import { default as Ros } from '../core/Ros.ts';
import { default as Topic } from '../core/Topic.ts';
import { EventEmitter } from 'eventemitter3';
import { actionlib_msgs } from '../types/actionlib_msgs.ts';
import { default as Goal } from './Goal.ts';
/**
 * An actionlib action client.
 *
 * Emits the following events:
 *  * 'timeout' - If a timeout occurred while sending a goal.
 *  * 'status' - The status messages received from the action server.
 *  * 'feedback' - The feedback messages received from the action server.
 *  * 'result' - The result returned from the action server.
 *
 */
export default class ActionClient<TGoal = unknown, TFeedback = unknown, TResult = unknown> extends EventEmitter<{
    timeout: undefined;
}> {
    goals: Record<string, Goal<TGoal>>;
    /** flag to check if a status has been received */
    receivedStatus: boolean;
    ros: Ros;
    serverName: string;
    actionName: string;
    timeout?: number;
    omitFeedback?: boolean;
    omitStatus?: boolean;
    omitResult?: boolean;
    feedbackListener: Topic<{
        status: actionlib_msgs.GoalStatus;
        feedback: TFeedback;
    }>;
    statusListener: Topic<actionlib_msgs.GoalStatusArray>;
    resultListener: Topic<{
        status: actionlib_msgs.GoalStatus;
        result: TResult;
    }>;
    goalTopic: Topic<{
        goal: TGoal;
        goal_id: actionlib_msgs.GoalID;
    }>;
    cancelTopic: Topic<Partial<actionlib_msgs.GoalID>>;
    /**
     * @param options
     * @param options.ros - The ROSLIB.Ros connection handle.
     * @param options.serverName - The action server name, like '/fibonacci'.
     * @param options.actionName - The action message name, like 'actionlib_tutorials/FibonacciAction'.
     * @param [options.timeout] - The timeout length when connecting to the action server.
     * @param [options.omitFeedback] - The flag to indicate whether to omit the feedback channel or not.
     * @param [options.omitStatus] - The flag to indicate whether to omit the status channel or not.
     * @param [options.omitResult] - The flag to indicate whether to omit the result channel or not.
     */
    constructor({ ros, serverName, actionName, timeout, omitFeedback, omitStatus, omitResult, }: {
        ros: Ros;
        serverName: string;
        actionName: string;
        timeout?: number;
        omitFeedback?: boolean;
        omitStatus?: boolean;
        omitResult?: boolean;
    });
    /**
     * Cancel all goals associated with this ActionClient.
     */
    cancel(): void;
    /**
     * Unsubscribe and unadvertise all topics associated with this ActionClient.
     */
    dispose(): void;
}