How do you schedule process in multi-process application? Does this depend on target OS?

We do not schedule process. All OS Abstractor processes are created equal and each thread within a process competes directly with the threads from the other. Also, we do not have a concept of parent/child/grandchild, etc. when it comes to processes. All the processes stand in a single level. To answer your second question, it does not depend on target OS. Note that uITRON and T-Kernel scheduler is First Come First Serve and preemptive. I am not sure of other OS scheduling policies. Most of them must be roundrobin. We provide support for all the scheduling (refer to OS_Create_Task API) as defined when you create a task using OS Abstractor API. If an underlying target OS does not support, we find a way to support the required scheduling.