tinyos
DESCRIPTION
TinyOS. 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 Understand NesC programmng Learn representative WSN applications. - PowerPoint PPT PresentationTRANSCRIPT
TinyOS
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
• Understand NesC programmng• Learn representative WSN applications
Prerequisites
• Module 1• Basic concepts of Operating Systems• Basic concepts of Object-oriented Design and
Analysis• Basic concepts of Computer Networks
http://www.tinyos.net 4
Software Challenges - TinyOS
• Power efficient– Put microcontroller and radio to sleep
• Small memory footprint– Non-preemptable FIFO task scheduling
• Efficient modularity– Function call (event and command) interface between
commands• Application specific• Concurrency-intensive operation
– Event-driven architecture– No user/kernel boundary
[TinyOS_1]: Table 2 5
TinyOS Hardware Abstraction Architecture (HAA)
• Section 2.3 and Figure 2.5 of J. Polastre Dissertation: http://www.polastre.com/papers/polastre-thesis-final.pdf
TinyOS Hardware Abstraction Architecture (HAA)
Ref: Figure 2.4 of J. Polastre Dissertation http://www.polastre.com/papers/polastre-thesis-final.pdf
Traditional OS Architectures
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.
VM I/O Scheduler
Application 1 Application 2
Monolith-kernel
HW
NFS I/O
Scheduler
Application 1
Micro-kernel
HW
IPC VM
NO Kernel Direct hardware manipulationNO Process management Only one process on the fly.NO Virtual memory Single linear physical address space NO Dynamic memory allocation Assigned at compile timeNO Software signal or exception Function Call instead
Goal: to strip down memory size and system overhead.
TinyOS Architecture Overview (1)
I/O COMM . …….
Scheduler TinyOS
Application Component
Application Component
Application Component
TinyOS Overview• Application = scheduler + graph of components
– Compiled into one executable
• Event-driven architecture• Single shared stack• No kernel/user space differentiation
CommunicationActuating Sensing Communication
Application (User Components)
Main (includes Scheduler)
Hardware Abstractions
[TinyOS_4] 10
TinyOS Component Model
• Component has:– Frame (storage)– Tasks: computation– Interface:
• Command • Event
• Frame: static storage model - compile time memory allocation (efficiency)
• Command and events are function calls (efficiency)
Messaging Component
Internal StateInternal Tasks
Commands Events
The mote revolution: Low Powr Wireless Sensor Network Devices, Hot Chips 2004
12
Typical WSN Application• Periodic
– Data Collection– Network Maintenance– Majority of operation
• Triggered Events– Detection/Notification– Infrequently occurs
• But… must be reported quickly and reliably
• Long Lifetime– Months to Years without
changing batteries– Power management is the key
to WSN success
sleep
wak
eup
processingdata acquisitioncommunication
Pow
er
Time
The mote revolution: Low Powr Wireless Sensor Network Devices, Hot Chips 2004
13
Design Principles
• Key to Low Duty Cycle Operation:– Sleep – majority of the time– Wakeup – quickly start processing– Active – minimize work & return to sleep
The mote revolution: Low Powr Wireless Sensor Network Devices, Hot Chips 2004
14
Minimize Power Consumption• Compare to Mica2: a MicaZ mote with AVR mcu and 802.15.4 radio
• Sleep– Majority of the time– Telos: 2.4mA– MicaZ: 30mA
• Wakeup– As quickly as possible to process and return to sleep– Telos: 290ns typical, 6ms max– MicaZ: 60ms max internal oscillator, 4ms external
• Active– Get your work done and get back to sleep– Telos: 4-8MHz 16-bit– MicaZ: 8MHz 8-bit
Power Consumption
Energy Consumption
• Idle listen:receive:send = 1:1.05:1.4
[Introduction_2]: Figure 3 17
TinyOS Radio Stack
[Introduction_2]: Table 2 18
Code and Data Size Breakdown
WSN Protocol Stack
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
• Little more that a non-preemptive scheduler• Component-based architecture• Event-driven
• Ref: P. Levis, et al. “T2: A Second Generation OS For Embedded Sensor Networks”
TinyOS 2• Static binding and allocation
– Every resource and service is bound at compile time and all allocation is static
• Single thread of control• Non-blocking calls
– 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_Execution_Model • 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
802.15.4 and CC2420
• CC2420 hardware signals packet reception by triggering an interrupt
• The software stack is responsible for reading the received bytes out of CC2420’s memory;
• The software stack sends a packet by writing it to CC2420’s memory then sending a transmit command
• Ref: P. Levis, et al. “T2: A Second Generation OS For Embedded Sensor Networks”
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”
Scheduler in TinyOS 2.x
SchedulerBasicP.nc of TinyOS 2.x
TinyOS Serial Stack
• Ref: P. Levis, et al. “T2: A Second Generation OS For Embedded Sensor Networks”
Device Drivers in T2
• Virtualized• Dedicated• Shared
• Ref: Section 3 of [Energy_1]
[TinyOS_1]: Section 5 30
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
• Requirement of Timer subsystem– Different sampling rates: one per day to 10kHz
T2 Timer Subsystem
• See interface at:– tos/lib/timer/Timer.nc
One Example TinyOS Application - BlinkC
• http://docs.tinyos.net/index.php/TinyOS_Tutorials
One Example of Wiring
• Ref: D. Gay, et al. “Software Design Patterns for TinyOS”
AppM
• Ref: D. Gay, et al. “Software Design Patterns for TinyOS”
AppM
• Ref: D. Gay, et al. “Software Design Patterns for TinyOS”
Sensor Interface
• Ref: D. Gay, et al. “Software Design Patterns for TinyOS”
Initialize Interface
• Ref: D. Gay, et al. “Software Design Patterns for TinyOS”
SensorC
• Ref: D. Gay, et al. “Software Design Patterns for TinyOS”
AppC
• Ref: D. Gay, et al. “Software Design Patterns for TinyOS”
Notation
CTP Routing Stack
Parameterized Interfaces
• An interface array
•Ref: D. Gay, et al. “Software Design Patterns for TinyOS”, Section 2.3
unique and uniqueCount
• Want to use a single element of a parameterized interface and does not care which one, as long as no one else use it
• Want to know the number of different values returned by unique
•Ref: D. Gay, et al. “Software Design Patterns for TinyOS”, Section 2.4
section 4.5 "TinyOS Programming manual"
44
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
Generic Components and Typed Interface
• Have at least one type parameter• Generic Components are NOT singletons
– Can be instantiated within an configuration– Instantiated with the keyword new (Singleton
components are just named)
/tos/lib/timer/VirtualizeTimerC.n 46
Example - VirtualizeTimerC• 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.
• How to use it?– Components new VirtualizeTimerC(TMilli, 3) as TimerA
• This will allocate three timers– Components new VirtualizeTimerC(TMilli, 4) as TimerB
• This will allocate three timers• Ref:
– /tos/lib/timer/VirtualizeTimerC.nc– Section 7.1 of “TinyOS Programming Manual”
Virtualized Timer
Figure 4 of [TinyOS_1] 48
Timer Stack on MicaZ/Mica2
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
Relationship between CC1000 Radio Implementation and message_t
• tos/chips/cc1000/CC1000Msg.h
Relationship between CC2420 Radio Implementation and message_t
• tos/chips/cc2420/CC2420.h
Relationship between Serial Stack Packet Implementation and message_t
• tinyos-2.x/tos/lib/serial/Serial.h
Active Message (AM)
• Why do we need AM?– Because it is very common to have multiple
services using the same radio to communicate– AM layer to multiplex access to the radio
• make micaz install,n– n: unique identifier for a node
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
TinyOS Component Model
• Component has:– Frame (storage)– Tasks: computation– Interface:
• Command • Event
• Frame: static storage model - compile time memory allocation (efficiency)
• Command and events are function calls (efficiency)
Messaging Component
Internal StateInternal Tasks
Commands Events
Structure of a Component
TinyOS Component
Command Handlers
Event Handlers
Set of Tasks
Frame (containing state information)
TinyOS Two-level Scheduling• Tasks do computations
– Non-preemptable FIFO scheduling– Bounded number of pending tasks
• Events handle concurrent dataflows– Interrupts trigger lowest level events– Events prempt tasks, tasks do not– Events can signal events, call commands, or post tasks
Hardware
Interrupts
even
ts
commands
FIFOTasks
POSTPreempt
Time
commands
TinyOS Applications
• In most mote applications, execution is driven solely by timer events and the arrival of radio messages
How to Program motes Under TinyOS
• make telosb install,n mib510,/dev/ttyUSB0• make telosb install,1 mib510,/dev/ttyUSB0
Representative WSN Applications
• BaseStation – Listen – BlinkToRadio– One-hop WSN application to collect sensed values
• 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
Application Example - BaseStation, Listen and BlinkToRadio
MIB520 + MicaZ Run
BaseStation
MTS300 + MicaZ
Run BlinkToRadio
PC A at Lamar Univ. with IP 140.158.130.239
Lamar
PC B at UHCL
UHCL
Terminal 1 of PC A# java net.tinyos.tools.Listen -comm serial@/dev/ttyUSB1:micaz
Option 1: Listen connects to local serial ports
Terminal 2 of PC A# java net.tinyos.sf.SerialForwarder -comm serial@/dev/ttyUSB1:micaz
Terminal 3 of PC A# java net.tinyos.tools.Listen -comm sf@localhost:9002
Option 2: Listen connects to SerialForwarder running on a local machine
Terminal 1 of PC B# java net.tinyos.tools.Listen -comm [email protected]:9002
Option 3: Listen connects to remote SerialForwarder
Terminal 2 of PC B# java net.tinyos.sf.SerialForwarder -comm [email protected]: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
Internet
Application Example - Oscilloscope
MIB520 + MicaZ Run
BaseStation
MTS300 + MicaZ
PC A at Lamar Univ. with IP 140.158.130.239
Lamar
PC B at UHCL
UHCLTerminal 1 of PC A# export MOTECOM=serial@/dev/ttyUSB1:micazTerminal 1 of PC A# oscillloscope/java/run
Option 1: Oscilloscope connects to local serial ports
Terminal 2 of PC A# java net.tinyos.sf.SerialForwarder -comm serial@/dev/ttyUSB1:micaz
Terminal 3 of PC A# export MOTECOM=sf@localhost:9002Terminal 3 of PC A# oscilloscope/java/run
Option 2: Oscilloscope connects to SerialForwarder running on a local machine
Terminal 1 of PC B# java net.tinyos.tools.Listen -comm [email protected]:9002
Option 3: Listen connects to remote SerialForwarder
Terminal 3 of PC B# export [email protected]:9002Terminal 3 of PC B# oscilloscope/java/run
Option 4: oscilloscope connects to remote SerialForwarder
Internet
Run OscilloscopeC.nc
Add SENSORBOARD=mts300 in Makefile
Application Example - MultihopOscilloscope
Run MultihopOscilloscopeC.nc
Run MultihopOscilloscopeC.nc
Run MultihopOscilloscopeC.nc
Terminal 1 of PC# java net.tinyos.sf.SerialForwarder -comm serial@/dev/ttyUSB1:micaz
Terminal 2 of PC# MultihopOscilloscope/java/run
1. Add SENSORBOARD=mts300 when compile2. Based on MultihopOscilloscopeC.nc, the root id should be 02.a For root node: make micaz install,0 mib510,/dev/ttyUSB02.b For non-root node (e.g. node 1): make micaz install,1 mib510,/dev/ttyUSB03. chmod 666 /dev/USB*4. Make sure the root node and non-root nodes are all running5. How to configurate light, temperature sensors? Modify:5.a $TOSROOT/tos/platforms/micaz/DemoSensorC.nc5.b $TOSROOT/tos/sensorboards/mts300/DemoSensorC.nc5.c $TOSROOT/apps/MultihopOscilloscope/MultihopOscilloscopeAppC.nc
Run MultihopOscilloscopeC.nc
Run MultihopOscilloscopeC.nc
Terminal 3 of PC# java net.tinyos.tools.Listen -comm serial@/dev/ttyUSB1:micaz
GUI Interface
Text Interface
MTS300 + MicaZ
MTS300 + MicaZ
MTS300 + MicaZ
MTS300 + MicaZ
MIB520 + MicaZ
Application Example - MViz
Internet
Run MViz
Run MViz
1. Add SENSORBOARD=mts300 when compile2. Modify MVizSensorC.nc to add related sensors3. Based on MultihopOscilloscopeC.nc, the root id should be 03.a For root node: make micaz install,0 mib510,/dev/ttyUSB03.b For non-root node (e.g. node 1): make micaz install,1 mib510,/dev/ttyUSB04. chmod 666 /dev/ttyUSB*5. add CFLAGS += -DCC2420_DEF_RFPOWER=3 in Makefile to change transmission power6. How to configurate light, temperature sensors? Modify:6.a $TOSROOT/tos/platforms/micaz/DemoSensorC.nc6.b $TOSROOT/tos/sensorboards/mts300/DemoSensorC.nc6.c $TOSROOT/apps/Mviz/MVizSensorC.nc
Run MViz
Run MViz
PC A with IP: 140.158.130.239
PC B at UHCL
LamarUHCL
MIB520 + MicaZ
MTS300 + MicaZ
MTS300 + MicaZ
MTS300 + MicaZ
MTS300 + MicaZ
Terminal 1 of PC A#java net.tinyos.sf.SerialForwarder -comm serial@/dev/ttyUSB1:micaz
Terminal 2 of PC A#tos-mviz -comm sf@localhost:9002 -dir /opt/tinyos-2.x/apps/MViz MVizMsg
Run MViz
Terminal 1 of PC B#tos-mviz -comm [email protected]:9002 -dir /opt/tinyos-2.x/apps/Mviz MVizMsgTerminal 2 of PC B#java net.tinyos.tools.Listen -comm [email protected]:9002
MViz
Internet
Run MViz
Run MViz
Run MViz
Run MViz
PC A with IP: 140.158.130.239
Lamar UniversityUniversity of Houston, Clear Lake
TelosB
TelosB
TelosB
TelosBTelosB
Run MViz
Application Example - Octopus
• http://csserver.ucd.ie/~rjurdak/Octopus.htm
Run Octopus
Run Octopus
Run Octopus
Run Octopus
Run Octopus
MTS300 + MicaZ
MTS300 + MicaZ
MTS300 + MicaZ
MTS300 + MicaZ
MIB520 + MicaZ
Data Collection
Data Collection
Data Collection
Data CollectionData
CollectionData
Dissemination
Terminal 1 of PC# java net.tinyos.sf.SerialForwarder -comm serial@/dev/ttyUSB1:micaz
Terminal 2 of PC# export MOTECOM=serial@/dev/ttyUSB1:micaz
Terminal 2 of PC# java OctopusGui
Data Dissemination
Data Dissemination
Data Dissemination
Data Dissemination
Octopus
Run Octopus
Run Octopus
Run Octopus
Run Octopus
Run Octopus
TelosB
TelosB
TelosBTelosB
TelosB
Data Collection
Data Collection
Data Collection
Data CollectionData
CollectionData
Dissemination
Data Dissemination
Data Dissemination
Data Dissemination
Data Dissemination
BaseStation – Listen - BlinkToRadio
TelosB Mote
Run BaseStation
run java net.tinyos.tools.Listen -comm serial@/dev/ttyUSB0:telosb
TelosB Mote
Run BlinkToRadio
OscilloScope
TelosB Mote
Run BaseStation
TelosB Mote
Run OscilloscopeC.nc
TelosB Mote
Run OscilloscopeC.nc
1. run java net.tinyos.sf.SerialForwarder -comm serial@/dev/ttyUSB0:telosb2. Under Oscilloscope/java, run ./run
1. run java net.tinyos.tools.Listen -comm serial@/dev/ttyUSB0:telosb
Text Interface
GUI Interface
MultihopOscilloscope
TelosB
Run MultihopOscilloscopeC.nc
TelosB
Run MultihopOscilloscopeC.nc
TelosB
Run MultihopOscilloscopeC.nc
1. run java net.tinyos.sf.SerialForwarder -comm serial@/dev/ttyUSB0:telosb
2. Under MultihopOscilloscope/java, run ./run
TelosB
Run MultihopOscilloscopeC.nc
Run MultihopOscilloscopeC.nc
TelosB
1. run java net.tinyos.tools.Listen -comm serial@/dev/ttyUSB0:telosb
GUI Interface
Text Interface
MViz
InternetTelosB
Run MViz
TelosB
Run MViz
TelosB
Run MViz
TelosB
Run MViz
Run MViz
TelosB
run tos-mviz -comm [email protected]:9002 -dir /opt/tinyos-2.x/apps/Mviz MVizMsg
IP: 140.158.130.239
Machine in UHCL
Lamar Univ.UHCL
1. run java net.tinyos.sf.SerialForwarder -comm serial@/dev/ttyUSB0:telosb2. run tos-mviz -comm sf@localhost:9002 -dir /opt/tinyos-2.x/apps/MViz MVizMsg TelosB
Octopus
TelosB
Run Octopus
TelosB
Run Octopus
TelosB
Run Octopus
1. run java net.tinyos.sf.SerialForwarder -comm serial@/dev/ttyUSB0:telosb2. run
2.a export MOTECOM=serial@/dev/ttyUSB0:telosb
2.b java OctopusGui
TelosB
Run Octopus
Run Octopus
TelosB
IP: 140.158.130.239
Lamar Univ.
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/tinyos-2.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 doesn’t TinyOS 2 make every statement async?