[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>

wpilibjExamples/src/test/java/org/wpilib/examples/armsimulation/ArmSimulationTest.java

@@ -13,6 +13,7 @@ import org.junit.jupiter.api.parallel.ResourceLock;
 import org.junit.jupiter.params.ParameterizedTest;
 import org.junit.jupiter.params.provider.ValueSource;
 import org.wpilib.hardware.hal.HAL;
+import org.wpilib.hardware.hal.RobotMode;
 import org.wpilib.math.util.Units;
 import org.wpilib.simulation.DriverStationSim;
 import org.wpilib.simulation.EncoderSim;
@@ -75,7 +76,7 @@ class ArmSimulationTest {
     assertEquals(setpoint, Preferences.getDouble(Constants.kArmPositionKey, Double.NaN));
     // teleop init
     {
-      DriverStationSim.setAutonomous(false);
+      DriverStationSim.setRobotMode(RobotMode.TELEOPERATED);
       DriverStationSim.setEnabled(true);
       DriverStationSim.notifyNewData();
 
@@ -135,7 +136,6 @@ class ArmSimulationTest {
 
     {
       // Disable
-      DriverStationSim.setAutonomous(false);
       DriverStationSim.setEnabled(false);
       DriverStationSim.notifyNewData();
 

wpilibjExamples/src/test/java/org/wpilib/examples/digitalcommunication/DigitalCommunicationTest.java

@@ -16,6 +16,7 @@ import org.junit.jupiter.params.provider.EnumSource;
 import org.junit.jupiter.params.provider.ValueSource;
 import org.wpilib.hardware.hal.AllianceStationID;
 import org.wpilib.hardware.hal.HAL;
+import org.wpilib.hardware.hal.RobotMode;
 import org.wpilib.simulation.DIOSim;
 import org.wpilib.simulation.DriverStationSim;
 import org.wpilib.simulation.SimHooks;
@@ -88,7 +89,7 @@ class DigitalCommunicationTest {
   @ValueSource(booleans = {true, false})
   @ParameterizedTest(name = "autonomous[{index}]: {0}")
   void autonomousTest(boolean autonomous) {
-    DriverStationSim.setAutonomous(autonomous);
+    DriverStationSim.setRobotMode(autonomous ? RobotMode.AUTONOMOUS : RobotMode.TELEOPERATED);
     DriverStationSim.notifyNewData();
 
     assertTrue(m_autonomousOutput.getInitialized());

wpilibjExamples/src/test/java/org/wpilib/examples/elevatorsimulation/ElevatorSimulationTest.java

@@ -12,6 +12,7 @@ import org.junit.jupiter.api.BeforeEach;
 import org.junit.jupiter.api.Test;
 import org.junit.jupiter.api.parallel.ResourceLock;
 import org.wpilib.hardware.hal.HAL;
+import org.wpilib.hardware.hal.RobotMode;
 import org.wpilib.simulation.DriverStationSim;
 import org.wpilib.simulation.EncoderSim;
 import org.wpilib.simulation.JoystickSim;
@@ -64,7 +65,7 @@ class ElevatorSimulationTest {
   void teleopTest() {
     // teleop init
     {
-      DriverStationSim.setAutonomous(false);
+      DriverStationSim.setRobotMode(RobotMode.TELEOPERATED);
       DriverStationSim.setEnabled(true);
       DriverStationSim.notifyNewData();
 
@@ -124,7 +125,6 @@ class ElevatorSimulationTest {
 
     {
       // Disable
-      DriverStationSim.setAutonomous(false);
       DriverStationSim.setEnabled(false);
       DriverStationSim.notifyNewData();
 

wpilibjExamples/src/test/java/org/wpilib/examples/i2ccommunication/I2CCommunicationTest.java

@@ -19,6 +19,7 @@ import org.junit.jupiter.params.provider.ValueSource;
 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.CallbackStore;
 import org.wpilib.simulation.DriverStationSim;
 import org.wpilib.simulation.I2CSim;
@@ -100,7 +101,7 @@ class I2CCommunicationTest {
   @ValueSource(booleans = {true, false})
   @ParameterizedTest(name = "autonomous[{index}]: {0}")
   void autonomousTest(boolean autonomous) {
-    DriverStationSim.setAutonomous(autonomous);
+    DriverStationSim.setRobotMode(autonomous ? RobotMode.AUTONOMOUS : RobotMode.TELEOPERATED);
     DriverStationSim.notifyNewData();
 
     assertTrue(m_i2c.getInitialized());

wpilibjExamples/src/test/java/org/wpilib/examples/potentiometerpid/PotentiometerPIDTest.java

@@ -13,6 +13,7 @@ import org.junit.jupiter.api.Test;
 import org.junit.jupiter.api.parallel.ResourceLock;
 import org.wpilib.hardware.hal.HAL;
 import org.wpilib.hardware.hal.HAL.SimPeriodicBeforeCallback;
+import org.wpilib.hardware.hal.RobotMode;
 import org.wpilib.math.system.plant.DCMotor;
 import org.wpilib.math.util.Units;
 import org.wpilib.simulation.AnalogInputSim;
@@ -100,7 +101,7 @@ class PotentiometerPIDTest {
   void teleopTest() {
     // teleop init
     {
-      DriverStationSim.setAutonomous(false);
+      DriverStationSim.setRobotMode(RobotMode.TELEOPERATED);
       DriverStationSim.setEnabled(true);
       DriverStationSim.notifyNewData();