A Survey of Sensor Network Software Tools

1. A Survey of Software Toolsfor Sensor Networks AleksandarCrnjin, M.Eng.with Prof. Dr. Veljko MilutinovicProSense team at ETF, U. of Belgrade

2. Topics • Introduction:Comparison of Architectures;Going “Full Custom” • TinyOS + NesC • Java on SunSPOTs • Concluding Remarks

3. Comparison of Architectures Crossbow Mica2DotSensor Node Processing power:Atmel 4MHz, 8 bit Microcontroller Memory128Kb Instruction Memory4 Kb SRAM Storage:32KB on a 24LC256 Chip Communication:10kbps Radio link Power:Two AA batteries A Typical Desk Computer Processing power:Two 2GHz64-bit Processors Memory:2 GBs of RAM Storage:320GB Hard Drive Communication:1Mbit ADSL link Power:Practically Unlimited

4. Full Custom Approach? • An obvious method to program sensor networks is to do so as with any other embedded computer system. • Full Custom Software: • do not use any readymade software tool, • program directly in assembly language or in microcontroller-enabled C development tool(e.g. Keil C) • operate the peripherals using control and status registers • do not use an operating system,write the program directly to ROM • Full Custom Hardware: • do not use any readymade hardware platform, • make a sensor node “from scratch” instead(pick a microcontroller & add peripherals)

5. Full Custom Approach? • IN FAVOR: • Probably the optimal solution • in terms of speed of execution, • memory space used, and • battery power usage. • AGAINST: • Limited interoperability • A long time needed to establish basic functionality • Unsuitable for more complex problems

6. TinyOS + NesC Component Model & Event Driven Programming

7. TinyOS: An Introduction • A very small (“Tiny”)special purpose operating system for sensor nodes • Problem with conventional OSes:not enough memory, esp. for stack • Impossible to save context for each task separately;all tasks must share a single context

8. TinyOS Component Model • Organize parts of code into distinct entities based on functionality,and associate statically allocated memory with these code parts • A part of code, with its associated memory frame,and described interface to other such partsis called a componentComponent = Code + Interface + Memory Frame • Components cannot rely on registers to save state(single execution context!);state must be saved only in the allocated memory frame

9. TinyOS Event Driven Programming • TinyOS components usually have: • command handling routines • event handling routines • a fixed amount of allocated memory (frame) • In response to commands and events,they execute tasks • Commands and events make up theinterfaceof the component • All code is executed in response tocommands and events • System events: Init, Start, Stop(interface StdControl) • System components – provide abstraction for onboard devices

10. Component Configurations • Components are “interconnected”into configurationsby “wiring” their interfaces • Cmd/Event Chain • commands flow downward • events climb upward • Non-blocking cmd/eventnotification • System commands at the top; • Hardware events at the bottom

11. NesC • Network Embedded Systems C • Developed for TinyOS;TinyOS subsequently rewritten in NesC • Supports the TinyOS component model natively • Embeds TinyOS structures: • configurations describe component interconnections • modules describe single components

12. Example Application:Blink configuration Blink { } implementation {components Main, BlinkM, ClockC, LedsC;Main.StdControl->BlinkM.StdControl;BlinkM.Clock->ClockC;BlinkM.Leds->LedsC; } Wiring components together:User.Interface -> Provider Component tree

13. Example Application:Blink connections to Clock and Leds modules module BlinkM{provides interface StdControl;uses interface Clock;uses interface Leds; } implementation {bool state;command result_tStdControl.init() { state = FALSE; call Leds.init (); return SUCCESS;} command result_tStdControl.start() {return call Clock.setRate(128, 6); } command result_tStdControl.stop() {return call Clock.setRate(0,0); } event result_tClock.fire () {state = !state;if (state) call Leds.redOn();else call Leds.redOff(); return SUCCESS;} } Calling a command executed when Clock.fire ()is triggered

14. TinyOS + NesC: Conclusion • IN FAVOR: • Excellent interoperability • Basic functionality attained quickly • De-facto standard • AGAINST: • Steep learning curve

15. Java on SunSPOTs Sun SPOT devicesand an operating system/Java virtual machine

16. SunSPOTs:Introduction • SunSPOT:Small Programmable Object Technology • A Sun Labs research project to investigatesmall wireless sensor technology • Primary motivation:enable non-EE students to developapplications for sensor networks • More powerful and more expensivethan standard sensor node systems: • 180 MHz ARM9 32-bit processor • $550 for a kit of two Sun SPOTs • 2.4 GHz ZigBee™ Radio + Various Sensors A Sun SPOT device

17. SquawkJava VM for SunSPOT • Java VM for SunSPOT devices • Runs on bare ARM,without an underlying OS • In contrast to standard Java VMs,Squawk is mostly written in Java • Complete set of native Java device drivers • Fully integrated with NetBeans IDE,builds and deploys using Ant • “Brings the ease of Java developmentto the world of sensors” Squawk Java VM: Blue– written in C++ Yellow– written in Java

18. Programming a SPOT • creating a new SunSPOT project is as easy aschoosing File→New Project →Sun SPOT applicationin the NetBeans IDE • The whole fuctionality of a SPOT demo boardis abstracted through the EDemoBoardclass • Inputs (sensors and switches) and outputs (LEDs)are reachable through Java interfaces;an instance of such interface is retrieved using getxxx() method

19. Programming a SPOT:Examples • Looking for a switch press: • Getting temperature readings: Import com.sun.spot.sensorboard.EDemoBoard;Import com.sun.spot.sensorboard.ISwitch;ISwitch[] ourSwitches = EDemoBoard.getInstance().getSwitches(); if (ourSwitches[0].isOpen())ourSwitches[0].waitForChange(); Import com.sun.spot.sensorboard.EDemoBoard;Import com.sun.spot.sensorboard.ISwitch;ITemperatureInput ourTempSensor = EDemoBoard.getADCTemperature(); double celsiusTemp = ourTempSensor.getCelsius(); double fahrTemp = ourTempSensor.getFahrenheit();

20. Programming a SPOT:Examples • Outputting to LEDs: • Radio communication – Using Data Streams Import com.sun.spot.sensorboard.EDemoBoard;Import com.sun.spot.sensorboard.ITriColorLED;ITriColorLED[] ourLEDs = EDemoBoard.getInstance().getLEDs(); ourLEDs[0].setRGB(255,0,0); // bright red ourLEDs[1].setRGB(0,255,0); // bright green ourLEDs[2].setRGB(0,0,255); // bright blue ourLEDs[3].setRGB(255,255,255); // white StreamConnectionconn = (StreamConnection)Connector.open (“radiostream://nnnn.nnnn.nnnn.nnnn:xxx”); DataInputStreamdis = conn.openDataInputStream (); DataOutputStream dos = conn.openDataOutputStream ();

21. SunSPOTs + Java:Conclusion • IN FAVOR: • Sensor node programming made very simple • AGAINST: • Large size of SunSPOT devices • Still expensive

22. Concluding Remarks • While it has its own merits,“Full Custom” approach ultimately isn’t suitablefor the ProSense project • SunSPOT is an interesting insightto the future of sensor node programming,but as of now,its primary application is in the education field. • TinyOS + NesC approach is, in our opinion,still the best way to go.

23. References • [1] Dario Rossi,”Sensors as Software: TinyOS” • [2] Dario Rossi,”Sensors as Software: nesC” • [3] SunSPOT Owner’s Manual (www.sunspotworld.com) • [4] SunSPOT Developers’ Guide (www.sunspotworld.com) • [5] Holger Karl, Andreas Willig, “Protocols and Architectures for Wireless Sensor Networks”, Wiley, 2005.

24. Thank You! Aleksandar Crnjin acrnjin@gmail.com