1. nesC Prepared for the Multimedia Networks Group University of Virginia

2. Quick Review: TinyOS “Operating system” for wireless embedded sensor networks Actually a set of software components that can be “wired” together into a single binary which is run on the motes Minimal OS functions –2 threads of execution: tasks and hardware event handlers –No memory management…

3. Quick Review: nesC Pronounced “”NES-see” Extension of C –Supports C syntax –Compiled into C “designed to embody the structuring concepts and execution model of TinyOS”

4. nesC and TinyOS TinyOS was originally written in C, applications were combinations of.c,.comp, and.desc files TinyOS (components) have been reimplemented in nesC A new language for mote programming is currently being developed nesC is a temporary solution

5. Vocabulary Application – one or more components wired together to form an executable Component – basic building blocks for nesC apps. Two types: modules and configurations Module – component that implements one or more interfaces Configuration – component that wires other components together Interface – provides an abstract definition of the interaction between two components

6. Visualizing modules modules: module C1 { requires interface triangle; requires interface triangle; } implementation {... } module C2 { provides interface triangle in; provides interface triangle in; requires { requires { interface triangle out; interface triangle out; interface rectangle side; } interface rectangle side; } } implementation {... } module C3 { provides interface triangle; provides interface triangle; provides interface rectangle; provides interface rectangle; } implementation {... } C1 C2 C3

7. Visualizing configurations Connect configurations: configuration app { } implementation { uses c1, c2, c3; c1 -> c2; // implicit interface sel. c2.out -> c3.triangle; c3 <- c2.side; } Partial configurations: component c2c3 { provides interface triangle t1; provides interface triangle t1;} implementation { uses c2, c3; uses c2, c3; t1 -> c2.in; c2.out -> c3.triangle; c3 <- c2.side; } C1 C2 C3 C2 C3

8. More on wiring configuration C { provides interface X; } implementation { components C1, C2; X = C1.X; C1.Y -> C2.Y; C1.Z <- C2.Z; } “=“ used when any endpoint is external (a specification element – provides or uses) “->” or “ ” or “<-” used when both endpoints are internal A -> B is equivalent to B B is equivalent to B <- A

9. Fan-in, fan-out configuration C { provides interface X; } implementation { components C1, C2; X = C1.X; X = C2.X; } Endpoints can be connected multiple times In this case, multiple functions will be executed when C.X’s commands are called and multiple signalers will issue callbacks for subscribers to C.X’s events

10. Implicit connections configuration C { } implementation { components C1, C2; C1 <- C2.X; C2.Y <- C2; C1.Z -> C2; } When only there is only one specification element of a given type in the component being mapped to or from, it doesn’t need to be explicitly specified in connections C1.X <- C2.X is equivalent to C1 <- C2.X as long as there is only one specification element of type X in C1

11. Interfaces, commands, events Interfaces are bidirectional: “they specify a set of functions to be implemented by the interface’s provider (commands) and a set to be implemented by the interface’s user (events) Commands typically call downwards (from application components to components closer to hardware) while events call upwards

12. Example interface // can include c files interface SendMsg { command result_t send(uint16_t address, uint8_t length, TOS_MsgPtr msg); event result_t sendDone(TOS_MsgPtr msg, result_t success); }

13. More on commands and events Calling a command int x =...; call Send.send[x + 1](1, sizeof(Message), &msg1); Signaling an event int x =...; signal Send.sendDone[x + 1](&msg1, SUCCESS);

14. Tasks “ “A task is an independent locus of control defined by a function of storage class task returning void and with no arguments: task void myTask() {... }” “Tasks are posted by prefixing a call to the task with post, e.g., post myTask();”

15. TinyOS Execution Contexts Events generated by interrupts preempt tasks Tasks do not preempt tasks Both essential process state transitions Hardware Interrupts events commands Tasks

16. Atomic statements bool busy; // global void f() { bool available; atomic { available = !busy; busy = TRUE; } if (available) do_something; atomic busy = FALSE; } “guarantee that the statement is executed “as-if” no other computation occurred simultaneously” Should be short! nesC forbids: call, signal, goto, return, break, continue, case, default, label

17. Misc: Attributes Uses gcc’s __attribute__ syntax to declare properties of functions, variables, and typedefs “C” – element should appear in global C scope rather than module scope “spontaneous” – functions only – there may be calls to the function that don’t appear in the source code (e.g. interrupt handlers or C main function) module RealMain {... } implementation { int main(int argc, char **argv) __attribute__((C, spontaneous)) {... }

18. Misc: Attributes continued “combine” – specify the combining function for a type in a typedef declaration Combining function specifies how to combine multiple results from a command or event which has fan-out typedef uint8_t result_t __attribute__((combine(rcombine))); result_t rcombine(result_t r1, result_t r2) { return r1 == FAIL ? FAIL : r2; }

19. Misc: Compile time constant functions Evaluate to a constant at compile time unsigned int unique(char *identifier) –If the program contains n calls to unique with the same identifier string, returns a unique integer in the range 0..n-1 unsigned int uniqueCount(char *identifier) –If the program contains n calls to unique with the same identifier string, returns n

20. Blink Example Program toggles the red LED every second

21. Blink.nc configuration Blink { } implementation { components Main, BlinkM, SingleTimer, LedsC; components Main, BlinkM, SingleTimer, LedsC; Main.StdControl -> SingleTimer.StdControl; Main.StdControl -> SingleTimer.StdControl; Main.StdControl -> BlinkM.StdControl; Main.StdControl -> BlinkM.StdControl; BlinkM.Timer -> SingleTimer.Timer; BlinkM.Timer -> SingleTimer.Timer; BlinkM.Leds -> LedsC; BlinkM.Leds -> LedsC;}

22. BlinkM.nc (specification) module BlinkM { provides { provides { interface StdControl; interface StdControl; } uses { } uses { interface Timer; interface Timer; interface Leds; interface Leds; }}

23. BlinkM.nc (implementation) implementation { command result_t StdControl.init() { command result_t StdControl.init() { call Leds.init(); call Leds.init(); return SUCCESS; return SUCCESS; } command result_t StdControl.start() { command result_t StdControl.start() { // Start a repeating timer that fires every 1000ms // Start a repeating timer that fires every 1000ms return call Timer.start(TIMER_REPEAT, 1000); return call Timer.start(TIMER_REPEAT, 1000); } command result_t StdControl.stop() { command result_t StdControl.stop() { return call Timer.stop(); return call Timer.stop(); } event result_t Timer.fired() { event result_t Timer.fired() { call Leds.redToggle(); call Leds.redToggle(); return SUCCESS; return SUCCESS; }}

24. SingleTimer.nc configuration SingleTimer { provides interface Timer; provides interface Timer; provides interface StdControl; provides interface StdControl;} implementation { components TimerC; components TimerC; Timer = TimerC.Timer[unique("Timer")]; Timer = TimerC.Timer[unique("Timer")]; StdControl = TimerC; StdControl = TimerC;}