PROSAGA码农传奇-无人机蜂群-jPanel的同步

我尝试使用Java Swing模拟大量无人机。通过跟踪红外点，无人机的飞行成群。每个群体成员类都扩展jPanel并覆盖绘制功能，其作用是根据领导者位置在其面板上绘制IR点
<pre><code>@Override
public void paint(Graphics g) {
 super.paint(g);

for (int x = currX_1 - currIRdim; x < currX_1 + currIRdim; x++) {
 for (int y = currY_1 - currIRdim; y < currY_1 + currIRdim; y++) {
 g.setColor(Color.RED);
 g.drawLine(x, y, x, y);
 }
 }

for (int x = currX_2 - currIRdim; x < currX_2 + currIRdim; x++) {
 for (int y = currY_2 - currIRdim; y < currY_2 + currIRdim; y++) {
 g.setColor(Color.RED);
 g.drawLine(x, y, x, y);
 }
 }
}
</code></pre>虫群首领和他身边的无人驾驶飞机随时更新以下成员的面板
<pre><code>private void updateFollowers(AgentIrPanel[] screensToUpdate, String command) {
 int xdiff = screensToUpdate[0].getDiffX();
 int dimdiff = screensToUpdate[0].getDiffDim();
 switch (behaviour) {
 case SWARM_LEADER:
 screensToUpdate[0].setCurrX_1(screensToUpdate[0].getCurrX_1() + xdiff);
 screensToUpdate[0].setCurrX_2(screensToUpdate[0].getCurrX_2() + xdiff);
 screensToUpdate[0].repaintPoints(); // call jpanel.repaint()

screensToUpdate[1].setCurrIRdim(screensToUpdate[1].getCurrIRdim() - dimdiff);
 screensToUpdate[1].repaintPoints();
 break;
 case FOLLOW_LEFT:
 screensToUpdate[0].setCurrIRdim(screensToUpdate[0].getCurrIRdim() - dimdiff);
 screensToUpdate[0].repaintPoints();
 }
}
</code></pre>以下成员进入其面板上的2个IR点，并认识到与先前点的区别，决定他们应朝哪个方向移动
<pre><code>private String secRowReading() {
 BufferedImage img = new BufferedImage(300, 300, BufferedImage.TYPE_INT_RGB);
 Graphics2D g2 = img.createGraphics();
 this.paint(g2);

if ((new Color(img.getRGB(X_1 - IRdim ,Y_1 - IRdim)).equals(Color.BLACK))
            && (new Color(img.getRGB(X_2 - IRdim ,Y_2 - IRdim)).equals(Color.BLACK))
            && (new Color(img.getRGB(X_1 - IRdim + diffX, Y_1 - IRdim)).equals(Color.RED))
            && (new Color(img.getRGB(X_2 - IRdim + diffX, Y_1 - IRdim)).equals(Color.RED))){
        ans = "right";
    }else if ((new Color(img.getRGB(X_1 - IRdim ,Y_1 - IRdim)).equals(Color.BLACK))
            && (new Color(img.getRGB(X_2 - IRdim ,Y_2 - IRdim)).equals(Color.BLACK))
            && (new Color(img.getRGB(X_1 - IRdim - diffX, Y_1 - IRdim)).equals(Color.RED))
            && (new Color(img.getRGB(X_2 - IRdim - diffX, Y_1 - IRdim)).equals(Color.RED))){
        ans =  "left";
    }else if ((new Color(img.getRGB(X_1 - IRdim ,Y_1 - IRdim)).equals(Color.BLACK))
            && (new Color(img.getRGB(X_2 - IRdim,Y_2 - IRdim)).equals(Color.BLACK))
            && (new Color(img.getRGB(X_1 - IRdim + diffDim ,Y_1 - IRdim + diffDim)).equals(Color.RED))
            && (new Color(img.getRGB(X_2 - IRdim + diffDim ,Y_2 - IRdim + diffDim)).equals(Color.RED))) {
        ans = "front";
    }else if ((new Color(img.getRGB(X_1 - IRdim - diffDim,Y_1 - IRdim -diffDim)).equals(Color.RED))
            && (new Color(img.getRGB(X_2 - IRdim - diffDim,Y_2 - IRdim -diffDim)).equals(Color.RED))){
        ans =  "back";
    }else {
        ans =  "stop";
    }

g2.dispose();
 return ans;
}
</code></pre>问题是-仅当它们分别操作时，以下无人机才不能与该读数一起成功。在飞行过程中，跟随者之一无法及时识别领导者所应用的更改并停止，从而使整个飞行混乱。我试图用Timer（）。schedule延迟读取每个跟随无人机的信息，但没有成功。如何使其同步才能正常工作？