CIGAL Reference Manual, Chapter 1 (Topics): rtprogram
CIGAL's REALTIME command can be used to compile and executed real-time programs with very accurate timing control. Real-time programs must be written using the real-time command operators (R_OPS, described in Chapter 6 of the CIGAL reference manual. All real-time commands follow the same basic command syntax:
r_opname flg user_id onset_time cmdArg1 cmdArg2 ...