[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>

hal/src/main/native/sim/MockHooks.cpp

@@ -15,6 +15,7 @@
 #include "wpi/util/timestamp.h"
 
 static std::atomic<bool> programStarted{false};
+static std::atomic<int64_t> programState{0};
 
 static std::atomic<uint64_t> programStartTime{0};
 static std::atomic<uint64_t> programPauseTime{0};
@@ -98,6 +99,14 @@ HAL_Bool HALSIM_GetProgramStarted(void) {
   return GetProgramStarted();
 }
 
+void HALSIM_SetProgramState(HAL_ControlWord controlWord) {
+  programState = controlWord.value;
+}
+
+void HALSIM_GetProgramState(HAL_ControlWord* controlWord) {
+  controlWord->value = programState;
+}
+
 void HALSIM_RestartTiming(void) {
   RestartTiming();
 }