updates

firmware/shared/TrackingGate.h

@@ -0,0 +1,64 @@
+#pragma once
+
+#include <stdint.h>
+#include <stdlib.h>
+
+// One camera-side decision is broadcast to both eyes so brief model misses do
+// not make their appearance and gaze repeatedly switch between TRACK and IDLE.
+namespace tracking {
+constexpr unsigned kConfirmFrames = 3;
+constexpr uint32_t kTargetHoldMs = 1000;
+
+struct Decision {
+  int x;
+  int y;
+  bool valid;
+  bool held;
+};
+
+class Gate {
+ public:
+  Decision update(bool detected, int x, int y, uint32_t now_ms) {
+    if (detected) {
+      if (candidate_count_ && abs(x - candidate_x_) <= 80 &&
+          abs(y - candidate_y_) <= 60) {
+        if (candidate_count_ < kConfirmFrames) ++candidate_count_;
+      } else {
+        candidate_count_ = 1;
+      }
+      candidate_x_ = x;
+      candidate_y_ = y;
+      if (candidate_count_ >= kConfirmFrames) {
+        locked_ = true;
+        last_confirmed_ms_ = now_ms;
+        locked_x_ = x;
+        locked_y_ = y;
+        return {x, y, true, false};
+      }
+    }
+
+    if (locked_ && static_cast<uint32_t>(now_ms - last_confirmed_ms_) <=
+                       kTargetHoldMs) {
+      return {locked_x_, locked_y_, true, true};
+    }
+
+    locked_ = false;
+    if (!detected) {
+      candidate_count_ = 0;
+      candidate_x_ = -1;
+      candidate_y_ = -1;
+      return {500, 500, false, false};
+    }
+    return {x, y, false, false};
+  }
+
+ private:
+  unsigned candidate_count_ = 0;
+  int candidate_x_ = -1;
+  int candidate_y_ = -1;
+  bool locked_ = false;
+  int locked_x_ = 500;
+  int locked_y_ = 500;
+  uint32_t last_confirmed_ms_ = 0;
+};
+}  // namespace tracking