/**
 * Shared safety gates: per-robot velocity limits, optional workspace
 * geofence, and fail-safe zero-Twist on transport loss.
 *
 * Adapters (MCP, OpenClaw, Gemini, teleop, skills) must call these
 * helpers rather than reading `config.safety` directly so a mixed
 * fleet does not share one clamp.
 */
import type { AgenticROSConfig, RobotSafetyOverlay, WorkspaceLimits } from "./config.js";
import type { ProfileRobot } from "./robot-profile.js";
import type { RosTransport } from "./transport/transport.js";
/** How many zero-Twist publishes `/estop` and `ros2_estop` send so the base reliably stops. */
export declare const ESTOP_PUBLISH_COUNT = 5;
export declare const TWIST_MSG_TYPE = "geometry_msgs/msg/Twist";
export declare const ZERO_TWIST: {
    linear: {
        x: number;
        y: number;
        z: number;
    };
    angular: {
        x: number;
        y: number;
        z: number;
    };
};
export interface SafetyLimits {
    maxLinearVelocity: number;
    maxAngularVelocity: number;
    workspaceLimits?: WorkspaceLimits;
}
export interface SafetyCheckResult {
    block: boolean;
    blockReason?: string;
}
export interface TwistComponents {
    linear: {
        x: number;
        y: number;
        z: number;
    };
    angular: {
        x: number;
        y: number;
        z: number;
    };
}
/**
 * Resolve velocity + workspace limits for a robot. Robot overlay fields
 * win; unset fields inherit the gateway `config.safety` defaults.
 */
export declare function resolveSafetyForRobot(config: AgenticROSConfig, robot?: {
    safety?: RobotSafetyOverlay;
} | null): SafetyLimits;
/** True when the payload looks like geometry_msgs/Twist. */
export declare function isTwistMessage(msg: unknown): boolean;
export declare function checkTwistMessage(limits: SafetyLimits, msg: unknown): SafetyCheckResult;
/** Scale a Twist down to the velocity ceilings (teleop / skills). */
export declare function clampTwistToLimits(limits: SafetyLimits, linearX: number, linearY: number, linearZ: number, angularX: number, angularY: number, angularZ: number): TwistComponents;
export declare function checkWorkspacePosition(limits: SafetyLimits, x: number, y: number): SafetyCheckResult;
/**
 * Pull map-frame (x, y) pairs from Twist-unrelated nav payloads:
 * `{x,y}`, Pose, PoseStamped, NavigateToPose goal, NavigateThroughPoses.
 */
export declare function extractWorkspacePositions(payload: unknown): Array<{
    x: number;
    y: number;
}>;
export declare function checkWorkspacePayload(limits: SafetyLimits, payload: unknown): SafetyCheckResult;
export declare function checkPublishSafety(config: AgenticROSConfig, params: Record<string, unknown>, robot?: {
    safety?: RobotSafetyOverlay;
} | null): SafetyCheckResult;
export declare function checkActionGoalSafety(config: AgenticROSConfig, params: Record<string, unknown>, robot?: {
    safety?: RobotSafetyOverlay;
} | null): SafetyCheckResult;
export declare function checkInputsWorkspace(config: AgenticROSConfig, inputs: Record<string, unknown>, robot?: {
    safety?: RobotSafetyOverlay;
} | null): SafetyCheckResult;
/**
 * A body that accepts Twist. Profile `base` wins; with no profile,
 * anything except an arm-only cell is treated as having a base
 * (legacy configs default kind to "amr").
 */
export declare function robotHasMobileBase(robot: ProfileRobot): boolean;
export interface EmergencyStopResult {
    /** Resolved cmd_vel topic, when a stop was published. */
    topic?: string;
    /** Present when this robot has no mobile base (arm-only). */
    skipped?: "no_mobile_base";
}
/**
 * Immediate emergency stop for one robot: five zero Twists on its
 * cmd_vel. Used by OpenClaw `/estop` and MCP/Gemini `ros2_estop`.
 * Does not cancel Nav2 or missions — that is `mission_cancel`.
 */
export declare function emergencyStopRobot(transport: RosTransport, robot: ProfileRobot, config?: {
    teleop?: {
        cmdVelTopic?: string;
    };
}): EmergencyStopResult;
/** Best-effort zero Twist on every mobile-base robot sharing this transport. */
export declare function publishStopForBases(transport: RosTransport, robots: readonly ProfileRobot[]): Promise<void>;
/**
 * Publish zero Twist when the transport drops (and again on reconnect
 * so a stale last-command cannot resume). Returns an unsubscribe.
 */
export declare function attachDisconnectFailSafe(transport: RosTransport, robots: readonly ProfileRobot[]): () => void;
export type LiveCheckSeverity = "green" | "yellow" | "red";
export interface LiveBindingCheck {
    id: string;
    robotId: string;
    key: string;
    name: string;
    severity: LiveCheckSeverity;
    reason: string;
}
export interface LiveGraphSnapshot {
    topics: ReadonlyArray<{
        name: string;
        type?: string;
    }>;
    actions?: ReadonlyArray<{
        name: string;
        type?: string;
    }>;
}
/**
 * Compare declared profile bindings against a live topic/action list.
 * Missing declared hardware is red; type mismatch is yellow.
 */
export declare function checkLiveBindings(robots: ReadonlyArray<ProfileRobot & {
    id: string;
}>, graph: LiveGraphSnapshot): LiveBindingCheck[];
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