framework/task_manager: Split the internal function of task manager core
framework/task_manager: Split the internal function of task manager core

Previoulsly, there was too many type casting, as one internal function of task manager core (taskmgr_set_msg_cb()) was shared by the two roles (task_manager_set_unicast_cb() and task_manager_set_broadcast_cb()).
In order to improve the reability, the internal function of task manager core (taskmgr_set_msg_cb()) was split into two internal fuction (taskmgr_set_unicast_cb() and taskmgr_set_broadcast_cb()).

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