[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/test/java/org/wpilib/MockHardwareExtension.java

@@ -8,6 +8,7 @@ import org.junit.jupiter.api.extension.BeforeAllCallback;
 import org.junit.jupiter.api.extension.ExtensionContext;
 import org.junit.jupiter.api.extension.ExtensionContext.Namespace;
 import org.wpilib.hardware.hal.HAL;
+import org.wpilib.hardware.hal.RobotMode;
 import org.wpilib.simulation.DriverStationSim;
 
 public final class MockHardwareExtension implements BeforeAllCallback {
@@ -31,8 +32,7 @@ public final class MockHardwareExtension implements BeforeAllCallback {
   private void initializeHardware() {
     HAL.initialize(500, 0);
     DriverStationSim.setDsAttached(true);
-    DriverStationSim.setAutonomous(false);
     DriverStationSim.setEnabled(true);
-    DriverStationSim.setTest(true);
+    DriverStationSim.setRobotMode(RobotMode.TEST);
   }
 }

wpilibj/src/test/java/org/wpilib/framework/TimedRobotTest.java

@@ -11,6 +11,7 @@ import org.junit.jupiter.api.AfterEach;
 import org.junit.jupiter.api.BeforeEach;
 import org.junit.jupiter.api.Test;
 import org.junit.jupiter.api.parallel.ResourceLock;
+import org.wpilib.hardware.hal.RobotMode;
 import org.wpilib.simulation.DriverStationSim;
 import org.wpilib.simulation.SimHooks;
 
@@ -218,8 +219,7 @@ class TimedRobotTest {
     SimHooks.waitForProgramStart();
 
     DriverStationSim.setEnabled(true);
-    DriverStationSim.setAutonomous(true);
-    DriverStationSim.setTest(false);
+    DriverStationSim.setRobotMode(RobotMode.AUTONOMOUS);
     DriverStationSim.notifyNewData();
 
     assertEquals(1, robot.m_simulationInitCount.get());
@@ -300,8 +300,7 @@ class TimedRobotTest {
     SimHooks.waitForProgramStart();
 
     DriverStationSim.setEnabled(true);
-    DriverStationSim.setAutonomous(false);
-    DriverStationSim.setTest(false);
+    DriverStationSim.setRobotMode(RobotMode.TELEOPERATED);
     DriverStationSim.notifyNewData();
 
     assertEquals(1, robot.m_simulationInitCount.get());
@@ -382,8 +381,7 @@ class TimedRobotTest {
     SimHooks.waitForProgramStart();
 
     DriverStationSim.setEnabled(true);
-    DriverStationSim.setAutonomous(false);
-    DriverStationSim.setTest(true);
+    DriverStationSim.setRobotMode(RobotMode.TEST);
     DriverStationSim.notifyNewData();
 
     assertEquals(1, robot.m_simulationInitCount.get());
@@ -445,8 +443,6 @@ class TimedRobotTest {
     assertEquals(0, robot.m_testExitCount.get());
 
     DriverStationSim.setEnabled(false);
-    DriverStationSim.setAutonomous(false);
-    DriverStationSim.setTest(false);
     DriverStationSim.notifyNewData();
 
     SimHooks.stepTiming(0.02);
@@ -490,8 +486,6 @@ class TimedRobotTest {
 
     // Start in disabled
     DriverStationSim.setEnabled(false);
-    DriverStationSim.setAutonomous(false);
-    DriverStationSim.setTest(false);
     DriverStationSim.notifyNewData();
 
     assertEquals(0, robot.m_disabledInitCount.get());
@@ -518,8 +512,7 @@ class TimedRobotTest {
 
     // Transition to autonomous
     DriverStationSim.setEnabled(true);
-    DriverStationSim.setAutonomous(true);
-    DriverStationSim.setTest(false);
+    DriverStationSim.setRobotMode(RobotMode.AUTONOMOUS);
     DriverStationSim.notifyNewData();
 
     SimHooks.stepTiming(kPeriod);
@@ -536,8 +529,7 @@ class TimedRobotTest {
 
     // Transition to teleop
     DriverStationSim.setEnabled(true);
-    DriverStationSim.setAutonomous(false);
-    DriverStationSim.setTest(false);
+    DriverStationSim.setRobotMode(RobotMode.TELEOPERATED);
     DriverStationSim.notifyNewData();
 
     SimHooks.stepTiming(kPeriod);
@@ -554,8 +546,7 @@ class TimedRobotTest {
 
     // Transition to test
     DriverStationSim.setEnabled(true);
-    DriverStationSim.setAutonomous(false);
-    DriverStationSim.setTest(true);
+    DriverStationSim.setRobotMode(RobotMode.TEST);
     DriverStationSim.notifyNewData();
 
     SimHooks.stepTiming(kPeriod);
@@ -572,8 +563,6 @@ class TimedRobotTest {
 
     // Transition to disabled
     DriverStationSim.setEnabled(false);
-    DriverStationSim.setAutonomous(false);
-    DriverStationSim.setTest(false);
     DriverStationSim.notifyNewData();
 
     SimHooks.stepTiming(kPeriod);

wpilibj/src/test/java/org/wpilib/simulation/DriverStationSimTest.java

@@ -14,6 +14,7 @@ import org.junit.jupiter.params.provider.EnumSource;
 import org.wpilib.driverstation.DriverStation;
 import org.wpilib.hardware.hal.AllianceStationID;
 import org.wpilib.hardware.hal.HAL;
+import org.wpilib.hardware.hal.RobotMode;
 import org.wpilib.simulation.testutils.BooleanCallback;
 import org.wpilib.simulation.testutils.DoubleCallback;
 import org.wpilib.simulation.testutils.EnumCallback;
@@ -42,14 +43,15 @@ class DriverStationSimTest {
     DriverStationSim.resetData();
 
     assertFalse(DriverStation.isAutonomous());
-    BooleanCallback callback = new BooleanCallback();
-    try (CallbackStore cb = DriverStationSim.registerAutonomousCallback(callback, false)) {
-      DriverStationSim.setAutonomous(true);
+    EnumCallback callback = new EnumCallback();
+    try (CallbackStore cb = DriverStationSim.registerRobotModeCallback(callback, false)) {
+      DriverStationSim.setRobotMode(RobotMode.AUTONOMOUS);
       DriverStationSim.notifyNewData();
-      assertTrue(DriverStationSim.getAutonomous());
+      assertEquals(RobotMode.AUTONOMOUS, DriverStationSim.getRobotMode());
       assertTrue(DriverStation.isAutonomous());
+      assertEquals(RobotMode.AUTONOMOUS, DriverStation.getRobotMode());
       assertTrue(callback.wasTriggered());
-      assertTrue(callback.getSetValue());
+      assertEquals(RobotMode.AUTONOMOUS.getValue(), callback.getSetValue());
     }
   }
 
@@ -59,14 +61,15 @@ class DriverStationSimTest {
     DriverStationSim.resetData();
 
     assertFalse(DriverStation.isTest());
-    BooleanCallback callback = new BooleanCallback();
-    try (CallbackStore cb = DriverStationSim.registerTestCallback(callback, false)) {
-      DriverStationSim.setTest(true);
+    EnumCallback callback = new EnumCallback();
+    try (CallbackStore cb = DriverStationSim.registerRobotModeCallback(callback, false)) {
+      DriverStationSim.setRobotMode(RobotMode.TEST);
       DriverStationSim.notifyNewData();
-      assertTrue(DriverStationSim.getTest());
+      assertEquals(RobotMode.TEST, DriverStationSim.getRobotMode());
       assertTrue(DriverStation.isTest());
+      assertEquals(RobotMode.TEST, DriverStation.getRobotMode());
       assertTrue(callback.wasTriggered());
-      assertTrue(callback.getSetValue());
+      assertEquals(RobotMode.TEST.getValue(), callback.getSetValue());
     }
   }