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What is the CL counterpart to the above? So far, I managed to find Woo, which purports to be an asynchronous HTTP web server based on libev.
As for the library offering the async primitives, cl-async seems to be comparable with asyncio - however, it's based on libuv (a different event loop) and I'm not sure whether it's advisable or idiomatic to mix it with Woo.
I've implemented an experimental Hunchentoot taskmanager which is based on a cl-gserver, an actor based library. This taskmanager can have a configurable number of request 'handlers' where the requests are basically handled asynchronous. https://github.com/mdbergmann/cl-tbnl-gserver-tmgr
cl-async's web server companion is https://github.com/orthecreedence/wookie, by the same author.
Checkout https://github.com/takagi/cl-coroutine which is based on cl-cont https://common-lisp.net/project/cl-cont/.