// Distributed control system: actuator node//// Receives messages from the controller and actuates // the plant.#define S_FUNCTION_NAME actuator_init#include "ttkernel.cpp"// code functiondouble act_code(int seg, void *data) {    static double *u;  switch (seg) {  case 1:    ttTake("sem");  // wait for a message    return 0.0;  case 2:    return 0.0005;  case 3:    u = (double *)ttGetMsg(); // Receive message    if (u != NULL) {      ttAnalogOut(1, *u);      delete u; // delete message    }    ttSetNextSegment(1); // loop and wait for new packet      return 0.0;  }  return FINISHED; // to supress compilation warnings}double msgRcvhandler(int seg, void *data){  ttGive("sem");  // signal that there is a message  return FINISHED;}void init(){  // Initialize TrueTime kernel  ttInitKernel(0, 1, prioFP); // nbrOfInputs, nbrOfOutputs, fixed priority  // Actuator task  double deadline = 100.0;  double prio = 1.0;  ttCreateTask("act_task", deadline, prio, act_code);  ttCreateJob("act_task");  // Initialize network  ttCreateInterruptHandler("msgRcv", prio, msgRcvhandler);  ttInitNetwork(2, "msgRcv"); // node #2 in the network  ttCreateSemaphore("sem", 0);}void cleanup() {}