Lightweight asyncio-like library for MicroPython, built around native Python coroutines.
uasyncio is MicroPython’s asynchronous sheduling library, roughly modeled after CPython’s asyncio.
uasyncio doesn’t use naive always-iterating scheduling algorithm, but performs a real time-based scheduling, which allows it (and thus the whole system) to sleep when there is nothing to do (actual implementation of that depends on I/O scheduling algorithm which actually performs the wait operation).
Major conceptual differences to asyncio:
- Avoids defining a notion of Future, and especially wrapping coroutines in Futures, like CPython asyncio does. uasyncio works directly with coroutines (and callbacks).
- Methods provided are more consistently coroutines.
- uasyncio uses wrap-around millisecond timebase (as native to all MicroPython ports.)
- Instead of single large package, number of subpackages are provided (each installable separately).
- For millisecond scheduling, loop.call_later_ms() and uasyncio.sleep_ms() are provided.
- As there’s no monotonic time, loop.call_at() is not provided. Instead, there’s loop.call_at_() which is considered an internal function and has slightly different signature.
- call_* funcions don’t return Handle and callbacks scheduled by them aren’t cancellable. If they need to be cancellable, they should accept an object as an argument, and a “cancel” flag should be set in the object, for a callback to test.
- Future object is not available.
- ensure_future() and Task() perform just scheduling operations and return a native coroutine, not Future/Task objects.
- Some other functions are not (yet) implemented.
- StreamWriter method(s) are coroutines. While in CPython asyncio, StreamWriter.write() is a normal function (which potentially buffers unlimited amount of data), uasyncio offers coroutine StreamWriter.awrite() instead. Also, both StreamReader and StreamWriter have .aclose() coroutine method.
- Task - a top-level coroutine, scheduled in an event loop using its create_task() method. (Or, as a uasyncio extension, a couroutine object passed to the “yield” statement by another coroutine, this is equivalent to the create_task() call). Different tasks run concurrently in a cooperative manner. Each task can also call another coroutine recursively (in which case calling coroutine will “await” (literally) completion of the called coroutine). More formally, a task is a coroutine call tree routed in the top-level coroutine passed to create_tast(), and identified by it.
Notes on resource sharing between the tasks
Just as sharing resources between preemptive threads, sharing resources between uasyncio cooperative tasks has its peculiarities and limitations. Actually, due to I/O scheduling implementation, there’re additional peculiarities to consider. But let’s start with stating that resource sharing between tasks/threads is usually an error. For example, if both tasks write to the resource, their would be interspersed, possibly in an unpredictable way. Reading is even more problematic: different tasks may get partial input, or one can get all and other none at all. If tasks implement some protocol, i.e. I/O dialog, that would lead to incorrect behavior and/or deadlock. Thus, the rule is: don’t share the same I/O objects, in particular StreamReader and StreamWriter objects, among different tasks. (Of course, they can be passed to subcourotines of the current task).
An extreme case of the above is trying to use reader part of the same StreamReader/StreamWriter part in one task, while writer - in another. This may be only speculative use, and isn’t supported either: StreamReader and StreamWriter represent half-duplex parts of the same I/O stream, and both must be used within one task. If you need something like the above, you need to create different StreamReader/Writer pairs (likely, from different underlying I/O objects).
While StreamReader/StreamWriter are given as examples above, it applies to other I/O objects too. For example, uasyncio.udp socket just the same should not be passed to 2 different tasks. If you need this, 2 different sockets should be used.