/**
 * Teleoperation-related types for web implementation
 */
import type { RobotConnection } from "./robot-connection.js";
import type { WebTeleoperator } from "../teleoperators/index.js";
/**
 * Motor position and limits for teleoperation
 */
export interface MotorConfig {
    id: number;
    name: string;
    currentPosition: number;
    minPosition: number;
    maxPosition: number;
}
/**
 * Teleoperation state
 */
export interface TeleoperationState {
    isActive: boolean;
    motorConfigs: MotorConfig[];
    lastUpdate: number;
    keyStates?: {
        [key: string]: {
            pressed: boolean;
            timestamp: number;
        };
    };
    leaderPositions?: {
        [motor: string]: number;
    };
    gamepadState?: {
        axes: number[];
        buttons: boolean[];
    };
}
/**
 * Teleoperation process control object
 */
export interface TeleoperationProcess {
    start(): void;
    stop(): void;
    updateKeyState(key: string, pressed: boolean): void;
    getState(): TeleoperationState;
    teleoperator: WebTeleoperator;
    disconnect(): Promise<void>;
}
/**
 * Base interface for all teleoperator configurations
 */
export interface BaseTeleoperatorConfig {
    type: string;
}
/**
 * Keyboard teleoperator configuration
 */
export interface KeyboardTeleoperatorConfig extends BaseTeleoperatorConfig {
    type: "keyboard";
    stepSize?: number;
    updateRate?: number;
    keyTimeout?: number;
}
/**
 * Leader arm teleoperator configuration (future)
 */
export interface LeaderArmTeleoperatorConfig extends BaseTeleoperatorConfig {
    type: "so100_leader";
    port: string;
    calibrationData?: any;
    positionSmoothing?: boolean;
    scaleFactor?: number;
}
/**
 * Direct teleoperator configuration
 */
export interface DirectTeleoperatorConfig extends BaseTeleoperatorConfig {
    type: "direct";
}
/**
 * Gamepad teleoperator configuration (future)
 */
export interface GamepadTeleoperatorConfig extends BaseTeleoperatorConfig {
    type: "gamepad";
    controllerIndex?: number;
    axisMapping?: {
        [axis: string]: string;
    };
    deadzone?: number;
}
/**
 * Union type for all teleoperator configurations
 */
export type TeleoperatorConfig = KeyboardTeleoperatorConfig | LeaderArmTeleoperatorConfig | DirectTeleoperatorConfig | GamepadTeleoperatorConfig;
/**
 * Main teleoperation configuration
 */
export interface TeleoperateConfig {
    robot: RobotConnection;
    teleop: TeleoperatorConfig;
    calibrationData?: {
        [motorName: string]: any;
    };
    onStateUpdate?: (state: TeleoperationState) => void;
}
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