fix(#1775, #1489): path quality gating in onContactPathRecv + 3x flood ACK retry

[thecharge]

Reliability Changes: Path Quality Gating & Flood ACK Retry

Related issues: #1775, #1489

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Change 1 — Path Quality Gating in onContactPathRecv

The Bug

BaseChatMesh::onContactPathRecv unconditionally overwrote the stored
out_path with any newly-arriving path, regardless of the quality of the
stored path or the quality of the incoming one.

In an RF mesh with multipath propagation, flood path-return packets can
arrive from multiple routes in quick succession. The first to arrive wins
— which is not necessarily the shortest route. More critically, a
longer-hop path arriving shortly after an established short-hop path
silently replaced the working route with a worse one.

Consequence (from issue #1775):

• A stable, proven direct route (e.g. 1 hop) could be replaced by a
  suboptimal multipath duplicate (e.g. 3 hops) arriving 50–200 ms later.
• Subsequent direct messages then travel via the longer route, increasing
  airtime, collision probability, and delivery failure rate.
• The user sees intermittent "works / doesn't work" behaviour with the same
  peer even when the mesh topology has not changed.

The Fix

onContactPathRecv now applies a stickiness window before accepting a
path replacement:

1. If the stored path is younger than PATH_STICKINESS_WINDOW_SECS
   (default 600 s / 10 min) and the incoming path has more hops than
   the stored one, the stored path is kept.
2. Any embedded ACK or response carried inside the path packet is still
   processed regardless (so the sender's ACK timeout is cancelled correctly).
3. The stored path is always replaced when it is stale, when it is the
   same or shorter hop count, or when no path was previously known — ensuring
   the node still adapts to topology changes.

A new field out_path_timestamp (uint32_t, zero-init) on ContactInfo
records the RTC time at which the current out_path was last accepted.

Delivery Success Tracking

A second new field path_ack_count (uint8_t, zero-init, saturates at 255)
is incremented in onAckRecv whenever an ACK arrives via the stored direct
path (not flood). This provides a cheap per-contact signal of proven
delivery that can be used in future heuristics (e.g. giving a higher
stickiness weight to a path that has successfully delivered messages).

The counter is reset to zero whenever a new path is accepted, so it always
reflects delivery history on the current path.

Configurable Knobs

#define	Default	Description
PATH_STICKINESS_WINDOW_SECS	600	Seconds a fresh path is protected from longer-hop replacement

Override before including BaseChatMesh.h or via build flags.

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Change 2 — Flood ACK Reliability (sendAckTo)

The Bug

When a direct message arrived via flood routing (i.e. the recipient had no
stored direct path to the sender), sendAckTo sent exactly one flood
ACK packet.

LoRa RF environments are inherently lossy. A single ACK transmission:

• Can collide with other traffic on the channel.
• Can be lost due to transient interference or fading.
• Has no retry mechanism at the MAC layer.

When the ACK is lost the sender must wait for its full timeout (several
seconds) before attempting to retransmit the message, burning airtime and
battery, and degrading the user experience. In practice users reported
that doubling or tripling ACK transmissions (already possible via
getExtraAckTransmitCount() for direct-path ACKs) dramatically improved
perceived reliability (issue #1489).

The Fix

sendAckTo now sends three independent flood ACK packets at staggered
delays when out_path_len == OUT_PATH_UNKNOWN:

Attempt	Delay
1st	200 ms
2nd	800 ms
2000 ms	2000 ms

Each copy is a separately-scheduled, independent RF transmission.
If the first copy is lost the second (and third) have a fresh chance of
reaching the sender through a congestion-free window.

Deduplication on the Receiver Side

Duplicate suppression is handled by the pre-existing MeshTables::hasSeen()
mechanism at every node (including the destination):

• If a copy arrives and the node has already seen the same packet hash, it
  is discarded immediately — the ACK is not processed twice.
• If the first copy was lost (never received), neither the intermediate
  repeaters nor the destination have seen it, so the second copy propagates
  normally.

No protocol or wire-format changes are required. The feature is 100%
backward-compatible with older firmware nodes that forward ACK packets
without understanding the retry intent.

Configurable Knobs

#define	Default	Description
FLOOD_ACK_RETRY_COUNT	3	Number of independent flood ACK sends
TXT_ACK_DELAY	200	Delay of the first ACK (ms)

The 2nd and 3rd delays (800 ms, 2000 ms) are currently fixed in the
flood_ack_delays array inside sendAckTo. They can be made configurable
via additional #defines if needed.

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Files Changed

File	Nature of change
src/helpers/ContactInfo.h	Added out_path_timestamp and path_ack_count fields
src/helpers/BaseChatMesh.cpp	onContactPathRecv — path gating logic; sendAckTo — 3× flood retry; onAckRecv — delivery tracking

Files Added

File	Purpose
test/test_reliability/test_path_gating.cpp	Unit tests for path gating condition
test/test_reliability/test_flood_ack.cpp	Unit tests for flood ACK scheduling

Running the Unit Tests

# Run the new reliability tests on native platform
pio test -e native_reliability

# Run the existing utility tests (unchanged)
pio test -e native