Improve error message for removing pre-defined (e.g., `ingress`) network

This fix tries to address the issue raised in 24538

where the error message is unclear when removing pre-defined networks:
```
docker network rm ingress
Error response from daemon: rpc error: code = 7 desc = 4vlxuzpk8bxdsxpyvkxluol5g is a pre-defined network and cannot be removed
```

This fix improve the error message so that if network's name is specified
in the `RemoveNetwork`, then error message will contain the name and the ID
(instead of just an ID):
```
docker network rm ingress
Error response from daemon: rpc error: code = 7 desc = ingress (4vlxuzpk8bxdsxpyvkxluol5g) is a pre-defined network and cannot be removed
```

An integration test has been added to cover the changes.

This fix fixes 24538.

Signed-off-by: Yong Tang <yong.tang.github@outlook.com>

integration-cli/docker_cli_swarm_test.go

@@ -264,3 +264,13 @@ func (s *DockerSwarmSuite) TestSwarmContainerAutoStart(c *check.C) {
 	c.Assert(err, checker.IsNil)
 	c.Assert(strings.TrimSpace(out), checker.Not(checker.Equals), "")
 }
+
+func (s *DockerSwarmSuite) TestSwarmRemoveInternalNetwork(c *check.C) {
+	d := s.AddDaemon(c, true, true)
+
+	name := "ingress"
+	out, err := d.Cmd("network", "rm", name)
+	c.Assert(err, checker.NotNil)
+	c.Assert(strings.TrimSpace(out), checker.Contains, name)
+	c.Assert(strings.TrimSpace(out), checker.Contains, "is a pre-defined network and cannot be removed")
+}