[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