[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/simulation/SimHooks.java

@@ -4,6 +4,7 @@
 
 package org.wpilib.simulation;
 
+import org.wpilib.hardware.hal.ControlWord;
 import org.wpilib.hardware.hal.simulation.SimulatorJNI;
 
 /** Simulation hooks. */
@@ -42,6 +43,24 @@ public final class SimHooks {
     return SimulatorJNI.getProgramStarted();
   }
 
+  /**
+   * Sets the user program state (control word).
+   *
+   * @param controlWord control word
+   */
+  public static void setProgramState(ControlWord controlWord) {
+    SimulatorJNI.setProgramState(controlWord.getNative());
+  }
+
+  /**
+   * Gets the user program state (control word).
+   *
+   * @param controlWord control word (output)
+   */
+  public static void getProgramState(ControlWord controlWord) {
+    SimulatorJNI.getProgramState(controlWord);
+  }
+
   /** Restart the simulator time. */
   public static void restartTiming() {
     SimulatorJNI.restartTiming();