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

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.",