Remove waits after callbacks are added

Signed-off-by: methylDragon <methylDragon@gmail.com>
locusrobotics · Nov 11, 2022 · d3b6c94 · d3b6c94
1 parent b7480f8
commit d3b6c94
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Showing 3 changed files with 14 additions and 14 deletions.
diff --git a/fuse_core/src/async_motion_model.cpp b/fuse_core/src/async_motion_model.cpp
@@ -104,19 +104,19 @@ 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()
 {
   auto callback = std::make_shared<CallbackWrapper<void>>(
     std::bind(&AsyncMotionModel::onStart, this)
   );
-  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::stop()
@@ -126,9 +126,9 @@ void AsyncMotionModel::stop()
     auto callback = std::make_shared<CallbackWrapper<void>>(
       std::bind(&AsyncMotionModel::onStop, this)
     );
-    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();
   }
   else
   {

diff --git a/fuse_core/src/async_publisher.cpp b/fuse_core/src/async_publisher.cpp
@@ -85,19 +85,19 @@ void AsyncPublisher::notify(Transaction::ConstSharedPtr transaction, Graph::Cons
 void AsyncPublisher::start()
 {
   auto callback = std::make_shared<CallbackWrapper<void>>(std::bind(&AsyncPublisher::onStart, this));
-  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 AsyncPublisher::stop()
 {
   if (node_->get_node_base_interface()->get_context()->is_valid())
   {
     auto callback = std::make_shared<CallbackWrapper<void>>(std::bind(&AsyncPublisher::onStop, this));
-    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();
   }
   else
   {

diff --git a/fuse_core/src/async_sensor_model.cpp b/fuse_core/src/async_sensor_model.cpp
@@ -104,9 +104,9 @@ void AsyncSensorModel::start()
   auto callback = std::make_shared<CallbackWrapper<void>>(
     std::bind(&AsyncSensorModel::onStart, this)
   );
-  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 AsyncSensorModel::stop()
@@ -116,9 +116,9 @@ void AsyncSensorModel::stop()
     auto callback = std::make_shared<CallbackWrapper<void>>(
       std::bind(&AsyncSensorModel::onStop, this)
     );
-    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();
   }
   else
   {