An object-oriented framework for the development of instrument drivers
...The source also contains the implementation of a PID controller and a setpoint ramp generator.
The instrument drivers may further be incorporated in a GUI, using, e.g. PyQt or PySide. Threading is automatically taken care of. Furthermore, generic GUI (called controllers) are provided and can be extended.
Minirighi is a multi-threading open-source operating system written for didactic purpose. It has been written from scratch and it is compatible with POSIX.