[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_server/src/test/native/cpp/main.cpp

@@ -165,7 +165,7 @@ TEST_F(WebServerIntegrationTest, DriverStation) {
   // Compare results
   HAL_ControlWord cw;
   HAL_GetControlWord(&cw);
-  bool test_value = cw.enabled;
+  bool test_value = HAL_ControlWord_IsEnabled(cw);
   EXPECT_EQ(EXPECTED_VALUE, test_value);
 }