[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.

wpilibcExamples/src/main/cpp/templates/commandv2/cpp/Robot.cpp

@@ -11,7 +11,7 @@ Robot::Robot() {}
 /**
  * This function is called every 20 ms, no matter the mode. Use
  * this for items like diagnostics that you want to run during disabled,
- * autonomous, teleoperated and test.
+ * autonomous, teleoperated and utility.
  *
  * <p> This runs after the mode specific periodic functions, but before
  * LiveWindow and SmartDashboard integrated updating.
@@ -60,9 +60,9 @@ void Robot::TeleopInit() {
 void Robot::TeleopPeriodic() {}
 
 /**
- * This function is called periodically during test mode.
+ * This function is called periodically during utility mode.
  */
-void Robot::TestPeriodic() {}
+void Robot::UtilityPeriodic() {}
 
 /**
  * This function is called once when the robot is first started up.

wpilibcExamples/src/main/cpp/templates/commandv2/include/Robot.hpp

@@ -20,7 +20,7 @@ class Robot : public wpi::TimedRobot {
   void AutonomousPeriodic() override;
   void TeleopInit() override;
   void TeleopPeriodic() override;
-  void TestPeriodic() override;
+  void UtilityPeriodic() override;
   void SimulationInit() override;
   void SimulationPeriodic() override;
 

wpilibcExamples/src/main/cpp/templates/commandv2skeleton/cpp/Robot.cpp

@@ -41,13 +41,13 @@ void Robot::TeleopPeriodic() {}
 
 void Robot::TeleopExit() {}
 
-void Robot::TestInit() {
+void Robot::UtilityInit() {
   wpi::cmd::CommandScheduler::GetInstance().CancelAll();
 }
 
-void Robot::TestPeriodic() {}
+void Robot::UtilityPeriodic() {}
 
-void Robot::TestExit() {}
+void Robot::UtilityExit() {}
 
 #ifndef RUNNING_WPILIB_TESTS
 int main() {

wpilibcExamples/src/main/cpp/templates/commandv2skeleton/include/Robot.hpp

@@ -23,9 +23,9 @@ class Robot : public wpi::TimedRobot {
   void TeleopInit() override;
   void TeleopPeriodic() override;
   void TeleopExit() override;
-  void TestInit() override;
-  void TestPeriodic() override;
-  void TestExit() override;
+  void UtilityInit() override;
+  void UtilityPeriodic() override;
+  void UtilityExit() override;
 
  private:
   std::optional<wpi::cmd::CommandPtr> m_autonomousCommand;

wpilibcExamples/src/main/cpp/templates/robotbaseskeleton/cpp/Robot.cpp

@@ -17,7 +17,7 @@ void Robot::Autonomous() {}
 
 void Robot::Teleop() {}
 
-void Robot::Test() {}
+void Robot::Utility() {}
 
 void Robot::StartCompetition() {
   wpi::internal::DriverStationModeThread modeThread{wpi::hal::GetControlWord()};
@@ -25,7 +25,7 @@ void Robot::StartCompetition() {
   // Create an opmode per robot mode
   wpi::RobotState::AddOpMode(wpi::RobotMode::AUTONOMOUS, "Auto");
   wpi::RobotState::AddOpMode(wpi::RobotMode::TELEOPERATED, "Teleop");
-  wpi::RobotState::AddOpMode(wpi::RobotMode::TEST, "Test");
+  wpi::RobotState::AddOpMode(wpi::RobotMode::UTILITY, "Utility");
   wpi::RobotState::PublishOpModes();
 
   wpi::util::Event event{false, false};
@@ -47,9 +47,9 @@ void Robot::StartCompetition() {
       while (IsAutonomousEnabled()) {
         wpi::util::WaitForObject(event.GetHandle());
       }
-    } else if (IsTest()) {
-      Test();
-      while (IsTest() && IsEnabled()) {
+    } else if (IsUtility()) {
+      Utility();
+      while (IsUtility() && IsEnabled()) {
         wpi::util::WaitForObject(event.GetHandle());
       }
     } else {

wpilibcExamples/src/main/cpp/templates/robotbaseskeleton/include/Robot.hpp

@@ -14,7 +14,7 @@ class Robot : public wpi::RobotBase {
   void Disabled();
   void Autonomous();
   void Teleop();
-  void Test();
+  void Utility();
 
   void StartCompetition() override;
   void EndCompetition() override;

wpilibcExamples/src/main/cpp/templates/timed/cpp/Robot.cpp

@@ -16,7 +16,7 @@ Robot::Robot() {
 /**
  * This function is called every 20 ms, no matter the mode. Use
  * this for items like diagnostics that you want ran during disabled,
- * autonomous, teleoperated and test.
+ * autonomous, teleoperated and utility.
  *
  * <p> This runs after the mode specific periodic functions, but before
  * LiveWindow and SmartDashboard integrated updating.
@@ -63,9 +63,9 @@ void Robot::DisabledInit() {}
 
 void Robot::DisabledPeriodic() {}
 
-void Robot::TestInit() {}
+void Robot::UtilityInit() {}
 
-void Robot::TestPeriodic() {}
+void Robot::UtilityPeriodic() {}
 
 void Robot::SimulationInit() {}
 

wpilibcExamples/src/main/cpp/templates/timed/include/Robot.hpp

@@ -19,8 +19,8 @@ class Robot : public wpi::TimedRobot {
   void TeleopPeriodic() override;
   void DisabledInit() override;
   void DisabledPeriodic() override;
-  void TestInit() override;
-  void TestPeriodic() override;
+  void UtilityInit() override;
+  void UtilityPeriodic() override;
   void SimulationInit() override;
   void SimulationPeriodic() override;
 

wpilibcExamples/src/main/cpp/templates/timedskeleton/cpp/Robot.cpp

@@ -16,8 +16,8 @@ void Robot::TeleopPeriodic() {}
 void Robot::DisabledInit() {}
 void Robot::DisabledPeriodic() {}
 
-void Robot::TestInit() {}
-void Robot::TestPeriodic() {}
+void Robot::UtilityInit() {}
+void Robot::UtilityPeriodic() {}
 
 void Robot::SimulationInit() {}
 void Robot::SimulationPeriodic() {}

wpilibcExamples/src/main/cpp/templates/timedskeleton/include/Robot.hpp

@@ -20,8 +20,8 @@ class Robot : public wpi::TimedRobot {
   void DisabledInit() override;
   void DisabledPeriodic() override;
 
-  void TestInit() override;
-  void TestPeriodic() override;
+  void UtilityInit() override;
+  void UtilityPeriodic() override;
 
   void SimulationInit() override;
   void SimulationPeriodic() override;

wpilibcExamples/src/main/cpp/templates/timeslice/cpp/Robot.cpp

@@ -74,9 +74,9 @@ void Robot::DisabledInit() {}
 
 void Robot::DisabledPeriodic() {}
 
-void Robot::TestInit() {}
+void Robot::UtilityInit() {}
 
-void Robot::TestPeriodic() {}
+void Robot::UtilityPeriodic() {}
 
 #ifndef RUNNING_WPILIB_TESTS
 int main() {

wpilibcExamples/src/main/cpp/templates/timeslice/include/Robot.hpp

@@ -19,8 +19,8 @@ class Robot : public wpi::TimesliceRobot {
   void TeleopPeriodic() override;
   void DisabledInit() override;
   void DisabledPeriodic() override;
-  void TestInit() override;
-  void TestPeriodic() override;
+  void UtilityInit() override;
+  void UtilityPeriodic() override;
 
  private:
   wpi::SendableChooser<std::string> m_chooser;

wpilibcExamples/src/main/cpp/templates/timesliceskeleton/cpp/Robot.cpp

@@ -28,8 +28,8 @@ void Robot::TeleopPeriodic() {}
 void Robot::DisabledInit() {}
 void Robot::DisabledPeriodic() {}
 
-void Robot::TestInit() {}
-void Robot::TestPeriodic() {}
+void Robot::UtilityInit() {}
+void Robot::UtilityPeriodic() {}
 
 #ifndef RUNNING_WPILIB_TESTS
 int main() {

wpilibcExamples/src/main/cpp/templates/timesliceskeleton/include/Robot.hpp

@@ -21,6 +21,6 @@ class Robot : public wpi::TimesliceRobot {
   void DisabledInit() override;
   void DisabledPeriodic() override;
 
-  void TestInit() override;
-  void TestPeriodic() override;
+  void UtilityInit() override;
+  void UtilityPeriodic() override;
 };