Add debug_system that gives a more helpful error message

[YingboMa]

Before:

julia> prob.f(du, prob.u0, prob.p, 0.0)
ERROR: DomainError with -1.0:
log will only return a complex result if called with a complex argument. Try log(Complex(x)).

a DomainError only throws with numeric information, which is not very helpful.

With debug_system, we get a symbolic aware error message.

julia> sys = debug_system(sys);

julia> prob = ODEProblem(sys, [], (0, 1.0));

julia> du = zero(prob.u0);

julia> prob.f(du, prob.u0, prob.p, 0.0)
ERROR: DomainError with (-1.0,):
log errors with input(s): -cos(Q(t)) => -1.0
Stacktrace:
  [1] (::ModelingToolkit.LoggedFun{typeof(log)})(args::Float64)
  ...