# HG changeset patch
# User ethanzonca@CL-ENS241-08.cedarville.edu
# Date 2013-02-11 17:05:35
# Node ID f12f7ddbf2320881f146928b450f9c1d3036eacd
# Parent  887fa9c3d9686724d1087875f03ccf9d6630db08

Slave data aquisition fully functional with multiple slaves, fault-tolerant if slaves do not respond within timeout period

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
@@ -360,24 +360,10 @@ int slavesensors_enterAT()
 
 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();
+	if(waitTimeout(2000)) {
+		led_errorcode(ERROR_XBEETIMEOUT);
+		return 1;
 	}
-	
 	char* tmppntr = serial0_readLine();
 	if(strcmp(tmppntr, "OK") == 0)
 	{
@@ -407,6 +393,7 @@ void slavesensors_startprocess()
 }
 
 // TODO: inline. static.
+uint32_t beginRequest = 0;
 void slavesensors_request() 
 {
 	if(currentSlave == loggerIndex) 
@@ -419,11 +406,77 @@ void slavesensors_request()
 		}
 	}
 	slavesensors_selectnode(currentSlave);
+	beginRequest = time_millis();
 	serial_sendCommand("@"); // Request data!
 }
 
 
-uint8_t numReadingsToExpect = 0; // number of values that the slave is about to send (testing)
+uint8_t numReadingsToExpect = 0; // number of values that the slave is about to send
+
+void gotoNextSlaveOrSensor(bool fail) {
+	// If we finished all sensors for all slaves
+	
+	if(currentSlave >= (nodeCount-1) && currentSlaveSensor >= (numReadingsToExpect-1))
+	{
+		#ifdef DEBUG_GETSLAVEDATA
+		serial0_sendString("We got all data for all slaves!\r\n");
+		#endif
+		
+		dataReady = true;
+		currentSlave = 0;
+		currentSlaveSensor = 0;
+		requesting = false;
+		
+		if(!fail) 
+		{
+			led_alert();	
+		}
+		
+	}
+	// If we finished up one slave, go to the next
+	else if(currentSlaveSensor >= (numReadingsToExpect-1))
+	{
+		#ifdef DEBUG_GETSLAVEDATA
+		serial0_sendString("Finished up one slave, go to another.\r\n");
+		#endif
+		
+		currentSlave++;
+		currentSlaveSensor = 0;
+		requesting = true;
+		
+		if(currentSlave == loggerIndex)
+		{
+			if(currentSlave >= (nodeCount-1))
+			{
+				// We hit the last one, we're done.
+				dataReady = true;
+				currentSlave = 0;
+				currentSlaveSensor = 0;
+				requesting = false;
+				led_alert();
+				return;
+			}
+			else
+			{
+				currentSlave++; // increment to the next slave after the logger
+			}
+		}
+		
+		slavesensors_request();
+	}
+	// If we haven't finished a slave (or all of them), just get the next sensor of the current slave
+	else
+	{
+		#ifdef DEBUG_GETSLAVEDATA
+		serial0_sendString("Give me another sensor value...");
+		#endif
+		
+		// request data for the current sensor of the current slave
+		currentSlaveSensor++;
+		requesting = true;
+		//slavesensors_request();	 slaves now send all values at once, we don't need to keep requesting
+	}
+}
 
 
 // TODO: needs to skip logger!
@@ -440,6 +493,10 @@ void slavesensors_process(uint8_t parseR
 	else if(parseResult == PARSERESULT_NODATA) 
 	{
 		// Wait for data
+		if(requesting && time_millis() - beginRequest > 1000) {
+			// if we're requesting, we have no data, and we're over the timeout, this is bad!
+			gotoNextSlaveOrSensor(true);
+		}
 	}
 	
 	// Finished reception of a message (one sensor data value). If not finished, send out command to get the next one
@@ -483,63 +540,7 @@ void slavesensors_process(uint8_t parseR
 			serial0_sendString("Stored some sexy data!\r\n");
 			#endif 
 			
-			// If we finished all sensors for all slaves
-			
-			if(currentSlave >= (nodeCount-1) && currentSlaveSensor >= (numReadingsToExpect-1))
-			{
-				#ifdef DEBUG_GETSLAVEDATA
-				serial0_sendString("We got all data for all slaves!\r\n");
-				#endif
-				
-				dataReady = true;
-				currentSlave = 0;
-				currentSlaveSensor = 0;
-				requesting = false;
-				led_alert();
-			}
-			// If we finished up one slave, go to the next
-			else if(currentSlaveSensor >= (numReadingsToExpect-1)) 
-			{
-				#ifdef DEBUG_GETSLAVEDATA
-				serial0_sendString("Finished up one slave, go to another.\r\n");
-				#endif
-				
-				currentSlave++;
-				currentSlaveSensor = 0;
-				requesting = true;
-				
-				if(currentSlave == loggerIndex) 
-				{
-					if(currentSlave >= (nodeCount-1)) 
-					{
-						// We hit the last one, we're done.
-						dataReady = true;
-						currentSlave = 0;
-						currentSlaveSensor = 0;
-						requesting = false;
-						led_alert();
-						return;
-					}
-					else 
-					{
-						currentSlave++; // increment to the next slave after the logger
-					}
-				}
-				
-				slavesensors_request();
-			}
-			// If we haven't finished a slave (or all of them), just get the next sensor of the current slave
-			else
-			{
-				#ifdef DEBUG_GETSLAVEDATA
-				serial0_sendString("Give me another sensor value...");
-				#endif
-				
-				// request data for the current sensor of the current slave
-				currentSlaveSensor++;
-				requesting = true;
-				//slavesensors_request();	 slaves now send all values at once, we don't need to keep requesting
-			}
+			gotoNextSlaveOrSensor(false);
 		}
 	}
 	
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
@@ -41,6 +41,7 @@ uint8_t slavesensors_getselectednode();
 void slavesensors_selectnode(uint8_t nodeIndex);
 void slavesensors_startprocess();
 void slavesensors_request();
+void gotoNextSlaveOrSensor(bool fail);
 void slavesensors_process(uint8_t parseResult);
 int xbeeIsOk();
 void slavesensors_selectlogger();