changement carte pour 3eme noeud

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1 parent 3aa9dc85
Showing 8 changed files with 206 additions and 242 deletions Show diff stats
RIOT/examples/dynamic_app/Makefile
RIOT/examples/dynamic_app/main.c
RIOT/examples/dynamic_app/udp.c
RIOT/examples/real_time_app/Makefile
RIOT/examples/real_time_app/main.c
RIOT/examples/real_time_app/udp.c
RIOT/examples/static_network_app_sock_udp/Makefile
RIOT/examples/static_network_app_sock_udp/main.c
@@ -101,7 +101,7 @@ uint8_t node1[16]={0xfe,0x80,0x00,0x00,0x00,0x00,0x00,0x00,0x37,0x34,0x51,0x0e,0
 // 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::3734:510e:330b:342a
-uint8_t node3[16]={0xfe,0x80,0x00,0x00,0x00,0x00,0x00,0x00,0x37,0x34,0x51,0x0e,0x33,0x0b,0x34,0x2a};
+uint8_t node3[16]={0xfe,0x80,0x00,0x00,0x00,0x00,0x00,0x00,0x31,0x33,0x47,0x11,0x37,0x2c,0x34,0x12};
 // addr ipv6 link local node 4: fe80::3734:510b:330b:340a
 uint8_t node4[16]={0xfe,0x80,0x00,0x00,0x00,0x00,0x00,0x00,0x37,0x34,0x51,0x0b,0x33,0x0b,0x34,0x0a};
 // addr ipv6 link local node 5: fe80::3734:510b:330a:341e
@@ -125,7 +125,7 @@ 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;
+//static ntp_packet_t sntp_packet;
 typedef struct tableau {
   uint32_t heure_actuelle;
@@ -158,7 +158,7 @@ int crea_rpl_dodag_root(char *arg1, char *arg2)
 }
 /***************** /RPL functions ****************/
-void *sock_time_server_thread(void *arg)
+/*void *sock_time_server_thread(void *arg)
 {
     (void) arg;
     local_ntp.port = NTP_PORT;
@@ -194,37 +194,15 @@ void *sock_time_server_thread(void *arg)
           }
       }
     return NULL;
-}
-/*void *pwm_thread(void *arg)
-{
-    (void) arg;
-    int tourne = 0;
-    while(1)
-    {
-      
-	if(ordre==1)
-	{
-	  pwm_set(PWM_DEV(0),1,45);
-	  tourne = 1;
-	}
-	else if(ordre==0)
-	{
-	  pwm_set(PWM_DEV(0),1,0);
-	  tourne = 0;
-	}
-	else if(ordre==2 && tourne == 1)
-	  pwm_set(PWM_DEV(0),1,31);
-      
-    }
-    return NULL;
 }*/
+
 void *sock_server_thread(void *arg)
 {
     (void) arg;
     Data buf;
-    int compteur = 5;
-    int deadline;
+   // int compteur = 5;
+   // 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");
@@ -233,12 +211,12 @@ void *sock_server_thread(void *arg)
           puts("Error creating UDP sock");
           return NULL;
     }
-    if (sntp_sync(&server, SOCK_NO_TIMEOUT) < 0) {
+    /*if (sntp_sync(&server, SOCK_NO_TIMEOUT) < 0) {
 		puts("Error in synchronization");
 		return NULL;
 	      }
 	      offset = sntp_get_offset();
-	      printf("offset : %i\n",(int)offset);
+	      printf("offset : %i\n",(int)offset);*/
     while (1) {
           sock_udp_ep_t remote;
@@ -246,13 +224,13 @@ void *sock_server_thread(void *arg)
           if ((res = sock_udp_recv(&sock, &buf, sizeof(buf), SOCK_NO_TIMEOUT,
                                    &remote)) >= 0) {
-             // puts("Received a message");
+             puts("Received a message");
 	      //printf("%s\n",buf);
               /*if (sock_udp_send(&sock, buf, res, &remote) < 0) {
                   puts("Error sending reply");
               }*/
-    	      deadline = xtimer_now_usec() + offset - buf.heure_actuelle;
+    	      /*deadline = xtimer_now_usec() + offset - buf.heure_actuelle;
               printf("tps de transmission : %i\n",deadline);
 	      if(deadline >= DEADLINE && compteur >=5)
@@ -287,14 +265,14 @@ void *sock_server_thread(void *arg)
 	      } 
 	  printf("compteur : %d\n",compteur);
-	  memset(&buf,0,sizeof(buf));
+	  memset(&buf,0,sizeof(buf));*/
       }
     }
     return NULL;
 }
-/*void *sock_client_thread(void *arg)
+void *sock_client_thread(void *arg)
 {
      (void) arg;
      Data data;
@@ -309,7 +287,7 @@ void *sock_server_thread(void *arg)
      remote.addr.ipv6[2] = 0xbe;
      remote.addr.ipv6[3] = 0xef;
      remote.addr.ipv6[14] = 0x34;
-     remote.addr.ipv6[15] = 0x2a;
+     remote.addr.ipv6[15] = 0x1e;
 //     memcpy(remote.addr.ipv6,addr.u8,IPV6_ADDR_BIT_LEN);
      while (1) {
 //       //ipv6_addr_set_all_nodes_multicast((ipv6_addr_t *)&remote.addr.ipv6,
@@ -319,10 +297,11 @@ void *sock_server_thread(void *arg)
      if (sock_udp_send(NULL, &data, sizeof(data), &remote) < 0) {
                puts("Error sending message");
            }
+     puts("Send a message");
      xtimer_sleep(2);
        }
      return NULL;
-}*/
+}
 /*static void arret_urgence(void *arg,int channel)
 {
@@ -392,19 +371,20 @@ static void _init_interface(void)
     /* model ipv6 addr: dead:beef::Hwaddr */
     if((addr.u8[14]==0x34)&&(addr.u8[15]==0x02)){
         crea_rpl_dodag_root("1", "dead:beef::3402");
-	/*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");
-        xtimer_usleep(200);
+	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");
+       // xtimer_usleep(200);
     }else if((addr.u8[14]==0x37)&&(addr.u8[15]==0x62)){
-    }else if((addr.u8[14]==0x34)&&(addr.u8[15]==0x2a)){
+    }else if((addr.u8[14]==0x34)&&(addr.u8[15]==0x12)){
 	//_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 if((addr.u8[14]==0x34)&&(addr.u8[15]==0x0a)){
     }else if((addr.u8[14]==0x34)&&(addr.u8[15]==0x1e)){
+      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 ?");
     }
@@ -87,7 +87,7 @@ uint8_t node1[16]={0xfe,0x80,0x00,0x00,0x00,0x00,0x00,0x00,0x37,0x34,0x51,0x0e,0
 // 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,0x80,0x00,0x00,0x00,0x00,0x00,0x00,0x36,0x34,0x51,0x10,0x34,0x71,0x37,0x66};
+uint8_t node3[16]={0xfe,0x80,0x00,0x00,0x00,0x00,0x00,0x00,0x31,0x33,0x47,0x11,0x37,0x2c,0x34,0x12};
 //static char _stack_server[GNRC_PKTDUMP_STACKSIZE];
 char pwm_stack[THREAD_STACKSIZE_MAIN];
@@ -120,36 +120,36 @@ 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;
+	  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");
-              }
-          }
+	  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;
 }
@@ -179,113 +179,99 @@ void *sock_time_server_thread(void *arg)
 void *sock_server_thread(void *arg)
 {
-    (void) arg;
-    Data buf;
-    int compteur = 5;
-    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);
+  (void) arg;
+  Data buf;
+  int compteur = 5;
+  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");
-    while (1) {
-          sock_udp_ep_t remote;
-          ssize_t res;
-	  
-          if ((res = sock_udp_recv(&sock, &buf, sizeof(buf), SOCK_NO_TIMEOUT,
-                                   &remote)) >= 0) {
-             // puts("Received a message");
-	      //printf("%s\n",buf);
-              /*if (sock_udp_send(&sock, buf, res, &remote) < 0) {
-                  puts("Error sending reply");
-              }*/
-	      
-    	      deadline = xtimer_now_usec() + offset - buf.heure_actuelle;
-              printf("tps de transmission : %i\n",deadline);
-	      
-	      if(deadline >= DEADLINE && compteur >=5)
-	      {
-		//ordre = 2;
-		compteur = 0;
-		if(tourne == 1)
-		  pwm_set(PWM_DEV(0),1,31);
-		if(timer_run == 0)
-		{
-		  timer_set(TIMER_DEV(1),0,25200);
-		  printf("relance timer\n");
-		  timer_run = 1;
-		}
-	      }
-	      if(deadline >= DEADLINE && compteur < 5)
-	      {
-		compteur = 0;
-	      }
-	      if(deadline<=DEADLINE && compteur >=5)
-	      {
-		//ordre = 1;
-		pwm_set(PWM_DEV(0),1,45);
-		tourne = 1;
-		timer_run=0;
-		timer_clear(TIMER_DEV(1),0);
-		printf("clear timer\n");
-	      }
-	      if(deadline<=DEADLINE && compteur <5)
-	      {
-		compteur++;
-	      } 
-	   
-	  printf("compteur : %d\n",compteur);
-	  memset(&buf,0,sizeof(buf));
+  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);
+      
+      if(buf.donnees[0] == 'g' && buf.donnees[1] == 'o') {
+	if(deadline >= DEADLINE && compteur >=5) {
+	  compteur = 0;
+	  if(tourne == 1)
+	    pwm_set(PWM_DEV(0),1,31);
+	  if(timer_run == 0) {
+	    timer_set(TIMER_DEV(1),0,25200);
+	    printf("relance timer\n");
+	    timer_run = 1;
+	  }
+	}
+	if(deadline >= DEADLINE && compteur < 5) {
+	  compteur = 0;
+	}
+	if(deadline<=DEADLINE && compteur >=5) {
+	  pwm_set(PWM_DEV(0),1,45);
+	  tourne = 1;
+	  timer_run=0;
+	  timer_clear(TIMER_DEV(1),0);
+	  printf("clear timer\n");
+	}
+	if(deadline<=DEADLINE && compteur <5) {
+	  compteur++;
+	} 
+	printf("compteur : %d\n",compteur);
+	memset(&buf,0,sizeof(buf));
       }
     }
+  }
     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] = 0x66;
-//     memcpy(remote.addr.ipv6,addr.u8,IPV6_ADDR_BIT_LEN);
-     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) {
-               puts("Error sending message");
-           }
-     xtimer_sleep(2);
-       }
-     return NULL;
+  (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] = 0x34;
+  remote.addr.ipv6[15] = 0x12;
+  //     memcpy(remote.addr.ipv6,addr.u8,IPV6_ADDR_BIT_LEN);
+  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) {
+      puts("Error sending message");
+    }
+    puts("Send a message");
+    xtimer_sleep(2);
+  }
+  return NULL;
 }
 static void arret_urgence(void *arg,int channel)
 {
   pwm_set(PWM_DEV(0),1,0);
   tourne = 0;
-  //ordre=0;
   timer_run = 0;
   printf("Arret d'urgence\n");
 }
@@ -300,94 +286,92 @@ static void arret_urgence(void *arg,int channel)
 static void _init_timer(void)
 {
-    printf("ok timer\n");
-    //timer_init(XTIMER_DEV, CLOCK_CORECLOCK/2 ,&degradation,NULL);
-    //timer_set(XTIMER_DEV, 0, 8400);
-    //timer_irq_enable(XTIMER_DEV);
-    timer_init(TIMER_DEV(1), CLOCK_CORECLOCK/2 ,&arret_urgence,NULL);
-    timer_irq_enable(TIMER_DEV(1));
+  printf("ok timer\n");
+  //timer_init(XTIMER_DEV, CLOCK_CORECLOCK/2 ,&degradation,NULL);
+  //timer_set(XTIMER_DEV, 0, 8400);
+  //timer_irq_enable(XTIMER_DEV);
+  timer_init(TIMER_DEV(1), CLOCK_CORECLOCK/2 ,&arret_urgence,NULL);
+  timer_irq_enable(TIMER_DEV(1));
 }
 static void _init_pwm(void)
 {
-    pwm_init(PWM_DEV(0), PWM_LEFT, PWM_FREQ, PWM_RES);
-    pwm_set(PWM_DEV(0),1,0);
-
-//    thread_create(pwm_stack,sizeof(pwm_stack),7,THREAD_CREATE_STACKTEST,pwm_thread,NULL,"pwm_thread");
+  pwm_init(PWM_DEV(0), PWM_LEFT, PWM_FREQ, PWM_RES);
+  pwm_set(PWM_DEV(0),1,0);
 }
-
-
-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));
+ 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] = 0x12;
+     //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] = 0x12;
+     //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)){
+     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");
+     _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{
+     puts("new node ?");
+   }
+ }
-    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] = 0x37;
-        tmp_addr.u8[15] = 0x66;
-        //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] = 0x37;
-        tmp_addr.u8[15] = 0x66;
-        //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]==0x37)&&(addr.u8[15]==0x66)){
-        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[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");
-	_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{
-        puts("new node ?");
-    }
-}
 static msg_t _main_msg_queue[MAIN_QUEUE_SIZE];
 extern int udp_cmd(int argc, char **argv);