Task-Driven, powersaving trial written, must test.

include/calibration.cpp

@@ -1,6 +1,16 @@
+#include "freertos/FreeRTOS.h"
+#include "freertos/task.h"
 #include "calibration.hpp"
 #include "defines.h"
 #include "nvs_flash.h"
+#include "socketIO.hpp"
+#include <limits.h>
+
+// Static member definitions
+std::atomic<bool> Calibration::calibrated{false};
+std::atomic<int32_t> Calibration::UpTicks{0};
+std::atomic<int32_t> Calibration::DownTicks{0};
+TaskHandle_t calibTaskHandle = NULL;
 
 void Calibration::init() {
   nvs_handle_t calibHandle;
@@ -109,4 +119,46 @@ uint8_t Calibration::convertToAppPos(int32_t ticks) {
   // appPos between 0 and 10, convert to target encoder ticks.
   int8_t retVal = (ticks - DownTicks) * 10 / (UpTicks - DownTicks);
   return (retVal < 0) ? 0 : ((retVal > 10) ? 10 : retVal);
+}
+
+bool calibrate() {
+  calibTaskHandle = xTaskGetCurrentTaskHandle();
+  printf("Connecting to Socket.IO server for calibration...\n");
+  initSocketIO();
+  
+  // Wait for device_init message from server with timeout
+  int timeout_count = 0;
+  const int MAX_TIMEOUT = 60; // seconds
+
+  uint32_t status;
+  // Wait for notification with timeout
+  if (xTaskNotifyWait(0, ULONG_MAX, &status, pdMS_TO_TICKS(MAX_TIMEOUT * 1000)) == pdTRUE) {
+    // Notification received within timeout
+    if (status) {
+      printf("Connected successfully, awaiting destroy command\n");
+      xTaskNotifyWait(0, ULONG_MAX, &status, portMAX_DELAY);
+      calibTaskHandle = NULL;
+      if (status == 2) { // calibration complete
+        printf("Calibration process complete\n");
+        stopSocketIO();
+        return true;
+      }
+      else { // unexpected disconnect
+        printf("Disconnected unexpectedly!\n");
+        stopSocketIO();
+        return false;
+      }
+    } else {
+      calibTaskHandle = NULL;
+      printf("Connection failed! Returning to setup.\n");
+      stopSocketIO();
+      return false;
+    }
+  } else {
+    // Timeout reached
+    calibTaskHandle = NULL;
+    printf("Timeout waiting for device_init - connection failed\n");
+    stopSocketIO();
+    return false;
+  }
 }