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Summary: TOSThreads: Thread-safe and Non-Invasive Preemption in TinyOS
Kevin Klues, Chieh-Jan Mike Liang, Jeongyeup Paek, Razvan Musaloiu-E.,
Philip Levis , Andreas Terzis, Ramesh Govindan
UC Berkeley Johns Hopkins University University of Southern California Stanford University
Berkeley, CA Baltimore, MD Los Angeles, CA Stanford, CA
klueska@cs.berkeley.edu {cliang4, razvanm, terzis}@cs.jhu.edu {jpaek, ramesh}@usc.edu pal@cs.stanford.edu
Abstract
Many threads packages have been proposed for program-
ming wireless sensor platforms. However, many sensor net-
work operating systems still choose to provide an event-
driven model, due to efficiency concerns. We present TOS-
Threads, a threads package for TinyOS that combines the
ease of a threaded programming model with the efficiency
of an event-based kernel. TOSThreads is backwards com-
patible with existing TinyOS code, supports an evolvable,
thread-safe kernel API, and enables flexible application de-
velopment through dynamic linking and loading. In TOS-
Threads, TinyOS code runs at a higher priority than appli-
cation threads and all kernel operations are invoked only
via message passing, never directly, ensuring thread-safety
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