新增 Ultrasonic 类和 TaskHelper 类，提供超声波测距功能及任务等待辅助方法

Core/App/Helper/task_helper.hpp

@@ -0,0 +1,19 @@
+#pragma once
+
+#include "stm32h5xx_hal.h"
+#include <cstdint>
+#include <stdexcept>
+
+class TaskHelper {
+public:
+    template <typename Func>
+    static void WaitFor(Func func, int timeoutMilliseconds) {
+        auto start = HAL_GetTick();
+        while (!func()) {
+            uint32_t now = HAL_GetTick();
+            if ((now - start) > static_cast<uint32_t>(timeoutMilliseconds)) {
+                throw std::runtime_error("Operation timed out");
+            }
+        }
+    }
+};