From 35e32498cc0eb895b0716fea421f104c44ceee8b Mon Sep 17 00:00:00 2001
From: VX792 <szitanics@gmail.com>
Date: Sun, 2 Apr 2023 21:26:14 +0200
Subject: [PATCH] start -> activate

---
 .../hardware_interface/async_components.hpp   |  2 +-
 hardware_interface/src/resource_manager.cpp   | 38 +++++++++++--------
 .../test/joint_limits_urdf_test.cpp           |  1 -
 3 files changed, 24 insertions(+), 17 deletions(-)

diff --git a/hardware_interface/include/hardware_interface/async_components.hpp b/hardware_interface/include/hardware_interface/async_components.hpp
index acfbf4d42e..e4c89803c5 100644
--- a/hardware_interface/include/hardware_interface/async_components.hpp
+++ b/hardware_interface/include/hardware_interface/async_components.hpp
@@ -59,7 +59,7 @@ class AsyncComponentThread
     }
   }
 
-  void start() { write_and_read_ = std::thread(&AsyncComponentThread::write_and_read, this); }
+  void activate() { write_and_read_ = std::thread(&AsyncComponentThread::write_and_read, this); }
 
   void write_and_read()
   {
diff --git a/hardware_interface/src/resource_manager.cpp b/hardware_interface/src/resource_manager.cpp
index b24e9f540b..22a19cdf5d 100644
--- a/hardware_interface/src/resource_manager.cpp
+++ b/hardware_interface/src/resource_manager.cpp
@@ -305,6 +305,29 @@ class ResourceStorage
 
     if (result)
     {
+      if constexpr (std::is_same_v<hardware_interface::Actuator, HardwareT>)
+      {
+        if (async_actuator_threads_.find(hardware.get_name()) != async_actuator_threads_.end())
+        {
+          async_actuator_threads_.at(hardware.get_name()).activate();
+        }
+      }
+
+      if constexpr (std::is_same_v<hardware_interface::System, HardwareT>)
+      {
+        if (async_system_threads_.find(hardware.get_name()) != async_system_threads_.end())
+        {
+          async_system_threads_.at(hardware.get_name()).activate();
+        }
+      }
+
+      if constexpr (std::is_same_v<hardware_interface::Sensor, HardwareT>)
+      {
+        if (async_sensor_threads_.find(hardware.get_name()) != async_sensor_threads_.end())
+        {
+          async_sensor_threads_.at(hardware.get_name()).activate();
+        }
+      }
       // TODO(destogl): make all command interfaces available (currently are all available)
     }
 
@@ -1304,21 +1327,6 @@ void ResourceManager::allocate_threads_for_async_components()
         std::forward_as_tuple(component, cm_update_rate_, clock_interface_));
     }
   }
-
-  for (auto & thread : resource_storage_->async_actuator_threads_)
-  {
-    thread.second.start();
-  }
-
-  for (auto & thread : resource_storage_->async_system_threads_)
-  {
-    thread.second.start();
-  }
-
-  for (auto & thread : resource_storage_->async_sensor_threads_)
-  {
-    thread.second.start();
-  }
 }
 
 // BEGIN: private methods
diff --git a/joint_limits_interface/test/joint_limits_urdf_test.cpp b/joint_limits_interface/test/joint_limits_urdf_test.cpp
index 3914c2195a..1514803e27 100644
--- a/joint_limits_interface/test/joint_limits_urdf_test.cpp
+++ b/joint_limits_interface/test/joint_limits_urdf_test.cpp
@@ -20,7 +20,6 @@
 
 #include <joint_limits_interface/joint_limits_urdf.hpp>
 
-
 class JointLimitsUrdfTest : public ::testing::Test
 {
 public: