I have a question about processing the image while driving a motor. I did some researches, probably I need to use multiprocessing. However, I couldn't find out how to run two processors together.
Let's say I have two functions as imageProcessing() and DrivingMotor(). With coming information from imageProcessing(), I need to update my DrivingMotor() function simultaneously. How can I handle this issue?
In multiprocessing, you must create two process(process means program in execution) and must implement interproccesing communication methods to communicate process each other, this is tedious,hard and inefficient way .Multiproccesing less efficient than multithreading.Therefore I think you should multithread ,it is very efficient way ,communication between thread is very easy, you can use global data for communication.
You shall create two threads, one thread is handle imageProcessing() ,and other thread DrivingMotor().Operating system handled execution of thread,Operating system run synchronous these threads.
there is basic tutorial for multithreading below links
https://www.tutorialspoint.com/python/python_multithreading.htm
Related
I need to write a program which does 2 tasks at the same time for better efficiency & high response. First task is, for example, get vision data from a camera & process it.
Second task is, receive processed data from first task & do sth else with this data (robot control strategy). However, while robot control task is being performed, the camera data receiving should still be working.
Is there a solution for such type of programming in C++/C#?? I'm learning TBB, is it the right choice? However, I'm reading things like "loop parallelization", am I going in the right direction??
This links to a very common style in control programming where the computer is used as a central unit to connect to electronic devices (sensors) & actuators and all these devices are processed concurrently
No, your example of loop paralleling is using parallel programming to speed up the result of a calculation for one set of data.
What you need is multitasking. You didn't mention any target architecture. Assuming this will be an embedded system, like a microprocessor, you have several options. There are embedded micro-OSes like VXworks and uC-OS that allow you to do just what you are asking. These allow you to set up multiple "tasks" that run virtually concurrently. Of course true concurrency is impossible with one CPU, but the scheduler in these OSes is designed to be very deterministic, for quasi-real-time systems like you describe.
Sounds good to me! TBB OK, C# has useful threadpool etc. classes. Just one thing, if you haven't done anything like this before - it's all about the data, not the code. If you design the data flow correctly, the code will write itself, (well OK, not really:).
hello I want to use stanford parser wuth threads but I dont know how to do that with thread pool. I want that all threads will do this:
LexicalizedParser.apply(Object in)
but I dont want to create all the time new object of LexicalizedParser because it will load
lp = new LexicalizedParser("englishPCFG.ser.gz");
and it will take 2 sec for each obj.
what can I do?
thanks!
Guess it's too late but a thread safe version is there: http://nlp.stanford.edu/software/lex-parser.shtml
You can use ThreadLocal.
It allows you to keep one instance of parser per thread. Thus any created instance of parser will never be used from more than one thread.
Usually it shouldn't create more instances than CPUs*cores you have.
For me it is ~4-5 instances (if I disable Hyper Threading on my quadcore).
P.S. Not related to StanfordNLP. Sometimes poor class implementations contain static fields and modify them in non-thread safe way. General safe parallelization approach for such implementations would be:
move computation part into separate process;
launch (CPUs*cores) number of processes with computations.
use IPC technic for communicating between main/background processes.
1.How to understand asynchronous io in Windows??
2.If I write/read something to the file using asynchronous io :
WriteFile();
ReadFile();
WriteFile();
How many threads does the OS generate to accomplish these task?
Do the 3 task run simultaneously and in multi-threading way
or run one after another just with different order?
3.Can I use multithreading and in each thread using a asynchronous io
to read or write the same file？
1.How to understand asynchronous io in Windows??
Read the Win32 documentation. Search on the web. Don't expect an answer to such a large, broad question here in SO.
2.If I write/read something to the file using asynchronous io :
WriteFile();
ReadFile();
WriteFile();
How many threads does the OS generate to accomplish these task?
I don't think it does. It will re-use existing thread contexts to execute kernel function calls. Basically the OS schedules the work and borrows a thread to do it - which is fine, since the kernel context is always the same.
3.Can I use multithreading and in each thread using a asynchronous io to read or write
the same file？
I believe so, yes. I don't know that the order of execution is guaranteed to match the order of submission, in which case you will obtain unpredictable results if you issue concurrent reads/writes on the same byte ranges.
To your questions:
How many threads does the OS generate
to accomplish these task?
Depends if you are using the windows pools, iocp, etc. Generally you decide.
Do the 3 task run simultaneously and
in multi-threading way or run one
after another just with different
order?
This depends on your architecture. On a single-cored machine, the 3 tasks would run one after another and the order would be os decided. On a multi-cored machine these might run together, depending on how the OS scheduled the threads.
3.Can I use multithreading and in each thread using a asynchronous io to read
or write the same file？
That is out of my knowledge so someone else would need to answer that one.
I suggest getting a copy of Windows via C/C++ as that has a very large chapter on Asynchronous IO.
I guess it depends which operating system you are using. But you shouldnt have to worry about this anyhow, it is transparent and should not affect how you write your code.
If you use the standard read and write in windows, you don't have to care that the system may not write it immediately, unless you are writing on the command-line and are waiting for the user to type some input. The OS is responsible for ensuring that what you write will eventually be written to the hard drive, and will do a much better job that you can do anyway.
If you are working on some weird asynchronous io, then please reformat your question.
I suggest looking for Jeffery Richter's books on Win32 programming. They are very well-written guides for just this sort of thing.
I think he has a newer book(s?) on C#, so watch out that you don't buy the wrong one.
I need to do some network bound calls (e.g., fetch a website) and I don't want it to block the UI. Should I be using NSThread's or python's threading module if I am working in pyobjc? I can't find any information on how to choose one over the other. Note, I don't really care about Python's GIL since my tasks are not CPU bound at all.
It will make no difference, you will gain the same behavior with slightly different interfaces. Use whichever fits best into your system.
Learn to love the run loop. Use Cocoa's URL-loading system (or, if you need plain sockets, NSFileHandle) and let it call you when the response (or failure) comes back. Then you don't have to deal with threads at all (the URL-loading system will use a thread for you).
Pretty much the only time to create your own threads in Cocoa is when you have a large task (>0.1 sec) that you can't break up.
(Someone might say NSOperation, but NSOperationQueue is broken and RAOperationQueue doesn't support concurrent operations. Fine if you already have a bunch of NSOperationQueue code or really want to prepare for working NSOperationQueue, but if you need concurrency now, run loop or threads.)
I'm more fond of the native python threading solution since I could join and reference threads around. AFAIK, NSThreads don't support thread joining and cancelling, and you could get a variety of things done with python threads.
Also, it's a bummer that NSThreads can't have multiple arguments, and though there are workarounds for this (like using NSDictionarys and NSArrays), it's still not as elegant and as simple as invoking a thread with arguments laid out in order / corresponding parameters.
But yeah, if the situation demands you to use NSThreads, there shouldn't be any problem at all. Otherwise, it's cool to stick with native python threads.
I have a different suggestion, mainly because python threading is just plain awful because of the GIL (Global Interpreter Lock), especially when you have more than one cpu core. There is a video presentation that goes into this in excruciating detail, but I cannot find the video right now - it was done by a Google employee.
Anyway, you may want to think about using the subprocess module instead of threading (have a helper program that you can execute, or use another binary on the system. Or use NSThread, it should give you more performance than what you can get with CPython threads.
I am developing a multi-threaded application in Cocoa. The main thread takes values from the user, and when a button is clicked I invoke a secondary thread in which a long calculation takes place. Now from this thread I have to return the output of every step of the calculation to the main thread. I want to periodically send data from one thread to the other. I can't find any simple example that does this. Any ideas?
There are a number of ways to do this, in rough order of complexity (easiest first):
use NSObject's performSelectorOnMainThread:withObject:waitUntilDone: which is pretty self explanatory.
use performSelector:onThread:withObject:waitUntilDone:, which will let you go the other way
use an NSNotification (and NSDistributedNotificationCenter), though you can easily run into a race condition if you're not careful
Use NSPorts to send data back and forth
Check out the doc that Abizer mentioned for details on all of these.
performSelectorOnMainThread:withObject:waitUntilDone: is often the easiest way to update the UI with a background thread's progress. You could also create your own storage area that's safe to access between threads using NSLock or a similar mechanism, or even use distributed objects (which also works between processes or over a network).
Then there's NSOperationQueue and NSOperation which does help a lot to simplify multi-threaded programming, although a lot of programmers have been avoiding it since it can cause a crash in certain circumstances under Leopard.
Have a look at the Apple docs for this.
You may need to create an ADC member account, but this is free
Multi-threaded Cocoa Programs