[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/opmode/OpMode.java

@@ -0,0 +1,39 @@
+// Copyright (c) FIRST and other WPILib contributors.
+// Open Source Software; you can modify and/or share it under the terms of
+// the WPILib BSD license file in the root directory of this project.
+
+package org.wpilib.opmode;
+
+/**
+ * Top-level interface for opmode classes. Users should generally extend one of the abstract
+ * implementations of this interface (e.g. {@link PeriodicOpMode} or {@link LinearOpMode}) rather
+ * than directly implementing this interface.
+ */
+public interface OpMode {
+  /**
+   * This function is called periodically while the opmode is selected on the DS (robot is
+   * disabled). Code that should only run once when the opmode is selected should go in the opmode
+   * constructor.
+   */
+  default void disabledPeriodic() {}
+
+  /**
+   * This function is called when the opmode starts (robot is enabled).
+   *
+   * @param opModeId opmode unique ID
+   * @throws InterruptedException when interrupted
+   */
+  void opModeRun(long opModeId) throws InterruptedException;
+
+  /**
+   * This function is called asynchronously when the robot is disabled, to request the opmode return
+   * from opModeRun().
+   */
+  void opModeStop();
+
+  /**
+   * This function is called when the opmode is no longer selected on the DS or after opModeRun()
+   * returns. The object will not be reused after this is called.
+   */
+  void opModeClose();
+}