Our Deteriorating Civil Infrastructure Faces the Critical Challenge of Long-Term Structural Health Monitoring for Damage Detection and Localization. in Contrast to Existing Research that Often Separates the Designs of Wireless Sensor Networks and Structural Engineering Algorithms, This Paper Proposes a Cyber-Physical Codesign Approach to Structural Health Monitoring based on Wireless Sensor Networks. Our Approach Closely Integrates 1) Flexibility-Based Damage Localization Methods that Allow a Tradeoff between the Number of Sensors and the Resolution of Damage Localization, and 2) an Energy-Efficient, Multilevel Computing Architecture Specifically Designed to Leverage the Multiresolution Feature of the Flexibility-Based Approach. the Proposed Approach Has Been Implemented on the Intel Imote2 Platform. Experiments on a Simulated Truss Structure and a Real Full-Scale Truss Structure Demonstrate the System's Efficacy in Damage Localization and Energy Efficiency.