# HG changeset patch
# User ethanzonca@CL-ENS241-08.cedarville.edu
# Date 2013-01-17 20:48:21
# Node ID 73066872237e6e5b062acacde1cb88c9431165f3
# Parent  b68fde48a3b774d9dd0b048484fd63fd05c6814a

Completed network scanning functionality

diff --git a/master/master/config.h b/master/master/config.h
--- a/master/master/config.h
+++ b/master/master/config.h
@@ -117,7 +117,7 @@
 // APRS comment: this goes in the comment portion of the APRS message. You
 // might want to keep this short. The longer the packet, the more vulnerable
 // it is to noise.
-#define APRS_COMMENT    "CU HAB TEST"
+#define APRS_COMMENT    "[A-30.5 B45.64 C99542]"
 
 // Transmit the APRS sentence every X milliseconds
 #define APRS_TRANSMIT_PERIOD 20000
diff --git a/master/master/lib/slavesensors.c b/master/master/lib/slavesensors.c
--- a/master/master/lib/slavesensors.c
+++ b/master/master/lib/slavesensors.c
@@ -59,31 +59,40 @@ void slavesensors_setup()
 	slaves[3][1] = CAMERA;
 	
 }
+
+
+#define DEBUG_NETWORKSCAN
 
 char* bufPtr = 0x00;
+char debugBuf[64];
+char slaveAddressLow[6][9];
+char slaveAddressHigh[6][9];
+
 void slavesensors_network_scan() {
 	serial0_ioff();
 	
 	int atOK;
 	
-	serial0_sendString("Beginning network scan...\r\n");
+	serial0_sendString("Beginning network scan...\r\n\r\n");
 	
-	// Delay guard period
-	_delay_ms(500);
-	_delay_ms(500);
+	_delay_ms(500); // xbee warmup
 	
 	// Enter AT mode
 	serial0_sendChar('+'); // Enter AT mode
 	serial0_sendChar('+');
 	serial0_sendChar('+');
 	
-	while(!serial0_hasChar()) {
-		wdt_reset();
-	}
+	// Wait 1ms until we get "OK"
+	while(!serial0_hasChar());
+	
 	bufPtr = serial0_readLine();
 	
 	char nameString[20] = "NONE";
 	
+	char slaveNames[6][16]; // Hold 16-char addresses of max 6 nodes, we only need them for debug so they are local 
+	
+	int nodeCount = 0;
+	
 	// wait for OK
 	//todo
 	if(strcmp(bufPtr, "OK") == 0)
@@ -99,14 +108,37 @@ void slavesensors_network_scan() {
 		
 		// Scan data end when newline by itself ("")	
 		int lineCount = 0;	
+	
 		while(1) {
 			bufPtr = serial0_readLine();
-			if(lineCount == 3) {
-				strcpy(nameString, bufPtr);
+			
+			// If we're starting a new block but got a newline instead, we're done!
+			if(lineCount == 0 && strcmp(bufPtr, "") == 0) {
+				break;			
+			}
+			
+			if(lineCount == 1) {
+				strcpy(slaveAddressHigh[nodeCount], bufPtr);
+			}
+			else if(lineCount == 2) {
+				strcpy(slaveAddressLow[nodeCount], bufPtr);
 			}
-			if(strcmp(bufPtr, "") == 0)
-				break;
-			lineCount++;
+			else if(lineCount == 3) {
+				strcpy(nameString, bufPtr);
+				strcpy(slaveNames[nodeCount], bufPtr);
+			}
+			
+			// If we've finished one chunk (including the newline after it). Can't be else if because it controls increment.
+			if(lineCount == 9) {
+				// bufPtr should be null at this point, because we read in a newlinem after one chunk
+				nodeCount++;
+				lineCount = 0;
+			}
+			else {
+				lineCount++;
+			}
+
+			
 		}		
 		// Exit AT
 		serial0_sendString("ATCN");
@@ -116,21 +148,21 @@ void slavesensors_network_scan() {
 	else {
 		atOK = 0;
 	}
+	led_on(LED_SIDEBOARD);
 	_delay_ms(200);
-	//serial0_sendString("ATND"); // Scan all nodes
-	
+	led_off(LED_SIDEBOARD);
 
-	 
-	 led_on(LED_SIDEBOARD);
-	 _delay_ms(500);
-
-	serial0_sendString("First found node is: ");
-	serial0_sendString(nameString);
-	serial0_sendString("\r\n");
+	#ifdef DEBUG_NETWORKSCAN
+	serial0_sendString("Discovered: \r\n");
+	for(int i=0; i<nodeCount; i++) {
+		snprintf(debugBuf, 64, "  %s - %s%s\r\n", slaveNames[i],slaveAddressHigh,slaveAddressLow[i]);
+		serial0_sendString(debugBuf);
+	}
 	
 	if(atOK != 1) {
 		serial0_sendString("AT mode failed \r\n");
 	}
+	#endif
 	
 	
 	// Wait for response
diff --git a/master/master/master.c b/master/master/master.c
--- a/master/master/master.c
+++ b/master/master/master.c
@@ -39,7 +39,7 @@
 
 int main(void)
 {
-    _delay_ms(1500); // warmup
+	led_on(LED_POWER);
 	
 	// Initialize libraries
 	time_setup();
@@ -58,10 +58,7 @@ int main(void)
 	serial0_sendString("---------------------------------\r\n");
 	serial0_sendString("\r\nHello.\r\n\r\n");
 	
-	slavesensors_network_scan();
-	
-	led_on(LED_POWER);
-	led_off(LED_SIDEBOARD);
+	slavesensors_network_scan(); // This can take a little while
 	
 	// Buffer for string operations
 	char logbuf[128];
@@ -129,18 +126,25 @@ int main(void)
 			
 			
 			// Print out GPS debug
-			snprintf(debugBuf, 128, "GPS> time: %s lat: %s lon: %s speed: %s hdop: %s course: %s\r\n",
-			get_timestamp(),get_latitude(),get_longitude(),get_speedKnots(),get_hdop(), get_course());
+			//snprintf(debugBuf, 128, "GPS> time: %s lat: %s lon: %s speed: %s hdop: %s course: %s\r\n",
+			//get_timestamp(),get_latitude(),get_longitude(),get_speedKnots(),get_hdop(), get_course());
 			//serial0_sendString(debugBuf);
 			
+			// Turn on sideboard LED if we have a fix
+			if(strcmp("99.99", get_hdop()) == 0) {
+				led_off(LED_SIDEBOARD);
+			}
+			else {
+				led_on(LED_SIDEBOARD);
+			}
 			
 			sensors_readBoardTemp(); // i2c read, 400k
-			snprintf(logbuf, 128, "%lu,%d,%uF,%s,%s,%s,%s,%s\r\n", time_millis(), sensors_getBoardTemp(),get_timestamp(),get_latitude(),get_longitude(),get_speedKnots(),get_hdop(), get_course());
+			snprintf(logbuf, 128, "%lu,%d,%u,%s,%s,%s,%s,%s\r\n", time_millis(), sensors_getBoardTemp(),get_timestamp(),get_latitude(),get_longitude(),get_speedKnots(),get_hdop(), get_course());
 			logger_log(logbuf);
 			
 			// Print out logger debug
-			//serial0_sendString("LOG> ");
-			//serial0_sendString(logbuf);
+			serial0_sendString("LOG> ");
+			serial0_sendString(logbuf);
 			
 			led_off(LED_CYCLE);
 			lastLog = time_millis();