Algorithm 2 The CoR-MAC algorithm for the node.

1:$S_i$← The slot which is located in the i’-th position;  2:Φ ← The current time;  3:${\Phi }_{scfp}$← The phase of SCFP;  4:${\Phi }_{ocfp}$← The phase of OCFP;  5:${\Phi }_{cap}$← The phase of CAP;  6:loop  7: if BEACON is received from the coordinator then  8:  Synchronize itself to the coordinator;  9:  Record this $S_i$ based on CFP allocation map; 10: else if The node has urgent data to transmit then 11:  if Φ ⊂ ${\Phi }_{scfp}$ then 12:   Send urgent DATA immediately; 13:  else if Φ ⊂ ${\Phi }_{ocfp}$ then 14:   Send DATA with CSMA/CA after SIFS; 15:  else if Φ ⊂ ${\Phi }_{cap}$ then 16:   Send DATA with CSMA/CA; 17:  end if 18: else if The node has time-critical data to transmit then 19:  if Φ ⊂ $({\Phi }_{scfp}$ ∪ ${\Phi }_{ocfp})$ then 20:   Send DATA after MIFS; 21:  else if Φ ⊂ ${\Phi }_{cap}$ then 22:   Send DATA with CSMA/CA; 23:  end if 24: else if The node has non-time-critical data to transmit then 25:  if Φ ⊂ $({\Phi }_{scfp}$ ∪ ${\Phi }_{ocfp})$ then 26:   Send DATA with CSMA/CA after LIFS; 27:  else if Φ ⊂ ${\Phi }_{cap}$ then 28:   Send DATA with CSMA/CA; 29:  end if 30: end if 31:end loop