ENH: improve robustness of MPI start/stop

- warn or fatal if Pstream::init or Pstream::exit are called multiple
  times.

- additional Pstream::initNull method as failsafe to initialize MPI
  when the underlying OpenFOAM process is not running in parallel but
  the application still needs MPI.

- Pstream::exit() can now also be called without having used MPI::init(),
  which means it can be used to cleanup serial process or for
  applications that used the special purpose Pstream::initNull()
  mechanism.