host/ha/manage: add launch_task() helper for manage mode#83
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Also introduces `enum WhereTo` to be explicit about whether a message should be sent to self or to the partner. This is needed because for some message types, the intended destination is not clear from the message type itself but rather depends on the context where the message was originated. However, by the time run_manage_task_with_cancellation() receives the message, the context information has been lost so that function does not know where to send the message.
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