Designing cyber-physical systems with high efficiency, adaptability, autonomy, reliability and usability is a challenging task. In this paper, we focus on minimizing networkwide energy consumption for real-time applications in wireless cyber-physical systems. While a lot of work has been done to manage energy consumption on single processor real-time systems, little work has been done in network-wide energy consumption management for real-time applications. Existing work on network-wide energy minimization assumes that the underlying network is always connected, which is not consistent with the practice in which wireless nodes often turn off their network interfaces in a sleep schedule to reduce energy consumption. This paper jointly consider the radio sleep scheduling of wireless nodes and the execution modes of processors. Based on different wireless network topologies, different schemes are proposed to minimize energy consumption while guaranteeing the timing constraint and preced...