/**
 * DDS graph discovery is asynchronous. A node that just joined the domain
 * sees topics trickle in, so the first snapshot has to wait until the count
 * stops changing. Once that has happened, later reads of
 * `getTopicNamesAndTypes()` are the live graph and do not need another wait.
 */
export interface TopicNameAndTypes {
    name: string;
    types: string[];
}
export interface StableTopicWaitOptions {
    /** Stop waiting at this timestamp (ms). Default: now + 6000. */
    deadlineMs?: number;
    /** Pause between polls. Default: 300. */
    intervalMs?: number;
    /**
     * Ignore stability until at least this many external topics are visible.
     * Avoids treating `/clock` + `/tf` + `/tf_static` as the whole graph.
     */
    minCount?: number;
    /** Consecutive unchanged polls required. Default: 2 (~900ms at the default interval). */
    requiredHits?: number;
    now?: () => number;
    sleep?: (ms: number) => Promise<void>;
}
/**
 * Poll `read` until the topic count is unchanged for `requiredHits` polls
 * and at least `minCount` topics are present, or until the deadline.
 * Returns the last raw snapshot (caller filters internal topics).
 */
export declare function waitForStableTopics(read: () => TopicNameAndTypes[], options?: StableTopicWaitOptions): Promise<TopicNameAndTypes[]>;
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