priority scheduling: add priority queue

[whitewindmills]

What type of PR is this?
/kind feature

What this PR does / why we need it:

Which issue(s) this PR fixes:
part of #5961

Special notes for your reviewer:

Does this PR introduce a user-facing change?:

NONE

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[whitewindmills]

/cc @RainbowMango @seanlaii @LeonZh0u @wengyao04 @zclyne

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/cc @RainbowMango @seanlaii @LeonZh0u @wengyao04 @zclyne

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