handle dynamic extents #15
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Dynamic Spans have a maximum extent ('dynamic_extent') but their associated
'ControlInfo' can contain a variable number of elements. For dynamic Spans
with a single element in the default 'ControlValue', this previously caused
the exception 'std::length_error' since a vector with "maximum extent"
elements was constructed.
Fix this by ignoring the extent and using the actual number of elements.
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Previously 'get_extent' would return the original 'extent' of a Span and 0 for non-span controls. This is ambiguous as an extent of 0 means that the original control type is either not a span or an empty span that can store no elements. Resolve this ambiguity by enforcing that libcamera controls cannot contain empty spans via a compile time assertion and clarify that an extent of 0 is only returned for non-span types.
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…value libcamera 'Control<T>' and their related 'ControlInfo' do not necessarily have the same control and value types. This previously caused issues when an unsupported control type, such as a span of a complex type, is mapped to a ROS parameter via the type of the default 'ControlValue'. Fix this by using the the actual control type, regardless of the types of the values in the 'ControlInfo'.
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Dynamic Spans have a maximum extent for the
Control<Span<Type>>but a variable number of elements for theControlValuein theControlInfo. For dynamic Spans with a single element, this previously caused the exceptionstd::length_errorsince a vector with "maximum extent" (dynamic_extent) elements was constructed. Additionally, libcamera allows controls to have default and min/max values of different types than the control.This PR thus changes the behaviour of how libcamera controls are mapped and converted to ROS parameters in the following way:
ControlValueand use the actual number of elements to prevent memory allocation with the "maximum extent"Controlcontains a scalar type, such asControl<Type>, and not a Span, such asControl<Span<Type>>Controltype and not theControlValueAltogether, this will ensure that we do not attempt to convert controls that are typed with an unsupported type, such as arrays of complex types (e.g.
Control<Span<const Rectangle>>), independently of the variable types in theControlInfowhich is set by the IPA or pipeline.Fixes #13, Fixes #50.