Add distance sensor, rewrite OLED to use new i2c library

main/include/LoopManager.h

@@ -11,13 +11,15 @@
 
 #include "MessagingInterface.h"
 #include "control/ActuatorFactory.h"
+#include "control/SensorFactory.h"
 #include "control/IActuator.h"
 
 class LoopManager {
 public:
     LoopManager() : m_config_manager(ConfigManager::get_instance()),
         m_messaging_interface(std::make_unique<MessagingInterface>()),
-       m_actuator(ActuatorFactory::create_actuator(m_config_manager.get_module_type())) {
+       m_actuator(ActuatorFactory::create_actuator(m_config_manager.get_module_type())),
+       m_sensor(SensorFactory::create_sensor(m_config_manager.get_module_type())) {
            xTaskCreate(reinterpret_cast<TaskFunction_t>(LoopManager::metadata_tx_loop),
                    "metadata_tx", 3096, this, 3, nullptr);
            xTaskCreate(reinterpret_cast<TaskFunction_t>(LoopManager::sensor_loop),
@@ -43,6 +45,7 @@ private:
     ConfigManager& m_config_manager;
     std::unique_ptr<MessagingInterface> m_messaging_interface;
     std::unique_ptr<IActuator> m_actuator;
+    std::unique_ptr<ISensor> m_sensor;
 
     void send_sensor_reading(bool durable) const;
 };

main/include/control/DistanceSensor.h

@@ -0,0 +1,21 @@
+
+#ifndef DCMOTORACTUATOR_H
+#define DCMOTORACTUATOR_H
+
+#include "control/ISensor.h"
+#include "freertos/FreeRTOS.h"
+#include "freertos/task.h"
+#include "vl53l0x.h"
+
+class DistanceSensor final : public ISensor {
+  public:
+    DistanceSensor();
+    ~DistanceSensor() override;
+    std::vector<Flatbuffers::sensor_value> get_sensor_data() override;
+
+  private:
+    vl53l0x_t *m_sensor = nullptr;
+
+};
+
+#endif //SERVO1ACTUATOR_H

main/include/control/ISensor.h

@@ -5,10 +5,13 @@
 #ifndef ISENSOR_H
 #define ISENSOR_H
 
+#include <vector>
+#include "SensorMessageBuilder.h"
+
 class ISensor {
 public:
     virtual ~ISensor() {}
-    virtual void get_reading() = 0; // todo: return a flatbuffer object
+    virtual std::vector<Flatbuffers::sensor_value> get_sensor_data() = 0;
 };
 
 #endif //ISENSOR_H

main/include/control/SensorFactory.h

@@ -5,6 +5,9 @@
 #ifndef SENSORFACTORY_H
 #define SENSORFACTORY_H
 
+#include "flatbuffers_generated/RobotModule_generated.h"
+#include "control/ISensor.h"
+
 class SensorFactory {
 public:
     static std::unique_ptr<ISensor> create_sensor(ModuleType type);