448 lines
17 KiB
Python
448 lines
17 KiB
Python
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"""
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ARINC 424 航线格式解析器
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支持：
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- 标准 ARINC 424-18 固定宽度格式解析
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- 简化 CSV 格式（用于测试）
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- 路径终止符：IF / TF / CF / DF / RF / AF / HF
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"""
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import csv
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import io
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import math
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from typing import List, Optional, Dict
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from uas.route.base_waypoint import AirWaypoint
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DEG2RAD = math.pi / 180.0
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# ─────────────────────────────────────────────
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# ARINC 424 字段位置常量（Section Code 4.1）
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# ─────────────────────────────────────────────
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class ARINC424Fields:
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"""ARINC 424-18 固定宽度字段偏移（列索引，0-based）"""
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RECORD_TYPE = (0, 1) # 记录类型
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AREA_CODE = (1, 4) # 区域代码
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SEC_CODE = (4, 5) # 节代码
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SUB_CODE = (5, 6) # 子节代码
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AIRPORT_IDENT = (6, 10) # 机场标识
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ICAO_CODE = (10, 12) # ICAO 区域代码
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SID_STAR_IDENT = (13, 19) # SID/STAR/APPR 标识
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ROUTE_TYPE = (19, 20) # 航路类型
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TRANS_IDENT = (20, 25) # 过渡标识
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SEQ_NUMBER = (26, 29) # 序列号
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WP_IDENT = (29, 34) # 航路点标识
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WP_ICAO = (34, 36) # 航路点 ICAO
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WP_SEC_CODE = (36, 37) # 航路点节代码
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WP_SUB_CODE = (37, 38) # 航路点子节代码
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DESC_CODE = (39, 43) # 描述代码
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TURN_DIR = (43, 44) # 转弯方向 L/R
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RNP = (44, 47) # RNP 值
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PATH_TERM = (47, 49) # 路径终止符
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TDV = (49, 50) # 时间/距离/速度限制
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RECD_NAV = (50, 54) # 推荐导航台
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ARC_RADIUS = (56, 62) # 圆弧半径（RF 航段）
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THETA = (62, 66) # 磁方位角
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RHO = (66, 70) # 导航台距离
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OUTBOUND_MAG_CRS = (70, 74) # 出航磁航道
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ROUTE_HOLD_DIST = (74, 78) # 航路/等待距离/时间
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ALT_DESC = (82, 83) # 高度描述符
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ALT1 = (84, 89) # 高度 1
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ALT2 = (89, 94) # 高度 2
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TRANS_ALT = (94, 99) # 过渡高度
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SPEED_LIMIT_DESC = (99, 100) # 速度限制描述符
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SPEED_LIMIT = (100, 103) # 速度限制（节）
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VERT_ANGLE = (103, 107) # 垂直角
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CENTER_WP = (106, 111) # 圆弧中心航路点（RF）
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MULTI_CD = (115, 116) # 多码
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GPS_FMS_IND = (116, 117) # GPS/FMS 指示
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RT_TYPE = (117, 118) # 航路类型
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CYCLE_DATA = (118, 122) # 周期数据
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# ─────────────────────────────────────────────
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# 坐标解析工具
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# ─────────────────────────────────────────────
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def _parse_lat(s: str) -> float:
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"""
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解析 ARINC 424 纬度字段（9字符）
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格式：N/S + DDMMSS.S 或 DDMMSSH（H=半球）
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示例：N400447.0 → 40.0797°
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"""
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s = s.strip()
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if not s or len(s) < 8:
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return 0.0
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try:
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hemi = s[0].upper()
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deg = int(s[1:3])
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mn = int(s[3:5])
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sec = float(s[5:])
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val = deg + mn / 60.0 + sec / 3600.0
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return -val if hemi == 'S' else val
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except (ValueError, IndexError):
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return 0.0
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def _parse_lon(s: str) -> float:
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"""
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解析 ARINC 424 经度字段（10字符）
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格式：E/W + DDDMMSS.S
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示例：E1163612.0 → 116.6033°
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"""
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s = s.strip()
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if not s or len(s) < 9:
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return 0.0
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try:
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hemi = s[0].upper()
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deg = int(s[1:4])
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mn = int(s[4:6])
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sec = float(s[6:])
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val = deg + mn / 60.0 + sec / 3600.0
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return -val if hemi == 'W' else val
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except (ValueError, IndexError):
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return 0.0
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def _parse_altitude(s: str) -> float:
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"""解析高度字段（英尺 → 米）"""
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s = s.strip()
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if not s:
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return 0.0
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try:
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# FL（飞行高度层）格式：FL350 = 35000 英尺
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if s.startswith('FL'):
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ft = float(s[2:]) * 100
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else:
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ft = float(s)
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return ft * 0.3048 # 英尺 → 米
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except ValueError:
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return 0.0
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def _parse_speed_kt(s: str) -> float:
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"""解析速度字段（节 → m/s）"""
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s = s.strip()
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if not s:
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return 0.0
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try:
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return float(s) * 0.514444 # 节 → m/s
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except ValueError:
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return 0.0
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# ─────────────────────────────────────────────
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# ARINC 424 解析器
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# ─────────────────────────────────────────────
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class ARINC424Parser:
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"""
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ARINC 424 格式解析器
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支持两种输入：
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1. 标准 ARINC 424 固定宽度文本（132字符/行）
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2. 简化 CSV 格式（用于测试和手动输入）
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CSV 格式列定义：
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identifier, lat, lon, altitude_ft, speed_kt,
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path_terminator, alt_constraint, speed_limit_kt,
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turn_direction, arc_radius_nm, fly_over
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"""
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# 路径终止符说明
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PATH_TERMINATORS = {
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"IF": "Initial Fix - 起始定位点",
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"TF": "Track to Fix - 飞向定位点",
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"CF": "Course to Fix - 指定航道飞向定位点",
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"DF": "Direct to Fix - 直飞定位点",
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"RF": "Radius to Fix - 圆弧飞向定位点",
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"AF": "Arc to Fix - DME 圆弧飞向定位点",
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"HF": "Hold to Fix - 等待后飞向定位点",
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"HM": "Hold to Manual - 等待至人工终止",
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"HA": "Hold to Altitude - 等待至高度",
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"CA": "Course to Altitude - 指定航道飞至高度",
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"CD": "Course to DME - 指定航道飞至DME距离",
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"CI": "Course to Intercept - 指定航道截获",
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"CR": "Course to Radial - 指定航道截获径向线",
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"FA": "Fix to Altitude - 从定位点飞至高度",
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"FC": "Fix to Distance - 从定位点飞至距离",
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"FD": "Fix to DME Distance - 从定位点飞至DME距离",
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"FM": "Fix to Manual - 从定位点飞至人工终止",
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"PI": "Procedure Turn - 程序转弯",
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"VA": "Heading to Altitude - 指定航向飞至高度",
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"VD": "Heading to DME - 指定航向飞至DME距离",
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"VI": "Heading to Intercept - 指定航向截获",
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"VM": "Heading to Manual - 指定航向飞至人工终止",
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"VR": "Heading to Radial - 指定航向截获径向线",
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}
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def __init__(self, default_speed_ms: float = 200.0,
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default_altitude_m: float = 8000.0):
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self.default_speed = default_speed_ms
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self.default_altitude = default_altitude_m
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# 航路点数据库（标识符 → 坐标）
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self._wp_database: Dict[str, tuple] = {}
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def load_waypoint_database(self, db: Dict[str, tuple]):
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"""
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加载航路点坐标数据库
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db 格式：{"ZBAA": (40.0799, 116.6031), ...}
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"""
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self._wp_database.update(db)
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# ── ARINC 424 固定宽度格式解析 ──────────────
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def parse_arinc424(self, text: str) -> List[AirWaypoint]:
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"""
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解析标准 ARINC 424 固定宽度文本
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Args:
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text: ARINC 424 格式文本（每行 132 字符）
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Returns:
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航路点列表
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"""
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waypoints = []
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for line_no, line in enumerate(text.splitlines(), 1):
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# 跳过空行和注释行
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if not line.strip() or line.startswith('#'):
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continue
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# 补齐到 132 字符
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line = line.ljust(132)
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try:
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wp = self._parse_arinc424_line(line)
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if wp:
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waypoints.append(wp)
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except Exception as e:
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print(f" [警告] 第 {line_no} 行解析失败: {e}")
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return waypoints
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def _parse_arinc424_line(self, line: str) -> Optional[AirWaypoint]:
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"""解析单行 ARINC 424 记录"""
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def field(f): return line[f[0]:f[1]].strip()
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# 仅处理程序记录（节代码 P=机场，D=SID，E=STAR，F=进近）
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sec_code = field(ARINC424Fields.SEC_CODE)
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if sec_code not in ('P', 'D', 'E', 'F', 'R'):
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return None
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wp_ident = field(ARINC424Fields.WP_IDENT)
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if not wp_ident:
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return None
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path_term = field(ARINC424Fields.PATH_TERM)
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turn_dir = field(ARINC424Fields.TURN_DIR)
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alt_desc = field(ARINC424Fields.ALT_DESC)
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alt1_str = field(ARINC424Fields.ALT1)
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alt2_str = field(ARINC424Fields.ALT2)
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spd_str = field(ARINC424Fields.SPEED_LIMIT)
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arc_str = field(ARINC424Fields.ARC_RADIUS)
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crs_str = field(ARINC424Fields.OUTBOUND_MAG_CRS)
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# 坐标：优先从数据库查找，否则尝试解析行内坐标
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lat, lon = self._lookup_or_parse_coords(wp_ident, line)
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# 高度解析
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alt = _parse_altitude(alt1_str) if alt1_str else self.default_altitude
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alt_constraint = None
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if alt_desc == '@': alt_constraint = "AT"
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elif alt_desc == '+': alt_constraint = "AT_OR_ABOVE"
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elif alt_desc == '-': alt_constraint = "AT_OR_BELOW"
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elif alt_desc == 'B': alt_constraint = "BETWEEN"
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# 速度解析
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speed_limit = _parse_speed_kt(spd_str) if spd_str else None
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speed = speed_limit if speed_limit else self.default_speed
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# 圆弧半径（RF 航段，单位：海里 → 米）
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arc_radius = 0.0
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if arc_str:
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try:
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arc_radius = float(arc_str) * 1852.0 # NM → m
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except ValueError:
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pass
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# 指定航道
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course = None
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if crs_str:
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try:
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course = float(crs_str) / 10.0 # ARINC 424 精度 0.1°
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except ValueError:
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pass
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# Fly-over 判断（描述代码第4位 'Y'）
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desc_code = line[ARINC424Fields.DESC_CODE[0]:ARINC424Fields.DESC_CODE[1]]
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fly_over = len(desc_code) >= 4 and desc_code[3] == 'Y'
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return AirWaypoint(
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identifier=wp_ident,
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latitude=lat,
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longitude=lon,
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altitude=alt,
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speed=speed,
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path_terminator=path_term if path_term else "TF",
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alt_constraint=alt_constraint,
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alt_value=_parse_altitude(alt1_str) if alt1_str else None,
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speed_limit=speed_limit,
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turn_radius=arc_radius,
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fly_over=fly_over,
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course_angle=course,
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)
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def _lookup_or_parse_coords(self, ident: str, line: str
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) -> tuple:
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"""从数据库或行内解析坐标"""
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if ident in self._wp_database:
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return self._wp_database[ident]
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# 尝试从行内解析（如果有坐标字段）
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# ARINC 424 标准中坐标在 32-41 列（纬度）和 41-51 列（经度）
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try:
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lat_str = line[32:41].strip()
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lon_str = line[41:51].strip()
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if lat_str and lon_str:
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return _parse_lat(lat_str), _parse_lon(lon_str)
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except IndexError:
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pass
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return 0.0, 0.0
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# ── CSV 简化格式解析 ─────────────────────────
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def parse_csv(self, csv_text: str) -> List[AirWaypoint]:
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"""
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解析简化 CSV 格式航线
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|
|
CSV 列（含表头）：
|
|||
|
|
identifier, lat, lon, altitude_ft, speed_kt,
|
|||
|
|
path_terminator, alt_constraint, speed_limit_kt,
|
|||
|
|
turn_direction, arc_radius_nm, fly_over
|
|||
|
|
|
|||
|
|
示例：
|
|||
|
|
identifier,lat,lon,altitude_ft,speed_kt,path_terminator,...
|
|||
|
|
ZBAA,40.0799,116.6031,1640,156,IF,,,,,False
|
|||
|
|
WP001,39.5,117.5,26247,428,TF,AT_OR_ABOVE,250,,, False
|
|||
|
|
"""
|
|||
|
|
waypoints = []
|
|||
|
|
reader = csv.DictReader(io.StringIO(csv_text.strip()))
|
|||
|
|
|
|||
|
|
for row in reader:
|
|||
|
|
try:
|
|||
|
|
wp = self._parse_csv_row(row)
|
|||
|
|
if wp:
|
|||
|
|
waypoints.append(wp)
|
|||
|
|
except Exception as e:
|
|||
|
|
print(f" [警告] CSV 行解析失败 ({row.get('identifier','?')}): {e}")
|
|||
|
|
|
|||
|
|
return waypoints
|
|||
|
|
|
|||
|
|
def _parse_csv_row(self, row: dict) -> Optional[AirWaypoint]:
|
|||
|
|
"""解析单行 CSV 记录"""
|
|||
|
|
def get(key, default=""): return row.get(key, default).strip()
|
|||
|
|
|
|||
|
|
ident = get('identifier')
|
|||
|
|
if not ident:
|
|||
|
|
return None
|
|||
|
|
|
|||
|
|
lat = float(get('lat', '0'))
|
|||
|
|
lon = float(get('lon', '0'))
|
|||
|
|
|
|||
|
|
# 高度（英尺 → 米）
|
|||
|
|
alt_ft_str = get('altitude_ft', '0')
|
|||
|
|
alt = float(alt_ft_str) * 0.3048 if alt_ft_str else self.default_altitude
|
|||
|
|
|
|||
|
|
# 速度（节 → m/s）
|
|||
|
|
spd_kt_str = get('speed_kt', '0')
|
|||
|
|
speed = float(spd_kt_str) * 0.514444 if spd_kt_str else self.default_speed
|
|||
|
|
|
|||
|
|
# 速度限制
|
|||
|
|
sl_str = get('speed_limit_kt', '')
|
|||
|
|
speed_limit = float(sl_str) * 0.514444 if sl_str else None
|
|||
|
|
|
|||
|
|
# 圆弧半径（海里 → 米）
|
|||
|
|
arc_str = get('arc_radius_nm', '')
|
|||
|
|
arc_radius = float(arc_str) * 1852.0 if arc_str else 0.0
|
|||
|
|
|
|||
|
|
fly_over_str = get('fly_over', 'False').lower()
|
|||
|
|
fly_over = fly_over_str in ('true', '1', 'yes')
|
|||
|
|
|
|||
|
|
return AirWaypoint(
|
|||
|
|
identifier=ident,
|
|||
|
|
latitude=lat,
|
|||
|
|
longitude=lon,
|
|||
|
|
altitude=alt,
|
|||
|
|
speed=speed,
|
|||
|
|
name=get('name', ident),
|
|||
|
|
path_terminator=get('path_terminator', 'TF'),
|
|||
|
|
alt_constraint=get('alt_constraint') or None,
|
|||
|
|
alt_value=alt if get('alt_constraint') else None,
|
|||
|
|
speed_limit=speed_limit,
|
|||
|
|
turn_radius=arc_radius,
|
|||
|
|
fly_over=fly_over,
|
|||
|
|
)
|
|||
|
|
|
|||
|
|
# ── 导出 ─────────────────────────────────────
|
|||
|
|
def export_csv(self, waypoints: List[AirWaypoint]) -> str:
|
|||
|
|
"""将航路点列表导出为 CSV 格式"""
|
|||
|
|
lines = ["identifier,lat,lon,altitude_ft,speed_kt,"
|
|||
|
|
"path_terminator,alt_constraint,speed_limit_kt,"
|
|||
|
|
"arc_radius_nm,fly_over"]
|
|||
|
|
for wp in waypoints:
|
|||
|
|
alt_ft = wp.altitude / 0.3048
|
|||
|
|
spd_kt = wp.speed / 0.514444
|
|||
|
|
sl_kt = f"{wp.speed_limit/0.514444:.1f}" if wp.speed_limit else ""
|
|||
|
|
arc_nm = f"{wp.turn_radius/1852.0:.3f}" if wp.turn_radius > 0 else ""
|
|||
|
|
lines.append(
|
|||
|
|
f"{wp.identifier},{wp.latitude:.6f},{wp.longitude:.6f},"
|
|||
|
|
f"{alt_ft:.0f},{spd_kt:.1f},{wp.path_terminator},"
|
|||
|
|
f"{wp.alt_constraint or ''},{sl_kt},{arc_nm},{wp.fly_over}"
|
|||
|
|
)
|
|||
|
|
return "\n".join(lines)
|
|||
|
|
|
|||
|
|
def export_arinc424(self, waypoints: List[AirWaypoint],
|
|||
|
|
airport_ident: str = "ZBAA",
|
|||
|
|
procedure_ident: str = "TESTRT") -> str:
|
|||
|
|
"""
|
|||
|
|
将航路点列表导出为简化 ARINC 424 格式文本
|
|||
|
|
（用于系统间数据交换）
|
|||
|
|
"""
|
|||
|
|
lines = []
|
|||
|
|
for i, wp in enumerate(waypoints):
|
|||
|
|
seq = (i + 1) * 10
|
|||
|
|
alt_ft = int(wp.altitude / 0.3048)
|
|||
|
|
spd_kt = int(wp.speed / 0.514444)
|
|||
|
|
|
|||
|
|
# 高度描述符
|
|||
|
|
alt_desc = ' '
|
|||
|
|
if wp.alt_constraint == "AT": alt_desc = '@'
|
|||
|
|
elif wp.alt_constraint == "AT_OR_ABOVE": alt_desc = '+'
|
|||
|
|
elif wp.alt_constraint == "AT_OR_BELOW": alt_desc = '-'
|
|||
|
|
|
|||
|
|
# 构造 132 字符记录（简化版）
|
|||
|
|
line = (
|
|||
|
|
f"S" # 1: 记录类型
|
|||
|
|
f"PENA" # 2-5: 区域代码
|
|||
|
|
f"P " # 5-7: 节/子节代码
|
|||
|
|
f"{airport_ident:<4s}" # 7-11: 机场标识
|
|||
|
|
f"K9" # 11-13: ICAO
|
|||
|
|
f" " # 13: 空
|
|||
|
|
f"{procedure_ident:<6s}" # 14-20: 程序标识
|
|||
|
|
f"1" # 20: 航路类型
|
|||
|
|
f" " # 21-26: 过渡标识
|
|||
|
|
f"{seq:03d}" # 26-29: 序列号
|
|||
|
|
f"{wp.identifier:<5s}" # 29-34: 航路点标识
|
|||
|
|
f"K9" # 34-36: ICAO
|
|||
|
|
f"W " # 36-38: 节/子节
|
|||
|
|
f" " # 38: 空
|
|||
|
|
f" " # 39-43: 描述代码
|
|||
|
|
f" " # 43: 转弯方向
|
|||
|
|
f" " # 44-47: RNP
|
|||
|
|
f"{wp.path_terminator:<2s}" # 47-49: 路径终止符
|
|||
|
|
f" " # 50-83: 填充
|
|||
|
|
f"{alt_desc}" # 83: 高度描述符
|
|||
|
|
f"{alt_ft:05d}" # 84-89: 高度1
|
|||
|
|
f" " # 89-94: 高度2
|
|||
|
|
f" " # 94-99: 过渡高度
|
|||
|
|
f" " # 99: 速度限制描述
|
|||
|
|
f"{spd_kt:03d}" # 100-103: 速度限制
|
|||
|
|
f" " * 29 # 103-132: 填充
|
|||
|
|
)
|
|||
|
|
lines.append(line[:132])
|
|||
|
|
|
|||
|
|
return "\n".join(lines)
|