这个为什么会报错啊，一个RTT小白真的已经心累了

发布于 2025-03-10 02:27:13 浏览：131 订阅该版

```c
\ | /
- RT -     Thread Operating System
 / | \     4.1.1 build Mar  9 2025 23:39:05
 2006 - 2022 Copyright by RT-Thread team
(rt_object_g(rt_object_get_type(&event->parent.parent) == RT_Object_Class_Event) assertion failed at function:rt_event_send, line number:1
```

以上是报错信息，我怀疑问题出在以下代码上，但是不知道怎么修改，问题在哪里

```c
mian.c
    ALL_Init();
//     自动锁定定时器
    unlock_timer = rt_timer_create("auto_lock", timer_callback,
                                 NULL, 5000, RT_TIMER_FLAG_ONE_SHOT);

//     创建处理线程
    rt_thread_t tid = rt_thread_create("fp_lock", mensuo_thread_entry,
                                      NULL, 2048, 9, 10);
    rt_thread_startup(tid);

return 0;
Lock.c
#include <rtthread.h>
#include <rtdevice.h>
#include <board.h>
#include <errno.h>
#include <math.h>
#include <stdio.h>
#include <ADC_UART.h>
#include <string.h>
#include <aht10.h>
#include <as608.h>
#include <rtdbg.h>
#include <rtdef.h>
//#include <sg90.h>
#include <Lock.h>

#define KEY_UP_NUM          GET_PIN(C,  5)
#define KEY_DOWN_NUM        GET_PIN(C,  1)
#define KEY_LEFT_NUM          GET_PIN(C,  0)
#define KEY_RIGHT_NUM        GET_PIN(C,  4)
#define AS60X_UART_NAME "uart2"
#define AS60X_WAK_PIN        GET_PIN(A, 1)
#define EVENT_KEY_UP        (1 << 0)
#define EVENT_KEY_DOWN      (1 << 1)
#define EVENT_KEY_RIGHT     (1 << 2)
#define EVENT_FP_TOUCH       (1 << 3)

rt_uint16_t page_id = 0x02;
rt_uint16_t mat_score = 0;
extern  sg90_cfg my_sg90_config;
static struct rt_event key_event; // 按键事件
static rt_bool_t is_initialized = RT_FALSE;
rt_timer_t unlock_timer;

/* 上键中断处理 */
void key_up_handler(void *args)
{
    rt_event_send(&key_event, EVENT_KEY_UP);
}

/* 下键中断处理 */
void key_down_handler(void *args)
{
    rt_event_send(&key_event, EVENT_KEY_DOWN);
}

/* 右键中断处理 */
void key_right_handler(void *args)
{
    rt_event_send(&key_event, EVENT_KEY_RIGHT);
}

void fp_touch_handler(void *args)
{
    rt_event_send(&key_event, EVENT_FP_TOUCH);
}

void ALL_Init()
{
    if (is_initialized) return;
    rt_err_t ret = rt_event_init(&key_event, "key_evt", RT_IPC_FLAG_FIFO);
    if (ret != RT_EOK) {
        LOG_E("Event init failed: %d", ret);
        return;
    }

rt_pin_mode(KEY_UP_NUM, PIN_MODE_INPUT_PULLUP);
    rt_pin_mode(KEY_DOWN_NUM, PIN_MODE_INPUT_PULLUP);
    rt_pin_mode(KEY_LEFT_NUM, PIN_MODE_INPUT_PULLUP);
    rt_pin_mode(KEY_RIGHT_NUM, PIN_MODE_INPUT_PULLUP);
    rt_pin_mode(AS60X_WAK_PIN, PIN_MODE_INPUT_PULLUP);

/* 绑定中断处理函数 */
    rt_pin_attach_irq(KEY_UP_NUM, PIN_IRQ_MODE_FALLING, key_up_handler, RT_NULL);
    rt_pin_attach_irq(KEY_DOWN_NUM, PIN_IRQ_MODE_FALLING, key_down_handler, RT_NULL);
    rt_pin_attach_irq(KEY_RIGHT_NUM, PIN_IRQ_MODE_FALLING, key_right_handler, RT_NULL);
    rt_pin_attach_irq(AS60X_WAK_PIN, PIN_IRQ_MODE_RISING, fp_touch_handler, RT_NULL);

/* 使能中断 */
    rt_pin_irq_enable(KEY_UP_NUM, PIN_IRQ_ENABLE);
    rt_pin_irq_enable(KEY_DOWN_NUM, PIN_IRQ_ENABLE);
    rt_pin_irq_enable(KEY_RIGHT_NUM, PIN_IRQ_ENABLE);
    rt_pin_irq_enable(AS60X_WAK_PIN, PIN_IRQ_ENABLE);

as60x_set_hand_shake_baud(57600);
    as60x_init(AS60X_UART_NAME);

sg90_init(&my_sg90_config);

/*//     自动锁定定时器
    unlock_timer = rt_timer_create("auto_lock", timer_callback,
                                  NULL, 5000, RT_TIMER_FLAG_ONE_SHOT);

//     创建处理线程
    rt_thread_t tid = rt_thread_create("fp_lock", mensuo_thread_entry,
                                      NULL, 2048, 25, 10);*/
//    rt_thread_startup(tid);
    is_initialized = RT_TRUE;
}

//按下按键，录入指纹
void UP_FINGER_STR()
{
    rt_kprintf("Start fingerprint enrollment...\n");
    rt_event_recv(&key_event, EVENT_FP_TOUCH, RT_EVENT_FLAG_OR, RT_WAITING_FOREVER, RT_NULL);
    as60x_ack_type_t ret1 = as60x_str_fp_to_flash(page_id);
    if (ret1 == AS60X_CMD_OK) {
        rt_kprintf("First press OK\n");

rt_kprintf("Place finger 2nd time\n");
        rt_event_recv(&key_event, EVENT_FP_TOUCH, RT_EVENT_FLAG_OR, RT_WAITING_FOREVER, RT_NULL);
        as60x_ack_type_t ret2 = as60x_str_fp_to_flash(page_id);
        if (ret2 == AS60X_CMD_OK) {
            rt_kprintf("Enroll success!\n");
        }
    }
}

void timer_callback(void *parameter)
{
    lock();
    rt_kprintf("Auto relock activated\n");
}

rt_err_t verify_fingerprint(void)
{
    // 调用指纹验证函数
    as60x_ack_type_t ret = as60x_search_fp_in_flash(&page_id, &mat_score);
/*    rt_kprintf("Fingerprint verified! ID: %d\n", page_id);
    return RT_EOK;*/
    if (ret == AS60X_CMD_OK) {
        rt_kprintf("Verify success! Score: %d\n", mat_score);
        return RT_EOK;
    } else {
        rt_kprintf("Verify failed! Code: 0x%04X\n", ret);
        return -RT_ERROR;
    }
}

//解锁，舵机转动90度
void jiesuo()
{
    as60x_ack_type_t result = as60x_search_fp_in_flash(&page_id, &mat_score);
    rt_kprintf("Unlocking...\r\n");
    if(result != AS60X_DAT_ERR)
    {
        sg90_set_angle(&my_sg90_config, 90.0);
        rt_kprintf("yi jie suo\r\n");
    }
}

rt_err_t delete_fingerprint()
{
    rt_kprintf("Now test delet the fingerprint..\r\n");
    as60x_delet_fp_n_id(page_id, 1);
    return RT_EOK;
}

void lock()
{
    sg90_set_angle(&my_sg90_config, 0.0);
}

/* 主处理线程 ------------------------------------------------------------*/
void mensuo_thread_entry(void *parameter)
{
    rt_uint32_t recv;
    ALL_Init();
    while (1) {
        if (rt_event_recv(&key_event,
            EVENT_KEY_UP | EVENT_KEY_DOWN | EVENT_KEY_RIGHT | EVENT_FP_TOUCH,
            RT_EVENT_FLAG_OR | RT_EVENT_FLAG_CLEAR,
            RT_WAITING_FOREVER, &recv) == RT_EOK) {

if (recv & EVENT_KEY_UP) {
                UP_FINGER_STR(); // 录入到ID 1
            }
            else if (recv & EVENT_KEY_RIGHT) {
                if (verify_fingerprint() == RT_EOK) {
                    jiesuo();
                    rt_timer_start(unlock_timer);
                }
            }
            else if (recv & EVENT_KEY_DOWN) {
                delete_fingerprint(); // 删除ID.
            }
        }
        rt_thread_mdelay(10);
    }
}
```
如果有大佬看到了，麻烦回答一下，谢谢了

聚散无由 9小时前

jswyll

假设指纹模块和舵机控制的代码没有问题，这段代码应该不会引发rt_event_send的断言。

建议试试：

- 把调用as60x和sg90的地方注释掉，换成打印来模拟，我试了一下是可以正常模拟这块功能的。

- 检查其它地方rt_event_send的问题，有没有在初始化之前就调用了rt_event_send的？

- 可能是别的地方内存溢出、指针用法不当等等原因破坏的？尝试屏蔽你其它地方的代码，排除其它地方的问题。

- 指纹模块和舵机控制的代码有没有可能有问题？

---

这块代码虽然不会引发提问的问题，但是：

1. 为什么多次调用ALL_Init然后用is_initialized去重？建议只调用一次ALL_Init，并且去除is_initialized的逻辑。

2. 为什么初始化AS60X_WAK_PIN用上拉，设置中断触发模式却用上升沿？

3. UP_FINGER_STR函数接收key_event事件后两处都没清除，不能实现放两次手指才录入。是不是应该去除mensuo_thread_entry的EVENT_FP_TOUCH，并且在UP_FINGER_STR添加清除标志？

```c
    void UP_FINGER_STR()
    {
        rt_kprintf("Start fingerprint enrollment...\n");
        rt_event_recv(&key_event, EVENT_FP_TOUCH, RT_EVENT_FLAG_OR | RT_EVENT_FLAG_CLEAR, RT_WAITING_FOREVER, RT_NULL);
        // ...
        rt_kprintf("Place finger 2nd time\n");
        rt_event_recv(&key_event, EVENT_FP_TOUCH, RT_EVENT_FLAG_OR | RT_EVENT_FLAG_CLEAR, RT_WAITING_FOREVER, RT_NULL);
        // ...
    }

void mensuo_thread_entry(void *parameter)
    {
        rt_uint32_t recv;
        ALL_Init();
        while (1)
        {
            if (rt_event_recv(&key_event,
                            EVENT_KEY_UP | EVENT_KEY_DOWN | EVENT_KEY_RIGHT,
                            RT_EVENT_FLAG_OR | RT_EVENT_FLAG_CLEAR,
                            RT_WAITING_FOREVER, &recv) == RT_EOK)
            {
                // ...
            }
        }
    }
    ```