#include <CrossingEngine.h>

Collaboration diagram for CrossingEngine:

Public Member Functions
	CrossingEngine (double crossingThresholdMeters=7, Stream *debugSerial=NULL)

LineDetectResult	detect (double currentLat, double currentLng, unsigned long currentTimeMs, float currentOdometer, float currentSpeedKmh, const crossingPointBufferEntry *prevFix, double pointALat, double pointALng, double pointBLat, double pointBLng, bool &crossingFlag, int lineLabel, double &outLat, double &outLng, unsigned long &outTime, double &outOdometer)
	The crossing-zone state machine (formerly DovesLapTimer::_detectLineCrossing). Detects entry, buffers GPS fixes inside the zone, and interpolates the exact crossing point on exit.

bool	getForceLinear () const

unsigned int	getRejectedCrossingCount () const
	Number of crossing-zone exits whose interpolation was rejected.

void	reset ()
	Clears the buffer, the rejected-crossing counter, and any in-flight zone state. Does NOT clear the configured threshold/mode.

void	setDebugSerial (Stream *debugSerial)
	Attaches / detaches a debug output stream.

void	setForceLinear (bool linear)
	Selects linear (true, default) or Catmull-Rom (false) position interpolation. Time and odometer are always interpolated linearly.

void	setThreshold (double meters)
	Sets the crossing zone threshold, in meters.

Constructor & Destructor Documentation

◆ CrossingEngine()

CrossingEngine::CrossingEngine	(	double	crossingThresholdMeters = `7`,
		Stream *	debugSerial = `NULL`
	)

Member Function Documentation

◆ detect()

LineDetectResult CrossingEngine::detect	(	double	currentLat,
		double	currentLng,
		unsigned long	currentTimeMs,
		float	currentOdometer,
		float	currentSpeedKmh,
		const crossingPointBufferEntry *	prevFix,
		double	pointALat,
		double	pointALng,
		double	pointBLat,
		double	pointBLng,
		bool &	crossingFlag,
		int	lineLabel,
		double &	outLat,
		double &	outLng,
		unsigned long &	outTime,
		double &	outOdometer
	)

The crossing-zone state machine (formerly DovesLapTimer::_detectLineCrossing). Detects entry, buffers GPS fixes inside the zone, and interpolates the exact crossing point on exit.

The caller owns the per-line in-zone flag and the vehicle state (current fix + previous-fix snapshot) — the engine owns only the buffer and the math.

Parameters

	currentLat	/ currentLng Current GPS position.
	currentTimeMs	Milliseconds since UTC midnight for this fix.
	currentOdometer	Total odometer reading at this fix, meters.
	currentSpeedKmh	Speed at this fix, km/h.
	prevFix	Previous fix snapshot (Catmull-Rom pre-crossing point), or NULL if no previous fix exists yet.
	pointALat	/ pointALng Line endpoint A.
	pointBLat	/ pointBLng Line endpoint B.
	crossingFlag	Reference to the caller-owned per-line in-zone flag.
	lineLabel	Debug label: 0 = start(/finish), 1 = sprint finish, 2 / 3 = sector.
[out]	outLat	/ outLng / outTime / outOdometer Interpolated crossing point — only valid when the return is LINE_DETECT_COMPLETED.

Returns: LINE_DETECT_NONE / IN_ZONE / COMPLETED. See enum docs.

Crossing-line detection: hypotenuse threshold method.

Using the width of the crossing line and "crossingThresholdMeters" to form a right triangle, the calculated hypotenuse is the effective proximity threshold. We measure from the driver to each crossing point; if either distance exceeds the hypotenuse we are not in the zone.

Earlier experiments used acute/obtuse-triangle detection (see DovesLapTimer::isObtuseTriangle), which worked on OKC but felt brittle. Hypotenuse-based threshold has been more reliable across short and long track configurations.

◆ getForceLinear()

bool CrossingEngine::getForceLinear ( ) const

◆ getRejectedCrossingCount()

unsigned int CrossingEngine::getRejectedCrossingCount ( ) const

Number of crossing-zone exits whose interpolation was rejected.

A rejection means the GPS data inside the zone never produced a usable straddling pair (no side change, pair too far from the line, incoherent timestamps, or crossing landing off the line segment).

◆ reset()

void CrossingEngine::reset ( )

Clears the buffer, the rejected-crossing counter, and any in-flight zone state. Does NOT clear the configured threshold/mode.

◆ setDebugSerial()

void CrossingEngine::setDebugSerial ( Stream * debugSerial )

Attaches / detaches a debug output stream.

◆ setForceLinear()

void CrossingEngine::setForceLinear ( bool linear )

Selects linear (true, default) or Catmull-Rom (false) position interpolation. Time and odometer are always interpolated linearly.

◆ setThreshold()

void CrossingEngine::setThreshold ( double meters )

Sets the crossing zone threshold, in meters.

The documentation for this class was generated from the following files:

src/CrossingEngine.h
src/CrossingEngine.cpp

Public Member Functions