Updated command dispatcher to be a library

[SiddhartaL]

All the command dispatcher does is dereference a pointer. The logic of enqueue_command was encapsulated into a single function, defined under src/libraries/cmd_dispatcher/. We now include the header cmd_dispatcher.h to access this function. Further, the implementation adds a logging buffer to use with telemetry.

[zachMahan64]

The switch to the library looks good.

Only issue I can see is that you've replaced the calls to enqueue commands to while loops that repeatedly try to enqueue until success. One failure will generally mean that enqueuing will continue to fail, so any failed enqueuing will generally lead to the tx task being stuck in that (potentially) infinite loop. Even if it doesn't loop forever, we're still going to run the risk of spin locking a task unacceptably long given it could take say 100000 iterations, or more. It's going to be better to try to enqueue once, as it was. Perhaps we could have it so that a tx task instead yields to the FreeRTOS scheduler on a failed enqueue. For now, I think it is better to leave those calls to enqueue logically unchecked besides issuing the warning. So basically this was my long-winded way of telling you to just change all your whiles to ifs for those enqueue checks.

[SiddhartaL]

Modifications added to the branch