[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/semiwrap/DriverStation.yml

@@ -1,6 +1,6 @@
 extra_includes:
-- rpy/ControlWord.h
 - wpi/datalog/DataLog.hpp
+- wpi/util/Color.hpp
 
 classes:
   wpi::DriverStation:
@@ -57,21 +57,23 @@ classes:
       GetStickPOVsAvailable:
       GetStickButtonsMaximumIndex:
       GetStickButtonsAvailable:
+      GetRobotMode:
+      AddOpMode:
+        overloads:
+          RobotMode, std::string_view, std::string_view, std::string_view:
+          RobotMode, std::string_view, std::string_view, std::string_view, const wpi::util::Color&, const wpi::util::Color&:
+      RemoveOpMode:
+      PublishOpModes:
+      ClearOpModes:
+      GetOpModeId:
+      GetOpMode:
+      IsOpMode:
+        overloads:
+          int64_t:
+          std::string_view:
+      GetControlWord:
       GetStickTouchpadFinger:
       GetStickTouchpadFingerAvailable:
-    inline_code: |
-      .def("getControlState",
-        [](DriverStation *self) -> std::tuple<bool, bool, bool> {
-          py::gil_scoped_release release;
-          return rpy::GetControlState();
-        },
-        py::doc("More efficient way to determine what state the robot is in.\n"
-                "\n"
-                ":returns: booleans representing enabled, isautonomous, istest\n"
-                "\n"
-                ".. versionadded:: 2019.2.1\n"
-                "\n"
-                ".. note:: This function only exists in RobotPy\n"))
   wpi::DriverStation::TouchpadFinger:
     attributes:
       down: