You have to call $ssh->wait_for_master(1) repeatedly until it succeeds: 
my %connecting = map { $_ => 1 } @hosts;
while (1) {
  for my $host (keys %connecting) {
    my $ssh = $ssh{$host};
    if ($ssh->wait_for_master(1)) {
      delete $connecting{$host};
    }
    elsif ($ssh->error) {
      # handle connection error
      delete $connecting{$host};
    }
  }
  last unless %connecting; 
  select (undef, undef, undef, 0.05);
}

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In reply to Re^5: SSH2 - Asynchronous Opens & Synchronous Commands by salva
in thread SSH2 - Asynchronous Opens & Synchronous Commands by 5haun

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