#Requires -RunAsAdministrator
# 5-hour stability monitor: logs PLC sync metrics to CSV every 60s.
$ErrorActionPreference = 'Continue'
Add-Type -Path 'C:\Program Files (x86)\Beckhoff\TwinCAT\3.1\Components\Base\v170\TwinCAT.Ads.dll'
$logFile = 'C:\Users\tonycao\work\ethercat-linux\monitor_5h.csv'
'timestamp,nCycles,bSync,nReturnedSeq,nMismatch,nProcMismatch' | Out-File $logFile -Encoding utf8
$start = Get-Date
for ($i = 0; $i -lt 300; $i++) {
    try {
        $c = New-Object TwinCAT.Ads.TcAdsClient
        $c.Connect('169.254.176.217.1.1', 851)
        $h1 = $c.CreateVariableHandle('GVL_Sync.nCycles')
        $h2 = $c.CreateVariableHandle('GVL_Sync.bSync')
        $h3 = $c.CreateVariableHandle('GVL_Sync.nReturnedSeq')
        $h4 = $c.CreateVariableHandle('GVL_Sync.nMismatch')
        $h5 = $c.CreateVariableHandle('GVL_Sync.nProcMismatch')
        $nc  = $c.ReadAny($h1, [uint64])
        $bs  = $c.ReadAny($h2, [bool])
        $nrs = $c.ReadAny($h3, [uint64])
        $nm  = $c.ReadAny($h4, [int])
        $npm = $c.ReadAny($h5, [uint32])
        $c.Dispose()
        $ts = (Get-Date).ToString('yyyy-MM-dd HH:mm:ss')
        "$ts,$nc,$bs,$nrs,$nm,$npm" | Out-File $logFile -Append -Encoding utf8
    } catch {
        $ts = (Get-Date).ToString('yyyy-MM-dd HH:mm:ss')
        "$ts,ERROR,,,," | Out-File $logFile -Append -Encoding utf8
    }
    Start-Sleep -Seconds 60
}