Readability fixes

[haberman]

Once the current batch of work is landed in upb, we should make some sweeping readability fixes:

Rename APIs to be more readable

• before: upb_extrange
• after: upb_ExtensionRange

Avoid side-effects in ternaries

• before: return upb_strtable_lookup2(&s->syms, sym, size, &v) ? unpack_def(v, type) : NULL
• after: if (upb_strtable_lookup2(&s->syms, sym, size, &v)) { return unpack_def(v, type) } else { return NULL; }

Make range bounds use a consistent direction

• before: UPB_ASSERT(i >= 0 && i < m->ext_range_count);
• after: UPB_ASSERT(0 <= i && i < m->ext_range_count);

[haberman]

cc @fowles

[haberman]

Use markdown in doc comments

• before: Returns the square root of |n|.
• after: Returns the square root of `n\`.

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