import type { ConnectionStatus, ConnectionHandler, Subscription, PublishOptions, AdvertiseOptions, SubscribeOptions, ServiceCallOptions, ServiceCallResult, ActionGoalOptions, ActionResult, TopicInfo, ServiceInfo, ActionInfo, MessageHandler } from "./types.js";
/**
 * Unified transport interface for ROS2 communication.
 *
 * All deployment modes (local DDS, rosbridge WebSocket, WebRTC data channel)
 * implement this interface so that plugin tools work identically regardless
 * of the underlying transport.
 */
export interface RosTransport {
    /** Establish the transport connection. */
    connect(): Promise<void>;
    /** Gracefully close the transport connection. */
    disconnect(): Promise<void>;
    /** Get current connection status. */
    getStatus(): ConnectionStatus;
    /** Register a connection status change handler. Returns a cleanup function. */
    onConnection(handler: ConnectionHandler): () => void;
    /** Optional: advertise topic with type (rosbridge uses this so publish works when topic not yet established). */
    advertise?(options: AdvertiseOptions): void;
    /** Publish a message to a ROS2 topic. May return a Promise so callers can await delivery (e.g. Zenoh put). */
    publish(options: PublishOptions): void | Promise<void>;
    /** Subscribe to a ROS2 topic. Returns a Subscription handle. */
    subscribe(options: SubscribeOptions, handler: MessageHandler): Subscription;
    /** Optional: async subscribe so the subscriber is declared before returning (Zenoh). Use when waiting for first message immediately. */
    subscribeAsync?(options: SubscribeOptions, handler: MessageHandler): Promise<Subscription>;
    /** Call a ROS2 service and return the result. */
    callService(options: ServiceCallOptions): Promise<ServiceCallResult>;
    /** Send a goal to a ROS2 action server. */
    sendActionGoal(options: ActionGoalOptions): Promise<ActionResult>;
    /** Cancel an in-progress action goal. */
    cancelActionGoal(action: string): Promise<void>;
    /** List all available ROS2 topics. */
    listTopics(): Promise<TopicInfo[]>;
    /** List all available ROS2 services. */
    listServices(): Promise<ServiceInfo[]>;
    /** List all available ROS2 action servers. */
    listActions(): Promise<ActionInfo[]>;
}
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