[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/simulation/DriverStationSim.yml

@@ -1,4 +1,6 @@
 classes:
+  wpi::sim::OpModeOptions:
+    ignore: true
   wpi::sim::DriverStationSim:
     force_type_casters:
     - std::function
@@ -6,12 +8,6 @@ classes:
       RegisterEnabledCallback:
       GetEnabled:
       SetEnabled:
-      RegisterAutonomousCallback:
-      GetAutonomous:
-      SetAutonomous:
-      RegisterTestCallback:
-      GetTest:
-      SetTest:
       RegisterEStopCallback:
       GetEStop:
       SetEStop:
@@ -51,3 +47,12 @@ classes:
       SetJoystickPOVsAvailable:
       SetJoystickButtonsMaximumIndex:
       SetJoystickButtonsAvailable:
+      RegisterRobotModeCallback:
+      GetRobotMode:
+      SetRobotMode:
+      RegisterOpModeCallback:
+      GetOpMode:
+      SetOpMode:
+      RegisterOpModeOptionsCallback:
+      GetOpModeOptions:
+        ignore: true