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';
/**
 * An actionlib action server client.
 *
 * Emits the following events:
 *  * 'goal' - Goal sent by action client.
 *  * 'cancel' - Action client has canceled the request.
 */
export default class SimpleActionServer<TGoal = unknown, TFeedback = unknown, TResult = unknown> extends EventEmitter<{
    goal: [TGoal];
    cancel: undefined;
}> {
    currentGoal: {
        goal: TGoal;
        goal_id: actionlib_msgs.GoalID;
    } | null;
    nextGoal: {
        goal: TGoal;
        goal_id: actionlib_msgs.GoalID;
    } | null;
    ros: Ros;
    serverName: string;
    actionName: string;
    feedbackPublisher: Topic<{
        feedback: TFeedback;
        status: actionlib_msgs.GoalStatus;
    }>;
    resultPublisher: Topic<{
        result?: TResult;
        status: actionlib_msgs.GoalStatus;
    }>;
    statusPublisher?: Topic<actionlib_msgs.GoalStatusArray>;
    statusMessage: actionlib_msgs.GoalStatusArray;
    /**
     * @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'.
     */
    constructor({ ros, serverName, actionName, }: {
        ros: Ros;
        serverName: string;
        actionName: string;
    });
    /**
     * Set action state to succeeded and return to client.
     *
     * @param result - The result to return to the client.
     */
    setSucceeded(result: TResult): void;
    /**
     * Set action state to aborted and return to client.
     *
     * @param result - The result to return to the client.
     */
    setAborted(result: TResult): void;
    /**
     * Send a feedback message.
     *
     * @param feedback - The feedback to send to the client.
     */
    sendFeedback(feedback: TFeedback): void;
    /**
     * Handle case where client requests preemption.
     */
    setPreempted(): void;
}