[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/include/frc/AddressableLED.h

@@ -7,7 +7,9 @@
 #include <initializer_list>
 #include <span>
 
+#include <hal/AddressableLED.h>
 #include <hal/AddressableLEDTypes.h>
+#include <hal/PWM.h>
 #include <hal/Types.h>
 #include <units/time.h>
 
@@ -93,8 +95,6 @@ class AddressableLED {
   AddressableLED(AddressableLED&&) = default;
   AddressableLED& operator=(AddressableLED&&) = default;
 
-  ~AddressableLED();
-
   /**
    * Sets the length of the LED strip.
    *
@@ -165,8 +165,8 @@ class AddressableLED {
   void Stop();
 
  private:
-  hal::Handle<HAL_DigitalHandle> m_pwmHandle;
-  hal::Handle<HAL_AddressableLEDHandle> m_handle;
+  hal::Handle<HAL_DigitalHandle, HAL_FreePWMPort> m_pwmHandle;
+  hal::Handle<HAL_AddressableLEDHandle, HAL_FreeAddressableLED> m_handle;
   int m_port;
 };
 }  // namespace frc

wpilibc/src/main/native/include/frc/AnalogGyro.h

@@ -6,6 +6,7 @@
 
 #include <memory>
 
+#include <hal/AnalogGyro.h>
 #include <hal/Types.h>
 #include <wpi/sendable/Sendable.h>
 #include <wpi/sendable/SendableHelper.h>
@@ -100,11 +101,11 @@ class AnalogGyro : public wpi::Sendable,
    */
   AnalogGyro(std::shared_ptr<AnalogInput> channel, int center, double offset);
 
-  ~AnalogGyro() override;
-
   AnalogGyro(AnalogGyro&& rhs) = default;
   AnalogGyro& operator=(AnalogGyro&& rhs) = default;
 
+  ~AnalogGyro() override = default;
+
   /**
    * Return the actual angle in degrees that the robot is currently facing.
    *
@@ -220,7 +221,7 @@ class AnalogGyro : public wpi::Sendable,
 
  private:
   std::shared_ptr<AnalogInput> m_analog;
-  hal::Handle<HAL_GyroHandle> m_gyroHandle;
+  hal::Handle<HAL_GyroHandle, HAL_FreeAnalogGyro> m_gyroHandle;
 };
 
 }  // namespace frc

wpilibc/src/main/native/include/frc/AnalogInput.h

@@ -6,6 +6,7 @@
 
 #include <stdint.h>
 
+#include <hal/AnalogInput.h>
 #include <hal/Types.h>
 #include <wpi/sendable/Sendable.h>
 #include <wpi/sendable/SendableHelper.h>
@@ -47,11 +48,11 @@ class AnalogInput : public wpi::Sendable,
    */
   explicit AnalogInput(int channel);
 
-  ~AnalogInput() override;
-
   AnalogInput(AnalogInput&&) = default;
   AnalogInput& operator=(AnalogInput&&) = default;
 
+  ~AnalogInput() override = default;
+
   /**
    * Get a sample straight from this channel.
    *
@@ -284,7 +285,7 @@ class AnalogInput : public wpi::Sendable,
 
  private:
   int m_channel;
-  hal::Handle<HAL_AnalogInputHandle> m_port;
+  hal::Handle<HAL_AnalogInputHandle, HAL_FreeAnalogInputPort> m_port;
   int64_t m_accumulatorOffset;
 };
 

wpilibc/src/main/native/include/frc/AnalogOutput.h

@@ -4,6 +4,7 @@
 
 #pragma once
 
+#include <hal/AnalogOutput.h>
 #include <hal/Types.h>
 #include <wpi/sendable/Sendable.h>
 #include <wpi/sendable/SendableHelper.h>
@@ -25,11 +26,11 @@ class AnalogOutput : public wpi::Sendable,
    */
   explicit AnalogOutput(int channel);
 
-  ~AnalogOutput() override;
-
   AnalogOutput(AnalogOutput&&) = default;
   AnalogOutput& operator=(AnalogOutput&&) = default;
 
+  ~AnalogOutput() override = default;
+
   /**
    * Set the value of the analog output.
    *
@@ -53,7 +54,7 @@ class AnalogOutput : public wpi::Sendable,
 
  protected:
   int m_channel;
-  hal::Handle<HAL_AnalogOutputHandle> m_port;
+  hal::Handle<HAL_AnalogOutputHandle, HAL_FreeAnalogOutputPort> m_port;
 };
 
 }  // namespace frc

wpilibc/src/main/native/include/frc/AnalogTrigger.h

@@ -6,6 +6,7 @@
 
 #include <memory>
 
+#include <hal/AnalogTrigger.h>
 #include <hal/Types.h>
 #include <wpi/sendable/Sendable.h>
 #include <wpi/sendable/SendableHelper.h>
@@ -84,7 +85,7 @@ class AnalogTrigger : public wpi::Sendable,
   AnalogTrigger(AnalogTrigger&&) = default;
   AnalogTrigger& operator=(AnalogTrigger&&) = default;
 
-  ~AnalogTrigger() override;
+  ~AnalogTrigger() override = default;
 
   /**
    * Set the upper and lower limits of the analog trigger.
@@ -186,7 +187,7 @@ class AnalogTrigger : public wpi::Sendable,
 
   std::shared_ptr<AnalogInput> m_analogInput;
   std::shared_ptr<DutyCycle> m_dutyCycle;
-  hal::Handle<HAL_AnalogTriggerHandle> m_trigger;
+  hal::Handle<HAL_AnalogTriggerHandle, HAL_CleanAnalogTrigger> m_trigger;
   bool m_ownsAnalog = false;
 };
 

wpilibc/src/main/native/include/frc/CAN.h

@@ -6,7 +6,7 @@
 
 #include <stdint.h>
 
-#include <hal/CANAPITypes.h>
+#include <hal/CANAPI.h>
 
 namespace frc {
 struct CANData {
@@ -50,11 +50,6 @@ class CAN {
    */
   CAN(int deviceId, int deviceManufacturer, int deviceType);
 
-  /**
-   * Closes the CAN communication.
-   */
-  ~CAN();
-
   CAN(CAN&&) = default;
   CAN& operator=(CAN&&) = default;
 
@@ -178,6 +173,6 @@ class CAN {
       HAL_CAN_Dev_kMiscellaneous;
 
  private:
-  hal::Handle<HAL_CANHandle> m_handle;
+  hal::Handle<HAL_CANHandle, HAL_CleanCAN> m_handle;
 };
 }  // namespace frc

wpilibc/src/main/native/include/frc/Counter.h

@@ -6,6 +6,7 @@
 
 #include <memory>
 
+#include <hal/Counter.h>
 #include <hal/Types.h>
 #include <units/time.h>
 #include <wpi/sendable/Sendable.h>
@@ -142,11 +143,11 @@ class Counter : public CounterBase,
   Counter(EncodingType encodingType, std::shared_ptr<DigitalSource> upSource,
           std::shared_ptr<DigitalSource> downSource, bool inverted);
 
-  ~Counter() override;
-
   Counter(Counter&&) = default;
   Counter& operator=(Counter&&) = default;
 
+  ~Counter() override;
+
   /**
    * Set the up source for the counter as a digital input channel.
    *
@@ -458,7 +459,7 @@ class Counter : public CounterBase,
   std::shared_ptr<DigitalSource> m_downSource;
 
   /// The FPGA counter object
-  hal::Handle<HAL_CounterHandle> m_counter;
+  hal::Handle<HAL_CounterHandle, HAL_FreeCounter> m_counter;
 
  private:
   /// The index of this counter.

wpilibc/src/main/native/include/frc/DMA.h

@@ -4,7 +4,7 @@
 
 #pragma once
 
-#include <hal/Types.h>
+#include <hal/DMA.h>
 #include <units/time.h>
 
 namespace frc {
@@ -25,7 +25,6 @@ class DMA {
 
  public:
   DMA();
-  ~DMA();
 
   DMA& operator=(DMA&& other) = default;
   DMA(DMA&& other) = default;
@@ -189,6 +188,6 @@ class DMA {
   void Stop();
 
  private:
-  hal::Handle<HAL_DMAHandle> dmaHandle;
+  hal::Handle<HAL_DMAHandle, HAL_FreeDMA> dmaHandle;
 };
 }  // namespace frc

wpilibc/src/main/native/include/frc/DigitalInput.h

@@ -4,6 +4,7 @@
 
 #pragma once
 
+#include <hal/DIO.h>
 #include <wpi/sendable/Sendable.h>
 #include <wpi/sendable/SendableHelper.h>
 
@@ -35,11 +36,11 @@ class DigitalInput : public DigitalSource,
    */
   explicit DigitalInput(int channel);
 
-  ~DigitalInput() override;
-
   DigitalInput(DigitalInput&&) = default;
   DigitalInput& operator=(DigitalInput&&) = default;
 
+  ~DigitalInput() override = default;
+
   /**
    * Get the value from a digital input channel.
    *
@@ -79,7 +80,7 @@ class DigitalInput : public DigitalSource,
 
  private:
   int m_channel;
-  hal::Handle<HAL_DigitalHandle> m_handle;
+  hal::Handle<HAL_DigitalHandle, HAL_FreeDIOPort> m_handle;
 
   friend class DigitalGlitchFilter;
 };

wpilibc/src/main/native/include/frc/DigitalOutput.h

@@ -4,6 +4,7 @@
 
 #pragma once
 
+#include <hal/DIO.h>
 #include <hal/Types.h>
 #include <units/time.h>
 #include <wpi/sendable/Sendable.h>
@@ -34,11 +35,11 @@ class DigitalOutput : public DigitalSource,
    */
   explicit DigitalOutput(int channel);
 
-  ~DigitalOutput() override;
-
   DigitalOutput(DigitalOutput&&) = default;
   DigitalOutput& operator=(DigitalOutput&&) = default;
 
+  ~DigitalOutput() override;
+
   /**
    * Set the value of a digital output.
    *
@@ -161,7 +162,7 @@ class DigitalOutput : public DigitalSource,
 
  private:
   int m_channel;
-  hal::Handle<HAL_DigitalHandle> m_handle;
+  hal::Handle<HAL_DigitalHandle, HAL_FreeDIOPort> m_handle;
   hal::Handle<HAL_DigitalPWMHandle> m_pwmGenerator;
 };
 

wpilibc/src/main/native/include/frc/DutyCycle.h

@@ -6,6 +6,7 @@
 
 #include <memory>
 
+#include <hal/DutyCycle.h>
 #include <hal/Types.h>
 #include <units/time.h>
 #include <wpi/sendable/Sendable.h>
@@ -59,13 +60,13 @@ class DutyCycle : public wpi::Sendable, public wpi::SendableHelper<DutyCycle> {
    */
   explicit DutyCycle(std::shared_ptr<DigitalSource> source);
 
+  DutyCycle(DutyCycle&&) = default;
+  DutyCycle& operator=(DutyCycle&&) = default;
+
   /**
    * Close the DutyCycle and free all resources.
    */
-  ~DutyCycle() override;
-
-  DutyCycle(DutyCycle&&) = default;
-  DutyCycle& operator=(DutyCycle&&) = default;
+  ~DutyCycle() override = default;
 
   /**
    * Get the frequency of the duty cycle signal.
@@ -121,6 +122,6 @@ class DutyCycle : public wpi::Sendable, public wpi::SendableHelper<DutyCycle> {
  private:
   void InitDutyCycle();
   std::shared_ptr<DigitalSource> m_source;
-  hal::Handle<HAL_DutyCycleHandle> m_handle;
+  hal::Handle<HAL_DutyCycleHandle, HAL_FreeDutyCycle> m_handle;
 };
 }  // namespace frc

wpilibc/src/main/native/include/frc/Encoder.h

@@ -6,6 +6,7 @@
 
 #include <memory>
 
+#include <hal/Encoder.h>
 #include <hal/Types.h>
 #include <wpi/sendable/Sendable.h>
 #include <wpi/sendable/SendableHelper.h>
@@ -138,11 +139,11 @@ class Encoder : public CounterBase,
           std::shared_ptr<DigitalSource> bSource, bool reverseDirection = false,
           EncodingType encodingType = k4X);
 
-  ~Encoder() override;
-
   Encoder(Encoder&&) = default;
   Encoder& operator=(Encoder&&) = default;
 
+  ~Encoder() override = default;
+
   // CounterBase interface
   /**
    * Gets the current count.
@@ -378,7 +379,7 @@ class Encoder : public CounterBase,
   std::shared_ptr<DigitalSource> m_aSource;  // The A phase of the quad encoder
   std::shared_ptr<DigitalSource> m_bSource;  // The B phase of the quad encoder
   std::shared_ptr<DigitalSource> m_indexSource = nullptr;
-  hal::Handle<HAL_EncoderHandle> m_encoder;
+  hal::Handle<HAL_EncoderHandle, HAL_FreeEncoder> m_encoder;
 
   friend class DigitalGlitchFilter;
 };

wpilibc/src/main/native/include/frc/I2C.h

@@ -40,8 +40,6 @@ class I2C {
    */
   I2C(Port port, int deviceAddress);
 
-  ~I2C();
-
   I2C(I2C&&) = default;
   I2C& operator=(I2C&&) = default;
 

wpilibc/src/main/native/include/frc/PWM.h

@@ -6,6 +6,7 @@
 
 #include <stdint.h>
 
+#include <hal/PWM.h>
 #include <hal/Types.h>
 #include <units/time.h>
 #include <wpi/sendable/Sendable.h>
@@ -59,6 +60,9 @@ class PWM : public wpi::Sendable, public wpi::SendableHelper<PWM> {
    */
   explicit PWM(int channel, bool registerSendable = true);
 
+  PWM(PWM&&) = default;
+  PWM& operator=(PWM&&) = default;
+
   /**
    * Free the PWM channel.
    *
@@ -66,9 +70,6 @@ class PWM : public wpi::Sendable, public wpi::SendableHelper<PWM> {
    */
   ~PWM() override;
 
-  PWM(PWM&&) = default;
-  PWM& operator=(PWM&&) = default;
-
   /**
    * Set the PWM pulse time directly to the hardware.
    *
@@ -206,7 +207,7 @@ class PWM : public wpi::Sendable, public wpi::SendableHelper<PWM> {
 
  private:
   int m_channel;
-  hal::Handle<HAL_DigitalHandle> m_handle;
+  hal::Handle<HAL_DigitalHandle, HAL_FreePWMPort> m_handle;
 };
 
 }  // namespace frc

wpilibc/src/main/native/include/frc/PowerDistribution.h

@@ -6,6 +6,7 @@
 
 #include <vector>
 
+#include <hal/PowerDistribution.h>
 #include <hal/Types.h>
 #include <wpi/sendable/Sendable.h>
 #include <wpi/sendable/SendableHelper.h>
@@ -48,10 +49,11 @@ class PowerDistribution : public wpi::Sendable,
    */
   PowerDistribution(int module, ModuleType moduleType);
 
-  ~PowerDistribution() override;
   PowerDistribution(PowerDistribution&&) = default;
   PowerDistribution& operator=(PowerDistribution&&) = default;
 
+  ~PowerDistribution() override = default;
+
   /**
    * Gets the number of channels for this power distribution object.
    *
@@ -341,7 +343,7 @@ class PowerDistribution : public wpi::Sendable,
   void InitSendable(wpi::SendableBuilder& builder) override;
 
  private:
-  hal::Handle<HAL_PowerDistributionHandle> m_handle;
+  hal::Handle<HAL_PowerDistributionHandle, HAL_CleanPowerDistribution> m_handle;
   int m_module;
 };
 

wpilibc/src/main/native/include/frc/Relay.h

@@ -7,6 +7,7 @@
 #include <memory>
 #include <string>
 
+#include <hal/Relay.h>
 #include <hal/Types.h>
 #include <wpi/sendable/Sendable.h>
 #include <wpi/sendable/SendableHelper.h>
@@ -68,6 +69,9 @@ class Relay : public MotorSafety,
    */
   explicit Relay(int channel, Direction direction = kBothDirections);
 
+  Relay(Relay&&) = default;
+  Relay& operator=(Relay&&) = default;
+
   /**
    * Free the resource associated with a relay.
    *
@@ -75,9 +79,6 @@ class Relay : public MotorSafety,
    */
   ~Relay() override;
 
-  Relay(Relay&&) = default;
-  Relay& operator=(Relay&&) = default;
-
   /**
    * Set the relay state.
    *
@@ -120,8 +121,8 @@ class Relay : public MotorSafety,
   int m_channel;
   Direction m_direction;
 
-  hal::Handle<HAL_RelayHandle> m_forwardHandle;
-  hal::Handle<HAL_RelayHandle> m_reverseHandle;
+  hal::Handle<HAL_RelayHandle, HAL_FreeRelayPort> m_forwardHandle;
+  hal::Handle<HAL_RelayHandle, HAL_FreeRelayPort> m_reverseHandle;
 };
 
 }  // namespace frc

wpilibc/src/main/native/include/frc/SPI.h

@@ -62,11 +62,11 @@ class SPI {
    */
   explicit SPI(Port port);
 
-  ~SPI();
-
   SPI(SPI&&) = default;
   SPI& operator=(SPI&&) = default;
 
+  ~SPI();
+
   /**
    * Returns the SPI port.
    *

wpilibc/src/main/native/include/frc/SerialPort.h

@@ -7,6 +7,7 @@
 #include <string>
 #include <string_view>
 
+#include <hal/SerialPort.h>
 #include <hal/Types.h>
 #include <units/time.h>
 
@@ -128,8 +129,6 @@ class SerialPort {
              int dataBits = 8, Parity parity = kParity_None,
              StopBits stopBits = kStopBits_One);
 
-  ~SerialPort();
-
   SerialPort(SerialPort&& rhs) = default;
   SerialPort& operator=(SerialPort&& rhs) = default;
 
@@ -255,7 +254,7 @@ class SerialPort {
   void Reset();
 
  private:
-  hal::Handle<HAL_SerialPortHandle> m_portHandle;
+  hal::Handle<HAL_SerialPortHandle, HAL_CloseSerial> m_portHandle;
 };
 
 }  // namespace frc

wpilibc/src/main/native/include/frc/SynchronousInterrupt.h

@@ -6,6 +6,7 @@
 
 #include <memory>
 
+#include <hal/Interrupts.h>
 #include <hal/Types.h>
 #include <units/time.h>
 
@@ -56,8 +57,6 @@ class SynchronousInterrupt {
    */
   explicit SynchronousInterrupt(std::shared_ptr<DigitalSource> source);
 
-  ~SynchronousInterrupt();
-
   SynchronousInterrupt(SynchronousInterrupt&&) = default;
   SynchronousInterrupt& operator=(SynchronousInterrupt&&) = default;
 
@@ -108,6 +107,6 @@ class SynchronousInterrupt {
  private:
   void InitSynchronousInterrupt();
   std::shared_ptr<DigitalSource> m_source;
-  hal::Handle<HAL_InterruptHandle> m_handle;
+  hal::Handle<HAL_InterruptHandle, HAL_CleanInterrupts> m_handle;
 };
 }  // namespace frc

wpilibc/src/main/native/include/frc/TimedRobot.h

@@ -9,6 +9,7 @@
 #include <utility>
 #include <vector>
 
+#include <hal/Notifier.h>
 #include <hal/Types.h>
 #include <units/math.h>
 #include <units/time.h>
@@ -50,11 +51,11 @@ class TimedRobot : public IterativeRobotBase {
    */
   explicit TimedRobot(units::second_t period = kDefaultPeriod);
 
-  ~TimedRobot() override;
-
   TimedRobot(TimedRobot&&) = default;
   TimedRobot& operator=(TimedRobot&&) = default;
 
+  ~TimedRobot() override;
+
   /**
    * Add a callback to run at a specific period with a starting time offset.
    *
@@ -100,7 +101,7 @@ class TimedRobot : public IterativeRobotBase {
     }
   };
 
-  hal::Handle<HAL_NotifierHandle> m_notifier;
+  hal::Handle<HAL_NotifierHandle, HAL_CleanNotifier> m_notifier;
   std::chrono::microseconds m_startTime;
 
   wpi::priority_queue<Callback, std::vector<Callback>, std::greater<Callback>>

wpilibc/src/main/native/include/frc/counter/ExternalDirectionCounter.h

@@ -6,6 +6,7 @@
 
 #include <memory>
 
+#include <hal/Counter.h>
 #include <hal/Types.h>
 #include <wpi/sendable/Sendable.h>
 #include <wpi/sendable/SendableHelper.h>
@@ -43,11 +44,11 @@ class ExternalDirectionCounter
   ExternalDirectionCounter(std::shared_ptr<DigitalSource> countSource,
                            std::shared_ptr<DigitalSource> directionSource);
 
-  ~ExternalDirectionCounter() override;
-
   ExternalDirectionCounter(ExternalDirectionCounter&&) = default;
   ExternalDirectionCounter& operator=(ExternalDirectionCounter&&) = default;
 
+  ~ExternalDirectionCounter() override = default;
+
   /**
    * Gets the current count.
    *
@@ -78,7 +79,7 @@ class ExternalDirectionCounter
  private:
   std::shared_ptr<DigitalSource> m_countSource;
   std::shared_ptr<DigitalSource> m_directionSource;
-  hal::Handle<HAL_CounterHandle> m_handle;
+  hal::Handle<HAL_CounterHandle, HAL_FreeCounter> m_handle;
   int32_t m_index = 0;
 };
 }  // namespace frc

wpilibc/src/main/native/include/frc/counter/Tachometer.h

@@ -6,6 +6,7 @@
 
 #include <memory>
 
+#include <hal/Counter.h>
 #include <hal/Types.h>
 #include <units/angular_velocity.h>
 #include <units/frequency.h>
@@ -42,11 +43,11 @@ class Tachometer : public wpi::Sendable,
    */
   explicit Tachometer(std::shared_ptr<DigitalSource> source);
 
-  ~Tachometer() override;
-
   Tachometer(Tachometer&&) = default;
   Tachometer& operator=(Tachometer&&) = default;
 
+  ~Tachometer() override = default;
+
   /**
    * Gets the tachometer frequency.
    *
@@ -133,7 +134,7 @@ class Tachometer : public wpi::Sendable,
 
  private:
   std::shared_ptr<DigitalSource> m_source;
-  hal::Handle<HAL_CounterHandle> m_handle;
+  hal::Handle<HAL_CounterHandle, HAL_FreeCounter> m_handle;
   int m_edgesPerRevolution;
   int32_t m_index;
 };

wpilibc/src/main/native/include/frc/counter/UpDownCounter.h

@@ -6,6 +6,7 @@
 
 #include <memory>
 
+#include <hal/Counter.h>
 #include <hal/Types.h>
 #include <wpi/sendable/Sendable.h>
 #include <wpi/sendable/SendableHelper.h>
@@ -41,11 +42,11 @@ class UpDownCounter : public wpi::Sendable,
   UpDownCounter(std::shared_ptr<DigitalSource> upSource,
                 std::shared_ptr<DigitalSource> downSource);
 
-  ~UpDownCounter() override;
-
   UpDownCounter(UpDownCounter&&) = default;
   UpDownCounter& operator=(UpDownCounter&&) = default;
 
+  ~UpDownCounter() override = default;
+
   /**
    * Gets the current count.
    *
@@ -84,7 +85,7 @@ class UpDownCounter : public wpi::Sendable,
   void InitUpDownCounter();
   std::shared_ptr<DigitalSource> m_upSource;
   std::shared_ptr<DigitalSource> m_downSource;
-  hal::Handle<HAL_CounterHandle> m_handle;
+  hal::Handle<HAL_CounterHandle, HAL_FreeCounter> m_handle;
   int32_t m_index = 0;
 };
 }  // namespace frc