Improve error messages to show problematic position in the filter

[itchyny]

This commit improves the parser and compiler error messages, making
it more easier to understand where in the filter the problem is.
Like modern compilers, jq will show the line in the filter where the
error occurred, will display squiggly line under the invalid token.

 $ ./jq -n '1 + 2 ( 3'    
jq: error: syntax error, unexpected '(', expecting end of file at <top-level>, line 1, column 7:
    1 + 2 ( 3
          ^
jq: 1 compile error

 $ ./jq -n '1 + $foo + 2'
jq: error: $foo is not defined at <top-level>, line 1, column 5:
    1 + $foo + 2
        ^^^^
jq: 1 compile error