[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.

wpilibc/src/main/native/cpp/framework/IterativeRobotBase.cpp

@@ -29,7 +29,7 @@ void IterativeRobotBase::AutonomousInit() {}
 
 void IterativeRobotBase::TeleopInit() {}
 
-void IterativeRobotBase::TestInit() {}
+void IterativeRobotBase::UtilityInit() {}
 
 void IterativeRobotBase::RobotPeriodic() {
   static bool firstRun = true;
@@ -71,7 +71,7 @@ void IterativeRobotBase::TeleopPeriodic() {
   }
 }
 
-void IterativeRobotBase::TestPeriodic() {
+void IterativeRobotBase::UtilityPeriodic() {
   static bool firstRun = true;
   if (firstRun) {
     wpi::util::print("Default {}() method... Override me!\n", __FUNCTION__);
@@ -85,7 +85,7 @@ void IterativeRobotBase::AutonomousExit() {}
 
 void IterativeRobotBase::TeleopExit() {}
 
-void IterativeRobotBase::TestExit() {}
+void IterativeRobotBase::UtilityExit() {}
 
 wpi::units::second_t IterativeRobotBase::GetPeriod() const {
   return m_period;
@@ -114,8 +114,8 @@ void IterativeRobotBase::LoopFunc() {
       AutonomousExit();
     } else if (m_lastMode == static_cast<int>(RobotMode::TELEOPERATED)) {
       TeleopExit();
-    } else if (m_lastMode == static_cast<int>(RobotMode::TEST)) {
-      TestExit();
+    } else if (m_lastMode == static_cast<int>(RobotMode::UTILITY)) {
+      UtilityExit();
     }
 
     // Call current mode's entry function
@@ -128,9 +128,9 @@ void IterativeRobotBase::LoopFunc() {
     } else if (mode == RobotMode::TELEOPERATED) {
       TeleopInit();
       m_watchdog.AddEpoch("TeleopInit()");
-    } else if (mode == RobotMode::TEST) {
-      TestInit();
-      m_watchdog.AddEpoch("TestInit()");
+    } else if (mode == RobotMode::UTILITY) {
+      UtilityInit();
+      m_watchdog.AddEpoch("UtilityInit()");
     }
 
     m_lastMode = static_cast<int>(mode);
@@ -147,9 +147,9 @@ void IterativeRobotBase::LoopFunc() {
   } else if (mode == RobotMode::TELEOPERATED) {
     TeleopPeriodic();
     m_watchdog.AddEpoch("TeleopPeriodic()");
-  } else if (mode == RobotMode::TEST) {
-    TestPeriodic();
-    m_watchdog.AddEpoch("TestPeriodic()");
+  } else if (mode == RobotMode::UTILITY) {
+    UtilityPeriodic();
+    m_watchdog.AddEpoch("UtilityPeriodic()");
   }
 
   RobotPeriodic();

wpilibc/src/main/native/cpp/hardware/motor/MotorSafety.cpp

@@ -153,7 +153,7 @@ void MotorSafety::Check() {
     stopTime = m_stopTime;
   }
 
-  if (!enabled || RobotState::IsDisabled() || RobotState::IsTest()) {
+  if (!enabled || RobotState::IsDisabled() || RobotState::IsUtility()) {
     return;
   }
 

wpilibc/src/main/native/cppcs/RobotBase.cpp

@@ -158,12 +158,12 @@ bool RobotBase::IsTeleopEnabled() {
   return RobotState::IsTeleopEnabled();
 }
 
-bool RobotBase::IsTest() {
-  return RobotState::IsTest();
+bool RobotBase::IsUtility() {
+  return RobotState::IsUtility();
 }
 
-bool RobotBase::IsTestEnabled() {
-  return RobotState::IsTestEnabled();
+bool RobotBase::IsUtilityEnabled() {
+  return RobotState::IsUtilityEnabled();
 }
 
 int64_t RobotBase::GetOpModeId() {

wpilibc/src/main/native/include/wpi/driverstation/RobotState.hpp

@@ -99,20 +99,22 @@ class RobotState final {
   }
 
   /**
-   * 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
    */
-  static bool IsTest() { return wpi::internal::DriverStationBackend::IsTest(); }
+  static bool IsUtility() {
+    return wpi::internal::DriverStationBackend::IsUtility();
+  }
 
   /**
-   * 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.
    */
-  static bool IsTestEnabled() {
-    return wpi::internal::DriverStationBackend::IsTestEnabled();
+  static bool IsUtilityEnabled() {
+    return wpi::internal::DriverStationBackend::IsUtilityEnabled();
   }
 
   /**

wpilibc/src/main/native/include/wpi/driverstation/internal/DriverStationBackend.hpp

@@ -303,19 +303,19 @@ class DriverStationBackend final {
   static bool IsTeleopEnabled() { return GetControlWord().IsTeleopEnabled(); }
 
   /**
-   * 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
    */
-  static bool IsTest() { return GetControlWord().IsTest(); }
+  static bool IsUtility() { return GetControlWord().IsUtility(); }
 
   /**
-   * 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.
    */
-  static bool IsTestEnabled() { return GetControlWord().IsTestEnabled(); }
+  static bool IsUtilityEnabled() { return GetControlWord().IsUtilityEnabled(); }
 
   /**
    * Adds an operating mode option. It's necessary to call PublishOpModes() to

wpilibc/src/main/native/include/wpi/framework/IterativeRobotBase.hpp

@@ -32,8 +32,8 @@ namespace wpi {
  *   another mode
  * \li TeleopInit() -- called each and every time teleop is entered from another
  *   mode
- * \li TestInit() -- called each and every time test is entered from another
- *   mode
+ * \li UtilityInit() -- called each and every time utility is entered from
+ * another mode
  *
  * Periodic() functions -- each of these functions is called on an interval:
  *
@@ -41,7 +41,7 @@ namespace wpi {
  * \li DisabledPeriodic()
  * \li AutonomousPeriodic()
  * \li TeleopPeriodic()
- * \li TestPeriodic()
+ * \li UtilityPeriodic()
  *
  * Exit() functions -- each of the following functions is called once when the
  * appropriate mode is exited:
@@ -49,7 +49,7 @@ namespace wpi {
  * \li DisabledExit() -- called each and every time disabled is exited
  * \li AutonomousExit() -- called each and every time autonomous is exited
  * \li TeleopExit() -- called each and every time teleop is exited
- * \li TestExit() -- called each and every time test is exited
+ * \li UtilityExit() -- called each and every time utility is exited
  */
 class IterativeRobotBase : public RobotBase {
  public:
@@ -97,12 +97,12 @@ class IterativeRobotBase : public RobotBase {
   virtual void TeleopInit();
 
   /**
-   * Initialization code for test mode should go here.
+   * Initialization code for utility mode should go here.
    *
    * Users should override this method for initialization code which will be
-   * called each time the robot enters test mode.
+   * called each time the robot enters utility mode.
    */
-  virtual void TestInit();
+  virtual void UtilityInit();
 
   /**
    * Periodic code for all modes should go here.
@@ -147,13 +147,13 @@ class IterativeRobotBase : public RobotBase {
   virtual void TeleopPeriodic();
 
   /**
-   * Periodic code for test mode should go here.
+   * Periodic code for utility mode should go here.
    *
    * Users should override this method for code which will be called each time a
-   * new packet is received from the driver station and the robot is in test
+   * new packet is received from the driver station and the robot is in utility
    * mode.
    */
-  virtual void TestPeriodic();
+  virtual void UtilityPeriodic();
 
   /**
    * Exit code for disabled mode should go here.
@@ -180,12 +180,12 @@ class IterativeRobotBase : public RobotBase {
   virtual void TeleopExit();
 
   /**
-   * Exit code for test mode should go here.
+   * Exit code for utility mode should go here.
    *
    * Users should override this method for code which will be called each time
-   * the robot exits test mode.
+   * the robot exits utility mode.
    */
-  virtual void TestExit();
+  virtual void UtilityExit();
 
   /**
    * Gets time period between calls to Periodic() functions.

wpilibc/src/main/native/include/wpi/framework/OpModeRobot.hpp

@@ -13,14 +13,11 @@
 #include "wpi/driverstation/Alert.hpp"
 #include "wpi/framework/RobotBase.hpp"
 #include "wpi/hal/DriverStationTypes.hpp"
-#include "wpi/hal/Notifier.h"
 #include "wpi/internal/PeriodicPriorityQueue.hpp"
 #include "wpi/opmode/OpMode.hpp"
 #include "wpi/system/Watchdog.hpp"
 #include "wpi/units/time.hpp"
 #include "wpi/util/DenseMap.hpp"
-#include "wpi/util/SafeThread.hpp"
-#include "wpi/util/Synchronization.hpp"
 #include "wpi/util/mutex.hpp"
 
 namespace wpi::util {

wpilibc/src/main/native/include/wpi/framework/RobotBase.hpp

@@ -191,20 +191,20 @@ class RobotBase {
   static bool IsTeleopEnabled();
 
   /**
-   * Determine if the robot is currently in Test mode.
+   * Determine if the robot is currently in Utility mode.
    *
-   * @return True if the robot is currently running in Test mode as determined
-   * by the Driver Station.
+   * @return True if the robot is currently running in Utility mode as
+   * determined by the Driver Station.
    */
-  static bool IsTest();
+  static bool IsUtility();
 
   /**
-   * Determine if the robot is current in Test mode and enabled.
+   * Determine if the robot is currently in Utility mode and enabled.
    *
-   * @return True if the robot is currently operating in Test mode while
+   * @return True if the robot is currently operating in Utility mode while
    * enabled as determined by the Driver Station.
    */
-  static bool IsTestEnabled();
+  static bool IsUtilityEnabled();
 
   /**
    * Gets the currently selected operating mode of the driver station. Note this

wpilibc/src/main/python/semiwrap/DriverStationBackend.yml

@@ -36,8 +36,8 @@ classes:
       IsAutonomousEnabled:
       IsTeleop:
       IsTeleopEnabled:
-      IsTest:
-      IsTestEnabled:
+      IsUtility:
+      IsUtilityEnabled:
       AddOpMode:
         overloads:
           RobotMode, std::string_view, std::string_view, std::string_view, const wpi::util::Color&, const wpi::util::Color&:

wpilibc/src/main/python/semiwrap/IterativeRobotBase.yml

@@ -5,12 +5,12 @@ classes:
       DisabledInit:
       AutonomousInit:
       TeleopInit:
-      TestInit:
+      UtilityInit:
       RobotPeriodic:
       DisabledPeriodic:
       AutonomousPeriodic:
       TeleopPeriodic:
-      TestPeriodic:
+      UtilityPeriodic:
       IterativeRobotBase:
         overloads:
           double:
@@ -22,7 +22,7 @@ classes:
       DisabledExit:
       AutonomousExit:
       TeleopExit:
-      TestExit:
+      UtilityExit:
       GetPeriod:
       PrintWatchdogEpochs:
     doc: |
@@ -44,7 +44,7 @@ classes:
       - DisabledInit() -- called each and every time disabled is entered from another mode
       - AutonomousInit() -- called each and every time autonomous is entered from another mode
       - TeleopInit() -- called each and every time teleop is entered from another mode
-      - TestInit() -- called each and every time test is entered from another mode
+      - UtilityInit() -- called each and every time utility is entered from another mode
 
       Periodic() functions -- each of these functions is called on an interval:
 
@@ -52,7 +52,7 @@ classes:
       - DisabledPeriodic()
       - AutonomousPeriodic()
       - TeleopPeriodic()
-      - TestPeriodic()
+      - UtilityPeriodic()
 
       Exit() functions -- each of the following functions is called once when the
       appropriate mode is exited:
@@ -60,4 +60,4 @@ classes:
       - DisabledExit() -- called each and every time disabled is exited
       - AutonomousExit() -- called each and every time autonomous is exited
       - TeleopExit() -- called each and every time teleop is exited
-      - TestExit() -- called each and every time test is exited
+      - UtilityExit() -- called each and every time utility is exited

wpilibc/src/main/python/semiwrap/RobotBase.yml

@@ -25,8 +25,8 @@ classes:
       IsAutonomousEnabled:
       IsTeleop:
       IsTeleopEnabled:
-      IsTest:
-      IsTestEnabled:
+      IsUtility:
+      IsUtilityEnabled:
       GetThreadId:
         ignore: true
       StartCompetition:

wpilibc/src/main/python/semiwrap/RobotState.yml

@@ -12,8 +12,8 @@ classes:
       IsAutonomousEnabled:
       IsTeleop:
       IsTeleopEnabled:
-      IsTest:
-      IsTestEnabled:
+      IsUtility:
+      IsUtilityEnabled:
       AddOpMode:
         overloads:
           RobotMode, std::string_view, std::string_view, std::string_view, const wpi::util::Color&, const wpi::util::Color&:

wpilibc/src/test/native/cpp/OpModeRobotTest.cpp

@@ -78,7 +78,7 @@ TEST_F(OpModeRobotTest, AddOpMode) {
       AddOpMode<MockOpMode>(wpi::RobotMode::AUTONOMOUS, "NoArgOpMode-Auto",
                             "Group", "Description", wpi::util::Color::WHITE,
                             wpi::util::Color::BLACK);
-      AddOpMode<OneArgOpMode>(wpi::RobotMode::TEST, "OneArgOpMode-Test",
+      AddOpMode<OneArgOpMode>(wpi::RobotMode::UTILITY, "OneArgOpMode-Test",
                               "Group", "Description", wpi::util::Color::WHITE,
                               wpi::util::Color::BLACK);
       AddOpMode<MockOpMode>(wpi::RobotMode::TELEOPERATED, "NoArgOpMode");

wpilibc/src/test/native/cpp/TimedRobotTest.cpp

@@ -60,7 +60,7 @@ class MockRobot : public TimedRobot {
 
   void TeleopInit() override { m_teleopInitCount++; }
 
-  void TestInit() override { m_testInitCount++; }
+  void UtilityInit() override { m_testInitCount++; }
 
   void RobotPeriodic() override { m_robotPeriodicCount++; }
 
@@ -72,7 +72,7 @@ class MockRobot : public TimedRobot {
 
   void TeleopPeriodic() override { m_teleopPeriodicCount++; }
 
-  void TestPeriodic() override { m_testPeriodicCount++; }
+  void UtilityPeriodic() override { m_testPeriodicCount++; }
 
   void DisabledExit() override { m_disabledExitCount++; }
 
@@ -80,7 +80,7 @@ class MockRobot : public TimedRobot {
 
   void TeleopExit() override { m_teleopExitCount++; }
 
-  void TestExit() override { m_testExitCount++; }
+  void UtilityExit() override { m_testExitCount++; }
 };
 }  // namespace
 
@@ -305,7 +305,7 @@ TEST_F(TimedRobotTest, TestMode) {
   wpi::sim::WaitForProgramStart();
 
   wpi::sim::DriverStationSim::SetEnabled(true);
-  wpi::sim::DriverStationSim::SetRobotMode(HAL_ROBOT_MODE_TEST);
+  wpi::sim::DriverStationSim::SetRobotMode(HAL_ROBOT_MODE_UTILITY);
   wpi::sim::DriverStationSim::NotifyNewData();
 
   EXPECT_EQ(1u, robot.m_simulationInitCount);
@@ -460,7 +460,7 @@ TEST_F(TimedRobotTest, ModeChange) {
 
   // Transition to test
   wpi::sim::DriverStationSim::SetEnabled(true);
-  wpi::sim::DriverStationSim::SetRobotMode(HAL_ROBOT_MODE_TEST);
+  wpi::sim::DriverStationSim::SetRobotMode(HAL_ROBOT_MODE_UTILITY);
   wpi::sim::DriverStationSim::NotifyNewData();
 
   wpi::sim::StepTiming(kPeriod);

wpilibc/src/test/native/cpp/simulation/DriverStationSimTest.cpp

@@ -54,17 +54,17 @@ TEST(DriverStationTest, Mode) {
   HAL_Initialize(500, 0);
   DriverStationSim::ResetData();
 
-  EXPECT_FALSE(RobotState::IsTest());
+  EXPECT_FALSE(RobotState::IsUtility());
   EnumCallback callback;
   auto cb = DriverStationSim::RegisterRobotModeCallback(callback.GetCallback(),
                                                         false);
-  DriverStationSim::SetRobotMode(HAL_ROBOT_MODE_TEST);
+  DriverStationSim::SetRobotMode(HAL_ROBOT_MODE_UTILITY);
   DriverStationSim::NotifyNewData();
-  EXPECT_EQ(DriverStationSim::GetRobotMode(), HAL_ROBOT_MODE_TEST);
-  EXPECT_TRUE(RobotState::IsTest());
-  EXPECT_EQ(RobotState::GetRobotMode(), RobotMode::TEST);
+  EXPECT_EQ(DriverStationSim::GetRobotMode(), HAL_ROBOT_MODE_UTILITY);
+  EXPECT_TRUE(RobotState::IsUtility());
+  EXPECT_EQ(RobotState::GetRobotMode(), RobotMode::UTILITY);
   EXPECT_TRUE(callback.WasTriggered());
-  EXPECT_EQ(callback.GetLastValue(), HAL_ROBOT_MODE_TEST);
+  EXPECT_EQ(callback.GetLastValue(), HAL_ROBOT_MODE_UTILITY);
 }
 
 TEST(DriverStationTest, Estop) {

wpilibc/src/test/python/test_opmode_robot.py

@@ -73,8 +73,8 @@ def test_add_op_mode():
             )
             self.addOpMode(
                 OneArgOpMode,
-                RobotMode.TEST,
-                "OneArgOpMode-Test",
+                RobotMode.UTILITY,
+                "OneArgOpMode-Utility",
                 "Group",
                 "Description",
                 Color.WHITE,