[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/cppcs/RobotBase.cpp

@@ -4,6 +4,8 @@
 
 #include "wpi/framework/RobotBase.hpp"
 
+#include <stdint.h>
+
 #ifdef __FRC_SYSTEMCORE__
 #include <dlfcn.h>
 #endif
@@ -140,38 +142,46 @@ static void SetupMathShared() {
       std::make_unique<WPILibMathShared>());
 }
 
-bool RobotBase::IsEnabled() const {
+bool RobotBase::IsEnabled() {
   return DriverStation::IsEnabled();
 }
 
-bool RobotBase::IsDisabled() const {
+bool RobotBase::IsDisabled() {
   return DriverStation::IsDisabled();
 }
 
-bool RobotBase::IsAutonomous() const {
+bool RobotBase::IsAutonomous() {
   return DriverStation::IsAutonomous();
 }
 
-bool RobotBase::IsAutonomousEnabled() const {
+bool RobotBase::IsAutonomousEnabled() {
   return DriverStation::IsAutonomousEnabled();
 }
 
-bool RobotBase::IsTeleop() const {
+bool RobotBase::IsTeleop() {
   return DriverStation::IsTeleop();
 }
 
-bool RobotBase::IsTeleopEnabled() const {
+bool RobotBase::IsTeleopEnabled() {
   return DriverStation::IsTeleopEnabled();
 }
 
-bool RobotBase::IsTest() const {
+bool RobotBase::IsTest() {
   return DriverStation::IsTest();
 }
 
-bool RobotBase::IsTestEnabled() const {
+bool RobotBase::IsTestEnabled() {
   return DriverStation::IsTestEnabled();
 }
 
+int64_t RobotBase::GetOpModeId() {
+  return DriverStation::GetOpModeId();
+}
+
+std::string RobotBase::GetOpMode() {
+  return DriverStation::GetOpMode();
+}
+
 std::thread::id RobotBase::GetThreadId() {
   return m_threadId;
 }