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/home/exceptions.md

@@ -418,13 +418,16 @@ The parsing of the corresponding BSON record type is not implemented (yet).
 
 ### json.exception.parse_error.115
 
-A UBJSON high-precision number could not be parsed.
+A UBJSON or BJData high-precision number could not be parsed.
 
-!!! failure "Example message"
+!!! failure "Example messages"
 
     ```
     [json.exception.parse_error.115] parse error at byte 5: syntax error while parsing UBJSON high-precision number: invalid number text: 1A
     ```
+    ```
+    [json.exception.parse_error.115] parse error at byte 5: syntax error while parsing BJData high-precision number: invalid number text: 1A
+    ```
 
 ### json.exception.parse_error.116
 
@@ -1025,7 +1028,7 @@ exception, because they serialize integers beyond 64 bits as high-precision numb
     - Since version 3.12.0, integer numbers beyond int64 are serialized as uint64 BSON numbers.
 
     Before version 3.13.0, CBOR, MessagePack, and BSON silently truncated integers wider than 64 bits, and BJData
-    truncated unsigned integers wider than 64 bits.
+    truncated unsigned integers wider than 64 bits that were elements of ND-arrays with `"_ArrayType_": "uint64"`.
 
 !!! failure "Example messages"
 
@@ -1240,8 +1243,9 @@ A JSON Patch operation 'test' failed. The unsuccessful operation is also printed
 ### json.exception.other_error.502
 
 [`to_ubjson`](../api/basic_json/to_ubjson.md) and [`to_bjdata`](../api/basic_json/to_bjdata.md) were called with
-`use_type = true` but `use_size = false` for a value that contains a non-empty array, object, or binary value. UBJSON
-requires a size marker (`#`) after a type marker (`$`); scalars and empty containers do not throw.
+`use_type = true` but `use_size = false`, and the value contains a non-empty array or object (or, with BJData Draft 3,
+any binary value). UBJSON requires a size marker (`#`) after a type marker (`$`); scalars and empty arrays or objects
+do not throw.
 
 !!! failure "Example message"