In terminal output, unify handling of Unicode and numbered character

escape sequences just like it was earlier implemented for -Thtml.
Do not let control characters other than ASCII 9 (horizontal tab)
propagate to the output, even though groff allows them; but that
really doesn't look like a great idea.

Let mchars_num2char() return int such that we can distinguish invalid \N
syntax from \N'0'.  This also reduces the danger of signed char issues
popping up.

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