[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/simulation/DriverStationSim.cpp

@@ -31,38 +31,21 @@ void DriverStationSim::SetEnabled(bool enabled) {
   HALSIM_SetDriverStationEnabled(enabled);
 }
 
-std::unique_ptr<CallbackStore> DriverStationSim::RegisterAutonomousCallback(
+std::unique_ptr<CallbackStore> DriverStationSim::RegisterRobotModeCallback(
     NotifyCallback callback, bool initialNotify) {
   auto store = std::make_unique<CallbackStore>(
-      -1, callback, &HALSIM_CancelDriverStationAutonomousCallback);
-  store->SetUid(HALSIM_RegisterDriverStationAutonomousCallback(
+      -1, callback, &HALSIM_CancelDriverStationRobotModeCallback);
+  store->SetUid(HALSIM_RegisterDriverStationRobotModeCallback(
       &CallbackStoreThunk, store.get(), initialNotify));
   return store;
 }
 
-bool DriverStationSim::GetAutonomous() {
-  return HALSIM_GetDriverStationAutonomous();
+HAL_RobotMode DriverStationSim::GetRobotMode() {
+  return HALSIM_GetDriverStationRobotMode();
 }
 
-void DriverStationSim::SetAutonomous(bool autonomous) {
-  HALSIM_SetDriverStationAutonomous(autonomous);
-}
-
-std::unique_ptr<CallbackStore> DriverStationSim::RegisterTestCallback(
-    NotifyCallback callback, bool initialNotify) {
-  auto store = std::make_unique<CallbackStore>(
-      -1, callback, &HALSIM_CancelDriverStationTestCallback);
-  store->SetUid(HALSIM_RegisterDriverStationTestCallback(
-      &CallbackStoreThunk, store.get(), initialNotify));
-  return store;
-}
-
-bool DriverStationSim::GetTest() {
-  return HALSIM_GetDriverStationTest();
-}
-
-void DriverStationSim::SetTest(bool test) {
-  HALSIM_SetDriverStationTest(test);
+void DriverStationSim::SetRobotMode(HAL_RobotMode robotMode) {
+  HALSIM_SetDriverStationRobotMode(robotMode);
 }
 
 std::unique_ptr<CallbackStore> DriverStationSim::RegisterEStopCallback(
@@ -152,6 +135,38 @@ void DriverStationSim::SetMatchTime(double matchTime) {
   HALSIM_SetDriverStationMatchTime(matchTime);
 }
 
+std::unique_ptr<CallbackStore> DriverStationSim::RegisterOpModeCallback(
+    NotifyCallback callback, bool initialNotify) {
+  auto store = std::make_unique<CallbackStore>(
+      -1, callback, &HALSIM_CancelDriverStationOpModeCallback);
+  store->SetUid(HALSIM_RegisterDriverStationOpModeCallback(
+      &CallbackStoreThunk, store.get(), initialNotify));
+  return store;
+}
+
+int64_t DriverStationSim::GetOpMode() {
+  return HALSIM_GetDriverStationOpMode();
+}
+
+void DriverStationSim::SetOpMode(int64_t opmode) {
+  HALSIM_SetDriverStationOpMode(opmode);
+}
+
+std::unique_ptr<CallbackStore> DriverStationSim::RegisterOpModeOptionsCallback(
+    OpModeOptionsCallback callback, bool initialNotify) {
+  auto store = std::make_unique<CallbackStore>(
+      -1, callback, &HALSIM_CancelOpModeOptionsCallback);
+  store->SetUid(HALSIM_RegisterOpModeOptionsCallback(
+      &OpModeOptionsCallbackStoreThunk, store.get(), initialNotify));
+  return store;
+}
+
+OpModeOptions DriverStationSim::GetOpModeOptions() {
+  int32_t len;
+  auto options = HALSIM_GetOpModeOptions(&len);
+  return {options, len};
+}
+
 void DriverStationSim::NotifyNewData() {
   wpi::util::Event waitEvent{true};
   HAL_ProvideNewDataEventHandle(waitEvent.GetHandle());