ajout retour serveur + gestion LED pour real_time_app

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1 parent 0c314053
Showing 9 changed files with 636 additions and 22 deletions Show diff stats
RIOT/examples/dynamic_app/main.c
RIOT/examples/gnrc_networking/Makefile
RIOT/examples/real_time_app/main.c
RIOT/examples/statistique_app/Makefile
RIOT/examples/statistique_app/main.c
RIOT/examples/statistique_app/udp.c
RIOT/sys/net/gnrc/network_layer/icmpv6/echo/gnrc_icmpv6_echo.c
RIOT/sys/net/gnrc/network_layer/ipv6/gnrc_ipv6.c
RIOT/sys/net/gnrc/sock/udp/gnrc_sock_udp.c
@@ -156,6 +156,14 @@ int crea_rpl_dodag_root(char *arg1, char *arg2)
     printf("successfully added a new RPL DODAG\n");
     return 0;
 }
+int _gnrc_rpl_send_dis(void)
+{
+    gnrc_rpl_send_DIS(NULL, (ipv6_addr_t *) &ipv6_addr_all_rpl_nodes);
+
+    puts("success: send a DIS\n");
+    return 0;
+}
+
 /***************** /RPL functions ****************/
 /*void *sock_time_server_thread(void *arg)
@@ -365,12 +373,14 @@ static void _init_interface(void)
     }
     //init RPL
     //init_RPL(ifs[0]);
+    _gnrc_rpl_send_dis();
     memcpy(tmp_addr.u8,addr.u8,IPV6_ADDR_BIT_LEN);
     gnrc_ipv6_netif_add_addr(ifs[0], &addr, 64, GNRC_IPV6_NETIF_ADDR_FLAGS_UNICAST);
     /* model ipv6 addr: dead:beef::Hwaddr */
     if((addr.u8[14]==0x34)&&(addr.u8[15]==0x02)){
         crea_rpl_dodag_root("1", "dead:beef::3402");
+	_gnrc_rpl_send_dis();
 	client=thread_create(sock_client_stack,sizeof(sock_client_stack),8,THREAD_CREATE_STACKTEST,sock_client_thread,NULL,"sock_client_thread");
        // xtimer_usleep(200);
         //time_server=thread_create(sock_time_server_stack,sizeof(sock_time_server_stack),6,THREAD_CREATE_STACKTEST,sock_time_server_thread,NULL,"sock_time_server_thread");
@@ -12,7 +12,7 @@ BOARD_INSUFFICIENT_MEMORY := airfy-beacon chronos msb-430 msb-430h nrf51dongle \
                           stm32f0discovery telosb weio wsn430-v1_3b wsn430-v1_4 \
                           yunjia-nrf51822 z1 nucleo-f072 nucleo-f030 nucleo-f070 \
                           microbit calliope-mini
-
+DISABLE_MODULE += net_gnrc_sixlowpan_iphc
 # Include packages that pull up and auto-init the link layer.
 # NOTE: 6LoWPAN will be included if IEEE802.15.4 devices are present
 USEMODULE += gnrc_netdev_default
@@ -27,6 +27,7 @@
 #include <arpa/inet.h>
 #include "../../boards/stm32f4discovery/include/board.h"
 #include "../../boards/stm32f4discovery/include/periph_conf.h"
+#include "periph/gpio.h"
 #include "net/sock/udp.h"
 #include "net/gnrc/ipv6.h"
 #include "net/af.h"
@@ -80,14 +81,14 @@
 #define PWM_FREQ 100
 #define PWM_RES 100
-#define DEADLINE 24000
+#define DEADLINE 15000
 // addr ipv6 link local node 1: fe80::3734:510e:3317:3402
 uint8_t node1[16]={0xfe,0x80,0x00,0x00,0x00,0x00,0x00,0x00,0x37,0x34,0x51,0x0e,0x33,0x17,0x34,0x02};
 // addr ipv6 link local node 2: fe80::3634:5110:3473:3762
 uint8_t node2[16]={0xfe,0x80,0x00,0x00,0x00,0x00,0x00,0x00,0x36,0x34,0x51,0x10,0x34,0x73,0x37,0x62};
 //addr ipv6 link local node 3: fe80::3634:5110:3471:3766
-uint8_t node3[16]={0xfe,0x80,0x00,0x00,0x00,0x00,0x00,0x00,0x31,0x33,0x47,0x11,0x37,0x2c,0x34,0x12};
+uint8_t node3[16]={0xfe,0x80,0x00,0x00,0x00,0x00,0x00,0x00,0x37,0x34,0x51,0x0b,0x33,0x0a,0x34,0x1e};
 //static char _stack_server[GNRC_PKTDUMP_STACKSIZE];
 char pwm_stack[THREAD_STACKSIZE_MAIN];
@@ -211,8 +212,20 @@ void *sock_server_thread(void *arg)
 	  if(tourne == 1)
 	    pwm_set(PWM_DEV(0),1,31);
 	  if(timer_run == 0) {
+	    if (sock_udp_send(&sock, "d", sizeof("d"), &remote) < 0) {
+	     puts("Error sending reply");
+	   }
+	    gpio_clear(LED1_PIN);
+	    gpio_clear(LED2_PIN);
+	    gpio_set(LED0_PIN);
 	    timer_set(TIMER_DEV(1),0,25200);
 	    printf("relance timer\n");
+	    if (sntp_sync(&server, SOCK_NO_TIMEOUT) < 0) {
+	      puts("Error in synchronization");
+	      return NULL;
+	    }
+	    offset = sntp_get_offset();
+	    printf("offset : %i\n",(int)offset);
 	    timer_run = 1;
 	  }
 	}
@@ -225,6 +238,12 @@ void *sock_server_thread(void *arg)
 	  timer_run=0;
 	  timer_clear(TIMER_DEV(1),0);
 	  printf("clear timer\n");
+	   if (sock_udp_send(&sock, "n", sizeof("n"), &remote) < 0) {
+	     puts("Error sending reply");
+	   }
+	   gpio_clear(LED2_PIN);
+	   gpio_clear(LED0_PIN);
+	   gpio_set(LED1_PIN);
 	}
 	if(deadline<=DEADLINE && compteur <5) {
 	  compteur++;
@@ -241,9 +260,12 @@ void *sock_client_thread(void *arg)
 {
   (void) arg;
   Data data;
+  int vitesse=2;
+  uint8_t buf[3];
   data.donnees[0] = 'g';
   data.donnees[1] = 'o';
   //uint8_t paquet[];
+  ssize_t res;
   sock_udp_ep_t remote = { .family = AF_INET6 };
   remote.port = 1234;
@@ -252,18 +274,42 @@ void *sock_client_thread(void *arg)
   remote.addr.ipv6[2] = 0xbe;
   remote.addr.ipv6[3] = 0xef;
   remote.addr.ipv6[14] = 0x34;
-  remote.addr.ipv6[15] = 0x12;
-  //     memcpy(remote.addr.ipv6,addr.u8,IPV6_ADDR_BIT_LEN);
+  remote.addr.ipv6[15] = 0x1e;
+
   while (1) {
-    //       //ipv6_addr_set_all_nodes_multicast((ipv6_addr_t *)&remote.addr.ipv6,
-    //         //                                    IPV6_ADDR_MCAST_SCP_LINK_LOCAL);
     data.heure_actuelle = xtimer_now_usec();
-    if (sock_udp_send(NULL, &data, sizeof(data), &remote) < 0) {
+    if (sock_udp_send(&sock, &data, sizeof(data), &remote) < 0) {
       puts("Error sending message");
     }
     puts("Send a message");
-    xtimer_sleep(2);
+    if(vitesse==2) {
+      gpio_clear(LED0_PIN);
+      gpio_toggle(LED1_PIN);
+    }
+    else {
+      gpio_clear(LED1_PIN);
+      gpio_toggle(LED0_PIN);
+    }
+    if ((res = sock_udp_recv(&sock, buf, sizeof(buf), 0.05 * SEC_IN_USEC,NULL)) < 0) {
+      if (res == -ETIMEDOUT) {
+	puts("Timed out");
+      }
+      else {
+	puts("Error receiving message");
+      }
+    }
+    else {
+      printf("Received message: \"");
+      for (int i = 0; i < res; i++) {
+	printf("%c", buf[i]);
+      }
+      if(buf[0] == 'n')
+	vitesse = 2;
+      else vitesse = 1;
+      printf("\"\n");
+    }
+    xtimer_sleep(vitesse);
   }
   return NULL;
 }
@@ -273,6 +319,9 @@ static void arret_urgence(void *arg,int channel)
   pwm_set(PWM_DEV(0),1,0);
   tourne = 0;
   timer_run = 0;
+  gpio_clear(LED0_PIN);
+  gpio_clear(LED1_PIN);
+  gpio_set(LED2_PIN);
   printf("Arret d'urgence\n");
 }
@@ -330,7 +379,7 @@ static void _init_pwm(void)
    if((addr.u8[14]==0x34)&&(addr.u8[15]==0x02)){
      tmp_addr.u8[14] = 0x34;
-     tmp_addr.u8[15] = 0x12;
+     tmp_addr.u8[15] = 0x1e;
      //fibroute dest: dead:beef::3766 via fe80::3634:5110:3473:3762
      fib_add_entry(&gnrc_ipv6_fib_table, ifs[0],tmp_addr.u8, IN6ADDRSZ, 0,node2, IN6ADDRSZ, 0, FIB_LIFETIME_NO_EXPIRE);
      tmp_addr.u8[14] = 0x37;
@@ -338,21 +387,19 @@ static void _init_pwm(void)
      //fibroute dest: dead:beef::3762 via fe80::3634:5110:3473:3762
      fib_add_entry(&gnrc_ipv6_fib_table, ifs[0],tmp_addr.u8, IN6ADDRSZ, 0,node2, IN6ADDRSZ, 0, FIB_LIFETIME_NO_EXPIRE);
      client=thread_create(sock_client_stack,sizeof(sock_client_stack),8,THREAD_CREATE_STACKTEST,sock_client_thread,NULL,"sock_client_thread");
-     xtimer_usleep(10000);
+     //xtimer_usleep(10000);
      time_server=thread_create(sock_time_server_stack,sizeof(sock_time_server_stack),6,THREAD_CREATE_STACKTEST,sock_time_server_thread,NULL,"sock_time_server_thread");
-     xtimer_usleep(200);
+   //  xtimer_usleep(200);
    }else if((addr.u8[14]==0x37)&&(addr.u8[15]==0x62)){
      tmp_addr.u8[14] = 0x34;
-     tmp_addr.u8[15] = 0x12;
+     tmp_addr.u8[15] = 0x1e;
      //fibroute dest: dead:beef::3766 via fe80::3634:5110:3471:3766
      fib_add_entry(&gnrc_ipv6_fib_table, ifs[0],tmp_addr.u8, IN6ADDRSZ, 0,node3, IN6ADDRSZ, 0, FIB_LIFETIME_NO_EXPIRE);
      tmp_addr.u8[14] = 0x34;
      tmp_addr.u8[15] = 0x02;
      //fibroute dest: dead:beef::3402 via fe80::3734:510e:3317:3402
      fib_add_entry(&gnrc_ipv6_fib_table, ifs[0],tmp_addr.u8, IN6ADDRSZ, 0,node1, IN6ADDRSZ, 0, FIB_LIFETIME_NO_EXPIRE);
-     //sntp_sync(&local,5000);
-     //printf("temps : %i\n",(int)sntp_get_offset());
-   }else if((addr.u8[14]==0x34)&&(addr.u8[15]==0x12)){
+   }else if((addr.u8[14]==0x34)&&(addr.u8[15]==0x1e)){
      tmp_addr.u8[14] = 0x34;
      tmp_addr.u8[15] = 0x02;
      //fibroute dest: dead:beef::3402 via fe80::3634:5110:3473:3762
@@ -362,9 +409,9 @@ static void _init_pwm(void)
      //fibroute dest: dead:beef::3762 via fe80::3634:5110:3473:3762
      fib_add_entry(&gnrc_ipv6_fib_table, ifs[0],tmp_addr.u8, IN6ADDRSZ, 0,node2, IN6ADDRSZ, 0, FIB_LIFETIME_NO_EXPIRE);
      //start_server("1234");
-     _init_timer();
-     _init_pwm();
-     server=thread_create(sock_server_stack,sizeof(sock_server_stack),6,THREAD_CREATE_STACKTEST,sock_server_thread,NULL,"sock_server_thread");
+      _init_timer();
+      _init_pwm();
+      server=thread_create(sock_server_stack,sizeof(sock_server_stack),6,THREAD_CREATE_STACKTEST,sock_server_thread,NULL,"sock_server_thread");
    }else{
@@ -0,0 +1,67 @@
+# name of your application
+APPLICATION = real_time_app
+
+# If no BOARD is found in the environment, use this default:
+BOARD ?= native
+
+# This has to be the absolute path to the RIOT base directory:
+RIOTBASE ?= $(CURDIR)/../..
+
+BOARD_INSUFFICIENT_MEMORY := airfy-beacon chronos msb-430 msb-430h nrf51dongle \
+                          nrf6310 nucleo-f103 nucleo-f334 pca10000 pca10005 spark-core \
+                          stm32f0discovery telosb weio wsn430-v1_3b wsn430-v1_4 \
+                          yunjia-nrf51822 z1 nucleo-f072 nucleo-f030 nucleo-f070 \
+                          microbit calliope-mini
+
+# Include packages that pull up and auto-init the link layer.
+USEMODULE += gnrc_sock_udp
+USEMODULE += sntp
+# NOTE: 6LoWPAN will be included if IEEE802.15.4 devices are present
+USEMODULE += gnrc_netdev_default
+USEMODULE += auto_init_gnrc_netif
+# Specify the mandatory networking modules for IPv6 and UDP
+USEMODULE += gnrc_ipv6_router_default
+USEMODULE += gnrc_udp
+# Add a routing protocol
+USEMODULE += gnrc_rpl
+#USEMODULE += auto_init_gnrc_rpl
+# This application dumps received packets to STDIO using the pktdump module
+#USEMODULE += gnrc_pktdump
+# Additional networking modules that can be dropped if not needed
+USEMODULE += gnrc_icmpv6_echo
+# Add also the shell, some shell commands
+USEMODULE += shell
+USEMODULE += shell_commands
+USEMODULE += ps
+USEMODULE += netstats_l2
+USEMODULE += netstats_ipv6
+USEMODULE += netstats_rpl
+#include our RF module
+USEMODULE += at86rf231
+# Comment this out to disable code in RIOT that does safety checking
+# which is not needed in a production environment but helps in the
+# development process:
+CFLAGS += -DDEVELHELP
+
+# Comment this out to join RPL DODAGs even if DIOs do not contain
+# DODAG Configuration Options (see the doc for more info)
+# CFLAGS += -DGNRC_RPL_DODAG_CONF_OPTIONAL_ON_JOIN
+
+# Change this to 0 show compiler invocation lines by default:
+QUIET ?= 1
+
+include $(RIOTBASE)/Makefile.include
+
+# Set a custom channel if needed
+ifneq (,$(filter cc110x,$(USEMODULE)))          # radio is cc110x sub-GHz
+  DEFAULT_CHANNEL ?= 0
+  CFLAGS += -DCC110X_DEFAULT_CHANNEL=$(DEFAULT_CHANNEL)
+else
+  ifneq (,$(filter at86rf212b,$(USEMODULE)))    # radio is IEEE 802.15.4 sub-GHz
+    DEFAULT_CHANNEL ?= 5
+    FLAGS += -DIEEE802154_DEFAULT_SUBGHZ_CHANNEL=$(DEFAULT_CHANNEL)
+  else                                          # radio is IEEE 802.15.4 2.4 GHz
+    DEFAULT_CHANNEL ?= 26
+    CFLAGS += -DIEEE802154_DEFAULT_CHANNEL=$(DEFAULT_CHANNEL)
+  endif
+endif
@@ -0,0 +1,309 @@
+/*
+ * Copyright (C) 2015 Freie Universität Berlin
+ *
+ * This file is subject to the terms and conditions of the GNU Lesser
+ * General Public License v2.1. See the file LICENSE in the top level
+ * directory for more details.
+ */
+
+/**
+ * @ingroup     examples
+ * @{
+ *
+ * @file
+ * @brief       Example application for demonstrating the RIOT network stack
+ *
+ * @author      Hauke Petersen <hauke.petersen@fu-berlin.de>
+ *
+ * @}
+ */
+#include <stdbool.h>
+#include <stdint.h>
+#include <stdio.h>
+#include <stdlib.h>
+#include <string.h>
+#include <inttypes.h>
+
+#include <arpa/inet.h>
+#include "../../boards/stm32f4discovery/include/board.h"
+#include "../../boards/stm32f4discovery/include/periph_conf.h"
+#include "periph/gpio.h"
+#include "net/sock/udp.h"
+#include "net/gnrc/ipv6.h"
+#include "net/af.h"
+#include "net/sixlowpan.h"
+#include "net/gnrc/pktdump.h"
+#include "shell.h"
+#include "shell_commands.h"
+#include "msg.h"
+#include "thread.h"
+#include "sched.h"
+#include "thread.h"
+#include "kernel_types.h"
+#include "net/netstats.h"
+#include "net/ipv6/addr.h"
+#include "periph/timer.h"
+#include "net/gnrc/ipv6/netif.h"
+#include "net/gnrc/netif.h"
+#include "net/gnrc/netapi.h"
+#include "net/netopt.h"
+#include "net/gnrc/pkt.h"
+#include "net/gnrc/pktbuf.h"
+#include "net/gnrc/netif/hdr.h"
+#include "net/gnrc/sixlowpan/netif.h"
+#include "net/fib.h"
+#include "net/gnrc/udp.h"
+#include "periph/pwm.h"
+#include "od.h"
+#include "net/sntp.h"
+#include "net/ntp_packet.h"
+#ifdef MODULE_SCHEDSTATISTICS
+#include "xtimer.h"
+#endif
+
+#ifdef MODULE_TLSF
+#include "tlsf.h"
+#endif
+
+#define MAIN_QUEUE_SIZE     (8)
+/**
+ * @brief   The maximal expected link layer address length in byte
+ */
+#define MAX_ADDR_LEN            (8U)
+
+/**
+ * @brief   The default IPv6 prefix length if not specified.
+ */
+#define SC_NETIF_IPV6_DEFAULT_PREFIX_LEN     (64)
+
+#define _STACKSIZE      (THREAD_STACKSIZE_DEFAULT + THREAD_EXTRA_STACKSIZE_PRINTF)
+#define MSG_TYPE_ISR    (0x3456)
+
+#define PWM_FREQ 100
+#define PWM_RES 100
+#define DEADLINE 15000
+
+// addr ipv6 link local node 1: fe80::3734:510e:3317:3402
+uint8_t node1[16]={0xfe,0x80,0x00,0x00,0x00,0x00,0x00,0x00,0x37,0x34,0x51,0x0e,0x33,0x17,0x34,0x02};
+// addr ipv6 link local node 2: fe80::3634:5110:3473:3762
+uint8_t node2[16]={0xfe,0x80,0x00,0x00,0x00,0x00,0x00,0x00,0x36,0x34,0x51,0x10,0x34,0x73,0x37,0x62};
+//addr ipv6 link local node 3: fe80::3634:5110:3471:3766
+uint8_t node3[16]={0xfe,0x80,0x00,0x00,0x00,0x00,0x00,0x00,0x37,0x34,0x51,0x0b,0x33,0x0a,0x34,0x1e};
+
+//static char _stack_server[GNRC_PKTDUMP_STACKSIZE];
+char sock_server_stack[THREAD_STACKSIZE_MAIN];
+char sock_client_stack[THREAD_STACKSIZE_MAIN];
+char sock_time_server_stack[THREAD_STACKSIZE_MAIN];
+// static gnrc_netreg_entry_t server = GNRC_NETREG_ENTRY_INIT_PID(GNRC_NETREG_DEMUX_CTX_ALL,
+//                                                                KERNEL_PID_UNDEF);
+// 
+// kernel_pid_t gnrc_server_pid = KERNEL_PID_UNDEF;
+// 
+kernel_pid_t server, client, time_server;
+int ordre = 0;
+int64_t offset = 0;
+int timer_run = 0;
+int tourne = 0;
+sock_udp_ep_t local = SOCK_IPV6_EP_ANY;
+sock_udp_t sock; 
+sock_udp_ep_t local_ntp = SOCK_IPV6_EP_ANY;
+sock_udp_t sock_ntp; 
+static ntp_packet_t sntp_packet;
+
+typedef struct tableau {
+  uint32_t heure_actuelle;
+}Data;
+
+
+void *sock_time_server_thread(void *arg)
+{
+    (void) arg;
+    local_ntp.port = NTP_PORT;
+
+    if (sock_udp_create(&sock_ntp, &local_ntp, NULL, 0) < 0) {
+	  puts("Error creating UDP sock");
+	  return NULL;
+      }
+
+      while (1) {
+	  sock_udp_ep_t remote;
+	  ssize_t res;
+
+	  if ((res = sock_udp_recv(&sock_ntp,&sntp_packet, sizeof(sntp_packet), SOCK_NO_TIMEOUT,
+				  &remote)) >= 0) {
+	      puts("Received a message");
+	    //printf("TT: %lu\n", byteorder_ntohl(sntp_packet.transmit.seconds));
+	    
+	    // printf("%c\n",remote.addr.ipv6[15]);
+	    //xtimer_ticks64_t now = xtimer_now64();
+	    // heure actuelle du serveur
+	    sntp_packet.receive.seconds=byteorder_htonl( xtimer_now_usec());
+	    sntp_packet.origin.seconds=sntp_packet.transmit.seconds;
+	    sntp_packet.transmit.seconds=byteorder_htonl( xtimer_now_usec());
+	    //printf("heure actuelle : %lu\n",xtimer_now_usec());
+	    //printf("TT2: %lu\n", byteorder_ntohl(sntp_packet.transmit.seconds));
+	  //memset(&sntp_packet, 0, sizeof(sntp_packet)); 
+	    //ntp_packet_set_vn(&sntp_packet);
+	    //ntp_packet_set_mode(&sntp_packet, NTP_MODE_SERVER);
+	      if (sock_udp_send(&sock_ntp, &sntp_packet, sizeof(sntp_packet), &remote) < 0) {
+		  puts("Error sending reply");
+	      }
+	  }
+      }
+    return NULL;
+}
+
+void *sock_server_thread(void *arg)
+{
+  (void) arg;
+  Data buf;
+  int deadline;
+  local.port = 1234;
+  sock_udp_ep_t server = { .port = NTP_PORT, .family = AF_INET6 };
+  ipv6_addr_from_str((ipv6_addr_t *)&server.addr, "dead:beef::3402");
+    
+  if (sock_udp_create(&sock, &local, NULL, 0) < 0) {
+    puts("Error creating UDP sock");
+    return NULL;
+  }
+  if (sntp_sync(&server, SOCK_NO_TIMEOUT) < 0) {
+    puts("Error in synchronization");
+    return NULL;
+  }
+  offset = sntp_get_offset();
+  printf("offset : %i\n",(int)offset);
+  
+  while (1) {
+    sock_udp_ep_t remote;
+    ssize_t res;
+    if ((res = sock_udp_recv(&sock, &buf, sizeof(buf), SOCK_NO_TIMEOUT,&remote)) >= 0) {
+      deadline = xtimer_now_usec() + offset - buf.heure_actuelle;
+      printf("tps de transmission : %i\n",deadline);
+    }
+  }
+    return NULL;
+}
+
+void *sock_client_thread(void *arg)
+{
+  (void) arg;
+  Data data;
+//   data.donnees[0] = 'g';
+//   data.donnees[1] = 'o';
+  //uint8_t paquet[];
+  sock_udp_ep_t remote = { .family = AF_INET6 };
+  
+  remote.port = 1234;
+  remote.addr.ipv6[0] = 0xde;
+  remote.addr.ipv6[1] = 0xad;
+  remote.addr.ipv6[2] = 0xbe;
+  remote.addr.ipv6[3] = 0xef;
+  remote.addr.ipv6[14] = 0x37;
+  remote.addr.ipv6[15] = 0x62;
+
+  while (1) {
+    data.heure_actuelle = xtimer_now_usec();
+    printf("%d\n",sizeof(data));
+    if (sock_udp_send(&sock, &data, sizeof(data), &remote) < 0) {
+      puts("Error sending message");
+    }
+    xtimer_sleep(1);
+  }
+  return NULL;
+}
+
+
+ 
+ static void _init_interface(void)
+ {
+   kernel_pid_t ifs[GNRC_NETIF_NUMOF];
+   ipv6_addr_t addr = IPV6_ADDR_UNSPECIFIED;
+   ipv6_addr_t tmp_addr= IPV6_ADDR_UNSPECIFIED;
+   uint8_t hwaddr[MAX_ADDR_LEN];
+   int res;
+   
+   gnrc_netif_get(ifs);
+   
+   //addresses gobales
+   addr.u8[0] = 0xde;
+   addr.u8[1] = 0xad;
+   addr.u8[2] = 0xbe;
+   addr.u8[3] = 0xef;
+   
+   res = gnrc_netapi_get(ifs[0], NETOPT_ADDRESS, 0, hwaddr, sizeof(hwaddr));
+   
+   if (res >= 0) {
+     addr.u8[14] = *hwaddr;
+     addr.u8[15] = *(hwaddr+1);
+   }
+   memcpy(tmp_addr.u8,addr.u8,IPV6_ADDR_BIT_LEN);
+   
+   gnrc_ipv6_netif_add_addr(ifs[0], &addr, 64, GNRC_IPV6_NETIF_ADDR_FLAGS_UNICAST);
+   /* model ipv6 addr: dead:beef::Hwaddr */
+   if((addr.u8[14]==0x34)&&(addr.u8[15]==0x02)){
+     
+     tmp_addr.u8[14] = 0x34;
+     tmp_addr.u8[15] = 0x1e;
+     //fibroute dest: dead:beef::3766 via fe80::3634:5110:3473:3762
+     fib_add_entry(&gnrc_ipv6_fib_table, ifs[0],tmp_addr.u8, IN6ADDRSZ, 0,node2, IN6ADDRSZ, 0, FIB_LIFETIME_NO_EXPIRE);
+     tmp_addr.u8[14] = 0x37;
+     tmp_addr.u8[15] = 0x62;
+     //fibroute dest: dead:beef::3762 via fe80::3634:5110:3473:3762
+     fib_add_entry(&gnrc_ipv6_fib_table, ifs[0],tmp_addr.u8, IN6ADDRSZ, 0,node2, IN6ADDRSZ, 0, FIB_LIFETIME_NO_EXPIRE);
+     client=thread_create(sock_client_stack,sizeof(sock_client_stack),8,THREAD_CREATE_STACKTEST,sock_client_thread,NULL,"sock_client_thread");
+     //xtimer_usleep(10000);
+     time_server=thread_create(sock_time_server_stack,sizeof(sock_time_server_stack),6,THREAD_CREATE_STACKTEST,sock_time_server_thread,NULL,"sock_time_server_thread");
+   //  xtimer_usleep(200);
+   }else if((addr.u8[14]==0x37)&&(addr.u8[15]==0x62)){
+     tmp_addr.u8[14] = 0x34;
+     tmp_addr.u8[15] = 0x1e;
+     //fibroute dest: dead:beef::3766 via fe80::3634:5110:3471:3766
+     fib_add_entry(&gnrc_ipv6_fib_table, ifs[0],tmp_addr.u8, IN6ADDRSZ, 0,node3, IN6ADDRSZ, 0, FIB_LIFETIME_NO_EXPIRE);
+     tmp_addr.u8[14] = 0x34;
+     tmp_addr.u8[15] = 0x02;
+     //fibroute dest: dead:beef::3402 via fe80::3734:510e:3317:3402
+     fib_add_entry(&gnrc_ipv6_fib_table, ifs[0],tmp_addr.u8, IN6ADDRSZ, 0,node1, IN6ADDRSZ, 0, FIB_LIFETIME_NO_EXPIRE);
+     server=thread_create(sock_server_stack,sizeof(sock_server_stack),6,THREAD_CREATE_STACKTEST,sock_server_thread,NULL,"sock_server_thread");
+   }else if((addr.u8[14]==0x34)&&(addr.u8[15]==0x1e)){
+     tmp_addr.u8[14] = 0x34;
+     tmp_addr.u8[15] = 0x02;
+     //fibroute dest: dead:beef::3402 via fe80::3634:5110:3473:3762
+     fib_add_entry(&gnrc_ipv6_fib_table, ifs[0],tmp_addr.u8, IN6ADDRSZ, 0,node2, IN6ADDRSZ, 0, FIB_LIFETIME_NO_EXPIRE); tmp_addr.u8[14] = 0x37;
+     tmp_addr.u8[14] = 0x37;
+     tmp_addr.u8[15] = 0x62;
+     //fibroute dest: dead:beef::3762 via fe80::3634:5110:3473:3762
+     fib_add_entry(&gnrc_ipv6_fib_table, ifs[0],tmp_addr.u8, IN6ADDRSZ, 0,node2, IN6ADDRSZ, 0, FIB_LIFETIME_NO_EXPIRE);
+     //start_server("1234");
+      server=thread_create(sock_server_stack,sizeof(sock_server_stack),6,THREAD_CREATE_STACKTEST,sock_server_thread,NULL,"sock_server_thread");
+     
+     
+   }else{
+     puts("new node ?");
+   }
+ }
+
+static msg_t _main_msg_queue[MAIN_QUEUE_SIZE];
+
+extern int udp_cmd(int argc, char **argv);
+
+static const shell_command_t shell_commands[] = {
+    { "udp", "send data over UDP and listen on UDP ports", udp_cmd },
+    { NULL, NULL, NULL }
+};
+
+
+int main(void)
+{
+
+    msg_init_queue(_main_msg_queue, MAIN_QUEUE_SIZE);
+    puts("RIOT network stack example application");
+    _init_interface();
+    
+    /* start shell */
+    puts("All up, running the shell now");
+    char line_buf[SHELL_DEFAULT_BUFSIZE];
+    shell_run(shell_commands, line_buf, SHELL_DEFAULT_BUFSIZE);
+    
+    /* should be never reached */
+    return 0;
+}
@@ -0,0 +1,174 @@
+/*
+ * Copyright (C) 2015 Freie Universität Berlin
+ *
+ * This file is subject to the terms and conditions of the GNU Lesser
+ * General Public License v2.1. See the file LICENSE in the top level
+ * directory for more details.
+ */
+
+/**
+ * @ingroup     examples
+ * @{
+ *
+ * @file
+ * @brief       Demonstrating the sending and receiving of UDP data
+ *
+ * @author      Hauke Petersen <hauke.petersen@fu-berlin.de>
+ *
+ * @}
+ */
+
+#include <stdio.h>
+#include <inttypes.h>
+
+#include "net/gnrc.h"
+#include "net/gnrc/ipv6.h"
+#include "net/gnrc/udp.h"
+#include "net/gnrc/pktdump.h"
+#include "timex.h"
+#include "xtimer.h"
+
+//static gnrc_netreg_entry_t server = GNRC_NETREG_ENTRY_INIT_PID(GNRC_NETREG_DEMUX_CTX_ALL,
+  //                                                             KERNEL_PID_UNDEF);
+
+
+static void send(char *addr_str, char *port_str, char *data, unsigned int num,
+                 unsigned int delay)
+{
+    uint16_t port;
+    ipv6_addr_t addr;
+
+    /* parse destination address */
+    if (ipv6_addr_from_str(&addr, addr_str) == NULL) {
+        puts("Error: unable to parse destination address");
+        return;
+    }
+    /* parse port */
+    port = (uint16_t)atoi(port_str);
+    if (port == 0) {
+        puts("Error: unable to parse destination port");
+        return;
+    }
+
+    for (unsigned int i = 0; i < num; i++) {
+        gnrc_pktsnip_t *payload, *udp, *ip;
+        unsigned payload_size;
+        /* allocate payload */
+        payload = gnrc_pktbuf_add(NULL, data, strlen(data), GNRC_NETTYPE_UNDEF);
+        if (payload == NULL) {
+            puts("Error: unable to copy data to packet buffer");
+            return;
+        }
+        /* store size for output */
+        payload_size = (unsigned)payload->size;
+        /* allocate UDP header, set source port := destination port */
+        udp = gnrc_udp_hdr_build(payload, port, port);
+        if (udp == NULL) {
+            puts("Error: unable to allocate UDP header");
+            gnrc_pktbuf_release(payload);
+            return;
+        }
+        /* allocate IPv6 header */
+        ip = gnrc_ipv6_hdr_build(udp, NULL, &addr);
+        if (ip == NULL) {
+            puts("Error: unable to allocate IPv6 header");
+            gnrc_pktbuf_release(udp);
+            return;
+        }
+        /* send packet */
+        if (!gnrc_netapi_dispatch_send(GNRC_NETTYPE_UDP, GNRC_NETREG_DEMUX_CTX_ALL, ip)) {
+            puts("Error: unable to locate UDP thread");
+            gnrc_pktbuf_release(ip);
+            return;
+        }
+        /* access to `payload` was implicitly given up with the send operation above
+         * => use temporary variable for output */
+        printf("Success: send %u byte to [%s]:%u\n", payload_size, addr_str,
+               port);
+        xtimer_usleep(delay);
+    }
+}
+
+static void start_server(char *port_str)
+{
+//     uint16_t port;
+// 
+//     /* check if server is already running */
+//     if (server.target.pid != KERNEL_PID_UNDEF) {
+//         printf("Error: server already running on port %" PRIu32 "\n",
+//                server.demux_ctx);
+//         return;
+//     }
+//     /* parse port */
+//     port = (uint16_t)atoi(port_str);
+//     if (port == 0) {
+//         puts("Error: invalid port specified");
+//         return;
+//     }
+//     /* start server (which means registering pktdump for the chosen port) */
+//     server.target.pid = gnrc_pktdump_pid;
+//     server.demux_ctx = (uint32_t)port;
+//     gnrc_netreg_register(GNRC_NETTYPE_UDP, &server);
+//     printf("Success: started UDP server on port %" PRIu16 "\n", port);
+}
+
+static void stop_server(void)
+{
+//     /* check if server is running at all */
+//     if (server.target.pid == KERNEL_PID_UNDEF) {
+//         printf("Error: server was not running\n");
+//         return;
+//     }
+//     /* stop server */
+//     gnrc_netreg_unregister(GNRC_NETTYPE_UDP, &server);
+//     server.target.pid = KERNEL_PID_UNDEF;
+//     puts("Success: stopped UDP server");
+}
+
+int udp_cmd(int argc, char **argv)
+{
+    if (argc < 2) {
+        printf("usage: %s [send|server]\n", argv[0]);
+        return 1;
+    }
+
+    if (strcmp(argv[1], "send") == 0) {
+        uint32_t num = 1;
+        uint32_t delay = 1000000;
+        if (argc < 5) {
+            printf("usage: %s send <addr> <port> <data> [<num> [<delay in us>]]\n",
+                   argv[0]);
+            return 1;
+        }
+        if (argc > 5) {
+            num = (uint32_t)atoi(argv[5]);
+        }
+        if (argc > 6) {
+            delay = (uint32_t)atoi(argv[6]);
+        }
+        send(argv[2], argv[3], argv[4], num, delay);
+    }
+    else if (strcmp(argv[1], "server") == 0) {
+        if (argc < 3) {
+            printf("usage: %s server [start|stop]\n", argv[0]);
+            return 1;
+        }
+        if (strcmp(argv[2], "start") == 0) {
+            if (argc < 4) {
+                printf("usage %s server start <port>\n", argv[0]);
+                return 1;
+            }
+            start_server(argv[3]);
+        }
+        else if (strcmp(argv[2], "stop") == 0) {
+            stop_server();
+        }
+        else {
+            puts("error: invalid command");
+        }
+    }
+    else {
+        puts("error: invalid command");
+    }
+    return 0;
+}
@@ -20,7 +20,7 @@
 #include "net/gnrc/ipv6/hdr.h"
 #include "utlist.h"
-#define ENABLE_DEBUG    (0)
+#define ENABLE_DEBUG    (1)
 #include "debug.h"
 #if ENABLE_DEBUG
@@ -108,5 +108,10 @@ void gnrc_icmpv6_echo_req_handle(kernel_pid_t iface, ipv6_hdr_t *ipv6_hdr,
         gnrc_pktbuf_release(pkt);
     }
 }
+/**************************************************************************/
+//Traceroute PFE7
+
+//Traceroute PFE7
+/**************************************************************************/
 /** @} */
@@ -906,7 +906,7 @@ static void _receive(gnrc_pktsnip_t *pkt)
 #ifdef MODULE_GNRC_IPV6_ROUTER    /* only routers redirect */
         /* redirect to next hop */
-        DEBUG("ipv6: decrement hop limit to %u\n", (uint8_t) (hdr->hl - 1));
+        printf("ipv6: decrement hop limit to %u\n", (uint8_t) (hdr->hl - 1));
         /* RFC 4291, section 2.5.6 states: "Routers must not forward any
          * packets with Link-Local source or destination addresses to other
@@ -923,7 +923,7 @@ static void _receive(gnrc_pktsnip_t *pkt)
             gnrc_pktsnip_t *reversed_pkt = NULL, *ptr = pkt;
             DEBUG("ipv6: forward packet to next hop\n");
-
+	    printf ("transmission\n");
             /* pkt might not be writable yet, if header was given above */
             ipv6 = gnrc_pktbuf_start_write(ipv6);
             if (ipv6 == NULL) {
@@ -265,10 +265,12 @@ ssize_t sock_udp_send(sock_udp_t *sock, const void *data, size_t len,
          * there was no remote given on create, take from local */
         rem.family = local.family;
     }
+    
     payload = gnrc_pktbuf_add(NULL, (void *)data, len, GNRC_NETTYPE_UNDEF);
     if (payload == NULL) {
         return -ENOMEM;
     }
+
     pkt = gnrc_udp_hdr_build(payload, src_port, dst_port);
     if (pkt == NULL) {
         gnrc_pktbuf_release(payload);