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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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22
simulation/halsim_gui/src/main/native/cpp/DriverStationGui.cpp
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@@ -309,7 +309,7 @@ struct OpModes {
static wpi::util::mutex gOpModeOptionsMutex;
static OpModes gAutoOpModes;
static OpModes gTeleopOpModes;
static OpModes gTestOpModes;
static OpModes gUtilityOpModes;
static void UpdateOpModes(const char* name, void* param,
const HAL_OpModeOption* opmodes, int32_t count) {
@@ -318,8 +318,8 @@ static void UpdateOpModes(const char* name, void* param,
gAutoOpModes.groups.clear();
gTeleopOpModes.ids.clear();
gTeleopOpModes.groups.clear();
gTestOpModes.ids.clear();
gTestOpModes.groups.clear();
gUtilityOpModes.ids.clear();
gUtilityOpModes.groups.clear();
for (auto&& o : std::span{opmodes, opmodes + count}) {
OpModes* vec;
switch (HAL_OpMode_GetRobotMode(o.id)) {
@@ -329,8 +329,8 @@ static void UpdateOpModes(const char* name, void* param,
case HAL_ROBOT_MODE_TELEOPERATED:
vec = &gTeleopOpModes;
break;
case HAL_ROBOT_MODE_TEST:
vec = &gTestOpModes;
case HAL_ROBOT_MODE_UTILITY:
vec = &gUtilityOpModes;
break;
default:
continue;
@@ -341,7 +341,7 @@ static void UpdateOpModes(const char* name, void* param,
std::string{wpi::util::to_string_view(&o.description)},
o.textColor, o.backgroundColor});
}
for (auto&& vec : {&gAutoOpModes, &gTeleopOpModes, &gTestOpModes}) {
for (auto&& vec : {&gAutoOpModes, &gTeleopOpModes, &gUtilityOpModes}) {
for (auto&& [group, options] : vec->groups) {
std::sort(options.begin(), options.end(),
[](const OpModeOption& a, const OpModeOption& b) {
@@ -1181,9 +1181,9 @@ static void DriverStationExecute() {
isAttached && robotMode == HAL_ROBOT_MODE_TELEOPERATED)) {
DriverStationSetRobotMode(HAL_ROBOT_MODE_TELEOPERATED);
}
if (ImGui::Selectable("Test",
isAttached && robotMode == HAL_ROBOT_MODE_TEST)) {
DriverStationSetRobotMode(HAL_ROBOT_MODE_TEST);
if (ImGui::Selectable("Utility",
isAttached && robotMode == HAL_ROBOT_MODE_UTILITY)) {
DriverStationSetRobotMode(HAL_ROBOT_MODE_UTILITY);
}
// OpMode
bool canEnable = isAttached && started;
@@ -1200,8 +1200,8 @@ static void DriverStationExecute() {
case HAL_ROBOT_MODE_TELEOPERATED:
modes = &gTeleopOpModes;
break;
case HAL_ROBOT_MODE_TEST:
modes = &gTestOpModes;
case HAL_ROBOT_MODE_UTILITY:
modes = &gUtilityOpModes;
break;
default:
modes = nullptr;