Add assertions for all non-null pointers in the public API

Clang issues warnings at build time based on the SERD_NONNULL annotations,
which is a much better approach in general.  However, it does not cover cases
where the API is being used with another compiler, or without a compiler that
can statically check things at all (such as Python or other dynamic language
bindings).

In those situations, getting a clear assertion message is a lot less confusing
than a random crash somewhere in serd, and it makes it clear that the bug is in
the caller, so I think it's worth the tedious verbosity.

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