In my model, the "current time" was intended to be passed in via arg, or gotten via a helper, failing that. Never system time directly. But also, yes - monotoni

In my model, the "current time" was intended to be passed in via arg, or gotten via a helper, failing that. Never system time directly. But also, yes - monotonic time only. Robotics code tends to never handle time jumping properly, and I've found configuring the system to properly intake time sources to be tricky.