void MainWindow::moveAgvs_(){ timer =new QTimer(this); timer->start(100); connect(timer, &QTimer::timeout, this, &MainWindow::moveAgvs);} void MainWindow::moveAgvs() { Astar astar; std::vector<std::vector<Node*>> paths(agvs.size()); // 得到agv的路綫 for (int i = 0; i < agvs.size(); i++) { if (agvs[i].getState() == false) { if (agvs[i].getLoad()){ //如果是負載的狀態，則任務的起點到任務的終點 if (agvs[i].getCurrentX() == agvs[i].getEndX() && agvs[i].getCurrentY() == agvs[i].getEndY()) { agvs[i].setState(true); agvs[i].setLoad(false); tasks[i].setCompleted(2); task_to_agv(); } 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; } else { //如果是空載的狀態，則行駛到任務的起點 //如果agv已經到達任務起點，變爲負載狀態 if (agvs[i].getCurrentX() == agvs[i].getStartX() && agvs[i].getCurrentY() == agvs[i].getStartY()) { agvs[i].setLoad(true); } 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_to_start = astar.getPath(start_node, end_node); std::vector<Node*> path; path.insert(path.end(), path_to_start.begin() + 1, path_to_start.end()); paths[i] = path; } } for (int i = 0; i < agvs.size(); i++) { std::cout << "path of AGV " << i << ": "; for (int j = 0; j < paths[i].size(); j++) { std::cout << "(" << paths[i][j]->x << ", " << paths[i][j]->y << ") "; } std::cout << std::endl; } //模擬小車行駛 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; //node_Value[next_node->x][next_node->y] = 10; QTimer::singleShot(time, this, &, i, next_node { agvs[i].setCurrentX(next_node->x); agvs[i].setCurrentY(next_node->y); this->update(); // 在窗口中重绘 }); } } } }，黨agv小車到達最後一個任務的終點時候，結束qtime

您可以在到达最后一个任务的终点时停止计时器，具体方法如下：

1. 在MainWindow类中添加一个成员变量，例如bool isFinished，表示任务是否完成。

2. 在任务完成的地方设置isFinished为true。

3. 在moveAgvs函数中，在处理完所有AGV的路径后，判断isFinished是否为true，如果为true，则停止计时器。

示例代码如下：

void MainWindow::moveAgvs_() {
    timer = new QTimer(this);
    timer->start(100);
    connect(timer, &QTimer::timeout, this, &MainWindow::moveAgvs);
}

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

    // 得到agv的路綫
    for (int i = 0; i < agvs.size(); i++) {
        // 省略部分代码
    }

    // 模擬小車行駛
    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);
                this->update(); // 在窗口中重绘

                if (i == agvs.size() - 1 && next_node->x == agvs[i].getEndX() && next_node->y == agvs[i].getEndY()) {
                    isFinished = true;
                }

                if (isFinished) {
                    timer->stop();
                }
            });
        }
    }
}