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core: Check for cluster ID conflicts on handshake
In the heartbeat, nodes now share their cluster IDs and check that they match. We allow for missing cluster IDs, since new nodes do not have a cluster ID until they obtain one via gossip, but conflicting IDs will result in a heartbeat error. In addition, connections are now not added to the connection pool until the heartbeat succeeds. This allows us to fail fast when a node attempts to join the wrong cluster. Fixes cockroachdb#15801. Fixes cockroachdb#15898. Refers cockroachdb#18058.
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