[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/test/native/cpp/SlewRateLimiterTest.cpp

@@ -12,12 +12,13 @@
 #include <units/velocity.h>
 
 #include "frc/SlewRateLimiter.h"
+#include "frc/simulation/SimHooks.h"
 #include "gtest/gtest.h"
 
 TEST(SlewRateLimiterTest, SlewRateLimitTest) {
   frc::SlewRateLimiter<units::meters> limiter(1_mps);
 
-  std::this_thread::sleep_for(std::chrono::milliseconds(1000));
+  frc::sim::StepTiming(1.0_s);
 
   EXPECT_TRUE(limiter.Calculate(2_m) < 2_m);
 }
@@ -25,7 +26,7 @@ TEST(SlewRateLimiterTest, SlewRateLimitTest) {
 TEST(SlewRateLimiterTest, SlewRateNoLimitTest) {
   frc::SlewRateLimiter<units::meters> limiter(1_mps);
 
-  std::this_thread::sleep_for(std::chrono::milliseconds(1000));
+  frc::sim::StepTiming(1.0_s);
 
   EXPECT_EQ(limiter.Calculate(0.5_m), 0.5_m);
 }