Switch away from NI interrupt manager to custom implementation (#3705)

* Switch away from NI interrupt manager to custom implementation

* Formatting

* Fix tidy

* Formatting

* Fix loading

* Make interrupt api public

* Add multiple wait api

* Formatting

* Fix build

* Fix review comments

* wpiformat

Co-authored-by: github-actions[bot] <41898282+github-actions[bot]@users.noreply.github.com>

hal/src/main/native/athena/HAL.cpp

@@ -28,6 +28,7 @@
 #include "hal/Errors.h"
 #include "hal/Notifier.h"
 #include "hal/handles/HandlesInternal.h"
+#include "hal/roborio/InterruptManager.h"
 #include "visa/visa.h"
 
 using namespace hal;
@@ -424,6 +425,12 @@ HAL_Bool HAL_Initialize(int32_t timeout, int32_t mode) {
     return false;
   }
 
+  status = InterruptManager::Initialize(global->getSystemInterface());
+
+  if (status != 0) {
+    return false;
+  }
+
   HAL_InitializeDriverStation();
 
   dsStartTime = HAL_GetFPGATime(&status);