Refactor how some aux processes advertise their ProcNumber

Refactor how some aux processes advertise their ProcNumber

This moves the responsibility of setting the ProcGlobal->walwriterProc
and checkpointerProc fields into InitAuxiliaryProcess. Also switch to
the same pattern to advertise the autovacuum launcher's ProcNumber,
replacing the ad hoc av_launcherpid field in shared memory. This can
easily be extended to other aux processes in the future, if other
processes need to find them.

Switch to pg_atomic_uint32 for the fields. Seems easier to reason
about than volatile pointers. There was some precedence for that, as
were already using pg_atomic_uint32 for the procArrayGroupFirst and
clogGroupFirst fields, which also store ProcNumbers.

Todo: We could also replace WalRecv->procno with this, but that's a
little more code churn so I left that for the future.

Reviewed-by: Andres Freund <andres@anarazel.de>
Discussion: https://www.postgresql.org/message-id/818bafaf-1e77-4c78-8037-d7120878d87c@iki.fi