Event-Driven asyncio: A Case Study of Trio's API(PyCon US 2024)

Description
Asyncio is highly efficient in operating within a single thread, making it exceptionally well-suited for environments with limited resources.
In our product, we leverage Python's asynchronous capabilities to streamline the decision-making processes of our robots. I will individually introduce trio and trio-util, as well as anyio and asyncio, in the presentation.

Session: https://us.pycon.org/2024/schedule/presentation/142/
X: https://x.com/JunyaFff
linkedin: https://www.linkedin.com/in/junya-fukuda-4622a863/

Transcript

1. Event-Driven asyncio: A Case Study of Trio's API Junya Fukuda PyCon US 2024
2. Who am I? 👤 •Junya Fukudaʢ@JunyaFffʣcalled “Jun” not “Junior” •Photos 📷 SNS post 👍 •Software Engineer at Groove X, inc. Here is today's code
3. Who am I? 👤 •book •Python Practical Recipes Here is today's code •Junya Fukudaʢ@JunyaFffʣcalled “Jun” not “Junior” •Photos 📷 SNS post 👍 •Software Engineer at Groove X, inc.
4. Who am I? 👤 •Expert Python Programming - Fourth Edition •Written by Tarek Ziadé, Michał Jaworski Here is today's code •Junya Fukudaʢ@JunyaFffʣcalled “Jun” not “Junior” •Photos 📷 SNS post 👍 •Software Engineer at Groove X, inc. •book •Python Practical Recipes
5. Who am I? 👤 •Expert Python Programming - Fourth Edition •Written by Tarek Ziadé, Michał Jaworski •Junya Fukudaʢ@JunyaFffʣcalled “Jun” not “Junior” •Photos 📷 SNS post 👍 •Software Engineer at Groove X, inc. •book •Python Practical Recipes Here is today's code
6. Thank you 🙏 I love Python async 🌷
7. Event-Driven async A Case Study of Trio's API
8. Python async, are you using it? ✋
9. Python async, are you using it? ✋ Thank You!
10. Python async, are you using it? ✋ Web? ✋
11. Python async, are you using it? ✋ Web? ✋ Database? ✋
12. Python async, are you using it? ✋ Web? ✋ Database? ✋ API calls? ✋
13. Python async, are you using it? ✋ Web? ✋ Database? ✋ API calls? ✋ Tasks? ✋
14. Trio? ✋ ✋ ✋
15. 🤝🤝🤝🤝🤝
16. We use it in robotics.
18. Event-Driven async A Case Study of Trio's API
19. Event-Driven async A Case Study of Trio's API in production
20. Event-Driven async A Case Study of Trio's API in production
21. Today's Goal •Python async and robot use case
22. Today's Goal •Python async and robot use case •Event-Driven Example in Robot Development - Handling Multiple Inputs
23. Today's Goal •Python async and robot use case •Event-Driven Example in Robot Development - Handling Multiple Inputs •About Trio and Trio-util, asyncio
24. Today's Goal •Python async and robot use case •Event-Driven Example in Robot Development - Handling Multiple Inputs •About Trio and Trio-util, asyncio AsyncValue class
25. Today's Goal •Python async and robot use case •Event-Driven Example in Robot Development - Handling Multiple Inputs •About Trio and Trio-util, asyncio AsyncValue class •Handling Many Inputs in Async Apps - AsyncValue
26. Today's Goal •Python async and robot use case •Event-Driven Example in Robot Development - Handling Multiple Inputs •About Trio and Trio-util, asyncio AsyncValue class •Handling Many Inputs in Async Apps - AsyncValue 🌷
27. Today's Agenda •Python async and robot use case •Event-Driven Example in Robot Development - Handling Multiple Inputs
28. Today's Agenda •Python async and robot use case •Event-Driven Example in Robot Development - Handling Multiple Inputs •Why Python Async •Why Trio
29. Today's Agenda •Python async and robot use case •Event-Driven Example in Robot Development - Handling Multiple Inputs •Why Python Async •Why Trio
30. •Python async and robot use case
31. Why we chose Python Async for the robot decision-making engine
32. Why Python Async
33. Why Python Async •Their name is LOVOT
34. Why Python Async •Their name is LOVOTʢ "LOVE" ❤ and "ROBOT 🤖"ʣ
35. Why Python Async •Their name is LOVOT •Over 10,000 sold in Japan
36. Why Python Async •Their name is LOVOT •Over 10,000 sold in Japan •Equipped with many sensors
37. Why Python Async •൴Β͸֎ͷ৘ใΛͨ͘͞Μಘ͍ͯΔ
38. Why Python Async •൴Β͸֎ͷ৘ใΛͨ͘͞Μಘ͍ͯΔ &RVJQQFE
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39. Why Python Async •Their name is LOVOT •Over 10,000 sold in Japan •Equipped with many sensors •Decision-Making and Environment
40. Why Python Async •Running many microservices
41. Why Python Async •Hardware-level information and cloud integration •Running many microservices
42. Why Python Async •Hardware-level information and cloud integration •Running many microservices •Limited HW resources
43. Why Python Async •Equipped with many sensors - many I/O •Limited HW resources
44. Why Python Async •Equipped with many sensors - many I/O •Limited HW resources
45. Why Python Async •Equipped with many sensors - many I/O •Limited HW resources • Python Async is perfect
46. Why Trio instead of asyncio?
47. Why Trio? •Structured Concurrency
48. Why Trio? •Robust cancellation •Structured Concurrency
49. Why Trio? •Robust cancellation •Structured Concurrency •User-friendly API
50. Why Trio? •Robust cancellation •Structured Concurrency •User-friendly API •However, this decision was made in the summer of 2017
51. Why Trio? •Robust cancellation •Structured Concurrency •User-friendly API No high-level APIs yet 😢 •However, this decision was made in the summer of 2017
52. Why do we need a user-friendly APIʁ 🤔
53. Why Trio? Python Engineers
54. Why Trio? Python Engineers
55. Why Trio? Python Engineers
56. Why Trio? Python Engineers Animators
57. Why Trio? Python Engineers Animators
58. Why Trio? Python Engineers Animators Kawaii Behavior
59. Why Trio? •Why do we need a user-friendly APIʁ •Animators also needed to write code.
60. Why Trio? •Why do we need a user-friendly APIʁ •Animators also needed to write code. 8F
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61. •Event-Driven Example in Robot Development - Handling Multiple Inputs
62. •Event-Driven Example in Robot Development - Handling Multiple Inputs
63. Handling Multiple Inputs •Continuously watch for value changes
64. Handling Multiple Inputs •Continuously watch for value changes 👀
65. async def main(): async with trio.open_nursery() as nursery: event1 = AsyncValue("idel 🤖😢") event2 = AsyncValue("idel 🤖😆") nursery.start_soon(fetch, event1, event2) with compose_values(event1=event1, event2=event2) as comp_event: async for v in comp_event.eventual_values(): print(f"doing something cute 🤖 {v=}“) •Continuously watch for value changes 👀
66. •Continuously watch for value changes 👀 async def main(): async with trio.open_nursery() as nursery: event1 = AsyncValue("idel 🤖😢") event2 = AsyncValue("idel 🤖😆") nursery.start_soon(fetch, event1, event2) with compose_values(event1=event1, event2=event2) as comp_event: async for v in comp_event.eventual_values(): print(f"doing something cute 🤖 {v=}“)
67. async def main(): async with trio.open_nursery() as nursery: event1 = AsyncValue("idel 🤖😢") event2 = AsyncValue("idel 🤖😆") nursery.start_soon(fetch, event1, event2) with compose_values(event1=event1, event2=event2) as comp_event: async for v in comp_event.eventual_values(): print(f"doing something cute 🤖 {v=}“) •Continuously watch for value changes 👀
68. async def main(): async with trio.open_nursery() as nursery: event1 = AsyncValue("idel 🤖😢") event2 = AsyncValue("idel 🤖😆") nursery.start_soon(fetch, event1, event2) with compose_values(event1=event1, event2=event2) as comp_event: async for v in comp_event.eventual_values(): print(f"doing something cute 🤖 {v=}“) •Continuously watch for value changes 👀
69. •Continuously watch for value changes 👀
70. async def main(): async with trio.open_nursery() as nursery: event1 = AsyncValue("idel 🤖😢") event2 = AsyncValue("idel 🤖😆") nursery.start_soon(fetch, event1, event2) with compose_values(event1=event1, event2=event2) as comp_event: async for v in comp_event.eventual_values(): print(f"doing something cute 🤖 {v=}“) •Continuously watch for value changes 👀
71. •Continuously watch for value changes 👀 async def main(): async with trio.open_nursery() as nursery: event1 = AsyncValue("idel 🤖😢") event2 = AsyncValue("idel 🤖😆") nursery.start_soon(fetch, event1, event2) with compose_values(event1=event1, event2=event2) as comp_event: async for v in comp_event.eventual_values(): print(f"doing something cute 🤖 {v=}“)
72. Handling Multiple Inputs •AsyncValue Class 👀
73. Handling Multiple Inputs •AsyncValue Class 👀 •from trio-util
74. Handling Multiple Inputs •AsyncValue Class 👀 •from trio-util •wraps any value or awaitable
75. async def main(): async with trio.open_nursery() as nursery: event1 = AsyncValue("idel 🤖😢") event2 = AsyncValue("idel 🤖😆") nursery.start_soon(fetch, event1, event2) with compose_values(event1=event1, event2=event2) as comp_event: async for v in comp_event.eventual_values(): print(f"doing something cute 🤖 {v=}“) •Continuously watch for value changes 👀
76. async def main(): async with trio.open_nursery() as nursery: event1 = AsyncValue("idel 🤖😢") event2 = AsyncValue("idel 🤖😆") nursery.start_soon(fetch, event1, event2) with compose_values(event1=event1, event2=event2) as comp_event: async for v in comp_event.eventual_values(): print(f"doing something cute 🤖 {v=}“) •Continuously watch for value changes 👀
77. async def main(): async with trio.open_nursery() as nursery: event1 = AsyncValue("idel 🤖😢") event2 = AsyncValue("idel 🤖😆") nursery.start_soon(fetch, event1, event2) with compose_values(event1=event1, event2=event2) as comp_event: async for v in comp_event.eventual_values(): print(f"doing something cute 🤖 {v=}“) •Continuously watch for value changes 👀
78. async def main(): async with trio.open_nursery() as nursery: event1 = AsyncValue("idel 🤖😢") event2 = AsyncValue("idel 🤖😆") nursery.start_soon(fetch, event1, event2) with compose_values(event1=event1, event2=event2) as comp_event: async for v in comp_event.eventual_values(): print(f"doing something cute 🤖 {v=}“) •Continuously watch for value changes 👀
79. Handling Multiple Inputs •Inside AsyncValue •_async_value.py •class _ValueWrapper: •class _WaitQueue: •class _Result: •class _RefCountedDefaultDict
80. class _ValueWrapper: … def __hash__(self): try: return hash(self.value) except TypeError: return super().__hash__() def __eq__(self, other): return self.value.__eq__(other.value) def __call__(self, x, *args): return x == self.value •class _ValueWrapper:
81. class _RefCountedDefaultDict(defaultdict): """defaultdict offering deterministic collection of unreferenced keys""" … @contextmanager def open_ref(self, key): try: yield self[key] finally: self.refs_by_key[key] -= 1 if self.refs_by_key[key] == 0: del self[key] del self.refs_by_key[key] •class _RefCountedDefaultDict
82. Handling Multiple Inputs •Inside AsyncValue •Value Storage and Setting •Waiting for Value Changes: •Waiting for Transitions •Iterating Over Transitions •Waiting for Value Changes:
83. Handling Multiple Inputs •Event-Driven API Approach •Trio-util IUUQTHJUIVCDPN HSPPWFYUSJPVUJM
84. Handling Multiple Inputs •In the case of asyncio: •There is no API that performs the same function. •Synchronization Primitives •asyncio.Event, asyncio.Condition
85. Handling Multiple Inputs •Trio-util does not support anyio yet •There is no API that performs the same function. •asyncio-util IUUQTHJUIVCDPNKSGLBTZODJPVUJM Here is today's code
86. reference •Simplifying Python's Async with Trio •https://talkpython.fm/episodes/show/167/simplifying-pythons-async-with-trio •Higher level Python asyncio with AnyIO •https://talkpython.fm/episodes/show/385/higher-level-python-asyncio-with-anyio •groove-x / trio-util •https://github.com/groove-x/trio-util •Structured Concurrency - Martin Sústrik •https://250bpm.com/blog:71/
87. Would you like to see them?
88. Groove X will be a sponsor of PyCon JP 2024. See you in Tokyo. Sep27-28 2024
89. Groove X will be a sponsor of PyCon JP 2024. See you in Tokyo. Sep27-28 2024
91. Thank you for your attention 👋
92. Do you have a any Question? Feel free to ask questions on Twitter. (@junya ff f)