/**
 * RobotInfo heartbeat helpers — Phase 1.d completion.
 *
 * `agenticros_discovery` publishes `<ns>/agenticros/robot_info` at 1 Hz.
 * Consumers treat a robot as online when the last stamp is within
 * {@link DEFAULT_HEARTBEAT_STALENESS_MS} (5 s per strategy memo).
 *
 * Topic-scan path: when adapters only have `listTopics()`, presence of
 * `/<ns>/agenticros/robot_info` on the graph is a weak online signal
 * (same as cmd_vel). Prefer {@link mergeRobotHeartbeats} when message
 * payloads with stamps are available.
 */
import type { TopicInfo } from "./transport/types.js";
import type { RobotSensors } from "./robots.js";
/** Default staleness window — strategy §4(d): 1 Hz + 5 s. */
export declare const DEFAULT_HEARTBEAT_STALENESS_MS = 5000;
/** Parsed robot_info payload (subset of agenticros_msgs/RobotInfo). */
export interface RobotHeartbeat {
    /** Stable id (falls back to namespace). */
    id: string;
    name: string;
    kind: string;
    /** ROS namespace without leading slash. */
    robot_namespace: string;
    capability_ids: string[];
    sensors: RobotSensors;
    /** Epoch ms of the heartbeat stamp (0 when unknown). */
    stamp_ms: number;
    /** Topic the heartbeat was observed on. */
    topic: string;
}
export interface HeartbeatOnlineOptions {
    /** Wall clock now (ms). Defaults to Date.now(). */
    nowMs?: number;
    /** Staleness window in ms. Defaults to 5000. */
    stalenessMs?: number;
}
/**
 * Extract namespace from `/<ns>/agenticros/robot_info` (or without leading slash).
 * Returns "" for unnamespaced `/agenticros/robot_info`.
 */
export declare function namespaceFromRobotInfoTopic(topic: string): string;
/** True when the topic name is a robot_info heartbeat topic. */
export declare function isRobotInfoTopic(topic: string): boolean;
/**
 * Detect namespaces that advertise `agenticros/robot_info` on the topic graph
 * (no stamp available — treat as online for discovery fallback).
 */
export declare function detectHeartbeatNamespacesFromTopics(topics: TopicInfo[]): string[];
/**
 * Parse a plain RobotInfo-like message into {@link RobotHeartbeat}.
 * Tolerates missing optional fields.
 */
export declare function parseRobotInfoMessage(topic: string, msg: Record<string, unknown>): RobotHeartbeat;
/** True when the heartbeat stamp is within the staleness window. */
export declare function isHeartbeatFresh(heartbeat: RobotHeartbeat, options?: HeartbeatOnlineOptions): boolean;
/**
 * Merge heartbeats into an online-id set keyed by configured robot id
 * when `configuredIdByNamespace` is provided, else by heartbeat id /
 * effective namespace.
 */
export declare function onlineIdsFromHeartbeats(heartbeats: readonly RobotHeartbeat[], options?: HeartbeatOnlineOptions & {
    /** Map effective cmd_vel namespace → configured robot id. */
    configuredIdByNamespace?: ReadonlyMap<string, string>;
}): Set<string>;
/**
 * Build a map of effective-namespace → latest fresh heartbeat.
 */
export declare function mergeRobotHeartbeats(heartbeats: readonly RobotHeartbeat[], options?: HeartbeatOnlineOptions): Map<string, RobotHeartbeat>;
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