From 9e3ab558b36af08fcdcdb8b037975107c30e1fea Mon Sep 17 00:00:00 2001
From: Randy Mackay <rmackay9@yahoo.com>
Date: Fri, 22 Sep 2023 15:45:56 +0900
Subject: [PATCH] AP_Camera: take_pic and take_multiple_pic report success

Methods return success if at least one backend succeeds
---
 libraries/AP_Camera/AP_Camera.cpp | 31 ++++++++++++++++++++++++++-----
 libraries/AP_Camera/AP_Camera.h   | 10 +++++++---
 2 files changed, 33 insertions(+), 8 deletions(-)

diff --git a/libraries/AP_Camera/AP_Camera.cpp b/libraries/AP_Camera/AP_Camera.cpp
index d170b632d4..f4bf63763d 100644
--- a/libraries/AP_Camera/AP_Camera.cpp
+++ b/libraries/AP_Camera/AP_Camera.cpp
@@ -77,16 +77,20 @@ void AP_Camera::cam_mode_toggle()
 }
 
 // take a picture
-void AP_Camera::take_picture()
+bool AP_Camera::take_picture()
 {
     WITH_SEMAPHORE(_rsem);
 
     // call for each instance
+    bool success = false;
     for (uint8_t i = 0; i < AP_CAMERA_MAX_INSTANCES; i++) {
         if (_backends[i] != nullptr) {
-            _backends[i]->take_picture();
+            success |= _backends[i]->take_picture();
         }
     }
+
+    // return true if at least once pic taken
+    return success;
 }
 
 bool AP_Camera::take_picture(uint8_t instance)
@@ -97,28 +101,45 @@ bool AP_Camera::take_picture(uint8_t instance)
     if (backend == nullptr) {
         return false;
     }
-    backend->take_picture();
-    return true;
+    return backend->take_picture();
 }
 
 // take multiple pictures, time_interval between two consecutive pictures is in miliseconds
+// if instance is not provided, all available cameras affected
+// time_interval_ms must be positive
 // total_num is number of pictures to be taken, -1 means capture forever
-void AP_Camera::take_multiple_pictures(uint32_t time_interval_ms, int16_t total_num)
+// returns true if at least one camera is successful
+bool AP_Camera::take_multiple_pictures(uint32_t time_interval_ms, int16_t total_num)
 {
     WITH_SEMAPHORE(_rsem);
 
+    // sanity check time interval
+    if (time_interval_ms == 0) {
+        return false;
+    }
+
     // call for all instances
+    bool success = false;
     for (uint8_t i = 0; i < AP_CAMERA_MAX_INSTANCES; i++) {
         if (_backends[i] != nullptr) {
             _backends[i]->take_multiple_pictures(time_interval_ms, total_num);
+            success = true;
         }
     }
+
+    // return true if at least once backend was successful
+    return success;
 }
 
 bool AP_Camera::take_multiple_pictures(uint8_t instance, uint32_t time_interval_ms, int16_t total_num)
 {
     WITH_SEMAPHORE(_rsem);
 
+    // sanity check time interval
+    if (time_interval_ms == 0) {
+        return false;
+    }
+
     auto *backend = get_instance(instance);
     if (backend == nullptr) {
         return false;
diff --git a/libraries/AP_Camera/AP_Camera.h b/libraries/AP_Camera/AP_Camera.h
index dc5b79478b..80221ac643 100644
--- a/libraries/AP_Camera/AP_Camera.h
+++ b/libraries/AP_Camera/AP_Camera.h
@@ -111,13 +111,17 @@ public:
     void cam_mode_toggle();
     void cam_mode_toggle(uint8_t instance);
 
-    // take a picture
-    void take_picture();
+    // take a picture.  If instance is not provided, all available cameras affected
+    // returns true if at least one camera took a picture
+    bool take_picture();
     bool take_picture(uint8_t instance);
 
     // take multiple pictures, time_interval between two consecutive pictures is in miliseconds
+    // if instance is not provided, all available cameras affected
+    // time_interval_ms must be positive
     // total_num is number of pictures to be taken, -1 means capture forever
-    void take_multiple_pictures(uint32_t time_interval_ms, int16_t total_num);
+    // returns true if at least one camera is successful
+    bool take_multiple_pictures(uint32_t time_interval_ms, int16_t total_num);
     bool take_multiple_pictures(uint8_t instance, uint32_t time_interval_ms, int16_t total_num);
 
     // stop capturing multiple image sequence