[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;
+  }
+}