CRS-4535: Cannot communicate with Cluster Ready Services

This error is caused by crsd not running, while both cssd and evmd processes are running. Also all the database instances are running.

Environment is 12.1.0.2 GI and 11.2.0.4 databases.

$ crsctl check crs
CRS-4638: Oracle High Availability Services is online
CRS-4535: Cannot communicate with Cluster Ready Services  
CRS-4529: Cluster Synchronization Services is online
CRS-4533: Event Manager is online

$ps -eaf|grep crsd 

No process found

Try to start up CRS:

# crsctl start crs
CRS-4640: Oracle High Availability Services is already active
CRS-4000: Command Start failed, or completed with errors.