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add three semaphore implementations and make wakeupSem configurable

Florian Fischer requested to merge aj46ezos/emper:futex_semaphore into master

To further investigate #12 I added a futex based implementation and changed Runtime.wakeupSem to emper::lib::sync::Semaphore.

The default semaphore implementation uses a POSIX semaphore and should be equivalent to the current master.

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