add thread name to most pthreads

sw/airborne/arch/linux/mcu_periph/sys_time_arch.c

@@ -39,7 +39,6 @@
 #define SYS_TIME_THREAD_PRIO 29
 #endif
 
-pthread_t sys_time_thread;
 static struct timespec startup_time;
 
 static void sys_tick_handler(void);
@@ -78,7 +77,7 @@ void *sys_time_thread_main(void *data)
     unsigned long long missed;
     /* Wait for the next timer event. If we have missed any the
 	   number is written to "missed" */
-	int r = read(fd, &missed, sizeof(missed));
+	  int r = read(fd, &missed, sizeof(missed));
     if (r == -1) {
       perror("Couldn't read timer!");
     }
@@ -98,11 +97,13 @@ void sys_time_arch_init(void)
 
   clock_gettime(CLOCK_MONOTONIC, &startup_time);
 
-  int ret = pthread_create(&sys_time_thread, NULL, sys_time_thread_main, NULL);
+  pthread_t tid;
+  int ret = pthread_create(&tid, NULL, sys_time_thread_main, NULL);
   if (ret) {
     perror("Could not setup sys_time_thread");
     return;
   }
+  pthread_setname_np(tid, "pprz_sys_time_thread");
 }
 
 static void sys_tick_handler(void)

sw/airborne/arch/linux/mcu_periph/uart_arch.c

@@ -60,6 +60,7 @@ void uart_arch_init(void)
     fprintf(stderr, "uart_arch_init: Could not create UART reading thread.\n");
     return;
   }
+  pthread_setname_np(tid, "pprz_uart_thread");
 }
 
 static void *uart_thread(void *data __attribute__((unused)))

sw/airborne/arch/linux/mcu_periph/udp_arch.c

@@ -60,6 +60,7 @@ void udp_arch_init(void)
     fprintf(stderr, "udp_arch_init: Could not create UDP reading thread.\n");
     return;
   }
+  pthread_setname_np(tid, "pprz_udp_thread");
 }
 
 /**

sw/airborne/boards/ardrone/navdata.c

@@ -236,6 +236,7 @@ bool navdata_init()
     printf("[navdata] Could not create navdata reading thread!\n");
     return false;
   }
+  pthread_setname_np(navdata_thread, "pprz_navdata_thread");
 
 #if PERIODIC_TELEMETRY
   register_periodic_telemetry(DefaultPeriodic, PPRZ_MSG_ID_ARDRONE_NAVDATA, send_navdata);

sw/airborne/boards/swing/baro_board.c

@@ -81,6 +81,7 @@ void baro_init(void)
   if (pthread_create(&baro_thread, NULL, baro_read, NULL) != 0) {
     printf("[swing_board] Could not create baro reading thread!\n");
   }
+  pthread_setname_np(baro_thread, "pprz_baro_thread");
 
 }
 

sw/airborne/boards/swing/board.c

@@ -116,12 +116,14 @@ void board_init(void)
   if (pthread_create(&bat_thread, NULL, bat_read, NULL) != 0) {
     printf("[swing_board] Could not create battery reading thread!\n");
   }
+  pthread_setname_np(bat_thread, "pprz_bat_thread");
 
   /* Start button reading thread */
   pthread_t button_thread;
   if (pthread_create(&button_thread, NULL, button_read, NULL) != 0) {
     printf("[swing_board] Could not create button reading thread!\n");
   }
+  pthread_setname_np(button_thread, "pprz_button_thread");
 
 }
 

sw/airborne/modules/computer_vision/cv.c

@@ -97,7 +97,7 @@ struct video_listener *cv_add_to_device_async(struct video_config_t *device, cv_
 
   // Create new processing thread
   pthread_create(&listener->async->thread_id, NULL, cv_async_thread, listener);
-
+  pthread_setname_np(listener->async->thread_id, "pprz_camera_thread");
   return listener;
 }
 

sw/airborne/modules/computer_vision/video_thread.c

@@ -235,6 +235,7 @@ static void start_video_thread(struct video_config_t *camera)
       printf("[viewvideo] Could not create streaming thread for camera %s: Reason: %d.\n", camera->dev_name, errno);
       return;
     }
+    pthread_setname_np(tid, "pprz_camera_thread");
   }
 }
 

sw/airborne/modules/sonar/sonar_bebop.c

@@ -90,9 +90,6 @@ struct SonarBebop sonar_bebop;
 
 static struct spi_transaction sonar_bebop_spi_t;
 void *sonar_bebop_read(void *data);
-#ifdef USE_SONAR
-static pthread_t sonar_bebop_thread;
-#endif
 
 void sonar_bebop_init(void)
 {
@@ -111,7 +108,9 @@ void sonar_bebop_init(void)
   sonar_bebop_spi_t.input_length  = 0;
 
 #if USE_SONAR
-  pthread_create(&sonar_bebop_thread, NULL, sonar_bebop_read, NULL);
+  pthread_t tid;
+  pthread_create(&tid, NULL, sonar_bebop_read, NULL);
+  pthread_setname_np(tid, "pprz_sonar_thread");
 #endif
 
   init_median_filter_f(&sonar_filt, 3);