{"draftJsState":{"blocks":[{"data":{},"depth":0,"entityRanges":[],"inlineStyleRanges":[],"text":"Введение","type":"header-three","key":"784os"},{"data":{},"depth":0,"entityRanges":[],"inlineStyleRanges":[{"length":21,"offset":197,"style":"BOLD"},{"length":7,"offset":266,"style":"BOLD"}],"text":"С ростом использования дронов в логистике и техническом обслуживании растет потребность в универсальных модулях для перевозки грузов и сменных аккумуляторов. Для решения этой задачи был разработан интеллектуальный бокс, управляемый удалённо через контроллер на базе ESP8266, который способен:","type":"unstyled","key":"bcmhf"},{"data":{"image":{"id":"686224cb8f35865c7eb463b5"}},"depth":0,"entityRanges":[],"inlineStyleRanges":[],"text":"Общая схема. Флашки фиксации будут с обоих сторон и сервопривод будет посередине. Так же не показанны концевики.","type":"atomic:image","key":"18gkf"},{"data":{},"depth":0,"entityRanges":[],"inlineStyleRanges":[],"text":"","type":"unstyled","key":"4iem7"},{"data":{},"depth":0,"entityRanges":[],"inlineStyleRanges":[],"text":"\uD83D\uDCE6 открывать и закрывать отсек для груза;","type":"unordered-list-item","key":"27ib8"},{"data":{},"depth":0,"entityRanges":[],"inlineStyleRanges":[],"text":"\uD83D\uDD0B открывать и закрывать отсек для сменного аккумулятора;","type":"unordered-list-item","key":"5n047"},{"data":{},"depth":0,"entityRanges":[],"inlineStyleRanges":[],"text":"\uD83D\uDCE1 передавать телеметрию о состоянии устройства;","type":"unordered-list-item","key":"8qr87"},{"data":{},"depth":0,"entityRanges":[],"inlineStyleRanges":[],"text":"✅ принимать команды через WebSocket-сервер.","type":"unordered-list-item","key":"6fat"},{"data":{},"depth":0,"entityRanges":[],"inlineStyleRanges":[],"text":"Аппаратная часть","type":"header-three","key":"brpoe"},{"data":{},"depth":0,"entityRanges":[],"inlineStyleRanges":[{"length":7,"offset":36,"style":"BOLD"}],"text":"Устройство построено на контроллере ESP8266 (например, ESP-01 или NodeMCU) и включает в себя:","type":"unstyled","key":"lvjb"},{"data":{},"depth":0,"entityRanges":[],"inlineStyleRanges":[{"length":14,"offset":0,"style":"BOLD"}],"text":"2 сервопривода:\nServo1 — управление крышкой грузового отсека.\nServo2 — управление крышкой отсека аккумулятора.","type":"unordered-list-item","key":"1b1r7"},{"data":{},"depth":0,"entityRanges":[],"inlineStyleRanges":[{"length":24,"offset":0,"style":"BOLD"}],"text":"2 концевых переключателя:\nButton1 — наличие груза в боксе.\nButton2 — наличие аккумулятора.","type":"unordered-list-item","key":"2533k"},{"data":{},"depth":0,"entityRanges":[],"inlineStyleRanges":[{"length":9,"offset":0,"style":"BOLD"}],"text":"Светодиод: используется для индикации состояния соединения.","type":"unordered-list-item","key":"45j04"},{"data":{},"depth":0,"entityRanges":[],"inlineStyleRanges":[],"text":"Сеть и связь","type":"header-three","key":"bntqj"},{"data":{},"depth":0,"entityRanges":[],"inlineStyleRanges":[{"length":18,"offset":75,"style":"BOLD"}],"text":"Контроллер подключается к заданной Wi-Fi-сети и устанавливает соединение с WebSocket-сервером. Это позволяет оператору дрона или логистической системе управлять боксом в режиме реального времени.","type":"unstyled","key":"66u95"},{"data":{},"depth":0,"entityRanges":[],"inlineStyleRanges":[{"length":21,"offset":0,"style":"BOLD"}],"text":"Состояния подключения визуализируются через встроенный светодиод:","type":"unstyled","key":"89csk"},{"data":{},"depth":0,"entityRanges":[],"inlineStyleRanges":[],"text":"✴️ Быстро мигает — нет подключения к Wi-Fi.","type":"unordered-list-item","key":"c3qp2"},{"data":{},"depth":0,"entityRanges":[],"inlineStyleRanges":[],"text":"⏳ Медленно мигает — Wi-Fi подключен, WebSocket нет.","type":"unordered-list-item","key":"69h84"},{"data":{},"depth":0,"entityRanges":[],"inlineStyleRanges":[],"text":"✅ Постоянно горит — соединение WebSocket установлено.","type":"unordered-list-item","key":"9ge84"},{"data":{},"depth":0,"entityRanges":[],"inlineStyleRanges":[],"text":"Принцип работы","type":"header-three","key":"cerf6"},{"data":{},"depth":0,"entityRanges":[],"inlineStyleRanges":[],"text":"После включения устройство:","type":"unstyled","key":"57nvs"},{"data":{},"depth":0,"entityRanges":[],"inlineStyleRanges":[],"text":"Подключается к Wi-Fi.","type":"ordered-list-item","key":"fak8e"},{"data":{},"depth":0,"entityRanges":[],"inlineStyleRanges":[],"text":"Периодически пытается установить WebSocket-соединение.","type":"ordered-list-item","key":"3f527"},{"data":{},"depth":0,"entityRanges":[],"inlineStyleRanges":[],"text":"После подключения отправляет данные об устройстве (идентификатор и пароль).","type":"ordered-list-item","key":"1d1br"},{"data":{},"depth":0,"entityRanges":[],"inlineStyleRanges":[],"text":"Ожидает команды от сервера и реагирует на них.","type":"ordered-list-item","key":"bkrrn"},{"data":{},"depth":0,"entityRanges":[],"inlineStyleRanges":[],"text":"Обработка команд","type":"header-three","key":"v2od"},{"data":{},"depth":0,"entityRanges":[],"inlineStyleRanges":[],"text":"Поддерживаются следующие команды:","type":"unstyled","key":"43hjd"},{"data":{},"depth":0,"entityRanges":[],"inlineStyleRanges":[],"text":"\"servo1\" — установить угол открытия грузового отсека.","type":"unordered-list-item","key":"26brm"},{"data":{},"depth":0,"entityRanges":[],"inlineStyleRanges":[],"text":"\"servo2\" — установить угол открытия аккумуляторного отсека.","type":"unordered-list-item","key":"ecphb"},{"data":{},"depth":0,"entityRanges":[],"inlineStyleRanges":[],"text":"\"reboot\" — перезагрузка устройства.","type":"unordered-list-item","key":"n5qp"},{"data":{},"depth":0,"entityRanges":[],"inlineStyleRanges":[],"text":"Телеметрия","type":"header-three","key":"53fej"},{"data":{},"depth":0,"entityRanges":[],"inlineStyleRanges":[],"text":"Устройство автоматически отправляет телеметрию по команде \"PING\":","type":"unstyled","key":"fs3al"},{"data":{},"depth":0,"entityRanges":[],"inlineStyleRanges":[],"text":"Статус \"работает\",","type":"unordered-list-item","key":"2k49b"},{"data":{},"depth":0,"entityRanges":[],"inlineStyleRanges":[],"text":"Углы обоих сервоприводов,","type":"unordered-list-item","key":"8uch8"},{"data":{},"depth":0,"entityRanges":[],"inlineStyleRanges":[],"text":"Состояние обоих концевиков (\"pressed\" или \"released\").","type":"unordered-list-item","key":"50mqh"},{"data":{},"depth":0,"entityRanges":[],"inlineStyleRanges":[],"text":"Кнопки (концевики)","type":"header-three","key":"37jjv"},{"data":{},"depth":0,"entityRanges":[],"inlineStyleRanges":[],"text":"Концевики подключены с использованием программного класса Button. Система отслеживает их состояния и отправляет обновления при нажатии или по таймеру (раз в секунду), если WebSocket-соединение активно.","type":"unstyled","key":"3pj04"},{"data":{},"depth":0,"entityRanges":[],"inlineStyleRanges":[],"text":"Программная архитектура","type":"header-three","key":"3i93k"},{"data":{},"depth":0,"entityRanges":[],"inlineStyleRanges":[],"text":"Ключевые технологии:","type":"unstyled","key":"a3i75"},{"data":{},"depth":0,"entityRanges":[],"inlineStyleRanges":[{"length":11,"offset":0,"style":"BOLD"}],"text":"ESP8266WiFi — подключение к сети.","type":"unordered-list-item","key":"c3rg0"},{"data":{},"depth":0,"entityRanges":[],"inlineStyleRanges":[{"length":16,"offset":0,"style":"BOLD"}],"text":"WebSocketsClient — двусторонняя связь с сервером.","type":"unordered-list-item","key":"fivn9"},{"data":{},"depth":0,"entityRanges":[],"inlineStyleRanges":[{"length":11,"offset":0,"style":"BOLD"}],"text":"ArduinoJson — обработка JSON-команд и телеметрии.","type":"unordered-list-item","key":"166pk"},{"data":{},"depth":0,"entityRanges":[],"inlineStyleRanges":[{"length":5,"offset":0,"style":"BOLD"}],"text":"Servo — управление сервоприводами.","type":"unordered-list-item","key":"5an77"},{"data":{},"depth":0,"entityRanges":[],"inlineStyleRanges":[{"length":22,"offset":0,"style":"BOLD"}],"text":"Кастомный класс Button — простая логика обработки состояний кнопок.","type":"unordered-list-item","key":"77jbj"},{"data":{},"depth":0,"entityRanges":[],"inlineStyleRanges":[],"text":"Применение","type":"header-three","key":"1nj6s"},{"data":{},"depth":0,"entityRanges":[],"inlineStyleRanges":[],"text":"Такая система может использоваться в следующих случаях:","type":"unstyled","key":"ev35d"},{"data":{},"depth":0,"entityRanges":[],"inlineStyleRanges":[{"length":21,"offset":2,"style":"BOLD"}],"text":"\uD83D\uDCE6 Доставка малых грузов: автоматически открыть отсек для выгрузки.","type":"unordered-list-item","key":"635pn"},{"data":{},"depth":0,"entityRanges":[],"inlineStyleRanges":[{"length":19,"offset":2,"style":"BOLD"}],"text":"\uD83D\uDD0B Обслуживание дронов: быстрое извлечение и замена аккумуляторов.","type":"unordered-list-item","key":"og5t"},{"data":{},"depth":0,"entityRanges":[],"inlineStyleRanges":[{"length":20,"offset":2,"style":"BOLD"}],"text":"\uD83D\uDCE1 Мониторинг состояния: оператор всегда знает, находится ли груз или аккумулятор в боксе.","type":"unordered-list-item","key":"1f9e6"},{"data":{},"depth":0,"entityRanges":[],"inlineStyleRanges":[],"text":"Код для прошивки.","type":"header-three","key":"cuu3t"},{"data":{},"depth":0,"entityRanges":[],"inlineStyleRanges":[],"text":"","type":"unstyled","key":"4q47t"},{"data":{},"depth":0,"entityRanges":[],"inlineStyleRanges":[],"text":"#include \n#include \n#include \n#include \n#include \"Button.h\" // Подключаем наш класс Button\n\nconst char* ssid = \"----\";\nconst char* password = \"-----\";\n\nWebSocketsClient webSocket;\n\nconst char* deviceName = \"esp01\";\nconst char* devicePassword = \"1234\";\n\nconst int LED_PIN = LED_BUILTIN;\nconst int BUTTON1_PIN = 14; // GPIO14 (D5 на NodeMCU)\nconst int BUTTON2_PIN = 4; // GPIO4 (D2 на NodeMCU)\nconst int SERVO1_PIN = 12; // Пин первого сервопривода (D6)\nconst int SERVO2_PIN = 13; // Пин второго сервопривода (D7)\nButton button1(BUTTON1_PIN);\nButton button2(BUTTON2_PIN);\n\nServo servo1;\nServo servo2;\n\nunsigned long previousMillis = 0;\nunsigned long lastConnectionAttempt = 0;\nconst long connectionInterval = 10000; // 10 секунд между попытками подключения\n\nint ledState = LOW;\nint connectionState = 0; // 0 - нет подключения, 1 - WiFi подключен, 2 - WebSocket подключен\nint servo1Pos = 90; // Текущее положение сервопривода 1 (0-180)\nint servo2Pos = 90; // Текущее положение сервопривода 2 (0-180)\n\nvoid updateLed() {\n unsigned long currentMillis = millis();\n unsigned long interval;\n \n switch(connectionState) {\n case 0: // Нет подключения - быстрое мигание (500ms)\n interval = 500;\n break;\n case 1: // WiFi подключен - медленное мигание (1000ms)\n interval = 1000;\n break;\n case 2: // WebSocket подключен - постоянно включен\n digitalWrite(LED_PIN, LOW);\n return;\n }\n \n if (currentMillis - previousMillis >= interval) {\n previousMillis = currentMillis;\n ledState = (ledState == LOW) ? HIGH : LOW;\n digitalWrite(LED_PIN, ledState);\n }\n}\n\nvoid handleCommand(const char* cmd, const char* value) {\n Serial.printf(\"Received command: %s, value: %s\\n\", cmd, value);\n\n if (strcmp(cmd, \"servo1\") == 0) {\n int pos = atoi(value);\n if (pos >= 0 && pos <= 360) {\n servo1Pos = pos;\n servo1.write(servo1Pos);\n Serial.printf(\"Servo1 set to %d\\n\", servo1Pos);\n }\n } \n else if (strcmp(cmd, \"servo2\") == 0) {\n int pos = atoi(value);\n if (pos >= 0 && pos <= 360) {\n servo2Pos = pos;\n servo2.write(servo2Pos);\n Serial.printf(\"Servo2 set to %d\\n\", servo2Pos);\n }\n }\n else if (strcmp(cmd, \"reboot\") == 0) {\n Serial.println(\"Rebooting...\");\n ESP.restart();\n }\n}\n\nvoid webSocketEvent(WStype_t type, uint8_t* payload, size_t length) {\n switch (type) {\n case WStype_CONNECTED:\n Serial.println(\"[WS] Connected\");\n connectionState = 2; // WebSocket подключен\n updateLed();\n\n // Отправляем информацию об устройстве при подключении\n {\n StaticJsonDocument<256> doc;\n doc[\"type\"] = \"auth\";\n doc[\"name\"] = deviceName;\n doc[\"password\"] = devicePassword;\n String json;\n serializeJson(doc, json);\n webSocket.sendTXT(json);\n }\n break;\n\n case WStype_DISCONNECTED:\n Serial.println(\"[WS] Disconnected\");\n connectionState = (WiFi.status() == WL_CONNECTED) ? 1 : 0;\n break;\n\n case WStype_TEXT:\n Serial.printf(\"[WS] Received: %s\\n\", payload);\n //Serial.printf(\"-%s-\\n\", payload);\n\n // Обработка PING\n //if (strstr((char*)payload, \"\\\"command\\\":\\\"PING\\\"\") != NULL) {\n if (strstr((char*)payload, \"\\\"command\\\": \\\"PING\\\"\") != NULL) {\n\n Serial.println(\"Processing PING command\");\n StaticJsonDocument<512> doc;\n doc[\"type\"] = \"telemetry\";\n doc[\"status\"] = \"работает\";\n doc[\"servo1\"] = servo1Pos;\n doc[\"servo2\"] = servo2Pos;\n doc[\"button1\"] = button1.isPressed() ? \"pressed\" : \"released\";\n doc[\"button2\"] = button2.isPressed() ? \"pressed\" : \"released\";\n String json;\n serializeJson(doc, json);\n webSocket.sendTXT(json);\n Serial.println(\"Телеметрия отправлена\");\n }\n // Обработка команд\n else {\n StaticJsonDocument<256> doc;\n DeserializationError error = deserializeJson(doc, payload);\n \n Serial.print(\"Deserialization error: \");\n Serial.println(error.c_str()); // Выведет \"Ok\" если ошибок нет\n \n // Выводим сырой payload для проверки\n Serial.print(\"Raw payload: \");\n Serial.println((char*)payload);\n \n // Выводим содержимое doc в Serial\n Serial.println(\"Parsed JSON content:\");\n serializeJsonPretty(doc, Serial); // Красивый вывод с отступами\n Serial.println(\"\\n---\");\n\n if (!error && doc.containsKey(\"command\") && doc.containsKey(\"value\")) {\n const char* cmd = doc[\"command\"];\n const char* value = doc[\"value\"];\n handleCommand(cmd, value);\n \n // Отправляем подтверждение\n doc[\"type\"] = \"command_ack\";\n doc[\"status\"] = \"ok\";\n String json;\n serializeJson(doc, json);\n webSocket.sendTXT(json);\n Serial.println(\"\");\n }\n }\n break;\n }\n}\n\nvoid setup() {\n pinMode(LED_PIN, OUTPUT);\n digitalWrite(LED_PIN, HIGH);\n \n pinMode(BUTTON1_PIN, INPUT_PULLUP);\n pinMode(BUTTON2_PIN, INPUT_PULLUP);\n \n servo1.attach(SERVO1_PIN);\n servo2.attach(SERVO2_PIN);\n servo1.write(servo1Pos);\n servo2.write(servo2Pos);\n \n Serial.begin(115200);\n WiFi.begin(ssid, password);\n \n // Начальное состояние - нет подключения\n connectionState = 0;\n}\n\nvoid handleButtons() {\n static unsigned long lastSend = 0;\n \n // Проверяем нажатия\n if (button1.click() || button2.click() || millis() - lastSend > 1000) {\n if (webSocket.isConnected()) {\n sendButtonStates();\n lastSend = millis();\n }\n }\n}\nvoid sendButtonStates() {\n StaticJsonDocument<200> doc;\n doc[\"type\"] = \"button_state\";\n doc[\"button1\"] = button1.isPressed() ? \"pressed\" : \"released\";\n doc[\"button2\"] = button2.isPressed() ? \"pressed\" : \"released\";\n \n String json;\n serializeJson(doc, json);\n webSocket.sendTXT(json);\n}\n\nvoid loop() {\n unsigned long currentMillis = millis();\n \n // Обновляем состояние подключения WiFi\n if (WiFi.status() != WL_CONNECTED) {\n connectionState = 0;\n if (currentMillis - lastConnectionAttempt >= connectionInterval) {\n Serial.println(\"Connecting to WiFi...\");\n WiFi.begin(ssid, password);\n lastConnectionAttempt = currentMillis;\n }\n } \n else if (connectionState == 0) {\n connectionState = 1;\n Serial.println(\"\\nWiFi connected\");\n Serial.print(\"IP address: \");\n Serial.println(WiFi.localIP());\n }\n \n updateLed();\n handleButtons();\n webSocket.loop();\n \n // Если WiFi подключен, но WebSocket еще нет - пытаемся подключиться\n if (WiFi.status() == WL_CONNECTED && !webSocket.isConnected() && \n currentMillis - lastConnectionAttempt >= connectionInterval) {\n connectionState = 1;\n Serial.println(\"Connecting to WebSocket server...\");\n webSocket.begin(\"192.168.1.10\", 8765, \"/\");\n webSocket.onEvent(webSocketEvent);\n webSocket.setReconnectInterval(5000);\n lastConnectionAttempt = currentMillis;\n }\n \n delay(10); // Небольшая задержка для стабильности","type":"unstyled","key":"8og00"},{"data":{},"depth":0,"entityRanges":[],"inlineStyleRanges":[],"text":"Библиотека button.h","type":"header-three","key":"98vgl"},{"data":{},"depth":0,"entityRanges":[],"inlineStyleRanges":[],"text":"#ifndef Button_h","type":"unstyled","key":"603n"},{"data":{},"depth":0,"entityRanges":[],"inlineStyleRanges":[],"text":"#define Button_h","type":"unstyled","key":"6upn"},{"data":{},"depth":0,"entityRanges":[],"inlineStyleRanges":[],"text":"#include ","type":"unstyled","key":"f94i1"},{"data":{},"depth":0,"entityRanges":[],"inlineStyleRanges":[],"text":"class Button {","type":"unstyled","key":"40hl1"},{"data":{},"depth":0,"entityRanges":[],"inlineStyleRanges":[],"text":"public:","type":"unstyled","key":"7vi7r"},{"data":{},"depth":0,"entityRanges":[],"inlineStyleRanges":[],"text":"Button(byte pin) : _pin(pin), _lastState(HIGH), _lastDebounceTime(0), _flag(false) {","type":"unstyled","key":"bis3v"},{"data":{},"depth":0,"entityRanges":[],"inlineStyleRanges":[],"text":"pinMode(_pin, INPUT_PULLUP);","type":"unstyled","key":"30vn9"},{"data":{},"depth":0,"entityRanges":[],"inlineStyleRanges":[],"text":"}","type":"unstyled","key":"5d7t1"},{"data":{},"depth":0,"entityRanges":[],"inlineStyleRanges":[],"text":"bool click() {","type":"unstyled","key":"fgudv"},{"data":{},"depth":0,"entityRanges":[],"inlineStyleRanges":[],"text":"bool currentState = digitalRead(_pin);","type":"unstyled","key":"b1jfq"},{"data":{},"depth":0,"entityRanges":[],"inlineStyleRanges":[],"text":"bool result = false;","type":"unstyled","key":"416pk"},{"data":{},"depth":0,"entityRanges":[],"inlineStyleRanges":[],"text":"if (currentState != _lastState) {","type":"unstyled","key":"1silj"},{"data":{},"depth":0,"entityRanges":[],"inlineStyleRanges":[],"text":"_lastDebounceTime = millis();","type":"unstyled","key":"1ci6"},{"data":{},"depth":0,"entityRanges":[],"inlineStyleRanges":[],"text":"}","type":"unstyled","key":"9vqu"},{"data":{},"depth":0,"entityRanges":[],"inlineStyleRanges":[],"text":"if ((millis() - _lastDebounceTime) > DEBOUNCE_DELAY) {","type":"unstyled","key":"48k8g"},{"data":{},"depth":0,"entityRanges":[],"inlineStyleRanges":[],"text":"if (!currentState && !_flag) {","type":"unstyled","key":"71miu"},{"data":{},"depth":0,"entityRanges":[],"inlineStyleRanges":[],"text":"_flag = true;","type":"unstyled","key":"fiqqb"},{"data":{},"depth":0,"entityRanges":[],"inlineStyleRanges":[],"text":"result = true;","type":"unstyled","key":"dr62g"},{"data":{},"depth":0,"entityRanges":[],"inlineStyleRanges":[],"text":"}","type":"unstyled","key":"7anm2"},{"data":{},"depth":0,"entityRanges":[],"inlineStyleRanges":[],"text":"if (currentState && _flag) {","type":"unstyled","key":"2k7s9"},{"data":{},"depth":0,"entityRanges":[],"inlineStyleRanges":[],"text":"_flag = false;","type":"unstyled","key":"beui"},{"data":{},"depth":0,"entityRanges":[],"inlineStyleRanges":[],"text":"}","type":"unstyled","key":"b0ian"},{"data":{},"depth":0,"entityRanges":[],"inlineStyleRanges":[],"text":"}","type":"unstyled","key":"7232f"},{"data":{},"depth":0,"entityRanges":[],"inlineStyleRanges":[],"text":"_lastState = currentState;","type":"unstyled","key":"e72vo"},{"data":{},"depth":0,"entityRanges":[],"inlineStyleRanges":[],"text":"return result;","type":"unstyled","key":"eu99s"},{"data":{},"depth":0,"entityRanges":[],"inlineStyleRanges":[],"text":"}","type":"unstyled","key":"e920j"},{"data":{},"depth":0,"entityRanges":[],"inlineStyleRanges":[],"text":"bool isPressed() {","type":"unstyled","key":"6876a"},{"data":{},"depth":0,"entityRanges":[],"inlineStyleRanges":[],"text":"return (digitalRead(_pin) == LOW);","type":"unstyled","key":"867r6"},{"data":{},"depth":0,"entityRanges":[],"inlineStyleRanges":[],"text":"}","type":"unstyled","key":"b005i"},{"data":{},"depth":0,"entityRanges":[],"inlineStyleRanges":[],"text":"private:","type":"unstyled","key":"88ocb"},{"data":{},"depth":0,"entityRanges":[],"inlineStyleRanges":[],"text":"static const uint32_t DEBOUNCE_DELAY = 50;","type":"unstyled","key":"9rp2d"},{"data":{},"depth":0,"entityRanges":[],"inlineStyleRanges":[],"text":"byte _pin;","type":"unstyled","key":"dtv4t"},{"data":{},"depth":0,"entityRanges":[],"inlineStyleRanges":[],"text":"bool _lastState;","type":"unstyled","key":"ap02"},{"data":{},"depth":0,"entityRanges":[],"inlineStyleRanges":[],"text":"uint32_t _lastDebounceTime;","type":"unstyled","key":"2v235"},{"data":{},"depth":0,"entityRanges":[],"inlineStyleRanges":[],"text":"bool _flag;","type":"unstyled","key":"3ssgs"},{"data":{},"depth":0,"entityRanges":[],"inlineStyleRanges":[],"text":"};","type":"unstyled","key":"bc4i7"},{"data":{},"depth":0,"entityRanges":[],"inlineStyleRanges":[],"text":"#endif","type":"unstyled","key":"ntgh"},{"data":{},"depth":0,"entityRanges":[],"inlineStyleRanges":[],"text":"","type":"unstyled","key":"f2c0s"},{"data":{},"depth":0,"entityRanges":[],"inlineStyleRanges":[],"text":"Заключение","type":"header-three","key":"98iri"},{"data":{},"depth":0,"entityRanges":[],"inlineStyleRanges":[{"length":27,"offset":52,"style":"BOLD"}],"text":"Разработанный программный модуль представляет собой надёжную и гибкую платформу для удаленного управления дроновым оборудованием. Благодаря WebSocket-соединению обеспечивается высокая скорость отклика, а наличие телеметрии и визуальной индикации делает эксплуатацию безопасной и предсказуемой. Данный подход легко масштабируется и может быть адаптирован под различные типы дронов и задач.","type":"unstyled","key":"3df01"},{"data":{},"depth":0,"entityRanges":[],"inlineStyleRanges":[],"text":"","type":"marker","key":"KMmVVXNBjrfxul82VQ4e"}],"entityMap":{}},"mentions":[]}