[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/test/java/org/wpilib/MockHardwareExtension.java

@@ -8,6 +8,7 @@ import org.junit.jupiter.api.extension.BeforeAllCallback;
 import org.junit.jupiter.api.extension.ExtensionContext;
 import org.junit.jupiter.api.extension.ExtensionContext.Namespace;
 import org.wpilib.hardware.hal.HAL;
+import org.wpilib.hardware.hal.RobotMode;
 import org.wpilib.simulation.DriverStationSim;
 
 public final class MockHardwareExtension implements BeforeAllCallback {
@@ -31,9 +32,8 @@ public final class MockHardwareExtension implements BeforeAllCallback {
   private void initializeHardware() {
     HAL.initialize(500, 0);
     DriverStationSim.setDsAttached(true);
-    DriverStationSim.setAutonomous(false);
     DriverStationSim.setEnabled(true);
-    DriverStationSim.setTest(true);
+    DriverStationSim.setRobotMode(RobotMode.TEST);
     DriverStationSim.notifyNewData();
   }
 }

commandsv2/src/test/java/org/wpilib/command2/button/RobotModeTriggersTest.java

@@ -8,14 +8,14 @@ import static org.junit.jupiter.api.Assertions.assertTrue;
 
 import org.junit.jupiter.api.Test;
 import org.wpilib.command2.CommandTestBase;
+import org.wpilib.hardware.hal.RobotMode;
 import org.wpilib.simulation.DriverStationSim;
 
 class RobotModeTriggersTest extends CommandTestBase {
   @Test
   void autonomousTest() {
     DriverStationSim.resetData();
-    DriverStationSim.setAutonomous(true);
-    DriverStationSim.setTest(false);
+    DriverStationSim.setRobotMode(RobotMode.AUTONOMOUS);
     DriverStationSim.setEnabled(true);
     DriverStationSim.notifyNewData();
     Trigger auto = RobotModeTriggers.autonomous();
@@ -25,8 +25,7 @@ class RobotModeTriggersTest extends CommandTestBase {
   @Test
   void teleopTest() {
     DriverStationSim.resetData();
-    DriverStationSim.setAutonomous(false);
-    DriverStationSim.setTest(false);
+    DriverStationSim.setRobotMode(RobotMode.TELEOPERATED);
     DriverStationSim.setEnabled(true);
     DriverStationSim.notifyNewData();
     Trigger teleop = RobotModeTriggers.teleop();
@@ -36,8 +35,7 @@ class RobotModeTriggersTest extends CommandTestBase {
   @Test
   void testModeTest() {
     DriverStationSim.resetData();
-    DriverStationSim.setAutonomous(false);
-    DriverStationSim.setTest(true);
+    DriverStationSim.setRobotMode(RobotMode.TEST);
     DriverStationSim.setEnabled(true);
     DriverStationSim.notifyNewData();
     Trigger test = RobotModeTriggers.test();
@@ -47,8 +45,6 @@ class RobotModeTriggersTest extends CommandTestBase {
   @Test
   void disabledTest() {
     DriverStationSim.resetData();
-    DriverStationSim.setAutonomous(false);
-    DriverStationSim.setTest(false);
     DriverStationSim.setEnabled(false);
     DriverStationSim.notifyNewData();
     Trigger disabled = RobotModeTriggers.disabled();