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

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.

hal/src/main/java/org/wpilib/hardware/hal/ControlWord.java

@@ -181,23 +181,23 @@ public class ControlWord {
   }
 
   /**
-   * Gets a value indicating whether the Driver Station requires the robot to be running in test
+   * Gets a value indicating whether the Driver Station requires the robot to be running in utility
    * mode.
    *
-   * @return True if test mode should be enabled, false otherwise.
+   * @return True if utility mode should be enabled, false otherwise.
    */
-  public boolean isTest() {
-    return getRobotMode() == RobotMode.TEST;
+  public boolean isUtility() {
+    return getRobotMode() == RobotMode.UTILITY;
   }
 
   /**
-   * Gets a value indicating whether the Driver Station requires the robot to be running in test
+   * Gets a value indicating whether the Driver Station requires the robot to be running in utility
    * mode and enabled.
    *
-   * @return True if test mode should be set and the robot should be enabled.
+   * @return True if utility mode should be set and the robot should be enabled.
    */
-  public boolean isTestEnabled() {
-    return isTest() && isEnabled() && isDSAttached();
+  public boolean isUtilityEnabled() {
+    return isUtility() && isEnabled() && isDSAttached();
   }
 
   /**

hal/src/main/java/org/wpilib/hardware/hal/RobotMode.java

@@ -12,8 +12,8 @@ public enum RobotMode {
   AUTONOMOUS(1),
   /** Teleoperated. */
   TELEOPERATED(2),
-  /** Test. */
-  TEST(3);
+  /** Utility. */
+  UTILITY(3);
 
   private final int value;
 
@@ -35,7 +35,7 @@ public enum RobotMode {
     return switch (value) {
       case 1 -> AUTONOMOUS;
       case 2 -> TELEOPERATED;
-      case 3 -> TEST;
+      case 3 -> UTILITY;
       default -> UNKNOWN;
     };
   }

hal/src/main/java/org/wpilib/hardware/hal/struct/ControlWordStruct.java

@@ -27,7 +27,7 @@ public class ControlWordStruct implements Struct<ControlWord> {
   @Override
   public String getSchema() {
     return "uint64 opModeHash:56;"
-        + "enum{unknown=0,autonomous=1,teleoperated=2,test=3} uint64 robotMode:2;"
+        + "enum{unknown=0,autonomous=1,teleoperated=2,utility=3} uint64 robotMode:2;"
         + "bool enabled:1;bool eStop:1;bool fmsAttached:1;bool dsAttached:1;";
   }
 

hal/src/main/native/cpp/DashboardOpMode.cpp

@@ -99,13 +99,13 @@ struct DashboardOpModeInstance {
   void Start(nt::NetworkTableInstance inst) {
     autoOpModes.Start(inst, "/SmartDashboard/Auto OpMode");
     teleopOpModes.Start(inst, "/SmartDashboard/Teleop OpMode");
-    testOpModes.Start(inst, "/SmartDashboard/Test OpMode");
+    utilityOpModes.Start(inst, "/SmartDashboard/Utility OpMode");
   }
 
   util::mutex mutex;
   DashboardOpModeSender autoOpModes;
   DashboardOpModeSender teleopOpModes;
-  DashboardOpModeSender testOpModes;
+  DashboardOpModeSender utilityOpModes;
 };
 }  // namespace
 
@@ -122,7 +122,7 @@ void hal::SetDashboardOpModeOptions(std::span<const HAL_OpModeOption> options) {
   std::scoped_lock lock{gInstance->mutex};
   gInstance->autoOpModes.SetOptions(options, HAL_ROBOT_MODE_AUTONOMOUS);
   gInstance->teleopOpModes.SetOptions(options, HAL_ROBOT_MODE_TELEOPERATED);
-  gInstance->testOpModes.SetOptions(options, HAL_ROBOT_MODE_TEST);
+  gInstance->utilityOpModes.SetOptions(options, HAL_ROBOT_MODE_UTILITY);
 }
 
 void hal::StartDashboardOpMode() {
@@ -141,7 +141,7 @@ void hal::EnableDashboardOpMode() {
   std::scoped_lock lock{gInstance->mutex};
   gInstance->autoOpModes.Enable();
   gInstance->teleopOpModes.Enable();
-  gInstance->testOpModes.Enable();
+  gInstance->utilityOpModes.Enable();
 }
 
 int64_t hal::GetDashboardSelectedOpMode(HAL_RobotMode robotMode) {
@@ -154,8 +154,8 @@ int64_t hal::GetDashboardSelectedOpMode(HAL_RobotMode robotMode) {
       return gInstance->autoOpModes.GetSelected();
     case HAL_ROBOT_MODE_TELEOPERATED:
       return gInstance->teleopOpModes.GetSelected();
-    case HAL_ROBOT_MODE_TEST:
-      return gInstance->testOpModes.GetSelected();
+    case HAL_ROBOT_MODE_UTILITY:
+      return gInstance->utilityOpModes.GetSelected();
     default:
       return 0;
   }

hal/src/main/native/include/wpi/hal/DriverStationTypes.h

@@ -56,7 +56,7 @@ HAL_ENUM(HAL_RobotMode) {
   HAL_ROBOT_MODE_UNKNOWN = 0,
   HAL_ROBOT_MODE_AUTONOMOUS,
   HAL_ROBOT_MODE_TELEOPERATED,
-  HAL_ROBOT_MODE_TEST,
+  HAL_ROBOT_MODE_UTILITY,
 };
 
 /**

hal/src/main/native/include/wpi/hal/DriverStationTypes.hpp

@@ -19,8 +19,8 @@ enum class RobotMode {
   AUTONOMOUS = HAL_ROBOT_MODE_AUTONOMOUS,
   /// Teleoperated.
   TELEOPERATED = HAL_ROBOT_MODE_TELEOPERATED,
-  /// Test.
-  TEST = HAL_ROBOT_MODE_TEST
+  /// Utility.
+  UTILITY = HAL_ROBOT_MODE_UTILITY
 };
 
 /**
@@ -174,20 +174,20 @@ class ControlWord {
   }
 
   /**
-   * Check if the DS is commanding test mode.
+   * Check if the DS is commanding utility mode.
    *
-   * @return True if the robot is being commanded to be in test mode
+   * @return True if the robot is being commanded to be in utility mode
    */
-  bool IsTest() const { return GetRobotMode() == RobotMode::TEST; }
+  bool IsUtility() const { return GetRobotMode() == RobotMode::UTILITY; }
 
   /**
-   * Check if the DS is commanding test mode and if it has enabled the robot.
+   * Check if the DS is commanding utility mode and if it has enabled the robot.
    *
-   * @return True if the robot is being commanded to be in test mode and
+   * @return True if the robot is being commanded to be in utility mode and
    * enabled.
    */
-  bool IsTestEnabled() const {
-    return IsTest() && IsEnabled() && IsDSAttached();
+  bool IsUtilityEnabled() const {
+    return IsUtility() && IsEnabled() && IsDSAttached();
   }
 
   /**
@@ -217,7 +217,7 @@ struct wpi::util::Struct<wpi::hal::ControlWord> {
   static constexpr size_t GetSize() { return 8; }
   static constexpr std::string_view GetSchema() {
     return "uint64 opModeHash:56;"
-           "enum{unknown=0,autonomous=1,teleoperated=2,test=3}"
+           "enum{unknown=0,autonomous=1,teleoperated=2,utility=3}"
            "uint64 robotMode:2;"
            "bool enabled:1;bool eStop:1;bool fmsAttached:1;bool dsAttached:1;";
   }

hal/src/main/python/semiwrap/DriverStationTypes.yml

@@ -29,6 +29,6 @@ classes:
       IsAutonomousEnabled:
       IsTeleop:
       IsTeleopEnabled:
-      IsTest:
-      IsTestEnabled:
+      IsUtility:
+      IsUtilityEnabled:
       GetValue: