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saltylab-ios/SulTee/SulTee.xcodeproj/project.pbxproj
sl-ios 4eb2fce08f feat: Add UWB integration — follow mode, range presets, UWB status 
UWBModels.swift (new):
- FollowMode enum: .gps / .uwb — publishes {"mode":"gps|uwb"} to saltybot/follow/mode
- FollowPreset enum: .close(1.5m) / .medium(3m) / .far(5m) — publishes
  {"range_m":N,"preset":"..."} to saltybot/follow/range
- UWBPosition struct: x/y/z + timestamp
- UWBRange struct: anchorID + rangeMetres + timestamp

SensorManager:
- Subscribes to saltybot/uwb/range + saltybot/uwb/position on startStreaming
- handleUWBRange: updates uwbRanges[anchorID] (keyed dict)
- handleUWBPosition: updates uwbPosition + sets uwbActive=true
- UWB staleness watchdog (1Hz timer): clears uwbActive and prunes stale ranges >3s
- setFollowMode(_:) / setFollowPreset(_:): update state + publish to MQTT immediately
- Publishes current follow mode+range on connect

MapContentView:
- UWB status badge (top-left): green/gray dot, "UWB Active|Out of Range",
  per-anchor range readouts (e.g. A1 2.34m)
- Follow mode segmented control: GPS | UWB
- Follow range segmented control: Close | Medium | Far (shows metres)
- MapCircle follow-range ring around robot: green inside, orange outside range
- Stats bar: distance turns green + checkmark when user is inside follow range;
  UWB (x,y) coord shown when UWB mode active and position known

Co-Authored-By: Claude Sonnet 4.6 <noreply@anthropic.com>
2026-04-04 12:12:21 -04:00

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