[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/wpilib/__init__.py

@@ -16,7 +16,6 @@ from ._wpilib import (
     CANStatus,
     Compressor,
     CompressorConfigType,
-    DSControlWord,
     DataLogManager,
     DigitalInput,
     DigitalOutput,
@@ -37,6 +36,7 @@ from ._wpilib import (
     Joystick,
     Koors40,
     LEDPattern,
+    LinearOpMode,
     Mechanism2d,
     MechanismLigament2d,
     MechanismObject2d,
@@ -45,6 +45,9 @@ from ._wpilib import (
     MotorSafety,
     Notifier,
     OnboardIMU,
+    OpMode,
+    OpModeRobotBase,
+    PeriodicOpMode,
     PS4Controller,
     PS5Controller,
     PWM,
@@ -63,7 +66,6 @@ from ._wpilib import (
     Preferences,
     RobotBase,
     RobotController,
-    RobotState,
     RuntimeType,
     SendableBuilderImpl,
     SendableChooser,
@@ -106,7 +108,6 @@ __all__ = [
     "CANStatus",
     "Compressor",
     "CompressorConfigType",
-    "DSControlWord",
     "DataLogManager",
     "DigitalInput",
     "DigitalOutput",
@@ -127,6 +128,7 @@ __all__ = [
     "Joystick",
     "Koors40",
     "LEDPattern",
+    "LinearOpMode",
     "Mechanism2d",
     "MechanismLigament2d",
     "MechanismObject2d",
@@ -135,6 +137,9 @@ __all__ = [
     "MotorSafety",
     "Notifier",
     "OnboardIMU",
+    "OpMode",
+    "OpModeRobotBase",
+    "PeriodicOpMode",
     "PS4Controller",
     "PS5Controller",
     "PWM",
@@ -153,7 +158,6 @@ __all__ = [
     "Preferences",
     "RobotBase",
     "RobotController",
-    "RobotState",
     "RuntimeType",
     "SendableBuilderImpl",
     "SendableChooser",
@@ -191,6 +195,10 @@ __all__ += ["reportError", "reportWarning"]
 
 del _init__wpilib
 
+from .opmoderobot import OpModeRobot
+
+__all__ += ["OpModeRobot"]
+
 from .cameraserver import CameraServer
 from .deployinfo import getDeployData