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osd-contiki/core/net/rpl/rpl-dag.c
Simon Duquennoy c679046d7a RPL: improved debug messages for No-Path DAOs
2015-11-26 11:36:05 +01:00

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/*
* Copyright (c) 2010, 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.
*
* This file is part of the Contiki operating system.
*
*/
/**
* \file
* Logic for Directed Acyclic Graphs in RPL.
*
* \author Joakim Eriksson <joakime@sics.se>, Nicolas Tsiftes <nvt@sics.se>
* Contributors: George Oikonomou <oikonomou@users.sourceforge.net> (multicast)
*/
/**
* \addtogroup uip6
* @{
*/
#include "contiki.h"
#include "net/rpl/rpl-private.h"
#include "net/ip/uip.h"
#include "net/ipv6/uip-nd6.h"
#include "net/ipv6/uip-ds6-nbr.h"
#include "net/nbr-table.h"
#include "net/ipv6/multicast/uip-mcast6.h"
#include "lib/list.h"
#include "lib/memb.h"
#include "sys/ctimer.h"
#include <limits.h>
#include <string.h>
#define DEBUG DEBUG_NONE
#include "net/ip/uip-debug.h"
/*---------------------------------------------------------------------------*/
extern rpl_of_t RPL_OF;
static rpl_of_t * const objective_functions[] = {&RPL_OF};
/*---------------------------------------------------------------------------*/
/* RPL definitions. */
#ifndef RPL_CONF_GROUNDED
#define RPL_GROUNDED 0
#else
#define RPL_GROUNDED RPL_CONF_GROUNDED
#endif /* !RPL_CONF_GROUNDED */
/*---------------------------------------------------------------------------*/
/* Per-parent RPL information */
NBR_TABLE_GLOBAL(rpl_parent_t, rpl_parents);
/*---------------------------------------------------------------------------*/
/* Allocate instance table. */
rpl_instance_t instance_table[RPL_MAX_INSTANCES];
rpl_instance_t *default_instance;
/*---------------------------------------------------------------------------*/
void
rpl_print_neighbor_list()
{
if(default_instance != NULL && default_instance->current_dag != NULL &&
default_instance->of != NULL && default_instance->of->calculate_rank != NULL) {
int curr_dio_interval = default_instance->dio_intcurrent;
int curr_rank = default_instance->current_dag->rank;
rpl_parent_t *p = nbr_table_head(rpl_parents);
clock_time_t now = clock_time();
printf("RPL: rank %u dioint %u, %u nbr(s)\n", curr_rank, curr_dio_interval, uip_ds6_nbr_num());
while(p != NULL) {
uip_ds6_nbr_t *nbr = rpl_get_nbr(p);
printf("RPL: nbr %3u %5u, %5u => %5u %c (last tx %u min ago)\n",
nbr_table_get_lladdr(rpl_parents, p)->u8[7],
p->rank, nbr ? nbr->link_metric : 0,
default_instance->of->calculate_rank(p, 0),
p == default_instance->current_dag->preferred_parent ? '*' : ' ',
(unsigned)((now - p->last_tx_time) / (60 * CLOCK_SECOND)));
p = nbr_table_next(rpl_parents, p);
}
printf("RPL: end of list\n");
}
}
/*---------------------------------------------------------------------------*/
uip_ds6_nbr_t *
rpl_get_nbr(rpl_parent_t *parent)
{
linkaddr_t *lladdr = NULL;
lladdr = nbr_table_get_lladdr(rpl_parents, parent);
if(lladdr != NULL) {
return nbr_table_get_from_lladdr(ds6_neighbors, lladdr);
} else {
return NULL;
}
}
/*---------------------------------------------------------------------------*/
static void
nbr_callback(void *ptr)
{
rpl_remove_parent(ptr);
}
void
rpl_dag_init(void)
{
nbr_table_register(rpl_parents, (nbr_table_callback *)nbr_callback);
}
/*---------------------------------------------------------------------------*/
rpl_parent_t *
rpl_get_parent(uip_lladdr_t *addr)
{
rpl_parent_t *p = nbr_table_get_from_lladdr(rpl_parents, (linkaddr_t *)addr);
return p;
}
/*---------------------------------------------------------------------------*/
rpl_rank_t
rpl_get_parent_rank(uip_lladdr_t *addr)
{
rpl_parent_t *p = nbr_table_get_from_lladdr(rpl_parents, (linkaddr_t *)addr);
if(p != NULL) {
return p->rank;
} else {
return 0;
}
}
/*---------------------------------------------------------------------------*/
uint16_t
rpl_get_parent_link_metric(const uip_lladdr_t *addr)
{
uip_ds6_nbr_t *nbr;
nbr = nbr_table_get_from_lladdr(ds6_neighbors, (const linkaddr_t *)addr);
if(nbr != NULL) {
return nbr->link_metric;
} else {
return 0;
}
}
/*---------------------------------------------------------------------------*/
uip_ipaddr_t *
rpl_get_parent_ipaddr(rpl_parent_t *p)
{
linkaddr_t *lladdr = nbr_table_get_lladdr(rpl_parents, p);
return uip_ds6_nbr_ipaddr_from_lladdr((uip_lladdr_t *)lladdr);
}
/*---------------------------------------------------------------------------*/
static void
rpl_set_preferred_parent(rpl_dag_t *dag, rpl_parent_t *p)
{
if(dag != NULL && dag->preferred_parent != p) {
PRINTF("RPL: rpl_set_preferred_parent ");
if(p != NULL) {
PRINT6ADDR(rpl_get_parent_ipaddr(p));
} else {
PRINTF("NULL");
}
PRINTF(" used to be ");
if(dag->preferred_parent != NULL) {
PRINT6ADDR(rpl_get_parent_ipaddr(dag->preferred_parent));
} else {
PRINTF("NULL");
}
PRINTF("\n");
/* Always keep the preferred parent locked, so it remains in the
* neighbor table. */
nbr_table_unlock(rpl_parents, dag->preferred_parent);
nbr_table_lock(rpl_parents, p);
dag->preferred_parent = p;
}
}
/*---------------------------------------------------------------------------*/
/* Greater-than function for the lollipop counter. */
/*---------------------------------------------------------------------------*/
static int
lollipop_greater_than(int a, int b)
{
/* Check if we are comparing an initial value with an old value */
if(a > RPL_LOLLIPOP_CIRCULAR_REGION && b <= RPL_LOLLIPOP_CIRCULAR_REGION) {
return (RPL_LOLLIPOP_MAX_VALUE + 1 + b - a) > RPL_LOLLIPOP_SEQUENCE_WINDOWS;
}
/* Otherwise check if a > b and comparable => ok, or
if they have wrapped and are still comparable */
return (a > b && (a - b) < RPL_LOLLIPOP_SEQUENCE_WINDOWS) ||
(a < b && (b - a) > (RPL_LOLLIPOP_CIRCULAR_REGION + 1-
RPL_LOLLIPOP_SEQUENCE_WINDOWS));
}
/*---------------------------------------------------------------------------*/
/* Remove DAG parents with a rank that is at least the same as minimum_rank. */
static void
remove_parents(rpl_dag_t *dag, rpl_rank_t minimum_rank)
{
rpl_parent_t *p;
PRINTF("RPL: Removing parents (minimum rank %u)\n",
minimum_rank);
p = nbr_table_head(rpl_parents);
while(p != NULL) {
if(dag == p->dag && p->rank >= minimum_rank) {
rpl_remove_parent(p);
}
p = nbr_table_next(rpl_parents, p);
}
}
/*---------------------------------------------------------------------------*/
static void
nullify_parents(rpl_dag_t *dag, rpl_rank_t minimum_rank)
{
rpl_parent_t *p;
PRINTF("RPL: Nullifying parents (minimum rank %u)\n",
minimum_rank);
p = nbr_table_head(rpl_parents);
while(p != NULL) {
if(dag == p->dag && p->rank >= minimum_rank) {
rpl_nullify_parent(p);
}
p = nbr_table_next(rpl_parents, p);
}
}
/*---------------------------------------------------------------------------*/
static int
should_send_dao(rpl_instance_t *instance, rpl_dio_t *dio, rpl_parent_t *p)
{
/* if MOP is set to no downward routes no DAO should be sent */
if(instance->mop == RPL_MOP_NO_DOWNWARD_ROUTES) {
return 0;
}
/* check if the new DTSN is more recent */
return p == instance->current_dag->preferred_parent &&
(lollipop_greater_than(dio->dtsn, p->dtsn));
}
/*---------------------------------------------------------------------------*/
static int
acceptable_rank(rpl_dag_t *dag, rpl_rank_t rank)
{
return rank != INFINITE_RANK &&
((dag->instance->max_rankinc == 0) ||
DAG_RANK(rank, dag->instance) <= DAG_RANK(dag->min_rank + dag->instance->max_rankinc, dag->instance));
}
/*---------------------------------------------------------------------------*/
static rpl_dag_t *
get_dag(uint8_t instance_id, uip_ipaddr_t *dag_id)
{
rpl_instance_t *instance;
rpl_dag_t *dag;
int i;
instance = rpl_get_instance(instance_id);
if(instance == NULL) {
return NULL;
}
for(i = 0; i < RPL_MAX_DAG_PER_INSTANCE; ++i) {
dag = &instance->dag_table[i];
if(dag->used && uip_ipaddr_cmp(&dag->dag_id, dag_id)) {
return dag;
}
}
return NULL;
}
/*---------------------------------------------------------------------------*/
rpl_dag_t *
rpl_set_root(uint8_t instance_id, uip_ipaddr_t *dag_id)
{
rpl_dag_t *dag;
rpl_instance_t *instance;
uint8_t version;
int i;
version = RPL_LOLLIPOP_INIT;
instance = rpl_get_instance(instance_id);
if(instance != NULL) {
for(i = 0; i < RPL_MAX_DAG_PER_INSTANCE; ++i) {
dag = &instance->dag_table[i];
if(dag->used) {
if(uip_ipaddr_cmp(&dag->dag_id, dag_id)) {
version = dag->version;
RPL_LOLLIPOP_INCREMENT(version);
}
if(dag == dag->instance->current_dag) {
PRINTF("RPL: Dropping a joined DAG when setting this node as root");
dag->instance->current_dag = NULL;
} else {
PRINTF("RPL: Dropping a DAG when setting this node as root");
}
rpl_free_dag(dag);
}
}
}
dag = rpl_alloc_dag(instance_id, dag_id);
if(dag == NULL) {
PRINTF("RPL: Failed to allocate a DAG\n");
return NULL;
}
instance = dag->instance;
dag->version = version;
dag->joined = 1;
dag->grounded = RPL_GROUNDED;
dag->preference = RPL_PREFERENCE;
instance->mop = RPL_MOP_DEFAULT;
instance->of = &RPL_OF;
rpl_set_preferred_parent(dag, NULL);
memcpy(&dag->dag_id, dag_id, sizeof(dag->dag_id));
instance->dio_intdoubl = RPL_DIO_INTERVAL_DOUBLINGS;
instance->dio_intmin = RPL_DIO_INTERVAL_MIN;
/* The current interval must differ from the minimum interval in order to
trigger a DIO timer reset. */
instance->dio_intcurrent = RPL_DIO_INTERVAL_MIN +
RPL_DIO_INTERVAL_DOUBLINGS;
instance->dio_redundancy = RPL_DIO_REDUNDANCY;
instance->max_rankinc = RPL_MAX_RANKINC;
instance->min_hoprankinc = RPL_MIN_HOPRANKINC;
instance->default_lifetime = RPL_DEFAULT_LIFETIME;
instance->lifetime_unit = RPL_DEFAULT_LIFETIME_UNIT;
dag->rank = ROOT_RANK(instance);
if(instance->current_dag != dag && instance->current_dag != NULL) {
/* Remove routes installed by DAOs. */
rpl_remove_routes(instance->current_dag);
instance->current_dag->joined = 0;
}
instance->current_dag = dag;
instance->dtsn_out = RPL_LOLLIPOP_INIT;
instance->of->update_metric_container(instance);
default_instance = instance;
PRINTF("RPL: Node set to be a DAG root with DAG ID ");
PRINT6ADDR(&dag->dag_id);
PRINTF("\n");
ANNOTATE("#A root=%u\n", dag->dag_id.u8[sizeof(dag->dag_id) - 1]);
rpl_reset_dio_timer(instance);
return dag;
}
/*---------------------------------------------------------------------------*/
int
rpl_repair_root(uint8_t instance_id)
{
rpl_instance_t *instance;
instance = rpl_get_instance(instance_id);
if(instance == NULL ||
instance->current_dag->rank != ROOT_RANK(instance)) {
PRINTF("RPL: rpl_repair_root triggered but not root\n");
return 0;
}
RPL_STAT(rpl_stats.root_repairs++);
RPL_LOLLIPOP_INCREMENT(instance->current_dag->version);
RPL_LOLLIPOP_INCREMENT(instance->dtsn_out);
PRINTF("RPL: rpl_repair_root initiating global repair with version %d\n", instance->current_dag->version);
rpl_reset_dio_timer(instance);
return 1;
}
/*---------------------------------------------------------------------------*/
static void
set_ip_from_prefix(uip_ipaddr_t *ipaddr, rpl_prefix_t *prefix)
{
memset(ipaddr, 0, sizeof(uip_ipaddr_t));
memcpy(ipaddr, &prefix->prefix, (prefix->length + 7) / 8);
uip_ds6_set_addr_iid(ipaddr, &uip_lladdr);
}
/*---------------------------------------------------------------------------*/
static void
check_prefix(rpl_prefix_t *last_prefix, rpl_prefix_t *new_prefix)
{
uip_ipaddr_t ipaddr;
uip_ds6_addr_t *rep;
if(last_prefix != NULL && new_prefix != NULL &&
last_prefix->length == new_prefix->length &&
uip_ipaddr_prefixcmp(&last_prefix->prefix, &new_prefix->prefix, new_prefix->length) &&
last_prefix->flags == new_prefix->flags) {
/* Nothing has changed. */
return;
}
if(last_prefix != NULL) {
set_ip_from_prefix(&ipaddr, last_prefix);
rep = uip_ds6_addr_lookup(&ipaddr);
if(rep != NULL) {
PRINTF("RPL: removing global IP address ");
PRINT6ADDR(&ipaddr);
PRINTF("\n");
uip_ds6_addr_rm(rep);
}
}
if(new_prefix != NULL) {
set_ip_from_prefix(&ipaddr, new_prefix);
if(uip_ds6_addr_lookup(&ipaddr) == NULL) {
PRINTF("RPL: adding global IP address ");
PRINT6ADDR(&ipaddr);
PRINTF("\n");
uip_ds6_addr_add(&ipaddr, 0, ADDR_AUTOCONF);
}
}
}
/*---------------------------------------------------------------------------*/
int
rpl_set_prefix(rpl_dag_t *dag, uip_ipaddr_t *prefix, unsigned len)
{
rpl_prefix_t last_prefix;
uint8_t last_len = dag->prefix_info.length;
if(len > 128) {
return 0;
}
if(dag->prefix_info.length != 0) {
memcpy(&last_prefix, &dag->prefix_info, sizeof(rpl_prefix_t));
}
memset(&dag->prefix_info.prefix, 0, sizeof(dag->prefix_info.prefix));
memcpy(&dag->prefix_info.prefix, prefix, (len + 7) / 8);
dag->prefix_info.length = len;
dag->prefix_info.flags = UIP_ND6_RA_FLAG_AUTONOMOUS;
PRINTF("RPL: Prefix set - will announce this in DIOs\n");
/* Autoconfigure an address if this node does not already have an address
with this prefix. Otherwise, update the prefix */
if(last_len == 0) {
PRINTF("rpl_set_prefix - prefix NULL\n");
check_prefix(NULL, &dag->prefix_info);
} else {
PRINTF("rpl_set_prefix - prefix NON-NULL\n");
check_prefix(&last_prefix, &dag->prefix_info);
}
return 1;
}
/*---------------------------------------------------------------------------*/
int
rpl_set_default_route(rpl_instance_t *instance, uip_ipaddr_t *from)
{
if(instance->def_route != NULL) {
PRINTF("RPL: Removing default route through ");
PRINT6ADDR(&instance->def_route->ipaddr);
PRINTF("\n");
uip_ds6_defrt_rm(instance->def_route);
instance->def_route = NULL;
}
if(from != NULL) {
PRINTF("RPL: Adding default route through ");
PRINT6ADDR(from);
PRINTF("\n");
instance->def_route = uip_ds6_defrt_add(from,
RPL_DEFAULT_ROUTE_INFINITE_LIFETIME ? 0 : RPL_LIFETIME(instance, instance->default_lifetime));
if(instance->def_route == NULL) {
return 0;
}
} else {
PRINTF("RPL: Removing default route\n");
if(instance->def_route != NULL) {
uip_ds6_defrt_rm(instance->def_route);
} else {
PRINTF("RPL: Not actually removing default route, since instance had no default route\n");
}
}
return 1;
}
/*---------------------------------------------------------------------------*/
rpl_instance_t *
rpl_alloc_instance(uint8_t instance_id)
{
rpl_instance_t *instance, *end;
for(instance = &instance_table[0], end = instance + RPL_MAX_INSTANCES;
instance < end; ++instance) {
if(instance->used == 0) {
memset(instance, 0, sizeof(*instance));
instance->instance_id = instance_id;
instance->def_route = NULL;
instance->used = 1;
#if RPL_WITH_PROBING
rpl_schedule_probing(instance);
#endif /* RPL_WITH_PROBING */
return instance;
}
}
return NULL;
}
/*---------------------------------------------------------------------------*/
rpl_dag_t *
rpl_alloc_dag(uint8_t instance_id, uip_ipaddr_t *dag_id)
{
rpl_dag_t *dag, *end;
rpl_instance_t *instance;
instance = rpl_get_instance(instance_id);
if(instance == NULL) {
instance = rpl_alloc_instance(instance_id);
if(instance == NULL) {
RPL_STAT(rpl_stats.mem_overflows++);
return NULL;
}
}
for(dag = &instance->dag_table[0], end = dag + RPL_MAX_DAG_PER_INSTANCE; dag < end; ++dag) {
if(!dag->used) {
memset(dag, 0, sizeof(*dag));
dag->used = 1;
dag->rank = INFINITE_RANK;
dag->min_rank = INFINITE_RANK;
dag->instance = instance;
return dag;
}
}
RPL_STAT(rpl_stats.mem_overflows++);
return NULL;
}
/*---------------------------------------------------------------------------*/
void
rpl_set_default_instance(rpl_instance_t *instance)
{
default_instance = instance;
}
/*---------------------------------------------------------------------------*/
rpl_instance_t *
rpl_get_default_instance(void)
{
return default_instance;
}
/*---------------------------------------------------------------------------*/
void
rpl_free_instance(rpl_instance_t *instance)
{
rpl_dag_t *dag;
rpl_dag_t *end;
PRINTF("RPL: Leaving the instance %u\n", instance->instance_id);
/* Remove any DAG inside this instance */
for(dag = &instance->dag_table[0], end = dag + RPL_MAX_DAG_PER_INSTANCE; dag < end; ++dag) {
if(dag->used) {
rpl_free_dag(dag);
}
}
rpl_set_default_route(instance, NULL);
#if RPL_WITH_PROBING
ctimer_stop(&instance->probing_timer);
#endif /* RPL_WITH_PROBING */
ctimer_stop(&instance->dio_timer);
ctimer_stop(&instance->dao_timer);
ctimer_stop(&instance->dao_lifetime_timer);
if(default_instance == instance) {
default_instance = NULL;
}
instance->used = 0;
}
/*---------------------------------------------------------------------------*/
void
rpl_free_dag(rpl_dag_t *dag)
{
if(dag->joined) {
PRINTF("RPL: Leaving the DAG ");
PRINT6ADDR(&dag->dag_id);
PRINTF("\n");
dag->joined = 0;
/* Remove routes installed by DAOs. */
rpl_remove_routes(dag);
/* Remove autoconfigured address */
if((dag->prefix_info.flags & UIP_ND6_RA_FLAG_AUTONOMOUS)) {
check_prefix(&dag->prefix_info, NULL);
}
remove_parents(dag, 0);
}
dag->used = 0;
}
/*---------------------------------------------------------------------------*/
rpl_parent_t *
rpl_add_parent(rpl_dag_t *dag, rpl_dio_t *dio, uip_ipaddr_t *addr)
{
rpl_parent_t *p = NULL;
/* Is the parent known by ds6? Drop this request if not.
* Typically, the parent is added upon receiving a DIO. */
const uip_lladdr_t *lladdr = uip_ds6_nbr_lladdr_from_ipaddr(addr);
PRINTF("RPL: rpl_add_parent lladdr %p ", lladdr);
PRINT6ADDR(addr);
PRINTF("\n");
if(lladdr != NULL) {
/* Add parent in rpl_parents */
p = nbr_table_add_lladdr(rpl_parents, (linkaddr_t *)lladdr);
if(p == NULL) {
PRINTF("RPL: rpl_add_parent p NULL\n");
} else {
uip_ds6_nbr_t *nbr;
nbr = rpl_get_nbr(p);
p->dag = dag;
p->rank = dio->rank;
p->dtsn = dio->dtsn;
/* Check whether we have a neighbor that has not gotten a link metric yet */
if(nbr != NULL && nbr->link_metric == 0) {
nbr->link_metric = RPL_INIT_LINK_METRIC * RPL_DAG_MC_ETX_DIVISOR;
}
#if RPL_DAG_MC != RPL_DAG_MC_NONE
memcpy(&p->mc, &dio->mc, sizeof(p->mc));
#endif /* RPL_DAG_MC != RPL_DAG_MC_NONE */
}
}
return p;
}
/*---------------------------------------------------------------------------*/
static rpl_parent_t *
find_parent_any_dag_any_instance(uip_ipaddr_t *addr)
{
uip_ds6_nbr_t *ds6_nbr = uip_ds6_nbr_lookup(addr);
const uip_lladdr_t *lladdr = uip_ds6_nbr_get_ll(ds6_nbr);
return nbr_table_get_from_lladdr(rpl_parents, (linkaddr_t *)lladdr);
}
/*---------------------------------------------------------------------------*/
rpl_parent_t *
rpl_find_parent(rpl_dag_t *dag, uip_ipaddr_t *addr)
{
rpl_parent_t *p = find_parent_any_dag_any_instance(addr);
if(p != NULL && p->dag == dag) {
return p;
} else {
return NULL;
}
}
/*---------------------------------------------------------------------------*/
static rpl_dag_t *
find_parent_dag(rpl_instance_t *instance, uip_ipaddr_t *addr)
{
rpl_parent_t *p = find_parent_any_dag_any_instance(addr);
if(p != NULL) {
return p->dag;
} else {
return NULL;
}
}
/*---------------------------------------------------------------------------*/
rpl_parent_t *
rpl_find_parent_any_dag(rpl_instance_t *instance, uip_ipaddr_t *addr)
{
rpl_parent_t *p = find_parent_any_dag_any_instance(addr);
if(p && p->dag && p->dag->instance == instance) {
return p;
} else {
return NULL;
}
}
/*---------------------------------------------------------------------------*/
rpl_dag_t *
rpl_select_dag(rpl_instance_t *instance, rpl_parent_t *p)
{
rpl_parent_t *last_parent;
rpl_dag_t *dag, *end, *best_dag;
rpl_rank_t old_rank;
old_rank = instance->current_dag->rank;
last_parent = instance->current_dag->preferred_parent;
best_dag = instance->current_dag;
if(best_dag->rank != ROOT_RANK(instance)) {
if(rpl_select_parent(p->dag) != NULL) {
if(p->dag != best_dag) {
best_dag = instance->of->best_dag(best_dag, p->dag);
}
} else if(p->dag == best_dag) {
best_dag = NULL;
for(dag = &instance->dag_table[0], end = dag + RPL_MAX_DAG_PER_INSTANCE; dag < end; ++dag) {
if(dag->used && dag->preferred_parent != NULL && dag->preferred_parent->rank != INFINITE_RANK) {
if(best_dag == NULL) {
best_dag = dag;
} else {
best_dag = instance->of->best_dag(best_dag, dag);
}
}
}
}
}
if(best_dag == NULL) {
/* No parent found: the calling function handle this problem. */
return NULL;
}
if(instance->current_dag != best_dag) {
/* Remove routes installed by DAOs. */
rpl_remove_routes(instance->current_dag);
PRINTF("RPL: New preferred DAG: ");
PRINT6ADDR(&best_dag->dag_id);
PRINTF("\n");
if(best_dag->prefix_info.flags & UIP_ND6_RA_FLAG_AUTONOMOUS) {
check_prefix(&instance->current_dag->prefix_info, &best_dag->prefix_info);
} else if(instance->current_dag->prefix_info.flags & UIP_ND6_RA_FLAG_AUTONOMOUS) {
check_prefix(&instance->current_dag->prefix_info, NULL);
}
best_dag->joined = 1;
instance->current_dag->joined = 0;
instance->current_dag = best_dag;
}
instance->of->update_metric_container(instance);
/* Update the DAG rank. */
best_dag->rank = instance->of->calculate_rank(best_dag->preferred_parent, 0);
if(last_parent == NULL || best_dag->rank < best_dag->min_rank) {
best_dag->min_rank = best_dag->rank;
} else if(!acceptable_rank(best_dag, best_dag->rank)) {
PRINTF("RPL: New rank unacceptable!\n");
rpl_set_preferred_parent(instance->current_dag, NULL);
if(instance->mop != RPL_MOP_NO_DOWNWARD_ROUTES && last_parent != NULL) {
/* Send a No-Path DAO to the removed preferred parent. */
dao_output(last_parent, RPL_ZERO_LIFETIME);
}
return NULL;
}
if(best_dag->preferred_parent != last_parent) {
rpl_set_default_route(instance, rpl_get_parent_ipaddr(best_dag->preferred_parent));
PRINTF("RPL: Changed preferred parent, rank changed from %u to %u\n",
(unsigned)old_rank, best_dag->rank);
RPL_STAT(rpl_stats.parent_switch++);
if(instance->mop != RPL_MOP_NO_DOWNWARD_ROUTES) {
if(last_parent != NULL) {
/* Send a No-Path DAO to the removed preferred parent. */
dao_output(last_parent, RPL_ZERO_LIFETIME);
}
/* The DAO parent set changed - schedule a DAO transmission. */
RPL_LOLLIPOP_INCREMENT(instance->dtsn_out);
rpl_schedule_dao(instance);
}
rpl_reset_dio_timer(instance);
#if DEBUG
rpl_print_neighbor_list();
#endif
} else if(best_dag->rank != old_rank) {
PRINTF("RPL: Preferred parent update, rank changed from %u to %u\n",
(unsigned)old_rank, best_dag->rank);
}
return best_dag;
}
/*---------------------------------------------------------------------------*/
static rpl_parent_t *
best_parent(rpl_dag_t *dag)
{
rpl_parent_t *p, *best;
best = NULL;
p = nbr_table_head(rpl_parents);
while(p != NULL) {
if(p->dag != dag || p->rank == INFINITE_RANK) {
/* ignore this neighbor */
} else if(best == NULL) {
best = p;
} else {
best = dag->instance->of->best_parent(best, p);
}
p = nbr_table_next(rpl_parents, p);
}
return best;
}
/*---------------------------------------------------------------------------*/
rpl_parent_t *
rpl_select_parent(rpl_dag_t *dag)
{
rpl_parent_t *best = best_parent(dag);
if(best != NULL) {
rpl_set_preferred_parent(dag, best);
dag->rank = dag->instance->of->calculate_rank(dag->preferred_parent, 0);
} else {
dag->rank = INFINITE_RANK;
}
return best;
}
/*---------------------------------------------------------------------------*/
void
rpl_remove_parent(rpl_parent_t *parent)
{
PRINTF("RPL: Removing parent ");
PRINT6ADDR(rpl_get_parent_ipaddr(parent));
PRINTF("\n");
rpl_nullify_parent(parent);
nbr_table_remove(rpl_parents, parent);
}
/*---------------------------------------------------------------------------*/
void
rpl_nullify_parent(rpl_parent_t *parent)
{
rpl_dag_t *dag = parent->dag;
/* This function can be called when the preferred parent is NULL, so we
need to handle this condition in order to trigger uip_ds6_defrt_rm. */
if(parent == dag->preferred_parent || dag->preferred_parent == NULL) {
dag->rank = INFINITE_RANK;
if(dag->joined) {
if(dag->instance->def_route != NULL) {
PRINTF("RPL: Removing default route ");
PRINT6ADDR(rpl_get_parent_ipaddr(parent));
PRINTF("\n");
uip_ds6_defrt_rm(dag->instance->def_route);
dag->instance->def_route = NULL;
}
/* Send No-Path DAO only to preferred parent, if any */
if(parent == dag->preferred_parent) {
dao_output(parent, RPL_ZERO_LIFETIME);
rpl_set_preferred_parent(dag, NULL);
}
}
}
PRINTF("RPL: Nullifying parent ");
PRINT6ADDR(rpl_get_parent_ipaddr(parent));
PRINTF("\n");
}
/*---------------------------------------------------------------------------*/
void
rpl_move_parent(rpl_dag_t *dag_src, rpl_dag_t *dag_dst, rpl_parent_t *parent)
{
if(parent == dag_src->preferred_parent) {
rpl_set_preferred_parent(dag_src, NULL);
dag_src->rank = INFINITE_RANK;
if(dag_src->joined && dag_src->instance->def_route != NULL) {
PRINTF("RPL: Removing default route ");
PRINT6ADDR(rpl_get_parent_ipaddr(parent));
PRINTF("\n");
PRINTF("rpl_move_parent\n");
uip_ds6_defrt_rm(dag_src->instance->def_route);
dag_src->instance->def_route = NULL;
}
} else if(dag_src->joined) {
/* Remove uIPv6 routes that have this parent as the next hop. */
rpl_remove_routes_by_nexthop(rpl_get_parent_ipaddr(parent), dag_src);
}
PRINTF("RPL: Moving parent ");
PRINT6ADDR(rpl_get_parent_ipaddr(parent));
PRINTF("\n");
parent->dag = dag_dst;
}
/*---------------------------------------------------------------------------*/
rpl_dag_t *
rpl_get_any_dag(void)
{
int i;
for(i = 0; i < RPL_MAX_INSTANCES; ++i) {
if(instance_table[i].used && instance_table[i].current_dag->joined) {
return instance_table[i].current_dag;
}
}
return NULL;
}
/*---------------------------------------------------------------------------*/
rpl_instance_t *
rpl_get_instance(uint8_t instance_id)
{
int i;
for(i = 0; i < RPL_MAX_INSTANCES; ++i) {
if(instance_table[i].used && instance_table[i].instance_id == instance_id) {
return &instance_table[i];
}
}
return NULL;
}
/*---------------------------------------------------------------------------*/
rpl_of_t *
rpl_find_of(rpl_ocp_t ocp)
{
unsigned int i;
for(i = 0;
i < sizeof(objective_functions) / sizeof(objective_functions[0]);
i++) {
if(objective_functions[i]->ocp == ocp) {
return objective_functions[i];
}
}
return NULL;
}
/*---------------------------------------------------------------------------*/
void
rpl_join_instance(uip_ipaddr_t *from, rpl_dio_t *dio)
{
rpl_instance_t *instance;
rpl_dag_t *dag;
rpl_parent_t *p;
rpl_of_t *of;
/* Determine the objective function by using the
objective code point of the DIO. */
of = rpl_find_of(dio->ocp);
if(of == NULL) {
PRINTF("RPL: DIO for DAG instance %u does not specify a supported OF: %u\n",
dio->instance_id, dio->ocp);
return;
}
dag = rpl_alloc_dag(dio->instance_id, &dio->dag_id);
if(dag == NULL) {
PRINTF("RPL: Failed to allocate a DAG object!\n");
return;
}
instance = dag->instance;
p = rpl_add_parent(dag, dio, from);
PRINTF("RPL: Adding ");
PRINT6ADDR(from);
PRINTF(" as a parent: ");
if(p == NULL) {
PRINTF("failed\n");
instance->used = 0;
return;
}
p->dtsn = dio->dtsn;
PRINTF("succeeded\n");
/* Autoconfigure an address if this node does not already have an address
with this prefix. */
if(dio->prefix_info.flags & UIP_ND6_RA_FLAG_AUTONOMOUS) {
check_prefix(NULL, &dio->prefix_info);
}
dag->joined = 1;
dag->preference = dio->preference;
dag->grounded = dio->grounded;
dag->version = dio->version;
instance->of = of;
instance->mop = dio->mop;
instance->current_dag = dag;
instance->dtsn_out = RPL_LOLLIPOP_INIT;
instance->max_rankinc = dio->dag_max_rankinc;
instance->min_hoprankinc = dio->dag_min_hoprankinc;
instance->dio_intdoubl = dio->dag_intdoubl;
instance->dio_intmin = dio->dag_intmin;
instance->dio_intcurrent = instance->dio_intmin + instance->dio_intdoubl;
instance->dio_redundancy = dio->dag_redund;
instance->default_lifetime = dio->default_lifetime;
instance->lifetime_unit = dio->lifetime_unit;
memcpy(&dag->dag_id, &dio->dag_id, sizeof(dio->dag_id));
/* Copy prefix information from the DIO into the DAG object. */
memcpy(&dag->prefix_info, &dio->prefix_info, sizeof(rpl_prefix_t));
rpl_set_preferred_parent(dag, p);
instance->of->update_metric_container(instance);
dag->rank = instance->of->calculate_rank(p, 0);
/* So far this is the lowest rank we are aware of. */
dag->min_rank = dag->rank;
if(default_instance == NULL) {
default_instance = instance;
}
PRINTF("RPL: Joined DAG with instance ID %u, rank %hu, DAG ID ",
dio->instance_id, dag->rank);
PRINT6ADDR(&dag->dag_id);
PRINTF("\n");
ANNOTATE("#A join=%u\n", dag->dag_id.u8[sizeof(dag->dag_id) - 1]);
rpl_reset_dio_timer(instance);
rpl_set_default_route(instance, from);
if(instance->mop != RPL_MOP_NO_DOWNWARD_ROUTES) {
rpl_schedule_dao(instance);
} else {
PRINTF("RPL: The DIO does not meet the prerequisites for sending a DAO\n");
}
}
#if RPL_MAX_DAG_PER_INSTANCE > 1
/*---------------------------------------------------------------------------*/
void
rpl_add_dag(uip_ipaddr_t *from, rpl_dio_t *dio)
{
rpl_instance_t *instance;
rpl_dag_t *dag, *previous_dag;
rpl_parent_t *p;
rpl_of_t *of;
dag = rpl_alloc_dag(dio->instance_id, &dio->dag_id);
if(dag == NULL) {
PRINTF("RPL: Failed to allocate a DAG object!\n");
return;
}
instance = dag->instance;
previous_dag = find_parent_dag(instance, from);
if(previous_dag == NULL) {
PRINTF("RPL: Adding ");
PRINT6ADDR(from);
PRINTF(" as a parent: ");
p = rpl_add_parent(dag, dio, from);
if(p == NULL) {
PRINTF("failed\n");
dag->used = 0;
return;
}
PRINTF("succeeded\n");
} else {
p = rpl_find_parent(previous_dag, from);
if(p != NULL) {
rpl_move_parent(previous_dag, dag, p);
}
}
p->rank = dio->rank;
/* Determine the objective function by using the
objective code point of the DIO. */
of = rpl_find_of(dio->ocp);
if(of != instance->of ||
instance->mop != dio->mop ||
instance->max_rankinc != dio->dag_max_rankinc ||
instance->min_hoprankinc != dio->dag_min_hoprankinc ||
instance->dio_intdoubl != dio->dag_intdoubl ||
instance->dio_intmin != dio->dag_intmin ||
instance->dio_redundancy != dio->dag_redund ||
instance->default_lifetime != dio->default_lifetime ||
instance->lifetime_unit != dio->lifetime_unit) {
PRINTF("RPL: DIO for DAG instance %u incompatible with previous DIO\n",
dio->instance_id);
rpl_remove_parent(p);
dag->used = 0;
return;
}
dag->used = 1;
dag->grounded = dio->grounded;
dag->preference = dio->preference;
dag->version = dio->version;
memcpy(&dag->dag_id, &dio->dag_id, sizeof(dio->dag_id));
/* copy prefix information into the dag */
memcpy(&dag->prefix_info, &dio->prefix_info, sizeof(rpl_prefix_t));
rpl_set_preferred_parent(dag, p);
dag->rank = instance->of->calculate_rank(p, 0);
dag->min_rank = dag->rank; /* So far this is the lowest rank we know of. */
PRINTF("RPL: Joined DAG with instance ID %u, rank %hu, DAG ID ",
dio->instance_id, dag->rank);
PRINT6ADDR(&dag->dag_id);
PRINTF("\n");
ANNOTATE("#A join=%u\n", dag->dag_id.u8[sizeof(dag->dag_id) - 1]);
rpl_process_parent_event(instance, p);
p->dtsn = dio->dtsn;
}
#endif /* RPL_MAX_DAG_PER_INSTANCE > 1 */
/*---------------------------------------------------------------------------*/
static void
global_repair(uip_ipaddr_t *from, rpl_dag_t *dag, rpl_dio_t *dio)
{
rpl_parent_t *p;
remove_parents(dag, 0);
dag->version = dio->version;
/* copy parts of the configuration so that it propagates in the network */
dag->instance->dio_intdoubl = dio->dag_intdoubl;
dag->instance->dio_intmin = dio->dag_intmin;
dag->instance->dio_redundancy = dio->dag_redund;
dag->instance->default_lifetime = dio->default_lifetime;
dag->instance->lifetime_unit = dio->lifetime_unit;
dag->instance->of->reset(dag);
dag->min_rank = INFINITE_RANK;
RPL_LOLLIPOP_INCREMENT(dag->instance->dtsn_out);
p = rpl_add_parent(dag, dio, from);
if(p == NULL) {
PRINTF("RPL: Failed to add a parent during the global repair\n");
dag->rank = INFINITE_RANK;
} else {
dag->rank = dag->instance->of->calculate_rank(p, 0);
dag->min_rank = dag->rank;
PRINTF("RPL: rpl_process_parent_event global repair\n");
rpl_process_parent_event(dag->instance, p);
}
PRINTF("RPL: Participating in a global repair (version=%u, rank=%hu)\n",
dag->version, dag->rank);
RPL_STAT(rpl_stats.global_repairs++);
}
/*---------------------------------------------------------------------------*/
void
rpl_local_repair(rpl_instance_t *instance)
{
int i;
if(instance == NULL) {
PRINTF("RPL: local repair requested for instance NULL\n");
return;
}
PRINTF("RPL: Starting a local instance repair\n");
for(i = 0; i < RPL_MAX_DAG_PER_INSTANCE; i++) {
if(instance->dag_table[i].used) {
instance->dag_table[i].rank = INFINITE_RANK;
nullify_parents(&instance->dag_table[i], 0);
}
}
rpl_reset_dio_timer(instance);
RPL_STAT(rpl_stats.local_repairs++);
}
/*---------------------------------------------------------------------------*/
void
rpl_recalculate_ranks(void)
{
rpl_parent_t *p;
/*
* We recalculate ranks when we receive feedback from the system rather
* than RPL protocol messages. This periodical recalculation is called
* from a timer in order to keep the stack depth reasonably low.
*/
p = nbr_table_head(rpl_parents);
while(p != NULL) {
if(p->dag != NULL && p->dag->instance && (p->flags & RPL_PARENT_FLAG_UPDATED)) {
p->flags &= ~RPL_PARENT_FLAG_UPDATED;
PRINTF("RPL: rpl_process_parent_event recalculate_ranks\n");
if(!rpl_process_parent_event(p->dag->instance, p)) {
PRINTF("RPL: A parent was dropped\n");
}
}
p = nbr_table_next(rpl_parents, p);
}
}
/*---------------------------------------------------------------------------*/
int
rpl_process_parent_event(rpl_instance_t *instance, rpl_parent_t *p)
{
int return_value;
#if DEBUG
rpl_rank_t old_rank;
old_rank = instance->current_dag->rank;
#endif /* DEBUG */
return_value = 1;
if(!acceptable_rank(p->dag, p->rank)) {
/* The candidate parent is no longer valid: the rank increase resulting
from the choice of it as a parent would be too high. */
PRINTF("RPL: Unacceptable rank %u\n", (unsigned)p->rank);
rpl_nullify_parent(p);
if(p != instance->current_dag->preferred_parent) {
return 0;
} else {
return_value = 0;
}
}
if(rpl_select_dag(instance, p) == NULL) {
/* No suitable parent; trigger a local repair. */
PRINTF("RPL: No parents found in any DAG\n");
rpl_local_repair(instance);
return 0;
}
#if DEBUG
if(DAG_RANK(old_rank, instance) != DAG_RANK(instance->current_dag->rank, instance)) {
PRINTF("RPL: Moving in the instance from rank %hu to %hu\n",
DAG_RANK(old_rank, instance), DAG_RANK(instance->current_dag->rank, instance));
if(instance->current_dag->rank != INFINITE_RANK) {
PRINTF("RPL: The preferred parent is ");
PRINT6ADDR(rpl_get_parent_ipaddr(instance->current_dag->preferred_parent));
PRINTF(" (rank %u)\n",
(unsigned)DAG_RANK(instance->current_dag->preferred_parent->rank, instance));
} else {
PRINTF("RPL: We don't have any parent");
}
}
#endif /* DEBUG */
return return_value;
}
/*---------------------------------------------------------------------------*/
void
rpl_process_dio(uip_ipaddr_t *from, rpl_dio_t *dio)
{
rpl_instance_t *instance;
rpl_dag_t *dag, *previous_dag;
rpl_parent_t *p;
#if RPL_CONF_MULTICAST
/* If the root is advertising MOP 2 but we support MOP 3 we can still join
* In that scenario, we suppress DAOs for multicast targets */
if(dio->mop < RPL_MOP_STORING_NO_MULTICAST) {
#else
if(dio->mop != RPL_MOP_DEFAULT) {
#endif
PRINTF("RPL: Ignoring a DIO with an unsupported MOP: %d\n", dio->mop);
return;
}
dag = get_dag(dio->instance_id, &dio->dag_id);
instance = rpl_get_instance(dio->instance_id);
if(dag != NULL && instance != NULL) {
if(lollipop_greater_than(dio->version, dag->version)) {
if(dag->rank == ROOT_RANK(instance)) {
PRINTF("RPL: Root received inconsistent DIO version number\n");
dag->version = dio->version;
RPL_LOLLIPOP_INCREMENT(dag->version);
rpl_reset_dio_timer(instance);
} else {
PRINTF("RPL: Global repair\n");
if(dio->prefix_info.length != 0) {
if(dio->prefix_info.flags & UIP_ND6_RA_FLAG_AUTONOMOUS) {
PRINTF("RPL : Prefix announced in DIO\n");
rpl_set_prefix(dag, &dio->prefix_info.prefix, dio->prefix_info.length);
}
}
global_repair(from, dag, dio);
}
return;
}
if(lollipop_greater_than(dag->version, dio->version)) {
/* The DIO sender is on an older version of the DAG. */
PRINTF("RPL: old version received => inconsistency detected\n");
if(dag->joined) {
rpl_reset_dio_timer(instance);
return;
}
}
}
if(instance == NULL) {
PRINTF("RPL: New instance detected: Joining...\n");
rpl_join_instance(from, dio);
return;
}
if(instance->current_dag->rank == ROOT_RANK(instance) && instance->current_dag != dag) {
PRINTF("RPL: Root ignored DIO for different DAG\n");
return;
}
if(dag == NULL) {
#if RPL_MAX_DAG_PER_INSTANCE > 1
PRINTF("RPL: Adding new DAG to known instance.\n");
rpl_add_dag(from, dio);
return;
#else /* RPL_MAX_DAG_PER_INSTANCE > 1 */
PRINTF("RPL: Only one instance supported.\n");
return;
#endif /* RPL_MAX_DAG_PER_INSTANCE > 1 */
}
if(dio->rank < ROOT_RANK(instance)) {
PRINTF("RPL: Ignoring DIO with too low rank: %u\n",
(unsigned)dio->rank);
return;
} else if(dio->rank == INFINITE_RANK && dag->joined) {
rpl_reset_dio_timer(instance);
}
/* Prefix Information Option treated to add new prefix */
if(dio->prefix_info.length != 0) {
if(dio->prefix_info.flags & UIP_ND6_RA_FLAG_AUTONOMOUS) {
PRINTF("RPL : Prefix announced in DIO\n");
rpl_set_prefix(dag, &dio->prefix_info.prefix, dio->prefix_info.length);
}
}
if(dag->rank == ROOT_RANK(instance)) {
if(dio->rank != INFINITE_RANK) {
instance->dio_counter++;
}
return;
}
/* The DIO comes from a valid DAG, we can refresh its lifetime */
dag->lifetime = (1UL << (instance->dio_intmin + instance->dio_intdoubl)) / 1000;
PRINTF("Set dag ");
PRINT6ADDR(&dag->dag_id);
PRINTF(" lifetime to %ld\n", dag->lifetime);
/*
* At this point, we know that this DIO pertains to a DAG that
* we are already part of. We consider the sender of the DIO to be
* a candidate parent, and let rpl_process_parent_event decide
* whether to keep it in the set.
*/
p = rpl_find_parent(dag, from);
if(p == NULL) {
previous_dag = find_parent_dag(instance, from);
if(previous_dag == NULL) {
/* Add the DIO sender as a candidate parent. */
p = rpl_add_parent(dag, dio, from);
if(p == NULL) {
PRINTF("RPL: Failed to add a new parent (");
PRINT6ADDR(from);
PRINTF(")\n");
return;
}
PRINTF("RPL: New candidate parent with rank %u: ", (unsigned)p->rank);
PRINT6ADDR(from);
PRINTF("\n");
} else {
p = rpl_find_parent(previous_dag, from);
if(p != NULL) {
rpl_move_parent(previous_dag, dag, p);
}
}
} else {
if(p->rank == dio->rank) {
PRINTF("RPL: Received consistent DIO\n");
if(dag->joined) {
instance->dio_counter++;
}
}
}
p->rank = dio->rank;
/* Parent info has been updated, trigger rank recalculation */
p->flags |= RPL_PARENT_FLAG_UPDATED;
PRINTF("RPL: preferred DAG ");
PRINT6ADDR(&instance->current_dag->dag_id);
PRINTF(", rank %u, min_rank %u, ",
instance->current_dag->rank, instance->current_dag->min_rank);
PRINTF("parent rank %u, parent etx %u, link metric %u, instance etx %u\n",
p->rank, -1/*p->mc.obj.etx*/, rpl_get_nbr(p)->link_metric, instance->mc.obj.etx);
/* We have allocated a candidate parent; process the DIO further. */
#if RPL_DAG_MC != RPL_DAG_MC_NONE
memcpy(&p->mc, &dio->mc, sizeof(p->mc));
#endif /* RPL_DAG_MC != RPL_DAG_MC_NONE */
if(rpl_process_parent_event(instance, p) == 0) {
PRINTF("RPL: The candidate parent is rejected\n");
return;
}
/* We don't use route control, so we can have only one official parent. */
if(dag->joined && p == dag->preferred_parent) {
if(should_send_dao(instance, dio, p)) {
RPL_LOLLIPOP_INCREMENT(instance->dtsn_out);
rpl_schedule_dao(instance);
}
/* We received a new DIO from our preferred parent.
* Call uip_ds6_defrt_add to set a fresh value for the lifetime counter */
uip_ds6_defrt_add(from, RPL_DEFAULT_ROUTE_INFINITE_LIFETIME ? 0 : RPL_LIFETIME(instance, instance->default_lifetime));
}
p->dtsn = dio->dtsn;
}
/*---------------------------------------------------------------------------*/
/** @} */
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