[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/test/java/edu/wpi/first/wpilibj/WatchdogTest.java

@@ -9,28 +9,41 @@ package edu.wpi.first.wpilibj;
 
 import java.util.concurrent.atomic.AtomicInteger;
 
+import org.junit.jupiter.api.AfterEach;
+import org.junit.jupiter.api.BeforeEach;
 import org.junit.jupiter.api.Test;
-import org.junit.jupiter.api.condition.DisabledOnOs;
-import org.junit.jupiter.api.condition.OS;
+import org.junit.jupiter.api.parallel.ResourceLock;
+
+import edu.wpi.first.hal.HAL;
+import edu.wpi.first.wpilibj.simulation.SimHooks;
 
 import static org.junit.jupiter.api.Assertions.assertEquals;
 import static org.junit.jupiter.api.Assertions.assertFalse;
 import static org.junit.jupiter.api.Assertions.assertTrue;
 
-@DisabledOnOs(OS.MAC)
 class WatchdogTest {
+  @BeforeEach
+  void setup() {
+    HAL.initialize(500, 0);
+    SimHooks.pauseTiming();
+  }
+
+  @AfterEach
+  void cleanup() {
+    SimHooks.resumeTiming();
+  }
+
   @Test
+  @ResourceLock("timing")
   void enableDisableTest() {
     final AtomicInteger watchdogCounter = new AtomicInteger(0);
 
-    try (Watchdog watchdog = new Watchdog(0.4, () -> watchdogCounter.addAndGet(1))) {
+    try (Watchdog watchdog = new Watchdog(0.4, () -> {
+      watchdogCounter.addAndGet(1);
+    })) {
       System.out.println("Run 1");
       watchdog.enable();
-      try {
-        Thread.sleep(200);
-      } catch (InterruptedException ex) {
-        Thread.currentThread().interrupt();
-      }
+      SimHooks.stepTiming(0.2);
       watchdog.disable();
 
       assertEquals(0, watchdogCounter.get(), "Watchdog triggered early");
@@ -38,11 +51,7 @@ class WatchdogTest {
       System.out.println("Run 2");
       watchdogCounter.set(0);
       watchdog.enable();
-      try {
-        Thread.sleep(600);
-      } catch (InterruptedException ex) {
-        Thread.currentThread().interrupt();
-      }
+      SimHooks.stepTiming(0.6);
       watchdog.disable();
 
       assertEquals(1, watchdogCounter.get(),
@@ -51,11 +60,7 @@ class WatchdogTest {
       // Run 3
       watchdogCounter.set(0);
       watchdog.enable();
-      try {
-        Thread.sleep(1000);
-      } catch (InterruptedException ex) {
-        Thread.currentThread().interrupt();
-      }
+      SimHooks.stepTiming(1);
       watchdog.disable();
 
       assertEquals(1, watchdogCounter.get(),
@@ -64,22 +69,17 @@ class WatchdogTest {
   }
 
   @Test
+  @ResourceLock("timing")
   void resetTest() {
     final AtomicInteger watchdogCounter = new AtomicInteger(0);
 
-    try (Watchdog watchdog = new Watchdog(0.4, () -> watchdogCounter.addAndGet(1))) {
+    try (Watchdog watchdog = new Watchdog(0.4, () -> {
+      watchdogCounter.addAndGet(1);
+    })) {
       watchdog.enable();
-      try {
-        Thread.sleep(200);
-      } catch (InterruptedException ex) {
-        Thread.currentThread().interrupt();
-      }
+      SimHooks.stepTiming(0.2);
       watchdog.reset();
-      try {
-        Thread.sleep(200);
-      } catch (InterruptedException ex) {
-        Thread.currentThread().interrupt();
-      }
+      SimHooks.stepTiming(0.2);
       watchdog.disable();
 
       assertEquals(0, watchdogCounter.get(), "Watchdog triggered early");
@@ -87,26 +87,21 @@ class WatchdogTest {
   }
 
   @Test
+  @ResourceLock("timing")
   void setTimeoutTest() {
     final AtomicInteger watchdogCounter = new AtomicInteger(0);
 
-    try (Watchdog watchdog = new Watchdog(1.0, () -> watchdogCounter.addAndGet(1))) {
+    try (Watchdog watchdog = new Watchdog(1.0, () -> {
+      watchdogCounter.addAndGet(1);
+    })) {
       watchdog.enable();
-      try {
-        Thread.sleep(200);
-      } catch (InterruptedException ex) {
-        Thread.currentThread().interrupt();
-      }
+      SimHooks.stepTiming(0.2);
       watchdog.setTimeout(0.2);
 
       assertEquals(0.2, watchdog.getTimeout());
       assertEquals(0, watchdogCounter.get(), "Watchdog triggered early");
 
-      try {
-        Thread.sleep(300);
-      } catch (InterruptedException ex) {
-        Thread.currentThread().interrupt();
-      }
+      SimHooks.stepTiming(0.3);
       watchdog.disable();
 
       assertEquals(1, watchdogCounter.get(),
@@ -115,6 +110,7 @@ class WatchdogTest {
   }
 
   @Test
+  @ResourceLock("timing")
   void isExpiredTest() {
     try (Watchdog watchdog = new Watchdog(0.2, () -> {
     })) {
@@ -122,11 +118,7 @@ class WatchdogTest {
       watchdog.enable();
 
       assertFalse(watchdog.isExpired());
-      try {
-        Thread.sleep(300);
-      } catch (InterruptedException ex) {
-        Thread.currentThread().interrupt();
-      }
+      SimHooks.stepTiming(0.3);
       assertTrue(watchdog.isExpired());
 
       watchdog.disable();
@@ -138,24 +130,19 @@ class WatchdogTest {
   }
 
   @Test
+  @ResourceLock("timing")
   void epochsTest() {
     final AtomicInteger watchdogCounter = new AtomicInteger(0);
 
-    try (Watchdog watchdog = new Watchdog(0.4, () -> watchdogCounter.addAndGet(1))) {
+    try (Watchdog watchdog = new Watchdog(0.4, () -> {
+      watchdogCounter.addAndGet(1);
+    })) {
       System.out.println("Run 1");
       watchdog.enable();
       watchdog.addEpoch("Epoch 1");
-      try {
-        Thread.sleep(100);
-      } catch (InterruptedException ex) {
-        Thread.currentThread().interrupt();
-      }
+      SimHooks.stepTiming(0.1);
       watchdog.addEpoch("Epoch 2");
-      try {
-        Thread.sleep(100);
-      } catch (InterruptedException ex) {
-        Thread.currentThread().interrupt();
-      }
+      SimHooks.stepTiming(0.1);
       watchdog.addEpoch("Epoch 3");
       watchdog.disable();
 
@@ -164,17 +151,9 @@ class WatchdogTest {
       System.out.println("Run 2");
       watchdog.enable();
       watchdog.addEpoch("Epoch 1");
-      try {
-        Thread.sleep(200);
-      } catch (InterruptedException ex) {
-        Thread.currentThread().interrupt();
-      }
+      SimHooks.stepTiming(0.2);
       watchdog.reset();
-      try {
-        Thread.sleep(200);
-      } catch (InterruptedException ex) {
-        Thread.currentThread().interrupt();
-      }
+      SimHooks.stepTiming(0.2);
       watchdog.addEpoch("Epoch 2");
       watchdog.disable();
 
@@ -183,28 +162,25 @@ class WatchdogTest {
   }
 
   @Test
+  @ResourceLock("timing")
   void multiWatchdogTest() {
     final AtomicInteger watchdogCounter1 = new AtomicInteger(0);
     final AtomicInteger watchdogCounter2 = new AtomicInteger(0);
 
-    try (Watchdog watchdog1 = new Watchdog(0.2, () -> watchdogCounter1.addAndGet(1));
-        Watchdog watchdog2 = new Watchdog(0.6, () -> watchdogCounter2.addAndGet(1))) {
+    try (Watchdog watchdog1 = new Watchdog(0.2, () -> {
+      watchdogCounter1.addAndGet(1);
+    });
+        Watchdog watchdog2 = new Watchdog(0.6, () -> {
+          watchdogCounter2.addAndGet(1);
+        })) {
       watchdog2.enable();
-      try {
-        Thread.sleep(200);
-      } catch (InterruptedException ex) {
-        Thread.currentThread().interrupt();
-      }
+      SimHooks.stepTiming(0.25);
       assertEquals(0, watchdogCounter1.get(), "Watchdog triggered early");
       assertEquals(0, watchdogCounter2.get(), "Watchdog triggered early");
 
       // Sleep enough such that only the watchdog enabled later times out first
       watchdog1.enable();
-      try {
-        Thread.sleep(300);
-      } catch (InterruptedException ex) {
-        Thread.currentThread().interrupt();
-      }
+      SimHooks.stepTiming(0.25);
       watchdog1.disable();
       watchdog2.disable();