tcl: convert transport select to jtag and swd

Convert every transport select command:
- hla_swd -> swd
- dapdirect_swd -> swd
- hla_jtag -> jtag
- dapdirect_jtag -> jtag

Change-Id: I81971e06f7aefd21a570a4e098cf3822a775464b
Signed-off-by: Antonio Borneo <borneo.antonio@gmail.com>
Reviewed-on: https://review.openocd.org/c/openocd/+/8678
Reviewed-by: zapb <dev@zapb.de>
Tested-by: jenkins

tcl/interface/rshim.cfg

@@ -5,4 +5,4 @@
 #
 
 adapter driver rshim
-transport select dapdirect_swd
+transport select swd