[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

wpilibj/src/main/java/edu/wpi/first/wpilibj/simulation/SimHooks.java

@@ -48,4 +48,8 @@ public final class SimHooks {
   public static void stepTiming(double deltaSeconds) {
     SimulatorJNI.stepTiming((long) (deltaSeconds * 1e6));
   }
+
+  public static void stepTimingAsync(double deltaSeconds) {
+    SimulatorJNI.stepTimingAsync((long) (deltaSeconds * 1e6));
+  }
 }