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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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12
hal/src/main/native/cpp/DashboardOpMode.cpp
View File

@@ -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;
}

2
hal/src/main/native/include/wpi/hal/DriverStationTypes.h
View File

@@ -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,
};
/**

20
hal/src/main/native/include/wpi/hal/DriverStationTypes.hpp
View File

@@ -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;";
}