LiDAR driver

from ados.sdk.drivers.lidar import (
    LidarDriver,
    LidarCandidate,
    LidarCapabilities,
    LidarSession,
    LidarFrame,
    LidarPoint,
)

class MyLidarDriver(LidarDriver):
    async def discover(self) -> list[LidarCandidate]:
        ...

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

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

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

    async def frame_iterator(self, session):
        # async generator yielding LidarFrame
        ...

    async def set_param(self, session, param, value) -> None:
        # rpm, scan rate, filter mode
        ...

LidarCapabilities(
    min_range_m=0.1,
    max_range_m=40.0,
    horizontal_fov_deg=360.0,
    vertical_fov_deg=1.0,
    points_per_frame=1024,
    fps=10.0,
    has_intensity=True,
    has_dual_return=False,
)

LidarPoint(
    x=2.13, y=-0.42, z=0.05,
    intensity=0.74,
    return_index=0,
)