Multi-Thread Publisher with custrom transport

Chưa có ai nhận issue này.

- Hardware description: ESP32-s3
- Version or commit hash: Humble

I pulled int32_publisher_custom_transport from the examples and replaced micro_ros_task() with the micro_ros_task() given by the multithread_publisher example. So, the code be like:

```
#include
#include
#include

#include "freertos/FreeRTOS.h"
#include "freertos/task.h"
#include "esp_log.h"
#include "esp_system.h"
#include "driver/uart.h"

#include
#include
#include
#include
#include

#include
#include
#include "esp32_serial_transport.h"

#define RCCHECK(fn) { rcl_ret_t temp_rc = fn; if((temp_rc != RCL_RET_OK)){printf("Failed status on line %d: %d. Aborting.\n",__LINE__,(int)temp_rc);vTaskDelete(NULL);}}
#define RCSOFTCHECK(fn) { rcl_ret_t temp_rc = fn; if((temp_rc != RCL_RET_OK)){printf("Failed status on line %d: %d. Continuing.\n",__LINE__,(int)temp_rc);}}

rcl_publisher_t publisher_1;
rcl_publisher_t publisher_2;

void thread_1(void * arg)
{
std_msgs__msg__Int32 msg;
msg.data = 0;
while(1){
RCSOFTCHECK(rcl_publish(&publisher_1, &msg, NULL));
msg.data++;
usleep(1000000);
}
}

void thread_2(void * arg)
{
std_msgs__msg__Int32 msg;
msg.data = 0;
while(1){
RCSOFTCHECK(rcl_publish(&publisher_2, &msg, NULL));
msg.data--;
usleep(500000);
}
}

void micro_ros_task(void * arg)
{
rcl_allocator_t allocator = rcl_get_default_allocator();
rclc_support_t support;

rcl_init_options_t init_options = rcl_get_zero_initialized_init_options();
RCCHECK(rcl_init_options_init(&init_options, allocator));

// create init_options
RCCHECK(rclc_support_init_with_options(&support, 0, NULL, &init_options, &allocator));

// create node
rcl_node_t node;
RCCHECK(rclc_node_init_default(&node, "multithread_node", "", &support));

// create two publishers
RCCHECK(rclc_publisher_init_default(
&publisher_1,
&node,
ROSIDL_GET_MSG_TYPE_SUPPORT(std_msgs, msg, Int32),
"multithread_publisher_1"));

RCCHECK(rclc_publisher_init_default(
&publisher_2,
&node,
ROSIDL_GET_MSG_TYPE_SUPPORT(std_msgs, msg, Int32),
"multithread_publisher_2"));

xTaskCreate(thread_1,
"thread_1",
CONFIG_MICRO_ROS_APP_STACK,
NULL,
CONFIG_MICRO_ROS_APP_TASK_PRIO,
NULL);

xTaskCreate(thread_2,
"thread_2",
CONFIG_MICRO_ROS_APP_STACK,
NULL,
CONFIG_MICRO_ROS_APP_TASK_PRIO + 1,
NULL);

while(1){
sleep(100);
}

// free resources
RCCHECK(rcl_publisher_fini(&publisher_1, &node));
RCCHECK(rcl_publisher_fini(&publisher_2, &node));
RCCHECK(rcl_node_fini(&node));

vTaskDelete(NULL);
}

static size_t uart_port = UART_NUM_0;

void app_main(void)
{
#if defined(RMW_UXRCE_TRANSPORT_CUSTOM)
rmw_uros_set_custom_transport(
true,
(void *) &uart_port,
esp32_serial_open,
esp32_serial_close,
esp32_serial_write,
esp32_serial_read
);
#else
#error micro-ROS transports misconfigured
#endif // RMW_UXRCE_TRANSPORT_CUSTOM

xTaskCreate(micro_ros_task,
"uros_task",
CONFIG_MICRO_ROS_APP_STACK,
NULL,
CONFIG_MICRO_ROS_APP_TASK_PRIO,
NULL);
}
```

I added `"-DUCLIENT_PROFILE_MULTITHREAD=ON",` on the colcon.meta and rebuilt the micro-ros components. However, ESP comes up with the following exception handler:
```

Guru Meditation Error: Core 0 panic'ed (LoadProhibited). Exception was unhandled.

Core 0 register dump:
PC : 0x42008849 PS : 0x00060d30 A0 : 0x8200b647 A1 : 0x3fca2200
0x42008849: esp32_serial_open at /home/bob/int32_publisher_custom_transport/main/esp32_serial_transport.c:25

A2 : 0x3fc97ea8 A3 : 0x3fc96b60 A4 : 0x00000000 A5 : 0x3fc96a78
A6 : 0x00000004 A7 : 0x00000000 A8 : 0x00000001 A9 : 0x3fca21f0
A10 : 0x3fca2200 A11 : 0x3fca2200 A12 : 0x0000001c A13 : 0x3fca221c
A14 : 0x00000004 A15 : 0x00000001 SAR : 0x0000001d EXCCAUSE: 0x0000001c
EXCVADDR: 0x00000000 LBEG : 0x400570e8 LEND : 0x400570f3 LCOUNT : 0x00000000
0x400570e8: memset in ROM
0x400570f3: memset in ROM



Backtrace: 0x42008846:0x3fca2200 0x4200b644:0x3fca2240 0x42009b03:0x3fca2260 0x420091ac:0x3fca2280 0x4200e884:0x3fca22b0 0x42008cba:0x3fca2370 0x4200872c:0x3fca2390 0x4037baad:0x3fca2420
0x42008846: esp32_serial_open at /home/bob/int32_publisher_custom_transport/main/esp32_serial_transport.c:17
0x4200b644: uxr_init_custom_transport at ??:?
0x42009b03: rmw_uxrce_transport_init at ??:?
0x420091ac: rmw_init at ??:?
0x4200e884: rcl_init at ??:?
0x42008cba: rclc_support_init_with_options at ??:?
0x4200872c: micro_ros_task at /home/bob/int32_publisher_custom_transport/main/main.c:59
0x4037baad: vPortTaskWrapper at /home/bob/esp/v5.2.2/esp-idf/components/freertos/FreeRTOS-Kernel/portable/xtensa/port.c:134


ELF file SHA256: ff38db6d6

Rebooting...
���ESP-ROM:esp32s3-20210327
Build:Mar 27 2021
rst:0xc (RTC_SW_CPU_RST),boot:0x8 (SPI_FAST_FLASH_BOOT)
Saved PC:0x4037597c

```

Are multithread flag only for UDP transports?
Thank you.

Bắt đầu với main.c tại lệnh gọi rclc_support_init_with_options và kiểm tra esp32_serial_transport.c quanh các dòng 17 và 25, nơi backtrace báo cáo lỗi. Xem xét thay đổi trong colcon.meta để bật UCLIENT_PROFILE_MULTITHREAD và đường dẫn khởi tạo transport tùy chỉnh. Được coi là hoàn tất khi ESP32-S3 khởi động mà không gặp panic LoadProhibited trong khi sử dụng transport tùy chỉnh và publisher đa luồng.

Do mô hình lập chỉ mục viết ra từ nội dung của issue.