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[scheduling] Improve error messages for pipeline scheduling failures.

When pipeline scheduling fails because the specified clock period is too small, the error message now includes the original clock period when suggesting a larger clock period. If the minimize_clock_on_failure option is enabled, the scheduler will first attempt to find the minimum feasible clock period before building a detailed infeasibility explanation at the original clock period. (In the other order, this always gave a false success at the smallest clock increment; we'd already changed the scheduler to find an infeasibility explanation, making it unsafe for reuse.)

Also includes the original failure's diagnosed reason in our error messages, where enabled.

New tests are added to verify these improved error messages.

Co-developed with angelomatni1@, who diagnosed the issue, constructed the tests, and designed the new error messages.

When pipeline scheduling fails because the specified clock period is too small, the error message now includes the original clock period when suggesting a larger clock period. If the `minimize_clock_on_failure` option is enabled, the scheduler will first attempt to find the minimum feasible clock period before building a detailed infeasibility explanation at the original clock period. (In the other order, this always gave a false success at the smallest clock increment; we'd already changed the scheduler to find an infeasibility explanation, making it unsafe for reuse.)

Also includes the original failure's diagnosed reason in our error messages, where enabled.

New tests are added to verify these improved error messages.

Co-developed with angelomatni1@, who diagnosed the issue, constructed the tests, and designed the new error messages.

PiperOrigin-RevId: 847899675
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