[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.

wpilibc/src/main/native/cpp/AddressableLED.cpp

@@ -29,19 +29,12 @@ AddressableLED::AddressableLED(int port) : m_port{port} {
   m_handle = HAL_InitializeAddressableLED(m_pwmHandle, &status);
   FRC_CheckErrorStatus(status, "Port {}", port);
   if (m_handle == HAL_kInvalidHandle) {
-    HAL_FreePWMPort(m_pwmHandle, &status);
+    HAL_FreePWMPort(m_pwmHandle);
   }
 
   HAL_Report(HALUsageReporting::kResourceType_AddressableLEDs, port + 1);
 }
 
-AddressableLED::~AddressableLED() {
-  HAL_FreeAddressableLED(m_handle);
-  int32_t status = 0;
-  HAL_FreePWMPort(m_pwmHandle, &status);
-  FRC_ReportError(status, "Port {}", m_port);
-}
-
 void AddressableLED::SetLength(int length) {
   int32_t status = 0;
   HAL_SetAddressableLEDLength(m_handle, length, &status);

wpilibc/src/main/native/cpp/AnalogGyro.cpp

@@ -58,10 +58,6 @@ AnalogGyro::AnalogGyro(std::shared_ptr<AnalogInput> channel, int center,
   Reset();
 }
 
-AnalogGyro::~AnalogGyro() {
-  HAL_FreeAnalogGyro(m_gyroHandle);
-}
-
 double AnalogGyro::GetAngle() const {
   int32_t status = 0;
   double value = HAL_GetAnalogGyroAngle(m_gyroHandle, &status);

wpilibc/src/main/native/cpp/AnalogInput.cpp

@@ -37,10 +37,6 @@ AnalogInput::AnalogInput(int channel) {
   wpi::SendableRegistry::AddLW(this, "AnalogInput", channel);
 }
 
-AnalogInput::~AnalogInput() {
-  HAL_FreeAnalogInputPort(m_port);
-}
-
 int AnalogInput::GetValue() const {
   int32_t status = 0;
   int value = HAL_GetAnalogValue(m_port, &status);

wpilibc/src/main/native/cpp/AnalogOutput.cpp

@@ -37,10 +37,6 @@ AnalogOutput::AnalogOutput(int channel) {
   wpi::SendableRegistry::AddLW(this, "AnalogOutput", m_channel);
 }
 
-AnalogOutput::~AnalogOutput() {
-  HAL_FreeAnalogOutputPort(m_port);
-}
-
 void AnalogOutput::SetVoltage(double voltage) {
   int32_t status = 0;
   HAL_SetAnalogOutput(m_port, voltage, &status);

wpilibc/src/main/native/cpp/AnalogTrigger.cpp

@@ -57,12 +57,6 @@ AnalogTrigger::AnalogTrigger(std::shared_ptr<DutyCycle> input)
   wpi::SendableRegistry::AddLW(this, "AnalogTrigger", index);
 }
 
-AnalogTrigger::~AnalogTrigger() {
-  int32_t status = 0;
-  HAL_CleanAnalogTrigger(m_trigger, &status);
-  FRC_ReportError(status, "Channel {}", GetSourceChannel());
-}
-
 void AnalogTrigger::SetLimitsVoltage(double lower, double upper) {
   int32_t status = 0;
   HAL_SetAnalogTriggerLimitsVoltage(m_trigger, lower, upper, &status);

wpilibc/src/main/native/cpp/CAN.cpp

@@ -35,13 +35,6 @@ CAN::CAN(int deviceId, int deviceManufacturer, int deviceType) {
   HAL_Report(HALUsageReporting::kResourceType_CAN, deviceId + 1);
 }
 
-CAN::~CAN() {
-  if (m_handle != HAL_kInvalidHandle) {
-    HAL_CleanCAN(m_handle);
-    m_handle = HAL_kInvalidHandle;
-  }
-}
-
 void CAN::WritePacket(const uint8_t* data, int length, int apiId) {
   int32_t status = 0;
   HAL_WriteCANPacket(m_handle, data, length, apiId, &status);

wpilibc/src/main/native/cpp/Counter.cpp

@@ -89,10 +89,6 @@ Counter::~Counter() {
   } catch (const RuntimeError& e) {
     e.Report();
   }
-
-  int32_t status = 0;
-  HAL_FreeCounter(m_counter, &status);
-  FRC_ReportError(status, "Counter destructor");
 }
 
 void Counter::SetUpSource(int channel) {

wpilibc/src/main/native/cpp/DMA.cpp

@@ -30,10 +30,6 @@ DMA::DMA() {
   FRC_CheckErrorStatus(status, "InitializeDMA");
 }
 
-DMA::~DMA() {
-  HAL_FreeDMA(dmaHandle);
-}
-
 void DMA::SetPause(bool pause) {
   int32_t status = 0;
   HAL_SetDMAPause(dmaHandle, pause, &status);

wpilibc/src/main/native/cpp/DigitalInput.cpp

@@ -35,10 +35,6 @@ DigitalInput::DigitalInput(int channel) {
   wpi::SendableRegistry::AddLW(this, "DigitalInput", channel);
 }
 
-DigitalInput::~DigitalInput() {
-  HAL_FreeDIOPort(m_handle);
-}
-
 bool DigitalInput::Get() const {
   int32_t status = 0;
   bool value = HAL_GetDIO(m_handle, &status);

wpilibc/src/main/native/cpp/DigitalOutput.cpp

@@ -43,8 +43,6 @@ DigitalOutput::~DigitalOutput() {
   } catch (const RuntimeError& e) {
     e.Report();
   }
-
-  HAL_FreeDIOPort(m_handle);
 }
 
 void DigitalOutput::Set(bool value) {
@@ -141,8 +139,7 @@ void DigitalOutput::DisablePWM() {
                                  &status);
   FRC_CheckErrorStatus(status, "Channel {}", m_channel);
 
-  HAL_FreeDigitalPWM(m_pwmGenerator, &status);
-  FRC_CheckErrorStatus(status, "Channel {}", m_channel);
+  HAL_FreeDigitalPWM(m_pwmGenerator);
 
   m_pwmGenerator = HAL_kInvalidHandle;
 }

wpilibc/src/main/native/cpp/DutyCycle.cpp

@@ -35,10 +35,6 @@ DutyCycle::DutyCycle(std::shared_ptr<DigitalSource> source)
   InitDutyCycle();
 }
 
-DutyCycle::~DutyCycle() {
-  HAL_FreeDutyCycle(m_handle);
-}
-
 void DutyCycle::InitDutyCycle() {
   int32_t status = 0;
   m_handle =

wpilibc/src/main/native/cpp/Encoder.cpp

@@ -59,12 +59,6 @@ Encoder::Encoder(std::shared_ptr<DigitalSource> aSource,
   InitEncoder(reverseDirection, encodingType);
 }
 
-Encoder::~Encoder() {
-  int32_t status = 0;
-  HAL_FreeEncoder(m_encoder, &status);
-  FRC_ReportError(status, "FreeEncoder");
-}
-
 int Encoder::Get() const {
   int32_t status = 0;
   int value = HAL_GetEncoder(m_encoder, &status);

wpilibc/src/main/native/cpp/I2C.cpp

@@ -31,10 +31,6 @@ I2C::I2C(Port port, int deviceAddress)
   HAL_Report(HALUsageReporting::kResourceType_I2C, deviceAddress);
 }
 
-I2C::~I2C() {
-  HAL_CloseI2C(m_port);
-}
-
 I2C::Port I2C::GetPort() const {
   return static_cast<Port>(static_cast<int>(m_port));
 }

wpilibc/src/main/native/cpp/Notifier.cpp

@@ -128,7 +128,7 @@ Notifier::~Notifier() {
     m_thread.join();
   }
 
-  HAL_CleanNotifier(handle, &status);
+  HAL_CleanNotifier(handle);
 }
 
 Notifier::Notifier(Notifier&& rhs)

wpilibc/src/main/native/cpp/PWM.cpp

@@ -46,12 +46,8 @@ PWM::PWM(int channel, bool registerSendable) {
 
 PWM::~PWM() {
   int32_t status = 0;
-
   HAL_SetPWMDisabled(m_handle, &status);
   FRC_ReportError(status, "Channel {}", m_channel);
-
-  HAL_FreePWMPort(m_handle, &status);
-  FRC_ReportError(status, "Channel {}", m_channel);
 }
 
 void PWM::SetPulseTime(units::microsecond_t time) {

wpilibc/src/main/native/cpp/PowerDistribution.cpp

@@ -57,13 +57,6 @@ PowerDistribution::PowerDistribution(int module, ModuleType moduleType) {
   wpi::SendableRegistry::AddLW(this, "PowerDistribution", m_module);
 }
 
-PowerDistribution::~PowerDistribution() {
-  if (m_handle != HAL_kInvalidHandle) {
-    HAL_CleanPowerDistribution(m_handle);
-    m_handle = HAL_kInvalidHandle;
-  }
-}
-
 int PowerDistribution::GetNumChannels() const {
   int32_t status = 0;
   int32_t size = HAL_GetPowerDistributionNumChannels(m_handle, &status);

wpilibc/src/main/native/cpp/Relay.cpp

@@ -63,13 +63,6 @@ Relay::~Relay() {
   int32_t status = 0;
   HAL_SetRelay(m_forwardHandle, false, &status);
   HAL_SetRelay(m_reverseHandle, false, &status);
-  // ignore errors, as we want to make sure a free happens.
-  if (m_forwardHandle != HAL_kInvalidHandle) {
-    HAL_FreeRelayPort(m_forwardHandle);
-  }
-  if (m_reverseHandle != HAL_kInvalidHandle) {
-    HAL_FreeRelayPort(m_reverseHandle);
-  }
 }
 
 void Relay::Set(Relay::Value value) {

wpilibc/src/main/native/cpp/SPI.cpp

@@ -165,9 +165,7 @@ SPI::SPI(Port port) : m_port(static_cast<HAL_SPIPort>(port)) {
              static_cast<uint8_t>(port) + 1);
 }
 
-SPI::~SPI() {
-  HAL_CloseSPI(m_port);
-}
+SPI::~SPI() = default;
 
 SPI::Port SPI::GetPort() const {
   return static_cast<Port>(static_cast<int>(m_port));

wpilibc/src/main/native/cpp/SerialPort.cpp

@@ -74,12 +74,6 @@ SerialPort::SerialPort(int baudRate, std::string_view portName, Port port,
              static_cast<uint8_t>(port) + 1);
 }
 
-SerialPort::~SerialPort() {
-  int32_t status = 0;
-  HAL_CloseSerial(m_portHandle, &status);
-  FRC_ReportError(status, "CloseSerial");
-}
-
 void SerialPort::SetFlowControl(SerialPort::FlowControl flowControl) {
   int32_t status = 0;
   HAL_SetSerialFlowControl(m_portHandle, flowControl, &status);

wpilibc/src/main/native/cpp/SynchronousInterrupt.cpp

@@ -49,10 +49,6 @@ void SynchronousInterrupt::InitSynchronousInterrupt() {
   FRC_CheckErrorStatus(status, "Interrupt setting up source edge failed");
 }
 
-SynchronousInterrupt::~SynchronousInterrupt() {
-  HAL_CleanInterrupts(m_handle);
-}
-
 inline SynchronousInterrupt::WaitResult operator|(
     SynchronousInterrupt::WaitResult lhs,
     SynchronousInterrupt::WaitResult rhs) {

wpilibc/src/main/native/cpp/TimedRobot.cpp

@@ -94,8 +94,6 @@ TimedRobot::~TimedRobot() {
 
   HAL_StopNotifier(m_notifier, &status);
   FRC_ReportError(status, "StopNotifier");
-
-  HAL_CleanNotifier(m_notifier, &status);
 }
 
 void TimedRobot::AddPeriodic(std::function<void()> callback,

wpilibc/src/main/native/cpp/Watchdog.cpp

@@ -65,7 +65,7 @@ Watchdog::Impl::~Impl() {
     m_thread.join();
   }
 
-  HAL_CleanNotifier(handle, &status);
+  HAL_CleanNotifier(handle);
 }
 
 void Watchdog::Impl::UpdateAlarm() {

wpilibc/src/main/native/cpp/counter/ExternalDirectionCounter.cpp

@@ -61,11 +61,6 @@ ExternalDirectionCounter::ExternalDirectionCounter(
   wpi::SendableRegistry::AddLW(this, "External Direction Counter", m_index);
 }
 
-ExternalDirectionCounter::~ExternalDirectionCounter() {
-  int32_t status = 0;
-  HAL_FreeCounter(m_handle, &status);
-}
-
 int ExternalDirectionCounter::GetCount() const {
   int32_t status = 0;
   int val = HAL_GetCounter(m_handle, &status);

wpilibc/src/main/native/cpp/counter/Tachometer.cpp

@@ -37,11 +37,6 @@ Tachometer::Tachometer(std::shared_ptr<DigitalSource> source) {
   wpi::SendableRegistry::AddLW(this, "Tachometer", m_index);
 }
 
-Tachometer::~Tachometer() {
-  int32_t status = 0;
-  HAL_FreeCounter(m_handle, &status);
-}
-
 units::hertz_t Tachometer::GetFrequency() const {
   auto period = GetPeriod();
   if (period.value() == 0) {

wpilibc/src/main/native/cpp/counter/UpDownCounter.cpp

@@ -55,11 +55,6 @@ UpDownCounter::UpDownCounter(std::shared_ptr<DigitalSource> upSource,
   wpi::SendableRegistry::AddLW(this, "UpDown Counter", m_index);
 }
 
-UpDownCounter::~UpDownCounter() {
-  int32_t status = 0;
-  HAL_FreeCounter(m_handle, &status);
-}
-
 int UpDownCounter::GetCount() const {
   int32_t status = 0;
   int val = HAL_GetCounter(m_handle, &status);