ethercat-linux/scripts/tc-check-el6695.ps1

#Requires -Version 5.1
<#
.SYNOPSIS
    Check EL6695 EtherCAT status via TwinCAT automation interface.
.DESCRIPTION
    Opens the solution, reads EtherCAT master state, finds EL6695,
    reports AL state, PDO mapping, SM configuration, and CoE objects.
#>
[CmdletBinding()]
param(
    [string]$Solution = "C:\Users\tonycao\work\twincat3-auto-cli\TwinCAT_EL6695_Secondary\TwinCAT_EL6695_Secondary.sln",
    [string]$TargetNetId = "10.0.0.106.1.1",
    [switch]$Visible
)

. "$PSScriptRoot\tc-common.ps1"

$LogFile = Join-Path $script:DefaultLogDir "check-el6695.log"
New-Log $script:DefaultLogDir

Write-Log "=== Check EL6695 Status ===" $LogFile

try {
    $dte = Get-Dte -Visible:$Visible
} catch {
    Write-Log "FATAL: Cannot create DTE — $_" $LogFile
    Write-Host "ERROR: Cannot create DTE: $_" -ForegroundColor Red
    exit 1
}

try {
    if (-not (Open-Solution -Dte $dte -Solution $Solution)) {
        throw "Solution did not open"
    }

    $sysMgr = Get-SysManager -Dte $dte
    if (-not $sysMgr) {
        Write-Log "FATAL: SysManager is null" $LogFile
        Write-Host "ERROR: SysManager is null" -ForegroundColor Red
        exit 1
    }

    Write-Log "SysManager obtained OK" $LogFile

    # Try to get project info
    try {
        $proj = $dte.Solution.Projects.Item(1)
        Write-Log "Project: $($proj.Name)" $LogFile
        Write-Host "Project: $($proj.Name)"
    } catch {
        Write-Log "Cannot get project: $_" $LogFile
    }

    # Try to access EtherCAT master via automation interface
    # The key is to enumerate tree items to find the EtherCAT master and devices
    try {
        $configMgr = $sysMgr.ConfigurationManager
        Write-Log "ConfigurationManager obtained" $LogFile

        # Try to get the build info
        $buildInfo = $configMgr.BuildInfo
        Write-Log "BuildInfo: $($buildInfo | Out-String)" $LogFile
        Write-Host "BuildInfo: $($buildInfo | Out-String)"
    } catch {
        Write-Log "ConfigManager error: $_" $LogFile
    }

    # Use JSON command to query EtherCAT state
    Write-Log "Querying EtherCAT state via JSON command..." $LogFile

    # Create a temp JSON command file
    $jsonCmd = @"
{
    "commands": [
        {
            "method": "GetInfo",
            "params": {}
        }
    ]
}
"@
    $jsonFile = Join-Path $env:TEMP "tc_query.json"
    $jsonCmd | Out-File -FilePath $jsonFile -Encoding UTF8

    try {
        $result = & "C:\Program Files (x86)\Beckhoff\TwinCAT\3.1\Components\Base\TcSysManCmdHelper.exe" `
            -v 4026.0 `
            -o $Solution `
            -j $jsonFile 2>&1

        Write-Log "JSON query result: $result" $LogFile
        Write-Host "JSON query result: $result"
    } catch {
        Write-Log "JSON query error: $_" $LogFile
    }

    # Try to read specific CoE objects via command
    Write-Log "Trying to read CoE objects via command interface..." $LogFile

    # Try using the -c command option
    $cmdJson = '{"method":"ReadCoE","params":{"address":"0x1018","subIndex":1}}'
    try {
        $result = & "C:\Program Files (x86)\Beckhoff\TwinCAT\3.1\Components\Base\TcSysManCmdHelper.exe" `
            -v 4026.0 `
            -o $Solution `
            -c $cmdJson 2>&1

        Write-Log "CoE read result: $result" $LogFile
        Write-Host "CoE read result: $result"
    } catch {
        Write-Log "CoE read error: $_" $LogFile
    }

    Write-Log "=== Check complete ===" $LogFile
    Write-Host "`nCheck complete. Log: $LogFile" -ForegroundColor Green

} finally {
    try { $dte.Quit() } catch { }
}