Occasionally ResourceEvent::run_io_service() thread is crashed with error “signal 4 (SIGILL), code 1 (ILL_ILLOPC), fault addr 0x79bcdb0db8 (*pc=0x6638616d)” when executed Domain::removeParticipant(eprosima::fastrtps::Participant*) in main thread

[dofeel]

Hello,

We used eProsima/Fast-DDS 1.5.0 in apollo cyber-RT， and run in Android arm64 platform, found an error as follow:
Occasionally ResourceEvent::run_io_service() thread is crashed with error “signal 4 (SIGILL), code 1 (ILL_ILLOPC), fault addr 0x79bcdb0db8 (pc=0x6638616d)” when executed removeParticipant(eprosima::fastrtps::Participant) in main thread.

Is it a bug in Fast-DDS 1.5.0 code? and is there any suggestion to fix the issue?

The detail crashed stack backtrace is as follow:
ABI: 'arm64'
pid: 4079, tid: 4120, name: mainboard >>> mainboard <<<
uid: 5001
signal 4 (SIGILL), code 1 (ILL_ILLOPC), fault addr 0x79bcdb0db8 (*pc=0x6638616d)
x0 b400007775c94af0 x1 b4000077b5c94d30 x2 00000076a72c9748 x3 0000000000000180
x4 0000000000000010 x5 00000076c6120a80 x6 00000076e5dfcb60 x7 00000076e5dfcb30
x8 00000079bcdb0db0 x9 00000000000000c2 x10 00000000000000c2 x11 00000079bcdfe000
x12 0000000000000000 x13 00000076e6002f00 x14 00000079bce7b4bb x15 0000000034155555
x16 00000079bb4dfe78 x17 00000079bb3c9ad4 x18 0000000000000202 x19 00000079bcdfe000
x20 b4000077a5ce78a0 x21 b400007775c8f8d0 x22 b4000077b5c94d30 x23 00000079bcdfe000
x24 00000079bcdfe000 x25 00000079bcdfe000 x26 00000079bcdfe000 x27 0000000000000102
x28 00000079bcdfe000 x29 00000076a72c98b0
lr 00000079bcd7907c sp 00000076a72c9850 pc 00000079bcdb0db8 pst 0000000060000000

backtrace:
#00 pc 0000000000130db8 /system/apollo/lib/libfastrtps.so
#1 pc 00000000000f9078 /system/apollo/lib/libfastrtps.so (eprosima::fastrtps::rtps::EDPSimple::removeRemoteEndpoints(eprosima::fastrtps::rtps::ParticipantProxyData*)+428)
#2 pc 00000000000f07b4 /system/apollo/lib/libfastrtps.so (eprosima::fastrtps::rtps::PDPSimple::removeRemoteParticipant(eprosima::fastrtps::rtps::GUID_t&)+476)
#3 pc 00000000000f27d8 /system/apollo/lib/libfastrtps.so (eprosima::fastrtps::rtps::RemoteParticipantLeaseDuration::event(eprosima::fastrtps::rtps::TimedEvent::EventCode, char const*)+172)
#4 pc 0000000000078dc8 /system/apollo/lib/libfastrtps.so (eprosima::fastrtps::rtps::TimedEventImpl::event(std::__ndk1::error_code const&, std::__ndk1::shared_ptr<eprosima::fastrtps::rtps:: TimerState> const&)+240)
#5 pc 000000000007b744 /system/apollo/lib/libfastrtps.so (asio::detail::wait_handler<std::__ndk1::__bind<void (eprosima::fastrtps::rtps::TimedEventImpl::)(std::__ndk1::error_code const&, std:: __ndk1::shared_ptreprosima::fastrtps::rtps::TimerState const&), eprosima::fastrtps::rtps::TimedEventImpl, std::__ndk1::placeholders::__ph<1> const&, std::__ndk1::shared_ptr<eprosima::fastrtps:: rtps::TimerState>&> >::do_complete(void*, asio::detail::scheduler_operation*, std::__ndk1::error_code const&, unsigned long)+268)
#6 pc 0000000000077794 /system/apollo/lib/libfastrtps.so (asio::detail::scheduler::do_run_one(asio::detail::conditionally_enabled_mutex::scoped_lock&, asio::detail::scheduler_thread_info&, std::__ndk1::error_code const&)+668)
#7 pc 0000000000077364 /system/apollo/lib/libfastrtps.so (asio::detail::scheduler::run(std::__ndk1::error_code&)+224)
#8 pc 0000000000075d60 /system/apollo/lib/libfastrtps.so (eprosima::fastrtps::rtps::ResourceEvent::run_io_service()+52)
#9 pc 0000000000078084 /system/apollo/lib/libfastrtps.so (void* std::__ndk1::__thread_proxy<std::__ndk1::tuple<std::__ndk1::unique_ptr<std::__ndk1::__thread_struct, std::__ndk1:: default_deletestd::__ndk1::__thread_struct >, void (eprosima::fastrtps::rtps::ResourceEvent::)(), eprosima::fastrtps::rtps::ResourceEvent> >(void*)+64)
#10 pc 00000000000aff0c /apex/com.android.runtime/lib64/bionic/libc.so (__pthread_start(void*)+64) (BuildId: feb4117841986da07d03ab2622cd04cf)
#11 pc 0000000000050408 /apex/com.android.runtime/lib64/bionic/libc.so (__start_thread+64) (BuildId: feb4117841986da07d03ab2622cd04cf)

pid: 4079, tid: 4079, name: mainboard >>> mainboard <<<
uid: 5001
x0 00000076a72c9d10 x1 0000000000000000 x2 0000000000001018 x3 0000000000000000
x4 0000000000000000 x5 0000000000000000 x6 0000000000000000 x7 00000076f5cd9f00
x8 0000000000000062 x9 0000000000000000 x10 0000000000000002 x11 0000000000000000
x12 0000000000000000 x13 00000076f5c9e9c0 x14 003837227e37dc00 x15 0000000034155555
x16 00000079bb446d10 x17 00000079bb3d94b0 x18 0000000000000000 x19 0000000000000000
x20 00000076a72c9d00 x21 00000076a72c9d10 x22 0000000000001018 x23 00000079bf78d7f0
x24 00000079be52c008 x25 0000000000000000 x26 00000079bbb99494 x27 00000079bb44b000
x28 00000079bb44b000 x29 0000007fdc0dca70
lr 00000079bb43e4f4 sp 0000007fdc0dca60 pc 00000079bb3d94cc pst 0000000080001000

backtrace:
#00 pc 000000000004b4cc /apex/com.android.runtime/lib64/bionic/libc.so (syscall+28) (BuildId: feb4117841986da07d03ab2622cd04cf)
#1 pc 00000000000b04f0 /apex/com.android.runtime/lib64/bionic/libc.so (pthread_join+248) (BuildId: feb4117841986da07d03ab2622cd04cf)
#2 pc 00000000000a3bec /system/apollo/lib/libc++_shared.so (std::__ndk1::thread::join()+28) (BuildId: b174a220cd9b5431ae81136245506ebcfdbaae)
#3 pc 0000000000075c1c /system/apollo/lib/libfastrtps.so (eprosima::fastrtps::rtps::ResourceEvent::~ResourceEvent()+52)
#4 pc 0000000000075d18 /system/apollo/lib/libfastrtps.so (eprosima::fastrtps::rtps::ResourceEvent::~ResourceEvent()+16)
#5 pc 00000000000b5558 /system/apollo/lib/libfastrtps.so (eprosima::fastrtps::rtps::RTPSParticipantImpl::~RTPSParticipantImpl()+436)
#6 pc 00000000000b58e0 /system/apollo/lib/libfastrtps.so (eprosima::fastrtps::rtps::RTPSParticipantImpl::~RTPSParticipantImpl()+16)
#7 pc 00000000000b8e80 /system/apollo/lib/libfastrtps.so (eprosima::fastrtps::rtps::RTPSDomain::removeRTPSParticipant(eprosima::fastrtps::rtps::RTPSParticipant*)+792)
#8 pc 00000000000bce5c /system/apollo/lib/libfastrtps.so (eprosima::fastrtps::ParticipantImpl::~ParticipantImpl()+116)
#9 pc 00000000000bd274 /system/apollo/lib/libfastrtps.so (eprosima::fastrtps::ParticipantImpl::~ParticipantImpl()+16)
#10 pc 00000000000ba2dc /system/apollo/lib/libfastrtps.so (eprosima::fastrtps::Domain::removeParticipant(eprosima::fastrtps::Participant*)+252)
#11 pc 000000000002a178 /system/apollo/lib/libcyber_Stransport_Slibtransport_Usub.so (apollo::cyber::transport::Participant::Shutdown()+60)
#12 pc 000000000022ef84 /system/apollo/lib/libcyber_Slibcyber_Ucore.so (apollo::cyber::service_discovery::TopologyManager::Shutdown()+440)
#13 pc 000000000013af94 /system/apollo/lib/libcyber_Slibcyber_Ucore.so (apollo::cyber::Clear()+148)
#14 pc 00000000000b30e8 /apex/com.android.runtime/lib64/bionic/libc.so (__cxa_finalize+148) (BuildId: feb4117841986da07d03ab2622cd04cf)
#15 pc 00000000000ae250 /apex/com.android.runtime/lib64/bionic/libc.so (exit+24) (BuildId: feb4117841986da07d03ab2622cd04cf)
#16 pc 0000000000049a00 /apex/com.android.runtime/lib64/bionic/libc.so (__libc_init+112) (BuildId: feb4117841986da07d03ab2622cd04cf)

Thanks