[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

wpilibNewCommands/src/test/native/cpp/frc2/command/WaitCommandTest.cpp

@@ -1,10 +1,12 @@
 /*----------------------------------------------------------------------------*/
-/* Copyright (c) 2019 FIRST. All Rights Reserved.                             */
+/* Copyright (c) 2019-2020 FIRST. All Rights Reserved.                        */
 /* Open Source Software - may be modified and shared by FRC teams. The code   */
 /* must be accompanied by the FIRST BSD license file in the root directory of */
 /* the project.                                                               */
 /*----------------------------------------------------------------------------*/
 
+#include <frc/simulation/SimHooks.h>
+
 #include "CommandTestBase.h"
 #include "frc2/command/WaitCommand.h"
 #include "frc2/command/WaitUntilCommand.h"
@@ -13,6 +15,8 @@ using namespace frc2;
 class WaitCommandTest : public CommandTestBase {};
 
 TEST_F(WaitCommandTest, WaitCommandScheduleTest) {
+  frc::sim::PauseTiming();
+
   CommandScheduler scheduler = GetScheduler();
 
   WaitCommand command(100_ms);
@@ -20,7 +24,9 @@ TEST_F(WaitCommandTest, WaitCommandScheduleTest) {
   scheduler.Schedule(&command);
   scheduler.Run();
   EXPECT_TRUE(scheduler.IsScheduled(&command));
-  std::this_thread::sleep_for(std::chrono::milliseconds(110));
+  frc::sim::StepTiming(110_ms);
   scheduler.Run();
   EXPECT_FALSE(scheduler.IsScheduled(&command));
+
+  frc::sim::ResumeTiming();
 }