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Bound LCM protocol payloads #90

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Bound LCM protocol payloads #90

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c64ef21
LCM: Bound name reads
mjc Jul 13, 2026
ec37475
LCM: Limit brightness to 100
mjc Jul 13, 2026
cc193b2
LCM: Bound and clear payloads
mjc Jul 14, 2026
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30 changes: 10 additions & 20 deletions src/lcm.c
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Original file line number Diff line number Diff line change
Expand Up @@ -66,13 +66,11 @@ void lcm_poll_request(LcmData *lcm, uint8_t *buffer, size_t len) {

// Optionally pass in LCM name and version in a single string
if (len > 0) {
for (size_t i = 0; i < MAX_LCM_NAME_LENGTH; i++) {
if (i > len || i > MAX_LCM_NAME_LENGTH - 1 || buffer[i] == '\0') {
lcm->name[i] = '\0';
break;
}
size_t name_len = min(len, sizeof(lcm->name) - 1);
for (size_t i = 0; i < name_len; ++i) {
lcm->name[i] = buffer[i];
}
lcm->name[name_len] = '\0';
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}
}

Expand Down Expand Up @@ -196,25 +194,17 @@ void lcm_light_ctrl_request(LcmData *lcm, unsigned char *cfg, int len) {
return;
}
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lcm->payload_size = 0;
int32_t idx = 0;

lcm->brightness = cfg[idx++];
lcm->brightness_idle = cfg[idx++];
lcm->status_brightness = cfg[idx++];
lcm->brightness = min(cfg[idx++], 100u);
lcm->brightness_idle = min(cfg[idx++], 100u);
lcm->status_brightness = min(cfg[idx++], 100u);

if (len > 3) {
if (lcm->enabled) {
// Copy rest of payload into data for LCM to pull
lcm->payload_size = len - idx;
for (int i = 0; i < lcm->payload_size; i++) {
lcm->payload[i] = cfg[idx + i];
}
} else {
if (len > 5) {
// d->float_conf.led_mode = cfg[idx++];
// d->float_conf.led_mode_idle = cfg[idx++];
// d->float_conf.led_status_mode = cfg[idx++];
}
lcm->payload_size = min(len - idx, MAX_LCM_PAYLOAD_LENGTH);
for (int i = 0; i < lcm->payload_size; i++) {
lcm->payload[i] = cfg[idx + i];
}
}
}
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