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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
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@@ -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;
}