transport: allow transport name jtag/swd for hla and dapdirect

transport: allow transport name jtag/swd for hla and dapdirect

The transport used on adapter's wires is either 'jtag' or 'swd'
but, depending on the adapter, in the command 'transport select'
we have to use either 'jtag' or 'swd' or the similar 'hla_jtag',
'hla_swd', 'dapdirect_jtag' or 'dapdirect_swd'.
This becomes cumbersome when we just want to change adapter and we
get forced to modify the 'transport select' command too.

There is no reason for an adapter driver to support two of the
similar transports. In fact 'dapdirect' one is a superset of the
'hla', and the native 'jtag' or 'swd' is a superset of the
'dapdirect' one.
While the adapter could support more than one similar transports,
its adapter driver should only support the most complete of these
similar transports.

Modify the 'transport select' code to accept 'jtag' or 'swd' for
the 'dapdirect' and the 'hla' adapters too.
Issue a deprecated message for the old 'dapdirect' and 'hla'
transport names.
In command 'transport list', print only the transport names that
can be selected through 'transport select' skipping information
about 'dapdirect' and 'hla' versions and avoid duplicated entries.

This improvement was listed in the TODO file. Update it!

Change-Id: I626b50e7a94c141c042eab388cd1ffe77eb864c2
Signed-off-by: Antonio Borneo <borneo.antonio@gmail.com>
Reviewed-on: https://review.openocd.org/c/openocd/+/8677
Tested-by: jenkins