SulTee/SulTee.xcodeproj/project.pbxproj

@@ -16,6 +16,10 @@
 		A10000010000000000000AAA /* MapContentView.swift in Sources */ = {isa = PBXBuildFile; fileRef = A10000010000000000000AAB /* MapContentView.swift */; };
 		A10000010000000000000BAA /* UWBModels.swift in Sources */ = {isa = PBXBuildFile; fileRef = A10000010000000000000BAB /* UWBModels.swift */; };
 		A10000010000000000000CAA /* BLEManager.swift in Sources */ = {isa = PBXBuildFile; fileRef = A10000010000000000000CAB /* BLEManager.swift */; };
+		A100000100000000000010AB /* RouteModels.swift in Sources */ = {isa = PBXBuildFile; fileRef = A100000100000000000010BB /* RouteModels.swift */; };
+		A100000100000000000011AB /* RouteStore.swift in Sources */ = {isa = PBXBuildFile; fileRef = A100000100000000000011BB /* RouteStore.swift */; };
+		A100000100000000000012AB /* RouteRecorder.swift in Sources */ = {isa = PBXBuildFile; fileRef = A100000100000000000012BB /* RouteRecorder.swift */; };
+		A100000100000000000013AB /* RoutesView.swift in Sources */ = {isa = PBXBuildFile; fileRef = A100000100000000000013BB /* RoutesView.swift */; };
 		A10000010000000000000DAA /* BLEPackets.swift in Sources */ = {isa = PBXBuildFile; fileRef = A10000010000000000000DAB /* BLEPackets.swift */; };
 		A10000010000000000000EAA /* AnchorInfo.swift in Sources */ = {isa = PBXBuildFile; fileRef = A10000010000000000000EAB /* AnchorInfo.swift */; };
 		A10000010000000000000FAA /* BLEStatusView.swift in Sources */ = {isa = PBXBuildFile; fileRef = A10000010000000000000FAB /* BLEStatusView.swift */; };
@@ -33,6 +37,10 @@
 		A10000010000000000000AAB /* MapContentView.swift */ = {isa = PBXFileReference; lastKnownFileType = sourcecode.swift; path = MapContentView.swift; sourceTree = "<group>"; };
 		A10000010000000000000BAB /* UWBModels.swift */ = {isa = PBXFileReference; lastKnownFileType = sourcecode.swift; path = UWBModels.swift; sourceTree = "<group>"; };
 		A10000010000000000000CAB /* BLEManager.swift */ = {isa = PBXFileReference; lastKnownFileType = sourcecode.swift; path = BLEManager.swift; sourceTree = "<group>"; };
+		A100000100000000000010BB /* RouteModels.swift */ = {isa = PBXFileReference; lastKnownFileType = sourcecode.swift; path = RouteModels.swift; sourceTree = "<group>"; };
+		A100000100000000000011BB /* RouteStore.swift */ = {isa = PBXFileReference; lastKnownFileType = sourcecode.swift; path = RouteStore.swift; sourceTree = "<group>"; };
+		A100000100000000000012BB /* RouteRecorder.swift */ = {isa = PBXFileReference; lastKnownFileType = sourcecode.swift; path = RouteRecorder.swift; sourceTree = "<group>"; };
+		A100000100000000000013BB /* RoutesView.swift */ = {isa = PBXFileReference; lastKnownFileType = sourcecode.swift; path = RoutesView.swift; sourceTree = "<group>"; };
 		A10000010000000000000DAB /* BLEPackets.swift */ = {isa = PBXFileReference; lastKnownFileType = sourcecode.swift; path = BLEPackets.swift; sourceTree = "<group>"; };
 		A10000010000000000000EAB /* AnchorInfo.swift */ = {isa = PBXFileReference; lastKnownFileType = sourcecode.swift; path = AnchorInfo.swift; sourceTree = "<group>"; };
 		A10000010000000000000FAB /* BLEStatusView.swift */ = {isa = PBXFileReference; lastKnownFileType = sourcecode.swift; path = BLEStatusView.swift; sourceTree = "<group>"; };
@@ -71,6 +79,10 @@
 				A10000010000000000000DAB /* BLEPackets.swift */,
 				A10000010000000000000EAB /* AnchorInfo.swift */,
 				A10000010000000000000FAB /* BLEStatusView.swift */,
+				A100000100000000000010BB /* RouteModels.swift */,
+				A100000100000000000011BB /* RouteStore.swift */,
+				A100000100000000000012BB /* RouteRecorder.swift */,
+				A100000100000000000013BB /* RoutesView.swift */,
 				A100000100000000000005AB /* Assets.xcassets */,
 				A100000100000000000006AB /* Info.plist */,
 			);
@@ -166,6 +178,10 @@
 				A10000010000000000000DAA /* BLEPackets.swift in Sources */,
 				A10000010000000000000EAA /* AnchorInfo.swift in Sources */,
 				A10000010000000000000FAA /* BLEStatusView.swift in Sources */,
+				A100000100000000000010AB /* RouteModels.swift in Sources */,
+				A100000100000000000011AB /* RouteStore.swift in Sources */,
+				A100000100000000000012AB /* RouteRecorder.swift in Sources */,
+				A100000100000000000013AB /* RoutesView.swift in Sources */,
 			);
 			runOnlyForDeploymentPostprocessing = 0;
 		};

SulTee/SulTee/ContentView.swift

@@ -13,6 +13,8 @@ struct ContentView: View {
                 .tabItem { Label("Map", systemImage: "map.fill") }
             BLEStatusView()
                 .tabItem { Label("BLE Tag", systemImage: "dot.radiowaves.right") }
+            RoutesView()
+                .tabItem { Label("Routes", systemImage: "point.bottomleft.forward.to.point.topright.scurvepath") }
         }
     }
 }

SulTee/SulTee/RouteModels.swift

@@ -0,0 +1,117 @@
+import Foundation
+import CoreLocation
+
+// MARK: - Route data types
+
+/// A single GPS sample recorded at 1 Hz.
+struct RoutePoint: Codable {
+    let latitude:  Double
+    let longitude: Double
+    let altitude:  Double
+    let speed:     Double  // m/s
+    let bearing:   Double  // degrees, 0–360
+    let timestamp: Double  // Unix epoch seconds
+}
+
+/// A named marker added by the user during recording.
+struct Waypoint: Codable, Identifiable {
+    let id:        UUID
+    let latitude:  Double
+    let longitude: Double
+    let altitude:  Double
+    let timestamp: Double
+    var label:     String
+    var action:    WaypointAction
+
+    init(location: CLLocation, label: String, action: WaypointAction = .none) {
+        self.id        = UUID()
+        self.latitude  = location.coordinate.latitude
+        self.longitude = location.coordinate.longitude
+        self.altitude  = location.altitude
+        self.timestamp = location.timestamp.timeIntervalSince1970
+        self.label     = label
+        self.action    = action
+    }
+}
+
+enum WaypointAction: String, Codable, CaseIterable, Identifiable {
+    case none  = "none"
+    case stop  = "stop"
+    case slow  = "slow"
+    case photo = "photo"
+
+    var id: String { rawValue }
+
+    var displayName: String {
+        switch self {
+        case .none:  return "Marker"
+        case .stop:  return "Stop"
+        case .slow:  return "Slow down"
+        case .photo: return "Take photo"
+        }
+    }
+
+    var systemImage: String {
+        switch self {
+        case .none:  return "mappin"
+        case .stop:  return "stop.circle"
+        case .slow:  return "tortoise"
+        case .photo: return "camera"
+        }
+    }
+}
+
+/// A complete recorded route persisted to disk.
+struct SavedRoute: Codable, Identifiable {
+    let id:         UUID
+    var name:       String
+    let date:       Date
+    var points:     [RoutePoint]
+    var waypoints:  [Waypoint]
+
+    /// Total elapsed recording time in seconds.
+    var durationSeconds: Double {
+        guard let first = points.first, let last = points.last else { return 0 }
+        return last.timestamp - first.timestamp
+    }
+
+    /// Approximate distance in metres (sum of point-to-point segments).
+    var distanceMetres: Double {
+        var total = 0.0
+        for i in 1..<points.count {
+            let a = CLLocation(latitude: points[i-1].latitude, longitude: points[i-1].longitude)
+            let b = CLLocation(latitude: points[i].latitude,   longitude: points[i].longitude)
+            total += a.distance(from: b)
+        }
+        return total
+    }
+
+    // MARK: - MQTT payload for robot route-following (Phase 3)
+    //
+    // Topic: saltybot/route/command
+    // {
+    //   "action":    "start",
+    //   "route_id":  "<uuid>",
+    //   "route_name":"<name>",
+    //   "points":    [{"lat","lon","alt","speed","bearing","ts"}, ...],
+    //   "waypoints": [{"lat","lon","alt","ts","label","action"}, ...]
+    // }
+
+    func mqttPayload(action: String = "start") -> [String: Any] {
+        [
+            "action":     action,
+            "route_id":   id.uuidString,
+            "route_name": name,
+            "points": points.map {[
+                "lat": $0.latitude, "lon": $0.longitude,
+                "alt": $0.altitude, "speed": $0.speed,
+                "bearing": $0.bearing, "ts": $0.timestamp
+            ]},
+            "waypoints": waypoints.map {[
+                "lat": $0.latitude, "lon": $0.longitude,
+                "alt": $0.altitude, "ts": $0.timestamp,
+                "label": $0.label, "action": $0.action.rawValue
+            ]}
+        ]
+    }
+}

SulTee/SulTee/RouteRecorder.swift

@@ -0,0 +1,112 @@
+import Foundation
+import CoreLocation
+import Combine
+
+/// Records a GPS track at 1 Hz and collects named waypoints.
+/// Observes SensorManager.lastKnownLocation — no duplicate location manager needed.
+final class RouteRecorder: ObservableObject {
+
+    enum State { case idle, recording }
+
+    @Published private(set) var state: State = .idle
+    @Published private(set) var points:    [RoutePoint] = []
+    @Published private(set) var waypoints: [Waypoint]   = []
+    @Published private(set) var elapsedSeconds: Double  = 0
+
+    private weak var sensorManager: SensorManager?
+    private var recordTimer:  Timer?
+    private var elapsedTimer: Timer?
+
+    init(sensorManager: SensorManager) {
+        self.sensorManager = sensorManager
+    }
+
+    // MARK: - Public API
+
+    func startRecording() {
+        guard state == .idle else { return }
+        points    = []
+        waypoints = []
+        elapsedSeconds = 0
+        state = .recording
+
+        // Capture one GPS point immediately, then every 1 s
+        capturePoint()
+        recordTimer = Timer.scheduledTimer(withTimeInterval: 1.0, repeats: true) { [weak self] _ in
+            self?.capturePoint()
+        }
+        elapsedTimer = Timer.scheduledTimer(withTimeInterval: 1.0, repeats: true) { [weak self] _ in
+            self?.elapsedSeconds += 1
+        }
+    }
+
+    /// Stops recording and returns the finished SavedRoute (not yet persisted).
+    @discardableResult
+    func stopRecording(name: String? = nil) -> SavedRoute? {
+        guard state == .recording else { return nil }
+        recordTimer?.invalidate();  recordTimer  = nil
+        elapsedTimer?.invalidate(); elapsedTimer = nil
+        state = .idle
+
+        guard !points.isEmpty else { return nil }
+
+        let routeName = name ?? defaultName()
+        let route = SavedRoute(
+            id:        UUID(),
+            name:      routeName,
+            date:      Date(),
+            points:    points,
+            waypoints: waypoints
+        )
+        points    = []
+        waypoints = []
+        return route
+    }
+
+    /// Adds a waypoint at the current GPS position.
+    func addWaypoint(label: String, action: WaypointAction = .none) {
+        guard state == .recording,
+              let loc = sensorManager?.lastKnownLocation else { return }
+        let wp = Waypoint(location: loc, label: label, action: action)
+        waypoints.append(wp)
+    }
+
+    // MARK: - Private
+
+    private func capturePoint() {
+        guard let loc = sensorManager?.lastKnownLocation else { return }
+        let bearing = loc.course >= 0 ? loc.course : 0
+        let pt = RoutePoint(
+            latitude:  loc.coordinate.latitude,
+            longitude: loc.coordinate.longitude,
+            altitude:  loc.altitude,
+            speed:     max(0, loc.speed),
+            bearing:   bearing,
+            timestamp: loc.timestamp.timeIntervalSince1970
+        )
+        points.append(pt)
+    }
+
+    private func defaultName() -> String {
+        let fmt = DateFormatter()
+        fmt.dateFormat = "MMM d, HH:mm"
+        return "Route \(fmt.string(from: Date()))"
+    }
+
+    // MARK: - Computed helpers for UI
+
+    var distanceSoFar: Double {
+        var total = 0.0
+        for i in 1..<points.count {
+            let a = CLLocation(latitude: points[i-1].latitude, longitude: points[i-1].longitude)
+            let b = CLLocation(latitude: points[i].latitude,   longitude: points[i].longitude)
+            total += a.distance(from: b)
+        }
+        return total
+    }
+
+    var elapsedString: String {
+        let s = Int(elapsedSeconds)
+        return String(format: "%02d:%02d", s / 60, s % 60)
+    }
+}

SulTee/SulTee/RouteStore.swift

@@ -0,0 +1,63 @@
+import Foundation
+
+/// Persists SavedRoute objects as individual JSON files in the app's Documents directory.
+final class RouteStore: ObservableObject {
+
+    @Published private(set) var routes: [SavedRoute] = []
+
+    private let directory: URL
+
+    init() {
+        let docs = FileManager.default.urls(for: .documentDirectory, in: .userDomainMask)[0]
+        directory = docs.appendingPathComponent("routes", isDirectory: true)
+        try? FileManager.default.createDirectory(at: directory,
+                                                  withIntermediateDirectories: true)
+        load()
+    }
+
+    // MARK: - Public API
+
+    func save(_ route: SavedRoute) {
+        let url = fileURL(for: route.id)
+        if let data = try? JSONEncoder().encode(route) {
+            try? data.write(to: url, options: .atomic)
+        }
+        if let idx = routes.firstIndex(where: { $0.id == route.id }) {
+            routes[idx] = route
+        } else {
+            routes.append(route)
+            routes.sort { $0.date > $1.date }
+        }
+    }
+
+    func rename(_ route: SavedRoute, to name: String) {
+        var updated = route
+        updated.name = name
+        save(updated)
+    }
+
+    func delete(_ route: SavedRoute) {
+        try? FileManager.default.removeItem(at: fileURL(for: route.id))
+        routes.removeAll { $0.id == route.id }
+    }
+
+    // MARK: - Private
+
+    private func load() {
+        guard let files = try? FileManager.default.contentsOfDirectory(
+            at: directory, includingPropertiesForKeys: nil
+        ) else { return }
+
+        routes = files
+            .filter { $0.pathExtension == "json" }
+            .compactMap { url -> SavedRoute? in
+                guard let data = try? Data(contentsOf: url) else { return nil }
+                return try? JSONDecoder().decode(SavedRoute.self, from: data)
+            }
+            .sorted { $0.date > $1.date }
+    }
+
+    private func fileURL(for id: UUID) -> URL {
+        directory.appendingPathComponent("\(id.uuidString).json")
+    }
+}

SulTee/SulTee/RoutesView.swift

@@ -0,0 +1,304 @@
+import SwiftUI
+import MapKit
+
+// MARK: - Routes tab root
+
+struct RoutesView: View {
+    @EnvironmentObject var sensor: SensorManager
+    @StateObject private var store = RouteStore()
+
+    // Recorder is created lazily in onAppear (needs sensor reference)
+    @State private var recorder: RouteRecorder?
+
+    @State private var showWaypointSheet = false
+    @State private var waypointLabel     = ""
+    @State private var waypointAction    = WaypointAction.none
+    @State private var showSaveSheet     = false
+    @State private var pendingRoute:     SavedRoute?
+    @State private var routeName         = ""
+
+    var body: some View {
+        NavigationStack {
+            Group {
+                if let rec = recorder, rec.state == .recording {
+                    recordingView(rec)
+                } else {
+                    routeListView
+                }
+            }
+            .navigationTitle("Routes")
+            .toolbar {
+                if recorder?.state != .recording {
+                    ToolbarItem(placement: .primaryAction) {
+                        Button {
+                            let rec = recorder ?? RouteRecorder(sensorManager: sensor)
+                            recorder = rec
+                            rec.startRecording()
+                        } label: {
+                            Label("Record", systemImage: "record.circle")
+                                .foregroundStyle(.red)
+                        }
+                    }
+                }
+            }
+        }
+        .onAppear {
+            if recorder == nil { recorder = RouteRecorder(sensorManager: sensor) }
+        }
+        .sheet(isPresented: $showWaypointSheet) { waypointSheet }
+        .sheet(isPresented: $showSaveSheet) {
+            if let route = pendingRoute { saveRouteSheet(route) }
+        }
+    }
+
+    // MARK: - Route list
+
+    private var routeListView: some View {
+        List {
+            if store.routes.isEmpty {
+                ContentUnavailableView(
+                    "No Routes",
+                    systemImage: "point.bottomleft.forward.to.point.topright.scurvepath",
+                    description: Text("Tap the record button to start capturing a route.")
+                )
+            } else {
+                ForEach(store.routes) { route in
+                    routeRow(route)
+                }
+                .onDelete { indexSet in
+                    indexSet.map { store.routes[$0] }.forEach { store.delete($0) }
+                }
+            }
+        }
+    }
+
+    private func routeRow(_ route: SavedRoute) -> some View {
+        VStack(alignment: .leading, spacing: 4) {
+            Text(route.name).font(.headline)
+            HStack(spacing: 12) {
+                Label(formatDate(route.date),                systemImage: "calendar")
+                Label(formatDuration(route.durationSeconds), systemImage: "clock")
+                Label(formatDistance(route.distanceMetres),  systemImage: "ruler")
+            }
+            .font(.caption).foregroundStyle(.secondary)
+            if !route.waypoints.isEmpty {
+                Label("\(route.waypoints.count) waypoints", systemImage: "mappin.and.ellipse")
+                    .font(.caption2).foregroundStyle(.secondary)
+            }
+        }
+        .padding(.vertical, 4)
+    }
+
+    // MARK: - Recording view
+
+    private func recordingView(_ rec: RouteRecorder) -> some View {
+        VStack(spacing: 0) {
+            // Live stats bar
+            HStack(spacing: 4) {
+                statBadge(value: rec.elapsedString,          label: "elapsed",   icon: "clock.fill",  color: .red)
+                statBadge(value: "\(rec.points.count)",      label: "points",    icon: "location",    color: .blue)
+                statBadge(value: formatDistance(rec.distanceSoFar), label: "dist", icon: "ruler",     color: .green)
+                statBadge(value: "\(rec.waypoints.count)",   label: "waypoints", icon: "mappin",      color: .orange)
+            }
+            .padding(.horizontal, 8)
+            .padding(.vertical, 10)
+            .background(.ultraThinMaterial)
+
+            Divider()
+
+            RecordingMapView(recorder: rec)
+                .frame(maxHeight: .infinity)
+
+            Divider()
+
+            // Controls
+            HStack(spacing: 16) {
+                Button { showWaypointSheet = true } label: {
+                    Label("Waypoint", systemImage: "mappin.and.ellipse")
+                        .frame(maxWidth: .infinity)
+                }
+                .buttonStyle(.bordered)
+                .controlSize(.large)
+
+                Button(role: .destructive) {
+                    if let route = rec.stopRecording() {
+                        pendingRoute = route
+                        routeName    = route.name
+                        showSaveSheet = true
+                    }
+                } label: {
+                    Label("Stop", systemImage: "stop.circle.fill")
+                        .frame(maxWidth: .infinity)
+                }
+                .buttonStyle(.borderedProminent)
+                .tint(.red)
+                .controlSize(.large)
+            }
+            .padding()
+        }
+    }
+
+    private func statBadge(value: String, label: String, icon: String, color: Color) -> some View {
+        VStack(spacing: 2) {
+            Label(value, systemImage: icon)
+                .font(.system(.footnote, design: .monospaced).bold())
+                .foregroundStyle(color)
+                .lineLimit(1)
+            Text(label).font(.caption2).foregroundStyle(.secondary)
+        }
+        .frame(maxWidth: .infinity)
+    }
+
+    // MARK: - Waypoint sheet
+
+    private var waypointSheet: some View {
+        NavigationStack {
+            Form {
+                Section("Label") {
+                    TextField("e.g. Gate, Bench, Corner", text: $waypointLabel)
+                }
+                Section("Robot action at this point") {
+                    Picker("Action", selection: $waypointAction) {
+                        ForEach(WaypointAction.allCases) { action in
+                            Label(action.displayName, systemImage: action.systemImage).tag(action)
+                        }
+                    }
+                    .pickerStyle(.inline)
+                    .labelsHidden()
+                }
+            }
+            .navigationTitle("Add Waypoint")
+            .navigationBarTitleDisplayMode(.inline)
+            .toolbar {
+                ToolbarItem(placement: .cancellationAction) {
+                    Button("Cancel") { showWaypointSheet = false }
+                }
+                ToolbarItem(placement: .confirmationAction) {
+                    Button("Add") {
+                        recorder?.addWaypoint(
+                            label:  waypointLabel.isEmpty ? "Waypoint" : waypointLabel,
+                            action: waypointAction
+                        )
+                        waypointLabel  = ""
+                        waypointAction = .none
+                        showWaypointSheet = false
+                    }
+                }
+            }
+        }
+        .presentationDetents([.medium])
+    }
+
+    // MARK: - Save sheet
+
+    private func saveRouteSheet(_ route: SavedRoute) -> some View {
+        NavigationStack {
+            Form {
+                Section("Route name") {
+                    TextField("Name", text: $routeName)
+                }
+                Section("Summary") {
+                    LabeledContent("Points",    value: "\(route.points.count)")
+                    LabeledContent("Duration",  value: formatDuration(route.durationSeconds))
+                    LabeledContent("Distance",  value: formatDistance(route.distanceMetres))
+                    LabeledContent("Waypoints", value: "\(route.waypoints.count)")
+                }
+            }
+            .navigationTitle("Save Route")
+            .navigationBarTitleDisplayMode(.inline)
+            .toolbar {
+                ToolbarItem(placement: .cancellationAction) {
+                    Button("Discard") { pendingRoute = nil; showSaveSheet = false }
+                        .foregroundStyle(.red)
+                }
+                ToolbarItem(placement: .confirmationAction) {
+                    Button("Save") {
+                        if var r = pendingRoute {
+                            if !routeName.isEmpty { r.name = routeName }
+                            store.save(r)
+                        }
+                        pendingRoute = nil; showSaveSheet = false
+                    }
+                }
+            }
+        }
+        .presentationDetents([.medium])
+    }
+
+    // MARK: - Formatters
+
+    private func formatDate(_ date: Date) -> String {
+        let f = DateFormatter(); f.dateStyle = .short; f.timeStyle = .short
+        return f.string(from: date)
+    }
+
+    private func formatDuration(_ s: Double) -> String {
+        let t = Int(s)
+        if t < 60    { return "\(t)s" }
+        if t < 3600  { return "\(t/60)m \(t%60)s" }
+        return "\(t/3600)h \((t%3600)/60)m"
+    }
+
+    private func formatDistance(_ m: Double) -> String {
+        m < 1000 ? String(format: "%.0f m", m) : String(format: "%.2f km", m / 1000)
+    }
+}
+
+// MARK: - Live recording map (UIKit bridge)
+
+private struct RecordingMapView: UIViewRepresentable {
+    @ObservedObject var recorder: RouteRecorder
+
+    func makeUIView(context: Context) -> MKMapView {
+        let map = MKMapView()
+        map.showsUserLocation = true
+        map.userTrackingMode  = .follow
+        map.delegate          = context.coordinator
+        return map
+    }
+
+    func updateUIView(_ map: MKMapView, context: Context) {
+        map.removeOverlays(map.overlays)
+        map.removeAnnotations(map.annotations.filter { !($0 is MKUserLocation) })
+
+        let coords = recorder.points.map {
+            CLLocationCoordinate2D(latitude: $0.latitude, longitude: $0.longitude)
+        }
+        if coords.count > 1 {
+            map.addOverlay(MKPolyline(coordinates: coords, count: coords.count))
+        }
+
+        for wp in recorder.waypoints {
+            map.addAnnotation(WaypointAnnotation(waypoint: wp))
+        }
+    }
+
+    func makeCoordinator() -> Coordinator { Coordinator() }
+
+    final class Coordinator: NSObject, MKMapViewDelegate {
+        func mapView(_ mapView: MKMapView, rendererFor overlay: MKOverlay) -> MKOverlayRenderer {
+            guard let line = overlay as? MKPolyline else {
+                return MKOverlayRenderer(overlay: overlay)
+            }
+            let r = MKPolylineRenderer(polyline: line)
+            r.strokeColor = .systemRed; r.lineWidth = 3
+            return r
+        }
+    }
+}
+
+private final class WaypointAnnotation: NSObject, MKAnnotation {
+    let coordinate: CLLocationCoordinate2D
+    let title:    String?
+    let subtitle: String?
+    init(waypoint: Waypoint) {
+        coordinate = CLLocationCoordinate2D(latitude: waypoint.latitude,
+                                            longitude: waypoint.longitude)
+        title    = waypoint.label
+        subtitle = waypoint.action == .none ? nil : waypoint.action.displayName
+    }
+}
+
+#Preview {
+    RoutesView().environmentObject(SensorManager())
+}

SulTee/SulTee/SensorManager.swift

@@ -107,7 +107,7 @@ final class SensorManager: NSObject, ObservableObject {
 
     // MARK: - Internal sensor state
 
-    private var lastKnownLocation:   CLLocation?
+    private(set) var lastKnownLocation: CLLocation?
     private var lastKnownMotion:     CMDeviceMotion?
 
     /// Orin-fused phone absolute position (RTK GPS + UWB offset).