mirror of
https://github.com/wpilibsuite/allwpilib
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496e7c1bba
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.
87 lines
2.8 KiB
C++
87 lines
2.8 KiB
C++
// Copyright (c) FIRST and other WPILib contributors.
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// Open Source Software; you can modify and/or share it under the terms of
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// the WPILib BSD license file in the root directory of this project.
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#pragma once
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#include <hal/DMA.h>
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#include <hal/DutyCycle.h>
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#include <hal/HAL.h>
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namespace hlt {
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struct InterruptHandle : hal::Handle<HAL_InterruptHandle, HAL_CleanInterrupts> {
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public:
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explicit InterruptHandle(int32_t* status)
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: Handle{HAL_InitializeInterrupts(status)} {}
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};
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struct DMAHandle : hal::Handle<HAL_DMAHandle, HAL_FreeDMA> {
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public:
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explicit DMAHandle(int32_t* status) : Handle{HAL_InitializeDMA(status)} {}
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};
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struct AnalogInputHandle
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: hal::Handle<HAL_AnalogInputHandle, HAL_FreeAnalogInputPort> {
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public:
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AnalogInputHandle(int32_t port, int32_t* status)
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: Handle{HAL_InitializeAnalogInputPort(HAL_GetPort(port), nullptr,
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status)} {}
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};
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struct AnalogOutputHandle
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: hal::Handle<HAL_AnalogOutputHandle, HAL_FreeAnalogOutputPort> {
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public:
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AnalogOutputHandle(int32_t port, int32_t* status)
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: Handle{HAL_InitializeAnalogOutputPort(HAL_GetPort(port), nullptr,
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status)} {}
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};
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struct AnalogTriggerHandle
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: hal::Handle<HAL_AnalogTriggerHandle, HAL_CleanAnalogTrigger> {
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public:
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explicit AnalogTriggerHandle(HAL_AnalogInputHandle port, int32_t* status)
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: Handle{HAL_InitializeAnalogTrigger(port, status)} {}
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};
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struct DutyCycleHandle : hal::Handle<HAL_DutyCycleHandle, HAL_FreeDutyCycle> {
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public:
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DutyCycleHandle(HAL_DigitalHandle port, int32_t* status)
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: Handle{HAL_InitializeDutyCycle(
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port, HAL_AnalogTriggerType::HAL_Trigger_kInWindow, status)} {}
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};
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struct DIOHandle : hal::Handle<HAL_DigitalHandle, HAL_FreeDIOPort> {
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public:
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DIOHandle() {}
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DIOHandle(int32_t port, HAL_Bool input, int32_t* status)
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: Handle{
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HAL_InitializeDIOPort(HAL_GetPort(port), input, nullptr, status)} {}
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};
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struct PWMHandle : hal::Handle<HAL_DigitalHandle, HAL_FreePWMPort> {
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public:
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PWMHandle() {}
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PWMHandle(int32_t port, int32_t* status)
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: Handle{HAL_InitializePWMPort(HAL_GetPort(port), nullptr, status)} {}
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};
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struct RelayHandle : hal::Handle<HAL_RelayHandle, HAL_FreeRelayPort> {
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public:
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RelayHandle(int32_t port, HAL_Bool fwd, int32_t* status)
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: Handle{
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HAL_InitializeRelayPort(HAL_GetPort(port), fwd, nullptr, status)} {}
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};
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#define ASSERT_LAST_ERROR_STATUS(status, x) \
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do { \
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ASSERT_EQ(status, HAL_USE_LAST_ERROR); \
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[[maybe_unused]] \
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const char* lastErrorMessageInMacro = HAL_GetLastError(&status); \
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ASSERT_EQ(status, x); \
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} while (0)
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} // namespace hlt
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