[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/include/wpi/simulation/SimHooks.hpp

@@ -6,6 +6,7 @@
 
 #include <stdint.h>
 
+#include "wpi/hal/DriverStationTypes.h"
 #include "wpi/hal/HALBase.h"
 #include "wpi/units/time.hpp"
 
@@ -37,6 +38,20 @@ void SetProgramStarted(bool started);
  */
 bool GetProgramStarted();
 
+/**
+ * Sets the user program state (control word).
+ *
+ * @param controlWord control word
+ */
+void SetProgramState(wpi::hal::ControlWord controlWord);
+
+/**
+ * Gets the user program state (control word).
+ *
+ * @return Control word
+ */
+wpi::hal::ControlWord GetProgramState();
+
 /**
  * Restart the simulator time.
  */