删掉了以前的基于空间索引和垂直扫描的2.5D网格生成方法

CLAUDE.md

@@ -115,8 +115,23 @@ public class PathClickToolPlugin : ToolPlugin { }
 
 ### Development Principles
 
-- **不考虑向后兼容性**: 直接修改现有代码逻辑，无需保持向后兼容性，专注于解决当前问题和改进现有功能
-- **最小化修改原则**: 进行任何代码修改时，必须遵循最小化原则，只修改必要的部分，不添加额外的功能或逻辑，以确保问题能够清晰暴露和定位
+- 防御性编程的正确态度:
+  - ✅ 应该做：检测异常情况并报错，让问题暴露出来
+  - ❌ 不应该做：用默认值掩盖问题，让bug隐藏在系统中
+
+- 对于"备份方案"和"容错处理":
+  - ✅ 正确做法：发现问题时记录错误日志，中断处理流程
+  - ❌ 错误做法：遇到异常数据时自动"修复"或使用替代值继续执行
+
+- 对于"向后兼容性"：
+  - 明确拒绝考虑向后兼容性
+  - 专注解决当前问题，不为旧版本或边缘情况妥协
+
+- 核心原则：
+  - "让问题快速暴露" > "让程序看起来正常运行"
+  - "报错比静默失败好" > "容忍错误数据继续处理"
+  - "数据一致性检查" > "宽松的数据验证"
+  - "最小化修改" > "复杂全面的逻辑"
 
 ### Critical API Usage Patterns
 
@@ -188,4 +203,4 @@ public class PathClickToolPlugin : ToolPlugin { }
 - **2026 Features**: Test advanced animation capabilities, enhanced collision detection, and improved model handling
 - 在编码中，不要用回退或向后兼容的思路和步骤
 - 程序的日志在：C:\ProgramData\Autodesk\Navisworks Manage 2026\NavisworksTransport\logs\debug.log
-- 不要搞向后兼容
+- 不要搞向后兼容

src/Core/PathPlanningManager.cs

@@ -829,7 +829,6 @@ namespace NavisworksTransport
 
                 try
                 {
-                    LogManager.Info($"开始调用GridMapGenerator.GenerateFromBIM（2.5D模式）");
                     var performanceStart = System.Diagnostics.Stopwatch.StartNew();
 
                     // 获取当前文档
@@ -841,8 +840,6 @@ namespace NavisworksTransport
 
                     try
                     {
-                        // 使用2.5D通道检测模式
-                        LogManager.Info("使用BoundingBoxBased2_5D模式生成网格");
                         gridMap = gridMapGenerator.GenerateFromBIM(
                             document,
                             bounds,
@@ -851,14 +848,13 @@ namespace NavisworksTransport
                             safetyMargin,
                             startPoint.Position,
                             endPoint.Position,
-                            GridGenerationMode.BoundingBoxBased2_5D,  // 新增：使用优化的边界框算法
-                            vehicleHeight  // 传递车辆高度参数
+                            vehicleHeight
                         );
-                        LogManager.Info("✅ BoundingBoxBased2_5D模式网格生成成功");
+                        LogManager.Info("✅ 网格地图生成成功");
                     }
                     catch (Exception modeEx)
                     {
-                        LogManager.Warning($"BoundingBoxBased2_5D模式失败,{modeEx.Message}");
+                        LogManager.Warning($"网格地图生成失败,{modeEx.Message}");
                     }
 
                     performanceStart.Stop();
@@ -871,21 +867,14 @@ namespace NavisworksTransport
                     throw new Exception($"网格地图生成失败: {ex.Message}", ex);
                 }
 
-                LogManager.Info($"网格地图生成完成: {gridMap.GetStatistics()}");
-
                 // 根据用户设置决定是否进行网格可视化
                 if (_showWalkableGrid || _showObstacleGrid || _showUnknownGrid || _showDoorGrid)
                 {
                     LogManager.Info("开始网格可视化，显示所有可通行网格单元");
                     VisualizeGridCells(gridMap);
                 }
-                else
-                {
-                    LogManager.Info("网格可视化已关闭，跳过可视化步骤");
-                }
 
-                // 3. 获取通道数据用于精确高度计算
-                LogManager.Info("开始获取通道数据用于精确高度计算...");
+                // 3. 获取通道高度数据
                 var channelItems = GetChannelItemsForHeightCalculation(gridMap);
                 LogManager.Info($"获取通道数据完成: {channelItems?.Count() ?? 0} 个通道项");
 
@@ -918,11 +907,9 @@ namespace NavisworksTransport
                 try
                 {
                     pathFinder = new AutoPathFinder();
-
                     double vehicleHeightInModelUnits = vehicleHeight * UnitsConverter.GetMetersToUnitsConversionFactor(Application.ActiveDocument.Units);
                     LogManager.Info($"使用2.5D模式进行路径查找，车辆高度: {vehicleHeight}m ({vehicleHeightInModelUnits:F2}模型单位)，策略: {strategy}");
                     pathResult = pathFinder.FindPath(startPoint.Position, endPoint.Position, gridMap, channelCoverage, vehicleHeightInModelUnits, strategy);
-
                     LogManager.Info("FindPath方法调用完成");
                 }
                 catch (Exception ex)

src/PathPlanning/AutoPathFinder.cs

@@ -48,45 +48,6 @@ namespace NavisworksTransport.PathPlanning
     /// </summary>
     public class AutoPathFinder
     {
-        /// <summary>
-        /// 查找路径（支持通道数据和高度约束）
-        /// </summary>
-        /// <param name="start">起点（世界坐标）</param>
-        /// <param name="end">终点（世界坐标）</param>
-        /// <param name="gridMap">网格地图</param>
-        /// <param name="channelCoverage">通道覆盖数据（可选，用于2.5D路径规划）</param>
-        /// <param name="vehicleHeight">车辆高度（模型单位，用于高度约束检查）</param>
-        /// <returns>路径查找结果</returns>
-        public PathFindingResult FindPath(Point3D start, Point3D end, GridMap gridMap, ChannelCoverage channelCoverage, double vehicleHeight)
-        {
-            // 调用支持策略的重载方法，默认使用最短路径策略
-            return FindPath(start, end, gridMap, channelCoverage, vehicleHeight, PathStrategy.Shortest);
-        }
-
-        /// <summary>
-        /// 查找路径（支持通道数据、高度约束和路径策略）
-        /// </summary>
-        /// <param name="start">起点（世界坐标）</param>
-        /// <param name="end">终点（世界坐标）</param>
-        /// <param name="gridMap">网格地图</param>
-        /// <param name="channelCoverage">通道覆盖数据（可选，用于2.5D路径规划）</param>
-        /// <param name="vehicleHeight">车辆高度（模型单位，用于高度约束检查）</param>
-        /// <param name="strategy">路径规划策略</param>
-        /// <returns>路径查找结果</returns>
-        public PathFindingResult FindPath(Point3D start, Point3D end, GridMap gridMap, ChannelCoverage channelCoverage, double vehicleHeight, PathStrategy strategy)
-        {
-            LogManager.Info($"开始A*路径查找: 起点({start?.X:F2}, {start?.Y:F2}, {start?.Z:F2}), 终点({end?.X:F2}, {end?.Y:F2}, {end?.Z:F2}), 策略: {strategy}");
-
-            // 如果提供了通道覆盖数据，使用2.5D模式进行路径规划
-            if (channelCoverage != null && channelCoverage.ChannelItems.Any())
-            {
-                LogManager.Info($"[2.5D路径规划] 使用通道覆盖数据，通道数量: {channelCoverage.ChannelItems.Count}, 车辆高度: {vehicleHeight}m, 策略: {strategy}");
-                return FindPath2_5D(start, end, gridMap, channelCoverage, vehicleHeight, strategy);
-            }
-
-            return new PathFindingResult { PathPoints = new List<Point3D>() };
-        }
-
         /// <summary>
         /// 2.5D路径规划（使用通道覆盖数据、高度约束和路径策略）
         /// </summary>
@@ -97,7 +58,7 @@ namespace NavisworksTransport.PathPlanning
         /// <param name="vehicleHeight">车辆高度（模型单位）</param>
         /// <param name="strategy">路径规划策略</param>
         /// <returns>路径查找结果</returns>
-        private PathFindingResult FindPath2_5D(Point3D start, Point3D end, GridMap gridMap, ChannelCoverage channelCoverage, double vehicleHeight, PathStrategy strategy = PathStrategy.Shortest)
+        public PathFindingResult FindPath(Point3D start, Point3D end, GridMap gridMap, ChannelCoverage channelCoverage, double vehicleHeight, PathStrategy strategy = PathStrategy.Shortest)
         {
             try
             {

src/PathPlanning/GridMapGenerator.cs

@@ -46,152 +46,8 @@ namespace NavisworksTransport.PathPlanning
             _verticalScanner = null;
         }
 
-        /// <summary>
-        /// 从BIM模型生成网格地图
-        /// </summary>
-        /// <param name="document">Navisworks文档</param>
-        /// <param name="bounds">规划区域边界</param>
-        /// <param name="cellSize">网格单元格大小（米）</param>
-        /// <param name="vehicleRadius">车辆半径（用于障碍物膨胀）</param>
-        /// <param name="safetyMargin">安全间隙（额外的膨胀间距，米）</param>
-        /// <param name="planningStartPoint">规划起点（用于确定楼层）</param>
-        /// <param name="planningEndPoint">规划终点（用于确定楼层）</param>
-        /// <param name="mode">网格生成模式，默认为2.5D模式</param>
-        /// <param name="vehicleHeight">车辆高度（用于垂直通行检查）</param>
-        /// <returns>生成的网格地图</returns>
-        public GridMap GenerateFromBIM(Document document, BoundingBox3D bounds, double cellSize, double vehicleRadius, double safetyMargin, Point3D planningStartPoint, Point3D planningEndPoint, GridGenerationMode mode, double vehicleHeight)
-        {
-            try
-            {
-                LogManager.Info($"[网格生成器] 使用模式: {mode}");
-                
-                // 根据模式选择不同的生成策略
-                switch (mode)
-                {
-                    case GridGenerationMode.ChannelBased2_5D:
-                        return GenerateChannelBased2_5D(document, bounds, cellSize, vehicleRadius, safetyMargin, planningStartPoint, planningEndPoint, vehicleHeight);
-                    
-                    case GridGenerationMode.BoundingBoxBased2_5D:
-                        return GenerateBoundingBoxBased2_5D(document, bounds, cellSize, vehicleRadius, safetyMargin, planningStartPoint, planningEndPoint, vehicleHeight);
-                    
-                    default:
-                        return GenerateBoundingBoxBased2_5D(document, bounds, cellSize, vehicleRadius, safetyMargin, planningStartPoint, planningEndPoint, vehicleHeight);
-                }
-            }
-            catch (Exception ex)
-            {
-                LogManager.Error($"生成网格地图时发生错误: {ex.Message}");
-                throw new AutoPathPlanningException($"网格地图生成失败: {ex.Message}", ex);
-            }
-        }
-
-        /// <summary>
-        /// 通道基础2.5D模式的网格生成
-        /// 使用通道优先策略和垂直扫描处理器
-        /// 
-        /// 术语说明：
-        /// - "通道"在此指所有可通行结构（楼板、走廊、过道等）
-        /// - 对于楼板类通道，车辆在其顶面行驶
-        /// - 生成的网格地图用于车辆路径规划
-        /// </summary>
-        private GridMap GenerateChannelBased2_5D(Document document, BoundingBox3D bounds, double cellSize, double vehicleRadius, double safetyMargin, Point3D planningStartPoint, Point3D planningEndPoint, double vehicleHeight)
-        {
-            try
-            {
-                LogManager.Info("[通道2.5D模式] 开始生成网格地图");
-                
-                // 重要：将米制网格大小转换为模型单位
-                double metersToModelUnitsConversionFactor = UnitsConverter.GetMetersToUnitsConversionFactor(Application.ActiveDocument.Units);
-                double cellSizeInModelUnits = cellSize * metersToModelUnitsConversionFactor;
-                LogManager.Info($"[通道2.5D模式] 网格大小单位转换: {cellSize}米 → {cellSizeInModelUnits:F2}模型单位 (转换系数: {metersToModelUnitsConversionFactor:F2})");
-                
-                // 1. 使用通道构建器构建基础通道覆盖网格
-                LogManager.Info("[通道2.5D模式] 步骤1: 构建通道覆盖网格");
-                var channelCoverage = _channelBuilder.BuildChannelCoverage(cellSizeInModelUnits, document);
-                
-                LogManager.Info($"[通道2.5D模式] 通道覆盖构建完成: {channelCoverage.GetStatistics()}");
-                LogManager.Info($"[阶段1完成] 通道覆盖网格统计: {channelCoverage.GridMap.GetStatistics()}");
-                
-                // 2. 构建垂直扫描处理器的空间索引
-                LogManager.Info("[通道2.5D模式] 步骤2: 构建空间哈希索引");
-                double spatialHashMultiplier = 10.0; // 可以根据模型密度调整（高密设为6，低密设为10）
-                _verticalScanner = new VerticalScanProcessor(cellSize * spatialHashMultiplier);
-                
-                var allItems = document.Models.RootItemDescendantsAndSelf;
-                _verticalScanner.BuildSpatialHashIndex(allItems, bounds, channelCoverage.ChannelItems);
-                
-                // 3. 生成网格点坐标用于垂直扫描
-                LogManager.Info("[通道2.5D模式] 步骤3: 生成网格扫描点");
-                var gridPoints = GenerateGridPoints(channelCoverage.GridMap);
-                LogManager.Info($"[阶段3完成] 生成 {gridPoints.Count} 个扫描点");
-                
-                // 4. 并行执行垂直扫描，计算2.5D高度区间
-                LogManager.Info("[通道2.5D模式] 步骤4: 执行并行垂直扫描");
-                double scanHeight = vehicleHeight + safetyMargin; // 扫描高度 = 车辆高度 + 安全间隙
-                var heightIntervals = _verticalScanner.ParallelScanHeightIntervals(
-                    gridPoints, scanHeight, vehicleHeight);
-                
-                LogManager.Info($"[阶段4完成] 垂直扫描结果: 扫描了{gridPoints.Count}个通道点，生成了{heightIntervals.Count}个高度区间数据");
-                
-                // 5. 将高度区间信息集成到网格地图中
-                LogManager.Info("[通道2.5D模式] 步骤5: 集成高度信息到网格");
-                
-                // 添加集成前的验证日志
-                var preIntegrationStats = channelCoverage.GridMap.GetStatistics();
-                LogManager.Info($"[验证] 高度信息集成前网格统计: {preIntegrationStats}");
-                
-                IntegrateHeightIntervalsToGrid(channelCoverage.GridMap, heightIntervals);
-                
-                // 添加集成后的验证日志
-                var postIntegrationStats = channelCoverage.GridMap.GetStatistics();
-                LogManager.Info($"[阶段5完成] 高度信息集成后网格统计: {postIntegrationStats}");
-                
-                // 验证网格统计一致性
-                ValidateGridStatisticsConsistency(channelCoverage.GridMap, "高度信息集成后");
-                
-                // 6. 应用车辆尺寸膨胀（如果需要）
-                if (vehicleRadius > 0 || safetyMargin > 0)
-                {
-                    LogManager.Info("[通道2.5D模式] 步骤6: 应用车辆膨胀");
-                    double metersToModelUnits = UnitsConverter.GetMetersToUnitsConversionFactor(Application.ActiveDocument.Units);
-                    double totalInflationRadius = (vehicleRadius + safetyMargin) * metersToModelUnits;
-                    ApplyVehicleInflation(channelCoverage.GridMap, totalInflationRadius);
-                    LogManager.Info($"[通道2.5D模式] 车辆膨胀完成，膨胀半径: {totalInflationRadius:F2}模型单位");
-                    LogManager.Info($"[阶段6完成] 车辆膨胀后网格统计: {channelCoverage.GridMap.GetStatistics()}");
-                }
-                
-                // 注意：边界膨胀已集成到车辆膨胀中，无需单独处理
-                
-                // 8. 设置规划起点和终点信息
-                if (planningStartPoint != default(Point3D) && planningEndPoint != default(Point3D))
-                {
-                    channelCoverage.GridMap.PlanningStartPoint = planningStartPoint;
-                    channelCoverage.GridMap.PlanningEndPoint = planningEndPoint;
-                    channelCoverage.GridMap.HasPlanningPoints = true;
-                    
-                    // 注意：网格的Z坐标已在通道生成时设置为实际通道高度，无需重新计算
-                }
-                
-                // 🔥 关键修复：将通道数据设置到GridMap中，供后续PathPlanningManager使用
-                if (channelCoverage.ChannelItems != null && channelCoverage.ChannelItems.Any())
-                {
-                    channelCoverage.GridMap.ChannelItems = new List<ModelItem>(channelCoverage.ChannelItems);
-                    LogManager.Info($"[通道2.5D模式] 已将 {channelCoverage.ChannelItems.Count} 个通道数据设置到GridMap中");
-                }
-                
-                LogManager.Info($"[通道2.5D模式] 网格地图生成完成: {channelCoverage.GridMap.GetStatistics()}");
-                return channelCoverage.GridMap;
-            }
-            catch (Exception ex)
-            {
-                LogManager.Error($"[通道2.5D模式] 生成失败: {ex.Message}");
-                return null;
-            }
-        }
-
         /// <summary>
         /// 基于包围盒遍历的网格地图生成方法（优化版）
-        /// 使用简化的包围盒检测替代空间索引+垂直扫描，提升性能
         /// </summary>
         /// <param name="document">Navisworks文档</param>
         /// <param name="bounds">扫描边界</param>
@@ -202,61 +58,61 @@ namespace NavisworksTransport.PathPlanning
         /// <param name="planningEndPoint">规划终点</param>
         /// <param name="vehicleHeight">车辆高度（米）</param>
         /// <returns>生成的网格地图</returns>
-        private GridMap GenerateBoundingBoxBased2_5D(Document document, BoundingBox3D bounds, double cellSize, double vehicleRadius, double safetyMargin, Point3D planningStartPoint, Point3D planningEndPoint, double vehicleHeight)
+        public GridMap GenerateFromBIM(Document document, BoundingBox3D bounds, double cellSize, double vehicleRadius, double safetyMargin, Point3D planningStartPoint, Point3D planningEndPoint, double vehicleHeight)
         {
             try
             {
-                LogManager.Info("【包围盒2.5D模式】开始生成网格地图");
+                LogManager.Info("【生成网格地图】开始生成网格地图");
                 var startTime = DateTime.Now;
                 
                 // 重要：将米制网格大小转换为模型单位
                 double metersToModelUnitsConversionFactor = UnitsConverter.GetMetersToUnitsConversionFactor(Application.ActiveDocument.Units);
                 double cellSizeInModelUnits = cellSize * metersToModelUnitsConversionFactor;
-                LogManager.Info($"【包围盒2.5D模式】网格大小单位转换: {cellSize}米 → {cellSizeInModelUnits:F2}模型单位 (转换系数: {metersToModelUnitsConversionFactor:F2})");
+                LogManager.Info($"【生成网格地图】网格大小单位转换: {cellSize}米 → {cellSizeInModelUnits:F2}模型单位 (转换系数: {metersToModelUnitsConversionFactor:F2})");
                 
                 // 1. 使用通道构建器构建基础通道覆盖网格
-                LogManager.Info("【包围盒2.5D模式】步骤1: 构建通道覆盖网格");
+                LogManager.Info("【生成网格地图】步骤1: 构建通道覆盖网格");
                 var channelCoverage = _channelBuilder.BuildChannelCoverage(cellSizeInModelUnits, document);
                 
-                LogManager.Info($"【包围盒2.5D模式】通道覆盖构建完成: {channelCoverage.GetStatistics()}");
+                LogManager.Info($"【生成网格地图】通道覆盖构建完成: {channelCoverage.GetStatistics()}");
                 LogManager.Info($"【阶段1完成】通道覆盖网格统计: {channelCoverage.GridMap.GetStatistics()}");
                 
                 // 1.5. 使用智能收集策略收集所有通道相关节点
-                LogManager.Info("【包围盒2.5D模式】步骤1.5: 智能收集通道相关节点");
+                LogManager.Info("【生成网格地图】步骤1.5: 智能收集通道相关节点");
                 
                 // 直接获取所有可通行的物流模型项
                 var allChannelItems = CategoryAttributeManager.GetAllTraversableLogisticsItems(document);
-                LogManager.Info($"【包围盒2.5D模式】直接获取到 {allChannelItems.Count} 个可通行物流元素");
+                LogManager.Info($"【生成网格地图】直接获取到 {allChannelItems.Count} 个可通行物流元素");
                 
                 // 智能收集通道相关节点（包括父节点、同级节点等）
                 var channelRelatedItems = CollectChannelRelatedItems(allChannelItems.ToList());
-                LogManager.Info($"【包围盒2.5D模式】智能收集到 {channelRelatedItems.Count} 个通道相关节点");
+                LogManager.Info($"【生成网格地图】智能收集到 {channelRelatedItems.Count} 个通道相关节点");
                 
                 // 2. 直接遍历处理障碍物（包围盒检测） - 使用高性能优化版本
-                LogManager.Info("【包围盒2.5D模式】步骤2: 高性能包围盒遍历处理障碍物");
+                LogManager.Info("【生成网格地图】步骤2: 高性能包围盒遍历处理障碍物");
                 double scanHeight = vehicleHeight + safetyMargin; // 扫描高度 = 车辆高度 + 安全间隙
                 ProcessObstaclesWithBoundingBoxOptimized(document, channelCoverage.GridMap, channelRelatedItems, scanHeight);
                 
                 LogManager.Info($"【阶段2完成】障碍物处理后网格统计: {channelCoverage.GridMap.GetStatistics()}");
                 
                 // 2.5. 单独处理门元素，设置为可通行
-                LogManager.Info("【包围盒2.5D模式】步骤2.5: 处理门元素");
+                LogManager.Info("【生成网格地图】步骤2.5: 处理门元素");
                 ProcessDoorElements(channelCoverage.GridMap, allChannelItems);
                 LogManager.Info($"【阶段2.5完成】门元素处理后网格统计: {channelCoverage.GridMap.GetStatistics()}");
 
                 // 2.6. 为通道网格设置PassableHeights确保高度约束检查
-                LogManager.Info("【包围盒2.5D模式】步骤2.6: 为通道网格设置高度约束");
+                LogManager.Info("【生成网格地图】步骤2.6: 为通道网格设置高度约束");
                 SetChannelPassableHeights(channelCoverage.GridMap, scanHeight);
                 LogManager.Info($"【阶段2.6完成】通道高度约束设置后网格统计: {channelCoverage.GridMap.GetStatistics()}");
 
                 // 3. 应用车辆尺寸膨胀（如果需要）
                 if (vehicleRadius > 0 || safetyMargin > 0)
                 {
-                    LogManager.Info("【包围盒2.5D模式】步骤3: 应用车辆膨胀");
+                    LogManager.Info("【生成网格地图】步骤3: 应用车辆膨胀");
                     double metersToModelUnits = UnitsConverter.GetMetersToUnitsConversionFactor(Application.ActiveDocument.Units);
                     double totalInflationRadius = (vehicleRadius + safetyMargin) * metersToModelUnits;
                     ApplyVehicleInflation(channelCoverage.GridMap, totalInflationRadius);
-                    LogManager.Info($"【包围盒2.5D模式】车辆膨胀完成，膨胀半径: {totalInflationRadius:F2}模型单位");
+                    LogManager.Info($"【生成网格地图】车辆膨胀完成，膨胀半径: {totalInflationRadius:F2}模型单位");
                     LogManager.Info($"【阶段3完成】车辆膨胀后网格统计: {channelCoverage.GridMap.GetStatistics()}");
                 }
                 
@@ -276,22 +132,22 @@ namespace NavisworksTransport.PathPlanning
                 if (channelRelatedItems != null && channelRelatedItems.Any())
                 {
                     channelCoverage.GridMap.ChannelItems = channelRelatedItems.ToList();
-                    LogManager.Info($"【包围盒2.5D模式】已将 {channelRelatedItems.Count} 个通道数据设置到GridMap中");
+                    LogManager.Info($"【生成网格地图】已将 {channelRelatedItems.Count} 个通道数据设置到GridMap中");
                 }
                 else if (channelCoverage.ChannelItems != null && channelCoverage.ChannelItems.Any())
                 {
                     channelCoverage.GridMap.ChannelItems = new List<ModelItem>(channelCoverage.ChannelItems);
-                    LogManager.Info($"【包围盒2.5D模式】已将 {channelCoverage.ChannelItems.Count} 个通道数据设置到GridMap中");
+                    LogManager.Info($"【生成网格地图】已将 {channelCoverage.ChannelItems.Count} 个通道数据设置到GridMap中");
                 }
                 
                 var elapsed = (DateTime.Now - startTime).TotalMilliseconds;
-                LogManager.Info($"【包围盒2.5D模式】网格地图生成完成: {channelCoverage.GridMap.GetStatistics()}");
-                LogManager.Info($"【包围盒2.5D模式】总耗时: {elapsed:F1}ms");
+                LogManager.Info($"【生成网格地图】网格地图生成完成: {channelCoverage.GridMap.GetStatistics()}");
+                LogManager.Info($"【生成网格地图】总耗时: {elapsed:F1}ms");
                 return channelCoverage.GridMap;
             }
             catch (Exception ex)
             {
-                LogManager.Error($"【包围盒2.5D模式】生成失败: {ex.Message}");
+                LogManager.Error($"【生成网格地图】生成失败: {ex.Message}");
                 return null;
             }
         }