Task #0076: Minor review comment fix.
Misc #0000: Minor cleanup.
Task #0078: Minor review comment fix.
Task #0080: Major code re-organization.
Merge branch 'devel'
Task #0080: Fixing import statement.
Task #0080: Work on the functionality test + Bug #0081: Main loop change from for to while.
Merge branch 'master' into devel