[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/native/cpp/wpi/command/button/RobotModeTriggersTest.cpp

@@ -7,6 +7,7 @@
 #include "../CommandTestBase.hpp"
 #include "wpi/commands2/button/Trigger.hpp"
 #include "wpi/driverstation/DriverStation.hpp"
+#include "wpi/hal/DriverStationTypes.h"
 #include "wpi/simulation/DriverStationSim.hpp"
 
 using namespace wpi::cmd;
@@ -15,8 +16,7 @@ class RobotModeTriggersTest : public CommandTestBase {};
 
 TEST(RobotModeTriggersTest, Autonomous) {
   DriverStationSim::ResetData();
-  DriverStationSim::SetAutonomous(true);
-  DriverStationSim::SetTest(false);
+  DriverStationSim::SetRobotMode(HAL_ROBOTMODE_AUTONOMOUS);
   DriverStationSim::SetEnabled(true);
   DriverStationSim::NotifyNewData();
   Trigger autonomous = RobotModeTriggers::Autonomous();
@@ -25,8 +25,7 @@ TEST(RobotModeTriggersTest, Autonomous) {
 
 TEST(RobotModeTriggersTest, Teleop) {
   DriverStationSim::ResetData();
-  DriverStationSim::SetAutonomous(false);
-  DriverStationSim::SetTest(false);
+  DriverStationSim::SetRobotMode(HAL_ROBOTMODE_TELEOPERATED);
   DriverStationSim::SetEnabled(true);
   DriverStationSim::NotifyNewData();
   Trigger teleop = RobotModeTriggers::Teleop();
@@ -35,8 +34,6 @@ TEST(RobotModeTriggersTest, Teleop) {
 
 TEST(RobotModeTriggersTest, Disabled) {
   DriverStationSim::ResetData();
-  DriverStationSim::SetAutonomous(false);
-  DriverStationSim::SetTest(false);
   DriverStationSim::SetEnabled(false);
   DriverStationSim::NotifyNewData();
   Trigger disabled = RobotModeTriggers::Disabled();
@@ -45,8 +42,7 @@ TEST(RobotModeTriggersTest, Disabled) {
 
 TEST(RobotModeTriggersTest, TestMode) {
   DriverStationSim::ResetData();
-  DriverStationSim::SetAutonomous(false);
-  DriverStationSim::SetTest(true);
+  DriverStationSim::SetRobotMode(HAL_ROBOTMODE_TEST);
   DriverStationSim::SetEnabled(true);
   DriverStationSim::NotifyNewData();
   Trigger test = RobotModeTriggers::Test();