Feature/PLT scheduler port

[allanbrondum]

Purpose

Feature branch for PLT Scheduler rewrite

Changes

_Describe the changes that were needed.

Checklist

• My code follows the style of this project.
• The code compiles without warnings.
• I have performed a self-review of the changes.
• I have documented my code, in particular the intent of the
  hard-to-understand areas.
• (If necessary) I have updated the CHANGELOG.