[libc] Begin implementing a library for the RPC server

This patch begins providing a generic static library that wraps around
the raw `rpc.h` interface. As discussed in the corresponding RFC,
https://discourse.llvm.org/t/rfc-libc-exporting-the-rpc-interface-for-the-gpu-libc/71030,
we want to begin exporting RPC services to external users. In order to
do this we decided to not expose the `rpc.h` header by wrapping around
its functionality. This is done with a C-interface as we make heavy use
of callbacks and allows us to provide a predictable interface.

Reviewed By: JonChesterfield, sivachandra

Differential Revision: https://reviews.llvm.org/D147054