Dynamic Spans have a maximum extent for the Control<Span<Type>> but a variable number of elements for the ControlValue in the ControlInfo. For dynamic Spans with a single element, this previously caused the exception std::length_error since 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:
ignore the control extent of a Span for conversion of default ControlValue and use the actual number of elements to prevent memory allocation with the "maximum extent"
enforce from now on that an extent of 0 means that the original Control contains a scalar type, such as Control<Type>, and not a Span, such as Control<Span<Type>>
check compatible libcamera control to ROS parameter type conversions based on the Control type and not the ControlValue
Altogether, 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 the ControlInfo which is set by the IPA or pipeline.
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.