Current Internet of Things (IoT) development requires service distribution over Wireless Sensor and Actor Networks (WSAN) to deal with the drastic increasing of network management complexity. Because of the specific constraints of WSAN, some limitations can be observed in centralized approaches. Multi-hop communication used by WSAN introduces transmission latency, packet errors, router congestion and security issues. As it uses local services, a model of decentralized services avoids long path communications between nodes and applications. But the two main issues are then to design (1) the composition of such services and to map (2) them over the WSAN. This contribution proposes a model for decentralized services based on Resource Oriented Architecture in which their communications are designed thanks to an adaptation of Petri Network (1). In addition, the problem of decentralized service mapping and its deployment over a WSAN is successfully resumed by a Pseudo-Boolean Optimization in order to minimize network communication load (2). These contributions are presented using a proposed EMMA middleware as unifying thread.