wiki:node-contiki

Node-contiki

Table of Contents

  1. Introduction
  2. Operating system (Ubuntu)
  3. Enabling connectivity between sensor network and IPv6 network
    1. Download Contiki-2.4
    2. Bridge overview
      1. Initial steps to setup a bridge
      2. Build a bridge
    3. Setting up the IPv6 GOGO6 tunnel
  4. Program Tmote Sky node with contiki-2.4 and SENSEI components
    1. Program Tmote Sky node with a binary file
  5. Run the SENSEI Gateway
  6. Test the SENSEI components over the Web
  7. Attachements

Introduction

This document describes how to setup the SENSEI contiki based island using the Tmote sky nodes. It also explain how to setup the IPv6 tunnel, to enable the communication between IPv6/6LoWPAN island and the SENSEI system. This guide is best suited for Ubuntu Linux.

Note: the information related to the bridge and Contiki OS is taken from Contiki website (http://www.sics.se/contiki/) and other Contiki related resources.

Operating system (Ubuntu)

  1. Install the following package.
  • $ sudo apt-get install subversion radvd
  1. Download the sensei_contiki.tar.gz package from here
  1. Extract the sensei_contiki.tar.gz package. Package contains msp430-tmote-tools-contiki and sensei-example folders.
  • $ tar -xzf sensei_contiki.tar.gz
  1. Install msp430-tmote-tools-contiki.
  • $ cd msp430-tmote-tools-contiki
  • $ sudo dpkg -i msp430tools-*.deb
  1. Open .profile file with superuser privileges.
  • $ sudo nano /home/sensei/.profile
  1. Add the following line to the end of .profile file.
  • export PATH=$PATH:/opt/msp430/bin:/opt/msp430/lib

Enabling connectivity between sensor network and IPv6 network

Different components of contiki based island, resources on the island, IPv6 tunnel, SENSEI Native Gateway and SENSEI framework components are shown in the figure given below.

Contiki based Island for SENSEI

Download Contiki-2.4

Download Contiki-2.4 release source code (contiki-2.4.zip) from (http://www.sics.se/contiki/download.html) and extract it.

  • $ unzip contiki-2.4.zip

Bridge overview

Initial steps to setup a bridge

  1. Open a terminal on Ubuntu.
  1. IPv6 forwarding must be enabled before running the bridge.
  • $ sudo nano /etc/sysctl.conf
    Remove hash symbol (#) from the line that contains:
    net.ipv6.conf.default.forwarding=1
    
  1. Logout of the Ubuntu and log back in.

Build a bridge

  1. Disable the WLAN before building the bridge. In Ubuntu 9.04, right click WLAN signal strength bar and remove a tick from Enable Wireless.

  1. First you will need to program a TelosB/Tmote Sky, or similar node with a IEEE 802.15.4 compliant bridge. The bridge is available in contiki-2.4/tools/sky/uip6-bridge/uip6-bridge-tap.c and you upload the code with the following steps:
  • $ cd contiki-2.4/tools/sky/uip6-bridge
  • $ make uip6-bridge-tap.upload
  1. Create a file /etc/radvd.conf and copy the following lines to that file.
interface tap0 {
     AdvSendAdvert on;
     AdvLinkMTU 1280;
     AdvCurHopLimit 128;
         AdvReachableTime 360000;
         MinRtrAdvInterval 3;
         MaxRtrAdvInterval 5;
         AdvDefaultLifetime 15;
         prefix aaaa::/64
     {
         AdvOnLink on;
         AdvAutonomous on;
         AdvPreferredLifetime 4294967295;
         AdvValidLifetime 4294967295;
     };
};
  1. Build a bridge.
  • Plug a bridge node into an available USB port
  • $ cd contiki-2.4/tools/sky/uip-bridge
  • $ make connect

  • $ shift+ctrl+t (opens a new terminal tap)
  • $ make bridge

Now the bridge node and the Linux should be a router for your IPv6 enabled sensor nodes. Make sure you have some nodes (JCreate, Tmote Sky, Raven LCD, etc) with some IPv6 software and then try to ping some of your nodes with ping6 and see what happens! Notice that you have to add %tap0 after the IPv6 address, in order to use the right interface, e.g.:

  • $ ping6 fe80::0212:7400:10cf:a5c9%tap0

Note: if you run "tcpdump -i tap0" you will see the IP addresses of your nodes when they ask for routers (Router Solicitation).

  1. Enable WLAN.

Setting up the IPv6 GOGO6 tunnel

To setup the IPv6 tunnel, following steps need to be performed:

Create an account on the http://gogonet.gogo6.com to access the Freenet6 website.

To get a static IPv6 address or get a /56 network you need to get an account on the Freenet6 server.

  • Note: Username is used as a part of URL address later, therefore choose username that describes your network.

Create your account at this page: http://gogonet.gogo6.com/page/freenet6-registration. Remember that this username and password is used later in gw6c.conf file, when configuring the IPv6 tunnel.

Download the gogoCLIENT for your system. This tutorial assumes Ubuntu is used, hence download latest gogoClient basic version (Linux/Unix?/MacOS/BSD). http://gogonet.gogo6.com/page/download-1

Follow the HEX_DC_0005_Gateway6_Client_Guide.pdf (page-61) contained in the gw6c package for the installation on your Ubuntu machine. But for simplicity the steps are as follow.

Complete the following steps to install the gogoCLIENT from the source code:

  1. Retrieve the source code (*.tgz or *.zip) and decompress it to a temporary directory.
  • temp$ tar –xf gw6c-6_0-RELEASE-src.tar
  1. Compile the gogoCLIENT.
  • temp/gw6c-6_0_1$ make all
  1. Install the gogoCLIENT in the /usr/local/gw6c directory.
  • gw6c-6_0_1$ make installdir=/usr/local/gw6c install
  1. In order to run the IPv6 tunnel as DNS, setup gw6c.conf file; the setting for the usr/local/gw6c/bin/gw6c.conf

Suppose we created an account with username "sensei-oulu".

  • $ sudo nano gw6c.conf

Change the following configurations:

userid=sensei-oulu
passwd=*******
server=authenticated.freenet6.net
auth_method=any

Other configurations: leave as default.

Note: Whole gw6c.conf file is at the end of this document.

  1. Run the gw6c client.
  • /usr/local/gw6c/bin$ sudo ./gw6c
  1. Verify that the gw6c created another interface with IPv6 address.
  • $ifconfig

The output should be similar to this:

tun     Link encap:UNSPEC  HWaddr 00-00-00-00-00-00-00-00-00-00-00-00-00-00-00-00  
          inet6 addr: 2001:5c0:1400:b::6213/128 Scope:Global
          UP POINTOPOINT RUNNING NOARP MULTICAST  MTU:1280  Metric:1
          RX packets:53 errors:0 dropped:0 overruns:0 frame:0
          TX packets:47 errors:0 dropped:0 overruns:0 carrier:0
          collisions:0 txqueuelen:500 
          RX bytes:3048 (3.0 KB)  TX bytes:2632 (2.6 KB)
  1. Verify that a domain name corresponds to IPv6 address.
  • $ nslookup 2001:5c0:1400:b::6213

In this case, output should give sensei-oulu.broker.freenet6.net -address.

Program Tmote Sky node with contiki-2.4 and SENSEI components

Move sensei-example/ folder to contiki-2.4/examples/

Program Tmote Sky node with a binary file

Program a node:

  • contiki-2.4/examples/sensei-example$ make sensei.upload

Note: In case you want to put debug prints into the code, you can see them in serial dump

  • contiki-2.4/examples/sensei-example$ ../../tools/sky/serialdump-linux -b115200 /dev/ttyUSB0

Run the SENSEI Gateway

It is assumed that the bridge is working as a background process on the system. Do the following steps to run the gateway.

  1. If you do not have these packages installed, install them first.
  • $ sudo apt-get install g++ libssl-dev libxml2-dev
  1. Download the Senseigateway.tgz package from here
  1. Extract the Senseigateway.tgz package.
  • $ tar -xzf Senseigateway.tgz
  1. Install socket++ library.
  • $cd gateway/lib/Socket-2.3.7
  • gateway/lib/Sockets-2.3.7$ make clean
  • gateway/lib/Sockets-2.3.7$ make
  • gateway/lib/Sockets-2.3.7$ sudo make install
  1. Disable IPv6 firewall.
  • $sudo ip6tables –F
  1. Compile gateway code.
  • gateway$ make
  • Note: in case of errors in the compilation process:
    /gateway$ cd src/
    /gateway/src/$ nano Makefile
    
    >> Remove local/ from libxml2 path: Change
    
    INCLUDES = -I/usr/local/include/Sockets -I./plugin-skeleton -I./libBWS -I/usr/local/include/libxml2
    
    to
    
    INCLUDES = -I/usr/local/include/Sockets -I./plugin-skeleton -I./libBWS -I/usr/include/libxml2
    
    Save Makefile and compile again.
    
    gateway$ make
    
  1. Run the SENSEI gateway.
  • gateway$ ./bin/sensei-gateway -p 8000 -s sensei-oulu.broker.freenet6.net -d oulu.fi -w island
  1. Leave gateway running to the terminal.

Test the SENSEI components over the Web

Turn on the node(s) that you programmed in Section 5. Node sends its resource description after it receives router advertisements. This time depends on radvd.conf settings, in this tutorial it was set between 3 and 5 seconds. Gateway prints the resource description when it is received.

Open a browser, be sure that your browser supports IPv6 address.

Test the following URL (you can see all the available resources available at this address).

http://sensei-oulu.broker.freenet6.net:8000

To access the available resource; use the following address, e.g.,

http://sensei-oulu.broker.freenet6.net:8000/0212-7400-10c5-51f7/p/battery

http://sensei-oulu.broker.freenet6.net:8000/0212-7400-10c5-51f7/a/led1

http://sensei-oulu.broker.freenet6.net:8000/0212-7400-10c5-51f7/s/temp

Where, 0212-7400-10c5-51f7 is the EUI-64 address of the node. 

p – Parameter resource

a – Actuator resources

s – Sensor resources

Attachements

  1. gogoc.conf
#-----------------------------------------------------------------------------
# $Id: gw6c.conf.in,v 1.10 2009/03/13 01:14:37 carl Exp $
#-----------------------------------------------------------------------------

##########################      READ ME!      ################################
#
# Welcome to the Gateway6 Client configuration file.
# In order to use the client, you need to modify the 'userid', 'passwd' and 
# 'server' parameters below depending on which of these situations applies:
# 
# 1. If you created a Freenet6 account, enter your userid and password below. 
#    Change the server name to "broker.freenet6.net" and auth_method to 'any'.
# 2. If you would like to use Freenet6 without creating an account, 
#    do not make any modifications and close this file. 
# 3. If this software was provided by your ISP, enter the userid, password and 
#    server name provided by your ISP below. 
#


########################## BASIC CONFIGURATION ################################

#
# User Identification and Password:
#   Specify your user name and password as provided by your ISP or Freenet6.
#   If you plan to connect anonymously, leave these values empty.
#   NOTE: Change auth_method option if you are using a username/password.
#
#   userid=<your_userid>
#   passwd=<your_password>
#
userid= mobile-island1
passwd=*******

#
# Gateway6 Server:
#   Specify a Gateway6 server name or IP address (provided by your ISP or 
#   Freenet6). An optional port number can be added; the default port number 
#   is 3653.
#  
#   Examples:
#     server=hostname # FQDN
#     server=A.B.C.D  # IPv4 address
#     server=[X:X::X:X] # IPv6 address
#     server=hostname:port_number  
#     server=A.B.C.D:port_number
#     server=[X:X::X:X]:port_number
#
#   Freenet6 account holders should enter authenticated.freenet6.net,
#   otherwise use anonymous.freenet6.net.
#   Your ISP may provide you with a different server name. 
#
#server=anonymous.freenet6.net
server=authenticated.freenet6.net

#
# Authentication Method:
#
#  auth_method=<{anonymous}|{any|passdss-3des-1|digest-md5|plain}>
#
#   anonymous:      Sends no username or password
#
#   any:            The most secure method will be used. 
#   passdss-3des-1: The password is sent encrypted.
#   digest-md5:     The password is sent encrypted.
#   plain:          Both username and password are sent as plain text.
#
# Recommended values:
#   - any:          If you are authenticating a username / password.
#   - anonymous:    If you are connecting anonymously.
#
#auth_method=anonymous
auth_method=any


########################## ROUTING CONFIGURATION ##############################
# Use these parameters when you wish the client to act as a router and provide 
# IPv6 connectivity to IPv6-capable devices on your network.

#
# Local Host Type:
#   Change this value to 'router' to enable IPv6 advertisements.
#
#   host_type=<host|router>
#
host_type=host

#
# Prefix Length:
#   Length of the requested prefix. Valid values range between 0 and 64 when 
#   using V6*V4 tunnel modes, and between 0 and 32 when using V4V6 tunnel mode.
#
#   prefixlen=<integer>
#
prefixlen=64

#
# Advertisement Interface Prefix:
#   Name of the interface that will be configured to send router advertisements. 
#   This is an interface index on Windows (ex: 4) and a name on Linux
#   and BSD (ex: eth1 or fxp1). 
#
#   if_prefix=<interface name>
#
if_prefix=

#
# DNS Server: 
#   A DNS server list to which the reverse prefix will be delegated. Servers
#   are separated by the colon(:) delimiter.
#
#   Example: dns_server=ns1.domain:ns2.domain:ns3.domain
#
dns_server=


######################### ADVANCED CONFIGURATION ##############################

#
# Gateway6 Client Installation Directory:
#   Directory where the Gateway6 Client will be installed. This value has been 
#   set during installation.
#
gw6_dir=/usr/local/gw6c

#
# Auto-Retry Connect, Retry Delay and Max Retry Delay:
#  When auto_retry_connect=yes, the Gateway6 Client will attempt to reconnect
#  after a disconnection occurred. The time to wait is 'retry_delay' and that
#  delay is doubled at every 3 failed consecutive reconnection attempt.
#  However, the wait delay will never exceed retry_delay_max.
#
#
#   auto_retry_connect=<yes|no>
#   retry_delay=<integer: 0..3600>
#   retry_delay_max=<integer: 0..3600>
#
#   Recommended values: "yes", 30, 300
#
auto_retry_connect=yes
retry_delay=30
retry_delay_max=300

#
# Keepalive Feature and Message Interval:
#   Indicates if and how often the client will send data to keep the tunnel 
#   active.
#
#   keepalive=<yes|no>
#   keepalive_interval=<integer>
#
#   Recommended values: "yes" and 30
#
keepalive=yes
keepalive_interval=30

#
# Tunnel Encapsulation Mode:
#   v6v4:    IPv6-in-IPv4 tunnel.
#   v6udpv4: IPv6-in-UDP-in-IPv4 tunnel (for clients behind a NAT).
#   v6anyv4: Lets the broker choose the best mode for IPv6 tunnel.
#   v4v6:    IPv4-in-IPv6 tunnel.
#
#   Recommended value: v6anyv4
#
tunnel_mode=v6anyv4

#
# Tunnel Interface Name:
#   The interface name assigned to the tunnel. This value is O/S dependent.
#
#   if_tunnel_v6v4 is the tunnel interface name for v6v4 encapsulation mode
#   if_tunnel_v6udpv4 is the tunnel interface name for v6udpv4 encapsulate mode
#   if_tunnel_v4v6 is the tunnel interface name for v4v6 encapsulation mode
#
#   Default values are set during installation.
#
if_tunnel_v6v4=sit1
if_tunnel_v6udpv4=tun
if_tunnel_v4v6=sit0

#
# Local IP Address of the Client:
#   Allows you to set a specific address as the local tunnel endpoint.
#
#   client_v4=<auto|A.B.C.D (valid ipv4 address)>
#   client_v6=<auto|X:X::X:X (valid ipv6 address)>
#     auto: The Gateway6 Client will find the local IP address endpoint.
#
#   Recommended value: auto
#
client_v4=auto
client_v6=auto

#
# Script Name:
#   File name of the script to run to install the tunnel interface. The 
#   scripts are located in the template directory under the client 
#   installation directory. 
#
#   template=<checktunnel|freebsd|netbsd|openbsd|linux|windows|darwin|cisco|solaris>
#
#   Default value is set during installation.
# 
template=linux

#
# Proxy client: 
#   Indicates that this client will request a tunnel for another endpoint, 
#   such as a Cisco router. 
#
#   proxy_client=<yes|no>
#
#   NOTE: NAT traversal is not possible in proxy mode. 
#
proxy_client=no


############################ BROKER REDIRECTION ###############################

#
# Broker List File Name:
#   The 'broker_list' directive specifies the filename where the broker
#   list received during broker redirection will be saved. 
#
#   broker_list=<file_name>
#  
broker_list=tsp-broker-list.txt

#
# Last Server Used File Name:
#   The 'last_server' directive specifies the filename where the address of
#   the last broker to which a connection was successfully established will 
#   be saved.
#
#   last_server=<file_name>
#
last_server=tsp-last-server.txt

#
# Always Use Last Known Working Server:
#   The value of the 'always_use_same_server' directive determines whether the 
#   client should always try to connect to the broker found in the 
#   'last_server' directive filename. 
#
#   always_use_same_server=<yes|no>
#
always_use_same_server=no


#################################### LOGGING ##################################

#
# Log Verbosity Configuration:
#   The format is 'log_<destination>=level', where possible values for 
#   'destination' are:
#
#   - console  (logging to the console [AKA stdout])
#   - stderr   (logging to standard error)
#   - file     (logging to a file)
#   - syslog   (logging to syslog [Unix only])
#
#   and 'level' is a digit between 0 and 3. A 'level' value of 0 disables 
#   logging to the destination, while values 1 to 3 request increasing levels 
#   of log verbosity and detail. If 'level' is not specified, a value of 1 is 
#   assumed.
#
#   Example:
#     log_file=3   (Maximal logging to a file)
#     log_stderr=0 (Logging to standard error disabled)
#     log_console= (Minimal logging to the console) 
#
#   - Default configuration on Windows platforms:
#
#     log_console=0
#     log_stderr=0
#     log_file=1
#
#   - Default configuration on Unix platforms:
#
#     log_console=0
#     log_stderr=1
#     log_file=0
#     log_syslog=0
#
#log_console=
#log_stderr=
#log_file=
#log_syslog=

#
# Log File Name:
#   When logging to file is requested using the 'log_file' directive, the name
#   and path of the file to use may be specified using this directive.
#
#   log_filename=<file_name>
#
log_filename=gw6c.log

#
# Log File Rotation:
#   When logging to file is requested using the 'log_file' directive, log file 
#   rotation may be enabled. When enabled, the contents of the log file will 
#   be moved to a backup file just before it reaches the maximum log file size 
#   specified via this directive.
#
#   The name of the backup file is the name of the original log file with 
#   '.<timestamp>' inserted before the file extension. If the file does not 
#   have an extension, '.<timestamp>' is appended to the name of the original
#   log file. The timestamp specifies when the rotation occurred.
#
#   After the contents of the log file have been moved to the backup file, the 
#   original file is cleared, and logging resumes at the beginning of the file. 
#
#   log_rotation=<yes|no>
#
log_rotation=yes

#
# Log File Rotation Size:
#   The 'log_rotation_size' directive specifies the maximum size a log file may 
#   reach before rotation occurs, if enabled. The value is expressed in 
#   kilobytes.
#
#   log_rotation_size=<16|32|128|1024>
#
log_rotation_size=32

#
# Deletion of rotated log files:
#   The 'log_rotation_delete' directive specifies that no log backup will be
#   kept. When rotation occurs, the file is immediately wiped out and a new 
#   log file is started.
#
#   log_rotation_delete=<yes|no>
#
log_rotation_delete=no

#
# Syslog Logging Facility [Unix Only]:
#   When logging to syslog is requested using the 'log_syslog' directive, the 
#   facility to use may be specified using this directive.
#
#   syslog_facility=<USER|LOCAL[0-7]>
#
syslog_facility=USER


# end of gw6c.conf
#------------------------------------------------------------------------------

Last modified 11 years ago Last modified on Mar 2, 2011, 8:44:38 AM

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