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A better way?
I think what I am going to do is wrap wpilib.Wait in Python.
Loops are already required to call Wait regularly, so why not check for mode changes there?
What it could do is check and save the current mode and throw an exception any time the mode changes. That exception could then be caught at the top level mode dispatch tree.
In fact, I'd recommend something like this as the best way to go to insure that the correct section of code is always running.
Some people might say that you should not use exceptions to control program flow, but I think this will simplify programs significantly. I haven't tested anything yet, though, so I don't know what problems may come up.
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