609 lines
24 KiB
Java
609 lines
24 KiB
Java
package com.ubt.jimu.connect.model;
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import android.util.Log;
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import com.ubt.jimu.JimuApplication;
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import com.ubt.jimu.base.cache.Cache;
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import com.ubt.jimu.base.data.ServoMode;
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import com.ubt.jimu.base.db.diy.DiyDBModel;
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import com.ubt.jimu.base.db.diy.DiyHelper;
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import com.ubt.jimu.base.entities.User;
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import com.ubt.jimu.transport3.UnityFileOperator;
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import com.ubtech.utils.XLog;
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import com.ubtrobot.jimu.connection.RequestException;
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import com.ubtrobot.jimu.robotapi.BluetoothSpeakerInfo;
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import com.ubtrobot.jimu.robotapi.BoardInfo;
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import com.ubtrobot.jimu.robotapi.JimuException;
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import com.ubtrobot.jimu.robotapi.JimuManager;
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import com.ubtrobot.jimu.robotapi.PeripheralType;
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import com.ubtrobot.log.ALog;
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import java.io.File;
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import java.lang.reflect.Field;
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import java.util.ArrayList;
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import java.util.HashMap;
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import java.util.Iterator;
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import java.util.List;
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import java.util.Map;
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/* loaded from: classes.dex */
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public class ModelMatchModel {
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private ArrayList<Component> b = new ArrayList<>();
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private JimuManager a = JimuApplication.l().f();
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private String c() {
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User user = Cache.getInstance().getUser();
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if (user == null) {
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return "local";
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}
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return user.getUserId() + "";
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}
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public ArrayList<Component> a() {
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return this.b;
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}
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public BoardInfo b() throws JimuException {
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BoardInfo l;
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try {
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try {
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if (!this.a.h()) {
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this.a.c();
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throw new JimuException(-1, "ERROR_CODE_NOT_JIMU_DEVICE");
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}
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this.a.n();
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try {
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Thread.sleep(2000L);
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} catch (InterruptedException e) {
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e.printStackTrace();
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Thread.currentThread().interrupt();
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}
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try {
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l = this.a.l();
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} catch (JimuException e2) {
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XLog.b("ModelMatchModel", "Read mother board info fail! Retry one time");
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try {
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if (e2.getCode() == 238) {
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this.a.b();
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}
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Thread.sleep(1000L);
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} catch (InterruptedException e3) {
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e3.printStackTrace();
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Thread.currentThread().interrupt();
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}
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try {
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l = this.a.l();
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} catch (JimuException unused) {
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XLog.c("ModelMatchModel", "read board fail! goto connect fail page");
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throw new JimuException(-2, "MATCH_RESULT_ERROR_READ_CODE_FAIL");
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}
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}
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if (l != null) {
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return l;
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}
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XLog.b("ModelMatchModel", "Read mother board info fail! ");
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throw new JimuException(-2, "MATCH_RESULT_ERROR_READ_CODE_FAIL");
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} catch (JimuException e4) {
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XLog.c("ModelMatchModel", "read board fail! goto connect fail page");
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throw new JimuException(-2, e4.getMessage());
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}
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} catch (RequestException e5) {
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XLog.c("ModelMatchModel", "read board fail! goto connect fail page");
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throw new JimuException(-2, e5.getMessage());
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}
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}
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public void a(String str, boolean z, MatchResultCallback matchResultCallback) {
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BoardInfo l;
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int i;
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XLog.c("ModelMatchModel", "start match model");
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try {
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try {
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if (!this.a.h()) {
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this.a.c();
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matchResultCallback.a(-1, null);
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return;
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}
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this.a.n();
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try {
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Thread.sleep(2000L);
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} catch (InterruptedException unused) {
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Thread.currentThread().interrupt();
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}
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try {
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l = this.a.l();
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} catch (JimuException e) {
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XLog.b("ModelMatchModel", "Read mother board info fail! Retry one time");
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try {
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if (e.getCode() == 238) {
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this.a.b();
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}
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Thread.sleep(1000L);
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} catch (InterruptedException e2) {
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e2.printStackTrace();
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Thread.currentThread().interrupt();
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}
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try {
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l = this.a.l();
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} catch (JimuException unused2) {
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XLog.c("ModelMatchModel", "read board fail! goto connect fail page");
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matchResultCallback.a(-2, null);
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return;
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}
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}
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if (l == null) {
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XLog.b("ModelMatchModel", "Read mother board info fail! ");
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matchResultCallback.a(-2, null);
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return;
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}
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if (l.l()) {
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XLog.c("ModelMatchModel", "peripheral ID duplication");
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i = -4;
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} else {
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i = 0;
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}
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this.b = a(l, str, z);
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Iterator<Component> it = this.b.iterator();
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while (it.hasNext()) {
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Component next = it.next();
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if (next.b() != ErrorType.NONE) {
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XLog.c("ModelMatchModel", "Has some component not match. component:" + next);
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i = -3;
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}
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}
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matchResultCallback.a(i, l);
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} catch (JimuException unused3) {
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XLog.c("ModelMatchModel", "read board fail! goto connect fail page");
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matchResultCallback.a(-2, null);
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}
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} catch (RequestException unused4) {
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XLog.c("ModelMatchModel", "read board fail! goto connect fail page");
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matchResultCallback.a(-2, null);
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}
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}
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private List<Integer> c(List<Integer> list, List<Integer> list2) {
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if (list == null) {
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return new ArrayList();
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}
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ArrayList arrayList = new ArrayList(list);
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if (list2 == null) {
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return arrayList;
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}
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arrayList.removeAll(list2);
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return arrayList;
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}
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private List<Integer> b(List<Integer> list, List<Integer> list2) {
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if (list2 == null) {
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return new ArrayList();
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}
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ArrayList arrayList = new ArrayList(list2);
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if (list == null) {
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return arrayList;
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}
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arrayList.removeAll(list);
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return arrayList;
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}
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public void b(BoardInfo boardInfo, String str, boolean z) {
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String c = c();
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if (a(z, str)) {
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a(str, c, boardInfo, z);
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a(str, c, boardInfo);
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} else {
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b(str, c, boardInfo, z);
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}
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}
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private static void b(String str, String str2, BoardInfo boardInfo, boolean z) {
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String c;
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PeripheralConnections a = PeripheralConnections.a(str, str2, z);
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if (a == null) {
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return;
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}
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a.a(boardInfo);
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if (z) {
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c = FilePathUtils.a(str, str2);
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} else {
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c = FilePathUtils.c(str, str2);
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}
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a.b(c);
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a(str, true, PeripheralConnections.d(c), 2);
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}
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public ArrayList<Component> a(BoardInfo boardInfo, String str, boolean z) {
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String a;
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ArrayList<Component> arrayList = new ArrayList<>();
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if (boardInfo == null) {
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XLog.b("ModelMatchModel", "Board info is null");
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return arrayList;
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}
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if (a(z, str)) {
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return a(boardInfo);
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}
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if (z) {
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a = FilePathUtils.a(str, c());
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} else {
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a = FilePathUtils.a(str);
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String c = FilePathUtils.c(str, c());
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File file = new File(a);
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File file2 = new File(c);
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if (!file.exists() || (file2.exists() && file2.lastModified() > file.lastModified())) {
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a = c;
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}
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}
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XLog.c("ModelMatchModel", "Model file folder path:" + a);
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XLog.c("ModelMatchModel", "robotName:" + str + " isDiyModel:" + z);
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ArrayList<Component> a2 = a(boardInfo, a, str, z);
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StringBuilder sb = new StringBuilder();
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sb.append("componentList:");
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sb.append(a(a2));
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XLog.c("ModelMatchModel", sb.toString());
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a(a2, boardInfo);
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Iterator<Component> it = a2.iterator();
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while (it.hasNext()) {
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Component next = it.next();
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if (next.d() == 8 && next.b() != ErrorType.LACK) {
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if (next.b() == ErrorType.NONE) {
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next.a(ErrorType.PROMPT);
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}
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try {
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BluetoothSpeakerInfo a3 = this.a.a(next.c());
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if (a3 == null) {
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Log.w("ModelMatchModel", "Not read any speaker info, Please check has speaker connected");
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} else {
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((BluetoothSpeakerComponent) next).b(a3.a());
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}
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} catch (JimuException e) {
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XLog.a("ModelMatchModel", e.getMessage(), e);
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}
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}
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}
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return a2;
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}
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public ArrayList<Component> a(BoardInfo boardInfo) {
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ArrayList<Component> arrayList = new ArrayList<>();
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arrayList.add(a(boardInfo.e(), 1, ErrorType.NONE, boardInfo.d()));
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List<Integer> i = boardInfo.i();
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HashMap<Integer, BoardInfo.SensorBoardInfo> h = boardInfo.h();
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a(arrayList, PeripheralType.SERVO, i, boardInfo.j());
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for (Map.Entry<Integer, BoardInfo.SensorBoardInfo> entry : h.entrySet()) {
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BoardInfo.SensorBoardInfo value = entry.getValue();
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if (value != null) {
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a(arrayList, entry.getKey().intValue(), value.b(), value.c());
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}
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}
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a(arrayList, boardInfo);
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Iterator<Component> it = arrayList.iterator();
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while (it.hasNext()) {
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Component next = it.next();
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if (next.d() == 8 && next.b() != ErrorType.LACK) {
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try {
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((BluetoothSpeakerComponent) next).b(this.a.a(next.c()).a());
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} catch (JimuException e) {
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XLog.a("ModelMatchModel", e.getMessage(), e);
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}
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}
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}
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return arrayList;
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}
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private void a(ArrayList<Component> arrayList, int i, List<Integer> list, String str) {
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Iterator<Integer> it = list.iterator();
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while (it.hasNext()) {
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arrayList.add(a(i, it.next().intValue(), ErrorType.NONE, str));
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}
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}
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private String a(ArrayList<Component> arrayList) {
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String str = "";
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for (int i = 0; i < arrayList.size(); i++) {
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str = (str + arrayList.get(i)) + "\n";
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}
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return str;
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}
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private void a(ArrayList<Component> arrayList, BoardInfo boardInfo) {
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if (boardInfo.a().size() != 0) {
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for (Integer num : boardInfo.a()) {
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Iterator<Component> it = arrayList.iterator();
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while (it.hasNext()) {
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Component next = it.next();
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if (next.d() == 128 && next.c() == num.intValue()) {
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it.remove();
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}
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}
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arrayList.add(a(PeripheralType.SERVO, num.intValue(), ErrorType.ID_DUPLICATION));
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}
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}
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for (Map.Entry<Integer, BoardInfo.SensorBoardInfo> entry : boardInfo.h().entrySet()) {
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if (entry.getValue().a().size() != 0) {
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for (Integer num2 : entry.getValue().a()) {
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Iterator<Component> it2 = arrayList.iterator();
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while (it2.hasNext()) {
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Component next2 = it2.next();
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if (next2.d() == entry.getKey().intValue() && next2.c() == num2.intValue()) {
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it2.remove();
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}
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}
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if (entry.getKey().intValue() == 8) {
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arrayList.add(a(entry.getKey().intValue(), num2.intValue(), ErrorType.TOO_MANY));
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} else {
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arrayList.add(a(entry.getKey().intValue(), num2.intValue(), ErrorType.ID_DUPLICATION));
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}
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}
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}
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}
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}
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private ArrayList<Component> a(BoardInfo boardInfo, String str, String str2, boolean z) {
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int i;
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HashMap<Integer, ArrayList<Integer>> b;
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PeripheralConnections peripheralConnections;
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String str3;
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int i2;
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ArrayList<Component> arrayList = new ArrayList<>();
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String str4 = "ModelMatchModel";
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if (boardInfo == null) {
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XLog.b("ModelMatchModel", "Board is null, not compare to model file.");
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return arrayList;
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}
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String str5 = str + "/" + str2 + ".xml";
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if (!z) {
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str5 = FilePathUtils.a(str2) + "/" + str2 + ".xml";
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}
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XLog.a("ModelMatchModel", "xmlPath:" + str5);
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ModelMatchXmlFileManager modelMatchXmlFileManager = new ModelMatchXmlFileManager();
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modelMatchXmlFileManager.a(str5);
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List<Integer> b2 = modelMatchXmlFileManager.b();
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List<Integer> a = modelMatchXmlFileManager.a();
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List<Integer> i3 = boardInfo.i();
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HashMap<Integer, BoardInfo.SensorBoardInfo> h = boardInfo.h();
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arrayList.add(a(boardInfo.e(), 1, ErrorType.NONE, boardInfo.d()));
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Iterator<Integer> it = a(b2, i3).iterator();
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while (true) {
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boolean hasNext = it.hasNext();
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i = PeripheralType.SERVO;
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if (!hasNext) {
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break;
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}
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arrayList.add(a(PeripheralType.SERVO, it.next().intValue(), ErrorType.NONE, boardInfo.j()));
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}
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for (Integer num : c(b2, i3)) {
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if (boardInfo.a().contains(num)) {
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Component a2 = a(PeripheralType.SERVO, num.intValue(), ErrorType.ID_DUPLICATION);
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a2.a(boardInfo.j());
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arrayList.add(a2);
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} else {
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arrayList.add(a(PeripheralType.SERVO, num.intValue(), ErrorType.LACK));
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}
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}
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Iterator<Integer> it2 = b(b2, i3).iterator();
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while (it2.hasNext()) {
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Component a3 = a(PeripheralType.SERVO, it2.next().intValue(), ErrorType.EXTRA);
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a3.a(boardInfo.j());
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arrayList.add(a3);
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}
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int i4 = 10;
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BoardInfo.SensorBoardInfo sensorBoardInfo = h.get(10);
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List<Integer> b3 = sensorBoardInfo != null ? sensorBoardInfo.b() : null;
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Iterator<Integer> it3 = a(a, b3).iterator();
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while (it3.hasNext()) {
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arrayList.add(a(10, it3.next().intValue(), ErrorType.NONE, sensorBoardInfo.c()));
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}
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Iterator<Integer> it4 = c(a, b3).iterator();
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while (it4.hasNext()) {
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arrayList.add(a(10, it4.next().intValue(), ErrorType.LACK));
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}
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List<Integer> b4 = b(a, b3);
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if (b4 != null && b4.size() != 0) {
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Iterator<Integer> it5 = b4.iterator();
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while (it5.hasNext()) {
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Component a4 = a(10, it5.next().intValue(), ErrorType.EXTRA);
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if (sensorBoardInfo != null) {
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a4.a(sensorBoardInfo.c());
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}
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arrayList.add(a4);
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}
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}
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PeripheralConnections a5 = PeripheralConnections.a(str2, c(), z);
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if (a5 == null) {
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XLog.b("ModelMatchModel", "Get peripheral connections fail by read connections file!");
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b = new HashMap<>();
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} else {
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b = a5.b();
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}
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HashMap<Integer, ArrayList<Integer>> hashMap = b;
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Field[] declaredFields = PeripheralType.class.getDeclaredFields();
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int length = declaredFields.length;
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int i5 = 0;
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while (i5 < length) {
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try {
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i2 = declaredFields[i5].getInt(PeripheralType.class);
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} catch (IllegalAccessException e) {
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e = e;
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peripheralConnections = a5;
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}
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if (i2 != -1 && i2 != i4 && i2 != 112 && i2 != 113) {
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ArrayList<Integer> arrayList2 = hashMap.get(Integer.valueOf(i2));
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if (i2 == i && arrayList2 != null) {
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Iterator<Integer> it6 = arrayList2.iterator();
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while (it6.hasNext()) {
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int intValue = it6.next().intValue();
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ServoMode servoMode = ServoMode.SERVO_MODE_ANGLE;
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if (a5 != null) {
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a5.a(Integer.valueOf(intValue));
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}
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Iterator<Component> it7 = arrayList.iterator();
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while (true) {
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if (it7.hasNext()) {
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Component next = it7.next();
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if (i == next.d() && intValue == next.c()) {
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ALog.a(str4).d("ServoId:" + intValue + " Mode:" + servoMode);
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((ServoComponent) next).a(servoMode);
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break;
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}
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i = PeripheralType.SERVO;
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}
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}
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i = PeripheralType.SERVO;
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}
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} else {
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BoardInfo.SensorBoardInfo sensorBoardInfo2 = h.get(Integer.valueOf(i2));
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if (sensorBoardInfo2 != null) {
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List<Integer> b5 = sensorBoardInfo2.b();
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if (i2 == 8 && b5.size() > 1) {
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Component a6 = a(i2, 1, ErrorType.TOO_MANY);
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a6.a(sensorBoardInfo2.c());
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arrayList.add(a6);
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} else {
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Iterator<Integer> it8 = a(arrayList2, b5).iterator();
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while (it8.hasNext()) {
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int intValue2 = it8.next().intValue();
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peripheralConnections = a5;
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if (i2 == 8) {
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try {
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str3 = str4;
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if (b5.size() == 1) {
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try {
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arrayList.add(a(i2, intValue2, ErrorType.PROMPT, sensorBoardInfo2.c()));
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a5 = peripheralConnections;
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str4 = str3;
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} catch (IllegalAccessException e2) {
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e = e2;
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e.printStackTrace();
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i5++;
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a5 = peripheralConnections;
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str4 = str3;
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i4 = 10;
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i = PeripheralType.SERVO;
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}
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}
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} catch (IllegalAccessException e3) {
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e = e3;
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str3 = str4;
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e.printStackTrace();
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i5++;
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a5 = peripheralConnections;
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str4 = str3;
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|
i4 = 10;
|
|
i = PeripheralType.SERVO;
|
|
}
|
|
} else {
|
|
str3 = str4;
|
|
}
|
|
arrayList.add(a(i2, intValue2, ErrorType.NONE, sensorBoardInfo2.c()));
|
|
a5 = peripheralConnections;
|
|
str4 = str3;
|
|
}
|
|
peripheralConnections = a5;
|
|
str3 = str4;
|
|
Iterator<Integer> it9 = c(arrayList2, b5).iterator();
|
|
while (it9.hasNext()) {
|
|
arrayList.add(a(i2, it9.next().intValue(), ErrorType.LACK));
|
|
}
|
|
Iterator<Integer> it10 = b(arrayList2, b5).iterator();
|
|
while (it10.hasNext()) {
|
|
Component a7 = a(i2, it10.next().intValue(), ErrorType.EXTRA);
|
|
a7.a(sensorBoardInfo2.c());
|
|
arrayList.add(a7);
|
|
}
|
|
i5++;
|
|
a5 = peripheralConnections;
|
|
str4 = str3;
|
|
i4 = 10;
|
|
i = PeripheralType.SERVO;
|
|
}
|
|
} else if (arrayList2 != null) {
|
|
Iterator<Integer> it11 = arrayList2.iterator();
|
|
while (it11.hasNext()) {
|
|
arrayList.add(a(i2, it11.next().intValue(), ErrorType.LACK));
|
|
}
|
|
}
|
|
}
|
|
}
|
|
peripheralConnections = a5;
|
|
str3 = str4;
|
|
i5++;
|
|
a5 = peripheralConnections;
|
|
str4 = str3;
|
|
i4 = 10;
|
|
i = PeripheralType.SERVO;
|
|
}
|
|
return arrayList;
|
|
}
|
|
|
|
private Component a(int i, int i2, ErrorType errorType, String str) {
|
|
if (i == 8) {
|
|
BluetoothSpeakerComponent bluetoothSpeakerComponent = new BluetoothSpeakerComponent(i2, errorType);
|
|
bluetoothSpeakerComponent.a(str);
|
|
return bluetoothSpeakerComponent;
|
|
}
|
|
if (i == 128) {
|
|
ServoComponent servoComponent = new ServoComponent(i2, errorType);
|
|
servoComponent.a(str);
|
|
return servoComponent;
|
|
}
|
|
Component component = new Component(i, i2, errorType);
|
|
component.a(str);
|
|
return component;
|
|
}
|
|
|
|
private Component a(int i, int i2, ErrorType errorType) {
|
|
if (i == 8) {
|
|
return new BluetoothSpeakerComponent(i2, errorType);
|
|
}
|
|
if (i == 128) {
|
|
return new ServoComponent(i2, errorType);
|
|
}
|
|
return new Component(i, i2, errorType);
|
|
}
|
|
|
|
private List<Integer> a(List<Integer> list, List<Integer> list2) {
|
|
ArrayList arrayList = new ArrayList();
|
|
if (list != null && list2 != null) {
|
|
arrayList.addAll(list);
|
|
arrayList.retainAll(list2);
|
|
}
|
|
return arrayList;
|
|
}
|
|
|
|
public static boolean a(boolean z, String str) {
|
|
if (z) {
|
|
return a(str);
|
|
}
|
|
return false;
|
|
}
|
|
|
|
public static boolean a(String str) {
|
|
return !new File(FilePathUtils.b(str, Cache.getInstance().getUserId())).exists();
|
|
}
|
|
|
|
private static void a(String str, String str2, BoardInfo boardInfo) {
|
|
String str3 = FilePathUtils.a(str, str2) + "/" + str + ".xml";
|
|
new ModelMatchXmlFileManager().a(boardInfo, str3);
|
|
a(str, true, str3, 1);
|
|
}
|
|
|
|
private static void a(String str, boolean z, String str2, int i) {
|
|
DiyDBModel queryForUUid = DiyHelper.getInstance().queryForUUid(str);
|
|
if (queryForUUid == null) {
|
|
Log.w("ModelMatchModel", "Query null for diy model " + str + " from database");
|
|
return;
|
|
}
|
|
new UnityFileOperator(queryForUUid.getModelId().intValue(), str, z ? 1 : 0, str2, i).operateFile();
|
|
}
|
|
|
|
private static void a(String str, String str2, BoardInfo boardInfo, boolean z) {
|
|
String c;
|
|
PeripheralConnections b = PeripheralConnections.b(boardInfo);
|
|
if (z) {
|
|
c = FilePathUtils.a(str, str2);
|
|
} else {
|
|
c = FilePathUtils.c(str, str2);
|
|
}
|
|
b.b(c);
|
|
a(str, true, PeripheralConnections.d(c), 1);
|
|
}
|
|
}
|