import { WPILibWSRobotBase, DigitalChannelMode } from "@wpilib/wpilib-ws-robot";
import LSM6 from "./devices/core/lsm6/lsm6";
import RomiConfiguration from "./romi-config";
import QueuedI2CBus from "../device-interfaces/i2c/queued-i2c-bus";
export interface DevicePortMappingInfo {
    deviceName: string;
    port: number;
}
export interface RobotIOChannelInfo {
    dio: DevicePortMappingInfo[];
    analogIn: DevicePortMappingInfo[];
    pwm: DevicePortMappingInfo[];
}
export declare const NUM_CONFIGURABLE_PINS: number;
export default class WPILibWSRomiRobot extends WPILibWSRobotBase {
    private _queuedBus;
    private _i2cHandle;
    private _firmwareIdent;
    private _batteryPct;
    private _heartbeatTimer;
    private _readTimer;
    private _imuReadTimer;
    private _digitalInputValues;
    private _analogInputValues;
    private _encoderInputValues;
    private _leftEncoderChannel;
    private _rightEncoderChannel;
    private _ioConfiguration;
    private _dioDevicePortMapping;
    private _analogInDevicePortMapping;
    private _pwmDevicePortPortMapping;
    private _extPinConfiguration;
    private _onboardPinConfiguration;
    private _readyP;
    private _i2cErrorDetector;
    private _lsm6;
    private _imuFIFOperiod;
    private _romiAccelerometer;
    private _romiGyro;
    private _imuReadsPaused;
    private _numWsConnections;
    private _dsEnabled;
    private _dsHeartbeatPresent;
    private _customDevices;
    private _statusNetworkTable;
    private _configNetworkTable;
    constructor(bus: QueuedI2CBus, address: number, romiConfig?: RomiConfiguration);
    getIMU(): LSM6;
    pauseIMUReads(reason?: string): void;
    resumeIMUReads(reason?: string): void;
    readyP(): Promise<void>;
    get descriptor(): string;
    get firmwareIdent(): number;
    get ioChannelInfo(): RobotIOChannelInfo;
    getBatteryPercentage(): number;
    setDigitalChannelMode(channel: number, mode: DigitalChannelMode): void;
    setDIOValue(channel: number, value: boolean): void;
    getDIOValue(channel: number): boolean;
    setAnalogOutVoltage(channel: number, voltage: number): void;
    getAnalogInVoltage(channel: number): number;
    setPWMValue(channel: number, value: number): void;
    registerEncoder(encoderChannel: number, channelA: number, channelB: number): void;
    getEncoderCount(channel: number): number;
    getEncoderPeriod(channel: number): number;
    resetEncoder(channel: number, keepLast?: boolean): void;
    setEncoderReverseDirection(channel: number, reverse: boolean): void;
    /**
     * Called when a new WebSocket connection occurs
     */
    onWSConnection(remoteAddrV4?: string): void;
    /**
     * Called when a WebSocket disconnects
     */
    onWSDisconnection(): void;
    onRobotEnabled(): void;
    onRobotDisabled(): void;
    onDSPacketTimeoutOccurred(): void;
    onDSPacketTimeoutCleared(): void;
    queryFirmwareIdent(): Promise<number>;
    private _verifyConfiguration;
    /**
     * Configure all devices on the Romi
     * This includes setting up the appropriate IO port->device/port pairs
     */
    private _configureDevices;
    /**
     * Write the onboard IO configuration in oneshot
     */
    private _writeRomiOnboardIOConfiguration;
    /**
     * Do the actual configuration write to the romi
     */
    private _writeRomiExtIOConfiguration;
    private _setRomiHeartBeat;
    private _bulkAnalogRead;
    private _bulkDigitalRead;
    private _bulkEncoderRead;
    private _readBattery;
    /**
     * Resets the Romi to a known clean state
     * This does NOT reset any IO configuration
     */
    private _resetToCleanState;
    private _configureNTInterface;
    private _registerCustomDevices;
}