quad: fix functional tests for new uart on virtual quad

quad/Makefile

@@ -38,8 +38,8 @@ test: all
 	$(MAKE) -C src/queue test
 	$(MAKE) -C src/computation_graph test
 	$(MAKE) -C src/quad_app test
-	ruby scripts/tests/test_safety_checks.rb
 	ruby scripts/tests/test_memory_integrity.rb
+	ruby scripts/tests/test_safety_checks.rb
 	ruby scripts/tests/test_communication.rb
 
 clean:

quad/scripts/tests/test_memory_integrity.rb

@@ -14,7 +14,7 @@ Dir.chdir(bin_dir)
 puts("Firing up the quad...")
 
 # Start virtual quad
-quad = Process.spawn("valgrind --leak-check=full --log-file=./valgrind.out ./virt-quad start")
+quad = Process.spawn("valgrind -v --leak-check=full --log-file=./valgrind.out ./virt-quad start")
 
 sleep 1.5
 

quad/src/virt_quad/hw_impl_unix.c

@@ -9,6 +9,12 @@ struct UARTDriver create_unix_uart() {
   return uart;
 }
 
+struct CommDriver create_unix_comm(struct UARTDriver *uart) {
+  struct CommDriver comm;
+  comm.uart = uart;
+  return comm;
+}
+
 struct MotorDriver create_unix_motors() {
   struct MotorDriver motors;
   motors.state = NULL;

quad/src/virt_quad/hw_impl_unix.h

@@ -78,6 +78,7 @@ int unix_optical_flow_reset(struct OpticalFlowDriver *self, struct px4flow *of);
 int unix_optical_flow_read(struct OpticalFlowDriver *self, struct px4flow *of);
 
 struct UARTDriver create_unix_uart();
+struct CommDriver create_unix_comm(struct UARTDriver *uart);
 struct MotorDriver create_unix_motors();
 struct RCReceiverDriver create_unix_rc_receiver();
 struct I2CDriver create_unix_i2c();

quad/src/virt_quad/main.c

@@ -36,6 +36,7 @@ int setup_hardware(hardware_t *hardware) {
   hardware->rc_receiver = create_unix_rc_receiver();
   hardware->motors = create_unix_motors();
   hardware->uart_0 = create_unix_uart();
+  hardware->comm = create_unix_comm(&hardware->uart_0);
   hardware->global_timer = create_unix_global_timer();
   hardware->axi_timer = create_unix_axi_timer();
   hardware->mio7_led = create_unix_mio7_led();