运行micro-ros线程运行一段时间出现崩溃

发布于 2024-04-25 21:03:14 浏览：413 订阅该版

rtthread 版本5.0.2

```c
 case AGENT_CONNECTED:
        if(last_agent_check_time > 0){
          if(rt_tick_get() > last_agent_check_time){
            time_interval = rt_tick_get() - last_agent_check_time;
          }else{
            last_agent_check_time = 0;
          }
          
          if(time_interval >= CHECK_AGENT_DISCONNECTED_INTERVAL_MS){
            last_agent_check_time = rt_tick_get();
            rmw_ret = rmw_uros_ping_agent(100, 1);
            rt_kprintf("AGENT_CONNECTED ping state: %d\n", rmw_ret);
            if(RMW_RET_OK != rmw_ret){
              if(agent_disconnect_cnt++ > AGENT_CONNECTED_CNT_MAX){
                agent_disconnect_cnt = 0;
                state = AGENT_DISCONNECTED;
              }
            }else{
              agent_disconnect_cnt = 0;
            }
          }
        }else{
          last_agent_check_time = rt_tick_get();
        }
        if (state == AGENT_CONNECTED) {
          RCSOFTCHECK(rclc_executor_spin_some(&executor, RCL_MS_TO_NS(PUBLISH_PEROID_MS)));
        }
        break;
```
以上代码修改出现的该问题
```
((thread->stat & RT_THREAD_SUSPEND_MASK) == RT_THREAD_SUSPEND_MASK) assertion fd
please use: addr2line -e rtthread.elf -a -f                                     
 0x802c9ce[W/kernel.service] rt_hw_backtrace_frame_unwind is not implemented
```