import type { RosTransport } from "../transport.js";
import type { ConnectionStatus, ConnectionHandler, Subscription, PublishOptions, SubscribeOptions, ServiceCallOptions, ServiceCallResult, ActionGoalOptions, ActionResult, TopicInfo, ServiceInfo, ActionInfo, MessageHandler } from "../types.js";
import { type ZenohKeyFormat } from "./keys.js";
export interface ZenohAdapterConfig {
    routerEndpoint: string;
    domainId?: number;
    /** "ros2dds" for zenoh-bridge-ros2dds, "rmw_zenoh" for ROS2 with Zenoh RMW */
    keyFormat?: ZenohKeyFormat;
    /** When ros2dds bridge uses a non-"/" namespace, set to the same value (e.g. "/bot1"). */
    bridgeNamespace?: string;
}
/**
 * Zenoh transport adapter (Mode D).
 * Connects to a Zenoh router via zenoh-ts (WebSocket to zenoh-plugin-remote-api).
 * Uses rmw_zenoh key mapping and CDR payloads for ROS 2 compatibility.
 */
export declare class ZenohTransport implements RosTransport {
    private config;
    private session;
    private status;
    private connectionHandlers;
    private subscribers;
    /** Serialize Session.open/close so two connect()s never open parallel WebSockets to remote-api. */
    private sessionOpQueue;
    /** Serialize listTopics so overlapping tool calls do not undeclare each other's subscribers. */
    private listTopicsOpQueue;
    constructor(config: ZenohAdapterConfig);
    private setStatus;
    private domainId;
    private keyFormat;
    private key;
    private enqueueSessionOp;
    connect(): Promise<void>;
    disconnect(): Promise<void>;
    getStatus(): ConnectionStatus;
    onConnection(handler: ConnectionHandler): () => void;
    publish(options: PublishOptions): Promise<void>;
    subscribe(options: SubscribeOptions, handler: MessageHandler): Subscription;
    subscribeAsync(options: SubscribeOptions, handler: MessageHandler): Promise<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[]>;
}
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