A communication method, a communication apparatus, and a non-transitory computer readable storage medium storing a computer program are disclosed. In the communication method, a plurality of predetermined frequency points are monitored to determine whether a target group has been established. In response to no target group being established, a target group is established; and from a plurality of transmission time slots for the target group, a first transmission time slot is determined for a terminal device. Then, the terminal device transmits a data message in the first transmission time slot.