#Requires -RunAsAdministrator
#Requires -Version 5.1
$ErrorActionPreference = 'Continue'
$adsDll = 'C:\Program Files (x86)\Beckhoff\TwinCAT\3.1\Components\Base\v170\TwinCAT.Ads.dll'
Add-Type -Path $adsDll -ErrorAction Stop
$c = New-Object TwinCAT.Ads.TcAdsClient
$c.Connect('169.254.176.217.1.1', 851)
function ReadSym($name, $type) {
    $h = $c.CreateVariableHandle($name)
    $v = $c.ReadAny($h, $type)
    $c.DeleteVariableHandle($h)
    return $v
}
function ReadBytes($name, $len) {
    $h = $c.CreateVariableHandle($name)
    $arr = $c.ReadAny($h, [byte[]], @($len))
    $c.DeleteVariableHandle($h)
    return $arr
}
$nc  = ReadSym 'GVL_Sync.nCycles' ([uint64])
$bs  = ReadSym 'GVL_Sync.bSync' ([bool])
$nrs = ReadSym 'GVL_Sync.nReturnedSeq' ([uint64])
$nm  = ReadSym 'GVL_Sync.nMismatch' ([int])
$in  = ReadBytes 'GVL_Sync.aIn1' 800
$out = ReadBytes 'GVL_Sync.aOut1' 800

$nzIn  = ($in  | Where-Object { $_ -ne 0 }).Count
$nzOut = ($out | Where-Object { $_ -ne 0 }).Count
Write-Host ("nCycles={0} bSync={1} nReturnedSeq={2} lag={3} nMismatch={4}" -f $nc, $bs, $nrs, ($nc - $nrs), $nm)
Write-Host ("aIn1  nonzero = {0}/800" -f $nzIn)
Write-Host ("aOut1 nonzero = {0}/800" -f $nzOut)

# per-byte pattern check against nReturnedSeq: expected[i] = (nReturnedSeq + i) mod 256, pattern region
$bad = 0
$badIdx = @()
for ($i = 16; $i -lt 800; $i++) {
    if ($i -ge 264 -and $i -le 279) { continue }
    $exp = [byte](($nrs + $i) % 256)
    if ($in[$i] -ne $exp) { $bad++; if ($badIdx.Count -lt 8) { $badIdx += $i } }
}
Write-Host ("pattern[16..799 excl 264..279] mismatches = {0} {1}" -f $bad, $(if ($badIdx.Count) { 'at ' + ($badIdx -join ',') } else { '' }))

# show window samples at several offsets
foreach ($off in @(0, 16, 128, 256, 288, 512, 768)) {
    $seg = [BitConverter]::ToString($in[$off..($off + 7)])
    Write-Host ("aIn1[{0,3}..{1,3}] = {2}" -f $off, ($off + 7), $seg)
}
$c.Dispose()