Util.java

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package com.ros.turtlebot.apps.rocon;

import java.lang.reflect.Field;
import java.net.InetAddress;
import java.net.NetworkInterface;
import java.net.SocketException;
import java.util.Collection;
import java.util.Collections;
import java.util.List;

import org.ros.exception.RosRuntimeException;

import android.annotation.SuppressLint;
import android.content.Context;
import android.net.wifi.WifiInfo;
import android.net.wifi.WifiManager;
import android.os.Build;
import android.util.Log;

import com.google.common.collect.Lists;

public class Util {

        // Hex help
                private static final byte[] HEX_CHAR_TABLE = { (byte) '0', (byte) '1',
                                (byte) '2', (byte) '3', (byte) '4', (byte) '5', (byte) '6',
                                (byte) '7', (byte) '8', (byte) '9', (byte) 'A', (byte) 'B',
                                (byte) 'C', (byte) 'D', (byte) 'E', (byte) 'F' };
                                
                public Util() {
                        // TODO Auto-generated constructor stub
                }
                
                public static String getHexString(byte[] raw, int len) {
                        byte[] hex = new byte[3 * len];
                        int index = 0;
                        int pos = 0;

                        for (byte b : raw) {
                                if (pos >= len)
                                        break;

                                pos++;
                                int v = b & 0xFF;
                                hex[index++] = HEX_CHAR_TABLE[v >>> 4];
                                hex[index++] = HEX_CHAR_TABLE[v & 0xF];
                                hex[index++] = ' ';
                        }

                        return new String(hex);
                }
                
                public static byte[] concat(byte[]... arrays) {
                int length = 0;
                for (byte[] array : arrays) {
                        length += array.length;
                }
                
                byte[] result = new byte[length];
                int pos = 0;
                for (byte[] array : arrays) {
                        System.arraycopy(array, 0, result, pos, array.length);
                        pos += array.length;
                }
                
                return result;
            }
                
                public static String getWifiAddress(WifiManager wifiManager, long timeout ) {
                        int interval = 500 ;            // ms
                        int count = (int) timeout / interval ;
                        int ip = 0 ;
                        for(int i = 0 ; i <= count ; i++)
                        {
                                WifiInfo wInfo = wifiManager.getConnectionInfo() ;
                                ip = wInfo.getIpAddress() ;
                                if(ip == 0) {
                                        try {
                                                Thread.sleep(interval);
                                        } catch (InterruptedException e) { e.printStackTrace();}
                                }
                                else
                                        break ;
                        }
                        
                        String ipString = String.format("%d.%d.%d.%d", (ip & 0xff), (ip>>8 & 0xff), (ip>>16 & 0xff), (ip>>24 & 0xff));
                        return  ipString ;
                }
                

            private static Collection<InetAddress> getAllInetAddresses() {
                List<NetworkInterface> networkInterfaces;
                try {
                  networkInterfaces = Collections.list(NetworkInterface.getNetworkInterfaces());
                } catch (SocketException e) {
                  throw new RosRuntimeException(e);
                }
                List<InetAddress> inetAddresses = Lists.newArrayList();
                for (NetworkInterface networkInterface : networkInterfaces) {
                  inetAddresses.addAll(Collections.list(networkInterface.getInetAddresses()));
                }
                return inetAddresses;
              }
            
            public static InetAddress getSiteLocalAddress() {
                for(InetAddress address : getAllInetAddresses()) {
                        if( !address.isLoopbackAddress() && !address.isLinkLocalAddress() && address.isSiteLocalAddress())
                                return address ;
                    }
                
                return null ;
            }
            
            @SuppressLint("NewApi")
                public static String getAndroidVersionName() {
                String name = "";
                int version = -1 ;
                for(Field field : Build.VERSION_CODES.class.getFields()) {
                        try {
                                        version = field.getInt(new Object());
                                } catch (IllegalArgumentException e) { e.printStackTrace(); } 
                        catch (IllegalAccessException e) {      e.printStackTrace(); }
                        
                        if(version == Build.VERSION.SDK_INT) {
                                name = field.getName() ;
                                Log.d("Util", "Android Version Name = " + name);
                                return name ;                   
                        }
                }
                Log.d("Util", "Cannot find Android Version Name");
                return name ;
            }
                
                
}