From e44a6e227a896321354dab843eec10cd61bec9ef Mon Sep 17 00:00:00 2001
From: Tyler Veness <calcmogul@gmail.com>
Date: Sun, 10 Jul 2016 16:24:57 -0700
Subject: [PATCH] Refactored wpilibj HAL JNI to simplify generating it from HAL
 headers (#109)

wpilibj FRCNetworkCommunication.java is now generated from HAL headers and was renamed to FRCNetComm.java
---
 gen/wpilibj_frcnetcomm.py                     | 178 +++++++++
 hal/include/HAL/HAL.h                         |  16 +-
 hal/lib/shared/HAL.cpp                        |  30 +-
 wpilibc/athena/src/DriverStation.cpp          |  27 +-
 wpilibc/athena/src/IterativeRobot.cpp         |  10 +-
 wpilibc/athena/src/SampleRobot.cpp            |   2 +-
 .../src/TestEnvironment.cpp                   |   2 +-
 wpilibj/athena.gradle                         |   3 +-
 wpilibj/src/athena/cpp/lib/CANJNI.cpp         |  12 +-
 .../lib/FRCNetworkCommunicationsLibrary.cpp   | 368 -----------------
 wpilibj/src/athena/cpp/lib/HAL.cpp            | 369 ++++++++++++++++++
 .../edu/wpi/first/wpilibj/ADXL345_I2C.java    |   8 +-
 .../edu/wpi/first/wpilibj/ADXL345_SPI.java    |   8 +-
 .../java/edu/wpi/first/wpilibj/ADXL362.java   |   6 +-
 .../edu/wpi/first/wpilibj/ADXRS450_Gyro.java  |   6 +-
 .../first/wpilibj/AnalogAccelerometer.java    |   7 +-
 .../edu/wpi/first/wpilibj/AnalogGyro.java     |   6 +-
 .../edu/wpi/first/wpilibj/AnalogInput.java    |   6 +-
 .../edu/wpi/first/wpilibj/AnalogOutput.java   |   6 +-
 .../edu/wpi/first/wpilibj/AnalogTrigger.java  |   6 +-
 .../first/wpilibj/AnalogTriggerOutput.java    |   8 +-
 .../first/wpilibj/BuiltInAccelerometer.java   |   7 +-
 .../java/edu/wpi/first/wpilibj/CANJaguar.java |   8 +-
 .../java/edu/wpi/first/wpilibj/CANTalon.java  |   6 +-
 .../java/edu/wpi/first/wpilibj/Counter.java   |   6 +-
 .../first/wpilibj/DigitalGlitchFilter.java    |   6 +-
 .../edu/wpi/first/wpilibj/DigitalInput.java   |   6 +-
 .../edu/wpi/first/wpilibj/DigitalOutput.java  |   6 +-
 .../edu/wpi/first/wpilibj/DoubleSolenoid.java |  10 +-
 .../edu/wpi/first/wpilibj/DriverStation.java  |  77 ++--
 .../java/edu/wpi/first/wpilibj/Encoder.java   |   6 +-
 .../java/edu/wpi/first/wpilibj/GearTooth.java |   8 +-
 .../java/edu/wpi/first/wpilibj/I2C.java       |   6 +-
 .../edu/wpi/first/wpilibj/IterativeRobot.java |  20 +-
 .../java/edu/wpi/first/wpilibj/Jaguar.java    |   6 +-
 .../java/edu/wpi/first/wpilibj/Joystick.java  |  17 +-
 .../java/edu/wpi/first/wpilibj/PWM.java       |   6 +-
 .../edu/wpi/first/wpilibj/Preferences.java    |   6 +-
 .../java/edu/wpi/first/wpilibj/Relay.java     |   8 +-
 .../java/edu/wpi/first/wpilibj/RobotBase.java |  12 +-
 .../edu/wpi/first/wpilibj/RobotDrive.java     |  16 +-
 .../java/edu/wpi/first/wpilibj/SD540.java     |   6 +-
 .../java/edu/wpi/first/wpilibj/SPI.java       |   6 +-
 .../edu/wpi/first/wpilibj/SampleRobot.java    |  12 +-
 .../edu/wpi/first/wpilibj/SerialPort.java     |   6 +-
 .../java/edu/wpi/first/wpilibj/Servo.java     |   6 +-
 .../java/edu/wpi/first/wpilibj/Solenoid.java  |   6 +-
 .../java/edu/wpi/first/wpilibj/Spark.java     |   6 +-
 .../java/edu/wpi/first/wpilibj/Talon.java     |   6 +-
 .../java/edu/wpi/first/wpilibj/TalonSRX.java  |   6 +-
 .../edu/wpi/first/wpilibj/Ultrasonic.java     |   6 +-
 .../java/edu/wpi/first/wpilibj/Victor.java    |   6 +-
 .../java/edu/wpi/first/wpilibj/VictorSP.java  |   6 +-
 .../edu/wpi/first/wpilibj/can/CANJNI.java     |   4 +-
 .../wpilibj/communication/UsageReporting.java |  25 --
 .../AllianceStationID.java}                   |   4 +-
 .../ControlWord.java}                         |  10 +-
 .../FRCNetComm.java}                          | 119 +-----
 .../java/edu/wpi/first/wpilibj/hal/HAL.java   | 119 ++++++
 .../internal/HardwareHLUsageReporting.java    |  12 +-
 .../first/wpilibj/test/AbstractComsSetup.java |   4 +-
 61 files changed, 932 insertions(+), 770 deletions(-)
 create mode 100755 gen/wpilibj_frcnetcomm.py
 delete mode 100644 wpilibj/src/athena/cpp/lib/FRCNetworkCommunicationsLibrary.cpp
 create mode 100644 wpilibj/src/athena/cpp/lib/HAL.cpp
 delete mode 100644 wpilibj/src/athena/java/edu/wpi/first/wpilibj/communication/UsageReporting.java
 rename wpilibj/src/athena/java/edu/wpi/first/wpilibj/{communication/HALAllianceStationID.java => hal/AllianceStationID.java} (86%)
 rename wpilibj/src/athena/java/edu/wpi/first/wpilibj/{communication/HALControlWord.java => hal/ControlWord.java} (84%)
 rename wpilibj/src/athena/java/edu/wpi/first/wpilibj/{communication/FRCNetworkCommunicationsLibrary.java => hal/FRCNetComm.java} (51%)
 create mode 100644 wpilibj/src/athena/java/edu/wpi/first/wpilibj/hal/HAL.java

diff --git a/gen/wpilibj_frcnetcomm.py b/gen/wpilibj_frcnetcomm.py
new file mode 100755
index 0000000000..cb353cb693
--- /dev/null
+++ b/gen/wpilibj_frcnetcomm.py
@@ -0,0 +1,178 @@
+#!/usr/bin/env python3
+
+# This script generates the network communication interface for wpilibj.
+#
+# This script takes no arguments and should be invoked from either the gen
+# directory or the root directory of the project.
+
+from datetime import date
+import os
+import re
+import subprocess
+
+# Check that the current directory is part of a Git repository
+def inGitRepo(directory):
+    ret = subprocess.run(["git", "rev-parse"], stderr = subprocess.DEVNULL)
+    return ret.returncode == 0
+
+def main():
+    if not inGitRepo("."):
+        print("Error: not invoked within a Git repository", file = sys.stderr)
+        sys.exit(1)
+
+    # Handle running in either the root or gen directories
+    configPath = "."
+    if os.getcwd().rpartition(os.sep)[2] == "gen":
+        configPath = ".."
+
+    outputName = configPath + \
+        "/wpilibj/src/athena/java/edu/wpi/first/wpilibj/hal/FRCNetComm.java"
+
+    # Set initial copyright year and get current year
+    year = "2016"
+    currentYear = str(date.today().year)
+
+    # Start writing output file
+    with open(outputName + ".tmp", "w") as temp:
+        # Write first line of comment
+        temp.write("/*")
+        for i in range(0, 76):
+            temp.write("-")
+        temp.write("*/\n")
+
+        # Write second line of comment
+        temp.write("/* Copyright (c) FIRST ")
+        if year != currentYear:
+            temp.write(year)
+            temp.write("-")
+        temp.write(currentYear)
+        temp.write(". All Rights Reserved.")
+        for i in range(0, 24):
+            temp.write(" ")
+        if year == currentYear:
+            for i in range(0, 5):
+                temp.write(" ")
+        temp.write("*/\n")
+
+        # Write rest of lines of comment
+        temp.write("""\
+/* Open Source Software - may be modified and shared by FRC teams. The code   */
+/* must be accompanied by the FIRST BSD license file in the root directory of */
+/* the project.                                                               */
+/*""")
+        for i in range(0, 76):
+            temp.write("-")
+        temp.write("*/\n")
+
+        # Write preamble
+        temp.write("""
+package edu.wpi.first.wpilibj.hal;
+
+import edu.wpi.first.wpilibj.hal.JNIWrapper;
+
+/**
+ * JNI wrapper for library <b>FRC_NetworkCommunication</b><br>.
+ */
+@SuppressWarnings(\"MethodName\")
+public class FRCNetComm extends JNIWrapper {
+""")
+
+        # Read enums from C++ source files
+        firstEnum = True
+        for fileName in ["LoadOut.h", "UsageReporting.h"]:
+            with open(configPath + "/hal/include/FRC_NetworkCommunication/" + \
+                      fileName, "r") as cppSource:
+                while True:
+                    # Read until an enum is encountered
+                    line = ""
+                    pos = -1
+                    while line.find("enum") == -1:
+                        line = cppSource.readline()
+                        if line == "":
+                            break
+
+                    if line == "":
+                        break
+
+                    # If "{" is on next line, read next line
+                    if line.find("{") == -1:
+                        line = cppSource.readline()
+
+                    # Write enum to output file as interface
+                    values = []
+                    line = cppSource.readline()
+                    while line.find("}") == -1:
+                        if line == "\n":
+                            values.append("")
+                        else:
+                            if line[0] != "#":
+                                line = line.strip()
+                                if line[len(line) - 1] == ",":
+                                    values.append(line[0:len(line) - 1])
+                                else:
+                                    values.append(line)
+                        line = cppSource.readline()
+
+                    # Extract enum name
+                    nameStart = 0
+                    for i, c in enumerate(line):
+                        if c != " " and c != "}":
+                            nameStart = i
+                            break
+                    enumName = line[nameStart:len(line) - 2]
+
+                    # Write comment for interface name
+                    # Only add newline if not the first enum
+                    if firstEnum == True:
+                        firstEnum = False
+                    else:
+                        temp.write("\n")
+                    temp.write("  /**\n"
+                               "   * ")
+
+                    # Splits camelcase string into words
+                    enumCamel = re.findall(r'[A-Z](?:[a-z]+|[A-Z]*(?=[A-Z]|$))',
+                                           enumName)
+                    temp.write(enumCamel[0] + " ")
+                    for i in range(1, len(enumCamel)):
+                        temp.write(enumCamel[i][0].lower() + \
+                            enumCamel[i][1:len(enumCamel[i])] + " ")
+                    temp.write("from " + fileName + "\n"
+                               "   */\n"
+                               "  @SuppressWarnings(\"TypeName\")\n"
+                               "  public interface " + enumName + " {\n")
+
+                    # Write enum values
+                    count = 0
+                    for value in values:
+                        # Pass through empty lines
+                        if value == "":
+                            temp.write("\n")
+                            continue
+
+                        if value.find("=") == -1:
+                            value = value + " = " + str(count)
+                            count += 1
+
+                        # Add scoping for values from a different enum
+                        if enumName != "tModuleType" and \
+                                value.find("kModuleType") != -1:
+                            value = value.replace("kModuleType",
+                                                  "tModuleType.kModuleType")
+                        temp.write("    int " + value[0:len(value)] + ";\n")
+
+                    # Write end of enum
+                    temp.write("  }\n")
+
+        # Write closing brace for file
+        temp.write("}\n")
+
+    # Replace old output file
+    try:
+        os.remove(outputName)
+    except OSError:
+        pass
+    os.rename(outputName + ".tmp", outputName)
+
+if __name__ == "__main__":
+    main()
diff --git a/hal/include/HAL/HAL.h b/hal/include/HAL/HAL.h
index 1885c5c10f..f314fd9cf2 100644
--- a/hal/include/HAL/HAL.h
+++ b/hal/include/HAL/HAL.h
@@ -120,8 +120,8 @@ int HAL_SendError(int isError, int32_t errorCode, int isLVCode,
                   const char* details, const char* location,
                   const char* callStack, int printMsg);
 
-int HAL_GetControlWord(HAL_ControlWord* data);
-int HAL_GetAllianceStation(enum HAL_AllianceStationID* allianceStation);
+int HAL_GetControlWord(HAL_ControlWord* controlWord);
+HAL_AllianceStationID HAL_GetAllianceStation(int32_t* status);
 int HAL_GetJoystickAxes(uint8_t joystickNum, HAL_JoystickAxes* axes);
 int HAL_GetJoystickPOVs(uint8_t joystickNum, HAL_JoystickPOVs* povs);
 int HAL_GetJoystickButtons(uint8_t joystickNum, HAL_JoystickButtons* buttons);
@@ -133,7 +133,7 @@ char* HAL_GetJoystickName(uint8_t joystickNum);
 int HAL_GetJoystickAxisType(uint8_t joystickNum, uint8_t axis);
 int HAL_SetJoystickOutputs(uint8_t joystickNum, uint32_t outputs,
                            uint16_t leftRumble, uint16_t rightRumble);
-int HAL_GetMatchTime(float* matchTime);
+float HAL_GetMatchTime(int32_t* status);
 
 void HAL_SetNewDataSem(MULTIWAIT_ID sem);
 
@@ -141,11 +141,11 @@ bool HAL_GetSystemActive(int32_t* status);
 bool HAL_GetBrownedOut(int32_t* status);
 
 int HAL_Initialize(int mode = 0);
-void HAL_NetworkCommunicationObserveUserProgramStarting();
-void HAL_NetworkCommunicationObserveUserProgramDisabled();
-void HAL_NetworkCommunicationObserveUserProgramAutonomous();
-void HAL_NetworkCommunicationObserveUserProgramTeleop();
-void HAL_NetworkCommunicationObserveUserProgramTest();
+void HAL_ObserveUserProgramStarting();
+void HAL_ObserveUserProgramDisabled();
+void HAL_ObserveUserProgramAutonomous();
+void HAL_ObserveUserProgramTeleop();
+void HAL_ObserveUserProgramTest();
 
 uint32_t HAL_Report(uint8_t resource, uint8_t instanceNumber,
                     uint8_t context = 0, const char* feature = nullptr);
diff --git a/hal/lib/shared/HAL.cpp b/hal/lib/shared/HAL.cpp
index 7ac95ceea6..11d38bfae2 100644
--- a/hal/lib/shared/HAL.cpp
+++ b/hal/lib/shared/HAL.cpp
@@ -18,17 +18,21 @@ struct HAL_JoystickAxesInt {
 
 extern "C" {
 
-int HAL_GetControlWord(HAL_ControlWord* data) {
-  return FRC_NetworkCommunication_getControlWord((ControlWord_t*)data);
+int HAL_GetControlWord(HAL_ControlWord* controlWord) {
+  std::memset(controlWord, 0, sizeof(HAL_ControlWord));
+  return FRC_NetworkCommunication_getControlWord(
+      reinterpret_cast<ControlWord_t*>(controlWord));
 }
 
 void HAL_SetNewDataSem(MULTIWAIT_ID sem) {
   setNewDataSem(sem->native_handle());
 }
 
-int HAL_GetAllianceStation(enum HAL_AllianceStationID* allianceStation) {
-  return FRC_NetworkCommunication_getAllianceStation(
-      (AllianceStationID_t*)allianceStation);
+HAL_AllianceStationID HAL_GetAllianceStation(int32_t* status) {
+  HAL_AllianceStationID allianceStation;
+  *status = FRC_NetworkCommunication_getAllianceStation(
+      reinterpret_cast<AllianceStationID_t*>(&allianceStation));
+  return allianceStation;
 }
 
 int HAL_GetJoystickAxes(uint8_t joystickNum, HAL_JoystickAxes* axes) {
@@ -142,27 +146,29 @@ int HAL_SetJoystickOutputs(uint8_t joystickNum, uint32_t outputs,
                                                      leftRumble, rightRumble);
 }
 
-int HAL_GetMatchTime(float* matchTime) {
-  return FRC_NetworkCommunication_getMatchTime(matchTime);
+float HAL_GetMatchTime(int32_t* status) {
+  float matchTime;
+  *status = FRC_NetworkCommunication_getMatchTime(&matchTime);
+  return matchTime;
 }
 
-void HAL_NetworkCommunicationObserveUserProgramStarting(void) {
+void HAL_ObserveUserProgramStarting(void) {
   FRC_NetworkCommunication_observeUserProgramStarting();
 }
 
-void HAL_NetworkCommunicationObserveUserProgramDisabled(void) {
+void HAL_ObserveUserProgramDisabled(void) {
   FRC_NetworkCommunication_observeUserProgramDisabled();
 }
 
-void HAL_NetworkCommunicationObserveUserProgramAutonomous(void) {
+void HAL_ObserveUserProgramAutonomous(void) {
   FRC_NetworkCommunication_observeUserProgramAutonomous();
 }
 
-void HAL_NetworkCommunicationObserveUserProgramTeleop(void) {
+void HAL_ObserveUserProgramTeleop(void) {
   FRC_NetworkCommunication_observeUserProgramTeleop();
 }
 
-void HAL_NetworkCommunicationObserveUserProgramTest(void) {
+void HAL_ObserveUserProgramTest(void) {
   FRC_NetworkCommunication_observeUserProgramTest();
 }
 
diff --git a/wpilibc/athena/src/DriverStation.cpp b/wpilibc/athena/src/DriverStation.cpp
index 60415a3b3b..2aac7c663b 100644
--- a/wpilibc/athena/src/DriverStation.cpp
+++ b/wpilibc/athena/src/DriverStation.cpp
@@ -88,11 +88,10 @@ void DriverStation::Run() {
       MotorSafetyHelper::CheckMotors();
       period = 0;
     }
-    if (m_userInDisabled) HAL_NetworkCommunicationObserveUserProgramDisabled();
-    if (m_userInAutonomous)
-      HAL_NetworkCommunicationObserveUserProgramAutonomous();
-    if (m_userInTeleop) HAL_NetworkCommunicationObserveUserProgramTeleop();
-    if (m_userInTest) HAL_NetworkCommunicationObserveUserProgramTest();
+    if (m_userInDisabled) HAL_ObserveUserProgramDisabled();
+    if (m_userInAutonomous) HAL_ObserveUserProgramAutonomous();
+    if (m_userInTeleop) HAL_ObserveUserProgramTeleop();
+    if (m_userInTest) HAL_ObserveUserProgramTest();
   }
 }
 
@@ -381,7 +380,6 @@ bool DriverStation::GetStickButton(uint32_t stick, uint8_t button) {
  */
 bool DriverStation::IsEnabled() const {
   HAL_ControlWord controlWord;
-  std::memset(&controlWord, 0, sizeof(controlWord));
   HAL_GetControlWord(&controlWord);
   return controlWord.enabled && controlWord.dsAttached;
 }
@@ -393,7 +391,6 @@ bool DriverStation::IsEnabled() const {
  */
 bool DriverStation::IsDisabled() const {
   HAL_ControlWord controlWord;
-  std::memset(&controlWord, 0, sizeof(controlWord));
   HAL_GetControlWord(&controlWord);
   return !(controlWord.enabled && controlWord.dsAttached);
 }
@@ -405,7 +402,6 @@ bool DriverStation::IsDisabled() const {
  */
 bool DriverStation::IsAutonomous() const {
   HAL_ControlWord controlWord;
-  std::memset(&controlWord, 0, sizeof(controlWord));
   HAL_GetControlWord(&controlWord);
   return controlWord.autonomous;
 }
@@ -417,7 +413,6 @@ bool DriverStation::IsAutonomous() const {
  */
 bool DriverStation::IsOperatorControl() const {
   HAL_ControlWord controlWord;
-  std::memset(&controlWord, 0, sizeof(controlWord));
   HAL_GetControlWord(&controlWord);
   return !(controlWord.autonomous || controlWord.test);
 }
@@ -440,7 +435,6 @@ bool DriverStation::IsTest() const {
  */
 bool DriverStation::IsDSAttached() const {
   HAL_ControlWord controlWord;
-  std::memset(&controlWord, 0, sizeof(controlWord));
   HAL_GetControlWord(&controlWord);
   return controlWord.dsAttached;
 }
@@ -505,8 +499,8 @@ bool DriverStation::IsFMSAttached() const {
  * @return The Alliance enum (kRed, kBlue or kInvalid)
  */
 DriverStation::Alliance DriverStation::GetAlliance() const {
-  HAL_AllianceStationID allianceStationID;
-  HAL_GetAllianceStation(&allianceStationID);
+  int32_t status = 0;
+  auto allianceStationID = HAL_GetAllianceStation(&status);
   switch (allianceStationID) {
     case HAL_AllianceStationID_kRed1:
     case HAL_AllianceStationID_kRed2:
@@ -529,8 +523,8 @@ DriverStation::Alliance DriverStation::GetAlliance() const {
  * @return The location of the driver station (1-3, 0 for invalid)
  */
 uint32_t DriverStation::GetLocation() const {
-  HAL_AllianceStationID allianceStationID;
-  HAL_GetAllianceStation(&allianceStationID);
+  int32_t status = 0;
+  auto allianceStationID = HAL_GetAllianceStation(&status);
   switch (allianceStationID) {
     case HAL_AllianceStationID_kRed1:
     case HAL_AllianceStationID_kBlue1:
@@ -578,9 +572,8 @@ void DriverStation::WaitForData() {
  * @return Time remaining in current match period (auto or teleop)
  */
 double DriverStation::GetMatchTime() const {
-  float matchTime;
-  HAL_GetMatchTime(&matchTime);
-  return (double)matchTime;
+  int32_t status;
+  return HAL_GetMatchTime(&status);
 }
 
 /**
diff --git a/wpilibc/athena/src/IterativeRobot.cpp b/wpilibc/athena/src/IterativeRobot.cpp
index 1f551501a0..54d5d976f4 100644
--- a/wpilibc/athena/src/IterativeRobot.cpp
+++ b/wpilibc/athena/src/IterativeRobot.cpp
@@ -34,7 +34,7 @@ void IterativeRobot::StartCompetition() {
   RobotInit();
 
   // Tell the DS that the robot is ready to be enabled
-  HAL_NetworkCommunicationObserveUserProgramStarting();
+  HAL_ObserveUserProgramStarting();
 
   // loop forever, calling the appropriate mode-dependent function
   lw->SetEnabled(false);
@@ -52,7 +52,7 @@ void IterativeRobot::StartCompetition() {
         m_teleopInitialized = false;
         m_testInitialized = false;
       }
-      HAL_NetworkCommunicationObserveUserProgramDisabled();
+      HAL_ObserveUserProgramDisabled();
       DisabledPeriodic();
     } else if (IsAutonomous()) {
       // call AutonomousInit() if we are now just entering autonomous mode from
@@ -66,7 +66,7 @@ void IterativeRobot::StartCompetition() {
         m_teleopInitialized = false;
         m_testInitialized = false;
       }
-      HAL_NetworkCommunicationObserveUserProgramAutonomous();
+      HAL_ObserveUserProgramAutonomous();
       AutonomousPeriodic();
     } else if (IsTest()) {
       // call TestInit() if we are now just entering test mode from
@@ -80,7 +80,7 @@ void IterativeRobot::StartCompetition() {
         m_autonomousInitialized = false;
         m_teleopInitialized = false;
       }
-      HAL_NetworkCommunicationObserveUserProgramTest();
+      HAL_ObserveUserProgramTest();
       TestPeriodic();
     } else {
       // call TeleopInit() if we are now just entering teleop mode from
@@ -95,7 +95,7 @@ void IterativeRobot::StartCompetition() {
         m_testInitialized = false;
         Scheduler::GetInstance()->SetEnabled(true);
       }
-      HAL_NetworkCommunicationObserveUserProgramTeleop();
+      HAL_ObserveUserProgramTeleop();
       TeleopPeriodic();
     }
     // wait for driver station data so the loop doesn't hog the CPU
diff --git a/wpilibc/athena/src/SampleRobot.cpp b/wpilibc/athena/src/SampleRobot.cpp
index 90215221a4..0067777c91 100644
--- a/wpilibc/athena/src/SampleRobot.cpp
+++ b/wpilibc/athena/src/SampleRobot.cpp
@@ -112,7 +112,7 @@ void SampleRobot::StartCompetition() {
   RobotInit();
 
   // Tell the DS that the robot is ready to be enabled
-  HAL_NetworkCommunicationObserveUserProgramStarting();
+  HAL_ObserveUserProgramStarting();
 
   RobotMain();
 
diff --git a/wpilibcIntegrationTests/src/TestEnvironment.cpp b/wpilibcIntegrationTests/src/TestEnvironment.cpp
index a01c6076ad..be51dee8fa 100644
--- a/wpilibcIntegrationTests/src/TestEnvironment.cpp
+++ b/wpilibcIntegrationTests/src/TestEnvironment.cpp
@@ -30,7 +30,7 @@ class TestEnvironment : public testing::Environment {
             station. After starting network coms, it will loop until the driver
             station returns that the robot is enabled, to ensure that tests
             will be able to run on the hardware. */
-    HAL_NetworkCommunicationObserveUserProgramStarting();
+    HAL_ObserveUserProgramStarting();
     LiveWindow::GetInstance()->SetEnabled(false);
 
     std::cout << "Waiting for enable" << std::endl;
diff --git a/wpilibj/athena.gradle b/wpilibj/athena.gradle
index 17283d290b..b54a5811cf 100644
--- a/wpilibj/athena.gradle
+++ b/wpilibj/athena.gradle
@@ -153,7 +153,8 @@ task jniHeaders {
             args '-d', outputFolder
             args '-classpath', sourceSets.athena.output.classesDir
             args 'edu.wpi.first.wpilibj.can.CANJNI'
-            args 'edu.wpi.first.wpilibj.communication.FRCNetworkCommunicationsLibrary'
+            args 'edu.wpi.first.wpilibj.hal.FRCNetComm'
+            args 'edu.wpi.first.wpilibj.hal.HAL'
             args 'edu.wpi.first.wpilibj.hal.HALUtil'
             args 'edu.wpi.first.wpilibj.hal.JNIWrapper'
             args 'edu.wpi.first.wpilibj.hal.AccelerometerJNI'
diff --git a/wpilibj/src/athena/cpp/lib/CANJNI.cpp b/wpilibj/src/athena/cpp/lib/CANJNI.cpp
index 8a391eb220..2ba363cd01 100644
--- a/wpilibj/src/athena/cpp/lib/CANJNI.cpp
+++ b/wpilibj/src/athena/cpp/lib/CANJNI.cpp
@@ -29,14 +29,14 @@ extern "C" {
 
 /*
  * Class:     edu_wpi_first_wpilibj_can_CANJNI
- * Method:    FRCNetworkCommunicationCANSessionMuxSendMessage
+ * Method:    FRCNetCommCANSessionMuxSendMessage
  * Signature: (ILjava/nio/ByteBuffer;I)V
  */
 JNIEXPORT void JNICALL
-Java_edu_wpi_first_wpilibj_can_CANJNI_FRCNetworkCommunicationCANSessionMuxSendMessage(
+Java_edu_wpi_first_wpilibj_can_CANJNI_FRCNetCommCANSessionMuxSendMessage(
     JNIEnv *env, jclass, jint messageID, jobject data, jint periodMs) {
   CANJNI_LOG(logDEBUG)
-      << "Calling CANJNI FRCNetworkCommunicationCANSessionMuxSendMessage";
+      << "Calling CANJNI FRCNetCommCANSessionMuxSendMessage";
 
   uint8_t *dataBuffer =
       (uint8_t *)(data ? env->GetDirectBufferAddress(data) : 0);
@@ -72,15 +72,15 @@ static uint8_t buffer[8];
 
 /*
  * Class:     edu_wpi_first_wpilibj_can_CANJNI
- * Method:    FRCNetworkCommunicationCANSessionMuxReceiveMessage
+ * Method:    FRCNetCommCANSessionMuxReceiveMessage
  * Signature: (Ljava/nio/IntBuffer;ILjava/nio/ByteBuffer;)Ljava/nio/ByteBuffer;
  */
 JNIEXPORT jobject JNICALL
-Java_edu_wpi_first_wpilibj_can_CANJNI_FRCNetworkCommunicationCANSessionMuxReceiveMessage(
+Java_edu_wpi_first_wpilibj_can_CANJNI_FRCNetCommCANSessionMuxReceiveMessage(
     JNIEnv *env, jclass, jobject messageID, jint messageIDMask,
     jobject timeStamp) {
   CANJNI_LOG(logDEBUG)
-      << "Calling CANJNI FRCNetworkCommunicationCANSessionMuxReceiveMessage";
+      << "Calling CANJNI FRCNetCommCANSessionMuxReceiveMessage";
 
   uint32_t *messageIDPtr = (uint32_t *)env->GetDirectBufferAddress(messageID);
   uint32_t *timeStampPtr = (uint32_t *)env->GetDirectBufferAddress(timeStamp);
diff --git a/wpilibj/src/athena/cpp/lib/FRCNetworkCommunicationsLibrary.cpp b/wpilibj/src/athena/cpp/lib/FRCNetworkCommunicationsLibrary.cpp
deleted file mode 100644
index afcb68e623..0000000000
--- a/wpilibj/src/athena/cpp/lib/FRCNetworkCommunicationsLibrary.cpp
+++ /dev/null
@@ -1,368 +0,0 @@
-/*----------------------------------------------------------------------------*/
-/* Copyright (c) FIRST 2016. All Rights Reserved.                             */
-/* Open Source Software - may be modified and shared by FRC teams. The code   */
-/* must be accompanied by the FIRST BSD license file in the root directory of */
-/* the project.                                                               */
-/*----------------------------------------------------------------------------*/
-
-#include <assert.h>
-#include <jni.h>
-#include "Log.h"
-
-#include "HAL/HAL.h"
-#include "edu_wpi_first_wpilibj_communication_FRCNetworkCommunicationsLibrary.h"
-#include "HALUtil.h"
-
-// set the logging level
-TLogLevel netCommLogLevel = logWARNING;
-
-#define NETCOMM_LOG(level)     \
-  if (level > netCommLogLevel) \
-    ;                          \
-  else                         \
-  Log().Get(level)
-
-extern "C" {
-
-/*
- * Class: edu_wpi_first_wpilibj_communication_FRC_NetworkCommunicationsLibrary
- * Method:    FRC_NetworkCommunication_nUsageReporting_report
- * Signature: (BBBLjava/lang/String;)I
- */
-JNIEXPORT jint JNICALL
-Java_edu_wpi_first_wpilibj_communication_FRCNetworkCommunicationsLibrary_FRCNetworkCommunicationUsageReportingReport(
-    JNIEnv *paramEnv, jclass, jbyte paramResource, jbyte paramInstanceNumber,
-    jbyte paramContext, jstring paramFeature) {
-  const char *featureStr = paramEnv->GetStringUTFChars(paramFeature, nullptr);
-  NETCOMM_LOG(logDEBUG) << "Calling FRCNetworkCommunicationsLibrary report "
-                        << "res:" << (unsigned int)paramResource
-                        << " instance:" << (unsigned int)paramInstanceNumber
-                        << " context:" << (unsigned int)paramContext
-                        << " feature:" << featureStr;
-  jint returnValue =
-      HAL_Report(paramResource, paramInstanceNumber, paramContext, featureStr);
-  paramEnv->ReleaseStringUTFChars(paramFeature, featureStr);
-  return returnValue;
-}
-/*
- * Class: edu_wpi_first_wpilibj_communication_FRC_NetworkCommunicationsLibrary
- * Method:    FRC_NetworkCommunication_observeUserProgramStarting
- * Signature: ()V
- */
-JNIEXPORT void JNICALL
-Java_edu_wpi_first_wpilibj_communication_FRCNetworkCommunicationsLibrary_FRCNetworkCommunicationObserveUserProgramStarting(
-    JNIEnv *, jclass) {
-  HAL_NetworkCommunicationObserveUserProgramStarting();
-}
-/*
- * Class: edu_wpi_first_wpilibj_communication_FRC_NetworkCommunicationsLibrary
- * Method:    FRC_NetworkCommunication_observeUserProgramDisabled
- * Signature: ()V
- */
-JNIEXPORT void JNICALL
-Java_edu_wpi_first_wpilibj_communication_FRCNetworkCommunicationsLibrary_FRCNetworkCommunicationObserveUserProgramDisabled(
-    JNIEnv *, jclass) {
-  HAL_NetworkCommunicationObserveUserProgramDisabled();
-}
-/*
- * Class: edu_wpi_first_wpilibj_communication_FRC_NetworkCommunicationsLibrary
- * Method:    FRC_NetworkCommunication_observeUserProgramAutonomous
- * Signature: ()V
- */
-JNIEXPORT void JNICALL
-Java_edu_wpi_first_wpilibj_communication_FRCNetworkCommunicationsLibrary_FRCNetworkCommunicationObserveUserProgramAutonomous(
-    JNIEnv *, jclass) {
-  HAL_NetworkCommunicationObserveUserProgramAutonomous();
-}
-
-/*
- * Class: edu_wpi_first_wpilibj_communication_FRC_NetworkCommunicationsLibrary
- * Method:    FRC_NetworkCommunication_observeUserProgramTeleop
- * Signature: ()V
- */
-JNIEXPORT void JNICALL
-Java_edu_wpi_first_wpilibj_communication_FRCNetworkCommunicationsLibrary_FRCNetworkCommunicationObserveUserProgramTeleop(
-    JNIEnv *, jclass) {
-  HAL_NetworkCommunicationObserveUserProgramTeleop();
-}
-
-/*
- * Class: edu_wpi_first_wpilibj_communication_FRC_NetworkCommunicationsLibrary
- * Method:    FRC_NetworkCommunication_observeUserProgramTest
- * Signature: ()V
- */
-JNIEXPORT void JNICALL
-Java_edu_wpi_first_wpilibj_communication_FRCNetworkCommunicationsLibrary_FRCNetworkCommunicationObserveUserProgramTest(
-    JNIEnv *, jclass) {
-  HAL_NetworkCommunicationObserveUserProgramTest();
-}
-
-/*
- * Class: edu_wpi_first_wpilibj_communication_FRCNetworkCommunicationsLibrary
- * Method:    FRCNetworkCommunicationReserve
- * Signature: ()V
- */
-JNIEXPORT void JNICALL
-Java_edu_wpi_first_wpilibj_communication_FRCNetworkCommunicationsLibrary_FRCNetworkCommunicationReserve(
-    JNIEnv *, jclass) {
-  int rv = HAL_Initialize(0);
-  assert(1 == rv);
-}
-
-/*
- * Class: edu_wpi_first_wpilibj_communication_FRCNetworkCommunicationsLibrary
- * Method:    NativeHALGetControlWord
- * Signature: ()I
- */
-JNIEXPORT jint JNICALL
-Java_edu_wpi_first_wpilibj_communication_FRCNetworkCommunicationsLibrary_NativeHALGetControlWord(
-    JNIEnv *, jclass) {
-  NETCOMM_LOG(logDEBUG) << "Calling HAL Control Word";
-  jint controlWord;
-  HAL_GetControlWord((HAL_ControlWord *)&controlWord);
-  return controlWord;
-}
-
-/*
- * Class: edu_wpi_first_wpilibj_communication_FRCNetworkCommunicationsLibrary
- * Method:    NativeHALGetAllianceStation
- * Signature: ()I
- */
-JNIEXPORT jint JNICALL
-Java_edu_wpi_first_wpilibj_communication_FRCNetworkCommunicationsLibrary_NativeHALGetAllianceStation(
-    JNIEnv *, jclass) {
-  NETCOMM_LOG(logDEBUG) << "Calling HAL Alliance Station";
-  jint allianceStation;
-  HAL_GetAllianceStation((HAL_AllianceStationID *)&allianceStation);
-  return allianceStation;
-}
-
-/*
- * Class: edu_wpi_first_wpilibj_communication_FRCNetworkCommunicationsLibrary
- * Method:    HAL_GetJoystickAxes
- * Signature: (B[S)B
- */
-JNIEXPORT jbyte JNICALL
-Java_edu_wpi_first_wpilibj_communication_FRCNetworkCommunicationsLibrary_HALGetJoystickAxes(
-    JNIEnv * env, jclass, jbyte joystickNum, jfloatArray axesArray) {
-  NETCOMM_LOG(logDEBUG) << "Calling HALJoystickAxes";
-  HAL_JoystickAxes axes;
-  HAL_GetJoystickAxes(joystickNum, &axes);
-
-  jsize javaSize = env->GetArrayLength(axesArray);
-  if (axes.count > javaSize)
-  {
-    ThrowIllegalArgumentException(env, "Native array size larger then passed in java array size");
-  }
-
-  env->SetFloatArrayRegion(axesArray, 0, axes.count, axes.axes);
-
-  return axes.count;
-}
-
-/*
- * Class: edu_wpi_first_wpilibj_communication_FRCNetworkCommunicationsLibrary
- * Method:    HAL_GetJoystickPOVs
- * Signature: (B[S)B
- */
-JNIEXPORT jbyte JNICALL
-Java_edu_wpi_first_wpilibj_communication_FRCNetworkCommunicationsLibrary_HALGetJoystickPOVs(
-    JNIEnv * env, jclass, jbyte joystickNum, jshortArray povsArray) {
-  NETCOMM_LOG(logDEBUG) << "Calling HALJoystickPOVs";
-  HAL_JoystickPOVs povs;
-  HAL_GetJoystickPOVs(joystickNum, &povs);
-
-  jsize javaSize = env->GetArrayLength(povsArray);
-  if (povs.count > javaSize)
-  {
-    ThrowIllegalArgumentException(env, "Native array size larger then passed in java array size");
-  }
-
-  env->SetShortArrayRegion(povsArray, 0, povs.count, povs.povs);
-
-  return povs.count;
-}
-
-/*
- * Class: edu_wpi_first_wpilibj_communication_FRCNetworkCommunicationsLibrary
- * Method:    HAL_GetJoystickButtons
- * Signature: (B)S
- */
-JNIEXPORT jint JNICALL
-Java_edu_wpi_first_wpilibj_communication_FRCNetworkCommunicationsLibrary_HALGetJoystickButtons(
-    JNIEnv *env, jclass, jbyte joystickNum, jobject count) {
-  NETCOMM_LOG(logDEBUG) << "Calling HALJoystickButtons";
-  HAL_JoystickButtons joystickButtons;
-  HAL_GetJoystickButtons(joystickNum, &joystickButtons);
-  jbyte *countPtr = (jbyte *)env->GetDirectBufferAddress(count);
-  NETCOMM_LOG(logDEBUG) << "Buttons = " << joystickButtons.buttons;
-  NETCOMM_LOG(logDEBUG) << "Count = " << (jint)joystickButtons.count;
-  *countPtr = joystickButtons.count;
-  NETCOMM_LOG(logDEBUG) << "CountBuffer = " << (jint)*countPtr;
-  return joystickButtons.buttons;
-}
-
-/*
- * Class: edu_wpi_first_wpilibj_communication_FRCNetworkCommunicationsLibrary
- * Method:    HAL_SetJoystickOutputs
- * Signature: (BISS)I
- */
-JNIEXPORT jint JNICALL
-Java_edu_wpi_first_wpilibj_communication_FRCNetworkCommunicationsLibrary_HALSetJoystickOutputs(
-    JNIEnv *, jclass, jbyte port, jint outputs, jshort leftRumble,
-    jshort rightRumble) {
-  NETCOMM_LOG(logDEBUG) << "Calling HAL_SetJoystickOutputs on port " << port;
-  NETCOMM_LOG(logDEBUG) << "Outputs: " << outputs;
-  NETCOMM_LOG(logDEBUG) << "Left Rumble: " << leftRumble
-                        << " Right Rumble: " << rightRumble;
-  return HAL_SetJoystickOutputs(port, outputs, leftRumble, rightRumble);
-}
-
-/*
- * Class: edu_wpi_first_wpilibj_communication_FRCNetworkCommunicationsLibrary
- * Method:    HAL_GetJoystickIsXbox
- * Signature: (B)I
- */
-JNIEXPORT jint JNICALL
-Java_edu_wpi_first_wpilibj_communication_FRCNetworkCommunicationsLibrary_HALGetJoystickIsXbox(
-    JNIEnv *, jclass, jbyte port) {
-  NETCOMM_LOG(logDEBUG) << "Calling HAL_GetJoystickIsXbox";
-  return HAL_GetJoystickIsXbox(port);
-}
-
-/*
- * Class: edu_wpi_first_wpilibj_communication_FRCNetworkCommunicationsLibrary
- * Method:    HAL_GetJoystickType
- * Signature: (B)I
- */
-JNIEXPORT jint JNICALL
-Java_edu_wpi_first_wpilibj_communication_FRCNetworkCommunicationsLibrary_HALGetJoystickType(
-    JNIEnv *, jclass, jbyte port) {
-  NETCOMM_LOG(logDEBUG) << "Calling HAL_GetJoystickType";
-  return HAL_GetJoystickType(port);
-}
-
-/*
- * Class: edu_wpi_first_wpilibj_communication_FRCNetworkCommunicationsLibrary
- * Method:    HAL_GetJoystickName
- * Signature: (B)Ljava/lang/String;
- */
-JNIEXPORT jstring JNICALL
-Java_edu_wpi_first_wpilibj_communication_FRCNetworkCommunicationsLibrary_HALGetJoystickName(
-    JNIEnv *env, jclass, jbyte port) {
-  NETCOMM_LOG(logDEBUG) << "Calling HAL_GetJoystickName";
-  char *joystickName = HAL_GetJoystickName(port);
-  jstring str = env->NewStringUTF(joystickName);
-  std::free(joystickName);
-  return str;
-}
-
-/*
- * Class: edu_wpi_first_wpilibj_communication_FRCNetworkCommunicationsLibrary
- * Method:    HAL_GetJoystickAxisType
- * Signature: (BB)I
- */
-JNIEXPORT jint JNICALL
-Java_edu_wpi_first_wpilibj_communication_FRCNetworkCommunicationsLibrary_HALGetJoystickAxisType(
-    JNIEnv *, jclass, jbyte joystickNum, jbyte axis) {
-  NETCOMM_LOG(logDEBUG) << "Calling HAL_GetJoystickAxisType";
-  return HAL_GetJoystickAxisType(joystickNum, axis);
-}
-
-/*
- * Class: edu_wpi_first_wpilibj_communication_FRCNetworkCommunicationsLibrary
- * Method:    setNewDataSem
- * Signature: (J)V
- */
-JNIEXPORT void JNICALL
-Java_edu_wpi_first_wpilibj_communication_FRCNetworkCommunicationsLibrary_setNewDataSem(
-    JNIEnv *env, jclass, jlong id) {
-  NETCOMM_LOG(logDEBUG) << "Mutex Ptr = " << (void *)id;
-  HAL_SetNewDataSem((MULTIWAIT_ID)id);
-}
-
-/*
- * Class: edu_wpi_first_wpilibj_communication_FRCNetworkCommunicationsLibrary
-
- * Method:    HAL_GetMatchTime
- * Signature: ()F
- */
-JNIEXPORT jfloat JNICALL
-Java_edu_wpi_first_wpilibj_communication_FRCNetworkCommunicationsLibrary_HALGetMatchTime(
-    JNIEnv *env, jclass) {
-  jfloat matchTime;
-  HAL_GetMatchTime((float *)&matchTime);
-  return matchTime;
-}
-
-/*
- * Class: edu_wpi_first_wpilibj_communication_FRCNetworkCommunicationsLibrary
- * Method:    HAL_GetSystemActive
- * Signature: ()Z
- */
-JNIEXPORT jboolean JNICALL
-Java_edu_wpi_first_wpilibj_communication_FRCNetworkCommunicationsLibrary_HALGetSystemActive(
-    JNIEnv *env, jclass) {
-  int32_t status = 0;
-  bool val = HAL_GetSystemActive(&status);
-  CheckStatus(env, status);
-  return val;
-}
-
-/*
- * Class: edu_wpi_first_wpilibj_communication_FRCNetworkCommunicationsLibrary
- * Method:    HAL_GetBrownedOut
- * Signature: ()Z
- */
-JNIEXPORT jboolean JNICALL
-Java_edu_wpi_first_wpilibj_communication_FRCNetworkCommunicationsLibrary_HALGetBrownedOut(
-    JNIEnv *env, jclass) {
-  int32_t status = 0;
-  bool val = HAL_GetBrownedOut(&status);
-  CheckStatus(env, status);
-  return val;
-}
-
-/*
- * Class: edu_wpi_first_wpilibj_communication_FRCNetworkCommunicationsLibrary
- * Method:    HAL_SetErrorData
- * Signature: (Ljava/lang/String;)I
- */
-JNIEXPORT jint JNICALL
-Java_edu_wpi_first_wpilibj_communication_FRCNetworkCommunicationsLibrary_HALSetErrorData(
-    JNIEnv *env, jclass, jstring error) {
-  const char *errorStr = env->GetStringUTFChars(error, nullptr);
-  jsize length = env->GetStringUTFLength(error);
-
-  NETCOMM_LOG(logDEBUG) << "Set Error: " << errorStr;
-  NETCOMM_LOG(logDEBUG) << "Length: " << length;
-  jint returnValue = HAL_SetErrorData(errorStr, (jint)length, 0);
-  env->ReleaseStringUTFChars(error, errorStr);
-  return returnValue;
-}
-
-/*
- * Class: edu_wpi_first_wpilibj_communication_FRCNetworkCommunicationsLibrary
- * Method:    HAL_SendError
- * Signature: (ZIZLjava/lang/String;Ljava/lang/String;Ljava/lang/String;Z)I
- */
-JNIEXPORT jint JNICALL
-Java_edu_wpi_first_wpilibj_communication_FRCNetworkCommunicationsLibrary_HALSendError(
-    JNIEnv *env, jclass, jboolean isError, jint errorCode, jboolean isLVCode,
-    jstring details, jstring location, jstring callStack, jboolean printMsg) {
-  const char *detailsStr = env->GetStringUTFChars(details, nullptr);
-  const char *locationStr = env->GetStringUTFChars(location, nullptr);
-  const char *callStackStr = env->GetStringUTFChars(callStack, nullptr);
-
-  NETCOMM_LOG(logDEBUG) << "Send Error: " << detailsStr;
-  NETCOMM_LOG(logDEBUG) << "Location: " << locationStr;
-  NETCOMM_LOG(logDEBUG) << "Call Stack: " << callStackStr;
-  jint returnValue = HAL_SendError(isError, errorCode, isLVCode, detailsStr,
-                                  locationStr, callStackStr, printMsg);
-  env->ReleaseStringUTFChars(details, detailsStr);
-  env->ReleaseStringUTFChars(location, locationStr);
-  env->ReleaseStringUTFChars(callStack, callStackStr);
-  return returnValue;
-}
-
-}  // extern "C"
diff --git a/wpilibj/src/athena/cpp/lib/HAL.cpp b/wpilibj/src/athena/cpp/lib/HAL.cpp
new file mode 100644
index 0000000000..73a4fd20a2
--- /dev/null
+++ b/wpilibj/src/athena/cpp/lib/HAL.cpp
@@ -0,0 +1,369 @@
+/*----------------------------------------------------------------------------*/
+/* Copyright (c) FIRST 2016. All Rights Reserved.                             */
+/* Open Source Software - may be modified and shared by FRC teams. The code   */
+/* must be accompanied by the FIRST BSD license file in the root directory of */
+/* the project.                                                               */
+/*----------------------------------------------------------------------------*/
+
+#include <cstring>
+
+#include <assert.h>
+#include <jni.h>
+#include "Log.h"
+
+#include "HAL/HAL.h"
+#include "edu_wpi_first_wpilibj_hal_HAL.h"
+#include "HALUtil.h"
+
+// set the logging level
+static TLogLevel netCommLogLevel = logWARNING;
+
+#define NETCOMM_LOG(level)     \
+  if (level > netCommLogLevel) \
+    ;                          \
+  else                         \
+  Log().Get(level)
+
+extern "C" {
+
+/*
+ * Class: edu_wpi_first_wpilibj_hal_HAL
+ * Method:    Initialize
+ * Signature: (I)I
+ */
+JNIEXPORT jint JNICALL
+Java_edu_wpi_first_wpilibj_hal_HAL_initialize(JNIEnv*, jclass, jint mode) {
+  return HAL_Initialize(mode);
+}
+
+/*
+ * Class: edu_wpi_first_wpilibj_hal_HAL
+ * Method:    observeUserProgramStarting
+ * Signature: ()V
+ */
+JNIEXPORT void JNICALL
+Java_edu_wpi_first_wpilibj_hal_HAL_observeUserProgramStarting(JNIEnv*, jclass) {
+  HAL_ObserveUserProgramStarting();
+}
+
+/*
+ * Class: edu_wpi_first_wpilibj_hal_HAL
+ * Method:    observeUserProgramDisabled
+ * Signature: ()V
+ */
+JNIEXPORT void JNICALL
+Java_edu_wpi_first_wpilibj_hal_HAL_observeUserProgramDisabled(JNIEnv*, jclass) {
+  HAL_ObserveUserProgramDisabled();
+}
+
+/*
+ * Class: edu_wpi_first_wpilibj_hal_HAL
+ * Method:    observeUserProgramAutonomous
+ * Signature: ()V
+ */
+JNIEXPORT void JNICALL
+Java_edu_wpi_first_wpilibj_hal_HAL_observeUserProgramAutonomous(
+    JNIEnv*, jclass) {
+  HAL_ObserveUserProgramAutonomous();
+}
+
+/*
+ * Class: edu_wpi_first_wpilibj_hal_HAL
+ * Method:    observeUserProgramTeleop
+ * Signature: ()V
+ */
+JNIEXPORT void JNICALL
+Java_edu_wpi_first_wpilibj_hal_HAL_observeUserProgramTeleop(JNIEnv*, jclass) {
+  HAL_ObserveUserProgramTeleop();
+}
+
+/*
+ * Class: edu_wpi_first_wpilibj_hal_HAL
+ * Method:    observeUserProgramTest
+ * Signature: ()V
+ */
+JNIEXPORT void JNICALL
+Java_edu_wpi_first_wpilibj_hal_HAL_observeUserProgramTest(JNIEnv*, jclass) {
+  HAL_ObserveUserProgramTest();
+}
+
+/*
+ * Class: edu_wpi_first_wpilibj_hal_HAL
+ * Method:    HAL_Report
+ * Signature: (IIILjava/lang/String;)I
+ */
+JNIEXPORT jint JNICALL
+Java_edu_wpi_first_wpilibj_hal_HAL_report(
+    JNIEnv* paramEnv, jclass, jint paramResource, jint paramInstanceNumber,
+    jint paramContext, jstring paramFeature) {
+  const char *featureStr = paramEnv->GetStringUTFChars(paramFeature, nullptr);
+  NETCOMM_LOG(logDEBUG) << "Calling HAL report "
+                        << "res:" << paramResource
+                        << " instance:" << paramInstanceNumber
+                        << " context:" << paramContext
+                        << " feature:" << featureStr;
+  jint returnValue =
+      HAL_Report(paramResource, paramInstanceNumber, paramContext, featureStr);
+  paramEnv->ReleaseStringUTFChars(paramFeature, featureStr);
+  return returnValue;
+}
+
+/*
+ * Class: edu_wpi_first_wpilibj_hal_HAL
+ * Method:    NativeGetControlWord
+ * Signature: ()I
+ */
+JNIEXPORT jint JNICALL
+Java_edu_wpi_first_wpilibj_hal_HAL_nativeGetControlWord(JNIEnv*, jclass) {
+  NETCOMM_LOG(logDEBUG) << "Calling HAL Control Word";
+  HAL_ControlWord controlWord;
+  std::memset(&controlWord, 0, sizeof(HAL_ControlWord));
+  HAL_GetControlWord(&controlWord);
+  return *reinterpret_cast<jint*>(&controlWord);
+}
+
+/*
+ * Class: edu_wpi_first_wpilibj_hal_HAL
+ * Method:    NativeGetAllianceStation
+ * Signature: ()I
+ */
+JNIEXPORT jint JNICALL
+Java_edu_wpi_first_wpilibj_hal_HAL_nativeGetAllianceStation(JNIEnv*, jclass) {
+  NETCOMM_LOG(logDEBUG) << "Calling HAL Alliance Station";
+  int32_t status = 0;
+  auto allianceStation = HAL_GetAllianceStation(&status);
+  return *reinterpret_cast<jint*>(&allianceStation);
+}
+
+/*
+ * Class: edu_wpi_first_wpilibj_hal_HAL
+ * Method:    HAL_GetJoystickAxes
+ * Signature: (B[S)S
+ */
+JNIEXPORT jshort JNICALL
+Java_edu_wpi_first_wpilibj_hal_HAL_getJoystickAxes(JNIEnv* env, jclass,
+                                                   jbyte joystickNum,
+                                                   jfloatArray axesArray) {
+  NETCOMM_LOG(logDEBUG) << "Calling HALJoystickAxes";
+  HAL_JoystickAxes axes;
+  HAL_GetJoystickAxes(joystickNum, &axes);
+
+  jsize javaSize = env->GetArrayLength(axesArray);
+  if (axes.count > javaSize)
+  {
+    ThrowIllegalArgumentException(env, "Native array size larger then passed in java array size");
+  }
+
+  env->SetFloatArrayRegion(axesArray, 0, axes.count, axes.axes);
+
+  return axes.count;
+}
+
+/*
+ * Class: edu_wpi_first_wpilibj_hal_HAL
+ * Method:    HAL_GetJoystickPOVs
+ * Signature: (B[S)S
+ */
+JNIEXPORT jshort JNICALL
+Java_edu_wpi_first_wpilibj_hal_HAL_getJoystickPOVs(JNIEnv* env, jclass,
+                                                   jbyte joystickNum,
+                                                   jshortArray povsArray) {
+  NETCOMM_LOG(logDEBUG) << "Calling HALJoystickPOVs";
+  HAL_JoystickPOVs povs;
+  HAL_GetJoystickPOVs(joystickNum, &povs);
+
+  jsize javaSize = env->GetArrayLength(povsArray);
+  if (povs.count > javaSize)
+  {
+    ThrowIllegalArgumentException(env, "Native array size larger then passed in java array size");
+  }
+
+  env->SetShortArrayRegion(povsArray, 0, povs.count, povs.povs);
+
+  return povs.count;
+}
+
+/*
+ * Class: edu_wpi_first_wpilibj_hal_HAL
+ * Method:    HAL_GetJoystickButtons
+ * Signature: (B)B
+ */
+JNIEXPORT jbyte JNICALL
+Java_edu_wpi_first_wpilibj_hal_HAL_getJoystickButtons(JNIEnv* env, jclass,
+                                                      jbyte joystickNum,
+                                                      jobject count) {
+  NETCOMM_LOG(logDEBUG) << "Calling HALJoystickButtons";
+  HAL_JoystickButtons joystickButtons;
+  HAL_GetJoystickButtons(joystickNum, &joystickButtons);
+  jbyte *countPtr = (jbyte *)env->GetDirectBufferAddress(count);
+  NETCOMM_LOG(logDEBUG) << "Buttons = " << joystickButtons.buttons;
+  NETCOMM_LOG(logDEBUG) << "Count = " << (jint)joystickButtons.count;
+  *countPtr = joystickButtons.count;
+  NETCOMM_LOG(logDEBUG) << "CountBuffer = " << (jint)*countPtr;
+  return joystickButtons.buttons;
+}
+
+/*
+ * Class: edu_wpi_first_wpilibj_hal_HAL
+ * Method:    HAL_SetJoystickOutputs
+ * Signature: (BISS)I
+ */
+JNIEXPORT jint JNICALL
+Java_edu_wpi_first_wpilibj_hal_HAL_setJoystickOutputs(JNIEnv*, jclass,
+                                                      jbyte port, jint outputs,
+                                                      jshort leftRumble,
+                                                      jshort rightRumble) {
+  NETCOMM_LOG(logDEBUG) << "Calling HAL_SetJoystickOutputs on port " << port;
+  NETCOMM_LOG(logDEBUG) << "Outputs: " << outputs;
+  NETCOMM_LOG(logDEBUG) << "Left Rumble: " << leftRumble
+                        << " Right Rumble: " << rightRumble;
+  return HAL_SetJoystickOutputs(port, outputs, leftRumble, rightRumble);
+}
+
+/*
+ * Class: edu_wpi_first_wpilibj_hal_HAL
+ * Method:    HAL_GetJoystickIsXbox
+ * Signature: (B)I
+ */
+JNIEXPORT jint JNICALL
+Java_edu_wpi_first_wpilibj_hal_HAL_getJoystickIsXbox(JNIEnv*, jclass,
+                                                     jbyte port) {
+  NETCOMM_LOG(logDEBUG) << "Calling HAL_GetJoystickIsXbox";
+  return HAL_GetJoystickIsXbox(port);
+}
+
+/*
+ * Class: edu_wpi_first_wpilibj_hal_HAL
+ * Method:    HAL_GetJoystickType
+ * Signature: (B)I
+ */
+JNIEXPORT jint JNICALL
+Java_edu_wpi_first_wpilibj_hal_HAL_getJoystickType(JNIEnv*, jclass,
+                                                   jbyte port) {
+  NETCOMM_LOG(logDEBUG) << "Calling HAL_GetJoystickType";
+  return HAL_GetJoystickType(port);
+}
+
+/*
+ * Class: edu_wpi_first_wpilibj_hal_HAL
+ * Method:    HAL_GetJoystickName
+ * Signature: (B)Ljava/lang/String;
+ */
+JNIEXPORT jstring JNICALL
+Java_edu_wpi_first_wpilibj_hal_HAL_getJoystickName(JNIEnv* env, jclass,
+                                                   jbyte port) {
+  NETCOMM_LOG(logDEBUG) << "Calling HAL_GetJoystickName";
+  char *joystickName = HAL_GetJoystickName(port);
+  jstring str = env->NewStringUTF(joystickName);
+  std::free(joystickName);
+  return str;
+}
+
+/*
+ * Class: edu_wpi_first_wpilibj_hal_HAL
+ * Method:    HAL_GetJoystickAxisType
+ * Signature: (BB)I
+ */
+JNIEXPORT jint JNICALL
+Java_edu_wpi_first_wpilibj_hal_HAL_getJoystickAxisType(JNIEnv*, jclass,
+                                                       jbyte joystickNum,
+                                                       jbyte axis) {
+  NETCOMM_LOG(logDEBUG) << "Calling HAL_GetJoystickAxisType";
+  return HAL_GetJoystickAxisType(joystickNum, axis);
+}
+
+/*
+ * Class: edu_wpi_first_wpilibj_hal_HAL
+ * Method:    HALSetNewDataSem
+ * Signature: (J)V
+ */
+JNIEXPORT void JNICALL
+Java_edu_wpi_first_wpilibj_hal_HAL_setNewDataSem(JNIEnv* env, jclass,
+                                                 jlong id) {
+  NETCOMM_LOG(logDEBUG) << "Mutex Ptr = " << (void *)id;
+  HAL_SetNewDataSem((MULTIWAIT_ID)id);
+}
+
+/*
+ * Class: edu_wpi_first_wpilibj_hal_HAL
+ * Method:    HAL_GetMatchTime
+ * Signature: ()F
+ */
+JNIEXPORT jfloat JNICALL
+Java_edu_wpi_first_wpilibj_hal_HAL_getMatchTime(JNIEnv* env, jclass) {
+  int32_t status = 0;
+  return HAL_GetMatchTime(&status);
+}
+
+/*
+ * Class: edu_wpi_first_wpilibj_hal_HAL
+ * Method:    HAL_GetSystemActive
+ * Signature: ()Z
+ */
+JNIEXPORT jboolean JNICALL
+Java_edu_wpi_first_wpilibj_hal_HAL_getSystemActive(JNIEnv* env, jclass) {
+  int32_t status = 0;
+  bool val = HAL_GetSystemActive(&status);
+  CheckStatus(env, status);
+  return val;
+}
+
+/*
+ * Class: edu_wpi_first_wpilibj_hal_HAL
+ * Method:    HAL_GetBrownedOut
+ * Signature: ()Z
+ */
+JNIEXPORT jboolean JNICALL
+Java_edu_wpi_first_wpilibj_hal_HAL_getBrownedOut(JNIEnv* env, jclass) {
+  int32_t status = 0;
+  bool val = HAL_GetBrownedOut(&status);
+  CheckStatus(env, status);
+  return val;
+}
+
+/*
+ * Class: edu_wpi_first_wpilibj_hal_HAL
+ * Method:    HAL_SetErrorData
+ * Signature: (Ljava/lang/String;)I
+ */
+JNIEXPORT jint JNICALL
+Java_edu_wpi_first_wpilibj_hal_HAL_setErrorData(JNIEnv* env, jclass,
+                                                jstring error) {
+  const char *errorStr = env->GetStringUTFChars(error, nullptr);
+  jsize length = env->GetStringUTFLength(error);
+
+  NETCOMM_LOG(logDEBUG) << "Set Error: " << errorStr;
+  NETCOMM_LOG(logDEBUG) << "Length: " << length;
+  jint returnValue = HAL_SetErrorData(errorStr, (jint)length, 0);
+  env->ReleaseStringUTFChars(error, errorStr);
+  return returnValue;
+}
+
+/*
+ * Class: edu_wpi_first_wpilibj_hal_HAL
+ * Method:    HAL_SendError
+ * Signature: (ZIZLjava/lang/String;Ljava/lang/String;Ljava/lang/String;Z)I
+ */
+JNIEXPORT jint JNICALL
+Java_edu_wpi_first_wpilibj_hal_HAL_sendError(JNIEnv* env, jclass,
+                                             jboolean isError, jint errorCode,
+                                             jboolean isLVCode, jstring details,
+                                             jstring location,
+                                             jstring callStack,
+                                             jboolean printMsg) {
+  const char *detailsStr = env->GetStringUTFChars(details, nullptr);
+  const char *locationStr = env->GetStringUTFChars(location, nullptr);
+  const char *callStackStr = env->GetStringUTFChars(callStack, nullptr);
+
+  NETCOMM_LOG(logDEBUG) << "Send Error: " << detailsStr;
+  NETCOMM_LOG(logDEBUG) << "Location: " << locationStr;
+  NETCOMM_LOG(logDEBUG) << "Call Stack: " << callStackStr;
+  jint returnValue = HAL_SendError(isError, errorCode, isLVCode, detailsStr,
+                                  locationStr, callStackStr, printMsg);
+  env->ReleaseStringUTFChars(details, detailsStr);
+  env->ReleaseStringUTFChars(location, locationStr);
+  env->ReleaseStringUTFChars(callStack, callStackStr);
+  return returnValue;
+}
+
+}  // extern "C"
diff --git a/wpilibj/src/athena/java/edu/wpi/first/wpilibj/ADXL345_I2C.java b/wpilibj/src/athena/java/edu/wpi/first/wpilibj/ADXL345_I2C.java
index f6b99e2922..c6343890ea 100644
--- a/wpilibj/src/athena/java/edu/wpi/first/wpilibj/ADXL345_I2C.java
+++ b/wpilibj/src/athena/java/edu/wpi/first/wpilibj/ADXL345_I2C.java
@@ -10,9 +10,9 @@ package edu.wpi.first.wpilibj;
 import java.nio.ByteBuffer;
 import java.nio.ByteOrder;
 
-import edu.wpi.first.wpilibj.communication.FRCNetworkCommunicationsLibrary.tInstances;
-import edu.wpi.first.wpilibj.communication.FRCNetworkCommunicationsLibrary.tResourceType;
-import edu.wpi.first.wpilibj.communication.UsageReporting;
+import edu.wpi.first.wpilibj.hal.FRCNetComm.tInstances;
+import edu.wpi.first.wpilibj.hal.FRCNetComm.tResourceType;
+import edu.wpi.first.wpilibj.hal.HAL;
 import edu.wpi.first.wpilibj.interfaces.Accelerometer;
 import edu.wpi.first.wpilibj.livewindow.LiveWindow;
 import edu.wpi.first.wpilibj.livewindow.LiveWindowSendable;
@@ -91,7 +91,7 @@ public class ADXL345_I2C extends SensorBase implements Accelerometer, LiveWindow
 
     setRange(range);
 
-    UsageReporting.report(tResourceType.kResourceType_ADXL345, tInstances.kADXL345_I2C);
+    HAL.report(tResourceType.kResourceType_ADXL345, tInstances.kADXL345_I2C);
     LiveWindow.addSensor("ADXL345_I2C", port.getValue(), this);
   }
 
diff --git a/wpilibj/src/athena/java/edu/wpi/first/wpilibj/ADXL345_SPI.java b/wpilibj/src/athena/java/edu/wpi/first/wpilibj/ADXL345_SPI.java
index 9b2d25ff74..5ff254944d 100644
--- a/wpilibj/src/athena/java/edu/wpi/first/wpilibj/ADXL345_SPI.java
+++ b/wpilibj/src/athena/java/edu/wpi/first/wpilibj/ADXL345_SPI.java
@@ -10,9 +10,9 @@ package edu.wpi.first.wpilibj;
 import java.nio.ByteBuffer;
 import java.nio.ByteOrder;
 
-import edu.wpi.first.wpilibj.communication.FRCNetworkCommunicationsLibrary.tInstances;
-import edu.wpi.first.wpilibj.communication.FRCNetworkCommunicationsLibrary.tResourceType;
-import edu.wpi.first.wpilibj.communication.UsageReporting;
+import edu.wpi.first.wpilibj.hal.FRCNetComm.tInstances;
+import edu.wpi.first.wpilibj.hal.FRCNetComm.tResourceType;
+import edu.wpi.first.wpilibj.hal.HAL;
 import edu.wpi.first.wpilibj.interfaces.Accelerometer;
 import edu.wpi.first.wpilibj.livewindow.LiveWindow;
 import edu.wpi.first.wpilibj.livewindow.LiveWindowSendable;
@@ -104,7 +104,7 @@ public class ADXL345_SPI extends SensorBase implements Accelerometer, LiveWindow
 
     setRange(range);
 
-    UsageReporting.report(tResourceType.kResourceType_ADXL345, tInstances.kADXL345_SPI);
+    HAL.report(tResourceType.kResourceType_ADXL345, tInstances.kADXL345_SPI);
   }
 
   @Override
diff --git a/wpilibj/src/athena/java/edu/wpi/first/wpilibj/ADXL362.java b/wpilibj/src/athena/java/edu/wpi/first/wpilibj/ADXL362.java
index 913a3cc6cf..6d5cda72b9 100644
--- a/wpilibj/src/athena/java/edu/wpi/first/wpilibj/ADXL362.java
+++ b/wpilibj/src/athena/java/edu/wpi/first/wpilibj/ADXL362.java
@@ -10,8 +10,8 @@ package edu.wpi.first.wpilibj;
 import java.nio.ByteBuffer;
 import java.nio.ByteOrder;
 
-import edu.wpi.first.wpilibj.communication.FRCNetworkCommunicationsLibrary.tResourceType;
-import edu.wpi.first.wpilibj.communication.UsageReporting;
+import edu.wpi.first.wpilibj.hal.FRCNetComm.tResourceType;
+import edu.wpi.first.wpilibj.hal.HAL;
 import edu.wpi.first.wpilibj.interfaces.Accelerometer;
 import edu.wpi.first.wpilibj.livewindow.LiveWindow;
 import edu.wpi.first.wpilibj.livewindow.LiveWindowSendable;
@@ -110,7 +110,7 @@ public class ADXL362 extends SensorBase implements Accelerometer, LiveWindowSend
     transferBuffer.put(2, (byte) (kPowerCtl_Measure | kPowerCtl_UltraLowNoise));
     m_spi.write(transferBuffer, 3);
 
-    UsageReporting.report(tResourceType.kResourceType_ADXL362, port.getValue());
+    HAL.report(tResourceType.kResourceType_ADXL362, port.getValue());
     LiveWindow.addSensor("ADXL362", port.getValue(), this);
   }
 
diff --git a/wpilibj/src/athena/java/edu/wpi/first/wpilibj/ADXRS450_Gyro.java b/wpilibj/src/athena/java/edu/wpi/first/wpilibj/ADXRS450_Gyro.java
index e7b8318d10..adeaa6815d 100644
--- a/wpilibj/src/athena/java/edu/wpi/first/wpilibj/ADXRS450_Gyro.java
+++ b/wpilibj/src/athena/java/edu/wpi/first/wpilibj/ADXRS450_Gyro.java
@@ -10,8 +10,8 @@ package edu.wpi.first.wpilibj;
 import java.nio.ByteBuffer;
 import java.nio.ByteOrder;
 
-import edu.wpi.first.wpilibj.communication.FRCNetworkCommunicationsLibrary.tResourceType;
-import edu.wpi.first.wpilibj.communication.UsageReporting;
+import edu.wpi.first.wpilibj.hal.FRCNetComm.tResourceType;
+import edu.wpi.first.wpilibj.hal.HAL;
 import edu.wpi.first.wpilibj.interfaces.Gyro;
 import edu.wpi.first.wpilibj.livewindow.LiveWindow;
 import edu.wpi.first.wpilibj.livewindow.LiveWindowSendable;
@@ -77,7 +77,7 @@ public class ADXRS450_Gyro extends GyroBase implements Gyro, PIDSource, LiveWind
 
     calibrate();
 
-    UsageReporting.report(tResourceType.kResourceType_ADXRS450, port.getValue());
+    HAL.report(tResourceType.kResourceType_ADXRS450, port.getValue());
     LiveWindow.addSensor("ADXRS450_Gyro", port.getValue(), this);
   }
 
diff --git a/wpilibj/src/athena/java/edu/wpi/first/wpilibj/AnalogAccelerometer.java b/wpilibj/src/athena/java/edu/wpi/first/wpilibj/AnalogAccelerometer.java
index e360eed490..f7b66bbd93 100644
--- a/wpilibj/src/athena/java/edu/wpi/first/wpilibj/AnalogAccelerometer.java
+++ b/wpilibj/src/athena/java/edu/wpi/first/wpilibj/AnalogAccelerometer.java
@@ -7,8 +7,8 @@
 
 package edu.wpi.first.wpilibj;
 
-import edu.wpi.first.wpilibj.communication.FRCNetworkCommunicationsLibrary.tResourceType;
-import edu.wpi.first.wpilibj.communication.UsageReporting;
+import edu.wpi.first.wpilibj.hal.FRCNetComm.tResourceType;
+import edu.wpi.first.wpilibj.hal.HAL;
 import edu.wpi.first.wpilibj.livewindow.LiveWindow;
 import edu.wpi.first.wpilibj.livewindow.LiveWindowSendable;
 import edu.wpi.first.wpilibj.tables.ITable;
@@ -31,7 +31,8 @@ public class AnalogAccelerometer extends SensorBase implements PIDSource, LiveWi
    * Common initialization.
    */
   private void initAccelerometer() {
-    UsageReporting.report(tResourceType.kResourceType_Accelerometer, m_analogChannel.getChannel());
+    HAL.report(tResourceType.kResourceType_Accelerometer,
+                                   m_analogChannel.getChannel());
     LiveWindow.addSensor("Accelerometer", m_analogChannel.getChannel(), this);
   }
 
diff --git a/wpilibj/src/athena/java/edu/wpi/first/wpilibj/AnalogGyro.java b/wpilibj/src/athena/java/edu/wpi/first/wpilibj/AnalogGyro.java
index efac88cff0..57c986298b 100644
--- a/wpilibj/src/athena/java/edu/wpi/first/wpilibj/AnalogGyro.java
+++ b/wpilibj/src/athena/java/edu/wpi/first/wpilibj/AnalogGyro.java
@@ -7,9 +7,9 @@
 
 package edu.wpi.first.wpilibj;
 
-import edu.wpi.first.wpilibj.communication.FRCNetworkCommunicationsLibrary.tResourceType;
-import edu.wpi.first.wpilibj.communication.UsageReporting;
 import edu.wpi.first.wpilibj.hal.AnalogGyroJNI;
+import edu.wpi.first.wpilibj.hal.FRCNetComm.tResourceType;
+import edu.wpi.first.wpilibj.hal.HAL;
 import edu.wpi.first.wpilibj.interfaces.Gyro;
 import edu.wpi.first.wpilibj.livewindow.LiveWindow;
 import edu.wpi.first.wpilibj.livewindow.LiveWindowSendable;
@@ -42,7 +42,7 @@ public class AnalogGyro extends GyroBase implements Gyro, PIDSource, LiveWindowS
 
     AnalogGyroJNI.setupAnalogGyro(m_gyroHandle);
 
-    UsageReporting.report(tResourceType.kResourceType_Gyro, m_analog.getChannel());
+    HAL.report(tResourceType.kResourceType_Gyro, m_analog.getChannel());
     LiveWindow.addSensor("AnalogGyro", m_analog.getChannel(), this);
   }
 
diff --git a/wpilibj/src/athena/java/edu/wpi/first/wpilibj/AnalogInput.java b/wpilibj/src/athena/java/edu/wpi/first/wpilibj/AnalogInput.java
index fcb6b76e32..0a2ad9cd59 100644
--- a/wpilibj/src/athena/java/edu/wpi/first/wpilibj/AnalogInput.java
+++ b/wpilibj/src/athena/java/edu/wpi/first/wpilibj/AnalogInput.java
@@ -10,9 +10,9 @@ package edu.wpi.first.wpilibj;
 import java.nio.ByteBuffer;
 import java.nio.ByteOrder;
 
-import edu.wpi.first.wpilibj.communication.FRCNetworkCommunicationsLibrary.tResourceType;
-import edu.wpi.first.wpilibj.communication.UsageReporting;
 import edu.wpi.first.wpilibj.hal.AnalogJNI;
+import edu.wpi.first.wpilibj.hal.FRCNetComm.tResourceType;
+import edu.wpi.first.wpilibj.hal.HAL;
 import edu.wpi.first.wpilibj.livewindow.LiveWindow;
 import edu.wpi.first.wpilibj.livewindow.LiveWindowSendable;
 import edu.wpi.first.wpilibj.tables.ITable;
@@ -56,7 +56,7 @@ public class AnalogInput extends SensorBase implements PIDSource, LiveWindowSend
     m_port = AnalogJNI.initializeAnalogInputPort(portHandle);
 
     LiveWindow.addSensor("AnalogInput", channel, this);
-    UsageReporting.report(tResourceType.kResourceType_AnalogChannel, channel);
+    HAL.report(tResourceType.kResourceType_AnalogChannel, channel);
   }
 
   /**
diff --git a/wpilibj/src/athena/java/edu/wpi/first/wpilibj/AnalogOutput.java b/wpilibj/src/athena/java/edu/wpi/first/wpilibj/AnalogOutput.java
index b8478eaa9b..debec93fb9 100644
--- a/wpilibj/src/athena/java/edu/wpi/first/wpilibj/AnalogOutput.java
+++ b/wpilibj/src/athena/java/edu/wpi/first/wpilibj/AnalogOutput.java
@@ -7,9 +7,9 @@
 
 package edu.wpi.first.wpilibj;
 
-import edu.wpi.first.wpilibj.communication.FRCNetworkCommunicationsLibrary.tResourceType;
-import edu.wpi.first.wpilibj.communication.UsageReporting;
 import edu.wpi.first.wpilibj.hal.AnalogJNI;
+import edu.wpi.first.wpilibj.hal.FRCNetComm.tResourceType;
+import edu.wpi.first.wpilibj.hal.HAL;
 import edu.wpi.first.wpilibj.livewindow.LiveWindow;
 import edu.wpi.first.wpilibj.livewindow.LiveWindowSendable;
 import edu.wpi.first.wpilibj.tables.ITable;
@@ -39,7 +39,7 @@ public class AnalogOutput extends SensorBase implements LiveWindowSendable {
     m_port = AnalogJNI.initializeAnalogOutputPort(portHandle);
 
     LiveWindow.addSensor("AnalogOutput", channel, this);
-    UsageReporting.report(tResourceType.kResourceType_AnalogOutput, channel);
+    HAL.report(tResourceType.kResourceType_AnalogOutput, channel);
   }
 
   /**
diff --git a/wpilibj/src/athena/java/edu/wpi/first/wpilibj/AnalogTrigger.java b/wpilibj/src/athena/java/edu/wpi/first/wpilibj/AnalogTrigger.java
index 3523652180..9247f77a1a 100644
--- a/wpilibj/src/athena/java/edu/wpi/first/wpilibj/AnalogTrigger.java
+++ b/wpilibj/src/athena/java/edu/wpi/first/wpilibj/AnalogTrigger.java
@@ -11,9 +11,9 @@ import java.nio.ByteBuffer;
 import java.nio.ByteOrder;
 
 import edu.wpi.first.wpilibj.AnalogTriggerOutput.AnalogTriggerType;
-import edu.wpi.first.wpilibj.communication.FRCNetworkCommunicationsLibrary.tResourceType;
-import edu.wpi.first.wpilibj.communication.UsageReporting;
 import edu.wpi.first.wpilibj.hal.AnalogJNI;
+import edu.wpi.first.wpilibj.hal.FRCNetComm.tResourceType;
+import edu.wpi.first.wpilibj.hal.HAL;
 import edu.wpi.first.wpilibj.util.BoundaryException;
 
 import static java.util.Objects.requireNonNull;
@@ -72,7 +72,7 @@ public class AnalogTrigger {
         AnalogJNI.initializeAnalogTrigger(channel.m_port, index.asIntBuffer());
     m_index = index.asIntBuffer().get(0);
 
-    UsageReporting.report(tResourceType.kResourceType_AnalogTrigger, channel.getChannel());
+    HAL.report(tResourceType.kResourceType_AnalogTrigger, channel.getChannel());
   }
 
   /**
diff --git a/wpilibj/src/athena/java/edu/wpi/first/wpilibj/AnalogTriggerOutput.java b/wpilibj/src/athena/java/edu/wpi/first/wpilibj/AnalogTriggerOutput.java
index a1c376642b..b32615696c 100644
--- a/wpilibj/src/athena/java/edu/wpi/first/wpilibj/AnalogTriggerOutput.java
+++ b/wpilibj/src/athena/java/edu/wpi/first/wpilibj/AnalogTriggerOutput.java
@@ -7,9 +7,9 @@
 
 package edu.wpi.first.wpilibj;
 
-import edu.wpi.first.wpilibj.communication.FRCNetworkCommunicationsLibrary.tResourceType;
-import edu.wpi.first.wpilibj.communication.UsageReporting;
 import edu.wpi.first.wpilibj.hal.AnalogJNI;
+import edu.wpi.first.wpilibj.hal.FRCNetComm.tResourceType;
+import edu.wpi.first.wpilibj.hal.HAL;
 
 /**
  * Class to represent a specific output from an analog trigger. This class is used to get the
@@ -77,8 +77,8 @@ public class AnalogTriggerOutput extends DigitalSource {
     m_trigger = trigger;
     m_outputType = outputType;
 
-    UsageReporting.report(tResourceType.kResourceType_AnalogTriggerOutput, trigger.getIndex(),
-        outputType.m_value);
+    HAL.report(tResourceType.kResourceType_AnalogTriggerOutput,
+                                   trigger.getIndex(), outputType.m_value);
   }
 
   /**
diff --git a/wpilibj/src/athena/java/edu/wpi/first/wpilibj/BuiltInAccelerometer.java b/wpilibj/src/athena/java/edu/wpi/first/wpilibj/BuiltInAccelerometer.java
index 2de08f2700..a60a06af5b 100644
--- a/wpilibj/src/athena/java/edu/wpi/first/wpilibj/BuiltInAccelerometer.java
+++ b/wpilibj/src/athena/java/edu/wpi/first/wpilibj/BuiltInAccelerometer.java
@@ -7,9 +7,9 @@
 
 package edu.wpi.first.wpilibj;
 
-import edu.wpi.first.wpilibj.communication.FRCNetworkCommunicationsLibrary.tResourceType;
-import edu.wpi.first.wpilibj.communication.UsageReporting;
 import edu.wpi.first.wpilibj.hal.AccelerometerJNI;
+import edu.wpi.first.wpilibj.hal.FRCNetComm.tResourceType;
+import edu.wpi.first.wpilibj.hal.HAL;
 import edu.wpi.first.wpilibj.interfaces.Accelerometer;
 import edu.wpi.first.wpilibj.livewindow.LiveWindow;
 import edu.wpi.first.wpilibj.livewindow.LiveWindowSendable;
@@ -28,8 +28,7 @@ public class BuiltInAccelerometer implements Accelerometer, LiveWindowSendable {
    */
   public BuiltInAccelerometer(Range range) {
     setRange(range);
-    UsageReporting
-        .report(tResourceType.kResourceType_Accelerometer, 0, 0, "Built-in accelerometer");
+    HAL.report(tResourceType.kResourceType_Accelerometer, 0, 0, "Built-in accelerometer");
     LiveWindow.addSensor("BuiltInAccel", 0, this);
   }
 
diff --git a/wpilibj/src/athena/java/edu/wpi/first/wpilibj/CANJaguar.java b/wpilibj/src/athena/java/edu/wpi/first/wpilibj/CANJaguar.java
index 81e82e1452..7d18711409 100644
--- a/wpilibj/src/athena/java/edu/wpi/first/wpilibj/CANJaguar.java
+++ b/wpilibj/src/athena/java/edu/wpi/first/wpilibj/CANJaguar.java
@@ -307,7 +307,7 @@ public class CANJaguar implements MotorSafety, PIDOutput, CANSpeedController {
         return;
     }
 
-    CANJNI.FRCNetworkCommunicationCANSessionMuxSendMessage(messageID, null,
+    CANJNI.FRCNetCommCANSessionMuxSendMessage(messageID, null,
         CANJNI.CAN_SEND_PERIOD_STOP_REPEATING);
 
     configMaxOutputVoltage(kApproxBusVoltage);
@@ -1918,7 +1918,7 @@ public class CANJaguar implements MotorSafety, PIDOutput, CANSpeedController {
           trustedBuffer.put(j + 2, data[j]);
         }
 
-        CANJNI.FRCNetworkCommunicationCANSessionMuxSendMessage(messageID, trustedBuffer, period);
+        CANJNI.FRCNetCommCANSessionMuxSendMessage(messageID, trustedBuffer, period);
 
         return;
       }
@@ -1935,7 +1935,7 @@ public class CANJaguar implements MotorSafety, PIDOutput, CANSpeedController {
       buffer = null;
     }
 
-    CANJNI.FRCNetworkCommunicationCANSessionMuxSendMessage(messageID, buffer, period);
+    CANJNI.FRCNetCommCANSessionMuxSendMessage(messageID, buffer, period);
   }
 
   /**
@@ -2004,7 +2004,7 @@ public class CANJaguar implements MotorSafety, PIDOutput, CANSpeedController {
 
     // Get the data.
     ByteBuffer dataBuffer =
-        CANJNI.FRCNetworkCommunicationCANSessionMuxReceiveMessage(targetedMessageID.asIntBuffer(),
+        CANJNI.FRCNetCommCANSessionMuxReceiveMessage(targetedMessageID.asIntBuffer(),
             messageMask, timeStamp);
 
     if (data != null) {
diff --git a/wpilibj/src/athena/java/edu/wpi/first/wpilibj/CANTalon.java b/wpilibj/src/athena/java/edu/wpi/first/wpilibj/CANTalon.java
index 0bb8d421a6..f7b035844c 100644
--- a/wpilibj/src/athena/java/edu/wpi/first/wpilibj/CANTalon.java
+++ b/wpilibj/src/athena/java/edu/wpi/first/wpilibj/CANTalon.java
@@ -7,9 +7,9 @@
 
 package edu.wpi.first.wpilibj;
 
-import edu.wpi.first.wpilibj.communication.FRCNetworkCommunicationsLibrary.tResourceType;
-import edu.wpi.first.wpilibj.communication.UsageReporting;
 import edu.wpi.first.wpilibj.hal.CanTalonJNI;
+import edu.wpi.first.wpilibj.hal.FRCNetComm.tResourceType;
+import edu.wpi.first.wpilibj.hal.HAL;
 import edu.wpi.first.wpilibj.livewindow.LiveWindow;
 import edu.wpi.first.wpilibj.tables.ITable;
 import edu.wpi.first.wpilibj.tables.ITableListener;
@@ -872,7 +872,7 @@ public class CANTalon implements MotorSafety, PIDOutput, PIDSource, CANSpeedCont
     // Disable until set() is called.
     CanTalonJNI.SetModeSelect(m_handle, TalonControlMode.Disabled.value);
 
-    UsageReporting.report(tResourceType.kResourceType_CANTalonSRX, m_deviceNumber + 1,
+    HAL.report(tResourceType.kResourceType_CANTalonSRX, m_deviceNumber + 1,
         controlMode.value);
   }
 
diff --git a/wpilibj/src/athena/java/edu/wpi/first/wpilibj/Counter.java b/wpilibj/src/athena/java/edu/wpi/first/wpilibj/Counter.java
index db72ef18ae..2e49b148f4 100644
--- a/wpilibj/src/athena/java/edu/wpi/first/wpilibj/Counter.java
+++ b/wpilibj/src/athena/java/edu/wpi/first/wpilibj/Counter.java
@@ -11,9 +11,9 @@ import java.nio.ByteBuffer;
 import java.nio.ByteOrder;
 
 import edu.wpi.first.wpilibj.AnalogTriggerOutput.AnalogTriggerType;
-import edu.wpi.first.wpilibj.communication.FRCNetworkCommunicationsLibrary.tResourceType;
-import edu.wpi.first.wpilibj.communication.UsageReporting;
 import edu.wpi.first.wpilibj.hal.CounterJNI;
+import edu.wpi.first.wpilibj.hal.FRCNetComm.tResourceType;
+import edu.wpi.first.wpilibj.hal.HAL;
 import edu.wpi.first.wpilibj.livewindow.LiveWindowSendable;
 import edu.wpi.first.wpilibj.tables.ITable;
 import edu.wpi.first.wpilibj.util.BoundaryException;
@@ -87,7 +87,7 @@ public class Counter extends SensorBase implements CounterBase, LiveWindowSendab
 
     setMaxPeriod(.5);
 
-    UsageReporting.report(tResourceType.kResourceType_Counter, m_index, mode.value);
+    HAL.report(tResourceType.kResourceType_Counter, m_index, mode.value);
   }
 
   /**
diff --git a/wpilibj/src/athena/java/edu/wpi/first/wpilibj/DigitalGlitchFilter.java b/wpilibj/src/athena/java/edu/wpi/first/wpilibj/DigitalGlitchFilter.java
index 5aa7d2204c..a46e5817f6 100644
--- a/wpilibj/src/athena/java/edu/wpi/first/wpilibj/DigitalGlitchFilter.java
+++ b/wpilibj/src/athena/java/edu/wpi/first/wpilibj/DigitalGlitchFilter.java
@@ -10,9 +10,9 @@ package edu.wpi.first.wpilibj;
 import java.util.concurrent.locks.Lock;
 import java.util.concurrent.locks.ReentrantLock;
 
-import edu.wpi.first.wpilibj.communication.FRCNetworkCommunicationsLibrary.tResourceType;
-import edu.wpi.first.wpilibj.communication.UsageReporting;
 import edu.wpi.first.wpilibj.hal.DigitalGlitchFilterJNI;
+import edu.wpi.first.wpilibj.hal.FRCNetComm.tResourceType;
+import edu.wpi.first.wpilibj.hal.HAL;
 
 /**
  * Class to enable glitch filtering on a set of digital inputs. This class will manage adding and
@@ -33,7 +33,7 @@ public class DigitalGlitchFilter extends SensorBase {
       if (index != m_filterAllocated.length) {
         m_channelIndex = index;
         m_filterAllocated[index] = true;
-        UsageReporting.report(tResourceType.kResourceType_DigitalFilter,
+        HAL.report(tResourceType.kResourceType_DigitalFilter,
             m_channelIndex, 0);
       }
     }
diff --git a/wpilibj/src/athena/java/edu/wpi/first/wpilibj/DigitalInput.java b/wpilibj/src/athena/java/edu/wpi/first/wpilibj/DigitalInput.java
index dd87e1158f..fbde93da28 100644
--- a/wpilibj/src/athena/java/edu/wpi/first/wpilibj/DigitalInput.java
+++ b/wpilibj/src/athena/java/edu/wpi/first/wpilibj/DigitalInput.java
@@ -7,9 +7,9 @@
 
 package edu.wpi.first.wpilibj;
 
-import edu.wpi.first.wpilibj.communication.FRCNetworkCommunicationsLibrary.tResourceType;
-import edu.wpi.first.wpilibj.communication.UsageReporting;
 import edu.wpi.first.wpilibj.hal.DIOJNI;
+import edu.wpi.first.wpilibj.hal.FRCNetComm.tResourceType;
+import edu.wpi.first.wpilibj.hal.HAL;
 import edu.wpi.first.wpilibj.livewindow.LiveWindow;
 import edu.wpi.first.wpilibj.livewindow.LiveWindowSendable;
 import edu.wpi.first.wpilibj.tables.ITable;
@@ -36,7 +36,7 @@ public class DigitalInput extends DigitalSource implements LiveWindowSendable {
     m_handle = DIOJNI.initializeDIOPort(DIOJNI.getPort((byte)channel), true);
 
     LiveWindow.addSensor("DigitalInput", channel, this);
-    UsageReporting.report(tResourceType.kResourceType_DigitalInput, channel);
+    HAL.report(tResourceType.kResourceType_DigitalInput, channel);
   }
 
   /**
diff --git a/wpilibj/src/athena/java/edu/wpi/first/wpilibj/DigitalOutput.java b/wpilibj/src/athena/java/edu/wpi/first/wpilibj/DigitalOutput.java
index 959d91e6b3..5c5cdaed90 100644
--- a/wpilibj/src/athena/java/edu/wpi/first/wpilibj/DigitalOutput.java
+++ b/wpilibj/src/athena/java/edu/wpi/first/wpilibj/DigitalOutput.java
@@ -7,9 +7,9 @@
 
 package edu.wpi.first.wpilibj;
 
-import edu.wpi.first.wpilibj.communication.FRCNetworkCommunicationsLibrary.tResourceType;
-import edu.wpi.first.wpilibj.communication.UsageReporting;
 import edu.wpi.first.wpilibj.hal.DIOJNI;
+import edu.wpi.first.wpilibj.hal.FRCNetComm.tResourceType;
+import edu.wpi.first.wpilibj.hal.HAL;
 import edu.wpi.first.wpilibj.livewindow.LiveWindowSendable;
 import edu.wpi.first.wpilibj.tables.ITable;
 import edu.wpi.first.wpilibj.tables.ITableListener;
@@ -39,7 +39,7 @@ public class DigitalOutput extends DigitalSource implements LiveWindowSendable {
 
     m_handle = DIOJNI.initializeDIOPort(DIOJNI.getPort((byte)channel), false);
 
-    UsageReporting.report(tResourceType.kResourceType_DigitalOutput, channel);
+    HAL.report(tResourceType.kResourceType_DigitalOutput, channel);
   }
 
   /**
diff --git a/wpilibj/src/athena/java/edu/wpi/first/wpilibj/DoubleSolenoid.java b/wpilibj/src/athena/java/edu/wpi/first/wpilibj/DoubleSolenoid.java
index 46ae634578..843dd9f038 100644
--- a/wpilibj/src/athena/java/edu/wpi/first/wpilibj/DoubleSolenoid.java
+++ b/wpilibj/src/athena/java/edu/wpi/first/wpilibj/DoubleSolenoid.java
@@ -7,8 +7,8 @@
 
 package edu.wpi.first.wpilibj;
 
-import edu.wpi.first.wpilibj.communication.FRCNetworkCommunicationsLibrary.tResourceType;
-import edu.wpi.first.wpilibj.communication.UsageReporting;
+import edu.wpi.first.wpilibj.hal.FRCNetComm.tResourceType;
+import edu.wpi.first.wpilibj.hal.HAL;
 import edu.wpi.first.wpilibj.hal.SolenoidJNI;
 import edu.wpi.first.wpilibj.livewindow.LiveWindow;
 import edu.wpi.first.wpilibj.livewindow.LiveWindowSendable;
@@ -85,8 +85,10 @@ public class DoubleSolenoid extends SolenoidBase implements LiveWindowSendable {
     m_forwardMask = (byte) (1 << m_forwardChannel);
     m_reverseMask = (byte) (1 << m_reverseChannel);
 
-    UsageReporting.report(tResourceType.kResourceType_Solenoid, m_forwardChannel, m_moduleNumber);
-    UsageReporting.report(tResourceType.kResourceType_Solenoid, m_reverseChannel, m_moduleNumber);
+    HAL.report(tResourceType.kResourceType_Solenoid, m_forwardChannel,
+                                   m_moduleNumber);
+    HAL.report(tResourceType.kResourceType_Solenoid, m_reverseChannel,
+                                   m_moduleNumber);
     LiveWindow.addActuator("DoubleSolenoid", m_moduleNumber, m_forwardChannel, this);
   }
 
diff --git a/wpilibj/src/athena/java/edu/wpi/first/wpilibj/DriverStation.java b/wpilibj/src/athena/java/edu/wpi/first/wpilibj/DriverStation.java
index a6f594c3f8..089a3d24e7 100644
--- a/wpilibj/src/athena/java/edu/wpi/first/wpilibj/DriverStation.java
+++ b/wpilibj/src/athena/java/edu/wpi/first/wpilibj/DriverStation.java
@@ -9,9 +9,9 @@ package edu.wpi.first.wpilibj;
 
 import java.nio.ByteBuffer;
 
-import edu.wpi.first.wpilibj.communication.FRCNetworkCommunicationsLibrary;
-import edu.wpi.first.wpilibj.communication.HALAllianceStationID;
-import edu.wpi.first.wpilibj.communication.HALControlWord;
+import edu.wpi.first.wpilibj.hal.AllianceStationID;
+import edu.wpi.first.wpilibj.hal.ControlWord;
+import edu.wpi.first.wpilibj.hal.HAL;
 import edu.wpi.first.wpilibj.hal.HALUtil;
 import edu.wpi.first.wpilibj.hal.PowerJNI;
 
@@ -32,7 +32,7 @@ public class DriverStation implements RobotState.Interface {
 
   private class HALJoystickAxes {
     public float[] m_axes;
-    public byte m_count;
+    public short m_count;
 
     public HALJoystickAxes(int count) {
       m_axes = new float[count];
@@ -41,7 +41,7 @@ public class DriverStation implements RobotState.Interface {
 
   private class HALJoystickPOVs {
     public short[] m_povs;
-    public byte m_count;
+    public short m_count;
 
     public HALJoystickPOVs(int count) {
       m_povs = new short[count];
@@ -86,8 +86,7 @@ public class DriverStation implements RobotState.Interface {
   private int[] m_joystickIsXbox = new int[kJoystickPorts];
   private int[] m_joystickType = new int[kJoystickPorts];
   private String[] m_joystickName = new String[kJoystickPorts];
-  private int[][] m_joystickAxisType =
-      new int[kJoystickPorts][FRCNetworkCommunicationsLibrary.kMaxJoystickAxes];
+  private int[][] m_joystickAxisType = new int[kJoystickPorts][HAL.kMaxJoystickAxes];
 
   private Thread m_thread;
   private final Object m_dataSem;
@@ -125,19 +124,17 @@ public class DriverStation implements RobotState.Interface {
     m_newControlDataMutex = new Object();
     for (int i = 0; i < kJoystickPorts; i++) {
       m_joystickButtons[i] = new HALJoystickButtons();
-      m_joystickAxes[i] = new HALJoystickAxes(FRCNetworkCommunicationsLibrary.kMaxJoystickAxes);
-      m_joystickPOVs[i] = new HALJoystickPOVs(FRCNetworkCommunicationsLibrary.kMaxJoystickPOVs);
+      m_joystickAxes[i] = new HALJoystickAxes(HAL.kMaxJoystickAxes);
+      m_joystickPOVs[i] = new HALJoystickPOVs(HAL.kMaxJoystickPOVs);
 
       m_joystickButtonsCache[i] = new HALJoystickButtons();
-      m_joystickAxesCache[i] =
-          new HALJoystickAxes(FRCNetworkCommunicationsLibrary.kMaxJoystickAxes);
-      m_joystickPOVsCache[i] =
-          new HALJoystickPOVs(FRCNetworkCommunicationsLibrary.kMaxJoystickPOVs);
+      m_joystickAxesCache[i] = new HALJoystickAxes(HAL.kMaxJoystickAxes);
+      m_joystickPOVsCache[i] = new HALJoystickPOVs(HAL.kMaxJoystickPOVs);
     }
 
     m_packetDataAvailableMutex = HALUtil.initializeMutexNormal();
     m_packetDataAvailableSem = HALUtil.initializeMultiWait();
-    FRCNetworkCommunicationsLibrary.setNewDataSem(m_packetDataAvailableSem);
+    HAL.setNewDataSem(m_packetDataAvailableSem);
 
     m_thread = new Thread(new DriverStationTask(this), "FRCDriverStation");
     m_thread.setPriority((Thread.NORM_PRIORITY + Thread.MAX_PRIORITY) / 2);
@@ -169,16 +166,16 @@ public class DriverStation implements RobotState.Interface {
         safetyCounter = 0;
       }
       if (m_userInDisabled) {
-        FRCNetworkCommunicationsLibrary.FRCNetworkCommunicationObserveUserProgramDisabled();
+        HAL.observeUserProgramDisabled();
       }
       if (m_userInAutonomous) {
-        FRCNetworkCommunicationsLibrary.FRCNetworkCommunicationObserveUserProgramAutonomous();
+        HAL.observeUserProgramAutonomous();
       }
       if (m_userInTeleop) {
-        FRCNetworkCommunicationsLibrary.FRCNetworkCommunicationObserveUserProgramTeleop();
+        HAL.observeUserProgramTeleop();
       }
       if (m_userInTest) {
-        FRCNetworkCommunicationsLibrary.FRCNetworkCommunicationObserveUserProgramTest();
+        HAL.observeUserProgramTest();
       }
     }
   }
@@ -217,13 +214,10 @@ public class DriverStation implements RobotState.Interface {
     // Get the status of all of the joysticks
     for (byte stick = 0; stick < kJoystickPorts; stick++) {
       m_joystickAxesCache[stick].m_count =
-          FRCNetworkCommunicationsLibrary.HALGetJoystickAxes(stick,
-                                                             m_joystickAxesCache[stick].m_axes);
+          HAL.getJoystickAxes(stick, m_joystickAxesCache[stick].m_axes);
       m_joystickPOVsCache[stick].m_count =
-          FRCNetworkCommunicationsLibrary.HALGetJoystickPOVs(stick,
-                                                             m_joystickPOVsCache[stick].m_povs);
-      m_joystickButtonsCache[stick].m_buttons =
-          FRCNetworkCommunicationsLibrary.HALGetJoystickButtons(stick, m_buttonCountBuffer);
+          HAL.getJoystickPOVs(stick, m_joystickPOVsCache[stick].m_povs);
+      m_joystickButtonsCache[stick].m_buttons = HAL.getJoystickButtons(stick, m_buttonCountBuffer);
       m_joystickButtonsCache[stick].m_count = m_buttonCountBuffer.get(0);
     }
     // lock joystick mutex to swap cache data
@@ -292,7 +286,7 @@ public class DriverStation implements RobotState.Interface {
     if (stick < 0 || stick >= kJoystickPorts) {
       throw new RuntimeException("Joystick index is out of range, should be 0-5");
     }
-    if (axis < 0 || axis >= FRCNetworkCommunicationsLibrary.kMaxJoystickAxes) {
+    if (axis < 0 || axis >= HAL.kMaxJoystickAxes) {
       throw new RuntimeException("Joystick axis is out of range");
     }
 
@@ -338,7 +332,7 @@ public class DriverStation implements RobotState.Interface {
     if (stick < 0 || stick >= kJoystickPorts) {
       throw new RuntimeException("Joystick index is out of range, should be 0-5");
     }
-    if (pov < 0 || pov >= FRCNetworkCommunicationsLibrary.kMaxJoystickPOVs) {
+    if (pov < 0 || pov >= HAL.kMaxJoystickPOVs) {
       throw new RuntimeException("Joystick POV is out of range");
     }
     boolean error = false;
@@ -453,7 +447,7 @@ public class DriverStation implements RobotState.Interface {
       if (1 > m_joystickButtons[stick].m_count && 1 > m_joystickAxes[stick].m_count) {
         error = true;
         retVal = false;
-      } else if (FRCNetworkCommunicationsLibrary.HALGetJoystickIsXbox((byte) stick) == 1) {
+      } else if (HAL.getJoystickIsXbox((byte) stick) == 1) {
         retVal = true;
       }
     }
@@ -483,7 +477,7 @@ public class DriverStation implements RobotState.Interface {
         error = true;
         retVal = -1;
       } else {
-        retVal = FRCNetworkCommunicationsLibrary.HALGetJoystickType((byte) stick);
+        retVal = HAL.getJoystickType((byte) stick);
       }
     }
     if (error) {
@@ -512,7 +506,7 @@ public class DriverStation implements RobotState.Interface {
         error = true;
         retVal = "";
       } else {
-        retVal = FRCNetworkCommunicationsLibrary.HALGetJoystickName((byte) stick);
+        retVal = HAL.getJoystickName((byte) stick);
       }
     }
     if (error) {
@@ -528,7 +522,7 @@ public class DriverStation implements RobotState.Interface {
    * @return True if the robot is enabled, false otherwise.
    */
   public boolean isEnabled() {
-    HALControlWord controlWord = FRCNetworkCommunicationsLibrary.HALGetControlWord();
+    ControlWord controlWord = HAL.getControlWord();
     return controlWord.getEnabled() && controlWord.getDSAttached();
   }
 
@@ -548,7 +542,7 @@ public class DriverStation implements RobotState.Interface {
    * @return True if autonomous mode should be enabled, false otherwise.
    */
   public boolean isAutonomous() {
-    HALControlWord controlWord = FRCNetworkCommunicationsLibrary.HALGetControlWord();
+    ControlWord controlWord = HAL.getControlWord();
     return controlWord.getAutonomous();
   }
 
@@ -559,7 +553,7 @@ public class DriverStation implements RobotState.Interface {
    * @return True if test mode should be enabled, false otherwise.
    */
   public boolean isTest() {
-    HALControlWord controlWord = FRCNetworkCommunicationsLibrary.HALGetControlWord();
+    ControlWord controlWord = HAL.getControlWord();
     return controlWord.getTest();
   }
 
@@ -580,7 +574,7 @@ public class DriverStation implements RobotState.Interface {
    * @return True if the FPGA outputs are enabled.
    */
   public boolean isSysActive() {
-    return FRCNetworkCommunicationsLibrary.HALGetSystemActive();
+    return HAL.getSystemActive();
   }
 
   /**
@@ -589,7 +583,7 @@ public class DriverStation implements RobotState.Interface {
    * @return True if the system is browned out
    */
   public boolean isBrownedOut() {
-    return FRCNetworkCommunicationsLibrary.HALGetBrownedOut();
+    return HAL.getBrownedOut();
   }
 
   /**
@@ -612,8 +606,7 @@ public class DriverStation implements RobotState.Interface {
    * @return the current alliance
    */
   public Alliance getAlliance() {
-    HALAllianceStationID allianceStationID =
-        FRCNetworkCommunicationsLibrary.HALGetAllianceStation();
+    AllianceStationID allianceStationID = HAL.getAllianceStation();
     if (allianceStationID == null) {
       return Alliance.Invalid;
     }
@@ -640,8 +633,7 @@ public class DriverStation implements RobotState.Interface {
    * @return the location of the team's driver station controls: 1, 2, or 3
    */
   public int getLocation() {
-    HALAllianceStationID allianceStationID =
-        FRCNetworkCommunicationsLibrary.HALGetAllianceStation();
+    AllianceStationID allianceStationID = HAL.getAllianceStation();
     if (allianceStationID == null) {
       return 0;
     }
@@ -670,12 +662,12 @@ public class DriverStation implements RobotState.Interface {
    * @return True if the robot is competing on a field being controlled by a Field Management System
    */
   public boolean isFMSAttached() {
-    HALControlWord controlWord = FRCNetworkCommunicationsLibrary.HALGetControlWord();
+    ControlWord controlWord = HAL.getControlWord();
     return controlWord.getFMSAttached();
   }
 
   public boolean isDSAttached() {
-    HALControlWord controlWord = FRCNetworkCommunicationsLibrary.HALGetControlWord();
+    ControlWord controlWord = HAL.getControlWord();
     return controlWord.getDSAttached();
   }
 
@@ -689,7 +681,7 @@ public class DriverStation implements RobotState.Interface {
    * @return Time remaining in current match period (auto or teleop) in seconds
    */
   public double getMatchTime() {
-    return FRCNetworkCommunicationsLibrary.HALGetMatchTime();
+    return HAL.getMatchTime();
   }
 
   /**
@@ -732,8 +724,7 @@ public class DriverStation implements RobotState.Interface {
         haveLoc = true;
       }
     }
-    FRCNetworkCommunicationsLibrary.HALSendError(isError, code, false, error, locString,
-        printTrace ? traceString : "", true);
+    HAL.sendError(isError, code, false, error, locString, printTrace ? traceString : "", true);
   }
 
   /**
diff --git a/wpilibj/src/athena/java/edu/wpi/first/wpilibj/Encoder.java b/wpilibj/src/athena/java/edu/wpi/first/wpilibj/Encoder.java
index be7db61c32..d5e4ac3f1c 100644
--- a/wpilibj/src/athena/java/edu/wpi/first/wpilibj/Encoder.java
+++ b/wpilibj/src/athena/java/edu/wpi/first/wpilibj/Encoder.java
@@ -10,9 +10,9 @@ package edu.wpi.first.wpilibj;
 import java.nio.ByteBuffer;
 import java.nio.ByteOrder;
 
-import edu.wpi.first.wpilibj.communication.FRCNetworkCommunicationsLibrary.tResourceType;
-import edu.wpi.first.wpilibj.communication.UsageReporting;
 import edu.wpi.first.wpilibj.hal.EncoderJNI;
+import edu.wpi.first.wpilibj.hal.FRCNetComm.tResourceType;
+import edu.wpi.first.wpilibj.hal.HAL;
 import edu.wpi.first.wpilibj.livewindow.LiveWindow;
 import edu.wpi.first.wpilibj.livewindow.LiveWindowSendable;
 import edu.wpi.first.wpilibj.tables.ITable;
@@ -79,7 +79,7 @@ public class Encoder extends SensorBase implements CounterBase, PIDSource, LiveW
 
     m_pidSource = PIDSourceType.kDisplacement;
 
-    UsageReporting.report(tResourceType.kResourceType_Encoder, getFPGAIndex(), type.value);
+    HAL.report(tResourceType.kResourceType_Encoder, getFPGAIndex(), type.value);
     LiveWindow.addSensor("Encoder", m_aSource.getChannel(), this);
   }
 
diff --git a/wpilibj/src/athena/java/edu/wpi/first/wpilibj/GearTooth.java b/wpilibj/src/athena/java/edu/wpi/first/wpilibj/GearTooth.java
index b12188d31d..38b0d9a517 100644
--- a/wpilibj/src/athena/java/edu/wpi/first/wpilibj/GearTooth.java
+++ b/wpilibj/src/athena/java/edu/wpi/first/wpilibj/GearTooth.java
@@ -7,8 +7,8 @@
 
 package edu.wpi.first.wpilibj;
 
-import edu.wpi.first.wpilibj.communication.FRCNetworkCommunicationsLibrary.tResourceType;
-import edu.wpi.first.wpilibj.communication.UsageReporting;
+import edu.wpi.first.wpilibj.hal.FRCNetComm.tResourceType;
+import edu.wpi.first.wpilibj.hal.HAL;
 import edu.wpi.first.wpilibj.livewindow.LiveWindow;
 
 /**
@@ -52,9 +52,9 @@ public class GearTooth extends Counter {
     super(channel);
     enableDirectionSensing(directionSensitive);
     if (directionSensitive) {
-      UsageReporting.report(tResourceType.kResourceType_GearTooth, channel, 0, "D");
+      HAL.report(tResourceType.kResourceType_GearTooth, channel, 0, "D");
     } else {
-      UsageReporting.report(tResourceType.kResourceType_GearTooth, channel, 0);
+      HAL.report(tResourceType.kResourceType_GearTooth, channel, 0);
     }
     LiveWindow.addSensor("GearTooth", channel, this);
   }
diff --git a/wpilibj/src/athena/java/edu/wpi/first/wpilibj/I2C.java b/wpilibj/src/athena/java/edu/wpi/first/wpilibj/I2C.java
index d84d81df09..c73fe5ec59 100644
--- a/wpilibj/src/athena/java/edu/wpi/first/wpilibj/I2C.java
+++ b/wpilibj/src/athena/java/edu/wpi/first/wpilibj/I2C.java
@@ -9,8 +9,8 @@ package edu.wpi.first.wpilibj;
 
 import java.nio.ByteBuffer;
 
-import edu.wpi.first.wpilibj.communication.FRCNetworkCommunicationsLibrary.tResourceType;
-import edu.wpi.first.wpilibj.communication.UsageReporting;
+import edu.wpi.first.wpilibj.hal.FRCNetComm.tResourceType;
+import edu.wpi.first.wpilibj.hal.HAL;
 import edu.wpi.first.wpilibj.hal.I2CJNI;
 import edu.wpi.first.wpilibj.util.BoundaryException;
 
@@ -50,7 +50,7 @@ public class I2C extends SensorBase {
 
     I2CJNI.i2CInitialize((byte) port.getValue());
 
-    UsageReporting.report(tResourceType.kResourceType_I2C, deviceAddress);
+    HAL.report(tResourceType.kResourceType_I2C, deviceAddress);
   }
 
   /**
diff --git a/wpilibj/src/athena/java/edu/wpi/first/wpilibj/IterativeRobot.java b/wpilibj/src/athena/java/edu/wpi/first/wpilibj/IterativeRobot.java
index ae3d580d2c..c461e821f8 100644
--- a/wpilibj/src/athena/java/edu/wpi/first/wpilibj/IterativeRobot.java
+++ b/wpilibj/src/athena/java/edu/wpi/first/wpilibj/IterativeRobot.java
@@ -7,10 +7,9 @@
 
 package edu.wpi.first.wpilibj;
 
-import edu.wpi.first.wpilibj.communication.FRCNetworkCommunicationsLibrary;
-import edu.wpi.first.wpilibj.communication.FRCNetworkCommunicationsLibrary.tInstances;
-import edu.wpi.first.wpilibj.communication.FRCNetworkCommunicationsLibrary.tResourceType;
-import edu.wpi.first.wpilibj.communication.UsageReporting;
+import edu.wpi.first.wpilibj.hal.FRCNetComm.tInstances;
+import edu.wpi.first.wpilibj.hal.FRCNetComm.tResourceType;
+import edu.wpi.first.wpilibj.hal.HAL;
 import edu.wpi.first.wpilibj.livewindow.LiveWindow;
 
 /**
@@ -59,12 +58,13 @@ public class IterativeRobot extends RobotBase {
    * Provide an alternate "main loop" via startCompetition().
    */
   public void startCompetition() {
-    UsageReporting.report(tResourceType.kResourceType_Framework, tInstances.kFramework_Iterative);
+    HAL.report(tResourceType.kResourceType_Framework,
+                                   tInstances.kFramework_Iterative);
 
     robotInit();
 
     // Tell the DS that the robot is ready to be enabled
-    FRCNetworkCommunicationsLibrary.FRCNetworkCommunicationObserveUserProgramStarting();
+    HAL.observeUserProgramStarting();
 
     // loop forever, calling the appropriate mode-dependent function
     LiveWindow.setEnabled(false);
@@ -83,7 +83,7 @@ public class IterativeRobot extends RobotBase {
           m_testInitialized = false;
         }
         if (nextPeriodReady()) {
-          FRCNetworkCommunicationsLibrary.FRCNetworkCommunicationObserveUserProgramDisabled();
+          HAL.observeUserProgramDisabled();
           disabledPeriodic();
         }
       } else if (isTest()) {
@@ -98,7 +98,7 @@ public class IterativeRobot extends RobotBase {
           m_disabledInitialized = false;
         }
         if (nextPeriodReady()) {
-          FRCNetworkCommunicationsLibrary.FRCNetworkCommunicationObserveUserProgramTest();
+          HAL.observeUserProgramTest();
           testPeriodic();
         }
       } else if (isAutonomous()) {
@@ -116,7 +116,7 @@ public class IterativeRobot extends RobotBase {
           m_disabledInitialized = false;
         }
         if (nextPeriodReady()) {
-          FRCNetworkCommunicationsLibrary.FRCNetworkCommunicationObserveUserProgramAutonomous();
+          HAL.observeUserProgramAutonomous();
           autonomousPeriodic();
         }
       } else {
@@ -131,7 +131,7 @@ public class IterativeRobot extends RobotBase {
           m_disabledInitialized = false;
         }
         if (nextPeriodReady()) {
-          FRCNetworkCommunicationsLibrary.FRCNetworkCommunicationObserveUserProgramTeleop();
+          HAL.observeUserProgramTeleop();
           teleopPeriodic();
         }
       }
diff --git a/wpilibj/src/athena/java/edu/wpi/first/wpilibj/Jaguar.java b/wpilibj/src/athena/java/edu/wpi/first/wpilibj/Jaguar.java
index f0d28dc17b..bc7d35c44e 100644
--- a/wpilibj/src/athena/java/edu/wpi/first/wpilibj/Jaguar.java
+++ b/wpilibj/src/athena/java/edu/wpi/first/wpilibj/Jaguar.java
@@ -7,8 +7,8 @@
 
 package edu.wpi.first.wpilibj;
 
-import edu.wpi.first.wpilibj.communication.FRCNetworkCommunicationsLibrary.tResourceType;
-import edu.wpi.first.wpilibj.communication.UsageReporting;
+import edu.wpi.first.wpilibj.hal.FRCNetComm.tResourceType;
+import edu.wpi.first.wpilibj.hal.HAL;
 import edu.wpi.first.wpilibj.livewindow.LiveWindow;
 
 /**
@@ -40,7 +40,7 @@ public class Jaguar extends PWMSpeedController {
     setSpeed(0.0);
     setZeroLatch();
 
-    UsageReporting.report(tResourceType.kResourceType_Jaguar, getChannel());
+    HAL.report(tResourceType.kResourceType_Jaguar, getChannel());
     LiveWindow.addActuator("Jaguar", getChannel(), this);
   }
 }
diff --git a/wpilibj/src/athena/java/edu/wpi/first/wpilibj/Joystick.java b/wpilibj/src/athena/java/edu/wpi/first/wpilibj/Joystick.java
index a6259f8847..bcee3457d4 100644
--- a/wpilibj/src/athena/java/edu/wpi/first/wpilibj/Joystick.java
+++ b/wpilibj/src/athena/java/edu/wpi/first/wpilibj/Joystick.java
@@ -7,9 +7,9 @@
 
 package edu.wpi.first.wpilibj;
 
-import edu.wpi.first.wpilibj.communication.FRCNetworkCommunicationsLibrary;
-import edu.wpi.first.wpilibj.communication.FRCNetworkCommunicationsLibrary.tResourceType;
-import edu.wpi.first.wpilibj.communication.UsageReporting;
+import edu.wpi.first.wpilibj.hal.FRCNetComm.tResourceType;
+import edu.wpi.first.wpilibj.hal.HAL;
+import edu.wpi.first.wpilibj.hal.HAL;
 
 /**
  * Handle input from standard Joysticks connected to the Driver Station. This class handles standard
@@ -157,7 +157,7 @@ public class Joystick extends GenericHID {
     m_buttons[ButtonType.kTrigger.value] = kDefaultTriggerButton;
     m_buttons[ButtonType.kTop.value] = kDefaultTopButton;
 
-    UsageReporting.report(tResourceType.kResourceType_Joystick, port);
+    HAL.report(tResourceType.kResourceType_Joystick, port);
   }
 
   /**
@@ -473,8 +473,7 @@ public class Joystick extends GenericHID {
     } else {
       m_rightRumble = (short) (value * 65535);
     }
-    FRCNetworkCommunicationsLibrary.HALSetJoystickOutputs((byte) m_port, m_outputs, m_leftRumble,
-        m_rightRumble);
+    HAL.setJoystickOutputs((byte) m_port, m_outputs, m_leftRumble, m_rightRumble);
   }
 
   /**
@@ -486,8 +485,7 @@ public class Joystick extends GenericHID {
 
   public void setOutput(int outputNumber, boolean value) {
     m_outputs = (m_outputs & ~(1 << (outputNumber - 1))) | ((value ? 1 : 0) << (outputNumber - 1));
-    FRCNetworkCommunicationsLibrary.HALSetJoystickOutputs((byte) m_port, m_outputs, m_leftRumble,
-        m_rightRumble);
+    HAL.setJoystickOutputs((byte) m_port, m_outputs, m_leftRumble, m_rightRumble);
   }
 
   /**
@@ -497,7 +495,6 @@ public class Joystick extends GenericHID {
    */
   public void setOutputs(int value) {
     m_outputs = value;
-    FRCNetworkCommunicationsLibrary.HALSetJoystickOutputs((byte) m_port, m_outputs, m_leftRumble,
-        m_rightRumble);
+    HAL.setJoystickOutputs((byte) m_port, m_outputs, m_leftRumble, m_rightRumble);
   }
 }
diff --git a/wpilibj/src/athena/java/edu/wpi/first/wpilibj/PWM.java b/wpilibj/src/athena/java/edu/wpi/first/wpilibj/PWM.java
index 12b4ba55d6..a08d1ee7a6 100644
--- a/wpilibj/src/athena/java/edu/wpi/first/wpilibj/PWM.java
+++ b/wpilibj/src/athena/java/edu/wpi/first/wpilibj/PWM.java
@@ -7,9 +7,9 @@
 
 package edu.wpi.first.wpilibj;
 
-import edu.wpi.first.wpilibj.communication.FRCNetworkCommunicationsLibrary.tResourceType;
-import edu.wpi.first.wpilibj.communication.UsageReporting;
 import edu.wpi.first.wpilibj.hal.DIOJNI;
+import edu.wpi.first.wpilibj.hal.FRCNetComm.tResourceType;
+import edu.wpi.first.wpilibj.hal.HAL;
 import edu.wpi.first.wpilibj.hal.PWMJNI;
 import edu.wpi.first.wpilibj.livewindow.LiveWindowSendable;
 import edu.wpi.first.wpilibj.tables.ITable;
@@ -78,7 +78,7 @@ public class PWM extends SensorBase implements LiveWindowSendable {
 
     PWMJNI.setPWMEliminateDeadband(m_handle, false);
 
-    UsageReporting.report(tResourceType.kResourceType_PWM, channel);
+    HAL.report(tResourceType.kResourceType_PWM, channel);
   }
 
   /**
diff --git a/wpilibj/src/athena/java/edu/wpi/first/wpilibj/Preferences.java b/wpilibj/src/athena/java/edu/wpi/first/wpilibj/Preferences.java
index 1b032a3b23..19d6dda226 100644
--- a/wpilibj/src/athena/java/edu/wpi/first/wpilibj/Preferences.java
+++ b/wpilibj/src/athena/java/edu/wpi/first/wpilibj/Preferences.java
@@ -9,8 +9,8 @@ package edu.wpi.first.wpilibj;
 
 import java.util.Vector;
 
-import edu.wpi.first.wpilibj.communication.FRCNetworkCommunicationsLibrary.tResourceType;
-import edu.wpi.first.wpilibj.communication.UsageReporting;
+import edu.wpi.first.wpilibj.hal.FRCNetComm.tResourceType;
+import edu.wpi.first.wpilibj.hal.HAL;
 import edu.wpi.first.wpilibj.networktables.NetworkTable;
 import edu.wpi.first.wpilibj.tables.ITable;
 import edu.wpi.first.wpilibj.tables.ITableListener;
@@ -77,7 +77,7 @@ public class Preferences {
   private Preferences() {
     m_table = NetworkTable.getTable(TABLE_NAME);
     m_table.addTableListenerEx(m_listener, ITable.NOTIFY_NEW | ITable.NOTIFY_IMMEDIATE);
-    UsageReporting.report(tResourceType.kResourceType_Preferences, 0);
+    HAL.report(tResourceType.kResourceType_Preferences, 0);
   }
 
   /**
diff --git a/wpilibj/src/athena/java/edu/wpi/first/wpilibj/Relay.java b/wpilibj/src/athena/java/edu/wpi/first/wpilibj/Relay.java
index 1b1e602ff9..5d37c04b9d 100644
--- a/wpilibj/src/athena/java/edu/wpi/first/wpilibj/Relay.java
+++ b/wpilibj/src/athena/java/edu/wpi/first/wpilibj/Relay.java
@@ -7,9 +7,9 @@
 
 package edu.wpi.first.wpilibj;
 
-import edu.wpi.first.wpilibj.communication.FRCNetworkCommunicationsLibrary.tResourceType;
-import edu.wpi.first.wpilibj.communication.UsageReporting;
 import edu.wpi.first.wpilibj.hal.DIOJNI;
+import edu.wpi.first.wpilibj.hal.FRCNetComm.tResourceType;
+import edu.wpi.first.wpilibj.hal.HAL;
 import edu.wpi.first.wpilibj.hal.RelayJNI;
 import edu.wpi.first.wpilibj.livewindow.LiveWindow;
 import edu.wpi.first.wpilibj.livewindow.LiveWindowSendable;
@@ -129,11 +129,11 @@ public class Relay extends SensorBase implements MotorSafety, LiveWindowSendable
     int portHandle = RelayJNI.getPort((byte)m_channel);
     if (m_direction == Direction.kBoth || m_direction == Direction.kForward) {
       m_forwardHandle = RelayJNI.initializeRelayPort(portHandle, true);
-      UsageReporting.report(tResourceType.kResourceType_Relay, m_channel);
+      HAL.report(tResourceType.kResourceType_Relay, m_channel);
     }
     if (m_direction == Direction.kBoth || m_direction == Direction.kReverse) {
       m_reverseHandle = RelayJNI.initializeRelayPort(portHandle, false);
-      UsageReporting.report(tResourceType.kResourceType_Relay, m_channel + 128);
+      HAL.report(tResourceType.kResourceType_Relay, m_channel + 128);
     }
 
     m_safetyHelper = new MotorSafetyHelper(this);
diff --git a/wpilibj/src/athena/java/edu/wpi/first/wpilibj/RobotBase.java b/wpilibj/src/athena/java/edu/wpi/first/wpilibj/RobotBase.java
index 5fafa08ca5..cb3839235d 100644
--- a/wpilibj/src/athena/java/edu/wpi/first/wpilibj/RobotBase.java
+++ b/wpilibj/src/athena/java/edu/wpi/first/wpilibj/RobotBase.java
@@ -15,10 +15,9 @@ import java.util.Arrays;
 import java.util.Enumeration;
 import java.util.jar.Manifest;
 
-import edu.wpi.first.wpilibj.communication.FRCNetworkCommunicationsLibrary;
-import edu.wpi.first.wpilibj.communication.FRCNetworkCommunicationsLibrary.tInstances;
-import edu.wpi.first.wpilibj.communication.FRCNetworkCommunicationsLibrary.tResourceType;
-import edu.wpi.first.wpilibj.communication.UsageReporting;
+import edu.wpi.first.wpilibj.hal.FRCNetComm.tInstances;
+import edu.wpi.first.wpilibj.hal.FRCNetComm.tResourceType;
+import edu.wpi.first.wpilibj.hal.HAL;
 import edu.wpi.first.wpilibj.internal.HardwareHLUsageReporting;
 import edu.wpi.first.wpilibj.internal.HardwareTimer;
 import edu.wpi.first.wpilibj.networktables.NetworkTable;
@@ -161,7 +160,8 @@ public abstract class RobotBase {
    * Common initialization for all robot programs.
    */
   public static void initializeHardwareConfiguration() {
-    FRCNetworkCommunicationsLibrary.FRCNetworkCommunicationReserve();
+    int rv = HAL.initialize(0);
+    assert rv == 1;
 
     // Set some implementations so that the static methods work properly
     Timer.SetImplementation(new HardwareTimer());
@@ -175,7 +175,7 @@ public abstract class RobotBase {
   public static void main(String... args) {
     initializeHardwareConfiguration();
 
-    UsageReporting.report(tResourceType.kResourceType_Language, tInstances.kLanguage_Java);
+    HAL.report(tResourceType.kResourceType_Language, tInstances.kLanguage_Java);
 
     String robotName = "";
     Enumeration<URL> resources = null;
diff --git a/wpilibj/src/athena/java/edu/wpi/first/wpilibj/RobotDrive.java b/wpilibj/src/athena/java/edu/wpi/first/wpilibj/RobotDrive.java
index 912c891ff1..8c1acdad0c 100644
--- a/wpilibj/src/athena/java/edu/wpi/first/wpilibj/RobotDrive.java
+++ b/wpilibj/src/athena/java/edu/wpi/first/wpilibj/RobotDrive.java
@@ -7,9 +7,9 @@
 
 package edu.wpi.first.wpilibj;
 
-import edu.wpi.first.wpilibj.communication.FRCNetworkCommunicationsLibrary.tInstances;
-import edu.wpi.first.wpilibj.communication.FRCNetworkCommunicationsLibrary.tResourceType;
-import edu.wpi.first.wpilibj.communication.UsageReporting;
+import edu.wpi.first.wpilibj.hal.FRCNetComm.tInstances;
+import edu.wpi.first.wpilibj.hal.FRCNetComm.tResourceType;
+import edu.wpi.first.wpilibj.hal.HAL;
 
 import static java.util.Objects.requireNonNull;
 
@@ -191,7 +191,7 @@ public class RobotDrive implements MotorSafety {
     final double rightOutput;
 
     if (!kArcadeRatioCurve_Reported) {
-      UsageReporting.report(tResourceType.kResourceType_RobotDrive, getNumMotors(),
+      HAL.report(tResourceType.kResourceType_RobotDrive, getNumMotors(),
           tInstances.kRobotDrive_ArcadeRatioCurve);
       kArcadeRatioCurve_Reported = true;
     }
@@ -293,7 +293,7 @@ public class RobotDrive implements MotorSafety {
   public void tankDrive(double leftValue, double rightValue, boolean squaredInputs) {
 
     if (!kTank_Reported) {
-      UsageReporting.report(tResourceType.kResourceType_RobotDrive, getNumMotors(),
+      HAL.report(tResourceType.kResourceType_RobotDrive, getNumMotors(),
           tInstances.kRobotDrive_Tank);
       kTank_Reported = true;
     }
@@ -402,7 +402,7 @@ public class RobotDrive implements MotorSafety {
   public void arcadeDrive(double moveValue, double rotateValue, boolean squaredInputs) {
     // local variables to hold the computed PWM values for the motors
     if (!kArcadeStandard_Reported) {
-      UsageReporting.report(tResourceType.kResourceType_RobotDrive, getNumMotors(),
+      HAL.report(tResourceType.kResourceType_RobotDrive, getNumMotors(),
           tInstances.kRobotDrive_ArcadeStandard);
       kArcadeStandard_Reported = true;
     }
@@ -480,7 +480,7 @@ public class RobotDrive implements MotorSafety {
   @SuppressWarnings("ParameterName")
   public void mecanumDrive_Cartesian(double x, double y, double rotation, double gyroAngle) {
     if (!kMecanumCartesian_Reported) {
-      UsageReporting.report(tResourceType.kResourceType_RobotDrive, getNumMotors(),
+      HAL.report(tResourceType.kResourceType_RobotDrive, getNumMotors(),
           tInstances.kRobotDrive_MecanumCartesian);
       kMecanumCartesian_Reported = true;
     }
@@ -527,7 +527,7 @@ public class RobotDrive implements MotorSafety {
    */
   public void mecanumDrive_Polar(double magnitude, double direction, double rotation) {
     if (!kMecanumPolar_Reported) {
-      UsageReporting.report(tResourceType.kResourceType_RobotDrive, getNumMotors(),
+      HAL.report(tResourceType.kResourceType_RobotDrive, getNumMotors(),
           tInstances.kRobotDrive_MecanumPolar);
       kMecanumPolar_Reported = true;
     }
diff --git a/wpilibj/src/athena/java/edu/wpi/first/wpilibj/SD540.java b/wpilibj/src/athena/java/edu/wpi/first/wpilibj/SD540.java
index 7fc7f5c0f5..7c97f4f0b9 100644
--- a/wpilibj/src/athena/java/edu/wpi/first/wpilibj/SD540.java
+++ b/wpilibj/src/athena/java/edu/wpi/first/wpilibj/SD540.java
@@ -7,8 +7,8 @@
 
 package edu.wpi.first.wpilibj;
 
-import edu.wpi.first.wpilibj.communication.FRCNetworkCommunicationsLibrary.tResourceType;
-import edu.wpi.first.wpilibj.communication.UsageReporting;
+import edu.wpi.first.wpilibj.hal.FRCNetComm.tResourceType;
+import edu.wpi.first.wpilibj.hal.HAL;
 import edu.wpi.first.wpilibj.livewindow.LiveWindow;
 
 /**
@@ -36,7 +36,7 @@ public class SD540 extends PWMSpeedController {
     setZeroLatch();
 
     LiveWindow.addActuator("SD540", getChannel(), this);
-    UsageReporting.report(tResourceType.kResourceType_MindsensorsSD540, getChannel());
+    HAL.report(tResourceType.kResourceType_MindsensorsSD540, getChannel());
   }
 
   /**
diff --git a/wpilibj/src/athena/java/edu/wpi/first/wpilibj/SPI.java b/wpilibj/src/athena/java/edu/wpi/first/wpilibj/SPI.java
index 2af7829b85..798fde2cb5 100644
--- a/wpilibj/src/athena/java/edu/wpi/first/wpilibj/SPI.java
+++ b/wpilibj/src/athena/java/edu/wpi/first/wpilibj/SPI.java
@@ -10,8 +10,8 @@ package edu.wpi.first.wpilibj;
 import java.nio.ByteBuffer;
 import java.nio.ByteOrder;
 
-import edu.wpi.first.wpilibj.communication.FRCNetworkCommunicationsLibrary.tResourceType;
-import edu.wpi.first.wpilibj.communication.UsageReporting;
+import edu.wpi.first.wpilibj.hal.FRCNetComm.tResourceType;
+import edu.wpi.first.wpilibj.hal.HAL;
 import edu.wpi.first.wpilibj.hal.SPIJNI;
 
 /**
@@ -51,7 +51,7 @@ public class SPI extends SensorBase {
 
     SPIJNI.spiInitialize(m_port);
 
-    UsageReporting.report(tResourceType.kResourceType_SPI, devices);
+    HAL.report(tResourceType.kResourceType_SPI, devices);
   }
 
   /**
diff --git a/wpilibj/src/athena/java/edu/wpi/first/wpilibj/SampleRobot.java b/wpilibj/src/athena/java/edu/wpi/first/wpilibj/SampleRobot.java
index a44d4af323..dd971a033c 100644
--- a/wpilibj/src/athena/java/edu/wpi/first/wpilibj/SampleRobot.java
+++ b/wpilibj/src/athena/java/edu/wpi/first/wpilibj/SampleRobot.java
@@ -7,10 +7,9 @@
 
 package edu.wpi.first.wpilibj;
 
-import edu.wpi.first.wpilibj.communication.FRCNetworkCommunicationsLibrary;
-import edu.wpi.first.wpilibj.communication.FRCNetworkCommunicationsLibrary.tInstances;
-import edu.wpi.first.wpilibj.communication.FRCNetworkCommunicationsLibrary.tResourceType;
-import edu.wpi.first.wpilibj.communication.UsageReporting;
+import edu.wpi.first.wpilibj.hal.FRCNetComm.tInstances;
+import edu.wpi.first.wpilibj.hal.FRCNetComm.tResourceType;
+import edu.wpi.first.wpilibj.hal.HAL;
 import edu.wpi.first.wpilibj.livewindow.LiveWindow;
 
 /**
@@ -111,12 +110,13 @@ public class SampleRobot extends RobotBase {
    * for the robot to be enabled again.
    */
   public void startCompetition() {
-    UsageReporting.report(tResourceType.kResourceType_Framework, tInstances.kFramework_Sample);
+    HAL.report(tResourceType.kResourceType_Framework,
+                                   tInstances.kFramework_Simple);
 
     robotInit();
 
     // Tell the DS that the robot is ready to be enabled
-    FRCNetworkCommunicationsLibrary.FRCNetworkCommunicationObserveUserProgramStarting();
+    HAL.observeUserProgramStarting();
 
     robotMain();
     if (!m_robotMainOverridden) {
diff --git a/wpilibj/src/athena/java/edu/wpi/first/wpilibj/SerialPort.java b/wpilibj/src/athena/java/edu/wpi/first/wpilibj/SerialPort.java
index b90f85865a..4daec70d71 100644
--- a/wpilibj/src/athena/java/edu/wpi/first/wpilibj/SerialPort.java
+++ b/wpilibj/src/athena/java/edu/wpi/first/wpilibj/SerialPort.java
@@ -10,8 +10,8 @@ package edu.wpi.first.wpilibj;
 import java.io.UnsupportedEncodingException;
 import java.nio.ByteBuffer;
 
-import edu.wpi.first.wpilibj.communication.FRCNetworkCommunicationsLibrary.tResourceType;
-import edu.wpi.first.wpilibj.communication.UsageReporting;
+import edu.wpi.first.wpilibj.hal.FRCNetComm.tResourceType;
+import edu.wpi.first.wpilibj.hal.HAL;
 import edu.wpi.first.wpilibj.hal.SerialPortJNI;
 
 /**
@@ -207,7 +207,7 @@ public class SerialPort {
 
     disableTermination();
 
-    UsageReporting.report(tResourceType.kResourceType_SerialPort, 0);
+    HAL.report(tResourceType.kResourceType_SerialPort, 0);
   }
 
   /**
diff --git a/wpilibj/src/athena/java/edu/wpi/first/wpilibj/Servo.java b/wpilibj/src/athena/java/edu/wpi/first/wpilibj/Servo.java
index b7049fbec9..5e5dcc8f2c 100644
--- a/wpilibj/src/athena/java/edu/wpi/first/wpilibj/Servo.java
+++ b/wpilibj/src/athena/java/edu/wpi/first/wpilibj/Servo.java
@@ -7,8 +7,8 @@
 
 package edu.wpi.first.wpilibj;
 
-import edu.wpi.first.wpilibj.communication.FRCNetworkCommunicationsLibrary.tResourceType;
-import edu.wpi.first.wpilibj.communication.UsageReporting;
+import edu.wpi.first.wpilibj.hal.FRCNetComm.tResourceType;
+import edu.wpi.first.wpilibj.hal.HAL;
 import edu.wpi.first.wpilibj.livewindow.LiveWindow;
 import edu.wpi.first.wpilibj.tables.ITable;
 import edu.wpi.first.wpilibj.tables.ITableListener;
@@ -42,7 +42,7 @@ public class Servo extends PWM {
     setPeriodMultiplier(PeriodMultiplier.k4X);
 
     LiveWindow.addActuator("Servo", getChannel(), this);
-    UsageReporting.report(tResourceType.kResourceType_Servo, getChannel());
+    HAL.report(tResourceType.kResourceType_Servo, getChannel());
   }
 
 
diff --git a/wpilibj/src/athena/java/edu/wpi/first/wpilibj/Solenoid.java b/wpilibj/src/athena/java/edu/wpi/first/wpilibj/Solenoid.java
index a45333dcd7..c1e0f6a31e 100644
--- a/wpilibj/src/athena/java/edu/wpi/first/wpilibj/Solenoid.java
+++ b/wpilibj/src/athena/java/edu/wpi/first/wpilibj/Solenoid.java
@@ -7,8 +7,8 @@
 
 package edu.wpi.first.wpilibj;
 
-import edu.wpi.first.wpilibj.communication.FRCNetworkCommunicationsLibrary.tResourceType;
-import edu.wpi.first.wpilibj.communication.UsageReporting;
+import edu.wpi.first.wpilibj.hal.FRCNetComm.tResourceType;
+import edu.wpi.first.wpilibj.hal.HAL;
 import edu.wpi.first.wpilibj.hal.SolenoidJNI;
 import edu.wpi.first.wpilibj.livewindow.LiveWindow;
 import edu.wpi.first.wpilibj.livewindow.LiveWindowSendable;
@@ -54,7 +54,7 @@ public class Solenoid extends SolenoidBase implements LiveWindowSendable {
     m_solenoidHandle = SolenoidJNI.initializeSolenoidPort(portHandle);
 
     LiveWindow.addActuator("Solenoid", m_moduleNumber, m_channel, this);
-    UsageReporting.report(tResourceType.kResourceType_Solenoid, m_channel, m_moduleNumber);
+    HAL.report(tResourceType.kResourceType_Solenoid, m_channel, m_moduleNumber);
   }
 
   /**
diff --git a/wpilibj/src/athena/java/edu/wpi/first/wpilibj/Spark.java b/wpilibj/src/athena/java/edu/wpi/first/wpilibj/Spark.java
index 5a277d52a8..87441cf37d 100644
--- a/wpilibj/src/athena/java/edu/wpi/first/wpilibj/Spark.java
+++ b/wpilibj/src/athena/java/edu/wpi/first/wpilibj/Spark.java
@@ -7,8 +7,8 @@
 
 package edu.wpi.first.wpilibj;
 
-import edu.wpi.first.wpilibj.communication.FRCNetworkCommunicationsLibrary.tResourceType;
-import edu.wpi.first.wpilibj.communication.UsageReporting;
+import edu.wpi.first.wpilibj.hal.FRCNetComm.tResourceType;
+import edu.wpi.first.wpilibj.hal.HAL;
 import edu.wpi.first.wpilibj.livewindow.LiveWindow;
 
 /**
@@ -36,7 +36,7 @@ public class Spark extends PWMSpeedController {
     setZeroLatch();
 
     LiveWindow.addActuator("Spark", getChannel(), this);
-    UsageReporting.report(tResourceType.kResourceType_RevSPARK, getChannel());
+    HAL.report(tResourceType.kResourceType_RevSPARK, getChannel());
   }
 
   /**
diff --git a/wpilibj/src/athena/java/edu/wpi/first/wpilibj/Talon.java b/wpilibj/src/athena/java/edu/wpi/first/wpilibj/Talon.java
index 80787604cf..eaadf431ff 100644
--- a/wpilibj/src/athena/java/edu/wpi/first/wpilibj/Talon.java
+++ b/wpilibj/src/athena/java/edu/wpi/first/wpilibj/Talon.java
@@ -7,8 +7,8 @@
 
 package edu.wpi.first.wpilibj;
 
-import edu.wpi.first.wpilibj.communication.FRCNetworkCommunicationsLibrary.tResourceType;
-import edu.wpi.first.wpilibj.communication.UsageReporting;
+import edu.wpi.first.wpilibj.hal.FRCNetComm.tResourceType;
+import edu.wpi.first.wpilibj.hal.HAL;
 import edu.wpi.first.wpilibj.livewindow.LiveWindow;
 
 /**
@@ -41,6 +41,6 @@ public class Talon extends PWMSpeedController {
     setZeroLatch();
 
     LiveWindow.addActuator("Talon", getChannel(), this);
-    UsageReporting.report(tResourceType.kResourceType_Talon, getChannel());
+    HAL.report(tResourceType.kResourceType_Talon, getChannel());
   }
 }
diff --git a/wpilibj/src/athena/java/edu/wpi/first/wpilibj/TalonSRX.java b/wpilibj/src/athena/java/edu/wpi/first/wpilibj/TalonSRX.java
index 19e0be075c..b4be622f4e 100644
--- a/wpilibj/src/athena/java/edu/wpi/first/wpilibj/TalonSRX.java
+++ b/wpilibj/src/athena/java/edu/wpi/first/wpilibj/TalonSRX.java
@@ -7,8 +7,8 @@
 
 package edu.wpi.first.wpilibj;
 
-import edu.wpi.first.wpilibj.communication.FRCNetworkCommunicationsLibrary.tResourceType;
-import edu.wpi.first.wpilibj.communication.UsageReporting;
+import edu.wpi.first.wpilibj.hal.FRCNetComm.tResourceType;
+import edu.wpi.first.wpilibj.hal.HAL;
 import edu.wpi.first.wpilibj.livewindow.LiveWindow;
 
 /**
@@ -44,6 +44,6 @@ public class TalonSRX extends PWMSpeedController {
     setZeroLatch();
 
     LiveWindow.addActuator("TalonSRX", getChannel(), this);
-    UsageReporting.report(tResourceType.kResourceType_TalonSRX, getChannel());
+    HAL.report(tResourceType.kResourceType_TalonSRX, getChannel());
   }
 }
diff --git a/wpilibj/src/athena/java/edu/wpi/first/wpilibj/Ultrasonic.java b/wpilibj/src/athena/java/edu/wpi/first/wpilibj/Ultrasonic.java
index 02aad4b761..77c184943a 100644
--- a/wpilibj/src/athena/java/edu/wpi/first/wpilibj/Ultrasonic.java
+++ b/wpilibj/src/athena/java/edu/wpi/first/wpilibj/Ultrasonic.java
@@ -7,8 +7,8 @@
 
 package edu.wpi.first.wpilibj;
 
-import edu.wpi.first.wpilibj.communication.FRCNetworkCommunicationsLibrary.tResourceType;
-import edu.wpi.first.wpilibj.communication.UsageReporting;
+import edu.wpi.first.wpilibj.hal.FRCNetComm.tResourceType;
+import edu.wpi.first.wpilibj.hal.HAL;
 import edu.wpi.first.wpilibj.livewindow.LiveWindow;
 import edu.wpi.first.wpilibj.livewindow.LiveWindowSendable;
 import edu.wpi.first.wpilibj.tables.ITable;
@@ -117,7 +117,7 @@ public class Ultrasonic extends SensorBase implements PIDSource, LiveWindowSenda
     setAutomaticMode(originalMode);
 
     m_instances++;
-    UsageReporting.report(tResourceType.kResourceType_Ultrasonic, m_instances);
+    HAL.report(tResourceType.kResourceType_Ultrasonic, m_instances);
     LiveWindow.addSensor("Ultrasonic", m_echoChannel.getChannel(), this);
   }
 
diff --git a/wpilibj/src/athena/java/edu/wpi/first/wpilibj/Victor.java b/wpilibj/src/athena/java/edu/wpi/first/wpilibj/Victor.java
index 9ae1c32198..5f22d48e44 100644
--- a/wpilibj/src/athena/java/edu/wpi/first/wpilibj/Victor.java
+++ b/wpilibj/src/athena/java/edu/wpi/first/wpilibj/Victor.java
@@ -7,8 +7,8 @@
 
 package edu.wpi.first.wpilibj;
 
-import edu.wpi.first.wpilibj.communication.FRCNetworkCommunicationsLibrary.tResourceType;
-import edu.wpi.first.wpilibj.communication.UsageReporting;
+import edu.wpi.first.wpilibj.hal.FRCNetComm.tResourceType;
+import edu.wpi.first.wpilibj.hal.HAL;
 import edu.wpi.first.wpilibj.livewindow.LiveWindow;
 
 /**
@@ -43,6 +43,6 @@ public class Victor extends PWMSpeedController {
     setZeroLatch();
 
     LiveWindow.addActuator("Victor", getChannel(), this);
-    UsageReporting.report(tResourceType.kResourceType_Victor, getChannel());
+    HAL.report(tResourceType.kResourceType_Victor, getChannel());
   }
 }
diff --git a/wpilibj/src/athena/java/edu/wpi/first/wpilibj/VictorSP.java b/wpilibj/src/athena/java/edu/wpi/first/wpilibj/VictorSP.java
index 192c5c2b54..e645a252c4 100644
--- a/wpilibj/src/athena/java/edu/wpi/first/wpilibj/VictorSP.java
+++ b/wpilibj/src/athena/java/edu/wpi/first/wpilibj/VictorSP.java
@@ -7,8 +7,8 @@
 
 package edu.wpi.first.wpilibj;
 
-import edu.wpi.first.wpilibj.communication.FRCNetworkCommunicationsLibrary.tResourceType;
-import edu.wpi.first.wpilibj.communication.UsageReporting;
+import edu.wpi.first.wpilibj.hal.FRCNetComm.tResourceType;
+import edu.wpi.first.wpilibj.hal.HAL;
 import edu.wpi.first.wpilibj.livewindow.LiveWindow;
 
 /**
@@ -41,6 +41,6 @@ public class VictorSP extends PWMSpeedController {
     setZeroLatch();
 
     LiveWindow.addActuator("VictorSP", getChannel(), this);
-    UsageReporting.report(tResourceType.kResourceType_VictorSP, getChannel());
+    HAL.report(tResourceType.kResourceType_VictorSP, getChannel());
   }
 }
diff --git a/wpilibj/src/athena/java/edu/wpi/first/wpilibj/can/CANJNI.java b/wpilibj/src/athena/java/edu/wpi/first/wpilibj/can/CANJNI.java
index e910e8bd5b..28c750c6c7 100644
--- a/wpilibj/src/athena/java/edu/wpi/first/wpilibj/can/CANJNI.java
+++ b/wpilibj/src/athena/java/edu/wpi/first/wpilibj/can/CANJNI.java
@@ -927,11 +927,11 @@ public class CANJNI extends JNIWrapper {
   public static final int CAN_IS_FRAME_11BIT = 0x40000000;
 
   @SuppressWarnings("MethodName")
-  public static native void FRCNetworkCommunicationCANSessionMuxSendMessage(int messageID,
+  public static native void FRCNetCommCANSessionMuxSendMessage(int messageID,
                                                                             ByteBuffer data,
                                                                             int periodMs);
 
   @SuppressWarnings("MethodName")
-  public static native ByteBuffer FRCNetworkCommunicationCANSessionMuxReceiveMessage(
+  public static native ByteBuffer FRCNetCommCANSessionMuxReceiveMessage(
       IntBuffer messageID, int messageIDMask, ByteBuffer timeStamp);
 }
diff --git a/wpilibj/src/athena/java/edu/wpi/first/wpilibj/communication/UsageReporting.java b/wpilibj/src/athena/java/edu/wpi/first/wpilibj/communication/UsageReporting.java
deleted file mode 100644
index d95fbd7ee7..0000000000
--- a/wpilibj/src/athena/java/edu/wpi/first/wpilibj/communication/UsageReporting.java
+++ /dev/null
@@ -1,25 +0,0 @@
-/*----------------------------------------------------------------------------*/
-/* Copyright (c) FIRST 2016. All Rights Reserved.                             */
-/* Open Source Software - may be modified and shared by FRC teams. The code   */
-/* must be accompanied by the FIRST BSD license file in the root directory of */
-/* the project.                                                               */
-/*----------------------------------------------------------------------------*/
-
-package edu.wpi.first.wpilibj.communication;
-
-public class UsageReporting {
-
-  public static void report(int resource, int instanceNumber, int context) {
-    report(resource, instanceNumber, context, "");
-  }
-
-  public static void report(int resource, int instanceNumber) {
-    report(resource, instanceNumber, 0, "");
-  }
-
-  public static void report(int resource, int instanceNumber, int context, String string) {
-    FRCNetworkCommunicationsLibrary.FRCNetworkCommunicationUsageReportingReport((byte) resource,
-        (byte) instanceNumber, (byte) context, string);
-  }
-
-}
diff --git a/wpilibj/src/athena/java/edu/wpi/first/wpilibj/communication/HALAllianceStationID.java b/wpilibj/src/athena/java/edu/wpi/first/wpilibj/hal/AllianceStationID.java
similarity index 86%
rename from wpilibj/src/athena/java/edu/wpi/first/wpilibj/communication/HALAllianceStationID.java
rename to wpilibj/src/athena/java/edu/wpi/first/wpilibj/hal/AllianceStationID.java
index 3fe84dd2a4..aeed270619 100644
--- a/wpilibj/src/athena/java/edu/wpi/first/wpilibj/communication/HALAllianceStationID.java
+++ b/wpilibj/src/athena/java/edu/wpi/first/wpilibj/hal/AllianceStationID.java
@@ -5,8 +5,8 @@
 /* the project.                                                               */
 /*----------------------------------------------------------------------------*/
 
-package edu.wpi.first.wpilibj.communication;
+package edu.wpi.first.wpilibj.hal;
 
-public enum HALAllianceStationID {
+public enum AllianceStationID {
   Red1, Red2, Red3, Blue1, Blue2, Blue3
 }
diff --git a/wpilibj/src/athena/java/edu/wpi/first/wpilibj/communication/HALControlWord.java b/wpilibj/src/athena/java/edu/wpi/first/wpilibj/hal/ControlWord.java
similarity index 84%
rename from wpilibj/src/athena/java/edu/wpi/first/wpilibj/communication/HALControlWord.java
rename to wpilibj/src/athena/java/edu/wpi/first/wpilibj/hal/ControlWord.java
index cb55b9d96a..92452e25dc 100644
--- a/wpilibj/src/athena/java/edu/wpi/first/wpilibj/communication/HALControlWord.java
+++ b/wpilibj/src/athena/java/edu/wpi/first/wpilibj/hal/ControlWord.java
@@ -5,12 +5,12 @@
 /* the project.                                                               */
 /*----------------------------------------------------------------------------*/
 
-package edu.wpi.first.wpilibj.communication;
+package edu.wpi.first.wpilibj.hal;
 
 /**
  * A wrapper for the HALControlWord bitfield.
  */
-public class HALControlWord {
+public class ControlWord {
   private final boolean m_enabled;
   private final boolean m_autonomous;
   private final boolean m_test;
@@ -18,8 +18,8 @@ public class HALControlWord {
   private final boolean m_fmsAttached;
   private final boolean m_dsAttached;
 
-  protected HALControlWord(boolean enabled, boolean autonomous, boolean test, boolean emergencyStop,
-                           boolean fmsAttached, boolean dsAttached) {
+  protected ControlWord(boolean enabled, boolean autonomous, boolean test, boolean emergencyStop,
+                        boolean fmsAttached, boolean dsAttached) {
     m_enabled = enabled;
     m_autonomous = autonomous;
     m_test = test;
@@ -51,6 +51,4 @@ public class HALControlWord {
   public boolean getDSAttached() {
     return m_dsAttached;
   }
-
-
 }
diff --git a/wpilibj/src/athena/java/edu/wpi/first/wpilibj/communication/FRCNetworkCommunicationsLibrary.java b/wpilibj/src/athena/java/edu/wpi/first/wpilibj/hal/FRCNetComm.java
similarity index 51%
rename from wpilibj/src/athena/java/edu/wpi/first/wpilibj/communication/FRCNetworkCommunicationsLibrary.java
rename to wpilibj/src/athena/java/edu/wpi/first/wpilibj/hal/FRCNetComm.java
index 2f1ef7f1d4..bb01f2212a 100644
--- a/wpilibj/src/athena/java/edu/wpi/first/wpilibj/communication/FRCNetworkCommunicationsLibrary.java
+++ b/wpilibj/src/athena/java/edu/wpi/first/wpilibj/hal/FRCNetComm.java
@@ -5,17 +5,15 @@
 /* the project.                                                               */
 /*----------------------------------------------------------------------------*/
 
-package edu.wpi.first.wpilibj.communication;
-
-import java.nio.ByteBuffer;
+package edu.wpi.first.wpilibj.hal;
 
 import edu.wpi.first.wpilibj.hal.JNIWrapper;
 
 /**
- * JNI Wrapper for library <b>FRC_NetworkCommunications</b><br>.
+ * JNI wrapper for library <b>FRC_NetworkCommunication</b><br>.
  */
 @SuppressWarnings("MethodName")
-public class FRCNetworkCommunicationsLibrary extends JNIWrapper {
+public class FRCNetComm extends JNIWrapper {
   /**
    * Module type from LoadOut.h
    */
@@ -35,18 +33,17 @@ public class FRCNetworkCommunicationsLibrary extends JNIWrapper {
     int kTargetClass_Unknown = 0x00;
     int kTargetClass_FRC1 = 0x10;
     int kTargetClass_FRC2 = 0x20;
-    int kTargetClass_FRC2_Analog =
-        kTargetClass_FRC2 | FRCNetworkCommunicationsLibrary.tModuleType.kModuleType_Analog;
-    int kTargetClass_FRC2_Digital =
-        kTargetClass_FRC2 | FRCNetworkCommunicationsLibrary.tModuleType.kModuleType_Digital;
-    int kTargetClass_FRC2_Solenoid =
-        kTargetClass_FRC2 | FRCNetworkCommunicationsLibrary.tModuleType.kModuleType_Solenoid;
+    int kTargetClass_FRC3 = 0x30;
+    int kTargetClass_RoboRIO = 0x40;
+    int kTargetClass_FRC2_Analog = kTargetClass_FRC2 | tModuleType.kModuleType_Analog;
+    int kTargetClass_FRC2_Digital = kTargetClass_FRC2 | tModuleType.kModuleType_Digital;
+    int kTargetClass_FRC2_Solenoid = kTargetClass_FRC2 | tModuleType.kModuleType_Solenoid;
     int kTargetClass_FamilyMask = 0xF0;
     int kTargetClass_ModuleMask = 0x0F;
   }
 
   /**
-   * Resource types from UsageReporting.h
+   * Resource type from UsageReporting.h
    */
   @SuppressWarnings("TypeName")
   public interface tResourceType {
@@ -124,7 +121,7 @@ public class FRCNetworkCommunicationsLibrary extends JNIWrapper {
     int kCANPlugin_2CAN = 2;
 
     int kFramework_Iterative = 1;
-    int kFramework_Sample = 2;
+    int kFramework_Simple = 2;
     int kFramework_CommandControl = 3;
 
     int kRobotDrive_ArcadeStandard = 1;
@@ -157,100 +154,4 @@ public class FRCNetworkCommunicationsLibrary extends JNIWrapper {
 
     int kSmartDashboard_Instance = 1;
   }
-
-  /**
-   * Report the usage of a resource of interest. <br>
-   *
-   * <p>Original signature: <code>uint32_t report(tResourceType, uint8_t, uint8_t, const
-   * char*)</code>
-   *
-   * @param resource       one of the values in the tResourceType above (max value 51). <br>
-   * @param instanceNumber an index that identifies the resource instance. <br>
-   * @param context        an optional additional context number for some cases (such as module
-   *                       number). Set to 0 to omit. <br>
-   * @param feature        a string to be included describing features in use on a specific
-   *                       resource. Setting the same resource more than once allows you to change
-   *                       the feature string.
-   */
-  public static native int FRCNetworkCommunicationUsageReportingReport(byte resource,
-                                                                       byte instanceNumber,
-                                                                       byte context,
-                                                                       String feature);
-
-  public static native void setNewDataSem(long mutexId);
-
-  public static native void FRCNetworkCommunicationObserveUserProgramStarting();
-
-  public static native void FRCNetworkCommunicationObserveUserProgramDisabled();
-
-  public static native void FRCNetworkCommunicationObserveUserProgramAutonomous();
-
-  public static native void FRCNetworkCommunicationObserveUserProgramTeleop();
-
-  public static native void FRCNetworkCommunicationObserveUserProgramTest();
-
-  public static native void FRCNetworkCommunicationReserve();
-
-  private static native int NativeHALGetControlWord();
-
-  @SuppressWarnings("JavadocMethod")
-  public static HALControlWord HALGetControlWord() {
-    int word = NativeHALGetControlWord();
-    return new HALControlWord((word & 1) != 0, ((word >> 1) & 1) != 0, ((word >> 2) & 1) != 0,
-        ((word >> 3) & 1) != 0, ((word >> 4) & 1) != 0, ((word >> 5) & 1) != 0);
-  }
-
-  private static native int NativeHALGetAllianceStation();
-
-  @SuppressWarnings("JavadocMethod")
-  public static HALAllianceStationID HALGetAllianceStation() {
-    switch (NativeHALGetAllianceStation()) {
-      case 0:
-        return HALAllianceStationID.Red1;
-      case 1:
-        return HALAllianceStationID.Red2;
-      case 2:
-        return HALAllianceStationID.Red3;
-      case 3:
-        return HALAllianceStationID.Blue1;
-      case 4:
-        return HALAllianceStationID.Blue2;
-      case 5:
-        return HALAllianceStationID.Blue3;
-      default:
-        return null;
-    }
-  }
-
-  public static int kMaxJoystickAxes = 12;
-  public static int kMaxJoystickPOVs = 12;
-
-  public static native byte HALGetJoystickAxes(byte joystickNum, float[] axesArray);
-
-  public static native byte HALGetJoystickPOVs(byte joystickNum, short[] povsArray);
-
-  public static native int HALGetJoystickButtons(byte joystickNum, ByteBuffer count);
-
-  public static native int HALSetJoystickOutputs(byte joystickNum, int outputs, short leftRumble,
-                                                 short rightRumble);
-
-  public static native int HALGetJoystickIsXbox(byte joystickNum);
-
-  public static native int HALGetJoystickType(byte joystickNum);
-
-  public static native String HALGetJoystickName(byte joystickNum);
-
-  public static native int HALGetJoystickAxisType(byte joystickNum, byte axis);
-
-  public static native float HALGetMatchTime();
-
-  public static native boolean HALGetSystemActive();
-
-  public static native boolean HALGetBrownedOut();
-
-  public static native int HALSetErrorData(String error);
-
-  public static native int HALSendError(boolean isError, int errorCode, boolean isLVCode,
-                                        String details, String location, String callStack,
-                                        boolean printMsg);
 }
diff --git a/wpilibj/src/athena/java/edu/wpi/first/wpilibj/hal/HAL.java b/wpilibj/src/athena/java/edu/wpi/first/wpilibj/hal/HAL.java
new file mode 100644
index 0000000000..4ae19e763f
--- /dev/null
+++ b/wpilibj/src/athena/java/edu/wpi/first/wpilibj/hal/HAL.java
@@ -0,0 +1,119 @@
+/*----------------------------------------------------------------------------*/
+/* Copyright (c) FIRST 2016. All Rights Reserved.                             */
+/* Open Source Software - may be modified and shared by FRC teams. The code   */
+/* must be accompanied by the FIRST BSD license file in the root directory of */
+/* the project.                                                               */
+/*----------------------------------------------------------------------------*/
+
+package edu.wpi.first.wpilibj.hal;
+
+import java.nio.ByteBuffer;
+
+import edu.wpi.first.wpilibj.hal.JNIWrapper;
+
+/**
+ * JNI Wrapper for HAL<br>.
+ */
+@SuppressWarnings({"AbbreviationAsWordInName", "MethodName"})
+public class HAL extends JNIWrapper {
+  public static native void setNewDataSem(long mutexId);
+
+  public static native int initialize(int mode);
+
+  public static native void observeUserProgramStarting();
+
+  public static native void observeUserProgramDisabled();
+
+  public static native void observeUserProgramAutonomous();
+
+  public static native void observeUserProgramTeleop();
+
+  public static native void observeUserProgramTest();
+
+  public static void report(int resource, int instanceNumber) {
+    report(resource, instanceNumber, 0, "");
+  }
+
+  public static void report(int resource, int instanceNumber, int context) {
+    report(resource, instanceNumber, context, "");
+  }
+
+  /**
+   * Report the usage of a resource of interest. <br>
+   *
+   * <p>Original signature: <code>uint32_t report(tResourceType, uint8_t, uint8_t, const
+   * char*)</code>
+   *
+   * @param resource       one of the values in the tResourceType above (max value 51). <br>
+   * @param instanceNumber an index that identifies the resource instance. <br>
+   * @param context        an optional additional context number for some cases (such as module
+   *                       number). Set to 0 to omit. <br>
+   * @param feature        a string to be included describing features in use on a specific
+   *                       resource. Setting the same resource more than once allows you to change
+   *                       the feature string.
+   */
+  public static native int report(int resource, int instanceNumber, int context, String feature);
+
+  private static native int nativeGetControlWord();
+
+  @SuppressWarnings("JavadocMethod")
+  public static ControlWord getControlWord() {
+    int word = nativeGetControlWord();
+    return new ControlWord((word & 1) != 0, ((word >> 1) & 1) != 0, ((word >> 2) & 1) != 0,
+        ((word >> 3) & 1) != 0, ((word >> 4) & 1) != 0, ((word >> 5) & 1) != 0);
+  }
+
+  private static native int nativeGetAllianceStation();
+
+  @SuppressWarnings("JavadocMethod")
+  public static AllianceStationID getAllianceStation() {
+    switch (nativeGetAllianceStation()) {
+      case 0:
+        return AllianceStationID.Red1;
+      case 1:
+        return AllianceStationID.Red2;
+      case 2:
+        return AllianceStationID.Red3;
+      case 3:
+        return AllianceStationID.Blue1;
+      case 4:
+        return AllianceStationID.Blue2;
+      case 5:
+        return AllianceStationID.Blue3;
+      default:
+        return null;
+    }
+  }
+
+  public static int kMaxJoystickAxes = 12;
+  public static int kMaxJoystickPOVs = 12;
+
+  public static native short getJoystickAxes(byte joystickNum, float[] axesArray);
+
+  public static native short getJoystickPOVs(byte joystickNum, short[] povsArray);
+
+  public static native byte getJoystickButtons(byte joystickNum, ByteBuffer count);
+
+  public static native int setJoystickOutputs(byte joystickNum, int outputs, short leftRumble,
+                                              short rightRumble);
+
+  public static native int getJoystickIsXbox(byte joystickNum);
+
+  public static native int getJoystickType(byte joystickNum);
+
+  public static native String getJoystickName(byte joystickNum);
+
+  public static native int getJoystickAxisType(byte joystickNum, byte axis);
+
+  public static native float getMatchTime();
+
+  public static native boolean getSystemActive();
+
+  public static native boolean getBrownedOut();
+
+  public static native int setErrorData(String error);
+
+  public static native int sendError(boolean isError, int errorCode, boolean isLVCode,
+                                     String details, String location, String callStack,
+                                     boolean printMsg);
+}
diff --git a/wpilibj/src/athena/java/edu/wpi/first/wpilibj/internal/HardwareHLUsageReporting.java b/wpilibj/src/athena/java/edu/wpi/first/wpilibj/internal/HardwareHLUsageReporting.java
index 68d0040952..032a89060f 100644
--- a/wpilibj/src/athena/java/edu/wpi/first/wpilibj/internal/HardwareHLUsageReporting.java
+++ b/wpilibj/src/athena/java/edu/wpi/first/wpilibj/internal/HardwareHLUsageReporting.java
@@ -8,23 +8,23 @@
 package edu.wpi.first.wpilibj.internal;
 
 import edu.wpi.first.wpilibj.HLUsageReporting;
-import edu.wpi.first.wpilibj.communication.FRCNetworkCommunicationsLibrary.tInstances;
-import edu.wpi.first.wpilibj.communication.FRCNetworkCommunicationsLibrary.tResourceType;
-import edu.wpi.first.wpilibj.communication.UsageReporting;
+import edu.wpi.first.wpilibj.hal.FRCNetComm.tInstances;
+import edu.wpi.first.wpilibj.hal.FRCNetComm.tResourceType;
+import edu.wpi.first.wpilibj.hal.HAL;
 
 public class HardwareHLUsageReporting implements HLUsageReporting.Interface {
   @Override
   public void reportScheduler() {
-    UsageReporting.report(tResourceType.kResourceType_Command, tInstances.kCommand_Scheduler);
+    HAL.report(tResourceType.kResourceType_Command, tInstances.kCommand_Scheduler);
   }
 
   @Override
   public void reportPIDController(int num) {
-    UsageReporting.report(tResourceType.kResourceType_PIDController, num);
+    HAL.report(tResourceType.kResourceType_PIDController, num);
   }
 
   @Override
   public void reportSmartDashboard() {
-    UsageReporting.report(tResourceType.kResourceType_SmartDashboard, 0);
+    HAL.report(tResourceType.kResourceType_SmartDashboard, 0);
   }
 }
diff --git a/wpilibjIntegrationTests/src/main/java/edu/wpi/first/wpilibj/test/AbstractComsSetup.java b/wpilibjIntegrationTests/src/main/java/edu/wpi/first/wpilibj/test/AbstractComsSetup.java
index 05a1cf9486..463aa8ae88 100644
--- a/wpilibjIntegrationTests/src/main/java/edu/wpi/first/wpilibj/test/AbstractComsSetup.java
+++ b/wpilibjIntegrationTests/src/main/java/edu/wpi/first/wpilibj/test/AbstractComsSetup.java
@@ -19,7 +19,7 @@ import java.util.logging.Logger;
 import edu.wpi.first.wpilibj.DriverStation;
 import edu.wpi.first.wpilibj.RobotBase;
 import edu.wpi.first.wpilibj.Timer;
-import edu.wpi.first.wpilibj.communication.FRCNetworkCommunicationsLibrary;
+import edu.wpi.first.wpilibj.hal.HAL;
 import edu.wpi.first.wpilibj.livewindow.LiveWindow;
 
 /**
@@ -44,7 +44,7 @@ public abstract class AbstractComsSetup {
     if (!initialized) {
       // Set some implementations so that the static methods work properly
       RobotBase.initializeHardwareConfiguration();
-      FRCNetworkCommunicationsLibrary.FRCNetworkCommunicationObserveUserProgramStarting();
+      HAL.observeUserProgramStarting();
 
       LiveWindow.setEnabled(false);
       TestBench.out().println("Started coms");