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

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.

hal/src/main/native/athena/AnalogTrigger.cpp

@@ -99,8 +99,7 @@ HAL_AnalogTriggerHandle HAL_InitializeAnalogTriggerDutyCycle(
   return handle;
 }
 
-void HAL_CleanAnalogTrigger(HAL_AnalogTriggerHandle analogTriggerHandle,
-                            int32_t* status) {
+void HAL_CleanAnalogTrigger(HAL_AnalogTriggerHandle analogTriggerHandle) {
   analogTriggerHandles->Free(analogTriggerHandle);
   // caller owns the input handle.
 }

hal/src/main/native/athena/Counter.cpp

@@ -63,7 +63,7 @@ HAL_CounterHandle HAL_InitializeCounter(HAL_Counter_Mode mode, int32_t* index,
   return handle;
 }
 
-void HAL_FreeCounter(HAL_CounterHandle counterHandle, int32_t* status) {
+void HAL_FreeCounter(HAL_CounterHandle counterHandle) {
   counterHandles->Free(counterHandle);
 }
 

hal/src/main/native/athena/DIO.cpp

@@ -188,7 +188,7 @@ HAL_DigitalPWMHandle HAL_AllocateDigitalPWM(int32_t* status) {
   return handle;
 }
 
-void HAL_FreeDigitalPWM(HAL_DigitalPWMHandle pwmGenerator, int32_t* status) {
+void HAL_FreeDigitalPWM(HAL_DigitalPWMHandle pwmGenerator) {
   digitalPWMHandles->Free(pwmGenerator);
 }
 

hal/src/main/native/athena/Encoder.cpp

@@ -94,11 +94,9 @@ void Encoder::SetupCounter(HAL_Handle digitalSourceHandleA,
 
 Encoder::~Encoder() {
   if (m_counter != HAL_kInvalidHandle) {
-    int32_t status = 0;
-    HAL_FreeCounter(m_counter, &status);
+    HAL_FreeCounter(m_counter);
   } else {
-    int32_t status = 0;
-    HAL_FreeFPGAEncoder(m_encoder, &status);
+    HAL_FreeFPGAEncoder(m_encoder);
   }
 }
 
@@ -285,7 +283,7 @@ HAL_EncoderHandle HAL_InitializeEncoder(
   return handle;
 }
 
-void HAL_FreeEncoder(HAL_EncoderHandle encoderHandle, int32_t* status) {
+void HAL_FreeEncoder(HAL_EncoderHandle encoderHandle) {
   encoderHandles->Free(encoderHandle);
 }
 

hal/src/main/native/athena/FPGAEncoder.cpp

@@ -96,8 +96,7 @@ HAL_FPGAEncoderHandle HAL_InitializeFPGAEncoder(
   return handle;
 }
 
-void HAL_FreeFPGAEncoder(HAL_FPGAEncoderHandle fpgaEncoderHandle,
-                         int32_t* status) {
+void HAL_FreeFPGAEncoder(HAL_FPGAEncoderHandle fpgaEncoderHandle) {
   fpgaEncoderHandles->Free(fpgaEncoderHandle);
 }
 

hal/src/main/native/athena/FPGAEncoder.h

@@ -15,8 +15,7 @@ HAL_FPGAEncoderHandle HAL_InitializeFPGAEncoder(
     HAL_Handle digitalSourceHandleA, HAL_AnalogTriggerType analogTriggerTypeA,
     HAL_Handle digitalSourceHandleB, HAL_AnalogTriggerType analogTriggerTypeB,
     HAL_Bool reverseDirection, int32_t* index, int32_t* status);
-void HAL_FreeFPGAEncoder(HAL_FPGAEncoderHandle fpgaEncoderHandle,
-                         int32_t* status);
+void HAL_FreeFPGAEncoder(HAL_FPGAEncoderHandle fpgaEncoderHandle);
 
 /**
  * Reset the Encoder distance to zero.

hal/src/main/native/athena/Notifier.cpp

@@ -216,7 +216,7 @@ void HAL_StopNotifier(HAL_NotifierHandle notifierHandle, int32_t* status) {
   notifier->cond.notify_all();  // wake up any waiting threads
 }
 
-void HAL_CleanNotifier(HAL_NotifierHandle notifierHandle, int32_t* status) {
+void HAL_CleanNotifier(HAL_NotifierHandle notifierHandle) {
   auto notifier = notifierHandles->Free(notifierHandle);
   if (!notifier) {
     return;
@@ -236,9 +236,9 @@ void HAL_CleanNotifier(HAL_NotifierHandle notifierHandle, int32_t* status) {
     // the notifier can call back into our callback, so don't hold the lock
     // here (the atomic fetch_sub will prevent multiple parallel entries
     // into this function)
-
+    int32_t status = 0;
     if (notifierAlarm) {
-      notifierAlarm->writeEnable(false, status);
+      notifierAlarm->writeEnable(false, &status);
     }
     notifierRunning = false;
     hal::ReleaseFPGAInterrupt(kTimerInterruptNumber);

hal/src/main/native/athena/PWM.cpp

@@ -10,6 +10,7 @@
 #include <thread>
 
 #include <fmt/format.h>
+#include <wpi/print.h>
 
 #include "ConstantsInternal.h"
 #include "DigitalInternal.h"
@@ -126,10 +127,9 @@ HAL_DigitalHandle HAL_InitializePWMPort(HAL_PortHandle portHandle,
 
   return handle;
 }
-void HAL_FreePWMPort(HAL_DigitalHandle pwmPortHandle, int32_t* status) {
+void HAL_FreePWMPort(HAL_DigitalHandle pwmPortHandle) {
   auto port = digitalChannelHandles->Get(pwmPortHandle, HAL_HandleEnum::PWM);
   if (port == nullptr) {
-    *status = HAL_HANDLE_ERROR;
     return;
   }
 
@@ -148,11 +148,17 @@ void HAL_FreePWMPort(HAL_DigitalHandle pwmPortHandle, int32_t* status) {
   }
 
   if (port->channel > tPWM::kNumHdrRegisters - 1) {
+    int32_t status = 0;
     int32_t bitToUnset = 1 << remapMXPPWMChannel(port->channel);
     uint16_t specialFunctions =
-        digitalSystem->readEnableMXPSpecialFunction(status);
+        digitalSystem->readEnableMXPSpecialFunction(&status);
     digitalSystem->writeEnableMXPSpecialFunction(specialFunctions & ~bitToUnset,
-                                                 status);
+                                                 &status);
+    if (status != 0) {
+      wpi::println(
+          "HAL_FreePWMPort: failed to free MXP PWM port {}, status code {}",
+          port->channel, status);
+    }
   }
 }
 

hal/src/main/native/athena/SerialPort.cpp

@@ -141,7 +141,7 @@ HAL_SerialPortHandle HAL_InitializeSerialPortDirect(HAL_SerialPort port,
   return handle;
 }
 
-void HAL_CloseSerial(HAL_SerialPortHandle handle, int32_t* status) {
+void HAL_CloseSerial(HAL_SerialPortHandle handle) {
   auto port = serialPortHandles->Get(handle);
   serialPortHandles->Free(handle);
 

hal/src/main/native/cpp/jni/AddressableLEDJNI.cpp

@@ -41,7 +41,9 @@ JNIEXPORT void JNICALL
 Java_edu_wpi_first_hal_AddressableLEDJNI_free
   (JNIEnv* env, jclass, jint handle)
 {
-  HAL_FreeAddressableLED(static_cast<HAL_AddressableLEDHandle>(handle));
+  if (handle != HAL_kInvalidHandle) {
+    HAL_FreeAddressableLED(static_cast<HAL_AddressableLEDHandle>(handle));
+  }
 }
 
 /*

hal/src/main/native/cpp/jni/AnalogGyroJNI.cpp

@@ -57,7 +57,9 @@ JNIEXPORT void JNICALL
 Java_edu_wpi_first_hal_AnalogGyroJNI_freeAnalogGyro
   (JNIEnv* env, jclass, jint id)
 {
-  HAL_FreeAnalogGyro((HAL_GyroHandle)id);
+  if (id != HAL_kInvalidHandle) {
+    HAL_FreeAnalogGyro((HAL_GyroHandle)id);
+  }
 }
 
 /*

hal/src/main/native/cpp/jni/AnalogJNI.cpp

@@ -47,7 +47,9 @@ JNIEXPORT void JNICALL
 Java_edu_wpi_first_hal_AnalogJNI_freeAnalogInputPort
   (JNIEnv* env, jclass, jint id)
 {
-  HAL_FreeAnalogInputPort((HAL_AnalogInputHandle)id);
+  if (id != HAL_kInvalidHandle) {
+    HAL_FreeAnalogInputPort((HAL_AnalogInputHandle)id);
+  }
 }
 
 /*
@@ -76,7 +78,9 @@ JNIEXPORT void JNICALL
 Java_edu_wpi_first_hal_AnalogJNI_freeAnalogOutputPort
   (JNIEnv* env, jclass, jint id)
 {
-  HAL_FreeAnalogOutputPort((HAL_AnalogOutputHandle)id);
+  if (id != HAL_kInvalidHandle) {
+    HAL_FreeAnalogOutputPort((HAL_AnalogOutputHandle)id);
+  }
 }
 
 /*
@@ -540,9 +544,9 @@ JNIEXPORT void JNICALL
 Java_edu_wpi_first_hal_AnalogJNI_cleanAnalogTrigger
   (JNIEnv* env, jclass, jint id)
 {
-  int32_t status = 0;
-  HAL_CleanAnalogTrigger((HAL_AnalogTriggerHandle)id, &status);
-  CheckStatus(env, status);
+  if (id != HAL_kInvalidHandle) {
+    HAL_CleanAnalogTrigger((HAL_AnalogTriggerHandle)id);
+  }
 }
 
 /*

hal/src/main/native/cpp/jni/CANAPIJNI.cpp

@@ -58,7 +58,9 @@ JNIEXPORT void JNICALL
 Java_edu_wpi_first_hal_CANAPIJNI_cleanCAN
   (JNIEnv* env, jclass, jint handle)
 {
-  HAL_CleanCAN(static_cast<HAL_CANHandle>(handle));
+  if (handle != HAL_kInvalidHandle) {
+    HAL_CleanCAN(static_cast<HAL_CANHandle>(handle));
+  }
 }
 
 /*

hal/src/main/native/cpp/jni/CTREPCMJNI.cpp

@@ -41,7 +41,9 @@ JNIEXPORT void JNICALL
 Java_edu_wpi_first_hal_CTREPCMJNI_free
   (JNIEnv* env, jclass, jint handle)
 {
-  HAL_FreeCTREPCM(handle);
+  if (handle != HAL_kInvalidHandle) {
+    HAL_FreeCTREPCM(handle);
+  }
 }
 
 /*

hal/src/main/native/cpp/jni/CounterJNI.cpp

@@ -53,9 +53,9 @@ JNIEXPORT void JNICALL
 Java_edu_wpi_first_hal_CounterJNI_freeCounter
   (JNIEnv* env, jclass, jint id)
 {
-  int32_t status = 0;
-  HAL_FreeCounter((HAL_CounterHandle)id, &status);
-  CheckStatus(env, status);
+  if (id != HAL_kInvalidHandle) {
+    HAL_FreeCounter((HAL_CounterHandle)id);
+  }
 }
 
 /*

hal/src/main/native/cpp/jni/DIOJNI.cpp

@@ -57,7 +57,9 @@ JNIEXPORT void JNICALL
 Java_edu_wpi_first_hal_DIOJNI_freeDIOPort
   (JNIEnv* env, jclass, jint id)
 {
-  HAL_FreeDIOPort((HAL_DigitalHandle)id);
+  if (id != HAL_kInvalidHandle) {
+    HAL_FreeDIOPort((HAL_DigitalHandle)id);
+  }
 }
 
 /*
@@ -227,9 +229,9 @@ JNIEXPORT void JNICALL
 Java_edu_wpi_first_hal_DIOJNI_freeDigitalPWM
   (JNIEnv* env, jclass, jint id)
 {
-  int32_t status = 0;
-  HAL_FreeDigitalPWM((HAL_DigitalPWMHandle)id, &status);
-  CheckStatus(env, status);
+  if (id != HAL_kInvalidHandle) {
+    HAL_FreeDigitalPWM((HAL_DigitalPWMHandle)id);
+  }
 }
 
 /*

hal/src/main/native/cpp/jni/DMAJNI.cpp

@@ -46,7 +46,9 @@ JNIEXPORT void JNICALL
 Java_edu_wpi_first_hal_DMAJNI_free
   (JNIEnv* env, jclass, jint handle)
 {
-  HAL_FreeDMA(handle);
+  if (handle != HAL_kInvalidHandle) {
+    HAL_FreeDMA(handle);
+  }
 }
 
 /*

hal/src/main/native/cpp/jni/DutyCycleJNI.cpp

@@ -37,7 +37,9 @@ JNIEXPORT void JNICALL
 Java_edu_wpi_first_hal_DutyCycleJNI_free
   (JNIEnv*, jclass, jint handle)
 {
-  HAL_FreeDutyCycle(static_cast<HAL_DutyCycleHandle>(handle));
+  if (handle != HAL_kInvalidHandle) {
+    HAL_FreeDutyCycle(static_cast<HAL_DutyCycleHandle>(handle));
+  }
 }
 
 /*

hal/src/main/native/cpp/jni/EncoderJNI.cpp

@@ -46,9 +46,9 @@ JNIEXPORT void JNICALL
 Java_edu_wpi_first_hal_EncoderJNI_freeEncoder
   (JNIEnv* env, jclass, jint id)
 {
-  int32_t status = 0;
-  HAL_FreeEncoder((HAL_EncoderHandle)id, &status);
-  CheckStatus(env, status);
+  if (id != HAL_kInvalidHandle) {
+    HAL_FreeEncoder((HAL_EncoderHandle)id);
+  }
 }
 
 /*

hal/src/main/native/cpp/jni/InterruptJNI.cpp

@@ -44,7 +44,9 @@ JNIEXPORT void JNICALL
 Java_edu_wpi_first_hal_InterruptJNI_cleanInterrupts
   (JNIEnv* env, jclass, jint interruptHandle)
 {
-  HAL_CleanInterrupts((HAL_InterruptHandle)interruptHandle);
+  if (interruptHandle != HAL_kInvalidHandle) {
+    HAL_CleanInterrupts((HAL_InterruptHandle)interruptHandle);
+  }
 }
 
 /*

hal/src/main/native/cpp/jni/NotifierJNI.cpp

@@ -87,9 +87,9 @@ JNIEXPORT void JNICALL
 Java_edu_wpi_first_hal_NotifierJNI_cleanNotifier
   (JNIEnv* env, jclass, jint notifierHandle)
 {
-  int32_t status = 0;
-  HAL_CleanNotifier((HAL_NotifierHandle)notifierHandle, &status);
-  CheckStatus(env, status);
+  if (notifierHandle != HAL_kInvalidHandle) {
+    HAL_CleanNotifier((HAL_NotifierHandle)notifierHandle);
+  }
 }
 
 /*

hal/src/main/native/cpp/jni/PWMJNI.cpp

@@ -56,9 +56,9 @@ JNIEXPORT void JNICALL
 Java_edu_wpi_first_hal_PWMJNI_freePWMPort
   (JNIEnv* env, jclass, jint id)
 {
-  int32_t status = 0;
-  HAL_FreePWMPort((HAL_DigitalHandle)id, &status);
-  CheckStatus(env, status);
+  if (id != HAL_kInvalidHandle) {
+    HAL_FreePWMPort((HAL_DigitalHandle)id);
+  }
 }
 
 /*

hal/src/main/native/cpp/jni/PowerDistributionJNI.cpp

@@ -51,7 +51,9 @@ JNIEXPORT void JNICALL
 Java_edu_wpi_first_hal_PowerDistributionJNI_free
   (JNIEnv*, jclass, jint handle)
 {
-  HAL_CleanPowerDistribution(handle);
+  if (handle != HAL_kInvalidHandle) {
+    HAL_CleanPowerDistribution(handle);
+  }
 }
 
 /*

hal/src/main/native/cpp/jni/RelayJNI.cpp

@@ -44,7 +44,9 @@ JNIEXPORT void JNICALL
 Java_edu_wpi_first_hal_RelayJNI_freeRelayPort
   (JNIEnv* env, jclass, jint id)
 {
-  HAL_FreeRelayPort((HAL_RelayHandle)id);
+  if (id != HAL_kInvalidHandle) {
+    HAL_FreeRelayPort((HAL_RelayHandle)id);
+  }
 }
 
 /*

hal/src/main/native/cpp/jni/SPIJNI.cpp

@@ -298,7 +298,9 @@ Java_edu_wpi_first_hal_SPIJNI_spiFreeAuto
   (JNIEnv* env, jclass, jint port)
 {
   int32_t status = 0;
-  HAL_FreeSPIAuto(static_cast<HAL_SPIPort>(port), &status);
+  if (port != HAL_kInvalidHandle) {
+    HAL_FreeSPIAuto(static_cast<HAL_SPIPort>(port), &status);
+  }
   CheckStatus(env, status);
 }
 

hal/src/main/native/cpp/jni/SerialPortJNI.cpp

@@ -306,9 +306,9 @@ JNIEXPORT void JNICALL
 Java_edu_wpi_first_hal_SerialPortJNI_serialClose
   (JNIEnv* env, jclass, jint handle)
 {
-  int32_t status = 0;
-  HAL_CloseSerial(static_cast<HAL_SerialPortHandle>(handle), &status);
-  CheckStatus(env, status);
+  if (handle != HAL_kInvalidHandle) {
+    HAL_CloseSerial(static_cast<HAL_SerialPortHandle>(handle));
+  }
 }
 
 }  // extern "C"

hal/src/main/native/cpp/jni/SimDeviceJNI.cpp

@@ -60,7 +60,9 @@ JNIEXPORT void JNICALL
 Java_edu_wpi_first_hal_SimDeviceJNI_freeSimDevice
   (JNIEnv*, jclass, jint handle)
 {
-  HAL_FreeSimDevice(handle);
+  if (handle != HAL_kInvalidHandle) {
+    HAL_FreeSimDevice(handle);
+  }
 }
 
 /*

hal/src/main/native/include/hal/AnalogTrigger.h

@@ -52,10 +52,8 @@ HAL_AnalogTriggerHandle HAL_InitializeAnalogTriggerDutyCycle(
  * Frees an analog trigger.
  *
  * @param[in] analogTriggerHandle the trigger handle
- * @param[out] status Error status variable. 0 on success.
  */
-void HAL_CleanAnalogTrigger(HAL_AnalogTriggerHandle analogTriggerHandle,
-                            int32_t* status);
+void HAL_CleanAnalogTrigger(HAL_AnalogTriggerHandle analogTriggerHandle);
 
 /**
  * Sets the raw ADC upper and lower limits of the analog trigger.

hal/src/main/native/include/hal/Counter.h

@@ -48,9 +48,8 @@ HAL_CounterHandle HAL_InitializeCounter(HAL_Counter_Mode mode, int32_t* index,
  * Frees a counter.
  *
  * @param[in] counterHandle the counter handle
- * @param[out] status       Error status variable. 0 on success.
  */
-void HAL_FreeCounter(HAL_CounterHandle counterHandle, int32_t* status);
+void HAL_FreeCounter(HAL_CounterHandle counterHandle);
 
 /**
  * Sets the average sample size of a counter.

hal/src/main/native/include/hal/DIO.h

@@ -68,9 +68,8 @@ HAL_DigitalPWMHandle HAL_AllocateDigitalPWM(int32_t* status);
  * Frees the resource associated with a DO PWM generator.
  *
  * @param[in] pwmGenerator the digital PWM handle
- * @param[out] status Error status variable. 0 on success.
  */
-void HAL_FreeDigitalPWM(HAL_DigitalPWMHandle pwmGenerator, int32_t* status);
+void HAL_FreeDigitalPWM(HAL_DigitalPWMHandle pwmGenerator);
 
 /**
  * Changes the frequency of the DO PWM generator.

hal/src/main/native/include/hal/Encoder.h

@@ -65,9 +65,8 @@ HAL_EncoderHandle HAL_InitializeEncoder(
  * Frees an encoder.
  *
  * @param[in] encoderHandle the encoder handle
- * @param[out] status Error status variable. 0 on success.
  */
-void HAL_FreeEncoder(HAL_EncoderHandle encoderHandle, int32_t* status);
+void HAL_FreeEncoder(HAL_EncoderHandle encoderHandle);
 
 /**
  * Indicates the encoder is used by a simulated device.

hal/src/main/native/include/hal/I2CTypes.h

@@ -27,7 +27,7 @@ namespace hal {
  * A move-only C++ wrapper around HAL_I2CPort.
  * Does not ensure destruction.
  */
-using I2CPort = Handle<HAL_I2CPort, HAL_I2C_kInvalid>;
+using I2CPort = Handle<HAL_I2CPort, nullptr, HAL_I2C_kInvalid>;
 
 }  // namespace hal
 #endif

hal/src/main/native/include/hal/Notifier.h

@@ -77,9 +77,8 @@ void HAL_StopNotifier(HAL_NotifierHandle notifierHandle, int32_t* status);
  * Note this also stops a notifier if it is already running.
  *
  * @param[in] notifierHandle the notifier handle
- * @param[out] status Error status variable. 0 on success.
  */
-void HAL_CleanNotifier(HAL_NotifierHandle notifierHandle, int32_t* status);
+void HAL_CleanNotifier(HAL_NotifierHandle notifierHandle);
 
 /**
  * Updates the trigger time for a notifier.

hal/src/main/native/include/hal/PWM.h

@@ -35,9 +35,8 @@ HAL_DigitalHandle HAL_InitializePWMPort(HAL_PortHandle portHandle,
  * Frees a PWM port.
  *
  * @param[in] pwmPortHandle the pwm handle
- * @param[out] status       Error status variable. 0 on success.
  */
-void HAL_FreePWMPort(HAL_DigitalHandle pwmPortHandle, int32_t* status);
+void HAL_FreePWMPort(HAL_DigitalHandle pwmPortHandle);
 
 /**
  * Checks if a pwm channel is valid.

hal/src/main/native/include/hal/SPITypes.h

@@ -49,7 +49,7 @@ namespace hal {
  * A move-only C++ wrapper around HAL_SPIPort.
  * Does not ensure destruction.
  */
-using SPIPort = Handle<HAL_SPIPort, HAL_SPI_kInvalid>;
+using SPIPort = Handle<HAL_SPIPort, nullptr, HAL_SPI_kInvalid>;
 
 }  // namespace hal
 #endif

hal/src/main/native/include/hal/SerialPort.h

@@ -255,9 +255,8 @@ void HAL_ClearSerial(HAL_SerialPortHandle handle, int32_t* status);
  * Closes a serial port.
  *
  * @param[in] handle  the serial port handle to close
- * @param[out] status the error code, or 0 for success
  */
-void HAL_CloseSerial(HAL_SerialPortHandle handle, int32_t* status);
+void HAL_CloseSerial(HAL_SerialPortHandle handle);
 #ifdef __cplusplus
 }  // extern "C"
 #endif

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

@@ -87,12 +87,12 @@ typedef int32_t HAL_Bool;
 
 #ifdef __cplusplus
 namespace hal {
-
 /**
  * A move-only C++ wrapper around a HAL handle.
- * Does not ensure destruction.
+ * Will free the handle if FreeFunction is provided
  */
-template <typename CType, int32_t CInvalid = HAL_kInvalidHandle>
+template <typename CType, void (*FreeFunction)(CType) = nullptr,
+          int32_t CInvalid = HAL_kInvalidHandle>
 class Handle {
  public:
   Handle() = default;
@@ -109,6 +109,26 @@ class Handle {
     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:

hal/src/main/native/sim/AnalogTrigger.cpp

@@ -93,8 +93,7 @@ HAL_AnalogTriggerHandle HAL_InitializeAnalogTriggerDutyCycle(
   return HAL_kInvalidHandle;
 }
 
-void HAL_CleanAnalogTrigger(HAL_AnalogTriggerHandle analogTriggerHandle,
-                            int32_t* status) {
+void HAL_CleanAnalogTrigger(HAL_AnalogTriggerHandle analogTriggerHandle) {
   auto trigger = analogTriggerHandles->Get(analogTriggerHandle);
   analogTriggerHandles->Free(analogTriggerHandle);
   if (trigger == nullptr) {

hal/src/main/native/sim/Counter.cpp

@@ -31,7 +31,7 @@ HAL_CounterHandle HAL_InitializeCounter(HAL_Counter_Mode mode, int32_t* index,
   hal::init::CheckInit();
   return 0;
 }
-void HAL_FreeCounter(HAL_CounterHandle counterHandle, int32_t* status) {}
+void HAL_FreeCounter(HAL_CounterHandle counterHandle) {}
 void HAL_SetCounterAverageSize(HAL_CounterHandle counterHandle, int32_t size,
                                int32_t* status) {}
 void HAL_SetCounterUpSource(HAL_CounterHandle counterHandle,

hal/src/main/native/sim/DIO.cpp

@@ -113,7 +113,7 @@ HAL_DigitalPWMHandle HAL_AllocateDigitalPWM(int32_t* status) {
   return handle;
 }
 
-void HAL_FreeDigitalPWM(HAL_DigitalPWMHandle pwmGenerator, int32_t* status) {
+void HAL_FreeDigitalPWM(HAL_DigitalPWMHandle pwmGenerator) {
   auto port = digitalPWMHandles->Get(pwmGenerator);
   digitalPWMHandles->Free(pwmGenerator);
   if (port == nullptr) {

hal/src/main/native/sim/Encoder.cpp

@@ -113,7 +113,7 @@ HAL_EncoderHandle HAL_InitializeEncoder(
   return handle;
 }
 
-void HAL_FreeEncoder(HAL_EncoderHandle encoderHandle, int32_t* status) {
+void HAL_FreeEncoder(HAL_EncoderHandle encoderHandle) {
   auto encoder = encoderHandles->Get(encoderHandle);
   encoderHandles->Free(encoderHandle);
   if (encoder == nullptr) {

hal/src/main/native/sim/Notifier.cpp

@@ -204,7 +204,7 @@ void HAL_StopNotifier(HAL_NotifierHandle notifierHandle, int32_t* status) {
   notifier->cond.notify_all();
 }
 
-void HAL_CleanNotifier(HAL_NotifierHandle notifierHandle, int32_t* status) {
+void HAL_CleanNotifier(HAL_NotifierHandle notifierHandle) {
   auto notifier = notifierHandles->Free(notifierHandle);
   if (!notifier) {
     return;

hal/src/main/native/sim/PWM.cpp

@@ -111,10 +111,9 @@ HAL_DigitalHandle HAL_InitializePWMPort(HAL_PortHandle portHandle,
 
   return handle;
 }
-void HAL_FreePWMPort(HAL_DigitalHandle pwmPortHandle, int32_t* status) {
+void HAL_FreePWMPort(HAL_DigitalHandle pwmPortHandle) {
   auto port = digitalChannelHandles->Get(pwmPortHandle, HAL_HandleEnum::PWM);
   if (port == nullptr) {
-    *status = HAL_HANDLE_ERROR;
     return;
   }
 

hal/src/main/native/sim/SerialPort.cpp

@@ -80,5 +80,5 @@ void HAL_FlushSerial(HAL_SerialPortHandle handle, int32_t* status) {}
 
 void HAL_ClearSerial(HAL_SerialPortHandle handle, int32_t* status) {}
 
-void HAL_CloseSerial(HAL_SerialPortHandle handle, int32_t* status) {}
+void HAL_CloseSerial(HAL_SerialPortHandle handle) {}
 }  // extern "C"