Bug Fixes

src/utils/recorder.py

@@ -337,7 +337,40 @@ class RunRecorder:
             threading.Thread(target=self._upload_file, args=(path, filename), daemon=True).start()
 
     def save_summary(self, search_mode="", altitude=0, markers=None, landed=False, ugv_dispatched=False, ugv_target=None, extra=None):
-        pass
+        duration = time.time() - self.start_time
+        summary = {
+            "search_mode": search_mode,
+            "altitude": round(altitude, 2),
+            "duration_seconds": round(duration, 1),
+            "search_duration_seconds": round(self.search_duration, 1),
+            "landed": landed,
+            "ugv_dispatched": ugv_dispatched,
+            "markers_found": 0,
+            "markers": {},
+            "timestamp": datetime.now().isoformat(),
+        }
+        if ugv_target:
+            summary["ugv_target"] = ugv_target
+        if markers:
+            summary["markers_found"] = len(markers)
+            for mid, info in markers.items():
+                pos = info.get("uav_position", {})
+                summary["markers"][int(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.yaml"
+        try:
+            with open(path, "w") as f:
+                yaml.dump(summary, f, default_flow_style=False, sort_keys=False)
+            print(f"[REC] Summary saved: {path}")
+            threading.Thread(target=self._upload_file, args=(path, "summary.yaml"), daemon=True).start()
+        except Exception as e:
+            print(f"[REC] Failed to save summary: {e}")
 
     def stop(self):
         self._recording = False