[wpilib] Rename DriverStation::IsOperatorControl() to IsTeleop() (#3505)

wpilibc/src/main/native/cpp/DriverStation.cpp

@@ -462,12 +462,20 @@ bool DriverStation::IsAutonomousEnabled() {
 }
 
 bool DriverStation::IsOperatorControl() {
+  return IsTeleop();
+}
+
+bool DriverStation::IsTeleop() {
   HAL_ControlWord controlWord;
   HAL_GetControlWord(&controlWord);
   return !(controlWord.autonomous || controlWord.test);
 }
 
 bool DriverStation::IsOperatorControlEnabled() {
+  return IsTeleopEnabled();
+}
+
+bool DriverStation::IsTeleopEnabled() {
   HAL_ControlWord controlWord;
   HAL_GetControlWord(&controlWord);
   return !controlWord.autonomous && !controlWord.test && controlWord.enabled;
@@ -621,6 +629,10 @@ void DriverStation::InAutonomous(bool entering) {
 }
 
 void DriverStation::InOperatorControl(bool entering) {
+  InTeleop(entering);
+}
+
+void DriverStation::InTeleop(bool entering) {
   ::GetInstance().userInTeleop = entering;
 }
 

wpilibc/src/main/native/cpp/RobotState.cpp

@@ -21,7 +21,11 @@ bool RobotState::IsEStopped() {
 }
 
 bool RobotState::IsOperatorControl() {
-  return DriverStation::IsOperatorControl();
+  return IsTeleop();
+}
+
+bool RobotState::IsTeleop() {
+  return DriverStation::IsTeleop();
 }
 
 bool RobotState::IsAutonomous() {

wpilibc/src/main/native/cppcs/RobotBase.cpp

@@ -179,11 +179,19 @@ bool RobotBase::IsAutonomousEnabled() const {
 }
 
 bool RobotBase::IsOperatorControl() const {
-  return DriverStation::IsOperatorControl();
+  return DriverStation::IsTeleop();
+}
+
+bool RobotBase::IsTeleop() const {
+  return DriverStation::IsTeleop();
 }
 
 bool RobotBase::IsOperatorControlEnabled() const {
-  return DriverStation::IsOperatorControlEnabled();
+  return DriverStation::IsTeleopEnabled();
+}
+
+bool RobotBase::IsTeleopEnabled() const {
+  return DriverStation::IsTeleopEnabled();
 }
 
 bool RobotBase::IsTest() const {

wpilibc/src/main/native/include/frc/DriverStation.h

@@ -195,16 +195,35 @@ class DriverStation {
    * Check if the DS is commanding teleop mode.
    *
    * @return True if the robot is being commanded to be in teleop mode
+   * @deprecated Use IsTeleop() instead.
    */
+  WPI_DEPRECATED("Use IsTeleop() instead")
   static bool IsOperatorControl();
 
+  /**
+   * Check if the DS is commanding teleop mode.
+   *
+   * @return True if the robot is being commanded to be in teleop mode
+   */
+  static bool IsTeleop();
+
+  /**
+   * Check if the DS is commanding teleop mode and if it has enabled the robot.
+   *
+   * @return True if the robot is being commanded to be in teleop mode and
+   * enabled.
+   * @deprecated Use IsTeleopEnabled() instead.
+   */
+  WPI_DEPRECATED("Use IsTeleopEnabled() instead")
+  static bool IsOperatorControlEnabled();
+
   /**
    * Check if the DS is commanding teleop mode and if it has enabled the robot.
    *
    * @return True if the robot is being commanded to be in teleop mode and
    * enabled.
    */
-  static bool IsOperatorControlEnabled();
+  static bool IsTeleopEnabled();
 
   /**
    * Check if the DS is commanding test mode.
@@ -377,9 +396,20 @@ class DriverStation {
    *
    * @param entering If true, starting teleop code; if false, leaving teleop
    *                 code.
+   * @deprecated Use InTeleop() instead.
    */
+  WPI_DEPRECATED("Use InTeleop() instead")
   static void InOperatorControl(bool entering);
 
+  /**
+   * Only to be used to tell the Driver Station what code you claim to be
+   * executing for diagnostic purposes only.
+   *
+   * @param entering If true, starting teleop code; if false, leaving teleop
+   *                 code.
+   */
+  static void InTeleop(bool entering);
+
   /**
    * Only to be used to tell the Driver Station what code you claim to be
    * executing for diagnostic purposes only.

wpilibc/src/main/native/include/frc/RobotBase.h

@@ -11,6 +11,7 @@
 #include <hal/HALBase.h>
 #include <hal/Main.h>
 #include <wpi/condition_variable.h>
+#include <wpi/deprecated.h>
 #include <wpi/mutex.h>
 
 #include "frc/Errors.h"
@@ -154,16 +155,36 @@ class RobotBase {
    *
    * @return True if the robot is currently operating in Tele-Op mode as
    *         determined by the field controls.
+   * @deprecated Use IsTeleop() instead.
    */
+  WPI_DEPRECATED("Use IsTeleop() instead")
   bool IsOperatorControl() const;
 
+  /**
+   * Determine if the robot is currently in Operator Control mode.
+   *
+   * @return True if the robot is currently operating in Tele-Op mode as
+   *         determined by the field controls.
+   */
+  bool IsTeleop() const;
+
+  /**
+   * Determine if the robot is current in Operator Control mode and enabled.
+   *
+   * @return True if the robot is currently operating in Tele-Op mode while
+   *         enabled as determined by the field-controls.
+   * @deprecated Use IsTeleopEnabled() instead.
+   */
+  WPI_DEPRECATED("Use IsTeleopEnabled() instead")
+  bool IsOperatorControlEnabled() const;
+
   /**
    * Determine if the robot is current in Operator Control mode and enabled.
    *
    * @return True if the robot is currently operating in Tele-Op mode while
    * wnabled as determined by the field-controls.
    */
-  bool IsOperatorControlEnabled() const;
+  bool IsTeleopEnabled() const;
 
   /**
    * Determine if the robot is currently in Test mode.

wpilibc/src/main/native/include/frc/RobotState.h

@@ -4,6 +4,8 @@
 
 #pragma once
 
+#include <wpi/deprecated.h>
+
 namespace frc {
 
 class RobotState {
@@ -13,7 +15,9 @@ class RobotState {
   static bool IsDisabled();
   static bool IsEnabled();
   static bool IsEStopped();
+  WPI_DEPRECATED("Use IsTeleop() instead")
   static bool IsOperatorControl();
+  static bool IsTeleop();
   static bool IsAutonomous();
   static bool IsTest();
 };