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The second piece of the puzzle in the #COROS design is a segmented #EventQueue that applies a disciplined wrapper around the usual "one massive for loop testing and calling" that is the hallmark of #RealTime designs that don't use pre-emptive kernels. Event queues are chained and grouped in ways that allow any downstream queue to service events from any upstream queue, but not vice versa. Event handlers can be callback functions or #coroutines, depending on needs and complexity.
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