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function actuator_init % Distributed control system: actuator node % % Receives messages from the controller and actuates % the plant. % Initialize TrueTime kernel ttInitKernel(1, 1, 'prioFP'); % n

function controller_init % Distributed control system: controller node % % Receives messages from the sensor node, computes control signal % and sends it back to the actuator node. % Initialize True

----------------------------------------------- TrueTime 1.5 Example: Distributed Control System Directory: $DIR/examples/distributed ----------------------------------------------- 1. INTRODUCTIO

// Distributed control system: actuator node // // Receives messages from the controller and actuates // the plant. #define S_FUNCTION_NAME actuator_init #include "ttkernel.cpp" // code function d

// Distributed control system: controller node // // Receives messages from the sensor node, computes control signal // and sends it to the actuator node. Also contains a high-priority // disturbing t

// Distributed control system: sensor node // // Samples the plant periodically and sends the samples to the // controller node. #define S_FUNCTION_NAME sensor_init #include "ttkernel.cpp" // code

// Distributed control system: interference node // // Generates disturbing network traffic. #define S_FUNCTION_NAME interference_init #include "ttkernel.cpp" // code function double sender_code(in

function actuator_init % Distributed control system: actuator node % % Receives messages from the controller and actuates % the plant. % Initialize TrueTime kernel ttInitKernel(0, 1, 'prioFP'); % n

function controller_init(arg) % Distributed control system: controller node % % Receives messages from the sensor node, computes control signal % and sends it to the actuator node. Also contains a hi

function sensor_init % Distributed control system: sensor node % % Samples the plant periodically and sends the samples to the % controller node. % Initialize TrueTime kernel ttInitKernel(1, 0, 'pr