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add_custom_{command,target}: Fix crash on empty expanded command

Brad King requested to merge brad.king/cmake:custom-command-expand-empty into master

Our custom command generation logic assumes that all command lines have at least argv0. In add_custom_{command,target} we already check that at least a COMMAND was given, but using COMMAND_EXPAND_LISTS in combination with a generator expression that expands to an empty string may produce an empty command line. In this case simply add an empty string as a command to maintain our internal invariant.

Fixes: #17993 (closed)

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