NavisworksTransport/src/Core/PathPlanningManager.cs

using System;
using System.Collections.Generic;
using System.Linq;
using System.Threading.Tasks;
using Autodesk.Navisworks.Api;
using Autodesk.Navisworks.Api.Plugins;
using NavisworksTransport.PathPlanning;
using NavisworksTransport.Utils;
using NavisworksTransport.Core;
using NavisworksTransport.Commands;

namespace NavisworksTransport
{
    /// <summary>
    /// 路径规划管理器（重构版）
    /// 负责路径规划的核心业务逻辑，与UI完全解耦
    /// </summary>
    public class PathPlanningManager : IPathPlanningManager, IDisposable
    {
        #region 私有字段

        private readonly string _managerId;
        private readonly CategoryAttributeManager _categoryManager;
        private readonly UIStateManager _uiStateManager;

        private CoordinateConverter _coordinateConverter;
        private PathPointRenderPlugin _renderPlugin;

        // 路径分析相关
        private PathDatabase _pathDatabase;
        private PathAnalysisService _analysisService;
        private List<ModelItem> _walkableAreas;
        private List<PathRoute> _routes;
        private PathRoute _currentRoute;
        private ChannelBounds _combinedChannelBounds;

        // 路径编辑状态管理
        private PathEditState _pathEditState = PathEditState.Viewing;
        private PathPointType _currentPointType = PathPointType.WayPoint;
        private PathRoute _editingRoute = null;
        private PathHistoryManager _historyManager;

        // ToolPlugin 集成
        private bool _isToolPluginActive = false;

        // 自动路径规划模式标志
        private bool _isInAutoPathMode = false;

        // 路径点3D标记管理
        private List<PathPointMarker> _pathPointMarkers;

        // 预览点管理
        private PathPoint _previewPoint = null;

        // 网格可视化设置
        private bool _showWalkableGrid = false;
        private bool _showObstacleGrid = false;
        private bool _showUnknownGrid = false;
        private bool _showDoorGrid = false;
        private GridMap _currentGridMap = null;  // 保存当前网格地图用于刷新
        private double _currentVehicleHeight = 2.0; // 保存当前车辆高度（米）用于网格刷新
        private bool _isPreviewMode = false;
        private int _previewInsertIndex = -1; // 保存预览点应该插入的索引位置

        // 修改路径点管理
        private int _editingPointIndex = -1; // 正在修改的路径点索引
        private PathPoint _originalPoint = null; // 修改前的原始路径点
        private PathPoint _editingPreviewPoint = null; // 修改时的预览路径点

        /// <summary>
        /// ToolPlugin是否处于激活状态（供InputMonitor使用）
        /// </summary>
        public bool IsToolPluginActive => _isToolPluginActive;

        /// <summary>
        /// 获取当前是否在预览模式
        /// </summary>
        public bool IsPreviewMode => _isPreviewMode;

        // 静态引用，用于处理ToolPlugin事件
        private static PathPlanningManager _activePathManager;

        #endregion

        #region 构造函数

        /// <summary>
        /// 构造函数
        /// </summary>
        /// <param name="categoryManager">类别属性管理器</param>
        /// <param name="uiStateManager">UI状态管理器（可选）</param>
        public PathPlanningManager(CategoryAttributeManager categoryManager, UIStateManager uiStateManager = null)
        {
            _managerId = Guid.NewGuid().ToString("N").Substring(0, 8); // 前8位作为ID
            _categoryManager = categoryManager ?? throw new ArgumentNullException(nameof(categoryManager));
            _uiStateManager = uiStateManager ?? UIStateManager.Instance;

            InitializeManager();
        }

        /// <summary>
        /// 无参构造函数（为向后兼容而保留）
        /// </summary>
        public PathPlanningManager()
        {
            _managerId = Guid.NewGuid().ToString("N").Substring(0, 8);
            _categoryManager = new CategoryAttributeManager();
            _uiStateManager = UIStateManager.Instance;

            InitializeManager();
        }

        private void InitializeManager()
        {
            // 设置静态引用，确保所有地方都使用同一个实例
            _activePathManager = this;
            LogManager.Debug($"[路径管理] 设置_activePathManager静态引用, ManagerId: {_managerId}");

            // 尝试初始化路径分析数据库
            EnsureDatabaseInitialized();
        }

        /// <summary>
        /// 确保路径分析数据库已初始化（支持延迟初始化）
        /// </summary>
        public void EnsureDatabaseInitialized()
        {
            if (_pathDatabase != null && _analysisService != null)
            {
                LogManager.Info("路径分析数据库已初始化，跳过");
                return;
            }

            try
            {
                var documentPath = Autodesk.Navisworks.Api.Application.ActiveDocument?.FileName;
                if (!string.IsNullOrEmpty(documentPath))
                {
                    _pathDatabase = new PathDatabase(documentPath);
                    _analysisService = new PathAnalysisService(_pathDatabase);
                    LogManager.Info($"路径分析数据库初始化成功，文档路径: {documentPath}");
                }
                else
                {
                    LogManager.Warning("文档路径为空，路径分析数据库初始化将延迟到文档加载后");
                }
            }
            catch (Exception ex)
            {
                LogManager.Error($"初始化路径分析数据库失败: {ex.Message}", ex);
            }

            // 获取已注册的圆形渲染插件实例
            try
            {
                _renderPlugin = PathPointRenderPlugin.Instance;
                if (_renderPlugin != null)
                {
                    LogManager.Info("[路径管理] ✅ PathPointRenderPlugin实例获取成功");
                    LogManager.Debug($"[路径管理] 渲染插件状态 - 启用: {_renderPlugin.IsEnabled}, 标记数量: {_renderPlugin.MarkerCount}");

                    // 推送默认的网格大小和车辆参数，确保渲染插件有合理的初始值
                    InitializeRenderPluginDefaults();
                }
                else
                {
                    LogManager.Warning("[路径管理] ❌ PathPointRenderPlugin实例尚未就绪，将在后续尝试获取");
                }
            }
            catch (Exception ex)
            {
                LogManager.Error($"[路径管理] PathPointRenderPlugin实例获取失败: {ex.Message}");
                LogManager.Error($"[路径管理] 异常堆栈: {ex.StackTrace}");
                _renderPlugin = null;
            }

            _walkableAreas = new List<ModelItem>();
            _routes = new List<PathRoute>();
            _currentRoute = new PathRoute("默认路径");
            _historyManager = new PathHistoryManager(50); // 最多保存50个历史记录
            _coordinateConverter = null; // 将在需要时初始化
            _pathPointMarkers = new List<PathPointMarker>();

            // 从数据库加载历史路径到内存
            LoadHistoricalRoutesFromDatabase();

            LogManager.Info($"PathPlanningManager初始化完成，ManagerId: {_managerId}");
        }

        /// <summary>
        /// 初始化渲染插件的默认值
        /// 推送合理的网格大小和车辆参数，确保渲染插件在任何情况下都有正确的可视化效果
        /// </summary>
        private void InitializeRenderPluginDefaults()
        {
            try
            {
                // 设置默认网格大小（0.5米，适合大多数场景）
                const double defaultGridSizeInMeters = 0.5;
                _renderPlugin.SetGridSize(defaultGridSizeInMeters);
                LogManager.Info($"[渲染插件初始化] 已设置默认网格大小: {defaultGridSizeInMeters}米");

                // 设置默认车辆参数（与PathEditingViewModel的默认值保持一致）
                const double defaultVehicleLength = 1.0;   // 米
                const double defaultVehicleWidth = 1.0;    // 米
                const double defaultVehicleHeight = 2.0;   // 米
                const double defaultSafetyMargin = 0.25;   // 米

                _renderPlugin.SetVehicleParameters(
                    defaultVehicleLength,
                    defaultVehicleWidth,
                    defaultVehicleHeight,
                    defaultSafetyMargin
                );

                LogManager.Info($"[渲染插件初始化] 已设置默认车辆参数: 长={defaultVehicleLength}m, 宽={defaultVehicleWidth}m, 高={defaultVehicleHeight}m, 安全间隙={defaultSafetyMargin}m");
            }
            catch (Exception ex)
            {
                LogManager.Error($"[渲染插件初始化] 设置默认值失败: {ex.Message}", ex);
                // 即使失败也不抛出异常，避免影响PathPlanningManager的初始化
            }
        }

        #endregion

        #region IPathPlanningManager接口实现

        public string ManagerId => _managerId;

        public PathHistoryManager HistoryManager => _historyManager;

        public PathEditState PathEditState
        {
            get { return _pathEditState; }
            private set
            {
                var previousState = _pathEditState;
                _pathEditState = value;

                // 触发状态变更事件
                RaiseEditStateChanged(previousState, value, _editingRoute);

                LogManager.Info($"路径编辑状态变更: {previousState} -> {value}");
            }
        }

        public PathRoute EditingRoute
        {
            get { return _editingRoute; }
            private set { _editingRoute = value; }
        }

        public bool IsInEditableState
        {
            get { return _pathEditState == PathEditState.Creating || _pathEditState == PathEditState.Editing || _pathEditState == PathEditState.AddingPoints; }
        }

        public PathRoute CurrentRoute
        {
            get { return _currentRoute; }
            private set
            {
                var previousRoute = _currentRoute;
                _currentRoute = value;

                // 触发当前路径变更事件
                RaiseCurrentRouteChanged(previousRoute, value);
            }
        }

        public IReadOnlyList<PathRoute> Routes => _routes.AsReadOnly();

        /// <summary>
        /// 获取可修改的路线集合（内部使用）
        /// </summary>
        internal List<PathRoute> ModifiableRoutes => _routes;

        public IReadOnlyList<ModelItem> SelectedChannels => _walkableAreas.AsReadOnly();

        public PathPointType CurrentPointType
        {
            get { return _currentPointType; }
            private set { _currentPointType = value; }
        }
        /// <summary>
        /// 是否在自动路径规划模式
        /// </summary>
        public bool IsInAutoPathMode
        {
            get { return _isInAutoPathMode; }
            private set { _isInAutoPathMode = value; }
        }

        public ChannelBounds CombinedChannelBounds => _combinedChannelBounds;

        #endregion

        #region 事件定义

        public event EventHandler<PathPlanningStatusChangedEventArgs> StatusChanged;
        public event EventHandler<PathPlanningErrorOccurredEventArgs> ErrorOccurred;
        public event EventHandler<PathEditStateChangedEventArgs> EditStateChanged;
        public event EventHandler<ChannelSelectionChangedEventArgs> ChannelSelectionChanged;
        public event EventHandler<PathPointOperationEventArgs> PathPointOperation;
        public event EventHandler<RouteGeneratedEventArgs> RouteGenerated;
        public event EventHandler<CurrentRouteChangedEventArgs> CurrentRouteChanged;
        public event EventHandler<PathPointsListUpdatedEventArgs> PathPointsListUpdated;

        // 保留原有事件以保持向后兼容
        [Obsolete("请使用新的强类型事件接口")]
        public event EventHandler<List<ModelItem>> ChannelsSelected;

        [Obsolete("请使用新的强类型事件接口")]
        public event EventHandler<PathRoute> CurrentRouteChanged_Legacy;

        [Obsolete("请使用新的强类型事件接口")]
        public event EventHandler<PathRoute> RouteGenerated_Legacy;

        [Obsolete("请使用新的强类型事件接口")]
        public event EventHandler<string> StatusChanged_Legacy;

        [Obsolete("请使用新的强类型事件接口")]
        public event EventHandler<string> ErrorOccurred_Legacy;

        [Obsolete("请使用新的强类型事件接口")]
        public event EventHandler<PathEditState> PathEditStateChanged;

        [Obsolete("请使用新的强类型事件接口")]
        public event EventHandler<PathPoint> PathPointAddedIn3D;

        [Obsolete("请使用新的强类型事件接口")]
        public event EventHandler<PathPoint> PathPointRemovedFrom3D;

        [Obsolete("请使用新的强类型事件接口")]
        public event EventHandler<PathRoute> PathPointsListUpdated_Legacy;

        #endregion

        #region 事件触发方法

        private void RaiseStatusChanged(string statusMessage, PathPlanningStatusType statusType = PathPlanningStatusType.Info, object additionalData = null)
        {
            try
            {
                var eventArgs = new PathPlanningStatusChangedEventArgs(statusMessage, statusType, additionalData, _managerId);

                // 使用UIStateManager安全地触发事件
                if (_uiStateManager != null)
                {
                    _uiStateManager.QueueUIUpdate(() =>
                    {
                        StatusChanged?.Invoke(this, eventArgs);
                        // 向后兼容的事件
                        StatusChanged_Legacy?.Invoke(this, statusMessage);
                    });
                }
                else
                {
                    StatusChanged?.Invoke(this, eventArgs);
                    StatusChanged_Legacy?.Invoke(this, statusMessage);
                }

                LogManager.Info($"[状态变更] {statusMessage}");
            }
            catch (Exception ex)
            {
                LogManager.Error($"[状态变更] 事件触发失败: {ex.Message}");
            }
        }

        private void RaiseErrorOccurred(string errorMessage, Exception exception = null, PathPlanningErrorLevel errorLevel = PathPlanningErrorLevel.Error)
        {
            try
            {
                var eventArgs = new PathPlanningErrorOccurredEventArgs(errorMessage, exception, errorLevel, _managerId);

                // 使用UIStateManager安全地触发事件
                if (_uiStateManager != null)
                {
                    _uiStateManager.QueueUIUpdate(() =>
                    {
                        ErrorOccurred?.Invoke(this, eventArgs);
                        // 向后兼容的事件
                        ErrorOccurred_Legacy?.Invoke(this, errorMessage);
                    });
                }
                else
                {
                    ErrorOccurred?.Invoke(this, eventArgs);
                    ErrorOccurred_Legacy?.Invoke(this, errorMessage);
                }

                LogManager.Error($"[错误发生] {errorMessage}");
                if (exception != null)
                {
                    LogManager.Error($"[错误详情] {exception}");
                }
            }
            catch (Exception ex)
            {
                LogManager.Error($"[错误事件] 触发失败: {ex.Message}");
            }
        }

        private void RaiseEditStateChanged(PathEditState previousState, PathEditState newState, PathRoute editingRoute)
        {
            try
            {
                var eventArgs = new PathEditStateChangedEventArgs(previousState, newState, editingRoute, _managerId);

                if (_uiStateManager != null)
                {
                    _uiStateManager.QueueUIUpdate(() =>
                    {
                        EditStateChanged?.Invoke(this, eventArgs);
                        // 向后兼容的事件
                        PathEditStateChanged?.Invoke(this, newState);
                    });
                }
                else
                {
                    EditStateChanged?.Invoke(this, eventArgs);
                    PathEditStateChanged?.Invoke(this, newState);
                }
            }
            catch (Exception ex)
            {
                LogManager.Error($"[编辑状态变更] 事件触发失败: {ex.Message}");
            }
        }

        private void RaiseChannelSelectionChanged(List<ModelItem> selectedChannels, string selectionMethod)
        {
            try
            {
                var eventArgs = new ChannelSelectionChangedEventArgs(selectedChannels, selectionMethod, _managerId);

                if (_uiStateManager != null)
                {
                    _uiStateManager.QueueUIUpdate(() =>
                    {
                        ChannelSelectionChanged?.Invoke(this, eventArgs);
                        // 向后兼容的事件
                        ChannelsSelected?.Invoke(this, selectedChannels);
                    });
                }
                else
                {
                    ChannelSelectionChanged?.Invoke(this, eventArgs);
                    ChannelsSelected?.Invoke(this, selectedChannels);
                }
            }
            catch (Exception ex)
            {
                LogManager.Error($"[通道选择变更] 事件触发失败: {ex.Message}");
            }
        }

        private void RaisePathPointOperation(PathPointOperationType operationType, PathPoint pathPoint, PathRoute route)
        {
            try
            {
                var eventArgs = new PathPointOperationEventArgs(operationType, pathPoint, route, _managerId);

                if (_uiStateManager != null)
                {
                    _uiStateManager.QueueUIUpdate(() =>
                    {
                        PathPointOperation?.Invoke(this, eventArgs);

                        // 向后兼容的事件
                        if (operationType == PathPointOperationType.Added)
                        {
                            PathPointAddedIn3D?.Invoke(this, pathPoint);
                        }
                        else if (operationType == PathPointOperationType.Removed)
                        {
                            PathPointRemovedFrom3D?.Invoke(this, pathPoint);
                        }
                    });
                }
                else
                {
                    PathPointOperation?.Invoke(this, eventArgs);

                    if (operationType == PathPointOperationType.Added)
                    {
                        PathPointAddedIn3D?.Invoke(this, pathPoint);
                    }
                    else if (operationType == PathPointOperationType.Removed)
                    {
                        PathPointRemovedFrom3D?.Invoke(this, pathPoint);
                    }
                }
            }
            catch (Exception ex)
            {
                LogManager.Error($"[路径点操作] 事件触发失败: {ex.Message}");
            }
        }

        private void RaiseRouteGenerated(PathRoute route, RouteGenerationMethod generationMethod, double gridSize = -1)
        {
            try
            {
                LogManager.Info($"*** RaiseRouteGenerated被调用: {route?.Name}, Method: {generationMethod}, GridSize: {gridSize} ***");

                var eventArgs = new RouteGeneratedEventArgs(route, generationMethod, gridSize, _managerId);

                // 检查是否有订阅者
                if (RouteGenerated != null)
                {
                    var invocationList = RouteGenerated.GetInvocationList();
                    LogManager.Info($"*** RouteGenerated事件有 {invocationList.Length} 个订阅者 ***");

                    for (int i = 0; i < invocationList.Length; i++)
                    {
                        var handler = invocationList[i];
                        LogManager.Info($"*** 订阅者 {i}: {handler.Target?.GetType().Name}.{handler.Method.Name} ***");
                    }
                }
                else
                {
                    LogManager.Warning("*** RouteGenerated事件没有订阅者！！！ ***");
                }

                // 测试强制同步处理：使用高优先级QueueUIUpdate代替立即执行
                if (_uiStateManager != null)
                {
                    LogManager.Info("*** 使用高优先级强制同步处理RouteGenerated事件 ***");
                    _uiStateManager.QueueUIUpdateWithForcedSync(() =>
                    {
                        LogManager.Info($"*** 强制同步队列中执行RouteGenerated事件: {route?.Name} ***");
                        RouteGenerated?.Invoke(this, eventArgs);
                        // 向后兼容的事件
                        RouteGenerated_Legacy?.Invoke(this, route);
                        LogManager.Info($"*** RouteGenerated事件强制同步执行完成: {route?.Name} ***");
                    }, UIUpdatePriority.Critical, $"RouteGenerated强制同步事件({route?.Name})");
                }
                else
                {
                    LogManager.Info("*** 直接触发RouteGenerated事件（UIStateManager为null）***");
                    RouteGenerated?.Invoke(this, eventArgs);
                    RouteGenerated_Legacy?.Invoke(this, route);
                    LogManager.Info($"*** RouteGenerated事件直接调用完成: {route?.Name} ***");
                }
            }
            catch (Exception ex)
            {
                LogManager.Error($"*** [路径生成] 事件触发失败: {ex.Message} ***");
            }
        }

        private void RaiseCurrentRouteChanged(PathRoute previousRoute, PathRoute newRoute)
        {
            try
            {
                var eventArgs = new CurrentRouteChangedEventArgs(previousRoute, newRoute, _managerId);

                if (_uiStateManager != null)
                {
                    _uiStateManager.QueueUIUpdate(() =>
                    {
                        CurrentRouteChanged?.Invoke(this, eventArgs);
                        // 向后兼容的事件
                        CurrentRouteChanged_Legacy?.Invoke(this, newRoute);
                    });
                }
                else
                {
                    CurrentRouteChanged?.Invoke(this, eventArgs);
                    CurrentRouteChanged_Legacy?.Invoke(this, newRoute);
                }
            }
            catch (Exception ex)
            {
                LogManager.Error($"[当前路径变更] 事件触发失败: {ex.Message}");
            }
        }

        public void RaisePathPointsListUpdated(PathRoute route, string updateReason)
        {
            try
            {
                var eventArgs = new PathPointsListUpdatedEventArgs(route, updateReason, _managerId);

                if (_uiStateManager != null)
                {
                    _uiStateManager.QueueUIUpdate(() =>
                    {
                        PathPointsListUpdated?.Invoke(this, eventArgs);
                        // 向后兼容的事件
                        PathPointsListUpdated_Legacy?.Invoke(this, route);
                    });
                }
                else
                {
                    PathPointsListUpdated?.Invoke(this, eventArgs);
                    PathPointsListUpdated_Legacy?.Invoke(this, route);
                }
            }
            catch (Exception ex)
            {
                LogManager.Error($"[路径点列表更新] 事件触发失败: {ex.Message}");
            }
        }

        #endregion

        #region 核心业务方法

        /// <summary>
        /// 切换到查看状态
        /// </summary>
        public void SwitchToViewingState()
        {
            PathEditState = PathEditState.Viewing;
            EditingRoute = null;

            // 智能管理ToolPlugin状态
            ManageToolPluginForEditState();

            RaiseStatusChanged("已切换到查看状态", PathPlanningStatusType.Info);
        }


        /// <summary>
        /// 重置路径编辑状态
        /// </summary>
        public void ResetPathEditState()
        {
            try
            {
                PathEditState = PathEditState.None;
                LogManager.Info("路径编辑状态已重置");
            }
            catch (Exception ex)
            {
                LogManager.Error("重置路径编辑状态失败", ex);
                RaiseErrorOccurred(ex.Message, ex);
            }
        }

        /// <summary>
        /// 清理无效的对象引用
        /// </summary>
        public void ClearInvalidReferences()
        {
            try
            {
                LogManager.Info("[PathPlanningManager] 清理无效对象引用");

                // 重置编辑状态
                PathEditState = PathEditState.None;

                // 清空当前路径
                if (_currentRoute != null)
                {
                    _currentRoute.Points.Clear();
                }

                // 清空通道引用
                if (_walkableAreas != null)
                {
                    _walkableAreas.Clear();
                    LogManager.Info("[PathPlanningManager] 已清空通道引用");
                }

                // 清空组合边界
                _combinedChannelBounds = null;

                LogManager.Info("[PathPlanningManager] 对象引用清理完成");
            }
            catch (Exception ex)
            {
                LogManager.Error($"[PathPlanningManager] 清理对象引用失败: {ex.Message}");
            }
        }

        /// <summary>
        /// 保存当前路线到历史记录
        /// </summary>
        /// <param name="description">保存描述</param>
        public void SaveCurrentRouteToHistory(string description = "手动保存")
        {
            try
            {
                if (CurrentRoute != null)
                {
                    // 创建历史记录条目
                    var entry = new PathHistoryEntry(CurrentRoute.Id, PathHistoryOperationType.ManualSave, CurrentRoute, description);
                    _historyManager?.AddHistoryEntry(entry);
                    LogManager.Info($"路线 '{CurrentRoute.Name}' 已保存到历史记录: {description}");
                }
            }
            catch (Exception ex)
            {
                LogManager.Error("保存路线到历史记录失败", ex);
                RaiseErrorOccurred(ex.Message, ex);
            }
        }

        /// <summary>
        /// 清除3D路径标记（保留网格可视化）
        /// </summary>
        public void Clear3DPathMarkers()
        {
            try
            {
                _pathPointMarkers?.Clear();
                // 清除路径标记但保留网格可视化
                _renderPlugin?.ClearPathsExcept("grid_visualization_all", "grid_visualization_channel", "grid_visualization_unknown", "grid_visualization_obstacle", "grid_visualization_door");
                LogManager.Info("3D路径标记已清除（保留网格可视化）");
            }
            catch (Exception ex)
            {
                LogManager.Error("清除3D路径标记失败", ex);
                RaiseErrorOccurred(ex.Message, ex);
            }
        }

        /// <summary>
        /// 删除路径点
        /// </summary>
        /// <param name="point">要删除的路径点</param>
        public void RemovePathPoint(PathPoint point)
        {
            try
            {
                if (point != null)
                {
                    if (_pathPointMarkers != null)
                    {
                        // 找到对应的PathPointMarker
                        var marker = _pathPointMarkers.FirstOrDefault(m => m.PathPoint?.Id == point.Id);
                        if (marker != null)
                        {
                            _pathPointMarkers.Remove(marker);
                            LogManager.Info($"已从3D中移除路径点标记: {point.Name}");
                        }
                    }

                    // 重新渲染当前路径以反映更改
                    if (_renderPlugin != null && CurrentRoute != null)
                    {
                        _renderPlugin.RenderPath(CurrentRoute);
                        LogManager.Info($"已更新路径可视化: {point.Name}");
                    }

                    // 触发路径点移除事件
                    RaisePathPointOperation(PathPointOperationType.Removed, point, CurrentRoute);

                    // 保存到数据库
                    if (CurrentRoute != null)
                    {
                        SavePathToDatabase(CurrentRoute);
                    }
                }
            }
            catch (Exception ex)
            {
                LogManager.Error("从3D中移除路径点失败", ex);
                RaiseErrorOccurred(ex.Message, ex);
            }
        }

        /// <summary>
        /// 启动点击工具
        /// </summary>
        /// <param name="pointType">点击类型</param>
        public void StartClickTool(PathPointType pointType)
        {
            try
            {
                CurrentPointType = pointType;

                // 检查是否在自动路径模式 - 如果是，则不订阅PathPlanningManager的事件
                bool shouldSubscribeToEvents = !IsInAutoPathMode;
                LogManager.Info($"StartClickTool - 自动路径模式: {IsInAutoPathMode}, 订阅事件: {shouldSubscribeToEvents}");

                ActivateToolPlugin(shouldSubscribeToEvents);
                PathEditState = PathEditState.AddingPoints;
                LogManager.Info($"点击工具已启动，类型: {pointType}，事件订阅: {shouldSubscribeToEvents}");
            }
            catch (Exception ex)
            {
                LogManager.Error("启动点击工具失败", ex);
                RaiseErrorOccurred(ex.Message, ex);
            }
        }

        /// <summary>
        /// 停止点击工具
        /// </summary>
        public void StopClickTool()
        {
            try
            {
                LogManager.Debug("[事件清理] ===== 开始执行StopClickTool - 完整事件订阅清理 =====");

                // 1. 停用ToolPlugin并清理事件订阅
                DeactivateToolPlugin();

                // 2. 简化的事件订阅清理 - 移除危险的反射操作
                LogManager.Debug("[事件清理] 执行安全的事件订阅清理");
                try
                {
                    // 安全地移除事件订阅，多次取消订阅同一处理程序是安全的
                    PathClickToolPlugin.MouseClicked -= OnToolPluginMouseClicked;
                    LogManager.Debug("[事件清理] 已安全移除PathPlanningManager.OnToolPluginMouseClicked订阅");
                }
                catch (Exception cleanupEx)
                {
                    LogManager.Error($"[事件清理] 事件清理过程异常: {cleanupEx.Message}");
                }

                // 注意：移除了PathEditState设置，StopClickTool只管理工具插件状态，不修改业务逻辑状态
                LogManager.Debug("[事件清理] ===== StopClickTool执行完成，所有事件订阅已清理 =====");
            }
            catch (Exception ex)
            {
                LogManager.Error("停止点击工具失败", ex);
                RaiseErrorOccurred(ex.Message, ex);
            }
        }

        /// <summary>
        /// 禁用鼠标处理（用于自动路径规划模式）
        /// </summary>
        public void DisableMouseHandling()
        {
            try
            {
                LogManager.Info("禁用PathPlanningManager鼠标处理，进入自动路径规划模式");
                IsInAutoPathMode = true;

                // 取消PathPlanningManager的鼠标事件订阅
                PathClickToolPlugin.MouseClicked -= OnToolPluginMouseClicked;
                LogManager.Info("已取消PathPlanningManager的鼠标事件订阅");
            }
            catch (Exception ex)
            {
                LogManager.Error($"禁用鼠标处理失败: {ex.Message}", ex);
            }
        }

        /// <summary>
        /// 启用鼠标处理（用于手动路径编辑模式）
        /// </summary>
        public void EnableMouseHandling()
        {
            try
            {
                LogManager.Info("启用PathPlanningManager鼠标处理，退出自动路径规划模式");
                IsInAutoPathMode = false;

                // 重新订阅PathPlanningManager的鼠标事件
                PathClickToolPlugin.MouseClicked -= OnToolPluginMouseClicked; // 先取消避免重复
                PathClickToolPlugin.MouseClicked += OnToolPluginMouseClicked;
                LogManager.Info("已重新订阅PathPlanningManager的鼠标事件");
            }
            catch (Exception ex)
            {
                LogManager.Error($"启用鼠标处理失败: {ex.Message}", ex);
            }
        }

        /// <summary>
        /// 自动路径规划（支持路径策略）
        /// </summary>
        /// <param name="startPoint">起点</param>
        /// <param name="endPoint">终点</param>
        /// <param name="vehicleRadius">车辆尺寸（米）</param>
        /// <param name="safetyMargin">安全间隙（米）</param>
        /// <param name="gridSize">网格精度（米）</param>
        /// <param name="vehicleHeight">车辆高度（米）</param>
        /// <param name="strategy">路径规划策略</param>
        /// <returns>规划结果</returns>
        public Task<PathRoute> AutoPlanPath(PathPoint startPoint, PathPoint endPoint, double vehicleRadius, double safetyMargin, double gridSize, double vehicleHeight, PathStrategy strategy)
        {
            try
            {
                if (startPoint == null || endPoint == null)
                {
                    throw new ArgumentException("起点和终点不能为空");
                }

                LogManager.Info($"开始自动路径规划: {startPoint.Name} -> {endPoint.Name}");
                LogManager.Info($"起点坐标: ({startPoint.Position.X:F2}, {startPoint.Position.Y:F2}, {startPoint.Position.Z:F2})");
                LogManager.Info($"终点坐标: ({endPoint.Position.X:F2}, {endPoint.Position.Y:F2}, {endPoint.Position.Z:F2})");
                LogManager.Info($"车辆半径: {vehicleRadius}m, 安全间隙: {safetyMargin}m, 车辆高度: {vehicleHeight}m");

                RaiseStatusChanged("正在进行自动路径规划...", PathPlanningStatusType.Info);

                // 1. 获取模型边界
                var bounds = GetModelBounds() ?? throw new Exception("无法获取模型边界，请确保模型已加载");
                LogManager.Info($"模型边界: Min({bounds.Min.X:F2}, {bounds.Min.Y:F2}), Max({bounds.Max.X:F2}, {bounds.Max.Y:F2})");

                // 智能选择网格大小
                if (gridSize <= 0)
                {
                    gridSize = CalculateOptimalGridSize(bounds);
                    LogManager.Info($"自动选择网格大小: {gridSize}米");
                }
                else
                {
                    LogManager.Info($"使用用户设置的网格大小: {gridSize}米");
                }

                // 2. 生成网格地图
                RaiseStatusChanged("正在生成网格地图...", PathPlanningStatusType.Info);
                var gridMapGenerator = new GridMapGenerator();
                GridMap gridMap = null;

                try
                {
                    var performanceStart = System.Diagnostics.Stopwatch.StartNew();

                    // 获取当前文档
                    var document = Application.ActiveDocument;
                    LogManager.Info($"网格生成参数 - 边界: {bounds.Min.X:F2},{bounds.Min.Y:F2} -> {bounds.Max.X:F2},{bounds.Max.Y:F2}");
                    LogManager.Info($"网格生成参数 - 网格大小: {gridSize}m, 车辆半径: {vehicleRadius}m, 安全边距: {safetyMargin}m");
                    LogManager.Info($"网格生成参数 - 起点: ({startPoint.Position.X:F2}, {startPoint.Position.Y:F2}, {startPoint.Position.Z:F2})");
                    LogManager.Info($"网格生成参数 - 终点: ({endPoint.Position.X:F2}, {endPoint.Position.Y:F2}, {endPoint.Position.Z:F2})");

                    try
                    {
                        gridMap = gridMapGenerator.GenerateFromBIM(
                            bounds,
                            gridSize,
                            vehicleRadius,
                            safetyMargin,
                            startPoint.Position,
                            endPoint.Position,
                            vehicleHeight
                        );
                        LogManager.Info("✅ 网格地图生成成功");
                    }
                    catch (Exception modeEx)
                    {
                        LogManager.Warning($"网格地图生成失败,{modeEx.Message}");
                    }

                    performanceStart.Stop();
                    LogManager.Info($"GridMapGenerator.GenerateFromBIM 调用完成，耗时: {performanceStart.ElapsedMilliseconds}ms");
                    LogManager.Info($"生成的网格统计: {gridMap?.GetStatistics() ?? "NULL"}");
                }
                catch (Exception ex)
                {
                    LogManager.Error($"网格地图生成失败: {ex.Message}");
                    throw; // 直接抛出原始异常，不包装
                }

                // 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, vehicleHeight);
                }

                // 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");

                // 4. 创建ChannelCoverage对象（关键修复）
                ChannelCoverage channelCoverage = null;
                if (channelItems != null && channelItems.Any())
                {
                    LogManager.Info($"创建ChannelCoverage对象，包含 {channelItems.Count()} 个通道项");
                    channelCoverage = new ChannelCoverage
                    {
                        GridMap = gridMap,
                        ChannelItems = channelItems.ToList(),
                        TotalBounds = bounds
                    };
                    LogManager.Info($"ChannelCoverage创建完成: {channelCoverage.GetStatistics()}");
                }
                else
                {
                    LogManager.Error("未找到通道数据，无法进行路径规划");
                    throw new Exception("路径规划需要通道数据，请先进行通道检测");
                }

                // 5. 执行A*路径查找
                RaiseStatusChanged("正在计算最优路径...", PathPlanningStatusType.Info);
                LogManager.Info("=== 开始执行A*路径查找 ===");

                AutoPathFinder pathFinder = null;
                PathFindingResult pathResult = null;

                try
                {
                    pathFinder = new AutoPathFinder();
                    double vehicleHeightInModelUnits = vehicleHeight * UnitsConverter.GetMetersToUnitsConversionFactor(Application.ActiveDocument.Units);
                    LogManager.Info($"使用2.5D模式进行路径查找，车辆高度: {vehicleHeight}m ({vehicleHeightInModelUnits:F2}模型单位)，策略: {strategy}");
                    pathResult = pathFinder.FindPath(startPoint.Position, endPoint.Position, gridMap, channelCoverage, vehicleHeightInModelUnits, strategy);
                    LogManager.Info("FindPath方法调用完成");
                }
                catch (Exception ex)
                {
                    LogManager.Error($"路径查找失败: {ex.Message}");
                    throw; // 直接抛出原始异常，不包装
                }

                // 1. 检查路径查找是否完全失败
                if (pathResult == null)
                {
                    throw new Exception("路径查找失败");
                }

                // 2. 检查是否找到了可用的路径点（至少2个点才能构成路径）
                if (pathResult.PathPoints.Count < 2)
                {
                    throw new Exception("未找到可行路径（起点或终点不可达）");
                }

                // 3. 部分路径也是有效路径，不再抛出异常，继续正常处理

                LogManager.Info($"A*算法找到路径，包含 {pathResult.PathPoints.Count} 个点，完成度: {pathResult.CompletionPercentage:F1}%");

                // 6. 创建PathRoute对象并保存GridMap
                var routeName = $"自动路径_{DateTime.Now:HHmmss}";

                // 🔥 关键修复：在创建路径前设置_currentGridMap，确保GetSpeedLimitAtPosition能正常工作
                _currentGridMap = gridMap;

                var autoRoute = CreateAutoPathRoute(pathResult, routeName);

                // 保存GridMap和参数到PathRoute以便后续恢复网格可视化
                autoRoute.AssociatedGridMap = gridMap;
                autoRoute.GridSize = gridSize;
                // 将vehicleRadius拆分为长宽（暂时使用相同值，后续可以传入更详细的参数）
                autoRoute.MaxVehicleLength = vehicleRadius * 2;  // 车辆半径转换为长度
                autoRoute.MaxVehicleWidth = vehicleRadius * 2;   // 车辆半径转换为宽度
                autoRoute.MaxVehicleHeight = vehicleHeight;
                autoRoute.SafetyMargin = safetyMargin;
                LogManager.Info($"已保存GridMap到路径: {routeName}, 网格大小: {gridSize}米");

                // 7. 添加到路径集合
                if (!_routes.Contains(autoRoute))
                {
                    _routes.Add(autoRoute);
                    // 保存自动生成的路径到数据库
                    SavePathToDatabase(autoRoute);
                }
                CurrentRoute = autoRoute;

                // 8. 确保路径可视化使用正确的网格大小（修复尺寸自适应问题）
                var renderPlugin = PathPointRenderPlugin.Instance;
                if (renderPlugin != null && gridMap != null)
                {
                    double gridSizeInMeters = UnitsConverter.ConvertToMeters(gridMap.CellSize);
                    renderPlugin.SetGridSize(gridSizeInMeters);
                    LogManager.Debug($"[路径可视化] 设置网格大小为 {gridSizeInMeters:F3}米，确保路径点尺寸正确");
                }

                // 9. 自动绘制路径可视化
                DrawRouteVisualization(autoRoute, isAutoPath: true);

                // 10. 强制设置路径编辑状态为查看状态（修复状态问题）
                // 在所有事件触发之前设置状态，确保不会被后续操作重置
                LogManager.Info("自动路径规划完成，强制设置状态为Viewing");
                PathEditState = PathEditState.Viewing;
                EditingRoute = null; // 确保没有编辑中的路径

                // 11. 触发事件
                RaiseRouteGenerated(autoRoute, RouteGenerationMethod.AutoPlanning, gridSize);


                var statusMessage = $"自动路径规划完成(2.5D模式): {routeName}，使用网格大小 {gridSize:F2}米";

                // 添加完成度信息
                if (!autoRoute.IsComplete)
                {
                    statusMessage += $" (完成度: {autoRoute.CompletionPercentage:F1}%)";
                }

                RaiseStatusChanged(statusMessage, PathPlanningStatusType.Success);

                LogManager.Info($"自动路径规划成功完成: 路径长度 {autoRoute.TotalLength:F2}米，包含 {autoRoute.Points.Count} 个点，使用网格大小 {gridSize:F2}米");
                return Task.FromResult(autoRoute);
            }
            catch (Exception ex)
            {
                LogManager.Error($"自动路径规划失败: {ex.Message}", ex);
                RaiseErrorOccurred(ex.Message, ex); // 使用原始异常消息，不再包装
                return Task.FromResult<PathRoute>(null);
            }
        }

        /// <summary>
        /// 设置当前路线
        /// </summary>
        /// <param name="route">要设置的路线</param>
        public void SetCurrentRoute(PathRoute route)
        {
            try
            {
                CurrentRoute = route;

                // 如果路径有关联的GridMap，加载它用于网格可视化
                if (route?.AssociatedGridMap != null)
                {
                    _currentGridMap = route.AssociatedGridMap;
                    LogManager.Info($"已加载路径 '{route.Name}' 的GridMap，网格大小: {route.GridSize}米");

                    // 如果网格可视化开启，立即刷新显示
                    if (IsAnyGridVisualizationEnabled)
                    {
                        LogManager.Info("检测到网格可视化已启用，自动刷新网格显示");
                        RefreshGridVisualization();
                    }
                }
                else
                {
                    // 如果路径没有GridMap，清空当前缓存
                    _currentGridMap = null;
                    if (route != null)
                    {
                        LogManager.Info($"路径 '{route.Name}' 没有关联的GridMap");
                    }
                }

                LogManager.Info($"当前路线已设置: {route?.Name ?? "null"}");
            }
            catch (Exception ex)
            {
                LogManager.Error("设置当前路线失败", ex);
                RaiseErrorOccurred(ex.Message, ex);
            }
        }

        /// <summary>
        /// 切换到编辑状态
        /// </summary>
        /// <param name="route">要编辑的路径</param>
        public void SwitchToEditingState(PathRoute route)
        {
            PathEditState = PathEditState.Editing;
            EditingRoute = route ?? throw new ArgumentNullException(nameof(route));
            CurrentRoute = route;

            // 智能管理ToolPlugin状态
            ManageToolPluginForEditState();

            RaiseStatusChanged($"已切换到编辑状态，正在编辑路径: {route.Name}", PathPlanningStatusType.Info);
        }

        /// <summary>
        /// 选择通道模型
        /// </summary>
        /// <param name="useCurrentSelection">是否使用当前选择的模型</param>
        /// <returns>选择的通道数量</returns>
        public int SelectChannels(bool useCurrentSelection = true)
        {
            try
            {
                _walkableAreas.Clear();

                if (useCurrentSelection)
                {
                    // 使用当前选择的模型
                    var currentSelection = Application.ActiveDocument.CurrentSelection.SelectedItems;
                    if (currentSelection.Any())
                    {
                        _walkableAreas.AddRange(currentSelection);
                        RaiseStatusChanged($"已选择 {_walkableAreas.Count} 个模型作为通道", PathPlanningStatusType.Success);
                    }
                    else
                    {
                        RaiseStatusChanged("未选择任何模型，请先选择通道模型", PathPlanningStatusType.Warning);
                        return 0;
                    }
                }
                else
                {
                    // 直接使用 CategoryAttributeManager 的方法筛选通道，无需额外的包装方法
                    var document = Application.ActiveDocument;
                    if (document != null)
                    {
                        var allLogisticsItems = CategoryAttributeManager.GetAllLogisticsItems();
                        var channelItems = CategoryAttributeManager.FilterByLogisticsType(allLogisticsItems, CategoryAttributeManager.LogisticsElementType.通道);
                        _walkableAreas.AddRange(channelItems);
                        LogManager.Info($"[SelectChannels] 通过CategoryAttributeManager直接筛选到 {channelItems.Count} 个通道");
                    }

                    RaiseStatusChanged($"通过类别筛选到 {_walkableAreas.Count} 个通道", PathPlanningStatusType.Success);
                }

                if (_walkableAreas.Any())
                {
                    // 计算组合边界
                    CalculateCombinedBounds();

                    // 触发通道选择变更事件
                    RaiseChannelSelectionChanged(_walkableAreas, useCurrentSelection ? "手动选择" : "类别筛选");
                }

                return _walkableAreas.Count;
            }
            catch (Exception ex)
            {
                RaiseErrorOccurred($"选择通道时发生错误: {ex.Message}", ex);
                return 0;
            }
        }

        /// <summary>
        /// 添加路径到管理器
        /// </summary>
        /// <param name="route">要添加的路径</param>
        /// <returns>是否成功添加</returns>
        public bool AddRoute(PathRoute route)
        {
            try
            {
                if (route == null)
                {
                    RaiseErrorOccurred("无法添加空路径");
                    return false;
                }

                // 检查是否已存在同名路径
                var existingRoute = _routes.FirstOrDefault(r => r.Name == route.Name);
                if (existingRoute != null)
                {
                    // 如果存在同名路径，生成唯一名称
                    int counter = 1;
                    string originalName = route.Name;
                    while (_routes.Any(r => r.Name == route.Name))
                    {
                        route.Name = $"{originalName}_{counter}";
                        counter++;
                    }
                }

                _routes.Add(route);
                RaiseStatusChanged($"已添加路径: {route.Name}", PathPlanningStatusType.Success);

                // 保存到数据库
                SavePathToDatabase(route);

                // AddRoute只负责添加路径到数据集合，不自动设置当前路径
                // 路径选择应该通过专门的选择逻辑处理，而不是添加操作的副作用
                // if (_currentRoute == null || _currentRoute.Points.Count == 0)
                // {
                //     CurrentRoute = route;
                // }

                // 注释掉多余的路径生成事件调用，Manual类型路径通过UI层的RefreshPathRoutes()统一刷新
                // RaiseRouteGenerated(route, RouteGenerationMethod.Manual);

                return true;
            }
            catch (Exception ex)
            {
                RaiseErrorOccurred($"添加路径失败: {ex.Message}", ex);
                return false;
            }
        }

        /// <summary>
        /// 创建新路径
        /// </summary>
        /// <param name="routeName">路径名称</param>
        /// <returns>新创建的路径</returns>
        public PathRoute CreateNewRoute(string routeName = null)
        {
            if (string.IsNullOrEmpty(routeName))
            {
                routeName = $"路径_{_routes.Count + 1}";
            }

            var newRoute = new PathRoute(routeName);
            _routes.Add(newRoute);
            CurrentRoute = newRoute;

            // 保存到数据库
            SavePathToDatabase(newRoute);

            RaiseStatusChanged($"已创建新路径: {routeName}", PathPlanningStatusType.Success);
            return newRoute;
        }

        /// <summary>
        /// 删除路径
        /// </summary>
        /// <param name="route">要删除的路径</param>
        /// <returns>是否成功删除</returns>
        public bool DeleteRoute(PathRoute route)
        {
            if (route == null) return false;

            try
            {
                bool removed = _routes.Remove(route);
                if (removed)
                {
                    // 从数据库删除
                    if (_pathDatabase != null)
                    {
                        try
                        {
                            _pathDatabase.DeletePathRoute(route.Id);
                            LogManager.Info($"已从数据库删除路径: {route.Name}");
                        }
                        catch (Exception dbEx)
                        {
                            LogManager.Error($"从数据库删除路径失败: {dbEx.Message}", dbEx);
                            // 继续执行，不影响内存操作
                        }
                    }

                    if (_currentRoute == route)
                    {
                        var newRoute = _routes.FirstOrDefault() ?? new PathRoute("默认路径");
                        CurrentRoute = newRoute;
                    }
                    RaiseStatusChanged($"已删除路径: {route.Name}", PathPlanningStatusType.Success);
                }
                return removed;
            }
            catch (Exception ex)
            {
                RaiseErrorOccurred($"删除路径时发生错误: {ex.Message}", ex);
                return false;
            }
        }

        /// <summary>
        /// 生成路径
        /// </summary>
        /// <param name="route">要生成的路径，为null时使用当前路径</param>
        /// <returns>是否成功生成</returns>
        public bool GeneratePath(PathRoute route = null)
        {
            route = route ?? _currentRoute;
            if (route == null) return false;

            try
            {
                // 验证路径有效性
                if (!route.IsValid())
                {
                    RaiseErrorOccurred("路径无效：必须包含至少一个起点和一个终点");
                    return false;
                }

                // 更新路径关联的通道ID
                route.AssociatedChannelIds.Clear();
                foreach (var channel in _walkableAreas)
                {
                    route.AssociatedChannelIds.Add(channel.InstanceGuid.ToString());
                }

                // 计算预估时间（简单实现）
                CalculateEstimatedTime(route);

                RaiseStatusChanged($"路径生成成功: {route.Name}, 长度: {route.TotalLength:F2}米, 预估时间: {route.EstimatedTime:F1}秒", PathPlanningStatusType.Success);
                RaiseRouteGenerated(route, RouteGenerationMethod.Manual);
                return true;
            }
            catch (Exception ex)
            {
                RaiseErrorOccurred($"生成路径时发生错误: {ex.Message}", ex);
                return false;
            }
        }

        /// <summary>
        /// 开始新建路径
        /// </summary>
        /// <param name="routeName">路径名称</param>
        /// <returns>创建的新路径</returns>
        public PathRoute StartCreatingNewRoute(string routeName = null)
        {
            try
            {
                // 设置为创建状态
                PathEditState = PathEditState.Creating;

                // 创建新路径
                var newRoute = new PathRoute(routeName ?? $"路径{DateTime.Now:yyyyMMdd_HHmmss}");
                _editingRoute = newRoute;
                CurrentRoute = newRoute;

                // 自动选择所有可通行的物流模型
                AutoSelectLogisticsChannels();

                // 检查是否有可通行的物流模型
                if (_walkableAreas == null || _walkableAreas.Count == 0)
                {
                    RaiseErrorOccurred("没有找到任何可通行的物流模型，请先为模型设置可通行的物流属性");
                    // 重置状态
                    SwitchToViewingState();
                    return null;
                }

                // 智能管理ToolPlugin状态
                ManageToolPluginForEditState();

                RaiseStatusChanged($"正在新建路径: {newRoute.Name} - 请在3D视图中可通行的物流模型上点击设置路径点", PathPlanningStatusType.Info);

                return newRoute;
            }
            catch (Exception ex)
            {
                RaiseErrorOccurred($"开始新建路径失败: {ex.Message}", ex);
                // 确保在出错时也重置状态
                SwitchToViewingState();
                return null;
            }
        }

        /// <summary>
        /// 完成当前编辑并保存
        /// </summary>
        /// <returns>是否成功完成编辑</returns>
        public bool FinishEditing()
        {
            if (!IsInEditableState)
            {
                RaiseErrorOccurred("当前不在编辑状态，无法完成编辑");
                return false;
            }

            try
            {
                // 自动设置最后一个点为终点
                if (CurrentRoute != null && CurrentRoute.Points.Count > 1)
                {
                    var lastPoint = CurrentRoute.Points.Last();
                    if (lastPoint.Type != PathPointType.StartPoint) // 起点不能是终点
                    {
                        lastPoint.Type = PathPointType.EndPoint;
                        lastPoint.Name = GeneratePointName(PathPointType.EndPoint);

                        // 更新3D路径可视化
                        // 重新渲染整个路径以反映类型变更
                        _renderPlugin?.RenderPath(CurrentRoute);

                        LogManager.Info($"已自动设置最后一个点为终点: {lastPoint.Name}");
                    }
                }

                // 如果是创建模式，将当前路径添加到路径集合
                if (_pathEditState == PathEditState.Creating && CurrentRoute != null)
                {
                    if (!_routes.Contains(CurrentRoute))
                    {
                        _routes.Add(CurrentRoute);

                        // 保存到数据库
                        SavePathToDatabase(CurrentRoute);

                        // 添加历史记录
                        var historyEntry = new PathHistoryEntry(
                            CurrentRoute.Id,
                            PathHistoryOperationType.Created,
                            CurrentRoute,
                            $"创建新路径: {CurrentRoute.Name}");
                        _historyManager.AddHistoryEntry(historyEntry);
                    }
                }

                // 如果是编辑模式，保存编辑历史
                if (_pathEditState == PathEditState.Editing && EditingRoute != null)
                {
                    // 更新数据库
                    SavePathToDatabase(EditingRoute);

                    var historyEntry = new PathHistoryEntry(
                        EditingRoute.Id,
                        PathHistoryOperationType.Edited,
                        EditingRoute,
                        $"编辑路径: {EditingRoute.Name}");
                    _historyManager.AddHistoryEntry(historyEntry);
                }

                // 切换回查看状态
                SwitchToViewingState();

                // 触发路径点列表更新事件
                RaisePathPointsListUpdated(CurrentRoute, "编辑完成");

                // 触发路径生成事件
                RaiseRouteGenerated(CurrentRoute, RouteGenerationMethod.Manual);

                RaiseStatusChanged("路径编辑已完成", PathPlanningStatusType.Success);
                return true;
            }
            catch (Exception ex)
            {
                RaiseErrorOccurred($"完成编辑失败: {ex.Message}", ex);
                return false;
            }
        }

        #region 修改路径点功能

        /// <summary>
        /// 开始修改指定的路径点
        /// </summary>
        /// <param name="pointIndex">要修改的路径点索引</param>
        /// <returns>是否成功开始修改</returns>
        public bool StartEditingPoint(int pointIndex)
        {
            try
            {
                if (CurrentRoute == null || pointIndex < 0 || pointIndex >= CurrentRoute.Points.Count)
                {
                    RaiseErrorOccurred("无效的路径点索引或当前没有路径");
                    return false;
                }

                // 保存原始点和索引
                _editingPointIndex = pointIndex;
                var originalPoint = CurrentRoute.Points[pointIndex];
                _originalPoint = new PathPoint
                {
                    Id = originalPoint.Id,
                    Name = originalPoint.Name,
                    Position = originalPoint.Position,
                    Type = originalPoint.Type
                };

                // 切换到修改路径点状态
                PathEditState = PathEditState.EditingPoint;

                // 激活ToolPlugin以接收3D点击
                ActivateToolPlugin();

                RaiseStatusChanged($"开始修改路径点: {_originalPoint.Name}", PathPlanningStatusType.Info);
                LogManager.Info($"开始修改路径点，索引: {pointIndex}, 名称: {_originalPoint.Name}");

                return true;
            }
            catch (Exception ex)
            {
                RaiseErrorOccurred($"开始修改路径点失败: {ex.Message}", ex);
                return false;
            }
        }

        /// <summary>
        /// 设置修改路径点时的预览位置
        /// </summary>
        /// <param name="position">新的预览位置</param>
        public void SetEditingPreviewPoint(Point3D position)
        {
            try
            {
                if (PathEditState != PathEditState.EditingPoint || _editingPointIndex == -1)
                {
                    return;
                }

                // 创建预览路径点
                _editingPreviewPoint = new PathPoint
                {
                    Position = position,
                    Name = _originalPoint.Name + "_预览",
                    Type = _originalPoint.Type
                };

                // 更新预览可视化
                UpdateEditingPreviewVisualization();

                LogManager.Info($"设置修改预览点: ({position.X:F3}, {position.Y:F3}, {position.Z:F3})");
            }
            catch (Exception ex)
            {
                LogManager.Error($"设置修改预览点失败: {ex.Message}");
            }
        }

        /// <summary>
        /// 更新路径点位置（保存修改）
        /// </summary>
        /// <returns>是否成功更新</returns>
        public bool UpdatePointPosition()
        {
            try
            {
                if (PathEditState != PathEditState.EditingPoint ||
                    _editingPointIndex == -1 ||
                    _editingPreviewPoint == null ||
                    CurrentRoute == null)
                {
                    RaiseErrorOccurred("当前不在修改路径点状态或没有预览点");
                    return false;
                }

                // 更新路径点位置
                var pointToUpdate = CurrentRoute.Points[_editingPointIndex];
                pointToUpdate.Position = _editingPreviewPoint.Position;

                // 添加历史记录
                var historyEntry = new PathHistoryEntry(
                    CurrentRoute.Id,
                    PathHistoryOperationType.Edited,
                    CurrentRoute,
                    $"修改路径点 {pointToUpdate.Name} 位置");
                _historyManager.AddHistoryEntry(historyEntry);

                // 清理修改预览可视化（会自动清除预览并重新渲染正常路径）
                ClearEditingPreviewVisualization();

                // 清理修改状态
                ClearEditingState();

                // 切换回查看状态
                PathEditState = PathEditState.Viewing;

                // 停用ToolPlugin
                DeactivateToolPlugin();

                // 触发路径点列表更新事件
                RaisePathPointsListUpdated(CurrentRoute, "路径点修改完成");

                // 保存到数据库
                SavePathToDatabase(CurrentRoute);

                RaiseStatusChanged($"路径点 {pointToUpdate.Name} 修改完成", PathPlanningStatusType.Success);
                LogManager.Info($"路径点修改完成: {pointToUpdate.Name}");

                return true;
            }
            catch (Exception ex)
            {
                RaiseErrorOccurred($"确认修改路径点失败: {ex.Message}");
                return false;
            }
        }

        /// <summary>
        /// 取消修改路径点
        /// </summary>
        /// <returns>是否成功取消修改</returns>
        public bool CancelEditPoint()
        {
            try
            {
                if (PathEditState != PathEditState.EditingPoint)
                {
                    return true; // 已经不在修改状态，认为成功
                }

                // 清理修改状态
                ClearEditingState();

                // 切换回查看状态
                PathEditState = PathEditState.Viewing;

                // 停用ToolPlugin
                DeactivateToolPlugin();

                // 清理预览可视化
                ClearEditingPreviewVisualization();

                RaiseStatusChanged("已取消路径点修改", PathPlanningStatusType.Info);
                LogManager.Info("已取消路径点修改");

                return true;
            }
            catch (Exception ex)
            {
                RaiseErrorOccurred($"取消修改路径点失败: {ex.Message}", ex);
                return false;
            }
        }

        /// <summary>
        /// 清理修改路径点的状态
        /// </summary>
        private void ClearEditingState()
        {
            _editingPointIndex = -1;
            _originalPoint = null;
            _editingPreviewPoint = null;
        }

        /// <summary>
        /// 更新修改路径点时的预览可视化
        /// </summary>
        private void UpdateEditingPreviewVisualization()
        {
            try
            {
                if (_renderPlugin == null || CurrentRoute == null || _editingPreviewPoint == null)
                {
                    return;
                }

                // 创建预览路径，替换修改中的路径点
                var previewRoute = CurrentRoute.Clone() as PathRoute;
                previewRoute.Points[_editingPointIndex] = _editingPreviewPoint;

                // 渲染预览路径（使用特殊的预览样式）
                _renderPlugin.RenderPreviewPath(previewRoute);
            }
            catch (Exception ex)
            {
                LogManager.Error($"更新修改预览可视化失败: {ex.Message}");
            }
        }

        /// <summary>
        /// 清理修改路径点时的预览可视化
        /// </summary>
        private void ClearEditingPreviewVisualization()
        {
            try
            {
                if (_renderPlugin == null)
                {
                    return;
                }

                // 清理预览渲染，恢复原始路径渲染
                _renderPlugin.ClearPreview();

                if (CurrentRoute != null)
                {
                    _renderPlugin.RenderPath(CurrentRoute);
                }
            }
            catch (Exception ex)
            {
                LogManager.Error($"清理修改预览可视化失败: {ex.Message}");
            }
        }

        #endregion

        /// <summary>
        /// 取消当前编辑
        /// </summary>
        /// <returns>是否成功取消编辑</returns>
        public bool CancelEditing()
        {
            if (!IsInEditableState)
            {
                RaiseErrorOccurred("当前不在编辑状态，无法取消编辑");
                return false;
            }

            try
            {
                // 如果是创建模式，清理当前路径
                if (_pathEditState == PathEditState.Creating && CurrentRoute != null)
                {
                    CurrentRoute.Points.Clear();
                    LogManager.Info("已清理新建路径的临时数据");
                }

                // 切换回查看状态
                SwitchToViewingState();

                RaiseStatusChanged("路径编辑已取消", PathPlanningStatusType.Info);
                return true;
            }
            catch (Exception ex)
            {
                RaiseErrorOccurred($"取消编辑失败: {ex.Message}", ex);
                return false;
            }
        }

        /// <summary>
        /// 在3D视图中添加路径点
        /// </summary>
        /// <param name="worldPoint">3D世界坐标</param>
        /// <param name="pointType">路径点类型，为null时使用当前类型</param>
        /// <returns>添加的路径点，失败时返回null</returns>
        public PathPoint AddPathPointIn3D(Point3D worldPoint, PathPointType? pointType = null)
        {
            // 确保在编辑状态下才能添加点
            if (!IsInEditableState)
            {
                RaiseErrorOccurred("不在编辑状态，无法添加路径点");
                return null;
            }

            // 如果没有当前路径，则无法添加
            if (CurrentRoute == null)
            {
                RaiseErrorOccurred("内部错误：当前路径丢失");
                return null;
            }

            try
            {
                // 确定路径点类型
                PathPointType finalPointType;
                if (pointType.HasValue)
                {
                    finalPointType = pointType.Value;
                }
                else
                {
                    // 自动判断类型：第一个点为起点，其余为路径点
                    finalPointType = (CurrentRoute.Points.Count == 0)
                        ? PathPointType.StartPoint
                        : PathPointType.WayPoint;
                }

                // 创建路径点
                var pathPoint = new PathPoint
                {
                    Name = GeneratePointName(finalPointType),
                    Position = worldPoint,
                    Type = finalPointType
                };

                CurrentRoute.Points.Add(pathPoint);
                LogManager.Info($"路径点已添加: {pathPoint.Name}, 位置: ({worldPoint.X:F2}, {worldPoint.Y:F2}, {worldPoint.Z:F2})");

                // 绘制3D路径可视化（使用与自动路径规划相同的方法）
                try
                {
                    DrawRouteVisualization(CurrentRoute, isAutoPath: false);
                    LogManager.Info($"手工路径3D可视化已更新: {pathPoint.Name}");
                }
                catch (Exception renderEx)
                {
                    LogManager.Error($"绘制手工路径3D可视化失败: {renderEx.Message}");
                }

                // 触发路径点添加事件
                RaisePathPointOperation(PathPointOperationType.Added, pathPoint, CurrentRoute);

                // 触发路径列表更新事件
                RaisePathPointsListUpdated(CurrentRoute, "添加路径点");

                return pathPoint;
            }
            catch (Exception ex)
            {
                RaiseErrorOccurred($"添加路径点失败: {ex.Message}", ex);
                return null;
            }
        }

        /// <summary>
        /// 设置预览点位置（仅用于预览，不添加到路径中）
        /// </summary>
        /// <param name="worldPoint">3D世界坐标</param>
        /// <param name="pointType">点类型</param>
        /// <returns>预览点对象</returns>
        public PathPoint SetPreviewPoint(Point3D worldPoint, PathPointType? pointType = null)
        {
            // 确保在编辑状态下才能设置预览点
            if (!IsInEditableState)
            {
                RaiseErrorOccurred("不在编辑状态，无法设置预览点");
                return null;
            }

            // 如果没有当前路径，则无法设置预览点
            if (CurrentRoute == null)
            {
                RaiseErrorOccurred("内部错误：当前路径丢失");
                return null;
            }

            try
            {
                // 确定路径点类型
                PathPointType finalPointType;
                if (pointType.HasValue)
                {
                    finalPointType = pointType.Value;
                }
                else
                {
                    // 自动判断类型：第一个点为起点，其余为路径点
                    finalPointType = (CurrentRoute.Points.Count == 0)
                        ? PathPointType.StartPoint
                        : PathPointType.WayPoint;
                }

                // 计算预览点应该插入的位置
                _previewInsertIndex = -1; // 重置插入索引
                if (CurrentRoute.Points.Count >= 2)
                {
                    // 如果路径中有至少2个点，计算最佳插入位置
                    var nearestSegment = FindNearestLineSegmentWithIndex(worldPoint, CurrentRoute.Points.ToList());
                    if (nearestSegment.HasValue)
                    {
                        _previewInsertIndex = nearestSegment.Value.insertIndex;
                        LogManager.Info($"预览点计算出插入索引: {_previewInsertIndex}，位于 {nearestSegment.Value.prevPoint.Name} 和 {nearestSegment.Value.nextPoint.Name} 之间");
                    }
                }

                // 创建预览点（不添加到路径中）
                _previewPoint = new PathPoint
                {
                    Name = $"预览-{GeneratePointName(finalPointType)}",
                    Position = worldPoint,
                    Type = finalPointType
                };

                _isPreviewMode = true;
                LogManager.Info($"预览点已设置: {_previewPoint.Name}, 位置: ({worldPoint.X:F2}, {worldPoint.Y:F2}, {worldPoint.Z:F2}), 插入索引: {_previewInsertIndex}");

                // 绘制预览点可视化（灰色）
                try
                {
                    DrawPreviewPointVisualization(_previewPoint);
                    LogManager.Info($"预览点3D可视化已更新: {_previewPoint.Name}");

                    // 如果路径中有足够的点，绘制预览连线
                    if (CurrentRoute.Points.Count >= 2)
                    {
                        DrawPreviewLinesVisualization(_previewPoint, CurrentRoute.Points.ToList());
                        LogManager.Info($"预览连线已绘制: {_previewPoint.Name}");
                    }
                }
                catch (Exception renderEx)
                {
                    LogManager.Error($"绘制预览点3D可视化失败: {renderEx.Message}");
                }

                return _previewPoint;
            }
            catch (Exception ex)
            {
                RaiseErrorOccurred($"设置预览点失败: {ex.Message}", ex);
                return null;
            }
        }

        /// <summary>
        /// 将预览点添加为正式路径点
        /// </summary>
        /// <returns>添加的路径点，如果失败返回null</returns>
        public PathPoint ConvertPreviewToPathPoint()
        {
            if (!_isPreviewMode || _previewPoint == null)
            {
                RaiseErrorOccurred("没有预览点可确认");
                return null;
            }

            if (CurrentRoute == null)
            {
                RaiseErrorOccurred("内部错误：当前路径丢失");
                return null;
            }

            try
            {
                // 创建正式的路径点
                var confirmPoint = new PathPoint
                {
                    Name = GeneratePointName(_previewPoint.Type),
                    Position = _previewPoint.Position,
                    Type = _previewPoint.Type
                };

                // 根据保存的插入索引决定添加方式
                if (_previewInsertIndex >= 0 && _previewInsertIndex <= CurrentRoute.Points.Count)
                {
                    // 在指定位置插入路径点
                    CurrentRoute.Points.Insert(_previewInsertIndex, confirmPoint);
                    LogManager.Info($"路径点已插入到索引 {_previewInsertIndex}: {confirmPoint.Name}, 位置: ({confirmPoint.Position.X:F2}, {confirmPoint.Position.Y:F2}, {confirmPoint.Position.Z:F2})");
                }
                else
                {
                    // 如果没有有效的插入索引，添加到末尾（原来的行为）
                    CurrentRoute.Points.Add(confirmPoint);
                    LogManager.Info($"路径点已添加到末尾: {confirmPoint.Name}, 位置: ({confirmPoint.Position.X:F2}, {confirmPoint.Position.Y:F2}, {confirmPoint.Position.Z:F2})");
                }

                // 清除预览状态
                ClearPreviewPoint();

                // 绘制3D路径可视化
                try
                {
                    DrawRouteVisualization(CurrentRoute, isAutoPath: false);
                    LogManager.Info($"手工路径3D可视化已更新: {confirmPoint.Name}");
                }
                catch (Exception renderEx)
                {
                    LogManager.Error($"绘制手工路径3D可视化失败: {renderEx.Message}");
                }

                // 触发路径点添加事件
                RaisePathPointOperation(PathPointOperationType.Added, confirmPoint, CurrentRoute);

                // 触发路径列表更新事件
                RaisePathPointsListUpdated(CurrentRoute, "确认添加预览点");

                // 保存到数据库
                SavePathToDatabase(CurrentRoute);

                return confirmPoint;
            }
            catch (Exception ex)
            {
                RaiseErrorOccurred($"确认预览点失败: {ex.Message}");
                return null;
            }
        }

        /// <summary>
        /// 清除预览点
        /// </summary>
        public void ClearPreviewPoint()
        {
            if (_isPreviewMode && _previewPoint != null)
            {
                LogManager.Info($"清除预览点: {_previewPoint.Name}");

                // 清除预览点可视化
                try
                {
                    ClearPreviewPointVisualization();
                }
                catch (Exception ex)
                {
                    LogManager.Error($"清除预览点可视化失败: {ex.Message}");
                }
            }

            _previewPoint = null;
            _isPreviewMode = false;
            _previewInsertIndex = -1; // 清除保存的插入索引
        }

        /// <summary>
        /// 绘制预览点可视化（灰色）
        /// </summary>
        /// <param name="previewPoint">预览点</param>
        private void DrawPreviewPointVisualization(PathPoint previewPoint)
        {
            if (_renderPlugin != null && previewPoint != null)
            {
                // 先清除之前的预览点
                _renderPlugin.ClearPreviewPoint();

                // 绘制新的灰色预览点
                _renderPlugin.RenderPreviewPoint(previewPoint);
                LogManager.Info($"预览点可视化已绘制: {previewPoint.Name}");
            }
        }

        /// <summary>
        /// 绘制预览连线的3D可视化（灰色）
        /// </summary>
        /// <param name="previewPoint">预览点</param>
        /// <param name="pathPoints">当前路径点列表</param>
        private void DrawPreviewLinesVisualization(PathPoint previewPoint, List<PathPoint> pathPoints)
        {
            if (_renderPlugin != null && previewPoint != null && pathPoints != null)
            {
                // 绘制预览连线
                _renderPlugin.RenderPreviewLines(previewPoint, pathPoints);
                LogManager.Info($"预览连线可视化已绘制: {previewPoint.Name}");
            }
        }

        /// <summary>
        /// 清除预览点可视化
        /// </summary>
        private void ClearPreviewPointVisualization()
        {
            if (_renderPlugin != null)
            {
                _renderPlugin.ClearPreviewPoint();
                LogManager.Info("预览点可视化已清除");
            }
        }

        /// <summary>
        /// 获取路径统计信息
        /// </summary>
        /// <returns>统计信息字符串</returns>
        public string GetStatistics()
        {
            var stats = $"通道数量: {_walkableAreas.Count}\n";
            stats += $"路径数量: {_routes.Count}\n";

            if (_currentRoute != null)
            {
                stats += $"当前路径: {_currentRoute.Name}\n";
                stats += $"路径点数: {_currentRoute.Points.Count}\n";
                stats += $"路径长度: {_currentRoute.TotalLength:F2}米\n";
                stats += $"预估时间: {_currentRoute.EstimatedTime:F1}秒\n";
            }

            if (_combinedChannelBounds != null)
            {
                double scaleX = 0, scaleY = 0;
                _coordinateConverter?.GetMapScale(out scaleX, out scaleY);
                stats += $"通道范围: {_combinedChannelBounds.MinPoint.X:F2},{_combinedChannelBounds.MinPoint.Y:F2} - {_combinedChannelBounds.MaxPoint.X:F2},{_combinedChannelBounds.MaxPoint.Y:F2}\n";
                stats += $"地图缩放: {scaleX:F4}, {scaleY:F4}";
            }

            return stats;
        }

        /// <summary>
        /// 验证路径管理器状态
        /// </summary>
        /// <returns>验证结果</returns>
        public PathPlanningResult ValidateManagerState()
        {
            try
            {
                var errors = new List<string>();

                // 检查基础组件
                if (_categoryManager == null)
                    errors.Add("类别属性管理器未初始化");

                if (_uiStateManager == null)
                    errors.Add("UI状态管理器未初始化");

                // 检查Navisworks环境
                var document = Application.ActiveDocument;
                if (document == null)
                    errors.Add("当前没有活动的Navisworks文档");
                else if (document.Models == null || !document.Models.Any())
                    errors.Add("当前文档中没有加载的模型");

                // 检查通道选择状态
                if (_walkableAreas.Count == 0)
                    errors.Add("没有选择任何通道模型");

                if (errors.Count > 0)
                {
                    return PathPlanningResult.ValidationFailure($"路径管理器状态验证失败: {string.Join("; ", errors)}");
                }

                return PathPlanningResult.Success("路径管理器状态验证通过");
            }
            catch (Exception ex)
            {
                LogManager.Error("验证路径管理器状态时发生异常", ex);
                return PathPlanningResult.ValidationFailure($"状态验证异常: {ex.Message}");
            }
        }

        /// <summary>
        /// 验证路径有效性
        /// </summary>
        /// <param name="route">要验证的路径</param>
        /// <returns>验证结果</returns>
        public PathPlanningResult ValidateRoute(PathRoute route)
        {
            try
            {
                if (route == null)
                    return PathPlanningResult.ValidationFailure("路径不能为空");

                var errors = new List<string>();
                var warnings = new List<string>();

                // 基本验证
                if (string.IsNullOrWhiteSpace(route.Name))
                    errors.Add("路径名称不能为空");

                if (route.Points.Count < 2)
                    errors.Add("路径至少需要包含2个点");

                // 点类型验证
                var startPoints = route.Points.Where(p => p.Type == PathPointType.StartPoint).ToList();
                var endPoints = route.Points.Where(p => p.Type == PathPointType.EndPoint).ToList();

                if (startPoints.Count == 0)
                    errors.Add("路径必须包含至少一个起点");
                else if (startPoints.Count > 1)
                    warnings.Add($"路径包含多个起点({startPoints.Count}个)");

                if (endPoints.Count == 0)
                    errors.Add("路径必须包含至少一个终点");
                else if (endPoints.Count > 1)
                    warnings.Add($"路径包含多个终点({endPoints.Count}个)");

                // 坐标验证
                foreach (var point in route.Points)
                {
                    if (point.Position == null)
                        errors.Add($"路径点 '{point.Name}' 缺少位置信息");
                }

                // 路径长度验证
                if (route.TotalLength < 0.1)
                    warnings.Add("路径长度过短，可能存在重复点");
                else if (route.TotalLength > 10000)
                    warnings.Add("路径长度过长，可能影响性能");

                // 构建结果
                if (errors.Count > 0)
                {
                    return PathPlanningResult.ValidationFailure($"路径验证失败: {string.Join("; ", errors)}");
                }

                var message = "路径验证通过";
                if (warnings.Count > 0)
                {
                    message += $" (警告: {string.Join("; ", warnings)})";
                }

                return PathPlanningResult.Success(message);
            }
            catch (Exception ex)
            {
                LogManager.Error($"验证路径 '{route?.Name}' 时发生异常", ex);
                return PathPlanningResult.ValidationFailure($"路径验证异常: {ex.Message}");
            }
        }

        #endregion

        #region 辅助方法（暂时保留原有实现，后续会重构）


        private void CalculateCombinedBounds()
        {
            // 保留原有实现，但移除UI相关调用
            if (!_walkableAreas.Any())
            {
                _combinedChannelBounds = null;
                return;
            }

            try
            {
                var conversionFactor = GetUnitsToMetersConversionFactor();
                var units = Application.ActiveDocument.Units;

                var allBounds = new List<BoundingBox3D>();

                foreach (var channel in _walkableAreas)
                {
                    try
                    {
                        var originalBoundingBox = channel.BoundingBox();
                        if (originalBoundingBox != null)
                        {
                            var boundingBoxInMeters = ConvertBoundingBoxToMeters(originalBoundingBox, conversionFactor);
                            allBounds.Add(boundingBoxInMeters);
                        }
                    }
                    catch
                    {
                        continue;
                    }
                }

                if (allBounds.Any())
                {
                    var minX = allBounds.Min(b => b.Min.X);
                    var minY = allBounds.Min(b => b.Min.Y);
                    var minZ = allBounds.Min(b => b.Min.Z);
                    var maxX = allBounds.Max(b => b.Max.X);
                    var maxY = allBounds.Max(b => b.Max.Y);
                    var maxZ = allBounds.Max(b => b.Max.Z);

                    var combinedBoundingBox = new BoundingBox3D(
                        new Point3D(minX, minY, minZ),
                        new Point3D(maxX, maxY, maxZ)
                    );

                    _combinedChannelBounds = new ChannelBounds(combinedBoundingBox);

                    RaiseStatusChanged($"已计算通道边界: {_combinedChannelBounds.MinPoint.X:F2},{_combinedChannelBounds.MinPoint.Y:F2} - {_combinedChannelBounds.MaxPoint.X:F2},{_combinedChannelBounds.MaxPoint.Y:F2}", PathPlanningStatusType.Info);
                }
            }
            catch (Exception ex)
            {
                RaiseErrorOccurred($"计算通道边界时发生错误: {ex.Message}", ex);
            }
        }

        /// <summary>
        /// 计算预估时间
        /// </summary>
        private void CalculateEstimatedTime(PathRoute route)
        {
            // 简单的时间估算：假设平均速度1米/秒
            const double averageSpeed = 1.0; // 米/秒
            route.EstimatedTime = route.TotalLength / averageSpeed;
        }

        /// <summary>
        /// 生成路径点名称
        /// </summary>
        private string GeneratePointName(PathPointType pointType)
        {
            var currentPoints = _currentRoute?.Points ?? new List<PathPoint>();
            var typeCount = currentPoints.Count(p => p.Type == pointType) + 1;

            switch (pointType)
            {
                case PathPointType.StartPoint:
                    // 起点固定显示为"起点"，不带编号
                    return "起点";
                case PathPointType.EndPoint:
                    // 终点固定显示为"终点"，不带编号
                    return "终点";
                case PathPointType.WayPoint:
                    return $"路径点{typeCount}";
                default:
                    return $"点{typeCount}";
            }
        }

        /// <summary>
        /// 自动选择所有可通行的物流模型
        /// </summary>
        private void AutoSelectLogisticsChannels()
        {
            try
            {
                var document = Application.ActiveDocument;
                if (document?.Models == null) return;

                _walkableAreas.Clear();

                LogManager.Info("[通道自动选择] 开始搜索可通行的物流模型");

                // 使用CategoryAttributeManager统一接口获取物流项目
                var allLogisticsItemsCollection = CategoryAttributeManager.GetAllLogisticsItems();
                LogManager.Info($"[通道自动选择] CategoryAttributeManager找到 {allLogisticsItemsCollection.Count} 个具有物流属性的模型项");

                // 筛选出可通行的物流模型
                var traversableItems = CategoryAttributeManager.FilterTraversableItems(allLogisticsItemsCollection);
                LogManager.Info($"[通道自动选择] 筛选出 {traversableItems.Count} 个可通行的物流模型");

                // 将可通行的物流模型添加到_selectedChannels
                foreach (ModelItem item in traversableItems)
                {
                    _walkableAreas.Add(item);
                    LogManager.Info($"[通道自动选择] 添加可通行模型: '{item.DisplayName}'");
                }

                if (_walkableAreas.Count > 0)
                {
                    // 计算组合边界
                    CalculateCombinedBounds();

                    // 触发通道选择变更事件
                    RaiseChannelSelectionChanged(_walkableAreas, "自动选择");

                    LogManager.Info($"[通道自动选择] ✅ 自动选择了 {_walkableAreas.Count} 个可通行的物流模型");
                }
                else
                {
                    LogManager.Warning("[通道自动选择] ❌ 未找到任何可通行的物流模型");
                }
            }
            catch (Exception ex)
            {
                LogManager.Error($"[通道自动选择] 自动选择可通行物流模型失败: {ex.Message}");
                RaiseErrorOccurred($"自动选择可通行物流模型失败: {ex.Message}", ex);
            }
        }

        /// <summary>
        /// 智能ToolPlugin管理：根据编辑状态自动激活或停用
        /// </summary>
        private void ManageToolPluginForEditState()
        {
            try
            {
                if (IsInEditableState)
                {
                    // 编辑状态：确保ToolPlugin已激活
                    if (!_isToolPluginActive)
                    {
                        ActivateToolPlugin();
                    }
                }
                else
                {
                    // 查看状态：确保ToolPlugin已停用
                    if (_isToolPluginActive)
                    {
                        DeactivateToolPlugin();
                    }
                }
            }
            catch (Exception ex)
            {
                LogManager.Error($"管理ToolPlugin状态时发生错误: {ex.Message}");
                RaiseErrorOccurred($"管理ToolPlugin状态失败: {ex.Message}", ex);
            }
        }

        /// <summary>
        /// 激活自定义ToolPlugin进行精确点击检测
        /// </summary>
        /// <param name="subscribeToEvents">是否订阅鼠标事件</param>
        private bool ActivateToolPlugin(bool subscribeToEvents = true)
        {
            // 如果已经激活，检查是否需要订阅事件
            if (_isToolPluginActive)
            {
                LogManager.Debug("[ToolPlugin] ToolPlugin已激活，检查事件订阅状态");
                if (subscribeToEvents)
                {
                    // 确保事件订阅（避免重复订阅）
                    PathClickToolPlugin.MouseClicked -= OnToolPluginMouseClicked;
                    PathClickToolPlugin.MouseClicked += OnToolPluginMouseClicked;
                    LogManager.Debug("[ToolPlugin] 已确保PathPlanningManager事件订阅");
                }
                return true;
            }

            try
            {
                LogManager.Debug("[ToolPlugin] ===== 开始激活ToolPlugin =====");
                LogManager.Debug($"[ToolPlugin] 订阅事件: {subscribeToEvents}");
                LogManager.Debug($"[ToolPlugin] 当前应用程序状态: {Application.IsAutomated}");
                LogManager.Debug($"[ToolPlugin] 当前文档状态: {Application.ActiveDocument?.Title ?? "NULL"}");

                // 1. 加载插件程序集
                LogManager.Debug("[ToolPlugin] 步骤1: 加载插件程序集");
                var assemblyPath = PathClickToolPlugin.AssemblyPath;
                LogManager.Debug($"[ToolPlugin] 程序集路径: {assemblyPath}");
                LogManager.Debug($"[ToolPlugin] 程序集文件是否存在: {System.IO.File.Exists(assemblyPath)}");

                Application.Plugins.AddPluginAssembly(assemblyPath);
                LogManager.Debug("[ToolPlugin] ✓ 程序集加载完成");

                // 2. 查找插件
                LogManager.Debug("[ToolPlugin] 步骤2: 查找插件");
                ToolPluginRecord toolPluginRecord = (ToolPluginRecord)Application.Plugins.FindPlugin("PathClickTool.NavisworksTransport");

                if (toolPluginRecord == null)
                {
                    LogManager.Error("[ToolPlugin] ✗ 错误: 无法找到PathClickTool插件");
                    return false;
                }
                LogManager.Debug("[ToolPlugin] ✓ 插件查找成功");

                // 3. 加载插件
                LogManager.Debug("[ToolPlugin] 步骤3: 加载插件");
                var loadedPlugin = toolPluginRecord.LoadPlugin();
                if (loadedPlugin == null)
                {
                    LogManager.Error("[ToolPlugin] ✗ 错误: 插件加载失败");
                    return false;
                }
                LogManager.Debug("[ToolPlugin] ✓ 插件加载成功");

                // 4. 设置为活动工具
                LogManager.Debug("[ToolPlugin] 步骤4: 设置为活动工具");

                // 先重置工具状态，清除可能的导航工具
                // 这一步很重要，确保从导航工具（如Pan、Orbit）切换回自定义工具
                Application.MainDocument.Tool.Value = Tool.None;
                LogManager.Debug("[ToolPlugin] 已重置工具状态为None");

                // 然后设置自定义工具插件
                Application.MainDocument.Tool.SetCustomToolPlugin(loadedPlugin);
                LogManager.Debug("[ToolPlugin] ✓ 工具设置成功");

                // 5. 根据参数决定是否订阅点击事件
                if (subscribeToEvents)
                {
                    LogManager.Debug("[ToolPlugin] 步骤5: 订阅点击事件");
                    PathClickToolPlugin.MouseClicked += OnToolPluginMouseClicked;
                    LogManager.Debug("[ToolPlugin] ✓ PathPlanningManager事件订阅成功");
                }
                else
                {
                    LogManager.Debug("[ToolPlugin] 步骤5: 跳过事件订阅（由外部组件管理）");
                }

                _isToolPluginActive = true;
                LogManager.Info("[ToolPlugin] ===== ToolPlugin激活完成 =====");
                return true;
            }
            catch (Exception ex)
            {
                LogManager.Error($"[ToolPlugin] 激活异常: {ex.Message}");
                LogManager.Error($"[ToolPlugin] 堆栈: {ex.StackTrace}");
                return false;
            }
        }

        /// <summary>
        /// 重新激活ToolPlugin（供InputMonitor调用）
        /// 用于在工具失活后快速恢复，不重复订阅事件
        /// </summary>
        public void ReactivateToolPlugin()
        {
            try
            {
                // 检查当前状态和实际工具值
                if ((PathEditState == PathEditState.Creating ||
                     PathEditState == PathEditState.AddingPoints ||
                     PathEditState == PathEditState.EditingPoint))
                {
                    // 检查当前工具是否为自定义工具，如果不是则需要重新激活
                    var currentTool = Application.MainDocument.Tool.Value;
                    if (currentTool != Tool.CustomToolPlugin)
                    {
                        LogManager.Debug($"[ReactivateToolPlugin] 当前工具为{currentTool}，开始重新激活ToolPlugin");

                        // 重要：先将激活标志设置为false，强制执行完整的激活流程
                        _isToolPluginActive = false;

                        // 调用现有的激活方法，但不重复订阅事件
                        if (ActivateToolPlugin(false))
                        {
                            LogManager.Info("[ReactivateToolPlugin] ToolPlugin重新激活成功");
                            RaiseStatusChanged("工具已重新激活", PathPlanningStatusType.Info);
                        }
                        else
                        {
                            LogManager.Warning("[ReactivateToolPlugin] ToolPlugin重新激活失败");
                            RaiseErrorOccurred("无法重新激活编辑工具");
                        }
                    }
                    else
                    {
                        LogManager.Debug("[ReactivateToolPlugin] 当前已是CustomToolPlugin，无需重新激活");
                    }
                }
                else
                {
                    LogManager.Debug($"[ReactivateToolPlugin] 跳过重新激活 - PathEditState: {PathEditState}");
                }
            }
            catch (Exception ex)
            {
                LogManager.Error($"[ReactivateToolPlugin] 重新激活失败: {ex.Message}");
                RaiseErrorOccurred($"重新激活工具失败: {ex.Message}", ex);
            }
        }

        /// <summary>
        /// 处理ToolPlugin的鼠标点击事件
        /// </summary>
        private void OnToolPluginMouseClicked(object sender, PickItemResult pickResult)
        {
            try
            {
                // 如果在自动路径规划模式，则跳过处理（应该由PathEditingViewModel处理）
                if (IsInAutoPathMode)
                {
                    LogManager.Debug("[ToolPlugin事件] 当前在自动路径规划模式，跳过PathPlanningManager处理");
                    return;
                }

                // 手动路径编辑处理
                ProcessManualPathEditing(pickResult);
            }
            catch (Exception ex)
            {
                LogManager.Error($"[ToolPlugin事件] 处理异常: {ex.Message}");
                LogManager.Error($"[ToolPlugin事件] 堆栈: {ex.StackTrace}");
            }
        }

        /// <summary>
        /// 处理手动路径编辑的鼠标点击
        /// </summary>
        private void ProcessManualPathEditing(PickItemResult pickResult)
        {
            // 检查当前选中的通道状态
            LogManager.Debug($"[手动编辑] 当前_selectedChannels状态: {(_walkableAreas == null ? "NULL" : $"包含{_walkableAreas.Count}个项目")}");

            // 如果没有选中的通道，尝试实时搜索
            if (_walkableAreas == null || _walkableAreas.Count == 0)
            {
                LogManager.Debug("[手动编辑] 没有预选通道，开始实时搜索可通行的物流模型");
                SearchAndSetTraversableChannels();
            }

            // 检查是否在可通行的物流模型内并处理点击
            if (_walkableAreas != null && _walkableAreas.Any())
            {
                bool isInTraversableLogisticsModel = IsItemInSelectedChannels(pickResult.ModelItem) ||
                             IsItemChildOfSelectedChannels(pickResult.ModelItem);

                LogManager.Debug($"[手动编辑] 在可通行的物流模型内: {isInTraversableLogisticsModel}");

                if (isInTraversableLogisticsModel)
                {
                    // 手动路径编辑 - 根据当前模式处理点击
                    if (PathEditState == PathEditState.AddingPoints)
                    {
                        // 添加路径点模式 - 使用预览点
                        LogManager.Debug("[手动编辑] 设置预览点位置");
                        var previewPoint = SetPreviewPoint(pickResult.Point);

                        if (previewPoint != null)
                        {
                            LogManager.Debug($"[手动编辑] ✓ 预览点已设置: {previewPoint.Name}");
                        }
                        else
                        {
                            LogManager.Warning("[手动编辑] ✗ 预览点设置失败");
                        }
                    }
                    else if (PathEditState == PathEditState.EditingPoint)
                    {
                        // 修改路径点模式 - 设置预览位置
                        LogManager.Debug("[手动编辑] 设置修改路径点预览位置");
                        SetEditingPreviewPoint(pickResult.Point);
                        LogManager.Debug($"[手动编辑] ✓ 修改路径点预览位置已设置: ({pickResult.Point.X:F3}, {pickResult.Point.Y:F3}, {pickResult.Point.Z:F3})");
                    }
                    else
                    {
                        // 其他编辑模式 - 保持原有逻辑
                        LogManager.Debug("[手动编辑] 调用AddPathPointIn3D添加路径点");
                        var pathPoint = AddPathPointIn3D(pickResult.Point);

                        if (pathPoint != null)
                        {
                            LogManager.Debug($"[手动编辑] ✓ 路径点添加成功: {pathPoint.Name}");
                        }
                        else
                        {
                            LogManager.Warning("[手动编辑] ✗ 路径点添加失败");
                        }
                    }
                }
                else
                {
                    LogManager.Debug("[手动编辑] ✗ 点击位置不在可通行的物流模型内");
                    RaiseErrorOccurred("点击位置不在物流通道内，请选择有效的物流路径位置");
                }
            }
            else
            {
                LogManager.Warning("[手动编辑] ✗ 未找到可通行的物流模型");
                RaiseErrorOccurred("未找到可通行的物流通道，请先选择或配置物流通道");
            }
        }

        /// <summary>
        /// 搜索并设置可通行的通道
        /// </summary>
        private void SearchAndSetTraversableChannels()
        {
            try
            {
                var document = Application.ActiveDocument;
                if (document?.Models != null)
                {
                    // 使用CategoryAttributeManager统一接口获取物流项目
                    var logisticsItemsCollection = CategoryAttributeManager.GetAllLogisticsItems();
                    LogManager.Debug($"[搜索通道] CategoryAttributeManager找到 {logisticsItemsCollection.Count} 个物流模型");

                    if (logisticsItemsCollection.Count > 0)
                    {
                        // 筛选出可通行的物流模型
                        var traversableItems = CategoryAttributeManager.FilterTraversableItems(logisticsItemsCollection);
                        LogManager.Debug($"[搜索通道] 筛选出 {traversableItems.Count} 个可通行的物流模型");

                        // 临时设置为选中通道
                        if (_walkableAreas == null) _walkableAreas = new List<ModelItem>();
                        _walkableAreas.Clear();

                        foreach (ModelItem item in traversableItems)
                        {
                            _walkableAreas.Add(item);
                            LogManager.Debug($"[搜索通道] 添加可通行模型: '{item.DisplayName}'");
                        }
                    }
                }
            }
            catch (Exception searchEx)
            {
                LogManager.Error($"[搜索通道] 实时搜索失败: {searchEx.Message}");
            }
        }



        /// <summary>
        /// 获取Navisworks文档单位并转换为米的系数
        /// </summary>
        private double GetUnitsToMetersConversionFactor()
        {
            try
            {
                var units = Application.ActiveDocument.Units;

                switch (units)
                {
                    case Units.Millimeters:
                        return 0.001;
                    case Units.Centimeters:
                        return 0.01;
                    case Units.Meters:
                        return 1.0;
                    case Units.Inches:
                        return 0.0254;
                    case Units.Feet:
                        return 0.3048;
                    case Units.Kilometers:
                        return 1000.0;
                    case Units.Micrometers:
                        return 0.000001;
                    case Units.Microinches:
                        return 0.0000000254;
                    case Units.Mils:
                        return 0.0000254;
                    case Units.Yards:
                        return 0.9144;
                    case Units.Miles:
                        return 1609.43;
                    default:
                        return 1.0;
                }
            }
            catch (Exception ex)
            {
                System.Diagnostics.Debug.WriteLine($"获取文档单位失败: {ex.Message}，默认为米");
                return 1.0;
            }
        }

        /// <summary>
        /// 转换包围盒到米单位
        /// </summary>
        private BoundingBox3D ConvertBoundingBoxToMeters(BoundingBox3D boundingBox, double conversionFactor)
        {
            var minPoint = new Point3D(
                boundingBox.Min.X * conversionFactor,
                boundingBox.Min.Y * conversionFactor,
                boundingBox.Min.Z * conversionFactor
            );
            var maxPoint = new Point3D(
                boundingBox.Max.X * conversionFactor,
                boundingBox.Max.Y * conversionFactor,
                boundingBox.Max.Z * conversionFactor
            );
            return new BoundingBox3D(minPoint, maxPoint);
        }

        #endregion

        #region IDisposable实现

        public void Dispose()
        {
            try
            {
                // 清理资源
                _renderPlugin?.ClearAllPaths();
                _renderPlugin = null;

                // 停用ToolPlugin
                if (_isToolPluginActive)
                {
                    DeactivateToolPlugin();
                }
            }
            catch (Exception ex)
            {
                LogManager.Error($"PathPlanningManager释放时发生错误: {ex.Message}");
            }
        }

        private bool DeactivateToolPlugin()
        {
            if (!_isToolPluginActive)
            {
                LogManager.Debug("[ToolPlugin] ToolPlugin未激活，无需停用");
                return true;
            }

            try
            {
                // 1. 取消事件订阅
                PathClickToolPlugin.MouseClicked -= OnToolPluginMouseClicked;

                // 2. 重置为无活动工具状态
                try
                {
                    // 使用Tool.None重置到无活动工具状态，让Navisworks处理默认导航
                    Application.MainDocument.Tool.Value = Tool.None;
                }
                catch (Exception ex)
                {
                    LogManager.Warning($"[ToolPlugin] 重置工具状态失败: {ex.Message}");
                }

                _isToolPluginActive = false;
                LogManager.Debug("[ToolPlugin] ===== ToolPlugin停用完成 =====");
                return true;
            }
            catch (Exception ex)
            {
                LogManager.Error($"[ToolPlugin] 停用异常: {ex.Message}");
                LogManager.Error($"[ToolPlugin] 堆栈: {ex.StackTrace}");
                return false;
            }
        }

        /// <summary>
        /// 强制重新初始化ToolPlugin（公共接口，避免反射调用）
        /// </summary>
        /// <param name="subscribeToEvents">是否订阅事件</param>
        /// <returns>初始化是否成功</returns>
        public bool ForceReinitializeToolPlugin(bool subscribeToEvents = false)
        {
            try
            {
                LogManager.Debug($"[工具插件重初始化] 开始强制重新初始化ToolPlugin，订阅事件: {subscribeToEvents}");

                // 1. 停用当前ToolPlugin
                bool deactivated = DeactivateToolPlugin();
                LogManager.Debug($"[工具插件重初始化] 停用结果: {deactivated}");

                // 2. 强制重置激活状态
                _isToolPluginActive = false;
                LogManager.Debug("[工具插件重初始化] 已重置激活状态标志");

                // 3. 重新激活ToolPlugin
                bool activated = ActivateToolPlugin(subscribeToEvents);
                LogManager.Debug($"[工具插件重初始化] 激活结果（事件订阅: {subscribeToEvents}）: {activated}");

                if (activated)
                {
                    LogManager.Info("[工具插件重初始化] ToolPlugin重新初始化成功，已获得鼠标焦点");
                }
                else
                {
                    LogManager.Error("[工具插件重初始化] ToolPlugin激活失败");
                }

                return activated;
            }
            catch (Exception ex)
            {
                LogManager.Error($"[工具插件重初始化] 重新初始化ToolPlugin失败: {ex.Message}", ex);
                return false;
            }
        }

        #endregion

        #region 公共访问方法

        /// <summary>
        /// 获取PathDatabase实例
        /// </summary>
        public PathDatabase GetPathDatabase()
        {
            return _pathDatabase;
        }

        #endregion

        #region 自动路径规划辅助方法

        /// <summary>
        /// 获取当前模型的边界框
        /// </summary>
        /// <returns>模型边界框</returns>
        private BoundingBox3D GetModelBounds()
        {
            try
            {
                // 如果没有选中的可通行区域，自动搜索
                if (_walkableAreas == null || _walkableAreas.Count == 0)
                {
                    LogManager.Info("未找到预定义的可通行区域，尝试自动搜索...");
                    AutoSelectLogisticsChannels();
                }

                // 检查是否找到可通行区域
                if (_walkableAreas == null || _walkableAreas.Count == 0)
                {
                    LogManager.Error("没有找到任何可通行区域（通道、门、电梯、楼梯等）");
                    throw new InvalidOperationException("无法进行路径规划：模型中没有定义可通行的物流区域。请先设置物流属性。");
                }

                // 使用可通行区域的边界作为路径规划范围
                return CalculateChannelsBounds(_walkableAreas);
            }
            catch (Exception ex)
            {
                LogManager.Error($"获取模型边界失败: {ex.Message}");
                throw;
            }
        }

        /// <summary>
        /// 计算选中通道的组合边界
        /// </summary>
        private BoundingBox3D CalculateChannelsBounds(List<ModelItem> channels)
        {
            var allBounds = new List<BoundingBox3D>();

            foreach (var channel in channels)
            {
                var bounds = channel.BoundingBox();
                if (bounds != null)
                {
                    allBounds.Add(bounds);
                }
            }

            if (!allBounds.Any()) return null;

            var minX = allBounds.Min(b => b.Min.X);
            var minY = allBounds.Min(b => b.Min.Y);
            var minZ = allBounds.Min(b => b.Min.Z);
            var maxX = allBounds.Max(b => b.Max.X);
            var maxY = allBounds.Max(b => b.Max.Y);
            var maxZ = allBounds.Max(b => b.Max.Z);

            return new BoundingBox3D(
                new Point3D(minX, minY, minZ),
                new Point3D(maxX, maxY, maxZ)
            );
        }

        /// <summary>
        /// 计算最优网格大小
        /// </summary>
        private double CalculateOptimalGridSize(BoundingBox3D bounds)
        {
            try
            {
                var width = bounds.Max.X - bounds.Min.X;
                var height = bounds.Max.Y - bounds.Min.Y;
                var maxDimension = Math.Max(width, height);

                // 基于模型大小智能选择网格大小
                if (maxDimension > 1000) return 5.0;      // 大型模型：5米
                if (maxDimension > 500) return 2.0;       // 中型模型：2米
                return 0.5;                               // 小型模型：0.5米
            }
            catch
            {
                return 0.5; // 默认值改为0.5米，与UI默认设置保持一致
            }
        }

        /// <summary>
        /// 获取通道模型项用于高度计算
        /// </summary>
        private IEnumerable<ModelItem> GetChannelItemsForHeightCalculation(GridMap gridMap = null)
        {
            var channelItems = new List<ModelItem>();

            try
            {
                // 🔥 关键修复：优先使用网格生成时已确定的通道数据
                if (gridMap?.ChannelItems != null && gridMap.ChannelItems.Any())
                {
                    LogManager.Info($"[通道数据] 使用网格生成时的通道数据，数量: {gridMap.ChannelItems.Count()}");
                    channelItems.AddRange(gridMap.ChannelItems);
                    return channelItems;
                }

                // 如果用户已选择通道，优先使用用户选择的通道
                if (_walkableAreas != null && _walkableAreas.Count > 0)
                {
                    LogManager.Info($"[通道数据] 使用用户选择的通道，数量: {_walkableAreas.Count}");
                    channelItems.AddRange(_walkableAreas);
                    return channelItems;
                }

                // 否则使用CategoryAttributeManager搜索
                LogManager.Info("[通道数据] 用户未选择通道且网格无通道数据，使用CategoryAttributeManager搜索");
                var document = Application.ActiveDocument;
                if (document != null)
                {
                    var foundChannelsCollection = CategoryAttributeManager.GetAllLogisticsItems();
                    foreach (ModelItem item in foundChannelsCollection)
                    {
                        channelItems.Add(item);
                    }
                }

                LogManager.Info($"[通道数据] 找到 {channelItems.Count} 个通道模型项");
                return channelItems;
            }
            catch (Exception ex)
            {
                LogManager.Error($"[通道数据] 获取通道项失败: {ex.Message}");
                return channelItems;
            }
        }

        /// <summary>
        /// 从A*算法结果创建PathRoute对象
        /// </summary>
        private PathRoute CreateAutoPathRoute(PathFindingResult pathResult, string routeName)
        {
            try
            {
                var route = new PathRoute(routeName);
                var pathPoints = pathResult.PathPoints;

                // 设置路径完成状态信息
                route.IsComplete = pathResult.IsComplete;
                route.OriginalEndPoint = pathResult.OriginalEndPoint;
                route.ActualEndPoint = pathResult.ActualEndPoint;
                route.CompletionPercentage = pathResult.CompletionPercentage;

                for (int i = 0; i < pathPoints.Count; i++)
                {
                    var point = pathPoints[i];
                    var pathPoint = new PathPoint
                    {
                        Name = GenerateAutoPathPointName(i, pathPoints.Count),
                        Position = point,
                        Type = DeterminePointType(i, pathPoints.Count),
                        SpeedLimit = GetSpeedLimitAtPosition(point)
                    };
                    route.Points.Add(pathPoint);
                }

                // 计算路径长度
                route.RecalculateLength();

                LogManager.Info($"创建自动路径: {routeName}, 点数: {pathPoints.Count}, 长度: {route.TotalLength:F2}米");
                return route;
            }
            catch (Exception ex)
            {
                LogManager.Error($"创建自动路径失败: {ex.Message}");
                return null;
            }
        }

        /// <summary>
        /// 根据世界坐标获取该位置的限速
        /// </summary>
        /// <param name="worldPosition">世界坐标</param>
        /// <returns>限速值（米/秒），0表示未设置限速</returns>
        private double GetSpeedLimitAtPosition(Point3D worldPosition)
        {
            try
            {
                // 如果没有当前网格地图，返回0
                if (_currentGridMap == null)
                {
                    return 0;
                }

                // 将世界坐标转换为网格坐标
                var gridPos = _currentGridMap.WorldToGrid(worldPosition);

                // 检查网格坐标是否有效
                if (!_currentGridMap.IsValidGridPosition(gridPos))
                {
                    return 0;
                }

                // 获取网格单元格
                var cell = _currentGridMap.GetCell(gridPos);
                return cell?.SpeedLimit ?? 0;
            }
            catch (Exception ex)
            {
                LogManager.Error($"获取位置限速失败: {ex.Message}");
                return 0;
            }
        }

        /// <summary>
        /// 生成自动路径点名称
        /// </summary>
        private string GenerateAutoPathPointName(int index, int totalCount)
        {
            if (index == 0) return "自动起点";
            if (index == totalCount - 1) return "自动终点";
            return $"自动点{index}";
        }

        /// <summary>
        /// 确定路径点类型
        /// </summary>
        private PathPointType DeterminePointType(int index, int totalCount)
        {
            if (index == 0) return PathPointType.StartPoint;
            if (index == totalCount - 1) return PathPointType.EndPoint;
            return PathPointType.WayPoint;
        }


        /// <summary>
        /// 绘制路径可视化
        /// </summary>
        public void DrawRouteVisualization(PathRoute route, bool isAutoPath = false)
        {
            if (route == null) return;

            try
            {
                var renderPlugin = PathPointRenderPlugin.Instance;
                if (renderPlugin == null)
                {
                    LogManager.Warning("PathPointRenderPlugin实例为空，无法绘制路径");
                    return;
                }

                // 使用新的统一路径渲染API
                renderPlugin.RenderPath(route);

                LogManager.Info($"已渲染路径: {route.Name}，包含 {route.Points.Count} 个路径点");
            }
            catch (Exception ex)
            {
                LogManager.Warning($"路径可视化失败: {ex.Message}");
            }
        }

        #endregion

        #region 辅助方法（检查项目关系）

        /// <summary>
        /// 检查项目是否在选定通道中
        /// </summary>
        /// <param name="item">要检查的项目</param>
        /// <returns>是否在选定通道中</returns>
        private bool IsItemInSelectedChannels(ModelItem item)
        {
            return _walkableAreas.Contains(item) || IsItemChildOfSelectedChannels(item);
        }

        /// <summary>
        /// 检查项目是否为选定通道的子项
        /// </summary>
        /// <param name="item">要检查的项目</param>
        /// <returns>是否为子项</returns>
        private bool IsItemChildOfSelectedChannels(ModelItem item)
        {
            foreach (var channel in _walkableAreas)
            {
                if (IsChildOf(item, channel))
                {
                    return true;
                }
            }
            return false;
        }

        /// <summary>
        /// 递归检查是否为子项
        /// </summary>
        /// <param name="child">子项</param>
        /// <param name="parent">父项</param>
        /// <returns>是否为子项</returns>
        private bool IsChildOf(ModelItem child, ModelItem parent)
        {
            var currentParent = child.Parent;
            while (currentParent != null)
            {
                if (currentParent == parent)
                {
                    return true;
                }
                currentParent = currentParent.Parent;
            }
            return false;
        }

        /// <summary>
        /// 状态变更通知（向后兼容方法）
        /// </summary>
        /// <param name="status">状态消息</param>
        private void OnStatusChanged(string status)
        {
            try
            {
                // 使用新的事件触发机制
                RaiseStatusChanged(status, PathPlanningStatusType.Info);
            }
            catch (Exception ex)
            {
                LogManager.Error($"[PathManager] OnStatusChanged方法异常: {ex.Message}");
                LogManager.Error($"[PathManager] 状态消息: {status}");
            }
        }

        #endregion

        #region 预览插入位置计算方法

        /// <summary>
        /// 查找预览点应该插入的最近线段和插入索引
        /// </summary>
        /// <param name="previewPosition">预览点位置</param>
        /// <param name="pathPoints">路径点列表</param>
        /// <returns>最近线段的前后两点以及插入索引，未找到时返回null</returns>
        private (PathPoint prevPoint, PathPoint nextPoint, int insertIndex)? FindNearestLineSegmentWithIndex(Point3D previewPosition, List<PathPoint> pathPoints)
        {
            if (pathPoints == null || pathPoints.Count < 2)
            {
                return null;
            }

            // 对路径点进行排序（按添加顺序，即列表中的索引）
            var sortedPoints = pathPoints.ToList();

            double minDistance = double.MaxValue;
            (PathPoint prevPoint, PathPoint nextPoint, int insertIndex)? nearestSegment = null;

            // 遍历相邻的路径点对，找到距离预览点最近的线段
            for (int i = 0; i < sortedPoints.Count - 1; i++)
            {
                var currentPoint = sortedPoints[i];
                var nextPoint = sortedPoints[i + 1];

                // 计算预览点到线段的距离
                var distance = CalculatePointToLineSegmentDistance(previewPosition, currentPoint.Position, nextPoint.Position);

                if (distance < minDistance)
                {
                    minDistance = distance;
                    // 插入索引应该是nextPoint的索引位置，这样新点会插入到currentPoint和nextPoint之间
                    nearestSegment = (currentPoint, nextPoint, i + 1);
                }
            }

            return nearestSegment;
        }

        /// <summary>
        /// 计算点到线段的最短距离
        /// </summary>
        /// <param name="point">目标点</param>
        /// <param name="lineStart">线段起点</param>
        /// <param name="lineEnd">线段终点</param>
        /// <returns>最短距离</returns>
        private double CalculatePointToLineSegmentDistance(Point3D point, Point3D lineStart, Point3D lineEnd)
        {
            // 线段向量
            var lineVector = new Point3D(lineEnd.X - lineStart.X, lineEnd.Y - lineStart.Y, lineEnd.Z - lineStart.Z);

            // 点到线段起点的向量
            var pointVector = new Point3D(point.X - lineStart.X, point.Y - lineStart.Y, point.Z - lineStart.Z);

            // 计算线段长度的平方
            var lineLengthSquared = lineVector.X * lineVector.X + lineVector.Y * lineVector.Y + lineVector.Z * lineVector.Z;

            if (lineLengthSquared == 0)
            {
                // 线段退化为点，返回点到点的距离
                return CalculateDistance(point, lineStart);
            }

            // 计算投影参数t
            var t = (pointVector.X * lineVector.X + pointVector.Y * lineVector.Y + pointVector.Z * lineVector.Z) / lineLengthSquared;

            // 将t限制在[0,1]范围内
            t = Math.Max(0, Math.Min(1, t));

            // 计算线段上最近点
            var closestPoint = new Point3D(
                lineStart.X + t * lineVector.X,
                lineStart.Y + t * lineVector.Y,
                lineStart.Z + t * lineVector.Z
            );

            // 返回点到最近点的距离
            return CalculateDistance(point, closestPoint);
        }

        /// <summary>
        /// 计算两点间距离
        /// </summary>
        /// <param name="point1">第一个点</param>
        /// <param name="point2">第二个点</param>
        /// <returns>两点间距离</returns>
        private double CalculateDistance(Point3D point1, Point3D point2)
        {
            var dx = point1.X - point2.X;
            var dy = point1.Y - point2.Y;
            var dz = point1.Z - point2.Z;
            return Math.Sqrt(dx * dx + dy * dy + dz * dz);
        }

        #endregion

        #region 网格可视化方法

        /// <summary>
        /// 更新网格可视化设置
        /// </summary>
        /// <param name="showWalkable">是否显示可通行网格点</param>
        /// <param name="showObstacle">是否显示障碍物网格点</param>
        /// <param name="showUnknown">是否显示未知区域网格点</param>
        /// <param name="showDoor">是否显示门网格点</param>
        public void UpdateGridVisualizationSettings(bool showWalkable, bool showObstacle, bool showUnknown, bool showDoor = false)
        {
            try
            {
                LogManager.Info($"[网格可视化设置] 更新设置: 通行={showWalkable}, 障碍物={showObstacle}, 未知={showUnknown}, 门={showDoor}");

                _showWalkableGrid = showWalkable;
                _showObstacleGrid = showObstacle;
                _showUnknownGrid = showUnknown;
                _showDoorGrid = showDoor;

                // 如果当前有网格正在显示，重新应用可视化
                RefreshGridVisualization();

                LogManager.Info("[网格可视化设置] 设置更新完成");
            }
            catch (Exception ex)
            {
                LogManager.Error($"[网格可视化设置] 更新设置失败: {ex.Message}", ex);
            }
        }

        /// <summary>
        /// 检查是否有任何网格可视化已启用
        /// </summary>
        public bool IsAnyGridVisualizationEnabled
        {
            get { return _showWalkableGrid || _showObstacleGrid || _showUnknownGrid || _showDoorGrid; }
        }

        /// <summary>
        /// 刷新网格可视化（根据当前设置重新显示）
        /// </summary>
        private void RefreshGridVisualization()
        {
            try
            {
                // 清除当前网格可视化
                ClearGridVisualization();

                // 如果存在缓存的网格地图且有网格可视化设置启用，重新进行可视化
                if (_currentGridMap != null && IsAnyGridVisualizationEnabled)
                {
                    LogManager.Info("[网格可视化] 使用缓存的网格地图重新渲染");
                    VisualizeGridCells(_currentGridMap, _currentVehicleHeight);
                }
                else if (_currentGridMap == null)
                {
                    LogManager.Info("[网格可视化] 无缓存网格地图，需要重新进行路径规划以查看网格");
                }
                else
                {
                    LogManager.Info("[网格可视化] 网格可视化设置已关闭，跳过渲染");
                }
            }
            catch (Exception ex)
            {
                LogManager.Error($"[网格可视化] 刷新失败: {ex.Message}", ex);
            }
        }

        /// <summary>
        /// 在3D视图中可视化网格中的可通行单元格
        /// 在每个可通行网格的中心绘制一个绿色小球
        /// </summary>
        /// <param name="gridMap">要可视化的网格地图</param>
        /// <param name="vehicleHeight">车辆高度（米），用于判断层高是否足够</param>
        public void VisualizeGridCells(GridMap gridMap, double vehicleHeight = 2.0)
        {
            if (gridMap == null)
            {
                LogManager.Warning("[网格可视化] 网格地图为null，无法进行可视化");
                return;
            }

            try
            {
                // 保存当前网格地图和车辆高度用于后续刷新
                _currentGridMap = gridMap;
                _currentVehicleHeight = vehicleHeight;
                LogManager.Info($"[网格可视化] 开始可视化网格：{gridMap.Width}x{gridMap.Height}, 车辆高度：{vehicleHeight}m");

                // 获取渲染插件
                var renderPlugin = PathPointRenderPlugin.Instance;
                if (renderPlugin == null)
                {
                    LogManager.Warning("[网格可视化] PathPointRenderPlugin实例为空，无法绘制网格");
                    return;
                }

                // 设置网格大小以实现自适应点大小
                // gridMap.CellSize是模型单位，需要转换为米
                double gridSizeInMeters = UnitsConverter.ConvertToMeters(gridMap.CellSize);
                renderPlugin.SetGridSize(gridSizeInMeters);

                // 清除之前的网格可视化
                ClearGridVisualization();

                // 创建四种独立的网格可视化路径
                var channelRoute = new PathRoute("GridVisualization_Channel")
                {
                    Id = "grid_visualization_channel"
                };

                var unknownRoute = new PathRoute("GridVisualization_Unknown")
                {
                    Id = "grid_visualization_unknown"
                };

                var obstacleRoute = new PathRoute("GridVisualization_Obstacle")
                {
                    Id = "grid_visualization_obstacle"
                };

                var doorRoute = new PathRoute("GridVisualization_Door")
                {
                    Id = "grid_visualization_door"
                };

                // 统计变量
                int channelCells = 0;
                int unknownCells = 0;
                int obstacleCells = 0;
                int doorCells = 0;
                int totalVisualized = 0;
                int multiLayerCells = 0;

                // 遍历所有网格单元格，根据类型分别收集
                for (int x = 0; x < gridMap.Width; x++)
                {
                    for (int y = 0; y < gridMap.Height; y++)
                    {
                        var cell = gridMap.Cells[x, y];

                        // 计算网格单元格的XY中心位置（Z坐标在多层逻辑中单独处理）
                        var gridPos = new NavisworksTransport.PathPlanning.GridPoint2D(x, y);
                        var gridCorner = gridMap.GridToWorld3D(gridPos);
                        double centerX = gridCorner.X + gridMap.CellSize / 2;
                        double centerY = gridCorner.Y + gridMap.CellSize / 2;

                        // 所有网格都基于高度层，统一处理
                        if (cell.HeightLayers != null && cell.HeightLayers.Count > 0)
                        {
                            multiLayerCells++;

                            foreach (var layer in cell.HeightLayers)
                            {
                                double layerZ = layer.Z;

                                PathRoute targetRoute = null;
                                string gridTypeName = "";

                                // 仅根据 layer.IsWalkable 决定渲染
                                if (layer.IsWalkable)
                                {
                                    // 可通行层 - 门特殊处理，其他统一样式
                                    if (cell.CellType == CategoryAttributeManager.LogisticsElementType.门)
                                    {
                                        if (_showDoorGrid)
                                        {
                                            targetRoute = doorRoute;
                                            gridTypeName = "门";
                                            doorCells++;
                                        }
                                    }
                                    else
                                    {
                                        // 其他可通行类型统一为通道样式（绿色）
                                        if (_showWalkableGrid)
                                        {
                                            targetRoute = channelRoute;
                                            gridTypeName = "通道";
                                            channelCells++;
                                        }
                                    }
                                }
                                else
                                {
                                    // 不可通行层 - 渲染为障碍物（灰色）
                                    if (_showObstacleGrid)
                                    {
                                        targetRoute = obstacleRoute;
                                        gridTypeName = "障碍";
                                        obstacleCells++;
                                    }
                                }

                                // 创建该层的可视化点
                                if (targetRoute != null)
                                {
                                    var gridCenter = new Point3D(centerX, centerY, layerZ);

                                    var gridPoint = new PathPoint
                                    {
                                        Position = gridCenter,
                                        Name = $"网格_{gridTypeName}({x},{y})_Z{layerZ:F2}",
                                        Type = PathPointType.WayPoint,
                                        Index = totalVisualized,
                                        Notes = $"GridType:{cell.CellType}, LayerZ={layerZ:F2}, IsWalkable={layer.IsWalkable}"
                                    };

                                    targetRoute.Points.Add(gridPoint);
                                    totalVisualized++;
                                }
                            }
                        }
                        else if (cell.CellType == CategoryAttributeManager.LogisticsElementType.Unknown)
                        {
                            // Unknown网格没有高度层，用于调试
                            if (_showUnknownGrid)
                            {
                                var gridCenter = new Point3D(centerX, centerY, gridCorner.Z);
                                var gridPoint = new PathPoint
                                {
                                    Position = gridCenter,
                                    Name = $"网格_空洞({x},{y})",
                                    Type = PathPointType.WayPoint,
                                    Index = totalVisualized,
                                    Notes = $"GridType:Unknown, NoLayers"
                                };
                                unknownRoute.Points.Add(gridPoint);
                                unknownCells++;
                                totalVisualized++;
                            }
                        }
                    }
                }

                // 分别渲染四种类型的网格点
                if (channelRoute.Points.Count > 0)
                {
                    renderPlugin.RenderPointOnly(channelRoute);
                    LogManager.Info($"[网格可视化] 渲染可通行网格层: {channelRoute.Points.Count} 个（绿色）");
                }

                if (doorRoute.Points.Count > 0)
                {
                    renderPlugin.RenderPointOnly(doorRoute);
                    LogManager.Info($"[网格可视化] 渲染门网格层: {doorRoute.Points.Count} 个（50%透明绿色）");
                }

                if (unknownRoute.Points.Count > 0)
                {
                    renderPlugin.RenderPointOnly(unknownRoute);
                    LogManager.Info($"[网格可视化] 渲染Unknown网格: {unknownRoute.Points.Count} 个（红色，调试用）");
                }

                if (obstacleRoute.Points.Count > 0)
                {
                    renderPlugin.RenderPointOnly(obstacleRoute);
                    LogManager.Info($"[网格可视化] 渲染障碍物网格层: {obstacleRoute.Points.Count} 个（灰色）");
                }

                // 输出统计信息
                LogManager.Info($"[网格可视化] 可视化完成：");
                LogManager.Info($"  - 总网格单元格数：{gridMap.Width * gridMap.Height}");
                LogManager.Info($"  - 多层网格数：{multiLayerCells}");
                LogManager.Info($"  - 可通行层数：{channelCells}");
                LogManager.Info($"  - 门层数：{doorCells}");
                LogManager.Info($"  - Unknown单元格数：{unknownCells}");
                LogManager.Info($"  - 障碍物层数：{obstacleCells}");
                LogManager.Info($"  - 已可视化点数：{totalVisualized}");

                RaiseStatusChanged($"网格可视化完成：显示了 {totalVisualized} 个网格层 (多层网格:{multiLayerCells}, 可通行:{channelCells}, 门:{doorCells}, Unknown:{unknownCells}, 障碍:{obstacleCells})", PathPlanningStatusType.Success);
            }
            catch (Exception ex)
            {
                LogManager.Error($"[网格可视化] 可视化失败: {ex.Message}");
                RaiseErrorOccurred($"网格可视化失败: {ex.Message}", ex);
            }
        }

        /// <summary>
        /// 清除网格可视化
        /// </summary>
        public void ClearGridVisualization()
        {
            try
            {
                LogManager.Info("[网格可视化] 开始清除网格可视化");

                var renderPlugin = PathPointRenderPlugin.Instance;
                if (renderPlugin != null)
                {
                    // 清除所有网格可视化路径（包括旧的和新的）
                    renderPlugin.RemovePath("grid_visualization_all");        // 旧的单一路径
                    renderPlugin.RemovePath("grid_visualization_channel");    // 新的通道路径
                    renderPlugin.RemovePath("grid_visualization_unknown");    // 新的Unknown路径
                    renderPlugin.RemovePath("grid_visualization_obstacle");   // 新的障碍物路径
                    renderPlugin.RemovePath("grid_visualization_door");       // 新的门路径
                    LogManager.Info("[网格可视化] 网格可视化已清除");
                }
                else
                {
                    LogManager.Warning("[网格可视化] PathPointRenderPlugin实例为空，无法清除可视化");
                }
            }
            catch (Exception ex)
            {
                LogManager.Error($"[网格可视化] 清除可视化失败: {ex.Message}");
            }
        }

        #endregion

        #region 路径分析方法

        /// <summary>
        /// 获取所有路径（供分析使用）
        /// </summary>
        public List<PathRoute> GetAllRoutes()
        {
            try
            {
                // 直接返回内存中的路径列表
                // 因为所有路径操作都已同步到数据库，内存列表就是当前的完整列表
                return _routes ?? new List<PathRoute>();
            }
            catch (Exception ex)
            {
                LogManager.Error($"获取所有路径失败: {ex.Message}", ex);
                return new List<PathRoute>();
            }
        }

        /// <summary>
        /// 分析多条路径并进行对比
        /// </summary>
        /// <param name="routeIds">要分析的路径ID列表</param>
        /// <param name="strategy">分析策略</param>
        /// <returns>对比结果</returns>
        public PathComparisonResult AnalyzePathsAndCompare(List<string> routeIds, string strategy)
        {
            try
            {
                if (_analysisService == null)
                {
                    LogManager.Error("路径分析服务未初始化");
                    return null;
                }

                // 获取要分析的路径
                var routesToAnalyze = _routes?.Where(r => routeIds.Contains(r.Id)).ToList();
                if (routesToAnalyze == null || routesToAnalyze.Count == 0)
                {
                    LogManager.Warning("未找到要分析的路径");
                    return null;
                }

                // 执行分析和对比
                var result = _analysisService.CompareRoutes(routesToAnalyze, strategy);

                return result;
            }
            catch (Exception ex)
            {
                LogManager.Error($"路径分析失败: {ex.Message}", ex);
                return null;
            }
        }

        /// <summary>
        /// 从数据库加载历史路径到内存
        /// </summary>
        private void LoadHistoricalRoutesFromDatabase()
        {
            try
            {
                if (_pathDatabase == null)
                {
                    LogManager.Info("数据库未初始化，跳过加载历史路径");
                    return;
                }

                var historicalRoutes = _pathDatabase.GetAllPathRoutes();
                if (historicalRoutes != null && historicalRoutes.Count > 0)
                {
                    // 使用HashSet记录已存在的路径ID，避免重复
                    var existingIds = new HashSet<string>(_routes.Select(r => r.Id));
                    int loadedCount = 0;

                    // 加载历史路径（跳过已存在的）
                    foreach (var route in historicalRoutes)
                    {
                        if (!existingIds.Contains(route.Id))
                        {
                            _routes.Add(route);
                            loadedCount++;
                            //LogManager.Info($"加载历史路径: {route.Name}, ID={route.Id}, 长度={route.TotalLength:F2}米");
                        }
                    }

                    if (loadedCount > 0)
                    {
                        LogManager.Info($"成功从数据库加载 {loadedCount} 条历史路径（总计 {historicalRoutes.Count} 条）");
                    }
                    else
                    {
                        LogManager.Info($"数据库中的 {historicalRoutes.Count} 条路径已全部在内存中");
                    }

                    // 如果当前没有选中的路径，且路径列表不为空，选择第一条
                    if ((_currentRoute == null || string.IsNullOrEmpty(_currentRoute.Name) || _currentRoute.Name == "默认路径")
                        && _routes.Count > 0)
                    {
                        _currentRoute = _routes[0];
                        LogManager.Info($"设置当前路径为: {_currentRoute.Name}");
                    }

                    // 历史路径加载完成后，触发RouteGenerated事件通知UI刷新
                    // 使用特殊的生成方法标记这是数据库加载
                    foreach (var route in _routes)
                    {
                        RaiseRouteGenerated(route, RouteGenerationMethod.DatabaseLoad);
                    }
                    LogManager.Info($"已触发{_routes.Count}个RouteGenerated事件，通知UI刷新历史路径");
                }
                else
                {
                    LogManager.Info("数据库中没有历史路径记录");
                }
            }
            catch (Exception ex)
            {
                LogManager.Error($"加载历史路径失败: {ex.Message}", ex);
            }
        }

        /// <summary>
        /// 保存路径时同时保存到数据库
        /// </summary>
        private void SavePathToDatabase(PathRoute route)
        {
            try
            {
                if (_pathDatabase != null && route != null)
                {
                    _pathDatabase.SavePathRoute(route);
                    LogManager.Info($"路径已保存到数据库: {route.Name}");
                }
            }
            catch (Exception ex)
            {
                LogManager.Error($"保存路径到数据库失败: {ex.Message}", ex);
            }
        }

        /// <summary>
        /// 获取Instance单例（为兼容现有代码）
        /// </summary>
        public static PathPlanningManager Instance
        {
            get
            {
                if (_activePathManager == null)
                {
                    LogManager.Warning("PathPlanningManager未初始化，创建新实例");
                    _activePathManager = new PathPlanningManager();
                }
                return _activePathManager;
            }
        }

        #endregion

        #region 静态方法

        /// <summary>
        /// 静态方法：获取当前活动的路径管理器
        /// </summary>
        /// <returns>当前活动的路径管理器</returns>
        public static PathPlanningManager GetActivePathManager()
        {
            return _activePathManager;
        }

        #endregion
    }
}