It looks like Async::Selector does what I want:
http://search.cpan.org/~toshioito/Async-Selector-1.02/lib/Async/Selector/Example/Mojo.pod
Also, from irc here is another approach that may provide some insight:
https://gist.github.com/jberger/78d7c1649d7acbab6a94
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