This paper describes a minimal implementation of a state machine framework&#151a reusable infrastructure for executing concurrent state machines tailored for the domain of real-time embedded (RTE) systems. The class explains the innerworkings of the framework and shows you how to combine it with a real-time kernel. You will learn how the framework avoids most pitfalls of tra-ditional multi-threading (such as race conditions or priority inversions), while reaping all the benefits of effective concurrent designs (such as low latencies and good CPU utilization). This builds on the first paper: “Practical Statecharts for Embedded Systems Part 1: Statecharts.”