Single threaded client support

examples/talker.cpp

@@ -2,10 +2,10 @@
  * @file    talker.cpp
  * @brief   Example cpp talker node for picoros
  * @date    2025-Avg-8
- * 
+ *
  * @details This example demonstrates a simple ROS publisher node that
  *          publishes string messages on the "picoros/chatter" topic.
- * 
+ *
  * @copyright Copyright (c) 2025 Ubiquity Robotics
  *******************************************************************************/
 

src/picoros.c

@@ -272,10 +272,39 @@ picoros_res_t picoros_interface_init(picoros_interface_t* ifx) {
         _PR_LOG("Failed to start read/lease tasks! Error:%d\n", res);
         return PICOROS_ERROR;
     }
+    #if Z_FEATURE_MULTI_THREAD == 0
+        ifx->last_keepalive_time = z_clock_now();
+    #endif
 
     return PICOROS_OK;
 }
 
+#if Z_FEATURE_MULTI_THREAD == 0
+picoros_res_t picoros_single_threaded_loop(picoros_interface_t* ifx){
+    z_result_t res = Z_OK;
+    res = zp_read(z_session_loan(&s_wrapper), ifx->read_opts);
+    if (res != Z_OK){
+        _PR_LOG("Read task error:%d\n", res);
+        return PICOROS_ERROR;
+    }
+    unsigned long elapsed_ms = z_clock_elapsed_ms(&ifx->last_keepalive_time);
+    if (elapsed_ms >= (Z_TRANSPORT_LEASE / Z_TRANSPORT_LEASE_EXPIRE_FACTOR)) {
+        ifx->last_keepalive_time = z_clock_now();
+        res = zp_send_keep_alive(z_session_loan(&s_wrapper), ifx->keep_alive_opts);
+        if (res != Z_OK){
+            _PR_LOG("Keep alive task error:%d\n", res);
+            return PICOROS_ERROR;
+        }
+        res = zp_send_join(z_session_loan(&s_wrapper), ifx->join_options);
+        if (res != Z_OK){
+            _PR_LOG("Join task error:%d\n", res);
+            return PICOROS_ERROR;
+        }
+    }
+    return PICOROS_OK;
+}
+#endif
+
 picoros_res_t picoros_node_init(picoros_node_t* node) {
     z_result_t res = Z_OK;
     char keyexpr[KEYEXPR_SIZE];

src/picoros.h

@@ -227,6 +227,12 @@ typedef struct {
 typedef struct {
     char* mode;                     /**< Connection mode (peer/client) */
     char* locator;                  /**< Network locator string */
+    #if Z_FEATURE_MULTI_THREAD == 0
+        z_clock_t                       last_keepalive_time; /**< Last time of sent keepalive message */
+        zp_read_options_t*              read_opts;           /**< Read options */
+        zp_send_keep_alive_options_t*   keep_alive_opts;     /**< Keep alive options */
+        zp_send_join_options_t*         join_options;        /**< Join options - multicast only */
+    #endif
 } picoros_interface_t;
 
 /** @} */
@@ -250,6 +256,17 @@ typedef enum {
  */
 picoros_res_t picoros_interface_init(picoros_interface_t* ifx);
 
+#if Z_FEATURE_MULTI_THREAD == 0
+/**
+ * @brief Run single threaded communication tasks.
+ * @param context Pointer to interface configuration.
+ * @return PICOROS_OK on success, error code otherwise
+ * @ingroup interface
+ */
+picoros_res_t picoros_single_threaded_loop(picoros_interface_t* ifx);
+
+#endif
+
 /**
  * @brief Shutdown the network interface
  * @ingroup interface