import { BinaryReader, BinaryWriter } from "@bufbuild/protobuf/wire";
import { CommandResult } from "./VehicleCommon";
export declare const protobufPackage = "";
/**
 * A single position target for a vehicle in a guided / navigation mode.
 * Vehicle-agnostic: maps onto MAVLink SET_POSITION_TARGET_GLOBAL_INT for
 * the mavlink2keelson connector, but the same interface fits any vehicle
 * connector that accepts a WGS84 position target.
 */
export interface NavigationTarget {
    timestamp: Date | undefined;
    /** WGS84 latitude / longitude in degrees. */
    latitude: number;
    longitude: number;
    /**
     * Altitude above mean sea level in meters. Omit for surface vehicles
     * that operate at sea level by definition.
     */
    altitudeMslM?: number | undefined;
    /**
     * Desired cruise speed for the leg in meters per second. Omit to let
     * the vehicle use its configured default.
     */
    groundSpeedMps?: number | undefined;
    /**
     * Target heading at arrival, degrees clockwise from true north. Omit
     * to let the vehicle pick its own arrival heading.
     */
    yawDeg?: number | undefined;
}
/**
 * SET_POSITION_TARGET_GLOBAL_INT has no MAVLink-level acknowledgement
 * (https://mavlink.io/en/messages/common.html); ArduPilot silently
 * drops invalid targets (e.g. geofence violations) without a NAK or
 * STATUSTEXT. The connector therefore briefly polls
 * POSITION_TARGET_GLOBAL_INT after sending: if the autopilot's
 * commanded target matches what we sent within a small tolerance,
 * the result is ACCEPTED; otherwise NOT_OBSERVABLE (we cannot tell
 * "silently rejected" from "stream wasn't running"). When
 * `ground_speed_mps` is set the optional MAV_CMD_DO_CHANGE_SPEED
 * COMMAND_ACK is folded into `detail`.
 */
export interface NavigationTargetResponse {
    result: CommandResult;
    rawAutopilotResult: number;
    detail: string;
}
/**
 * Set the vehicle's cruise (leg) speed in meters per second. Applied to
 * the active waypoint / GUIDED-mode navigation. Maps onto MAVLink
 * MAV_CMD_DO_CHANGE_SPEED for the mavlink2keelson connector.
 */
export interface SetCruiseSpeedRequest {
    timestamp: Date | undefined;
    speedMps: number;
}
export interface SetCruiseSpeedResponse {
    result: CommandResult;
    rawAutopilotResult: number;
    detail: string;
}
export declare const NavigationTarget: MessageFns<NavigationTarget>;
export declare const NavigationTargetResponse: MessageFns<NavigationTargetResponse>;
export declare const SetCruiseSpeedRequest: MessageFns<SetCruiseSpeedRequest>;
export declare const SetCruiseSpeedResponse: MessageFns<SetCruiseSpeedResponse>;
export interface VehicleNavigation {
    /**
     * Commission the vehicle to navigate to a single target. Caller is
     * responsible for ensuring the vehicle is in an appropriate mode first
     * (e.g. GUIDED for ArduPilot Rover).
     */
    set_navigation_target(request: NavigationTarget): Promise<NavigationTargetResponse>;
    /** Change cruise (leg) speed for the active navigation. */
    set_cruise_speed(request: SetCruiseSpeedRequest): Promise<SetCruiseSpeedResponse>;
}
export declare const VehicleNavigationServiceName = "VehicleNavigation";
export declare class VehicleNavigationClientImpl implements VehicleNavigation {
    private readonly rpc;
    private readonly service;
    constructor(rpc: Rpc, opts?: {
        service?: string;
    });
    set_navigation_target(request: NavigationTarget): Promise<NavigationTargetResponse>;
    set_cruise_speed(request: SetCruiseSpeedRequest): Promise<SetCruiseSpeedResponse>;
}
interface Rpc {
    request(service: string, method: string, data: Uint8Array): Promise<Uint8Array>;
}
type Builtin = Date | Function | Uint8Array | string | number | boolean | undefined;
export type DeepPartial<T> = T extends Builtin ? T : T extends globalThis.Array<infer U> ? globalThis.Array<DeepPartial<U>> : T extends ReadonlyArray<infer U> ? ReadonlyArray<DeepPartial<U>> : T extends {} ? {
    [K in keyof T]?: DeepPartial<T[K]>;
} : Partial<T>;
type KeysOfUnion<T> = T extends T ? keyof T : never;
export type Exact<P, I extends P> = P extends Builtin ? P : P & {
    [K in keyof P]: Exact<P[K], I[K]>;
} & {
    [K in Exclude<keyof I, KeysOfUnion<P>>]: never;
};
export interface MessageFns<T> {
    encode(message: T, writer?: BinaryWriter): BinaryWriter;
    decode(input: BinaryReader | Uint8Array, length?: number): T;
    fromJSON(object: any): T;
    toJSON(message: T): unknown;
    create<I extends Exact<DeepPartial<T>, I>>(base?: I): T;
    fromPartial<I extends Exact<DeepPartial<T>, I>>(object: I): T;
}
export {};