package com.ubt.jimu.controller.manager;

import android.content.Context;
import android.os.Handler;
import android.os.HandlerThread;
import android.os.SystemClock;
import com.ubt.jimu.base.EngineManager;
import com.ubt.jimu.base.cache.Cache;
import com.ubt.jimu.base.data.CtrlMotionType;
import com.ubt.jimu.base.data.Engine;
import com.ubt.jimu.base.data.Servo;
import com.ubt.jimu.base.data.ServoMode;
import com.ubt.jimu.controller.data.action.ActionSequence;
import com.ubt.jimu.controller.data.action.MotorData;
import com.ubt.jimu.controller.data.action.TurnData;
import com.ubt.jimu.controller.data.command.ActionSequenceTask;
import com.ubt.jimu.controller.data.command.MotorCommand;
import com.ubt.jimu.controller.data.command.MoveCommand;
import com.ubt.jimu.controller.data.command.MoveTask;
import com.ubt.jimu.controller.data.command.TurnCommand;
import com.ubt.jimu.utils.LogUtils;
import com.ubtech.utils.XLog;
import com.ubtrobot.jimu.exception.EngineProtectException;
import com.ubtrobot.jimu.robotapi.BoardInfo;
import com.ubtrobot.jimu.robotapi.JimuException;
import com.ubtrobot.jimu.robotapi.JimuManager;
import com.ubtrobot.jimu.robotapi.MotorException;
import com.ubtrobot.jimu.robotapi.PeripheralType;
import java.util.ArrayList;
import java.util.Arrays;
import java.util.Collections;
import java.util.Comparator;
import java.util.HashMap;
import java.util.Iterator;
import java.util.List;
import java.util.Map;
import org.greenrobot.eventbus.EventBus;

/* loaded from: classes.dex */
public class CommandManager implements ICommandExecutor {
    private static CommandManager i;
    private JimuManager a;
    private Handler b;
    private Handler c;
    private ActionSequenceTask d;
    private ActionSequenceTask e;
    private HandlerThread f;
    private HandlerThread g;
    private EngineManager h;

    private CommandManager(Context context) {
        context.getApplicationContext();
    }

    public static synchronized CommandManager a(Context context) {
        CommandManager commandManager;
        synchronized (CommandManager.class) {
            if (i == null) {
                i = new CommandManager(context);
            }
            commandManager = i;
        }
        return commandManager;
    }

    private void b() {
        ActionSequenceTask actionSequenceTask = this.e;
        if (actionSequenceTask != null) {
            actionSequenceTask.cancel();
        }
        ActionSequenceTask actionSequenceTask2 = this.d;
        if (actionSequenceTask2 != null) {
            actionSequenceTask2.cancel();
        }
    }

    private void d() {
        Handler handler = this.c;
        if (handler != null) {
            handler.removeCallbacksAndMessages("move");
        }
    }

    private void e(List<Servo> list) {
        if (list == null || list.size() <= 0) {
            return;
        }
        HashMap hashMap = new HashMap(list.size());
        Iterator<Servo> it = list.iterator();
        while (it.hasNext()) {
            hashMap.put(Integer.valueOf(it.next().getId()), new TurnData(0, 0));
        }
        a((MoveCommand) new TurnCommand(hashMap), true);
    }

    private boolean f() {
        BoardInfo boardInfo = Cache.getInstance().getBoardInfo();
        return boardInfo != null && boardInfo.e() == 113;
    }

    private void g() {
        if (this.a == null) {
            return;
        }
        if (this.c == null) {
            e();
        }
        this.c.post(new Runnable() { // from class: com.ubt.jimu.controller.manager.b
            @Override // java.lang.Runnable
            public final void run() {
                CommandManager.this.a();
            }
        });
    }

    public void c(ActionSequence actionSequence) {
        ActionSequenceTask actionSequenceTask = this.e;
        if (actionSequenceTask != null) {
            if (this.d != actionSequenceTask) {
                this.d = actionSequenceTask;
                XLog.a("woo", "setLoop false");
                this.d.a(false);
                this.e = null;
                return;
            }
            return;
        }
        ActionSequenceTask actionSequenceTask2 = this.d;
        if (actionSequenceTask2 == null || !actionSequenceTask2.a().equals(actionSequence) || this.d.g()) {
            return;
        }
        XLog.a("woo", "stopAction ");
        b(actionSequence);
        this.e = null;
    }

    private void d(List<Engine> list) {
        if (list == null || list.size() <= 0) {
            return;
        }
        HashMap hashMap = new HashMap(list.size());
        Iterator<Engine> it = list.iterator();
        while (it.hasNext()) {
            hashMap.put(Integer.valueOf(it.next().getId()), new MotorData(0, 0, 6553500));
        }
        a((MoveCommand) new MotorCommand(hashMap), true);
    }

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

    public void a(ActionSequence actionSequence) {
        ActionSequenceTask actionSequenceTask = this.d;
        if (actionSequenceTask == null || !actionSequenceTask.a().equals(actionSequence) || this.d.g()) {
            b();
            if (this.b == null) {
                this.f = new HandlerThread("ActionThread");
                this.f.start();
                this.b = new Handler(this.f.getLooper());
            }
            LogUtils.c("playAction sequence" + actionSequence.a().get(0).c());
            ActionSequenceTask actionSequenceTask2 = new ActionSequenceTask(actionSequence, this);
            actionSequenceTask2.a(true);
            this.b.removeCallbacksAndMessages(null);
            this.b.post(actionSequenceTask2);
            this.e = actionSequenceTask2;
        }
    }

    public void b(ActionSequence actionSequence) {
        if (actionSequence != null) {
            b();
            d(actionSequence.f());
            e(actionSequence.i());
        }
    }

    private void e() {
        this.g = new HandlerThread("MoveThread");
        this.g.start();
        this.c = new Handler(this.g.getLooper());
    }

    public void b(List<Engine> list) {
        b();
        c();
        d();
        g();
        d(c(list));
    }

    private void c() {
        Handler handler = this.b;
        if (handler != null) {
            handler.removeCallbacksAndMessages(null);
        }
    }

    @Override // com.ubt.jimu.controller.manager.ICommandExecutor
    public void b(Map<Integer, TurnData> map) {
        if (this.a == null) {
            return;
        }
        a(map, ServoMode.SERVO_MODE_TURN);
        if (map == null || map.size() <= 0) {
            return;
        }
        Collections.sort(new ArrayList(map.entrySet()), new Comparator() { // from class: com.ubt.jimu.controller.manager.c
            @Override // java.util.Comparator
            public final int compare(Object obj, Object obj2) {
                return CommandManager.a((Map.Entry) obj, (Map.Entry) obj2);
            }
        });
        int[] iArr = new int[map.size()];
        int[] iArr2 = new int[map.size()];
        int i2 = 0;
        int i3 = -1;
        Iterator<Integer> it = map.keySet().iterator();
        while (it.hasNext()) {
            int intValue = it.next().intValue();
            iArr[i2] = intValue;
            iArr2[i2] = map.get(Integer.valueOf(intValue)).a();
            if (i2 > 0) {
                int i4 = i2 - 1;
                if (iArr2[i2] != iArr2[i4]) {
                    a(iArr, iArr2[i4], i2, i3);
                    i3 = i4;
                }
            }
            i2++;
        }
        a(iArr, iArr2[i2 - 1], i2, i3);
    }

    private List<Engine> c(List<? extends Engine> list) {
        ArrayList arrayList = new ArrayList();
        if (list != null && list.size() > 0) {
            for (Engine engine : list) {
                if (engine.getMotionType() == CtrlMotionType.motor) {
                    arrayList.add(engine);
                }
            }
        }
        return arrayList;
    }

    public void a(List<? extends Engine> list) {
        b();
        c();
        d();
        g();
        d(c(list));
    }

    public void a(MoveCommand moveCommand, boolean z) {
        if (this.c == null) {
            e();
        }
        this.c.removeCallbacksAndMessages("move");
        this.c.postAtTime(new MoveTask(moveCommand, this), z ? "stop" : "move", SystemClock.uptimeMillis());
    }

    public /* synthetic */ void a() {
        try {
            this.a.i();
        } catch (JimuException e) {
            e.printStackTrace();
            XLog.b("Exception", e.toString());
        }
    }

    @Override // com.ubt.jimu.controller.manager.ICommandExecutor
    public int a(Map<Integer, Integer> map, int i2, int i3) {
        if (this.a == null) {
            return 0;
        }
        a(map, ServoMode.SERVO_MODE_ANGLE);
        if (map != null && map.size() > 0) {
            int[] iArr = new int[map.size()];
            float[] fArr = new float[map.size()];
            Iterator<Integer> it = map.keySet().iterator();
            int i4 = 0;
            while (it.hasNext()) {
                iArr[i4] = it.next().intValue();
                fArr[i4] = map.get(Integer.valueOf(r5)).intValue();
                i4++;
            }
            XLog.a("woo", "run rotas ids.length: %d, servos.length: %d  sportTime: %d, waitTime: %d", Integer.valueOf(iArr.length), Integer.valueOf(fArr.length), Integer.valueOf(i2), Integer.valueOf(i3));
            try {
                this.a.a(iArr, fArr, i2, i3);
            } catch (MotorException e) {
                e.printStackTrace();
                XLog.b("Controller", "RequestException: %s", e.toString());
                if (e.getCode() == -21 && f()) {
                    EventBus.b().b(a(a(iArr, e.getFailIds()), 2, "Servo is protected", PeripheralType.SERVO));
                }
                return e.getCode();
            }
        }
        return 0;
    }

    private Integer[] a(int[] iArr, ArrayList<Integer> arrayList) {
        if (arrayList != null && arrayList.size() > 0) {
            Integer[] numArr = new Integer[arrayList.size()];
            arrayList.toArray(numArr);
            return numArr;
        }
        Integer[] numArr2 = new Integer[iArr.length];
        for (int i2 = 0; i2 < iArr.length; i2++) {
            numArr2[i2] = Integer.valueOf(iArr[i2]);
        }
        return numArr2;
    }

    private EngineProtectException a(Integer[] numArr, int i2, String str, int i3) {
        HashMap hashMap = new HashMap(1);
        ArrayList arrayList = new ArrayList(numArr.length);
        arrayList.addAll(Arrays.asList(numArr));
        hashMap.put(32, arrayList);
        return new EngineProtectException(i2, str, i3, hashMap);
    }

    private void a(Map<Integer, ?> map, ServoMode servoMode) {
        if (this.h == null || map == null || map.size() <= 0) {
            return;
        }
        Integer[] numArr = new Integer[map.size()];
        map.keySet().toArray(numArr);
        for (Integer num : numArr) {
            int intValue = num.intValue();
            if (this.h.getServoMode(intValue) != servoMode) {
                map.remove(Integer.valueOf(intValue));
            }
        }
    }

    static /* synthetic */ int a(Map.Entry entry, Map.Entry entry2) {
        if (entry.getValue() == null && entry2.getValue() == null) {
            return 0;
        }
        if (entry.getValue() == null) {
            return -1;
        }
        if (entry2.getValue() == null) {
            return 1;
        }
        return Integer.compare(((TurnData) entry.getValue()).a(), ((TurnData) entry2.getValue()).a());
    }

    private void a(int[] iArr, int i2, int i3, int i4) {
        int i5 = (i3 - 1) - i4;
        int[] iArr2 = new int[i5];
        System.arraycopy(iArr, i4 + 1, iArr2, 0, i5);
        XLog.a("woo", "runTurns  ids.length: %s, speed: %d  ", Integer.valueOf(iArr2.length), Integer.valueOf(i2));
        try {
            this.a.a(iArr2, i2);
        } catch (MotorException e) {
            e.printStackTrace();
            XLog.b("Controller", "RequestException: %s", e.toString());
            if (e.getCode() == -21 && f()) {
                EventBus.b().b(a(a(iArr, e.getFailIds()), 2, "Servo is protected", PeripheralType.SERVO));
            }
        }
    }

    @Override // com.ubt.jimu.controller.manager.ICommandExecutor
    public void a(Map<Integer, MotorData> map) {
        if (this.a == null || map == null || map.size() <= 0) {
            return;
        }
        int[] iArr = new int[map.size()];
        int[] iArr2 = new int[map.size()];
        int[] iArr3 = new int[map.size()];
        Iterator<Integer> it = map.keySet().iterator();
        int i2 = 0;
        while (it.hasNext()) {
            int intValue = it.next().intValue();
            iArr[i2] = intValue;
            MotorData motorData = map.get(Integer.valueOf(intValue));
            iArr2[i2] = motorData.a();
            iArr3[i2] = motorData.f();
            i2++;
        }
        XLog.a("woo", "runMotors ids: %s, speeds: %s, durations: %s", Arrays.toString(iArr), Arrays.toString(iArr2), Arrays.toString(iArr3));
        try {
            this.a.a(iArr, iArr2, iArr3);
        } catch (MotorException e) {
            e.printStackTrace();
            XLog.b("Controller", "RequestException: %s", e.toString());
            if (e.getCode() == -21 && f()) {
                EventBus.b().b(a(a(iArr, e.getFailIds()), 4, "Motor is protected", 10));
            }
        }
    }

    public void a(EngineManager engineManager) {
        this.h = engineManager;
    }
}