[hal, wpilib] Add OpMode support (#7744)

User code:
- OpModeRobot used as the robot base class
- LinearOpMode and PeriodicOpMode are provided opmode base classes
- In Java, annotations can be used to automatically register opmode classes

Additional user code functionality:
- OpMode (string) is available in addition to the overall
auto/teleop/test robot mode
- OpMode does not indicate enable (enable/disable is still separate)
- The HAL API uses integer UIDs; these are exposed at the user API level
as well for faster checks
- User code creates opmodes on startup (these have name, category,
description, etc).

DS:
- DS will present opmode selection lists for auto and teleop for
match/practice. During a match, the DS will automatically activate the
selected opmode in the corresponding match period.
- For testing, an overall mode is selected (e.g. teleop/auto/test) and a
single opmode is selected

Future work:
- Command framework support/integration
- Python annotation support
- Unit tests (needs race-free DS sim updates)
- Porting of examples

Co-authored-by: Joseph Eng <91924258+KangarooKoala@users.noreply.github.com>

commandsv2/src/main/java/org/wpilib/command2/CommandScheduler.java

@@ -26,7 +26,6 @@ import org.wpilib.command2.Command.InterruptionBehavior;
 import org.wpilib.driverstation.DriverStation;
 import org.wpilib.event.EventLoop;
 import org.wpilib.framework.RobotBase;
-import org.wpilib.framework.RobotState;
 import org.wpilib.framework.TimedRobot;
 import org.wpilib.hardware.hal.HAL;
 import org.wpilib.system.Watchdog;
@@ -190,7 +189,7 @@ public final class CommandScheduler implements Sendable, AutoCloseable {
     // run when disabled, or the command is already scheduled.
     if (m_disabled
         || isScheduled(command)
-        || RobotState.isDisabled() && !command.runsWhenDisabled()) {
+        || DriverStation.isDisabled() && !command.runsWhenDisabled()) {
       return;
     }
 
@@ -270,7 +269,7 @@ public final class CommandScheduler implements Sendable, AutoCloseable {
     m_watchdog.addEpoch("buttons.run()");
 
     m_inRunLoop = true;
-    boolean isDisabled = RobotState.isDisabled();
+    boolean isDisabled = DriverStation.isDisabled();
     // Run scheduled commands, remove finished commands.
     for (Iterator<Command> iterator = m_scheduledCommands.iterator(); iterator.hasNext(); ) {
       Command command = iterator.next();

commandsv2/src/main/native/cpp/frc2/command/CommandScheduler.cpp

@@ -12,8 +12,8 @@
 
 #include "wpi/commands2/CommandPtr.hpp"
 #include "wpi/commands2/Subsystem.hpp"
+#include "wpi/driverstation/DriverStation.hpp"
 #include "wpi/framework/RobotBase.hpp"
-#include "wpi/framework/RobotState.hpp"
 #include "wpi/framework/TimedRobot.hpp"
 #include "wpi/hal/HALBase.h"
 #include "wpi/hal/UsageReporting.h"
@@ -102,7 +102,7 @@ void CommandScheduler::Schedule(Command* command) {
   RequireUngrouped(command);
 
   if (m_impl->disabled || m_impl->scheduledCommands.contains(command) ||
-      (wpi::RobotState::IsDisabled() && !command->RunsWhenDisabled())) {
+      (wpi::DriverStation::IsDisabled() && !command->RunsWhenDisabled())) {
     return;
   }
 
@@ -184,7 +184,7 @@ void CommandScheduler::Run() {
   loopCache->Poll();
   m_watchdog.AddEpoch("buttons.Run()");
 
-  bool isDisabled = wpi::RobotState::IsDisabled();
+  bool isDisabled = wpi::DriverStation::IsDisabled();
   // create a new set to avoid iterator invalidation.
   for (Command* command : wpi::util::SmallSet(m_impl->scheduledCommands)) {
     if (!IsScheduled(command)) {