fiber: introduce schedule_task() internal function

fiber._internal.schedule_task() is an API for a singleton fiber
worker object. It serves for not urgent delayed execution of
functions. Main purpose - schedule execution of a function, which
is going to yield, from a context, where a yield is not allowed.
Such as an FFI object's GC callback.

It will be used by SWIM and by fio, whose destruction yields, but
they need to use GC finalizer, where a yield is not allowed.

Part of #4727