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Learning Objectives
Understand TinyOS the dominant open source operating systems for WSN
Hardware abstraction architecture (HAA) TinyOS architecture and component model Main characteristics of TinyOS 2
Prerequisites
Module 1 Basic concepts of Operating Systems Basic concepts of Object-oriented Design and Analysis Basic concepts of Computer Networks
Efficient modularity
Function call (event and command) interface between commands
Traditional OS Architectures
Application 1 Application 2 Application 1 NFS Micro-kernel Scheduler IPC Scheduler HW VM I/O Monolith-kernel VM I/O HW
Problem with Large Scale Deeply embedded system.. Large memory & storage requirement Unnecessary and overkill functionality ( address space isolation, complex I/O subsystem , UI ) for our scenario. Relative high system overhead ( e.g, context switch ) Require complex and power consuming hardware support.
NO Kernel Direct hardware manipulation NO Process management Only one process on the fly. NO Virtual memory Single linear physical address space NO Dynamic memory allocation Assigned at compile time NO Software signal or exception Function Call instead Goal: to strip down memory size and system overhead.
TinyOS Overview
Application = scheduler + graph of components
Compiled into one executable
Actuating
Commands
Events
Frame: static storage model - compile time memory allocation (efficiency) Command and events are function calls (efficiency) [TinyOS_4]
10
Power Optimization
Energy is the most valuable resource All components must support low power modes (sleep) Low Duty cycle operation
Duty cycle - The proportion of time during which a device is operated
Triggered Events
Detection/Notification Infrequently occurs
Power
Long Lifetime
Months to Years without changing batteries Power management is the key to WSN success
sleep
Time 12
wakeup
Design Principles
Key to Low Duty Cycle Operation:
Sleep majority of the time Wakeup quickly start processing Active minimize work & return to sleep
13
Power Consumption
Energy Consumption
Idle listen:receive:send = 1:1.05:1.4
[Introduction_2]: Figure 3
17
[Introduction_2]: Table 2
18
Ref: [Introduction_1] A Survey on Sensor Networks, IEEE Communications Magazine, Aug. 2002, pp. 102-114.
TinyOS 2
An operating system for tiny, embedded, and networked sensors NesC language
A dialect of C Language with extensions for components
Three Limitations
Application complexity High cost of porting to a new platform reliability
TinyOS 2
Static binding and allocation
Every resource and service is bound at compile time and all allocation is static
A call to start lengthy operation returns immediately the called component signals when the operation is complete Split phase See this link for one example http://docs.tinyos.net/index.php/Modules_and_the_TinyOS_Exe
Ref: P. Levis, et al. T2: A Second Generation OS For Embedded Sensor Networks Ref: [TinyOS_3] Section 2.1
TinyOS 2
The scheduler has a fixed-length queue, FIFO Task run atomically Interrupt handlers can only call code that has the async keyword Complex interactions among components Event In most mote applications, execution is driven solely by timer events and the arrival of radio messages ATmega128 has two 8-bit timers and two 16-bit timers
Ref: P. Levis, et al. T2: A Second Generation OS For Embedded Sensor Networks
TinyOS 2
sync code is non-preemptive,
when synchronous (sync) code starts running, it does not relinquish the CPU to other sync code until it completes
Tasks
enable components to perform general-purpose "background" processing in an application A function which a component tells TinyOS to run later, rather than now
The post operation places the task on an internal task queue which is processed in FIFO order Tasks do not preempt each other A Task can be preempted by a hardware interrupt See TinyOS lesson:
Modules and the TinyOS Execution Model
TinyOS 2
Platforms
MicaZ, Mica2, etc; Compositions of chips
Chips
MCU, radio, etc Each chip follows the HAA model, with a HIL implementation at the top
Ref: P. Levis, et al. T2: A Second Generation OS For Embedded Sensor Networks
TinyOS 2
A T2 packet has a fixed size data payload which exists at a fixed offset The HIL of a data link stack is an active message interface Zero-copy
Ref: P. Levis, et al. T2: A Second Generation OS For Embedded Sensor Networks
Ref: P. Levis, et al. T2: A Second Generation OS For Embedded Sensor Networks
Device Drivers in T2
T2 Timer Subsystem
MCU comes with a wide variation of hardware timers
ATmega128: two 8-bit timers and two 16-bit times MSP430: two 16-bit timers
[TinyOS_1]: Section 5
30
T2 Timer Subsystem
See interface at:
tos/lib/timer/Timer.nc
AppM
AppM
Sensor Interface
Initialize Interface
SensorC
AppC
Notation
Parameterized Interfaces
An interface array
Ref: D. Gay, et al. Software Design Patterns for TinyOS, Section 2.3
Ref: D. Gay, et al. Software Design Patterns for TinyOS, Section 2.4
async
Functions that can run preemptively are labeled with async keyword Command an async function calls and events an async function signals must be async All interrupt handlers are async atomic keyword
Race conditions, data races
44
Use a single timer to create up to 255 virtual timers generic module VirtualizeTimerC(typedef precision_tag, int max_timers)
Precision_tag: A type indicating the precision of the Timer being virtualized max_timers: Number of virtual timers to create.
Example - VirtualizeTimerC
Ref:
/tos/lib/timer/VirtualizeTimerC.nc Section 7.1 of TinyOS Programming Manual
/tos/lib/timer/VirtualizeTimerC.n 46
Virtualized Timer
Figure 4 of [TinyOS_1]
48
Timer Subsystem
HplTimer[0-3]C provide dedicated access to the two 8-bit and two 16-bit timers of ATmega128 MCU T2 subsystem is built over the 8-bit timer 0 Timer 1 is used for CC2420 radio
message_t
tos/types/message.h Ref. TEP 111 Every link layer defines its header, footer, and metadata structures
Active Message
Every message contains the name of an event handler Sender Declaring buffer storage in a frame Naming a handler Requesting Transmission Done completion signal Receiver The event handler is fired automatically in a target node
No blocked or waiting threads on the receiver Behaves like any other events Single buffering Double Check!!!!!!!
TinyOS Component
Two types of components
Module: provide implementations of one or more interfaces Configuration: assemble other components together
Commands
Events
Frame: static storage model - compile time memory allocation (efficiency) Command and events are function calls (efficiency)
Structure of a Component
Command Handlers
Set of Tasks
Event Handlers
Frame
(containing state information)
TinyOS Component
events
TinyOS Applications
In most mote applications, execution is driven solely by timer events and the arrival of radio messages
OscilloScope
one-hop WSN application with GUI interface
MultiOscilloScopre
multihop WSN application
Octopus
multi-hop WSN application with a more dynamic display of network topology and data dissemination functions
PC B at UHCL Terminal 2 of PC B# java net.tinyos.sf.SerialForwarder -comm sf@140.158.130.239:9002 Terminal 3 of PC B# java net.tinyos.tools.Listen -comm sf@localhost:9002 Option 4: One local SerialForwarder connects to a remote SerialForwarder. Listen connects to local SerialForwarder
PC B at UHCL
MTS300 Option 1: Oscilloscope connects to + MicaZ local serial ports Internet MIB520 + MicaZ Run BaseStation PC A at Lamar Univ . with IP 140.158.130.239 Terminal 2 of PC A# java net.tinyos.sf.SerialForwarder -comm serial @/ dev/ttyUSB1:micaz Terminal 3 of PC A# export MOTECOM=sf@localhost:9002 Terminal 3 of PC A# oscilloscope/java/run Option 2: Oscilloscope connects to SerialForwarder running on a local machine
Terminal 3 of PC B# export MOTECOM=sf@140.158.130.239:9002 Terminal 3 of PC B# oscilloscope/java/run Option 4: oscilloscope connects to remote SerialForwarder
MTS300 + MicaZ
Run MultihopOscilloscopeC .nc
Terminal 2 of PC#
MultihopOscilloscope /java/run
Text Interface
Terminal 3 of PC# java
net.tinyos.tools.Listen -comm serial @/dev/ttyUSB 1:micaz
MTS300 + MicaZ
Run MultihopOscilloscopeC .nc
MTS300 + MicaZ
1. Add SENSORBOARD=mts300 when compile 2. Based on MultihopOscilloscopeC .nc, the root id should be 0 2.a For root node: make micaz install,0 mib510 ,/dev/ttyUSB0 2.b For non-root node (e.g. node 1): make micaz install,1 mib510 ,/dev/ttyUSB0 3. chmod 666 /dev/USB* 4. Make sure the root node and non -root nodes are all running 5. How to configurate light, temperature sensors ? Modify: 5.a $TOSROOT/tos/platforms /micaz/DemoSensorC .nc 5.b $TOSROOT/tos/sensorboards /mts300/DemoSensorC .nc 5.c $TOSROOT/apps/MultihopOscilloscope /MultihopOscilloscopeAppC .nc
PC B at UHCL
Internet
Terminal 1 of PC B#tos-mviz -comm sf@140.158.130.239:9002 -dir /opt/ tinyos-2.x/apps/Mviz MVizMsg Terminal 2 of PC B#java net.tinyos.tools.Listen -comm sf@140.158.130.239:9002
MIB520 + MicaZ
PC A with IP: 140.158.130.239
MTS300 + MicaZ
MTS300 + MicaZ
Run MViz Run MViz 1. Add SENSORBOARD=mts300 when compile 2. Modify MVizSensorC.nc to add related sensors 3. Based on MultihopOscilloscopeC .nc, the root id should be 0 3.a For root node: make micaz install ,0 mib510 ,/dev/ttyUSB0 3.b For non-root node (e.g. node 1): make micaz install ,1 mib510,/dev/ttyUSB0 4. chmod 666 /dev/ttyUSB* 5. add CFLAGS += -DCC2420 _DEF_RFPOWER=3 in Makefile to change transmission power 6. How to configurate light , temperature sensors ? Modify: 6.a $TOSROOT/tos/platforms /micaz/DemoSensorC .nc 6.b $TOSROOT/tos/sensorboards /mts300/DemoSensorC .nc 6.c $TOSROOT /apps/Mviz/MVizSensorC .nc
MViz
University of Houston, Clear Lake Lamar University TelosB
Run MViz Run MViz
TelosB
Run MViz
Internet
TelosB
TelosB
Run MViz
TelosB
Run MViz
Data Collection
MTS300 + MicaZ
MTS300 + MicaZ
MIB520 + MicaZ
Data Collection Data Dissemination Data Dissemination
Run Octopus
MTS300 + MicaZ
Data Dissemination
MTS300 + MicaZ
Run Octopus
http://csserver.ucd.ie/~rjurdak/Octopus.htm
Octopus
Data Collection Data Collection
TelosB
Run Octopus
TelosB
TelosB
Data Collection Data Dissemination Data Dissemination
TelosB
Run Octopus
Data Dissemination
TelosB
Run Octopus
Run BlinkToRadio
OscilloScope
GUI Interface
1. run java net.tinyos.sf.SerialForwarder comm serial @/dev/ttyUSB0:telosb 2. Under Oscilloscope /java, run ./run Run BaseStation
TelosB Mote
Text Interface
1. run java net.tinyos.tools.Listen comm serial @/dev/ttyUSB 0:telosb
TelosB Mote
TelosB Mote
MultihopOscilloscope
GUI Interface
1. run java net .tinyos .sf.SerialForwarder -comm serial @/dev/ttyUSB0:telosb 2. Under MultihopOscilloscope /java, run ./run Run MultihopOscilloscopeC .nc
TelosB TelosB
Text Interface
1. run java net.tinyos.tools.Listen comm serial @/dev/ttyUSB 0:telosb
TelosB
TelosB
TelosB
MViz
UHCL
1. run java net.tinyos.sf.SerialForwarder -comm serial@/dev/ ttyUSB 0:telosb 2. run tos-mviz -comm sf@localhost:9002 -dir /opt/ tinyos-2.x/apps/MViz TelosB MVizMsg
Machine in UHCL
Lamar Univ.
Run MViz
TelosB TelosB
Run MViz
Run MViz
Internet
run tos-mviz -comm sf@140 .158 .130 .239 :9002 -dir /opt/ tinyos-2.x/apps/Mviz MVizMsg
TelosB
IP: 140.158.130.239
TelosB
TelosB
Run MViz
Run MViz
Octopus
1. run java net.tinyos .sf.SerialForwarder -comm serial@/dev/ ttyUSB0:telosb 2. run 2.a export MOTECOM=serial@/dev/ ttyUSB0:telosb 2.b java OctopusGui
Lamar Univ.
Run Octopus
TelosB TelosB
Run Octopus
Run Octopus
TelosB
IP: 140.158.130.239
TelosB
TelosB
Run Octopus
Run Octopus
Lab 1
a) Write a PingPong application that runs on two nodes. When a node boots, it sends a broadcast packet using the AMSend interface. When it receives a packet, it a) wait one second; b) sends a packet; c) toggle an LED whenever a node sends a packet.
Lab 2
b) Please add the reliable data transmission feature to the PingPong application from the Application and Link layer, respectively. Suppose that two motes A and B are talking to each other. I. Application Layer: When mote A sends a broadcast pack P to node B, mote A will start a timer T. When mote B receives the packet P, mote B will send an ACK to node A. b.1 If the timer T expires before mote A receives the ACK from mote B (either the packet P or the ACK is lost), mote A will retransmit the packet; b.2 If mote A receives the ACK from mote B before the timer T expires, mote A will do nothing when the timer T expires. b.3 If mote B receive a packet which has already been received (based on sequence number), node B just drop this packet. There is a sequence number included in the payload of the packet P. The sequence number starts from 0. When a packet P is received, the receiver will display the bottom three bits (through LEDs) of the sequence number in the packet P.
Lab 2 - continue
II. Link Layer: In TEP 126 (http://www.tinyos.net/tinyos2.x/doc/html/tep126.html), it says: PacketLink: This layer provides automatic retransmission functionality and is responsible for retrying a packet transmission if no acknowledgement was heard from the receiver. PacketLink is activated on a per-message basis, meaning the outgoing packet will not use PacketLink unless it is configured ahead of time to do so Therefore, as an alternative, you may also configure PacketLink to provide automatic retransmission functionality.
Assignment
1. What is the relationship among all the application components in the Oscilloscope application? 2. please give two examples of split-phase operations in TinyOS 2. 3. What is the usage of Active Message in TinyOS 2? 4. Why doesnt TinyOS 2 make every statement async?