dio_output(rpl_instance_t *instance, uip_ipaddr_t *uc_addr)
{
  unsigned char *buffer;
  int pos;
  int is_root;
  rpl_dag_t *dag = instance->current_dag;
#if !RPL_LEAF_ONLY
  uip_ipaddr_t addr;
#endif /* !RPL_LEAF_ONLY */

#if RPL_LEAF_ONLY
  /* In leaf mode, we only send DIO messages as unicasts in response to
     unicast DIS messages. */
  if(uc_addr == NULL) {
    LOG_DBG("LEAF ONLY have multicast addr: skip dio_output\n");
    return;
  }
#endif /* RPL_LEAF_ONLY */

  /* DAG Information Object */
  pos = 0;

  buffer = UIP_ICMP_PAYLOAD;
  buffer[pos++] = instance->instance_id;
  buffer[pos++] = dag->version;
  is_root = (dag->rank == ROOT_RANK(instance));

#if RPL_LEAF_ONLY
  LOG_DBG("LEAF ONLY DIO rank set to RPL_INFINITE_RANK\n");
  set16(buffer, pos, RPL_INFINITE_RANK);
#else /* RPL_LEAF_ONLY */
  set16(buffer, pos, dag->rank);
#endif /* RPL_LEAF_ONLY */
  pos += 2;

  buffer[pos] = 0;
  if(dag->grounded) {
    buffer[pos] |= RPL_DIO_GROUNDED;
  }

  buffer[pos] |= instance->mop << RPL_DIO_MOP_SHIFT;
  buffer[pos] |= dag->preference & RPL_DIO_PREFERENCE_MASK;
  pos++;

  buffer[pos++] = instance->dtsn_out;

  if(RPL_DIO_REFRESH_DAO_ROUTES && is_root && uc_addr == NULL) {
    /* Request new DAO to refresh route. We do not do this for unicast DIO
     * in order to avoid DAO messages after a DIS-DIO update,
     * or upon unicast DIO probing. */
    RPL_LOLLIPOP_INCREMENT(instance->dtsn_out);
  }

  /* reserved 2 bytes */
  buffer[pos++] = 0; /* flags */
  buffer[pos++] = 0; /* reserved */

  memcpy(buffer + pos, &dag->dag_id, sizeof(dag->dag_id));
  pos += 16;

#if !RPL_LEAF_ONLY
  if(instance->mc.type != RPL_DAG_MC_NONE) {
    instance->of->update_metric_container(instance);

    buffer[pos++] = RPL_OPTION_DAG_METRIC_CONTAINER;
    buffer[pos++] = 6;
    buffer[pos++] = instance->mc.type;
    buffer[pos++] = instance->mc.flags >> 1;
    buffer[pos] = (instance->mc.flags & 1) << 7;
    buffer[pos++] |= (instance->mc.aggr << 4) | instance->mc.prec;
    if(instance->mc.type == RPL_DAG_MC_ETX) {
      buffer[pos++] = 2;
      set16(buffer, pos, instance->mc.obj.etx);
      pos += 2;
    } else if(instance->mc.type == RPL_DAG_MC_ENERGY) {
      buffer[pos++] = 2;
      buffer[pos++] = instance->mc.obj.energy.flags;
      buffer[pos++] = instance->mc.obj.energy.energy_est;
    } else {
      LOG_ERR("Unable to send DIO because of unhandled DAG MC type %u\n",
             (unsigned)instance->mc.type);
      return;
    }
  }
#endif /* !RPL_LEAF_ONLY */

  /* Always add a DAG configuration option. */
  buffer[pos++] = RPL_OPTION_DAG_CONF;
  buffer[pos++] = 14;
  buffer[pos++] = 0; /* No Auth, PCS = 0 */
  buffer[pos++] = instance->dio_intdoubl;
  buffer[pos++] = instance->dio_intmin;
  buffer[pos++] = instance->dio_redundancy;
  set16(buffer, pos, instance->max_rankinc);
  pos += 2;
  set16(buffer, pos, instance->min_hoprankinc);
  pos += 2;
  /* OCP is in the DAG_CONF option */
  set16(buffer, pos, instance->of->ocp);
  pos += 2;
  buffer[pos++] = 0; /* reserved */
  buffer[pos++] = instance->default_lifetime;
  set16(buffer, pos, instance->lifetime_unit);
  pos += 2;

  /* Check if we have a prefix to send also. */
  if(dag->prefix_info.length > 0) {
    buffer[pos++] = RPL_OPTION_PREFIX_INFO;
    buffer[pos++] = 30; /* always 30 bytes + 2 long */
    buffer[pos++] = dag->prefix_info.length;
    buffer[pos++] = dag->prefix_info.flags;
    set32(buffer, pos, dag->prefix_info.lifetime);
    pos += 4;
    set32(buffer, pos, dag->prefix_info.lifetime);
    pos += 4;
    memset(&buffer[pos], 0, 4);
    pos += 4;
    memcpy(&buffer[pos], &dag->prefix_info.prefix, 16);
    pos += 16;
    LOG_DBG("Sending prefix info in DIO for ");
    LOG_DBG_6ADDR(&dag->prefix_info.prefix);
    LOG_DBG_("\n");
  } else {
    LOG_DBG("No prefix to announce (len %d)\n",
           dag->prefix_info.length);
  }

#if RPL_LEAF_ONLY
  if(LOG_DBG_ENABLED) {
    if(uc_addr == NULL) {
      LOG_DBG("LEAF ONLY sending unicast-DIO from multicast-DIO\n");
    }
  }

  LOG_INFO("Sending unicast-DIO with rank %u to ",
         (unsigned)dag->rank);
  LOG_INFO_6ADDR(uc_addr);
  LOG_INFO_("\n");
  uip_icmp6_send(uc_addr, ICMP6_RPL, RPL_CODE_DIO, pos);
#else /* RPL_LEAF_ONLY */
  /* Unicast requests get unicast replies! */
  if(uc_addr == NULL) {
    LOG_INFO("Sending a multicast-DIO with rank %u\n",
           (unsigned)instance->current_dag->rank);
    uip_create_linklocal_rplnodes_mcast(&addr);
    uip_icmp6_send(&addr, ICMP6_RPL, RPL_CODE_DIO, pos);
  } else {
    LOG_INFO("Sending unicast-DIO with rank %u to ",
           (unsigned)instance->current_dag->rank);
    LOG_INFO_6ADDR(uc_addr);
    LOG_INFO_("\n");
    uip_icmp6_send(uc_addr, ICMP6_RPL, RPL_CODE_DIO, pos);
  }
#endif /* RPL_LEAF_ONLY */
}
dio_output(rpl_instance_t *instance, uip_ipaddr_t *uc_addr)
{
  unsigned char *buffer;
  int pos;
  int is_root;
  rpl_dag_t *dag = instance->current_dag;
#if !RPL_LEAF_ONLY
  uip_ipaddr_t addr;
#endif  

#if RPL_LEAF_ONLY
   
  if(uc_addr == NULL) {
    LOG_DBG("LEAF ONLY have multicast addr: skip dio_output\n");
    return;
  }
#endif  

   
  pos = 0;

  buffer = UIP_ICMP_PAYLOAD;
  buffer[pos++] = instance->instance_id;
  buffer[pos++] = dag->version;
  is_root = (dag->rank == ROOT_RANK(instance));

#if RPL_LEAF_ONLY
  LOG_DBG("LEAF ONLY DIO rank set to RPL_INFINITE_RANK\n");
  set16(buffer, pos, RPL_INFINITE_RANK);
#else  
  set16(buffer, pos, dag->rank);
#endif  
  pos += 2;

  buffer[pos] = 0;
  if(dag->grounded) {
    buffer[pos] |= RPL_DIO_GROUNDED;
  }

  buffer[pos] |= instance->mop << RPL_DIO_MOP_SHIFT;
  buffer[pos] |= dag->preference & RPL_DIO_PREFERENCE_MASK;
  pos++;

  buffer[pos++] = instance->dtsn_out;

  if(RPL_DIO_REFRESH_DAO_ROUTES && is_root && uc_addr == NULL) {
     
    RPL_LOLLIPOP_INCREMENT(instance->dtsn_out);
  }

   
  buffer[pos++] = 0;  
  buffer[pos++] = 0;  

  memcpy(buffer + pos, &dag->dag_id, sizeof(dag->dag_id));
  pos += 16;

#if !RPL_LEAF_ONLY
  if(instance->mc.type != RPL_DAG_MC_NONE) {
    instance->of->update_metric_container(instance);

    buffer[pos++] = RPL_OPTION_DAG_METRIC_CONTAINER;
    buffer[pos++] = 6;
    buffer[pos++] = instance->mc.type;
    buffer[pos++] = instance->mc.flags >> 1;
    buffer[pos] = (instance->mc.flags & 1) << 7;
    buffer[pos++] |= (instance->mc.aggr << 4) | instance->mc.prec;
    if(instance->mc.type == RPL_DAG_MC_ETX) {
      buffer[pos++] = 2;
      set16(buffer, pos, instance->mc.obj.etx);
      pos += 2;
    } else if(instance->mc.type == RPL_DAG_MC_ENERGY) {
      buffer[pos++] = 2;
      buffer[pos++] = instance->mc.obj.energy.flags;
      buffer[pos++] = instance->mc.obj.energy.energy_est;
    } else {
      LOG_ERR("Unable to send DIO because of unhandled DAG MC type %u\n",
             (unsigned)instance->mc.type);
      return;
    }
  }
#endif  

   
  buffer[pos++] = RPL_OPTION_DAG_CONF;
  buffer[pos++] = 14;
  buffer[pos++] = 0;  
  buffer[pos++] = instance->dio_intdoubl;
  buffer[pos++] = instance->dio_intmin;
  buffer[pos++] = instance->dio_redundancy;
  set16(buffer, pos, instance->max_rankinc);
  pos += 2;
  set16(buffer, pos, instance->min_hoprankinc);
  pos += 2;
   
  set16(buffer, pos, instance->of->ocp);
  pos += 2;
  buffer[pos++] = 0;  
  buffer[pos++] = instance->default_lifetime;
  set16(buffer, pos, instance->lifetime_unit);
  pos += 2;

   
  if(dag->prefix_info.length > 0) {
    buffer[pos++] = RPL_OPTION_PREFIX_INFO;
    buffer[pos++] = 30;  
    buffer[pos++] = dag->prefix_info.length;
    buffer[pos++] = dag->prefix_info.flags;
    set32(buffer, pos, dag->prefix_info.lifetime);
    pos += 4;
    set32(buffer, pos, dag->prefix_info.lifetime);
    pos += 4;
    memset(&buffer[pos], 0, 4);
    pos += 4;
    memcpy(&buffer[pos], &dag->prefix_info.prefix, 16);
    pos += 16;
    LOG_DBG("Sending prefix info in DIO for ");
    LOG_DBG_6ADDR(&dag->prefix_info.prefix);
    LOG_DBG_("\n");
  } else {
    LOG_DBG("No prefix to announce (len %d)\n",
           dag->prefix_info.length);
  }

#if RPL_LEAF_ONLY
  if(LOG_DBG_ENABLED) {
    if(uc_addr == NULL) {
      LOG_DBG("LEAF ONLY sending unicast-DIO from multicast-DIO\n");
    }
  }

  LOG_INFO("Sending unicast-DIO with rank %u to ",
         (unsigned)dag->rank);
  LOG_INFO_6ADDR(uc_addr);
  LOG_INFO_("\n");
  uip_icmp6_send(uc_addr, ICMP6_RPL, RPL_CODE_DIO, pos);
#else  
   
  if(uc_addr == NULL) {
    LOG_INFO("Sending a multicast-DIO with rank %u\n",
           (unsigned)instance->current_dag->rank);
    uip_create_linklocal_rplnodes_mcast(&addr);
    uip_icmp6_send(&addr, ICMP6_RPL, RPL_CODE_DIO, pos);
  } else {
    LOG_INFO("Sending unicast-DIO with rank %u to ",
           (unsigned)instance->current_dag->rank);
    LOG_INFO_6ADDR(uc_addr);
    LOG_INFO_("\n");
    uip_icmp6_send(uc_addr, ICMP6_RPL, RPL_CODE_DIO, pos);
  }
#endif  
}