docbook: Factor out code to write valid DocBook IDs

Attributes in XML may contain alphanumeric characters, underscores,
colons and dots.  When DocBook is chunked, the dot is often used as a
path separator.  To generate a valid ID, we take the title of the
section, transform all non-alphanumeric characters to underscores and
then add a prefix separated with dots.  We also add the document name as
a prefix, in order to 'xinclude' eg. cmake.docbook and ctest.docbook in
the same document.  IDs are written in multiple places, so the code is
factored to a function.

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