Wireless Sensor Networks

Transcription

1 Institut für Telematik Universität zu Lübeck Wireless Sensor Networks Chapter 5: Introduction to isense Stefan Fischer Dennis Pfisterer

2 About isense and coalesenses GmbH 2 isense is developed and manufactured by coalesenses GmbH, Lübeck, Germany Founded in 2005 by employees of the University Lübeck to bring research results to the market Areas of activity Massively distributed systems Wireless sensor networks Pervasive Computing isense: Modular Hardware & Modular Software for Wireless Sensors

3 isense: Flexibility through Modularity 3 Application Services Sensors Communication Routing Computation Vibrationsensor PIR Sensor Power Computation & Communication Ext. Li-Ion Power Battery Source I/O Module

4 isense: Flexibility through Modularity 4 isense Sensor Modules Custom Modules isense Core Module + isense Energy Modules isense Gateway Module

5 isense Hardware 5 Controller 32 Bit RISC, 16MHz, 96kB RAM, 128KB Flash 2.4GHz IEEE Data rate: 250 kbit/s, Range up to 400m (and extendable) Hardware-Encryption High Precision RTC Voltage regulator Low Power Communication ~ 30 ma Controller ~ 10 ma, Sleep ~ 5 ua Extendable via 34 Pin Interface: 2x UART, 4xAD, 1xDA, 9x GPIO I2C, SPI

6 isense Hardware 6 Security Sensor Module Passiv Infra Red (PIR) Sensor, 10 meters range 3-Axis Accelerometer, ±6g Camera

7 isense Hardware 7 Security Sensor Module Vehicle Detection Sensor Module Anisotropic Magneto Resistive (AMR) Sensor Control Circuitry

8 isense Hardware 8 Security Sensor Module Vehicle Detection Sensor Module Environmental Sensor Module Temperature sensor Luminance sensor

9 isense Hardware 9 Security Sensor Module Vehicle Detection Sensor Module Environmental Sensor Module GPS Module SirfStar III chip set Battery buffered

10 isense Hardware 10 Security Sensor Module Vehicle Detection Sensor Module Environmental Sensor Module GPS Module Gateway-Module USB and serial data exchange LEDs and buttons

11 isense Hardware 11 Security Sensor Module Vehicle Detection Sensor Module Environmental Sensor Module GPS Module Gateway-Module Power Modules In-system-chargeable Li-Ion 1/2 AA Lithium primary battery Standard battery holder Wall mount adapters

12 isense Hardware 12 Security Sensor Module Vehicle Detection Sensor Module Environmental Sensor Module GPS Module Gateway-Module Power Modules Solar Power System 1.6W Solar Panel 6.7Ah lithium ion battery Power Management Module Housing Lithium-ion rechargeable battery Lithium-ion rechargeable battery Power source (solar panel) isense Power Management Module Sensor Node isense Core Module Power source (solar panel) isense Power Management Module Sensor Node isense Core Module

13 isense Software System 13 Application Tasking/ Timing Service Power Management Sensor Control RTC Watchdog OTAP Neighbor Monitor Transport Routing Time Sync Radio Queue TDMA MAC Handling HAL CSMA MAC Handling Hardware Drivers Wireless Radio

14 isense Software System 14 Application Tasking/ Timing Service Power Management Sensor Control RTC Watchdog OTAP Neighbor Monitor Transport Routing Time Sync Radio Queue TDMA MAC Handling HAL CSMA MAC Handling Hardware Drivers Wireless Radio

15 isense Advantages over other WSN platforms 15 Industry standard programming language (C++) Object orientation Dynamic memory allocation Rich OS functionality Large number of protocols implemented 5+ Routing Protocols Transport Protocol Time Synchronization Over the air programming Localization Software for all kinds of hardware modules GPS, Solar Power, Passive Infrared, Accelerometer, Camera, Temperature, Luminance, Vehicle Detection, Most code is ready to run in the simulator Shawn (

16 Institut für Telematik Universität zu Lübeck Integration of isense within Shawn

17 Motivation 17 Few debugging possibilities Timing effects Interaction effects Scale effects Simulation of sensor networks is a common tool for analysis. Design Simulator Implementation Common implementation Hardware for Simulation Simulation, testing Implementation & debugging Debugging Real World But: How can simulation help Application engineering? Debugging?

18 Integrating isense and Shawn ishawn 18 Application Tasking/ Timing Service Power Management Sensor Control RTC Watchdog OTAP Neighbor Monitor Transport Routing Time Sync Radio Queue TDMA MAC Handling HAL CSMA MAC Handling Driver Hardware Simulation Drivers Simulator Wireless Radio isense processor isense processor isense processor isense processor Node Node Node Node World Models

19 Integrating isense and Shawn ishawn 19 Application Tasking/ Timing Service Power Management Sensor Control RTC Watchdog OTAP Neighbor Monitor Transport Routing Time Sync Radio Queue TDMA MAC Handling HAL CSMA MAC Handling Driver Hardware Simulation Drivers Simulator Wireless Radio isense SW isense SW isense SW isense SW isense processor isense processor isense processor isense processor Node Node Node Node World Models

20 Using ishawn for systematic testing 20 Evaluation and optimization Parameter variation (drop rate, topology, network size) Detection of protocol flaws Design Simulator Implementation Common implementation Hardware for Simulation Simulation, testing Implementation & debugging Debugging Real World Detection of resource waste/underruns (buffers, timers, memory) Multi-device debugging Use of external tools (visualizers, loggers) Bugs, memory access violations

21 Conclusion 21 WSN application development difficult Effects through scale, timing, interaction Commonly: two-fold approach Simulation Real-world experimentation isense & Shawn Coalescence of simulation and implementation Extension of simulation towards debugging Architecture isense was designed for heterogeneous platforms Hardware abstraction layer supports Shawn simulator integration Tracing API for application independent evaluation

22 Institut für Telematik Universität zu Lübeck Structure and Concepts of isense

23 Data Types 23 uint8 8 bit uint16 16 bit uint32 32 bit int8 8 bit int16 int32 char Floating point support available, but: ~20k code size fixed implements fix point arithmetics ~4.6k code size

24 Major isense Compononts 24 Application Os Radio Dispatcher other stuff Radio HW other HW

25 Application Structure 25 class MyApplication : public Application { public: void boot(); }; MyApplication:: MyApplication(Os &_os) : Application(_os) { } void { } MyApplication:: boot () Application* application_factory(os &os) { return new MyApplication(os); }

26 Tasks and Timeouts 26 Os provides functions to register tasks and timeouts Timeouts can be registered with a - point in time - time interval Component that registered timeout will be called in interrupt context when due Tasks provide means for time decoupling can be registered with - no time will be called as soon as possible - point in time or interval defered task will not be called earlier, but maybe later Internal operation of defered task - timeout is registered for delay - when due, a task without interval is registered

27 Tasks and Timeouts 27 Os provides functions to register tasks and timeouts Timeouts can be registered with a - point in time - time interval Component that registered timeout will be called in interrupt context when due Tasks provide means for time decoupling can be registered with - no time will be called as soon as possible - point in time or interval defered task will not be called earlier, but maybe later Internal operation of defered task - timeout is registered for delay - when due, a task without interval is registered

28 Working with Tasks 28 Application add_task_in(time interval, Task* t, void* data) Os Radio Dispatcher other stuff Radio HW other HW

29 Working with Tasks 29 class Task : public isenseobject { public: virtual void execute( void* userdata ) = 0; }; Application add_task_in(time interval, Task* t, void* data) Os Radio Dispatcher other stuff Radio HW other HW

30 Working with Tasks 30 class Task : public isenseobject { public: virtual void execute( void* userdata ) = 0; }; Application execute(void* data) add_task_in(time interval, Task* t, void* data) Os Radio Dispatcher other stuff Radio HW other HW

31 Working with Tasks 31 Application execute(void* data) Os Radio Dispatcher other stuff Radio HW other HW

32 Tasks Are Useful For 32 Time decoupling getting from interrupt context to application context splitting up long program parts avoid blocking doing things later, if timing accuracy is not crucial

33 How to Send Data to Neighbors 33 Application Os Radio Dispatcher other stuff Radio HW other HW

34 How to Send Data to Neighbors 34 Application radio() Os Radio Dispatcher other stuff Radio HW other HW

35 How to Send Data to Neighbors 35 Application &Radio radio() Os Radio Dispatcher other stuff Radio HW other HW

36 How to Send Data to Neighbors 36 Application radio() Os send( ) Radio Dispatcher other stuff Radio HW other HW

37 How to Send Data to Neighbors 37 Application radio() Os send( ) Radio Dispatcher other stuff Radio HW other HW uint8 buf[10]; os().radio().send(0xffff, 10, buf, Radio::ISENSE_RADIO_TX_OPTION_NONE, NULL);

38 How to Send Data to Neighbors 38 Application radio() Os send( ) Radio Dispatcher other stuff Radio HW TX other HW

39 How to Receive Data from Neighbors 39 Application Os Radio Dispatcher other stuff Radio HW other HW

40 How to Receive Data from Neighbors 40 Application &Dispatcher dispatcher() Os Radio Dispatcher other stuff Radio HW other HW

41 How to Receive Data from Neighbors 41 Application dispatcher() Os Radio add_receiver(receiver* r) Dispatcher other stuff Radio HW other HW

42 How to Receive Data from Neighbors 42 Radio class Receiver : public isenseobject { public: virtual ~Receiver(){} virtual Application void receive ( dispatcher() Os add_receiver(receiver* }; r) Dispatcher uint8 len, const uint8 * buf, uint16 src_addr, uint16 dest_addr, uint16 lqi, uint8 sequence_no, uint8 interface); other stuff Radio HW other HW

43 How to Receive Data from Neighbors 43 Application dispatcher() Os Radio add_receiver(receiver* r) Dispatcher other stuff Radio HW other HW os().dispatcher().add_receiver(this);

44 How to Receive Data from Neighbors 44 Application Os RX Radio Radio HW Dispatcher receive( ) other HW other stuff

45 How to Receive Data from Neighbors 45 Application Os RX Radio Radio HW Dispatcher receive( ) other HW other stuff

46 How to Receive Data from Neighbors 46 Application Os add_task ( ) RX Radio Radio HW Dispatcher receive( ) other HW other stuff

47 How to Receive Data from Neighbors 47 Application Os Radio execute( ) Dispatcher other stuff Radio HW other HW

48 How to Receive Data from Neighbors 48 Application receive( ) Os for all receivers Radio Dispatcher other stuff Radio HW other HW

49 Packet Types 49 As a convention, the first byte indicates the packet type #define PACKET_TYPE_FOO 40 uint8 buf[10]; buf[0]= PACKET_TYPE_FOO; os().radio().send(0xffff, 10, buf, Radio::ISENSE_RADIO_TX_OPTION_NONE, NULL); void MyApp::receive(uint8 len, const uint8 * buf, uint16 src_addr, uint16 dest_addr, uint16 lqi, uint8 sequence_no, uint8 interface) { if ((len>0)&&(buf[0]==packet_type_foo)) {. } } Types smaller 32 are reserved for internal use with L2 protocols 64 and above are reserved for use with IPv6 protocol family 32 to 63 are available for application use

50 Controlling the Sleep Mode 50 Doze mode controller is inactive, but wakes up for task, timeouts, interrupts radio can receive data and wakes up controller Current consumption is reduced when controller is idle Sleep mode mote is sleeping completely, but wakes up for task, timeouts, interrupts Os maintains a counter for controlling sleep mode By default, the counter is 0 sleeping in allowed Components can call os().allow_sleep(false) to increment counter sleep forbidden Don t forget to call os().allow_sleep(true) again

51 Debug Output 51 Os provides a debug output mechanism debug messages and fatal messages output at UART0, UART1, Radio os().debug( This is a test ); os().debug( %s, This is a test ); This is a test This is a test os().debug( My id is %i, in hex %x, 17, 17); My id is 17, in hex 0x11

52 Conclusion 52 To use Tasks inherit from Task and implement execute( ) call - os().add_task( ); - os().add_task_at( ); - os().add_task_in( ); do the job in your execute method To send data call os().radio().send( ); To receive data inherit from Receiver, implement receive( ) register with Dispatcher as receiver - os().dispatcher().add_receiver(this); do the job in your receive method To prevent sleeping call os().allow_sleep(false) once To output debug information call os().debug( );

53 Institut für Telematik Universität zu Lübeck Session 2: Hands on

54 Overview 54 Installing isense Download static part of isense Create custom part using the web interface Import into Eclipse The first isense application Text output every second The second isense application Periodically send PING packet Reply with PONG packet on reception of PING

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60 Institut für Telematik Universität zu Lübeck Session 3 Advanced isense Features Leveraging isense/shawn

61 Overview 61 Advanced isense features OS overview Routing Leveraging isense/shawn Accessing Shawn Omitting und experiencing clock drift Memory Simulation Tracers

62 Major isense Compononts Revisited 62 Application Os Radio Dispatcher other stuff Radio HW other HW

63 Overview OS 63 Gives access to all HW software abstractions Radio Radio HW Application Os Dispatcher other stuff other HW

64 Overview OS 64 Gives access to all HW software abstractions Radio Radio HW Application Os Dispatcher other stuff other HW

65 Overview OS 65 Gives access to all HW software abstractions Provides a mechanism for tasking and timeouts controls sleeping and waking Radio Radio HW Application Os Dispatcher other stuff other HW

66 Overview OS 66 Gives access to all HW software abstractions Provides a mechanism for tasking and timeouts controls sleeping and waking Radio Radio HW Application Os Dispatcher other stuff other HW

67 Overview OS 67 Gives access to all HW software abstractions Provides a mechanism for tasking and timeouts controls sleeping and waking Provides a debug output mechanism debug messages and fatal messages output at UART0, UART1, Radio Radio Radio HW Application Os Dispatcher other stuff other HW

68 Overview OS 68 Gives access to all HW software abstractions Provides a mechanism for tasking and timeouts controls sleeping and waking Provides a debug output mechanism debug messages and fatal messages output at UART0, UART1, Radio Radio Radio HW Application Os Dispatcher other stuff other HW

69 Overview OS 69 Gives access to all HW software abstractions Provides a mechanism for tasking and timeouts controls sleeping and waking Provides a debug output mechanism debug messages and fatal messages output at UART0, UART1, Radio Provides data such as time, id, certain thresholds, random numbers etc. Radio Radio HW Application Os Dispatcher other stuff other HW

70 Overview OS 70 Gives access to all HW software abstractions Provides a mechanism for tasking and timeouts controls sleeping and waking Provides a debug output mechanism debug messages and fatal messages output at UART0, UART1, Radio Provides data such as time, id, certain thresholds, random numbers etc. Radio Radio HW Application Os Dispatcher other stuff other HW

71 Overview OS 71 Gives access to all HW software abstractions Provides a mechanism for tasking and timeouts controls sleeping and waking Provides a debug output mechanism debug messages and fatal messages output at UART0, UART1, Radio Provides data such as time, id, certain thresholds, random numbers etc. Radio Radio HW Application Os Dispatcher other stuff other HW

72 How the Routing Protocols Work 72 Initialization register at Dispatcher as receiver Sending get payload from application - (first byte contains application packet type) add header - (first byte contains routing packet type) send via radio Receiving when receive is called, inspect first byte if packet is routing packet, decide about forwarding/delivery - if this is the destination node, strip header, and reinsert payload into Dispatcher - if packet must be forwarded, send via radio

73 How Routing Protocols Send 73 Application Payload send(uint16 dest_addr, uint8 len, uint8* buf) RoutingProtocol Radio Dispatcher other stuff Radio HW other HW

74 How Routing Protocols Send 74 Application Payload send(uint16 dest_addr, uint8 len, uint8* buf) RoutingProtocol Header Payload send( ) Radio Dispatcher other stuff Radio HW other HW

75 How Routing Protocols Send 75 Application Payload send(uint16 dest_addr, uint8 len, uint8* buf) RoutingProtocol Header Payload send( ) Radio Dispatcher other stuff TX Header Payload Radio HW other HW

76 How Routing Protocols Send 76 Application RoutingProtocol Radio Dispatcher other stuff Header Payload RX receive( ) Radio HW other HW

77 How Routing Protocols Forward Data 77 Application receive( ) ignore Header Payload for all receivers RoutingProtocol Radio Dispatcher other stuff Radio HW other HW

78 How Routing Protocols Forward Data 78 Application receive( ) ignore Header Payload for all receivers RoutingProtocol receive( ) Header process Payload Radio Dispatcher other stuff Radio HW other HW

79 How Routing Protocols Forward Data 79 Application process RoutingProtocol Header Payload send( ) Radio Dispatcher other stuff Radio HW other HW

80 How Routing Protocols Forward Data 80 Application process RoutingProtocol Header Payload send( ) Radio Dispatcher other stuff TX Header Payload Radio HW other HW

81 How Routing Protocols Deliver Data 81 Application receive( ) ignore Header Payload for all receivers RoutingProtocol receive( ) Header process Payload Radio Dispatcher other stuff Header Payload RX receive( ) Radio HW other HW

82 How Routing Protocols Deliver Data 82 Application process RoutingProtocol Payload Radio Dispatcher receive( ) other stuff Radio HW other HW

83 How Routing Protocols Deliver Data 83 Application receive( ) process Payload for all receivers RoutingProtocol ignore receive( ) Payload Radio Dispatcher other stuff Header Payload RX receive( ) Radio HW other HW

84 Wrap up 84 Sending get payload from application - (first byte contains application packet type) add header - (first byte contains routing packet type) send via radio Receiving when receive is called, inspect first byte if packet is routing packet, decide about forwarding/delivery - if this is the destination node, strip header, and reinsert payload into Dispatcher - if packet must be forwarded, send via radio

85 Developing with Shawn 85 Debugging Use tools like GDB or Valgrind for debugging WSN applications/protocols Use debug output with exact timing information Analysis Examine the influence of packet loss etc Use the tracers to gain visual information about - each seperate message, including collision, MAC access failures etc - radio TX queue and Dispatcher RX queue - task and timeout queues - dynamic memory usage - dynamic memory layout and fragmentation - message load simulate clock drift and analyse influence of timing

86 Developing with Shawn 86 Debugging Use tools like GDB or valgrind for debugging WSN applications/protocols Use debug output with exact timing information Analysis Examine the influence of packet loss etc Use the tracers to gain visual information about - each seperate message, including collision, MAC access failures etc - radio TX queue and Dispatcher RX queue - task and timeout queues - dynamic memory usage - dynamic memory layout and fragmentation - message load simulate clock drift and analyse influence of timing

87 The Message Tracer 87 Multicast packet Unicast packet Acknowledgeme nt MAC error

88 The Message Tracer 88 shawn.runcommand("isense_trace", "create=postscript_messages " + "file=messages.ps "+ "message_delta=1"); shawn.runcommand("isense_trace", "create=postscript_messages " + "file=messages.ps "+ "intervals= , "+ "message_delta=1");

89 The Radio Queue Tracer 89

90 The Radio Queue Tracer 90 incoming queue outgoing queue

91 The Radio Queue Tracer 91 incoming queue outgoing queue shawn.runcommand("isense_trace", "create=postscript_queues "+ "file=radio_queues.ps time_delta=1.0")

92 The Task and Timeout Tracer 92 shawn.runcommand("isense_trace", "create=postscript_timeout_task_queues "+ "file=task_timeout.ps time_delta=1.0") timeout queue task queue

93 The Memory Tracer 93 shawn.runcommand("isense_trace", "create=postscript_memory "+ "file=mem.ps time_delta=1.0") memory

94 The Memory Layout Gnuplot tracer 94 shawn.runcommand("isense_trace", "create=gnuplot_memory fmalloc=1 ffree=1"+ "nodes=* intervals=* file=mem1-node"); mem1-node17.dat shawn.runcommand("isense_trace", "create=gnuplot_memory fmalloc=1 ffree=1"+ "nodes=17,25-30 intervals= , "+ "file=mem1-node");

95 The Memory Layout Gnuplot tracer 95 shawn.runcommand("isense_trace", "create=gnuplot_memory fmalloc=1 ffree=1"+ "nodes=* intervals=* file=mem1-node"); mem1-node17.dat shawn.runcommand("isense_trace", "create=gnuplot_memory fmalloc=1 ffree=1"+ "nodes=17,25-30 intervals= , "+ "file=mem1-node");

96 Message Density Tracer 96 shawn.runcommand("isense_trace", "create=msg_density_postscript time_delta=1"+ "file=msg_density.ps max_width=3"); Insights into a tree routing protocol Initial broadcast phase Tree routing towards sink

97 Conclusion 97 Advanced isense features OS overview Routing Analysis of protocols using isense/shawn tracers Use the tracers to gain visual information about - each seperate message, including collision, MAC access failures etc - radio TX queue and Dispatcher RX queue - task and timeout queues - dynamic memory usage - dynamic memory layout and fragmentation - message load

98 For more information 98 Mailinglist C++ Class Documentation (doxygen)

99 Thank you 99