Fix #237, update sample app to reflect 582 standard

[avan989]

Fix #237, Update to remove global pipename and data structure. Update cmd to increment command counter. Update SAMPLE_APP_ProcessCmd to have only 1 return.

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Testing performed
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1. Make SIMULATION=native install

2. Run Test

3. Make ENABLE_UNIT_TESTS=true SIMULATION=native

4. Make test

5. make lcov

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System(s) tested on

• Hardware: [e.g. PC, SP0, MCP750]
• OS: [e.g. Ubuntu 18.04, RTEMS 4.11, VxWorks 6.9]
• Versions: [e.g. cFE 6.6, OSAL 4.2, PSP 1.3 for mcp750, any related apps or tools]

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    Anh Van, GSFC