diff --git a/app/benchmark_fft/main.cpp b/app/benchmark_fft/main.cpp
index db22fee..50f4419 100644
--- a/app/benchmark_fft/main.cpp
+++ b/app/benchmark_fft/main.cpp
@@ -31,35 +31,44 @@ constexpr int MAX_NUM_TASKS = 16;
 constexpr int MAX_STACK_SIZE = 4096 * 1;
 
 int main(int argc, char **argv) {
-  int num_threads;
-  string directory;
-  benchmark_runner::read_args(argc, argv, num_threads, directory);
+  auto settings = benchmark_runner::parse_parameters(argc, argv);
 
-  string test_name = to_string(num_threads) + ".csv";
-  string full_directory = directory + "/PLS_v3/";
+  fft::complex_vector data(settings.size_);
+  fft::complex_vector swap_array(settings.size_);
+  fft::fill_input(data);
+
+  string test_name = to_string(settings.num_threads_) + ".csv";
+  string full_directory = settings.output_directory_ + "/PLS_v3/";
   benchmark_runner runner{full_directory, test_name};
-  runner.enable_memory_stats();
-  runner.pre_allocate_stats();
 
-  fft::complex_vector data(fft::SIZE);
-  fft::complex_vector swap_array(fft::SIZE);
-  fft::fill_input(data);
+  pls::scheduler scheduler{(unsigned) settings.num_threads_, MAX_NUM_TASKS, MAX_STACK_SIZE};
 
-  pls::scheduler scheduler{(unsigned) num_threads, MAX_NUM_TASKS, MAX_STACK_SIZE};
+  if (settings.type_ == benchmark_runner::benchmark_settings::ISOLATED) {
+    printf("Running isolated measurement...\n");
+    runner.enable_memory_stats();
+    runner.pre_allocate_stats();
 
-//  scheduler.get_profiler().disable_memory_measure();
-  runner.run_iterations(fft::NUM_ITERATIONS, [&]() {
-    scheduler.perform_work([&]() {
-      pls_conquer(data.begin(), swap_array.begin(), fft::SIZE);;
+    runner.run_iterations(settings.iterations_, [&]() {
+      scheduler.perform_work([&]() {
+        pls_conquer(data.begin(), swap_array.begin(), settings.size_);;
+      });
+    }, [&]() {
+      fft::fill_input(data); // Reset data before each run
     });
-//    scheduler.get_profiler().current_run().print_stats();
-  }, fft::NUM_WARMUP_ITERATIONS, [&]() {
-    fft::fill_input(data); // Reset data before each run
-  });
-//  scheduler.get_profiler().current_run().print_dag(std::cout);
-//  scheduler.get_profiler().current_run().print_stats();
+    runner.commit_results(true);
+  } else {
+    printf("Running periodic measurement...\n");
+    runner.enable_wall_time_stats();
+    runner.pre_allocate_stats();
 
-  runner.commit_results(true);
+    runner.run_periodic(settings.iterations_, settings.interval_period_, settings.interval_deadline_, [&]() {
+      scheduler.perform_work([&]() {
+        pls_conquer(data.begin(), swap_array.begin(), settings.size_);;
+      });
+      fft::fill_input(data); // Reset data before each run
+    });
+    runner.commit_results(true);
+  }
 
   return 0;
 }
diff --git a/app/benchmark_fib/main.cpp b/app/benchmark_fib/main.cpp
index ae5a2e4..6e3452b 100644
--- a/app/benchmark_fib/main.cpp
+++ b/app/benchmark_fib/main.cpp
@@ -8,7 +8,7 @@ using namespace comparison_benchmarks::base;
 constexpr int MAX_NUM_TASKS = 32;
 constexpr int MAX_STACK_SIZE = 4096 * 1;
 
-int pls_fib(int n, int d) {
+int pls_fib(int n) {
   if (n == 0) {
     return 0;
   }
@@ -17,11 +17,11 @@ int pls_fib(int n, int d) {
   }
 
   int a, b;
-  pls::spawn([n, d, &a]() {
-    a = pls_fib(n - 1, d + 1);
+  pls::spawn([n, &a]() {
+    a = pls_fib(n - 1);
   });
-  pls::spawn([n, d, &b]() {
-    b = pls_fib(n - 2, d + 1);
+  pls::spawn([n, &b]() {
+    b = pls_fib(n - 2);
   });
   pls::sync();
 
@@ -29,29 +29,38 @@ int pls_fib(int n, int d) {
 }
 
 int main(int argc, char **argv) {
-  int num_threads;
-  string directory;
-  benchmark_runner::read_args(argc, argv, num_threads, directory);
+  auto settings = benchmark_runner::parse_parameters(argc, argv);
 
-  string test_name = to_string(num_threads) + ".csv";
-  string full_directory = directory + "/PLS_v3/";
+  string test_name = to_string(settings.num_threads_) + ".csv";
+  string full_directory = settings.output_directory_ + "/PLS_v3/";
   benchmark_runner runner{full_directory, test_name};
-  runner.enable_memory_stats();
-  runner.pre_allocate_stats();
 
-  pls::scheduler scheduler{(unsigned) num_threads, MAX_NUM_TASKS, MAX_STACK_SIZE};
+  pls::scheduler scheduler{(unsigned) settings.num_threads_, MAX_NUM_TASKS, MAX_STACK_SIZE};
 
   volatile int res;
-//  scheduler.get_profiler().disable_memory_measure();
-  runner.run_iterations(fib::NUM_ITERATIONS, [&]() {
-    scheduler.perform_work([&]() {
-      res = pls_fib(fib::INPUT_N, 0);
+  if (settings.type_ == benchmark_runner::benchmark_settings::ISOLATED) {
+    printf("Running isolated measurement...\n");
+    runner.enable_memory_stats();
+    runner.pre_allocate_stats();
+
+    runner.run_iterations(settings.iterations_, [&]() {
+      scheduler.perform_work([&]() {
+        res = pls_fib(settings.size_);
+      });
     });
-  }, fib::NUM_WARMUP_ITERATIONS);
-//  scheduler.get_profiler().current_run().print_dag(std::cout);
-//  scheduler.get_profiler().current_run().print_stats();
+    runner.commit_results(true);
+  } else {
+    printf("Running periodic measurement...\n");
+    runner.enable_wall_time_stats();
+    runner.pre_allocate_stats();
 
-  runner.commit_results(true);
+    runner.run_periodic(settings.iterations_, settings.interval_period_, settings.interval_deadline_, [&]() {
+      scheduler.perform_work([&]() {
+        res = pls_fib(settings.size_);
+      });
+    });
+    runner.commit_results(true);
+  }
 
   return 0;
 }
diff --git a/app/benchmark_matrix/main.cpp b/app/benchmark_matrix/main.cpp
index 95cba2f..4ff4075 100644
--- a/app/benchmark_matrix/main.cpp
+++ b/app/benchmark_matrix/main.cpp
@@ -20,34 +20,44 @@ class pls_matrix : public matrix::matrix<T> {
   }
 };
 
-constexpr int MAX_NUM_TASKS = 32;
+constexpr int MAX_NUM_TASKS = 10;
 constexpr int MAX_STACK_SIZE = 4096 * 1;
 
 int main(int argc, char **argv) {
-  int num_threads;
-  string directory;
-  benchmark_runner::read_args(argc, argv, num_threads, directory);
+  auto settings = benchmark_runner::parse_parameters(argc, argv);
 
-  string test_name = to_string(num_threads) + ".csv";
-  string full_directory = directory + "/PLS_v3/";
+  pls_matrix<double> a{settings.size_};
+  pls_matrix<double> b{settings.size_};
+  pls_matrix<double> result{settings.size_};
+
+  string test_name = to_string(settings.num_threads_) + ".csv";
+  string full_directory = settings.output_directory_ + "/PLS_v3/";
   benchmark_runner runner{full_directory, test_name};
-  runner.enable_memory_stats();
-  runner.pre_allocate_stats();
 
-  pls_matrix<double> a{matrix::MATRIX_SIZE};
-  pls_matrix<double> b{matrix::MATRIX_SIZE};
-  pls_matrix<double> result{matrix::MATRIX_SIZE};
+  pls::scheduler scheduler{(unsigned) settings.num_threads_, MAX_NUM_TASKS, MAX_STACK_SIZE};
 
-  scheduler scheduler{(unsigned) num_threads, MAX_NUM_TASKS, MAX_STACK_SIZE};
+  if (settings.type_ == benchmark_runner::benchmark_settings::ISOLATED) {
+    printf("Running isolated measurement...\n");
+    runner.enable_memory_stats();
+    runner.pre_allocate_stats();
 
-//  scheduler.get_profiler().disable_memory_measure();
-  runner.run_iterations(matrix::NUM_ITERATIONS, [&]() {
-    scheduler.perform_work([&]() {
-      result.multiply(a, b);
+    runner.run_iterations(settings.iterations_, [&]() {
+      scheduler.perform_work([&]() {
+        result.multiply(a, b);
+      });
+    });
+    runner.commit_results(true);
+  } else {
+    printf("Running periodic measurement...\n");
+    runner.enable_wall_time_stats();
+    runner.pre_allocate_stats();
+
+    runner.run_periodic(settings.iterations_, settings.interval_period_, settings.interval_deadline_, [&]() {
+      scheduler.perform_work([&]() {
+        result.multiply(a, b);
+      });
     });
-  }, matrix::WARMUP_ITERATIONS);
-//  scheduler.get_profiler().current_run().print_dag(std::cout);
-//  scheduler.get_profiler().current_run().print_stats();
+    runner.commit_results(true);
+  }
 
-  runner.commit_results(true);
 }
diff --git a/app/benchmark_matrix_div_conquer/main.cpp b/app/benchmark_matrix_div_conquer/main.cpp
index 8bf0e75..7c91ab0 100644
--- a/app/benchmark_matrix_div_conquer/main.cpp
+++ b/app/benchmark_matrix_div_conquer/main.cpp
@@ -99,21 +99,13 @@ void multiply_div_conquer(const std::vector<std::vector<std::vector<std::unique_
   }
 }
 
-constexpr int MAX_NUM_TASKS = 32;
+constexpr int MAX_NUM_TASKS = 16;
 constexpr int MAX_STACK_SIZE = 4096 * 2;
 
 int main(int argc, char **argv) {
-  const size_t size = matrix_div_conquer::MATRIX_SIZE;
+  auto settings = benchmark_runner::parse_parameters(argc, argv);
+  const size_t size = settings.size_;
 
-  int num_threads;
-  string directory;
-  benchmark_runner::read_args(argc, argv, num_threads, directory);
-
-  string test_name = to_string(num_threads) + ".csv";
-  string full_directory = directory + "/PLS_v3/";
-  benchmark_runner runner{full_directory, test_name};
-  runner.enable_memory_stats();
-  runner.pre_allocate_stats();
 
   // Only run on one version to avoid copy
   std::unique_ptr<double[]> result_data{new double[size * size]};
@@ -145,16 +137,36 @@ int main(int argc, char **argv) {
     max_depth++;
     remaining_size = remaining_size / 2;
   }
-  pls::strain_local_resource local_indices{(unsigned) num_threads, (unsigned) max_depth};
+  pls::strain_local_resource local_indices{(unsigned) settings.num_threads_, (unsigned) max_depth};
+
+  string test_name = to_string(settings.num_threads_) + ".csv";
+  string full_directory = settings.output_directory_ + "/PLS_v3/";
+  benchmark_runner runner{full_directory, test_name};
 
-  scheduler scheduler{(unsigned) num_threads, MAX_NUM_TASKS, MAX_STACK_SIZE};
+  pls::scheduler scheduler{(unsigned) settings.num_threads_, MAX_NUM_TASKS, MAX_STACK_SIZE};
 
-  runner.run_iterations(1, [&]() {
-    scheduler.perform_work([&]() {
-      multiply_div_conquer(div_conquer_temp_arrays, local_indices, size, 0, result, a, b);
+  if (settings.type_ == benchmark_runner::benchmark_settings::ISOLATED) {
+    printf("Running isolated measurement...\n");
+    runner.enable_memory_stats();
+    runner.pre_allocate_stats();
+
+    runner.run_iterations(settings.iterations_, [&]() {
+      scheduler.perform_work([&]() {
+        multiply_div_conquer(div_conquer_temp_arrays, local_indices, size, 0, result, a, b);
+      });
+    });
+    runner.commit_results(true);
+  } else {
+    printf("Running periodic measurement...\n");
+    runner.enable_wall_time_stats();
+    runner.pre_allocate_stats();
+
+    runner.run_periodic(settings.iterations_, settings.interval_period_, settings.interval_deadline_, [&]() {
+      scheduler.perform_work([&]() {
+        multiply_div_conquer(div_conquer_temp_arrays, local_indices, size, 0, result, a, b);
+      });
     });
-  }, 0);
-  runner.commit_results(true);
+    runner.commit_results(true);
+  }
 
-  scheduler.terminate();
 }
diff --git a/app/benchmark_unbalanced/main.cpp b/app/benchmark_unbalanced/main.cpp
index 82a981f..d4936ac 100644
--- a/app/benchmark_unbalanced/main.cpp
+++ b/app/benchmark_unbalanced/main.cpp
@@ -1,4 +1,4 @@
-#include "pls/internal/scheduling/scheduler.h"
+#include "pls/pls.h"
 
 using namespace pls::internal::scheduling;
 
@@ -16,12 +16,12 @@ int count_child_nodes(unbalanced::node &node) {
 
   std::atomic<int> count{1};
   for (int i = 0; i < node.get_num_children(); i++) {
-    scheduler::spawn([i, &count, &node] {
+    pls::spawn([i, &count, &node] {
       unbalanced::node child_node = node.spawn_child_node(i);
       count.fetch_add(count_child_nodes(child_node));
     });
   }
-  scheduler::sync();
+  pls::sync();
 
   return count;
 }
@@ -32,49 +32,47 @@ int unbalanced_tree_search(int seed, int root_children, double q, int normal_chi
 }
 
 constexpr int MAX_NUM_TASKS = 256;
-constexpr int MAX_STACK_SIZE = 1024 * 2;
+constexpr int MAX_STACK_SIZE = 4096 * 1;
 
 int main(int argc, char **argv) {
-  int num_threads;
-  string directory;
-  benchmark_runner::read_args(argc, argv, num_threads, directory);
+  auto settings = benchmark_runner::parse_parameters(argc, argv);
 
-  string test_name = to_string(num_threads) + ".csv";
-  string full_directory = directory + "/PLS_v3/";
+  string test_name = to_string(settings.num_threads_) + ".csv";
+  string full_directory = settings.output_directory_ + "/PLS_v3/";
   benchmark_runner runner{full_directory, test_name};
-  runner.enable_memory_stats();
-  runner.pre_allocate_stats();
-
-  scheduler scheduler{(unsigned) num_threads, MAX_NUM_TASKS, MAX_STACK_SIZE};
-
-//  scheduler.get_profiler().disable_memory_measure();
-  runner.run_iterations(1, [&]() {
-    scheduler.perform_work([&]() {
-      unbalanced_tree_search(unbalanced::SEED,
-                             unbalanced::ROOT_CHILDREN,
-                             unbalanced::Q,
-                             unbalanced::NORMAL_CHILDREN);
+
+  pls::scheduler scheduler{(unsigned) settings.num_threads_, MAX_NUM_TASKS, MAX_STACK_SIZE};
+
+  if (settings.type_ == benchmark_runner::benchmark_settings::ISOLATED) {
+    printf("Running isolated measurement...\n");
+    runner.enable_memory_stats();
+    runner.pre_allocate_stats();
+
+    runner.run_iterations(settings.iterations_, [&]() {
+      scheduler.perform_work([&]() {
+        unbalanced_tree_search(unbalanced::SEED,
+                               unbalanced::ROOT_CHILDREN,
+                               unbalanced::Q,
+                               unbalanced::NORMAL_CHILDREN);
+      });
     });
-  }, 0);
-//  scheduler.get_profiler().current_run().print_dag(std::cout);
-//  scheduler.get_profiler().current_run().print_stats();
-  runner.commit_results(true);
+    runner.commit_results(true);
+  } else {
+    printf("Running periodic measurement...\n");
+    runner.enable_wall_time_stats();
+    runner.pre_allocate_stats();
+
+    runner.run_periodic(settings.iterations_, settings.interval_period_, settings.interval_deadline_, [&]() {
+      scheduler.perform_work([&]() {
+        unbalanced_tree_search(unbalanced::SEED,
+                               unbalanced::ROOT_CHILDREN,
+                               unbalanced::Q,
+                               unbalanced::NORMAL_CHILDREN);
+      });
+    });
+    runner.commit_results(true);
+  }
 
 }
 
-//int main() {
-//  PROFILE_ENABLE
-//  pls::malloc_scheduler_memory my_scheduler_memory{8, 2u << 18};
-//  pls::scheduler scheduler{&my_scheduler_memory, 8};
-//
-//  scheduler.perform_work([&] {
-//    PROFILE_MAIN_THREAD
-//    for (int i = 0; i < 50; i++) {
-//      PROFILE_WORK_BLOCK("Top Level")
-//      int result = unbalanced_tree_search(SEED, ROOT_CHILDREN, Q, NORMAL_CHILDREN);
-//      std::cout << result << std::endl;
-//    }
-//  });
-//
-//  PROFILE_SAVE("test_profile.prof")
-//}
+
diff --git a/extern/benchmark_runner/benchmark_runner.h b/extern/benchmark_runner/benchmark_runner.h
index f2c0cab..1a89990 100644
--- a/extern/benchmark_runner/benchmark_runner.h
+++ b/extern/benchmark_runner/benchmark_runner.h
@@ -12,6 +12,7 @@
 #include <bits/stdc++.h>
 #include <thread>
 #include <map>
+#include <time.h>
 
 #include <tuple>
 #include <unistd.h>
@@ -35,6 +36,12 @@ class benchmark_runner {
   unsigned long memory_pre_run_;
   unsigned long memory_post_run_;
 
+  bool wall_time_enabled_{false};
+  const string WALL_TIME_PRE_RUN = "wall_time_pre_run_us";
+  const string WALL_TIME_POST_RUN = "wall_time_post_run_us";
+  unsigned long wall_time_pre_run_;
+  unsigned long wall_time_post_run_;
+
   map<string, vector<long>> custom_stats_;
 
   void print_statistics() {
@@ -108,6 +115,12 @@ class benchmark_runner {
     add_custom_stats_field(MEMORY_POST_RUN);
   }
 
+  void enable_wall_time_stats() {
+    wall_time_enabled_ = true;
+    add_custom_stats_field(WALL_TIME_PRE_RUN);
+    add_custom_stats_field(WALL_TIME_POST_RUN);
+  }
+
   void pre_allocate_stats(size_t num = 100000) {
     times_.reserve(num);
     memset(times_.data(), 'a', num * sizeof(long));
@@ -117,16 +130,54 @@ class benchmark_runner {
     }
   }
 
-  static void read_args(int argc, char **argv, int &num_threads, string &path) {
-    if (argc < 3) {
-      cout << "Must Specifiy concurrency and output directory! (usage: `benchmark <output_directory> <num_threads>`)"
-           << endl;
+  struct benchmark_settings {
+    enum TYPE { ISOLATED, PERIODIC };
+
+    string output_directory_;
+    size_t size_;
+    unsigned num_threads_;
+
+    TYPE type_;
+
+    size_t iterations_;
+
+    unsigned long interval_period_;
+    unsigned long interval_deadline_;
+  };
+
+  static benchmark_settings parse_parameters(int argc, char **argv) {
+    benchmark_settings result;
+    string tmp;
+
+    if (argc != 5 && argc != 7) {
+      printf("usage 1: `benchmark <output_directory> <size> <num_threads> <iterations>`\n");
+      printf("usage 2: `benchmark <output_directory> <size> <num_threads> <iterations> <period> <deadline>`\n");
       exit(1);
     }
 
-    string tmp = argv[1];
-    path = tmp;
-    num_threads = atoi(argv[2]);
+    result.output_directory_ = argv[1];
+    tmp = argv[2];
+    result.size_ = std::stoi(tmp);
+    tmp = argv[3];
+    result.num_threads_ = std::stoi(tmp);
+
+    if (argc == 5) {
+      result.type_ = benchmark_settings::ISOLATED;
+
+      tmp = argv[4];
+      result.iterations_ = std::stoi(tmp);
+    } else {
+      result.type_ = benchmark_settings::PERIODIC;
+
+      tmp = argv[4];
+      result.iterations_ = std::stoi(tmp);
+      tmp = argv[5];
+      result.interval_period_ = std::stoi(tmp);
+      tmp = argv[6];
+      result.interval_deadline_ = std::stoi(tmp);
+    }
+
+    return result;
   }
 
   void start_iteration() {
@@ -134,6 +185,11 @@ class benchmark_runner {
       auto memory_stats = query_process_memory_pages();
       memory_pre_run_ = memory_stats.first;
     }
+    if (wall_time_enabled_) {
+      wall_time_pre_run_ =
+          std::chrono::duration_cast<std::chrono::microseconds>(std::chrono::time_point_cast<std::chrono::microseconds>(
+              std::chrono::system_clock::now()).time_since_epoch()).count();
+    }
 
     last_start_time_ = chrono::steady_clock::now();
   }
@@ -155,6 +211,13 @@ class benchmark_runner {
       custom_stats_[MEMORY_PRE_RUN][iteration_index] = memory_pre_run_;
       custom_stats_[MEMORY_POST_RUN][iteration_index] = memory_post_run_;
     }
+    if (wall_time_enabled_) {
+      wall_time_post_run_ =
+          std::chrono::duration_cast<std::chrono::microseconds>(std::chrono::time_point_cast<std::chrono::microseconds>(
+              std::chrono::system_clock::now()).time_since_epoch()).count();
+      custom_stats_[WALL_TIME_PRE_RUN][iteration_index] = wall_time_pre_run_;
+      custom_stats_[WALL_TIME_POST_RUN][iteration_index] = wall_time_post_run_;
+    }
   }
 
   void store_custom_stat(const string &name, long value) {
@@ -164,14 +227,8 @@ class benchmark_runner {
 
   void run_iterations(int count,
                       const function<void(void)> measure,
-                      int warmup_count,
                       const function<void(void)> prepare = []() {},
                       const function<void(void)> finish = []() {}) {
-    for (int i = 0; i < warmup_count; i++) {
-      prepare();
-      measure();
-    }
-
     for (int i = 0; i < count; i++) {
       using namespace std::literals;
       this_thread::sleep_for(100us);
@@ -183,6 +240,90 @@ class benchmark_runner {
     }
   }
 
+  void add_to_timespec(timespec &timespec, size_t seconds, size_t nanoseconds) {
+    timespec.tv_sec += seconds;
+    timespec.tv_nsec += nanoseconds;
+
+    while (timespec.tv_nsec > 1000l * 1000l * 1000l) {
+      timespec.tv_nsec -= 1000l * 1000l * 1000l;
+      timespec.tv_sec++;
+    }
+  }
+
+  void run_periodic(size_t count,
+                    size_t period_us,
+                    size_t deadline_us,
+                    const function<void(void)> measure) {
+    size_t period_nanoseconds = 1000lu * period_us;
+    size_t period_seconds = period_nanoseconds / (1000lu * 1000lu * 1000lu);
+    period_nanoseconds = period_nanoseconds - period_seconds * 1000lu * 1000lu * 1000lu;
+
+    size_t deadline_nanoseconds = 1000lu * deadline_us;
+    size_t deadline_seconds = deadline_nanoseconds / (1000lu * 1000lu * 1000lu);
+    deadline_nanoseconds = deadline_nanoseconds - deadline_seconds * 1000lu * 1000lu * 1000lu;
+
+    // Prepare basic time spec for first iteration
+    timespec iteration_start, iteration_end, deadline_end, finish_time;
+    if (clock_gettime(CLOCK_MONOTONIC, &iteration_start) == -1) {
+      perror("clock_gettime");
+      exit(1);
+    }
+    add_to_timespec(iteration_start, period_seconds, period_nanoseconds);
+
+    size_t current_iteration = 0;
+    while (current_iteration < count) {
+      // Sleep until the next iteration
+      long sleep_error = clock_nanosleep(CLOCK_MONOTONIC, TIMER_ABSTIME, &iteration_start, nullptr);
+      if (sleep_error) {
+        printf("Sleep Error %ld\n", sleep_error);
+      }
+
+      // Invoke iteration
+      start_iteration();
+      measure();
+      end_iteration();
+
+      // Calculate all relevant time points for this iteration
+      if (clock_gettime(CLOCK_MONOTONIC, &finish_time) == -1) {
+        perror("clock_gettime");
+        exit(1);
+      }
+
+      iteration_end = iteration_start;
+      add_to_timespec(iteration_end, period_seconds, period_nanoseconds);
+
+      deadline_end = iteration_start;
+      add_to_timespec(deadline_end, deadline_seconds, deadline_nanoseconds);
+
+      // Store 'actual' wall time instead of iteration time (we want to include sleeping here!)
+      long wall_time_us = 0;
+      wall_time_us += (finish_time.tv_sec - iteration_start.tv_sec) * 1000l * 1000l;
+      wall_time_us += ((long) finish_time.tv_nsec - (long) iteration_start.tv_nsec) / 1000l;
+      printf("Difference: %d\n", wall_time_us - times_[current_iteration]);
+      times_[current_iteration] = wall_time_us;
+
+      if (finish_time.tv_sec >= deadline_end.tv_sec && finish_time.tv_nsec > deadline_end.tv_nsec) {
+        printf("Deadline Miss!\n"); // TODO: Remove
+      }
+
+      // Skip iterations if their start time is later than the current time (skipping)
+      while (finish_time.tv_sec >= iteration_end.tv_sec && finish_time.tv_nsec > iteration_end.tv_nsec) {
+        iteration_start = iteration_end;
+
+        iteration_end = iteration_start;
+        add_to_timespec(iteration_end, period_seconds, period_nanoseconds);
+
+        current_iteration++;
+        start_iteration();
+        end_iteration();
+        times_[current_iteration] = 0;
+      }
+      // Progress to next iteration (normally)
+      current_iteration++;
+      iteration_start = iteration_end;
+    }
+  }
+
   void commit_results(bool print_stats) {
     if (print_stats) {
       print_statistics();