#!/usr/bin/env python
"""EtherCAT master bring-up test for the DCU LAN9252 slave (pysoem >= 1.1 API).

Usage:
  ecat_scan.py                list all Npcap adapters and exit
  ecat_scan.py <name-substr>  open the first adapter whose description matches
                              the substring (e.g. "I226"), scan the bus and
                              print slave identity + SII EEPROM dump
  ecat_scan.py <substr> --op  additionally request OP and run PDO cycles for 2s
"""
import sys
import time

try:
    import pysoem
except ImportError:
    print("pysoem 无法加载：请先安装 Npcap（本目录下的 npcap-1.88.exe，"
          "安装时保持勾选 'Install WinPcap API-compatible Mode'）")
    sys.exit(1)


AL_STATE = {1: "INIT", 2: "PREOP", 4: "SAFEOP", 8: "OP"}


def al_state_name(code):
    return AL_STATE.get(code, f"0x{code:02x}")


def list_adapters():
    for i, a in enumerate(pysoem.find_adapters()):
        desc = a.desc.decode() if isinstance(a.desc, bytes) else a.desc
        print(f"[{i}] {desc}\n    {a.name}")


def find_adapter(substr):
    for a in pysoem.find_adapters():
        desc = a.desc.decode() if isinstance(a.desc, bytes) else a.desc
        if substr.lower() in desc.lower():
            return a
    return None


def dump_eeprom(slave, count=0x10):
    print("  SII EEPROM dump (每行 8 个 word 地址，原始 32bit 返回):")
    for base in range(0, count, 8):
        words = []
        for w in range(base, base + 8):
            try:
                v = bytes(slave.eeprom_read(w))
                words.append(v.hex().upper())
            except Exception:
                words.append("ERRRRRRRR")
        print(f"    0x{base:02X}: {' '.join(words)}")


def main():
    if len(sys.argv) < 2 or sys.argv[1] in ("-l", "--list"):
        list_adapters()
        return

    substr = sys.argv[1]
    want_op = "--op" in sys.argv[2:]

    adapter = find_adapter(substr)
    if adapter is None:
        print(f"没有找到描述包含 {substr!r} 的适配器，当前列表：")
        list_adapters()
        sys.exit(1)

    desc = adapter.desc.decode() if isinstance(adapter.desc, bytes) else adapter.desc
    master = pysoem.Master()
    master.open(adapter.name)

    try:
        n = master.config_init()
    except Exception as e:
        print(f"总线上没有发现从站（{type(e).__name__}: {e}）："
              "请检查 DCU 板子是否上电、网线是否接到 I226-V 网口")
        sys.exit(2)

    if not n:
        print("总线上没有发现从站：请检查 DCU 板子是否上电、网线是否接到 I226-V 网口")
        sys.exit(2)

    print(f"\n适配器: {desc}")
    print(f"发现 {n} 个从站:")
    for i, s in enumerate(master.slaves):
        print(f"  [{i}] name={s.name!r}")
        print(f"      VendorID=0x{s.man:08X}  ProductCode=0x{s.id:08X}  Revision={s.rev}")
        print(f"      AL state={al_state_name(s.state)}  AL status code=0x{s.al_status:04X}"
              f"  DC={s.dc_sync}")

    dump_eeprom(master.slaves[0])

    if not want_op:
        return

    master.config_map()
    if master.state_check(pysoem.SAFEOP_STATE, 2000) != pysoem.SAFEOP_STATE:
        print(f"进入 SAFEOP 失败, 当前 AL 状态: {al_state_name(master.state)}")
        sys.exit(3)

    t_end = time.time() + 2.0
    frames = 0
    while time.time() < t_end:
        master.send_processdata()
        master.receive_processdata(2000)
        frames += 1
        time.sleep(0.001)

    master.state = pysoem.OP_STATE
    master.write_state()
    if master.state_check(pysoem.OP_STATE, 2000) == pysoem.OP_STATE:
        print(f"已进入 OP, PDO 循环 {frames} 帧正常")
    else:
        print(f"进入 OP 失败, 当前 AL 状态: {al_state_name(master.state)}")


if __name__ == "__main__":
    main()