{ int safe_battery_level = 50;//設置安全電量 int charge_task_id;//設置充電任務的id int charge_task_priority;//設置充電任務的優先級 int max_task_id = 0; int max_charge_priority = 0; if (agvs[i].getBattery() < safe_battery_level) { bool has_charge_task = false; for (int k = 0; k < tasks.size(); k++) { if (tasks[k].a_id== agvs[i].id_ && tasks[k].Task_type == 1) { has_charge_task = true; break; } for (int j = 0; j < charges.size(); j++) { if (charges[j].charge_available == true) { charges[j].setavailable(false); for (int k = 0; k < tasks.size(); k++) { if (tasks[k].id > max_task_id) { max_task_id = tasks[k].id; } if (tasks[k].Task_type == 1 && tasks[k].priority > max_charge_priority) { max_charge_priority = tasks[k].priority; } } charge_task_id = max_task_id + 1; charge_task_priority = max_charge_priority + 1; Task charge_task(charge_task_id, agvs[i].current_x, agvs[i].current_y, charges[j].charge_x, charges[j].charge_y, charge_task_priority, 0, agvs[i].id_, 1); // 创建一个充电任务 tasks.push_back(charge_task); // 将充电任务添加到 tasks 容器中 break; } } } } }，邏輯有問題怎麽修改

经过仔细分析，发现代码中的第二个 for 循环没有正确关闭，导致程序的逻辑出现了错误。修改后的代码如下：

int safe_battery_level = 50;
int charge_task_id;
int charge_task_priority;
int max_task_id = 0;
int max_charge_priority = 0;

if (agvs[i].getBattery() < safe_battery_level) {
    bool has_charge_task = false;
    for (int k = 0; k < tasks.size(); k++) {
        if (tasks[k].a_id == agvs[i].id_ && tasks[k].Task_type == 1) {
            has_charge_task = true;
            break;
        }
    }
    if (!has_charge_task) {
        for (int j = 0; j < charges.size(); j++) {
            if (charges[j].charge_available == true) {
                charges[j].setavailable(false);
                for (int k = 0; k < tasks.size(); k++) {
                    if (tasks[k].id > max_task_id) {
                        max_task_id = tasks[k].id;
                    }
                    if (tasks[k].Task_type == 1 && tasks[k].priority > max_charge_priority) {
                        max_charge_priority = tasks[k].priority;
                    }
                }
                charge_task_id = max_task_id + 1;
                charge_task_priority = max_charge_priority + 1;
                Task charge_task(charge_task_id, agvs[i].current_x, agvs[i].current_y, charges[j].charge_x, charges[j].charge_y, charge_task_priority, 0, agvs[i].id_, 1);
                tasks.push_back(charge_task);
                break;
            }
        }
    }
}

修改后的代码将第二个 for 循环放在了 if (!has_charge_task) 的条件判断内，并且加入了花括号以正确地关闭循环。这样就可以避免出现逻辑错误了。