Time-sensitive communication systems are supposed not only to ensure real-time performance of periodic tasks

but also to respond quickly to sporadic events.In order to construct such systems based on general Ethernet

this paper proposes a master-slave task scheduling method which mixes time-triggered and event-triggered

enabling different communication nodes occupy the bandwidth according to a schedule.Besides;it provides a store-send model based on round-robin queue for event-triggered messages

with which the implementation of communication nodes can be simplified.Experimental results show that it is feasible to use this method to construct time-sensitive communication systems with low time precision requirement.