Rangefinder.h

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#pragma once
#include "Arduino.h"
#include "freertos/FreeRTOS.h"
#include "freertos/task.h"
#include "freertos/semphr.h"
#define MAX_POSSIBLE_INTERRUPT_RANGEFINDER 4

class Rangefinder {
public:
    Rangefinder();
    void attach(int trigger, int echo);
    static int numberOfFinders;
    static bool timoutThreadStarted;
    static int pingIndex;
    static bool forceFire;
    portMUX_TYPE synch = portMUX_INITIALIZER_UNLOCKED;
    int echoPin;
    int triggerPin;
    volatile unsigned long startTime;
    volatile unsigned long roundTripTime;
    long getRoundTripTimeMicroSeconds();
    static Rangefinder * list[MAX_POSSIBLE_INTERRUPT_RANGEFINDER];
    float getDistanceCM();
    static void checkTimeout();
    static void fire();
    void sensorISR();
    static int getTimeoutState();


};