Implement new scheduler (#823)

- introduce internal/router/scheduler to decouple routing, swapping and
queuing into interface contracts.
- introduce a new `routing` configuration section that supersedes
`matrix` and `group` while maintaining backwards compatibility
- add FIFO scheduler with prioritized queuing 
- add internal/router/design.md as developer documentation on
implementing new schedulers and routers

Fixes #797

internal/config/matrix.go

@@ -15,6 +15,9 @@ type MatrixConfig struct {
 	Var        map[string]string `yaml:"vars"`
 	EvictCosts map[string]int    `yaml:"evict_costs"`
 	Sets       OrderedSets       `yaml:"sets"`
+
+	// populated by ValidateMatrix; not settable from yaml
+	ExpandedSets []ExpandedSet `yaml:"-"`
 }
 
 // SetEntry is a single named set with its DSL expression.