[wpilib] Add function to wait for DS Connection (#5230)

wpilibj/src/main/java/edu/wpi/first/wpilibj/DriverStation.java

@@ -1145,6 +1145,33 @@ public final class DriverStation {
     }
   }
 
+  /**
+   * Wait for a DS connection.
+   *
+   * @param timeoutSeconds timeout in seconds. 0 for infinite.
+   * @return true if connected, false if timeout
+   */
+  public static boolean waitForDsConnection(double timeoutSeconds) {
+    int event = WPIUtilJNI.createEvent(true, false);
+    DriverStationJNI.provideNewDataEventHandle(event);
+    boolean result;
+    try {
+      if (timeoutSeconds == 0) {
+        WPIUtilJNI.waitForObject(event);
+        result = true;
+      } else {
+        result = !WPIUtilJNI.waitForObjectTimeout(event, timeoutSeconds);
+      }
+    } catch (InterruptedException ex) {
+      Thread.currentThread().interrupt();
+      result = false;
+    } finally {
+      DriverStationJNI.removeNewDataEventHandle(event);
+      WPIUtilJNI.destroyEvent(event);
+    }
+    return result;
+  }
+
   /**
    * Return the approximate match time. The FMS does not send an official match time to the robots,
    * but does send an approximate match time. The value will count down the time remaining in the