Contiki 2.6
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00001 /* 00002 * Copyright (c) 2010, Swedish Institute of Computer Science. 00003 * All rights reserved. 00004 * 00005 * Redistribution and use in source and binary forms, with or without 00006 * modification, are permitted provided that the following conditions 00007 * are met: 00008 * 1. Redistributions of source code must retain the above copyright 00009 * notice, this list of conditions and the following disclaimer. 00010 * 2. Redistributions in binary form must reproduce the above copyright 00011 * notice, this list of conditions and the following disclaimer in the 00012 * documentation and/or other materials provided with the distribution. 00013 * 3. Neither the name of the Institute nor the names of its contributors 00014 * may be used to endorse or promote products derived from this software 00015 * without specific prior written permission. 00016 * 00017 * THIS SOFTWARE IS PROVIDED BY THE INSTITUTE AND CONTRIBUTORS ``AS IS'' AND 00018 * ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE 00019 * IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE 00020 * ARE DISCLAIMED. IN NO EVENT SHALL THE INSTITUTE OR CONTRIBUTORS BE LIABLE 00021 * FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL 00022 * DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS 00023 * OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) 00024 * HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT 00025 * LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY 00026 * OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF 00027 * SUCH DAMAGE. 00028 * 00029 * This file is part of the Contiki operating system. 00030 * 00031 * \file 00032 * Public API declarations for ContikiRPL. 00033 * \author 00034 * Joakim Eriksson <joakime@sics.se> & Nicolas Tsiftes <nvt@sics.se> 00035 * 00036 */ 00037 00038 #ifndef RPL_H 00039 #define RPL_H 00040 00041 #include "rpl-conf.h" 00042 00043 #include "lib/list.h" 00044 #include "net/uip.h" 00045 #include "net/uip-ds6.h" 00046 #include "sys/ctimer.h" 00047 00048 /*---------------------------------------------------------------------------*/ 00049 /* The amount of parents that this node has in a particular DAG. */ 00050 #define RPL_PARENT_COUNT(dag) list_length((dag)->parents) 00051 /*---------------------------------------------------------------------------*/ 00052 typedef uint16_t rpl_rank_t; 00053 typedef uint16_t rpl_ocp_t; 00054 /*---------------------------------------------------------------------------*/ 00055 /* DAG Metric Container Object Types, to be confirmed by IANA. */ 00056 #define RPL_DAG_MC_NONE 0 /* Local identifier for empty MC */ 00057 #define RPL_DAG_MC_NSA 1 /* Node State and Attributes */ 00058 #define RPL_DAG_MC_ENERGY 2 /* Node Energy */ 00059 #define RPL_DAG_MC_HOPCOUNT 3 /* Hop Count */ 00060 #define RPL_DAG_MC_THROUGHPUT 4 /* Throughput */ 00061 #define RPL_DAG_MC_LATENCY 5 /* Latency */ 00062 #define RPL_DAG_MC_LQL 6 /* Link Quality Level */ 00063 #define RPL_DAG_MC_ETX 7 /* Expected Transmission Count */ 00064 #define RPL_DAG_MC_LC 8 /* Link Color */ 00065 00066 /* DAG Metric Container flags. */ 00067 #define RPL_DAG_MC_FLAG_P 0x8 00068 #define RPL_DAG_MC_FLAG_C 0x4 00069 #define RPL_DAG_MC_FLAG_O 0x2 00070 #define RPL_DAG_MC_FLAG_R 0x1 00071 00072 /* DAG Metric Container aggregation mode. */ 00073 #define RPL_DAG_MC_AGGR_ADDITIVE 0 00074 #define RPL_DAG_MC_AGGR_MAXIMUM 1 00075 #define RPL_DAG_MC_AGGR_MINIMUM 2 00076 #define RPL_DAG_MC_AGGR_MULTIPLICATIVE 3 00077 00078 /* The bit index within the flags field of 00079 the rpl_metric_object_energy structure. */ 00080 #define RPL_DAG_MC_ENERGY_INCLUDED 3 00081 #define RPL_DAG_MC_ENERGY_TYPE 1 00082 #define RPL_DAG_MC_ENERGY_ESTIMATION 0 00083 00084 #define RPL_DAG_MC_ENERGY_TYPE_MAINS 0 00085 #define RPL_DAG_MC_ENERGY_TYPE_BATTERY 1 00086 #define RPL_DAG_MC_ENERGY_TYPE_SCAVENGING 2 00087 00088 struct rpl_metric_object_energy { 00089 uint8_t flags; 00090 uint8_t energy_est; 00091 }; 00092 00093 /* Logical representation of a DAG Metric Container. */ 00094 struct rpl_metric_container { 00095 uint8_t type; 00096 uint8_t flags; 00097 uint8_t aggr; 00098 uint8_t prec; 00099 uint8_t length; 00100 union metric_object { 00101 struct rpl_metric_object_energy energy; 00102 uint16_t etx; 00103 } obj; 00104 }; 00105 typedef struct rpl_metric_container rpl_metric_container_t; 00106 /*---------------------------------------------------------------------------*/ 00107 struct rpl_instance; 00108 struct rpl_dag; 00109 /*---------------------------------------------------------------------------*/ 00110 struct rpl_parent { 00111 struct rpl_parent *next; 00112 struct rpl_dag *dag; 00113 rpl_metric_container_t mc; 00114 uip_ipaddr_t addr; 00115 rpl_rank_t rank; 00116 uint8_t link_metric; 00117 uint8_t dtsn; 00118 uint8_t updated; 00119 }; 00120 typedef struct rpl_parent rpl_parent_t; 00121 /*---------------------------------------------------------------------------*/ 00122 /* RPL DIO prefix suboption */ 00123 struct rpl_prefix { 00124 uip_ipaddr_t prefix; 00125 uint32_t lifetime; 00126 uint8_t length; 00127 uint8_t flags; 00128 }; 00129 typedef struct rpl_prefix rpl_prefix_t; 00130 /*---------------------------------------------------------------------------*/ 00131 /* Directed Acyclic Graph */ 00132 struct rpl_dag { 00133 uip_ipaddr_t dag_id; 00134 rpl_rank_t min_rank; /* should be reset per DAG iteration! */ 00135 uint8_t version; 00136 uint8_t grounded; 00137 uint8_t preference; 00138 uint8_t used; 00139 /* live data for the DAG */ 00140 uint8_t joined; 00141 rpl_parent_t *preferred_parent; 00142 rpl_rank_t rank; 00143 struct rpl_instance *instance; 00144 LIST_STRUCT(parents); 00145 rpl_prefix_t prefix_info; 00146 }; 00147 typedef struct rpl_dag rpl_dag_t; 00148 typedef struct rpl_instance rpl_instance_t; 00149 /*---------------------------------------------------------------------------*/ 00150 /* 00151 * API for RPL objective functions (OF) 00152 * 00153 * reset(dag) 00154 * 00155 * Resets the objective function state for a specific DAG. This function is 00156 * called when doing a global repair on the DAG. 00157 * 00158 * parent_state_callback(parent, known, etx) 00159 * 00160 * Receives link-layer neighbor information. The parameter "known" is set 00161 * either to 0 or 1. The "etx" parameter specifies the current 00162 * ETX(estimated transmissions) for the neighbor. 00163 * 00164 * best_parent(parent1, parent2) 00165 * 00166 * Compares two parents and returns the best one, according to the OF. 00167 * 00168 * best_dag(dag1, dag2) 00169 * 00170 * Compares two DAGs and returns the best one, according to the OF. 00171 * 00172 * calculate_rank(parent, base_rank) 00173 * 00174 * Calculates a rank value using the parent rank and a base rank. 00175 * If "parent" is NULL, the objective function selects a default increment 00176 * that is adds to the "base_rank". Otherwise, the OF uses information known 00177 * about "parent" to select an increment to the "base_rank". 00178 * 00179 * update_metric_container(dag) 00180 * 00181 * Updates the metric container for outgoing DIOs in a certain DAG. 00182 * If the objective function of the DAG does not use metric containers, 00183 * the function should set the object type to RPL_DAG_MC_NONE. 00184 */ 00185 struct rpl_of { 00186 void (*reset)(struct rpl_dag *); 00187 void (*parent_state_callback)(rpl_parent_t *, int, int); 00188 rpl_parent_t *(*best_parent)(rpl_parent_t *, rpl_parent_t *); 00189 rpl_dag_t *(*best_dag)(rpl_dag_t *, rpl_dag_t *); 00190 rpl_rank_t (*calculate_rank)(rpl_parent_t *, rpl_rank_t); 00191 void (*update_metric_container)( rpl_instance_t *); 00192 rpl_ocp_t ocp; 00193 }; 00194 typedef struct rpl_of rpl_of_t; 00195 /*---------------------------------------------------------------------------*/ 00196 /* Instance */ 00197 struct rpl_instance { 00198 /* DAG configuration */ 00199 rpl_metric_container_t mc; 00200 rpl_of_t *of; 00201 rpl_dag_t *current_dag; 00202 rpl_dag_t dag_table[RPL_MAX_DAG_PER_INSTANCE]; 00203 /* The current default router - used for routing "upwards" */ 00204 uip_ds6_defrt_t *def_route; 00205 uint8_t instance_id; 00206 uint8_t used; 00207 uint8_t dtsn_out; 00208 uint8_t mop; 00209 uint8_t dio_intdoubl; 00210 uint8_t dio_intmin; 00211 uint8_t dio_redundancy; 00212 uint8_t default_lifetime; 00213 uint8_t dio_intcurrent; 00214 uint8_t dio_send; /* for keeping track of which mode the timer is in */ 00215 uint8_t dio_counter; 00216 rpl_rank_t max_rankinc; 00217 rpl_rank_t min_hoprankinc; 00218 uint16_t lifetime_unit; /* lifetime in seconds = l_u * d_l */ 00219 #if RPL_CONF_STATS 00220 uint16_t dio_totint; 00221 uint16_t dio_totsend; 00222 uint16_t dio_totrecv; 00223 #endif /* RPL_CONF_STATS */ 00224 uint32_t dio_next_delay; /* delay for completion of dio interval */ 00225 struct ctimer dio_timer; 00226 struct ctimer dao_timer; 00227 }; 00228 00229 /*---------------------------------------------------------------------------*/ 00230 /* Public RPL functions. */ 00231 void rpl_init(void); 00232 void uip_rpl_input(void); 00233 rpl_dag_t *rpl_set_root(uint8_t instance_id, uip_ipaddr_t * dag_id); 00234 int rpl_set_prefix(rpl_dag_t *dag, uip_ipaddr_t *prefix, unsigned len); 00235 int rpl_repair_root(uint8_t instance_id); 00236 int rpl_set_default_route(rpl_instance_t *instance, uip_ipaddr_t *from); 00237 rpl_dag_t *rpl_get_any_dag(void); 00238 rpl_instance_t *rpl_get_instance(uint8_t instance_id); 00239 void rpl_update_header_empty(void); 00240 int rpl_update_header_final(uip_ipaddr_t *addr); 00241 int rpl_verify_header(int); 00242 void rpl_remove_header(void); 00243 uint8_t rpl_invert_header(void); 00244 /*---------------------------------------------------------------------------*/ 00245 #endif /* RPL_H */