[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>

simulation/halsim_ws_core/src/main/native/cpp/WSProvider_DriverStation.cpp

@@ -48,8 +48,7 @@ HALSimWSProviderDriverStation::~HALSimWSProviderDriverStation() {
 
 void HALSimWSProviderDriverStation::RegisterCallbacks() {
   m_enabledCbKey = REGISTER(Enabled, ">enabled", bool, boolean);
-  m_autonomousCbKey = REGISTER(Autonomous, ">autonomous", bool, boolean);
-  m_testCbKey = REGISTER(Test, ">test", bool, boolean);
+  m_robotModeCbKey = REGISTER(RobotMode, ">robotMode", int, enum);
   m_estopCbKey = REGISTER(EStop, ">estop", bool, boolean);
   m_fmsCbKey = REGISTER(FmsAttached, ">fms", bool, boolean);
   m_dsCbKey = REGISTER(DsAttached, ">ds", bool, boolean);
@@ -102,8 +101,7 @@ void HALSimWSProviderDriverStation::CancelCallbacks() {
 
 void HALSimWSProviderDriverStation::DoCancelCallbacks() {
   HALSIM_CancelDriverStationEnabledCallback(m_enabledCbKey);
-  HALSIM_CancelDriverStationAutonomousCallback(m_autonomousCbKey);
-  HALSIM_CancelDriverStationTestCallback(m_testCbKey);
+  HALSIM_CancelDriverStationRobotModeCallback(m_robotModeCbKey);
   HALSIM_CancelDriverStationEStopCallback(m_estopCbKey);
   HALSIM_CancelDriverStationFmsAttachedCallback(m_fmsCbKey);
   HALSIM_CancelDriverStationDsAttachedCallback(m_dsCbKey);
@@ -112,8 +110,7 @@ void HALSimWSProviderDriverStation::DoCancelCallbacks() {
   HALSIM_CancelDriverStationMatchTimeCallback(m_matchTimeCbKey);
 
   m_enabledCbKey = 0;
-  m_autonomousCbKey = 0;
-  m_testCbKey = 0;
+  m_robotModeCbKey = 0;
   m_estopCbKey = 0;
   m_fmsCbKey = 0;
   m_dsCbKey = 0;
@@ -133,11 +130,8 @@ void HALSimWSProviderDriverStation::OnNetValueChanged(
   if ((it = json.find(">enabled")) != json.end()) {
     HALSIM_SetDriverStationEnabled(it.value());
   }
-  if ((it = json.find(">autonomous")) != json.end()) {
-    HALSIM_SetDriverStationAutonomous(it.value());
-  }
-  if ((it = json.find(">test")) != json.end()) {
-    HALSIM_SetDriverStationTest(it.value());
+  if ((it = json.find(">robotMode")) != json.end()) {
+    HALSIM_SetDriverStationRobotMode(it.value());
   }
   if ((it = json.find(">estop")) != json.end()) {
     HALSIM_SetDriverStationEStop(it.value());

simulation/halsim_ws_core/src/main/native/include/wpi/halsim/ws_core/WSProvider_DriverStation.hpp

@@ -26,8 +26,7 @@ class HALSimWSProviderDriverStation : public HALSimWSHalProvider {
 
  private:
   int32_t m_enabledCbKey = 0;
-  int32_t m_autonomousCbKey = 0;
-  int32_t m_testCbKey = 0;
+  int32_t m_robotModeCbKey = 0;
   int32_t m_estopCbKey = 0;
   int32_t m_fmsCbKey = 0;
   int32_t m_dsCbKey = 0;