[hal,wpilib] Add DS Display API (#8975)

hal/src/main/java/org/wpilib/hardware/hal/DriverStationJNI.java

@@ -346,6 +346,14 @@ public class DriverStationJNI extends JNIWrapper {
    */
   public static native boolean getOutputsActive();
 
+  /**
+   * Writes ANSI text to the display.
+   *
+   * @param data the ANSI text to write
+   * @see "HAL_WriteDisplayAnsi"
+   */
+  public static native void writeDisplayAnsi(String data);
+
   /** Utility class. */
   private DriverStationJNI() {}
 }

hal/src/main/native/cpp/FIRSTDriverStation.cpp

@@ -3,6 +3,7 @@
 // the WPILib BSD license file in the root directory of this project.
 
 #include <atomic>
+#include <chrono>
 #include <cstdio>
 #include <cstring>
 #include <functional>
@@ -279,6 +280,10 @@ HAL_Bool HAL_GetSystemTimeValid(int32_t* status) {
   return systemTimeValid;
 }
 
+void HAL_WriteDisplayAnsi(const struct WPI_String* data) {
+  mrcLibDs->writeDisplayAnsi(data);
+}
+
 }  // extern "C"
 
 namespace wpi::hal {

hal/src/main/native/cpp/jni/DriverStationJNI.cpp

@@ -444,4 +444,19 @@ Java_org_wpilib_hardware_hal_DriverStationJNI_getOutputsActive
 {
   return HAL_GetOutputsEnabled();
 }
+
+/*
+ * Class:     org_wpilib_hardware_hal_DriverStationJNI
+ * Method:    writeDisplayAnsi
+ * Signature: (Ljava/lang/String;)V
+ */
+JNIEXPORT void JNICALL
+Java_org_wpilib_hardware_hal_DriverStationJNI_writeDisplayAnsi
+  (JNIEnv* env, jclass, jstring data)
+{
+  JStringRef dataStr{env, data};
+  WPI_String dataWpiStr = dataStr.wpi_str();
+  HAL_WriteDisplayAnsi(&dataWpiStr);
+}
+
 }  // extern "C"

hal/src/main/native/cpp/mrclib/MrcLibDs.cpp

@@ -242,6 +242,8 @@ class MrcLibDsImpl : public MrcLibDs {
 
   int32_t getSystemTimeValid(bool* systemTimeValid) override;
 
+  int32_t writeDisplayAnsi(const struct WPI_String* line) override;
+
   wpi::util::EventVector newDataEvents;
 
  private:
@@ -661,6 +663,11 @@ int32_t MrcLibDsImpl::getSystemTimeValid(bool* systemTimeValid) {
   return status;
 }
 
+int32_t MrcLibDsImpl::writeDisplayAnsi(const struct WPI_String* line) {
+  MRC_String mrcLine = WPIStringToMRCString(line);
+  return MRC_DsCommsControl_WriteAnsi(&mrcLine);
+}
+
 void MrcLibDsImpl::provideNewDataEventHandle(WPI_EventHandle handle) {
   newDataEvents.Add(handle);
 }

hal/src/main/native/include/wpi/hal/DriverStation.h

@@ -315,6 +315,13 @@ void HAL_ObserveUserProgramStarting(void);
  */
 void HAL_ObserveUserProgram(HAL_ControlWord word);
 
+/**
+ * Writes ANSI text to the display.
+ *
+ * @param data the ANSI text to write
+ */
+void HAL_WriteDisplayAnsi(const struct WPI_String* data);
+
 #ifdef __cplusplus
 }  // extern "C"
 #endif

hal/src/main/native/include/wpi/hal/cpp/MrcLibDs.hpp

@@ -97,6 +97,14 @@ class MrcLibDs {
   virtual int32_t observeUserProgram(HAL_ControlWord controlWord) = 0;
 
   virtual int32_t getSystemTimeValid(bool* systemTimeValid) = 0;
+
+  /**
+   * Writes ANSI text to the Driver Station display.
+   *
+   * @param line the ANSI text to write
+   * @return 0 on success, non-zero on error
+   */
+  virtual int32_t writeDisplayAnsi(const struct WPI_String* line) = 0;
 };
 
 MrcLibDs* GetMrcLibDs();

hal/src/main/native/sim/DriverStation.cpp

@@ -160,6 +160,8 @@ class MrcLibDsSimImpl : public MrcLibDs {
 
   int32_t getSystemTimeValid(bool* systemTimeValid) override;
 
+  int32_t writeDisplayAnsi(const struct WPI_String* line) override;
+
   wpi::util::EventVector newDataEvents;
 
   void NewDriverStationData();
@@ -506,6 +508,10 @@ int32_t MrcLibDsSimImpl::getSystemTimeValid(bool* systemTimeValid) {
   return 0;
 }
 
+int32_t MrcLibDsSimImpl::writeDisplayAnsi(const struct WPI_String* line) {
+  return 0;
+}
+
 void MrcLibDsSimImpl::NewDriverStationData() {
   SimDriverStationData->dsAttached = true;
   cacheToUpdate->Update();

hal/src/main/python/semiwrap/DriverStation_c.yml

@@ -45,3 +45,4 @@ functions:
   HAL_SetOpModeOptions:
   HAL_ObserveUserProgram:
   HAL_GetGameData:
+  HAL_WriteDisplayAnsi:

shared/bazel/thirdparty/integrity_helper.py

@@ -157,7 +157,7 @@ def update_libssh():
 
 def update_mrclib():
     # Keep in sync with shared/libmrclib.gradle
-    version = "2027.1.0-alpha-1-50-gd008523"
+    version = "2027.1.0-alpha-1-65-g21f308e"
 
     has_headers = True
     classifiers = [

shared/bazel/thirdparty/mrclib/mrclib.MODULE.bazel

@@ -2,17 +2,17 @@ http_archive = use_repo_rule("@bazel_tools//tools/build_defs/repo:http.bzl", "ht
 
 ################################################################################
 # Generated by shared/bazel/thirdparty/integrity_helper.py
-url_pattern = "https://frcmaven.wpi.edu/artifactory/development-2027/org/wpilib/mrclib/mrclib-cpp/2027.1.0-alpha-1-50-gd008523/mrclib-cpp-2027.1.0-alpha-1-50-gd008523-%s.zip"
+url_pattern = "https://frcmaven.wpi.edu/artifactory/development-2027/org/wpilib/mrclib/mrclib-cpp/2027.1.0-alpha-1-65-g21f308e/mrclib-cpp-2027.1.0-alpha-1-65-g21f308e-%s.zip"
 
-headers_integrity = "c71011e2c593749aca585eec308f394d5e7f34451c1a14cdd8e077ea3b1368b5"
+headers_integrity = "a8b38a00d584b50c3bb84800121df1022ac1500f59e4ecac85068adca7c0ac49"
 
 _LIB_ARTIFACTS = {
-    "linuxarm64": ("linux", "**/*.so*", "4673c573c25d1d9a03f1cf3d73c1e8a121718291171213813b95b451eea53f3a"),
-    "linuxx86-64": ("linux", "**/*.so*", "8d986ed0ffb03be1215a3cf88716c31da82848f4524e723ac89aee4eca45eb12"),
-    "osxuniversal": ("osx", "**/*.dylib", "af05c46bffa58a1ca63bd18f4d8865b827746d1cdf94c8512c7f86d58731d16f"),
-    "linuxsystemcore": ("linux", "**/*.so*", "c1cad49fb96caa73fddbc852588c67a2110402539b39dba40255c21974114e84"),
-    "windowsarm64": ("windows", "**/*.dll", "8205701efbde585c6822981c7246c0a0d8e4b4cdb702097ec77674aa98aff7bb"),
-    "windowsx86-64": ("windows", "**/*.dll", "dd4eef6e1aaba5b7034889a1646e259b3e91435b3084d43b3ff3b2c6adcc2122"),
+    "linuxarm64": ("linux", "**/*.so*", "38009110f0deeaeaec08b59fe37ce7e87d3ee4f3d86bd70a7003b22a75bcb43e"),
+    "linuxx86-64": ("linux", "**/*.so*", "503b3107febd35d32d28e5a3135c48fbd8c09d49d0b1f404182bc9b3c6877d12"),
+    "osxuniversal": ("osx", "**/*.dylib", "422a52e4b5f859ef3afb7a97e66ba72572894a73abd88126e09647929b1701c1"),
+    "linuxsystemcore": ("linux", "**/*.so*", "f84d4a6852d52da5535c054944b45f6f0c3d98271756ebfa28103a6f45e073e5"),
+    "windowsarm64": ("windows", "**/*.dll", "8fd028fa1144c1c18adf9facf4dd690f6d888565c73498bfae01849d0400dad0"),
+    "windowsx86-64": ("windows", "**/*.dll", "6e905f298fd261e68abb2bfcad7d47334d57f8b6dd14046bf2b98f55c7a657d7"),
 }
 # End auto-gen
 ################################################################################

shared/examplecheck.gradle

@@ -46,7 +46,7 @@ def tagList = [
         "Swerve Drive",
 
         /* --- Telemetry --- */
-        "SmartDashboard", "Shuffleboard", "Sendable", "DataLog",
+        "SmartDashboard", "Shuffleboard", "Sendable", "DataLog", "Driver Station",
 
         /* --- Controls --- */
         "Exponential Profile", "PID", "State-Space", "LTVUnicycleController", "Path Following",

shared/libmrclib.gradle

@@ -5,7 +5,7 @@ nativeUtils {
             artifactId = "mrclib-cpp"
             headerClassifier = "headers"
             ext = "zip"
-            version = '2027.1.0-alpha-1-50-gd008523'
+            version = '2027.1.0-alpha-1-65-g21f308e'
             skipAtRuntimePlatforms.add(nativeUtils.wpi.platforms.systemcore)
             targetPlatforms.addAll(nativeUtils.wpi.platforms.allPlatforms)
             noDebugSplit = true

wpilibc/robotpy_pybind_build_info.bzl

@@ -145,6 +145,16 @@ def wpilib_extension(srcs = [], header_to_dat_deps = [], extra_hdrs = [], includ
                 ("wpi::DriverStation", "wpi__DriverStation.hpp"),
             ],
         ),
+        struct(
+            class_name = "DriverStationDisplay",
+            yml_file = "semiwrap/DriverStationDisplay.yml",
+            header_root = "$(execpath :robotpy-native-wpilib.copy_headers)",
+            header_file = "$(execpath :robotpy-native-wpilib.copy_headers)/wpi/driverstation/DriverStationDisplay.hpp",
+            tmpl_class_names = [],
+            trampolines = [
+                ("wpi::DriverStationDisplay", "wpi__DriverStationDisplay.hpp"),
+            ],
+        ),
         struct(
             class_name = "MatchState",
             yml_file = "semiwrap/MatchState.yml",

wpilibc/src/main/native/cpp/driverstation/DriverStationDisplay.cpp

@@ -0,0 +1,147 @@
+// 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.
+
+#include "wpi/driverstation/DriverStationDisplay.hpp"
+
+#include <cctype>
+#include <cstdint>
+#include <string>
+#include <string_view>
+#include <vector>
+
+#include "wpi/hal/DriverStation.h"
+#include "wpi/hal/monotonic_clock.hpp"
+#include "wpi/util/StringMap.hpp"
+#include "wpi/util/mutex.hpp"
+#include "wpi/util/string.hpp"
+
+using namespace wpi;
+
+static constexpr std::chrono::milliseconds UPDATE_PERIOD{230};
+
+static constexpr std::string_view CLEAR_DISPLAY = "\033[0m\033[2J\033[H";
+
+namespace {
+struct DriverStationDisplayStorage {
+  wpi::util::mutex mutex;
+  bool rawMode = false;
+  wpi::util::StringMap<uint32_t> lineMap;
+  std::vector<std::string> lines;
+  std::string buffer;
+};
+}  // namespace
+
+static DriverStationDisplayStorage& GetDisplayStorage() {
+  static DriverStationDisplayStorage storage;
+  return storage;
+}
+
+static void WriteDisplayAnsiToHal(std::string_view data) {
+  WPI_String dataWpiStr = wpi::util::make_string(data);
+  HAL_WriteDisplayAnsi(&dataWpiStr);
+}
+
+void DriverStationDisplay::SetMode(Mode mode) {
+  auto& storage = GetDisplayStorage();
+  std::scoped_lock lock(storage.mutex);
+
+  switch (mode) {
+    case Mode::Line:
+      storage.rawMode = false;
+      storage.lineMap.clear();
+      storage.lines.clear();
+      break;
+    case Mode::RawAnsi:
+      storage.rawMode = true;
+      WriteDisplayAnsiToHal(CLEAR_DISPLAY);
+      break;
+  }
+}
+
+void DriverStationDisplay::AddData(std::string_view caption,
+                                   std::string_view line) {
+  auto& storage = GetDisplayStorage();
+  std::scoped_lock lock(storage.mutex);
+  if (storage.rawMode) {
+    return;
+  }
+
+  bool hasCaption = false;
+  for (char ch : caption) {
+    if (!std::isspace(static_cast<unsigned char>(ch))) {
+      hasCaption = true;
+      break;
+    }
+  }
+  if (!hasCaption) {
+    storage.lines.emplace_back(line);
+    return;
+  }
+
+  uint32_t lineNum;
+  auto it = storage.lineMap.find(caption);
+  if (it == storage.lineMap.end()) {
+    lineNum = storage.lines.size();
+    storage.lineMap[caption] = lineNum;
+    storage.lines.emplace_back(line);
+  } else {
+    lineNum = it->second;
+    if (lineNum < storage.lines.size()) {
+      storage.lines[lineNum] = line;
+    }
+  }
+}
+
+void DriverStationDisplay::AddLine(std::string_view line) {
+  AddData({}, line);
+}
+
+void DriverStationDisplay::UpdateLines() {
+  auto& storage = GetDisplayStorage();
+  std::scoped_lock lock(storage.mutex);
+  if (storage.rawMode) {
+    return;
+  }
+
+  static auto lastDisplayUpdate =
+      wpi::hal::monotonic_clock::now() - UPDATE_PERIOD;
+  auto now = wpi::hal::monotonic_clock::now();
+  if (now - lastDisplayUpdate < UPDATE_PERIOD) {
+    storage.lineMap.clear();
+    storage.lines.clear();
+    return;
+  }
+  lastDisplayUpdate = now;
+
+  storage.buffer.clear();
+  storage.buffer += CLEAR_DISPLAY;
+  for (const auto& line : storage.lines) {
+    storage.buffer += line;
+    storage.buffer += "\033[0m\n";
+  }
+
+  WPI_String wpiBuffer = wpi::util::make_string(storage.buffer);
+  HAL_WriteDisplayAnsi(&wpiBuffer);
+
+  storage.lineMap.clear();
+  storage.lines.clear();
+}
+
+void DriverStationDisplay::WriteRawAnsi(std::string_view data) {
+  auto& storage = GetDisplayStorage();
+  std::scoped_lock lock(storage.mutex);
+  if (!storage.rawMode) {
+    return;
+  }
+
+  WriteDisplayAnsiToHal(data);
+}
+
+void DriverStationDisplay::ClearRaw() {
+  auto& storage = GetDisplayStorage();
+  std::scoped_lock lock(storage.mutex);
+  if (storage.rawMode) {
+    WriteDisplayAnsiToHal(CLEAR_DISPLAY);
+  }
+}

wpilibc/src/main/native/include/wpi/driverstation/DriverStationDisplay.hpp

@@ -0,0 +1,86 @@
+// 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 <string_view>
+
+namespace wpi {
+
+/**
+ * Provides access to the Driver Station display.
+ *
+ * Line mode is the default display mode.
+ */
+class DriverStationDisplay final {
+ public:
+  DriverStationDisplay() = delete;
+
+  /** Driver Station display mode. */
+  enum class Mode {
+    /** Display line mode. This is the default display mode. */
+    Line,
+    /** Raw ANSI text mode. */
+    RawAnsi
+  };
+
+  /**
+   * Sets the display mode.
+   *
+   * Mode::Line is the default display mode. Setting Mode::Line clears any
+   * pending display lines. Setting Mode::RawAnsi clears the display.
+   *
+   * @param mode display mode
+   */
+  static void SetMode(Mode mode);
+
+  /**
+   * Adds display data in line mode.
+   *
+   * Repeated calls with the same caption before UpdateLines() replace the
+   * previous line. The caption is used to identify the line and is not
+   * displayed. Empty or whitespace-only captions always append a new line.
+   *
+   * @param caption Line caption.
+   * @param line Line contents.
+   */
+  static void AddData(std::string_view caption, std::string_view line);
+
+  /**
+   * Adds an uncaptioned display line in line mode.
+   *
+   * This is equivalent to calling AddData() with an empty caption, which always
+   * appends a new line.
+   *
+   * @param line Line contents.
+   */
+  static void AddLine(std::string_view line);
+
+  /**
+   * Updates the display with all pending lines and clears the pending lines.
+   *
+   * Updates are sent at most once every 230 ms. If called before 230 ms has
+   * elapsed since the last update, the pending lines are cleared without
+   * sending.
+   */
+  static void UpdateLines();
+
+  /**
+   * Writes ANSI text directly to the display in raw ANSI mode.
+   *
+   * This call is ignored unless the display is in raw ANSI mode.
+   *
+   * @param data ANSI text to write.
+   */
+  static void WriteRawAnsi(std::string_view data);
+
+  /**
+   * Clears the display in raw ANSI mode.
+   *
+   * This call is ignored unless the display is in raw ANSI mode.
+   */
+  static void ClearRaw();
+};
+
+}  // namespace wpi

wpilibc/src/main/python/pyproject.toml

@@ -112,6 +112,7 @@ DriverStationBackend = "wpi/driverstation/internal/DriverStationBackend.hpp"
 Alliance = "wpi/driverstation/Alliance.hpp"
 Alert = "wpi/driverstation/Alert.hpp"
 DriverStation = "wpi/driverstation/DriverStation.hpp"
+DriverStationDisplay = "wpi/driverstation/DriverStationDisplay.hpp"
 MatchState = "wpi/driverstation/MatchState.hpp"
 MatchType = "wpi/driverstation/MatchType.hpp"
 POVDirection = "wpi/driverstation/POVDirection.hpp"

wpilibc/src/main/python/semiwrap/DriverStationDisplay.yml

@@ -0,0 +1,11 @@
+classes:
+  wpi::DriverStationDisplay:
+    enums:
+      Mode:
+    methods:
+      SetMode:
+      AddData:
+      AddLine:
+      UpdateLines:
+      WriteRawAnsi:
+      ClearRaw:

wpilibc/src/main/python/wpilib/__init__.py

@@ -25,6 +25,7 @@ from ._wpilib import (
     DoubleSolenoid,
     DriverStation,
     DriverStationBackend,
+    DriverStationDisplay,
     DualSenseController,
     DutyCycle,
     DutyCycleEncoder,
@@ -142,6 +143,7 @@ __all__ = [
     "DoubleSolenoid",
     "DriverStation",
     "DriverStationBackend",
+    "DriverStationDisplay",
     "DualSenseController",
     "DutyCycle",
     "DutyCycleEncoder",

wpilibcExamples/example_projects.bzl

@@ -4,6 +4,8 @@ EXAMPLE_FOLDERS = [
     "DifferentialDriveBot",
     "DifferentialDrivePoseEstimator",
     "DriveDistanceOffboard",
+    "DriverStationDisplayAnsi",
+    "DriverStationDisplayLines",
     "DutyCycleEncoder",
     "ElevatorExponentialProfile",
     "ElevatorExponentialSimulation",

wpilibcExamples/src/main/cpp/examples/DriverStationDisplayAnsi/cpp/Robot.cpp

@@ -0,0 +1,18 @@
+// 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.
+
+#include "Robot.hpp"
+
+#include "opmode/DefaultTeleop.hpp"
+
+Robot::Robot() {
+  AddOpMode<DefaultTeleop>(wpi::RobotMode::TELEOPERATED, "Default Teleop");
+  PublishOpModes();
+}
+
+#ifndef RUNNING_WPILIB_TESTS
+int main() {
+  return wpi::StartRobot<Robot>();
+}
+#endif

wpilibcExamples/src/main/cpp/examples/DriverStationDisplayAnsi/cpp/opmode/DefaultTeleop.cpp

@@ -0,0 +1,47 @@
+// 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.
+
+#include "opmode/DefaultTeleop.hpp"
+
+#include <array>
+#include <cstdio>
+
+#include "wpi/driverstation/DriverStationDisplay.hpp"
+
+using namespace wpi::units::literals;
+
+namespace {
+constexpr std::array<int, 20> COLORS = {196, 202, 208, 214, 220, 226, 118,
+                                        46,  48,  51,  45,  39,  33,  27,
+                                        21,  57,  93,  129, 165, 201};
+}  // namespace
+
+void DefaultTeleop::Start() {
+  wpi::DriverStationDisplay::SetMode(wpi::DriverStationDisplay::Mode::RawAnsi);
+  m_timer.Restart();
+  m_seconds = 0;
+
+  wpi::DriverStationDisplay::WriteRawAnsi(
+      "\033[2J\033[H"
+      "DriverStationDisplay ANSI mode\n"
+      "This header and footer stay on screen.\n"
+      "Seconds elapsed:      \n"
+      "Only the number above is rewritten.");
+  UpdateSecondsDisplay();
+}
+
+void DefaultTeleop::Periodic() {
+  if (m_timer.AdvanceIfElapsed(1_s)) {
+    ++m_seconds;
+    UpdateSecondsDisplay();
+  }
+}
+
+void DefaultTeleop::UpdateSecondsDisplay() {
+  int color = COLORS[m_seconds % COLORS.size()];
+  std::array<char, 64> buffer;
+  std::snprintf(buffer.data(), buffer.size(),
+                "\033[3;18H\033[38;5;%dm%5d\033[0m", color, m_seconds);
+  wpi::DriverStationDisplay::WriteRawAnsi(buffer.data());
+}

wpilibcExamples/src/main/cpp/examples/DriverStationDisplayAnsi/include/Robot.hpp

@@ -0,0 +1,12 @@
+// 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 "wpi/framework/OpModeRobot.hpp"
+
+class Robot : public wpi::OpModeRobot<Robot> {
+ public:
+  Robot();
+};

wpilibcExamples/src/main/cpp/examples/DriverStationDisplayAnsi/include/opmode/DefaultTeleop.hpp

@@ -0,0 +1,20 @@
+// 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 "wpi/opmode/PeriodicOpMode.hpp"
+#include "wpi/system/Timer.hpp"
+
+class DefaultTeleop : public wpi::PeriodicOpMode {
+ public:
+  void Start() override;
+  void Periodic() override;
+
+ private:
+  void UpdateSecondsDisplay();
+
+  wpi::Timer m_timer;
+  int m_seconds = 0;
+};

wpilibcExamples/src/main/cpp/examples/DriverStationDisplayLines/cpp/Robot.cpp

@@ -0,0 +1,18 @@
+// 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.
+
+#include "Robot.hpp"
+
+#include "opmode/DefaultTeleop.hpp"
+
+Robot::Robot() {
+  AddOpMode<DefaultTeleop>(wpi::RobotMode::TELEOPERATED, "Default Teleop");
+  PublishOpModes();
+}
+
+#ifndef RUNNING_WPILIB_TESTS
+int main() {
+  return wpi::StartRobot<Robot>();
+}
+#endif

wpilibcExamples/src/main/cpp/examples/DriverStationDisplayLines/cpp/opmode/DefaultTeleop.cpp

@@ -0,0 +1,29 @@
+// 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.
+
+#include "opmode/DefaultTeleop.hpp"
+
+#include <iomanip>
+#include <sstream>
+#include <string>
+
+#include "wpi/driverstation/DriverStationDisplay.hpp"
+
+void DefaultTeleop::Start() {
+  wpi::DriverStationDisplay::SetMode(wpi::DriverStationDisplay::Mode::Line);
+  m_timer.Restart();
+  m_loopCount = 0;
+}
+
+void DefaultTeleop::Periodic() {
+  std::ostringstream runtime;
+  runtime << std::fixed << std::setprecision(1) << m_timer.Get().value()
+          << " seconds";
+
+  wpi::DriverStationDisplay::AddLine("DriverStationDisplay line mode");
+  wpi::DriverStationDisplay::AddData("Runtime", runtime.str());
+  wpi::DriverStationDisplay::AddData("Loop Count",
+                                     std::to_string(m_loopCount++));
+  wpi::DriverStationDisplay::UpdateLines();
+}

wpilibcExamples/src/main/cpp/examples/DriverStationDisplayLines/include/Robot.hpp

@@ -0,0 +1,12 @@
+// 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 "wpi/framework/OpModeRobot.hpp"
+
+class Robot : public wpi::OpModeRobot<Robot> {
+ public:
+  Robot();
+};

wpilibcExamples/src/main/cpp/examples/DriverStationDisplayLines/include/opmode/DefaultTeleop.hpp

@@ -0,0 +1,18 @@
+// 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 "wpi/opmode/PeriodicOpMode.hpp"
+#include "wpi/system/Timer.hpp"
+
+class DefaultTeleop : public wpi::PeriodicOpMode {
+ public:
+  void Start() override;
+  void Periodic() override;
+
+ private:
+  wpi::Timer m_timer;
+  int m_loopCount = 0;
+};

wpilibcExamples/src/main/cpp/examples/examples.json

@@ -250,6 +250,28 @@
     "gradlebase": "cpp",
     "commandversion": 2
   },
+  {
+    "name": "Driver Station Display Lines",
+    "description": "Display lines on the Driver Station display and update them every robot loop.",
+    "tags": [
+      "Basic Robot",
+      "Driver Station"
+    ],
+    "foldername": "DriverStationDisplayLines",
+    "gradlebase": "cpp",
+    "commandversion": 2
+  },
+  {
+    "name": "Driver Station Display ANSI",
+    "description": "Stream ANSI text to the Driver Station display and update a value in place once per second.",
+    "tags": [
+      "Basic Robot",
+      "Driver Station"
+    ],
+    "foldername": "DriverStationDisplayAnsi",
+    "gradlebase": "cpp",
+    "commandversion": 2
+  },
   {
     "name": "DriveDistanceOffboard",
     "description": "Drive a differential drivetrain a set distance using TrapezoidProfile and smart motor controller PID.",

wpilibj/src/main/java/org/wpilib/driverstation/DriverStationDisplay.java

@@ -0,0 +1,227 @@
+// 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.
+
+package org.wpilib.driverstation;
+
+import java.util.ArrayList;
+import java.util.HashMap;
+import java.util.List;
+import java.util.Map;
+import java.util.concurrent.locks.Lock;
+import java.util.concurrent.locks.ReentrantLock;
+import org.wpilib.hardware.hal.DriverStationJNI;
+import org.wpilib.util.WPIUtilJNI;
+
+/**
+ * Provides access to the Driver Station display.
+ *
+ * <p>Line mode is the default display mode.
+ */
+public final class DriverStationDisplay {
+  private static final long UPDATE_PERIOD_MICROS = 230_000L;
+  private static final String CLEAR_DISPLAY = "\033[0m\033[2J\033[H";
+
+  private static final Lock m_displayLock = new ReentrantLock();
+  private static boolean rawMode;
+  private static final Map<String, Integer> lineMap = new HashMap<>();
+  private static final List<String> lines = new ArrayList<>();
+  private static long lastDisplayUpdate = WPIUtilJNI.now() - UPDATE_PERIOD_MICROS;
+
+  private DriverStationDisplay() {}
+
+  /** Driver Station display mode. */
+  public enum Mode {
+    /** Display line mode. This is the default display mode. */
+    Line,
+
+    /** Raw ANSI text mode. */
+    RawAnsi
+  }
+
+  /**
+   * Sets the display mode.
+   *
+   * <p>{@link Mode#Line} is the default display mode. Setting {@link Mode#Line} clears any pending
+   * display lines. Setting {@link Mode#RawAnsi} clears the display.
+   *
+   * @param mode display mode
+   */
+  public static void setMode(Mode mode) {
+    m_displayLock.lock();
+    try {
+      switch (mode) {
+        case Line -> {
+          rawMode = false;
+          lineMap.clear();
+          lines.clear();
+        }
+        case RawAnsi -> {
+          rawMode = true;
+          DriverStationJNI.writeDisplayAnsi(CLEAR_DISPLAY);
+        }
+        default -> throw new IllegalArgumentException("Unknown display mode: " + mode);
+      }
+    } finally {
+      m_displayLock.unlock();
+    }
+  }
+
+  /**
+   * Adds display data in line mode.
+   *
+   * <p>Repeated calls with the same caption before {@link #updateLines()} replace the previous
+   * line. The caption is used to identify the line and is not displayed. Empty or whitespace-only
+   * captions always append a new line.
+   *
+   * @param caption Line caption.
+   * @param line Line contents.
+   */
+  public static void addData(String caption, String line) {
+    m_displayLock.lock();
+    try {
+      addDataUnderLock(caption, line);
+    } finally {
+      m_displayLock.unlock();
+    }
+  }
+
+  /**
+   * Adds display data in line mode.
+   *
+   * <p>Repeated calls with the same caption before {@link #updateLines()} replace the previous
+   * line. The caption is used to identify the line and is not displayed. Empty or whitespace-only
+   * captions always append a new line.
+   *
+   * <p>The value is converted to text with {@link String#valueOf(Object)}.
+   *
+   * @param caption Line caption.
+   * @param value Line value.
+   */
+  public static void addData(String caption, Object value) {
+    addData(caption, String.valueOf(value));
+  }
+
+  /**
+   * Adds formatted display data in line mode.
+   *
+   * <p>Repeated calls with the same caption before {@link #updateLines()} replace the previous
+   * line. The caption is used to identify the line and is not displayed. Empty or whitespace-only
+   * captions always append a new line.
+   *
+   * @param caption Line caption.
+   * @param format Format string.
+   * @param args Format arguments.
+   */
+  public static void addData(String caption, String format, Object... args) {
+    addData(caption, String.format(format, args));
+  }
+
+  private static void addDataUnderLock(String caption, String line) {
+    if (rawMode) {
+      return;
+    }
+
+    String captionText = nonNull(caption);
+    String lineText = nonNull(line);
+
+    if (captionText.isBlank()) {
+      lines.add(lineText);
+      return;
+    }
+
+    Integer lineNum = lineMap.get(captionText);
+    if (lineNum == null) {
+      lineMap.put(captionText, lines.size());
+      lines.add(lineText);
+    } else if (lineNum < lines.size()) {
+      lines.set(lineNum, lineText);
+    }
+  }
+
+  /**
+   * Adds an uncaptioned display line in line mode.
+   *
+   * <p>This is equivalent to calling {@link #addData(String, String)} with an empty caption, which
+   * always appends a new line.
+   *
+   * @param line Line contents.
+   */
+  public static void addLine(String line) {
+    addData("", line);
+  }
+
+  /**
+   * Updates the display with all pending lines and clears the pending lines.
+   *
+   * <p>Updates are sent at most once every 230 ms. If called before 230 ms has elapsed since the
+   * last update, the pending lines are cleared without sending.
+   */
+  public static void updateLines() {
+    m_displayLock.lock();
+    try {
+      if (rawMode) {
+        return;
+      }
+
+      long now = WPIUtilJNI.now();
+      if (now - lastDisplayUpdate < UPDATE_PERIOD_MICROS) {
+        lineMap.clear();
+        lines.clear();
+        return;
+      }
+      lastDisplayUpdate = now;
+
+      StringBuilder builder = new StringBuilder();
+      builder.append(CLEAR_DISPLAY);
+      for (String line : lines) {
+        builder.append(line).append("\033[0m\n");
+      }
+
+      DriverStationJNI.writeDisplayAnsi(builder.toString());
+
+      lineMap.clear();
+      lines.clear();
+    } finally {
+      m_displayLock.unlock();
+    }
+  }
+
+  /**
+   * Writes ANSI text directly to the display in raw ANSI mode.
+   *
+   * <p>This call is ignored unless the display is in raw ANSI mode.
+   *
+   * @param data ANSI text to write.
+   */
+  public static void writeRawAnsi(String data) {
+    m_displayLock.lock();
+    try {
+      if (rawMode) {
+        DriverStationJNI.writeDisplayAnsi(nonNull(data));
+      }
+    } finally {
+      m_displayLock.unlock();
+    }
+  }
+
+  /**
+   * Clears the display in raw ANSI mode.
+   *
+   * <p>This call is ignored unless the display is in raw ANSI mode.
+   */
+  public static void clearRaw() {
+    m_displayLock.lock();
+    try {
+      if (rawMode) {
+        DriverStationJNI.writeDisplayAnsi(CLEAR_DISPLAY);
+      }
+    } finally {
+      m_displayLock.unlock();
+    }
+  }
+
+  private static String nonNull(String value) {
+    return value == null ? "" : value;
+  }
+}

wpilibjExamples/example_projects.bzl

@@ -4,6 +4,8 @@ EXAMPLE_FOLDERS = [
     "differentialdrivebot",
     "differentialdriveposeestimator",
     "drivedistanceoffboard",
+    "driverstationdisplayansi",
+    "driverstationdisplaylines",
     "dutycycleencoder",
     "elevatorexponentialprofile",
     "elevatorexponentialsimulation",

wpilibjExamples/src/main/java/org/wpilib/examples/driverstationdisplayansi/DefaultTeleop.java

@@ -0,0 +1,53 @@
+// 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.
+
+package org.wpilib.examples.driverstationdisplayansi;
+
+import org.wpilib.driverstation.DriverStationDisplay;
+import org.wpilib.driverstation.DriverStationDisplay.Mode;
+import org.wpilib.opmode.PeriodicOpMode;
+import org.wpilib.opmode.Teleop;
+import org.wpilib.system.Timer;
+
+@Teleop(name = "Default Teleop")
+public class DefaultTeleop extends PeriodicOpMode {
+  private static final int[] COLORS = {
+    196, 202, 208, 214, 220, 226, 118, 46, 48, 51,
+    45, 39, 33, 27, 21, 57, 93, 129, 165, 201
+  };
+
+  private final Timer timer = new Timer();
+  private int seconds;
+
+  /** Called once when the robot is enabled. */
+  @Override
+  public void start() {
+    DriverStationDisplay.setMode(Mode.RawAnsi);
+    timer.restart();
+    seconds = 0;
+
+    DriverStationDisplay.writeRawAnsi(
+        "\033[2J\033[H"
+            + "DriverStationDisplay ANSI mode\n"
+            + "This header and footer stay on screen.\n"
+            + "Seconds elapsed:      \n"
+            + "Only the number above is rewritten.");
+    updateSecondsDisplay();
+  }
+
+  /** Called periodically while the robot is enabled. */
+  @Override
+  public void periodic() {
+    if (timer.advanceIfElapsed(1.0)) {
+      seconds++;
+      updateSecondsDisplay();
+    }
+  }
+
+  private void updateSecondsDisplay() {
+    int color = COLORS[seconds % COLORS.length];
+    DriverStationDisplay.writeRawAnsi(
+        String.format("\033[3;18H\033[38;5;%dm%5d\033[0m", color, seconds));
+  }
+}

wpilibjExamples/src/main/java/org/wpilib/examples/driverstationdisplayansi/Robot.java

@@ -0,0 +1,13 @@
+// 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.
+
+package org.wpilib.examples.driverstationdisplayansi;
+
+import org.wpilib.framework.OpModeRobot;
+
+/**
+ * Demonstrates DriverStationDisplay raw ANSI mode. The default teleop opmode writes static display
+ * text once, then updates a value and its color in place once per second.
+ */
+public class Robot extends OpModeRobot {}

wpilibjExamples/src/main/java/org/wpilib/examples/driverstationdisplaylines/DefaultTeleop.java

@@ -0,0 +1,34 @@
+// 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.
+
+package org.wpilib.examples.driverstationdisplaylines;
+
+import org.wpilib.driverstation.DriverStationDisplay;
+import org.wpilib.driverstation.DriverStationDisplay.Mode;
+import org.wpilib.opmode.PeriodicOpMode;
+import org.wpilib.opmode.Teleop;
+import org.wpilib.system.Timer;
+
+@Teleop(name = "Default Teleop")
+public class DefaultTeleop extends PeriodicOpMode {
+  private final Timer timer = new Timer();
+  private int loopCount;
+
+  /** Called once when the robot is enabled. */
+  @Override
+  public void start() {
+    DriverStationDisplay.setMode(Mode.Line);
+    timer.restart();
+    loopCount = 0;
+  }
+
+  /** Called periodically while the robot is enabled. */
+  @Override
+  public void periodic() {
+    DriverStationDisplay.addLine("DriverStationDisplay line mode");
+    DriverStationDisplay.addData("Runtime", "%.1f seconds", timer.get());
+    DriverStationDisplay.addData("Loop Count", "%d", loopCount++);
+    DriverStationDisplay.updateLines();
+  }
+}

wpilibjExamples/src/main/java/org/wpilib/examples/driverstationdisplaylines/Robot.java

@@ -0,0 +1,13 @@
+// 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.
+
+package org.wpilib.examples.driverstationdisplaylines;
+
+import org.wpilib.framework.OpModeRobot;
+
+/**
+ * Demonstrates DriverStationDisplay line mode. The default teleop opmode adds all lines each loop
+ * and updateLines() sends the pending set to the Driver Station display.
+ */
+public class Robot extends OpModeRobot {}

wpilibjExamples/src/main/java/org/wpilib/examples/examples.json

@@ -289,6 +289,30 @@
     "robotclass": "Robot",
     "commandversion": 2
   },
+  {
+    "name": "Driver Station Display Lines",
+    "description": "Display lines on the Driver Station display and update them every robot loop.",
+    "tags": [
+      "Basic Robot",
+      "Driver Station"
+    ],
+    "foldername": "driverstationdisplaylines",
+    "gradlebase": "java",
+    "robotclass": "Robot",
+    "commandversion": 2
+  },
+  {
+    "name": "Driver Station Display ANSI",
+    "description": "Stream ANSI text to the Driver Station display and update a value in place once per second.",
+    "tags": [
+      "Basic Robot",
+      "Driver Station"
+    ],
+    "foldername": "driverstationdisplayansi",
+    "gradlebase": "java",
+    "robotclass": "Robot",
+    "commandversion": 2
+  },
   {
     "name": "DriveDistanceOffboard",
     "description": "Drive a differential drivetrain a set distance using TrapezoidProfile and smart motor controller PID.",