ESC driver

from ados.sdk.drivers.esc import (
    EscDriver,
    EscCandidate,
    EscCapabilities,
    EscSession,
    EscTelemetry,
)

class MyEscDriver(EscDriver):
    async def discover(self) -> list[EscCandidate]:
        ...

    async def open(self, candidate, config) -> EscSession:
        ...

    async def close(self, session) -> None:
        ...

    def capabilities(self, session) -> EscCapabilities:
        ...

    async def telemetry_iterator(self, session):
        # async generator yielding EscTelemetry, one per motor per update
        ...

EscCapabilities(
    protocol="dshot-telemetry",
    motor_count=4,
    has_rpm=True,
    has_temperature=True,
    has_voltage=True,
    has_current=False,
    update_hz=200.0,
)

EscTelemetry(
    timestamp_ns=ns,
    motor_index=0,
    rpm=12500,
    temp_c=42.0,
    voltage_v=22.1,
    current_a=0.0,
    throttle_pct=37.5,
)

agent:
  permissions:
    - id: sensor.payload.register   # ESC drivers register under the payload cap (no dedicated ESC cap in the current catalog)
    - id: mavlink.read              # for ESC telemetry carried in the MAVLink stream
    - id: hardware.uart             # for a direct serial telemetry line