#Requires -RunAsAdministrator
#Requires -Version 5.1
[CmdletBinding()]
param()

$ErrorActionPreference = 'Continue'
. "$PSScriptRoot\tc-common.ps1"

$Solution = "C:\Users\tonycao\work\twincat3-auto-cli\TwinCAT_EL6695_Primary\TwinCATProject1.sln"
$LogDir   = "C:\Users\tonycao\work\twincat3-auto-cli\TwinCAT_EL6695_Primary\Logs"
New-Log $LogDir
$LogFile = Join-Path $LogDir "diag-online.log"

function Log($m) { Write-Log $m $LogFile }

Log "=== Online diagnostic (Primary) ==="

$dte = Get-Dte
if (-not (Open-Solution -Dte $dte -Solution $Solution)) { Log "FATAL: solution not open"; exit 1 }
$sysMgr = Get-SysManager -Dte $dte
if (-not $sysMgr) { Log "FATAL: no SysManager"; exit 1 }

try { $sysMgr.SetTargetNetId('169.254.176.217.1.1'); Log "TargetNetId set" } catch { Log "SetTargetNetId: $_" }
Start-Sleep -Seconds 3
try { Log "IsTwinCATStarted=$($sysMgr.IsTwinCATStarted) CurrentMode=$($sysMgr.CurrentMode)" } catch { Log "state read: $_" }

# --- 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) {
        Log "Master: $($ecat.Name)"
        $xml = $ecat.ProduceXml($true)
        $xmlFile = Join-Path $LogDir 'diag_master_online.xml'
        [System.IO.File]::WriteAllText($xmlFile, $xml, [System.Text.Encoding]::UTF8)
        Log "Online XML saved: $xmlFile ($($xml.Length) bytes)"
        for ($j = 1; $j -le [int]$ecat.ChildCount; $j++) {
            try {
                $b = $ecat.Child($j)
                $sx = $b.ProduceXml($true)
                $bx = Join-Path $LogDir ("diag_box_{0}.xml" -f $j)
                [System.IO.File]::WriteAllText($bx, $sx, [System.Text.Encoding]::UTF8)
                Log ("  Box[{0}] {1} -> {2} ({3} bytes)" -f $j, $b.Name, $bx, $sx.Length)
            } catch { Log "  Box[$j] read err: $_" }
        }
    } else { Log "No EtherCAT master found" }
} catch { Log "Master XML: $_" }

# --- PLC variables via ADS (port 851) ---
$adsDll = 'C:\Program Files (x86)\Beckhoff\TwinCAT\3.1\Components\Base\v170\TwinCAT.Ads.dll'
try {
    Add-Type -Path $adsDll -ErrorAction Stop
    $c = New-Object TwinCAT.Ads.TcAdsClient
    $c.Connect('169.254.176.217.1.1', 851)
    function Read-Sym($name, $type) {
        try {
            $h = $script:c.CreateVariableHandle($name)
            $v = $script:c.ReadAny($h, $type)
            $script:c.DeleteVariableHandle($h)
            return $v
        } catch { return "ERR: $($_.Exception.Message)" }
    }
    Log "nCycles       = $(Read-Sym 'GVL_Sync.nCycles' ([uint32]))"
    Log "bSync         = $(Read-Sym 'GVL_Sync.bSync' ([bool]))"
    Log "nReturnedSeq  = $(Read-Sym 'GVL_Sync.nReturnedSeq' ([uint32]))"
    Log "nProcessedSeq = $(Read-Sym 'GVL_Sync.nProcessedSeq' ([uint32]))"
    Log "bProcessingOk = $(Read-Sym 'GVL_Sync.bProcessingOk' ([bool]))"
    try {
        $h = $c.CreateVariableHandle('GVL_Sync.aIn1')
        $arr = $c.ReadAny($h, [byte[]], @(1024))
        $c.DeleteVariableHandle($h)
        Log ("aIn1[0..15]   = " + ([BitConverter]::ToString($arr[0..15])))
        $nz = ($arr | Where-Object { $_ -ne 0 }).Count
        Log "aIn1 nonzero bytes = $nz / 1024"
    } catch { Log "aIn1 read: $_" }
    try {
        $h = $c.CreateVariableHandle('GVL_Sync.aOut1')
        $arr = $c.ReadAny($h, [byte[]], @(1024))
        $c.DeleteVariableHandle($h)
        Log ("aOut1[0..15]  = " + ([BitConverter]::ToString($arr[0..15])))
        $nz = ($arr | Where-Object { $_ -ne 0 }).Count
        Log "aOut1 nonzero bytes = $nz / 1024"
    } catch { Log "aOut1 read: $_" }
    $c.Dispose()
} catch { Log "ADS: $_" }

Log "=== Done ==="