Transcript TinyOS - Lamar University

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
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
http://www.tinyos.net
4
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_1]: Table 2
5
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
Application 2
Application 1
I/O
I/O
Micro-kernel
Monolith-kernel
VM
NFS
Application 1
Scheduler
IPC
HW
Scheduler
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.
VM
TinyOS Architecture Overview (1)
Scheduler
Application
Component
I/O
Application
Component
COMM .
TinyOS
Application
Component
…….
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
• Event-driven architecture
• Single shared stack
• No kernel/user space differentiation
Main (includes Scheduler)
Application (User Components)
Actuating
Communication
Sensing
Communication
Hardware Abstractions
TinyOS Component Model
• Component has:
– Frame (storage)
– Tasks: computation
– Interface:
• Command
• Event
Messaging Component
Internal Tasks
Commands
Internal State
Events
• Frame: static storage model - compile time
memory allocation (efficiency)
• Command and events are function calls
(efficiency)
[TinyOS_4]
10
Typical WSN Application
• Periodic
processing
data acquisition
communication
– Data Collection
– Network Maintenance
– Majority of operation
• Triggered Events
• But… must be reported
quickly and reliably
• Long Lifetime
– Months to Years without
changing batteries
– Power management is the key
to WSN success
Power
– Detection/Notification
– Infrequently occurs
sleep
The mote revolution: Low Powr
Wireless Sensor Network
Time
12
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
13
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
The mote revolution: Low Powr
Wireless Sensor Network
14
Power Consumption
Energy Consumption
• Idle listen:receive:send = 1:1.05:1.4
TinyOS Radio Stack
[Introduction_2]: Figure 3
17
Code and Data Size Breakdown
[Introduction_2]: Table 2
18
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]
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
[TinyOS_1]: Section 5
30
T2 Timer Subsystem
• See interface at:
– tos/lib/timer/Timer.nc
One Example TinyOS Application BlinkC
• http://docs.tinyos.net/index.php/TinyOS_Tutor
ials
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
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
section 4.5 "TinyOS Programming
manual"
44
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)
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”
/tos/lib/timer/VirtualizeTimerC.n
46
Virtualized Timer
Timer Stack on MicaZ/Mica2
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
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
Messaging Component
Internal Tasks
Commands
• Frame: static storage model - compile time
memory allocation (efficiency)
• Command and events are function calls
(efficiency)
Internal State
Events
Structure of a Component
Command Handlers
Event Handlers
Set of Tasks
Frame
(containing state information)
TinyOS Component
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
Tasks
Preempt
events
POST
FIFO
commands
commands
Interrupts
Hardware
Time
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
Lamar
UHCL
Terminal 1 of PC B# java
net.tinyos.tools.Listen -comm
[email protected]:9002
Option 3: Listen connects to
remote SerialForwarder
PC B at UHCL
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
Terminal 1 of PC A# java
net.tinyos.tools.Listen -comm
serial@/dev/ttyUSB1:micaz
Run
BlinkToRadio
MTS300
Option 1: Listen connects to local
+ MicaZ
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# java
net.tinyos.tools.Listen -comm
sf@localhost:9002
Option 2: Listen connects to SerialForwarder
running on a local machine
Application Example - Oscilloscope
Lamar
UHCL
Terminal 1 of PC B# java
net.tinyos.tools.Listen -comm
[email protected]:9002
Option 3: Listen connects to
remote SerialForwarder
PC B at UHCL
Terminal 3 of PC B# export
[email protected]:9002
Terminal 3 of PC B# oscilloscope/java/run
Option 4: oscilloscope connects to remote
SerialForwarder
Terminal 1 of PC A# export
MOTECOM=serial@/dev/
ttyUSB1:micaz
Terminal 1 of PC A# oscillloscope/
java/run
Run
OscilloscopeC.nc
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
Add SENSORBOARD=mts300 in Makefile
Application Example MultihopOscilloscope
GUI Interface
Terminal 1 of PC# java
Run
net.tinyos.sf.SerialForwarder comm serial@/dev/ttyUSB1:micaz MultihopOscilloscopeC.nc
MTS300
+ MicaZ
Terminal 2 of PC#
MultihopOscilloscope/java/run
Text Interface
Terminal 3 of PC# java
net.tinyos.tools.Listen -comm
serial@/dev/ttyUSB1:micaz
MIB520
+ MicaZ
MTS300
+ MicaZ
Run
MultihopOscilloscopeC.nc
Run
MultihopOscilloscopeC.nc
MTS300
+ MicaZ
Run
MultihopOscilloscopeC.nc
MTS300
+ MicaZ
Run
MultihopOscilloscopeC.nc
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
Application Example - MViz
UHCL
Terminal 1 of PC A#java
net.tinyos.sf.SerialForwarder -comm
serial@/dev/ttyUSB1:micaz
Lamar
Terminal 2 of PC A#tos-mviz -comm
sf@localhost:9002 -dir /opt/tinyos-2.x/
apps/MViz MVizMsg
PC B at UHCL
Run MViz
Internet
Terminal 1 of PC B#tos-mviz -comm
[email protected]:9002 -dir /opt/
tinyos-2.x/apps/Mviz MVizMsg
Terminal 2 of PC B#java
net.tinyos.tools.Listen -comm
[email protected]:9002
MTS300
+ MicaZ
Run MViz
MTS300
+ MicaZ
Run MViz
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
Lamar University
University of Houston,
Clear Lake
TelosB
Run MViz
Run MViz
TelosB
Run MViz
TelosB
Internet
PC A with IP:
140.158.130.239
TelosB
TelosB
Run MViz
Run MViz
Application Example - Octopus
Terminal 1 of PC# java net.tinyos.sf.SerialForwarder
-comm serial@/dev/ttyUSB1:micaz
Terminal 2 of PC# export MOTECOM=serial@/dev/
ttyUSB1:micaz
Data
Collection
Terminal 2 of PC# java OctopusGui
Data
Collection
Run
Octopus
MIB520 +
MicaZ
Data
Collection
Data
Dissemination
Data
Dissemination
MTS300
+ MicaZ
MTS300
+ MicaZ
Run Octopus
Data
Dissemination
Data Run Octopus
Dissemination
Data
Collection
MTS300
+ MicaZ
Run Octopus
Data
Collection
Data
Dissemination
• http://csserver.ucd.ie/~rjurdak/Octopus.htm
MTS300
+ MicaZ
Run Octopus
Octopus
Data
Collection
Data
Collection
Run
Octopus
TelosB
Data
Collection
Data
Dissemination
Data
Dissemination
TelosB
TelosB
Run Octopus
Data
Dissemination
Data Run Octopus
Dissemination
Data
Collection
TelosB
Run Octopus
Data
Collection
Data
Dissemination
TelosB
Run Octopus
BaseStation – Listen - BlinkToRadio
Run BaseStation
run java net.tinyos.tools.Listen comm serial@/dev/ttyUSB0:telosb
TelosB
Mote
TelosB
Mote
Run BlinkToRadio
OscilloScope
GUI Interface
1. run java net.tinyos.sf.SerialForwarder comm serial@/dev/ttyUSB0:telosb
2. Under Oscilloscope/java, run ./run
Text Interface
1. run java net.tinyos.tools.Listen comm serial@/dev/ttyUSB0:telosb
Run BaseStation
TelosB
Mote
TelosB
Mote
Run
OscilloscopeC.nc
TelosB
Mote
Run
OscilloscopeC.nc
MultihopOscilloscope
GUI Interface
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
Run
MultihopOscilloscopeC.nc
Text Interface
1. run java net.tinyos.tools.Listen comm serial@/dev/ttyUSB0:telosb
TelosB
TelosB
Run
MultihopOscilloscopeC.nc
TelosB
Run
MultihopOscilloscopeC.nc
MViz
1. run java
net.tinyos.sf.SerialForwarder
-comm serial@/dev/
ttyUSB0:telosb
UHCL
2. run tos-mviz -comm
sf@localhost:9002 -dir /opt/
tinyos-2.x/apps/MViz
TelosB
MVizMsg
Lamar Univ.
TelosB
Run MViz
Run MViz
Machine in UHCL
TelosB
Run MViz
TelosB
Internet
run tos-mviz -comm
[email protected]:9002 -dir /opt/
tinyos-2.x/apps/Mviz MVizMsg
IP: 140.158.130.239
TelosB
Run MViz
TelosB
Run MViz
Octopus
1. run java
net.tinyos.sf.SerialForwarder
-comm serial@/dev/
ttyUSB0:telosb
Lamar Univ.
2. run
2.a export
MOTECOM=serial@/dev/
ttyUSB0:telosb
TelosB
Run Octopus
Run Octopus
TelosB
2.b java OctopusGui
Run Octopus
TelosB
IP: 140.158.130.239
TelosB
Run Octopus
TelosB
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 doesn’t TinyOS 2 make every
statement async?