// 得到agv的路綫 for (int i = 0; i < agvs.size(); i++) { if (agvs[i].getLoad() == true) { // 如果是负载的状态 if (agvs[i].getCurrentX() == agvs[i].getEndX() && agvs[i].getCurrentY() == agvs[i].getEndY()) { // 如果到达终点 agvs[i].setLoad(false); // 设置为空载状态 agvs[i].setState(true);//agv設置為可用狀態 std::cout << "agv__id :" << agvs[i].getid() << " ,agv_get_task_id :" << agvs[i].get_task_id() << endl; for (int j = 0; j < tasks.size(); j++) { if (tasks[j].id == agvs[i].get_task_id()) { completed_task_index = j; break; } } if (completed_task_index != -1) { tasks[completed_task_index].completed = 2; } task_to_agv(); // 更新任务分配 update(); // 更新AGV状态 } else { // 否则行驶到终点 Node* start_node = new Node(agvs[i].getCurrentX(), agvs[i].getCurrentY()); Node* end_node1 = new Node(agvs[i].getEndX(), agvs[i].getEndY()); std::vector<Node*> path = astar.getPath(start_node, end_node1); path.erase(path.begin()); paths[i] = path; } } else { // 如果是空载的状态 if (agvs[i].getCurrentX() == agvs[i].getStartX() && agvs[i].getCurrentY() == agvs[i].getStartY()) { // 如果到达起点 agvs[i].setLoad(true); // 设置为负载状态 } else { // 否则行驶到起点 Node* start_node = new Node(agvs[i].getCurrentX(), agvs[i].getCurrentY()); Node* end_node = new Node(agvs[i].getStartX(), agvs[i].getStartY()); std::vector<Node*> path = astar.getPath(start_node, end_node); path.erase(path.begin()); paths[i] = path; } } }，添加代碼：添加首要條件，agv對應的task的completed是1則執行，反之跳出

你可以在代码中添加以下条件来判断是否执行任务：

if (tasks[agvs[i].get_task_id()].completed == 1) {
    // 执行任务
} else {
    continue; // 跳出循环，继续下一个 AGV
}

这样，当 AGV 对应的任务已经完成时，就不会继续执行该任务。你可以将此条件添加到 `if (agvs[i].getLoad() == true)` 的条件判断中。完整的代码如下所示：

for (int i = 0; i < agvs.size(); i++) {
    if (agvs[i].getLoad() == true) {
        // 如果是负载的状态
        if (agvs[i].getCurrentX() == agvs[i].getEndX() && agvs[i].getCurrentY() == agvs[i].getEndY()) {
            // 如果到达终点
            agvs[i].setLoad(false); // 设置为空载状态
            agvs[i].setState(true);//agv設置為可用狀態
            std::cout << "agv__id :" << agvs[i].getid() << " ,agv_get_task_id :" << agvs[i].get_task_id() << endl;

            int completed_task_index = -1;
            for (int j = 0; j < tasks.size(); j++) {
                if (tasks[j].id == agvs[i].get_task_id()) {
                    completed_task_index = j;
                    break;
                }
            }

            if (completed_task_index != -1) {
                tasks[completed_task_index].completed = 2;
            }

            task_to_agv(); // 更新任务分配
            update(); // 更新AGV状态

            if (tasks[agvs[i].get_task_id()].completed == 1) {
                // 执行任务
            } else {
                continue; // 跳出循环，继续下一个 AGV
            }
        } else {
            // 否则行驶到终点
            Node* start_node = new Node(agvs[i].getCurrentX(), agvs[i].getCurrentY());
            Node* end_node1 = new Node(agvs[i].getEndX(), agvs[i].getEndY());
            std::vector<Node*> path = astar.getPath(start_node, end_node1);
            path.erase(path.begin());
            paths[i] = path;
        }
    } else {
        // 如果是空载的状态
        if (agvs[i].getCurrentX() == agvs[i].getStartX() && agvs[i].getCurrentY() == agvs[i].getStartY()) {
            // 如果到达起点
            agvs[i].setLoad(true); // 设置为负载状态
        } else {
            // 否则行驶到起点
            Node* start_node = new Node(agvs[i].getCurrentX(), agvs[i].getCurrentY());
            Node* end_node = new Node(agvs[i].getStartX(), agvs[i].getStartY());
            std::vector<Node*> path = astar.getPath(start_node, end_node);
            path.erase(path.begin());
            paths[i] = path;
        }
    }
}