Merge branch 'issue-highLevelDispatch' in develop

Implements a central dispatch method (handleCommand()) on the
convenience layer through which every call to the CommInterface is
now done (as opposed to directly calling the CommInterface's
methods). This mainly facilitates debugging and is in line with
the lower layer's interfaces. It slows down each call by .5us
(because function handles are used) - imo this is an acceptable
tradeoff.