Use URI::Parser#unescape instead of URI::decode

URI::unescape is deprecated as of Ruby 1.9.2.

See:

- https://github.com/ruby/ruby/commit/238b979f1789f95262a267d8df6239806f2859cc
- https://github.com/rails/rails/commit/76b2d3e33730fce9680d0b6e97df12b1744fb23d

This patch will make it so `URI::Parser#unescape` is used when defined,
but fall back to `URI::unescape` when not.

It also gets rid of the following warning when running in verbose mode:

`lib/sinatra/base.rb:972:in 'block in process_route': warning: URI.unescape is obsolete`