Add an option CHAMELEON_RUNTIME_SYNC to debug quark and StarPU in synchronous mode

In order to ease the debug mode when developing new algorithm, this PR adds an option to help with Quark and StarPU. For quark:

• Replace all calls to QUARK_Insert_Task by QUARK_Execute_Task For StarPU:
• Add the parameters "STARPU_TASK_SYNCHRONOUS, 1" to all task submission