Check if `.pi` build rules are defined

`.pi` files are created for `.o` files that `build.products` depends on, but
an error will occur if the build rule is unknown, so add a check.

I don't think this situation would normally arise. However, in
`mattn/mruby-onig-regexp`, when using bundled onigmo, onigmo's `.o` files
are added to dependency of `libmruby.a` in the second and subsequent builds,
and mruby does not know the build rule, so the following error had occured.

```console
rake aborted!
Don't know how to build task '/mruby/build/host/mrbgems/mruby-onig-regexp/onigmo-6.2.0/libonig_objs/ascii.pi' (See the list of available tasks with `rake --tasks`)
```

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