C++ PRINT6ADDR函数代码示例

//.........这里部分代码省略.........
  UIP_IP_BUF->flow = 0;
  UIP_IP_BUF->proto = UIP_PROTO_ICMP6;
  UIP_IP_BUF->ttl = UIP_ND6_HOP_LIMIT;

  if(dest == NULL) {
    uip_create_linklocal_allnodes_mcast(&UIP_IP_BUF->destipaddr);
  } else {
    /* For sollicited RA */
    uip_ipaddr_copy(&UIP_IP_BUF->destipaddr, dest);
  }
  uip_ds6_select_src(&UIP_IP_BUF->srcipaddr, &UIP_IP_BUF->destipaddr);

  UIP_ICMP_BUF->type = ICMP6_RA;
  UIP_ICMP_BUF->icode = 0;

  UIP_ND6_RA_BUF->cur_ttl = uip_ds6_if.cur_hop_limit;

  UIP_ND6_RA_BUF->flags_reserved =
    (UIP_ND6_M_FLAG << 7) | (UIP_ND6_O_FLAG << 6);

  UIP_ND6_RA_BUF->router_lifetime = uip_htons(UIP_ND6_ROUTER_LIFETIME);
  //UIP_ND6_RA_BUF->reachable_time = uip_htonl(uip_ds6_if.reachable_time);
  //UIP_ND6_RA_BUF->retrans_timer = uip_htonl(uip_ds6_if.retrans_timer);
  UIP_ND6_RA_BUF->reachable_time = 0;
  UIP_ND6_RA_BUF->retrans_timer = 0;

  uip_len = UIP_IPH_LEN + UIP_ICMPH_LEN + UIP_ND6_RA_LEN;
  nd6_opt_offset = UIP_ND6_RA_LEN;


  /* Prefix list */
  for(prefix = uip_ds6_prefix_list;
      prefix < uip_ds6_prefix_list + UIP_DS6_PREFIX_NB; prefix++) {
    if((prefix->isused) && (prefix->advertise)) {
      UIP_ND6_OPT_PREFIX_BUF->type = UIP_ND6_OPT_PREFIX_INFO;
      UIP_ND6_OPT_PREFIX_BUF->len = UIP_ND6_OPT_PREFIX_INFO_LEN / 8;
      UIP_ND6_OPT_PREFIX_BUF->preflen = prefix->length;
      UIP_ND6_OPT_PREFIX_BUF->flagsreserved1 = prefix->l_a_reserved;
      UIP_ND6_OPT_PREFIX_BUF->validlt = uip_htonl(prefix->vlifetime);
      UIP_ND6_OPT_PREFIX_BUF->preferredlt = uip_htonl(prefix->plifetime);
      UIP_ND6_OPT_PREFIX_BUF->reserved2 = 0;
      uip_ipaddr_copy(&(UIP_ND6_OPT_PREFIX_BUF->prefix), &(prefix->ipaddr));
      nd6_opt_offset += UIP_ND6_OPT_PREFIX_INFO_LEN;
      uip_len += UIP_ND6_OPT_PREFIX_INFO_LEN;
    }
  }

  /* Source link-layer option */
  create_llao((uint8_t *)UIP_ND6_OPT_HDR_BUF, UIP_ND6_OPT_SLLAO);

  uip_len += UIP_ND6_OPT_LLAO_LEN;
  nd6_opt_offset += UIP_ND6_OPT_LLAO_LEN;

  /* MTU */
  UIP_ND6_OPT_MTU_BUF->type = UIP_ND6_OPT_MTU;
  UIP_ND6_OPT_MTU_BUF->len = UIP_ND6_OPT_MTU_LEN >> 3;
  UIP_ND6_OPT_MTU_BUF->reserved = 0;
  //UIP_ND6_OPT_MTU_BUF->mtu = uip_htonl(uip_ds6_if.link_mtu);
  UIP_ND6_OPT_MTU_BUF->mtu = uip_htonl(1500);

  uip_len += UIP_ND6_OPT_MTU_LEN;
  nd6_opt_offset += UIP_ND6_OPT_MTU_LEN;

#if UIP_ND6_RA_RDNSS
  if(uip_nameserver_count() > 0) {
    uint8_t i = 0;
    uip_ipaddr_t *ip = &UIP_ND6_OPT_RDNSS_BUF->ip;
    uip_ipaddr_t *dns = NULL;
    UIP_ND6_OPT_RDNSS_BUF->type = UIP_ND6_OPT_RDNSS;
    UIP_ND6_OPT_RDNSS_BUF->reserved = 0;
    UIP_ND6_OPT_RDNSS_BUF->lifetime = uip_nameserver_next_expiration();
    if(UIP_ND6_OPT_RDNSS_BUF->lifetime != UIP_NAMESERVER_INFINITE_LIFETIME) {
      UIP_ND6_OPT_RDNSS_BUF->lifetime -= clock_seconds();
    }
    while((dns = uip_nameserver_get(i)) != NULL) {
      uip_ipaddr_copy(ip++, dns);
      i++;
    }
    UIP_ND6_OPT_RDNSS_BUF->len = UIP_ND6_OPT_RDNSS_LEN + (i << 1);
    PRINTF("%d nameservers reported\n", i);
    uip_len += UIP_ND6_OPT_RDNSS_BUF->len << 3;
    nd6_opt_offset += UIP_ND6_OPT_RDNSS_BUF->len << 3;
  }
#endif /* UIP_ND6_RA_RDNSS */

  UIP_IP_BUF->len[0] = ((uip_len - UIP_IPH_LEN) >> 8);
  UIP_IP_BUF->len[1] = ((uip_len - UIP_IPH_LEN) & 0xff);

  /*ICMP checksum */
  UIP_ICMP_BUF->icmpchksum = 0;
  UIP_ICMP_BUF->icmpchksum = ~uip_icmp6chksum();

  UIP_STAT(++uip_stat.nd6.sent);
  PRINTF("Sending RA to ");
  PRINT6ADDR(&UIP_IP_BUF->destipaddr);
  PRINTF(" from ");
  PRINT6ADDR(&UIP_IP_BUF->srcipaddr);
  PRINTF("\n");
  return;
}

/*---------------------------------------------------------------------------*/
PROCESS_THREAD(udp_server_process, ev, data)
{
  uip_ipaddr_t ipaddr;
  struct uip_ds6_addr *root_if;

  PROCESS_BEGIN();

  PROCESS_PAUSE();

  SENSORS_ACTIVATE(button_sensor);

  PRINTF("UDP server started\n");

#if UIP_CONF_ROUTER
  uip_ip6addr(&ipaddr, 0xaaaa, 0, 0, 0, 0, 0, 0, 1);
  /* uip_ds6_set_addr_iid(&ipaddr, &uip_lladdr); */
  uip_ds6_addr_add(&ipaddr, 0, ADDR_MANUAL);
  root_if = uip_ds6_addr_lookup(&ipaddr);
  if(root_if != NULL) {
    /*Changed*/
    rpl_dag_t *dag;  
    dag = rpl_set_root(RPL_DEFAULT_INSTANCE,(uip_ip6addr_t *)&ipaddr);
    uip_ip6addr(&ipaddr, 0xaaaa, 0, 0, 0, 0, 0, 0, 0);
    rpl_set_prefix(dag, &ipaddr, 64);
    PRINTF("created a new RPL dag\n");
#if PROJ_SMLT_TYPE
    rpl_dag_t *dag1;  
    dag1 = rpl_set_root(RPL_SECOND_INSTANCE,(uip_ip6addr_t *)&ipaddr);  
    rpl_set_prefix(dag1, &ipaddr, 64); 
    PRINTF("created a new RPL dag\n");
#endif
  } else {
    PRINTF("failed to create a new RPL DAG\n");
  }
#endif /* UIP_CONF_ROUTER */

  print_local_addresses();

  /* The data sink runs with a 100% duty cycle in order to ensure high
     packet reception rates. */
  NETSTACK_RDC.off(1);

  server_conn = udp_new(NULL, UIP_HTONS(UDP_CLIENT_PORT), NULL);
  udp_bind(server_conn, UIP_HTONS(UDP_SERVER_PORT));

  PRINTF("Created a server connection with remote address ");
  PRINT6ADDR(&server_conn->ripaddr);
  PRINTF(" local/remote port %u/%u\n", UIP_HTONS(server_conn->lport),
         UIP_HTONS(server_conn->rport));

  while(1) {
    PROCESS_YIELD();
    if(ev == tcpip_event) {
      tcpip_handler();
    } else if (ev == sensors_event && data == &button_sensor) {
      PRINTF("Initiaing global repair\n");
      rpl_repair_root(RPL_DEFAULT_INSTANCE);
#if PROJ_SMLT_TYPE
      /*Changed*/
      rpl_repair_root(RPL_SECOND_INSTANCE);
#endif
    }
  }

  PROCESS_END();
}

static
int
coap_receive(void)
{
  coap_error_code = NO_ERROR;

  PRINTF("handle_incoming_data(): received uip_datalen=%u \n",
            (uint16_t)uip_datalen());

  if (uip_newdata()) {

    PRINTF("receiving UDP datagram from: ");
    PRINT6ADDR(&UIP_IP_BUF->srcipaddr);
    PRINTF(":%u\n  Length: %u\n  Data: ", uip_ntohs(UIP_UDP_BUF->srcport), uip_datalen() );
    PRINTBITS(uip_appdata, uip_datalen());
    PRINTF("\n");

    coap_error_code = coap_parse_message(message, uip_appdata, uip_datalen());

    if (coap_error_code==NO_ERROR)
    {

      /*TODO duplicates suppression, if required by application */

      PRINTF("  Parsed: v %u, t %u, tkl %u, c %u, mid %u\n", message->version, message->type, message->token_len, message->code, message->mid);
      PRINTF("  URL: %.*s\n", message->uri_path_len, message->uri_path);
      PRINTF("  Payload: %.*s\n", message->payload_len, message->payload);

      /* Handle requests. */
      if (message->code >= COAP_GET && message->code <= COAP_DELETE)
      {
#if COAP_CEU
        int ret;
        TCEU_Transaction t = {
            message->mid, &UIP_IP_BUF->srcipaddr, UIP_UDP_BUF->srcport,
            request1, NULL, NULL, NULL, 0, {}
        };
        tceu__int___void_ ps = { &ret, &t };
        ceu_go_event(CEU_IN_COAP_REQUEST, &ps);
        if (! ret) {
            coap_error_code = SERVICE_UNAVAILABLE_5_03;
            coap_error_message = "NoFreeTraBuffer";
        }
#else
        /* Use transaction buffer for response to confirmable request. */
        if ( (transaction = coap_new_transaction(message->mid, &UIP_IP_BUF->srcipaddr, UIP_UDP_BUF->srcport)) )
        {
          request1(transaction,NULL);
        } else {
            coap_error_code = SERVICE_UNAVAILABLE_5_03;
            coap_error_message = "NoFreeTraBuffer";
        } /* if (transaction buffer) */
#endif
      }
      else
      {
        /* Responses */
        if (message->type==COAP_TYPE_CON && message->code==0)
        {
          PRINTF("Received Ping\n");
          coap_error_code = PING_RESPONSE;
        }
        else if (message->type==COAP_TYPE_ACK)
        {
          /* Transactions are closed through lookup below */
          PRINTF("Received ACK\n");
        }
        else if (message->type==COAP_TYPE_RST)
        {
          PRINTF("Received RST\n");
          /* Cancel possible subscriptions. */
#ifdef COAP_OBSERVER
          coap_remove_observer_by_mid(&UIP_IP_BUF->srcipaddr, UIP_UDP_BUF->srcport, message->mid);
#endif
        }

#if COAP_CEU
        ceu_go_event(CEU_IN_COAP_RESPONSE, message);
#else
        if ( (transaction = coap_get_transaction_by_mid(message->mid)) )
        {
          /* Free transaction memory before callback, as it may create a new transaction. */
          restful_response_handler callback = transaction->callback;
          void *callback_data = transaction->callback_data;
          coap_clear_transaction(transaction);

          /* Check if someone registered for the response */
          if (callback) {
            callback(callback_data, message);
          }
        } /* if (ACKed transaction) */
        transaction = NULL;
#endif

      } /* Request or Response */

    } /* if (parsed correctly) */

    if (coap_error_code==NO_ERROR)
    {
//.........这里部分代码省略.........

/**
 * Neighbor Advertisement Processing
 *
 * we might have to send a pkt that had been buffered while address
 * resolution was performed (if we support buffering, see UIP_CONF_QUEUE_PKT)
 *
 * As per RFC 4861, on link layer that have addresses, TLLAO options MUST be
 * included when responding to multicast solicitations, SHOULD be included in
 * response to unicast (here we assume it is for now)
 *
 * NA can be received after sending NS for DAD, Address resolution or NUD. Can
 * be unsolicited as well.
 * It can trigger update of the state of the neighbor in the neighbor cache,
 * router in the router list.
 * If the NS was for DAD, it means DAD failed
 *
 */
static void
na_input(void)
{
  uint8_t is_llchange;
  uint8_t is_router;
  uint8_t is_solicited;
  uint8_t is_override;
  uip_lladdr_t lladdr_aligned;

  PRINTF("Received NA from ");
  PRINT6ADDR(&UIP_IP_BUF->srcipaddr);
  PRINTF(" to ");
  PRINT6ADDR(&UIP_IP_BUF->destipaddr);
  PRINTF(" with target address ");
  PRINT6ADDR((uip_ipaddr_t *) (&UIP_ND6_NA_BUF->tgtipaddr));
  PRINTF("\n");
  UIP_STAT(++uip_stat.nd6.recv);

  /*
   * booleans. the three last one are not 0 or 1 but 0 or 0x80, 0x40, 0x20
   * but it works. Be careful though, do not use tests such as is_router == 1
   */
  is_llchange = 0;
  is_router = ((UIP_ND6_NA_BUF->flagsreserved & UIP_ND6_NA_FLAG_ROUTER));
  is_solicited =
    ((UIP_ND6_NA_BUF->flagsreserved & UIP_ND6_NA_FLAG_SOLICITED));
  is_override =
    ((UIP_ND6_NA_BUF->flagsreserved & UIP_ND6_NA_FLAG_OVERRIDE));

#if UIP_CONF_IPV6_CHECKS
  if((UIP_IP_BUF->ttl != UIP_ND6_HOP_LIMIT) ||
     (UIP_ICMP_BUF->icode != 0) ||
     (uip_is_addr_mcast(&UIP_ND6_NA_BUF->tgtipaddr)) ||
     (is_solicited && uip_is_addr_mcast(&UIP_IP_BUF->destipaddr))) {
    PRINTF("NA received is bad\n");
    goto discard;
  }
#endif /*UIP_CONF_IPV6_CHECKS */

  /* Options processing: we handle TLLAO, and must ignore others */
  nd6_opt_offset = UIP_ND6_NA_LEN;
  nd6_opt_llao = NULL;
  while(uip_l3_icmp_hdr_len + nd6_opt_offset < uip_len) {
#if UIP_CONF_IPV6_CHECKS
    if(UIP_ND6_OPT_HDR_BUF->len == 0) {
      PRINTF("NA received is bad\n");
      goto discard;
    }
#endif /*UIP_CONF_IPV6_CHECKS */
    switch (UIP_ND6_OPT_HDR_BUF->type) {
    case UIP_ND6_OPT_TLLAO:
      nd6_opt_llao = (uint8_t *)UIP_ND6_OPT_HDR_BUF;
      break;
    default:
      PRINTF("ND option not supported in NA\n");
      break;
    }
    nd6_opt_offset += (UIP_ND6_OPT_HDR_BUF->len << 3);
  }
  addr = uip_ds6_addr_lookup(&UIP_ND6_NA_BUF->tgtipaddr);
  /* Message processing, including TLLAO if any */
  if(addr != NULL) {
#if UIP_ND6_DEF_MAXDADNS > 0
    if(addr->state == ADDR_TENTATIVE) {
      uip_ds6_dad_failed(addr);
    }
#endif /*UIP_ND6_DEF_MAXDADNS > 0 */
    PRINTF("NA received is bad\n");
    goto discard;
  } else {
    const uip_lladdr_t *lladdr;
    nbr = uip_ds6_nbr_lookup(&UIP_ND6_NA_BUF->tgtipaddr);
    if(nbr == NULL) {
      goto discard;
    }
    lladdr = uip_ds6_nbr_get_ll(nbr);
    if(lladdr == NULL) {
      goto discard;
    }
    if(nd6_opt_llao != NULL) {
      is_llchange =
        memcmp(&nd6_opt_llao[UIP_ND6_OPT_DATA_OFFSET], lladdr,
               UIP_LLADDR_LEN);
//.........这里部分代码省略.........

/*---------------------------------------------------------------------------*/
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;
}

/*---------------------------------------------------------------------------*/
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");
  }
}

/*---------------------------------------------------------------------------*/
uip_ds6_nbr_t *
uip_ds6_nbr_add(uip_ipaddr_t *ipaddr, uip_lladdr_t * lladdr,
                uint8_t isrouter, uint8_t state)
{
  int r;
  PRINTF("NBR ADD");
  r = uip_ds6_list_loop
     ((uip_ds6_element_t *)uip_ds6_nbr_cache, UIP_DS6_NBR_NB,
      sizeof(uip_ds6_nbr_t), ipaddr, 128,
      (uip_ds6_element_t **)&locnbr);

  if(r == FREESPACE) {
    locnbr->isused = 1;
    uip_ipaddr_copy(&locnbr->ipaddr, ipaddr);
    if(lladdr != NULL) {
      memcpy(&locnbr->lladdr, lladdr, UIP_LLADDR_LEN);
    } else {
      memset(&locnbr->lladdr, 0, UIP_LLADDR_LEN);
    }
    locnbr->isrouter = isrouter;
    locnbr->state = state;
#if UIP_CONF_IPV6_QUEUE_PKT
    uip_packetqueue_new(&locnbr->packethandle);
#endif /* UIP_CONF_IPV6_QUEUE_PKT */
    /* timers are set separately, for now we put them in expired state */
    stimer_set(&locnbr->reachable, 0);
    stimer_set(&locnbr->sendns, 0);
    locnbr->nscount = 0;
    PRINTF("Adding neighbor with ip addr ");
    PRINT6ADDR(ipaddr);
    PRINTF("link addr ");
    PRINTLLADDR((&(locnbr->lladdr)));
    PRINTF("state u");//, state);
    NEIGHBOR_STATE_CHANGED(locnbr);

    locnbr->last_lookup = clock_time();
    return locnbr;
  } else if(r == NOSPACE) {
    /* We did not find any empty slot on the neighbor list, so we need
       to remove one old entry to make room. */
    uip_ds6_nbr_t *n, *oldest;
    clock_time_t oldest_time;

    oldest = NULL;
    oldest_time = clock_time();

    for(n = uip_ds6_nbr_cache;
        n < &uip_ds6_nbr_cache[UIP_DS6_NBR_NB];
        n++) {
      if(n->isused) {
        if(n->last_lookup < oldest_time) {
          oldest = n;
          oldest_time = n->last_lookup;
        }
      }
    }
    if(oldest != NULL) {
      uip_ds6_nbr_rm(oldest);
      return uip_ds6_nbr_add(ipaddr, lladdr, isrouter, state);
    }
  }
  PRINTF("uip_ds6_nbr_add drop");
  return NULL;
}

/* N: the node joins the DAG - Directed Acyclic Graph */
static void
join_dag(uip_ipaddr_t *from, rpl_dio_t *dio)
{
  rpl_dag_t *dag;
  rpl_parent_t *p;
  rpl_of_t *of;

  dag = rpl_alloc_dag(dio->instance_id);
  if(dag == NULL) {
    PRINTF("RPL: Failed to allocate a DAG object!\n");
    return;
  }

  p = rpl_add_parent(dag, dio, from);
  PRINTF("RPL: Adding ");
  PRINT6ADDR(from);
  PRINTF(" as a parent: ");
  if(p == NULL) {
    PRINTF("failed\n");
    return;
  }
  PRINTF("succeeded\n");

  /* 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\n",
        dio->instance_id);
    return;
  }

  /* 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)) {
    uip_ipaddr_t ipaddr;
    /* assume that the prefix ends with zeros! */
    memcpy(&ipaddr, &dio->prefix_info.prefix, 16);
    uip_ds6_set_addr_iid(&ipaddr, &uip_lladdr);
    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);
    }
  }

  dag->joined = 1;
  dag->used = 1;
  dag->of = of;
  dag->grounded = dio->grounded;
  dag->mop = dio->mop;
  dag->preference = dio->preference;
  dag->instance_id = dio->instance_id;

  dag->max_rankinc = dio->dag_max_rankinc;
  dag->min_hoprankinc = dio->dag_min_hoprankinc;

  dag->version = dio->version;
  dag->preferred_parent = p;
  dag->of->update_metric_container(dag);

  dag->dio_intdoubl = dio->dag_intdoubl;
  dag->dio_intmin = dio->dag_intmin;
  dag->dio_redundancy = dio->dag_redund;

  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));

  dag->rank = dag->of->calculate_rank(p, dio->rank);
  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]);


  dag->default_lifetime = dio->default_lifetime;
  dag->lifetime_unit = dio->lifetime_unit;

  rpl_reset_dio_timer(dag, 1);
  rpl_set_default_route(dag, from);

  if(should_send_dao(dag, dio, p)) {
    rpl_schedule_dao(dag);
  } else {
    PRINTF("RPL: The DIO does not meet the prerequisites for sending a DAO\n");
  }
}

/**
 * Neighbor Advertisement Processing
 *
 * we might have to send a pkt that had been buffered while address
 * resolution was performed (if we support buffering, see UIP_CONF_QUEUE_PKT)
 *
 * As per RFC 4861, on link layer that have addresses, TLLAO options MUST be
 * included when responding to multicast solicitations, SHOULD be included in
 * response to unicast (here we assume it is for now)
 *
 * NA can be received after sending NS for DAD, Address resolution or NUD. Can
 * be unsolicited as well.
 * It can trigger update of the state of the neighbor in the neighbor cache,
 * router in the router list.
 * If the NS was for DAD, it means DAD failed
 *
 */
static void
na_input(void)
{
  uint8_t is_llchange;
  uint8_t is_router;
  uint8_t is_solicited;
  uint8_t is_override;

  PRINTF("Received NA from");
  PRINT6ADDR(&UIP_IP_BUF->srcipaddr);
  PRINTF("to");
  PRINT6ADDR(&UIP_IP_BUF->destipaddr);
  PRINTF("with target address");
  PRINT6ADDR((uip_ipaddr_t *) (&UIP_ND6_NA_BUF->tgtipaddr));
  PRINTF("\n");
  UIP_STAT(++uip_stat.nd6.recv);

  /* 
   * booleans. the three last one are not 0 or 1 but 0 or 0x80, 0x40, 0x20
   * but it works. Be careful though, do not use tests such as is_router == 1 
   */
  is_llchange = 0;
  is_router = ((UIP_ND6_NA_BUF->flagsreserved & UIP_ND6_NA_FLAG_ROUTER));
  is_solicited =
    ((UIP_ND6_NA_BUF->flagsreserved & UIP_ND6_NA_FLAG_SOLICITED));
  is_override =
    ((UIP_ND6_NA_BUF->flagsreserved & UIP_ND6_NA_FLAG_OVERRIDE));

#if UIP_CONF_IPV6_CHECKS
  if((UIP_IP_BUF->ttl != UIP_ND6_HOP_LIMIT) ||
     (UIP_ICMP_BUF->icode != 0) ||
     (uip_is_addr_mcast(&UIP_ND6_NA_BUF->tgtipaddr)) ||
     (is_solicited && uip_is_addr_mcast(&UIP_IP_BUF->destipaddr))) {
    PRINTF("NA received is bad\n");
    goto discard;
  }
#endif /*UIP_CONF_IPV6_CHECKS */

  /* Options processing: we handle TLLAO, and must ignore others */
  nd6_opt_offset = UIP_ND6_NA_LEN;
  nd6_opt_llao = NULL;
  while(uip_l3_icmp_hdr_len + nd6_opt_offset < uip_len) {
#if UIP_CONF_IPV6_CHECKS
    if(UIP_ND6_OPT_HDR_BUF->len == 0) {
      PRINTF("NA received is bad\n");
      goto discard;
    }
#endif /*UIP_CONF_IPV6_CHECKS */
    switch (UIP_ND6_OPT_HDR_BUF->type) {
    case UIP_ND6_OPT_TLLAO:
      nd6_opt_llao = (uint8_t *)UIP_ND6_OPT_HDR_BUF;
      break;
    default:
      PRINTF("ND option not supported in NA\n");
      break;
    }
    nd6_opt_offset += (UIP_ND6_OPT_HDR_BUF->len << 3);
  }
  addr = uip_ds6_addr_lookup(&UIP_ND6_NA_BUF->tgtipaddr);
  /* Message processing, including TLLAO if any */
  if(addr != NULL) {
#if UIP_ND6_DEF_MAXDADNS > 0
    if(addr->state == ADDR_TENTATIVE) {
      uip_ds6_dad_failed(addr);
    }
#endif /*UIP_ND6_DEF_MAXDADNS > 0 */
    PRINTF("NA received is bad\n");
    goto discard;
  } else {
    uip_lladdr_t *lladdr;
    nbr = uip_ds6_nbr_lookup(&UIP_ND6_NA_BUF->tgtipaddr);
    lladdr = (uip_lladdr_t *)uip_ds6_nbr_get_ll(nbr);
    if(nbr == NULL) {
      goto discard;
    }
    if(nd6_opt_llao != 0) {
      is_llchange =
        memcmp(&nd6_opt_llao[UIP_ND6_OPT_DATA_OFFSET], (void *)lladdr,
               UIP_LLADDR_LEN);
    }
    if(nbr->state == NBR_INCOMPLETE) {
      if(nd6_opt_llao == NULL) {
        goto discard;
//.........这里部分代码省略.........

/*---------------------------------------------------------------------------*/
void
uip_ds6_periodic(void)
{
  /* Periodic processing on unicast addresses */
  for(locaddr = uip_ds6_if.addr_list;
      locaddr < uip_ds6_if.addr_list + UIP_DS6_ADDR_NB; locaddr++) {
    if(locaddr->isused) {
      if((!locaddr->isinfinite) && (stimer_expired(&locaddr->vlifetime))) {
        uip_ds6_addr_rm(locaddr);
      } else if((locaddr->state == ADDR_TENTATIVE)
                && (locaddr->dadnscount <= uip_ds6_if.maxdadns)
                && (timer_expired(&locaddr->dadtimer))) {
        uip_ds6_dad(locaddr);
      }
    }
  }

  /* Periodic processing on default routers */
  for(locdefrt = uip_ds6_defrt_list;
      locdefrt < uip_ds6_defrt_list + UIP_DS6_DEFRT_NB; locdefrt++) {
    if((locdefrt->isused) && (!locdefrt->isinfinite) &&
       (stimer_expired(&(locdefrt->lifetime)))) {
      uip_ds6_defrt_rm(locdefrt);
    }
  }

#if !UIP_CONF_ROUTER
  /* Periodic processing on prefixes */
  for(locprefix = uip_ds6_prefix_list;
      locprefix < uip_ds6_prefix_list + UIP_DS6_PREFIX_NB;
      locprefix++) {
    if(locprefix->isused && !locprefix->isinfinite
       && stimer_expired(&(locprefix->vlifetime))) {
      uip_ds6_prefix_rm(locprefix);
    }
  }
#endif /* !UIP_CONF_ROUTER */

  /* Periodic processing on neighbors */
  for(locnbr = uip_ds6_nbr_cache;
      locnbr < uip_ds6_nbr_cache + UIP_DS6_NBR_NB;
      locnbr++) {
    if(locnbr->isused) {
      switch(locnbr->state) {
      case NBR_INCOMPLETE:
        if(locnbr->nscount >= UIP_ND6_MAX_MULTICAST_SOLICIT) {
          uip_ds6_nbr_rm(locnbr);
        } else if(stimer_expired(&locnbr->sendns)) {
          locnbr->nscount++;
          PRINTF("NBR_INCOMPLETE: NS u");//, locnbr->nscount);
          uip_nd6_ns_output(NULL, NULL, &locnbr->ipaddr);
          stimer_set(&locnbr->sendns, uip_ds6_if.retrans_timer / 1000);
        }
        break;
      case NBR_REACHABLE:
        if(stimer_expired(&locnbr->reachable)) {
          PRINTF("REACHABLE: moving to STALE (");
          PRINT6ADDR(&locnbr->ipaddr);
          PRINTF(")");
          locnbr->state = NBR_STALE;
        }
        break;
      case NBR_DELAY:
        if(stimer_expired(&locnbr->reachable)) {
          locnbr->state = NBR_PROBE;
          locnbr->nscount = 1;
          PRINTF("DELAY: moving to PROBE + NS u");//, locnbr->nscount);
          uip_nd6_ns_output(NULL, &locnbr->ipaddr, &locnbr->ipaddr);
          stimer_set(&locnbr->sendns, uip_ds6_if.retrans_timer / 1000);
        }
        break;
      case NBR_PROBE:
        if(locnbr->nscount >= UIP_ND6_MAX_UNICAST_SOLICIT) {
          PRINTF("PROBE END");
          if((locdefrt = uip_ds6_defrt_lookup(&locnbr->ipaddr)) != NULL) {
            uip_ds6_defrt_rm(locdefrt);
          }
          uip_ds6_nbr_rm(locnbr);
        } else if(stimer_expired(&locnbr->sendns)) {
          locnbr->nscount++;
          PRINTF("PROBE: NS u");//, locnbr->nscount);
          uip_nd6_ns_output(NULL, &locnbr->ipaddr, &locnbr->ipaddr);
          stimer_set(&locnbr->sendns, uip_ds6_if.retrans_timer / 1000);
        }
        break;
      default:
        break;
      }
    }
  }

#if UIP_CONF_ROUTER & UIP_ND6_SEND_RA
  /* Periodic RA sending */
  if(stimer_expired(&uip_ds6_timer_ra)) {
    uip_ds6_send_ra_periodic();
  }
#endif /* UIP_CONF_ROUTER & UIP_ND6_SEND_RA */
  etimer_reset(&uip_ds6_timer_periodic);
  return;
//.........这里部分代码省略.........

/*---------------------------------------------------------------------------*/
PROCESS_THREAD(udp_client_process, ev, data)
{
  static struct etimer periodic;
  static struct ctimer backoff_timer;




#if WITH_COMPOWER
  static int print = 0;
#endif

  PROCESS_BEGIN();

  PROCESS_PAUSE();

  set_global_address();
  
  PRINTF("UDP client process started\n");

  print_local_addresses();

  /* new connection with remote host */
  client_conn = udp_new(NULL, UIP_HTONS(UDP_SERVER_PORT), NULL); 
  if(client_conn == NULL) {
    PRINTF("No UDP connection available, exiting the process!\n");
    PROCESS_EXIT();
  }
  udp_bind(client_conn, UIP_HTONS(UDP_CLIENT_PORT)); 

  PRINTF("Created a connection with the server ");
  PRINT6ADDR(&client_conn->ripaddr);
  PRINTF(" local/remote port %u/%u\n",
	UIP_HTONS(client_conn->lport), UIP_HTONS(client_conn->rport));

 // printf("%d \n", CLOCK_SECOND);
  
#if WITH_COMPOWER
  powertrace_sniff(POWERTRACE_ON);
#endif
   configure_adc();
  //etimer_set(&periodic, SEND_INTERVAL);
while(1) {
    PROCESS_YIELD();
    if(ev == tcpip_event) {
//      tcpip_handler();
    }
    
    //if(etimer_expired(&periodic)) {
      //PRINTF("Timer Expired ");	
      
      //etimer_reset(&periodic);
    //}

     if(ev==event_data_ready)
     {

	/*if(counter == 33)     
	{
		memmove(buf+2, buffer,  66);  
		counter = 0;    
		ctimer_set(&backoff_timer, SEND_TIME, send_packet, NULL);
	        //printf("Counter %d \n",counter);
	}*/
      
#if WITH_COMPOWER
      if (print == 0) {
	powertrace_print("#P");
      }
      if (++print == 3) {
	print = 0;
      }
#endif

    }
  }

  PROCESS_END();
}

/*---------------------------------------------------------------------------*/
uip_ds6_route_t *
uip_ds6_route_add(uip_ipaddr_t *ipaddr, uint8_t length,
		  uip_ipaddr_t *nexthop)
{
  uip_ds6_route_t *r;

#if DEBUG != DEBUG_NONE
  assert_nbr_routes_list_sane();
#endif /* DEBUG != DEBUG_NONE */

  /* Get link-layer address of next hop, make sure it is in neighbor table */
  uip_lladdr_t *nexthop_lladdr = uip_ds6_nbr_lladdr_from_ipaddr(nexthop);
  if(nexthop_lladdr == NULL) {
    PRINTF("uip_ds6_route_add: neighbor link-local address unknown ");
    PRINT6ADDR(ipaddr);
    PRINTF("\n");
    return NULL;
  }

  /* First make sure that we don't add a route twice. If we find an
     existing route for our destination, we'll just update the old
     one. */
  r = uip_ds6_route_lookup(ipaddr);
  if(r != NULL) {
    PRINTF("uip_ds6_route_add: old route already found, updating this one instead: ");
    PRINT6ADDR(ipaddr);
    PRINTF("\n");
  } else {
    struct uip_ds6_route_neighbor_routes *routes;
    /* If there is no routing entry, create one */

    /* Every neighbor on our neighbor table holds a struct
       uip_ds6_route_neighbor_routes which holds a list of routes that
       go through the neighbor. We add our route entry to this list.

       We first check to see if we already have this neighbor in our
       nbr_route table. If so, the neighbor already has a route entry
       list.
    */
    routes = nbr_table_get_from_lladdr(nbr_routes,
                                       (rimeaddr_t *)nexthop_lladdr);

    if(routes == NULL) {
      /* If the neighbor did not have an entry in our neighbor table,
         we create one. The nbr_table_add_lladdr() function returns a
         pointer to a pointer that we may use for our own purposes. We
         initialize this pointer with the list of routing entries that
         are attached to this neighbor. */
      routes = nbr_table_add_lladdr(nbr_routes,
                                    (rimeaddr_t *)nexthop_lladdr);
      if(routes == NULL) {
        PRINTF("uip_ds6_route_add: could not allocate a neighbor table entri for new route to ");
        PRINT6ADDR(ipaddr);
        PRINTF(", dropping it\n");
        return NULL;
      }
      LIST_STRUCT_INIT(routes, route_list);
    }

    /* Allocate a routing entry and populate it. */
    r = memb_alloc(&routememb);

    if(r == NULL) {
      PRINTF("uip_ds6_route_add: could not allocate memory for new route to ");
      PRINT6ADDR(ipaddr);
      PRINTF(", dropping it\n");
      return NULL;
    }


    /* Add the route to this neighbor */
    list_add(routes->route_list, r);
    num_routes++;

    PRINTF("uip_ds6_route_add num %d\n", num_routes);
    r->routes = routes;
  }

  uip_ipaddr_copy(&(r->ipaddr), ipaddr);
  r->length = length;

#ifdef UIP_DS6_ROUTE_STATE_TYPE
  memset(&r->state, 0, sizeof(UIP_DS6_ROUTE_STATE_TYPE));
#endif

//QUICK INIT HACK ADILA EDIT 10/11/14
/*if(r->nbrCh == 0) {
  r->nbrCh = 26;
}*/
//r->nbrCh = cc2420_get_channel();
//-------------------

  PRINTF("uip_ds6_route_add: adding route: ");
  PRINT6ADDR(ipaddr);
  PRINTF(" via ");
  PRINT6ADDR(nexthop);
  PRINTF("\n");
  ANNOTATE("#L %u 1;blue\n", nexthop->u8[sizeof(uip_ipaddr_t) - 1]);

//.........这里部分代码省略.........

/*---------------------------------------------------------------------------*/
void
uip_process()
{
  PRINTF("NEW packet\n");

  /* Check validity of the IP header. */
  if((UIP_IP_BUF->vtc & 0xf0) != 0x60)  { /* IP version and header length. */
    PRINTF("Wrong IP Version\n");
    goto drop;
  }
  /*
   * Check the size of the packet. If the size reported to us in
   * uip_len is smaller the size reported in the IP header, we assume
   * that the packet has been corrupted in transit. If the size of
   * uip_len is larger than the size reported in the IP packet header,
   * the packet has been padded and we set uip_len to the correct
   * value..
   */

  if((UIP_IP_BUF->len[0] << 8) + UIP_IP_BUF->len[1] <= uip_len) {
    uip_len = (UIP_IP_BUF->len[0] << 8) + UIP_IP_BUF->len[1] + UIP_IPH_LEN;
    /*
     * The length reported in the IPv6 header is the
     * length of the payload that follows the
     * header. However, uIP uses the uip_len variable
     * for holding the size of the entire packet,
     * including the IP header. For IPv4 this is not a
     * problem as the length field in the IPv4 header
     * contains the length of the entire packet. But
     * for IPv6 we need to add the size of the IPv6
     * header (40 bytes).
     */
  } else {
    PRINTF("Wrong Length\n");
    goto drop;
  }
  
  PRINTF("IPv6 packet received from ");
  PRINT6ADDR(&UIP_IP_BUF->srcipaddr);
  PRINTF(" to ");
  PRINT6ADDR(&UIP_IP_BUF->destipaddr);
  PRINTF("\n");

  if(uip_is_addr_mcast(&UIP_IP_BUF->srcipaddr)){
    PRINTF("Dropping packet, src is mcast\n");
    goto drop;
  }

  /*
   * Next header field processing. In IPv6, we can have extension headers,
   * if present, the Hop-by-Hop Option must be processed before forwarding
   * the packet.
   */
  uip_next_hdr = &UIP_IP_BUF->proto;
  uip_ext_len = 0;
  uip_ext_bitmap = 0;
  if (*uip_next_hdr == UIP_PROTO_HBHO) {
#if UIP_CONF_IPV6_CHECKS
    uip_ext_bitmap |= UIP_EXT_HDR_BITMAP_HBHO;
#endif /*UIP_CONF_IPV6_CHECKS*/
    switch(ext_hdr_options_process()) {
      case 0:
        /*continue*/
        uip_next_hdr = &UIP_EXT_BUF->next;
        uip_ext_len += (UIP_EXT_BUF->len << 3) + 8;
        break;
      case 1:
        /*silently discard*/
        goto drop;
      case 2:
        /* send icmp error message (created in ext_hdr_options_process)
         * and discard*/
        goto send;
    }
  }


  /* TBD Some Parameter problem messages */
  if(!uip_ds6_is_my_addr(&UIP_IP_BUF->destipaddr) &&
     !uip_ds6_is_my_maddr(&UIP_IP_BUF->destipaddr)) {
    if(!uip_is_addr_mcast(&UIP_IP_BUF->destipaddr) &&
       !uip_is_addr_link_local(&UIP_IP_BUF->destipaddr) &&
       !uip_is_addr_link_local(&UIP_IP_BUF->srcipaddr) &&
       !uip_is_addr_unspecified(&UIP_IP_BUF->srcipaddr) &&
       !uip_is_addr_loopback(&UIP_IP_BUF->destipaddr)) {


      /* Check MTU */
      if(uip_len > UIP_LINK_MTU) {
        uip_icmp6_error_output(ICMP6_PACKET_TOO_BIG, 0, UIP_LINK_MTU);
        goto send;
      }
      /* Check Hop Limit */
      if(UIP_IP_BUF->ttl <= 1) {
        uip_icmp6_error_output(ICMP6_TIME_EXCEEDED,
                               ICMP6_TIME_EXCEED_TRANSIT, 0);
        goto send;
      }

//.........这里部分代码省略.........

/*---------------------------------------------------------------------------*/
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;
}

void
rpl_process_dio(uip_ipaddr_t *from, rpl_dio_t *dio)
{
  rpl_dag_t *dag;
  rpl_parent_t *p;

  if(dio->mop != RPL_MOP_DEFAULT) {
    PRINTF("RPL: Ignoring a DIO with an unsupported MOP: %d\n", dio->mop);
    return;
  }

  dag = rpl_get_dag(dio->instance_id);
  if(dag == NULL) {
    /* Join the first possible DAG of this RPL instance. */
    if(dio->rank != INFINITE_RANK) {
      join_dag(from, dio);
    } else {
      PRINTF("RPL: Ignoring DIO from node with infinite rank: ");
      PRINT6ADDR(from);
      PRINTF("\n");
    }
    return;
  }

  if(memcmp(&dag->dag_id, &dio->dag_id, sizeof(dag->dag_id))) {
    PRINTF("RPL: Ignoring DIO for another DAG within our instance\n");
    return;
  }

  if(dio->version > dag->version) {
    if(dag->rank == ROOT_RANK(dag)) {
      PRINTF("RPL: Root received inconsistent DIO version number\n");
      dag->version = dio->version + 1;
      rpl_reset_dio_timer(dag, 1);
    } else {
      global_repair(from, dag, dio);
    }
    return;
  } else if(dio->version < dag->version) {
    /* Inconsistency detected - someone is still on old version */
    PRINTF("RPL: old version received => inconsistency detected\n");
    rpl_reset_dio_timer(dag, 1);
    return;
  }

  if(dio->rank == INFINITE_RANK) {
    rpl_reset_dio_timer(dag, 1);
  } else if(dio->rank < ROOT_RANK(dag)) {
    PRINTF("RPL: Ignoring DIO with too low rank: %u\n",
           (unsigned)dio->rank);
    return;
  }

  if(dag->rank == ROOT_RANK(dag)) {
    if(dio->rank != INFINITE_RANK) {
      dag->dio_counter++;
    }
    return;
  }

  /*
   * 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) {
    if(RPL_PARENT_COUNT(dag) == RPL_MAX_PARENTS) {
      /* Make room for a new parent. */
      remove_worst_parent(dag, dio->rank);
    }
    
    /* 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 if(DAG_RANK(p->rank, dag) == DAG_RANK(dio->rank, dag)) {
    PRINTF("RPL: Received consistent DIO\n");
    dag->dio_counter++;
  }
  
  /* We have allocated a candidate parent; process the DIO further. */

  memcpy(&p->mc, &dio->mc, sizeof(p->mc));    
  p->rank = dio->rank;
  if(rpl_process_parent_event(dag, p) == 0) {
    /* The candidate parent no longer exists. */
    return;
  }
  
//.........这里部分代码省略.........