Add motor paramter control via MQTT

src/primary-esp32/main.cpp

@@ -163,6 +163,46 @@ void onRollerManualMessage(const String &topicStr, const String &message) {
     }
 }
 
+bool motor_parameters_retrieved = false;
+motor_parameters_t motor_parameters[3];
+
+motor_parameters_group_t motor_parameters_to_send;
+
+// Handler for MQTT messages at `airseeder/set/roller[1,2,3]params`
+// Message format: [kp] [ki] [kd] [min_duty]
+void onRollerParamsMessage(const String &topicStr, const String &message) {
+
+    int r_id = 0;
+
+    if (topicStr == "airseeder/set/roller1params") {
+        r_id = 0;
+    } else if (topicStr == "airseeder/set/roller2params") {
+        r_id = 1;
+    } else if (topicStr == "airseeder/set/roller3params") {
+        r_id = 2;
+    } else {
+        // MQTT error
+        return;
+    }
+
+    if (parse_message(message) >= 4) {
+
+        // Don't set parameters if we haven't received the existing ones yet
+        if (motor_parameters_retrieved) {
+            motor_parameters[r_id].kp = msg_segments[0].toFloat();
+            motor_parameters[r_id].ki = msg_segments[1].toFloat();
+            motor_parameters[r_id].kd = msg_segments[2].toFloat();
+            motor_parameters[r_id].min_duty = msg_segments[3].toFloat();
+
+            motor_parameters_to_send.motor_1 = motor_parameters[0];
+            motor_parameters_to_send.motor_2 = motor_parameters[1];
+            motor_parameters_to_send.motor_3 = motor_parameters[2];
+
+            set_motor_parameters(motor_parameters_to_send);
+        }
+    }
+}
+
 // Builtin function name used by EspMQTTClient
 void onConnectionEstablished() {
     Serial.println("Connected to MQTT broker");
@@ -173,6 +213,10 @@ void onConnectionEstablished() {
     mqtt_client.subscribe("airseeder/set/roller2manual", onRollerManualMessage);
     mqtt_client.subscribe("airseeder/set/roller3manual", onRollerManualMessage);
 
+    mqtt_client.subscribe("airseeder/set/roller1params", onRollerParamsMessage);
+    mqtt_client.subscribe("airseeder/set/roller2params", onRollerParamsMessage);
+    mqtt_client.subscribe("airseeder/set/roller3params", onRollerParamsMessage);
+
     sprintf(msg_buffer, "%u", mqtt_client.getConnectionEstablishedCount());
     mqtt_client.publish("airseeder/status/connect_count", msg_buffer, true);
 }
@@ -250,6 +294,12 @@ void loop() {
                 motor_status.motor_3_control.desired_speed, motor_status.roller_3_speed, motor_status.roller_3_revs,
                 motor_status.motor_3_duty);
         mqtt_client.publish("airseeder/status/roller3", msg_buffer, true);
+
+        // Need to save the motor parameters somewhere, so that modification to one of them keeps the old ones
+        motor_parameters[0] = motor_status.motor_1_params;
+        motor_parameters[1] = motor_status.motor_2_params;
+        motor_parameters[2] = motor_status.motor_3_params;
+        motor_parameters_retrieved = true;
     }
 
     // Periodically request a pipe pressure update via I2C