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Introduce fork-safety to ThreadContinuousScheduler #6165

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@ericapisani

Related:

See the descriptions in 2391 and 2390 for a full explanation.

ThreadContinuousScheduler needs to be looks at separately as it appears to have a similar code pattern to the others (locking and starting a new thread), but it also has a buffer that we need to be mindful of.

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