[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>

wpilibc/src/main/native/cpp/hardware/motor/MotorSafety.cpp

@@ -4,11 +4,11 @@
 
 #include "wpi/hardware/motor/MotorSafety.hpp"
 
-#include <algorithm>
 #include <utility>
 
 #include "wpi/driverstation/DriverStation.hpp"
 #include "wpi/hal/DriverStation.h"
+#include "wpi/hal/DriverStationTypes.h"
 #include "wpi/system/Errors.hpp"
 #include "wpi/util/SafeThread.hpp"
 #include "wpi/util/SmallPtrSet.hpp"
@@ -32,9 +32,9 @@ void Thread::Main() {
     bool signaled = wpi::util::WaitForObject(event.GetHandle(), 0.1, &timedOut);
     if (signaled) {
       HAL_ControlWord controlWord;
-      std::memset(&controlWord, 0, sizeof(controlWord));
       HAL_GetControlWord(&controlWord);
-      if (!(controlWord.enabled && controlWord.dsAttached)) {
+      if (!HAL_ControlWord_IsEnabled(controlWord) ||
+          !HAL_ControlWord_IsDSAttached(controlWord)) {
         safetyCounter = 0;
       }
       if (++safetyCounter >= 4) {