package com.ubt.jimu.connect.model;

import android.util.Log;
import com.ubt.jimu.JimuApplication;
import com.ubt.jimu.base.cache.Cache;
import com.ubt.jimu.base.data.ServoMode;
import com.ubt.jimu.base.db.diy.DiyDBModel;
import com.ubt.jimu.base.db.diy.DiyHelper;
import com.ubt.jimu.base.entities.User;
import com.ubt.jimu.transport3.UnityFileOperator;
import com.ubtech.utils.XLog;
import com.ubtrobot.jimu.connection.RequestException;
import com.ubtrobot.jimu.robotapi.BluetoothSpeakerInfo;
import com.ubtrobot.jimu.robotapi.BoardInfo;
import com.ubtrobot.jimu.robotapi.JimuException;
import com.ubtrobot.jimu.robotapi.JimuManager;
import com.ubtrobot.jimu.robotapi.PeripheralType;
import com.ubtrobot.log.ALog;
import java.io.File;
import java.lang.reflect.Field;
import java.util.ArrayList;
import java.util.HashMap;
import java.util.Iterator;
import java.util.List;
import java.util.Map;

/* loaded from: classes.dex */
public class ModelMatchModel {
    private ArrayList<Component> b = new ArrayList<>();
    private JimuManager a = JimuApplication.l().f();

    private String c() {
        User user = Cache.getInstance().getUser();
        if (user == null) {
            return "local";
        }
        return user.getUserId() + "";
    }

    public ArrayList<Component> a() {
        return this.b;
    }

    public BoardInfo b() throws JimuException {
        BoardInfo l;
        try {
            try {
                if (!this.a.h()) {
                    this.a.c();
                    throw new JimuException(-1, "ERROR_CODE_NOT_JIMU_DEVICE");
                }
                this.a.n();
                try {
                    Thread.sleep(2000L);
                } catch (InterruptedException e) {
                    e.printStackTrace();
                    Thread.currentThread().interrupt();
                }
                try {
                    l = this.a.l();
                } catch (JimuException e2) {
                    XLog.b("ModelMatchModel", "Read mother board info fail! Retry one time");
                    try {
                        if (e2.getCode() == 238) {
                            this.a.b();
                        }
                        Thread.sleep(1000L);
                    } catch (InterruptedException e3) {
                        e3.printStackTrace();
                        Thread.currentThread().interrupt();
                    }
                    try {
                        l = this.a.l();
                    } catch (JimuException unused) {
                        XLog.c("ModelMatchModel", "read board fail! goto connect fail page");
                        throw new JimuException(-2, "MATCH_RESULT_ERROR_READ_CODE_FAIL");
                    }
                }
                if (l != null) {
                    return l;
                }
                XLog.b("ModelMatchModel", "Read mother board info fail! ");
                throw new JimuException(-2, "MATCH_RESULT_ERROR_READ_CODE_FAIL");
            } catch (JimuException e4) {
                XLog.c("ModelMatchModel", "read board fail! goto connect fail page");
                throw new JimuException(-2, e4.getMessage());
            }
        } catch (RequestException e5) {
            XLog.c("ModelMatchModel", "read board fail! goto connect fail page");
            throw new JimuException(-2, e5.getMessage());
        }
    }

    public void a(String str, boolean z, MatchResultCallback matchResultCallback) {
        BoardInfo l;
        int i;
        XLog.c("ModelMatchModel", "start match model");
        try {
            try {
                if (!this.a.h()) {
                    this.a.c();
                    matchResultCallback.a(-1, null);
                    return;
                }
                this.a.n();
                try {
                    Thread.sleep(2000L);
                } catch (InterruptedException unused) {
                    Thread.currentThread().interrupt();
                }
                try {
                    l = this.a.l();
                } catch (JimuException e) {
                    XLog.b("ModelMatchModel", "Read mother board info fail! Retry one time");
                    try {
                        if (e.getCode() == 238) {
                            this.a.b();
                        }
                        Thread.sleep(1000L);
                    } catch (InterruptedException e2) {
                        e2.printStackTrace();
                        Thread.currentThread().interrupt();
                    }
                    try {
                        l = this.a.l();
                    } catch (JimuException unused2) {
                        XLog.c("ModelMatchModel", "read board fail! goto connect fail page");
                        matchResultCallback.a(-2, null);
                        return;
                    }
                }
                if (l == null) {
                    XLog.b("ModelMatchModel", "Read mother board info fail! ");
                    matchResultCallback.a(-2, null);
                    return;
                }
                if (l.l()) {
                    XLog.c("ModelMatchModel", "peripheral ID duplication");
                    i = -4;
                } else {
                    i = 0;
                }
                this.b = a(l, str, z);
                Iterator<Component> it = this.b.iterator();
                while (it.hasNext()) {
                    Component next = it.next();
                    if (next.b() != ErrorType.NONE) {
                        XLog.c("ModelMatchModel", "Has some component not match. component:" + next);
                        i = -3;
                    }
                }
                matchResultCallback.a(i, l);
            } catch (JimuException unused3) {
                XLog.c("ModelMatchModel", "read board fail! goto connect fail page");
                matchResultCallback.a(-2, null);
            }
        } catch (RequestException unused4) {
            XLog.c("ModelMatchModel", "read board fail! goto connect fail page");
            matchResultCallback.a(-2, null);
        }
    }

    private List<Integer> c(List<Integer> list, List<Integer> list2) {
        if (list == null) {
            return new ArrayList();
        }
        ArrayList arrayList = new ArrayList(list);
        if (list2 == null) {
            return arrayList;
        }
        arrayList.removeAll(list2);
        return arrayList;
    }

    private List<Integer> b(List<Integer> list, List<Integer> list2) {
        if (list2 == null) {
            return new ArrayList();
        }
        ArrayList arrayList = new ArrayList(list2);
        if (list == null) {
            return arrayList;
        }
        arrayList.removeAll(list);
        return arrayList;
    }

    public void b(BoardInfo boardInfo, String str, boolean z) {
        String c = c();
        if (a(z, str)) {
            a(str, c, boardInfo, z);
            a(str, c, boardInfo);
        } else {
            b(str, c, boardInfo, z);
        }
    }

    private static void b(String str, String str2, BoardInfo boardInfo, boolean z) {
        String c;
        PeripheralConnections a = PeripheralConnections.a(str, str2, z);
        if (a == null) {
            return;
        }
        a.a(boardInfo);
        if (z) {
            c = FilePathUtils.a(str, str2);
        } else {
            c = FilePathUtils.c(str, str2);
        }
        a.b(c);
        a(str, true, PeripheralConnections.d(c), 2);
    }

    public ArrayList<Component> a(BoardInfo boardInfo, String str, boolean z) {
        String a;
        ArrayList<Component> arrayList = new ArrayList<>();
        if (boardInfo == null) {
            XLog.b("ModelMatchModel", "Board info is null");
            return arrayList;
        }
        if (a(z, str)) {
            return a(boardInfo);
        }
        if (z) {
            a = FilePathUtils.a(str, c());
        } else {
            a = FilePathUtils.a(str);
            String c = FilePathUtils.c(str, c());
            File file = new File(a);
            File file2 = new File(c);
            if (!file.exists() || (file2.exists() && file2.lastModified() > file.lastModified())) {
                a = c;
            }
        }
        XLog.c("ModelMatchModel", "Model file folder path:" + a);
        XLog.c("ModelMatchModel", "robotName:" + str + " isDiyModel:" + z);
        ArrayList<Component> a2 = a(boardInfo, a, str, z);
        StringBuilder sb = new StringBuilder();
        sb.append("componentList:");
        sb.append(a(a2));
        XLog.c("ModelMatchModel", sb.toString());
        a(a2, boardInfo);
        Iterator<Component> it = a2.iterator();
        while (it.hasNext()) {
            Component next = it.next();
            if (next.d() == 8 && next.b() != ErrorType.LACK) {
                if (next.b() == ErrorType.NONE) {
                    next.a(ErrorType.PROMPT);
                }
                try {
                    BluetoothSpeakerInfo a3 = this.a.a(next.c());
                    if (a3 == null) {
                        Log.w("ModelMatchModel", "Not read any speaker info, Please check has speaker connected");
                    } else {
                        ((BluetoothSpeakerComponent) next).b(a3.a());
                    }
                } catch (JimuException e) {
                    XLog.a("ModelMatchModel", e.getMessage(), e);
                }
            }
        }
        return a2;
    }

    public ArrayList<Component> a(BoardInfo boardInfo) {
        ArrayList<Component> arrayList = new ArrayList<>();
        arrayList.add(a(boardInfo.e(), 1, ErrorType.NONE, boardInfo.d()));
        List<Integer> i = boardInfo.i();
        HashMap<Integer, BoardInfo.SensorBoardInfo> h = boardInfo.h();
        a(arrayList, PeripheralType.SERVO, i, boardInfo.j());
        for (Map.Entry<Integer, BoardInfo.SensorBoardInfo> entry : h.entrySet()) {
            BoardInfo.SensorBoardInfo value = entry.getValue();
            if (value != null) {
                a(arrayList, entry.getKey().intValue(), value.b(), value.c());
            }
        }
        a(arrayList, boardInfo);
        Iterator<Component> it = arrayList.iterator();
        while (it.hasNext()) {
            Component next = it.next();
            if (next.d() == 8 && next.b() != ErrorType.LACK) {
                try {
                    ((BluetoothSpeakerComponent) next).b(this.a.a(next.c()).a());
                } catch (JimuException e) {
                    XLog.a("ModelMatchModel", e.getMessage(), e);
                }
            }
        }
        return arrayList;
    }

    private void a(ArrayList<Component> arrayList, int i, List<Integer> list, String str) {
        Iterator<Integer> it = list.iterator();
        while (it.hasNext()) {
            arrayList.add(a(i, it.next().intValue(), ErrorType.NONE, str));
        }
    }

    private String a(ArrayList<Component> arrayList) {
        String str = "";
        for (int i = 0; i < arrayList.size(); i++) {
            str = (str + arrayList.get(i)) + "\n";
        }
        return str;
    }

    private void a(ArrayList<Component> arrayList, BoardInfo boardInfo) {
        if (boardInfo.a().size() != 0) {
            for (Integer num : boardInfo.a()) {
                Iterator<Component> it = arrayList.iterator();
                while (it.hasNext()) {
                    Component next = it.next();
                    if (next.d() == 128 && next.c() == num.intValue()) {
                        it.remove();
                    }
                }
                arrayList.add(a(PeripheralType.SERVO, num.intValue(), ErrorType.ID_DUPLICATION));
            }
        }
        for (Map.Entry<Integer, BoardInfo.SensorBoardInfo> entry : boardInfo.h().entrySet()) {
            if (entry.getValue().a().size() != 0) {
                for (Integer num2 : entry.getValue().a()) {
                    Iterator<Component> it2 = arrayList.iterator();
                    while (it2.hasNext()) {
                        Component next2 = it2.next();
                        if (next2.d() == entry.getKey().intValue() && next2.c() == num2.intValue()) {
                            it2.remove();
                        }
                    }
                    if (entry.getKey().intValue() == 8) {
                        arrayList.add(a(entry.getKey().intValue(), num2.intValue(), ErrorType.TOO_MANY));
                    } else {
                        arrayList.add(a(entry.getKey().intValue(), num2.intValue(), ErrorType.ID_DUPLICATION));
                    }
                }
            }
        }
    }

    private ArrayList<Component> a(BoardInfo boardInfo, String str, String str2, boolean z) {
        int i;
        HashMap<Integer, ArrayList<Integer>> b;
        PeripheralConnections peripheralConnections;
        String str3;
        int i2;
        ArrayList<Component> arrayList = new ArrayList<>();
        String str4 = "ModelMatchModel";
        if (boardInfo == null) {
            XLog.b("ModelMatchModel", "Board is null, not compare to model file.");
            return arrayList;
        }
        String str5 = str + "/" + str2 + ".xml";
        if (!z) {
            str5 = FilePathUtils.a(str2) + "/" + str2 + ".xml";
        }
        XLog.a("ModelMatchModel", "xmlPath:" + str5);
        ModelMatchXmlFileManager modelMatchXmlFileManager = new ModelMatchXmlFileManager();
        modelMatchXmlFileManager.a(str5);
        List<Integer> b2 = modelMatchXmlFileManager.b();
        List<Integer> a = modelMatchXmlFileManager.a();
        List<Integer> i3 = boardInfo.i();
        HashMap<Integer, BoardInfo.SensorBoardInfo> h = boardInfo.h();
        arrayList.add(a(boardInfo.e(), 1, ErrorType.NONE, boardInfo.d()));
        Iterator<Integer> it = a(b2, i3).iterator();
        while (true) {
            boolean hasNext = it.hasNext();
            i = PeripheralType.SERVO;
            if (!hasNext) {
                break;
            }
            arrayList.add(a(PeripheralType.SERVO, it.next().intValue(), ErrorType.NONE, boardInfo.j()));
        }
        for (Integer num : c(b2, i3)) {
            if (boardInfo.a().contains(num)) {
                Component a2 = a(PeripheralType.SERVO, num.intValue(), ErrorType.ID_DUPLICATION);
                a2.a(boardInfo.j());
                arrayList.add(a2);
            } else {
                arrayList.add(a(PeripheralType.SERVO, num.intValue(), ErrorType.LACK));
            }
        }
        Iterator<Integer> it2 = b(b2, i3).iterator();
        while (it2.hasNext()) {
            Component a3 = a(PeripheralType.SERVO, it2.next().intValue(), ErrorType.EXTRA);
            a3.a(boardInfo.j());
            arrayList.add(a3);
        }
        int i4 = 10;
        BoardInfo.SensorBoardInfo sensorBoardInfo = h.get(10);
        List<Integer> b3 = sensorBoardInfo != null ? sensorBoardInfo.b() : null;
        Iterator<Integer> it3 = a(a, b3).iterator();
        while (it3.hasNext()) {
            arrayList.add(a(10, it3.next().intValue(), ErrorType.NONE, sensorBoardInfo.c()));
        }
        Iterator<Integer> it4 = c(a, b3).iterator();
        while (it4.hasNext()) {
            arrayList.add(a(10, it4.next().intValue(), ErrorType.LACK));
        }
        List<Integer> b4 = b(a, b3);
        if (b4 != null && b4.size() != 0) {
            Iterator<Integer> it5 = b4.iterator();
            while (it5.hasNext()) {
                Component a4 = a(10, it5.next().intValue(), ErrorType.EXTRA);
                if (sensorBoardInfo != null) {
                    a4.a(sensorBoardInfo.c());
                }
                arrayList.add(a4);
            }
        }
        PeripheralConnections a5 = PeripheralConnections.a(str2, c(), z);
        if (a5 == null) {
            XLog.b("ModelMatchModel", "Get peripheral connections fail by read connections file!");
            b = new HashMap<>();
        } else {
            b = a5.b();
        }
        HashMap<Integer, ArrayList<Integer>> hashMap = b;
        Field[] declaredFields = PeripheralType.class.getDeclaredFields();
        int length = declaredFields.length;
        int i5 = 0;
        while (i5 < length) {
            try {
                i2 = declaredFields[i5].getInt(PeripheralType.class);
            } catch (IllegalAccessException e) {
                e = e;
                peripheralConnections = a5;
            }
            if (i2 != -1 && i2 != i4 && i2 != 112 && i2 != 113) {
                ArrayList<Integer> arrayList2 = hashMap.get(Integer.valueOf(i2));
                if (i2 == i && arrayList2 != null) {
                    Iterator<Integer> it6 = arrayList2.iterator();
                    while (it6.hasNext()) {
                        int intValue = it6.next().intValue();
                        ServoMode servoMode = ServoMode.SERVO_MODE_ANGLE;
                        if (a5 != null) {
                            a5.a(Integer.valueOf(intValue));
                        }
                        Iterator<Component> it7 = arrayList.iterator();
                        while (true) {
                            if (it7.hasNext()) {
                                Component next = it7.next();
                                if (i == next.d() && intValue == next.c()) {
                                    ALog.a(str4).d("ServoId:" + intValue + " Mode:" + servoMode);
                                    ((ServoComponent) next).a(servoMode);
                                    break;
                                }
                                i = PeripheralType.SERVO;
                            }
                        }
                        i = PeripheralType.SERVO;
                    }
                } else {
                    BoardInfo.SensorBoardInfo sensorBoardInfo2 = h.get(Integer.valueOf(i2));
                    if (sensorBoardInfo2 != null) {
                        List<Integer> b5 = sensorBoardInfo2.b();
                        if (i2 == 8 && b5.size() > 1) {
                            Component a6 = a(i2, 1, ErrorType.TOO_MANY);
                            a6.a(sensorBoardInfo2.c());
                            arrayList.add(a6);
                        } else {
                            Iterator<Integer> it8 = a(arrayList2, b5).iterator();
                            while (it8.hasNext()) {
                                int intValue2 = it8.next().intValue();
                                peripheralConnections = a5;
                                if (i2 == 8) {
                                    try {
                                        str3 = str4;
                                        if (b5.size() == 1) {
                                            try {
                                                arrayList.add(a(i2, intValue2, ErrorType.PROMPT, sensorBoardInfo2.c()));
                                                a5 = peripheralConnections;
                                                str4 = str3;
                                            } catch (IllegalAccessException e2) {
                                                e = e2;
                                                e.printStackTrace();
                                                i5++;
                                                a5 = peripheralConnections;
                                                str4 = str3;
                                                i4 = 10;
                                                i = PeripheralType.SERVO;
                                            }
                                        }
                                    } catch (IllegalAccessException e3) {
                                        e = e3;
                                        str3 = str4;
                                        e.printStackTrace();
                                        i5++;
                                        a5 = peripheralConnections;
                                        str4 = str3;
                                        i4 = 10;
                                        i = PeripheralType.SERVO;
                                    }
                                } else {
                                    str3 = str4;
                                }
                                arrayList.add(a(i2, intValue2, ErrorType.NONE, sensorBoardInfo2.c()));
                                a5 = peripheralConnections;
                                str4 = str3;
                            }
                            peripheralConnections = a5;
                            str3 = str4;
                            Iterator<Integer> it9 = c(arrayList2, b5).iterator();
                            while (it9.hasNext()) {
                                arrayList.add(a(i2, it9.next().intValue(), ErrorType.LACK));
                            }
                            Iterator<Integer> it10 = b(arrayList2, b5).iterator();
                            while (it10.hasNext()) {
                                Component a7 = a(i2, it10.next().intValue(), ErrorType.EXTRA);
                                a7.a(sensorBoardInfo2.c());
                                arrayList.add(a7);
                            }
                            i5++;
                            a5 = peripheralConnections;
                            str4 = str3;
                            i4 = 10;
                            i = PeripheralType.SERVO;
                        }
                    } else if (arrayList2 != null) {
                        Iterator<Integer> it11 = arrayList2.iterator();
                        while (it11.hasNext()) {
                            arrayList.add(a(i2, it11.next().intValue(), ErrorType.LACK));
                        }
                    }
                }
            }
            peripheralConnections = a5;
            str3 = str4;
            i5++;
            a5 = peripheralConnections;
            str4 = str3;
            i4 = 10;
            i = PeripheralType.SERVO;
        }
        return arrayList;
    }

    private Component a(int i, int i2, ErrorType errorType, String str) {
        if (i == 8) {
            BluetoothSpeakerComponent bluetoothSpeakerComponent = new BluetoothSpeakerComponent(i2, errorType);
            bluetoothSpeakerComponent.a(str);
            return bluetoothSpeakerComponent;
        }
        if (i == 128) {
            ServoComponent servoComponent = new ServoComponent(i2, errorType);
            servoComponent.a(str);
            return servoComponent;
        }
        Component component = new Component(i, i2, errorType);
        component.a(str);
        return component;
    }

    private Component a(int i, int i2, ErrorType errorType) {
        if (i == 8) {
            return new BluetoothSpeakerComponent(i2, errorType);
        }
        if (i == 128) {
            return new ServoComponent(i2, errorType);
        }
        return new Component(i, i2, errorType);
    }

    private List<Integer> a(List<Integer> list, List<Integer> list2) {
        ArrayList arrayList = new ArrayList();
        if (list != null && list2 != null) {
            arrayList.addAll(list);
            arrayList.retainAll(list2);
        }
        return arrayList;
    }

    public static boolean a(boolean z, String str) {
        if (z) {
            return a(str);
        }
        return false;
    }

    public static boolean a(String str) {
        return !new File(FilePathUtils.b(str, Cache.getInstance().getUserId())).exists();
    }

    private static void a(String str, String str2, BoardInfo boardInfo) {
        String str3 = FilePathUtils.a(str, str2) + "/" + str + ".xml";
        new ModelMatchXmlFileManager().a(boardInfo, str3);
        a(str, true, str3, 1);
    }

    private static void a(String str, boolean z, String str2, int i) {
        DiyDBModel queryForUUid = DiyHelper.getInstance().queryForUUid(str);
        if (queryForUUid == null) {
            Log.w("ModelMatchModel", "Query null for diy model " + str + " from database");
            return;
        }
        new UnityFileOperator(queryForUUid.getModelId().intValue(), str, z ? 1 : 0, str2, i).operateFile();
    }

    private static void a(String str, String str2, BoardInfo boardInfo, boolean z) {
        String c;
        PeripheralConnections b = PeripheralConnections.b(boardInfo);
        if (z) {
            c = FilePathUtils.a(str, str2);
        } else {
            c = FilePathUtils.c(str, str2);
        }
        b.b(c);
        a(str, true, PeripheralConnections.d(c), 1);
    }
}