Move typedefs used in cmd/tlm to the *_msg.h file

[skliper]

Is your feature request related to a problem? Please describe.
CFE_ES_AppInfo_t and CFE_ES_MemHandle_t are defined in cfe_es.h, but used in telemetry (cfe_es_msg.h). All the typedefs used in telemetry should be defined in the *_msg.h file.

Describe the solution you'd like
Move CFE_ES_AppInfo_t and CFE_ES_MemHandle_t into cfe_es_msg.h

Note CFE_ES_TaskInfo_t is not used in cmd/tlm.

Describe alternatives you've considered
None

Additional context
Related to #899

Requester Info
Jacob Hageman - NASA/GSFC

[jphickey]

I'd like to move this definition after review/merge of #917, as this changes CFE_ES_MemHandle_t.

Once decided (along with #913) then I suggest that the handle/resourceid types go into cfe_es_extern_typedefs.h and the structures go into cfe_es_msg.h.