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The time taken for task switching can be accounted for by assuming that a task switch takes place at the beginning and end of each task, so adding twice4 the context switch time to each task s execution time gives an estimate (actually pessimistic) for the effect of context switching time. To obtain predictable task execution times, the execution time of any operating system services used by that task must be predictable. The time taken by the operating system to switch tasks must also be predictable. Thus we arrive at our rst requirement for an RTOS task switching and OS services must have predictable, or at least well bounded, execution times. Obviously to maximize the proportion of processor time spent doing useful work these overheads should be as small as possible. However in a choice between an algorithm with a constant execution time and one with an execution time which is usually small but may

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All nodes within this angular range are sent a copy of the message Clearly, the success of both methods relies on some knowledge of the global network, as well as duplication of messages Such methods fall outside of the domain of position-based routing Each of MFR, NFP, and Compass Routing is myopic They are localized algorithms that require knowledge only of the immediate neighborhood Unfortunately, their global behavior is such that none of these approaches can claim to be loop-free Still, consider that their forwarding decisions attempt to optimize some local criteria, the effect of which is to approximate the shortest Euclidean path between the source and destination The shortest path may be approximated using another approach that referred to as greedy forwarding Greedy forwarding is a localized forwarding scheme whose express goal is to traverse the Euclidean shortest path.

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4 To see why two context switch times are added, consider tasks A and B. Suppose A is part way through running when B becomes ready and preempts A. There is a context switch from A to B and then another from B to A when B completes. So the total delay to task A is the execution time of task B plus twice the context switch time in other words, as if task B had twice the context switch time added to its execution time. On the other hand, when the end of one task and the beginning of another coincide then there is only one context switch to be added. This is why the estimate obtained is pessimistic.

It is this approach on which most research and development, where there is a known and underlying Euclidean coordinate system, has focused..

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Greedy Forwarding. Greedy forwarding was rst proposed in reference 19 as a routing protocol for wired networks. Referred to as Cartesian routing, the next hop was chosen to be the neighbor that is closest to the destination. Because this work predated GPS and other localization services, knowledge of the global topology was required. The same idea has been reapplied in wireless network settings as the foundation of innumerable routing schemes and algorithms. It is known to behave especially well in dense wireless networks such as those envisioned in many sensor networks. Greedy forwarding works as follows. Say node s has the neighborhood N = n1 , ..., nk of size k where each ni is a potential next hop in a traversal that passes through s. Any message that arrives at s has embedded within it the destination d. The greedy approach says that the successor to s will be the neighbor ni that minimizes the Euclidean distance to d. In Figure 8.2 we can see that node s will select g, the node that most further reduces the distance to the destination among its neighbors. It can be shown that greedy forwarding is loop-free (using the simple fact that every hop reduces the distance to the destination). The delivery rate of greedy forwarding is known to be quite high in dense networks, but diminishes quickly as the density falls [20]. The problem is that a greedy path may terminate in a routing hole, or void, as shown in the next section.

Consider now the effect of hardware interrupts on the system These may be considered as tasks with a very high priority higher than any software-de ned tasks The tasks with the very shortest deadlines will be implemented as interrupt service routines However, not all interrupts are equally urgent An interrupt from a keyboard controller can probably wait 100 ms or so without any problem, whereas a receive interrupt from a 16550 UART must be serviced within 700 s or data may be lost In particular, some interrupts may have longer deadlines than some software de ned tasks According to the deadline monotonic scheduling rule, these interrupts should have lower priority than the tasks However, the hardware will automatically preempt any task whenever an interrupt is signaled There are three possible ways around this problem: Use a periodic task to poll for the long deadline interrupt at an appropriate priority.

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