handle duplicate vgids

The approach to duplicate VGIDs has been that it is not possible
or not allowed, so the behavior has been undefined.  The actual
result was unpredictable and/or broken, and generally unhelpful.

Improve this by recognizing the problem, displaying the VGs,
and printing a warning to fix the problem.  Beyond this,
using VGs with duplicate VGIDs remains undefined, but should
work well enough to correct the problem with vgchange -u.

It's possible to create this condition without too much difficulty
by cloning PVs, followed by an incomplete attempt at making the two
VGs unique (vgrename and pvchange -u, but missing vgchange -u.)

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