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[libc] Remove more external dependencies from the RPC header
Summary: The end goal is to make `rpc.h` a standalone header so that other projects can include it without leaking `libc` internals. I'm trying to replace stuff slowly before pulling it out all at once to reduce the size of the changes. This patch removes the atomic and a few sparse dependencies. Now we mostly rely on the GPU utils, the sleep function, optional, and the type traits. I'll clean these up in future patches. This removed the old stuff I had around the memcpy, but I think that it's not quite as bad as it once was, as it removes a branch and only uses a few extra VGPRs since I believe the builtin memcpy was improved for AMD.
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