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rt: instrument task poll times with a histogram (#5685)
Adds support for instrumenting the poll times of all spawned tasks. Data is tracked in a histogram. The user must specify the histogram scale and bucket ranges. Implementation-wise, the same strategy is used in the runtime where we are just using atomic counters. Because instrumenting each poll duration will result in frequent calls to `Instant::now()`, I think it should be an opt-in metric.
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