menuconfig MODULES_ZENOH
	bool "Zenoh"
	default n
	select LIB_CDRSTREAM
	---help---
		Enable support for Zenoh

if MODULES_ZENOH
    config ZENOH_CONFIG_PATH
        string "Config path"
        default "/fs/microsd/zenoh"
        help
            Path to store network, publishers and subscribers configuration

    config ZENOH_DEBUG
        int "Zenoh debug level"
        default 0
        help
            Set Zenoh debug level
            0: NONE
            1: ERROR
            2: INFO + ERROR
            3: DEBUG + INFO + ERROR

    # Choose exactly one item
    choice ZENOH_PUBSUB_SELECTION
            prompt "Publishers/Subscribers selection"
            default ZENOH_PUBSUB_ALL

    config ZENOH_PUBSUB_MINIMAL
            bool "Minimal"
            select ZENOH_PUBSUB_COLLISION_CONSTRAINTS
            select ZENOH_PUBSUB_FAILSAFE_FLAGS
            select ZENOH_PUBSUB_POSITION_SETPOINT_TRIPLET
            select ZENOH_PUBSUB_SENSOR_COMBINED
            select ZENOH_PUBSUB_TIMESYNC_STATUS
            select ZENOH_PUBSUB_VEHICLE_ATTITUDE
            select ZENOH_PUBSUB_VEHICLE_CONTROL_MODE
            select ZENOH_PUBSUB_VEHICLE_GLOBAL_POSITION
            select ZENOH_PUBSUB_SENSOR_GPS
            select ZENOH_PUBSUB_VEHICLE_LOCAL_POSITION
            select ZENOH_PUBSUB_VEHICLE_ODOMETRY
            select ZENOH_PUBSUB_VEHICLE_STATUS
            select ZENOH_PUBSUB_TRAJECTORY_WAYPOINT
            select ZENOH_PUBSUB_OFFBOARD_CONTROL_MODE
            select ZENOH_PUBSUB_ONBOARD_COMPUTER_STATUS
            select ZENOH_PUBSUB_OBSTACLE_DISTANCE
            select ZENOH_PUBSUB_SENSOR_OPTICAL_FLOW
            select ZENOH_PUBSUB_TELEMETRY_STATUS
            select ZENOH_PUBSUB_TRAJECTORY_SETPOINT
            select ZENOH_PUBSUB_VEHICLE_ATTITUDE_SETPOINT
            select ZENOH_PUBSUB_VEHICLE_ODOMETRY
            select ZENOH_PUBSUB_VEHICLE_RATES_SETPOINT
            select ZENOH_PUBSUB_VEHICLE_COMMAND
            select ZENOH_PUBSUB_VEHICLE_TRAJECTORY_BEZIER
            select ZENOH_PUBSUB_VEHICLE_TRAJECTORY_WAYPOINT

    config ZENOH_PUBSUB_ALL
            bool "All"

    config ZENOH_PUBSUB_CUSTOM
            bool "Custom"
    endchoice

endif

rsource "Kconfig.topics"