here is the code:
https://gist.github.com/863616

(you'll need to start a rpyc server and pushy server on localhost in the 
background,
mine was embedded inside a C program, so I didn't attached it)

from my POV, pushy is actually achieving all the three goals you've 
mentioned.
and as he said on his blog, RPyC was his inspiration.

he sure did a good job. I still think we should reconsider merging with his 
code.
adding a wrapper to support the old rpyc code

BTW, I've found this:
http://stackoverflow.com/questions/1239035/asynchronous-method-call-in-python

it has in one of the replays nice replacement for async, that should work 
with client code only (I've haven't tried it yet with pushy/rpyc)

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