Generic wiselib application tinyos

##Basic Requirements

Before compiling your first application, the appropriate paths must be set. Therefore the file

wiselib/applications/Makefile.template

must be copied to

wiselib/applications/Makefile.local

and the paths for the platforms to be used for compilation must be adapted.

Without an existing Makefile.local (see above), it is not possible to compile any application in the applications folder!

Once this is done, change to

wiselib/applications/example_app

Preparing the Environment

For the Tinyos integration, the corresponding [Installing TinyOs] (http://docs.tinyos.net/index.php/Installing_TinyOS_2.1.1) documentation should be used. On my Debian system, I did the following:

• Installed nesc and tinyos-tools from the given repository (e.g., deb http://tinyos.stanford.edu/tinyos/dists/ubuntu <distribution> main) via apt-get
• Downloaded TinyOs 2.1.1(converted it with alien --to-tgz ... to tar archive)
• Generated tinyos.sh, where TOSROOT, TOSDIR, CLASSPATH, MAKERULES were exported. Added tinyos.sh to ~/.bashrc.
• Downloaded and compiled both mspgcc4 and avr-gcc separately, since C++-support is needed - see Compiler Setup for details

TOSSIM

Before working with Tinyos on real nodes, we are going to let a Wiselib application run in [TOSSIM] (http://docs.tinyos.net/index.php/TOSSIM) (we assume that you are currently in directory wiselib/applications/example_app). Run

make tinyos-tossim

to generate the required _TOSSIMmodule.so. The output should look as follows:

make -f /home/tbaum/develop/wiselib.svn//applications/Makefile.tinyos.tossim micaz sim tinyos-tossim
[...]
g++ -shared -fPIC -DTINYOS -DOSMODEL=TinyOsModel -DTINYOS_TOSSIM -I. -I/home/tbaum/develop/wiselib.svn//wiselib.stable -I/home/tbaum/develop/wiselib.svn//wiselib.testing \
              -o out/tinyos_timer.so -c /home/tbaum/develop/wiselib.svn//wiselib.stable/external_interface/tinyos/tinyos_timer.cpp
[...]
compiling   /home/tbaum/develop/wiselib.svn//wiselib.stable/external_interface/tinyos/TinyosWiselibGlueAppC to object   file sim.o
ncc -c -shared -fPIC -o simbuild/micaz/sim.o -g -O0 -  I/home/tbaum/develop/wiselib.svn//wiselib.stable/external_interface/tinyos/ -DTINYOS_TOSSIM -tossim -fnesc-nido-tosnodes=1000 -fnesc-simulate -fnesc-nido-motenumber=sim_node\(\) -fnesc-gcc=gcc -Wall -Wshadow -Wnesc-all -target=micaz -fnesc-cfile=simbuild/micaz/app.c -board=micasb -DDEFINED_TOS_AM_GROUP=0x22 --param max-inline-insns-single=100000 -I/home/tbaum/develop/sensor-os/tinyos/tinyos-2.1.1/tos/lib/printf -DIDENT_APPNAME=\"/home/tbaum/dev\" -DIDENT_USERNAME=\"tbaum\" -DIDENT_HOSTNAME=\"bical\" -DIDENT_USERHASH=0x6ed7351fL -DIDENT_TIMESTAMP=0x4d583d58L -DIDENT_UIDHASH=0x7e300f73L -Wno-nesc-data-race /home/tbaum/develop/wiselib.svn//wiselib.stable/external_interface/tinyos/TinyosWiselibGlueAppC.nc   -fnesc-dump=components -fnesc-dump=variables -fnesc-dump=constants -fnesc-dump=typedefs -fnesc-dump=interfacedefs -fnesc-dump=tags -fnesc-dumpfile=app.xml
compiling Python support and C libraries into pytossim.o, tossim.o, and c-support.o
[...]
show sizes...
size _TOSSIMmodule.so
  text    data     bss     dec     hex filename
  261311    6540  575304  843155   cdd93 _TOSSIMmodule.so

_TOSSIMmodule.so is successfully generated and already contains the example_app application. Now, TOSSIM can be started to run the application. For simplicity reasons, we already provide a start script that runs a network with 10 nodes. The script is located in wiselib.stable/external_interface/tinyos/tossim. From the current directory, just run

../../wiselib.stable/external_interface/tinyos/tossim/start-tossim.py

and you should get an output as follows:

Preparing simulation.
Booting  0  at time  27235055722
Booting  1  at time  74506531273
Booting  2  at time  25220777639
Booting  3  at time  90746688971
Booting  4  at time  48789724912
Booting  5  at time  13240591781
Booting  6  at time  24350460061
Booting  7  at time  64820497627
Booting  8  at time  74987932607
Booting  9  at time  77594729803
Starting simulation.
DEBUG (5): Hello World from Example Application!
DEBUG (5): Node 5: Application booted at 0:0:1.324059178.
DEBUG (6): Hello World from Example Application!
DEBUG (6): Node 6: Application booted at 0:0:2.435046006.
[...]
DEBUG (2): received msg at 2 from 3
DEBUG (2):   message is hello world!
DEBUG (4): received msg at 4 from 3
DEBUG (4):   message is hello world!
Completed simulation.

Bring Application to Nodes

After having the application run successfully in TOSSIM, we are going to test it on hardware. We will use one TelosB and a MicaZ that will send a message from one to the other. First, we need to compile the application for the TelosB, and run

make clean tinyos-telosb

The last lines of the output should look as follows:

[...]
show sizes...
msp430-size build/telosb/main.exe
  text    data     bss     dec     hex filename
  18636      48     988   19672    4cd8 build/telosb/main.exe

Now, the application can be brought to the node (here, it is connected to /dev/ttyUSB0). In addition, we want to change the node id to 14. We therefore run the following command:

make tinyos-nodeid-telosb flash-sky PORT=/dev/ttyUSB0 TOS_NODE_ID=14

The make target tinyos-nodeid-telosb changes the id in the image to the value of TOS_NODE_ID - if not given, default is 1. The make target flash-sky brings the hex file to the node, whereby the port can be given via PORT (with /dev/ttyUSB0 as default).

Next, we compile the application for MicaZ:

make clean tinyos-micaz

The last lines of the output should look as follows:

[...]
show sizes...
avr-size build/micaz/main.exe
  text    data     bss     dec     hex filename
  20376     218     935   21529    5419 build/micaz/main.exe

Next, the application can be brought to the node (here, it is connected to /dev/ttyUSB1). In addition, we want to change the node id to 44. We therefore run the following command:

make tinyos-nodeid-micaz flash-micaz  PORT=/dev/ttyUSB1 TOS_NODE_ID=44

Finally, we want to see the debug output of the nodes. The current implementation uses the TinyOs Printf Library, so we start two instances of the corresponding Java PrintfClient (the TelosB is at /dev/ttyUSB0, the MicaZ's UART is at /dev/ttyUSB2):

java  net/tinyos/tools/PrintfClient -comm serial@/dev/ttyUSB0:telosb
java  net/tinyos/tools/PrintfClient -comm serial@/dev/ttyUSB2:micaz

When starting the TelosB, it prints the following output:

Hello World from Example Application!
Node 14: Application booted.
broadcast message at 14

And on the MicaZ output, we see

received msg at 44 from 14
message is hello world!