BinaryUtils.java

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package org.ros.rosserial;

public class BinaryUtils {

        public static final char[] DIGIT_TO_CHAR = { '0', '1', '2', '3', '4', '5', '6', '7', '8', '9',
                        'A', 'B', 'C', 'D', 'E', 'F' };

        public static String byteArrayToHexString(byte[] in) {

                byte ch = 0x00;

                int i = 0;

                if (in == null || in.length <= 0)

                        return null;

                StringBuilder out = new StringBuilder(in.length * 5);

                while (i < in.length) {
                        out.append("0x");
                        ch = (byte) ((in[i] >>> 4) & 0x0F); // Strip off high nibble

                        out.append(DIGIT_TO_CHAR[(int) ch]);

                        ch = (byte) (in[i] & 0x0F); // Strip off low nibble

                        out.append(DIGIT_TO_CHAR[(int) ch]);
                        out.append(' ');

                        i++;
                }

                return out.toString();
        }
}