import type { RosbridgeClientOptions, ConnectionStatus, RosbridgeMessage, MessageHandler, ConnectionHandler } from "./types.js";
/** Pending request/response tracker for service calls and action goals. */
export interface PendingRequest {
    resolve: (value: unknown) => void;
    reject: (reason: Error) => void;
    timer: ReturnType<typeof setTimeout>;
}
/**
 * WebSocket client for the rosbridge protocol.
 * Handles connection lifecycle, reconnection, and message routing.
 */
export declare class RosbridgeClient {
    private ws;
    private options;
    private status;
    private messageHandlers;
    private connectionHandlers;
    private pendingRequests;
    private reconnectAttempts;
    private reconnectTimer;
    private intentionalClose;
    private idCounter;
    constructor(options: RosbridgeClientOptions);
    /** Connect to the rosbridge WebSocket server. */
    connect(): Promise<void>;
    /** Disconnect from the rosbridge server. */
    disconnect(): Promise<void>;
    /** Send a rosbridge protocol message. */
    send(message: RosbridgeMessage & Record<string, unknown>): void;
    /** Generate a unique message ID. */
    nextId(prefix?: string): string;
    /** Subscribe to messages on a specific topic. */
    onMessage(topic: string, handler: MessageHandler): () => void;
    /** Register a connection status change handler. */
    onConnection(handler: ConnectionHandler): () => void;
    /** Get current connection status. */
    getStatus(): ConnectionStatus;
    /**
     * Register a pending request that will be resolved when a response
     * with the matching ID arrives (service_response or action_result).
     */
    registerPending(id: string, resolve: (value: unknown) => void, reject: (reason: Error) => void, timeoutMs?: number): void;
    /** Resolve a pending request by ID and clean up. */
    resolvePending(id: string, result: unknown): void;
    /** Reject a pending request by ID and clean up. */
    rejectPending(id: string, error: Error): void;
    private setStatus;
    /** Route an incoming rosbridge message to the appropriate handler. */
    private handleMessage;
    /** Attempt to reconnect with exponential backoff. */
    private attemptReconnect;
    /** Reject all pending requests (used on disconnect/close). */
    private rejectAllPending;
}
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