diff --git a/asyncapi-template/filters/DeviceFilter.js b/asyncapi-template/filters/DeviceFilter.js
index 6ef6029..27ef4bf 100644
--- a/asyncapi-template/filters/DeviceFilter.js
+++ b/asyncapi-template/filters/DeviceFilter.js
@@ -16,7 +16,7 @@ function filterProps(props) {
 
 function aAn(str) {
     //Credit: https://stackoverflow.com/questions/37896484/multiple-conditions-for-javascript-includes-method
-    return ['a', 'e', 'i', 'o', 'u'].some(el => str.includes(el));
+    return ['a', 'e', 'i', 'o', 'u'].some(el => str.includes(el)) ? "an" : "a";
 }
 
 function formatName(type) {
diff --git a/asyncapi-template/filters/PropertyFilter.js b/asyncapi-template/filters/PropertyFilter.js
index e8b4094..f728c2b 100644
--- a/asyncapi-template/filters/PropertyFilter.js
+++ b/asyncapi-template/filters/PropertyFilter.js
@@ -75,4 +75,12 @@ function formatPropInitialValue(prop) {
     }
 }
 
-module.exports = { formatPropName, cap1, formatPropType, formatPropTypeArr, formatPropPrimType, formatPropInitialValue }
+function isRobotInput(prop) {
+    return prop.startsWith(">") || prop.startsWith("<>");
+}
+
+function isRobotOutput(prop) {
+    return prop.startsWith("<");
+}
+
+module.exports = { formatPropName, cap1, formatPropType, formatPropTypeArr, formatPropPrimType, formatPropInitialValue, isRobotInput, isRobotOutput }
diff --git a/asyncapi-template/partials/initVars.java b/asyncapi-template/partials/initVars.java
index 1b78955..b9da4b1 100644
--- a/asyncapi-template/partials/initVars.java
+++ b/asyncapi-template/partials/initVars.java
@@ -6,3 +6,5 @@
 {% set parrtype = prop | formatPropTypeArr %}
 {% set pprimtype = prop | formatPropPrimType %}
 {% set pinit = prop | formatPropInitialValue | safe %}
+{% set isRobotInput = pfname | isRobotInput %}
+{% set isRobotOutput = pfname | isRobotOutput %}
diff --git a/asyncapi-template/template/$$schema$$.java b/asyncapi-template/template/$$schema$$.java
index b9be953..24c154d 100644
--- a/asyncapi-template/template/$$schema$$.java
+++ b/asyncapi-template/template/$$schema$$.java
@@ -15,13 +15,16 @@
 // EDIT THAT FILE INSTEAD.
 package org.team199.wpiws.devices;
 
+import java.util.List;
 {% if hasId -%}
-import java.util.HashMap;
+import java.util.Map;
 {% endif -%}
-import java.util.List;
 import java.util.Set;
-import java.util.concurrent.CopyOnWriteArrayList;
+{% if hasId -%}
+import java.util.concurrent.ConcurrentHashMap;
+{% endif -%}
 import java.util.concurrent.ConcurrentSkipListSet;
+import java.util.concurrent.CopyOnWriteArraySet;
 import java.util.function.BiConsumer;
 import java.util.function.Consumer;
 
@@ -36,32 +39,33 @@
  */
 {% if hasId -%}
 public class {{ name }}Sim extends StateDevice<{{ name }}Sim.State> {
-{% else -%}
+{%- else %}
 public class {{ name }}Sim {
-{% endif -%}
-    {% if hasInit %}
-    private static final CopyOnWriteArrayList<String> INITIALIZED_DEVICES = new CopyOnWriteArrayList<>();
-    private static final CopyOnWriteArrayList<BooleanCallback> STATIC_INITIALIZED_CALLBACKS = new CopyOnWriteArrayList<>();
+{%- endif %}
+
+    {% if hasInit -%}
+    private static final Set<String> INITIALIZED_DEVICES = new ConcurrentSkipListSet<>();
+    private static final Set<BooleanCallback> STATIC_INITIALIZED_CALLBACKS = new CopyOnWriteArraySet<>();
     {% endif -%}
-    {% if hasId %}
-    private static final HashMap<String, {{ name }}Sim.State> STATE_MAP = new HashMap<>();
-    {%- else %}
+    {% if hasId -%}
+    private static final Map<String, {{ name }}Sim.State> STATE_MAP = new ConcurrentHashMap<>();
+    {% else -%}
     private static final {{ name }}Sim.State STATE = new State();
     {% endif -%}
     private static final Set<String> UNKNOWN_KEYS = new ConcurrentSkipListSet<>();
-    
-    {% if hasId %}
 
+    {% if hasId -%}
     /**
      * Creates a new {{ name }}Sim
-     * @param id the device identifier of this {{ name }}Sim 
+     * @param id the device identifier of this {{ name }}Sim
      */
     public {{ name }}Sim(String id) {
         super(id, STATE_MAP);
     }
-    {% endif -%}
+    {%- endif -%}
+
+    {%- if hasInit %}
 
-    {% if hasInit %}
     /**
      * Registers a BooleanCallback to be called whenever {{ a }} {{ name }}Sim device is initialized or uninitialized
      * @param callback the callback function to call
@@ -71,7 +75,7 @@ public class {{ name }}Sim {
      * @see #registerInitializedCallback(BooleanCallback, boolean)
      */
     public static ScopedObject<BooleanCallback> registerStaticInitializedCallback(BooleanCallback callback, boolean initialNotify) {
-        STATIC_INITIALIZED_CALLBACKS.addIfAbsent(callback);
+        STATIC_INITIALIZED_CALLBACKS.add(callback);
         if(initialNotify) {
             INITIALIZED_DEVICES.forEach(device -> callback.callback(device, true));
         }
@@ -90,7 +94,7 @@ public static ScopedObject<BooleanCallback> registerStaticInitializedCallback(Bo
     public static void cancelStaticInitializedCallback(BooleanCallback callback) {
         STATIC_INITIALIZED_CALLBACKS.remove(callback);
     }
-    
+
     /**
      * Registers a BooleanCallback to be called whenever this device is initialized or uninitialized
      * @param callback the callback function to call
@@ -100,7 +104,7 @@ public static void cancelStaticInitializedCallback(BooleanCallback callback) {
      * @see #registerStaticInitializedCallback(BooleanCallback, boolean)
      */
     public ScopedObject<BooleanCallback> registerInitializedCallback(BooleanCallback callback, boolean initialNotify) {
-        getState().INITIALIZED_CALLBACKS.addIfAbsent(callback);
+        getState().INITIALIZED_CALLBACKS.add(callback);
         if(initialNotify) {
             callback.callback(id, getState().init);
         }
@@ -144,7 +148,7 @@ private void setInitialized(boolean initialized, boolean notifyRobot) {
         if(initialized) {
             STATIC_INITIALIZED_CALLBACKS.forEach(CALL_INITIALIZED_CALLBACK);
             getState().INITIALIZED_CALLBACKS.forEach(CALL_INITIALIZED_CALLBACK);
-            INITIALIZED_DEVICES.addIfAbsent(id);
+            INITIALIZED_DEVICES.add(id);
         } else {
             INITIALIZED_DEVICES.remove(id);
         }
@@ -159,19 +163,21 @@ private void setInitialized(boolean initialized, boolean notifyRobot) {
     public static String[] enumerateDevices() {
         return INITIALIZED_DEVICES.toArray(new String[INITIALIZED_DEVICES.size()]);
     }
-    {% endif -%}
+    {%- endif -%}
+
+    {%- if hasId %}
 
-    {% if hasId %}
     @Override
     protected State generateState() {
         return new State();
     }
-    
-    {% else %}
+
+    {% else -%}
+
     protected static {{ name }}Sim.State getState() {
         return STATE;
     }
-    
+
     {% endif -%}
 
     {% for propName, prop in props -%}
@@ -184,7 +190,7 @@ protected State generateState() {
      * @see #cancel{{ varInfo.pname }}Callback({{ varInfo.ptype }}Callback)
      */
     public{{ cstatic }}ScopedObject<{{ varInfo.ptype }}Callback> register{{ varInfo.pname }}Callback({{ varInfo.ptype }}Callback callback, boolean initialNotify) {
-        getState().{{ varInfo.pnameu }}_CALLBACKS.addIfAbsent(callback);
+        getState().{{ varInfo.pnameu }}_CALLBACKS.add(callback);
         if(initialNotify) {
             callback.callback({{ cid }}, getState().{{ varInfo.pnamel }});
         }
@@ -205,20 +211,23 @@ protected State generateState() {
     }
 
     /**
-     * @return {{ prop.description() | lower }}
+     * @return {{ prop.description() | lower | trim }}
      * @see #set{{ varInfo.pname }}({{ varInfo.pprimtype }})
      */
     public{{ cstatic }}{{ varInfo.pprimtype }} get{{ varInfo.pname }}() {
         return getState().{{ varInfo.pnamel }};
     }
 
+    {%- if varInfo.isRobotInput %}
+
     /**
-     * Set {{ prop.description() | lower }}
+     * Set {{ prop.description() | lower | trim }}
      * @see #get{{ varInfo.pname }}()
      */
     public{{ cstatic }}void set{{ varInfo.pname }}({{ varInfo.pprimtype }} {{ varInfo.pnamel }}) {
         set{{ varInfo.pname }}({{ varInfo.pnamel }}, true);
     }
+    {%- endif %}
 
     /**
      * A Consumer which calls the given callback with the current {{ varInfo.pnamel }} value of this PWMSim
@@ -230,6 +239,9 @@ protected State generateState() {
             getState().{{ varInfo.pnameu }}_CALLBACKS.forEach(CALL_{{ varInfo.pnameu }}_CALLBACK);
         }
         if(notifyRobot) {
+            {%- if not varInfo.isRobotInput %}
+            System.err.println("WARNING: {{ name }}Sim#set{{ varInfo.pname }}({{ varInfo.pprimtype }}, true) was called, but {{ varInfo.pfname }} is not a robot input!");
+            {%- endif %}
             ConnectionProcessor.broadcastMessage({{ cid }}, "{{ type }}", new WSValue("{{ varInfo.pfname }}", {{ varInfo.pnamel }}));
         }
     }
@@ -279,7 +291,7 @@ public static void processMessage(String device, List<WSValue> data) {
     private{{ cstatic }}void processValue(WSValue value) {
         if(value.getKey() instanceof String && value.getValue() != null) {
             switch((String)value.getKey()) {
-                {% if hasInit -%}
+                {%- if hasInit %}
                 case "<init": {
                     filterMessageAndIgnoreRobotState(value.getValue(), Boolean.class, SET_INITIALIZED);
                     break;
@@ -297,9 +309,8 @@ public static void processMessage(String device, List<WSValue> data) {
                 }
                 {%- endfor %}
                 default: {
-                    if (!UNKNOWN_KEYS.contains(value.getKey())) {
+                    if (UNKNOWN_KEYS.add(value.getKey())) {
                         System.err.println("{{ name }}Sim received value '" + value.getKey() + ":" + value.getValue() + "' but does not recognize '" + value.getKey() + "'. Values with that key will be ignored.");
-                        UNKNOWN_KEYS.add(value.getKey());    
                     }
                 }
             }
@@ -307,22 +318,22 @@ public static void processMessage(String device, List<WSValue> data) {
     }
 
     /**
-     * Contains all information about the state of a {{ name }}Sim
+     * Contains all information about the state of {{ a }} {{ name }}Sim
      */
     public static class State {
         {% if hasInit -%}
         public boolean init = false;
-        {% endif -%}
-        {% for propName, prop in props -%}
-        {% import "../partials/initVars.java" as varInfo with context -%}
+        {%- endif -%}
+        {%- for propName, prop in props -%}
+        {%- import "../partials/initVars.java" as varInfo with context %}
         public {{ varInfo.pprimtype }} {{ varInfo.pnamel }} = {{ varInfo.pinit }};
-        {% endfor -%}
+        {%- endfor %}
         {% if hasInit -%}
-        public final CopyOnWriteArrayList<BooleanCallback> INITIALIZED_CALLBACKS = new CopyOnWriteArrayList<>();
-        {% endif -%}
-        {% for propName, prop in props -%}
-        {% import "../partials/initVars.java" as varInfo with context -%}
-        public final CopyOnWriteArrayList<{{ varInfo.ptype }}Callback> {{ varInfo.pnameu }}_CALLBACKS = new CopyOnWriteArrayList<>();
+        public final Set<BooleanCallback> INITIALIZED_CALLBACKS = new CopyOnWriteArraySet<>();
+        {%- endif -%}
+        {%- for propName, prop in props -%}
+        {%- import "../partials/initVars.java" as varInfo with context %}
+        public final Set<{{ varInfo.ptype }}Callback> {{ varInfo.pnameu }}_CALLBACKS = new CopyOnWriteArraySet<>();
         {%- endfor %}
     }
 
diff --git a/asyncapi-template/template/SimDeviceSim.java b/asyncapi-template/template/SimDeviceSim.java
index f3a1fe4..0310520 100644
--- a/asyncapi-template/template/SimDeviceSim.java
+++ b/asyncapi-template/template/SimDeviceSim.java
@@ -6,11 +6,13 @@
 
 import java.math.BigDecimal;
 import java.util.Arrays;
-import java.util.HashMap;
 import java.util.List;
 import java.util.Map;
 import java.util.Objects;
-import java.util.concurrent.CopyOnWriteArrayList;
+import java.util.Set;
+import java.util.concurrent.ConcurrentHashMap;
+import java.util.concurrent.ConcurrentSkipListSet;
+import java.util.concurrent.CopyOnWriteArraySet;
 import java.util.function.Consumer;
 import java.util.function.Function;
 import java.util.function.Predicate;
@@ -28,9 +30,9 @@
  */
 public class SimDeviceSim extends StateDevice<SimDeviceSim.State> {
 
-    private static final HashMap<String, SimDeviceSim.State> STATE_MAP = new HashMap<>();
-    private static final CopyOnWriteArrayList<String> EXISTING_DEVICES = new CopyOnWriteArrayList<>();
-    private static final CopyOnWriteArrayList<Pair<String, SimDeviceCallback>> DEVICE_CALLBACKS = new CopyOnWriteArrayList<>();
+    private static final Map<String, SimDeviceSim.State> STATE_MAP = new ConcurrentHashMap<>();
+    private static final Set<String> EXISTING_DEVICES = new ConcurrentSkipListSet<>();
+    private static final Set<Pair<String, SimDeviceCallback>> DEVICE_CALLBACKS = new CopyOnWriteArraySet<>();
 
     /**
      * Creates a new SimDeviceSim
@@ -75,9 +77,40 @@ public void set(String name, boolean value) {
      */
     public void set(String name, double value) {
         getState().valueTypes.put(name, "d");
+        getState().valueBidirectionality.putIfAbsent(name, false);
         set(name, String.valueOf(value), true);
     }
 
+    /**
+     * Sets the specified value to be bidirectional on the SimDeviceSim. This means that the value can be set from the robot code as well as from the simulation code.
+     * This method MUST be called before the value is set from simulation code. If the value is first set by robot code, this is handled automatically.
+     * For more information, see <a href="https://github.com/DeepBlueRobotics/WPIWebSockets/issues/30">DeepBlueRobotics/WPIWebSockets#30</a>.
+     * @param name the name of the value
+     */
+    public void setBidirectional(String name) {
+        if(Boolean.FALSE.equals(getState().valueBidirectionality.put(name, true))) { // This is the same as oldValue == false, but also accounts for null
+            System.err.println("WARNING: SimDeviceSim (" + id + "): User code is setting " + name + " to be bidirectional, but it has already been used non-bidirectionally! This may cause unexpected behavior. (See DeepBlueRobotics/WPIWebSockets#30)");
+        }
+    }
+
+    /**
+     * Checks whether the specified value is bidirectional on the SimDeviceSim.
+     * @param name the name of the value
+     * @return <code>true</code> if the value is bidirectional, <code>false</code> if it is non-bidirectional or if the value does not yet exist
+     */
+    public boolean isBidirectional(String name) {
+        return getState().valueBidirectionality.getOrDefault(name, false);
+    }
+
+    /**
+     * Determines the prefix to use for the specified value when sending it to the robot code.
+     * @param name the name of the value
+     * @return the prefix to use for the specified value
+     */
+    public String getPrefix(String name) {
+        return isBidirectional(name) ? "<>" : ">";
+    }
+
     /**
      * Calls the specified callback with the device identifier of this device
      */
@@ -95,14 +128,13 @@ public void set(String name, double value) {
      */
     public static final Function<Pair<String, StringCallback>, StringCallback> FETCH_VALUE_CALLBACK = pair -> pair.val2;
     private void set(String name, String value, boolean notifyRobot) {
-        if(!EXISTING_DEVICES.contains(id)) {
+        if(EXISTING_DEVICES.add(id)) {
             DEVICE_CALLBACKS.stream().filter(APPLIES_TO_ME).map(FETCH_DEVICE_CALLBACK).forEach(CALL_DEVICE_CALLBACK);
         }
-        EXISTING_DEVICES.addIfAbsent(id);
         getState().values.put(name, value);
         Consumer<StringCallback> callCallback = callback -> callback.callback(name, value);
         if(!getState().existingValues.contains(name)) {
-            getState().existingValues.addIfAbsent(name);
+            getState().existingValues.add(name);
             getState().valueCreatedCallbacks.forEach(callCallback);
         }
         if(get(value) == null || !value.equals(get(value))) {
@@ -128,7 +160,7 @@ private void set(String name, String value, boolean notifyRobot) {
             } else {
                 valueObj = value;
             }
-            ConnectionProcessor.broadcastMessage(id, "SimDevice", new WSValue(">" + name, valueObj));
+            ConnectionProcessor.broadcastMessage(id, "SimDevice", new WSValue(getPrefix(name) + name, valueObj));
         }
     }
 
@@ -140,7 +172,7 @@ private void set(String name, String value, boolean notifyRobot) {
      * @see #cancelValueCreatedCallback(StringCallback)
      */
     public ScopedObject<StringCallback> registerValueCreatedCallback(StringCallback callback, boolean initialNotify) {
-        getState().valueCreatedCallbacks.addIfAbsent(callback);
+        getState().valueCreatedCallbacks.add(callback);
         if(initialNotify) {
             getState().existingValues.forEach(value -> callback.callback(value, get(value)));
         }
@@ -159,7 +191,7 @@ public ScopedObject<StringCallback> registerValueCreatedCallback(StringCallback
     public void cancelValueCreatedCallback(StringCallback callback) {
         getState().valueCreatedCallbacks.remove(callback);
     }
-  
+
     /**
      * Registers a SimValueCallback to be called whenever the specified value of this device is changed
      * @param callback the callback function to call
@@ -169,7 +201,7 @@ public void cancelValueCreatedCallback(StringCallback callback) {
      */
     public ScopedObject<Pair<String, StringCallback>> registerValueChangedCallback(String value, StringCallback callback, boolean initialNotify) {
         Pair<String, StringCallback> callbackPair = new Pair<>(value, callback);
-        getState().valueChangedCallbacks.addIfAbsent(callbackPair);
+        getState().valueChangedCallbacks.add(callbackPair);
         if(initialNotify) {
             callback.callback(value, get(value));
         }
@@ -188,21 +220,21 @@ public ScopedObject<Pair<String, StringCallback>> registerValueChangedCallback(S
     public void cancelValueChangedCallback(Pair<String, StringCallback> callback) {
         getState().valueChangedCallbacks.remove(callback);
     }
-    
+
     /**
      * @return an array of the identifiers of all created SimDeviceSims. A SimDeviceSim is determined to be created if a value on it has been set.
      */
     public static String[] enumerateDevices(String prefix) {
         return EXISTING_DEVICES.stream().filter(name -> name.startsWith(prefix)).toArray(CREATE_STRING_ARRAY);
     }
-    
+
     /**
      * @return an array of the value names of all values of this SimDeviceSim
      */
     public String[] enumerateValues(String prefix) {
         return getState().existingValues.stream().filter(name -> name.startsWith(prefix)).toArray(CREATE_STRING_ARRAY);
     }
-  
+
     /**
      * Registers a SimDeviceCallback to be called whenever a new SimDeviceSim is created. A SimDeviceSim is determined to be created if a value on it has been set.
      * @param callback the callback function to call
@@ -241,7 +273,19 @@ public static void processMessage(String device, List<WSValue> data) {
         SimDeviceSim simDevice = new SimDeviceSim(device);
         data.stream().filter(Objects::nonNull).forEach(value -> {
             String key = value.getKey();
-            value.setKey(key.substring(key.startsWith("<>") ? 2 : 1));
+            String formattedKey;
+            if(key.startsWith("<>")) {
+                formattedKey = key.substring(2);
+                if(Boolean.FALSE.equals(simDevice.getState().valueBidirectionality.put(formattedKey, true))) { // This is the same as oldValue == false, but also accounts for null
+                    System.err.println("WARNING: SimDeviceSim (" + device + "): WPILib is setting " + formattedKey + " to be bidirectional, but it has already been used non-bidirectionally! This may cause unexpected behavior. (See DeepBlueRobotics/WPIWebSockets#30)");
+                }
+            } else {
+                formattedKey = key.substring(1);
+                if(Boolean.TRUE.equals(simDevice.getState().valueBidirectionality.put(formattedKey, false))) { // This is the same as oldValue == true, but also accounts for null
+                    System.err.println("WARNING: SimDeviceSim (" + device + "): WPILib is setting " + formattedKey + " to be non-bidirectional, but it has already been used bidirectionally! This may cause unexpected behavior. (See DeepBlueRobotics/WPIWebSockets#30)");
+                }
+            }
+            value.setKey(formattedKey);
             if(Boolean.class.isAssignableFrom(value.getValue().getClass())) {
                 simDevice.getState().valueTypes.put(value.getKey(), "b");
             } else if(BigDecimal.class.isAssignableFrom(value.getValue().getClass())) {
@@ -256,21 +300,22 @@ public static void processMessage(String device, List<WSValue> data) {
             simDevice.set(value.getKey(), value.getValue().toString(), false);
         });
     }
-    
+
     @Override
     public State generateState() {
         return new State();
     }
-    
+
     /**
      * Contains all information about the state of a SimDeviceSim
      */
     public static class State {
-        public final Map<String, String> values = new HashMap<>();
-        public final Map<String, String> valueTypes = new HashMap<>();
-        public final CopyOnWriteArrayList<String> existingValues = new CopyOnWriteArrayList<>();
-        public final CopyOnWriteArrayList<StringCallback> valueCreatedCallbacks = new CopyOnWriteArrayList<>();
-        public final CopyOnWriteArrayList<Pair<String, StringCallback>> valueChangedCallbacks = new CopyOnWriteArrayList<>();
+        public final Map<String, String> values = new ConcurrentHashMap<>();
+        public final Map<String, String> valueTypes = new ConcurrentHashMap<>();
+        public final Map<String, Boolean> valueBidirectionality = new ConcurrentHashMap<>();
+        public final Set<String> existingValues = new ConcurrentSkipListSet<>();
+        public final Set<StringCallback> valueCreatedCallbacks = new CopyOnWriteArraySet<>();
+        public final Set<Pair<String, StringCallback>> valueChangedCallbacks = new CopyOnWriteArraySet<>();
     }
 
 }
diff --git a/build.gradle b/build.gradle
index 2b3d7fc..0a8efcd 100644
--- a/build.gradle
+++ b/build.gradle
@@ -44,7 +44,7 @@ task generateDeviceFiles(type: NpxTask) {
 
     // Define the command line that npx should use
     workingDir = buildDir // Because templateDir can't be under it
-    command = '@asyncapi/generator'
+    command = '@asyncapi/generator@1.17.25'
     args = ['--force-write', 
         '-o', "${outputDir}/org/team199/wpiws/devices",
         "https://raw.githubusercontent.com/wpilibsuite/allwpilib/master/simulation/halsim_ws_core/doc/wpilib-ws.yaml", 
@@ -63,8 +63,8 @@ sourceSets.main.java.srcDirs generateDeviceFiles.outputs
 // Use a version of node and npm that is known to work.
 node {
   download = true
-  version = '14.15.1'
-  npmVersion = '6.14.8'
+  version = '18.17.0'
+  npmVersion = '9.8.1'
 }
 
 publishing {
diff --git a/gradle/wrapper/gradle-wrapper.jar b/gradle/wrapper/gradle-wrapper.jar
index cc4fdc2..7454180 100644
Binary files a/gradle/wrapper/gradle-wrapper.jar and b/gradle/wrapper/gradle-wrapper.jar differ
diff --git a/gradle/wrapper/gradle-wrapper.properties b/gradle/wrapper/gradle-wrapper.properties
index 9492014..84a0b92 100644
--- a/gradle/wrapper/gradle-wrapper.properties
+++ b/gradle/wrapper/gradle-wrapper.properties
@@ -1,5 +1,5 @@
 distributionBase=GRADLE_USER_HOME
 distributionPath=wrapper/dists
-distributionUrl=https\://services.gradle.org/distributions/gradle-6.0.1-bin.zip
+distributionUrl=https\://services.gradle.org/distributions/gradle-8.2.1-bin.zip
 zipStoreBase=GRADLE_USER_HOME
 zipStorePath=wrapper/dists
diff --git a/gradlew b/gradlew
index 2fe81a7..c53aefa 100755
--- a/gradlew
+++ b/gradlew
@@ -1,7 +1,7 @@
-#!/usr/bin/env sh
+#!/bin/sh
 
 #
-# Copyright 2015 the original author or authors.
+# Copyright © 2015-2021 the original authors.
 #
 # Licensed under the Apache License, Version 2.0 (the "License");
 # you may not use this file except in compliance with the License.
@@ -17,78 +17,113 @@
 #
 
 ##############################################################################
-##
-##  Gradle start up script for UN*X
-##
+#
+#   Gradle start up script for POSIX generated by Gradle.
+#
+#   Important for running:
+#
+#   (1) You need a POSIX-compliant shell to run this script. If your /bin/sh is
+#       noncompliant, but you have some other compliant shell such as ksh or
+#       bash, then to run this script, type that shell name before the whole
+#       command line, like:
+#
+#           ksh Gradle
+#
+#       Busybox and similar reduced shells will NOT work, because this script
+#       requires all of these POSIX shell features:
+#         * functions;
+#         * expansions «$var», «${var}», «${var:-default}», «${var+SET}»,
+#           «${var#prefix}», «${var%suffix}», and «$( cmd )»;
+#         * compound commands having a testable exit status, especially «case»;
+#         * various built-in commands including «command», «set», and «ulimit».
+#
+#   Important for patching:
+#
+#   (2) This script targets any POSIX shell, so it avoids extensions provided
+#       by Bash, Ksh, etc; in particular arrays are avoided.
+#
+#       The "traditional" practice of packing multiple parameters into a
+#       space-separated string is a well documented source of bugs and security
+#       problems, so this is (mostly) avoided, by progressively accumulating
+#       options in "$@", and eventually passing that to Java.
+#
+#       Where the inherited environment variables (DEFAULT_JVM_OPTS, JAVA_OPTS,
+#       and GRADLE_OPTS) rely on word-splitting, this is performed explicitly;
+#       see the in-line comments for details.
+#
+#       There are tweaks for specific operating systems such as AIX, CygWin,
+#       Darwin, MinGW, and NonStop.
+#
+#   (3) This script is generated from the Groovy template
+#       https://github.com/gradle/gradle/blob/master/subprojects/plugins/src/main/resources/org/gradle/api/internal/plugins/unixStartScript.txt
+#       within the Gradle project.
+#
+#       You can find Gradle at https://github.com/gradle/gradle/.
+#
 ##############################################################################
 
 # Attempt to set APP_HOME
+
 # Resolve links: $0 may be a link
-PRG="$0"
-# Need this for relative symlinks.
-while [ -h "$PRG" ] ; do
-    ls=`ls -ld "$PRG"`
-    link=`expr "$ls" : '.*-> \(.*\)$'`
-    if expr "$link" : '/.*' > /dev/null; then
-        PRG="$link"
-    else
-        PRG=`dirname "$PRG"`"/$link"
-    fi
+app_path=$0
+
+# Need this for daisy-chained symlinks.
+while
+    APP_HOME=${app_path%"${app_path##*/}"}  # leaves a trailing /; empty if no leading path
+    [ -h "$app_path" ]
+do
+    ls=$( ls -ld "$app_path" )
+    link=${ls#*' -> '}
+    case $link in             #(
+      /*)   app_path=$link ;; #(
+      *)    app_path=$APP_HOME$link ;;
+    esac
 done
-SAVED="`pwd`"
-cd "`dirname \"$PRG\"`/" >/dev/null
-APP_HOME="`pwd -P`"
-cd "$SAVED" >/dev/null
+
+APP_HOME=$( cd "${APP_HOME:-./}" && pwd -P ) || exit
 
 APP_NAME="Gradle"
-APP_BASE_NAME=`basename "$0"`
+APP_BASE_NAME=${0##*/}
 
 # Add default JVM options here. You can also use JAVA_OPTS and GRADLE_OPTS to pass JVM options to this script.
 DEFAULT_JVM_OPTS='"-Xmx64m" "-Xms64m"'
 
 # Use the maximum available, or set MAX_FD != -1 to use that value.
-MAX_FD="maximum"
+MAX_FD=maximum
 
 warn () {
     echo "$*"
-}
+} >&2
 
 die () {
     echo
     echo "$*"
     echo
     exit 1
-}
+} >&2
 
 # OS specific support (must be 'true' or 'false').
 cygwin=false
 msys=false
 darwin=false
 nonstop=false
-case "`uname`" in
-  CYGWIN* )
-    cygwin=true
-    ;;
-  Darwin* )
-    darwin=true
-    ;;
-  MINGW* )
-    msys=true
-    ;;
-  NONSTOP* )
-    nonstop=true
-    ;;
+case "$( uname )" in                #(
+  CYGWIN* )         cygwin=true  ;; #(
+  Darwin* )         darwin=true  ;; #(
+  MSYS* | MINGW* )  msys=true    ;; #(
+  NONSTOP* )        nonstop=true ;;
 esac
 
 CLASSPATH=$APP_HOME/gradle/wrapper/gradle-wrapper.jar
 
+
 # Determine the Java command to use to start the JVM.
 if [ -n "$JAVA_HOME" ] ; then
     if [ -x "$JAVA_HOME/jre/sh/java" ] ; then
         # IBM's JDK on AIX uses strange locations for the executables
-        JAVACMD="$JAVA_HOME/jre/sh/java"
+        JAVACMD=$JAVA_HOME/jre/sh/java
     else
-        JAVACMD="$JAVA_HOME/bin/java"
+        JAVACMD=$JAVA_HOME/bin/java
     fi
     if [ ! -x "$JAVACMD" ] ; then
         die "ERROR: JAVA_HOME is set to an invalid directory: $JAVA_HOME
@@ -97,7 +132,7 @@ Please set the JAVA_HOME variable in your environment to match the
 location of your Java installation."
     fi
 else
-    JAVACMD="java"
+    JAVACMD=java
     which java >/dev/null 2>&1 || die "ERROR: JAVA_HOME is not set and no 'java' command could be found in your PATH.
 
 Please set the JAVA_HOME variable in your environment to match the
@@ -105,79 +140,95 @@ location of your Java installation."
 fi
 
 # Increase the maximum file descriptors if we can.
-if [ "$cygwin" = "false" -a "$darwin" = "false" -a "$nonstop" = "false" ] ; then
-    MAX_FD_LIMIT=`ulimit -H -n`
-    if [ $? -eq 0 ] ; then
-        if [ "$MAX_FD" = "maximum" -o "$MAX_FD" = "max" ] ; then
-            MAX_FD="$MAX_FD_LIMIT"
-        fi
-        ulimit -n $MAX_FD
-        if [ $? -ne 0 ] ; then
-            warn "Could not set maximum file descriptor limit: $MAX_FD"
-        fi
-    else
-        warn "Could not query maximum file descriptor limit: $MAX_FD_LIMIT"
-    fi
+if ! "$cygwin" && ! "$darwin" && ! "$nonstop" ; then
+    case $MAX_FD in #(
+      max*)
+        MAX_FD=$( ulimit -H -n ) ||
+            warn "Could not query maximum file descriptor limit"
+    esac
+    case $MAX_FD in  #(
+      '' | soft) :;; #(
+      *)
+        ulimit -n "$MAX_FD" ||
+            warn "Could not set maximum file descriptor limit to $MAX_FD"
+    esac
 fi
 
-# For Darwin, add options to specify how the application appears in the dock
-if $darwin; then
-    GRADLE_OPTS="$GRADLE_OPTS \"-Xdock:name=$APP_NAME\" \"-Xdock:icon=$APP_HOME/media/gradle.icns\""
-fi
+# Collect all arguments for the java command, stacking in reverse order:
+#   * args from the command line
+#   * the main class name
+#   * -classpath
+#   * -D...appname settings
+#   * --module-path (only if needed)
+#   * DEFAULT_JVM_OPTS, JAVA_OPTS, and GRADLE_OPTS environment variables.
 
 # For Cygwin or MSYS, switch paths to Windows format before running java
-if [ "$cygwin" = "true" -o "$msys" = "true" ] ; then
-    APP_HOME=`cygpath --path --mixed "$APP_HOME"`
-    CLASSPATH=`cygpath --path --mixed "$CLASSPATH"`
-    JAVACMD=`cygpath --unix "$JAVACMD"`
-
-    # We build the pattern for arguments to be converted via cygpath
-    ROOTDIRSRAW=`find -L / -maxdepth 1 -mindepth 1 -type d 2>/dev/null`
-    SEP=""
-    for dir in $ROOTDIRSRAW ; do
-        ROOTDIRS="$ROOTDIRS$SEP$dir"
-        SEP="|"
-    done
-    OURCYGPATTERN="(^($ROOTDIRS))"
-    # Add a user-defined pattern to the cygpath arguments
-    if [ "$GRADLE_CYGPATTERN" != "" ] ; then
-        OURCYGPATTERN="$OURCYGPATTERN|($GRADLE_CYGPATTERN)"
-    fi
+if "$cygwin" || "$msys" ; then
+    APP_HOME=$( cygpath --path --mixed "$APP_HOME" )
+    CLASSPATH=$( cygpath --path --mixed "$CLASSPATH" )
+
+    JAVACMD=$( cygpath --unix "$JAVACMD" )
+
     # Now convert the arguments - kludge to limit ourselves to /bin/sh
-    i=0
-    for arg in "$@" ; do
-        CHECK=`echo "$arg"|egrep -c "$OURCYGPATTERN" -`
-        CHECK2=`echo "$arg"|egrep -c "^-"`                                 ### Determine if an option
-
-        if [ $CHECK -ne 0 ] && [ $CHECK2 -eq 0 ] ; then                    ### Added a condition
-            eval `echo args$i`=`cygpath --path --ignore --mixed "$arg"`
-        else
-            eval `echo args$i`="\"$arg\""
+    for arg do
+        if
+            case $arg in                                #(
+              -*)   false ;;                            # don't mess with options #(
+              /?*)  t=${arg#/} t=/${t%%/*}              # looks like a POSIX filepath
+                    [ -e "$t" ] ;;                      #(
+              *)    false ;;
+            esac
+        then
+            arg=$( cygpath --path --ignore --mixed "$arg" )
         fi
-        i=`expr $i + 1`
+        # Roll the args list around exactly as many times as the number of
+        # args, so each arg winds up back in the position where it started, but
+        # possibly modified.
+        #
+        # NB: a `for` loop captures its iteration list before it begins, so
+        # changing the positional parameters here affects neither the number of
+        # iterations, nor the values presented in `arg`.
+        shift                   # remove old arg
+        set -- "$@" "$arg"      # push replacement arg
     done
-    case $i in
-        0) set -- ;;
-        1) set -- "$args0" ;;
-        2) set -- "$args0" "$args1" ;;
-        3) set -- "$args0" "$args1" "$args2" ;;
-        4) set -- "$args0" "$args1" "$args2" "$args3" ;;
-        5) set -- "$args0" "$args1" "$args2" "$args3" "$args4" ;;
-        6) set -- "$args0" "$args1" "$args2" "$args3" "$args4" "$args5" ;;
-        7) set -- "$args0" "$args1" "$args2" "$args3" "$args4" "$args5" "$args6" ;;
-        8) set -- "$args0" "$args1" "$args2" "$args3" "$args4" "$args5" "$args6" "$args7" ;;
-        9) set -- "$args0" "$args1" "$args2" "$args3" "$args4" "$args5" "$args6" "$args7" "$args8" ;;
-    esac
 fi
 
-# Escape application args
-save () {
-    for i do printf %s\\n "$i" | sed "s/'/'\\\\''/g;1s/^/'/;\$s/\$/' \\\\/" ; done
-    echo " "
-}
-APP_ARGS=`save "$@"`
+# Collect all arguments for the java command;
+#   * $DEFAULT_JVM_OPTS, $JAVA_OPTS, and $GRADLE_OPTS can contain fragments of
+#     shell script including quotes and variable substitutions, so put them in
+#     double quotes to make sure that they get re-expanded; and
+#   * put everything else in single quotes, so that it's not re-expanded.
+
+set -- \
+        "-Dorg.gradle.appname=$APP_BASE_NAME" \
+        -classpath "$CLASSPATH" \
+        org.gradle.wrapper.GradleWrapperMain \
+        "$@"
+
+# Use "xargs" to parse quoted args.
+#
+# With -n1 it outputs one arg per line, with the quotes and backslashes removed.
+#
+# In Bash we could simply go:
+#
+#   readarray ARGS < <( xargs -n1 <<<"$var" ) &&
+#   set -- "${ARGS[@]}" "$@"
+#
+# but POSIX shell has neither arrays nor command substitution, so instead we
+# post-process each arg (as a line of input to sed) to backslash-escape any
+# character that might be a shell metacharacter, then use eval to reverse
+# that process (while maintaining the separation between arguments), and wrap
+# the whole thing up as a single "set" statement.
+#
+# This will of course break if any of these variables contains a newline or
+# an unmatched quote.
+#
 
-# Collect all arguments for the java command, following the shell quoting and substitution rules
-eval set -- $DEFAULT_JVM_OPTS $JAVA_OPTS $GRADLE_OPTS "\"-Dorg.gradle.appname=$APP_BASE_NAME\"" -classpath "\"$CLASSPATH\"" org.gradle.wrapper.GradleWrapperMain "$APP_ARGS"
+eval "set -- $(
+        printf '%s\n' "$DEFAULT_JVM_OPTS $JAVA_OPTS $GRADLE_OPTS" |
+        xargs -n1 |
+        sed ' s~[^-[:alnum:]+,./:=@_]~\\&~g; ' |
+        tr '\n' ' '
+    )" '"$@"'
 
 exec "$JAVACMD" "$@"
diff --git a/gradlew.bat b/gradlew.bat
index 9618d8d..107acd3 100644
--- a/gradlew.bat
+++ b/gradlew.bat
@@ -29,6 +29,9 @@ if "%DIRNAME%" == "" set DIRNAME=.
 set APP_BASE_NAME=%~n0
 set APP_HOME=%DIRNAME%
 
+@rem Resolve any "." and ".." in APP_HOME to make it shorter.
+for %%i in ("%APP_HOME%") do set APP_HOME=%%~fi
+
 @rem Add default JVM options here. You can also use JAVA_OPTS and GRADLE_OPTS to pass JVM options to this script.
 set DEFAULT_JVM_OPTS="-Xmx64m" "-Xms64m"
 
@@ -37,7 +40,7 @@ if defined JAVA_HOME goto findJavaFromJavaHome
 
 set JAVA_EXE=java.exe
 %JAVA_EXE% -version >NUL 2>&1
-if "%ERRORLEVEL%" == "0" goto init
+if "%ERRORLEVEL%" == "0" goto execute
 
 echo.
 echo ERROR: JAVA_HOME is not set and no 'java' command could be found in your PATH.
@@ -51,7 +54,7 @@ goto fail
 set JAVA_HOME=%JAVA_HOME:"=%
 set JAVA_EXE=%JAVA_HOME%/bin/java.exe
 
-if exist "%JAVA_EXE%" goto init
+if exist "%JAVA_EXE%" goto execute
 
 echo.
 echo ERROR: JAVA_HOME is set to an invalid directory: %JAVA_HOME%
@@ -61,28 +64,14 @@ echo location of your Java installation.
 
 goto fail
 
-:init
-@rem Get command-line arguments, handling Windows variants
-
-if not "%OS%" == "Windows_NT" goto win9xME_args
-
-:win9xME_args
-@rem Slurp the command line arguments.
-set CMD_LINE_ARGS=
-set _SKIP=2
-
-:win9xME_args_slurp
-if "x%~1" == "x" goto execute
-
-set CMD_LINE_ARGS=%*
-
 :execute
 @rem Setup the command line
 
 set CLASSPATH=%APP_HOME%\gradle\wrapper\gradle-wrapper.jar
 
+
 @rem Execute Gradle
-"%JAVA_EXE%" %DEFAULT_JVM_OPTS% %JAVA_OPTS% %GRADLE_OPTS% "-Dorg.gradle.appname=%APP_BASE_NAME%" -classpath "%CLASSPATH%" org.gradle.wrapper.GradleWrapperMain %CMD_LINE_ARGS%
+"%JAVA_EXE%" %DEFAULT_JVM_OPTS% %JAVA_OPTS% %GRADLE_OPTS% "-Dorg.gradle.appname=%APP_BASE_NAME%" -classpath "%CLASSPATH%" org.gradle.wrapper.GradleWrapperMain %*
 
 :end
 @rem End local scope for the variables with windows NT shell
diff --git a/src/main/java/org/team199/wpiws/Pair.java b/src/main/java/org/team199/wpiws/Pair.java
index ca7e6bd..0011382 100644
--- a/src/main/java/org/team199/wpiws/Pair.java
+++ b/src/main/java/org/team199/wpiws/Pair.java
@@ -1,5 +1,7 @@
 package org.team199.wpiws;
 
+import java.util.Objects;
+
 /**
  * Binds two objects as one
  * @param T the type of the first object
@@ -30,7 +32,7 @@ public Pair(T val1, U val2) {
     public boolean equals(Object obj) {
         if(obj instanceof Pair) {
             Pair<?, ?> other = (Pair<?, ?>)obj;
-            return val1.equals(other.val1) && val2.equals(other.val2);
+            return Objects.equals(val1, other.val1) && Objects.equals(val2, other.val2);
         }
         return false;
     }
diff --git a/src/main/java/org/team199/wpiws/ScopedObject.java b/src/main/java/org/team199/wpiws/ScopedObject.java
index b6702cf..5ba5ffe 100644
--- a/src/main/java/org/team199/wpiws/ScopedObject.java
+++ b/src/main/java/org/team199/wpiws/ScopedObject.java
@@ -9,11 +9,11 @@
  * @param T the object type held by this ScopedObject
  */
 public class ScopedObject<T> implements AutoCloseable {
-    
+
     private final T object;
     private final Consumer<T> closer;
     private boolean isClosed;
-    
+
     /**
      * Creates a ScopedObject from an AutoClosable and assigns its close method to {@link AutoCloseable#close()}
      * @param <T> the type of the object
@@ -34,10 +34,10 @@ public ScopedObject(T object, Consumer<T> closer) {
         this.closer = closer;
         this.isClosed = false;
     }
-    
+
     /**
      * Retrieves the object associeated with this ScopedObject
-     * @return the object associeated with this ScopedObject
+     * @return the object associated with this ScopedObject
      */
     public T getObject() {
         return object;
@@ -59,8 +59,11 @@ public void close() {
         }
     }
 
+    public boolean isClosed() {
+        return isClosed;
+    }
+
     @Override
-    @SuppressWarnings("deprecation")
     protected void finalize() throws Throwable {
         close();
         super.finalize();
@@ -81,5 +84,5 @@ public static <T> Consumer<T> createCloser(ExceptionConsumer<T> closer) {
             }
         };
     }
-    
+
 }
diff --git a/src/main/java/org/team199/wpiws/StateDevice.java b/src/main/java/org/team199/wpiws/StateDevice.java
index 047e627..45a7df8 100644
--- a/src/main/java/org/team199/wpiws/StateDevice.java
+++ b/src/main/java/org/team199/wpiws/StateDevice.java
@@ -11,15 +11,15 @@
  * Represents a device which has a number of internal states based on a given id
  */
 public abstract class StateDevice<T> {
-    
+
     /**
-     * An IntFunction which is equivilent to <code>String[]::new</code>
+     * An IntFunction which is equivalent to <code>String[]::new</code>
      */
     public static final IntFunction<String[]> CREATE_STRING_ARRAY = String[]::new;
     /**
-     * The identifier associated with this StateEvent
+     * The identifier associated with this StateDevice
      */
-    protected final String id;
+    public final String id;
     private final T state;
 
     /**
@@ -35,7 +35,7 @@ public StateDevice(String id, Map<String, T> stateMap) {
         }
         this.state = stateMap.get(id);
     }
-    
+
     /**
      * Retrieves the state from the state map based on this StateDevice's unique identifier
      * @return the state from the state map based on this StateDevice's unique identifier
@@ -44,7 +44,7 @@ public StateDevice(String id, Map<String, T> stateMap) {
     protected T getState() {
         return state;
     }
-    
+
     /**
      * Generates a blank state to be stored in this device type's state map
      */
diff --git a/src/main/java/org/team199/wpiws/UniqueArrayList.java b/src/main/java/org/team199/wpiws/UniqueArrayList.java
deleted file mode 100644
index ff6fdbc..0000000
--- a/src/main/java/org/team199/wpiws/UniqueArrayList.java
+++ /dev/null
@@ -1,20 +0,0 @@
-package org.team199.wpiws;
-
-import java.util.ArrayList;
-
-/**
- * An implementation of ArrayList which prevents {@link java.util.List#add(Object)} from altering the list if the specified element already exists in the list
- */
-public class UniqueArrayList<T> extends ArrayList<T> {
-
-    private static final long serialVersionUID = 7526197689969175318L;
-
-    @Override
-    public boolean add(T e) {
-        if(!contains(e)) {
-            return super.add(e);
-        }
-        return false;
-    }
-    
-}
diff --git a/src/main/java/org/team199/wpiws/connection/ConnectionProcessor.java b/src/main/java/org/team199/wpiws/connection/ConnectionProcessor.java
index 8962341..791c7d9 100644
--- a/src/main/java/org/team199/wpiws/connection/ConnectionProcessor.java
+++ b/src/main/java/org/team199/wpiws/connection/ConnectionProcessor.java
@@ -18,13 +18,13 @@
  * Manages Websocket Connections
  */
 public final class ConnectionProcessor {
-    
+
     private static final CopyOnWriteArrayList<WebSocket> sockets = new CopyOnWriteArrayList<>();
     private static Consumer<Runnable> threadExecutor = Runnable::run;
     private static Object threadExecutorLock = new Object();
-    
+
     /**
-     * Allows custom handling of message processing. This allows for syncronous execution of callbacks with another thread.
+     * Allows custom handling of message processing. This allows for synchronous execution of callbacks with another thread.
      * @param executor A Consumer which will be fed Runnable calls which forward messages to the rest of the code
      */
     public static void setThreadExecutor(Consumer<Runnable> executor) {
@@ -103,14 +103,14 @@ public static void onMessage(WebSocket socket, String message) {
 
     /**
      * Called when an error occurs while processing data for a Websocket
-     * @param socket the WebSocket on which the error occured
+     * @param socket the WebSocket on which the error occurred
      * @param e the Exception which was thrown
      */
     public static void onError(WebSocket socket, Exception e) {
         System.err.println("Error on: " + (socket == null ? "<null>" : getSocketInfo(socket)));
         e.printStackTrace(System.err);
     }
-    
+
     /**
      * Broadcasts a message to all connected WebSockets
      * @param device the device name of the device which sent the message
@@ -120,7 +120,7 @@ public static void onError(WebSocket socket, Exception e) {
     public static void broadcastMessage(Object device, String type, WSValue data) {
         broadcastMessage(device, type, Arrays.asList(new WSValue[] {data}));
     }
-    
+
     /**
      * Broadcasts a message to all connected WebSockets
      * @param device the device name of the device which sent the message
@@ -138,7 +138,7 @@ public static void broadcastMessage(Object device, String type, List<WSValue> da
         String messageJson = message.toJson();
         broadcastMessage(messageJson);
     }
-    
+
     /**
      * Broadcasts a message to all connected WebSockets
      * @param message the message to send
@@ -146,15 +146,15 @@ public static void broadcastMessage(Object device, String type, List<WSValue> da
     public static void broadcastMessage(String message) {
         sockets.stream().filter(WebSocket::isOpen).forEach(socket -> socket.send(message));
     }
-    
+
     /**
-     * Retrieves info about the specifed WebSocket to display to the user
+     * Retrieves info about the specified WebSocket to display to the user
      * @param socket the WebSocket
      */
     public static String getSocketInfo(WebSocket socket) {
         return "local: " + (socket.getLocalSocketAddress() == null ? "<unknown>" : socket.getLocalSocketAddress().toString()) + " remote: " +
             (socket.getRemoteSocketAddress() == null ? "<disconnected>" : socket.getRemoteSocketAddress().toString());
     }
-    
+
     private ConnectionProcessor() {}
 }
diff --git a/src/main/java/org/team199/wpiws/connection/MessageProcessor.java b/src/main/java/org/team199/wpiws/connection/MessageProcessor.java
index b6616cb..dc3541f 100644
--- a/src/main/java/org/team199/wpiws/connection/MessageProcessor.java
+++ b/src/main/java/org/team199/wpiws/connection/MessageProcessor.java
@@ -1,8 +1,10 @@
 package org.team199.wpiws.connection;
 
-import java.util.ArrayList;
-import java.util.HashMap;
 import java.util.List;
+import java.util.Map;
+import java.util.Set;
+import java.util.concurrent.ConcurrentHashMap;
+import java.util.concurrent.ConcurrentSkipListSet;
 
 import org.team199.wpiws.devices.AccelerometerSim;
 import org.team199.wpiws.devices.AnalogInputSim;
@@ -24,10 +26,10 @@
  * Manages a list of {@link DeviceMessageProcessor} objects which handle messages for different device types
  */
 public final class MessageProcessor {
-    
-    private static final HashMap<String, DeviceMessageProcessor> processors = new HashMap<>();
-    private static final ArrayList<String> unknownTypes = new ArrayList<>();
-    
+
+    private static final Map<String, DeviceMessageProcessor> processors = new ConcurrentHashMap<>();
+    private static final Set<String> unknownTypes = new ConcurrentSkipListSet<>();
+
     static {
         registerProcessor("Accel", AccelerometerSim::processMessage);
         registerProcessor("AI", AnalogInputSim::processMessage);
@@ -70,15 +72,14 @@ public static void registerProcessor(String type, DeviceMessageProcessor process
     public static void process(String device, String type, List<WSValue> data) {
         DeviceMessageProcessor processor = processors.get(type);
         if(processor == null) {
-            if(!unknownTypes.contains(type)) {
-                unknownTypes.add(type);
+            if(unknownTypes.add(type)) {
                 System.err.println("No processor found for device of type: \"" + type + "\" messages for devices of this type will be ignored");
             }
             return;
         }
         processor.processMessage(device, data);
     }
-    
+
     private MessageProcessor() {}
 
 }
diff --git a/src/main/java/org/team199/wpiws/connection/WSConnection.java b/src/main/java/org/team199/wpiws/connection/WSConnection.java
index b3183f9..f673d17 100644
--- a/src/main/java/org/team199/wpiws/connection/WSConnection.java
+++ b/src/main/java/org/team199/wpiws/connection/WSConnection.java
@@ -16,7 +16,7 @@
  * Sets up Websockets and forwards their calls to {@link ConnectionProcessor}
  */
 public final class WSConnection {
-    
+
     /**
      * Connects to a WebSocket server on the given URI
      * @param uri the URI to which to connect
@@ -25,9 +25,9 @@ public final class WSConnection {
     public static RunningObject<WebSocketClient> connect(URI uri, boolean autoReconnect) {
         return new RunningObject<>(new WSClientImpl(uri, autoReconnect));
     }
-    
+
     /**
-     * Connects to a the WPI HALSim server using either its default location or the environment variables: HALSIMWS_HOST, HALSIMWS_PORT, and HALSIMWS_URI 
+     * Connects to a the WPI HALSim server using either its default location or the environment variables: HALSIMWS_HOST, HALSIMWS_PORT, and HALSIMWS_URI
      * @return a running WebSocketClient connected to the WPI HALSim server
      */
     public static RunningObject<WebSocketClient> connectHALSim(boolean autoReconnect) throws URISyntaxException {
@@ -40,7 +40,7 @@ public static RunningObject<WebSocketClient> connectHALSim(boolean autoReconnect
         client.object.setConnectionLostTimeout(0);
         return client;
     }
-    
+
     /**
      * Starts a WebSocketServer on the given address
      * @param addr the address on which to start the server
@@ -49,9 +49,9 @@ public static RunningObject<WebSocketClient> connectHALSim(boolean autoReconnect
     public static RunningObject<WebSocketServer> startServer(InetSocketAddress addr) {
         return new RunningObject<>(new WSServerImpl(addr));
     }
-    
+
     /**
-     * Starts a server on either the default location of the WPI HALSim or a generated address based on the environment variables: HALSIMWS_HOST and HALSIMWS_PORT 
+     * Starts a server on either the default location of the WPI HALSim or a generated address based on the environment variables: HALSIMWS_HOST and HALSIMWS_PORT
      * @return a running WebSocketClient connected to the WPI HALSim server
      */
     public static RunningObject<WebSocketServer> startHALSimServer() {
@@ -71,9 +71,9 @@ public static RunningObject<WebSocketServer> startHALSimServer() {
         server.object.setConnectionLostTimeout(0);
         return server;
     }
-    
+
     private WSConnection() {}
-    
+
     /**
      * A WebSocketClient which forwards its method calls to {@link ConnectionProcessor}
      */
@@ -87,7 +87,7 @@ public WSClientImpl(URI serverURI, boolean autoReconnect) {
             this.autoReconnect = autoReconnect;
             retryTimeout = 1;
         }
-        
+
         @Override
         public void onOpen(ServerHandshake handshake) {
             retryTimeout = 0;
@@ -103,7 +103,7 @@ public void onMessage(String message) {
         public void onClose(int code, String reason, boolean remote) {
             ConnectionProcessor.onClose(this, code, reason, remote);
             if(autoReconnect && remote) {
-                System.out.println("Reconnnecting...");
+                System.out.println("Reconnecting...");
                 RunningObject.start(this::tryReconnect);
             }
         }
@@ -135,9 +135,9 @@ public void tryReconnect(long delay) {
                 System.err.println("Interrupted while reconnecting!");
             }
         }
-        
+
     }
-    
+
     /**
      * A WebSocketServer which forwards its method calls to {@link ConnectionProcessor}
      */
@@ -146,7 +146,7 @@ private static class WSServerImpl extends WebSocketServer {
         public WSServerImpl(InetSocketAddress addr) {
             super(addr);
         }
-        
+
         @Override
         public void onOpen(WebSocket socket, ClientHandshake handshake) {
             ConnectionProcessor.onOpen(socket);
@@ -171,7 +171,7 @@ public void onError(WebSocket socket, Exception e) {
         public void onStart() {
             System.out.println("Starting Server on: " + getAddress().toString());
         }
-        
+
     }
-    
+
 }
diff --git a/src/main/java/org/team199/wpiws/connection/WSValue.java b/src/main/java/org/team199/wpiws/connection/WSValue.java
index 273d36b..fdfd2bc 100644
--- a/src/main/java/org/team199/wpiws/connection/WSValue.java
+++ b/src/main/java/org/team199/wpiws/connection/WSValue.java
@@ -51,5 +51,5 @@ public Object getValue() {
     public void setValue(Object value) {
         this.value = value;
     }
-    
+
 }
diff --git a/src/main/java/org/team199/wpiws/interfaces/ExceptionConsumer.java b/src/main/java/org/team199/wpiws/interfaces/ExceptionConsumer.java
index d80851d..b61217f 100644
--- a/src/main/java/org/team199/wpiws/interfaces/ExceptionConsumer.java
+++ b/src/main/java/org/team199/wpiws/interfaces/ExceptionConsumer.java
@@ -7,5 +7,5 @@
 public interface ExceptionConsumer<T> {
 
     public void accept(T t) throws Exception;
-    
+
 }
diff --git a/src/main/java/org/team199/wpiws/interfaces/SimDeviceCallback.java b/src/main/java/org/team199/wpiws/interfaces/SimDeviceCallback.java
index 83683f0..866ea1a 100644
--- a/src/main/java/org/team199/wpiws/interfaces/SimDeviceCallback.java
+++ b/src/main/java/org/team199/wpiws/interfaces/SimDeviceCallback.java
@@ -5,7 +5,7 @@
  */
 @FunctionalInterface
 public interface SimDeviceCallback {
-    
+
     /**
      * Calls the callback
      * @param name the device identifier of the device calling the callback
diff --git a/src/main/java/org/team199/wpiws/interfaces/StringArrayCallback.java b/src/main/java/org/team199/wpiws/interfaces/StringArrayCallback.java
index e311dd6..d7cd8bb 100644
--- a/src/main/java/org/team199/wpiws/interfaces/StringArrayCallback.java
+++ b/src/main/java/org/team199/wpiws/interfaces/StringArrayCallback.java
@@ -12,5 +12,5 @@ public interface StringArrayCallback {
      * @param value the String data values
      */
     public void callback(String name, String value);
-    
+
 }
diff --git a/src/main/java/org/team199/wpiws/interfaces/StringCallback.java b/src/main/java/org/team199/wpiws/interfaces/StringCallback.java
index a60e346..7dd5191 100644
--- a/src/main/java/org/team199/wpiws/interfaces/StringCallback.java
+++ b/src/main/java/org/team199/wpiws/interfaces/StringCallback.java
@@ -12,5 +12,5 @@ public interface StringCallback {
      * @param value the String data value
      */
     public void callback(String name, String value);
-    
+
 }