[wpiutil,hal] Move C++ Handle wrapper to wpiutil (#8935)

Also move WPI_Handle typedef to its own header (util/Handle.h).

cscore/src/main/native/include/wpi/cs/cscore_c.h

@@ -7,6 +7,7 @@
 #include <stddef.h>  // NOLINT
 #include <stdint.h>
 
+#include "wpi/util/Handle.h"
 #include "wpi/util/PixelFormat.h"
 #include "wpi/util/string.h"
 
@@ -40,7 +41,7 @@ extern "C" {
 typedef int CS_Bool;
 typedef int CS_Status;
 
-typedef int CS_Handle;
+typedef WPI_Handle CS_Handle;
 typedef CS_Handle CS_Property;
 typedef CS_Handle CS_Listener;
 typedef CS_Handle CS_ListenerPoller;

hal/src/main/native/include/wpi/hal/Types.h

@@ -6,15 +6,17 @@
 
 #include <stdint.h>
 
+#include "wpi/util/Handle.h"
+
 /**
  * @defgroup hal_types Type Definitions
  * @ingroup hal_capi
  * @{
  */
 
-#define HAL_INVALID_HANDLE 0
+#define HAL_INVALID_HANDLE WPI_INVALID_HANDLE
 
-typedef int32_t HAL_Handle;
+typedef WPI_Handle HAL_Handle;
 
 typedef HAL_Handle HAL_AlertHandle;
 

hal/src/main/native/include/wpi/hal/Types.hpp

@@ -1,77 +0,0 @@
-// 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 "wpi/hal/Types.h"
-
-namespace wpi::hal {
-/**
- * A move-only C++ wrapper around a HAL handle.
- * Will free the handle if FreeFunction is provided
- */
-template <typename CType, void (*FreeFunction)(CType) = nullptr,
-          int32_t CInvalid = HAL_INVALID_HANDLE>
-class Handle {
- public:
-  Handle() = default;
-  /*implicit*/ Handle(CType val) : m_handle(val) {}  // NOLINT
-
-  Handle(const Handle&) = delete;
-  Handle& operator=(const Handle&) = delete;
-
-  Handle(Handle&& rhs) : m_handle(rhs.m_handle) { rhs.m_handle = CInvalid; }
-
-  Handle& operator=(Handle&& rhs) {
-    if (this != &rhs) {
-// FIXME: GCC gives the false positive "the address of <GetDefault> will never
-// be NULL" because it doesn't realize the default template parameter can make
-// GetDefault nullptr. Fixed in GCC 13.
-// https://gcc.gnu.org/bugzilla/show_bug.cgi?id=94554
-// https://gcc.gnu.org/bugzilla/show_bug.cgi?id=105885
-#if __GNUC__
-#pragma GCC diagnostic push
-#pragma GCC diagnostic ignored "-Waddress"
-#endif  // __GNUC__
-      if constexpr (FreeFunction != nullptr) {
-#if __GNUC__
-#pragma GCC diagnostic pop
-#endif  // __GNUC__
-        if (m_handle != CInvalid) {
-          FreeFunction(m_handle);
-        }
-      }
-    }
-    m_handle = rhs.m_handle;
-    rhs.m_handle = CInvalid;
-    return *this;
-  }
-
-  ~Handle() {
-// FIXME: GCC gives the false positive "the address of <GetDefault> will never
-// be NULL" because it doesn't realize the default template parameter can make
-// GetDefault nullptr. Fixed in GCC 13.
-// https://gcc.gnu.org/bugzilla/show_bug.cgi?id=94554
-// https://gcc.gnu.org/bugzilla/show_bug.cgi?id=105885
-#if __GNUC__
-#pragma GCC diagnostic push
-#pragma GCC diagnostic ignored "-Waddress"
-#endif  // __GNUC__
-    if constexpr (FreeFunction != nullptr) {
-#if __GNUC__
-#pragma GCC diagnostic pop
-#endif  // __GNUC__
-      if (m_handle != CInvalid) {
-        FreeFunction(m_handle);
-      }
-    }
-  }
-
-  operator CType() const { return m_handle; }  // NOLINT
-
- private:
-  CType m_handle = CInvalid;
-};
-
-}  // namespace wpi::hal

ntcore/src/main/native/include/wpi/nt/ntcore_c.h

@@ -6,6 +6,7 @@
 
 #include <stdint.h>
 
+#include "wpi/util/Handle.h"
 #include "wpi/util/string.h"
 
 #ifdef __cplusplus
@@ -31,7 +32,7 @@ struct WPI_DataLog;
 /** Typedefs */
 typedef int NT_Bool;
 
-typedef unsigned int NT_Handle;
+typedef WPI_Handle NT_Handle;
 typedef NT_Handle NT_ConnectionDataLogger;
 typedef NT_Handle NT_DataLogger;
 typedef NT_Handle NT_Entry;

ntcore/src/test/native/cpp/ConnectionListenerTest.cpp

@@ -51,10 +51,10 @@ void ConnectionListenerTest::Connect(const char* address, unsigned int port4) {
 TEST_F(ConnectionListenerTest, Polled) {
   // set up the poller
   NT_ListenerPoller poller = wpi::nt::CreateListenerPoller(server_inst);
-  ASSERT_NE(poller, 0u);
+  ASSERT_NE(poller, 0);
   NT_Listener handle = wpi::nt::AddPolledListener(
       poller, server_inst, wpi::nt::EventFlags::CONNECTION);
-  ASSERT_NE(handle, 0u);
+  ASSERT_NE(handle, 0);
 
   // trigger a connect event
   Connect("127.0.0.1", 10020);

ntcore/src/test/native/cpp/LocalStorageTest.cpp

@@ -73,11 +73,11 @@ TEST_F(LocalStorageTest, GetTopic2) {
 }
 
 TEST_F(LocalStorageTest, GetTopicEmptyName) {
-  EXPECT_EQ(storage.GetTopic(""), 0u);
+  EXPECT_EQ(storage.GetTopic(""), 0);
 }
 
 TEST_F(LocalStorageTest, GetEntryEmptyName) {
-  EXPECT_EQ(storage.GetEntry(""), 0u);
+  EXPECT_EQ(storage.GetEntry(""), 0);
 }
 
 TEST_F(LocalStorageTest, GetEntryCached) {
@@ -538,11 +538,11 @@ TEST_F(LocalStorageTest, PublishUntyped) {
                    std::string_view{"cannot publish 'foo' with an unassigned "
                                     "type or empty type string"}));
 
-  EXPECT_EQ(storage.Publish(fooTopic, NT_UNASSIGNED, "", {}, {}), 0u);
+  EXPECT_EQ(storage.Publish(fooTopic, NT_UNASSIGNED, "", {}, {}), 0);
 }
 
 TEST_F(LocalStorageTest, SetValueInvalidHandle) {
-  EXPECT_FALSE(storage.SetEntryValue(0u, {}));
+  EXPECT_FALSE(storage.SetEntryValue(0, {}));
 }
 
 class LocalStorageDuplicatesTest : public LocalStorageTest {

wpilibc/src/main/native/include/wpi/counter/Tachometer.hpp

@@ -6,10 +6,10 @@
 
 #include "EdgeConfiguration.hpp"
 #include "wpi/hal/Counter.h"
-#include "wpi/hal/Types.hpp"
 #include "wpi/units/angular_velocity.hpp"
 #include "wpi/units/frequency.hpp"
 #include "wpi/units/time.hpp"
+#include "wpi/util/Handle.hpp"
 #include "wpi/util/sendable/Sendable.hpp"
 #include "wpi/util/sendable/SendableHelper.hpp"
 
@@ -110,7 +110,7 @@ class Tachometer : public wpi::util::Sendable,
   void InitSendable(wpi::util::SendableBuilder& builder) override;
 
  private:
-  wpi::hal::Handle<HAL_CounterHandle, HAL_FreeCounter> m_handle;
+  wpi::util::Handle<HAL_CounterHandle, HAL_FreeCounter> m_handle;
   int m_edgesPerRevolution;
   int32_t m_channel;
 };

wpilibc/src/main/native/include/wpi/counter/UpDownCounter.hpp

@@ -6,7 +6,7 @@
 
 #include "EdgeConfiguration.hpp"
 #include "wpi/hal/Counter.h"
-#include "wpi/hal/Types.hpp"
+#include "wpi/util/Handle.hpp"
 #include "wpi/util/sendable/Sendable.hpp"
 #include "wpi/util/sendable/SendableHelper.hpp"
 
@@ -54,7 +54,7 @@ class UpDownCounter : public wpi::util::Sendable,
   void InitSendable(wpi::util::SendableBuilder& builder) override;
 
  private:
-  wpi::hal::Handle<HAL_CounterHandle, HAL_FreeCounter> m_handle;
+  wpi::util::Handle<HAL_CounterHandle, HAL_FreeCounter> m_handle;
   int32_t m_channel;
 };
 }  // namespace wpi

wpilibc/src/main/native/include/wpi/driverstation/Alert.hpp

@@ -8,7 +8,7 @@
 #include <string_view>
 
 #include "wpi/hal/Alert.h"
-#include "wpi/hal/Types.hpp"
+#include "wpi/util/Handle.hpp"
 
 namespace wpi {
 
@@ -116,7 +116,7 @@ class Alert {
 
  private:
   Level m_type;
-  wpi::hal::Handle<HAL_AlertHandle, HAL_DestroyAlert> m_handle;
+  wpi::util::Handle<HAL_AlertHandle, HAL_DestroyAlert> m_handle;
 };
 
 }  // namespace wpi

wpilibc/src/main/native/include/wpi/framework/TimedRobot.hpp

@@ -8,10 +8,10 @@
 
 #include "wpi/framework/IterativeRobotBase.hpp"
 #include "wpi/hal/Notifier.hpp"
-#include "wpi/hal/Types.hpp"
 #include "wpi/internal/PeriodicPriorityQueue.hpp"
 #include "wpi/units/frequency.hpp"
 #include "wpi/units/time.hpp"
+#include "wpi/util/Handle.hpp"
 
 namespace wpi {
 
@@ -88,7 +88,7 @@ class TimedRobot : public IterativeRobotBase {
                    wpi::units::second_t offset = 0_s);
 
  protected:
-  wpi::hal::Handle<HAL_NotifierHandle, HAL_DestroyNotifier> m_notifier;
+  wpi::util::Handle<HAL_NotifierHandle, HAL_DestroyNotifier> m_notifier;
   std::chrono::microseconds m_startTime;
 
  private:

wpilibc/src/main/native/include/wpi/hardware/bus/CAN.hpp

@@ -7,7 +7,7 @@
 #include <stdint.h>
 
 #include "wpi/hal/CANAPI.h"
-#include "wpi/hal/Types.hpp"
+#include "wpi/util/Handle.hpp"
 
 namespace wpi {
 
@@ -155,6 +155,6 @@ class CAN {
       HAL_CAN_DEV_MISCELLANEOUS;
 
  private:
-  wpi::hal::Handle<HAL_CANHandle, HAL_CleanCAN> m_handle;
+  wpi::util::Handle<HAL_CANHandle, HAL_CleanCAN> m_handle;
 };
 }  // namespace wpi

wpilibc/src/main/native/include/wpi/hardware/bus/I2C.hpp

@@ -8,7 +8,7 @@
 
 #include "wpi/hal/I2C.h"
 #include "wpi/hal/I2CTypes.h"
-#include "wpi/hal/Types.hpp"
+#include "wpi/util/Handle.hpp"
 
 namespace wpi {
 
@@ -154,7 +154,7 @@ class I2C {
   bool VerifySensor(int registerAddress, int count, const uint8_t* expected);
 
  private:
-  wpi::hal::Handle<HAL_I2CPort, HAL_CloseI2C, HAL_I2C_PORT_INVALID> m_port;
+  wpi::util::Handle<HAL_I2CPort, HAL_CloseI2C, HAL_I2C_PORT_INVALID> m_port;
   int m_deviceAddress;
 };
 

wpilibc/src/main/native/include/wpi/hardware/bus/SerialPort.hpp

@@ -7,8 +7,8 @@
 #include <string_view>
 
 #include "wpi/hal/SerialPort.h"
-#include "wpi/hal/Types.hpp"
 #include "wpi/units/time.hpp"
+#include "wpi/util/Handle.hpp"
 
 namespace wpi {
 
@@ -253,7 +253,7 @@ class SerialPort {
   void Reset();
 
  private:
-  wpi::hal::Handle<HAL_SerialPortHandle, HAL_CloseSerial> m_portHandle;
+  wpi::util::Handle<HAL_SerialPortHandle, HAL_CloseSerial> m_portHandle;
 };
 
 }  // namespace wpi

wpilibc/src/main/native/include/wpi/hardware/discrete/AnalogInput.hpp

@@ -7,7 +7,7 @@
 #include <stdint.h>
 
 #include "wpi/hal/AnalogInput.h"
-#include "wpi/hal/Types.hpp"
+#include "wpi/util/Handle.hpp"
 #include "wpi/util/sendable/Sendable.hpp"
 #include "wpi/util/sendable/SendableHelper.hpp"
 
@@ -78,7 +78,7 @@ class AnalogInput : public wpi::util::Sendable,
 
  private:
   int m_channel;
-  wpi::hal::Handle<HAL_AnalogInputHandle, HAL_FreeAnalogInputPort> m_port;
+  wpi::util::Handle<HAL_AnalogInputHandle, HAL_FreeAnalogInputPort> m_port;
 };
 
 }  // namespace wpi

wpilibc/src/main/native/include/wpi/hardware/discrete/DigitalInput.hpp

@@ -5,7 +5,7 @@
 #pragma once
 
 #include "wpi/hal/DIO.h"
-#include "wpi/hal/Types.hpp"
+#include "wpi/util/Handle.hpp"
 #include "wpi/util/sendable/Sendable.hpp"
 #include "wpi/util/sendable/SendableHelper.hpp"
 
@@ -60,7 +60,7 @@ class DigitalInput : public wpi::util::Sendable,
 
  private:
   int m_channel;
-  wpi::hal::Handle<HAL_DigitalHandle, HAL_FreeDIOPort> m_handle;
+  wpi::util::Handle<HAL_DigitalHandle, HAL_FreeDIOPort> m_handle;
 };
 
 }  // namespace wpi

wpilibc/src/main/native/include/wpi/hardware/discrete/DigitalOutput.hpp

@@ -5,8 +5,8 @@
 #pragma once
 
 #include "wpi/hal/DIO.h"
-#include "wpi/hal/Types.hpp"
 #include "wpi/units/time.hpp"
+#include "wpi/util/Handle.hpp"
 #include "wpi/util/sendable/Sendable.hpp"
 #include "wpi/util/sendable/SendableHelper.hpp"
 
@@ -142,8 +142,8 @@ class DigitalOutput : public wpi::util::Sendable,
 
  private:
   int m_channel;
-  wpi::hal::Handle<HAL_DigitalHandle, HAL_FreeDIOPort> m_handle;
-  wpi::hal::Handle<HAL_DigitalPWMHandle> m_pwmGenerator;
+  wpi::util::Handle<HAL_DigitalHandle, HAL_FreeDIOPort> m_handle;
+  wpi::util::Handle<HAL_DigitalPWMHandle> m_pwmGenerator;
 };
 
 }  // namespace wpi

wpilibc/src/main/native/include/wpi/hardware/discrete/PWM.hpp

@@ -7,8 +7,8 @@
 #include <stdint.h>
 
 #include "wpi/hal/PWM.h"
-#include "wpi/hal/Types.hpp"
 #include "wpi/units/time.hpp"
+#include "wpi/util/Handle.hpp"
 #include "wpi/util/sendable/Sendable.hpp"
 #include "wpi/util/sendable/SendableHelper.hpp"
 
@@ -90,7 +90,7 @@ class PWM : public wpi::util::Sendable, public wpi::util::SendableHelper<PWM> {
 
  private:
   int m_channel;
-  wpi::hal::Handle<HAL_DigitalHandle, HAL_FreePWMPort> m_handle;
+  wpi::util::Handle<HAL_DigitalHandle, HAL_FreePWMPort> m_handle;
 };
 
 }  // namespace wpi

wpilibc/src/main/native/include/wpi/hardware/led/AddressableLED.hpp

@@ -9,9 +9,9 @@
 
 #include "wpi/hal/AddressableLED.h"
 #include "wpi/hal/AddressableLEDTypes.h"
-#include "wpi/hal/Types.hpp"
 #include "wpi/util/Color.hpp"
 #include "wpi/util/Color8Bit.hpp"
+#include "wpi/util/Handle.hpp"
 
 namespace wpi {
 
@@ -170,7 +170,7 @@ class AddressableLED {
                             std::span<const LEDData> ledData);
 
  private:
-  wpi::hal::Handle<HAL_AddressableLEDHandle, HAL_FreeAddressableLED> m_handle;
+  wpi::util::Handle<HAL_AddressableLEDHandle, HAL_FreeAddressableLED> m_handle;
   int m_channel;
   int m_start{0};
   int m_length{0};

wpilibc/src/main/native/include/wpi/hardware/power/PowerDistribution.hpp

@@ -7,7 +7,7 @@
 #include <vector>
 
 #include "wpi/hal/PowerDistribution.h"
-#include "wpi/hal/Types.hpp"
+#include "wpi/util/Handle.hpp"
 #include "wpi/util/sendable/Sendable.hpp"
 #include "wpi/util/sendable/SendableHelper.hpp"
 
@@ -346,7 +346,7 @@ class PowerDistribution : public wpi::util::Sendable,
   void InitSendable(wpi::util::SendableBuilder& builder) override;
 
  private:
-  wpi::hal::Handle<HAL_PowerDistributionHandle, HAL_CleanPowerDistribution>
+  wpi::util::Handle<HAL_PowerDistributionHandle, HAL_CleanPowerDistribution>
       m_handle;
   int m_module;
 };

wpilibc/src/main/native/include/wpi/hardware/rotation/DutyCycle.hpp

@@ -5,9 +5,9 @@
 #pragma once
 
 #include "wpi/hal/DutyCycle.h"
-#include "wpi/hal/Types.hpp"
 #include "wpi/units/frequency.hpp"
 #include "wpi/units/time.hpp"
+#include "wpi/util/Handle.hpp"
 #include "wpi/util/sendable/Sendable.hpp"
 #include "wpi/util/sendable/SendableHelper.hpp"
 
@@ -72,6 +72,6 @@ class DutyCycle : public wpi::util::Sendable,
  private:
   void InitDutyCycle();
   int m_channel;
-  wpi::hal::Handle<HAL_DutyCycleHandle, HAL_FreeDutyCycle> m_handle;
+  wpi::util::Handle<HAL_DutyCycleHandle, HAL_FreeDutyCycle> m_handle;
 };
 }  // namespace wpi

wpilibc/src/main/native/include/wpi/hardware/rotation/Encoder.hpp

@@ -5,8 +5,8 @@
 #pragma once
 
 #include "wpi/hal/Encoder.h"
-#include "wpi/hal/Types.hpp"
 #include "wpi/hardware/discrete/CounterBase.hpp"
+#include "wpi/util/Handle.hpp"
 #include "wpi/util/sendable/Sendable.hpp"
 #include "wpi/util/sendable/SendableHelper.hpp"
 
@@ -272,7 +272,7 @@ class Encoder : public CounterBase,
    */
   double DecodingScaleFactor() const;
 
-  wpi::hal::Handle<HAL_EncoderHandle, HAL_FreeEncoder> m_encoder;
+  wpi::util::Handle<HAL_EncoderHandle, HAL_FreeEncoder> m_encoder;
 };
 
 }  // namespace wpi

wpiutil/src/main/native/include/wpi/util/Handle.h

@@ -0,0 +1,19 @@
+// 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 <stdint.h>
+
+#define WPI_INVALID_HANDLE 0
+
+/**
+ * Generic handle for all WPI handle-based interfaces.
+ *
+ * Handle data layout:
+ * - Bits 0-23:  Type-specific
+ * - Bits 24-30: Type
+ * - Bit 31:     Error
+ */
+typedef int32_t WPI_Handle;  // NOLINT

wpiutil/src/main/native/include/wpi/util/Handle.hpp

@@ -0,0 +1,61 @@
+// 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 <stdint.h>
+
+#include <concepts>
+
+#include "wpi/util/Handle.h"
+
+namespace wpi::util {
+/**
+ * A move-only C++ wrapper around a WPI handle.
+ * Will free the handle if FreeFunction is provided
+ */
+template <typename CType, auto FreeFunction = nullptr,
+          auto CInvalid = WPI_INVALID_HANDLE>
+  requires std::same_as<decltype(FreeFunction), std::nullptr_t> ||
+           std::invocable<decltype(FreeFunction), CType>
+class Handle {
+ public:
+  Handle() = default;
+  /*implicit*/ Handle(CType val) : m_handle(val) {}  // NOLINT
+
+  Handle(const Handle&) = delete;
+  Handle& operator=(const Handle&) = delete;
+
+  Handle(Handle&& rhs) : m_handle(rhs.m_handle) {
+    rhs.m_handle = static_cast<CType>(CInvalid);
+  }
+
+  Handle& operator=(Handle&& rhs) {
+    if (this != &rhs) {
+      if constexpr (std::invocable<decltype(FreeFunction), CType>) {
+        if (m_handle != static_cast<CType>(CInvalid)) {
+          FreeFunction(m_handle);
+        }
+      }
+    }
+    m_handle = rhs.m_handle;
+    rhs.m_handle = static_cast<CType>(CInvalid);
+    return *this;
+  }
+
+  ~Handle() {
+    if constexpr (std::invocable<decltype(FreeFunction), CType>) {
+      if (m_handle != static_cast<CType>(CInvalid)) {
+        FreeFunction(m_handle);
+      }
+    }
+  }
+
+  operator CType() const { return m_handle; }  // NOLINT
+
+ private:
+  CType m_handle = static_cast<CType>(CInvalid);
+};
+
+}  // namespace wpi::util

wpiutil/src/main/native/include/wpi/util/Synchronization.h

@@ -4,15 +4,7 @@
 
 #pragma once
 
-/**
- * Generic handle for all WPI handle-based interfaces.
- *
- * Handle data layout:
- * - Bits 0-23:  Type-specific
- * - Bits 24-30: Type
- * - Bit 31:     Error
- */
-typedef unsigned int WPI_Handle;  // NOLINT
+#include "wpi/util/Handle.h"
 
 /** An event handle. */
 typedef WPI_Handle WPI_EventHandle;  // NOLINT