public static InetAddress determineBindAddressBasedOnWifiP2pSubnet(
ArrayList<InetAddress> localIpAddresses, InetAddress destAddress) {
int byteArrayToInt = TypeConversion.byteArrayToInt(destAddress.getAddress());
for (InetAddress inetAddress : localIpAddresses) {
if ((TypeConversion.byteArrayToInt(inetAddress.getAddress()) & WIFI_P2P_SUBNET_MASK)
== (byteArrayToInt & WIFI_P2P_SUBNET_MASK)) {
return inetAddress;
}
}
return Network.getLoopbackAddress();
}
public static InetAddress determineBindAddressBasedOnWifiP2pSubnet(
ArrayList<InetAddress> localIpAddresses, InetAddress destAddress) {
int byteArrayToInt = TypeConversion.byteArrayToInt(destAddress.getAddress());
Iterator it = localIpAddresses.iterator();
while (it.hasNext()) {
InetAddress inetAddress = (InetAddress) it.next();
if ((TypeConversion.byteArrayToInt(inetAddress.getAddress()) & WIFI_P2P_SUBNET_MASK)
== (byteArrayToInt & WIFI_P2P_SUBNET_MASK)) {
return inetAddress;
}
}
return Network.getLoopbackAddress();
}
public double getVoltage() {
return (((double)
((TypeConversion.byteArrayToShort(read(ADDRESS_BATTERY_VOLTAGE, MAX_MOTOR)) >> 6)
& BATTERY_MAX_MEASURABLE_VOLTAGE_INT))
/ 1023.0d)
* BATTERY_MAX_MEASURABLE_VOLTAGE;
}
public int getMotorCurrentPosition(int motor) {
m57a(motor);
return TypeConversion.byteArrayToInt(
read(ADDRESS_MOTOR_CURRENT_ENCODER_VALUE_MAP[motor], CHANNEL_MODE_MASK_LOCK));
}
public void setMotorTargetPosition(int motor, int position) {
m57a(motor);
Range.throwIfRangeIsInvalid((double) position, -2.147483648E9d, 2.147483647E9d);
write(ADDRESS_MOTOR_TARGET_ENCODER_VALUE_MAP[motor], TypeConversion.intToByteArray(position));
}
int readLH(int ireg) {
byte[] bytes = this.i2cDeviceClient.read(ireg, 2);
return TypeConversion.byteArrayToInt(bytes, ByteOrder.LITTLE_ENDIAN);
}
int read8(int ireg) {
byte b = this.i2cDeviceClient.read8(ireg);
return TypeConversion.unsignedByteToInt(b);
}
