[wpilib] Split DriverStation into smaller classes (#8628)

wpilibj/src/main/java/org/wpilib/driverstation/Alliance.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.driverstation;
+
+/** The robot alliance that the robot is a part of. */
+public enum Alliance {
+  /** Red alliance. */
+  RED,
+  /** Blue alliance. */
+  BLUE
+}

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

@@ -4,6 +4,8 @@
 
 package org.wpilib.driverstation;
 
+import org.wpilib.driverstation.internal.DriverStationBackend;
+
 /**
  * A default implementation of UserControls that provides Gamepad instances for each of the 6
  * joystick ports provided by the DS.
@@ -13,7 +15,7 @@ public class DefaultUserControls implements UserControls {
 
   /** Constructs a DefaultUserControls instance with Gamepads for each port. */
   public DefaultUserControls() {
-    m_gamepads = new Gamepad[DriverStation.kJoystickPorts];
+    m_gamepads = new Gamepad[DriverStationBackend.JOYSTICK_PORTS];
     for (int i = 0; i < m_gamepads.length; i++) {
       m_gamepads[i] = new Gamepad(i);
     }

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

@@ -0,0 +1,52 @@
+// 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 org.wpilib.driverstation.internal.DriverStationBackend;
+
+/** Provides access to error and warning reporting functionality to the Driver Station. */
+public final class DriverStationErrors {
+  private DriverStationErrors() {}
+
+  /**
+   * Report error to Driver Station. Optionally appends Stack trace to error message.
+   *
+   * @param error The error to report.
+   * @param printTrace If true, append stack trace to error string
+   */
+  public static void reportError(String error, boolean printTrace) {
+    DriverStationBackend.reportError(error, printTrace);
+  }
+
+  /**
+   * Report error to Driver Station. Appends provided stack trace to error message.
+   *
+   * @param error The error to report.
+   * @param stackTrace The stack trace to append
+   */
+  public static void reportError(String error, StackTraceElement[] stackTrace) {
+    DriverStationBackend.reportError(error, stackTrace);
+  }
+
+  /**
+   * Report warning to Driver Station. Optionally appends Stack trace to warning message.
+   *
+   * @param warning The warning to report.
+   * @param printTrace If true, append stack trace to warning string
+   */
+  public static void reportWarning(String warning, boolean printTrace) {
+    DriverStationBackend.reportWarning(warning, printTrace);
+  }
+
+  /**
+   * Report warning to Driver Station. Appends provided stack trace to warning message.
+   *
+   * @param warning The warning to report.
+   * @param stackTrace The stack trace to append
+   */
+  public static void reportWarning(String warning, StackTraceElement[] stackTrace) {
+    DriverStationBackend.reportWarning(warning, stackTrace);
+  }
+}

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

@@ -4,6 +4,7 @@
 
 package org.wpilib.driverstation;
 
+import org.wpilib.driverstation.internal.DriverStationBackend;
 import org.wpilib.event.BooleanEvent;
 import org.wpilib.event.EventLoop;
 import org.wpilib.hardware.hal.HAL;
@@ -1334,11 +1335,11 @@ public class Gamepad extends GenericHID implements Sendable {
   }
 
   private double getAxisForSendable(Axis axis) {
-    return DriverStation.getStickAxisIfAvailable(getPort(), axis.value).orElse(0.0);
+    return DriverStationBackend.getStickAxisIfAvailable(getPort(), axis.value).orElse(0.0);
   }
 
   private boolean getButtonForSendable(Button button) {
-    return DriverStation.getStickButtonIfAvailable(getPort(), button.value).orElse(false);
+    return DriverStationBackend.getStickButtonIfAvailable(getPort(), button.value).orElse(false);
   }
 
   @Override

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

@@ -7,8 +7,7 @@ package org.wpilib.driverstation;
 import java.util.EnumSet;
 import java.util.HashMap;
 import java.util.Map;
-import org.wpilib.driverstation.DriverStation.POVDirection;
-import org.wpilib.driverstation.DriverStation.TouchpadFinger;
+import org.wpilib.driverstation.internal.DriverStationBackend;
 import org.wpilib.event.BooleanEvent;
 import org.wpilib.event.EventLoop;
 import org.wpilib.hardware.hal.DriverStationJNI;
@@ -150,7 +149,7 @@ public class GenericHID {
    * @return The state of the button.
    */
   public boolean getRawButton(int button) {
-    return DriverStation.getStickButton(m_port, (byte) button);
+    return DriverStationBackend.getStickButton(m_port, (byte) button);
   }
 
   /**
@@ -164,7 +163,7 @@ public class GenericHID {
    * @return Whether the button was pressed since the last check.
    */
   public boolean getRawButtonPressed(int button) {
-    return DriverStation.getStickButtonPressed(m_port, (byte) button);
+    return DriverStationBackend.getStickButtonPressed(m_port, (byte) button);
   }
 
   /**
@@ -178,7 +177,7 @@ public class GenericHID {
    * @return Whether the button was released since the last check.
    */
   public boolean getRawButtonReleased(int button) {
-    return DriverStation.getStickButtonReleased(m_port, button);
+    return DriverStationBackend.getStickButtonReleased(m_port, button);
   }
 
   /**
@@ -202,7 +201,7 @@ public class GenericHID {
    * @return The value of the axis.
    */
   public double getRawAxis(int axis) {
-    return DriverStation.getStickAxis(m_port, axis);
+    return DriverStationBackend.getStickAxis(m_port, axis);
   }
 
   /**
@@ -212,7 +211,7 @@ public class GenericHID {
    * @return the angle of the POV.
    */
   public POVDirection getPOV(int pov) {
-    return DriverStation.getStickPOV(m_port, pov);
+    return DriverStationBackend.getStickPOV(m_port, pov);
   }
 
   /**
@@ -394,7 +393,7 @@ public class GenericHID {
    * @return the maximum axis index for the joystick
    */
   public int getAxesMaximumIndex() {
-    return DriverStation.getStickAxesMaximumIndex(m_port);
+    return DriverStationBackend.getStickAxesMaximumIndex(m_port);
   }
 
   /**
@@ -403,7 +402,7 @@ public class GenericHID {
    * @return the number of axis for the current HID
    */
   public int getAxesAvailable() {
-    return DriverStation.getStickAxesAvailable(m_port);
+    return DriverStationBackend.getStickAxesAvailable(m_port);
   }
 
   /**
@@ -412,7 +411,7 @@ public class GenericHID {
    * @return the maximum POV index for the joystick
    */
   public int getPOVsMaximumIndex() {
-    return DriverStation.getStickPOVsMaximumIndex(m_port);
+    return DriverStationBackend.getStickPOVsMaximumIndex(m_port);
   }
 
   /**
@@ -421,7 +420,7 @@ public class GenericHID {
    * @return the number of POVs for the current HID
    */
   public int getPOVsAvailable() {
-    return DriverStation.getStickPOVsAvailable(m_port);
+    return DriverStationBackend.getStickPOVsAvailable(m_port);
   }
 
   /**
@@ -430,7 +429,7 @@ public class GenericHID {
    * @return the maximum button index for the joystick
    */
   public int getButtonsMaximumIndex() {
-    return DriverStation.getStickButtonsMaximumIndex(m_port);
+    return DriverStationBackend.getStickButtonsMaximumIndex(m_port);
   }
 
   /**
@@ -439,7 +438,7 @@ public class GenericHID {
    * @return the number of buttons for the current HID
    */
   public long getButtonsAvailable() {
-    return DriverStation.getStickButtonsAvailable(m_port);
+    return DriverStationBackend.getStickButtonsAvailable(m_port);
   }
 
   /**
@@ -448,7 +447,7 @@ public class GenericHID {
    * @return true if the HID is connected
    */
   public boolean isConnected() {
-    return DriverStation.isJoystickConnected(m_port);
+    return DriverStationBackend.isJoystickConnected(m_port);
   }
 
   /**
@@ -457,7 +456,7 @@ public class GenericHID {
    * @return the type of the HID.
    */
   public HIDType getGamepadType() {
-    return HIDType.of(DriverStation.getJoystickGamepadType(m_port));
+    return HIDType.of(DriverStationBackend.getJoystickGamepadType(m_port));
   }
 
   /**
@@ -466,7 +465,7 @@ public class GenericHID {
    * @return the supported outputs for the HID.
    */
   public EnumSet<SupportedOutput> getSupportedOutputs() {
-    int supported = DriverStation.getJoystickSupportedOutputs(m_port);
+    int supported = DriverStationBackend.getJoystickSupportedOutputs(m_port);
     EnumSet<SupportedOutput> outputs = EnumSet.noneOf(SupportedOutput.class);
     for (SupportedOutput output : SupportedOutput.values()) {
       if ((supported & output.getValue()) != 0) {
@@ -482,7 +481,7 @@ public class GenericHID {
    * @return the name of the HID.
    */
   public String getName() {
-    return DriverStation.getJoystickName(m_port);
+    return DriverStationBackend.getJoystickName(m_port);
   }
 
   /**
@@ -543,7 +542,7 @@ public class GenericHID {
    * @return true if the touchpad finger is available.
    */
   public boolean getTouchpadFingerAvailable(int touchpad, int finger) {
-    return DriverStation.getStickTouchpadFingerAvailable(m_port, touchpad, finger);
+    return DriverStationBackend.getStickTouchpadFingerAvailable(m_port, touchpad, finger);
   }
 
   /**
@@ -554,6 +553,6 @@ public class GenericHID {
    * @return The touchpad finger data.
    */
   public TouchpadFinger getTouchpadFinger(int touchpad, int finger) {
-    return DriverStation.getStickTouchpadFinger(m_port, touchpad, finger);
+    return DriverStationBackend.getStickTouchpadFinger(m_port, touchpad, finger);
   }
 }

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

@@ -0,0 +1,104 @@
+// 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.Optional;
+import java.util.OptionalInt;
+import org.wpilib.driverstation.internal.DriverStationBackend;
+
+/** Provides access to match state information from the Driver Station. */
+public final class MatchState {
+  private MatchState() {}
+
+  /**
+   * 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
+   * current period (auto or teleop). Warning: This is not an official time (so it cannot be used to
+   * dispute ref calls or guarantee that a function will trigger before the match ends).
+   *
+   * <p>When connected to the real field, this number only changes in full integer increments, and
+   * always counts down.
+   *
+   * <p>When the DS is in practice mode, this number is a floating point number, and counts down.
+   *
+   * <p>When the DS is in teleop or autonomous mode, this number returns -1.0.
+   *
+   * <p>Simulation matches DS behavior without an FMS connected.
+   *
+   * @return Time remaining in current match period (auto or teleop) in seconds
+   */
+  public static double getMatchTime() {
+    return DriverStationBackend.getMatchTime();
+  }
+
+  /**
+   * Get the current alliance from the FMS.
+   *
+   * <p>If the FMS is not connected, it is set from the team alliance setting on the driver station.
+   *
+   * @return The alliance (red or blue) or an empty optional if the alliance is invalid
+   */
+  public static Optional<Alliance> getAlliance() {
+    return DriverStationBackend.getAlliance();
+  }
+
+  /**
+   * Gets the location of the team's driver station controls from the FMS.
+   *
+   * <p>If the FMS is not connected, it is set from the team alliance setting on the driver station.
+   *
+   * @return the location of the team's driver station controls: 1, 2, or 3
+   */
+  public static OptionalInt getLocation() {
+    return DriverStationBackend.getLocation();
+  }
+
+  /**
+   * Get the replay number from the FMS.
+   *
+   * @return the replay number
+   */
+  public static int getReplayNumber() {
+    return DriverStationBackend.getReplayNumber();
+  }
+
+  /**
+   * Get the match number from the FMS.
+   *
+   * @return the match number
+   */
+  public static int getMatchNumber() {
+    return DriverStationBackend.getMatchNumber();
+  }
+
+  /**
+   * Get the match type from the FMS.
+   *
+   * @return the match type
+   */
+  public static MatchType getMatchType() {
+    return DriverStationBackend.getMatchType();
+  }
+
+  /**
+   * Get the event name from the FMS.
+   *
+   * @return the event name
+   */
+  public static String getEventName() {
+    return DriverStationBackend.getEventName();
+  }
+
+  /**
+   * Get the game specific message from the FMS.
+   *
+   * <p>If the FMS is not connected, it is set from the game data setting on the driver station.
+   *
+   * @return the game specific message
+   */
+  public static Optional<String> getGameData() {
+    return DriverStationBackend.getGameData();
+  }
+}

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

@@ -0,0 +1,17 @@
+// 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;
+
+/** The type of robot match that the robot is part of. */
+public enum MatchType {
+  /** None. */
+  NONE,
+  /** Practice. */
+  PRACTICE,
+  /** Qualification. */
+  QUALIFICATION,
+  /** Elimination. */
+  ELIMINATION
+}

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

@@ -0,0 +1,82 @@
+// 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.Optional;
+import org.wpilib.math.geometry.Rotation2d;
+import org.wpilib.system.Timer;
+
+/** A controller POV direction. */
+public enum POVDirection {
+  /** POV center. */
+  CENTER(0x00),
+  /** POV up. */
+  UP(0x01),
+  /** POV up right. */
+  UP_RIGHT(0x01 | 0x02),
+  /** POV right. */
+  RIGHT(0x02),
+  /** POV down right. */
+  DOWN_RIGHT(0x02 | 0x04),
+  /** POV down. */
+  DOWN(0x04),
+  /** POV down left. */
+  DOWN_LEFT(0x04 | 0x08),
+  /** POV left. */
+  LEFT(0x08),
+  /** POV up left. */
+  UP_LEFT(0x01 | 0x08);
+
+  private static final double INVALID_POV_VALUE_INTERVAL = 1.0;
+  private static double s_nextMessageTime;
+
+  /**
+   * Converts a byte value into a POVDirection enum value.
+   *
+   * @param value The byte value to convert.
+   * @return The corresponding POVDirection enum value.
+   * @throws IllegalArgumentException If value does not correspond to a POVDirection.
+   */
+  public static POVDirection of(byte value) {
+    for (var direction : values()) {
+      if (direction.value == value) {
+        return direction;
+      }
+    }
+    double currentTime = Timer.getTimestamp();
+    if (currentTime > s_nextMessageTime) {
+      DriverStationErrors.reportError("Invalid POV value " + value + "!", false);
+      s_nextMessageTime = currentTime + INVALID_POV_VALUE_INTERVAL;
+    }
+    return CENTER;
+  }
+
+  /** The corresponding HAL value. */
+  public final byte value;
+
+  POVDirection(int value) {
+    this.value = (byte) value;
+  }
+
+  /**
+   * Gets the angle of a POVDirection.
+   *
+   * @return The angle clockwise from straight up, or Optional.empty() if this POVDirection is
+   *     CENTER.
+   */
+  public Optional<Rotation2d> getAngle() {
+    return switch (this) {
+      case CENTER -> Optional.empty();
+      case UP -> Optional.of(Rotation2d.fromDegrees(0));
+      case UP_RIGHT -> Optional.of(Rotation2d.fromDegrees(45));
+      case RIGHT -> Optional.of(Rotation2d.fromDegrees(90));
+      case DOWN_RIGHT -> Optional.of(Rotation2d.fromDegrees(135));
+      case DOWN -> Optional.of(Rotation2d.fromDegrees(180));
+      case DOWN_LEFT -> Optional.of(Rotation2d.fromDegrees(225));
+      case LEFT -> Optional.of(Rotation2d.fromDegrees(270));
+      case UP_LEFT -> Optional.of(Rotation2d.fromDegrees(315));
+    };
+  }
+}

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

@@ -0,0 +1,270 @@
+// 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 org.wpilib.driverstation.internal.DriverStationBackend;
+import org.wpilib.hardware.hal.RobotMode;
+import org.wpilib.util.Color;
+
+/** Provides access to robot state information from the Driver Station. */
+public final class RobotState {
+  private RobotState() {}
+
+  /**
+   * Gets a value indicating whether the Driver Station requires the robot to be enabled.
+   *
+   * @return True if the robot is enabled, false otherwise.
+   */
+  public static boolean isEnabled() {
+    return DriverStationBackend.isEnabled();
+  }
+
+  /**
+   * Gets a value indicating whether the Driver Station requires the robot to be disabled.
+   *
+   * @return True if the robot should be disabled, false otherwise.
+   */
+  public static boolean isDisabled() {
+    return DriverStationBackend.isDisabled();
+  }
+
+  /**
+   * Gets a value indicating whether the Robot is e-stopped.
+   *
+   * @return True if the robot is e-stopped, false otherwise.
+   */
+  public static boolean isEStopped() {
+    return DriverStationBackend.isEStopped();
+  }
+
+  /**
+   * Gets the current robot mode.
+   *
+   * <p>Note that this does not indicate whether the robot is enabled or disabled.
+   *
+   * @return robot mode
+   */
+  public static RobotMode getRobotMode() {
+    return DriverStationBackend.getRobotMode();
+  }
+
+  /**
+   * Gets a value indicating whether the Driver Station requires the robot to be running in
+   * autonomous mode.
+   *
+   * @return True if autonomous mode should be enabled, false otherwise.
+   */
+  public static boolean isAutonomous() {
+    return DriverStationBackend.isAutonomous();
+  }
+
+  /**
+   * Gets a value indicating whether the Driver Station requires the robot to be running in
+   * autonomous mode and enabled.
+   *
+   * @return True if autonomous should be set and the robot should be enabled.
+   */
+  public static boolean isAutonomousEnabled() {
+    return DriverStationBackend.isAutonomousEnabled();
+  }
+
+  /**
+   * Gets a value indicating whether the Driver Station requires the robot to be running in
+   * operator-controlled mode.
+   *
+   * @return True if operator-controlled mode should be enabled, false otherwise.
+   */
+  public static boolean isTeleop() {
+    return DriverStationBackend.isTeleop();
+  }
+
+  /**
+   * Gets a value indicating whether the Driver Station requires the robot to be running in
+   * operator-controller mode and enabled.
+   *
+   * @return True if operator-controlled mode should be set and the robot should be enabled.
+   */
+  public static boolean isTeleopEnabled() {
+    return DriverStationBackend.isTeleopEnabled();
+  }
+
+  /**
+   * Gets a value indicating whether the Driver Station requires the robot to be running in Test
+   * mode.
+   *
+   * @return True if test mode should be enabled, false otherwise.
+   */
+  public static boolean isTest() {
+    return DriverStationBackend.isTest();
+  }
+
+  /**
+   * Gets a value indicating whether the Driver Station requires the robot to be running in Test
+   * mode and enabled.
+   *
+   * @return True if test mode should be set and the robot should be enabled.
+   */
+  public static boolean isTestEnabled() {
+    return DriverStationBackend.isTestEnabled();
+  }
+
+  /**
+   * Adds an operating mode option. It's necessary to call publishOpModes() to make the added modes
+   * visible to the driver station.
+   *
+   * @param mode robot mode
+   * @param name name of the operating mode
+   * @param group group of the operating mode
+   * @param description description of the operating mode
+   * @param textColor text color, or null for default
+   * @param backgroundColor background color, or null for default
+   * @return unique ID used to later identify the operating mode
+   * @throws IllegalArgumentException if name is empty or an operating mode with the same robot mode
+   *     and name already exists
+   */
+  public static long addOpMode(
+      RobotMode mode,
+      String name,
+      String group,
+      String description,
+      Color textColor,
+      Color backgroundColor) {
+    return DriverStationBackend.addOpMode(
+        mode, name, group, description, textColor, backgroundColor);
+  }
+
+  /**
+   * Adds an operating mode option. It's necessary to call publishOpModes() to make the added modes
+   * visible to the driver station.
+   *
+   * @param mode robot mode
+   * @param name name of the operating mode
+   * @param group group of the operating mode
+   * @param description description of the operating mode
+   * @return unique ID used to later identify the operating mode
+   * @throws IllegalArgumentException if name is empty or an operating mode with the same name
+   *     already exists
+   */
+  public static long addOpMode(RobotMode mode, String name, String group, String description) {
+    return DriverStationBackend.addOpMode(mode, name, group, description);
+  }
+
+  /**
+   * Adds an operating mode option. It's necessary to call publishOpModes() to make the added modes
+   * visible to the driver station.
+   *
+   * @param mode robot mode
+   * @param name name of the operating mode
+   * @param group group of the operating mode
+   * @return unique ID used to later identify the operating mode
+   * @throws IllegalArgumentException if name is empty or an operating mode with the same name
+   *     already exists
+   */
+  public static long addOpMode(RobotMode mode, String name, String group) {
+    return DriverStationBackend.addOpMode(mode, name, group);
+  }
+
+  /**
+   * Adds an operating mode option. It's necessary to call publishOpModes() to make the added modes
+   * visible to the driver station.
+   *
+   * @param mode robot mode
+   * @param name name of the operating mode
+   * @return unique ID used to later identify the operating mode
+   * @throws IllegalArgumentException if name is empty or an operating mode with the same name
+   *     already exists
+   */
+  public static long addOpMode(RobotMode mode, String name) {
+    return DriverStationBackend.addOpMode(mode, name);
+  }
+
+  /**
+   * Removes an operating mode option. It's necessary to call publishOpModes() to make the removed
+   * mode no longer visible to the driver station.
+   *
+   * @param mode robot mode
+   * @param name name of the operating mode
+   * @return unique ID for the opmode, or 0 if not found
+   */
+  public static long removeOpMode(RobotMode mode, String name) {
+    return DriverStationBackend.removeOpMode(mode, name);
+  }
+
+  /** Publishes the operating mode options to the driver station. */
+  public static void publishOpModes() {
+    DriverStationBackend.publishOpModes();
+  }
+
+  /** Clears all operating mode options and publishes an empty list to the driver station. */
+  public static void clearOpModes() {
+    DriverStationBackend.clearOpModes();
+  }
+
+  /**
+   * Gets the operating mode selected on the driver station. Note this does not mean the robot is
+   * enabled; use isEnabled() for that. In a match, this will indicate the operating mode selected
+   * for auto before the match starts (i.e., while the robot is disabled in auto mode); after the
+   * auto period ends, this will change to reflect the operating mode selected for teleop.
+   *
+   * @return the unique ID provided by the addOpMode() function; may return 0 or a unique ID not
+   *     added, so callers should be prepared to handle that case
+   */
+  public static long getOpModeId() {
+    return DriverStationBackend.getOpModeId();
+  }
+
+  /**
+   * Gets the operating mode selected on the driver station. Note this does not mean the robot is
+   * enabled; use isEnabled() for that. In a match, this will indicate the operating mode selected
+   * for auto before the match starts (i.e., while the robot is disabled in auto mode); after the
+   * auto period ends, this will change to reflect the operating mode selected for teleop.
+   *
+   * @return Operating mode string; may return a string not in the list of options, so callers
+   *     should be prepared to handle that case
+   */
+  public static String getOpMode() {
+    return DriverStationBackend.getOpMode();
+  }
+
+  /**
+   * Check to see if the selected operating mode is a particular value. Note this does not mean the
+   * robot is enabled; use isEnabled() for that.
+   *
+   * @param id operating mode unique ID
+   * @return True if that mode is the current mode
+   */
+  public static boolean isOpMode(long id) {
+    return DriverStationBackend.isOpMode(id);
+  }
+
+  /**
+   * Check to see if the selected operating mode is a particular value. Note this does not mean the
+   * robot is enabled; use isEnabled() for that.
+   *
+   * @param mode operating mode
+   * @return True if that mode is the current mode
+   */
+  public static boolean isOpMode(String mode) {
+    return DriverStationBackend.isOpMode(mode);
+  }
+
+  /**
+   * Gets a value indicating whether the Driver Station is attached.
+   *
+   * @return True if Driver Station is attached, false otherwise.
+   */
+  public static boolean isDSAttached() {
+    return DriverStationBackend.isDSAttached();
+  }
+
+  /**
+   * Gets if the driver station attached to a Field Management System.
+   *
+   * @return true if the robot is competing on a field being controlled by a Field Management System
+   */
+  public static boolean isFMSAttached() {
+    return DriverStationBackend.isFMSAttached();
+  }
+}

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

@@ -0,0 +1,31 @@
+// 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;
+
+/** Represents a finger on a touchpad. */
+@SuppressWarnings("MemberName")
+public final class TouchpadFinger {
+  /** Whether the finger is touching the touchpad. */
+  public final boolean down;
+
+  /** The x position of the finger. 0 is at top left. */
+  public final float x;
+
+  /** The y position of the finger. 0 is at top left. */
+  public final float y;
+
+  /**
+   * Creates a TouchpadFinger object.
+   *
+   * @param down Whether the finger is touching the touchpad.
+   * @param x The x position of the finger.
+   * @param y The y position of the finger.
+   */
+  public TouchpadFinger(boolean down, float x, float y) {
+    this.x = x;
+    this.y = y;
+    this.down = down;
+  }
+}

wpilibj/src/main/java/org/wpilib/framework/IterativeRobotBase.java

@@ -4,7 +4,8 @@
 
 package org.wpilib.framework;
 
-import org.wpilib.driverstation.DriverStation;
+import org.wpilib.driverstation.DriverStationErrors;
+import org.wpilib.driverstation.internal.DriverStationBackend;
 import org.wpilib.hardware.hal.ControlWord;
 import org.wpilib.hardware.hal.DriverStationJNI;
 import org.wpilib.hardware.hal.HAL;
@@ -236,8 +237,8 @@ public abstract class IterativeRobotBase extends RobotBase {
 
   /** Loop function. */
   protected final void loopFunc() {
-    DriverStation.refreshData();
-    DriverStation.refreshControlWordFromCache(m_word);
+    DriverStationBackend.refreshData();
+    DriverStationBackend.refreshControlWordFromCache(m_word);
     m_watchdog.reset();
 
     // Get current mode; treat disabled as unknown
@@ -344,6 +345,6 @@ public abstract class IterativeRobotBase extends RobotBase {
   }
 
   private void printLoopOverrunMessage() {
-    DriverStation.reportWarning("Loop time of " + m_period + "s overrun\n", false);
+    DriverStationErrors.reportWarning("Loop time of " + m_period + "s overrun\n", false);
   }
 }

wpilibj/src/main/java/org/wpilib/framework/OpModeRobot.java

@@ -20,9 +20,11 @@ import java.util.function.Supplier;
 import java.util.jar.JarEntry;
 import java.util.jar.JarFile;
 import org.wpilib.driverstation.Alert;
-import org.wpilib.driverstation.DriverStation;
+import org.wpilib.driverstation.DriverStationErrors;
+import org.wpilib.driverstation.RobotState;
 import org.wpilib.driverstation.UserControls;
 import org.wpilib.driverstation.UserControlsInstance;
+import org.wpilib.driverstation.internal.DriverStationBackend;
 import org.wpilib.hardware.hal.ControlWord;
 import org.wpilib.hardware.hal.DriverStationJNI;
 import org.wpilib.hardware.hal.HAL;
@@ -82,7 +84,8 @@ public abstract class OpModeRobot extends RobotBase {
   private final Alert m_loopOverrunAlert;
 
   private static void reportAddOpModeError(Class<?> cls, String message) {
-    DriverStation.reportError("Error adding OpMode " + cls.getSimpleName() + ": " + message, false);
+    DriverStationErrors.reportError(
+        "Error adding OpMode " + cls.getSimpleName() + ": " + message, false);
   }
 
   private final Optional<Class<? extends UserControls>> m_userControlsBaseClass;
@@ -142,7 +145,7 @@ public abstract class OpModeRobot extends RobotBase {
   private <T extends OpMode> T constructOpModeClass(Class<T> cls) {
     Optional<ConstructorMatch<T>> constructor = findOpModeConstructor(cls);
     if (constructor.isEmpty()) {
-      DriverStation.reportError(
+      DriverStationErrors.reportError(
           "No suitable constructor to instantiate OpMode " + cls.getSimpleName(), true);
       return null;
     }
@@ -153,7 +156,7 @@ public abstract class OpModeRobot extends RobotBase {
         return constructor.get().newInstance(this);
       }
     } catch (ReflectiveOperationException e) {
-      DriverStation.reportError(
+      DriverStationErrors.reportError(
           "Could not instantiate OpMode " + cls.getSimpleName(), e.getStackTrace());
       return null;
     }
@@ -207,7 +210,7 @@ public abstract class OpModeRobot extends RobotBase {
       String description,
       Color textColor,
       Color backgroundColor) {
-    long id = DriverStation.addOpMode(mode, name, group, description, textColor, backgroundColor);
+    long id = RobotState.addOpMode(mode, name, group, description, textColor, backgroundColor);
     m_opModes.put(id, new OpModeFactory(name, factory));
   }
 
@@ -355,7 +358,7 @@ public abstract class OpModeRobot extends RobotBase {
     }
     Color tColor = textColor.isBlank() ? null : Color.fromString(textColor);
     Color bColor = backgroundColor.isBlank() ? null : Color.fromString(backgroundColor);
-    long id = DriverStation.addOpMode(mode, name, group, description, tColor, bColor);
+    long id = RobotState.addOpMode(mode, name, group, description, tColor, bColor);
     m_opModes.put(id, new OpModeFactory(name, () -> constructOpModeClass(cls)));
   }
 
@@ -504,7 +507,7 @@ public abstract class OpModeRobot extends RobotBase {
    * @param name name of the operating mode
    */
   public void removeOpMode(RobotMode mode, String name) {
-    long id = DriverStation.removeOpMode(mode, name);
+    long id = RobotState.removeOpMode(mode, name);
     if (id != 0) {
       m_opModes.remove(id);
     }
@@ -512,12 +515,12 @@ public abstract class OpModeRobot extends RobotBase {
 
   /** Publishes the operating mode options to the driver station. */
   public void publishOpModes() {
-    DriverStation.publishOpModes();
+    RobotState.publishOpModes();
   }
 
   /** Clears all operating mode options and publishes an empty list to the driver station. */
   public void clearOpModes() {
-    DriverStation.clearOpModes();
+    RobotState.clearOpModes();
     m_opModes.clear();
   }
 
@@ -562,7 +565,7 @@ public abstract class OpModeRobot extends RobotBase {
     }
     // Scan for annotated opmode classes within the derived class's package and subpackages
     addAnnotatedOpModeClasses(getClass().getPackage());
-    DriverStation.publishOpModes();
+    RobotState.publishOpModes();
 
     HAL.reportUsage("Framework", "OpModeRobot");
   }
@@ -631,10 +634,10 @@ public abstract class OpModeRobot extends RobotBase {
 
   /** Main robot loop function. Handles disabled state logic and opmode management. */
   private void loopFunc() {
-    DriverStation.refreshData();
+    DriverStationBackend.refreshData();
 
     // Get current enabled state and opmode
-    DriverStation.refreshControlWordFromCache(m_word);
+    DriverStationBackend.refreshControlWordFromCache(m_word);
     m_watchdog.reset();
     boolean enabled = m_word.isEnabled();
     long modeId = m_word.isDSAttached() ? m_word.getOpModeId() : 0;
@@ -676,7 +679,7 @@ public abstract class OpModeRobot extends RobotBase {
             m_callbacks.addAll(m_activeOpModeCallbacks);
           }
         } else {
-          DriverStation.reportError("No OpMode found for mode " + modeId, false);
+          DriverStationErrors.reportError("No OpMode found for mode " + modeId, false);
         }
       }
       m_lastModeId = modeId;
@@ -723,7 +726,7 @@ public abstract class OpModeRobot extends RobotBase {
     }
 
     // Call nonePeriodic when no opmode is selected
-    if (DriverStation.getOpModeId() == 0) {
+    if (RobotState.getOpModeId() == 0) {
       nonePeriodic();
       m_watchdog.addEpoch("nonePeriodic()");
     }
@@ -767,7 +770,7 @@ public abstract class OpModeRobot extends RobotBase {
     }
 
     // Tell the DS that the robot is ready to be enabled
-    DriverStation.observeUserProgramStarting();
+    DriverStationBackend.observeUserProgramStarting();
 
     // Loop forever, calling the callback system which handles periodic functions
     while (true) {

wpilibj/src/main/java/org/wpilib/framework/RobotBase.java

@@ -6,9 +6,11 @@ package org.wpilib.framework;
 
 import java.util.Optional;
 import java.util.concurrent.locks.ReentrantLock;
-import org.wpilib.driverstation.DriverStation;
+import org.wpilib.driverstation.DriverStationErrors;
+import org.wpilib.driverstation.RobotState;
 import org.wpilib.driverstation.UserControls;
 import org.wpilib.driverstation.UserControlsInstance;
+import org.wpilib.driverstation.internal.DriverStationBackend;
 import org.wpilib.hardware.hal.HAL;
 import org.wpilib.hardware.hal.HALUtil;
 import org.wpilib.math.util.MathShared;
@@ -52,7 +54,7 @@ public abstract class RobotBase implements AutoCloseable {
 
           @Override
           public void reportDriverStationError(String error) {
-            DriverStation.reportError(error, true);
+            DriverStationErrors.reportError(error, true);
           }
 
           @Override
@@ -74,7 +76,7 @@ public abstract class RobotBase implements AutoCloseable {
         new MathShared() {
           @Override
           public void reportError(String error, StackTraceElement[] stackTrace) {
-            DriverStation.reportError(error, stackTrace);
+            DriverStationErrors.reportError(error, stackTrace);
           }
 
           @Override
@@ -183,7 +185,7 @@ public abstract class RobotBase implements AutoCloseable {
    * @return True if the Robot is currently disabled by the Driver Station.
    */
   public static boolean isDisabled() {
-    return DriverStation.isDisabled();
+    return RobotState.isDisabled();
   }
 
   /**
@@ -192,7 +194,7 @@ public abstract class RobotBase implements AutoCloseable {
    * @return True if the Robot is currently enabled by the Driver Station.
    */
   public static boolean isEnabled() {
-    return DriverStation.isEnabled();
+    return RobotState.isEnabled();
   }
 
   /**
@@ -201,7 +203,7 @@ public abstract class RobotBase implements AutoCloseable {
    * @return True if the robot is currently operating Autonomously.
    */
   public static boolean isAutonomous() {
-    return DriverStation.isAutonomous();
+    return RobotState.isAutonomous();
   }
 
   /**
@@ -211,7 +213,7 @@ public abstract class RobotBase implements AutoCloseable {
    * @return True if the robot is currently operating autonomously while enabled.
    */
   public static boolean isAutonomousEnabled() {
-    return DriverStation.isAutonomousEnabled();
+    return RobotState.isAutonomousEnabled();
   }
 
   /**
@@ -220,7 +222,7 @@ public abstract class RobotBase implements AutoCloseable {
    * @return True if the robot is currently operating in Test mode.
    */
   public static boolean isTest() {
-    return DriverStation.isTest();
+    return RobotState.isTest();
   }
 
   /**
@@ -229,7 +231,7 @@ public abstract class RobotBase implements AutoCloseable {
    * @return True if the robot is currently operating in Test mode while enabled.
    */
   public static boolean isTestEnabled() {
-    return DriverStation.isTestEnabled();
+    return RobotState.isTestEnabled();
   }
 
   /**
@@ -239,7 +241,7 @@ public abstract class RobotBase implements AutoCloseable {
    * @return True if the robot is currently operating in Tele-Op mode.
    */
   public static boolean isTeleop() {
-    return DriverStation.isTeleop();
+    return RobotState.isTeleop();
   }
 
   /**
@@ -249,7 +251,7 @@ public abstract class RobotBase implements AutoCloseable {
    * @return True if the robot is currently operating in Tele-Op mode while enabled.
    */
   public static boolean isTeleopEnabled() {
-    return DriverStation.isTeleopEnabled();
+    return RobotState.isTeleopEnabled();
   }
 
   /**
@@ -260,7 +262,7 @@ public abstract class RobotBase implements AutoCloseable {
    *     unique ID not added, so callers should be prepared to handle that case
    */
   public static long getOpModeId() {
-    return DriverStation.getOpModeId();
+    return RobotState.getOpModeId();
   }
 
   /**
@@ -271,7 +273,7 @@ public abstract class RobotBase implements AutoCloseable {
    *     should be prepared to handle that case
    */
   public static String getOpMode() {
-    return DriverStation.getOpMode();
+    return RobotState.getOpMode();
   }
 
   /**
@@ -332,15 +334,15 @@ public abstract class RobotBase implements AutoCloseable {
       if (elements.length > 0) {
         robotName = elements[0].getClassName();
       }
-      DriverStation.reportError(
+      DriverStationErrors.reportError(
           "Unhandled exception instantiating robot " + robotName + " " + throwable, elements);
-      DriverStation.reportError(
+      DriverStationErrors.reportError(
           "The robot program quit unexpectedly."
               + " This is usually due to a code error.\n"
               + "  The above stacktrace can help determine where the error occurred.\n"
               + "  See https://wpilib.org/stacktrace for more information.\n",
           false);
-      DriverStation.reportError("Could not instantiate robot " + robotName + "!", false);
+      DriverStationErrors.reportError("Could not instantiate robot " + robotName + "!", false);
       return;
     }
 
@@ -356,7 +358,8 @@ public abstract class RobotBase implements AutoCloseable {
       if (cause != null) {
         throwable = cause;
       }
-      DriverStation.reportError("Unhandled exception: " + throwable, throwable.getStackTrace());
+      DriverStationErrors.reportError(
+          "Unhandled exception: " + throwable, throwable.getStackTrace());
       errorOnExit = true;
     } finally {
       m_runMutex.lock();
@@ -364,19 +367,20 @@ public abstract class RobotBase implements AutoCloseable {
       m_runMutex.unlock();
       if (!suppressExitWarning) {
         // startCompetition never returns unless exception occurs....
-        DriverStation.reportWarning(
+        DriverStationErrors.reportWarning(
             "The robot program quit unexpectedly."
                 + " This is usually due to a code error.\n"
                 + "  The above stacktrace can help determine where the error occurred.\n"
                 + "  See https://wpilib.org/stacktrace for more information.",
             false);
         if (errorOnExit) {
-          DriverStation.reportError(
+          DriverStationErrors.reportError(
               "The startCompetition() method (or methods called by it) should have "
                   + "handled the exception above.",
               false);
         } else {
-          DriverStation.reportError("Unexpected return from startCompetition() method.", false);
+          DriverStationErrors.reportError(
+              "Unexpected return from startCompetition() method.", false);
         }
       }
     }
@@ -408,7 +412,7 @@ public abstract class RobotBase implements AutoCloseable {
     }
 
     // Force refresh DS data
-    DriverStation.refreshData();
+    DriverStationBackend.refreshData();
 
     HAL.reportUsage("Language", "Java");
     HAL.reportUsage("WPILibVersion", WPILibVersion.Version);

wpilibj/src/main/java/org/wpilib/framework/TimedRobot.java

@@ -6,7 +6,7 @@ package org.wpilib.framework;
 
 import static org.wpilib.units.Units.Seconds;
 
-import org.wpilib.driverstation.DriverStation;
+import org.wpilib.driverstation.internal.DriverStationBackend;
 import org.wpilib.hardware.hal.HAL;
 import org.wpilib.hardware.hal.NotifierJNI;
 import org.wpilib.internal.PeriodicPriorityQueue;
@@ -86,7 +86,7 @@ public class TimedRobot extends IterativeRobotBase {
 
     // Tell the DS that the robot is ready to be enabled
     System.out.println("********** Robot program startup complete **********");
-    DriverStation.observeUserProgramStarting();
+    DriverStationBackend.observeUserProgramStarting();
 
     // Loop forever, calling the appropriate mode-dependent function
     while (true) {

wpilibj/src/main/java/org/wpilib/hardware/led/LEDPattern.java

@@ -13,7 +13,7 @@ import java.util.Map;
 import java.util.Objects;
 import java.util.function.BooleanSupplier;
 import java.util.function.DoubleSupplier;
-import org.wpilib.driverstation.DriverStation;
+import org.wpilib.driverstation.DriverStationErrors;
 import org.wpilib.hardware.hal.HAL;
 import org.wpilib.system.RobotController;
 import org.wpilib.units.collections.LongToObjectHashMap;
@@ -576,13 +576,13 @@ public interface LEDPattern {
     HAL.reportUsage("LEDPattern", "");
     if (steps.isEmpty()) {
       // no colors specified
-      DriverStation.reportWarning("Creating LED steps with no colors!", false);
+      DriverStationErrors.reportWarning("Creating LED steps with no colors!", false);
       return kOff;
     }
 
     if (steps.size() == 1 && steps.keySet().iterator().next().doubleValue() == 0) {
       // only one color specified, just show a static color
-      DriverStation.reportWarning("Creating LED steps with only one color!", false);
+      DriverStationErrors.reportWarning("Creating LED steps with only one color!", false);
       return solid(steps.values().iterator().next());
     }
 
@@ -638,13 +638,13 @@ public interface LEDPattern {
     HAL.reportUsage("LEDPattern", "");
     if (colors.length == 0) {
       // Nothing to display
-      DriverStation.reportWarning("Creating a gradient with no colors!", false);
+      DriverStationErrors.reportWarning("Creating a gradient with no colors!", false);
       return kOff;
     }
 
     if (colors.length == 1) {
       // No gradients with one color
-      DriverStation.reportWarning("Creating a gradient with only one color!", false);
+      DriverStationErrors.reportWarning("Creating a gradient with only one color!", false);
       return solid(colors[0]);
     }
 

wpilibj/src/main/java/org/wpilib/hardware/motor/MotorSafety.java

@@ -6,7 +6,8 @@ package org.wpilib.hardware.motor;
 
 import java.util.LinkedHashSet;
 import java.util.Set;
-import org.wpilib.driverstation.DriverStation;
+import org.wpilib.driverstation.DriverStationErrors;
+import org.wpilib.driverstation.RobotState;
 import org.wpilib.hardware.hal.ControlWord;
 import org.wpilib.hardware.hal.DriverStationJNI;
 import org.wpilib.system.Timer;
@@ -133,12 +134,12 @@ public abstract class MotorSafety {
       stopTime = m_stopTime;
     }
 
-    if (!enabled || DriverStation.isDisabled() || DriverStation.isTest()) {
+    if (!enabled || RobotState.isDisabled() || RobotState.isTest()) {
       return;
     }
 
     if (stopTime < Timer.getMonotonicTimestamp()) {
-      DriverStation.reportError(
+      DriverStationErrors.reportError(
           getDescription()
               + "... Output not updated often enough. See https://docs.wpilib.org/motorsafety for more information.",
           false);

wpilibj/src/main/java/org/wpilib/internal/DriverStationModeThread.java

@@ -6,7 +6,7 @@ package org.wpilib.internal;
 
 import java.util.concurrent.atomic.AtomicBoolean;
 import java.util.concurrent.atomic.AtomicLong;
-import org.wpilib.driverstation.DriverStation;
+import org.wpilib.driverstation.internal.DriverStationBackend;
 import org.wpilib.hardware.hal.ControlWord;
 import org.wpilib.hardware.hal.DriverStationJNI;
 import org.wpilib.util.WPIUtilJNI;
@@ -41,7 +41,7 @@ public class DriverStationModeThread implements AutoCloseable {
       if (!m_keepAlive.get()) {
         return;
       }
-      DriverStation.refreshData();
+      DriverStationBackend.refreshData();
       DriverStationJNI.observeUserProgram(m_userControlWord.get());
     }
   }

wpilibj/src/main/java/org/wpilib/simulation/DriverStationSim.java

@@ -5,7 +5,9 @@
 package org.wpilib.simulation;
 
 import java.util.function.BiConsumer;
-import org.wpilib.driverstation.DriverStation;
+import org.wpilib.driverstation.MatchType;
+import org.wpilib.driverstation.POVDirection;
+import org.wpilib.driverstation.internal.DriverStationBackend;
 import org.wpilib.hardware.hal.AllianceStationID;
 import org.wpilib.hardware.hal.DriverStationJNI;
 import org.wpilib.hardware.hal.OpModeOption;
@@ -321,7 +323,7 @@ public final class DriverStationSim {
     }
     DriverStationJNI.removeNewDataEventHandle(handle);
     WPIUtilJNI.destroyEvent(handle);
-    DriverStation.refreshData();
+    DriverStationBackend.refreshData();
   }
 
   /**
@@ -392,7 +394,7 @@ public final class DriverStationSim {
    * @param pov The POV number
    * @param value the angle of the POV
    */
-  public static void setJoystickPOV(int stick, int pov, DriverStation.POVDirection value) {
+  public static void setJoystickPOV(int stick, int pov, POVDirection value) {
     DriverStationDataJNI.setJoystickPOV(stick, pov, value.value);
   }
 
@@ -523,7 +525,7 @@ public final class DriverStationSim {
    *
    * @param type the match type
    */
-  public static void setMatchType(DriverStation.MatchType type) {
+  public static void setMatchType(MatchType type) {
     int matchType =
         switch (type) {
           case PRACTICE -> 1;

wpilibj/src/main/java/org/wpilib/simulation/GenericHIDSim.java

@@ -5,8 +5,8 @@
 package org.wpilib.simulation;
 
 import java.util.EnumSet;
-import org.wpilib.driverstation.DriverStation;
 import org.wpilib.driverstation.GenericHID;
+import org.wpilib.driverstation.POVDirection;
 
 /** Class to control a simulated generic joystick. */
 public class GenericHIDSim {
@@ -62,7 +62,7 @@ public class GenericHIDSim {
    * @param pov the POV to set
    * @param value the new value
    */
-  public void setPOV(int pov, DriverStation.POVDirection value) {
+  public void setPOV(int pov, POVDirection value) {
     DriverStationSim.setJoystickPOV(m_port, pov, value);
   }
 
@@ -71,7 +71,7 @@ public class GenericHIDSim {
    *
    * @param value the new value
    */
-  public void setPOV(DriverStation.POVDirection value) {
+  public void setPOV(POVDirection value) {
     setPOV(0, value);
   }
 

wpilibj/src/main/java/org/wpilib/system/DataLogManager.java

@@ -20,7 +20,11 @@ import org.wpilib.datalog.DataLogBackgroundWriter;
 import org.wpilib.datalog.FileLogger;
 import org.wpilib.datalog.IntegerLogEntry;
 import org.wpilib.datalog.StringLogEntry;
-import org.wpilib.driverstation.DriverStation;
+import org.wpilib.driverstation.DriverStationErrors;
+import org.wpilib.driverstation.MatchState;
+import org.wpilib.driverstation.MatchType;
+import org.wpilib.driverstation.RobotState;
+import org.wpilib.driverstation.internal.DriverStationBackend;
 import org.wpilib.framework.RobotBase;
 import org.wpilib.hardware.hal.HAL;
 import org.wpilib.networktables.NetworkTableInstance;
@@ -326,7 +330,7 @@ public final class DataLogManager {
             }
             long length = file.length();
             if (file.delete()) {
-              DriverStation.reportWarning("DataLogManager: Deleted " + file.getName(), false);
+              DriverStationErrors.reportWarning("DataLogManager: Deleted " + file.getName(), false);
               freeSpace += length;
               if (freeSpace >= FREE_SPACE_THRESHOLD) {
                 break;
@@ -337,7 +341,7 @@ public final class DataLogManager {
           }
         }
       } else if (freeSpace < 2 * FREE_SPACE_THRESHOLD) {
-        DriverStation.reportWarning(
+        DriverStationErrors.reportWarning(
             "DataLogManager: Log storage device has "
                 + freeSpace / 1000000
                 + " MB of free space remaining! Logs will get deleted below "
@@ -360,7 +364,7 @@ public final class DataLogManager {
             m_log, "systemTime", "{\"source\":\"DataLogManager\",\"format\":\"time_t_us\"}");
 
     Event newDataEvent = new Event();
-    DriverStation.provideRefreshedDataEventHandle(newDataEvent.getHandle());
+    DriverStationBackend.provideRefreshedDataEventHandle(newDataEvent.getHandle());
     while (!Thread.interrupted()) {
       boolean timedOut;
       try {
@@ -390,7 +394,7 @@ public final class DataLogManager {
 
       if (!dsRenamed) {
         // track DS attach
-        if (DriverStation.isDSAttached()) {
+        if (RobotState.isDSAttached()) {
           dsAttachCount++;
         } else {
           dsAttachCount = 0;
@@ -408,7 +412,7 @@ public final class DataLogManager {
 
       if (!fmsRenamed) {
         // track FMS attach
-        if (DriverStation.isFMSAttached()) {
+        if (RobotState.isFMSAttached()) {
           fmsAttachCount++;
         } else {
           fmsAttachCount = 0;
@@ -416,8 +420,8 @@ public final class DataLogManager {
         if (fmsAttachCount > 250) { // 5 seconds
           // match info comes through TCP, so we need to double-check we've
           // actually received it
-          DriverStation.MatchType matchType = DriverStation.getMatchType();
-          if (matchType != DriverStation.MatchType.NONE) {
+          MatchType matchType = MatchState.getMatchType();
+          if (matchType != MatchType.NONE) {
             // rename per match info
             char matchTypeChar =
                 switch (matchType) {
@@ -430,10 +434,10 @@ public final class DataLogManager {
                 "WPILIB_"
                     + m_timeFormatter.format(LocalDateTime.now(m_utc))
                     + "_"
-                    + DriverStation.getEventName()
+                    + MatchState.getEventName()
                     + "_"
                     + matchTypeChar
-                    + DriverStation.getMatchNumber()
+                    + MatchState.getMatchNumber()
                     + ".wpilog");
             fmsRenamed = true;
             dsRenamed = true; // don't override FMS rename

wpilibj/src/main/java/org/wpilib/system/Notifier.java

@@ -9,7 +9,7 @@ import static org.wpilib.util.ErrorMessages.requireNonNullParam;
 
 import java.util.concurrent.atomic.AtomicInteger;
 import java.util.concurrent.locks.ReentrantLock;
-import org.wpilib.driverstation.DriverStation;
+import org.wpilib.driverstation.DriverStationErrors;
 import org.wpilib.hardware.hal.NotifierJNI;
 import org.wpilib.units.measure.Frequency;
 import org.wpilib.units.measure.Time;
@@ -106,9 +106,9 @@ public class Notifier implements AutoCloseable {
           if (cause != null) {
             error = cause;
           }
-          DriverStation.reportError(
+          DriverStationErrors.reportError(
               "Unhandled exception in Notifier thread: " + error, error.getStackTrace());
-          DriverStation.reportError(
+          DriverStationErrors.reportError(
               "The Runnable for this Notifier (or methods called by it) should have handled "
                   + "the exception above.\n"
                   + "  The above stacktrace can help determine where the error occurred.\n"

wpilibj/src/main/java/org/wpilib/system/Timer.java

@@ -6,7 +6,7 @@ package org.wpilib.system;
 
 import static org.wpilib.units.Units.Seconds;
 
-import org.wpilib.driverstation.DriverStation;
+import org.wpilib.driverstation.MatchState;
 import org.wpilib.units.measure.Time;
 
 /**
@@ -54,7 +54,7 @@ public class Timer {
    * @return Time remaining in current match period (auto or teleop) in seconds
    */
   public static double getMatchTime() {
-    return DriverStation.getMatchTime();
+    return MatchState.getMatchTime();
   }
 
   /**

wpilibj/src/main/java/org/wpilib/system/Tracer.java

@@ -7,7 +7,7 @@ package org.wpilib.system;
 import java.util.HashMap;
 import java.util.Map;
 import java.util.function.Consumer;
-import org.wpilib.driverstation.DriverStation;
+import org.wpilib.driverstation.DriverStationErrors;
 
 /**
  * A class for keeping track of how much time it takes for different parts of code to execute. This
@@ -60,7 +60,7 @@ public class Tracer {
 
   /** Prints list of epochs added so far and their times to the DriverStation. */
   public void printEpochs() {
-    printEpochs(out -> DriverStation.reportWarning(out, false));
+    printEpochs(out -> DriverStationErrors.reportWarning(out, false));
   }
 
   /**

wpilibj/src/main/java/org/wpilib/system/Watchdog.java

@@ -9,7 +9,7 @@ import static org.wpilib.units.Units.Seconds;
 import java.io.Closeable;
 import java.util.PriorityQueue;
 import java.util.concurrent.locks.ReentrantLock;
-import org.wpilib.driverstation.DriverStation;
+import org.wpilib.driverstation.DriverStationErrors;
 import org.wpilib.hardware.hal.HALUtil;
 import org.wpilib.hardware.hal.NotifierJNI;
 import org.wpilib.units.measure.Time;
@@ -263,7 +263,7 @@ public class Watchdog implements Closeable, Comparable<Watchdog> {
         if (now - watchdog.m_lastTimeoutPrint > MIN_PRINT_PERIOD) {
           watchdog.m_lastTimeoutPrint = now;
           if (!watchdog.m_suppressTimeoutMessage) {
-            DriverStation.reportWarning(
+            DriverStationErrors.reportWarning(
                 String.format("Watchdog not fed within %.6fs\n", watchdog.m_timeout), false);
           }
         }