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The development stage that dove is in is what's known as a fledgling which is the stage where they learn to fly and forage. They don't just hop out of the nest one day ready to fly!
If it sat there all day it was probably a safe spot. Doves are sneaky nest builders to the nest is probably a lot closer. I would try to return it before dark and see if the parents come to feed it which they probably will unless they are killed. If mom or dad doesn't come back you should consider either rearing it yourself which is difficult if you're not 100% committed or handing it over to a wildlife rehabber who will raise and release it.