Univalue: Do not build JSON escape list at runtime

No need to waste startup time building something that can be done
at compile time.

This also resolves a clang++ warning originally reported in #4714,
univalue/univalue_write.cpp:33:12: warning: array subscript is of type 'char' [-Wchar-subscripts]
escapes['"'] = "\\"";
^~~~

etc.
Please add instructions on how to regenerate the file, or at least a mention of what is used to generate it.