Report the failed step name in SynchronousResumeNotSupportedException

src/main/java/org/jenkinsci/plugins/workflow/steps/AbstractSynchronousNonBlockingStepExecution.java

@@ -67,7 +67,8 @@
 
     @Override
     public void onResume() {
-        getContext().onFailure(new SynchronousResumeNotSupportedException());
+        var context = getContext();
+        context.onFailure(new SynchronousResumeNotSupportedException(context));
     }
 
     @Override public @NonNull String getStatus() {

src/main/java/org/jenkinsci/plugins/workflow/steps/GeneralNonBlockingStepExecution.java

@@ -104,7 +104,8 @@
     @Override
     public void onResume() {
         if (threadName != null) {
-            getContext().onFailure(new SynchronousResumeNotSupportedException());
+            var context = getContext();
+            context.onFailure(new SynchronousResumeNotSupportedException(context));
         }
     }
 

src/main/java/org/jenkinsci/plugins/workflow/steps/SynchronousNonBlockingStepExecution.java

@@ -5,6 +5,8 @@
 import hudson.util.ClassLoaderSanityThreadFactory;
 import hudson.util.DaemonThreadFactory;
 import hudson.util.NamingThreadFactory;
+
+import java.io.IOException;
 import java.util.concurrent.ExecutorService;
 import java.util.concurrent.Executors;
 import java.util.concurrent.Future;
@@ -72,7 +74,8 @@
 
     @Override
     public void onResume() {
-        getContext().onFailure(new SynchronousResumeNotSupportedException());
+        var context = getContext();
+        context.onFailure(new SynchronousResumeNotSupportedException(context));
     }
 
     @Override public @NonNull String getStatus() {

src/main/java/org/jenkinsci/plugins/workflow/steps/SynchronousResumeNotSupportedException.java

@@ -24,6 +24,10 @@
 
 package org.jenkinsci.plugins.workflow.steps;
 
+import java.io.IOException;
+import java.util.logging.Level;
+import java.util.logging.Logger;
+
 /**
  * May be reported from {@link StepExecution#onResume} when the step does not support resumption.
  * Thrown by default from {@link SynchronousNonBlockingStepExecution},
@@ -33,8 +37,32 @@
  */
 public class SynchronousResumeNotSupportedException extends Exception {
 
+    private static final Logger LOGGER = Logger.getLogger(SynchronousResumeNotSupportedException.class.getName());
+
+    /**
+     * @deprecated Use {@link #SynchronousResumeNotSupportedException(StepContext)} instead.
+     */
+    @Deprecated
     public SynchronousResumeNotSupportedException() {
         super("Resume after a restart not supported for non-blocking synchronous steps");
     }
 
+    public SynchronousResumeNotSupportedException(StepContext context) {
+        super(String.format("""
+            The Pipeline step `%s` cannot be resumed after a controller restart. \
+            In Scripted syntax, you may wrap its containing `node` block within `retry(conditions: [nonresumable()], count: 2) {...}`, \
+            or, in Declarative syntax, use the `retries` option to an `agent` directive to allow the stage to be retried.""",
+                            getStepDisplayFunctionName(context))
+        );
+    }
+
+    private static String getStepDisplayFunctionName(StepContext stepContext) {
+        StepDescriptor descriptor = null;
+        try {
+            descriptor = stepContext.get(StepDescriptor.class);
+        } catch (IOException | InterruptedException e) {
+            LOGGER.log(Level.FINE, "Failed to get descriptor: ", e);
+        }
+        return descriptor != null ? descriptor.getFunctionName() : "?";
+    }
 }