import type { RosTransport } from "../transport.js";
import type { ConnectionStatus, ConnectionHandler, Subscription, PublishOptions, SubscribeOptions, ServiceCallOptions, ServiceCallResult, ActionGoalOptions, ActionResult, TopicInfo, ServiceInfo, ActionInfo, MessageHandler, RTCIceServerConfig } from "../types.js";
export interface WebRTCTransportOptions {
    /** WebSocket URL of the signaling server (e.g., wss://signal-host). */
    signalingUrl: string;
    /** REST API URL of the signaling server (e.g., https://signal-host). */
    apiUrl: string;
    /** Target robot's ID on the signaling server. */
    robotId: string;
    /** Robot key secret — validated by the robot, not the signaling server. */
    robotKey: string;
    /** STUN/TURN server configuration. */
    iceServers?: RTCIceServerConfig[];
}
/**
 * Mode C transport: WebRTC data channel for cloud/remote deployments.
 *
 * The frontend (this class) acts as the answering peer:
 * 1. POST /api/robots/{robotId}/connect → get session_id, room_id
 * 2. Open signaling WebSocket → JOIN_ROOM
 * 3. Wait for robot's SDP offer
 * 4. Create RTCPeerConnection, set remote description, create answer
 * 5. Exchange ICE candidates
 * 6. Data channel opens → rosbridge JSON over WebRTC
 */
export declare class WebRTCTransport implements RosTransport {
    private options;
    private signaling;
    private ndc;
    private pc;
    private dataChannel;
    private status;
    private connectionHandlers;
    private topicHandlers;
    private pendingRequests;
    private idCounter;
    private sessionId;
    private roomId;
    private peerId;
    private robotPeerId;
    constructor(options: WebRTCTransportOptions);
    connect(): Promise<void>;
    disconnect(): Promise<void>;
    getStatus(): ConnectionStatus;
    onConnection(handler: ConnectionHandler): () => void;
    publish(options: PublishOptions): void;
    subscribe(options: SubscribeOptions, handler: MessageHandler): Subscription;
    callService(options: ServiceCallOptions): Promise<ServiceCallResult>;
    sendActionGoal(options: ActionGoalOptions): Promise<ActionResult>;
    cancelActionGoal(action: string): Promise<void>;
    listTopics(): Promise<TopicInfo[]>;
    listServices(): Promise<ServiceInfo[]>;
    listActions(): Promise<ActionInfo[]>;
    private nextId;
    private setStatus;
    private sendOverDataChannel;
    private registerPending;
    private resolvePending;
    /** Handle incoming rosbridge JSON from the data channel. */
    private handleDataChannelMessage;
    /** Handle signaling messages during connection setup. */
    private handleSignalingMessage;
    /** Handle SDP offer from the robot and create an answer. */
    private handleOffer;
    private cleanup;
    private rejectAllPending;
}
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