The availability of the MSP432 LaunchPad and Energia MT gave me the perfect opportunity to discover RTOS.
I'm exploring the RTOS and developing libraries for Energia MT. The RTOS elements are encapsulated into classes with a consistent and minimal set of functions. Of course, those libraries are developed with embedXcode.
The goal is to provide libraries with the same ease of use as the Serial, Wire, SPI classes (among others) provided by the Wiring / Arduino framework.
Read Exploring RTOS with Galaxia.