From 238627b15ace24eb571fe51355249f9d7bfa1176 Mon Sep 17 00:00:00 2001
From: kurisaw <2053731441@qq.com>
Date: Fri, 18 Apr 2025 10:10:46 +0800
Subject: [PATCH] micro-ROS local package

---
 system/Kconfig                      |   1 +
 system/micro_ros_local/Kconfig      | 118 ++++++++++++++++++++++++++++
 system/micro_ros_local/package.json |  34 ++++++++
 3 files changed, 153 insertions(+)
 create mode 100644 system/micro_ros_local/Kconfig
 create mode 100644 system/micro_ros_local/package.json

diff --git a/system/Kconfig b/system/Kconfig
index dffbd610f0..c427a63954 100644
--- a/system/Kconfig
+++ b/system/Kconfig
@@ -56,4 +56,5 @@ source "$PKGS_DIR/packages/system/reb/Kconfig"
 source "$PKGS_DIR/packages/system/rmp/Kconfig"
 source "$PKGS_DIR/packages/system/r-rhealstone/Kconfig"
 source "$PKGS_DIR/packages/system/heartbeat/Kconfig"
+source "$PKGS_DIR/packages/system/micro_ros_local/Kconfig"
 endmenu
diff --git a/system/micro_ros_local/Kconfig b/system/micro_ros_local/Kconfig
new file mode 100644
index 0000000000..784edba55b
--- /dev/null
+++ b/system/micro_ros_local/Kconfig
@@ -0,0 +1,118 @@
+menuconfig PKG_USING_MICRO_ROS_RTTHREAD_PACKAGE
+    bool "micro-ROS package for RTThread"
+    select RT_USING_POSIX_FS
+    select RT_USING_POSIX_SOCKET
+    select RT_USING_POSIX_SELECT
+    select RT_USING_SAL
+    select BSP_USING_ONCHIP_RTC
+    default n
+
+if PKG_USING_MICRO_ROS_RTTHREAD_PACKAGE
+
+    config PKG_MICRO_ROS_RTTHREAD_PACKAGE_PATH
+        string
+        default "/packages/system/micro_ros_local"
+
+    config RTT_UCLIENT_PLATFORM_RTTHREAD
+        bool "Using Micro XRCE-DDS Client Library in RT-Thread"
+        default n
+
+    config RTT_URCLC_PLATFORM_RTTHREAD
+        bool "Using Micro rclc Library in RT-Thread"
+        default y
+
+    menu "Include examples"
+        config PKG_RCLC_EXAMPLE
+            bool "Enable micro-ROS rclc platform example"
+            depends on RTT_URCLC_PLATFORM_RTTHREAD
+            default y
+
+        config PKG_UCLIENT_PLATFORM_EXAMPLE
+            bool "Enable micro-ROS uxr platform example"
+            depends on RTT_UCLIENT_PLATFORM_RTTHREAD
+            default n
+    endmenu
+
+    choice
+        prompt "Distribution"
+        default PKG_MICRO_ROS_RTTHREAD_PACKAGE_FOXY_DISTRO
+        help
+            Select the micro-ROS distro
+
+        config PKG_MICRO_ROS_RTTHREAD_PACKAGE_HUMBLE_DISTRO
+            bool "Humble"
+
+        config PKG_MICRO_ROS_RTTHREAD_PACKAGE_FOXY_DISTRO
+            bool "Foxy"
+    endchoice
+
+    menu "Memory configuration"
+        config PKG_MICRO_ROS_RTTHREAD_PACKAGE_MAX_NODES
+            int "# Nodes"
+            default 1
+
+        config PKG_MICRO_ROS_RTTHREAD_PACKAGE_MAX_PUBLISHERS
+            int "# Publishers"
+            default 1
+
+        config PKG_MICRO_ROS_RTTHREAD_PACKAGE_MAX_SUBSCRIBERS
+            int "# Subscribers"
+            default 1
+
+        config PKG_MICRO_ROS_RTTHREAD_PACKAGE_MAX_SERVICES
+            int "# Services"
+            default 0
+
+        config PKG_MICRO_ROS_RTTHREAD_PACKAGE_MAX_CLIENTS
+            int "# Clients"
+            default 0
+
+    endmenu
+        
+    menu "ROS node communication mode"
+
+        config PKG_MICRO_ROS_USE_SERIAL
+            bool "serial"
+            default n
+            if PKG_MICRO_ROS_USE_SERIAL
+                menu "serial configuration"
+                    config MICRO_ROS_SERIAL_NAME
+                        string "select the micro serial dev name"
+                        default "vcom"
+                endmenu
+            endif
+
+        config PKG_MICRO_ROS_USE_UDP
+            bool "udp"
+            default n
+            if PKG_MICRO_ROS_USE_UDP
+                menu "udp configuration"
+                    config MICRO_ROS_UDP_IP
+                        string "select the micro udp ip"
+                        default "127.0.0.1"
+
+                    config MICRO_ROS_UDP_PORT
+                        string "select the micro udp port"
+                        default "8080"
+                endmenu
+            endif
+            
+        config PKG_MICRO_ROS_USE_TCP
+            bool "tcp"
+            default n
+            if PKG_MICRO_ROS_USE_TCP
+                menu "tcp configuration"
+                    config MICRO_ROS_TCP_IP
+                        string "select the micro tcp ip"
+                        default "127.0.0.1"
+
+                    config MICRO_ROS_TCP_PORT
+                        string "select the micro tcp port"
+                        default "8080"
+                endmenu
+            endif
+
+    endmenu
+            
+endif
+
diff --git a/system/micro_ros_local/package.json b/system/micro_ros_local/package.json
new file mode 100644
index 0000000000..49ca7b4196
--- /dev/null
+++ b/system/micro_ros_local/package.json
@@ -0,0 +1,34 @@
+{
+  "name": "micro_ros_rtthread_package",
+  "description": "Localized build of micro-ROS.",
+  "description_zh": "本地化构建micro-ROS",  
+  "enable": "PKG_USING_MICRO_ROS_RTTHREAD_PACKAGE", 
+  "keywords": [
+    "micro_ros"
+  ],
+  "category": "system",
+  "author": {
+    "name": "kurisaW",
+    "email": "2053731441@qq.com",
+    "github": "kurisaW"
+  },
+  "license": "Apache-2.0",
+  "repository": "https://github.com/kurisaW/micro_ros_local",
+  "icon": "unknown",
+  "homepage": "unknown",
+  "doc": "unknown",
+  "site": [
+    {
+      "version": "v1.0.0",
+      "URL": "https://github.com/kurisaW/micro_ros_local/archive/refs/tags/v1.0.0.zip",
+      "filename": "1.0.0.zip",
+      "VER_SHA": "fill in the git version SHA value"
+    },
+    {
+      "version": "latest",
+      "URL": "https://github.com/kurisaW/micro_ros_local.git",
+      "filename": null,
+      "VER_SHA": "rtt"
+    }
+  ]
+}