♻️ User Competition Functions

[liam-teale]

Overview

• rewrote system daemon
• replaced initialize, autonomous, opcontrol, etc with register_driver_control, register_autonomous, and register_disabled
• rewrote competition state API (e.g pros::c::competition_get_status has been replaced with zest::competition::get_mode)

Motivation

The previous implementation of the system daemon and the user competition functions was very messy.

Implementation Details

• the old system daemon has been split into 2 tasks: one for executing the user competition functions (max priority - 1, 2ms cycle), another for calling vexTasksRun (max priority, 2ms cycle)
• callbacks for user competition functions are registered with register_driver_control, register_autonomous, and register_disabled
• registered callbacks are run only after main returns
• competition API has its own namespace (zest::competition)

Test Plan:

• Callbacks are only run after main returns
• The number of tasks stay the same when switching competition modes
• Spinlocked competition functions are still killed