void MainWindow::moveAgvs_(){ timer =new QTimer(this); timer->start(1000); connect(timer, &QTimer::timeout, this, &MainWindow::moveAgvs);} void MainWindow::moveAgvs() { Astar astar; std::vector<Node*> path; std::vector<std::vector<Node*>> paths(agvs.size()); // 得到agv的路綫 for (int i = 0; i < agvs.size(); i++) { Node* start_node = new Node(agvs[i].getCurrentX(), agvs[i].getCurrentY()); Node* end_node; if (agvs[i].getLoad() == false) { end_node = new Node(agvs[i].getStartX(), agvs[i].getStartY()); } else { end_node = new Node(agvs[i].getEndX(), agvs[i].getEndY()); } std::vector<Node*> path = astar.getPath(start_node, end_node); paths[i] = path; //輸出agv的路綫 std::cout << "AGV " << i << " path: "; for (int j = 0; j < path.size(); j++) { std::cout << "(" << path[j]->x << ", " <<path[j]->y << ")"; if (j != path.size() - 1) { std::cout << " -> "; } } std::cout << std::endl; } for (int i = 0; i < agvs.size(); i++) { if (! paths[i].empty()) { Node* next_node = paths[i][0]; float speed = agvs[i].getSpeed(); float distance = sqrt(pow(next_node->x - agvs[i].getCurrentX(), 2) + pow(next_node->y - agvs[i].getCurrentY(), 2)); float time = distance / speed * 1000; QTimer::singleShot(time, this, &, i, next_node { agvs[i].setCurrentX(next_node->x); agvs[i].setCurrentY(next_node->y); std::cout << "AGV " << agvs[i].getid() << " current_x: " << agvs[i].getCurrentX() << " current_y: " << agvs[i].getCurrentY() <<std::endl; this->update(); if (next_node->x == agvs[i].getEndX() && next_node->y == agvs[i].getEndY()) { //task_to_agv(i); } }); } } }，agv沒有模擬運行，修改一下

有几个问题需要修正：

1. `moveAgvs_()`函数中，应该将`timer->start(1000)`放在`connect`语句的后面，因为如果`timeout`信号在`start()`之前被触发，会导致`moveAgvs()`函数在启动定时器之前就被调用。

2. 在`moveAgvs()`函数中，定义了一个名为`path`的局部变量，覆盖了函数开头定义的`std::vector<Node*> path`。因此，在后面对`paths`进行赋值时，实际上是没有生效的。应该将第6行的`std::vector<Node*> path;`修改为`path = astar.getPath(start_node, end_node);`。

3. 在`QTimer::singleShot()`函数的第三个参数中，应该将`&`去掉，并在lambda表达式中加入`i`和`next_node`的捕获列表。即将`&, i, next_node`修改为`[=, i, next_node]() mutable {`。

4. 在`QTimer::singleShot()`函数中，应该将花括号中的代码块用圆括号括起来，即将`{ agvs[i].setCurrentX(next_node->x);`修改为`{ agvs[i].setCurrentX(next_node->x); }`。

下面是修改后的代码：

void MainWindow::moveAgvs_()
{
    timer = new QTimer(this);
    connect(timer, &QTimer::timeout, this, &MainWindow::moveAgvs);
    timer->start(1000);
}

void MainWindow::moveAgvs()
{
    Astar astar;
    std::vector<std::vector<Node*>> paths(agvs.size());

    // 得到agv的路线
    for (int i = 0; i < agvs.size(); i++)
    {
        Node* start_node = new Node(agvs[i].getCurrentX(), agvs[i].getCurrentY());
        Node* end_node;
        if (agvs[i].getLoad() == false)
        {
            end_node = new Node(agvs[i].getStartX(), agvs[i].getStartY());
        }
        else
        {
            end_node = new Node(agvs[i].getEndX(), agvs[i].getEndY());
        }
        std::vector<Node*> path = astar.getPath(start_node, end_node);
        paths[i] = path;

        // 输出agv的路线
        std::cout << "AGV " << i << " path: ";
        for (int j = 0; j < path.size(); j++)
        {
            std::cout << "(" << path[j]->x << ", " << path[j]->y << ")";
            if (j != path.size() - 1)
            {
                std::cout << " -> ";
            }
        }
        std::cout << std::endl;
    }

    for (int i = 0; i < agvs.size(); i++)
    {
        if (!paths[i].empty())
        {
            Node* next_node = paths[i][0];
            float speed = agvs[i].getSpeed();
            float distance = sqrt(pow(next_node->x - agvs[i].getCurrentX(), 2) + pow(next_node->y - agvs[i].getCurrentY(), 2));
            float time = distance / speed * 1000;

            QTimer::singleShot(time, [=, i, next_node]() mutable {
                agvs[i].setCurrentX(next_node->x);
                agvs[i].setCurrentY(next_node->y);
                std::cout << "AGV " << agvs[i].getid() << " current_x: " << agvs[i].getCurrentX() << " current_y: " << agvs[i].getCurrentY() << std::endl;
                this->update();

                if (next_node->x == agvs[i].getEndX() && next_node->y == agvs[i].getEndY())
                {
                    //task_to_agv(i);
                }
            });
        }
    }
}