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To see how we can use the

Castalia

input script to do something more exciting, ask for

help. Run it with

-h

as argument.

~/Castalia/Simulations/radioTest$ ../../bin/Castalia -h

Usage: Castalia [options]

Options:

-h, --help show this help message and exit

-c CONFIG, --config=CONFIG

A list of configuration names to use, comma

separated configurations will be joined

together, configurations listed in brackets

will be interleaved

-i FILE, --input=FILE

Select input configuration file, default is

omnetpp.ini

-d, --debug Debug mode, will display results from each

CastaliaBin execution

-o FILE, --output=FILE

Select output file for writing results,

generated from current date by default

-r N, --repeat=N Number of repetitions for each unique

scenario

We see that we can instruct the

Castalia

script to use a specific file with the

-i

switch

(although we do not need to in our case, omnettpp.ini is the default) and use the

-c

switch to

choose a configuration within this file. For the moment do not mind the help-text mentioning

that a list of configuration can be given, and just run it with one configuration. Let‟s use

General

, which is always present in an omnetpp.ini file and is considered the default

configuration.

~/Castalia/Simulations/radioTest$ ../../bin/Castalia -c General

Running configuration 1/1

You‟ve just run your first simulation! Let‟s see what‟s new in ou

r directory.

~/Castalia/Simulations/radioTest$ ls

100806-222319.txt Castalia-Trace.txt omnetpp.ini

There are 2 new files created:

100806-222319.txt

is Castalia‟s standard output file and

its name is in the form

YYMMDD-HHMMSS.txt

. You can freely rename this file if you wish.

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You can also open it to read it (it is human readable) but it is not supposed to be viewed this

way. Normally you will process this file with

CastaliaResults

. We will see how to do

this in section 3.3. The other file produced is a trace file named

Castalia-Trace.txt

. It

contains a trace of all events that you requested to be recorded

by “turning on” some

parameters in the omnetpp.ini file. By default all tracing is turned off, but for this simulation

example we wanted to activate just the tracing from the application module of node 0. Open

the file and have a look.

~/Castalia/Simulations/radioTest$ less Castalia-Trace.txt

0.027540267327 SN.node[0].Application Not sending packets

3.868527053713 SN.node[0].Application Received packet #18 from node 1

4.068529304763 SN.node[0].Application Received packet #19 from node 1

4.268531555813 SN.node[0].Application Received packet #20 from node 1

4.468533806863 SN.node[0].Application Received packet #21 from node 1

4.668536057913 SN.node[0].Application Received packet #22 from node 1

…

Each line is a trace event. The first item in the line is the simulation time that the event

happened. Second item is the full name of the module that produced this trace line. In the

example above all lines are produced by the Application module of node 0. Finally, the last

item is the trace message itself. In the example above most messages notify us of packet

received by node 1, also printing the packet‟s serial number.

But what is this simulation supposed to do?

We created the radioTest simulation scenarios so users can see the results of realistic

modeling and also see some of Castalia‟s features in action. The first scenario (the General

configuration we just run) tests reception, as a receiver (node 0) moves through the area of

two transmitters (nodes 1 and 2). The transmitters are placed far enough so there is no

interference between them. The receiver moves in a straight line back and forth and when it

is close to each of the two transmitters it should receive their packets. For this simulation we

have turned off shadowing effects so that the successful-reception-distance is identical for the

two transmitters (still there are random effects in the radio reception, so the numbers of

received packets by the two transmitters are not identical). The InterferenceTest1 and

InterferenceTest2 scenarios have the receiver static and one of the transmitters moving. The

idea there is to show the effect of interference with the use of mobility. In InterferenceTest1

the interfering node passes through the middle of the distance between node 1 and 0, and thus

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just causes collisions. In InterferenceTest2 though it passes very close to the receiver

(compared to the other transmitter) and thus even though initially it creates collisions, when

sufficiently close, its SINR is high enough for its packets to be received (despite interference

from the transmissions of static node 1). Figure 3 illustrates these interactions.

Figure 3: The General, InterferenceTest1, and InterferenceTest2 configurations

Run the other two simulation scenarios and look at the resulting Castalia-Trace.txt files

(delete the old trace files if you do not want the new traces appended in the old file).

~/Castalia/Simulations/radioTest$ rm Castalia-Trace.txt

~/Castalia/Simulations/radioTest$ Castalia -c InterferenceTest1

Running configuration 1/1

Are the traces as expected? You should be able to see the patterns of reception and

breaking of reception as depicted in figure 3.

Let‟s us look more deeply into

the omnetpp.ini file.

Node 0

Node 2

Node 1

Node 0

Node 1

Node 2

Node 1

Node 0

Receiver node

Transmitter node

Receive pcks from node 1

Receive pcks from node 2

collision

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3.2 Understanding the configuration file

As described in Chapter 2, Castalia has a modular structure with many interconnecting

modules. Each one of the modules has one or more parameters that affect its behavior. An

NED file (file with extension .ned in the Castalia source code) defines the basic structure of a

module by defining its input/output gates and its parameters. In the NED file we can also

define default values for the parameters. A configuration file (usually named omnetpp.ini and

residing in the Simulations dir tree) assigns values to parameters, or just reassigns them to a

different value from their default one. This way we can build a great variety of simulation

scenarios. Open the file

Simulations/radioTest/omnetpp.ini

Note that any string after a

character is a comment. The configuration file starts with

the General section. Every OMNeT configuration file has a General section. There you define

the basic scenario that this file describes. Parameters such as the simulation time and number

of nodes do not have any default values and must be defined in this section. Below are the

first few lines from the

radioTest/omnetpp.ini

file (comments removed)

[General]

include ../Parameters/Castalia.ini

sim-time-limit = 100s

SN.field_x = 200 # meters

SN.field_y = 200 # meters

SN.numNodes = 3

The first line in the General section is an include command. As the name suggests, the

command includes the contents of the file it gets as an argument. In the particular example we

include a file we named Castalia.ini and it contains some basic parameter assignments

that

every Castalia simulation needs. So when you create a Castalia configuration file, always

include Castalia.ini in it.

Then we define the simulation time (here assigned to 100 secs). This is the only generic

OMNeT parameter we assign in a Castalia configuration file. We can see that all other

parameter start their name with

. SN is the topm

ost composite module (or “network” as

OMNeT calls it). The name SN stands for Sensor Network. There are a few parameters that

Castalia.ini assigns some parameters affecting general OMNeT execution, as well as parameters that

map the different Random Number Generators (RNGs) to modules.

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the network takes such as the field size, the number of nodes, and the deployment type. The

field size is given by 3 real numbers, each for axes x,y,z. One can define only 2 of the axes if

desired (the third one will take the value 0 by default). Number of nodes is given by an

integer. The parameter

SN.deployment

is a string that describes where the nodes are

placed on the field. If left undefined (as in our example above) then the location of the nodes

is determined by the xCoor, yCoor, zCoor parameters of each node. These are usually

manually assigned in the omnetpp.ini file. When defined,

SN.deployment

can be one of

the following types:

“uniform”



nodes are placed in the field using a random uniform distribution

“NxM”

N and M are integer numbers. Nodes placed in a grid of N nodes by M nodes

“NxMxK” 

same as above but for 3 dimensions

“randomized

NxM”



a grid deployment with randomness in the position of the nodes.

If Gx and Gy is the grid spacing in axes x and y, and (Xi, Yi) are

the grid position of node i then the randomized grid position is

(Xi+Rx, Yi+Ry) where Rx and Ry are numbers uniformly drawn

from [(-1/3)Gx

…(1/3)

Gx ] and [(-

1/3)Gy…(1/3)Gy ]

“randomized

NxMxK” 

same as above but for 3 dimensions

“c

enter

”



node put in the centre of the field

We can even define mixed deployments by using this string format:

[N1..N2]->type;[N2..N3]-

>type;… where Nx are node IDs, and t

ypes is one of the options

given above

After we set these top level parameters, we go into setting module parameters. When

setting a module parameter, the full name of the module is given revealing the module

hierarchy structure. Here is an example from our configuration file, setting some parameters

of the wireless channel.

# important wireless channel switch to allow mobility

SN.wirelessChannel.onlyStaticNodes = false

SN.wirelessChannel.sigma = 0

SN.wirelessChannel.bidirectionalSigma = 0

We will explain the meaning and use of all parameters in Chapter 4 (Modeling in

Castalia). In this section we present some basic concepts and syntax rules of Castalia

configuration files.

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For instance, how do we set radio parameters? Remember that the radio is part of the

Communication composite module of every node. So there are as many Radio modules as

there are nodes. How do we set all of them easily?

Here‟s how

SN.node[*].Communication.Radio.RadioParametersFile =

"../Parameters/Radio/CC2420.txt"

SN.node[*].Communication.Radio.TxOutputPower = "-5dBm"

These two lines set 2 parameters of the Radio module. The RadioParametersFile is a

specially formatted file defining the basic operational properties of a radio (more on Chapter

4). The second parameter, TxOutputPower sets the power that the radio transmits its packets.

Notice how we access all the radio modules in all the nodes with the use of [*].

The sensor network compound module (SN) contains many Node sub-modules. These

are addressed in the form of an array. For ins

tance, here‟s how to set

the parameter

xCoor

(the x coordinate of the location of a node) of the node with ID=9:

SN.node[9].xCoor = 10.5

However, most of the time we need to massively assign values for all the nodes of the

sensor network. This is possible by using wildcards like:

[*]



all indexes

[3..5]



indexes 3,4,5

[..4]



indexes 0, 1, 2, 3, 4

[5..]



indexes 5 till the last one

Reading on in our example omnetpp.ini file we see that parameters relating to the

maximum allowed packet size are set in all communication layers:

SN.node[*].Communication.Routing.maxNetFrameSize = 2500

SN.node[*].Communication.MAC.maxMACFrameSize = 2500

SN.node[*].Communication.Radio.maxPhyFrameSize = 2500

We have already set the kind of radio we want to use, by setting RadioParametersFile.

How do we instruct Castalia which MAC protocol and which Routing protocol to use? This is

achieved by two Communication module parameters

SN.node[*].Communication.MACProtocolName

SN.node[*].Communication.RoutingProtocolName

These are set by default to "

BypassMAC

" and "

BypassRouting

". These are module

names that in essence implement no MAC functionality and no Routing functionality. For the

radioTest simulation we did not need any MAC or Routing so we left these parameters

assigned to their default value (i.e., they are not mentioned in the omnetpp.ini file). If you

want to see the default values for any parameter just go to the .ned file that describes that

module. For the parameters mentioned above you can look in:

src/node/communication/CommunicationModule.ned

If you look at the BANtest/omnetpp.ini you will see MACProtocolName being assigned

SN.node[*].Communication.MACProtocolName = "BaselineBANMac"

The important thing to note here is that by assigning a name to this parameter we are

also choosing a specific module for our MAC. So by altering these parameters we can

dynamically control the composition of modules in our simulation

. The consequence of this

feature is that depending on the module you choose, the parameters available to you are also

changing since different MAC modules support different parameters. There are four kinds of

modules that are dynamically selected in a Castalia configuration file. We have already seen

the 2 kinds: MAC and Routing modules. The other 2 are Application modules and

MobilityManager modules.

Here is how we set our radioTest simulation to use the Application module we want:

SN.node[*].ApplicationName = "ThroughputTest"

SN.node[*].Application.packet_rate = 5

SN.node[*].Application.constantDataPayload = 2000

# application's trace info for node 0 (receiving node)

# is turned on, to show some interesting patterns

SN.node[0].Application.collectTraceInfo = true

By setting the

ApplicationName

we also choose the application module.

ThroughputTest

application has all nodes sending traffic to a sink node. We can easily

modify the packet rate and the packet size as you can notice. The sink node is by default node

0 and we have not changed this here. Also notice how the last line shown above, activates the

collecting of traces for the Application module of node 0. This is why the

Castalia-

Trace.txt

files we examined in section 3.1 were created and this is why they only

contained events from the application module of node 0. All Castalia modules have a

collectTraceInfo

parameter. By default, collection of traces is deactivated (parameter

set to false).

This is achieved thanks to OMNeT‟s dynamic module loading capability and also its ability to define

parametric module names in .ned files.

Then follows a section where we set the starting locations for our 3 nodes manually

(remember that we left

SN.deployment

to its default value:

“custom”). We write “starting

locations” because the nodes can be mobile. Indeed

, we see that node 0 is using

LineMobilityManager

as the mobility manager module. The other two nodes have the

default mobility manager:

NoMobilityManager

, which is used to describe static nodes.

SN.node[0].xCoor = 0

SN.node[0].yCoor = 0

SN.node[1].xCoor = 50

SN.node[1].yCoor = 50

SN.node[2].xCoor = 150

SN.node[2].yCoor = 150

SN.node[0].MobilityManagerName = "LineMobilityManager"

SN.node[0].MobilityManager.updateInterval = 100

SN.node[0].MobilityManager.xCoorDestination = 200

SN.node[0].MobilityManager.yCoorDestination = 200

SN.node[0].MobilityManager.speed = 15

The

LineMobilityManager

module moves the node in a straight line segment

(back and forth). The straight line segment is defined by the starting location of a node and

the destination location given by the xCoorDestination, yCoorDestination parameters of the

mobility module. We also define the speed and the update interval that the wireless channel

module will be updated of

the node‟s current position.

After these lines we see a new section: a new configuration.

[Config InterferenceTest1]

SN.node[0].MobilityManagerName = "NoMobilityManager"

SN.node[1].MobilityManagerName = "NoMobilityManager"

SN.node[2].MobilityManagerName = "LineMobilityManager"

SN.node[0].xCoor = 10

SN.node[0].yCoor = 50

SN.node[1].xCoor = 0

SN.node[1].yCoor = 50

SN.node[2].xCoor = 5

SN.node[2].yCoor = 0

SN.node[2].MobilityManager.updateInterval = 100

SN.node[2].MobilityManager.xCoorDestination = 5

SN.node[2].MobilityManager.yCoorDestination = 100

SN.node[2].MobilityManager.speed = 5

In this configuration, node 2 is the mobile one, instead of node 0, and nodes are much

closer to each other (so that we can simulate interesting interference behaviour).

Yet another configuration section follows with slightly different node locations, which

we do not show here. Instead we draw your attention at the end of the file, where a very short

configuration section resides. Here it is:

[Config varyInterferenceModel]

SN.node[*].Communication.Radio.collisionModel = ${InterfModel=0,1,2}

Notice how we do not assign just one value to the parameter but a series of values. This

is a feature of OMNeT 4.0 and later versions. You can look at the OMNeT manual for a

complete list of the ways you can assign parameters, but the essence of this multiple-value

assignment is that simulation will run many times, each time assigning one of the values. So

given the example above we will run the simulation 3 times. The name “InterfModel”

in the

curly braces will just be used as a label in the output produced and helps us parse the output

more easily.

If you have more than one parameter that takes multiple values, then all combinations

will be run. In the example below we have 2 parameters taking 3 values each, which means 9

possible parameter combinations, thus 9 simulation runs.

SN.node[1].Communication.Radio.TxOutputPower = ${TxPower="-5dBm", "-10dBm", "-15dBm"}

SN.node[0].Communication.Radio.CCAthreshold = ${CCAthreshold=-95, -90, -85}

You can even do more complicated things such as putting constraints, so that not all

possible combinations are

executed. Here‟s an example from

BANtest/omnetpp.ini

SN.node[*].Communication.MAC.scheduledAccessLength = ${schedSlots=6,5,4,3}

SN.node[*].Communication.MAC.RAP1Length = ${RAPslots=2,7,12,17}

constraint = $schedSlots * 5 + $RAPslots == 32

The example above will only execute 4 combinations: (6,2), (5,7), (4,12), (3,17).

3.3 Using the Castalia and CastaliaResults scripts

OMNeT allows you to choose just one of the configurations defined in a configuration

file. That is, if you use the simulator binary directly (i.e.

CastaliaBin

) you can choose an

input configuration file and one configuration. When choosing a configuration the parameters

from the General section are used and set, and if the configuration redefines them, then their

value is overwritten. Although this feature is an improvement over older versions, its

usefulness is limited. Notice for example, the configuration on varying the collision model we

examined earlier. If we choose it using

OMNeT‟s st

andard feature it will only be applied in

the General section scenario. If we would like the same effect in the Interference scenarios

then we would have to explicitly include that line in each configuration. If we also wanted to

vary the Tx power but not vary the collision model, then we would have to explicitly write

another set of configurations. The problem is that you cannot easily combine configurations.

You have to explicitly write the combinations. Furthermore, you cannot easily execute more

than one configuration at a time. We can overcome these restrictions by using the Castalia

script.

With the Castalia script we can easily give a list of configurations to be combined.

For example, we ca

n write “Castalia –

c InterferenceTest1,varyInterferenceModel

” or

“

Castalia

–

c InterferenceTest2,varyInterferenceModel

” no need to create the combination

explicitly in the omnetpp.ini file. Moreover we have the ability to define more than one

configuration to be executed by listing different configurations in braces. Castalia

–

c [A,B]

will execute the simulation with configuration A and then another simulation with

configuration B.

Castalia

–

c [A,B]C,D[E,F] will execute 4 combined configurations:

A,C,D,E



this is a combination (or concatenation) of the 4 simple configs listed

B,C,D,E

A,C,D,F

B,C,D,F

If you try to combine two or more configurations that have at least one overlapping

parameter (i.e. same parameter is defined in two or more configurations) then you will get an

error message from the script. For example if you tried:

radioTest$ Castalia -c InterferenceTest1,InterferenceTest2

ERROR: conflicting values for parameter 'SN.node[2].xCoor' in base

configurations: '5' and '22'

Let us use the power of the

Castalia

script to run a useful simulation:

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