{ // 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); 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 } 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_to_end = astar.getPath(start_node, end_node1); path_to_end.erase(path_to_end.begin()); std::vector<Node*> path; path.insert(path.end(), path_to_end.begin(), path_to_end.end()); paths[i] = path; } }，添加條件，且任務的completed不爲2

你的意思是在 if (agvs[i].getCurrentX() == agvs[i].getEndX() && agvs[i].getCurrentY() == agvs[i].getEndY()) 的条件下，添加一个判断任务的 completed 是否等于 2 的条件吗？如果不等于 2，才执行后续的代码块，是吗？如果是这样，可以这样修改：

if (agvs[i].getCurrentX() == agvs[i].getEndX() && agvs[i].getCurrentY() == agvs[i].getEndY()) {
    // 获取已完成的任务索引
    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;
        }
    }
    // 如果任务未完成，则更新 completed 状态
    if (completed_task_index != -1 && tasks[completed_task_index].completed != 2) {
        tasks[completed_task_index].completed = 2;
    }
    // 执行后续操作
    if (agvs[i].getLoad() && completed_task_index != -1 && tasks[completed_task_index].completed == 2) {
        agvs[i].setLoad(false);
        agvs[i].setState(true);
        std::cout << "agv__id :" << agvs[i].getid() << " ,agv_get_task_id :" << agvs[i].get_task_id() << endl;
        task_to_agv();
        update();
    } else {
        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_to_end = astar.getPath(start_node, end_node1);
        path_to_end.erase(path_to_end.begin());
        std::vector<Node*> path;
        path.insert(path.end(), path_to_end.begin(), path_to_end.end());
        paths[i] = path;
    }
}

这样修改后，如果任务未完成，则不会执行后续的代码块，直到任务状态变为 completed == 2 才会执行。