[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>

wpilibj/src/main/java/org/wpilib/hardware/motor/MotorSafety.java

@@ -7,7 +7,6 @@ package org.wpilib.hardware.motor;
 import java.util.LinkedHashSet;
 import java.util.Set;
 import org.wpilib.driverstation.DriverStation;
-import org.wpilib.framework.RobotState;
 import org.wpilib.hardware.hal.ControlWord;
 import org.wpilib.hardware.hal.DriverStationJNI;
 import org.wpilib.system.Timer;
@@ -51,7 +50,7 @@ public abstract class MotorSafety {
       }
       if (!timedOut) {
         DriverStationJNI.getControlWord(controlWord);
-        if (!(controlWord.getEnabled() && controlWord.getDSAttached())) {
+        if (!(controlWord.isEnabled() && controlWord.isDSAttached())) {
           safetyCounter = 0;
         }
         if (++safetyCounter >= 4) {
@@ -135,7 +134,7 @@ public abstract class MotorSafety {
       stopTime = m_stopTime;
     }
 
-    if (!enabled || RobotState.isDisabled() || RobotState.isTest()) {
+    if (!enabled || DriverStation.isDisabled() || DriverStation.isTest()) {
       return;
     }