In this paper, we survey the current state-of-the-art in middleware and systems for Wireless Sensor Networks (WSN). We provide a discussion on the definition of WSN middleware, design issues associated with it, and the taxonomies commonly used to categorize it. We also present a categorization of a number of such middleware platforms, using middleware functionalities and challenges which we think will play a crucial role in developing software for WSN in the near future. Finally, we provide a short discussion on WSN middleware trends.