SulTee/SulTee/ContentView.swift

@@ -125,12 +125,51 @@ private struct StatusView: View {
     // MARK: Distance row
 
     private func distanceRow(_ dist: Double) -> some View {
-        HStack {
-            Image(systemName: "arrow.left.and.right")
-            Text(dist < 1000
-                 ? "Robot \(Int(dist)) m away"
-                 : String(format: "Robot %.1f km away", dist / 1000))
-            .font(.title2).bold()
+        HStack(spacing: 10) {
+            Image(systemName: distanceIcon)
+                .foregroundStyle(distanceColor)
+            VStack(alignment: .leading, spacing: 2) {
+                Text(distanceLabel(dist))
+                    .font(.title2).bold()
+                Text(distanceSourceLabel)
+                    .font(.caption).foregroundStyle(distanceColor)
+            }
+        }
+    }
+
+    private func distanceLabel(_ dist: Double) -> String {
+        switch sensor.distanceSource {
+        case .blueUWB, .mqttUWB:
+            return dist < 10
+                ? String(format: "%.2f m", dist)
+                : String(format: "%.1f m", dist)
+        case .gps:
+            return dist < 1000
+                ? "~\(Int(dist)) m"
+                : String(format: "~%.1f km", dist / 1000)
+        }
+    }
+
+    private var distanceSourceLabel: String {
+        switch sensor.distanceSource {
+        case .blueUWB:  return "UWB (BLE tag)"
+        case .mqttUWB:  return "UWB (Orin anchors)"
+        case .gps:      return "GPS estimate"
+        }
+    }
+
+    private var distanceIcon: String {
+        switch sensor.distanceSource {
+        case .blueUWB, .mqttUWB: return "dot.radiowaves.left.and.right"
+        case .gps:                return "location.fill"
+        }
+    }
+
+    private var distanceColor: Color {
+        switch sensor.distanceSource {
+        case .blueUWB:  return .green
+        case .mqttUWB:  return .mint
+        case .gps:      return .orange
         }
     }
 

SulTee/SulTee/SensorManager.swift

@@ -51,6 +51,13 @@ final class SensorManager: NSObject, ObservableObject {
     @Published var robotSpeed:       Double = 0
     @Published var distanceToRobot:  Double? = nil
 
+    enum DistanceSource {
+        case blueUWB    // BLE Range notify from wearable TAG (highest accuracy)
+        case mqttUWB    // saltybot/uwb/range from Orin anchors
+        case gps        // CoreLocation coordinate diff (fallback)
+    }
+    @Published var distanceSource: DistanceSource = .gps
+
     // MARK: - UWB local data (saltybot/uwb/range + saltybot/uwb/position)
 
     @Published var uwbPosition: UWBPosition? = nil
@@ -175,9 +182,17 @@ final class SensorManager: NSObject, ObservableObject {
                     self.ensureSensorsRunning()
                 } else {
                     self.stopBLETimers()
+                    // Re-evaluate distance source now that BLE anchors are gone
+                    self.updateDistanceToRobot()
                 }
             }
             .store(in: &bleCancellables)
+
+        // Re-evaluate distance on every Range notify from the wearable TAG
+        ble.$anchors
+            .receive(on: DispatchQueue.main)
+            .sink { [weak self] _ in self?.updateDistanceToRobot() }
+            .store(in: &bleCancellables)
     }
 
     // MARK: - Public control (Follow-Me / WebSocket)
@@ -306,7 +321,7 @@ final class SensorManager: NSObject, ObservableObject {
         robotLocation = coord
         robotSpeed    = (json["speed_ms"] as? Double) ?? 0
         appendBreadcrumb(coord, to: &robotBreadcrumbs)
-        updateDistance()
+        updateDistanceToRobot()
     }
 
     private func handleUWBRange(_ payload: String) {
@@ -315,6 +330,7 @@ final class SensorManager: NSObject, ObservableObject {
               let anchorID = json["anchor_id"] as? String,
               let rangeM   = json["range_m"] as? Double else { return }
         uwbRanges[anchorID] = UWBRange(anchorID: anchorID, rangeMetres: rangeM, timestamp: Date())
+        updateDistanceToRobot()
     }
 
     private func handleUWBPosition(_ payload: String) {
@@ -353,7 +369,7 @@ final class SensorManager: NSObject, ObservableObject {
             if userLocation != coord {
                 userLocation = coord
                 appendBreadcrumb(coord, to: &userBreadcrumbs)
-                updateDistance()
+                updateDistanceToRobot()
             }
             phonePositionSource = .uwb(accuracyM: uwb.accuracyM)
         } else if let loc = lastKnownLocation {
@@ -361,7 +377,7 @@ final class SensorManager: NSObject, ObservableObject {
             if userLocation != coord {
                 userLocation = coord
                 appendBreadcrumb(coord, to: &userBreadcrumbs)
-                updateDistance()
+                updateDistanceToRobot()
             }
             phonePositionSource = .gps(accuracyM: max(0, loc.horizontalAccuracy))
         }
@@ -388,11 +404,36 @@ final class SensorManager: NSObject, ObservableObject {
         if list.count > Self.maxBreadcrumbs { list.removeFirst() }
     }
 
-    private func updateDistance() {
+    /// Update distanceToRobot using the highest-accuracy source available:
+    ///   1. BLE Range notify (wearable TAG) — cm-accurate, freshness checked via AnchorInfo.isStale
+    ///   2. MQTT UWB ranges (saltybot/uwb/range from Orin anchors)
+    ///   3. GPS coordinate diff — fallback only
+    func updateDistanceToRobot() {
+        // Priority 1: fresh BLE anchor data from the wearable TAG
+        let freshAnchors = ble.anchors.filter { !$0.isStale }
+        if !freshAnchors.isEmpty {
+            let closest = freshAnchors.min(by: { $0.rangeMetres < $1.rangeMetres })!
+            distanceToRobot = closest.rangeMetres
+            distanceSource  = .blueUWB
+            return
+        }
+
+        // Priority 2: MQTT UWB ranges from Orin anchors
+        let freshRanges = uwbRanges.values.filter {
+            Date().timeIntervalSince($0.timestamp) < Self.uwbStaleSeconds
+        }
+        if let closest = freshRanges.min(by: { $0.rangeMetres < $1.rangeMetres }) {
+            distanceToRobot = closest.rangeMetres
+            distanceSource  = .mqttUWB
+            return
+        }
+
+        // Priority 3: GPS coordinate diff
         guard let user = userLocation, let robot = robotLocation else { return }
         let a = CLLocation(latitude: user.latitude,  longitude: user.longitude)
         let b = CLLocation(latitude: robot.latitude, longitude: robot.longitude)
         distanceToRobot = a.distance(from: b)
+        distanceSource  = .gps
     }
 
     // MARK: - IMU / Barometer