[py] Fix opmodes (#8498)

Co-authored-by: David Vo <auscompgeek@users.noreply.github.com>

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

@@ -19,8 +19,3 @@ classes:
       ClearOpModes:
   wpi::OpModeRobot:
     ignore: true
-    methods:
-      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/simulation/DriverStationSim.yml

@@ -1,6 +1,27 @@
 classes:
   wpi::sim::OpModeOptions:
-    ignore: true
+    ignored_bases:
+    - std::span<HAL_OpModeOption>
+    force_no_trampoline: true
+    methods:
+      OpModeOptions:
+        overloads:
+          "":
+            ignore: true
+          HAL_OpModeOption*, int32_t:
+            ignore: true
+    inline_code: |
+      .def("__len__", [](const OpModeOptions &self) { return self.size(); })
+      .def("__getitem__", [](const OpModeOptions &self, int index) {
+        if (index >= static_cast<int>(self.size())) {
+          throw std::out_of_range("OpModeOptions index out of range");
+        }
+        return self[index];
+      })
+      .def("__iter__", [](OpModeOptions &self) {
+        return py::make_iterator(self.begin(), self.end());
+      }, py::keep_alive<0,1>());
+
   wpi::sim::DriverStationSim:
     force_type_casters:
     - std::function
@@ -54,5 +75,5 @@ classes:
       GetOpMode:
       SetOpMode:
       RegisterOpModeOptionsCallback:
-      GetOpModeOptions:
         ignore: true
+      GetOpModeOptions:

wpilibc/src/main/python/wpilib/__init__.py

@@ -47,7 +47,6 @@ from ._wpilib import (
     OnboardIMU,
     OpMode,
     OpModeRobotBase,
-    PeriodicOpMode,
     PS4Controller,
     PS5Controller,
     PWM,
@@ -58,6 +57,7 @@ from ._wpilib import (
     PWMTalonSRX,
     PWMVenom,
     PWMVictorSPX,
+    PeriodicOpMode,
     PneumaticHub,
     PneumaticsBase,
     PneumaticsControlModule,
@@ -139,7 +139,6 @@ __all__ = [
     "OnboardIMU",
     "OpMode",
     "OpModeRobotBase",
-    "PeriodicOpMode",
     "PS4Controller",
     "PS5Controller",
     "PWM",
@@ -150,6 +149,7 @@ __all__ = [
     "PWMTalonSRX",
     "PWMVenom",
     "PWMVictorSPX",
+    "PeriodicOpMode",
     "PneumaticHub",
     "PneumaticsBase",
     "PneumaticsControlModule",

wpilibc/src/main/python/wpilib/simulation/__init__.py

@@ -32,6 +32,7 @@ from ._simulation import (
     LinearSystemSim_2_1_2,
     LinearSystemSim_2_2_1,
     LinearSystemSim_2_2_2,
+    OpModeOptions,
     PS4ControllerSim,
     PS5ControllerSim,
     PWMMotorControllerSim,
@@ -48,11 +49,13 @@ from ._simulation import (
     StadiaControllerSim,
     XboxControllerSim,
     getProgramStarted,
+    getProgramState,
     isTimingPaused,
     pauseTiming,
     restartTiming,
     resumeTiming,
     setProgramStarted,
+    setProgramState,
     setRuntimeType,
     stepTiming,
     stepTimingAsync,
@@ -87,6 +90,7 @@ __all__ = [
     "LinearSystemSim_2_1_2",
     "LinearSystemSim_2_2_1",
     "LinearSystemSim_2_2_2",
+    "OpModeOptions",
     "PS4ControllerSim",
     "PS5ControllerSim",
     "PWMMotorControllerSim",
@@ -103,11 +107,13 @@ __all__ = [
     "StadiaControllerSim",
     "XboxControllerSim",
     "getProgramStarted",
+    "getProgramState",
     "isTimingPaused",
     "pauseTiming",
     "restartTiming",
     "resumeTiming",
     "setProgramStarted",
+    "setProgramState",
     "setRuntimeType",
     "stepTiming",
     "stepTimingAsync",