Enable log macros to work with no args (#4475)

This is enabled by the C++20 __VA_OPT__ feature.
Uses of "{}" format string were updated.
Some warning suppressions were required for older clang versions.
Also improve codegen of wpi::Logger::Log(), frc::ReportError(), and frc::MakeError();
these generate better and less redundant code if they use fmt::string_view for the
format string instead of templating on it.

wpimath/src/main/native/cpp/controller/PIDController.cpp

@@ -24,7 +24,7 @@ PIDController::PIDController(double Kp, double Ki, double Kd,
         period.value());
     m_period = 20_ms;
     wpi::math::MathSharedStore::ReportWarning(
-        "{}", "Controller period defaulted to 20ms.");
+        "Controller period defaulted to 20ms.");
   }
   static int instances = 0;
   instances++;