Merge branch 'development' into embb327_llx_scx

a425b12e · Tobias Fuchs · bc8d07e3 · f0c441e4 · a425b12e · a425b12e
Commit a425b12e authored Mar 25, 2015 by Tobias Fuchs
131 changed files
--- a/CMakeLists.txt
+++ b/CMakeLists.txt
@@ -125,6 +125,7 @@ CheckPartestInstall(${BUILD_TESTS} partest_includepath partest_libpath)
 add_subdirectory(base_c)
 add_subdirectory(base_cpp)
 add_subdirectory(mtapi_c)
+add_subdirectory(tasks_cpp)
 add_subdirectory(mtapi_cpp)
 add_subdirectory(containers_cpp)
 add_subdirectory(algorithms_cpp)

--- a/README.md
+++ b/README.md
@@ -21,10 +21,10 @@ processor cores. It builds on MTAPI, a standardized programming interface for
 leveraging task parallelism in embedded systems containing symmetric or
 asymmetric multicore processors. A core feature of MTAPI is low-overhead
 scheduling of fine-grained tasks among the available cores during runtime.
-Unlike existing libraries, EMB² supports task priorities, which allows the
+Unlike existing libraries, EMB² supports task priorities and affinities, which
-creation of soft real-time systems. Additionally, the scheduling strategy can
+allows the creation of soft real-time systems. Additionally, the scheduling
-be optimized for non-functional requirements such as minimal latency and
+strategy can be optimized for non-functional requirements such as minimal
-fairness.
+latency and fairness.
 Besides the task scheduler, EMB² provides basic parallel algorithms, concurrent
 data structures, and skeletons for implementing stream processing applications

--- a/algorithms_cpp/CMakeLists.txt
+++ b/algorithms_cpp/CMakeLists.txt
@@ -17,18 +17,18 @@ include_directories(${EMBB_ALGORITHMS_CPP_INCLUDE_DIRS}
                    ${CMAKE_CURRENT_SOURCE_DIR}/../base_cpp/include
                    ${CMAKE_CURRENT_BINARY_DIR}/../base_cpp/include
                    ${CMAKE_CURRENT_SOURCE_DIR}/../mtapi_c/include
-                    ${CMAKE_CURRENT_SOURCE_DIR}/../mtapi_cpp/include
+                    ${CMAKE_CURRENT_SOURCE_DIR}/../tasks_cpp/include
-                    ${CMAKE_CURRENT_BINARY_DIR}/../mtapi_cpp/include)
+                    ${CMAKE_CURRENT_BINARY_DIR}/../tasks_cpp/include)
 add_library(embb_algorithms_cpp ${EMBB_ALGORITHMS_CPP_SOURCES}
            ${EMBB_ALGORITHMS_CPP_HEADERS})
-target_link_libraries(embb_algorithms_cpp embb_mtapi_cpp)
+target_link_libraries(embb_algorithms_cpp embb_tasks_cpp)
 if (BUILD_TESTS STREQUAL ON)
  include_directories(${CMAKE_CURRENT_BINARY_DIR}/../partest/include)
  add_executable (embb_algorithms_cpp_test ${EMBB_ALGORITHMS_CPP_TEST_SOURCES})
  target_link_libraries(embb_algorithms_cpp_test embb_algorithms_cpp
-                        embb_mtapi_cpp embb_mtapi_c partest embb_base_cpp
+                        embb_tasks_cpp embb_mtapi_c partest embb_base_cpp
                        embb_base_c ${compiler_libs})
  CopyBin(BIN embb_algorithms_cpp_test DEST ${local_install_dir})
 endif()

--- a/algorithms_cpp/include/embb/algorithms/count.h
+++ b/algorithms_cpp/include/embb/algorithms/count.h
@@ -27,7 +27,7 @@
 #ifndef EMBB_ALGORITHMS_COUNT_H_
 #define EMBB_ALGORITHMS_COUNT_H_
-#include <embb/mtapi/execution_policy.h>
+#include <embb/tasks/execution_policy.h>
 #include <iterator>
 namespace embb {
@@ -132,7 +132,7 @@ typename std::iterator_traits<RAI>::difference_type Count(
  RAI first,
  RAI last,
  const ValueType& value,
-  const embb::mtapi::ExecutionPolicy& policy,
+  const embb::tasks::ExecutionPolicy& policy,
  size_t block_size
  );
@@ -145,7 +145,7 @@ typename std::iterator_traits<RAI>::difference_type Count(
  RAI last,
  const ValueType& value
  ) {
-  return Count(first, last, value, embb::mtapi::ExecutionPolicy(), 0);
+  return Count(first, last, value, embb::tasks::ExecutionPolicy(), 0);
 }
 /**
@@ -156,7 +156,7 @@ typename std::iterator_traits<RAI>::difference_type Count(
  RAI first,
  RAI last,
  const ValueType& value,
-  const embb::mtapi::ExecutionPolicy& policy
+  const embb::tasks::ExecutionPolicy& policy
  ) {
  return Count(first, last, value, policy, 0);
 }
@@ -169,7 +169,7 @@ typename std::iterator_traits<RAI>::difference_type CountIf(
  RAI first,
  RAI last,
  ComparisonFunction comparison,
-  const embb::mtapi::ExecutionPolicy& policy,
+  const embb::tasks::ExecutionPolicy& policy,
  size_t block_size
  );
@@ -182,7 +182,7 @@ typename std::iterator_traits<RAI>::difference_type CountIf(
  RAI last,
  ComparisonFunction comparison
  ) {
-  return CountIf(first, last, comparison, embb::mtapi::ExecutionPolicy(), 0);
+  return CountIf(first, last, comparison, embb::tasks::ExecutionPolicy(), 0);
 }
 /**
@@ -193,7 +193,7 @@ typename std::iterator_traits<RAI>::difference_type CountIf(
  RAI first,
  RAI last,
  ComparisonFunction comparison,
-  const embb::mtapi::ExecutionPolicy& policy
+  const embb::tasks::ExecutionPolicy& policy
  ) {
  return CountIf(first, last, comparison, policy, 0);
 }

--- a/algorithms_cpp/include/embb/algorithms/for_each.h
+++ b/algorithms_cpp/include/embb/algorithms/for_each.h
@@ -27,7 +27,7 @@
 #ifndef EMBB_ALGORITHMS_FOR_EACH_H_
 #define EMBB_ALGORITHMS_FOR_EACH_H_
-#include <embb/mtapi/execution_policy.h>
+#include <embb/tasks/execution_policy.h>
 namespace embb {
 namespace algorithms {
@@ -88,7 +88,7 @@ void ForEach(
  RAI first,
  RAI last,
  Function unary,
-  const embb::mtapi::ExecutionPolicy& policy,
+  const embb::tasks::ExecutionPolicy& policy,
  size_t block_size
  );
@@ -101,7 +101,7 @@ void ForEach(
  RAI last,
  Function unary
  ) {
-  ForEach(first, last, unary, embb::mtapi::ExecutionPolicy(), 0);
+  ForEach(first, last, unary, embb::tasks::ExecutionPolicy(), 0);
 }
 /**
@@ -112,7 +112,7 @@ void ForEach(
  RAI first,
  RAI last,
  Function unary,
-  const embb::mtapi::ExecutionPolicy& policy
+  const embb::tasks::ExecutionPolicy& policy
  ) {
  ForEach(first, last, unary, policy, 0);
 }

--- a/algorithms_cpp/include/embb/algorithms/internal/count-inl.h
+++ b/algorithms_cpp/include/embb/algorithms/internal/count-inl.h
@@ -83,7 +83,7 @@ class FunctionComparisonFunction{
 template<typename RAI, typename ValueType>
 typename std::iterator_traits<RAI>::difference_type
  Count(RAI first, RAI last, const ValueType& value,
-        const embb::mtapi::ExecutionPolicy& policy, size_t block_size) {
+        const embb::tasks::ExecutionPolicy& policy, size_t block_size) {
  typedef typename std::iterator_traits<RAI>::difference_type Difference;
  return Reduce(first, last, Difference(0), std::plus<Difference>(),
                internal::ValueComparisonFunction<ValueType>(value), policy,
@@ -93,7 +93,7 @@ typename std::iterator_traits<RAI>::difference_type
 template<typename RAI, typename ComparisonFunction>
 typename std::iterator_traits<RAI>::difference_type
  CountIf(RAI first, RAI last, ComparisonFunction comparison,
-          const embb::mtapi::ExecutionPolicy& policy, size_t block_size) {
+          const embb::tasks::ExecutionPolicy& policy, size_t block_size) {
  typedef typename std::iterator_traits<RAI>::difference_type Difference;
  return Reduce(first, last, Difference(0), std::plus<Difference>(),
                internal::FunctionComparisonFunction<ComparisonFunction>

--- a/algorithms_cpp/include/embb/algorithms/internal/for_each-inl.h
+++ b/algorithms_cpp/include/embb/algorithms/internal/for_each-inl.h
@@ -30,7 +30,7 @@
 #include <cassert>
 #include <embb/base/exceptions.h>
-#include <embb/mtapi/mtapi.h>
+#include <embb/tasks/tasks.h>
 #include <embb/algorithms/internal/partition.h>
 #include <embb/algorithms/zip_iterator.h>
@@ -46,13 +46,13 @@ class ForEachFunctor {
   * Constructs a for-each functor with arguments.
   */
  ForEachFunctor(size_t chunk_first, size_t chunk_last, Function unary,
-                 const embb::mtapi::ExecutionPolicy& policy,
+                 const embb::tasks::ExecutionPolicy& policy,
                 const BlockSizePartitioner<RAI>& partitioner)
  : chunk_first_(chunk_first), chunk_last_(chunk_last),
    unary_(unary), policy_(policy), partitioner_(partitioner) {
  }
-  void Action(mtapi::TaskContext&) {
+  void Action(embb::tasks::TaskContext&) {
    if (chunk_first_ == chunk_last_) {
      // Leaf case, recursed to single chunk. Do work on chunk:
      ChunkDescriptor<RAI> chunk = partitioner_[chunk_first_];
@@ -71,12 +71,12 @@ class ForEachFunctor {
      self_t functor_r(chunk_split_index + 1,
                       chunk_last_,
                       unary_, policy_, partitioner_);
-      mtapi::Task task_l = mtapi::Node::GetInstance().Spawn(
+      embb::tasks::Task task_l = embb::tasks::Node::GetInstance().Spawn(
-        mtapi::Action(
+        embb::tasks::Action(
          base::MakeFunction(functor_l, &self_t::Action),
          policy_));
-      mtapi::Task task_r = mtapi::Node::GetInstance().Spawn(
+      embb::tasks::Task task_r = embb::tasks::Node::GetInstance().Spawn(
-        mtapi::Action(
+        embb::tasks::Action(
          base::MakeFunction(functor_r, &self_t::Action),
          policy_));
      task_l.Wait(MTAPI_INFINITE);
@@ -91,7 +91,7 @@ class ForEachFunctor {
  size_t chunk_first_;
  size_t chunk_last_;
  Function unary_;
-  const embb::mtapi::ExecutionPolicy& policy_;
+  const embb::tasks::ExecutionPolicy& policy_;
  const BlockSizePartitioner<RAI>& partitioner_;
  /**
@@ -102,7 +102,7 @@ class ForEachFunctor {
 template<typename RAI, typename Function>
 void ForEachRecursive(RAI first, RAI last, Function unary,
-  const embb::mtapi::ExecutionPolicy& policy, size_t block_size) {
+  const embb::tasks::ExecutionPolicy& policy, size_t block_size) {
  typedef typename std::iterator_traits<RAI>::difference_type difference_type;
  difference_type distance = std::distance(first, last);
  if (distance == 0) {
@@ -114,7 +114,7 @@ void ForEachRecursive(RAI first, RAI last, Function unary,
  if (num_cores == 0) {
    EMBB_THROW(embb::base::ErrorException, "No cores in execution policy");
  }
-  mtapi::Node& node = mtapi::Node::GetInstance();
+  embb::tasks::Node& node = embb::tasks::Node::GetInstance();
  // Determine actually used block size
  if (block_size == 0) {
    block_size = (static_cast<size_t>(distance) / num_cores);
@@ -132,7 +132,7 @@ void ForEachRecursive(RAI first, RAI last, Function unary,
  ForEachFunctor<RAI, Function> functor(0,
                                        partitioner.Size() - 1,
                                        unary, policy, partitioner);
-  mtapi::Task task = node.Spawn(mtapi::Action(
+  embb::tasks::Task task = node.Spawn(embb::tasks::Action(
                     base::MakeFunction(functor,
                       &ForEachFunctor<RAI, Function>::Action),
                     policy));
@@ -141,7 +141,7 @@ void ForEachRecursive(RAI first, RAI last, Function unary,
 template<typename RAI, typename Function>
 void ForEachIteratorCheck(RAI first, RAI last, Function unary,
-  const embb::mtapi::ExecutionPolicy& policy, size_t block_size,
+  const embb::tasks::ExecutionPolicy& policy, size_t block_size,
                          std::random_access_iterator_tag) {
  return ForEachRecursive(first, last, unary, policy, block_size);
 }
@@ -150,7 +150,7 @@ void ForEachIteratorCheck(RAI first, RAI last, Function unary,
 template<typename RAI, typename Function>
 void ForEach(RAI first, const RAI last, Function unary,
-  const embb::mtapi::ExecutionPolicy& policy, size_t block_size) {
+  const embb::tasks::ExecutionPolicy& policy, size_t block_size) {
  typename std::iterator_traits<RAI>::iterator_category category;
  internal::ForEachIteratorCheck(first, last, unary, policy, block_size,
                                 category);

--- a/algorithms_cpp/include/embb/algorithms/internal/merge_sort-inl.h
+++ b/algorithms_cpp/include/embb/algorithms/internal/merge_sort-inl.h
@@ -32,7 +32,7 @@
 #include <functional>
 #include <embb/base/exceptions.h>
-#include <embb/mtapi/mtapi.h>
+#include <embb/tasks/tasks.h>
 #include <embb/algorithms/internal/partition.h>
 namespace embb {
@@ -50,7 +50,7 @@ class MergeSortFunctor {
  MergeSortFunctor(size_t chunk_first, size_t chunk_last,
                   RAITemp temporary_first, ComparisonFunction comparison,
-                   const embb::mtapi::ExecutionPolicy& policy,
+                   const embb::tasks::ExecutionPolicy& policy,
                   const BlockSizePartitioner<RAI>& partitioner,
                   const RAI& global_first, int depth)
  : chunk_first_(chunk_first), chunk_last_(chunk_last),
@@ -59,7 +59,7 @@ class MergeSortFunctor {
    global_first_(global_first), depth_(depth) {
  }
-  void Action(mtapi::TaskContext&) {
+  void Action(embb::tasks::TaskContext&) {
    size_t chunk_split_index = (chunk_first_ + chunk_last_) / 2;
    if (chunk_first_ == chunk_last_) {
      // Leaf case: recurse into a single chunk's elements:
@@ -77,13 +77,13 @@ class MergeSortFunctor {
                       temp_first_,
                       comparison_, policy_, partitioner_,
                       global_first_, depth_ + 1);
-      mtapi::Node& node = mtapi::Node::GetInstance();
+      embb::tasks::Node& node = embb::tasks::Node::GetInstance();
-      mtapi::Task task_l = node.Spawn(
+      embb::tasks::Task task_l = node.Spawn(
-        mtapi::Action(
+        embb::tasks::Action(
          base::MakeFunction(functor_l, &self_t::Action),
          policy_));
-      mtapi::Task task_r = node.Spawn(
+      embb::tasks::Task task_r = node.Spawn(
-        mtapi::Action(
+        embb::tasks::Action(
          base::MakeFunction(functor_r, &self_t::Action),
          policy_));
      task_l.Wait(MTAPI_INFINITE);
@@ -177,7 +177,7 @@ class MergeSortFunctor {
  size_t chunk_last_;
  RAITemp temp_first_;
  ComparisonFunction comparison_;
-  const embb::mtapi::ExecutionPolicy& policy_;
+  const embb::tasks::ExecutionPolicy& policy_;
  const BlockSizePartitioner<RAI>& partitioner_;
  const RAI& global_first_;
  int depth_;
@@ -219,7 +219,7 @@ void MergeSortIteratorCheck(
  RAI last,
  RAITemp temporary_first,
  ComparisonFunction comparison,
-  const embb::mtapi::ExecutionPolicy& policy,
+  const embb::tasks::ExecutionPolicy& policy,
  size_t block_size,
  std::random_access_iterator_tag
  ) {
@@ -257,8 +257,8 @@ void MergeSortIteratorCheck(
                    partitioner,
                    first,
                    0);
-  mtapi::Task task = embb::mtapi::Node::GetInstance().Spawn(
+  embb::tasks::Task task = embb::tasks::Node::GetInstance().Spawn(
-    mtapi::Action(
+    embb::tasks::Action(
      base::MakeFunction(functor, &functor_t::Action),
      policy));
@@ -269,7 +269,7 @@ void MergeSortIteratorCheck(
 template<typename RAI, typename RAITemp, typename ComparisonFunction>
 void MergeSort(RAI first, RAI last, RAITemp temporary_first,
-  ComparisonFunction comparison, const embb::mtapi::ExecutionPolicy& policy,
+  ComparisonFunction comparison, const embb::tasks::ExecutionPolicy& policy,
  size_t block_size) {
  typedef typename std::iterator_traits<RAI>::iterator_category category;
  internal::MergeSortIteratorCheck(first, last, temporary_first, comparison,

--- a/algorithms_cpp/include/embb/algorithms/internal/partition-inl.h
+++ b/algorithms_cpp/include/embb/algorithms/internal/partition-inl.h
@@ -93,7 +93,7 @@ ChunkPartitioner<ForwardIterator>::ChunkPartitioner(ForwardIterator first,
    size = amountChunks;
  } else {
    // if no concrete chunk size was given, use number of cores...
-    mtapi::Node& node = mtapi::Node::GetInstance();
+    embb::tasks::Node& node = embb::tasks::Node::GetInstance();
    size = node.GetWorkerThreadCount();
  }

--- a/algorithms_cpp/include/embb/algorithms/internal/partition.h
+++ b/algorithms_cpp/include/embb/algorithms/internal/partition.h
@@ -27,7 +27,7 @@
 #ifndef EMBB_ALGORITHMS_INTERNAL_PARTITION_H_
 #define EMBB_ALGORITHMS_INTERNAL_PARTITION_H_
-#include <embb/mtapi/mtapi.h>
+#include <embb/tasks/tasks.h>
 namespace embb {
 namespace algorithms {

--- a/algorithms_cpp/include/embb/algorithms/internal/quick_sort-inl.h
+++ b/algorithms_cpp/include/embb/algorithms/internal/quick_sort-inl.h
@@ -33,7 +33,7 @@
 #include <functional>
 #include <embb/base/exceptions.h>
-#include <embb/mtapi/mtapi.h>
+#include <embb/tasks/tasks.h>
 #include <embb/algorithms/internal/partition.h>
 namespace embb {
@@ -48,7 +48,7 @@ class QuickSortFunctor {
   * Constructs a functor.
   */
  QuickSortFunctor(RAI first, RAI last, ComparisonFunction comparison,
-    const embb::mtapi::ExecutionPolicy& policy, size_t block_size)
+    const embb::tasks::ExecutionPolicy& policy, size_t block_size)
    : first_(first), last_(last), comparison_(comparison), policy_(policy),
      block_size_(block_size) {
  }
@@ -56,7 +56,7 @@ class QuickSortFunctor {
  /**
   * MTAPI action function and starting point of the parallel quick sort.
   */
-  void Action(mtapi::TaskContext&) {
+  void Action(embb::tasks::TaskContext&) {
    Difference distance = last_ - first_;
    if (distance <= 1) {
      return;
@@ -68,15 +68,15 @@ class QuickSortFunctor {
        SerialQuickSort(first_, mid);
        SerialQuickSort(mid, last_);
      } else {
-        mtapi::Node& node = mtapi::Node::GetInstance();
+        embb::tasks::Node& node = embb::tasks::Node::GetInstance();
        QuickSortFunctor functor_l(first_, mid, comparison_, policy_,
                                   block_size_);
-        mtapi::Task task_l = node.Spawn(mtapi::Action(base::MakeFunction(
+        embb::tasks::Task task_l = node.Spawn(embb::tasks::Action(
-                                        functor_l, &QuickSortFunctor::Action)));
+          base::MakeFunction(functor_l, &QuickSortFunctor::Action)));
        QuickSortFunctor functor_r(mid, last_, comparison_, policy_,
                                   block_size_);
-        mtapi::Task task_r = node.Spawn(mtapi::Action(base::MakeFunction(
+        embb::tasks::Task task_r = node.Spawn(embb::tasks::Action(
-                                        functor_r, &QuickSortFunctor::Action)));
+          base::MakeFunction(functor_r, &QuickSortFunctor::Action)));
        task_l.Wait(MTAPI_INFINITE);
        task_r.Wait(MTAPI_INFINITE);
      }
@@ -87,7 +87,7 @@ class QuickSortFunctor {
  RAI first_;
  RAI last_;
  ComparisonFunction comparison_;
-  const embb::mtapi::ExecutionPolicy& policy_;
+  const embb::tasks::ExecutionPolicy& policy_;
  size_t block_size_;
  typedef typename std::iterator_traits<RAI>::difference_type Difference;
@@ -189,10 +189,10 @@ class QuickSortFunctor {
 template <typename RAI, typename ComparisonFunction>
 void QuickSortIteratorCheck(RAI first, RAI last,
  ComparisonFunction comparison,
-  const embb::mtapi::ExecutionPolicy& policy,
+  const embb::tasks::ExecutionPolicy& policy,
  size_t block_size,
  std::random_access_iterator_tag) {
-  embb::mtapi::Node& node = embb::mtapi::Node::GetInstance();
+  embb::tasks::Node& node = embb::tasks::Node::GetInstance();
  typedef typename std::iterator_traits<RAI>::difference_type difference_type;
  difference_type distance = std::distance(first, last);
  if (distance == 0) {
@@ -215,7 +215,7 @@ void QuickSortIteratorCheck(RAI first, RAI last,
  }
  QuickSortFunctor<RAI, ComparisonFunction> functor(
      first, last, comparison, policy, block_size);
-  mtapi::Task task = node.Spawn(mtapi::Action(base::MakeFunction(
+  embb::tasks::Task task = node.Spawn(embb::tasks::Action(base::MakeFunction(
      functor, &QuickSortFunctor<RAI, ComparisonFunction>::Action)));
  task.Wait(MTAPI_INFINITE);
 }
@@ -224,7 +224,7 @@ void QuickSortIteratorCheck(RAI first, RAI last,
 template <typename RAI, typename ComparisonFunction>
 void QuickSort(RAI first, RAI last, ComparisonFunction comparison,
-  const embb::mtapi::ExecutionPolicy& policy, size_t block_size) {
+  const embb::tasks::ExecutionPolicy& policy, size_t block_size) {
  typedef typename std::iterator_traits<RAI>::iterator_category category;
  internal::QuickSortIteratorCheck(first, last, comparison,
                                   policy, block_size, category());

--- a/algorithms_cpp/include/embb/algorithms/internal/reduce-inl.h
+++ b/algorithms_cpp/include/embb/algorithms/internal/reduce-inl.h
@@ -27,7 +27,7 @@
 #ifndef EMBB_ALGORITHMS_INTERNAL_REDUCE_INL_H_
 #define EMBB_ALGORITHMS_INTERNAL_REDUCE_INL_H_
-#include <embb/mtapi/mtapi.h>
+#include <embb/tasks/tasks.h>
 #include <embb/algorithms/internal/partition.h>
 #include <functional>
@@ -46,7 +46,7 @@ class ReduceFunctor {
                ReturnType neutral,
                ReductionFunction reduction,
                TransformationFunction transformation,
-                const embb::mtapi::ExecutionPolicy& policy,
+                const embb::tasks::ExecutionPolicy& policy,
                const BlockSizePartitioner<RAI>& partitioner,
                ReturnType& result)
  : chunk_first_(chunk_first), chunk_last_(chunk_last), neutral_(neutral),
@@ -54,7 +54,7 @@ class ReduceFunctor {
    partitioner_(partitioner), result_(result) {
  }
-  void Action(mtapi::TaskContext&) {
+  void Action(embb::tasks::TaskContext&) {
    if (chunk_first_ == chunk_last_) {
      // Leaf case, recursed to single chunk. Do work on chunk:
      ChunkDescriptor<RAI> chunk = partitioner_[chunk_first_];
@@ -81,13 +81,13 @@ class ReduceFunctor {
                       neutral_, reduction_, transformation_, policy_,
                       partitioner_,
                       result_r);
-      mtapi::Task task_l = mtapi::Node::GetInstance().Spawn(
+      embb::tasks::Task task_l = embb::tasks::Node::GetInstance().Spawn(
-        mtapi::Action(
+        embb::tasks::Action(
          base::MakeFunction(
          functor_l, &self_t::Action),
          policy_));
-      mtapi::Task task_r = mtapi::Node::GetInstance().Spawn(
+      embb::tasks::Task task_r = embb::tasks::Node::GetInstance().Spawn(
-        mtapi::Action(
+        embb::tasks::Action(
          base::MakeFunction(
          functor_r, &self_t::Action),
          policy_));
@@ -108,7 +108,7 @@ class ReduceFunctor {
  ReturnType neutral_;
  ReductionFunction reduction_;
  TransformationFunction transformation_;
-  const embb::mtapi::ExecutionPolicy& policy_;
+  const embb::tasks::ExecutionPolicy& policy_;
  const BlockSizePartitioner<RAI>& partitioner_;
  ReturnType& result_;
@@ -124,7 +124,7 @@ template<typename RAI, typename ReturnType, typename ReductionFunction,
 ReturnType ReduceRecursive(RAI first, RAI last, ReturnType neutral,
                           ReductionFunction reduction,
                           TransformationFunction transformation,
-                           const embb::mtapi::ExecutionPolicy& policy,
+                           const embb::tasks::ExecutionPolicy& policy,
                           size_t block_size) {
  typedef typename std::iterator_traits<RAI>::difference_type difference_type;
  difference_type distance = std::distance(first, last);
@@ -137,7 +137,7 @@ ReturnType ReduceRecursive(RAI first, RAI last, ReturnType neutral,
  if (num_cores == 0) {
    EMBB_THROW(embb::base::ErrorException, "No cores in execution policy");
  }
-  mtapi::Node& node = mtapi::Node::GetInstance();
+  embb::tasks::Node& node = embb::tasks::Node::GetInstance();
  // Determine actually used block size
  if (block_size == 0) {
    block_size = (static_cast<size_t>(distance) / num_cores);
@@ -162,8 +162,8 @@ ReturnType ReduceRecursive(RAI first, RAI last, ReturnType neutral,
                  policy,
                  partitioner,
                  result);
-  mtapi::Task task = node.Spawn(
+  embb::tasks::Task task = node.Spawn(
-    mtapi::Action(base::MakeFunction(
+    embb::tasks::Action(base::MakeFunction(
      functor, &Functor::Action), policy));
  task.Wait(MTAPI_INFINITE);
  return result;
@@ -174,7 +174,7 @@ template<typename RAI, typename TransformationFunction,
 ReturnType ReduceIteratorCheck(RAI first, RAI last, ReductionFunction reduction,
                               TransformationFunction transformation,
                               ReturnType neutral,
-                               const embb::mtapi::ExecutionPolicy& policy,
+                               const embb::tasks::ExecutionPolicy& policy,
                               size_t block_size,
                               std::random_access_iterator_tag) {
    return ReduceRecursive(first, last, neutral, reduction, transformation,
@@ -188,7 +188,7 @@ template<typename RAI, typename ReturnType, typename ReductionFunction,
 ReturnType Reduce(RAI first, RAI last, ReturnType neutral,
                  ReductionFunction reduction,
                  TransformationFunction transformation,
-                  const embb::mtapi::ExecutionPolicy& policy,
+                  const embb::tasks::ExecutionPolicy& policy,
                  size_t block_size) {
  typename std::iterator_traits<RAI>::iterator_category category;
  return internal::ReduceIteratorCheck(first, last, reduction, transformation,

--- a/algorithms_cpp/include/embb/algorithms/internal/scan-inl.h
+++ b/algorithms_cpp/include/embb/algorithms/internal/scan-inl.h
@@ -29,8 +29,8 @@
 #include <cassert>
 #include <embb/base/exceptions.h>
-#include <embb/mtapi/mtapi.h>
+#include <embb/tasks/tasks.h>
-#include <embb/mtapi/execution_policy.h>
+#include <embb/tasks/execution_policy.h>
 #include <embb/algorithms/internal/partition.h>
 namespace embb {
@@ -44,7 +44,7 @@ class ScanFunctor {
  ScanFunctor(size_t chunk_first, size_t chunk_last, RAIOut output_iterator,
              ReturnType neutral, ScanFunction scan,
              TransformationFunction transformation,
-              const embb::mtapi::ExecutionPolicy& policy,
+              const embb::tasks::ExecutionPolicy& policy,
              const BlockSizePartitioner<RAIIn>& partitioner,
              ReturnType* tree_values, size_t node_id,
              bool going_down)
@@ -55,7 +55,7 @@ class ScanFunctor {
      node_id_(node_id), parent_value_(neutral), is_first_pass_(going_down)  {
  }
-  void Action(mtapi::TaskContext&) {
+  void Action(embb::tasks::TaskContext&) {
    if (chunk_first_ == chunk_last_) {
      ChunkDescriptor<RAIIn> chunk = partitioner_[chunk_first_];
      RAIIn iter_in = chunk.GetFirst();
@@ -104,13 +104,13 @@ class ScanFunctor {
        functor_r.parent_value_ = functor_l.GetTreeValue() + parent_value_;
      }
      // Spawn tasks to recurse:
-      mtapi::Node& node = mtapi::Node::GetInstance();
+      embb::tasks::Node& node = embb::tasks::Node::GetInstance();
-      mtapi::Task task_l = node.Spawn(
+      embb::tasks::Task task_l = node.Spawn(
-        mtapi::Action(
+        embb::tasks::Action(
          base::MakeFunction(functor_l, &ScanFunctor::Action),
          policy_));
-      mtapi::Task task_r = node.Spawn(
+      embb::tasks::Task task_r = node.Spawn(
-        mtapi::Action(
+        embb::tasks::Action(
          base::MakeFunction(functor_r, &ScanFunctor::Action),
          policy_));
      // Wait for tasks to complete:
@@ -131,7 +131,7 @@ class ScanFunctor {
 private:
  static const int LEFT  = 1;
  static const int RIGHT = 2;
-  const embb::mtapi::ExecutionPolicy& policy_;
+  const embb::tasks::ExecutionPolicy& policy_;
  size_t chunk_first_;
  size_t chunk_last_;
  RAIOut output_iterator_;
@@ -168,7 +168,7 @@ typename ScanFunction, typename TransformationFunction>
 void ScanIteratorCheck(RAIIn first, RAIIn last, RAIOut output_iterator,
                       ReturnType neutral, ScanFunction scan,
                       TransformationFunction transformation,
-                       const embb::mtapi::ExecutionPolicy& policy,
+                       const embb::tasks::ExecutionPolicy& policy,
                       size_t block_size,
                       std::random_access_iterator_tag) {
  typedef typename std::iterator_traits<RAIIn>::difference_type difference_type;
@@ -199,15 +199,14 @@ void ScanIteratorCheck(RAIIn first, RAIIn last, RAIOut output_iterator,
  // it creates the tree.
  typedef ScanFunctor<RAIIn, RAIOut, ReturnType, ScanFunction,
                      TransformationFunction> Functor;
-  mtapi::Node& node = mtapi::Node::GetInstance();
+  embb::tasks::Node& node = embb::tasks::Node::GetInstance();
  BlockSizePartitioner<RAIIn> partitioner_down(first, last, block_size);
  Functor functor_down(0, partitioner_down.Size() - 1, output_iterator,
                       neutral, scan, transformation, policy, partitioner_down,
                       values, 0, true);
-  mtapi::Task task_down = node.Spawn(mtapi::Action(base::MakeFunction(
+  embb::tasks::Task task_down = node.Spawn(embb::tasks::Action(
-                          functor_down, &Functor::Action),
+    base::MakeFunction(functor_down, &Functor::Action), policy));
-                          policy));
  task_down.Wait(MTAPI_INFINITE);
  // Second pass. Gives to each leaf the part of the prefix missing
@@ -215,9 +214,8 @@ void ScanIteratorCheck(RAIIn first, RAIIn last, RAIOut output_iterator,
  Functor functor_up(0, partitioner_up.Size() - 1, output_iterator,
                     neutral, scan, transformation, policy, partitioner_up,
                     values, 0, false);
-  mtapi::Task task_up = node.Spawn(mtapi::Action(base::MakeFunction(
+  embb::tasks::Task task_up = node.Spawn(embb::tasks::Action(
-                        functor_up, &Functor::Action),
+    base::MakeFunction(functor_up, &Functor::Action), policy));
-                        policy));
  task_up.Wait(MTAPI_INFINITE);
 }
@@ -227,7 +225,7 @@ template<typename RAIIn, typename RAIOut, typename ReturnType,
         typename ScanFunction, typename TransformationFunction>
 void Scan(RAIIn first, RAIIn last, RAIOut output_iterator, ReturnType neutral,
          ScanFunction scan, TransformationFunction transformation,
-          const embb::mtapi::ExecutionPolicy& policy, size_t block_size) {
+          const embb::tasks::ExecutionPolicy& policy, size_t block_size) {
  typedef typename std::iterator_traits<RAIIn>::iterator_category category;
  internal::ScanIteratorCheck(first, last, output_iterator, neutral,
      scan, transformation, policy, block_size, category());

--- a/algorithms_cpp/include/embb/algorithms/invoke.h
+++ b/algorithms_cpp/include/embb/algorithms/invoke.h
@@ -28,7 +28,7 @@
 #define EMBB_ALGORITHMS_INVOKE_H_
 #include <embb/base/function.h>
-#include <embb/mtapi/mtapi.h>
+#include <embb/tasks/tasks.h>
 namespace embb {
 namespace algorithms {
@@ -89,15 +89,16 @@ template<typename Function>
 class TaskWrapper {
 public:
  /**
-   * Wraps the function into an mtapi::Action and spawns an mtapi::Task.
+   * Wraps the function into an embb::tasks::Action and spawns an
+   * embb::tasks::Task.
   */
  explicit TaskWrapper(
    Function function,
-    const embb::mtapi::ExecutionPolicy& policy)
+    const embb::tasks::ExecutionPolicy& policy)
      : function_(function), task_() {
-    mtapi::Action action(embb::base::MakeFunction(*this, &TaskWrapper::Run),
+    embb::tasks::Action action(embb::base::MakeFunction(
-                         policy);
+      *this, &TaskWrapper::Run), policy);
-    task_ = mtapi::Node::GetInstance().Spawn(action);
+    task_ = embb::tasks::Node::GetInstance().Spawn(action);
  }
  /**
@@ -109,9 +110,9 @@ class TaskWrapper {
 private:
  Function function_;
-  mtapi::Task task_;
+  embb::tasks::Task task_;
-  void Run(embb::mtapi::TaskContext&) {
+  void Run(embb::tasks::TaskContext&) {
    function_();
  }
 };
@@ -120,7 +121,7 @@ class TaskWrapper {
 template<typename Function1>
 void Invoke(
  Function1 func1,
-  const embb::mtapi::ExecutionPolicy& policy) {
+  const embb::tasks::ExecutionPolicy& policy) {
  internal::TaskWrapper<Function1> wrap1(func1, policy);
 }
@@ -128,7 +129,7 @@ template<typename Function1, typename Function2>
 void Invoke(
  Function1 func1,
  Function2 func2,
-  const embb::mtapi::ExecutionPolicy& policy) {
+  const embb::tasks::ExecutionPolicy& policy) {
  internal::TaskWrapper<Function1> wrap1(func1, policy);
  internal::TaskWrapper<Function2> wrap2(func2, policy);
 }
@@ -138,7 +139,7 @@ void Invoke(
  Function1 func1,
  Function2 func2,
  Function3 func3,
-  const embb::mtapi::ExecutionPolicy& policy) {
+  const embb::tasks::ExecutionPolicy& policy) {
  internal::TaskWrapper<Function1> wrap1(func1, policy);
  internal::TaskWrapper<Function2> wrap2(func2, policy);
  internal::TaskWrapper<Function3> wrap3(func3, policy);
@@ -151,7 +152,7 @@ template<typename Function1, typename Function2, typename Function3,
  Function2 func2,
  Function3 func3,
  Function4 func4,
-  const embb::mtapi::ExecutionPolicy& policy) {
+  const embb::tasks::ExecutionPolicy& policy) {
  internal::TaskWrapper<Function1> wrap1(func1, policy);
  internal::TaskWrapper<Function2> wrap2(func2, policy);
  internal::TaskWrapper<Function3> wrap3(func3, policy);
@@ -166,7 +167,7 @@ template<typename Function1, typename Function2, typename Function3,
  Function3 func3,
  Function4 func4,
  Function5 func5,
-  const embb::mtapi::ExecutionPolicy& policy) {
+  const embb::tasks::ExecutionPolicy& policy) {
  internal::TaskWrapper<Function1> wrap1(func1, policy);
  internal::TaskWrapper<Function2> wrap2(func2, policy);
  internal::TaskWrapper<Function3> wrap3(func3, policy);
@@ -183,7 +184,7 @@ template<typename Function1, typename Function2, typename Function3,
  Function4 func4,
  Function5 func5,
  Function6 func6,
-  const embb::mtapi::ExecutionPolicy& policy) {
+  const embb::tasks::ExecutionPolicy& policy) {
  internal::TaskWrapper<Function1> wrap1(func1, policy);
  internal::TaskWrapper<Function2> wrap2(func2, policy);
  internal::TaskWrapper<Function3> wrap3(func3, policy);
@@ -203,7 +204,7 @@ template<typename Function1, typename Function2, typename Function3,
  Function5 func5,
  Function6 func6,
  Function7 func7,
-  const embb::mtapi::ExecutionPolicy& policy) {
+  const embb::tasks::ExecutionPolicy& policy) {
  internal::TaskWrapper<Function1> wrap1(func1, policy);
  internal::TaskWrapper<Function2> wrap2(func2, policy);
  internal::TaskWrapper<Function3> wrap3(func3, policy);
@@ -225,7 +226,7 @@ template<typename Function1, typename Function2, typename Function3,
  Function6 func6,
  Function7 func7,
  Function8 func8,
-  const embb::mtapi::ExecutionPolicy& policy) {
+  const embb::tasks::ExecutionPolicy& policy) {
  internal::TaskWrapper<Function1> wrap1(func1, policy);
  internal::TaskWrapper<Function2> wrap2(func2, policy);
  internal::TaskWrapper<Function3> wrap3(func3, policy);
@@ -249,7 +250,7 @@ template<typename Function1, typename Function2, typename Function3,
  Function7 func7,
  Function8 func8,
  Function9 func9,
-  const embb::mtapi::ExecutionPolicy& policy) {
+  const embb::tasks::ExecutionPolicy& policy) {
  internal::TaskWrapper<Function1> wrap1(func1, policy);
  internal::TaskWrapper<Function2> wrap2(func2, policy);
  internal::TaskWrapper<Function3> wrap3(func3, policy);
@@ -276,7 +277,7 @@ template<typename Function1, typename Function2, typename Function3,
  Function8 func8,
  Function9 func9,
  Function10 func10,
-  const embb::mtapi::ExecutionPolicy& policy)  {
+  const embb::tasks::ExecutionPolicy& policy)  {
  internal::TaskWrapper<Function1> wrap1(func1, policy);
  internal::TaskWrapper<Function2> wrap2(func2, policy);
  internal::TaskWrapper<Function3> wrap3(func3, policy);
@@ -292,21 +293,21 @@ template<typename Function1, typename Function2, typename Function3,
 template<typename Function1>
 void Invoke(
  Function1 func1) {
-  Invoke(func1, embb::mtapi::ExecutionPolicy());
+  Invoke(func1, embb::tasks::ExecutionPolicy());
 }
 template<typename Function1, typename Function2>
 void Invoke(
  Function1 func1,
  Function2 func2) {
-  Invoke(func1, func2, embb::mtapi::ExecutionPolicy());
+  Invoke(func1, func2, embb::tasks::ExecutionPolicy());
 }
 template<typename Function1, typename Function2, typename Function3>
 void Invoke(
  Function1 func1,
  Function2 func2,
  Function3 func3) {
-  Invoke(func1, func2, func3, embb::mtapi::ExecutionPolicy());
+  Invoke(func1, func2, func3, embb::tasks::ExecutionPolicy());
 }
 template<typename Function1, typename Function2, typename Function3,
@@ -316,7 +317,7 @@ void Invoke(
  Function2 func2,
  Function3 func3,
  Function4 func4) {
-  Invoke(func1, func2, func3, func4, embb::mtapi::ExecutionPolicy());
+  Invoke(func1, func2, func3, func4, embb::tasks::ExecutionPolicy());
 }
 template<typename Function1, typename Function2, typename Function3,
@@ -327,7 +328,7 @@ void Invoke(
  Function3 func3,
  Function4 func4,
  Function5 func5) {
-  Invoke(func1, func2, func3, func4, func5, embb::mtapi::ExecutionPolicy());
+  Invoke(func1, func2, func3, func4, func5, embb::tasks::ExecutionPolicy());
 }
 template<typename Function1, typename Function2, typename Function3,
@@ -340,7 +341,7 @@ void Invoke(
  Function5 func5,
  Function6 func6) {
  Invoke(func1, func2, func3, func4, func5, func6,
-    embb::mtapi::ExecutionPolicy());
+    embb::tasks::ExecutionPolicy());
 }
 template<typename Function1, typename Function2, typename Function3,
@@ -355,7 +356,7 @@ void Invoke(
  Function6 func6,
  Function7 func7) {
  Invoke(func1, func2, func3, func4, func5, func6, func7,
-    embb::mtapi::ExecutionPolicy());
+    embb::tasks::ExecutionPolicy());
 }
 template<typename Function1, typename Function2, typename Function3,
@@ -371,7 +372,7 @@ void Invoke(
  Function7 func7,
  Function8 func8) {
  Invoke(func1, func2, func3, func4, func5, func6, func7, func8,
-    embb::mtapi::ExecutionPolicy());
+    embb::tasks::ExecutionPolicy());
 }
 template<typename Function1, typename Function2, typename Function3,
@@ -388,7 +389,7 @@ void Invoke(
  Function8 func8,
  Function9 func9) {
  Invoke(func1, func2, func3, func4, func5, func6, func7, func8, func9,
-    embb::mtapi::ExecutionPolicy());
+    embb::tasks::ExecutionPolicy());
 }
 template<typename Function1, typename Function2, typename Function3,
@@ -407,7 +408,7 @@ void Invoke(
  Function9 func9,
  Function10 func10) {
  Invoke(func1, func2, func3, func4, func5, func6, func7, func8, func9, func10,
-    embb::mtapi::ExecutionPolicy());
+    embb::tasks::ExecutionPolicy());
 }
 #endif // else DOXYGEN

--- a/algorithms_cpp/include/embb/algorithms/merge_sort.h
+++ b/algorithms_cpp/include/embb/algorithms/merge_sort.h
@@ -28,7 +28,7 @@
 #define EMBB_ALGORITHMS_MERGE_SORT_H_
 #include <functional>
-#include <embb/mtapi/execution_policy.h>
+#include <embb/tasks/execution_policy.h>
 #include <embb/base/memory_allocation.h>
 namespace embb {
@@ -149,7 +149,7 @@ void MergeSort(
  RAI last,
  RAITemp temporary_first,
  ComparisonFunction comparison,
-  const embb::mtapi::ExecutionPolicy& policy,
+  const embb::tasks::ExecutionPolicy& policy,
  size_t block_size
  );
@@ -161,7 +161,7 @@ void MergeSortAllocate(
  RAI first,
  RAI last,
  ComparisonFunction comparison,
-  const embb::mtapi::ExecutionPolicy& policy,
+  const embb::tasks::ExecutionPolicy& policy,
  size_t block_size
  ) {
  typedef base::Allocation Alloc;
@@ -200,7 +200,7 @@ void MergeSortAllocate(
  ) {
  MergeSortAllocate(first, last,
                    std::less<typename std::iterator_traits<RAI>::value_type>(),
-                    embb::mtapi::ExecutionPolicy(), 0);
+                    embb::tasks::ExecutionPolicy(), 0);
 }
 /**
@@ -212,7 +212,7 @@ void MergeSortAllocate(
  RAI last,
  ComparisonFunction comparison
  ) {
-  MergeSortAllocate(first, last, comparison, embb::mtapi::ExecutionPolicy(), 0);
+  MergeSortAllocate(first, last, comparison, embb::tasks::ExecutionPolicy(), 0);
 }
 /**
@@ -223,7 +223,7 @@ void MergeSortAllocate(
  RAI first,
  RAI last,
  ComparisonFunction comparison,
-  const embb::mtapi::ExecutionPolicy& policy
+  const embb::tasks::ExecutionPolicy& policy
  ) {
  MergeSortAllocate(first, last, comparison, policy, 0);
 }
@@ -239,7 +239,7 @@ void MergeSort(
  ) {
  MergeSort(first, last, temporary_first,
            std::less<typename std::iterator_traits<RAI>::value_type>(),
-            embb::mtapi::ExecutionPolicy(), 0);
+            embb::tasks::ExecutionPolicy(), 0);
 }
 /**
@@ -253,7 +253,7 @@ void MergeSort(
  ComparisonFunction comparison
  ) {
  MergeSort(first, last, temporary_first, comparison,
-    embb::mtapi::ExecutionPolicy(), 0);
+    embb::tasks::ExecutionPolicy(), 0);
 }
 /**
@@ -265,7 +265,7 @@ void MergeSort(
  RAI last,
  RAITemp temporary_first,
  ComparisonFunction comparison,
-  const embb::mtapi::ExecutionPolicy& policy
+  const embb::tasks::ExecutionPolicy& policy
  ) {
  MergeSort(first, last, temporary_first, comparison, policy, 0);
 }

--- a/algorithms_cpp/include/embb/algorithms/quick_sort.h
+++ b/algorithms_cpp/include/embb/algorithms/quick_sort.h
@@ -28,7 +28,7 @@
 #define EMBB_ALGORITHMS_QUICK_SORT_H_
 #include <functional>
-#include <embb/mtapi/execution_policy.h>
+#include <embb/tasks/execution_policy.h>
 namespace embb {
 namespace algorithms {
@@ -72,7 +72,7 @@ void QuickSort(
            \c a appears before an element \c b in the sorted range if
            <tt>comparison(a, b) == true</tt>. The default value uses the
            less-than relation. */
-  const embb::mtapi::ExecutionPolicy& policy = embb::mtapi::ExecutionPolicy(),
+  const embb::tasks::ExecutionPolicy& policy = embb::tasks::ExecutionPolicy(),
  /**< [IN] embb::mtapi::ExecutionPolicy for the quick sort algorithm */
  size_t block_size = 0
  /**< [IN] Lower bound for partitioning the range of elements into blocks that
@@ -95,7 +95,7 @@ void QuickSort(
  RAI first,
  RAI last,
  ComparisonFunction comparison,
-  const embb::mtapi::ExecutionPolicy& policy,
+  const embb::tasks::ExecutionPolicy& policy,
  size_t block_size
  );
@@ -109,7 +109,7 @@ void QuickSort(
  ) {
  QuickSort(first, last,
            std::less<typename std::iterator_traits<RAI>::value_type>(),
-            embb::mtapi::ExecutionPolicy(), 0);
+            embb::tasks::ExecutionPolicy(), 0);
 }
 /**
@@ -121,7 +121,7 @@ void QuickSort(
  RAI last,
  ComparisonFunction comparison
  ) {
-  QuickSort(first, last, comparison, embb::mtapi::ExecutionPolicy(), 0);
+  QuickSort(first, last, comparison, embb::tasks::ExecutionPolicy(), 0);
 }
 /**
@@ -132,7 +132,7 @@ void QuickSort(
  RAI first,
  RAI last,
  ComparisonFunction comparison,
-  const embb::mtapi::ExecutionPolicy& policy
+  const embb::tasks::ExecutionPolicy& policy
  ) {
  QuickSort(first, last, comparison, policy, 0);
 }

--- a/algorithms_cpp/include/embb/algorithms/reduce.h
+++ b/algorithms_cpp/include/embb/algorithms/reduce.h
@@ -27,7 +27,7 @@
 #ifndef EMBB_ALGORITHMS_REDUCE_H_
 #define EMBB_ALGORITHMS_REDUCE_H_
-#include <embb/mtapi/execution_policy.h>
+#include <embb/tasks/execution_policy.h>
 #include <embb/algorithms/identity.h>
 namespace embb {
@@ -113,7 +113,7 @@ ReturnType Reduce(
  ReturnType neutral,
  ReductionFunction reduction,
  TransformationFunction transformation,
-  const embb::mtapi::ExecutionPolicy& policy,
+  const embb::tasks::ExecutionPolicy& policy,
  size_t block_size
  );
@@ -128,7 +128,7 @@ ReturnType Reduce(
  ReductionFunction reduction
  ) {
  return Reduce(first, last, neutral, reduction, Identity(),
-    embb::mtapi::ExecutionPolicy(), 0);
+    embb::tasks::ExecutionPolicy(), 0);
 }
 /**
@@ -144,7 +144,7 @@ ReturnType Reduce(
  TransformationFunction transformation
  ) {
  return Reduce(first, last, neutral, reduction, transformation,
-    embb::mtapi::ExecutionPolicy(), 0);
+    embb::tasks::ExecutionPolicy(), 0);
 }
 /**
@@ -158,7 +158,7 @@ ReturnType Reduce(
  ReturnType neutral,
  ReductionFunction reduction,
  TransformationFunction transformation,
-  const embb::mtapi::ExecutionPolicy& policy
+  const embb::tasks::ExecutionPolicy& policy
  ) {
  return Reduce(first, last, neutral, reduction, transformation, policy, 0);
 }

--- a/algorithms_cpp/include/embb/algorithms/scan.h
+++ b/algorithms_cpp/include/embb/algorithms/scan.h
@@ -27,7 +27,7 @@
 #ifndef EMBB_ALGORITHMS_SCAN_H_
 #define EMBB_ALGORITHMS_SCAN_H_
-#include <embb/mtapi/execution_policy.h>
+#include <embb/tasks/execution_policy.h>
 #include <embb/algorithms/identity.h>
 namespace embb {
@@ -121,7 +121,7 @@ void Scan(
  ReturnType neutral,
  ScanFunction scan,
  TransformationFunction transformation,
-  const embb::mtapi::ExecutionPolicy& policy,
+  const embb::tasks::ExecutionPolicy& policy,
  size_t block_size
  );
@@ -138,7 +138,7 @@ void Scan(
  ScanFunction scan
  ) {
  Scan(first, last, output_iterator, neutral, scan, Identity(),
-    embb::mtapi::ExecutionPolicy(), 0);
+    embb::tasks::ExecutionPolicy(), 0);
 }
 /**
@@ -155,7 +155,7 @@ void Scan(
  TransformationFunction transformation
  ) {
  Scan(first, last, output_iterator, neutral, scan, transformation,
-    embb::mtapi::ExecutionPolicy(), 0);
+    embb::tasks::ExecutionPolicy(), 0);
 }
 /**
@@ -170,7 +170,7 @@ void Scan(
  ReturnType neutral,
  ScanFunction scan,
  TransformationFunction transformation,
-  const embb::mtapi::ExecutionPolicy& policy
+  const embb::tasks::ExecutionPolicy& policy
  ) {
  Scan(first, last, output_iterator, neutral, scan, transformation, policy, 0);
 }

--- a/algorithms_cpp/test/count_test.cc
+++ b/algorithms_cpp/test/count_test.cc
@@ -26,7 +26,7 @@
 #include <count_test.h>
 #include <embb/algorithms/count.h>
-#include <embb/mtapi/execution_policy.h>
+#include <embb/tasks/execution_policy.h>
 #include <deque>
 #include <vector>
 #include <functional>
@@ -122,7 +122,7 @@ void CountTest::TestBlockSizes() {
 void CountTest::TestPolicy() {
  using embb::algorithms::Count;
-  using embb::mtapi::ExecutionPolicy;
+  using embb::tasks::ExecutionPolicy;
  int a[] = { 10, 20, 30, 30, 20, 10, 10, 20, 20, 20 };
  std::vector<int> vector(a, a + (sizeof a / sizeof a[0]));
  PT_EXPECT_EQ(Count(vector.begin(), vector.end(), 10, ExecutionPolicy()), 3);
@@ -134,7 +134,7 @@ void CountTest::TestPolicy() {
 void CountTest::StressTest() {
  using embb::algorithms::Count;
-  size_t count = embb::mtapi::Node::GetInstance().GetCoreCount() *10;
+  size_t count = embb::tasks::Node::GetInstance().GetCoreCount() * 10;
  std::vector<int> large_vector(count);
  for (size_t i = 0; i < count; i++) {
    large_vector[i] = static_cast<int>(0);

--- a/algorithms_cpp/test/for_each_test.cc
+++ b/algorithms_cpp/test/for_each_test.cc
@@ -26,7 +26,7 @@
 #include <for_each_test.h>
 #include <embb/algorithms/for_each.h>
-#include <embb/mtapi/execution_policy.h>
+#include <embb/tasks/execution_policy.h>
 #include <vector>
 #include <deque>
 #include <sstream>
@@ -166,7 +166,7 @@ void ForEachTest::TestRanges() {
 void ForEachTest::TestBlockSizes() {
  using embb::algorithms::ForEach;
-  using embb::mtapi::ExecutionPolicy;
+  using embb::tasks::ExecutionPolicy;
  size_t count = 4;
  std::vector<int> init(count);
  std::vector<int> vector(count);
@@ -186,7 +186,7 @@ void ForEachTest::TestBlockSizes() {
 void ForEachTest::TestPolicy() {
  using embb::algorithms::ForEach;
-  using embb::mtapi::ExecutionPolicy;
+  using embb::tasks::ExecutionPolicy;
  size_t count = 4;
  std::vector<int> init(count);
  std::vector<int> vector(count);
@@ -240,8 +240,8 @@ void ForEachTest::TestPolicy() {
 void ForEachTest::StressTest() {
  using embb::algorithms::ForEach;
-  using embb::mtapi::ExecutionPolicy;
+  using embb::tasks::ExecutionPolicy;
-  size_t count = embb::mtapi::Node::GetInstance().GetCoreCount() *10;
+  size_t count = embb::tasks::Node::GetInstance().GetCoreCount() * 10;
  std::vector<int> large_vector(count);
  for (size_t i = 0; i < count; i++) {
    large_vector[i] = static_cast<int>((i + 2) % 1000);

--- a/algorithms_cpp/test/main.cc
+++ b/algorithms_cpp/test/main.cc
@@ -25,7 +25,7 @@
 */
 #include <partest/partest.h>
-#include <embb/mtapi/mtapi.h>
+#include <embb/tasks/tasks.h>
 #include <iostream>
 #include <sstream>
@@ -66,7 +66,7 @@ int compute1_() {
 }
 PT_MAIN("Algorithms") {
-  embb::mtapi::Node::Initialize(THIS_DOMAIN_ID, THIS_NODE_ID);
+  embb::tasks::Node::Initialize(THIS_DOMAIN_ID, THIS_NODE_ID);
  PT_RUN(PartitionerTest);
  PT_RUN(ForEachTest);
@@ -78,7 +78,7 @@ PT_MAIN("Algorithms") {
  PT_RUN(MergeSortTest);
  PT_RUN(InvokeTest);
-  embb::mtapi::Node::Finalize();
+  embb::tasks::Node::Finalize();
  PT_EXPECT(embb_get_bytes_allocated() == 0);

--- a/algorithms_cpp/test/merge_sort_test.cc
+++ b/algorithms_cpp/test/merge_sort_test.cc
@@ -26,7 +26,7 @@
 #include <merge_sort_test.h>
 #include <embb/algorithms/merge_sort.h>
-#include <embb/mtapi/execution_policy.h>
+#include <embb/tasks/execution_policy.h>
 #include <vector>
 #include <deque>
 #include <sstream>
@@ -50,7 +50,7 @@ MergeSortTest::MergeSortTest() {
 void MergeSortTest::TestDataStructures() {
  using embb::algorithms::MergeSortAllocate;
-  using embb::mtapi::ExecutionPolicy;
+  using embb::tasks::ExecutionPolicy;
  int array[kCountSize];
  std::vector<int> vector(kCountSize);
  std::deque<int> deque(kCountSize);
@@ -75,7 +75,7 @@ void MergeSortTest::TestDataStructures() {
 void MergeSortTest::TestFunctionPointers() {
  using embb::algorithms::MergeSortAllocate;
-  using embb::mtapi::ExecutionPolicy;
+  using embb::tasks::ExecutionPolicy;
  std::vector<int> vector(kCountSize);
  for (size_t i = kCountSize - 1; i > 0; i--) {
@@ -158,7 +158,7 @@ void MergeSortTest::TestRanges() {
 void MergeSortTest::TestBlockSizes() {
  using embb::algorithms::MergeSortAllocate;
-  using embb::mtapi::ExecutionPolicy;
+  using embb::tasks::ExecutionPolicy;
  size_t count = 4;
  std::vector<int> init(count);
  std::vector<int> vector(count);
@@ -181,7 +181,7 @@ void MergeSortTest::TestBlockSizes() {
 void MergeSortTest::TestPolicy() {
  using embb::algorithms::MergeSortAllocate;
-  using embb::mtapi::ExecutionPolicy;
+  using embb::tasks::ExecutionPolicy;
  size_t count = 4;
  std::vector<int> init(count);
  std::vector<int> vector(count);
@@ -242,7 +242,7 @@ void MergeSortTest::TestPolicy() {
 void MergeSortTest::StressTest() {
  using embb::algorithms::MergeSortAllocate;
-  size_t count = embb::mtapi::Node::GetInstance().GetCoreCount() * 10;
+  size_t count = embb::tasks::Node::GetInstance().GetCoreCount() * 10;
  std::vector<int> large_vector(count);
  std::vector<int> vector_copy(count);
  for (size_t i = count - 1; i > 0; i--) {

--- a/algorithms_cpp/test/quick_sort_test.cc
+++ b/algorithms_cpp/test/quick_sort_test.cc
@@ -26,7 +26,7 @@
 #include <quick_sort_test.h>
 #include <embb/algorithms/quick_sort.h>
-#include <embb/mtapi/execution_policy.h>
+#include <embb/tasks/execution_policy.h>
 #include <vector>
 #include <deque>
 #include <sstream>
@@ -54,7 +54,7 @@ QuickSortTest::QuickSortTest() {
 void QuickSortTest::TestDataStructures() {
  using embb::algorithms::QuickSort;
-  using embb::mtapi::ExecutionPolicy;
+  using embb::tasks::ExecutionPolicy;
  int array[kCountSize];
  std::vector<int> vector(kCountSize);
@@ -163,7 +163,7 @@ void QuickSortTest::TestRanges() {
 void QuickSortTest::TestBlockSizes() {
  using embb::algorithms::QuickSort;
-  using embb::mtapi::ExecutionPolicy;
+  using embb::tasks::ExecutionPolicy;
  size_t count = 4;
  std::vector<int> init(count);
@@ -187,7 +187,7 @@ void QuickSortTest::TestBlockSizes() {
 void QuickSortTest::TestPolicy() {
  using embb::algorithms::QuickSort;
-  using embb::mtapi::ExecutionPolicy;
+  using embb::tasks::ExecutionPolicy;
  size_t count = 4;
  std::vector<int> init(count);
  std::vector<int> vector(count);
@@ -248,7 +248,7 @@ void QuickSortTest::TestPolicy() {
 void QuickSortTest::StressTest() {
  using embb::algorithms::QuickSort;
-  size_t count = embb::mtapi::Node::GetInstance().GetCoreCount() *10;
+  size_t count = embb::tasks::Node::GetInstance().GetCoreCount() * 10;
  std::vector<int> large_vector(count);
  std::vector<int> vector_copy(count);
  for (size_t i = 0; i < count; i++) {

--- a/algorithms_cpp/test/reduce_test.cc
+++ b/algorithms_cpp/test/reduce_test.cc
@@ -26,7 +26,7 @@
 #include <reduce_test.h>
 #include <embb/algorithms/reduce.h>
-#include <embb/mtapi/execution_policy.h>
+#include <embb/tasks/execution_policy.h>
 #include <deque>
 #include <vector>
 #include <functional>
@@ -163,7 +163,7 @@ void ReduceTest::TestBlockSizes() {
 void ReduceTest::TestPolicy() {
  using embb::algorithms::Reduce;
-  using embb::mtapi::ExecutionPolicy;
+  using embb::tasks::ExecutionPolicy;
  using embb::algorithms::Identity;
  size_t count = 4;
  int sum = 0;
@@ -210,9 +210,9 @@ void ReduceTest::TestPolicy() {
 void ReduceTest::StressTest() {
  using embb::algorithms::Reduce;
-  using embb::mtapi::ExecutionPolicy;
+  using embb::tasks::ExecutionPolicy;
  using embb::algorithms::Identity;
-  size_t count = embb::mtapi::Node::GetInstance().GetCoreCount() *10;
+  size_t count = embb::tasks::Node::GetInstance().GetCoreCount() * 10;
  std::vector<int> large_vector(count);
  mtapi_int32_t expected = 0;
  for (size_t i = 0; i < count; i++) {

--- a/algorithms_cpp/test/scan_test.cc
+++ b/algorithms_cpp/test/scan_test.cc
@@ -228,7 +228,7 @@ void ScanTest::TestRanges() {
 void ScanTest::TestBlockSizes() {
  using embb::algorithms::Scan;
-  using embb::mtapi::ExecutionPolicy;
+  using embb::tasks::ExecutionPolicy;
  using embb::algorithms::Identity;
  size_t count = 4;
  std::vector<int> init(count);
@@ -253,7 +253,7 @@ void ScanTest::TestBlockSizes() {
 void ScanTest::TestPolicy() {
  using embb::algorithms::Scan;
-  using embb::mtapi::ExecutionPolicy;
+  using embb::tasks::ExecutionPolicy;
  using embb::algorithms::Identity;
  size_t count = 4;
  std::vector<int> init(count);
@@ -324,8 +324,8 @@ void ScanTest::TestPolicy() {
 void ScanTest::StressTest() {
  using embb::algorithms::Scan;
  using embb::algorithms::Identity;
-  using embb::mtapi::ExecutionPolicy;
+  using embb::tasks::ExecutionPolicy;
-  size_t count = embb::mtapi::Node::GetInstance().GetCoreCount() *10;
+  size_t count = embb::tasks::Node::GetInstance().GetCoreCount() *10;
  std::vector<int> large_vector(count);
  std::vector<int> large_vector_output(count);
  for (size_t i = 0; i < count; i++) {

--- a/algorithms_cpp/test/zip_iterator_test.cc
+++ b/algorithms_cpp/test/zip_iterator_test.cc
@@ -136,7 +136,7 @@ void ZipIteratorTest::TestZipScan() {
  Scan(embb::algorithms::Zip(vectorA.begin(), vectorB.begin()),
       embb::algorithms::Zip(vectorA.end(), vectorB.end()),
       vectorOut.begin(), 0, std::plus<int>(), DotProductFunctor(),
-       embb::mtapi::ExecutionPolicy(), 0);
+       embb::tasks::ExecutionPolicy(), 0);
  long sum = 0;
  for (size_t i = 0; i < kCountSize; i++) {

--- a/base_cpp/include/embb/base/core_set.h
+++ b/base_cpp/include/embb/base/core_set.h
@@ -184,6 +184,13 @@ class CoreSet {
    /** [IN] Core set on right-hand side of union operation */
    );
+  /**
+   * Provides access to internal representation to use it with C API.
+   *
+   * \return A reference to the internal embb_core_set_t structure.
+   */
+  embb_core_set_t const & GetInternal() const { return rep_; }
 private:
  /**
   * Internal representation of core set.

--- a/base_cpp/include/embb/base/duration.h
+++ b/base_cpp/include/embb/base/duration.h
@@ -46,6 +46,9 @@ namespace base {
 * Represents a relative time duration for a given tick type.
 *
 * \notthreadsafe
+ * \note The typedefs DurationSeconds, DurationMilliseconds,
+ *       DurationMicroseconds, and DurationNanoseconds provide directly usable
+ *       duration types.
 * \tparam Tick Possible tick types are Seconds, Milliseconds, Microseconds,
 *              Nanoseconds
 * \ingroup CPP_BASE_TIMEDURATION
@@ -271,6 +274,8 @@ Duration<Tick> operator+(
  return Duration<Tick>(lhs.Count() + rhs.Count());
 }
+namespace internal {
 /**
 * Base class for ticks.
 */
@@ -517,6 +522,33 @@ class Nanoseconds : public Tick {
  static unsigned long long Max();
 };
+} // namespace internal
+/**
+ * Duration with seconds tick.
+ *
+ * \ingroup CPP_BASE_TIMEDURATION
+ */
+typedef Duration<internal::Seconds> DurationSeconds;
+/**
+ * Duration with milliseconds tick.
+ *
+ * \ingroup CPP_BASE_TIMEDURATION
+ */
+typedef Duration<internal::Milliseconds> DurationMilliseconds;
+/**
+ * Duration with microseconds tick.
+ *
+ * \ingroup CPP_BASE_TIMEDURATION
+ */
+typedef Duration<internal::Microseconds> DurationMicroseconds;
+/**
+ * Duration with nanoseconds tick.
+ *
+ * \ingroup CPP_BASE_TIMEDURATION
+ */
+typedef Duration<internal::Nanoseconds> DurationNanoseconds;
 } // namespace base
 } // namespace embb

--- a/base_cpp/src/duration.cc
+++ b/base_cpp/src/duration.cc
@@ -35,7 +35,7 @@
 namespace embb {
 namespace base {
-void Tick::CheckExceptions(int status, const char* msg) {
+void internal::Tick::CheckExceptions(int status, const char* msg) {
  switch (status) {
  case EMBB_SUCCESS: return;
  case EMBB_OVERFLOW: EMBB_THROW(OverflowException, msg);
@@ -44,16 +44,18 @@ void Tick::CheckExceptions(int status, const char* msg) {
  }
 }
-int Seconds::Set(embb_duration_t& duration, unsigned long long ticks) {
+int internal::Seconds::Set(embb_duration_t& duration,
+                           unsigned long long ticks) {
  return embb_duration_set_seconds(&duration, ticks);
 }
-void Seconds::SetAndCheck(embb_duration_t& duration, unsigned long long ticks) {
+void internal::Seconds::SetAndCheck(embb_duration_t& duration,
+                                   unsigned long long ticks) {
  int status = Set(duration, ticks);
  CheckExceptions(status, "Setting duration from seconds");
 }
-unsigned long long Seconds::Get(const embb_duration_t& duration) {
+unsigned long long internal::Seconds::Get(const embb_duration_t& duration) {
  unsigned long long ticks = 0;
  int status = embb_duration_as_seconds(&duration, &ticks);
  assert(status == EMBB_SUCCESS);
@@ -61,25 +63,27 @@ unsigned long long Seconds::Get(const embb_duration_t& duration) {
  return ticks;
 }
-unsigned long long Seconds::Min() {
+unsigned long long internal::Seconds::Min() {
  return 1;
 }
-unsigned long long Seconds::Max() {
+unsigned long long internal::Seconds::Max() {
  return EMBB_DURATION_MAX_SECONDS;
 }
-int Milliseconds::Set(embb_duration_t& duration, unsigned long long ticks) {
+int internal::Milliseconds::Set(embb_duration_t& duration,
+                                unsigned long long ticks) {
  return embb_duration_set_milliseconds(&duration, ticks);
 }
-void Milliseconds::SetAndCheck(
+void internal::Milliseconds::SetAndCheck(
  embb_duration_t& duration, unsigned long long ticks) {
  int status = Set(duration, ticks);
  CheckExceptions(status, "Setting duration from milliseconds");
 }
-unsigned long long Milliseconds::Get(const embb_duration_t& duration) {
+unsigned long long internal::Milliseconds::Get(
+    const embb_duration_t& duration) {
  unsigned long long ticks = 0;
  int status = embb_duration_as_milliseconds(&duration, &ticks);
  assert(status == EMBB_SUCCESS);
@@ -87,7 +91,7 @@ unsigned long long Milliseconds::Get(const embb_duration_t& duration) {
  return ticks;
 }
-unsigned long long Milliseconds::Min() {
+unsigned long long internal::Milliseconds::Min() {
 #if EMBB_DURATION_MIN_NANOSECONDS > 1000000
  assert(EMBB_DURATION_MIN_NANOSECONDS % 1000000 == 0);
  return EMBB_DURATION_MIN_NANOSECONDS / 1000000;
@@ -95,7 +99,7 @@ unsigned long long Milliseconds::Min() {
  return 1;
 }
-unsigned long long Milliseconds::Max() {
+unsigned long long internal::Milliseconds::Max() {
 #if EMBB_DURATION_MAX_SECONDS < ULLONG_MAX / 1000
  return ULLONG_MAX;
 #else
@@ -103,17 +107,19 @@ unsigned long long Milliseconds::Max() {
 #endif
 }
-int Microseconds::Set(embb_duration_t& duration, unsigned long long ticks) {
+int internal::Microseconds::Set(embb_duration_t& duration,
+                                unsigned long long ticks) {
  return embb_duration_set_microseconds(&duration, ticks);
 }
-void Microseconds::SetAndCheck(
+void internal::Microseconds::SetAndCheck(
  embb_duration_t& duration, unsigned long long ticks) {
  int status = Set(duration, ticks);
  CheckExceptions(status, "Setting duration from microseconds");
 }
-unsigned long long Microseconds::Get(const embb_duration_t& duration) {
+unsigned long long internal::Microseconds::Get(
+    const embb_duration_t& duration) {
  unsigned long long ticks = 0;
  int status = embb_duration_as_microseconds(&duration, &ticks);
@@ -123,7 +129,7 @@ unsigned long long Microseconds::Get(const embb_duration_t& duration) {
  return ticks;
 }
-unsigned long long Microseconds::Min() {
+unsigned long long internal::Microseconds::Min() {
 #if EMBB_DURATION_MIN_NANOSECONDS > 1000
  assert(EMBB_DURATION_MIN_NANOSECONDS % 1000 == 0);
  return EMBB_DURATION_MIN_NANOSECONDS / 1000;
@@ -131,7 +137,7 @@ unsigned long long Microseconds::Min() {
  return 1;
 }
-unsigned long long Microseconds::Max() {
+unsigned long long internal::Microseconds::Max() {
 #if EMBB_DURATION_MAX_SECONDS < ULLONG_MAX / 1000000
  return ULLONG_MAX;
 #else
@@ -139,17 +145,18 @@ unsigned long long Microseconds::Max() {
 #endif
 }
-int Nanoseconds::Set(embb_duration_t& duration, unsigned long long ticks) {
+int internal::Nanoseconds::Set(embb_duration_t& duration,
+                               unsigned long long ticks) {
  return embb_duration_set_nanoseconds(&duration, ticks);
 }
-void Nanoseconds::SetAndCheck(
+void internal::Nanoseconds::SetAndCheck(
  embb_duration_t& duration, unsigned long long ticks) {
  int status = Set(duration, ticks);
  CheckExceptions(status, "Setting duration from microseconds");
 }
-unsigned long long Nanoseconds::Get(const embb_duration_t& duration) {
+unsigned long long internal::Nanoseconds::Get(const embb_duration_t& duration) {
  unsigned long long ticks = 0;
  int status = embb_duration_as_nanoseconds(&duration, &ticks);
  assert(status == EMBB_SUCCESS);
@@ -157,11 +164,11 @@ unsigned long long Nanoseconds::Get(const embb_duration_t& duration) {
  return ticks;
 }
-unsigned long long Nanoseconds::Min() {
+unsigned long long internal::Nanoseconds::Min() {
  return EMBB_DURATION_MIN_NANOSECONDS;
 }
-unsigned long long Nanoseconds::Max() {
+unsigned long long internal::Nanoseconds::Max() {
 #if EMBB_DURATION_MAX_SECONDS < ULLONG_MAX / 1000000000
  return ULLONG_MAX;
 #else

--- a/base_cpp/test/condition_var_test.cc
+++ b/base_cpp/test/condition_var_test.cc
@@ -63,15 +63,15 @@ void ConditionVarTest::TestTimedWaitTimeouts() {
  PT_EXPECT_EQ(success, false);
  // Wait for a future timepoint
-  success = cond.WaitUntil(lock, Time(Duration<Milliseconds>(1)));
+  success = cond.WaitUntil(lock, Time(DurationMilliseconds(1)));
  PT_EXPECT_EQ(success, false);
  // Wait for a zero duration
-  success = cond.WaitFor(lock, Duration<Milliseconds>());
+  success = cond.WaitFor(lock, DurationMilliseconds());
  PT_EXPECT_EQ(success, false);
  // Wait for some duration
-  success = cond.WaitFor(lock, Duration<Milliseconds>(1));
+  success = cond.WaitFor(lock, DurationMilliseconds(1));
  PT_EXPECT_EQ(success, false);
 }
@@ -96,14 +96,14 @@ void ConditionVarTest::TestNotify() {
    cond_notify_.NotifyOne();
-    cond_wait_.WaitUntil(lock_wait, Time(Duration<Milliseconds>(1)));
+    cond_wait_.WaitUntil(lock_wait, Time(DurationMilliseconds(1)));
    while (embb_counter_get(&counter_) == 0)
    {}  // If hangs here signal has not succeeded
    PT_ASSERT_EQ_MSG(embb_counter_get(&counter_),
        static_cast<unsigned int>(1), "Only 1 thread notified");
    cond_notify_.NotifyAll();
-    cond_wait_.WaitUntil(lock_wait, Time(Duration<Milliseconds>(2)));
+    cond_wait_.WaitUntil(lock_wait, Time(DurationMilliseconds(2)));
    while (embb_counter_get(&counter_) !=
        static_cast<unsigned int>(num_threads_-1))

--- a/base_cpp/test/duration_test.cc
+++ b/base_cpp/test/duration_test.cc
@@ -31,10 +31,13 @@ namespace base {
 namespace test {
 DurationTest::DurationTest() {
-  CreateUnit("Seconds").Add(&DurationTest::Test<Seconds>, this);
+  CreateUnit("Seconds").Add(&DurationTest::Test<internal::Seconds>, this);
-  CreateUnit("Milliseconds").Add(&DurationTest::Test<Milliseconds>, this);
+  CreateUnit("Milliseconds").Add(&DurationTest::Test<internal::Milliseconds>,
-  CreateUnit("Microseconds").Add(&DurationTest::Test<Microseconds>, this);
+                                 this);
-  CreateUnit("Nanoseconds").Add(&DurationTest::Test<Nanoseconds>, this);
+  CreateUnit("Microseconds").Add(&DurationTest::Test<internal::Microseconds>,
+                                 this);
+  CreateUnit("Nanoseconds").Add(&DurationTest::Test<internal::Nanoseconds>,
+                                this);
 }
 } // namespace test

--- a/dataflow_cpp/CMakeLists.txt
+++ b/dataflow_cpp/CMakeLists.txt
@@ -17,16 +17,16 @@ include_directories(${EMBB_DATAFLOW_CPP_INCLUDE_DIRS}
                    ${CMAKE_CURRENT_SOURCE_DIR}/../base_cpp/include
                    ${CMAKE_CURRENT_BINARY_DIR}/../base_cpp/include
                    ${CMAKE_CURRENT_SOURCE_DIR}/../mtapi_c/include
-                    ${CMAKE_CURRENT_SOURCE_DIR}/../mtapi_cpp/include
+                    ${CMAKE_CURRENT_SOURCE_DIR}/../tasks_cpp/include
-                    ${CMAKE_CURRENT_BINARY_DIR}/../mtapi_cpp/include)
+                    ${CMAKE_CURRENT_BINARY_DIR}/../tasks_cpp/include)
 add_library (embb_dataflow_cpp ${EMBB_DATAFLOW_CPP_SOURCES} ${EMBB_DATAFLOW_CPP_HEADERS})
-target_link_libraries(embb_dataflow_cpp embb_mtapi_cpp embb_base_cpp embb_mtapi_c embb_base_c)
+target_link_libraries(embb_dataflow_cpp embb_tasks_cpp embb_base_cpp embb_mtapi_c embb_base_c)
 if (BUILD_TESTS STREQUAL ON)
  include_directories(${CMAKE_CURRENT_BINARY_DIR}/../partest/include)
  add_executable (embb_dataflow_cpp_test ${EMBB_DATAFLOW_CPP_TEST_SOURCES})
-  target_link_libraries(embb_dataflow_cpp_test embb_mtapi_cpp embb_mtapi_c partest
+  target_link_libraries(embb_dataflow_cpp_test embb_dataflow_cpp embb_tasks_cpp embb_mtapi_c partest
                        embb_base_cpp embb_base_c ${compiler_libs})
  CopyBin(BIN embb_dataflow_cpp_test DEST ${local_install_dir})
 endif()

--- a/dataflow_cpp/include/embb/dataflow/internal/action.h
+++ b/dataflow_cpp/include/embb/dataflow/internal/action.h
@@ -29,7 +29,7 @@
 #include <cstddef>
-#include <embb/mtapi/taskcontext.h>
+#include <embb/tasks/task_context.h>
 #include <embb/dataflow/internal/node.h>
@@ -48,7 +48,7 @@ class Action {
    pending_ = 0;
  }
-  void RunMTAPI(embb::mtapi::TaskContext & /*context*/) {
+  void RunMTAPI(embb::tasks::TaskContext & /*context*/) {
    pending_ = 1;
    node_->Run(clock_);
    pending_ = 0;

--- a/dataflow_cpp/include/embb/dataflow/internal/inputs.h
+++ b/dataflow_cpp/include/embb/dataflow/internal/inputs.h
@@ -27,6 +27,7 @@
 #ifndef EMBB_DATAFLOW_INTERNAL_INPUTS_H_
 #define EMBB_DATAFLOW_INTERNAL_INPUTS_H_
+#include <embb/base/atomic.h>
 #include <embb/dataflow/internal/tuple.h>
 #include <embb/dataflow/internal/in.h>

--- a/dataflow_cpp/include/embb/dataflow/internal/node.h
+++ b/dataflow_cpp/include/embb/dataflow/internal/node.h
@@ -28,7 +28,7 @@
 #define EMBB_DATAFLOW_INTERNAL_NODE_H_
 #include <cstddef>
+#include <embb/base/exceptions.h>
 #include <embb/dataflow/internal/scheduler.h>
 namespace embb {
@@ -50,6 +50,9 @@ class Node {
 protected:
  Scheduler * sched_;
+  static int next_process_id_;
+  static int GetNextProcessID() { return next_process_id_++; }
 };
 } // namespace internal

--- a/dataflow_cpp/include/embb/dataflow/internal/process.h
+++ b/dataflow_cpp/include/embb/dataflow/internal/process.h
@@ -56,6 +56,13 @@ class Process< Slices, Serial, Inputs<Slices, I1, I2, I3, I4, I5>,
  explicit Process(FunctionType function)
    : executor_(function) {
    next_clock_ = 0;
+    queued_clock_ = 0;
+    bool ordered = Serial;
+    if (ordered) {
+      queue_id_ = GetNextProcessID();
+    } else {
+      queue_id_ = 0;
+    }
    inputs_.SetListener(this);
  }
@@ -95,21 +102,39 @@ class Process< Slices, Serial, Inputs<Slices, I1, I2, I3, I4, I5>,
  }
  virtual void OnClock(int clock) {
-    if (!inputs_.AreAtClock(clock))
+    if (!inputs_.AreAtClock(clock)) {
      EMBB_THROW(embb::base::ErrorException,
        "Some inputs are not at expected clock.")
+    }
    bool ordered = Serial;
    if (ordered) {
-      lock_.Lock();
+      bool retry = true;
-      for (int ii = next_clock_; ii < next_clock_ + Slices; ii++) {
+      while (retry) {
+        int clk = next_clock_;
+        int clk_end = clk + Slices;
+        int clk_res = clk;
+        for (int ii = clk; ii < clk_end; ii++) {
          if (!inputs_.AreAtClock(ii)) {
            break;
          }
-        next_clock_ = ii + 1;
+          clk_res++;
-        Run(ii);
+        }
+        if (clk_res > clk) {
+          if (next_clock_.CompareAndSwap(clk, clk_res)) {
+            while (queued_clock_.Load() < clk) continue;
+            for (int ii = clk; ii < clk_res; ii++) {
+              const int idx = ii % Slices;
+              action_[idx] = Action(this, ii);
+              sched_->Enqueue(queue_id_, action_[idx]);
+            }
+            queued_clock_.Store(clk_res);
+            retry = false;
+          }
+        } else {
+          retry = false;
+        }
      }
-      lock_.Unlock();
    } else {
      const int idx = clock % Slices;
      action_[idx] = Action(this, clock);
@@ -121,9 +146,10 @@ class Process< Slices, Serial, Inputs<Slices, I1, I2, I3, I4, I5>,
  InputsType inputs_;
  OutputsType outputs_;
  ExecutorType executor_;
-  int next_clock_;
  Action action_[Slices];
-  SpinLock lock_;
+  embb::base::Atomic<int> next_clock_;
+  embb::base::Atomic<int> queued_clock_;
+  int queue_id_;
 };
 } // namespace internal

--- a/dataflow_cpp/include/embb/dataflow/internal/scheduler.h
+++ b/dataflow_cpp/include/embb/dataflow/internal/scheduler.h
@@ -38,6 +38,7 @@ class Scheduler {
  Scheduler() {}
  virtual ~Scheduler() {}
  virtual void Spawn(Action & action) = 0;
+  virtual void Enqueue(int process_id, Action & action) = 0;
  virtual void WaitForSlice(int slice) = 0;
 };

--- a/dataflow_cpp/include/embb/dataflow/internal/scheduler_mtapi.h
+++ b/dataflow_cpp/include/embb/dataflow/internal/scheduler_mtapi.h
@@ -29,7 +29,7 @@
 #include <embb/dataflow/internal/action.h>
 #include <embb/dataflow/internal/scheduler.h>
-#include <embb/mtapi/node.h>
+#include <embb/tasks/node.h>
 #include <embb/base/function.h>
 namespace embb {
@@ -40,29 +40,51 @@ template <int Slices>
 class SchedulerMTAPI : public Scheduler {
 public:
  SchedulerMTAPI() {
-    embb::mtapi::Node & node = embb::mtapi::Node::GetInstance();
+    embb::tasks::Node & node = embb::tasks::Node::GetInstance();
    for (int ii = 0; ii < Slices; ii++) {
-      embb::mtapi::Group & group = node.CreateGroup();
+      embb::tasks::Group & group = node.CreateGroup();
      group_[ii] = &group;
    }
+    queue_count_ = static_cast<int>(node.GetWorkerThreadCount());
+    queue_ = reinterpret_cast<embb::tasks::Queue**>(
+      embb::base::Allocation::Allocate(
+      sizeof(embb::tasks::Queue*)*queue_count_));
+    for (int ii = 0; ii < queue_count_; ii++) {
+      embb::tasks::Queue & queue = node.CreateQueue(0, true);
+      queue_[ii] = &queue;
+    }
  }
  virtual ~SchedulerMTAPI() {
-    embb::mtapi::Node & node = embb::mtapi::Node::GetInstance();
+    embb::tasks::Node & node = embb::tasks::Node::GetInstance();
    for (int ii = 0; ii < Slices; ii++) {
      group_[ii]->WaitAll(MTAPI_INFINITE);
      node.DestroyGroup(*group_[ii]);
    }
+    for (int ii = 0; ii < queue_count_; ii++) {
+      node.DestroyQueue(*queue_[ii]);
+    }
+    embb::base::Allocation::Free(queue_);
  }
  virtual void Spawn(Action & action) {
    const int idx = action.GetClock() % Slices;
    group_[idx]->Spawn(embb::base::MakeFunction(action, &Action::RunMTAPI));
  }
+  virtual void Enqueue(int process_id, Action & action) {
+    const int idx = action.GetClock() % Slices;
+    const int queue_id = process_id % queue_count_;
+    queue_[queue_id]->Spawn(group_[idx],
+      embb::base::MakeFunction(action, &Action::RunMTAPI));
+  }
  virtual void WaitForSlice(int slice) {
    group_[slice]->WaitAll(MTAPI_INFINITE);
  }
 private:
-  embb::mtapi::Group * group_[Slices];
+  embb::tasks::Group * group_[Slices];
+  embb::tasks::Queue ** queue_;
+  int queue_count_;
 };
 } // namespace internal

--- a/dataflow_cpp/include/embb/dataflow/internal/scheduler_sequential.h
+++ b/dataflow_cpp/include/embb/dataflow/internal/scheduler_sequential.h
@@ -41,6 +41,9 @@ class SchedulerSequential : public Scheduler {
  virtual void Spawn(Action & action) {
    action.RunSequential();
  }
+  virtual void Enqueue(int, Action & action) {
+    action.RunSequential();
+  }
  virtual void WaitForSlice(int /*slice*/) {}
 };

--- a/dataflow_cpp/include/embb/dataflow/internal/signal.h
+++ b/dataflow_cpp/include/embb/dataflow/internal/signal.h
@@ -27,7 +27,7 @@
 #ifndef EMBB_DATAFLOW_INTERNAL_SIGNAL_H_
 #define EMBB_DATAFLOW_INTERNAL_SIGNAL_H_
-#include <embb/dataflow/internal/spinlock.h>
+#include <embb/base/c/atomic.h>
 namespace embb {
 namespace dataflow {
@@ -42,27 +42,23 @@ class Signal {
  Signal(Signal const & other)
    : blank_(other.blank_), value_(other.value_), clock_(other.clock_) {}
  void operator = (Signal const & rhs) {
-    lock_.Lock();
    blank_ = rhs.blank_;
    value_ = rhs.value_;
    clock_ = rhs.clock_;
-    lock_.Unlock();
+    embb_atomic_memory_barrier();
  }
  int GetClock() const { return clock_; }
  bool IsBlank() const { return blank_; }
  Type const & GetValue() const { return value_; }
  void Clear() {
-    lock_.Lock();
    blank_ = true;
    clock_ = -1;
-    lock_.Unlock();
  }
 private:
  bool blank_;
  Type value_;
  int clock_;
-  SpinLock lock_;
 };
 } // namespace internal

--- a/dataflow_cpp/include/embb/dataflow/internal/sink.h
+++ b/dataflow_cpp/include/embb/dataflow/internal/sink.h
@@ -52,6 +52,8 @@ class Sink< Slices, Inputs<Slices, I1, I2, I3, I4, I5> >
  explicit Sink(FunctionType function)
    : executor_(function) {
    next_clock_ = 0;
+    queued_clock_ = 0;
+    queue_id_ = GetNextProcessID();
    inputs_.SetListener(this);
  }
@@ -80,32 +82,47 @@ class Sink< Slices, Inputs<Slices, I1, I2, I3, I4, I5> >
  }
  virtual void OnClock(int clock) {
-    TrySpawn(clock);
+    if (!inputs_.AreAtClock(clock)) {
-  }
- private:
-  InputsType inputs_;
-  ExecutorType executor_;
-  int next_clock_;
-  Action action_[Slices];
-  ClockListener * listener_;
-  SpinLock lock_;
-  void TrySpawn(int clock) {
-    if (!inputs_.AreAtClock(clock))
      EMBB_THROW(embb::base::ErrorException,
        "Some inputs are not at expected clock.")
+    }
-    lock_.Lock();
+    bool retry = true;
-    for (int ii = next_clock_; ii < next_clock_ + Slices; ii++) {
+    while (retry) {
+      int clk = next_clock_;
+      int clk_end = clk + Slices;
+      int clk_res = clk;
+      for (int ii = clk; ii < clk_end; ii++) {
        if (!inputs_.AreAtClock(ii)) {
          break;
        }
-      next_clock_ = ii + 1;
+        clk_res++;
-      Run(ii);
+      }
+      if (clk_res > clk) {
+        if (next_clock_.CompareAndSwap(clk, clk_res)) {
+          while (queued_clock_.Load() < clk) continue;
+          for (int ii = clk; ii < clk_res; ii++) {
+            const int idx = ii % Slices;
+            action_[idx] = Action(this, ii);
+            sched_->Enqueue(queue_id_, action_[idx]);
          }
-    lock_.Unlock();
+          queued_clock_.Store(clk_res);
+          retry = false;
        }
+      } else {
+        retry = false;
+      }
+    }
+  }
+ private:
+  InputsType inputs_;
+  ExecutorType executor_;
+  Action action_[Slices];
+  ClockListener * listener_;
+  embb::base::Atomic<int> next_clock_;
+  embb::base::Atomic<int> queued_clock_;
+  int queue_id_;
 };
 } // namespace internal

--- a/dataflow_cpp/include/embb/dataflow/internal/source.h
+++ b/dataflow_cpp/include/embb/dataflow/internal/source.h
@@ -27,13 +27,9 @@
 #ifndef EMBB_DATAFLOW_INTERNAL_SOURCE_H_
 #define EMBB_DATAFLOW_INTERNAL_SOURCE_H_
-#include <embb/base/atomic.h>
-#include <embb/base/thread.h>
 #include <embb/dataflow/internal/node.h>
 #include <embb/dataflow/internal/outputs.h>
 #include <embb/dataflow/internal/source_executor.h>
-#include <embb/dataflow/internal/action.h>
 namespace embb {
 namespace dataflow {
@@ -53,7 +49,6 @@ class Source< Slices, Outputs<Slices, O1, O2, O3, O4, O5> >
  explicit Source(FunctionType function)
    : executor_(function), not_done_(true) {
-    next_clock_ = 0;
  }
  virtual bool HasOutputs() const {
@@ -62,7 +57,6 @@ class Source< Slices, Outputs<Slices, O1, O2, O3, O4, O5> >
  virtual void Run(int clock) {
    not_done_ = executor_.Execute(clock, outputs_);
-    next_clock_++;
  }
  virtual bool Start(int clock) {
@@ -89,9 +83,7 @@ class Source< Slices, Outputs<Slices, O1, O2, O3, O4, O5> >
 private:
  OutputsType outputs_;
  ExecutorType executor_;
-  Action action_[Slices];
  volatile bool not_done_;
-  embb::base::Atomic<int> next_clock_;
 };
 } // namespace internal

--- a/dataflow_cpp/src/dummy.cc
+++ b/dataflow_cpp/src/dummy.cc
@@ -24,3 +24,6 @@
 * POSSIBILITY OF SUCH DAMAGE.
 */
+#include <embb/dataflow/internal/node.h>
+int embb::dataflow::internal::Node::next_process_id_ = 0;
--- a/dataflow_cpp/test/dataflow_cpp_test_simple.cc
+++ b/dataflow_cpp/test/dataflow_cpp_test_simple.cc
@@ -29,7 +29,7 @@
 #include <iostream>
 #include <sstream>
-#include <embb/mtapi/mtapi.h>
+#include <embb/tasks/tasks.h>
 #include <embb/base/function.h>
 #include <embb/base/c/memory_allocation.h>
@@ -60,7 +60,7 @@ bool sourceFunc(int & out) {
  source_array[source_counter] = out;
  source_counter++;
-  return source_counter < 12;
+  return source_counter < TEST_COUNT;
 }
 embb::base::Atomic<int> pred_counter;
@@ -143,7 +143,7 @@ SimpleTest::SimpleTest() {
 }
 void SimpleTest::TestBasic() {
-  embb::mtapi::Node::Initialize(1, 1);
+  embb::tasks::Node::Initialize(1, 1);
  for (int ii = 0; ii < 10000; ii++) {
    ArraySink<TEST_COUNT> asink;
@@ -203,7 +203,7 @@ void SimpleTest::TestBasic() {
    PT_EXPECT(asink.Check());
  }
-  embb::mtapi::Node::Finalize();
+  embb::tasks::Node::Finalize();
  PT_EXPECT(embb_get_bytes_allocated() == 0);
 }
--- a/doc/examples/CMakeLists.txt
+++ b/doc/examples/CMakeLists.txt
@@ -11,7 +11,8 @@ include_directories(
  ${CMAKE_CURRENT_BINARY_DIR}/../../base_cpp/include
  ${CMAKE_CURRENT_SOURCE_DIR}/../../mtapi_c/include
  ${CMAKE_CURRENT_SOURCE_DIR}/../../mtapi_cpp/include
-  ${CMAKE_CURRENT_BINARY_DIR}/../../mtapi_cpp/include
+  ${CMAKE_CURRENT_SOURCE_DIR}/../../tasks_cpp/include
+  ${CMAKE_CURRENT_BINARY_DIR}/../../tasks_cpp/include
  ${CMAKE_CURRENT_SOURCE_DIR}/../../containers_cpp/include
  ${CMAKE_CURRENT_SOURCE_DIR}/../../algorithms_cpp/include
  ${CMAKE_CURRENT_SOURCE_DIR}/../../dataflow_cpp/include
@@ -22,6 +23,6 @@ if(CMAKE_COMPILER_IS_GNUCXX)
 endif()
 add_executable(examples ${EXAMPLES_SOURCES})
-target_link_libraries(examples embb_dataflow_cpp embb_algorithms_cpp embb_mtapi_cpp
+target_link_libraries(examples embb_dataflow_cpp embb_algorithms_cpp embb_tasks_cpp embb_mtapi_cpp
                      embb_mtapi_c embb_base_cpp embb_base_c embb_containers_cpp ${compiler_libs})
 CopyBin(BIN examples DEST ${local_install_dir})
--- a/doc/examples/main.cc
+++ b/doc/examples/main.cc
@@ -25,9 +25,11 @@
 */
 #include <iostream>
+#include <embb/base/c/thread.h>
 void RunMTAPI_C();
 void RunMTAPI_CPP();
+void RunTasks();
 void RunDataflowLinear();
 void RunDataflowNonLinear();
 void RunSTLForEach();
@@ -45,6 +47,8 @@ void RunQueueExamples();
 * Runs all examples and tests their correctness.
 */
 int main() {
+  embb_thread_set_max_count(1024);
  std::cout << "Running examples ..." << std::endl;
  std::cout << "RunMTAPI_C() ..." << std::endl;
@@ -55,6 +59,10 @@ int main() {
  RunMTAPI_CPP();
  std::cout << "RunMTAPI_CPP() ... done" << std::endl;
+  std::cout << "RunTasks() ..." << std::endl;
+  RunTasks();
+  std::cout << "RunTasks() ... done" << std::endl;
  std::cout << "RunDataflowLinear() ..." << std::endl;
  RunDataflowLinear();
  std::cout << "RunDataflowLinear() ... done" << std::endl;

--- a/doc/examples/mtapi/mtapi_c_domain_node_id-snippet.h
+++ b/doc/examples/mtapi/mtapi_c_domain_node_id-snippet.h
@@ -2,4 +2,4 @@
 #define THIS_NODE_ID 1
 #define FIBONACCI_JOB 1
-mtapi_job_hndl_t fibonacciJob;
+static mtapi_job_hndl_t fibonacciJob;
--- a/doc/examples/mtapi/mtapi_cpp-fragmented.cc
+++ b/doc/examples/mtapi/mtapi_cpp-fragmented.cc
@@ -29,9 +29,12 @@
 #include <embb/mtapi/mtapi.h>
 #include "mtapi/mtapi_check_status-snippet.h"
+#include "mtapi/mtapi_cpp_domain_node_id-snippet.h"
 static
-#include "mtapi/mtapi_cpp_action_signature-snippet.h"
+#include "mtapi/mtapi_c_action_signature-snippet.h"
+#include "mtapi/mtapi_c_validate_arguments-snippet.h"
+#include "mtapi/mtapi_c_validate_result_buffer-snippet.h"
  /* get the node instance */
 #include "mtapi/mtapi_cpp_get_node-snippet.h"
  /* calculate */
@@ -39,26 +42,26 @@ static
    /* first recursive call spawned as task (x = fib(n - 1);) */
 #include "mtapi/mtapi_cpp_calc_task-snippet.h"
    /* second recursive call can be called directly (y = fib(n - 2);) */
-#include "mtapi/mtapi_cpp_calc_direct-snippet.h"
+#include "mtapi/mtapi_c_calc_direct-snippet.h"
    /* wait for completion */
 #include "mtapi/mtapi_cpp_wait_task-snippet.h"
-    /* add the two preceeding numbers */
+    /* add the two preceding numbers */
 #include "mtapi/mtapi_write_back-snippet.h"
 static
 int fibonacci(int n) {
-  /* get the node instance, the node is initialized automatically */
+#include "mtapi/mtapi_cpp_initialize-snippet.h"
-  embb::mtapi::Node& node = embb::mtapi::Node::GetInstance();
+#include "mtapi/mtapi_cpp_register_action-snippet.h"
+#include "mtapi/mtapi_cpp_get_node-snippet.h"
  /* start calculation */
 #include "mtapi/mtapi_cpp_start_task-snippet.h"
  /* wait for task completion */
  mtapi_status_t status = task.Wait(MTAPI_INFINITE);
  MTAPI_CHECK_STATUS(status);
+#include "mtapi/mtapi_cpp_finalize-snippet.h"
  return result;
 }
 void RunMTAPI_CPP() {
-  int result = fibonacci(6);
+#include "mtapi/mtapi_cpp_main-snippet.h"
-  std::cout << "result: " << result << std::endl;
 }
--- a/doc/examples/mtapi/mtapi_cpp_calc_task-snippet.h
+++ b/doc/examples/mtapi/mtapi_cpp_calc_task-snippet.h
    int a = n - 1;
    int x;
-    embb::mtapi::Task task = node.Spawn(
+    embb::mtapi::Task task = node.Start(fibonacciJob, &a, &x);
-      embb::base::Bind(
-        embb::base::MakeFunction(fibonacciActionFunction),
-        a,                             /* argument */
-        &x,                            /* result */
-        embb::base::Placeholder::_1
-      )
-    );
--- a/doc/examples/mtapi/mtapi_cpp_domain_node_id-snippet.h
+++ b/doc/examples/mtapi/mtapi_cpp_domain_node_id-snippet.h
+#define THIS_DOMAIN_ID 1
+#define THIS_NODE_ID 1
+#define FIBONACCI_JOB 1
+static embb::mtapi::Job fibonacciJob;
--- a/doc/examples/mtapi/mtapi_cpp_finalize-snippet.h
+++ b/doc/examples/mtapi/mtapi_cpp_finalize-snippet.h
+  /* finalize the node */
+  embb::mtapi::Node::Finalize();
--- a/doc/examples/mtapi/mtapi_cpp_initialize-snippet.h
+++ b/doc/examples/mtapi/mtapi_cpp_initialize-snippet.h
+  /* initialize the node with default attributes */
+  embb::mtapi::Node::Initialize(THIS_DOMAIN_ID, THIS_NODE_ID);
--- a/doc/examples/mtapi/mtapi_cpp_main-snippet.h
+++ b/doc/examples/mtapi/mtapi_cpp_main-snippet.h
+  EMBB_TRY {
+    int result = fibonacci(6);
+    std::cout << "result: " << result << std::endl;
+  } EMBB_CATCH(embb::mtapi::StatusException &) {
+    std::cout << "MTAPI error occured." << std::endl;
+  }
--- a/doc/examples/mtapi/mtapi_cpp_register_action-snippet.h
+++ b/doc/examples/mtapi/mtapi_cpp_register_action-snippet.h
+  /* create action */
+  embb::mtapi::Action fibonacciAction(
+    FIBONACCI_JOB,                     /* action ID, defined by the
+                                          application */
+    (fibonacciActionFunction)          /* action function */
+  );
+  /* get job */
+  fibonacciJob = embb::mtapi::Job(FIBONACCI_JOB, THIS_DOMAIN_ID);
--- a/doc/examples/mtapi/mtapi_cpp_start_task-snippet.h
+++ b/doc/examples/mtapi/mtapi_cpp_start_task-snippet.h
  int result;
-  embb::mtapi::Task task = node.Spawn(
+  embb::mtapi::Task task = node.Start(fibonacciJob, &n, &result);
-    embb::base::Bind(
-      embb::base::MakeFunction(fibonacciActionFunction),
-      n,
-      &result,
-      embb::base::Placeholder::_1
-    )
-  );
--- a/doc/examples/mtapi/mtapi_cpp_wait_task-snippet.h
+++ b/doc/examples/mtapi/mtapi_cpp_wait_task-snippet.h
    mtapi_status_t status = task.Wait(MTAPI_INFINITE);
-    MTAPI_CHECK_STATUS(status);
+    if (status != MTAPI_SUCCESS) {
+      printf("task failed with error: %d\n\n", status);
+      exit(status);
+    }
--- a/doc/examples/tasks/tasks_cpp-fragmented.cc
+++ b/doc/examples/tasks/tasks_cpp-fragmented.cc
+/*
+ * Copyright (c) 2014-2015, Siemens AG. All rights reserved.
+ *
+ * Redistribution and use in source and binary forms, with or without
+ * modification, are permitted provided that the following conditions are met:
+ *
+ * 1. Redistributions of source code must retain the above copyright notice,
+ * this list of conditions and the following disclaimer.
+ *
+ * 2. Redistributions in binary form must reproduce the above copyright notice,
+ * this list of conditions and the following disclaimer in the documentation
+ * and/or other materials provided with the distribution.
+ *
+ * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS"
+ * AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE
+ * IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE
+ * ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER OR CONTRIBUTORS BE
+ * LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR
+ * CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF
+ * SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS
+ * INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN
+ * CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE)
+ * ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
+ * POSSIBILITY OF SUCH DAMAGE.
+ */
+#include <iostream>
+#include <embb/tasks/tasks.h>
+#include "mtapi/mtapi_check_status-snippet.h"
+static
+#include "tasks/tasks_cpp_action_signature-snippet.h"
+  /* get the node instance */
+#include "tasks/tasks_cpp_get_node-snippet.h"
+  /* calculate */
+#include "mtapi/mtapi_terminating_condition-snippet.h"
+    /* first recursive call spawned as task (x = fib(n - 1);) */
+#include "tasks/tasks_cpp_calc_task-snippet.h"
+    /* second recursive call can be called directly (y = fib(n - 2);) */
+#include "tasks/tasks_cpp_calc_direct-snippet.h"
+    /* wait for completion */
+#include "tasks/tasks_cpp_wait_task-snippet.h"
+    /* add the two preceeding numbers */
+#include "mtapi/mtapi_write_back-snippet.h"
+static
+int fibonacci(int n) {
+  /* get the node instance, the node is initialized automatically */
+  embb::tasks::Node& node = embb::tasks::Node::GetInstance();
+  /* start calculation */
+#include "tasks/tasks_cpp_start_task-snippet.h"
+  /* wait for task completion */
+  mtapi_status_t status = task.Wait(MTAPI_INFINITE);
+  MTAPI_CHECK_STATUS(status);
+  return result;
+}
+void RunTasks() {
+  int result = fibonacci(6);
+  std::cout << "result: " << result << std::endl;
+}
--- a/doc/examples/mtapi/mtapi_cpp_action_signature-snippet.h
+++ b/doc/examples/mtapi/mtapi_cpp_action_signature-snippet.h
 void fibonacciActionFunction(
  int n,
  int* result,
-  embb::mtapi::TaskContext & task_context
+  embb::tasks::TaskContext & task_context
  ) {
--- a/doc/examples/mtapi/mtapi_cpp_calc_direct-snippet.h
+++ b/doc/examples/mtapi/mtapi_cpp_calc_direct-snippet.h
--- a/doc/examples/tasks/tasks_cpp_calc_task-snippet.h
+++ b/doc/examples/tasks/tasks_cpp_calc_task-snippet.h
+    int a = n - 1;
+    int x;
+    embb::tasks::Task task = node.Spawn(
+      embb::base::Bind(
+        embb::base::MakeFunction(fibonacciActionFunction),
+        a,                             /* argument */
+        &x,                            /* result */
+        embb::base::Placeholder::_1
+      )
+    );
--- a/doc/examples/tasks/tasks_cpp_get_node-snippet.h
+++ b/doc/examples/tasks/tasks_cpp_get_node-snippet.h
+  embb::tasks::Node& node = embb::tasks::Node::GetInstance();
--- a/doc/examples/tasks/tasks_cpp_start_task-snippet.h
+++ b/doc/examples/tasks/tasks_cpp_start_task-snippet.h
+  int result;
+  embb::tasks::Task task = node.Spawn(
+    embb::base::Bind(
+      embb::base::MakeFunction(fibonacciActionFunction),
+      n,
+      &result,
+      embb::base::Placeholder::_1
+    )
+  );
--- a/doc/examples/tasks/tasks_cpp_wait_task-snippet.h
+++ b/doc/examples/tasks/tasks_cpp_wait_task-snippet.h
+    mtapi_status_t status = task.Wait(MTAPI_INFINITE);
+    MTAPI_CHECK_STATUS(status);
--- a/doc/reference/Doxyfile.in
+++ b/doc/reference/Doxyfile.in
@@ -148,6 +148,7 @@ INPUT                  = "@CMAKE_SOURCE_DIR@/doc/reference/embb.dox" \
                         "@CMAKE_SOURCE_DIR@/containers_cpp/include" \
                         "@CMAKE_SOURCE_DIR@/dataflow_cpp/include" \
                         "@CMAKE_SOURCE_DIR@/algorithms_cpp/include" \
+                         "@CMAKE_SOURCE_DIR@/tasks_cpp/include" \
                         "@CMAKE_SOURCE_DIR@/mtapi_cpp/include" \
                         "@CMAKE_SOURCE_DIR@/base_cpp/include" \
                         "@CMAKE_SOURCE_DIR@/mtapi_c/include" \

--- a/doc/reference/embb.dox
+++ b/doc/reference/embb.dox
@@ -20,10 +20,10 @@ programming interface for leveraging task parallelism in embedded
 systems containing symmetric or asymmetric multicore processors. A core
 feature of MTAPI is low-overhead scheduling of fine-grained tasks among
 the available cores during runtime. Unlike existing libraries,
-EMB<sup>2</sup> supports task priorities, which allows the creation of
+EMB<sup>2</sup> supports task priorities and affinities, which allows
-soft real-time systems. Additionally, the scheduling strategy can be
+the creation of soft real-time systems. Additionally, the scheduling
-optimized for non-functional requirements such as minimal latency and
+strategy can be optimized for non-functional requirements such as minimal
-fairness.
+latency and fairness.
 Besides the task scheduler, EMB<sup>2</sup> provides basic parallel
 algorithms, concurrent data structures, and skeletons for implementing

--- a/doc/tutorial/content/mtapi.tex
+++ b/doc/tutorial/content/mtapi.tex
@@ -152,27 +152,21 @@ After everything is done, the action is deleted (\lstinline|mtapi_action_delete(
 \section{C++ Interface}
 \label{sec:mtapi_cpp_interface}
-\embb provides C++ wrappers for the MTAPI C interface. Using the example from the previous section, the signature of the action function for the C++ interface looks like this:
+\embb provides C++ wrappers for the MTAPI C interface. The signature of the action function for the C++ interface is the same as in the C interface:
 %
-\\\inputlisting{../examples/mtapi/mtapi_cpp_action_signature-snippet.h}
+\\\inputlisting{../examples/mtapi/mtapi_c_action_signature-snippet.h}
-%
-First, the node instance needs to be obtained. If the node is not initialized yet, this function will do it.
-%
-\\\inputlisting{../examples/mtapi/mtapi_cpp_get_node-snippet.h}
 %
-\emph{\textbf{Note:} Automatic initialization allows for easy usage of the \emph{Algorithms} and \emph{Dataflow} building blocks. For performance measurements however, explicit initialization by calling \lstinline|embb::mtapi::Node::Initialize| is imperative since the measurements will otherwise include the initialization time of MTAPI.}
+Checking argument and result buffer sizes is the same as in the C example. Also, the terminating condition of the recursion still needs to be checked:
-Checking the arguments and the result buffer is not necessary, since everything is safely typed. However, the terminating condition of the recursion still needs to be checked:
 %
 \\\inputlisting{../examples/mtapi/mtapi_terminating_condition-snippet.h}
 %
-After that, the first part of the computation is launched as an MTAPI task using \lstinline|embb::mtapi::Node::Spawn()| (registering an action function with a job is done automatically):
+After that, the first part of the computation is launched as an MTAPI task using \lstinline|embb::mtapi::Node::Start()| (the action function is registered with the job \lstinline|FIBONACCI_JOB| in the \lstinline|fibonacci()| function and the resulting handle is stored in the global variable \lstinline|embb::mtapi::Job fibonacciJob|):
 %
 \\\inputlisting{../examples/mtapi/mtapi_cpp_calc_task-snippet.h}
 %
 The second part can be executed directly:
 %
-\\\inputlisting{../examples/mtapi/mtapi_cpp_calc_direct-snippet.h}
+\\\inputlisting{../examples/mtapi/mtapi_c_calc_direct-snippet.h}
 %
 Then, completion of the MTAPI task has to be waited for using \lstinline|embb::mtapi::Task::Wait()|:
 %
@@ -182,15 +176,29 @@ Finally, the two parts can be added and written into the result buffer:
 %
 \\\inputlisting{../examples/mtapi/mtapi_write_back-snippet.h}
 % 
+Note that there is no need to do error checking everywhere, since errors are reported as exceptions. In this example there is only a single try/catch block in the main function:
+%
+\\\inputlisting{../examples/mtapi/mtapi_cpp_main-snippet.h}
+%
-The \lstinline|fibonacci()| function also gets simpler compared to the C version. The MTAPI runtime is initialized automatically, only the node instance has to be fetched:
+The \lstinline|fibonacci()| function is about the same as in the C version. The MTAPI runtime needs to be initialized first:
+%
+\\\inputlisting{../examples/mtapi/mtapi_cpp_initialize-snippet.h}
+%
+Then the node instance can to be fetched:
 %
 \\\inputlisting{../examples/mtapi/mtapi_cpp_get_node-snippet.h}
 %
-The root task can be started using \lstinline|embb::mtapi::Node::Spawn()| directly, registering with a job is done automatically:
+After that, the action function needs to be associated to a job. By instancing an \lstinline|embb::mtap::Action| object, the action function is registered with the job \lstinline|FIBONACCI_JOB|. The job is stored in the global variable \lstinline|embb::mtapi::Job fibonacciJob| so that it can be accessed by the action function later on:
+%
+\\\inputlisting{../examples/mtapi/mtapi_cpp_register_action-snippet.h}
+%
+Not that the action is registered and the job is initialized, the root task can be started:
 %
 \\\inputlisting{../examples/mtapi/mtapi_cpp_start_task-snippet.h}
 %
-Again, the started task has to be waited for (using \lstinline|embb::mtapi::Task::Wait()|) before the result can be returned. The runtime is shut down automatically in an \lstinline|atexit()| handler.
+Again, the started task has to be waited for (using \lstinline|embb::mtapi::Task::Wait()|) before the result can be returned.
-\emph{\textbf{Note:} If the node was initialized explicitly by calling \lstinline|embb::mtapi::Node::Initialize|, the runtime must also be shut down explicitly by calling \lstinline|embb::mtapi::Node::Finalize|.}
+The registered action will be unregistered when it goes out of scope.
+The runtime needs to be shut down by calling:
+\\\inputlisting{../examples/mtapi/mtapi_cpp_finalize-snippet.h}
--- a/doc/tutorial/content/tasks.tex
+++ b/doc/tutorial/content/tasks.tex
+\chapter{Tasks}
+\label{cha:tasks}
+\embb provides a simple task management wrapper for the MTAPI interface. Using the example from the previous section, the signature of the action function for the tasks interface looks like this:
+%
+\\\inputlisting{../examples/tasks/tasks_cpp_action_signature-snippet.h}
+%
+First, the node instance needs to be obtained. If the node is not initialized yet, this function will do it.
+%
+\\\inputlisting{../examples/tasks/tasks_cpp_get_node-snippet.h}
+%
+\emph{\textbf{Note:} Automatic initialization allows for easy usage of the \emph{Algorithms} and \emph{Dataflow} building blocks. For performance measurements however, explicit initialization by calling \lstinline|embb::tasks::Node::Initialize| is imperative since the measurements will otherwise include the initialization time of MTAPI.}
+Checking the arguments and the result buffer is not necessary, since everything is safely typed. However, the terminating condition of the recursion still needs to be checked:
+%
+\\\inputlisting{../examples/mtapi/mtapi_terminating_condition-snippet.h}
+%
+After that, the first part of the computation is launched as an MTAPI task using \lstinline|embb::tasks::Node::Spawn()| (registering an action function with a job is done automatically):
+%
+\\\inputlisting{../examples/tasks/tasks_cpp_calc_task-snippet.h}
+%
+The second part can be executed directly:
+%
+\\\inputlisting{../examples/tasks/tasks_cpp_calc_direct-snippet.h}
+%
+Then, completion of the MTAPI task has to be waited for using \lstinline|embb::tasks::Task::Wait()|:
+%
+\\\inputlisting{../examples/tasks/tasks_cpp_wait_task-snippet.h}
+%
+Finally, the two parts can be added and written into the result buffer:
+%
+\\\inputlisting{../examples/mtapi/mtapi_write_back-snippet.h}
+% 
+The \lstinline|fibonacci()| function also gets simpler compared to the C version. The MTAPI runtime is initialized automatically, only the node instance has to be fetched:
+%
+\\\inputlisting{../examples/tasks/tasks_cpp_get_node-snippet.h}
+%
+The root task can be started using \lstinline|embb::tasks::Node::Spawn()| directly, registering with a job is done automatically:
+%
+\\\inputlisting{../examples/tasks/tasks_cpp_start_task-snippet.h}
+%
+Again, the started task has to be waited for (using \lstinline|embb::tasks::Task::Wait()|) before the result can be returned. The runtime is shut down automatically in an \lstinline|atexit()| handler.
+\emph{\textbf{Note:} If the node was initialized explicitly by calling \lstinline|embb::tasks::Node::Initialize|, the runtime must also be shut down explicitly by calling \lstinline|embb::tasks::Node::Finalize|.}
--- a/doc/tutorial/tutorial.tex
+++ b/doc/tutorial/tutorial.tex
@@ -114,6 +114,7 @@
 % \input{content/preface}
 \input{content/introduction}
 \input{content/mtapi}
+\input{content/tasks}
 \input{content/algorithms}
 \input{content/dataflow}
 \input{content/containers}

--- a/mtapi_c/src/embb_mtapi_scheduler_t.c
+++ b/mtapi_c/src/embb_mtapi_scheduler_t.c
@@ -304,39 +304,44 @@ int embb_mtapi_scheduler_worker(void * arg) {
      switch (task->state) {
      case MTAPI_TASK_SCHEDULED:
+      /* multi-instance task, another instance might be running */
+      case MTAPI_TASK_RUNNING:
        /* there was work, execute it */
        embb_mtapi_task_context_initialize_with_thread_context_and_task(
          &task_context, thread_context, task);
-        embb_mtapi_task_execute(task, &task_context);
+        if (embb_mtapi_task_execute(task, &task_context)) {
          /* tell queue that a task is done */
          if (MTAPI_NULL != local_queue) {
            embb_mtapi_queue_task_finished(local_queue);
          }
+        }
        counter = 0;
        break;
      case MTAPI_TASK_RETAINED:
        /* put task into queue again for later execution */
        embb_mtapi_scheduler_schedule_task(
-          node->scheduler, task);
+          node->scheduler, task, 0);
        /* yield, as there may be only retained tasks in the queue */
        embb_thread_yield();
        /* task is not done, so do not notify queue */
        break;
      case MTAPI_TASK_CANCELLED:
-        /* set return value to cancelled */
+        /* set return value to canceled */
        task->error_code = MTAPI_ERR_ACTION_CANCELLED;
+        if (embb_atomic_fetch_and_add_unsigned_int(
+          &task->instances_todo, (unsigned int)-1) == 0) {
          /* tell queue that a task is done */
          if (MTAPI_NULL != local_queue) {
            embb_mtapi_queue_task_finished(local_queue);
          }
+        }
        break;
      case MTAPI_TASK_COMPLETED:
      case MTAPI_TASK_DELETED:
      case MTAPI_TASK_WAITING:
-      case MTAPI_TASK_RUNNING:
      case MTAPI_TASK_CREATED:
      case MTAPI_TASK_PRENATAL:
      case MTAPI_TASK_ERROR:
@@ -351,12 +356,14 @@ int embb_mtapi_scheduler_worker(void * arg) {
      counter++;
    } else {
      /* no work, go to sleep */
+      embb_atomic_store_int(&thread_context->is_sleeping, 1);
      embb_mutex_lock(&thread_context->work_available_mutex);
      embb_condition_wait_for(
        &thread_context->work_available,
        &thread_context->work_available_mutex,
        &sleep_duration);
      embb_mutex_unlock(&thread_context->work_available_mutex);
+      embb_atomic_store_int(&thread_context->is_sleeping, 0);
    }
  }
@@ -526,10 +533,11 @@ mtapi_boolean_t embb_mtapi_scheduler_process_tasks(
 mtapi_boolean_t embb_mtapi_scheduler_schedule_task(
  embb_mtapi_scheduler_t * that,
-  embb_mtapi_task_t * task) {
+  embb_mtapi_task_t * task,
+  mtapi_uint_t instance) {
  embb_mtapi_scheduler_t * scheduler = that;
  /* distribute round robin */
-  mtapi_uint_t ii = task->handle.id % scheduler->worker_count;
+  mtapi_uint_t ii = (task->handle.id + instance) % scheduler->worker_count;
  mtapi_boolean_t pushed = MTAPI_FALSE;
  embb_mtapi_node_t* node = embb_mtapi_node_get_instance();
@@ -586,8 +594,8 @@ mtapi_boolean_t embb_mtapi_scheduler_schedule_task(
    }
    if (pushed) {
-      /* signal all threads */
+      /* signal the worker thread a task was pushed to */
-      for (ii = 0; ii < scheduler->worker_count; ii++) {
+      if (embb_atomic_load_int(&scheduler->worker_contexts[ii].is_sleeping)) {
        embb_condition_notify_one(
          &scheduler->worker_contexts[ii].work_available);
      }

--- a/mtapi_c/src/embb_mtapi_scheduler_t.h
+++ b/mtapi_c/src/embb_mtapi_scheduler_t.h
@@ -198,7 +198,8 @@ mtapi_boolean_t embb_mtapi_scheduler_process_tasks(
 */
 mtapi_boolean_t embb_mtapi_scheduler_schedule_task(
  embb_mtapi_scheduler_t * that,
-  embb_mtapi_task_t * task);
+  embb_mtapi_task_t * task,
+  mtapi_uint_t instance);
 #ifdef __cplusplus

--- a/mtapi_c/src/embb_mtapi_task_context_t.c
+++ b/mtapi_c/src/embb_mtapi_task_context_t.c
@@ -51,8 +51,8 @@ void embb_mtapi_task_context_initialize_with_thread_context_and_task(
  that->task = task;
  that->thread_context = thread_context;
  that->num_instances = task->attributes.num_instances;
-  that->instance_num = embb_atomic_fetch_and_add_unsigned_int(
+  that->instance_num =
-    &task->current_instance, 1);
+    embb_atomic_fetch_and_add_unsigned_int(&task->current_instance, 1);
 }
 void embb_mtapi_task_context_finalize(embb_mtapi_task_context_t* that) {

--- a/mtapi_c/src/embb_mtapi_task_t.c
+++ b/mtapi_c/src/embb_mtapi_task_t.c
@@ -95,9 +95,11 @@ void embb_mtapi_task_finalize(embb_mtapi_task_t* that) {
  embb_mtapi_spinlock_finalize(&that->state_lock);
 }
-void embb_mtapi_task_execute(
+mtapi_boolean_t embb_mtapi_task_execute(
  embb_mtapi_task_t* that,
  embb_mtapi_task_context_t * context) {
+  unsigned int todo = that->attributes.num_instances;
  assert(MTAPI_NULL != that);
  assert(MTAPI_NULL != context);
@@ -110,6 +112,8 @@ void embb_mtapi_task_execute(
    embb_mtapi_action_t* local_action =
      embb_mtapi_action_pool_get_storage_for_handle(
      context->thread_context->node->action_pool, that->action);
+    /* only continue if there was no error so far */
+    if (context->task->error_code == MTAPI_SUCCESS) {
      local_action->action_function(
        that->arguments,
        that->arguments_size,
@@ -118,9 +122,15 @@ void embb_mtapi_task_execute(
        local_action->node_local_data,
        local_action->node_local_data_size,
        context);
+    }
    embb_atomic_memory_barrier();
+    todo = embb_atomic_fetch_and_add_unsigned_int(
+      &that->instances_todo, (unsigned int)-1);
+    if (todo == 1) {
      /* task has completed successfully */
      embb_mtapi_task_set_state(that, MTAPI_TASK_COMPLETED);
+    }
    embb_atomic_fetch_and_add_int(&local_action->num_tasks, -1);
  } else {
    /* action was deleted, task did not complete */
@@ -128,6 +138,7 @@ void embb_mtapi_task_execute(
    embb_mtapi_task_set_state(that, MTAPI_TASK_ERROR);
  }
+  if (todo == 1) {
    /* is task associated with a group? */
    if (embb_mtapi_group_pool_is_handle_valid(
      context->thread_context->node->group_pool, that->group)) {
@@ -136,6 +147,10 @@ void embb_mtapi_task_execute(
        context->thread_context->node->group_pool, that->group);
      embb_mtapi_task_queue_push(&local_group->queue, that);
    }
+    return MTAPI_TRUE;
+  } else {
+    return MTAPI_FALSE;
+  }
 }
 void embb_mtapi_task_set_state(
@@ -189,6 +204,9 @@ static mtapi_task_hndl_t embb_mtapi_task_start(
          mtapi_taskattr_init(&task->attributes, &local_status);
        }
+        embb_atomic_store_unsigned_int(
+          &task->instances_todo, task->attributes.num_instances);
        if (embb_mtapi_group_pool_is_handle_valid(node->group_pool, group)) {
          embb_mtapi_group_t* local_group =
            embb_mtapi_group_pool_get_storage_for_handle(
@@ -233,8 +251,12 @@ static mtapi_task_hndl_t embb_mtapi_task_start(
          embb_mtapi_task_set_state(task, MTAPI_TASK_SCHEDULED);
-          was_scheduled =
+          was_scheduled = MTAPI_TRUE;
-            embb_mtapi_scheduler_schedule_task(scheduler, task);
+          for (mtapi_uint_t kk = 0; kk < task->attributes.num_instances; kk++) {
+            was_scheduled = was_scheduled &
+              embb_mtapi_scheduler_schedule_task(scheduler, task, kk);
+          }
          if (was_scheduled) {
            /* if task is detached, do not return a handle, it will be deleted

--- a/mtapi_c/src/embb_mtapi_task_t.h
+++ b/mtapi_c/src/embb_mtapi_task_t.h
@@ -68,6 +68,7 @@ struct embb_mtapi_task_struct {
  embb_mtapi_spinlock_t state_lock;
  volatile mtapi_task_state_t state;
  embb_atomic_unsigned_int current_instance;
+  embb_atomic_unsigned_int instances_todo;
  mtapi_status_t error_code;
 };
@@ -106,7 +107,7 @@ void embb_mtapi_task_finalize(embb_mtapi_task_t* that);
 * detached.
 * \memberof embb_mtapi_task_struct
 */
-void embb_mtapi_task_execute(
+mtapi_boolean_t embb_mtapi_task_execute(
  embb_mtapi_task_t* that,
  embb_mtapi_task_context_t * context);

--- a/mtapi_c/src/embb_mtapi_thread_context_t.c
+++ b/mtapi_c/src/embb_mtapi_thread_context_t.c
@@ -70,6 +70,7 @@ void embb_mtapi_thread_context_initialize_with_node_worker_and_core(
  embb_mutex_init(&that->work_available_mutex, EMBB_MUTEX_PLAIN);
  embb_condition_init(&that->work_available);
+  embb_atomic_store_int(&that->is_sleeping, 0);
 }
 mtapi_boolean_t embb_mtapi_thread_context_start(

--- a/mtapi_c/src/embb_mtapi_thread_context_t.h
+++ b/mtapi_c/src/embb_mtapi_thread_context_t.h
@@ -56,6 +56,7 @@ struct embb_mtapi_thread_context_struct {
  embb_condition_t work_available;
  embb_thread_t thread;
  embb_tss_t tss_id;
+  embb_atomic_int is_sleeping;
  embb_mtapi_node_t* node;
  embb_mtapi_task_queue_t** queue;

--- a/mtapi_c/test/embb_mtapi_test_task.cc
+++ b/mtapi_c/test/embb_mtapi_test_task.cc
@@ -33,6 +33,7 @@
 #include <embb/base/c/internal/unused.h>
 #define JOB_TEST_TASK 42
+#define JOB_TEST_MULTIINSTANCE_TASK 43
 #define TASK_TEST_ID 23
 static void testTaskAction(
@@ -44,7 +45,9 @@ static void testTaskAction(
  mtapi_size_t /*node_local_data_size*/,
  mtapi_task_context_t* task_context) {
  int ii;
-  mtapi_uint_t core_num = mtapi_context_corenum_get(task_context, MTAPI_NULL);
+  mtapi_status_t status;
+  mtapi_uint_t core_num = mtapi_context_corenum_get(task_context, &status);
+  MTAPI_CHECK_STATUS(status);
  srand(core_num);
  for (ii = 1000; ii < rand()%1000000; ii ++) {
  }
@@ -53,6 +56,41 @@ static void testTaskAction(
  EMBB_UNUSED(args);
 }
+void testMultiInstanceTaskAction(
+  const void* args,
+  mtapi_size_t arg_size,
+  void* result_buffer,
+  mtapi_size_t result_buffer_size,
+  const void* node_local_data,
+  mtapi_size_t node_local_data_size,
+  mtapi_task_context_t* task_context) {
+  EMBB_UNUSED(args);
+  EMBB_UNUSED(arg_size);
+  EMBB_UNUSED(node_local_data);
+  EMBB_UNUSED(node_local_data_size);
+  mtapi_status_t status;
+  mtapi_uint_t this_instance, num_instances;
+  mtapi_uint_t* result;
+  num_instances = mtapi_context_numinst_get(task_context, &status);
+  this_instance = mtapi_context_instnum_get(task_context, &status);
+  /* check result buffer size... */
+  if (result_buffer_size == sizeof(int) * num_instances) {
+    /* ... and cast the result buffer */
+    result = reinterpret_cast<mtapi_uint_t*>(result_buffer);
+  } else {
+    mtapi_context_status_set(task_context, MTAPI_ERR_RESULT_SIZE, &status);
+    MTAPI_CHECK_STATUS(status);
+    return;
+  }
+  /* dummy for calculating result */
+  result[this_instance] = this_instance;
+}
 static void testDoSomethingElse() {
 }
@@ -151,7 +189,7 @@ void TaskTest::TestBasic() {
  for (ii = 0; ii < 100; ii++) {
    status = MTAPI_ERR_UNKNOWN;
-    mtapi_task_wait(task[ii], 100, &status);
+    mtapi_task_wait(task[ii], 100000, &status);
    MTAPI_CHECK_STATUS(status);
  }
@@ -160,10 +198,66 @@ void TaskTest::TestBasic() {
  MTAPI_CHECK_STATUS(status);
  status = MTAPI_ERR_UNKNOWN;
+  mtapi_action_hndl_t multiinstance_action = mtapi_action_create(
+    JOB_TEST_MULTIINSTANCE_TASK,
+    testMultiInstanceTaskAction,
+    MTAPI_NULL,
+    0,
+    &action_attr,
+    &status);
+  MTAPI_CHECK_STATUS(status);
+  status = MTAPI_ERR_UNKNOWN;
+  mtapi_job_hndl_t multiinstance_job = mtapi_job_get(
+    JOB_TEST_MULTIINSTANCE_TASK, THIS_DOMAIN_ID, &status);
+  MTAPI_CHECK_STATUS(status);
+  mtapi_task_attributes_t task_attr;
+  status = MTAPI_ERR_UNKNOWN;
+  mtapi_taskattr_init(&task_attr, &status);
+  MTAPI_CHECK_STATUS(status);
+  const int kTaskInstances = 5;
+  status = MTAPI_ERR_UNKNOWN;
+  mtapi_taskattr_set(&task_attr, MTAPI_TASK_INSTANCES,
+    MTAPI_ATTRIBUTE_VALUE(kTaskInstances), MTAPI_ATTRIBUTE_POINTER_AS_VALUE,
+    &status);
+  MTAPI_CHECK_STATUS(status);
+  mtapi_uint_t result[kTaskInstances];
+  for (mtapi_uint_t ii = 0; ii < kTaskInstances; ii++) {
+    result[ii] = kTaskInstances + 1;
+  }
+  status = MTAPI_ERR_UNKNOWN;
+  mtapi_task_hndl_t multiinstance_task =
+    mtapi_task_start(MTAPI_TASK_ID_NONE, multiinstance_job,
+    MTAPI_NULL, 0,
+    &result[0], sizeof(mtapi_uint_t) * kTaskInstances,
+    &task_attr,
+    MTAPI_GROUP_NONE,
+    &status);
+  MTAPI_CHECK_STATUS(status);
+  status = MTAPI_ERR_UNKNOWN;
+  mtapi_task_wait(multiinstance_task, MTAPI_INFINITE, &status);
+  MTAPI_CHECK_STATUS(status);
+  for (mtapi_uint_t ii = 0; ii < kTaskInstances; ii++) {
+    PT_EXPECT_EQ(result[ii], ii);
+  }
+  status = MTAPI_ERR_UNKNOWN;
+  mtapi_action_delete(multiinstance_action, 10, &status);
+  MTAPI_CHECK_STATUS(status);
+  status = MTAPI_ERR_UNKNOWN;
  mtapi_finalize(&status);
  MTAPI_CHECK_STATUS(status);
-  PT_EXPECT(embb_get_bytes_allocated() == 0);
+  PT_EXPECT_EQ(embb_get_bytes_allocated(), 0u);
  embb_mtapi_log_info("...done\n\n");
 }
--- a/mtapi_c/test/main.cc
+++ b/mtapi_c/test/main.cc
@@ -25,6 +25,7 @@
 */
 #include <partest/partest.h>
+#include <embb/base/c/thread.h>
 #include <stdio.h>
@@ -38,10 +39,11 @@
 PT_MAIN("MTAPI C") {
  embb_log_set_log_level(EMBB_LOG_LEVEL_NONE);
+  embb_thread_set_max_count(1024);
+  PT_RUN(TaskTest);
  PT_RUN(ErrorTest);
  PT_RUN(InitFinalizeTest);
-  PT_RUN(TaskTest);
  PT_RUN(GroupTest);
  PT_RUN(QueueTest);
 }
--- a/mtapi_cpp/CMakeLists.txt
+++ b/mtapi_cpp/CMakeLists.txt
@@ -13,8 +13,6 @@ else()
 endif()
 message("   (set with command line option -DUSE_AUTOMATIC_INITIALIZATION=ON/OFF)")
-configure_file("include/embb/mtapi/internal/cmake_config.h.in"
-               "include/embb/mtapi/internal/cmake_config.h")
 # Execute the GroupSources macro
 include(${CMAKE_SOURCE_DIR}/CMakeCommon/GroupSourcesMSVC.cmake)
@@ -24,7 +22,6 @@ GroupSourcesMSVC(test)
 set (EMBB_MTAPI_CPP_INCLUDE_DIRS "include" "src" "test")
 include_directories(${EMBB_MTAPI_CPP_INCLUDE_DIRS}
-                    ${CMAKE_CURRENT_BINARY_DIR}/include
                    ${CMAKE_CURRENT_SOURCE_DIR}/../base_c/include
                    ${CMAKE_CURRENT_BINARY_DIR}/../base_c/include
                    ${CMAKE_CURRENT_SOURCE_DIR}/../base_cpp/include
@@ -44,6 +41,4 @@ endif()
 install(DIRECTORY ${CMAKE_CURRENT_SOURCE_DIR}/include/
        DESTINATION include FILES_MATCHING PATTERN "*.h")
-install(DIRECTORY ${CMAKE_CURRENT_BINARY_DIR}/include/
-        DESTINATION include FILES_MATCHING PATTERN "*.h")
 install(TARGETS embb_mtapi_cpp DESTINATION lib)
--- a/mtapi_cpp/include/embb/mtapi/action.h
+++ b/mtapi_cpp/include/embb/mtapi/action.h
@@ -27,80 +27,113 @@
 #ifndef EMBB_MTAPI_ACTION_H_
 #define EMBB_MTAPI_ACTION_H_
-#include <embb/base/function.h>
+#include <embb/mtapi/internal/check_status.h>
-#include <embb/mtapi/taskcontext.h>
+#include <embb/mtapi/action_attributes.h>
-#include <embb/mtapi/execution_policy.h>
+#include <embb/mtapi/job.h>
 namespace embb {
 namespace mtapi {
 /**
-  * A function to be spawned as a Task.
+ * Holds the actual worker function used to execute a Task.
 *
 * \ingroup CPP_MTAPI
 */
 class Action {
 public:
  /**
-    * Constructs an empty Action.
+   * Constructs an Action.
   */
-  Action()
+  Action(
-    : function_()
+    mtapi_job_id_t job_id,             /**< Job ID the Action belongs to */
-    , execution_policy_() {
+    mtapi_action_function_t func,      /**< The action function */
-    // empty
+    const void * node_local_data,      /**< Node local data available to all
+                                            Tasks using this Action */
+    mtapi_size_t node_local_data_size, /**< Size of node local data */
+    ActionAttributes const & attributes
+                                       /**< Attributes of the Action */
+    ) {
+    Create(job_id, func, node_local_data, node_local_data_size,
+      &attributes.GetInternal());
  }
  /**
-    * Constructs an Action from a function object.
+   * Constructs an Action.
-    *
-    * \tparam Function Function object
   */
-  template <typename Function>
  Action(
-    Function func                      /**< [in] Function object */
+    mtapi_job_id_t job_id,             /**< Job ID the Action belongs to */
-    )
+    mtapi_action_function_t func,      /**< The action function */
-    : function_(func)
+    const void * node_local_data,      /**< Node local data available to all
-    , execution_policy_() {
+                                            Tasks using this Action */
-    // empty
+    mtapi_size_t node_local_data_size  /**< Size of node local data */
+    ) {
+    Create(job_id, func, node_local_data, node_local_data_size,
+      MTAPI_DEFAULT_ACTION_ATTRIBUTES);
  }
  /**
-    * Constructs an Action from a function object and an Affinity.
+   * Constructs an Action.
-    *
-    * \tparam Function Function object
   */
-  template <typename Function>
  Action(
-    Function func,                     /**< [in] Function object */
+    mtapi_job_id_t job_id,             /**< Job ID the Action belongs to */
-    ExecutionPolicy execution_policy   /**< [in] Execution policy */
+    mtapi_action_function_t func,      /**< The action function */
-    )
+    ActionAttributes const & attributes
-    : function_(func)
+                                       /**< Attributes of the Action */
-    , execution_policy_(execution_policy) {
+    ) {
-    // empty
+    Create(job_id, func, MTAPI_NULL, 0, &attributes.GetInternal());
  }
  /**
-    * Executes the Action in a given TaskContext.
+   * Constructs an Action.
   */
-  void operator() (
+  Action(
-    TaskContext & context              /**< [in, out] Context the operator
+    mtapi_job_id_t job_id,             /**< Job ID the Action belongs to */
-                                            is executed in */
+    mtapi_action_function_t func       /**< The action function */
    ) {
-    function_(context);
+    Create(job_id, func, MTAPI_NULL, 0, MTAPI_DEFAULT_ACTION_ATTRIBUTES);
  }
  /**
-    * Returns the ExecutionPolicy specified during creation.
+   * Destroys an Action.
-    * \return The ExecutionPolicy of the Action
+   */
+  ~Action() {
+    mtapi_action_delete(handle_, MTAPI_INFINITE, MTAPI_NULL);
+  }
+  /**
+   * Returns the internal representation of this object.
+   * Allows for interoperability with the C interface.
+   *
+   * \returns The internal mtapi_action_hndl_t.
   * \waitfree
   */
-  ExecutionPolicy GetExecutionPolicy() const {
+  mtapi_action_hndl_t GetInternal() const {
-    return execution_policy_;
+    return handle_;
  }
 private:
-  embb::base::Function<void, TaskContext &> function_;
+  // no default constructor
-  ExecutionPolicy execution_policy_;
+  Action();
+  // not copyable
+  Action(Action const & other);
+  void operator=(Action const & other);
+  void Create(
+    mtapi_job_id_t job_id,
+    mtapi_action_function_t func,
+    const void * node_local_data,
+    mtapi_size_t node_local_data_size,
+    mtapi_action_attributes_t const * attributes
+    ) {
+    mtapi_status_t status;
+    handle_ = mtapi_action_create(job_id, func,
+      node_local_data, node_local_data_size,
+      attributes, &status);
+    internal::CheckStatus(status);
+  }
+  mtapi_action_hndl_t handle_;
 };
 } // namespace mtapi

--- a/mtapi_cpp/include/embb/mtapi/action_attributes.h
+++ b/mtapi_cpp/include/embb/mtapi/action_attributes.h
+/*
+ * Copyright (c) 2014-2015, Siemens AG. All rights reserved.
+ *
+ * Redistribution and use in source and binary forms, with or without
+ * modification, are permitted provided that the following conditions are met:
+ *
+ * 1. Redistributions of source code must retain the above copyright notice,
+ * this list of conditions and the following disclaimer.
+ *
+ * 2. Redistributions in binary form must reproduce the above copyright notice,
+ * this list of conditions and the following disclaimer in the documentation
+ * and/or other materials provided with the distribution.
+ *
+ * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS"
+ * AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE
+ * IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE
+ * ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER OR CONTRIBUTORS BE
+ * LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR
+ * CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF
+ * SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS
+ * INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN
+ * CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE)
+ * ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
+ * POSSIBILITY OF SUCH DAMAGE.
+ */
+#ifndef EMBB_MTAPI_ACTION_ATTRIBUTES_H_
+#define EMBB_MTAPI_ACTION_ATTRIBUTES_H_
+#include <embb/mtapi/c/mtapi.h>
+#include <embb/mtapi/internal/check_status.h>
+#include <embb/mtapi/affinity.h>
+namespace embb {
+namespace mtapi {
+/**
+ * Contains attributes of an Action.
+ *
+ * \ingroup CPP_MTAPI
+ */
+class ActionAttributes {
+ public:
+  /**
+   * Constructs an ActionAttributes object.
+   */
+  ActionAttributes() {
+    mtapi_status_t status;
+    mtapi_actionattr_init(&attributes_, &status);
+    internal::CheckStatus(status);
+  }
+  /**
+   * Sets the global property of an Action.
+   * This determines whether the object will be visible across nodes.
+   *
+   * \returns Reference to this object.
+   */
+  ActionAttributes & SetGlobal(
+    bool state                         /**< The state to set */
+    ) {
+    mtapi_status_t status;
+    mtapi_boolean_t st = state ? MTAPI_TRUE : MTAPI_FALSE;
+    mtapi_actionattr_set(&attributes_, MTAPI_ACTION_GLOBAL,
+      &st, sizeof(st), &status);
+    internal::CheckStatus(status);
+    return *this;
+  }
+  /**
+   * Sets the affinity of an Action.
+   *
+   * \returns Reference to this object.
+   */
+  ActionAttributes & SetAffinity(
+    Affinity const & affinity          /**< The Affinity to set. */
+    ) {
+    mtapi_status_t status;
+    mtapi_affinity_t af = affinity.GetInternal();
+    mtapi_actionattr_set(&attributes_, MTAPI_ACTION_AFFINITY,
+      &af, sizeof(af), &status);
+    internal::CheckStatus(status);
+    return *this;
+  }
+  /**
+   * Sets the domain shared property of an Action.
+   * This determines whether the object will be visible across domains.
+   *
+   * \returns Reference to this object.
+   */
+  ActionAttributes & SetDomainShared(
+    bool state                         /**< The state to set */
+    ) {
+    mtapi_status_t status;
+    mtapi_boolean_t st = state ? MTAPI_TRUE : MTAPI_FALSE;
+    mtapi_actionattr_set(&attributes_, MTAPI_ACTION_DOMAIN_SHARED,
+      &st, sizeof(st), &status);
+    internal::CheckStatus(status);
+    return *this;
+  }
+  /**
+   * Returns the internal representation of this object.
+   * Allows for interoperability with the C interface.
+   *
+   * \returns A reference to the internal mtapi_action_attributes_t structure.
+   * \waitfree
+   */
+  mtapi_action_attributes_t const & GetInternal() const {
+    return attributes_;
+  }
+ private:
+  mtapi_action_attributes_t attributes_;
+};
+} // namespace mtapi
+} // namespace embb
+#endif // EMBB_MTAPI_ACTION_ATTRIBUTES_H_
--- a/mtapi_cpp/include/embb/mtapi/affinity.h
+++ b/mtapi_cpp/include/embb/mtapi/affinity.h
+/*
+ * Copyright (c) 2014-2015, Siemens AG. All rights reserved.
+ *
+ * Redistribution and use in source and binary forms, with or without
+ * modification, are permitted provided that the following conditions are met:
+ *
+ * 1. Redistributions of source code must retain the above copyright notice,
+ * this list of conditions and the following disclaimer.
+ *
+ * 2. Redistributions in binary form must reproduce the above copyright notice,
+ * this list of conditions and the following disclaimer in the documentation
+ * and/or other materials provided with the distribution.
+ *
+ * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS"
+ * AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE
+ * IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE
+ * ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER OR CONTRIBUTORS BE
+ * LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR
+ * CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF
+ * SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS
+ * INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN
+ * CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE)
+ * ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
+ * POSSIBILITY OF SUCH DAMAGE.
+ */
+#ifndef EMBB_MTAPI_AFFINITY_H_
+#define EMBB_MTAPI_AFFINITY_H_
+#include <embb/mtapi/c/mtapi.h>
+#include <embb/mtapi/internal/check_status.h>
+namespace embb {
+namespace mtapi {
+/**
+ * Describes the affinity of an Action or Task to a worker thread of a Node.
+ *
+ * \ingroup CPP_MTAPI
+ */
+class Affinity {
+ public:
+  /**
+   * Constructs an Affinity object.
+   */
+  Affinity() {
+    Init(true);
+  }
+  /**
+   * Copies an Affinity object.
+   */
+  Affinity(
+    Affinity const & other             /**< The Affinity to copy from */
+    )
+    : affinity_(other.affinity_) {
+    // empty
+  }
+  /**
+   * Copies an Affinity object.
+   */
+  void operator=(
+    Affinity const & other             /**< The Affinity to copy from */
+    ) {
+    affinity_ = other.affinity_;
+  }
+  /**
+   * Constructs an Affinity object with the given initial affinity.
+   * If \c initial_affinity is \c true the Affinity will map to all worker
+   * threads, otherwise it will map to no worker threads.
+   */
+  Affinity(
+    bool initial_affinity              /**< The initial affinity to set. */
+    ) {
+    Init(initial_affinity);
+  }
+  /**
+   * Initializes an Affinity object with the given initial affinity.
+   * If \c initial_affinity is \c true the Affinity will map to all worker
+   * threads, otherwise it will map to no worker threads.
+   *
+   * \notthreadsafe
+   */
+  void Init(
+    bool initial_affinity              /**< The initial affinity to set. */
+    ) {
+    mtapi_status_t status;
+    mtapi_boolean_t ia = initial_affinity ? MTAPI_TRUE : MTAPI_FALSE;
+    mtapi_affinity_init(&affinity_, ia, &status);
+    internal::CheckStatus(status);
+  }
+  /**
+   * Sets affinity to the given worker.
+   *
+   * \notthreadsafe
+   */
+  void Set(
+    mtapi_uint_t worker,               /**< The worker to set affinity to. */
+    bool state                         /**< The state of the affinity. */
+    ) {
+    mtapi_status_t status;
+    mtapi_boolean_t st = state ? MTAPI_TRUE : MTAPI_FALSE;
+    mtapi_affinity_set(&affinity_, worker, st, &status);
+    internal::CheckStatus(status);
+  }
+  /**
+   * Gets affinity to the given worker.
+   *
+   * \returns \c true, if the Affinity maps to the worker, \c false otherwise.
+   * \waitfree
+   */
+  bool Get(
+    mtapi_uint_t worker                /**< The worker to get affinity of. */
+    ) {
+    mtapi_status_t status;
+    mtapi_boolean_t state =
+      mtapi_affinity_get(&affinity_, worker, &status);
+    internal::CheckStatus(status);
+    return (state != MTAPI_FALSE) ? true : false;
+  }
+  /**
+   * Returns the internal representation of this object.
+   * Allows for interoperability with the C interface.
+   *
+   * \returns The internal mtapi_affinity_t.
+   * \waitfree
+   */
+  mtapi_affinity_t GetInternal() const {
+    return affinity_;
+  }
+ private:
+  mtapi_affinity_t affinity_;
+};
+} // namespace mtapi
+} // namespace embb
+#endif // EMBB_MTAPI_AFFINITY_H_
--- a/mtapi_cpp/include/embb/mtapi/group.h
+++ b/mtapi_cpp/include/embb/mtapi/group.h
@@ -28,8 +28,10 @@
 #define EMBB_MTAPI_GROUP_H_
 #include <embb/mtapi/c/mtapi.h>
-#include <embb/mtapi/action.h>
+#include <embb/mtapi/job.h>
 #include <embb/mtapi/task.h>
+#include <embb/mtapi/task_attributes.h>
+#include <embb/mtapi/group_attributes.h>
 namespace embb {
@@ -50,40 +52,135 @@ namespace mtapi {
 class Group {
 public:
  /**
-    * Runs an Action within the Group.
+   * Constructs a Group object with default attributes.
-    * \return A Task identifying the Action to run
+   * Requires an initialized Node.
-    * \throws ErrorException if the Task object could not be constructed.
+   */
+  Group() {
+    Create(MTAPI_GROUP_ID_NONE, MTAPI_DEFAULT_GROUP_ATTRIBUTES);
+  }
+  /**
+   * Constructs a Group object using the given Attributes.
+   * Requires an initialized Node.
+   */
+  Group(
+    GroupAttributes const & attr       /**< The GroupAttributes to use. */
+    ) {
+    Create(MTAPI_GROUP_ID_NONE, &attr.GetInternal());
+  }
+  /**
+   * Constructs a Group object with default attributes and the given ID.
+   * Requires an initialized Node.
+   */
+  Group(
+    mtapi_group_id_t id                /**< A user defined ID of the Group. */
+    ) {
+    Create(id, MTAPI_DEFAULT_GROUP_ATTRIBUTES);
+  }
+  /**
+   * Constructs a Group object with given attributes and ID.
+   * Requires an initialized Node.
+   */
+  Group(
+    mtapi_group_id_t id,               /**< A user defined ID of the Group. */
+    GroupAttributes const & attr       /**< The GroupAttributes to use. */
+    ) {
+    Create(id, &attr.GetInternal());
+  }
+  /**
+   * Destroys a Group object.
+   */
+  ~Group() {
+    // delete the group, ignore status
+    mtapi_group_delete(handle_, MTAPI_NULL);
+  }
+  /**
+   * Starts a new Task in this Group.
+   *
+   * \returns The handle to the started Task.
   * \threadsafe
   */
-  Task Spawn(
+  template <typename ARGS, typename RES>
-    Action action                      /**< [in] The Action to run */
+  Task Start(
-    );
+    mtapi_task_id_t task_id,           /**< A user defined ID of the Task. */
+    Job const & job,                   /**< The Job to execute. */
+    const ARGS * arguments,            /**< Pointer to the arguments. */
+    RES * results,                     /**< Pointer to the results. */
+    TaskAttributes const & attributes  /**< Attributes of the Task */
+    ) {
+    return Start(task_id,
+      job.GetInternal(),
+      arguments, internal::SizeOfType<ARGS>(),
+      results, internal::SizeOfType<RES>(),
+      &attributes.GetInternal());
+  }
  /**
-    * Runs an Action within the Group. The \c id is returned by WaitAny().
+   * Starts a new Task in this Group.
-    * \return A Task identifying the Action to run
+   *
-    * \throws ErrorException if the Task object could not be constructed.
+   * \returns The handle to the started Task.
   * \threadsafe
   */
-  Task Spawn(
+  template <typename ARGS, typename RES>
-    mtapi_task_id_t id,                /**< [in] The id to return by
+  Task Start(
-                                            WaitAny() */
+    mtapi_task_id_t task_id,           /**< A user defined ID of the Task. */
-    Action action                      /**< [in] The Action to run */
+    Job const & job,                   /**< The Job to execute. */
-    );
+    const ARGS * arguments,            /**< Pointer to the arguments. */
+    RES * results                      /**< Pointer to the results. */
+    ) {
+    return Start(task_id,
+      job.GetInternal(),
+      arguments, internal::SizeOfType<ARGS>(),
+      results, internal::SizeOfType<RES>(),
+      MTAPI_DEFAULT_TASK_ATTRIBUTES);
+  }
  /**
-    * Waits for any Task in the Group to finish for \c timeout milliseconds.
+   * Starts a new Task in this Group.
-    * \return The status of the Task that finished execution
+   *
+   * \returns The handle to the started Task.
   * \threadsafe
   */
-  mtapi_status_t WaitAny(
+  template <typename ARGS, typename RES>
-    mtapi_timeout_t timeout            /**< [in] Timeout duration in
+  Task Start(
-                                            milliseconds */
+    Job const & job,                   /**< The Job to execute. */
-    );
+    const ARGS * arguments,            /**< Pointer to the arguments. */
+    RES * results,                     /**< Pointer to the results. */
+    TaskAttributes const & attributes  /**< Attributes of the Task */
+    ) {
+    return Start(MTAPI_TASK_ID_NONE,
+      job.GetInternal(),
+      arguments, internal::SizeOfType<ARGS>(),
+      results, internal::SizeOfType<RES>(),
+      &attributes.GetInternal());
+  }
+  /**
+   * Starts a new Task in this Group.
+   *
+   * \returns The handle to the started Task.
+   * \threadsafe
+   */
+  template <typename ARGS, typename RES>
+  Task Start(
+    Job const & job,                   /**< The Job to execute. */
+    const ARGS * arguments,            /**< Pointer to the arguments. */
+    RES * results                      /**< Pointer to the results. */
+    ) {
+    return Start(MTAPI_TASK_ID_NONE,
+      job.GetInternal(),
+      arguments, internal::SizeOfType<ARGS>(),
+      results, internal::SizeOfType<RES>(),
+      MTAPI_DEFAULT_TASK_ATTRIBUTES);
+  }
  /**
   * Waits for any Task in the Group to finish for \c timeout milliseconds and
-    * retrieves the id given in Spawn().
+   * retrieves the result buffer given in Start().
   * \return The status of the Task that finished execution, \c MTAPI_TIMEOUT
   *         or \c MTAPI_ERR_*
   * \threadsafe
@@ -91,8 +188,50 @@ class Group {
  mtapi_status_t WaitAny(
    mtapi_timeout_t timeout,           /**< [in] Timeout duration in
                                            milliseconds */
-    mtapi_task_id_t & id               /**< [out] The id given to Spawn() */
+    void ** result                     /**< [out] The result buffer given in
-    );
+                                            Node::Start, Group::Start or
+                                            Queue::Enqueue */
+    ) {
+    mtapi_status_t status;
+    mtapi_group_wait_any(handle_, result, timeout, &status);
+    needs_delete_ = status != MTAPI_GROUP_COMPLETED;
+    return status;
+  }
+  /**
+   * Waits for any Task in the Group to finish and
+   * retrieves the result buffer given in Start().
+   * \return The status of the Task that finished execution or \c MTAPI_ERR_*
+   * \threadsafe
+   */
+  mtapi_status_t WaitAny(
+    void ** result                     /**< [out] The result buffer given in
+                                            Node::Start, Group::Start or
+                                            Queue::Enqueue */
+    ) {
+    return WaitAny(MTAPI_INFINITE, result);
+  }
+  /**
+   * Waits for any Task in the Group to finish for \c timeout milliseconds.
+   * \return The status of the Task that finished execution
+   * \threadsafe
+   */
+  mtapi_status_t WaitAny(
+    mtapi_timeout_t timeout            /**< [in] Timeout duration in
+                                       milliseconds */
+                                       ) {
+    return WaitAny(timeout, MTAPI_NULL);
+  }
+  /**
+   * Waits for any Task in the Group to finish.
+   * \return The status of the Task that finished execution
+   * \threadsafe
+   */
+  mtapi_status_t WaitAny() {
+    return WaitAny(MTAPI_INFINITE, MTAPI_NULL);
+  }
  /**
   * Waits for all Task in the Group to finish for \c timeout milliseconds.
@@ -103,20 +242,72 @@ class Group {
  mtapi_status_t WaitAll(
    mtapi_timeout_t timeout            /**< [in] Timeout duration in
                                            milliseconds */
-    );
+  ) {
+    mtapi_status_t status;
+    mtapi_group_wait_all(handle_, timeout, &status);
+    needs_delete_ = status != MTAPI_SUCCESS;
+    return status;
+  }
+  /**
+   * Waits for all Task in the Group to finish.
+   * \return \c MTAPI_SUCCESS, \c MTAPI_TIMEOUT, \c MTAPI_ERR_* or the status
+   *         of any failed Task
+   * \threadsafe
+   */
+  mtapi_status_t WaitAll() {
+    return WaitAll(MTAPI_INFINITE);
+  }
+  /**
+   * Returns the internal representation of this object.
+   * Allows for interoperability with the C interface.
+   *
+   * \returns The internal mtapi_group_hndl_t.
+   * \waitfree
+   */
+  mtapi_group_hndl_t GetInternal() const {
+    return handle_;
+  }
  friend class embb::base::Allocation;
-  friend class Node;
-  friend class Queue;
 private:
-  Group(Group const & group);
+  // not copyable
-  Group();
+  Group(Group const & other);
-  ~Group();
+  void operator=(Group const & other);
+  void Create(
+    mtapi_group_id_t group_id,
+    mtapi_group_attributes_t const * attributes
+    ) {
+    needs_delete_ = false;
+    mtapi_status_t status;
+    handle_ = mtapi_group_create(group_id, attributes, &status);
+    internal::CheckStatus(status);
+    needs_delete_ = true;
+  }
-  void Create();
+  Task Start(
+    mtapi_task_id_t task_id,
+    mtapi_job_hndl_t job,
+    const void * arguments,
+    mtapi_size_t arguments_size,
+    void * results,
+    mtapi_size_t results_size,
+    mtapi_task_attributes_t const * attributes
+    ) {
+    mtapi_status_t status;
+    mtapi_task_hndl_t task_hndl =
+      mtapi_task_start(task_id, job, arguments, arguments_size,
+      results, results_size, attributes, handle_,
+      &status);
+    internal::CheckStatus(status);
+    return Task(task_hndl);
+  }
  mtapi_group_hndl_t handle_;
+  bool needs_delete_;
 };
 } // namespace mtapi

--- a/mtapi_cpp/include/embb/mtapi/group_attributes.h
+++ b/mtapi_cpp/include/embb/mtapi/group_attributes.h
+/*
+ * Copyright (c) 2014-2015, Siemens AG. All rights reserved.
+ *
+ * Redistribution and use in source and binary forms, with or without
+ * modification, are permitted provided that the following conditions are met:
+ *
+ * 1. Redistributions of source code must retain the above copyright notice,
+ * this list of conditions and the following disclaimer.
+ *
+ * 2. Redistributions in binary form must reproduce the above copyright notice,
+ * this list of conditions and the following disclaimer in the documentation
+ * and/or other materials provided with the distribution.
+ *
+ * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS"
+ * AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE
+ * IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE
+ * ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER OR CONTRIBUTORS BE
+ * LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR
+ * CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF
+ * SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS
+ * INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN
+ * CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE)
+ * ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
+ * POSSIBILITY OF SUCH DAMAGE.
+ */
+#ifndef EMBB_MTAPI_GROUP_ATTRIBUTES_H_
+#define EMBB_MTAPI_GROUP_ATTRIBUTES_H_
+#include <embb/mtapi/c/mtapi.h>
+#include <embb/mtapi/internal/check_status.h>
+namespace embb {
+namespace mtapi {
+/**
+ * Contains attributes of a Group.
+ *
+ * \ingroup CPP_MTAPI
+ */
+class GroupAttributes {
+ public:
+  /**
+   * Constructs a GroupAttributes object.
+   */
+  GroupAttributes() {
+    mtapi_status_t status;
+    mtapi_groupattr_init(&attributes_, &status);
+    internal::CheckStatus(status);
+  }
+  /**
+   * Returns the internal representation of this object.
+   * Allows for interoperability with the C interface.
+   *
+   * \returns A reference to the internal mtapi_group_attributes_t structure.
+   * \waitfree
+   */
+  mtapi_group_attributes_t const & GetInternal() const {
+    return attributes_;
+  }
+ private:
+  mtapi_group_attributes_t attributes_;
+};
+} // namespace mtapi
+} // namespace embb
+#endif // EMBB_MTAPI_GROUP_ATTRIBUTES_H_
--- a/mtapi_cpp/include/embb/mtapi/internal/check_status.h
+++ b/mtapi_cpp/include/embb/mtapi/internal/check_status.h
+/*
+ * Copyright (c) 2014-2015, Siemens AG. All rights reserved.
+ *
+ * Redistribution and use in source and binary forms, with or without
+ * modification, are permitted provided that the following conditions are met:
+ *
+ * 1. Redistributions of source code must retain the above copyright notice,
+ * this list of conditions and the following disclaimer.
+ *
+ * 2. Redistributions in binary form must reproduce the above copyright notice,
+ * this list of conditions and the following disclaimer in the documentation
+ * and/or other materials provided with the distribution.
+ *
+ * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS"
+ * AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE
+ * IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE
+ * ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER OR CONTRIBUTORS BE
+ * LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR
+ * CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF
+ * SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS
+ * INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN
+ * CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE)
+ * ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
+ * POSSIBILITY OF SUCH DAMAGE.
+ */
+#ifndef EMBB_MTAPI_INTERNAL_CHECK_STATUS_H_
+#define EMBB_MTAPI_INTERNAL_CHECK_STATUS_H_
+#include <embb/mtapi/c/mtapi.h>
+namespace embb {
+namespace mtapi {
+namespace internal {
+void CheckStatus(mtapi_status_t status);
+template <typename T>
+inline mtapi_size_t SizeOfType() {
+  return sizeof(T);
+}
+template <>
+inline mtapi_size_t SizeOfType<void>() {
+  return 0u;
+}
+} // namespace internal
+} // namespace mtapi
+} // namespace embb
+#endif // EMBB_MTAPI_INTERNAL_CHECK_STATUS_H_
--- a/mtapi_cpp/include/embb/mtapi/job.h
+++ b/mtapi_cpp/include/embb/mtapi/job.h
+/*
+ * Copyright (c) 2014-2015, Siemens AG. All rights reserved.
+ *
+ * Redistribution and use in source and binary forms, with or without
+ * modification, are permitted provided that the following conditions are met:
+ *
+ * 1. Redistributions of source code must retain the above copyright notice,
+ * this list of conditions and the following disclaimer.
+ *
+ * 2. Redistributions in binary form must reproduce the above copyright notice,
+ * this list of conditions and the following disclaimer in the documentation
+ * and/or other materials provided with the distribution.
+ *
+ * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS"
+ * AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE
+ * IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE
+ * ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER OR CONTRIBUTORS BE
+ * LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR
+ * CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF
+ * SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS
+ * INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN
+ * CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE)
+ * ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
+ * POSSIBILITY OF SUCH DAMAGE.
+ */
+#ifndef EMBB_MTAPI_JOB_H_
+#define EMBB_MTAPI_JOB_H_
+#include <embb/mtapi/c/mtapi.h>
+#include <embb/mtapi/internal/check_status.h>
+namespace embb {
+namespace mtapi {
+/**
+ * Represents a collection of Actions.
+ *
+ * \ingroup CPP_MTAPI
+ */
+class Job {
+ public:
+  /**
+   * Constructs a Job.
+   * The Job object will be invalid.
+   */
+  Job() {
+    handle_.id = 0;
+    handle_.tag = 0;
+  }
+  /**
+   * Constructs a Job with the given \c job_id and \c domain_id.
+   * Requires an initialized Node.
+   */
+  Job(
+    mtapi_job_id_t job_id,             /**< Job ID to use. */
+    mtapi_domain_t domain_id           /**< Domain ID to use. */
+    ) {
+    mtapi_status_t status;
+    handle_ = mtapi_job_get(job_id, domain_id, &status);
+    internal::CheckStatus(status);
+  }
+  /**
+   * Copies a Job object.
+   */
+  Job(
+    Job const & other                  /**< The Job to copy from */
+    ) : handle_(other.handle_) {
+    // empty
+  }
+  /**
+   * Copies a Job object.
+   */
+  void operator=(
+    Job const & other                  /**< The Job to copy from */
+    ) {
+    handle_ = other.handle_;
+  }
+  /**
+   * Returns the internal representation of this object.
+   * Allows for interoperability with the C interface.
+   *
+   * \returns The internal mtapi_job_hndl_t.
+   * \waitfree
+   */
+  mtapi_job_hndl_t GetInternal() const {
+    return handle_;
+  }
+ private:
+  mtapi_job_hndl_t handle_;
+};
+} // namespace mtapi
+} // namespace embb
+#endif // EMBB_MTAPI_JOB_H_
--- a/mtapi_cpp/include/embb/mtapi/mtapi.h
+++ b/mtapi_cpp/include/embb/mtapi/mtapi.h
@@ -35,21 +35,12 @@
 * \ingroup CPP
 */
-#include <embb/mtapi/internal/cmake_config.h>
+#include <embb/mtapi/job.h>
-#define MTAPI_CPP_TASK_JOB 1
-#if MTAPI_CPP_AUTOMATIC_INITIALIZE
-#define MTAPI_CPP_AUTOMATIC_DOMAIN_ID 1
-#define MTAPI_CPP_AUTOMATIC_NODE_ID 1
-#endif
-#include <embb/mtapi/execution_policy.h>
 #include <embb/mtapi/action.h>
-#include <embb/mtapi/continuation.h>
 #include <embb/mtapi/group.h>
-#include <embb/mtapi/node.h>
 #include <embb/mtapi/queue.h>
 #include <embb/mtapi/task.h>
-#include <embb/mtapi/taskcontext.h>
+#include <embb/mtapi/task_context.h>
+#include <embb/mtapi/node.h>
 #endif // EMBB_MTAPI_MTAPI_H_
--- a/mtapi_cpp/include/embb/mtapi/node.h
+++ b/mtapi_cpp/include/embb/mtapi/node.h
@@ -27,14 +27,13 @@
 #ifndef EMBB_MTAPI_NODE_H_
 #define EMBB_MTAPI_NODE_H_
-#include <list>
+#include <embb/base/memory_allocation.h>
-#include <embb/base/core_set.h>
 #include <embb/mtapi/c/mtapi.h>
-#include <embb/mtapi/action.h>
+#include <embb/mtapi/status_exception.h>
+#include <embb/mtapi/node_attributes.h>
 #include <embb/mtapi/task.h>
-#include <embb/mtapi/continuation.h>
+#include <embb/mtapi/task_attributes.h>
-#include <embb/mtapi/group.h>
+#include <embb/mtapi/job.h>
-#include <embb/mtapi/queue.h>
 namespace embb {
@@ -70,7 +69,16 @@ class Node {
  static void Initialize(
    mtapi_domain_t domain_id,          /**< [in] The domain id to use */
    mtapi_node_t node_id               /**< [in] The node id to use */
-    );
+    ) {
+    if (IsInitialized()) {
+      EMBB_THROW(StatusException,
+        "MTAPI: node was already initialized.");
+    } else {
+      NodeAttributes attributes; // default attributes
+      node_instance_ = embb::base::Allocation::New<Node>(
+        domain_id, node_id, attributes);
+    }
+  }
  /**
   * Initializes the runtime singleton.
@@ -82,20 +90,16 @@ class Node {
  static void Initialize(
    mtapi_domain_t domain_id,          /**< [in] The domain id to use */
    mtapi_node_t node_id,              /**< [in] The node id to use */
-    embb::base::CoreSet const & core_set,
+    NodeAttributes const & attributes  /**< [in] Attributes to use */
-                                       /**< [in] A set of cores MTAPI should
+    ) {
-                                            use for its worker threads */
+    if (IsInitialized()) {
-    mtapi_uint_t max_tasks,            /**< [in] Maximum number of concurrent
+      EMBB_THROW(StatusException,
-                                            \link Task Tasks \endlink */
+        "MTAPI: node was already initialized.");
-    mtapi_uint_t max_groups,           /**< [in] Maximum number of concurrent
+    } else {
-                                            \link Group Groups \endlink */
+      node_instance_ = embb::base::Allocation::New<Node>(
-    mtapi_uint_t max_queues,           /**< [in] Maximum number of concurrent
+        domain_id, node_id, attributes);
-                                            \link Queue Queues \endlink */
+    }
-    mtapi_uint_t queue_limit,          /**< [in] Maximum Queue capacity */
+  }
-    mtapi_uint_t max_priorities        /**< [in] Maximum number of priorities,
-                                            priorities will be between 0 and
-                                            max_priorities-1 */
-    );
  /**
   * Checks if runtime is initialized.
@@ -103,21 +107,38 @@ class Node {
   *         otherwise
   * \waitfree
   */
-  static bool IsInitialized();
+  static bool IsInitialized() {
+    return NULL != node_instance_;
+  }
  /**
   * Gets the instance of the runtime system.
   * \return Reference to the Node singleton
   * \threadsafe
   */
-  static Node & GetInstance();
+  static Node & GetInstance() {
+    if (IsInitialized()) {
+      return *node_instance_;
+    } else {
+      EMBB_THROW(StatusException,
+        "MTAPI: node is not initialized.");
+    }
+  }
  /**
   * Shuts the runtime system down.
   * \throws ErrorException if the singleton is not initialized.
   * \notthreadsafe
   */
-  static void Finalize();
+  static void Finalize() {
+    if (IsInitialized()) {
+      embb::base::Allocation::Delete(node_instance_);
+      node_instance_ = NULL;
+    } else {
+      EMBB_THROW(StatusException,
+        "MTAPI: node is not initialized.");
+    }
+  }
  /**
   * Returns the number of available cores.
@@ -138,91 +159,138 @@ class Node {
  }
  /**
-    * Creates a Group to launch \link Task Tasks \endlink in.
+   * Starts a new Task.
-    * \return A reference to the created Group
+   *
-    * \throws ErrorException if the Group object could not be constructed.
+   * \returns The handle to the started Task.
-    * \threadsafe
-    * \memory Allocates some memory depending on the configuration of the
-    *         runtime.
-    */
-  Group & CreateGroup();
-  /**
-    * Destroys a Group. \link Task Tasks \endlink running in the Group will
-    * finish execution.
-    * \threadsafe
-    */
-  void DestroyGroup(
-    Group & group                      /**< [in,out] The Group to destroy */
-    );
-  /**
-    * Creates a Queue for stream processing. The queue might execute its 
-    * \link Task Tasks \endlink either in order or unordered.
-    * \return A reference to the new Queue
-    * \throws ErrorException if the Queue object could not be constructed.
   * \threadsafe
-    * \memory Allocates some memory depending on the configuration of the
-    *         runtime.
   */
-  Queue & CreateQueue(
+  template <typename ARGS, typename RES>
-    mtapi_uint_t priority,             /**< [in] Priority of the Queue */
+  Task Start(
-    bool ordered                       /**< [in] \c true if the Queue should be
+    mtapi_task_id_t task_id,           /**< A user defined ID of the Task. */
-                                            ordered, otherwise \c false */
+    Job const & job,                   /**< The Job to execute. */
-    );
+    const ARGS * arguments,            /**< Pointer to the arguments. */
+    RES * results,                     /**< Pointer to the results. */
+    TaskAttributes const & attributes  /**< Attributes of the Task */
+    ) {
+    return Start(task_id,
+      job.GetInternal(),
+      arguments, internal::SizeOfType<ARGS>(),
+      results, internal::SizeOfType<RES>(),
+      &attributes.GetInternal());
+  }
  /**
-    * Destroys a Queue. Running \link Task Tasks \endlink will be canceled.
+   * Starts a new Task.
+   *
+   * \returns The handle to the started Task.
   * \threadsafe
   */
-  void DestroyQueue(
+  template <typename ARGS, typename RES>
-    Queue & queue                      /**< [in,out] The Queue to destroy */
+  Task Start(
-    );
+    mtapi_task_id_t task_id,           /**< A user defined ID of the Task. */
+    Job const & job,                   /**< The Job to execute. */
+    const ARGS * arguments,            /**< Pointer to the arguments. */
+    RES * results                      /**< Pointer to the results. */
+    ) {
+    return Start(task_id,
+      job.GetInternal(),
+      arguments, internal::SizeOfType<ARGS>(),
+      results, internal::SizeOfType<RES>(),
+      MTAPI_DEFAULT_TASK_ATTRIBUTES);
+  }
  /**
-    * Runs an Action.
+   * Starts a new Task.
-    * \return A Task identifying the Action to run
+   *
-    * \throws ErrorException if the Task object could not be constructed.
+   * \returns The handle to the started Task.
   * \threadsafe
   */
-  Task Spawn(
+  template <typename ARGS, typename RES>
-    Action action                      /**< [in] The Action to execute */
+  Task Start(
-    );
+    Job const & job,                   /**< The Job to execute. */
+    const ARGS * arguments,            /**< Pointer to the arguments. */
+    RES * results,                     /**< Pointer to the results. */
+    TaskAttributes const & attributes  /**< Attributes of the Task */
+    ) {
+    return Start(MTAPI_TASK_ID_NONE,
+      job.GetInternal(),
+      arguments, internal::SizeOfType<ARGS>(),
+      results, internal::SizeOfType<RES>(),
+      &attributes.GetInternal());
+  }
  /**
-    * Creates a Continuation.
+   * Starts a new Task.
-    * \return A Continuation chain
+   *
+   * \returns The handle to the started Task.
   * \threadsafe
   */
-  Continuation First(
+  template <typename ARGS, typename RES>
-    Action action                      /**< [in] The first Action of the
+  Task Start(
-                                            Continuation chain */
+    Job const & job,                   /**< The Job to execute. */
-    );
+    const ARGS * arguments,            /**< Pointer to the arguments. */
+    RES * results                      /**< Pointer to the results. */
+    ) {
+    return Start(MTAPI_TASK_ID_NONE,
+      job.GetInternal(),
+      arguments, internal::SizeOfType<ARGS>(),
+      results, internal::SizeOfType<RES>(),
+      MTAPI_DEFAULT_TASK_ATTRIBUTES);
+  }
  friend class embb::base::Allocation;
 private:
+  // not copyable
  Node(Node const & node);
+  Node const & operator=(Node const & other);
  Node(
    mtapi_domain_t domain_id,
    mtapi_node_t node_id,
-    mtapi_node_attributes_t * attr);
+    NodeAttributes const & attr) {
-  ~Node();
+    mtapi_status_t status;
+    mtapi_info_t info;
-  static void action_func(
+    mtapi_initialize(domain_id, node_id, &attr.GetInternal(), &info, &status);
-    const void* args,
+    needs_finalize_ = status == MTAPI_SUCCESS;
-    mtapi_size_t args_size,
+    internal::CheckStatus(status);
-    void* result_buffer,
-    mtapi_size_t result_buffer_size,
+    core_count_ = info.hardware_concurrency;
-    const void* node_local_data,
+    worker_thread_count_ = embb_core_set_count(
-    mtapi_size_t node_local_data_size,
+      &attr.GetInternal().core_affinity);
-    mtapi_task_context_t * context);
+  }
+  ~Node() {
+    if (needs_finalize_) {
+      mtapi_status_t status;
+      mtapi_finalize(&status);
+      internal::CheckStatus(status);
+    }
+  }
+  Task Start(
+    mtapi_task_id_t task_id,
+    mtapi_job_hndl_t job,
+    const void * arguments,
+    mtapi_size_t arguments_size,
+    void * results,
+    mtapi_size_t results_size,
+    mtapi_task_attributes_t const * attributes
+    ) {
+    mtapi_status_t status;
+    mtapi_task_hndl_t task_hndl =
+      mtapi_task_start(task_id, job, arguments, arguments_size,
+      results, results_size, attributes, MTAPI_GROUP_NONE,
+      &status);
+    internal::CheckStatus(status);
+    return Task(task_hndl);
+  }
+  static embb::mtapi::Node * node_instance_;
  mtapi_uint_t core_count_;
  mtapi_uint_t worker_thread_count_;
-  mtapi_action_hndl_t action_handle_;
+  bool needs_finalize_;
-  std::list<Queue*> queues_;
-  std::list<Group*> groups_;
 };
 } // namespace mtapi

--- a/mtapi_cpp/include/embb/mtapi/node_attributes.h
+++ b/mtapi_cpp/include/embb/mtapi/node_attributes.h
+/*
+ * Copyright (c) 2014-2015, Siemens AG. All rights reserved.
+ *
+ * Redistribution and use in source and binary forms, with or without
+ * modification, are permitted provided that the following conditions are met:
+ *
+ * 1. Redistributions of source code must retain the above copyright notice,
+ * this list of conditions and the following disclaimer.
+ *
+ * 2. Redistributions in binary form must reproduce the above copyright notice,
+ * this list of conditions and the following disclaimer in the documentation
+ * and/or other materials provided with the distribution.
+ *
+ * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS"
+ * AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE
+ * IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE
+ * ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER OR CONTRIBUTORS BE
+ * LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR
+ * CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF
+ * SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS
+ * INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN
+ * CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE)
+ * ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
+ * POSSIBILITY OF SUCH DAMAGE.
+ */
+#ifndef EMBB_MTAPI_NODE_ATTRIBUTES_H_
+#define EMBB_MTAPI_NODE_ATTRIBUTES_H_
+#include <embb/mtapi/c/mtapi.h>
+#include <embb/base/core_set.h>
+#include <embb/mtapi/internal/check_status.h>
+namespace embb {
+namespace mtapi {
+/**
+ * Contains attributes of a Node.
+ *
+ * \ingroup CPP_MTAPI
+ */
+class NodeAttributes {
+ public:
+  /**
+   * Constructs a NodeAttributes object.
+   */
+  NodeAttributes() {
+    mtapi_status_t status;
+    mtapi_nodeattr_init(&attributes_, &status);
+    internal::CheckStatus(status);
+  }
+  /**
+   * Copies a NodeAttributes object.
+   */
+  NodeAttributes(
+    NodeAttributes const & other       /**< The NodeAttributes to copy. */
+    )
+    : attributes_(other.attributes_) {
+    // empty
+  }
+  /**
+   * Copies a NodeAttributes object.
+   */
+  void operator=(
+    NodeAttributes const & other       /**< The NodeAttributes to copy. */
+    ) {
+    attributes_ = other.attributes_;
+  }
+  /**
+   * Sets the core affinity of the Node. This also determines the number of
+   * worker threads.
+   *
+   * \returns Reference to this object.
+   * \notthreadsafe
+   */
+  NodeAttributes & SetCoreAffinity(
+    embb::base::CoreSet const & cores  /**< The cores to use. */
+    ) {
+    mtapi_status_t status;
+    mtapi_nodeattr_set(&attributes_, MTAPI_NODE_CORE_AFFINITY,
+      &cores.GetInternal(), sizeof(embb_core_set_t), &status);
+    internal::CheckStatus(status);
+    return *this;
+  }
+  /**
+   * Sets the maximum number of concurrently active tasks.
+   *
+   * \returns Reference to this object.
+   * \notthreadsafe
+   */
+  NodeAttributes & SetMaxTasks(
+    mtapi_uint_t value                 /**< The value to set. */
+    ) {
+    mtapi_status_t status;
+    mtapi_nodeattr_set(&attributes_, MTAPI_NODE_MAX_TASKS,
+      &value, sizeof(value), &status);
+    internal::CheckStatus(status);
+    return *this;
+  }
+  /**
+   * Sets the maximum number of actions.
+   *
+   * \returns Reference to this object.
+   * \notthreadsafe
+   */
+  NodeAttributes & SetMaxActions(
+    mtapi_uint_t value                 /**< The value to set. */
+    ) {
+    mtapi_status_t status;
+    mtapi_nodeattr_set(&attributes_, MTAPI_NODE_MAX_ACTIONS,
+      &value, sizeof(value), &status);
+    internal::CheckStatus(status);
+    return *this;
+  }
+  /**
+   * Sets the maximum number of groups.
+   *
+   * \returns Reference to this object.
+   * \notthreadsafe
+   */
+  NodeAttributes & SetMaxGroups(
+    mtapi_uint_t value                 /**< The value to set. */
+    ) {
+    mtapi_status_t status;
+    mtapi_nodeattr_set(&attributes_, MTAPI_NODE_MAX_GROUPS,
+      &value, sizeof(value), &status);
+    internal::CheckStatus(status);
+    return *this;
+  }
+  /**
+   * Sets the maximum number of queues.
+   *
+   * \returns Reference to this object.
+   * \notthreadsafe
+   */
+  NodeAttributes & SetMaxQueues(
+    mtapi_uint_t value                 /**< The value to set. */
+    ) {
+    mtapi_status_t status;
+    mtapi_nodeattr_set(&attributes_, MTAPI_NODE_MAX_QUEUES,
+      &value, sizeof(value), &status);
+    internal::CheckStatus(status);
+    return *this;
+  }
+  /**
+   * Sets the default limit (capacity) of all queues.
+   *
+   * \returns Reference to this object.
+   * \notthreadsafe
+   */
+  NodeAttributes & SetQueueLimit(
+    mtapi_uint_t value                 /**< The value to set. */
+    ) {
+    mtapi_status_t status;
+    mtapi_nodeattr_set(&attributes_, MTAPI_NODE_QUEUE_LIMIT,
+      &value, sizeof(value), &status);
+    internal::CheckStatus(status);
+    return *this;
+  }
+  /**
+   * Sets the maximum number of available jobs.
+   *
+   * \returns Reference to this object.
+   * \notthreadsafe
+   */
+  NodeAttributes & SetMaxJobs(
+    mtapi_uint_t value                 /**< The value to set. */
+    ) {
+    mtapi_status_t status;
+    mtapi_nodeattr_set(&attributes_, MTAPI_NODE_MAX_JOBS,
+      &value, sizeof(value), &status);
+    internal::CheckStatus(status);
+    return *this;
+  }
+  /**
+   * Sets the maximum number of actions per job.
+   *
+   * \returns Reference to this object.
+   * \notthreadsafe
+   */
+  NodeAttributes & SetMaxActionsPerJob(
+    mtapi_uint_t value                 /**< The value to set. */
+    ) {
+    mtapi_status_t status;
+    mtapi_nodeattr_set(&attributes_, MTAPI_NODE_MAX_ACTIONS_PER_JOB,
+      &value, sizeof(value), &status);
+    internal::CheckStatus(status);
+    return *this;
+  }
+  /**
+   * Sets the maximum number of available priorities. The priority values
+   * will range from 0 to \c value - 1 with 0 being the highest priority.
+   *
+   * \returns Reference to this object.
+   * \notthreadsafe
+   */
+  NodeAttributes & SetMaxPriorities(
+    mtapi_uint_t value                 /**< The value to set. */
+    ) {
+    mtapi_status_t status;
+    mtapi_nodeattr_set(&attributes_, MTAPI_NODE_MAX_PRIORITIES,
+      &value, sizeof(value), &status);
+    internal::CheckStatus(status);
+    return *this;
+  }
+  /**
+   * Returns the internal representation of this object.
+   * Allows for interoperability with the C interface.
+   *
+   * \returns A reference to the internal mtapi_node_attributes_t structure.
+   * \waitfree
+   */
+  mtapi_node_attributes_t const & GetInternal() const {
+    return attributes_;
+  }
+ private:
+  mtapi_node_attributes_t attributes_;
+};
+} // namespace mtapi
+} // namespace embb
+#endif // EMBB_MTAPI_NODE_ATTRIBUTES_H_
--- a/mtapi_cpp/include/embb/mtapi/queue.h
+++ b/mtapi_cpp/include/embb/mtapi/queue.h
@@ -28,9 +28,11 @@
 #define EMBB_MTAPI_QUEUE_H_
 #include <embb/mtapi/c/mtapi.h>
-#include <embb/mtapi/action.h>
+#include <embb/mtapi/job.h>
 #include <embb/mtapi/task.h>
 #include <embb/mtapi/group.h>
+#include <embb/mtapi/queue_attributes.h>
+#include <embb/mtapi/task_attributes.h>
 namespace embb {
@@ -50,62 +52,263 @@ namespace mtapi {
 class Queue {
 public:
  /**
+   * Constructs a Queue with the given Job and default attributes.
+   * Requires an initialized Node.
+   */
+  Queue(
+    Job const & job                    /**< The Job to use for the Queue. */
+    ) {
+    Create(MTAPI_QUEUE_ID_NONE, job, MTAPI_DEFAULT_QUEUE_ATTRIBUTES);
+  }
+  /**
+   * Constructs a Queue with the given Job and QueueAttributes.
+   * Requires an initialized Node.
+   */
+  Queue(
+    Job const & job,                   /**< The Job to use for the Queue. */
+    QueueAttributes const & attr       /**< The attributes to use. */
+    ) {
+    Create(MTAPI_QUEUE_ID_NONE, job, &attr.GetInternal());
+  }
+  /**
+   * Destroys a Queue object.
+   */
+  ~Queue() {
+    mtapi_queue_delete(handle_, MTAPI_INFINITE, MTAPI_NULL);
+  }
+  /**
   * Enables the Queue. \link Task Tasks \endlink enqueued while the Queue was
   * disabled are executed.
   * \waitfree
   */
-  void Enable();
+  void Enable() {
+    mtapi_status_t status;
+    mtapi_queue_enable(handle_, &status);
+    internal::CheckStatus(status);
+  }
+  /**
+   * Disables the Queue. Running \link Task Tasks \endlink are canceled. The
+   * Queue waits for the Tasks to finish for \c timout milliseconds.
+   * \waitfree
+   */
+  void Disable(
+    mtapi_timeout_t timeout            /**< The timeout in milliseconds. */
+    ) {
+    mtapi_status_t status;
+    mtapi_queue_disable(handle_, timeout, &status);
+    internal::CheckStatus(status);
+  }
  /**
-    * Disables the Queue. Running \link Task Tasks \endlink are canceled.
+   * Disables the Queue. Running \link Task Tasks \endlink are canceled. The
+   * Queue waits for the Tasks to finish.
   * \waitfree
   */
-  void Disable();
+  void Disable() {
+    Disable(MTAPI_INFINITE);
+  }
  /**
-    * Runs an Action.
+   * Enqueues a new Task.
-    * \return A Task identifying the Action to run
+   *
-    * \throws ErrorException if the Task object could not be constructed.
+   * \returns The handle to the enqueued Task.
+   * \threadsafe
+   */
+  template <typename ARGS, typename RES>
+  Task Enqueue(
+    mtapi_task_id_t task_id,           /**< A user defined ID of the Task. */
+    const ARGS * arguments,            /**< Pointer to the arguments. */
+    RES * results,                     /**< Pointer to the results. */
+    TaskAttributes const & attributes, /**< Attributes of the Task */
+    Group const & group                /**< The Group to start the Task in */
+    ) {
+    return Enqueue(task_id,
+      arguments, internal::SizeOfType<ARGS>(),
+      results, internal::SizeOfType<RES>(),
+      &attributes.GetInternal(), group.GetInternal());
+  }
+  /**
+   * Enqueues a new Task.
+   *
+   * \returns The handle to the enqueued Task.
   * \threadsafe
   */
-  Task Spawn(
+  template <typename ARGS, typename RES>
-    Action action                      /**< [in] The Action to run */
+  Task Enqueue(
-    );
+    mtapi_task_id_t task_id,           /**< A user defined ID of the Task. */
+    const ARGS * arguments,            /**< Pointer to the arguments. */
+    RES * results,                     /**< Pointer to the results. */
+    Group const & group                /**< The Group to start the Task in */
+    ) {
+    return Enqueue(task_id,
+      arguments, internal::SizeOfType<ARGS>(),
+      results, internal::SizeOfType<RES>(),
+      MTAPI_DEFAULT_TASK_ATTRIBUTES, group.GetInternal());
+  }
  /**
-    * Runs an Action in the specified Group
+   * Enqueues a new Task.
-    * \return A Task identifying the Action to run
+   *
-    * \throws ErrorException if the Task object could not be constructed.
+   * \returns The handle to the enqueued Task.
   * \threadsafe
   */
-  Task Spawn(
+  template <typename ARGS, typename RES>
-    Group const * group,               /**< [in] The Group to run the Action
+  Task Enqueue(
-                                            in */
+    mtapi_task_id_t task_id,           /**< A user defined ID of the Task. */
-    Action action                      /**< [in] The Action to run */
+    const ARGS * arguments,            /**< Pointer to the arguments. */
-    );
+    RES * results,                     /**< Pointer to the results. */
+    TaskAttributes const & attributes  /**< Attributes of the Task */
+    ) {
+    return Enqueue(task_id,
+      arguments, internal::SizeOfType<ARGS>(),
+      results, internal::SizeOfType<RES>(),
+      &attributes.GetInternal(), MTAPI_GROUP_NONE);
+  }
  /**
-    * Runs an Action in the specified Group. The \c id is returned by
+   * Enqueues a new Task.
-    * Group::WaitAny().
+   *
-    * \return A Task identifying the Action to run
+   * \returns The handle to the enqueued Task.
-    * \throws ErrorException if the Task object could not be constructed.
   * \threadsafe
   */
-  Task Spawn(
+  template <typename ARGS, typename RES>
-    mtapi_task_id_t id,                /**< [in] The id to return in
+  Task Enqueue(
-                                            Group::WaitAny() */
+    mtapi_task_id_t task_id,           /**< A user defined ID of the Task. */
-    Group const * group,               /**< [in] The Group to run the Action
+    const ARGS * arguments,            /**< Pointer to the arguments. */
-                                            in */
+    RES * results                      /**< Pointer to the results. */
-    Action action                      /**< [in] The Action to run */
+    ) {
-    );
+    return Enqueue(task_id,
+      arguments, internal::SizeOfType<ARGS>(),
+      results, internal::SizeOfType<RES>(),
+      MTAPI_DEFAULT_TASK_ATTRIBUTES, MTAPI_GROUP_NONE);
+  }
+  /**
+   * Enqueues a new Task.
+   *
+   * \returns The handle to the enqueued Task.
+   * \threadsafe
+   */
+  template <typename ARGS, typename RES>
+  Task Enqueue(
+    const ARGS * arguments,            /**< Pointer to the arguments. */
+    RES * results,                     /**< Pointer to the results. */
+    TaskAttributes const & attributes, /**< Attributes of the Task */
+    Group const & group                /**< The Group to start the Task in */
+    ) {
+    return Enqueue(MTAPI_TASK_ID_NONE,
+      arguments, internal::SizeOfType<ARGS>(),
+      results, internal::SizeOfType<RES>(),
+      &attributes.GetInternal(), group.GetInternal());
+  }
+  /**
+   * Enqueues a new Task.
+   *
+   * \returns The handle to the enqueued Task.
+   * \threadsafe
+   */
+  template <typename ARGS, typename RES>
+  Task Enqueue(
+    const ARGS * arguments,            /**< Pointer to the arguments. */
+    RES * results,                     /**< Pointer to the results. */
+    Group const & group                /**< The Group to start the Task in */
+    ) {
+    return Enqueue(MTAPI_TASK_ID_NONE,
+      arguments, internal::SizeOfType<ARGS>(),
+      results, internal::SizeOfType<RES>(),
+      MTAPI_DEFAULT_TASK_ATTRIBUTES, group.GetInternal());
+  }
+  /**
+   * Enqueues a new Task.
+   *
+   * \returns The handle to the enqueued Task.
+   * \threadsafe
+   */
+  template <typename ARGS, typename RES>
+  Task Enqueue(
+    const ARGS * arguments,            /**< Pointer to the arguments. */
+    RES * results,                     /**< Pointer to the results. */
+    TaskAttributes const & attributes  /**< Attributes of the Task */
+    ) {
+    return Enqueue(MTAPI_TASK_ID_NONE,
+      arguments, internal::SizeOfType<ARGS>(),
+      results, internal::SizeOfType<RES>(),
+      &attributes.GetInternal(), MTAPI_GROUP_NONE);
+  }
+  /**
+   * Enqueues a new Task.
+   *
+   * \returns The handle to the enqueued Task.
+   * \threadsafe
+   */
+  template <typename ARGS, typename RES>
+  Task Enqueue(
+    const ARGS * arguments,            /**< Pointer to the arguments. */
+    RES * results                      /**< Pointer to the results. */
+    ) {
+    return Enqueue(MTAPI_TASK_ID_NONE,
+      arguments, internal::SizeOfType<ARGS>(),
+      results, internal::SizeOfType<RES>(),
+      MTAPI_DEFAULT_TASK_ATTRIBUTES, MTAPI_GROUP_NONE);
+  }
+  /**
+   * Returns the internal representation of this object.
+   * Allows for interoperability with the C interface.
+   *
+   * \returns The internal mtapi_queue_hndl_t.
+   * \waitfree
+   */
+  mtapi_queue_hndl_t GetInternal() const {
+    return handle_;
+  }
  friend class embb::base::Allocation;
-  friend class Node;
 private:
-  Queue(Queue const & taskqueue);
+  // no default constructor
-  Queue(mtapi_uint_t priority, bool ordered);
+  Queue();
-  ~Queue();
+  // not copyable
+  Queue(Queue const & other);
+  void operator=(Queue const & other);
+  void Create(
+    mtapi_queue_id_t queue_id,
+    Job const & job,
+    mtapi_queue_attributes_t const * attributes
+    ) {
+    mtapi_status_t status;
+    handle_ = mtapi_queue_create(queue_id, job.GetInternal(),
+      attributes, &status);
+    internal::CheckStatus(status);
+  }
+  Task Enqueue(
+    mtapi_task_id_t task_id,
+    const void * arguments,
+    mtapi_size_t arguments_size,
+    void * results,
+    mtapi_size_t results_size,
+    mtapi_task_attributes_t const * attributes,
+    mtapi_group_hndl_t group
+    ) {
+    mtapi_status_t status;
+    mtapi_task_hndl_t task_hndl =
+      mtapi_task_enqueue(task_id, handle_, arguments, arguments_size,
+        results, results_size, attributes, group,
+        &status);
+    internal::CheckStatus(status);
+    return Task(task_hndl);
+  }
  mtapi_queue_hndl_t handle_;
 };

--- a/mtapi_cpp/include/embb/mtapi/queue_attributes.h
+++ b/mtapi_cpp/include/embb/mtapi/queue_attributes.h
+/*
+ * Copyright (c) 2014-2015, Siemens AG. All rights reserved.
+ *
+ * Redistribution and use in source and binary forms, with or without
+ * modification, are permitted provided that the following conditions are met:
+ *
+ * 1. Redistributions of source code must retain the above copyright notice,
+ * this list of conditions and the following disclaimer.
+ *
+ * 2. Redistributions in binary form must reproduce the above copyright notice,
+ * this list of conditions and the following disclaimer in the documentation
+ * and/or other materials provided with the distribution.
+ *
+ * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS"
+ * AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE
+ * IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE
+ * ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER OR CONTRIBUTORS BE
+ * LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR
+ * CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF
+ * SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS
+ * INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN
+ * CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE)
+ * ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
+ * POSSIBILITY OF SUCH DAMAGE.
+ */
+#ifndef EMBB_MTAPI_QUEUE_ATTRIBUTES_H_
+#define EMBB_MTAPI_QUEUE_ATTRIBUTES_H_
+#include <embb/mtapi/c/mtapi.h>
+#include <embb/mtapi/internal/check_status.h>
+namespace embb {
+namespace mtapi {
+/**
+ * Contains attributes of a Queue.
+ *
+ * \ingroup CPP_MTAPI
+ */
+class QueueAttributes {
+ public:
+  /**
+   * Constructs a QueueAttributes object.
+   */
+  QueueAttributes() {
+    mtapi_status_t status;
+    mtapi_queueattr_init(&attributes_, &status);
+    internal::CheckStatus(status);
+  }
+  /**
+   * Sets the global property of a Queue.
+   * This determines whether the object will be visible across nodes.
+   *
+   * \returns Reference to this object.
+   * \notthreadsafe
+   */
+  QueueAttributes & SetGlobal(
+    bool state                         /**< The state to set. */
+    ) {
+    mtapi_status_t status;
+    mtapi_boolean_t st = state ? MTAPI_TRUE : MTAPI_FALSE;
+    mtapi_queueattr_set(&attributes_, MTAPI_QUEUE_GLOBAL,
+      &st, sizeof(st), &status);
+    internal::CheckStatus(status);
+    return *this;
+  }
+  /**
+   * Sets the ordered property of a Queue.
+   * If set to \c true, tasks enqueued will be executed in order.
+   *
+   * \returns Reference to this object.
+   * \notthreadsafe
+   */
+  QueueAttributes & SetOrdered(
+    bool state                         /**< The state to set. */
+    ) {
+    mtapi_status_t status;
+    mtapi_boolean_t st = state ? MTAPI_TRUE : MTAPI_FALSE;
+    mtapi_queueattr_set(&attributes_, MTAPI_QUEUE_ORDERED,
+      &st, sizeof(st), &status);
+    internal::CheckStatus(status);
+    return *this;
+  }
+  /**
+   * Sets the retain property of a Queue.
+   * If set to \c true, tasks will be retained while a queue is disabled.
+   * Otherwise the will be canceled.
+   *
+   * \returns Reference to this object.
+   * \notthreadsafe
+   */
+  QueueAttributes & SetRetain(
+    bool state                         /**< The state to set. */
+    ) {
+    mtapi_status_t status;
+    mtapi_boolean_t st = state ? MTAPI_TRUE : MTAPI_FALSE;
+    mtapi_queueattr_set(&attributes_, MTAPI_QUEUE_RETAIN,
+      &st, sizeof(st), &status);
+    internal::CheckStatus(status);
+    return *this;
+  }
+  /**
+   * Sets the domain shared property of a Queue.
+   * This determines whether the object will be visible across domains.
+   *
+   * \returns Reference to this object.
+   * \notthreadsafe
+   */
+  QueueAttributes & SetDomainShared(
+    bool state                         /**< The state to set. */
+    ) {
+    mtapi_status_t status;
+    mtapi_boolean_t st = state ? MTAPI_TRUE : MTAPI_FALSE;
+    mtapi_queueattr_set(&attributes_, MTAPI_QUEUE_DOMAIN_SHARED,
+      &st, sizeof(st), &status);
+    internal::CheckStatus(status);
+    return *this;
+  }
+  /**
+   * Sets the priority of a Queue.
+   * The priority influences the order in which tasks are chosen for execution.
+   *
+   * \returns Reference to this object.
+   * \notthreadsafe
+   */
+  QueueAttributes & SetPriority(
+    mtapi_uint_t priority              /**< The priority to set. */
+    ) {
+    mtapi_status_t status;
+    mtapi_queueattr_set(&attributes_, MTAPI_QUEUE_PRIORITY,
+      &priority, sizeof(priority), &status);
+    internal::CheckStatus(status);
+    return *this;
+  }
+  /**
+   * Sets the limit (capacity) of a Queue.
+   *
+   * \returns Reference to this object.
+   * \notthreadsafe
+   */
+  QueueAttributes & SetLimit(
+    mtapi_uint_t limit                 /**< The limit to set. */
+    ) {
+    mtapi_status_t status;
+    mtapi_queueattr_set(&attributes_, MTAPI_QUEUE_LIMIT,
+      &limit, sizeof(limit), &status);
+    internal::CheckStatus(status);
+    return *this;
+  }
+  /**
+   * Returns the internal representation of this object.
+   * Allows for interoperability with the C interface.
+   *
+   * \returns A reference to the internal mtapi_queue_attributes_t structure.
+   * \waitfree
+   */
+  mtapi_queue_attributes_t const & GetInternal() const {
+    return attributes_;
+  }
+ private:
+  mtapi_queue_attributes_t attributes_;
+};
+} // namespace mtapi
+} // namespace embb
+#endif // EMBB_MTAPI_QUEUE_ATTRIBUTES_H_
--- a/mtapi_cpp/include/embb/mtapi/status_exception.h
+++ b/mtapi_cpp/include/embb/mtapi/status_exception.h
+/*
+ * Copyright (c) 2014-2015, Siemens AG. All rights reserved.
+ *
+ * Redistribution and use in source and binary forms, with or without
+ * modification, are permitted provided that the following conditions are met:
+ *
+ * 1. Redistributions of source code must retain the above copyright notice,
+ * this list of conditions and the following disclaimer.
+ *
+ * 2. Redistributions in binary form must reproduce the above copyright notice,
+ * this list of conditions and the following disclaimer in the documentation
+ * and/or other materials provided with the distribution.
+ *
+ * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS"
+ * AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE
+ * IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE
+ * ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER OR CONTRIBUTORS BE
+ * LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR
+ * CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF
+ * SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS
+ * INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN
+ * CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE)
+ * ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
+ * POSSIBILITY OF SUCH DAMAGE.
+ */
+#ifndef EMBB_MTAPI_STATUS_EXCEPTION_H_
+#define EMBB_MTAPI_STATUS_EXCEPTION_H_
+#include <embb/base/exceptions.h>
+namespace embb {
+namespace mtapi {
+/**
+ * Represents an MTAPI error state and is thrown by almost all mtapi_cpp
+ * methods.
+ *
+ * \ingroup CPP_MTAPI
+ */
+class StatusException : public embb::base::Exception {
+ public:
+  /**
+   * Constructs a StatusException.
+   */
+  explicit StatusException(
+    const char* message                /**< The message to use. */
+    )
+    : embb::base::Exception(message) {
+    // empty
+  }
+  /**
+   * Returns the code of the exception.
+   * \waitfree
+   */
+  virtual int Code() const { return EMBB_ERROR; }
+};
+} // namespace mtapi
+} // namespace embb
+#endif // EMBB_MTAPI_STATUS_EXCEPTION_H_
--- a/mtapi_cpp/include/embb/mtapi/task.h
+++ b/mtapi_cpp/include/embb/mtapi/task.h
@@ -28,34 +28,50 @@
 #define EMBB_MTAPI_TASK_H_
 #include <embb/mtapi/c/mtapi.h>
-#include <embb/mtapi/action.h>
+#include <embb/mtapi/internal/check_status.h>
 namespace embb {
 namespace mtapi {
 /**
-  * A Task represents a running Action.
+ * A Task represents a running Action of a specific Job.
 *
 * \ingroup CPP_MTAPI
 */
 class Task {
 public:
  /**
-    * Constructs an empty Task
+   * Constructs an invalid Task.
   */
-  Task();
+  Task() {
+    handle_.id = 0;
+    handle_.tag = 0;
+  }
  /**
-    * Copies a Task
+   * Copies a Task.
   */
  Task(
-    Task const & task                  /**< The task to copy. */
+    Task const & other                 /**< The task to copy. */
-    );
+    ) : handle_(other.handle_) {
+    // emtpy
+  }
  /**
-    * Destroys a Task
+   * Copies a Task.
   */
-  ~Task();
+  void operator=(
+    Task const & other                 /**< The task to copy. */
+    ) {
+    handle_ = other.handle_;
+  }
+  /**
+   * Destroys a Task.
+   */
+  ~Task() {
+    // empty
+  }
  /**
   * Waits for Task to finish for \c timeout milliseconds.
@@ -66,47 +82,55 @@ class Task {
  mtapi_status_t Wait(
    mtapi_timeout_t timeout          /**< [in] Timeout duration in
                                          milliseconds */
-    );
+    ) {
+    mtapi_status_t status;
+    mtapi_task_wait(handle_, timeout, &status);
+    return status;
+  }
+  /**
+   * Waits for Task to finish.
+   * \return The status of the finished Task or \c MTAPI_ERR_*
+   * \threadsafe
+   */
+  mtapi_status_t Wait() {
+    mtapi_status_t status;
+    mtapi_task_wait(handle_, MTAPI_INFINITE, &status);
+    return status;
+  }
  /**
   * Signals the Task to cancel computation.
   * \waitfree
   */
-  void Cancel();
+  void Cancel() {
+    mtapi_status_t status;
+    mtapi_task_cancel(handle_, &status);
+    internal::CheckStatus(status);
+  }
-  friend class Group;
+  /**
-  friend class Queue;
+   * Returns the internal representation of this object.
-  friend class Node;
+   * Allows for interoperability with the C interface.
+   *
+   * \returns The internal mtapi_task_hndl_t.
+   * \waitfree
+   */
+  mtapi_task_hndl_t GetInternal() const {
+    return handle_;
+  }
 private:
-  Task(
+  explicit Task(mtapi_task_hndl_t handle)
-    Action action);
+    : handle_(handle) {
+    // empty
-  Task(
+  }
-    Action action,
-    mtapi_group_hndl_t group);
-  Task(
-    mtapi_task_id_t id,
-    Action action,
-    mtapi_group_hndl_t group);
-  Task(
-    Action action,
-    mtapi_queue_hndl_t queue);
-  Task(
-    Action action,
-    mtapi_queue_hndl_t queue,
-    mtapi_group_hndl_t group);
-  Task(
-    mtapi_task_id_t id,
-    Action action,
-    mtapi_queue_hndl_t queue,
-    mtapi_group_hndl_t group);
  mtapi_task_hndl_t handle_;
+  friend class Node;
+  friend class Group;
+  friend class Queue;
 };
 } // namespace mtapi

--- a/mtapi_cpp/include/embb/mtapi/task_attributes.h
+++ b/mtapi_cpp/include/embb/mtapi/task_attributes.h
+/*
+ * Copyright (c) 2014-2015, Siemens AG. All rights reserved.
+ *
+ * Redistribution and use in source and binary forms, with or without
+ * modification, are permitted provided that the following conditions are met:
+ *
+ * 1. Redistributions of source code must retain the above copyright notice,
+ * this list of conditions and the following disclaimer.
+ *
+ * 2. Redistributions in binary form must reproduce the above copyright notice,
+ * this list of conditions and the following disclaimer in the documentation
+ * and/or other materials provided with the distribution.
+ *
+ * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS"
+ * AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE
+ * IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE
+ * ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER OR CONTRIBUTORS BE
+ * LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR
+ * CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF
+ * SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS
+ * INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN
+ * CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE)
+ * ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
+ * POSSIBILITY OF SUCH DAMAGE.
+ */
+#ifndef EMBB_MTAPI_TASK_ATTRIBUTES_H_
+#define EMBB_MTAPI_TASK_ATTRIBUTES_H_
+#include <embb/mtapi/c/mtapi.h>
+#include <embb/mtapi/internal/check_status.h>
+namespace embb {
+namespace mtapi {
+/**
+ * Contains attributes of a Task.
+ *
+ * \ingroup CPP_MTAPI
+ */
+class TaskAttributes {
+ public:
+  /**
+   * Constructs a TaskAttributes object.
+   */
+  TaskAttributes() {
+    mtapi_status_t status;
+    mtapi_taskattr_init(&attributes_, &status);
+    internal::CheckStatus(status);
+  }
+  /**
+   * Sets the detached property of a Task.
+   * If set to \c true, the started Task will have no handle and cannot be
+   * waited for.
+   *
+   * \returns Reference to this object.
+   * \notthreadsafe
+   */
+  TaskAttributes & SetDetached(
+    bool state                         /**< The state to set. */
+    ) {
+    mtapi_status_t status;
+    mtapi_boolean_t st = state ? MTAPI_TRUE : MTAPI_FALSE;
+    mtapi_taskattr_set(&attributes_, MTAPI_TASK_DETACHED,
+      &st, sizeof(st), &status);
+    internal::CheckStatus(status);
+    return *this;
+  }
+  /**
+   * Sets the priority of a Task.
+   * The priority influences the order in which tasks are chosen for execution.
+   *
+   * \returns Reference to this object.
+   * \notthreadsafe
+   */
+  TaskAttributes & SetPriority(
+    mtapi_uint_t priority              /**< The priority to set. */
+    ) {
+    mtapi_status_t status;
+    mtapi_taskattr_set(&attributes_, MTAPI_TASK_PRIORITY,
+      &priority, sizeof(priority), &status);
+    internal::CheckStatus(status);
+    return *this;
+  }
+  /**
+   * Sets the number of instances in a Task.
+   * The Task will be launched \c instances times. In the action function,
+   * the number of instances and the current instance can be queried from
+   * the TaskContext.
+   *
+   * \returns Reference to this object.
+   * \notthreadsafe
+   */
+  TaskAttributes & SetInstances(
+    mtapi_uint_t instances             /**< Number of instances to set. */
+    ) {
+    mtapi_status_t status;
+    mtapi_taskattr_set(&attributes_, MTAPI_TASK_INSTANCES,
+      &instances, sizeof(instances), &status);
+    internal::CheckStatus(status);
+    return *this;
+  }
+  /**
+   * Returns the internal representation of this object.
+   * Allows for interoperability with the C interface.
+   *
+   * \returns A reference to the internal mtapi_task_attributes_t structure.
+   * \waitfree
+   */
+  mtapi_task_attributes_t const & GetInternal() const {
+    return attributes_;
+  }
+ private:
+  mtapi_task_attributes_t attributes_;
+};
+} // namespace mtapi
+} // namespace embb
+#endif // EMBB_MTAPI_TASK_ATTRIBUTES_H_
--- a/mtapi_cpp/include/embb/mtapi/task_context.h
+++ b/mtapi_cpp/include/embb/mtapi/task_context.h
+/*
+ * Copyright (c) 2014-2015, Siemens AG. All rights reserved.
+ *
+ * Redistribution and use in source and binary forms, with or without
+ * modification, are permitted provided that the following conditions are met:
+ *
+ * 1. Redistributions of source code must retain the above copyright notice,
+ * this list of conditions and the following disclaimer.
+ *
+ * 2. Redistributions in binary form must reproduce the above copyright notice,
+ * this list of conditions and the following disclaimer in the documentation
+ * and/or other materials provided with the distribution.
+ *
+ * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS"
+ * AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE
+ * IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE
+ * ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER OR CONTRIBUTORS BE
+ * LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR
+ * CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF
+ * SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS
+ * INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN
+ * CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE)
+ * ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
+ * POSSIBILITY OF SUCH DAMAGE.
+ */
+#ifndef EMBB_MTAPI_TASK_CONTEXT_H_
+#define EMBB_MTAPI_TASK_CONTEXT_H_
+#include <embb/mtapi/c/mtapi.h>
+#include <embb/mtapi/internal/check_status.h>
+namespace embb {
+namespace mtapi {
+/**
+ * Provides information about the status of the currently running Task.
+ *
+ * \ingroup CPP_MTAPI
+ */
+class TaskContext {
+ public:
+  /**
+   * Constructs a TaskContext from the given C representation.
+   */
+  explicit TaskContext(
+    mtapi_task_context_t * task_context
+                                       /**< The C task context to wrap. */
+    )
+    : context_(task_context) {
+    // empty
+  }
+  /**
+   * Queries whether the Task running in the TaskContext should finish.
+   * \return \c true if the Task should finish, otherwise \c false
+   * \notthreadsafe
+   */
+  bool ShouldCancel() {
+    return MTAPI_TASK_CANCELLED == GetTaskState();
+  }
+  /**
+   * Queries the current Task state.
+   * \return The current Task state.
+   * \notthreadsafe
+   */
+  mtapi_task_state_t GetTaskState() {
+    mtapi_status_t status;
+    mtapi_task_state_t result =
+      mtapi_context_taskstate_get(context_, &status);
+    internal::CheckStatus(status);
+    return result;
+  }
+  /**
+   * Queries the index of the worker thread the Task is running on.
+   * \return The worker thread index the Task is running on
+   * \notthreadsafe
+   */
+  mtapi_uint_t GetCurrentWorkerNumber() {
+    mtapi_status_t status;
+    mtapi_uint_t result = mtapi_context_corenum_get(context_, &status);
+    internal::CheckStatus(status);
+    return result;
+  }
+  /**
+   * Queries the current instance of the currently executing Task.
+   * \return The current instance number
+   * \notthreadsafe
+   */
+  mtapi_uint_t GetInstanceNumber() {
+    mtapi_status_t status;
+    mtapi_uint_t result = mtapi_context_instnum_get(context_, &status);
+    internal::CheckStatus(status);
+    return result;
+  }
+  /**
+   * Queries the number of instances of the currently executing Task.
+   * \return The number of instances
+   * \notthreadsafe
+   */
+  mtapi_uint_t GetNumberOfInstances() {
+    mtapi_status_t status;
+    mtapi_uint_t result = mtapi_context_numinst_get(context_, &status);
+    internal::CheckStatus(status);
+    return result;
+  }
+  /**
+   * Sets the return status of the running Task. This will be returned by
+   * Task::Wait() and is set to \c MTAPI_SUCCESS by default.
+   * \notthreadsafe
+   */
+  void SetStatus(
+    mtapi_status_t error_code          /**< [in] The status to return by
+                                            Task::Wait(), Group::WaitAny(),
+                                            Group::WaitAll() */
+    ) {
+    mtapi_status_t status;
+    mtapi_context_status_set(context_, error_code, &status);
+    internal::CheckStatus(status);
+  }
+  /**
+   * Returns the internal representation of this object.
+   * Allows for interoperability with the C interface.
+   *
+   * \returns A pointer to a mtapi_task_context_t.
+   * \notthreadsafe
+   */
+  mtapi_task_context_t * GetInternal() const {
+    return context_;
+  }
+ private:
+  // no default constructor
+  TaskContext();
+  mtapi_task_context_t * context_;
+};
+} // namespace mtapi
+} // namespace embb
+#endif // EMBB_MTAPI_TASK_CONTEXT_H_
--- a/mtapi_cpp/src/check_status.cc
+++ b/mtapi_cpp/src/check_status.cc
+/*
+ * Copyright (c) 2014-2015, Siemens AG. All rights reserved.
+ *
+ * Redistribution and use in source and binary forms, with or without
+ * modification, are permitted provided that the following conditions are met:
+ *
+ * 1. Redistributions of source code must retain the above copyright notice,
+ * this list of conditions and the following disclaimer.
+ *
+ * 2. Redistributions in binary form must reproduce the above copyright notice,
+ * this list of conditions and the following disclaimer in the documentation
+ * and/or other materials provided with the distribution.
+ *
+ * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS"
+ * AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE
+ * IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE
+ * ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER OR CONTRIBUTORS BE
+ * LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR
+ * CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF
+ * SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS
+ * INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN
+ * CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE)
+ * ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
+ * POSSIBILITY OF SUCH DAMAGE.
+ */
+#include <embb/mtapi/task_context.h>
+#include <embb/mtapi/internal/check_status.h>
+#include <embb/mtapi/status_exception.h>
+#include <embb/base/internal/config.h>
+namespace embb {
+namespace mtapi {
+namespace internal {
+void CheckStatus(mtapi_status_t status) {
+  if (MTAPI_SUCCESS != status) {
+    switch (status) {
+    case MTAPI_SUCCESS:
+    case MTAPI_TIMEOUT:
+    case MTAPI_GROUP_COMPLETED:
+      // these are no errors
+      break;
+    case MTAPI_ERR_NODE_INITIALIZED:
+      EMBB_THROW(embb::mtapi::StatusException,
+        "MTAPI: node already initialized.");
+      break;
+    case MTAPI_ERR_NODE_NOTINIT:
+      EMBB_THROW(embb::mtapi::StatusException,
+        "MTAPI: node not initialized.");
+      break;
+    case MTAPI_ERR_PARAMETER:
+      EMBB_THROW(embb::mtapi::StatusException,
+        "MTAPI: invalid parameter.");
+      break;
+    case MTAPI_ERR_CORE_NUM:
+      EMBB_THROW(embb::mtapi::StatusException,
+        "MTAPI: invalid worker number.");
+      break;
+    case MTAPI_ERR_RUNTIME_LOADBALANCING_NOTSUPPORTED:
+      EMBB_THROW(embb::mtapi::StatusException,
+        "MTAPI: load balancing not supported.");
+      break;
+    case MTAPI_ERR_RUNTIME_REMOTETASKS_NOTSUPPORTED:
+      EMBB_THROW(embb::mtapi::StatusException,
+        "MTAPI: remote tasks not supported.");
+      break;
+    case MTAPI_ERR_ARG_NOT_IMPLEMENTED:
+      EMBB_THROW(embb::mtapi::StatusException,
+        "MTAPI: argument not implemented.");
+      break;
+    case MTAPI_ERR_FUNC_NOT_IMPLEMENTED:
+      EMBB_THROW(embb::mtapi::StatusException,
+        "MTAPI: function not implemented.");
+      break;
+    case MTAPI_ERR_WAIT_PENDING:
+      EMBB_THROW(embb::mtapi::StatusException,
+        "MTAPI: wait pending.");
+      break;
+    case MTAPI_ERR_ARG_SIZE:
+      EMBB_THROW(embb::mtapi::StatusException,
+        "MTAPI: argument size mismatch.");
+      break;
+    case MTAPI_ERR_RESULT_SIZE:
+      EMBB_THROW(embb::mtapi::StatusException,
+        "MTAPI: result buffer size mismatch.");
+      break;
+    case MTAPI_ERR_BUFFER_SIZE:
+      EMBB_THROW(embb::mtapi::StatusException,
+        "MTAPI: buffer size mismatch.");
+      break;
+    case MTAPI_ERR_GROUP_LIMIT:
+      EMBB_THROW(embb::mtapi::StatusException,
+        "MTAPI: group limit exceeded.");
+      break;
+    case MTAPI_ERR_GROUP_INVALID:
+      EMBB_THROW(embb::mtapi::StatusException,
+        "MTAPI: group invalid.");
+      break;
+    case MTAPI_ERR_QUEUE_LIMIT:
+      EMBB_THROW(embb::mtapi::StatusException,
+        "MTAPI: queue limit exceeded.");
+      break;
+    case MTAPI_ERR_QUEUE_DISABLED:
+      EMBB_THROW(embb::mtapi::StatusException,
+        "MTAPI: queue disabled.");
+      break;
+    case MTAPI_ERR_QUEUE_DELETED:
+      EMBB_THROW(embb::mtapi::StatusException,
+        "MTAPI: queue deleted.");
+      break;
+    case MTAPI_ERR_QUEUE_INVALID:
+      EMBB_THROW(embb::mtapi::StatusException,
+        "MTAPI: queue invalid.");
+      break;
+    case MTAPI_ERR_JOB_INVALID:
+      EMBB_THROW(embb::mtapi::StatusException,
+        "MTAPI: job invalid.");
+      break;
+    case MTAPI_ERR_TASK_LIMIT:
+      EMBB_THROW(embb::mtapi::StatusException,
+        "MTAPI: task limit exceeded.");
+      break;
+    case MTAPI_ERR_TASK_INVALID:
+      EMBB_THROW(embb::mtapi::StatusException,
+        "MTAPI: task invalid.");
+      break;
+    case MTAPI_ERR_CONTEXT_OUTOFCONTEXT:
+      EMBB_THROW(embb::mtapi::StatusException,
+        "MTAPI: task context used outside of worker thread.");
+      break;
+    case MTAPI_ERR_CONTEXT_INVALID:
+      EMBB_THROW(embb::mtapi::StatusException,
+        "MTAPI: task context invalid.");
+      break;
+    case MTAPI_ERR_ACTION_DISABLED:
+      EMBB_THROW(embb::mtapi::StatusException,
+        "MTAPI: action disabled.");
+      break;
+    case MTAPI_ERR_ACTION_DELETED:
+      EMBB_THROW(embb::mtapi::StatusException,
+        "MTAPI: action deleted.");
+      break;
+    case MTAPI_ERR_ACTION_CANCELLED:
+      EMBB_THROW(embb::mtapi::StatusException,
+        "MTAPI: action canceled.");
+      break;
+    case MTAPI_ERR_ACTION_FAILED:
+      EMBB_THROW(embb::mtapi::StatusException,
+        "MTAPI: action failed.");
+      break;
+    case MTAPI_ERR_ACTION_LIMIT:
+      EMBB_THROW(embb::mtapi::StatusException,
+        "MTAPI: action limit exceeded.");
+      break;
+    case MTAPI_ERR_ACTION_EXISTS:
+      EMBB_THROW(embb::mtapi::StatusException,
+        "MTAPI: action already exists.");
+      break;
+    case MTAPI_ERR_ACTION_INVALID:
+      EMBB_THROW(embb::mtapi::StatusException,
+        "MTAPI: action invalid.");
+      break;
+    case MTAPI_ERR_DOMAIN_INVALID:
+      EMBB_THROW(embb::mtapi::StatusException,
+        "MTAPI: domain invalid.");
+      break;
+    case MTAPI_ERR_NODE_INVALID:
+      EMBB_THROW(embb::mtapi::StatusException,
+        "MTAPI: node invalid.");
+      break;
+    case MTAPI_ERR_NODE_INITFAILED:
+      EMBB_THROW(embb::mtapi::StatusException,
+        "MTAPI: node initialization failed.");
+      break;
+    case MTAPI_ERR_ATTR_SIZE:
+      EMBB_THROW(embb::mtapi::StatusException,
+        "MTAPI: attribute size mismatch.");
+      break;
+    case MTAPI_ERR_ATTR_NUM:
+      EMBB_THROW(embb::mtapi::StatusException,
+        "MTAPI: invalid attribute.");
+      break;
+    case MTAPI_ERR_ATTR_READONLY:
+      EMBB_THROW(embb::mtapi::StatusException,
+        "MTAPI: attribute is read only.");
+      break;
+    case MTAPI_ERR_ACTION_NUM_INVALID:
+    case MTAPI_ERR_UNKNOWN:
+    default:
+      EMBB_THROW(embb::mtapi::StatusException,
+        "MTAPI: unknown error.");
+      break;
+    }
+  }
+}
+} // namespace internal
+} // namespace mtapi
+} // namespace embb
--- a/mtapi_cpp/src/node.cc
+++ b/mtapi_cpp/src/node.cc
@@ -24,251 +24,12 @@
 * POSSIBILITY OF SUCH DAMAGE.
 */
-#include <algorithm>
+#include <embb/mtapi/node.h>
-#include <cstddef>
-#include <cstdlib>
-#include <cassert>
-#include <embb/base/memory_allocation.h>
-#include <embb/base/exceptions.h>
-#include <embb/mtapi/mtapi.h>
-#if MTAPI_CPP_AUTOMATIC_INITIALIZE
-#include <embb/base/mutex.h>
-#endif
-namespace {
-static embb::mtapi::Node * node_instance = NULL;
-#if MTAPI_CPP_AUTOMATIC_INITIALIZE
-static embb::base::Mutex init_mutex;
-#endif
-}
 namespace embb {
 namespace mtapi {
-void Node::action_func(
+embb::mtapi::Node * embb::mtapi::Node::node_instance_ = NULL;
-  const void* args,
-  mtapi_size_t /*args_size*/,
-  void* /*result_buffer*/,
-  mtapi_size_t /*result_buffer_size*/,
-  const void* /*node_local_data*/,
-  mtapi_size_t /*node_local_data_size*/,
-  mtapi_task_context_t * context) {
-  mtapi::Action * action =
-    reinterpret_cast<mtapi::Action*>(const_cast<void*>(args));
-  mtapi::TaskContext task_context(context);
-  (*action)(task_context);
-  embb::base::Allocation::Delete(action);
-}
-Node::Node(
-  mtapi_domain_t domain_id,
-  mtapi_node_t node_id,
-  mtapi_node_attributes_t * attr) {
-  mtapi_status_t status;
-  mtapi_info_t info;
-  mtapi_initialize(domain_id, node_id, attr, &info, &status);
-  if (MTAPI_SUCCESS != status) {
-    EMBB_THROW(embb::base::ErrorException,
-      "mtapi::Node could not initialize mtapi");
-  }
-  core_count_ = info.hardware_concurrency;
-  worker_thread_count_ = embb_core_set_count(&attr->core_affinity);
-  action_handle_ = mtapi_action_create(MTAPI_CPP_TASK_JOB, action_func,
-    MTAPI_NULL, 0, MTAPI_NULL, &status);
-  if (MTAPI_SUCCESS != status) {
-    EMBB_THROW(embb::base::ErrorException,
-      "mtapi::Node could not create an action");
-  }
-}
-Node::~Node() {
-  for (std::list<Queue*>::iterator ii = queues_.begin();
-       ii != queues_.end();
-       ++ii) {
-    embb::base::Allocation::Delete(*ii);
-  }
-  queues_.clear();
-  for (std::list<Group*>::iterator ii = groups_.begin();
-       ii != groups_.end();
-       ++ii) {
-    embb::base::Allocation::Delete(*ii);
-  }
-  groups_.clear();
-  mtapi_status_t status;
-  mtapi_action_delete(action_handle_, MTAPI_INFINITE, &status);
-  assert(MTAPI_SUCCESS == status);
-  mtapi_finalize(&status);
-  assert(MTAPI_SUCCESS == status);
-}
-void Node::Initialize(
-  mtapi_domain_t domain_id,
-  mtapi_node_t node_id) {
-  if (IsInitialized()) {
-    EMBB_THROW(embb::base::ErrorException,
-      "mtapi::Node was already initialized");
-  } else {
-    mtapi_status_t status;
-    mtapi_node_attributes_t attr;
-    mtapi_uint_t tmp;
-    mtapi_nodeattr_init(&attr, &status);
-    assert(MTAPI_SUCCESS == status);
-    tmp = 4;
-    mtapi_nodeattr_set(&attr, MTAPI_NODE_MAX_ACTIONS,
-      &tmp, sizeof(tmp), &status);
-    assert(MTAPI_SUCCESS == status);
-    tmp = 4;
-    mtapi_nodeattr_set(&attr, MTAPI_NODE_MAX_JOBS,
-      &tmp, sizeof(tmp), &status);
-    assert(MTAPI_SUCCESS == status);
-    tmp = 1;
-    mtapi_nodeattr_set(&attr, MTAPI_NODE_MAX_ACTIONS_PER_JOB,
-      &tmp, sizeof(tmp), &status);
-    assert(MTAPI_SUCCESS == status);
-    node_instance = embb::base::Allocation::New<Node>(
-      domain_id, node_id, &attr);
-  }
-}
-void Node::Initialize(
-  mtapi_domain_t domain_id,
-  mtapi_node_t node_id,
-  embb::base::CoreSet const & core_set,
-  mtapi_uint_t max_tasks,
-  mtapi_uint_t max_groups,
-  mtapi_uint_t max_queues,
-  mtapi_uint_t queue_limit,
-  mtapi_uint_t max_priorities) {
-  if (IsInitialized()) {
-    EMBB_THROW(embb::base::ErrorException,
-      "mtapi::Node was already initialized");
-  } else {
-    mtapi_status_t status;
-    mtapi_node_attributes_t attr;
-    mtapi_uint_t tmp;
-    mtapi_nodeattr_init(&attr, &status);
-    assert(MTAPI_SUCCESS == status);
-    embb_core_set_t cs;
-    embb_core_set_init(&cs, 0);
-    for (unsigned int ii = 0; embb_core_set_count(&cs) < core_set.Count();
-      ii++) {
-      if (core_set.IsContained(ii)) {
-        embb_core_set_add(&cs, ii);
-      }
-    }
-    mtapi_nodeattr_set(&attr, MTAPI_NODE_CORE_AFFINITY,
-      &cs, sizeof(cs), &status);
-    assert(MTAPI_SUCCESS == status);
-    mtapi_nodeattr_set(&attr, MTAPI_NODE_MAX_TASKS,
-      &max_tasks, sizeof(max_tasks), &status);
-    assert(MTAPI_SUCCESS == status);
-    tmp = 4;
-    mtapi_nodeattr_set(&attr, MTAPI_NODE_MAX_ACTIONS,
-      &tmp, sizeof(tmp), &status);
-    assert(MTAPI_SUCCESS == status);
-    mtapi_nodeattr_set(&attr, MTAPI_NODE_MAX_GROUPS,
-      &max_groups, sizeof(max_groups), &status);
-    assert(MTAPI_SUCCESS == status);
-    mtapi_nodeattr_set(&attr, MTAPI_NODE_MAX_QUEUES,
-      &max_queues, sizeof(max_queues), &status);
-    assert(MTAPI_SUCCESS == status);
-    mtapi_nodeattr_set(&attr, MTAPI_NODE_QUEUE_LIMIT,
-      &queue_limit, sizeof(queue_limit), &status);
-    assert(MTAPI_SUCCESS == status);
-    tmp = 4;
-    mtapi_nodeattr_set(&attr, MTAPI_NODE_MAX_JOBS,
-      &tmp, sizeof(tmp), &status);
-    assert(MTAPI_SUCCESS == status);
-    tmp = 1;
-    mtapi_nodeattr_set(&attr, MTAPI_NODE_MAX_ACTIONS_PER_JOB,
-      &tmp, sizeof(tmp), &status);
-    assert(MTAPI_SUCCESS == status);
-    mtapi_nodeattr_set(&attr, MTAPI_NODE_MAX_PRIORITIES,
-      &max_priorities, sizeof(max_priorities), &status);
-    assert(MTAPI_SUCCESS == status);
-    node_instance = embb::base::Allocation::New<Node>(
-      domain_id, node_id, &attr);
-  }
-}
-bool Node::IsInitialized() {
-  return NULL != node_instance;
-}
-Node & Node::GetInstance() {
-#if MTAPI_CPP_AUTOMATIC_INITIALIZE
-  if (!IsInitialized()) {
-    init_mutex.Lock();
-    if (!IsInitialized()) {
-      Node::Initialize(
-        MTAPI_CPP_AUTOMATIC_DOMAIN_ID, MTAPI_CPP_AUTOMATIC_NODE_ID);
-      atexit(Node::Finalize);
-    }
-    init_mutex.Unlock();
-  }
-  return *node_instance;
-#else
-  if (IsInitialized()) {
-    return *node_instance;
-  } else {
-    EMBB_THROW(embb::base::ErrorException,
-      "mtapi::Node is not initialized");
-  }
-#endif
-}
-void Node::Finalize() {
-  if (IsInitialized()) {
-    embb::base::Allocation::Delete(node_instance);
-    node_instance = NULL;
-  } else {
-    EMBB_THROW(embb::base::ErrorException,
-      "mtapi::Node is not initialized");
-  }
-}
-Group & Node::CreateGroup() {
-  Group * group = embb::base::Allocation::New<Group>();
-  groups_.push_back(group);
-  return *group;
-}
-void Node::DestroyGroup(Group & group) {
-  std::list<Group*>::iterator ii =
-    std::find(groups_.begin(), groups_.end(), &group);
-  if (ii != groups_.end()) {
-    embb::base::Allocation::Delete(*ii);
-    groups_.erase(ii);
-  }
-}
-Queue & Node::CreateQueue(mtapi_uint_t priority, bool ordered) {
-  Queue * queue = embb::base::Allocation::New<Queue>(priority, ordered);
-  queues_.push_back(queue);
-  return *queue;
-}
-void Node::DestroyQueue(Queue & queue) {
-  std::list<Queue*>::iterator ii =
-    std::find(queues_.begin(), queues_.end(), &queue);
-  if (ii != queues_.end()) {
-    embb::base::Allocation::Delete(*ii);
-    queues_.erase(ii);
-  }
-}
-Task Node::Spawn(Action action) {
-  return Task(action);
-}
-Continuation Node::First(Action action) {
-  return Continuation(action);
-}
 } // namespace mtapi
 } // namespace embb
--- a/mtapi_cpp/test/main.cc
+++ b/mtapi_cpp/test/main.cc
@@ -26,7 +26,7 @@
 #include <partest/partest.h>
-#include <iostream>
+#include <embb/base/c/thread.h>
 #include <mtapi_cpp_test_task.h>
 #include <mtapi_cpp_test_group.h>
@@ -34,6 +34,8 @@
 PT_MAIN("MTAPI C++") {
+  embb_thread_set_max_count(1024);
  PT_RUN(TaskTest);
  PT_RUN(GroupTest);
  PT_RUN(QueueTest);

--- a/mtapi_cpp/test/mtapi_cpp_test_group.cc
+++ b/mtapi_cpp/test/mtapi_cpp_test_group.cc
@@ -24,65 +24,90 @@
 * POSSIBILITY OF SUCH DAMAGE.
 */
-#include <iostream>
 #include <mtapi_cpp_test_config.h>
 #include <mtapi_cpp_test_group.h>
 #include <embb/base/c/memory_allocation.h>
+#define JOB_TEST_GROUP 5
+#define TASK_COUNT 4
 struct result_example_struct {
-  mtapi_uint_t value1;
+  int value1;
-  mtapi_uint_t value2;
+  int value2;
 };
 typedef struct result_example_struct result_example_t;
-static void testGroupAction(embb::mtapi::TaskContext & /*context*/) {
+static void testGroupAction(
-  //std::cout << "testGroupAction on core " <<
+  const void* args,
-  //  context.GetCurrentCoreNumber() << std::endl;
+  mtapi_size_t /*args_size*/,
+  void* results,
+  mtapi_size_t /*results_size*/,
+  const void* /*node_local_data*/,
+  mtapi_size_t /*node_local_data_size*/,
+  mtapi_task_context_t * /*context*/) {
+  result_example_t const * in = static_cast<result_example_t const *>(args);
+  result_example_t * out = static_cast<result_example_t *>(results);
+  out->value2 = in->value1;
 }
 static void testDoSomethingElse() {
 }
 GroupTest::GroupTest() {
-  CreateUnit("mtapi group test").Add(&GroupTest::TestBasic, this);
+  CreateUnit("mtapi_cpp group test").Add(&GroupTest::TestBasic, this);
 }
 void GroupTest::TestBasic() {
-  //std::cout << "running testGroup..." << std::endl;
  embb::mtapi::Node::Initialize(THIS_DOMAIN_ID, THIS_NODE_ID);
-  embb::mtapi::Node & node = embb::mtapi::Node::GetInstance();
+  embb::mtapi::Job job(JOB_TEST_GROUP, THIS_DOMAIN_ID);
-  embb::mtapi::Group & group = node.CreateGroup();
+  embb::mtapi::Action action(JOB_TEST_GROUP, testGroupAction);
-  embb::mtapi::Task task;
-  //std::cout << "wait all..." << std::endl;
+  {
+    embb::mtapi::Group group;
-  for (int ii = 0; ii < 4; ii++) {
+    result_example_t buffer[TASK_COUNT];
-    task = group.Spawn(testGroupAction);
+    for (int ii = 0; ii < TASK_COUNT; ii++) {
+      buffer[ii].value1 = ii;
+      buffer[ii].value2 = -1;
+      group.Start(job, &buffer[ii], &buffer[ii]);
    }
    testDoSomethingElse();
-  group.WaitAll(MTAPI_INFINITE);
-  //std::cout << "wait any..." << std::endl;
+    group.WaitAll();
+    for (int ii = 0; ii < TASK_COUNT; ii++) {
+      PT_EXPECT_EQ(buffer[ii].value1, ii);
+      PT_EXPECT_EQ(buffer[ii].value2, ii);
+    }
+  }
+  {
+    embb::mtapi::Group group;
+    result_example_t buffer[TASK_COUNT];
    for (int ii = 0; ii < 4; ii++) {
-    task = group.Spawn(mtapi_task_id_t(ii + 1), testGroupAction);
+      buffer[ii].value1 = ii;
+      buffer[ii].value2 = -1;
+      group.Start(job, &buffer[ii], &buffer[ii]);
    }
    testDoSomethingElse();
    mtapi_status_t status;
-  mtapi_task_id_t result;
+    result_example_t* result;
-  while (MTAPI_SUCCESS == (status = group.WaitAny(MTAPI_INFINITE, result))) {
+    while (MTAPI_SUCCESS ==
-    //std::cout << "got a result from task " << result << std::endl;
+      (status = group.WaitAny(reinterpret_cast<void**>(&result)))) {
+      PT_EXPECT(result != MTAPI_NULL);
+      PT_EXPECT_EQ(result->value1, result->value2);
+    }
+    PT_EXPECT_EQ(status, MTAPI_GROUP_COMPLETED);
  }
-  node.DestroyGroup(group);
  embb::mtapi::Node::Finalize();
-  PT_EXPECT(embb_get_bytes_allocated() == 0);
+  PT_EXPECT_EQ(embb_get_bytes_allocated(), 0u);
-  //std::cout << "...done" << std::endl << std::endl;
 }
--- a/mtapi_cpp/test/mtapi_cpp_test_queue.cc
+++ b/mtapi_cpp/test/mtapi_cpp_test_queue.cc
@@ -24,47 +24,55 @@
 * POSSIBILITY OF SUCH DAMAGE.
 */
-#include <cstdlib>
 #include <mtapi_cpp_test_config.h>
 #include <mtapi_cpp_test_queue.h>
 #include <embb/base/c/memory_allocation.h>
-#define JOB_TEST_TASK 42
+#define JOB_TEST_QUEUE 42
-#define TASK_TEST_ID 23
-#define QUEUE_TEST_ID 17
+static void testQueueAction(
+  const void* /*args*/,
-static void testQueueAction(embb::mtapi::TaskContext & /*context*/) {
+  mtapi_size_t /*args_size*/,
-  //std::cout << "testQueueAction on core " <<
+  void* results,
-  //  context.GetCurrentCoreNumber() << std::endl;
+  mtapi_size_t /*results_size*/,
+  const void* /*node_local_data*/,
+  mtapi_size_t /*node_local_data_size*/,
+  mtapi_task_context_t * context) {
+  embb::mtapi::TaskContext ctx(context);
+  int * out = reinterpret_cast<int*>(results);
+  *out = 1;
+  ctx.SetStatus(MTAPI_ERR_ACTION_CANCELLED);
 }
 static void testDoSomethingElse() {
 }
 QueueTest::QueueTest() {
-  CreateUnit("mtapi queue test").Add(&QueueTest::TestBasic, this);
+  CreateUnit("mtapi_cpp queue test").Add(&QueueTest::TestBasic, this);
 }
 void QueueTest::TestBasic() {
-  //std::cout << "running testQueue..." << std::endl;
  embb::mtapi::Node::Initialize(THIS_DOMAIN_ID, THIS_NODE_ID);
-  embb::mtapi::Node & node = embb::mtapi::Node::GetInstance();
+  embb::mtapi::Job job(JOB_TEST_QUEUE, THIS_DOMAIN_ID);
-  embb::mtapi::Queue & queue = node.CreateQueue(0, false);
+  embb::mtapi::Action action(JOB_TEST_QUEUE, testQueueAction,
+    MTAPI_NULL, 0);
-  embb::mtapi::Task task = queue.Spawn(testQueueAction);
+  {
+    embb::mtapi::Queue queue(job);
-  testDoSomethingElse();
+    int result = 0;
+    embb::mtapi::Task task = queue.Enqueue<void, int>(MTAPI_NULL, &result);
-  task.Wait(MTAPI_INFINITE);
+    testDoSomethingElse();
-  node.DestroyQueue(queue);
+    mtapi_status_t status = task.Wait();
+    PT_EXPECT_EQ(status, MTAPI_ERR_ACTION_CANCELLED);
+    PT_EXPECT_EQ(result, 1);
+  }
  embb::mtapi::Node::Finalize();
-  PT_EXPECT(embb_get_bytes_allocated() == 0);
+  PT_EXPECT_EQ(embb_get_bytes_allocated(), 0u);
-  //std::cout << "...done" << std::endl << std::endl;
 }
--- a/mtapi_cpp/test/mtapi_cpp_test_task.cc
+++ b/mtapi_cpp/test/mtapi_cpp_test_task.cc
@@ -34,33 +34,32 @@
 #include <embb/base/c/memory_allocation.h>
 #define JOB_TEST_TASK 42
-#define TASK_TEST_ID 23
+#define JOB_TEST_ERROR 17
 static void testTaskAction(
-  char const * msg,
+  const void* args,
-  std::string * output,
+  mtapi_size_t /*args_size*/,
-  embb::mtapi::TaskContext & /*context*/) {
+  void* results,
-  //std::cout << "testTaskAction " << msg << " on core " <<
+  mtapi_size_t /*results_size*/,
-  //  context.GetCurrentCoreNumber() << std::endl;
+  const void* /*node_local_data*/,
-  *output = msg;
+  mtapi_size_t /*node_local_data_size*/,
+  mtapi_task_context_t * context) {
+  embb::mtapi::TaskContext ctx(context);
+  const char * msg = static_cast<const char *>(args);
+  std::string* out = static_cast<std::string*>(results);
+  *out = msg;
 }
-static void testRecursiveTaskAction(
+static void testErrorAction(
-  int * value,
+  const void* /*args*/,
-  embb::mtapi::TaskContext & /*context*/) {
+  mtapi_size_t /*args_size*/,
-  embb::mtapi::Node & node = embb::mtapi::Node::GetInstance();
+  void* /*results*/,
-  *value = *value + 1;
+  mtapi_size_t /*results_size*/,
-  if (*value < 1000) {
+  const void* /*node_local_data*/,
-    embb::mtapi::Task task = node.Spawn(
+  mtapi_size_t /*node_local_data_size*/,
-      embb::base::Bind(
+  mtapi_task_context_t * context) {
-        testRecursiveTaskAction, value, embb::base::Placeholder::_1));
+  embb::mtapi::TaskContext ctx(context);
-    task.Wait(MTAPI_INFINITE);
+  ctx.SetStatus(MTAPI_ERR_ACTION_FAILED);
-  }
-  PT_EXPECT(*value == 1000);
-}
-static void testErrorTaskAction(embb::mtapi::TaskContext & context) {
-  context.SetStatus(MTAPI_ERR_ACTION_FAILED);
 }
 static void testDoSomethingElse() {
@@ -71,66 +70,58 @@ TaskTest::TaskTest() {
 }
 void TaskTest::TestBasic() {
-  //std::cout << "running testTask..." << std::endl;
  embb::mtapi::Node::Initialize(THIS_DOMAIN_ID, THIS_NODE_ID);
  embb::mtapi::Node & node = embb::mtapi::Node::GetInstance();
-  embb::mtapi::ExecutionPolicy policy(false);
+  {
-  PT_EXPECT_EQ(policy.GetAffinity(), 0u);
+    embb::mtapi::NodeAttributes attr;
-  PT_EXPECT_EQ(policy.GetPriority(), 0u);
+    attr
-  policy.AddWorker(0u);
+      .SetMaxActions(1024)
-  PT_EXPECT_EQ(policy.GetAffinity(), 1u);
+      .SetMaxActionsPerJob(2)
-  policy.AddWorker(1u);
+      .SetMaxPriorities(4);
-  PT_EXPECT_EQ(policy.GetAffinity(), 3u);
+  }
-  policy.RemoveWorker(0u);
-  PT_EXPECT_EQ(policy.GetAffinity(), 2u);
+  {
-  PT_EXPECT_EQ(policy.IsSetWorker(0), false);
+    embb::mtapi::Affinity affinity(false);
-  PT_EXPECT_EQ(policy.IsSetWorker(1), true);
+    PT_EXPECT_EQ(affinity.GetInternal(), 0u);
+    affinity.Set(0u, true);
+    PT_EXPECT_EQ(affinity.GetInternal(), 1u);
+    affinity.Set(1u, true);
+    PT_EXPECT_EQ(affinity.GetInternal(), 3u);
+    affinity.Set(0u, false);
+    PT_EXPECT_EQ(affinity.GetInternal(), 2u);
+    PT_EXPECT_EQ(affinity.Get(0), false);
+    PT_EXPECT_EQ(affinity.Get(1), true);
+  }
+  {
+    embb::mtapi::Job job_task(JOB_TEST_TASK, THIS_DOMAIN_ID);
+    embb::mtapi::Action action_task(JOB_TEST_TASK, testTaskAction);
    std::string test;
-  embb::mtapi::Task task = node.Spawn(
+    embb::mtapi::Task task = node.Start(job_task, "simple", &test);
-    embb::base::Bind(
-      testTaskAction, "simple", &test, embb::base::Placeholder::_1));
    testDoSomethingElse();
-  task.Wait(MTAPI_INFINITE);
+    mtapi_status_t status = task.Wait();
+    PT_EXPECT_EQ(status, MTAPI_SUCCESS);
    PT_EXPECT(test == "simple");
-  //std::cout << "result: " << test.c_str() << std::endl;
+  }
-  std::string test1, test2, test3;
+  {
-  task = node.First(
+    embb::mtapi::Job job_error(JOB_TEST_ERROR, THIS_DOMAIN_ID);
-    embb::base::Bind(
-      testTaskAction, "first", &test1, embb::base::Placeholder::_1)).
+    embb::mtapi::Action action_error(JOB_TEST_ERROR, testErrorAction,
-    Then(embb::base::Bind(
+      embb::mtapi::ActionAttributes());
-      testTaskAction, "second", &test2, embb::base::Placeholder::_1)).
-    Then(embb::base::Bind(
+    std::string test;
-      testTaskAction, "third", &test3, embb::base::Placeholder::_1)).
+    embb::mtapi::Task task = node.Start(job_error, "simple", &test);
-    Spawn();
-  testDoSomethingElse();
-  task.Wait(MTAPI_INFINITE);
-  PT_EXPECT(test1 == "first");
-  PT_EXPECT(test2 == "second");
-  PT_EXPECT(test3 == "third");
-  //std::cout << "result1: " << test1.c_str() << std::endl;
-  //std::cout << "result2: " << test2.c_str() << std::endl;
-  //std::cout << "result3: " << test3.c_str() << std::endl;
-  int value = 0;
-  task = node.Spawn(
-    embb::base::Bind(
-      testRecursiveTaskAction, &value, embb::base::Placeholder::_1));
-  task.Wait(MTAPI_INFINITE);
-  PT_EXPECT(value == 1000);
-  mtapi_status_t status;
-  task = node.Spawn(testErrorTaskAction);
    testDoSomethingElse();
-  status = task.Wait(MTAPI_INFINITE);
+    mtapi_status_t status = task.Wait();
-  PT_EXPECT(MTAPI_ERR_ACTION_FAILED == status);
+    PT_EXPECT_EQ(status, MTAPI_ERR_ACTION_FAILED);
+  }
  embb::mtapi::Node::Finalize();
-  PT_EXPECT(embb_get_bytes_allocated() == 0);
+  PT_EXPECT_EQ(embb_get_bytes_allocated(), 0u);
-  //std::cout << "...done" << std::endl << std::endl;
 }
--- a/scripts/run_cpplint.sh
+++ b/scripts/run_cpplint.sh
@@ -79,7 +79,7 @@ retval=0
 ##Excluded files
 RAND_FILES=( embb_mtapi_test_group.cc embb_mtapi_test_queue.cc embb_mtapi_test_task.cc queue_test-inl.h )
-for project in base_c mtapi_c base_cpp mtapi_cpp algorithms_cpp containers_cpp dataflow_cpp
+for project in base_c mtapi_c base_cpp mtapi_cpp tasks_cpp algorithms_cpp containers_cpp dataflow_cpp
 do
  echo "-> Doing project: $project"
  dir=$d/$project

--- a/scripts/run_tests_cygwin.sh
+++ b/scripts/run_tests_cygwin.sh
@@ -37,7 +37,7 @@ done
 DIR=`dirname "$SCRIPT_LOCATION"`
 TESTS="embb_base_c_test embb_base_cpp_test embb_mtapi_c_test \
-  embb_mtapi_cpp_test embb_algorithms_cpp_test \
+  embb_mtapi_cpp_test embb_tasks_cpp_test embb_algorithms_cpp_test \
  embb_containers_cpp_test embb_dataflow_cpp_test"
 for TEST in $TESTS; do

--- a/scripts/run_tests_unix.sh
+++ b/scripts/run_tests_unix.sh
@@ -37,7 +37,7 @@ done
 DIR=`dirname "$SCRIPT_LOCATION"`
 TESTS="embb_base_c_test embb_base_cpp_test embb_mtapi_c_test \
-  embb_mtapi_cpp_test embb_algorithms_cpp_test \
+  embb_mtapi_cpp_test embb_tasks_cpp_test embb_algorithms_cpp_test \
  embb_containers_cpp_test embb_dataflow_cpp_test"
 for TEST in $TESTS; do

--- a/scripts/run_tests_windows.bat
+++ b/scripts/run_tests_windows.bat
@@ -40,6 +40,9 @@ echo.
 "%DIR:~0,-1%\embb_mtapi_cpp_test.exe"
 if not !ERRORLEVEL! ==0 set /a NUM_ERRORS=!NUM_ERRORS!+1 
 echo.
+"%DIR:~0,-1%\embb_tasks_cpp_test.exe"
+if not !ERRORLEVEL! ==0 set /a NUM_ERRORS=!NUM_ERRORS!+1 
+echo.
 "%DIR:~0,-1%\embb_algorithms_cpp_test.exe"
 if not !ERRORLEVEL! ==0 set /a NUM_ERRORS=!NUM_ERRORS!+1 
 echo.

--- a/tasks_cpp/CMakeLists.txt
+++ b/tasks_cpp/CMakeLists.txt
+project (project_tasks_cpp)
+file(GLOB_RECURSE EMBB_TASKS_CPP_SOURCES "src/*.cc" "src/*.h")
+file(GLOB_RECURSE EMBB_TASKS_CPP_HEADERS "include/*.h")
+file(GLOB_RECURSE EMBB_TASKS_CPP_TEST_SOURCES "test/*.cc" "test/*.h")
+if (USE_AUTOMATIC_INITIALIZATION STREQUAL ON)
+  message("-- Automatic initialization enabled (default)")
+  set(TASKS_CPP_AUTOMATIC_INITIALIZE 1)
+else()
+  set(TASKS_CPP_AUTOMATIC_INITIALIZE 0)
+  message("-- Automatic initialization disabled")
+endif()
+message("   (set with command line option -DUSE_AUTOMATIC_INITIALIZATION=ON/OFF)")
+configure_file("include/embb/tasks/internal/cmake_config.h.in"
+               "include/embb/tasks/internal/cmake_config.h")
+# Execute the GroupSources macro
+include(${CMAKE_SOURCE_DIR}/CMakeCommon/GroupSourcesMSVC.cmake)
+GroupSourcesMSVC(include)
+GroupSourcesMSVC(src)
+GroupSourcesMSVC(test)
+set (EMBB_TASKS_CPP_INCLUDE_DIRS "include" "src" "test")
+include_directories(${EMBB_TASKS_CPP_INCLUDE_DIRS}
+                    ${CMAKE_CURRENT_BINARY_DIR}/include
+                    ${CMAKE_CURRENT_SOURCE_DIR}/../base_c/include
+                    ${CMAKE_CURRENT_BINARY_DIR}/../base_c/include
+                    ${CMAKE_CURRENT_SOURCE_DIR}/../base_cpp/include
+                    ${CMAKE_CURRENT_BINARY_DIR}/../base_cpp/include
+                    ${CMAKE_CURRENT_SOURCE_DIR}/../mtapi_c/include)
+add_library (embb_tasks_cpp ${EMBB_TASKS_CPP_SOURCES} ${EMBB_TASKS_CPP_HEADERS})
+target_link_libraries(embb_tasks_cpp embb_mtapi_c)
+if (BUILD_TESTS STREQUAL ON)
+  include_directories(${CMAKE_CURRENT_BINARY_DIR}/../partest/include)
+  add_executable (embb_tasks_cpp_test ${EMBB_TASKS_CPP_TEST_SOURCES})
+  target_link_libraries(embb_tasks_cpp_test embb_tasks_cpp embb_mtapi_c partest 
+                        embb_base_cpp embb_base_c ${compiler_libs})
+  CopyBin(BIN embb_tasks_cpp_test DEST ${local_install_dir})
+endif()
+install(DIRECTORY ${CMAKE_CURRENT_SOURCE_DIR}/include/
+        DESTINATION include FILES_MATCHING PATTERN "*.h")
+install(DIRECTORY ${CMAKE_CURRENT_BINARY_DIR}/include/
+        DESTINATION include FILES_MATCHING PATTERN "*.h")
+install(TARGETS embb_tasks_cpp DESTINATION lib)
--- a/tasks_cpp/include/embb/tasks/action.h
+++ b/tasks_cpp/include/embb/tasks/action.h
+/*
+ * Copyright (c) 2014-2015, Siemens AG. All rights reserved.
+ *
+ * Redistribution and use in source and binary forms, with or without
+ * modification, are permitted provided that the following conditions are met:
+ *
+ * 1. Redistributions of source code must retain the above copyright notice,
+ * this list of conditions and the following disclaimer.
+ *
+ * 2. Redistributions in binary form must reproduce the above copyright notice,
+ * this list of conditions and the following disclaimer in the documentation
+ * and/or other materials provided with the distribution.
+ *
+ * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS"
+ * AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE
+ * IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE
+ * ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER OR CONTRIBUTORS BE
+ * LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR
+ * CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF
+ * SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS
+ * INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN
+ * CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE)
+ * ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
+ * POSSIBILITY OF SUCH DAMAGE.
+ */
+#ifndef EMBB_TASKS_ACTION_H_
+#define EMBB_TASKS_ACTION_H_
+#include <embb/base/function.h>
+#include <embb/tasks/task_context.h>
+#include <embb/tasks/execution_policy.h>
+namespace embb {
+namespace tasks {
+/**
+  * A function to be spawned as a Task.
+  *
+  * \ingroup CPP_TASKS
+  */
+class Action {
+ public:
+  /**
+    * Constructs an empty Action.
+    */
+  Action()
+    : function_()
+    , execution_policy_() {
+    // empty
+  }
+  /**
+    * Constructs an Action from a function object.
+    *
+    * \tparam Function Function object
+    */
+  template <typename Function>
+  Action(
+    Function func                      /**< [in] Function object */
+    )
+    : function_(func)
+    , execution_policy_() {
+    // empty
+  }
+  /**
+    * Constructs an Action from a function object and an Affinity.
+    *
+    * \tparam Function Function object
+    */
+  template <typename Function>
+  Action(
+    Function func,                     /**< [in] Function object */
+    ExecutionPolicy execution_policy   /**< [in] Execution policy */
+    )
+    : function_(func)
+    , execution_policy_(execution_policy) {
+    // empty
+  }
+  /**
+    * Executes the Action in a given TaskContext.
+    */
+  void operator() (
+    TaskContext & context              /**< [in, out] Context the operator
+                                            is executed in */
+    ) {
+    function_(context);
+  }
+  /**
+    * Returns the ExecutionPolicy specified during creation.
+    * \return The ExecutionPolicy of the Action
+    * \waitfree
+    */
+  ExecutionPolicy GetExecutionPolicy() const {
+    return execution_policy_;
+  }
+ private:
+  embb::base::Function<void, TaskContext &> function_;
+  ExecutionPolicy execution_policy_;
+};
+} // namespace tasks
+} // namespace embb
+#endif // EMBB_TASKS_ACTION_H_
--- a/mtapi_cpp/include/embb/mtapi/continuation.h
+++ b/mtapi_cpp/include/embb/mtapi/continuation.h
@@ -24,21 +24,21 @@
 * POSSIBILITY OF SUCH DAMAGE.
 */
-#ifndef EMBB_MTAPI_CONTINUATION_H_
+#ifndef EMBB_TASKS_CONTINUATION_H_
-#define EMBB_MTAPI_CONTINUATION_H_
+#define EMBB_TASKS_CONTINUATION_H_
 #include <embb/mtapi/c/mtapi.h>
-#include <embb/mtapi/taskcontext.h>
+#include <embb/tasks/task_context.h>
-#include <embb/mtapi/action.h>
+#include <embb/tasks/action.h>
-#include <embb/mtapi/task.h>
+#include <embb/tasks/task.h>
 namespace embb {
-namespace mtapi {
+namespace tasks {
 /**
 *  Helper struct for Continuation.
 *
-  *  \ingroup CPP_MTAPI
+ *  \ingroup CPP_TASKS
 */
 struct ContinuationStage;
@@ -46,19 +46,19 @@ struct ContinuationStage;
 * A Continuation encapsulates a chain of \link Action Actions \endlink to be
 * executed consecutively.
 *
-  * \ingroup CPP_MTAPI
+ * \ingroup CPP_TASKS
 */
 class Continuation {
 public:
  /**
-  * Copy constructor.
+   * Copies a Continuation.
   */
  Continuation(
    Continuation const & cont          /**< [in] The Continuation to copy. */
    );
  /**
-  * Destructor.
+   * Destroys a Continuation.
   */
  ~Continuation();
@@ -99,7 +99,7 @@ class Continuation {
  ContinuationStage * last_;
 };
-} // namespace mtapi
+} // namespace tasks
 } // namespace embb
-#endif // EMBB_MTAPI_CONTINUATION_H_
+#endif // EMBB_TASKS_CONTINUATION_H_
--- a/mtapi_cpp/include/embb/mtapi/execution_policy.h
+++ b/mtapi_cpp/include/embb/mtapi/execution_policy.h
@@ -24,13 +24,14 @@
 * POSSIBILITY OF SUCH DAMAGE.
 */
-#ifndef EMBB_MTAPI_EXECUTION_POLICY_H_
+#ifndef EMBB_TASKS_EXECUTION_POLICY_H_
-#define EMBB_MTAPI_EXECUTION_POLICY_H_
+#define EMBB_TASKS_EXECUTION_POLICY_H_
 #include <embb/mtapi/c/mtapi.h>
 namespace embb {
-namespace mtapi {
+namespace tasks {
 /**
 * Describes the execution policy of a parallel algorithm.
 * The execution policy comprises
@@ -41,7 +42,7 @@ namespace mtapi {
 * max_priorities - 1 as given during initialization using Node::Initialize().
 * The default value of max_priorities is 4.
 *
- * \ingroup CPP_MTAPI
+ * \ingroup CPP_TASKS
 */
 class ExecutionPolicy{
 public:
@@ -145,7 +146,8 @@ class ExecutionPolicy{
   */
  mtapi_uint_t priority_;
 };
-}  // namespace mtapi
+}  // namespace tasks
 }  // namespace embb
-#endif  // EMBB_MTAPI_EXECUTION_POLICY_H_
+#endif  // EMBB_TASKS_EXECUTION_POLICY_H_
--- a/tasks_cpp/include/embb/tasks/group.h
+++ b/tasks_cpp/include/embb/tasks/group.h
+/*
+ * Copyright (c) 2014-2015, Siemens AG. All rights reserved.
+ *
+ * Redistribution and use in source and binary forms, with or without
+ * modification, are permitted provided that the following conditions are met:
+ *
+ * 1. Redistributions of source code must retain the above copyright notice,
+ * this list of conditions and the following disclaimer.
+ *
+ * 2. Redistributions in binary form must reproduce the above copyright notice,
+ * this list of conditions and the following disclaimer in the documentation
+ * and/or other materials provided with the distribution.
+ *
+ * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS"
+ * AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE
+ * IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE
+ * ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER OR CONTRIBUTORS BE
+ * LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR
+ * CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF
+ * SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS
+ * INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN
+ * CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE)
+ * ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
+ * POSSIBILITY OF SUCH DAMAGE.
+ */
+#ifndef EMBB_TASKS_GROUP_H_
+#define EMBB_TASKS_GROUP_H_
+#include <embb/mtapi/c/mtapi.h>
+#include <embb/tasks/action.h>
+#include <embb/tasks/task.h>
+namespace embb {
+namespace base {
+class Allocation;
+} // namespace base
+namespace tasks {
+/**
+  * Represents a facility to wait for multiple related
+  * \link Task Tasks\endlink.
+  *
+  * \ingroup CPP_TASKS
+  */
+class Group {
+ public:
+  /**
+    * Runs an Action within the Group.
+    * \return A Task identifying the Action to run
+    * \throws ErrorException if the Task object could not be constructed.
+    * \threadsafe
+    */
+  Task Spawn(
+    Action action                      /**< [in] The Action to run */
+    );
+  /**
+    * Runs an Action within the Group. The \c id is returned by WaitAny().
+    * \return A Task identifying the Action to run
+    * \throws ErrorException if the Task object could not be constructed.
+    * \threadsafe
+    */
+  Task Spawn(
+    mtapi_task_id_t id,                /**< [in] The id to return by
+                                            WaitAny() */
+    Action action                      /**< [in] The Action to run */
+    );
+  /**
+    * Waits for any Task in the Group to finish for \c timeout milliseconds.
+    * \return The status of the Task that finished execution
+    * \threadsafe
+    */
+  mtapi_status_t WaitAny(
+    mtapi_timeout_t timeout            /**< [in] Timeout duration in
+                                            milliseconds */
+    );
+  /**
+    * Waits for any Task in the Group to finish for \c timeout milliseconds and
+    * retrieves the id given in Spawn().
+    * \return The status of the Task that finished execution, \c MTAPI_TIMEOUT
+    *         or \c MTAPI_ERR_*
+    * \threadsafe
+    */
+  mtapi_status_t WaitAny(
+    mtapi_timeout_t timeout,           /**< [in] Timeout duration in
+                                            milliseconds */
+    mtapi_task_id_t & id               /**< [out] The id given to Spawn() */
+    );
+  /**
+    * Waits for all Task in the Group to finish for \c timeout milliseconds.
+    * \return \c MTAPI_SUCCESS, \c MTAPI_TIMEOUT, \c MTAPI_ERR_* or the status
+    *         of any failed Task
+    * \threadsafe
+    */
+  mtapi_status_t WaitAll(
+    mtapi_timeout_t timeout            /**< [in] Timeout duration in
+                                            milliseconds */
+    );
+  friend class embb::base::Allocation;
+  friend class Node;
+  friend class Queue;
+ private:
+  Group(Group const & group);
+  Group();
+  ~Group();
+  void Create();
+  mtapi_group_hndl_t handle_;
+};
+} // namespace tasks
+} // namespace embb
+#endif // EMBB_TASKS_GROUP_H_
--- a/mtapi_cpp/include/embb/mtapi/internal/cmake_config.h.in
+++ b/mtapi_cpp/include/embb/mtapi/internal/cmake_config.h.in
@@ -24,18 +24,18 @@
 * POSSIBILITY OF SUCH DAMAGE.
 */
-#ifndef EMBB_MTAPI_INTERNAL_CMAKE_CONFIG_H_
+#ifndef EMBB_TASKS_INTERNAL_CMAKE_CONFIG_H_
-#define EMBB_MTAPI_INTERNAL_CMAKE_CONFIG_H_
+#define EMBB_TASKS_INTERNAL_CMAKE_CONFIG_H_
 /* This file is used as input for CMake. CMake creates a file cmake_config.h in
-   its current build directory under the path builddir/embb/mtapi/internal/. From
+   its current build directory under the path builddir/embb/tasks/internal/. From
   there, the cmake_config.h can be included as usual using
-   #include <embb/mtapi/internal/cmake_config.h>
+   #include <embb/tasks/internal/cmake_config.h>
 */
 /**
 * Is used to enable automatic initialization of the MTAPI node
 */
-#define MTAPI_CPP_AUTOMATIC_INITIALIZE ${MTAPI_CPP_AUTOMATIC_INITIALIZE}
+#define TASKS_CPP_AUTOMATIC_INITIALIZE ${TASKS_CPP_AUTOMATIC_INITIALIZE}
-#endif // EMBB_MTAPI_INTERNAL_CMAKE_CONFIG_H_
+#endif // EMBB_TASKS_INTERNAL_CMAKE_CONFIG_H_
--- a/tasks_cpp/include/embb/tasks/node.h
+++ b/tasks_cpp/include/embb/tasks/node.h
+/*
+ * Copyright (c) 2014-2015, Siemens AG. All rights reserved.
+ *
+ * Redistribution and use in source and binary forms, with or without
+ * modification, are permitted provided that the following conditions are met:
+ *
+ * 1. Redistributions of source code must retain the above copyright notice,
+ * this list of conditions and the following disclaimer.
+ *
+ * 2. Redistributions in binary form must reproduce the above copyright notice,
+ * this list of conditions and the following disclaimer in the documentation
+ * and/or other materials provided with the distribution.
+ *
+ * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS"
+ * AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE
+ * IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE
+ * ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER OR CONTRIBUTORS BE
+ * LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR
+ * CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF
+ * SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS
+ * INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN
+ * CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE)
+ * ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
+ * POSSIBILITY OF SUCH DAMAGE.
+ */
+#ifndef EMBB_TASKS_NODE_H_
+#define EMBB_TASKS_NODE_H_
+#include <list>
+#include <embb/base/core_set.h>
+#include <embb/mtapi/c/mtapi.h>
+#include <embb/tasks/action.h>
+#include <embb/tasks/task.h>
+#include <embb/tasks/continuation.h>
+#include <embb/tasks/group.h>
+#include <embb/tasks/queue.h>
+namespace embb {
+namespace base {
+class Allocation;
+} // namespace base
+namespace tasks {
+/**
+  * A singleton representing the MTAPI runtime.
+  *
+  * \ingroup CPP_TASKS
+  */
+class Node {
+ public:
+  /**
+    * Initializes the runtime singleton using default values:
+    *   - all available cores will be used
+    *   - maximum number of tasks is 1024
+    *   - maximum number of groups is 128
+    *   - maximum number of queues is 16
+    *   - maximum queue capacity is 1024
+    *   - maximum number of priorities is 4.
+    *
+    * \notthreadsafe
+    * \throws ErrorException if the singleton was already initialized or the
+    *         Node could not be initialized.
+    * \memory Allocates about 200kb of memory.
+    */
+  static void Initialize(
+    mtapi_domain_t domain_id,          /**< [in] The domain id to use */
+    mtapi_node_t node_id               /**< [in] The node id to use */
+    );
+  /**
+    * Initializes the runtime singleton.
+    * \notthreadsafe
+    * \throws ErrorException if the singleton was already initialized or the
+    *         Node could not be initialized.
+    * \memory Allocates some memory depending on the values given.
+    */
+  static void Initialize(
+    mtapi_domain_t domain_id,          /**< [in] The domain id to use */
+    mtapi_node_t node_id,              /**< [in] The node id to use */
+    embb::base::CoreSet const & core_set,
+                                       /**< [in] A set of cores MTAPI should
+                                            use for its worker threads */
+    mtapi_uint_t max_tasks,            /**< [in] Maximum number of concurrent
+                                            \link Task Tasks \endlink */
+    mtapi_uint_t max_groups,           /**< [in] Maximum number of concurrent
+                                            \link Group Groups \endlink */
+    mtapi_uint_t max_queues,           /**< [in] Maximum number of concurrent
+                                            \link Queue Queues \endlink */
+    mtapi_uint_t queue_limit,          /**< [in] Maximum Queue capacity */
+    mtapi_uint_t max_priorities        /**< [in] Maximum number of priorities,
+                                            priorities will be between 0 and
+                                            max_priorities-1 */
+    );
+  /**
+    * Checks if runtime is initialized.
+    * \return \c true if the Node singleton is already initialized, false
+    *         otherwise
+    * \waitfree
+    */
+  static bool IsInitialized();
+  /**
+    * Gets the instance of the runtime system.
+    * \return Reference to the Node singleton
+    * \threadsafe
+    */
+  static Node & GetInstance();
+  /**
+    * Shuts the runtime system down.
+    * \throws ErrorException if the singleton is not initialized.
+    * \notthreadsafe
+    */
+  static void Finalize();
+  /**
+    * Returns the number of available cores.
+    * \return The number of available cores
+    * \waitfree
+    */
+  mtapi_uint_t GetCoreCount() const {
+    return core_count_;
+  }
+  /**
+    * Returns the number of worker threads.
+    * \return The number of worker threads.
+    * \waitfree
+    */
+  mtapi_uint_t GetWorkerThreadCount() const {
+    return worker_thread_count_;
+  }
+  /**
+    * Creates a Group to launch \link Task Tasks \endlink in.
+    * \return A reference to the created Group
+    * \throws ErrorException if the Group object could not be constructed.
+    * \threadsafe
+    * \memory Allocates some memory depending on the configuration of the
+    *         runtime.
+    */
+  Group & CreateGroup();
+  /**
+    * Destroys a Group. \link Task Tasks \endlink running in the Group will
+    * finish execution.
+    * \threadsafe
+    */
+  void DestroyGroup(
+    Group & group                      /**< [in,out] The Group to destroy */
+    );
+  /**
+    * Creates a Queue for stream processing. The queue might execute its 
+    * \link Task Tasks \endlink either in order or unordered.
+    * \return A reference to the new Queue
+    * \throws ErrorException if the Queue object could not be constructed.
+    * \threadsafe
+    * \memory Allocates some memory depending on the configuration of the
+    *         runtime.
+    */
+  Queue & CreateQueue(
+    mtapi_uint_t priority,             /**< [in] Priority of the Queue */
+    bool ordered                       /**< [in] \c true if the Queue should be
+                                            ordered, otherwise \c false */
+    );
+  /**
+    * Destroys a Queue. Running \link Task Tasks \endlink will be canceled.
+    * \threadsafe
+    */
+  void DestroyQueue(
+    Queue & queue                      /**< [in,out] The Queue to destroy */
+    );
+  /**
+    * Runs an Action.
+    * \return A Task identifying the Action to run
+    * \throws ErrorException if the Task object could not be constructed.
+    * \threadsafe
+    */
+  Task Spawn(
+    Action action                      /**< [in] The Action to execute */
+    );
+  /**
+    * Creates a Continuation.
+    * \return A Continuation chain
+    * \threadsafe
+    */
+  Continuation First(
+    Action action                      /**< [in] The first Action of the
+                                            Continuation chain */
+    );
+  friend class embb::base::Allocation;
+ private:
+  Node(Node const & node);
+  Node(
+    mtapi_domain_t domain_id,
+    mtapi_node_t node_id,
+    mtapi_node_attributes_t * attr);
+  ~Node();
+  static void action_func(
+    const void* args,
+    mtapi_size_t args_size,
+    void* result_buffer,
+    mtapi_size_t result_buffer_size,
+    const void* node_local_data,
+    mtapi_size_t node_local_data_size,
+    mtapi_task_context_t * context);
+  mtapi_uint_t core_count_;
+  mtapi_uint_t worker_thread_count_;
+  mtapi_action_hndl_t action_handle_;
+  std::list<Queue*> queues_;
+  std::list<Group*> groups_;
+};
+} // namespace tasks
+} // namespace embb
+#endif // EMBB_TASKS_NODE_H_
--- a/tasks_cpp/include/embb/tasks/queue.h
+++ b/tasks_cpp/include/embb/tasks/queue.h
+/*
+ * Copyright (c) 2014-2015, Siemens AG. All rights reserved.
+ *
+ * Redistribution and use in source and binary forms, with or without
+ * modification, are permitted provided that the following conditions are met:
+ *
+ * 1. Redistributions of source code must retain the above copyright notice,
+ * this list of conditions and the following disclaimer.
+ *
+ * 2. Redistributions in binary form must reproduce the above copyright notice,
+ * this list of conditions and the following disclaimer in the documentation
+ * and/or other materials provided with the distribution.
+ *
+ * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS"
+ * AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE
+ * IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE
+ * ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER OR CONTRIBUTORS BE
+ * LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR
+ * CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF
+ * SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS
+ * INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN
+ * CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE)
+ * ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
+ * POSSIBILITY OF SUCH DAMAGE.
+ */
+#ifndef EMBB_TASKS_QUEUE_H_
+#define EMBB_TASKS_QUEUE_H_
+#include <embb/mtapi/c/mtapi.h>
+#include <embb/tasks/action.h>
+#include <embb/tasks/task.h>
+#include <embb/tasks/group.h>
+namespace embb {
+namespace base {
+class Allocation;
+} // namespace base
+namespace tasks {
+/**
+  * Allows for stream processing, either ordered or unordered.
+  *
+  * \ingroup CPP_TASKS
+  */
+class Queue {
+ public:
+  /**
+    * Enables the Queue. \link Task Tasks \endlink enqueued while the Queue was
+    * disabled are executed.
+    * \waitfree
+    */
+  void Enable();
+  /**
+    * Disables the Queue. Running \link Task Tasks \endlink are canceled.
+    * \waitfree
+    */
+  void Disable();
+  /**
+    * Runs an Action.
+    * \return A Task identifying the Action to run
+    * \throws ErrorException if the Task object could not be constructed.
+    * \threadsafe
+    */
+  Task Spawn(
+    Action action                      /**< [in] The Action to run */
+    );
+  /**
+    * Runs an Action in the specified Group
+    * \return A Task identifying the Action to run
+    * \throws ErrorException if the Task object could not be constructed.
+    * \threadsafe
+    */
+  Task Spawn(
+    Group const * group,               /**< [in] The Group to run the Action
+                                            in */
+    Action action                      /**< [in] The Action to run */
+    );
+  /**
+    * Runs an Action in the specified Group. The \c id is returned by
+    * Group::WaitAny().
+    * \return A Task identifying the Action to run
+    * \throws ErrorException if the Task object could not be constructed.
+    * \threadsafe
+    */
+  Task Spawn(
+    mtapi_task_id_t id,                /**< [in] The id to return in
+                                            Group::WaitAny() */
+    Group const * group,               /**< [in] The Group to run the Action
+                                            in */
+    Action action                      /**< [in] The Action to run */
+    );
+  friend class embb::base::Allocation;
+  friend class Node;
+ private:
+  Queue(Queue const & taskqueue);
+  Queue(mtapi_uint_t priority, bool ordered);
+  ~Queue();
+  mtapi_queue_hndl_t handle_;
+};
+} // namespace tasks
+} // namespace embb
+#endif // EMBB_TASKS_QUEUE_H_
--- a/tasks_cpp/include/embb/tasks/task.h
+++ b/tasks_cpp/include/embb/tasks/task.h
+/*
+ * Copyright (c) 2014-2015, Siemens AG. All rights reserved.
+ *
+ * Redistribution and use in source and binary forms, with or without
+ * modification, are permitted provided that the following conditions are met:
+ *
+ * 1. Redistributions of source code must retain the above copyright notice,
+ * this list of conditions and the following disclaimer.
+ *
+ * 2. Redistributions in binary form must reproduce the above copyright notice,
+ * this list of conditions and the following disclaimer in the documentation
+ * and/or other materials provided with the distribution.
+ *
+ * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS"
+ * AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE
+ * IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE
+ * ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER OR CONTRIBUTORS BE
+ * LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR
+ * CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF
+ * SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS
+ * INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN
+ * CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE)
+ * ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
+ * POSSIBILITY OF SUCH DAMAGE.
+ */
+#ifndef EMBB_TASKS_TASK_H_
+#define EMBB_TASKS_TASK_H_
+#include <embb/mtapi/c/mtapi.h>
+#include <embb/tasks/action.h>
+namespace embb {
+namespace tasks {
+/**
+  * A Task represents a running Action.
+  *
+  * \ingroup CPP_TASKS
+  */
+class Task {
+ public:
+  /**
+    * Constructs an empty Task
+    */
+  Task();
+  /**
+    * Copies a Task
+    */
+  Task(
+    Task const & task                  /**< The task to copy. */
+    );
+  /**
+    * Destroys a Task
+    */
+  ~Task();
+  /**
+    * Waits for Task to finish for \c timeout milliseconds.
+    * \return The status of the finished Task, \c MTAPI_TIMEOUT or
+    * \c MTAPI_ERR_*
+    * \threadsafe
+    */
+  mtapi_status_t Wait(
+    mtapi_timeout_t timeout          /**< [in] Timeout duration in
+                                          milliseconds */
+    );
+  /**
+    * Signals the Task to cancel computation.
+    * \waitfree
+    */
+  void Cancel();
+  friend class Group;
+  friend class Queue;
+  friend class Node;
+ private:
+  Task(
+    Action action);
+  Task(
+    Action action,
+    mtapi_group_hndl_t group);
+  Task(
+    mtapi_task_id_t id,
+    Action action,
+    mtapi_group_hndl_t group);
+  Task(
+    Action action,
+    mtapi_queue_hndl_t queue);
+  Task(
+    Action action,
+    mtapi_queue_hndl_t queue,
+    mtapi_group_hndl_t group);
+  Task(
+    mtapi_task_id_t id,
+    Action action,
+    mtapi_queue_hndl_t queue,
+    mtapi_group_hndl_t group);
+  mtapi_task_hndl_t handle_;
+};
+} // namespace tasks
+} // namespace embb
+#endif // EMBB_TASKS_TASK_H_
--- a/mtapi_cpp/include/embb/mtapi/taskcontext.h
+++ b/mtapi_cpp/include/embb/mtapi/taskcontext.h
@@ -24,18 +24,18 @@
 * POSSIBILITY OF SUCH DAMAGE.
 */
-#ifndef EMBB_MTAPI_TASKCONTEXT_H_
+#ifndef EMBB_TASKS_TASK_CONTEXT_H_
-#define EMBB_MTAPI_TASKCONTEXT_H_
+#define EMBB_TASKS_TASK_CONTEXT_H_
 #include <embb/mtapi/c/mtapi.h>
 namespace embb {
-namespace mtapi {
+namespace tasks {
 /**
  * Provides information about the status of the currently running Task.
  *
-  * \ingroup CPP_MTAPI
+  * \ingroup CPP_TASKS
  */
 class TaskContext {
 public:
@@ -72,7 +72,7 @@ class TaskContext {
  mtapi_task_context_t * context_;
 };
-} // namespace mtapi
+} // namespace tasks
 } // namespace embb
-#endif // EMBB_MTAPI_TASKCONTEXT_H_
+#endif // EMBB_TASKS_TASK_CONTEXT_H_
--- a/tasks_cpp/include/embb/tasks/tasks.h
+++ b/tasks_cpp/include/embb/tasks/tasks.h
+/*
+ * Copyright (c) 2014-2015, Siemens AG. All rights reserved.
+ *
+ * Redistribution and use in source and binary forms, with or without
+ * modification, are permitted provided that the following conditions are met:
+ *
+ * 1. Redistributions of source code must retain the above copyright notice,
+ * this list of conditions and the following disclaimer.
+ *
+ * 2. Redistributions in binary form must reproduce the above copyright notice,
+ * this list of conditions and the following disclaimer in the documentation
+ * and/or other materials provided with the distribution.
+ *
+ * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS"
+ * AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE
+ * IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE
+ * ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER OR CONTRIBUTORS BE
+ * LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR
+ * CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF
+ * SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS
+ * INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN
+ * CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE)
+ * ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
+ * POSSIBILITY OF SUCH DAMAGE.
+ */
+#ifndef EMBB_TASKS_TASKS_H_
+#define EMBB_TASKS_TASKS_H_
+/**
+ * \defgroup CPP_TASKS Tasks
+ * Simple task management based on MTAPI.
+ * \ingroup CPP
+ */
+#include <embb/tasks/internal/cmake_config.h>
+#define TASKS_CPP_JOB 1
+#if TASKS_CPP_AUTOMATIC_INITIALIZE
+#define TASKS_CPP_AUTOMATIC_DOMAIN_ID 1
+#define TASKS_CPP_AUTOMATIC_NODE_ID 1
+#endif
+#include <embb/tasks/execution_policy.h>
+#include <embb/tasks/action.h>
+#include <embb/tasks/continuation.h>
+#include <embb/tasks/group.h>
+#include <embb/tasks/node.h>
+#include <embb/tasks/queue.h>
+#include <embb/tasks/task.h>
+#include <embb/tasks/task_context.h>
+#endif // EMBB_TASKS_TASKS_H_
--- a/mtapi_cpp/src/continuation.cc
+++ b/mtapi_cpp/src/continuation.cc
@@ -28,12 +28,12 @@
 #include <embb/base/memory_allocation.h>
 #include <embb/base/function.h>
-#include <embb/mtapi/mtapi.h>
+#include <embb/tasks/tasks.h>
 #include <continuationstage.h>
 namespace embb {
-namespace mtapi {
+namespace tasks {
 Continuation::Continuation(Action action) {
  first_ = last_ = embb::base::Allocation::New<ContinuationStage>();
@@ -50,10 +50,10 @@ Continuation::~Continuation() {
 }
 void Continuation::ExecuteContinuation(TaskContext &) {
-  mtapi::ContinuationStage * stage = first_;
+  ContinuationStage * stage = first_;
-  mtapi::Node & node = mtapi::Node::GetInstance();
+  Node & node = Node::GetInstance();
  while (NULL != stage) {
-    mtapi::Task task = node.Spawn(stage->action);
+    Task task = node.Spawn(stage->action);
    task.Wait(MTAPI_INFINITE);
    stage = stage->next;
  }
@@ -61,7 +61,7 @@ void Continuation::ExecuteContinuation(TaskContext &) {
  // delete stages
  stage = first_;
  while (NULL != stage) {
-    mtapi::ContinuationStage * next = stage->next;
+    ContinuationStage * next = stage->next;
    embb::base::Allocation::Delete(stage);
    stage = next;
  }
@@ -90,5 +90,5 @@ Task Continuation::Spawn(ExecutionPolicy execution_policy) {
      ExecutionPolicy(execution_policy)));
 }
-} // namespace mtapi
+} // namespace tasks
 } // namespace embb
--- a/mtapi_cpp/src/continuationstage.h
+++ b/mtapi_cpp/src/continuationstage.h
@@ -24,20 +24,20 @@
 * POSSIBILITY OF SUCH DAMAGE.
 */
-#ifndef MTAPI_CPP_SRC_CONTINUATIONSTAGE_H_
+#ifndef TASKS_CPP_SRC_CONTINUATIONSTAGE_H_
-#define MTAPI_CPP_SRC_CONTINUATIONSTAGE_H_
+#define TASKS_CPP_SRC_CONTINUATIONSTAGE_H_
-#include <embb/mtapi/mtapi.h>
+#include <embb/tasks/tasks.h>
 namespace embb {
-namespace mtapi {
+namespace tasks {
 struct ContinuationStage {
-  mtapi::Action action;
+  Action action;
  ContinuationStage * next;
 };
-} // namespace mtapi
+} // namespace tasks
 } // namespace embb
-#endif // MTAPI_CPP_SRC_CONTINUATIONSTAGE_H_
+#endif // TASKS_CPP_SRC_CONTINUATIONSTAGE_H_
--- a/mtapi_cpp/src/execution_policy.cc
+++ b/mtapi_cpp/src/execution_policy.cc
@@ -24,14 +24,14 @@
 * POSSIBILITY OF SUCH DAMAGE.
 */
-#include <embb/mtapi/execution_policy.h>
+#include <embb/tasks/execution_policy.h>
-#include <embb/mtapi/mtapi.h>
+#include <embb/tasks/tasks.h>
 #include <embb/base/exceptions.h>
 #include <embb/base/c/internal/bitset.h>
 #include <cassert>
 namespace embb {
-namespace mtapi {
+namespace tasks {
 ExecutionPolicy::ExecutionPolicy() :
    priority_(DefaultPriority) {
@@ -120,5 +120,5 @@ mtapi_uint_t ExecutionPolicy::GetPriority() const {
 const mtapi_uint_t ExecutionPolicy::DefaultPriority = 0;
-}  // namespace mtapi
+}  // namespace tasks
 }  // namespace embb
--- a/mtapi_cpp/src/group.cc
+++ b/mtapi_cpp/src/group.cc
@@ -28,10 +28,10 @@
 #include <cassert>
 #include <embb/base/exceptions.h>
-#include <embb/mtapi/mtapi.h>
+#include <embb/tasks/tasks.h>
 namespace embb {
-namespace mtapi {
+namespace tasks {
 Group::Group() {
  Create();
@@ -92,5 +92,5 @@ mtapi_status_t Group::WaitAll(mtapi_timeout_t timeout) {
  return status;
 }
-} // namespace mtapi
+} // namespace tasks
 } // namespace embb
--- a/tasks_cpp/src/node.cc
+++ b/tasks_cpp/src/node.cc
+/*
+ * Copyright (c) 2014-2015, Siemens AG. All rights reserved.
+ *
+ * Redistribution and use in source and binary forms, with or without
+ * modification, are permitted provided that the following conditions are met:
+ *
+ * 1. Redistributions of source code must retain the above copyright notice,
+ * this list of conditions and the following disclaimer.
+ *
+ * 2. Redistributions in binary form must reproduce the above copyright notice,
+ * this list of conditions and the following disclaimer in the documentation
+ * and/or other materials provided with the distribution.
+ *
+ * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS"
+ * AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE
+ * IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE
+ * ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER OR CONTRIBUTORS BE
+ * LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR
+ * CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF
+ * SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS
+ * INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN
+ * CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE)
+ * ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
+ * POSSIBILITY OF SUCH DAMAGE.
+ */
+#include <algorithm>
+#include <cstddef>
+#include <cstdlib>
+#include <cassert>
+#include <embb/base/memory_allocation.h>
+#include <embb/base/exceptions.h>
+#include <embb/tasks/tasks.h>
+#if TASKS_CPP_AUTOMATIC_INITIALIZE
+#include <embb/base/mutex.h>
+#endif
+namespace {
+static embb::tasks::Node * node_instance = NULL;
+#if TASKS_CPP_AUTOMATIC_INITIALIZE
+static embb::base::Mutex init_mutex;
+#endif
+}
+namespace embb {
+namespace tasks {
+void Node::action_func(
+  const void* args,
+  mtapi_size_t /*args_size*/,
+  void* /*result_buffer*/,
+  mtapi_size_t /*result_buffer_size*/,
+  const void* /*node_local_data*/,
+  mtapi_size_t /*node_local_data_size*/,
+  mtapi_task_context_t * context) {
+  Action * action =
+    reinterpret_cast<Action*>(const_cast<void*>(args));
+  TaskContext task_context(context);
+  (*action)(task_context);
+  embb::base::Allocation::Delete(action);
+}
+Node::Node(
+  mtapi_domain_t domain_id,
+  mtapi_node_t node_id,
+  mtapi_node_attributes_t * attr) {
+  mtapi_status_t status;
+  mtapi_info_t info;
+  mtapi_initialize(domain_id, node_id, attr, &info, &status);
+  if (MTAPI_SUCCESS != status) {
+    EMBB_THROW(embb::base::ErrorException,
+      "mtapi::Node could not initialize mtapi");
+  }
+  core_count_ = info.hardware_concurrency;
+  worker_thread_count_ = embb_core_set_count(&attr->core_affinity);
+  action_handle_ = mtapi_action_create(TASKS_CPP_JOB, action_func,
+    MTAPI_NULL, 0, MTAPI_NULL, &status);
+  if (MTAPI_SUCCESS != status) {
+    EMBB_THROW(embb::base::ErrorException,
+      "mtapi::Node could not create an action");
+  }
+}
+Node::~Node() {
+  for (std::list<Queue*>::iterator ii = queues_.begin();
+       ii != queues_.end();
+       ++ii) {
+    embb::base::Allocation::Delete(*ii);
+  }
+  queues_.clear();
+  for (std::list<Group*>::iterator ii = groups_.begin();
+       ii != groups_.end();
+       ++ii) {
+    embb::base::Allocation::Delete(*ii);
+  }
+  groups_.clear();
+  mtapi_status_t status;
+  mtapi_action_delete(action_handle_, MTAPI_INFINITE, &status);
+  assert(MTAPI_SUCCESS == status);
+  mtapi_finalize(&status);
+  assert(MTAPI_SUCCESS == status);
+}
+void Node::Initialize(
+  mtapi_domain_t domain_id,
+  mtapi_node_t node_id) {
+  if (IsInitialized()) {
+    EMBB_THROW(embb::base::ErrorException,
+      "mtapi::Node was already initialized");
+  } else {
+    mtapi_status_t status;
+    mtapi_node_attributes_t attr;
+    mtapi_uint_t tmp;
+    mtapi_nodeattr_init(&attr, &status);
+    assert(MTAPI_SUCCESS == status);
+    tmp = 4;
+    mtapi_nodeattr_set(&attr, MTAPI_NODE_MAX_ACTIONS,
+      &tmp, sizeof(tmp), &status);
+    assert(MTAPI_SUCCESS == status);
+    tmp = 4;
+    mtapi_nodeattr_set(&attr, MTAPI_NODE_MAX_JOBS,
+      &tmp, sizeof(tmp), &status);
+    assert(MTAPI_SUCCESS == status);
+    tmp = 1;
+    mtapi_nodeattr_set(&attr, MTAPI_NODE_MAX_ACTIONS_PER_JOB,
+      &tmp, sizeof(tmp), &status);
+    assert(MTAPI_SUCCESS == status);
+    node_instance = embb::base::Allocation::New<Node>(
+      domain_id, node_id, &attr);
+  }
+}
+void Node::Initialize(
+  mtapi_domain_t domain_id,
+  mtapi_node_t node_id,
+  embb::base::CoreSet const & core_set,
+  mtapi_uint_t max_tasks,
+  mtapi_uint_t max_groups,
+  mtapi_uint_t max_queues,
+  mtapi_uint_t queue_limit,
+  mtapi_uint_t max_priorities) {
+  if (IsInitialized()) {
+    EMBB_THROW(embb::base::ErrorException,
+      "mtapi::Node was already initialized");
+  } else {
+    mtapi_status_t status;
+    mtapi_node_attributes_t attr;
+    mtapi_uint_t tmp;
+    mtapi_nodeattr_init(&attr, &status);
+    assert(MTAPI_SUCCESS == status);
+    embb_core_set_t cs;
+    embb_core_set_init(&cs, 0);
+    for (unsigned int ii = 0; embb_core_set_count(&cs) < core_set.Count();
+      ii++) {
+      if (core_set.IsContained(ii)) {
+        embb_core_set_add(&cs, ii);
+      }
+    }
+    mtapi_nodeattr_set(&attr, MTAPI_NODE_CORE_AFFINITY,
+      &cs, sizeof(cs), &status);
+    assert(MTAPI_SUCCESS == status);
+    mtapi_nodeattr_set(&attr, MTAPI_NODE_MAX_TASKS,
+      &max_tasks, sizeof(max_tasks), &status);
+    assert(MTAPI_SUCCESS == status);
+    tmp = 4;
+    mtapi_nodeattr_set(&attr, MTAPI_NODE_MAX_ACTIONS,
+      &tmp, sizeof(tmp), &status);
+    assert(MTAPI_SUCCESS == status);
+    mtapi_nodeattr_set(&attr, MTAPI_NODE_MAX_GROUPS,
+      &max_groups, sizeof(max_groups), &status);
+    assert(MTAPI_SUCCESS == status);
+    mtapi_nodeattr_set(&attr, MTAPI_NODE_MAX_QUEUES,
+      &max_queues, sizeof(max_queues), &status);
+    assert(MTAPI_SUCCESS == status);
+    mtapi_nodeattr_set(&attr, MTAPI_NODE_QUEUE_LIMIT,
+      &queue_limit, sizeof(queue_limit), &status);
+    assert(MTAPI_SUCCESS == status);
+    tmp = 4;
+    mtapi_nodeattr_set(&attr, MTAPI_NODE_MAX_JOBS,
+      &tmp, sizeof(tmp), &status);
+    assert(MTAPI_SUCCESS == status);
+    tmp = 1;
+    mtapi_nodeattr_set(&attr, MTAPI_NODE_MAX_ACTIONS_PER_JOB,
+      &tmp, sizeof(tmp), &status);
+    assert(MTAPI_SUCCESS == status);
+    mtapi_nodeattr_set(&attr, MTAPI_NODE_MAX_PRIORITIES,
+      &max_priorities, sizeof(max_priorities), &status);
+    assert(MTAPI_SUCCESS == status);
+    node_instance = embb::base::Allocation::New<Node>(
+      domain_id, node_id, &attr);
+  }
+}
+bool Node::IsInitialized() {
+  return NULL != node_instance;
+}
+Node & Node::GetInstance() {
+#if TASKS_CPP_AUTOMATIC_INITIALIZE
+  if (!IsInitialized()) {
+    init_mutex.Lock();
+    if (!IsInitialized()) {
+      Node::Initialize(
+        TASKS_CPP_AUTOMATIC_DOMAIN_ID, TASKS_CPP_AUTOMATIC_NODE_ID);
+      atexit(Node::Finalize);
+    }
+    init_mutex.Unlock();
+  }
+  return *node_instance;
+#else
+  if (IsInitialized()) {
+    return *node_instance;
+  } else {
+    EMBB_THROW(embb::base::ErrorException,
+      "embb::tasks::Node is not initialized");
+  }
+#endif
+}
+void Node::Finalize() {
+  if (IsInitialized()) {
+    embb::base::Allocation::Delete(node_instance);
+    node_instance = NULL;
+  } else {
+    EMBB_THROW(embb::base::ErrorException,
+      "embb::tasks::Node is not initialized");
+  }
+}
+Group & Node::CreateGroup() {
+  Group * group = embb::base::Allocation::New<Group>();
+  groups_.push_back(group);
+  return *group;
+}
+void Node::DestroyGroup(Group & group) {
+  std::list<Group*>::iterator ii =
+    std::find(groups_.begin(), groups_.end(), &group);
+  if (ii != groups_.end()) {
+    embb::base::Allocation::Delete(*ii);
+    groups_.erase(ii);
+  }
+}
+Queue & Node::CreateQueue(mtapi_uint_t priority, bool ordered) {
+  Queue * queue = embb::base::Allocation::New<Queue>(priority, ordered);
+  queues_.push_back(queue);
+  return *queue;
+}
+void Node::DestroyQueue(Queue & queue) {
+  std::list<Queue*>::iterator ii =
+    std::find(queues_.begin(), queues_.end(), &queue);
+  if (ii != queues_.end()) {
+    embb::base::Allocation::Delete(*ii);
+    queues_.erase(ii);
+  }
+}
+Task Node::Spawn(Action action) {
+  return Task(action);
+}
+Continuation Node::First(Action action) {
+  return Continuation(action);
+}
+} // namespace tasks
+} // namespace embb
--- a/mtapi_cpp/src/queue.cc
+++ b/mtapi_cpp/src/queue.cc
@@ -27,10 +27,10 @@
 #include <cassert>
 #include <embb/base/exceptions.h>
-#include <embb/mtapi/mtapi.h>
+#include <embb/tasks/tasks.h>
 namespace embb {
-namespace mtapi {
+namespace tasks {
 Queue::Queue(mtapi_uint_t priority, bool ordered) {
  mtapi_status_t status;
@@ -51,7 +51,7 @@ Queue::Queue(mtapi_uint_t priority, bool ordered) {
  assert(MTAPI_SUCCESS == status);
  mtapi_domain_t domain_id = mtapi_domain_id_get(&status);
  assert(MTAPI_SUCCESS == status);
-  mtapi_job_hndl_t job = mtapi_job_get(MTAPI_CPP_TASK_JOB, domain_id, &status);
+  mtapi_job_hndl_t job = mtapi_job_get(TASKS_CPP_JOB, domain_id, &status);
  assert(MTAPI_SUCCESS == status);
  handle_ = mtapi_queue_create(MTAPI_QUEUE_ID_NONE, job, &attr, &status);
  if (MTAPI_SUCCESS != status) {
@@ -86,5 +86,5 @@ Task Queue::Spawn(Group const * group, Action action) {
  return Task(action, handle_, group->handle_);
 }
-} // namespace mtapi
+} // namespace tasks
 } // namespace embb
--- a/mtapi_cpp/src/task.cc
+++ b/mtapi_cpp/src/task.cc
@@ -29,10 +29,10 @@
 #include <embb/base/memory_allocation.h>
 #include <embb/base/exceptions.h>
-#include <embb/mtapi/mtapi.h>
+#include <embb/tasks/tasks.h>
 namespace embb {
-namespace mtapi {
+namespace tasks {
 Task::Task() {
  handle_.id = 0;
@@ -59,7 +59,7 @@ Task::Task(
  assert(MTAPI_SUCCESS == status);
  mtapi_domain_t domain_id = mtapi_domain_id_get(&status);
  assert(MTAPI_SUCCESS == status);
-  mtapi_job_hndl_t job = mtapi_job_get(MTAPI_CPP_TASK_JOB, domain_id, &status);
+  mtapi_job_hndl_t job = mtapi_job_get(TASKS_CPP_JOB, domain_id, &status);
  assert(MTAPI_SUCCESS == status);
  Action* holder = embb::base::Allocation::New<Action>(action);
  handle_ = mtapi_task_start(MTAPI_TASK_ID_NONE, job,
@@ -86,7 +86,7 @@ Task::Task(
  assert(MTAPI_SUCCESS == status);
  mtapi_domain_t domain_id = mtapi_domain_id_get(&status);
  assert(MTAPI_SUCCESS == status);
-  mtapi_job_hndl_t job = mtapi_job_get(MTAPI_CPP_TASK_JOB, domain_id, &status);
+  mtapi_job_hndl_t job = mtapi_job_get(TASKS_CPP_JOB, domain_id, &status);
  assert(MTAPI_SUCCESS == status);
  Action* holder = embb::base::Allocation::New<Action>(action);
  handle_ = mtapi_task_start(MTAPI_TASK_ID_NONE, job,
@@ -114,7 +114,7 @@ Task::Task(
  assert(MTAPI_SUCCESS == status);
  mtapi_domain_t domain_id = mtapi_domain_id_get(&status);
  assert(MTAPI_SUCCESS == status);
-  mtapi_job_hndl_t job = mtapi_job_get(MTAPI_CPP_TASK_JOB, domain_id, &status);
+  mtapi_job_hndl_t job = mtapi_job_get(TASKS_CPP_JOB, domain_id, &status);
  assert(MTAPI_SUCCESS == status);
  Action* holder = embb::base::Allocation::New<Action>(action);
  void * idptr = MTAPI_NULL;
@@ -216,5 +216,5 @@ void Task::Cancel() {
  assert(MTAPI_SUCCESS == status);
 }
-} // namespace mtapi
+} // namespace tasks
 } // namespace embb
--- a/mtapi_cpp/src/taskcontext.cc
+++ b/mtapi_cpp/src/taskcontext.cc
@@ -26,10 +26,10 @@
 #include <cassert>
-#include <embb/mtapi/mtapi.h>
+#include <embb/tasks/tasks.h>
 namespace embb {
-namespace mtapi {
+namespace tasks {
 TaskContext::TaskContext(mtapi_task_context_t * task_context)
  : context_(task_context) {
@@ -57,5 +57,5 @@ void TaskContext::SetStatus(mtapi_status_t error_code) {
  assert(MTAPI_SUCCESS == status);
 }
-} // namespace mtapi
+} // namespace tasks
 } // namespace embb
--- a/tasks_cpp/test/main.cc
+++ b/tasks_cpp/test/main.cc
+/*
+ * Copyright (c) 2014-2015, Siemens AG. All rights reserved.
+ *
+ * Redistribution and use in source and binary forms, with or without
+ * modification, are permitted provided that the following conditions are met:
+ *
+ * 1. Redistributions of source code must retain the above copyright notice,
+ * this list of conditions and the following disclaimer.
+ *
+ * 2. Redistributions in binary form must reproduce the above copyright notice,
+ * this list of conditions and the following disclaimer in the documentation
+ * and/or other materials provided with the distribution.
+ *
+ * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS"
+ * AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE
+ * IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE
+ * ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER OR CONTRIBUTORS BE
+ * LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR
+ * CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF
+ * SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS
+ * INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN
+ * CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE)
+ * ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
+ * POSSIBILITY OF SUCH DAMAGE.
+ */
+#include <partest/partest.h>
+#include <iostream>
+#include <tasks_cpp_test_task.h>
+#include <tasks_cpp_test_group.h>
+#include <tasks_cpp_test_queue.h>
+PT_MAIN("TASKS") {
+  PT_RUN(TaskTest);
+  PT_RUN(GroupTest);
+  PT_RUN(QueueTest);
+}
--- a/tasks_cpp/test/tasks_cpp_test_config.h
+++ b/tasks_cpp/test/tasks_cpp_test_config.h
+/*
+ * Copyright (c) 2014-2015, Siemens AG. All rights reserved.
+ *
+ * Redistribution and use in source and binary forms, with or without
+ * modification, are permitted provided that the following conditions are met:
+ *
+ * 1. Redistributions of source code must retain the above copyright notice,
+ * this list of conditions and the following disclaimer.
+ *
+ * 2. Redistributions in binary form must reproduce the above copyright notice,
+ * this list of conditions and the following disclaimer in the documentation
+ * and/or other materials provided with the distribution.
+ *
+ * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS"
+ * AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE
+ * IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE
+ * ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER OR CONTRIBUTORS BE
+ * LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR
+ * CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF
+ * SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS
+ * INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN
+ * CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE)
+ * ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
+ * POSSIBILITY OF SUCH DAMAGE.
+ */
+#ifndef TASKS_CPP_TEST_TASKS_CPP_TEST_CONFIG_H_
+#define TASKS_CPP_TEST_TASKS_CPP_TEST_CONFIG_H_
+#include <partest/partest.h>
+#include <embb/tasks/tasks.h>
+#define THIS_DOMAIN_ID 1
+#define THIS_NODE_ID 1
+#endif // TASKS_CPP_TEST_TASKS_CPP_TEST_CONFIG_H_
--- a/tasks_cpp/test/tasks_cpp_test_group.cc
+++ b/tasks_cpp/test/tasks_cpp_test_group.cc
+/*
+ * Copyright (c) 2014-2015, Siemens AG. All rights reserved.
+ *
+ * Redistribution and use in source and binary forms, with or without
+ * modification, are permitted provided that the following conditions are met:
+ *
+ * 1. Redistributions of source code must retain the above copyright notice,
+ * this list of conditions and the following disclaimer.
+ *
+ * 2. Redistributions in binary form must reproduce the above copyright notice,
+ * this list of conditions and the following disclaimer in the documentation
+ * and/or other materials provided with the distribution.
+ *
+ * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS"
+ * AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE
+ * IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE
+ * ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER OR CONTRIBUTORS BE
+ * LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR
+ * CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF
+ * SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS
+ * INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN
+ * CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE)
+ * ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
+ * POSSIBILITY OF SUCH DAMAGE.
+ */
+#include <iostream>
+#include <tasks_cpp_test_config.h>
+#include <tasks_cpp_test_group.h>
+#include <embb/base/c/memory_allocation.h>
+struct result_example_struct {
+  mtapi_uint_t value1;
+  mtapi_uint_t value2;
+};
+typedef struct result_example_struct result_example_t;
+static void testGroupAction(embb::tasks::TaskContext & /*context*/) {
+  // emtpy
+}
+static void testDoSomethingElse() {
+}
+GroupTest::GroupTest() {
+  CreateUnit("tasks_cpp group test").Add(&GroupTest::TestBasic, this);
+}
+void GroupTest::TestBasic() {
+  embb::tasks::Node::Initialize(THIS_DOMAIN_ID, THIS_NODE_ID);
+  embb::tasks::Node & node = embb::tasks::Node::GetInstance();
+  embb::tasks::Group & group = node.CreateGroup();
+  embb::tasks::Task task;
+  for (int ii = 0; ii < 4; ii++) {
+    task = group.Spawn(testGroupAction);
+  }
+  testDoSomethingElse();
+  group.WaitAll(MTAPI_INFINITE);
+  for (int ii = 0; ii < 4; ii++) {
+    task = group.Spawn(mtapi_task_id_t(ii + 1), testGroupAction);
+  }
+  testDoSomethingElse();
+  mtapi_status_t status;
+  mtapi_task_id_t result;
+  while (MTAPI_SUCCESS == (status = group.WaitAny(MTAPI_INFINITE, result))) {
+    // empty
+  }
+  node.DestroyGroup(group);
+  embb::tasks::Node::Finalize();
+  PT_EXPECT_EQ(embb_get_bytes_allocated(), 0u);
+}
--- a/tasks_cpp/test/tasks_cpp_test_group.h
+++ b/tasks_cpp/test/tasks_cpp_test_group.h
+/*
+ * Copyright (c) 2014-2015, Siemens AG. All rights reserved.
+ *
+ * Redistribution and use in source and binary forms, with or without
+ * modification, are permitted provided that the following conditions are met:
+ *
+ * 1. Redistributions of source code must retain the above copyright notice,
+ * this list of conditions and the following disclaimer.
+ *
+ * 2. Redistributions in binary form must reproduce the above copyright notice,
+ * this list of conditions and the following disclaimer in the documentation
+ * and/or other materials provided with the distribution.
+ *
+ * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS"
+ * AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE
+ * IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE
+ * ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER OR CONTRIBUTORS BE
+ * LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR
+ * CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF
+ * SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS
+ * INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN
+ * CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE)
+ * ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
+ * POSSIBILITY OF SUCH DAMAGE.
+ */
+#ifndef TASKS_CPP_TEST_TASKS_CPP_TEST_GROUP_H_
+#define TASKS_CPP_TEST_TASKS_CPP_TEST_GROUP_H_
+#include <partest/partest.h>
+class GroupTest : public partest::TestCase {
+ public:
+  GroupTest();
+ private:
+  void TestBasic();
+};
+#endif // TASKS_CPP_TEST_TASKS_CPP_TEST_GROUP_H_
--- a/tasks_cpp/test/tasks_cpp_test_queue.cc
+++ b/tasks_cpp/test/tasks_cpp_test_queue.cc
+/*
+ * Copyright (c) 2014-2015, Siemens AG. All rights reserved.
+ *
+ * Redistribution and use in source and binary forms, with or without
+ * modification, are permitted provided that the following conditions are met:
+ *
+ * 1. Redistributions of source code must retain the above copyright notice,
+ * this list of conditions and the following disclaimer.
+ *
+ * 2. Redistributions in binary form must reproduce the above copyright notice,
+ * this list of conditions and the following disclaimer in the documentation
+ * and/or other materials provided with the distribution.
+ *
+ * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS"
+ * AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE
+ * IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE
+ * ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER OR CONTRIBUTORS BE
+ * LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR
+ * CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF
+ * SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS
+ * INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN
+ * CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE)
+ * ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
+ * POSSIBILITY OF SUCH DAMAGE.
+ */
+#include <cstdlib>
+#include <tasks_cpp_test_config.h>
+#include <tasks_cpp_test_queue.h>
+#include <embb/base/c/memory_allocation.h>
+#define JOB_TEST_TASK 42
+#define TASK_TEST_ID 23
+#define QUEUE_TEST_ID 17
+static void testQueueAction(embb::tasks::TaskContext & /*context*/) {
+  // empty
+}
+static void testDoSomethingElse() {
+}
+QueueTest::QueueTest() {
+  CreateUnit("tasks_cpp queue test").Add(&QueueTest::TestBasic, this);
+}
+void QueueTest::TestBasic() {
+  embb::tasks::Node::Initialize(THIS_DOMAIN_ID, THIS_NODE_ID);
+  embb::tasks::Node & node = embb::tasks::Node::GetInstance();
+  embb::tasks::Queue & queue = node.CreateQueue(0, false);
+  embb::tasks::Task task = queue.Spawn(testQueueAction);
+  testDoSomethingElse();
+  task.Wait(MTAPI_INFINITE);
+  node.DestroyQueue(queue);
+  embb::tasks::Node::Finalize();
+  PT_EXPECT_EQ(embb_get_bytes_allocated(), 0u);
+}
--- a/tasks_cpp/test/tasks_cpp_test_queue.h
+++ b/tasks_cpp/test/tasks_cpp_test_queue.h
+/*
+ * Copyright (c) 2014-2015, Siemens AG. All rights reserved.
+ *
+ * Redistribution and use in source and binary forms, with or without
+ * modification, are permitted provided that the following conditions are met:
+ *
+ * 1. Redistributions of source code must retain the above copyright notice,
+ * this list of conditions and the following disclaimer.
+ *
+ * 2. Redistributions in binary form must reproduce the above copyright notice,
+ * this list of conditions and the following disclaimer in the documentation
+ * and/or other materials provided with the distribution.
+ *
+ * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS"
+ * AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE
+ * IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE
+ * ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER OR CONTRIBUTORS BE
+ * LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR
+ * CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF
+ * SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS
+ * INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN
+ * CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE)
+ * ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
+ * POSSIBILITY OF SUCH DAMAGE.
+ */
+#ifndef TASKS_CPP_TEST_TASKS_CPP_TEST_QUEUE_H_
+#define TASKS_CPP_TEST_TASKS_CPP_TEST_QUEUE_H_
+#include <partest/partest.h>
+class QueueTest : public partest::TestCase {
+ public:
+  QueueTest();
+ private:
+  void TestBasic();
+};
+#endif // TASKS_CPP_TEST_TASKS_CPP_TEST_QUEUE_H_
--- a/tasks_cpp/test/tasks_cpp_test_task.cc
+++ b/tasks_cpp/test/tasks_cpp_test_task.cc
+/*
+ * Copyright (c) 2014-2015, Siemens AG. All rights reserved.
+ *
+ * Redistribution and use in source and binary forms, with or without
+ * modification, are permitted provided that the following conditions are met:
+ *
+ * 1. Redistributions of source code must retain the above copyright notice,
+ * this list of conditions and the following disclaimer.
+ *
+ * 2. Redistributions in binary form must reproduce the above copyright notice,
+ * this list of conditions and the following disclaimer in the documentation
+ * and/or other materials provided with the distribution.
+ *
+ * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS"
+ * AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE
+ * IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE
+ * ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER OR CONTRIBUTORS BE
+ * LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR
+ * CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF
+ * SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS
+ * INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN
+ * CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE)
+ * ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
+ * POSSIBILITY OF SUCH DAMAGE.
+ */
+#include <iostream>
+#include <string>
+#include <cassert>
+#include <tasks_cpp_test_config.h>
+#include <tasks_cpp_test_task.h>
+#include <embb/base/c/memory_allocation.h>
+#define JOB_TEST_TASK 42
+#define TASK_TEST_ID 23
+static void testTaskAction(
+  char const * msg,
+  std::string * output,
+  embb::tasks::TaskContext & /*context*/) {
+  *output = msg;
+}
+static void testRecursiveTaskAction(
+  int * value,
+  embb::tasks::TaskContext & /*context*/) {
+  embb::tasks::Node & node = embb::tasks::Node::GetInstance();
+  *value = *value + 1;
+  if (*value < 1000) {
+    embb::tasks::Task task = node.Spawn(
+      embb::base::Bind(
+        testRecursiveTaskAction, value, embb::base::Placeholder::_1));
+    task.Wait(MTAPI_INFINITE);
+  }
+  PT_EXPECT(*value == 1000);
+}
+static void testErrorTaskAction(embb::tasks::TaskContext & context) {
+  context.SetStatus(MTAPI_ERR_ACTION_FAILED);
+}
+static void testDoSomethingElse() {
+}
+TaskTest::TaskTest() {
+  CreateUnit("tasks_cpp task test").Add(&TaskTest::TestBasic, this);
+}
+void TaskTest::TestBasic() {
+  embb::tasks::Node::Initialize(THIS_DOMAIN_ID, THIS_NODE_ID);
+  embb::tasks::Node & node = embb::tasks::Node::GetInstance();
+  embb::tasks::ExecutionPolicy policy(false);
+  PT_EXPECT_EQ(policy.GetAffinity(), 0u);
+  PT_EXPECT_EQ(policy.GetPriority(), 0u);
+  policy.AddWorker(0u);
+  PT_EXPECT_EQ(policy.GetAffinity(), 1u);
+  policy.AddWorker(1u);
+  PT_EXPECT_EQ(policy.GetAffinity(), 3u);
+  policy.RemoveWorker(0u);
+  PT_EXPECT_EQ(policy.GetAffinity(), 2u);
+  PT_EXPECT_EQ(policy.IsSetWorker(0), false);
+  PT_EXPECT_EQ(policy.IsSetWorker(1), true);
+  std::string test;
+  embb::tasks::Task task = node.Spawn(
+    embb::base::Bind(
+      testTaskAction, "simple", &test, embb::base::Placeholder::_1));
+  testDoSomethingElse();
+  task.Wait(MTAPI_INFINITE);
+  PT_EXPECT(test == "simple");
+  std::string test1, test2, test3;
+  task = node.First(
+    embb::base::Bind(
+      testTaskAction, "first", &test1, embb::base::Placeholder::_1)).
+    Then(embb::base::Bind(
+      testTaskAction, "second", &test2, embb::base::Placeholder::_1)).
+    Then(embb::base::Bind(
+      testTaskAction, "third", &test3, embb::base::Placeholder::_1)).
+    Spawn();
+  testDoSomethingElse();
+  task.Wait(MTAPI_INFINITE);
+  PT_EXPECT(test1 == "first");
+  PT_EXPECT(test2 == "second");
+  PT_EXPECT(test3 == "third");
+  int value = 0;
+  task = node.Spawn(
+    embb::base::Bind(
+      testRecursiveTaskAction, &value, embb::base::Placeholder::_1));
+  task.Wait(MTAPI_INFINITE);
+  PT_EXPECT(value == 1000);
+  mtapi_status_t status;
+  task = node.Spawn(testErrorTaskAction);
+  testDoSomethingElse();
+  status = task.Wait(MTAPI_INFINITE);
+  PT_EXPECT(MTAPI_ERR_ACTION_FAILED == status);
+  embb::tasks::Node::Finalize();
+  PT_EXPECT(embb_get_bytes_allocated() == 0);
+}
--- a/tasks_cpp/test/tasks_cpp_test_task.h
+++ b/tasks_cpp/test/tasks_cpp_test_task.h
+/*
+ * Copyright (c) 2014-2015, Siemens AG. All rights reserved.
+ *
+ * Redistribution and use in source and binary forms, with or without
+ * modification, are permitted provided that the following conditions are met:
+ *
+ * 1. Redistributions of source code must retain the above copyright notice,
+ * this list of conditions and the following disclaimer.
+ *
+ * 2. Redistributions in binary form must reproduce the above copyright notice,
+ * this list of conditions and the following disclaimer in the documentation
+ * and/or other materials provided with the distribution.
+ *
+ * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS"
+ * AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE
+ * IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE
+ * ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER OR CONTRIBUTORS BE
+ * LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR
+ * CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF
+ * SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS
+ * INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN
+ * CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE)
+ * ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
+ * POSSIBILITY OF SUCH DAMAGE.
+ */
+#ifndef TASKS_CPP_TEST_TASKS_CPP_TEST_TASK_H_
+#define TASKS_CPP_TEST_TASKS_CPP_TEST_TASK_H_
+#include <partest/partest.h>
+class TaskTest : public partest::TestCase {
+ public:
+  TaskTest();
+ private:
+  void TestBasic();
+};
+#endif // TASKS_CPP_TEST_TASKS_CPP_TEST_TASK_H_