AP_Mount: add and use SetFocusResult

libraries/AP_Mount/AP_Mount.cpp

@@ -742,11 +742,11 @@ bool AP_Mount::set_zoom(uint8_t instance, ZoomType zoom_type, float zoom_value)
 
 // set focus specified as rate, percentage or auto
 // focus in = -1, focus hold = 0, focus out = 1
-bool AP_Mount::set_focus(uint8_t instance, FocusType focus_type, float focus_value)
+SetFocusResult AP_Mount::set_focus(uint8_t instance, FocusType focus_type, float focus_value)
 {
     auto *backend = get_instance(instance);
     if (backend == nullptr) {
-        return false;
+        return SetFocusResult::FAILED;
     }
     return backend->set_focus(focus_type, focus_value);
 }

libraries/AP_Mount/AP_Mount.h

@@ -216,7 +216,7 @@ public:
 
     // set focus specified as rate, percentage or auto
     // focus in = -1, focus hold = 0, focus out = 1
-    bool set_focus(uint8_t instance, FocusType focus_type, float focus_value);
+    SetFocusResult set_focus(uint8_t instance, FocusType focus_type, float focus_value);
 
     // send camera information message to GCS
     void send_camera_information(mavlink_channel_t chan) const;

libraries/AP_Mount/AP_Mount_Backend.h

@@ -155,7 +155,7 @@ public:
 
     // set focus specified as rate, percentage or auto
     // focus in = -1, focus hold = 0, focus out = 1
-    virtual bool set_focus(FocusType focus_type, float focus_value) { return false; }
+    virtual SetFocusResult set_focus(FocusType focus_type, float focus_value) { return SetFocusResult::UNSUPPORTED; }
 
     // send camera information message to GCS
     virtual void send_camera_information(mavlink_channel_t chan) const {}

libraries/AP_Mount/AP_Mount_Siyi.cpp

@@ -756,7 +756,7 @@ void AP_Mount_Siyi::update_zoom_control()
 
 // set focus specified as rate, percentage or auto
 // focus in = -1, focus hold = 0, focus out = 1
-bool AP_Mount_Siyi::set_focus(FocusType focus_type, float focus_value)
+SetFocusResult AP_Mount_Siyi::set_focus(FocusType focus_type, float focus_value)
 {
     switch (focus_type) {
     case FocusType::RATE: {
@@ -767,17 +767,23 @@ bool AP_Mount_Siyi::set_focus(FocusType focus_type, float focus_value)
             // Siyi API specifies -1 should be sent as 255
             focus_step = UINT8_MAX;
         }
-        return send_1byte_packet(SiyiCommandId::MANUAL_FOCUS, (uint8_t)focus_step);
+        if (!send_1byte_packet(SiyiCommandId::MANUAL_FOCUS, (uint8_t)focus_step)) {
+            return SetFocusResult::FAILED;
+        }
+        return SetFocusResult::ACCEPTED;
     }
     case FocusType::PCT:
         // not supported
-        return false;
+        return SetFocusResult::INVALID_PARAMETERS;
     case FocusType::AUTO:
-        return send_1byte_packet(SiyiCommandId::AUTO_FOCUS, 1);
+        if (!send_1byte_packet(SiyiCommandId::AUTO_FOCUS, 1)) {
+            return SetFocusResult::FAILED;
+        }
+        return SetFocusResult::ACCEPTED;
     }
 
     // unsupported focus type
-    return false;
+    return SetFocusResult::INVALID_PARAMETERS;
 }
 
 // send camera information message to GCS

libraries/AP_Mount/AP_Mount_Siyi.h

@@ -70,7 +70,7 @@ public:
 
     // set focus specified as rate, percentage or auto
     // focus in = -1, focus hold = 0, focus out = 1
-    bool set_focus(FocusType focus_type, float focus_value) override;
+    SetFocusResult set_focus(FocusType focus_type, float focus_value) override;
 
     // send camera information message to GCS
     void send_camera_information(mavlink_channel_t chan) const override;

libraries/AP_Mount/AP_Mount_Xacti.cpp

@@ -164,10 +164,10 @@ bool AP_Mount_Xacti::record_video(bool start_recording)
 
 // set focus specified as rate, percentage or auto
 // focus in = -1, focus hold = 0, focus out = 1
-bool AP_Mount_Xacti::set_focus(FocusType focus_type, float focus_value)
+SetFocusResult AP_Mount_Xacti::set_focus(FocusType focus_type, float focus_value)
 {
     if (_detected_modules[_instance].ap_dronecan == nullptr) {
-        return false;
+        return SetFocusResult::FAILED;
     }
 
     // convert focus type and value to parameter value
@@ -185,11 +185,14 @@ bool AP_Mount_Xacti::set_focus(FocusType focus_type, float focus_value)
         break;
     default:
         // unsupported forucs mode
-        return false;
+        return SetFocusResult::INVALID_PARAMETERS;
     }
 
     // set FocusMode parameter
-    return _detected_modules[_instance].ap_dronecan->set_parameter_on_node(_detected_modules[_instance].node_id, XACTI_PARAM_FOCUSMODE, focus_param_value, &param_int_cb);
+    if (!_detected_modules[_instance].ap_dronecan->set_parameter_on_node(_detected_modules[_instance].node_id, XACTI_PARAM_FOCUSMODE, focus_param_value, &param_int_cb)) {
+        return SetFocusResult::FAILED;
+    }
+    return SetFocusResult::ACCEPTED;
 }
 
 // send camera information message to GCS

libraries/AP_Mount/AP_Mount_Xacti.h

@@ -53,7 +53,7 @@ public:
 
     // set focus specified as rate, percentage or auto
     // focus in = -1, focus hold = 0, focus out = 1
-    bool set_focus(FocusType focus_type, float focus_value) override;
+    SetFocusResult set_focus(FocusType focus_type, float focus_value) override;
 
     // send camera information message to GCS
     void send_camera_information(mavlink_channel_t chan) const override;