From 370d0644f6b50f9f9296a81196110beab491fc62 Mon Sep 17 00:00:00 2001
From: Brendan Bartels <bbartels@iastate.edu>
Date: Sat, 22 Apr 2017 19:29:54 -0500
Subject: [PATCH] quad: fix functional tests for new uart on virtual quad
---
quad/Makefile | 2 +-
quad/scripts/tests/test_memory_integrity.rb | 2 +-
quad/src/virt_quad/hw_impl_unix.c | 6 ++++++
quad/src/virt_quad/hw_impl_unix.h | 1 +
quad/src/virt_quad/main.c | 1 +
5 files changed, 10 insertions(+), 2 deletions(-)
diff --git a/quad/Makefile b/quad/Makefile
index 0a92c686a..8f71d2be8 100644
--- a/quad/Makefile
+++ b/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:
diff --git a/quad/scripts/tests/test_memory_integrity.rb b/quad/scripts/tests/test_memory_integrity.rb
index adb8f9190..87cbc83b8 100644
--- a/quad/scripts/tests/test_memory_integrity.rb
+++ b/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
diff --git a/quad/src/virt_quad/hw_impl_unix.c b/quad/src/virt_quad/hw_impl_unix.c
index d3607f17e..ab1704ca7 100644
--- a/quad/src/virt_quad/hw_impl_unix.c
+++ b/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;
diff --git a/quad/src/virt_quad/hw_impl_unix.h b/quad/src/virt_quad/hw_impl_unix.h
index b368f3fb5..3ec22683d 100644
--- a/quad/src/virt_quad/hw_impl_unix.h
+++ b/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();
diff --git a/quad/src/virt_quad/main.c b/quad/src/virt_quad/main.c
index 413c708fb..0d9620db8 100644
--- a/quad/src/virt_quad/main.c
+++ b/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();
--
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