diff --git a/.idea/runConfigurations/Docs.xml b/.idea/runConfigurations/Docs.xml
new file mode 100644
index 0000000..c4efeaa
--- /dev/null
+++ b/.idea/runConfigurations/Docs.xml
@@ -0,0 +1,18 @@
+<component name="ProjectRunConfigurationManager">
+  <configuration default="false" name="Docs" type="CargoCommandRunConfiguration" factoryName="Cargo Command">
+    <option name="command" value="doc" />
+    <option name="workingDirectory" value="file://$PROJECT_DIR$" />
+    <option name="channel" value="DEFAULT" />
+    <option name="requiredFeatures" value="true" />
+    <option name="allFeatures" value="false" />
+    <option name="emulateTerminal" value="false" />
+    <option name="withSudo" value="false" />
+    <option name="backtrace" value="SHORT" />
+    <envs />
+    <option name="isRedirectInput" value="false" />
+    <option name="redirectInputPath" value="" />
+    <method v="2">
+      <option name="CARGO.BUILD_TASK_PROVIDER" enabled="true" />
+    </method>
+  </configuration>
+</component>
\ No newline at end of file
diff --git a/src/core/executable.rs b/src/core/executable.rs
index fad7d83..5b8193a 100644
--- a/src/core/executable.rs
+++ b/src/core/executable.rs
@@ -5,6 +5,7 @@ use std::thread;
 use std::thread::JoinHandle;
 use std::time::Duration;
 
+#[derive(Debug, PartialEq)]
 pub enum OpResult {
     Ok,
     TerminationRequested,
@@ -24,23 +25,80 @@ pub trait Executable: Send {
     fn periodic_op(&mut self, op_code: i32) -> Result<OpResult, Self::Error>;
 }
 
-pub fn executable_scheduler<
+/// This function allows executing one task which implements the [Executable][Executable] trait
+/// # Arguments
+///
+/// * `executable`: Executable task
+/// * `task_freq`: Optional frequency of task. Required for periodic and fixed cycle tasks
+/// * `op_code`: Operation code which is passed to the executable task [operation call][Executable::periodic_op]
+/// * `termination`: Optional termination handler which can cancel threads with a broadcast
+pub fn exec_sched_single<
+    T: Executable<Error = E> + Send + 'static + ?Sized,
+    E: Error + Send + 'static,
+>(
+    mut executable: Box<T>,
+    task_freq: Option<Duration>,
+    op_code: i32,
+    mut termination: Option<BusReader<()>>,
+) -> JoinHandle<Result<OpResult, E>> {
+    let mut cycle_count = 0;
+    thread::spawn(move || loop {
+        if let Some(ref mut terminator) = termination {
+            match terminator.try_recv() {
+                Ok(_) | Err(TryRecvError::Disconnected) => {
+                    return Ok(OpResult::Ok);
+                }
+                Err(TryRecvError::Empty) => (),
+            }
+        }
+        match executable.exec_type() {
+            ExecutionType::OneShot => {
+                executable.periodic_op(op_code)?;
+                return Ok(OpResult::Ok);
+            }
+            ExecutionType::Infinite => {
+                executable.periodic_op(op_code)?;
+            }
+            ExecutionType::Cycles(cycles) => {
+                executable.periodic_op(op_code)?;
+                cycle_count += 1;
+                if cycle_count == cycles {
+                    return Ok(OpResult::Ok);
+                }
+            }
+        }
+        let freq = task_freq.unwrap_or_else(|| panic!("No task frequency specified"));
+        thread::sleep(freq);
+    })
+}
+
+/// This function allows executing multiple tasks as long as the tasks implement the
+/// [Executable][Executable] trait
+/// # Arguments
+///
+/// * `executable_vec`: Vector of executable objects
+/// * `task_freq`: Optional frequency of task. Required for periodic and fixed cycle tasks
+/// * `op_code`: Operation code which is passed to the executable task periodic_op call
+/// * `termination`: Optional termination handler which can cancel threads with a broadcast
+pub fn exec_sched_multi<
     T: Executable<Error = E> + Send + 'static + ?Sized,
     E: Error + Send + 'static,
 >(
     mut executable_vec: Vec<Box<T>>,
     task_freq: Option<Duration>,
     op_code: i32,
-    mut termination: BusReader<()>,
+    mut termination: Option<BusReader<()>>,
 ) -> JoinHandle<Result<OpResult, E>> {
     let mut cycle_counts = vec![0; executable_vec.len()];
     let mut removal_flags = vec![false; executable_vec.len()];
     thread::spawn(move || loop {
-        match termination.try_recv() {
-            Ok(_) | Err(TryRecvError::Disconnected) => {
-                removal_flags.iter_mut().for_each(|x| *x = true);
+        if let Some(ref mut terminator) = termination {
+            match terminator.try_recv() {
+                Ok(_) | Err(TryRecvError::Disconnected) => {
+                    removal_flags.iter_mut().for_each(|x| *x = true);
+                }
+                Err(TryRecvError::Empty) => (),
             }
-            Err(TryRecvError::Empty) => (),
         }
         for (idx, executable) in executable_vec.iter_mut().enumerate() {
             match executable.exec_type() {
@@ -72,3 +130,226 @@ pub fn executable_scheduler<
         thread::sleep(freq);
     })
 }
+
+#[cfg(test)]
+mod tests {
+    use super::{exec_sched_multi, exec_sched_single, Executable, ExecutionType, OpResult};
+    use std::error::Error;
+    use std::fmt;
+    use std::sync::{Arc, Mutex};
+    use std::time::Duration;
+
+    struct TestInfo {
+        exec_num: u32,
+        op_code: i32,
+    }
+    struct OneShotTask {
+        exec_num: Arc<Mutex<TestInfo>>,
+    }
+    struct FixedCyclesTask {
+        cycles: u32,
+        exec_num: Arc<Mutex<TestInfo>>,
+    }
+    struct PeriodicTask {
+        exec_num: Arc<Mutex<TestInfo>>,
+    }
+
+    #[derive(Debug, PartialEq)]
+    struct ExampleError {
+        details: String,
+        code: i32,
+    }
+
+    impl ExampleError {
+        fn new(msg: &str, code: i32) -> ExampleError {
+            ExampleError {
+                details: msg.to_string(),
+                code,
+            }
+        }
+    }
+
+    impl fmt::Display for ExampleError {
+        fn fmt(&self, f: &mut fmt::Formatter) -> fmt::Result {
+            write!(f, "{}", self.details)
+        }
+    }
+
+    impl Error for ExampleError {
+        fn description(&self) -> &str {
+            &self.details
+        }
+    }
+
+    const ONE_SHOT_TASK_NAME: &'static str = "One Shot Task";
+
+    impl Executable for OneShotTask {
+        type Error = ExampleError;
+
+        fn exec_type(&self) -> ExecutionType {
+            ExecutionType::OneShot
+        }
+
+        fn task_name(&self) -> &'static str {
+            return ONE_SHOT_TASK_NAME;
+        }
+
+        fn periodic_op(&mut self, op_code: i32) -> Result<OpResult, ExampleError> {
+            let mut data = self.exec_num.lock().expect("Locking Mutex failed");
+            data.exec_num += 1;
+            data.op_code = op_code;
+            std::mem::drop(data);
+            if op_code >= 0 {
+                Ok(OpResult::Ok)
+            } else {
+                Err(ExampleError::new("One Shot Task Failure", op_code))
+            }
+        }
+    }
+
+    const CYCLE_TASK_NAME: &'static str = "Fixed Cycles Task";
+
+    impl Executable for FixedCyclesTask {
+        type Error = ExampleError;
+
+        fn exec_type(&self) -> ExecutionType {
+            ExecutionType::Cycles(self.cycles)
+        }
+
+        fn task_name(&self) -> &'static str {
+            return CYCLE_TASK_NAME
+        }
+
+        fn periodic_op(&mut self, op_code: i32) -> Result<OpResult, ExampleError> {
+            let mut data = self.exec_num.lock().expect("Locking Mutex failed");
+            data.exec_num += 1;
+            data.op_code = op_code;
+            std::mem::drop(data);
+            if op_code >= 0 {
+                Ok(OpResult::Ok)
+            } else {
+                Err(ExampleError::new("Fixed Cycle Task Failure", op_code))
+            }
+        }
+    }
+
+    impl Executable for PeriodicTask {
+        type Error = ExampleError;
+
+        fn exec_type(&self) -> ExecutionType {
+            ExecutionType::Infinite
+        }
+
+        fn task_name(&self) -> &'static str {
+            "Periodic Task"
+        }
+
+        fn periodic_op(&mut self, op_code: i32) -> Result<OpResult, ExampleError> {
+            let mut data = self.exec_num.lock().expect("Locking Mutex failed");
+            data.exec_num += 1;
+            data.op_code = op_code;
+            std::mem::drop(data);
+            if op_code >= 0 {
+                Ok(OpResult::Ok)
+            } else {
+                Err(ExampleError::new("Example Task Failure", op_code))
+            }
+        }
+    }
+
+    #[test]
+    fn test_simple_one_shot() {
+        let expected_op_code = 42;
+        let shared = Arc::new(Mutex::new(TestInfo {
+            exec_num: 0,
+            op_code: 0,
+        }));
+        let exec_task = OneShotTask {
+            exec_num: shared.clone(),
+        };
+        let task = Box::new(exec_task);
+        let jhandle = exec_sched_single(
+            task,
+            Some(Duration::from_millis(100)),
+            expected_op_code,
+            None,
+        );
+        let thread_res = jhandle.join().expect("One Shot Task failed");
+        assert!(thread_res.is_ok());
+        assert_eq!(thread_res.unwrap(), OpResult::Ok);
+        let data = shared.lock().expect("Locking Mutex failed");
+        assert_eq!(data.exec_num, 1);
+        assert_eq!(data.op_code, expected_op_code);
+    }
+
+    #[test]
+    fn test_simple_multi_one_shot() {
+        let expected_op_code = 43;
+        let shared = Arc::new(Mutex::new(TestInfo {
+            exec_num: 0,
+            op_code: 0,
+        }));
+        let exec_task_0 = OneShotTask {
+            exec_num: shared.clone(),
+        };
+        let exec_task_1 = OneShotTask {
+            exec_num: shared.clone(),
+        };
+        let task_vec = vec![Box::new(exec_task_0), Box::new(exec_task_1)];
+        for task in task_vec.iter() {
+            assert_eq!(task.task_name(), ONE_SHOT_TASK_NAME);
+        }
+        let jhandle = exec_sched_multi(
+            task_vec,
+            Some(Duration::from_millis(100)),
+            expected_op_code,
+            None,
+        );
+        let thread_res = jhandle.join().expect("One Shot Task failed");
+        assert!(thread_res.is_ok());
+        assert_eq!(thread_res.unwrap(), OpResult::Ok);
+        let data = shared.lock().expect("Locking Mutex failed");
+        assert_eq!(data.exec_num, 2);
+        assert_eq!(data.op_code, expected_op_code);
+    }
+
+    #[test]
+    fn test_cycles() {
+        let expected_op_code = 44;
+        let shared = Arc::new(Mutex::new(TestInfo {
+            exec_num: 0,
+            op_code: 0,
+        }));
+        let cycled_task = Box::new(FixedCyclesTask {
+            exec_num: shared.clone(),
+            cycles: 1,
+        });
+        assert_eq!(cycled_task.task_name(), CYCLE_TASK_NAME);
+        let jh = exec_sched_single(cycled_task, Some(Duration::from_millis(100)), expected_op_code, None);
+        let thread_res = jh.join().expect("Cycles Task failed");
+        assert!(thread_res.is_ok());
+        let data = shared.lock().expect("Locking Mutex failed");
+        assert_eq!(thread_res.unwrap(), OpResult::Ok);
+        assert_eq!(data.exec_num, 1);
+        assert_eq!(data.op_code, expected_op_code);
+    }
+
+    #[test]
+    #[ignore]
+    fn test_periodic() {
+        let expected_op_code = 45;
+        let shared = Arc::new(Mutex::new(TestInfo {
+            exec_num: 0,
+            op_code: 0,
+        }));
+        let periodic_task = Box::new(PeriodicTask {
+            exec_num: shared.clone()
+        });
+        let jh = exec_sched_single(periodic_task, Some(Duration::from_millis(50)), expected_op_code, None);
+        let thread_res = jh.join().expect("Periodic Task failed");
+        assert!(thread_res.is_ok());
+        let data = shared.lock().expect("Locking Mutex failed");
+        assert_eq!(thread_res.unwrap(), OpResult::Ok);
+        assert_eq!(data.op_code, expected_op_code);
+    }
+}
diff --git a/src/core/objects.rs b/src/core/objects.rs
index dd51ef2..e339358 100644
--- a/src/core/objects.rs
+++ b/src/core/objects.rs
@@ -124,7 +124,7 @@ mod tests {
 
     #[test]
     fn test_obj_manager_simple() {
-        let mut obj_manager = ObjectManager::new();
+        let mut obj_manager = ObjectManager::default();
         let expl_obj_id = ObjectId {
             id: 0,
             name: "Example 0",
@@ -159,5 +159,17 @@ mod tests {
         let expl_obj_back_casted = obj_back_casted.unwrap();
         assert_eq!(expl_obj_back_casted.string, String::from("Hello Test"));
         assert!(expl_obj_back_casted.was_initialized);
+
+        let existing_obj_id = ObjectId {
+            id: 12,
+            name: "Example 1",
+        };
+        let invalid_obj = OtherExampleObject {
+            id: existing_obj_id,
+            string: String::from("Hello Test"),
+            was_initialized: false,
+        };
+
+        assert_eq!(obj_manager.insert(Box::new(invalid_obj)), false);
     }
 }
diff --git a/src/main.rs b/src/main.rs
index f77a51d..7527576 100644
--- a/src/main.rs
+++ b/src/main.rs
@@ -1,162 +1,3 @@
-use bus::{Bus};
-
-use launchpad::core::executable::{executable_scheduler, Executable, ExecutionType, OpResult};
-use std::error::Error;
-use std::fmt;
-
-use std::thread;
-use std::time::Duration;
-
-struct OneShotTask {}
-struct FixedCyclesTask {}
-struct PeriodicTask {}
-
-#[derive(Debug)]
-struct ExampleError {
-    details: String,
-}
-
-impl ExampleError {
-    fn new(msg: &str) -> ExampleError {
-        ExampleError {
-            details: msg.to_string(),
-        }
-    }
-}
-
-impl fmt::Display for ExampleError {
-    fn fmt(&self, f: &mut fmt::Formatter) -> fmt::Result {
-        write!(f, "{}", self.details)
-    }
-}
-
-impl Error for ExampleError {
-    fn description(&self) -> &str {
-        &self.details
-    }
-}
-
-impl Executable for OneShotTask {
-    type Error = ExampleError;
-
-    fn exec_type(&self) -> ExecutionType {
-        ExecutionType::OneShot
-    }
-
-    fn task_name(&self) -> &'static str {
-        "One Shot Task"
-    }
-
-    fn periodic_op(&mut self, op_code: i32) -> Result<OpResult, ExampleError> {
-        if op_code >= 0 {
-            println!("One-shot operation with operation code {op_code} OK!");
-            Ok(OpResult::Ok)
-        } else {
-            println!("One-shot operation failure by passing op code {op_code}!");
-            Err(ExampleError::new("Example Task Failure"))
-        }
-    }
-}
-
-impl Executable for FixedCyclesTask {
-    type Error = ExampleError;
-
-    fn exec_type(&self) -> ExecutionType {
-        ExecutionType::Cycles(3)
-    }
-
-    fn task_name(&self) -> &'static str {
-        "Fixed Cycles Task"
-    }
-
-    fn periodic_op(&mut self, op_code: i32) -> Result<OpResult, ExampleError> {
-        if op_code >= 0 {
-            println!("Fixed-cycle operation with operation code {op_code} OK!");
-            Ok(OpResult::Ok)
-        } else {
-            println!("Fixed-cycle operation failure by passing op code {op_code}!");
-            Err(ExampleError::new("Example Task Failure"))
-        }
-    }
-}
-
-impl Executable for PeriodicTask {
-    type Error = ExampleError;
-
-    fn exec_type(&self) -> ExecutionType {
-        ExecutionType::Infinite
-    }
-
-    fn task_name(&self) -> &'static str {
-        "Periodic Task"
-    }
-
-    fn periodic_op(&mut self, op_code: i32) -> Result<OpResult, ExampleError> {
-        if op_code >= 0 {
-            println!("Periodic operation with operation code {op_code} OK!");
-            Ok(OpResult::Ok)
-        } else {
-            println!("Periodic operation failure by passing op code {op_code}!");
-            Err(ExampleError::new("Example Task Failure"))
-        }
-    }
-}
-
-fn test0(term_bus: &mut Bus<()>) {
-    let exec_task = OneShotTask {};
-    let task_vec = vec![Box::new(exec_task)];
-    let jhandle = executable_scheduler(
-        task_vec,
-        Some(Duration::from_millis(100)),
-        0,
-        term_bus.add_rx(),
-    );
-    let exec_task2 = FixedCyclesTask {};
-    let task_vec2: Vec<Box<dyn Executable<Error = ExampleError> + Send>> =
-        vec![Box::new(exec_task2)];
-    let jhandle2 = executable_scheduler(
-        task_vec2,
-        Some(Duration::from_millis(100)),
-        1,
-        term_bus.add_rx(),
-    );
-
-    jhandle
-        .join()
-        .expect("Joining thread failed")
-        .expect("Task failed");
-    jhandle2
-        .join()
-        .expect("Joining thread 2 failed")
-        .expect("Task 2 failed");
-}
-
-fn test1(term_bus: &mut Bus<()>) {
-    let one_shot_in_vec = OneShotTask {};
-    let cycles_in_vec = FixedCyclesTask {};
-    let periodic_in_vec = PeriodicTask {};
-    let test_vec: Vec<Box<dyn Executable<Error = ExampleError>>> = vec![
-        Box::new(one_shot_in_vec),
-        Box::new(cycles_in_vec),
-        Box::new(periodic_in_vec),
-    ];
-    let jhandle3 = executable_scheduler(
-        test_vec,
-        Some(Duration::from_millis(100)),
-        3,
-        term_bus.add_rx(),
-    );
-    thread::sleep(Duration::from_millis(5000));
-    println!("Broadcasting cancel");
-    term_bus.broadcast(());
-    jhandle3
-        .join()
-        .expect("Joining thread 3 failed")
-        .expect("Task 3 failed");
-}
-
 fn main() {
-    let mut tx = Bus::new(5);
-    test0(&mut tx);
-    test1(&mut tx);
+    println!("hello");
 }