Zephyr threading

README.md

@@ -1,9 +1,5 @@
 In this repo it will be implemented an Arduino library wrapper for RPClite to be run on Arduino UNO Q boards.
 
-The desired API is shown in https://github.com/bcmi-labs/Arduino_RouterBridge/blob/main/desired.ino.
-
-This is WIP. Expects changes soon.
-
 ## The Bridge object ##
 
 Including Arduino_RouterBridge.h gives the user access to a Bridge object that can be used both as a RPC client and/or server to execute and serve RPCs to/from the CPU Host running a GOLANG router.
@@ -16,6 +12,8 @@ Including Arduino_RouterBridge.h gives the user access to a Bridge object that c
 
 
 ```cpp
+#include <Arduino_RouterBridge.h>
+
 bool set_led(bool state) {
     digitalWrite(LED_BUILTIN, state);
     return state;
@@ -50,7 +48,5 @@ void loop() {
     };
 
     Bridge.notify("signal", 200);
-
-    //Bridge.update(); // Thread-unsafe update execution is granted in its own thread. It can be called manually with caution
 }
 ```

examples/monitor/monitor.ino

@@ -0,0 +1,65 @@
+/*
+    This file is part of the Arduino_RouterBridge library.
+
+    Copyright (c) 2025 Arduino SA
+
+    This Source Code Form is subject to the terms of the Mozilla Public
+    License, v. 2.0. If a copy of the MPL was not distributed with this
+    file, You can obtain one at http://mozilla.org/MPL/2.0/.
+
+*/
+
+#include <Arduino_RouterBridge.h>
+
+
+bool set_led(bool state) {
+    digitalWrite(LED_BUILTIN, state);
+    return state;
+}
+
+int add(int a, int b) {
+    return a + b;
+}
+
+String greet() {
+    return String("Hello Friend");
+}
+
+void setup() {
+    Serial.begin(115200);
+
+    if (!Bridge.begin()) {
+        Serial.println("cannot setup Bridge");
+    }
+
+    if(!Monitor.begin()){
+        Serial.println("cannot setup Monitor");
+    }
+
+    pinMode(LED_BUILTIN, OUTPUT);
+
+    if (!Bridge.provide("set_led", set_led)) {
+        Serial.println("Error providing method: set_led");
+    } else {
+        Serial.println("Registered method: set_led");
+    }
+
+    Bridge.provide("add", add);
+    Bridge.provide("greet", greet);
+
+}
+
+void loop() {
+
+    Bridge.notify("signal", 200);
+
+    Monitor.println("DEBUG: a debug message");
+
+    if (Monitor.available()) {
+        String input = Monitor.readStringUntil('\n');  // Read until newline
+        Monitor.print("You entered: ");
+        Monitor.println(input);
+    }
+
+    delay(500);
+}

examples/simple_bridge/simple_bridge.ino

@@ -1,6 +1,16 @@
+/*
+    This file is part of the Arduino_RouterBridge library.
+
+    Copyright (c) 2025 Arduino SA
+
+    This Source Code Form is subject to the terms of the Mozilla Public
+    License, v. 2.0. If a copy of the MPL was not distributed with this
+    file, You can obtain one at http://mozilla.org/MPL/2.0/.
+
+*/
+
 #include <Arduino_RouterBridge.h>
 
-//BridgeClass Bridge(Serial1);
 
 bool set_led(bool state) {
     digitalWrite(LED_BUILTIN, state);
@@ -42,6 +52,4 @@ void loop() {
     };
 
     Bridge.notify("signal", 200);
-
-    //Bridge.update(); // Thread-unsafe update execution is granted in its own thread. It can be called manually with caution
 }

library.json

@@ -11,8 +11,8 @@
     "url": "https://github.com/bcmi-labs/Arduino_RouterBridge",
     "maintainer": true
   },
-  "version": "0.1.0",
-  "license": "MIT",
+  "version": "0.1.2",
+  "license": "MPL2.0",
   "frameworks": "arduino",
   "platforms": "*",
   "dependencies":

library.properties

@@ -1,5 +1,5 @@
 name=Arduino_RouterBridge
-version=0.1.0
+version=0.1.2
 author=BCMI-labs
 maintainer=BCMI-labs
 sentence=A RPC bridge for Arduino UNO Q boards

src/Arduino_RouterBridge.h

@@ -1,7 +1,19 @@
+/*
+    This file is part of the Arduino_RouterBridge library.
+
+    Copyright (c) 2025 Arduino SA
+
+    This Source Code Form is subject to the terms of the Mozilla Public
+    License, v. 2.0. If a copy of the MPL was not distributed with this
+    file, You can obtain one at http://mozilla.org/MPL/2.0/.
+
+*/
+
 #ifndef ARDUINO_ROUTER_BRIDGE_H
 #define ARDUINO_ROUTER_BRIDGE_H
 
 #include "Arduino.h"
 #include "bridge.h"
+#include "monitor.h"
 
 #endif //ARDUINO_ROUTER_BRIDGE_H

src/bridge.h

@@ -1,3 +1,14 @@
+/*
+    This file is part of the Arduino_RouterBridge library.
+
+    Copyright (c) 2025 Arduino SA
+
+    This Source Code Form is subject to the terms of the Mozilla Public
+    License, v. 2.0. If a copy of the MPL was not distributed with this
+    file, You can obtain one at http://mozilla.org/MPL/2.0/.
+
+*/
+
 #pragma once
 
 #ifndef ROUTER_BRIDGE_H
@@ -81,41 +92,67 @@ class BridgeClass {
 
     void update() {
 
-        k_msleep(1);
         // Lock read mutex
-        k_mutex_lock(&read_mutex, K_FOREVER);
-        if (!server->get_rpc()) {
+        if (k_mutex_lock(&read_mutex, K_MSEC(10)) != 0 ) return;
+
+        RPCRequest<> req;
+        if (!server->get_rpc(req)) {
             k_mutex_unlock(&read_mutex);
+            k_msleep(1);
             return;
         }
+
         k_mutex_unlock(&read_mutex);
 
-        server->process_request();
+        server->process_request(req);
 
         // Lock write mutex
-        k_mutex_lock(&write_mutex, K_FOREVER);
-        server->send_response();
-        k_mutex_unlock(&write_mutex);
+        while (true) {
+
+            if (k_mutex_lock(&write_mutex, K_MSEC(10)) == 0){
+                server->send_response(req);
+                k_mutex_unlock(&write_mutex);
+                k_msleep(1);
+                break;
+            } else {
+                k_msleep(1);
+            }
+
+        }
 
     }
 
     template<typename RType, typename... Args>
     bool call(const MsgPack::str_t method, RType& result, Args&&... args) {
 
+        uint32_t msg_id_wait;
+
         // Lock write mutex
-        k_mutex_lock(&write_mutex, K_FOREVER);
-        client->send_rpc(method, std::forward<Args>(args)...);
-        k_mutex_unlock(&write_mutex);
+        while (true) {
+            if (k_mutex_lock(&write_mutex, K_MSEC(10)) == 0) {
+                client->send_rpc(method, msg_id_wait, std::forward<Args>(args)...);
+                k_mutex_unlock(&write_mutex);
+                k_msleep(1);
+                break;
+            } else {
+                k_msleep(1);
+            }
+       }
 
         // Lock read mutex
-        while(1) {
-            k_mutex_lock(&read_mutex, K_FOREVER);
-            if (client->get_response(result)) {
+        while(true) {
+            if (k_mutex_lock(&read_mutex, K_MSEC(10)) == 0 ) {
+                if (client->get_response(msg_id_wait, result)) {
+                    k_mutex_unlock(&read_mutex);
+                    k_msleep(1);
+                    break;
+                }
                 k_mutex_unlock(&read_mutex);
-                break;
+                k_msleep(1);
+            } else {
+                k_msleep(1);
             }
-            k_mutex_unlock(&read_mutex);
-            k_msleep(1);
+
         }
 
         return (client->lastError.code == NO_ERR);
@@ -140,21 +177,33 @@ class BridgeClass {
     void update_safe() {
 
         // Lock read mutex
-        k_msleep(1);
-        k_mutex_lock(&read_mutex, K_FOREVER);
-        if (!server->get_rpc()) {
+        if (k_mutex_lock(&read_mutex, K_MSEC(10)) != 0 ) return;
+
+        RPCRequest<> req;
+        if (!server->get_rpc(req, "__safe__")) {
             k_mutex_unlock(&read_mutex);
+            k_msleep(1);
             return;
         }
+
         k_mutex_unlock(&read_mutex);
 
-        server->process_request("__safe__");
+        server->process_request(req);
 
         // Lock write mutex
-        k_mutex_lock(&write_mutex, K_FOREVER);
-        server->send_response();
-        k_mutex_unlock(&write_mutex);
+        while (true) {
+
+            if (k_mutex_lock(&write_mutex, K_MSEC(10)) == 0){
+                server->send_response(req);
+                k_mutex_unlock(&write_mutex);
+                k_msleep(1);
+                break;
+            } else {
+                k_msleep(1);
+            }
 
+        }
+
     }
 
     friend class BridgeClassUpdater;
@@ -176,6 +225,7 @@ BridgeClass Bridge(Serial1);
 void updateEntryPoint(void *, void *, void *){
     while(1){
         Bridge.update();
+        k_msleep(1);
     }
 }
 
@@ -184,6 +234,7 @@ static void safeUpdate(){
 }
 
 void __loopHook(){
+    k_msleep(1);
     safeUpdate();
 }