Part of our issue with the rewrite is we went from C++ to C++. For an embedded system in 2010 C++ was probably the right choice (rust didn't exist, though D or Ada would have been options and we can debate better elsewhere). Previous rewrites went from 8 bit assembly to C++, which is the best reason to do a rewrite: you are actually using a different language that isn't compatible for an in place rewrite (D supports importing C++ and so could probably be done in place)
