[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.

wpilibj/src/test/java/org/wpilib/MockHardwareExtension.java

@@ -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);
   }
 }

wpilibj/src/test/java/org/wpilib/framework/OpModeRobotTest.java

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

wpilibj/src/test/java/org/wpilib/framework/TimedRobotTest.java

@@ -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 {

wpilibj/src/test/java/org/wpilib/simulation/DriverStationSimTest.java

@@ -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());
     }
   }