clean up configure_set(s) erroring (bevyengine#9577)

# Objective

- have errors in configure_set and configure_sets show the line number
of the user calling location rather than pointing to schedule.rs
- use display formatting for the errors

## Example Error Text
```text
// dependency loop
// before
thread 'main' panicked at 'called `Result::unwrap()` on an `Err` value: DependencyLoop("A")', crates\bevy_ecs\src\schedule\schedule.rs:682:39
// after
thread 'main' panicked at 'System set `A` depends on itself.', examples/stress_tests/bevymark.rs:16:9

// hierarchy loop
// before
thread 'main' panicked at 'called `Result::unwrap()` on an `Err` value: HierarchyLoop("A")', crates\bevy_ecs\src\schedule\schedule.rs:682:3
// after
thread 'main' panicked at 'System set `A` contains itself.', examples/stress_tests/bevymark.rs:16:9

// configuring a system type set
// before
thread 'main' panicked at 'configuring system type sets is not allowed', crates\bevy_ecs\src\schedule\config.rs:394:9
//after
thread 'main' panicked at 'configuring system type sets is not allowed', examples/stress_tests/bevymark.rs:16:9
```

Code to produce errors:
```rust
use bevy::prelude::*;

#[derive(SystemSet, Clone, Debug, PartialEq, Eq, Hash)]
enum TestSet {
    A,
}

fn main() {
    fn foo() {}
    let mut app = App::empty();
    // Hierarchy Loop
    app.configure_set(Main, TestSet::A.in_set(TestSet::A));
    // Dependency Loop
    app.configure_set(Main, TestSet::A.after(TestSet::A));
    // Configure System Type Set
    app.configure_set(Main, foo.into_system_set());
}
```

crates/bevy_app/src/app.rs

@@ -393,6 +393,7 @@ impl App {
     }
 
     /// Configures a system set in the default schedule, adding the set if it does not exist.
+    #[track_caller]
     pub fn configure_set(
         &mut self,
         schedule: impl ScheduleLabel,
@@ -410,6 +411,7 @@ impl App {
     }
 
     /// Configures a collection of system sets in the default schedule, adding any sets that do not exist.
+    #[track_caller]
     pub fn configure_sets(
         &mut self,
         schedule: impl ScheduleLabel,

crates/bevy_ecs/src/schedule/config.rs

@@ -393,6 +393,7 @@ pub struct SystemSetConfig {
 }
 
 impl SystemSetConfig {
+    #[track_caller]
     fn new(set: BoxedSystemSet) -> Self {
         // system type sets are automatically populated
         // to avoid unintentionally broad changes, they cannot be configured
@@ -449,6 +450,7 @@ pub trait IntoSystemSetConfig: Sized {
 }
 
 impl<S: SystemSet> IntoSystemSetConfig for S {
+    #[track_caller]
     fn into_config(self) -> SystemSetConfig {
         SystemSetConfig::new(Box::new(self))
     }

crates/bevy_ecs/src/schedule/schedule.rs

@@ -181,12 +181,14 @@ impl Schedule {
     }
 
     /// Configures a system set in this schedule, adding it if it does not exist.
+    #[track_caller]
     pub fn configure_set(&mut self, set: impl IntoSystemSetConfig) -> &mut Self {
         self.graph.configure_set(set);
         self
     }
 
     /// Configures a collection of system sets in this schedule, adding them if they does not exist.
+    #[track_caller]
     pub fn configure_sets(&mut self, sets: impl IntoSystemSetConfigs) -> &mut Self {
         self.graph.configure_sets(sets);
         self
@@ -656,6 +658,7 @@ impl ScheduleGraph {
         Ok(id)
     }
 
+    #[track_caller]
     fn configure_sets(&mut self, sets: impl IntoSystemSetConfigs) {
         let SystemSetConfigs { sets, chained } = sets.into_configs();
         let mut set_iter = sets.into_iter();
@@ -669,15 +672,25 @@ impl ScheduleGraph {
             }
         } else {
             for set in set_iter {
-                self.configure_set_inner(set).unwrap();
+                if let Err(e) = self.configure_set_inner(set) {
+                    // using `unwrap_or_else(panic!)` led to the error being reported
+                    // from this line instead of in the user code
+                    panic!("{e}");
+                };
             }
         }
     }
 
+    #[track_caller]
     fn configure_set(&mut self, set: impl IntoSystemSetConfig) {
-        self.configure_set_inner(set).unwrap();
+        if let Err(e) = self.configure_set_inner(set) {
+            // using `unwrap_or_else(panic!)` led to the error being reported
+            // from this line instead of in the user code
+            panic!("{e}");
+        };
     }
 
+    #[track_caller]
     fn configure_set_inner(
         &mut self,
         set: impl IntoSystemSetConfig,
@@ -1560,7 +1573,7 @@ impl ScheduleGraph {
 #[non_exhaustive]
 pub enum ScheduleBuildError {
     /// A system set contains itself.
-    #[error("`{0:?}` contains itself.")]
+    #[error("System set `{0}` contains itself.")]
     HierarchyLoop(String),
     /// The hierarchy of system sets contains a cycle.
     #[error("System set hierarchy contains cycle(s).\n{0}")]
@@ -1571,7 +1584,7 @@ pub enum ScheduleBuildError {
     #[error("System set hierarchy contains redundant edges.\n{0}")]
     HierarchyRedundancy(String),
     /// A system (set) has been told to run before itself.
-    #[error("`{0:?}` depends on itself.")]
+    #[error("System set `{0}` depends on itself.")]
     DependencyLoop(String),
     /// The dependency graph contains a cycle.
     #[error("System dependencies contain cycle(s).\n{0}")]