[sim] Add HAL hooks for simulationPeriodic (#2881)

This allows vendor libs to hook into the begin or end of simulationPeriodic().

wpilibc/src/main/native/cpp/IterativeRobotBase.cpp

@@ -171,7 +171,9 @@ void IterativeRobotBase::LoopFunc() {
   m_watchdog.AddEpoch("Shuffleboard::Update()");
 
   if constexpr (IsSimulation()) {
+    HAL_SimPeriodicBefore();
     SimulationPeriodic();
+    HAL_SimPeriodicAfter();
     m_watchdog.AddEpoch("SimulationPeriodic()");
   }