v4.3.0 Beta — SprintTimer, CrossingEngine extraction, DOVES_DISABLE_DEBUG - #49
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…tability TODO) Move the in-zone ring buffer, zone state machine (_detectLineCrossing), and crossing interpolation verbatim into a reusable CrossingEngine class; line geometry (side-of-line, segment distance, hypotenuse zone test) becomes GeoMath free functions. DovesLapTimer delegates through thin wrappers - public API, memory layout, and numeric behavior unchanged (Layer-2 suites and all four Layer-3 NMEA replay goldens pass unmodified). Co-Authored-By: Claude Fable 5 <noreply@anthropic.com> Claude-Session: https://claude.ai/code/session_01HnTP6BdA9xjLR5hSWE9frb
…urse SprintTimer: sprint-mode (autocross/hillclimb) timing - a run starts at a START line and ends at a separate FINISH line, up to two optional splits (0/1/2 all legal). Two states, purely line-driven: start crossing begins a run and cancels+restarts one already in progress (botched-course re-launch); finish crossings with no active run are ignored; DNF is nothing special. Every line has its own CrossingEngine so all lines stay hot on every fix and start/finish zones may overlap. Duck-typed to DovesLapTimer's getter surface (laps == runs) plus run-native aliases. CourseManager::selectCourse(int) selects a layout directly, bypassing CourseDetector - required for sprint (point-to-point driving can never satisfy drive-a-lap-back-to-your-waypoint detection) and useful for app-chosen circuit courses. 15 SprintTimer tests over a synthetic 500m open course (exact-by- construction times) + 4 selectCourse tests. Coverage 85.2% (gate 80). Co-Authored-By: Claude Fable 5 <noreply@anthropic.com> Claude-Session: https://claude.ai/code/session_01HnTP6BdA9xjLR5hSWE9frb
…intTimer Example compiles on the ESP32 + XIAO CI cells only (per-line buffers do not fit small AVRs). Co-Authored-By: Claude Fable 5 <noreply@anthropic.com> Claude-Session: https://claude.ai/code/session_01HnTP6BdA9xjLR5hSWE9frb
std::forward doesn't exist on classic AVR without the ArxTypeTraits polyfill (no C++ standard library) - the extracted debug templates used it but the new header didn't pull the polyfill in, breaking the Uno/Mega CI cells for any TU that parses CrossingEngine.h before DovesLapTimer.h. Same first-include rule DovesLapTimer.h already follows. Co-Authored-By: Claude Fable 5 <noreply@anthropic.com> Claude-Session: https://claude.ai/code/session_01HnTP6BdA9xjLR5hSWE9frb
… on OKC fixture Per review idea: reuse the recorded OKC session as pseudo-sprint data. Start = the OKC 'Normal' S/F line, finish = its real sector-2 line (from the DovesDataLogger SDCARD OKC.json - S/F coords match the fixture to the last digit). Every recorded lap then contains exactly one point-to-point run whose duration must equal that lap's circuit-timer sector-1 time on the same fixes: two independent accounting layers over the same crossing engine agree to the millisecond (28378 / 27903 / 28304 ms, pinned +/-50 like the other layer-3 goldens). Also verifies zero cancellations on circuit data and the fixture-end abandoned run (DNF-as-normal-op) on real GPS. Synthetic suite unchanged - it still owns the semantics circuit data can't produce (staging stops, cancel/restart, ignored finishes). Co-Authored-By: Claude Fable 5 <noreply@anthropic.com> Claude-Session: https://claude.ai/code/session_01HnTP6BdA9xjLR5hSWE9frb
SprintTimer: point-to-point run timing (sprint mode) + CrossingEngine extraction + selectCourse
The debug templates' runtime if(_serial) gate keeps every debug string and print call-site in flash even on firmwares that never attach a debug Stream (~150 call sites across the library - several KB on a fully-featured build; the DovesDataLogger beta image just burst its 320 KB OTA cap at 100.9% partly on this dead weight). Defining DOVES_DISABLE_DEBUG swaps the templates for empty inlines so the compiler drops strings and call-sites entirely. Default behavior unchanged; unit-tests CI now runs the host suite both ways. Co-Authored-By: Claude Fable 5 <noreply@anthropic.com> Claude-Session: https://claude.ai/code/session_01HnTP6BdA9xjLR5hSWE9frb
DOVES_DISABLE_DEBUG: compile-time debug kill switch (unblocks the logger's OTA size gate)
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- library.properties: 4.2.0 -> 4.3.0 - Doxyfile PROJECT_NUMBER: stale 4.0.0 -> 4.3.0 - CLAUDE.md version line -> 4.3.0 - CHANGELOG: move Unreleased entries under [4.3.0] - 2026-08-10 with release summary; add the 4.3.0 tag link Co-Authored-By: Claude Fable 5 <noreply@anthropic.com> Claude-Session: https://claude.ai/code/session_01TQK29n1LCebSUxf1nD12FW
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…iew-j5itt1 chore: v4.3.0 release prep — version bumps + CHANGELOG release heading
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Summary
Promotes the current beta to master as v4.3.0. Three logical changes (merged into
BETAvia #47 and #48), no breaking API changes — all existingDovesLapTimer/CourseManagertiming behavior is pinned by the Layer-3 NMEA replay goldens.1.
CrossingEngine— crossing detection extracted into a reusable core (refactor)detect()), and crossing interpolation moved verbatim out ofDovesLapTimer's private_detectLineCrossing/interpolateCrossingPointinto a newCrossingEngineclass (src/CrossingEngine.h/.cpp). This resolves the long-standingcheckStartFinishsplit-timing portability TODO.geoPointOnSideOfLine,geoPointLineSegmentDistance,geoInsideLineThreshold) moved toGeoMath.h;DovesLapTimer's public methods delegate unchanged.crossingPointBufferEntry,LineDetectResult,timeSinceMidnightDelta(),DOVES_MILLIS_PER_DAY, and theCROSSING_*constants now live inCrossingEngine.hbut remain visible throughDovesLapTimer.hfor back-compat.CrossingEngine.hbuilds on classic AVR.2.
SprintTimer— point-to-point run timing ("sprint mode") (feature)getCancelledRunCount()); a finish while WAITING is ignored; a DNF simply never completes.DovesLapTimer(validation, teleport rejection, odometer). Duck-typed to the fullDovesLapTimergetter surface (laps == runs) plus run-native aliases (getRuns(),getBestRunTime(),isRunActive(), ...).getCurrentLapTime()returns 0 while WAITING as the downstream "waiting" display signal.CourseManager::selectCourse(int)added alongside: activate a known course directly, bypassingCourseDetector(point-to-point driving can never satisfy the detector's drive-a-lap-back-to-your-waypoint premise).examples/sprint_timing_example(synthetic course, Serial only), wired into the CI compile matrix for the 32-bit boards.3.
DOVES_DISABLE_DEBUG— compile-time debug kill switch (feature)if (_serial)check, so production firmwares that never attach a debug Stream still carried every debug string and call site in flash (~150 call sites, several KB). DefiningDOVES_DISABLE_DEBUGswaps all six classes'debug_print/debug_printlntemplates for empty inlines so the compiler drops it all.Type of change
Testing
cd test && make runpasses locally (all suites green)test/test_sprint_timer.cpp— synthetic point-to-point semantics: run times, cancel/restart, ignored finishes, 0/1/2 splits, missed-split invalidationtest/test_nmea_sprint.cpp— real-data differential replay: the OKC 2-laps fixture through BOTH the circuit timer and a SprintTimer (start = S/F, finish = the real OKC sector-2 line); every run must equal that lap's circuit sector-1 time to ±10 ms, plus pinned run goldenstest/test_course_manager.cpp— extended forselectCourse()unit-tests.yml— second host-suite pass with-DDOVES_DISABLE_DEBUGChecklist
README.mdupdated (SprintTimer section + API tables, debug kill switch)CHANGELOG.mdupdated (entries under Unreleased; v4.3.0 release prep: version bumps + all 8 pre-release code-review fixes #50 cuts them into the[4.3.0]release heading)Notes for reviewers
BETAfirst so this PR ships master with correct release metadata. Tagv4.3.0after this merges.SprintTimerintentionally has noDirectionDetector— backward start crossings self-heal via the cancel/restart rule.🤖 Generated with Claude Code
https://claude.ai/code/session_01TQK29n1LCebSUxf1nD12FW