A lot of these are breaking changes. frc::Timer was replaced with the
contents of frc2::Timer. The others were in-place argument changes or
removing deprecated non-unit overloads.
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
Resetting the flag should only occur in Enable() and Reset().
IterativeRobotBase needs the flag to remain set to print epochs after
disabling the Watchdog.
Notifier has one thread per instance because the callbacks must be
asynchronous. Watchdog callbacks can be synchronous, so this overhead
can be done away with via a scheduler thread akin to what the HAL
Notifier does.
