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[hal,wpilib] Rename "Test" robot mode to "Utility" (#8782)

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The "Utility" name better matches its intended generic use case and
avoids overloaded terminology with unit testing (e.g. the need to name
the opmode annotation `@TestOpMode`).

The driver station will also be updated to reflect this change.
This commit is contained in:
Peter Johnson
2026-04-20 20:29:25 -07:00
committed by GitHub
parent 14d14e4ebc
commit ab00aac960
111 changed files with 487 additions and 488 deletions
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8
commandsv2/src/main/java/org/wpilib/command2/button/RobotModeTriggers.java
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@@ -42,11 +42,11 @@ public final class RobotModeTriggers {
}
/**
* Returns a trigger that is true when the robot is enabled in test mode.
* Returns a trigger that is true when the robot is enabled in utility mode.
*
* @return A trigger that is true when the robot is enabled in test mode.
* @return A trigger that is true when the robot is enabled in utility mode.
*/
public static Trigger test() {
return new Trigger(RobotState::isTestEnabled);
public static Trigger utility() {
return new Trigger(RobotState::isUtilityEnabled);
}
}

4
commandsv2/src/main/native/cpp/frc2/command/button/RobotModeTriggers.cpp
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@@ -20,6 +20,6 @@ Trigger RobotModeTriggers::Disabled() {
return Trigger{&wpi::RobotState::IsDisabled};
}
Trigger RobotModeTriggers::Test() {
return Trigger{&wpi::RobotState::IsTestEnabled};
Trigger RobotModeTriggers::Utility() {
return Trigger{&wpi::RobotState::IsUtilityEnabled};
}

6
commandsv2/src/main/native/include/wpi/commands2/button/RobotModeTriggers.hpp
View File

@@ -40,11 +40,11 @@ class RobotModeTriggers {
static Trigger Disabled();
/**
* Returns a trigger that is true when the robot is enabled in test mode.
* Returns a trigger that is true when the robot is enabled in utility mode.
*
* @return A trigger that is true when the robot is enabled in test mode.
* @return A trigger that is true when the robot is enabled in utility mode.
*/
static Trigger Test();
static Trigger Utility();
};
} // namespace wpi::cmd

2
commandsv2/src/test/java/org/wpilib/MockHardwareExtension.java
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@@ -33,7 +33,7 @@ public final class MockHardwareExtension implements BeforeAllCallback {
HAL.initialize(500, 0);
DriverStationSim.setDsAttached(true);
DriverStationSim.setEnabled(true);
DriverStationSim.setRobotMode(RobotMode.TEST);
DriverStationSim.setRobotMode(RobotMode.UTILITY);
DriverStationSim.notifyNewData();
}
}

6
commandsv2/src/test/java/org/wpilib/command2/button/RobotModeTriggersTest.java
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@@ -33,12 +33,12 @@ class RobotModeTriggersTest extends CommandTestBase {
}
@Test
void testModeTest() {
void utilityTest() {
DriverStationSim.resetData();
DriverStationSim.setRobotMode(RobotMode.TEST);
DriverStationSim.setRobotMode(RobotMode.UTILITY);
DriverStationSim.setEnabled(true);
DriverStationSim.notifyNewData();
Trigger test = RobotModeTriggers.test();
Trigger test = RobotModeTriggers.utility();
assertTrue(test.getAsBoolean());
}

6
commandsv2/src/test/native/cpp/wpi/command/button/RobotModeTriggersTest.cpp
View File

@@ -40,11 +40,11 @@ TEST(RobotModeTriggersTest, Disabled) {
EXPECT_TRUE(disabled.Get());
}
TEST(RobotModeTriggersTest, TestMode) {
TEST(RobotModeTriggersTest, UtilityMode) {
DriverStationSim::ResetData();
DriverStationSim::SetRobotMode(HAL_ROBOT_MODE_TEST);
DriverStationSim::SetRobotMode(HAL_ROBOT_MODE_UTILITY);
DriverStationSim::SetEnabled(true);
DriverStationSim::NotifyNewData();
Trigger test = RobotModeTriggers::Test();
Trigger test = RobotModeTriggers::Utility();
EXPECT_TRUE(test.Get());
}