Merge remote-tracking branch 'origin/master'

scenes/tabs-switch/lbl_ready.gd

@@ -12,6 +12,13 @@ enum DEVICE_STATUS {
     CONTROL      # Контроль завершен
 }
 
+# Состояния сервиса для RTR устройств
+enum RTR_SERVICEABILITY {
+    NO_CONNECTION = 0,  # Нет связи
+    PASSED = 1,         # Все тесты пройдены
+    ERROR = 2           # Есть ошибки
+}
+
 const STATUS_CONFIG := {
     DEVICE_STATE.NONE: {'text': 'Нет связи', 'color': Color.WHITE, 'font_color': Color.BLACK},
     DEVICE_STATE.GOOD: {'text': 'Исправно', 'color': Color.GREEN, 'font_color': Color.BLACK},
@@ -22,6 +29,9 @@ class DeviceObserver:
     var device_name: String
     var status: Array = [false, false, false]  # [online, operational, control_complete]
     var last_results: Dictionary = {}
+    
+    # Для RTR устройств
+    var rtr_serviceability: int = RTR_SERVICEABILITY.NO_CONNECTION
 
     func update_online_state(online: bool) -> bool:
         if status[DEVICE_STATUS.ONLINE] != online:
@@ -55,11 +65,28 @@ class DeviceObserver:
                 status[DEVICE_STATUS.CONTROL] = false
                 changed = true
         return changed
+    
+    func update_rtr_serviceability(state: int) -> bool:
+        if rtr_serviceability != state:
+            rtr_serviceability = state
+            # Обновляем operational статус на основе RTR
+            var new_operational = (state == RTR_SERVICEABILITY.PASSED)
+            if status[DEVICE_STATUS.STATUS] != new_operational:
+                status[DEVICE_STATUS.STATUS] = new_operational
+                return true
+        return false
 
 var device_observers: Dictionary = {}
 var overall_prd_state: DEVICE_STATE = DEVICE_STATE.NONE
 var status_uf: int = DEVICE_STATE.NONE  # Статус УФ (УАРЭП-ЭМС)
 
+# Добавляем наблюдателей для RTR устройств
+var rtr_device_names := [
+    'rtr_afsp_left',
+    'rtr_afsp_right',
+    'rtr_bpo'  # Общий для левого и правого БПО
+]
+
 func _ready() -> void:
     tooltip_text = 'Нет связи с приборами комплекса'
     add_theme_color_override('font_color', Color.BLACK)
@@ -78,11 +105,20 @@ func _ready() -> void:
 
     # Подписка на УФ
     signaller.connect('update_uf_serviceability', _on_uf_status_receive)
+    
+    # Подписка на сигналы RTR (через signaller или напрямую)
+    _connect_rtr_signals()
 
     # Инициализация начального состояния
     _recalculate_overall_state()
 
 
+func _connect_rtr_signals() -> void:
+    scouting.connect('serviceability_rtr_afsp_left', Callable(self, '_on_rtr_afsp_left_serviceability'))
+    scouting.connect('serviceability_rtr_afsp_right', Callable(self, '_on_rtr_afsp_right_serviceability'))
+    scouting.connect('serviceability_rtr_bpo', Callable(self, '_on_rtr_bpo_serviceability'))
+    
+
 func _initialize_observers() -> void:
     var device_names := [
         'уарэп-яу07-1н', 'уарэп-яу07-1в', 'уарэп-яу07-1к',
@@ -94,6 +130,69 @@ func _initialize_observers() -> void:
     for device_name in device_names:
         device_observers[device_name] = DeviceObserver.new()
         device_observers[device_name].device_name = device_name
+    
+    # Инициализируем наблюдателей для RTR устройств
+    for rtr_name in rtr_device_names:
+        device_observers[rtr_name] = DeviceObserver.new()
+        device_observers[rtr_name].device_name = rtr_name
+
+
+# Обработчики сигналов RTR
+func _on_rtr_afsp_left_serviceability(state: int) -> void:
+    var observer: DeviceObserver = device_observers.get('rtr_afsp_left')
+    if not observer:
+        return
+    
+    var changed = false
+    if observer.update_rtr_serviceability(state):
+        changed = true
+    
+    var is_online = (state != RTR_SERVICEABILITY.NO_CONNECTION)
+    if observer.update_online_state(is_online):
+        changed = true
+    
+    if changed:
+        _recalculate_overall_state()
+    else:
+        _update_display()
+
+
+func _on_rtr_afsp_right_serviceability(state: int) -> void:
+    var observer: DeviceObserver = device_observers.get('rtr_afsp_right')
+    if not observer:
+        return
+    
+    var changed = false
+    if observer.update_rtr_serviceability(state):
+        changed = true
+    
+    var is_online = (state != RTR_SERVICEABILITY.NO_CONNECTION)
+    if observer.update_online_state(is_online):
+        changed = true
+    
+    if changed:
+        _recalculate_overall_state()
+    else:
+        _update_display()
+
+
+func _on_rtr_bpo_serviceability(state: int) -> void:
+    var observer: DeviceObserver = device_observers.get('rtr_bpo')
+    if not observer:
+        return
+    
+    var changed = false
+    if observer.update_rtr_serviceability(state):
+        changed = true
+    
+    var is_online = (state != RTR_SERVICEABILITY.NO_CONNECTION)
+    if observer.update_online_state(is_online):
+        changed = true
+    
+    if changed:
+        _recalculate_overall_state()
+    else:
+        _update_display()
 
 
 func _on_prd_online_changed(line_status: Object, prd_module: Object) -> void:
@@ -123,7 +222,12 @@ func _recalculate_overall_state() -> void:
     var has_online_prd := false
     var all_prd_operational := true
 
-    for observer in device_observers.values():
+    for observer_key in device_observers.keys():
+        # Пропускаем RTR устройства при подсчете ПРД
+        if observer_key.begins_with('rtr_'):
+            continue
+            
+        var observer = device_observers[observer_key]
         if observer.status[DEVICE_STATUS.ONLINE]:
             has_online_prd = true
 
@@ -142,15 +246,35 @@ func _recalculate_overall_state() -> void:
             prd_state = DEVICE_STATE.ERR
     else:
         prd_state = DEVICE_STATE.NONE
+    
+    # Проверяем статус RTR устройств
+    var rtr_state := DEVICE_STATE.NONE
+    var has_online_rtr := false
+    var all_rtr_operational := true
+    
+    for rtr_name in rtr_device_names:
+        var observer = device_observers.get(rtr_name)
+        if observer and observer.status[DEVICE_STATUS.ONLINE]:
+            has_online_rtr = true
+            if not observer.status[DEVICE_STATUS.STATUS]:
+                all_rtr_operational = false
+    
+    if has_online_rtr:
+        if all_rtr_operational:
+            rtr_state = DEVICE_STATE.GOOD
+        else:
+            rtr_state = DEVICE_STATE.ERR
+    else:
+        rtr_state = DEVICE_STATE.NONE
 
     # Комбинируем статусы по правилу:
     # 1. Если хоть один ERROR → ERROR
     # 2. Если нет ERROR и хоть один GOOD → GOOD
     # 3. Иначе → NONE
 
-    if prd_state == DEVICE_STATE.ERR or status_uf == DEVICE_STATE.ERR:
+    if prd_state == DEVICE_STATE.ERR or status_uf == DEVICE_STATE.ERR or rtr_state == DEVICE_STATE.ERR:
         new_state = DEVICE_STATE.ERR
-    elif prd_state == DEVICE_STATE.GOOD or status_uf == DEVICE_STATE.GOOD:
+    elif prd_state == DEVICE_STATE.GOOD or status_uf == DEVICE_STATE.GOOD or rtr_state == DEVICE_STATE.GOOD:
         new_state = DEVICE_STATE.GOOD
     else:
         new_state = DEVICE_STATE.NONE
@@ -174,6 +298,7 @@ func _get_tooltip_text() -> String:
     # Получаем статистику по ПРД
     var prd_summary = _get_prd_summary()
     var uf_status_str = _get_uf_status_text()
+    var rtr_summary = _get_rtr_summary()
 
     match overall_prd_state:
         DEVICE_STATE.NONE:
@@ -185,6 +310,7 @@ func _get_tooltip_text() -> String:
 
     tooltip += '\n\nСтатус ПРД систем: ' + prd_summary
     tooltip += '\nСтатус УФ: ' + uf_status_str
+    tooltip += '\nСтатус RTR: ' + rtr_summary
 
     # Детализация по источникам статуса
     tooltip += '\n\nСостояние систем:'
@@ -192,7 +318,10 @@ func _get_tooltip_text() -> String:
     # ПРД системы
     var prd_ok_count = 0
     var prd_total = 0
-    for observer in device_observers.values():
+    for observer_key in device_observers.keys():
+        if observer_key.begins_with('rtr_'):
+            continue
+        var observer = device_observers[observer_key]
         if observer.status[DEVICE_STATUS.ONLINE]:
             prd_total += 1
             if observer.status[DEVICE_STATUS.STATUS]:
@@ -202,15 +331,67 @@ func _get_tooltip_text() -> String:
 
     # УФ система
     tooltip += '\nУФ: ' + _get_uf_status_text()
-
+    
+    # RTR системы
+    tooltip += '\nRTR:'
+    for rtr_name in rtr_device_names:
+        var observer = device_observers.get(rtr_name)
+        if observer:
+            var status_text = _get_rtr_status_text(observer.rtr_serviceability)
+            var display_name = _get_rtr_display_name(rtr_name)
+            tooltip += '\n  - %s: %s' % [display_name, status_text]
     return tooltip
 
 
+func _get_rtr_summary() -> String:
+    var online_count := 0
+    var operational_count := 0
+    
+    for rtr_name in rtr_device_names:
+        var observer = device_observers.get(rtr_name)
+        if observer and observer.status[DEVICE_STATUS.ONLINE]:
+            online_count += 1
+            if observer.status[DEVICE_STATUS.STATUS]:
+                operational_count += 1
+    
+    if online_count == 0:
+        return 'Нет связи'
+    else:
+        return '%d/%d исправно' % [operational_count, online_count]
+
+
+func _get_rtr_status_text(state: int) -> String:
+    match state:
+        RTR_SERVICEABILITY.NO_CONNECTION:
+            return 'Нет связи'
+        RTR_SERVICEABILITY.PASSED:
+            return 'Исправен'
+        RTR_SERVICEABILITY.ERROR:
+            return 'Ошибка'
+        _:
+            return 'Неизвестно'
+
+
+func _get_rtr_display_name(rtr_key: String) -> String:
+    match rtr_key:
+        'rtr_afsp_left':
+            return 'АФСП Л'
+        'rtr_afsp_right':
+            return 'АФСП П'
+        'rtr_bpo':
+            return 'РТР'
+        _:
+            return rtr_key.replace('rtr_', '')
+
+
 func _get_prd_summary() -> String:
     var online_count := 0
     var operational_count := 0
 
-    for observer in device_observers.values():
+    for observer_key in device_observers.keys():
+        if observer_key.begins_with('rtr_'):
+            continue
+        var observer = device_observers[observer_key]
         if observer.status[DEVICE_STATUS.ONLINE]:
             online_count += 1
             if observer.status[DEVICE_STATUS.STATUS]:
@@ -235,14 +416,20 @@ func _get_uf_status_text() -> String:
 
 
 func _has_prd_errors() -> bool:
-    for observer in device_observers.values():
+    for observer_key in device_observers.keys():
+        if observer_key.begins_with('rtr_'):
+            continue
+        var observer = device_observers[observer_key]
         if observer.status[DEVICE_STATUS.ONLINE] and not observer.status[DEVICE_STATUS.STATUS]:
             return true
     return false
 
 
 func _has_operational_prd() -> bool:
-    for observer in device_observers.values():
+    for observer_key in device_observers.keys():
+        if observer_key.begins_with('rtr_'):
+            continue
+        var observer = device_observers[observer_key]
         if observer.status[DEVICE_STATUS.ONLINE] and observer.status[DEVICE_STATUS.STATUS]:
             return true
     return false
@@ -257,7 +444,8 @@ func get_device_status(device_name: String) -> Dictionary:
             'operational': observer.status[DEVICE_STATUS.STATUS],
             'control_complete': observer.status[DEVICE_STATUS.CONTROL],
             'last_results': observer.last_results.duplicate(),
-            'status_uf': status_uf
+            'status_uf': status_uf,
+            'rtr_serviceability': observer.rtr_serviceability if device_name.begins_with('rtr_') else -1
         }
     return {}
 
@@ -267,7 +455,10 @@ func get_overall_status() -> Dictionary:
     var operational_count := 0
     var control_complete_count := 0
 
-    for observer in device_observers.values():
+    for observer_key in device_observers.keys():
+        if observer_key.begins_with('rtr_'):
+            continue
+        var observer = device_observers[observer_key]
         if observer.status[DEVICE_STATUS.ONLINE]:
             online_count += 1
             if observer.status[DEVICE_STATUS.STATUS]:
@@ -279,7 +470,8 @@ func get_overall_status() -> Dictionary:
         'overall_state': overall_prd_state,
         'online_devices': online_count,
         'operational_devices': operational_count,
-        'total_devices': device_observers.size(),
+        'total_devices': device_observers.size() - len(rtr_device_names),  # Исключаем RTR
         'control_complete_devices': control_complete_count,
-        'uf_status': status_uf
+        'uf_status': status_uf,
+        'rtr_status': _get_rtr_summary()
     }

scenes/tilemap/tilemap.gd

@@ -642,29 +642,6 @@ class Tile:
         self.y = y0
         self.z = z0
 
-# Возвращает расстояние в метрах между двумя точками на карте
-func haversine_m(lat1: float, lon1: float, lat2: float, lon2: float) -> float:
-    # Радиус Земли в метрах
-    const R: = 6372795.0
-    # Преобразование градусов в радианы
-    var rlat1: = deg_to_rad(lat1)
-    var rlon1: = deg_to_rad(lon1)
-    var rlat2: = deg_to_rad(lat2)
-    var rlon2: = deg_to_rad(lon2)
-    # вычисление длины большого круга
-    var cl1: = cos(rlat1)
-    var cl2: = cos(rlat2)
-    var sl1: = sin(rlat1)
-    var sl2: = sin(rlat2)
-    var delta: = rlon2 - rlon1
-    var cdelta: = cos(delta)
-    var sdelta: = sin(delta)
-    var y: = sqrt(pow(cl2 * sdelta, 2.0) + pow(cl1 * sl2 - sl1 * cl2 * cdelta, 2.0))
-    var x: = sl1 * sl2 + cl1 * cl2 * cdelta
-    var ad: = atan2(y, x)
-    var dist: = ad * R
-    return dist
-
 
 func remove_closest_dot(screen_pos: Vector2) -> bool:
     var closest_dot = find_at_screen_position(screen_pos)

scripts/interfer.gd

@@ -1,5 +1,7 @@
 class_name Iterfer extends Node
 
+const default_um: = 5.0  ## Угол места по умолчанию
+
 ## Представление помехи.
 
 ## Режимы помехи.
@@ -92,7 +94,7 @@ const EXCLUDE_INTERFER = ['srni1', 'srnm2', 'srngps', 'svi1', 'svm2']
 const ID_INTERFERS_LEN = 63    ## Размер пула номеров целей.
 const INTERFER_OFF = 'off'
 const INTERFER_IQFILE = 'IQ-файл'
-const POW_DEFAULT: float = 50.0
+const POW_DEFAULT: float = 80.0
 const PERIOD_DEFAULT = 7.5
 const MIN_WIDTH_COEF = 1.0
 const MIN_RESEND_TIMEOUT = 0.05
@@ -115,9 +117,12 @@ var fs_closed: Dictionary                       ## Словарь секторо
 var width_coef: float = 1.5                     ## Коэффициент расширения полосы
 var now: = 0.0                                  ## Время с момента запуска
 var resend_timeout: float = 1.0                 ## Время повторной отправки команды
+var trim = 0.0                                  ## Килевая качка
+var roll = 0.0                                  ## Бортовая качка
 
 signal send_ecms(time_now)                      ## Сигнал отправки помех, если настало время
 
+var unit_nav: unit.Unit                         ## Навигация
 
 ## Сеанс помехи.
 class Interfer:
@@ -137,6 +142,9 @@ class Interfer:
     var priority: int = 0               ## Приоритет помехи
     var active: bool = false            ## Флаг, что фиксируется мощность на выходном усилителе
     var freq_change = false             ## Флаг, что частота изменнена пользователем
+    var bort = false                    ## Признак бортовая или килевая качка
+    var trim_roll = 0.0                 ## Качка для конкретной помехи
+    var trim_roll_manual = false        ## Флаг что ум задан оператором
 
     func _to_string() -> String:
         return 'номер: %d название: %s частота: %0.1f МГц пеленг: %0.1f гр.' % [ispp, ITERFER_MODE[krp][0], params['freq'], kni]
@@ -173,11 +181,25 @@ class Interfer:
         var param = self.get(value_key)
         if param == null:
             params[value_key] = value
+        elif value_key == 'um':
+            trim_roll_manual = true
+            params[value_key] = value
+            set_um()
         else:
             self.set(value_key, value)
         if value_key == 'freq':
             freq_change = true
-
+    
+    func set_um():
+        if not self.trim_roll_manual:
+            self.um = params.get('um', default_um) + self.trim_roll
+        else:
+            self.um = params.get('um', default_um)   
+        if (self.um < settings.UM_MIN):
+            self.um = settings.UM_MIN
+        elif (self.um > settings.UM_MAX):
+            self.um = settings.UM_MAX
+        
 signal interfer_preparing(ecm: Interfer)           ## Вызывается в момент запуска помехи.
 signal interfer_run(ecm: Interfer)                 ## Вызывается в момент начала работы помехи.
 signal interfer_error(ecm: Interfer, msg: String)  ## Вызывается при ошибке.
@@ -223,8 +245,8 @@ func _ready() -> void:
     threats.connect('threats_resized', Callable(self, 'on_threats_resized'))
     threats.connect('threat_update', Callable(self, 'on_threats_update').bind(ecms))
     ProjectSettings.connect('settings_changed', on_settings_changed)
-    var unit_nav: = network.get_unit_instance('навигация')
-    unit_nav.connect('data_received', on_nav_data_received.bind(unit_caps))
+    unit_nav = network.get_unit_instance('навигация')
+    unit_nav.connect('data_received', on_nav_data_received.bind(unit_caps, ecms))
     connect('send_ecms', Callable(self, 'on_send_ecms').bind(ecms, unit_caps))
     call_deferred('emit_signal', 'interfer_resized', ecms)
 
@@ -232,8 +254,9 @@ func _ready() -> void:
 func on_trenazh_mode(val: bool): trenazh_mode =  val
 
 
-func on_nav_data_received(coords: Dictionary, unit_caps):
+func on_nav_data_received(coords: Dictionary, unit_caps, ecms):
     var ship_time = Time.get_datetime_dict_from_system()
+    var update_bk_kk = false
     course = coords.get('k', 0.0)
     var data_to_json = {
         'ts': 8,
@@ -251,9 +274,23 @@ func on_nav_data_received(coords: Dictionary, unit_caps):
         'minute': ship_time['minute'],
         'second': ship_time['second'],}
     var json_data = JSON.stringify(data_to_json).to_utf8_buffer()
+    if data_to_json['roll'] != roll:
+        roll = data_to_json['roll']
+        update_bk_kk = true
+    if data_to_json['trim'] != trim:
+        trim = data_to_json['trim']
+        update_bk_kk = true
     unit_caps.tx_stack.append(json_data)
     msg8_num += 1
     msg8_num %= 0xffffffff
+    if update_bk_kk:
+        for ecm in ecms.values():
+            if ecm.bort:
+                ecm.trim_roll = roll
+            else:
+                ecm.trim_roll = trim
+            ecm.set_um()
+            signaller.emit_signal('interfer_new', ecm)
 
 
 func on_th_aoa_update(threats: Dictionary, ecms: Dictionary) -> void:
@@ -286,6 +323,7 @@ func on_th_aoa_update(threats: Dictionary, ecms: Dictionary) -> void:
             if thrs[ecm_i] == th_id:
                 var ecm = ecms[ecm_i]
                 ecm.params['freq'] = thr.freq
+                ecm.params['um'] = get_um(thr.lat, thr.lon, thr.alt)
                 ecm.kni = fposmod(thr.aoa - course, 360)
                 call_ecm_proc(ecm)
                 if ecm.nmfs in gos_nmfs or prd.fs_caps_id[ecm.nmfs] in fs_closed:
@@ -389,6 +427,7 @@ func on_interfer_create(interfer_name, sel_threats, fs_arr, power, u, ecms) -> v
         var id = item.id
         param['freq'] = item.freq
         param['width'] = item.width * width_coef
+        param['um'] = get_um(item.lat, item.lon, item.alt)
         if item.rparams.has('period'):
             param['period'] = item.rparams['period']
         if (item.rkrp != '') and item.fflags.rkrp and auto_enabled:
@@ -409,6 +448,15 @@ func on_interfer_create(interfer_name, sel_threats, fs_arr, power, u, ecms) -> v
         interfer_create(u, interfer_name, ecms, param, kni, id, fs, SOURCE_INTERFER[1], power)
 
 
+## Возвращает угол места до заданной цели
+## [param lat] -
+## [param lon] -
+## [param alt] - высота
+func get_um(lat: float, lon: float, alt: float) -> float:
+    var dist = tools.haversine_m(lat, lon, unit_nav.latlon.x, unit_nav.latlon.y)
+    return rad_to_deg(atan(alt / dist)) if dist > 0.0 else default_um
+
+
 func on_interfer_rcv(interfer_params: Array, unit0, unit_caps, ecms) -> void:
         var err: bool = false
         var mode = interfer_params[0]
@@ -472,11 +520,12 @@ func interfer_create(_u, interfer_name, ecms, param, kni, id, dict, source_inter
     ecm.params = param
     ecm.powp = power
     ecm.source_interfer = source_interfer
-    ecm.um = param.get('um', 15.0)                               # Значение по умолчанию
     if source_interfer == SOURCE_INTERFER[0]:
         if thrs_dict.has(dict[ispp]):
             ecm.priority = thrs_dict[dict[ispp]].priority
     call_ecm_proc(ecm)
+    set_bort(ecm)
+    ecm.set_um()
     var set_nmfs_ok = set_nmfs(ecm)
     if set_nmfs_ok != Error.OK:
         log.error('Ошибка выбора модуля ФС для помехи: %s' %[ecm.ispp])
@@ -723,3 +772,18 @@ func on_send_ecms(time_now, ecms, unit_caps):
 func _process(delta: float) -> void:
     now += delta
     emit_signal('send_ecms', now)
+
+
+func set_bort(ecm: Interfer):
+    var sec = 0
+    for sect in prd.FS_SECTORS.keys():
+        if ecm.kni >= prd.FS_SECTORS[sect][0] and ecm.kni <= prd.FS_SECTORS[sect][1]:
+            sec = sect
+    if (sec == 0) or (sec == 2):
+        ecm.bort = false
+    else:
+        ecm.bort = true
+    if ecm.bort:
+        ecm.trim_roll = roll
+    else:
+        ecm.trim_roll = trim

scripts/navigation.gd

@@ -13,6 +13,7 @@ class NaviSource extends unit.Unit:
     var data: = {}         ## Принятые данные
     var source_addr: = []  ## Адрес отправителя
     const akng_mode = {0:'тестовый', 1:'основной', 2:'резервный', 3:'аварийный'}
+    static var latlon: Vector2 ## Текущие координаты
     func _to_string() -> String:
         return String('NaviSource: %s %s' % [self.name, 'на связи' if online else 'отключен'])
     func _init(nm):
@@ -40,8 +41,10 @@ class NaviSource extends unit.Unit:
         if flags & (1 << 1):
             data['k'] = rx_data.decode_float(8)   # Курс, градусы (0.0 - Север)
         if flags & (1 << 2):
-            data['latitude'] = float(rx_data.decode_s32(12) * 180) / pow_2_30   # Широта, градусы
-            data['longitude'] = float(rx_data.decode_s32(16) * 180) / pow_2_30  # Долгота, градусы
+            latlon.x = float(rx_data.decode_s32(12) * 180) / pow_2_30   # Широта, градусы
+            latlon.y = float(rx_data.decode_s32(16) * 180) / pow_2_30  # Долгота, градусы
+            data['latitude'] = latlon.x
+            data['longitude'] = latlon.y
         if flags & (1 << 3):
             data['speed'] = rx_data.decode_float(20)  # Скорость, м/с
         data['err'] = rx_data.decode_u16(24)          #

scripts/pribor-prd.gd

@@ -445,12 +445,11 @@ func _handle_fs_work_state() -> void:
             (current_litera == 6 and control_results.fs_6) or \
             (current_litera == 7 and control_results.fs_7) or \
             (current_litera == 1 and control_results.fs_1):
-                if not block_kasseta_y5_config['yau07']:
-                    _set_status('Ожидание данных от ЯУ-07...')
-                    return  # НЕ переходим дальше пока нет данных от сервиса МП550
-
                 if flags.only_fs:
                     state = STATE_MACHINE.IN_EMS_STOP
+                elif not block_kasseta_y5_config['yau07']:
+                    _set_status('Ожидание данных от МП550 сервиса...')
+                    return
                 else:
                     state = STATE_MACHINE.UG_SET_RAY_5 if current_litera == 1 else STATE_MACHINE.UG_SET_RAY_CTRL
 
@@ -470,7 +469,7 @@ func _handle_check_kasseta_state() -> void:
             _set_status('Перегрев УМ')
             state = STATE_MACHINE.IN_EMS_STOP
     else:
-        flags.flag_only_fs = true
+        flags.only_fs = true
         _set_status('Касета У5: ERROR, Проверка ФС.')
         state = STATE_MACHINE.FS_TURN_ON
 
@@ -554,8 +553,7 @@ func _handle_ray_read_mode() -> void:
 
 ## Обработка записи состояния луча
 func _handle_ray_write_mode(ray_num: int) -> void:
-    if not _can_write_ray():
-        return
+    if not _can_write_ray():    return
 
     if (ray_num == 6 or ray_num == 5) and not control_timer.is_stopped():
         control_timer.stop()
@@ -1057,9 +1055,9 @@ static func check_block_kasseta_y5(status_prd: PackedByteArray, y5_config: Dicti
     y5_config.yau07 = not flag_not_trust
     if y5_config.yau07:
         y5_config.ems = (status_prd[0] & 1) and ((status_prd[0] >> 4) & 1)
-        y5_config.ug = (status_prd[0] >> 1) & 1
-        y5_config.ukp1 = (status_prd[0] >> 2) & 1
-        y5_config.ukp2 = (status_prd[0] >> 3) & 1
+        y5_config.ug = (status_prd[0] >> 1) & 1 != 0
+        y5_config.ukp1 = (status_prd[0] >> 2) & 1 != 0
+        y5_config.ukp2 = (status_prd[0] >> 3) & 1 != 0
     return y5_config
 
 

scripts/rtr.gd

@@ -233,7 +233,7 @@ func _on_request_completed(result: int, response_code: int, _headers: PackedStri
         _on_request_finished()
     else:
         var error_msg = 'HTTP ошибка %d: %s' % [response_code, get_result_string(result)]
-        print_debug(error_msg)
+        log.message(Logger.ERROR, error_msg)
         _save_error(error_msg)
         
         _update_online_status(device_str, side_str, false)
@@ -290,7 +290,7 @@ func _emit_afsp_serviceability_signal(side: String, state: int) -> void:
 func _check_all_tests_passed(response_text: String) -> bool:
     var json = JSON.new()
     if json.parse(response_text) != OK:
-        print('[rtr] Ошибка парсинга JSON')
+        log.message(Logger.ERROR, '[rtr] Ошибка парсинга JSON')
         return false
     
     var data = json.data
@@ -322,7 +322,7 @@ func _check_system_passed(system: Dictionary) -> bool:
             var dev_name = dev.get('DevName', 'Неизвестное устройство')
             var dev_id = dev.get('DevId', '?')
             var error_text = dev.get('ErrorText', 'Нет описания ошибки')
-            print('[rtr] НАЙДЕНА ОШИБКА! Устройство: %s (ID: %s). TestPassed: false. Причина: %s' % [dev_name, dev_id, error_text])
+            print_debug('[rtr] НАЙДЕНА ОШИБКА! Устройство: %s (ID: %s). TestPassed: false. Причина: %s' % [dev_name, dev_id, error_text])
     
     # Рекурсивно проверяем вложенные подсистемы
     var sub_systems = system.get('SystemList', [])
@@ -388,7 +388,7 @@ func _request_next(next_state: State) -> void:
             return
     
     if current_url.is_empty():
-        print('URL не задан для ', current_state)
+        push_error('URL не задан для ', current_state)
         var error_msg = 'URL не задан'
         _save_error(error_msg)
         
@@ -422,7 +422,7 @@ func _request_next(next_state: State) -> void:
     timeout_timer.start(timeout)
     var error = http_request.request(current_url)
     if error != OK:
-        print('Ошибка запроса: ', error_string(error))
+        log.message(Logger.ERROR, 'Ошибка запроса: %s' & error)
         var error_msg = 'Ошибка запроса: ' + error_string(error)
         _save_error(error_msg)
         

scripts/tools.gd

@@ -197,6 +197,30 @@ func set_bits(v, a, m):
     return (~m) & v | a & m
 
 
+# Возвращает расстояние в метрах между двумя точками на карте
+func haversine_m(lat1: float, lon1: float, lat2: float, lon2: float) -> float:
+    # Радиус Земли в метрах
+    const R: = 6372795.0
+    # Преобразование градусов в радианы
+    var rlat1: = deg_to_rad(lat1)
+    var rlon1: = deg_to_rad(lon1)
+    var rlat2: = deg_to_rad(lat2)
+    var rlon2: = deg_to_rad(lon2)
+    # вычисление длины большого круга
+    var cl1: = cos(rlat1)
+    var cl2: = cos(rlat2)
+    var sl1: = sin(rlat1)
+    var sl2: = sin(rlat2)
+    var delta: = rlon2 - rlon1
+    var cdelta: = cos(delta)
+    var sdelta: = sin(delta)
+    var y: = sqrt(pow(cl2 * sdelta, 2.0) + pow(cl1 * sl2 - sl1 * cl2 * cdelta, 2.0))
+    var x: = sl1 * sl2 + cl1 * cl2 * cdelta
+    var ad: = atan2(y, x)
+    var dist: = ad * R
+    return dist
+
+
 func fill_files_table(tbl: table, folder: String, rows_types: Array):
     var dir: = DirAccess.open(folder)
     if dir == null: