Closes #4641

@TarantoolBot document
Title: box_return_mp() public C function

Stored C functions could return a result only via
`box_return_tuple()` function. That made users create a tuple
every time they wanted to return something from a C function.

Now public C API offers another way to return - `box_return_mp()`.
It allows to return arbitrary MessagePack, not wrapped into a
tuple object. This is simpler to use for small results like a
number, boolean, or a short string. Besides, `box_return_mp()` is
much faster than `box_return_tuple()`, especially for small
MessagePack.

Note, that it is faster only if an alternative is to create a
tuple by yourself. If an already existing tuple was obtained from
an iterator, and you want to return it, then of course it is
faster to return via `box_return_tuple()`, than via extraction of
tuple data, and calling `box_return_mp()`.

Here is the function declaration from module.h:
```C
/**
 * Return MessagePack from a stored C procedure. The MessagePack
 * is copied, so it is safe to free/reuse the passed arguments
 * after the call.
 * MessagePack is not validated, for the sake of speed. It is
 * expected to be a single encoded object. An attempt to encode
 * and return multiple objects without wrapping them into an
 * MP_ARRAY or MP_MAP is undefined behaviour.
 *
 * \param ctx An opaque structure passed to the stored C procedure
 *        by Tarantool.
 * \param mp Begin of MessagePack.
 * \param mp_end End of MessagePack.
 * \retval -1 Error.
 * \retval 0 Success.
 */
API_EXPORT int
box_return_mp(box_function_ctx_t *ctx, const char *mp, const char *mp_end);
```