use mercury automatic SM routing

Mercury now support shared memory autorouting.

A single margo instance can be initialized and it will handle both
shared memory communication and remote ones.

If the endpoint of the RPC is local mercury will automatically use
shared memory.

Since there is only one margo instance all the duplicated code for
rpc/ipc have been unified and simplified considerably.

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The way in which client contact the server has changed.

 - Server initializes its own margo instance and generate the endpoint
communication string using `HG_Addr_self`.
 - This endpoint description string is written on the pid file
 - When the client library loads it will fetch the server endpoint
description from the pid file and will use that to contact the server.