#define ERROR_XBEETIMEOUT 5

#define ERROR_NOXBEE 6

#define ERROR_CRAP 15

// --------------------------------------------------------------------------

// Slave Sensors config (slavesensors.c)

// --------------------------------------------------------------------------

// NOT USED. Could integrate into slavesensors.c setup function for configurability eventually.

// Currently manual configuration of sensors is done in slavesensors.c

#define SLAVE0_SENSORS BOARDTEMP

#define SLAVE1_SENSORS BOARDTEMP | HUMIDITY | TEMPERATURE | PRESSURE | AMBIENTLIGHT

#define SLAVE2_SENSORS BOARDTEMP | GEIGER

#define SLAVE3_SENSORS BOARDTEMP | CAMERA

#define SLAVE4_SENSORS NONE

#define SLAVE5_SENSORS NONE

#define SLAVE6_SENSORS NONE

#define SLAVE7_SENSORS NONE

// MAX_SLAVES should be one more than the number of slaves we actually have (loop ends when next slave first sensor is NONE)

#define MAX_SLAVES 8

#define MAX_SLAVE_SENSORS 8

// --------------------------------------------------------------------------

// Command Parser config (serparser.c)

// --------------------------------------------------------------------------

// Maximum payload size of command

#define MAX_PAYLOAD_LEN 16

// Circular serial buffer size. Must be at least MAX_CMD_LEN + 5

#define BUFFER_SIZE 32 

// Public broadcast address

#define BROADCAST_ADDR 0 

// --------------------------------------------------------------------------

// GPS config (xxx.c)

// --------------------------------------------------------------------------

#define NMEABUFFER_SIZE 150

// --------------------------------------------------------------------------

// USART config (serial.c)

// --------------------------------------------------------------------------

#define USART0_BAUDRATE 115200

	// 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];

void slavesensors_network_scan() {

	serial0_ioff();

	int atOK;

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

	_delay_ms(500); // xbee warmup

	wdt_reset();

	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");

	led_on(LED_SIDEBOARD);

	_delay_ms(200);

	led_off(LED_SIDEBOARD);

	#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);

	}

	serial0_sendString("\r\n");

	if(atOK != 0) {

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

	}

	#endif

	// Wait for response

	// will be multiple values separated by <CR>

	// 9 data lines per node, <CR> terminated, followed by a new line with only <CR> at the end of all nodes.

	// <CR> followed by another <CR> signifies end of scan data

	serial0_ion();

}

void slavesensors_exitAT() 

{

	// Exit AT

	serial0_sendString("ATCN");

	serial0_sendChar(0x0D);

	xbeeIsOk(); // wait for OK

}

// Enter AT mode. Leaves "OK" on the buffer.

int slavesensors_enterAT() 

{

	// Delay guard time

	_delay_ms(1);

	// Enter AT mode

	serial0_sendChar('+'); // Enter AT mode

	serial0_sendChar('+');

	serial0_sendChar('+');

	// Wait 1ms until we get "OK"

	int atStart = time_millis();

	while(!serial0_hasChar()) {

		if(time_millis() - atStart > 500) {

			led_errorcode(ERROR_XBEETIMEOUT);