use finalize to print summary callback at end of simulation

[JoshuaLampert]

This uses the finalize keyword of the DiscreteCallback to automatically print the output of the SummaryCallback at the end of each simulation. This makes it unnecessary to manually call summary_callback at the end. Since seeing the output twice would be really annoying, this is considered breaking.
Closes #1783.

For potential future reference, I used the following code to automatically remove the `summary_callback` calls in all the elixirs

for (root, _, files) in walkdir("examples")
    for file in files
        if endswith(file, ".jl")
            filename = joinpath(root, file)
            (tmppath, tmpio) = mktemp()
            open(filename) do io
                lines = readlines(io)
                N = length(lines)
                for (i, line) in enumerate(lines)
                    if !contains(line, "summary_callback()") && !contains(line, "# Print the timer summary")
                        # Also remove doubled blank lines if they are there
                        if !(i < N && replace(line, " " => "") == "" && (contains(lines[i + 1], "summary_callback()") || contains(lines[i + 1], "# Print the timer summary")))
                            println(tmpio, line)
                        end
                    end
                end
            end
            close(tmpio)
            mv(tmppath, filename, force = true)
        end
    end
end

[github-actions]

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[codecov]

Codecov Report

All modified and coverable lines are covered by tests ✅

Project coverage is 96.88%. Comparing base (ce47aea) to head (5f12ee4).

Additional details and impacted files

@@            Coverage Diff             @@
##             main    #2275      +/-   ##
==========================================
- Coverage   96.88%   96.88%   -0.00%     
==========================================
  Files         490      490              
  Lines       39491    39492       +1     
==========================================
- Hits        38260    38259       -1     
- Misses       1231     1233       +2     

Flag	Coverage Δ
unittests	96.88% <ø> (-<0.01%)	⬇️

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[ranocha]

Nice, thanks! I turned this into a draft PR so that nobody accidentally merges it. I needs a final review before being merged, of course.

[JoshuaLampert]

The downgrade failure is not really related to this PR, but due to a new version of OrdinaryDiffEqSimplecticRK.jl being released, which leads to a failing downgrade job. If I understand correctly, a way to fix this, is bumping the compat of OrdinaryDiffEq.jl in tests/Project.toml to v6.91.0 (we need this commit, which first appeared in this version). However, fixing this here probably doesn't make so much sense as this PR will probably not be merged soon. I propose to fix this in another PR.

[ranocha]

Xref SciML/OrdinaryDiffEq.jl#2600 for failing downgrade CI