import type { AgenticROSConfig } from "./config.js";
/**
 * Apply robot namespace to a topic (or service/action name) when configured.
 * If the namespace is set and the name is root-level (e.g. cmd_vel, battery_state),
 * returns /<namespace>/<name>. Otherwise returns the normalized name as-is.
 *
 * The first argument may be either an `AgenticROSConfig` (legacy single-
 * robot path) or a bare namespace string (used by per-tool `robot_id`
 * routing — pass `resolveRobot(config, robot_id).namespace`).
 *
 * Example: namespace "robot-uuid", topic "/cmd_vel" -> "/robot-uuid/cmd_vel"
 * Example: namespace "", topic "/cmd_vel" -> "/cmd_vel"
 * Example: namespace "robot-uuid", topic "/robot-uuid/odom" -> "/robot-uuid/odom" (unchanged)
 */
export declare function toNamespacedTopic(target: AgenticROSConfig | string, topic: string): string;
/**
 * Apply robot namespace to any topic when configured (for transport subscribe/publish).
 * Use this when the robot publishes/subscribes all topics under a namespace (e.g. Zenoh with
 * zenoh-bridge-ros2dds or rmw_zenoh). If a namespace is set, returns /<namespace>/<topic>
 * unless the topic already starts with /<namespace>/.
 *
 * The first argument may be either an `AgenticROSConfig` or a bare
 * namespace string (per-robot routing).
 *
 * Example: namespace "robot-uuid", topic "/cmd_vel" -> "/robot-uuid/cmd_vel"
 * Example: namespace "robot-uuid", topic "/camera/camera/color/image_raw/compressed" -> "/robot-uuid/camera/camera/color/image_raw/compressed"
 * Example: namespace "robot-uuid", topic "/robot-uuid/odom" -> "/robot-uuid/odom" (unchanged)
 */
export declare function toNamespacedTopicFull(target: AgenticROSConfig | string, topic: string): string;
/**
 * Canonical topic string for teleop UI and ?topic= query params: leading slash, no robot namespace prefix.
 * Subscribe/publish still uses {@link toNamespacedTopicFull} on the server so Zenoh keys match the bridge.
 *
 * Teleop is single-robot today, so this still takes the full config.
 */
export declare function toTeleopCameraTopicShort(config: AgenticROSConfig, topic: string): string;
/**
 * ROS topic to use when subscribing to camera streams (Zenoh / DDS).
 * Unlike {@link toNamespacedTopicFull}, common sensor topics stay at the graph root (`/camera/...`, `/zed/...`)
 * even when the namespace is set for cmd_vel. If the topic already starts with `/<namespace>/`, it is left as-is.
 * Other multi-segment paths get the namespace prefix (same as Full) for odd layouts.
 *
 * The first argument may be either an `AgenticROSConfig` or a bare
 * namespace string (per-robot routing).
 */
export declare function resolveCameraSubscribeTopic(target: AgenticROSConfig | string, topic: string): string;
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