ignore extent

christianrauch · Oct 30, 2023 · 56c9e13 · 56c9e13
1 parent 3e3c981
commit 56c9e13
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Showing 3 changed files with 12 additions and 19 deletions.
diff --git a/src/CameraNode.cpp b/src/CameraNode.cpp
@@ -423,7 +423,7 @@ CameraNode::declareParameters()
     // clamp default ControlValue to min/max range and cast ParameterValue
     rclcpp::ParameterValue value;
     try {
-      value = cv_to_pv(clamp(info.def(), info.min(), info.max()), extent);
+      value = cv_to_pv(clamp(info.def(), info.min(), info.max()));
     }
     catch (const invalid_conversion &e) {
       RCLCPP_ERROR_STREAM(get_logger(), "unsupported control '" << id->name() << "' (type: "

diff --git a/src/cv_to_pv.cpp b/src/cv_to_pv.cpp
@@ -13,7 +13,7 @@
 
 #define CASE_CONVERT(T)                                                                            \
   case libcamera::ControlType##T:                                                                  \
-    return cv_to_pv(extract_value<ControlTypeMap<libcamera::ControlType##T>::type>(value), extent);
+    return cv_to_pv(extract_value<ControlTypeMap<libcamera::ControlType##T>::type>(value));
 
 #define CASE_NONE(T)                                                                               \
   case libcamera::ControlType##T:                                                                  \
@@ -75,28 +75,21 @@ cv_to_pv_scalar(const libcamera::Size &size)
 
 template<typename T>
 rclcpp::ParameterValue
-cv_to_pv(const std::vector<T> &values, const std::size_t &extent)
+cv_to_pv(const std::vector<T> &values)
 {
-  if ((values.size() > 1 && extent > 1) && (values.size() != extent))
-    throw invalid_conversion("type extent (" + std::to_string(extent) + ") and value size (" +
-                             std::to_string(values.size()) +
-                             ") cannot be larger than 1 and differ");
-
-  if (values.size() > 1)
-    return cv_to_pv_array(values);
+  if (values.size() == 0)
+    // empty array
+    return rclcpp::ParameterValue();
   else if (values.size() == 1)
-    if (!extent)
-      return cv_to_pv_scalar(values[0]);
-    else if (extent == libcamera::dynamic_extent)
-      return cv_to_pv_array(std::vector<T>());
-    else
-      return cv_to_pv_array(std::vector<T>(extent, values[0]));
+    // scalar
+    return cv_to_pv_scalar(values[0]);
   else
-    return rclcpp::ParameterValue();
+    // dynamic array
+    return cv_to_pv_array(values);
 }
 
 rclcpp::ParameterValue
-cv_to_pv(const libcamera::ControlValue &value, const std::size_t &extent)
+cv_to_pv(const libcamera::ControlValue &value)
 {
   switch (value.type()) {
     CASE_NONE(None)

diff --git a/src/cv_to_pv.hpp b/src/cv_to_pv.hpp
@@ -12,7 +12,7 @@ class invalid_conversion : public std::runtime_error
 
 
 rclcpp::ParameterValue
-cv_to_pv(const libcamera::ControlValue &value, const std::size_t &extent);
+cv_to_pv(const libcamera::ControlValue &value);
 
 rclcpp::ParameterType
 cv_to_pv_type(const libcamera::ControlType &type, const bool is_array);