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TODO: A lot left to includeSynchronization across all participants in the RTI DDS network is very important for all tasks that are performed on a regular basis and require up-to-date information from other participants in the network to perform these tasks properly. A simple example for such tasks is caused by the mutual dependency between LLCs and HLCs: LLCs require regularly updated commands from the HLCs to maneuver crash-free and as desired according to e.g. their planned trajectory, whereas the HLCs need up-to-date vehicle states from the LLCs to calculate commands that accommodate the current state of the overall system. Synchronization allows to coordinate different tasks across the network and gives some guarantees about the shared information.

CPM Timer

The timer class can be used to call tasks periodically, based either on the system clock or the simulated time which is controlled by the LCC. It can wait for a central start signal and can be stopped when a stop signal is sent (both by the LCC). Thus, timers on multiple systems can be started at the same time, and then work simultaneously if their period is set accordingly as well.

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