fishros上调xTaskCreate会返回1. 并panic

hury

在使用wifi连接本地主机。我已确认wifi连接正常。

[1750239748.194450] info     | UDPv4AgentLinux.cpp | init                     | running...             | port: 8000
[1750239748.194722] info     | Root.cpp           | set_verbose_level        | logger setup           | verbose_level: 4
[1750239748.379031] info     | Root.cpp           | create_client            | create                 | client_key: 0x0BE4F9B2, session_id: 0x81
[1750239748.379170] info     | SessionManager.hpp | establish_session        | session established    | client_key: 0x0BE4F9B2, address: 192.168.31.244:16415

fishbot上调xTaskCreate会返回1. 并panic. 这个是主板出问题了吗？

#include "pidcontroller.h"
#include "kinematics.h"
#include <Arduino.h>
#include <WiFi.h>
#include <rcl/rcl.h>
#include <rclc/rclc.h>
#include <rclc/executor.h>
#include <micro_ros_platformio.h>
#include <Esp32PcntEncoder.h>
#include <Esp32McpwmMotor.h>
#include <geometry_msgs/msg/twist.h>


rcl_allocator_t allocator;
rclc_support_t support;
rclc_executor_t executor;
rcl_node_t node;

void micro_ros_task(void* parameter)
{
  IPAddress agent_ip;
  agent_ip.fromString("192.168.31.100");
  set_microros_wifi_transports((char*)"*****", (char*)"*****", agent_ip, 8000);
  delay(2000);

  Serial.printf("micro_ros_task after set_microros_wifi_transports\n");
  allocator = rcl_get_default_allocator();
  rclc_support_init(&support, 0, nullptr, &allocator);
  rclc_node_init_default(&node, "fishbot_control", "", &support);

  unsigned int num_handles = 0;
  rclc_executor_init(&executor, &support.context, num_handles, &allocator);
  rclc_executor_spin(&executor);
}
 
void setup() {
  Serial.begin(115200);
  auto ret = xTaskCreate(micro_ros_task, "micro_ros_task", 10240, nullptr, 1, nullptr);
  Serial.printf("xTaskCreate : %d\n", ret);
}

void loop() {
  Serial.printf("in loop\n");
  delay(100);
}

==============================

in loop
in loop
in loop
in loop
in loop
in loop
in loop
in loop
Guru Meditation Error: Core  1 panic'ed (IllegalInstruction). Exception was unhandled.
Memory dump at 0x400d2af0: 6a352520 04adf01d 65201110
Core  1 register dump:
PC      : 0x400d2af4  PS      : 0x00060730  A0      : 0x00000000  A1      : 0x3ffb4a70  
A2      : 0x3ffc3bc0  A3      : 0x3ffc3b38  A4      : 0x3ffc3bf4  A5      : 0x00000000  
A6      : 0x00000000  A7      : 0x00000000  A8      : 0x800d2af4  A9      : 0x3ffb4a50  
A10     : 0x00000001  A11     : 0xfffffffd  A12     : 0x00000000  A13     : 0x00000000  
A14     : 0x00000001  A15     : 0x3ffc3b38  SAR     : 0x00000019  EXCCAUSE: 0x00000000  
EXCVADDR: 0x00000000  LBEG    : 0x40089ad8  LEND    : 0x40089ae3  LCOUNT  : 0x00000000  


Backtrace: 0x400d2af1:0x3ffb4a70




ELF file SHA256: e2d1d2acd881461d

Rebooting...
ets Jul 29 2019 12:21:46

rst:0xc (SW_CPU_RESET),boot:0x13 (SPI_FAST_FLASH_BOOT)
configsip: 0, SPIWP:0xee
clk_drv:0x00,q_drv:0x00,d_drv:0x00,cs0_drv:0x00,hd_drv:0x00,wp_drv:0x00
mode:DIO, clock div:1
load:0x3fff0030,len:1184
load:0x40078000,len:13260
load:0x40080400,len:3028
entry 0x400805e4
xTaskCreate : 1
in loop
in loop
micro_ros_task after set_microros_wifi_transports
in loop
in loop
in loop
in loop
in loop
in loop
in loop
in loop
in loop
in loop
Guru Meditation Error: Core  1 panic'ed (IllegalInstruction). Exception was unhandled.
Memory dump at 0x400d2af0: 6a352520 04adf01d 65201110
Core  1 register dump:
PC      : 0x400d2af4  PS      : 0x00060b30  A0      : 0x00000000  A1      : 0x3ffb4a70  
A2      : 0x3ffc3bc0  A3      : 0x3ffc3b38  A4      : 0x3ffc3bf4  A5      : 0x00000000  
A6      : 0x00000000  A7      : 0x00000000  A8      : 0x800d2af4  A9      : 0x3ffb4a50  
A10     : 0x00000001  A11     : 0xfffffffd  A12     : 0x00000000  A13     : 0x00000000  
A14     : 0x00000001  A15     : 0x3ffc3b38  SAR     : 0x00000019  EXCCAUSE: 0x00000000  
EXCVADDR: 0x00000000  LBEG    : 0x40089ad8  LEND    : 0x40089ae3  LCOUNT  : 0x00000000  


Backtrace: 0x400d2af1:0x3ffb4a70

小鱼

@hury 一定是程序问题

hury

@小鱼
可以看下，上面代码，都是空实现。程序应该是没有问题。
setup里只调了micro_ros_task。
micro_ros_task只是连了wifi，初始化了executor.
executor的num_handles=0
loop也只是做了printf.

hury

@小鱼
我也用了书中的示例代码：fishbot_motion_control_9.4.1, 也会出现同样的问题。定位了下：rclc_support_init(&support,0,NULL,&allocator); 返回的是1， support初始化就失败了。

// 单独创建一个任务运行 micro-ROS 相当于一个线程
void microros_task(void* args)
{
    // 1.设置传输协议并延迟一段时间等待设置的完成
    IPAddress agent_ip;
    agent_ip.fromString("192.168.31.100"); // 设置agent的IP地址
    set_microros_wifi_transports((char*)"******",(char*)"******",agent_ip,8000); // 设置传输协议
    delay(3000); // 等待2秒,等待WIFI连接
    // 2.初始化内存分配器
    allocator = rcl_get_default_allocator(); // 获取默认的内存分配器
    // 3.初始化支持
    rclc_support_init(&support,0,NULL,&allocator); // 初始化支持
    // 4.初始化节点
    rclc_node_init_default(&node,"fishbot_motion_control","",&support); // 初始化节点
    // 5.初始化执行器
    unsigned int num_handles = 0; // 订阅和计时器的回调数量,注意这是一个要改的参数
    rclc_executor_init(&executor,&support.context,num_handles,&allocator); // 初始化执行器
    // 循环执行器
    rclc_executor_spin(&executor);
}