- Catch up to setrunqueue/choosethread/etc. api changes.

 - Define our own maybe_preempt() as sched_preempt().  We want to be able
   to preempt idlethread in all cases.
 - Define our idlethread to require preemption to exit.
 - Get the cpu estimation tick from sched_tick() so we don't have to worry
   about errors from a sampling interval that differs from the time
   domain.  This was the source of sched_priority prints/panics and
   inaccurate pctcpu display in top.

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