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

#Requires -RunAsAdministrator
#Requires -Version 5.1
[CmdletBinding()]
param(
    [string]$Solution = $null
)

$ErrorActionPreference = 'Continue'

. "$PSScriptRoot\tc-common.ps1"
if (-not $Solution) { $Solution = $script:DefaultSolution }

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

function Write-Log($Message) {
    $line = "[{0}] {1}" -f (Get-Date -Format 'HH:mm:ss'), $Message
    Write-Host $line
    Add-Content -Path $LogFile -Value $line -Encoding UTF8
}

# Load TwinCAT.Ads
$adsDll = 'C:\Program Files (x86)\Beckhoff\TwinCAT\3.1\Components\Base\v170\TwinCAT.Ads.dll'
try {
    Add-Type -Path $adsDll -ErrorAction Stop
    Write-Log "TwinCAT.Ads loaded from $adsDll"
} catch {
    Write-Log "FATAL: Cannot load TwinCAT.Ads: $_"
    exit 1
}

# Helper to bind to running XAE DTE via ROT
function Get-XaeDte {
    Add-Type -TypeDefinition @'
    using System;
    using System.Runtime.InteropServices;
    using System.Runtime.InteropServices.ComTypes;
    public class XaeRot {
        [DllImport("ole32.dll")] static extern int GetRunningObjectTable(int reserved, out IRunningObjectTable pprot);
        [DllImport("ole32.dll")] static extern int CreateBindCtx(int reserved, out IBindCtx ppbc);
        public static object GetDte(string match) {
            IRunningObjectTable rot; IBindCtx bc;
            GetRunningObjectTable(0, out rot);
            CreateBindCtx(0, out bc);
            IEnumMoniker em; rot.EnumRunning(out em);
            IMoniker[] mons = new IMoniker[1];
            IntPtr fetched = IntPtr.Zero;
            while (em.Next(1, mons, fetched) == 0) {
                string name; mons[0].GetDisplayName(bc, null, out name);
                if (name.IndexOf(match, StringComparison.OrdinalIgnoreCase) >= 0) {
                    object o; rot.GetObject(mons[0], out o);
                    return o;
                }
            }
            return null;
        }
    }
'@ -ReferencedAssemblies System.Runtime.InteropServices
    return [XaeRot]::GetDte('TcXaeShell.DTE')
}

function Read-Ads($NetId, $Port, $IGrp, $IOff, $Len) {
    $c = New-Object TwinCAT.Ads.TcAdsClient
    try {
        $c.Connect($NetId, $Port)
        $buf = New-Object byte[] $Len
        $n = $c.Read([uint32]$IGrp, [uint32]$IOff, $buf, 0, $Len)
        $hex = [BitConverter]::ToString($buf, 0, $n)
        return "OK n=$n : $hex"
    } catch {
        return "ERR: $($_.Exception.Message)"
    } finally {
        $c.Dispose()
    }
}

Write-Log "=== TwinCAT State Check ==="

# Try to bind to running XAE DTE
$dte = Get-XaeDte
if (-not $dte) {
    Write-Log "No running XAE DTE found. Creating a new one..."
    try {
        $dte = New-Object -ComObject TcXaeShell.DTE.17.0 -ErrorAction Stop
        $dte.MainWindow.Visible = $true
    } catch {
        Write-Log "FATAL: Cannot create DTE: $_"
        exit 1
    }
}

if (-not $dte.Solution.IsOpen) {
    Write-Log "Opening solution $Solution"
    try {
        $dte.Solution.Open($Solution)
        for ($i = 1; $i -le 120; $i++) {
            Start-Sleep -Seconds 1
            if ($dte.Solution.IsOpen) { break }
        }
    } catch {
        Write-Log "Solution.Open error: $_"
    }
}
Write-Log "Solution open: $($dte.Solution.IsOpen)"
Write-Log "Solution path: $($dte.Solution.FullName)"

$sysMgr = $null
for ($i = 1; $i -le 40; $i++) {
    try {
        $sysMgr = $dte.Solution.Projects.Item(1).Object
        if ($sysMgr) { break }
    } catch {}
    Start-Sleep -Seconds 2
}
if (-not $sysMgr) {
    Write-Log "FATAL: Cannot get SysManager"
    exit 1
}
Write-Log "SysManager obtained"

$targetNetId = '169.254.176.217.1.1'
$platform = 'TwinCAT RT (x64)'
try { $sysMgr.SetTargetNetId($targetNetId); Write-Log "SetTargetNetId $targetNetId OK" } catch { Write-Log "SetTargetNetId error: $_" }
try { $sysMgr.ConfigurationManager.ActiveTargetPlatform = $platform; Write-Log "ActiveTargetPlatform set to $platform" } catch { Write-Log "Set platform error: $_" }
Start-Sleep -Seconds 3

# Read state before activation
Write-Log "--- State BEFORE activation ---"
try { Write-Log "IsTwinCATStarted = $($sysMgr.IsTwinCATStarted)" } catch { Write-Log "IsTwinCATStarted error: $_" }
try { Write-Log "CurrentMode = $($sysMgr.CurrentMode)" } catch { Write-Log "CurrentMode error: $_" }
try { Write-Log "TargetNetId = $($sysMgr.ConfigurationManager.ActiveConfiguration.TargetNetId)" } catch { Write-Log "TargetNetId error: $_" }
try { Write-Log "ActivePlatform = $($sysMgr.ConfigurationManager.ActiveTargetPlatform)" } catch { Write-Log "ActivePlatform error: $_" }

# Activate
Write-Log "Activating configuration..."
try { $sysMgr.ActivateConfiguration(); Write-Log "ActivateConfiguration OK" } catch { Write-Log "ActivateConfiguration error: $_" }
Start-Sleep -Seconds 5

# Restart runtime to Run mode
Write-Log "Restarting TwinCAT runtime..."
try { $sysMgr.StartRestartTwinCAT(); Write-Log "StartRestartTwinCAT OK" } catch { Write-Log "StartRestartTwinCAT error: $_" }
Start-Sleep -Seconds 10

# Read state after restart
Write-Log "--- State AFTER activation/restart ---"
try { Write-Log "IsTwinCATStarted = $($sysMgr.IsTwinCATStarted)" } catch { Write-Log "IsTwinCATStarted error: $_" }
try { Write-Log "CurrentMode = $($sysMgr.CurrentMode)" } catch { Write-Log "CurrentMode error: $_" }
try { $msgs = $sysMgr.GetLastErrorMessages(); Write-Log "LastErrorMessages = $msgs" } catch { Write-Log "GetLastErrorMessages error: $_" }

# ADS diagnostics
Write-Log "--- ADS diagnostics ---"
Write-Log "System ADS state (169.254.176.217.1.1, port 65535, iGrp 0x0, iOff 0, 4 bytes): $(Read-Ads '169.254.176.217.1.1' 65535 0 0 4)"
Write-Log "EtherCAT master 1 state (169.254.176.217.2.1, port 65535, iGrp 0x9, iOff 0, 32 bytes): $(Read-Ads '169.254.176.217.2.1' 65535 0x9 0 32)"

# Try to export EtherCAT master online XML
try {
    $io = $sysMgr.LookupTreeItem('TIID')
    $ecat = $null
    for ($j = 1; $j -le [int]$io.ChildCount; $j++) {
        try {
            $ch = $io.Child($j)
            if ([int]$ch.ItemSubType -eq 111) { $ecat = $ch; break }
        } catch {}
    }
    if ($ecat) {
        Write-Log "EtherCAT master found: $($ecat.Name)"
        $xml = $ecat.ProduceXml($true)
        $xmlFile = Join-Path $script:DefaultLogDir 'check-state_master.xml'
        [System.IO.File]::WriteAllText($xmlFile, $xml, [System.Text.Encoding]::UTF8)
        Write-Log "Master Online XML saved: $xmlFile ($($xml.Length) bytes)"

        Write-Log "Enumerating configured boxes under master:"
        for ($j = 1; $j -le [int]$ecat.ChildCount; $j++) {
            try {
                $b = $ecat.Child($j)
                Write-Log "  Box[$j]: name='$($b.Name)' subtype=$($b.ItemSubType)"
            } catch {}
        }
    } else {
        Write-Log "No EtherCAT master found under TIID"
    }
} catch {
    Write-Log "EtherCAT XML error: $_"
}

Write-Log "=== Check complete ==="