menuconfig MICROROS
    bool
	default n
    prompt "micro-ROS Support"
    select APP_LINK_WITH_MICROROS
    help
        Enables a micro-ROS library

if MICROROS
    config APP_LINK_WITH_MICROROS
        bool "Link 'app' with MICROROS"
        default n
        help
            Add MICROROS header files to the 'app' include path. 
   
    choice
        prompt "micro-ROS transport"
        
        config MICROROS_TRANSPORT_FDCAN
            bool "micro-ROS fdcab transport"
            select RING_BUFFER
        config MICROROS_TRANSPORT_SERIAL
            bool "micro-ROS serial transport"
            select RING_BUFFER
        config MICROROS_TRANSPORT_SERIAL_USB
            bool "micro-ROS USB serial transport"
            select RING_BUFFER
        config MICROROS_TRANSPORT_UDP
            bool "micro-ROS UDP network transport"
        
    endchoice

    if MICROROS_TRANSPORT_UDP
        config MICROROS_AGENT_IP
            string "micro-ROS Agent IP"
            default "192.168.1.100"
            help
                micro-ROS Agent IP.
        
        config MICROROS_AGENT_PORT
            string "micro-ROS Agent Port"
            default "8888"
            help
                micro-ROS Agent port.

        menu "WiFi Configuration"

            config MICROROS_WIFI_SSID
                string "WiFi SSID"
                default "myssid"
                help
                    SSID (network name) for the example to connect to.
        
            config MICROROS_WIFI_PASSWORD
                string "WiFi Password"
                default "mypassword"
                help
                    WiFi password (WPA or WPA2) for the example to use.
        endmenu
    endif

    if MICROROS_TRANSPORT_SERIAL
        config MICROROS_SERIAL_PORT
            string "micro-ROS Agent serial port"
            default "1"
            help
                micro-ROS Agent IP.
    endif

    if MICROROS_TRANSPORT_SERIAL_USB
        config USB_CDC_ACM
            bool 
            default y
        config USB_CDC_ACM_RINGBUF_SIZE
            int "USB-CDC-ACM Ringbuffer size"
            default "2048"
        config USB_DEVICE_PRODUCT
            string "USB Device Product"
            default "Zephyr micro-ROS"

    endif
    config MICROROS_NODES
        string "available micro-ROS nodes"
        default "4"

    config MICROROS_PUBLISHERS
        string "available micro-ROS publishers"
        default "16"
    
    config MICROROS_SUBSCRIBERS
        string "available micro-ROS subscribers"
        default "16"

    config MICROROS_CLIENTS
        string "available micro-ROS service clients"
        default "4"

    config MICROROS_SERVERS
        string "available micro-ROS service servers"
        default "1"
        
    config MICROROS_RMW_HISTORIC
        string "available micro-ROS RMW historic memory"
        default "4"
    
    config MICROROS_XRCE_DDS_MTU
        string "micro-ROS transport MTU"
        default "512"
        
    config MICROROS_XRCE_DDS_HISTORIC
        string "micro-ROS middleware memory slots"
        default "4"  

endif