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An Introduction to Parallel
Programming

SECOND EDITION

Peter S. Pacheco
University of San Francisco

Matthew Malensek
University of San Francisco
Table of Contents

Cover image

Title page

Copyright

Dedication

Preface

Chapter 1: Why parallel computing

1.1. Why we need ever-increasing performance

1.2. Why we're building parallel systems

1.3. Why we need to write parallel programs

1.4. How do we write parallel programs?

1.5. What we'll be doing

1.6. Concurrent, parallel, distributed

1.7. The rest of the book

 1.8. A word of warning

1.9. Typographical conventions

1.10. Summary

1.11. Exercises

Bibliography

Chapter 2: Parallel hardware and parallel software

2.1. Some background

2.2. Modifications to the von Neumann model

2.3. Parallel hardware

2.4. Parallel software

2.5. Input and output

2.6. Performance

2.7. Parallel program design

2.8. Writing and running parallel programs

2.9. Assumptions

2.10. Summary

2.11. Exercises

Bibliography

Chapter 3: Distributed memory programming with MPI

 3.1. Getting started

3.2. The trapezoidal rule in MPI

3.3. Dealing with I/O

3.4. Collective communication

3.5. MPI-derived datatypes

3.6. Performance evaluation of MPI programs

3.7. A parallel sorting algorithm

3.8. Summary

3.9. Exercises

3.10. Programming assignments

Bibliography

Chapter 4: Shared-memory programming with Pthreads

4.1. Processes, threads, and Pthreads

4.2. Hello, world

4.3. Matrix-vector multiplication

4.4. Critical sections

4.5. Busy-waiting

4.6. Mutexes

4.7. Producer–consumer synchronization and semaphores

4.8. Barriers and condition variables

 4.9. Read-write locks

4.10. Caches, cache-coherence, and false sharing

4.11. Thread-safety

4.12. Summary

4.13. Exercises

4.14. Programming assignments

Bibliography

Chapter 5: Shared-memory programming with OpenMP

5.1. Getting started

5.2. The trapezoidal rule

5.3. Scope of variables

5.4. The reduction clause

5.5. The parallel for directive

5.6. More about loops in OpenMP: sorting

5.7. Scheduling loops

5.8. Producers and consumers

5.9. Caches, cache coherence, and false sharing

5.10. Tasking

5.11. Thread-safety

5.12. Summary
 5.13. Exercises

5.14. Programming assignments

Bibliography

Chapter 6: GPU programming with CUDA

6.1. GPUs and GPGPU

6.2. GPU architectures

6.3. Heterogeneous computing

6.4. CUDA hello

6.5. A closer look

6.6. Threads, blocks, and grids

6.7. Nvidia compute capabilities and device architectures

6.8. Vector addition

6.9. Returning results from CUDA kernels

6.10. CUDA trapezoidal rule I

6.11. CUDA trapezoidal rule II: improving performance

6.12. Implementation of trapezoidal rule with warpSize thread

blocks

6.13. CUDA trapezoidal rule III: blocks with more than one warp

6.14. Bitonic sort

6.15. Summary
 6.16. Exercises

6.17. Programming assignments

Bibliography

Chapter 7: Parallel program development

7.1. Two n-body solvers

7.2. Sample sort

7.3. A word of caution

7.4. Which API?

7.5. Summary

7.6. Exercises

7.7. Programming assignments

Bibliography

Chapter 8: Where to go from here

Bibliography

Bibliography

Bibliography

Index
Copyright
Morgan Kaufmann is an imprint of Elsevier
50 Hampshire Street, 5th Floor, Cambridge, MA 02139,
United States

Copyright © 2022 Elsevier Inc. All rights reserved.

No part of this publication may be reproduced or

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This book and the individual contributions contained in it

are protected under copyright by the Publisher (other than
as may be noted herein).
Cover art: “seven notations,” nickel/silver etched plates,
acrylic on wood structure, copyright © Holly Cohn

Notices
Knowledge and best practice in this field are constantly
changing. As new research and experience broaden our
understanding, changes in research methods,
professional practices, or medical treatment may become
necessary.
Practitioners and researchers must always rely on their
own experience and knowledge in evaluating and using
any information, methods, compounds, or experiments
described herein. In using such information or methods
they should be mindful of their own safety and the safety
of others, including parties for whom they have a
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Last digit is the print number: 9 8 7 6 5 4 3 2 1

Dedication

To the memory of Robert S. Miller

Preface
Parallel hardware has been ubiquitous for some time
now: it's difficult to find a laptop, desktop, or server that
doesn't use a multicore processor. Cluster computing is
nearly as common today as high-powered workstations
were in the 1990s, and cloud computing is making
distributed-memory systems as accessible as desktops. In
spite of this, most computer science majors graduate with
little or no experience in parallel programming. Many
colleges and universities offer upper-division elective
courses in parallel computing, but since most computer
science majors have to take a large number of required
courses, many graduate without ever writing a
multithreaded or multiprocess program.
It seems clear that this state of affairs needs to change.
Whereas many programs can obtain satisfactory
performance on a single core, computer scientists should
be made aware of the potentially vast performance
improvements that can be obtained with parallelism, and
they should be able to exploit this potential when the need
arises.
Introduction to Parallel Programming was written to
partially address this problem. It provides an introduction
to writing parallel programs using MPI, Pthreads, OpenMP,
and CUDA, four of the most widely used APIs for parallel
programming. The intended audience is students and
professionals who need to write parallel programs. The
prerequisites are minimal: a college-level course in
mathematics and the ability to write serial programs in C.
 The prerequisites are minimal, because we believe that
students should be able to start programming parallel
systems as early as possible. At the University of San
Francisco, computer science students can fulfill a
requirement for the major by taking a course on which this
text is based immediately after taking the “Introduction to
Computer Science I” course that most majors take in the
first semester of their freshman year. It has been our
experience that there really is no reason for students to
defer writing parallel programs until their junior or senior
year. To the contrary, the course is popular, and students
have found that using concurrency in other courses is much
easier after having taken this course.
If second-semester freshmen can learn to write parallel
programs by taking a class, then motivated computing
professionals should be able to learn to write parallel
programs through self-study. We hope this book will prove
to be a useful resource for them.
The Second Edition
It has been nearly ten years since the first edition of
Introduction to Parallel Programming was published.
During that time much has changed in the world of parallel
programming, but, perhaps surprisingly, much also remains
the same. Our intent in writing this second edition has been
to preserve the material from the first edition that
continues to be generally useful, but also to add new
material where we felt it was needed.
The most obvious addition is the inclusion of a new
chapter on CUDA programming. When the first edition was
published, CUDA was still very new. It was already clear
that the use of GPUs in high-performance computing would
become very widespread, but at that time we felt that
GPGPU wasn't readily accessible to programmers with
relatively little experience. In the last ten years, that has
clearly changed. Of course, CUDA is not a standard, and
features are added, modified, and deleted with great
rapidity. As a consequence, authors who use CUDA must
present a subject that changes much faster than a
standard, such as MPI, Pthreads, or OpenMP. In spite of
this, we hope that our presentation of CUDA will continue
to be useful for some time.
Another big change is that Matthew Malensek has come
onboard as a coauthor. Matthew is a relatively new
colleague at the University of San Francisco, but he has
extensive experience with both the teaching and
application of parallel computing. His contributions have
greatly improved the second edition.
About This Book
As we noted earlier, the main purpose of the book is to
teach parallel programming in MPI, Pthreads, OpenMP, and
CUDA to an audience with a limited background in
computer science and no previous experience with
parallelism. We also wanted to make the book as flexible as
possible so that readers who have no interest in learning
one or two of the APIs can still read the remaining material
with little effort. Thus the chapters on the four APIs are
largely independent of each other: they can be read in any
order, and one or two of these chapters can be omitted.
This independence has some cost: it was necessary to
repeat some of the material in these chapters. Of course,
repeated material can be simply scanned or skipped.
On the other hand, readers with no prior experience with
parallel computing should read Chapter 1 first. This
chapter attempts to provide a relatively nontechnical
explanation of why parallel systems have come to dominate
the computer landscape. It also provides a short
introduction to parallel systems and parallel programming.
Chapter 2 provides technical background on computer
hardware and software. Chapters 3 to 6 provide
independent introductions to MPI, Pthreads, OpenMP, and
CUDA, respectively. Chapter 7 illustrates the development
of two different parallel programs using each of the four
APIs. Finally, Chapter 8 provides a few pointers to
additional information on parallel computing.
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