# SoftBank Robotics documentation What's new in NAOqi 2.8?

# qi.async, qi.PeriodicTask API

## Introduction

`qi.async()` and `qi.PeriodicTask` allow managing concurrent tasks.

Use of these should be preferred over classic threading.Thread or threading.Timer operations.

Thread creation and destruction are low-level operations that take resources for context switching each time they happen.

Using qi operations will let the system manage the low level operations and improve its overall performance.

## qi.async

Launch an operation in a concurrent task.

The qi.future returned can be used to interact with the operation. (cancel, get return value ...)

Warning

Canceling the async operation is possible while it is delayed.

Once the callback is called, cancel will not stop it in the middle of its execution.

## qi.PeriodicTask

Execute an operation periodically and asynchronously.

By default, we do not compensate the callback time. The period will be constant between the end of a call and the beginning of another.

## PeriodicTask operations visualization

No compensation, task 3s, period 5s

    v                                v
    +-----------+                    +-----------
    +  Task 3s  +      wait 5s       +  Task 3s  ...
    +-----------+--------------------+-----------

Compensation, task 3s, period 5s

    v                     v
    +-----------+         +-----------
    +  Task 3s  + wait 2s +  Task 3s  ...
    +-----------+---------+-----------

Compensation, task 7s, period 5s

    v                            v
    +----------------------------+---------------------------+----
    +         Task 7s            +         Task 7s           +  ...
    +----------------------------+---------------------------+----

## Examples

In the following examples, we assume we have a connected session. If you already have an application, use:

    application.session.service("ALTextToSpeech")

If you don’t, then use that:

    session = qi.Session()
    session.connect("tcp://127.0.0.1:9559")

Doing something in 2 seconds and getting the result.

    import qi

    def getAnswerToLifeAndUniverse(a, b):
      return a + b

    fut = qi.async(getAnswerToLifeAndUniverse, 40, 2, delay=2000000)
    #do work while the result is being processed
    print("Result:", fut.value())

Calling tts.say after 42 seconds.

    import qi

    #assume we have a connected session

    tts = session.service("ALTextToSpeech")

    fut = qi.async(tts.say, "42 seconds elapsed", delay=42000000)

    #wait for the sentence to be said
    fut.wait()

Calling tts.say every 10 seconds.

    import qi
    import time
    import functools

    #assume we have a connected session

    tts = session.service("ALTextToSpeech")
    sayHelloCallable = functools.partial(tts.say, "hello")

    sayHelloTask = qi.PeriodicTask()
    sayHelloTask.setCallback(sayHelloCallable)
    sayHelloTask.setUsPeriod(10000000)
    sayHelloTask.start(True)

    time.sleep(30)
    sayHelloTask.stop()

Canceling a delayed operation before its execution.

    import qi
    import time

    def dummyAction():
      # do your operations here
      qi.info("async example", "My dummy action is over")

    action = qi.async(dummyAction, delay=15000000)
    time.sleep(5)
    action.cancel()
    action.wait()
    if action.isCanceled():
      qi.info("async example", "dummyAction was canceled as expected")

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