Add braces to C++ single-line loops and conditionals (NFC) (#2973)

This makes code easier to read and more consistent between C++ and Java.
Also update clang-format settings to always add a line break (even if no braces are used).

hal/src/main/native/cpp/jni/simulation/SpiReadAutoReceiveBufferCallbackStore.cpp

@@ -110,7 +110,9 @@ SIM_JniHandle sim::AllocateSpiBufferCallback(
     uintptr_t handleTmp = reinterpret_cast<uintptr_t>(param);
     SIM_JniHandle handle = static_cast<SIM_JniHandle>(handleTmp);
     auto data = callbackHandles->Get(handle);
-    if (!data) return;
+    if (!data) {
+      return;
+    }
 
     *outputCount = data->performCallback(name, buffer, numToRead);
   };