From 83a4a0e7aa9bdeb95d3547fd5d379fdcbd890fca Mon Sep 17 00:00:00 2001
From: tian <11429339@qq.com>
Date: Fri, 10 Oct 2025 23:27:46 +0800
Subject: [PATCH] =?UTF-8?q?=E4=BF=AE=E6=94=B9=E6=A5=BC=E6=A2=AF=E5=9C=BA?=
 =?UTF-8?q?=E6=99=AF=E8=B7=AF=E5=BE=84=E4=B8=8D=E8=83=BD=E5=88=B0=E8=BE=BE?=
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---
 src/PathPlanning/AutoPathFinder.cs | 18 +++++++++++++-----
 1 file changed, 13 insertions(+), 5 deletions(-)

diff --git a/src/PathPlanning/AutoPathFinder.cs b/src/PathPlanning/AutoPathFinder.cs
index af5cab8..8404cb5 100644
--- a/src/PathPlanning/AutoPathFinder.cs
+++ b/src/PathPlanning/AutoPathFinder.cs
@@ -556,14 +556,14 @@ namespace NavisworksTransport.PathPlanning
                     {
                         var lastInfo = graph3D.NodeInfo[lastNode];
 
-                        // 检查最后节点是否到达终点网格（使用前面已定义的endGridPos）
-                        if (lastInfo.X == endGridPos.X && lastInfo.Y == endGridPos.Y)
+                        // 检查最后节点是否到达终点（网格坐标和高度层都要匹配）
+                        if (lastInfo.X == endGridPos.X && lastInfo.Y == endGridPos.Y && lastInfo.LayerIndex == endInfo.LayerIndex)
                         {
-                            // 到达终点网格，路径完整
+                            // 到达终点网格和高度层，路径完整
                             isComplete = true;
                             actualEnd = path3D[path3D.Count - 1];
                             completionPercentage = 100.0;
-                            LogManager.Info($"[3D路径规划] 找到完整路径，到达终点网格({endGridPos.X},{endGridPos.Y})");
+                            LogManager.Info($"[3D路径规划] 找到完整路径，到达终点网格({endGridPos.X},{endGridPos.Y}) Layer{endInfo.LayerIndex}");
                         }
                         else
                         {
@@ -585,7 +585,15 @@ namespace NavisworksTransport.PathPlanning
 
                             completionPercentage = totalDistance > 0 ? (actualDistance / totalDistance) * 100 : 0;
 
-                            LogManager.Warning($"[3D路径规划] 部分路径：到达网格({lastInfo.X},{lastInfo.Y})，距离终点网格({endGridPos.X},{endGridPos.Y})还有距离");
+                            // 判断是否到达了目标网格但高度层不对
+                            if (lastInfo.X == endGridPos.X && lastInfo.Y == endGridPos.Y)
+                            {
+                                LogManager.Warning($"[3D路径规划] 部分路径：到达目标网格({lastInfo.X},{lastInfo.Y})但高度层不匹配 - 实际Layer{lastInfo.LayerIndex}, 目标Layer{endInfo.LayerIndex}");
+                            }
+                            else
+                            {
+                                LogManager.Warning($"[3D路径规划] 部分路径：到达网格({lastInfo.X},{lastInfo.Y}) Layer{lastInfo.LayerIndex}，距离终点网格({endGridPos.X},{endGridPos.Y}) Layer{endInfo.LayerIndex}还有距离");
+                            }
                             LogManager.Info($"[3D路径规划] 完成度: {completionPercentage:F1}%，实际终点: ({actualEnd.X:F2}, {actualEnd.Y:F2}, Z={actualEnd.Z:F2})");
                         }
                     }