#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
$c.Connect('169.254.176.217.1.1', 851)
function Read-Sym($name, $type) {
    try {
        $h = $c.CreateVariableHandle($name)
        $v = $c.ReadAny($h, $type)
        $c.DeleteVariableHandle($h)
        return $v
    } catch { return "ERR: $($_.Exception.Message)" }
}
function Read-Bytes($name) {
    try {
        $h = $c.CreateVariableHandle($name)
        $arr = $c.ReadAny($h, [byte[]], @(8))
        $c.DeleteVariableHandle($h)
        return $arr
    } catch { return $null }
}
for ($i = 1; $i -le 8; $i++) {
    $nc   = Read-Sym 'GVL_Sync.nCycles' ([uint32])
    $bs   = Read-Sym 'GVL_Sync.bSync' ([bool])
    $lag  = Read-Sym 'GVL_Sync.nMatchLag' ([int])
    $nmis = Read-Sym 'GVL_Sync.nMismatch' ([int])
    $out  = Read-Bytes 'GVL_Sync.aOut1'
    $in   = Read-Bytes 'GVL_Sync.aIn1'
    $outH = if ($out) { [BitConverter]::ToString($out) } else { 'ERR' }
    $inH  = if ($in)  { [BitConverter]::ToString($in) }  else { 'ERR' }
    # per-byte verify against expected transform for current cycle (lag unknown here)
    $xorH = if ($in) { [BitConverter]::ToString([byte[]]($in | ForEach-Object { $_ -bxor 0x5A })) } else { 'ERR' }
    Write-Host ("[{0}] nCyc={1} bSync={2} lag={3} mism={4}" -f $i, $nc, $bs, $lag, $nmis)
    Write-Host ("     aOut1(sent) = {0}" -f $outH)
    Write-Host ("     aIn1(recv)  = {0}  aIn1^5A = {1}" -f $inH, $xorH)
    Start-Sleep -Seconds 3
}
$c.Dispose()