package com.ubtrobot.jimu.robotapi;

import android.content.Context;
import android.os.Handler;
import android.os.HandlerThread;
import android.os.Message;
import android.text.TextUtils;
import android.util.Log;
import com.ijm.dataencryption.de.DataDecryptTool;
import com.ubtech.utils.FileHelper;
import com.ubtech.utils.XLog;
import com.ubtrobot.jimu.Firmware;
import com.ubtrobot.jimu.bluetooth.Cancellable;
import com.ubtrobot.jimu.bluetooth.ConnectCallback;
import com.ubtrobot.jimu.bluetooth.base.IPacket;
import com.ubtrobot.jimu.bluetooth.base.ProtocolPacket;
import com.ubtrobot.jimu.bluetooth.base.discover.ScanResult;
import com.ubtrobot.jimu.bluetooth.base.discover.ScannedHubEmitter;
import com.ubtrobot.jimu.connection.PacketsReceiveListener;
import com.ubtrobot.jimu.connection.RequestException;
import com.ubtrobot.jimu.connection.RobotConnection;
import java.io.File;
import java.util.ArrayList;
import java.util.LinkedList;
import java.util.List;
import java.util.Queue;
import java.util.Timer;

/* loaded from: classes2.dex */
public class UpdateManager implements PacketsReceiveListener, ConnectCallback {
    private Timer a;
    private volatile int b;
    private RobotConnection c;
    private DeviceManager d;
    private JimuScanner e;
    private Cancellable f;
    private List<Firmware> g = new ArrayList();
    private Queue<Firmware> h = new LinkedList();
    private Firmware i;
    private Firmware j;
    private Firmware k;
    private UpdateProgressListener l;
    private int m;
    private HandlerThread n;
    private Handler o;
    private volatile boolean p;
    private int q;
    private BoardInfo r;

    public static class UpdateException extends RequestException {
        public static final int ERR_CODE_DISCONNECTED = -99;
        public static final int ERR_CODE_LOW_POWER = -102;
        public static final int ERR_CODE_NO_FIRMWARE = -101;
        public static final int ERR_CODE_STOP_UPDATE_BOARD_FAILED = -107;
        public static final int ERR_CODE_UPDATE_BOARD_FAILED = -103;
        public static final int ERR_CODE_UPDATE_CANCEL = -106;
        public static final int ERR_CODE_UPDATE_FAILED = -100;
        public static final int ERR_CODE_UPDATE_SENSOR_FAILED = -105;
        public static final int ERR_CODE_UPDATE_SERVO_FAILED = -104;
        private final IPacket response;

        public UpdateException(int i, String str) {
            this(i, str, null, null);
        }

        public IPacket getResponse() {
            return this.response;
        }

        public UpdateException(int i, String str, IPacket iPacket) {
            this(i, str, null, iPacket);
        }

        public UpdateException(int i, String str, Throwable th) {
            this(i, str, th, null);
        }

        public UpdateException(int i, String str, Throwable th, IPacket iPacket) {
            super(i, str, th);
            this.response = iPacket;
        }
    }

    public interface UpdateProgressListener {
        void a(int i);

        void a(int i, int i2);

        void a(int i, Object obj);

        void a(UpdateException updateException);

        void g(BoardInfo boardInfo);
    }

    public UpdateManager(Context context, RobotConnection robotConnection) {
        this.c = robotConnection;
        this.d = new DeviceManager(robotConnection);
        this.e = new JimuScanner(context.getApplicationContext());
    }

    private byte[] a(long j) {
        return new byte[]{(byte) (j & 255), (byte) ((j >> 8) & 255), (byte) ((j >> 16) & 255), (byte) ((j >> 24) & 255)};
    }

    private byte[] b(int i) {
        return new byte[]{(byte) (i & 255), (byte) ((i >> 8) & 255)};
    }

    @Override // com.ubtrobot.jimu.bluetooth.ConnectCallback
    public void onSuccess() {
        c(7);
    }

    private void d() {
        XLog.a("UpdateManager", "quit update cancel=" + this.p);
        try {
            if (this.n != null) {
                this.n.quit();
                this.n = null;
                this.o = null;
            }
            if (this.f == null || this.f.isCancelled()) {
                return;
            }
            this.f.cancel();
            this.f = null;
        } catch (Exception e) {
            e.printStackTrace();
        }
    }

    private void e(String str, IPacket iPacket) {
        byte[] g = iPacket.g();
        if (g == null || g.length < 2) {
            a(new UpdateException(UpdateException.ERR_CODE_UPDATE_SENSOR_FAILED, "83指令返回异常"));
            return;
        }
        int i = g[1] & 255;
        Log.d("UpdateManager", String.format("%s指令返回：%s", "83", Integer.toHexString(i)));
        if (i == 0) {
            a(this.k.c(), 100);
            return;
        }
        if (i == 170) {
            this.c.a(true);
            a(this.k.c(), (Object) null);
            c(3);
        } else {
            a(new UpdateException(UpdateException.ERR_CODE_UPDATE_SENSOR_FAILED, "83指令返回异常，传感器升级失败:" + i, iPacket));
        }
    }

    /* JADX INFO: Access modifiers changed from: private */
    public void f() {
        String b = this.c.b();
        if (TextUtils.isEmpty(b)) {
            a(new UpdateException(UpdateException.ERR_CODE_UPDATE_BOARD_FAILED, "新主板升级失败：mac地址为null"));
        } else {
            this.c.a(b, this);
        }
    }

    private int g() throws JimuException {
        int a = a(new ProtocolPacket(130, new byte[]{0}));
        XLog.a("UpdateManager", "取消传感器升级：" + a);
        return a;
    }

    private int h() throws JimuException {
        int a = a(new ProtocolPacket(37, new byte[]{0}));
        XLog.a("UpdateManager", "取消舵机升级：" + a);
        return a;
    }

    /* JADX INFO: Access modifiers changed from: private */
    public void i() {
        this.f = this.e.a(new ScannedHubEmitter() { // from class: com.ubtrobot.jimu.robotapi.UpdateManager.2
            @Override // com.ubtrobot.jimu.bluetooth.base.discover.ScannedHubEmitter
            public void a() {
            }

            @Override // com.ubtrobot.jimu.bluetooth.base.discover.ScannedHubEmitter
            public void a(int i, String str) {
            }

            @Override // com.ubtrobot.jimu.bluetooth.base.discover.ScannedHubEmitter
            public void a(ScanResult scanResult) {
                if (scanResult == null || scanResult.a() == null || TextUtils.isEmpty(scanResult.a().getAddress()) || !scanResult.a().getAddress().equals(UpdateManager.this.c.b())) {
                    return;
                }
                XLog.a("UpdateManager", "新主板升级，扫描到设备，准备开始重连...");
                UpdateManager.this.c(6);
                UpdateManager.this.f.cancel();
            }
        }, 60000);
    }

    /* JADX INFO: Access modifiers changed from: private */
    /* JADX WARN: Code restructure failed: missing block: B:30:0x007b, code lost:
    
        android.util.Log.d("UpdateManager", "total:" + (java.lang.System.currentTimeMillis() - r13) + " sleep: " + r11);
     */
    /* JADX WARN: Code restructure failed: missing block: B:31:0x009d, code lost:
    
        if (r16 == false) goto L34;
     */
    /* JADX WARN: Code restructure failed: missing block: B:32:0x009f, code lost:
    
        a(new com.ubtrobot.jimu.robotapi.UpdateManager.UpdateException(com.ubtrobot.jimu.robotapi.UpdateManager.UpdateException.ERR_CODE_UPDATE_BOARD_FAILED, "主板升级失败，指令1C失败"));
     */
    /* JADX WARN: Code restructure failed: missing block: B:33:0x00a9, code lost:
    
        return;
     */
    /* JADX WARN: Code restructure failed: missing block: B:34:0x00aa, code lost:
    
        b(20L);
     */
    /* JADX WARN: Code restructure failed: missing block: B:35:0x00af, code lost:
    
        if (r19.p == false) goto L37;
     */
    /* JADX WARN: Code restructure failed: missing block: B:36:0x00b1, code lost:
    
        return;
     */
    /* JADX WARN: Code restructure failed: missing block: B:38:0x00b6, code lost:
    
        if (a(r4, r7) == 0) goto L41;
     */
    /* JADX WARN: Code restructure failed: missing block: B:39:0x00b8, code lost:
    
        a(new com.ubtrobot.jimu.robotapi.UpdateManager.UpdateException(com.ubtrobot.jimu.robotapi.UpdateManager.UpdateException.ERR_CODE_STOP_UPDATE_BOARD_FAILED, "主板升级失败，指令1B失败"));
     */
    /* JADX WARN: Code restructure failed: missing block: B:40:0x00c4, code lost:
    
        return;
     */
    /* JADX WARN: Code restructure failed: missing block: B:42:0x00cd, code lost:
    
        if (r19.i.c() != 113) goto L47;
     */
    /* JADX WARN: Code restructure failed: missing block: B:43:0x00cf, code lost:
    
        a(r19.i.c(), 100);
        com.ubtech.utils.XLog.a("UpdateManager", "新主板升级，文件传输完毕，等待60秒重连");
        r19.q = 0;
     */
    /* JADX WARN: Code restructure failed: missing block: B:44:0x00e1, code lost:
    
        if (r19.o == null) goto L46;
     */
    /* JADX WARN: Code restructure failed: missing block: B:45:0x00e3, code lost:
    
        r19.o.sendMessageDelayed(r19.o.obtainMessage(5), 50000);
     */
    /* JADX WARN: Code restructure failed: missing block: B:46:?, code lost:
    
        return;
     */
    /* JADX WARN: Code restructure failed: missing block: B:47:0x00f3, code lost:
    
        a(new com.ubtrobot.jimu.robotapi.UpdateManager.UpdateException(com.ubtrobot.jimu.robotapi.UpdateManager.UpdateException.ERR_CODE_UPDATE_BOARD_FAILED, "mHandler=null"));
     */
    /* JADX WARN: Code restructure failed: missing block: B:48:?, code lost:
    
        return;
     */
    /* JADX WARN: Code restructure failed: missing block: B:49:0x00fe, code lost:
    
        r19.c.a(false);
     */
    /* JADX WARN: Code restructure failed: missing block: B:50:?, code lost:
    
        return;
     */
    /*
        Code decompiled incorrectly, please refer to instructions dump.
        To view partially-correct code enable 'Show inconsistent code' option in preferences
    */
    public void j() {
        /*
            Method dump skipped, instructions count: 272
            To view this dump change 'Code comments level' option to 'DEBUG'
        */
        throw new UnsupportedOperationException("Method not decompiled: com.ubtrobot.jimu.robotapi.UpdateManager.j():void");
    }

    /* JADX INFO: Access modifiers changed from: private */
    /* JADX WARN: Code restructure failed: missing block: B:47:0x00d6, code lost:
    
        if (r5 == false) goto L48;
     */
    /* JADX WARN: Code restructure failed: missing block: B:48:0x00d8, code lost:
    
        a(new com.ubtrobot.jimu.robotapi.UpdateManager.UpdateException(com.ubtrobot.jimu.robotapi.UpdateManager.UpdateException.ERR_CODE_UPDATE_SERVO_FAILED, "舵机升级失败，指令24失败"));
     */
    /* JADX WARN: Code restructure failed: missing block: B:49:0x00e2, code lost:
    
        return;
     */
    /* JADX WARN: Code restructure failed: missing block: B:50:0x00e3, code lost:
    
        b(20L);
     */
    /* JADX WARN: Code restructure failed: missing block: B:51:0x00e8, code lost:
    
        if (r11.p == false) goto L51;
     */
    /* JADX WARN: Code restructure failed: missing block: B:52:0x00ea, code lost:
    
        return;
     */
    /* JADX WARN: Code restructure failed: missing block: B:54:0x00ef, code lost:
    
        if (b(r1, r2) == 0) goto L54;
     */
    /* JADX WARN: Code restructure failed: missing block: B:55:0x00f1, code lost:
    
        a(new com.ubtrobot.jimu.robotapi.UpdateManager.UpdateException(com.ubtrobot.jimu.robotapi.UpdateManager.UpdateException.ERR_CODE_UPDATE_SERVO_FAILED, "舵机升级失败，指令26失败"));
     */
    /* JADX WARN: Code restructure failed: missing block: B:56:0x00fb, code lost:
    
        r11.c.a(false);
     */
    /* JADX WARN: Code restructure failed: missing block: B:57:?, code lost:
    
        return;
     */
    /*
        Code decompiled incorrectly, please refer to instructions dump.
        To view partially-correct code enable 'Show inconsistent code' option in preferences
    */
    public void k() {
        /*
            Method dump skipped, instructions count: 269
            To view this dump change 'Code comments level' option to 'DEBUG'
        */
        throw new UnsupportedOperationException("Method not decompiled: com.ubtrobot.jimu.robotapi.UpdateManager.k():void");
    }

    private void b(String str, IPacket iPacket) {
        int i = iPacket.g()[0] & 255;
        Log.d("UpdateManager", String.format("%s指令返回：%s", "1E", Integer.toHexString(i)));
        if (i == 0) {
            a(this.i.c(), 100);
            return;
        }
        if (i == 1) {
            a(new UpdateException(UpdateException.ERR_CODE_UPDATE_BOARD_FAILED, "老主控开始升级失败"));
            return;
        }
        if (i == 170) {
            a(new UpdateException(UpdateException.ERR_CODE_UPDATE_BOARD_FAILED, "老主控开始还原主程序"));
        } else if (i != 238) {
            a(new UpdateException(UpdateException.ERR_CODE_UPDATE_BOARD_FAILED, "老主控开始升级失败"));
        } else {
            a(new UpdateException(UpdateException.ERR_CODE_UPDATE_BOARD_FAILED, "老主控开始还原失败"));
        }
    }

    /* JADX INFO: Access modifiers changed from: private */
    public void c() {
        XLog.a("UpdateManager", "cancel update");
        this.c.b(this);
        try {
            try {
                if (this.m == 3) {
                    g();
                } else if (this.m == 2) {
                    h();
                } else if (this.m == 1) {
                    b();
                }
            } catch (Exception e) {
                e.printStackTrace();
            }
        } finally {
            d();
        }
    }

    public boolean a(BoardInfo boardInfo) {
        return boardInfo == null || boardInfo.c() != 0 || boardInfo.b() >= 7.4f;
    }

    public boolean a(BoardInfo boardInfo, List<Firmware> list, UpdateProgressListener updateProgressListener) {
        this.m = 0;
        this.l = updateProgressListener;
        if (list != null && list.size() != 0) {
            if (!a(boardInfo)) {
                this.p = true;
                a(new UpdateException(UpdateException.ERR_CODE_LOW_POWER, "电量过低(电池电压低于7.4V)"));
                return false;
            }
            this.r = boardInfo;
            this.i = null;
            this.j = null;
            this.h.clear();
            this.g.clear();
            this.g.addAll(list);
            for (Firmware firmware : list) {
                if (112 != firmware.c() && 113 != firmware.c()) {
                    if (128 == firmware.c()) {
                        this.j = firmware;
                    } else {
                        this.h.add(firmware);
                    }
                } else {
                    this.i = firmware;
                }
            }
            this.c.a(this);
            this.p = false;
            this.n = new HandlerThread("jimu_firmware_update_thread");
            this.n.start();
            this.o = new Handler(this.n.getLooper()) { // from class: com.ubtrobot.jimu.robotapi.UpdateManager.1
                @Override // android.os.Handler
                public void handleMessage(Message message) {
                    super.handleMessage(message);
                    try {
                        switch (message.what) {
                            case 1:
                                UpdateManager.this.j();
                                break;
                            case 2:
                                UpdateManager.this.k();
                                break;
                            case 3:
                                UpdateManager.this.a(true);
                                break;
                            case 4:
                                UpdateManager.this.c();
                                break;
                            case 5:
                                UpdateManager.this.m = 5;
                                UpdateManager.this.i();
                                break;
                            case 6:
                                UpdateManager.this.m = 6;
                                UpdateManager.this.f();
                                break;
                            case 7:
                                UpdateManager.this.m = 7;
                                UpdateManager.this.e();
                                break;
                        }
                    } catch (Exception e) {
                        e.printStackTrace();
                        UpdateManager.this.a(new UpdateException(-100, "升级失败", e));
                    }
                }
            };
            c(1);
            return true;
        }
        a(new UpdateException(UpdateException.ERR_CODE_NO_FIRMWARE, "需要升级的固件列表为null"));
        return false;
    }

    private int b(byte[] bArr, int i, int i2) throws JimuException {
        return a(new ProtocolPacket(28, a(bArr, i, i2)));
    }

    private void d(String str, IPacket iPacket) {
        int i = iPacket.g()[0] & 255;
        Log.d("UpdateManager", String.format("%s指令返回：%s", "26", Integer.toHexString(i)));
        if (i == 0) {
            a(PeripheralType.SERVO, 100);
            return;
        }
        if (i == 2) {
            a(new UpdateException(UpdateException.ERR_CODE_UPDATE_SERVO_FAILED, "舵机升级失败: " + iPacket.g(), iPacket));
            return;
        }
        if (i != 170) {
            a(new UpdateException(UpdateException.ERR_CODE_UPDATE_SERVO_FAILED, "舵机升级失败", iPacket));
        } else {
            this.c.a(true);
            c(3);
        }
    }

    /* JADX INFO: Access modifiers changed from: private */
    public void e() {
        try {
            this.d.g();
            b(20L);
            BoardInfo e = this.d.e();
            if (e == null) {
                b(2000L);
                e = this.d.e();
            }
            if (e != null && !TextUtils.isEmpty(e.d())) {
                if (!e.d().equals(this.i.d())) {
                    a(new UpdateException(UpdateException.ERR_CODE_UPDATE_BOARD_FAILED, "新主板升级，重连后版本信息和要升级的不一致，升级失败"));
                    return;
                }
                Log.d("UpdateManager", "新主板升级成功，现在的版本名称为:" + e.d());
                a(this.i.c(), e);
                c(2);
                this.r = e;
                return;
            }
            a(new UpdateException(UpdateException.ERR_CODE_UPDATE_BOARD_FAILED, "新主板升级，重连后读取主板信息失败"));
        } catch (Exception e2) {
            e2.printStackTrace();
            a(new UpdateException(UpdateException.ERR_CODE_UPDATE_BOARD_FAILED, "新主板升级，重连后读取主板信息失败"));
        }
    }

    public int b() throws JimuException {
        int a = a(new ProtocolPacket(29, new byte[]{0}));
        XLog.a("UpdateManager", "取消主板升级：" + a);
        return a;
    }

    private void c(String str, IPacket iPacket) {
        int i = iPacket.g()[0] & 255;
        Log.d("UpdateManager", String.format("%s指令返回：%s", "1F", Integer.toHexString(i)));
        if (i == 0) {
            this.c.a(true);
            c(2);
        } else {
            if (i == 1) {
                a(new UpdateException(UpdateException.ERR_CODE_UPDATE_BOARD_FAILED, "主控结束升级失败"));
                return;
            }
            if (i == 170) {
                a(new UpdateException(UpdateException.ERR_CODE_UPDATE_BOARD_FAILED, "结束还原主程序成功"));
            } else if (i != 238) {
                a(new UpdateException(UpdateException.ERR_CODE_UPDATE_BOARD_FAILED, "主控结束升级失败"));
            } else {
                a(new UpdateException(UpdateException.ERR_CODE_UPDATE_BOARD_FAILED, "结束还原失败"));
            }
        }
    }

    private int b(byte[] bArr, int i) throws JimuException {
        return a(new ProtocolPacket(38, a(bArr, i, i)));
    }

    private byte[] b(Firmware firmware) throws JimuException {
        byte[] a;
        if (firmware != null && (a = a(firmware.b(), firmware.a())) != null && a.length != 0) {
            String a2 = FileHelper.a(firmware.b());
            if (TextUtils.isEmpty(a2)) {
                return null;
            }
            byte[] bytes = a2.replace(".bin", "").getBytes();
            byte[] bArr = new byte[bytes.length + 5];
            bArr[0] = (byte) (firmware.c() & 255);
            bArr[1] = 0;
            byte[] b = b(b(a));
            bArr[2] = b[0];
            bArr[3] = b[1];
            bArr[4] = (byte) (bytes.length & 255);
            System.arraycopy(bytes, 0, bArr, 5, bytes.length);
            byte[] b2 = b(new ProtocolPacket(PeripheralType.SERVO, bArr));
            if (b2 != null && b2.length >= 2 && firmware.c() == (b2[0] & 255) && (b2[1] & 255) == 0) {
                return a;
            }
        }
        return null;
    }

    private byte[] c(Firmware firmware) throws JimuException {
        byte[] a;
        if (firmware != null && (a = a(firmware.b(), firmware.a())) != null && a.length != 0) {
            int length = a.length % 64;
            if (length != 0) {
                byte[] bArr = new byte[a.length + (64 - length)];
                System.arraycopy(a, 0, bArr, 0, a.length);
                a = bArr;
            }
            byte[] bArr2 = new byte[7];
            bArr2[0] = 0;
            System.arraycopy(b(b(a)), 0, bArr2, 1, 2);
            System.arraycopy(a(a(a)), 0, bArr2, 3, 4);
            if (a(new ProtocolPacket(35, bArr2)) == 0) {
                return a;
            }
        }
        return null;
    }

    public synchronized void a() {
        if (!this.p && this.n != null) {
            c(4);
            a(this.m);
            this.p = true;
        }
    }

    private int c(byte[] bArr, int i, int i2) throws JimuException {
        return a(new ProtocolPacket(36, a(bArr, i, i2)));
    }

    private byte[] b(int i, byte[] bArr, int i2, int i3) throws JimuException {
        return b(new ProtocolPacket(129, a(i, bArr, i2, i3)));
    }

    /* JADX INFO: Access modifiers changed from: private */
    public void c(int i) {
        Handler handler = this.o;
        if (handler == null) {
            XLog.b("UpdateManager", "未知错误: mHandler==null");
            d();
        } else {
            handler.sendEmptyMessage(i);
        }
    }

    @Override // com.ubtrobot.jimu.connection.PacketsReceiveListener
    public void a(String str, IPacket iPacket) {
        if (iPacket == null) {
            return;
        }
        try {
            int f = iPacket.f() & 255;
            if (f == 30) {
                b(str, iPacket);
            } else if (f == 31) {
                c(str, iPacket);
            } else if (f == 38) {
                d(str, iPacket);
            } else if (f == 131) {
                e(str, iPacket);
            }
        } catch (Exception e) {
            a(new UpdateException(-100, "升级失败", e));
        }
    }

    private void b(BoardInfo boardInfo) {
        this.c.b(this);
        if (boardInfo != null) {
            this.l.g(boardInfo);
            return;
        }
        try {
            try {
                b(3000L);
                this.d.g();
                b(20L);
                BoardInfo e = this.d.e();
                if (e == null) {
                    b(2000L);
                    e = this.d.e();
                }
                if (e == null) {
                    a(new UpdateException(-100, "升级完成，但是读取主板信息失败"));
                } else {
                    this.r = e;
                    this.l.g(e);
                }
            } catch (Exception e2) {
                e2.printStackTrace();
            }
            d();
            Timer timer = this.a;
            if (timer != null) {
                timer.cancel();
                this.a = null;
            }
        } catch (Throwable th) {
            d();
            throw th;
        }
    }

    @Override // com.ubtrobot.jimu.bluetooth.ConnectCallback
    public void a(int i, String str) {
        this.q++;
        if (this.q > 3) {
            a(new UpdateException(-99, "新主控升级失败，重连3次失败"));
            return;
        }
        Handler handler = this.o;
        if (handler != null) {
            handler.sendMessageDelayed(handler.obtainMessage(6), 3000L);
        } else {
            a(new UpdateException(-99, "新主控升级失败，重连失败"));
        }
    }

    /* JADX INFO: Access modifiers changed from: private */
    public void a(boolean z) {
        boolean z2;
        if (this.m == 2) {
            if (z) {
                try {
                    b(3000L);
                    this.d.g();
                    b(20L);
                    BoardInfo e = this.d.e();
                    if (e == null) {
                        b(2000L);
                        e = this.d.e();
                    }
                    if (e != null && !TextUtils.isEmpty(e.j()) && e.j().equals(this.j.d())) {
                        this.r = e;
                        a(PeripheralType.SERVO, e);
                    }
                    a(new UpdateException(UpdateException.ERR_CODE_UPDATE_SERVO_FAILED, "舵机升级完成，但是读取主板信息失败"));
                    return;
                } catch (Exception e2) {
                    e2.printStackTrace();
                }
            }
            if (this.h == null || this.h.size() == 0) {
                b(this.r);
                return;
            }
        }
        Firmware poll = this.h.poll();
        if (poll == null) {
            b((BoardInfo) null);
            return;
        }
        Log.d("UpdateManager", "升级传感器:" + poll.c());
        this.m = 3;
        this.k = poll;
        try {
            b(20L);
            if (this.p) {
                return;
            }
            byte[] b = b(poll);
            if (b != null && b.length != 0) {
                int b2 = b(b);
                int i = 0;
                int i2 = 0;
                while (i < b2 - 1) {
                    b(20L);
                    if (!this.p) {
                        int i3 = i + 1;
                        byte[] b3 = b(poll.c(), b, b2, i3);
                        if (poll.c() == (b3[0] & 255) && (b3[1] & 255) == 0) {
                            int i4 = (i * 100) / b2;
                            if (i2 != i4) {
                                a(poll.c(), i4);
                                i2 = i4;
                            }
                            i = i3;
                        }
                        z2 = true;
                        break;
                    }
                    return;
                }
                z2 = false;
                if (z2) {
                    a(new UpdateException(UpdateException.ERR_CODE_UPDATE_SENSOR_FAILED, "传感器升级失败，81指令调用失败"));
                    return;
                }
                b(20L);
                if (this.p) {
                    return;
                }
                if ((a(poll.c(), b, b2)[1] & 255) != 0) {
                    a(new UpdateException(UpdateException.ERR_CODE_UPDATE_SENSOR_FAILED, "传感器升级失败，83指令调用失败"));
                }
                this.c.a(false);
                return;
            }
            a(new UpdateException(UpdateException.ERR_CODE_UPDATE_SENSOR_FAILED, "传感器升级失败，80指令调用失败"));
        } catch (Exception e3) {
            e3.printStackTrace();
            a(new UpdateException(UpdateException.ERR_CODE_UPDATE_SENSOR_FAILED, "传感器升级失败", e3));
        }
    }

    private byte[] b(ProtocolPacket protocolPacket) throws JimuException {
        try {
            byte[] g = this.c.a(protocolPacket).g();
            if (g != null && g.length != 0) {
                return g;
            }
            throw new JimuException(-21, "指令操作失败:" + Integer.toHexString(protocolPacket.f()));
        } catch (RequestException e) {
            e.printStackTrace();
            throw new JimuException(e.getCode(), e.getMessage());
        }
    }

    private void b(long j) {
        try {
            Thread.sleep(j);
        } catch (Exception e) {
            e.printStackTrace();
        }
    }

    private int b(byte[] bArr) {
        int length = bArr.length;
        int i = length / 100;
        return length % 100 > 0 ? i + 1 : i;
    }

    private byte[] a(Firmware firmware) throws JimuException {
        byte[] a = a(firmware.b(), firmware.a());
        if (a == null) {
            return null;
        }
        String a2 = FileHelper.a(firmware.b());
        if (TextUtils.isEmpty(a2)) {
            return null;
        }
        byte[] bytes = a2.getBytes();
        byte[] bArr = new byte[bytes.length + 1 + 2];
        bArr[0] = (byte) (bytes.length & 255);
        System.arraycopy(bytes, 0, bArr, 1, bytes.length);
        System.arraycopy(b(b(a)), 0, bArr, bytes.length + 1, 2);
        int a3 = a(new ProtocolPacket(26, bArr));
        if (a3 == 0) {
            return a;
        }
        XLog.b("UpdateManager", "cmd 1A failed:" + a3);
        return null;
    }

    private int a(byte[] bArr, int i) throws JimuException {
        return a(new ProtocolPacket(27, a(bArr, i, i)));
    }

    private byte[] a(int i, byte[] bArr, int i2) throws JimuException {
        return b(new ProtocolPacket(131, a(i, bArr, i2, i2)));
    }

    /* JADX WARN: Removed duplicated region for block: B:14:0x0020 A[Catch: all -> 0x0068, TryCatch #0 {, blocks: (B:4:0x0003, B:12:0x001b, B:14:0x0020, B:15:0x0028, B:18:0x003a, B:19:0x0066, B:25:0x0063), top: B:3:0x0003, inners: #1 }] */
    /*
        Code decompiled incorrectly, please refer to instructions dump.
        To view partially-correct code enable 'Show inconsistent code' option in preferences
    */
    private void a(final int r9, int r10) {
        /*
            r8 = this;
            monitor-enter(r8)
            int r10 = r10 * 9
            int r10 = r10 / 10
            r8.b = r10     // Catch: java.lang.Throwable -> L68
            int r10 = r8.b     // Catch: java.lang.Throwable -> L68
            r0 = 90
            if (r10 != r0) goto L3a
            r10 = 113(0x71, float:1.58E-43)
            if (r10 == r9) goto L19
            r10 = 112(0x70, float:1.57E-43)
            if (r10 != r9) goto L16
            goto L19
        L16:
            r0 = 1000(0x3e8, double:4.94E-321)
            goto L1b
        L19:
            r0 = 7000(0x1b58, double:3.4585E-320)
        L1b:
            r6 = r0
            java.util.Timer r10 = r8.a     // Catch: java.lang.Throwable -> L68
            if (r10 == 0) goto L28
            java.util.Timer r10 = r8.a     // Catch: java.lang.Throwable -> L68
            r10.cancel()     // Catch: java.lang.Throwable -> L68
            r10 = 0
            r8.a = r10     // Catch: java.lang.Throwable -> L68
        L28:
            java.util.Timer r10 = new java.util.Timer     // Catch: java.lang.Throwable -> L68
            r10.<init>()     // Catch: java.lang.Throwable -> L68
            r8.a = r10     // Catch: java.lang.Throwable -> L68
            java.util.Timer r2 = r8.a     // Catch: java.lang.Throwable -> L68
            com.ubtrobot.jimu.robotapi.UpdateManager$3 r3 = new com.ubtrobot.jimu.robotapi.UpdateManager$3     // Catch: java.lang.Throwable -> L68
            r3.<init>()     // Catch: java.lang.Throwable -> L68
            r4 = r6
            r2.scheduleAtFixedRate(r3, r4, r6)     // Catch: java.lang.Throwable -> L68
        L3a:
            com.ubtrobot.jimu.robotapi.UpdateManager$UpdateProgressListener r10 = r8.l     // Catch: java.lang.Exception -> L62 java.lang.Throwable -> L68
            int r0 = r8.b     // Catch: java.lang.Exception -> L62 java.lang.Throwable -> L68
            r10.a(r9, r0)     // Catch: java.lang.Exception -> L62 java.lang.Throwable -> L68
            java.lang.String r10 = "UpdateManager"
            java.lang.StringBuilder r0 = new java.lang.StringBuilder     // Catch: java.lang.Exception -> L62 java.lang.Throwable -> L68
            r0.<init>()     // Catch: java.lang.Exception -> L62 java.lang.Throwable -> L68
            java.lang.String r1 = "updateProgress type:"
            r0.append(r1)     // Catch: java.lang.Exception -> L62 java.lang.Throwable -> L68
            r0.append(r9)     // Catch: java.lang.Exception -> L62 java.lang.Throwable -> L68
            java.lang.String r9 = "  progress:"
            r0.append(r9)     // Catch: java.lang.Exception -> L62 java.lang.Throwable -> L68
            int r9 = r8.b     // Catch: java.lang.Exception -> L62 java.lang.Throwable -> L68
            r0.append(r9)     // Catch: java.lang.Exception -> L62 java.lang.Throwable -> L68
            java.lang.String r9 = r0.toString()     // Catch: java.lang.Exception -> L62 java.lang.Throwable -> L68
            android.util.Log.d(r10, r9)     // Catch: java.lang.Exception -> L62 java.lang.Throwable -> L68
            goto L66
        L62:
            r9 = move-exception
            r9.printStackTrace()     // Catch: java.lang.Throwable -> L68
        L66:
            monitor-exit(r8)     // Catch: java.lang.Throwable -> L68
            return
        L68:
            r9 = move-exception
            monitor-exit(r8)     // Catch: java.lang.Throwable -> L68
            throw r9
        */
        throw new UnsupportedOperationException("Method not decompiled: com.ubtrobot.jimu.robotapi.UpdateManager.a(int, int):void");
    }

    private void a(int i, Object obj) {
        try {
            this.l.a(i, obj);
        } catch (Exception e) {
            e.printStackTrace();
        }
    }

    /* JADX INFO: Access modifiers changed from: private */
    public void a(UpdateException updateException) {
        try {
            this.l.a(updateException);
            this.c.b(this);
        } catch (Exception e) {
            e.printStackTrace();
        }
        try {
            Log.e("UpdateManager", "updateFailed:" + updateException.getMessage());
            c(4);
        } catch (Exception e2) {
            e2.printStackTrace();
            d();
        }
        Timer timer = this.a;
        if (timer != null) {
            timer.cancel();
            this.a = null;
        }
    }

    private void a(int i) {
        try {
            this.l.a(i);
        } catch (Exception e) {
            e.printStackTrace();
        }
    }

    private int a(ProtocolPacket protocolPacket) throws JimuException {
        return b(protocolPacket)[0] & 255;
    }

    private byte[] a(byte[] bArr, int i, int i2) {
        int i3 = (i2 - 1) * 100;
        int length = (i2 == i ? bArr.length : i2 * 100) - i3;
        byte[] bArr2 = new byte[length + 2];
        System.arraycopy(b(i2), 0, bArr2, 0, 2);
        System.arraycopy(bArr, i3, bArr2, 2, length);
        return bArr2;
    }

    private byte[] a(int i, byte[] bArr, int i2, int i3) {
        int i4 = (i3 - 1) * 100;
        int length = (i3 == i2 ? bArr.length : i3 * 100) - i4;
        byte[] bArr2 = new byte[length + 3];
        bArr2[0] = (byte) (i & 255);
        System.arraycopy(b(i3), 0, bArr2, 1, 2);
        System.arraycopy(bArr, i4, bArr2, 3, length);
        return bArr2;
    }

    private byte[] a(String str, String str2) {
        File file = new File(str);
        if (file.exists() && FileHelper.a(str2, str)) {
            return FileHelper.b(file);
        }
        return null;
    }

    private long a(byte[] bArr) {
        long[] jArr = new long[DataDecryptTool.DECRYPT_ALL_FILE];
        for (long j = 0; j < 256; j++) {
            long j2 = j;
            for (long j3 = 0; j3 < 8; j3++) {
                j2 = (j2 & 1) == 1 ? (j2 >> 1) ^ 3988292384L : j2 >> 1;
            }
            jArr[(int) j] = j2;
        }
        long j4 = 4294967295L;
        for (byte b : bArr) {
            j4 = (j4 >> 8) ^ jArr[(int) ((b ^ j4) & 255)];
        }
        return j4;
    }
}