revert to non-task-driven, no tangible difference in performance. May change back later.

src/main.cpp

@@ -9,58 +9,67 @@
 #include "encoder.hpp"
 #include "calibration.hpp"
 
-// Global synchronization primitives
-EventGroupHandle_t g_system_events = NULL;
-QueueHandle_t g_servo_command_queue = NULL;
-QueueHandle_t g_encoder_event_queue = NULL;
-SemaphoreHandle_t g_calibration_mutex = NULL;
-
 // Global encoder instances
 Encoder* topEnc = new Encoder(ENCODER_PIN_A, ENCODER_PIN_B);
 Encoder* bottomEnc = new Encoder(InputEnc_PIN_A, InputEnc_PIN_B);
 
-void mainTask(void* arg) {
-  EventBits_t bits;
+// Global encoder pointers (used by servo.cpp)
+
+// Global calibration instance
+Calibration calib;
+
+void mainApp() {
+  esp_err_t ret = nvs_flash_init(); // change to secure init logic soon!!
+  // 2. If NVS is full or corrupt (common after flashing new code), erase and retry
+  if (ret == ESP_ERR_NVS_NO_FREE_PAGES || ret == ESP_ERR_NVS_NEW_VERSION_FOUND) {
+    ESP_ERROR_CHECK(nvs_flash_erase());
+    ret = nvs_flash_init();
+  }
+  ESP_ERROR_CHECK(ret);
+
+  bmWiFi.init();
+  calib.init();
   
-  printf("Main task started - event-driven mode\n");
+  // Initialize encoders
+  topEnc->init();
+  bottomEnc->init();
+  servoInit();
+
+  setupLoop();
   
+  statusResolved = false;
+
+  int32_t prevCount = topEnc->getCount();
+  
+  // Main loop
   while (1) {
-    // Block waiting for ANY event (no polling!)
-    bits = xEventGroupWaitBits(
-        g_system_events,
-        EVENT_SOCKETIO_DISCONNECTED | EVENT_CLEAR_CALIB | EVENT_SAVE_POSITION,
-        pdTRUE,  // Clear bits on exit
-        pdFALSE, // Wait for ANY bit (not all)
-        portMAX_DELAY  // Block forever - no polling!
-    );
-    
-    if (bits & EVENT_SOCKETIO_DISCONNECTED) {
+    // websocket disconnect/reconnect handling
+    if (statusResolved) {
       if (!connected) {
         printf("Disconnected! Beginning setup loop.\n");
         stopSocketIO();
         setupLoop();
       }
-      else {
-        printf("Reconnected!\n");
-      }
+      else printf("Reconnected!\n");
+      statusResolved = false;
     }
-    
-    if (bits & EVENT_CLEAR_CALIB) {
-      xSemaphoreTake(g_calibration_mutex, portMAX_DELAY);
-      Calibration::clearCalibrated();
-      xSemaphoreGive(g_calibration_mutex);
+
+    if (clearCalibFlag) {
+      calib.clearCalibrated();
       emitCalibStatus(false);
+      clearCalibFlag = false;
     }
-    
-    if (bits & EVENT_SAVE_POSITION) {
+    if (savePosFlag) {
       servoSavePos();
+      savePosFlag = false;
 
       // Send position update to server
-      uint8_t currentAppPos = Calibration::convertToAppPos(topEnc->getCount());
+      uint8_t currentAppPos = calib.convertToAppPos(topEnc->getCount());
       emitPosHit(currentAppPos);
       
       printf("Sent pos_hit: position %d\n", currentAppPos);
     }
+    vTaskDelay(pdMS_TO_TICKS(100));
   }
 }
 
@@ -82,44 +91,6 @@ void encoderTest() {
 }
 
 extern "C" void app_main() {
-  // Initialize NVS first
-  esp_err_t ret = nvs_flash_init();
-  if (ret == ESP_ERR_NVS_NO_FREE_PAGES || ret == ESP_ERR_NVS_NEW_VERSION_FOUND) {
-    ESP_ERROR_CHECK(nvs_flash_erase());
-    ret = nvs_flash_init();
-  }
-  ESP_ERROR_CHECK(ret);
-
-  // Create synchronization primitives
-  g_system_events = xEventGroupCreate();
-  g_servo_command_queue = xQueueCreate(10, sizeof(servo_cmd_msg_t));
-  g_encoder_event_queue = xQueueCreate(50, sizeof(encoder_event_t));
-  g_calibration_mutex = xSemaphoreCreateMutex();
-  
-  if (g_system_events == NULL || g_servo_command_queue == NULL || 
-      g_encoder_event_queue == NULL || g_calibration_mutex == NULL) {
-    printf("ERROR: Failed to create synchronization primitives\n");
-    return;
-  }
-
-  // Initialize hardware
-  WiFi::init();
-  Calibration::init();
-  
-  // Initialize encoders
-  topEnc->init();
-  bottomEnc->init();
-  servoInit();
-
-  // Create servo control task (highest priority - real-time)
-  xTaskCreate(servoControlTask, "servo_ctrl", 4096, NULL, SERVO_TASK_PRIORITY, NULL);
-  
-  // Create main task (lower priority)
-  xTaskCreate(mainTask, "main", 4096, NULL, MAIN_TASK_PRIORITY, NULL);
-  
-  // Run setup loop (this will handle WiFi/SocketIO connection)
-  setupLoop();
-  
-  // app_main returns, but tasks continue running
-  printf("app_main complete - tasks running\n");
+  mainApp();
+  // encoderTest();
 }