script/tutorial/51_Parallelization.js

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+/////////////////////////////////////////////////////////////////////////////////////////////////// 
+//// Using Parallelization API to execute tasks concurrently
+/////////////////////////////////////////////////////////////////////////////////////////////////// 
+
+
+//Simple parallization
+function task1(){
+    m1.moveRel(1.0)
+    return m1.getPosition()
+}    
+
+function task2(){
+    m2.moveRel(1.0)
+    return m1.getPosition()
+}    
+
+function task3(){
+    return ai1.read()
+}    
+
+ret = parallelize(task1, task2, task3)
+print (ret
+)
+
+
+//Fork amd join
+ret = fork(task1, task2, task3)
+print (ai1.read()
+)
+ret = join(ret)
+print (ret
+)
+
+
+
+//Functions with parameters
+function moveRelative(motor, step){
+    motor.moveRel(step)
+    return motor.getPosition()
+}    
+
+ret = parallelize([moveRelative,[m1,-2]], [moveRelative,[m2,-2]])
+print (ret
+)
+
+
+//Exception in parallel task is thrown back to script
+try{
+    parallelize([moveRelative,[ai1,1]], [moveRelative,[ai2,1]])
+}catch (ex){
+    print ("Ok, caught exception:"
+)
+    print(ex)
+}