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 "worksheets": [
  {
   "cells": [
    {
     "cell_type": "markdown",
     "metadata": {},
     "source": [
      "<img src=\"http://mirageforum.com/forum/attachment.php?attachmentid=159&d=1370617142\">"
     ]
    },
    {
     "cell_type": "markdown",
     "metadata": {},
     "source": [
      "back to [Index](index.ipynb)"
     ]
    },
    {
     "cell_type": "heading",
     "level": 1,
     "metadata": {},
     "source": [
      "multitask-thoughts"
     ]
    },
    {
     "cell_type": "markdown",
     "metadata": {},
     "source": [
      "2014-07-19"
     ]
    },
    {
     "cell_type": "markdown",
     "metadata": {},
     "source": [
      "thoughts on multitasking"
     ]
    },
    {
     "cell_type": "markdown",
     "metadata": {},
     "source": [
      "* Presentation on coroutines as a python OS mechanism\n",
      "    * http://www.dabeaz.com/coroutines/Coroutines.pdf\n",
      "    * no word of real time/timing\n",
      "    * suggested next steps (search on http://pypi.python.org)\n",
      "        * https://pypi.python.org/pypi/cogen/0.2.1\n",
      "        * multitask\n",
      "        * https://pypi.python.org/pypi/greenlet/0.4.2\n",
      "        * eventlet\n",
      "        * kamaelia"
     ]
    },
    {
     "cell_type": "markdown",
     "metadata": {},
     "source": [
      "* another survey\n",
      "    * https://wiki.python.org/moin/Concurrency/\n",
      "    * https://wiki.python.org/moin/ParallelProcessing"
     ]
    },
    {
     "cell_type": "markdown",
     "metadata": {},
     "source": [
      "* cogen\n",
      "    * has strange api, unpacks arrays for some reason."
     ]
    },
    {
     "cell_type": "markdown",
     "metadata": {},
     "source": [
      "* gevent\n",
      "    * http://sdiehl.github.io/gevent-tutorial/\n",
      "    * http://floss.zoomquiet.io/data/20120212130348/index.html\n",
      "* UNSORTED\n",
      "    * https://wiki.python.org/moin/Concurrency/99Bottles\n",
      "    * http://www.dabeaz.com/coroutines/\n",
      "    * "
     ]
    },
    {
     "cell_type": "heading",
     "level": 2,
     "metadata": {},
     "source": [
      "multiprocessing/multithreading"
     ]
    },
    {
     "cell_type": "markdown",
     "metadata": {},
     "source": [
      "* http://stackoverflow.com/questions/3044580/multiprocessing-vs-threading-python\n",
      "* serious work needs to be put into state sharing and safety"
     ]
    },
    {
     "cell_type": "heading",
     "level": 2,
     "metadata": {},
     "source": [
      "scrim"
     ]
    },
    {
     "cell_type": "markdown",
     "metadata": {},
     "source": [
      "* just make something that works"
     ]
    },
    {
     "cell_type": "heading",
     "level": 1,
     "metadata": {},
     "source": [
      "the dream"
     ]
    },
    {
     "cell_type": "markdown",
     "metadata": {},
     "source": [
      "```python\n",
      "def ticker():\n",
      "    while True:\n",
      "        tick()\n",
      "        sleep(.01)\n",
      "def controller():\n",
      "    while True:\n",
      "        control()\n",
      "        sleep(.001)\n",
      "        \n",
      "sched.add(ticker)\n",
      "sched.add(controller)\n",
      "sched.startAll()\n",
      "```"
     ]
    },
    {
     "cell_type": "markdown",
     "metadata": {},
     "source": [
      "* easiest implementation\n",
      "    * different notebooks, different process.\n",
      "    * hard part: state sharing\n",
      "        * http://mpi4py.scipy.org/docs/usrman/tutorial.html#point-to-point-communication"
     ]
    },
    {
     "cell_type": "markdown",
     "metadata": {},
     "source": [
      "* todo\n",
      "    * measure latency/control frequency over lcm multiprocess"
     ]
    }
   ],
   "metadata": {}
  }
 ]
}