Preflight Planner Update

.gitignore

@@ -72,3 +72,6 @@ htmlcov/
 
 wsl_env.sh
 activate_venv.sh
+
+# Simulation results
+results/

config/properties.yaml

@@ -1,36 +0,0 @@
-simulation:
-  world: uav_ugv_search.sdf
-  software_render: auto
-
-physics:
-  max_step_size: 0.002
-  real_time_factor: 1.0
-
-sensor_noise:
-  enabled: true
-  position_stddev: 0.05
-  velocity_stddev: 0.1
-  gyro_stddev: 0.0002
-  accel_stddev: 0.017
-
-gps:
-  enabled: true
-  update_rate: 5
-  noise_stddev: 2.0
-  purpose: geofence_only
-
-initial_positions:
-  uav:
-    x: 0.0
-    y: 0.0
-    z: 0.195
-    yaw: 90.0
-  ugv:
-    x: 5.0
-    y: 5.0
-    z: 0.0
-    yaw: 0.0
-
-logging:
-  enabled: true
-  log_directory: logs

config/search.yaml

@@ -1,5 +1,16 @@
-altitude: 5.0
+# ─── Mission / Search Configuration ──────────────────────────
+# Single source of truth for all mission parameters.
 
+# ── Flight ───────────────────────────────────────────────────
+altitude: 4.0              # Search altitude (meters)
+
+# ── ArUco Marker ─────────────────────────────────────────────
+marker:
+  dictionary: DICT_4X4_50
+  size: 0.5                # Physical marker size in meters
+  landing_ids: [0]         # Marker IDs that trigger landing
+
+# ── Search Patterns ──────────────────────────────────────────
 spiral:
   max_legs: 12
   initial_leg: 4.0
@@ -15,18 +26,16 @@ levy:
   max_steps: 20
   field_size: 50.0
 
-actions:
+# ── Geofence ─────────────────────────────────────────────────
-  land:
-    - 0
-
 geofence:
   enabled: true
   warning_distance: 3.0
   min_altitude: 0.0
   max_altitude: 15.0
   # Polygon vertices in local NED (x=North, y=East) meters
+  # Centered on UAV start position (0, 0)
   points:
-    - [-5, -5]
+    - [-15, -15]
-    - [-5, 25]
+    - [-15, 15]
-    - [25, 25]
+    - [15, 15]
-    - [25, -5]
+    - [15, -15]

config/uav.yaml

@@ -1,74 +1,7 @@
+# ─── UAV Configuration ───────────────────────────────────────
+# UAV-specific settings. Mission config is in search.yaml.
+
 connection:
   sim: "tcp:127.0.0.1:5760"
   real: "/dev/ttyAMA0"
   baud: 57600
-
-flight:
-  takeoff_altitude: 5.0
-  max_altitude: 15.0
-  min_altitude: 3.0
-  max_velocity: 2.0
-  max_acceleration: 1.0
-  max_climb_rate: 1.0
-  max_yaw_rate: 45.0
-
-navigation:
-  frame: LOCAL_NED
-  waypoint_radius: 0.5
-  position_hold_radius: 0.2
-  home_mode: local
-
-vision:
-  forward_camera:
-    enabled: true
-    frame_rate: 30
-    resolution: [640, 480]
-  downward_camera:
-    enabled: true
-    frame_rate: 30
-    resolution: [320, 240]
-  visual_odometry:
-    enabled: true
-    method: ORB
-    min_features: 100
-    max_features: 500
-  optical_flow:
-    enabled: true
-    method: Lucas-Kanade
-    window_size: 15
-    min_altitude: 0.3
-    max_altitude: 10.0
-  landmark_detection:
-    enabled: true
-    method: ArUco
-    marker_size: 0.15
-
-position_estimation:
-  method: EKF
-  update_rate: 50
-  weights:
-    visual_odometry: 0.6
-    optical_flow: 0.3
-    imu: 0.1
-  process_noise:
-    position: 0.1
-    velocity: 0.5
-  measurement_noise:
-    visual_odom: 0.05
-    optical_flow: 0.1
-    imu: 0.2
-
-obstacle_avoidance:
-  enabled: true
-  detection_range: 5.0
-  safety_margin: 1.0
-
-safety:
-  geofence:
-    enabled: true
-    action_on_breach: RTL
-    max_altitude: 10
-    radius: 20
-  failsafe:
-    vision_loss_timeout: 5.0
-    action_on_vision_loss: HOLD

config/ugv.yaml

@@ -1,46 +1,8 @@
-vehicle:
+# ─── UGV Configuration ───────────────────────────────────────
-  wheelbase: 0.3
+# UGV-specific settings. Mission config is in search.yaml.
-  track_width: 0.25
-  wheel_radius: 0.05
-
-connection:
-  sim: null
-  real: null
 
+# UGV spawn position in local NED (meters)
+# Also used by run_autonomous.sh to place the UGV model in Gazebo
 position:
   x: 5.0
   y: 5.0
-  z: 0.0
-  yaw: 0.0
-
-navigation:
-  max_linear_velocity: 1.0
-  max_angular_velocity: 1.5
-  linear_acceleration: 0.5
-  angular_acceleration: 1.0
-  waypoint_radius: 0.3
-  position_tolerance: 0.3
-
-landing_pad:
-  marker_type: ArUco
-  marker_id: 0
-  marker_size: 0.3
-  pad_diameter: 1.0
-  color: [255, 255, 0]
-
-vision:
-  detection_method: ArUco
-  camera:
-    enabled: true
-    frame_rate: 30
-    resolution: [320, 240]
-
-safety:
-  geofence:
-    enabled: true
-    action_on_breach: STOP
-  failsafe:
-    vision_loss_timeout: 3.0
-    action_on_vision_loss: STOP
-    collision_distance: 0.2
-    action_on_collision: STOP

scripts/generate_tags.py

@@ -91,7 +91,7 @@ def get_landing_id():
     if search_cfg.exists():
         with open(search_cfg) as f:
             cfg = yaml.safe_load(f) or {}
-        land_ids = cfg.get("actions", {}).get("land", [])
+        land_ids = cfg.get("marker", {}).get("landing_ids", [])
         if land_ids:
             return land_ids[0]
     return 0

src/control/search.py

@@ -9,7 +9,6 @@ from enum import Enum
 
 from control.uav_controller import Controller
 from vision.object_detector import ObjectDetector
-from vision.visual_servoing import VisualServoing
 from utils.helpers import distance_2d
 
 
@@ -42,11 +41,7 @@ class Search:
         self.actions = actions or {}
         self.land_ids = set(self.actions.get("land", []))
 
-        self.servoing = None
+        # Search pattern parameters
-        if self.land_ids:
-            target_id = list(self.land_ids)[0]
-            self.servoing = VisualServoing(ctrl, target_marker_id=target_id)
-
         self.spiral_max_legs = 12
         self.spiral_initial_leg = self.CAM_FOV_METERS
         self.spiral_leg_increment = self.CAM_FOV_METERS * 0.8
@@ -60,24 +55,236 @@ class Search:
         self.levy_field_size = 50.0
         self.levy_angle_dist = uniform(loc=-180, scale=360)
 
+        # Pre-flight plan
+        self.waypoints = []
+        self.current_wp = 0
+        self._on_waypoint_change = None  # callback: fn(index)
+
     def configure(self, **kwargs):
         for key, value in kwargs.items():
             if hasattr(self, key):
                 setattr(self, key, value)
 
+    # ═══════════════════════════════════════════════════════════
+    #  PRE-FLIGHT PLANNING
+    # ═══════════════════════════════════════════════════════════
+
+    def plan(self, start_pos=(0.0, 0.0), geofence_points=None):
+        """Pre-compute all waypoints for the search pattern.
+
+        Args:
+            start_pos: (x, y) starting position in local NED
+            geofence_points: list of (x, y) polygon vertices, or None
+
+        Returns:
+            List of (x, y) absolute waypoints
+        """
+        if self.mode == SearchMode.SPIRAL:
+            waypoints = self._plan_spiral(start_pos)
+        elif self.mode == SearchMode.LAWNMOWER:
+            waypoints = self._plan_lawnmower(start_pos)
+        elif self.mode == SearchMode.LEVY:
+            waypoints = self._plan_levy(start_pos)
+        else:
+            waypoints = [start_pos]
+
+        # Clip to geofence
+        if geofence_points:
+            waypoints = self._clip_to_geofence(waypoints, geofence_points)
+
+        self.waypoints = waypoints
+        self.current_wp = 0
+
+        print(f"\n[PLAN] {self.mode.value.upper()} flight plan: "
+              f"{len(waypoints)} waypoints")
+        for i, (wx, wy) in enumerate(waypoints):
+            print(f"  WP{i:02d}: ({wx:+.1f}, {wy:+.1f})")
+        if geofence_points:
+            print(f"[PLAN] Clipped to geofence ({len(geofence_points)} vertices)")
+
+        return waypoints
+
+    def _plan_spiral(self, start):
+        """Expanding square spiral from center outward."""
+        waypoints = [start]
+        x, y = start
+
+        directions = [
+            (0, 1),   # East  (+Y)
+            (1, 0),   # North (+X)
+            (0, -1),  # West  (-Y)
+            (-1, 0),  # South (-X)
+        ]
+
+        distance = self.spiral_initial_leg
+        dir_idx = 0
+        legs_at_this_dist = 0
+
+        for _ in range(self.spiral_max_legs):
+            dx_dir, dy_dir = directions[dir_idx % 4]
+            x += dx_dir * distance
+            y += dy_dir * distance
+            waypoints.append((x, y))
+
+            dir_idx += 1
+            legs_at_this_dist += 1
+            if legs_at_this_dist >= 2:
+                legs_at_this_dist = 0
+                distance += self.spiral_leg_increment
+
+        return waypoints
+
+    def _plan_lawnmower(self, start):
+        """Lawnmower (boustrophedon) pattern."""
+        waypoints = [start]
+        sx, sy = start
+        lane_spacing = self.lawn_lane_spacing
+        height = self.lawn_height
+        num_lanes = max(1, int(self.lawn_width / lane_spacing))
+
+        for lane in range(num_lanes):
+            lane_x = sx + lane * lane_spacing
+            if lane % 2 == 0:
+                target_y = sy + height
+            else:
+                target_y = sy
+
+            waypoints.append((lane_x, target_y))
+
+            if lane < num_lanes - 1:
+                next_x = sx + (lane + 1) * lane_spacing
+                waypoints.append((next_x, target_y))
+
+        return waypoints
+
+    def _plan_levy(self, start):
+        """Lévy walk — random but pre-computed."""
+        waypoints = [start]
+        x, y = start
+
+        for _ in range(self.levy_max_steps):
+            angle_deg = self.levy_angle_dist.rvs()
+            angle_rad = math.radians(angle_deg)
+            raw_distance = levy.rvs(loc=1, scale=1)
+            distance = min(max(raw_distance, 1.0), self.levy_field_size)
+
+            x += distance * math.cos(angle_rad)
+            y += distance * math.sin(angle_rad)
+            waypoints.append((x, y))
+
+        return waypoints
+
+    def _clip_to_geofence(self, waypoints, polygon):
+        """Clip waypoints to stay within the geofence polygon.
+
+        If a waypoint is outside, it is projected to the nearest
+        point on the polygon boundary. Consecutive out-of-bounds
+        waypoints are collapsed.
+        """
+        clipped = []
+        for wx, wy in waypoints:
+            if self._point_in_polygon(wx, wy, polygon):
+                clipped.append((wx, wy))
+            else:
+                nearest = self._nearest_point_on_polygon(wx, wy, polygon)
+                # Avoid duplicate consecutive points
+                if not clipped or distance_2d(clipped[-1], nearest) > 0.5:
+                    clipped.append(nearest)
+        return clipped
+
+    @staticmethod
+    def _point_in_polygon(px, py, polygon):
+        """Ray-casting point-in-polygon test."""
+        n = len(polygon)
+        inside = False
+        j = n - 1
+        for i in range(n):
+            xi, yi = polygon[i]
+            xj, yj = polygon[j]
+            if ((yi > py) != (yj > py)) and \
+               (px < (xj - xi) * (py - yi) / (yj - yi) + xi):
+                inside = not inside
+            j = i
+        return inside
+
+    @staticmethod
+    def _nearest_point_on_polygon(px, py, polygon):
+        """Find the nearest point on the polygon edge to (px, py)."""
+        min_dist = float('inf')
+        nearest = (px, py)
+        n = len(polygon)
+        for i in range(n):
+            x1, y1 = polygon[i]
+            x2, y2 = polygon[(i + 1) % n]
+            # Project point onto segment
+            dx, dy = x2 - x1, y2 - y1
+            length_sq = dx * dx + dy * dy
+            if length_sq == 0:
+                proj = (x1, y1)
+            else:
+                t = max(0, min(1, ((px - x1) * dx + (py - y1) * dy) / length_sq))
+                proj = (x1 + t * dx, y1 + t * dy)
+            dist = math.sqrt((px - proj[0])**2 + (py - proj[1])**2)
+            if dist < min_dist:
+                min_dist = dist
+                nearest = proj
+        return nearest
+
+    # ═══════════════════════════════════════════════════════════
+    #  EXECUTION
+    # ═══════════════════════════════════════════════════════════
+
     def run(self):
+        """Execute the pre-planned search by following waypoints."""
+        if not self.waypoints:
+            self.plan()
+
+        n = len(self.waypoints)
         print(f"\n{'=' * 50}")
         print(f"  SEARCH: {self.mode.value.upper()} at {self.altitude}m")
+        print(f"  Waypoints: {n}")
         if self.land_ids:
             print(f"  Landing targets: {self.land_ids}")
         print(f"{'=' * 50}\n")
 
-        if self.mode == SearchMode.SPIRAL:
+        for i, (wx, wy) in enumerate(self.waypoints):
-            return self.spiral()
+            if not self.running:
-        elif self.mode == SearchMode.LAWNMOWER:
+                break
-            return self.lawnmower()
+
-        elif self.mode == SearchMode.LEVY:
+            self.current_wp = i
-            return self.levy_walk()
+            if self._on_waypoint_change:
+                self._on_waypoint_change(i)
+
+            self.ctrl.update_state()
+            pos = self.ctrl.get_local_position()
+            dist = distance_2d((pos['x'], pos['y']), (wx, wy))
+
+            dir_label = ""
+            if i > 0:
+                prev = self.waypoints[i - 1]
+                dx = wx - prev[0]
+                dy = wy - prev[1]
+                if abs(dx) > abs(dy):
+                    dir_label = "N" if dx > 0 else "S"
+                else:
+                    dir_label = "E" if dy > 0 else "W"
+
+            print(f"[SEARCH] WP {i + 1}/{n}  "
+                  f"→ ({wx:+.1f}, {wy:+.1f})  "
+                  f"dist:{dist:.1f}m  {dir_label}  "
+                  f"markers:{len(self.found_markers)}")
+
+            self.move_to_local(wx, wy)
+
+        if not self._landing:
+            print(f"\n[SEARCH] Search complete. "
+                  f"Found {len(self.found_markers)} markers.")
+
+        return self.found_markers
+
+    # ═══════════════════════════════════════════════════════════
+    #  CAMERA & MARKER DETECTION
+    # ═══════════════════════════════════════════════════════════
 
     def get_camera_frame(self):
         if self.camera is None:
@@ -114,15 +321,21 @@ class Search:
                       f"UAV at ({pos['x']:.1f}, {pos['y']:.1f})")
 
             if marker_id in self.land_ids and not self._landing:
-                print(f"\n[SEARCH] Landing target ID:{marker_id} found! Starting approach.")
+                print(f"\n[SEARCH] Landing target ID:{marker_id} found! "
+                      f"Starting approach.")
                 self._landing = True
                 self.execute_landing(detections)
                 return new_markers
 
         return new_markers
 
+    # ═══════════════════════════════════════════════════════════
+    #  LANDING
+    # ═══════════════════════════════════════════════════════════
+
     def execute_landing(self, initial_detections):
-        """Visual-servoing descent: keep the ArUco tag centered while descending."""
+        """Visual-servoing descent: keep the ArUco tag centered
+        while descending."""
         target_det = None
         for d in initial_detections:
             if d.get("id") in self.land_ids:
@@ -137,102 +350,34 @@ class Search:
         print(f"[SEARCH] Target marker ID:{target_det['id']}  "
               f"distance:{target_det['distance']:.2f}m")
 
-        # Camera parameters
+        # Camera parameters (must match model.sdf)
         IMG_W, IMG_H = 640, 480
         IMG_CX, IMG_CY = IMG_W / 2, IMG_H / 2
-        HFOV = 1.3962634  # radians (~80 degrees)
+        HFOV = 1.3962634  # 80° horizontal FOV
 
         # Landing parameters
-        DESCENT_STEP = 1.0     # descend 1m per step
+        DESCENT_STEP = 1.0
-        LAND_ALT = 1.5         # switch to blind land at this altitude
+        LAND_ALT = 1.5
-        CENTER_PX = 40         # centered if within this many pixels
+        CENTER_PX = 50
-        MAX_CORRECTIONS = 15   # max correction iterations per altitude step
+        MAX_CORRECTIONS = 30
-        GAIN = 0.4             # damping factor for corrections
+        MAX_LOST = 30
+        GAIN = 0.35
 
-        # Phase 1: Initial approach — fly toward marker using tvec as rough guide
+        # Start visual servoing from current position
-        tvec = target_det.get("tvec", [0, 0, 0])
         self.ctrl.update_state()
-        pos = self.ctrl.get_local_position()
+        current_alt = self.ctrl.altitude
 
-        # For a downward camera (90° pitch): tvec[0]=right=East, tvec[1]=down=North
+        print(f"[SEARCH] Visual servoing descent from {current_alt:.1f}m")
-        # But this is unreliable, so just use it as a rough initial move
-        rough_x = pos['x'] + tvec[1]
-        rough_y = pos['y'] + tvec[0]
-
-        print(f"[SEARCH] Phase 1: Rough approach to ({rough_x:.1f}, {rough_y:.1f})")
-        self.ctrl.move_local_ned(rough_x, rough_y, -self.altitude)
-        self._wait_arrival(rough_x, rough_y, timeout=10.0)
-        sleep(1.0)  # settle
-
-        # Phase 2: Visual servoing descent
-        current_alt = self.altitude
-        lost_count = 0
-        MAX_LOST = 10  # abort if marker lost this many consecutive times
-
-        print(f"[SEARCH] Phase 2: Visual servoing descent from {current_alt:.1f}m")
 
         while current_alt > LAND_ALT and self.running:
-            # Center over marker at current altitude
+            centered = self._center_over_marker(
-            centered = False
+                current_alt, IMG_W, IMG_H, IMG_CX, IMG_CY, HFOV,
-            for attempt in range(MAX_CORRECTIONS):
+                CENTER_PX, MAX_CORRECTIONS, MAX_LOST, GAIN)
-                frame = self.get_camera_frame()
-                if frame is None:
-                    sleep(0.2)
-                    continue
 
-                detections = self.detector.detect(frame)
+            if centered is None:
-                target = None
+                print(f"\n[SEARCH] Marker lost, aborting landing")
-                for d in detections:
+                self._landing = False
-                    if d.get("id") in self.land_ids:
+                return
-                        target = d
-                        break
-
-                if target is None:
-                    lost_count += 1
-                    print(f"\r[SEARCH] Alt:{current_alt:.1f}m  MARKER LOST ({lost_count}/{MAX_LOST})  ",
-                          end='', flush=True)
-                    if lost_count >= MAX_LOST:
-                        print(f"\n[SEARCH] Marker lost too many times, aborting landing")
-                        self._landing = False
-                        return
-                    sleep(0.3)
-                    continue
-
-                lost_count = 0
-
-                # Pixel error from image center
-                cx, cy = target["center_px"]
-                err_x = cx - IMG_CX  # positive = marker is right of center
-                err_y = cy - IMG_CY  # positive = marker is below center
-
-                print(f"\r[SEARCH] Alt:{current_alt:.1f}m  err=({err_x:+.0f},{err_y:+.0f})px  "
-                      f"dist:{target['distance']:.2f}m  ({attempt+1}/{MAX_CORRECTIONS})  ",
-                      end='', flush=True)
-
-                if abs(err_x) < CENTER_PX and abs(err_y) < CENTER_PX:
-                    centered = True
-                    break
-
-                # Convert pixel error to meters using FOV and altitude
-                # At current altitude, the ground plane width visible is:
-                #   ground_width = 2 * alt * tan(HFOV/2)
-                self.ctrl.update_state()
-                alt = max(self.ctrl.altitude, 0.5)
-                ground_w = 2.0 * alt * math.tan(HFOV / 2.0)
-                m_per_px = ground_w / IMG_W
-
-                # Apply correction (pixel right = East = +y, pixel down = North = +x)
-                correction_y = err_x * m_per_px * GAIN  # East
-                correction_x = err_y * m_per_px * GAIN  # North
-
-                cur = self.ctrl.get_local_position()
-                new_x = cur['x'] + correction_x
-                new_y = cur['y'] + correction_y
-                self.ctrl.move_local_ned(new_x, new_y, -current_alt)
-                sleep(0.4)
-
-            if not centered:
-                print(f"\n[SEARCH] Could not fully center at {current_alt:.1f}m, continuing descent")
 
             # Descend one step
             current_alt = max(current_alt - DESCENT_STEP, LAND_ALT)
@@ -240,52 +385,94 @@ class Search:
             self.ctrl.update_state()
             cur = self.ctrl.get_local_position()
             self.ctrl.move_local_ned(cur['x'], cur['y'], -current_alt)
-            sleep(1.5)  # wait for descent
+            sleep(2.0)
 
-        # Phase 3: Final centering at low altitude
+        # Final precision centering
-        print(f"[SEARCH] Phase 3: Final centering at {LAND_ALT:.1f}m")
+        print(f"[SEARCH] Final centering at {LAND_ALT:.1f}m")
-        for attempt in range(MAX_CORRECTIONS):
+        self._center_over_marker(
+            LAND_ALT, IMG_W, IMG_H, IMG_CX, IMG_CY, HFOV,
+            35, MAX_CORRECTIONS, MAX_LOST, 0.25)
+
+        # Land
+        print(f"\n[SEARCH] ===== LANDING =====")
+        self.ctrl.land()
+        self.landed = True
+        self.running = False
+
+    def _center_over_marker(self, target_alt, img_w, img_h, img_cx, img_cy,
+                            hfov, center_px, max_corrections, max_lost, gain):
+        """Center the UAV over the ArUco marker using pixel error.
+
+        Returns True if centered, False if partial, None if lost.
+        """
+        lost_count = 0
+        centered = False
+
+        for attempt in range(max_corrections):
             frame = self.get_camera_frame()
             if frame is None:
-                sleep(0.2)
+                sleep(0.3)
                 continue
+
             detections = self.detector.detect(frame)
             target = None
             for d in detections:
                 if d.get("id") in self.land_ids:
                     target = d
                     break
+
             if target is None:
+                lost_count += 1
+                print(f"\r[SEARCH] Alt:{target_alt:.1f}m  "
+                      f"MARKER LOST ({lost_count}/{max_lost})       ",
+                      end='', flush=True)
+                if lost_count >= max_lost:
+                    return None
                 sleep(0.3)
                 continue
 
-            cx, cy = target["center_px"]
+            lost_count = 0
-            err_x = cx - IMG_CX
-            err_y = cy - IMG_CY
 
-            print(f"\r[SEARCH] Final center: err=({err_x:+.0f},{err_y:+.0f})px  ",
+            cx, cy = target["center_px"]
+            err_x = cx - img_cx
+            err_y = cy - img_cy
+
+            print(f"\r[SEARCH] Alt:{target_alt:.1f}m  "
+                  f"err=({err_x:+.0f},{err_y:+.0f})px  "
+                  f"dist:{target['distance']:.2f}m  "
+                  f"({attempt+1}/{max_corrections})       ",
                   end='', flush=True)
 
-            if abs(err_x) < 25 and abs(err_y) < 25:
+            if abs(err_x) < center_px and abs(err_y) < center_px:
-                print(f"\n[SEARCH] Centered! Landing now.")
+                centered = True
+                print(f"\n[SEARCH] Centered at {target_alt:.1f}m!")
                 break
 
             self.ctrl.update_state()
             alt = max(self.ctrl.altitude, 0.5)
-            ground_w = 2.0 * alt * math.tan(HFOV / 2.0)
+            ground_w = 2.0 * alt * math.tan(hfov / 2.0)
-            m_per_px = ground_w / IMG_W
+            m_per_px = ground_w / img_w
-            correction_y = err_x * m_per_px * 0.3
+
-            correction_x = err_y * m_per_px * 0.3
+            # Camera pitch-90° inverts image axes relative to NED
+            correction_y = -err_x * m_per_px * gain
+            correction_x = -err_y * m_per_px * gain
+
             cur = self.ctrl.get_local_position()
-            self.ctrl.move_local_ned(cur['x'] + correction_x,
+            self.ctrl.move_local_ned(
-                                     cur['y'] + correction_y, -LAND_ALT)
+                cur['x'] + correction_x,
+                cur['y'] + correction_y,
+                -target_alt)
             sleep(0.5)
 
-        # Phase 4: Land
+        if not centered:
-        print(f"[SEARCH] ===== LANDING =====")
+            print(f"\n[SEARCH] Partially centered at {target_alt:.1f}m, "
-        self.ctrl.land()
+                  f"continuing")
-        self.landed = True
+
-        self.running = False
+        return centered
+
+    # ═══════════════════════════════════════════════════════════
+    #  MOVEMENT
+    # ═══════════════════════════════════════════════════════════
 
     def wait_for_position(self, target_x, target_y, timeout=None):
         if timeout is None:
@@ -313,7 +500,7 @@ class Search:
         return False
 
     def _wait_arrival(self, target_x, target_y, timeout=15.0):
-        """Wait for position without checking markers (used during landing)."""
+        """Wait for position without checking markers (landing)."""
         t0 = time.time()
         while time.time() - t0 < timeout and self.running:
             self.ctrl.update_state()
@@ -337,110 +524,9 @@ class Search:
         self.ctrl.move_local_ned(x, y, z)
         return self.wait_for_position(x, y)
 
-    def move_relative(self, dx, dy):
+    # ═══════════════════════════════════════════════════════════
-        self.ctrl.update_state()
+    #  RESULTS
-        pos = self.ctrl.get_local_position()
+    # ═══════════════════════════════════════════════════════════
-        target_x = pos['x'] + dx
-        target_y = pos['y'] + dy
-        self.ctrl.move_pos_rel(dx, dy, 0)
-        return self.wait_for_position(target_x, target_y)
-
-    def spiral(self):
-        distance = self.spiral_initial_leg
-        increment = self.spiral_leg_increment
-        travel_x = True
-        direction = 1
-
-        for leg in range(self.spiral_max_legs):
-            if not self.running:
-                break
-
-            self.ctrl.update_state()
-            pos = self.ctrl.get_local_position()
-            print(f"[SEARCH] Spiral leg {leg + 1}/{self.spiral_max_legs}  "
-                  f"pos:({pos['x']:.1f}, {pos['y']:.1f})  "
-                  f"step:{distance:.1f}m  markers:{len(self.found_markers)}")
-
-            if travel_x:
-                dx = distance * direction
-                self.move_relative(dx, 0)
-            else:
-                dy = distance * direction
-                self.move_relative(0, dy)
-                direction *= -1
-                distance += increment
-
-            travel_x = not travel_x
-
-        print(f"[SEARCH] Spiral complete. Found {len(self.found_markers)} markers.")
-        return self.found_markers
-
-    def lawnmower(self):
-        lane_spacing = self.lawn_lane_spacing
-        height = self.lawn_height
-        num_lanes = max(1, int(self.lawn_width / lane_spacing))
-
-        self.ctrl.update_state()
-        start_pos = self.ctrl.get_local_position()
-        start_x = start_pos['x']
-        start_y = start_pos['y']
-
-        print(f"[SEARCH] Lawnmower: {num_lanes} lanes, "
-              f"{lane_spacing:.1f}m spacing, {height:.1f}m height")
-
-        for lane in range(num_lanes):
-            if not self.running:
-                break
-
-            lane_x = start_x + lane * lane_spacing
-
-            if lane % 2 == 0:
-                target_y = start_y + height
-            else:
-                target_y = start_y
-
-            print(f"[SEARCH] Lane {lane + 1}/{num_lanes}  "
-                  f"x:{lane_x:.1f}  markers:{len(self.found_markers)}")
-
-            self.move_to_local(lane_x, target_y)
-
-            if not self.running:
-                break
-
-            if lane < num_lanes - 1:
-                next_x = start_x + (lane + 1) * lane_spacing
-                self.move_to_local(next_x, target_y)
-
-        print(f"[SEARCH] Lawnmower complete. Found {len(self.found_markers)} markers.")
-        return self.found_markers
-
-    def levy_walk(self):
-        field_size = self.levy_field_size
-
-        for step in range(self.levy_max_steps):
-            if not self.running:
-                break
-
-            angle_deg = self.levy_angle_dist.rvs()
-            angle_rad = math.radians(angle_deg)
-
-            raw_distance = levy.rvs(loc=1, scale=1)
-            distance = min(max(raw_distance, 1.0), field_size)
-
-            dx = distance * math.cos(angle_rad)
-            dy = distance * math.sin(angle_rad)
-
-            self.ctrl.update_state()
-            pos = self.ctrl.get_local_position()
-            print(f"[SEARCH] Lévy step {step + 1}/{self.levy_max_steps}  "
-                  f"angle:{angle_deg:.0f}°  dist:{distance:.1f}m  "
-                  f"pos:({pos['x']:.1f}, {pos['y']:.1f})  "
-                  f"markers:{len(self.found_markers)}")
-
-            self.move_relative(dx, dy)
-
-        print(f"[SEARCH] Lévy walk complete. Found {len(self.found_markers)} markers.")
-        return self.found_markers
 
     def stop(self):
         self.running = False

src/main.py

@@ -15,6 +15,7 @@ from control.search import Search
 from vision.object_detector import ObjectDetector
 from vision.camera_processor import CameraProcessor
 from navigation.flight_tracker import FlightTracker
+from utils.recorder import RunRecorder
 
 PROJECT_DIR = Path(__file__).resolve().parent.parent
 CONFIG_DIR = PROJECT_DIR / "config"
@@ -61,14 +62,32 @@ def main():
     parser.add_argument('--search', default='spiral', choices=['spiral', 'lawnmower', 'levy'])
     parser.add_argument('--altitude', type=float, default=None)
     parser.add_argument('--no-camera', action='store_true')
+    parser.add_argument('--no-record', action='store_true', help='Disable recording')
     args = parser.parse_args()
 
+    # ── Start recorder ──────────────────────────────────────────
+    recorder = None
+    if not args.no_record:
+        recorder = RunRecorder()
+        recorder.start_logging()
+
     uav_cfg = load_config('uav.yaml')
     search_cfg = load_config('search.yaml')
+    ugv_cfg = load_config('ugv.yaml')
 
-    altitude = args.altitude or search_cfg.get('altitude', uav_cfg.get('flight', {}).get('takeoff_altitude', 5.0))
+    altitude = args.altitude or search_cfg.get('altitude', 5.0)
     search_mode = args.search
 
+    # Marker config (single source of truth)
+    marker_cfg = search_cfg.get('marker', {})
+    marker_dict = marker_cfg.get('dictionary', 'DICT_4X4_50')
+    marker_size = marker_cfg.get('size', 0.5)
+    landing_ids = marker_cfg.get('landing_ids', [0])
+
+    # UGV position
+    ugv_pos_cfg = ugv_cfg.get('position', {})
+    ugv_position = (ugv_pos_cfg.get('x', 5.0), ugv_pos_cfg.get('y', 5.0))
+
     if args.connection:
         conn_str = args.connection
     elif args.device == 'real':
@@ -79,8 +98,8 @@ def main():
     ctrl = Controller(conn_str)
 
     detector = ObjectDetector(
-        marker_size=uav_cfg.get('vision', {}).get('landmark_detection', {}).get('marker_size', 0.15),
+        marker_size=marker_size,
-        aruco_dict_name="DICT_4X4_50",
+        aruco_dict_name=marker_dict,
     )
 
     camera = None
@@ -101,7 +120,7 @@ def main():
             print(f"[MAIN] Camera unavailable: {e}")
             camera = None
 
-    actions = search_cfg.get('actions', {})
+    actions = {'land': landing_ids}
     search = Search(ctrl, detector, camera=camera, mode=search_mode,
                     altitude=altitude, actions=actions)
 
@@ -109,29 +128,48 @@ def main():
     if mode_cfg:
         search.configure(**{f"{search_mode}_{k}": v for k, v in mode_cfg.items()})
 
+    # ── Pre-flight plan ─────────────────────────────────────────
+    geofence_cfg = search_cfg.get('geofence', {})
+    geofence_points = None
+    if geofence_cfg.get('enabled', False):
+        raw_pts = geofence_cfg.get('points', [])
+        if raw_pts:
+            geofence_points = [tuple(p) for p in raw_pts]
+
+    waypoints = search.plan(start_pos=(0.0, 0.0),
+                            geofence_points=geofence_points)
+
     print(f"[MAIN] Config loaded from {CONFIG_DIR}")
     print(f"[MAIN] Search: {search_mode}  Altitude: {altitude}m")
-    if actions.get('land'):
+    print(f"[MAIN] Marker: {marker_dict}  size:{marker_size}m  land:{landing_ids}")
-        print(f"[MAIN] Landing targets: {actions['land']}")
+
+    # ── Start flight tracker (show plan before takeoff) ─────────
+    tracker = FlightTracker(
+        window_size=600,
+        world_range=30.0,
+        ugv_position=ugv_position,
+        geofence=geofence_cfg,
+    )
+    tracker.set_plan(waypoints)
+    tracker.start()
 
     setup_ardupilot(ctrl)
     ctrl.wait_for_gps()
 
     if not ctrl.arm():
         print("[UAV] Cannot arm - aborting")
+        if recorder:
+            recorder.save_summary(search_mode=search_mode, altitude=altitude)
+            recorder.stop()
         return
 
     ctrl.takeoff(altitude)
     ctrl.wait_altitude(altitude, tolerance=1.0, timeout=30)
 
-    # Start flight tracker
+    # ── Start recording tracker + camera ────────────────────────
-    tracker = FlightTracker(
+    if recorder:
-        window_size=600,
+        recorder.start_recording(tracker=tracker, camera=camera)
-        world_range=30.0,
+        recorder.snapshot_camera("pre_search")
-        ugv_position=(5.0, 5.0),
-        geofence=search_cfg.get('geofence'),
-    )
-    tracker.start()
 
     # Feed position updates to tracker during search
     original_check = search.check_for_markers
@@ -148,9 +186,16 @@ def main():
         return result
     search.check_for_markers = tracked_check
 
+    # Wire up waypoint progress to tracker
+    search._on_waypoint_change = lambda idx: tracker.set_active_waypoint(idx)
+
     results = search.run()
     search_results = search.get_results()
 
+    # ── Snapshot on detection ───────────────────────────────────
+    if recorder and results:
+        recorder.snapshot_camera("marker_detected")
+
     print(f"\n{'=' * 50}")
     print(f"  SEARCH COMPLETE")
     print(f"{'=' * 50}")
@@ -170,6 +215,17 @@ def main():
     else:
         wait_for_landing(ctrl)
 
+    # ── Finalize recording ──────────────────────────────────────
+    if recorder:
+        recorder.snapshot_camera("post_landing")
+        recorder.save_summary(
+            search_mode=search_mode,
+            altitude=altitude,
+            markers=results,
+            landed=search_results.get('landed', False),
+        )
+        recorder.stop()
+
     tracker.stop()
     print("[MAIN] Done.")
 

src/navigation/flight_tracker.py

@@ -39,6 +39,9 @@ class FlightTracker:
     FENCE_COLOR = (0, 220, 255)        # Yellow-cyan
     FENCE_WARN_COLOR = (0, 140, 200)   # Darker yellow
     FENCE_BREACH_COLOR = (0, 0, 255)   # Red
+    PLAN_COLOR = (180, 140, 50)        # Muted cyan-blue
+    PLAN_ACTIVE_COLOR = (0, 180, 255)  # Orange
+    PLAN_VISITED_COLOR = (60, 60, 60)  # Dim gray
 
     def __init__(self, window_size=600, world_range=30.0,
                  ugv_position=(5.0, 5.0), show_ugv=True,
@@ -60,9 +63,13 @@ class FlightTracker:
         self.uav_pos = (0.0, 0.0)
         self.uav_alt = 0.0
         self.uav_heading = 0.0
-        self.trail = deque(maxlen=5000)
+        self.trail = deque()
         self.markers_found = {}
 
+        # Flight plan
+        self.plan_waypoints = []
+        self.active_waypoint = 0
+
         # Geofence
         self.geofence = geofence
         self.fence_points = []
@@ -108,6 +115,17 @@ class FlightTracker:
         with self._lock:
             self.markers_found[marker_id] = (x, y)
 
+    def set_plan(self, waypoints):
+        """Set pre-computed flight plan waypoints for visualization."""
+        with self._lock:
+            self.plan_waypoints = list(waypoints)
+            self.active_waypoint = 0
+
+    def set_active_waypoint(self, idx):
+        """Update which waypoint the UAV is currently targeting."""
+        with self._lock:
+            self.active_waypoint = idx
+
     def _point_in_polygon(self, px, py, polygon):
         """Simple ray-casting point-in-polygon test."""
         n = len(polygon)
@@ -159,6 +177,12 @@ class FlightTracker:
             uav_hdg = self.uav_heading
             ugv = self.ugv_pos
             markers = dict(self.markers_found)
+            plan_copy = list(self.plan_waypoints)
+            active_wp = self.active_waypoint
+
+        # Draw plan UNDER the trail
+        if plan_copy:
+            self._draw_plan(frame, plan_copy, active_wp)
 
         self._draw_trail(frame, trail_copy)
 
@@ -288,13 +312,61 @@ class FlightTracker:
             ey = int(y1 + dy * end)
             cv2.line(frame, (sx, sy), (ex, ey), color, thickness)
 
+    def _draw_plan(self, frame, waypoints, active_idx):
+        """Draw the pre-flight plan: dashed path with numbered waypoints."""
+        if len(waypoints) < 2:
+            return
+
+        pts = [self.world_to_pixel(x, y) for x, y in waypoints]
+
+        # Draw connecting lines
+        for i in range(1, len(pts)):
+            if i <= active_idx:
+                color = self.PLAN_VISITED_COLOR
+            else:
+                color = self.PLAN_COLOR
+            self._draw_dashed_line(frame, pts[i - 1], pts[i], color, 1, 8)
+
+        # Draw waypoint markers
+        for i, (px, py) in enumerate(pts):
+            if i < active_idx:
+                # Visited — small dim dot
+                cv2.circle(frame, (px, py), 3, self.PLAN_VISITED_COLOR, -1)
+            elif i == active_idx:
+                # Active target — bright ring
+                cv2.circle(frame, (px, py), 8, self.PLAN_ACTIVE_COLOR, 2)
+                cv2.circle(frame, (px, py), 3, self.PLAN_ACTIVE_COLOR, -1)
+            else:
+                # Future — small cyan dot
+                cv2.circle(frame, (px, py), 4, self.PLAN_COLOR, 1)
+
+            # Waypoint number label
+            label = str(i)
+            cv2.putText(frame, label, (px + 7, py - 5),
+                        cv2.FONT_HERSHEY_SIMPLEX, 0.28, self.PLAN_COLOR, 1)
+
     def _draw_trail(self, frame, trail):
-        """Draw the flight path trail."""
+        """Draw the flight path trail with persistent visibility."""
         if len(trail) < 2:
             return
+
+        # Minimum brightness so old trail never disappears
+        MIN_ALPHA = 0.3
+        FADE_POINTS = 200  # only the newest N points fade
+
         pts = [self.world_to_pixel(x, y) for x, y in trail]
-        for i in range(1, len(pts)):
+        n = len(pts)
-            alpha = i / len(pts)
+        fade_start = max(0, n - FADE_POINTS)
+
+        for i in range(1, n):
+            if i <= fade_start:
+                # Old segments: solid dim color (never invisible)
+                alpha = MIN_ALPHA
+            else:
+                # Recent segments: fade from MIN_ALPHA to 1.0
+                progress = (i - fade_start) / FADE_POINTS
+                alpha = MIN_ALPHA + (1.0 - MIN_ALPHA) * progress
+
             color = (
                 int(self.UAV_TRAIL_COLOR[0] * alpha),
                 int(self.UAV_TRAIL_COLOR[1] * alpha),

src/utils/recorder.py

@@ -0,0 +1,293 @@
+#!/usr/bin/env python3
+"""
+Run Recorder — Captures logs, flight path, camera frames, and summary for each run.
+
+Creates timestamped folders in /results with:
+  flight_path.avi  — Flight tracker video
+  camera.avi       — Downward camera video
+  flight_path.png  — Final flight tracker snapshot
+  log.txt          — Full console output
+  summary.json     — Run metadata and results
+"""
+
+import os
+import sys
+import io
+import json
+import time
+import threading
+import cv2
+import numpy as np
+from pathlib import Path
+from datetime import datetime
+
+
+class RunRecorder:
+    """Records all outputs from a simulation run."""
+
+    def __init__(self, results_dir=None, fps=5):
+        if results_dir is None:
+            project_dir = Path(__file__).resolve().parent.parent
+            results_dir = project_dir / "results"
+
+        results_dir = Path(results_dir)
+        results_dir.mkdir(parents=True, exist_ok=True)
+
+        # Find next sequential run number
+        existing = [d.name for d in results_dir.iterdir()
+                    if d.is_dir() and d.name.startswith("run_")]
+        nums = []
+        for name in existing:
+            try:
+                nums.append(int(name.split("_")[1]))
+            except (IndexError, ValueError):
+                pass
+        run_num = max(nums, default=0) + 1
+
+        self.run_dir = results_dir / f"run_{run_num}"
+        self.run_dir.mkdir(parents=True, exist_ok=True)
+        self.run_num = run_num
+
+        self.fps = fps
+        self.start_time = time.time()
+
+        # Log capture
+        self._log_path = self.run_dir / "log.txt"
+        self._log_file = open(self._log_path, "w")
+        self._original_stdout = sys.stdout
+        self._original_stderr = sys.stderr
+        self._tee_stdout = _TeeWriter(sys.stdout, self._log_file)
+        self._tee_stderr = _TeeWriter(sys.stderr, self._log_file)
+
+        # Video writers (initialized lazily on first frame)
+        self._tracker_writer = None
+        self._camera_writer = None
+        self._tracker_size = None
+        self._camera_size = None
+
+        # Frame counters
+        self._tracker_frames = 0
+        self._camera_frames = 0
+
+        # Snapshot storage
+        self._last_tracker_frame = None
+        self._last_camera_frame = None
+        self._camera_snapshots = []
+
+        # Recording thread
+        self._recording = False
+        self._tracker_ref = None
+        self._camera_ref = None
+        self._record_thread = None
+        self._lock = threading.Lock()
+
+        # Metadata
+        self.metadata = {
+            "run": run_num,
+            "start_time": datetime.now().isoformat(),
+            "run_dir": str(self.run_dir),
+        }
+
+        print(f"[REC] Recording to: {self.run_dir}")
+
+    def start_logging(self):
+        """Redirect stdout/stderr to both console and log file."""
+        sys.stdout = self._tee_stdout
+        sys.stderr = self._tee_stderr
+
+    def stop_logging(self):
+        """Restore original stdout/stderr."""
+        sys.stdout = self._original_stdout
+        sys.stderr = self._original_stderr
+
+    def start_recording(self, tracker=None, camera=None):
+        """Start background recording of tracker and camera frames."""
+        self._tracker_ref = tracker
+        self._camera_ref = camera
+        self._recording = True
+        self._record_thread = threading.Thread(
+            target=self._record_loop, daemon=True
+        )
+        self._record_thread.start()
+
+    def _record_loop(self):
+        """Periodically capture frames from tracker and camera."""
+        interval = 1.0 / self.fps
+        while self._recording:
+            t0 = time.time()
+
+            # Capture tracker frame
+            if self._tracker_ref is not None:
+                try:
+                    frame = self._tracker_ref.draw()
+                    if frame is not None:
+                        self._write_tracker_frame(frame)
+                        self._last_tracker_frame = frame.copy()
+                except Exception:
+                    pass
+
+            # Capture camera frame
+            if self._camera_ref is not None:
+                try:
+                    frame = self._camera_ref.frames.get("downward")
+                    if frame is not None:
+                        self._write_camera_frame(frame)
+                        self._last_camera_frame = frame.copy()
+                except Exception:
+                    pass
+
+            elapsed = time.time() - t0
+            sleep_time = max(0, interval - elapsed)
+            time.sleep(sleep_time)
+
+    def _write_tracker_frame(self, frame):
+        """Write a frame to the tracker video."""
+        h, w = frame.shape[:2]
+        if self._tracker_writer is None:
+            self._tracker_size = (w, h)
+            fourcc = cv2.VideoWriter_fourcc(*'XVID')
+            path = str(self.run_dir / "flight_path.avi")
+            self._tracker_writer = cv2.VideoWriter(path, fourcc, self.fps, (w, h))
+        self._tracker_writer.write(frame)
+        self._tracker_frames += 1
+
+    def _write_camera_frame(self, frame):
+        """Write a frame to the camera video."""
+        h, w = frame.shape[:2]
+        if self._camera_writer is None:
+            self._camera_size = (w, h)
+            fourcc = cv2.VideoWriter_fourcc(*'XVID')
+            path = str(self.run_dir / "camera.avi")
+            self._camera_writer = cv2.VideoWriter(path, fourcc, self.fps, (w, h))
+        self._camera_writer.write(frame)
+        self._camera_frames += 1
+
+    def snapshot_camera(self, label="snapshot"):
+        """Save a named snapshot of the current camera frame."""
+        if self._camera_ref is None:
+            return
+        frame = self._camera_ref.frames.get("downward")
+        if frame is None:
+            return
+        idx = len(self._camera_snapshots)
+        filename = f"camera_{idx:03d}_{label}.png"
+        path = self.run_dir / filename
+        cv2.imwrite(str(path), frame)
+        self._camera_snapshots.append(filename)
+        print(f"[REC] Snapshot: {filename}")
+
+    def save_summary(self, search_mode="", altitude=0, markers=None,
+                     landed=False, extra=None):
+        """Write the run summary JSON."""
+        duration = time.time() - self.start_time
+        mins = int(duration // 60)
+        secs = int(duration % 60)
+
+        summary = {
+            **self.metadata,
+            "end_time": datetime.now().isoformat(),
+            "duration_seconds": round(duration, 1),
+            "duration_display": f"{mins}m {secs}s",
+            "search_mode": search_mode,
+            "altitude": altitude,
+            "landed": landed,
+            "markers_found": {},
+            "recordings": {
+                "log": "log.txt",
+                "flight_path_video": "flight_path.avi",
+                "flight_path_image": "flight_path.png",
+                "camera_video": "camera.avi",
+                "camera_snapshots": self._camera_snapshots,
+            },
+            "frame_counts": {
+                "tracker": self._tracker_frames,
+                "camera": self._camera_frames,
+            },
+        }
+
+        if markers:
+            for mid, info in markers.items():
+                pos = info.get('uav_position', {})
+                summary["markers_found"][str(mid)] = {
+                    "x": round(pos.get('x', 0), 2),
+                    "y": round(pos.get('y', 0), 2),
+                    "distance": round(info.get('distance', 0), 2),
+                }
+
+        if extra:
+            summary.update(extra)
+
+        path = self.run_dir / "summary.json"
+        with open(path, "w") as f:
+            json.dump(summary, f, indent=2)
+        print(f"[REC] Summary saved: {path}")
+
+    def stop(self):
+        """Stop recording and finalize all outputs."""
+        self._recording = False
+        if self._record_thread:
+            self._record_thread.join(timeout=3.0)
+
+        # Save final flight path image
+        if self._last_tracker_frame is not None:
+            path = self.run_dir / "flight_path.png"
+            cv2.imwrite(str(path), self._last_tracker_frame)
+            print(f"[REC] Flight path saved: {path}")
+
+        # Save final camera frame
+        if self._last_camera_frame is not None:
+            path = self.run_dir / "camera_final.png"
+            cv2.imwrite(str(path), self._last_camera_frame)
+
+        # Release video writers
+        if self._tracker_writer:
+            self._tracker_writer.release()
+        if self._camera_writer:
+            self._camera_writer.release()
+
+        # Stop log capture
+        self.stop_logging()
+        self._log_file.close()
+
+        duration = time.time() - self.start_time
+        mins = int(duration // 60)
+        secs = int(duration % 60)
+
+        # Print to original stdout since we stopped the tee
+        self._original_stdout.write(
+            f"\n[REC] Run recorded: {self.run_dir}\n"
+            f"[REC] Duration: {mins}m {secs}s  |  "
+            f"Tracker: {self._tracker_frames} frames  |  "
+            f"Camera: {self._camera_frames} frames\n"
+        )
+
+
+class _TeeWriter:
+    """Writes to both a stream and a file simultaneously."""
+
+    def __init__(self, stream, log_file):
+        self._stream = stream
+        self._log = log_file
+
+    def write(self, data):
+        self._stream.write(data)
+        try:
+            # Strip ANSI escape codes for the log file
+            clean = data
+            self._log.write(clean)
+            self._log.flush()
+        except (ValueError, IOError):
+            pass
+
+    def flush(self):
+        self._stream.flush()
+        try:
+            self._log.flush()
+        except (ValueError, IOError):
+            pass
+
+    def fileno(self):
+        return self._stream.fileno()
+
+    def isatty(self):
+        return self._stream.isatty()