package com.ubt.jimu.controller.data.command;

import android.media.MediaPlayer;
import android.os.SystemClock;
import android.text.TextUtils;
import com.ubt.jimu.base.data.CtrlMotionType;
import com.ubt.jimu.controller.data.action.Action;
import com.ubt.jimu.controller.data.action.ActionSequence;
import com.ubt.jimu.controller.data.action.MotorData;
import com.ubt.jimu.controller.data.action.RunningData;
import com.ubt.jimu.controller.data.action.RunningItem;
import com.ubt.jimu.controller.data.action.TurnData;
import com.ubt.jimu.controller.manager.ICommandExecutor;
import com.ubtech.utils.XLog;
import java.io.IOException;
import java.util.Iterator;
import java.util.List;
import java.util.Map;
import java.util.TreeMap;

/* loaded from: classes.dex */
public class ActionSequenceTask implements Runnable {
    private ActionSequence a;
    private ICommandExecutor b;
    private MediaPlayer c;
    private volatile boolean e = false;
    private volatile boolean f = false;
    private volatile boolean g = true;
    private RunningData d = new RunningData();

    public ActionSequenceTask(ActionSequence actionSequence, ICommandExecutor iCommandExecutor) {
        this.a = actionSequence;
        this.b = iCommandExecutor;
    }

    private void a(Map<Integer, ? extends TurnData> map) {
        if (map == null || map.size() <= 0) {
            return;
        }
        long elapsedRealtime = SystemClock.elapsedRealtime();
        Iterator<Integer> it = map.keySet().iterator();
        while (it.hasNext()) {
            int intValue = it.next().intValue();
            TurnData turnData = map.get(Integer.valueOf(intValue));
            CtrlMotionType ctrlMotionType = CtrlMotionType.servo;
            long j = Long.MAX_VALUE;
            if (turnData instanceof MotorData) {
                ctrlMotionType = CtrlMotionType.motor;
                j = ((MotorData) turnData).f();
            }
            if (turnData.d()) {
                this.d.b(new RunningItem(intValue, ctrlMotionType, j, elapsedRealtime));
            } else {
                this.d.a(new RunningItem(intValue, ctrlMotionType, j, elapsedRealtime));
            }
        }
    }

    private synchronized void b() {
        if (this.c != null) {
            this.c.stop();
            this.c.release();
            this.c = null;
        }
    }

    public void cancel() {
        this.g = false;
        this.f = true;
        b();
        this.d.a();
    }

    public boolean g() {
        boolean a = this.d.a(SystemClock.elapsedRealtime());
        XLog.a("Controller", "mIsComplete:%b, mIsCancel:%b, runningData.isAllComplete:%b ", Boolean.valueOf(this.e), Boolean.valueOf(this.f), Boolean.valueOf(a));
        return this.f || (this.e && a);
    }

    @Override // java.lang.Runnable
    public void run() {
        while (!this.f) {
            if (!TextUtils.isEmpty(this.a.g())) {
                a(this.a.g());
            }
            List<Action> a = this.a.a();
            if (a != null && a.size() > 0) {
                Iterator<Action> it = a.iterator();
                while (true) {
                    if (!it.hasNext()) {
                        break;
                    }
                    Action next = it.next();
                    if (!this.f) {
                        Map<Integer, MotorData> b = next.b();
                        if (b != null && b.size() > 0) {
                            a(b);
                            this.b.a(new TreeMap(b));
                        }
                        Map<Integer, TurnData> e = next.e();
                        if (e != null && e.size() > 0) {
                            a(e);
                            this.b.b(new TreeMap(e));
                        }
                        Map<Integer, Integer> c = next.c();
                        if (c != null && c.size() > 0 && this.b.a(new TreeMap(c), next.d(), next.f()) == -1) {
                            this.f = true;
                            this.g = false;
                            break;
                        } else {
                            try {
                                Thread.sleep(next.a());
                            } catch (InterruptedException e2) {
                                e2.printStackTrace();
                                this.f = true;
                                Thread.currentThread().interrupt();
                            }
                        }
                    } else {
                        break;
                    }
                }
            }
            if (!this.g) {
                break;
            }
        }
        this.e = true;
    }

    private synchronized void a(String str) {
        this.c = new MediaPlayer();
        try {
            this.c.setDataSource(str);
            this.c.prepare();
            this.c.start();
        } catch (IOException e) {
            e.printStackTrace();
        }
    }

    public void a(boolean z) {
        this.g = z;
    }

    public ActionSequence a() {
        return this.a;
    }
}