Add status checks to HAL

src/hal/ControlWord.cs

@@ -15,27 +15,27 @@ public static NativeControlWord ConvertToUnmanaged(ControlWord managed)
         NativeControlWord ret = default;
         if (managed.Enabled)
         {
-            ret |= NativeControlWord.Enabled;
+            ret.control |= (uint)NativeControlWordEnum.Enabled;
         }
         if (managed.Autonomous)
         {
-            ret |= NativeControlWord.Autonomous;
+            ret.control |= (uint)NativeControlWordEnum.Autonomous;
         }
         if (managed.Test)
         {
-            ret |= NativeControlWord.Test;
+            ret.control |= (uint)NativeControlWordEnum.Test;
         }
         if (managed.EStop)
         {
-            ret |= NativeControlWord.EStop;
+            ret.control |= (uint)NativeControlWordEnum.EStop;
         }
         if (managed.FmsAttached)
         {
-            ret |= NativeControlWord.FmsArrached;
+            ret.control |= (uint)NativeControlWordEnum.FmsAttached;
         }
         if (managed.DsAttached)
         {
-            ret |= NativeControlWord.DsAttached;
+            ret.control |= (uint)NativeControlWordEnum.DsAttached;
         }
         return ret;
     }
@@ -44,23 +44,29 @@ public static ControlWord ConvertToManaged(NativeControlWord unmanaged)
     {
         return new ControlWord
         {
-            Enabled = unmanaged.HasFlag(NativeControlWord.Enabled),
-            Autonomous = unmanaged.HasFlag(NativeControlWord.Autonomous),
-            Test = unmanaged.HasFlag(NativeControlWord.Test),
-            EStop = unmanaged.HasFlag(NativeControlWord.EStop),
-            FmsAttached = unmanaged.HasFlag(NativeControlWord.FmsArrached),
-            DsAttached = unmanaged.HasFlag(NativeControlWord.DsAttached),
+            Enabled = (unmanaged.control & (uint)NativeControlWordEnum.Enabled) != 0,
+            Autonomous = (unmanaged.control & (uint)NativeControlWordEnum.Autonomous) != 0,
+            Test = (unmanaged.control & (uint)NativeControlWordEnum.Test) != 0,
+            EStop = (unmanaged.control & (uint)NativeControlWordEnum.EStop) != 0,
+            FmsAttached = (unmanaged.control & (uint)NativeControlWordEnum.FmsAttached) != 0,
+            DsAttached = (unmanaged.control & (uint)NativeControlWordEnum.DsAttached) != 0,
         };
     }
 
+    [StructLayout(LayoutKind.Sequential)]
+    public struct NativeControlWord
+    {
+        public uint control;
+    }
+
     [Flags]
-    public enum NativeControlWord : uint
+    public enum NativeControlWordEnum : uint
     {
         Enabled = 0x1,
         Autonomous = 0x2,
         Test = 0x4,
         EStop = 0x8,
-        FmsArrached = 0x10,
+        FmsAttached = 0x10,
         DsAttached = 0x20,
     }
 }

src/hal/JoystickButtons.cs

@@ -1,19 +1,24 @@
 using System.Runtime.InteropServices;
-using System.Runtime.InteropServices.Marshalling;
 
 namespace WPIHal;
 
-[NativeMarshalling(typeof(JoystickButtonsMarshaller))]
-[StructLayout(LayoutKind.Auto)]
-public readonly record struct JoystickButtons(uint Buttons, int Count)
+[StructLayout(LayoutKind.Sequential)]
+public readonly struct JoystickButtons
 {
+    private readonly uint buttons;
+    private readonly byte count;
+
+    public int Count => count;
+
+    public uint Buttons => buttons;
+
     public bool? this[int index]
     {
         get
         {
-            if (index < Count)
+            if (index < count)
             {
-                return (Buttons & index) != 0;
+                return (buttons & index) != 0;
             }
             else
             {
@@ -22,23 +27,3 @@ public bool? this[int index]
         }
     }
 }
-
-[CustomMarshaller(typeof(JoystickButtons), MarshalMode.ManagedToUnmanagedOut, typeof(JoystickButtonsMarshaller))]
-public static class JoystickButtonsMarshaller
-{
-    public static JoystickButtons ConvertToManaged(NativeJoystickButtons unmanaged)
-    {
-        return new JoystickButtons
-        {
-            Buttons = unmanaged.buttons,
-            Count = unmanaged.count,
-        };
-    }
-
-    [StructLayout(LayoutKind.Sequential)]
-    public struct NativeJoystickButtons
-    {
-        public uint buttons;
-        public byte count;
-    }
-}

src/hal/Natives/HalCounter.cs

@@ -1,47 +1,58 @@
 using System.Runtime.CompilerServices;
 using System.Runtime.InteropServices;
 using WPIHal.Handles;
+using WPIUtil;
 
 namespace WPIHal.Natives;
 
 public static partial class HalCounter
 {
+    [AutomateStatusCheck(StatusCheckMethod = HalBase.StatusCheckCall)]
     [LibraryImport("wpiHal", EntryPoint = "HAL_ClearCounterDownSource")]
     [UnmanagedCallConv(CallConvs = [typeof(CallConvCdecl)])]
     public static partial void ClearCounterDownSource(HalCounterHandle counterHandle, out HalStatus status);
 
+    [AutomateStatusCheck(StatusCheckMethod = HalBase.StatusCheckCall)]
     [LibraryImport("wpiHal", EntryPoint = "HAL_ClearCounterUpSource")]
     [UnmanagedCallConv(CallConvs = [typeof(CallConvCdecl)])]
     public static partial void ClearCounterUpSource(HalCounterHandle counterHandle, out HalStatus status);
 
+    [AutomateStatusCheck(StatusCheckMethod = HalBase.StatusCheckCall)]
     [LibraryImport("wpiHal", EntryPoint = "HAL_FreeCounter")]
     [UnmanagedCallConv(CallConvs = [typeof(CallConvCdecl)])]
     public static partial void FreeCounter(HalCounterHandle counterHandle, out HalStatus status);
 
+    [AutomateStatusCheck(StatusCheckMethod = HalBase.StatusCheckCall)]
     [LibraryImport("wpiHal", EntryPoint = "HAL_GetCounterSamplesToAverage")]
     [UnmanagedCallConv(CallConvs = [typeof(CallConvCdecl)])]
     public static partial int GetCounterSamplesToAverage(HalCounterHandle counterHandle, out HalStatus status);
 
+    [AutomateStatusCheck(StatusCheckMethod = HalBase.StatusCheckCall)]
     [LibraryImport("wpiHal", EntryPoint = "HAL_GetCounterDirection")]
     [UnmanagedCallConv(CallConvs = [typeof(CallConvCdecl)])]
     public static partial int GetCounterDirection(HalCounterHandle counterHandle, out HalStatus status);
 
+    [AutomateStatusCheck(StatusCheckMethod = HalBase.StatusCheckCall)]
     [LibraryImport("wpiHal", EntryPoint = "HAL_GetCounterPeriod")]
     [UnmanagedCallConv(CallConvs = [typeof(CallConvCdecl)])]
     public static partial double GetCounterPeriod(HalCounterHandle counterHandle, out HalStatus status);
 
+    [AutomateStatusCheck(StatusCheckMethod = HalBase.StatusCheckCall)]
     [LibraryImport("wpiHal", EntryPoint = "HAL_GetCounterStopped")]
     [UnmanagedCallConv(CallConvs = [typeof(CallConvCdecl)])]
     public static partial int GetCounterStopped(HalCounterHandle counterHandle, out HalStatus status);
 
+    [AutomateStatusCheck(StatusCheckMethod = HalBase.StatusCheckCall)]
     [LibraryImport("wpiHal", EntryPoint = "HAL_InitializeCounter")]
     [UnmanagedCallConv(CallConvs = [typeof(CallConvCdecl)])]
     public static partial HalCounterHandle InitializeCounter(CounterMode mode, out int index, out HalStatus status);
 
+    [AutomateStatusCheck(StatusCheckMethod = HalBase.StatusCheckCall)]
     [LibraryImport("wpiHal", EntryPoint = "HAL_ResetCounter")]
     [UnmanagedCallConv(CallConvs = [typeof(CallConvCdecl)])]
     public static partial void ResetCounter(HalCounterHandle counterHandle, out HalStatus status);
 
+    [AutomateStatusCheck(StatusCheckMethod = HalBase.StatusCheckCall)]
     [LibraryImport("wpiHal", EntryPoint = "HAL_SetCounterAverageSize")]
     [UnmanagedCallConv(CallConvs = [typeof(CallConvCdecl)])]
     public static partial void SetCounterAverageSize(HalCounterHandle counterHandle, int size, out HalStatus status);
@@ -50,43 +61,53 @@ public static partial class HalCounter
     [UnmanagedCallConv(CallConvs = [typeof(CallConvCdecl)])]
     public static partial void SetCounterDownSource(HalCounterHandle counterHandle, HalDigitalHandle digitalSourceHandle, AnalogTriggerType analogTriggerType, out HalStatus status);
 
+    [AutomateStatusCheck(StatusCheckMethod = HalBase.StatusCheckCall)]
     public static void SetCounterDownSource(HalCounterHandle counterHandle, HalDigitalHandle digitalSourceHandle, out HalStatus status)
     {
         SetCounterDownSource(counterHandle, digitalSourceHandle, AnalogTriggerType.InWindow, out status);
     }
 
+    [AutomateStatusCheck(StatusCheckMethod = HalBase.StatusCheckCall)]
     [LibraryImport("wpiHal", EntryPoint = "HAL_SetCounterDownSource")]
     [UnmanagedCallConv(CallConvs = [typeof(CallConvCdecl)])]
     public static partial void SetCounterDownSource(HalCounterHandle counterHandle, HalAnalogTriggerHandle analogTriggerSource, AnalogTriggerType analogTriggerType, out HalStatus status);
 
+    [AutomateStatusCheck(StatusCheckMethod = HalBase.StatusCheckCall)]
     [LibraryImport("wpiHal", EntryPoint = "HAL_SetCounterDownSourceEdge")]
     [UnmanagedCallConv(CallConvs = [typeof(CallConvCdecl)])]
     public static partial void SetCounterDownSourceEdge(HalCounterHandle counterHandle, int risingEdge, int fallingEdge, out HalStatus status);
 
+    [AutomateStatusCheck(StatusCheckMethod = HalBase.StatusCheckCall)]
     [LibraryImport("wpiHal", EntryPoint = "HAL_SetCounterExternalDirectionMode")]
     [UnmanagedCallConv(CallConvs = [typeof(CallConvCdecl)])]
     public static partial void SetCounterExternalDirectionMode(HalCounterHandle counterHandle, out HalStatus status);
 
+    [AutomateStatusCheck(StatusCheckMethod = HalBase.StatusCheckCall)]
     [LibraryImport("wpiHal", EntryPoint = "HAL_SetCounterMaxPeriod")]
     [UnmanagedCallConv(CallConvs = [typeof(CallConvCdecl)])]
     public static partial void SetCounterMaxPeriod(HalCounterHandle counterHandle, double maxPeriod, out HalStatus status);
 
+    [AutomateStatusCheck(StatusCheckMethod = HalBase.StatusCheckCall)]
     [LibraryImport("wpiHal", EntryPoint = "HAL_SetCounterPulseLengthMode")]
     [UnmanagedCallConv(CallConvs = [typeof(CallConvCdecl)])]
     public static partial void SetCounterPulseLengthMode(HalCounterHandle counterHandle, double threshold, out HalStatus status);
 
+    [AutomateStatusCheck(StatusCheckMethod = HalBase.StatusCheckCall)]
     [LibraryImport("wpiHal", EntryPoint = "HAL_SetCounterReverseDirection")]
     [UnmanagedCallConv(CallConvs = [typeof(CallConvCdecl)])]
     public static partial void SetCounterReverseDirection(HalCounterHandle counterHandle, int reverseDirection, out HalStatus status);
 
+    [AutomateStatusCheck(StatusCheckMethod = HalBase.StatusCheckCall)]
     [LibraryImport("wpiHal", EntryPoint = "HAL_SetCounterSamplesToAverage")]
     [UnmanagedCallConv(CallConvs = [typeof(CallConvCdecl)])]
     public static partial void SetCounterSamplesToAverage(HalCounterHandle counterHandle, int samplesToAverage, out HalStatus status);
 
+    [AutomateStatusCheck(StatusCheckMethod = HalBase.StatusCheckCall)]
     [LibraryImport("wpiHal", EntryPoint = "HAL_SetCounterSemiPeriodMode")]
     [UnmanagedCallConv(CallConvs = [typeof(CallConvCdecl)])]
     public static partial void SetCounterSemiPeriodMode(HalCounterHandle counterHandle, int highSemiPeriod, out HalStatus status);
 
+    [AutomateStatusCheck(StatusCheckMethod = HalBase.StatusCheckCall)]
     [LibraryImport("wpiHal", EntryPoint = "HAL_SetCounterUpDownMode")]
     [UnmanagedCallConv(CallConvs = [typeof(CallConvCdecl)])]
     public static partial void SetCounterUpDownMode(HalCounterHandle counterHandle, out HalStatus status);
@@ -95,22 +116,24 @@ public static void SetCounterDownSource(HalCounterHandle counterHandle, HalDigit
     [UnmanagedCallConv(CallConvs = [typeof(CallConvCdecl)])]
     public static partial void SetCounterUpSource(HalCounterHandle counterHandle, HalDigitalHandle digitalSourceHandle, AnalogTriggerType analogTriggerType, out HalStatus status);
 
+    [AutomateStatusCheck(StatusCheckMethod = HalBase.StatusCheckCall)]
     public static void SetCounterUpSource(HalCounterHandle counterHandle, HalDigitalHandle digitalSourceHandle, out HalStatus status)
     {
         SetCounterUpSource(counterHandle, digitalSourceHandle, AnalogTriggerType.InWindow, out status);
     }
 
+    [AutomateStatusCheck(StatusCheckMethod = HalBase.StatusCheckCall)]
     [LibraryImport("wpiHal", EntryPoint = "HAL_SetCounterUpSource")]
     [UnmanagedCallConv(CallConvs = [typeof(CallConvCdecl)])]
     public static partial void SetCounterUpSource(HalCounterHandle counterHandle, HalAnalogTriggerHandle analogTriggerSource, AnalogTriggerType analogTriggerType, out HalStatus status);
 
+    [AutomateStatusCheck(StatusCheckMethod = HalBase.StatusCheckCall)]
     [LibraryImport("wpiHal", EntryPoint = "HAL_SetCounterUpSourceEdge")]
     [UnmanagedCallConv(CallConvs = [typeof(CallConvCdecl)])]
     public static partial void SetCounterUpSourceEdge(HalCounterHandle counterHandle, int risingEdge, int fallingEdge, out HalStatus status);
 
+    [AutomateStatusCheck(StatusCheckMethod = HalBase.StatusCheckCall)]
     [LibraryImport("wpiHal", EntryPoint = "HAL_SetCounterUpdateWhenEmpty")]
     [UnmanagedCallConv(CallConvs = [typeof(CallConvCdecl)])]
     public static partial void SetCounterUpdateWhenEmpty(HalCounterHandle counterHandle, int enabled, out HalStatus status);
-
-
 }

src/hal/Natives/HalDIO.cs

@@ -1,11 +1,13 @@
 using System.Runtime.CompilerServices;
 using System.Runtime.InteropServices;
 using WPIHal.Handles;
+using WPIUtil;
 
 namespace WPIHal.Natives;
 
 public static partial class HalDIO
 {
+    [AutomateStatusCheck(StatusCheckMethod = HalBase.StatusCheckCall)]
     [LibraryImport("wpiHal", EntryPoint = "HAL_AllocateDigitalPWM")]
     [UnmanagedCallConv(CallConvs = [typeof(CallConvCdecl)])]
     public static partial HalDigitalPWMHandle AllocateDigitalPWM(out HalStatus status);
@@ -18,69 +20,83 @@ public static partial class HalDIO
     [UnmanagedCallConv(CallConvs = [typeof(CallConvCdecl)])]
     public static partial void FreeDIOPort(HalDigitalHandle dioPortHandle);
 
+    [AutomateStatusCheck(StatusCheckMethod = HalBase.StatusCheckCall)]
     [LibraryImport("wpiHal", EntryPoint = "HAL_FreeDigitalPWM")]
     [UnmanagedCallConv(CallConvs = [typeof(CallConvCdecl)])]
     public static partial void FreeDigitalPWM(HalDigitalPWMHandle pwmGenerator, out HalStatus status);
 
+    [AutomateStatusCheck(StatusCheckMethod = HalBase.StatusCheckCall)]
     [LibraryImport("wpiHal", EntryPoint = "HAL_GetDIO")]
     [UnmanagedCallConv(CallConvs = [typeof(CallConvCdecl)])]
     public static partial int GetDIO(HalDigitalHandle dioPortHandle, out HalStatus status);
 
+    [AutomateStatusCheck(StatusCheckMethod = HalBase.StatusCheckCall)]
     [LibraryImport("wpiHal", EntryPoint = "HAL_GetDIODirection")]
     [UnmanagedCallConv(CallConvs = [typeof(CallConvCdecl)])]
     public static partial int GetDIODirection(HalDigitalHandle dioPortHandle, out HalStatus status);
 
+    [AutomateStatusCheck(StatusCheckMethod = HalBase.StatusCheckCall)]
     [LibraryImport("wpiHal", EntryPoint = "HAL_GetFilterPeriod")]
     [UnmanagedCallConv(CallConvs = [typeof(CallConvCdecl)])]
     public static partial long GetFilterPeriod(int filterIndex, out HalStatus status);
 
+    [AutomateStatusCheck(StatusCheckMethod = HalBase.StatusCheckCall)]
     [LibraryImport("wpiHal", EntryPoint = "HAL_GetFilterSelect")]
     [UnmanagedCallConv(CallConvs = [typeof(CallConvCdecl)])]
     public static partial int GetFilterSelect(HalDigitalHandle dioPortHandle, out HalStatus status);
 
+    [AutomateStatusCheck(StatusCheckMethod = HalBase.StatusCheckCall)]
     [LibraryImport("wpiHal", EntryPoint = "HAL_InitializeDIOPort", StringMarshalling = StringMarshalling.Utf8)]
     [UnmanagedCallConv(CallConvs = [typeof(CallConvCdecl)])]
     public static partial HalDigitalHandle InitializeDIOPort(HalPortHandle portHandle, int input, string allocationLocation, out HalStatus status);
 
+    [AutomateStatusCheck(StatusCheckMethod = HalBase.StatusCheckCall)]
     [LibraryImport("wpiHal", EntryPoint = "HAL_IsAnyPulsing")]
     [UnmanagedCallConv(CallConvs = [typeof(CallConvCdecl)])]
     public static partial int IsAnyPulsing(out HalStatus status);
 
+    [AutomateStatusCheck(StatusCheckMethod = HalBase.StatusCheckCall)]
     [LibraryImport("wpiHal", EntryPoint = "HAL_IsPulsing")]
     [UnmanagedCallConv(CallConvs = [typeof(CallConvCdecl)])]
     public static partial int IsPulsing(HalDigitalHandle dioPortHandle, out HalStatus status);
 
+    [AutomateStatusCheck(StatusCheckMethod = HalBase.StatusCheckCall)]
     [LibraryImport("wpiHal", EntryPoint = "HAL_Pulse")]
     [UnmanagedCallConv(CallConvs = [typeof(CallConvCdecl)])]
     public static partial void Pulse(HalDigitalHandle dioPortHandle, double pulseLengthSeconds, out HalStatus status);
 
+    [AutomateStatusCheck(StatusCheckMethod = HalBase.StatusCheckCall)]
     [LibraryImport("wpiHal", EntryPoint = "HAL_SetDIOSimDevice")]
     [UnmanagedCallConv(CallConvs = [typeof(CallConvCdecl)])]
     public static partial void SetDIOSimDevice(HalDigitalHandle handle, HalSimDeviceHandle device);
 
+    [AutomateStatusCheck(StatusCheckMethod = HalBase.StatusCheckCall)]
     [LibraryImport("wpiHal", EntryPoint = "HAL_SetDIODirection")]
     [UnmanagedCallConv(CallConvs = [typeof(CallConvCdecl)])]
     public static partial void SetDIODirection(HalDigitalHandle dioPortHandle, int input, out HalStatus status);
 
+    [AutomateStatusCheck(StatusCheckMethod = HalBase.StatusCheckCall)]
     [LibraryImport("wpiHal", EntryPoint = "HAL_SetDigitalPWMDutyCycle")]
     [UnmanagedCallConv(CallConvs = [typeof(CallConvCdecl)])]
     public static partial void SetDigitalPWMDutyCycle(HalDigitalPWMHandle pwmGenerator, double dutyCycle, out HalStatus status);
 
+    [AutomateStatusCheck(StatusCheckMethod = HalBase.StatusCheckCall)]
     [LibraryImport("wpiHal", EntryPoint = "HAL_SetDigitalPWMOutputChannel")]
     [UnmanagedCallConv(CallConvs = [typeof(CallConvCdecl)])]
     public static partial void SetDigitalPWMOutputChannel(HalDigitalPWMHandle pwmGenerator, int channel, out HalStatus status);
 
+    [AutomateStatusCheck(StatusCheckMethod = HalBase.StatusCheckCall)]
     [LibraryImport("wpiHal", EntryPoint = "HAL_SetDigitalPWMRate")]
     [UnmanagedCallConv(CallConvs = [typeof(CallConvCdecl)])]
     public static partial void SetDigitalPWMRate(double rate, out HalStatus status);
 
+    [AutomateStatusCheck(StatusCheckMethod = HalBase.StatusCheckCall)]
     [LibraryImport("wpiHal", EntryPoint = "HAL_SetFilterPeriod")]
     [UnmanagedCallConv(CallConvs = [typeof(CallConvCdecl)])]
     public static partial void SetFilterPeriod(int filterIndex, long value, out HalStatus status);
 
+    [AutomateStatusCheck(StatusCheckMethod = HalBase.StatusCheckCall)]
     [LibraryImport("wpiHal", EntryPoint = "HAL_SetFilterSelect")]
     [UnmanagedCallConv(CallConvs = [typeof(CallConvCdecl)])]
     public static partial void SetFilterSelect(HalDigitalHandle dioPortHandle, int filterIndex, out HalStatus status);
-
-
 }