function k1_init

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

offset = 0;
period = 1;
prio = 1;
ttCreatePeriodicTask('k1_task', offset, period, prio, 'k1_task');

% Initialize network
ttCreateInterruptHandler('k1_handle', prio, 'k1_handle');
ttInitNetwork(2,1, 'k1_handle');%必须在truetime network的两端连接的kernel都初始化网络号（本例为2），该网络号才可以使用。
%另外本例中的1是接入的端口号

%在truetime network的两端，输入端口的只和输出端口的值不能相同。

function [exectime, data] = k1_task(seg, data)

disp('k1 send');
ttSendMsg([2 2],[1 1;1 -1],80);%向network number为2的网络的2号接收端口发送信息  
exectime = -1;

function [exectime,data] = k1_handle(seg,data)

disp('k1');
exectime = -1;

function k2_init

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

offset = 0;
period = 1;
prio = 1;

% Initialize network
ttCreateInterruptHandler('k2_handle', 1, 'k2_handle');
ttInitNetwork(2,2, 'k2_handle');

% Initialize the TRUETIME network interface. If the kernel should be connected to
% several networks, this function must be called several times. This function is
% used both for wired and wireless networks.
% 初始化TRUETIME网络接口。如果内核需要连接到多个网络，这个函数必须被多次调用。
% 但是后面的中断处理函数暂时没有被调用，不知道什么原因。

ttCreateInterruptHandler('k2_handle_unused', 2, 'k2_handle_unused');%这个中断处理函数将不会被执行
ttInitNetwork(3,1, 'k2_handle_unused');

function [exectime,data] = k2_handle(seg,data)

   disp('===========call k2_handle handle===========')
   m = ttGetMsg(2);
   disp('==================')
   disp('k2');
   disp(m);
   disp('==================')
   m(1)=2;
   ttSendMsg([3 1],m,80);  %向network number为3的网络的1号接收端口发送信息  

exectime = -1;

function [exectime,data] = k2_handle_unused(seg,data)

disp('===========call k2_handle_unused handle===========')
%这个函数没有被调用，调节了优先级好像也没有用

% m = ttGetMsg(2);
% disp('==================')
% disp('k2');
% disp(m);
% disp('==================')
% m(1)=2;
% ttSendMsg([3 1],m,80);  
exectime = -1;

function k3_init

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

offset = 0;
period = 1;
prio = 1;

% Initialize network
ttCreateInterruptHandler('k3_handle', prio, 'k3_handle');
ttInitNetwork(3,1, 'k3_handle');

function [exectime,data] = k3_handle(seg,data)

m = ttGetMsg(3);
disp('==================')
disp('k3');
disp(m);
disp('==================')
exectime = -1;