Cooja platform changes to get IPv6/RPL to work better

platform/cooja/Makefile.cooja

@@ -71,7 +71,7 @@ CONTIKI_CPU=$(CONTIKI)/cpu/x86
 ### Compiler arguments
 #CC = gcc
 CFLAGSNO = $(EXTRA_CC_ARGS) -Wall -g -I/usr/local/include -DCLASSNAME=$(CLASSNAME)
-CFLAGS   = $(CFLAGSNO)
+CFLAGS   += $(CFLAGSNO)
 
 ifdef UIP_CONF_IPV6
   CFLAGS += -DWITH_UIP6=1

platform/cooja/contiki-conf.h

@@ -39,6 +39,8 @@
 
 #define COOJA 1
 
+#define w_memcpy memcpy
+
 #if WITH_UIP
 #if WITH_UIP6
 #error WITH_UIP && WITH_IP6: Bad configuration
@@ -57,13 +59,18 @@
 /* Default network config */
 #if WITH_UIP6
 
+#define NULLRDC_CONF_802154_AUTOACK  0
+#define NULLRDC_CONF_SEND_802154_ACK 0
+#define NULLRDC_CONF_ACK_WAIT_TIME                RTIMER_SECOND / 500
+#define NULLRDC_CONF_AFTER_ACK_DETECTED_WAIT_TIME RTIMER_SECOND / 250
+
+
 /* Network setup for IPv6 */
-#define NETSTACK_CONF_NETWORK uip_driver
+#define NETSTACK_CONF_NETWORK       sicslowpan_driver
-#define NETSTACK_CONF_MAC nullmac_driver
+#define NETSTACK_CONF_MAC           csma_driver
 #define NETSTACK_CONF_RDC           nullrdc_driver
 #define NETSTACK_CONF_RADIO         cooja_radio_driver
-#define UIP_CONF_IPV6 1
+#define NETSTACK_CONF_FRAMER        framer_802154
-#define UIP_CONF_IP_FORWARD           0
 
 #else /* WITH_UIP6 */
 
@@ -80,7 +87,7 @@
 
 /* Network setup for Rime */
 #define NETSTACK_CONF_NETWORK rime_driver
-#define NETSTACK_CONF_MAC nullmac_driver
+#define NETSTACK_CONF_MAC csma_driver
 #define NETSTACK_CONF_RDC nullrdc_driver
 #define NETSTACK_CONF_RADIO cooja_radio_driver
 /*#define NETSTACK_CONF_FRAMER framer_nullmac*/
@@ -90,6 +97,86 @@
 
 #endif /* NETSTACK_CONF_H */
 
+#define NETSTACK_CONF_RDC_CHANNEL_CHECK_RATE 8
+
+/* Default network config */
+#if WITH_UIP6
+
+
+
+/* Network setup for IPv6 */
+#define NETSTACK_CONF_NETWORK       sicslowpan_driver
+#define NETSTACK_CONF_MAC           csma_driver
+#define NETSTACK_CONF_RDC           nullrdc_driver
+#define NETSTACK_CONF_RADIO         cooja_radio_driver
+#define NETSTACK_CONF_FRAMER        framer_802154
+#define UIP_CONF_IPV6               1
+
+#define RIMEADDR_CONF_SIZE          8
+
+#define UIP_CONF_LL_802154          1
+#define UIP_CONF_LLH_LEN            0
+
+#define UIP_CONF_ROUTER             1
+#ifndef UIP_CONF_IPV6_RPL
+#define UIP_CONF_IPV6_RPL           1
+#endif /* UIP_CONF_IPV6_RPL */
+
+/* configure number of neighbors and routes */
+#ifndef UIP_CONF_DS6_NBR_NBU
+#define UIP_CONF_DS6_NBR_NBU     300
+#endif /* UIP_CONF_DS6_NBR_NBU */
+#ifndef UIP_CONF_DS6_ROUTE_NBU
+#define UIP_CONF_DS6_ROUTE_NBU   300
+#endif /* UIP_CONF_DS6_ROUTE_NBU */
+
+#define TCPIP_CONF_ANNOTATE_TRANSMISSIONS 1
+
+#define RPL_CONF_DIO_INTERVAL_MIN 16
+
+#define RPL_DIS_INTERVAL_CONF     (5 * 60)
+#define RPL_CONF_DAO_LATENCY (CLOCK_SECOND * 60)
+
+#define UIP_CONF_ND6_SEND_RA		0
+#define UIP_CONF_ND6_REACHABLE_TIME     600000
+#define UIP_CONF_ND6_RETRANS_TIMER      10000
+
+#define RIMEADDR_CONF_SIZE            8
+#define UIP_CONF_NETIF_MAX_ADDRESSES  3
+#define UIP_CONF_ND6_MAX_PREFIXES     3
+#define UIP_CONF_ND6_MAX_NEIGHBORS    4
+#define UIP_CONF_ND6_MAX_DEFROUTERS   2
+
+#ifndef UIP_CONF_IPV6_QUEUE_PKT
+#define UIP_CONF_IPV6_QUEUE_PKT         1
+#endif /* UIP_CONF_IPV6_QUEUE_PKT */
+#define UIP_CONF_IPV6_CHECKS            1
+#define UIP_CONF_IPV6_REASSEMBLY        0
+#define UIP_CONF_NETIF_MAX_ADDRESSES    3
+#define UIP_CONF_ND6_MAX_PREFIXES       3
+#define UIP_CONF_ND6_MAX_NEIGHBORS      4
+#define UIP_CONF_ND6_MAX_DEFROUTERS     2
+#define UIP_CONF_IP_FORWARD             0
+#ifndef UIP_CONF_BUFFER_SIZE
+#define UIP_CONF_BUFFER_SIZE		240
+#endif
+
+#define SICSLOWPAN_CONF_COMPRESSION_IPV6        0
+#define SICSLOWPAN_CONF_COMPRESSION_HC1         1
+#define SICSLOWPAN_CONF_COMPRESSION_HC01        2
+#define SICSLOWPAN_CONF_COMPRESSION             SICSLOWPAN_COMPRESSION_HC06
+#ifndef SICSLOWPAN_CONF_FRAG
+#define SICSLOWPAN_CONF_FRAG                    1
+#define SICSLOWPAN_CONF_MAXAGE                  8
+#endif /* SICSLOWPAN_CONF_FRAG */
+#define SICSLOWPAN_CONF_CONVENTIONAL_MAC	1
+#define SICSLOWPAN_CONF_MAX_ADDR_CONTEXTS       2
+#ifndef SICSLOWPAN_CONF_MAX_MAC_TRANSMISSIONS
+#define SICSLOWPAN_CONF_MAX_MAC_TRANSMISSIONS   8
+#endif /* SICSLOWPAN_CONF_MAX_MAC_TRANSMISSIONS */
+
+#endif /* WITH_UIP6 */
+
 
 #define PACKETBUF_CONF_ATTRS_INLINE 1
 
@@ -123,28 +210,38 @@ typedef unsigned long rtimer_clock_t;
 
 #define WITH_ASCII 1
 
-#define UIP_CONF_MAX_LISTENPORTS      40
+#define UIP_CONF_ICMP_DEST_UNREACH 1
-#define UIP_CONF_MAX_CONNECTIONS      40
-#define UIP_CONF_BYTE_ORDER           UIP_LITTLE_ENDIAN
-#define UIP_CONF_TCP_SPLIT            0
-#define UIP_CONF_LOGGING              0
-#define UIP_CONF_UDP_CHECKSUMS        0
-#define UIP_CONF_BROADCAST            1
 
+#define UIP_CONF_DHCP_LIGHT
+#define UIP_CONF_LLH_LEN         0
+#ifndef  UIP_CONF_RECEIVE_WINDOW
+#define UIP_CONF_RECEIVE_WINDOW  48
+#endif
+#ifndef  UIP_CONF_TCP_MSS
+#define UIP_CONF_TCP_MSS         48
+#endif
+#define UIP_CONF_MAX_CONNECTIONS 4
+#define UIP_CONF_MAX_LISTENPORTS 8
+#define UIP_CONF_UDP_CONNS       12
+#define UIP_CONF_FWCACHE_SIZE    30
+#define UIP_CONF_BROADCAST       1
+#define UIP_ARCH_IPCHKSUM        1
 #define UIP_CONF_UDP             1
-#define UIP_CONF_TCP                  1
+#define UIP_CONF_UDP_CHECKSUMS   1
+#define UIP_CONF_PINGADDRCONF    0
+#define UIP_CONF_LOGGING         0
+
+#define UIP_CONF_TCP_SPLIT       0
 
 #if UIP_CONF_IPV6
-#define RIMEADDR_CONF_SIZE            8
-#define UIP_CONF_IPV6_QUEUE_PKT       1
-#define UIP_CONF_IPV6_CHECKS          1
-#define UIP_CONF_IPV6_REASSEMBLY      1
-#define UIP_CONF_NETIF_MAX_ADDRESSES  3
-#define UIP_CONF_ND6_MAX_PREFIXES     3
-#define UIP_CONF_ND6_MAX_NEIGHBORS    4
-#define UIP_CONF_ND6_MAX_DEFROUTERS   2
 #endif /* UIP_CONF_IPV6 */
 
 #define CFS_CONF_OFFSET_TYPE	long
 
+/* include the project config */
+/* PROJECT_CONF_H might be defined in the project Makefile */
+#ifdef PROJECT_CONF_H
+#include PROJECT_CONF_H
+#endif /* PROJECT_CONF_H */
+
 #endif /* __CONTIKI_CONF_H__ */

platform/cooja/contiki-cooja-main.c

@@ -102,8 +102,6 @@ static uint8_t is_gateway;
 #define PRINT6ADDR(addr) printf("%02x%02x:%02x%02x:%02x%02x:%02x%02x:%02x%02x:%02x%02x:%02x%02x:%02x%02x", ((uint8_t *)addr)[0], ((uint8_t *)addr)[1], ((uint8_t *)addr)[2], ((uint8_t *)addr)[3], ((uint8_t *)addr)[4], ((uint8_t *)addr)[5], ((uint8_t *)addr)[6], ((uint8_t *)addr)[7], ((uint8_t *)addr)[8], ((uint8_t *)addr)[9], ((uint8_t *)addr)[10], ((uint8_t *)addr)[11], ((uint8_t *)addr)[12], ((uint8_t *)addr)[13], ((uint8_t *)addr)[14], ((uint8_t *)addr)[15])
 #endif /* WITH_UIP6 */
 
-PROCINIT(&etimer_process,&sensors_process);
-
 /* Simulation mote interfaces */
 SIM_INTERFACE_NAME(moteid_interface);
 SIM_INTERFACE_NAME(vib_interface);
@@ -179,6 +177,30 @@ rtimer_thread_loop(void *data)
   }
 }
 /*---------------------------------------------------------------------------*/
+static void
+set_rime_addr(void)
+{
+  rimeaddr_t addr;
+  int i;
+
+  memset(&addr, 0, sizeof(rimeaddr_t));
+#if WITH_UIP6
+  for(i = 0; i < sizeof(uip_lladdr.addr); i += 2) {
+    addr.u8[i + 1] = node_id & 0xff;
+    addr.u8[i + 0] = node_id >> 8;
+  }
+#else /* WITH_UIP6 */
+  addr.u8[0] = node_id & 0xff;
+  addr.u8[1] = node_id >> 8;
+#endif /* WITH_UIP6 */
+  rimeaddr_set_node_addr(&addr);
+  printf("Rime started with address ");
+  for(i = 0; i < sizeof(addr.u8) - 1; i++) {
+    printf("%d.", addr.u8[i]);
+  }
+  printf("%d\n", addr.u8[i]);
+}
+/*---------------------------------------------------------------------------*/
 void
 contiki_init()
 {
@@ -187,8 +209,12 @@ contiki_init()
   /* Start process handler */
   process_init();
 
+
   /* Start Contiki processes */
-  procinit_init();
+
+  process_start(&etimer_process, NULL);
+  process_start(&sensors_process, NULL);
+  ctimer_init();
 
   /* Print startup information */
   printf(CONTIKI_VERSION_STRING " started. ");
@@ -198,28 +224,28 @@ contiki_init()
     printf("Node id is not set.\n");
   }
 
-  /* RIME CONFIGURATION */
+  set_rime_addr();
   {
-    int i;
+    uint8_t longaddr[8];
-    rimeaddr_t rimeaddr;
+    uint16_t shortaddr;
     
-    /* Init Rime */
+    shortaddr = (rimeaddr_node_addr.u8[0] << 8) +
-    ctimer_init();
+      rimeaddr_node_addr.u8[1];
-    rimeaddr.u8[0] = node_id & 0xff;
+    memset(longaddr, 0, sizeof(longaddr));
-    rimeaddr.u8[1] = node_id >> 8;
+    rimeaddr_copy((rimeaddr_t *)&longaddr, &rimeaddr_node_addr);
-    rimeaddr_set_node_addr(&rimeaddr);
+    printf("MAC %02x:%02x:%02x:%02x:%02x:%02x:%02x:%02x ",
-    printf("Rime address: ");
+           longaddr[0], longaddr[1], longaddr[2], longaddr[3],
-    for(i = 0; i < sizeof(rimeaddr_node_addr.u8) - 1; i++) {
+           longaddr[4], longaddr[5], longaddr[6], longaddr[7]);
-      printf("%d.", rimeaddr_node_addr.u8[i]);
-    }
-    printf("%d\n", rimeaddr_node_addr.u8[i]);
   }
 
   queuebuf_init();
 
   /* Initialize communication stack */
   netstack_init();
-  printf("MAC %s RDC %s NETWORK %s\n", NETSTACK_MAC.name, NETSTACK_RDC.name, NETSTACK_NETWORK.name);
+  printf("%s/%s/%s, channel check rate %lu Hz\n",
+	 NETSTACK_NETWORK.name, NETSTACK_MAC.name, NETSTACK_RDC.name,
+         CLOCK_SECOND / (NETSTACK_RDC.channel_check_interval() == 0 ? 1:
+                         NETSTACK_RDC.channel_check_interval()));
 
 #if WITH_UIP
   /* IPv4 CONFIGURATION */
@@ -255,27 +281,26 @@ contiki_init()
   {
     int i;
     uint8_t addr[sizeof(uip_lladdr.addr)];
-    for (i=0; i < sizeof(uip_lladdr.addr); i++) {
+    for(i = 0; i < sizeof(uip_lladdr.addr); i += 2) {
-      addr[i] = node_id & 0xff;
+      addr[i + 1] = node_id & 0xff;
+      addr[i + 0] = node_id >> 8;
     }
+    rimeaddr_copy(addr, &rimeaddr_node_addr);
     memcpy(&uip_lladdr.addr, addr, sizeof(uip_lladdr.addr));
+
     process_start(&tcpip_process, NULL);
 
     printf("Tentative link-local IPv6 address ");
     {
-      int i, a;
+      uip_ds6_addr_t *lladdr;
-      for(a = 0; a < UIP_DS6_ADDR_NB; a++) {
+      int i;
-        if (uip_ds6_if.addr_list[a].isused) {
+      lladdr = uip_ds6_get_link_local(-1);
       for(i = 0; i < 7; ++i) {
-        printf("%02x%02x:",
+	printf("%02x%02x:", lladdr->ipaddr.u8[i * 2],
-           uip_ds6_if.addr_list[a].ipaddr.u8[i * 2],
+	       lladdr->ipaddr.u8[i * 2 + 1]);
-           uip_ds6_if.addr_list[a].ipaddr.u8[i * 2 + 1]);
-      }
-      printf("%02x%02x\n",
-             uip_ds6_if.addr_list[a].ipaddr.u8[14],
-             uip_ds6_if.addr_list[a].ipaddr.u8[15]);
-        }
       }
+      printf("%02x%02x\n", lladdr->ipaddr.u8[14],
+	     lladdr->ipaddr.u8[15]);
     }
 
     if(1) {

platform/cooja/sys/log.c

@@ -101,12 +101,45 @@ doInterfaceActionsAfterTick(void)
 {
 }
 /*-----------------------------------------------------------------------------------*/
+static int log_putchar_with_slip;
+void
+log_set_putchar_with_slip(int with)
+{
+  log_putchar_with_slip = with;
+}
+/*-----------------------------------------------------------------------------------*/
 #if IMPLEMENT_PRINTF
 int
 putchar(int c)
 {
+#define SLIP_END 0300
+  static char debug_frame = 0;
+
+  if(log_putchar_with_slip) {
+    simlog_char(SLIP_END);
+
+    if(!debug_frame) {		/* Start of debug output */
+      simlog_char(SLIP_END);
+      simlog_char('\r');	/* Type debug line == '\r' */
+      debug_frame = 1;
+    }
+
+    simlog_char((char)c);
+
+    /*
+     * Line buffered output, a newline marks the end of debug output and
+     * implicitly flushes debug output.
+     */
+    if(c == '\n') {
+      simlog_char(SLIP_END);
+      debug_frame = 0;
+    }
+
+    return c;
+  } else {
     simlog_char(c);
     return c;
+  }
 }
 /*-----------------------------------------------------------------------------------*/
 int
@@ -123,11 +156,16 @@ printf(const char *fmt, ...)
   int res;
   static char buf[MAX_LOG_LENGTH];
   va_list ap;
+  int i;
+
   va_start(ap, fmt);
   res = vsnprintf(buf, MAX_LOG_LENGTH, fmt, ap);
   va_end(ap);
 
-  simlog(buf);
+  //    simlog(buf);
+  for(i = 0; i < res; i++) {
+    putchar(buf[i]);
+  }
   return res;
 }
 #endif /* IMPLEMENT_PRINTF */