Types.h

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// 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 <stdint.h>
 
/**
 * @defgroup hal_types Type Definitions
 * @ingroup hal_capi
 * @{
 */
 
#define HAL_kInvalidHandle 0
 
typedef int32_t HAL_Handle;
 
typedef HAL_Handle HAL_AnalogInputHandle;
 
typedef HAL_Handle HAL_AnalogOutputHandle;
 
typedef HAL_Handle HAL_AnalogTriggerHandle;
 
typedef HAL_Handle HAL_CompressorHandle;
 
typedef HAL_Handle HAL_CounterHandle;
 
typedef HAL_Handle HAL_DigitalHandle;
 
typedef HAL_Handle HAL_DigitalPWMHandle;
 
typedef HAL_Handle HAL_EncoderHandle;
 
typedef HAL_Handle HAL_FPGAEncoderHandle;
 
typedef HAL_Handle HAL_GyroHandle;
 
typedef HAL_Handle HAL_InterruptHandle;
 
typedef HAL_Handle HAL_NotifierHandle;
 
typedef HAL_Handle HAL_RelayHandle;
 
typedef HAL_Handle HAL_SolenoidHandle;
 
typedef HAL_Handle HAL_SerialPortHandle;
 
typedef HAL_Handle HAL_CANHandle;
 
typedef HAL_Handle HAL_SimDeviceHandle;
 
typedef HAL_Handle HAL_SimValueHandle;
 
typedef HAL_Handle HAL_DMAHandle;
 
typedef HAL_Handle HAL_DutyCycleHandle;
 
typedef HAL_Handle HAL_AddressableLEDHandle;
 
typedef HAL_CANHandle HAL_PDPHandle;
 
typedef HAL_Handle HAL_PowerDistributionHandle;
 
typedef HAL_Handle HAL_CTREPCMHandle;
 
typedef HAL_Handle HAL_REVPDHHandle;
 
typedef HAL_Handle HAL_REVPHHandle;
 
typedef HAL_Handle HAL_CANStreamHandle;
 
typedef int32_t HAL_Bool;
 
#ifdef __cplusplus
#define HAL_ENUM_WITH_UNDERLYING_TYPE(name, type) enum name : type
#elif defined(__clang__)
#define HAL_ENUM_WITH_UNDERLYING_TYPE(name, type) \
  enum name : type;                               \
  typedef enum name name;                         \
  enum name : type
#else
#define HAL_ENUM_WITH_UNDERLYING_TYPE(name, type) \
  typedef type name;                              \
  enum name
#endif
 
#define HAL_ENUM(name) HAL_ENUM_WITH_UNDERLYING_TYPE(name, int32_t)
 
#ifdef __cplusplus
namespace hal {
/**
 * A move-only C++ wrapper around a HAL handle.
 * Will free the handle if FreeFunction is provided
 */
template <typename CType, void (*FreeFunction)(CType) = nullptr,
          int32_t CInvalid = HAL_kInvalidHandle>
class Handle {
 public:
  Handle() = default;
  /*implicit*/ Handle(CType val) : m_handle(val) {}  // NOLINT
 
  Handle(const Handle&) = delete;
  Handle& operator=(const Handle&) = delete;
 
  Handle(Handle&& rhs) : m_handle(rhs.m_handle) { rhs.m_handle = CInvalid; }
 
  Handle& operator=(Handle&& rhs) {
    m_handle = rhs.m_handle;
    rhs.m_handle = CInvalid;
    return *this;
  }
 
  ~Handle() {
// FIXME: GCC gives the false positive "the address of <GetDefault> will never
// be NULL" because it doesn't realize the default template parameter can make
// GetDefault nullptr. Fixed in GCC 13.
// https://gcc.gnu.org/bugzilla/show_bug.cgi?id=94554
// https://gcc.gnu.org/bugzilla/show_bug.cgi?id=105885
#if __GNUC__
#pragma GCC diagnostic push
#pragma GCC diagnostic ignored "-Waddress"
#endif  // __GNUC__
    if constexpr (FreeFunction != nullptr) {
#if __GNUC__
#pragma GCC diagnostic pop
#endif  // __GNUC__
      if (m_handle != CInvalid) {
        FreeFunction(m_handle);
      }
    }
  }
 
  operator CType() const { return m_handle; }  // NOLINT
 
 private:
  CType m_handle = CInvalid;
};
 
}  // namespace hal
#endif
/** @} */