[sim] Change StepTiming to wait for notifiers (#2603)

Old behavior is available via StepTimingAsync.

This makes it significantly easier to use simulation timing with notifiers.

Also update tests to use simulation framework.  This also speeds up the
timing-dependent tests by using simulation timing.  ResourceLock is used
in the Java tests to prevent parallel execution.

While we're here, tweak HAL Notifier implementation:
- Use wait_for instead of wait_until in WaitForNotifierAlarm
- Check for triggerTime = UINT64_MAX in UpdateNotifierAlarm

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

@@ -218,6 +218,18 @@ Java_edu_wpi_first_hal_simulation_SimulatorJNI_stepTiming
   HALSIM_StepTiming(delta);
 }
 
+/*
+ * Class:     edu_wpi_first_hal_simulation_SimulatorJNI
+ * Method:    stepTimingAsync
+ * Signature: (J)V
+ */
+JNIEXPORT void JNICALL
+Java_edu_wpi_first_hal_simulation_SimulatorJNI_stepTimingAsync
+  (JNIEnv*, jclass, jlong delta)
+{
+  HALSIM_StepTimingAsync(delta);
+}
+
 /*
  * Class:     edu_wpi_first_hal_simulation_SimulatorJNI
  * Method:    resetHandles