Improve error messages on failed control-flow transpilation

[jakelishman]

Summary

As part of this, it became convenient for the Error transpiler pass to be able to accept an arbitrary property_set -> str callable function to generate the message, rather than just relying on fixed formatting strings.

Details and comments

Fix #8921.

The new handling in the Error transpiler pass technically makes this ineligible for backporting, as it's a new feature in a technically public class (albeit not one I think anyone else will necessarily be using). I could make this change stable by making the error message worse, or potentially temporarily making a new internal Error pass purely for this use-case.

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[coveralls]

Pull Request Test Coverage Report for Build 4568419805

• 23 of 24 (95.83%) changed or added relevant lines in 2 files are covered.
• 180 unchanged lines in 11 files lost coverage.
• Overall coverage increased (+0.02%) to 85.4%

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Changes Missing Coverage	Covered Lines	Changed/Added Lines	%
qiskit/transpiler/passes/utils/error.py	6	7	85.71%

Files with Coverage Reduction	New Missed Lines	%
crates/accelerate/src/sabre_swap/layer.rs	1	96.64%
qiskit/circuit/tools/pi_check.py	1	91.23%
qiskit/transpiler/passes/calibration/pulse_gate.py	1	95.45%
qiskit/pulse/library/waveform.py	3	91.67%
qiskit/pulse/instructions/instruction.py	6	86.09%
qiskit/pulse/transforms/alignments.py	8	94.08%
qiskit/pulse/library/symbolic_pulses.py	16	94.79%
qiskit/pulse/calibration_entries.py	20	87.65%
qiskit/transpiler/target.py	27	94.46%
qiskit/compiler/transpiler.py	31	89.89%

Totals
Change from base Build 4564463001:	0.02%
Covered Lines:	67354
Relevant Lines:	78869

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💛 - Coveralls