[hal] Update waitForProgramStart to optionally wait for first notifier (#8932)

This addresses a race condition caused by TimedRobot and other
frameworks not creating their first notifier alarm until after signaling
program start.

Default this to true because it's the most common desired use case when
combined with TimedRobot.

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

@@ -141,13 +141,13 @@ Java_org_wpilib_hardware_hal_simulation_SimulatorJNI_setRuntimeType
 /*
  * Class:     org_wpilib_hardware_hal_simulation_SimulatorJNI
  * Method:    waitForProgramStart
- * Signature: ()V
+ * Signature: (Z)V
  */
 JNIEXPORT void JNICALL
 Java_org_wpilib_hardware_hal_simulation_SimulatorJNI_waitForProgramStart
-  (JNIEnv*, jclass)
+  (JNIEnv*, jclass, jboolean waitForFirstNotifier)
 {
-  HALSIM_WaitForProgramStart();
+  HALSIM_WaitForProgramStart(waitForFirstNotifier);
 }
 
 /*