CRS-4535: Cannot communicate with Cluster Ready Services

Two nodes 12.2.0.1 GI clusterware is not healthy with warning as below, databases and services are all still available for applications to connect to.

$ crsctl stat res -t
CRS-4535: Cannot communicate with Cluster Ready Services
CRS-4000: Command Status failed, or completed with errors.

$ crsctl check cluster -all
**************************************************************
racnode1:
CRS-4535: Cannot communicate with Cluster Ready Services
CRS-4529: Cluster Synchronization Services is online
CRS-4533: Event Manager is online
**************************************************************
racnode2:
CRS-4535: Cannot communicate with Cluster Ready Services
CRS-4529: Cluster Synchronization Services is online
CRS-4533: Event Manager is online
**************************************************************

crsd process is still running on both nodes:

-- on racnode1
$ ps -eaf | grep -i crsd
root 5482 1 0 Mar01 ? 00:00:00 /u01/app/12.2.0.1/grid/bin/crsd.bin reboot

-- on racnode2
$ ps -eaf | grep -i crsd
root 66210 1 0 23:39 ? 00:00:02 /u01/app/12.2.0.1/grid/bin/crsd.bin reboot

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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.

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