import { JDServiceServer } from "../jdom/servers/serviceserver";
export declare const ADVERTISE = "advertise";
export declare const SUBSCRIBE = "subscribe";
export declare const PUBLISH = "publish";
export declare const RosReportMessage = 131;
/**
 * Emitted with SUBSCRIBE on new subscription
 */
export interface RosSubscription {
    node: string;
    topic: string;
}
/**
 * Emitted with PUBLISH when receiving a publish message command
 */
export interface RosMessage {
    node: string;
    topic: string;
    message: any;
    messageSource?: string;
}
/**
 * A thin ROS server implementation.
 *
 * Maintains a list of subscription for message and raises event on publishing and subscriptions.
 */
export declare class RosServer extends JDServiceServer {
    private _subscriptions;
    private _messages;
    maxMessages: number;
    constructor();
    private handleSubscribeMessage;
    /**
     * Clears all subscriptions
     */
    clear(): void;
    /**
     * Gets the list of subscription handled by this node
     */
    get subscriptions(): string[];
    /**
     * Gets the latest messages
     */
    get messages(): RosMessage[];
    /**
     * Publishes a message on the bus if any subscription is active.
     * @param node source node for the message
     * @param topic topic of the message
     * @param message JSON data payload; that will be converted to string
     */
    publishMessage(node: string, topic: string, message: any): Promise<void>;
    private pushMessage;
    private handlePublishMessage;
}
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