updated TerminalControl

modules/catkin_ws/src/VeloxProtocolLib/test/TerminalControl.cpp

@@ -62,9 +62,8 @@ int main(int argc, char ** argv)
     std::atomic<float> speed{0.0f};
     std::atomic<float> stopDistance{0};
     std::mutex outputMutex;
-    UltrasonicSensor sensor{readDevId()};
+    auto sensor = UltrasonicSensor::create(net, readDevId());
     car::StreamMeanFilter streamMeanFilter{5};
-    auto timer = networking::time::Timer::create(net);
     auto conn = Connection::create(net);
     conn->open(
         "/dev/ttySAC0",
@@ -78,13 +77,10 @@ int main(int argc, char ** argv)
                       << "\nSteering Angle: " << conn->getMeasuredSteeringAngle().get() << "\n\n";
         }, [] {});
 
-    sensor.init();
-    timer = networking::time::Timer::create(net);
-    timer->startPeriodicTimeout(
-        std::chrono::milliseconds(UltrasonicSensor::DELAY),
-        [&]
+    sensor->start(
+        [&](auto distance)
         {
-            auto originalDistance = sensor.getDistance();
+            auto originalDistance = distance;
             auto filteredDistance = streamMeanFilter.moveWindow(originalDistance);
             if (filteredDistance <= stopDistance)
                 conn->setSpeed(BRAKE_SPEED);
@@ -150,7 +146,6 @@ int main(int argc, char ** argv)
         }
     }
 
-    timer->stop();
     conn->setSpeed(BRAKE_SPEED);
     sleep(1);
     conn->close();