import WorkerSocket from "workersocket";
import Topic from "./Topic.js";
import Service from "./Service.js";
import Param from "./Param.js";
import EventEmitter2 from "eventemitter2";
interface RosOptions {
    url?: string;
    groovyCompatibility: boolean;
    transportLibrary: string;
    transportOptions: any;
}
declare class Ros extends EventEmitter2 {
    options: RosOptions;
    socket: WorkerSocket;
    idCounter: number;
    isConnected: boolean;
    constructor(options?: Partial<RosOptions>);
    handleDecodedMessage(message: any): void;
    handlePng(message: any): Promise<any>;
    decodeBSON(data: Blob): Promise<unknown>;
    handleMessage(data: any): Promise<void>;
    connect(url: string): void;
    close(): void;
    /**
     * Sends an authorization request to the server.
     *
     * @param mac - MAC (hash) string given by the trusted source.
     * @param client - IP of the client.
     * @param dest - IP of the destination.
     * @param rand - Random string given by the trusted source.
     * @param t - Time of the authorization request.
     * @param level - User level as a string given by the client.
     * @param end - End time of the client's session.
     */
    authenticate(mac: string, client: string, dest: string, rand: string, t: number, level: string, end: number): void;
    sendEncodedMessage(messageEncoded: string): void;
    callOnConnection(message: any): void;
    /**
     * Sends a set_level request to the server
     *
     * @param level - Status level (none, error, warning, info)
     * @param id - Optional: Operation ID to change status level on
     */
    setStatusLevel(level: string, id?: string): void;
    getActionServers(): Promise<any[]>;
    getTopics(): Promise<{
        topics: string[];
        types: string[];
    }>;
    getTopicsForType(type: string): Promise<any[]>;
    getServices(): Promise<any[]>;
    getServicesForType(type: string): Promise<any[]>;
    getServiceRequestDetails(type: string): Promise<any>;
    getServiceResponseDetails(type: string): Promise<any>;
    getNodes(): Promise<any[]>;
    getNodeDetails(node: string): Promise<{
        subscribing: string[];
        publishing: string[];
        services: string[];
    }>;
    getParams(): Promise<any[]>;
    getTopicType(topic: string): Promise<any>;
    getServiceType(service: string): Promise<any>;
    getMessageDetails(type: string): Promise<any>;
    decodeTypeDefs(defs: any): any;
    getTopicsAndRawTypes(): Promise<any>;
    Topic(options: any): Topic;
    Service(options: any): Service;
    Param(options: any): Param;
}
export default Ros;
//# sourceMappingURL=Ros.d.ts.map