[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>

glass/src/lib/native/cpp/other/FMS.cpp

@@ -16,6 +16,8 @@ using namespace wpi::glass;
 
 static const char* stations[] = {"Invalid", "Red 1",  "Red 2", "Red 3",
                                  "Blue 1",  "Blue 2", "Blue 3"};
+static const char* robotModes[] = {"Unknown", "Autonomous", "Teleoperated",
+                                   "Test"};
 
 void wpi::glass::DisplayFMS(FMSModel* model, bool editableDsAttached) {
   if (!model->Exists() || model->IsReadOnly()) {
@@ -107,17 +109,12 @@ void wpi::glass::DisplayFMSReadOnly(FMSModel* model) {
     ImGui::SameLine();
     ImGui::TextUnformatted(exists ? (data->GetValue() ? "Yes" : "No") : "?");
   }
-  if (auto data = model->GetTestData()) {
-    ImGui::Selectable("Test Mode: ");
+  if (auto data = model->GetRobotModeData()) {
+    ImGui::Selectable("Robot Mode: ");
     data->EmitDrag();
     ImGui::SameLine();
-    ImGui::TextUnformatted(exists ? (data->GetValue() ? "Yes" : "No") : "?");
-  }
-  if (auto data = model->GetAutonomousData()) {
-    ImGui::Selectable("Autonomous Mode: ");
-    data->EmitDrag();
-    ImGui::SameLine();
-    ImGui::TextUnformatted(exists ? (data->GetValue() ? "Yes" : "No") : "?");
+    ImGui::TextUnformatted(
+        exists ? robotModes[static_cast<int>(data->GetValue())] : "?");
   }
   if (auto data = model->GetFmsAttachedData()) {
     ImGui::Selectable("FMS Attached: ");