WISEBED - Wireless Sensor Network Testbeds Wiselib: A Generic Algorithm Library for Heterogeneous Sensor Networks* Tobias Baumgartner 1, Ioannis Chatzigiannakis 2, Sándor Fekete 1, Christos Koninis 2, Alexander Kröller 1, Apostolos Pyrgelis 2 1 Braunschweig Institute of Technology, IBR, Algorithms Group, Germany 2 Research Academic Computer Technology Institute, Patras, Greece * Supported by the EU-project WISEBED –

Wiselib – A Generic Algorithm Library – Baumgartner, Chatzigiannikis, Fekete, Koninis, Kröller, Pyrgelis 2 Motivation Architecture Experimental Results Wiselib Usage Outlook

Wiselib – A Generic Algorithm Library – Baumgartner, Chatzigiannikis, Fekete, Koninis, Kröller, Pyrgelis What is the Wiselib? Code library of Algorithms Heterogeneous Highly Efficient 3

Wiselib – A Generic Algorithm Library – Baumgartner, Chatzigiannikis, Fekete, Koninis, Kröller, Pyrgelis Hardware JennicIntel XScaleMSP430 Heterogeneity 4 iSenseiMote2ScatterWeb MSBTmote Sky Operating Systems iSenseTinyOSScatterWeb, ContikiContiki, TinyOS Programming Language C++nesCCC, nesC

Wiselib – A Generic Algorithm Library – Baumgartner, Chatzigiannikis, Fekete, Koninis, Kröller, Pyrgelis 5 Motivation Architecture Experimental Results Wiselib Usage Outlook

Wiselib – A Generic Algorithm Library – Baumgartner, Chatzigiannikis, Fekete, Koninis, Kröller, Pyrgelis The Wiselib 6 Similar to STL, Boost, CGAL Object-Oriented Programming C++ Generic Programming Flexible Design Templates Well-known constructs No custom language extensions Standard Language Features

Wiselib – A Generic Algorithm Library – Baumgartner, Chatzigiannikis, Fekete, Koninis, Kröller, Pyrgelis A concept only exists in documentation. It describes exactly how an implementation must look like. Example class iSenseRadioModel { static void enable() {... }; } class ShawnRadioModel { static void enable() {... }; } template class Algorithm { void enable() { Radio::enable(); } }; Algorithm algorithm_isense; Algorithm algorithm_shawn; 7 concept Radio { static void enable(); } A model is an implementation of a concept. It offers at least each method and each type that is described in the concept. Another implementation awaits a model as template parameter, but knows only the concept. Such a model is then passed as a template argument to an algorithm

Wiselib – A Generic Algorithm Library – Baumgartner, Chatzigiannikis, Fekete, Koninis, Kröller, Pyrgelis External Architecture 8 ConceptImplementations (Models) Os FacetContiki, iSense, OSA, ScatterWeb, Shawn, TinyOS RadioContiki, iSense, OSA, ScatterWeb, Shawn, TinyOS TxRadioiSense, Shawn LinkMetricRadioiSense, Shawn TimerContiki, iSense, OSA, ScatterWeb, Shawn, TinyOS DebugContiki, iSense, OSA, ScatterWeb, Shawn, TinyOS Com/UARTContiki, iSense ClockiSense, Shawn Timer. Event registration. OS Description. Data types and standard configuration. Radios. Send and receive messages. Specializations of standard radio. Debug. Print out debug/logging messages. Serial Interface. Write to serial port. E.g. for exchanging data with PC. Clock. Provide current time.

Wiselib – A Generic Algorithm Library – Baumgartner, Chatzigiannikis, Fekete, Koninis, Kröller, Pyrgelis Algorithms 9 ConceptImplementations (Models) RoutingDSDV, DSR, Tree, Flooding, AODV, Tora, SecureRouting CryptoAES, ECC, ECIES, Sha1 ClusteringBFS, DFS, ExtendedBfs, Hdl, SecureBfs, SecureHdl Network MetricsOneHopMetrics, IndividualLink LocalizationTriangulation Routing. Send messages via multi-hop to given destination. So far, a few standard algorithms implemented Crypto. Platform independent crypto algorithms. Come with pMP – the picoMultiPrecision library, especially designed for embedded system demands. Clustering. Build groups of nodes, each with own cluster-head. Here, it is also possible to combine such an algorithm with crypto. Network Metrics. Collect metrics for (parts of) the network. Currently, link stability in one-hop neighborhood and individual links can be evaluated. Localization. Provide position for nodes. Can also be abstract positions (not only euclidean coordinates), such as a triangulation of the network.

Wiselib – A Generic Algorithm Library – Baumgartner, Chatzigiannikis, Fekete, Koninis, Kröller, Pyrgelis 10 Motivation Architecture Experimental Results Wiselib Usage Outlook

Wiselib – A Generic Algorithm Library – Baumgartner, Chatzigiannikis, Fekete, Koninis, Kröller, Pyrgelis Performance iSenseContiki (on MSB)ScatterWeb (on MSB) NativeWiselibCostNativeWiselibCostNativeWiselibCost Read ID 2μs2μs2μs2μs0%<1μs 0%<1μs 0% Send Msg 282μs 0%336μs345μs3%898μs921μs3% Set Timer 135μs141μs4%77μs100μs30%20μs43μs115% 11 Read node id. Radio::node_id_t id = Radio::id(os); Send message over radio. Radio::node_id_t destination; Radio::send(os, destination, len, data); Register timer event. Timer::set_timer (os, wait_time, this, userdata);

Wiselib – A Generic Algorithm Library – Baumgartner, Chatzigiannikis, Fekete, Koninis, Kröller, Pyrgelis Codesize: External Architecture 32-Bit16-Bit (on MSP430) iSenseContikiScatterWeb Radio Timer Code size as ROM (.txt) + RAM (.bss and.data) Translation between OS specific registration mechanisms and C++ member function pointers in Wiselib Constant overhead per node, node per algorithm

Wiselib – A Generic Algorithm Library – Baumgartner, Chatzigiannikis, Fekete, Koninis, Kröller, Pyrgelis Codesize: Algorithms 16-Bit (on MSP430)32-BitSimulators AlgorithmContikiScatterWebiSenseShawnTOSSIM DSDV DSR Tree Flooding Code size as ROM (.txt) + RAM (.bss and.data)

Wiselib – A Generic Algorithm Library – Baumgartner, Chatzigiannikis, Fekete, Koninis, Kröller, Pyrgelis 14 Motivation Architecture Experimental Results Wiselib Usage Outlook

Wiselib – A Generic Algorithm Library – Baumgartner, Chatzigiannikis, Fekete, Koninis, Kröller, Pyrgelis Usage Scenarios Direct Integration in own Application  Write application for own platform (e.g., collecting sensor data)  Use, for example, routing algorithm from Wiselib  Examples: iSense Integration -  Examples: Shawn Integration - Stand-Alone-Applications  Applications with own application_main()  Can be compiled for each platform, run directly  Examples - 15

Wiselib – A Generic Algorithm Library – Baumgartner, Chatzigiannikis, Fekete, Koninis, Kröller, Pyrgelis Distributions “Testing”  Implemented against Wiselib API  Algorithms may only be tested on some target platforms  New concepts that may change  Release Early, Release Often  “Stable”  Matured concepts and implementations  Tested on all supported platforms  Concepts may not change anymore 

Wiselib – A Generic Algorithm Library – Baumgartner, Chatzigiannikis, Fekete, Koninis, Kröller, Pyrgelis 17 Motivation Architecture Experimental Results Wiselib Usage Outlook

Wiselib – A Generic Algorithm Library – Baumgartner, Chatzigiannikis, Fekete, Koninis, Kröller, Pyrgelis Outlook External Architecture  Different radio specializations for Contiki, TinyOS, …  More interfaces  Maintenance of existing ones Algorithms  Add more algorithms: Routing, Localization, …  Add more algorithm categories -Time Synchronization -Target Tracking -… 18

Wiselib – A Generic Algorithm Library – Baumgartner, Chatzigiannikis, Fekete, Koninis, Kröller, Pyrgelis Thank you! 19