Initial commit of cross connect integration test project (#3434)

Adding as a separate project so current integration tests stay working.

crossConnIntegrationTests/src/main/native/include/LifetimeWrappers.h

@@ -0,0 +1,82 @@
+// Copyright (c) FIRST and other WPILib contributors.
+// Open Source Software; you can modify and/or share it under the terms of
+// the WPILib BSD license file in the root directory of this project.
+
+#pragma once
+
+#include <hal/HAL.h>
+
+namespace hlt {
+
+struct InterruptHandle {
+ public:
+  explicit InterruptHandle(int32_t* status) {
+    handle = HAL_InitializeInterrupts(status);
+  }
+  InterruptHandle(const InterruptHandle&) = delete;
+  InterruptHandle operator=(const InterruptHandle&) = delete;
+
+  InterruptHandle(InterruptHandle&&) = default;
+  InterruptHandle& operator=(InterruptHandle&&) = default;
+
+  ~InterruptHandle() { HAL_CleanInterrupts(handle); }
+
+  operator HAL_InterruptHandle() const { return handle; }
+
+ private:
+  HAL_InterruptHandle handle = 0;
+};
+
+struct DIOHandle {
+ public:
+  DIOHandle() {}
+  DIOHandle(const DIOHandle&) = delete;
+  DIOHandle operator=(const DIOHandle&) = delete;
+
+  DIOHandle(DIOHandle&&) = default;
+  DIOHandle& operator=(DIOHandle&&) = default;
+
+  DIOHandle(int32_t port, HAL_Bool input, int32_t* status) {
+    handle = HAL_InitializeDIOPort(HAL_GetPort(port), input, nullptr, status);
+  }
+
+  ~DIOHandle() { HAL_FreeDIOPort(handle); }
+
+  operator HAL_DigitalHandle() const { return handle; }
+
+ private:
+  HAL_DigitalHandle handle = 0;
+};
+
+struct PWMHandle {
+ public:
+  PWMHandle() {}
+  PWMHandle(const PWMHandle&) = delete;
+  PWMHandle operator=(const PWMHandle&) = delete;
+
+  PWMHandle(PWMHandle&&) = default;
+  PWMHandle& operator=(PWMHandle&&) = default;
+
+  PWMHandle(int32_t port, int32_t* status) {
+    handle = HAL_InitializePWMPort(HAL_GetPort(port), nullptr, status);
+  }
+
+  ~PWMHandle() {
+    int32_t status = 0;
+    HAL_FreePWMPort(handle, &status);
+  }
+
+  operator HAL_DigitalHandle() const { return handle; }
+
+ private:
+  HAL_DigitalHandle handle = 0;
+};
+
+#define ASSERT_LAST_ERROR_STATUS(status, x)                          \
+  do {                                                               \
+    ASSERT_EQ(status, HAL_USE_LAST_ERROR);                           \
+    const char* lastErrorMessageInMacro = HAL_GetLastError(&status); \
+    ASSERT_EQ(status, x);                                            \
+  } while (0)
+
+}  // namespace hlt