[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/python/pyproject.toml

@@ -94,7 +94,6 @@ MotorControllerGroup = "rpy/MotorControllerGroup.h"
 Notifier = "rpy/Notifier.h"
 
 # wpi/driverstation
-DSControlWord = "wpi/driverstation/DSControlWord.hpp"
 DriverStation = "wpi/driverstation/DriverStation.hpp"
 Gamepad = "wpi/driverstation/Gamepad.hpp"
 GenericHID = "wpi/driverstation/GenericHID.hpp"
@@ -106,8 +105,8 @@ XboxController = "wpi/driverstation/XboxController.hpp"
 
 # wpi/framework
 IterativeRobotBase = "wpi/framework/IterativeRobotBase.hpp"
+OpModeRobot = "wpi/framework/OpModeRobot.hpp"
 RobotBase = "wpi/framework/RobotBase.hpp"
-RobotState = "wpi/framework/RobotState.hpp"
 TimedRobot = "wpi/framework/TimedRobot.hpp"
 TimesliceRobot = "wpi/framework/TimesliceRobot.hpp"
 
@@ -182,6 +181,11 @@ Encoder = "wpi/hardware/rotation/Encoder.hpp"
 # wpi/internal
 DriverStationModeThread = "wpi/internal/DriverStationModeThread.hpp"
 
+# wpi/opmode
+LinearOpMode = "wpi/opmode/LinearOpMode.hpp"
+OpMode = "wpi/opmode/OpMode.hpp"
+PeriodicOpMode = "wpi/opmode/PeriodicOpMode.hpp"
+
 # wpi/smartdashboard
 Field2d = "wpi/smartdashboard/Field2d.hpp"
 FieldObject2d = "wpi/smartdashboard/FieldObject2d.hpp"