[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

simulation/halsim_gui/src/main/native/cpp/TimingGui.cpp

@@ -32,7 +32,8 @@ static void DisplayTiming() {
   if (ImGui::Button("Step")) {
     HALSIM_PauseTiming();
     uint64_t nextTimeout = HALSIM_GetNextNotifierTimeout();
-    if (nextTimeout != UINT64_MAX) HALSIM_StepTiming(nextTimeout - curTime);
+    if (nextTimeout != UINT64_MAX)
+      HALSIM_StepTimingAsync(nextTimeout - curTime);
   }
   ImGui::PopButtonRepeat();
   ImGui::PushItemWidth(ImGui::GetFontSize() * 4);