EM3000

Option Explicit On
Option Strict On

Module EM3000
    Sub Main()
        Dim SingleStatus As sSimRad
        Dim DataOK As Boolean = SingleStatus.ParseData(New Byte() {1, 2, 3, 4, 5, 6, 7, 8, 9, 0})
    End Sub

End Module

Public Structure sSimRad
    Public Enum eStatus As Byte
        Normal = &H90
        Reduced = &H91
        Invalid = &HA0
    End Enum
    Public Status As eStatus
    Public Header As Byte
    Public Roll As Single
    Public Pitch As Single
    Public Heave As Int16
    Public Heading As Single
    ''' <summary>
    ''' Extraxts values from binary motion data
    ''' </summary>
    ''' <param name="Data">EM3000 Binary data 10 bytes</param>
    ''' <returns>True or False</returns>
    Public Function ParseData(ByVal Data() As Byte) As Boolean
        If Data.Length <> 10 Then
            Return False
        Else
            Status = CType(Data(0), eStatus)
            Header = Data(1)
            Roll = CSng(BitConverter.ToInt16(New Byte() {Data(2), Data(3)}, 0) / 100)
            Pitch = CSng(BitConverter.ToInt16(New Byte() {Data(4), Data(5)}, 0) / 100)
            Heave = BitConverter.ToInt16(New Byte() {Data(6), Data(7)}, 0)
            Heading = CSng(BitConverter.ToUInt16(New Byte() {Data(8), Data(9)}, 0) / 100)
            Return True
        End If
    End Function
End Structure