* Master Firmware: Slave Sensor Data Aquisition

 *

 * Wireless Observational Modular Aerial Network

 * 

 * Ethan Zonca

 * Matthew Kanning

 * Kyle Ripperger

 * Matthew Kroening

 *

 */

#include <avr/io.h>

#include <stdbool.h>

#include "../config.h"

#include "serial.h"

#include "serparser.h"

#include "slavesensors.h"

#include "led.h"

#include "looptime.h"

#include <util/delay.h>

#include <avr/wdt.h>

uint8_t currentSlave = 0;

uint8_t currentSlaveSensor = 0;

uint16_t slaves[MAX_SLAVES][MAX_SLAVE_SENSORS];

bool requesting = false;

void slavesensors_setup() 

{

	// Empty array

	for(int i=0; i<MAX_SLAVES; i++) 

	{

		for(int j=0; j<MAX_SLAVE_SENSORS; j++) 

		{

			slaves[i][j] = NONE;

		}			

	}	

	// Slave Configuration

	// slave 0

	slaves[0][0] = BOARDTEMP;

	// slave 1

	slaves[1][0] = BOARDTEMP;

	slaves[1][1] = HUMIDITY;

	slaves[1][2] = TEMPERATURE;

	slaves[1][3] = PRESSURE;

	slaves[1][4] = AMBIENTLIGHT;

	// slave 2

	slaves[2][0] = BOARDTEMP;

	slaves[2][1] = GEIGER;

	// slave 3

	slaves[3][0] = BOARDTEMP;

	slaves[3][1] = CAMERA;

}

#define DEBUG_NETWORKSCAN

char* bufPtr = 0x00;

char debugBuf[64];

char slaveAddressLow[6][9];

char slaveAddressHigh[6][9];

uint8_t loggerIndex = 255;

void slavesensors_network_scan() {

	serial0_ioff();

	int atOK;

	#ifdef DEBUG_OUTPUT

	serial0_sendString("Beginning network scan...\r\n\r\n");

	#endif

	_delay_ms(500); // xbee warmup

	wdt_reset();

	led_on(LED_ACTIVITY);

	atOK = slavesensors_enterAT();

	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 

	uint8_t nodeCount = 0;

	// wait for OK

	//todo

	if(atOK == 0)

	{

		serial0_sendString("ATND");

		serial0_sendChar(0x0D);

		// wait for scan to complete

		uint16_t scanStart = time_millis(); 		

		while(!serial0_hasChar()) {

			if(time_millis() - scanStart > 5000) {

				led_errorcode(ERROR_XBEETIMEOUT);

				return;

			}

			wdt_reset();

		}

		// Scan data end when newline by itself ("")	

		int lineCount = 0;	

		while(1) {

			bufPtr = serial0_readLine();

			// 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);

			}

			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++;

			}

		}		

		slavesensors_exitAT();

	}

	// Display number of found nodes on spinning indicator

	switch(nodeCount) {

		case 0:

			break;

		case 3:

			led_on(LED_ACT2);

			_delay_ms(100);

		case 2:

			led_on(LED_ACT1);

			_delay_ms(100);	

		case 1:

			led_on(LED_ACT0);

			_delay_ms(100);

	}

	led_on(LED_SIDEBOARD);

	_delay_ms(200);

	led_off(LED_SIDEBOARD);

	#ifdef DEBUG_OUTPUT

	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);

	}

	serial0_sendString("\r\n");

	if(atOK != 0) {

		serial0_sendString("AT mode failed \r\n");

	}

	#endif

	for(int i=0; i<nodeCount; i++) 

	{

		if(strcmp(slaveNames[i], XBEE_LOGDEST_NAME) == 0) 

		{

			loggerIndex = i;

		}

	}

	slavesensors_loggerdest();

	serial0_ion();

}

void slavesensors_loggerdest() 

{