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[hal] Refactor C++ handle closing; check for invalid handle before closing (#7016)

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Adds a close function pointer template parameter to hal::Handle.  This allows default destructors in many places.
The status parameter has been removed from close functions; in most places it was not used. Where it was, an error is printed instead.
This commit is contained in:
Ryan Blue
2024-09-07 13:58:15 -04:00
committed by GitHub
parent 80f3813908
commit 496e7c1bba
94 changed files with 247 additions and 425 deletions
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183
crossConnIntegrationTests/src/main/native/include/LifetimeWrappers.h
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@@ -10,184 +10,69 @@
namespace hlt {
struct InterruptHandle {
struct InterruptHandle : hal::Handle<HAL_InterruptHandle, HAL_CleanInterrupts> {
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;
explicit InterruptHandle(int32_t* status)
: Handle{HAL_InitializeInterrupts(status)} {}
};
struct DMAHandle {
struct DMAHandle : hal::Handle<HAL_DMAHandle, HAL_FreeDMA> {
public:
explicit DMAHandle(int32_t* status) { handle = HAL_InitializeDMA(status); }
DMAHandle(const DMAHandle&) = delete;
DMAHandle operator=(const DMAHandle&) = delete;
DMAHandle(DMAHandle&&) = default;
DMAHandle& operator=(DMAHandle&&) = default;
~DMAHandle() { HAL_FreeDMA(handle); }
operator HAL_DMAHandle() const { return handle; }
private:
HAL_DMAHandle handle = 0;
explicit DMAHandle(int32_t* status) : Handle{HAL_InitializeDMA(status)} {}
};
struct AnalogInputHandle {
struct AnalogInputHandle
: hal::Handle<HAL_AnalogInputHandle, HAL_FreeAnalogInputPort> {
public:
AnalogInputHandle(int32_t port, int32_t* status) {
handle = HAL_InitializeAnalogInputPort(HAL_GetPort(port), nullptr, status);
}
AnalogInputHandle(const AnalogInputHandle&) = delete;
AnalogInputHandle operator=(const AnalogInputHandle&) = delete;
AnalogInputHandle(AnalogInputHandle&&) = default;
AnalogInputHandle& operator=(AnalogInputHandle&&) = default;
~AnalogInputHandle() { HAL_FreeAnalogInputPort(handle); }
operator HAL_AnalogInputHandle() const { return handle; }
private:
HAL_AnalogInputHandle handle = 0;
AnalogInputHandle(int32_t port, int32_t* status)
: Handle{HAL_InitializeAnalogInputPort(HAL_GetPort(port), nullptr,
status)} {}
};
struct AnalogOutputHandle {
struct AnalogOutputHandle
: hal::Handle<HAL_AnalogOutputHandle, HAL_FreeAnalogOutputPort> {
public:
AnalogOutputHandle(int32_t port, int32_t* status) {
handle = HAL_InitializeAnalogOutputPort(HAL_GetPort(port), nullptr, status);
}
AnalogOutputHandle(const AnalogOutputHandle&) = delete;
AnalogOutputHandle operator=(const AnalogOutputHandle&) = delete;
AnalogOutputHandle(AnalogOutputHandle&&) = default;
AnalogOutputHandle& operator=(AnalogOutputHandle&&) = default;
~AnalogOutputHandle() { HAL_FreeAnalogOutputPort(handle); }
operator HAL_AnalogOutputHandle() const { return handle; }
private:
HAL_AnalogOutputHandle handle = 0;
AnalogOutputHandle(int32_t port, int32_t* status)
: Handle{HAL_InitializeAnalogOutputPort(HAL_GetPort(port), nullptr,
status)} {}
};
struct AnalogTriggerHandle {
struct AnalogTriggerHandle
: hal::Handle<HAL_AnalogTriggerHandle, HAL_CleanAnalogTrigger> {
public:
explicit AnalogTriggerHandle(HAL_AnalogInputHandle port, int32_t* status) {
handle = HAL_InitializeAnalogTrigger(port, status);
}
AnalogTriggerHandle(const AnalogTriggerHandle&) = delete;
AnalogTriggerHandle operator=(const AnalogTriggerHandle&) = delete;
AnalogTriggerHandle(AnalogTriggerHandle&&) = default;
AnalogTriggerHandle& operator=(AnalogTriggerHandle&&) = default;
~AnalogTriggerHandle() {
int32_t status = 0;
HAL_CleanAnalogTrigger(handle, &status);
}
operator HAL_AnalogTriggerHandle() const { return handle; }
private:
HAL_AnalogTriggerHandle handle = 0;
explicit AnalogTriggerHandle(HAL_AnalogInputHandle port, int32_t* status)
: Handle{HAL_InitializeAnalogTrigger(port, status)} {}
};
struct DutyCycleHandle {
struct DutyCycleHandle : hal::Handle<HAL_DutyCycleHandle, HAL_FreeDutyCycle> {
public:
DutyCycleHandle(HAL_DigitalHandle port, int32_t* status) {
handle = HAL_InitializeDutyCycle(
port, HAL_AnalogTriggerType::HAL_Trigger_kInWindow, status);
}
DutyCycleHandle(const DutyCycleHandle&) = delete;
DutyCycleHandle operator=(const DutyCycleHandle&) = delete;
DutyCycleHandle(DutyCycleHandle&&) = default;
DutyCycleHandle& operator=(DutyCycleHandle&&) = default;
~DutyCycleHandle() { HAL_FreeDutyCycle(handle); }
operator HAL_DutyCycleHandle() const { return handle; }
private:
HAL_DutyCycleHandle handle = 0;
DutyCycleHandle(HAL_DigitalHandle port, int32_t* status)
: Handle{HAL_InitializeDutyCycle(
port, HAL_AnalogTriggerType::HAL_Trigger_kInWindow, status)} {}
};
struct DIOHandle {
struct DIOHandle : hal::Handle<HAL_DigitalHandle, HAL_FreeDIOPort> {
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;
DIOHandle(int32_t port, HAL_Bool input, int32_t* status)
: Handle{
HAL_InitializeDIOPort(HAL_GetPort(port), input, nullptr, status)} {}
};
struct PWMHandle {
struct PWMHandle : hal::Handle<HAL_DigitalHandle, HAL_FreePWMPort> {
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;
PWMHandle(int32_t port, int32_t* status)
: Handle{HAL_InitializePWMPort(HAL_GetPort(port), nullptr, status)} {}
};
struct RelayHandle {
struct RelayHandle : hal::Handle<HAL_RelayHandle, HAL_FreeRelayPort> {
public:
RelayHandle(int32_t port, HAL_Bool fwd, int32_t* status) {
handle = HAL_InitializeRelayPort(HAL_GetPort(port), fwd, nullptr, status);
}
RelayHandle(const RelayHandle&) = delete;
RelayHandle operator=(const RelayHandle&) = delete;
RelayHandle(RelayHandle&&) = default;
RelayHandle& operator=(RelayHandle&&) = default;
~RelayHandle() { HAL_FreeRelayPort(handle); }
operator HAL_RelayHandle() const { return handle; }
private:
HAL_RelayHandle handle = 0;
RelayHandle(int32_t port, HAL_Bool fwd, int32_t* status)
: Handle{
HAL_InitializeRelayPort(HAL_GetPort(port), fwd, nullptr, status)} {}
};
#define ASSERT_LAST_ERROR_STATUS(status, x) \