1. Sown Code Report: Aggregation Tracking Group Management Pascal A. Vicaire University of Virginia pv9f@cs.virginia.edu

2. Local TrackingM Tracking Sens Control Bottom Sensing GM Control Leds Tracking Timer RC Control Trip Wire Static Leader Aggr Control Aggr Attribute Sensing Base Station SensingC Sensing Std Control BottomSensingC Bottom Sensing Attribute Sensing Std Control Group Management LocalM AggregationC BackboneC Trip WireM ReceiveC Base Station Aggregation Std Control Group ManagementC Static Leader TripWire TimerC Tracking Timer LedsC Leds Report CommC Report Comm Std Control TrackingC Configuration Provided Interface Used Interface Module

3. Local TrackingM Tracking Sens Control Bottom Sensing GM Control Leds Tracking Timer RC Control Trip Wire Static Leader Aggr Control Aggr Attribute Sensing Base Station SensingC Sensing Std Control BottomSensingC Bottom Sensing Attribute Sensing Std Control Group Management LocalM AggregationC BackboneC Trip WireM ReceiveC Base Station Aggregation Std Control Group ManagementC Static Leader TripWire TimerC Tracking Timer LedsC Leds Report CommC Report Comm Std Control TrackingC Studied Modules & Configurations Configuration Provided Interface Used Interface Module

4. Local TrackingM Tracking Sens Control Bottom Sensing GM Control Leds Tracking Timer RC Control Trip Wire Static Leader Aggr Control Aggr Attribute Sensing Base Station … setParameters

5. Local TrackingM Tracking Sens Control Bottom Sensing GM Control Leds Tracking Timer RC Control Trip Wire Static Leader Aggr Control Aggr Attribute Sensing Base Station Initialize: Sensing module. Group management module. ReportComm module. Aggregation module. Leader identifier. TripWire information. init ET_POSITION_Sense init whoIsMyLeader isTripWireBase

6. Local TrackingM Tracking Sens Control Bottom Sensing GM Control Leds Tracking Timer RC Control Trip Wire Static Leader Aggr Control Aggr Attribute Sensing Base Station Start: Sensing module. Group management module. Tracking timer. Report module. Aggregation module. Localization module. start getXstart getY

7. Local TrackingM Tracking Sens Control Bottom Sensing GM Control Leds Tracking Timer RC Control Trip Wire Static Leader Aggr Control Aggr Attribute Sensing Base Station Stop: Sensing module. Group management module. Tracking module. Report module. Aggregation module. stop

8. Local TrackingM Tracking Sens Control Bottom Sensing GM Control Leds Tracking Timer RC Control Trip Wire Static Leader Aggr Control Aggr Attribute Sensing Base Station post GMTask(); if (!_isBaseLeader) { _senseCounter++; if (_senseCounter >= SENSE_CNT_THRESHOLD/ENVIRO_WORKING_CLOCK) { _senseCounter = 0; post SenseTask(); } if (_newSensing) { ET_sendCount ++; if (ET_sendCount >= (REFRESH_INTERVAL/ENVIRO_WORKING_CLOCK)) { ET_sendCount = 0; post sendTask(); } fired GMTask senseTask sendTask aggrTask if (_isLeader) { ET_aggrCount ++; if (ET_aggrCount >= (REFRESH_INTERVAL/ENVIRO_WORKING_CLOCK)) { ET_aggrCount = 0; post aggrTask(); } Periodically Post group management task for this Tracking phase Post sense task If not a base Send Sensing Report (Only non base motes) Aggregate received Data if leader

9. Local TrackingM Tracking Sens Control Bottom Sensing GM Control Leds Tracking Timer RC Control Trip Wire Static Leader Aggr Control Aggr Attribute Sensing Base Station Post sensing done task. Sensing Done SenseDoneTask

10. Local TrackingM Tracking Sens Control Bottom Sensing GM Control Leds Tracking Timer RC Control Trip Wire Static Leader Aggr Control Aggr Attribute Sensing Base Station The mote is a group leader if on_off is true. If it is a leader: green LED off, red LED on. If it is not a leader: green LED off, red LED off. Update variables. LeadergreenOffredOn redOff

11. Local TrackingM Tracking Sens Control Bottom Sensing GM Control Leds Tracking Timer RC Control Trip Wire Static Leader Aggr Control Aggr Attribute Sensing Base Station The mote is a group member if on_off is true. If it is a member: green LED on, red LED off. It it is not a member: green LED off, red LED off. Update variables. MembergreenOffredOff greenOn

12. Local TrackingM Tracking Sens Control Bottom Sensing GM Control Leds Tracking Timer RC Control Trip Wire Static Leader Aggr Control Aggr Attribute Sensing Base Station event result_t RC.receiveReport(RCReport *rcReport) { dbg(DBG_TRACKING, "TrackingM.RC.receiveReport\n"); if (_isBaseLeader) { baseStation_reportPosition_struct *temp; temp = (baseStation_reportPosition_struct*)(rcReport->data); call baseStation.reportPosition(temp); } else { baseStation_reportPosition_struct *temp; temp = (baseStation_reportPosition_struct*)(rcReport->data); call GM.receiveMessage(1, temp->GMInformation); } return SUCCESS; } receiveReportreportPositionreceiveMessage Base mote reports to base station Other motes (only leaders can Receive reports) call the group Management module

13. Local TrackingM Tracking Sens Control Bottom Sensing GM Control Leds Tracking Timer RC Control Trip Wire Static Leader Aggr Control Aggr Attribute Sensing Base Station This function does nothing. aggrSendDone

14. Local TrackingM Tracking Sens Control Bottom Sensing GM Control Leds Tracking Timer RC Control Trip Wire Static Leader Aggr Control Aggr Attribute Sensing Base Station ET_Position_senseDone ET_ATTRIBUTES.ET_POSITION=value.

15. Local TrackingM Tracking Sens Control Bottom Sensing GM Control Leds Tracking Timer RC Control Trip Wire Static Leader Aggr Control Aggr Attribute Sensing Base Station Start group management heart beat. GMTask fireHeartBeart

16. Local TrackingM Tracking Sens Control Bottom Sensing GM Control Leds Tracking Timer RC Control Trip Wire Static Leader Aggr Control Aggr Attribute Sensing Base Station Initiate sensor reading SenseTask conditionSense

17. Local TrackingM Tracking Sens Control Bottom Sensing GM Control Leds Tracking Timer RC Control Trip Wire Static Leader Aggr Control Aggr Attribute Sensing Base Station SenseDoneTask joinleave if (_newSensing) { if (_sensing == FALSE) { _sensing = TRUE; call GM.join(); } else { if (_sensing == TRUE) { _sensing = FALSE; if (!_isLeader || _sent) { call GM.leave(); } If there is a new sensing report, and the mote was not currently sensing, Seek to join group. If there is no new sensing report, And the mote was currently sensing, Seek to leave group.

18. Local TrackingM Tracking Sens Control Bottom Sensing GM Control Leds Tracking Timer RC Control Trip Wire Static Leader Aggr Control Aggr Attribute Sensing Base Station Only non base motes. Call aggregation module. SendTask sendData

19. Local TrackingM Tracking Sens Control Bottom Sensing GM Control Leds Tracking Timer RC Control Trip Wire Static Leader Aggr Control Aggr Attribute Sensing Base Station baseStation_reportPosition_struct temp; tos_time_t timeStamp; dbg(DBG_TRACKING, "TrackingM.aggrTask\n"); ET_AGGRATTRIBUTES = call Aggr.aggregate(); _GMInfo = call GM.getState(); if ((ET_AGGRATTRIBUTES.degreeA + _GMInfo.groupAge) < DEGREE_OF_AGGREGATION) { if (!_sensing) { call GM.leave(); } return; } aggrTask aggregategetStateLeavesendReport setState _GMInfo.groupAge += ET_AGGRATTRIBUTES.degreeA; call GM.setState(_GMInfo); temp.GMInformation = _GMInfo; temp.position.x = (uint16_t)(ET_AGGRATTRIBUTES.A.x); temp.position.y = (uint16_t)(ET_AGGRATTRIBUTES.A.y); call GlobalAbsoluteTimer.getGlobalTime(&timeStamp); temp.timeStamp = timeStamp.low32/100; temp.leaderID = TOS_LOCAL_ADDRESS; temp.degreeOfAggregation = ET_AGGRATTRIBUTES.degreeA; temp.degreeOfMag = ET_AGGRATTRIBUTES.degreeA; temp.degreeOfPIR = 0; temp.degreeOfAccoustic = 0; if (_isLeader) { call RC.sendReport((char *)&temp, BROADCAST_TYPE); _sent = TRUE; if (!_sensing) { call GM.leave(); } Only Leader Aggregate sensing Data If leader did not receive enough sensing Data and is not currently sensing, Leave group without sending report. Otherwise, send Tracking report and leave group If not sensing.

20. ReportCommM SendMsgByIDTLedsTripWireBackboneReceiveRoutingMsgSendMsgByBct ReportCommStdControl ReportCommC RoutingC RoutingSendByBroadcast [RC_ROUTING_PORT] RoutingSendByAddress [RC_ROUTING_PORT] RoutingReceive [RC_ROUTING_PORT] BackboneMTripWireM

21. ReportCommM SendMsgByIDTLedsTripWireBackboneReceiveRoutingMsgSendMsgByBct ReportCommStdControl Init some parameters init

22. ReportCommM SendMsgByIDTLedsTripWireBackboneReceiveRoutingMsgSendMsgByBct ReportCommStdControl Does nothing. start

23. ReportCommM SendMsgByIDTLedsTripWireBackboneReceiveRoutingMsgSendMsgByBct ReportCommStdControl Does nothing. stop

24. ReportCommM SendMsgByIDTLedsTripWireBackboneReceiveRoutingMsgSendMsgByBct ReportCommStdControl … sendReport currentParentsend getCurrentTripWireIDreceive

25. ReportCommM SendMsgByIDTLedsTripWireBackboneReceiveRoutingMsgSendMsgByBct ReportCommStdControl sendDone No message waiting to be sent.

26. ReportCommM SendMsgByIDTLedsTripWireBackboneReceiveRoutingMsgSendMsgByBct ReportCommStdControl sendDone No message waiting to be sent.

27. ReportCommM SendMsgByIDTLedsTripWireBackboneReceiveRoutingMsgSendMsgByBct ReportCommStdControl receive Post process receive message if no other message is already waiting to be processed. ProcessReceiveMessage

28. ReportCommM SendMsgByIDTLedsTripWireBackboneReceiveRoutingMsgSendMsgByBct ReportCommStdControl If group leader, send report. ProcessReceiveMessage receiveReportsendReport

29. ReportCommM SendMsgByIDTLedsTripWireBackboneReceiveRoutingMsgSendMsgByBct ReportCommStdControl Does nothing. GenericReceive

30. ReceiveM SendToUARTTLeds baseStation RoutingC ReceiveC RoutingSendByAddress [255] Role: debugging messages?

31. ReceiveM SendToUARTTLeds baseStation Return leaderID processReport

32. ReceiveM SendToUARTTLeds baseStation Does nothing. reportPosition

33. ReceiveM SendToUARTTLeds baseStation Does nothing. sendDone

34. AggregationM SendMsgByBctReceiveRoutingMsg Aggregation GM StdControl RoutingC RoutingSendByBroadcast [AGGR_ROUTING_PORT] RoutingReceive [AGGR_ROUTING_PORT] AggregationC Group ManagementC

35. AggregationM SendMsgByBctReceiveRoutingMsg Aggregation Does nothing. GM StdControl start

36. AggregationM SendMsgByBctReceiveRoutingMsg Aggregation Does nothing. GM StdControl stop

37. AggregationM SendMsgByBctReceiveRoutingMsg Aggregation Uses averaging functions to aggregate sensing data. Return aggregation degree. GM StdControl aggregate

38. AggregationM SendMsgByBctReceiveRoutingMsg Aggregation dbg(DBG_USR2, "AggregationM.sendData(leaderID:%d)\n", leaderID); if ((leaderID == TOS_LOCAL_ADDRESS) && !_receivePending) { _receivePending = TRUE; RxBuffer = report; add(); _receivePending = FALSE; signal Aggregation.aggrSendDone(SUCCESS); return SUCCESS; } if (!_sendPending){ _sendPending = TRUE; if ((TxBuffer = (AttrReport*)initRoutingMsg(&_TxMsg, sizeof(AttrReport))) == 0) { GM StdControl sendDataaggregationSendDone send dbg(DBG_USR2, "\t\tinitRoutingMsg fail\n"); _sendPending = FALSE; return FAIL; } *TxBuffer = *report; if (call SendMsgByBct.send(1, &_TxMsg) == FAIL) { dbg(DBG_USR2, "\t\tSendMsgByBct.sendto:%d fail\n", leaderID); _sendPending = FALSE; return FAIL; } dbg(DBG_TEMP, "RSEVENT: %i.%08i: SENDMSG: %d\n", (uint32_t) (tos_state.tos_time / 4000000), (uint32_t) (tos_state.tos_time % 4000000 * 25), leaderID); return SUCCESS; } else { dbg(DBG_USR2, "\t\t_sendPending fail\n"); return FAIL; } If node is leader, do not send Otherwise, send by Broadcast to leader

39. AggregationM SendMsgByBctReceiveRoutingMsg Aggregation GM StdControl aggregationSendDone sendDone

40. AggregationM SendMsgByBctReceiveRoutingMsg Aggregation GM StdControl receive ProcessReceiveAggr dbg(DBG_USR2, "AggregationM.ReceiveRoutingMsg.receive\n"); if(!_receivePending) { TOS_MsgPtr p = _RxMsgP; _receivePending = TRUE; _RxMsgP = msg; if(!post ProcessReceiveAggr()) _receivePending = FALSE; return p; } else { return msg; } Post processReceiveAggr task If no such task pending.

41. AggregationM SendMsgByBctReceiveRoutingMsg Aggregation GM StdControl receiveMessage ProcessReceiveAggr dbg(DBG_USR2, "AggregationM.ProcessReceiveAggr task\n"); if ((RxBuffer = (AttrReport*)popFromRoutingMsg(_RxMsgP, sizeof(AttrReport))) == 0) { dbg(DBG_USR2, "\tpopFromRoutingMsg fail\n"); _receivePending = FALSE; return; } call GM.receiveMessage(2, RxBuffer->GMInformation); if (RxBuffer->GMInformation.leaderID == TOS_LOCAL_ADDRESS) { dbg(DBG_USR2, "add!\n"); add(); } else { dbg(DBG_USR2, "not add!\n"); } _receivePending = FALSE; Call Group Management Message contents added to message table If node is leader.

42. AggregationM SendMsgByBctReceiveRoutingMsg Aggregation GM StdControl leader Does nothing.

43. AggregationM SendMsgByBctReceiveRoutingMsg Aggregation GM StdControl member Does nothing.

44. GroupManagementM RandomLocal Group Management Static Leader StdControl RandomLFSRLocalMBackboneM GroupManagementC

45. GroupManagementM RandomLocal Group Management … Static Leader StdControl setParameters

46. GroupManagementM RandomLocal Group Management Static Leader StdControl init

47. GroupManagementM RandomLocal Group Management Static Leader StdControl start getXgetY

48. GroupManagementM RandomLocal Group Management Static Leader StdControl stop

49. GroupManagementM RandomLocal Group Management Initiate group management timer. Static Leader StdControl fireHeartBeat

50. GroupManagementM RandomLocal Group Management No status: node becomes member. Follower: node becomes member. Leader Candidate: node becomes leader. Static Leader StdControl join NodeNumberrand memberleader

51. GroupManagementM RandomLocal Group Management Member: node becomes follower. Leader: node becomes leader candidate. Static Leader StdControl leavememberleader

52. GroupManagementM RandomLocal Group Management … Static Leader StdControl setState

53. GroupManagementM RandomLocal Group Management … Static Leader StdControl getState

54. GroupManagementM RandomLocal Group Management None: follower. Follower: check for group competition. Member: check for group competition. Leader candidate: check for group competition. Leader: check for group competition. Static Leader StdControl ProcessRecuritMessage leader

55. GroupManagementM RandomLocal Group Management Check if already processing such a message. Static Leader StdControl ProcessRecuritMessage receiveMessage