Martin Afanasjew cf3486f98a help: show command-specific help for invalid usage
Instead of always printing the generic help text, print command-specific
help if it is available and a command raised the `UsageError` exception.
Put the error message underneath the help text (was above) to avoid that
it scrolls off the screen.

Thereby fix a regression where handling the invalid usage would fail to
access `ARGV.usage` removed in c6536066dc39da653d265640c6ba6046bb5def98.
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