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[hal,wpilib] Rename "Test" robot mode to "Utility" (#8782)

Browse Source 
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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16
wpilibj/src/main/java/org/wpilib/driverstation/RobotState.java
View File

@@ -91,23 +91,23 @@ public final class RobotState {
}
/**
* Gets a value indicating whether the Driver Station requires the robot to be running in Test
* Gets a value indicating whether the Driver Station requires the robot to be running in Utility
* mode.
*
* @return True if test mode should be enabled, false otherwise.
* @return True if utility mode should be enabled, false otherwise.
*/
public static boolean isTest() {
return DriverStationBackend.isTest();
public static boolean isUtility() {
return DriverStationBackend.isUtility();
}
/**
* Gets a value indicating whether the Driver Station requires the robot to be running in Test
* Gets a value indicating whether the Driver Station requires the robot to be running in Utility
* mode and enabled.
*
* @return True if test mode should be set and the robot should be enabled.
* @return True if utility mode should be set and the robot should be enabled.
*/
public static boolean isTestEnabled() {
return DriverStationBackend.isTestEnabled();
public static boolean isUtilityEnabled() {
return DriverStationBackend.isUtilityEnabled();
}
/**

16
wpilibj/src/main/java/org/wpilib/driverstation/internal/DriverStationBackend.java
View File

@@ -1167,30 +1167,30 @@ public final class DriverStationBackend {
}
/**
* Gets a value indicating whether the Driver Station requires the robot to be running in Test
* Gets a value indicating whether the Driver Station requires the robot to be running in Utility
* mode.
*
* @return True if test mode should be enabled, false otherwise.
* @return True if utility mode should be enabled, false otherwise.
*/
public static boolean isTest() {
public static boolean isUtility() {
m_cacheDataMutex.lock();
try {
return m_controlWord.isTest();
return m_controlWord.isUtility();
} finally {
m_cacheDataMutex.unlock();
}
}
/**
* Gets a value indicating whether the Driver Station requires the robot to be running in Test
* Gets a value indicating whether the Driver Station requires the robot to be running in Utility
* mode and enabled.
*
* @return True if test mode should be set and the robot should be enabled.
* @return True if utility mode should be set and the robot should be enabled.
*/
public static boolean isTestEnabled() {
public static boolean isUtilityEnabled() {
m_cacheDataMutex.lock();
try {
return m_controlWord.isTestEnabled();
return m_controlWord.isUtilityEnabled();
} finally {
m_cacheDataMutex.unlock();
}

38
wpilibj/src/main/java/org/wpilib/framework/IterativeRobotBase.java
View File

@@ -33,7 +33,7 @@ import org.wpilib.system.Watchdog;
* <li>disabledInit() -- called each and every time disabled is entered from another mode
* <li>autonomousInit() -- called each and every time autonomous is entered from 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
* </ul>
*
* <p>periodic() functions -- each of these functions is called on an interval:
@@ -43,7 +43,7 @@ import org.wpilib.system.Watchdog;
* <li>disabledPeriodic()
* <li>autonomousPeriodic()
* <li>teleopPeriodic()
* <li>testPeriodic()
* <li>utilityPeriodic()
* </ul>
*
* <p>exit() functions -- each of the following functions is called once when the appropriate mode
@@ -53,7 +53,7 @@ import org.wpilib.system.Watchdog;
* <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
* </ul>
*/
public abstract class IterativeRobotBase extends RobotBase {
@@ -121,12 +121,12 @@ public abstract class IterativeRobotBase extends RobotBase {
public void teleopInit() {}
/**
* Initialization code for test mode should go here.
* Initialization code for utility mode should go here.
*
* <p>Users should override this method for initialization code which will be called each time the
* robot enters test mode.
* robot enters utility mode.
*/
public void testInit() {}
public void utilityInit() {}
/* ----------- Overridable periodic code ----------------- */
@@ -186,10 +186,10 @@ public abstract class IterativeRobotBase extends RobotBase {
private boolean m_tmpFirstRun = true;
/** Periodic code for test mode should go here. */
public void testPeriodic() {
/** Periodic code for utility mode should go here. */
public void utilityPeriodic() {
if (m_tmpFirstRun) {
System.out.println("Default testPeriodic() method... Override me!");
System.out.println("Default utilityPeriodic() method... Override me!");
m_tmpFirstRun = false;
}
}
@@ -219,12 +219,12 @@ public abstract class IterativeRobotBase extends RobotBase {
public void teleopExit() {}
/**
* Exit code for test mode should go here.
* Exit code for utility mode should go here.
*
* <p>Users should override this method for code which will be called each time the robot exits
* test mode.
* utility mode.
*/
public void testExit() {}
public void utilityExit() {}
/**
* Gets time period between calls to Periodic() functions.
@@ -258,7 +258,7 @@ public abstract class IterativeRobotBase extends RobotBase {
case UNKNOWN -> disabledExit();
case AUTONOMOUS -> autonomousExit();
case TELEOPERATED -> teleopExit();
case TEST -> testExit();
case UTILITY -> utilityExit();
default -> {
// NOP
}
@@ -279,9 +279,9 @@ public abstract class IterativeRobotBase extends RobotBase {
teleopInit();
m_watchdog.addEpoch("teleopInit()");
}
case TEST -> {
testInit();
m_watchdog.addEpoch("testInit()");
case UTILITY -> {
utilityInit();
m_watchdog.addEpoch("utilityInit()");
}
default -> {
// NOP
@@ -306,9 +306,9 @@ public abstract class IterativeRobotBase extends RobotBase {
teleopPeriodic();
m_watchdog.addEpoch("teleopPeriodic()");
}
case TEST -> {
testPeriodic();
m_watchdog.addEpoch("testPeriodic()");
case UTILITY -> {
utilityPeriodic();
m_watchdog.addEpoch("utilityPeriodic()");
}
default -> {
// NOP

47
wpilibj/src/main/java/org/wpilib/framework/OpModeRobot.java
View File

@@ -37,7 +37,7 @@ import org.wpilib.opmode.Autonomous;
import org.wpilib.opmode.OpMode;
import org.wpilib.opmode.PeriodicOpMode;
import org.wpilib.opmode.Teleop;
import org.wpilib.opmode.TestOpMode;
import org.wpilib.opmode.Utility;
import org.wpilib.smartdashboard.SmartDashboard;
import org.wpilib.system.RobotController;
import org.wpilib.system.Watchdog;
@@ -49,9 +49,9 @@ import org.wpilib.util.ConstructorMatch;
*
* <p>The OpModeRobot class is intended to be subclassed by a user creating a robot program.
*
* <p>Classes annotated with {@link Autonomous}, {@link Teleop}, and {@link TestOpMode} in the same
* <p>Classes annotated with {@link Autonomous}, {@link Teleop}, and {@link Utility} in the same
* package or subpackages as the user's subclass are automatically registered as autonomous, teleop,
* and test opmodes respectively.
* and utility opmodes respectively.
*
* <p>Opmodes are constructed when selected on the driver station. While selected and disabled,
* {@link PeriodicOpMode#disabledPeriodic()} is called. When enabled, {@link PeriodicOpMode#start()}
@@ -363,7 +363,7 @@ public abstract class OpModeRobot extends RobotBase {
}
private void addAnnotatedOpModeImpl(
Class<? extends OpMode> cls, Autonomous auto, Teleop teleop, TestOpMode test) {
Class<? extends OpMode> cls, Autonomous auto, Teleop teleop, Utility utility) {
checkOpModeClass(cls);
// add an opmode for each annotation
@@ -387,24 +387,24 @@ public abstract class OpModeRobot extends RobotBase {
teleop.textColor(),
teleop.backgroundColor());
}
if (test != null) {
if (utility != null) {
addOpModeClassImpl(
cls,
RobotMode.TEST,
test.name(),
test.group(),
test.description(),
test.textColor(),
test.backgroundColor());
RobotMode.UTILITY,
utility.name(),
utility.group(),
utility.description(),
utility.textColor(),
utility.backgroundColor());
}
}
/**
* Adds an opmode for an opmode class annotated with {@link Autonomous}, {@link Teleop}, or {@link
* TestOpMode}. The class must be a public, non-abstract subclass of OpMode with a public
* constructor that either takes no arguments or accepts a single argument assignable from this
* robot class type (if multiple match, the most specific parameter type is used). It's necessary
* to call publishOpModes() to make the added mode visible to the driver station.
* Utility}. The class must be a public, non-abstract subclass of OpMode with a public constructor
* that either takes no arguments or accepts a single argument assignable from this robot class
* type (if multiple match, the most specific parameter type is used). It's necessary to call
* publishOpModes() to make the added mode visible to the driver station.
*
* @param cls class to add
* @throws IllegalArgumentException if class does not meet criteria
@@ -412,12 +412,11 @@ public abstract class OpModeRobot extends RobotBase {
public void addAnnotatedOpMode(Class<? extends OpMode> cls) {
Autonomous auto = cls.getAnnotation(Autonomous.class);
Teleop teleop = cls.getAnnotation(Teleop.class);
TestOpMode test = cls.getAnnotation(TestOpMode.class);
if (auto == null && teleop == null && test == null) {
throw new IllegalArgumentException(
"must be annotated with Autonomous, Teleop, or TestOpMode");
Utility utility = cls.getAnnotation(Utility.class);
if (auto == null && teleop == null && utility == null) {
throw new IllegalArgumentException("must be annotated with Autonomous, Teleop, or Utility");
}
addAnnotatedOpModeImpl(cls, auto, teleop, test);
addAnnotatedOpModeImpl(cls, auto, teleop, utility);
}
private void addAnnotatedOpModeClass(String name) {
@@ -431,12 +430,12 @@ public abstract class OpModeRobot extends RobotBase {
}
Autonomous auto = cls.getAnnotation(Autonomous.class);
Teleop teleop = cls.getAnnotation(Teleop.class);
TestOpMode test = cls.getAnnotation(TestOpMode.class);
if (auto == null && teleop == null && test == null) {
Utility utility = cls.getAnnotation(Utility.class);
if (auto == null && teleop == null && utility == null) {
return;
}
try {
addAnnotatedOpModeImpl(cls, auto, teleop, test);
addAnnotatedOpModeImpl(cls, auto, teleop, utility);
} catch (IllegalArgumentException e) {
reportAddOpModeError(cls, e.getMessage());
}
@@ -459,7 +458,7 @@ public abstract class OpModeRobot extends RobotBase {
/**
* Scans for classes in the specified package and all nested packages that are annotated with
* {@link Autonomous}, {@link Teleop}, or {@link TestOpMode} and registers them. It's necessary to
* {@link Autonomous}, {@link Teleop}, or {@link Utility} and registers them. It's necessary to
* call publishOpModes() to make the added modes visible to the driver station.
*
* @param pkg package to scan

17
wpilibj/src/main/java/org/wpilib/framework/RobotBase.java
View File

@@ -217,21 +217,22 @@ public abstract class RobotBase implements AutoCloseable {
}
/**
* Determine if the robot is currently in Test mode as determined by the Driver Station.
* Determine if the robot is currently in Utility mode as determined by the Driver Station.
*
* @return True if the robot is currently operating in Test mode.
* @return True if the robot is currently operating in Utility mode.
*/
public static boolean isTest() {
return RobotState.isTest();
public static boolean isUtility() {
return RobotState.isUtility();
}
/**
* Determine if the robot is current in Test mode and enabled as determined by the Driver Station.
* Determine if the robot is current in Utility mode and enabled as determined by the Driver
* Station.
*
* @return True if the robot is currently operating in Test mode while enabled.
* @return True if the robot is currently operating in Utility mode while enabled.
*/
public static boolean isTestEnabled() {
return RobotState.isTestEnabled();
public static boolean isUtilityEnabled() {
return RobotState.isUtilityEnabled();
}
/**

2
wpilibj/src/main/java/org/wpilib/hardware/motor/MotorSafety.java
View File

@@ -134,7 +134,7 @@ public abstract class MotorSafety {
stopTime = m_stopTime;
}
if (!enabled || RobotState.isDisabled() || RobotState.isTest()) {
if (!enabled || RobotState.isDisabled() || RobotState.isUtility()) {
return;
}

6
wpilibj/src/main/java/org/wpilib/opmode/TestOpMode.java → wpilibj/src/main/java/org/wpilib/opmode/Utility.java
View File

@@ -10,14 +10,14 @@ import java.lang.annotation.Retention;
import java.lang.annotation.RetentionPolicy;
import java.lang.annotation.Target;
/** Annotation for automatic registration of test opmode classes. */
/** Annotation for automatic registration of utility opmode classes. */
@Retention(RetentionPolicy.RUNTIME)
@Target(ElementType.TYPE)
@Documented
public @interface TestOpMode {
public @interface Utility {
/**
* Name. This is shown as the selection name in the Driver Station, and must be unique across all
* test opmodes in the project. If not specified, defaults to the name of the class.
* utility opmodes in the project. If not specified, defaults to the name of the class.
*
* @return Name
*/

2
wpilibj/src/test/java/org/wpilib/MockHardwareExtension.java
View File

@@ -33,6 +33,6 @@ public final class MockHardwareExtension implements BeforeAllCallback {
HAL.initialize(500, 0);
DriverStationSim.setDsAttached(true);
DriverStationSim.setEnabled(true);
DriverStationSim.setRobotMode(RobotMode.TEST);
DriverStationSim.setRobotMode(RobotMode.UTILITY);
}
}

2
wpilibj/src/test/java/org/wpilib/framework/OpModeRobotTest.java
View File

@@ -125,7 +125,7 @@ class OpModeRobotTest {
Color.BLACK);
addOpModeFactory(
() -> new OneArgOpMode(this),
RobotMode.TEST,
RobotMode.UTILITY,
"OneArgOpMode-Test",
"Group",
"Description",

128
wpilibj/src/test/java/org/wpilib/framework/TimedRobotTest.java
View File

@@ -23,19 +23,19 @@ class TimedRobotTest {
public final AtomicInteger m_disabledInitCount = new AtomicInteger(0);
public final AtomicInteger m_autonomousInitCount = new AtomicInteger(0);
public final AtomicInteger m_teleopInitCount = new AtomicInteger(0);
public final AtomicInteger m_testInitCount = new AtomicInteger(0);
public final AtomicInteger m_utilityInitCount = new AtomicInteger(0);
public final AtomicInteger m_robotPeriodicCount = new AtomicInteger(0);
public final AtomicInteger m_simulationPeriodicCount = new AtomicInteger(0);
public final AtomicInteger m_disabledPeriodicCount = new AtomicInteger(0);
public final AtomicInteger m_autonomousPeriodicCount = new AtomicInteger(0);
public final AtomicInteger m_teleopPeriodicCount = new AtomicInteger(0);
public final AtomicInteger m_testPeriodicCount = new AtomicInteger(0);
public final AtomicInteger m_utilityPeriodicCount = new AtomicInteger(0);
public final AtomicInteger m_disabledExitCount = new AtomicInteger(0);
public final AtomicInteger m_autonomousExitCount = new AtomicInteger(0);
public final AtomicInteger m_teleopExitCount = new AtomicInteger(0);
public final AtomicInteger m_testExitCount = new AtomicInteger(0);
public final AtomicInteger m_utilityExitCount = new AtomicInteger(0);
MockRobot() {
super(kPeriod);
@@ -62,8 +62,8 @@ class TimedRobotTest {
}
@Override
public void testInit() {
m_testInitCount.addAndGet(1);
public void utilityInit() {
m_utilityInitCount.addAndGet(1);
}
@Override
@@ -92,8 +92,8 @@ class TimedRobotTest {
}
@Override
public void testPeriodic() {
m_testPeriodicCount.addAndGet(1);
public void utilityPeriodic() {
m_utilityPeriodicCount.addAndGet(1);
}
@Override
@@ -112,8 +112,8 @@ class TimedRobotTest {
}
@Override
public void testExit() {
m_testExitCount.addAndGet(1);
public void utilityExit() {
m_utilityExitCount.addAndGet(1);
}
}
@@ -145,19 +145,19 @@ class TimedRobotTest {
assertEquals(0, robot.m_disabledInitCount.get());
assertEquals(0, robot.m_autonomousInitCount.get());
assertEquals(0, robot.m_teleopInitCount.get());
assertEquals(0, robot.m_testInitCount.get());
assertEquals(0, robot.m_utilityInitCount.get());
assertEquals(0, robot.m_robotPeriodicCount.get());
assertEquals(0, robot.m_simulationPeriodicCount.get());
assertEquals(0, robot.m_disabledPeriodicCount.get());
assertEquals(0, robot.m_autonomousPeriodicCount.get());
assertEquals(0, robot.m_teleopPeriodicCount.get());
assertEquals(0, robot.m_testPeriodicCount.get());
assertEquals(0, robot.m_utilityPeriodicCount.get());
assertEquals(0, robot.m_disabledExitCount.get());
assertEquals(0, robot.m_autonomousExitCount.get());
assertEquals(0, robot.m_teleopExitCount.get());
assertEquals(0, robot.m_testExitCount.get());
assertEquals(0, robot.m_utilityExitCount.get());
SimHooks.stepTiming(kPeriod);
@@ -165,19 +165,19 @@ class TimedRobotTest {
assertEquals(1, robot.m_disabledInitCount.get());
assertEquals(0, robot.m_autonomousInitCount.get());
assertEquals(0, robot.m_teleopInitCount.get());
assertEquals(0, robot.m_testInitCount.get());
assertEquals(0, robot.m_utilityInitCount.get());
assertEquals(1, robot.m_robotPeriodicCount.get());
assertEquals(1, robot.m_simulationPeriodicCount.get());
assertEquals(1, robot.m_disabledPeriodicCount.get());
assertEquals(0, robot.m_autonomousPeriodicCount.get());
assertEquals(0, robot.m_teleopPeriodicCount.get());
assertEquals(0, robot.m_testPeriodicCount.get());
assertEquals(0, robot.m_utilityPeriodicCount.get());
assertEquals(0, robot.m_disabledExitCount.get());
assertEquals(0, robot.m_autonomousExitCount.get());
assertEquals(0, robot.m_teleopExitCount.get());
assertEquals(0, robot.m_testExitCount.get());
assertEquals(0, robot.m_utilityExitCount.get());
SimHooks.stepTiming(kPeriod);
@@ -185,19 +185,19 @@ class TimedRobotTest {
assertEquals(1, robot.m_disabledInitCount.get());
assertEquals(0, robot.m_autonomousInitCount.get());
assertEquals(0, robot.m_teleopInitCount.get());
assertEquals(0, robot.m_testInitCount.get());
assertEquals(0, robot.m_utilityInitCount.get());
assertEquals(2, robot.m_robotPeriodicCount.get());
assertEquals(2, robot.m_simulationPeriodicCount.get());
assertEquals(2, robot.m_disabledPeriodicCount.get());
assertEquals(0, robot.m_autonomousPeriodicCount.get());
assertEquals(0, robot.m_teleopPeriodicCount.get());
assertEquals(0, robot.m_testPeriodicCount.get());
assertEquals(0, robot.m_utilityPeriodicCount.get());
assertEquals(0, robot.m_disabledExitCount.get());
assertEquals(0, robot.m_autonomousExitCount.get());
assertEquals(0, robot.m_teleopExitCount.get());
assertEquals(0, robot.m_testExitCount.get());
assertEquals(0, robot.m_utilityExitCount.get());
robot.endCompetition();
try {
@@ -226,19 +226,19 @@ class TimedRobotTest {
assertEquals(0, robot.m_disabledInitCount.get());
assertEquals(0, robot.m_autonomousInitCount.get());
assertEquals(0, robot.m_teleopInitCount.get());
assertEquals(0, robot.m_testInitCount.get());
assertEquals(0, robot.m_utilityInitCount.get());
assertEquals(0, robot.m_robotPeriodicCount.get());
assertEquals(0, robot.m_simulationPeriodicCount.get());
assertEquals(0, robot.m_disabledPeriodicCount.get());
assertEquals(0, robot.m_autonomousPeriodicCount.get());
assertEquals(0, robot.m_teleopPeriodicCount.get());
assertEquals(0, robot.m_testPeriodicCount.get());
assertEquals(0, robot.m_utilityPeriodicCount.get());
assertEquals(0, robot.m_disabledExitCount.get());
assertEquals(0, robot.m_autonomousExitCount.get());
assertEquals(0, robot.m_teleopExitCount.get());
assertEquals(0, robot.m_testExitCount.get());
assertEquals(0, robot.m_utilityExitCount.get());
SimHooks.stepTiming(kPeriod);
@@ -246,19 +246,19 @@ class TimedRobotTest {
assertEquals(0, robot.m_disabledInitCount.get());
assertEquals(1, robot.m_autonomousInitCount.get());
assertEquals(0, robot.m_teleopInitCount.get());
assertEquals(0, robot.m_testInitCount.get());
assertEquals(0, robot.m_utilityInitCount.get());
assertEquals(1, robot.m_robotPeriodicCount.get());
assertEquals(1, robot.m_simulationPeriodicCount.get());
assertEquals(0, robot.m_disabledPeriodicCount.get());
assertEquals(1, robot.m_autonomousPeriodicCount.get());
assertEquals(0, robot.m_teleopPeriodicCount.get());
assertEquals(0, robot.m_testPeriodicCount.get());
assertEquals(0, robot.m_utilityPeriodicCount.get());
assertEquals(0, robot.m_disabledExitCount.get());
assertEquals(0, robot.m_autonomousExitCount.get());
assertEquals(0, robot.m_teleopExitCount.get());
assertEquals(0, robot.m_testExitCount.get());
assertEquals(0, robot.m_utilityExitCount.get());
SimHooks.stepTiming(kPeriod);
@@ -266,19 +266,19 @@ class TimedRobotTest {
assertEquals(0, robot.m_disabledInitCount.get());
assertEquals(1, robot.m_autonomousInitCount.get());
assertEquals(0, robot.m_teleopInitCount.get());
assertEquals(0, robot.m_testInitCount.get());
assertEquals(0, robot.m_utilityInitCount.get());
assertEquals(2, robot.m_robotPeriodicCount.get());
assertEquals(2, robot.m_simulationPeriodicCount.get());
assertEquals(0, robot.m_disabledPeriodicCount.get());
assertEquals(2, robot.m_autonomousPeriodicCount.get());
assertEquals(0, robot.m_teleopPeriodicCount.get());
assertEquals(0, robot.m_testPeriodicCount.get());
assertEquals(0, robot.m_utilityPeriodicCount.get());
assertEquals(0, robot.m_disabledExitCount.get());
assertEquals(0, robot.m_autonomousExitCount.get());
assertEquals(0, robot.m_teleopExitCount.get());
assertEquals(0, robot.m_testExitCount.get());
assertEquals(0, robot.m_utilityExitCount.get());
robot.endCompetition();
try {
@@ -307,19 +307,19 @@ class TimedRobotTest {
assertEquals(0, robot.m_disabledInitCount.get());
assertEquals(0, robot.m_autonomousInitCount.get());
assertEquals(0, robot.m_teleopInitCount.get());
assertEquals(0, robot.m_testInitCount.get());
assertEquals(0, robot.m_utilityInitCount.get());
assertEquals(0, robot.m_robotPeriodicCount.get());
assertEquals(0, robot.m_simulationPeriodicCount.get());
assertEquals(0, robot.m_disabledPeriodicCount.get());
assertEquals(0, robot.m_autonomousPeriodicCount.get());
assertEquals(0, robot.m_teleopPeriodicCount.get());
assertEquals(0, robot.m_testPeriodicCount.get());
assertEquals(0, robot.m_utilityPeriodicCount.get());
assertEquals(0, robot.m_disabledExitCount.get());
assertEquals(0, robot.m_autonomousExitCount.get());
assertEquals(0, robot.m_teleopExitCount.get());
assertEquals(0, robot.m_testExitCount.get());
assertEquals(0, robot.m_utilityExitCount.get());
SimHooks.stepTiming(kPeriod);
@@ -327,19 +327,19 @@ class TimedRobotTest {
assertEquals(0, robot.m_disabledInitCount.get());
assertEquals(0, robot.m_autonomousInitCount.get());
assertEquals(1, robot.m_teleopInitCount.get());
assertEquals(0, robot.m_testInitCount.get());
assertEquals(0, robot.m_utilityInitCount.get());
assertEquals(1, robot.m_robotPeriodicCount.get());
assertEquals(1, robot.m_simulationPeriodicCount.get());
assertEquals(0, robot.m_disabledPeriodicCount.get());
assertEquals(0, robot.m_autonomousPeriodicCount.get());
assertEquals(1, robot.m_teleopPeriodicCount.get());
assertEquals(0, robot.m_testPeriodicCount.get());
assertEquals(0, robot.m_utilityPeriodicCount.get());
assertEquals(0, robot.m_disabledExitCount.get());
assertEquals(0, robot.m_autonomousExitCount.get());
assertEquals(0, robot.m_teleopExitCount.get());
assertEquals(0, robot.m_testExitCount.get());
assertEquals(0, robot.m_utilityExitCount.get());
SimHooks.stepTiming(kPeriod);
@@ -347,19 +347,19 @@ class TimedRobotTest {
assertEquals(0, robot.m_disabledInitCount.get());
assertEquals(0, robot.m_autonomousInitCount.get());
assertEquals(1, robot.m_teleopInitCount.get());
assertEquals(0, robot.m_testInitCount.get());
assertEquals(0, robot.m_utilityInitCount.get());
assertEquals(2, robot.m_robotPeriodicCount.get());
assertEquals(2, robot.m_simulationPeriodicCount.get());
assertEquals(0, robot.m_disabledPeriodicCount.get());
assertEquals(0, robot.m_autonomousPeriodicCount.get());
assertEquals(2, robot.m_teleopPeriodicCount.get());
assertEquals(0, robot.m_testPeriodicCount.get());
assertEquals(0, robot.m_utilityPeriodicCount.get());
assertEquals(0, robot.m_disabledExitCount.get());
assertEquals(0, robot.m_autonomousExitCount.get());
assertEquals(0, robot.m_teleopExitCount.get());
assertEquals(0, robot.m_testExitCount.get());
assertEquals(0, robot.m_utilityExitCount.get());
robot.endCompetition();
try {
@@ -373,7 +373,7 @@ class TimedRobotTest {
@Test
@ResourceLock("timing")
void testModeTest() {
void utilityModeTest() {
MockRobot robot = new MockRobot();
Thread robotThread = new Thread(robot::startCompetition);
@@ -381,26 +381,26 @@ class TimedRobotTest {
SimHooks.waitForProgramStart();
DriverStationSim.setEnabled(true);
DriverStationSim.setRobotMode(RobotMode.TEST);
DriverStationSim.setRobotMode(RobotMode.UTILITY);
DriverStationSim.notifyNewData();
assertEquals(1, robot.m_simulationInitCount.get());
assertEquals(0, robot.m_disabledInitCount.get());
assertEquals(0, robot.m_autonomousInitCount.get());
assertEquals(0, robot.m_teleopInitCount.get());
assertEquals(0, robot.m_testInitCount.get());
assertEquals(0, robot.m_utilityInitCount.get());
assertEquals(0, robot.m_robotPeriodicCount.get());
assertEquals(0, robot.m_simulationPeriodicCount.get());
assertEquals(0, robot.m_disabledPeriodicCount.get());
assertEquals(0, robot.m_autonomousPeriodicCount.get());
assertEquals(0, robot.m_teleopPeriodicCount.get());
assertEquals(0, robot.m_testPeriodicCount.get());
assertEquals(0, robot.m_utilityPeriodicCount.get());
assertEquals(0, robot.m_disabledExitCount.get());
assertEquals(0, robot.m_autonomousExitCount.get());
assertEquals(0, robot.m_teleopExitCount.get());
assertEquals(0, robot.m_testExitCount.get());
assertEquals(0, robot.m_utilityExitCount.get());
SimHooks.stepTiming(kPeriod);
@@ -408,19 +408,19 @@ class TimedRobotTest {
assertEquals(0, robot.m_disabledInitCount.get());
assertEquals(0, robot.m_autonomousInitCount.get());
assertEquals(0, robot.m_teleopInitCount.get());
assertEquals(1, robot.m_testInitCount.get());
assertEquals(1, robot.m_utilityInitCount.get());
assertEquals(1, robot.m_robotPeriodicCount.get());
assertEquals(1, robot.m_simulationPeriodicCount.get());
assertEquals(0, robot.m_disabledPeriodicCount.get());
assertEquals(0, robot.m_autonomousPeriodicCount.get());
assertEquals(0, robot.m_teleopPeriodicCount.get());
assertEquals(1, robot.m_testPeriodicCount.get());
assertEquals(1, robot.m_utilityPeriodicCount.get());
assertEquals(0, robot.m_disabledExitCount.get());
assertEquals(0, robot.m_autonomousExitCount.get());
assertEquals(0, robot.m_teleopExitCount.get());
assertEquals(0, robot.m_testExitCount.get());
assertEquals(0, robot.m_utilityExitCount.get());
SimHooks.stepTiming(kPeriod);
@@ -428,19 +428,19 @@ class TimedRobotTest {
assertEquals(0, robot.m_disabledInitCount.get());
assertEquals(0, robot.m_autonomousInitCount.get());
assertEquals(0, robot.m_teleopInitCount.get());
assertEquals(1, robot.m_testInitCount.get());
assertEquals(1, robot.m_utilityInitCount.get());
assertEquals(2, robot.m_robotPeriodicCount.get());
assertEquals(2, robot.m_simulationPeriodicCount.get());
assertEquals(0, robot.m_disabledPeriodicCount.get());
assertEquals(0, robot.m_autonomousPeriodicCount.get());
assertEquals(0, robot.m_teleopPeriodicCount.get());
assertEquals(2, robot.m_testPeriodicCount.get());
assertEquals(2, robot.m_utilityPeriodicCount.get());
assertEquals(0, robot.m_disabledExitCount.get());
assertEquals(0, robot.m_autonomousExitCount.get());
assertEquals(0, robot.m_teleopExitCount.get());
assertEquals(0, robot.m_testExitCount.get());
assertEquals(0, robot.m_utilityExitCount.get());
DriverStationSim.setEnabled(false);
DriverStationSim.notifyNewData();
@@ -451,19 +451,19 @@ class TimedRobotTest {
assertEquals(1, robot.m_disabledInitCount.get());
assertEquals(0, robot.m_autonomousInitCount.get());
assertEquals(0, robot.m_teleopInitCount.get());
assertEquals(1, robot.m_testInitCount.get());
assertEquals(1, robot.m_utilityInitCount.get());
assertEquals(3, robot.m_robotPeriodicCount.get());
assertEquals(3, robot.m_simulationPeriodicCount.get());
assertEquals(1, robot.m_disabledPeriodicCount.get());
assertEquals(0, robot.m_autonomousPeriodicCount.get());
assertEquals(0, robot.m_teleopPeriodicCount.get());
assertEquals(2, robot.m_testPeriodicCount.get());
assertEquals(2, robot.m_utilityPeriodicCount.get());
assertEquals(0, robot.m_disabledExitCount.get());
assertEquals(0, robot.m_autonomousExitCount.get());
assertEquals(0, robot.m_teleopExitCount.get());
assertEquals(1, robot.m_testExitCount.get());
assertEquals(1, robot.m_utilityExitCount.get());
robot.endCompetition();
try {
@@ -491,24 +491,24 @@ class TimedRobotTest {
assertEquals(0, robot.m_disabledInitCount.get());
assertEquals(0, robot.m_autonomousInitCount.get());
assertEquals(0, robot.m_teleopInitCount.get());
assertEquals(0, robot.m_testInitCount.get());
assertEquals(0, robot.m_utilityInitCount.get());
assertEquals(0, robot.m_disabledExitCount.get());
assertEquals(0, robot.m_autonomousExitCount.get());
assertEquals(0, robot.m_teleopExitCount.get());
assertEquals(0, robot.m_testExitCount.get());
assertEquals(0, robot.m_utilityExitCount.get());
SimHooks.stepTiming(kPeriod);
assertEquals(1, robot.m_disabledInitCount.get());
assertEquals(0, robot.m_autonomousInitCount.get());
assertEquals(0, robot.m_teleopInitCount.get());
assertEquals(0, robot.m_testInitCount.get());
assertEquals(0, robot.m_utilityInitCount.get());
assertEquals(0, robot.m_disabledExitCount.get());
assertEquals(0, robot.m_autonomousExitCount.get());
assertEquals(0, robot.m_teleopExitCount.get());
assertEquals(0, robot.m_testExitCount.get());
assertEquals(0, robot.m_utilityExitCount.get());
// Transition to autonomous
DriverStationSim.setEnabled(true);
@@ -520,12 +520,12 @@ class TimedRobotTest {
assertEquals(1, robot.m_disabledInitCount.get());
assertEquals(1, robot.m_autonomousInitCount.get());
assertEquals(0, robot.m_teleopInitCount.get());
assertEquals(0, robot.m_testInitCount.get());
assertEquals(0, robot.m_utilityInitCount.get());
assertEquals(1, robot.m_disabledExitCount.get());
assertEquals(0, robot.m_autonomousExitCount.get());
assertEquals(0, robot.m_teleopExitCount.get());
assertEquals(0, robot.m_testExitCount.get());
assertEquals(0, robot.m_utilityExitCount.get());
// Transition to teleop
DriverStationSim.setEnabled(true);
@@ -537,16 +537,16 @@ class TimedRobotTest {
assertEquals(1, robot.m_disabledInitCount.get());
assertEquals(1, robot.m_autonomousInitCount.get());
assertEquals(1, robot.m_teleopInitCount.get());
assertEquals(0, robot.m_testInitCount.get());
assertEquals(0, robot.m_utilityInitCount.get());
assertEquals(1, robot.m_disabledExitCount.get());
assertEquals(1, robot.m_autonomousExitCount.get());
assertEquals(0, robot.m_teleopExitCount.get());
assertEquals(0, robot.m_testExitCount.get());
assertEquals(0, robot.m_utilityExitCount.get());
// Transition to test
// Transition to utility
DriverStationSim.setEnabled(true);
DriverStationSim.setRobotMode(RobotMode.TEST);
DriverStationSim.setRobotMode(RobotMode.UTILITY);
DriverStationSim.notifyNewData();
SimHooks.stepTiming(kPeriod);
@@ -554,12 +554,12 @@ class TimedRobotTest {
assertEquals(1, robot.m_disabledInitCount.get());
assertEquals(1, robot.m_autonomousInitCount.get());
assertEquals(1, robot.m_teleopInitCount.get());
assertEquals(1, robot.m_testInitCount.get());
assertEquals(1, robot.m_utilityInitCount.get());
assertEquals(1, robot.m_disabledExitCount.get());
assertEquals(1, robot.m_autonomousExitCount.get());
assertEquals(1, robot.m_teleopExitCount.get());
assertEquals(0, robot.m_testExitCount.get());
assertEquals(0, robot.m_utilityExitCount.get());
// Transition to disabled
DriverStationSim.setEnabled(false);
@@ -570,12 +570,12 @@ class TimedRobotTest {
assertEquals(2, robot.m_disabledInitCount.get());
assertEquals(1, robot.m_autonomousInitCount.get());
assertEquals(1, robot.m_teleopInitCount.get());
assertEquals(1, robot.m_testInitCount.get());
assertEquals(1, robot.m_utilityInitCount.get());
assertEquals(1, robot.m_disabledExitCount.get());
assertEquals(1, robot.m_autonomousExitCount.get());
assertEquals(1, robot.m_teleopExitCount.get());
assertEquals(1, robot.m_testExitCount.get());
assertEquals(1, robot.m_utilityExitCount.get());
robot.endCompetition();
try {

12
wpilibj/src/test/java/org/wpilib/simulation/DriverStationSimTest.java
View File

@@ -64,16 +64,16 @@ class DriverStationSimTest {
HAL.initialize(500, 0);
DriverStationSim.resetData();
assertFalse(RobotState.isTest());
assertFalse(RobotState.isUtility());
EnumCallback callback = new EnumCallback();
try (CallbackStore cb = DriverStationSim.registerRobotModeCallback(callback, false)) {
DriverStationSim.setRobotMode(RobotMode.TEST);
DriverStationSim.setRobotMode(RobotMode.UTILITY);
DriverStationSim.notifyNewData();
assertEquals(RobotMode.TEST, DriverStationSim.getRobotMode());
assertTrue(RobotState.isTest());
assertEquals(RobotMode.TEST, RobotState.getRobotMode());
assertEquals(RobotMode.UTILITY, DriverStationSim.getRobotMode());
assertTrue(RobotState.isUtility());
assertEquals(RobotMode.UTILITY, RobotState.getRobotMode());
assertTrue(callback.wasTriggered());
assertEquals(RobotMode.TEST.getValue(), callback.getSetValue());
assertEquals(RobotMode.UTILITY.getValue(), callback.getSetValue());
}
}