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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
wpilibc/src/main/native/cpp/framework/IterativeRobotBase.cpp
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@@ -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();