[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/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)) {