From 12d976f7b5c8b644f58bff9af6c2d299c0887f1b Mon Sep 17 00:00:00 2001
From: Simon Duquennoy <simon.duquennoy@gmail.com>
Date: Thu, 6 Jul 2017 19:24:27 +0200
Subject: [PATCH 01/21] Emulate loopback: when sending an IP packet to one of
 our addresses, process it directly as input

---
 core/net/ip/tcpip.c | 9 +++++++++
 1 file changed, 9 insertions(+)

diff --git a/core/net/ip/tcpip.c b/core/net/ip/tcpip.c
index bf6d328e4..35600e7c6 100644
--- a/core/net/ip/tcpip.c
+++ b/core/net/ip/tcpip.c
@@ -672,6 +672,15 @@ tcpip_ipv6_output(void)
     goto send_packet;
   }
 
+  /* We first check if the destination address is one of ours. There is no
+   * loopback interface -- instead, process this directly as incoming. */
+  if(uip_ds6_is_my_addr(&UIP_IP_BUF->destipaddr)) {
+    LOG_INFO("output: sending to ourself\n");
+    packet_input();
+    return;
+  }
+
+  /* Look for a next hop */
   if((nexthop = get_nexthop(&ipaddr)) == NULL) {
     goto exit;
   }

From 801fb2373ac39404eaf7ea950ed605e0d80d00ed Mon Sep 17 00:00:00 2001
From: Simon Duquennoy <simon.duquennoy@gmail.com>
Date: Thu, 6 Jul 2017 19:24:47 +0200
Subject: [PATCH 02/21] Added missing LOG in uip-icmp6

---
 core/net/ipv6/uip-icmp6.c | 3 +++
 1 file changed, 3 insertions(+)

diff --git a/core/net/ipv6/uip-icmp6.c b/core/net/ipv6/uip-icmp6.c
index 9e28abc92..a9ec6be6b 100644
--- a/core/net/ipv6/uip-icmp6.c
+++ b/core/net/ipv6/uip-icmp6.c
@@ -268,6 +268,9 @@ uip_icmp6_error_output(uint8_t type, uint8_t code, uint32_t param) {
 void
 uip_icmp6_send(const uip_ipaddr_t *dest, int type, int code, int payload_len)
 {
+  LOG_INFO("Sending ICMPv6 packet to ");
+  LOG_INFO_6ADDR(&UIP_IP_BUF->destipaddr);
+  LOG_INFO_(", type %u, code %u, len %u\n", type, code, payload_len);
 
   UIP_IP_BUF->vtc = 0x60;
   UIP_IP_BUF->tcflow = 0;

From ad6ef11a0b0815e4c6ff0a08a048cc199490b09e Mon Sep 17 00:00:00 2001
From: Simon Duquennoy <simon.duquennoy@gmail.com>
Date: Thu, 6 Jul 2017 19:29:42 +0200
Subject: [PATCH 03/21] Added new shell

---
 apps/shell/serial-shell.c   |  81 +++++++++++++++++++
 apps/shell/serial-shell.h   |  49 ++++++++++++
 apps/shell/shell-commands.c | 141 +++++++++++++++++++++++++++++++++
 apps/shell/shell-commands.h |  66 ++++++++++++++++
 apps/shell/shell.c          | 152 ++++++++++++++++++++++++++++++++++++
 apps/shell/shell.h          |  88 +++++++++++++++++++++
 6 files changed, 577 insertions(+)
 create mode 100644 apps/shell/serial-shell.c
 create mode 100644 apps/shell/serial-shell.h
 create mode 100644 apps/shell/shell-commands.c
 create mode 100644 apps/shell/shell-commands.h
 create mode 100644 apps/shell/shell.c
 create mode 100644 apps/shell/shell.h

diff --git a/apps/shell/serial-shell.c b/apps/shell/serial-shell.c
new file mode 100644
index 000000000..c2f389515
--- /dev/null
+++ b/apps/shell/serial-shell.c
@@ -0,0 +1,81 @@
+/*
+ * Copyright (c) 2008, Swedish Institute of Computer Science.
+ * All rights reserved.
+ *
+ * Redistribution and use in source and binary forms, with or without
+ * modification, are permitted provided that the following conditions
+ * are met:
+ * 1. Redistributions of source code must retain the above copyright
+ *    notice, this list of conditions and the following disclaimer.
+ * 2. Redistributions in binary form must reproduce the above copyright
+ *    notice, this list of conditions and the following disclaimer in the
+ *    documentation and/or other materials provided with the distribution.
+ * 3. Neither the name of the Institute nor the names of its contributors
+ *    may be used to endorse or promote products derived from this software
+ *    without specific prior written permission.
+ *
+ * THIS SOFTWARE IS PROVIDED BY THE INSTITUTE AND CONTRIBUTORS ``AS IS'' AND
+ * ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE
+ * IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE
+ * ARE DISCLAIMED.  IN NO EVENT SHALL THE INSTITUTE OR CONTRIBUTORS BE LIABLE
+ * FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL
+ * DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS
+ * OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION)
+ * HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
+ * LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY
+ * OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF
+ * SUCH DAMAGE.
+ *
+ * This file is part of the Contiki operating system.
+ */
+
+/**
+ * \file
+ *         A shell back-end for the serial port
+ * \author
+ *         Adam Dunkels <adam@sics.se>
+ *         Simon Duquennoy <simon.duquennoy@inria.fr>
+ */
+
+/**
+ * \addtogroup shell
+ * @{
+ */
+
+#include "contiki.h"
+#include "dev/serial-line.h"
+#include "sys/log.h"
+#include "shell.h"
+#include "serial-shell.h"
+
+/*---------------------------------------------------------------------------*/
+PROCESS(serial_shell_process, "Contiki serial shell");
+
+/*---------------------------------------------------------------------------*/
+static void
+serial_shell_output(const char *str) {
+  printf("%s", str);
+}
+/*---------------------------------------------------------------------------*/
+PROCESS_THREAD(serial_shell_process, ev, data)
+{
+  PROCESS_BEGIN();
+
+  shell_init();
+
+  while(1) {
+    static struct pt shell_input_pt;
+    PROCESS_WAIT_EVENT_UNTIL(ev == serial_line_event_message && data != NULL);
+    PROCESS_PT_SPAWN(&shell_input_pt, shell_input(&shell_input_pt, serial_shell_output, data));
+  }
+
+  PROCESS_END();
+}
+/*---------------------------------------------------------------------------*/
+void
+serial_shell_init(void)
+{
+  process_start(&serial_shell_process, NULL);
+}
+/*---------------------------------------------------------------------------*/
+/** @} */
diff --git a/apps/shell/serial-shell.h b/apps/shell/serial-shell.h
new file mode 100644
index 000000000..2c364922c
--- /dev/null
+++ b/apps/shell/serial-shell.h
@@ -0,0 +1,49 @@
+/*
+ * Copyright (c) 2008, Swedish Institute of Computer Science.
+ * All rights reserved.
+ *
+ * Redistribution and use in source and binary forms, with or without
+ * modification, are permitted provided that the following conditions
+ * are met:
+ * 1. Redistributions of source code must retain the above copyright
+ *    notice, this list of conditions and the following disclaimer.
+ * 2. Redistributions in binary form must reproduce the above copyright
+ *    notice, this list of conditions and the following disclaimer in the
+ *    documentation and/or other materials provided with the distribution.
+ * 3. Neither the name of the Institute nor the names of its contributors
+ *    may be used to endorse or promote products derived from this software
+ *    without specific prior written permission.
+ *
+ * THIS SOFTWARE IS PROVIDED BY THE INSTITUTE AND CONTRIBUTORS ``AS IS'' AND
+ * ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE
+ * IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE
+ * ARE DISCLAIMED.  IN NO EVENT SHALL THE INSTITUTE OR CONTRIBUTORS BE LIABLE
+ * FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL
+ * DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS
+ * OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION)
+ * HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
+ * LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY
+ * OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF
+ * SUCH DAMAGE.
+ *
+ * This file is part of the Contiki operating system.
+ *
+ */
+
+/**
+ * \file
+ *         A shell back-end for the serial port
+ * \author
+ *         Adam Dunkels <adam@sics.se>
+ *         Simon Duquennoy <simon.duquennoy@inria.fr>
+ */
+
+#ifndef SERIAL_SHELL_H_
+#define SERIAL_SHELL_H_
+
+/**
+ * Initializes Serial Shell module
+ */
+void serial_shell_init(void);
+
+#endif /* SERIAL_SHELL_H_ */
diff --git a/apps/shell/shell-commands.c b/apps/shell/shell-commands.c
new file mode 100644
index 000000000..611335c5f
--- /dev/null
+++ b/apps/shell/shell-commands.c
@@ -0,0 +1,141 @@
+/*
+ * Copyright (c) 2017, Inria.
+ * All rights reserved.
+ *
+ * Redistribution and use in source and binary forms, with or without
+ * modification, are permitted provided that the following conditions
+ * are met:
+ * 1. Redistributions of source code must retain the above copyright
+ *    notice, this list of conditions and the following disclaimer.
+ * 2. Redistributions in binary form must reproduce the above copyright
+ *    notice, this list of conditions and the following disclaimer in the
+ *    documentation and/or other materials provided with the distribution.
+ * 3. Neither the name of the Institute nor the names of its contributors
+ *    may be used to endorse or promote products derived from this software
+ *    without specific prior written permission.
+ *
+ * THIS SOFTWARE IS PROVIDED BY THE INSTITUTE AND CONTRIBUTORS ``AS IS'' AND
+ * ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE
+ * IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE
+ * ARE DISCLAIMED.  IN NO EVENT SHALL THE INSTITUTE OR CONTRIBUTORS BE LIABLE
+ * FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL
+ * DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS
+ * OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION)
+ * HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
+ * LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY
+ * OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF
+ * SUCH DAMAGE.
+ *
+ * This file is part of the Contiki operating system.
+ *
+ */
+
+/**
+ * \file
+ *         The Contiki shell commands
+ * \author
+ *         Simon Duquennoy <simon.duquennoy@inria.fr>
+ */
+
+/**
+ * \addtogroup shell
+ * @{
+ */
+
+#include "contiki.h"
+#include "shell.h"
+#include "shell-commands.h"
+#include "net/ip/uip.h"
+#include "net/ip/uiplib.h"
+#include "net/ipv6/uip-icmp6.h"
+
+#define PING_TIMEOUT (5 * CLOCK_SECOND)
+
+static struct uip_icmp6_echo_reply_notification echo_reply_notification;
+static shell_output_func *curr_ping_output_func = NULL;
+static struct process *curr_ping_process;
+
+/*---------------------------------------------------------------------------*/
+static void
+echo_reply_handler(uip_ipaddr_t *source, uint8_t ttl, uint8_t *data, uint16_t datalen)
+{
+  if(curr_ping_output_func != NULL) {
+    SHELL_OUTPUT(curr_ping_output_func, "Received ping reply from ");
+    shell_output_6addr(curr_ping_output_func, source);
+    SHELL_OUTPUT(curr_ping_output_func, ", ttl %u, len %u\n", ttl, datalen);
+    curr_ping_output_func = NULL;
+    process_poll(curr_ping_process);
+  }
+}
+/*---------------------------------------------------------------------------*/
+static
+PT_THREAD(cmd_ping(struct pt *pt, shell_output_func output, const char *args))
+{
+  static uip_ipaddr_t remote_addr;
+  static char *next_args;
+  static struct etimer timeout_timer;
+
+  PT_BEGIN(pt);
+
+  /* Isolate first argument */
+  next_args = strchr(args, ' ');
+  if(next_args != NULL) {
+    *next_args = '\0';
+    next_args++;
+  }
+
+  if(uiplib_ipaddrconv(args, &remote_addr) == 0) {
+    SHELL_OUTPUT(output, "Invalid IPv6: %s\n", args);
+    PT_EXIT(pt);
+  }
+
+  SHELL_OUTPUT(output, "Pinging ");
+  shell_output_6addr(output, &remote_addr);
+  SHELL_OUTPUT(output, "\n");
+
+  /* Send ping request */
+  curr_ping_process = PROCESS_CURRENT();
+  curr_ping_output_func = output;
+  etimer_set(&timeout_timer, PING_TIMEOUT);
+  uip_icmp6_send(&remote_addr, ICMP6_ECHO_REQUEST, 0, 4);
+  PT_WAIT_UNTIL(pt, curr_ping_output_func == NULL || etimer_expired(&timeout_timer));
+
+  if(curr_ping_output_func != NULL) {
+    SHELL_OUTPUT(output, "Timeout\n");
+    curr_ping_output_func = NULL;
+  }
+
+  PT_END(pt);
+}
+/*---------------------------------------------------------------------------*/
+static
+PT_THREAD(cmd_help(struct pt *pt, shell_output_func output, const char *args))
+{
+  PT_BEGIN(pt);
+
+  struct shell_command_t *cmd_ptr = shell_commands;
+
+  SHELL_OUTPUT(output, "Available commands:\n");
+  while(cmd_ptr->name != NULL) {
+    SHELL_OUTPUT(output, "%s\n", cmd_ptr->help);
+    cmd_ptr++;
+  }
+
+  PT_END(pt);
+}
+/*---------------------------------------------------------------------------*/
+void
+shell_commands_init(void)
+{
+  /* Set up Ping Reply callback */
+  uip_icmp6_echo_reply_callback_add(&echo_reply_notification,
+                                    echo_reply_handler);
+}
+/*---------------------------------------------------------------------------*/
+struct shell_command_t shell_commands[] = {
+  { "help", cmd_help, "'> help': Shows this help" },
+  { "ping", cmd_ping, "'> ping addr': Pings the IPv6 address 'addr'" },
+  { NULL, NULL, NULL },
+};
+
+/** @} */
diff --git a/apps/shell/shell-commands.h b/apps/shell/shell-commands.h
new file mode 100644
index 000000000..fbff6e675
--- /dev/null
+++ b/apps/shell/shell-commands.h
@@ -0,0 +1,66 @@
+/*
+ * Copyright (c) 2017, Inria.
+ * All rights reserved.
+ *
+ * Redistribution and use in source and binary forms, with or without
+ * modification, are permitted provided that the following conditions
+ * are met:
+ * 1. Redistributions of source code must retain the above copyright
+ *    notice, this list of conditions and the following disclaimer.
+ * 2. Redistributions in binary form must reproduce the above copyright
+ *    notice, this list of conditions and the following disclaimer in the
+ *    documentation and/or other materials provided with the distribution.
+ * 3. Neither the name of the Institute nor the names of its contributors
+ *    may be used to endorse or promote products derived from this software
+ *    without specific prior written permission.
+ *
+ * THIS SOFTWARE IS PROVIDED BY THE INSTITUTE AND CONTRIBUTORS ``AS IS'' AND
+ * ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE
+ * IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE
+ * ARE DISCLAIMED.  IN NO EVENT SHALL THE INSTITUTE OR CONTRIBUTORS BE LIABLE
+ * FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL
+ * DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS
+ * OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION)
+ * HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
+ * LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY
+ * OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF
+ * SUCH DAMAGE.
+ *
+ * This file is part of the Contiki operating system.
+ *
+ */
+
+/**
+ * \file
+ *         Main header file for the Contiki shell
+ * \author
+ *         Simon Duquennoy <simon.duquennoy@inria.fr>
+ */
+
+/** \addtogroup apps
+ * @{ */
+
+#ifndef _SHELL_COMMANDS_H_
+#define _SHELL_COMMANDS_H_
+
+/* Command handling function type */
+typedef char (shell_commands_func)(struct pt *pt, shell_output_func output, const char *args);
+
+/* Command structure */
+struct shell_command_t {
+  const char *name;
+  shell_commands_func *func;
+  const char *help;
+};
+
+/* The set of supported commands */
+extern struct shell_command_t shell_commands[];
+
+/**
+ * Initializes Shell-commands module
+ */
+void shell_commands_init(void);
+
+#endif /* _SHELL_COMMANDS_H_ */
+
+/** @} */
diff --git a/apps/shell/shell.c b/apps/shell/shell.c
new file mode 100644
index 000000000..d6ef20ccb
--- /dev/null
+++ b/apps/shell/shell.c
@@ -0,0 +1,152 @@
+/*
+ * Copyright (c) 2018, Inria.
+ * All rights reserved.
+ *
+ * Redistribution and use in source and binary forms, with or without
+ * modification, are permitted provided that the following conditions
+ * are met:
+ * 1. Redistributions of source code must retain the above copyright
+ *    notice, this list of conditions and the following disclaimer.
+ * 2. Redistributions in binary form must reproduce the above copyright
+ *    notice, this list of conditions and the following disclaimer in the
+ *    documentation and/or other materials provided with the distribution.
+ * 3. Neither the name of the Institute nor the names of its contributors
+ *    may be used to endorse or promote products derived from this software
+ *    without specific prior written permission.
+ *
+ * THIS SOFTWARE IS PROVIDED BY THE INSTITUTE AND CONTRIBUTORS ``AS IS'' AND
+ * ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE
+ * IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE
+ * ARE DISCLAIMED.  IN NO EVENT SHALL THE INSTITUTE OR CONTRIBUTORS BE LIABLE
+ * FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL
+ * DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS
+ * OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION)
+ * HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
+ * LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY
+ * OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF
+ * SUCH DAMAGE.
+ *
+ * This file is part of the Contiki operating system.
+ *
+ */
+
+/**
+ * \file
+ *         The shell application
+ * \author
+ *         Simon Duquennoy <simon.duquennoy@inria.fr>
+ */
+
+/**
+ * \addtogroup shell
+ * @{
+ */
+
+#include "contiki.h"
+#include "shell.h"
+#include "shell-commands.h"
+#include "net/ip/uip.h"
+#include "net/ip/ip64-addr.h"
+
+/*---------------------------------------------------------------------------*/
+void
+shell_output_6addr(shell_output_func output, const uip_ipaddr_t *ipaddr)
+{
+  uint16_t a;
+  unsigned int i;
+  int f;
+
+  if(ipaddr == NULL) {
+    SHELL_OUTPUT(output, "(NULL IP addr)");
+    return;
+  }
+
+  if(ip64_addr_is_ipv4_mapped_addr(ipaddr)) {
+    /* Printing IPv4-mapped addresses is done according to RFC 4291 */
+    SHELL_OUTPUT(output, "::FFFF:%u.%u.%u.%u", ipaddr->u8[12], ipaddr->u8[13], ipaddr->u8[14], ipaddr->u8[15]);
+  } else {
+    for(i = 0, f = 0; i < sizeof(uip_ipaddr_t); i += 2) {
+      a = (ipaddr->u8[i] << 8) + ipaddr->u8[i + 1];
+      if(a == 0 && f >= 0) {
+        if(f++ == 0) {
+          SHELL_OUTPUT(output, "::");
+        }
+      } else {
+        if(f > 0) {
+          f = -1;
+        } else if(i > 0) {
+          SHELL_OUTPUT(output, ":");
+        }
+        SHELL_OUTPUT(output, "%x", a);
+      }
+    }
+  }
+}
+/*---------------------------------------------------------------------------*/
+void
+shell_output_lladdr(shell_output_func output, const linkaddr_t *lladdr)
+{
+  if(lladdr == NULL) {
+    SHELL_OUTPUT(output, "(NULL LL addr)");
+    return;
+  } else {
+    unsigned int i;
+    for(i = 0; i < LINKADDR_SIZE; i++) {
+      if(i > 0 && i % 2 == 0) {
+        SHELL_OUTPUT(output, ".");
+      }
+      SHELL_OUTPUT(output, "%02x", lladdr->u8[i]);
+    }
+  }
+}
+/*---------------------------------------------------------------------------*/
+static void
+output_prompt(shell_output_func output)
+{
+  shell_output_lladdr(output, &linkaddr_node_addr);
+  SHELL_OUTPUT(output, "> ");
+}
+/*---------------------------------------------------------------------------*/
+PT_THREAD(shell_input(struct pt *pt, shell_output_func output, const char *cmd))
+{
+  static char *args;
+  static struct shell_command_t *cmd_ptr;
+
+  PT_BEGIN(pt);
+
+  /* Shave off any leading spaces. */
+  while(*cmd == ' ') {
+    cmd++;
+  }
+
+  /* Look for arguments */
+  args = strchr(cmd, ' ');
+  if(args != NULL) {
+    *args = '\0';
+    args++;
+  }
+
+  /* Lookup for command */
+  cmd_ptr = shell_commands;
+  while(cmd_ptr->name != NULL) {
+    if(strcmp(cmd, cmd_ptr->name) == 0) {
+      static struct pt cmd_pt;
+      PT_SPAWN(pt, &cmd_pt, cmd_ptr->func(&cmd_pt, output, args));
+      goto done;
+    }
+    cmd_ptr++;
+  }
+
+  SHELL_OUTPUT(output, "Command not found. Type 'help' for a list of commands\n");
+
+done:
+  output_prompt(output);
+  PT_END(pt);
+}
+/*---------------------------------------------------------------------------*/
+void
+shell_init(void)
+{
+  shell_commands_init();
+}
+/** @} */
diff --git a/apps/shell/shell.h b/apps/shell/shell.h
new file mode 100644
index 000000000..2b4763750
--- /dev/null
+++ b/apps/shell/shell.h
@@ -0,0 +1,88 @@
+/*
+ * Copyright (c) 2017, Inria.
+ * All rights reserved.
+ *
+ * Redistribution and use in source and binary forms, with or without
+ * modification, are permitted provided that the following conditions
+ * are met:
+ * 1. Redistributions of source code must retain the above copyright
+ *    notice, this list of conditions and the following disclaimer.
+ * 2. Redistributions in binary form must reproduce the above copyright
+ *    notice, this list of conditions and the following disclaimer in the
+ *    documentation and/or other materials provided with the distribution.
+ * 3. Neither the name of the Institute nor the names of its contributors
+ *    may be used to endorse or promote products derived from this software
+ *    without specific prior written permission.
+ *
+ * THIS SOFTWARE IS PROVIDED BY THE INSTITUTE AND CONTRIBUTORS ``AS IS'' AND
+ * ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE
+ * IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE
+ * ARE DISCLAIMED.  IN NO EVENT SHALL THE INSTITUTE OR CONTRIBUTORS BE LIABLE
+ * FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL
+ * DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS
+ * OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION)
+ * HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
+ * LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY
+ * OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF
+ * SUCH DAMAGE.
+ *
+ * This file is part of the Contiki operating system.
+ *
+ */
+
+/**
+ * \file
+ *         Main header file for the Contiki shell
+ * \author
+ *         Simon Duquennoy <simon.duquennoy@inria.fr>
+ */
+
+/** \addtogroup apps
+ * @{ */
+
+#ifndef SHELL_H_
+#define SHELL_H_
+
+#include "net/ip/uip.h"
+#include "net/linkaddr.h"
+#include "sys/process.h"
+#include <stdio.h>
+
+/* Printf-formatted output via a given output function */
+#define SHELL_OUTPUT(output_func, format, ...) do { \
+		char buffer[128]; \
+	  snprintf(buffer, sizeof(buffer), format, ##__VA_ARGS__); \
+		(output_func)(buffer); \
+  } while(0);
+
+typedef void (shell_output_func)(const char *str);
+
+/**
+ * Initializes Shell module
+ */
+void shell_init(void);
+
+/**
+ * \brief A protothread that is spawned by a Shell driver when receiving a new line.
+ */
+ PT_THREAD(shell_input(struct pt *pt, shell_output_func output, const char *cmd));
+
+/**
+ * Prints an IPv6 address
+ *
+ * \param output The output function
+ * \param ipaddr The IPv6 to printed
+ */
+void shell_output_6addr(shell_output_func output, const uip_ipaddr_t *ipaddr);
+
+/**
+ * Prints a link-layer address
+ *
+ * \param output The output function
+ * \param lladdr The link-layer to be printed
+ */
+void shell_output_lladdr(shell_output_func output, const linkaddr_t *lladdr);
+
+#endif /* SHELL_H_ */
+
+/** @} */

From 0d6282171f0913277312a95f4e1db1471435cde6 Mon Sep 17 00:00:00 2001
From: Simon Duquennoy <simon.duquennoy@gmail.com>
Date: Thu, 6 Jul 2017 19:31:14 +0200
Subject: [PATCH 04/21] Enable Shell in rpl-tsch example

---
 examples/ipv6/rpl-tsch/Makefile       |  2 +-
 examples/ipv6/rpl-tsch/node.c         |  9 ++++++++-
 examples/ipv6/rpl-tsch/project-conf.h | 10 +++++++++-
 3 files changed, 18 insertions(+), 3 deletions(-)

diff --git a/examples/ipv6/rpl-tsch/Makefile b/examples/ipv6/rpl-tsch/Makefile
index 734c1499e..3abe2ab7d 100644
--- a/examples/ipv6/rpl-tsch/Makefile
+++ b/examples/ipv6/rpl-tsch/Makefile
@@ -8,7 +8,7 @@ CONTIKI_WITH_IPV6 = 1
 MAKE_WITH_ORCHESTRA ?= 0 # force Orchestra from command line
 MAKE_WITH_SECURITY ?= 0 # force Security from command line
 
-APPS += orchestra
+APPS += orchestra shell
 MODULES += core/net/mac/tsch
 
 ifeq ($(MAKE_WITH_ORCHESTRA),1)
diff --git a/examples/ipv6/rpl-tsch/node.c b/examples/ipv6/rpl-tsch/node.c
index b1ad2e567..6980c9963 100644
--- a/examples/ipv6/rpl-tsch/node.c
+++ b/examples/ipv6/rpl-tsch/node.c
@@ -48,6 +48,9 @@
 #if WITH_ORCHESTRA
 #include "orchestra.h"
 #endif /* WITH_ORCHESTRA */
+#if WITH_SHELL
+#include "serial-shell.h"
+#endif /* WITH_SHELL */
 
 #define DEBUG DEBUG_PRINT
 #include "net/ip/uip-debug.h"
@@ -131,7 +134,7 @@ print_network_status(void)
     PRINT6ADDR(&child_ipaddr);
     if(link->parent == NULL) {
       memset(&parent_ipaddr, 0, sizeof(parent_ipaddr));
-      PRINTF(" --- DODAG root ");
+      PRINTF(" to DODAG root ");
     } else {
       PRINTF(" to ");
       PRINT6ADDR(&parent_ipaddr);
@@ -174,6 +177,10 @@ PROCESS_THREAD(node_process, ev, data)
 
   int coordinator_candidate = 0;
 
+#if WITH_SHELL
+  serial_shell_init();
+#endif /* WITH_SHELL */
+
 #if CONTIKI_TARGET_COOJA
   coordinator_candidate = (node_id == 1);
 #endif
diff --git a/examples/ipv6/rpl-tsch/project-conf.h b/examples/ipv6/rpl-tsch/project-conf.h
index 16b05fffa..610a4aa20 100644
--- a/examples/ipv6/rpl-tsch/project-conf.h
+++ b/examples/ipv6/rpl-tsch/project-conf.h
@@ -35,6 +35,9 @@
 #ifndef __PROJECT_CONF_H__
 #define __PROJECT_CONF_H__
 
+/* Set to use the Contiki shell */
+#define WITH_SHELL 1
+
 /* Set to run orchestra */
 #ifndef WITH_ORCHESTRA
 #define WITH_ORCHESTRA 0
@@ -75,6 +78,11 @@
 #undef SYS_CTRL_CONF_OSC32K_USE_XTAL
 #define SYS_CTRL_CONF_OSC32K_USE_XTAL 1
 
+#if WITH_SHELL
+/* Needed for CC2538 platforms, for serial */
+#define USB_SERIAL_CONF_ENABLE 1
+#endif /* WITH_SHELL */
+
 /* Needed for cc2420 platforms only */
 /* Disable DCO calibration (uses timerB) */
 #undef DCOSYNCH_CONF_ENABLED
@@ -89,7 +97,7 @@
 
 /* TSCH per-slot logging */
 #undef TSCH_LOG_CONF_PER_SLOT
-#define TSCH_LOG_CONF_PER_SLOT 1
+#define TSCH_LOG_CONF_PER_SLOT 0
 
 /* IEEE802.15.4 PANID */
 #undef IEEE802154_CONF_PANID

From 75f3a154ad05439441d1e41c7a4909f5f275af59 Mon Sep 17 00:00:00 2001
From: Simon Duquennoy <simon.duquennoy@gmail.com>
Date: Thu, 6 Jul 2017 19:43:44 +0200
Subject: [PATCH 05/21] Added shell command to configure log level at runtime

---
 apps/shell/shell-commands.c           | 49 +++++++++++++++++++++++++--
 core/net/mac/tsch/tsch-log.c          | 22 ++++++++++--
 core/net/mac/tsch/tsch-log.h          |  2 ++
 core/sys/log-conf.h                   |  7 ++++
 core/sys/log.c                        | 36 +++++++++++++++++++-
 core/sys/log.h                        | 39 ++++++++++++++++-----
 examples/ipv6/rpl-tsch/project-conf.h | 22 +++++++++---
 7 files changed, 159 insertions(+), 18 deletions(-)

diff --git a/apps/shell/shell-commands.c b/apps/shell/shell-commands.c
index 611335c5f..3f2b70861 100644
--- a/apps/shell/shell-commands.c
+++ b/apps/shell/shell-commands.c
@@ -45,9 +45,13 @@
 #include "contiki.h"
 #include "shell.h"
 #include "shell-commands.h"
+#include "sys/log.h"
 #include "net/ip/uip.h"
 #include "net/ip/uiplib.h"
 #include "net/ipv6/uip-icmp6.h"
+#include "net/mac/tsch/tsch-log.h"
+
+#include <stdlib.h>
 
 #define PING_TIMEOUT (5 * CLOCK_SECOND)
 
@@ -109,6 +113,46 @@ PT_THREAD(cmd_ping(struct pt *pt, shell_output_func output, const char *args))
 }
 /*---------------------------------------------------------------------------*/
 static
+PT_THREAD(cmd_log(struct pt *pt, shell_output_func output, const char *args))
+{
+  static char *next_args;
+  int prev_level;
+  int level;
+
+  PT_BEGIN(pt);
+
+  /* Isolate first argument */
+  next_args = strchr(args, ' ');
+  if(next_args != NULL) {
+    *next_args = '\0';
+    next_args++;
+  }
+
+  /* Parse argument */
+  level = (int)strtol(args, NULL, 10);
+
+  /* Set log level */
+  if(level >= LOG_LEVEL_NONE && level <= LOG_LEVEL_DBG) {
+    prev_level = log_get_level();
+    if(level != prev_level) {
+      log_set_level(level);
+      if(level >= LOG_LEVEL_DBG) {
+        tsch_log_init();
+        SHELL_OUTPUT(output, "TSCH logging started\n");
+      } else {
+        tsch_log_stop();
+        SHELL_OUTPUT(output, "TSCH logging stopped\n");
+      }
+    }
+    SHELL_OUTPUT(output, "Log level set to %u (%s)\n", level, log_level_to_str(level));
+  } else {
+    SHELL_OUTPUT(output, "Invalid argument: %s\n", args);
+  }
+
+  PT_END(pt);
+}
+/*---------------------------------------------------------------------------*/
+static
 PT_THREAD(cmd_help(struct pt *pt, shell_output_func output, const char *args))
 {
   PT_BEGIN(pt);
@@ -133,8 +177,9 @@ shell_commands_init(void)
 }
 /*---------------------------------------------------------------------------*/
 struct shell_command_t shell_commands[] = {
-  { "help", cmd_help, "'> help': Shows this help" },
-  { "ping", cmd_ping, "'> ping addr': Pings the IPv6 address 'addr'" },
+  { "help",        cmd_help,        "'> help': Shows this help" },
+  { "ping",        cmd_ping,        "'> ping addr': Pings the IPv6 address 'addr'" },
+  { "log",         cmd_log,         "'> log level': Sets log level (0--4). Level 4 also enables TSCH per-slot logging." },
   { NULL, NULL, NULL },
 };
 
diff --git a/core/net/mac/tsch/tsch-log.c b/core/net/mac/tsch/tsch-log.c
index f4089add7..6e2e1aa49 100644
--- a/core/net/mac/tsch/tsch-log.c
+++ b/core/net/mac/tsch/tsch-log.c
@@ -63,6 +63,7 @@ PROCESS_NAME(tsch_pending_events_process);
 static struct ringbufindex log_ringbuf;
 static struct tsch_log_t log_array[TSCH_LOG_QUEUE_LEN];
 static int log_dropped = 0;
+static int log_active = 0;
 
 /*---------------------------------------------------------------------------*/
 /* Process pending log messages */
@@ -144,15 +145,30 @@ tsch_log_prepare_add(void)
 void
 tsch_log_commit(void)
 {
-  ringbufindex_put(&log_ringbuf);
-  process_poll(&tsch_pending_events_process);
+  if(log_active == 1) {
+    ringbufindex_put(&log_ringbuf);
+    process_poll(&tsch_pending_events_process);
+  }
 }
 /*---------------------------------------------------------------------------*/
 /* Initialize log module */
 void
 tsch_log_init(void)
 {
-  ringbufindex_init(&log_ringbuf, TSCH_LOG_QUEUE_LEN);
+  if(log_active == 0) {
+    ringbufindex_init(&log_ringbuf, TSCH_LOG_QUEUE_LEN);
+    log_active = 1;
+  }
+}
+/*---------------------------------------------------------------------------*/
+/* Stop log module */
+void
+tsch_log_stop(void)
+{
+  if(log_active == 1) {
+    tsch_log_process_pending();
+    log_active = 0;
+  }
 }
 
 #endif /* TSCH_LOG_PER_SLOT */
diff --git a/core/net/mac/tsch/tsch-log.h b/core/net/mac/tsch/tsch-log.h
index d86a4c137..92c6568c6 100644
--- a/core/net/mac/tsch/tsch-log.h
+++ b/core/net/mac/tsch/tsch-log.h
@@ -112,6 +112,8 @@ void tsch_log_commit(void);
 void tsch_log_init(void);
 /* Process pending log messages */
 void tsch_log_process_pending(void);
+/* Stop logging module */
+void tsch_log_stop(void);
 
 /************ Macros **********/
 
diff --git a/core/sys/log-conf.h b/core/sys/log-conf.h
index 6eb526d6f..6c81fd8d6 100644
--- a/core/sys/log-conf.h
+++ b/core/sys/log-conf.h
@@ -67,6 +67,13 @@
 #define LOG_WITH_ANNOTATE 0
 #endif /* LOG_CONF_WITH_ANNOTATE */
 
+/* Log level at startup. Can be modified at runtime via log_set_level() */
+#ifdef LOG_CONF_START_LEVEL
+#define LOG_START_LEVEL LOG_CONF_START_LEVEL
+#else /* LOG_CONF_START_LEVEL */
+#define LOG_START_LEVEL LOG_LEVEL_DBG /* All (already compiled) logs are enabled */
+#endif /* LOG_CONF_START_LEVEL */
+
 /* Custom output function -- default is printf */
 #ifdef LOG_CONF_OUTPUT
 #define LOG_OUTPUT(...) LOG_CONF_OUTPUT(__VA_ARGS__)
diff --git a/core/sys/log.c b/core/sys/log.c
index abfb16d15..adfa6027f 100644
--- a/core/sys/log.c
+++ b/core/sys/log.c
@@ -53,6 +53,8 @@
 #include "sys/log.h"
 #include "net/ip/ip64-addr.h"
 
+int curr_log_level = LOG_START_LEVEL;
+
 /*---------------------------------------------------------------------------*/
 void
 log_6addr(const uip_ipaddr_t *ipaddr)
@@ -131,6 +133,38 @@ log_lladdr_compact(const linkaddr_t *lladdr)
     LOG_OUTPUT("LL-%04x", UIP_HTONS(lladdr->u16[LINKADDR_SIZE/2-1]));
   }
 }
-
+/*---------------------------------------------------------------------------*/
+void
+log_set_level(int level)
+{
+  if(level >= LOG_LEVEL_NONE && level <= LOG_LEVEL_DBG) {
+    curr_log_level = level;
+  }
+}
+/*---------------------------------------------------------------------------*/
+int
+log_get_level(void)
+{
+  return curr_log_level;
+}
+/*---------------------------------------------------------------------------*/
+const char *
+log_level_to_str(int level)
+{
+  switch(level) {
+    case LOG_LEVEL_NONE:
+      return "None";
+    case LOG_LEVEL_ERR:
+      return "Errors";
+    case LOG_LEVEL_WARN:
+      return "Warnings";
+    case LOG_LEVEL_INFO:
+      return "Info";
+    case LOG_LEVEL_DBG:
+      return "Debug";
+    default:
+      return "N/A";
+  }
+}
 /** @} */
 /** @} */
diff --git a/core/sys/log.h b/core/sys/log.h
index 567cb2cdb..48f0ba77b 100644
--- a/core/sys/log.h
+++ b/core/sys/log.h
@@ -68,7 +68,7 @@
 /* Main log function */
 
 #define LOG(newline, level, levelstr, ...) do {  \
-                            if(level <= LOG_LEVEL) { \
+                            if(level <= MIN(LOG_LEVEL, curr_log_level)) { \
                               if(newline) { \
                                 LOG_OUTPUT("[%-4s: %-10s] ", levelstr, LOG_MODULE); \
                                 if(LOG_WITH_LOC) { \
@@ -88,7 +88,7 @@
 
 /* Link-layer address */
 #define LOG_LLADDR(level, lladdr) do {  \
-                            if(level <= LOG_LEVEL) { \
+                            if(level <= MIN(LOG_LEVEL, curr_log_level)) { \
                               if(LOG_WITH_COMPACT_ADDR) { \
                                 log_lladdr_compact(lladdr); \
                               } else { \
@@ -99,7 +99,7 @@
 
 /* IPv6 address */
 #define LOG_6ADDR(level, ipaddr) do {  \
-                           if(level <= LOG_LEVEL) { \
+                           if(level <= MIN(LOG_LEVEL, curr_log_level)) { \
                              if(LOG_WITH_COMPACT_ADDR) { \
                                log_6addr_compact(ipaddr); \
                              } else { \
@@ -130,11 +130,13 @@
 #define LOG_DBG_6ADDR(...)     LOG_6ADDR(LOG_LEVEL_DBG, __VA_ARGS__)
 
 /* For testing log level */
-#define LOG_ERR_ENABLED        (LOG_LEVEL >= LOG_LEVEL_ERR)
-#define LOG_WARN_ENABLED       (LOG_LEVEL >= LOG_LEVEL_WARN)
-#define LOG_INFO_ENABLED       (LOG_LEVEL >= LOG_LEVEL_INFO)
-#define LOG_DBG_ENABLED        (LOG_LEVEL >= LOG_LEVEL_DBG)
-#define LOG_ANNOTATE_ENABLED   (LOG_LEVEL >= LOG_LEVEL_ANNOTATE)
+#define LOG_ERR_ENABLED        (MIN(LOG_LEVEL, curr_log_level) >= LOG_LEVEL_ERR)
+#define LOG_WARN_ENABLED       (MIN(LOG_LEVEL, curr_log_level) >= LOG_LEVEL_WARN)
+#define LOG_INFO_ENABLED       (MIN(LOG_LEVEL, curr_log_level) >= LOG_LEVEL_INFO)
+#define LOG_DBG_ENABLED        (MIN(LOG_LEVEL, curr_log_level) >= LOG_LEVEL_DBG)
+
+/* The current log level */
+extern int curr_log_level;
 
 #if NETSTACK_CONF_WITH_IPV6
 
@@ -164,6 +166,27 @@ void log_lladdr(const linkaddr_t *lladdr);
 */
 void log_lladdr_compact(const linkaddr_t *lladdr);
 
+/**
+ * Sets a log level at run-time. Logs are included in the firmware via
+ * the compile-time flags in log-conf.h, but this allows to force lower log
+ * levels, system-wide.
+ * \param level The log level
+*/
+void log_set_level(int level);
+
+/**
+ * Returns the current log level.
+ * \return The current log level
+*/
+int log_get_level(void);
+
+/**
+ * Returns a textual description of a log level
+ * \param level log level
+ * \return The textual description
+*/
+const char *log_level_to_str(int level);
+
 #endif /* __LOG_H__ */
 
 /** @} */
diff --git a/examples/ipv6/rpl-tsch/project-conf.h b/examples/ipv6/rpl-tsch/project-conf.h
index 610a4aa20..14e604212 100644
--- a/examples/ipv6/rpl-tsch/project-conf.h
+++ b/examples/ipv6/rpl-tsch/project-conf.h
@@ -81,6 +81,13 @@
 #if WITH_SHELL
 /* Needed for CC2538 platforms, for serial */
 #define USB_SERIAL_CONF_ENABLE 1
+
+/* USB serial takes space, free more space elsewhere */
+#undef SICSLOWPAN_CONF_FRAG
+#define SICSLOWPAN_CONF_FRAG 0
+#undef UIP_CONF_BUFFER_SIZE
+#define UIP_CONF_BUFFER_SIZE 160
+
 #endif /* WITH_SHELL */
 
 /* Needed for cc2420 platforms only */
@@ -95,10 +102,6 @@
 /******************* Configure TSCH ********************/
 /*******************************************************/
 
-/* TSCH per-slot logging */
-#undef TSCH_LOG_CONF_PER_SLOT
-#define TSCH_LOG_CONF_PER_SLOT 0
-
 /* IEEE802.15.4 PANID */
 #undef IEEE802154_CONF_PANID
 #define IEEE802154_CONF_PANID 0xabcd
@@ -153,4 +156,15 @@
 #define TSCH_CONF_MAX_EB_PERIOD (4 * CLOCK_SECOND)
 #endif /* CONTIKI_TARGET_COOJA */
 
+/* Logging */
+#define RPL_LOG_LEVEL                         LOG_LEVEL_INFO
+#define TCPIP_LOG_LEVEL                       LOG_LEVEL_WARN
+#define IPV6_LOG_LEVEL                        LOG_LEVEL_WARN
+#define SICSLOWPAN_LOG_LEVEL                  LOG_LEVEL_WARN
+#define MAC_LOG_LEVEL                         LOG_LEVEL_INFO
+#define FRAMER_LOG_LEVEL                      LOG_LEVEL_WARN
+#define TSCH_LOG_CONF_PER_SLOT                1
+
+#define LOG_CONF_START_LEVEL                  LOG_LEVEL_WARN
+
 #endif /* __PROJECT_CONF_H__ */

From 9ddae0c90f1bec435242d2e197a62b4c96ecbd57 Mon Sep 17 00:00:00 2001
From: Simon Duquennoy <simon.duquennoy@gmail.com>
Date: Fri, 7 Jul 2017 09:56:37 +0200
Subject: [PATCH 06/21] Update serialdump-linux binaries

---
 tools/jn516x/serialdump-linux | Bin 0 -> 12663 bytes
 tools/sky/serialdump-linux    | Bin 14922 -> 12728 bytes
 2 files changed, 0 insertions(+), 0 deletions(-)
 create mode 100644 tools/jn516x/serialdump-linux

diff --git a/tools/jn516x/serialdump-linux b/tools/jn516x/serialdump-linux
new file mode 100644
index 0000000000000000000000000000000000000000..69fd8cfdbb5347bfc6e91999ffc9685af6722e94
GIT binary patch
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diff --git a/tools/sky/serialdump-linux b/tools/sky/serialdump-linux
index 8c7af779d6833ab75857ae8d2a59688e0d68cfab..4d3e616a9554d698c9b826be0e4ce45cf5a8940c 100755
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From 07b53738299975517177ffacdc9e96efd3baafcc Mon Sep 17 00:00:00 2001
From: Simon Duquennoy <simon.duquennoy@gmail.com>
Date: Fri, 7 Jul 2017 15:11:51 +0200
Subject: [PATCH 07/21] Shell: easier argument parsing

---
 apps/shell/shell-commands.c | 56 ++++++++++++++++++++++++++++++-------
 apps/shell/shell-commands.h |  2 +-
 apps/shell/shell.h          | 20 +++++++++++++
 3 files changed, 67 insertions(+), 11 deletions(-)

diff --git a/apps/shell/shell-commands.c b/apps/shell/shell-commands.c
index 3f2b70861..2f430b81a 100644
--- a/apps/shell/shell-commands.c
+++ b/apps/shell/shell-commands.c
@@ -73,21 +73,18 @@ echo_reply_handler(uip_ipaddr_t *source, uint8_t ttl, uint8_t *data, uint16_t da
 }
 /*---------------------------------------------------------------------------*/
 static
-PT_THREAD(cmd_ping(struct pt *pt, shell_output_func output, const char *args))
+PT_THREAD(cmd_ping(struct pt *pt, shell_output_func output, char *args))
 {
   static uip_ipaddr_t remote_addr;
-  static char *next_args;
   static struct etimer timeout_timer;
+  char *next_args;
 
   PT_BEGIN(pt);
 
-  /* Isolate first argument */
-  next_args = strchr(args, ' ');
-  if(next_args != NULL) {
-    *next_args = '\0';
-    next_args++;
-  }
+  SHELL_ARGS_INIT(args, next_args);
 
+  /* Get argument (remote IPv6) */
+  SHELL_ARGS_NEXT(args, next_args);
   if(uiplib_ipaddrconv(args, &remote_addr) == 0) {
     SHELL_OUTPUT(output, "Invalid IPv6: %s\n", args);
     PT_EXIT(pt);
@@ -153,13 +150,52 @@ PT_THREAD(cmd_log(struct pt *pt, shell_output_func output, const char *args))
 }
 /*---------------------------------------------------------------------------*/
 static
-PT_THREAD(cmd_help(struct pt *pt, shell_output_func output, const char *args))
+PT_THREAD(cmd_log(struct pt *pt, shell_output_func output, char *args))
 {
+  static int prev_level;
+  static int level;
+  char *next_args;
+  char *ptr;
+
   PT_BEGIN(pt);
 
-  struct shell_command_t *cmd_ptr = shell_commands;
+  SHELL_ARGS_INIT(args, next_args);
+
+  /* Get and parse argument */
+  SHELL_ARGS_NEXT(args, next_args);
+  level = (int)strtol(args, &ptr, 10);
+  if((level == 0 && args == ptr)
+    || level < LOG_LEVEL_NONE || level > LOG_LEVEL_DBG) {
+    SHELL_OUTPUT(output, "Invalid argument: %s\n", args);
+    PT_EXIT(pt);
+  }
+
+  /* Set log level */
+  prev_level = log_get_level();
+  if(level != prev_level) {
+    log_set_level(level);
+    if(level >= LOG_LEVEL_DBG) {
+      tsch_log_init();
+      SHELL_OUTPUT(output, "TSCH logging started\n");
+    } else {
+      tsch_log_stop();
+      SHELL_OUTPUT(output, "TSCH logging stopped\n");
+    }
+  }
+  SHELL_OUTPUT(output, "Log level set to %u (%s)\n", level, log_level_to_str(level));
+
+  PT_END(pt);
+}
+/*---------------------------------------------------------------------------*/
+static
+PT_THREAD(cmd_help(struct pt *pt, shell_output_func output, char *args))
+{
+  struct shell_command_t *cmd_ptr;
+
+  PT_BEGIN(pt);
 
   SHELL_OUTPUT(output, "Available commands:\n");
+  cmd_ptr = shell_commands;
   while(cmd_ptr->name != NULL) {
     SHELL_OUTPUT(output, "%s\n", cmd_ptr->help);
     cmd_ptr++;
diff --git a/apps/shell/shell-commands.h b/apps/shell/shell-commands.h
index fbff6e675..4e6aa0f40 100644
--- a/apps/shell/shell-commands.h
+++ b/apps/shell/shell-commands.h
@@ -44,7 +44,7 @@
 #define _SHELL_COMMANDS_H_
 
 /* Command handling function type */
-typedef char (shell_commands_func)(struct pt *pt, shell_output_func output, const char *args);
+typedef char (shell_commands_func)(struct pt *pt, shell_output_func output, char *args);
 
 /* Command structure */
 struct shell_command_t {
diff --git a/apps/shell/shell.h b/apps/shell/shell.h
index 2b4763750..938cb6998 100644
--- a/apps/shell/shell.h
+++ b/apps/shell/shell.h
@@ -48,6 +48,26 @@
 #include "sys/process.h"
 #include <stdio.h>
 
+/* Helper macros to parse arguments */
+#define SHELL_ARGS_INIT(args, next_args) (next_args) = (args);
+
+#define SHELL_ARGS_NEXT(args, next_args) do { \
+						(args) = (next_args); \
+						if((args) != NULL) { \
+							if(*(args) == '\0') { \
+								(args) = NULL; \
+							} else { \
+								(next_args) = strchr((args), ' '); \
+								if((next_args) != NULL) { \
+									*(next_args) = '\0'; \
+									(next_args)++; \
+								} \
+							} \
+						} else { \
+							(next_args) = NULL; \
+						}  \
+		} while(0)
+
 /* Printf-formatted output via a given output function */
 #define SHELL_OUTPUT(output_func, format, ...) do { \
 		char buffer[128]; \

From b81375f6380191fcec5b657dbc1f150a45a7efac Mon Sep 17 00:00:00 2001
From: Simon Duquennoy <simon.duquennoy@gmail.com>
Date: Fri, 7 Jul 2017 15:12:23 +0200
Subject: [PATCH 08/21] Shell: added command to set node as root (or unsed)

---
 apps/shell/shell-commands.c | 82 ++++++++++++++++++++++++-------------
 core/net/rpl-lite/rpl-dag.c |  3 +-
 core/net/rpl-lite/rpl-ns.c  | 17 +++++++-
 core/net/rpl-lite/rpl-ns.h  |  5 +++
 4 files changed, 76 insertions(+), 31 deletions(-)

diff --git a/apps/shell/shell-commands.c b/apps/shell/shell-commands.c
index 2f430b81a..2282beff1 100644
--- a/apps/shell/shell-commands.c
+++ b/apps/shell/shell-commands.c
@@ -49,7 +49,14 @@
 #include "net/ip/uip.h"
 #include "net/ip/uiplib.h"
 #include "net/ipv6/uip-icmp6.h"
+#include "net/ipv6/uip-ds6.h"
 #include "net/mac/tsch/tsch-log.h"
+#if UIP_CONF_IPV6_RPL_LITE == 1
+#include "net/rpl-lite/rpl.h"
+#else /* UIP_CONF_IPV6_RPL_LITE == 1 */
+#include "net/rpl/rpl.h"
+#include "net/rpl/rpl-private.h"
+#endif /* UIP_CONF_IPV6_RPL_LITE == 1 */
 
 #include <stdlib.h>
 
@@ -110,40 +117,56 @@ PT_THREAD(cmd_ping(struct pt *pt, shell_output_func output, char *args))
 }
 /*---------------------------------------------------------------------------*/
 static
-PT_THREAD(cmd_log(struct pt *pt, shell_output_func output, const char *args))
+PT_THREAD(cmd_rpl_set_root(struct pt *pt, shell_output_func output, char *args))
 {
-  static char *next_args;
-  int prev_level;
-  int level;
+  static int is_on;
+  static uip_ipaddr_t prefix;
+  char *next_args;
 
   PT_BEGIN(pt);
 
-  /* Isolate first argument */
-  next_args = strchr(args, ' ');
-  if(next_args != NULL) {
-    *next_args = '\0';
-    next_args++;
-  }
+  SHELL_ARGS_INIT(args, next_args);
 
-  /* Parse argument */
-  level = (int)strtol(args, NULL, 10);
+  /* Get first arg (0/1) */
+  SHELL_ARGS_NEXT(args, next_args);
 
-  /* Set log level */
-  if(level >= LOG_LEVEL_NONE && level <= LOG_LEVEL_DBG) {
-    prev_level = log_get_level();
-    if(level != prev_level) {
-      log_set_level(level);
-      if(level >= LOG_LEVEL_DBG) {
-        tsch_log_init();
-        SHELL_OUTPUT(output, "TSCH logging started\n");
-      } else {
-        tsch_log_stop();
-        SHELL_OUTPUT(output, "TSCH logging stopped\n");
-      }
-    }
-    SHELL_OUTPUT(output, "Log level set to %u (%s)\n", level, log_level_to_str(level));
+  if(!strcmp(args, "1")) {
+    is_on = 1;
+  } else if(!strcmp(args, "0")) {
+    is_on = 0;
   } else {
     SHELL_OUTPUT(output, "Invalid argument: %s\n", args);
+    PT_EXIT(pt);
+  }
+
+  /* Get first second arg (prefix) */
+  SHELL_ARGS_NEXT(args, next_args);
+  if(args != NULL) {
+    if(uiplib_ipaddrconv(args, &prefix) == 0) {
+      SHELL_OUTPUT(output, "Invalid Prefix: %s\n", args);
+      PT_EXIT(pt);
+    }
+  } else {
+    uip_ip6addr(&prefix, UIP_DS6_DEFAULT_PREFIX, 0, 0, 0, 0, 0, 0, 0);
+  }
+
+  if(is_on) {
+    if(!rpl_dag_root_is_root()) {
+      SHELL_OUTPUT(output, "Setting as DAG root with prefix ");
+      shell_output_6addr(output, &prefix);
+      SHELL_OUTPUT(output, "\n");
+      rpl_dag_root_init(&prefix, NULL);
+      rpl_dag_root_init_dag_immediately();
+    } else {
+      SHELL_OUTPUT(output, "Node is already a DAG root\n");
+    }
+  } else {
+    if(rpl_dag_root_is_root()) {
+      SHELL_OUTPUT(output, "Setting as non-root node: leaving DAG\n");
+      rpl_dag_leave();
+    } else {
+      SHELL_OUTPUT(output, "Node is not a DAG root\n");
+    }
   }
 
   PT_END(pt);
@@ -213,9 +236,10 @@ shell_commands_init(void)
 }
 /*---------------------------------------------------------------------------*/
 struct shell_command_t shell_commands[] = {
-  { "help",        cmd_help,        "'> help': Shows this help" },
-  { "ping",        cmd_ping,        "'> ping addr': Pings the IPv6 address 'addr'" },
-  { "log",         cmd_log,         "'> log level': Sets log level (0--4). Level 4 also enables TSCH per-slot logging." },
+  { "help",          cmd_help,            "'> help': Shows this help" },
+  { "ping",          cmd_ping,            "'> ping addr': Pings the IPv6 address 'addr'" },
+  { "rpl-set-root",  cmd_rpl_set_root,    "'> rpl-set-root 0/1 [prefix]': Sets node as root (on) or not (off). A /64 prefix can be optionally specified." },
+  { "log",           cmd_log,             "'> log level': Sets log level (0--4). Level 4 also enables TSCH per-slot logging." },
   { NULL, NULL, NULL },
 };
 
diff --git a/core/net/rpl-lite/rpl-dag.c b/core/net/rpl-lite/rpl-dag.c
index 4b39f40d8..9fcc9f3bc 100644
--- a/core/net/rpl-lite/rpl-dag.c
+++ b/core/net/rpl-lite/rpl-dag.c
@@ -94,8 +94,9 @@ rpl_dag_leave(void)
   /* Forget past link statistics */
   link_stats_reset();
 
-  /* Remove all neighbors */
+  /* Remove all neighbors and lnks */
   rpl_neighbor_remove_all();
+  rpl_ns_free_all();
 
   /* Stop all timers */
   rpl_timers_stop_dag_timers();
diff --git a/core/net/rpl-lite/rpl-ns.c b/core/net/rpl-lite/rpl-ns.c
index 650f4fb98..672e0478f 100644
--- a/core/net/rpl-lite/rpl-ns.c
+++ b/core/net/rpl-lite/rpl-ns.c
@@ -203,6 +203,7 @@ void
 rpl_ns_periodic(unsigned seconds)
 {
   rpl_ns_node_t *l;
+  rpl_ns_node_t *next;
   /* First pass, decrement lifetime for all nodes with non-infinite lifetime */
   for(l = list_head(nodelist); l != NULL; l = list_item_next(l)) {
     /* Don't touch infinite lifetime nodes */
@@ -211,7 +212,8 @@ rpl_ns_periodic(unsigned seconds)
     }
   }
   /* Second pass, for all expired nodes, deallocate them iff no child points to them */
-  for(l = list_head(nodelist); l != NULL; l = list_item_next(l)) {
+  for(l = list_head(nodelist); l != NULL; l = next) {
+    next = list_item_next(l);
     if(l->lifetime == 0) {
       rpl_ns_node_t *l2;
       for(l2 = list_head(nodelist); l2 != NULL; l2 = list_item_next(l2)) {
@@ -233,3 +235,16 @@ rpl_ns_periodic(unsigned seconds)
     }
   }
 }
+/*---------------------------------------------------------------------------*/
+void
+rpl_ns_free_all(void)
+{
+  rpl_ns_node_t *l;
+  rpl_ns_node_t *next;
+  for(l = list_head(nodelist); l != NULL; l = next) {
+    next = list_item_next(l);
+    list_remove(nodelist, l);
+    memb_free(&nodememb, l);
+    num_nodes--;
+  }
+}
diff --git a/core/net/rpl-lite/rpl-ns.h b/core/net/rpl-lite/rpl-ns.h
index c09d0f6ad..8077cdf57 100644
--- a/core/net/rpl-lite/rpl-ns.h
+++ b/core/net/rpl-lite/rpl-ns.h
@@ -144,6 +144,11 @@ void rpl_ns_periodic(unsigned seconds);
 */
 void rpl_ns_init(void);
 
+/**
+ * Deallocate all neighbors
+*/
+void rpl_ns_free_all(void);
+
  /** @} */
 
 #endif /* RPL_NS_H */

From 09e0d75b53f5b27462ead50e4cf768ea9200a03d Mon Sep 17 00:00:00 2001
From: Simon Duquennoy <simon.duquennoy@gmail.com>
Date: Fri, 7 Jul 2017 15:23:32 +0200
Subject: [PATCH 09/21] Simplify rpl-tsch example

---
 examples/ipv6/rpl-tsch/node.c | 87 +++--------------------------------
 1 file changed, 6 insertions(+), 81 deletions(-)

diff --git a/examples/ipv6/rpl-tsch/node.c b/examples/ipv6/rpl-tsch/node.c
index 6980c9963..105555ff4 100644
--- a/examples/ipv6/rpl-tsch/node.c
+++ b/examples/ipv6/rpl-tsch/node.c
@@ -55,18 +55,9 @@
 #define DEBUG DEBUG_PRINT
 #include "net/ip/uip-debug.h"
 
-#define CONFIG_VIA_BUTTON PLATFORM_HAS_BUTTON
-#if CONFIG_VIA_BUTTON
-#include "button-sensor.h"
-#endif /* CONFIG_VIA_BUTTON */
-
 /*---------------------------------------------------------------------------*/
 PROCESS(node_process, "RPL Node");
-#if CONFIG_VIA_BUTTON
-AUTOSTART_PROCESSES(&node_process, &sensors_process);
-#else /* CONFIG_VIA_BUTTON */
 AUTOSTART_PROCESSES(&node_process);
-#endif /* CONFIG_VIA_BUTTON */
 
 /*---------------------------------------------------------------------------*/
 static void
@@ -147,93 +138,27 @@ print_network_status(void)
   PRINTF("----------------------\n");
 }
 /*---------------------------------------------------------------------------*/
-static void
-net_init(uip_ipaddr_t *br_prefix)
-{
-  if(br_prefix) { /* We are RPL root. Will be set automatically
-                     as TSCH pan coordinator via the tsch-rpl module */
-    rpl_dag_root_init(br_prefix, NULL);
-    rpl_dag_root_init_dag_immediately();
-  } else {
-    rpl_dag_root_init(NULL, NULL);
-  }
-
-  NETSTACK_MAC.on();
-}
-/*---------------------------------------------------------------------------*/
 PROCESS_THREAD(node_process, ev, data)
 {
   static struct etimer et;
+  int is_coordinator;
+
   PROCESS_BEGIN();
 
-  /* 3 possible roles:
-   * - role_6ln: simple node, will join any network, secured or not
-   * - role_6dr: DAG root, will advertise (unsecured) beacons
-   * - role_6dr_sec: DAG root, will advertise secured beacons
-   * */
-  static int is_coordinator = 0;
-  static enum { role_6ln, role_6dr, role_6dr_sec } node_role;
-  node_role = role_6ln;
-
-  int coordinator_candidate = 0;
+  is_coordinator = 0;
 
 #if WITH_SHELL
   serial_shell_init();
 #endif /* WITH_SHELL */
 
 #if CONTIKI_TARGET_COOJA
-  coordinator_candidate = (node_id == 1);
+  is_coordinator = (node_id == 1);
 #endif
 
-  if(coordinator_candidate) {
-    if(LLSEC802154_ENABLED) {
-      node_role = role_6dr_sec;
-    } else {
-      node_role = role_6dr;
-    }
-  } else {
-    node_role = role_6ln;
-  }
-
-#if CONFIG_VIA_BUTTON
-  {
-#define CONFIG_WAIT_TIME 5
-
-    SENSORS_ACTIVATE(button_sensor);
-    etimer_set(&et, CLOCK_SECOND * CONFIG_WAIT_TIME);
-
-    while(!etimer_expired(&et)) {
-      printf("Init: current role: %s. Will start in %u seconds. Press user button to toggle mode.\n",
-             node_role == role_6ln ? "6ln" : (node_role == role_6dr) ? "6dr" : "6dr-sec",
-             CONFIG_WAIT_TIME);
-      PROCESS_WAIT_EVENT_UNTIL(((ev == sensors_event) &&
-                                (data == &button_sensor) && button_sensor.value(0) > 0)
-                               || etimer_expired(&et));
-      if(ev == sensors_event && data == &button_sensor && button_sensor.value(0) > 0) {
-        node_role = (node_role + 1) % 3;
-        if(LLSEC802154_ENABLED == 0 && node_role == role_6dr_sec) {
-          node_role = (node_role + 1) % 3;
-        }
-        etimer_restart(&et);
-      }
-    }
-  }
-
-#endif /* CONFIG_VIA_BUTTON */
-
-  printf("Init: node starting with role %s\n",
-         node_role == role_6ln ? "6ln" : (node_role == role_6dr) ? "6dr" : "6dr-sec");
-
-  tsch_set_pan_secured(LLSEC802154_ENABLED && (node_role == role_6dr_sec));
-  is_coordinator = node_role > role_6ln;
-
   if(is_coordinator) {
-    uip_ipaddr_t prefix;
-    uip_ip6addr(&prefix, UIP_DS6_DEFAULT_PREFIX, 0, 0, 0, 0, 0, 0, 0);
-    net_init(&prefix);
-  } else {
-    net_init(NULL);
+    rpl_dag_root_init_dag_immediately();
   }
+  NETSTACK_MAC.on();
 
 #if WITH_ORCHESTRA
   orchestra_init();

From 03f76a9058faf13d1b210691d95eefc60193230f Mon Sep 17 00:00:00 2001
From: Simon Duquennoy <simon.duquennoy@gmail.com>
Date: Fri, 7 Jul 2017 15:43:31 +0200
Subject: [PATCH 10/21] Shell ping command: print out delay

---
 apps/shell/shell-commands.c | 12 +++++++++---
 1 file changed, 9 insertions(+), 3 deletions(-)

diff --git a/apps/shell/shell-commands.c b/apps/shell/shell-commands.c
index 2282beff1..bf88c63e2 100644
--- a/apps/shell/shell-commands.c
+++ b/apps/shell/shell-commands.c
@@ -65,16 +65,17 @@
 static struct uip_icmp6_echo_reply_notification echo_reply_notification;
 static shell_output_func *curr_ping_output_func = NULL;
 static struct process *curr_ping_process;
+static uint8_t curr_ping_ttl;
+static uint16_t curr_ping_datalen;
 
 /*---------------------------------------------------------------------------*/
 static void
 echo_reply_handler(uip_ipaddr_t *source, uint8_t ttl, uint8_t *data, uint16_t datalen)
 {
   if(curr_ping_output_func != NULL) {
-    SHELL_OUTPUT(curr_ping_output_func, "Received ping reply from ");
-    shell_output_6addr(curr_ping_output_func, source);
-    SHELL_OUTPUT(curr_ping_output_func, ", ttl %u, len %u\n", ttl, datalen);
     curr_ping_output_func = NULL;
+    curr_ping_ttl = ttl;
+    curr_ping_datalen = datalen;
     process_poll(curr_ping_process);
   }
 }
@@ -111,6 +112,11 @@ PT_THREAD(cmd_ping(struct pt *pt, shell_output_func output, char *args))
   if(curr_ping_output_func != NULL) {
     SHELL_OUTPUT(output, "Timeout\n");
     curr_ping_output_func = NULL;
+  } else {
+    SHELL_OUTPUT(output, "Received ping reply from ");
+    shell_output_6addr(output, &remote_addr);
+    SHELL_OUTPUT(output, ", len %u, ttl %u, delay %u ms\n",
+      curr_ping_datalen, curr_ping_ttl, (1000*(unsigned)(clock_time() - timeout_timer.timer.start))/CLOCK_SECOND);
   }
 
   PT_END(pt);

From 5999323a050c0adb7e349f80b02ab9aac5a86ec4 Mon Sep 17 00:00:00 2001
From: Simon Duquennoy <simon.duquennoy@gmail.com>
Date: Fri, 7 Jul 2017 18:05:27 +0200
Subject: [PATCH 11/21] More Shell commands

---
 apps/shell/shell-commands.c                   | 112 +++++++++++++++++-
 core/net/mac/tsch/tsch-log.c                  |   6 +-
 core/net/mac/tsch/tsch.h                      |   2 +-
 core/net/rpl-lite/rpl-dag.c                   |   5 +-
 core/sys/log-conf.h                           |   7 --
 core/sys/log.c                                |   2 +-
 examples/ipv6/rpl-tsch/Makefile               |   5 +
 examples/ipv6/rpl-tsch/node.c                 | 106 ++++-------------
 examples/ipv6/rpl-tsch/project-conf.h         |   4 +-
 .../08-ipv6/19-cooja-rpl-tsch.csc             |   4 +-
 .../08-ipv6/20-cooja-rpl-tsch-orchestra.csc   |   4 +-
 .../08-ipv6/21-cooja-rpl-tsch-security.csc    |   4 +-
 12 files changed, 151 insertions(+), 110 deletions(-)

diff --git a/apps/shell/shell-commands.c b/apps/shell/shell-commands.c
index bf88c63e2..bfbd94e32 100644
--- a/apps/shell/shell-commands.c
+++ b/apps/shell/shell-commands.c
@@ -115,8 +115,8 @@ PT_THREAD(cmd_ping(struct pt *pt, shell_output_func output, char *args))
   } else {
     SHELL_OUTPUT(output, "Received ping reply from ");
     shell_output_6addr(output, &remote_addr);
-    SHELL_OUTPUT(output, ", len %u, ttl %u, delay %u ms\n",
-      curr_ping_datalen, curr_ping_ttl, (1000*(unsigned)(clock_time() - timeout_timer.timer.start))/CLOCK_SECOND);
+    SHELL_OUTPUT(output, ", len %u, ttl %u, delay %lu ms\n",
+      curr_ping_datalen, curr_ping_ttl, (1000*(clock_time() - timeout_timer.timer.start))/CLOCK_SECOND);
   }
 
   PT_END(pt);
@@ -233,6 +233,112 @@ PT_THREAD(cmd_help(struct pt *pt, shell_output_func output, char *args))
   PT_END(pt);
 }
 /*---------------------------------------------------------------------------*/
+static
+PT_THREAD(ipaddr(struct pt *pt, shell_output_func output, char *args))
+{
+  int i;
+  uint8_t state;
+
+  PT_BEGIN(pt);
+
+  SHELL_OUTPUT(output, "Node IPv6 addresses:\n");
+  for(i = 0; i < UIP_DS6_ADDR_NB; i++) {
+    state = uip_ds6_if.addr_list[i].state;
+    if(uip_ds6_if.addr_list[i].isused &&
+       (state == ADDR_TENTATIVE || state == ADDR_PREFERRED)) {
+      SHELL_OUTPUT(output, "-- ");
+      shell_output_6addr(output, &uip_ds6_if.addr_list[i].ipaddr);
+      SHELL_OUTPUT(output, "\n");
+    }
+  }
+
+  PT_END(pt);
+}
+/*---------------------------------------------------------------------------*/
+static
+PT_THREAD(routes(struct pt *pt, shell_output_func output, char *args))
+{
+  uip_ds6_defrt_t *default_route;
+#if RPL_WITH_NON_STORING
+  rpl_ns_node_t *link;
+#endif /* RPL_WITH_NON_STORING */
+#if RPL_WITH_STORING
+  uip_ds6_route_t *route;
+#endif /* RPL_WITH_STORING */
+
+  PT_BEGIN(pt);
+
+  /* Our default route */
+  SHELL_OUTPUT(output, "Default route:\n");
+  default_route = uip_ds6_defrt_lookup(uip_ds6_defrt_choose());
+  if(default_route != NULL) {
+    SHELL_OUTPUT(output, "-- ");
+    shell_output_6addr(output, &default_route->ipaddr);
+    if(default_route->lifetime.interval != 0) {
+      SHELL_OUTPUT(output, " (lifetime: %lu seconds)\n", (unsigned long)default_route->lifetime.interval);
+    } else {
+      SHELL_OUTPUT(output, " (lifetime: infinite)\n");
+    }
+  } else {
+    SHELL_OUTPUT(output, "-- None\n");
+  }
+
+#if RPL_WITH_NON_STORING
+  if(rpl_ns_num_nodes() > 0) {
+    /* Our routing links */
+    SHELL_OUTPUT(output, "Routing links (%u in total):\n", rpl_ns_num_nodes());
+    link = rpl_ns_node_head();
+    while(link != NULL) {
+      uip_ipaddr_t child_ipaddr;
+      uip_ipaddr_t parent_ipaddr;
+      rpl_ns_get_node_global_addr(&child_ipaddr, link);
+      rpl_ns_get_node_global_addr(&parent_ipaddr, link->parent);
+      SHELL_OUTPUT(output, "-- ");
+      shell_output_6addr(output, &child_ipaddr);
+      if(link->parent == NULL) {
+        memset(&parent_ipaddr, 0, sizeof(parent_ipaddr));
+        SHELL_OUTPUT(output, " (DODAG root)");
+      } else {
+        SHELL_OUTPUT(output, " to ");
+        shell_output_6addr(output, &parent_ipaddr);
+      }
+      if(link->lifetime != RPL_ROUTE_INFINITE_LIFETIME) {
+        SHELL_OUTPUT(output, " (lifetime: %lu seconds)\n", (unsigned long)link->lifetime);
+      } else {
+        SHELL_OUTPUT(output, " (lifetime: infinite)\n");
+      }
+      link = rpl_ns_node_next(link);
+    }
+  } else {
+    SHELL_OUTPUT(output, "No routing links\n");
+  }
+#endif /* RPL_WITH_NON_STORING */
+
+#if RPL_WITH_STORING
+  if(uip_ds6_route_num_routes() > 0) {
+    /* Our routing entries */
+    SHELL_OUTPUT(output, "Routing entries (%u in total):\n", uip_ds6_route_num_routes());
+    route = uip_ds6_route_head();
+    while(route != NULL) {
+      SHELL_OUTPUT(output, "-- ");
+      shell_output_6addr(output, &route->ipaddr);
+      SHELL_OUTPUT(output, " via ");
+      shell_output_6addr(output, uip_ds6_route_nexthop(route));
+      if((unsigned long)route->state.lifetime != RPL_ROUTE_INFINITE_LIFETIME) {
+        SHELL_OUTPUT(output, " (lifetime: %lu seconds)\n", (unsigned long)route->state.lifetime);
+      } else {
+        SHELL_OUTPUT(output, " (lifetime: infinite)\n");
+      }
+      route = uip_ds6_route_next(route);
+    }
+  } else {
+    SHELL_OUTPUT(output, "No routing entries\n");
+  }
+#endif /* RPL_WITH_STORING */
+
+  PT_END(pt);
+}
+/*---------------------------------------------------------------------------*/
 void
 shell_commands_init(void)
 {
@@ -243,8 +349,10 @@ shell_commands_init(void)
 /*---------------------------------------------------------------------------*/
 struct shell_command_t shell_commands[] = {
   { "help",          cmd_help,            "'> help': Shows this help" },
+  { "ipaddr",        ipaddr,              "'> ipaddr': Shows all IPv6 addresses" },
   { "ping",          cmd_ping,            "'> ping addr': Pings the IPv6 address 'addr'" },
   { "rpl-set-root",  cmd_rpl_set_root,    "'> rpl-set-root 0/1 [prefix]': Sets node as root (on) or not (off). A /64 prefix can be optionally specified." },
+  { "routes",        routes,              "'> routes': Shows the route entries" },
   { "log",           cmd_log,             "'> log level': Sets log level (0--4). Level 4 also enables TSCH per-slot logging." },
   { NULL, NULL, NULL },
 };
diff --git a/core/net/mac/tsch/tsch-log.c b/core/net/mac/tsch/tsch-log.c
index 6e2e1aa49..e92311217 100644
--- a/core/net/mac/tsch/tsch-log.c
+++ b/core/net/mac/tsch/tsch-log.c
@@ -74,16 +74,16 @@ tsch_log_process_pending(void)
   int16_t log_index;
   /* Loop on accessing (without removing) a pending input packet */
   if(log_dropped != last_log_dropped) {
-    printf("TSCH:! logs dropped %u\n", log_dropped);
+    printf("[WARN: TSCH-LOG  ] logs dropped %u\n", log_dropped);
     last_log_dropped = log_dropped;
   }
   while((log_index = ringbufindex_peek_get(&log_ringbuf)) != -1) {
     struct tsch_log_t *log = &log_array[log_index];
     if(log->link == NULL) {
-      printf("TSCH: {asn-%x.%lx link-NULL} ", log->asn.ms1b, log->asn.ls4b);
+      printf("[INFO: TSCH-LOG  ] {asn-%x.%lx link-NULL} ", log->asn.ms1b, log->asn.ls4b);
     } else {
       struct tsch_slotframe *sf = tsch_schedule_get_slotframe_by_handle(log->link->slotframe_handle);
-      printf("TSCH: {asn-%x.%lx link-%u-%u-%u-%u ch-%u} ",
+      printf("[INFO: TSCH-LOG  ] {asn-%x.%lx link-%u-%u-%u-%u ch-%u} ",
              log->asn.ms1b, log->asn.ls4b,
              log->link->slotframe_handle, sf ? sf->size.val : 0, log->link->timeslot, log->link->channel_offset,
              tsch_calculate_channel(&log->asn, log->link->channel_offset));
diff --git a/core/net/mac/tsch/tsch.h b/core/net/mac/tsch/tsch.h
index b56ffaf3a..d436b69af 100644
--- a/core/net/mac/tsch/tsch.h
+++ b/core/net/mac/tsch/tsch.h
@@ -107,7 +107,7 @@
 #ifdef TSCH_CONF_JOIN_MY_PANID_ONLY
 #define TSCH_JOIN_MY_PANID_ONLY TSCH_CONF_JOIN_MY_PANID_ONLY
 #else
-#define TSCH_JOIN_MY_PANID_ONLY 0
+#define TSCH_JOIN_MY_PANID_ONLY 1
 #endif
 
 /* The radio polling frequency (in Hz) during association process */
diff --git a/core/net/rpl-lite/rpl-dag.c b/core/net/rpl-lite/rpl-dag.c
index 9fcc9f3bc..9d9ee06ea 100644
--- a/core/net/rpl-lite/rpl-dag.c
+++ b/core/net/rpl-lite/rpl-dag.c
@@ -517,8 +517,6 @@ process_dio_init_dag(uip_ipaddr_t *from, rpl_dio_t *dio)
 #endif /* RPL_WITH_PROBING */
   /* Leave the network after RPL_DELAY_BEFORE_LEAVING in case we do not
   find a parent */
-  rpl_timers_schedule_leaving();
-
   LOG_INFO("initialized DAG with instance ID %u, DAG ID ",
          curr_instance.instance_id);
   LOG_INFO_6ADDR(&curr_instance.dag.dag_id);
@@ -526,6 +524,9 @@ process_dio_init_dag(uip_ipaddr_t *from, rpl_dio_t *dio)
 
   LOG_ANNOTATE("#A init=%u\n", curr_instance.dag.dag_id.u8[sizeof(curr_instance.dag.dag_id) - 1]);
 
+  LOG_WARN_("just joined, no parent yet, setting timer for leaving\n");
+  rpl_timers_schedule_leaving();
+
   return 1;
 }
 /*---------------------------------------------------------------------------*/
diff --git a/core/sys/log-conf.h b/core/sys/log-conf.h
index 6c81fd8d6..6eb526d6f 100644
--- a/core/sys/log-conf.h
+++ b/core/sys/log-conf.h
@@ -67,13 +67,6 @@
 #define LOG_WITH_ANNOTATE 0
 #endif /* LOG_CONF_WITH_ANNOTATE */
 
-/* Log level at startup. Can be modified at runtime via log_set_level() */
-#ifdef LOG_CONF_START_LEVEL
-#define LOG_START_LEVEL LOG_CONF_START_LEVEL
-#else /* LOG_CONF_START_LEVEL */
-#define LOG_START_LEVEL LOG_LEVEL_DBG /* All (already compiled) logs are enabled */
-#endif /* LOG_CONF_START_LEVEL */
-
 /* Custom output function -- default is printf */
 #ifdef LOG_CONF_OUTPUT
 #define LOG_OUTPUT(...) LOG_CONF_OUTPUT(__VA_ARGS__)
diff --git a/core/sys/log.c b/core/sys/log.c
index adfa6027f..a112943c0 100644
--- a/core/sys/log.c
+++ b/core/sys/log.c
@@ -53,7 +53,7 @@
 #include "sys/log.h"
 #include "net/ip/ip64-addr.h"
 
-int curr_log_level = LOG_START_LEVEL;
+int curr_log_level = LOG_LEVEL_DBG;
 
 /*---------------------------------------------------------------------------*/
 void
diff --git a/examples/ipv6/rpl-tsch/Makefile b/examples/ipv6/rpl-tsch/Makefile
index 3abe2ab7d..03173e2a1 100644
--- a/examples/ipv6/rpl-tsch/Makefile
+++ b/examples/ipv6/rpl-tsch/Makefile
@@ -7,6 +7,7 @@ CFLAGS += -DPROJECT_CONF_H=\"project-conf.h\"
 CONTIKI_WITH_IPV6 = 1
 MAKE_WITH_ORCHESTRA ?= 0 # force Orchestra from command line
 MAKE_WITH_SECURITY ?= 0 # force Security from command line
+MAKE_WITH_PERIODIC_ROUTES_PRINT ?= 0 # print #routes periodically, used for regression tests
 
 APPS += orchestra shell
 MODULES += core/net/mac/tsch
@@ -19,4 +20,8 @@ ifeq ($(MAKE_WITH_SECURITY),1)
 CFLAGS += -DWITH_SECURITY=1
 endif
 
+ifeq ($(MAKE_WITH_PERIODIC_ROUTES_PRINT),1)
+CFLAGS += -DWITH_PERIODIC_ROUTES_PRINT=1
+endif
+
 include $(CONTIKI)/Makefile.include
diff --git a/examples/ipv6/rpl-tsch/node.c b/examples/ipv6/rpl-tsch/node.c
index 105555ff4..dfc386b41 100644
--- a/examples/ipv6/rpl-tsch/node.c
+++ b/examples/ipv6/rpl-tsch/node.c
@@ -40,8 +40,10 @@
 #include "node-id.h"
 #include "rpl.h"
 #include "rpl-dag-root.h"
+#include "sys/log.h"
 #include "net/ipv6/uip-ds6-route.h"
 #include "net/mac/tsch/tsch.h"
+#include "net/mac/tsch/tsch-log.h"
 #if UIP_CONF_IPV6_RPL_LITE == 0
 #include "rpl-private.h"
 #endif /* UIP_CONF_IPV6_RPL_LITE == 0 */
@@ -59,88 +61,9 @@
 PROCESS(node_process, "RPL Node");
 AUTOSTART_PROCESSES(&node_process);
 
-/*---------------------------------------------------------------------------*/
-static void
-print_network_status(void)
-{
-  int i;
-  uint8_t state;
-  uip_ds6_defrt_t *default_route;
-#if RPL_WITH_STORING
-  uip_ds6_route_t *route;
-#endif /* RPL_WITH_STORING */
-#if RPL_WITH_NON_STORING
-  rpl_ns_node_t *link;
-#endif /* RPL_WITH_NON_STORING */
-
-  PRINTF("--- Network status ---\n");
-
-  /* Our IPv6 addresses */
-  PRINTF("- Server IPv6 addresses:\n");
-  for(i = 0; i < UIP_DS6_ADDR_NB; i++) {
-    state = uip_ds6_if.addr_list[i].state;
-    if(uip_ds6_if.addr_list[i].isused &&
-       (state == ADDR_TENTATIVE || state == ADDR_PREFERRED)) {
-      PRINTF("-- ");
-      PRINT6ADDR(&uip_ds6_if.addr_list[i].ipaddr);
-      PRINTF("\n");
-    }
-  }
-
-  /* Our default route */
-  PRINTF("- Default route:\n");
-  default_route = uip_ds6_defrt_lookup(uip_ds6_defrt_choose());
-  if(default_route != NULL) {
-    PRINTF("-- ");
-    PRINT6ADDR(&default_route->ipaddr);
-    PRINTF(" (lifetime: %lu seconds)\n", (unsigned long)default_route->lifetime.interval);
-  } else {
-    PRINTF("-- None\n");
-  }
-
-#if RPL_WITH_STORING
-  /* Our routing entries */
-  PRINTF("- Routing entries (%u in total):\n", uip_ds6_route_num_routes());
-  route = uip_ds6_route_head();
-  while(route != NULL) {
-    PRINTF("-- ");
-    PRINT6ADDR(&route->ipaddr);
-    PRINTF(" via ");
-    PRINT6ADDR(uip_ds6_route_nexthop(route));
-    PRINTF(" (lifetime: %lu seconds)\n", (unsigned long)route->state.lifetime);
-    route = uip_ds6_route_next(route);
-  }
-#endif
-
-#if RPL_WITH_NON_STORING
-  /* Our routing links */
-  PRINTF("- Routing links (%u in total):\n", rpl_ns_num_nodes());
-  link = rpl_ns_node_head();
-  while(link != NULL) {
-    uip_ipaddr_t child_ipaddr;
-    uip_ipaddr_t parent_ipaddr;
-    rpl_ns_get_node_global_addr(&child_ipaddr, link);
-    rpl_ns_get_node_global_addr(&parent_ipaddr, link->parent);
-    PRINTF("-- ");
-    PRINT6ADDR(&child_ipaddr);
-    if(link->parent == NULL) {
-      memset(&parent_ipaddr, 0, sizeof(parent_ipaddr));
-      PRINTF(" to DODAG root ");
-    } else {
-      PRINTF(" to ");
-      PRINT6ADDR(&parent_ipaddr);
-    }
-    PRINTF(" (lifetime: %lu seconds)\n", (unsigned long)link->lifetime);
-    link = rpl_ns_node_next(link);
-  }
-#endif
-
-  PRINTF("----------------------\n");
-}
 /*---------------------------------------------------------------------------*/
 PROCESS_THREAD(node_process, ev, data)
 {
-  static struct etimer et;
   int is_coordinator;
 
   PROCESS_BEGIN();
@@ -149,6 +72,8 @@ PROCESS_THREAD(node_process, ev, data)
 
 #if WITH_SHELL
   serial_shell_init();
+  log_set_level(LOG_LEVEL_WARN);
+  tsch_log_stop();
 #endif /* WITH_SHELL */
 
 #if CONTIKI_TARGET_COOJA
@@ -164,13 +89,24 @@ PROCESS_THREAD(node_process, ev, data)
   orchestra_init();
 #endif /* WITH_ORCHESTRA */
 
-  /* Print out routing tables every minute */
-  etimer_set(&et, CLOCK_SECOND * 60);
-  while(1) {
-    print_network_status();
-    PROCESS_YIELD_UNTIL(etimer_expired(&et));
-    etimer_reset(&et);
+#if WITH_PERIODIC_ROUTES_PRINT
+  {
+    static struct etimer et;
+    /* Print out routing tables every minute */
+    etimer_set(&et, CLOCK_SECOND * 60);
+    while(1) {
+      /* Used for non-regression testing */
+      #if RPL_WITH_STORING
+        PRINTF("Routing entries: %u\n", uip_ds6_route_num_routes());
+      #endif
+      #if RPL_WITH_NON_STORING
+        PRINTF("Routing links: %u\n", rpl_ns_num_nodes());
+      #endif
+      PROCESS_YIELD_UNTIL(etimer_expired(&et));
+      etimer_reset(&et);
+    }
   }
+#endif /* WITH_PERIODIC_ROUTES_PRINT */
 
   PROCESS_END();
 }
diff --git a/examples/ipv6/rpl-tsch/project-conf.h b/examples/ipv6/rpl-tsch/project-conf.h
index 14e604212..fa5cf2425 100644
--- a/examples/ipv6/rpl-tsch/project-conf.h
+++ b/examples/ipv6/rpl-tsch/project-conf.h
@@ -104,7 +104,7 @@
 
 /* IEEE802.15.4 PANID */
 #undef IEEE802154_CONF_PANID
-#define IEEE802154_CONF_PANID 0xabcd
+#define IEEE802154_CONF_PANID 0x81a5
 
 /* Do not start TSCH at init, wait for NETSTACK_MAC.on() */
 #undef TSCH_CONF_AUTOSTART
@@ -165,6 +165,4 @@
 #define FRAMER_LOG_LEVEL                      LOG_LEVEL_WARN
 #define TSCH_LOG_CONF_PER_SLOT                1
 
-#define LOG_CONF_START_LEVEL                  LOG_LEVEL_WARN
-
 #endif /* __PROJECT_CONF_H__ */
diff --git a/regression-tests/08-ipv6/19-cooja-rpl-tsch.csc b/regression-tests/08-ipv6/19-cooja-rpl-tsch.csc
index 112172828..97f4dd798 100644
--- a/regression-tests/08-ipv6/19-cooja-rpl-tsch.csc
+++ b/regression-tests/08-ipv6/19-cooja-rpl-tsch.csc
@@ -26,7 +26,7 @@
       <description>Cooja Mote Type #mtype1</description>
       <source EXPORT="discard">[CONTIKI_DIR]/examples/ipv6/rpl-tsch/node.c</source>
       <commands EXPORT="discard">make TARGET=cooja clean
-make node.cooja TARGET=cooja MAKE_WITH_ORCHESTRA=0 MAKE_WITH_SECURITY=0</commands>
+make node.cooja TARGET=cooja MAKE_WITH_ORCHESTRA=0 MAKE_WITH_SECURITY=0 MAKE_WITH_PERIODIC_ROUTES_PRINT=1</commands>
       <moteinterface>org.contikios.cooja.interfaces.Position</moteinterface>
       <moteinterface>org.contikios.cooja.interfaces.Battery</moteinterface>
       <moteinterface>org.contikios.cooja.contikimote.interfaces.ContikiVib</moteinterface>
@@ -278,7 +278,7 @@ log.log("Waiting for routing links to fill\n");&#xD;
 while(true) {;&#xD;
   WAIT_UNTIL(id == 1 &amp;&amp; msg.contains("Routing links"));&#xD;
   log.log(msg + "\n");&#xD;
-  if(msg.contains("Routing links (9 in total):")) {&#xD;
+  if(msg.contains("Routing links: 9")) {&#xD;
     log.testOK(); /* Report test success and quit */&#xD;
   }&#xD;
   YIELD();&#xD;
diff --git a/regression-tests/08-ipv6/20-cooja-rpl-tsch-orchestra.csc b/regression-tests/08-ipv6/20-cooja-rpl-tsch-orchestra.csc
index 192617b23..676d86366 100644
--- a/regression-tests/08-ipv6/20-cooja-rpl-tsch-orchestra.csc
+++ b/regression-tests/08-ipv6/20-cooja-rpl-tsch-orchestra.csc
@@ -26,7 +26,7 @@
       <description>Cooja Mote Type #mtype11</description>
       <source EXPORT="discard">[CONTIKI_DIR]/examples/ipv6/rpl-tsch/node.c</source>
       <commands EXPORT="discard">make TARGET=cooja clean
-make node.cooja TARGET=cooja MAKE_WITH_ORCHESTRA=1 MAKE_WITH_SECURITY=0</commands>
+make node.cooja TARGET=cooja MAKE_WITH_ORCHESTRA=1 MAKE_WITH_SECURITY=0 MAKE_WITH_PERIODIC_ROUTES_PRINT=1</commands>
       <firmware
           EXPORT="copy">[CONTIKI_DIR]/examples/ipv6/rpl-tsch/node.mtype1</firmware>
       <moteinterface>org.contikios.cooja.interfaces.Position</moteinterface>
@@ -280,7 +280,7 @@ log.log("Waiting for routing links to fill\n");&#xD;
 while(true) {;&#xD;
   WAIT_UNTIL(id == 1 &amp;&amp; msg.contains("Routing links"));&#xD;
   log.log(msg + "\n");&#xD;
-  if(msg.contains("Routing links (9 in total):")) {&#xD;
+  if(msg.contains("Routing links: 9")) {&#xD;
     log.testOK(); /* Report test success and quit */&#xD;
   }&#xD;
   YIELD();&#xD;
diff --git a/regression-tests/08-ipv6/21-cooja-rpl-tsch-security.csc b/regression-tests/08-ipv6/21-cooja-rpl-tsch-security.csc
index e3e192297..ffa370b01 100644
--- a/regression-tests/08-ipv6/21-cooja-rpl-tsch-security.csc
+++ b/regression-tests/08-ipv6/21-cooja-rpl-tsch-security.csc
@@ -26,7 +26,7 @@
       <description>Cooja Mote Type #mtype11</description>
       <source EXPORT="discard">[CONTIKI_DIR]/examples/ipv6/rpl-tsch/node.c</source>
       <commands EXPORT="discard">make TARGET=cooja clean
-make node.cooja TARGET=cooja MAKE_WITH_ORCHESTRA=0 MAKE_WITH_SECURITY=1</commands>
+make node.cooja TARGET=cooja MAKE_WITH_ORCHESTRA=0 MAKE_WITH_SECURITY=1 MAKE_WITH_PERIODIC_ROUTES_PRINT=1</commands>
       <moteinterface>org.contikios.cooja.interfaces.Position</moteinterface>
       <moteinterface>org.contikios.cooja.interfaces.Battery</moteinterface>
       <moteinterface>org.contikios.cooja.contikimote.interfaces.ContikiVib</moteinterface>
@@ -278,7 +278,7 @@ log.log("Waiting for routing links to fill\n");&#xD;
 while(true) {;&#xD;
   WAIT_UNTIL(id == 1 &amp;&amp; msg.contains("Routing links"));&#xD;
   log.log(msg + "\n");&#xD;
-  if(msg.contains("Routing links (9 in total):")) {&#xD;
+  if(msg.contains("Routing links: 9")) {&#xD;
     log.testOK(); /* Report test success and quit */&#xD;
   }&#xD;
   YIELD();&#xD;

From f7d4d5a0ecd5e64db72057e15048509ddeff4994 Mon Sep 17 00:00:00 2001
From: Simon Duquennoy <simon.duquennoy@gmail.com>
Date: Mon, 10 Jul 2017 16:32:41 +0200
Subject: [PATCH 12/21] Fix Shell log command argument parsing

---
 apps/shell/shell-commands.c | 6 +++++-
 1 file changed, 5 insertions(+), 1 deletion(-)

diff --git a/apps/shell/shell-commands.c b/apps/shell/shell-commands.c
index bfbd94e32..33ce46163 100644
--- a/apps/shell/shell-commands.c
+++ b/apps/shell/shell-commands.c
@@ -192,7 +192,11 @@ PT_THREAD(cmd_log(struct pt *pt, shell_output_func output, char *args))
 
   /* Get and parse argument */
   SHELL_ARGS_NEXT(args, next_args);
-  level = (int)strtol(args, &ptr, 10);
+  if(args == NULL) {
+    level = -1;
+  } else {
+    level = (int)strtol(args, &ptr, 10);
+  }
   if((level == 0 && args == ptr)
     || level < LOG_LEVEL_NONE || level > LOG_LEVEL_DBG) {
     SHELL_OUTPUT(output, "Invalid argument: %s\n", args);

From 0ea63514e3bb2d8afecbac838cb92e7c7724576a Mon Sep 17 00:00:00 2001
From: Simon Duquennoy <simon.duquennoy@gmail.com>
Date: Mon, 10 Jul 2017 17:45:07 +0200
Subject: [PATCH 13/21] Shell: added a number of RPL and TSCH mngt functions

---
 apps/shell/shell-commands.c                | 166 ++++++++++++++++++++-
 core/net/mac/tsch/tsch-adaptive-timesync.c |   8 +-
 core/net/mac/tsch/tsch-adaptive-timesync.h |   2 +
 core/net/mac/tsch/tsch-slot-operation.c    |   4 +
 core/net/mac/tsch/tsch-slot-operation.h    |   2 +
 core/net/rpl-lite/rpl-dag.c                |   4 +-
 6 files changed, 176 insertions(+), 10 deletions(-)

diff --git a/apps/shell/shell-commands.c b/apps/shell/shell-commands.c
index 33ce46163..c1cf3d9ee 100644
--- a/apps/shell/shell-commands.c
+++ b/apps/shell/shell-commands.c
@@ -50,7 +50,11 @@
 #include "net/ip/uiplib.h"
 #include "net/ipv6/uip-icmp6.h"
 #include "net/ipv6/uip-ds6.h"
+#include "net/mac/tsch/tsch.h"
+#include "net/mac/tsch/tsch-adaptive-timesync.h"
+#include "net/mac/tsch/tsch-queue.h"
 #include "net/mac/tsch/tsch-log.h"
+#include "net/mac/tsch/tsch-private.h"
 #if UIP_CONF_IPV6_RPL_LITE == 1
 #include "net/rpl-lite/rpl.h"
 #else /* UIP_CONF_IPV6_RPL_LITE == 1 */
@@ -68,6 +72,53 @@ static struct process *curr_ping_process;
 static uint8_t curr_ping_ttl;
 static uint16_t curr_ping_datalen;
 
+/*---------------------------------------------------------------------------*/
+static const char *
+rpl_state_to_str(enum rpl_dag_state state)
+{
+  switch(state) {
+    case DAG_INITIALIZED:
+      return "Initialized";
+    case DAG_JOINED:
+      return "Joined";
+    case DAG_REACHABLE:
+      return "Reachable";
+    case DAG_POISONING:
+      return "Poisoning";
+    default:
+      return "Unknown";
+  }
+}
+/*---------------------------------------------------------------------------*/
+static const char *
+rpl_mop_to_str(int mop)
+{
+  switch(mop) {
+    case RPL_MOP_NO_DOWNWARD_ROUTES:
+      return "No downward routes";
+    case RPL_MOP_NON_STORING:
+      return "Non-storing";
+    case RPL_MOP_STORING_NO_MULTICAST:
+      return "Storing";
+    case RPL_MOP_STORING_MULTICAST:
+      return "Storing+multicast";
+    default:
+      return "Unknown";
+  }
+}
+/*---------------------------------------------------------------------------*/
+static const char *
+rpl_ocp_to_str(int ocp)
+{
+  switch(ocp) {
+    case RPL_OCP_OF0:
+      return "OF0";
+    case RPL_OCP_MRHOF:
+      return "MRHOF";
+    default:
+      return "Unknown";
+  }
+}
 /*---------------------------------------------------------------------------*/
 static void
 echo_reply_handler(uip_ipaddr_t *source, uint8_t ttl, uint8_t *data, uint16_t datalen)
@@ -238,7 +289,29 @@ PT_THREAD(cmd_help(struct pt *pt, shell_output_func output, char *args))
 }
 /*---------------------------------------------------------------------------*/
 static
-PT_THREAD(ipaddr(struct pt *pt, shell_output_func output, char *args))
+PT_THREAD(cmd_rpl_global_repair(struct pt *pt, shell_output_func output, char *args))
+{
+  PT_BEGIN(pt);
+
+  SHELL_OUTPUT(output, "Triggering RPL global repair\n")
+  rpl_global_repair();
+
+  PT_END(pt);
+}
+/*---------------------------------------------------------------------------*/
+static
+PT_THREAD(cmd_rpl_local_repair(struct pt *pt, shell_output_func output, char *args))
+{
+  PT_BEGIN(pt);
+
+  SHELL_OUTPUT(output, "Triggering RPL local repair\n");
+  rpl_local_repair("Shell");
+
+  PT_END(pt);
+}
+/*---------------------------------------------------------------------------*/
+static
+PT_THREAD(cmd_ipaddr(struct pt *pt, shell_output_func output, char *args))
 {
   int i;
   uint8_t state;
@@ -257,10 +330,83 @@ PT_THREAD(ipaddr(struct pt *pt, shell_output_func output, char *args))
   }
 
   PT_END(pt);
+
 }
 /*---------------------------------------------------------------------------*/
 static
-PT_THREAD(routes(struct pt *pt, shell_output_func output, char *args))
+PT_THREAD(cmd_tsch_status(struct pt *pt, shell_output_func output, char *args))
+{
+  PT_BEGIN(pt);
+
+  SHELL_OUTPUT(output, "TSCH status:\n");
+
+  SHELL_OUTPUT(output, "-- Is coordinator: %u\n", tsch_is_coordinator);
+  SHELL_OUTPUT(output, "-- Is associated: %u\n", tsch_is_associated);
+  if(tsch_is_associated) {
+    struct tsch_neighbor *n = tsch_queue_get_time_source();
+    SHELL_OUTPUT(output, "-- PAN ID: 0x%x\n", frame802154_get_pan_id());
+    SHELL_OUTPUT(output, "-- Is PAN secured: %u\n", tsch_is_pan_secured);
+    SHELL_OUTPUT(output, "-- Join priority: %u\n", tsch_join_priority);
+    SHELL_OUTPUT(output, "-- Time source: ");
+    if(n != NULL) {
+      shell_output_lladdr(output, &n->addr);
+      SHELL_OUTPUT(output, "\n");
+    } else {
+      SHELL_OUTPUT(output, "none\n");
+    }
+    SHELL_OUTPUT(output, "-- Last synchronized: %lu seconds ago\n", (clock_time() - last_sync_time) / CLOCK_SECOND);
+    SHELL_OUTPUT(output, "-- Drift w.r.t. coordinator: %ld ppm\n", tsch_adaptive_timesync_get_drift_ppm());
+  }
+
+  PT_END(pt);
+}
+/*---------------------------------------------------------------------------*/
+static
+PT_THREAD(cmd_rpl_status(struct pt *pt, shell_output_func output, char *args))
+{
+  PT_BEGIN(pt);
+
+  SHELL_OUTPUT(output, "RPL status:\n");
+  if(!curr_instance.used) {
+    SHELL_OUTPUT(output, "-- Instance: None\n");
+  } else {
+    SHELL_OUTPUT(output, "-- Instance: %u\n", curr_instance.instance_id);
+    if(rpl_dag_root_is_root()) {
+      SHELL_OUTPUT(output, "-- DAG root\n");
+    } else {
+      SHELL_OUTPUT(output, "-- DAG node\n");
+    }
+    SHELL_OUTPUT(output, "-- DAG: ");
+    shell_output_6addr(output, &curr_instance.dag.dag_id);
+    SHELL_OUTPUT(output, ", version %u\n", curr_instance.dag.version);
+    SHELL_OUTPUT(output, "-- Prefix: ");
+    shell_output_6addr(output, &curr_instance.dag.prefix_info.prefix);
+    SHELL_OUTPUT(output, "/%u\n", curr_instance.dag.prefix_info.length);
+    SHELL_OUTPUT(output, "-- MOP: %s\n", rpl_mop_to_str(curr_instance.mop));
+    SHELL_OUTPUT(output, "-- OF: %s\n", rpl_ocp_to_str(curr_instance.of->ocp));
+    SHELL_OUTPUT(output, "-- Hop rank increment: %u\n", curr_instance.min_hoprankinc);
+    SHELL_OUTPUT(output, "-- Default lifetime: %lu seconds\n", RPL_LIFETIME(curr_instance.default_lifetime));
+
+    SHELL_OUTPUT(output, "-- State: %s\n", rpl_state_to_str(curr_instance.dag.state));
+    SHELL_OUTPUT(output, "-- Preferred parent: ");
+    shell_output_6addr(output, rpl_neighbor_get_ipaddr(curr_instance.dag.preferred_parent));
+    SHELL_OUTPUT(output, "\n");
+    SHELL_OUTPUT(output, "-- Rank: %u\n", curr_instance.dag.rank);
+    SHELL_OUTPUT(output, "-- Lowest rank: %u (%u)\n", curr_instance.dag.lowest_rank, curr_instance.max_rankinc);
+    SHELL_OUTPUT(output, "-- DTSN out: %u\n", curr_instance.dtsn_out);
+    SHELL_OUTPUT(output, "-- DAO sequence: last sent %u, last acked %u\n",
+        curr_instance.dag.dao_last_seqno, curr_instance.dag.dao_last_acked_seqno);
+    SHELL_OUTPUT(output, "-- Trickle timer: current %u, min %u, max %u, redundancy %u\n",
+      curr_instance.dag.dio_intcurrent, curr_instance.dio_intmin,
+      curr_instance.dio_intmin + curr_instance.dio_intdoubl, curr_instance.dio_redundancy);
+
+  }
+
+  PT_END(pt);
+}
+/*---------------------------------------------------------------------------*/
+static
+PT_THREAD(cmd_routes(struct pt *pt, shell_output_func output, char *args))
 {
   uip_ds6_defrt_t *default_route;
 #if RPL_WITH_NON_STORING
@@ -352,12 +498,16 @@ shell_commands_init(void)
 }
 /*---------------------------------------------------------------------------*/
 struct shell_command_t shell_commands[] = {
-  { "help",          cmd_help,            "'> help': Shows this help" },
-  { "ipaddr",        ipaddr,              "'> ipaddr': Shows all IPv6 addresses" },
-  { "ping",          cmd_ping,            "'> ping addr': Pings the IPv6 address 'addr'" },
-  { "rpl-set-root",  cmd_rpl_set_root,    "'> rpl-set-root 0/1 [prefix]': Sets node as root (on) or not (off). A /64 prefix can be optionally specified." },
-  { "routes",        routes,              "'> routes': Shows the route entries" },
-  { "log",           cmd_log,             "'> log level': Sets log level (0--4). Level 4 also enables TSCH per-slot logging." },
+  { "help",                 cmd_help,                 "'> help': Shows this help" },
+  { "ipaddr",               cmd_ipaddr,                   "'> ipaddr': Shows all IPv6 addresses" },
+  { "log",                  cmd_log,                  "'> log level': Sets log level (0--4). Level 4 also enables TSCH per-slot logging." },
+  { "ping",                 cmd_ping,                 "'> ping addr': Pings the IPv6 address 'addr'" },
+  { "rpl-set-root",         cmd_rpl_set_root,         "'> rpl-set-root 0/1 [prefix]': Sets node as root (on) or not (off). A /64 prefix can be optionally specified." },
+  { "rpl-status",           cmd_rpl_status,           "'> rpl-status': Shows a summary of the current RPL state" },
+  { "rpl-global-repair",    cmd_rpl_global_repair,    "'> rpl-global-repair': Triggers a RPL global repair" },
+  { "rpl-local-repair",     cmd_rpl_local_repair,     "'> rpl-local-repair': Triggers a RPL local repair" },
+  { "routes",               cmd_routes,               "'> routes': Shows the route entries" },
+  { "tsch-status",          cmd_tsch_status,          "'> tsch-status': Shows a summary of the current TSCH state" },
   { NULL, NULL, NULL },
 };
 
diff --git a/core/net/mac/tsch/tsch-adaptive-timesync.c b/core/net/mac/tsch/tsch-adaptive-timesync.c
index 9c23e8f19..430db841d 100644
--- a/core/net/mac/tsch/tsch-adaptive-timesync.c
+++ b/core/net/mac/tsch/tsch-adaptive-timesync.c
@@ -59,6 +59,12 @@ static uint32_t asn_since_last_learning;
 /* Units in which drift is stored: ppm * 256 */
 #define TSCH_DRIFT_UNIT (1000L * 1000 * 256)
 
+/*---------------------------------------------------------------------------*/
+long int
+tsch_adaptive_timesync_get_drift_ppm(void)
+{
+  return (long int)drift_ppm / 256;
+}
 /*---------------------------------------------------------------------------*/
 /* Add a value to a moving average estimator */
 static int32_t
@@ -101,7 +107,7 @@ timesync_learn_drift_ticks(uint32_t time_delta_asn, int32_t drift_ticks)
 
   TSCH_LOG_ADD(tsch_log_message,
       snprintf(log->message, sizeof(log->message),
-          "drift %ld", (long int)drift_ppm / 256));
+          "drift %ld", tsch_adaptive_timesync_get_drift_ppm()));
 }
 /*---------------------------------------------------------------------------*/
 /* Either reset or update the neighbor's drift */
diff --git a/core/net/mac/tsch/tsch-adaptive-timesync.h b/core/net/mac/tsch/tsch-adaptive-timesync.h
index d043ca021..f928856a7 100644
--- a/core/net/mac/tsch/tsch-adaptive-timesync.h
+++ b/core/net/mac/tsch/tsch-adaptive-timesync.h
@@ -86,4 +86,6 @@ void tsch_timesync_update(struct tsch_neighbor *n, uint16_t time_delta_asn, int3
 
 int32_t tsch_timesync_adaptive_compensate(rtimer_clock_t delta_ticks);
 
+long int tsch_adaptive_timesync_get_drift_ppm(void);
+
 #endif /* __TSCH_ADAPTIVE_TIMESYNC_H__ */
diff --git a/core/net/mac/tsch/tsch-slot-operation.c b/core/net/mac/tsch/tsch-slot-operation.c
index 4b2b9faf2..d84a1998d 100644
--- a/core/net/mac/tsch/tsch-slot-operation.c
+++ b/core/net/mac/tsch/tsch-slot-operation.c
@@ -134,6 +134,7 @@ struct input_packet input_array[TSCH_MAX_INCOMING_PACKETS];
 
 /* Last time we received Sync-IE (ACK or data packet from a time source) */
 static struct tsch_asn_t last_sync_asn;
+clock_time_t last_sync_time; /* Same info, in clock_time_t units */
 
 /* A global lock for manipulating data structures safely from outside of interrupt */
 static volatile int tsch_locked = 0;
@@ -614,6 +615,7 @@ PT_THREAD(tsch_tx_slot(struct pt *pt, struct rtimer *t))
                   tsch_timesync_update(current_neighbor, since_last_timesync, drift_correction);
                   /* Keep track of sync time */
                   last_sync_asn = tsch_current_asn;
+                  last_sync_time = clock_time();
                   tsch_schedule_keepalive();
                 }
                 mac_tx_status = MAC_TX_OK;
@@ -851,6 +853,7 @@ PT_THREAD(tsch_rx_slot(struct pt *pt, struct rtimer *t))
               int32_t since_last_timesync = TSCH_ASN_DIFF(tsch_current_asn, last_sync_asn);
               /* Keep track of last sync time */
               last_sync_asn = tsch_current_asn;
+              last_sync_time = clock_time();
               /* Save estimated drift */
               drift_correction = -estimated_drift;
               is_drift_correction_used = 1;
@@ -1053,6 +1056,7 @@ tsch_slot_operation_sync(rtimer_clock_t next_slot_start,
   current_slot_start = next_slot_start;
   tsch_current_asn = *next_slot_asn;
   last_sync_asn = tsch_current_asn;
+  last_sync_time = clock_time();
   current_link = NULL;
 }
 /*---------------------------------------------------------------------------*/
diff --git a/core/net/mac/tsch/tsch-slot-operation.h b/core/net/mac/tsch/tsch-slot-operation.h
index c6af61ce2..74e054b55 100644
--- a/core/net/mac/tsch/tsch-slot-operation.h
+++ b/core/net/mac/tsch/tsch-slot-operation.h
@@ -103,6 +103,8 @@ extern struct tsch_packet *dequeued_array[TSCH_DEQUEUED_ARRAY_SIZE];
  * Will be processed layer by tsch_rx_process_pending */
 extern struct ringbufindex input_ringbuf;
 extern struct input_packet input_array[TSCH_MAX_INCOMING_PACKETS];
+/* Last clock_time_t where synchronization happened */
+extern clock_time_t last_sync_time;
 
 /********** Functions *********/
 
diff --git a/core/net/rpl-lite/rpl-dag.c b/core/net/rpl-lite/rpl-dag.c
index 9d9ee06ea..4ac21ed2e 100644
--- a/core/net/rpl-lite/rpl-dag.c
+++ b/core/net/rpl-lite/rpl-dag.c
@@ -198,8 +198,10 @@ rpl_local_repair(const char *str)
 {
   if(curr_instance.used) { /* Check needed because this is a public function */
     LOG_WARN("local repair (%s)\n", str);
+    if(!rpl_dag_root_is_root()) {
+      curr_instance.dag.state = DAG_INITIALIZED; /* Reset DAG state */
+    }
     curr_instance.of->reset(); /* Reset OF */
-    curr_instance.dag.state = DAG_INITIALIZED; /* Reset DAG state */
     link_stats_reset(); /* Forget past link statistics */
     rpl_neighbor_remove_all(); /* Remove all neighbors */
     rpl_timers_dio_reset("Local repair"); /* Reset Trickle timer */

From 385d709f3cb296e7822ff68d2b711b141ea52bed Mon Sep 17 00:00:00 2001
From: Simon Duquennoy <simon.duquennoy@gmail.com>
Date: Mon, 10 Jul 2017 17:45:31 +0200
Subject: [PATCH 14/21] cc2538 TSCH: set base drift to compensate for
 inaccuracy of running a 32k timer

---
 arch/platform/cc2538dk/contiki-conf.h        | 5 +++++
 arch/platform/openmote-cc2538/contiki-conf.h | 5 +++++
 arch/platform/zoul/contiki-conf.h            | 5 +++++
 3 files changed, 15 insertions(+)

diff --git a/arch/platform/cc2538dk/contiki-conf.h b/arch/platform/cc2538dk/contiki-conf.h
index 23e9dc60d..307b015fe 100644
--- a/arch/platform/cc2538dk/contiki-conf.h
+++ b/arch/platform/cc2538dk/contiki-conf.h
@@ -45,6 +45,11 @@ typedef uint32_t rtimer_clock_t;
 /* 192us as in datasheet but ACKs are not always received, so adjusted to 250us */
 #define RADIO_DELAY_BEFORE_RX     ((unsigned)US_TO_RTIMERTICKS(250))
 #define RADIO_DELAY_BEFORE_DETECT 0
+#ifndef TSCH_CONF_BASE_DRIFT_PPM
+/* The drift compared to "true" 10ms slots.
+ * Enable adaptive sync to enable compensation for this. */
+#define TSCH_CONF_BASE_DRIFT_PPM -977
+#endif
 /*---------------------------------------------------------------------------*/
 /**
  * \name Serial Boot Loader Backdoor configuration
diff --git a/arch/platform/openmote-cc2538/contiki-conf.h b/arch/platform/openmote-cc2538/contiki-conf.h
index 83c975b7e..d28a85ba3 100644
--- a/arch/platform/openmote-cc2538/contiki-conf.h
+++ b/arch/platform/openmote-cc2538/contiki-conf.h
@@ -84,6 +84,11 @@ typedef uint32_t rtimer_clock_t;
 /* 192us as in datasheet but ACKs are not always received, so adjusted to 250us */
 #define RADIO_DELAY_BEFORE_RX     ((unsigned)US_TO_RTIMERTICKS(250))
 #define RADIO_DELAY_BEFORE_DETECT 0
+#ifndef TSCH_CONF_BASE_DRIFT_PPM
+/* The drift compared to "true" 10ms slots.
+ * Enable adaptive sync to enable compensation for this. */
+#define TSCH_CONF_BASE_DRIFT_PPM -977
+#endif
 /*---------------------------------------------------------------------------*/
 /**
  * \name Serial Boot Loader Backdoor configuration
diff --git a/arch/platform/zoul/contiki-conf.h b/arch/platform/zoul/contiki-conf.h
index 59ab8a665..38b34e5ad 100644
--- a/arch/platform/zoul/contiki-conf.h
+++ b/arch/platform/zoul/contiki-conf.h
@@ -82,6 +82,11 @@ typedef uint32_t rtimer_clock_t;
 /* 192us as in datasheet but ACKs are not always received, so adjusted to 250us */
 #define RADIO_DELAY_BEFORE_RX     ((unsigned)US_TO_RTIMERTICKS(250))
 #define RADIO_DELAY_BEFORE_DETECT 0
+#ifndef TSCH_CONF_BASE_DRIFT_PPM
+/* The drift compared to "true" 10ms slots.
+ * Enable adaptive sync to enable compensation for this. */
+#define TSCH_CONF_BASE_DRIFT_PPM -977
+#endif
 /*---------------------------------------------------------------------------*/
 /**
  * \name Serial Boot Loader Backdoor configuration

From 38ce63a61452abcbc359495b897d2f32e0ec7c28 Mon Sep 17 00:00:00 2001
From: Simon Duquennoy <simon.duquennoy@gmail.com>
Date: Tue, 11 Jul 2017 15:44:48 +0200
Subject: [PATCH 15/21] jn516x: minor fixes

---
 arch/platform/jn516x/lib/sprintf.c |  8 +++++---
 core/net/rpl-lite/rpl-ext-header.c | 10 +++++-----
 2 files changed, 10 insertions(+), 8 deletions(-)

diff --git a/arch/platform/jn516x/lib/sprintf.c b/arch/platform/jn516x/lib/sprintf.c
index 500951e92..ed93f9885 100644
--- a/arch/platform/jn516x/lib/sprintf.c
+++ b/arch/platform/jn516x/lib/sprintf.c
@@ -92,10 +92,12 @@ vsnprintf(char *str, size_t n, const char *fmt, __VALIST va)
         ch = *(fmt++);
         lz = 1;
       }
-      if(ch >= '0' && ch <= '9') {
+      if(ch == '-' || (ch >= '0' && ch <= '9')) {
         w = 0;
-        while(ch >= '0' && ch <= '9') {
-          w = (((w << 2) + w) << 1) + ch - '0';
+        while(ch == '-' || (ch >= '0' && ch <= '9')) {
+          if(ch != '-') {
+            w = (((w << 2) + w) << 1) + ch - '0';
+          }
           ch = *fmt++;
         }
       }
diff --git a/core/net/rpl-lite/rpl-ext-header.c b/core/net/rpl-lite/rpl-ext-header.c
index d16de80b3..55c66f5ab 100644
--- a/core/net/rpl-lite/rpl-ext-header.c
+++ b/core/net/rpl-lite/rpl-ext-header.c
@@ -365,14 +365,14 @@ rpl_ext_header_hbh_update(int uip_ext_opt_offset)
   uint16_t sender_rank;
   uint8_t sender_closer;
   rpl_nbr_t *sender;
+  uint8_t opt_type = UIP_EXT_HDR_OPT_RPL_BUF->opt_type;
+  uint8_t opt_len = UIP_EXT_HDR_OPT_RPL_BUF->opt_len;
 
   if(UIP_HBHO_BUF->len != ((RPL_HOP_BY_HOP_LEN - 8) / 8)
-      || UIP_EXT_HDR_OPT_RPL_BUF->opt_type != UIP_EXT_HDR_OPT_RPL
-      || UIP_EXT_HDR_OPT_RPL_BUF->opt_len != RPL_HDR_OPT_LEN) {
-
+      || opt_type != UIP_EXT_HDR_OPT_RPL
+      || opt_len != RPL_HDR_OPT_LEN) {
     LOG_ERR("hop-by-hop extension header has wrong size or type (%u %u %u)\n",
-        UIP_HBHO_BUF->len, UIP_EXT_HDR_OPT_RPL_BUF->opt_type,
-        UIP_EXT_HDR_OPT_RPL_BUF->opt_len);
+        UIP_HBHO_BUF->len, opt_type, opt_len);
     return 0; /* Drop */
   }
 

From c6537820b1c37fdcf90399d39008757775154a58 Mon Sep 17 00:00:00 2001
From: Simon Duquennoy <simon.duquennoy@gmail.com>
Date: Fri, 14 Jul 2017 14:29:17 +0200
Subject: [PATCH 16/21] Minor rpl-lite fixes for DAG leaving/joining

---
 apps/shell/shell-commands.c   |   2 +-
 core/net/rpl-lite/rpl-dag.c   | 180 ++++++++++++++++++----------------
 core/net/rpl-lite/rpl-dag.h   |   5 +
 core/net/rpl-lite/rpl-icmp6.c |  17 +++-
 4 files changed, 114 insertions(+), 90 deletions(-)

diff --git a/apps/shell/shell-commands.c b/apps/shell/shell-commands.c
index c1cf3d9ee..9e8c27eb7 100644
--- a/apps/shell/shell-commands.c
+++ b/apps/shell/shell-commands.c
@@ -220,7 +220,7 @@ PT_THREAD(cmd_rpl_set_root(struct pt *pt, shell_output_func output, char *args))
   } else {
     if(rpl_dag_root_is_root()) {
       SHELL_OUTPUT(output, "Setting as non-root node: leaving DAG\n");
-      rpl_dag_leave();
+      rpl_dag_poison_and_leave();
     } else {
       SHELL_OUTPUT(output, "Node is not a DAG root\n");
     }
diff --git a/core/net/rpl-lite/rpl-dag.c b/core/net/rpl-lite/rpl-dag.c
index 4ac21ed2e..7c4c3f299 100644
--- a/core/net/rpl-lite/rpl-dag.c
+++ b/core/net/rpl-lite/rpl-dag.c
@@ -88,8 +88,10 @@ rpl_dag_leave(void)
   LOG_INFO_(", instance %u\n", curr_instance.instance_id);
 
   /* Issue a no-path DAO */
-  RPL_LOLLIPOP_INCREMENT(curr_instance.dag.dao_curr_seqno);
-  rpl_icmp6_dao_output(0);
+  if(!rpl_dag_root_is_root()) {
+    RPL_LOLLIPOP_INCREMENT(curr_instance.dag.dao_curr_seqno);
+    rpl_icmp6_dao_output(0);
+  }
 
   /* Forget past link statistics */
   link_stats_reset();
@@ -111,6 +113,13 @@ rpl_dag_leave(void)
 }
 /*---------------------------------------------------------------------------*/
 void
+rpl_dag_poison_and_leave(void)
+{
+  curr_instance.dag.state = DAG_POISONING;
+  rpl_timers_schedule_state_update();
+}
+/*---------------------------------------------------------------------------*/
+void
 rpl_dag_periodic(unsigned seconds)
 {
   if(curr_instance.used) {
@@ -223,97 +232,98 @@ rpl_dag_ready_to_advertise(void)
 void
 rpl_dag_update_state(void)
 {
-  if(curr_instance.used) {
-    if(!rpl_dag_root_is_root()) {
-      rpl_nbr_t *old_parent = curr_instance.dag.preferred_parent;
-      rpl_rank_t old_rank = curr_instance.dag.rank;
+  rpl_rank_t old_rank;
 
-      /* Any scheduled state update is no longer needed */
-      rpl_timers_unschedule_state_update();
+  if(!curr_instance.used) {
+    return;
+  }
 
-      if(curr_instance.dag.state == DAG_POISONING) {
-        rpl_neighbor_set_preferred_parent(NULL);
-        curr_instance.dag.rank = RPL_INFINITE_RANK;
-        if(old_rank != RPL_INFINITE_RANK) {
-          /* Advertise that we are leaving, and leave after a delay */
-          LOG_WARN("poisoning and leaving after a delay\n");
-          rpl_timers_dio_reset("Poison routes");
-          rpl_timers_schedule_leaving();
+  old_rank = curr_instance.dag.rank;
+  /* Any scheduled state update is no longer needed */
+  rpl_timers_unschedule_state_update();
+
+  if(curr_instance.dag.state == DAG_POISONING) {
+    rpl_neighbor_set_preferred_parent(NULL);
+    curr_instance.dag.rank = RPL_INFINITE_RANK;
+    if(old_rank != RPL_INFINITE_RANK) {
+      /* Advertise that we are leaving, and leave after a delay */
+      LOG_WARN("poisoning and leaving after a delay\n");
+      rpl_timers_dio_reset("Poison routes");
+      rpl_timers_schedule_leaving();
+    }
+  } else if(!rpl_dag_root_is_root()) {
+    rpl_nbr_t *old_parent = curr_instance.dag.preferred_parent;
+    rpl_nbr_t *nbr;
+
+    /* Select and set preferred parent */
+    rpl_neighbor_set_preferred_parent(rpl_neighbor_select_best());
+    /* Update rank  */
+    curr_instance.dag.rank = rpl_neighbor_rank_via_nbr(curr_instance.dag.preferred_parent);
+
+    /* Update better_parent_since flag for each neighbor */
+    nbr = nbr_table_head(rpl_neighbors);
+    while(nbr != NULL) {
+      if(rpl_neighbor_rank_via_nbr(nbr) < curr_instance.dag.rank) {
+        /* This neighbor would be a better parent than our current.
+        Set 'better_parent_since' if not already set. */
+        if(nbr->better_parent_since == 0) {
+          nbr->better_parent_since = clock_time(); /* Initialize */
         }
       } else {
-        rpl_nbr_t *nbr;
-
-        /* Select and set preferred parent */
-        rpl_neighbor_set_preferred_parent(rpl_neighbor_select_best());
-        /* Update rank  */
-        curr_instance.dag.rank = rpl_neighbor_rank_via_nbr(curr_instance.dag.preferred_parent);
-
-        /* Update better_parent_since flag for each neighbor */
-        nbr = nbr_table_head(rpl_neighbors);
-        while(nbr != NULL) {
-          if(rpl_neighbor_rank_via_nbr(nbr) < curr_instance.dag.rank) {
-            /* This neighbor would be a better parent than our current.
-            Set 'better_parent_since' if not already set. */
-            if(nbr->better_parent_since == 0) {
-              nbr->better_parent_since = clock_time(); /* Initialize */
-            }
-          } else {
-            nbr->better_parent_since = 0; /* Not a better parent */
-          }
-          nbr = nbr_table_next(rpl_neighbors, nbr);
-        }
-
-        if(old_parent == NULL || curr_instance.dag.rank < curr_instance.dag.lowest_rank) {
-          /* This is a slight departure from RFC6550: if we had no preferred parent before,
-           * reset lowest_rank. This helps recovering from temporary bad link conditions. */
-          curr_instance.dag.lowest_rank = curr_instance.dag.rank;
-        }
-
-        /* Reset DIO timer in case of significant rank update */
-        if(curr_instance.dag.last_advertised_rank != RPL_INFINITE_RANK
-            && curr_instance.dag.rank != RPL_INFINITE_RANK
-            && ABS((int32_t)curr_instance.dag.rank - curr_instance.dag.last_advertised_rank) > RPL_SIGNIFICANT_CHANGE_THRESHOLD) {
-          LOG_WARN("significant rank update %u->%u\n",
-              curr_instance.dag.last_advertised_rank, curr_instance.dag.rank);
-          /* Update already here to avoid multiple resets in a row */
-          curr_instance.dag.last_advertised_rank = curr_instance.dag.rank;
-          rpl_timers_dio_reset("Significant rank update");
-        }
-
-        /* Parent switch */
-        if(curr_instance.dag.preferred_parent != old_parent) {
-          /* We just got a parent (was NULL), reset trickle timer to advertise this */
-          if(old_parent == NULL) {
-            curr_instance.dag.state = DAG_JOINED;
-            rpl_timers_dio_reset("Got parent");
-            LOG_WARN("found parent: ");
-            LOG_WARN_6ADDR(rpl_neighbor_get_ipaddr(curr_instance.dag.preferred_parent));
-            LOG_WARN_(", staying in DAG\n");
-            rpl_timers_unschedule_leaving();
-          }
-
-          /* Schedule a DAO */
-          if(curr_instance.dag.preferred_parent != NULL) {
-            rpl_timers_schedule_dao();
-          } else {
-            /* We have no more parent, schedule DIS to get a chance to hear updated state */
-            curr_instance.dag.state = DAG_INITIALIZED;
-            LOG_WARN("no parent, scheduling periodic DIS, will leave if no parent is found\n");
-            rpl_timers_dio_reset("Poison routes");
-            rpl_timers_schedule_periodic_dis();
-            rpl_timers_schedule_leaving();
-          }
-
-  #if LOG_INFO_ENABLED
-          rpl_neighbor_print_list("Parent switch");
-  #endif /* LOG_INFO_ENABLED */
-        }
+        nbr->better_parent_since = 0; /* Not a better parent */
       }
+      nbr = nbr_table_next(rpl_neighbors, nbr);
     }
 
-    /* Finally, update metric container */
-    curr_instance.of->update_metric_container();
+    if(old_parent == NULL || curr_instance.dag.rank < curr_instance.dag.lowest_rank) {
+      /* This is a slight departure from RFC6550: if we had no preferred parent before,
+       * reset lowest_rank. This helps recovering from temporary bad link conditions. */
+      curr_instance.dag.lowest_rank = curr_instance.dag.rank;
+    }
+
+    /* Reset DIO timer in case of significant rank update */
+    if(curr_instance.dag.last_advertised_rank != RPL_INFINITE_RANK
+        && curr_instance.dag.rank != RPL_INFINITE_RANK
+        && ABS((int32_t)curr_instance.dag.rank - curr_instance.dag.last_advertised_rank) > RPL_SIGNIFICANT_CHANGE_THRESHOLD) {
+      LOG_WARN("significant rank update %u->%u\n",
+          curr_instance.dag.last_advertised_rank, curr_instance.dag.rank);
+      /* Update already here to avoid multiple resets in a row */
+      curr_instance.dag.last_advertised_rank = curr_instance.dag.rank;
+      rpl_timers_dio_reset("Significant rank update");
+    }
+
+    /* Parent switch */
+    if(curr_instance.dag.preferred_parent != old_parent) {
+      /* We just got a parent (was NULL), reset trickle timer to advertise this */
+      if(old_parent == NULL) {
+        curr_instance.dag.state = DAG_JOINED;
+        rpl_timers_dio_reset("Got parent");
+        LOG_WARN("found parent: ");
+        LOG_WARN_6ADDR(rpl_neighbor_get_ipaddr(curr_instance.dag.preferred_parent));
+        LOG_WARN_(", staying in DAG\n");
+        rpl_timers_unschedule_leaving();
+      }
+
+      /* Schedule a DAO */
+      if(curr_instance.dag.preferred_parent != NULL) {
+        rpl_timers_schedule_dao();
+      } else {
+        /* We have no more parent, schedule DIS to get a chance to hear updated state */
+        curr_instance.dag.state = DAG_INITIALIZED;
+        LOG_WARN("no parent, scheduling periodic DIS, will leave if no parent is found\n");
+        rpl_timers_dio_reset("Poison routes");
+        rpl_timers_schedule_periodic_dis();
+        rpl_timers_schedule_leaving();
+      }
+
+#if LOG_INFO_ENABLED
+      rpl_neighbor_print_list("Parent switch");
+#endif /* LOG_INFO_ENABLED */
+    }
   }
+
+  /* Finally, update metric container */
+  curr_instance.of->update_metric_container();
 }
 /*---------------------------------------------------------------------------*/
 static rpl_nbr_t *
diff --git a/core/net/rpl-lite/rpl-dag.h b/core/net/rpl-lite/rpl-dag.h
index e7cd0332f..07ef3ca66 100644
--- a/core/net/rpl-lite/rpl-dag.h
+++ b/core/net/rpl-lite/rpl-dag.h
@@ -57,6 +57,11 @@
  * \return The description string
 */
 const char *rpl_dag_state_to_str(enum rpl_dag_state state);
+/**
+ * Start poisoning and leave the DAG after a delay
+ *
+*/
+void rpl_dag_poison_and_leave(void);
 /**
  * Leaves the current DAG
  *
diff --git a/core/net/rpl-lite/rpl-icmp6.c b/core/net/rpl-lite/rpl-icmp6.c
index 1e54c2237..756689bbd 100644
--- a/core/net/rpl-lite/rpl-icmp6.c
+++ b/core/net/rpl-lite/rpl-icmp6.c
@@ -557,10 +557,19 @@ rpl_icmp6_dao_output(uint8_t lifetime)
   /* Make sure we're up-to-date before sending data out */
   rpl_dag_update_state();
 
-  if(!curr_instance.used || curr_instance.dag.preferred_parent == NULL
-    || prefix == NULL || parent_ipaddr == NULL || curr_instance.mop == RPL_MOP_NO_DOWNWARD_ROUTES) {
-    LOG_WARN("rpl_icmp6_dao_output: node not ready to send a DAO (used %u, pref parent %u, prefix %u, mop %u)\n",
-        curr_instance.used, curr_instance.dag.preferred_parent != NULL && parent_ipaddr != NULL, prefix != NULL, curr_instance.mop);
+  if(!curr_instance.used) {
+    LOG_WARN("rpl_icmp6_dao_output: not in an instance, skip sending DAO\n");
+    return;
+  }
+
+  if(curr_instance.dag.preferred_parent == NULL) {
+    LOG_WARN("rpl_icmp6_dao_output: no preferred parent, skip sending DAO\n");
+    return;
+  }
+
+  if(prefix == NULL || parent_ipaddr == NULL || curr_instance.mop == RPL_MOP_NO_DOWNWARD_ROUTES) {
+    LOG_WARN("rpl_icmp6_dao_output: node not ready to send a DAO (prefix %p, parent addr %p, mop %u)\n",
+                    prefix, parent_ipaddr, curr_instance.mop);
     return;
   }
 

From a223022a747f20e47d12d6211cdb83deaa4a1e4a Mon Sep 17 00:00:00 2001
From: Simon Duquennoy <simon.duquennoy@gmail.com>
Date: Fri, 14 Jul 2017 14:29:38 +0200
Subject: [PATCH 17/21] rpl-lite: fix delayed DAG leaving

---
 core/net/rpl-lite/rpl-timers.c | 2 +-
 1 file changed, 1 insertion(+), 1 deletion(-)

diff --git a/core/net/rpl-lite/rpl-timers.c b/core/net/rpl-lite/rpl-timers.c
index 36a5b6267..fc236be14 100644
--- a/core/net/rpl-lite/rpl-timers.c
+++ b/core/net/rpl-lite/rpl-timers.c
@@ -483,7 +483,7 @@ rpl_timers_schedule_leaving(void)
 {
   if(curr_instance.used) {
     if(ctimer_expired(&curr_instance.dag.leave)) {
-      ctimer_set(&curr_instance.dag.leave, PERIODIC_DELAY, handle_leaving_timer, NULL);
+      ctimer_set(&curr_instance.dag.leave, RPL_DELAY_BEFORE_LEAVING, handle_leaving_timer, NULL);
     }
   }
 }

From 2fdc1d9134f5dacfbcf0d181065d0666121f4c24 Mon Sep 17 00:00:00 2001
From: Simon Duquennoy <simon.duquennoy@gmail.com>
Date: Fri, 14 Jul 2017 14:41:42 +0200
Subject: [PATCH 18/21] 6LoWPAN: discard empty packet

---
 core/net/ipv6/sicslowpan.c | 5 +++++
 1 file changed, 5 insertions(+)

diff --git a/core/net/ipv6/sicslowpan.c b/core/net/ipv6/sicslowpan.c
index 95064e8ea..c5ccf91b1 100644
--- a/core/net/ipv6/sicslowpan.c
+++ b/core/net/ipv6/sicslowpan.c
@@ -1726,6 +1726,11 @@ input(void)
   /* The MAC puts the 15.4 payload inside the packetbuf data buffer */
   packetbuf_ptr = packetbuf_dataptr();
 
+  if(packetbuf_datalen() == 0) {
+    LOG_WARN("empty packet\n");
+    return;
+  }
+
   /* This is default uip_buf since we assume that this is not fragmented */
   buffer = (uint8_t *)UIP_IP_BUF;
 

From 48c809a32077e6819b6655263a9f2c8b62f02692 Mon Sep 17 00:00:00 2001
From: Simon Duquennoy <simon.duquennoy@gmail.com>
Date: Sat, 15 Jul 2017 09:49:39 +0200
Subject: [PATCH 19/21] Shell: added command to print tsch schedule

Conflicts:
	apps/shell/shell-commands.c
---
 apps/shell/shell-commands.c       | 37 +++++++++++++++++++++++++++++++
 core/net/mac/tsch/tsch-schedule.c | 12 ++++++++++
 core/net/mac/tsch/tsch-schedule.h |  3 +++
 3 files changed, 52 insertions(+)

diff --git a/apps/shell/shell-commands.c b/apps/shell/shell-commands.c
index 9e8c27eb7..48edf55e0 100644
--- a/apps/shell/shell-commands.c
+++ b/apps/shell/shell-commands.c
@@ -489,6 +489,42 @@ PT_THREAD(cmd_routes(struct pt *pt, shell_output_func output, char *args))
   PT_END(pt);
 }
 /*---------------------------------------------------------------------------*/
+static
+PT_THREAD(cmd_tsch_schedule(struct pt *pt, shell_output_func output, char *args))
+{
+  struct tsch_slotframe *sf;
+
+  PT_BEGIN(pt);
+
+  if(tsch_is_locked()) {
+    PT_EXIT(pt);
+  }
+
+  sf = tsch_schedule_slotframe_head();
+
+  if(sf == NULL) {
+    SHELL_OUTPUT(output, "TSCH schedule: no slotframe\n");
+  } else {
+    SHELL_OUTPUT(output, "TSCH schedule:\n");
+    while(sf != NULL) {
+      struct tsch_link *l = list_head(sf->links_list);
+
+      SHELL_OUTPUT(output, "-- Slotframe: handle %u, size %u, links:\n", sf->handle, sf->size.val);
+
+      while(l != NULL) {
+        SHELL_OUTPUT(output, "---- Options %02x, type %u, timeslot %u, channel offset %u, address ",
+               l->link_options, l->link_type, l->timeslot, l->channel_offset);
+        shell_output_lladdr(output, &l->addr);
+        SHELL_OUTPUT(output, "\n");
+        l = list_item_next(l);
+      }
+
+      sf = tsch_schedule_slotframe_next(sf);
+    }
+  }
+  PT_END(pt);
+}
+/*---------------------------------------------------------------------------*/
 void
 shell_commands_init(void)
 {
@@ -507,6 +543,7 @@ struct shell_command_t shell_commands[] = {
   { "rpl-global-repair",    cmd_rpl_global_repair,    "'> rpl-global-repair': Triggers a RPL global repair" },
   { "rpl-local-repair",     cmd_rpl_local_repair,     "'> rpl-local-repair': Triggers a RPL local repair" },
   { "routes",               cmd_routes,               "'> routes': Shows the route entries" },
+  { "tsch-schedule",        cmd_tsch_schedule,        "'> tsch-schedule': Shows the current TSCH schedule" },
   { "tsch-status",          cmd_tsch_status,          "'> tsch-status': Shows a summary of the current TSCH state" },
   { NULL, NULL, NULL },
 };
diff --git a/core/net/mac/tsch/tsch-schedule.c b/core/net/mac/tsch/tsch-schedule.c
index 378a34ff8..3ea8a1b43 100644
--- a/core/net/mac/tsch/tsch-schedule.c
+++ b/core/net/mac/tsch/tsch-schedule.c
@@ -418,6 +418,18 @@ tsch_schedule_create_minimal(void)
       0, 0);
 }
 /*---------------------------------------------------------------------------*/
+struct tsch_slotframe *
+tsch_schedule_slotframe_head(void)
+{
+  return list_head(slotframe_list);
+}
+/*---------------------------------------------------------------------------*/
+struct tsch_slotframe *
+tsch_schedule_slotframe_next(struct tsch_slotframe *sf)
+{
+  return list_item_next(sf);
+}
+/*---------------------------------------------------------------------------*/
 /* Prints out the current schedule (all slotframes and links) */
 void
 tsch_schedule_print(void)
diff --git a/core/net/mac/tsch/tsch-schedule.h b/core/net/mac/tsch/tsch-schedule.h
index 75f757e66..1099664a9 100644
--- a/core/net/mac/tsch/tsch-schedule.h
+++ b/core/net/mac/tsch/tsch-schedule.h
@@ -160,5 +160,8 @@ int tsch_schedule_remove_link_by_timeslot(struct tsch_slotframe *slotframe, uint
 /* Returns the next active link after a given ASN, and a backup link (for the same ASN, with Rx flag) */
 struct tsch_link * tsch_schedule_get_next_active_link(struct tsch_asn_t *asn, uint16_t *time_offset,
     struct tsch_link **backup_link);
+/* Access to slotframe list */
+struct tsch_slotframe *tsch_schedule_slotframe_head(void);
+struct tsch_slotframe *tsch_schedule_slotframe_next(struct tsch_slotframe *sf);
 
 #endif /* __TSCH_SCHEDULE_H__ */

From 2847a05e0ac20eb11c841ef04c538c7a5744e892 Mon Sep 17 00:00:00 2001
From: Simon Duquennoy <simon.duquennoy@gmail.com>
Date: Sat, 15 Jul 2017 12:35:59 +0200
Subject: [PATCH 20/21] Shell: new command to show list of IPv6 nbrs

---
 apps/shell/shell-commands.c | 51 ++++++++++++++++++++++++++++++++++++-
 core/net/ipv6/uip-ds6-nbr.c | 12 +++++++++
 core/net/ipv6/uip-ds6-nbr.h |  2 ++
 3 files changed, 64 insertions(+), 1 deletion(-)

diff --git a/apps/shell/shell-commands.c b/apps/shell/shell-commands.c
index 48edf55e0..3d53f7d94 100644
--- a/apps/shell/shell-commands.c
+++ b/apps/shell/shell-commands.c
@@ -72,6 +72,25 @@ static struct process *curr_ping_process;
 static uint8_t curr_ping_ttl;
 static uint16_t curr_ping_datalen;
 
+/*---------------------------------------------------------------------------*/
+static const char *
+ds6_nbr_state_to_str(uint8_t state)
+{
+  switch(state) {
+    case NBR_INCOMPLETE:
+      return "Incomplete";
+    case NBR_REACHABLE:
+      return "Reachable";
+    case NBR_STALE:
+      return "Stale";
+    case NBR_DELAY:
+      return "Delay";
+    case NBR_PROBE:
+      return "Probe";
+    default:
+      return "Unknown";
+  }
+}
 /*---------------------------------------------------------------------------*/
 static const char *
 rpl_state_to_str(enum rpl_dag_state state)
@@ -331,6 +350,35 @@ PT_THREAD(cmd_ipaddr(struct pt *pt, shell_output_func output, char *args))
 
   PT_END(pt);
 
+}
+/*---------------------------------------------------------------------------*/
+static
+PT_THREAD(cmd_ip_neighbors(struct pt *pt, shell_output_func output, char *args))
+{
+  uip_ds6_nbr_t *nbr;
+
+  PT_BEGIN(pt);
+
+  nbr = uip_ds6_nbr_head();
+  if(nbr == NULL) {
+    SHELL_OUTPUT(output, "Node IPv6 neighbors: none\n");
+    PT_EXIT(pt);
+  }
+
+  SHELL_OUTPUT(output, "Node IPv6 neighbors:\n");
+  while(nbr != NULL) {
+    SHELL_OUTPUT(output, "-- ");
+    shell_output_6addr(output, uip_ds6_nbr_get_ipaddr(nbr));
+    SHELL_OUTPUT(output, " <-> ");
+    shell_output_lladdr(output, (linkaddr_t *)uip_ds6_nbr_get_ll(nbr));
+    SHELL_OUTPUT(output, ", router %u, state %s ",
+      nbr->isrouter, ds6_nbr_state_to_str(nbr->state));
+    SHELL_OUTPUT(output, "\n");
+    nbr = uip_ds6_nbr_next(nbr);
+  }
+
+  PT_END(pt);
+
 }
 /*---------------------------------------------------------------------------*/
 static
@@ -535,7 +583,8 @@ shell_commands_init(void)
 /*---------------------------------------------------------------------------*/
 struct shell_command_t shell_commands[] = {
   { "help",                 cmd_help,                 "'> help': Shows this help" },
-  { "ipaddr",               cmd_ipaddr,                   "'> ipaddr': Shows all IPv6 addresses" },
+  { "ip-addr",               cmd_ipaddr,               "'> ip-addr': Shows all IPv6 addresses" },
+  { "ip-nbr",         cmd_ip_neighbors,         "'> ip-nbr': Shows all IPv6 neighbors" },
   { "log",                  cmd_log,                  "'> log level': Sets log level (0--4). Level 4 also enables TSCH per-slot logging." },
   { "ping",                 cmd_ping,                 "'> ping addr': Pings the IPv6 address 'addr'" },
   { "rpl-set-root",         cmd_rpl_set_root,         "'> rpl-set-root 0/1 [prefix]': Sets node as root (on) or not (off). A /64 prefix can be optionally specified." },
diff --git a/core/net/ipv6/uip-ds6-nbr.c b/core/net/ipv6/uip-ds6-nbr.c
index 90ff7e27e..7091e497c 100644
--- a/core/net/ipv6/uip-ds6-nbr.c
+++ b/core/net/ipv6/uip-ds6-nbr.c
@@ -161,6 +161,18 @@ uip_ds6_nbr_num(void)
 }
 /*---------------------------------------------------------------------------*/
 uip_ds6_nbr_t *
+uip_ds6_nbr_head(void)
+{
+  return nbr_table_head(ds6_neighbors);
+}
+/*---------------------------------------------------------------------------*/
+uip_ds6_nbr_t *
+uip_ds6_nbr_next(uip_ds6_nbr_t *nbr)
+{
+  return nbr_table_next(ds6_neighbors, nbr);
+}
+/*---------------------------------------------------------------------------*/
+uip_ds6_nbr_t *
 uip_ds6_nbr_lookup(const uip_ipaddr_t *ipaddr)
 {
   uip_ds6_nbr_t *nbr = nbr_table_head(ds6_neighbors);
diff --git a/core/net/ipv6/uip-ds6-nbr.h b/core/net/ipv6/uip-ds6-nbr.h
index e4a2fee42..6e199a11f 100644
--- a/core/net/ipv6/uip-ds6-nbr.h
+++ b/core/net/ipv6/uip-ds6-nbr.h
@@ -97,6 +97,8 @@ const uip_lladdr_t *uip_ds6_nbr_lladdr_from_ipaddr(const uip_ipaddr_t *ipaddr);
 void uip_ds6_link_callback(int status, int numtx);
 void uip_ds6_neighbor_periodic(void);
 int uip_ds6_nbr_num(void);
+uip_ds6_nbr_t *uip_ds6_nbr_head(void);
+uip_ds6_nbr_t *uip_ds6_nbr_next(uip_ds6_nbr_t *nbr);
 
 #if UIP_ND6_SEND_NS
 /**

From 8966460b1f29e6289716a56651799063b8371fdb Mon Sep 17 00:00:00 2001
From: Simon Duquennoy <simon.duquennoy@gmail.com>
Date: Sat, 15 Jul 2017 15:19:09 +0200
Subject: [PATCH 21/21] Added per-module runtime log level configuration

---
 apps/shell/shell-commands.c           | 54 ++++++++++++++++++++-------
 core/net/ip/tcpip.c                   |  2 +-
 core/net/ipv6/sicslowpan.c            |  2 +-
 core/net/ipv6/uip-ds6-nbr.c           |  2 +-
 core/net/ipv6/uip-ds6-route.c         |  2 +-
 core/net/ipv6/uip-ds6.c               |  2 +-
 core/net/ipv6/uip-icmp6.c             |  2 +-
 core/net/ipv6/uip-nd6.c               |  2 +-
 core/net/ipv6/uip6.c                  |  2 +-
 core/net/ipv6/websocket-http-client.c |  2 +-
 core/net/ipv6/websocket.c             |  2 +-
 core/net/mac/csma/csma-output.c       |  2 +-
 core/net/mac/csma/csma.c              |  2 +-
 core/net/mac/framer/frame802154e-ie.c |  2 +-
 core/net/mac/framer/framer-802154.c   |  2 +-
 core/net/mac/mac.c                    |  2 +-
 core/net/mac/tsch/tsch-log.h          |  2 +-
 core/net/mac/tsch/tsch-packet.c       |  2 +-
 core/net/mac/tsch/tsch-queue.c        |  2 +-
 core/net/mac/tsch/tsch-rpl.c          |  2 +-
 core/net/mac/tsch/tsch-schedule.c     |  2 +-
 core/net/mac/tsch/tsch.c              |  2 +-
 core/net/rpl-lite/rpl-dag-root.c      |  2 +-
 core/net/rpl-lite/rpl-dag.c           |  2 +-
 core/net/rpl-lite/rpl-ext-header.c    |  2 +-
 core/net/rpl-lite/rpl-icmp6.c         |  2 +-
 core/net/rpl-lite/rpl-mrhof.c         |  2 +-
 core/net/rpl-lite/rpl-nbr-policy.c    |  2 +-
 core/net/rpl-lite/rpl-neighbor.c      |  2 +-
 core/net/rpl-lite/rpl-ns.c            |  2 +-
 core/net/rpl-lite/rpl-of0.c           |  2 +-
 core/net/rpl-lite/rpl-timers.c        |  2 +-
 core/net/rpl-lite/rpl.c               |  2 +-
 core/sys/log-conf.h                   | 36 +++++++++---------
 core/sys/log.c                        | 40 +++++++++++++++++---
 core/sys/log.h                        | 39 +++++++++++++++----
 examples/ipv6/rpl-tsch/node.c         |  2 +-
 examples/ipv6/rpl-tsch/project-conf.h | 14 +++----
 examples/logging/project-conf.h       | 11 +++---
 39 files changed, 170 insertions(+), 90 deletions(-)

diff --git a/apps/shell/shell-commands.c b/apps/shell/shell-commands.c
index 3d53f7d94..89e4bf79f 100644
--- a/apps/shell/shell-commands.c
+++ b/apps/shell/shell-commands.c
@@ -248,6 +248,19 @@ PT_THREAD(cmd_rpl_set_root(struct pt *pt, shell_output_func output, char *args))
   PT_END(pt);
 }
 /*---------------------------------------------------------------------------*/
+static void
+shell_output_log_levels(shell_output_func output)
+{
+  int i = 0;
+  SHELL_OUTPUT(output, "Log levels:\n");
+  while(all_modules[i].name != NULL) {
+    SHELL_OUTPUT(output, "-- %-10s: %s\n",
+      all_modules[i].name,
+      log_level_to_str(*all_modules[i].curr_log_level));
+    i++;
+  }
+}
+/*---------------------------------------------------------------------------*/
 static
 PT_THREAD(cmd_log(struct pt *pt, shell_output_func output, char *args))
 {
@@ -255,12 +268,23 @@ PT_THREAD(cmd_log(struct pt *pt, shell_output_func output, char *args))
   static int level;
   char *next_args;
   char *ptr;
+  char *module;
 
   PT_BEGIN(pt);
 
   SHELL_ARGS_INIT(args, next_args);
 
-  /* Get and parse argument */
+  /* Get and parse argument: module name */
+  SHELL_ARGS_NEXT(args, next_args);
+  module = args;
+  prev_level = log_get_level(module);
+  if(module == NULL || (strcmp("all", module) && prev_level == -1)) {
+    SHELL_OUTPUT(output, "Invalid first argument: %s\n", module)
+    shell_output_log_levels(output);
+    PT_EXIT(pt);
+  }
+
+  /* Get and parse argument: log level */
   SHELL_ARGS_NEXT(args, next_args);
   if(args == NULL) {
     level = -1;
@@ -269,23 +293,25 @@ PT_THREAD(cmd_log(struct pt *pt, shell_output_func output, char *args))
   }
   if((level == 0 && args == ptr)
     || level < LOG_LEVEL_NONE || level > LOG_LEVEL_DBG) {
-    SHELL_OUTPUT(output, "Invalid argument: %s\n", args);
+    SHELL_OUTPUT(output, "Invalid second argument: %s\n", args);
     PT_EXIT(pt);
   }
 
   /* Set log level */
-  prev_level = log_get_level();
   if(level != prev_level) {
-    log_set_level(level);
-    if(level >= LOG_LEVEL_DBG) {
-      tsch_log_init();
-      SHELL_OUTPUT(output, "TSCH logging started\n");
-    } else {
-      tsch_log_stop();
-      SHELL_OUTPUT(output, "TSCH logging stopped\n");
+    log_set_level(module, level);
+    if(!strcmp(module, "mac") || !strcmp(module, "all")) {
+      if(level >= LOG_LEVEL_DBG) {
+        tsch_log_init();
+        SHELL_OUTPUT(output, "TSCH logging started\n");
+      } else {
+        tsch_log_stop();
+        SHELL_OUTPUT(output, "TSCH logging stopped\n");
+      }
     }
   }
-  SHELL_OUTPUT(output, "Log level set to %u (%s)\n", level, log_level_to_str(level));
+
+  shell_output_log_levels(output);
 
   PT_END(pt);
 }
@@ -583,9 +609,9 @@ shell_commands_init(void)
 /*---------------------------------------------------------------------------*/
 struct shell_command_t shell_commands[] = {
   { "help",                 cmd_help,                 "'> help': Shows this help" },
-  { "ip-addr",               cmd_ipaddr,               "'> ip-addr': Shows all IPv6 addresses" },
-  { "ip-nbr",         cmd_ip_neighbors,         "'> ip-nbr': Shows all IPv6 neighbors" },
-  { "log",                  cmd_log,                  "'> log level': Sets log level (0--4). Level 4 also enables TSCH per-slot logging." },
+  { "ip-addr",              cmd_ipaddr,               "'> ip-addr': Shows all IPv6 addresses" },
+  { "ip-nbr",               cmd_ip_neighbors,         "'> ip-nbr': Shows all IPv6 neighbors" },
+  { "log",                  cmd_log,                  "'> log module level': Sets log level (0--4) for a given module (or \"all\"). For module \"mac\", level 4 also enables per-slot logging." },
   { "ping",                 cmd_ping,                 "'> ping addr': Pings the IPv6 address 'addr'" },
   { "rpl-set-root",         cmd_rpl_set_root,         "'> rpl-set-root 0/1 [prefix]': Sets node as root (on) or not (off). A /64 prefix can be optionally specified." },
   { "rpl-status",           cmd_rpl_status,           "'> rpl-status': Shows a summary of the current RPL state" },
diff --git a/core/net/ip/tcpip.c b/core/net/ip/tcpip.c
index 35600e7c6..79ae9702f 100644
--- a/core/net/ip/tcpip.c
+++ b/core/net/ip/tcpip.c
@@ -58,7 +58,7 @@
 /* Log configuration */
 #include "sys/log.h"
 #define LOG_MODULE "TCP/IP"
-#define LOG_LEVEL TCPIP_LOG_LEVEL
+#define LOG_LEVEL LOG_LEVEL_TCPIP
 
 #define UIP_ICMP_BUF ((struct uip_icmp_hdr *)&uip_buf[UIP_LLIPH_LEN + uip_ext_len])
 #define UIP_IP_BUF ((struct uip_ip_hdr *)&uip_buf[UIP_LLH_LEN])
diff --git a/core/net/ipv6/sicslowpan.c b/core/net/ipv6/sicslowpan.c
index c5ccf91b1..22569aebe 100644
--- a/core/net/ipv6/sicslowpan.c
+++ b/core/net/ipv6/sicslowpan.c
@@ -81,7 +81,7 @@
 /* Log configuration */
 #include "sys/log.h"
 #define LOG_MODULE "6LoWPAN"
-#define LOG_LEVEL SICSLOWPAN_LOG_LEVEL
+#define LOG_LEVEL LOG_LEVEL_6LOWPAN
 
 #ifdef SICSLOWPAN_CONF_COMPRESSION
 #define SICSLOWPAN_COMPRESSION SICSLOWPAN_CONF_COMPRESSION
diff --git a/core/net/ipv6/uip-ds6-nbr.c b/core/net/ipv6/uip-ds6-nbr.c
index 7091e497c..790adbeba 100644
--- a/core/net/ipv6/uip-ds6-nbr.c
+++ b/core/net/ipv6/uip-ds6-nbr.c
@@ -55,7 +55,7 @@
 /* Log configuration */
 #include "sys/log.h"
 #define LOG_MODULE "IPv6 Nbr"
-#define LOG_LEVEL IPV6_LOG_LEVEL
+#define LOG_LEVEL LOG_LEVEL_IPV6
 
 #ifdef UIP_CONF_DS6_NEIGHBOR_STATE_CHANGED
 #define NEIGHBOR_STATE_CHANGED(n) UIP_CONF_DS6_NEIGHBOR_STATE_CHANGED(n)
diff --git a/core/net/ipv6/uip-ds6-route.c b/core/net/ipv6/uip-ds6-route.c
index eb2479290..ab727e36f 100644
--- a/core/net/ipv6/uip-ds6-route.c
+++ b/core/net/ipv6/uip-ds6-route.c
@@ -49,7 +49,7 @@
 /* Log configuration */
 #include "sys/log.h"
 #define LOG_MODULE "IPv6 Route"
-#define LOG_LEVEL IPV6_LOG_LEVEL
+#define LOG_LEVEL LOG_LEVEL_IPV6
 
 /* A configurable function called after adding a new neighbor as next hop */
 #ifdef NETSTACK_CONF_ROUTING_NEIGHBOR_ADDED_CALLBACK
diff --git a/core/net/ipv6/uip-ds6.c b/core/net/ipv6/uip-ds6.c
index 6e7be7b66..11a67e172 100644
--- a/core/net/ipv6/uip-ds6.c
+++ b/core/net/ipv6/uip-ds6.c
@@ -54,7 +54,7 @@
 /* Log configuration */
 #include "sys/log.h"
 #define LOG_MODULE "IPv6 DS"
-#define LOG_LEVEL IPV6_LOG_LEVEL
+#define LOG_LEVEL LOG_LEVEL_IPV6
 
 struct etimer uip_ds6_timer_periodic;                           /**< Timer for maintenance of data structures */
 
diff --git a/core/net/ipv6/uip-icmp6.c b/core/net/ipv6/uip-icmp6.c
index a9ec6be6b..c2dbe0f85 100644
--- a/core/net/ipv6/uip-icmp6.c
+++ b/core/net/ipv6/uip-icmp6.c
@@ -50,7 +50,7 @@
 /* Log configuration */
 #include "sys/log.h"
 #define LOG_MODULE "ICMPv6"
-#define LOG_LEVEL IPV6_LOG_LEVEL
+#define LOG_LEVEL LOG_LEVEL_IPV6
 
 #define UIP_IP_BUF                ((struct uip_ip_hdr *)&uip_buf[UIP_LLH_LEN])
 #define UIP_ICMP_BUF            ((struct uip_icmp_hdr *)&uip_buf[uip_l2_l3_hdr_len])
diff --git a/core/net/ipv6/uip-nd6.c b/core/net/ipv6/uip-nd6.c
index cba9c320c..a432b934e 100644
--- a/core/net/ipv6/uip-nd6.c
+++ b/core/net/ipv6/uip-nd6.c
@@ -78,7 +78,7 @@
 /* Log configuration */
 #include "sys/log.h"
 #define LOG_MODULE "IPv6 NDP"
-#define LOG_LEVEL IPV6_LOG_LEVEL
+#define LOG_LEVEL LOG_LEVEL_IPV6
 
 /*------------------------------------------------------------------*/
 /** @{ */
diff --git a/core/net/ipv6/uip6.c b/core/net/ipv6/uip6.c
index 8398a4f95..0df737f43 100644
--- a/core/net/ipv6/uip6.c
+++ b/core/net/ipv6/uip6.c
@@ -96,7 +96,7 @@
 /* Log configuration */
 #include "sys/log.h"
 #define LOG_MODULE "IPv6"
-#define LOG_LEVEL IPV6_LOG_LEVEL
+#define LOG_LEVEL LOG_LEVEL_IPV6
 
 /*---------------------------------------------------------------------------*/
 /**
diff --git a/core/net/ipv6/websocket-http-client.c b/core/net/ipv6/websocket-http-client.c
index b712a42f2..4c407c75e 100644
--- a/core/net/ipv6/websocket-http-client.c
+++ b/core/net/ipv6/websocket-http-client.c
@@ -41,7 +41,7 @@
 /* Log configuration */
 #include "sys/log.h"
 #define LOG_MODULE "Websocket"
-#define LOG_LEVEL IPV6_LOG_LEVEL
+#define LOG_LEVEL LOG_LEVEL_IPV6
 
 enum {
   STATE_WAITING_FOR_HEADER,
diff --git a/core/net/ipv6/websocket.c b/core/net/ipv6/websocket.c
index 9f1fe7a9d..04c6ba506 100644
--- a/core/net/ipv6/websocket.c
+++ b/core/net/ipv6/websocket.c
@@ -40,7 +40,7 @@
 /* Log configuration */
 #include "sys/log.h"
 #define LOG_MODULE "Websocket"
-#define LOG_LEVEL IPV6_LOG_LEVEL
+#define LOG_LEVEL LOG_LEVEL_IPV6
 
 PROCESS(websocket_process, "Websockets process");
 
diff --git a/core/net/mac/csma/csma-output.c b/core/net/mac/csma/csma-output.c
index 8f0bab4e2..ff63914d3 100644
--- a/core/net/mac/csma/csma-output.c
+++ b/core/net/mac/csma/csma-output.c
@@ -58,7 +58,7 @@
 /* Log configuration */
 #include "sys/log.h"
 #define LOG_MODULE "CSMA"
-#define LOG_LEVEL MAC_LOG_LEVEL
+#define LOG_LEVEL LOG_LEVEL_MAC
 
 /* Constants of the IEEE 802.15.4 standard */
 
diff --git a/core/net/mac/csma/csma.c b/core/net/mac/csma/csma.c
index bdcb50c95..aa7a98a3d 100644
--- a/core/net/mac/csma/csma.c
+++ b/core/net/mac/csma/csma.c
@@ -47,7 +47,7 @@
 /* Log configuration */
 #include "sys/log.h"
 #define LOG_MODULE "CSMA"
-#define LOG_LEVEL MAC_LOG_LEVEL
+#define LOG_LEVEL LOG_LEVEL_MAC
 
 /*---------------------------------------------------------------------------*/
 static void
diff --git a/core/net/mac/framer/frame802154e-ie.c b/core/net/mac/framer/frame802154e-ie.c
index 20eb98d8b..3ca529360 100644
--- a/core/net/mac/framer/frame802154e-ie.c
+++ b/core/net/mac/framer/frame802154e-ie.c
@@ -43,7 +43,7 @@
 /* Log configuration */
 #include "sys/log.h"
 #define LOG_MODULE "Frame 15.4"
-#define LOG_LEVEL FRAMER_LOG_LEVEL
+#define LOG_LEVEL LOG_LEVEL_FRAMER
 
 /* c.f. IEEE 802.15.4e Table 4b */
 enum ieee802154e_header_ie_id {
diff --git a/core/net/mac/framer/framer-802154.c b/core/net/mac/framer/framer-802154.c
index dab21bda8..52445c0e7 100644
--- a/core/net/mac/framer/framer-802154.c
+++ b/core/net/mac/framer/framer-802154.c
@@ -46,7 +46,7 @@
 /* Log configuration */
 #include "sys/log.h"
 #define LOG_MODULE "Frame 15.4"
-#define LOG_LEVEL FRAMER_LOG_LEVEL
+#define LOG_LEVEL LOG_LEVEL_FRAMER
 
 /**  \brief The sequence number (0x00 - 0xff) added to the transmitted
  *   data or MAC command frame. The default is a random value within
diff --git a/core/net/mac/mac.c b/core/net/mac/mac.c
index 3a6ffff97..c8f8eb87b 100644
--- a/core/net/mac/mac.c
+++ b/core/net/mac/mac.c
@@ -35,7 +35,7 @@
 /* Log configuration */
 #include "sys/log.h"
 #define LOG_MODULE "MAC"
-#define LOG_LEVEL MAC_LOG_LEVEL
+#define LOG_LEVEL LOG_LEVEL_MAC
 
 /*---------------------------------------------------------------------------*/
 void
diff --git a/core/net/mac/tsch/tsch-log.h b/core/net/mac/tsch/tsch-log.h
index 92c6568c6..7c4acd7b4 100644
--- a/core/net/mac/tsch/tsch-log.h
+++ b/core/net/mac/tsch/tsch-log.h
@@ -46,7 +46,7 @@
 #define TSCH_LOG_PER_SLOT TSCH_LOG_CONF_PER_SLOT
 #else /* TSCH_LOG_CONF_PER_SLOT */
 #include "sys/log.h"
-#define TSCH_LOG_PER_SLOT (MAC_LOG_LEVEL >= LOG_LEVEL_DBG)
+#define TSCH_LOG_PER_SLOT (LOG_LEVEL_MAC >= LOG_LEVEL_DBG)
 #endif /* TSCH_LOG_CONF_PER_SLOT */
 
 /* The length of the log queue, i.e. maximum number postponed log messages */
diff --git a/core/net/mac/tsch/tsch-packet.c b/core/net/mac/tsch/tsch-packet.c
index b1fbd23cc..e39766af9 100644
--- a/core/net/mac/tsch/tsch-packet.c
+++ b/core/net/mac/tsch/tsch-packet.c
@@ -54,7 +54,7 @@
 /* Log configuration */
 #include "sys/log.h"
 #define LOG_MODULE "TSCH Pkt"
-#define LOG_LEVEL MAC_LOG_LEVEL
+#define LOG_LEVEL LOG_LEVEL_MAC
 
 /*---------------------------------------------------------------------------*/
 /* Construct enhanced ACK packet and return ACK length */
diff --git a/core/net/mac/tsch/tsch-queue.c b/core/net/mac/tsch/tsch-queue.c
index b101f8407..3e940a823 100644
--- a/core/net/mac/tsch/tsch-queue.c
+++ b/core/net/mac/tsch/tsch-queue.c
@@ -58,7 +58,7 @@
 /* Log configuration */
 #include "sys/log.h"
 #define LOG_MODULE "TSCH Queue"
-#define LOG_LEVEL MAC_LOG_LEVEL
+#define LOG_LEVEL LOG_LEVEL_MAC
 
 /* Check if TSCH_QUEUE_NUM_PER_NEIGHBOR is power of two */
 #if (TSCH_QUEUE_NUM_PER_NEIGHBOR & (TSCH_QUEUE_NUM_PER_NEIGHBOR - 1)) != 0
diff --git a/core/net/mac/tsch/tsch-rpl.c b/core/net/mac/tsch/tsch-rpl.c
index 5689922fc..a609d614a 100644
--- a/core/net/mac/tsch/tsch-rpl.c
+++ b/core/net/mac/tsch/tsch-rpl.c
@@ -54,7 +54,7 @@
 /* Log configuration */
 #include "sys/log.h"
 #define LOG_MODULE "TSCH RPL"
-#define LOG_LEVEL MAC_LOG_LEVEL
+#define LOG_LEVEL LOG_LEVEL_MAC
 
 /*---------------------------------------------------------------------------*/
 /* To use, set #define TSCH_CALLBACK_KA_SENT tsch_rpl_callback_ka_sent */
diff --git a/core/net/mac/tsch/tsch-schedule.c b/core/net/mac/tsch/tsch-schedule.c
index 3ea8a1b43..e22b0b498 100644
--- a/core/net/mac/tsch/tsch-schedule.c
+++ b/core/net/mac/tsch/tsch-schedule.c
@@ -58,7 +58,7 @@
 /* Log configuration */
 #include "sys/log.h"
 #define LOG_MODULE "TSCH Sched"
-#define LOG_LEVEL MAC_LOG_LEVEL
+#define LOG_LEVEL LOG_LEVEL_MAC
 
 /* Pre-allocated space for links */
 MEMB(link_memb, struct tsch_link, TSCH_SCHEDULE_MAX_LINKS);
diff --git a/core/net/mac/tsch/tsch.c b/core/net/mac/tsch/tsch.c
index 567c88af4..a20971ea8 100644
--- a/core/net/mac/tsch/tsch.c
+++ b/core/net/mac/tsch/tsch.c
@@ -69,7 +69,7 @@
 /* Log configuration */
 #include "sys/log.h"
 #define LOG_MODULE "TSCH"
-#define LOG_LEVEL MAC_LOG_LEVEL
+#define LOG_LEVEL LOG_LEVEL_MAC
 
 /* Use to collect link statistics even on Keep-Alive, even though they were
  * not sent from an upper layer and don't have a valid packet_sent callback */
diff --git a/core/net/rpl-lite/rpl-dag-root.c b/core/net/rpl-lite/rpl-dag-root.c
index afb1b6c67..58af56e28 100644
--- a/core/net/rpl-lite/rpl-dag-root.c
+++ b/core/net/rpl-lite/rpl-dag-root.c
@@ -38,7 +38,7 @@
 /* Log configuration */
 #include "sys/log.h"
 #define LOG_MODULE "RPL"
-#define LOG_LEVEL RPL_LOG_LEVEL
+#define LOG_LEVEL LOG_LEVEL_RPL
 
 #define RPL_DAG_GRACE_PERIOD (CLOCK_SECOND * 20 * 1)
 
diff --git a/core/net/rpl-lite/rpl-dag.c b/core/net/rpl-lite/rpl-dag.c
index 7c4c3f299..99b721b74 100644
--- a/core/net/rpl-lite/rpl-dag.c
+++ b/core/net/rpl-lite/rpl-dag.c
@@ -51,7 +51,7 @@
 /* Log configuration */
 #include "sys/log.h"
 #define LOG_MODULE "RPL"
-#define LOG_LEVEL RPL_LOG_LEVEL
+#define LOG_LEVEL LOG_LEVEL_RPL
 
 /*---------------------------------------------------------------------------*/
 extern rpl_of_t rpl_of0, rpl_mrhof;
diff --git a/core/net/rpl-lite/rpl-ext-header.c b/core/net/rpl-lite/rpl-ext-header.c
index 55c66f5ab..512761689 100644
--- a/core/net/rpl-lite/rpl-ext-header.c
+++ b/core/net/rpl-lite/rpl-ext-header.c
@@ -51,7 +51,7 @@
 /* Log configuration */
 #include "sys/log.h"
 #define LOG_MODULE "RPL"
-#define LOG_LEVEL RPL_LOG_LEVEL
+#define LOG_LEVEL LOG_LEVEL_RPL
 
 /*---------------------------------------------------------------------------*/
 #define UIP_IP_BUF                ((struct uip_ip_hdr *)&uip_buf[UIP_LLH_LEN])
diff --git a/core/net/rpl-lite/rpl-icmp6.c b/core/net/rpl-lite/rpl-icmp6.c
index 756689bbd..a150afced 100644
--- a/core/net/rpl-lite/rpl-icmp6.c
+++ b/core/net/rpl-lite/rpl-icmp6.c
@@ -56,7 +56,7 @@
 /* Log configuration */
 #include "sys/log.h"
 #define LOG_MODULE "RPL"
-#define LOG_LEVEL RPL_LOG_LEVEL
+#define LOG_LEVEL LOG_LEVEL_RPL
 
 /*---------------------------------------------------------------------------*/
 #define RPL_DIO_GROUNDED                 0x80
diff --git a/core/net/rpl-lite/rpl-mrhof.c b/core/net/rpl-lite/rpl-mrhof.c
index 3784a94f8..faab5ce51 100644
--- a/core/net/rpl-lite/rpl-mrhof.c
+++ b/core/net/rpl-lite/rpl-mrhof.c
@@ -54,7 +54,7 @@
 /* Log configuration */
 #include "sys/log.h"
 #define LOG_MODULE "RPL"
-#define LOG_LEVEL RPL_LOG_LEVEL
+#define LOG_LEVEL LOG_LEVEL_RPL
 
 /* RFC6551 and RFC6719 do not mandate the use of a specific formula to
  * compute the ETX value. This MRHOF implementation relies on the value
diff --git a/core/net/rpl-lite/rpl-nbr-policy.c b/core/net/rpl-lite/rpl-nbr-policy.c
index db49613b2..b25c92d22 100644
--- a/core/net/rpl-lite/rpl-nbr-policy.c
+++ b/core/net/rpl-lite/rpl-nbr-policy.c
@@ -50,7 +50,7 @@
 /* Log configuration */
 #include "sys/log.h"
 #define LOG_MODULE "RPL"
-#define LOG_LEVEL RPL_LOG_LEVEL
+#define LOG_LEVEL LOG_LEVEL_RPL
 
 /*
  * Policy for neighbor addition
diff --git a/core/net/rpl-lite/rpl-neighbor.c b/core/net/rpl-lite/rpl-neighbor.c
index e748e2928..ad128d163 100644
--- a/core/net/rpl-lite/rpl-neighbor.c
+++ b/core/net/rpl-lite/rpl-neighbor.c
@@ -51,7 +51,7 @@
 /* Log configuration */
 #include "sys/log.h"
 #define LOG_MODULE "RPL"
-#define LOG_LEVEL RPL_LOG_LEVEL
+#define LOG_LEVEL LOG_LEVEL_RPL
 
 /* A configurable function called after every RPL parent switch */
 #ifdef RPL_CALLBACK_PARENT_SWITCH
diff --git a/core/net/rpl-lite/rpl-ns.c b/core/net/rpl-lite/rpl-ns.c
index 672e0478f..c6f4dfe5d 100644
--- a/core/net/rpl-lite/rpl-ns.c
+++ b/core/net/rpl-lite/rpl-ns.c
@@ -44,7 +44,7 @@
 /* Log configuration */
 #include "sys/log.h"
 #define LOG_MODULE "RPL"
-#define LOG_LEVEL RPL_LOG_LEVEL
+#define LOG_LEVEL LOG_LEVEL_RPL
 
 /* Total number of nodes */
 static int num_nodes;
diff --git a/core/net/rpl-lite/rpl-of0.c b/core/net/rpl-lite/rpl-of0.c
index 72c01217c..f35cc53cb 100644
--- a/core/net/rpl-lite/rpl-of0.c
+++ b/core/net/rpl-lite/rpl-of0.c
@@ -50,7 +50,7 @@
 /* Log configuration */
 #include "sys/log.h"
 #define LOG_MODULE "RPL"
-#define LOG_LEVEL RPL_LOG_LEVEL
+#define LOG_LEVEL LOG_LEVEL_RPL
 
 /* Constants from RFC6552. We use the default values. */
 #define RANK_STRETCH       0 /* Must be in the range [0;5] */
diff --git a/core/net/rpl-lite/rpl-timers.c b/core/net/rpl-lite/rpl-timers.c
index fc236be14..b8794e26d 100644
--- a/core/net/rpl-lite/rpl-timers.c
+++ b/core/net/rpl-lite/rpl-timers.c
@@ -51,7 +51,7 @@
 /* Log configuration */
 #include "sys/log.h"
 #define LOG_MODULE "RPL"
-#define LOG_LEVEL RPL_LOG_LEVEL
+#define LOG_LEVEL LOG_LEVEL_RPL
 
 /* A configurable function called after update of the RPL DIO interval */
 #ifdef RPL_CALLBACK_NEW_DIO_INTERVAL
diff --git a/core/net/rpl-lite/rpl.c b/core/net/rpl-lite/rpl.c
index 003f6dcca..aefa8bc0c 100644
--- a/core/net/rpl-lite/rpl.c
+++ b/core/net/rpl-lite/rpl.c
@@ -48,7 +48,7 @@
 /* Log configuration */
 #include "sys/log.h"
 #define LOG_MODULE "RPL"
-#define LOG_LEVEL RPL_LOG_LEVEL
+#define LOG_LEVEL LOG_LEVEL_RPL
 
 uip_ipaddr_t rpl_multicast_addr;
 
diff --git a/core/sys/log-conf.h b/core/sys/log-conf.h
index 6eb526d6f..131bf0861 100644
--- a/core/sys/log-conf.h
+++ b/core/sys/log-conf.h
@@ -78,29 +78,29 @@
 /********************* A list of currently supported modules ******************/
 /******************************************************************************/
 
-#ifndef RPL_LOG_LEVEL
-#define RPL_LOG_LEVEL                         LOG_LEVEL_NONE /* Only for rpl-lite */
-#endif /* RPL_LOG_LEVEL */
+#ifndef LOG_CONF_LEVEL_RPL
+#define LOG_CONF_LEVEL_RPL                         LOG_LEVEL_NONE /* Only for rpl-lite */
+#endif /* LOG_CONF_LEVEL_RPL */
 
-#ifndef TCPIP_LOG_LEVEL
-#define TCPIP_LOG_LEVEL                       LOG_LEVEL_NONE
-#endif /* TCPIP_LOG_LEVEL */
+#ifndef LOG_CONF_LEVEL_TCPIP
+#define LOG_CONF_LEVEL_TCPIP                       LOG_LEVEL_NONE
+#endif /* LOG_CONF_LEVEL_TCPIP */
 
-#ifndef IPV6_LOG_LEVEL
-#define IPV6_LOG_LEVEL                        LOG_LEVEL_NONE
-#endif /* IPV6_LOG_LEVEL */
+#ifndef LOG_CONF_LEVEL_IPV6
+#define LOG_CONF_LEVEL_IPV6                        LOG_LEVEL_NONE
+#endif /* LOG_CONF_LEVEL_IPV6 */
 
-#ifndef SICSLOWPAN_LOG_LEVEL
-#define SICSLOWPAN_LOG_LEVEL                  LOG_LEVEL_NONE
-#endif /* SICSLOWPAN_LOG_LEVEL */
+#ifndef LOG_CONF_LEVEL_6LOWPAN
+#define LOG_CONF_LEVEL_6LOWPAN                     LOG_LEVEL_NONE
+#endif /* LOG_CONF_LEVEL_6LOWPAN */
 
-#ifndef MAC_LOG_LEVEL
-#define MAC_LOG_LEVEL                         LOG_LEVEL_NONE
-#endif /* MAC_LOG_LEVELL */
+#ifndef LOG_CONF_LEVEL_MAC
+#define LOG_CONF_LEVEL_MAC                         LOG_LEVEL_NONE
+#endif /* LOG_CONF_LEVEL_MAC */
 
-#ifndef FRAMER_LOG_LEVEL
-#define FRAMER_LOG_LEVEL                      LOG_LEVEL_NONE
-#endif /* FRAMER_LOG_LEVEL */
+#ifndef LOG_CONF_LEVEL_FRAMER
+#define LOG_CONF_LEVEL_FRAMER                      LOG_LEVEL_NONE
+#endif /* LOG_CONF_LEVEL_FRAMER */
 
 #endif /* __LOG_CONF_H__ */
 
diff --git a/core/sys/log.c b/core/sys/log.c
index a112943c0..8f798ef74 100644
--- a/core/sys/log.c
+++ b/core/sys/log.c
@@ -53,7 +53,23 @@
 #include "sys/log.h"
 #include "net/ip/ip64-addr.h"
 
-int curr_log_level = LOG_LEVEL_DBG;
+
+int curr_log_level_rpl = LOG_CONF_LEVEL_RPL;
+int curr_log_level_tcpip = LOG_CONF_LEVEL_TCPIP;
+int curr_log_level_ipv6 = LOG_CONF_LEVEL_IPV6;
+int curr_log_level_6lowpan = LOG_CONF_LEVEL_6LOWPAN;
+int curr_log_level_mac = LOG_CONF_LEVEL_MAC;
+int curr_log_level_framer = LOG_CONF_LEVEL_FRAMER;
+
+struct log_module all_modules[] = {
+  {"rpl", &curr_log_level_rpl, LOG_CONF_LEVEL_RPL},
+  {"tcpip", &curr_log_level_tcpip, LOG_CONF_LEVEL_TCPIP},
+  {"ipv6", &curr_log_level_ipv6, LOG_CONF_LEVEL_IPV6},
+  {"6lowpan", &curr_log_level_6lowpan, LOG_CONF_LEVEL_6LOWPAN},
+  {"mac", &curr_log_level_mac, LOG_CONF_LEVEL_MAC},
+  {"framer", &curr_log_level_framer, LOG_CONF_LEVEL_FRAMER},
+  {NULL, NULL, 0},
+};
 
 /*---------------------------------------------------------------------------*/
 void
@@ -135,17 +151,31 @@ log_lladdr_compact(const linkaddr_t *lladdr)
 }
 /*---------------------------------------------------------------------------*/
 void
-log_set_level(int level)
+log_set_level(const char *module, int level)
 {
   if(level >= LOG_LEVEL_NONE && level <= LOG_LEVEL_DBG) {
-    curr_log_level = level;
+    int i = 0;
+    int module_all = !strcmp("all", module);
+    while(all_modules[i].name != NULL) {
+      if(module_all || !strcmp(module, all_modules[i].name)) {
+        *all_modules[i].curr_log_level = MIN(level, all_modules[i].max_log_level);
+      }
+      i++;
+    }
   }
 }
 /*---------------------------------------------------------------------------*/
 int
-log_get_level(void)
+log_get_level(const char *module)
 {
-  return curr_log_level;
+  int i = 0;
+  while(all_modules[i].name != NULL) {
+    if(!strcmp(module, all_modules[i].name)) {
+      return *all_modules[i].curr_log_level;
+    }
+    i++;
+  }
+  return -1;
 }
 /*---------------------------------------------------------------------------*/
 const char *
diff --git a/core/sys/log.h b/core/sys/log.h
index 48f0ba77b..6d0d1ff0f 100644
--- a/core/sys/log.h
+++ b/core/sys/log.h
@@ -65,10 +65,34 @@
 #define LOG_LEVEL_INFO         3 /* Basic info */
 #define LOG_LEVEL_DBG          4 /* Detailled debug */
 
+/* Per-module log level */
+
+struct log_module {
+  const char *name;
+  int *curr_log_level;
+  int max_log_level;
+};
+
+extern int curr_log_level_rpl;
+extern int curr_log_level_tcpip;
+extern int curr_log_level_ipv6;
+extern int curr_log_level_6lowpan;
+extern int curr_log_level_mac;
+extern int curr_log_level_framer;
+
+extern struct log_module all_modules[];
+
+#define LOG_LEVEL_RPL                         MIN((LOG_CONF_LEVEL_RPL), curr_log_level_rpl)
+#define LOG_LEVEL_TCPIP                       MIN((LOG_CONF_LEVEL_TCPIP), curr_log_level_tcpip)
+#define LOG_LEVEL_IPV6                        MIN((LOG_CONF_LEVEL_IPV6), curr_log_level_ipv6)
+#define LOG_LEVEL_6LOWPAN                     MIN((LOG_CONF_LEVEL_6LOWPAN), curr_log_level_6lowpan)
+#define LOG_LEVEL_MAC                         MIN((LOG_CONF_LEVEL_MAC), curr_log_level_mac)
+#define LOG_LEVEL_FRAMER                      MIN((LOG_CONF_LEVEL_FRAMER), curr_log_level_framer)
+
 /* Main log function */
 
 #define LOG(newline, level, levelstr, ...) do {  \
-                            if(level <= MIN(LOG_LEVEL, curr_log_level)) { \
+                            if(level <= (LOG_LEVEL)) { \
                               if(newline) { \
                                 LOG_OUTPUT("[%-4s: %-10s] ", levelstr, LOG_MODULE); \
                                 if(LOG_WITH_LOC) { \
@@ -88,7 +112,7 @@
 
 /* Link-layer address */
 #define LOG_LLADDR(level, lladdr) do {  \
-                            if(level <= MIN(LOG_LEVEL, curr_log_level)) { \
+                            if(level <= (LOG_LEVEL)) { \
                               if(LOG_WITH_COMPACT_ADDR) { \
                                 log_lladdr_compact(lladdr); \
                               } else { \
@@ -99,7 +123,7 @@
 
 /* IPv6 address */
 #define LOG_6ADDR(level, ipaddr) do {  \
-                           if(level <= MIN(LOG_LEVEL, curr_log_level)) { \
+                           if(level <= (LOG_LEVEL)) { \
                              if(LOG_WITH_COMPACT_ADDR) { \
                                log_6addr_compact(ipaddr); \
                              } else { \
@@ -135,9 +159,6 @@
 #define LOG_INFO_ENABLED       (MIN(LOG_LEVEL, curr_log_level) >= LOG_LEVEL_INFO)
 #define LOG_DBG_ENABLED        (MIN(LOG_LEVEL, curr_log_level) >= LOG_LEVEL_DBG)
 
-/* The current log level */
-extern int curr_log_level;
-
 #if NETSTACK_CONF_WITH_IPV6
 
 /**
@@ -170,15 +191,17 @@ void log_lladdr_compact(const linkaddr_t *lladdr);
  * Sets a log level at run-time. Logs are included in the firmware via
  * the compile-time flags in log-conf.h, but this allows to force lower log
  * levels, system-wide.
+ * \param module The target module string descriptor
  * \param level The log level
 */
-void log_set_level(int level);
+void log_set_level(const char *module, int level);
 
 /**
  * Returns the current log level.
+ * \param module The target module string descriptor
  * \return The current log level
 */
-int log_get_level(void);
+int log_get_level(const char *module);
 
 /**
  * Returns a textual description of a log level
diff --git a/examples/ipv6/rpl-tsch/node.c b/examples/ipv6/rpl-tsch/node.c
index dfc386b41..36e67dc6d 100644
--- a/examples/ipv6/rpl-tsch/node.c
+++ b/examples/ipv6/rpl-tsch/node.c
@@ -72,7 +72,7 @@ PROCESS_THREAD(node_process, ev, data)
 
 #if WITH_SHELL
   serial_shell_init();
-  log_set_level(LOG_LEVEL_WARN);
+  log_set_level("all", LOG_LEVEL_WARN);
   tsch_log_stop();
 #endif /* WITH_SHELL */
 
diff --git a/examples/ipv6/rpl-tsch/project-conf.h b/examples/ipv6/rpl-tsch/project-conf.h
index fa5cf2425..e1b99f576 100644
--- a/examples/ipv6/rpl-tsch/project-conf.h
+++ b/examples/ipv6/rpl-tsch/project-conf.h
@@ -157,12 +157,12 @@
 #endif /* CONTIKI_TARGET_COOJA */
 
 /* Logging */
-#define RPL_LOG_LEVEL                         LOG_LEVEL_INFO
-#define TCPIP_LOG_LEVEL                       LOG_LEVEL_WARN
-#define IPV6_LOG_LEVEL                        LOG_LEVEL_WARN
-#define SICSLOWPAN_LOG_LEVEL                  LOG_LEVEL_WARN
-#define MAC_LOG_LEVEL                         LOG_LEVEL_INFO
-#define FRAMER_LOG_LEVEL                      LOG_LEVEL_WARN
-#define TSCH_LOG_CONF_PER_SLOT                1
+#define LOG_CONF_LEVEL_RPL                         LOG_LEVEL_INFO
+#define LOG_CONF_LEVEL_TCPIP                       LOG_LEVEL_WARN
+#define LOG_CONF_LEVEL_IPV6                        LOG_LEVEL_WARN
+#define LOG_CONF_LEVEL_6LOWPAN                     LOG_LEVEL_WARN
+#define LOG_CONF_LEVEL_MAC                         LOG_LEVEL_INFO
+#define LOG_CONF_LEVEL_FRAMER                      LOG_LEVEL_DBG
+#define TSCH_LOG_CONF_PER_SLOT                     1
 
 #endif /* __PROJECT_CONF_H__ */
diff --git a/examples/logging/project-conf.h b/examples/logging/project-conf.h
index 39003b9c4..c35835afb 100644
--- a/examples/logging/project-conf.h
+++ b/examples/logging/project-conf.h
@@ -39,11 +39,12 @@
  *     LOG_LEVEL_INFO         Basic info
  *     LOG_LEVEL_DBG          Detailled debug
   */
-#define IPV6_LOG_LEVEL                        LOG_LEVEL_DBG
-#define SICSLOWPAN_LOG_LEVEL                  LOG_LEVEL_DBG
-#define TCPIP_LOG_LEVEL                       LOG_LEVEL_DBG
-#define MAC_LOG_LEVEL                         LOG_LEVEL_DBG
-#define FRAMER_LOG_LEVEL                      LOG_LEVEL_DBG
+#define LOG_CONF_LEVEL_IPV6                        LOG_LEVEL_DBG
+#define LOG_CONF_LEVEL_RPL                         LOG_LEVEL_DBG
+#define LOG_CONF_LEVEL_6LOWPAN                     LOG_LEVEL_DBG
+#define LOG_CONF_LEVEL_TCPIP                       LOG_LEVEL_DBG
+#define LOG_CONF_LEVEL_MAC                         LOG_LEVEL_DBG
+#define LOG_CONF_LEVEL_FRAMER                      LOG_LEVEL_DBG
 
 /* Enable cooja annotations */
 #define LOG_CONF_WITH_ANNOTATE                1