#Requires -Version 5.1
<#
.SYNOPSIS
    Scan the EtherCAT bus and list discovered devices.

.DESCRIPTION
    Opens the solution, switches to CONFIG mode (so scanning is possible),
    then polls the EtherCAT device's ProduceXml for FoundDevices/FoundBoxes.

.PARAMETER Solution
    Path to the .sln file.

.EXAMPLE
    .\tc-scan.ps1
#>
[CmdletBinding()]
param(
    [string]$Solution = $null,
    [string]$TargetNetId = "10.0.0.106.1.1"
)
. "$PSScriptRoot\tc-common.ps1"
if (-not $Solution) { $Solution = $script:DefaultSolution }

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

Write-Log "=== EtherCAT Scan ===" $LogFile

$dte = Get-Dte -Visible:$true
try {
    if (-not (Open-Solution -Dte $dte -Solution $Solution)) { throw "Solution did not open" }
    $sysMgr = Get-SysManager -Dte $dte
    try { $sysMgr.SetTargetNetId($TargetNetId) } catch { }

    # Activate to go online (needed for scanning)
    Write-Log "Activating config to go online..." $LogFile
    try { $sysMgr.ActivateConfiguration() } catch { Write-Log "Activate warning: $_" $LogFile }
    Start-Sleep -Seconds 10

    # Find EtherCAT device
    $io = Find-TreeItem -SysMgr $sysMgr -Paths @("TIID")
    if (-not $io) { throw "TIID not found" }

    # Enumerate children to find EtherCAT device
    foreach ($child in $io) {
        $xml = $null
        try { $xml = $child.ProduceXml($false) } catch { }
        if ($xml -and $xml -match "<ItemSubType>(\d+)</ItemSubType>") {
            $sub = [int]$Matches[1]
            if ($sub -in @(90, 91, 92) -or $child.Name -like "*EtherCAT*") {
                Write-Log "EtherCAT device: $($child.Name)  SubType=$sub" $LogFile

                # Poll for boxes
                for ($poll = 0; $poll -lt 10; $poll++) {
                    Start-Sleep -Seconds 2
                    $devXml = $child.ProduceXml($false)
                    if ($devXml -match "FoundBoxes") {
                        Write-Log "FoundBoxes detected" $LogFile
                        break
                    }
                }

                # List boxes
                foreach ($box in $child) {
                    Write-Log "  Box: $($box.Name)  Type=$($box.ItemType)" $LogFile
                }

                # Save XML
                $outFile = Join-Path $script:DefaultLogDir "scan_device.xml"
                [System.IO.File]::WriteAllText($outFile, $child.ProduceXml($true))
                Write-Log "Device XML saved: $outFile" $LogFile
                break
            }
        }
    }

    Write-Log "=== Scan complete ===" $LogFile
}
finally {
    try { $dte.Quit() } catch { }
}