Set the Name of Fprime Tasks on Linux

.github/actions/spelling/expect.txt

@@ -594,6 +594,7 @@ serializables
 setaffinity
 setinheritsched
 SETLOGGING
+setname
 setprotocol
 setschedparam
 setschedpolicy

Os/Posix/Task.cpp

@@ -10,6 +10,7 @@
 
 #include "Fw/Logger/Logger.hpp"
 #include "Fw/Types/Assert.hpp"
+#include "Fw/Types/StringUtils.hpp"
 #include "Os/Posix/Task.hpp"
 #include "Os/Posix/error.hpp"
 #include "Os/Task.hpp"
@@ -22,9 +23,17 @@
 
 typedef void* (*pthread_func_ptr)(void*);
 
+// Forward declaration
+int set_task_name(pthread_t thread, char* name);
+
 void* pthread_entry_wrapper(void* wrapper_pointer) {
     FW_ASSERT(wrapper_pointer != nullptr);
+    // Both downcasts are safe because we know the types
     Os::Task::TaskRoutineWrapper& wrapper = *reinterpret_cast<Os::Task::TaskRoutineWrapper*>(wrapper_pointer);
+    auto handle = reinterpret_cast<Os::Posix::Task::PosixTaskHandle*>(wrapper.m_task.getHandle());
+    FW_ASSERT(handle != nullptr);
+    // Task name is on a best effort basis
+    (void)set_task_name(handle->m_task_descriptor, handle->m_name);
     wrapper.run(&wrapper);
     return nullptr;
 }
@@ -108,13 +117,27 @@
     // According to the man-page this function sets errno rather than returning an error status like other functions
     status = pthread_attr_setaffinity_np(&attributes, sizeof(cpu_set_t), &cpu_set);
     status = (status == PosixTaskHandle::SUCCESS) ? status : errno;
 #else
     Fw::Logger::log("[WARNING] %s setting CPU affinity is only available with GNU pthreads\n",
                     const_cast<CHAR*>(arguments.m_name.toChar()));
 #endif
     return status;
 }
 
+int set_task_name(pthread_t thread, char* name) {
+    int status = 0;
+// pthread_setname_np is a non-POSIX function.
+// Limit its use to builds that involve glibc, on Linux, with _GNU_SOURCE defined.
+// That's the circumstance in which we expect this feature to work.
+#if defined(TGT_OS_TYPE_LINUX) && defined(__GLIBC__) && defined(_GNU_SOURCE) && defined(POSIX_THREADS_ENABLE_NAMES) && \
+    POSIX_THREADS_ENABLE_NAMES
+    // Force safe name usage
+    name[Os::Posix::Task::PosixTaskHandle::PTHREAD_NAME_LENGTH - 1] = '\0';
+    status = pthread_setname_np(thread, name);
+#endif
+    return status;
+}
+
 Os::Task::Status PosixTask::create(const Os::Task::Arguments& arguments,
                                    const PosixTask::PermissionExpectation permissions) {
     int pthread_status = PosixTaskHandle::SUCCESS;
@@ -145,6 +168,10 @@
         handle.m_is_valid = true;
     }
 
+#if defined(POSIX_THREADS_ENABLE_NAMES) && POSIX_THREADS_ENABLE_NAMES
+    Fw::StringUtils::string_copy(handle.m_name, arguments.m_name.toChar(), sizeof(handle.m_name));
+#endif
+
     (void)pthread_attr_destroy(&attributes);
     return Posix::posix_status_to_task_status(pthread_status);
 }

Os/Posix/Task.hpp

@@ -22,12 +22,16 @@
 //! TaskHandle class definition for posix implementations.
 //!
 struct PosixTaskHandle : public TaskHandle {
+    static constexpr FwSizeType PTHREAD_NAME_LENGTH = 16;  //!< Length of pthread name
     static constexpr int SUCCESS = 0;
 
     //! Posix task descriptor
     pthread_t m_task_descriptor;
     //! Is the above descriptor valid
     bool m_is_valid = false;
+#if defined(POSIX_THREADS_ENABLE_NAMES) && POSIX_THREADS_ENABLE_NAMES
+    char m_name[PosixTaskHandle::PTHREAD_NAME_LENGTH];
+#endif
 };
 
 //! Posix task implementation as driven by pthreads implementation

default/config/FpConfig.h

@@ -148,6 +148,12 @@ extern "C" {
 #define FW_AMPCS_COMPATIBLE 0  //!< Whether or not JPL AMPCS ground system support is enabled.
 #endif
 
+// Posix thread names are limited to 16 characters, this can lead to collisions. In the event of a
+// collision, set this to 0.
+#ifndef POSIX_THREADS_ENABLE_NAMES
+#define POSIX_THREADS_ENABLE_NAMES 1  //!< Enable/Disable assigning names to threads
+#endif
+
 // *** NOTE configuration checks are in Fw/Cfg/ConfigCheck.cpp in order to have
 // the type definitions in Fw/Types/BasicTypes available.
 #ifdef __cplusplus

default/config/PlatformCfg.fpp

@@ -6,7 +6,7 @@
 constant FW_CONSOLE_HANDLE_MAX_SIZE = 24
 
 @ Maximum size of a handle for Os::Task
-constant FW_TASK_HANDLE_MAX_SIZE = 24
+constant FW_TASK_HANDLE_MAX_SIZE = 40
 
 @ Maximum size of a handle for Os::File
 constant FW_FILE_HANDLE_MAX_SIZE = 16