Update resource managing

[nicelhc13]

This PR updates two main things:

1. replace lock-based resource tracking with lock-free one by making the scheduler manage.
2. move resource updates from mapping to launching; it blocked task scheduling critically.

With this update, on 2000 independent tasks + with GIL + 76000 microsec for each task + depth 100 (5MB), it took 7 sec for each iteration.

Without this, it took more than 130 sec for each iteration.