Custom errors messages with Bison

Question

With Bison, I generate custom error messages with the function: int yyreport_syntax_error (const yypcontext_t *ctx) by specifying %define parse.error custom.

I am looking for a feature to display also the expected nonterminals (that are listed after the tokens in yysymbol_kind_t). Is there some Bison feature to do this?

static int yyreport_syntax_error (const yypcontext_t *ctx)
{
  int res = 0;
  YYLOCATION_PRINT (stderr, *yypcontext_location (ctx));
  fprintf (stderr, ": syntax error");
  // Report the tokens expected at this point.
  {
    enum { TOKENMAX = 5 };
    yysymbol_kind_t expected[TOKENMAX];
    int n = yypcontext_expected_tokens (ctx, expected, TOKENMAX);
    if (n < 0)
      // Forward errors to yyparse.
      res = n;
    else
      for (int i = 0; i < n; ++i)
        fprintf (stderr, "%s %s",
                 i == 0 ? ": expected" : " or", yysymbol_name (expected[i]));
  }
  // Report the unexpected token.
  {
    yysymbol_kind_t lookahead = yypcontext_token (ctx);
    if (lookahead != YYSYMBOL_YYEMPTY)
      fprintf (stderr, " before %s", yysymbol_name (lookahead));
  }
  fprintf (stderr, "\n");
  return res;
}

Bison version 3.8.2