As some of you may know, the robot has had a single process "task" based pseudo-realtime system. I did it this way thinking that one real time process managing the various systems of the robot would perform better and be more predictable. It was an experiment that I'm not sure I accept as a success. I think simply spinning off threads or processes for each of the various systems will be less problematic and may even perform better.

So, I'm augmenting the MTask system to have a second mode. The original mode will preserved, i.e. the one process managing a number of tasks will continue to work. The new mode will (from the task's perspective) operate the same way, but each task will get its own thread. This will introduce issues of concurrency that will need to be addressed, but it is hopped that the system will perform better.