Make various refactors to clean up codebase

[Gold856]

Description

Code that was unused has been removed to tidy up the codebase.
The creation of arrays was also tidied up, using initializers when possible and just new Type[0] for zero length arrays.
Text blocks were used to increase readability.
VideoSimUtil was refactored to reduce copies when generating 36h11 tag images.
FileSaveFrameConsumer was refactored to let Java handle paths instead of us doing it manually.
I switched to WPILib's Pair class instead of the Apache Commons Pair class. This allowed us to drop a few Apache Commons dependencies, which is good for reducing JAR size and the number of things we need to pull in.
#1556 added a UiVmmState class, but it appears to have been unused, so removing it to reduce confusion.
printTestUtils was a common function duplicated across several tests, so they were consolidated into TestUtils for maintainability.
blacklistedResIndices was removed from HardwareConfig because the filtering logic that used it was broken. Matt says it was something from the mmal days, but we use libcamera now, so we just don't need it.
collect(Collectors.toList()) for Streams was replaced with toList() when the resulting List wasn't modified. It's more concise and possibly a little bit more performant.
Math.hypot was used in place of Math.sqrt(a^2 + b^2) for conciseness.
Several classes were made into records to reduce boilerplate and increase readability.
In a few places, especially in pipelines, objects were being assigned to a variable, only to be passed to a method and never used again in the same scope. Worse, this wasn't consistent, and assignment was just skipped entirely sometimes. Now, the code more consistently creates the object directly in the method call, skipping the unnecessary assignment.
switch case and instanceof use was refactored to reduce unnecessary operations like casting if statements and casts and improve code clarity.
JUnit assertions were not always statically imported, so I statically imported all of them.
A Timer is now used to calculate FPS instead of handrolling the time tracking for readability and maintainability.
Whatever CameraServer bug caused #123 seems to have been fixed, so CameraServer is now used directly instead of duplicating its code.
QuirkyCamera was refactored to use EnumMap, since that seems to be more efficient. This also enables more concise copying of QuirkyCamera in getQuirkyCamera by just passing in the Map of the QuirkyCamera. Also, putAll was used instead of manually copying quirks in updateQuirks for conciseness.
There's some other miscellanous clean up in Miscellanous clean up, which is mostly either removing unnecessary code or making operations more efficient.

Meta

Merge checklist:

• Pull Request title is short, imperative summary of proposed changes
• The description documents the what and why
• If this PR changes behavior or adds a feature, user documentation is updated
• If this PR touches photon-serde, all messages have been regenerated and hashes have not changed unexpectedly
• If this PR touches configuration, this is backwards compatible with settings back to v2024.3.1
• If this PR addresses a bug, a regression test for it is added

[mcm001]

Do we wanna hold off until champs on this one?

[Gold856]

I’d be fine with that. I think there are other places I could do refactors as well.

[mcm001]

Blocking review until post champs

[samfreund]

photonvision/photon-core/src/main/java/org/photonvision/common/configuration/ConfigManager.java

Line 43 in cbdea5d

public static final String HW_CFG_FNAME = "hardwareConfig.json";

Take a peek at these guys, they don't seem to be doing anything

[mcm001]

Tempted to merge this as a not-squash to preserve history and make bisecting easier

[samfreund]

Tempted to merge this as a not-squash to preserve history and make bisecting easier

Sure. Imma put another blocking review so that we remember.

[samfreund]

Rebase when we merge

[Gold856]

Cleaned up history for a rebase merge so some of the commits have nice summaries and descriptions.

[mcm001]

FUCK IT EINSTEIN IS OVER WE BALL LETS GET THIS BREAD

gg