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Как–то я раньше не смотрел на GNAT for Lego NXT, а тем временем:

Differrently from the 2009 release of GNAT GPL for the LEGO MINDSTORMS NXT, the 2010 release does not rely on any operating system: it is an Ada-only bareboard solution leveraging on Ada 2005 features for concurrent and real-time behaviour.
Среди этих фич, например, управление политиками планировщика:
adaic.org