Gimbal driver

from ados.sdk.drivers.gimbal import (
    GimbalDriver,
    GimbalCandidate,
    GimbalCapabilities,
    GimbalSession,
    GimbalState,
)

class MyGimbalDriver(GimbalDriver):
    async def discover(self) -> list[GimbalCandidate]:
        ...

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

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

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

    async def command_attitude(
        self, session, pitch_deg, yaw_deg, roll_deg=0.0
    ) -> None:
        ...

    async def command_rate(
        self, session, pitch_rate_dps, yaw_rate_dps, roll_rate_dps=0.0
    ) -> None:
        ...

    def get_state(self, session) -> GimbalState:
        ...

    async def state_iterator(self, session):
        # async generator yielding GimbalState at the gimbal's update rate
        ...

GimbalCapabilities(
    has_pitch=True,
    has_yaw=True,
    has_roll=False,
    pitch_min_deg=-135.0,
    pitch_max_deg=45.0,
    yaw_min_deg=-180.0,
    yaw_max_deg=180.0,
    roll_min_deg=0.0,
    roll_max_deg=0.0,
    max_rate_dps=120.0,
    supports_follow_mode=True,
    supports_lock_mode=True,
)

GimbalState(
    timestamp_ns=ns,
    pitch_deg=-22.5,
    yaw_deg=10.0,
    roll_deg=0.0,
    pitch_rate_dps=0.0,
    yaw_rate_dps=0.0,
    roll_rate_dps=0.0,
    mode="follow",
    metadata=None,
)