updates

firmware/shared/test_tracking_gate.cpp

@@ -0,0 +1,35 @@
+#include "TrackingGate.h"
+
+#include <assert.h>
+#include <stdio.h>
+
+int main() {
+  tracking::Gate gate;
+  assert(!gate.update(false, 0, 0, 0).valid);
+  assert(!gate.update(true, 160, 100, 250).valid);
+  assert(!gate.update(true, 165, 105, 500).valid);
+  const auto first_lock = gate.update(true, 170, 110, 750);
+  assert(first_lock.valid && !first_lock.held && first_lock.x == 170);
+
+  // Two missed model results keep both eyes tracking the last known position.
+  const auto missed = gate.update(false, 0, 0, 1000);
+  assert(missed.valid && missed.held && missed.x == 170 && missed.y == 110);
+  assert(gate.update(false, 0, 0, 1250).valid);
+  const auto reacquired = gate.update(true, 173, 108, 1500);
+  assert(reacquired.valid && !reacquired.held && reacquired.x == 173);
+
+  // A new distant candidate cannot yank the gaze until confirmed.
+  const auto other = gate.update(true, 290, 200, 1750);
+  assert(other.valid && other.held && other.x == 173);
+  assert(gate.update(true, 292, 201, 2000).held);
+  const auto switched = gate.update(true, 294, 202, 2250);
+  assert(switched.valid && !switched.held && switched.x == 294);
+
+  // Once the person leaves, the brief hold expires and blue/IDLE returns.
+  assert(gate.update(false, 0, 0, 3250).valid);
+  assert(!gate.update(false, 0, 0, 3251).valid);
+  assert(!gate.update(true, 160, 100, 3500).valid);
+  assert(!gate.update(true, 162, 102, 3750).valid);
+  assert(gate.update(true, 164, 104, 4000).valid);
+  puts("tracking gate: confirmation, brief misses, candidate switch, expiry OK");
+}