Show subcommand full name in error log / ACL LOG (#10105)

Use `getFullCommandName` to get the full name of the command.
It can also get the full name of the subcommand, like "script|help".

Before:
```
> SCRIPT HELP
(error) NOPERM this user has no permissions to run the 'help' command or its subcommand

> ACL LOG
    7) "object"
    8) "help"
```

After:
```
> SCRIPT HELP
(error) NOPERM this user has no permissions to run the 'script|help' command

> ACL LOG
    7) "object"
    8) "script|help"
```

Fix #10094