[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/test/python/test_opmode_robot.py

@@ -146,6 +146,7 @@ def test_none_periodic():
     robot = MyMockRobot()
 
     robot_thread = threading.Thread(target=robot.startCompetition)
+    robot_thread.daemon = True  # Make thread daemon so it doesn't block test exit
     robot_thread.start()
 
     wsim.waitForProgramStart()
@@ -155,4 +156,4 @@ def test_none_periodic():
     assert robot.none_periodic_count == 2
 
     robot.endCompetition()
-    robot_thread.join()
+    robot_thread.join(timeout=1.0)  # Add timeout to prevent hanging