# HG changeset patch
# User ethanzonca@CL-ENS241-08.cedarville.edu
# Date 2013-02-11 16:12:28
# Node ID a7b5f3ac92adcd971f158579d9561a7727168f42
# Parent  f1ded7817da797545ae9e10e3d87707db5232ad5

Complete XBee timeout checking implemented

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
@@ -117,30 +117,16 @@ void slavesensors_network_scan()
 		led_on(LED_CYCLE);
 		serial0_sendString("ATND");
 		serial0_sendChar(0x0D);
-		
-		// wait for scan to complete
-		uint32_t scanStart = time_millis();
-		uint32_t lastBlink = 0;
-		
+				
 		// Scan data end when newline by itself ("")	
 		int lineCount = 0;	
 	
 		while(1) 
 		{
-			while(!serial0_hasChar())
+			// Wait for scan to complete. If we timeout, return.
+			if(waitTimeout()) 
 			{
-				if(time_millis() - scanStart > 7000)
-				{
-					led_errorcode(ERROR_XBEETIMEOUT);
-					return;
-				}
-				if(time_millis() - lastBlink > 50)
-				{
-					led_spin();
-					
-					lastBlink = time_millis();
-				}
-				wdt_reset();
+				return;
 			}
 			
 			bufPtr = serial0_readLine();
@@ -327,26 +313,42 @@ void slavesensors_exitAT()
 	serial0_sendString("ATCN");
 	serial0_sendChar(0x0D);
 	_delay_ms(2);
-	//// Wait until we get "OK"
-	//int atStart = time_millis();
-	//while(!serial0_hasChar()) {
-		//if(time_millis() - atStart > 500) {
-			//led_errorcode(ERROR_EXITAT);
-			//wdt_reset();
-			//return 1;
-		//}
-	//};
+
+	if(waitTimeout()) 
+	{
+		return;
+	}
 	
 	xbeeIsOk();
 }
 
+bool waitTimeout() {
+	uint32_t scanStart = time_millis();
+	uint32_t lastBlink = 0;
+	while(!serial0_hasChar())
+	{
+		if(time_millis() - scanStart > 7000)
+		{
+			led_errorcode(ERROR_XBEETIMEOUT);
+			return true;
+		}
+		if(time_millis() - lastBlink > 50)
+		{
+			led_spin();
+			
+			lastBlink = time_millis();
+		}
+		wdt_reset();
+	}
+	return false;
+}
+
 // Enter AT mode. Leaves "OK" on the buffer.
 int slavesensors_enterAT() 
 {
 	// Delay guard time
 	_delay_ms(2);
 
-
 	serial0_ioff(); // interrupts MUST be off
 	
 	// Enter AT mode
@@ -354,22 +356,30 @@ int slavesensors_enterAT()
 	serial0_sendChar('+');
 	serial0_sendChar('+');
 	_delay_ms(2);
-	// Wait 1ms until we get "OK"
-	//int atStart = time_millis();
-	//while(!serial0_hasChar()) {
-		//if(time_millis() - atStart > 500) {
-			//led_errorcode(ERROR_ATFAIL);
-			//wdt_reset();
-			//return 1;
-		//}
-	//};	
-	
+
 	return xbeeIsOk();
-
 }
 
 int xbeeIsOk() 
 {
+	uint32_t scanStart = time_millis();
+	uint32_t lastBlink = 0;
+	while(!serial0_hasChar())
+	{
+		if(time_millis() - scanStart > 7000)
+		{
+			led_errorcode(ERROR_XBEETIMEOUT);
+			return;
+		}
+		if(time_millis() - lastBlink > 50)
+		{
+			led_spin();
+						
+			lastBlink = time_millis();
+		}
+		wdt_reset();
+	}
+	
 	char* tmppntr = serial0_readLine();
 	if(strcmp(tmppntr, "OK") == 0)
 	{
diff --git a/master/master/lib/slavesensors.h b/master/master/lib/slavesensors.h
--- a/master/master/lib/slavesensors.h
+++ b/master/master/lib/slavesensors.h
@@ -30,6 +30,7 @@ enum sensorTypes // CMD ID#
 	CAMERA,
 };
 
+bool waitTimeout();
 char* slavesensors_getLabel(uint8_t sensorID);
 char* slavesensors_slavename(uint8_t id);
 bool slavesensors_dataReady();