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feat: better name validation

Sorawee Porncharoenwase requested to merge sorawee/xsmith:name-validation into master

This PR adds more validation to add-to-grammar, improves error messages related to RACR exception, and document the RACR naming rules.

  1. An identifier in Racket could be empty (||), which confuses the name generation, so override the `id' syntax class to prohibit empty identifier.
  2. Non-terminal must start with an uppercase letter.
  3. Terminal must be all lowercase letters.

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