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Looks fine for the most part. It is a bit confusing to me how initialization looks for these tasks though. Is initialization done at construction? Is it expected that things like sensors are already initialized when handed off to the task?
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WIP, need to clear a couple of design decisions first and do a bit of testing before this can be merged
Other than that, everything else is fairly standard.
TODO: we need something to unsubscribe from the Registry, assuming we are keeping that model.