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I'm trying to communicate with two devices through ETH. My question is that I need to create two nodes, one socket for each node, or there is the possibility to put both connections inside in a just one node?

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You can create multiple connections from one single node. There is no need to do this from separate nodes.

When you call TcpOpen you get back a handle to the socket for this very connection.

When you later call TcpSend, TcpReceive, and so on, you have to pass in the handle.