[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

wpilibc/src/main/native/cpp/simulation/SimHooks.cpp

@@ -32,5 +32,9 @@ void StepTiming(units::second_t delta) {
   HALSIM_StepTiming(static_cast<uint64_t>(delta.to<double>() * 1e6));
 }
 
+void StepTimingAsync(units::second_t delta) {
+  HALSIM_StepTimingAsync(static_cast<uint64_t>(delta.to<double>() * 1e6));
+}
+
 }  // namespace sim
 }  // namespace frc