package com.ubt.jimu.controller.presenter;

import android.content.Context;
import android.os.SystemClock;
import android.text.TextUtils;
import com.ubt.jimu.R;
import com.ubt.jimu.base.data.Engine;
import com.ubt.jimu.base.data.ServoMode;
import com.ubt.jimu.base.entities.RobotLite;
import com.ubt.jimu.controller.data.command.AngleCommand;
import com.ubt.jimu.controller.data.command.MoveCommand;
import com.ubt.jimu.controller.data.config.HSliderConfig;
import com.ubt.jimu.controller.manager.CommandManager;
import com.ubt.jimu.controller.manager.MoveConfigManager;
import com.ubt.jimu.controller.view.IAngleSettingView;
import com.ubtech.utils.XLog;
import com.ubtrobot.jimu.robotapi.ServoAngleReadInfo;
import io.reactivex.Observable;
import io.reactivex.ObservableEmitter;
import io.reactivex.ObservableOnSubscribe;
import io.reactivex.android.schedulers.AndroidSchedulers;
import io.reactivex.functions.Consumer;
import io.reactivex.schedulers.Schedulers;
import java.util.HashMap;
import java.util.Iterator;
import java.util.List;

/* loaded from: classes.dex */
public class AngleSettingPresenter extends SuperControllerPresenter<IAngleSettingView> {
    public AngleSettingPresenter(Context context, RobotLite robotLite) {
        super(context, robotLite);
    }

    @Override // com.ubt.jimu.controller.presenter.SuperControllerPresenter
    public String a(int i, ServoMode servoMode) {
        IAngleSettingView iAngleSettingView;
        String a = super.a(i, servoMode);
        if (TextUtils.isEmpty(a) || (iAngleSettingView = (IAngleSettingView) b()) == null) {
            return "";
        }
        iAngleSettingView.d(String.format(this.c.getResources().getString(R.string.control_servo_mode_set), a));
        return "";
    }

    @Override // com.ubt.jimu.controller.presenter.SuperControllerPresenter
    void b(List<? extends Engine> list) {
        if (list == null || list.size() <= 0) {
            return;
        }
        XLog.a("woo", "servolist: %s", list.toString());
        List<HSliderConfig> c = MoveConfigManager.a(this.c.getApplicationContext()).c();
        if (c == null || c.size() <= 0) {
            return;
        }
        Iterator<HSliderConfig> it = c.iterator();
        while (it.hasNext()) {
            int servoID = it.next().getServoID();
            for (Engine engine : list) {
                if (servoID == engine.getId()) {
                    engine.setConfigged(true);
                }
            }
        }
    }

    public void a(HSliderConfig hSliderConfig) {
        MoveConfigManager a = MoveConfigManager.a(this.c.getApplicationContext());
        a.b(hSliderConfig);
        a.a(true);
    }

    public void a(RobotLite robotLite, int i, int i2) {
        if (!c(robotLite) || super.e()) {
            return;
        }
        HashMap hashMap = new HashMap(1);
        hashMap.put(Integer.valueOf(i), Integer.valueOf(i2 + 120));
        CommandManager.a(this.c.getApplicationContext()).a((MoveCommand) new AngleCommand(hashMap, 200, 0), false);
    }

    public void a(final int i) {
        if (c(this.d)) {
            Observable.create(new ObservableOnSubscribe<List<ServoAngleReadInfo>>() { // from class: com.ubt.jimu.controller.presenter.AngleSettingPresenter.1
                @Override // io.reactivex.ObservableOnSubscribe
                public void subscribe(ObservableEmitter<List<ServoAngleReadInfo>> observableEmitter) throws Exception {
                    if (AngleSettingPresenter.this.d() != null) {
                        long elapsedRealtime = SystemClock.elapsedRealtime();
                        List<ServoAngleReadInfo> a = AngleSettingPresenter.this.d().a(i, true);
                        if (a == null || a.size() <= 0) {
                            observableEmitter.onError(new Throwable("read servo angle failed"));
                            return;
                        }
                        for (ServoAngleReadInfo servoAngleReadInfo : a) {
                            servoAngleReadInfo.a(servoAngleReadInfo.a() - 120.0f);
                        }
                        XLog.a("Controller", "readAllServoAngle cost time: %d", Long.valueOf(SystemClock.elapsedRealtime() - elapsedRealtime));
                        observableEmitter.onNext(a);
                    }
                }
            }).subscribeOn(Schedulers.b()).observeOn(AndroidSchedulers.a()).subscribe(new Consumer<List<ServoAngleReadInfo>>() { // from class: com.ubt.jimu.controller.presenter.AngleSettingPresenter.2
                @Override // io.reactivex.functions.Consumer
                /* renamed from: a, reason: merged with bridge method [inline-methods] */
                public void accept(List<ServoAngleReadInfo> list) throws Exception {
                    XLog.a("Controller", "servoAngle: %s", list.toString());
                    IAngleSettingView iAngleSettingView = (IAngleSettingView) AngleSettingPresenter.this.b();
                    if (iAngleSettingView != null) {
                        iAngleSettingView.g(list);
                    }
                }
            });
        }
    }
}