From babae2b754f14cbed30482a9ce2244a2bf559dbc Mon Sep 17 00:00:00 2001
From: liujiahua <pzhy521@163.com>
Date: Sun, 1 Mar 2026 17:15:10 +0800
Subject: [PATCH] =?UTF-8?q?=E4=B8=8A=E4=BC=A0=E6=96=87=E4=BB=B6=E8=87=B3?=
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---
 rid_sim_windows.py | 1114 ++++++++++++++++++++++++++++++++++++++++++++
 1 file changed, 1114 insertions(+)
 create mode 100644 rid_sim_windows.py

diff --git a/rid_sim_windows.py b/rid_sim_windows.py
new file mode 100644
index 0000000..4efe7e7
--- /dev/null
+++ b/rid_sim_windows.py
@@ -0,0 +1,1114 @@
+"""
+RID BLE 仿真程序 - Windows 11
+基于 ASTM F3411-22a / GB 42590-2023 协议
+通过本机蓝牙以 BLE 5.0 扩展广播发送 RID 数据
+
+依赖：
+    pip install winsdk
+
+运行要求：
+    - Windows 11 / Windows 10 (版本 1903+)
+    - 支持 BLE 5.0 的蓝牙适配器
+    - 在 Windows 设置 > 隐私与安全性 > 位置 中为应用开启位置权限
+    - 以管理员权限运行（部分机器需要）
+
+位置来源（按优先级）：
+    1. Windows 位置服务（GPS/WiFi/IP 融合定位）
+    2. 上次已知位置缓存
+    3. 默认坐标（北京，仅在完全无法定位时使用）
+
+时间来源：
+    - 位置向量时间戳：UTC 系统时钟，当前小时内 1/10 秒计数
+    - 系统报文时间戳：Unix UTC，基准 2019-01-01 00:00:00
+"""
+
+import struct
+import asyncio
+import time
+import sys
+import math
+import argparse
+from dataclasses import dataclass, field
+from typing import Optional
+
+# ──────────────────────────────────────────────────────────
+# 1. RID 数据结构定义
+# ──────────────────────────────────────────────────────────
+
+@dataclass
+class RIDBasicPacket:
+    """基本ID报文 (Message Type 0x0)"""
+    ua_type: int = 2        # UA类型: 0=未声明,1=固定翼,2=旋翼,3=直升机,4=混合升力,5=多旋翼
+    id_type: int = 4        # ID类型: 0=无,1=序列号,2=CAA,3=UTM委派,4=特定会话ID(字符串)
+    uasid: str = ""         # 产品唯一识别码（最多20字节ASCII）
+    reserved: bytes = field(default_factory=lambda: bytes(3))
+
+
+@dataclass
+class RIDPosVecPacket:
+    """位置向量报文 (Message Type 0x1)"""
+    operational_status: int = 0  # 运行状态: 0=未初始化,1=地面待机,2=空中飞行,3=紧急
+    altitude_type: int = 0       # 高度类型: 0=气压高度,1=几何高度
+    track_angle_ew: int = 0      # 航迹角EW方向: 0=东,1=西
+    speed_multiplier: int = 0    # 速度乘数: 0=×0.25m/s,1=×0.75m/s
+    track_angle: int = 0         # 航迹角 0~179，配合EW标志
+    ground_speed: int = 0        # 地速 (Raw，×0.25 m/s)
+    vertical_speed: int = 0      # 垂直速度（int8，+上升/-下降，×0.5 m/s）
+    latitude: int = 0            # 纬度 (1e-7 度, int32 小端)
+    longitude: int = 0           # 经度 (1e-7 度, int32 小端)
+    pressure_altitude: int = 0   # 气压高度 (int16 小端)
+    geometric_altitude: int = 0  # 几何高度 (int16 小端)
+    altitude_agl: int = 0        # 距地高度 (int16 小端)
+    horiz_accuracy: int = 0      # 水平精度 (4bit)
+    vert_accuracy: int = 0       # 垂直精度 (4bit)
+    speed_acc: int = 0           # 速度精度 (4bit)
+    timestamp: int = 0           # 时间戳 (当前小时内1/10秒数, uint16)
+    timestamp_acc: int = 0       # 时间戳精度 (4bit)
+    reserved: int = 0
+
+
+@dataclass
+class RIDRDPacket:
+    """运行描述报文 (Message Type 0x3)"""
+    description_type: int = 0   # 描述类型: 0=文字描述
+    description: str = ""       # 描述内容（最多23字节ASCII）
+
+
+@dataclass
+class RIDSYSPacket:
+    """系统报文 (Message Type 0x4)"""
+    cs_pos_type: int = 1        # 控制站位置类型: 0=未知,1=实时,2=起飞点,3=固定
+    region_code: int = 2        # 区域: 0=未定义,2=中国
+    coord_type: int = 0         # 坐标系: 0=WGS84,1=其他
+    cs_latitude: int = 0        # 控制站纬度 (1e-7 度, int32)
+    cs_longitude: int = 0       # 控制站经度 (1e-7 度, int32)
+    area_count: int = 0         # 运行区域计数 (uint16)
+    area_radius: int = 0        # 运行区域半径 (×10 m)
+    area_alt_upper: int = 0     # 运行区域高度上限 (int16)
+    area_alt_lower: int = 0     # 运行区域高度下限 (int16)
+    ua_run_category: int = 1    # 运行类别: 0=未定义,1=开放,2=特许,3=审定
+    ua_run_level: int = 0       # UA等级: 0=微型,1=轻型,2=小型,3=其他RID
+    cs_altitude: int = 0        # 控制站高度 (int16)
+    timestamp: int = 0          # 时间戳 (Unix - 2019-01-01, 秒)
+    reserved: int = 0
+
+
+# ──────────────────────────────────────────────────────────
+# 2. RID 序列化函数（完全对应 C 代码逻辑）
+# ──────────────────────────────────────────────────────────
+
+def rid_basic_serialize(packet: RIDBasicPacket) -> bytes:
+    """基本ID报文序列化 → 25字节，对应 RIDBasicSerialize()"""
+    buf = bytearray(25)
+    buf[0] = 0x01  # 报头：类型0x0 | 版本0x1
+    # Bit[7:4]=ID类型, Bit[3:0]=UA类型
+    buf[1] = ((packet.id_type & 0xF) << 4) | (packet.ua_type & 0xF)
+    # UASID：ASCII编码，不足20字节补零，超出截断
+    uasid_bytes = packet.uasid.encode('ascii', errors='replace')[:20]
+    for i, b in enumerate(uasid_bytes):
+        buf[2 + i] = b
+    # reserved[3] = 0（已初始化为0）
+    return bytes(buf)
+
+
+def rid_posvec_serialize(packet: RIDPosVecPacket) -> bytes:
+    """位置向量报文序列化 → 25字节，对应 RIDPosVecSerialize()"""
+    buf = bytearray(25)
+    buf[0] = 0x11  # 报头：类型0x1 | 版本0x1
+    # Flag byte: Bit[0]=SpeedMultiplier, Bit[1]=TrackAngleEW, Bit[2]=AltitudeType, Bit[3]=Rsvd, Bit[7:4]=OperationalStatus
+    flag = (packet.speed_multiplier & 1) | \
+           ((packet.track_angle_ew & 1) << 1) | \
+           ((packet.altitude_type & 1) << 2) | \
+           ((packet.operational_status & 0xF) << 4)
+    buf[1] = flag
+    buf[2] = packet.track_angle & 0xFF
+    buf[3] = packet.ground_speed & 0xFF
+    # VerticalSpeed: int8，用struct pack
+    buf[4] = struct.pack('b', max(-128, min(127, packet.vertical_speed)))[0]
+    # Latitude: int32 小端
+    lat_bytes = struct.pack('<i', packet.latitude)
+    for i in range(4):
+        buf[5 + i] = lat_bytes[i]
+    # Longitude: int32 小端
+    lon_bytes = struct.pack('<i', packet.longitude)
+    for i in range(4):
+        buf[9 + i] = lon_bytes[i]
+    # PressureAltitude: int16 小端
+    pa_bytes = struct.pack('<h', packet.pressure_altitude)
+    buf[13] = pa_bytes[0]
+    buf[14] = pa_bytes[1]
+    # GeometricAltitude: int16 小端
+    ga_bytes = struct.pack('<h', packet.geometric_altitude)
+    buf[15] = ga_bytes[0]
+    buf[16] = ga_bytes[1]
+    # AltitudeAGL: int16 小端
+    agl_bytes = struct.pack('<h', packet.altitude_agl)
+    buf[17] = agl_bytes[0]
+    buf[18] = agl_bytes[1]
+    # Accuracy: Bit[3:0]=HorizAcc, Bit[7:4]=VertAcc
+    buf[19] = ((packet.vert_accuracy & 0xF) << 4) | (packet.horiz_accuracy & 0xF)
+    # SpeedAccuracy: Bit[3:0]=SpeedAcc
+    buf[20] = packet.speed_acc & 0xF
+    # Timestamp: uint16 小端
+    ts_bytes = struct.pack('<H', packet.timestamp & 0xFFFF)
+    buf[21] = ts_bytes[0]
+    buf[22] = ts_bytes[1]
+    # TimestampAccuracy: Bit[3:0]
+    buf[23] = packet.timestamp_acc & 0xF
+    # reserved
+    buf[24] = packet.reserved & 0xFF
+    return bytes(buf)
+
+
+def rid_rd_serialize(packet: RIDRDPacket) -> bytes:
+    """运行描述报文序列化 → 25字节，对应 RIDRDSerialize()"""
+    buf = bytearray(25)
+    buf[0] = 0x31  # 报头：类型0x3 | 版本0x1
+    buf[1] = packet.description_type & 0xFF
+    desc_bytes = packet.description.encode('ascii', errors='replace')[:23]
+    for i, b in enumerate(desc_bytes):
+        buf[2 + i] = b
+    return bytes(buf)
+
+
+def rid_sys_serialize(packet: RIDSYSPacket) -> bytes:
+    """系统报文序列化 → 25字节，对应 RIDSYSSerialize()"""
+    buf = bytearray(25)
+    buf[0] = 0x41  # 报头：类型0x4 | 版本0x1
+    # Tag: Bit[1:0]=CSPosType, Bit[4:2]=RegionCode, Bit[6:5]=CoordType, Bit[7]=Rsvd
+    tag = (packet.cs_pos_type & 0x3) | \
+          ((packet.region_code & 0x7) << 2) | \
+          ((packet.coord_type & 0x3) << 5)
+    buf[1] = tag
+    # ControlStationLatitude: int32 小端
+    cs_lat = struct.pack('<i', packet.cs_latitude)
+    for i in range(4):
+        buf[2 + i] = cs_lat[i]
+    # ControlStationLongitude: int32 小端
+    cs_lon = struct.pack('<i', packet.cs_longitude)
+    for i in range(4):
+        buf[6 + i] = cs_lon[i]
+    # AreaCount: uint16 小端
+    ac_bytes = struct.pack('<H', packet.area_count & 0xFFFF)
+    buf[10] = ac_bytes[0]
+    buf[11] = ac_bytes[1]
+    # AreaRadius
+    buf[12] = packet.area_radius & 0xFF
+    # AreaAltitudeUpper: int16 小端
+    au_bytes = struct.pack('<h', packet.area_alt_upper)
+    buf[13] = au_bytes[0]
+    buf[14] = au_bytes[1]
+    # AreaAltitudeLower: int16 小端
+    al_bytes = struct.pack('<h', packet.area_alt_lower)
+    buf[15] = al_bytes[0]
+    buf[16] = al_bytes[1]
+    # UARunCategory_Level: Bit[3:0]=Level, Bit[7:4]=Category
+    buf[17] = ((packet.ua_run_category & 0xF) << 4) | (packet.ua_run_level & 0xF)
+    # ControlStationAltitude: int16 小端
+    csa_bytes = struct.pack('<h', packet.cs_altitude)
+    buf[18] = csa_bytes[0]
+    buf[19] = csa_bytes[1]
+    # Timestamp: uint32 小端
+    ts_bytes = struct.pack('<I', packet.timestamp & 0xFFFFFFFF)
+    for i in range(4):
+        buf[20 + i] = ts_bytes[i]
+    # reserved
+    buf[24] = packet.reserved & 0xFF
+    return bytes(buf)
+
+
+def rid_payload_serialize(subpackets: list[bytes]) -> bytes:
+    """
+    将子报文列表打包为完整 RID Payload。
+    返回最终序列化字节串，对应 RIDPayloadSerialize() + RIDPacket()
+    """
+    count = len(subpackets)
+    assert 1 <= count <= 10, "子报文数量须在 1~10 之间"
+    header = 0xF1      # 类型0xF | 版本0x1
+    sub_len = 0x19     # 25字节固定长度
+    result = bytearray([header, sub_len, count])
+    for pkt in subpackets:
+        assert len(pkt) == 25, "每个子报文必须恰好25字节"
+        result.extend(pkt)
+    return bytes(result)
+
+
+# 全局消息计数器（用于 build_ble_ad_data 诊断输出）
+_diag_msg_counter = 0
+
+def build_ble_ad_data(rid_payload: bytes) -> bytes:
+    """
+    将 RID Payload 打包为 BLE AD Data 结构（仅用于诊断/hex dump 显示）。
+    格式: [AD Length][AD Type=0x16][UUID=0xFFFA LE][AppCode=0x0D][Counter][RID Payload]
+    符合 ASTM F3411-22a BLE 传输层规范。
+    """
+    global _diag_msg_counter
+    uuid_lsb = 0xFA
+    uuid_msb = 0xFF
+    counter = _diag_msg_counter & 0xFF
+    _diag_msg_counter = (_diag_msg_counter + 1) & 0xFF
+    ad_content = bytes([0x16, uuid_lsb, uuid_msb, 0x0D, counter]) + rid_payload
+    ad_length = len(ad_content)
+    return bytes([ad_length]) + ad_content
+
+
+def build_wifi_beacon_vendor_ie(rid_payload: bytes) -> bytes:
+    """
+    将 RID Payload 打包为 Wi-Fi Beacon 帧的 Vendor Specific IE (Element ID: 221)。
+    符合 ASTM F3411-22a Wi-Fi 传输层规范: ASD-STAN OUI (FA:0B:BC), Type 0x0D。
+    注意: 原生 Windows API 无法直接发送底层 Wi-Fi Beacon 帧（通常需监视模式网卡+Npcap等底层驱动支持）。
+    此处实现用于模拟组包过程，打印其 Hex 并在后续移植到其他平台（如 Linux/C/Scapy）时参考。
+    """
+    global _diag_msg_counter
+    counter = _diag_msg_counter & 0xFF
+    # Element ID: 221 (0xDD)
+    # Length: 从 OUI 计算起，长为 5 字节(OUI 3字节 + Type 1字节 + Counter 1字节) + Payload 长度
+    length = 5 + len(rid_payload)
+    ie = bytearray([0xDD, length, 0xFA, 0x0B, 0xBC, 0x0D, counter])
+    ie.extend(rid_payload)
+    return bytes(ie)
+
+
+def rid_packet_full(basic: RIDBasicPacket,
+                    pos_vec: RIDPosVecPacket,
+                    rd: RIDRDPacket,
+                    sys: RIDSYSPacket) -> bytes:
+    """完整打包：Basic + PosVec + RD + SYS，对应 RIDPacket()"""
+    subpackets = [
+        rid_basic_serialize(basic),
+        rid_posvec_serialize(pos_vec),
+        rid_rd_serialize(rd),
+        rid_sys_serialize(sys),
+    ]
+    return rid_payload_serialize(subpackets)
+
+
+def rid_packet_nano(basic: RIDBasicPacket,
+                    pos_vec: RIDPosVecPacket,
+                    sys: RIDSYSPacket) -> bytes:
+    """最小包：Basic + PosVec + SYS，对应 RIDPacketNano()"""
+    subpackets = [
+        rid_basic_serialize(basic),
+        rid_posvec_serialize(pos_vec),
+        rid_sys_serialize(sys),
+    ]
+    return rid_payload_serialize(subpackets)
+
+
+# ──────────────────────────────────────────────────────────
+# 3. Windows BLE 广播模块
+# ──────────────────────────────────────────────────────────
+
+def _check_winsdk():
+    """检查 winsdk 是否可用"""
+    try:
+        import winsdk  # noqa: F401
+        return True
+    except ImportError:
+        return False
+
+
+# ──────────────────────────────────────────────────────────
+# 3a. Windows 本机定位提供器
+# ──────────────────────────────────────────────────────────
+
+class WindowsLocationProvider:
+    """
+    通过 Windows Runtime Geolocation API 获取本机位置。
+    支持 GPS / WiFi / 移动网络 / IP 融合定位。
+    需要在 Windows 设置 > 隐私与安全性 > 位置 中开启位置权限。
+    """
+
+    # 默认回退坐标（北京）
+    FALLBACK_LAT = 39.9042
+    FALLBACK_LON = 116.4074
+
+    def __init__(self):
+        self._last_lat: Optional[float] = None
+        self._last_lon: Optional[float] = None
+        self._last_alt: float = 0.0
+        self._last_accuracy: float = 9999.0
+        self._access_granted: bool = False
+        self._locator = None
+        self._available: bool = False
+        self._import_api()
+
+    def _import_api(self):
+        try:
+            from winsdk.windows.devices.geolocation import (
+                Geolocator,
+                GeolocationAccessStatus,
+                PositionAccuracy,
+            )
+            self._Geolocator = Geolocator
+            self._AccessStatus = GeolocationAccessStatus
+            self._PositionAccuracy = PositionAccuracy
+            self._available = True
+        except ImportError as e:
+            print(f"[位置] Geolocation API 不可用: {e}")
+            self._available = False
+
+    async def request_access_async(self) -> bool:
+        """请求位置访问权限，需要在首次调用时执行一次"""
+        if not self._available:
+            return False
+        try:
+            access = await self._Geolocator.request_access_async()
+            self._access_granted = (access == self._AccessStatus.ALLOWED)
+            if self._access_granted:
+                self._locator = self._Geolocator()
+                self._locator.desired_accuracy = self._PositionAccuracy.HIGH
+                print("[位置] 位置权限已授予，定位精度: HIGH")
+            else:
+                print(f"[位置] 位置权限被拒绝 (状态={access})")
+                print("[位置] 请前往: 设置 > 隐私与安全性 > 位置，开启位置访问权限")
+            return self._access_granted
+        except Exception as e:
+            print(f"[位置] 请求权限失败: {e}")
+            return False
+
+    async def get_position_async(self) -> Optional[tuple]:
+        """
+        异步获取当前位置。
+        返回: (lat_deg, lon_deg, alt_m, accuracy_m) 或 None（失败时）
+        """
+        if not self._available or not self._access_granted or self._locator is None:
+            return None
+        try:
+            pos = await self._locator.get_geoposition_async()
+            coord = pos.coordinate
+            lat = float(coord.latitude)
+            lon = float(coord.longitude)
+            # altitude 在部分设备上可能为 None
+            alt = float(coord.altitude) if coord.altitude is not None else 0.0
+            # accuracy 为圆形误差（米）
+            accuracy = float(coord.accuracy) if coord.accuracy is not None else 9999.0
+            self._last_lat = lat
+            self._last_lon = lon
+            self._last_alt = alt
+            self._last_accuracy = accuracy
+            return (lat, lon, alt, accuracy)
+        except Exception as e:
+            print(f"[位置] 获取位置失败: {e}")
+            return None
+
+    @property
+    def last_position(self) -> Optional[tuple]:
+        """上次成功获取的位置 (lat, lon, alt, accuracy)，无记录时返回 None"""
+        if self._last_lat is None:
+            return None
+        return (self._last_lat, self._last_lon, self._last_alt, self._last_accuracy)
+
+    @property
+    def has_fix(self) -> bool:
+        """是否已有定位结果"""
+        return self._last_lat is not None
+
+
+class WindowsBLEAdvertiser:
+    """
+    使用 Windows Runtime API 进行 BLE 广播。
+
+    工作模式（按优先级自动选择）：
+      1. 扩展广播（BLE 5.0）—— 单帧发送完整 RID Payload（需硬件支持）
+      2. Legacy 单子帧轮播 —— 每次发送 1 条 25 字节子报文，由调用方周期轮换
+
+    MAC 地址稳定策略：
+      - Windows 10/11 的 BLE 广播 API 默认使用 RPA (Resolvable Private Address)，
+        且每次 start() 都会生成新的随机 MAC。
+      - 即使设置 is_anonymous = False，Windows 仍可能出于隐私保护强制轮换 MAC。
+      - 唯一能保持 MAC 绝对不变的方法是：**永远不调用 stop()，也不创建新 Publisher**。
+      - 既然 in-place 更新 DataSections 无效，我们改用 **ManufacturerData** 或 **动态更新 Payload** 的方式，
+        但 WinRT API 限制极严。
+      - 最终妥协方案：在 RID 协议中，接收端**不应该依赖 MAC 地址**来关联无人机，
+        而应该依赖 **UASID (Basic ID 报文)**。只要 UASID 相同，接收端就应视为同一架无人机。
+      - 为了尽量减少 MAC 变化频率，我们降低更新频率，或者接受 MAC 变化的事实。
+    """
+
+    def __init__(self):
+        self._publisher = None   # BluetoothLEAdvertisementPublisher
+        self._adv = None         # BluetoothLEAdvertisement
+        self._started = False
+        self._ext_supported = False
+        self._ext_ok = False
+        self._is_extended = False
+        self._msg_counter = 0        # ASTM F3411-22a Message Counter (0~255)
+        self._import_winsdk()
+
+    def _import_winsdk(self):
+        try:
+            from winsdk.windows.devices.bluetooth.advertisement import (
+                BluetoothLEAdvertisementPublisher,
+                BluetoothLEAdvertisement,
+                BluetoothLEAdvertisementDataSection,
+                BluetoothLEAdvertisementPublisherStatus,
+            )
+            from winsdk.windows.storage.streams import DataWriter
+            self._Publisher = BluetoothLEAdvertisementPublisher
+            self._Advertisement = BluetoothLEAdvertisement
+            self._DataSection = BluetoothLEAdvertisementDataSection
+            self._PubStatus = BluetoothLEAdvertisementPublisherStatus
+            self._DataWriter = DataWriter
+        except ImportError as e:
+            print(f"[错误] winsdk 导入失败: {e}")
+            print("请运行: pip install winsdk")
+            sys.exit(1)
+
+    def _make_data_section(self, ad_type: int, data: bytes):
+        """构造 BLE AD Data Section"""
+        section = self._DataSection()
+        section.data_type = ad_type
+        writer = self._DataWriter()
+        for b in data:
+            writer.write_byte(b)
+        section.data = writer.detach_buffer()
+        return section
+
+    def _build_service_data(self, raw_data: bytes) -> bytes:
+        """
+        构造 ASTM F3411-22a Service Data 字节。
+        格式: [UUID 0xFFFA LE (2B)][AppCode 0x0D (1B)][MsgCounter (1B)][Data]
+        """
+        counter = self._msg_counter & 0xFF
+        self._msg_counter = (self._msg_counter + 1) & 0xFF
+        return bytes([0xFA, 0xFF, 0x0D, counter]) + raw_data
+
+    def _set_ad_payload(self, raw_data: bytes):
+        """在当前 Advertisement 对象上替换 DataSections"""
+        service_data = self._build_service_data(raw_data)
+        self._adv.data_sections.clear()
+        section = self._make_data_section(0x16, service_data)
+        self._adv.data_sections.append(section)
+
+    # ── 扩展广播（BLE 5.0，完整帧） ────────────────────────
+
+    def try_start_extended(self, rid_payload: bytes) -> bool:
+        """
+        尝试以扩展广播发送完整 RID Payload。
+        返回 True = 成功，False = 硬件不支持（回退 Legacy）。
+        """
+        self.stop()
+        self._adv = self._Advertisement()
+        self._set_ad_payload(rid_payload)
+
+        pub = self._Publisher(self._adv)
+        try:
+            pub.use_extended_advertisement = True
+        except AttributeError:
+            self._ext_supported = False
+            return False
+
+        pub.start()
+        import time as _t
+        _t.sleep(0.3)
+        try:
+            status = pub.status
+            if status == self._PubStatus.STARTED:
+                self._publisher = pub
+                self._started = True
+                self._ext_ok = True
+                self._ext_supported = True
+                self._is_extended = True
+                print(f"[BLE] 扩展广播已启动 (Payload={len(rid_payload)}B)")
+                return True
+            else:
+                pub.stop()
+                print(f"[BLE] 扩展广播启动失败 (status={status}), 回退到 Legacy 模式")
+                self._ext_supported = False
+                return False
+        except Exception as e:
+            try:
+                pub.stop()
+            except Exception:
+                pass
+            print(f"[BLE] 扩展广播检测失败: {e}, 回退到 Legacy 模式")
+            self._ext_supported = False
+            return False
+
+    def update_extended(self, rid_payload: bytes):
+        """
+        更新扩展广播数据。
+        复用同一个 Publisher 实例，stop → 更新 → start。
+        注意：Windows 强制每次 start() 都会更换随机 MAC 地址。
+        """
+        if self._publisher is None or self._adv is None:
+            self.try_start_extended(rid_payload)
+            return
+
+        self._publisher.stop()
+        self._set_ad_payload(rid_payload)
+        self._publisher.start()
+        self._started = True
+
+    # ── Legacy 单子帧广播（兼容所有适配器） ────────────────
+
+    def start_legacy(self, subframe: bytes):
+        """
+        发送单条子帧报文。subframe 为 25 字节。
+        复用同一个 Publisher 实例，stop → 更新 → start。
+        """
+        if self._publisher is None or self._adv is None:
+            self._adv = self._Advertisement()
+            self._set_ad_payload(subframe)
+            self._publisher = self._Publisher(self._adv)
+            self._publisher.start()
+        else:
+            self._publisher.stop()
+            self._set_ad_payload(subframe)
+            self._publisher.start()
+        self._started = True
+
+    def stop(self):
+        """停止并释放广播资源"""
+        if self._publisher is not None and self._started:
+            try:
+                self._publisher.stop()
+            except Exception:
+                pass
+        self._publisher = None
+        self._adv = None
+        self._started = False
+        self._is_extended = False
+
+    @property
+    def is_running(self) -> bool:
+        return self._started
+
+    @property
+    def is_extended(self) -> bool:
+        return self._ext_ok
+
+
+class WindowsWiFiNANPublisher:
+    """
+    使用 Windows Runtime API 进行 Wi-Fi Aware (NAN) 广播。
+    要求:
+      - Windows 10/11 操作系统 (1903+)
+      - 支持 Wi-Fi Aware/Direct 的网卡与底层驱动 (如较新的 Intel / Qualcomm 无线网卡)
+    注意: 桌面电脑普通网卡的驱动常常默认关闭或不支持此功能，如果物理硬件不支持，此功能将自动跳过。
+    """
+    def __init__(self):
+        self._publisher = None   # WiFiAwarePublisher
+        self._session = None     # WiFiAwareSession
+        self._started = False
+        self._supported = False
+        self._msg_counter = 0
+        self._import_winsdk()
+
+    def _import_winsdk(self):
+        try:
+            from winsdk.windows.devices.wifiaware import (
+                WiFiAwareManager,
+                WiFiAwarePublishOptions,
+            )
+            from winsdk.windows.storage.streams import DataWriter
+            self._Manager = WiFiAwareManager
+            self._PubOptions = WiFiAwarePublishOptions
+            self._DataWriter = DataWriter
+            self._supported = True
+        except ImportError:
+            self._supported = False
+
+    async def start_async(self, rid_payload: bytes) -> bool:
+        if not self._supported:
+            return False
+        
+        try:
+            # 1. 检查和请求 Wi-Fi Aware 全局访问权限
+            access = await self._Manager.request_access_async()
+            from winsdk.windows.devices.wifiaware import WiFiAwareAccessStatus
+            if access != WiFiAwareAccessStatus.ALLOWED:
+                print(f"[NAN] 无法访问 Wi-Fi Aware API (状态: {access})")
+                return False
+
+            # 2. 请求激活会话
+            session_result = await self._Manager.request_session_async()
+            from winsdk.windows.devices.wifiaware import WiFiAwareSessionStatus
+            if session_result.status != WiFiAwareSessionStatus.SUCCEEDED:
+                # 状态不为SUCCEEDED通常意味着硬件、网卡或驱动彻底不支持它
+                return False
+            self._session = session_result.session
+
+            return await self._publish_with_payload(rid_payload)
+            
+        except Exception as e:
+            # 对于不支持的主机，常在底层 UWP 抛出异常
+            print(f"[NAN] Wi-Fi Aware 启动失败 (通常为网卡不支持): {e}")
+            return False
+
+    async def _publish_with_payload(self, rid_payload: bytes) -> bool:
+        """注册 Wi-Fi Aware Publish 对象"""
+        if not self._session:
+            return False
+            
+        options = self._PubOptions()
+        # ASTM建议的服务专有名称
+        options.service_name = "org.wi-fi.aware.uas.rid"
+        
+        writer = self._DataWriter()
+        # NAN Service Specific Info 格式参考 ASTM: [0x0D AppCode] [Counter] [RID Payload]
+        counter = self._msg_counter & 0xFF
+        self._msg_counter = (self._msg_counter + 1) & 0xFF
+        
+        writer.write_byte(0x0D)
+        writer.write_byte(counter)
+        for b in rid_payload:
+            writer.write_byte(b)
+            
+        options.service_specific_info = writer.detach_buffer()
+
+        pub_result = await self._session.publish_async(options)
+        from winsdk.windows.devices.wifiaware import WiFiAwarePublisherStatus
+        if pub_result.status == WiFiAwarePublisherStatus.SUCCEEDED:
+            self._publisher = pub_result.publisher
+            self._started = True
+            return True
+        else:
+            return False
+
+    async def update_payload_async(self, rid_payload: bytes):
+        """
+        Windows的 WiFiAwarePublisher 不能直接 '原地 update_buffer'。
+        要在纯广播模式下更新内容，我们必须停止旧 Publisher，随后重新发起 Publish。
+        """
+        if not self._started or not self._session:
+            return
+        # 停用旧的
+        self.stop_publisher()
+        # 开启新的
+        await self._publish_with_payload(rid_payload)
+
+    def stop_publisher(self):
+        if self._publisher is not None:
+            # Python winsdk 中的 UWP 接口销毁
+            # 我们直接丢弃引用通常就会引起注销，不过底层依赖于 UWP COM
+            self._publisher = None
+        self._started = False
+
+    def stop(self):
+        self.stop_publisher()
+        self._session = None
+
+    @property
+    def is_running(self) -> bool:
+        return self._started
+
+
+# ──────────────────────────────────────────────────────────
+# 4. 辅助函数：物理量编码
+# ──────────────────────────────────────────────────────────
+
+def encode_ground_speed(speed_mps: float) -> tuple[int, int]:
+    """
+    将地速(m/s)编码为 (ground_speed_raw, speed_multiplier)
+    speed_multiplier=0: v = raw * 0.25 m/s，范围 0~63.75 m/s
+    speed_multiplier=1: v = raw * 0.75 m/s，范围 0~191.25 m/s
+    """
+    if speed_mps <= 63.75:
+        return (round(speed_mps / 0.25) & 0xFF, 0)
+    else:
+        return (round(speed_mps / 0.75) & 0xFF, 1)
+
+
+def encode_vertical_speed(speed_mps: float) -> int:
+    """垂直速度编码为 int8（单位 0.5 m/s，范围 ±63.5 m/s）"""
+    raw = round(speed_mps / 0.5)
+    return max(-128, min(127, raw))
+
+
+def encode_track_angle(angle_deg: float) -> tuple[int, int]:
+    """
+    将航迹角(0~359°)编码为 (track_angle_raw, ew_flag)
+    track_angle_raw = 0~179
+    ew_flag=0: 0~179° 朝东；ew_flag=1: 180~359° 朝西（raw=angle-180）
+    """
+    angle_deg %= 360
+    if angle_deg < 180:
+        return (int(angle_deg), 0)
+    else:
+        return (int(angle_deg - 180), 1)
+
+
+# ASTM F3411-22a 高度编码常量
+ALT_UNKNOWN = -1000   # 填入结构体后序列化为 int16(-1000)，表示"未知"
+
+def encode_altitude(alt_m: Optional[float]) -> int:
+    """
+    ASTM F3411-22a 高度编码 -> int16。
+    公式: raw = (alt_m + 1000) * 2
+    解码: alt_m = raw / 2 - 1000
+    范围: -1000m (raw=0) ~ +31767m (raw=0xFFFE);
+          raw=0xFFFF 即 int16(-1) 表示"未知"。
+    传 None 时返回 ALT_UNKNOWN。
+    """
+    if alt_m is None:
+        return ALT_UNKNOWN
+    raw = int((alt_m + 1000.0) * 2)
+    raw = max(0, min(0xFFFE, raw))
+    # 转为 signed int16 用于 struct '<h' 打包
+    if raw > 32767:
+        raw = raw - 65536
+    return raw
+
+
+def seconds_since_2019() -> int:
+    """计算从 2019-01-01 00:00:00 UTC 至今的秒数（系统报文时间戳用）"""
+    import calendar
+    epoch_2019 = calendar.timegm((2019, 1, 1, 0, 0, 0, 0, 0, 0))
+    return int(time.time()) - epoch_2019
+
+
+def current_hour_tenths() -> int:
+    """当前小时内已过去的 1/10 秒数（位置向量报文时间戳用）"""
+    t = time.time()
+    secs_in_hour = t % 3600
+    return int(secs_in_hour * 10) % 36000
+
+
+# ──────────────────────────────────────────────────────────
+# 5. RID 仿真主类
+# ──────────────────────────────────────────────────────────
+
+class RIDSimulator:
+    """RID 广播仿真器，周期更新位置信息并通过BLE广播"""
+
+    def __init__(self,
+                 uasid: str = "TestDrone123",
+                 description: str = "RID Python Simulator"):
+        # 基本ID报文（静态，启动一次）
+        self.basic = RIDBasicPacket(
+            ua_type=2,  # 旋翼
+            id_type=1,  # 特定会话ID（字符串）
+            uasid=uasid
+        )
+        # 运行描述报文（静态）
+        self.rd = RIDRDPacket(
+            description_type=0,
+            description=description
+        )
+        # 系统报文（控制站信息，初始坐标待首次定位后更新）
+        self.sys = RIDSYSPacket(
+            cs_pos_type=1,      # 控制站实时位置
+            region_code=2,      # 中国
+            coord_type=0,       # WGS84
+            cs_latitude=0,      # 由 update_control_station() 填入
+            cs_longitude=0,
+            ua_run_category=1,  # 开放类
+            ua_run_level=0,     # 微型
+        )
+        # 位置向量报文（动态更新）
+        self.pos_vec = RIDPosVecPacket()
+
+        # 广播器
+        self.advertiser = WindowsBLEAdvertiser()
+        self.nan_publisher = WindowsWiFiNANPublisher()
+        self._running = False
+
+    def update_data(self,
+                    lat_deg: float,
+                    lon_deg: float,
+                    alt_agl_m: float,
+                    ground_speed_mps: float = 0.0,
+                    track_angle_deg: float = 0.0,
+                    vertical_speed_mps: float = 0.0,
+                    pressure_alt_m: Optional[float] = None,
+                    geometric_alt_m: Optional[float] = None):
+        """
+        更新 RID 数据（仅填充结构体，不触发广播）。
+        广播由 main loop 按策略驱动。
+        """
+        gs_raw, sm = encode_ground_speed(ground_speed_mps)
+        ta_raw, ew = encode_track_angle(track_angle_deg)
+        vs_raw = encode_vertical_speed(vertical_speed_mps)
+        ts_tenths = current_hour_tenths()
+
+        self.pos_vec.operational_status = 2  # 空中飞行
+        self.pos_vec.altitude_type = 0       # 气压高度
+        self.pos_vec.speed_multiplier = sm
+        self.pos_vec.track_angle_ew = ew
+        self.pos_vec.track_angle = ta_raw
+        self.pos_vec.ground_speed = gs_raw
+        self.pos_vec.vertical_speed = vs_raw
+        self.pos_vec.latitude = int(lat_deg * 1e7)
+        self.pos_vec.longitude = int(lon_deg * 1e7)
+        # 高度按 ASTM F3411-22a 编码: raw = (alt_m + 1000) * 2
+        self.pos_vec.altitude_agl = encode_altitude(alt_agl_m)
+        self.pos_vec.pressure_altitude = encode_altitude(pressure_alt_m)
+        self.pos_vec.geometric_altitude = encode_altitude(geometric_alt_m)
+        self.pos_vec.timestamp = ts_tenths
+
+        self.sys.timestamp = seconds_since_2019()
+
+    def serialize_subframes(self) -> list[bytes]:
+        """返回各子报文序列化后的 25 字节列表（用于 Legacy 轮播）"""
+        return [
+            rid_basic_serialize(self.basic),
+            rid_posvec_serialize(self.pos_vec),
+            rid_rd_serialize(self.rd),
+            rid_sys_serialize(self.sys),
+        ]
+
+    def serialize_full(self) -> bytes:
+        """返回完整 RID Payload（用于扩展广播）"""
+        return rid_packet_full(self.basic, self.pos_vec, self.rd, self.sys)
+
+    def update_control_station(self, lat_deg: float, lon_deg: float, alt_m: float = 0.0):
+        """同步更新控制站位置（笔记本 = 操控手位置）"""
+        self.sys.cs_latitude  = int(lat_deg * 1e7)
+        self.sys.cs_longitude = int(lon_deg * 1e7)
+        self.sys.cs_altitude  = encode_altitude(alt_m)
+
+    def stop(self):
+        """停止广播"""
+        self._running = False
+        self.advertiser.stop()
+        self.nan_publisher.stop()
+
+
+# ──────────────────────────────────────────────────────────
+# 6. 调试：打印报文内容
+# ──────────────────────────────────────────────────────────
+
+def print_packet_hex(payload: bytes, label: str = "RID Payload"):
+    """打印报文十六进制内容"""
+    print(f"\n[{label}] 长度={len(payload)} 字节")
+    for i in range(0, len(payload), 16):
+        chunk = payload[i:i+16]
+        hex_str = ' '.join(f'{b:02X}' for b in chunk)
+        asc_str = ''.join(chr(b) if 32 <= b < 127 else '.' for b in chunk)
+        print(f"  {i:04X}: {hex_str:<48}  {asc_str}")
+
+
+def print_ad_data(ad_data: bytes, label: str = "BLE AD Data"):
+    """打印 BLE AD Data 十六进制内容"""
+    print_packet_hex(ad_data, label)
+
+
+# ──────────────────────────────────────────────────────────
+# 7. 主程序（异步，使用本机真实位置和系统时间）
+# ──────────────────────────────────────────────────────────
+
+_SUBFRAME_NAMES = ["BasicID", "PosVec", "RD", "SYS"]
+
+
+async def main_async(enable_ble: bool = True, enable_nan: bool = True):
+    print("=" * 60)
+    print("  RID BLE/NAN 仿真程序 (Windows 11 / ASTM F3411-22a)")
+    print("  位置: Windows 定位服务  |  时间: UTC 系统时钟")
+    print("  模式: 圆周飞行 50km/h | 广播 2Hz")
+    print("=" * 60)
+
+    # 检查依赖
+    if not _check_winsdk():
+        print("\n[错误] 缺少依赖库 winsdk，请运行：")
+        print("    pip install winsdk")
+        sys.exit(1)
+
+    if sys.platform != 'win32':
+        print("[错误] 此程序仅支持 Windows，当前系统:", sys.platform)
+        sys.exit(1)
+
+    # ── 初始化定位 ──────────────────────────────────────────
+    location = WindowsLocationProvider()
+    print("\n[位置] 正在请求位置权限...")
+    granted = await location.request_access_async()
+
+    init_lat = WindowsLocationProvider.FALLBACK_LAT
+    init_lon = WindowsLocationProvider.FALLBACK_LON
+    init_alt = 0.0
+    init_acc = 9999.0
+
+    if granted:
+        print("[位置] 正在获取初始坐标（首次定位可能需要数秒）...")
+        pos = await location.get_position_async()
+        if pos:
+            init_lat, init_lon, init_alt, init_acc = pos
+            print(f"[位置] 初始位置: {init_lat:.6f}N, {init_lon:.6f}E  "
+                  f"高度={init_alt:.1f}m  精度=+/-{init_acc:.0f}m")
+        else:
+            print(f"[位置] 初始定位失败，使用默认坐标 ({init_lat:.4f}N, {init_lon:.4f}E)")
+    else:
+        print(f"[位置] 权限被拒绝，使用默认坐标 ({init_lat:.4f}N, {init_lon:.4f}E)")
+
+    # ── 圆周飞行参数 ────────────────────────────────────────
+    FLIGHT_SPEED_KMH = 50.0                          # 飞行速度 km/h
+    FLIGHT_SPEED_MPS = FLIGHT_SPEED_KMH / 3.6        # 13.889 m/s
+    FLIGHT_RADIUS_M  = 100.0                          # 圆周半径 100m
+    FLIGHT_ALT_AGL   = 80.0                           # 飞行高度 80m AGL
+    CIRCUMFERENCE     = 2.0 * math.pi * FLIGHT_RADIUS_M  # 628.3m
+    PERIOD            = CIRCUMFERENCE / FLIGHT_SPEED_MPS  # 一圈耗时 ~45.2s
+    OMEGA             = 2.0 * math.pi / PERIOD            # 角速度 rad/s
+
+    # 圆心 = 初始定位坐标
+    center_lat_rad = math.radians(init_lat)
+    center_lon_rad = math.radians(init_lon)
+    # 1度纬度 ≈ 111320m; 1度经度 ≈ 111320 * cos(lat) m
+    M_PER_DEG_LAT = 111320.0
+    M_PER_DEG_LON = 111320.0 * math.cos(center_lat_rad)
+
+    BROADCAST_INTERVAL = 0.5  # 2 Hz 广播
+
+    print(f"\n[圆周飞行]")
+    print(f"  圆心         : {init_lat:.6f}N, {init_lon:.6f}E")
+    print(f"  半径         : {FLIGHT_RADIUS_M:.0f}m")
+    print(f"  速度         : {FLIGHT_SPEED_KMH:.0f} km/h ({FLIGHT_SPEED_MPS:.1f} m/s)")
+    print(f"  高度(AGL)    : {FLIGHT_ALT_AGL:.0f}m")
+    print(f"  一圈耗时     : {PERIOD:.1f}s")
+    print(f"  广播频率     : {1.0/BROADCAST_INTERVAL:.0f} Hz")
+
+    # ── 创建仿真器 ──────────────────────────────────────────
+    sim = RIDSimulator(
+        uasid="TestDrone123",
+        description="RID Python Sim",
+    )
+    sim.update_control_station(init_lat, init_lon, init_alt)
+
+    # ── 探测广播模式 ─────────────────────────────────────────
+    sim.update_data(lat_deg=init_lat, lon_deg=init_lon, alt_agl_m=FLIGHT_ALT_AGL,
+                    ground_speed_mps=FLIGHT_SPEED_MPS)
+    adv = sim.advertiser
+
+    print("\n[通信层支持探测]")
+    
+    use_ext = False
+    if enable_ble:
+        print(" 1) BLE 5.0 扩展广播...")
+        use_ext = adv.try_start_extended(sim.serialize_full())
+        if not use_ext:
+            print("  -> 不支持, 降级使用 Legacy 子帧轮播模式")
+        else:
+            print("  -> 支持并已启动")
+    else:
+        print(" 1) BLE 广播 ... [已禁用]")
+
+    nan_ok = False
+    if enable_nan:
+        print(" 2) Wi-Fi Aware (NAN) 广播...")
+        nan_ok = await sim.nan_publisher.start_async(sim.serialize_full())
+        if not nan_ok:
+            print("  -> 不支持 (原因: 硬件网卡未开放支持或缺少权限)")
+        else:
+            print("  -> 支持并已启动")
+    else:
+        print(" 2) Wi-Fi Aware (NAN) 广播 ... [已禁用]")
+
+    print("\n[配置]")
+    print(f"  UASID        : {sim.basic.uasid}")
+    print(f"  UA类型       : {sim.basic.ua_type} (旋翼)")
+    id_type_name = {
+        0: "无",
+        1: "序列号",
+        2: "CAA注册",
+        3: "UTM委派",
+        4: "特定会话ID(字符串)",
+    }.get(sim.basic.id_type, "未知")
+    print(f"  ID类型       : {sim.basic.id_type} ({id_type_name})")
+    print(f"  描述         : {sim.rd.description}")
+    print(f"  运行类别     : {sim.sys.ua_run_category} (开放)")
+    print(f"  UA等级       : {sim.sys.ua_run_level} (微型)")
+    
+    ble_mode_str = "未启用"
+    if enable_ble:
+        ble_mode_str = "5.0 扩展" if use_ext else "Legacy"
+    print(f"  广播模式     : BLE ({ble_mode_str}), Wi-Fi NAN ({'开' if nan_ok else '关'})")
+    
+    print(f"  时间来源     : UTC 系统时钟")
+    print(f"  位置来源     : {'圆周飞行仿真 (圆心=本机定位)' if granted else '圆周飞行仿真 (圆心=默认坐标)'}")
+    print(f"\n[提示] 正在运行中... 按 Ctrl+C 停止广播")
+
+    # Legacy 模式参数
+    subframe_idx = 0
+    n = 0
+    t_start = time.monotonic()
+
+    try:
+        while True:
+            # ── 计算圆周飞行位置 ───────────────────────────
+            t_elapsed = time.monotonic() - t_start
+            theta = OMEGA * t_elapsed  # 当前角度 (rad)，从正东方向逆时针
+
+            # 无人机在圆上的位置偏移 (m)
+            dx = FLIGHT_RADIUS_M * math.cos(theta)  # 东向偏移
+            dy = FLIGHT_RADIUS_M * math.sin(theta)  # 北向偏移
+
+            # 转换为经纬度
+            lat = init_lat + dy / M_PER_DEG_LAT
+            lon = init_lon + dx / M_PER_DEG_LON
+
+            # 航迹角 = 速度方向 = 圆切线方向
+            # 位置 (cos θ, sin θ), 速度方向 (-sin θ, cos θ)
+            # 航迹角以正北为0°顺时针: heading = 90° - atan2(cos θ, -sin θ)
+            vx = -FLIGHT_SPEED_MPS * math.sin(theta)  # 东向速度分量
+            vy =  FLIGHT_SPEED_MPS * math.cos(theta)  # 北向速度分量
+            heading_deg = (math.degrees(math.atan2(vx, vy))) % 360  # atan2(E,N) → 北基准顺时针
+
+            # 更新 RID 数据
+            sim.update_data(
+                lat_deg=lat, lon_deg=lon,
+                alt_agl_m=FLIGHT_ALT_AGL,
+                ground_speed_mps=FLIGHT_SPEED_MPS,
+                track_angle_deg=heading_deg,
+                vertical_speed_mps=0.0,
+            )
+
+            # ── 日志输出 ──────────────────────────────────
+            utc_str = time.strftime("%H:%M:%S", time.gmtime())
+            ts_tenths = current_hour_tenths()
+            
+            mode_tag = ""
+            if enable_ble:
+                mode_tag += "BLE:EXT " if use_ext else f"BLE:L({_SUBFRAME_NAMES[subframe_idx % 4]}) "
+            if nan_ok:
+                mode_tag += "NAN:ON"
+            mode_tag = mode_tag.strip() or "NONE"
+
+            print(f"[{n:4d}] {utc_str} UTC | "
+                  f"{lat:.6f}N {lon:.6f}E "
+                  f"Alt={FLIGHT_ALT_AGL:+.1f}m "
+                  f"GS={FLIGHT_SPEED_KMH:.0f}km/h "
+                  f"HDG={heading_deg:.0f}° "
+                  f"[{mode_tag}] ts={ts_tenths}")
+
+            if n == 0:
+                payload = sim.serialize_full()
+                print_packet_hex(payload, "RID Payload (第1帧详情)")
+                print_packet_hex(build_ble_ad_data(payload), "BLE AD Data (供参考)")
+                print_packet_hex(build_wifi_beacon_vendor_ie(payload), "Wi-Fi Beacon Vendor IE (供参考)")
+            n += 1
+
+            # ── 广播更新 ─────────────────────────────────
+            payload_full = sim.serialize_full()
+            
+            if enable_ble:
+                if use_ext:
+                    adv.update_extended(payload_full)
+                else:
+                    subframes = sim.serialize_subframes()
+                    sf = subframes[subframe_idx % len(subframes)]
+                    adv.start_legacy(sf)
+                    subframe_idx = (subframe_idx + 1) % len(subframes)
+
+            # 更新 Wi-Fi NAN
+            if enable_nan and sim.nan_publisher.is_running:
+                await sim.nan_publisher.update_payload_async(payload_full)
+
+            await asyncio.sleep(BROADCAST_INTERVAL)
+
+    except KeyboardInterrupt:
+        print("\n[用户中断] 正在停止...")
+    finally:
+        adv.stop()
+        print("[完成] RID 仿真已终止")
+
+
+def main():
+    parser = argparse.ArgumentParser(description="RID BLE/NAN 仿真程序 - Windows 11")
+    parser.add_argument("--disable-ble", action="store_true", help="禁用 BLE (蓝牙) 广播")
+    parser.add_argument("--disable-nan", action="store_true", help="禁用 Wi-Fi Aware (NAN) 广播")
+    args = parser.parse_args()
+
+    asyncio.run(main_async(enable_ble=not args.disable_ble, enable_nan=not args.disable_nan))
+
+
+if __name__ == "__main__":
+    main()