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A LidarDriver yields point-cloud frames from a spinning, solid-state, or single-line ranging device.

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The interface

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
        ...

​
Capabilities

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,
)

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Frames

Each LidarFrame carries a list of LidarPoint in the sensor body frame: +x forward, +y left, +z up. Coordinates are metres. 
LidarPoint(
    x=2.13, y=-0.42, z=0.05,
    intensity=0.74,
    return_index=0,
)
Drivers that report misses for some angles should skip those points rather than emit zeros.

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Manifest permissions

agent:
  permissions:
    - sensor.lidar.register
    - serial.read_write       # most LiDARs are USB-CDC or UART

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Single-line vs spinning

The agent does not distinguish single-beam rangefinders from full 3D LiDARs at the driver layer. A 1D rangefinder ships frames with points_per_frame=1. The host’s avoidance and SLAM consumers already handle the degenerate case.

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See also