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

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

wpilibj/src/main/java/edu/wpi/first/wpilibj/IterativeRobotBase.java

@@ -292,7 +292,9 @@ public abstract class IterativeRobotBase extends RobotBase {
     m_watchdog.addEpoch("Shuffleboard.update()");
 
     if (isSimulation()) {
+      HAL.simPeriodicBefore();
       simulationPeriodic();
+      HAL.simPeriodicAfter();
       m_watchdog.addEpoch("simulationPeriodic()");
     }