TrueTime PiccSIM integration
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1 TrueTime PiccSIM integration Mikael Björkbom and Henri Öhman Aalto University, Manual version 1.0 Introduction The TrueTime simulation library from Lund University ( is a wellknown simulation tool for embedded and networked control system simulation. It focuses on the real time scheduling and execution of tasks, in kernel blocks implemented in Simulink. It has also network simulation blocks for many different networks, but they are simplistic and considers only physical and MAC layers. PiccSIM ( was designed with having more detailed network simulation, therefore the well known ns 2 network simulator was selected. PiccSIM, however, does not consider running the tasks in embedded kernels. To take advantage of the strength of both simulation tools in networked control system or wireless sensor network simulations, they are now combined to the TrueTime PiccSIM tool. TrueTime PiccSIM is an extension of TrueTime library, such that it can run in the PiccSIM framework and utilize ns 2 as network simulation. Using TrueTime and PiccSIM is described in more details in their respective manuals. Existing TrueTime models can easily be converted to run in the TrueTime PiccSIM framework. The TrueTime PiccSIM simulator allows TrueTime blocks to transmit packets over the widely used network simulator ns 2. This enables simulation of networked embedded systems using ns 2 as the network simulator instead of using the simplistic TrueTime network block. This document describes the installation process of the library, documents the added functions to TrueTime and presents some basic simulation examples. Modifications are based on TrueTime version 2.0 beta 7 and inherit the GPL license. Overview Building a simulation model using TrueTime PiccSIM is very similar to building a TrueTime or PiccSIM simulation in Simulink. There are a couple of additional commands for the TrueTime kernel blocks that provide functionality to pass the communication packets through ns 2. The TrueTime PiccSIM library can use a blend of TrueTime and PiccSIM blocks. Thus TrueTime kernel blocks can send data to other TrueTime kernel blocks, as well as to PiccSIM receive blocks. The converse is also true: PiccSIM send blocks can send to TrueTime kernel blocks. This gives the opportunity to flexible build a simulation model with the desired detail and efforts to build it. For more information on usage of PiccSIM or TrueTime, see their corresponding manuals.
2 Technical details All software requirements of TrueTime and PiccSIM must be fulfilled to run this simulator. Similarly to the pure PiccSIM library, added functionality to TrueTime uses the xpc Target Toolbox for Matlab to send and receive network packages using UDP. UDP communication is based on Winsock library, therefore a Windows operating system is required. TrueTime PiccSIM integration library has been tested with Matlab R2012a and compiled with Visual C Installation and compiling instructions Installation 1. Install PiccSIM, ns 2 and ns 2 PiccSIM extension as instructed in the manual of PiccSIM library: 2. Install TrueTime PiccSIM according to the instructions in the TrueTime manual provided in this package in the docs folder. Compiling [Optional] The TrueTime PiccSIM package comes pre compiled for Windows 32 bit systems. If needed you can compile it for other platforms according to instructions as follows: 1. Install a Windows compatible C++ compiler. Instructions for installing and configuring Visual Studio C++ Express Edition can be found in the website of TrueTime: 2. Direct link to the instructions: howto mex ms visual cc express edition If you followed the instructions linked in previous steps, you should have Microsoft Platform SDK for Windows installed and environment variable MSSDK set up to point to the installation directory of the SDK. 4. If not, download and install the SDK and set the environment variable MSSDK accordingly. 5. Follow instructions in the TrueTime Reference manual, Chapter 6 Compilation, to compile TrueTime.
3 New functionality This section describes the added functions to the TrueTime library. For help on using the ns 2 features, see simulation example located in examples\truetime PiccSIM\ and the documentation in the next section. To convert existing TrueTime models to run in the TrueTime PiccSIM framework only ttaddns2node function needs to be added, and the send and receive functions of TrueTime needs to be exchanged to the SendNS2 and RecvNs2 functions. Mex functions ttaddns2node(nodeid) Adds a network node to ns 2 simulated network. This function should be used in the initialization script of a TrueTime Kernel block to register the node number of the block. ttattachns2handler(nodeid, ns2handler) This function is used to attach a network interrupt handler to a TrueTime interrupt handler created with ttcreatehandler. The network interrupt handler is called every time a packet is received at the node. The name of the interrupt handler is given as the second parameter for the function. Attaching an interrupt handler is only needed to be run once, for example in an initialization script of a TrueTime kernel block. ttsendns2(receiverid, senderid, packettype, databytes, datalength, timestamp) Function for sending messages from Matlab. Header fields of a PiccSIM packet are given as function parameters in addition to arbitrary data structure (databytes) and its length. Note: use the function SendNS2 to conveniently send data in the correct format. ttrecvns2(receiverid, senderid, packettype, datalength) This function can be used to receive messages from another node when demanded by a network interrupt or a periodic task. Function returns PiccSIM header fields of a received packet in addition to received bytes [receiverid, timestamp, packettype, senderid, databytes]. Note: use the function RecvNS2 to conveniently receive data in the correct format. Matlab function To make it easier to use send and receive data, following m script wrappers have been written for the communication functions: RecvNS2 [data, timestamp] = RecvNS2(OWN_ID, fromid, format) SendNS2 SendNS2(toID, OWN_ID, data, format)
4 Data format The SendNS2 and RecvNS2 wrapper functions use a certain Matlab data structure to define the data type and dimensions of the payload, in the format parameter. The definitions follow the same logic as used in the PiccSIM send and receive blocks. The format of the structure is Example: format.types: a cell array of strings describing the data types format.lengths: a cell array of matrixes describing the lengths of the dimensions of the data format.packettype: an integer identifying the packet format with the above data type and lengths definitions. Packet type is used in PiccSIM as a way to label data packages with a certain content structure. format.types = {'double', 'uint8', 'int32'}; format.lengths = {1, 2, [2, 2]}; format.packettype = 1; The above format describes a packet format labeled with type 1. Packets of this type comprise three different data items, first of which is a doubles scalar. Second data item is of type uint8 and is formatted as [2x1] vector. Third data item is a [2x2] matrix of int32 integers. For the actual data to be sent or received, a cell array of elements for the input/output that match the format data structure need to be supplied. See function documentation in previous section and the provided example described next. Note Note that multiple packets might be queued at the receiver. When calling RecvNS2 the oldest packet that matches the node ID and packet type number is returned. Use a while loop to get all the packets. The function returns 1 as the timestamp when there are no matching packets. See the provided TrueTime PiccSIM example.
5 Examples Building a TrueTime PiccSIM model is done in the same way as is done in TrueTime and PiccSIM. See the respective manuals. TrueTime PiccSIM examples are in the /examples/piccsim folder. This package provides two examples, described next. Basic TrueTime over ns 2 In the TrueTime_PiccSIM.mdl model example, two TrueTime kernels act as two wireless sensors (nodes 1 and 2) sending packets to another kernel node (node 0). As data, the simulation time is used for simplicity. The receiving node outputs the received data. Sending different data types and dimension are also demonstrated. The simulation model is shown below. The format of the packet is defined in a struct, complying with the PiccSIM packet format specifications as format.types = {'double', 'uint8', 'int32'}; format.lengths = {1, 2, [2, 2]}; format.packettype = 1; Node 0 outputs the received data such that the first double from node 1 is output on analog channel 1, the integer from the second data type from node 2 is output on channel 2, and the first element of the 2x2 matrix, also from node 2, is output on channel 3 of the kernel block. Periodic and interrupt based network receive handling In the previous example both periodic and interrupt based handling of the received packets can be shown. At the bottom of the file init_receive.m, there are two sections, which can be commented/uncomment to enable the different handling options. In the periodic case, a periodic task is created, which is run with the same interval as the transmissions. The task defined in PiccSIM_receive_task.m reads the received data from the packet receive queue, and outputs the data to the analog outputs. Note that in certain periods, no, one or multiple packets are read
6 during a task execution, depending on the timing of the received packets. The output of the receive kernel changes only with the interval of the receive task period. In the interrupt based case, a ns 2 network handler is created, that will handle the received packet as they arrive. The handler will call the same receive task to run for each packet as in the previous case. In this case the received packets are handled and the kernel block signals are updated as packets arrive. Note that in the interrupt case, the triggering of the receive handler depends on the time steps taken by Simulink. To guarantee a certain time resolution, a maximum simulation time step can be specified in the model configuration dialog. Using both TrueTime and PiccSIM blocks In the TrueTime_PiccSIM_crossover.mdl example, the mixed use of TrueTime kernel and PiccSIM send/receive blocks are demonstrated. The example is very similar to the basic example, and uses the same send and receive TrueTime scripts. There are two communication pairs, shown in the figure below. In the upper pair, a TrueTime kernel block is sending to a PiccSIM receive block and in the other pair a TrueTime kernel block receives packets from a PiccSIM send block. Thus seamless use of both TrueTime and PiccSIM features can be used.
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