LUNA Universal Networking Architecture (LUNA) is the execution framework that is used by TERRA for its support of (Communicating Sequential Processes) CSP models in applications. LUNA is also perfectly usable without TERRA for (embedded) control software, as it provides lots of convenience features:

• Component based
• Operating System and Hardware abstraction
• OS and User threading support
• Communicating Sequential Processes (CSP) execution engine
• Lock Free Queue (LFQ) implementations
• And more...

LUNA is being developed at the Robotics and Mechatronics chair of the University of Twente