paulgcoleman wrote on Wednesday, March 14, 2012:
Thanks for the reply.
The problem I face is that the tasks can be in any one of a number of states within the state machine probably waiting on motors to finish moving a set distance. For some axes this could be a 15 second wait, during which the task is suspended waiting for a semaphore (which is give via an ISR at the end of the movement). Therefore it is very difficult to just tell a task to go to an error recovery state because it will probably be asleep.