <motetype>
+      org.contikios.cooja.mspmote.SkyMoteType
+      <identifier>sky1</identifier>
+      <description>Sky Mote Type #sky1</description>
+      <source EXPORT="discard">[CONTIKI_DIR]/examples/ipv6/rpl-udp/udp-server.c</source>
+      <commands EXPORT="discard">make SERVER_REPLY=1 clean udp-server.sky TARGET=sky DEFINES=TEST_MORE_ROUTES=1</commands>
+      <firmware EXPORT="copy">[CONTIKI_DIR]/examples/ipv6/rpl-udp/udp-server.sky</firmware>
+      <moteinterface>org.contikios.cooja.interfaces.Position</moteinterface>
+      <moteinterface>org.contikios.cooja.interfaces.RimeAddress</moteinterface>
+      <moteinterface>org.contikios.cooja.interfaces.IPAddress</moteinterface>
+      <moteinterface>org.contikios.cooja.interfaces.Mote2MoteRelations</moteinterface>
+      <moteinterface>org.contikios.cooja.interfaces.MoteAttributes</moteinterface>
+      <moteinterface>org.contikios.cooja.mspmote.interfaces.MspClock</moteinterface>
+      <moteinterface>org.contikios.cooja.mspmote.interfaces.MspMoteID</moteinterface>
+      <moteinterface>org.contikios.cooja.mspmote.interfaces.SkyButton</moteinterface>
+      <moteinterface>org.contikios.cooja.mspmote.interfaces.SkyFlash</moteinterface>
+      <moteinterface>org.contikios.cooja.mspmote.interfaces.SkyCoffeeFilesystem</moteinterface>
+      <moteinterface>org.contikios.cooja.mspmote.interfaces.Msp802154Radio</moteinterface>
+      <moteinterface>org.contikios.cooja.mspmote.interfaces.MspSerial</moteinterface>
+      <moteinterface>org.contikios.cooja.mspmote.interfaces.SkyLED</moteinterface>
+      <moteinterface>org.contikios.cooja.mspmote.interfaces.MspDebugOutput</moteinterface>
+      <moteinterface>org.contikios.cooja.mspmote.interfaces.SkyTemperature</moteinterface>
+    </motetype>
+    <motetype>
+      org.contikios.cooja.mspmote.SkyMoteType
+      <identifier>sky2</identifier>
+      <description>Sky Mote Type #sky2</description>
+      <source EXPORT="discard">[CONTIKI_DIR]/examples/ipv6/rpl-udp/udp-client.c</source>
+      <commands EXPORT="discard">make SERVER_REPLY=1 clean udp-client.sky TARGET=sky</commands>
+      <firmware EXPORT="copy">[CONTIKI_DIR]/examples/ipv6/rpl-udp/udp-client.sky</firmware>
+      <moteinterface>org.contikios.cooja.interfaces.Position</moteinterface>
+      <moteinterface>org.contikios.cooja.interfaces.RimeAddress</moteinterface>
+      <moteinterface>org.contikios.cooja.interfaces.IPAddress</moteinterface>
+      <moteinterface>org.contikios.cooja.interfaces.Mote2MoteRelations</moteinterface>
+      <moteinterface>org.contikios.cooja.interfaces.MoteAttributes</moteinterface>
+      <moteinterface>org.contikios.cooja.mspmote.interfaces.MspClock</moteinterface>
+      <moteinterface>org.contikios.cooja.mspmote.interfaces.MspMoteID</moteinterface>
+      <moteinterface>org.contikios.cooja.mspmote.interfaces.SkyButton</moteinterface>
+      <moteinterface>org.contikios.cooja.mspmote.interfaces.SkyFlash</moteinterface>
+      <moteinterface>org.contikios.cooja.mspmote.interfaces.SkyCoffeeFilesystem</moteinterface>
+      <moteinterface>org.contikios.cooja.mspmote.interfaces.Msp802154Radio</moteinterface>
+      <moteinterface>org.contikios.cooja.mspmote.interfaces.MspSerial</moteinterface>
+      <moteinterface>org.contikios.cooja.mspmote.interfaces.SkyLED</moteinterface>
+      <moteinterface>org.contikios.cooja.mspmote.interfaces.MspDebugOutput</moteinterface>
+      <moteinterface>org.contikios.cooja.mspmote.interfaces.SkyTemperature</moteinterface>
+    </motetype>
+    <mote>
+      <breakpoints />
+      <interface_config>
+        org.contikios.cooja.interfaces.Position
+        <x>48.435974731198804</x>
+        <y>-66.16503914182063</y>
+        <z>0.0</z>
+      </interface_config>
+      <interface_config>
+        org.contikios.cooja.mspmote.interfaces.MspClock
+        <deviation>1.0</deviation>
+      </interface_config>
+      <interface_config>
+        org.contikios.cooja.mspmote.interfaces.MspMoteID
+        <id>1</id>
+      </interface_config>
+      <motetype_identifier>sky1</motetype_identifier>
+    </mote>
+    <mote>
+      <breakpoints />
+      <interface_config>
+        org.contikios.cooja.interfaces.Position
+        <x>-39.78380986481406</x>
+        <y>-48.10655064098382</y>
+        <z>0.0</z>
+      </interface_config>
+      <interface_config>
+        org.contikios.cooja.mspmote.interfaces.MspClock
+        <deviation>1.0</deviation>
+      </interface_config>
+      <interface_config>
+        org.contikios.cooja.mspmote.interfaces.MspMoteID
+        <id>2</id>
+      </interface_config>
+      <motetype_identifier>sky2</motetype_identifier>
+    </mote>
+    <mote>
+      <breakpoints />
+      <interface_config>
+        org.contikios.cooja.interfaces.Position
+        <x>127.9689727848476</x>
+        <y>91.71883780610729</y>
+        <z>0.0</z>
+      </interface_config>
+      <interface_config>
+        org.contikios.cooja.mspmote.interfaces.MspClock
+        <deviation>1.0</deviation>
+      </interface_config>
+      <interface_config>
+        org.contikios.cooja.mspmote.interfaces.MspMoteID
+        <id>3</id>
+      </interface_config>
+      <motetype_identifier>sky2</motetype_identifier>
+    </mote>
+    <mote>
+      <breakpoints />
+      <interface_config>
+        org.contikios.cooja.interfaces.Position
+        <x>154.92605604103275</x>
+        <y>40.97896551774433</y>
+        <z>0.0</z>
+      </interface_config>
+      <interface_config>
+        org.contikios.cooja.mspmote.interfaces.MspClock
+        <deviation>1.0</deviation>
+      </interface_config>
+      <interface_config>
+        org.contikios.cooja.mspmote.interfaces.MspMoteID
+        <id>4</id>
+      </interface_config>
+      <interface_config>
+        org.contikios.cooja.mspmote.interfaces.MspSerial
+        <history>r~;</history>
+      </interface_config>
+      <motetype_identifier>sky2</motetype_identifier>
+    </mote>
+    <mote>
+      <breakpoints />
+      <interface_config>
+        org.contikios.cooja.interfaces.Position
+        <x>47.34887596588397</x>
+        <y>-30.341495695501195</y>
+        <z>0.0</z>
+      </interface_config>
+      <interface_config>
+        org.contikios.cooja.mspmote.interfaces.MspClock
+        <deviation>1.0</deviation>
+      </interface_config>
+      <interface_config>
+        org.contikios.cooja.mspmote.interfaces.MspMoteID
+        <id>5</id>
+      </interface_config>
+      <motetype_identifier>sky2</motetype_identifier>
+    </mote>
+    <mote>
+      <breakpoints />
+      <interface_config>
+        org.contikios.cooja.interfaces.Position
+        <x>47.13486576528276</x>
+        <y>32.944481932122315</y>
+        <z>0.0</z>
+      </interface_config>
+      <interface_config>
+        org.contikios.cooja.mspmote.interfaces.MspClock
+        <deviation>1.0</deviation>
+      </interface_config>
+      <interface_config>
+        org.contikios.cooja.mspmote.interfaces.MspMoteID
+        <id>6</id>
+      </interface_config>
+      <motetype_identifier>sky2</motetype_identifier>
+    </mote>
+    <mote>
+      <breakpoints />
+      <interface_config>
+        org.contikios.cooja.interfaces.Position
+        <x>-11.42091423859419</x>
+        <y>17.879870626121914</y>
+        <z>0.0</z>
+      </interface_config>
+      <interface_config>
+        org.contikios.cooja.mspmote.interfaces.MspClock
+        <deviation>1.0</deviation>
+      </interface_config>
+      <interface_config>
+        org.contikios.cooja.mspmote.interfaces.MspMoteID
+        <id>7</id>
+      </interface_config>
+      <motetype_identifier>sky2</motetype_identifier>
+    </mote>
+    <mote>
+      <breakpoints />
+      <interface_config>
+        org.contikios.cooja.interfaces.Position
+        <x>118.92746659954325</x>
+        <y>57.05973076244069</y>
+        <z>0.0</z>
+      </interface_config>
+      <interface_config>
+        org.contikios.cooja.mspmote.interfaces.MspClock
+        <deviation>1.0</deviation>
+      </interface_config>
+      <interface_config>
+        org.contikios.cooja.mspmote.interfaces.MspMoteID
+        <id>8</id>
+      </interface_config>
+      <motetype_identifier>sky2</motetype_identifier>
+    </mote>
+    <mote>
+      <breakpoints />
+      <interface_config>
+        org.contikios.cooja.interfaces.Position
+        <x>53.68872892015448</x>
+        <y>59.887319605093715</y>
+        <z>0.0</z>
+      </interface_config>
+      <interface_config>
+        org.contikios.cooja.mspmote.interfaces.MspClock
+        <deviation>1.0</deviation>
+      </interface_config>
+      <interface_config>
+        org.contikios.cooja.mspmote.interfaces.MspMoteID
+        <id>9</id>
+      </interface_config>
+      <motetype_identifier>sky2</motetype_identifier>
+    </mote>
+    <mote>
+      <breakpoints />
+      <interface_config>
+        org.contikios.cooja.interfaces.Position
+        <x>16.45706316609417</x>
+        <y>23.9075414163248</y>
+        <z>0.0</z>
+      </interface_config>
+      <interface_config>
+        org.contikios.cooja.mspmote.interfaces.MspClock
+        <deviation>1.0</deviation>
+      </interface_config>
+      <interface_config>
+        org.contikios.cooja.mspmote.interfaces.MspMoteID
+        <id>10</id>
+      </interface_config>
+      <motetype_identifier>sky2</motetype_identifier>
+    </mote>
+    <mote>
+      <breakpoints />
+      <interface_config>
+        org.contikios.cooja.interfaces.Position
+        <x>-13.423161364506493</x>
+        <y>-38.483037144768275</y>
+        <z>0.0</z>
+      </interface_config>
+      <interface_config>
+        org.contikios.cooja.mspmote.interfaces.MspClock
+        <deviation>1.0</deviation>
+      </interface_config>
+      <interface_config>
+        org.contikios.cooja.mspmote.interfaces.MspMoteID
+        <id>11</id>
+      </interface_config>
+      <motetype_identifier>sky2</motetype_identifier>
+    </mote>
+    <mote>
+      <breakpoints />
+      <interface_config>
+        org.contikios.cooja.interfaces.Position
+        <x>-9.034961217472201</x>
+        <y>44.411389162165406</y>
+        <z>0.0</z>
+      </interface_config>
+      <interface_config>
+        org.contikios.cooja.mspmote.interfaces.MspClock
+        <deviation>1.0</deviation>
+      </interface_config>
+      <interface_config>
+        org.contikios.cooja.mspmote.interfaces.MspMoteID
+        <id>12</id>
+      </interface_config>
+      <motetype_identifier>sky2</motetype_identifier>
+    </mote>
+    <mote>
+      <breakpoints />
+      <interface_config>
+        org.contikios.cooja.interfaces.Position
+        <x>-39.298891643282545</x>
+        <y>-3.9704359883635574</y>
+        <z>0.0</z>
+      </interface_config>
+      <interface_config>
+        org.contikios.cooja.mspmote.interfaces.MspClock
+        <deviation>1.0</deviation>
+      </interface_config>
+      <interface_config>
+        org.contikios.cooja.mspmote.interfaces.MspMoteID
+        <id>13</id>
+      </interface_config>
+      <motetype_identifier>sky2</motetype_identifier>
+    </mote>
+    <mote>
+      <breakpoints />
+      <interface_config>
+        org.contikios.cooja.interfaces.Position
+        <x>66.93880603404335</x>
+        <y>-42.39683727590697</y>
+        <z>0.0</z>
+      </interface_config>
+      <interface_config>
+        org.contikios.cooja.mspmote.interfaces.MspClock
+        <deviation>1.0</deviation>
+      </interface_config>
+      <interface_config>
+        org.contikios.cooja.mspmote.interfaces.MspMoteID
+        <id>14</id>
+      </interface_config>
+      <motetype_identifier>sky2</motetype_identifier>
+    </mote>
+    <mote>
+      <breakpoints />
+      <interface_config>
+        org.contikios.cooja.interfaces.Position
+        <x>94.81678343873172</x>
+        <y>26.921376811426246</y>
+        <z>0.0</z>
+      </interface_config>
+      <interface_config>
+        org.contikios.cooja.mspmote.interfaces.MspClock
+        <deviation>1.0</deviation>
+      </interface_config>
+      <interface_config>
+        org.contikios.cooja.mspmote.interfaces.MspMoteID
+        <id>15</id>
+      </interface_config>
+      <motetype_identifier>sky2</motetype_identifier>
+    </mote>
+    <mote>
+      <breakpoints />
+      <interface_config>
+        org.contikios.cooja.interfaces.Position
+        <x>-43.06618588715935</x>
+        <y>30.68867105530305</y>
+        <z>0.0</z>
+      </interface_config>
+      <interface_config>
+        org.contikios.cooja.mspmote.interfaces.MspClock
+        <deviation>1.0</deviation>
+      </interface_config>
+      <interface_config>
+        org.contikios.cooja.mspmote.interfaces.MspMoteID
+        <id>16</id>
+      </interface_config>
+      <motetype_identifier>sky2</motetype_identifier>
+    </mote>
+    <mote>
+      <breakpoints />
+      <interface_config>
+        org.contikios.cooja.interfaces.Position
+        <x>-34.02467970185502</x>
+        <y>-24.313824905298304</y>
+        <z>0.0</z>
+      </interface_config>
+      <interface_config>
+        org.contikios.cooja.mspmote.interfaces.MspClock
+        <deviation>1.0</deviation>
+      </interface_config>
+      <interface_config>
+        org.contikios.cooja.mspmote.interfaces.MspMoteID
+        <id>17</id>
+      </interface_config>
+      <motetype_identifier>sky2</motetype_identifier>
+    </mote>
+    <mote>
+      <breakpoints />
+      <interface_config>
+        org.contikios.cooja.interfaces.Position
+        <x>-28.750467760427494</x>
+        <y>48.01822457713635</y>
+        <z>0.0</z>
+      </interface_config>
+      <interface_config>
+        org.contikios.cooja.mspmote.interfaces.MspClock
+        <deviation>1.0</deviation>
+      </interface_config>
+      <interface_config>
+        org.contikios.cooja.mspmote.interfaces.MspMoteID
+        <id>18</id>
+      </interface_config>
+      <motetype_identifier>sky2</motetype_identifier>
+    </mote>
+    <mote>
+      <breakpoints />
+      <interface_config>
+        org.contikios.cooja.interfaces.Position
+        <x>124.95513738974614</x>
+        <y>20.140247172447996</y>
+        <z>0.0</z>
+      </interface_config>
+      <interface_config>
+        org.contikios.cooja.mspmote.interfaces.MspClock
+        <deviation>1.0</deviation>
+      </interface_config>
+      <interface_config>
+        org.contikios.cooja.mspmote.interfaces.MspMoteID
+        <id>19</id>
+      </interface_config>
+      <motetype_identifier>sky2</motetype_identifier>
+    </mote>
+    <mote>
+      <breakpoints />
+      <interface_config>
+        org.contikios.cooja.interfaces.Position
+        <x>15.703604317318808</x>
+        <y>-47.6710492173345</y>
+        <z>0.0</z>
+      </interface_config>
+      <interface_config>
+        org.contikios.cooja.mspmote.interfaces.MspClock
+        <deviation>1.0</deviation>
+      </interface_config>
+      <interface_config>
+        org.contikios.cooja.mspmote.interfaces.MspMoteID
+        <id>20</id>
+      </interface_config>
+      <motetype_identifier>sky2</motetype_identifier>
+    </mote>
+    <mote>
+      <breakpoints />
+      <interface_config>
+        org.contikios.cooja.interfaces.Position
+        <x>154.43072661267115</x>
+        <y>-3.279765376986134</y>
+        <z>0.0</z>
+      </interface_config>
+      <interface_config>
+        org.contikios.cooja.mspmote.interfaces.MspClock
+        <deviation>1.0</deviation>
+      </interface_config>
+      <interface_config>
+        org.contikios.cooja.mspmote.interfaces.MspMoteID
+        <id>21</id>
+      </interface_config>
+      <motetype_identifier>sky2</motetype_identifier>
+    </mote>
+    <mote>
+      <breakpoints />
+      <interface_config>
+        org.contikios.cooja.interfaces.Position
+        <x>121.18784314586934</x>
+        <y>-24.313824905298304</y>
+        <z>0.0</z>
+      </interface_config>
+      <interface_config>
+        org.contikios.cooja.mspmote.interfaces.MspClock
+        <deviation>1.0</deviation>
+      </interface_config>
+      <interface_config>
+        org.contikios.cooja.mspmote.interfaces.MspMoteID
+        <id>22</id>
+      </interface_config>
+      <motetype_identifier>sky2</motetype_identifier>
+    </mote>
+    <mote>
+      <breakpoints />
+      <interface_config>
+        org.contikios.cooja.interfaces.Position
+        <x>88.4612185198951</x>
+        <y>-49.763990463932714</y>
+        <z>0.0</z>
+      </interface_config>
+      <interface_config>
+        org.contikios.cooja.mspmote.interfaces.MspClock
+        <deviation>1.0</deviation>
+      </interface_config>
+      <interface_config>
+        org.contikios.cooja.mspmote.interfaces.MspMoteID
+        <id>23</id>
+      </interface_config>
+      <motetype_identifier>sky2</motetype_identifier>
+    </mote>
+    <mote>
+      <breakpoints />
+      <interface_config>
+        org.contikios.cooja.interfaces.Position
+        <x>24.745110502623138</x>
+        <y>-1.7100594420374744</y>
+        <z>0.0</z>
+      </interface_config>
+      <interface_config>
+        org.contikios.cooja.mspmote.interfaces.MspClock
+        <deviation>1.0</deviation>
+      </interface_config>
+      <interface_config>
+        org.contikios.cooja.mspmote.interfaces.MspMoteID
+        <id>24</id>
+      </interface_config>
+      <motetype_identifier>sky2</motetype_identifier>
+    </mote>
+    <mote>
+      <breakpoints />
+      <interface_config>
+        org.contikios.cooja.interfaces.Position
+        <x>94.06332458995635</x>
+        <y>-2.4635182908128352</y>
+        <z>0.0</z>
+      </interface_config>
+      <interface_config>
+        org.contikios.cooja.mspmote.interfaces.MspClock
+        <deviation>1.0</deviation>
+      </interface_config>
+      <interface_config>
+        org.contikios.cooja.mspmote.interfaces.MspMoteID
+        <id>25</id>
+      </interface_config>
+      <motetype_identifier>sky2</motetype_identifier>
+    </mote>
+    <mote>
+      <breakpoints />
+      <interface_config>
+        org.contikios.cooja.interfaces.Position
+        <x>-4.639784599615941</x>
+        <y>-9.998106778566445</y>
+        <z>0.0</z>
+      </interface_config>
+      <interface_config>
+        org.contikios.cooja.mspmote.interfaces.MspClock
+        <deviation>1.0</deviation>
+      </interface_config>
+      <interface_config>
+        org.contikios.cooja.mspmote.interfaces.MspMoteID
+        <id>26</id>
+      </interface_config>
+      <motetype_identifier>sky2</motetype_identifier>
+    </mote>
+    <mote>
+      <breakpoints />
+      <interface_config>
+        org.contikios.cooja.interfaces.Position
+        <x>2.4901685804620115</x>
+        <y>-60.89843789583528</y>
+        <z>0.0</z>
+      </interface_config>
+      <interface_config>
+        org.contikios.cooja.mspmote.interfaces.MspClock
+        <deviation>1.0</deviation>
+      </interface_config>
+      <interface_config>
+        org.contikios.cooja.mspmote.interfaces.MspMoteID
+        <id>27</id>
+      </interface_config>
+      <motetype_identifier>sky2</motetype_identifier>
+    </mote>
+    <mote>
+      <breakpoints />
+      <interface_config>
+        org.contikios.cooja.interfaces.Position
+        <x>103.10483077526068</x>
+        <y>96.99304974753483</y>
+        <z>0.0</z>
+      </interface_config>
+      <interface_config>
+        org.contikios.cooja.mspmote.interfaces.MspClock
+        <deviation>1.0</deviation>
+      </interface_config>
+      <interface_config>
+        org.contikios.cooja.mspmote.interfaces.MspMoteID
+        <id>28</id>
+      </interface_config>
+      <motetype_identifier>sky2</motetype_identifier>
+    </mote>
+    <mote>
+      <breakpoints />
+      <interface_config>
+        org.contikios.cooja.interfaces.Position
+        <x>8.922474678340558</x>
+        <y>59.320107308766765</y>
+        <z>0.0</z>
+      </interface_config>
+      <interface_config>
+        org.contikios.cooja.mspmote.interfaces.MspClock
+        <deviation>1.0</deviation>
+      </interface_config>
+      <interface_config>
+        org.contikios.cooja.mspmote.interfaces.MspMoteID
+        <id>29</id>
+      </interface_config>
+      <motetype_identifier>sky2</motetype_identifier>
+    </mote>
+    <mote>
+      <breakpoints />
+      <interface_config>
+        org.contikios.cooja.interfaces.Position
+        <x>58.650758697514384</x>
+        <y>2.8106936506146916</y>
+        <z>0.0</z>
+      </interface_config>
+      <interface_config>
+        org.contikios.cooja.mspmote.interfaces.MspClock
+        <deviation>1.0</deviation>
+      </interface_config>
+      <interface_config>
+        org.contikios.cooja.mspmote.interfaces.MspMoteID
+        <id>30</id>
+      </interface_config>
+      <motetype_identifier>sky2</motetype_identifier>
+    </mote>
+    <mote>
+      <breakpoints />
+      <interface_config>
+        org.contikios.cooja.interfaces.Position
+        <x>90.59867707439</x>
+        <y>67.97632874312737</y>
+        <z>0.0</z>
+      </interface_config>
+      <interface_config>
+        org.contikios.cooja.mspmote.interfaces.MspClock
+        <deviation>1.0</deviation>
+      </interface_config>
+      <interface_config>
+        org.contikios.cooja.mspmote.interfaces.MspMoteID
+        <id>31</id>
+      </interface_config>
+      <motetype_identifier>sky2</motetype_identifier>
+    </mote>
+  </simulation>
+  <plugin>
+    org.contikios.cooja.plugins.SimControl
+    <width>289</width>
+    <z>1</z>
+    <height>184</height>
+    <location_x>31</location_x>
+    <location_y>41</location_y>
+  </plugin>
+  <plugin>
+    org.contikios.cooja.plugins.Visualizer
+    <plugin_config>
+      <skin>org.contikios.cooja.plugins.skins.IDVisualizerSkin</skin>
+      <skin>org.contikios.cooja.plugins.skins.UDGMVisualizerSkin</skin>
+      <skin>org.contikios.cooja.plugins.skins.AttributeVisualizerSkin</skin>
+      <viewport>2.349818846983307 0.0 0.0 2.349818846983307 187.19773526533345 190.95275613586946</viewport>
+    </plugin_config>
+    <width>659</width>
+    <z>3</z>
+    <height>523</height>
+    <location_x>296</location_x>
+    <location_y>11</location_y>
+  </plugin>
+  <plugin>
+    org.contikios.cooja.plugins.LogListener
+    <plugin_config>
+      <filter />
+      <formatted_time />
+      <coloring />
+    </plugin_config>
+    <width>937</width>
+    <z>4</z>
+    <height>349</height>
+    <location_x>21</location_x>
+    <location_y>464</location_y>
+  </plugin>
+  <plugin>
+    org.contikios.cooja.plugins.ScriptRunner
+    <plugin_config>
+      <script>TIMEOUT(12000000, log.log("Total PRR " + totalPRR + "\n"));
+packetsReceived= new Array();
+packetsSent = new Array();
+serverID = 1;
+nodeCount = 31;
+totalPRR = 0;
+
+for(i = 0; i &lt;= nodeCount; i++) {
+	packetsReceived[i] = 0;
+	packetsSent[i] = 0;
+}
+
+while(1) {
+	YIELD();
+
+	msgArray = msg.split(' ');
+	if(msgArray[0].equals("#A")) {
+		if(msgArray[1].charAt(0) == 'r') {
+			// Received packet
+			senderID = id;
+            arr2 = msgArray[1].split(',')[0].slice(2).split('/');
+            recv = parseInt(arr2[0]);
+            sent = parseInt(arr2[1]);
+            log.log("Sent:" + sent + " Recv:" + recv + "\n");
+            packetsSent[senderID] = sent;
+			packetsReceived[senderID] = recv;
+
+			log.log("SenderID " + senderID + " PRR " + packetsReceived[senderID] / packetsSent[senderID] + "\n");
+			totalReceived = totalSent = 0;
+			for(i = serverID + 1; i &lt;= nodeCount; i++) {
+				totalReceived += packetsReceived[i];
+				totalSent += packetsSent[i];
+			}
+			totalPRR = totalReceived / totalSent;
+			log.log("Total PRR " + totalPRR + " recv " + totalReceived + " sent " + totalSent + "\n");
+		}
+	}
+}</script>
+      <active>true</active>
+    </plugin_config>
+    <width>600</width>
+    <z>0</z>
+    <height>700</height>
+    <location_x>946</location_x>
+    <location_y>6</location_y>
+  </plugin>
+  <plugin>
+    org.contikios.cooja.plugins.MoteInterfaceViewer
+    <mote_arg>3</mote_arg>
+    <plugin_config>
+      <interface>Serial port</interface>
+      <scrollpos>0,0</scrollpos>
+    </plugin_config>
+    <width>350</width>
+    <z>2</z>
+    <height>300</height>
+    <location_x>976</location_x>
+    <location_y>36</location_y>
+  </plugin>
+</simconf>

examples/ipv6/rpl-udp/rpl-udp.csc

@@ -1,12 +1,13 @@
 <?xml version="1.0" encoding="UTF-8"?>
 <simconf>
-  <project EXPORT="discard">[CONTIKI_DIR]/tools/cooja/apps/mrm</project>
+  <project EXPORT="discard">[APPS_DIR]/mrm</project>
-  <project EXPORT="discard">[CONTIKI_DIR]/tools/cooja/apps/mspsim</project>
+  <project EXPORT="discard">[APPS_DIR]/mspsim</project>
-  <project EXPORT="discard">[CONTIKI_DIR]/tools/cooja/apps/avrora</project>
+  <project EXPORT="discard">[APPS_DIR]/avrora</project>
-  <project EXPORT="discard">[CONTIKI_DIR]/tools/cooja/apps/mobility</project>
+  <project EXPORT="discard">[APPS_DIR]/serial_socket</project>
+  <project EXPORT="discard">[APPS_DIR]/collect-view</project>
+  <project EXPORT="discard">[APPS_DIR]/powertracker</project>
   <simulation>
     <title>Data collection network using IPv6 and RPL</title>
-    <delaytime>0</delaytime>
     <randomseed>generated</randomseed>
     <motedelay_us>5000000</motedelay_us>
     <radiomedium>
@@ -24,7 +25,7 @@
       <identifier>sky1</identifier>
       <description>Sky Mote Type #sky1</description>
       <source EXPORT="discard">[CONTIKI_DIR]/examples/ipv6/rpl-udp/udp-server.c</source>
-      <commands EXPORT="discard">make udp-server.sky TARGET=sky</commands>
+      <commands EXPORT="discard">make clean udp-server.sky TARGET=sky DEFINES=TEST_MORE_ROUTES=1</commands>
       <firmware EXPORT="copy">[CONTIKI_DIR]/examples/ipv6/rpl-udp/udp-server.sky</firmware>
       <moteinterface>org.contikios.cooja.interfaces.Position</moteinterface>
       <moteinterface>org.contikios.cooja.interfaces.RimeAddress</moteinterface>
@@ -47,7 +48,7 @@
       <identifier>sky2</identifier>
       <description>Sky Mote Type #sky2</description>
       <source EXPORT="discard">[CONTIKI_DIR]/examples/ipv6/rpl-udp/udp-client.c</source>
-      <commands EXPORT="discard">make udp-client.sky TARGET=sky</commands>
+      <commands EXPORT="discard">make clean udp-client.sky TARGET=sky</commands>
       <firmware EXPORT="copy">[CONTIKI_DIR]/examples/ipv6/rpl-udp/udp-client.sky</firmware>
       <moteinterface>org.contikios.cooja.interfaces.Position</moteinterface>
       <moteinterface>org.contikios.cooja.interfaces.RimeAddress</moteinterface>
@@ -73,6 +74,10 @@
         <y>-66.16503914182063</y>
         <z>0.0</z>
       </interface_config>
+      <interface_config>
+        org.contikios.cooja.mspmote.interfaces.MspClock
+        <deviation>1.0</deviation>
+      </interface_config>
       <interface_config>
         org.contikios.cooja.mspmote.interfaces.MspMoteID
         <id>1</id>
@@ -87,6 +92,10 @@
         <y>98.28771308774003</y>
         <z>0.0</z>
       </interface_config>
+      <interface_config>
+        org.contikios.cooja.mspmote.interfaces.MspClock
+        <deviation>1.0</deviation>
+      </interface_config>
       <interface_config>
         org.contikios.cooja.mspmote.interfaces.MspMoteID
         <id>2</id>
@@ -101,6 +110,10 @@
         <y>91.71883780610729</y>
         <z>0.0</z>
       </interface_config>
+      <interface_config>
+        org.contikios.cooja.mspmote.interfaces.MspClock
+        <deviation>1.0</deviation>
+      </interface_config>
       <interface_config>
         org.contikios.cooja.mspmote.interfaces.MspMoteID
         <id>3</id>
@@ -115,6 +128,10 @@
         <y>92.47229665488265</y>
         <z>0.0</z>
       </interface_config>
+      <interface_config>
+        org.contikios.cooja.mspmote.interfaces.MspClock
+        <deviation>1.0</deviation>
+      </interface_config>
       <interface_config>
         org.contikios.cooja.mspmote.interfaces.MspMoteID
         <id>4</id>
@@ -129,6 +146,10 @@
         <y>-30.341495695501195</y>
         <z>0.0</z>
       </interface_config>
+      <interface_config>
+        org.contikios.cooja.mspmote.interfaces.MspClock
+        <deviation>1.0</deviation>
+      </interface_config>
       <interface_config>
         org.contikios.cooja.mspmote.interfaces.MspMoteID
         <id>5</id>
@@ -143,6 +164,10 @@
         <y>32.944481932122315</y>
         <z>0.0</z>
       </interface_config>
+      <interface_config>
+        org.contikios.cooja.mspmote.interfaces.MspClock
+        <deviation>1.0</deviation>
+      </interface_config>
       <interface_config>
         org.contikios.cooja.mspmote.interfaces.MspMoteID
         <id>6</id>
@@ -157,6 +182,10 @@
         <y>17.879870626121914</y>
         <z>0.0</z>
       </interface_config>
+      <interface_config>
+        org.contikios.cooja.mspmote.interfaces.MspClock
+        <deviation>1.0</deviation>
+      </interface_config>
       <interface_config>
         org.contikios.cooja.mspmote.interfaces.MspMoteID
         <id>7</id>
@@ -171,6 +200,10 @@
         <y>57.05973076244069</y>
         <z>0.0</z>
       </interface_config>
+      <interface_config>
+        org.contikios.cooja.mspmote.interfaces.MspClock
+        <deviation>1.0</deviation>
+      </interface_config>
       <interface_config>
         org.contikios.cooja.mspmote.interfaces.MspMoteID
         <id>8</id>
@@ -185,6 +218,10 @@
         <y>59.887319605093715</y>
         <z>0.0</z>
       </interface_config>
+      <interface_config>
+        org.contikios.cooja.mspmote.interfaces.MspClock
+        <deviation>1.0</deviation>
+      </interface_config>
       <interface_config>
         org.contikios.cooja.mspmote.interfaces.MspMoteID
         <id>9</id>
@@ -199,6 +236,10 @@
         <y>23.9075414163248</y>
         <z>0.0</z>
       </interface_config>
+      <interface_config>
+        org.contikios.cooja.mspmote.interfaces.MspClock
+        <deviation>1.0</deviation>
+      </interface_config>
       <interface_config>
         org.contikios.cooja.mspmote.interfaces.MspMoteID
         <id>10</id>
@@ -213,6 +254,10 @@
         <y>75.14274313304935</y>
         <z>0.0</z>
       </interface_config>
+      <interface_config>
+        org.contikios.cooja.mspmote.interfaces.MspClock
+        <deviation>1.0</deviation>
+      </interface_config>
       <interface_config>
         org.contikios.cooja.mspmote.interfaces.MspMoteID
         <id>11</id>
@@ -227,6 +272,10 @@
         <y>85.6911670159044</y>
         <z>0.0</z>
       </interface_config>
+      <interface_config>
+        org.contikios.cooja.mspmote.interfaces.MspClock
+        <deviation>1.0</deviation>
+      </interface_config>
       <interface_config>
         org.contikios.cooja.mspmote.interfaces.MspMoteID
         <id>12</id>
@@ -241,6 +290,10 @@
         <y>-3.9704359883635574</y>
         <z>0.0</z>
       </interface_config>
+      <interface_config>
+        org.contikios.cooja.mspmote.interfaces.MspClock
+        <deviation>1.0</deviation>
+      </interface_config>
       <interface_config>
         org.contikios.cooja.mspmote.interfaces.MspMoteID
         <id>13</id>
@@ -255,6 +308,10 @@
         <y>-42.39683727590697</y>
         <z>0.0</z>
       </interface_config>
+      <interface_config>
+        org.contikios.cooja.mspmote.interfaces.MspClock
+        <deviation>1.0</deviation>
+      </interface_config>
       <interface_config>
         org.contikios.cooja.mspmote.interfaces.MspMoteID
         <id>14</id>
@@ -269,6 +326,10 @@
         <y>26.921376811426246</y>
         <z>0.0</z>
       </interface_config>
+      <interface_config>
+        org.contikios.cooja.mspmote.interfaces.MspClock
+        <deviation>1.0</deviation>
+      </interface_config>
       <interface_config>
         org.contikios.cooja.mspmote.interfaces.MspMoteID
         <id>15</id>
@@ -283,6 +344,10 @@
         <y>30.68867105530305</y>
         <z>0.0</z>
       </interface_config>
+      <interface_config>
+        org.contikios.cooja.mspmote.interfaces.MspClock
+        <deviation>1.0</deviation>
+      </interface_config>
       <interface_config>
         org.contikios.cooja.mspmote.interfaces.MspMoteID
         <id>16</id>
@@ -297,6 +362,10 @@
         <y>-24.313824905298304</y>
         <z>0.0</z>
       </interface_config>
+      <interface_config>
+        org.contikios.cooja.mspmote.interfaces.MspClock
+        <deviation>1.0</deviation>
+      </interface_config>
       <interface_config>
         org.contikios.cooja.mspmote.interfaces.MspMoteID
         <id>17</id>
@@ -311,6 +380,10 @@
         <y>48.01822457713635</y>
         <z>0.0</z>
       </interface_config>
+      <interface_config>
+        org.contikios.cooja.mspmote.interfaces.MspClock
+        <deviation>1.0</deviation>
+      </interface_config>
       <interface_config>
         org.contikios.cooja.mspmote.interfaces.MspMoteID
         <id>18</id>
@@ -325,6 +398,10 @@
         <y>20.140247172447996</y>
         <z>0.0</z>
       </interface_config>
+      <interface_config>
+        org.contikios.cooja.mspmote.interfaces.MspClock
+        <deviation>1.0</deviation>
+      </interface_config>
       <interface_config>
         org.contikios.cooja.mspmote.interfaces.MspMoteID
         <id>19</id>
@@ -339,6 +416,10 @@
         <y>-47.6710492173345</y>
         <z>0.0</z>
       </interface_config>
+      <interface_config>
+        org.contikios.cooja.mspmote.interfaces.MspClock
+        <deviation>1.0</deviation>
+      </interface_config>
       <interface_config>
         org.contikios.cooja.mspmote.interfaces.MspMoteID
         <id>20</id>
@@ -353,6 +434,10 @@
         <y>92.47229665488265</y>
         <z>0.0</z>
       </interface_config>
+      <interface_config>
+        org.contikios.cooja.mspmote.interfaces.MspClock
+        <deviation>1.0</deviation>
+      </interface_config>
       <interface_config>
         org.contikios.cooja.mspmote.interfaces.MspMoteID
         <id>21</id>
@@ -367,6 +452,10 @@
         <y>-24.313824905298304</y>
         <z>0.0</z>
       </interface_config>
+      <interface_config>
+        org.contikios.cooja.mspmote.interfaces.MspClock
+        <deviation>1.0</deviation>
+      </interface_config>
       <interface_config>
         org.contikios.cooja.mspmote.interfaces.MspMoteID
         <id>22</id>
@@ -381,6 +470,10 @@
         <y>-44.657213822233054</y>
         <z>0.0</z>
       </interface_config>
+      <interface_config>
+        org.contikios.cooja.mspmote.interfaces.MspClock
+        <deviation>1.0</deviation>
+      </interface_config>
       <interface_config>
         org.contikios.cooja.mspmote.interfaces.MspMoteID
         <id>23</id>
@@ -395,6 +488,10 @@
         <y>-1.7100594420374744</y>
         <z>0.0</z>
       </interface_config>
+      <interface_config>
+        org.contikios.cooja.mspmote.interfaces.MspClock
+        <deviation>1.0</deviation>
+      </interface_config>
       <interface_config>
         org.contikios.cooja.mspmote.interfaces.MspMoteID
         <id>24</id>
@@ -409,6 +506,10 @@
         <y>-2.4635182908128352</y>
         <z>0.0</z>
       </interface_config>
+      <interface_config>
+        org.contikios.cooja.mspmote.interfaces.MspClock
+        <deviation>1.0</deviation>
+      </interface_config>
       <interface_config>
         org.contikios.cooja.mspmote.interfaces.MspMoteID
         <id>25</id>
@@ -423,6 +524,10 @@
         <y>-9.998106778566445</y>
         <z>0.0</z>
       </interface_config>
+      <interface_config>
+        org.contikios.cooja.mspmote.interfaces.MspClock
+        <deviation>1.0</deviation>
+      </interface_config>
       <interface_config>
         org.contikios.cooja.mspmote.interfaces.MspMoteID
         <id>26</id>
@@ -437,6 +542,10 @@
         <y>-50.684884612435944</y>
         <z>0.0</z>
       </interface_config>
+      <interface_config>
+        org.contikios.cooja.mspmote.interfaces.MspClock
+        <deviation>1.0</deviation>
+      </interface_config>
       <interface_config>
         org.contikios.cooja.mspmote.interfaces.MspMoteID
         <id>27</id>
@@ -451,6 +560,10 @@
         <y>96.99304974753483</y>
         <z>0.0</z>
       </interface_config>
+      <interface_config>
+        org.contikios.cooja.mspmote.interfaces.MspClock
+        <deviation>1.0</deviation>
+      </interface_config>
       <interface_config>
         org.contikios.cooja.mspmote.interfaces.MspMoteID
         <id>28</id>
@@ -465,6 +578,10 @@
         <y>59.320107308766765</y>
         <z>0.0</z>
       </interface_config>
+      <interface_config>
+        org.contikios.cooja.mspmote.interfaces.MspClock
+        <deviation>1.0</deviation>
+      </interface_config>
       <interface_config>
         org.contikios.cooja.mspmote.interfaces.MspMoteID
         <id>29</id>
@@ -479,6 +596,10 @@
         <y>2.8106936506146916</y>
         <z>0.0</z>
       </interface_config>
+      <interface_config>
+        org.contikios.cooja.mspmote.interfaces.MspClock
+        <deviation>1.0</deviation>
+      </interface_config>
       <interface_config>
         org.contikios.cooja.mspmote.interfaces.MspMoteID
         <id>30</id>
@@ -493,6 +614,10 @@
         <y>67.97632874312737</y>
         <z>0.0</z>
       </interface_config>
+      <interface_config>
+        org.contikios.cooja.mspmote.interfaces.MspClock
+        <deviation>1.0</deviation>
+      </interface_config>
       <interface_config>
         org.contikios.cooja.mspmote.interfaces.MspMoteID
         <id>31</id>
@@ -503,10 +628,10 @@
   <plugin>
     org.contikios.cooja.plugins.SimControl
     <width>259</width>
-    <z>1</z>
+    <z>3</z>
     <height>184</height>
-    <location_x>0</location_x>
+    <location_x>3</location_x>
-    <location_y>0</location_y>
+    <location_y>15</location_y>
   </plugin>
   <plugin>
     org.contikios.cooja.plugins.Visualizer
@@ -517,21 +642,23 @@
       <viewport>2.349818846983307 0.0 0.0 2.349818846983307 150.19773526533348 176.95275613586946</viewport>
     </plugin_config>
     <width>520</width>
-    <z>3</z>
+    <z>2</z>
     <height>523</height>
-    <location_x>269</location_x>
+    <location_x>14</location_x>
-    <location_y>14</location_y>
+    <location_y>210</location_y>
   </plugin>
   <plugin>
     org.contikios.cooja.plugins.LogListener
     <plugin_config>
       <filter />
+      <formatted_time />
+      <coloring />
     </plugin_config>
     <width>937</width>
     <z>0</z>
     <height>213</height>
-    <location_x>21</location_x>
+    <location_x>265</location_x>
-    <location_y>464</location_y>
+    <location_y>16</location_y>
   </plugin>
   <plugin>
     org.contikios.cooja.plugins.ScriptRunner
@@ -574,11 +701,11 @@ while(1) {
 }</script>
       <active>true</active>
     </plugin_config>
-    <width>600</width>
+    <width>651</width>
-    <z>2</z>
+    <z>1</z>
-    <height>700</height>
+    <height>550</height>
-    <location_x>665</location_x>
+    <location_x>547</location_x>
-    <location_y>6</location_y>
+    <location_y>181</location_y>
   </plugin>
 </simconf>
 

examples/ipv6/rpl-udp/udp-client.c

@@ -40,12 +40,17 @@
 #include <stdio.h>
 #include <string.h>
 
+/* Only for TMOTE Sky? */
+#include "dev/serial-line.h"
+#include "dev/uart1.h"
+#include "net/ipv6/uip-ds6-route.h"
+
 #define UDP_CLIENT_PORT 8765
 #define UDP_SERVER_PORT 5678
 
 #define UDP_EXAMPLE_ID  190
 
-#define DEBUG DEBUG_PRINT
+#define DEBUG DEBUG_FULL
 #include "net/ip/uip-debug.h"
 
 #ifndef PERIOD
@@ -64,6 +69,9 @@ static uip_ipaddr_t server_ipaddr;
 PROCESS(udp_client_process, "UDP client process");
 AUTOSTART_PROCESSES(&udp_client_process);
 /*---------------------------------------------------------------------------*/
+static int seq_id;
+static int reply;
+
 static void
 tcpip_handler(void)
 {
@@ -72,16 +80,32 @@ tcpip_handler(void)
   if(uip_newdata()) {
     str = uip_appdata;
     str[uip_datalen()] = '\0';
-    printf("DATA recv '%s'\n", str);
+    reply++;
+    printf("DATA recv '%s' (s:%d, r:%d)\n", str, seq_id, reply);
   }
 }
 /*---------------------------------------------------------------------------*/
 static void
 send_packet(void *ptr)
 {
-  static int seq_id;
   char buf[MAX_PAYLOAD_LEN];
 
+#ifdef SERVER_REPLY
+  uint8_t num_used = 0;
+  uip_ds6_nbr_t *nbr;
+
+  nbr = nbr_table_head(ds6_neighbors);
+  while(nbr != NULL) {
+    nbr = nbr_table_next(ds6_neighbors, nbr);
+    num_used++;
+  }
+
+  if(seq_id > 0) {
+    ANNOTATE("#A r=%d/%d,color=%s,n=%d %d\n", reply, seq_id,
+             reply == seq_id ? "GREEN" : "RED", uip_ds6_route_num_routes(), num_used);
+  }
+#endif /* SERVER_REPLY */
+
   seq_id++;
   PRINTF("DATA send to %d 'Hello %d'\n",
          server_ipaddr.u8[sizeof(server_ipaddr.u8) - 1], seq_id);
@@ -156,8 +180,9 @@ PROCESS_THREAD(udp_client_process, ev, data)
   PROCESS_PAUSE();
 
   set_global_address();
-  
+
-  PRINTF("UDP client process started\n");
+  PRINTF("UDP client process started nbr:%d routes:%d\n",
+         NBR_TABLE_CONF_MAX_NEIGHBORS, UIP_CONF_MAX_ROUTES);
 
   print_local_addresses();
 
@@ -174,6 +199,11 @@ PROCESS_THREAD(udp_client_process, ev, data)
   PRINTF(" local/remote port %u/%u\n",
 	UIP_HTONS(client_conn->lport), UIP_HTONS(client_conn->rport));
 
+  /* initialize serial line */
+  uart1_set_input(serial_line_input_byte);
+  serial_line_init();
+
+
 #if WITH_COMPOWER
   powertrace_sniff(POWERTRACE_ON);
 #endif
@@ -184,7 +214,41 @@ PROCESS_THREAD(udp_client_process, ev, data)
     if(ev == tcpip_event) {
       tcpip_handler();
     }
-    
+
+    if(ev == serial_line_event_message && data != NULL) {
+      char *str;
+      str = data;
+      if(str[0] == 'r') {
+        uip_ds6_route_t *r;
+        uip_ipaddr_t *nexthop;
+        uip_ds6_defrt_t *defrt;
+        uip_ipaddr_t *ipaddr;
+        defrt = NULL;
+        if((ipaddr = uip_ds6_defrt_choose()) != NULL) {
+          defrt = uip_ds6_defrt_lookup(ipaddr);
+        }
+        if(defrt != NULL) {
+          PRINTF("DefRT: :: -> %02d", defrt->ipaddr.u8[15]);
+          PRINTF(" lt:%lu inf:%d\n", stimer_remaining(&defrt->lifetime),
+                 defrt->isinfinite);
+        } else {
+          PRINTF("DefRT: :: -> NULL\n");
+        }
+
+        for(r = uip_ds6_route_head();
+            r != NULL;
+            r = uip_ds6_route_next(r)) {
+          nexthop = uip_ds6_route_nexthop(r);
+          PRINTF("Route: %02d -> %02d", r->ipaddr.u8[15], nexthop->u8[15]);
+          /* PRINT6ADDR(&r->ipaddr); */
+          /* PRINTF(" -> "); */
+          /* PRINT6ADDR(nexthop); */
+          PRINTF(" lt:%lu\n", r->state.lifetime);
+
+        }
+      }
+    }
+
     if(etimer_expired(&periodic)) {
       etimer_reset(&periodic);
       ctimer_set(&backoff_timer, SEND_TIME, send_packet, NULL);

examples/ipv6/rpl-udp/udp-server.c

@@ -107,7 +107,8 @@ PROCESS_THREAD(udp_server_process, ev, data)
 
   SENSORS_ACTIVATE(button_sensor);
 
-  PRINTF("UDP server started\n");
+  PRINTF("UDP server started. nbr:%d routes:%d\n",
+         NBR_TABLE_CONF_MAX_NEIGHBORS, UIP_CONF_MAX_ROUTES);
 
 #if UIP_CONF_ROUTER
 /* The choice of server address determines its 6LoPAN header compression.

platform/cc2530dk/viztool.c

@@ -127,8 +127,8 @@ process_request() CC_NON_BANKED
       if(rt != NULL) {
         entry_size = sizeof(i) + sizeof(rt->ipaddr)
           + sizeof(rt->length)
-          + sizeof(rt->state.lifetime)
+          + sizeof(rt->state.lifetime);
-          + sizeof(rt->state.learned_from);
+          /* + sizeof(rt->state.learned_from); */
 
         memcpy(buf + len, &i, sizeof(i));
         len += sizeof(i);
@@ -147,11 +147,11 @@ process_request() CC_NON_BANKED
         len += sizeof(flip);
         PRINTF(" - %08lx", rt->state.lifetime);
 
-        memcpy(buf + len, &rt->state.learned_from,
+        /* memcpy(buf + len, &rt->state.learned_from, */
-               sizeof(rt->state.learned_from));
+        /*        sizeof(rt->state.learned_from)); */
-        len += sizeof(rt->state.learned_from);
+        /* len += sizeof(rt->state.learned_from); */
 
-        PRINTF(" - %02x [%u]\n", rt->state.learned_from, entry_size);
+        PRINTF(" - [%u]\n", entry_size);
 
         count++;
         left -= entry_size;

platform/micaz/contiki-conf.h

@@ -125,10 +125,11 @@
 #define UIP_CONF_ROUTER                 0
 
 /* configure number of neighbors and routes */
-#define NBR_TABLE_CONF_MAX_NEIGHBORS     5
+#define NBR_TABLE_CONF_MAX_NEIGHBORS    5
-#define UIP_CONF_MAX_ROUTES   5
+#define UIP_CONF_MAX_ROUTES             5
 
-#define RPL_CONF_MAX_PARENTS         4
+#define RPL_CONF_MAX_PARENTS            4
+#define RPL_CONF_MAX_DAG_PER_INSTANCE   1
 
 #define UIP_CONF_ND6_SEND_RA		0
 #define UIP_CONF_ND6_REACHABLE_TIME     600000
@@ -140,12 +141,12 @@
 #define UIP_CONF_IPV6_REASSEMBLY        0
 #define UIP_CONF_NETIF_MAX_ADDRESSES    3
 #define UIP_CONF_IP_FORWARD             0
-#define UIP_CONF_BUFFER_SIZE		    240
+#define UIP_CONF_BUFFER_SIZE            200
 
 #define SICSLOWPAN_CONF_COMPRESSION             SICSLOWPAN_COMPRESSION_HC06
 #ifndef SICSLOWPAN_CONF_FRAG
 #define SICSLOWPAN_CONF_FRAG                    1
-#define SICSLOWPAN_CONF_FRAGMENT_BUFFERS        4
+#define SICSLOWPAN_CONF_FRAGMENT_BUFFERS        3
 #define SICSLOWPAN_CONF_MAXAGE                  8
 #endif /* SICSLOWPAN_CONF_FRAG */
 #define SICSLOWPAN_CONF_MAX_ADDR_CONTEXTS       2

regression-tests/12-rpl/04-rpl-large-network.csc

@@ -7057,5 +7057,4 @@ while(true) {
     <location_x>603</location_x>
     <location_y>43</location_y>
   </plugin>
-</simconf>
+</simconf>
-

regression-tests/21-large-rpl/code/node/client.c

@@ -10,6 +10,7 @@ static struct http_socket s;
 static int bytes_received = 0;
 static int restarts;
 static struct ctimer reconnect_timer;
+static int connect = 0;
 
 static void callback(struct http_socket *s, void *ptr,
                      http_socket_event_t e,
@@ -22,9 +23,9 @@ AUTOSTART_PROCESSES(&http_example_process);
 static void
 reconnect(void *dummy)
 {
+  printf("#A color=orange\n");
   rpl_set_mode(RPL_MODE_MESH);
-  http_socket_get(&s, "http://www.contiki-os.org/", 0, 0,
+  connect = 1;
-                  callback, NULL);
 }
 /*---------------------------------------------------------------------------*/
 static void
@@ -33,6 +34,8 @@ restart(void)
   int scale;
   restarts++;
   printf("restart %d\n", restarts);
+  rpl_set_mode(RPL_MODE_FEATHER);
+  printf("#A color=red\n");
 
   scale = restarts;
   if(scale > 5) {
@@ -62,6 +65,7 @@ callback(struct http_socket *s, void *ptr,
     if(bytes_received > 0) {
       printf("HTTP socket closed, %d bytes received\n", bytes_received);
       leds_off(LEDS_RED);
+      printf("#A color=blue\n");
       rpl_set_mode(RPL_MODE_FEATHER);
     } else {
       restart();
@@ -72,6 +76,7 @@ callback(struct http_socket *s, void *ptr,
   }
 }
 /*---------------------------------------------------------------------------*/
+
 PROCESS_THREAD(http_example_process, ev, data)
 {
   static struct etimer et;
@@ -88,14 +93,26 @@ PROCESS_THREAD(http_example_process, ev, data)
   PROCESS_WAIT_EVENT_UNTIL(etimer_expired(&et));
 
   http_socket_init(&s);
-  http_socket_get(&s, "http://www.contiki-os.org/", 0, 0,
+  connect = 1;
-                  callback, NULL);
   leds_on(LEDS_RED);
   restarts = 0;
-  etimer_set(&et, CLOCK_SECOND);
+  etimer_set(&et, CLOCK_SECOND * 5);
   while(1) {
     PROCESS_WAIT_EVENT_UNTIL(etimer_expired(&et));
     etimer_reset(&et);
+    if(connect && rpl_has_downward_route()) {
+      printf("#A color=green\n");
+      http_socket_get(&s, "http://www.contiki-os.org/", 0, 0,
+		      callback, NULL);
+      connect = 0;
+    } else if(connect) {
+      connect++;
+      /* If connect have been "tried" 5 timer we quit trying now... */
+      if(connect > 5)  {
+	restart();
+	connect = 0;
+      }
+    }
   }
 
   PROCESS_END();

regression-tests/21-large-rpl/code/router/project-conf.h

@@ -7,5 +7,5 @@
 #undef NBR_TABLE_CONF_MAX_NEIGHBORS
 #define NBR_TABLE_CONF_MAX_NEIGHBORS             8
 
-/*#define RPL_CONF_DEFAULT_LIFETIME_UNIT           10
+/* #define RPL_CONF_DEFAULT_LIFETIME_UNIT           60 */
-  #define RPL_CONF_DEFAULT_LIFETIME                10*/
+/* #define RPL_CONF_DEFAULT_LIFETIME                10 */

regression-tests/21-large-rpl/code/router/router.c

@@ -3,13 +3,23 @@
 #include "ip64.h"
 #include "net/netstack.h"
 #include "net/rpl/rpl-dag-root.h"
-
+#include "net/rpl/rpl.h"
+#include "net/ipv6/uip-ds6-route.h"
+#include <stdio.h>
 /*---------------------------------------------------------------------------*/
 PROCESS(router_node_process, "Router node");
 AUTOSTART_PROCESSES(&router_node_process);
 /*---------------------------------------------------------------------------*/
+uip_lladdr_t * uip_ds6_route_nexthop_lladdr(uip_ds6_route_t *route);
+
+
 PROCESS_THREAD(router_node_process, ev, data)
 {
+  uip_ipaddr_t *nexthop = NULL;
+  uip_ds6_defrt_t *defrt;
+  uip_ipaddr_t *ipaddr;
+  uip_ds6_route_t *r;
+  static struct etimer et;
   PROCESS_BEGIN();
 
   /* Set us up as a RPL root node. */
@@ -18,9 +28,41 @@ PROCESS_THREAD(router_node_process, ev, data)
   /* Initialize the IP64 module so we'll start translating packets */
   ip64_init();
 
+  /* etimer_set(&et, CLOCK_SECOND * 60); */
+  /* PROCESS_WAIT_EVENT_UNTIL(etimer_expired(&et)); */
+
   /* ... and do nothing more. */
   while(1) {
-    PROCESS_WAIT_EVENT();
+    etimer_set(&et, CLOCK_SECOND * 20);
+    PROCESS_WAIT_EVENT_UNTIL(etimer_expired(&et));
+
+    defrt = NULL;
+    if((ipaddr = uip_ds6_defrt_choose()) != NULL) {
+      defrt = uip_ds6_defrt_lookup(ipaddr);
+    }
+    if(defrt != NULL) {
+      printf("DefRT: :: -> %02d", defrt->ipaddr.u8[15]);
+      printf(" lt:%lu inf:%d\n", stimer_remaining(&defrt->lifetime),
+    	     defrt->isinfinite);
+    } else {
+      printf("DefRT: :: -> NULL\n");
+    }
+
+    if(uip_ds6_route_head() != NULL) {
+      printf("found head\n");
+      for(r = uip_ds6_route_head();
+    	  r != NULL;
+    	  r = uip_ds6_route_next(r)) {
+    	nexthop = uip_ds6_route_nexthop(r);
+    	if(nexthop != NULL) {
+	  printf("Route: %02d -> %02d", r->ipaddr.u8[15], nexthop->u8[15]);
+    	} else {
+    	  //printf("Route: %p %02d -> ? nbr-routes:%p", r, r->ipaddr.u8[15],
+	  //r->neighbor_routes);
+    	}
+    	printf(" lt:%lu\n", r->state.lifetime);
+      }
+    }
   }
 
   PROCESS_END();