convert all classes currently using hal::Handle

wpilibc/src/main/native/cpp/Relay.cpp

@@ -63,13 +63,6 @@ Relay::~Relay() {
   int32_t status = 0;
   HAL_SetRelay(m_forwardHandle, false, &status);
   HAL_SetRelay(m_reverseHandle, false, &status);
-  // ignore errors, as we want to make sure a free happens.
-  if (m_forwardHandle != HAL_kInvalidHandle) {
-    HAL_FreeRelayPort(m_forwardHandle);
-  }
-  if (m_reverseHandle != HAL_kInvalidHandle) {
-    HAL_FreeRelayPort(m_reverseHandle);
-  }
 }
 
 void Relay::Set(Relay::Value value) {

wpilibc/src/main/native/cpp/SerialPort.cpp

@@ -74,10 +74,6 @@ SerialPort::SerialPort(int baudRate, std::string_view portName, Port port,
              static_cast<uint8_t>(port) + 1);
 }
 
-SerialPort::~SerialPort() {
-  HAL_CloseSerial(m_portHandle);
-}
-
 void SerialPort::SetFlowControl(SerialPort::FlowControl flowControl) {
   int32_t status = 0;
   HAL_SetSerialFlowControl(m_portHandle, flowControl, &status);

wpilibc/src/main/native/cpp/SynchronousInterrupt.cpp

@@ -49,10 +49,6 @@ void SynchronousInterrupt::InitSynchronousInterrupt() {
   FRC_CheckErrorStatus(status, "Interrupt setting up source edge failed");
 }
 
-SynchronousInterrupt::~SynchronousInterrupt() {
-  HAL_CleanInterrupts(m_handle);
-}
-
 inline SynchronousInterrupt::WaitResult operator|(
     SynchronousInterrupt::WaitResult lhs,
     SynchronousInterrupt::WaitResult rhs) {

wpilibc/src/main/native/cpp/TimedRobot.cpp

@@ -94,8 +94,6 @@ TimedRobot::~TimedRobot() {
 
   HAL_StopNotifier(m_notifier, &status);
   FRC_ReportError(status, "StopNotifier");
-
-  HAL_CleanNotifier(m_notifier);
 }
 
 void TimedRobot::AddPeriodic(std::function<void()> callback,

wpilibc/src/main/native/cpp/counter/ExternalDirectionCounter.cpp

@@ -61,10 +61,6 @@ ExternalDirectionCounter::ExternalDirectionCounter(
   wpi::SendableRegistry::AddLW(this, "External Direction Counter", m_index);
 }
 
-ExternalDirectionCounter::~ExternalDirectionCounter() {
-  HAL_FreeCounter(m_handle);
-}
-
 int ExternalDirectionCounter::GetCount() const {
   int32_t status = 0;
   int val = HAL_GetCounter(m_handle, &status);

wpilibc/src/main/native/cpp/counter/Tachometer.cpp

@@ -37,10 +37,6 @@ Tachometer::Tachometer(std::shared_ptr<DigitalSource> source) {
   wpi::SendableRegistry::AddLW(this, "Tachometer", m_index);
 }
 
-Tachometer::~Tachometer() {
-  HAL_FreeCounter(m_handle);
-}
-
 units::hertz_t Tachometer::GetFrequency() const {
   auto period = GetPeriod();
   if (period.value() == 0) {

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>
@@ -68,16 +69,16 @@ 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.
    *
    * The relay channels are set to free and the relay output is turned off.
    */
   ~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/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;
 };