import { HardwareDescription } from './hardware-description';
/**
 * Represents a detailed error related to an encoder register.
 */
export interface EncoderRegisterError {
    /**
     * A short, human-readable name for the error.
     */
    name: string;
    /**
     * A brief error code or message identifying the error type.
     */
    error: string;
    /**
     * A concise description of the error condition.
     */
    description: string;
    /**
     * Suggested actions or steps to resolve or remediate the error.
     */
    remedy: string;
    /**
     * A comprehensive explanation of the error, including context and details.
     */
    fullDescription: string;
}
/**
 * Enum of Circulo encoder register addresses.
 *
 * These constants represent the addresses of various encoder registers
 * used for status monitoring and data reading.
 */
export declare enum CirculoEncoderRegisterAddress {
    STATUS0 = 118,
    STATUS1 = 119,
    OUT_ZERO_OUT_MSB = 17
}
/**
 * Lookup table mapping encoder register error bits to detailed error information.
 *
 * Each element in the array corresponds to a specific encoder status register (e.g., STATUS0, STATUS1),
 * identified by its index. Within each object, the keys represent bit flags (powers of two) indicating
 * specific error conditions. The associated value is an `EncoderRegisterError` object describing
 * the error, its cause, and suggested remedy.
 *
 * Example usage:
 * ```ts
 * const errorsForStatus0 = circuloEncoderRegisterErrors[0][1]; // Gets the error for bit 1 of STATUS0
 * ```
 */
export declare const circuloEncoderRegisterErrors: {
    [key: number]: EncoderRegisterError;
}[];
/**
 * Maps a status register value to a list of corresponding encoder register errors.
 *
 * This function interprets each set bit in the given 8-bit `value` as an individual error flag.
 * It then looks up the corresponding `EncoderRegisterError` definitions from a predefined
 * error mapping (`circuloEncoderRegisterErrors`) based on the provided `statusIndex`.
 *
 * @param value - The 8-bit value read from the encoder's status register (typically 0–255).
 * @param statusIndex - The index of the status register (0 or 1), usually corresponding to
 *                      `CirculoEncoderRegisterAddress.STATUS0` or `STATUS1`.
 * @returns An array of `EncoderRegisterError` objects for each set error bit in the status value.
 *          Returns an empty array if no error bits are set or no matching definitions are found.
 */
export declare function mapCirculoEncoderRegisterValueToErrors(value: number, statusIndex: 0 | 1): EncoderRegisterError[];
/**
 * Represents the configuration parameters of a Circulo encoder's battery mode.
 */
export interface CirculoEncoderBatteryMode {
    maxAcceleration: number;
    maxCurrent: number;
    value: number;
}
/**
 * Maps product groups to their supported battery modes for Circulo encoders.
 *
 * Each product group key (e.g., `'Circulo 7'`, `'Circulo 9'`) maps to an array of
 * `CirculoEncoderBatteryMode` objects, each describing a specific battery mode configuration.
 *
 * Battery modes specify constraints such as maximum acceleration and current,
 * along with a raw encoded `value` representing the mode setting.
 */
export declare const circuloEncoderBatteryModeMap: Map<"Node 400" | "Node 1000" | "Node 2000" | "Circulo 7" | "Circulo 9" | "Circulo NG 60" | "Circulo NG 70" | "Circulo NG 80" | "Circulo NG 85" | "Circulo NG 100" | "Integro 60" | "Integro 80" | "ACTILINK-S Integro 60" | "ACTILINK-S Integro 80" | "ACTILINK-JD 8" | "ACTILINK-JD 9" | "ACTILINK-JD 10" | "ACTILINK-JD 12" | "ACTILINK-JD Duo 10" | "ACTILINK-JD Duo 12", CirculoEncoderBatteryMode[]>;
/**
 * Represents the possible types of encoder shafts.
 */
export type EncoderShaft = 'motor' | 'driving';
/**
 * Returns the default battery mode encoded value for a given encoder shaft type.
 *
 * @param shaft - The type of encoder shaft. Can be `'motor'` or `'driving'`.
 *                If omitted or unrecognized, returns a default fallback value.
 * @returns The encoded default battery mode value corresponding to the shaft type:
 *          - `0x5d` for `'motor'`
 *          - `0x68` for `'driving'`
 *          - `0x00` if the shaft type is not specified or unknown
 */
export declare function getCirculoEncoderBatteryModeDefaultValue(shaft?: 'motor' | 'driving'): 0 | 93 | 104;
/**
 * Retrieves the available battery mode options for a Circulo encoder product.
 *
 * This function identifies the product by its ID or hardware description and, if the product
 * belongs to the 'Circulo' family, returns an array of battery mode options specific to the product group.
 * Each option consists of a human-readable key describing the mode and its corresponding encoded value.
 *
 * The returned array always includes a "Default" option based on the provided shaft type.
 *
 * @param productId - The identifier of the product. Can be a number, string, or a `HardwareDescription` object.
 * @param shaft - Optional encoder shaft type (`'motor'` or `'driving'`) used to determine the default battery mode.
 * @returns An array of battery mode options with keys describing the mode and their associated encoded values.
 *          Returns an empty array if the product is not part of the Circulo family or no modes are found.
 */
export declare function getCirculoEncoderBatteryModeOptions(productId: number | string | HardwareDescription, shaft?: EncoderShaft): {
    key: string;
    value: number;
}[];
export type EncoderConfigurationSubitemSetBy = 'none' | 'user' | 'firmware' | 'both';
export type EncoderConfigurationExceptionCase = 'case1' | 'case2' | 'case3' | 'case4';
/**
 * Represents the usage of encoder configurations across different firmware versions and products.
 *
 * This interface defines which subitems are available for each supported encoder type,
 * and specifies whether each subitem is set by the user, the firmware, or both.
 * It also maps these configurations to the relevant products and ports.
 *
 * The structure originates from the following documents:
 * - Encoder Configuration Types Supported
 * - Encoder configuration 0x2110/0x2112 subindex usage (default)
 * - Encoder configuration 0x2110/0x2112 subindex usage (exceptions)
 */
export interface EncoderConfigurationUsage {
    [key: string]: {
        encoderConfiguration: {
            encoderType: {
                [key: number]: {
                    subitem: {
                        [key: number]: {
                            setBy: EncoderConfigurationSubitemSetBy;
                        };
                    };
                };
            };
            exceptions: {
                [key in EncoderConfigurationExceptionCase]: {
                    subitem: {
                        [key: number]: {
                            setBy: EncoderConfigurationSubitemSetBy;
                        };
                    };
                };
            };
        };
        product: {
            [key: string]: {
                port: {
                    [key: number]: {
                        allowedEncoderTypes: number[];
                    };
                };
            };
        };
    };
}
/**
 * Selects the encoder configuration exception case based on the encoder ordinal, type, and product ID
 *
 * A Jasper drive is always case 4, whatever its product ID, encoder port and encoder type, so the firmware
 * version is checked first and on its own.
 *
 * @param productId - The product ID to check against.
 * @param encoderPort - The encoder port to check.
 * @param encoderType - The encoder type to check.
 * @param firmwareMajorMinorVersion - The firmware version in major.minor format.
 * @returns The selected exception case or undefined if no case matches.
 * @link https://docs.google.com/spreadsheets/d/1E0HTiZQtGmby2BJ9kOGV0UwD3HT6xQ7QRLjNbXpx5V0/edit?usp=sharing
 */
export declare function getEncoderConfigurationExceptionCase(productId: number | string | HardwareDescription | null, encoderPort: number, encoderType: number, firmwareMajorMinorVersion: string): EncoderConfigurationExceptionCase | undefined;
/**
 * Computes the encoder resolution in bits from the total number of increments per revolution.
 *
 * The resolution in bits is calculated as the ceiling of the base-2 logarithm
 * of the number of increments, which represents the minimum number of bits
 * needed to uniquely represent each encoder position.
 *
 * @param increments - Total number of increments (counts) per revolution.
 * @returns The encoder resolution in bits.
 */
export declare function getEncoderResolutionBits(increments: number): number;