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

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

New-Log $script:DefaultLogDir
$LogFile = Join-Path $script:DefaultLogDir "scan.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
}

Write-Log "=== XAE EtherCAT Scan ==="

try {
    $dte = New-Object -ComObject TcXaeShell.DTE.17.0 -ErrorAction Stop
} catch {
    Write-Log "FATAL: Cannot create DTE: $_"
    exit 1
}

$dte.MainWindow.Visible = $true
$dte.Solution.Open($Solution)
for ($i = 1; $i -le 120; $i++) {
    Start-Sleep -Seconds 1
    if ($dte.Solution.IsOpen) { break }
}
Write-Log "Solution open: $($dte.Solution.IsOpen)"

$sysMgr = $null
for ($i = 1; $i -le 40; $i++) {
    try {
        $sysMgr = $dte.Solution.Projects.Item(1).Object
        if ($sysMgr) { break }
    } catch {}
    Start-Sleep -Seconds 3
}
if (-not $sysMgr) {
    Write-Log "FATAL: SysManager is null"
    exit 1
}
Write-Log "SysManager OK"

    # Set target and platform with retry for RPC_E_CALL_REJECTED
    $targetNetId = '169.254.176.217.1.1'
    $platform = 'TwinCAT RT (x64)'
    for ($i = 1; $i -le 10; $i++) {
        try {
            $sysMgr.SetTargetNetId($targetNetId)
            Write-Log "SetTargetNetId $targetNetId OK (try $i)"
            break
        } catch {
            Write-Log "SetTargetNetId try $i error: $_"
            Start-Sleep -Seconds 2
        }
    }

    for ($i = 1; $i -le 10; $i++) {
        try {
            $sysMgr.ConfigurationManager.ActiveTargetPlatform = $platform
            Write-Log "ActiveTargetPlatform set to $platform (try $i)"
            break
        } catch {
            Write-Log "Set platform try $i error: $_"
            Start-Sleep -Seconds 2
        }
    }

Start-Sleep -Seconds 5

try {
    $cfg = $sysMgr.ConfigurationManager.ActiveConfiguration
    Write-Log "Active Target NetId: $($cfg.TargetNetId)"
    Write-Log "Active Platform: $($sysMgr.ConfigurationManager.ActiveTargetPlatform)"
} catch {
    Write-Log "Get active config error: $_"
}

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

# Restart in config mode
$cmdCfgMode = 'TwinCAT.重启TwinCAT配置模式'
Write-Log "Restarting TwinCAT in config mode..."
try {
    $dte.ExecuteCommand($cmdCfgMode)
    Write-Log "ExecuteCommand($cmdCfgMode) OK"
} catch {
    Write-Log "ExecuteCommand($cmdCfgMode) error: $_"
}
Start-Sleep -Seconds 10

try {
    Write-Log "IsTwinCATStarted = $($sysMgr.IsTwinCATStarted())"
} catch {
    Write-Log "IsTwinCATStarted error: $_"
}

# Find EtherCAT device in tree and select it
$io = $null
for ($i = 1; $i -le 10; $i++) {
    try {
        $io = $sysMgr.LookupTreeItem('TIID')
        if ($io) { break }
    } catch {}
    Start-Sleep -Seconds 2
}
if (-not $io) {
    Write-Log "FATAL: Cannot find TIID"
    exit 1
}

$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 (-not $ecat) {
    Write-Log "FATAL: No EtherCAT device found under TIID"
    exit 1
}
Write-Log "EtherCAT device: $($ecat.Name)"

# Select in Solution Explorer
Write-Log "Selecting EtherCAT device in Solution Explorer..."
try {
    $se = $dte.ToolWindows.SolutionExplorer
    $se.Parent.Activate()
    Start-Sleep -Seconds 2

    function Find-Node($items) {
        if ($null -eq $items) { return $null }
        foreach ($it in $items) {
            try { if ($it.Name -like '*EtherCAT*') { return $it } } catch {}
            try { $sub = Find-Node $it.UIHierarchyItems; if ($sub) { return $sub } } catch {}
        }
        return $null
    }

    $node = Find-Node $se.UIHierarchyItems
    if ($node) {
        $node.Select(1)
        Write-Log "Selected: $($node.Name)"
    } else {
        Write-Log "WARN: Could not select EtherCAT node in UI"
    }
} catch {
    Write-Log "Select node error: $_"
}

# Trigger scan command
$cmdScan = 'TwinCAT.扫描'
Write-Log ">>> Invoking $cmdScan -- please confirm scan dialog if it appears <<<"
try {
    $dte.ExecuteCommand($cmdScan)
    Write-Log "ExecuteCommand($cmdScan) returned"
} catch {
    Write-Log "ExecuteCommand($cmdScan) error: $_"
}

Write-Log "Scan dialog should be visible. Please confirm it and report what devices were found."
Write-Log "Waiting 60s (do not close XAE)..."
Start-Sleep -Seconds 60

# Read back after scan
$io2 = $sysMgr.LookupTreeItem('TIID')
$ecat2 = $null
for ($j = 1; $j -le [int]$io2.ChildCount; $j++) {
    try {
        $ch = $io2.Child($j)
        if ([int]$ch.ItemSubType -eq 111) { $ecat2 = $ch; break }
    } catch {}
}
if ($ecat2) {
    Write-Log "Post-scan EtherCAT ChildCount = $($ecat2.ChildCount)"
    for ($j = 1; $j -le [int]$ecat2.ChildCount; $j++) {
        try {
            $b = $ecat2.Child($j)
            Write-Log "  Box[$j]: name='$($b.Name)' subtype=$($b.ItemSubType)"
        } catch {}
    }

    $xml = $ecat2.ProduceXml($false)
    $xmlFile = Join-Path $script:DefaultLogDir 'scan_ecat.xml'
    [System.IO.File]::WriteAllText($xmlFile, $xml, [System.Text.Encoding]::UTF8)
    Write-Log "Post-scan XML saved: $xmlFile"
}

Write-Log "=== Scan complete ==="