Fix MainApplicationFrame and ignore IDE output

robots/src/gui/GameVisualizer.java

@@ -8,42 +8,37 @@
 import java.awt.event.MouseAdapter;
 import java.awt.event.MouseEvent;
 import java.awt.geom.AffineTransform;
+import java.util.Observable;
+import java.util.Observer;
 import java.util.Timer;
 import java.util.TimerTask;
 
 import javax.swing.JPanel;
 
-public class GameVisualizer extends JPanel
+public class GameVisualizer extends JPanel implements Observer
 {
-    private final Timer m_timer = initTimer();
-
-    private static Timer initTimer() 
+    private final Timer timer = initTimer();
+    private final RobotModel model;
+
+    private static Timer initTimer()
     {
-        Timer timer = new Timer("events generator", true);
-        return timer;
+        return new Timer("events generator", true);
     }
-
-    private volatile double m_robotPositionX = 100;
-    private volatile double m_robotPositionY = 100; 
-    private volatile double m_robotDirection = 0; 
-
-    private volatile int m_targetPositionX = 150;
-    private volatile int m_targetPositionY = 100;
-
-    private static final double maxVelocity = 0.1; 
-    private static final double maxAngularVelocity = 0.001; 
-
-    public GameVisualizer() 
+
+    public GameVisualizer(RobotModel model)
     {
-        m_timer.schedule(new TimerTask()
+        this.model = model;
+        this.model.addObserver(this);
+
+        timer.schedule(new TimerTask()
         {
             @Override
             public void run()
             {
                 onRedrawEvent();
             }
         }, 0, 50);
-        m_timer.schedule(new TimerTask()
+        timer.schedule(new TimerTask()
         {
             @Override
             public void run()
@@ -57,154 +52,80 @@ public void run()
             public void mouseClicked(MouseEvent e)
             {
                 setTargetPosition(e.getPoint());
-                repaint();
             }
         });
         setDoubleBuffered(true);
     }
 
-    protected void setTargetPosition(Point p)
+    protected void setTargetPosition(Point point)
     {
-        m_targetPositionX = p.x;
-        m_targetPositionY = p.y;
+        model.setTargetPosition(point);
     }
-    
+
     protected void onRedrawEvent()
     {
         EventQueue.invokeLater(this::repaint);
     }
 
-    private static double distance(double x1, double y1, double x2, double y2)
-    {
-        double diffX = x1 - x2;
-        double diffY = y1 - y2;
-        return Math.sqrt(diffX * diffX + diffY * diffY);
-    }
-
-    private static double angleTo(double fromX, double fromY, double toX, double toY)
-    {
-        double diffX = toX - fromX;
-        double diffY = toY - fromY;
-
-        return asNormalizedRadians(Math.atan2(diffY, diffX));
-    }
-
     protected void onModelUpdateEvent()
     {
-        double distance = distance(m_targetPositionX, m_targetPositionY, 
-            m_robotPositionX, m_robotPositionY);
-        if (distance < 0.5)
-        {
-            return;
-        }
-        double velocity = maxVelocity;
-        double angleToTarget = angleTo(m_robotPositionX, m_robotPositionY, m_targetPositionX, m_targetPositionY);
-        double angularVelocity = 0;
-        if (angleToTarget > m_robotDirection)
-        {
-            angularVelocity = maxAngularVelocity;
-        }
-        if (angleToTarget < m_robotDirection)
-        {
-            angularVelocity = -maxAngularVelocity;
-        }
-
-        moveRobot(velocity, angularVelocity, 10);
-    }
-
-    private static double applyLimits(double value, double min, double max)
-    {
-        if (value < min)
-            return min;
-        if (value > max)
-            return max;
-        return value;
-    }
-
-    private void moveRobot(double velocity, double angularVelocity, double duration)
-    {
-        velocity = applyLimits(velocity, 0, maxVelocity);
-        angularVelocity = applyLimits(angularVelocity, -maxAngularVelocity, maxAngularVelocity);
-        double newX = m_robotPositionX + velocity / angularVelocity * 
-            (Math.sin(m_robotDirection  + angularVelocity * duration) -
-                Math.sin(m_robotDirection));
-        if (!Double.isFinite(newX))
-        {
-            newX = m_robotPositionX + velocity * duration * Math.cos(m_robotDirection);
-        }
-        double newY = m_robotPositionY - velocity / angularVelocity * 
-            (Math.cos(m_robotDirection  + angularVelocity * duration) -
-                Math.cos(m_robotDirection));
-        if (!Double.isFinite(newY))
-        {
-            newY = m_robotPositionY + velocity * duration * Math.sin(m_robotDirection);
-        }
-        m_robotPositionX = newX;
-        m_robotPositionY = newY;
-        double newDirection = asNormalizedRadians(m_robotDirection + angularVelocity * duration); 
-        m_robotDirection = newDirection;
+        model.update();
     }
 
-    private static double asNormalizedRadians(double angle)
-    {
-        while (angle < 0)
-        {
-            angle += 2*Math.PI;
-        }
-        while (angle >= 2*Math.PI)
-        {
-            angle -= 2*Math.PI;
-        }
-        return angle;
-    }
-
     private static int round(double value)
     {
-        return (int)(value + 0.5);
+        return (int) (value + 0.5);
     }
-    
+
     @Override
-    public void paint(Graphics g)
+    public void paint(Graphics graphics)
     {
-        super.paint(g);
-        Graphics2D g2d = (Graphics2D)g; 
-        drawRobot(g2d, round(m_robotPositionX), round(m_robotPositionY), m_robotDirection);
-        drawTarget(g2d, m_targetPositionX, m_targetPositionY);
+        super.paint(graphics);
+        Graphics2D g2d = (Graphics2D) graphics;
+        drawRobot(g2d, round(model.getRobotPositionX()), round(model.getRobotPositionY()), model.getRobotDirection());
+        drawTarget(g2d, model.getTargetPositionX(), model.getTargetPositionY());
     }
-    
+
     private static void fillOval(Graphics g, int centerX, int centerY, int diam1, int diam2)
     {
         g.fillOval(centerX - diam1 / 2, centerY - diam2 / 2, diam1, diam2);
     }
-    
+
     private static void drawOval(Graphics g, int centerX, int centerY, int diam1, int diam2)
     {
         g.drawOval(centerX - diam1 / 2, centerY - diam2 / 2, diam1, diam2);
     }
-    
+
     private void drawRobot(Graphics2D g, int x, int y, double direction)
     {
-        int robotCenterX = round(m_robotPositionX); 
-        int robotCenterY = round(m_robotPositionY);
-        AffineTransform t = AffineTransform.getRotateInstance(direction, robotCenterX, robotCenterY); 
-        g.setTransform(t);
+        AffineTransform oldTransform = g.getTransform();
+        AffineTransform rotateTransform = AffineTransform.getRotateInstance(direction, x, y);
+        g.setTransform(rotateTransform);
         g.setColor(Color.MAGENTA);
-        fillOval(g, robotCenterX, robotCenterY, 30, 10);
+        fillOval(g, x, y, 30, 10);
         g.setColor(Color.BLACK);
-        drawOval(g, robotCenterX, robotCenterY, 30, 10);
+        drawOval(g, x, y, 30, 10);
         g.setColor(Color.WHITE);
-        fillOval(g, robotCenterX  + 10, robotCenterY, 5, 5);
+        fillOval(g, x + 10, y, 5, 5);
         g.setColor(Color.BLACK);
-        drawOval(g, robotCenterX  + 10, robotCenterY, 5, 5);
+        drawOval(g, x + 10, y, 5, 5);
+        g.setTransform(oldTransform);
     }
-    
+
     private void drawTarget(Graphics2D g, int x, int y)
     {
-        AffineTransform t = AffineTransform.getRotateInstance(0, 0, 0); 
-        g.setTransform(t);
+        AffineTransform oldTransform = g.getTransform();
+        g.setTransform(AffineTransform.getRotateInstance(0, 0, 0));
         g.setColor(Color.GREEN);
         fillOval(g, x, y, 5, 5);
         g.setColor(Color.BLACK);
         drawOval(g, x, y, 5, 5);
+        g.setTransform(oldTransform);
+    }
+
+    @Override
+    public void update(Observable observable, Object arg)
+    {
+        onRedrawEvent();
     }
 }

robots/src/gui/GameWindow.java

@@ -7,13 +7,14 @@
 
 public class GameWindow extends JInternalFrame
 {
-    private final GameVisualizer m_visualizer;
-    public GameWindow() 
+    private final GameVisualizer visualizer;
+
+    public GameWindow(RobotModel model)
     {
         super("Игровое поле", true, true, true, true);
-        m_visualizer = new GameVisualizer();
+        visualizer = new GameVisualizer(model);
         JPanel panel = new JPanel(new BorderLayout());
-        panel.add(m_visualizer, BorderLayout.CENTER);
+        panel.add(visualizer, BorderLayout.CENTER);
         getContentPane().add(panel);
         pack();
     }