[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>

wpilibc/src/main/python/pyproject.toml

@@ -197,6 +197,7 @@ Encoder = "wpi/hardware/rotation/Encoder.hpp"
 
 # wpi/internal
 DriverStationModeThread = "wpi/internal/DriverStationModeThread.hpp"
+PeriodicPriorityQueue = "wpi/internal/PeriodicPriorityQueue.hpp"
 
 # wpi/opmode
 OpMode = "wpi/opmode/OpMode.hpp"

wpilibc/src/main/python/semiwrap/OpMode.yml

@@ -2,5 +2,7 @@ classes:
   wpi::OpMode:
     methods:
       DisabledPeriodic:
-      OpModeRun:
-      OpModeStop:
+      Start:
+      Periodic:
+      End:
+      GetCallbacks:

wpilibc/src/main/python/semiwrap/OpModeRobot.yml

@@ -5,8 +5,10 @@ classes:
   wpi::OpModeRobotBase:
     methods:
       StartCompetition:
-      EndCompetition:
       OpModeRobotBase:
+        overloads:
+          wpi::units::second_t:
+          "":
       DriverStationConnected:
       NonePeriodic:
       AddOpModeFactory:
@@ -17,5 +19,26 @@ classes:
       RemoveOpMode:
       PublishOpModes:
       ClearOpModes:
+      EndCompetition:
+      RobotPeriodic:
+      SimulationInit:
+      SimulationPeriodic:
+      DisabledInit:
+      DisabledPeriodic:
+      DisabledExit:
+      AddPeriodic:
+      GetLoopStartTime:
+      LoopFunc:
+    attributes:
+      DEFAULT_PERIOD:
   wpi::OpModeRobot:
     ignore: true
+    methods:
+      OpModeRobot:
+        overloads:
+          wpi::units::second_t:
+          "":
+      AddOpMode:
+        overloads:
+          RobotMode, std::string_view, std::string_view, std::string_view, const wpi::util::Color&, const wpi::util::Color&:
+          RobotMode, std::string_view, std::string_view, std::string_view:

wpilibc/src/main/python/semiwrap/PeriodicOpMode.yml

@@ -1,17 +1,13 @@
 classes:
   wpi::PeriodicOpMode:
-    attributes:
-      DEFAULT_PERIOD:
     methods:
       DisabledPeriodic:
       Start:
       Periodic:
       End:
-      GetLoopStartTime:
       AddPeriodic:
-      GetPeriod:
-      PrintWatchdogEpochs:
-      OpModeRun:
-      OpModeStop:
+        overloads:
+          std::function<void ()>, wpi::units::second_t:
+          std::function<void ()>, wpi::units::second_t, wpi::units::second_t:
       PeriodicOpMode:
-      LoopFunc:
+      GetCallbacks:

wpilibc/src/main/python/semiwrap/PeriodicPriorityQueue.yml

@@ -0,0 +1,28 @@
+classes:
+  wpi::internal::PeriodicPriorityQueue:
+    methods:
+      Add:
+        overloads:
+          std::function<void ()>, std::chrono::microseconds, std::chrono::microseconds:
+          std::function<void ()>, std::chrono::microseconds, std::chrono::microseconds, std::chrono::microseconds:
+          std::function<void ()>, std::chrono::microseconds, wpi::units::second_t:
+          std::function<void ()>, std::chrono::microseconds, wpi::units::second_t, wpi::units::second_t:
+          Callback:
+      Remove:
+      Clear:
+      RunCallbacks:
+      GetQueue:
+      GetLoopStartTime:
+  wpi::internal::PeriodicPriorityQueue::Callback:
+    attributes:
+      func:
+      period:
+      expirationTime:
+    methods:
+      Callback:
+        overloads:
+          std::function<void ()>, std::chrono::microseconds, std::chrono::microseconds, std::chrono::microseconds:
+          std::function<void ()>, std::chrono::microseconds, wpi::units::second_t, wpi::units::second_t:
+          std::function<void ()>, std::chrono::microseconds, wpi::units::second_t:
+      operator>:
+      operator==:

wpilibc/src/main/python/semiwrap/TimedRobot.yml

@@ -2,6 +2,8 @@ classes:
   wpi::TimedRobot:
     attributes:
       DEFAULT_PERIOD:
+      m_notifier:
+      m_startTime:
     methods:
       StartCompetition:
       EndCompetition: