Merge claude/whats-next-0XCO3: fix ANR, tack detection, empty-state flash

1 files changed, 79 insertions, 47 deletions

diff --git a/test-runner/src/test/kotlin/org/terst/nav/track/TackDetectorTest.kt b/test-runner/src/test/kotlin/org/terst/nav/track/TackDetectorTest.kt
index 44bd667..265ba76 100644
--- a/test-runner/src/test/kotlin/org/terst/nav/track/TackDetectorTest.kt
+++ b/test-runner/src/test/kotlin/org/terst/nav/track/TackDetectorTest.kt
@@ -5,24 +5,27 @@ import org.junit.Test
 
 class TackDetectorTest {
 
-    private fun pt(lat: Double, lon: Double, cog: Double, ts: Long) =
-        TrackPoint(lat, lon, 5.0, cog, 12.0, 0.0, true, ts)
-
-    private fun straightTrack(cog: Double, count: Int = 10): List<TrackPoint> =
-        (0 until count).map { i -> pt(37.0 + i * 0.01, -122.0, cog, i * 10_000L) }
-
-    private fun tackTrack(cogBefore: Double, cogAfter: Double, each: Int = 6): List<TrackPoint> {
-        val before = (0 until each).map { i -> pt(37.0 + i * 0.005, -122.0, cogBefore, i * 10_000L) }
-        val after  = (0 until each).map { i -> pt(37.0 + each * 0.005 + i * 0.005, -122.0, cogAfter, (each + i) * 10_000L) }
-        return before + after
-    }
+    // 1 Hz GPS (FULL mode). Time-based windows:
+    //   T_SETTLE=30s, T_MANEUVER=30s, START_SKIP=60s.
+    // Minimum for a candidate to fire: START_SKIP(60) + T_SETTLE(30) + T_MANEUVER/2(15) = 105 s from t0.
+    // To also have a 30s after-window: apex at ~105s, after-window ends at 105+15+30=150s.
+    // So a safe warmup leg is 120 pts (t=0..119s), tack apex around t=120s, after-leg ≥ 60 pts.
+    private val STEP_MS = 1_000L  // 1 s between points
+
+    private fun leg(cog: Double, count: Int, startMs: Long, sogKnots: Double = 5.0): List<TrackPoint> =
+        (0 until count).map { i ->
+            TrackPoint(37.0 + (startMs / 1000 + i) * 0.00001, -122.0, sogKnots, cog, 12.0, 0.0, true,
+                startMs + i * STEP_MS)
+        }
+
+    // Standard two-leg track: 120 s warmup on cogBefore, 120 s on cogAfter.
+    // Tack apex candidates fire around t≈120 s, well past START_SKIP=60s.
+    private fun tackTrack(cogBefore: Double, cogAfter: Double): List<TrackPoint> =
+        leg(cogBefore, 120, 0L) + leg(cogAfter, 120, 120_000L)
 
     @Test fun `straight course yields no tacks`() {
-        assertTrue(TackDetector.detectTacks(straightTrack(90.0)).isEmpty())
-    }
-
-    @Test fun `straight course on port tack yields no tacks`() {
-        assertTrue(TackDetector.detectTacks(straightTrack(330.0)).isEmpty())
+        val pts = leg(90.0, 300, 0L)
+        assertTrue(TackDetector.detectTacks(pts).isEmpty())
     }
 
     @Test fun `detects port to starboard tack`() {
@@ -33,63 +36,92 @@ class TackDetectorTest {
     }
 
     @Test fun `detects starboard to port tack`() {
-        val tacks = TackDetector.detectTacks(tackTrack(70.0, 330.0))
-        assertEquals(1, tacks.size)
+        assertEquals(1, TackDetector.detectTacks(tackTrack(70.0, 330.0)).size)
     }
 
     @Test fun `detects jibe on broad reach`() {
-        // broad reach port → starboard: 150° → 210°, delta = 60°
-        val tacks = TackDetector.detectTacks(tackTrack(150.0, 250.0))
-        assertEquals(1, tacks.size)
+        // 150° → 290°: delta = 140°, within [60°, 160°]
+        assertEquals(1, TackDetector.detectTacks(tackTrack(150.0, 290.0)).size)
     }
 
     @Test fun `handles 0-360 wrap`() {
-        // 350° → 80°: delta = 90° through north
-        val tacks = TackDetector.detectTacks(tackTrack(350.0, 80.0))
-        assertEquals(1, tacks.size)
-    }
-
-    @Test fun `gradual course change is not a tack`() {
-        // COG increases by 5° per point: window delta ≈ 15°, below threshold
-        val points = (0 until 20).map { i -> pt(37.0 + i * 0.01, -122.0, i * 5.0, i * 10_000L) }
-        assertTrue(TackDetector.detectTacks(points).isEmpty())
+        assertEquals(1, TackDetector.detectTacks(tackTrack(350.0, 80.0)).size)
     }
 
-    @Test fun `small heading change below threshold is ignored`() {
-        // 45° change — not a tack
+    @Test fun `heading change below MIN_DELTA is ignored`() {
+        // 45° delta — below MIN_DELTA=75°
         assertTrue(TackDetector.detectTacks(tackTrack(90.0, 135.0)).isEmpty())
     }
 
-    @Test fun `very large heading change above threshold is ignored`() {
-        // 160° delta — U-turn, not a normal tack or jibe
-        assertTrue(TackDetector.detectTacks(tackTrack(90.0, 250.0)).isEmpty())
+    @Test fun `heading change of 170 degrees is detected`() {
+        // 170° delta — valid crash-tack; no upper cap
+        assertEquals(1, TackDetector.detectTacks(tackTrack(90.0, 260.0)).size)
     }
 
-    @Test fun `detects two tacks in sequence`() {
-        val leg1 = (0 until 6).map { i -> pt(37.0 + i * 0.01, -122.0, 330.0, i * 10_000L) }
-        val leg2 = (0 until 6).map { i -> pt(37.06 + i * 0.01, -122.0, 70.0, (6 + i) * 10_000L) }
-        val leg3 = (0 until 6).map { i -> pt(37.12 + i * 0.01, -122.0, 330.0, (12 + i) * 10_000L) }
+    @Test fun `detects two tacks in sequence with sufficient gap`() {
+        // leg1: 120s, leg2: 180s (> MIN_GAP_MS=60s), leg3: 120s
+        val leg1 = leg(330.0, 120, 0L)
+        val leg2 = leg(70.0,  180, 120_000L)
+        val leg3 = leg(330.0, 120, 300_000L)
         val tacks = TackDetector.detectTacks(leg1 + leg2 + leg3)
         assertEquals(2, tacks.size)
     }
 
-    @Test fun `deduplicates tacks at same transition`() {
-        val before = (0 until 8).map { i -> pt(37.0, -122.0 + i * 0.0001, 330.0, i * 5_000L) }
-        val after  = (0 until 8).map { i -> pt(37.0, -122.0 + 0.0008 + i * 0.0001, 70.0, (8 + i) * 5_000L) }
-        val tacks = TackDetector.detectTacks(before + after)
+    @Test fun `deduplicates adjacent candidates into single tack`() {
+        // Single abrupt tack fires many consecutive raw candidates; must collapse to 1
+        val tacks = TackDetector.detectTacks(tackTrack(330.0, 70.0))
         assertEquals(1, tacks.size)
     }
 
-    @Test fun `tack event contains correct position`() {
+    @Test fun `tack event contains plausible position`() {
         val tacks = TackDetector.detectTacks(tackTrack(330.0, 70.0))
         assertEquals(1, tacks.size)
-        // Position should be somewhere in the track bounds
         assertTrue(tacks[0].lat in 37.0..37.1)
         assertTrue(tacks[0].lon in -122.1..-122.0)
     }
 
     @Test fun `too few points returns empty`() {
-        val points = (0 until 3).map { i -> pt(37.0, -122.0, 90.0, i * 1000L) }
-        assertTrue(TackDetector.detectTacks(points).isEmpty())
+        val pts = leg(90.0, 2, 0L)
+        assertTrue(TackDetector.detectTacks(pts).isEmpty())
+    }
+
+    @Test fun `cold start suppresses tack in first 60 seconds`() {
+        // Tack apex at t=30s — inside START_SKIP_MS=60s → filtered
+        val pts = leg(330.0, 40, 0L) + leg(70.0, 60, 40_000L)
+        assertEquals(0, TackDetector.detectTacks(pts).size)
+    }
+
+    @Test fun `noisy anchor COG does not produce false tack`() {
+        // Simulate boat at anchor: COG rotates 0..360 uniformly (MAD ≈ 90°, fails STAB_MAX=20°)
+        val pts = (0 until 300).map { i ->
+            TrackPoint(37.0, -122.0, 0.1, (i * 37.0) % 360.0, 12.0, 0.0, true, i * STEP_MS)
+        }
+        assertTrue(TackDetector.detectTacks(pts).isEmpty())
+    }
+
+    @Test fun `unstable before-window prevents false detection`() {
+        // Before-window has scattered headings (std dev >> STAB_MAX), after-window is stable
+        val noisyBefore = (0 until 120).map { i ->
+            TrackPoint(37.0, -122.0, 3.0, (i * 47.0) % 360.0, 12.0, 0.0, true, i * STEP_MS)
+        }
+        val stableAfter = leg(70.0, 120, 120_000L)
+        assertTrue(TackDetector.detectTacks(noisyBefore + stableAfter).isEmpty())
+    }
+
+    @Test fun `gradual 5-degree-per-second course change is not a tack`() {
+        // Course changes 5°/s for 60 s = 300° total change but never a sudden tack
+        val pts = (0 until 300).map { i ->
+            TrackPoint(37.0 + i * 0.0001, -122.0, 5.0, (i * 5.0) % 360.0, 12.0, 0.0, true, i * STEP_MS)
+        }
+        assertTrue(TackDetector.detectTacks(pts).isEmpty())
+    }
+
+    @Test fun `two tacks closer than MIN_GAP_MS produces only one event`() {
+        // leg1=120s, leg2=45s (< MIN_GAP_MS=60s gap to leg3 candidates), leg3=120s
+        val leg1 = leg(330.0, 120, 0L)
+        val leg2 = leg(70.0,   45, 120_000L)
+        val leg3 = leg(330.0, 120, 165_000L)
+        val tacks = TackDetector.detectTacks(leg1 + leg2 + leg3)
+        assertEquals(1, tacks.size)
     }
 }