Remove wait after callbacks are added for graphCallback

Signed-off-by: methylDragon <methylDragon@gmail.com>
locusrobotics · Nov 12, 2022 · 3e38f8d · 3e38f8d
1 parent b7480f8
commit 3e38f8d
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Showing 3 changed files with 4 additions and 6 deletions.
diff --git a/fuse_core/include/fuse_core/callback_wrapper.h b/fuse_core/include/fuse_core/callback_wrapper.h
@@ -128,7 +128,7 @@ class CallbackWrapper : public CallbackWrapperBase
   /**
    * @brief Call this function. This is used by the callback queue.
    */
-  void call()
+  void call() override
   {
     promise_.set_value(callback_());
   }

diff --git a/fuse_core/src/async_motion_model.cpp b/fuse_core/src/async_motion_model.cpp
@@ -104,9 +104,9 @@ void AsyncMotionModel::graphCallback(Graph::ConstSharedPtr graph)
   auto callback = std::make_shared<CallbackWrapper<void>>(
     std::bind(&AsyncMotionModel::onGraphUpdate, this, std::move(graph))
   );
-  auto result = callback->getFuture();
+  // auto result = callback->getFuture();  // TODO(CH3): Circle back if we need this again
   callback_queue_->addCallback(callback);
-  result.wait();
+  // result.wait();
 }
 
 void AsyncMotionModel::start()

diff --git a/fuse_core/src/callback_wrapper.cpp b/fuse_core/src/callback_wrapper.cpp
@@ -126,9 +126,7 @@ namespace fuse_core
 
   void CallbackAdapter::removeAllCallbacks(){
     std::lock_guard<std::mutex> lock(queue_mutex_);
-    while(!callback_queue_.empty()){
-      callback_queue_.clear();
-    }
+    callback_queue_.clear();
   }