Model-driven process engine for building mission-oriented control systems. The model is loosely based on BPMN2: start/stop/signal events; exclusive gateway; service task; script task. The script engine is ChaiScript. Also tried duktape and v8.
One day this code will be driving a small surface drone, hopefully off the Georgia (USA) coast.
Attributions
serial / gps code: https://github.com/wdalmut/libgps
script engine: http://chaiscript.com/
Thread pool and threadsafe queue: https://www.manning.com/books/c-plus-plus-concurrency-in-action