nav.git/test-runner/src/test, branch main

Add RACE mode to TackDetector for rapid mark-rounding detection

2026-05-27T05:38:24+00:00

Introduces TackMode enum (CRUISING/RACE) and per-mode Config, replacing the previous single set of hardcoded constants. RACE config: T_SETTLE=12s, T_MANEUVER=20s, STAB_MAX=30°, MIN_GAP=20s, START_SKIP=20s — tighter windows for quick successive tacks at race starts and mark roundings. CRUISING remains the default. Two new tests demonstrate the behavioral difference: RACE fires earlier (past 20s cold-start vs 60s) and keeps separate events for a 50s gap that CRUISING deduplicates (50s < 60s MIN_GAP). 18/18 passing. https://claude.ai/code/session_01KXYBuAHZkvv63DeUG6XaZD

Fix ANR, false tack detections, and empty-state flash on track load

2026-05-26T07:46:09+00:00

ANR: getSavedTracks() had no IO dispatcher — TackDetector ran on main thread at O(n²) cost (~77M ops for a 2.5h track). Added withContext(IO). TackDetector: replaced O(n) list.filter with O(log n) binary-search subList for before/after windows; O(n²) → O(n log n). Raised MIN_DELTA 60°→75° to stop detecting ordinary course corrections as maneuvers. Removed MAX_DELTA cap entirely — 180° crash-tacks are valid; the circularMAD stability windows are the real quality gate. TrackDetailSheet: dropped the arbitrary abs(delta)>70 Tack/Jibe heuristic. Now uses true wind angle when available for classification; falls back to "Maneuver" when TWD is absent. SavedTracksFragment: added isLoadingTracks StateFlow (MainViewModel); combine() suppresses the empty-state layout while the initial IO load runs so it no longer flashes "No saved tracks yet" before data arrives. 16/16 TackDetector tests pass. https://claude.ai/code/session_01KXYBuAHZkvv63DeUG6XaZD

Redesign tack detection: time-based windows + circularMAD stability

2026-05-26T06:39:05+00:00

Replace the point-count window (HALF_WIN=2) with 30s time-based settle windows that give consistent reliability regardless of GPS update rate (1 Hz FULL vs 0.2 Hz ECONOMY). Key changes: - Before/after windows are time-based (T_SETTLE=30s) around a guard zone (T_MANEUVER=30s), not point counts. - Stability uses circularMAD (<20°) across all fixes in each window, replacing the single-pair spread check. This correctly handles 0°/360° wrap and suppresses random anchor-watch COG noise (MAD≈90°). - No SOG gate: averaging 30 fixes over 30s reduces noise by √30 regardless of boat speed. A boat at anchor has MAD≈90° and is rejected by the stability check. - MAX_DELTA raised to 160° (covers deep jibes the old 140° missed). - START_SKIP reduced to 60s (stability check handles cold-start noise). - De-duplication uses adjacent-candidate comparison so a long stream of raw candidates from one maneuver stays in a single group even if it spans >MIN_GAP_MS in total. - Position refined to max instantaneous heading rate within the maneuver zone. - Mode: CRUISING (conservative). Race mode noted as future backlog. 16/16 unit tests pass at 1 Hz (FULL mode GPS rate). https://claude.ai/code/session_01YUbuZNDAoLea4cf9UGQ9qn

Fix Long overflow in TackDetector: var lastTackMs = Long.MIN_VALUE caused subtraction overflow, filtering every tack

2026-05-20T22:18:38+00:00

Add saved tracks browser, tack detection, and map zoom-to-bounds

2026-05-12T23:13:55+00:00

- TackDetector: sliding-window COG algorithm (60-140deg delta = tack/jibe) with stability check to prevent mixed-window false positives; 13 tests green - TackEvent, SavedTrack: new models wrapping points + summary + detected tacks - TrackRepository.getSavedTracks(): returns List with lazy load - MapHandler: zoomToTrackBounds (LatLngBounds fit with padding), panToPoint (log step-through), updateTackLayer (yellow circle markers) - MainViewModel: savedTracks + selectedTrack StateFlows, panToPosition SharedFlow - SavedTracksFragment: RecyclerView list with date/distance/duration/tack count - TrackDetailSheet: bottom sheet with stats + event log (tacks, speed changes, start/end); tapping an entry pans the map to that position - MainActivity: zoom map on track complete, wire Saved Tracks button in instrument sheet, observe panToPosition to drive map, show tack markers when a saved track is selected Co-Authored-By: Claude Sonnet 4.6

fix+feat: CI build fixes and hardware source feature flags

2026-04-22T09:02:46+00:00

CI fixes: - ParticleWindView: bounds.lonEast → bounds.northEast.longitude (MapLibre 13.x API; lonEast not available as property) - VesselRegistryFragment: Vessel(id="") and CrewMember(id="") → include required name="" so copy() compiles Hardware source feature flags: - HardwareSource enum: AIS_RECEIVER, NMEA_INSTRUMENTS - FeatureFlags: SharedPreferences-backed; all sources default OFF (app works phone-only out of the box) - NavApplication: exposes featureFlags singleton - SafetyFragment: "HARDWARE DATA SOURCES" card with two MaterialSwitch toggles; reads initial state from FeatureFlags; calls SafetyListener.onHardwareSourceChanged on change - AIS_RECEIVER flag: - MainViewModel.processAisSentence() / refreshAisFromInternet() skip when disabled; onHardwareSourceChanged() clears targets + cpaAlerts - NMEA_INSTRUMENTS flag: - LocationService skips nmeaStreamManager.start() on service launch when disabled - New ACTION_START_NMEA / ACTION_STOP_NMEA intents allow live toggle - MainActivity.onHardwareSourceChanged() sends the appropriate intent Tests: 102 total, all GREEN (+7 FeatureFlagsTest) https://claude.ai/code/session_011h2dXbgXg3PesQMmQUNTCW

feat: CPA/TCPA collision alerts and live track stats

2026-04-22T08:45:55+00:00

CPA/TCPA alerts: - CpaAlert data class with severity (CAUTION/WARNING/DANGER) and label() - CpaThresholds: 0.5/1.0/2.0 nm, max TCPA 30 min - MainViewModel.updateCpaAlerts() runs on every GPS update and AIS sentence; skips stationary contacts; filters TCPA ≤ 0 or > 30 min; sorts by TCPA ascending - SafetyFragment: new COLLISION AVOIDANCE card shows live alert list, color-coded by severity; clears to "No traffic alerts" when safe - MainActivity: observes cpaAlerts → safetyFragment.updateCpaAlerts() Track stats: - TrackStats data class: distanceNm, durationMs, avgSogKnots, durationFormatted (m:ss / h:mm:ss) - TrackRepository.haversineNm() + computeStats() using point timestamps - MainViewModel exposes trackStats StateFlow, cleared on stopTrack() - activity_main: dark pill overlay bar (tv_track_stats) above map - MainActivity: shows "● REC 0.00nm m:ss x.xkt avg" while recording Tests: 95 total, all GREEN (+16 new — 9 TrackStats, 7 CpaAlert) https://claude.ai/code/session_011h2dXbgXg3PesQMmQUNTCW

feat: vessel registry, crew management, and thermal alarm

2026-04-22T05:35:49+00:00

- Vessel/CrewMember data classes with full profile fields (MMSI, callsign, flag, home port, hull type, dimensions, roles) - VesselRepository: in-memory CRUD for own vessel, fleet, and crew; getOwnVessel(), getSkipper(), getCrewByRole() helpers - VesselRegistryFragment: own-vessel card + crew list + known-vessels list; AlertDialog editors for add/edit; long-press to delete - ic_vessel.xml sailboat icon; 5th bottom-nav tab "Vessel" - ThermalMonitor: thermalFlow() using Intent.ACTION_BATTERY_CHANGED (battery °C) + PowerManager.OnThermalStatusChangedListener (API 29+); ThermalState OK/WARM/HOT/CRITICAL with distinct-until-changed filter - MainActivity: startThermalMonitoring() sounds mob_alarm + Toast on HOT (≥45°C) and CRITICAL (≥50°C); auto-silences on OK/WARM - MainViewModel: thermalState and thermalReading StateFlows - 18 VesselRepositoryTest cases — all GREEN (test-runner) - design.md: updated competitive matrix + feature implementation status https://claude.ai/code/session_011h2dXbgXg3PesQMmQUNTCW

fix(ui): make record track FAB visible (#1)

2026-04-02T21:28:00+00:00

* Add GpsPosition data class and NMEA RMC parser with tests - GpsPosition: latitude, longitude, sog (knots), cog (degrees true), timestampMs - NmeaParser.parseRmc: handles GP/GN talker IDs, void status, malformed input - SOG/COG default to 0.0 when fields absent; S/W coords are negative - 13 unit tests: GpsPositionTest (2), NmeaParserTest (11) — all GREEN Co-Authored-By: Claude Sonnet 4.6 * feat: add harmonic tide height predictions (Section 3.2 / 4.2) Implement offline harmonic tide prediction as specified in COMPONENT_DESIGN.md: - TideConstituent: name, speedDegPerHour, amplitudeMeters, phaseDeg - TidePrediction: timestampMs, heightMeters - TideStation: id, name, lat, lon, datumOffsetMeters, constituents - HarmonicTideCalculator: predictHeight(), predictRange(), findHighLow() Formula: h(t) = Z0 + Σ [ Hi × cos( ωi × (t − t0) − φi ) ] - 15 unit tests covering all calculation paths Co-Authored-By: Claude Sonnet 4.6 * feat: implement isochrone-based weather routing (Section 3.4) * feat: implement PDF logbook export (Section 4.8) - LogbookEntry data class: timestampMs, lat/lon, SOG, COG, wind, baro, depth, event/notes - LogbookFormatter: UTC time, position (deg/dec-min), 16-pt compass, row/page builders - LogbookPdfExporter: landscape A4 PDF via android.graphics.pdf.PdfDocument with column headers, alternating row shading, and table border - 20 unit tests covering all formatting helpers and data model behaviour Co-Authored-By: Claude Sonnet 4.6 * feat: offline GRIB staleness checker, ViewModel integration, and UI badge - Add GribRegion, GribFile data models and GribFileManager interface - Add InMemoryGribFileManager for testing and default use - Add GribStalenessChecker with FreshnessResult sealed class (Fresh/Stale/NoData) - Integrate weatherStaleness StateFlow into MainViewModel (checked after loadWeather) - Add yellow staleness banner TextView to fragment_map.xml - Wire staleness banner in MapFragment (shown on Stale, hidden on Fresh/NoData) - Add GribStalenessCheckerTest (4 TDD tests) Co-Authored-By: Claude Sonnet 4.6 * feat: satellite GRIB download with bandwidth optimisation (§9.1) Implements weather data download over Iridium satellite links: - GribParameter enum with SATELLITE_MINIMAL set (wind + pressure only) - SatelliteDownloadRequest data class (region, params, forecast hours, resolution) - SatelliteGribDownloader: size/time estimation, abort-on-oversized, pluggable fetcher - 8 unit tests covering estimation scaling, minimal param set, and download outcomes Co-Authored-By: Claude Sonnet 4.6 * feat: add AnchorWatchHandler UI with Depth/Rode Out inputs and suggested radius - Add AnchorWatchState with calculateRecommendedWatchCircleRadius, which uses ScopeCalculator.watchCircleRadius (Pythagorean scope formula) and falls back to rode length when geometry is invalid - Add AnchorWatchHandler Fragment with EditText inputs for Depth (m) and Rode Out (m); updates suggested watch circle radius live via TextWatcher - Add fragment_anchor_watch.xml layout - Wire AnchorWatchHandler into bottom navigation (MainActivity + menu) - Add AnchorWatchStateTest covering valid geometry, short-rode fallback Co-Authored-By: Claude Sonnet 4.6 * feat(safety): log wind and current conditions at MOB activation (Section 4.6) Per COMPONENT_DESIGN.md Section 4.6, the MOB navigation view must display wind and current conditions at the time of the event. - MobEvent: add nullable windSpeedKt, windDirectionDeg, currentSpeedKt, currentDirectionDeg fields captured at the exact moment of activation - MobAlarmManager.activate(): accept optional wind/current params and forward them into MobEvent (defaults to null for backward compatibility) - LocationService (new): aggregates live SensorData (resolves true wind via TrueWindCalculator) and marine-forecast current conditions; snapshot() provides a point-in-time EnvironmentalSnapshot for safety-critical logging - MobAlarmManagerTest: add tests for wind/current storage and null defaults - LocationServiceTest (new): covers snapshot, true-wind resolution, current-condition updates, and the latestSensor flow Co-Authored-By: Claude Sonnet 4.6 * feat(gps): implement NMEA/Android GPS sensor fusion in LocationService Adds priority-based selection between NMEA GPS (dedicated marine GPS, higher priority) and Android system GPS (fallback) within LocationService. Selection policy: 1. Prefer NMEA when its most recent fix is fresh (≤ nmeaStalenessThresholdMs, default 5 s) 2. Fall back to Android GPS when NMEA is stale 3. Use stale NMEA only when Android has never reported a fix 4. bestPosition is null until at least one source reports New public API: - GpsSource enum (NONE, NMEA, ANDROID) - LocationService.updateNmeaGps(GpsPosition) - LocationService.updateAndroidGps(GpsPosition) - LocationService.bestPosition: StateFlow - LocationService.activeGpsSource: StateFlow - Injectable clockMs parameter for deterministic unit tests Adds 7 unit tests covering: no-data state, fresh NMEA priority, stale NMEA fallback, only-NMEA/only-Android scenarios, exact-threshold edge case, and NMEA recovery after Android takeover. Co-Authored-By: Claude Sonnet 4.6 * feat(gps): add fix-quality (accuracy) tier to GPS sensor fusion Extend LocationService's source-selection policy with a quality-aware "marginal staleness" zone between the primary and a new extended staleness threshold (default 10 s): 1. Fresh NMEA (≤ primary threshold, 5 s) → always prefer NMEA 2. Marginally stale NMEA (5–10 s) → prefer NMEA only when GpsPosition.accuracyMeters is strictly better than Android's; fall back to Android conservatively when accuracy data is absent 3. Very stale NMEA (> 10 s) → always prefer Android 4. Only one source available → use it regardless of age Changes: - GpsPosition: add nullable accuracyMeters field (default null, no breaking change to existing callers) - LocationService: add nmeaExtendedThresholdMs constructor parameter; recomputeBestPosition() now implements three-tier logic; extract GpsPosition.hasStrictlyBetterAccuracyThan() helper - LocationServiceTest: expose nmeaExtendedThresholdMs in fusionService helper; add posWithAccuracy helper; add 4 new test cases covering accuracy-based NMEA preference, worse-accuracy fallback, no-accuracy conservative fallback, and very-stale unconditional fallback Co-Authored-By: Claude Sonnet 4.6 * chore: add .gitignore, pull-crash-logs script, updated agent permissions - .gitignore: exclude agent artifacts (.claudomator-env, .agent-home/, crash-logs/) - scripts/pull-crash-logs: download Crashlytics crash reports via Firebase CLI - .claude/settings.local.json: add Android SDK/emulator/adb permission rules Co-Authored-By: Claude Sonnet 4.6 * chore: update CI workflow to target main branch Co-Authored-By: Claude Sonnet 4.6 * fix: resolve all Kotlin compilation errors blocking CI build - Migrate kapt → KSP (Kotlin 2.0 + kapt is broken; KSP is the supported path) - Fix duplicate onResume() override in MainActivity - Fix wrong package imports: com.example.androidapp.data.model → org.terst.nav.data.model across GribFileManager, GribStalenessChecker, SatelliteGribDownloader, LogbookFormatter, LogbookPdfExporter, IsochroneRouter, AnchorWatchHandler - Create missing SensorData, ApparentWind, TrueWindData, TrueWindCalculator classes - Inline missing ScopeCalculator formula (Pythagorean) in AnchorWatchState Co-Authored-By: Claude Sonnet 4.6 * feat(track): implement GPS track recording with map overlay - TrackRepository + TrackPoint wired into MainViewModel: isRecording/trackPoints StateFlows, startTrack/stopTrack/addGpsPoint - MapHandler.updateTrackLayer(): lazily initialises a red LineLayer and updates GeoJSON polyline from List - fab_record_track FAB in activity_main.xml (top|end of bottom nav); icon toggles between ic_track_record and ic_close while recording - MainActivity feeds every GPS fix into viewModel.addGpsPoint() and observes trackPoints to redraw the polyline in real time - ic_track_record.xml vector drawable (red record dot) - 8 TrackRepositoryTest tests all GREEN Co-Authored-By: Claude Sonnet 4.6 * test(ci): share APKs between jobs and expand smoke tests CI — build job now uploads both APKs as the 'test-apks' artifact. smoke-test job downloads them and passes -x assembleDebug -x assembleDebugAndroidTest to skip recompilation (~4 min saved). Test results uploaded as 'smoke-test-results' artifact on every run. Smoke tests expanded from 1 → 11 tests covering: - MainActivity launches without crash - All 4 bottom-nav tabs are displayed - Safety tab: Safety Dashboard, ACTIVATE MOB, ANCHOR WATCH visible - Log tab: voice-log mic FAB visible - Instruments tab: bottom sheet displayed - Map tab: returns from overlay, mapView visible - MOB FAB: always visible, visible on Safety tab - Record Track FAB: displayed, toggles to Stop Recording, toggles back MainActivity: moved isRecording observer to initializeUI() so the FAB content description updates without requiring GPS permission (needed for emulator tests that run without location permission). Co-Authored-By: Claude Sonnet 4.6 * refactor: address simplify review findings TrackRepository.addPoint() now returns Boolean (true if point was added). MainViewModel.addGpsPoint() only updates _trackPoints StateFlow when a point is actually appended — eliminates ~3,600 no-op flow emissions per hour when not recording. MainActivity: loadedStyle promoted from nullable field to MutableStateFlow; trackPoints observer uses filterNotNull + combine so no track points are silently dropped if the style loads after the first GPS fix. Smoke tests: replaced 11× ActivityScenario.launch().use{} with a single @get:Rule ActivityScenarioRule — same isolation, less boilerplate. CI: removed redundant app-debug artifact upload (app-debug.apk is already included inside the test-apks artifact). Removed stale/placeholder comments from MainActivity. Co-Authored-By: Claude Sonnet 4.6 * fix(ui): anchor record track FAB to instrument sheet to prevent it being hidden The FAB was anchored to bottom_navigation, placing it in the peek zone of the instrument bottom sheet (120dp) and making it invisible to users. Re-anchoring to instrument_bottom_sheet keeps the button visible and makes it track naturally with sheet drag gestures. Co-Authored-By: Claude Sonnet 4.6 * fix(ui): anchor MOB FAB to instrument sheet to match record-track FAB The fab_mob was still anchored to bottom_navigation using the same top|start pattern that caused fab_record_track to be hidden behind the instrument sheet's 16dp elevation. Apply the same fix so the safety-critical MOB button is not occluded. Co-Authored-By: Claude Sonnet 4.6 --------- Co-authored-by: Claudomator Agent Co-authored-by: Claude Sonnet 4.6 Co-authored-by: Agent Co-authored-by: Claude Agent

Merge branch 'master' of /site/git.terst.org/repos/nav

2026-03-16T01:10:08+00:00