Merge remote-tracking branch 'origin/master'

Исправление качки
Доработка. Доработка__Получить_угол_места_для_помехи_из_параметров_цели
2026-04-09 19:43:26 +03:00 · 2026-04-09 19:39:12 +03:00 · 2026-04-09 19:39:12 +03:00 · 2026-04-09 18:28:23 +03:00 · 2026-04-09 15:49:06 +03:00 · 2026-04-09 15:39:39 +03:00
25 changed files with 1312 additions and 506 deletions
--- a/config/complex.json
+++ b/config/complex.json
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@@ -3225,13 +3199,12 @@
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@@ -3276,7 +3249,7 @@
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@@ -3303,6 +3276,7 @@
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@@ -3342,6 +3316,7 @@
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@@ -3381,6 +3356,7 @@
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@@ -3410,45 +3386,6 @@
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                {
                    "task": {
                        "executor": "Эмулятор пеленгатора",
                        "executor_type": 1,
                        "pelengator_task_Antenna": {
                            "field_caption": "Антенна 1",
                            "field_id": "1"
                        },
                        "pelengator_task_Attenuator": 10,
                        "pelengator_task_Filter": 10000,
                        "pelengator_task_FilterStep": 1,
                        "pelengator_task_parameters": {
                            "field_autoBaseLine": true,
                            "field_baseline": -80,
                            "field_enabledStreams": [
                                "DirectionVsFreq",
                                "SpectrumDb"
                            ],
                            "field_profiles": [
                                "1"
                            ],
                            "field_targetSector": "{\"power_range\":{\"max\":0,\"min\":0},\"quality_range\":{\"max\":0,\"min\":0},\"sector\":{\"azimuth_max\":360,\"azimuth_min\":0,\"zenith_max\":110,\"zenith_min\":30}}"
                        },
                        "pelengator_task_show_forbidden_bands": true,
                        "save_snapshots": false,
                        "search_task_band": "1001000000 6000000000",
                        "show_all_signals_on_spectrum": false,
                        "show_target_signals_on_spectrum": true,
                        "type_id": "PelengatorSearchTask"
                    }
                }
            ],
            "type_id": "GroupSearchTask"
        }
    ]
 }
--- a/export_presets.cfg
+++ b/export_presets.cfg
@@ -20,8 +20,8 @@ script_export_mode=0
 [preset.0.options]
-custom_template/debug=""
+custom_template/debug="/home/user/temp/godot.linuxbsd.template_release.x86_64"
-custom_template/release=""
+custom_template/release="/home/user/temp/godot.linuxbsd.template_release.x86_64"
 debug/export_console_wrapper=0
 binary_format/embed_pck=true
 texture_format/s3tc_bptc=true
--- a/project.godot
+++ b/project.godot
@@ -123,6 +123,7 @@ prd="*res://scripts/prd.gd"
 navi="*res://scripts/navigation.gd"
 trassa="*res://scripts/trassa.gd"
 yemstg="*res://scripts/yemstg.gd"
 scouting="*res://scripts/rtr.gd"
 [debug]
--- a/scenes/pribor-afsp/bort-afsp.tscn
+++ b/scenes/pribor-afsp/bort-afsp.tscn
@@ -97,8 +97,8 @@ name_min_size0 = Vector2i(35, 20)
 name_min_size1 = Vector2i(35, 20)
 name_min_size2 = Vector2i(35, 20)
 fname = "Канал 2"
-metadata/value0 = "SelfTest[1].SystemList[1].DevList[1].TestedParamList[0]['CurrentValue']"
+metadata/value0 = "SelfTest[0].SystemList[1].DevList[1].TestedParamList[0]['CurrentValue']"
-metadata/value1 = "SelfTest[2].SystemList[1].DevList[1].TestedParamList[0]['CurrentValue']"
+metadata/value1 = "SelfTest[0].SystemList[1].DevList[1].TestedParamList[0]['CurrentValue']"
 metadata/value2 = "SelfTest[0].SystemList[1].DevList[1]['TestPassed']"
 metadata/state = ["SelfTest[0].SystemList[1].DevList[1]['TestPassed']"]
@@ -122,8 +122,8 @@ name_min_size0 = Vector2i(35, 20)
 name_min_size1 = Vector2i(35, 20)
 name_min_size2 = Vector2i(35, 20)
 fname = "Канал 3"
-metadata/value0 = "SelfTest[1].SystemList[1].DevList[2].TestedParamList[0]['CurrentValue']"
+metadata/value0 = "SelfTest[0].SystemList[1].DevList[2].TestedParamList[0]['CurrentValue']"
-metadata/value1 = "SelfTest[2].SystemList[1].DevList[2].TestedParamList[0]['CurrentValue']"
+metadata/value1 = "SelfTest[0].SystemList[1].DevList[2].TestedParamList[0]['CurrentValue']"
 metadata/value2 = "SelfTest[0].SystemList[1].DevList[2]['TestPassed']"
 metadata/state = ["SelfTest[0].SystemList[1].DevList[2]['TestPassed']"]
@@ -147,8 +147,8 @@ name_min_size0 = Vector2i(35, 20)
 name_min_size1 = Vector2i(35, 20)
 name_min_size2 = Vector2i(35, 20)
 fname = "Канал 4"
-metadata/value0 = "SelfTest[1].SystemList[1].DevList[3].TestedParamList[0]['CurrentValue']"
+metadata/value0 = "SelfTest[0].SystemList[1].DevList[3].TestedParamList[0]['CurrentValue']"
-metadata/value1 = "SelfTest[2].SystemList[1].DevList[3].TestedParamList[0]['CurrentValue']"
+metadata/value1 = "SelfTest[0].SystemList[1].DevList[3].TestedParamList[0]['CurrentValue']"
 metadata/value2 = "SelfTest[0].SystemList[1].DevList[3]['TestPassed']"
 metadata/state = ["SelfTest[0].SystemList[1].DevList[3]['TestPassed']"]
@@ -172,8 +172,8 @@ name_min_size0 = Vector2i(35, 20)
 name_min_size1 = Vector2i(35, 20)
 name_min_size2 = Vector2i(35, 20)
 fname = "Канал 5"
-metadata/value0 = "SelfTest[1].SystemList[1].DevList[4].TestedParamList[0]['CurrentValue']"
+metadata/value0 = "SelfTest[0].SystemList[1].DevList[4].TestedParamList[0]['CurrentValue']"
-metadata/value1 = "SelfTest[2].SystemList[1].DevList[4].TestedParamList[0]['CurrentValue']"
+metadata/value1 = "SelfTest[0].SystemList[1].DevList[4].TestedParamList[0]['CurrentValue']"
 metadata/value2 = "SelfTest[0].SystemList[1].DevList[4]['TestPassed']"
 metadata/state = ["SelfTest[0].SystemList[1].DevList[4]['TestPassed']"]
@@ -197,8 +197,8 @@ name_min_size0 = Vector2i(35, 20)
 name_min_size1 = Vector2i(35, 20)
 name_min_size2 = Vector2i(35, 20)
 fname = "Канал 6"
-metadata/value0 = "SelfTest[1].SystemList[1].DevList[5].TestedParamList[0]['CurrentValue']"
+metadata/value0 = "SelfTest[0].SystemList[1].DevList[5].TestedParamList[0]['CurrentValue']"
-metadata/value1 = "SelfTest[2].SystemList[1].DevList[5].TestedParamList[0]['CurrentValue']"
+metadata/value1 = "SelfTest[0].SystemList[1].DevList[5].TestedParamList[0]['CurrentValue']"
 metadata/value2 = "SelfTest[0].SystemList[1].DevList[5]['TestPassed']"
 metadata/state = ["SelfTest[0].SystemList[1].DevList[5]['TestPassed']"]
@@ -222,8 +222,8 @@ name_min_size0 = Vector2i(35, 20)
 name_min_size1 = Vector2i(35, 20)
 name_min_size2 = Vector2i(35, 20)
 fname = "Канал 7"
-metadata/value0 = "SelfTest[1].SystemList[1].DevList[6].TestedParamList[0]['CurrentValue']"
+metadata/value0 = "SelfTest[0].SystemList[1].DevList[6].TestedParamList[0]['CurrentValue']"
-metadata/value1 = "SelfTest[2].SystemList[1].DevList[6].TestedParamList[0]['CurrentValue']"
+metadata/value1 = "SelfTest[0].SystemList[1].DevList[6].TestedParamList[0]['CurrentValue']"
 metadata/value2 = "SelfTest[0].SystemList[1].DevList[6]['TestPassed']"
 metadata/state = ["SelfTest[0].SystemList[1].DevList[6]['TestPassed']"]
@@ -247,8 +247,8 @@ name_min_size0 = Vector2i(35, 20)
 name_min_size1 = Vector2i(35, 20)
 name_min_size2 = Vector2i(35, 20)
 fname = "Канал 8"
-metadata/value0 = "SelfTest[1].SystemList[1].DevList[7].TestedParamList[0]['CurrentValue']"
+metadata/value0 = "SelfTest[0].SystemList[1].DevList[7].TestedParamList[0]['CurrentValue']"
-metadata/value1 = "SelfTest[2].SystemList[1].DevList[7].TestedParamList[0]['CurrentValue']"
+metadata/value1 = "SelfTest[0].SystemList[1].DevList[7].TestedParamList[0]['CurrentValue']"
 metadata/value2 = "SelfTest[0].SystemList[1].DevList[7]['TestPassed']"
 metadata/state = ["SelfTest[0].SystemList[1].DevList[7]['TestPassed']"]
@@ -800,7 +800,7 @@ offset_right = 580.0
 offset_bottom = 115.0
 tooltip_text = "Плата АЦП ADCS500"
 fname = "АЦП"
-metadata/state = ["SelfTest[4].SystemList[0].DevList[1]['TestPassed']"]
+metadata/state = ["SelfTest[0].SystemList[0].DevList[1]['TestPassed']"]
 [node name="dsp" parent="." instance=ExtResource("4_mtf2n")]
 layout_mode = 0
@@ -809,7 +809,7 @@ offset_right = 580.0
 offset_bottom = 60.0
 tooltip_text = "Плата цифровой обработки сигналов BPL"
 fname = "Сигн. проц."
-metadata/state = ["SelfTest[4].SystemList[0].DevList[0]['TestPassed']"]
+metadata/state = ["SelfTest[0].SystemList[0].DevList[0]['TestPassed']"]
 [node name="gen" parent="." instance=ExtResource("2_dmhrm")]
 layout_mode = 2
@@ -827,8 +827,8 @@ name_min_size0 = Vector2i(35, 20)
 name_min_size1 = Vector2i(35, 20)
 name_min_size2 = Vector2i(35, 20)
 fname = "Генератор"
-metadata/value0 = "SelfTest[1].SystemList[2].DevList[0].TestedParamList[0]['CurrentValue']"
+metadata/value0 = "SelfTest[0].SystemList[2].DevList[0].TestedParamList[0]['CurrentValue']"
-metadata/value1 = "SelfTest[2].SystemList[2].DevList[0].TestedParamList[0]['CurrentValue']"
+metadata/value1 = "SelfTest[0].SystemList[2].DevList[0].TestedParamList[0]['CurrentValue']"
 metadata/state = ["SelfTest[0].SystemList[2].DevList[0]['TestPassed']"]
 [node name="rpu" parent="." instance=ExtResource("2_dmhrm")]
@@ -848,8 +848,8 @@ name_min_size0 = Vector2i(35, 20)
 name_min_size1 = Vector2i(35, 20)
 name_min_size2 = Vector2i(35, 20)
 fname = "Приёмник 20...1000 МГц"
-metadata/value0 = "SelfTest[1].SystemList[0].DevList[0]['TestPassed']"
+metadata/value0 = "SelfTest[0].SystemList[0].DevList[0]['TestPassed']"
-metadata/value1 = "SelfTest[2].SystemList[0].DevList[0]['TestPassed']"
+metadata/value1 = "SelfTest[0].SystemList[0].DevList[0]['TestPassed']"
 metadata/state = ["SelfTest[0].SystemList[0].DevList[3]['TestPassed']"]
 [connection signal="pressed" from="konverter/grid/kanal1" to="." method="_on_item_pressed"]
--- a/scenes/pribor-afsp/pribor-afsp-1.tscn
+++ b/scenes/pribor-afsp/pribor-afsp-1.tscn
@@ -1,7 +1,6 @@
-[gd_scene load_steps=4 format=3 uid="uid://8ll27id5ajq1"]
+[gd_scene load_steps=3 format=3 uid="uid://8ll27id5ajq1"]
 [ext_resource type="Script" uid="uid://d0jwv5opi3mrl" path="res://scenes/pribor-afsp/pribor-afsp.gd" id="1_151rh"]
 [ext_resource type="Script" uid="uid://bux47vkw71w1t" path="res://scenes/контроль/request.gd" id="2_4vyhj"]
 [ext_resource type="PackedScene" uid="uid://dnxq870xf6pkh" path="res://scenes/pribor-afsp/bort-afsp.tscn" id="3_d7iti"]
 [node name="pribor_afsp" type="Control"]
@@ -20,13 +19,6 @@ settings_path_to_url = "Адрес АФСП левого борта"
 settings_path_to_wait_time = "Период опроса состояния АФСП, секунды"
 metadata/DeviceName = &"Устройство РР левого борта"
 [node name="request" type="HTTPRequest" parent="."]
 use_threads = true
 script = ExtResource("2_4vyhj")
 [node name="timer" type="Timer" parent="request"]
 autostart = true
 [node name="bort" parent="." instance=ExtResource("3_d7iti")]
 layout_mode = 0
 offset_left = 24.0
@@ -35,7 +27,4 @@ offset_right = 604.0
 offset_bottom = 1216.78
 metadata/DeviceName = &"Устройство РР левого борта"
 [connection signal="child_entered_tree" from="request" to="request" method="_on_child_entered_tree"]
 [connection signal="request_completed" from="request" to="." method="_on_request_completed"]
 [connection signal="timeout" from="request/timer" to="request" method="_on_request_timer"]
 [connection signal="pressed" from="bort" to="." method="_on_item_pressed"]
--- a/scenes/pribor-afsp/pribor-afsp-2.tscn
+++ b/scenes/pribor-afsp/pribor-afsp-2.tscn
@@ -1,7 +1,6 @@
-[gd_scene load_steps=4 format=3 uid="uid://5uv1idl3lqet"]
+[gd_scene load_steps=3 format=3 uid="uid://5uv1idl3lqet"]
 [ext_resource type="Script" uid="uid://d0jwv5opi3mrl" path="res://scenes/pribor-afsp/pribor-afsp.gd" id="1_tfses"]
 [ext_resource type="Script" uid="uid://bux47vkw71w1t" path="res://scenes/контроль/request.gd" id="2_miwrd"]
 [ext_resource type="PackedScene" uid="uid://dnxq870xf6pkh" path="res://scenes/pribor-afsp/bort-afsp.tscn" id="3_xpxb5"]
 [node name="pribor_afsp" type="Control"]
@@ -20,13 +19,6 @@ settings_path_to_url = "Адрес АФСП правого борта"
 settings_path_to_wait_time = "Период опроса состояния АФСП, секунды"
 metadata/DeviceName = &"Устройство РР правого борта"
 [node name="request" type="HTTPRequest" parent="."]
 use_threads = true
 script = ExtResource("2_miwrd")
 [node name="timer" type="Timer" parent="request"]
 autostart = true
 [node name="bort" parent="." instance=ExtResource("3_xpxb5")]
 layout_mode = 0
 offset_left = 12.0
@@ -35,7 +27,4 @@ offset_right = 592.0
 offset_bottom = 1130.0
 metadata/DeviceName = &"Устройство РР правого борта"
 [connection signal="child_entered_tree" from="request" to="request" method="_on_child_entered_tree"]
 [connection signal="request_completed" from="request" to="." method="_on_request_completed"]
 [connection signal="timeout" from="request/timer" to="request" method="_on_request_timer"]
 [connection signal="pressed" from="bort" to="." method="_on_item_pressed"]
--- a/scenes/pribor-afsp/pribor-afsp.gd
+++ b/scenes/pribor-afsp/pribor-afsp.gd
@@ -7,98 +7,145 @@ class_name pribor_afsp extends 'res://scenes/контроль/прибор.gd'
@export var settings_path_to_url: String = ''        ## Должно быть в ProjectSettings
@export var settings_path_to_wait_time: String = ''  ## Должно быть в ProjectSettings
 signal receive_response_afp_bpo()
 static var json_conv: JSON = JSON.new()
 static var node_maper = load('res://scenes/контроль/node-maper.gd')
 static var node_request: Node
 static var node_request_timer: Node
 var ctrl_pos = 0
 # SystemName: "gen" DevList - там состояние связи с генератором по кан шине
 func _ready() -> void:
-    ProjectSettings.connect('settings_changed', on_settings_chaged)
+    # Подключаемся к сигналам в зависимости от борта
-    node_request = $request
+    if this_afsp_name == 'Устройство РР левого борта':
-    node_request_timer = $request/timer
+        scouting.response_received_afsp_left.connect(_on_response_received)
-    on_settings_chaged()
+    else:
        scouting.response_received_afsp_right.connect(_on_response_received)
    # При старте отрисовываем последние данные (если есть)
    _on_press_device()
-func on_settings_chaged():
+# Обработка полученного ответа от rtr
-    node_request.request_url = ProjectSettings.get_setting('application/config/%s' % settings_path_to_url)
+func _on_response_received(response: String, success: bool) -> void:
-    node_request_timer.wait_time = float(ProjectSettings.get_setting('application/config/%s' % settings_path_to_wait_time))
+    if not success:
-    tools.allways(node_request.request_url != null)
+        log.error('Ошибка запроса или нет связи: %s' % response)
-
+        _reset_ui_to_zero()
 func _on_request_completed(result, _response_code, headers, body: PackedByteArray):
    var unit_instance: = network.get_unit_instance(unit_name)
    if result != 0:
        var rs = node_request.get_result_string(result)
        log.error('\"%s\"' % rs)
        if unit_instance.online:
            unit_instance.online = false
            unit_instance.emit_signal('line_changed', unit_instance)
        return
-
+    
-    var json_str: String = body.get_string_from_utf8()
+    # Парсим JSON строку
-    if not json_str:
+    var parse_result = json_conv.parse(response)
-        push_error('не удаётся получить строку utf8 из данных (%s)' % headers)
+    if parse_result != OK:
-        if unit_instance.online:
+        var err = json_conv.get_error_message()
-            unit_instance.online = false
+        push_error('разбор json прерван - "%s"' % err)
-            unit_instance.emit_signal('line_changed', unit_instance)
+        _reset_ui_to_zero()
        return
-
+    
-    var rc: = json_conv.parse(json_str)
+    # Ищем имя прибора в JSON
    if rc != Error.OK:
        var err: = json_conv.get_error_message()
        push_error('разбор json прерван - \"%s\" (%s)' % [err, headers])
        if unit_instance.online:
            unit_instance.online = false
            unit_instance.emit_signal('line_changed', unit_instance)
        return
    var pp = []
    tools.map_solid_to_array(prefix_path, pp)
    var ret_val = [null, false, 0]
    var pp_copy = pp.duplicate(true)
    tools.get_value_by_path(json_conv.data, pp, ret_val)
    if not ret_val[1]:
        push_error('путь %s не найден (%s)' % [pp_copy, ret_val[2]])
        _reset_ui_to_zero()
        return
-
+    
    var received_afsp_name: StringName = ret_val[0]
-
+    
    # Проверяем, что ответ от нужного прибора
    if this_afsp_name != received_afsp_name:
-        # TODO: Сюда попадаем, когда приходит от другого борта
+        # Ответ от другого борта - игнорируем
        #push_error('не известное устройство: \"%s\", ожидадось: \"%s\"' % [received_afsp_name, this_afsp_name])
        return
    # Обновляем UI элементы из JSON
    _update_ui(json_conv.data)
    unit_instance.rx_tick = Time.get_ticks_msec()
    if not unit_instance.online:
        unit_instance.online = true
        unit_instance.emit_signal('line_changed', unit_instance)
 # Обновление интерфейса из JSON данных
 func _update_ui(json_data: Dictionary) -> void:
    # Конвертер
    for child in $bort.get_node('konverter/grid').get_children():
-        node_maper.map_value_to_item(json_conv.data, child, 'value0')
+        node_maper.map_value_to_item_animated(json_data, child, 'value0')
-        node_maper.map_value_to_item(json_conv.data, child, 'value1')
+        node_maper.map_value_to_item_animated(json_data, child, 'value1')
-        node_maper.map_value_to_item(json_conv.data, child, 'value2')
+        node_maper.map_value_to_item_animated(json_data, child, 'value2')
-        node_maper.map_error_codes_to_item(json_conv.data, child, 'state', 0)
+        node_maper.map_error_codes_to_item_animated(json_data, child, 'state', 0)
    # Антенна 1
    for child in $bort.get_node('antenna1/grid').get_children():
-        node_maper.map_value_to_item(json_conv.data, child, 'value0')
+        node_maper.map_value_to_item_animated(json_data, child, 'value0')
-        node_maper.map_value_to_item(json_conv.data, child, 'value1')
+        node_maper.map_value_to_item_animated(json_data, child, 'value1')
-        node_maper.map_error_codes_to_item(json_conv.data, child, 'state', 0)
+        node_maper.map_error_codes_to_item_animated(json_data, child, 'state', 0)
    # Антенна 2
    for child in $bort.get_node('antenna2/grid').get_children():
-        node_maper.map_value_to_item(json_conv.data, child, 'value0')
+        node_maper.map_value_to_item_animated(json_data, child, 'value0')
-        node_maper.map_value_to_item(json_conv.data, child, 'value1')
+        node_maper.map_value_to_item_animated(json_data, child, 'value1')
-        node_maper.map_error_codes_to_item(json_conv.data, child, 'state', 0)
+        node_maper.map_error_codes_to_item_animated(json_data, child, 'state', 0)
    # Остальные элементы
    for child in $bort.get_children():
-        node_maper.map_value_to_item(json_conv.data, child, 'value0')
+        node_maper.map_value_to_item_animated(json_data, child, 'value0')
-        node_maper.map_value_to_item(json_conv.data, child, 'value1')
+        node_maper.map_value_to_item_animated(json_data, child, 'value1')
-        node_maper.map_error_codes_to_item(json_conv.data, child, 'state', 0)
+        node_maper.map_error_codes_to_item_animated(json_data, child, 'state', 0)
-    emit_signal('receive_response_afp_bpo')
+
 # Сброс всех UI элементов в 0 (при отсутствии данных)
 func _reset_ui_to_zero() -> void:
    # Конвертер
    for child in $bort.get_node('konverter/grid').get_children():
        _reset_item_value(child)
    # Антенна 1
    for child in $bort.get_node('antenna1/grid').get_children():
        _reset_item_value(child)
    # Антенна 2
    for child in $bort.get_node('antenna2/grid').get_children():
        _reset_item_value(child)
    # Остальные элементы
    for child in $bort.get_children():
        _reset_item_value(child)
 # Сброс конкретного элемента в 0
 func _reset_item_value(item) -> void:
    item.set('value0', 0)
    item.set('value1', 0)
    item.set('value2', 0)
    item.set('state', 0)
 # Отрисовывание при нажатии на прибор
 func _on_press_device() -> void:
    # Проверяем, есть ли сохраненные данные в rtr
    var has_data = false
    var last_response = ""
    if this_afsp_name == 'Устройство РР левого борта':
        has_data = scouting.has_afsp_left_success()
        if has_data: last_response = scouting.get_afsp_left_response()
    else:
        has_data = scouting.has_afsp_right_success()
        if has_data: last_response = scouting.get_afsp_right_response()
    # Если есть данные - парсим и отображаем
    if has_data and not last_response.is_empty():
        var parse_result = json_conv.parse(last_response)
        if parse_result == OK:
            # Проверяем, что это данные именно от этого прибора
            var pp = []
            tools.map_solid_to_array(prefix_path, pp)
            var ret_val = [null, false, 0]
            tools.get_value_by_path(json_conv.data, pp, ret_val)
            if ret_val[1] and ret_val[0] == this_afsp_name:
                _update_ui(json_conv.data)
                return
    # Если данных нет или они не подходят - сбрасываем в 0
    _reset_ui_to_zero()
 ## Вызывается при клике мыши на элементе.
--- a/scenes/pribor-afsp/pribor-bpo.gd
+++ b/scenes/pribor-afsp/pribor-bpo.gd
@@ -4,64 +4,53 @@ class_name pribor_rtr extends 'res://scenes/контроль/прибор.gd'
@export var prefix_path: String = ''                 ## Должно быть в JSON
@export var this_bpo1_name: String = ''              ## Должно быть в JSON
@export var this_bpo2_name: String = ''              ## Должно быть в JSON
-@export var unit_name1: StringName= ''               ## Должно быть в settings.gd
+@export var unit_name1: StringName = ''              ## Должно быть в settings.gd
-@export var unit_name2: StringName= ''               ## Должно быть в settings.gd
+@export var unit_name2: StringName = ''              ## Должно быть в settings.gd
@export var settings_path1_to_url: String = ''       ## Должно быть в ProjectSettings
@export var settings_path2_to_url: String = ''       ## Должно быть в ProjectSettings
@export var settings_path_to_wait_time: String = ''  ## Должно быть в ProjectSettings
 signal receive_response_afp_bpo()
 static var json_conv: JSON = JSON.new()
 static var node_maper = load('res://scenes/контроль/node-maper.gd')
 static var node_request_1: Node
 static var node_request_timer_1: Node
 static var node_request_2: Node
 static var node_request_timer_2: Node
 var ctrl_pos = 110
 var bort_to_node_name = {}
 var bort_to_unit_name = {}
 func _ready() -> void:
-    ProjectSettings.connect('settings_changed', on_settings_changed)
+    scouting.response_received_bpo_left.connect(_on_response_received_left)
-    node_request_1 = $request1
+    scouting.response_received_bpo_right.connect(_on_response_received_right)
-    node_request_timer_1 = $request1/timer
+    
    node_request_2 = $request2
    node_request_timer_2 = $request2/timer
    on_settings_changed()
    find_labels(self)
-
+    
    _on_press_device()
 func on_settings_changed():
    bort_to_node_name.merge({this_bpo1_name: 'grid_bpo_a1', this_bpo2_name: 'grid_bpo_a2'}, true)
-    bort_to_unit_name.merge({this_bpo1_name: unit_name1, this_bpo2_name: unit_name2})
+    bort_to_unit_name.merge({this_bpo1_name: unit_name1, this_bpo2_name: unit_name2}, true)
    node_request_1.request_url = ProjectSettings.get_setting('application/config/%s' % settings_path1_to_url)
    node_request_timer_1.wait_time = float(ProjectSettings.get_setting('application/config/%s' % settings_path_to_wait_time))
    node_request_2.request_url = ProjectSettings.get_setting('application/config/%s' % settings_path2_to_url)
    node_request_timer_2.wait_time = float(ProjectSettings.get_setting('application/config/%s' % settings_path_to_wait_time))
    assert(node_request_1.request_url != null)
    assert(node_request_2.request_url != null)
-
+# Обработка ответа от первого бпо
-func _on_request_completed(result, _response_code, headers, body: PackedByteArray):
+func _on_response_received_left(response: String, success: bool) -> void:
-    if result != 0:
+    if not success:
-        var rs = node_request_1.get_result_string(result)
+        log.error('Ошибка запроса или нет связи (левый): %s' % response)
-        push_error('\"%s\"' % rs)
+        _reset_grid('grid_bpo_a1')
        return
    _parse_and_update_ui(response)
-    var json_str: = body.get_string_from_utf8()
+# Обработка ответа от второго бпо
-    if not json_str:
+func _on_response_received_right(response: String, success: bool) -> void:
-        push_error('не удаётся получить строку из utf8-данных (%s)' % headers)
+    if not success:
        log.error('Ошибка запроса или нет связи (правый): %s' % response)
        _reset_grid('grid_bpo_a2')
        return
    _parse_and_update_ui(response)
 # Оригинальный парсинг из _on_request_completed
 func _parse_and_update_ui(json_str: String) -> void:
    var rc: = json_conv.parse(json_str)
    if rc != Error.OK:
        var err = json_conv.get_error_message()
-        push_error('разбор json прерван - \"%s\" (%s)' % [err, headers])
+        push_error('разбор json прерван - %s' % err)
        return
    var pp: = []
@@ -69,45 +58,96 @@ func _on_request_completed(result, _response_code, headers, body: PackedByteArra
    var ret_val = [null, false, 0]
    var pp_copy = pp.duplicate(true)
    tools.get_value_by_path(json_conv.data, pp, ret_val)
    if not ret_val[1]:
        push_error('путь %s не найден (%s)' % [pp_copy, ret_val[2]])
        return
-    if not bort_to_node_name.has(ret_val[0]):
+    var device_name: String = ret_val[0]
-        push_error('не известное устройство: \"%s\"' % ret_val[0])
+    
    if not bort_to_node_name.has(device_name):
        push_error('не известное устройство: %s' % device_name)
        return
-    var node_name = bort_to_node_name[ret_val[0]]
+    var node_name = bort_to_node_name[device_name]
    var bort_node = get_node(node_name)
-    var unit_name = bort_to_unit_name[ret_val[0]]
+    # Обновляем UI только для конкретного грида
    var unit_instance = network.get_unit_instance(unit_name)
    unit_instance.rx_tick = Time.get_ticks_msec()
    if not unit_instance.online:
        unit_instance.online = true
        unit_instance.emit_signal('line_changed', unit_instance)
    for item in bort_node.get_children():
        node_maper.map_value_to_item(json_conv.data, item, 'state')
    # Обновляем групповые индикаторы
    _update_group_indicators_original()
 # Оригинальное обновление групповых индикаторов
 func _update_group_indicators_original() -> void:
    # Сначала сбрасываем все
    if has_node('yas_bpo_a1'):
        $yas_bpo_a1.state = 0
    if has_node('yas_bpo_a2'):
        $yas_bpo_a2.state = 0
    if has_node('mod_pit_g1'):
        $mod_pit_g1.state = 0
    # Проверяем обе группы и устанавливаем если есть активные
    var items = get_tree().get_nodes_in_group('управляется-по-шине-1')
    for node in items:
-        if node.state == 1:
+        if node.has_method('get') and node.get('state') == 1:
-            $yas_bpo_a1.state = 1
+            if has_node('yas_bpo_a1'):
                $yas_bpo_a1.state = 1
            break
    items = get_tree().get_nodes_in_group('управляется-по-шине-2')
    for node in items:
-        if node.state == 1:
+        if node.has_method('get') and node.get('state') == 1:
-            $yas_bpo_a2.state = 1
+            if has_node('yas_bpo_a2'):
                $yas_bpo_a2.state = 1
            break
    items = get_tree().get_nodes_in_group('потребитель-питания')
    for node in items:
-        if node.state == 1:
+        if node.has_method('get') and node.get('state') == 1:
-            $mod_pit_g1.state = 1
+            if has_node('mod_pit_g1'):
                $mod_pit_g1.state = 1
            break
-    emit_signal('receive_response_afp_bpo')
+# Сброс конкретного грида
 func _reset_grid(grid_name: String) -> void:
    if has_node(grid_name):
        for item in get_node(grid_name).get_children():
            _reset_item_value(item)
    _update_group_indicators_original()
 # Сброс всех UI элементов в 0 (при отсутствии данных)
 func _reset_ui_to_zero() -> void:
    _reset_grid('grid_bpo_a1')
    _reset_grid('grid_bpo_a2')
 # Сброс конкретного элемента в 0
 func _reset_item_value(item) -> void:
    if item.has_method('set'):
        item.set('value0', 0)
        item.set('value1', 0)
        item.set('value2', 0)
        item.set('state', 0)
 # Отрисовывание при нажатии на прибор
 func _on_press_device() -> void:
    # Проверяем левый борт
    if scouting.has_bpo_left_success():
        var response = scouting.get_bpo_left_response()
        if not response.is_empty():
            _parse_and_update_ui(response)
    else:
        _reset_grid('grid_bpo_a1')
    # Проверяем правый борт
    if scouting.has_bpo_right_success():
        var response = scouting.get_bpo_right_response()
        if not response.is_empty():
            _parse_and_update_ui(response)
    else:
        _reset_grid('grid_bpo_a2')
 func find_labels(node1: Node):
    if node1 is Label:
@@ -123,3 +163,9 @@ func find_labels(node1: Node):
                node1.set_meta('tooltip_set', true)
    for child in node1.get_children():
        find_labels(child)
 ## Вызывается при клике мыши на элементе.
 func _on_item_pressed(block_a: Control):
    var metas = block_a.get_meta_list()
    for n in metas:
        var _v = block_a.get_meta(n)
--- a/scenes/pribor-afsp/pribor-bpo.tscn
+++ b/scenes/pribor-afsp/pribor-bpo.tscn
@@ -1,9 +1,8 @@
-[gd_scene load_steps=5 format=3 uid="uid://5uv1idl3lqea"]
+[gd_scene load_steps=4 format=3 uid="uid://5uv1idl3lqea"]
 [ext_resource type="Script" uid="uid://d0jwv5opi3mrk" path="res://scenes/pribor-afsp/pribor-bpo.gd" id="1_bhc4e"]
 [ext_resource type="PackedScene" uid="uid://d3iqb5e4g81m5" path="res://scenes/контроль/элемент-г.tscn" id="2_jp6m0"]
 [ext_resource type="PackedScene" uid="uid://p2suppildvq0" path="res://scenes/контроль/элемент-в.tscn" id="3_jcpjs"]
 [ext_resource type="Script" uid="uid://bux47vkw71w1t" path="res://scenes/контроль/request.gd" id="4_crej3"]
 [node name="pribor_bpo" type="Control"]
 layout_mode = 3
@@ -198,22 +197,3 @@ offset_bottom = 362.0
 show_rname = false
 self_size = Vector2i(50, 145)
 fname = "Яч. связи"
 [node name="request1" type="HTTPRequest" parent="."]
 use_threads = true
 script = ExtResource("4_crej3")
 [node name="timer" type="Timer" parent="request1"]
 autostart = true
 [node name="request2" type="HTTPRequest" parent="."]
 use_threads = true
 script = ExtResource("4_crej3")
 [node name="timer" type="Timer" parent="request2"]
 autostart = true
 [connection signal="request_completed" from="request1" to="." method="_on_request_completed"]
 [connection signal="timeout" from="request1/timer" to="request1" method="_on_request_timer"]
 [connection signal="request_completed" from="request2" to="." method="_on_request_completed"]
 [connection signal="timeout" from="request2/timer" to="request2" method="_on_request_timer"]
--- a/scenes/pribor-prd-k/kasseta-fs-kd.tscn
+++ b/scenes/pribor-prd-k/kasseta-fs-kd.tscn
@@ -58,7 +58,7 @@ offset_right = 205.0
 offset_bottom = 183.0
 fname = "Модуль ФС"
 rname = "A3"
-metadata/fs = "fs_6"
+metadata/fs = "fs_7"
 [node name="ref_A5" parent="." groups=["default_reset", "fs_group"] instance=ExtResource("3_kqnvt")]
 offset_left = 205.0
@@ -67,7 +67,7 @@ offset_right = 255.0
 offset_bottom = 183.0
 fname = "Модуль ФС"
 rname = "A2"
-metadata/fs = "fs_7"
+metadata/fs = "fs_6"
 [node name="ref_A7" parent="." groups=["default_reset"] instance=ExtResource("3_kqnvt")]
 offset_left = 255.0
--- a/scenes/pribor-prd-k/pribor-prd-k.gd
+++ b/scenes/pribor-prd-k/pribor-prd-k.gd
@@ -109,9 +109,9 @@ func on_press_device(_name_davice: String) -> void:
    control_data['power_amplifier'] = get_tree().get_nodes_in_group('power_amplifier')
    control_data['default_reset_array_node'] = get_tree().get_nodes_in_group('default_reset')
    control_data['module_fs_1'] = $kasseta_fs_kd/ref_A2
-    control_data['module_fs_6'] = $kasseta_fs_kd/ref_A4
+    control_data['module_fs_6'] = $kasseta_fs_kd/ref_A7
    control_data['dou_6'] = $dou6_A7
-    control_data['module_fs_7'] = $kasseta_fs_kd/ref_A7
+    control_data['module_fs_7'] = $kasseta_fs_kd/ref_A4
    control_data['dou_7'] = $dou7_A8
    on_control_result(control_data)
--- a/scenes/tabs-switch/lbl_ready.gd
+++ b/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()
    }
--- a/scenes/tilemap/tilemap.gd
+++ b/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)
--- a/scenes/контроль/node-maper.gd
+++ b/scenes/контроль/node-maper.gd
@@ -1,6 +1,5 @@
 extends Node
 static func map_value_to_item(data, item, value_name: StringName):
    var meta = item.get_meta(value_name, '')
    if meta == '':
@@ -17,7 +16,6 @@ static func map_value_to_item(data, item, value_name: StringName):
    else:
        push_error('не найден путь %s (%s) для $%s.%s (%s)' % [paths_copy, ret_val[2], item.name, value_name, item.tooltip_text])
 static func map_error_codes_to_item(data, item, value_name: StringName, value_init: int):
    var metas = item.get_meta(value_name, '')
    if not (metas is Array):
@@ -38,3 +36,52 @@ static func map_error_codes_to_item(data, item, value_name: StringName, value_in
        item.set(value_name, test_res)
    else:
        item.set(value_name, value_init)
 # Плавное обновление с анимацией
 static func map_value_to_item_animated(data, item, value_name: StringName):
    var meta = item.get_meta(value_name, '')
    if meta == '' or not (meta is String):  return
    var paths: = Array()
    tools.map_solid_to_array(meta, paths)
    var ret_val: = [null, false, 0]
    tools.get_value_by_path(data, paths, ret_val)
    if ret_val[1]:
        _animate_property(item, value_name, ret_val[0])
    else:
        push_error('не найден путь для $%s.%s' % [item.name, value_name])
 static func map_error_codes_to_item_animated(data, item, value_name: StringName, value_init: int):
    var metas = item.get_meta(value_name, '')
    if not (metas is Array):    return
    var paths: = Array()
    var values: = Array()
    for meta in metas:
        tools.map_solid_to_array(meta, paths)
        var ret_val: = [null, false, 0]
        tools.get_value_by_path(data, paths, ret_val)
        if ret_val[1]:
            values.append(ret_val[0])
        else:
            push_error('не найден путь для $%s.%s' % [item.name, value_name])
    var target_value: int
    if values.size() == metas.size():
        target_value = 1 if values.count(true) == values.size() else 2
    else:
        target_value = value_init
    _animate_property(item, value_name, target_value)
 static func _animate_property(item, property: StringName, target_value):
    var current = item.get(property)
    if typeof(current) != typeof(target_value): return
    if current == target_value: return
    # Исправление: преобразуем StringName в String для NodePath
    var tween = item.create_tween()
    tween.set_trans(Tween.TRANS_QUINT)
    tween.set_ease(Tween.EASE_OUT)
    tween.tween_property(item, NodePath(String(property)), target_value, 0.3)
--- a/scenes/контроль/request.gd
+++ b/scenes/контроль/request.gd
@@ -29,6 +29,7 @@ func get_result_string(result: Result):
 func _on_request_timer():
    print('_on_request_timer: ', Time.get_ticks_msec())
    if HTTPClient.Status.STATUS_DISCONNECTED != get_http_client_status():
        return
    var rc: = request(request_url)
--- a/scenes/контроль/контроль.tscn
+++ b/scenes/контроль/контроль.tscn
@@ -123,6 +123,15 @@ func _ready():
    signaller.conn(signaller.режим_настройки, on_mode_changed)
    signaller.conn(signaller.режим_эмс, on_mode_changed)
    signaller.connect('debag_control_pressed', Callable(self, 'on_debag_button_pressed'))
    scouting.request_sent_afsp_left.connect(_on_request_sent_left.bind($pribor_afsp_1))
    scouting.response_received_afsp_left.connect(_on_response_received.bind($pribor_afsp_1))
    scouting.request_sent_afsp_right.connect(_on_request_sent_left.bind($pribor_afsp_2))
    scouting.response_received_afsp_right.connect(_on_response_received.bind($pribor_afsp_2))
    scouting.request_sent_bpo_left.connect(_on_request_sent_left.bind($pribor_rtr))
    scouting.response_received_bpo_left.connect(_on_response_received.bind($pribor_rtr))
    scouting.serviceability_rtr_afsp_left.connect(on_serviceability_rtr.bind($pribor_afsp_1))
    scouting.serviceability_rtr_afsp_right.connect(on_serviceability_rtr.bind($pribor_afsp_2))
    scouting.serviceability_rtr_bpo.connect(on_serviceability_rtr.bind($pribor_rtr))
 func online_change_arr(_u, conn_node, pribor_meta):
@@ -166,25 +175,19 @@ func on_pribor_press(pribor_path, header_text, pribor_node):
    pribor.add_to_group('pribor_items')
    add_child(pribor)
    update_pribor_items_visibility()
    if pribor_node.get_meta('unit_name')[0] == 'уарэп-афсп-левый' or pribor_node.get_meta('unit_name')[0] == 'уарэп-афсп-правый':
        pribor.node_request.connect('send_http_request', Callable(self, 'on_send_http_request').bind(pribor_node, pribor.node_request_timer.wait_time))
        pribor.connect('receive_response_afp_bpo', Callable(self, 'on_receive_response_afp_bpo').bind(pribor_node))
    if pribor_node.get_meta('unit_name')[0] == 'уарэп-бпо-1' or pribor_node.get_meta('unit_name')[0] == 'уарэп-бпо-2':
        pribor.node_request_1.connect('send_http_request', Callable(self, 'on_send_http_request').bind(pribor_node, pribor.node_request_timer_1.wait_time))
        pribor.connect('receive_response_afp_bpo', Callable(self, 'on_receive_response_afp_bpo').bind(pribor_node))
        #signal receive_response_afp_bpo
-# Вызов при отправке запроса на селфтест АФСП
+# Вызов при отправке запроса на селфтест АФСП и РТР
-func on_send_http_request(node: Node, time_req: float) -> void:
+func _on_request_sent_left(_url: String, node: Node) -> void:
    node.progress_max_value = 100
    node.progress_value = 0
    node.progress_visible = true
-    node.timeout_tween = time_req
+    node.timeout_tween = float(ProjectSettings.get_setting('application/config/%s' % 'Период опроса состояния АФСП, секунды'))
-func on_receive_response_afp_bpo(node: Node) -> void:
+func _on_response_received(_response: String, _success: bool, node: Node):
    node.progress_value = 100
    node.progress_visible = false
 ## Прием сигналов о текущем состояниях приборах
@@ -196,6 +199,10 @@ func on_update_uf_serviceability(uf_serviceaability: int, uf_pribor: Node) -> vo
    uf_pribor.state = uf_serviceaability
 func on_serviceability_rtr(state: int, node_rtr: Node)-> void:
    node_rtr.state = state
 func _on_chk_show_functional_toggled(toggled_on: bool) -> void:
    if cur_pribor_node:
        cur_pribor_node.show_functional = toggled_on
--- a/scenes/эмс-тг/эмс-тг.gd
+++ b/scenes/эмс-тг/эмс-тг.gd
@@ -228,7 +228,6 @@ func _on_scale_selected(val: bool, nm: StringName):
    update_table(ctable, new_indexes)
    map_yems_info_to_table(unit_info, ctable, indexes)
    connect_cmd_handlers(nm, ctable, new_indexes)
    on_data_received(unit_info, nm)
 ## Обновляет результат выполнения команды оператора
--- a/scripts/interfer.gd
+++ b/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:
@@ -136,6 +141,10 @@ class Interfer:
    var nmfs: int = 0                   ## Номер модуля ФС в нумерации СТЦ
    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]
@@ -172,9 +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.
@@ -220,8 +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 = network.get_unit_instance('навигация')
-    unit_nav.connect('data_received', on_nav_data_received.bind(unit_caps))
+    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)
@@ -229,8 +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,
@@ -248,9 +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:
@@ -283,6 +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:
@@ -386,6 +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:
@@ -406,6 +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]
@@ -469,11 +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])
@@ -541,7 +593,8 @@ func call_diap(ecm, ecm_params: Dictionary):
        var band = fs_index_arr[0] / 4
        if ecm_params['files'].has(band):
            ecm.params['filename'] = ecm_params['files'][band][0]
-            ecm.params['freq'] = ecm_params['files'][band][1]
+            if not ecm.freq_change:
                ecm.params['freq'] = ecm_params['files'][band][1]
 func call_pdchm(ecm, ecm_params: Dictionary):
@@ -719,3 +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
--- a/scripts/navigation.gd
+++ b/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
+            latlon.x = 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.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)          #
--- a/scripts/pribor-prd.gd
+++ b/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():
+    if not _can_write_ray():    return
        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.ug = (status_prd[0] >> 1) & 1 != 0
-        y5_config.ukp1 = (status_prd[0] >> 2) & 1
+        y5_config.ukp1 = (status_prd[0] >> 2) & 1 != 0
-        y5_config.ukp2 = (status_prd[0] >> 3) & 1
+        y5_config.ukp2 = (status_prd[0] >> 3) & 1 != 0
    return y5_config
--- a/scripts/rtr.gd
+++ b/scripts/rtr.gd
@@ -0,0 +1,503 @@
 class_name rtr
 extends Node
 #region Перечисления
 enum State { 
    IDLE, 
    REQUESTING_AFSP_LEFT, 
    REQUESTING_AFSP_RIGHT,
    REQUESTING_BPO_LEFT,
    REQUESTING_BPO_RIGHT,
    WAITING_TIMEOUT 
 }
 #endregion
 #region Сигналы
 # Сигналы отправки запроса
 signal request_sent_afsp_left(url: String)
 signal request_sent_afsp_right(url: String)
 signal request_sent_bpo_left(url: String)
 signal request_sent_bpo_right(url: String)
 # Сигналы получения ответа
 signal response_received_afsp_left(response: String, success: bool)
 signal response_received_afsp_right(response: String, success: bool)
 signal response_received_bpo_left(response: String, success: bool)
 signal response_received_bpo_right(response: String, success: bool)
 # Сигналы исправности (0 - нет связи, 1 - всё пройдено, 2 - есть ошибки)
 signal serviceability_rtr_afsp_left(state: int)
 signal serviceability_rtr_afsp_right(state: int)
 signal serviceability_rtr_bpo(state: int)  # Общий для левого и правого БПО
 #endregion
 #region Константы
 const RESULT_STRINGS = {
    HTTPRequest.Result.RESULT_SUCCESS:                    'Запрос успешен',
    HTTPRequest.Result.RESULT_CHUNKED_BODY_SIZE_MISMATCH: 'Несоответствие размеров частей сообщения',
    HTTPRequest.Result.RESULT_CANT_CONNECT:               'Запрос не выполнен при подключении',
    HTTPRequest.Result.RESULT_CANT_RESOLVE:               'Запрос не выполнен при разрешении',
    HTTPRequest.Result.RESULT_CONNECTION_ERROR:           'Запрос не выполнен из-за ошибки соединения',
    HTTPRequest.Result.RESULT_TLS_HANDSHAKE_ERROR:        'Запрос не выполнен на TLS рукопожатии',
    HTTPRequest.Result.RESULT_NO_RESPONSE:                'Запрос не имеет ответа (пока)',
    HTTPRequest.Result.RESULT_BODY_SIZE_LIMIT_EXCEEDED:   'Запрос превысил максимальный размер',
    HTTPRequest.Result.RESULT_BODY_DECOMPRESS_FAILED:     'Не удалось распаковать сообщение',
    HTTPRequest.Result.RESULT_REQUEST_FAILED:             'Запрос не удался',
    HTTPRequest.Result.RESULT_DOWNLOAD_FILE_CANT_OPEN:    'Невозможно открыть файл загрузки',
    HTTPRequest.Result.RESULT_DOWNLOAD_FILE_WRITE_ERROR:  'Невозможно записать в файл загрузки',
    HTTPRequest.Result.RESULT_REDIRECT_LIMIT_REACHED:     'Достигнут лимит перенаправлений',
    HTTPRequest.Result.RESULT_TIMEOUT:                    'Время истекло'
 }
 #endregion
 #region Переменные
 var http_request: HTTPRequest
 var addresses: Dictionary
 var current_state: State = State.IDLE
 var current_url: String = ''
 var timeout_timer: Timer
 # Результаты запросов АФСП
 var last_response_afsp_left: String = ''
 var last_response_afsp_right: String = ''
 var last_error_afsp_left: String = ''
 var last_error_afsp_right: String = ''
 # Результаты запросов БПО
 var last_response_bpo_left: String = ''
 var last_response_bpo_right: String = ''
 var last_error_bpo_left: String = ''
 var last_error_bpo_right: String = ''
 # Статус online для каждого борта
 var online_afsp_left: bool = false
 var online_afsp_right: bool = false
 var online_bpo_left: bool = false
 var online_bpo_right: bool = false
 # Состояния исправности для БПО
 var bpo_left_state: int = 0   # 0 - нет связи, 1 - успешно, 2 - ошибка
 var bpo_right_state: int = 0
 var last_success_time_afsp_left: int = 0
 var last_success_time_afsp_right: int = 0
 var last_success_time_bpo_left: int = 0
 var last_success_time_bpo_right: int = 0
 var timeout: float
 var current_device_type: String = ''
 #endregion
 #region Инициализация
 func _ready() -> void:
    http_request = HTTPRequest.new()
    add_child(http_request)
    http_request.request_completed.connect(_on_request_completed)
    timeout_timer = Timer.new()
    add_child(timeout_timer)
    timeout_timer.timeout.connect(_on_timeout)
    timeout_timer.one_shot = true
    signaller.conn(signaller.start_contol_device, Callable(self, '_on_start_contol_device'))
 #endregion
 #region Публичные методы
 func get_result_string(result: int) -> String:
    return RESULT_STRINGS.get(result, '<неизвестный код результата HTTPRequest - %d>' % result)
 # Геттеры АФСП
 func get_afsp_left_response() -> String:
    return last_response_afsp_left
 func get_afsp_right_response() -> String:
    return last_response_afsp_right
 func get_afsp_left_error() -> String:
    return last_error_afsp_left
 func get_afsp_right_error() -> String:
    return last_error_afsp_right
 func has_afsp_left_success() -> bool:
    return not last_response_afsp_left.is_empty()
 func has_afsp_right_success() -> bool:
    return not last_response_afsp_right.is_empty()
 func is_afsp_left_online() -> bool:
    return online_afsp_left
 func is_afsp_right_online() -> bool:
    return online_afsp_right
 # Геттеры БПО
 func get_bpo_left_response() -> String:
    return last_response_bpo_left
 func get_bpo_right_response() -> String:
    return last_response_bpo_right
 func get_bpo_left_error() -> String:
    return last_error_bpo_left
 func get_bpo_right_error() -> String:
    return last_error_bpo_right
 func has_bpo_left_success() -> bool:
    return not last_response_bpo_left.is_empty()
 func has_bpo_right_success() -> bool:
    return not last_response_bpo_right.is_empty()
 func is_bpo_left_online() -> bool:
    return online_bpo_left
 func is_bpo_right_online() -> bool:
    return online_bpo_right
 # Обновление статуса online
 func _update_online_status(device: String, side: String, is_online: bool) -> void:
    var unit_name = ''
    if device == 'afsp':
        unit_name = 'уарэп-афсп-' + ('левый' if side == 'left' else 'правый')
    else:
        unit_name = 'уарэп-бпо-' + ('1' if side == 'left' else '2')
    var unit_instance = network.get_unit_instance(unit_name)
    if unit_instance:
        unit_instance.rx_tick = Time.get_ticks_msec()
        if unit_instance.online != is_online:
            unit_instance.online = is_online
            unit_instance.emit_signal('line_changed', unit_instance)
 #endregion
 #region Обработчики сигналов
 func _on_start_contol_device() -> void:
    if current_state != State.IDLE:
        return
    # Сбрасываем предыдущие результаты
    last_response_afsp_left = ''
    last_response_afsp_right = ''
    last_error_afsp_left = ''
    last_error_afsp_right = ''
    last_response_bpo_left = ''
    last_response_bpo_right = ''
    last_error_bpo_left = ''
    last_error_bpo_right = ''
    bpo_left_state = 0
    bpo_right_state = 0
    addresses['Адрес АФСП левого борта'] = ProjectSettings.get_setting('application/config/%s' % 'Адрес АФСП левого борта')
    addresses['Адрес АФСП правого борта'] = ProjectSettings.get_setting('application/config/%s' % 'Адрес АФСП правого борта')
    addresses['Адрес БПО левого борта'] = ProjectSettings.get_setting('application/config/%s' % 'Адрес БПО левого борта')
    addresses['Адрес БПО правого борта'] = ProjectSettings.get_setting('application/config/%s' % 'Адрес БПО правого борта')
    timeout = float(ProjectSettings.get_setting('application/config/%s' % 'Период опроса состояния АФСП, секунды'))
    # Начинаем с запроса к АФСП левого борта
    _request_next(State.REQUESTING_AFSP_LEFT)
 func _on_request_completed(result: int, response_code: int, _headers: PackedStringArray, body: PackedByteArray) -> void:
    if current_state == State.WAITING_TIMEOUT:
        return
    timeout_timer.stop()
    var current_time = Time.get_ticks_msec()
    var is_afsp = (current_state == State.REQUESTING_AFSP_LEFT or current_state == State.REQUESTING_AFSP_RIGHT)
    var is_left = (current_state == State.REQUESTING_AFSP_LEFT or current_state == State.REQUESTING_BPO_LEFT)
    var side_str = 'left' if is_left else 'right'
    var device_str = 'afsp' if is_afsp else 'bpo'
    if response_code == 200:
        var response_text = body.get_string_from_utf8()
        _save_response(response_text)
        var test_passed_all = _check_all_tests_passed(response_text)
        _update_success_time(device_str, side_str, current_time)
        _update_online_status(device_str, side_str, true)
        _emit_response_signal(device_str, side_str, response_text, true)
        var serviceability_state = 1 if test_passed_all else 2
        if is_afsp:
            _emit_afsp_serviceability_signal(side_str, serviceability_state)
        else:
            _update_bpo_state(side_str, serviceability_state)
            _emit_bpo_serviceability_signal()
        _on_request_finished()
    else:
        var error_msg = 'HTTP ошибка %d: %s' % [response_code, get_result_string(result)]
        log.message(Logger.ERROR, error_msg)
        _save_error(error_msg)
        _update_online_status(device_str, side_str, false)
        _emit_response_signal(device_str, side_str, error_msg, false)
        if is_afsp:
            _emit_afsp_serviceability_signal(side_str, 0)
        else:
            _update_bpo_state(side_str, 0)
            _emit_bpo_serviceability_signal()
        _on_request_finished()
 func _update_bpo_state(side: String, state: int) -> void:
    if side == 'left':
        bpo_left_state = state
    else:
        bpo_right_state = state
 func _calculate_bpo_combined_state() -> int:
    # Если оба не на связи -> 0
    if bpo_left_state == 0 and bpo_right_state == 0:
        return 0
    # Если хоть один с ошибкой -> 2
    if bpo_left_state == 2 or bpo_right_state == 2:
        return 2
    # Если один не на связи (0), а другой успешно (1) -> 1
    if (bpo_left_state == 0 and bpo_right_state == 1) or (bpo_left_state == 1 and bpo_right_state == 0):
        return 1
    # Оба успешно -> 1
    if bpo_left_state == 1 and bpo_right_state == 1:
        return 1
    # По умолчанию
    return 0
 func _emit_bpo_serviceability_signal() -> void:
    var combined_state = _calculate_bpo_combined_state()
    emit_signal('serviceability_rtr_bpo', combined_state)
 func _state_to_string(state: int) -> String:
    match state:
        0: return 'нет связи'
        1: return 'успешно'
        2: return 'ошибка'
    return 'неизвестно'
 func _emit_afsp_serviceability_signal(side: String, state: int) -> void:
    if side == 'left':
        emit_signal('serviceability_rtr_afsp_left', state)
    else:
        emit_signal('serviceability_rtr_afsp_right', state)
 func _check_all_tests_passed(response_text: String) -> bool:
    var json = JSON.new()
    if json.parse(response_text) != OK:
        log.message(Logger.ERROR, '[rtr] Ошибка парсинга JSON')
        return false
    var data = json.data
    var self_tests = data.get('SelfTest', [])
    var all_passed = true
    for test in self_tests:
        var system_list = test.get('SystemList', [])
        for system in system_list:
            # Рекурсивно проверяем систему и её подсистемы
            if not _check_system_passed(system):
                all_passed = false
                # Не прерываем цикл, чтобы найти все ошибки
    return all_passed
 # Рекурсивная функция для проверки SystemList и вывода ошибок
 func _check_system_passed(system: Dictionary) -> bool:
    var system_passed = true
    # Проверяем устройства в текущей системе
    var dev_list = system.get('DevList', [])
    for dev in dev_list:
        var test_passed = dev.get('TestPassed', false)
        if not test_passed:
            system_passed = false
            # Формируем читаемое имя устройства для вывода
            var dev_name = dev.get('DevName', 'Неизвестное устройство')
            var dev_id = dev.get('DevId', '?')
            var error_text = dev.get('ErrorText', 'Нет описания ошибки')
            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', [])
    for sub in sub_systems:
        if not _check_system_passed(sub):
            system_passed = false
    return system_passed
 # Исправленная функция подсчета (использует Dictionary для передачи по ссылке)
 func _count_tests_in_system(system: Dictionary, counters: Dictionary) -> void:
    var dev_list = system.get('DevList', [])
    for dev in dev_list:
        counters['total'] += 1
        if dev.get('TestPassed', false):
            counters['passed'] += 1
    var sub_systems = system.get('SystemList', [])
    for sub in sub_systems:
        _count_tests_in_system(sub, counters)
 func _on_timeout() -> void:
    var was_state = current_state
    current_state = State.WAITING_TIMEOUT
    http_request.cancel_request()
    var is_afsp = (was_state == State.REQUESTING_AFSP_LEFT or was_state == State.REQUESTING_AFSP_RIGHT)
    var is_left = (was_state == State.REQUESTING_AFSP_LEFT or was_state == State.REQUESTING_BPO_LEFT)
    var side_str = 'left' if is_left else 'right'
    var device_str = 'afsp' if is_afsp else 'bpo'
    var timeout_msg = 'Таймаут %.1f секунд - %s' % [timeout, get_result_string(HTTPRequest.Result.RESULT_TIMEOUT)]
    _save_error(timeout_msg)
    _update_online_status(device_str, side_str, false)
    _emit_response_signal(device_str, side_str, timeout_msg, false)
    if is_afsp:
        _emit_afsp_serviceability_signal(side_str, 0)
    else:
        _update_bpo_state(side_str, 0)
        _emit_bpo_serviceability_signal()
    _on_request_finished()
 #endregion
 #region Управление запросами
 func _request_next(next_state: State) -> void:
    current_state = next_state
    current_device_type = 'afsp' if (next_state == State.REQUESTING_AFSP_LEFT or next_state == State.REQUESTING_AFSP_RIGHT) else 'bpo'
    match current_state:
        State.REQUESTING_AFSP_LEFT:
            current_url = addresses.get('Адрес АФСП левого борта', '')
        State.REQUESTING_AFSP_RIGHT:
            current_url = addresses.get('Адрес АФСП правого борта', '')
        State.REQUESTING_BPO_LEFT:
            current_url = addresses.get('Адрес БПО левого борта', '')
        State.REQUESTING_BPO_RIGHT:
            current_url = addresses.get('Адрес БПО правого борта', '')
        State.IDLE:
            return
    if current_url.is_empty():
        push_error('URL не задан для ', current_state)
        var error_msg = 'URL не задан'
        _save_error(error_msg)
        var is_afsp = (current_state == State.REQUESTING_AFSP_LEFT or current_state == State.REQUESTING_AFSP_RIGHT)
        var is_left = (current_state == State.REQUESTING_AFSP_LEFT or current_state == State.REQUESTING_BPO_LEFT)
        var side_str = 'left' if is_left else 'right'
        var device_str = 'afsp' if is_afsp else 'bpo'
        _update_online_status(device_str, side_str, false)
        _emit_response_signal(device_str, side_str, error_msg, false)
        if is_afsp:
            _emit_afsp_serviceability_signal(side_str, 0)
        else:
            _update_bpo_state(side_str, 0)
            _emit_bpo_serviceability_signal()
        _on_request_finished()
        return
    match current_state:
        State.REQUESTING_AFSP_LEFT:
            emit_signal('request_sent_afsp_left', current_url)
        State.REQUESTING_AFSP_RIGHT:
            emit_signal('request_sent_afsp_right', current_url)
        State.REQUESTING_BPO_LEFT:
            emit_signal('request_sent_bpo_left', current_url)
        State.REQUESTING_BPO_RIGHT:
            emit_signal('request_sent_bpo_right', current_url)
    timeout_timer.start(timeout)
    var error = http_request.request(current_url)
    if error != OK:
        log.message(Logger.ERROR, 'Ошибка запроса: %s' & error)
        var error_msg = 'Ошибка запроса: ' + error_string(error)
        _save_error(error_msg)
        var is_afsp = (current_state == State.REQUESTING_AFSP_LEFT or current_state == State.REQUESTING_AFSP_RIGHT)
        var is_left = (current_state == State.REQUESTING_AFSP_LEFT or current_state == State.REQUESTING_BPO_LEFT)
        var side_str = 'left' if is_left else 'right'
        var device_str = 'afsp' if is_afsp else 'bpo'
        _update_online_status(device_str, side_str, false)
        _emit_response_signal(device_str, side_str, error_msg, false)
        if is_afsp:
            _emit_afsp_serviceability_signal(side_str, 0)
        else:
            _update_bpo_state(side_str, 0)
            _emit_bpo_serviceability_signal()
        _on_request_finished()
 func _on_request_finished() -> void:
    match current_state:
        State.REQUESTING_AFSP_LEFT:
            _request_next(State.REQUESTING_AFSP_RIGHT)
        State.REQUESTING_AFSP_RIGHT:
            _request_next(State.REQUESTING_BPO_LEFT)
        State.REQUESTING_BPO_LEFT:
            _request_next(State.REQUESTING_BPO_RIGHT)
        State.REQUESTING_BPO_RIGHT, State.WAITING_TIMEOUT:
            current_state = State.IDLE
 #endregion
 #region Сохранение результатов
 func _save_response(response: String) -> void:
    match current_state:
        State.REQUESTING_AFSP_LEFT:
            last_response_afsp_left = response
        State.REQUESTING_AFSP_RIGHT:
            last_response_afsp_right = response
        State.REQUESTING_BPO_LEFT:
            last_response_bpo_left = response
        State.REQUESTING_BPO_RIGHT:
            last_response_bpo_right = response
 func _save_error(error: String) -> void:
    match current_state:
        State.REQUESTING_AFSP_LEFT:
            last_error_afsp_left = error
        State.REQUESTING_AFSP_RIGHT:
            last_error_afsp_right = error
        State.REQUESTING_BPO_LEFT:
            last_error_bpo_left = error
        State.REQUESTING_BPO_RIGHT:
            last_error_bpo_right = error
 func _update_success_time(device: String, side: String, time: int) -> void:
    if device == 'afsp':
        if side == 'left':
            last_success_time_afsp_left = time
        else:
            last_success_time_afsp_right = time
    else:
        if side == 'left':
            last_success_time_bpo_left = time
        else:
            last_success_time_bpo_right = time
 func _emit_response_signal(device: String, side: String, response: String, success: bool) -> void:
    if device == 'afsp':
        if side == 'left':
            emit_signal('response_received_afsp_left', response, success)
        else:
            emit_signal('response_received_afsp_right', response, success)
    else:
        if side == 'left':
            emit_signal('response_received_bpo_left', response, success)
        else:
            emit_signal('response_received_bpo_right', response, success)
 #endregion
--- a/scripts/rtr.gd.uid
+++ b/scripts/rtr.gd.uid
@@ -0,0 +1 @@
 uid://ctqcvjqjb1av3
--- a/scripts/settings.gd
+++ b/scripts/settings.gd
@@ -28,13 +28,13 @@ var UnitProfiles: Dictionary[StringName, Array] = { \
    'навигация': ['navi', ['*', 60000, true, true ], 'IP-адрес на котором принимают сообщения от навигации'],
    # < Название: [протокол, [адрес, порт, широковещательное, привязывать], комментарий >
-    'эмс-ведущий': ['iyems-rx', ['127.0.0.1', 61000, false, true], 'IP-адрес для приёма докладов от информационных ЭМС устройств'],
+    'эмс-ведущий': ['iyems-rx', ['192.168.11.105', 61000, false, true], 'IP-адрес для приёма докладов от информационных ЭМС устройств'],
-    'эмс-ор63': ['iyems-tx', ['127.0.0.1', 61001, false, false], 'IP-адрес для передачи команд информационному ЭМС устройству'],
+    'эмс-ор63': ['iyems-tx', ['192.168.11.200', 61001, false, false], 'IP-адрес для передачи команд информационному ЭМС устройству'],
-    'эмс-454': ['iyems-tx', ['127.0.0.1', 61002, false, false], 'IP-адрес для передачи команд информационному ЭМС устройству'],
+    'эмс-454': ['iyems-tx', ['192.168.11.200', 61002, false, false], 'IP-адрес для передачи команд информационному ЭМС устройству'],
-    'эмс-го': ['iyems-tx', ['127.0.0.1', 61003, false, false], 'IP-адрес для передачи команд информационному ЭМС устройству'],
+    'эмс-го': ['iyems-tx', ['192.168.11.200', 61003, false, false], 'IP-адрес для передачи команд информационному ЭМС устройству'],
-    'эмс-рлс1': ['iyems-tx', ['127.0.0.1', 61004, false, false], 'IP-адрес для передачи команд информационному ЭМС устройству'],
+    'эмс-рлс1': ['iyems-tx', ['192.168.11.200', 61004, false, false], 'IP-адрес для передачи команд информационному ЭМС устройству'],
-    'эмс-рлс2': ['iyems-tx', ['127.0.0.1', 61005, false, false], 'IP-адрес для передачи команд информационному ЭМС устройству'],
+    'эмс-рлс2': ['iyems-tx', ['192.168.11.200', 61005, false, false], 'IP-адрес для передачи команд информационному ЭМС устройству'],
-    'эмс-ннвс': ['iyems-tx', ['127.0.0.1', 61006, false, false], 'IP-адрес для передачи команд информационному ЭМС устройству'],
+    'эмс-ннвс': ['iyems-tx', ['192.168.11.200', 61006, false, false], 'IP-адрес для передачи команд информационному ЭМС устройству'],
    'эмс-изделие7': ['iyems-tx', ['127.0.0.1', 61007, false, false], 'IP-адрес для передачи команд информационному ЭМС устройству'],
    'эмс-изделие8': ['iyems-tx', ['127.0.0.1', 61008, false, false], 'IP-адрес для передачи команд информационному ЭМС устройству'],
--- a/scripts/threats.gd
+++ b/scripts/threats.gd
@@ -1,7 +1,7 @@
 extends Node
 ## Работа с целями.
-const MSG9_RESEND_TIMEOUT = 1.0            ## Время повторной отправки пакета 9
+const MSG9_RESEND_TIMEOUT = 3.0            ## Время повторной отправки пакета 9
 ## Режимы работы АФСП и БПО (Протокол ТНИИС-СТЦ, пункт 2.5.10)
 enum AFSP_BPO_MODE {
@@ -217,10 +217,7 @@ func send_msg9(unit_caps):
 func on_timer_msg9(unit_caps, timer_msg9):
-    if bpo_mode != bpo_mode_rx:
+    send_msg9(unit_caps)
        send_msg9(unit_caps)
    else:
        timer_msg9.stop()
 func on_caps_line_changed(unit_caps, timer_msg9):
--- a/scripts/tools.gd
+++ b/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:
Author	SHA1	Message	Date
TotMaxim	56e6aa4bb0	Merge remote-tracking branch 'origin/master' Some checks failed Локальный тест / test (push) Has been cancelled Details	2026-04-09 19:43:26 +03:00
TotMaxim	2e6be9b4f1	Исправление качки Some checks failed Локальный тест / test (push) Has been cancelled Details	2026-04-09 19:39:12 +03:00
MaD_CaT	a311e3201b	Доработка. Доработка__Получить_угол_места_для_помехи_из_параметров_цели	2026-04-09 19:39:12 +03:00
TotMaxim	5032115b5d	Добавлен результат проверки РТР в панель исправности комплекса Some checks failed Локальный тест / test (push) Has been cancelled Details	2026-04-09 18:28:23 +03:00
TotMaxim	caebd4f05b	Добавлены логи ошибок в журнал Some checks failed Локальный тест / test (push) Has been cancelled Details	2026-04-09 15:49:06 +03:00
TotMaxim	b4e81218ab	Доработка провекри сокетов в контроле	2026-04-09 15:39:39 +03:00
TotMaxim	1633a45c9b	Доработка статуса контроля РТР Some checks failed Локальный тест / test (push) Has been cancelled Details	2026-04-09 14:24:05 +03:00
TotMaxim	65a0164ec0	Доработка контроля РТР БПО	2026-04-09 13:14:07 +03:00
TotMaxim	0c30572f1e	Доработка АФСП провекри	2026-04-09 11:25:18 +03:00
TotMaxim	08597ff7ce	Merge remote-tracking branch 'origin/master'	2026-04-09 09:59:08 +03:00
TotMaxim	8abdc957ed	Merge remote-tracking branch 'origin/master' Some checks failed Локальный тест / test (push) Has been cancelled Details	2026-04-09 09:58:04 +03:00
TotMaxim	85b2f4eadd	Доработка адресов ЭМС ТГ и флага изменнена пользователем частоты	2026-04-09 09:55:57 +03:00
TotMaxim	6294730bf8	Корректировка. Сообщения для отладки Some checks failed Локальный тест / test (push) Has been cancelled Details	2026-04-05 17:25:10 +03:00
TotMaxim	f407578a44	Добавление анимации для прогресс баров в АФСП	2026-04-05 16:36:43 +03:00
TotMaxim	ec21282ba0	Обновление индикатора онлайн в контроле Some checks failed Локальный тест / test (push) Has been cancelled Details	2026-04-05 16:29:57 +03:00
TotMaxim	38529ac0cc	Обновление контроля АФСП Some checks failed Локальный тест / test (push) Has been cancelled Details	2026-04-05 15:52:50 +03:00
TotMaxim	6db678b163	Смена литер фс в ПРД-К Some checks failed Локальный тест / test (push) Has been cancelled Details	2026-04-05 10:05:16 +03:00
TotMaxim	124b75dbde	Обновленный конфиг для SkySensor Some checks failed Локальный тест / test (push) Has been cancelled Details	2026-04-05 09:37:05 +03:00
MaD_CaT	803d2eff4f	Доработка ЭМС-ТГ, команда 9 для КАПС РПБ	2026-04-04 10:47:13 +03:00