[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/python/pyproject.toml

@@ -90,6 +90,7 @@ CANAPITypes = "wpi/hal/CANAPITypes.h"
 CTREPCM = "wpi/hal/CTREPCM.h"
 Constants = "wpi/hal/Constants.h"
 Counter = "wpi/hal/Counter.h"
+DashboardOpMode = "wpi/hal/DashboardOpMode.hpp"
 DIO = "wpi/hal/DIO.h"
 # DMA = "hal/DMA.h"
 DriverStation = "wpi/hal/DriverStation.h"

hal/src/main/python/semiwrap/DashboardOpMode.yml

@@ -0,0 +1,6 @@
+functions:
+  InitializeDashboardOpMode:
+  SetDashboardOpModeOptions:
+  StartDashboardOpMode:
+  EnableDashboardOpMode:
+  GetDashboardSelectedOpMode:

hal/src/main/python/semiwrap/DriverStation.yml

@@ -36,9 +36,12 @@ functions:
   HAL_ProvideNewDataEventHandle:
   HAL_RemoveNewDataEventHandle:
   HAL_ObserveUserProgramStarting:
-  HAL_ObserveUserProgramDisabled:
-  HAL_ObserveUserProgramAutonomous:
-  HAL_ObserveUserProgramTeleop:
-  HAL_ObserveUserProgramTest:
   HAL_GetJoystickIsGamepad:
   HAL_GetJoystickTouchpads:
+  HAL_GetUncachedControlWord:
+  HAL_SetOpModeOptions:
+  HAL_ObserveUserProgram:
+  GetControlWord:
+    ignore: true
+  GetUncachedControlWord:
+    ignore: true

hal/src/main/python/semiwrap/DriverStationTypes.yml

@@ -11,17 +11,12 @@ enums:
     value_prefix: HAL_JoystickPOV
   HAL_MatchType:
     value_prefix: HAL_kMatchType
+  HAL_RobotMode:
+    ignore: true
+  RobotMode:
 classes:
   HAL_ControlWord:
-    attributes:
-      enabled:
-      autonomous:
-      test:
-      eStop:
-      fmsAttached:
-      dsAttached:
-      control_reserved:
-      watchdogEnabled:
+    ignore: true
   HAL_JoystickAxes:
     attributes:
       axes:
@@ -62,3 +57,49 @@ classes:
     attributes:
       count:
       touchpads:
+  HAL_OpModeOption:
+    attributes:
+      id:
+      name:
+      group:
+      description:
+      textColor:
+      backgroundColor:
+  wpi::hal::ControlWord:
+    methods:
+      ControlWord:
+        overloads:
+          "":
+          int64_t, RobotMode, bool, bool, bool, bool:
+          HAL_ControlWord:
+      Update:
+        overloads:
+          int64_t, RobotMode, bool, bool, bool, bool:
+          HAL_ControlWord:
+      IsEnabled:
+      GetRobotMode:
+      GetOpModeId:
+      SetOpModeId:
+      IsEStopped:
+      IsFMSAttached:
+      IsDSAttached:
+      IsAutonomous:
+      IsAutonomousEnabled:
+      IsTeleop:
+      IsTeleopEnabled:
+      IsTest:
+      IsTestEnabled:
+      GetValue:
+functions:
+  HAL_MakeControlWord:
+  HAL_ControlWord_GetOpModeHash:
+  HAL_ControlWord_GetOpModeId:
+  HAL_ControlWord_SetOpModeId:
+  HAL_ControlWord_GetRobotMode:
+  HAL_ControlWord_IsEnabled:
+  HAL_ControlWord_IsEStopped:
+  HAL_ControlWord_IsFMSAttached:
+  HAL_ControlWord_IsDSAttached:
+  HAL_MakeOpModeId:
+  HAL_OpMode_GetRobotMode:
+  HAL_OpMode_GetHash:

hal/src/main/python/semiwrap/simulation/DriverStationData.yml

@@ -8,16 +8,6 @@ functions:
   HALSIM_CancelDriverStationEnabledCallback:
   HALSIM_GetDriverStationEnabled:
   HALSIM_SetDriverStationEnabled:
-  HALSIM_RegisterDriverStationAutonomousCallback:
-    ignore: true
-  HALSIM_CancelDriverStationAutonomousCallback:
-  HALSIM_GetDriverStationAutonomous:
-  HALSIM_SetDriverStationAutonomous:
-  HALSIM_RegisterDriverStationTestCallback:
-    ignore: true
-  HALSIM_CancelDriverStationTestCallback:
-  HALSIM_GetDriverStationTest:
-  HALSIM_SetDriverStationTest:
   HALSIM_RegisterDriverStationEStopCallback:
     ignore: true
   HALSIM_CancelDriverStationEStopCallback:
@@ -123,3 +113,20 @@ functions:
   HALSIM_SetJoystickTouchpads:
   HALSIM_SetJoystickTouchpadCounts:
   HALSIM_SetJoystickTouchpadFinger:
+  HALSIM_RegisterDriverStationRobotModeCallback:
+    ignore: true
+  HALSIM_CancelDriverStationRobotModeCallback:
+  HALSIM_GetDriverStationRobotMode:
+  HALSIM_SetDriverStationRobotMode:
+  HALSIM_RegisterDriverStationOpModeCallback:
+    ignore: true
+  HALSIM_CancelDriverStationOpModeCallback:
+  HALSIM_GetDriverStationOpMode:
+  HALSIM_SetDriverStationOpMode:
+  HALSIM_RegisterOpModeOptionsCallback:
+    ignore: true
+  HALSIM_CancelOpModeOptionsCallback:
+  HALSIM_GetOpModeOptions:
+    ignore: true
+  HALSIM_FreeOpModeOptionsArray:
+    ignore: true

hal/src/main/python/semiwrap/simulation/MockHooks.yml

@@ -10,6 +10,12 @@ functions:
   HALSIM_WaitForProgramStart:
   HALSIM_SetProgramStarted:
   HALSIM_GetProgramStarted:
+  HALSIM_SetProgramState:
+    ignore: true
+  HALSIM_GetProgramState:
+    ignore: true
+  SetProgramState:
+  GetProgramState:
   HALSIM_RestartTiming:
   HALSIM_PauseTiming:
   HALSIM_ResumeTiming: