using System;

public class Program

{

    public static void Main()

    {

        byte[] posArr = new byte[] {

                0x29,0x8A,0x71,0x45,0x59,0xFB,0x1D,0xB0,0x7F,0x59

        };

        DecodeT24Payload(posArr);

    }

      public static void DecodeT24Payload(byte[] payload)

        {

            if (payload.Length != 10 && payload.Length != 11 && payload.Length != 13 && payload.Length != 14 && payload.Length != 18)

                throw (new ArgumentException("Incorrect Messsage Length"));

​

​

            //pRawData = "A98A724559FB37124370";

            byte[] lTemp32 = new byte[4]; // Needed to pad 1 and 3 byte numbers to 4 bytes during conversion.

​

            // Degree = 6 minutes of arch minute = 60 seconds of arch

​

            // Get the latitude, longitude signs and heading

            lTemp32[3] = 0;

            lTemp32[2] = 0;

            lTemp32[1] = 0;

            lTemp32[0] = payload[7];

            // AND with 00001000 because I only want bit 3. lLatSign will = -1 if negative 1 if positive

            Int32 lLonSign = ((Int32)BitConverter.ToInt32(lTemp32, 0) & 8) == 8 ? 1 : -1;

            // AND with 00010000 because I only want bit 4. lLonSign will = -1 if negative 1 if positive

            Int32 lLatSign = ((Int32)BitConverter.ToInt32(lTemp32, 0) & 16) == 16 ? 1 : -1;

            // AND with 00000111 because I only want bits 0,1 and 2.

            var Heading = ((Int32)BitConverter.ToInt32(lTemp32, 0) & 7);

            Console.WriteLine("Heading" + Heading);

            float HeadingInDegrees;

​

            switch (Heading)

            {

                case 0:

                    HeadingInDegrees = 0f;

                    break;

​

                case 1:

                    HeadingInDegrees = 45f;

                    break;

​

                case 2:

                    HeadingInDegrees = 90f;

                    break;

​

                case 3:

                    HeadingInDegrees = 135f;

                    break;

​

                case 4:

                    HeadingInDegrees = 180f;

                    break;

​

                case 5:

                    HeadingInDegrees = 225f;

                    break;

​

                case 6:

                    HeadingInDegrees = 270f;

                    break;

​

                case 7:

                    HeadingInDegrees = 315f;

                    break;

            }

​

            // AND with 00100000

            bool Emergency = ((Int32)BitConverter.ToInt32(lTemp32, 0) & 32) == 32 ? true : false;

            Console.WriteLine("Emergency" + Emergency);

            // AND with 01000000

            bool EmergencyAck = ((Int32)BitConverter.ToInt32(lTemp32, 0) & 64) == 64 ? true : false;

          Console.WriteLine("EmergencyAck" + EmergencyAck);

​

            // Get the latitude

            lTemp32[3] = 0; // pad

            lTemp32[2] = payload[0];

            lTemp32[1] = payload[1];

            lTemp32[0] = payload[2];

            // AND with 011111111111111111111111 to strip the most significant bit (of the original 3 bytes)

            //10000000000000000000000

            // This bit is part of the time calculation and not used here.

            var lat = (Int32)BitConverter.ToInt32(lTemp32, 0) & 8388607;

            // Now get the time bit

            Byte lTimeBit = ((Int32)BitConverter.ToInt32(lTemp32, 0) & 8388608) == 8388608 ? (byte)1 : (byte)0;

            //Int32 lTimeBit = (Int32)BitConverter.ToInt32(lTemp32, 0) & 8388608;

            // ((Latitude times scale) divided by 60) rounded to 0 decimal points

            // plus (remainder of ((Latitude times scale) divided by 60) divided by 100)

            // Round the whole thing to 5 decimal points and finaly times  by lLatSign

            // Latitude = Math.Round(((int)(Latitude * 0.001) / 60) + ((((Latitude * 0.001) % 60)) / 100), 5) * lLatSign;

            double LatitudeInDegrees = Math.Round(((lat / 60d) * .00100d), 5, MidpointRounding.AwayFromZero) * lLatSign;

            Console.WriteLine("LatitudeInDegrees" + LatitudeInDegrees);

​

            // Get the longitude

            lTemp32[3] = 0; // pad

            lTemp32[2] = payload[3];

            lTemp32[1] = payload[4];

            lTemp32[0] = payload[5];

            var lon = BitConverter.ToInt32(lTemp32, 0);

            // ((Longitude times scale) divided by 60) rounded to 0 decimal points

            // plus (remainder of ((Longitude times scale) divided by 60) divided by 100)

            // Round the whole thing to 5 decimal points and finaly times  by lLonSign

            //Longitude = Math.Round(((int)(Longitude * 0.001) / 60) + ((((Longitude * 0.001) % 60)) / 100), 5) * lLonSign;

            double LongitudeInDegrees = Math.Round(((lon / 60d) * .00100d), 5, MidpointRounding.AwayFromZero) * lLonSign;

             Console.WriteLine("LongitudeInDegrees" + LongitudeInDegrees);

​

            // Get the speed

            lTemp32[3] = 0; // pad

            lTemp32[2] = 0; // pad

            lTemp32[1] = 0; // pad

            lTemp32[0] = payload[6];

            float Speed = KnotsToMetersPerSecond(BitConverter.ToInt32(lTemp32, 0));

          Console.WriteLine("Speed " + Speed);

​

            //Extended GPS Byte

            if (payload.Length == 10)

            {

                bool GpsPollingResponse = false;

              //  report.IgnitionIndicator = null;

              //  report.BatteryCharging = null;

              //  report.BatteryLevel = null;

                Console.WriteLine("GpsPollingResponse" + GpsPollingResponse);

            }

            else if (payload.Length >= 11)

            {

                lTemp32[3] = 0;

                lTemp32[2] = 0;

                lTemp32[1] = 0;

                lTemp32[0] = payload[10];

​

                // BatteryLevel = ((Int32)BitConverter.ToInt32(lTemp32, 0));

​

                //Altitude = BitConverter.ToInt32(lTemp32, 0);

                bool GpsPollingResponse = ((Int32)BitConverter.ToInt32(lTemp32, 0) & 1) == 1 ? true : false;

                bool BatteryCharging = ((Int32)BitConverter.ToInt32(lTemp32, 0) & 64) == 64 ? true : false;

                Console.WriteLine("GpsPollingResponse" + GpsPollingResponse);

                Console.WriteLine("BatteryCharging" + BatteryCharging);

​

                /*BatteryLevel = ((Int32)BitConverter.ToInt32(lTemp32, 0) & 56);

                if (((Int32)BitConverter.ToInt32(lTemp32, 0) & 120) == 0) { BatteryCharging = null; BatteryLevel = null; }

                else if (BatteryLevel == 1 || BatteryLevel == 8) BatteryLevel = 0;

                else if (BatteryLevel == 2 || BatteryLevel == 9) BatteryLevel = 25;

                else if (BatteryLevel == 3 || BatteryLevel == 10) BatteryLevel = 50;

                else if (BatteryLevel == 4 || BatteryLevel == 11) BatteryLevel = 75;

                else if (BatteryLevel == 5 || BatteryLevel == 12) BatteryLevel = 100;*/

​

                int lIgnitionIndication = ((Int32)BitConverter.ToInt32(lTemp32, 0) & 6);

                Console.WriteLine("lIgnitionIndication" + lIgnitionIndication);

                // if (lIgnitionIndication == 0) report.IgnitionIndicator = null;

                // else if (lIgnitionIndication == 1) report.IgnitionIndicator = true;

                // else if (lIgnitionIndication == 2) report.IgnitionIndicator = false;

​

                if (payload.Length >= 13)

                {

                    lTemp32[3] = 0;

                    lTemp32[2] = 0;

                    lTemp32[1] = payload[11];

                    lTemp32[0] = payload[12];

​

                    int Altitude = BitConverter.ToInt32(lTemp32, 0);

                    Console.WriteLine("Altitude" + Altitude);

                }

            }

​

            // Get the time

            lTemp32[3] = 0; // pad

            //lTemp32[2] = 0; // pad

            lTemp32[2] = lTimeBit;

            lTemp32[1] = payload[8];

            lTemp32[0] = payload[9];

            // AND with 11111111111111111 to strip the 15 most significant bits

            Int32 lSeconds = (Int32)BitConverter.ToInt32(lTemp32, 0);

          Console.WriteLine("Itemp" + lSeconds);

            // If the number of seconds since midnight right now is less than the number of second

            // since midnight expressed in the message than the message must have been send before

            // midnight but received after midnight. In this case I calculate the date based on the

            // number of seconds since midnight yesterday instead of today. The only time this will

            // not work is in the case where it actually took more than 24 hours to deliver the

            // message That should never happen during normal operation, but if it does then the

            // date will be calculated based on today, which is wrong

            DateTime lUtcTime = DateTime.Now.ToUniversalTime();

​

            if (lSeconds > (Int32)(lUtcTime.TimeOfDay.TotalSeconds + 60))

                lSeconds = (Int32)(lUtcTime.TimeOfDay.TotalSeconds);

            DateTime Timestamp = lUtcTime.Date.AddSeconds(lSeconds);

            Console.WriteLine("Timestamp" + Timestamp);

            //Time to send report over network

            int SecondsToReachServer = (int)DateTime.UtcNow.Subtract(Timestamp).TotalSeconds;

        }

    public static long FromBytes(byte[] buffer, int startIndex, int bytesToConvert)

        {

            long ret = 0;

            for (int i=0; i < bytesToConvert; i++)

            {

                ret = unchecked((ret << 8) | buffer[startIndex+i]);

            }

        Console.WriteLine("ret" + ret);

            return ret;

        }

    public static long CheckedFromBytes(byte[] value, int startIndex, int bytesToConvert)

        {

            return FromBytes(value, startIndex, bytesToConvert);

        }

​

    public static int ToInt32 (byte[] value, int startIndex)

        {

            return unchecked((int) (CheckedFromBytes(value, startIndex, 4)));

        }

    public static float KnotsToMetersPerSecond(float knots)

        {

            return knots * 0.514444f;

        }

}