diff --git a/.github/workflows/pregenerate.yml b/.github/workflows/pregenerate.yml
index c10b0bbe42..f7c9648986 100644
--- a/.github/workflows/pregenerate.yml
+++ b/.github/workflows/pregenerate.yml
@@ -27,6 +27,8 @@ jobs:
           python-version: 3.9
       - name: Install jinja
         run: python -m pip install jinja2
+      - name: Run hal
+        run: ./hal/generate_usage_reporting.py
       - name: Run ntcore
         run: ./ntcore/generate_topics.py
       - name: Run wpimath
diff --git a/docs/build.gradle b/docs/build.gradle
index 657198d7c2..c4be119e38 100644
--- a/docs/build.gradle
+++ b/docs/build.gradle
@@ -226,7 +226,6 @@ task generateJavaDocs(type: Javadoc) {
     options.addBooleanOption("Xdoclint:html,missing,reference,syntax", true)
     options.addBooleanOption('html5', true)
     options.linkSource(true)
-    dependsOn project(':hal').generateUsageReporting
     dependsOn project(':wpilibj').generateJavaVersion
     source project(':apriltag').sourceSets.main.java
     source project(':cameraserver').sourceSets.main.java
diff --git a/hal/CMakeLists.txt b/hal/CMakeLists.txt
index 060aeb0ac3..a7d59b6f7d 100644
--- a/hal/CMakeLists.txt
+++ b/hal/CMakeLists.txt
@@ -3,27 +3,6 @@ project(hal)
 include(CompileWarnings)
 include(AddTest)
 
-file(STRINGS src/generate/Instances.txt RAW_INSTANCES)
-file(STRINGS src/generate/ResourceType.txt RAW_RESOURCE_TYPES)
-
-set(usage_reporting_types_cpp "")
-set(usage_reporting_instances_cpp "")
-set(usage_reporting_types "")
-set(usage_reporting_instances "")
-
-foreach(ITEM ${RAW_INSTANCES})
-    list(APPEND usage_reporting_instances_cpp "    ${ITEM},")
-    list(APPEND usage_reporting_instances "\n    public static final int ${ITEM};")
-endforeach()
-
-foreach(ITEM ${RAW_RESOURCE_TYPES})
-    list(APPEND usage_reporting_types_cpp "    ${ITEM},")
-    list(APPEND usage_reporting_types "\n    public static final int ${ITEM};")
-endforeach()
-
-string(REPLACE ";" "\n" usage_reporting_types_cpp "${usage_reporting_types_cpp}")
-string(REPLACE ";" "\n" usage_reporting_instances_cpp "${usage_reporting_instances_cpp}")
-
 file(
     GLOB hal_shared_native_src
     src/main/native/cpp/*.cpp
@@ -46,8 +25,6 @@ else()
     target_sources(hal PRIVATE ${hal_sim_native_src})
 endif()
 
-configure_file(src/generate/FRCUsageReporting.h.in gen/hal/FRCUsageReporting.h)
-
 set_target_properties(hal PROPERTIES OUTPUT_NAME "wpiHal")
 
 target_include_directories(
@@ -60,7 +37,7 @@ target_include_directories(
 target_include_directories(
     hal
     PUBLIC
-        $<BUILD_INTERFACE:${CMAKE_CURRENT_BINARY_DIR}/gen>
+        $<BUILD_INTERFACE:${CMAKE_CURRENT_SOURCE_DIR}/src/generated/main/native/include>
         $<INSTALL_INTERFACE:${include_dest}/hal>
 )
 target_link_libraries(hal PUBLIC wpiutil)
@@ -69,7 +46,7 @@ set_property(TARGET hal PROPERTY FOLDER "libraries")
 
 install(TARGETS hal EXPORT hal)
 install(DIRECTORY src/main/native/include/ DESTINATION "${include_dest}/hal")
-install(DIRECTORY ${CMAKE_CURRENT_BINARY_DIR}/gen/ DESTINATION "${include_dest}/hal")
+install(DIRECTORY src/generated/main/native/include/ DESTINATION "${include_dest}/hal")
 
 configure_file(hal-config.cmake.in ${WPILIB_BINARY_DIR}/hal-config.cmake)
 install(FILES ${WPILIB_BINARY_DIR}/hal-config.cmake DESTINATION share/hal)
@@ -86,13 +63,12 @@ if(WITH_JAVA)
 
     file(GLOB_RECURSE hal_shared_jni_src src/main/native/cpp/jni/*.cpp)
 
-    file(GLOB_RECURSE JAVA_SOURCES src/main/java/*.java)
+    file(GLOB_RECURSE JAVA_SOURCES src/main/java/*.java src/generated/main/java/*.java)
     set(CMAKE_JNI_TARGET true)
 
     add_jar(
         hal_jar
         ${JAVA_SOURCES}
-        ${CMAKE_CURRENT_BINARY_DIR}/FRCNetComm.java
         INCLUDE_JARS wpiutil_jar
         OUTPUT_NAME wpiHal
         GENERATE_NATIVE_HEADERS hal_jni_headers
@@ -125,11 +101,7 @@ endif()
 if(WITH_JAVA_SOURCE)
     find_package(Java REQUIRED)
     include(UseJava)
-    file(
-        GLOB HAL_SOURCES
-        src/main/java/edu/wpi/first/hal/*.java
-        ${CMAKE_CURRENT_BINARY_DIR}/FRCNetComm.java
-    )
+    file(GLOB HAL_SOURCES src/main/java/edu/wpi/first/hal/*.java src/generated/main/java/*.java)
     file(GLOB HAL_CAN_SOURCES src/main/java/edu/wpi/first/hal/can/*.java)
     file(GLOB HAL_SIMULATION_SOURCES src/main/java/edu/wpi/first/hal/simulation/*.java)
     file(GLOB HAL_UTIL_SOURCES src/main/java/edu/wpi/first/hal/util/*.java)
diff --git a/hal/build.gradle b/hal/build.gradle
index 03d07a0180..b6937b8fec 100644
--- a/hal/build.gradle
+++ b/hal/build.gradle
@@ -1,60 +1,9 @@
-def javaResourceFile = file("$buildDir/generated/java/edu/wpi/first/hal/FRCNetComm.java")
-def cppResourceFile = file("$buildDir/generated/headers/hal/FRCUsageReporting.h")
-
-def generateUsageReporting = tasks.register('generateUsageReporting') {
-    def javaBase = file('src/generate/FRCNetComm.java.in')
-    def cppBase = file('src/generate/FRCUsageReporting.h.in')
-
-    def instances = file('src/generate/Instances.txt')
-    def resourceType = file('src/generate/ResourceType.txt')
-
-    inputs.file(javaBase)
-    inputs.file(cppBase)
-    inputs.file(instances)
-    inputs.file(resourceType)
-
-    outputs.file(javaResourceFile)
-    outputs.file(cppResourceFile)
-
-    doLast {
-        def instanceTextJava = instances as String[]
-        def instanceTextCpp = instances as String[]
-        def resourceTextJava = resourceType as String[]
-        def resourceTextCpp = resourceType as String[]
-
-        instanceTextJava = instanceTextJava.collect {
-            "    public static final int ${it};"
-        }.join('\n')
-
-        instanceTextCpp = instanceTextCpp.collect {
-            "    ${it},"
-        }.join('\n')
-
-        resourceTextJava = resourceTextJava.collect {
-            "    public static final int ${it};"
-        }.join('\n')
-
-        resourceTextCpp = resourceTextCpp.collect {
-            "    ${it},"
-        }.join('\n')
-
-        javaResourceFile.text = javaBase.text.replace('${usage_reporting_types}', resourceTextJava).replace('${usage_reporting_instances}', instanceTextJava)
-        cppResourceFile.text = cppBase.text.replace('${usage_reporting_types_cpp}', resourceTextCpp).replace('${usage_reporting_instances_cpp}', instanceTextCpp)
-    }
-}
-
 ext {
     addHalDependency = { binary, shared->
-        binary.tasks.withType(AbstractNativeSourceCompileTask) {
-            it.dependsOn generateUsageReporting
-        }
         binary.lib project: ':hal', library: 'hal', linkage: shared
     }
 
     addHalJniDependency = { binary->
-        binary.tasks.withType(AbstractNativeSourceCompileTask) {
-            it.dependsOn generateUsageReporting
-        }
         binary.lib project: ':hal', library: 'halJNIShared', linkage: 'shared'
     }
 
@@ -62,16 +11,8 @@ ext {
     setBaseName = 'wpiHal'
     devMain = 'edu.wpi.first.hal.DevMain'
     niLibraries = true
-    generatedHeaders = "$buildDir/generated/headers"
-    jniSplitSetup = {
-        it.tasks.withType(AbstractNativeSourceCompileTask) {
-            it.dependsOn generateUsageReporting
-        }
-    }
+    generatedHeaders = "src/generated/main/native/include"
     splitSetup = {
-        it.tasks.withType(AbstractNativeSourceCompileTask) {
-            it.dependsOn generateUsageReporting
-        }
         if (it.targetPlatform.name == nativeUtils.wpi.platforms.roborio) {
             it.sources {
                 athenaCpp(CppSourceSet) {
@@ -109,11 +50,7 @@ ext {
 
 apply from: "${rootDir}/shared/jni/setupBuild.gradle"
 
-sourceSets.main.java.srcDir "${buildDir}/generated/java/"
-
-compileJava {
-    dependsOn generateUsageReporting
-}
+sourceSets.main.java.srcDir "src/generated/main/java/edu/wpi/first/hal/"
 
 cppSourcesZip {
     from('src/main/native/athena') {
@@ -126,7 +63,6 @@ cppSourcesZip {
 }
 
 cppHeadersZip {
-    dependsOn generateUsageReporting
     from(generatedHeaders) {
         into '/'
     }
@@ -160,9 +96,6 @@ nativeUtils.exportsConfigs {
 model {
     binaries {
         all {
-            it.tasks.withType(AbstractNativeSourceCompileTask) {
-                it.dependsOn generateUsageReporting
-            }
             if (!(it instanceof NativeBinarySpec)) return
                 if (it.component.name != 'hal' && it.component.name != 'halBase') return
                 if (it.targetPlatform.name != nativeUtils.wpi.platforms.roborio) return
diff --git a/hal/generate_usage_reporting.py b/hal/generate_usage_reporting.py
new file mode 100755
index 0000000000..d4b4bb901a
--- /dev/null
+++ b/hal/generate_usage_reporting.py
@@ -0,0 +1,53 @@
+#!/usr/bin/env python3
+
+# 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.
+import os
+
+
+def main():
+    java_package = "edu/wpi/first/hal"
+    os.makedirs("hal/src/generated/main/native/include/hal", exist_ok=True)
+    os.makedirs(f"hal/src/generated/main/java/{java_package}", exist_ok=True)
+    usage_reporting_types_cpp = ""
+    usage_reporting_instances_cpp = ""
+    usage_reporting_types = ""
+    usage_reporting_instances = ""
+    with open("hal/src/generate/Instances.txt") as instances:
+        for instance in instances:
+            usage_reporting_instances_cpp = f"{usage_reporting_instances_cpp}\n    {instance.strip()},"
+            usage_reporting_instances = f"{usage_reporting_instances}\n    public static final int {instance.strip()};"
+
+    with open("hal/src/generate/ResourceType.txt") as resource_types:
+        for resource_type in resource_types:
+            usage_reporting_types_cpp = f"{usage_reporting_types_cpp}\n    {resource_type.strip()},"
+            usage_reporting_types = f"{usage_reporting_types}\n    public static final int {resource_type.strip()};"
+
+    with open("hal/src/generate/FRCNetComm.java.in") as java_usage_reporting:
+        contents = java_usage_reporting.read()
+        contents = contents.replace(
+            r"${usage_reporting_types}", usage_reporting_types)
+        if os.path.exists(f"hal/src/generated/main/java/{java_package}/FRCNetComm.java"):
+            with open(f"hal/src/generated/main/java/{java_package}/FRCNetComm.java", "w") as java_out:
+                java_out.write(contents.replace(
+                    r"${usage_reporting_instances}", usage_reporting_instances))
+        else:
+            with open(f"hal/src/generated/main/java/{java_package}/FRCNetComm.java", "x") as java_out:
+                java_out.write(contents.replace(
+                    r"${usage_reporting_instances}", usage_reporting_instances))
+
+    with open("hal/src/generate/FRCUsageReporting.h.in") as cpp_usage_reporting:
+        contents = cpp_usage_reporting.read()
+        contents = contents.replace(r"${usage_reporting_types_cpp}", usage_reporting_types_cpp).replace(
+            r"${usage_reporting_instances_cpp}", usage_reporting_instances_cpp)
+        if os.path.exists("hal/src/generated/main/native/include/hal/FRCUsageReporting.h"):
+            with open("hal/src/generated/main/native/include/hal/FRCUsageReporting.h", "w") as cpp_out:
+                cpp_out.write(contents)
+        else:
+            with open("hal/src/generated/main/native/include/hal/FRCUsageReporting.h", "x") as cpp_out:
+                cpp_out.write(contents)
+
+
+if __name__ == "__main__":
+    main()
diff --git a/hal/src/generate/FRCNetComm.java.in b/hal/src/generate/FRCNetComm.java.in
index 703e0349e5..effd0d2cab 100644
--- a/hal/src/generate/FRCNetComm.java.in
+++ b/hal/src/generate/FRCNetComm.java.in
@@ -1,6 +1,8 @@
-/*
- * Autogenerated file! Do not manually edit this file.
- */
+// 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.
+
+// THIS FILE WAS AUTO-GENERATED BY ./hal/generate_usage_reporting.py. DO NOT MODIFY
 
 package edu.wpi.first.hal;
 
@@ -15,7 +17,6 @@ public class FRCNetComm {
   public static final class tResourceType {
     private tResourceType() {
     }
-
 ${usage_reporting_types}
   }
 
@@ -26,7 +27,6 @@ ${usage_reporting_types}
   public static final class tInstances {
     private tInstances() {
     }
-
 ${usage_reporting_instances}
   }
 }
diff --git a/hal/src/generate/FRCUsageReporting.h.in b/hal/src/generate/FRCUsageReporting.h.in
index 34330c8c99..03a78f0cbc 100644
--- a/hal/src/generate/FRCUsageReporting.h.in
+++ b/hal/src/generate/FRCUsageReporting.h.in
@@ -1,3 +1,9 @@
+// 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.
+
+// THIS FILE WAS AUTO-GENERATED BY ./hal/generate_usage_reporting.py. DO NOT MODIFY
+
 #pragma once
 
 #include <stdint.h>
diff --git a/hal/src/generated/main/java/edu/wpi/first/hal/FRCNetComm.java b/hal/src/generated/main/java/edu/wpi/first/hal/FRCNetComm.java
new file mode 100644
index 0000000000..b950544edb
--- /dev/null
+++ b/hal/src/generated/main/java/edu/wpi/first/hal/FRCNetComm.java
@@ -0,0 +1,186 @@
+// 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.
+
+// THIS FILE WAS AUTO-GENERATED BY ./hal/generate_usage_reporting.py. DO NOT MODIFY
+
+package edu.wpi.first.hal;
+
+/**
+ * JNI wrapper for library <b>FRC_NetworkCommunication</b><br>.
+ */
+public class FRCNetComm {
+  /**
+   * Resource type from UsageReporting.
+   */
+  @SuppressWarnings("TypeName")
+  public static final class tResourceType {
+    private tResourceType() {
+    }
+
+    public static final int kResourceType_Controller = 0;
+    public static final int kResourceType_Module = 1;
+    public static final int kResourceType_Language = 2;
+    public static final int kResourceType_CANPlugin = 3;
+    public static final int kResourceType_Accelerometer = 4;
+    public static final int kResourceType_ADXL345 = 5;
+    public static final int kResourceType_AnalogChannel = 6;
+    public static final int kResourceType_AnalogTrigger = 7;
+    public static final int kResourceType_AnalogTriggerOutput = 8;
+    public static final int kResourceType_CANJaguar = 9;
+    public static final int kResourceType_Compressor = 10;
+    public static final int kResourceType_Counter = 11;
+    public static final int kResourceType_Dashboard = 12;
+    public static final int kResourceType_DigitalInput = 13;
+    public static final int kResourceType_DigitalOutput = 14;
+    public static final int kResourceType_DriverStationCIO = 15;
+    public static final int kResourceType_DriverStationEIO = 16;
+    public static final int kResourceType_DriverStationLCD = 17;
+    public static final int kResourceType_Encoder = 18;
+    public static final int kResourceType_GearTooth = 19;
+    public static final int kResourceType_Gyro = 20;
+    public static final int kResourceType_I2C = 21;
+    public static final int kResourceType_Framework = 22;
+    public static final int kResourceType_Jaguar = 23;
+    public static final int kResourceType_Joystick = 24;
+    public static final int kResourceType_Kinect = 25;
+    public static final int kResourceType_KinectStick = 26;
+    public static final int kResourceType_PIDController = 27;
+    public static final int kResourceType_Preferences = 28;
+    public static final int kResourceType_PWM = 29;
+    public static final int kResourceType_Relay = 30;
+    public static final int kResourceType_RobotDrive = 31;
+    public static final int kResourceType_SerialPort = 32;
+    public static final int kResourceType_Servo = 33;
+    public static final int kResourceType_Solenoid = 34;
+    public static final int kResourceType_SPI = 35;
+    public static final int kResourceType_Task = 36;
+    public static final int kResourceType_Ultrasonic = 37;
+    public static final int kResourceType_Victor = 38;
+    public static final int kResourceType_Button = 39;
+    public static final int kResourceType_Command = 40;
+    public static final int kResourceType_AxisCamera = 41;
+    public static final int kResourceType_PCVideoServer = 42;
+    public static final int kResourceType_SmartDashboard = 43;
+    public static final int kResourceType_Talon = 44;
+    public static final int kResourceType_HiTechnicColorSensor = 45;
+    public static final int kResourceType_HiTechnicAccel = 46;
+    public static final int kResourceType_HiTechnicCompass = 47;
+    public static final int kResourceType_SRF08 = 48;
+    public static final int kResourceType_AnalogOutput = 49;
+    public static final int kResourceType_VictorSP = 50;
+    public static final int kResourceType_PWMTalonSRX = 51;
+    public static final int kResourceType_CANTalonSRX = 52;
+    public static final int kResourceType_ADXL362 = 53;
+    public static final int kResourceType_ADXRS450 = 54;
+    public static final int kResourceType_RevSPARK = 55;
+    public static final int kResourceType_MindsensorsSD540 = 56;
+    public static final int kResourceType_DigitalGlitchFilter = 57;
+    public static final int kResourceType_ADIS16448 = 58;
+    public static final int kResourceType_PDP = 59;
+    public static final int kResourceType_PCM = 60;
+    public static final int kResourceType_PigeonIMU = 61;
+    public static final int kResourceType_NidecBrushless = 62;
+    public static final int kResourceType_CANifier = 63;
+    public static final int kResourceType_TalonFX = 64;
+    public static final int kResourceType_CTRE_future1 = 65;
+    public static final int kResourceType_CTRE_future2 = 66;
+    public static final int kResourceType_CTRE_future3 = 67;
+    public static final int kResourceType_CTRE_future4 = 68;
+    public static final int kResourceType_CTRE_future5 = 69;
+    public static final int kResourceType_CTRE_future6 = 70;
+    public static final int kResourceType_LinearFilter = 71;
+    public static final int kResourceType_XboxController = 72;
+    public static final int kResourceType_UsbCamera = 73;
+    public static final int kResourceType_NavX = 74;
+    public static final int kResourceType_Pixy = 75;
+    public static final int kResourceType_Pixy2 = 76;
+    public static final int kResourceType_ScanseSweep = 77;
+    public static final int kResourceType_Shuffleboard = 78;
+    public static final int kResourceType_CAN = 79;
+    public static final int kResourceType_DigilentDMC60 = 80;
+    public static final int kResourceType_PWMVictorSPX = 81;
+    public static final int kResourceType_RevSparkMaxPWM = 82;
+    public static final int kResourceType_RevSparkMaxCAN = 83;
+    public static final int kResourceType_ADIS16470 = 84;
+    public static final int kResourceType_PIDController2 = 85;
+    public static final int kResourceType_ProfiledPIDController = 86;
+    public static final int kResourceType_Kinematics = 87;
+    public static final int kResourceType_Odometry = 88;
+    public static final int kResourceType_Units = 89;
+    public static final int kResourceType_TrapezoidProfile = 90;
+    public static final int kResourceType_DutyCycle = 91;
+    public static final int kResourceType_AddressableLEDs = 92;
+    public static final int kResourceType_FusionVenom = 93;
+    public static final int kResourceType_CTRE_future7 = 94;
+    public static final int kResourceType_CTRE_future8 = 95;
+    public static final int kResourceType_CTRE_future9 = 96;
+    public static final int kResourceType_CTRE_future10 = 97;
+    public static final int kResourceType_CTRE_future11 = 98;
+    public static final int kResourceType_CTRE_future12 = 99;
+    public static final int kResourceType_CTRE_future13 = 100;
+    public static final int kResourceType_CTRE_future14 = 101;
+  }
+
+  /**
+   * Instances from UsageReporting.
+   */
+  @SuppressWarnings("TypeName")
+  public static final class tInstances {
+    private tInstances() {
+    }
+
+    public static final int kLanguage_LabVIEW = 1;
+    public static final int kLanguage_CPlusPlus = 2;
+    public static final int kLanguage_Java = 3;
+    public static final int kLanguage_Python = 4;
+    public static final int kLanguage_DotNet = 5;
+    public static final int kLanguage_Kotlin = 6;
+    public static final int kCANPlugin_BlackJagBridge = 1;
+    public static final int kCANPlugin_2CAN = 2;
+    public static final int kFramework_Iterative = 1;
+    public static final int kFramework_Simple = 2;
+    public static final int kFramework_CommandControl = 3;
+    public static final int kFramework_Timed = 4;
+    public static final int kFramework_ROS = 5;
+    public static final int kFramework_RobotBuilder = 6;
+    public static final int kRobotDrive_ArcadeStandard = 1;
+    public static final int kRobotDrive_ArcadeButtonSpin = 2;
+    public static final int kRobotDrive_ArcadeRatioCurve = 3;
+    public static final int kRobotDrive_Tank = 4;
+    public static final int kRobotDrive_MecanumPolar = 5;
+    public static final int kRobotDrive_MecanumCartesian = 6;
+    public static final int kRobotDrive2_DifferentialArcade = 7;
+    public static final int kRobotDrive2_DifferentialTank = 8;
+    public static final int kRobotDrive2_DifferentialCurvature = 9;
+    public static final int kRobotDrive2_MecanumCartesian = 10;
+    public static final int kRobotDrive2_MecanumPolar = 11;
+    public static final int kRobotDrive2_KilloughCartesian = 12;
+    public static final int kRobotDrive2_KilloughPolar = 13;
+    public static final int kDriverStationCIO_Analog = 1;
+    public static final int kDriverStationCIO_DigitalIn = 2;
+    public static final int kDriverStationCIO_DigitalOut = 3;
+    public static final int kDriverStationEIO_Acceleration = 1;
+    public static final int kDriverStationEIO_AnalogIn = 2;
+    public static final int kDriverStationEIO_AnalogOut = 3;
+    public static final int kDriverStationEIO_Button = 4;
+    public static final int kDriverStationEIO_LED = 5;
+    public static final int kDriverStationEIO_DigitalIn = 6;
+    public static final int kDriverStationEIO_DigitalOut = 7;
+    public static final int kDriverStationEIO_FixedDigitalOut = 8;
+    public static final int kDriverStationEIO_PWM = 9;
+    public static final int kDriverStationEIO_Encoder = 10;
+    public static final int kDriverStationEIO_TouchSlider = 11;
+    public static final int kADXL345_SPI = 1;
+    public static final int kADXL345_I2C = 2;
+    public static final int kCommand_Scheduler = 1;
+    public static final int kCommand2_Scheduler = 2;
+    public static final int kSmartDashboard_Instance = 1;
+    public static final int kKinematics_DifferentialDrive = 1;
+    public static final int kKinematics_MecanumDrive = 2;
+    public static final int kKinematics_SwerveDrive = 3;
+    public static final int kOdometry_DifferentialDrive = 1;
+    public static final int kOdometry_MecanumDrive = 2;
+    public static final int kOdometry_SwerveDrive = 3;
+  }
+}
diff --git a/hal/src/generated/main/native/include/hal/FRCUsageReporting.h b/hal/src/generated/main/native/include/hal/FRCUsageReporting.h
new file mode 100644
index 0000000000..cf9e890dc1
--- /dev/null
+++ b/hal/src/generated/main/native/include/hal/FRCUsageReporting.h
@@ -0,0 +1,214 @@
+// 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.
+
+// THIS FILE WAS AUTO-GENERATED BY ./hal/generate_usage_reporting.py. DO NOT MODIFY
+
+#pragma once
+
+#include <stdint.h>
+
+#ifdef __cplusplus
+extern "C" {
+#endif
+
+// ifdef's definition is to allow for default parameters in C++.
+#ifdef __cplusplus
+/**
+ * Reports a hardware usage to the HAL.
+ *
+ * @param resource       the used resource
+ * @param instanceNumber the instance of the resource
+ * @param context        a user specified context index
+ * @param feature        a user specified feature string
+ * @return               the index of the added value in NetComm
+ */
+int64_t HAL_Report(int32_t resource, int32_t instanceNumber,
+                   int32_t context = 0, const char* feature = nullptr);
+#else
+
+/**
+ * Reports a hardware usage to the HAL.
+ *
+ * @param resource       the used resource
+ * @param instanceNumber the instance of the resource
+ * @param context        a user specified context index
+ * @param feature        a user specified feature string
+ * @return               the index of the added value in NetComm
+ */
+int64_t HAL_Report(int32_t resource, int32_t instanceNumber, int32_t context,
+                   const char* feature);
+#endif
+
+#ifdef __cplusplus
+}
+#endif
+
+/*
+ * Autogenerated file! Do not manually edit this file.
+ */
+
+#ifdef __cplusplus
+namespace HALUsageReporting {
+  enum tResourceType : int32_t {
+
+    kResourceType_Controller = 0,
+    kResourceType_Module = 1,
+    kResourceType_Language = 2,
+    kResourceType_CANPlugin = 3,
+    kResourceType_Accelerometer = 4,
+    kResourceType_ADXL345 = 5,
+    kResourceType_AnalogChannel = 6,
+    kResourceType_AnalogTrigger = 7,
+    kResourceType_AnalogTriggerOutput = 8,
+    kResourceType_CANJaguar = 9,
+    kResourceType_Compressor = 10,
+    kResourceType_Counter = 11,
+    kResourceType_Dashboard = 12,
+    kResourceType_DigitalInput = 13,
+    kResourceType_DigitalOutput = 14,
+    kResourceType_DriverStationCIO = 15,
+    kResourceType_DriverStationEIO = 16,
+    kResourceType_DriverStationLCD = 17,
+    kResourceType_Encoder = 18,
+    kResourceType_GearTooth = 19,
+    kResourceType_Gyro = 20,
+    kResourceType_I2C = 21,
+    kResourceType_Framework = 22,
+    kResourceType_Jaguar = 23,
+    kResourceType_Joystick = 24,
+    kResourceType_Kinect = 25,
+    kResourceType_KinectStick = 26,
+    kResourceType_PIDController = 27,
+    kResourceType_Preferences = 28,
+    kResourceType_PWM = 29,
+    kResourceType_Relay = 30,
+    kResourceType_RobotDrive = 31,
+    kResourceType_SerialPort = 32,
+    kResourceType_Servo = 33,
+    kResourceType_Solenoid = 34,
+    kResourceType_SPI = 35,
+    kResourceType_Task = 36,
+    kResourceType_Ultrasonic = 37,
+    kResourceType_Victor = 38,
+    kResourceType_Button = 39,
+    kResourceType_Command = 40,
+    kResourceType_AxisCamera = 41,
+    kResourceType_PCVideoServer = 42,
+    kResourceType_SmartDashboard = 43,
+    kResourceType_Talon = 44,
+    kResourceType_HiTechnicColorSensor = 45,
+    kResourceType_HiTechnicAccel = 46,
+    kResourceType_HiTechnicCompass = 47,
+    kResourceType_SRF08 = 48,
+    kResourceType_AnalogOutput = 49,
+    kResourceType_VictorSP = 50,
+    kResourceType_PWMTalonSRX = 51,
+    kResourceType_CANTalonSRX = 52,
+    kResourceType_ADXL362 = 53,
+    kResourceType_ADXRS450 = 54,
+    kResourceType_RevSPARK = 55,
+    kResourceType_MindsensorsSD540 = 56,
+    kResourceType_DigitalGlitchFilter = 57,
+    kResourceType_ADIS16448 = 58,
+    kResourceType_PDP = 59,
+    kResourceType_PCM = 60,
+    kResourceType_PigeonIMU = 61,
+    kResourceType_NidecBrushless = 62,
+    kResourceType_CANifier = 63,
+    kResourceType_TalonFX = 64,
+    kResourceType_CTRE_future1 = 65,
+    kResourceType_CTRE_future2 = 66,
+    kResourceType_CTRE_future3 = 67,
+    kResourceType_CTRE_future4 = 68,
+    kResourceType_CTRE_future5 = 69,
+    kResourceType_CTRE_future6 = 70,
+    kResourceType_LinearFilter = 71,
+    kResourceType_XboxController = 72,
+    kResourceType_UsbCamera = 73,
+    kResourceType_NavX = 74,
+    kResourceType_Pixy = 75,
+    kResourceType_Pixy2 = 76,
+    kResourceType_ScanseSweep = 77,
+    kResourceType_Shuffleboard = 78,
+    kResourceType_CAN = 79,
+    kResourceType_DigilentDMC60 = 80,
+    kResourceType_PWMVictorSPX = 81,
+    kResourceType_RevSparkMaxPWM = 82,
+    kResourceType_RevSparkMaxCAN = 83,
+    kResourceType_ADIS16470 = 84,
+    kResourceType_PIDController2 = 85,
+    kResourceType_ProfiledPIDController = 86,
+    kResourceType_Kinematics = 87,
+    kResourceType_Odometry = 88,
+    kResourceType_Units = 89,
+    kResourceType_TrapezoidProfile = 90,
+    kResourceType_DutyCycle = 91,
+    kResourceType_AddressableLEDs = 92,
+    kResourceType_FusionVenom = 93,
+    kResourceType_CTRE_future7 = 94,
+    kResourceType_CTRE_future8 = 95,
+    kResourceType_CTRE_future9 = 96,
+    kResourceType_CTRE_future10 = 97,
+    kResourceType_CTRE_future11 = 98,
+    kResourceType_CTRE_future12 = 99,
+    kResourceType_CTRE_future13 = 100,
+    kResourceType_CTRE_future14 = 101,
+  };
+  enum tInstances : int32_t {
+
+    kLanguage_LabVIEW = 1,
+    kLanguage_CPlusPlus = 2,
+    kLanguage_Java = 3,
+    kLanguage_Python = 4,
+    kLanguage_DotNet = 5,
+    kLanguage_Kotlin = 6,
+    kCANPlugin_BlackJagBridge = 1,
+    kCANPlugin_2CAN = 2,
+    kFramework_Iterative = 1,
+    kFramework_Simple = 2,
+    kFramework_CommandControl = 3,
+    kFramework_Timed = 4,
+    kFramework_ROS = 5,
+    kFramework_RobotBuilder = 6,
+    kRobotDrive_ArcadeStandard = 1,
+    kRobotDrive_ArcadeButtonSpin = 2,
+    kRobotDrive_ArcadeRatioCurve = 3,
+    kRobotDrive_Tank = 4,
+    kRobotDrive_MecanumPolar = 5,
+    kRobotDrive_MecanumCartesian = 6,
+    kRobotDrive2_DifferentialArcade = 7,
+    kRobotDrive2_DifferentialTank = 8,
+    kRobotDrive2_DifferentialCurvature = 9,
+    kRobotDrive2_MecanumCartesian = 10,
+    kRobotDrive2_MecanumPolar = 11,
+    kRobotDrive2_KilloughCartesian = 12,
+    kRobotDrive2_KilloughPolar = 13,
+    kDriverStationCIO_Analog = 1,
+    kDriverStationCIO_DigitalIn = 2,
+    kDriverStationCIO_DigitalOut = 3,
+    kDriverStationEIO_Acceleration = 1,
+    kDriverStationEIO_AnalogIn = 2,
+    kDriverStationEIO_AnalogOut = 3,
+    kDriverStationEIO_Button = 4,
+    kDriverStationEIO_LED = 5,
+    kDriverStationEIO_DigitalIn = 6,
+    kDriverStationEIO_DigitalOut = 7,
+    kDriverStationEIO_FixedDigitalOut = 8,
+    kDriverStationEIO_PWM = 9,
+    kDriverStationEIO_Encoder = 10,
+    kDriverStationEIO_TouchSlider = 11,
+    kADXL345_SPI = 1,
+    kADXL345_I2C = 2,
+    kCommand_Scheduler = 1,
+    kCommand2_Scheduler = 2,
+    kSmartDashboard_Instance = 1,
+    kKinematics_DifferentialDrive = 1,
+    kKinematics_MecanumDrive = 2,
+    kKinematics_SwerveDrive = 3,
+    kOdometry_DifferentialDrive = 1,
+    kOdometry_MecanumDrive = 2,
+    kOdometry_SwerveDrive = 3,
+  };
+}
+#endif
diff --git a/simulation/halsim_socketcan b/simulation/halsim_socketcan
new file mode 160000
index 0000000000..dfc84b70d4
--- /dev/null
+++ b/simulation/halsim_socketcan
@@ -0,0 +1 @@
+Subproject commit dfc84b70d4655ca37429047032a498ba4a4f2670