diff --git a/cirque/common/taskrunner.py b/cirque/common/taskrunner.py
new file mode 100644
index 0000000..2a48d18
--- /dev/null
+++ b/cirque/common/taskrunner.py
@@ -0,0 +1,92 @@
+# Copyright 2023 Google LLC
+#
+# Licensed under the Apache License, Version 2.0 (the "License");
+# you may not use this file except in compliance with the License.
+# You may obtain a copy of the License at
+#
+#      http://www.apache.org/licenses/LICENSE-2.0
+#
+# Unless required by applicable law or agreed to in writing, software
+# distributed under the License is distributed on an "AS IS" BASIS,
+# WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
+# See the License for the specific language governing permissions and
+# limitations under the License.
+
+import queue
+import threading
+import time
+
+from cirque.common.cirquelog import CirqueLog
+
+class Task:
+    def __init__(self, fn):
+        self.fn = fn
+        self.result = None
+        self.completed = None
+        self.exception = None
+        self.cv = threading.Condition()
+
+    def run(self):
+        try:
+            self.result = self.fn()
+        except Exception as ex:
+            self.exception = ex
+
+        with self.cv:
+            self.completed = True
+            self.cv.notify_all()
+
+    def wait(self):
+        with self.cv:
+            while not self.completed:
+                self.cv.wait()
+        if self.exception:
+            raise self.exception
+        return self.result
+
+class _TaskRunner:
+    def __init__(self):
+        self.logger = CirqueLog.get_cirque_logger(self.__class__.__name__)
+        self.queue_cv = threading.Condition()
+        self.queue = queue.Queue()
+
+    def post_task(self, fn) -> Task:
+        task = Task(fn)
+        with self.queue_cv:
+            self.queue.put(task)
+            self.queue_cv.notify()
+            self.logger.info("Task sent to runner thread.")
+        return task
+
+    def start(self):
+        self.running = True
+        self.logger.info("Starting task runner.")
+        self.th = threading.Thread(target=lambda:self._run())
+        self.th.start()
+        self.logger.info("Task runner started.")
+
+
+    def stop(self):
+        self.logger.info("Stopping runner thread.")
+        with self.queue_cv:
+            self.running = False
+            self.queue_cv.notify()
+        self.th.join()
+
+    def _run(self):
+        self.logger.info("Task runner running.")
+        with self.queue_cv:
+            while self.running:
+                try:
+                    task = self.queue.get_nowait()
+                    self.logger.info("Handled task.")
+                    taskStart = time.time()
+                    task.run()
+                    self.logger.info(f"Task handling duration: {time.time() - taskStart}s")
+                except queue.Empty:
+                    self.logger.info(f"No task")
+                    pass
+                self.queue_cv.wait()
+        self.logger.info("Task runner stopped.")
+
+TaskRunner = _TaskRunner()
diff --git a/cirque/connectivity/threadsimpipe.py b/cirque/connectivity/threadsimpipe.py
index 79900bf..d189d31 100644
--- a/cirque/connectivity/threadsimpipe.py
+++ b/cirque/connectivity/threadsimpipe.py
@@ -17,6 +17,8 @@
 import shutil
 from threading import Lock
 
+from cirque.common.cirquelog import CirqueLog
+from cirque.common.taskrunner import TaskRunner
 from cirque.connectivity.socatpipepair import SocatPipePair
 
 
@@ -39,6 +41,7 @@ def __init__(self, node_id, petition_id=0, rcp=False):
     self.radio_fd = None
     self.radio_process = None
     self.petition_id = petition_id
+    self.logger = CirqueLog.get_cirque_logger(self.__class__.__name__)
     if rcp:
       self.radio_command = 'ot-rcp'
     else:
@@ -51,11 +54,14 @@ def open(self):
     self.radio_fd = os.open(self.pipe_path_for_ncp, os.O_RDWR)
     env = os.environ
     env['PORT_OFFSET'] = str(self.petition_id * self.__THREAD_GROUP_SIZE)
-    self.radio_process = subprocess.Popen(
-        [self.radio_command, '{}'.format(self.node_id)],
+    command = [self.radio_command, '{}'.format(self.node_id)]
+    self.logger.info("-> Start virtual OpenThread Radio: command=%s, env=%s", command, env)
+    self.radio_process = TaskRunner.post_task(lambda:subprocess.Popen(
+        command,
         env=env,
         stdout=self.radio_fd,
-        stdin=self.radio_fd)
+        stdin=self.radio_fd,
+        stderr=subprocess.PIPE)).wait()
 
   def close(self):
     if self.radio_fd is not None:
diff --git a/cirque/grpc/service.py b/cirque/grpc/service.py
index 174e754..bca8cce 100644
--- a/cirque/grpc/service.py
+++ b/cirque/grpc/service.py
@@ -29,6 +29,7 @@
 import cirque.proto.service_pb2_grpc as service_pb2_grpc
 
 from cirque.common.cirquelog import CirqueLog
+from cirque.common.taskrunner import TaskRunner
 from cirque.home.home import CirqueHome
 
 logger = None
@@ -191,6 +192,7 @@ def __exit_handler():
   global cirque_service
   for home in cirque_service.homes.values():
     home.destroy_home()
+  taskrunner.TaskRunner.stop()
 
 
 class CirqueService(service_pb2_grpc.CirqueServiceServicer):
@@ -354,6 +356,7 @@ def serve(service_port=50051):
 def main(service_port):
   global logger
   CirqueLog.setup_cirque_logger()
+  TaskRunner.start()
   logger = CirqueLog.get_cirque_logger('grpc_service')
   serve(service_port)
 
diff --git a/cirque/restservice/service.py b/cirque/restservice/service.py
index 4d7ea7b..21a8af1 100644
--- a/cirque/restservice/service.py
+++ b/cirque/restservice/service.py
@@ -21,6 +21,7 @@
 from flask import Response
 
 from cirque.common.cirquelog import CirqueLog
+from cirque.common.taskrunner import TaskRunner
 from cirque.home.home import CirqueHome
 
 app = Flask(__name__)
@@ -119,8 +120,10 @@ def destroy_homes():
 
 
 # becareful not to remove this part
+atexit.register(lambda: TaskRunner.stop())
 if service_mode:
   atexit.register(destroy_homes)
+TaskRunner.start()
 
 if __name__ == '__main__':
   app.run()