Added SpinUntilFuture to test fixture (#899)

* Added SpinUntilFuture to test fixture


Signed-off-by: Michał Pełka <[email protected]>
Co-authored-by: Jan Hanca <[email protected]>

Gems/SimulationInterfaces/Code/Tests/Tools/InterfacesTest.cpp

@@ -105,16 +105,32 @@ namespace UnitTest
             AZ_Assert(node, "Node is not available.");
             return node;
         }
-        void SpinAppSome()
+        void SpinAppSome(int numberOfTicks = 50)
         {
             AZ::ComponentApplication* app = nullptr;
             AZ::ComponentApplicationBus::BroadcastResult(app, &AZ::ComponentApplicationBus::Events::GetApplication);
             AZ_Assert(app, "Application pointer is not available.");
-            for (int i = 0; i < 10; ++i)
+            for (int i = 0; i < numberOfTicks; ++i)
             {
                 app->Tick();
             }
         }
+
+        template <typename Future>void SpinAppUntilFuture(Future &future)
+        {
+            AZ::ComponentApplication* app = nullptr;
+            AZ::ComponentApplicationBus::BroadcastResult(app, &AZ::ComponentApplicationBus::Events::GetApplication);
+            AZ_Assert(app, "Application pointer is not available.");
+            constexpr int MaximumTicks = 1000;
+            for (int i = 0; i < MaximumTicks; ++i)
+            {
+                app->Tick();
+                if (future.wait_for(std::chrono::seconds(0)) == std::future_status::ready)
+                {
+                    return;
+                }
+            }
+        }
     };
 
     //! Perform a smoke test to check if the ROS2 node is available from ROS2 gem
@@ -186,7 +202,7 @@ namespace UnitTest
                 }));
 
         auto future = client->async_send_request(request);
-        SpinAppSome();
+        SpinAppUntilFuture(future);
 
         ASSERT_TRUE(future.wait_for(std::chrono::seconds(0)) == std::future_status::ready) << "Service call timed out.";
         auto response = future.get();
@@ -217,7 +233,7 @@ namespace UnitTest
                 }));
 
         auto future = client->async_send_request(request);
-        SpinAppSome();
+        SpinAppUntilFuture(future);
 
         ASSERT_TRUE(future.wait_for(std::chrono::seconds(0)) == std::future_status::ready) << "Service call timed out.";
         auto response = future.get();
@@ -265,7 +281,7 @@ namespace UnitTest
                 }));
 
         auto future = client->async_send_request(request);
-        SpinAppSome();
+        SpinAppUntilFuture(future);
 
         ASSERT_TRUE(future.wait_for(std::chrono::seconds(0)) == std::future_status::ready) << "Service call timed out.";
         auto response = future.get();
@@ -284,7 +300,7 @@ namespace UnitTest
         request->filters.bounds.type = simulation_interfaces::msg::Bounds::TYPE_SPHERE;
 
         auto future = client->async_send_request(request);
-        SpinAppSome();
+        SpinAppUntilFuture(future);
         ASSERT_TRUE(future.wait_for(std::chrono::seconds(0)) == std::future_status::ready) << "Service call timed out.";
         auto response = future.get();
         EXPECT_NE(response->result.result, simulation_interfaces::msg::Result::RESULT_OK);
@@ -332,7 +348,7 @@ namespace UnitTest
                 }));
 
         auto future = client->async_send_request(request);
-        SpinAppSome();
+        SpinAppUntilFuture(future);
 
         ASSERT_TRUE(future.wait_for(std::chrono::seconds(0)) == std::future_status::ready) << "Service call timed out.";
         auto response = future.get();
@@ -361,7 +377,7 @@ namespace UnitTest
         request->filters.bounds.type = simulation_interfaces::msg::Bounds::TYPE_BOX;
 
         auto future = client->async_send_request(request);
-        SpinAppSome();
+        SpinAppUntilFuture(future);
 
         ASSERT_TRUE(future.wait_for(std::chrono::seconds(0)) == std::future_status::ready) << "Service call timed out.";
         auto response = future.get();
@@ -377,7 +393,7 @@ namespace UnitTest
         auto client = node->create_client<simulation_interfaces::srv::GetSimulatorFeatures>("/get_simulation_features");
         auto request = std::make_shared<simulation_interfaces::srv::GetSimulatorFeatures::Request>();
         auto future = client->async_send_request(request);
-        SpinAppSome();
+        SpinAppUntilFuture(future);
         ASSERT_TRUE(future.wait_for(std::chrono::seconds(0)) == std::future_status::ready) << "Service call timed out.";
         auto response = future.get();
         EXPECT_TRUE(response->features.features.empty()) << "Features vector is not empty.";
@@ -405,7 +421,7 @@ namespace UnitTest
         auto client = node->create_client<simulation_interfaces::srv::GetSimulatorFeatures>("/get_simulation_features");
         auto request = std::make_shared<simulation_interfaces::srv::GetSimulatorFeatures::Request>();
         auto future = client->async_send_request(request);
-        SpinAppSome();
+        SpinAppUntilFuture(future);
         ASSERT_TRUE(future.wait_for(std::chrono::seconds(0)) == std::future_status::ready) << "Service call timed out.";
         auto response = future.get();
         ASSERT_FALSE(response->features.features.empty()) << "Features vector is empty.";
@@ -443,7 +459,7 @@ namespace UnitTest
                     EXPECT_TRUE(allowRename);
                     completedCb(AZ::Success("valid_name"));
                 }));
-        SpinAppSome();
+        SpinAppUntilFuture(future);
 
         ASSERT_TRUE(future.wait_for(std::chrono::seconds(0)) == std::future_status::ready) << "Service call timed out.";
         auto response = future.get();
@@ -464,7 +480,7 @@ namespace UnitTest
         request->entity_namespace = "test_namespace";
 
         auto future = client->async_send_request(request);
-        SpinAppSome();
+        SpinAppUntilFuture(future);
 
         ASSERT_TRUE(future.wait_for(std::chrono::seconds(0)) == std::future_status::ready) << "Service call timed out.";
         auto response = future.get();
@@ -486,7 +502,7 @@ namespace UnitTest
         request->entity_namespace = "invalid namespace";
 
         auto future = client->async_send_request(request);
-        SpinAppSome();
+        SpinAppUntilFuture(future);
 
         ASSERT_TRUE(future.wait_for(std::chrono::seconds(0)) == std::future_status::ready) << "Service call timed out.";
         auto response = future.get();
@@ -523,12 +539,12 @@ namespace UnitTest
                 }));
 
         auto future = client->async_send_goal(*goal);
-        SpinAppSome();
+        SpinAppUntilFuture(future);
         ASSERT_TRUE(future.wait_for(std::chrono::seconds(0)) == std::future_status::ready) << "Action call timed out.";
         auto goalHandle = future.get();
         ASSERT_NE(goalHandle, nullptr);
         auto result = client->async_get_result(goalHandle);
-        SpinAppSome();
+        SpinAppUntilFuture(result);
         ASSERT_TRUE(result.wait_for(std::chrono::seconds(0)) == std::future_status::ready) << "Action call timed out.";
         EXPECT_EQ(result.get().result->result.result, simulation_interfaces::msg::Result::RESULT_OK);
     }
@@ -552,12 +568,12 @@ namespace UnitTest
                 }));
 
         auto future = client->async_send_goal(*goal);
-        SpinAppSome();
+        SpinAppUntilFuture(future);
         ASSERT_TRUE(future.wait_for(std::chrono::seconds(0)) == std::future_status::ready) << "Action call timed out.";
         auto goalHandle = future.get();
         ASSERT_NE(goalHandle, nullptr);
         auto result = client->async_get_result(goalHandle);
-        SpinAppSome();
+        SpinAppUntilFuture(result);
         ASSERT_TRUE(result.wait_for(std::chrono::seconds(0)) == std::future_status::ready) << "Action call timed out.";
         EXPECT_EQ(result.get().result->result.result, simulation_interfaces::msg::Result::RESULT_OPERATION_FAILED);
     }
@@ -593,13 +609,13 @@ namespace UnitTest
         EXPECT_CALL(mock, CancelStepSimulation());
 
         auto future = client->async_send_goal(*goal);
-        SpinAppSome();
+        SpinAppUntilFuture(future);
         ASSERT_TRUE(future.wait_for(std::chrono::seconds(0)) == std::future_status::ready) << "Action call timed out.";
         auto goalHandle = future.get();
         ASSERT_NE(goalHandle, nullptr);
-        auto cancelFeautre = client->async_cancel_goal(goalHandle);
-        SpinAppSome();
-        ASSERT_TRUE(cancelFeautre.wait_for(std::chrono::seconds(0)) == std::future_status::ready) << "Action call timed out.";
+        auto cancelFuture = client->async_cancel_goal(goalHandle);
+        SpinAppUntilFuture(cancelFuture);
+        ASSERT_TRUE(cancelFuture.wait_for(std::chrono::seconds(0)) == std::future_status::ready) << "Action call timed out.";
     }
 
 } // namespace UnitTest