package com.ubt.jimu.test;

import android.app.Activity;
import android.bluetooth.BluetoothDevice;
import android.os.Bundle;
import android.text.TextUtils;
import android.view.View;
import android.widget.Button;
import android.widget.EditText;
import android.widget.Toast;
import com.alibaba.android.arouter.facade.Postcard;
import com.alibaba.android.arouter.launcher.ARouter;
import com.ubt.jimu.JimuApplication;
import com.ubt.jimu.R;
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.entities.Robot;
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.MotorCommand;
import com.ubt.jimu.controller.data.command.MoveCommand;
import com.ubt.jimu.controller.data.command.TurnCommand;
import com.ubt.jimu.controller.data.config.JockstickConfig;
import com.ubt.jimu.controller.data.config.WidgetConfig;
import com.ubt.jimu.controller.data.widget.AccumulatorData;
import com.ubt.jimu.controller.data.widget.ActionWidgetData;
import com.ubt.jimu.controller.data.widget.ControllerData;
import com.ubt.jimu.controller.data.widget.HSliderWidgetData;
import com.ubt.jimu.controller.data.widget.JockstickData;
import com.ubt.jimu.controller.data.widget.SliderWidgetData;
import com.ubt.jimu.controller.manager.ActionManager;
import com.ubt.jimu.controller.manager.CommandManager;
import com.ubt.jimu.controller.manager.ControllerManager;
import com.ubt.jimu.controller.util.IDGenerator;
import com.ubt.jimu.controller.util.PermissionUtils;
import com.ubtech.utils.XLog;
import com.ubtech.view.widget.ToastView;
import com.ubtrobot.jimu.bluetooth.Cancellable;
import com.ubtrobot.jimu.bluetooth.ConnectCallback;
import com.ubtrobot.jimu.bluetooth.base.discover.ScanResult;
import com.ubtrobot.jimu.bluetooth.base.discover.ScannedHubEmitter;
import com.ubtrobot.jimu.robotapi.JimuManager;
import com.ubtrobot.jimu.robotapi.JimuScanner;
import com.ubtrobot.jimu.robotapi.PeripheralType;
import java.util.List;
import java.util.Map;
import java.util.TreeMap;

/* loaded from: classes2.dex */
public class ControllerTestActivity extends Activity {
    private JimuManager a;
    private BluetoothDevice b;
    private Cancellable c;
    private EditText d;
    private EditText e;
    private EditText f;
    private EditText g;
    private EditText h;
    private EditText i;

    private void f() {
        ((Button) findViewById(R.id.parse_actions)).setOnClickListener(new View.OnClickListener() { // from class: com.ubt.jimu.test.a
            @Override // android.view.View.OnClickListener
            public final void onClick(View view) {
                ControllerTestActivity.this.a(view);
            }
        });
        ((Button) findViewById(R.id.execute_action)).setOnClickListener(new View.OnClickListener() { // from class: com.ubt.jimu.test.m
            @Override // android.view.View.OnClickListener
            public final void onClick(View view) {
                ControllerTestActivity.this.b(view);
            }
        });
        ((Button) findViewById(R.id.stop_action)).setOnClickListener(new View.OnClickListener() { // from class: com.ubt.jimu.test.q
            @Override // android.view.View.OnClickListener
            public final void onClick(View view) {
                ControllerTestActivity.this.k(view);
            }
        });
        ((Button) findViewById(R.id.stop_all)).setOnClickListener(new View.OnClickListener() { // from class: com.ubt.jimu.test.d
            @Override // android.view.View.OnClickListener
            public final void onClick(View view) {
                ControllerTestActivity.this.l(view);
            }
        });
        ((Button) findViewById(R.id.control_generate)).setOnClickListener(new View.OnClickListener() { // from class: com.ubt.jimu.test.r
            @Override // android.view.View.OnClickListener
            public final void onClick(View view) {
                ControllerTestActivity.this.m(view);
            }
        });
        ((Button) findViewById(R.id.enter_control)).setOnClickListener(new View.OnClickListener() { // from class: com.ubt.jimu.test.l
            @Override // android.view.View.OnClickListener
            public final void onClick(View view) {
                ControllerTestActivity.this.n(view);
            }
        });
        ((Button) findViewById(R.id.ble_connect)).setOnClickListener(new View.OnClickListener() { // from class: com.ubt.jimu.test.g
            @Override // android.view.View.OnClickListener
            public final void onClick(View view) {
                ControllerTestActivity.this.o(view);
            }
        });
        ((Button) findViewById(R.id.ble_scan)).setOnClickListener(new View.OnClickListener() { // from class: com.ubt.jimu.test.n
            @Override // android.view.View.OnClickListener
            public final void onClick(View view) {
                ControllerTestActivity.this.p(view);
            }
        });
        ((Button) findViewById(R.id.test_power_down)).setOnClickListener(new View.OnClickListener() { // from class: com.ubt.jimu.test.j
            @Override // android.view.View.OnClickListener
            public final void onClick(View view) {
                ControllerTestActivity.this.q(view);
            }
        });
        ((Button) findViewById(R.id.move_left)).setOnClickListener(new View.OnClickListener() { // from class: com.ubt.jimu.test.f
            @Override // android.view.View.OnClickListener
            public final void onClick(View view) {
                ControllerTestActivity.this.r(view);
            }
        });
        ((Button) findViewById(R.id.move_right)).setOnClickListener(new View.OnClickListener() { // from class: com.ubt.jimu.test.p
            @Override // android.view.View.OnClickListener
            public final void onClick(View view) {
                ControllerTestActivity.this.c(view);
            }
        });
        ((Button) findViewById(R.id.move_forward)).setOnClickListener(new View.OnClickListener() { // from class: com.ubt.jimu.test.k
            @Override // android.view.View.OnClickListener
            public final void onClick(View view) {
                ControllerTestActivity.this.d(view);
            }
        });
        ((Button) findViewById(R.id.move_backward)).setOnClickListener(new View.OnClickListener() { // from class: com.ubt.jimu.test.o
            @Override // android.view.View.OnClickListener
            public final void onClick(View view) {
                ControllerTestActivity.this.e(view);
            }
        });
        ((Button) findViewById(R.id.move_stop)).setOnClickListener(new View.OnClickListener() { // from class: com.ubt.jimu.test.c
            @Override // android.view.View.OnClickListener
            public final void onClick(View view) {
                ControllerTestActivity.this.f(view);
            }
        });
        ((Button) findViewById(R.id.servo_mode)).setOnClickListener(new View.OnClickListener() { // from class: com.ubt.jimu.test.h
            @Override // android.view.View.OnClickListener
            public final void onClick(View view) {
                ControllerTestActivity.this.g(view);
            }
        });
        ((Button) findViewById(R.id.btn_engine_list)).setOnClickListener(new View.OnClickListener() { // from class: com.ubt.jimu.test.i
            @Override // android.view.View.OnClickListener
            public final void onClick(View view) {
                ControllerTestActivity.this.h(view);
            }
        });
        ((Button) findViewById(R.id.btn_servo_list)).setOnClickListener(new View.OnClickListener() { // from class: com.ubt.jimu.test.e
            @Override // android.view.View.OnClickListener
            public final void onClick(View view) {
                ControllerTestActivity.this.i(view);
            }
        });
        this.d = (EditText) findViewById(R.id.et_left_ids);
        this.e = (EditText) findViewById(R.id.et_right_ids);
        this.f = (EditText) findViewById(R.id.et_direct);
        this.g = (EditText) findViewById(R.id.et_high_speed);
        this.h = (EditText) findViewById(R.id.et_high_duration);
        this.i = (EditText) findViewById(R.id.et_run_speed);
        ((Button) findViewById(R.id.btn_run)).setOnClickListener(new View.OnClickListener() { // from class: com.ubt.jimu.test.b
            @Override // android.view.View.OnClickListener
            public final void onClick(View view) {
                ControllerTestActivity.this.j(view);
            }
        });
    }

    private void s() {
        String obj = this.d.getText().toString();
        String[] split = !TextUtils.isEmpty(obj) ? obj.split(";") : null;
        String[] split2 = TextUtils.isEmpty(obj) ? null : this.e.getText().toString().split(";");
        String obj2 = this.f.getText().toString();
        int intValue = TextUtils.isEmpty(obj2) ? 0 : Integer.valueOf(obj2).intValue();
        String obj3 = this.g.getText().toString();
        int intValue2 = !TextUtils.isEmpty(obj3) ? Integer.valueOf(obj3).intValue() : 0;
        String obj4 = this.h.getText().toString();
        int intValue3 = !TextUtils.isEmpty(obj4) ? Integer.valueOf(obj4).intValue() : 0;
        String obj5 = this.i.getText().toString();
        int intValue4 = !TextUtils.isEmpty(obj5) ? Integer.valueOf(obj5).intValue() : 0;
        e().a((MoveCommand) new MotorCommand(a(split, split2, intValue, intValue2, intValue3 + 1000)), false);
        try {
            Thread.sleep(intValue3);
        } catch (InterruptedException e) {
            e.printStackTrace();
            Thread.currentThread().interrupt();
        }
        e().a((MoveCommand) new MotorCommand(a(split, split2, intValue, intValue4, 5000)), false);
    }

    private void t() {
        ActionManager a = ActionManager.a(this);
        Robot robot = Cache.getInstance().getRobot();
        if (robot != null) {
            a.a(robot.getRobotLite());
        }
        List<ActionWidgetData> a2 = a.a();
        Object[] objArr = new Object[1];
        objArr[0] = a2 != null ? a2.toString() : "null";
        XLog.a("woo", "actionData: %s", objArr);
    }

    private void u() {
        t();
    }

    private void v() {
        ControllerData controllerData = new ControllerData("robot_6b73ae94-5aeb-4f54-ba72-748a7ad5d755");
        ActionWidgetData actionWidgetData = new ActionWidgetData();
        actionWidgetData.setActionID("actions_636252715835204660");
        actionWidgetData.setActionNm("待命");
        actionWidgetData.setCurrentPos(100.0f, 100.0f);
        controllerData.addActionData(actionWidgetData);
        ActionWidgetData actionWidgetData2 = new ActionWidgetData(String.valueOf(System.currentTimeMillis()));
        actionWidgetData2.setActionNm("huanhu");
        actionWidgetData2.setActionID("actions_6365560445275619713");
        actionWidgetData2.setCurrentX(400.0f);
        actionWidgetData2.setCurrentY(540.0f);
        controllerData.addActionData(actionWidgetData2);
        controllerData.addSliderData(new SliderWidgetData("131716138616736069", CtrlMotionType.motor, (byte) 1, false, 357.45593f, 6.8648224f));
        controllerData.addHsliderData(new HSliderWidgetData("131756933887463852", (byte) 1, WidgetConfig.MIN_ANGLE, 118, -13.876572f, -279.57144f));
        JockstickData jockstickData = new JockstickData("131699800539070353");
        jockstickData.setCurrentPos(0.0f, 0.0f);
        jockstickData.setConfig(new JockstickConfig());
        controllerData.addJockstickData(jockstickData);
        controllerData.addAccumulatorData(new AccumulatorData(IDGenerator.a(System.currentTimeMillis()), (byte) 1, 10, 160, 200.0f, 300.0f));
        ControllerManager.a(getApplicationContext()).a(Cache.getInstance().getRobot().getRobotLite());
        ControllerManager.a(getApplicationContext()).a(controllerData, false);
    }

    public /* synthetic */ void b(View view) {
        l();
    }

    public /* synthetic */ void c(View view) {
        j();
    }

    public /* synthetic */ void d(View view) {
        h();
    }

    public /* synthetic */ void e(View view) {
        g();
    }

    public /* synthetic */ void g(View view) {
        c();
    }

    public /* synthetic */ void h(View view) {
        o();
    }

    public /* synthetic */ void i(View view) {
        p();
    }

    public /* synthetic */ void j(View view) {
        s();
    }

    public /* synthetic */ void k(View view) {
        q();
    }

    public /* synthetic */ void l(View view) {
        r();
    }

    public /* synthetic */ void m(View view) {
        v();
    }

    public /* synthetic */ void n(View view) {
        b();
    }

    public /* synthetic */ void o(View view) {
        a(this.b);
    }

    @Override // android.app.Activity
    protected void onCreate(Bundle bundle) {
        super.onCreate(bundle);
        ARouter.a(getApplication());
        setContentView(R.layout.test_controller);
        a();
        f();
    }

    @Override // android.app.Activity
    public void onRequestPermissionsResult(int i, String[] strArr, int[] iArr) {
        if (i == 1 && !PermissionUtils.a(strArr, iArr)) {
            finish();
        }
        super.onRequestPermissionsResult(i, strArr, iArr);
    }

    public /* synthetic */ void p(View view) {
        n();
    }

    public /* synthetic */ void q(View view) {
        m();
    }

    public /* synthetic */ void r(View view) {
        i();
    }

    private void b() {
        Postcard a = ARouter.b().a("/controller/control");
        a.a("robotLite", Cache.getInstance().getRobot().getRobotLite());
        a.t();
    }

    private void c() {
        Postcard a = ARouter.b().a("/controller/servosettings");
        a.a("robotLite", Cache.getInstance().getRobot().getRobotLite());
        a.t();
    }

    private ActionSequence d() {
        ActionManager a = ActionManager.a(this);
        Robot robot = Cache.getInstance().getRobot();
        if (robot != null) {
            a.a(robot.getRobotLite());
        }
        return a.a("actions_95d4b4b7-1ce5-44d9-b0df-fc5823aa7f1f");
    }

    private CommandManager e() {
        CommandManager a = CommandManager.a(getApplicationContext());
        JimuManager jimuManager = this.a;
        if (jimuManager != null) {
            a.a(jimuManager);
        }
        return a;
    }

    private void g() {
        TreeMap treeMap = new TreeMap();
        treeMap.put(1, new TurnData(1, 658));
        treeMap.put(2, new TurnData(2, 658));
        e().a((MoveCommand) new TurnCommand(treeMap), false);
    }

    private void h() {
        TreeMap treeMap = new TreeMap();
        treeMap.put(1, new TurnData(2, 658));
        treeMap.put(2, new TurnData(1, 658));
        e().a((MoveCommand) new TurnCommand(treeMap), false);
    }

    private void i() {
        TreeMap treeMap = new TreeMap();
        treeMap.put(1, new TurnData(2, PeripheralType.SERVO));
        treeMap.put(2, new TurnData(1, 658));
        e().a((MoveCommand) new TurnCommand(treeMap), false);
    }

    private void j() {
        TreeMap treeMap = new TreeMap();
        treeMap.put(1, new TurnData(2, 658));
        treeMap.put(2, new TurnData(1, PeripheralType.SERVO));
        e().a((MoveCommand) new TurnCommand(treeMap), false);
    }

    private void k() {
        TreeMap treeMap = new TreeMap();
        treeMap.put(1, new TurnData(0, PeripheralType.SERVO));
        treeMap.put(2, new TurnData(0, 658));
        e().a((MoveCommand) new TurnCommand(treeMap), true);
    }

    private void l() {
        ActionSequence d = d();
        if (d != null) {
            e().a(d);
        }
    }

    private void m() {
        e().b(new EngineManager(this, Cache.getInstance().getRobot().getRobotLite()).getEngineList(Cache.getInstance().getUserId()));
    }

    private void n() {
        this.c = new JimuScanner(getApplicationContext()).a(new ScannedHubEmitter() { // from class: com.ubt.jimu.test.ControllerTestActivity.2
            @Override // com.ubtrobot.jimu.bluetooth.base.discover.ScannedHubEmitter
            public void a(ScanResult scanResult) {
                BluetoothDevice a = scanResult.a();
                XLog.a("woo", "Scaned device:" + a.getName() + " mac:" + a.getAddress());
                if (a.getName().contains("1C40")) {
                    XLog.a("woo", "Discoverd jimu %s", a.getName());
                    Toast.makeText(ControllerTestActivity.this, "find robot success " + a.getName(), 0).show();
                    ControllerTestActivity.this.b = a;
                }
            }

            @Override // com.ubtrobot.jimu.bluetooth.base.discover.ScannedHubEmitter
            public void a(int i, String str) {
                XLog.a("woo", "Discover onFail! errCode:" + str + " errMsg:" + str);
            }

            @Override // com.ubtrobot.jimu.bluetooth.base.discover.ScannedHubEmitter
            public void a() {
                XLog.a("woo", "Discover onTimeup");
            }
        }, 5000);
    }

    private void o() {
        List<Engine> engineList = new EngineManager(this, Cache.getInstance().getRobot().getRobotLite()).getEngineList(Cache.getInstance().getUserId());
        if (engineList == null || engineList.size() <= 0) {
            return;
        }
        XLog.a("woo", "engineList: %s", engineList.toString());
    }

    private void p() {
        List<Servo> servoList = new EngineManager(this, Cache.getInstance().getRobot().getRobotLite()).getServoList(Cache.getInstance().getUserId());
        if (servoList == null || servoList.size() <= 0) {
            return;
        }
        XLog.a("woo", "servolist: %s", servoList.toString());
    }

    private void q() {
        e().b(d());
    }

    private void r() {
        e().a(new EngineManager(this, Cache.getInstance().getRobot().getRobotLite()).getEngineList(Cache.getInstance().getUserId()));
    }

    public /* synthetic */ void a(View view) {
        u();
    }

    private Map<Integer, MotorData> a(String[] strArr, String[] strArr2, int i, int i2, int i3) {
        TreeMap treeMap = new TreeMap();
        if (strArr != null && strArr.length > 0) {
            int i4 = i == -1 ? 1 : -1;
            for (String str : strArr) {
                treeMap.put(Integer.valueOf(str), new MotorData(i4, i2, i3));
            }
        }
        if (strArr2 != null && strArr2.length > 0) {
            int i5 = i != 1 ? 1 : -1;
            for (String str2 : strArr2) {
                treeMap.put(Integer.valueOf(str2), new MotorData(i5, i2, i3));
            }
        }
        return treeMap;
    }

    private void a(BluetoothDevice bluetoothDevice) {
        if (bluetoothDevice == null) {
            return;
        }
        Cancellable cancellable = this.c;
        if (cancellable != null && !cancellable.isCancelled()) {
            this.c.cancel();
        }
        if (this.a == null) {
            this.a = JimuApplication.l().f();
        }
        this.a.a(bluetoothDevice.getAddress(), new ConnectCallback() { // from class: com.ubt.jimu.test.ControllerTestActivity.1
            @Override // com.ubtrobot.jimu.bluetooth.ConnectCallback
            public void a(int i, String str) {
                XLog.b("woo", "Conncet fail! errMsg:" + str);
            }

            @Override // com.ubtrobot.jimu.bluetooth.ConnectCallback
            public void onSuccess() {
                XLog.a("woo", "Connect success");
                ToastView.a(ControllerTestActivity.this, "connect robot success").a();
                CommandManager.a(ControllerTestActivity.this.getApplicationContext()).a(ControllerTestActivity.this.a);
            }
        });
    }

    private boolean a() {
        return PermissionUtils.a(this, new String[]{"android.permission.WRITE_EXTERNAL_STORAGE", "android.permission.READ_EXTERNAL_STORAGE"}, 1);
    }

    public /* synthetic */ void f(View view) {
        k();
    }
}