import type { RosTransport } from "../transport.js";
import type { ConnectionStatus, ConnectionHandler, Subscription, PublishOptions, SubscribeOptions, ServiceCallOptions, ServiceCallResult, ActionGoalOptions, ActionResult, TopicInfo, ServiceInfo, ActionInfo, MessageHandler } from "../types.js";
export interface LocalTransportOptions {
    domainId?: number;
}
/**
 * Mode A transport: direct local DDS communication via rclnodejs.
 *
 * When OpenClaw runs on the robot itself, this transport talks to ROS2
 * directly via the local DDS bus — no network intermediary needed.
 */
export declare class LocalTransport implements RosTransport {
    private domainId;
    private status;
    private connectionHandlers;
    /** rclnodejs module — loaded dynamically at runtime (optional dep, no types). */
    private rclnodejs;
    private node;
    private entityCache;
    private activeGoals;
    /**
     * True after the first stable DDS graph snapshot. Later listTopics() calls
     * read getTopicNamesAndTypes() once. The node keeps discovery state, so a
     * second 0.9–6s poll only delays the agent.
     */
    private graphReady;
    /** Bumped on disconnect so an in-flight warmup cannot mark a dead node ready. */
    private discoverGeneration;
    private listTopicsInflight;
    /** Singleton guard — rclnodejs.init() must only be called once per process. */
    private static rclInitialized;
    constructor(options?: LocalTransportOptions);
    connect(): Promise<void>;
    disconnect(): Promise<void>;
    getStatus(): ConnectionStatus;
    onConnection(handler: ConnectionHandler): () => void;
    publish(options: PublishOptions): void;
    subscribe(options: SubscribeOptions, handler: MessageHandler): Subscription;
    callService(options: ServiceCallOptions): Promise<ServiceCallResult>;
    sendActionGoal(options: ActionGoalOptions): Promise<ActionResult>;
    cancelActionGoal(action: string): Promise<void>;
    listTopics(): Promise<TopicInfo[]>;
    private snapshotTopics;
    /**
     * First snapshot after connect. DDS peers announce over a few hundred
     * milliseconds (longer on Jetson), and a single early read used to hide
     * arm topics from a model that only calls list_topics once. Wait until the
     * external-topic count holds, then mark the graph ready.
     */
    private discoverTopics;
    private readExternalTopics;
    private toTopicInfos;
    listServices(): Promise<ServiceInfo[]>;
    listActions(): Promise<ActionInfo[]>;
    private setStatus;
    private ensureConnected;
    /**
     * Resolve a topic's type from the node's graph introspection.
     * Returns undefined if the topic is not yet known.
     */
    private resolveTopicType;
    /**
     * Resolve a service's type from the node's graph introspection.
     * Returns undefined if the service is not yet known.
     */
    private resolveServiceType;
    /**
     * Wrap rclnodejs callback-based sendRequest in a Promise with timeout.
     */
    private sendServiceRequest;
}
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