/**
 * Base teleoperator interface and abstract class for Web platform
 * Defines the contract that all teleoperators must implement
 */
import type { MotorConfig } from "../types/teleoperation.js";
import type { MotorCommunicationPort } from "../utils/motor-communication.js";
/**
 * Type definition for state update callback parameters
 */
interface StateUpdateCallbackParams {
    previousMotorConfigs: MotorConfig[];
    newMotorConfigs: MotorConfig[];
    previousMotorConfigsNormalized: MotorConfig[];
    newMotorConfigsNormalized: MotorConfig[];
    commandSentTimestamp: number;
    positionChangedTimestamp: number;
}
/**
 * Type definition for state update callback function
 */
type StateUpdateCallback = (params: StateUpdateCallbackParams) => void;
/**
 * Type definition for array of state update callbacks
 */
type StateUpdateCallbackArray = Array<StateUpdateCallback>;
/**
 * Base interface that all Web teleoperators must implement
 */
export declare abstract class WebTeleoperator {
    protected onStateUpdateCallbacks: StateUpdateCallbackArray;
    motorConfigs: MotorConfig[];
    abstract initialize(): Promise<void>;
    abstract start(): void;
    abstract stop(): void;
    abstract recordingTaskIndex: number;
    abstract recordingEpisodeIndex: number;
    abstract setEpisodeIndex(index: number): void;
    abstract setTaskIndex(index: number): void;
    abstract disconnect(): Promise<void>;
    abstract getState(): TeleoperatorSpecificState;
    abstract onMotorConfigsUpdate(motorConfigs: MotorConfig[]): void;
    abstract addOnStateUpdateCallback(fn: StateUpdateCallback): void;
}
/**
 * Teleoperator-specific state (union type for different teleoperator types)
 */
export type TeleoperatorSpecificState = {
    keyStates?: {
        [key: string]: {
            pressed: boolean;
            timestamp: number;
        };
    };
    leaderPositions?: {
        [motor: string]: number;
    };
    gamepadState?: {
        axes: number[];
        buttons: boolean[];
    };
};
/**
 * Base abstract class with common functionality for all teleoperators
 */
export declare abstract class BaseWebTeleoperator extends WebTeleoperator {
    protected port: MotorCommunicationPort;
    motorConfigs: MotorConfig[];
    protected isActive: boolean;
    isRecording: boolean;
    recordingTaskIndex: number;
    recordingEpisodeIndex: number;
    recordedMotorPositionEpisodes: any[];
    constructor(port: MotorCommunicationPort, motorConfigs: MotorConfig[]);
    abstract initialize(): Promise<void>;
    abstract start(): void;
    abstract stop(): void;
    abstract getState(): TeleoperatorSpecificState;
    disconnect(): Promise<void>;
    setEpisodeIndex(index: number): void;
    setTaskIndex(index: number): void;
    onMotorConfigsUpdate(motorConfigs: MotorConfig[]): void;
    normalizeMotorConfigPosition(motorConfig: MotorConfig): number;
    /**
     * Normalize an entire list of motor configurations
     *
     * This follows the guide at https://github.com/huggingface/lerobot/blob/cf86b9300dc83fdad408cfe4787b7b09b55f12cf/src/lerobot/robots/so100_follower/so100_follower.py#L49
     * Meaning, for everything except gripper, it normalizes the positions to between -100 and 100
     * and for gripper it normalizes between 0 - 100
     */
    normalizeMotorConfigs(motorConfigs: MotorConfig[]): MotorConfig[];
    /**
     * Dispatches a motor position changed event
     * Gets the motor positions, normalized
     *
     * This follows the guide at https://github.com/huggingface/lerobot/blob/cf86b9300dc83fdad408cfe4787b7b09b55f12cf/src/lerobot/robots/so100_follower/so100_follower.py#L49
     * Meaning, for everything except gripper, it normalizes the positions to between -100 and 100
     * and for gripper it normalizes between 0 - 100
     *
     * @param motorName The name of the motor that changed
     * @param motorConfig The motor configuration
     * @param previousPosition The previous position of the motor
     * @param currentPosition The current position of the motor
     * @param timestamp The timestamp of the event
     */
    dispatchMotorPositionChanged(prevMotorConfigs: MotorConfig[], newMotorConfigs: MotorConfig[], commandSentTimestamp: number, positionChangedTimestamp: number): void;
    /**
     * Adds an onstateupdate callback
     * to return a response for the user with motor config states and timestamps
     * @param fn Callback function that receives state update parameters
     */
    addOnStateUpdateCallback(fn: StateUpdateCallback): void;
    get isActiveTeleoperator(): boolean;
}
export {};
//# sourceMappingURL=base-teleoperator.d.ts.map