[Fix #545] Retrieve sub-projects correctly and efficiently

Initially, the function projectile-get-all-sub-projects check for cycles
in sub-projects and terminate it early. Unfortunately, this approach
ignores further sub-projects down the source tree. Since using the
command "git submodule --quiet foreach 'echo $name'", it does not output
sub-project cycles like ../../bundle/html-bundle anymore, we can safely
ignore this check. We now expect external commands to return submodule
properly.

Also fix a bug that caused duplicate sub-projects. When there's no more
submodule, simply return nil.
Merge pull request #548 from tuhdo/helm-projectile-help-message

[Fix #545] Retrieve sub-projects correctly and efficiently