Add test to validate priority-based wakeup on semaphores

[jphickey]

Is your feature request related to a problem? Please describe.
OSAL semaphores should implement priority-based wakeup, as opposed to FIFO. This currently is not validated by any test.

Describe the solution you'd like
Should implement a new unit test to confirm that priority-based semaphores are working as expected. Basic procedure should be something like:

1. Create a semaphore with value 0
2. Create a low priority task which blocks on the semaphore
3. Create a high priority task which also blocks on the semaphore
4. Give the semaphore
5. Confirm only high priority task woke up, low priority still blocked
6. Give the semaphore again
7. Confirm low priority task woke up

Additional context
This test depends on actual task priorities being set in the OS scheduler, which may not happen when running as a normal user and using OS_CONFIG_PERMISSIVE_MODE option. This test would have to be bypassed in that case.

Requester Info
Joseph Hickey, Vantage Systems, Inc.