flowchart TD start[开始] --> getParams[获取油料输送行动参数] getParams --> paramsInit[参数初始化与校验] paramsInit --> generationTimeSeq[生成时间序列] generationTimeSeq --> calculatePath[计算行动路径] calculatePath --> updateLocation[更新位置坐标] updateLocation --> isArriveAt{是否达到目的地 ?} isArriveAt --> |YES| judgeActionType{判断行动类型} isArriveAt --> |NO| calculatePath judgeActionType --> |输送,去往需求地| update_fuel_num_send[更新输送设备，油量数量] judgeActionType --> |取油,去往供应地| update_fuel_num_back[更新输送设备，油量数量] update_fuel_num_send & update_fuel_num_back --> lastUpdateStatus[更新油料输送行动状态] lastUpdateStatus --> 结束