import type { Struct } from '@bufbuild/protobuf';
import type { Resource } from '../../types';
import type { Costmap, Location, NavigateRouteOptions, Plan, Position, Properties, Route, Status, Waypoint, Zone } from './types';
/**
 * A service that navigates a robot to user defined endpoints, locations, or routes using either a
 * local SLAM map or GPS.
 *
 * @example
 *
 * ```ts
 * const navigation = new VIAM.NavigationClient(machine, 'my_navigation');
 *
 * const status = await navigation.getNavigationStatus();
 * ```
 *
 * For more information, see [Navigation
 * API](https://docs.viam.com/reference/apis/services/navigation/).
 */
export interface Navigation extends Resource {
    /**
     * Save a named position on the active map. If position is omitted, the robot's current position
     * from getPosition is saved.
     *
     * @param locationName - The name to save the location under.
     * @param position - The position to save. Defaults to the robot's current position.
     */
    addLocation: (locationName: string, position?: Position, extra?: Struct) => Promise<Location>;
    /**
     * Get a saved location by name. This does not return the robot's current position; use
     * getPosition for that.
     *
     * @param locationName - The name of the location to get.
     */
    getLocation: (locationName: string, extra?: Struct) => Promise<Location>;
    /** List all saved locations on the active map. */
    listLocations: (extra?: Struct) => Promise<Location[]>;
    /**
     * Change a saved location's position or name. Renaming a location updates every route waypoint
     * that references it.
     *
     * @param locationName - The name of the location to update.
     * @param position - The new position. Omit to leave the position unchanged.
     * @param newName - The new name. Omit to leave the name unchanged.
     */
    updateLocation: (locationName: string, position?: Position, newName?: string, extra?: Struct) => Promise<Location>;
    /**
     * Delete a saved location. The location is also removed from every route that references it.
     *
     * @param locationName - The name of the location to delete.
     */
    deleteLocation: (locationName: string, extra?: Struct) => Promise<void>;
    /**
     * Create a named route from an ordered list of waypoints. Every referenced location must already
     * exist.
     *
     * @param routeName - The name to save the route under.
     * @param waypoints - The ordered list of waypoints for the route.
     */
    addRoute: (routeName: string, waypoints: Waypoint[], extra?: Struct) => Promise<Route>;
    /**
     * Get a route by name.
     *
     * @param routeName - The name of the route to get.
     */
    getRoute: (routeName: string, extra?: Struct) => Promise<Route>;
    /** List all routes on the active map. */
    listRoutes: (extra?: Struct) => Promise<Route[]>;
    /**
     * Rename a route and/or replace its waypoints. An omitted waypoints list leaves the waypoints
     * unchanged; an empty list clears them.
     *
     * @param routeName - The name of the route to update.
     * @param newName - The new name. Omit to leave the name unchanged.
     * @param waypoints - The replacement waypoints. Omit to leave them unchanged.
     */
    updateRoute: (routeName: string, newName?: string, waypoints?: Waypoint[], extra?: Struct) => Promise<Route>;
    /**
     * Delete a route. The locations it references are not affected.
     *
     * @param routeName - The name of the route to delete.
     */
    deleteRoute: (routeName: string, extra?: Struct) => Promise<void>;
    /**
     * Create a keep-out or speed-limit zone on the active map. The planner avoids keep-out zones and
     * caps speed inside speed-limit zones.
     *
     * @param zoneName - The name to save the zone under.
     * @param type - Either "keepout" or "speed_limit".
     * @param geometry - The zone's geometry (circle, box, or polygon).
     * @param maxSpeed - The max speed in meters/sec. Required when type is "speed_limit".
     */
    addZone: (zoneName: string, type: string, geometry: Struct, maxSpeed?: number, extra?: Struct) => Promise<Zone>;
    /**
     * Get a zone by name.
     *
     * @param zoneName - The name of the zone to get.
     */
    getZone: (zoneName: string, extra?: Struct) => Promise<Zone>;
    /**
     * List zones on the active map, optionally filtered by type.
     *
     * @param type - Optional; "keepout" or "speed_limit".
     */
    listZones: (type?: string, extra?: Struct) => Promise<Zone[]>;
    /**
     * Change a zone's type, geometry, speed limit, or name.
     *
     * @param zoneName - The name of the zone to update.
     * @param type - Optional; "keepout" or "speed_limit".
     * @param geometry - Optional; the zone's new geometry.
     * @param maxSpeed - Optional; the new max speed in meters/sec.
     * @param newName - Optional; the new name for the zone.
     */
    updateZone: (zoneName: string, type?: string, geometry?: Struct, maxSpeed?: number, newName?: string, extra?: Struct) => Promise<Zone>;
    /**
     * Delete a zone.
     *
     * @param zoneName - The name of the zone to delete.
     */
    deleteZone: (zoneName: string, extra?: Struct) => Promise<void>;
    /**
     * Plan an obstacle-aware path to a saved location and start driving it. Returns once the goal is
     * accepted; track progress with getNavigationStatus.
     *
     * @param locationName - The name of the saved location to navigate to.
     */
    navigateToLocation: (locationName: string, extra?: Struct) => Promise<Status>;
    /**
     * Plan an obstacle-aware path to a Position and start driving it. Returns once the goal is
     * accepted; track progress with getNavigationStatus.
     *
     * @param destination - The destination to navigate to.
     */
    navigateToPoint: (destination: Position, extra?: Struct) => Promise<Status>;
    /**
     * Drive a route one waypoint at a time using the obstacle-aware planner. Provide either routeName
     * (a saved route) or waypoints (an inline list).
     *
     * @example
     *
     * ```ts
     * const status = await navigation.navigateRoute({ routeName: 'patrol', loop: true });
     * ```
     *
     * @param options - The route, and how to drive it. See {@link NavigateRouteOptions}.
     */
    navigateRoute: (options: NavigateRouteOptions, extra?: Struct) => Promise<Status>;
    /**
     * Compute a path from the robot (or a given start) to a Position without moving. Pass a feasible
     * result to executePlan to drive it. Raises an error if no path exists.
     *
     * @param destination - The destination to plan to.
     * @param start - Optional; the starting position. Defaults to getPosition.
     */
    planToPoint: (destination: Position, start?: Position, extra?: Struct) => Promise<Plan>;
    /**
     * Compute a path to a saved location without moving. Accepts the same optional start as
     * planToPoint. Raises an error if no path exists.
     *
     * @param locationName - The name of the saved location to plan to.
     * @param start - Optional; the starting position. Defaults to getPosition.
     */
    planToLocation: (locationName: string, start?: Position, extra?: Struct) => Promise<Plan>;
    /**
     * Drive a Plan, typically from planToPoint or planToLocation. While navigating, the active path
     * is available on getNavigationStatus. Rejected if the path is empty.
     *
     * @param plan - The plan to execute.
     */
    executePlan: (plan: Plan, extra?: Struct) => Promise<Status>;
    /**
     * Drive directly to a saved location with a closed-loop controller, without full path planning.
     * Intended for short hops and docking.
     *
     * @param locationName - The name of the saved location to go to.
     * @param wait - Optional; defaults to true. With false, returns immediately while navigating.
     * @param linearMPerSec - Optional; the linear speed to drive at.
     */
    goToLocation: (locationName: string, wait?: boolean, linearMPerSec?: number, extra?: Struct) => Promise<Status>;
    /**
     * Drive directly to a Position with a closed-loop controller, without full path planning.
     * Intended for short hops and docking.
     *
     * @param destination - The destination to go to.
     * @param wait - Optional; defaults to true. With false, returns immediately while navigating.
     * @param linearMPerSec - Optional; the linear speed to drive at.
     */
    goToPoint: (destination: Position, wait?: boolean, linearMPerSec?: number, extra?: Struct) => Promise<Status>;
    /**
     * Stop motion but remember the current goal, including the current waypoint and loop setting for
     * routes. A suspended goal must be canceled before a new one starts.
     *
     * @param reason - Optional; reported on the suspended goal.
     */
    suspend: (reason?: string, extra?: Struct) => Promise<Status>;
    /**
     * Resume the suspended goal the same way it was started: planned navigation, simple go-to, or a
     * route from its current waypoint.
     */
    resume: (extra?: Struct) => Promise<Status>;
    /** Stop all motion and discard both the active goal and any suspended goal. */
    cancel: (extra?: Struct) => Promise<Status>;
    /**
     * Get the robot's current position on the active map. Use this for frequent position polling;
     * getNavigationStatus reports the same position alongside the rest of the navigation state.
     */
    getPosition: (extra?: Struct) => Promise<Position>;
    /** Get the full navigation state, including the robot's current position and the latest goal. */
    getNavigationStatus: (extra?: Struct) => Promise<Status>;
    /**
     * Get the map type the service operates on and robot properties. These values do not change while
     * the service is running.
     */
    getProperties: () => Promise<Properties>;
    /**
     * Get the local or global costmap as a downsampled grid, for display in UIs.
     *
     * @param layer - Optional; "auto", "local", or "global". Defaults to "auto".
     * @param stride - Optional; the downsample factor. Defaults to 2.
     */
    getCostmap: (layer?: string, stride?: number, extra?: Struct) => Promise<Costmap>;
}