package com.ubt.jimu.connect.model;

import com.ubt.jimu.base.cache.Cache;
import com.ubt.jimu.base.data.ServoMode;
import com.ubt.jimu.base.entities.User;
import com.ubtech.utils.XLog;
import com.ubtrobot.jimu.robotapi.JimuManager;
import com.ubtrobot.jimu.robotapi.ServoAngleReadInfo;
import java.util.ArrayList;
import java.util.List;
import java.util.Map;

/* loaded from: classes.dex */
public class ReadAllServoModel {
    private JimuManager a;

    public ReadAllServoModel(JimuManager jimuManager) {
        this.a = jimuManager;
    }

    public List<ServoAngleReadInfo> a(String str, boolean z) {
        ServoAngleReadInfo servoAngleReadInfo;
        PeripheralConnections a = PeripheralConnections.a(str, a(), z);
        if (a == null) {
            return null;
        }
        ArrayList arrayList = new ArrayList();
        for (Map.Entry<Integer, ServoMode> entry : a.c().entrySet()) {
            if (entry != null && entry.getValue() == ServoMode.SERVO_MODE_ANGLE) {
                try {
                    servoAngleReadInfo = this.a.b(entry.getKey().intValue(), true);
                } catch (Exception e) {
                    XLog.a("ReadAllServoModel", "Read servo " + entry.getKey() + " angle fail!", e);
                    servoAngleReadInfo = null;
                }
                if (servoAngleReadInfo != null) {
                    if (servoAngleReadInfo.a() < 2.0f) {
                        servoAngleReadInfo.b(5.0f);
                        arrayList.add(servoAngleReadInfo);
                    } else if (servoAngleReadInfo.a() > 238.0f) {
                        servoAngleReadInfo.b(235.0f);
                        arrayList.add(servoAngleReadInfo);
                    }
                }
            }
        }
        return arrayList;
    }

    public void a(List<ServoAngleReadInfo> list) {
        if (list == null || list.size() == 0) {
            return;
        }
        int[] iArr = new int[list.size()];
        float[] fArr = new float[list.size()];
        for (int i = 0; i < list.size(); i++) {
            ServoAngleReadInfo servoAngleReadInfo = list.get(i);
            iArr[i] = servoAngleReadInfo.b();
            fArr[i] = servoAngleReadInfo.c();
        }
        try {
            this.a.a(iArr, fArr, 400, 100);
        } catch (Exception e) {
            XLog.a("ReadAllServoModel", "setServoAngle fail", e);
        }
    }

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