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); 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; } } }， if (!paths[i].empty()) { QPainter painter(this); painter.setPen(QPen(Qt::red, 5)); // 设置画笔颜色和宽度 for (int j = 0; j < paths[i].size() - 1; j++) { // 遍历每个子数组中的点 QPoint start(paths[i][j]->x * 25 + 200, paths[i][j]->y * 25 + 50); QPoint end(paths[i][j + 1]->x * 25 + 200, paths[i][j + 1]->y * 25 + 50); painter.drawLine(start, end); } }，一運行繪製path路綫，就白屏卡死，怎麽修改代碼

这段代码中可能存在一些问题，导致白屏卡死。你可以尝试以下修改：

1.在绘制路径之前，先判断一下 `paths[i]` 是否为空，如果是空的话就不进行绘制，避免出现白屏。

if (!paths[i].empty()) {
    QPainter painter(this);
    painter.setPen(QPen(Qt::red, 5)); // 设置画笔颜色和宽度
    for (int j = 0; j < paths[i].size() - 1; j++) { // 遍历每个子数组中的点
        QPoint start(paths[i][j]->x * 25 + 200, paths[i][j]->y * 25 + 50);
        QPoint end(paths[i][j + 1]->x * 25 + 200, paths[i][j + 1]->y * 25 + 50);
        painter.drawLine(start, end);
    }
}

2.在更新 AGV 状态之前，先判断一下 `completed_task_index` 是否为 -1，如果是 -1 的话就不进行任务完成状态的更新，避免出现数组越界的问题。

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);
        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;
    }
}