package com.ubt.jimu.connect.model;

import android.os.Environment;
import android.util.Log;
import com.ubt.jimu.base.data.ServoMode;
import com.ubt.jimu.connect.model.TopologyPartData;
import com.ubt.jimu.utils.SystemUtils;
import com.ubtech.utils.XLog;
import com.ubtrobot.jimu.robotapi.BoardInfo;
import com.ubtrobot.jimu.robotapi.PeripheralType;
import java.io.BufferedWriter;
import java.io.File;
import java.io.FileWriter;
import java.io.IOException;
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 PeripheralConnections {
    private List<TopologyPartData> a = new ArrayList();
    private HashMap<Integer, List<Integer>> b;
    private HashMap<Integer, ServoMode> c;
    private HashMap<String, String> d;
    private long e;
    private HashMap<Integer, ArrayList<Integer>> f;

    /* renamed from: com.ubt.jimu.connect.model.PeripheralConnections$1, reason: invalid class name */
    static /* synthetic */ class AnonymousClass1 {
        static final /* synthetic */ int[] a = new int[TopologyPartData.TopologyPartType.values().length];

        static {
            try {
                a[TopologyPartData.TopologyPartType.Servo.ordinal()] = 1;
            } catch (NoSuchFieldError unused) {
            }
            try {
                a[TopologyPartData.TopologyPartType.Motor.ordinal()] = 2;
            } catch (NoSuchFieldError unused2) {
            }
            try {
                a[TopologyPartData.TopologyPartType.Gyro.ordinal()] = 3;
            } catch (NoSuchFieldError unused3) {
            }
            try {
                a[TopologyPartData.TopologyPartType.Light.ordinal()] = 4;
            } catch (NoSuchFieldError unused4) {
            }
            try {
                a[TopologyPartData.TopologyPartType.Touch.ordinal()] = 5;
            } catch (NoSuchFieldError unused5) {
            }
            try {
                a[TopologyPartData.TopologyPartType.Color.ordinal()] = 6;
            } catch (NoSuchFieldError unused6) {
            }
            try {
                a[TopologyPartData.TopologyPartType.Gravity.ordinal()] = 7;
            } catch (NoSuchFieldError unused7) {
            }
            try {
                a[TopologyPartData.TopologyPartType.Speaker.ordinal()] = 8;
            } catch (NoSuchFieldError unused8) {
            }
            try {
                a[TopologyPartData.TopologyPartType.Infrared.ordinal()] = 9;
            } catch (NoSuchFieldError unused9) {
            }
            try {
                a[TopologyPartData.TopologyPartType.Compass.ordinal()] = 10;
            } catch (NoSuchFieldError unused10) {
            }
            try {
                a[TopologyPartData.TopologyPartType.EnLight.ordinal()] = 11;
            } catch (NoSuchFieldError unused11) {
            }
            try {
                a[TopologyPartData.TopologyPartType.Atmosphere.ordinal()] = 12;
            } catch (NoSuchFieldError unused12) {
            }
            try {
                a[TopologyPartData.TopologyPartType.Ultrasonic.ordinal()] = 13;
            } catch (NoSuchFieldError unused13) {
            }
            try {
                a[TopologyPartData.TopologyPartType.DigitalTube.ordinal()] = 14;
            } catch (NoSuchFieldError unused14) {
            }
            try {
                a[TopologyPartData.TopologyPartType.Temperature.ordinal()] = 15;
            } catch (NoSuchFieldError unused15) {
            }
            try {
                a[TopologyPartData.TopologyPartType.MainBoard.ordinal()] = 16;
            } catch (NoSuchFieldError unused16) {
            }
            try {
                a[TopologyPartData.TopologyPartType.MainBoard_new_low.ordinal()] = 17;
            } catch (NoSuchFieldError unused17) {
            }
            try {
                a[TopologyPartData.TopologyPartType.RgbLight.ordinal()] = 18;
            } catch (NoSuchFieldError unused18) {
            }
        }
    }

    public PeripheralConnections() {
        TopologyPartData.TopologyPartType topologyPartType = TopologyPartData.TopologyPartType.MainBoard;
        this.b = new HashMap<>();
        this.c = new HashMap<>();
        this.d = new HashMap<>();
        this.f = new HashMap<>();
    }

    public static String d(String str) {
        return str + "/servos/servos.txt";
    }

    public long a() {
        return this.e;
    }

    public HashMap<Integer, ArrayList<Integer>> b() {
        return this.f;
    }

    public HashMap<Integer, ServoMode> c() {
        return this.c;
    }

    public static PeripheralConnections b(BoardInfo boardInfo) {
        PeripheralConnections peripheralConnections = new PeripheralConnections();
        peripheralConnections.c(boardInfo);
        return peripheralConnections;
    }

    private static PeripheralConnections c(String str) {
        if (!new File(str + "/servos/servos.txt").exists()) {
            return null;
        }
        PeripheralConnections peripheralConnections = new PeripheralConnections();
        peripheralConnections.a(str);
        return peripheralConnections;
    }

    public List<Integer> a(int i) {
        HashMap<Integer, ArrayList<Integer>> hashMap = this.f;
        if (hashMap == null || hashMap.size() <= 0) {
            return null;
        }
        return this.f.get(Integer.valueOf(i));
    }

    private HashMap<Integer, ArrayList<Integer>> a(List<TopologyPartData> list) {
        HashMap<Integer, ArrayList<Integer>> hashMap = new HashMap<>();
        for (TopologyPartData topologyPartData : list) {
            int a = a(topologyPartData.b);
            if (a != -1) {
                ArrayList<Integer> arrayList = hashMap.get(Integer.valueOf(a));
                if (arrayList == null) {
                    arrayList = new ArrayList<>();
                }
                arrayList.add(Integer.valueOf(topologyPartData.a));
                hashMap.put(Integer.valueOf(a), arrayList);
            }
        }
        return hashMap;
    }

    private int b(TopologyPartData.TopologyPartType topologyPartType) {
        switch (AnonymousClass1.a[topologyPartType.ordinal()]) {
            case 1:
                return PeripheralType.SERVO;
            case 2:
                return 10;
            case 3:
                return 3;
            case 4:
                return 4;
            case 5:
                return 2;
            case 6:
                return 9;
            case 7:
                return 5;
            case 8:
                return 8;
            case 9:
                return 1;
            case 10:
                return 96;
            case 11:
                return 12;
            case 12:
                return 97;
            case 13:
                return 6;
            case 14:
                return 7;
            case 15:
                return 11;
            case 16:
                return 112;
            case 17:
                return 113;
            case 18:
                return 14;
            default:
                Log.e("PeripheralConnections", "Invalid peripheral type. TopologyPartType:" + topologyPartType);
                return -1;
        }
    }

    private TopologyPartData.TopologyPartType b(int i) {
        if (i == 14) {
            return TopologyPartData.TopologyPartType.RgbLight;
        }
        if (i == 128) {
            return TopologyPartData.TopologyPartType.Servo;
        }
        if (i == 96) {
            return TopologyPartData.TopologyPartType.Compass;
        }
        if (i == 97) {
            return TopologyPartData.TopologyPartType.Atmosphere;
        }
        if (i == 112) {
            return TopologyPartData.TopologyPartType.MainBoard;
        }
        if (i != 113) {
            switch (i) {
                case 1:
                    return TopologyPartData.TopologyPartType.Infrared;
                case 2:
                    return TopologyPartData.TopologyPartType.Touch;
                case 3:
                    return TopologyPartData.TopologyPartType.Gyro;
                case 4:
                    return TopologyPartData.TopologyPartType.Light;
                case 5:
                    return TopologyPartData.TopologyPartType.Gravity;
                case 6:
                    return TopologyPartData.TopologyPartType.Ultrasonic;
                case 7:
                    return TopologyPartData.TopologyPartType.DigitalTube;
                case 8:
                    return TopologyPartData.TopologyPartType.Speaker;
                case 9:
                    return TopologyPartData.TopologyPartType.Color;
                case 10:
                    return TopologyPartData.TopologyPartType.Motor;
                case 11:
                    return TopologyPartData.TopologyPartType.Temperature;
                case 12:
                    return TopologyPartData.TopologyPartType.EnLight;
                default:
                    return TopologyPartData.TopologyPartType.None;
            }
        }
        return TopologyPartData.TopologyPartType.MainBoard_new_low;
    }

    private void c(BoardInfo boardInfo) {
        if (boardInfo == null) {
            return;
        }
        this.a.add(new TopologyPartData(b(boardInfo.e()), 0, false));
        for (Integer num : boardInfo.i()) {
            this.c.put(num, ServoMode.SERVO_MODE_ANGLE);
            this.a.add(new TopologyPartData(TopologyPartData.TopologyPartType.Servo, num.intValue(), false));
        }
        for (Map.Entry<Integer, BoardInfo.SensorBoardInfo> entry : boardInfo.h().entrySet()) {
            boolean z = entry.getKey().intValue() != 10;
            TopologyPartData.TopologyPartType b = b(entry.getKey().intValue());
            Iterator<Integer> it = entry.getValue().b().iterator();
            while (it.hasNext()) {
                this.a.add(new TopologyPartData(b, it.next().intValue(), z));
            }
        }
    }

    private int a(TopologyPartData.TopologyPartType topologyPartType) {
        switch (AnonymousClass1.a[topologyPartType.ordinal()]) {
            case 1:
                return PeripheralType.SERVO;
            case 2:
                return 10;
            case 3:
                return 3;
            case 4:
                return 4;
            case 5:
                return 2;
            case 6:
                return 9;
            case 7:
                return 5;
            case 8:
                return 8;
            case 9:
                return 1;
            case 10:
                return 96;
            case 11:
                return 12;
            case 12:
                return 97;
            case 13:
                return 6;
            case 14:
                return 7;
            case 15:
                return 11;
            case 16:
                return 112;
            case 17:
                return 113;
            case 18:
                return 14;
            default:
                return -1;
        }
    }

    public static PeripheralConnections a(String str, String str2, boolean z) {
        String str3 = Environment.getExternalStorageDirectory().getPath() + "/Android/data/com.ubt.jimu/files";
        String str4 = str3 + "/default/" + str;
        String str5 = str3 + "/users/" + str2 + "/";
        if (!z) {
            String str6 = str5 + "/default/" + str;
            PeripheralConnections c = c(str6);
            PeripheralConnections c2 = c(str4);
            if (c == null || (c2 != null && c2.a() > c.a())) {
                c = c2;
            }
            if (c == c2) {
                XLog.c("PeripheralConnections", "Connection folder:" + str4);
                return c;
            }
            XLog.c("PeripheralConnections", "Connection folder:" + str6);
            return c;
        }
        String str7 = str5 + "/playerdata/" + str;
        PeripheralConnections c3 = c(str7);
        XLog.c("PeripheralConnections", "Connection folder:" + str7);
        return c3;
    }

    public void a(BoardInfo boardInfo) {
        BoardInfo.SensorBoardInfo sensorBoardInfo;
        HashMap<Integer, BoardInfo.SensorBoardInfo> h = boardInfo.h();
        for (Map.Entry<Integer, BoardInfo.SensorBoardInfo> entry : h.entrySet()) {
            if (entry.getKey().intValue() != 10) {
                TopologyPartData.TopologyPartType b = b(entry.getKey().intValue());
                Iterator<Integer> it = entry.getValue().b().iterator();
                while (it.hasNext()) {
                    int intValue = it.next().intValue();
                    if (!a(b, intValue)) {
                        this.a.add(new TopologyPartData(b, intValue, true));
                    }
                }
            }
        }
        Iterator<TopologyPartData> it2 = this.a.iterator();
        while (it2.hasNext()) {
            TopologyPartData next = it2.next();
            int b2 = b(next.b);
            if (b2 != 128 && b2 != 10 && b2 != 112 && b2 != 113 && (sensorBoardInfo = h.get(Integer.valueOf(b2))) != null && !sensorBoardInfo.b().contains(Integer.valueOf(next.a)) && next.c) {
                it2.remove();
            }
        }
    }

    public void b(String str) {
        String str2 = str + "/servos";
        File file = new File(str2);
        if (!file.exists()) {
            file.mkdirs();
        }
        File file2 = new File(str2 + "/servos.txt");
        if (!file2.exists()) {
            try {
                file2.createNewFile();
            } catch (IOException e) {
                XLog.a("PeripheralConnections", "Create file fail!", e);
                return;
            }
        }
        String property = System.getProperty("line.separator");
        try {
            FileWriter fileWriter = new FileWriter(file2);
            try {
                BufferedWriter bufferedWriter = new BufferedWriter(fileWriter);
                try {
                    for (Map.Entry<Integer, List<Integer>> entry : this.b.entrySet()) {
                        bufferedWriter.write(entry.getKey() + " " + b(entry.getValue()) + property);
                    }
                    StringBuilder sb = new StringBuilder();
                    StringBuilder sb2 = new StringBuilder();
                    for (Map.Entry<Integer, ServoMode> entry2 : this.c.entrySet()) {
                        if (entry2.getValue() == ServoMode.SERVO_MODE_ANGLE) {
                            if (sb.length() > 0) {
                                sb.append(",");
                            }
                            sb.append(entry2.getKey());
                        } else {
                            if (sb2.length() > 0) {
                                sb2.append(",");
                            }
                            sb2.append(entry2.getKey());
                        }
                    }
                    if (sb.length() > 0) {
                        bufferedWriter.write("angleServos:" + sb.toString() + property);
                    }
                    if (sb2.length() > 0) {
                        bufferedWriter.write("turnServos:" + sb2.toString() + property);
                    }
                    int size = this.a.size();
                    for (int i = 0; i < size; i++) {
                        bufferedWriter.write("partData:" + this.a.get(i).toString() + property);
                    }
                    if (this.d.size() > 0) {
                        StringBuilder sb3 = new StringBuilder();
                        for (Map.Entry<String, String> entry3 : this.d.entrySet()) {
                            if (sb3.length() > 0) {
                                sb3.append("|");
                            }
                            sb3.append(entry3.getKey());
                            sb3.append(",");
                            sb3.append(entry3.getValue());
                        }
                        bufferedWriter.write("portConnection:" + sb3.toString() + property);
                    }
                    bufferedWriter.flush();
                    this.e = SystemUtils.a();
                    bufferedWriter.close();
                    fileWriter.close();
                } finally {
                }
            } finally {
            }
        } catch (Exception e2) {
            XLog.a("PeripheralConnections", "Save file fail!", e2);
        }
    }

    private boolean a(TopologyPartData.TopologyPartType topologyPartType, int i) {
        for (TopologyPartData topologyPartData : this.a) {
            if (topologyPartData.b == topologyPartType && topologyPartData.a == i) {
                return true;
            }
        }
        return false;
    }

    /* JADX WARN: Multi-variable type inference failed */
    /* JADX WARN: Removed duplicated region for block: B:84:0x0166 A[EXC_TOP_SPLITTER, SYNTHETIC] */
    /* JADX WARN: Type inference failed for: r2v0, types: [long] */
    /* JADX WARN: Type inference failed for: r2v1 */
    /* JADX WARN: Type inference failed for: r2v3, types: [java.io.BufferedReader] */
    /*
        Code decompiled incorrectly, please refer to instructions dump.
        To view partially-correct code enable 'Show inconsistent code' option in preferences
    */
    public void a(java.lang.String r13) {
        /*
            Method dump skipped, instructions count: 362
            To view this dump change 'Code comments level' option to 'DEBUG'
        */
        throw new UnsupportedOperationException("Method not decompiled: com.ubt.jimu.connect.model.PeripheralConnections.a(java.lang.String):void");
    }

    private <T> String b(List<T> list) {
        StringBuffer stringBuffer = new StringBuffer();
        Iterator<T> it = list.iterator();
        while (it.hasNext()) {
            stringBuffer.append(it.next());
            stringBuffer.append(",");
        }
        stringBuffer.deleteCharAt(stringBuffer.length() - 1);
        return stringBuffer.toString();
    }

    public ServoMode a(Integer num) {
        if (this.c.containsKey(num)) {
            return this.c.get(num);
        }
        return ServoMode.SERVO_MODE_ANGLE;
    }

    public void a(Integer num, ServoMode servoMode) {
        this.c.put(num, servoMode);
    }
}