update ginkgo from v1 to v2 and gomega to 1.19.0

- update all the import statements
- run hack/pin-dependency.sh to change pinned dependency versions
- run hack/update-vendor.sh to update go.mod files and the vendor directory
- update the method signatures for custom reporters

Signed-off-by: Dave Chen <dave.chen@arm.com>

LICENSES/vendor/github.com/onsi/ginkgo/v2/LICENSE

@@ -0,0 +1,24 @@
+= vendor/github.com/onsi/ginkgo/v2 licensed under: =
+
+Copyright (c) 2013-2014 Onsi Fakhouri
+
+Permission is hereby granted, free of charge, to any person obtaining
+a copy of this software and associated documentation files (the
+"Software"), to deal in the Software without restriction, including
+without limitation the rights to use, copy, modify, merge, publish,
+distribute, sublicense, and/or sell copies of the Software, and to
+permit persons to whom the Software is furnished to do so, subject to
+the following conditions:
+
+The above copyright notice and this permission notice shall be
+included in all copies or substantial portions of the Software.
+
+THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND,
+EXPRESS OR IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF
+MERCHANTABILITY, FITNESS FOR A PARTICULAR PURPOSE AND
+NONINFRINGEMENT. IN NO EVENT SHALL THE AUTHORS OR COPYRIGHT HOLDERS BE
+LIABLE FOR ANY CLAIM, DAMAGES OR OTHER LIABILITY, WHETHER IN AN ACTION
+OF CONTRACT, TORT OR OTHERWISE, ARISING FROM, OUT OF OR IN CONNECTION
+WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN THE SOFTWARE.
+
+= vendor/github.com/onsi/ginkgo/LICENSE 570603114d52313cb86c0206401c9af7