simplify the logic inside the thread

Co-authored-by: atzaros <128592691+atzaros@users.noreply.github.com>
ros-controls · May 17, 2024 · 9d31eb4 · 9d31eb4
1 parent 7e197cf
commit 9d31eb4
Showing 1 changed file with 3 additions and 6 deletions.
diff --git a/controller_interface/include/controller_interface/async_function_handler.hpp b/controller_interface/include/controller_interface/async_function_handler.hpp
@@ -225,16 +225,13 @@ class AsyncFunctionHandler
  std::unique_lock<std::mutex> lock(async_mtx_);
  async_update_condition_.wait(
  lock, [this] { return trigger_in_progress_ || async_update_stop_; });
- if (async_update_stop_)
+ if (!async_update_stop_)
  {
- trigger_in_progress_ = false;
- cycle_end_condition_.notify_one();
- break;
+ async_update_return_ = async_function_(current_update_time_, current_update_period_);
  }
- async_update_return_ = async_function_(current_update_time_, current_update_period_);
  trigger_in_progress_ = false;
  }
- cycle_end_condition_.notify_one();
+ cycle_end_condition_.notify_all();
  }
  });
  }