990 lines
36 KiB
Java
990 lines
36 KiB
Java
package com.ubtrobot.jimu.robotapi;
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import android.content.Context;
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import android.os.Handler;
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import android.os.HandlerThread;
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import android.os.Message;
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import android.text.TextUtils;
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import android.util.Log;
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import com.ijm.dataencryption.de.DataDecryptTool;
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import com.ubtech.utils.FileHelper;
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import com.ubtech.utils.XLog;
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import com.ubtrobot.jimu.Firmware;
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import com.ubtrobot.jimu.bluetooth.Cancellable;
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import com.ubtrobot.jimu.bluetooth.ConnectCallback;
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import com.ubtrobot.jimu.bluetooth.base.IPacket;
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import com.ubtrobot.jimu.bluetooth.base.ProtocolPacket;
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import com.ubtrobot.jimu.bluetooth.base.discover.ScanResult;
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import com.ubtrobot.jimu.bluetooth.base.discover.ScannedHubEmitter;
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import com.ubtrobot.jimu.connection.PacketsReceiveListener;
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import com.ubtrobot.jimu.connection.RequestException;
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import com.ubtrobot.jimu.connection.RobotConnection;
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import java.io.File;
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import java.util.ArrayList;
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import java.util.LinkedList;
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import java.util.List;
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import java.util.Queue;
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import java.util.Timer;
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/* loaded from: classes2.dex */
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public class UpdateManager implements PacketsReceiveListener, ConnectCallback {
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private Timer a;
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private volatile int b;
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private RobotConnection c;
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private DeviceManager d;
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private JimuScanner e;
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private Cancellable f;
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private List<Firmware> g = new ArrayList();
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private Queue<Firmware> h = new LinkedList();
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private Firmware i;
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private Firmware j;
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private Firmware k;
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private UpdateProgressListener l;
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private int m;
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private HandlerThread n;
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private Handler o;
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private volatile boolean p;
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private int q;
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private BoardInfo r;
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public static class UpdateException extends RequestException {
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public static final int ERR_CODE_DISCONNECTED = -99;
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public static final int ERR_CODE_LOW_POWER = -102;
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public static final int ERR_CODE_NO_FIRMWARE = -101;
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public static final int ERR_CODE_STOP_UPDATE_BOARD_FAILED = -107;
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public static final int ERR_CODE_UPDATE_BOARD_FAILED = -103;
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public static final int ERR_CODE_UPDATE_CANCEL = -106;
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public static final int ERR_CODE_UPDATE_FAILED = -100;
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public static final int ERR_CODE_UPDATE_SENSOR_FAILED = -105;
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public static final int ERR_CODE_UPDATE_SERVO_FAILED = -104;
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private final IPacket response;
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public UpdateException(int i, String str) {
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this(i, str, null, null);
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}
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public IPacket getResponse() {
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return this.response;
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}
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public UpdateException(int i, String str, IPacket iPacket) {
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this(i, str, null, iPacket);
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}
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public UpdateException(int i, String str, Throwable th) {
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this(i, str, th, null);
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}
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public UpdateException(int i, String str, Throwable th, IPacket iPacket) {
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super(i, str, th);
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this.response = iPacket;
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}
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}
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public interface UpdateProgressListener {
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void a(int i);
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void a(int i, int i2);
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void a(int i, Object obj);
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void a(UpdateException updateException);
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void g(BoardInfo boardInfo);
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}
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public UpdateManager(Context context, RobotConnection robotConnection) {
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this.c = robotConnection;
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this.d = new DeviceManager(robotConnection);
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this.e = new JimuScanner(context.getApplicationContext());
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}
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private byte[] a(long j) {
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return new byte[]{(byte) (j & 255), (byte) ((j >> 8) & 255), (byte) ((j >> 16) & 255), (byte) ((j >> 24) & 255)};
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}
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private byte[] b(int i) {
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return new byte[]{(byte) (i & 255), (byte) ((i >> 8) & 255)};
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}
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@Override // com.ubtrobot.jimu.bluetooth.ConnectCallback
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public void onSuccess() {
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c(7);
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}
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private void d() {
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XLog.a("UpdateManager", "quit update cancel=" + this.p);
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try {
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if (this.n != null) {
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this.n.quit();
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this.n = null;
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this.o = null;
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}
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if (this.f == null || this.f.isCancelled()) {
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return;
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}
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this.f.cancel();
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this.f = null;
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} catch (Exception e) {
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e.printStackTrace();
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}
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}
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private void e(String str, IPacket iPacket) {
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byte[] g = iPacket.g();
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if (g == null || g.length < 2) {
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a(new UpdateException(UpdateException.ERR_CODE_UPDATE_SENSOR_FAILED, "83指令返回异常"));
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return;
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}
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int i = g[1] & 255;
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Log.d("UpdateManager", String.format("%s指令返回：%s", "83", Integer.toHexString(i)));
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if (i == 0) {
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a(this.k.c(), 100);
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return;
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}
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if (i == 170) {
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this.c.a(true);
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a(this.k.c(), (Object) null);
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c(3);
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} else {
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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));
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}
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}
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/* JADX INFO: Access modifiers changed from: private */
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public void f() {
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String b = this.c.b();
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if (TextUtils.isEmpty(b)) {
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a(new UpdateException(UpdateException.ERR_CODE_UPDATE_BOARD_FAILED, "新主板升级失败：mac地址为null"));
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} else {
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this.c.a(b, this);
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}
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}
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private int g() throws JimuException {
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int a = a(new ProtocolPacket(130, new byte[]{0}));
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XLog.a("UpdateManager", "取消传感器升级：" + a);
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return a;
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}
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private int h() throws JimuException {
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int a = a(new ProtocolPacket(37, new byte[]{0}));
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XLog.a("UpdateManager", "取消舵机升级：" + a);
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return a;
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}
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/* JADX INFO: Access modifiers changed from: private */
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public void i() {
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this.f = this.e.a(new ScannedHubEmitter() { // from class: com.ubtrobot.jimu.robotapi.UpdateManager.2
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@Override // com.ubtrobot.jimu.bluetooth.base.discover.ScannedHubEmitter
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public void a() {
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}
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@Override // com.ubtrobot.jimu.bluetooth.base.discover.ScannedHubEmitter
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public void a(int i, String str) {
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}
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@Override // com.ubtrobot.jimu.bluetooth.base.discover.ScannedHubEmitter
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public void a(ScanResult scanResult) {
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if (scanResult == null || scanResult.a() == null || TextUtils.isEmpty(scanResult.a().getAddress()) || !scanResult.a().getAddress().equals(UpdateManager.this.c.b())) {
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return;
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}
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XLog.a("UpdateManager", "新主板升级，扫描到设备，准备开始重连...");
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UpdateManager.this.c(6);
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UpdateManager.this.f.cancel();
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}
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}, 60000);
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}
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/* JADX INFO: Access modifiers changed from: private */
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/* JADX WARN: Code restructure failed: missing block: B:30:0x007b, code lost:
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android.util.Log.d("UpdateManager", "total:" + (java.lang.System.currentTimeMillis() - r13) + " sleep: " + r11);
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*/
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/* JADX WARN: Code restructure failed: missing block: B:31:0x009d, code lost:
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if (r16 == false) goto L34;
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*/
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/* JADX WARN: Code restructure failed: missing block: B:32:0x009f, code lost:
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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"));
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*/
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/* JADX WARN: Code restructure failed: missing block: B:33:0x00a9, code lost:
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return;
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*/
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/* JADX WARN: Code restructure failed: missing block: B:34:0x00aa, code lost:
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b(20L);
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*/
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/* JADX WARN: Code restructure failed: missing block: B:35:0x00af, code lost:
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if (r19.p == false) goto L37;
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*/
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/* JADX WARN: Code restructure failed: missing block: B:36:0x00b1, code lost:
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return;
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*/
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/* JADX WARN: Code restructure failed: missing block: B:38:0x00b6, code lost:
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if (a(r4, r7) == 0) goto L41;
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*/
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/* JADX WARN: Code restructure failed: missing block: B:39:0x00b8, code lost:
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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"));
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*/
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/* JADX WARN: Code restructure failed: missing block: B:40:0x00c4, code lost:
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return;
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*/
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/* JADX WARN: Code restructure failed: missing block: B:42:0x00cd, code lost:
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if (r19.i.c() != 113) goto L47;
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*/
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/* JADX WARN: Code restructure failed: missing block: B:43:0x00cf, code lost:
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a(r19.i.c(), 100);
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com.ubtech.utils.XLog.a("UpdateManager", "新主板升级，文件传输完毕，等待60秒重连");
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r19.q = 0;
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*/
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/* JADX WARN: Code restructure failed: missing block: B:44:0x00e1, code lost:
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if (r19.o == null) goto L46;
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*/
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/* JADX WARN: Code restructure failed: missing block: B:45:0x00e3, code lost:
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r19.o.sendMessageDelayed(r19.o.obtainMessage(5), 50000);
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*/
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/* JADX WARN: Code restructure failed: missing block: B:46:?, code lost:
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return;
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*/
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/* JADX WARN: Code restructure failed: missing block: B:47:0x00f3, code lost:
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a(new com.ubtrobot.jimu.robotapi.UpdateManager.UpdateException(com.ubtrobot.jimu.robotapi.UpdateManager.UpdateException.ERR_CODE_UPDATE_BOARD_FAILED, "mHandler=null"));
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*/
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/* JADX WARN: Code restructure failed: missing block: B:48:?, code lost:
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return;
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*/
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/* JADX WARN: Code restructure failed: missing block: B:49:0x00fe, code lost:
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r19.c.a(false);
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*/
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/* JADX WARN: Code restructure failed: missing block: B:50:?, code lost:
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return;
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*/
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/*
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Code decompiled incorrectly, please refer to instructions dump.
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To view partially-correct code enable 'Show inconsistent code' option in preferences
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*/
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public void j() {
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/*
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Method dump skipped, instructions count: 272
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To view this dump change 'Code comments level' option to 'DEBUG'
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*/
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throw new UnsupportedOperationException("Method not decompiled: com.ubtrobot.jimu.robotapi.UpdateManager.j():void");
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}
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/* JADX INFO: Access modifiers changed from: private */
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/* JADX WARN: Code restructure failed: missing block: B:47:0x00d6, code lost:
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if (r5 == false) goto L48;
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*/
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/* JADX WARN: Code restructure failed: missing block: B:48:0x00d8, code lost:
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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"));
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*/
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/* JADX WARN: Code restructure failed: missing block: B:49:0x00e2, code lost:
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return;
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*/
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/* JADX WARN: Code restructure failed: missing block: B:50:0x00e3, code lost:
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b(20L);
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*/
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/* JADX WARN: Code restructure failed: missing block: B:51:0x00e8, code lost:
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if (r11.p == false) goto L51;
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*/
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/* JADX WARN: Code restructure failed: missing block: B:52:0x00ea, code lost:
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return;
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*/
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/* JADX WARN: Code restructure failed: missing block: B:54:0x00ef, code lost:
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if (b(r1, r2) == 0) goto L54;
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*/
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/* JADX WARN: Code restructure failed: missing block: B:55:0x00f1, code lost:
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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"));
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*/
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/* JADX WARN: Code restructure failed: missing block: B:56:0x00fb, code lost:
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r11.c.a(false);
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*/
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/* JADX WARN: Code restructure failed: missing block: B:57:?, code lost:
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return;
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*/
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/*
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Code decompiled incorrectly, please refer to instructions dump.
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To view partially-correct code enable 'Show inconsistent code' option in preferences
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*/
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public void k() {
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/*
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Method dump skipped, instructions count: 269
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To view this dump change 'Code comments level' option to 'DEBUG'
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*/
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throw new UnsupportedOperationException("Method not decompiled: com.ubtrobot.jimu.robotapi.UpdateManager.k():void");
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}
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private void b(String str, IPacket iPacket) {
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int i = iPacket.g()[0] & 255;
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Log.d("UpdateManager", String.format("%s指令返回：%s", "1E", Integer.toHexString(i)));
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if (i == 0) {
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a(this.i.c(), 100);
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return;
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}
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if (i == 1) {
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a(new UpdateException(UpdateException.ERR_CODE_UPDATE_BOARD_FAILED, "老主控开始升级失败"));
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return;
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}
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if (i == 170) {
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a(new UpdateException(UpdateException.ERR_CODE_UPDATE_BOARD_FAILED, "老主控开始还原主程序"));
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} else if (i != 238) {
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a(new UpdateException(UpdateException.ERR_CODE_UPDATE_BOARD_FAILED, "老主控开始升级失败"));
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} else {
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a(new UpdateException(UpdateException.ERR_CODE_UPDATE_BOARD_FAILED, "老主控开始还原失败"));
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}
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}
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/* JADX INFO: Access modifiers changed from: private */
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public void c() {
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XLog.a("UpdateManager", "cancel update");
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this.c.b(this);
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try {
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try {
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if (this.m == 3) {
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g();
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} else if (this.m == 2) {
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h();
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} else if (this.m == 1) {
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b();
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}
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} catch (Exception e) {
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e.printStackTrace();
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}
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} finally {
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d();
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}
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}
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public boolean a(BoardInfo boardInfo) {
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return boardInfo == null || boardInfo.c() != 0 || boardInfo.b() >= 7.4f;
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}
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public boolean a(BoardInfo boardInfo, List<Firmware> list, UpdateProgressListener updateProgressListener) {
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this.m = 0;
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this.l = updateProgressListener;
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if (list != null && list.size() != 0) {
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if (!a(boardInfo)) {
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this.p = true;
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a(new UpdateException(UpdateException.ERR_CODE_LOW_POWER, "电量过低(电池电压低于7.4V)"));
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return false;
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}
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this.r = boardInfo;
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this.i = null;
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this.j = null;
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this.h.clear();
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this.g.clear();
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this.g.addAll(list);
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for (Firmware firmware : list) {
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if (112 != firmware.c() && 113 != firmware.c()) {
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if (128 == firmware.c()) {
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this.j = firmware;
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} else {
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this.h.add(firmware);
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}
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} else {
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this.i = firmware;
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}
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}
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this.c.a(this);
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this.p = false;
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this.n = new HandlerThread("jimu_firmware_update_thread");
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this.n.start();
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this.o = new Handler(this.n.getLooper()) { // from class: com.ubtrobot.jimu.robotapi.UpdateManager.1
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@Override // android.os.Handler
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public void handleMessage(Message message) {
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super.handleMessage(message);
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try {
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switch (message.what) {
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case 1:
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UpdateManager.this.j();
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break;
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case 2:
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UpdateManager.this.k();
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break;
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case 3:
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UpdateManager.this.a(true);
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break;
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case 4:
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UpdateManager.this.c();
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break;
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case 5:
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UpdateManager.this.m = 5;
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UpdateManager.this.i();
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break;
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case 6:
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UpdateManager.this.m = 6;
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UpdateManager.this.f();
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break;
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case 7:
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UpdateManager.this.m = 7;
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UpdateManager.this.e();
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break;
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}
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} catch (Exception e) {
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e.printStackTrace();
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UpdateManager.this.a(new UpdateException(-100, "升级失败", e));
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}
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}
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};
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c(1);
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return true;
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}
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a(new UpdateException(UpdateException.ERR_CODE_NO_FIRMWARE, "需要升级的固件列表为null"));
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return false;
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}
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private int b(byte[] bArr, int i, int i2) throws JimuException {
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return a(new ProtocolPacket(28, a(bArr, i, i2)));
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}
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private void d(String str, IPacket iPacket) {
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int i = iPacket.g()[0] & 255;
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Log.d("UpdateManager", String.format("%s指令返回：%s", "26", Integer.toHexString(i)));
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if (i == 0) {
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a(PeripheralType.SERVO, 100);
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return;
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}
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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;
|
||
}
|
||
}
|