[lestarch-autobot]

Summary

F Prime events mirrored by EvsMirror never reached cFE EVS: F Prime tasks are raw pthreads with no cFE ES task record, so CFE_EVS_SendEvent failed with CFE_EVS_APP_ILLEGAL_APP_ID (0xc2000003) — and even an explicit-AppID workaround was silently dropped, because EVS_IsFiltered -> CFE_EVS_GetTypeEnable re-resolves the calling task via CFE_ES_GetAppID. Fix the root cause instead:

New Os_Task_Cfs implementation (FPrimeCfs/Os/Cfs/): F Prime tasks are created via CFE_ES_CreateChildTask instead of pthreads, so every F Prime task has an ES record and cFE APIs — including plain CFE_EVS_SendEvent — resolve the calling task's app context. EvsMirror is unchanged from devel. Select per deployment with fprime_target_implementations("<deployment>" Os_Task_Cfs). Key design points (full SDD in FPrimeCfs/Os/Cfs/docs/sdd.md):

• The cFE child task entry point takes no argument, so the routine/argument pair is delivered through a serialized static handoff slot with an atomic handshake; start() blocks (bounded, 10 s) until the child consumes its pair.
• Priorities pass through directly as OSAL/cFS priorities (lower = more urgent), clamped to [1, 255]; default 200 when unspecified. CfsCoreConfig subtopology priorities move to cFS semantics accordingly (cmdDisp 140, health 150, events 160, tlmSend 170).
• Task names are truncated to their trailing OS_MAX_API_NAME - 1 chars (with a warning) to satisfy OSAL limits.
• join() polls CFE_ES_GetTaskInfo (cFE has no native join); child tasks exit via CFE_ES_ExitChildTask(); suspend()/resume() assert (no cFE API; matches Posix behavior).
• Constraint: CFE_ES_CreateChildTask may only be called from the app's main task — F Prime topology setup runs there, so active-component starts satisfy it.

Also syncs the ComCfg override with fprime devel (saIndex, FW_PACKET_PARAM) and updates the SchAppDriver UT for new Fw::Buffer semantics.

Companion PR: fprime-community/fprime_app#14 (selects Os_Task_Cfs and updates topology priorities).

Testing

• 11 new unit tests (FPrimeCfs_Os_Cfs_Task_ut_exe); full fprime_cfs suite 141/141 passing.
• Runtime validation on fprime_cfs_reference: every GDS cmdDisp.CMD_NO_OP prints mirrored FPRIME_APP lines on the cFS console via plain CFE_EVS_SendEvent (OpCodeDispatched/NoOpReceived/OpCodeCompleted); zero mirror errors; F Prime GDS, cFS GroundSystem, and the fprime-cfs helper all regression-tested clean.

Note: the residual cFE behavior (CFE_EVS_GetTypeEnable ignoring an explicitly supplied AppID's AppDataPtr) resembles but is distinct from nasa/cFE#2663; the ES child-task approach sidesteps it entirely.