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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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2
wpilibc/src/test/native/cpp/OpModeRobotTest.cpp
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@@ -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");

10
wpilibc/src/test/native/cpp/TimedRobotTest.cpp
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@@ -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);

12
wpilibc/src/test/native/cpp/simulation/DriverStationSimTest.cpp
View File

@@ -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) {

4
wpilibc/src/test/python/test_opmode_robot.py
View File

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