THREADING PROGRAMMING

USING PYTHON
CUAUHTEMOC CARBAJAL
ITESM CEM
APRIL 06, 2013

1
 PROCESS

• Background
• A running program is called a
"process"
• Each process has memory, list of
open files, stack, program counter,
etc...
• Normally, a process executes
statements in a single sequence of
control flow.
• Process creation with
fork(),system(), popen(), etc...
• These commands create an entirely
new process.
• Child process runs independently of
the parent.
• Has own set of resources.
• There is minimal sharing of
information between parent and
child.
• Think about using the Unix shell.
2
ROBOT OPERATING SYSTEM (ROS)
3D visualization tool

Topics are named buses

over which nodes
exchange messages.

A node is a process that

performs computation.

3
 THREAD BASICS

• Threads
• A thread is a light-weight process (it’s a
sequence of control flow).
• Except that it exists entirely inside a
process and shares resources.
• A single process may have multiple
threads of execution.
• Useful when an application wants to
perform many concurrent tasks on shared
data.
• Think about a browser (loading pages,
animations, etc.)

4
MULTITHREADED WEB SERVER

5
MULTITASKING EMBEDDED SYSTEM

6
 ADVANTAGES OF THREADING

• Multithreaded programs can run faster on

computer systems with multiple CPUs,
because theses threads can be truly
concurrent.
• A program can remain responsive to input.
This is true both on single and on multiple
CPUs.
• Allows to do something else while one
thread is waiting for an I/O task (disk,
network) to complete.
• Some programs are easy to express using
concurrency which leads to elegant
solutions, easier to maintain and debug.
• Threads of a process can share the memory
of global variables. If a global variable is
changed in one thread, this change is valid
for all threads. A thread can have local
variables.
7
 THREADS ISSUES…

• Scheduling
• To execute a threaded program, must
rapidly switch between threads.
• This can be done by the user process (user-
level threads).
• Can be done by the kernel (kernel-level
threads).
• Resource Sharing
• Since threads share memory and other
resources, must be very careful.
• Operation performed in one thread could
cause problems in another.
• Synchronization
• Threads often need to coordinate
actions.
• Can get "race conditions" (outcome
dependent on order of thread execution)
• Often need to use locking primitives
(mutual exclusion locks, semaphores,
etc...)
8
 PYTHON THREADS

• Python supports threads on the >>> import dis

following platforms >>> def my_function(string1):
return len(string1)
• Solaris
• Windows >>> dis.dis(my_function)
• Systems that support the POSIX 2 0 LOAD_GLOBAL 0 (len)
threads library (pthreads) 3 LOAD_FAST 0 (string1)
• Thread scheduling 6 CALL_FUNCTION 1
• Tightly controlled by a global 9 RETURN_VALUE
interpreter lock and scheduler. >>>
• Only a single thread is allowed to be
executing in the Python interpreter at
once.
>>> import sys
• Thread switching only occurs between
the execution of individual byte- >>> sys.getcheckinterval()
codes. 100
• Long-running calculations in C/C++
can block execution of all other
threads.
• However, most I/O operations do not 9
block.
 PYTHON THREADS (CONT)

• Comments
• Python threads are somewhat more restrictive than in C.
• Effectiveness may be limited on multiple CPUs (due to
interpreter lock).
• Threads can interact strangely with other Python modules
(especially signal handling).
• Not all extension modules are thread-safe.
• Thread-safe describes a program portion or routine that can be
called from multiple programming threads without unwanted
interaction between the threads.

10
´PYTHON THREAD MODULE

11
 THREAD MODULE

• The thread module provides low-level access to threads

• Thread creation.
• Simple mutex locks.
• Creating a new thread
• thread.start_new_thread(func,[args [,kwargs]])
• Executes a function in a new thread.
Convert a time expressed in seconds
import thread since the epoch to a string representing
local time
import time
def print_time(delay):
Return the time in
while 1: seconds since the epoch
time.sleep(delay)
print time.ctime(time.time())
# Start the thread
thread.start_new_thread(print_time,(5,))
# Go do something else
# statements
while (1): pass /threading/ex7.py C3PO 12
#!/usr/bin/python

import thread
import time

# Define a function for the thread

def print_time( threadName, delay):
count = 0
while count < 5:
time.sleep(delay)
count += 1
print "%s: %s" % ( threadName, time.ctime(time.time()) )

# Create two threads as follows

try:
thread.start_new_thread( print_time, ("Thread-1", 2, ) )
thread.start_new_thread( print_time, ("Thread-2", 4, ) )
except:
print "Error: unable to start thread"

while 1:
pass

/threading/ex1.py C3PO
13
 THREAD MODULE (CONT)

• Thread termination
• Thread silently exits when the function returns.
• Thread can explicitly exit by calling thread.exit() or sys.exit().
• Uncaught exception causes thread termination (and prints error message).
• However, other threads continue to run even if one had an error.
• Simple locks
• allocate_lock(). Creates a lock object, initially unlocked.
import thread
lk = thread.allocate_lock()
def foo():
lk.acquire() # Acquire the lock
# critical section
lk.release() # Release the lock
• Only one thread can acquire the lock at once.
• Threads block indefinitely until lock becomes available.
• You might use this if two or more threads were allowed to update a shared
data structure.
14
#!/usr/bin/env python An asterisk (*) is placed before the
variable name that will hold the values
import time of all nonkeyword variable arguments.
import thread

def myfunction(string,sleeptime,lock,*args):
while 1:
#entering critical section
lock.acquire()
print string," Now Sleeping after Lock acquired for ",sleeptime
time.sleep(sleeptime)
print string," Now releasing lock and then sleeping again "
lock.release()
# exiting critical section
time.sleep(sleeptime) # why?

if __name__ == "__main__":

lock = thread.allocate_lock()
thread.start_new_thread(myfunction,("Thread No:1",2,lock))
thread.start_new_thread(myfunction,("Thread No:2",2,lock))

while 1:
pass
/threading/ex2.py C3PO
15
 THREAD MODULE (CONT)

• The main thread

• When Python starts, it runs as a single thread of execution.
• This is called the "main thread."
• On its own, it’s no big deal.
• However, if you launch other threads it has some special properties.
• Termination of the main thread
• If the main thread exits and other threads are active, the behavior is
system dependent.
• Usually, this immediately terminates the execution of all other threads
without cleanup.
• Cleanup actions of the main thread may be limited as well.
• Signal handling
• Signals can only be caught and handled by the main thread of
execution.
• Otherwise you will get an error (in the signal module).
• Caveat: The KeyboardInterrupt can be caught by any thread (non-
deterministically).
16
 THREAD MODULE (CONT)

• Currently, The Python Interpreter is not fully thread

safe.
• There are no priorities, no thread groups.
• Threads cannot be stopped and suspended,
resumed or interrupted.
• That is, the support provided is very much basic.
• However a lot can still be accomplished with this
meager support, with the use of the threading
module.

17
PYTHON THREADING
MODULE

18
 THREADING — HIGHER-LEVEL
THREADING INTERFACE
• Python manages to get a lot done using so little.
• The Threading module uses the built in thread package to
provide some very interesting features that would make
your programming a whole lot easier.
• There are in built mechanisms which provide critical section
locks, wait/notify locks etc.
• Major Components of the Threading module are:
• Thread Object
• Lock object
• RLock object
• Semaphore Object
• Condition Object
• Event Object
19
 THREADING — HIGHER-LEVEL
THREADING INTERFACE (CONT)
• It is a high-level threads module
• Implements threads as classes (similar to Java)
• Provides an assortment of synchronization and locking primitives.
• Built using the low-level thread module.
• Creating a new thread (as a class)
• Idea: Inherit from the "Thread" class and provide a few methods
import threading, time
class PrintTime(threading.Thread):
def __init__(self,interval):
threading.Thread.__init__(self) # Required
self.interval = interval
def run(self):
while 1:
time.sleep(self.interval)
print time.ctime(time.time())
t = PrintTime(5) # Create a thread object
t.start() # Start it
# Do something else
while(1): pass /threading/ex5.py C3PO 20
 THREAD CLASS

• There are a variety of ways you can create threads

using the Thread class.
• We cover three of them here, all quite similar.
• Pick the one you feel most comfortable with, not to
mention the most appropriate for your application
and future scalability:
1. Create Thread instance, passing in function
2. Create Thread instance, passing in callable class instance
3. Subclass Thread and create subclass instance

21
 1 CREATE THREAD INSTANCE, PASSING
IN FUNCTION
#!/usr/bin/env
#!/usr/bin/envpythonpython
import
importthreading
threading
from
fromtime
timeimport
importsleep,
sleep,time,
time,ctime
ctime
loops
loops= =[ [4,4,2 2] ]
def
defloop(nloop,
loop(nloop,nsec):nsec):
print
print'start
'startloop',
loop',nloop,
nloop,'at:',
'at:',ctime(time())
ctime(time())
sleep(nsec)
sleep(nsec)
print
print'loop',
'loop',nloop,
nloop,'done
'doneat:',
at:',ctime(time())
ctime(time())
def
defmain():
main():
print
print'starting
'startingthreads...'
threads...'
threads
threads= =[][]
nloops
nloops= =range(len(loops))
range(len(loops))
forfor i in
i in nloops:
nloops:
t t= =threading.Thread(target=loop,
threading.Thread(target=loop,
args=(i,
args=(i,loops[i]))
loops[i]))
threads.append(t)
threads.append(t)
for
fori iininnloops:
nloops: # #start
startthreads
threads
threads[i].start()
threads[i].start()
for
fori iininnloops:
nloops: # #wait
waitfor
forall
all
threads[i].join()
threads[i].join() # #threads
threadstotofinish
finish
print
print'all
'allDONE
DONEat:',
at:',ctime(time())
ctime(time())
ifif__name__
__name__===='__main__':
'__main__':
main()
main() /threading/mtsleep3.py C3PO 22
 2 CREATE THREAD INSTANCE, PASSING
IN CALLABLE CLASS INSTANCE
#!/usr/bin/env python def main():
import threading print 'starting threads...'
from time import sleep, time, ctime threads = [] empty list
loops = [ 4, 2 ] nloops = range(len(loops))
for i in nloops:
class ThreadFunc: t = threading.Thread( \
target=ThreadFunc(loop, (i, loops[i]),
def __init__(self, func, args, name=''): loop.__name__))
self.name = name threads.append(t)
self.func = func for i in nloops:
self.args = args threads[i].start()
for i in nloops:
def __call__(self): threads[i].join()
apply(self.func, self.args) print 'all DONE at:', ctime(time())

def loop(nloop, nsec): if __name__ == '__main__':

print 'start loop', nloop, 'at:', ctime(time()) main()
sleep(nsec)
print 'loop', nloop, 'done at:', ctime(time())
/threading/mtsleep4.py C3PO 23
 __CALL__

aclass.py
class Aclass: x = Aclass()
def __call__(self): Hi I am __init__ed
print 'Hi I am __call__ed'; x()
def __init__(self, *args, **keyargs): Hi I am __call__ed
print "Hi I am __init__ed";

Executing x = Aclass() will call __init__() and just x() will call __call__().

test.py (1, 2, 3)
class Test(object):
def __call__(self, *args, **kwargs): {}
print args ---...
print kwargs ()
print '-'*80 {'a': 1, 'c': 3, 'b': 2}
t = Test() ---...
t(1, 2, 3) -
t(a=1, b=2, c=3) (4, 5, 6)
t(4, 5, 6, d=4, e=5, f=6) {'e': 5, 'd': 4, 'f': 6}
callable(t) ---...
24
 3 SUBCLASS THREAD AND CREATE
SUBCLASS INSTANCE
#!/usr/bin/env python def main():
import threading print 'starting at:', ctime()
from time import sleep, ctime threads = []
loops = [ 4, 2 ] nloops = range(len(loops))
for i in nloops:
class MyThread(threading.Thread): t = MyThread(loop, (i, loops[i]),
loop.__name__)
def __init__(self, func, args, name=''): threads.append(t)
threading.Thread.__init__(self) for i in nloops:
self.name = name threads[i].start()
self.func = func for i in nloops:
self.args = args threads[i].join()

def run(self): print 'all DONE at:', ctime()

apply(self.func, self.args)
if __name__ == '__main__':
def loop(nloop, nsec): main()
print 'start loop', nloop, 'at:', ctime()
sleep(nsec)
print 'loop', nloop, 'done at:', ctime() /threading/mtsleep5.py C3PO 25
 CLASS THREADING.THREAD

class threading.Thread(group=None, target=None,

name=None, args=(), kwargs={})
• Arguments are:
• group: should be None; reserved for future extension when a
ThreadGroup class is implemented.
• target: is the callable object to be invoked by the run()
method. Defaults to None, meaning nothing is called.
• name: is the thread name. By default, a unique name is
constructed of the form “Thread-N” where N is a small decimal
number.
• args: is the argument tuple for the target invocation. Defaults
to ().
• kwargs: is a dictionary of keyword arguments for the target
invocation. Defaults to {}.
• If the subclass overrides the constructor, it must make
sure to invoke the base class constructor
(Thread.__init__()) before doing anything else to the
thread. 26
CLASS THREADING.THREAD METHODS

• start()
• Start the thread’s activity.
• It must be called at most once per thread object.
• It arranges for the object’s run() method to be invoked in
a separate thread of control.
• This method will raise a RuntimeError if called more than
once on the same thread object.
• run()
• Method representing the thread’s activity.
• You may override this method in a subclass. The standard
run() method invokes the callable object passed to the
object’s constructor as the target argument, if any, with
sequential and keyword arguments taken from the args
and kwargs arguments, respectively. 27
CLASS THREADING.THREAD METHODS
(CONT)
• join([timeout])
• Wait until the thread terminates. This blocks the calling
thread until the thread whose join() method is called
terminates – either normally or through an unhandled
exception – or until the optional timeout occurs.
• When the timeout argument is present and not None, it
should be a floating point number specifying a timeout for
the operation in seconds (or fractions thereof).
• As join() always returns None, you must call isAlive()
after join() to decide whether a timeout happened – if
the thread is still alive, the join() call timed out.
• When the timeout argument is not present or None, the
operation will block until the thread terminates.

28
 THREAD STATES

• When the start() method is called, the thread is pushed into

the Ready state; after that, it is controlled by the scheduler.
• When the thread get chance to run in running state then
Scheduler call the run() method.

also called
ready state

29
 THREAD STATES (CONT)

• Initial State. After the creations of Thread instance the thread is

in this state but before the start() method invocation. At this
point, the thread is considered not alive.
• Runnable state. A thread starts its life from Runnable state. A
thread first enters runnable state after invoking the start()
method but a thread can return to this state after either
running, waiting, sleeping or coming back from blocked state
also. On this state a thread is waiting for a turn on the
processor.
• Running state. The thread is currently executing. There are
several ways to enter in Runnable state but there is only one
way to enter in Running state: the scheduler select a thread
from the runnable pool.
• Dead state. A thread can be considered dead when its run()
method completes. If any thread comes on this state that
means it cannot ever run again.
• Blocked. A thread can enter in this state because of waiting
the resources that are hold by another thread.
30
CLASS THREADING.THREAD METHODS
(CONT)
• The Thread class
• When defining threads as classes all you need to supply is the
following:
• A constructor that calls threading.Thread.__init__(self)
• A run() method that performs the actual work of the thread.
• A few additional methods are also available
t.getName() # Get the name of the thread
t.setName(name) # Set the name of the thread
t.isAlive() # Return 1 if thread is alive.
t.isDaemon() # Return daemonic flag
t.setDaemon(val) # Set daemonic flag
• Daemon threads
• Normally, interpreter exits only when all threads have terminated.
• However, a thread can be flagged as a daemon thread (runs in
background).
• Interpreter really only exits when all non-daemonic threads exit.
• Can use this to launch threads that run forever, but which can be
safely killed.
31
This module defines
functions and classes which Logs a message with level
implement a flexible event DEBUG on the root logger.
logging system for The msg is the message
applications and libraries.
DAEMON THREAD format string, and the args
are the arguments which
import threading are merged into msg using
import time the string formatting
operator.
import logging

logging.basicConfig(level=logging.DEBUG,
format='(%(threadName)-10s) %(message)s',
)
def daemon():
logging.debug('Starting')
time.sleep(2)
logging.debug('Exiting')

d = threading.Thread(name='daemon', target=daemon)
d.setDaemon(True)

def non_daemon():
logging.debug('Starting') /threading/daemon.py C3PO
logging.debug('Exiting')

t = threading.Thread(name='non-daemon', target=non_daemon)
(daemon ) Starting
d.start() (non-daemon) Starting
32
t.start() (non-daemon) Exiting
 SYNCHRONIZATION PRIMITIVES

• The threading module provides the following

synchronization primitives
• Mutual exclusion locks
• Reentrant locks
• Conditional variables
• Semaphores
• Events
• Why would you need these?
• Threads are updating shared data structures
• Threads need to coordinate their actions in some manner
(events).
• You need to regain some programming sanity.
33
 Threading Module Objects
Object Description
Thread Object that represents a single thread of execution
Lock Primitive lock object (same lock as in thread module)
RLock Re-entrant lock object provides ability for a single thread to
(re)acquire an already-held lock (recursive locking)
Condition Condition variable object causes one thread to wait until a
certain “condition” has been satisfied by another thread, such
as changing of state or of some data value
Event General version of condition variables, whereby any number of
threads are waiting for some event to occur and all will awaken
when the event happens
Semaphore Provides a “counter” of finite resources shared between
threads; block when none are available
BoundedSemaphore Similar to a Semaphore but ensures that it never exceeds its
initial value
Timer Similar to Thread, except that it waits for an allotted period of
time before running
Barrier* Creates a “barrier,” at which a specified number of threads
must all arrive before they’re all allowed to continue
34
* New in Python 3.2
 LOCK

• Locks have 2 states: locked and unlocked.

• 2 methods are used to manipulate them: acquire() and release().
• Those are the rules:
• if the state is unlocked: a call to acquire() changes the state to locked.
• if the state is locked: a call to acquire() blocks until another thread calls
release().
• if the state is unlocked: a call to release() raises a RuntimeError
exception.
• If the state is locked: a call to release() changes the state to unlocked().

35
 LOCK OBJECTS

• The Lock object

• Provides a simple mutual exclusion lock
import threading
data = [] # Some data
lck = threading.Lock() # Create a lock
def put_obj(obj):
lck.acquire()
data.append("object")
lck.release()
def get_obj():
lck.acquire()
r = data.pop()
lck.release()
return r
• Only one thread is allowed to acquire the lock at once
• Most useful for coordinating access to shared data. 36
 RLOCK

• RLock is a reentrant lock.

• acquire() can be called multiple times by the same thread without
blocking.
• Keep in mind that release() needs to be called the same number of
times to unlock the resource.
• Using Lock, the second call to acquire() by the same thread will
block:
1. lock = threading.Lock()
2. lock.acquire()
3. lock.acquire() # block
• If you use RLock, the second call to acquire() won’t block.
1. rlock = threading.RLock()
2. rlock.acquire()
3. rlock.acquire() # no block, execution continues as usual
• RLock also uses thread.allocate_lock() but it keeps track of
the owner thread to support the reentrant feature.
• Following is the RLock acquire() method implementation. If the thread
calling acquire() is the owner of the resource then the counter is
incremented by one. If not, it tries to acquire it. First time it acquires the
lock, the owner is saved and the counter is initialized to 1.
37
 RLOCK OBJECTS
• A mutual-exclusion lock that allows repeated acquisition by the same thread
• Allows nested acquire(), release() operations in the thread that owns the lock.
• Only the outermost release() operation actually releases the lock.
import threading
data = [] # Some data
lck = threading.Rlock() # Create a reentrant lock
def put_obj(obj):
lck.acquire()
data.append("object")
...
put_obj(otherobj) # Some kind of recursion
...
lck.release()
def get_obj():
lck.acquire()
r = data.pop()
lck.release()
return r 38
 CONDITION
• This is a synchronization mechanism where a thread waits for a specific
condition and another thread signals that this condition has happened.
Once the condition happened, the thread acquires the lock to get
exclusive access to the shared resource.

39
 CONDITION VARIABLES
• Creates a condition variable.
• Synchronization primitive typically used when a thread is interested in an event or
state change.
• Classic problem: producer-consumer problem.
# Create data queue and a condition variable
data = [] releases the lock, and then blocks
cv = threading.Condition() until it is awakened by notify()

# Consumer thread
def consume_item():
cv.acquire() # Acquire the lock
while not len(data):
cv.wait() # Wait for data to show up;
r = data.pop()
cv.release() # Release the lock
return r wakes up one of the threads
waiting for the condition variable,
# Producer thread if any are waiting; does not
def produce_item(obj): release the lock
cv.acquire() # Acquire the lock
data.append("object")
cv.notify() # Notify a consumer
40
cv.release() # Release the lock
 SEMAPHORE OBJECTS

• Semaphores
• A locking primitive based on a counter.
• Each acquire() method decrements the counter.
• Each release() method increments the counter.
• If the counter reaches zero, future acquire() methods block.
• Common use: limiting the number of threads allowed to execute code

sem = threading.Semaphore(5) # No more than 5 threads allowed

def fetch_file(host,filename):
sem.acquire() # Decrements count or blocks if zero
...
blah
...
sem.release() # Increment count

41
 EVENT

• This is a simple mechanism. A thread signals an

event and the other thread(s) wait for it.
• An event object manages an internal flag that can
be set to true with the set() method and reset to
false with the clear() method. The wait() method
blocks until the flag is true.

42
 EVENT OBJECTS

• Events
• A communication primitive for coordinating threads.
• One thread signals an "event"
• Other threads wait for it to happen.
# Create an event object
e = Event()
# Signal the event
def signal_event():
e.set()
# Wait for event
def wait_for_event():
e.wait()
# Clear event
def clear_event():
e.clear()

• Similar to a condition variable, but all threads waiting for event

are awakened.
43
 LOCKS AND BLOCKING

• By default, all locking primitives block until lock is acquired

• In general, this is uninterruptible.
• Fortunately, most primitives provide a non-blocking option
if not lck.acquire(0):
# lock couldn’t be acquired!
• This works for Lock, RLock, and Semaphore objects
• Timeouts
• Condition variables and events provide a timeout option
cv = Condition()
...
cv.wait(60.0) # Wait 60 seconds for notification

• On timeout, the function simply returns. Up to caller to detect

errors.

44
PYTHON QUEUE

45
 QUEUE

• Queues are a great mechanism when we need to exchange

information between threads as it takes care of locking for us.
• We are interested in the following 4 Queue methods:
• put: Put an item to the queue.
• get: Remove and return an item from the queue.
• task_done: Needs to be called each time an item has been processed.
• join: Blocks until all items have been processed.

46
 THE QUEUE MODULE

• Provides a multi-producer, multi-consumer FIFO queue object

• Can be used to safely exchange data between multiple threads
q = Queue(maxsize) # Create a queue
q.qsize() # Return current size
q.empty() # Test if empty
q.full() # Test if full
q.put(item) # Put an item on the queue
q.get() # Get item from queue
• Notes:
• The Queue object also supports non-blocking put/get.
q.put_nowait("object")
q.get_nowait()
• These raise the Queue.Full or Queue.Empty exceptions if an error
occurs.
• Return values for qsize(), empty(), and full() are approximate.

47
 BASIC FIFO QUEUE

• The Queue class implements a basic first-in, first-out

container. Elements are added to one “end” of the
sequence using put(), and removed from the
other end using get().
import Queue

q = Queue.Queue()

for i in range(5):
q.put(i)

while not q.empty():

print q.get()

basic_fifo_queue.py C3PO 48
 LIFO QUEUE

• In contrast to the standard FIFO implementation of

Queue, the LifoQueue uses last-in, first-out ordering
(normally associated with a stack data structure).
import Queue

q = Queue.LifoQueue()

for i in range(5):
q.put(i)

while not q.empty():

print q.get()

lifo_queue.py C3PO 49
 PRIORITY QUEUE

• Sometimes the processing order of the items in a

queue needs to be based on characteristics of
those items, rather than just the order they are
created or added to the queue.
• For example, print jobs from the payroll department
may take precedence over a code listing printed
by a developer.
• PriorityQueue uses the sort order of the contents
of the queue to decide which to retrieve.

50
 PRIORITY QUEUE (2)
import Queue

class Job(object):
def __init__(self, priority, description):
self.priority = priority
self.description = description
print 'New job:', description
return
def __cmp__(self, other):
return cmp(self.priority, other.priority)

q = Queue.PriorityQueue()

q.put( Job(3, 'Mid-level job') )

q.put( Job(10, 'Low-level job') )
q.put( Job(1, 'Important job') )

while not q.empty(): priority_queue.py C3PO

next_job = q.get()
print 'Processing job:', next_job.description 51
 FINAL COMMENTS ON THREADS

• Python threads are quite functional

• Can write applications that use dozens (or even hundreds) of
threads
• But there are performance issues
• Global interpreter lock makes it difficult to fully utilize multiple
CPUs.
• You don’t get the degree of parallelism you might expect.
• Interaction with C extensions
• Common problem: I wrote a big C extension and it broke
threading.
• The culprit: Not releasing global lock before starting a long-
running function.
• Not all modules are thread-friendly
• Example: gethostbyname() blocks all threads if nameserver
down.
52
EXAMPLES

53
 THREAD EXAMPLE USING THE RPI
(PUSH-BUTTON CIRCUIT)
import threading
import time
import RPi.GPIO as GPIO

class Button(threading.Thread):
"""A Thread that monitors a GPIO button"""

def __init__(self, channel):

threading.Thread.__init__(self)
self._pressed = False Push-button circuit
experiment wiring diagram
self.channel = channel

# set up pin as input

GPIO.setup(self.channel, GPIO.IN)

# A program will exit when only daemon threads are left alive
self.daemon = True
# start thread running
self.start()
54
CAS Raspberry Pi Education Manual
def pressed(self):
if self._pressed:
# clear the pressed flag now we have detected it
self._pressed = False
return True
else:
return False

def run(self):
previous = None
while 1:
# read gpio channel
current = GPIO.input(self.channel)
time.sleep(0.01) # wait 10 ms

# detect change from 1 to 0 (a button press)

if current == False and previous == True:
self._pressed = True

# wait for flag to be cleared

while self._pressed:
time.sleep(0.05) # wait 50 ms
previous = current

55
 THREAD EXAMPLE USING THE RPI
(CONT)
def onButtonPress():
print('Button has been pressed!')

# create a button thread for a button on pin 11

button = Button(11)

try:
while True:
# ask for a name and say hello
name = input('Enter a name (or Q to quit): ')
if name.upper() == ('Q'):
break
print('Hello', name)
# check if button has been pressed
if button.pressed():
onButtonPress()

except KeyboardInterrupt: # trap a CTRL+C keyboard interrupt

GPIO.cleanup()
GPIO.cleanup() 56
 GPS TRACKER/RECORDER

• Required Hardware
• Raspberry Pi with Debian Wheezy
installed
• GPSd compatible GPS Receiver
• Getting the Software
• Enter the following command to install
Python, GPSd, and the Python modules to
bring them together: GlobalSat BU-353 USB GPS
• sudo apt-get install python gpsd Navigation Receiver
gpsd-clients
• Plugging in the USB receiver should
start GPSd automatically.
• To make sure that GPSd is playing
nice, you can open cgps to see what
data it is receiving.
• cgps
57
http://www.danmandle.com/blog/getting-gpsd-to-work-with-python/
import os
from gps import *
from time import *
import time
import threading

gpsd = None #seting the global variable

os.system('clear') #clear the terminal (optional)

class GpsPoller(threading.Thread):
def __init__(self):
threading.Thread.__init__(self)
global gpsd #bring it in scope
gpsd = gps(mode=WATCH_ENABLE) #starting the stream of info
self.current_value = None
self.running = True #setting the thread running to true

def run(self):
global gpsd
while gpsp.running:
gpsd.next() #this will continue to loop and grab EACH set of gpsd info to clear the buffer

58
if __name__ == '__main__':
gpsp = GpsPoller() # create the thread
try:
gpsp.start() # start it up
while True:
#It may take a second or two to get good data
os.system('clear')
print
print ' GPS reading'
print '----------------------------------------'
print 'latitude ' , gpsd.fix.latitude
print 'longitude ' , gpsd.fix.longitude
print 'time utc ' , gpsd.utc,' + ', gpsd.fix.time
print 'altitude (m)' , gpsd.fix.altitude
print 'eps ' , gpsd.fix.eps
print 'epx ' , gpsd.fix.epx
print 'epv ' , gpsd.fix.epv
print 'ept ' , gpsd.fix.ept
print 'speed (m/s) ' , gpsd.fix.speed
print 'climb ' , gpsd.fix.climb
print 'track ' , gpsd.fix.track
print 'mode ' , gpsd.fix.mode
print
print 'sats ' , gpsd.satellites
time.sleep(5) #set to whatever
except (KeyboardInterrupt, SystemExit): #when you press ctrl+c
print "\nKilling Thread..."
gpsp.running = False
gpsp.join() # wait for the thread to finish what it's doing
print "Done.\nExiting." 59