From 523729cab9f03a2a0f23214fadeb0e6685825d9e Mon Sep 17 00:00:00 2001
From: =?UTF-8?q?=E4=B8=80=E5=96=B5?= <yimiao9036@outlook.com>
Date: Wed, 17 Jun 2026 11:08:32 +0800
Subject: [PATCH] =?UTF-8?q?2026.6.17=E5=B0=8F=E6=9B=B4=E6=96=B0=E4=BF=AE?=
 =?UTF-8?q?=E6=94=B9json=E5=86=85=E5=AE=B9=E9=94=99=E8=AF=AF?=
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---
 drone_controller/router_proxy.py | 17 +++++++++++++++--
 1 file changed, 15 insertions(+), 2 deletions(-)

diff --git a/drone_controller/router_proxy.py b/drone_controller/router_proxy.py
index b05f3b2..a68aa2f 100644
--- a/drone_controller/router_proxy.py
+++ b/drone_controller/router_proxy.py
@@ -85,6 +85,10 @@ class RouterProxy:
         self._seq = 0
         self._seq_lock = threading.Lock()
 
+        # ---- 消息ID （区分标识） ----
+        self.id = 0
+        self.id_lock = threading.Lock()
+
         # ---- 最新 STATE 缓存 ----
         self._latest_state = None
         self._state_lock = threading.Lock()
@@ -105,10 +109,18 @@ class RouterProxy:
     # ================================================================
 
     def _next_id(self) -> int:
+        """递增消息ID （区分标识）"""
+        with self.id_lock:
+            self.id += 1
+            return self.id
+
+    def _next_seq(self) -> int:
         """递增消息序号（线程安全）"""
         with self._seq_lock:
+            current_seq = self._seq
             self._seq += 1
-            return self._seq
+            return current_seq
+
 
     def _build_send_summary(self, msg: dict) -> str:
         """构建发送消息的内容概要，用于日志"""
@@ -219,10 +231,11 @@ class RouterProxy:
                                 alt=100.0, hover_time=3.0)
         """
         msg_id = self._next_id()
+        current_seq = self._next_seq()
         msg = {
             "type": "WAYPOINT",
             "id": msg_id,
-            "seq": self._seq,
+            "seq": current_seq,
             "timestamp_us": int(time.time() * 1_000_000),
             "waypoint": wp_kwargs
         }