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diff --git a/src/components/include/test/utils/test_async_waiter.h b/src/components/include/test/utils/test_async_waiter.h
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+/*
+ * Copyright (c) 2017, Ford Motor Company
+ * All rights reserved.
+ *
+ * Redistribution and use in source and binary forms, with or without
+ * modification, are permitted provided that the following conditions are met:
+ *
+ * Redistributions of source code must retain the above copyright notice, this
+ * list of conditions and the following disclaimer.
+ *
+ * Redistributions in binary form must reproduce the above copyright notice,
+ * this list of conditions and the following
+ * disclaimer in the documentation and/or other materials provided with the
+ * distribution.
+ *
+ * Neither the name of the Ford Motor Company nor the names of its contributors
+ * may be used to endorse or promote products derived from this software
+ * without specific prior written permission.
+ *
+ * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS"
+ * AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE
+ * IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE
+ * ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER OR CONTRIBUTORS BE
+ * LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR
+ * CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF
+ * SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS
+ * INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN
+ * CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE)
+ * ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
+ * POSSIBILITY OF SUCH DAMAGE.
+ */
+
+#ifndef SRC_COMPONENTS_INCLUDE_TEST_UTILS_TEST_ASYNC_WAITER_H_
+#define SRC_COMPONENTS_INCLUDE_TEST_UTILS_TEST_ASYNC_WAITER_H_
+
+#include <stdint.h>
+
+#include "utils/lock.h"
+#include "utils/conditional_variable.h"
+
+namespace test {
+
+/**
+ * @brief The TestAsyncWaiter class
+ * Tool with condition variable style interface
+ * to be used in unit tests for asynchronous calls waiting.
+ * Could wait specified number of calls, waiting for timeout is also supported
+ *
+ * Usage example:
+ * TEST() {
+ *   TestAsyncWaiter waiter;
+ *   EXPECT_CALL(mock, InterestingCall())
+ *       .Times(n)
+ *       .WillRepeatedly(NotifyTestAsyncWaiter(&waiter));
+ *   EXPECT_TRUE(waiter.WaitFor(n, 1000));
+ * }
+ */
+class TestAsyncWaiter {
+ public:
+  TestAsyncWaiter() : notified_(false), count_(0), lock_(), cond_var_() {}
+
+  /**
+   * @brief WaitFor
+   * Waits for specified number of notifications but not longer
+   * than given timeout for each notification
+   * @param wait_count Number of notifications to wait for
+   * @param milliseconds Timeout in milliseconds
+   * @return True if specified number of notifications have been received,
+   * false otherwise (return by timeout)
+   */
+  bool WaitFor(const uint32_t wait_count, const uint32_t milliseconds) {
+    sync_primitives::AutoLock auto_lock(lock_);
+    while (count_ < wait_count) {
+      notified_ = false;
+      if (sync_primitives::ConditionalVariable::kTimeout ==
+          cond_var_.WaitFor(auto_lock, milliseconds)) {
+        return false;
+      }
+    }
+    return true;
+  }
+
+  /**
+   * @brief Notify
+   * Notifies async waiter
+   */
+  void Notify() {
+    sync_primitives::AutoLock auto_lock(lock_);
+    notified_ = true;
+    ++count_;
+    cond_var_.Broadcast();
+  }
+
+ private:
+  bool notified_;
+  uint32_t count_;
+  sync_primitives::Lock lock_;
+  sync_primitives::ConditionalVariable cond_var_;
+};
+
+ACTION_P(NotifyTestAsyncWaiter, test_async_waiter) {
+  test_async_waiter->Notify();
+}
+
+}  // namespace test
+#endif  // SRC_COMPONENTS_INCLUDE_TEST_UTILS_TEST_ASYNC_WAITER_H_