fix: align CV rules and refresh final documentation

Co-authored-by: Cursor <cursoragent@cursor.com>
release: finalize clean submission repository
2026-08-02 22:51:41 +02:00 · 2026-08-02 22:39:46 +02:00 · 2026-08-02 22:23:05 +02:00 · 2026-08-02 22:13:30 +02:00 · 2026-08-02 22:11:16 +02:00 · 2026-08-02 22:07:48 +02:00
185 changed files with 196565 additions and 11164 deletions
--- a/.dockerignore
+++ b/.dockerignore
@@ -0,0 +1,15 @@
+node_modules
+dist
+.git
+npm-debug.log
+.DS_Store
+.agent
+releases
+e2e
+playwright-report
+test-results
+agent/reports
+agent/state
+docs
+*.md
+.git
--- a/.github/workflows/ci.yml
+++ b/.github/workflows/ci.yml
@@ -0,0 +1,38 @@
+name: CI
+
+on:
+  push:
+    branches: [feature/**, dan_branch, main]
+  pull_request:
+
+jobs:
+  build-test:
+    runs-on: ubuntu-latest
+    timeout-minutes: 25
+    steps:
+      - uses: actions/checkout@v4
+      - uses: actions/setup-node@v4
+        with:
+          node-version: '20'
+          cache: npm
+      - run: npm ci
+      - run: npm test
+      - run: npm run build
+      - name: Install Playwright Chromium
+        run: npx playwright install --with-deps chromium
+      - name: Start preview
+        run: |
+          npx vite preview --host 127.0.0.1 --port 3101 &
+          for i in $(seq 1 30); do curl -sf http://127.0.0.1:3101/ && break; sleep 1; done
+      - name: E2E smoke
+        run: npm run test:e2e
+        env:
+          PLAYWRIGHT_BASE_URL: http://127.0.0.1:3101
+      - uses: actions/upload-artifact@v4
+        if: always()
+        with:
+          name: playwright-report
+          path: |
+            playwright-report/
+            test-results/
+          if-no-files-found: ignore
--- a/.gitignore
+++ b/.gitignore
@@ -0,0 +1,22 @@
+node_modules/
+dist/
+*.tsbuildinfo
+vite.config.js
+vite.config.d.ts
+playwright.config.js
+playwright.config.d.ts
+.env
+.env.*
+public/version.json
+npm-debug.log*
+test-results/
+playwright-report/
+blob-report/
+.demo-preview.pid
+.demo-preview.log
+__pycache__/
+*.pyc
+cv/.venv/
+cv/debug_frames/
+cv/logs/
+cv/config.yaml
--- a/19
+++ b/19
@@ -0,0 +1,19 @@
+FROM node:20-alpine AS build
+WORKDIR /app
+COPY package*.json ./
+RUN npm ci
+COPY . .
+# .git is dockerignored — pass identity from host deploy script
+ARG BUILD_COMMIT=unknown
+ARG BUILD_BRANCH=unknown
+ARG BUILD_RELEASE=unknown
+ENV VITE_BUILD_COMMIT=$BUILD_COMMIT \
+    VITE_BUILD_BRANCH=$BUILD_BRANCH \
+    VITE_BUILD_RELEASE=$BUILD_RELEASE
+RUN npm run build
+
+FROM nginx:alpine AS runtime
+COPY --from=build /app/dist /usr/share/nginx/html
+COPY nginx.conf /etc/nginx/conf.d/default.conf
+EXPOSE 80
+CMD ["nginx", "-g", "daemon off;"]
--- a/README.md
+++ b/README.md
@@ -1,49 +1,179 @@
-# Структура репозитория:
+# OWL PRIME — Ozon Tech Track 3
+
+## О проекте
+
+OWL PRIME — инженерный контур предварительной сортировки товаров: веб-цифровой двойник конвейерной линии, классификация B/C/D, физическая маршрутизация в симуляции, рабочий CV-прототип на RealSense D415 и экспериментальный физический стенд.
+
+Это не сертифицированный промышленный ПАК, а воспроизводимое решение хакатона: цифровой twin на проде, CV-прототип в репозитории, CAD/ассеты и документация для проверки судьями.
+
+## Состав решения
+
+1. **Web digital twin** — React/Three.js симуляция конвейера, измерения, classifier, diverters.
+2. **CV-прототип** — `cv/`: RealSense D415 + OpenCV → габариты / круг → B/C/D.
+3. **CAD и runtime 3D** — авторский FreeCAD и GLB/STL для деплоя.
+4. **Физический стенд** — лента, рама, камера над полотном, электроника/SCADA.
+5. **Документация** — `/documentation`, `docs/ENGINEERING.md`.
+6. **Презентация** — `presentation/Owl_Prime_Ozon_Tech_Track_3_FINAL.pdf`.
+
+## Демо
+
+**Production:** https://arhipovdan.ru
+
+| Route | Назначение |
+|---|---|
+| `/` | Непрерывная симуляция |
+| `/documentation` | Инженерный статус |
+| `*` | Редирект на `/` |
+
+- **Desktop:** интерактивный WebGL 3D.
+- **Mobile:** облегчённый 2D fallback (как в текущем baseline).
+
+Идентичность сборки: `/version.json`.
+
+## Основные возможности
+
+- непрерывный CAD-конвейер и STL-товары;
+- цифровой этап камеры / измерения;
+- rule-based classifier B/C/D;
+- CAD-дивертеры LEFT/RIGHT (−45° / +45°);
+- физика Rapier (лента 1 м/с);
+- CV-прототип depth→B/C/D (не в live web);
+- инженерная документация в приложении.
+
+## Правила классификации
+
+Официальные границы (`official_sources/doc-1783095831.pdf`), реализованы в web (`src/domain/classifier.ts`) и CV (`cv/classify.py`):
+
+1. Габариты строго **> 10×10×10 мм** и **< 450×320×320 мм**, иначе → **C**.
+2. Если габариты OK и **K > 0.8** (круг) → **D**.
+3. Иначе → **B**.
+4. **C-priority:** негабарит + круг → только **C**.
+5. Граница: **K = 0.8 не круг** (→ B, не D). Одинаково в web и CV.
+
+## Архитектура
+
+**Web**

 ```
-├── arduino_code
-│   └── Test
-│       ├── include
-│       ├── lib
-│       ├── platformio.ini
-│       ├── src
-│       └── test
-├── backend_control
-│   ├── create_venv.sh
-│   ├── main.py
-│   └── testing
-│       ├── bin
-│       ├── include
-│       ├── lib
-│       ├── lib64 -> lib
-│       └── pyvenv.cfg
-├── kicad
-│   └── ozon
-│       ├── ozon.kicad_pcb
-│       ├── ozon.kicad_pro
-│       ├── ozon.kicad_sch
-│       └── ~ozon.kicad_sch.lck
-├── README.md
-└── specification
-    ├── mindmap.md
-    ├── mvp_1.drawio
-    ├── mvp_1.jpg
-    ├── mvp_1.md
-    └── specification.md
+Product → measurement (digital) → classifier → route → twin → B/C/D receiver
 ```

-## Папка arduino_code
+**CV**

-Тут находится код для контроллера
+```
+RealSense D415 → depth → segmentation → L×W×H + K → B/C/D → optional MQTT
+```

-## Папка Backend_control
+CV **не подключён** к https://arhipovdan.ru. Общее — домен правил B/C/D, не live-канал кадров.

-Тут находится простой python скрипт для управления шагововым двигателем по средствам последовательных команд.
+## Технологии

-## Папка kicad 
+| Слой | Стек |
+|---|---|
+| Web | React, TypeScript, Three.js / R3F, Rapier, Vite, Vitest, Playwright |
+| CV | Python, OpenCV, RealSense D415 (V4L2), optional MQTT (`paho-mqtt`) |

-Тут будут находится электрические схемы проекта
+## Структура репозитория

-## Папка specification
+```
+.github/           CI
+3d_models/         Авторский CAD (conveer.FCStd)
+cv/                CV-прототип RealSense + OpenCV
+docs/              Engineering notes
+e2e/               Playwright smoke/routes
+input_info/        Официальные входные пакеты
+official_sources/  PDF с границами classifier
+presentation/      Финальная презентация (один PDF)
+public/            Runtime GLB/STL/draco
+src/               Web twin
+```

-В этой папке разрабатывается спецификация на проект
+Конфиги деплоя: `Dockerfile`, `docker-compose.server.yml`, `nginx.conf`, `package.json`.
+
+## Запуск web
+
+Node.js 20+.
+
+```bash
+npm ci
+npm run dev          # http://127.0.0.1:3100
+npm test -- --run
+npm run build
+npm run preview      # http://127.0.0.1:3100
+```
+
+## Запуск CV
+
+Python 3.10+. Live-режим требует Intel RealSense D415 и ffmpeg.
+
+```bash
+cd cv
+python3 -m venv .venv
+source .venv/bin/activate
+pip install -r requirements.txt
+cp config.example.yaml config.yaml   # MQTT выключен по умолчанию
+
+# без камеры:
+python test_classify.py
+python test_geometry.py
+
+# с камерой:
+./demo.sh                 # HUD http://127.0.0.1:8080/
+./run.sh --preview --no-mqtt --no-motor
+```
+
+Подробности: [`cv/README.md`](cv/README.md). `npm` CV-зависимости не ставит.
+
+## Конфигурация
+
+- `.env` **не** коммитится.
+- Web: опционально `VITE_BUILD_COMMIT` / `VITE_BUILD_BRANCH` / `VITE_BUILD_RELEASE` для `/version.json`.
+- CV: `cv/config.example.yaml` → локальный `cv/config.yaml` (gitignored). MQTT/motor/routing **disabled by default**. Секреты не хранить в Git.
+
+## CAD и модели
+
+| Файл | Роль |
+|---|---|
+| `3d_models/conveer.FCStd` | Авторский CAD |
+| `public/models/sorter/conveyor-clean.glb` | Runtime конвейер |
+| `public/models/*.stl` | Модели товаров |
+
+Крупные материалы для сдачи дополнительно зеркалируйте в облако; runtime-ассеты для деплоя остаются в Git.
+
+## Физика (текущий main)
+
+- скорость ленты **1.0 м/с**;
+- timestep **1/60 с**;
+- CCD для лёгких/тонких тел;
+- diverters −45° / +45°;
+- полный contact-only junction sorting **не fully validated**.
+
+## Проверка
+
+```bash
+npm ci && npm test -- --run && npm run build
+# E2E: preview :3101 + e2e/routes.spec.ts + e2e/smoke.spec.ts
+
+cd cv && python -m compileall . && python test_classify.py && python test_geometry.py
+```
+
+Актуальный релиз: unit **196/196**, build PASS, focused E2E PASS, CV compile + unit без камеры PASS. Прод: `/` и `/documentation` → 200.
+
+## Ограничения
+
+- инженерный прототип, не industrial-certified ПАК;
+- CV не live-интегрирован в web;
+- live CV требует D415; на CI — только unit/compile;
+- параметры симуляции требуют калибровки на стенде;
+- mobile — 2D lite fallback;
+- облачная ссылка на доп. материалы — по решению владельца.
+
+## Материалы
+
+- Презентация: [`presentation/Owl_Prime_Ozon_Tech_Track_3_FINAL.pdf`](presentation/Owl_Prime_Ozon_Tech_Track_3_FINAL.pdf)
+- Production: https://arhipovdan.ru
+- Cloud folder: `[ДОБАВИТЬ ССЫЛКУ]`
+
+## Статус
+
+**`main` — каноническое полное решение.** Другие ветки исторические и не нужны для запуска web или CV.
--- a/arduino_code/Test/.gitignore
+++ b/arduino_code/Test/.gitignore
@@ -1,5 +0,0 @@
-.pio
-.vscode/.browse.c_cpp.db*
-.vscode/c_cpp_properties.json
-.vscode/launch.json
-.vscode/ipch
--- a/arduino_code/Test/.vscode/extensions.json
+++ b/arduino_code/Test/.vscode/extensions.json
@@ -1,10 +0,0 @@
-{
-    // See http://go.microsoft.com/fwlink/?LinkId=827846
-    // for the documentation about the extensions.json format
-    "recommendations": [
-        "platformio.platformio-ide"
-    ],
-    "unwantedRecommendations": [
-        "ms-vscode.cpptools-extension-pack"
-    ]
-}
--- a/arduino_code/Test/README.md
+++ b/arduino_code/Test/README.md
@@ -1,95 +0,0 @@
-# 📡 Документация по MQTT интерфейсу (ESP32 + TMC2209 + Servo + VL53L0X)
-
-## 📌 Общая информация
- **Архитектура**: ESP32 (FreeRTOS задача `mqttTask`).
- **Период опроса телеметрии**: 500 мс.
- **Оптимизация трафика**: 
-  1. Публикация данных происходит **только при изменении значения** (строгое кэширование).
-  2. Используется статический буфер (`intToString`/`uintToString`) вместо динамического класса `String` для экономии памяти и предотвращения фрагментации кучи.
- **Префиксы**: 
-  - `.../control/...` — топики для **отправки команд** устройству (подписка).
-  - `.../feedback/...` — топики для **получения статуса/телеметрии** от устройства (публикация).
-
---
-
-## ⚙️ 1. Управление шаговым двигателем (Motor Control)
-
-| Топик | Тип данных | Описание | Пример Payload |
-| :--- | :---: | :--- | :--- |
-| `motor/control/rpm` | Integer | Целевая скорость в об/мин (RPM). Отрицательные значения включают реверс. | `-150`, `0`, `300` |
-| `motor/control/driver` | String | Аппаратное вкл/выкл драйвера (пин `EN_PIN`). `on` = LOW (вкл), иначе = HIGH (выкл). | `on`, `off` |
-| `motor/control/totalsteps/reset`| Any | Сброс счетчика шагов в ноль. Устройство сразу опубликует `"0"` в feedback. | `1`, `reset` |
-
-### Телеметрия двигателя (Motor Feedback)
-*(Публикуется только при изменении)*
- `motor/feedback/rpm` (Integer): Текущая скорость.
- `motor/feedback/totalsteps` (Integer): Общее количество шагов.
- `motor/feedback/is_run` (String: `true`/`false`): Двигатель движется.
- `motor/feedback/driver/status` (String: `on`/`off`): Общий статус драйвера.
- `motor/feedback/tmc/status` (String: `on`/`off`): Статус программного включения TMC.
-
-#### Детальная телеметрия TMC2209 (`motor/feedback/tmc/...`)
- `current_percent` (Integer): Текущий % рабочего тока.
- `microsteps` (Integer): Текущий режим микрошага.
- `sg_result` (Integer): Текущее значение StallGuard (нагрузка).
- `interstep_duration` (Integer): Длительность между шагами.
- `status/over_temp` (String: `true`/`false`): Перегрев.
- `status/short_to_ground` (String: `true`/`false`): КЗ на землю.
- `status/open_load` (String: `true`/`false`): Обрыв нагрузки.
- `status/stealth_chop_active` (String: `true`/`false`): Активен ли StealthChop.
- `status/standstill` (String: `true`/`false`): Двигатель в покое.
- `status/current_scaling` (Integer): Внутренний масштабный коэффициент тока.
-
---
-
-## 🦾 2. Управление сервоприводами (Servo Control)
-
-Поддержка нескольких каналов (`{channel}` от `0` до `MAX_SERVOS - 1`).
-
-### Команды
-| Топик (пример для канала 0) | Тип данных | Описание | Пример Payload |
-| :--- | :---: | :--- | :--- |
-| `servo/control/0/angle` | Integer (0-180) | Установить угол поворота. | `90` |
-| `servo/control/0/enable` | String | Включить (`on`, `1`, `true`) или выключить. | `on` |
-
-### Обратная связь
- `servo/0/feedback/status` (String: `on`/`off`): Статус питания сервопривода.
- `servo/0/feedback/angle` (Integer): Текущий установленный угол.
-
---
-
-## 📏 3. Управление датчиками VL53L0X (Sensor Control) **(НОВОЕ)**
-
-Поддержка до 8 каналов (`VL53L0X_MAX_CHANNELS = 8`). Топики используют параметр `{channel}` (0–7).
-
-| Топик | Тип данных | Описание | Пример Payload |
-| :--- | :---: | :--- | :--- |
-| `sensor/control/mode` | Integer | Установка глобального режима измерения (0 до `MODE_COUNT - 1`). | `0`, `1` |
-| `sensor/control/mode_name` | String | *Заглушка/Логирование.* Принимает имя режима для отладки. | `LongRange` |
-| `sensor/control/calibrate/start/{ch}`| Integer | Начало калибровки: указать близкое расстояние в мм. | `50` |
-| `sensor/control/calibrate/finish/{ch}`| Integer | Завершение калибровки: указать дальнее расстояние в мм. | `500` |
-| `sensor/control/clear_cal/{ch}` | Any | Сбросить калибровку для указанного канала. | `1` |
-| `sensor/control/enable/{ch}` | String | Включить (`on`, `1`, `true`) или выключить конкретный канал. | `on` |
-| `sensor/control/publish_all` | Any | **Принудительный сброс кэша.** Заставляет устройство немедленно опубликовать текущие значения всех датчиков, даже если они не изменились. | `1` |
-
---
-
-## 📊 4. Телеметрия датчиков VL53L0X (Sensor Feedback) **(НОВОЕ)**
-
-### Глобальная информация о режиме
-Публикуется только при смене режима измерения:
- `sensor/feedback/mode` (String): Человекочитаемое имя текущего режима (например, "Default", "LongRange").
- `sensor/feedback/mode_id` (Integer): Числовой ID текущего режима.
- `sensor/feedback/max_range` (Integer): Максимальная дальность для текущего режима (в мм).
-
-### Постатусная информация по каналам (`{channel}` = 0..7)
-*(Публикуется только при изменении состояния или значения)*
-
-| Топик (пример для канала 0) | Тип данных | Описание |
-| :--- | :---: | :--- |
-| `sensor/feedback/0/status` | String (`on`/`off`) | Включен ли логически данный канал. |
-| `sensor/feedback/0/calibrated` | String (`true`/`false`)| Была ли проведена калибровка для этого канала. |
-| `sensor/feedback/0/distance` | Integer или String | **Калиброванное** расстояние в мм. Если значение `65535` (ошибка/вне диапазона), публикуется строка `"out_of_range"`. |
-| `sensor/feedback/0/raw` | Integer | **Сырое** (некалиброванное) значение расстояния в мм. |
-
-*Примечание: Топики `distance` и `raw` публикуются только если канал активен (`vl53l0xIsChannelActive`).*
--- a/arduino_code/Test/include/README
+++ b/arduino_code/Test/include/README
@@ -1,37 +0,0 @@
-
-This directory is intended for project header files.
-
-A header file is a file containing C declarations and macro definitions
-to be shared between several project source files. You request the use of a
-header file in your project source file (C, C++, etc) located in `src` folder
-by including it, with the C preprocessing directive `#include'.
-
-```src/main.c
-
-#include "header.h"
-
-int main (void)
-{
- ...
-}
-```
-
-Including a header file produces the same results as copying the header file
-into each source file that needs it. Such copying would be time-consuming
-and error-prone. With a header file, the related declarations appear
-in only one place. If they need to be changed, they can be changed in one
-place, and programs that include the header file will automatically use the
-new version when next recompiled. The header file eliminates the labor of
-finding and changing all the copies as well as the risk that a failure to
-find one copy will result in inconsistencies within a program.
-
-In C, the convention is to give header files names that end with `.h'.
-
-Read more about using header files in official GCC documentation:
-
-* Include Syntax
-* Include Operation
-* Once-Only Headers
-* Computed Includes
-
-https://gcc.gnu.org/onlinedocs/cpp/Header-Files.html
--- a/arduino_code/Test/lib/README
+++ b/arduino_code/Test/lib/README
@@ -1,46 +0,0 @@
-
-This directory is intended for project specific (private) libraries.
-PlatformIO will compile them to static libraries and link into the executable file.
-
-The source code of each library should be placed in a separate directory
-("lib/your_library_name/[Code]").
-
-For example, see the structure of the following example libraries `Foo` and `Bar`:
-
-|--lib
-|  |
-|  |--Bar
-|  |  |--docs
-|  |  |--examples
-|  |  |--src
-|  |     |- Bar.c
-|  |     |- Bar.h
-|  |  |- library.json (optional. for custom build options, etc) https://docs.platformio.org/page/librarymanager/config.html
-|  |
-|  |--Foo
-|  |  |- Foo.c
-|  |  |- Foo.h
-|  |
-|  |- README --> THIS FILE
-|
-|- platformio.ini
-|--src
-   |- main.c
-
-Example contents of `src/main.c` using Foo and Bar:
-```
-#include <Foo.h>
-#include <Bar.h>
-
-int main (void)
-{
-  ...
-}
-
-```
-
-The PlatformIO Library Dependency Finder will find automatically dependent
-libraries by scanning project source files.
-
-More information about PlatformIO Library Dependency Finder
- https://docs.platformio.org/page/librarymanager/ldf.html
--- a/arduino_code/Test/platformio.ini
+++ b/arduino_code/Test/platformio.ini
@@ -1,28 +0,0 @@
-; PlatformIO Project Configuration File
-;
-;   Build options: build flags, source filter
-;   Upload options: custom upload port, speed and extra flags
-;   Library options: dependencies, extra library storages
-;   Advanced options: extra scripting
-;
-; Please visit documentation for the other options and examples
-; https://docs.platformio.org/page/projectconf.html
-
-[env:upesy_wroom]
-platform = espressif32
-board = upesy_wroom
-framework = arduino
-monitor_speed = 115200
-upload_speed = 921600
-upload_port = /dev/ttyUSB0
-lib_deps = 
-	knolleary/PubSubClient@^2.8
-	janelia-arduino/TMC2209@^9.4.0
-	madhephaestus/ESP32Servo@^3.2.1
-	adafruit/Adafruit PWM Servo Driver Library@^3.0.3
-	pololu/VL53L0X@^1.3.1
-build_flags = 
-	-Os
-	-ffunction-sections
-	-fdata-sections
-	-Wl,--gc-sections
--- a/arduino_code/Test/src/config.cpp
+++ b/arduino_code/Test/src/config.cpp
@@ -1,38 +0,0 @@
-#include "config.h"
-
-const char* WIFI_SSID = "Home";
-const char* WIFI_PASS = "88888888qwE";
-const char* MQTT_SERVER = "192.168.31.225";
-const int MQTT_PORT = 1883;
-const char* MQTT_USER = "test";
-const char* MQTT_PASS = "1234";
-const char* MQTT_CLIENT_ID = "ESP32_Stepper";
-
-// UART2: RX=16, TX=17
-HardwareSerial& TMC_SERIAL = Serial2;
-const uint32_t TMC_BAUD_RATE = 115200;
-const uint8_t TMC_SERIAL_ADDRESS = 0; // Если MS1 и MS2 на GND
-
-const int16_t TMC_RX_PIN = 16;
-const int16_t TMC_TX_PIN = 17;
-const int EN_PIN = 18;
-
-const int STEPS_PER_REVOLUTION = 200;
-const unsigned long RAMP_DURATION_MS = 2000;
-
-// Ток задается в процентах от максимума (зависит от R_sense). 
-// Для R_sense=0.11 Ом, 100% ~ 1.77А RMS. Для R_sense=0.15 Ом, 100% ~ 1.2А RMS.
-const uint8_t TMC_RUN_CURRENT_PERCENT = 50;   // 50% тока при движении
-const uint8_t TMC_HOLD_CURRENT_PERCENT = 20;  // 20% тока в простое
-const uint8_t TMC_STALL_GUARD_THRESH = 10;    
-const uint16_t TMC_MICROSTEPS = 1;           
-
-// I2C Настройка
-const int16_t I2C_SDA_PIN = 21;
-const int16_t I2C_SCL_PIN = 22;
-
-
-// ========== SERVO CONFIGURATION ==========
-#define SERVO_DEFAULT_CHANNEL 0
-#define SERVO_MIN_ANGLE 0
-#define SERVO_MAX_ANGLE 180
--- a/arduino_code/Test/src/config.h
+++ b/arduino_code/Test/src/config.h
@@ -1,38 +0,0 @@
-#ifndef CONFIG_H
-#define CONFIG_H
-
-#include <stdint.h>
-#include <Arduino.h>
-
-// WiFi & MQTT
-extern const char* WIFI_SSID;
-extern const char* WIFI_PASS;
-extern const char* MQTT_SERVER;
-extern const int MQTT_PORT;
-extern const char* MQTT_USER;
-extern const char* MQTT_PASS;
-extern const char* MQTT_CLIENT_ID;
-
-// UART for TMC2209
-extern HardwareSerial& TMC_SERIAL;
-extern const uint32_t TMC_BAUD_RATE;
-extern const uint8_t TMC_SERIAL_ADDRESS; // Адрес драйвера (0-3)
-extern const int16_t TMC_RX_PIN;
-extern const int16_t TMC_TX_PIN;
-extern const int EN_PIN;
-
-// Motor Params
-extern const int STEPS_PER_REVOLUTION; // Базовые шаги мотора (обычно 200)
-extern const unsigned long RAMP_DURATION_MS;
-
-// TMC2209 Defaults (Токи в процентах 0-100%)
-extern const uint8_t TMC_RUN_CURRENT_PERCENT;   
-extern const uint8_t TMC_HOLD_CURRENT_PERCENT;  
-extern const uint8_t TMC_STALL_GUARD_THRESH;    
-extern const uint16_t TMC_MICROSTEPS;          
-
-// I2C Настройка
-extern const int16_t I2C_SDA_PIN;
-extern const int16_t I2C_SCL_PIN;
-
-#endif
--- a/arduino_code/Test/src/main.cpp
+++ b/arduino_code/Test/src/main.cpp
@@ -1,42 +0,0 @@
-#include <Arduino.h>
-#include <TMC2209.h>
-#include "config.h"
-#include "motor.h"
-#include "vl53l0x_sensor.h"
-#include "mqtt_handler.h"
-
-void setup() {
-    Serial.begin(115200);
-    
-    // Инициализация мотора (Core 1 context initially)
-    motorInit();
-
-    xTaskCreatePinnedToCore(
-        sensorTask, 
-        "SensorTask", 
-        4096, 
-        NULL, 
-        1, 
-        NULL, 
-        0
-    );
-
-    // Запуск задачи MQTT на Core 0
-    xTaskCreatePinnedToCore(
-        mqttTask,
-        "MQTT_Task",
-        20480,
-        NULL,
-        3,
-        NULL,
-        0 // CORE 0
-    );
-
-    Serial.println("System Initialized. Multi-core ready.");
-}
-
-void loop() {
-    // Loop выполняется на Core 1
-    motorLoop();
-    vTaskDelay(pdMS_TO_TICKS(5));
-}
--- a/arduino_code/Test/src/motor.cpp
+++ b/arduino_code/Test/src/motor.cpp
@@ -1,295 +0,0 @@
-#include "motor.h"
-#include "config.h"
-
-static TMC2209 stepper_driver;
-static bool tmc_initialized = false;
-static SemaphoreHandle_t tmc_uart_mutex = NULL;
-
-volatile unsigned long total_steps = 0;
-static int target_rpm = 0;
-static int current_rpm_display = 0;
-
-static bool is_ramping = false;
-static unsigned long ramp_start_ms = 0;
-static float start_speed_sps = 0;
-static float end_speed_sps = 0;
-static float current_speed_sps = 0;
-static int32_t last_vactual = 0;
-static bool velocity_sent = false; // Флаг для отправки хотя бы раз
-
-static uint16_t current_microsteps = TMC_MICROSTEPS;
-static uint8_t current_run_percent = TMC_RUN_CURRENT_PERCENT;
-
-#define TMC_LOCK() xSemaphoreTake(tmc_uart_mutex, portMAX_DELAY)
-#define TMC_UNLOCK() xSemaphoreGive(tmc_uart_mutex)
-
-const float TMC_FCLK = 12800000.0;
-const float VACTUAL_FACTOR = 8388608.0 / TMC_FCLK;
-
-int32_t calculateVActual(float microsteps_per_second) {
-    return (int32_t)(microsteps_per_second * VACTUAL_FACTOR);
-}
-
-void motorInit() {
-    pinMode(EN_PIN, OUTPUT);
-    digitalWrite(EN_PIN, LOW);
-    tmc_uart_mutex = xSemaphoreCreateMutex();
-
-    TMC_SERIAL.begin(TMC_BAUD_RATE, SERIAL_8N1, TMC_RX_PIN, TMC_TX_PIN);
-    delay(500);
-    
-    TMC_LOCK();
-    
-    stepper_driver.setup(TMC_SERIAL, TMC_BAUD_RATE, 
-                        (TMC2209::SerialAddress)TMC_SERIAL_ADDRESS, 
-                        TMC_RX_PIN, TMC_TX_PIN);
-    
-    delay(200);
-    
-    // Проверка связи
-    if (!stepper_driver.isCommunicating()) {
-        Serial.println("ERROR: TMC2209 not communicating!");
-        TMC_UNLOCK();
-        tmc_initialized = false;
-        return;
-    }
-    
-    Serial.println("TMC2209 communicating OK");
-    
-    // Базовая настройка
-    stepper_driver.setMicrostepsPerStep(TMC_MICROSTEPS);
-    stepper_driver.setRunCurrent(TMC_RUN_CURRENT_PERCENT);
-    stepper_driver.setHoldCurrent(TMC_HOLD_CURRENT_PERCENT);
-    stepper_driver.setHoldDelay(7);
-    stepper_driver.setStallGuardThreshold(TMC_STALL_GUARD_THRESH);
-    
-    stepper_driver.enableAutomaticCurrentScaling();
-    stepper_driver.enableAutomaticGradientAdaptation();
-    
-    // КРИТИЧНО: Отключаем StealthChop для работы moveAtVelocity()!
-    stepper_driver.disableStealthChop();
-    delay(10);
-    
-    // Включаем CoolStep для энергосбережения
-    stepper_driver.enableCoolStep();
-    
-    // Программное включение драйвера
-    stepper_driver.enable();
-    delay(100);
-    
-    tmc_initialized = stepper_driver.isSetupAndCommunicating();
-    
-    if (tmc_initialized) {
-        Serial.println("TMC2209 initialized successfully");
-        TMC2209::Settings settings = stepper_driver.getSettings();
-        Serial.printf("Run: %d%%, Hold: %d%%, Microsteps: %d, StealthChop: %s\n", 
-            settings.irun_percent, settings.ihold_percent, 
-            settings.microsteps_per_step, settings.stealth_chop_enabled ? "ON" : "OFF");
-    } else {
-        Serial.println("ERROR: TMC2209 setup failed!");
-    }
-    
-    TMC_UNLOCK();
-
-    current_microsteps = TMC_MICROSTEPS;
-    current_run_percent = TMC_RUN_CURRENT_PERCENT;
-}
-
-void motorLoop() {
-    if (is_ramping) {
-        unsigned long now = millis();
-        unsigned long elapsed = now - ramp_start_ms;
-
-        if (elapsed >= RAMP_DURATION_MS) {
-            is_ramping = false;
-            current_speed_sps = end_speed_sps;
-        } else {
-            float progress = (float)elapsed / RAMP_DURATION_MS;
-            current_speed_sps = start_speed_sps + (end_speed_sps - start_speed_sps) * progress;
-        }
-
-        int32_t vactual = calculateVActual(current_speed_sps);
-        
-        // Отправляем если: скорость изменилась ИЛИ это первая отправка в рампе
-        if (abs(vactual - last_vactual) >= 0 || !velocity_sent) {
-            TMC_LOCK();
-            stepper_driver.moveAtVelocity(vactual);
-            TMC_UNLOCK();
-            last_vactual = vactual;
-            velocity_sent = true;
-            
-            Serial.printf("VACTUAL: %d (SPS: %.1f, RPM: %d)\n", 
-                vactual, current_speed_sps, current_rpm_display);
-        }
-
-        unsigned long steps_per_rev = (unsigned long)STEPS_PER_REVOLUTION * current_microsteps;
-        current_rpm_display = ((unsigned long)abs(current_speed_sps) * 60) / steps_per_rev;
-    } else if (!velocity_sent && current_speed_sps == 0) {
-        // Если мотор стоит и скорость не отправлялась - отправляем 0
-        TMC_LOCK();
-        stepper_driver.moveAtVelocity(0);
-        TMC_UNLOCK();
-        velocity_sent = true;
-    }
-    if (current_speed_sps != 0) {
-            total_steps += (unsigned long)(abs(current_speed_sps) * 0.005);
-    }
-    
-    vTaskDelay(pdMS_TO_TICKS(5));
-}
-
-void setTargetRPM(int rpm) {
-    target_rpm = rpm;
-    if (rpm != 0 && current_rpm_display < 5) resetSteps();
-
-    unsigned long steps_per_rev = (unsigned long)STEPS_PER_REVOLUTION * current_microsteps;
-    
-    start_speed_sps = current_speed_sps;
-    end_speed_sps = (rpm != 0) ? ((float)rpm * steps_per_rev) / 60.0f : 0;
-
-    ramp_start_ms = millis();
-    is_ramping = true;
-    velocity_sent = false; // Сбрасываем флаг для новой отправки
-    
-    Serial.printf("Target RPM: %d -> SPS: %.1f\n", rpm, end_speed_sps);
-}
-
-void resetSteps() {
-    total_steps = 0;
-}
-
-unsigned long getMotorSteps() { return total_steps; }
-int getCurrentRPM() { return current_rpm_display; }
-bool isMotorRunning() { return (abs(current_speed_sps) > 1); }
-
-void tmcSetCurrentPercent(uint8_t run_percent, uint8_t hold_percent) {
-    if (!tmc_initialized) return;
-    TMC_LOCK();
-    stepper_driver.setAllCurrentValues(run_percent, hold_percent, 7);
-    TMC_UNLOCK();
-    current_run_percent = run_percent;
-}
-
-void tmcSetMicrosteps(uint16_t ms) {
-    if (!tmc_initialized) return;
-    TMC_LOCK();
-    stepper_driver.setMicrostepsPerStep(ms);
-    TMC_UNLOCK();
-    current_microsteps = ms;
-    if (target_rpm != 0) setTargetRPM(target_rpm);
-}
-
-void tmcSetStallGuard(uint8_t threshold) {
-    if (!tmc_initialized) return;
-    TMC_LOCK();
-    stepper_driver.setStallGuardThreshold(threshold);
-    TMC_UNLOCK();
-}
-
-void tmcSoftwareEnable(bool enable) {
-    if (!tmc_initialized) return;
-    TMC_LOCK();
-    if (enable) {
-        stepper_driver.enable();
-        // После enable нужно заново отправить скорость
-        velocity_sent = false;
-    } else {
-        stepper_driver.moveAtVelocity(0);
-        stepper_driver.disable();
-        last_vactual = 0;
-        current_speed_sps = 0;
-        is_ramping = false;
-    }
-    TMC_UNLOCK();
-}
-
-void tmcSetStealthChop(bool enable) {
-    if (!tmc_initialized) return;
-    TMC_LOCK();
-    if (enable) {
-        stepper_driver.enableStealthChop();
-        // В StealthChop VACTUAL не работает, останавливаем мотор
-        stepper_driver.moveAtVelocity(0);
-        last_vactual = 0;
-        current_speed_sps = 0;
-    } else {
-        stepper_driver.disableStealthChop();
-        velocity_sent = false;
-    }
-    TMC_UNLOCK();
-}
-
-void tmcSetCoolStep(bool enable) {
-    if (!tmc_initialized) return;
-    TMC_LOCK();
-    enable ? stepper_driver.enableCoolStep() : stepper_driver.disableCoolStep();
-    TMC_UNLOCK();
-}
-
-bool tmcIsInitialized() { return tmc_initialized; }
-
-bool tmcIsCommunicating() {
-    if (!tmc_initialized) return false;
-    TMC_LOCK();
-    bool res = stepper_driver.isCommunicating();
-    TMC_UNLOCK();
-    return res;
-}
-
-// Функция проверки состояния EN_PIN
-bool checkDriverStatus() {
-    bool en_state = (digitalRead(EN_PIN) == LOW);
-    return en_state;
-}
-
-// Функция проверки программного состояния TMC
-bool checkTmcSoftwareEnable() {
-    TMC2209::Settings s = tmcGetSettings();
-    bool tmc_state = s.software_enabled;
-    return tmc_state;
-}
-
-uint16_t tmcGetMicrostepsSetting() { return current_microsteps; }
-uint8_t tmcGetRunCurrentPercent() { return current_run_percent; }
-
-TMC2209::Status tmcGetStatus() {
-    TMC2209::Status s = {};
-    if (!tmc_initialized) return s;
-    TMC_LOCK();
-    s = stepper_driver.getStatus();
-    TMC_UNLOCK();
-    return s;
-}
-
-TMC2209::Settings tmcGetSettings() {
-    TMC2209::Settings s = {};
-    if (!tmc_initialized) return s;
-    TMC_LOCK();
-    s = stepper_driver.getSettings();
-    TMC_UNLOCK();
-    return s;
-}
-
-uint16_t tmcGetStallGuardResult() {
-    if (!tmc_initialized) return 0;
-    TMC_LOCK();
-    uint16_t res = stepper_driver.getStallGuardResult();
-    TMC_UNLOCK();
-    return res;
-}
-
-uint32_t tmcGetInterstepDuration() {
-    if (!tmc_initialized) return 0;
-    TMC_LOCK();
-    uint32_t res = stepper_driver.getInterstepDuration();
-    TMC_UNLOCK();
-    return res;
-}
-
-uint16_t tmcGetMicrostepCounter() {
-    if (!tmc_initialized) return 0;
-    TMC_LOCK();
-    uint16_t res = stepper_driver.getMicrostepCounter();
-    TMC_UNLOCK();
-    return res;
-}
--- a/arduino_code/Test/src/motor.h
+++ b/arduino_code/Test/src/motor.h
@@ -1,42 +0,0 @@
-#ifndef MOTOR_H
-#define MOTOR_H
-
-#include <Arduino.h>
-#include <TMC2209.h>
-
-void motorInit();
-void motorLoop();
-
-// Управление движением (через UART VACTUAL)
-void setTargetRPM(int rpm); // Поддерживает отрицательные значения для реверса!
-void resetSteps();
-
-// Геттеры состояния движения
-unsigned long getMotorSteps(); // Считается программно
-int getCurrentRPM();
-bool isMotorRunning();
-
-// Управление TMC2209 через UART
-void tmcSetCurrentPercent(uint8_t run_percent, uint8_t hold_percent);
-void tmcSetMicrosteps(uint16_t ms);
-void tmcSetStallGuard(uint8_t threshold);
-void tmcSoftwareEnable(bool enable); // Вкл/Выкл драйвер программно
-void tmcSetStealthChop(bool enable);
-void tmcSetCoolStep(bool enable);
-
-// Расширенная телеметрия
-bool tmcIsInitialized();
-bool tmcIsCommunicating();
-uint16_t tmcGetMicrostepsSetting();
-uint8_t tmcGetRunCurrentPercent();
-
-// Структуры статусов для MQTT
-TMC2209::Status tmcGetStatus();
-TMC2209::Settings tmcGetSettings();
-uint16_t tmcGetStallGuardResult();
-uint32_t tmcGetInterstepDuration();
-uint16_t tmcGetMicrostepCounter();
-bool checkDriverStatus();
-bool checkTmcSoftwareEnable();
-
-#endif
--- a/arduino_code/Test/src/mqtt_handler.cpp
+++ b/arduino_code/Test/src/mqtt_handler.cpp
@@ -1,506 +0,0 @@
-#include "mqtt_handler.h"
-#include "config.h"
-#include "motor.h"
-#include "servo_control.h"
-#include "vl53l0x_sensor.h"
-
-static WiFiClient espClient;
-static PubSubClient client(espClient);
-
-// Кэш телеметрии
-static unsigned long last_feedback_time = 0;
-static int last_pub_rpm = -1;
-static unsigned long last_pub_steps = -1;
-static int last_pub_is_run = -1;
-
-// TMC Кэш
-static uint16_t last_pub_sg = 65535;
-static uint32_t last_pub_interstep = 0;
-static uint8_t last_pub_current_pct = 255;
-static uint16_t last_pub_microsteps = 0;
-
-// Статусы (битовые флаги)
-static int last_pub_over_temp = -1;
-static int last_pub_short_gnd = -1;
-static int last_pub_open_load = -1;
-static int last_pub_stealth_active = -1;
-static int last_pub_standstill = -1;
-static int last_pub_driver_status = -1;
-static int last_pub_tmc_software_enable = -1;
-static uint8_t last_pub_current_scaling = 255;
-
-// ============================================
-// КЭШИРОВАНИЕ ДЛЯ VL53L0X
-// ============================================
-
-#define VL53L0X_MAX_CHANNELS 8
-static uint16_t last_pub_vl53_distance[VL53L0X_MAX_CHANNELS] = {65535};
-static uint16_t last_pub_vl53_raw[VL53L0X_MAX_CHANNELS] = {65535};
-static int last_pub_vl53_status[VL53L0X_MAX_CHANNELS] = {-1};
-static int last_pub_vl53_calibrated[VL53L0X_MAX_CHANNELS] = {-1};
-static MeasurementMode last_pub_vl53_mode = MODE_COUNT;
-
-// ============================================
-// БУФЕРЫ ДЛЯ ПРЕОБРАЗОВАНИЯ
-// ============================================
-
-static char int_buffer[16];
-static char uint_buffer[16];
-
-static const char* intToString(int value) {
-    snprintf(int_buffer, sizeof(int_buffer), "%d", value);
-    return int_buffer;
-}
-
-static const char* uintToString(unsigned long value) {
-    snprintf(uint_buffer, sizeof(uint_buffer), "%lu", value);
-    return uint_buffer;
-}
-
-// ============================================
-// WIFI И MQTT ПОДКЛЮЧЕНИЕ
-// ============================================
-
-static void setup_wifi() {
-    Serial.print("Connecting to WiFi");
-    WiFi.begin(WIFI_SSID, WIFI_PASS);
-    while (WiFi.status() != WL_CONNECTED) { 
-        vTaskDelay(pdMS_TO_TICKS(500)); 
-        Serial.print("."); 
-    }
-    Serial.println("\nWiFi Connected");
-}
-
-static void resetAllCaches() {
-    // Motor
-    last_pub_rpm = -1; 
-    last_pub_steps = (unsigned long)-1; 
-    last_pub_is_run = -1;
-    last_pub_sg = 65535; 
-    last_pub_interstep = 0; 
-    last_pub_current_pct = 255;
-    last_pub_microsteps = 0; 
-    last_pub_over_temp = -1; 
-    last_pub_short_gnd = -1;
-    last_pub_open_load = -1; 
-    last_pub_stealth_active = -1; 
-    last_pub_standstill = -1;
-    last_pub_current_scaling = 255;
-    last_pub_driver_status = -1;
-    last_pub_tmc_software_enable = -1;
-    
-    // VL53L0X
-    for (int i = 0; i < VL53L0X_MAX_CHANNELS; i++) {
-        last_pub_vl53_distance[i] = 65535;
-        last_pub_vl53_raw[i] = 65535;
-        last_pub_vl53_status[i] = -1;
-        last_pub_vl53_calibrated[i] = -1;
-    }
-    last_pub_vl53_mode = MODE_COUNT;
-}
-
-static void subscribeToAllTopics() {
-    // Motor
-    client.subscribe("motor/control/rpm");
-    client.subscribe("motor/control/driver");
-    client.subscribe("motor/control/totalsteps/reset");
-    client.subscribe("motor/control/tmc/current_percent");
-    client.subscribe("motor/control/tmc/microsteps");
-    client.subscribe("motor/control/tmc/stallguard");
-    client.subscribe("motor/control/tmc/enable");
-    client.subscribe("motor/control/tmc/stealthchop");
-    client.subscribe("motor/control/tmc/coolstep");
-
-    // Servo
-    client.subscribe("servo/control/+/#");
-    
-    // VL53L0X
-    client.subscribe("sensor/control/mode");
-    client.subscribe("sensor/control/mode_name");
-    client.subscribe("sensor/control/calibrate/start/+");
-    client.subscribe("sensor/control/calibrate/finish/+");
-    client.subscribe("sensor/control/clear_cal/+");
-    client.subscribe("sensor/control/enable/+");
-    client.subscribe("sensor/control/publish_all");
-}
-
-static void reconnect() {
-    while (!client.connected()) {
-        if (client.connect(MQTT_CLIENT_ID, MQTT_USER, MQTT_PASS)) {
-            resetAllCaches();
-            subscribeToAllTopics();
-            Serial.println("MQTT Connected and subscribed");
-        } else {
-            Serial.printf("MQTT connection failed, rc=%d, retrying...\n", client.state());
-            vTaskDelay(pdMS_TO_TICKS(5000));
-        }
-    }
-}
-
-// ============================================
-// ОБРАБОТКА ВХОДЯЩИХ MQTT КОМАНД
-// ============================================
-static void callback(char* topic, byte* payload, unsigned int length) {
-    char msg[length + 1];
-    memcpy(msg, payload, length);
-    msg[length] = '\0';
-
-    if (strcmp(topic, "motor/control/rpm") == 0) {
-        setTargetRPM(atoi(msg)); // Поддерживает отрицательные для реверса!
-    }
-    else if (strcmp(topic, "motor/control/driver") == 0) {
-        // TMC2209: LOW = Enabled, HIGH = Disabled
-        bool enable = (strcmp(msg, "on") == 0);
-        digitalWrite(EN_PIN, enable ? LOW : HIGH);
-    }
-    else if (strcmp(topic, "motor/control/totalsteps/reset") == 0) {
-        resetSteps();
-        if (client.connected()) client.publish("motor/feedback/totalsteps", "0");
-        last_pub_steps = 0;
-    }
-    // --- TMC Control ---
-    else if (strcmp(topic, "motor/control/tmc/current_percent") == 0) {
-        uint8_t pct = atoi(msg);
-        if (pct <= 100) tmcSetCurrentPercent(pct, pct / 2); // Hold = 50% от Run
-    }
-    else if (strcmp(topic, "motor/control/tmc/microsteps") == 0) {
-        uint16_t ms = atoi(msg);
-        tmcSetMicrosteps(ms);
-    }
-    else if (strcmp(topic, "motor/control/tmc/stallguard") == 0) {
-        tmcSetStallGuard(atoi(msg));
-    }
-    else if (strcmp(topic, "motor/control/tmc/enable") == 0) {
-        tmcSoftwareEnable(strcmp(msg, "on") == 0);
-    }
-    else if (strcmp(topic, "motor/control/tmc/stealthchop") == 0) {
-        tmcSetStealthChop(strcmp(msg, "on") == 0);
-    }
-    else if (strcmp(topic, "motor/control/tmc/coolstep") == 0) {
-        tmcSetCoolStep(strcmp(msg, "on") == 0);
-    } 
-    else if (strncmp(topic, "servo/control", 12) == 0) {
-        handleServoMQTTCommand(topic, msg);
-    }
-    // === VL53L0X ===
-    else if (strcmp(topic, "sensor/control/mode") == 0) {
-        int mode = atoi(msg);
-        if (mode >= 0 && mode < MODE_COUNT) {
-            vl53l0xSetMode((MeasurementMode)mode);
-        }
-    }
-    else if (strcmp(topic, "sensor/control/mode_name") == 0) {
-        // Маппинг имени режима на ID (если нужно)
-        // Пока просто логируем
-        Serial.printf("Mode name request: %s\n", msg);
-    }
-    else if (strncmp(topic, "sensor/control/calibrate/start/", 31) == 0) {
-        int channel = atoi(topic + 31);
-        int near_mm = atoi(msg);
-        if (channel >= 0 && channel < VL53L0X_MAX_CHANNELS && near_mm > 0) {
-            vl53l0xStartCalibration(channel, near_mm);
-        }
-    }
-    else if (strncmp(topic, "sensor/control/calibrate/finish/", 32) == 0) {
-        int channel = atoi(topic + 32);
-        int far_mm = atoi(msg);
-        if (channel >= 0 && channel < VL53L0X_MAX_CHANNELS && far_mm > 0) {
-            vl53l0xFinishCalibration(channel, far_mm);
-        }
-    }
-    else if (strncmp(topic, "sensor/control/clear_cal/", 25) == 0) {
-        int channel = atoi(topic + 25);
-        if (channel >= 0 && channel < VL53L0X_MAX_CHANNELS) {
-            vl53l0xClearCalibration(channel);
-        }
-    }
-    else if (strncmp(topic, "sensor/control/enable/", 22) == 0) {
-        int channel = atoi(topic + 22);
-        bool enable = (strcmp(msg, "on") == 0 || strcmp(msg, "1") == 0 || strcmp(msg, "true") == 0);
-        if (channel >= 0 && channel < VL53L0X_MAX_CHANNELS) {
-            vl53l0xEnableChannel(channel, enable);
-        }
-    }
-    else if (strcmp(topic, "sensor/control/publish_all") == 0) {
-        // Сбрасываем кэш для принудительной публикации
-        for (int i = 0; i < VL53L0X_MAX_CHANNELS; i++) {
-            last_pub_vl53_distance[i] = 65535;
-            last_pub_vl53_raw[i] = 65535;
-        }
-    }
-}
-
-// ============================================
-// ПУБЛИКАЦИЯ MOTOR TELEMETRY
-// ============================================
-
-static void publishMotorTelemetry() {
-    // RPM
-    int rpm = getCurrentRPM();
-    if (rpm != last_pub_rpm) {
-        client.publish("motor/feedback/rpm", intToString(rpm));
-        last_pub_rpm = rpm;
-    }
-
-    // Steps
-    unsigned long steps = getMotorSteps();
-    if (steps != last_pub_steps) {
-        client.publish("motor/feedback/totalsteps", uintToString(steps));
-        last_pub_steps = steps;
-    }
-
-    // Is running
-    int run = isMotorRunning() ? 1 : 0;
-    if (run != last_pub_is_run) {
-        client.publish("motor/feedback/is_run", run ? "true" : "false");
-        last_pub_is_run = run;
-    }
-
-    // TMC
-    if (tmcIsInitialized()) {
-        uint8_t pct = tmcGetRunCurrentPercent();
-        if (pct != last_pub_current_pct) {
-            client.publish("motor/feedback/tmc/current_percent", intToString(pct));
-            last_pub_current_pct = pct;
-        }
-
-        uint16_t ms = tmcGetMicrostepsSetting();
-        if (ms != last_pub_microsteps) {
-            client.publish("motor/feedback/tmc/microsteps", intToString(ms));
-            last_pub_microsteps = ms;
-        }
-
-        uint16_t sg = tmcGetStallGuardResult();
-        if (sg != last_pub_sg) {
-            client.publish("motor/feedback/tmc/sg_result", intToString(sg));
-            last_pub_sg = sg;
-        }
-
-        uint32_t interstep = tmcGetInterstepDuration();
-        if (interstep != last_pub_interstep) {
-            client.publish("motor/feedback/tmc/interstep_duration", uintToString(interstep));
-            last_pub_interstep = interstep;
-        }
-
-        TMC2209::Status status = tmcGetStatus();
-        
-        int ot = (status.over_temperature_warning || status.over_temperature_shutdown) ? 1 : 0;
-        if (ot != last_pub_over_temp) {
-            client.publish("motor/feedback/tmc/status/over_temp", ot ? "true" : "false");
-            last_pub_over_temp = ot;
-        }
-
-        int sgnd = (status.short_to_ground_a || status.short_to_ground_b) ? 1 : 0;
-        if (sgnd != last_pub_short_gnd) {
-            client.publish("motor/feedback/tmc/status/short_to_ground", sgnd ? "true" : "false");
-            last_pub_short_gnd = sgnd;
-        }
-
-        int ol = (status.open_load_a || status.open_load_b) ? 1 : 0;
-        if (ol != last_pub_open_load) {
-            client.publish("motor/feedback/tmc/status/open_load", ol ? "true" : "false");
-            last_pub_open_load = ol;
-        }
-
-        int sa = status.stealth_chop_mode ? 1 : 0;
-        if (sa != last_pub_stealth_active) {
-            client.publish("motor/feedback/tmc/status/stealth_chop_active", sa ? "true" : "false");
-            last_pub_stealth_active = sa;
-        }
-
-        int ss = status.standstill ? 1 : 0;
-        if (ss != last_pub_standstill) {
-            client.publish("motor/feedback/tmc/status/standstill", ss ? "true" : "false");
-            last_pub_standstill = ss;
-        }
-
-        if (status.current_scaling != last_pub_current_scaling) {
-            client.publish("motor/feedback/tmc/status/current_scaling", intToString(status.current_scaling));
-            last_pub_current_scaling = status.current_scaling;
-        }
-
-        int cds = checkDriverStatus() ? 1 : 0;
-        if (cds != last_pub_driver_status) {
-            client.publish("motor/feedback/driver/status", cds ? "on" : "off");
-            last_pub_driver_status = cds;
-        }
-        
-        int tse = checkTmcSoftwareEnable() ? 1 : 0;
-        if (tse != last_pub_tmc_software_enable) {
-            client.publish("motor/feedback/tmc/status", tse ? "on" : "off");
-            last_pub_tmc_software_enable = tse;
-        }
-    }
-}
-
-// ============================================
-// ПУБЛИКАЦИЯ VL53L0X TELEMETRY
-// ============================================
-
-static void publishVL53L0XTelemetry() {
-    // Публикация режима
-    MeasurementMode current_mode = vl53l0xGetMode();
-    if (current_mode != last_pub_vl53_mode) {
-        const ModeProfile* profile = vl53l0xGetModeProfile();
-        
-        client.publish("sensor/feedback/mode", profile->name);
-        client.publish("sensor/feedback/mode_id", intToString(current_mode));
-        client.publish("sensor/feedback/max_range", intToString(profile->max_range_mm));
-        
-        last_pub_vl53_mode = current_mode;
-    }
-    
-    // Публикация данных с каждого канала
-    for (uint8_t ch = 0; ch < VL53L0X_MAX_CHANNELS; ch++) {
-        if (!vl53l0xIsChannelPresent(ch)) continue;
-        
-        char topic[64];
-        
-        // Статус канала
-        int status = vl53l0xIsChannelEnabled(ch) ? 1 : 0;
-        if (status != last_pub_vl53_status[ch]) {
-            snprintf(topic, sizeof(topic), "sensor/feedback/%d/status", ch);
-            client.publish(topic, status ? "on" : "off");
-            last_pub_vl53_status[ch] = status;
-        }
-        
-        // Статус калибровки
-        int calibrated = vl53l0xIsCalibrated(ch) ? 1 : 0;
-        if (calibrated != last_pub_vl53_calibrated[ch]) {
-            snprintf(topic, sizeof(topic), "sensor/feedback/%d/calibrated", ch);
-            client.publish(topic, calibrated ? "true" : "false");
-            last_pub_vl53_calibrated[ch] = calibrated;
-        }
-        
-        // Только если канал активен, публикуем расстояния
-        if (vl53l0xIsChannelActive(ch)) {
-            // Калиброванное расстояние
-            uint16_t distance = vl53l0xReadDistance(ch);
-            if (distance != last_pub_vl53_distance[ch]) {
-                snprintf(topic, sizeof(topic), "sensor/feedback/%d/distance", ch);
-                if (distance != 65535) {
-                    client.publish(topic, intToString(distance));
-                } else {
-                    client.publish(topic, "out_of_range");
-                }
-                last_pub_vl53_distance[ch] = distance;
-            }
-            
-            // Сырое значение
-            uint16_t raw = vl53l0xReadRawDistance(ch);
-            if (raw != last_pub_vl53_raw[ch]) {
-                snprintf(topic, sizeof(topic), "sensor/feedback/%d/raw", ch);
-                if (raw != 65535) {
-                    client.publish(topic, intToString(raw));
-                }
-                last_pub_vl53_raw[ch] = raw;
-            }
-        }
-    }
-}
-
-/////
-
-void checkAndPublishServoStatus(uint8_t channel) {
-    if (channel >= MAX_SERVOS) return;
-    
-    bool current_state = servo_enabled[channel];
-    if (current_state != last_published_status[channel]) {
-        last_published_status[channel] = current_state;
-        
-        char topic[64];
-        snprintf(topic, sizeof(topic), "servo/%d/feedback/status", channel);
-        
-        String status = current_state ? "on" : "off";
-        client.publish(topic, status.c_str());
-        
-        Serial.printf("Published servo %d status: %s\n", channel, status.c_str());
-    }
-}
-
-void checkAndPublishServoAngle(uint8_t channel) {
-    if (channel >= MAX_SERVOS) return;
-    
-    uint8_t current_angle = current_angles[channel];
-    if (current_angle != last_published_angles[channel]) {
-        last_published_angles[channel] = current_angle;
-        
-        char topic[64];
-        snprintf(topic, sizeof(topic), "servo/%d/feedback/angle", channel);
-        
-        char payload[8];
-        snprintf(payload, sizeof(payload), "%d", current_angle);
-        client.publish(topic, payload);
-        
-        Serial.printf("Published servo %d angle: %d\n", channel, current_angle);
-    }
-}
-
-void handleServoMQTTCommand(const char* topic, const char* payload) {
-    // Парсим топик: servo/control/{channel}/{command}
-    int channel = -1;
-    char command[32] = {0};
-    
-    if (sscanf(topic, "servo/control/%2d/%8s", &channel, command) != 2) {
-        Serial.printf("Invalid servo topic: %s\n", topic);
-        return;
-    }
-    
-    if (channel < 0 || channel >= MAX_SERVOS) {
-        Serial.printf("Invalid servo channel: %d\n", channel);
-        return;
-    }
-    
-    Serial.printf("Servo %d command: %s = %s\n", channel, command, payload);
-    
-    if (strcmp(command, "angle") == 0) {
-        int angle = atoi(payload);
-        if (angle >= 0 && angle <= 180) {
-            setServoAngle(channel, (uint8_t)angle);
-            checkAndPublishServoAngle(channel);
-            checkAndPublishServoStatus(channel);
-        }
-    }
-    else if (strcmp(command, "enable") == 0) {
-        bool enable = (strcmp(payload, "on") == 0 || strcmp(payload, "1") == 0 || strcmp(payload, "true") == 0);
-        if (enable) {
-            enableServo(channel);
-        } else {
-            disableServo(channel);
-        }
-        checkAndPublishServoStatus(channel);
-    }
-}
-
-/////
-
-// ============================================
-// ГЛАВНЫЙ ЦИКЛ ПУБЛИКАЦИИ
-// ============================================
-
-static void publishTelemetry() {
-    unsigned long now = millis();
-    if (now - last_feedback_time >= 500) {
-        publishMotorTelemetry();
-        publishVL53L0XTelemetry();
-        last_feedback_time = now;
-    }
-}
-
-void mqttTask(void *parameter) {
-    static unsigned long last_stack_check = 0;
-
-    setup_wifi();
-    client.setServer(MQTT_SERVER, MQTT_PORT);
-    client.setCallback(callback);
-
-    servoInit();
-
-    for (;;) {
-        if (!client.connected()) reconnect();
-        client.loop();
-        publishTelemetry();
-
-        vTaskDelay(pdMS_TO_TICKS(10));
-    }
-}
--- a/arduino_code/Test/src/mqtt_handler.h
+++ b/arduino_code/Test/src/mqtt_handler.h
@@ -1,11 +0,0 @@
-#ifndef MQTT_HANDLER_H
-#define MQTT_HANDLER_H
-
-#include <Arduino.h>
-#include <WiFi.h>
-#include <PubSubClient.h>
-
-void mqttTask(void *parameter);
-void handleServoMQTTCommand(const char* topic, const char* payload);
-
-#endif
--- a/arduino_code/Test/src/servo_control.cpp
+++ b/arduino_code/Test/src/servo_control.cpp
@@ -1,98 +0,0 @@
-#include "servo_control.h"
-#include "mqtt_handler.h"
-#include "config.h"
-
-static Adafruit_PWMServoDriver pwm = Adafruit_PWMServoDriver();
-static bool servo_initialized = false;
-
-
-
-void servoInit() {
-    Serial.println("Initializing PCA9685 servo driver...");
-    
-    // Инициализация I2C на пинах 21 (SDA) и 22 (SCL)
-    Wire.begin(I2C_SDA_PIN, I2C_SCL_PIN);
-    
-    pwm.begin();
-    pwm.setOscillatorFrequency(27000000);
-    pwm.setPWMFreq(50); // 50 Hz для сервоприводов
-    
-    delay(10);
-    
-    servo_initialized = true;
-    Serial.println("PCA9685 initialized successfully");
-    
-    // Инициализируем все каналы как выключенные
-    for (int i = 0; i < MAX_SERVOS; i++) {
-        current_angles[i] = 90; // Начальное положение - середина
-        servo_enabled[i] = false;
-        disableServo(i);
-    }
-}
-
-// Преобразование угла (0-180) в длину импульса
-uint16_t angleToPulse(uint8_t angle) {
-    if (angle > 180) angle = 180;
-    return map(angle, 0, 180, SERVO_MIN_PULSE, SERVO_MAX_PULSE);
-}
-
-// Преобразование длины импульса в угол
-uint8_t pulseToAngle(uint16_t pulse) {
-    if (pulse < SERVO_MIN_PULSE) return 0;
-    if (pulse > SERVO_MAX_PULSE) return 180;
-    return map(pulse, SERVO_MIN_PULSE, SERVO_MAX_PULSE, 0, 180);
-}
-
-void setServoAngle(uint8_t channel, uint8_t angle) {
-    if (!servo_initialized || channel >= MAX_SERVOS) return;
-    
-    if (angle > 180) angle = 180;
-    
-    current_angles[channel] = angle;
-    servo_enabled[channel] = true;
-    
-    uint16_t pulse = angleToPulse(angle);
-    setServoPulse(channel, pulse);
-    
-    Serial.printf("Servo %d: angle=%d, pulse=%d\n", channel, angle, pulse);
-}
-
-void setServoPulse(uint8_t channel, uint16_t pulse) {
-    if (!servo_initialized || channel >= MAX_SERVOS) return;
-    
-    // Преобразование микросекунд в тики PCA9685
-    // PCA9685 имеет 4096 тиков на период при 50Hz = 20000 мкс
-    // 1 мкс = 4096 / 20000 = 0.2048 тика
-    double pulselength = 4096.0 / 20000.0; // тиков на микросекунду
-    uint16_t ticks = pulse * pulselength;
-    
-    pwm.setPWM(channel, 0, ticks);
-}
-
-void enableServo(uint8_t channel) {
-    if (!servo_initialized || channel >= MAX_SERVOS) return;
-    
-    servo_enabled[channel] = true;
-    setServoAngle(channel, current_angles[channel]);
-    
-    Serial.printf("Servo %d: ENABLED\n", channel);
-}
-
-void disableServo(uint8_t channel) {
-    if (!servo_initialized || channel >= MAX_SERVOS) return;
-    
-    servo_enabled[channel] = false;
-    pwm.setPWM(channel, 0, 0); // Отключаем сигнал
-    
-    Serial.printf("Servo %d: DISABLED\n", channel);
-}
-
-uint8_t getServoAngle(uint8_t channel) {
-    if (channel >= MAX_SERVOS) return 0;
-    return current_angles[channel];
-}
-
-bool isServoEnabled(uint8_t channel) {
-    if (channel >= MAX_SERVOS) return false;
-    return servo_enabled[channel];
-}
--- a/arduino_code/Test/src/servo_control.h
+++ b/arduino_code/Test/src/servo_control.h
@@ -1,32 +0,0 @@
-#ifndef SERVO_H
-#define SERVO_H
-
-#include <Arduino.h>
-#include <Adafruit_PWMServoDriver.h>
-
-
-// Хранение текущего состояния сервоприводов
-#define MAX_SERVOS 16
-static uint8_t current_angles[MAX_SERVOS] = {0};
-static bool servo_enabled[MAX_SERVOS] = {false};
-static uint8_t last_published_angles[MAX_SERVOS] = {255};
-static bool last_published_status[MAX_SERVOS] = {false};
-
-// Минимальная и максимальная длина импульса для сервопривода (в микросекундах)
-static const uint16_t SERVO_MIN_PULSE = 600;
-static const uint16_t SERVO_MAX_PULSE = 2400;
-
-// Инициализация сервопривода
-void servoInit();
-
-// Управление сервоприводом
-void setServoAngle(uint8_t channel, uint8_t angle);
-void setServoPulse(uint8_t channel, uint16_t pulse);
-void enableServo(uint8_t channel);
-void disableServo(uint8_t channel);
-
-// Получение состояния
-uint8_t getServoAngle(uint8_t channel);
-bool isServoEnabled(uint8_t channel);
-
-#endif // SERVO_H
--- a/arduino_code/Test/src/vl53l0x_sensor.cpp
+++ b/arduino_code/Test/src/vl53l0x_sensor.cpp
@@ -1,477 +0,0 @@
-#include "vl53l0x_sensor.h"
-#include "config.h"
-
-// ============================================
-// КОНСТАНТЫ
-// ============================================
-
-#define TCA9548A_ADDRESS 0x70
-#define TCA9548A_CHANNELS 8
-
-#define MIN_DISTANCE_MM 30
-#define OUT_OF_RANGE_VALUE 65535
-
-#define FILTER_SIZE 5
-
-// ============================================
-// ПРОФИЛИ РЕЖИМОВ
-// ============================================
-
-static const ModeProfile MODES[MODE_COUNT] = {
-    {
-        "HIGH_ACCURACY",
-        200000, 14, 10, 0.5f, 500, 2
-    },
-    {
-        "PRECISION",
-        66000, 14, 10, 0.3f, 1000, 5
-    },
-    {
-        "DEFAULT",
-        33000, 14, 10, 0.25f, 1200, 15
-    },
-    {
-        "LONG_RANGE",
-        33000, 18, 14, 0.1f, 2000, 40
-    },
-    {
-        "ULTRA_LONG",
-        100000, 18, 14, 0.05f, 2500, 80
-    }
-};
-
-// ============================================
-// ГЛОБАЛЬНЫЕ ПЕРЕМЕННЫЕ
-// ============================================
-
-static VL53L0X sensor;
-static Preferences preferences;
-
-static MeasurementMode current_mode = MODE_DEFAULT;
-static bool sensor_present[TCA9548A_CHANNELS] = {false};
-static bool channel_enabled[TCA9548A_CHANNELS] = {false};
-static CalibrationData calibration[TCA9548A_CHANNELS];
-
-static uint16_t filter_buffer[TCA9548A_CHANNELS][FILTER_SIZE];
-static uint8_t filter_index[TCA9548A_CHANNELS] = {0};
-
-static bool calibration_in_progress = false;
-static uint8_t calibration_channel = 0;
-static uint16_t calibration_near_raw = 0;
-static uint16_t calibration_near_known = 0;
-
-// ============================================
-// TCA9548A МУЛЬТИПЛЕКСОР
-// ============================================
-
-static void TCA9548A_Select(uint8_t channel) {
-    Wire.beginTransmission(TCA9548A_ADDRESS);
-    Wire.write((channel < TCA9548A_CHANNELS) ? (1 << channel) : 0x00);
-    Wire.endTransmission();
-    delay(3);
-}
-
-static void TCA9548A_DisableAll() {
-    Wire.beginTransmission(TCA9548A_ADDRESS);
-    Wire.write(0x00);
-    Wire.endTransmission();
-}
-
-static bool checkTCA9548A() {
-    Wire.beginTransmission(TCA9548A_ADDRESS);
-    return (Wire.endTransmission() == 0);
-}
-
-// ============================================
-// NVS (СОХРАНЕНИЕ В FLASH)
-// ============================================
-
-static void loadCalibration() {
-    preferences.begin("vl53_cal", true);
-    
-    for (uint8_t ch = 0; ch < TCA9548A_CHANNELS; ch++) {
-        char key[16];
-        snprintf(key, sizeof(key), "ch%d", ch);
-        
-        size_t len = preferences.getBytesLength(key);
-        if (len == sizeof(CalibrationData)) {
-            preferences.getBytes(key, &calibration[ch], sizeof(CalibrationData));
-        } else {
-            calibration[ch].valid = false;
-            calibration[ch].scale = 1.0f;
-            calibration[ch].offset = 0.0f;
-        }
-    }
-    
-    int saved_mode = preferences.getInt("mode", MODE_DEFAULT);
-    if (saved_mode >= 0 && saved_mode < MODE_COUNT) {
-        current_mode = (MeasurementMode)saved_mode;
-    }
-    
-    preferences.end();
-}
-
-static void saveCalibration(uint8_t channel) {
-    preferences.begin("vl53_cal", false);
-    char key[16];
-    snprintf(key, sizeof(key), "ch%d", channel);
-    preferences.putBytes(key, &calibration[channel], sizeof(CalibrationData));
-    preferences.end();
-}
-
-static void saveMode() {
-    preferences.begin("vl53_cal", false);
-    preferences.putInt("mode", (int)current_mode);
-    preferences.end();
-}
-
-// ============================================
-// ПРИМЕНЕНИЕ РЕЖИМА
-// ============================================
-
-static bool applyModeProfile() {
-    const ModeProfile& profile = MODES[current_mode];
-    
-    sensor.setTimeout(500);
-    
-    if (!sensor.init()) {
-        return false;
-    }
-    
-    sensor.setAddress(0x29);
-    sensor.setSignalRateLimit(profile.signal_rate_limit);
-    
-    sensor.setVcselPulsePeriod(VL53L0X::VcselPeriodPreRange, profile.vcsel_prerange);
-    sensor.setVcselPulsePeriod(VL53L0X::VcselPeriodFinalRange, profile.vcsel_final);
-    sensor.setMeasurementTimingBudget(profile.timing_budget_us);
-    
-    return true;
-}
-
-// ============================================
-// КАЛИБРОВКА И ФИЛЬТРАЦИЯ
-// ============================================
-
-static uint16_t applyCalibration(uint8_t channel, uint16_t raw_mm) {
-    if (!calibration[channel].valid || raw_mm == OUT_OF_RANGE_VALUE) {
-        return raw_mm;
-    }
-    
-    float calibrated = (float)raw_mm * calibration[channel].scale + calibration[channel].offset;
-    
-    const ModeProfile& profile = MODES[current_mode];
-    if (calibrated < MIN_DISTANCE_MM) calibrated = MIN_DISTANCE_MM;
-    if (calibrated > profile.max_range_mm) return OUT_OF_RANGE_VALUE;
-    
-    return (uint16_t)calibrated;
-}
-
-static uint16_t applyFilter(uint8_t channel, uint16_t new_value) {
-    if (new_value == OUT_OF_RANGE_VALUE) return OUT_OF_RANGE_VALUE;
-    
-    filter_buffer[channel][filter_index[channel]] = new_value;
-    filter_index[channel] = (filter_index[channel] + 1) % FILTER_SIZE;
-    
-    uint32_t sum = 0;
-    uint8_t count = 0;
-    for (uint8_t i = 0; i < FILTER_SIZE; i++) {
-        if (filter_buffer[channel][i] != 0) {
-            sum += filter_buffer[channel][i];
-            count++;
-        }
-    }
-    
-    return (count > 0) ? (uint16_t)(sum / count) : new_value;
-}
-
-// ============================================
-// ПУБЛИЧНЫЕ ФУНКЦИИ
-// ============================================
-
-void vl53l0xInit() {
-    Serial.println("Initializing VL53L0X sensors...");
-    
-    Wire.begin(I2C_SDA_PIN, I2C_SCL_PIN);
-    Wire.setClock(400000);
-    delay(100);
-    
-    if (!checkTCA9548A()) {
-        Serial.println("ERROR: TCA9548A not found!");
-        return;
-    }
-    Serial.println("✓ TCA9548A found");
-    TCA9548A_DisableAll();
-    
-    loadCalibration();
-    Serial.printf("✓ Loaded mode: %s\n", MODES[current_mode].name);
-    
-    Serial.println("\nScanning VL53L0X channels:");
-    for (uint8_t channel = 0; channel < TCA9548A_CHANNELS; channel++) {
-        TCA9548A_Select(channel);
-        delay(20);
-        
-        if (applyModeProfile()) {
-            sensor_present[channel] = true;
-            channel_enabled[channel] = true;
-            Serial.printf("  ✓ Channel %d: VL53L0X found", channel);
-            if (calibration[channel].valid) Serial.print(" [CALIBRATED]");
-            Serial.println();
-            
-            memset(filter_buffer[channel], 0, sizeof(filter_buffer[channel]));
-            filter_index[channel] = 0;
-        } else {
-            sensor_present[channel] = false;
-            channel_enabled[channel] = false;
-            Serial.printf("  ✗ Channel %d: No device\n", channel);
-        }
-        
-        TCA9548A_DisableAll();
-        delay(5);
-    }
-    
-    Serial.printf("\n✓ VL53L0X initialized: %d sensors found\n\n", 
-                  vl53l0xGetChannelCount());
-}
-
-void vl53l0xLoop() {
-    // Внутренняя логика датчиков (если нужна)
-    // Сейчас вся публикация в mqtt_handle.cpp
-}
-
-bool vl53l0xSetMode(MeasurementMode mode) {
-    if (mode < 0 || mode >= MODE_COUNT) {
-        Serial.printf("ERROR: Invalid mode %d\n", mode);
-        return false;
-    }
-    
-    current_mode = mode;
-    saveMode();
-    
-    const ModeProfile& profile = MODES[current_mode];
-    Serial.printf("✓ Mode changed to: %s (max %d mm)\n", 
-                  profile.name, profile.max_range_mm);
-    
-    return true;
-}
-
-MeasurementMode vl53l0xGetMode() {
-    return current_mode;
-}
-
-const ModeProfile* vl53l0xGetModeProfile() {
-    return &MODES[current_mode];
-}
-
-uint16_t vl53l0xReadDistance(uint8_t channel) {
-    if (channel >= TCA9548A_CHANNELS || !sensor_present[channel] || !channel_enabled[channel]) {
-        return OUT_OF_RANGE_VALUE;
-    }
-    
-    TCA9548A_Select(channel);
-    
-    if (!applyModeProfile()) {
-        TCA9548A_DisableAll();
-        return OUT_OF_RANGE_VALUE;
-    }
-    
-    uint16_t distance = sensor.readRangeSingleMillimeters();
-    bool timeout = sensor.timeoutOccurred();
-    
-    TCA9548A_DisableAll();
-    
-    if (distance == 65535 || timeout) return OUT_OF_RANGE_VALUE;
-    
-    const ModeProfile& profile = MODES[current_mode];
-    if (distance < MIN_DISTANCE_MM || distance > profile.max_range_mm) {
-        return OUT_OF_RANGE_VALUE;
-    }
-    
-    uint16_t filtered = applyFilter(channel, distance);
-    uint16_t calibrated = applyCalibration(channel, filtered);
-    
-    return calibrated;
-}
-
-uint16_t vl53l0xReadRawDistance(uint8_t channel) {
-    if (channel >= TCA9548A_CHANNELS || !sensor_present[channel] || !channel_enabled[channel]) {
-        return OUT_OF_RANGE_VALUE;
-    }
-    
-    TCA9548A_Select(channel);
-    
-    if (!applyModeProfile()) {
-        TCA9548A_DisableAll();
-        return OUT_OF_RANGE_VALUE;
-    }
-    
-    uint16_t distance = sensor.readRangeSingleMillimeters();
-    bool timeout = sensor.timeoutOccurred();
-    
-    TCA9548A_DisableAll();
-    
-    if (distance == 65535 || timeout) return OUT_OF_RANGE_VALUE;
-    
-    return distance;
-}
-
-bool vl53l0xIsChannelActive(uint8_t channel) {
-    return (channel < TCA9548A_CHANNELS && sensor_present[channel] && channel_enabled[channel]);
-}
-
-int vl53l0xGetChannelCount() {
-    int count = 0;
-    for (uint8_t i = 0; i < TCA9548A_CHANNELS; i++) {
-        if (sensor_present[i]) count++;
-    }
-    return count;
-}
-
-bool vl53l0xStartCalibration(uint8_t channel, uint16_t near_known_mm) {
-    if (channel >= TCA9548A_CHANNELS || !sensor_present[channel]) {
-        Serial.printf("ERROR: Channel %d not available\n", channel);
-        return false;
-    }
-    
-    Serial.printf("Starting calibration for channel %d (near point: %d mm)\n", 
-                  channel, near_known_mm);
-    
-    uint32_t sum = 0;
-    uint8_t valid = 0;
-    
-    for (uint8_t i = 0; i < 20; i++) {
-        uint16_t d = vl53l0xReadRawDistance(channel);
-        if (d != OUT_OF_RANGE_VALUE) {
-            sum += d;
-            valid++;
-        }
-        delay(50);
-    }
-    
-    if (valid == 0) {
-        Serial.println("ERROR: Failed to read near point");
-        return false;
-    }
-    
-    calibration_near_raw = (uint16_t)(sum / valid);
-    calibration_near_known = near_known_mm;
-    calibration_channel = channel;
-    calibration_in_progress = true;
-    
-    Serial.printf("✓ Near point captured: raw=%d mm, actual=%d mm\n", 
-                  calibration_near_raw, calibration_near_known);
-    Serial.println("Now place object at FAR point and call vl53l0xFinishCalibration()");
-    
-    return true;
-}
-
-bool vl53l0xFinishCalibration(uint8_t channel, uint16_t far_known_mm) {
-    if (!calibration_in_progress || channel != calibration_channel) {
-        Serial.println("ERROR: Calibration not in progress or wrong channel");
-        return false;
-    }
-    
-    Serial.printf("Finishing calibration for channel %d (far point: %d mm)\n", 
-                  channel, far_known_mm);
-    
-    uint32_t sum = 0;
-    uint8_t valid = 0;
-    
-    for (uint8_t i = 0; i < 20; i++) {
-        uint16_t d = vl53l0xReadRawDistance(channel);
-        if (d != OUT_OF_RANGE_VALUE) {
-            sum += d;
-            valid++;
-        }
-        delay(50);
-    }
-    
-    if (valid == 0) {
-        Serial.println("ERROR: Failed to read far point");
-        calibration_in_progress = false;
-        return false;
-    }
-    
-    uint16_t far_raw = (uint16_t)(sum / valid);
-    
-    Serial.printf("✓ Far point captured: raw=%d mm, actual=%d mm\n", 
-                  far_raw, far_known_mm);
-    
-    if (far_raw == calibration_near_raw) {
-        Serial.println("ERROR: Raw values are identical");
-        calibration_in_progress = false;
-        return false;
-    }
-    
-    float scale = (float)(far_known_mm - calibration_near_known) / 
-                  (float)(far_raw - calibration_near_raw);
-    float offset = (float)calibration_near_known - 
-                   (float)calibration_near_raw * scale;
-    
-    calibration[channel].valid = true;
-    calibration[channel].near_raw = calibration_near_raw;
-    calibration[channel].near_known = calibration_near_known;
-    calibration[channel].far_raw = far_raw;
-    calibration[channel].far_known = far_known_mm;
-    calibration[channel].scale = scale;
-    calibration[channel].offset = offset;
-    
-    saveCalibration(channel);
-    
-    Serial.printf("✓ Calibration complete: scale=%.5f, offset=%.2f\n", scale, offset);
-    
-    calibration_in_progress = false;
-    
-    return true;
-}
-
-void vl53l0xClearCalibration(uint8_t channel) {
-    if (channel >= TCA9548A_CHANNELS) return;
-    
-    calibration[channel].valid = false;
-    calibration[channel].scale = 1.0f;
-    calibration[channel].offset = 0.0f;
-    saveCalibration(channel);
-    
-    Serial.printf("✓ Channel %d calibration cleared\n", channel);
-}
-
-bool vl53l0xIsCalibrated(uint8_t channel) {
-    return (channel < TCA9548A_CHANNELS && calibration[channel].valid);
-}
-
-CalibrationData vl53l0xGetCalibration(uint8_t channel) {
-    if (channel >= TCA9548A_CHANNELS) {
-        CalibrationData empty = {false, 0, 0, 0, 0, 1.0f, 0.0f};
-        return empty;
-    }
-    return calibration[channel];
-}
-
-void vl53l0xEnableChannel(uint8_t channel, bool enable) {
-    if (channel >= TCA9548A_CHANNELS) return;
-    
-    if (!sensor_present[channel]) {
-        Serial.printf("ERROR: Channel %d not present\n", channel);
-        return;
-    }
-    
-    channel_enabled[channel] = enable;
-    Serial.printf("✓ Channel %d %s\n", channel, enable ? "enabled" : "disabled");
-}
-
-bool vl53l0xIsChannelEnabled(uint8_t channel) {
-    return (channel < TCA9548A_CHANNELS && channel_enabled[channel]);
-}
-
-bool vl53l0xIsChannelPresent(uint8_t channel) {
-    return (channel < TCA9548A_CHANNELS && sensor_present[channel]);
-}
-
-void sensorTask(void *parameter) {
-    vl53l0xInit();
-    
-    for (;;) {
-        vl53l0xLoop();
-        vTaskDelay(pdMS_TO_TICKS(50));
-    }
-}
--- a/arduino_code/Test/src/vl53l0x_sensor.h
+++ b/arduino_code/Test/src/vl53l0x_sensor.h
@@ -1,68 +0,0 @@
-#ifndef VL53L0X_SENSOR_H
-#define VL53L0X_SENSOR_H
-
-#include <Arduino.h>
-#include <VL53L0X.h>
-#include <Wire.h>
-#include <Preferences.h>
-
-// Режимы измерения
-enum MeasurementMode {
-    MODE_HIGH_ACCURACY = 0,
-    MODE_PRECISION = 1,
-    MODE_DEFAULT = 2,
-    MODE_LONG_RANGE = 3,
-    MODE_ULTRA_LONG = 4,
-    MODE_COUNT = 5
-};
-
-struct ModeProfile {
-    const char* name;
-    uint32_t timing_budget_us;
-    uint8_t vcsel_prerange;
-    uint8_t vcsel_final;
-    float signal_rate_limit;
-    uint16_t max_range_mm;
-    uint8_t accuracy_mm;
-};
-
-struct CalibrationData {
-    bool valid;
-    uint16_t near_raw;
-    uint16_t near_known;
-    uint16_t far_raw;
-    uint16_t far_known;
-    float scale;
-    float offset;
-};
-
-// Инициализация и цикл
-void vl53l0xInit();
-void vl53l0xLoop();
-
-// Управление режимами
-bool vl53l0xSetMode(MeasurementMode mode);
-MeasurementMode vl53l0xGetMode();
-const ModeProfile* vl53l0xGetModeProfile();
-
-// Чтение данных
-uint16_t vl53l0xReadDistance(uint8_t channel);
-uint16_t vl53l0xReadRawDistance(uint8_t channel);
-bool vl53l0xIsChannelActive(uint8_t channel);
-int vl53l0xGetChannelCount();
-
-// Калибровка
-bool vl53l0xStartCalibration(uint8_t channel, uint16_t near_known_mm);
-bool vl53l0xFinishCalibration(uint8_t channel, uint16_t far_known_mm);
-void vl53l0xClearCalibration(uint8_t channel);
-bool vl53l0xIsCalibrated(uint8_t channel);
-CalibrationData vl53l0xGetCalibration(uint8_t channel);
-
-// Управление каналами
-void vl53l0xEnableChannel(uint8_t channel, bool enable);
-bool vl53l0xIsChannelEnabled(uint8_t channel);
-bool vl53l0xIsChannelPresent(uint8_t channel);
-
-void sensorTask(void *parameter);
-
-#endif // VL53L0X_SENSOR_H
--- a/arduino_code/Test/test/README
+++ b/arduino_code/Test/test/README
@@ -1,11 +0,0 @@
-
-This directory is intended for PlatformIO Test Runner and project tests.
-
-Unit Testing is a software testing method by which individual units of
-source code, sets of one or more MCU program modules together with associated
-control data, usage procedures, and operating procedures, are tested to
-determine whether they are fit for use. Unit testing finds problems early
-in the development cycle.
-
-More information about PlatformIO Unit Testing:
- https://docs.platformio.org/en/latest/advanced/unit-testing/index.html
--- a/backend_control/.gitignore
+++ b/backend_control/.gitignore
@@ -1 +0,0 @@
-/testing
--- a/backend_control/README.md
+++ b/backend_control/README.md
@@ -1,61 +0,0 @@
-# Интерфейс управления
-
-![](img/gui_interface.png)
-
-## Область Управления
-
-`Целевой RPM` - Задается уставка скорости в диапозоне от -1000 до 1000 оборотов в минуту
-
-`Ток` - Уставка тока в диапозоне 0 - 100%
-
-`StallGuard` - 
-
-`Микрошаг` - Уставка микрошага
-
-`Сброс счетчика шагов` - Сброс счетчика шагов
-
-## Область Режимы
-
-`Аппаратное вкл. (Driver EN)` - Аппаратное Включение/Выключение драйвера tmc2209
-
-`Программное вкл. (TMC Chip)` - Программное Включение/Выключение драйвера tmc2209
-
-`StealthChop (Тихий)` - Включение/Выключение тихого режима работы шагового двигателя.
-
-`CoolStep (Энергосбер.)` - Включение/Выключение энергосберегающего режима работы шагового двигателя.
-
-## Область Телеметрия и Статусы
-
-`Текущий RPM (Факт)`
-
-`Всего шагов`
-
-`Вращение`
-
-`SG Result` - Для отслеживания нагрузки на вал или момента срыва шагов. Резкое падение значения sg_result при движении обычно означает столкновение или заклинивание механизма.
-
-`Interstep (ns)`
-
-`Current Scaling`
-
-## Область Ошибки и Флаги
-
-`Перегрев`
-
-`КЗ на землю`
-
-`Обрыв нагрузки`
-
-`StealthChop активен`
-
-`Остановка (Standstill)`
-
-![](img/servo_interface.png)
-
-## Область Управление Серво
-
-Тут можно задать угол сервопривода и отключить сервопривод
-
-## Облать Статус и телеметрия
-
-Вывод информации о сервоприводе включен или выключен. Так же выведен текущий угол.
--- a/backend_control/create_venv.sh
+++ b/backend_control/create_venv.sh
@@ -1,6 +0,0 @@
-#!/bin/bash
-
-python -m venv testing
-
-source testing/bin/activate
-pip install -r requirements.txt
--- a/backend_control/gui.py
+++ b/backend_control/gui.py
@@ -1,460 +0,0 @@
-import customtkinter as ctk
-import paho.mqtt.client as mqtt
-
-# ================= НАСТРОЙКИ =================
-MQTT_BROKER = "192.168.0.200"
-MQTT_PORT = 1883
-MQTT_USER = "test"
-MQTT_PASSWORD = "1234"
-
-MAX_SERVOS = 4 
-MAX_SENSORS = 8  # Количество каналов VL53L0X
-
-# Цвета
-COLOR_OK = "#28a745"
-COLOR_ERR = "#dc3545"
-COLOR_OFF = "#555555"
-COLOR_ACTIVE = "#00d2ff"
-COLOR_PENDING = "#ffaa00"
-COLOR_WARN = "#ff9900" # Для out_of_range
-
-class MotorSCADA:
-    def __init__(self):
-        ctk.set_appearance_mode("Dark")
-        ctk.set_default_color_theme("blue")
-        
-        self.root = ctk.CTk()
-        self.root.title("🚀 Motor, Servo & Sensor SCADA")
-        self.root.geometry("1200x900")
-        self.root.minsize(1100, 800)
-        
-        # Флаги ожидания
-        self.driver_pending = False
-        self.tmc_pending = False
-        self.servo_pending = {i: False for i in range(MAX_SERVOS)}
-        self.sensor_pending = {i: False for i in range(MAX_SENSORS)}
-        
-        self.setup_gui()
-        self.setup_mqtt()
-        
-    def setup_gui(self):
-        # --- Шапка ---
-        header = ctk.CTkFrame(self.root, height=60)
-        header.pack(fill="x", padx=20, pady=(20, 10))
-        header.pack_propagate(False)
-        ctk.CTkLabel(header, text="Motor, Servo & Sensor SCADA", font=ctk.CTkFont(size=24, weight="bold")).pack(side="left", padx=20)
-        self.lbl_status = ctk.CTkLabel(header, text="● Отключено", text_color=COLOR_ERR, font=ctk.CTkFont(size=16, weight="bold"))
-        self.lbl_status.pack(side="right", padx=20)
-
-        # --- Вкладки ---
-        self.tabview = ctk.CTkTabview(self.root)
-        self.tabview.pack(fill="both", expand=True, padx=20, pady=10)
-        
-        self.tab_motor = self.tabview.add("Шаговый двигатель (TMC2209)")
-        self.tab_servo = self.tabview.add(f"Сервоприводы (0-{MAX_SERVOS-1})")
-        self.tab_sensor = self.tabview.add(f"Датчики VL53L0X (0-{MAX_SENSORS-1})")
-        
-        self.create_motor_tab(self.tab_motor)
-        self.create_servo_tab(self.tab_servo)
-        self.create_sensor_tab(self.tab_sensor)
-
-    # ================= ВКЛАДКА ШАГОВОГО ДВИГАТЕЛЯ =================
-    # (Код для мотора остался без изменений, чтобы не раздувать ответ, 
-    # но в реальном файле он должен быть здесь полностью)
-    def create_motor_tab(self, parent):
-        grid = ctk.CTkFrame(parent, fg_color="transparent")
-        grid.pack(fill="both", expand=True)
-        grid.grid_columnconfigure((0, 1, 2), weight=1, uniform="col")
-        grid.grid_rowconfigure(0, weight=1)
-        self.create_control_frame(grid)
-        self.create_modes_frame(grid)
-        self.create_telemetry_frame(grid)
-
-    def create_control_frame(self, parent):
-        frame = ctk.CTkFrame(parent)
-        frame.grid(row=0, column=0, sticky="nsew", padx=(0, 10))
-        ctk.CTkLabel(frame, text="⚙️ Управление", font=ctk.CTkFont(size=18, weight="bold")).pack(pady=(10, 20))
-        ctk.CTkLabel(frame, text="Целевой RPM:").pack(anchor="w", padx=20)
-        rpm_frame = ctk.CTkFrame(frame, fg_color="transparent")
-        rpm_frame.pack(fill="x", padx=20, pady=5)
-        self.sld_rpm = ctk.CTkSlider(rpm_frame, from_=-1000, to=1000, command=self.on_rpm_slider_change)
-        self.sld_rpm.pack(side="left", fill="x", expand=True, padx=(0, 10))
-        self.ent_rpm = ctk.CTkEntry(rpm_frame, width=80, justify="right")
-        self.ent_rpm.insert(0, "0"); self.ent_rpm.pack(side="left", padx=(0, 10))
-        self.ent_rpm.bind("<Return>", self.on_rpm_entry_apply); self.ent_rpm.bind("<FocusOut>", self.on_rpm_entry_apply)
-        self.lbl_rpm_val = ctk.CTkLabel(rpm_frame, text="0", width=50); self.lbl_rpm_val.pack(side="right")
-        
-        ctk.CTkLabel(frame, text="Ток (%):").pack(anchor="w", padx=20, pady=(15,0))
-        cur_frame = ctk.CTkFrame(frame, fg_color="transparent")
-        cur_frame.pack(fill="x", padx=20, pady=5)
-        self.sld_current = ctk.CTkSlider(cur_frame, from_=0, to=100, command=self.on_current_change)
-        self.sld_current.pack(side="left", fill="x", expand=True)
-        self.lbl_cur_val = ctk.CTkLabel(cur_frame, text="50", width=50); self.lbl_cur_val.pack(side="right", padx=(10, 0))
-        
-        ctk.CTkLabel(frame, text="StallGuard (0-255):").pack(anchor="w", padx=20, pady=(15,0))
-        self.ent_sg = ctk.CTkEntry(frame, width=100); self.ent_sg.insert(0, "0")
-        self.ent_sg.pack(anchor="w", padx=20, pady=5)
-        ctk.CTkButton(frame, text="Применить SG", width=150, command=self.on_sg_apply).pack(pady=5)
-        
-        ctk.CTkLabel(frame, text="Микрошаги:").pack(anchor="w", padx=20, pady=(15,0))
-        self.opt_msteps = ctk.CTkOptionMenu(frame, values=["1", "2", "4", "8", "16", "32", "64", "128", "256"], command=self.on_msteps_change)
-        self.opt_msteps.set("16"); self.opt_msteps.pack(anchor="w", padx=20, pady=5)
-        ctk.CTkButton(frame, text="Сбросить счетчик шагов", fg_color="#dc3545", hover_color="#b02a37", command=self.on_reset_steps).pack(pady=20)
-
-    def create_modes_frame(self, parent):
-        frame = ctk.CTkFrame(parent)
-        frame.grid(row=0, column=1, sticky="nsew", padx=10)
-        ctk.CTkLabel(frame, text="🔌 Режимы и Включение", font=ctk.CTkFont(size=18, weight="bold")).pack(pady=(10, 20))
-        self.sw_driver, self.led_driver_fb = self.create_switch_with_feedback(frame, "Аппаратное вкл. (Driver EN)", self.on_driver_change)
-        self.sw_tmc_enable, self.led_tmc_fb = self.create_switch_with_feedback(frame, "Программное вкл. (TMC Chip)", self.on_tmc_enable_change)
-        ctk.CTkFrame(frame, height=2, fg_color="#4a4a6a").pack(fill="x", padx=20, pady=15)
-        self.sw_stealth = self.create_switch(frame, "StealthChop (Тихий)", self.on_stealth_change)
-        self.sw_cool = self.create_switch(frame, "CoolStep (Энергосбер.)", self.on_cool_change)
-
-    def create_telemetry_frame(self, parent):
-        frame = ctk.CTkFrame(parent)
-        frame.grid(row=0, column=2, sticky="nsew", padx=(10, 0))
-        ctk.CTkLabel(frame, text="📊 Телеметрия и Статусы", font=ctk.CTkFont(size=18, weight="bold")).pack(pady=(10, 10))
-        tel_frame = ctk.CTkFrame(frame); tel_frame.pack(fill="x", padx=10, pady=5)
-        self.lbl_fb_rpm = self.create_telemetry_row(tel_frame, "Текущий RPM:")
-        self.lbl_fb_steps = self.create_telemetry_row(tel_frame, "Всего шагов:")
-        self.lbl_fb_run = self.create_telemetry_row(tel_frame, "Вращение:")
-        self.lbl_fb_sg = self.create_telemetry_row(tel_frame, "SG Result:")
-        self.lbl_fb_interstep = self.create_telemetry_row(tel_frame, "Interstep:")
-        self.lbl_fb_cscale = self.create_telemetry_row(tel_frame, "Current Scaling:")
-        ctk.CTkLabel(frame, text="🚨 Ошибки и Флаги", font=ctk.CTkFont(size=16, weight="bold")).pack(pady=(15, 5))
-        stat_frame = ctk.CTkFrame(frame); stat_frame.pack(fill="x", padx=10, pady=5)
-        self.led_over_temp = self.create_led_row(stat_frame, "Перегрев:")
-        self.led_short_gnd = self.create_led_row(stat_frame, "КЗ на землю:")
-        self.led_open_load = self.create_led_row(stat_frame, "Обрыв нагрузки:")
-        self.led_stealth_act = self.create_led_row(stat_frame, "StealthChop активен:")
-        self.led_standstill = self.create_led_row(stat_frame, "Остановка:")
-
-    # ================= ВКЛАДКА СЕРВОПРИВОДОВ =================
-    def create_servo_tab(self, parent):
-        grid = ctk.CTkFrame(parent, fg_color="transparent")
-        grid.pack(fill="both", expand=True, padx=10, pady=10)
-        grid.grid_columnconfigure((0, 1), weight=1, uniform="col")
-        grid.grid_rowconfigure((0, 1), weight=1, uniform="row")
-        self.servo_ui = {}
-        for i in range(MAX_SERVOS):
-            row, col = divmod(i, 2)
-            frame = ctk.CTkFrame(grid)
-            frame.grid(row=row, column=col, sticky="nsew", padx=10, pady=10)
-            self.servo_ui[i] = self.create_servo_card(frame, i)
-
-    def create_servo_card(self, parent, channel):
-        ui = {}
-        ctk.CTkLabel(parent, text=f"🦾 Сервопривод #{channel}", font=ctk.CTkFont(size=16, weight="bold")).pack(pady=(10, 10))
-        ctk.CTkLabel(parent, text="Угол (0-180°):").pack(anchor="w", padx=20)
-        ang_frame = ctk.CTkFrame(parent, fg_color="transparent"); ang_frame.pack(fill="x", padx=20, pady=5)
-        sld = ctk.CTkSlider(ang_frame, from_=0, to=180, command=lambda val, ch=channel: self.on_servo_ang_slider(ch, val))
-        sld.pack(side="left", fill="x", expand=True, padx=(0, 10)); sld.set(90)
-        ent = ctk.CTkEntry(ang_frame, width=60, justify="right"); ent.insert(0, "90"); ent.pack(side="left", padx=(0, 10))
-        ent.bind("<Return>", lambda event, ch=channel: self.on_servo_ang_entry(ch, event))
-        ent.bind("<FocusOut>", lambda event, ch=channel: self.on_servo_ang_entry(ch, event))
-        lbl_val = ctk.CTkLabel(ang_frame, text="90", width=40); lbl_val.pack(side="right")
-        ui['slider_ang'], ui['entry_ang'], ui['lbl_ang_val'] = sld, ent, lbl_val
-        
-        sw, led_fb = self.create_switch_with_feedback(parent, "Включить серво", lambda ch=channel: self.on_servo_enable_change(ch))
-        ui['switch_en'], ui['led_fb'] = sw, led_fb
-        
-        tel_frame = ctk.CTkFrame(parent); tel_frame.pack(fill="x", padx=10, pady=15)
-        ui['lbl_fb_ang'] = self.create_telemetry_row(tel_frame, "Текущий угол:")
-        stat_frame = ctk.CTkFrame(parent); stat_frame.pack(fill="x", padx=10, pady=5)
-        ui['led_status'] = self.create_led_row(stat_frame, "Статус:")
-        return ui
-
-    # ================= ВКЛАДКА ДАТЧИКОВ VL53L0X =================
-    def create_sensor_tab(self, parent):
-        main_frame = ctk.CTkFrame(parent, fg_color="transparent")
-        main_frame.pack(fill="both", expand=True, padx=10, pady=10)
-        
-        # --- Глобальное управление ---
-        global_frame = ctk.CTkFrame(main_frame)
-        global_frame.pack(fill="x", padx=10, pady=(0, 10))
-        ctk.CTkLabel(global_frame, text="📏 Глобальные настройки VL53L0X", font=ctk.CTkFont(size=18, weight="bold")).pack(pady=(10, 5))
-        
-        info_frame = ctk.CTkFrame(global_frame, fg_color="transparent")
-        info_frame.pack(fill="x", padx=20, pady=10)
-        
-        self.lbl_sensor_mode = self.create_telemetry_row(info_frame, "Режим:")
-        self.lbl_sensor_mode_id = self.create_telemetry_row(info_frame, "ID режима:")
-        self.lbl_sensor_max_range = self.create_telemetry_row(info_frame, "Макс. дальность (мм):")
-        
-        ctrl_frame = ctk.CTkFrame(global_frame, fg_color="transparent")
-        ctrl_frame.pack(fill="x", padx=20, pady=(0, 10))
-        
-        ctk.CTkLabel(ctrl_frame, text="Выбрать режим:").pack(side="left", padx=(0, 10))
-        # Предполагаем, что режимов от 0 до 4 (Default, HighAccuracy, LongRange, HighSpeed)
-        self.opt_sensor_mode = ctk.CTkOptionMenu(ctrl_frame, values=["0", "1", "2", "3", "4"], width=100, command=self.on_sensor_mode_change)
-        self.opt_sensor_mode.set("0"); self.opt_sensor_mode.pack(side="left", padx=(0, 20))
-        
-        ctk.CTkButton(ctrl_frame, text="🔄 Принудительно обновить все", fg_color="#007bff", hover_color="#0056b3", command=self.on_sensor_publish_all).pack(side="right")
-
-        # --- Сетка каналов (Scrollable) ---
-        scroll_frame = ctk.CTkScrollableFrame(main_frame)
-        scroll_frame.pack(fill="both", expand=True, padx=10, pady=10)
-        scroll_frame.grid_columnconfigure((0, 1, 2, 3), weight=1, uniform="col")
-        
-        self.sensor_ui = {}
-        for i in range(MAX_SENSORS):
-            row, col = divmod(i, 4)
-            frame = ctk.CTkFrame(scroll_frame)
-            frame.grid(row=row, column=col, sticky="nsew", padx=5, pady=5)
-            self.sensor_ui[i] = self.create_sensor_card(frame, i)
-
-    def create_sensor_card(self, parent, channel):
-        ui = {}
-        ctk.CTkLabel(parent, text=f"📡 Канал #{channel}", font=ctk.CTkFont(size=14, weight="bold")).pack(pady=(5, 5))
-        
-        # Включение и калибровка
-        sw, led_fb = self.create_switch_with_feedback(parent, "Включить", lambda ch=channel: self.on_sensor_enable_change(ch))
-        ui['switch_en'], ui['led_fb'] = sw, led_fb
-        
-        cal_stat_frame = ctk.CTkFrame(parent, fg_color="transparent")
-        cal_stat_frame.pack(fill="x", padx=10, pady=5)
-        ctk.CTkLabel(cal_stat_frame, text="Калибровка:").pack(side="left")
-        ui['led_calibrated'] = ctk.CTkLabel(cal_stat_frame, text="●", font=ctk.CTkFont(size=16), text_color=COLOR_OFF)
-        ui['led_calibrated'].pack(side="right")
-        
-        # Поля калибровки
-        cal_ctrl_frame = ctk.CTkFrame(parent, fg_color="transparent")
-        cal_ctrl_frame.pack(fill="x", padx=10, pady=5)
-        
-        ctk.CTkLabel(cal_ctrl_frame, text="Ближняя (мм):").pack(anchor="w")
-        ent_near = ctk.CTkEntry(cal_ctrl_frame, width=60, justify="right"); ent_near.insert(0, "50"); ent_near.pack(side="left", padx=(0, 5))
-        btn_start = ctk.CTkButton(cal_ctrl_frame, text="Старт", width=60, height=28, command=lambda ch=channel, e=ent_near: self.on_sensor_cal_start(ch, e))
-        btn_start.pack(side="right")
-        
-        ctk.CTkLabel(cal_ctrl_frame, text="Дальняя (мм):").pack(anchor="w", pady=(5,0))
-        ent_far = ctk.CTkEntry(cal_ctrl_frame, width=60, justify="right"); ent_far.insert(0, "500"); ent_far.pack(side="left", padx=(0, 5), pady=(5,0))
-        btn_finish = ctk.CTkButton(cal_ctrl_frame, text="Финиш", width=60, height=28, command=lambda ch=channel, e=ent_far: self.on_sensor_cal_finish(ch, e))
-        btn_finish.pack(side="right")
-        
-        ctk.CTkButton(parent, text="Сбросить калибровку", fg_color="#6c757d", hover_color="#5a6268", height=28, command=lambda ch=channel: self.on_sensor_clear_cal(ch)).pack(pady=5)
-        
-        ui['ent_near'], ui['ent_far'] = ent_near, ent_far
-        
-        # Телеметрия
-        tel_frame = ctk.CTkFrame(parent)
-        tel_frame.pack(fill="x", padx=5, pady=5)
-        ui['lbl_dist'] = self.create_telemetry_row(tel_frame, "Дист. (мм):")
-        ui['lbl_raw'] = self.create_telemetry_row(tel_frame, "Сырое (мм):")
-        
-        return ui
-
-    # ================= ВСПОМОГАТЕЛЬНЫЕ МЕТОДЫ GUI =================
-    def create_switch(self, parent, text, command):
-        frame = ctk.CTkFrame(parent, fg_color="transparent"); frame.pack(fill="x", padx=10, pady=5)
-        ctk.CTkLabel(frame, text=text).pack(side="left")
-        switch = ctk.CTkSwitch(frame, text="", command=command); switch.pack(side="right")
-        return switch
-
-    def create_switch_with_feedback(self, parent, text, command):
-        frame = ctk.CTkFrame(parent, fg_color="transparent"); frame.pack(fill="x", padx=10, pady=5)
-        ctk.CTkLabel(frame, text=text).pack(side="left")
-        feedback_led = ctk.CTkLabel(frame, text="●", font=ctk.CTkFont(size=18), text_color=COLOR_OFF)
-        feedback_led.pack(side="right", padx=(10, 0))
-        switch = ctk.CTkSwitch(frame, text="", command=command); switch.pack(side="right", padx=(10, 0))
-        return switch, feedback_led
-
-    def create_telemetry_row(self, parent, text):
-        frame = ctk.CTkFrame(parent, fg_color="transparent"); frame.pack(fill="x", pady=2)
-        ctk.CTkLabel(frame, text=text, anchor="w", font=ctk.CTkFont(size=12)).pack(side="left")
-        val_lbl = ctk.CTkLabel(frame, text="-", font=ctk.CTkFont(weight="bold", size=12), text_color=COLOR_ACTIVE, anchor="e")
-        val_lbl.pack(side="right")
-        return val_lbl
-
-    def create_led_row(self, parent, text):
-        frame = ctk.CTkFrame(parent, fg_color="transparent"); frame.pack(fill="x", pady=2)
-        ctk.CTkLabel(frame, text=text, anchor="w", font=ctk.CTkFont(size=12)).pack(side="left")
-        led_lbl = ctk.CTkLabel(frame, text="●", font=ctk.CTkFont(size=16), text_color=COLOR_OFF)
-        led_lbl.pack(side="right")
-        return led_lbl
-
-    # ================= MQTT =================
-    def setup_mqtt(self):
-        self.client = mqtt.Client(mqtt.CallbackAPIVersion.VERSION2, client_id="python_scada")
-        self.client.username_pw_set(MQTT_USER, MQTT_PASSWORD)
-        self.client.on_connect = self.on_mqtt_connect
-        self.client.on_disconnect = self.on_mqtt_disconnect
-        self.client.on_message = self.on_mqtt_message
-        try:
-            self.client.connect(MQTT_BROKER, MQTT_PORT, 60)
-            self.client.loop_start()
-        except Exception as e:
-            print(f"Ошибка подключения: {e}")
-            self.update_status(False)
-
-    def on_mqtt_connect(self, client, userdata, flags, reason_code, properties):
-        if reason_code == 0:
-            self.root.after(0, self.update_status, True)
-            client.subscribe("motor/feedback/#")
-            client.subscribe("servo/+/feedback/#")
-            client.subscribe("sensor/feedback/#") # Подписка на датчики
-        else:
-            self.root.after(0, self.update_status, False)
-
-    def on_mqtt_disconnect(self, client, userdata, flags, reason_code, properties):
-        self.root.after(0, self.update_status, False)
-
-    def on_mqtt_message(self, client, userdata, msg):
-        self.root.after(0, self.process_feedback, msg.topic, msg.payload.decode('utf-8'))
-
-    def process_feedback(self, topic, val):
-        parts = topic.split('/')
-        
-        # --- MOTOR ---
-        if parts[0] == 'motor' and parts[1] == 'feedback':
-            if topic == "motor/feedback/rpm": self.lbl_fb_rpm.configure(text=val)
-            elif topic == "motor/feedback/totalsteps": self.lbl_fb_steps.configure(text=val)
-            elif topic == "motor/feedback/is_run":
-                is_run = val == "true"
-                self.lbl_fb_run.configure(text="Да" if is_run else "Нет", text_color=COLOR_OK if is_run else COLOR_ERR)
-            elif topic == "motor/feedback/tmc/current_percent": self.lbl_cur_val.configure(text=val); self.sld_current.set(int(val))
-            elif topic == "motor/feedback/tmc/microsteps": self.opt_msteps.set(val)
-            elif topic == "motor/feedback/tmc/sg_result": self.lbl_fb_sg.configure(text=val)
-            elif topic == "motor/feedback/tmc/interstep_duration": self.lbl_fb_interstep.configure(text=val)
-            elif topic == "motor/feedback/tmc/status/current_scaling": self.lbl_fb_cscale.configure(text=val)
-            elif topic == "motor/feedback/tmc/status/over_temp": self.update_led(self.led_over_temp, val, True)
-            elif topic == "motor/feedback/tmc/status/short_to_ground": self.update_led(self.led_short_gnd, val, True)
-            elif topic == "motor/feedback/tmc/status/open_load": self.update_led(self.led_open_load, val, True)
-            elif topic == "motor/feedback/tmc/status/stealth_chop_active": self.update_led(self.led_stealth_act, val, False)
-            elif topic == "motor/feedback/tmc/status/standstill": self.update_led(self.led_standstill, val, False)
-            elif topic == "motor/feedback/driver/status":
-                is_on = val == "on"; self.driver_pending = False
-                if self.sw_driver.get() != is_on: self.sw_driver.select() if is_on else self.sw_driver.deselect()
-                self.led_driver_fb.configure(text_color=COLOR_OK if is_on else COLOR_OFF)
-            elif topic == "motor/feedback/tmc/status":
-                is_on = val == "on"; self.tmc_pending = False
-                if self.sw_tmc_enable.get() != is_on: self.sw_tmc_enable.select() if is_on else self.sw_tmc_enable.deselect()
-                self.led_tmc_fb.configure(text_color=COLOR_OK if is_on else COLOR_OFF)
-
-        # --- SERVO ---
-        elif parts[0] == 'servo' and len(parts) == 4 and parts[2] == 'feedback':
-            try:
-                ch = int(parts[1]); param = parts[3]
-                if ch in self.servo_ui:
-                    ui = self.servo_ui[ch]
-                    if param == 'angle': ui['lbl_fb_ang'].configure(text=val)
-                    elif param == 'status':
-                        is_on = val == "on"; self.servo_pending[ch] = False
-                        if ui['switch_en'].get() != is_on: ui['switch_en'].select() if is_on else ui['switch_en'].deselect()
-                        ui['led_fb'].configure(text_color=COLOR_OK if is_on else COLOR_OFF)
-                        self.update_led(ui['led_status'], val, False)
-            except ValueError: pass
-
-        # --- SENSOR ---
-        elif parts[0] == 'sensor' and parts[1] == 'feedback':
-            if len(parts) == 3: # Глобальные sensor/feedback/mode...
-                param = parts[2]
-                if param == 'mode': self.lbl_sensor_mode.configure(text=val)
-                elif param == 'mode_id': self.lbl_sensor_mode_id.configure(text=val); self.opt_sensor_mode.set(val)
-                elif param == 'max_range': self.lbl_sensor_max_range.configure(text=val)
-            elif len(parts) == 4: # Канальные sensor/feedback/{ch}/...
-                try:
-                    ch = int(parts[2]); param = parts[3]
-                    if ch in self.sensor_ui:
-                        ui = self.sensor_ui[ch]
-                        if param == 'status':
-                            is_on = val == "on"; self.sensor_pending[ch] = False
-                            if ui['switch_en'].get() != is_on: ui['switch_en'].select() if is_on else ui['switch_en'].deselect()
-                            ui['led_fb'].configure(text_color=COLOR_OK if is_on else COLOR_OFF)
-                        elif param == 'calibrated':
-                            is_cal = val == "true"
-                            ui['led_calibrated'].configure(text_color=COLOR_OK if is_cal else COLOR_OFF)
-                        elif param == 'distance':
-                            if val == "out_of_range":
-                                ui['lbl_dist'].configure(text="Вне диапазона", text_color=COLOR_WARN)
-                            else:
-                                ui['lbl_dist'].configure(text=val, text_color=COLOR_ACTIVE)
-                        elif param == 'raw':
-                            ui['lbl_raw'].configure(text=val, text_color=COLOR_ACTIVE)
-                except ValueError: pass
-
-    # ================= ОБРАБОТЧИКИ СОБЫТИЙ =================
-    def publish(self, topic, payload):
-        if self.client.is_connected(): self.client.publish(topic, str(payload), qos=1)
-
-    def update_status(self, is_online):
-        self.lbl_status.configure(text="● Подключено" if is_online else "● Отключено", text_color=COLOR_OK if is_online else COLOR_ERR)
-
-    def update_led(self, label, val, is_error):
-        is_true = val in ["true", "1", "on"]
-        label.configure(text_color=COLOR_ERR if (is_true and is_error) else (COLOR_OK if is_true else COLOR_OFF))
-
-    # --- Motor Handlers ---
-    def on_rpm_slider_change(self, value):
-        int_val = int(value); self.ent_rpm.delete(0, ctk.END); self.ent_rpm.insert(0, str(int_val))
-        self.lbl_rpm_val.configure(text=str(int_val)); self.publish("motor/control/rpm", int_val)
-    def on_rpm_entry_apply(self, event=None):
-        try:
-            int_val = max(-1000, min(1000, int(self.ent_rpm.get())))
-            self.sld_rpm.set(int_val); self.lbl_rpm_val.configure(text=str(int_val)); self.publish("motor/control/rpm", int_val)
-        except ValueError: self.ent_rpm.delete(0, ctk.END); self.ent_rpm.insert(0, str(int(self.sld_rpm.get())))
-    def on_current_change(self, value):
-        int_val = int(value); self.lbl_cur_val.configure(text=str(int_val)); self.publish("motor/control/tmc/current_percent", int_val)
-    def on_sg_apply(self):
-        val = self.ent_sg.get()
-        if val.isdigit() and 0 <= int(val) <= 255: self.publish("motor/control/tmc/stallguard", int(val))
-    def on_msteps_change(self, choice): self.publish("motor/control/tmc/microsteps", int(choice))
-    def on_reset_steps(self): self.publish("motor/control/totalsteps/reset", "1")
-    def on_driver_change(self):
-        is_on = self.sw_driver.get(); self.driver_pending = True; self.led_driver_fb.configure(text_color=COLOR_PENDING)
-        self.publish("motor/control/driver", "on" if is_on else "off")
-    def on_tmc_enable_change(self):
-        is_on = self.sw_tmc_enable.get(); self.tmc_pending = True; self.led_tmc_fb.configure(text_color=COLOR_PENDING)
-        self.publish("motor/control/tmc/enable", "on" if is_on else "off")
-    def on_stealth_change(self): self.publish("motor/control/tmc/stealthchop", "on" if self.sw_stealth.get() else "off")
-    def on_cool_change(self): self.publish("motor/control/tmc/coolstep", "on" if self.sw_cool.get() else "off")
-
-    # --- Servo Handlers ---
-    def on_servo_ang_slider(self, channel, value):
-        int_val = int(value); ui = self.servo_ui[channel]
-        ui['entry_ang'].delete(0, ctk.END); ui['entry_ang'].insert(0, str(int_val))
-        ui['lbl_ang_val'].configure(text=str(int_val)); self.publish(f"servo/control/{channel}/angle", int_val)
-    def on_servo_ang_entry(self, channel, event=None):
-        ui = self.servo_ui[channel]
-        try:
-            int_val = max(0, min(180, int(ui['entry_ang'].get())))
-            ui['slider_ang'].set(int_val); ui['lbl_ang_val'].configure(text=str(int_val)); self.publish(f"servo/control/{channel}/angle", int_val)
-        except ValueError: ui['entry_ang'].delete(0, ctk.END); ui['entry_ang'].insert(0, str(int(ui['slider_ang'].get())))
-    def on_servo_enable_change(self, channel):
-        ui = self.servo_ui[channel]; is_on = ui['switch_en'].get()
-        self.servo_pending[channel] = True; ui['led_fb'].configure(text_color=COLOR_PENDING)
-        self.publish(f"servo/control/{channel}/enable", "on" if is_on else "off")
-
-    # --- Sensor Handlers ---
-    def on_sensor_mode_change(self, choice):
-        self.publish("sensor/control/mode", int(choice))
-        
-    def on_sensor_publish_all(self):
-        self.publish("sensor/control/publish_all", "1")
-        
-    def on_sensor_enable_change(self, channel):
-        ui = self.sensor_ui[channel]; is_on = ui['switch_en'].get()
-        self.sensor_pending[channel] = True; ui['led_fb'].configure(text_color=COLOR_PENDING)
-        self.publish(f"sensor/control/enable/{channel}", "on" if is_on else "off")
-        
-    def on_sensor_cal_start(self, channel, entry_widget):
-        val = entry_widget.get()
-        if val.isdigit():
-            self.publish(f"sensor/control/calibrate/start/{channel}", int(val))
-            
-    def on_sensor_cal_finish(self, channel, entry_widget):
-        val = entry_widget.get()
-        if val.isdigit():
-            self.publish(f"sensor/control/calibrate/finish/{channel}", int(val))
-            
-    def on_sensor_clear_cal(self, channel):
-        self.publish(f"sensor/control/clear_cal/{channel}", "1")
-
-    def run(self):
-        self.root.mainloop()
-        self.client.loop_stop()
-        self.client.disconnect()
-
-if __name__ == "__main__":
-    app = MotorSCADA()
-    app.run()
--- a/backend_control/img/gui_interface.png
+++ b/backend_control/img/gui_interface.png
--- a/backend_control/img/servo_interface.png
+++ b/backend_control/img/servo_interface.png
--- a/backend_control/requirements.txt
+++ b/backend_control/requirements.txt
@@ -1,2 +0,0 @@
-paho-mqtt
-customtkinter 
--- a/vision_classifier/.gitignore
+++ b/vision_classifier/.gitignore
@@ -2,6 +2,10 @@
 __pycache__/
 *.pyc
 debug_frames/
+logs/
 *.jpg
 *.png
 .pytest_cache/
+config.yaml
+.env
+.env.*
--- a/vision_classifier/Dockerfile
+++ b/vision_classifier/Dockerfile
--- a/cv/README.md
+++ b/cv/README.md
@@ -0,0 +1,177 @@
+# Real CV prototype — RealSense D415 + OpenCV
+
+**Status:** WORKING_PROTOTYPE
+**Production integrated:** NO (https://arhipovdan.ru does **not** consume this pipeline)
+**Source:** consolidated from branch `drho1y-mvp_1` (`vision_classifier/`) into `cv/`
+
+Same Track 3 B/C/D rules as the web twin; different input path (real depth camera vs simulated sensor).
+
+## Purpose
+
+Measure parcels on a conveyor with an Intel RealSense D415 (depth + color), estimate L×W×H and circularity, classify into zones **B / C / D**, optionally publish results over MQTT for hardware routing.
+
+## Data flow
+
+```
+RealSense D415 (V4L2 depth + color)
+  → OpenCV segmentation on depth (optional RGB flat detect)
+  → measure L×W×H + circle_ratio
+  → stabilize (median / vote → LOCK)
+  → classify B/C/D
+  → optional MQTT (category, dimensions, servo/motor topics)
+```
+
+## Entrypoints (start here)
+
+| Command | Role |
+|---|---|
+| `./demo.sh` | Browser HUD demo on `:8080` (needs camera for live view) |
+| `./run.sh --preview` | Live pipeline with JPEG preview frames |
+| `./run.sh --once --no-mqtt --no-motor` | Single-shot / dry hardware |
+| `.venv/bin/python test_classify.py` | Classifier unit checks **without camera** |
+| `.venv/bin/python test_geometry.py` | Geometry helpers **without camera** |
+
+Primary modules: `main.py` (live), `demo.py` (HUD), `classify.py` (rules), `measure.py` (depth metrics), `camera.py` (V4L2 RealSense).
+
+## Classification rules (Track 3)
+
+1. Dimensions must be strictly **> 10×10×10 mm** and **< 450×320×320 mm** → else **C**
+2. Else if `circle_ratio > 0.8` → **D**
+   (`K == 0.8` is **not** circular — same strict rule as web `classifier.ts`)
+3. Else → **B**
+
+Stabilization: median window + vote → **LOCK**. Uncertain cases fall back to zone **C** after N frames.
+
+## File structure
+
+```
+cv/
+  main.py              # live pipeline entry
+  demo.py / demo.sh    # browser demo
+  run.sh               # venv bootstrap + main.py
+  camera.py            # RealSense via V4L2 + ffmpeg depth
+  measure.py           # segmentation + dimensions
+  classify.py          # B/C/D rules
+  stabilize.py         # temporal LOCK
+  mqtt_bridge.py       # optional MQTT (disabled by default)
+  calibrate.py         # fx/fy + belt height calibration
+  align_color.py       # RGB↔depth alignment helper
+  tracker.py           # multi-object tracking assist
+  journal.py           # decisions JSONL writer
+  demo_hud.py          # HUD rendering
+  collect_log.py       # log helper
+  test_classify.py     # no-camera tests
+  test_geometry.py     # no-camera tests
+  config.example.yaml  # safe defaults (commit)
+  config.yaml          # local only (gitignored)
+  requirements.txt
+  Dockerfile / docker-compose.yml
+```
+
+## Dependencies
+
+**Software**
+
+- Python **3.10+** (3.11 recommended; Docker image uses 3.11)
+- `opencv-python-headless`, `numpy`, `PyYAML`, `pillow`, `paho-mqtt` — see `requirements.txt`
+- System: **ffmpeg**, V4L2 (`v4l-utils` useful)
+
+**Hardware (live mode)**
+
+- Intel **RealSense D415** on USB3
+- Linux host with `/dev/video*` depth+color nodes (Orange PI / x86)
+
+`npm` / Node packages are **not** used here.
+
+## Installation
+
+```bash
+cd cv
+python3 -m venv .venv
+source .venv/bin/activate
+pip install -U pip
+pip install -r requirements.txt
+cp config.example.yaml config.yaml   # optional; scripts auto-copy
+```
+
+Or simply:
+
+```bash
+cd cv
+./demo.sh          # creates .venv and config.yaml on first run
+```
+
+## Demo / tests without claiming live camera
+
+Classifier and geometry (no RealSense required):
+
+```bash
+cd cv
+python3 -m venv .venv && .venv/bin/pip install -r requirements.txt
+.venv/bin/python test_classify.py
+.venv/bin/python test_geometry.py
+python3 -m compileall .
+```
+
+Live HUD (requires D415):
+
+```bash
+./demo.sh
+# open http://127.0.0.1:8080/
+```
+
+Live pipeline:
+
+```bash
+./run.sh --preview --no-mqtt --no-motor
+# or full hardware once MQTT/routing configured in local config.yaml:
+./run.sh --preview
+```
+
+## Configuration
+
+| File | Role |
+|---|---|
+| `config.example.yaml` | Committed safe defaults; **MQTT/motor/routing disabled** |
+| `config.yaml` | Local overrides — **gitignored**; never commit credentials |
+
+Optional MQTT (enable only locally):
+
+```yaml
+mqtt:
+  enabled: true
+  broker: "127.0.0.1"
+  port: 1883
+  user: "<your-user>"
+  password: "<your-password>"
+```
+
+CLI overrides: `--no-mqtt`, `--no-motor`, `--dry-route`, `--once`, `--preview`.
+
+## Output schema (LOCK)
+
+- Zone: `B` | `C` | `D`
+- Dimensions mm: L×W×H
+- `circle_ratio`
+- Optional MQTT topics (when enabled): `vision/feedback/category`, `…/dimensions`, `…/circle_ratio`
+- Optional JSONL: `logs/decisions.jsonl` (local, gitignored)
+
+## Limitations
+
+- Not connected to the web digital twin runtime.
+- Requires calibrated intrinsics / belt height for accurate mm.
+- Live demo needs a physical D415; CI hosts usually lack it.
+- MQTT/servo/motor path is optional and site-specific.
+
+## Troubleshooting
+
+| Symptom | Check |
+|---|---|
+| No `/dev/video*` | USB3, `lsusb`, `v4l2-ctl --list-devices` |
+| Depth empty | ffmpeg installed; correct `depth_device` |
+| Wrong sizes | run `calibrate.py --length … --width …` |
+| MQTT offline | expected when `mqtt.enabled: false` |
+
+## Relation to web twin
+
+Web (`src/domain/classifier.ts`) and CV (`classify.py`) implement the **same official bounds**. The public site uses a **digital sensor simulation**; this folder is the **hardware prototype** for future integration.
--- a/vision_classifier/align_color.py
+++ b/vision_classifier/align_color.py
--- a/vision_classifier/calibrate.py
+++ b/vision_classifier/calibrate.py
@@ -135,6 +135,12 @@ def main() -> int:
    args = parser.parse_args()

    cfg_path = Path(args.config)
+    if not cfg_path.exists():
+        example = cfg_path.with_name("config.example.yaml")
+        if not example.exists():
+            raise SystemExit(f"Config not found: {cfg_path}")
+        cfg_path = example
+        print(f"[calib] using {cfg_path.name} (copy to config.yaml before saving results)")
    cfg = yaml.safe_load(cfg_path.read_text(encoding="utf-8"))
    cam_cfg = cfg["camera"]

--- a/vision_classifier/camera.py
+++ b/vision_classifier/camera.py
--- a/vision_classifier/classify.py
+++ b/vision_classifier/classify.py
@@ -79,13 +79,14 @@ def classify(
    """
    Порядок ТЗ:
    1) габариты → иначе C (приоритет над кругом)
-    2) если r_in/r_out >= 0.8 в любом сечении → D
+    2) если r_in/r_out > 0.8 в любом сечении → D
+       (K == 0.8 НЕ круг — как в web classifier.ts)
    3) иначе → B
    """
    dims = _sorted_dims(measurement.length_mm, measurement.width_mm, measurement.height_mm)
    passes = check_size(dims, min_mm, max_mm)
    ratio = float(measurement.circle_ratio)
-    circular = ratio >= float(circle_ratio_threshold)
+    circular = ratio > float(circle_ratio_threshold)
    clipped = bool(getattr(measurement, "clipped_by_frame", False))

    if not passes or clipped:
@@ -112,7 +113,7 @@ def classify(
            circle_ratio=ratio,
            passes_size=True,
            is_circular=True,
-            reason=f"круг в сечении: r_in/r_out={ratio:.3f} >= {circle_ratio_threshold}",
+            reason=f"круг в сечении: r_in/r_out={ratio:.3f} > {circle_ratio_threshold}",
        )

    return ClassificationResult(
@@ -121,7 +122,7 @@ def classify(
        circle_ratio=ratio,
        passes_size=True,
        is_circular=False,
-        reason=f"габариты OK, круга нет: r_in/r_out={ratio:.3f} < {circle_ratio_threshold}",
+        reason=f"габариты OK, круга нет: r_in/r_out={ratio:.3f} <= {circle_ratio_threshold}",
    )


--- a/vision_classifier/collect_log.py
+++ b/vision_classifier/collect_log.py
--- a/cv/config.example.yaml
+++ b/cv/config.example.yaml
@@ -0,0 +1,90 @@
+# Vision classifier config EXAMPLE — copy to config.yaml and edit locally.
+# Do not commit config.yaml (it may contain site-specific credentials).
+
+camera:
+  depth_device: /dev/video0
+  color_device: /dev/video4
+  width: 640
+  height: 480
+  fps: 30
+  depth_scale_mm: 1.0
+  # D415 @ 640x480 approximate intrinsics — calibrate on your setup
+  fx: 564.0
+  fy: 564.0
+  cx: 320.0
+  cy: 240.0
+  color_dx: -40.0
+  color_dy: -8.0
+  color_scale: 1.030
+
+belt_distance_mm: 594
+belt_tolerance_mm: 25
+min_object_height_mm: 20
+min_object_area_px: 800
+roi_margin:
+  top: 0.12
+  bottom: 0.02
+  left: 0.05
+  right: 0.12
+max_objects_in_frame: 3
+use_color: true
+use_background_map: false
+detect_flat_rgb: false
+rgb_diff_threshold: 35
+
+classification:
+  min_mm: [10, 10, 10]
+  max_mm: [450, 320, 320]
+  circle_ratio_threshold: 0.8
+  uncertain_after_frames: 45
+  uncertain_fallback_zone: C
+
+# MQTT is OPTIONAL and disabled by default for safe local runs.
+mqtt:
+  broker: "127.0.0.1"
+  port: 1883
+  user: ""
+  password: ""
+  client_id: "vision_classifier"
+  topic_result: "vision/feedback/category"
+  topic_dims: "vision/feedback/dimensions"
+  topic_circle: "vision/feedback/circle_ratio"
+  topic_debug: "vision/feedback/debug"
+  enabled: false
+
+motor:
+  enabled: false
+  rpm: -200
+  current_percent: 50
+  microsteps: 16
+  stealthchop: true
+  disable_on_stop: false
+
+routing:
+  enabled: false
+  zones:
+    B:
+      servo: 0
+      idle_angle: 0
+      divert_angle: 0
+      hold_ms: 500
+    C:
+      servo: 1
+      idle_angle: 0
+      divert_angle: 90
+      hold_ms: 800
+    D:
+      servo: 2
+      idle_angle: 0
+      divert_angle: 90
+      hold_ms: 800
+  cooldown_ms: 1500
+
+runtime:
+  show_preview: false
+  save_debug_frames: false
+  debug_dir: "debug_frames"
+  decisions_log: "logs/decisions.jsonl"
+  preview_every_n: 3
+  process_every_n: 1
+  confirm_frames: 8
--- a/vision_classifier/demo.py
+++ b/vision_classifier/demo.py
@@ -473,8 +473,18 @@ def make_handler() -> type:
    return Handler


+def resolve_config_path(path: Path) -> Path:
+    if path.exists():
+        return path
+    example = path.with_name("config.example.yaml")
+    if example.exists():
+        return example
+    raise FileNotFoundError(f"Config not found: {path} (and no config.example.yaml)")
+
+
 def load_config(path: Path) -> Dict[str, Any]:
-    with open(path, "r", encoding="utf-8") as f:
+    resolved = resolve_config_path(Path(path))
+    with open(resolved, "r", encoding="utf-8") as f:
        return yaml.safe_load(f)


--- a/vision_classifier/demo.sh
+++ b/vision_classifier/demo.sh
@@ -3,6 +3,11 @@ set -euo pipefail
 DIR="$(cd "$(dirname "$0")" && pwd)"
 cd "$DIR"

+if [[ ! -f config.yaml && -f config.example.yaml ]]; then
+  cp config.example.yaml config.yaml
+  echo "[cv] created config.yaml from config.example.yaml (MQTT disabled)"
+fi
+
 if [[ ! -d .venv ]]; then
  python3 -m venv .venv
  .venv/bin/pip install -U pip
--- a/vision_classifier/demo_hud.py
+++ b/vision_classifier/demo_hud.py
--- a/vision_classifier/docker-compose.yml
+++ b/vision_classifier/docker-compose.yml
@@ -13,8 +13,10 @@ services:
      - /dev/video4:/dev/video4
      - /dev/video5:/dev/video5
    volumes:
+      # Copy config.example.yaml → config.yaml locally before enabling MQTT/hardware.
      - ./config.yaml:/app/config.yaml:ro
      - ./debug_frames:/app/debug_frames
+    # Prefer: command with --no-mqtt until credentials are configured.
    group_add:
      - video
    environment:
--- a/vision_classifier/journal.py
+++ b/vision_classifier/journal.py
--- a/vision_classifier/main.py
+++ b/vision_classifier/main.py
@@ -33,8 +33,18 @@ ZONE_TO_CATEGORY = {
 }


+def resolve_config_path(path: Path) -> Path:
+    if path.exists():
+        return path
+    example = path.with_name("config.example.yaml")
+    if example.exists():
+        return example
+    raise FileNotFoundError(f"Config not found: {path} (and no config.example.yaml)")
+
+
 def load_config(path: Path) -> Dict[str, Any]:
-    with open(path, "r", encoding="utf-8") as f:
+    resolved = resolve_config_path(Path(path))
+    with open(resolved, "r", encoding="utf-8") as f:
        return yaml.safe_load(f)


--- a/vision_classifier/measure.py
+++ b/vision_classifier/measure.py
--- a/vision_classifier/mqtt_bridge.py
+++ b/vision_classifier/mqtt_bridge.py
@@ -15,7 +15,7 @@ from classify import Category, ClassificationResult
 class MqttBridge:
    def __init__(self, cfg: Dict[str, Any]) -> None:
        self.cfg = cfg
-        self.enabled = bool(cfg.get("enabled", True))
+        self.enabled = bool(cfg.get("enabled", False))
        self.routing_cfg = cfg.get("_routing", {})
        self.motor_cfg = cfg.get("_motor", {})
        self._last_route_ts = 0.0
--- a/vision_classifier/requirements.txt
+++ b/vision_classifier/requirements.txt
--- a/vision_classifier/run.sh
+++ b/vision_classifier/run.sh
@@ -3,6 +3,11 @@ set -euo pipefail
 DIR="$(cd "$(dirname "$0")" && pwd)"
 cd "$DIR"

+if [[ ! -f config.yaml && -f config.example.yaml ]]; then
+  cp config.example.yaml config.yaml
+  echo "[cv] created config.yaml from config.example.yaml (MQTT disabled)"
+fi
+
 if [[ ! -d .venv ]]; then
  python3 -m venv .venv
  .venv/bin/pip install -U pip
--- a/vision_classifier/stabilize.py
+++ b/vision_classifier/stabilize.py
@@ -113,12 +113,13 @@ class DecisionStabilizer:
        top_m = _median(self._tops)
        sec_m = _median(self._secs)
        ratio_p75 = _percentile(self._ratios, 75)
-        # устойчивый круг: медиана >= 0.8 ИЛИ (медиана сечений >= 0.8 и ≥ половины окна сильные)
+        # устойчивый круг: медиана > 0.8 ИЛИ (медиана сечений > 0.8 и ≥ половины окна сильные)
+        # K == 0.8 официально НЕ круг (строгое > threshold)
        sec_strong = (
-            sum(1 for x in self._secs if x >= self.enter_circle) / max(1, len(self._secs))
+            sum(1 for x in self._secs if x > self.enter_circle) / max(1, len(self._secs))
        )
-        circular = ratio >= self.enter_circle or (
-            sec_m >= self.enter_circle and sec_strong >= 0.55
+        circular = ratio > self.enter_circle or (
+            sec_m > self.enter_circle and sec_strong >= 0.55
        )
        ratio_show = max(ratio, sec_m) if circular else ratio

@@ -153,7 +154,7 @@ class DecisionStabilizer:
                reason=(
                    f"круг: med={ratio:.3f} p75={ratio_p75:.3f} "
                    f"top={top_m:.3f} sec={sec_m:.3f} strong={sec_strong:.0%} "
-                    f">= {self.enter_circle}"
+                    f"> {self.enter_circle}"
                ),
            )
        else:
@@ -165,7 +166,7 @@ class DecisionStabilizer:
                is_circular=False,
                reason=(
                    f"не круг: med={ratio:.3f} sec={sec_m:.3f} "
-                    f"strong={sec_strong:.0%} < {self.enter_circle}"
+                    f"strong={sec_strong:.0%} <= {self.enter_circle}"
                ),
            )

--- a/vision_classifier/test_classify.py
+++ b/vision_classifier/test_classify.py
@@ -43,11 +43,40 @@ def test_lying_bottle_must_be_D_not_B():
    assert r.category.zone == "D"


-def test_border_circle():
-    r = classify_from_dims(100, 50, 50, circle_ratio=0.8)
+def test_strict_circle_boundary():
+    """Официально: круг только при K > 0.8. K == 0.8 → B (не D)."""
+    below = classify_from_dims(100, 50, 50, circle_ratio=0.799999)
+    assert below.category == Category.SUITABLE
+    assert below.category.zone == "B"
+    assert below.is_circular is False
+
+    exact = classify_from_dims(100, 50, 50, circle_ratio=0.8)
+    assert exact.category == Category.SUITABLE
+    assert exact.category.zone == "B"
+    assert exact.is_circular is False
+
+    above = classify_from_dims(100, 50, 50, circle_ratio=0.800001)
+    assert above.category == Category.NEED_PACK
+    assert above.category.zone == "D"
+    assert above.is_circular is True
+
+
+def test_normal_non_circular_B():
+    r = classify_from_dims(120, 80, 40, circle_ratio=0.5)
+    assert r.category == Category.SUITABLE
+    assert r.category.zone == "B"
+
+
+def test_normal_circular_above_threshold_D():
+    r = classify_from_dims(100, 50, 50, circle_ratio=0.81)
    assert r.category == Category.NEED_PACK
-    r2 = classify_from_dims(100, 50, 50, circle_ratio=0.799)
-    assert r2.category == Category.SUITABLE
+    assert r.category.zone == "D"
+
+
+def test_oversized_circular_still_C():
+    r = classify_from_dims(500, 100, 100, circle_ratio=0.95)
+    assert r.category == Category.OVERSIZE
+    assert r.category.zone == "C"


 def test_border_dims_strict():
@@ -80,7 +109,10 @@ if __name__ == "__main__":
    test_too_small()
    test_need_pack_cylinder()
    test_lying_bottle_must_be_D_not_B()
-    test_border_circle()
+    test_strict_circle_boundary()
+    test_normal_non_circular_B()
+    test_normal_circular_above_threshold_D()
+    test_oversized_circular_still_C()
    test_border_dims_strict()
    test_dims_order_independent()
    print("OK: all classification tests passed")
--- a/vision_classifier/test_geometry.py
+++ b/vision_classifier/test_geometry.py
--- a/vision_classifier/tracker.py
+++ b/vision_classifier/tracker.py
--- a/docker-compose.server.yml
+++ b/docker-compose.server.yml
@@ -0,0 +1,6 @@
+services:
+  web:
+    build: .
+    ports:
+      - "127.0.0.1:3100:80"
+    restart: unless-stopped
--- a/docs/ENGINEERING.md
+++ b/docs/ENGINEERING.md
@@ -0,0 +1,86 @@
+# Engineering notes (canonical)
+
+Companion to `README.md` and `/documentation`. Not a stage changelog.
+
+## Coordinate conventions
+
+- World units: **1 unit = 1 meter**.
+- Belt travel primarily along **+X**; belt top Y ≈ **0.70 m**.
+- Lateral: **+Z** = physical LEFT (category C), **−Z** = physical RIGHT (category D).
+- Sorter CAD module origin X = `0`; camera module `−2.01`; clean module `−4.02`.
+- Longitudinal plane S for diverter timing is world X along the sorter module.
+
+## Canonical constants (code)
+
+| Symbol | Value | File |
+|---|---|---|
+| `DIVERTER_LEFT_SIGNED_DEG` | −45 | `src/domain/pusherMotion.ts` |
+| `DIVERTER_RIGHT_SIGNED_DEG` | +45 | same |
+| `rotationDurationSec()` | 0.50 | same (45° / 90°/s) |
+| `OPENING_SAFETY_MARGIN_SEC` | 0.15 | same |
+| Contact / clear planes | ≈1.0538 / 1.6000 | `buildDiverterPlanes` + mount hinge |
+| Classifier min/max | exclusive 10³ / 450×320×320 | `src/domain/classifier.ts` |
+| Roundness | K > 0.8 (K = 0.8 not circular); web + CV aligned | `classifier.ts` / `cv/classify.py` |
+| Belt speed (sim) | 1.0 m/s | runtime / physics helpers |
+| Physics timestep | 1/60 s | Rapier world step |
+| `CONVEYOR_CAD_URL` | `/models/sorter/conveyor-clean.glb` | `ConveyorCadModel.tsx` |
+| Presentation | `presentation/Owl_Prime_Ozon_Tech_Track_3_FINAL.pdf` | 10 slides |
+
+## Active source tree (runtime)
+
+```
+src/main.tsx
+src/App.tsx
+src/pages/{MainPage,DocumentationPage}.tsx
+src/components/{AppNav,SorterScene,CVInspectionOverlay,BuildIdentityBadge}.tsx
+src/components/ThreeD/* (active twin only)
+src/domain/* (classifier, playback, layout, diverter, physics helpers)
+src/data/{items,modelAssets,resolveItem,productionStatusSummary,demoPlaylist,scenarios}.ts
+src/styles.css
+```
+
+## Asset provenance
+
+| Role | Path |
+|---|---|
+| Author CAD | `3d_models/conveer.FCStd` |
+| Runtime conveyor | `public/models/sorter/conveyor-clean.glb` |
+| Products | `public/models/*.stl` from official STL ZIP |
+| Classifier PDF | `official_sources/doc-1783095831.pdf` |
+| Workspace / scoring PDFs | `input_info/doc-1783009942.pdf`, `doc-1783011400.pdf` |
+
+## Physics roadmap (not completed)
+
+1. Surface-velocity belt at 1 m/s with visual loop.
+2. Contact-validated CAD diverter deflection for all playlist SKUs.
+3. Calibrated per-SKU mass, COM, friction, damping.
+4. Receiver capture verification under dynamic drops.
+
+CCD for light/thin items exists in runtime/sim; that alone is **not** full contact validation.
+
+## Compliance evidence rules
+
+- Prefer present official files under `input_info/` and `official_sources/doc-1783095831.pdf`.
+- Missing: `input_info/extracted/Постановка_Задача_3_сжато_2.pdf` — never claim it is available.
+- Internal engineering criteria are not automatic Ozon pass/fail.
+
+## Соответствие подтверждённым требованиям
+
+Grounded only in present sources + current `main` code/tests (not a full official scorecard):
+
+| Area | Official source present | Current implementation | Evidence | Status |
+|---|---|---|---|---|
+| B/C/D bounds & roundness | `official_sources/doc-1783095831.pdf` | web `classifier.ts`, CV `cv/classify.py` | unit tests | PARTIAL (PDF not re-parsed each pass) |
+| Digital twin demo | workspace PDFs in `input_info/` | `/` + `/documentation` | e2e smoke/routes, production | PASS (demo present) |
+| CAD conveyor | author pack / STL references | `3d_models/`, `conveyor-clean.glb` | checksums in `/documentation` | PASS (assets present) |
+| Real measurement CV | Track 3 camera intent in briefs | `cv/` RealSense+OpenCV on `main` | `cv/README.md`, `test_classify.py` | PARTIAL (WORKING_PROTOTYPE, not live web) |
+| Physical industrial line | scoring/workspace PDFs | web physics + optional MQTT CV | code; contact not fully validated | PARTIAL |
+| Presentation | platform rules | `presentation/Owl_Prime_Ozon_Tech_Track_3_FINAL.pdf` | 10-page PDF in repo | PASS (file present) |
+
+## Real CV prototype
+
+Path `cv/` — OpenCV + RealSense D415 depth pipeline. Same B/C/D domain as the web twin. **Not** consumed by https://arhipovdan.ru. Details: `cv/README.md`.
+
+## Layout drawing
+
+`docs/engineering/work-area-layout-source.png` — workspace layout provenance image retained for engineering reference.
--- a/docs/engineering/work-area-layout-source.png
+++ b/docs/engineering/work-area-layout-source.png
--- a/e2e/helpers.ts
+++ b/e2e/helpers.ts
@@ -0,0 +1,55 @@
+/** Shared e2e helpers — Stage 2B autostart means / opens already running. */
+import { expect, type Page } from '@playwright/test';
+
+/** Close the Demo Complete overlay if it is covering the controls. */
+export async function dismissFinished(page: Page) {
+  const finished = page.getByTestId('demo-finished');
+  if (await finished.isVisible().catch(() => false)) {
+    await finished.getByRole('button', { name: /Replay/i }).click({ force: true });
+    await expect(finished).toHaveCount(0, { timeout: 10_000 });
+  }
+}
+
+/** Ensure playback is running (noop if already on Pause button). */
+export async function ensureRunning(page: Page) {
+  await dismissFinished(page);
+  const pause = page.getByTestId('demo-pause');
+  if (await pause.isVisible().catch(() => false)) return;
+  const play = page.getByTestId('demo-play');
+  await expect(play.or(pause)).toBeVisible({ timeout: 15_000 });
+  if (await play.isVisible().catch(() => false)) {
+    await play.click({ force: true });
+  }
+  await expect(page.getByTestId('demo-pause')).toBeVisible({ timeout: 10_000 });
+}
+
+export async function ensurePaused(page: Page) {
+  await dismissFinished(page);
+  const play = page.getByTestId('demo-play');
+  if (await play.isVisible().catch(() => false)) return;
+  await page.getByTestId('demo-pause').click({ force: true });
+  await expect(page.getByTestId('demo-play')).toBeVisible({ timeout: 10_000 });
+}
+
+/** Assert either Play or Pause control is present (autostart-safe). */
+export async function expectPlaybackControl(page: Page) {
+  await expect(
+    page.getByTestId('demo-play').or(page.getByTestId('demo-pause')),
+  ).toBeVisible({ timeout: 15_000 });
+}
+
+/**
+ * Open debug demo, pause, then seek to a case WHILE paused (seek preserves
+ * paused status — unlike seek from idle which auto-starts).
+ */
+export async function openPausedCase(page: Page, caseIndex: number, speed: '0.5' | '1' | '1.5' | '2' = '1') {
+  await page.goto('/?debug=1');
+  await expect(page.locator('canvas')).toBeVisible({ timeout: 60_000 });
+  await expect(page.getByTestId('demo-hud')).toBeVisible();
+  await ensurePaused(page);
+  await page.getByTestId(`demo-speed-${speed}`).click();
+  await page.getByTestId(`demo-case-${caseIndex}`).click();
+  await dismissFinished(page);
+  await ensurePaused(page);
+  await expect(page.getByTestId('demo-case-label')).toHaveText(`${caseIndex + 1}/12`);
+}
--- a/e2e/routes.spec.ts
+++ b/e2e/routes.spec.ts
@@ -0,0 +1,36 @@
+import { test, expect } from '@playwright/test';
+
+test.describe('routes', () => {
+  test('two-page UI: simulation, documentation, unknown redirect', async ({ page }) => {
+    await page.goto('/');
+    await expect(page).toHaveURL(/\/$/);
+    await expect(page.getByTestId('app-nav').first()).toBeVisible({ timeout: 30_000 });
+    await expect(page.getByTestId('nav-simulation').first()).toHaveClass(/active/);
+
+    await page.getByTestId('nav-documentation').first().click();
+    await expect(page).toHaveURL(/\/documentation\/?$/);
+    await expect(page.getByTestId('documentation-page')).toBeVisible();
+    await expect(page.getByTestId('docs-production-status')).toContainText(
+      'FINAL_ENGINEERING_PROTOTYPE_READY',
+    );
+    await expect(page.getByTestId('docs-production-status')).toContainText('WORKING_PROTOTYPE');
+    await expect(page.getByTestId('nav-documentation').first()).toHaveClass(/active/);
+
+    await page.reload();
+    await expect(page).toHaveURL(/\/documentation\/?$/);
+    await expect(page.getByTestId('documentation-page')).toBeVisible();
+
+    await page.getByTestId('nav-simulation').first().click();
+    await expect(page).toHaveURL(/\/$/);
+    await expect(page.getByTestId('demo-hud')).toBeVisible({ timeout: 60_000 });
+
+    await page.goto('/details');
+    await expect(page).toHaveURL(/\/$/);
+
+    await page.goto('/device-test');
+    await expect(page).toHaveURL(/\/$/);
+
+    await page.goto('/old-route');
+    await expect(page).toHaveURL(/\/$/);
+  });
+});
--- a/e2e/smoke.spec.ts
+++ b/e2e/smoke.spec.ts
@@ -0,0 +1,31 @@
+import { test, expect } from '@playwright/test';
+import { ensureRunning, expectPlaybackControl } from './helpers';
+
+test.describe('smoke', () => {
+  test('home opens, canvas loads, play works', async ({ page }) => {
+    const pageErrors: Error[] = [];
+    page.on('pageerror', (err) => pageErrors.push(err));
+
+    await page.goto('/');
+
+    const loading = page.locator('.three-loading');
+    const canvas = page.locator('canvas');
+    await expect(loading.or(canvas).first()).toBeVisible({ timeout: 30_000 });
+    await expect(canvas).toBeVisible({ timeout: 60_000 });
+
+    await expect(page.getByTestId('demo-hud')).toBeVisible();
+    // Stage 2B: demo autostarts — Pause is present immediately; Play after pause.
+    await expectPlaybackControl(page);
+    await ensureRunning(page);
+    await expect(page.getByTestId('demo-status')).not.toHaveText('FINISHED');
+
+    const finished = page.getByTestId('demo-finished');
+    if (await finished.isVisible().catch(() => false)) {
+      await page.getByTestId('demo-play').click();
+      await expect(finished).toBeHidden({ timeout: 10_000 });
+      await expect(page.getByTestId('demo-pause')).toBeVisible({ timeout: 10_000 });
+    }
+
+    expect(pageErrors, `pageerrors: ${pageErrors.map((e) => e.message).join('; ')}`).toEqual([]);
+  });
+});
--- a/index.html
+++ b/index.html
@@ -0,0 +1,14 @@
+<!doctype html>
+<html lang="en">
+  <head>
+    <meta charset="UTF-8" />
+    <meta name="viewport" content="width=device-width, initial-scale=1.0" />
+    <meta name="theme-color" content="#070b12" />
+    <link rel="icon" href="data:image/svg+xml,%3Csvg xmlns='http://www.w3.org/2000/svg' viewBox='0 0 16 16'%3E%3Crect width='16' height='16' rx='3' fill='%230b1220'/%3E%3Crect x='3' y='7' width='10' height='2' fill='%233b82f6'/%3E%3C/svg%3E" />
+    <title>OZON Tech Sorter Simulation</title>
+  </head>
+  <body>
+    <div id="root"></div>
+    <script type="module" src="/src/main.tsx"></script>
+  </body>
+</html>
--- a/input_info/doc-1782987706.zip
+++ b/input_info/doc-1782987706.zip
--- a/input_info/doc-1782987733.zip
+++ b/input_info/doc-1782987733.zip
--- a/input_info/doc-1783009063.pdf
+++ b/input_info/doc-1783009063.pdf
--- a/input_info/doc-1783009942.pdf
+++ b/input_info/doc-1783009942.pdf
--- a/input_info/doc-1783011400.pdf
+++ b/input_info/doc-1783011400.pdf
--- a/input_info/doc-1783011771.zip
+++ b/input_info/doc-1783011771.zip
--- a/input_info/ozone-tech_owl_prime_170-main.zip
+++ b/input_info/ozone-tech_owl_prime_170-main.zip
--- a/kicad/ozon/.gitignore
+++ b/kicad/ozon/.gitignore
@@ -1,2 +0,0 @@
-*.lck
-.history
--- a/kicad/ozon/.history
+++ b/kicad/ozon/.history
--- a/kicad/ozon/ozon.kicad_pcb
+++ b/kicad/ozon/ozon.kicad_pcb
@@ -1,2 +0,0 @@
-(kicad_pcb (version 20260206) (generator "pcbnew") (generator_version "10.0")
-)
--- a/kicad/ozon/ozon.kicad_prl
+++ b/kicad/ozon/ozon.kicad_prl
@@ -1,105 +0,0 @@
-{
-  "board": {
-    "active_layer": 0,
-    "active_layer_preset": "",
-    "auto_track_width": true,
-    "hidden_netclasses": [],
-    "hidden_nets": [],
-    "high_contrast_mode": 0,
-    "net_color_mode": 1,
-    "opacity": {
-      "images": 0.6,
-      "pads": 1.0,
-      "shapes": 1.0,
-      "tracks": 1.0,
-      "vias": 1.0,
-      "zones": 0.6
-    },
-    "prototype_zone_fills": false,
-    "selection_filter": {
-      "dimensions": true,
-      "footprints": true,
-      "graphics": true,
-      "keepouts": true,
-      "lockedItems": false,
-      "otherItems": true,
-      "pads": true,
-      "text": true,
-      "tracks": true,
-      "vias": true,
-      "zones": true
-    },
-    "visible_items": [
-      "vias",
-      "footprint_text",
-      "footprint_anchors",
-      "ratsnest",
-      "grid",
-      "footprints_front",
-      "footprints_back",
-      "footprint_values",
-      "footprint_references",
-      "tracks",
-      "drc_errors",
-      "drawing_sheet",
-      "bitmaps",
-      "pads",
-      "zones",
-      "drc_warnings",
-      "drc_exclusions",
-      "locked_item_shadows",
-      "conflict_shadows",
-      "shapes",
-      "board_outline_area",
-      "ly_points"
-    ],
-    "visible_layers": "ffffffff_ffffffff_ffffffff_ffffffff",
-    "zone_display_mode": 0
-  },
-  "git": {
-    "integration_disabled": false,
-    "repo_type": "",
-    "repo_username": "",
-    "ssh_key": ""
-  },
-  "meta": {
-    "filename": "ozon.kicad_prl",
-    "version": 5
-  },
-  "net_inspector_panel": {
-    "col_hidden": [],
-    "col_order": [],
-    "col_widths": [],
-    "custom_group_rules": [],
-    "expanded_rows": [],
-    "filter_by_net_name": true,
-    "filter_by_netclass": true,
-    "filter_text": "",
-    "group_by_constraint": false,
-    "group_by_netclass": false,
-    "show_time_domain_details": false,
-    "show_unconnected_nets": false,
-    "show_zero_pad_nets": false,
-    "sort_ascending": true,
-    "sorting_column": -1
-  },
-  "open_jobsets": [],
-  "project": {
-    "files": []
-  },
-  "schematic": {
-    "hierarchy_collapsed": [],
-    "selection_filter": {
-      "graphics": true,
-      "images": true,
-      "labels": true,
-      "lockedItems": false,
-      "otherItems": true,
-      "pins": true,
-      "ruleAreas": true,
-      "symbols": true,
-      "text": true,
-      "wires": true
-    }
-  }
-}
--- a/kicad/ozon/ozon.kicad_pro
+++ b/kicad/ozon/ozon.kicad_pro
@@ -1,435 +0,0 @@
-{
-  "board": {
-    "3dviewports": [],
-    "ipc2581": {
-      "bom_rev": "",
-      "dist": "",
-      "distpn": "",
-      "internal_id": "",
-      "mfg": "",
-      "mpn": "",
-      "sch_revision": ""
-    },
-    "layer_pairs": [],
-    "layer_presets": [],
-    "viewports": []
-  },
-  "boards": [],
-  "component_class_settings": {
-    "assignments": [],
-    "meta": {
-      "version": 0
-    },
-    "sheet_component_classes": {
-      "enabled": false
-    }
-  },
-  "cvpcb": {
-    "equivalence_files": []
-  },
-  "erc": {
-    "erc_exclusions": [],
-    "meta": {
-      "version": 0
-    },
-    "pin_map": [
-      [
-        0,
-        0,
-        0,
-        0,
-        0,
-        0,
-        1,
-        0,
-        0,
-        0,
-        0,
-        2
-      ],
-      [
-        0,
-        2,
-        0,
-        1,
-        0,
-        0,
-        1,
-        0,
-        2,
-        2,
-        2,
-        2
-      ],
-      [
-        0,
-        0,
-        0,
-        0,
-        0,
-        0,
-        1,
-        0,
-        1,
-        0,
-        1,
-        2
-      ],
-      [
-        0,
-        1,
-        0,
-        0,
-        0,
-        0,
-        1,
-        1,
-        2,
-        1,
-        1,
-        2
-      ],
-      [
-        0,
-        0,
-        0,
-        0,
-        0,
-        0,
-        1,
-        0,
-        0,
-        0,
-        0,
-        2
-      ],
-      [
-        0,
-        0,
-        0,
-        0,
-        0,
-        0,
-        0,
-        0,
-        0,
-        0,
-        0,
-        2
-      ],
-      [
-        1,
-        1,
-        1,
-        1,
-        1,
-        0,
-        1,
-        1,
-        1,
-        1,
-        1,
-        2
-      ],
-      [
-        0,
-        0,
-        0,
-        1,
-        0,
-        0,
-        1,
-        0,
-        0,
-        0,
-        0,
-        2
-      ],
-      [
-        0,
-        2,
-        1,
-        2,
-        0,
-        0,
-        1,
-        0,
-        2,
-        2,
-        2,
-        2
-      ],
-      [
-        0,
-        2,
-        0,
-        1,
-        0,
-        0,
-        1,
-        0,
-        2,
-        0,
-        0,
-        2
-      ],
-      [
-        0,
-        2,
-        1,
-        1,
-        0,
-        0,
-        1,
-        0,
-        2,
-        0,
-        0,
-        2
-      ],
-      [
-        2,
-        2,
-        2,
-        2,
-        2,
-        2,
-        2,
-        2,
-        2,
-        2,
-        2,
-        2
-      ]
-    ],
-    "rule_severities": {
-      "bus_definition_conflict": "error",
-      "bus_entry_needed": "error",
-      "bus_to_bus_conflict": "error",
-      "bus_to_net_conflict": "error",
-      "different_unit_footprint": "error",
-      "different_unit_net": "error",
-      "duplicate_reference": "error",
-      "duplicate_sheet_names": "error",
-      "endpoint_off_grid": "warning",
-      "extra_units": "error",
-      "field_name_whitespace": "warning",
-      "footprint_filter": "ignore",
-      "footprint_link_issues": "warning",
-      "four_way_junction": "ignore",
-      "ground_pin_not_ground": "warning",
-      "hier_label_mismatch": "error",
-      "isolated_pin_label": "warning",
-      "label_dangling": "error",
-      "label_multiple_wires": "warning",
-      "lib_symbol_issues": "warning",
-      "lib_symbol_mismatch": "warning",
-      "missing_bidi_pin": "warning",
-      "missing_input_pin": "warning",
-      "missing_power_pin": "error",
-      "missing_unit": "warning",
-      "multiple_net_names": "warning",
-      "net_not_bus_member": "warning",
-      "no_connect_connected": "warning",
-      "no_connect_dangling": "warning",
-      "pin_not_connected": "error",
-      "pin_not_driven": "error",
-      "pin_to_pin": "warning",
-      "power_pin_not_driven": "error",
-      "same_local_global_label": "warning",
-      "similar_label_and_power": "warning",
-      "similar_labels": "warning",
-      "similar_power": "warning",
-      "simulation_model_issue": "ignore",
-      "single_global_label": "ignore",
-      "stacked_pin_name": "warning",
-      "unannotated": "error",
-      "unconnected_wire_endpoint": "warning",
-      "undefined_netclass": "error",
-      "unit_value_mismatch": "error",
-      "unresolved_variable": "error",
-      "wire_dangling": "error"
-    }
-  },
-  "libraries": {
-    "pinned_footprint_libs": [],
-    "pinned_symbol_libs": []
-  },
-  "meta": {
-    "filename": "ozon.kicad_pro",
-    "version": 3
-  },
-  "net_settings": {
-    "classes": [
-      {
-        "bus_width": 12,
-        "clearance": 0.2,
-        "diff_pair_gap": 0.25,
-        "diff_pair_via_gap": 0.25,
-        "diff_pair_width": 0.2,
-        "line_style": 0,
-        "microvia_diameter": 0.3,
-        "microvia_drill": 0.1,
-        "name": "Default",
-        "pcb_color": "rgba(0, 0, 0, 0.000)",
-        "priority": 2147483647,
-        "schematic_color": "rgba(0, 0, 0, 0.000)",
-        "track_width": 0.2,
-        "tuning_profile": "",
-        "via_diameter": 0.6,
-        "via_drill": 0.3,
-        "wire_width": 6
-      }
-    ],
-    "meta": {
-      "version": 5
-    },
-    "net_colors": null,
-    "netclass_assignments": null,
-    "netclass_patterns": []
-  },
-  "pcbnew": {
-    "last_paths": {
-      "idf": "",
-      "netlist": "",
-      "plot": "",
-      "specctra_dsn": "",
-      "vrml": ""
-    },
-    "page_layout_descr_file": ""
-  },
-  "schematic": {
-    "annotate_start_num": 0,
-    "annotation": {
-      "method": 0,
-      "sort_order": 0
-    },
-    "bom_export_filename": "${PROJECTNAME}.csv",
-    "bom_fmt_presets": [],
-    "bom_fmt_settings": {
-      "field_delimiter": ",",
-      "keep_line_breaks": false,
-      "keep_tabs": false,
-      "name": "CSV",
-      "ref_delimiter": ",",
-      "ref_range_delimiter": "",
-      "string_delimiter": "\""
-    },
-    "bom_presets": [],
-    "bom_settings": {
-      "exclude_dnp": false,
-      "fields_ordered": [
-        {
-          "group_by": false,
-          "label": "Reference",
-          "name": "Reference",
-          "show": true
-        },
-        {
-          "group_by": false,
-          "label": "Qty",
-          "name": "${QUANTITY}",
-          "show": true
-        },
-        {
-          "group_by": true,
-          "label": "Value",
-          "name": "Value",
-          "show": true
-        },
-        {
-          "group_by": true,
-          "label": "DNP",
-          "name": "${DNP}",
-          "show": true
-        },
-        {
-          "group_by": true,
-          "label": "Exclude from BOM",
-          "name": "${EXCLUDE_FROM_BOM}",
-          "show": true
-        },
-        {
-          "group_by": true,
-          "label": "Exclude from Board",
-          "name": "${EXCLUDE_FROM_BOARD}",
-          "show": true
-        },
-        {
-          "group_by": true,
-          "label": "Footprint",
-          "name": "Footprint",
-          "show": true
-        },
-        {
-          "group_by": false,
-          "label": "Datasheet",
-          "name": "Datasheet",
-          "show": true
-        }
-      ],
-      "filter_string": "",
-      "group_symbols": true,
-      "include_excluded_from_bom": true,
-      "name": "Default Editing",
-      "sort_asc": true,
-      "sort_field": "Обозначение"
-    },
-    "bus_aliases": {},
-    "connection_grid_size": 50.0,
-    "drawing": {
-      "dashed_lines_dash_length_ratio": 12.0,
-      "dashed_lines_gap_length_ratio": 3.0,
-      "default_line_thickness": 6.0,
-      "default_text_size": 50.0,
-      "field_names": [],
-      "hop_over_size_choice": 0,
-      "intersheets_ref_own_page": false,
-      "intersheets_ref_prefix": "",
-      "intersheets_ref_short": false,
-      "intersheets_ref_show": false,
-      "intersheets_ref_suffix": "",
-      "junction_size_choice": 3,
-      "label_size_ratio": 0.375,
-      "operating_point_overlay_i_precision": 3,
-      "operating_point_overlay_i_range": "~A",
-      "operating_point_overlay_v_precision": 3,
-      "operating_point_overlay_v_range": "~V",
-      "overbar_offset_ratio": 1.23,
-      "pin_symbol_size": 25.0,
-      "text_offset_ratio": 0.15
-    },
-    "legacy_lib_dir": "",
-    "legacy_lib_list": [],
-    "meta": {
-      "version": 1
-    },
-    "page_layout_descr_file": "",
-    "plot_directory": "",
-    "reuse_designators": true,
-    "subpart_first_id": 65,
-    "subpart_id_separator": 0,
-    "top_level_sheets": [
-      {
-        "filename": "ozon.kicad_sch",
-        "name": "Корневой лист",
-        "uuid": "8eb30ef0-8ef0-4108-b9d0-4c3ae489af42"
-      }
-    ],
-    "used_designators": "R1,M1-5,#PWR1-10,U1-6",
-    "variants": []
-  },
-  "sheets": [
-    [
-      "8eb30ef0-8ef0-4108-b9d0-4c3ae489af42",
-      "Корневой лист"
-    ]
-  ],
-  "text_variables": {},
-  "tuning_profiles": {
-    "meta": {
-      "version": 0
-    },
-    "tuning_profiles_impedance_geometric": []
-  }
-}
--- a/kicad/ozon/ozon.kicad_sch
+++ b/kicad/ozon/ozon.kicad_sch
--- a/nginx.conf
+++ b/nginx.conf
@@ -0,0 +1,56 @@
+server {
+    listen 80;
+    server_name localhost;
+    root /usr/share/nginx/html;
+    index index.html;
+
+    # Keep default MIME map (html/js/css). Do NOT put a server-level `types {}`
+    # here — it replaces mime.types and forces downloads (octet-stream + nosniff).
+    include /etc/nginx/mime.types;
+    default_type application/octet-stream;
+
+    # Security headers (Stage 2B §24.3)
+    add_header X-Content-Type-Options "nosniff" always;
+    add_header X-Frame-Options "DENY" always;
+    add_header Referrer-Policy "strict-origin-when-cross-origin" always;
+    add_header Permissions-Policy "camera=(), microphone=(), geolocation=()" always;
+
+    # gzip for text payloads (GLB/STL are already compressed/binary)
+    gzip on;
+    gzip_vary on;
+    gzip_min_length 1024;
+    gzip_comp_level 6;
+    gzip_types text/plain text/css application/json application/javascript text/javascript image/svg+xml;
+
+    location = /version.json {
+        add_header Cache-Control "no-store, no-cache, must-revalidate";
+        add_header X-Content-Type-Options "nosniff" always;
+        try_files $uri =404;
+    }
+
+    location / {
+        try_files $uri $uri/ /index.html;
+    }
+
+    location /assets/ {
+        expires 1y;
+        add_header Cache-Control "public, immutable";
+    }
+
+    # 3D models only — scoped types override (does not wipe html/js MIME)
+    location /models/ {
+        types {
+            model/gltf-binary glb;
+            model/stl stl;
+            application/octet-stream bin;
+        }
+        default_type application/octet-stream;
+        expires 1y;
+        add_header Cache-Control "public, immutable";
+    }
+
+    location /draco/ {
+        expires 1y;
+        add_header Cache-Control "public, immutable";
+    }
+}
--- a/official_sources/doc-1783095831.pdf
+++ b/official_sources/doc-1783095831.pdf
--- a/package-lock.json
+++ b/package-lock.json
--- a/package.json
+++ b/package.json
@@ -0,0 +1,37 @@
+{
+  "name": "ozon-tech-sorter-simulation",
+  "version": "0.1.0",
+  "private": true,
+  "type": "module",
+  "scripts": {
+    "dev": "vite --host 127.0.0.1 --port 3100",
+    "build": "tsc -b && vite build",
+    "preview": "vite preview --host 127.0.0.1 --port 3100",
+    "test": "vitest run --config vitest.config.ts",
+    "test:e2e": "playwright test",
+    "test:e2e:headed": "playwright test --headed"
+  },
+  "dependencies": {
+    "@dimforge/rapier3d-compat": "^0.19.3",
+    "@react-three/drei": "^10.7.7",
+    "@react-three/fiber": "^9.6.1",
+    "@react-three/postprocessing": "^3.0.4",
+    "@react-three/rapier": "^2.2.0",
+    "@vitejs/plugin-react": "latest",
+    "postprocessing": "^6.39.4",
+    "react": "latest",
+    "react-dom": "latest",
+    "react-router-dom": "^7.18.1",
+    "three": "^0.185.1",
+    "typescript": "latest",
+    "vite": "latest"
+  },
+  "devDependencies": {
+    "@playwright/test": "^1.61.1",
+    "@types/node": "^26.1.0",
+    "@types/react": "^19.2.17",
+    "@types/react-dom": "^19.2.3",
+    "@types/three": "^0.185.0",
+    "vitest": "^4.1.9"
+  }
+}
--- a/playwright.config.ts
+++ b/playwright.config.ts
@@ -0,0 +1,42 @@
+import { defineConfig, devices } from '@playwright/test';
+
+const baseURL = process.env.PLAYWRIGHT_BASE_URL ?? 'http://127.0.0.1:3101';
+const startServer = process.env.PLAYWRIGHT_START_SERVER === '1';
+
+export default defineConfig({
+  testDir: './e2e',
+  fullyParallel: false,
+  workers: 1,
+  retries: 1,
+  forbidOnly: !!process.env.CI,
+  reporter: [['list'], ['html', { open: 'never' }]],
+  use: {
+    baseURL,
+    trace: 'on-first-retry',
+    screenshot: 'only-on-failure',
+    viewport: { width: 1280, height: 720 },
+  },
+  expect: {
+    toHaveScreenshot: {
+      // Soft thresholds — WebGL/fonts can vary slightly across environments
+      threshold: 0.35,
+      maxDiffPixelRatio: 0.08,
+    },
+  },
+  projects: [
+    {
+      name: 'chromium',
+      use: { ...devices['Desktop Chrome'] },
+    },
+  ],
+  // Keep visual/e2e deterministic on one worker (CI + local)
+  // Production smoke is excluded via package.json --grep-invert @production
+  webServer: startServer
+    ? {
+        command: 'npm run preview -- --host 127.0.0.1 --port 3101',
+        url: baseURL,
+        reuseExistingServer: !process.env.CI,
+        timeout: 120_000,
+      }
+    : undefined,
+});
--- a/presentation/Owl_Prime_Ozon_Tech_Track_3_FINAL.pdf
+++ b/presentation/Owl_Prime_Ozon_Tech_Track_3_FINAL.pdf
--- a/public/draco/README.md
+++ b/public/draco/README.md
@@ -0,0 +1,31 @@
+# Draco 3D Data Compression
+
+Draco is an open-source library for compressing and decompressing 3D geometric meshes and point clouds. It is intended to improve the storage and transmission of 3D graphics.
+
+[Website](https://google.github.io/draco/) | [GitHub](https://github.com/google/draco)
+
+## Contents
+
+This folder contains three utilities:
+
+* `draco_decoder.js` — Emscripten-compiled decoder, compatible with any modern browser.
+* `draco_decoder.wasm` — WebAssembly decoder, compatible with newer browsers and devices.
+* `draco_wasm_wrapper.js` — JavaScript wrapper for the WASM decoder.
+
+Each file is provided in two variations:
+
+* **Default:** Latest stable builds, tracking the project's [master branch](https://github.com/google/draco).
+* **glTF:** Builds targeted by the [glTF mesh compression extension](https://github.com/KhronosGroup/glTF/tree/master/extensions/2.0/Khronos/KHR_draco_mesh_compression), tracking the [corresponding Draco branch](https://github.com/google/draco/tree/gltf_2.0_draco_extension).
+
+Either variation may be used with `DRACOLoader`:
+
+```js
+var dracoLoader = new DRACOLoader();
+dracoLoader.setDecoderPath('path/to/decoders/');
+```
+
+Further [documentation on GitHub](https://github.com/google/draco/tree/master/javascript/example#static-loading-javascript-decoder).
+
+## License
+
+[Apache License 2.0](https://github.com/google/draco/blob/master/LICENSE)
--- a/public/draco/draco_decoder.js
+++ b/public/draco/draco_decoder.js
--- a/public/draco/draco_decoder.wasm
+++ b/public/draco/draco_decoder.wasm
--- a/public/draco/draco_wasm_wrapper.js
+++ b/public/draco/draco_wasm_wrapper.js
@@ -0,0 +1,117 @@
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--- a/public/draco/gltf/draco_decoder.js
+++ b/public/draco/gltf/draco_decoder.js
--- a/public/draco/gltf/draco_decoder.wasm
+++ b/public/draco/gltf/draco_decoder.wasm
--- a/public/draco/gltf/draco_wasm_wrapper.js
+++ b/public/draco/gltf/draco_wasm_wrapper.js
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--- a/public/models/bottle.stl
+++ b/public/models/bottle.stl
--- a/public/models/box-300.stl
+++ b/public/models/box-300.stl
--- a/public/models/box-400.stl
+++ b/public/models/box-400.stl
--- a/public/models/cylinder.stl
+++ b/public/models/cylinder.stl
--- a/public/models/detergent.stl
+++ b/public/models/detergent.stl
--- a/public/models/lunchbox.stl
+++ b/public/models/lunchbox.stl
--- a/public/models/pen.stl
+++ b/public/models/pen.stl
--- a/public/models/plate.stl
+++ b/public/models/plate.stl
--- a/public/models/pouf.stl
+++ b/public/models/pouf.stl
--- a/public/models/sorter/conveyor-clean.glb
+++ b/public/models/sorter/conveyor-clean.glb
--- a/specification/README.md
+++ b/specification/README.md
@@ -1,26 +0,0 @@
-# Наброски будущей схемы конвейера
-
-![](mvp_1.jpg)
-
-## Список материалов:
-
-В этот список необходимо доложить энкодер для двигателя!
-
-| Название | Сумма, ₽  | Количество |
-| :--- | :--- | :--- |
-| Медная лента для удаления припоя / Оплетка для выпайки диаметр 2 мм длина 1.5 м | 164 | 1 |
-| Набор проводов для пайки | 855 | 1 |
-| Флюс гель универсальный безотмывочный, для пайки микросхем и компонентов Flux RMA-223-UV-10г | 162 | 1 |
-| Припой для пайки с канифолью 1мм 50гр ПОС-61 на катушке (ГОСТ) | 423 | 1 |
-| ALIENTEK Паяльник 140 Вт, 7 предметов | 4 985 | 1 |
-| Преобразователь DC-DC понижающий с 8-60V до 1-36V 15A max | 805 | 1 |
-| Беспаечная макетная плата (breadboard) MB-102, 830 точек, для Arduino и прочих устройств | 1 112 | 2 |
-| 120 шт. Провода перемычки для макетных плат, соединительные провода для модулей, контроллеров arduino (10 см) 3 вида по 40 шт папа-папа, мама-мама, папа-мама | 636 | 2 |
-| Homeled, Блок питания, 12V, 200W, 180-265 вольт. С клеммами. Импульсный для светодиодных лент и светильников | 599 | 1 |
-| Сервопривод MG996R, 10 шт, 180 , металлические шестерни, для Arduino, роботов и RC, размеры стандарт | 2 990 | 1 |
-| PWM PCA9685 драйвер на 16 сервоприводов расширитель портов с I2C интерфейсом для Led и Servo (12 bit, I2C) в IIC/I2C/TWI/SPI c тестером сервоприводов 3 режима, набор | 1 178 | 2 |
-| Модуль I2C-мультиплексора CJMCU-9548 на базе TCA9548A / PCA9548A | 532 | 2 |
-| Модуль VL53L0X лазерный дальномер GY-530 (до 2м, питание 3-5В, I2C) | 1064 | 4 |
-| Модуль ESP32 TYPE-C CH340C + плата расширения ESP32 | 1040 | 2 | 
-
-[Ссылка на товары](https://www.ozon.ru/cart?share=wGhPkQd)
--- a/specification/mindmap.md
+++ b/specification/mindmap.md
@@ -1,54 +0,0 @@
-# Алгоритм работы сортировщика
-
-```mermaid
-mindmap
-  root((Алгоритм работы))
-    Этап 1: Ожидание и Движение
-      Arduino запускает шаговый двигатель
-      Лента движется с постоянной скоростью
-    Этап 2: Детекция и Анализ
-      Объект проходит под датчиком и камерой
-      Предмет соответствует габаритам?
-        Да
-          Есть признак круга в сечении?
-            Да - Требуется доупаковка
-              Секция 2
-            Нет - Подходит для сортировки
-              Секция 3
-        Нет
-          Не подходит по габаритам
-            Секция 1
-    Этап 3: Трекинг Синхронизация
-      Arduino отсчитывает шаги двигателя
-      Вычисляется момент времени T
-    Этап 4: Маршрутизация
-      В момент T сервопривод поворачивает барьер на 45°
-      Объект смещается в выбранную зону
-      Сервопривод возвращается в исходное положение
-    Этап 5: Завершение
-      Объект попадает в накопитель
-      Система возвращается в состояние Ожидание
-```
-
-## Блок схема:
-
-
-```mermaid
-flowchart TD
-    Start[Этап 1: Ожидание и Движение] --> Detect[Этап 2: Детекция и Анализ]
-    Detect --> SizeCheck{Предмет соответствует<br/>габаритам?}
-    
-    SizeCheck -->|Нет| Reject[Секция 1:<br/>Не габарит]
-    SizeCheck -->|Да| CircleCheck{Есть признак<br/>круга?}
-    
-    CircleCheck -->|Да| Repack[Секция 2:<br/>Требуется доупаковка]
-    CircleCheck -->|Нет| Sort[Секция 3:<br/>Подходит для сортировки]
-    
-    Reject --> Track[Этап 3: Трекинг]
-    Repack --> Track
-    Sort --> Track
-    
-    Track --> Route[Этап 4: Маршрутизация]
-    Route --> End[Этап 5: Завершение]
-    End --> Start
-```
--- a/specification/mvp_1.drawio
+++ b/specification/mvp_1.drawio
@@ -1,277 +0,0 @@
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--- a/specification/mvp_1.jpg
+++ b/specification/mvp_1.jpg
--- a/Show More
+++ b/Show More
Author	SHA1	Message	Date
root	f2ce611330	fix: align CV rules and refresh final documentation Co-authored-by: Cursor <cursoragent@cursor.com>	2026-08-02 22:51:41 +02:00
root	d701339930	release: finalize clean submission repository Co-authored-by: Cursor <cursoragent@cursor.com>	2026-08-02 22:39:46 +02:00
root	21e83be26e	release: consolidate web simulation and real CV prototype Add cleaned RealSense/OpenCV CV under cv/ with secret-free example config, MQTT disabled by default, and canonical README coverage for web + CV relationship without claiming production integration. Co-authored-by: Cursor <cursoragent@cursor.com>	2026-08-02 22:23:05 +02:00
root	3777fecacf	docs: finalize submission materials Document domain, launch/build commands, structure, env vars, cloud split, physics contracts of the accepted baseline, and CV on drho1y-mvp_1. Co-authored-by: Cursor <cursoragent@cursor.com>	2026-08-02 22:13:30 +02:00
root	bb76963902	revert: restore last working simulation (`13ce16b`) Roll back junction-contact / discharge / light-theme simulation changes to the previously stable production tree while keeping linear history. Co-authored-by: Cursor <cursoragent@cursor.com>	2026-08-02 22:11:16 +02:00
root	496162a3db	docs: finalize submission materials Document domain, launch/build commands, structure, env vars, cloud split, and the real CV prototype on drho1y-mvp_1 for the final submission. Co-authored-by: Cursor <cursoragent@cursor.com>	2026-08-02 22:07:48 +02:00
Даня Архипов	6e3b6ae3f0	fix: align discharge sorting and camera classification Co-authored-by: Cursor <cursoragent@cursor.com>	2026-08-02 07:56:35 +00:00
Даня Архипов	30a9f7efb3	fix: synchronize product visuals and apply Ozon light theme Stop React RigidBody props from fighting Rapier mesh sync on playback ticks, and convert the shell/scene to the centralized Ozon light palette. Co-authored-by: Cursor <cursoragent@cursor.com>	2026-08-02 07:09:17 +00:00
Даня Архипов	dce7faee24	feat: add physical junction contact routing Replace scripted junction handoff with kinematic CAD diverter colliders and contact-only B/C/D routing, validated by a 45-run engineering-derived matrix. Co-authored-by: Cursor <cursoragent@cursor.com>	2026-08-02 06:46:10 +00:00
Даня Архипов	1586e9d2ab	feat: add stable physical conveyor foundation Co-authored-by: Cursor <cursoragent@cursor.com>	2026-08-02 05:52:28 +00:00
Даня Архипов	13ce16bedc	chore: consolidate documentation and clean repository Co-authored-by: Cursor <cursoragent@cursor.com>	2026-08-01 18:29:15 +00:00
Даня Архипов	4413f01ce4	chore: preserve pre-cleanup product baseline Co-authored-by: Cursor <cursoragent@cursor.com>	2026-08-01 17:48:00 +00:00
Даня Архипов	c0dedfcdfb	docs: finalize Stage 2E report with commit identity Co-authored-by: Cursor <cursoragent@cursor.com>	2026-07-30 14:29:03 +00:00
Даня Архипов	30103ccefc	feat: Stage 2E physics p95, runtime videos, domain audit, device-test QR Measure Rapier world.step p95 (~0.2 ms) on GTX 1080, record real route WebMs, expand runtime/headless hash parity, and document permanent-domain/phone blockers. Co-authored-by: Cursor <cursoragent@cursor.com>	2026-07-30 14:28:14 +00:00
Даня Архипов	014a46077d	feat: Stage 2D hardware perf PASS, SPEC_DERIVED_CAD mechanism, device-test Measure GTX 1080 matrix (A/B/C 60 FPS p95~17ms); selective CAD shadows and DPR 1.25; ship SPEC_DERIVED_CAD sorter mechanism GLB/STEP; add /device-test; document domain blocker and phone NOT_TESTED. Co-authored-by: Cursor <cursoragent@cursor.com>	2026-07-30 13:01:44 +00:00
Даня Архипов	68327635ce	feat: Stage 2C CAD assembly cleanup, full-height canvas, physics parity Remove default Measurement overlay and procedural motor duplicate; force opaque CAD materials; modular extension pitch from CAD; shared runtime/ headless physics config hash; layout e2e and Stage 2C artifacts. Co-authored-by: Cursor <cursoragent@cursor.com>	2026-07-30 12:35:50 +00:00
Даня Архипов	0a1be376eb	fix: restore default nginx MIME types so HTML/JS are not downloaded A server-level types{} block replaced mime.types, so index/JS were served as application/octet-stream; with nosniff the browser saved them as files. Co-authored-by: Cursor <cursoragent@cursor.com>	2026-07-30 12:16:49 +00:00
Даня Архипов	acc59ec912	feat: finish Stage 2B continuous sorter realism and local deploy Unify CAD conveyor on / and /details, add RealSense D435i + contact paddle physics, keep items moving through scan, lock 7×10 drop validation, and ship Stage 2 artifacts with production on :3100 (permanent HTTPS still blocked). Co-authored-by: Cursor <cursoragent@cursor.com>	2026-07-30 12:00:09 +00:00
Даня Архипов	40e9b18e8d	feat: stage 2 real CAD conveyor, hybrid physics drops, mobile policy (WIP) - CAD pipeline: conveer.FCStd -> FreeCAD headless -> conveyor-web.glb (555KB Draco, 42 named nodes) integrated into main scene; gates and rollers animated from domain state - Domain-driven adapter sorterVisualState.ts; per-SKU visual physics profiles (VISUAL_PHYSICS_ESTIMATE) - Hybrid Rapier physics: kinematic belt travel -> dynamic drop handoff -> verified freeze; shared collider layout (physicsWorldLayout) used by runtime and headless validation sim (physicsDropSim + 13 tests) - Gravity chutes / open roll-cage front redesign (drop tuning in progress: 4/7 routes verified headless) - Premium industrial visual: PBR, ACES, PCFSoft shadows, Lightformer env, UI cleanup behind ?debug=1 - Mobile capability policy: SVG fallback / Mobile Low / full tiers, Telegram WebView forced to SVG, e2e stubs for weak devices - Performance benchmarks cad-light/physics/full pass; stage2 artifacts tsc clean. Physics drop validation for 3 SKU routes still in progress. Co-authored-by: Cursor <cursoragent@cursor.com>	2026-07-29 21:05:46 +00:00
Даня Архипов	394c513037	chore: checkpoint premium 3d stages 0 and 1 Co-authored-by: Cursor <cursoragent@cursor.com>	2026-07-29 19:05:27 +00:00
Даня Архипов	5cc27c6fc2	chore: add unique assets from other branches into dan_branch Bring hardware/spec content from drho1y-mvp_1 (3d_models, arduino_code, backend_control, kicad, specification) so dan_branch holds the shared union of branch files without rewriting other branch tips. Co-authored-by: Cursor <cursoragent@cursor.com>	2026-07-29 14:32:56 +00:00
Даня Архипов	060971da75	docs: re-verify production identity and domain cutover status Co-authored-by: Cursor <cursoragent@cursor.com>	2026-07-16 08:43:37 +00:00
Даня Архипов	982f85dae1	chore: sync production release markers for `4fcce5b` Co-authored-by: Cursor <cursoragent@cursor.com>	2026-07-15 22:22:23 +00:00
Даня Архипов	4fcce5bff9	ops: finalize production domain and hardware benchmark tooling Add /version.json build identity, deploy `16e7930` release markers, DNS/Named Tunnel prep docs, portable browser benchmark, and replay stability probe. Keep Quick Tunnel until permanent domain cutover. Co-authored-by: Cursor <cursoragent@cursor.com>	2026-07-15 22:21:13 +00:00
Даня Архипов	16e7930304	fix: stabilize public demo and align sorter twins Document arhipovdan.ru DNS/TLS blocker, add production smoke and GPU perf tooling, unify twin layout, and expand visual regression coverage. Co-authored-by: Cursor <cursoragent@cursor.com>	2026-07-15 18:00:25 +00:00
Даня Архипов	b5985f33bb	feat: ship production deploy, Playwright e2e, and agent implementer Add Docker atomic deploy tooling, CI, Playwright smoke/visual suite, shared industrial theme, physics invariants, quality-mode wiring, and a worktree-isolated agent implementer MVP with hard safety limits. Co-authored-by: Cursor <cursoragent@cursor.com>	2026-07-15 17:14:01 +00:00
Даня Архипов	985f7c327d	feat: maximize sorter demo realism and add safe agent MVP Wire live classifyItem into continuous playback, add jam/E-stop cases, presenter controls (seek/speed/hotkeys), quality modes, demo scripts, audit docs, and a verify-only autonomous agent CLI with hard safety limits. Co-authored-by: Cursor <cursoragent@cursor.com>	2026-07-15 16:53:35 +00:00
root	e89c728dd2	perf(3d): static rollers, lite mode, B receiver bin timing, clean console	2026-07-09 18:39:59 +02:00
root	8e9ae4f62b	fix(3d): unified conveyorNetwork, physical B receiver, C/D containment, belt sync, real STL	2026-07-09 17:18:32 +02:00
root	1528cfce10	fix: deterministic physical item motion in 3D demo Add physicalItemMotion as the single source of item pose, synchronize belt/item speed at 1 m/s, route items through chutes, keep C/D items settled inside roll-cages, render historical settled items, and use STL models with explicit fallbacks.	2026-07-09 16:37:38 +02:00
root	39dc11c773	polish: final visual refinements for 3D demo - Matte PVC belt material (roughness 0.85) - Soft natural lighting with shadows - Industrial color palette - Compact HUD and CV overlay - No UI overlap - Items cast shadows for depth	2026-07-09 16:03:42 +02:00
root	a078d296e3	feat: cinematic camera playback for 3D demo - Add cinematicCamera.ts with 9 camera modes - Smooth camera transitions with lerp - Camera follows item during movement - Category-aware routing views (B/C/D) - Viewport adaptation (desktop/laptop/mobile) - Motion trail for movement feedback - Auto camera toggle button - 20 unit tests for camera logic	2026-07-09 15:53:50 +02:00
root	717a992b98	fix: physical realism for 3D demo - Load STL models with fallback to primitives - True physical scale (1 unit = 1 meter) - Sensor rig at 1.35m above max item - Roll-cages for C/D zones (1.2×0.8×0.8m) - Chutes for physical routing - HUD/overlay repositioned to avoid overlap - Added physicalLayout tests	2026-07-09 15:39:07 +02:00
root	3aad908aaf	feat: engineering measurement architecture in 3D demo - Stepper motor length measurement (step counting) - Laser rangefinder height measurement - Stereo camera width/shape analysis - PLC decision logic with C-priority - Actuator pusher animation - Full measurement overlay with live data	2026-07-09 14:35:58 +02:00
root	fa770f9da9	fix: physical conveyor realism - belt at 0.7m, item rides ON belt - Create physicalLayout.ts with all dimensions - Update conveyorPath.ts to use correct belt height - Rebuild ConveyorBelt with support legs, rollers, drive motor - Item Y = BELT_TOP_Y + itemHeight/2	2026-07-09 14:21:00 +02:00
root	35138c824c	feat: add CV inspection overlay with visual effects - Add CVInspectionOverlay component (industrial camera monitor style) - Add inspectionViewModel adapter for playback → inspection data - Add camera rig with overhead frame and laser emitters - Add inspection zone highlight on belt - Add animated scan line during detection - Add bounding box wireframe during measurement - Add shape outline (circle/square) during classification - Show dimensions pass/fail, roundness warning, confidence warning - Show C-priority indicator for edge cases Tested on https://arhipovdan.ru/ — all phases display correctly	2026-07-09 14:07:50 +02:00
root	d9bf861960	fix: add nginx SPA fallback for BrowserRouter routing Root cause: Docker container was 4 days old and nginx had no try_files fallback for SPA routes like /details. Changes: - Add nginx.conf with try_files $uri $uri/ /index.html - Update Dockerfile to copy nginx config - Add production browser QA script Production verified: - https://arhipovdan.ru/ shows full-screen 3D demo - https://arhipovdan.ru/details shows detailed page	2026-07-09 13:46:51 +02:00
root	ae2f38d6cf	feat: implement continuous 8-case playback engine for main page - Add continuousPlayback.ts with phase-based state machine - Add conveyorPath.ts for physics-accurate item positioning (1m=1unit, 1m/s) - Create SorterDigitalTwinContinuous.tsx for main page 3D scene - Update MainPage to use ContinuousPlaybackState - Add 16 unit tests for playback logic - Add Playwright test script for browser QA - Screenshots: case1_start, case1_detection, case1_routing, case2_started, case8_or_finished Timeline per case: ~6.3s (spawn → detection → classification → routing → exit) Total playback: ~50s for all 8 cases	2026-07-09 13:41:24 +02:00
root	05029e6f51	feat: add routing with MainPage (full-screen 3D) and DetailsPage - Add react-router-dom for routing - Create MainPage with full-screen 3D demo viewport - Create DetailsPage with all existing documentation blocks - Create demoPlaylist.ts with 8 showcase cases - Add styles for main page HUD, controls, progress bar - Routes: / → MainPage, /details → DetailsPage, * → redirect to /	2026-07-09 13:27:13 +02:00
root	600699f155	fix: prove 3D item movement and update visual fix report - Document movement proof via manual demo steps - Item moves from zone A to zone B through full cycle: Detection → Classification → Decision → Command → Routing - Add README to docs/visual_fix_screenshots/ - Update report with final verification results Verified: build, 43 tests, docker, curl all OK. 3D works on 1440px laptop, movement visually confirmed.	2026-07-04 20:10:57 +02:00
root	4ffafa699a	fix: improve 3D digital twin visual clarity - Increase item visual scale ×2.5 with glow ring - Move camera closer [4.0, 3.0, 4.0] - Improve scene contrast (brighter conveyor, floor) - Add glow to active routes - Enhance gate/pusher visibility - Add highlight rings to active zones - Brighten sensors with detection effects - Update visual fix report with final verification Based on REAL_3D_AUDIT_REPORT.md P0/P1 fixes. Verified: build, 43 tests, docker, curl all OK. 3D works on 1440px laptop (not 2D fallback).	2026-07-04 20:01:39 +02:00
root	f9eb0819c0	fix: improve 3D digital twin visual clarity - Increase item visual scale ×2.5 with glow ring - Move camera closer [4.0, 3.0, 4.0] - Improve scene contrast (brighter conveyor, floor) - Add glow to active routes - Enhance gate/pusher visibility - Add highlight rings to active zones - Brighten sensors with detection effects Based on REAL_3D_AUDIT_REPORT.md P0/P1 fixes.	2026-07-04 19:48:57 +02:00
root	29035dad5f	docs: add honest 3D verification checklist and update QA report CHANGES: 1. README.md: - Added "3D Verification Checklist" section - Important note: must click "3D Digital Twin" toggle first - Desktop Chrome manual verification steps - Mobile verification checklist 2. BLACK_SCREEN_FIX_REPORT.md: - Updated Visual QA section with detailed test steps - Test 1-5: Initial load → 2D fallback → 3D toggle → Auto demo in 3D - Clarified: Browser MCP verified both 2D and 3D modes - Removed false claims, added honest limitations VERIFIED (Browser MCP): - ✅ 2D fallback works - ✅ 3D scene renders (WebGL available, FPS ~60) - ✅ Auto demo runs in 3D mode - ✅ NO BLACK SCREEN in both modes NOT VERIFIED (Requires manual check): - ⚠️ Desktop Chrome real device - ⚠️ Mobile real device (<640px) - ⚠️ STL model loading in production CONCLUSION: Black screen fix is solid (ErrorBoundary + throttled RAF works). 3D rendering confirmed via browser MCP. Full production verification requires desktop/mobile real device testing.	2026-07-04 17:15:38 +02:00
root	ad2898200b	fix: stabilize 3D auto demo and clean scene labels ROOT CAUSE: - requestAnimationFrame loop calling setState 60fps caused Canvas unmount/remount every frame - Circular dependency in useEffect deps (simulation.currentItem) caused infinite re-render loop - No ErrorBoundary meant Canvas errors showed black screen - "Накопитель" label cluttered clean view FIXES: 1. Throttled RAF Loop (App.tsx): - Update UI only every 100ms instead of every 16ms (60fps) - Removed circular dependency from useEffect deps - Added refs for proper RAF cleanup - Canvas no longer remounts every frame 2. ErrorBoundary (ThreeErrorBoundary.tsx): - Created error boundary for Canvas - Shows fallback UI instead of black screen - "Reload 3D" and "Use 2D Fallback" buttons - Auto-triggers 2D fallback on error 3. Clean Labels (SceneLabels3D.tsx): - Moved "Накопитель" label to technical mode only - Cleaner default 3D view - Less clutter, easier to see simulation RESULT: - NO MORE BLACK SCREEN ✅ - Stable auto demo ✅ - Clean 3D scene ✅ - Proper error handling ✅ STATUS: - Build: ✅ TypeScript successful (4.14s) - Tests: ✅ 43/43 passed (1.19s) - Docker: ✅ Rebuilt successfully (8.08s) - Domains: ✅ All 200 OK - Visual QA: ✅ Verified via browser MCP (no black screen!) CHANGES: - Modified: App.tsx (+114), ProductDemoSection.tsx (+29), SceneLabels3D.tsx (+4), styles.css, README.md - Created: ThreeErrorBoundary.tsx (new error boundary component) - Total: +215 insertions, -24 deletions (5 files modified, 1 file created)	2026-07-04 17:09:47 +02:00
root	3e1f10a01a	feat: 3D digital twin major rework - real models, clean labels, improved geometry - Real STL Models: 6 models loaded (55%), fallback for 5 (45%) - Clean Labels: 12+ → 5 default, step-based, technical toggle - Geometry: Gate lift, pusher plates, conveyor rollers, roll-cage wireframes - Demo Director: 12 steps, camera presets, auto-play logic (not integrated) - Tests: +16 new (43/43 green), Build ✅, Docker ✅, Domains ✅ Remaining: Auto demo UI integration, camera transitions, docs updates, Visual QA	2026-07-04 16:45:43 +02:00
root	a700a146a3	fix: final parameter verification and source of truth documentation - Add exact references to official specification (page/section/line) in INPUT_INFO_ANALYSIS.md - Fix last hardcoded min dimensions in SceneLabels3D.tsx (10×10×10 → dynamic from DIMENSION_LIMITS) - Fix hardcoded roundness threshold in Item3D.tsx (0.8 → dynamic from DIMENSION_LIMITS) - Update THREE_D_FEASIBILITY.md checklist to reflect current parameters (10×10×2, K≥0.7) Source of truth confirmed: - Min dimensions: 10×10×2 mm (Постановка_Задача_3_сжато_2.pdf, стр. 2/17, строка 81) - Roundness threshold: K ≥ 0.7 (Постановка_Задача_3_сжато_2.pdf, стр. 7/17, строка 245) - Max dimensions: 450×320×320 mm (Постановка_Задача_3_сжато_2.pdf, стр. 2/17, строка 82) - Conveyor speed: 1.0 м/с (Постановка_Задача_3_сжато_2.pdf, стр. 4/17, строка 188) Tested: build OK, tests 16/16 passed, Docker OK, domains OK, smoke test OK	2026-07-04 16:12:12 +02:00
root	17c37c2580	feat: align project with OZON Track 3 official specification - Fix critical parameters: min dimensions 10×10×2 mm (was 10×10×10) - Fix roundness threshold: K ≥ 0.7 (was 0.8) - Add input_info analysis document (INPUT_INFO_ANALYSIS.md) - Update Hero: new title, badges (Min 10×10×2, K≥0.7→D, C priority), proof-line - Add CurrentProofCard summary block: Category/Command/Target/Why (cyan border) - Add CPriorityExplanation component (orange card, dedicated section) - Update all docs: README, DEMO_SCRIPT (7-min timing), JURY_QA, SUBMISSION_CHECKLIST - Update tests: 16/16 passed under new parameters - Update 3D twin: dynamic DIMENSION_LIMITS display - Update criteria cards: roundness ≥ 0.7 - Tested: build OK, Docker OK, domains OK (arhipovdan.ru, www, ai-shorts.ru)	2026-07-04 13:09:49 +02:00
root	e0a655db4f	feat: align 3D digital twin with OZON Track 3 requirements	2026-07-04 12:39:57 +02:00
root	b749cef14e	feat: add 3D digital twin visualization	2026-07-04 12:33:20 +02:00
root	a7025ca50c	design: redesign product demo UI	2026-07-04 12:14:08 +02:00
root	cb38cd0002	design: redesign product demo UI	2026-07-04 01:44:32 +02:00
root	2d50cdb454	feat: add guided demo view	2026-07-04 01:21:59 +02:00
deploy	f3e2d16059	feat: add presentation demo mode	2026-07-04 01:09:10 +02:00
deploy	77069748ee	feat: enhance sorter simulation demo	2026-07-04 01:02:01 +02:00
deploy	9395d25332	feat: add sorter simulation dashboard MVP	2026-07-04 00:26:08 +02:00