Refactoring of subMode for game interruptions

[MaikePaetzel]

The sub mode for the secondary states is not very intuitive and/or human-readable at the moment, which makes it both hard to develop/debug in the GC code itself, but also hard for teams to make use of this information.
Should be refactored and include human-readable names as stated in the rules as well.

[ahasselbring]

This is still necessary for the new GameController (after RoboCup). At the very least, the fields in secondaryStateInfo should be named (kicking team + phase), and the phase 0/1/2 should be named too, ideally as they are called in the rule book.

Even better (I think I have explained this idea to some people already) would be adopting the SPL representation. That means

• making the current kickOffTeam a generic kickingTeam field, replacing the 0th entry in secondaryStateInfo
• splitting secondaryState to gamePhase (which represents "normal", "overtime", "penalty shoot-out", and possibly "timeout") and setPlay (which represents all the different free kick types)
• replacing the phase (index 1 of secondaryStateInfo) by the state. Basically, phase 0 is like STATE_INITIAL, phase 1 is like STATE_READY and phase 2 is like STATE_SET.

The main idea here is that kick-offs and set plays are not fundamentally different.

@TrentHouliston also came up with a state model that just manages a set of "events" with associated timers which can be going on in parallel, such as "first half" + "playing" + "direct free kick".