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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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9
wpilibc/src/main/native/include/frc/PWM.h
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@@ -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