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

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This commit is contained in:
Thad House
2026-06-20 10:28:24 -07:00
committed by GitHub
parent 481a586009
commit f1c9d82d50
35 changed files with 889 additions and 11 deletions
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5
hal/src/main/native/cpp/FIRSTDriverStation.cpp
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@@ -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 {

15
hal/src/main/native/cpp/jni/DriverStationJNI.cpp
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@@ -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"

7
hal/src/main/native/cpp/mrclib/MrcLibDs.cpp
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@@ -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);
}

7
hal/src/main/native/include/wpi/hal/DriverStation.h
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@@ -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

8
hal/src/main/native/include/wpi/hal/cpp/MrcLibDs.hpp
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@@ -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();

6
hal/src/main/native/sim/DriverStation.cpp
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@@ -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();