/*

 * Master Firmware: Slave Sensor Data Acquisition

 *

 * Wireless Observational Modular Aerial Network

 * 

 * Ethan Zonca

 * Matthew Kanning

 * Kyle Ripperger

 * Matthew Kroening

 *

 */

#include "../config.h"

#include <avr/io.h>

#include <stdbool.h>

#include <stdlib.h>

#include <stdio.h>

#include <string.h>

#include <util/delay.h>

#include <avr/wdt.h>

#include <avr/pgmspace.h>

#include "serial.h"

#include "serparser.h"

#include "slavesensors.h"

#include "sensordata.h"

#include "led.h"

#include "looptime.h"

// Label lookup table

// Make sure there are never more labels than there are MAX_NUM_SENSORS! 

const char label_0[] PROGMEM = "BoardTemp";

const char label_1[] PROGMEM = "HeaterStatus";

const char label_2[] PROGMEM = "BatteryLevel";

const char label_3[] PROGMEM = "AirTemp";

const char label_4[] PROGMEM = "AmbientLight";

const char label_5[] PROGMEM = "Humidity";

const char label_6[] PROGMEM = "Pressure";

const char label_7[] PROGMEM = "Altitude";

const char label_8[] PROGMEM = "CPM-Radiation";

const char *const labelLookup[] PROGMEM =

{

	label_0,

	label_1,

	label_2,

	label_3,

	label_4,

	label_5,

	label_6,

	label_7,

	label_8,

};

char labelBuffer[15]; // Size to length of label

char* slavesensors_getLabel(uint8_t sensorID) 

{

	if(sensorID < 9)

	{

		strncpy_P(labelBuffer,(char*)pgm_read_word(&(labelLookup[sensorID])),15);

		return labelBuffer;

	}

	else 

	{

		return NULL;

	}

}

uint8_t currentSlave = 0;

uint8_t currentSlaveSensor = 0;

bool requesting = false;

void slavesensors_setup() 

{

}

//#define DEBUG_NETWORKSCAN

//#define DEBUG_GETSLAVEDATA

char* bufPtr = 0x00;

static char slaveAddressLow[MAX_NUM_SLAVES][9];

static char slaveAddressHigh[MAX_NUM_SLAVES][9];

static char slaveNames[MAX_NUM_SLAVES][15];

uint8_t loggerIndex = 255;

uint8_t nodeCount = 0;

bool dataReady = false;

char* slavesensors_slavename(uint8_t id) 

{

	return slaveNames[id];

}

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

	_delay_ms(200); // xbee warmup

	wdt_reset();

	led_on(LED_ACTIVITY);

	atOK = slavesensors_enterAT();

	// wait for OK

	if(atOK == 0)

	{

		led_on(LED_CYCLE);

		serial0_sendString("ATND");

		serial0_sendChar(0x0D);

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

		int lineCount = 0;	

		while(1) 

		{

			// Wait for scan to complete. If we timeout, return.

			if(waitTimeout(7000)) 

			{

				return;

			}

			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) 

			{

				strncpy(slaveAddressHigh[nodeCount],bufPtr, 9);

			}

			else if(lineCount == 2) 

			{

				strncpy(slaveAddressLow[nodeCount],bufPtr, 9);

			}

			else if(lineCount == 3) 

			{

				strncpy(slaveNames[nodeCount], bufPtr, 15);

			}

			// 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 newline after one chunk

				nodeCount++;

				lineCount = 0;

			}

			else 

			{

				lineCount++;

			}

		}		

		slavesensors_exitAT();

	}

	// Display number of found nodes on spinning indicator

	led_off(LED_ACT0);

	led_off(LED_ACT1);

	led_off(LED_ACT2);

	led_off(LED_ACT3);

	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);

	}

	_delay_ms(500);

	led_on(LED_SIDEBOARD);

	_delay_ms(500);

	led_off(LED_SIDEBOARD);

	#ifdef DEBUG_OUTPUT

	char debugBuf[64];

	serial0_sendString("Discovered: \r\n");

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

	{

		snprintf(debugBuf, 64, "  %s - %s%s (%u)\r\n", slaveNames[i],slaveAddressHigh,slaveAddressLow[i], 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;

		}

	}

	_delay_ms(100);

	slavesensors_selectlogger();

	serial0_ion();

}

//#define DEBUG_CONTEXTSWITCH

//#define DEBUG_SELECTNODE

uint8_t selectedNode = 0;

uint8_t slavesensors_getselectednode() 

{

	return selectedNode;

}

void slavesensors_selectnode(uint8_t nodeIndex)

{

	if(selectedNode == nodeIndex) 

	{

		return;

	}

	serial0_ioff();

	#ifdef DEBUG_CONTEXTSWITCH

	uint32_t startTime = time_millis();

	#endif

	#ifdef DEBUG_SELECTNODE

	serial0_sendString("Switch to node ");

	serial0_sendChar(nodeIndex + 0x30);

	serial0_sendString("\r\n");

	#endif

	_delay_ms(20);

	char tmpBuf[23];

	// If we can get into AT mode

	if(slavesensors_enterAT() == 0) 

	{

		snprintf(tmpBuf, 23, "ATDH %s%c",slaveAddressHigh[nodeIndex], 0x0D);

		serial0_sendString(tmpBuf);

		if(xbeeIsOk() != 0) 

		{

			led_errorcode(ERROR_NOXBEE);

			return;

		}

		snprintf(tmpBuf, 23, "ATDL %s%c",slaveAddressLow[nodeIndex], 0x0D);

		serial0_sendString(tmpBuf);

		if(xbeeIsOk() != 0) 

		{

			led_errorcode(ERROR_NOXBEE);

			return;

		}

		slavesensors_exitAT();

		selectedNode = nodeIndex;

	}

	_delay_ms(2);

	#ifdef DEBUG_SELECTNODE

	serial0_sendString("Selected ");

	serial0_sendChar(nodeIndex + 0x30);

	serial0_sendString("\r\n");

	#endif

	#ifdef DEBUG_CONTEXTSWITCH

	uint32_t switchTime = time_millis() - startTime;

	char tmpB[32];

	snprintf(tmpB, 32, "CTXSW: %lu ms\r\n", switchTime);

	serial0_sendString(tmpB);

	#endif

	serial0_ion();

	return;

}

void slavesensors_selectlogger() 

{

	if(loggerIndex != 255) 

	{

		slavesensors_selectnode(loggerIndex);

	}	

}

void slavesensors_exitAT() 

{

	// Exit AT

	serial0_sendString("ATCN");

	serial0_sendChar(0x0D);

	if(waitTimeout(2000)) 

	{

		return;

	}

	xbeeIsOk();

}

bool waitTimeout(uint32_t timeout) {

	uint32_t scanStart = time_millis();

	uint32_t lastBlink = 0;

	while(!serial0_hasChar())

	{

		if(time_millis() - scanStart > timeout)

		{

			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

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

	serial0_sendChar('+');

	serial0_sendChar('+');

	return xbeeIsOk();

}

int xbeeIsOk() 

{

	}

	char* tmppntr = serial0_readLine();

	if(strcmp(tmppntr, "OK") == 0)

	{

		return 0;

	}

	else

	{

		led_errorcode(ERROR_NOXBEE);

		return 1;

	}

}

bool slavesensors_dataReady() 

{

	return dataReady;

}

bool slavesensors_isrequesting() 

{

	return requesting;	

}

void slavesensors_startprocess() 

{

	requesting = true;

	slavesensors_request();		

}

// TODO: inline. static.

void slavesensors_request() 

{

	if(currentSlave == loggerIndex) 

	{

		currentSlave++;

		if(currentSlave >= (nodeCount)) 

		{

			slavesensors_selectlogger();

			return;

		}

	}

	slavesensors_selectnode(currentSlave);

	serial_sendCommand("@"); // Request data!

}

// TODO: needs to skip logger!

void slavesensors_process(uint8_t parseResult) 

{

	if(!requesting) 

	{

		// we got a command when we didn't request anything. probably skip it.

		return;

	}

	// TODO: timeout. If we're at NODATA for a long time and we are requesting, that's an issue.

	// TODO: If we time out, WE NEED TO RESET THE PARSER. It could be in a bad state.

	else if(parseResult == PARSERESULT_NODATA) 

	{

		// Wait for data

	}

	// Finished reception of a message (one sensor data value). If not finished, send out command to get the next one

	else if(parseResult == PARSERESULT_PARSEOK)

	{

		#ifdef DEBUG_GETSLAVEDATA

		char debug[50];

		snprintf(debug, 50, "Slave %u sensor %u of total nodes %u\r\n", currentSlave, currentSlaveSensor,nodeCount);

		serial0_sendString(debug);

		#endif

		// We got some data, let's handle it

		// ASCII payload

		uint8_t len = getPayloadLength();

		char* load = getPayload();

		uint8_t type = getPayloadType();

		int32_t parsedVal = strtol(load, NULL, 10);//atoi(load);

		// Special case for slave telling us how many things we're about to get		

		if(type + 0x30 == '@')

		{

			#ifdef DEBUG_GETSLAVEDATA

			serial0_sendString("Got an awesome count!\r\n");

			serial0_sendChar(parsedVal + 0x30);

			serial0_sendString("\r\n");

			#endif

			numReadingsToExpect = parsedVal;

			currentSlaveSensor = 0;

			requesting = true;

		}

		else 

		{

			// Store data in structure

			sensordata_set(currentSlave,type,parsedVal);

			#ifdef DEBUG_GETSLAVEDATA

			serial0_sendString("Stored some sexy data!\r\n");

			#endif 

		}

	}

	// If fail, try retransmit. Or we could skip and hit it next time.

	// TODO: Maximum number of retransmissions

	else if(parseResult == PARSERESULT_FAIL) 

	{

		if(requesting) 

		{

			slavesensors_request();	// re-request

		}			

	}

	else if(parseResult == PARSERESULT_STILLPARSING)

	{

		return; // do nothing

	}

	else 

	{

		// something is terribly wrong!

		return;

	}

}		

/*

 * Master Firmware: Slave Sensor Data Aquisition

 *

 * Wireless Observational Modular Aerial Network

 * 

 * Ethan Zonca

 * Matthew Kanning

 * Kyle Ripperger

 * Matthew Kroening

 *

 */

#ifndef SLAVESENSORS_H_

#define SLAVESENSORS_H_

#include <stdbool.h>

#include <inttypes.h>

// Serial Commands

enum sensorTypes // CMD ID#

{

	NONE = 0,

	BOARDTEMP,

	PRESSURE,

	GEIGER,

	TEMPERATURE,

	HUMIDITY,

	AMBIENTLIGHT,

	CAMERA,

};

bool waitTimeout(uint32_t timeout);

char* slavesensors_getLabel(uint8_t sensorID);

char* slavesensors_slavename(uint8_t id);

bool slavesensors_dataReady();

bool slavesensors_isrequesting();

void slavesensors_setup();

void slavesensors_network_scan();

uint8_t slavesensors_getselectednode();

void slavesensors_selectnode(uint8_t nodeIndex);

void slavesensors_startprocess();

void slavesensors_request();

void slavesensors_process(uint8_t parseResult);

int xbeeIsOk();

void slavesensors_selectlogger();

void slavesensors_exitAT();

int slavesensors_enterAT();

#endif /* SLAVESENSORS_H_ */