lib: rework how we "override" assert()

lib: rework how we "override" assert()

The previous method, using zassert.h and hoping nothing includes
assert.h (which, on glibc at least, just does "#undef assert" and puts
its own definition in...) was fragile - and actually broke undetected.

Just provide our own assert.h and control overriding by putting it in a
separate directory to add to the include path (or not.)

Signed-off-by: David Lamparter <equinox@opensourcerouting.org>