function node_init1

% Distributed control system: sensor node
%
% Samples the plant periodically and sends the samples to the 
% controller node.

% Initialize TrueTime kernel
ttInitKernel(0, 0, 'prioFP'); % nbrOfInputs, nbrOfOutputs, fixed priority

% Create sensor task
% data.y = 0;
offset = 0;
period = 0.1;
prio = 1;
ttCreatePeriodicTask('sendTask', offset, period, prio, 'periodicTask1');

% Initialize network
ttCreateInterruptHandler('receiveHanlder1', prio, 'messageReceiveHandler1');
ttInitNetwork(1, 'receiveHanlder1');%这里的1对应于truetime network子系统的输入端口

function [exectime, data] = periodicTask1(seg, data)

ttSendMsg(2, 666, 80);  %这里的网络号码2与子系统的接口一一对应，即与subsystem的Out2端口相对应。
exectime = -1;

function [exectime,data]=messageReceiveHandler1(seg,data)

exectime = -1;

function node_init2

% Distributed control system: sensor node
%
% Samples the plant periodically and sends the samples to the 
% controller node.

% Initialize TrueTime kernel
ttInitKernel(0, 0, 'prioFP'); % nbrOfInputs, nbrOfOutputs, fixed priority

% Create sensor task
% data.y = 0;
% offset = 0;
% period = 0.010;
prio = 1;
% ttCreatePeriodicTask('sendTask', offset, period, prio, 'periodicTask1',data);

% Initialize network
ttCreateInterruptHandler('receiveHanlder2', prio, 'messageReceiveHandler2');
ttInitNetwork(2, 'receiveHanlder2');%这里的2对应于truetime network子系统的输入端口

function [exectime,data]=messageReceiveHandler2(seg,data)


switch seg,
 case 1,  
    msg = ttGetMsg;
    disp('node 2 receive msg=');
    disp(msg);
    % 再发出去
    ttSendMsg(1, msg, 80);%这里的号码与输出端口号一一对应，如果只有一个端口默认为1
    exectime = -1;
end