[#1392] Fix MuJoCo message write argument order

Several MuJoCo C++ output writes passed CurrentSimNanos where the module ID
belongs, and the module ID where the write time belongs. Use the C++ messaging
signature order of payload, moduleID, callTime so output headers carry the
correct author and simulation timestamp.

Also update matching Python test helper subclasses to use the Python wrapper
signature order of payload, time, moduleID.

Author: schaubh

src/simulation/mujocoDynamics/_GeneralModuleFiles/PIDController.h

@@ -151,7 +151,7 @@ class PIDController : public StatefulSysModel
 
         auto& payload = outputOutMsg.zeroMsgPayload;
         writeOutput(payload, outputVal);
-        outputOutMsg.write(&payload, CurrentSimNanos, this->moduleID);
+        outputOutMsg.write(&payload, this->moduleID, CurrentSimNanos);
     }
 
 public:

src/simulation/mujocoDynamics/linearTimeInvariantSystem/_UnitTest/test_linearTimeInvariantSystem.py

@@ -98,7 +98,7 @@ def writeOutput(self, CurrentSimNanos, y):
                 # Write y[0] to SingleActuatorMsg
                 payload = messaging.SingleActuatorMsgPayload()
                 payload.input = y[0][0]
-                self.outMsg.write(payload, self.moduleID, CurrentSimNanos)
+                self.outMsg.write(payload, CurrentSimNanos, self.moduleID)
 
         system = PyFirstOrderLTI()
 

src/simulation/mujocoDynamics/stochasticAtmDensity/_UnitTest/test_stochasticAtmDensity.py

@@ -78,7 +78,7 @@ def writeOutput(self, CurrentSimNanos, x):
                 payload = messaging.AtmoPropsMsgPayload(
                     neutralDensity = self.atmoDensInMsg().neutralDensity * (1 + x)
                 )
-                self.atmoDensOutMsg.write(payload, self.moduleID, CurrentSimNanos)
+                self.atmoDensOutMsg.write(payload, CurrentSimNanos, self.moduleID)
 
         stochasticAtm = PyStochasticAtmDensity()
 

src/simulation/mujocoDynamics/stochasticAtmDensity/stochasticAtmDensity.cpp

@@ -22,5 +22,5 @@ void StochasticAtmDensity::writeOutput(uint64_t CurrentSimNanos, double x)
 {
     AtmoPropsMsgPayload out = atmoDensInMsg();
     out.neutralDensity *= 1.0 + x;
-    atmoDensOutMsg.write(&out, CurrentSimNanos, this->moduleID);
+    atmoDensOutMsg.write(&out, this->moduleID, CurrentSimNanos);
 }

src/simulation/mujocoDynamics/stochasticDragCoeff/stochasticDragCoeff.cpp

@@ -22,5 +22,5 @@ void StochasticDragCoeff::writeOutput(uint64_t CurrentSimNanos, double x)
 {
     DragGeometryMsgPayload out  = dragGeomInMsg();
     out.dragCoeff *= (1.0 + x);
-    dragGeomOutMsg.write(&out, CurrentSimNanos, this->moduleID);
+    dragGeomOutMsg.write(&out, this->moduleID, CurrentSimNanos);
 }