Avoid deadlocks after fork

score/launch_manager/src/daemon/src/process_group_manager/details/BUILD

@@ -12,6 +12,23 @@
 # *******************************************************************************
 load("@rules_cc//cc:defs.bzl", "cc_library")
 
+cc_library(
+    name = "configure_process",
+    srcs = ["configure_process.cpp"],
+    hdrs = ["configure_process.hpp"],
+    include_prefix = "score/mw/launch_manager/process_group_manager/details",
+    strip_include_prefix = "/score/launch_manager/src/daemon/src/process_group_manager/details",
+    visibility = ["//score/launch_manager/src/daemon/src/process_group_manager:__pkg__"],
+    deps = [
+        "//score/launch_manager/src/daemon/src/osal:return_types",
+        "//score/launch_manager/src/daemon/src/osal:security_policy",
+        "//score/launch_manager/src/daemon/src/osal:set_affinity",
+        "//score/launch_manager/src/daemon/src/osal:set_groups",
+        "//score/launch_manager/src/daemon/src/osal:sys_exit",
+        "//score/launch_manager/src/daemon/src/process_group_manager:iprocess",
+    ],
+)
+
 cc_library(
     name = "process_info_node",
     hdrs = ["process_info_node.hpp"],
@@ -98,13 +115,10 @@ cc_library(
     srcs = ["process_launcher.cpp"],
     visibility = ["//score/launch_manager/src/daemon/src/process_group_manager:__pkg__"],
     deps = [
+        ":configure_process",
         "//score/launch_manager/src/daemon/src/common:log",
         "//score/launch_manager/src/daemon/src/control:control_client_channel",
         "//score/launch_manager/src/daemon/src/osal:ipc_comms",
-        "//score/launch_manager/src/daemon/src/osal:security_policy",
-        "//score/launch_manager/src/daemon/src/osal:set_affinity",
-        "//score/launch_manager/src/daemon/src/osal:set_groups",
-        "//score/launch_manager/src/daemon/src/osal:sys_exit",
         "//score/launch_manager/src/daemon/src/process_group_manager:iprocess",
     ],
 )
@@ -121,6 +135,7 @@ cc_library(
     ],
     visibility = ["//score/launch_manager/src/daemon/src/process_group_manager:__pkg__"],
     deps = [
+        ":configure_process",
         ":graph",
         ":os_handler",
         ":process_info_node",

score/launch_manager/src/daemon/src/process_group_manager/details/configure_process.cpp

@@ -0,0 +1,149 @@
+/********************************************************************************
+ * Copyright (c) 2026 Contributors to the Eclipse Foundation
+ *
+ * See the NOTICE file(s) distributed with this work for additional
+ * information regarding copyright ownership.
+ *
+ * This program and the accompanying materials are made available under the
+ * terms of the Apache License Version 2.0 which is available at
+ * https://www.apache.org/licenses/LICENSE-2.0
+ *
+ * SPDX-License-Identifier: Apache-2.0
+ ********************************************************************************/
+
+#include <limits.h>
+
+#include <libgen.h>
+#include <sys/resource.h>
+#include <cerrno>
+#include <cstring>
+#include <string>
+#include <string_view>
+
+#include "score/launch_manager/src/daemon/src/osal/return_types.hpp"
+#include "score/mw/launch_manager/osal/security_policy.hpp"
+#include "score/mw/launch_manager/osal/set_affinity.hpp"
+#include "score/mw/launch_manager/osal/set_groups.hpp"
+#include "score/mw/launch_manager/process_group_manager/iprocess.hpp"
+
+namespace score
+{
+
+namespace lcm
+{
+
+namespace internal
+{
+
+void setLimit(const int resource, const std::size_t amount, const std::string_view rlimit_name) noexcept
+{
+    if (amount == 0U)
+    {
+        return;
+    }
+
+    const struct rlimit limit{
+        .rlim_cur = amount,
+        .rlim_max = amount,
+    };
+
+    const auto result = ::setrlimit(resource, &limit);
+    SCORE_LANGUAGE_FUTURECPP_ASSERT_MESSAGE(
+        result != -1, ("Failed to set rlimit " + std::string(rlimit_name) + ": " + std::strerror(errno)).c_str());
+}
+
+void setSchedulingAndSecurity(const osal::OsalConfig& config)
+{
+    int result;  // Used for return value from system calls
+
+    // Set process group id to be equal to the pid
+    // setpgid will fail if called by a session leader (which LCMd is), so skip
+    if (config.comms_type_ != osal::CommsType::kLaunchManager)
+    {
+        result = setpgid(0, getpid());
+        SCORE_LANGUAGE_FUTURECPP_ASSERT_MESSAGE(result == 0, std::strerror(errno));
+    }
+
+    // Set scheduling policy with sched_setscheduler
+    /* RULECHECKER_comment(1, 1, check_union_object, "Union type defined in external library is used.", true) */
+    sched_param sch_param{};
+
+    sch_param.sched_priority = config.scheduling_priority_;
+
+    // TODO: Clamping should be done when the config is loaded
+    if (sch_param.sched_priority < sched_get_priority_min(config.scheduling_policy_))
+    {
+        sch_param.sched_priority = sched_get_priority_min(config.scheduling_policy_);
+    }
+    else if (sch_param.sched_priority > sched_get_priority_max(config.scheduling_policy_))
+    {
+        sch_param.sched_priority = sched_get_priority_max(config.scheduling_policy_);
+    }
+
+    result = sched_setscheduler(0, config.scheduling_policy_, &sch_param);
+    SCORE_LANGUAGE_FUTURECPP_ASSERT_MESSAGE(result != -1, std::strerror(errno));
+
+    result = osal::setaffinity(config.cpu_mask_);
+    SCORE_LANGUAGE_FUTURECPP_ASSERT_MESSAGE(result != -1, std::strerror(errno));
+
+    result = setgid(config.gid_);
+    SCORE_LANGUAGE_FUTURECPP_ASSERT_MESSAGE(result != -1, std::strerror(errno));
+
+    // Note: the type of the first parameter of setgroups() differs in Linux and QNX, so we use osal
+    const auto gids_size = config.supplementary_gids_.size();
+    if (gids_size > 0)
+    {
+        const auto gids_data = config.supplementary_gids_.data();
+        result = osal::setgroups(gids_size, gids_data);
+        SCORE_LANGUAGE_FUTURECPP_ASSERT_MESSAGE(result != -1, std::strerror(errno));
+    }
+
+    result = setuid(config.uid_);
+    SCORE_LANGUAGE_FUTURECPP_ASSERT_MESSAGE(result != -1, std::strerror(errno));
+}
+
+void changeCurrentWorkingDirectory(const osal::OsalConfig& config)
+{
+    // Change current working directory to the same as the executable
+    constexpr size_t string_size = static_cast<size_t>(PATH_MAX);
+    // Notice that this next static variable is duplicated by the fork() and so does not need
+    // any protection by a mutex although at first sight you may think it could need one.
+    static char path_copy[string_size + 1U] = {0};
+
+    // TODO: This should be validated when the config is loaded
+    SCORE_LANGUAGE_FUTURECPP_ASSERT_MESSAGE(config.executable_path_.size() < string_size,
+                                            "Executable path is too long");
+
+    const auto result = chdir(dirname(strncpy(path_copy, config.executable_path_.c_str(), string_size)));
+    SCORE_LANGUAGE_FUTURECPP_ASSERT_MESSAGE(result != -1, std::strerror(errno));
+}
+
+void implementMemoryResourceLimits(const osal::OsalConfig& config)
+{
+    setLimit(RLIMIT_DATA, config.resource_limits_.data_, "RLIMIT_DATA");
+    setLimit(RLIMIT_AS, config.resource_limits_.as_, "RLIMIT_AS");
+    setLimit(RLIMIT_STACK, config.resource_limits_.stack_, "RLIMIT_STACK");
+
+    // Note about cpu limit:
+    // Using setrlimit, this imposes a maximum time that a process will run for, which might not be
+    // what you intend? Probably you'll want a maximum time in a time-slice, but you don't get that
+    // with limits set by setrlimit...
+    setLimit(RLIMIT_CPU, config.resource_limits_.cpu_, "RLIMIT_CPU");
+}
+
+void changeSecurityPolicy(const osal::OsalConfig& config)
+{
+    if (config.security_policy_ != "")
+    {
+        const auto result = osal::setSecurityPolicy(config.security_policy_.c_str());
+        SCORE_LANGUAGE_FUTURECPP_ASSERT_MESSAGE(
+            result == 0,
+            ("Changing security policy to " + config.security_policy_ + ": " + std::strerror(errno)).c_str());
+    }
+}
+
+}  // namespace internal
+
+}  // namespace lcm
+
+}  // namespace score

score/launch_manager/src/daemon/src/process_group_manager/details/configure_process.hpp

@@ -0,0 +1,48 @@
+/********************************************************************************
+ * Copyright (c) 2026 Contributors to the Eclipse Foundation
+ *
+ * See the NOTICE file(s) distributed with this work for additional
+ * information regarding copyright ownership.
+ *
+ * This program and the accompanying materials are made available under the
+ * terms of the Apache License Version 2.0 which is available at
+ * https://www.apache.org/licenses/LICENSE-2.0
+ *
+ * SPDX-License-Identifier: Apache-2.0
+ ********************************************************************************/
+
+#include <string_view>
+
+#include "score/mw/launch_manager/osal/security_policy.hpp"
+#include "score/mw/launch_manager/process_group_manager/iprocess.hpp"
+
+namespace score
+{
+
+namespace lcm
+{
+
+namespace internal
+{
+
+/// @brief Sets the limit if given a non-zero value, otherwise skips.
+/// @warning This will abort if not successful.
+void setLimit(const int resource, const std::size_t amount, const std::string_view rlimit_name);
+
+/// @warning This will abort if not successful.
+void setSchedulingAndSecurity(const osal::OsalConfig& config);
+
+/// @warning This will abort if not successful.
+void changeCurrentWorkingDirectory(const osal::OsalConfig& config);
+
+/// @warning This will abort if not successful.
+void implementMemoryResourceLimits(const osal::OsalConfig& config);
+
+/// @warning This will abort if not successful.
+void changeSecurityPolicy(const osal::OsalConfig& config);
+
+}  // namespace internal
+
+}  // namespace lcm
+
+}  // namespace score

score/launch_manager/src/daemon/src/process_group_manager/details/process_group_manager.cpp

@@ -16,6 +16,7 @@
 #include <unistd.h>
 #include <csignal>
 
+#include "score/launch_manager/src/daemon/src/process_group_manager/details/configure_process.hpp"
 #include "score/mw/launch_manager/common/log.hpp"
 #include "score/mw/launch_manager/process_group_manager/ialive_monitor_thread.hpp"
 #include "score/mw/launch_manager/process_group_manager/process_group_manager.hpp"
@@ -104,10 +105,9 @@ bool ProcessGroupManager::initialize()
         return false;
     }
 
-    if (launch_manager_config_ &&
-        OsalReturnType::kFail == IProcess::setSchedulingAndSecurity(launch_manager_config_->startup_config_))
+    if (launch_manager_config_)
     {
-        return false;
+        setSchedulingAndSecurity(launch_manager_config_->startup_config_);
     }
 
     return true;