With any program one of the initial places to start is to write pseudcode. It can be as complicated as it needs to be.
Could be something like
POWER ON SELF TEST:
Verify limits work and timeout if they don;t reach the limits within the expected time.
While looking for the limits verify the operation of the sensors. e.g. Determine if they work or it's dark outside.
if the sensor or the limits don;t work then turn on a siren for 5 minutes and send an sms messages.
So you get the idea.
The YT video SEEMS to use embedded Labview which is something I am not familiar with.
Anyway, Labview is a data flow language. When data becomes available to the vi (Virtual Instrument), the vi executes. This makes it VERY easy to write concurrent programs. You can have "RACE CONDITIONS" when the language is improperly used.
It's also difficult to have interrupt generating programs.
One of the more difficult things is getting started. A helpful concept is to make sure the Vi's have error clusters. The vi should execute if an error generated previously is 0 and just pass the error through if there is an error upstream or it's time to handle the error.
LabVIEW has a steep learning curve, but I started learning the language in ver 2.2.1. It has become very different and powerful since then. The last version I have used was ver 7 and most of my work was done in ver 3&4.