#Requires -Version 5.1
#Requires -RunAsAdministrator
$ErrorActionPreference = 'Continue'

$LogFile = "C:\Users\tonycao\work\twincat3-auto-cli\TwinCAT_EL6695_Secondary\Logs\ads-probe.log"
New-Item -ItemType Directory -Force -Path (Split-Path $LogFile) | Out-Null

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
}

Write-Log "=== ADS probe ==="

$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" } catch { Write-Log "FATAL: cannot load ADS dll: $_"; exit 1 }

function Read-Ads($NetId, $Port, $IGrp, $IOff, $Len, $Label) {
    $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, $n)
        Write-Log "$Label OK n=$n : $hex"
    } catch {
        Write-Log "$Label ERR: $($_.Exception.Message)"
    } finally { $c.Dispose() }
}

# Try various system/EtherCAT ports and index groups based on project history
Read-Ads '169.254.176.217.1.1' 10000 0 0 4 'SystemState(1.1,10000,0,0,4)'
Read-Ads '169.254.176.217.1.1' 65535 0 0 4 'SystemState(1.1,65535,0,0,4)'
Read-Ads '169.254.176.217.2.1' 65535 0x9 0 32 'ECATMaster(2.1,65535,0x9,0,32)'
Read-Ads '169.254.176.217.2.1' 2 0x9 0 32 'ECATMaster(2.1,2,0x9,0,32)'
Read-Ads '169.254.176.217.2.1' 10000 0x9 0 32 'ECATMaster(2.1,10000,0x9,0,32)'

# Try PLC port 851 (if PLC runtime is up)
Read-Ads '169.254.176.217.1.1' 851 0 0 4 'PLC(1.1,851,0,0,4)'

Write-Log "=== ADS probe complete ==="