jimu-decompiled/sources/com/ubtrobot/jimu/robotapi/GlobalExceptionUtil.java

package com.ubtrobot.jimu.robotapi;

import android.content.Context;
import android.text.TextUtils;
import com.ubtech.utils.XLog;
import com.ubtrobot.jimu.bluetooth.base.IPacket;
import com.ubtrobot.jimu.exception.BatteryException;
import com.ubtrobot.jimu.exception.EngineProtectException;
import com.ubtrobot.jimu.exception.EngineVersionException;
import com.ubtrobot.jimu.exception.RobotActiveException;
import java.util.ArrayList;
import java.util.HashMap;
import java.util.List;
import java.util.Map;

/* loaded from: classes2.dex */
public class GlobalExceptionUtil {

    public interface ExceptionCallback {
        void a(String str, RobotActiveException robotActiveException, List<Integer> list);
    }

    private boolean a(int i, int i2) {
        return ((i >> i2) & 1) > 0;
    }

    public RobotActiveException a(IPacket iPacket, String str) {
        byte[] g = iPacket.g();
        int i = g[0] & 255;
        XLog.a("woo", "errorCode: %d", Integer.valueOf(i));
        if (i == 0) {
            return null;
        }
        if (i == 1) {
            return new BatteryException(i, g[1] & 255, "Battery Error");
        }
        if (i == 2) {
            Map<Integer, List<Integer>> a = a(g);
            if (a == null || a.size() <= 0) {
                return null;
            }
            return new EngineProtectException(i, "Servo is protected", PeripheralType.SERVO, a);
        }
        if (i == 3) {
            return new EngineVersionException(i, "The Servo version is inconformity", PeripheralType.SERVO, g[1] & 255);
        }
        if (i != 4) {
            return i != 5 ? new RobotActiveException(i, "Unknown Exception") : new EngineVersionException(i, "The Motor version is inconformity", 10, g[1] & 255);
        }
        Map<Integer, List<Integer>> a2 = a(g);
        if (a2 == null || a2.size() <= 0) {
            return null;
        }
        return new EngineProtectException(i, "Motor is protected", 10, a2);
    }

    private Map<Integer, List<Integer>> a(byte[] bArr) {
        HashMap hashMap = new HashMap();
        List<Integer> a = a(a(bArr, 1));
        if (a != null && a.size() > 0) {
            hashMap.put(1, a);
        }
        List<Integer> a2 = a(a(bArr, 5));
        if (a2 != null && a2.size() > 0) {
            hashMap.put(2, a2);
        }
        List<Integer> a3 = a(a(bArr, 9));
        if (a3 != null && a3.size() > 0) {
            hashMap.put(4, a3);
        }
        List<Integer> a4 = a(a(bArr, 13));
        if (a4 != null && a4.size() > 0) {
            hashMap.put(8, a4);
        }
        List<Integer> a5 = a(a(bArr, 17));
        if (a5 != null && a5.size() > 0) {
            hashMap.put(16, a5);
        }
        List<Integer> a6 = a(a(bArr, 21));
        if (a6 != null && a6.size() > 0) {
            hashMap.put(32, a6);
        }
        List<Integer> a7 = a(a(bArr, 25));
        if (a7 != null && a7.size() > 0) {
            hashMap.put(64, a7);
        }
        return hashMap;
    }

    private List<Integer> a(int i) {
        ArrayList arrayList = null;
        for (int i2 = 0; i2 < 32; i2++) {
            if (a(i, i2)) {
                if (arrayList == null) {
                    arrayList = new ArrayList();
                }
                arrayList.add(Integer.valueOf(i2 + 1));
            }
        }
        return arrayList;
    }

    private int a(byte[] bArr, int i) {
        return bArr[i + 3] | (bArr[i] << 24) | (bArr[i + 1] << 16) | (bArr[i + 2] << 8);
    }

    public static void a(Context context, RobotActiveException robotActiveException, ExceptionCallback exceptionCallback) {
        int errorCode = robotActiveException.getErrorCode();
        if ((errorCode == 2 || errorCode == 4) && (robotActiveException instanceof EngineProtectException)) {
            EngineProtectException engineProtectException = (EngineProtectException) robotActiveException;
            int higherExceptionCode = engineProtectException.getHigherExceptionCode();
            List<Integer> errorMapByCode = engineProtectException.getErrorMapByCode(higherExceptionCode);
            String errorMessage = engineProtectException.getErrorMessage(context, higherExceptionCode, errorMapByCode);
            if (TextUtils.isEmpty(errorMessage) || exceptionCallback == null) {
                return;
            }
            exceptionCallback.a(errorMessage, engineProtectException, errorMapByCode);
            return;
        }
        if (errorCode == 1 && (robotActiveException instanceof BatteryException)) {
            BatteryException batteryException = (BatteryException) robotActiveException;
            String errorMessage2 = batteryException.getErrorMessage(context);
            if (TextUtils.isEmpty(errorMessage2) || exceptionCallback == null) {
                return;
            }
            exceptionCallback.a(errorMessage2, batteryException, null);
        }
    }
}