chore: Add test for async foreign function

wandelscript/ffi.py

@@ -13,7 +13,7 @@ class ForeignFunction:
     """References a function that can be used inside a Wandelscript.
 
     Args:
-        function: Handle to an arbitrary function.
+        function: Handle to an arbitrary function, even an async function.
         pass_context (bool): Whether or not the function takes the current wandelscript context
             as the first parameter. Defaults to False.
     """
@@ -27,10 +27,10 @@ def __post_init__(self):
 
 
 def ff(fn: Callable, pass_context: bool = False) -> ForeignFunction:
-    """Shortcut method to create a foreign function.
+    """Shortcut method to create a ForeignFunction.
 
     Args:
-        function: Handle to an arbitrary function.
+        function: Handle to an arbitrary function, even an async function.
         pass_context (bool): Whether or not the function takes the current wandelscript context
             as the first parameter. Defaults to False.
     """

wandelscript/tests/test_runner.py

@@ -1,3 +1,4 @@
+import asyncio
 import sys
 import time
 import uuid
@@ -11,9 +12,8 @@
 
 from wandelscript import ProgramRun, ProgramRunner, ProgramRunState, run
 from wandelscript.exception import NameError_, ProgramSyntaxError
-from wandelscript.ffi import ForeignFunction
+from wandelscript.ffi import ForeignFunction, ff
 from wandelscript.runtime import ExecutionContext
-from wandelscript.serializer import Vector3d
 from wandelscript.simulation import get_robot_controller
 from wandelscript.utils.runtime import Tee
 
@@ -92,6 +92,29 @@ def test_run():
     assert not isinstance(sys.stdout, Tee)
 
 
+async def custom_async_function() -> int:
+    await asyncio.sleep(0.1)
+    return 42
+
+
+def test_run_with_foreign_async_function():
+    """Showcase that Wandelscript supports also async foreign functions."""
+    code = """
+a = custom_async_function()
+print(a)
+"""
+
+    runner = run(
+        code,
+        robot_cell,
+        default_robot="0@controller",
+        default_tcp="flange",
+        foreign_functions={"custom_async_function": ff(custom_async_function)},
+    )
+    stdout = runner.program_run.stdout
+    assert "42\n" == stdout
+
+
 def test_program_runner():
     program_runner = ProgramRunner("move via p2p() to [100, 0, 300, 0, pi, 0]", robot_cell)
     assert uuid.UUID(str(program_runner.id)) is not None