1. Goals: Provide a Full Range of Development Environments for Testing Goals: Provide a Full Range of Development Environments for Testing EmTOS: Bringing EmStar and TinyOS together EmTOS: Bringing EmStar and TinyOS together EmTOS: A Development Tool for Heterogeneous Sensor Networks L. Girod, T. Stathopoulos, N. Ramanathan, E. Osterweil, T. Schoellhammer, R. Kapur and D. Estrin Laboratory of Embedded Collaborative Systems, UCLA – http://lecs.cs.ucla.edu Introduction: How to Simulate and Deploy in a Heterogeneous Environment? Introduction: How to Simulate and Deploy in a Heterogeneous Environment? Need For Heterogeneity Simulating Motes: TOSSIM TOSSIM is a Mote simulator that implements the lowest layer of components in the TinyOS API, and can run many simulated Motes in parallel. TOSSIM only simulates Mote applications, and requires that an identical code base run on every node. While the Tython tool provides limited support to simulate interaction with external stimuli, simulating the behavior of a complex external system is not easy. Simulating Microservers: EmSim EmSim is an EmStar simulator that runs multiple EmStar nodes on a single server, in real-time. EmSim simulates only EmStar code with no support for TinyOS mote applications, but it does support different code bases for different nodes. EmSim also supports the use of real RF channel models in place of simulated channel models. Existing Simulation Models are Homogeneous Real Systems are Heterogeneous Numerous small nodes (Motes) enable long life and dense coverage, while a few large nodes (Microservers) enable more computation, communication, storage –Multihop Over Air Programming (MOAP) MOAP is a wireless code distribution utility that reliably publishes code updates from a central Microserver to each Mote in the network –Extensible Sensing System / James Reserve Microclimate Sensor Array In ESS, Motes in the field sense data and deliver it back out of the network via Microservers. In addition, the Microservers can re-task the network. –Netoworked Info-Mechanical Systems (NIMS) In NIMS, large robotic nodes collaborate with small, power-constrained static sensors. The NIMS node can act as a data mule, can deliver energy and other resources, and can deploy and retrieve nodes from the environment. From Simulation to Deployment The EmTOS Platform UCLA – UCR – Caltech – USC – CSU – JPL – UC Merced Center for Embedded Networked Sensing Support a Heterogeneous Environment Provide an integrated model which simulates complex interactions between all components of the system such as Motes, Microservers, NIMS, etc… Range from Pure Simulation to Native In-Situ Operation Scale: The number of nodes in the sensor network, and their geographic extent Reality: The similarity of the platform, and the nature of its inputs, to a deployment in the application’s intended target environment Readily Iterate Between Simulation and Deployment Run “real code” to eliminate configuration changes when moving from one environment to another What is the EmTOS Platform? EmTOS is an extension of EmStar that enables an entire TinyOS application to run as a single EmStar module, and fully participate in an EmStar system A Bridge Between TinyOS and EmStar Emulates the TinyOS API: by interfacing to underlying EmStar services. Runs Real Code: by encapsulating NesC unmodified within a wrapper library. Integrates to EmStar: allowing TinyOS applications to provide new EmStar services LEDsEEPROMUART Unmodified NesC Application ADC TimerC SenseToRFM AM RadioCRCPacketClockC Underlying EmStar Services EmTOS Wrapper Library EmStatusServerEmPacketServerTOS status motesens sensor/adc motenic link/mote0 Transciever (Mote) tos/ledstos/eepromtos/tasksUser defined hostmote mote/0 Simulating Heterogeneous Applications using EmTOS –Supports simulations with different TinyOS builds on different nodes. –Supports “tiered” applications that include both Motes and Microservers –Supports TinyOS applications running on the PC using the real Mica2 RF channel –EmTOS applications running on Microservers can share access to the radio with other EmStar devices and applications –Makes Motes visible to EmStar visualization and analysis tools for debugging purposes Deploying Heterogeneous Applications using EmTOS EmTOS is a powerful tool for integration of Motes and Microservers. Using EmTOS, a protocol stack written to run on TinyOS Motes can be trivially ported to run on a Microserver, thus enabling a Microserver to participate in the Mote network. Using EmStatusServer and EmPacketServer, an EmTOS module can provide new EmStar interfaces that are easily integrated with other EmStar-based applications. A Range of Simulation Modes Pure Simulation Mode: Microserver and Mote code is run centrally in the EmStar environment, and all nodes communicate through a simulated RF channel. Emulation mode: Microserver and Mote code is run centrally in the EmStar environment, but nodes communicate using a real RF channel Real Mode: Microserver code runs centrally, while Mote code runs natively on real Motes, with a serial backchannel for debugging. Emulated Microservers communicate with real Motes and other Microservers through the real RF channel. Hybrid Mode: A mixture of Real and Emulated modes, where some Motes are emulated and some run natively. All nodes communicate through the real RF channel.