SDL Implementations for Wireless Sensor Networks Incorporation of PragmaDev’s RTDS into the Deterministic Protocol Stack BiPS Tobias Braun, Dennis Christmann, Reinhard Gotzhein, Alexander Mater {tbraun, christma, gotzhein, a_mater09}@cs.uni-kl.de http://vs.cs.uni-kl.de 2014-09-30 – SAM 2014, Valencia, Spain
Introduction BiPS Incorporation of SDL into BiPS Evaluation Conclusions Outline Introduction 1 BiPS 2 Incorporation of SDL into BiPS 3 Scheduling the SDL System Interfacing the SDL Environment Evaluation 4 Conclusions 5 SAM 2014 - T. Braun, D. Christmann, R. Gotzhein, A. Mater – University of Kaiserslautern 1 / 22
Introduction BiPS Incorporation of SDL into BiPS Evaluation Conclusions Motivation ◮ challenges of modern (wireless) sensor systems ◮ efficiency ◮ energy ◮ storage ◮ predictability ◮ communication: Transfer rates, delays, . . . ◮ software implementations: Run-time, waiting times ◮ complexity ◮ reuse ◮ determinism ◮ . . . SAM 2014 - T. Braun, D. Christmann, R. Gotzhein, A. Mater – University of Kaiserslautern 2 / 22
Introduction BiPS Incorporation of SDL into BiPS Evaluation Conclusions Motivation ◮ challenges of modern (wireless) sensor systems ◮ efficiency → manual implementation ◮ energy ◮ storage ◮ predictability → manual implementation ◮ communication: Transfer rates, delays, . . . ◮ software implementations: Run-time, waiting times ◮ complexity → model-driven implementation ◮ reuse → model-driven implementation ◮ determinism → manual implementation ◮ . . . SAM 2014 - T. Braun, D. Christmann, R. Gotzhein, A. Mater – University of Kaiserslautern 2 / 22
Introduction BiPS Incorporation of SDL into BiPS Evaluation Conclusions Motivation ◮ challenges of modern (wireless) sensor systems ◮ efficiency → manual implementation ◮ energy ◮ storage ◮ predictability → manual implementation ◮ communication: Transfer rates, delays, . . . ◮ software implementations: Run-time, waiting times ◮ complexity → model-driven implementation ◮ reuse → model-driven implementation ◮ determinism → manual implementation ◮ . . . objective: Find a trade-off combining the benefits of manual and model-driven implementations SAM 2014 - T. Braun, D. Christmann, R. Gotzhein, A. Mater – University of Kaiserslautern 2 / 22
Introduction BiPS Incorporation of SDL into BiPS Evaluation Conclusions Hybrid Design: Model-driven vs. Hand-written ◮ Specification and Description Language (SDL) SDL (RTDS) ◮ language for the specification of distributed systems BiPS ◮ tool support for model-driven implementations ⇒ use for applications and higher-layer protocols hardware SAM 2014 - T. Braun, D. Christmann, R. Gotzhein, A. Mater – University of Kaiserslautern 3 / 22
Introduction BiPS Incorporation of SDL into BiPS Evaluation Conclusions Hybrid Design: Model-driven vs. Hand-written ◮ Specification and Description Language (SDL) SDL (RTDS) ◮ language for the specification of distributed systems BiPS ◮ tool support for model-driven implementations ⇒ use for applications and higher-layer protocols hardware ◮ Black burst-integrated Protocol Stack (BiPS) ◮ protocol framework for wireless sensor nodes ◮ operating system functionalities ◮ manual bare implementation for Imote2 ⇒ use for hardware-related functionality and time-critical (MAC) protocols SAM 2014 - T. Braun, D. Christmann, R. Gotzhein, A. Mater – University of Kaiserslautern 3 / 22
Introduction BiPS Incorporation of SDL into BiPS Evaluation Conclusions Hybrid Design: Model-driven vs. Hand-written ◮ Specification and Description Language (SDL) SDL (RTDS) ◮ language for the specification of distributed systems BiPS ◮ tool support for model-driven implementations ⇒ use for applications and higher-layer protocols hardware ◮ Black burst-integrated Protocol Stack (BiPS) ◮ protocol framework for wireless sensor nodes ◮ operating system functionalities ◮ manual bare implementation for Imote2 ⇒ use for hardware-related functionality and time-critical (MAC) protocols SAM 2014 - T. Braun, D. Christmann, R. Gotzhein, A. Mater – University of Kaiserslautern 3 / 22
Introduction BiPS Incorporation of SDL into BiPS Evaluation Conclusions Black burst-integrated Protocol Stack Introduction 1 BiPS 2 Incorporation of SDL into BiPS 3 Scheduling the SDL System Interfacing the SDL Environment Evaluation 4 Conclusions 5 SAM 2014 - T. Braun, D. Christmann, R. Gotzhein, A. Mater – University of Kaiserslautern 4 / 22
Introduction BiPS Incorporation of SDL into BiPS Evaluation Conclusions BiPS – (Deterministic) Protocols ◮ BBS – Synchronization protocol with bounded offset SDL (RTDS) ◮ RB – reservation-based MAC (TDMA) BiPS ◮ CB – contention-based MAC (CSMA/CA) ◮ . . . hardware 4 - applications sensor application, control algorithm, ... (BAS) app 3 - higher-layer clustering, routing, middleware... protocols schedulers MAC multiplexer communication 2 - protocols (BCS) BBS ACTP RB CB MB black burst transceiver (CC2420) UART,LED,... 1 - drivers BiPS 0 - system HW timers, GPIO, DMA,... software SAM 2014 - T. Braun, D. Christmann, R. Gotzhein, A. Mater – University of Kaiserslautern 5 / 22
Introduction BiPS Incorporation of SDL into BiPS Evaluation Conclusions BiPS – Operating System Functionalities ◮ hardware drivers SDL (RTDS) ◮ schedulers BiPS ◮ BiPS Communication Scheduler (BCS) ◮ BiPS Application Scheduler (BAS) hardware 4 - applications sensor application, control algorithm, ... (BAS) app 3 - higher-layer clustering, routing, middleware... protocols schedulers MAC multiplexer communication 2 - protocols (BCS) BBS ACTP RB CB MB black burst transceiver (CC2420) UART,LED,... 1 - drivers BiPS 0 - system HW timers, GPIO, DMA,... software SAM 2014 - T. Braun, D. Christmann, R. Gotzhein, A. Mater – University of Kaiserslautern 6 / 22
Introduction BiPS Incorporation of SDL into BiPS Evaluation Conclusions Incorporation of SDL into BiPS Introduction 1 BiPS 2 Incorporation of SDL into BiPS 3 Scheduling the SDL System Interfacing the SDL Environment Evaluation 4 Conclusions 5 SAM 2014 - T. Braun, D. Christmann, R. Gotzhein, A. Mater – University of Kaiserslautern 7 / 22
Introduction BiPS Incorporation of SDL into BiPS Evaluation Conclusions Incorporation of SDL into BiPS – Integration Steps SDL (RTDS) ◮ integration steps BiPS 1. schedule the SDL system with BAS 2. interface the SDL environment with BiPS hardware sensor application, control algorithm, ... 4 - applications (BAS) SDL C++ app 1 3 - higher-layer clustering, routing, middleware... protocols 2 schedulers MAC multiplexer communication 2 2 2 - protocols (BCS) BBS ACTP RB CB MB black burst transceiver (CC2420) UART,LED,... 1 - drivers 0 - system BiPS HW timers, GPIO, DMA,... software SAM 2014 - T. Braun, D. Christmann, R. Gotzhein, A. Mater – University of Kaiserslautern 8 / 22
Introduction BiPS Incorporation of SDL into BiPS Evaluation Conclusions Incorporation of SDL into BiPS Introduction 1 BiPS 2 Incorporation of SDL into BiPS 3 Scheduling the SDL System Interfacing the SDL Environment Evaluation 4 Conclusions 5 SAM 2014 - T. Braun, D. Christmann, R. Gotzhein, A. Mater – University of Kaiserslautern 9 / 22
Introduction BiPS Incorporation of SDL into BiPS Evaluation Conclusions Scheduling the SDL System – Overview ◮ tasks of an SDL scheduler ◮ serialize SDL transition executions ◮ deliver SDL signals inter and intra SDL systems ◮ manage SDL timers SAM 2014 - T. Braun, D. Christmann, R. Gotzhein, A. Mater – University of Kaiserslautern 10 / 22
Introduction BiPS Incorporation of SDL into BiPS Evaluation Conclusions Scheduling the SDL System – Overview ◮ tasks of an SDL scheduler ◮ serialize SDL transition executions ◮ deliver SDL signals inter and intra SDL systems ◮ manage SDL timers ◮ integration approach ◮ single task scheduling → PragmaDev’s rtosless template ◮ adoption of PragmaDev’s CPPScheduler for intra-task scheduling → BiPS SDL Scheduler (BSS) ◮ signal-based (FIFO) ◮ non-preemptive execution of transitions ◮ scheduling of BSS as application of BAS ◮ SDL system runs with lower priority than BCS ◮ interruptible execution of the SDL system in favor of BiPS protocols SAM 2014 - T. Braun, D. Christmann, R. Gotzhein, A. Mater – University of Kaiserslautern 10 / 22
Introduction BiPS Incorporation of SDL into BiPS Evaluation Conclusions Scheduling the SDL System – BSS in BiPS 3/4 - higher-layer protocols / applications SDL Environment Framework SDL system app (BAS) Process Process A B schedulers BiPS SDL Scheduler (BSS) OS template 2 - protocols BCS 1 - drivers BiPS 0 - system software SAM 2014 - T. Braun, D. Christmann, R. Gotzhein, A. Mater – University of Kaiserslautern 11 / 22
Introduction BiPS Incorporation of SDL into BiPS Evaluation Conclusions Scheduling the SDL System – Comments on BSS ◮ realization of SDL time ( NOW ) ◮ derivation from hardware clock TIMER ti; DCL p Duration := 100; ◮ fine-grained (1 µ s ) DCL t Time; t := NOW + p; SET(t, ti); /* Perform operations */ wait SAM 2014 - T. Braun, D. Christmann, R. Gotzhein, A. Mater – University of Kaiserslautern 12 / 22
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