Read BJData ND-arrays of float16, restrict ND-array char to 0..127, correct BJData docs (#5931)

* Read ND-arrays of half floats and enforce the char limit in ND-arrays

BJData N-dimensional arrays with element type 'h' (float16) failed to
read with a misleading parse_error.112, because the reader's dtype name
table lacked 'h'. It now maps to "half", the JData name. The writer still
does not pack "half"; such an object is written as a plain object and
reads back equal.

BJData limits 'C' (char) to 0..127 in Draft 2 and Draft 3, and the 1-D
reader enforces this, but ND-arrays with _ArrayType_ "char" wrote values
up to 255 as 'C' elements and read them back without a check. The writer
now only packs values in 0..127 (others fall back to a plain object that
round-trips), and the reader rejects 'C' elements above 127 with
parse_error.113 like the 1-D reader.

Signed-off-by: Niels Lohmann <mail@nlohmann.me>

* docs: correct and complete the BJData documentation

Verify the BJData chapter against the library and the Draft 2/3/4
specifications and fix what did not match:

- bjdata.md: correct the list of unused markers (N, not Z), the ND-array
  example (3x2, not 2x3), the conditions under which an object is packed
  as an ND-array (exactly three keys, row vectors, float-only elements for
  single/double, char 0..127, byte only in Draft 3), the binary table row
  and notes (which flag/draft combinations write [$B), the "$" type
  restriction (Draft 3, Z is excluded too), the H marker in the
  deserialization table, and the claim of a complete deserialization
  mapping. Document the supported drafts, that Draft 4 (SoA containers,
  extension type E) and column-major ND-arrays are rejected, ND-arrays of
  half floats, duplicate object keys, and link the Draft 3 specifications
  instead of master.
- Add an API page for basic_json::bjdata_version_t with an example, and
  link it from the nav, the API index and to_bjdata.
- Update binary_formats/index.md and binary_values.md, which still claimed
  that BJData has no binary type, and fix a wrong byte comment there.
- Document parse_error.115 and the out_of_range.408 cases for from_bjdata,
  the precise other_error.502 condition for to_bjdata, and reword the note
  on truncated unsigned integers in exceptions.md (only ND-array elements
  were truncated before 3.13.0).

Signed-off-by: Niels Lohmann <mail@nlohmann.me>

* Regenerate single_include and apply astyle

Result of make amalgamate (including make pretty) for the preceding changes.

Signed-off-by: Niels Lohmann <mail@nlohmann.me>

* Address review of the BJData documentation

The $ type restriction exists since Draft 2 (Draft 3 added B), $ requires a count, ND char above 127 is rejected on read, and the new API page is listed in alphabetical order in the nav.

Signed-off-by: Niels Lohmann <mail@nlohmann.me>

* docs: format tables, use the Oxford comma

Reformat the tables changed by this PR (BJData serialization and
deserialization mappings, completeness and binary-value tables) so all
rows are aligned, and add the Oxford comma to lists of three or more
items in the added text.

Signed-off-by: Niels Lohmann <mail@nlohmann.me>

---------

Signed-off-by: Niels Lohmann <mail@nlohmann.me>

docs/mkdocs/docs/api/basic_json/to_bjdata.md

@@ -43,7 +43,8 @@ The exact mapping and its limitations are described on a [dedicated page](../../
 `#!cpp false` by default.
 
 `version` (in)
-:   which version of BJData to use (see note on "Binary values" on [BJData](../../features/binary_formats/bjdata.md));
+:   which version of BJData to use, see [`bjdata_version_t`](bjdata_version_t.md) and the note on "Binary values" on
+[BJData](../../features/binary_formats/bjdata.md);
 optional, `#!cpp bjdata_version_t::draft2` by default.
 
 `error_handler` (in)
@@ -64,7 +65,9 @@ Strong guarantee: if an exception is thrown, there are no changes in the JSON va
 ## Exceptions
 
 - Throws [`other_error.502`](../../home/exceptions.md#jsonexceptionother_error502) if `use_type` is true and `use_size`
-  is false, and `j` contains a non-empty array, object, or binary value.
+  is false, and `j` contains a non-empty array or object, or a non-empty binary value (with
+  `version = bjdata_version_t::draft3`, any binary value, including an empty one).
+  Scalars, empty arrays, and empty objects do not throw.
 - Throws [type_error.316](../../home/exceptions.md#jsonexceptiontype_error316) if a string or object key in `j` is
   not valid UTF-8 and `error_handler` is `strict` (the default only if
   [`JSON_STRICT_BINARY_UTF8`](../macros/json_strict_binary_utf8.md) is enabled)