[AVL-33] RTOS will delay task execution to match real world time

[hatfield-c]

For the RTOS to be accurate in the Unity environment, tasks will need to take an appropriate amount of Unity frames to mimic the real world. Unfortunately this would require a complex parallel processing system for it to be completely realistic.

A workaround is thus:

• Have the RTOS execute a student task, and measure the time it took to complete the task
• The RTOS will calculate how many Unity frames this is equivalent to
• The RTOS will wait that many Unity frames before taking the task action

In order to avoid giving an unfair advantage to students with fast computers, a scaling factor will be applied to the time as such:

• At the start of the simulation, run a quick benchmark (i.e. run a for-loop 100 times, 10 times in a row, and average the run times)
• Take the ratio of the desired runtime divided by the measured benchmark time
• Multiply this ratio by the task time which is measured by the RTOS

Thus, if a typical computer executes the benchmark in 10 ns, and a slow computer takes 20 ns, then all RTOS task times will be cut in half. Likewise, if the benchmark is 10 ns and a fast computer takes 5 ns, then all RTOS task times will be made twice as long.

[hatfield-c]

An assumption that all tasks just take 1 frame might be a prudent simplification for this project.