[hal, wpilib] Switch PCM to be a single object that is allowed to be duplicated (#3475)

Having PCM as a singleton is a problem, as multiple things need to use it, and that gets really ugly. This changes PCM's to be a reference counted object, that can be passed around and constructed from multiple places.

In Java, this is using a map to hold a data store with a ref count, and allocating new objects any time a duplicate is requested.

In C++, this uses a trick constructor to store a PCM instance in the data store itself. This instance can then be passed to base objects using std::shared_ptr's aliasing constructor, which means constructing a solenoid from a PCM is not allocating after the 1st one.

This did require removing sendable from PCM. A compressor class was added back in to act as sendable for the PCM.

After this change is finished, the only change RobotBuilder and Team Code would require is passing a module type to solenoid constructors.

Co-authored-by: sciencewhiz <sciencewhiz@users.noreply.github.com>

wpilibcExamples/src/main/cpp/examples/HatchbotTraditional/include/subsystems/HatchSubsystem.h

@@ -29,6 +29,5 @@ class HatchSubsystem : public frc2::SubsystemBase {
  private:
   // Components (e.g. motor controllers and sensors) should generally be
   // declared private and exposed only through public methods.
-  frc::PneumaticsControlModule m_pneumaticsModule;
   frc::DoubleSolenoid m_hatchSolenoid;
 };