airflow scheduler如何将task提交给worker执行

1. 提交路径：从SchedulerJob类中的def _execute_helper(self)方法中的self.executor.heartbeat()开始看
到BaseExecutor类的def heartbeat(self)方法：

    def heartbeat(self):
        # Triggering new jobs
        if not self.parallelism:
            open_slots = len(self.queued_tasks)
        else:
            open_slots = self.parallelism - len(self.running)

        self.log.debug("%s running task instances", len(self.running))
        self.log.debug("%s in queue", len(self.queued_tasks))
        self.log.debug("%s open slots", open_slots)

        sorted_queue = sorted(
            [(k, v) for k, v in self.queued_tasks.items()],
            key=lambda x: x[1][1],
            reverse=True)
        for i in range(min((open_slots, len(self.queued_tasks)))):
            key, (command, _, queue, ti) = sorted_queue.pop(0)
            # TODO(jlowin) without a way to know what Job ran which tasks,
            # there is a danger that another Job started running a task
            # that was also queued to this executor. This is the last chance
            # to check if that happened. The most probable way is that a
            # Scheduler tried to run a task that was originally queued by a
            # Backfill. This fix reduces the probability of a collision but
            # does NOT eliminate it.
            self.queued_tasks.pop(key)
            ti.refresh_from_db()
            // 此处的command是一条cli命令
            if ti.state != State.RUNNING:
                self.running[key] = command
                self.execute_async(key=key,
                                   command=command,
                                   queue=queue,
                                   executor_config=ti.executor_config)
            else:
                self.log.info(
                    'Task is already running, not sending to '
                    'executor: {}'.format(key))

        # Calling child class sync method
        self.log.debug("Calling the %s sync method", self.__class__)
        self.sync()

到CeleryExecutor类（此处以Celery为例）的execut