Swap to a new scheduler implementation #127
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The old scheduler had the possiblity of a deadlock when two of the threads came in and tried to acquire the idle and pool mutexes at the same time.
This scheduler has rearranged parts of the locks to ensure that deadlocks don't happen.
As a side effect should also fix the issue raised in #109
A feature which has come about as a result is that tasks may belong to multiple sync groups at once