Add manual override control via MQTT

src/primary-esp32/main.cpp

@@ -95,7 +95,8 @@ roller_control_t roller_ctrl[3];
 // For each roller, need to store the current control mode, ratio, manual speed, manual speed started, manual speed
 // duration
 
-// [roller1_mode] [roller2_mode] [roller2_mode] [roller1_ratio] [roller2_ratio] [roller3_ratio]
+// Handler for MQTT messages at `airseeder/set/rollercontrol`
+// Message format: [roller1_mode] [roller2_mode] [roller2_mode] [roller1_ratio] [roller2_ratio] [roller3_ratio]
 // Mode is 0 for disabled, 1 for auto. If mode was manual, it is now overwritten, and manual control stops.
 void onRollerControlMessage(const String &message) {
     if (parse_message(message) >= 6) {
@@ -120,11 +121,34 @@ void onRollerControlMessage(const String &message) {
         roller_ctrl[2].wheel_ratio = msg_segments[5].toFloat();
 
         motor_control_required = true;
+    }
+}
+
+// Handler for MQTT messages at `airseeder/set/roller[1,2,3]manual`
+// Message format: [speed] [time_to_drive]
+void onRollerManualMessage(const String &topicStr, const String &message) {
 
-        sprintf(msg_buffer, "MTR CTRL %u %u %u %.2f %.2f %.2f", roller_ctrl[0].mode, roller_ctrl[1].mode,
-                roller_ctrl[2].mode, roller_ctrl[0].wheel_ratio, roller_ctrl[1].wheel_ratio,
-                roller_ctrl[2].wheel_ratio);
-        mqtt_client.publish("airseeder/status/log", msg_buffer, true);
+    int r_id = 0;
+
+    if (topicStr == "airseeder/set/roller1manual") {
+        r_id = 0;
+    } else if (topicStr == "airseeder/set/roller2manual") {
+        r_id = 1;
+    } else if (topicStr == "airseeder/set/roller3manual") {
+        r_id = 2;
+    } else {
+        // MQTT error
+        return;
+    }
+
+    if (parse_message(message) >= 2) {
+        roller_ctrl[r_id].mode = MODE_MANUAL;
+        roller_ctrl[r_id].manual_speed = msg_segments[0].toFloat();
+        roller_ctrl[r_id].manual_duration = long(msg_segments[1].toFloat() * 1000.0);
+
+        roller_ctrl[r_id].manual_time_started = millis();
+
+        motor_control_required = true;
     }
 }
 
@@ -134,6 +158,10 @@ void onConnectionEstablished() {
 
     mqtt_client.subscribe("airseeder/set/rollercontrol", onRollerControlMessage);
 
+    mqtt_client.subscribe("airseeder/set/roller1manual", onRollerManualMessage);
+    mqtt_client.subscribe("airseeder/set/roller2manual", onRollerManualMessage);
+    mqtt_client.subscribe("airseeder/set/roller3manual", onRollerManualMessage);
+
     sprintf(msg_buffer, "%u", mqtt_client.getConnectionEstablishedCount());
     mqtt_client.publish("airseeder/status/connect_count", msg_buffer, true);
 }