[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>

wpilibcExamples/src/test/cpp/examples/ArmSimulation/cpp/ArmSimulationTest.cpp

@@ -9,6 +9,7 @@
 
 #include "Constants.hpp"
 #include "Robot.hpp"
+#include "wpi/hal/DriverStationTypes.h"
 #include "wpi/hal/simulation/MockHooks.h"
 #include "wpi/simulation/DriverStationSim.hpp"
 #include "wpi/simulation/JoystickSim.hpp"
@@ -57,7 +58,7 @@ TEST_P(ArmSimulationTest, Teleop) {
 
   // teleop init
   {
-    wpi::sim::DriverStationSim::SetAutonomous(false);
+    wpi::sim::DriverStationSim::SetRobotMode(HAL_ROBOTMODE_TELEOPERATED);
     wpi::sim::DriverStationSim::SetEnabled(true);
     wpi::sim::DriverStationSim::NotifyNewData();
 
@@ -130,7 +131,6 @@ TEST_P(ArmSimulationTest, Teleop) {
 
   {
     // Disable
-    wpi::sim::DriverStationSim::SetAutonomous(false);
     wpi::sim::DriverStationSim::SetEnabled(false);
     wpi::sim::DriverStationSim::NotifyNewData();
 

wpilibcExamples/src/test/cpp/examples/DigitalCommunication/cpp/DigitalCommunicationTest.cpp

@@ -8,6 +8,7 @@
 #include <gtest/gtest.h>
 
 #include "Robot.hpp"
+#include "wpi/hal/DriverStationTypes.h"
 #include "wpi/simulation/DIOSim.hpp"
 #include "wpi/simulation/DriverStationSim.hpp"
 #include "wpi/simulation/SimHooks.hpp"
@@ -120,7 +121,8 @@ class AutonomousTest : public DigitalCommunicationTest<bool> {};
 
 TEST_P(AutonomousTest, Autonomous) {
   auto autonomous = GetParam();
-  wpi::sim::DriverStationSim::SetAutonomous(autonomous);
+  wpi::sim::DriverStationSim::SetRobotMode(
+      autonomous ? HAL_ROBOTMODE_AUTONOMOUS : HAL_ROBOTMODE_TELEOPERATED);
   wpi::sim::DriverStationSim::NotifyNewData();
 
   EXPECT_TRUE(m_autonomousOutput.GetInitialized());

wpilibcExamples/src/test/cpp/examples/ElevatorSimulation/cpp/ElevatorSimulationTest.cpp

@@ -9,6 +9,7 @@
 
 #include "Constants.hpp"
 #include "Robot.hpp"
+#include "wpi/hal/DriverStationTypes.h"
 #include "wpi/hal/simulation/MockHooks.h"
 #include "wpi/simulation/DriverStationSim.hpp"
 #include "wpi/simulation/JoystickSim.hpp"
@@ -51,7 +52,7 @@ class ElevatorSimulationTest : public testing::Test {
 TEST_F(ElevatorSimulationTest, Teleop) {
   // teleop init
   {
-    wpi::sim::DriverStationSim::SetAutonomous(false);
+    wpi::sim::DriverStationSim::SetRobotMode(HAL_ROBOTMODE_TELEOPERATED);
     wpi::sim::DriverStationSim::SetEnabled(true);
     wpi::sim::DriverStationSim::NotifyNewData();
 
@@ -111,7 +112,6 @@ TEST_F(ElevatorSimulationTest, Teleop) {
 
   {
     // Disable
-    wpi::sim::DriverStationSim::SetAutonomous(false);
     wpi::sim::DriverStationSim::SetEnabled(false);
     wpi::sim::DriverStationSim::NotifyNewData();
 

wpilibcExamples/src/test/cpp/examples/I2CCommunication/cpp/I2CCommunicationTest.cpp

@@ -8,6 +8,7 @@
 #include <gtest/gtest.h>
 
 #include "Robot.hpp"
+#include "wpi/hal/DriverStationTypes.h"
 #include "wpi/hal/simulation/I2CData.h"
 #include "wpi/simulation/DriverStationSim.hpp"
 #include "wpi/simulation/SimHooks.hpp"
@@ -130,7 +131,8 @@ class AutonomousTest : public I2CCommunicationTest<bool> {};
 
 TEST_P(AutonomousTest, Autonomous) {
   auto autonomous = GetParam();
-  wpi::sim::DriverStationSim::SetAutonomous(autonomous);
+  wpi::sim::DriverStationSim::SetRobotMode(
+      autonomous ? HAL_ROBOTMODE_AUTONOMOUS : HAL_ROBOTMODE_TELEOPERATED);
   wpi::sim::DriverStationSim::NotifyNewData();
 
   EXPECT_TRUE(HALSIM_GetI2CInitialized(m_port));

wpilibcExamples/src/test/cpp/examples/PotentiometerPID/cpp/PotentiometerPIDTest.cpp

@@ -8,6 +8,7 @@
 #include <gtest/gtest.h>
 
 #include "Robot.hpp"
+#include "wpi/hal/DriverStationTypes.h"
 #include "wpi/hal/simulation/MockHooks.h"
 #include "wpi/math/system/plant/DCMotor.hpp"
 #include "wpi/simulation/AnalogInputSim.hpp"
@@ -92,7 +93,7 @@ class PotentiometerPIDTest : public testing::Test {
 TEST_F(PotentiometerPIDTest, Teleop) {
   // teleop init
   {
-    wpi::sim::DriverStationSim::SetAutonomous(false);
+    wpi::sim::DriverStationSim::SetRobotMode(HAL_ROBOTMODE_TELEOPERATED);
     wpi::sim::DriverStationSim::SetEnabled(true);
     wpi::sim::DriverStationSim::NotifyNewData();