utils: Add a function to describe invalid characters in strings

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Until now we have been using `%c` to show invalid characters, but in
general that will corrupt our output if the input is non-ASCII,
because the individual bytes of a UTF-8 string are not valid UTF-8 alone.

Signed-off-by: Simon McVittie <smcv@collabora.com>
Cherry-picked-from: ffcb20f781

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