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Merge pull request #338 from dronecore/add-camera
Added camera plugin with basic functionality
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| Original file line number | Diff line number | Diff line change |
|---|---|---|
| @@ -0,0 +1,135 @@ | ||
| #pragma once | ||
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| #include <type_traits> | ||
| #include <utility> | ||
| #include <typeinfo> | ||
| #include <cassert> | ||
| #include "log.h" | ||
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| namespace dronecore { | ||
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| // Any class taken from: | ||
| // https://codereview.stackexchange.com/questions/20058/c11-any-class | ||
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|
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| template <class T> | ||
| using StorageType = typename std::decay<T>::type; | ||
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| struct Any { | ||
| bool is_null() const { return !ptr; } | ||
| bool not_null() const { return ptr; } | ||
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| template<typename U> Any(U &&value) | ||
| : ptr(new Derived<StorageType<U>>(std::forward<U>(value))) {} | ||
|
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| template<class U> bool is() const | ||
| { | ||
| typedef StorageType<U> T; | ||
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| auto derived = dynamic_cast<Derived<T>*>(ptr); | ||
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| return derived; | ||
| } | ||
|
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| template<class U> | ||
| StorageType<U> &as() const | ||
| { | ||
| typedef StorageType<U> T; | ||
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| auto derived = dynamic_cast<Derived<T>*>(ptr); | ||
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| if (!derived) { | ||
| // FIXME: We don't have exceptions, so this is commented out | ||
| // and we'll abort instead. | ||
| //throw bad_cast(); | ||
| LogErr() << "Need to abort because of a bad_cast"; | ||
| abort(); | ||
| } | ||
|
|
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| return derived->value; | ||
| } | ||
|
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| template<class U> | ||
| operator U() const | ||
| { | ||
| return as<StorageType<U>>(); | ||
| } | ||
|
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| Any() | ||
| : ptr(nullptr) {} | ||
|
|
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| Any(Any &that) | ||
| : ptr(that.clone()) {} | ||
|
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| Any(Any &&that) | ||
| : ptr(that.ptr) | ||
| { | ||
| that.ptr = nullptr; | ||
| } | ||
|
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| Any(const Any &that) | ||
| : ptr(that.clone()) {} | ||
|
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| Any(const Any &&that) | ||
| : ptr(that.clone()) {} | ||
|
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| Any &operator=(const Any &a) | ||
| { | ||
| if (ptr == a.ptr) { | ||
| return *this; | ||
| } | ||
|
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| auto old_ptr = ptr; | ||
|
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| ptr = a.clone(); | ||
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| delete old_ptr; | ||
|
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| return *this; | ||
| } | ||
|
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| Any &operator=(Any &&a) | ||
| { | ||
| if (ptr == a.ptr) { | ||
| return *this; | ||
| } | ||
|
|
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| std::swap(ptr, a.ptr); | ||
|
|
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| return *this; | ||
| } | ||
|
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| ~Any() | ||
| { | ||
| delete ptr; | ||
| } | ||
|
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| private: | ||
| struct Base { | ||
| virtual ~Base() {} | ||
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| virtual Base *clone() const = 0; | ||
| }; | ||
|
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| template<typename T> | ||
| struct Derived : Base { | ||
| template<typename U> Derived(U &&value_tmp) : value(std::forward<U>(value_tmp)) { } | ||
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| T value; | ||
|
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| Base *clone() const { return new Derived<T>(value); } | ||
| }; | ||
|
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| Base *clone() const | ||
| { | ||
| if (ptr) { | ||
| return ptr->clone(); | ||
| } else { | ||
| return nullptr; | ||
| } | ||
| } | ||
|
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| Base *ptr; | ||
| }; | ||
|
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| } // namespace dronecore |
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| Original file line number | Diff line number | Diff line change |
|---|---|---|
| @@ -0,0 +1,62 @@ | ||
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| #include <string> | ||
| #include "any.h" | ||
| #include <gtest/gtest.h> | ||
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| using namespace dronecore; | ||
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| TEST(Any, StringAndInt) | ||
| { | ||
| Any n; | ||
| ASSERT_TRUE(n.is_null()); | ||
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| std::string s1 = "foo"; | ||
|
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| Any a1 = s1; | ||
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| ASSERT_TRUE(a1.not_null()); | ||
| ASSERT_TRUE(a1.is<std::string>()); | ||
| ASSERT_TRUE(!a1.is<int>()); | ||
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| Any a2(a1); | ||
|
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| ASSERT_TRUE(a2.not_null()); | ||
| ASSERT_TRUE(a2.is<std::string>()); | ||
| ASSERT_TRUE(!a2.is<int>()); | ||
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| std::string s2 = a2; | ||
|
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| ASSERT_TRUE(s1 == s2); | ||
| } | ||
|
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| TEST(Any, Casts) | ||
| { | ||
| const int some_number = 42; | ||
| Any n; | ||
| ASSERT_TRUE(n.is_null()); | ||
|
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| int i = some_number; | ||
| n = i; | ||
|
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| ASSERT_TRUE(n.not_null()); | ||
| ASSERT_EQ(n.as<int>(), some_number); | ||
|
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| // We can't actually cast using `as`. | ||
| ASSERT_FLOAT_EQ(float(n.as<int>()), float(some_number)); | ||
| } | ||
|
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| TEST(Any, Copys) | ||
| { | ||
| const float some_float = 0.7f; | ||
|
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| Any n1; | ||
| Any n2; | ||
| ASSERT_TRUE(n1.is_null()); | ||
| ASSERT_TRUE(n2.is_null()); | ||
|
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| n1 = some_float; | ||
| n2 = n1; | ||
| ASSERT_TRUE(n1.is<float>()); | ||
| ASSERT_TRUE(n2.is<float>()); | ||
| ASSERT_TRUE(n1.as<float>() == n2.as<float>()); | ||
| } |
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