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gnrc/rpl: float DODAG during local repair #21816

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ff012b7
gnrc/rpl: extract `gnrc_rpl_dodag_root_init`
elenaf9 Jul 7, 2025
a96e5e7
gnrc/rpl: float DODAG during local repair
elenaf9 Jul 7, 2025
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8 changes: 8 additions & 0 deletions sys/include/net/gnrc/rpl.h
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Original file line number Diff line number Diff line change
Expand Up @@ -151,6 +151,7 @@
#include "net/gnrc/rpl/dodag.h"
#include "net/gnrc/rpl/of_manager.h"
#include "net/fib.h"
#include "time_units.h"
#include "trickle.h"

#ifdef MODULE_NETSTATS_RPL
Expand Down Expand Up @@ -297,7 +298,7 @@
#define GNRC_RPL_COUNTER_MAX (255)
#define GNRC_RPL_COUNTER_LOWER_REGION (127)
#define GNRC_RPL_COUNTER_SEQ_WINDOW (16)
#define GNRC_RPL_COUNTER_INIT (GNRC_RPL_COUNTER_MAX - GNRC_RPL_COUNTER_SEQ_WINDOW + 1)

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static inline uint8_t GNRC_RPL_COUNTER_INCREMENT(uint8_t counter)
{
Expand Down Expand Up @@ -516,7 +517,7 @@
#define GNRC_RPL_PRF_MASK (0x7)
/** @} */


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/**
* @brief Rank of the root node
*/
Expand Down Expand Up @@ -565,7 +566,7 @@
* RFC 6550, section 3.5.1, Rank Comparison (DAGRank())
* </a>
*/
#define DAGRANK(rank,mhri) (rank/mhri)

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/**
* @name Global / Local instance id masks
Expand Down Expand Up @@ -627,6 +628,13 @@
#define CONFIG_GNRC_RPL_PARENT_TIMEOUT_DIS_RETRIES (3)
#endif

/**
* @brief Timeout for floating DODAGs in milliseconds.
*/
#ifndef CONFIG_GNRC_RPL_DODAG_FLOAT_TIMEOUT
# define CONFIG_GNRC_RPL_DODAG_FLOAT_TIMEOUT (15 * MS_PER_SEC * SEC_PER_MIN)
#endif

/**
* @brief Default network interface for GNRC RPL
*/
Expand Down
16 changes: 16 additions & 0 deletions sys/include/net/gnrc/rpl/dodag.h
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Expand Up @@ -100,6 +100,13 @@ void gnrc_rpl_instance_remove(gnrc_rpl_instance_t *inst);
*/
gnrc_rpl_instance_t *gnrc_rpl_instance_get(uint8_t instance_id);

/**
* @brief Setup self as root for the @p dodag.
*
* @param[in] dodag Pointer to the dodag.
*/
void gnrc_rpl_dodag_root_init(gnrc_rpl_dodag_t *dodag);

/**
* @brief Initialize a new RPL DODAG with the id @p dodag_id for the instance @p instance.
*
Expand Down Expand Up @@ -159,6 +166,15 @@ void gnrc_rpl_parent_update(gnrc_rpl_dodag_t *dodag, gnrc_rpl_parent_t *parent);
*/
void gnrc_rpl_cleanup_start(gnrc_rpl_dodag_t *dodag);

/**
* @brief Poison all routes of @p dodag by setting an infinite rank, and schedule
* a cleanup for the @p dodag.
*
* @param[in] dodag Pointer to the DODAG
*
*/
void gnrc_rpl_poison_routes(gnrc_rpl_dodag_t *dodag);

/**
* @brief Start a local repair.
*
Expand Down
4 changes: 4 additions & 0 deletions sys/include/net/gnrc/rpl/structs.h
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Expand Up @@ -294,7 +294,7 @@
* @param[in] dodag RPL dodag object.
*/
void (*reset)(gnrc_rpl_dodag_t *dodag);
void (*parent_state_callback)(gnrc_rpl_parent_t *, int, int); /**< retrieves the state of a parent*/

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/**
* @brief Initialize the objective function.
Expand Down Expand Up @@ -330,6 +330,10 @@
uint8_t dio_opts; /**< options in the next DIO
(see @ref GNRC_RPL_REQ_DIO_OPTS "DIO Options") */
evtimer_msg_event_t dao_event; /**< DAO TX events (see @ref GNRC_RPL_MSG_TYPE_DODAG_DAO_TX) */
/**
* floating dodag timeout events (see @ref GNRC_RPL_MSG_TYPE_DODAG_FLOAT_TIMEOUT)
*/
evtimer_msg_event_t float_timeout_event;
trickle_t trickle; /**< trickle representation */
};

Expand Down Expand Up @@ -361,7 +365,7 @@
/**
* @brief internal unpacked struct type for DIS solicited option insertion
*/
typedef struct {

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uint8_t type; /**< Option Type: 0x07 */
uint8_t length; /**< Option Length: 19 bytes*/
uint8_t instance_id; /**< id of the instance */
Expand Down
41 changes: 16 additions & 25 deletions sys/net/gnrc/routing/rpl/gnrc_rpl.c
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Expand Up @@ -141,37 +141,14 @@ gnrc_rpl_instance_t *gnrc_rpl_root_init(uint8_t instance_id, const ipv6_addr_t *
instance_id = gnrc_rpl_gen_instance_id(local_inst_id);
}

gnrc_rpl_dodag_t *dodag = NULL;
gnrc_rpl_instance_t *inst = gnrc_rpl_root_instance_init(instance_id, dodag_id,
GNRC_RPL_DEFAULT_MOP);

if (!inst) {
return NULL;
}

dodag = &inst->dodag;

dodag->dtsn = 1;
dodag->prf = 0;
dodag->dio_interval_doubl = CONFIG_GNRC_RPL_DEFAULT_DIO_INTERVAL_DOUBLINGS;
dodag->dio_min = CONFIG_GNRC_RPL_DEFAULT_DIO_INTERVAL_MIN;
dodag->dio_redun = CONFIG_GNRC_RPL_DEFAULT_DIO_REDUNDANCY_CONSTANT;
dodag->default_lifetime = CONFIG_GNRC_RPL_DEFAULT_LIFETIME;
dodag->lifetime_unit = CONFIG_GNRC_RPL_LIFETIME_UNIT;
dodag->version = GNRC_RPL_COUNTER_INIT;
dodag->grounded = GNRC_RPL_GROUNDED;
dodag->node_status = GNRC_RPL_ROOT_NODE;
dodag->my_rank = GNRC_RPL_ROOT_RANK;
dodag->dio_opts |= GNRC_RPL_REQ_DIO_OPT_DODAG_CONF;

if (!IS_ACTIVE(CONFIG_GNRC_RPL_WITHOUT_PIO)) {
dodag->dio_opts |= GNRC_RPL_REQ_DIO_OPT_PREFIX_INFO;
}

trickle_start(gnrc_rpl_pid, &dodag->trickle, GNRC_RPL_MSG_TYPE_TRICKLE_MSG,
(1 << dodag->dio_min), dodag->dio_interval_doubl,
dodag->dio_redun);
gnrc_rpl_rpble_update(dodag);
gnrc_rpl_dodag_root_init(&inst->dodag);
gnrc_rpl_rpble_update(&inst->dodag);

return inst;
}
Expand Down Expand Up @@ -273,6 +250,15 @@ static void _parent_timeout(gnrc_rpl_parent_t *parent)
evtimer_add_msg(&gnrc_rpl_evtimer, &parent->timeout_event, gnrc_rpl_pid);
}

/* Handle timeout for floating DODAG by poisoning all routes. */
static void _dodag_float_timeout(gnrc_rpl_dodag_t *dodag)
{
if (dodag->grounded != GNRC_RPL_GROUNDED) {
gnrc_rpl_poison_routes(dodag);
}
evtimer_del(&gnrc_rpl_evtimer, (evtimer_event_t *)&dodag->float_timeout_event);
}

static void *_event_loop(void *args)
{
msg_t msg, reply;
Expand Down Expand Up @@ -323,6 +309,11 @@ static void *_event_loop(void *args)
gnrc_rpl_instance_remove(instance);
}
break;
case GNRC_RPL_MSG_TYPE_DODAG_FLOAT_TIMEOUT:
DEBUG("RPL: GNRC_RPL_MSG_TYPE_DODAG_FLOAT_TIMEOUT received\n");
instance = msg.content.ptr;
_dodag_float_timeout(&instance->dodag);
break;
case GNRC_RPL_MSG_TYPE_TRICKLE_MSG:
DEBUG("RPL: GNRC_RPL_MSG_TYPE_TRICKLE_MSG received\n");
trickle = msg.content.ptr;
Expand Down
73 changes: 68 additions & 5 deletions sys/net/gnrc/routing/rpl/gnrc_rpl_dodag.c
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Expand Up @@ -65,7 +65,7 @@

gnrc_rpl_send_DIO(inst, (ipv6_addr_t *) &ipv6_addr_all_rpl_nodes);
DEBUG("trickle callback: Instance (%d) | DODAG: (%s)\n", inst->id,
ipv6_addr_to_str(addr_str,&dodag->dodag_id, sizeof(addr_str)));

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}

/* The lifetime of the default route should exceed the parent timeout interval
Expand All @@ -77,6 +77,18 @@
(GNRC_RPL_PARENT_PROBE_INTERVAL / MS_PER_SEC));
}

void gnrc_rpl_poison_routes(gnrc_rpl_dodag_t *dodag)
{
if (dodag->my_rank != GNRC_RPL_INFINITE_RANK) {
DEBUG("RPL: Poison all children routes in DODAG.\n");

/* Poison routes by advertising infinity rank */
dodag->my_rank = GNRC_RPL_INFINITE_RANK;
trickle_reset_timer(&dodag->trickle);
gnrc_rpl_cleanup_start(dodag);
}
}

bool gnrc_rpl_instance_add(uint8_t instance_id, gnrc_rpl_instance_t **inst)
{
*inst = NULL;
Expand Down Expand Up @@ -113,7 +125,7 @@

bool gnrc_rpl_instance_remove_by_id(uint8_t instance_id)
{
for(uint8_t i = 0; i < GNRC_RPL_INSTANCES_NUMOF; ++i) {

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if (gnrc_rpl_instances[i].id == instance_id) {
gnrc_rpl_instance_remove(&gnrc_rpl_instances[i]);
return true;
Expand All @@ -130,8 +142,9 @@
gnrc_rpl_dodag_remove_all_parents(dodag);
trickle_stop(&dodag->trickle);
evtimer_del(&gnrc_rpl_evtimer, (evtimer_event_t *)&dodag->dao_event);
evtimer_del(&gnrc_rpl_evtimer, (evtimer_event_t *)&dodag->float_timeout_event);
evtimer_del(&gnrc_rpl_evtimer, (evtimer_event_t *)&dodag->instance->cleanup_event);

memset(dodag, 0, sizeof(gnrc_rpl_dodag_t));
}

void gnrc_rpl_instance_remove(gnrc_rpl_instance_t *inst)
Expand All @@ -150,6 +163,30 @@
return NULL;
}

void gnrc_rpl_dodag_root_init(gnrc_rpl_dodag_t *dodag)
{
dodag->dtsn = 1;
dodag->prf = 0;
dodag->dio_interval_doubl = CONFIG_GNRC_RPL_DEFAULT_DIO_INTERVAL_DOUBLINGS;
dodag->dio_min = CONFIG_GNRC_RPL_DEFAULT_DIO_INTERVAL_MIN;
dodag->dio_redun = CONFIG_GNRC_RPL_DEFAULT_DIO_REDUNDANCY_CONSTANT;
dodag->default_lifetime = CONFIG_GNRC_RPL_DEFAULT_LIFETIME;
dodag->lifetime_unit = CONFIG_GNRC_RPL_LIFETIME_UNIT;
dodag->version = GNRC_RPL_COUNTER_INIT;
dodag->grounded = GNRC_RPL_GROUNDED;
dodag->node_status = GNRC_RPL_ROOT_NODE;
dodag->my_rank = GNRC_RPL_ROOT_RANK;
dodag->dio_opts |= GNRC_RPL_REQ_DIO_OPT_DODAG_CONF;

if (!IS_ACTIVE(CONFIG_GNRC_RPL_WITHOUT_PIO)) {
dodag->dio_opts |= GNRC_RPL_REQ_DIO_OPT_PREFIX_INFO;
}

trickle_start(gnrc_rpl_pid, &dodag->trickle, GNRC_RPL_MSG_TYPE_TRICKLE_MSG,
(1 << dodag->dio_min), dodag->dio_interval_doubl,
dodag->dio_redun);
}

bool gnrc_rpl_dodag_init(gnrc_rpl_instance_t *instance, const ipv6_addr_t *dodag_id,
kernel_pid_t iface)
{
Expand All @@ -176,6 +213,8 @@
dodag->iface = iface;
dodag->dao_event.msg.content.ptr = instance;
dodag->dao_event.msg.type = GNRC_RPL_MSG_TYPE_DODAG_DAO_TX;
dodag->float_timeout_event.msg.content.ptr = instance;
dodag->float_timeout_event.msg.type = GNRC_RPL_MSG_TYPE_DODAG_FLOAT_TIMEOUT;

if ((netif != NULL) && !(netif->flags & GNRC_NETIF_FLAGS_IPV6_FORWARDING)) {
gnrc_rpl_leaf_operation(dodag);
Expand All @@ -191,6 +230,32 @@
return true;
}

bool _float_dodag(gnrc_rpl_dodag_t *dodag)
{
evtimer_event_t *float_event = (evtimer_event_t *)&dodag->float_timeout_event;

DEBUG("RPL: Set node as root for floating DODAG.\n");

evtimer_del(&gnrc_rpl_evtimer, float_event);

/* find address on interface that matches the prefix of the old dodag */
gnrc_netif_t *netif = gnrc_netif_get_by_pid(dodag->iface);
int idx = gnrc_netif_ipv6_addr_match(netif, &dodag->dodag_id);
if (idx < 0) {
DEBUG("RPL: could not find address to use as DODAGID.");
return false;
}
dodag->dodag_id = netif->ipv6.addrs[idx];
gnrc_rpl_dodag_root_init(dodag);
dodag->grounded &= !GNRC_RPL_GROUNDED;

/* floating dodag should timeout eventually if no new grounded dodag is found */
float_event->offset = CONFIG_GNRC_RPL_DODAG_FLOAT_TIMEOUT;
evtimer_add_msg(&gnrc_rpl_evtimer, &dodag->float_timeout_event, gnrc_rpl_pid);

return true;
}

void gnrc_rpl_dodag_remove_all_parents(gnrc_rpl_dodag_t *dodag)
{
gnrc_rpl_parent_t *elt = NULL;
Expand Down Expand Up @@ -228,7 +293,7 @@
(*parent)->state = GNRC_RPL_PARENT_ACTIVE;
(*parent)->addr = *addr;
(*parent)->rank = GNRC_RPL_INFINITE_RANK;
evtimer_del((evtimer_t *)(&gnrc_rpl_evtimer), (evtimer_event_t *)(&(*parent)->timeout_event));

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((evtimer_event_t *)(&(*parent)->timeout_event))->next = NULL;
(*parent)->timeout_event.msg.type = GNRC_RPL_MSG_TYPE_PARENT_TIMEOUT;
(*parent)->timeout_event.msg.content.ptr = (*parent);
Expand Down Expand Up @@ -264,7 +329,7 @@

void gnrc_rpl_cleanup_start(gnrc_rpl_dodag_t *dodag)
{
evtimer_del((evtimer_t *)(&gnrc_rpl_evtimer), (evtimer_event_t *)&dodag->instance->cleanup_event);

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((evtimer_event_t *)&(dodag->instance->cleanup_event))->offset = CONFIG_GNRC_RPL_CLEANUP_TIME;
dodag->instance->cleanup_event.msg.type = GNRC_RPL_MSG_TYPE_INSTANCE_CLEANUP;
evtimer_add_msg(&gnrc_rpl_evtimer, &dodag->instance->cleanup_event, gnrc_rpl_pid);
Expand All @@ -276,10 +341,8 @@

dodag->dtsn++;

if (dodag->my_rank != GNRC_RPL_INFINITE_RANK) {
dodag->my_rank = GNRC_RPL_INFINITE_RANK;
trickle_reset_timer(&dodag->trickle);
gnrc_rpl_cleanup_start(dodag);
if ((CONFIG_GNRC_RPL_DODAG_FLOAT_TIMEOUT <= 0) || !_float_dodag(dodag)) {
gnrc_rpl_poison_routes(dodag);
}

if (dodag->parents) {
Expand All @@ -294,7 +357,7 @@
if ((parent != NULL) && (parent->state != GNRC_RPL_PARENT_UNUSED)) {
parent->state = GNRC_RPL_PARENT_ACTIVE;
evtimer_del((evtimer_t *)(&gnrc_rpl_evtimer), (evtimer_event_t *)&parent->timeout_event);
((evtimer_event_t *)&(parent->timeout_event))->offset = (dodag->default_lifetime - 1) * dodag->lifetime_unit * MS_PER_SEC;

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parent->timeout_event.msg.type = GNRC_RPL_MSG_TYPE_PARENT_TIMEOUT;
evtimer_add_msg(&gnrc_rpl_evtimer, &parent->timeout_event, gnrc_rpl_pid);
#ifdef MODULE_GNRC_RPL_P2P
Expand Down
4 changes: 4 additions & 0 deletions sys/net/gnrc/routing/rpl/gnrc_rpl_internal/globals.h
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Expand Up @@ -45,6 +45,10 @@ extern evtimer_msg_t gnrc_rpl_evtimer;
* @brief Message type for DAO transmissions.
*/
#define GNRC_RPL_MSG_TYPE_DODAG_DAO_TX (0x0906)
/**
* @brief Message type for floating DODAG timeouts.
*/
#define GNRC_RPL_MSG_TYPE_DODAG_FLOAT_TIMEOUT (0x0907)
/** @} */

/**
Expand Down