[wpilib] Change opmodes to purely periodic (#8652)

1. Make the OpMode interface itself periodic; this means the only
differences between `OpMode` and `PeriodicOpMode` are the latter's
methods to add sideloaded periodic callbacks
2. Make OpModeRobot process callbacks in a similar fashion to TimedRobot
and
3. Add some lifecycle functions (discussed below)
4. Pull the callback priority queue from TimedRobot to a new class
called `PeriodicPriorityQueue` so that `TimedRobot` and `OpModeRobot`
have less duplication
5. Fix a typo in the DriverStationJNI class that causes a memory leak
when certain driver station sim calls
6. Port the C++ OpModeRobot tests to Java 

`OpModeRobot` now possesses some `IterativeRobotBase`-stye lifecycle
functions; these functions
1. `robotPeriodic` 
2. `simulationInit` and `simulationPeriodic` 
3. `disabledInit`, `disabledPeriodic`, and `disabledExit`
(note that `simulationInit` and `disabledInit` may be renamed to match
wpilibsuite#8719)

`OpModeRobot` also now processes `OpMode` changes (by the Driver
Station) in its `loopFunc` method, similar to
`IterativeRobotBase.loopFunc` processing game mode changes; `loopFunc`
is, similarly to `TimedRobot`, provided as a default `Callback`

---------

Signed-off-by: Zach Harel <zach@zharel.me>
Co-authored-by: Joseph Eng <91924258+KangarooKoala@users.noreply.github.com>

hal/src/main/native/cpp/jni/HALUtil.cpp

@@ -187,7 +187,7 @@ void ThrowBoundaryException(JNIEnv* env, double value, double lower,
 jobject CreateOpModeOption(JNIEnv* env, const HAL_OpModeOption& option) {
   static jmethodID constructor = env->GetMethodID(
       opModeOptionCls, "<init>",
-      "(JLjava/lang/String;L/java/lang/String;Ljava/lang/String;II)V");
+      "(JLjava/lang/String;Ljava/lang/String;Ljava/lang/String;II)V");
   JLocal<jstring> name{
       env, MakeJString(env, wpi::util::to_string_view(&option.name))};
   JLocal<jstring> group{