Implement background scheduling

This turned out to be incredibly complicated. High-level changes are:
1. Container completion in g_job_completion() has been completely
   reworked. We now check for and appropriately handle all possible
   states of a background scheduled task.
2. edfsc_cschedule() has had its fixed task scheduling logic overhauled
   to be easier to follow. This fixes the logic for when a fixed task
   preempts a background scheduled task, but may also fix other bugs.
3. When a task blocks while being background scheduled, remove that
   task, NOT the container scheduling that task.
4. Update `entry->scheduled` at the end of edfsc_gschedule(). We will
   not run g_finish_switch() if we continue scheduling the same task,
   but we still need entry->scheduled to be updated in the case when
   we stop background scheduling and switch to normal scheduling. The
   original code that sets `entry->scheduled` in g_finish_switch()
   may no longer be needed and further investigation of its removal
   is encouraged.
5. If a task exits while being background scheduled, remove it from
   the container rather than `entry->scheduled`.

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