The output of toString is now aligned with that used by non-nano and C++
runtimes, with the exception of groups. Groups should be serialized using a
camelized name (e.g. "FooBar" rather than "foo_bar") however the nano runtime
does not have information on which fields are groups.

Changes are:
  - bytes fields are output within double-quotes, non-printable characters are
    output as octal escape sequences (i.e. \NNN);
  - field identifiers are output in underscored format;
  - unset fields are not output (rather than printing "null");
  - the type name of the root message is not output.

With these changes the nano toString, normal toString, and C++'s DebugString all
produce equivalent output when given the same message. (Provided that message
uses no deprecated features.)

Change-Id: Id4791d73822846db29344db9f7bc3781c3e183a6