bpo-38870: correctly escape unprintable characters on ast.unparse (GH-20166)

Unprintable characters such as `\x00` weren't correctly roundtripped
due to not using default string repr when generating docstrings. This
patch correctly encodes all unprintable characters (except `\n` and `\t`, which
are commonly used for formatting, and found unescaped).

Co-authored-by: Pablo Galindo <Pablogsal@gmail.com>
Co-authored-by: Batuhan Taskaya <isidentical@gmail.com>