allwpilib/crossConnIntegrationTests/src/main/native/include/LifetimeWrappers.h

// Copyright (c) FIRST and other WPILib contributors.
// Open Source Software; you can modify and/or share it under the terms of
// the WPILib BSD license file in the root directory of this project.

#pragma once

#include <hal/DMA.h>
#include <hal/HAL.h>

namespace hlt {

struct InterruptHandle {
 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;
};

struct DMAHandle {
 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;
};

struct DIOHandle {
 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;
};

struct PWMHandle {
 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;
};

struct RelayHandle {
 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;
};

#define ASSERT_LAST_ERROR_STATUS(status, x)                          \
  do {                                                               \
    ASSERT_EQ(status, HAL_USE_LAST_ERROR);                           \
    const char* lastErrorMessageInMacro = HAL_GetLastError(&status); \
    ASSERT_EQ(status, x);                                            \
  } while (0)

}  // namespace hlt