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script/tutorial/15_Pararellization.py

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+"""
+Using Pararellization API to execute tasks concurrently
+
+"""
+import traceback
+
+#Simple parallization
+def task1():
+    m1.moveRel(1.0)
+    return m1.getPosition()
+
+def task2():
+    m2.moveRel(1.0)
+    return m1.getPosition()
+
+def 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
+def moveRelative(motor, step):
+    print "Moving " + motor.getName() + " step = " + str(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)))
+except:
+    print "Ok, caught exception:"
+    traceback.print_exc()
+    
+
+
+
+