using mcx::ecat::SdoDirection = typedef EcatDirection;

using mcx::ecat::Links = typedef std::vector<ParameterLink>;

using mcx::ecat::Entries = typedef std::vector<EcatSdoConfig>;

using mcx::ecat::SimulationModeLinks = typedef std::vector<ParameterLink>;

using mcx::ecat::Devices = typedef std::vector<EcatDeviceConfig>;

template <typename Type >
size_t toParameter(
    const Type * src,
    Type * dst,
    size_t bit_offset,
    size_t bit_length
)

template <typename Type >
size_t fromParameter(
    const Type * src,
    Type * dst,
    size_t bit_offset,
    size_t bit_length
)

std::shared_ptr< EthercatBase > createProductionMaster(
    MasterType master_type,
    unsigned int master_id
)

std::shared_ptr< EthercatBase > createSimulationMaster(
    unsigned int master_id
)

std::shared_ptr< EthercatBase > createMaster(
    utils::SystemMode system_mode
)

std::shared_ptr< EthercatBase > createMaster(
    utils::SystemMode system_mode,
    unsigned int master_id
)

std::shared_ptr< EthercatBase > createMaster(
    utils::SystemMode system_mode,
    MasterType master_type,
    unsigned int master_id
)

inline SdoState toSdoState(
    ec_request_state_t state
)

void allocateSdo(
    EcatSdoConfig & sdo,
    std::vector< uint8_t * > & sdo_data
)

std::string getDataTypeName(
    DataType type
)

DataTypeDesc getDataTypeMap(
    const std::string & name
)

std::string dataTypeToStr(
    DataTypeDesc data_type
)

DataTypeDesc dataTypeDesc(
    const char * data_type
)

std::tuple< std::string, tinyxml2::XMLElement * > loadDomainFromXml(
    tinyxml2::XMLDocument & xml_doc,
    const std::string & full_path
)

std::shared_ptr< EtherCatXml > createEthercatXmlParser(
    const std::string & version
)

inline std::string toString(
    const char * value
)

inline int toInt(
    const std::string & value
)

inline int toInt(
    const char * value
)

inline bool hasAttribute(
    const char * attribute,
    const tinyxml2::XMLElement * element
)

inline std::string getName(
    const tinyxml2::XMLElement * element
)

inline std::string getGroup(
    const tinyxml2::XMLElement * element
)

inline bool isIncluded(
    const tinyxml2::XMLElement * root
)

inline bool isVisible(
    const tinyxml2::XMLElement * root
)

inline std::string getFullName(
    const tinyxml2::XMLElement * element
)

inline std::string getFileName(
    const tinyxml2::XMLElement * element
)

inline std::tuple< int, int > getAlias(
    const tinyxml2::XMLElement * element
)

inline ParameterLink getParameterLink(
    const tinyxml2::XMLElement * element,
    ParameterLinkType type
)

inline ParameterLink getReadWrite(
    const tinyxml2::XMLElement * parent_element,
    const char * tag
)

inline EcatAlState getTransition(
    const tinyxml2::XMLElement * element
)

inline std::string getComment(
    const tinyxml2::XMLElement * element
)

inline unsigned int getTimeout(
    const tinyxml2::XMLElement * element
)

inline unsigned int getOpCode(
    const tinyxml2::XMLElement * element
)

inline unsigned int getDriveNo(
    const tinyxml2::XMLElement * element
)

inline unsigned int getIdn(
    const tinyxml2::XMLElement * element
)

inline unsigned int getElements(
    const tinyxml2::XMLElement * element
)

inline unsigned int getAttribute(
    const tinyxml2::XMLElement * element
)

inline std::tuple< bool, std::vector< unsigned char > > getData(
    const tinyxml2::XMLElement * element
)

inline SdoType getSdoType(
    const tinyxml2::XMLElement * element
)

inline unsigned int getIndex(
    const tinyxml2::XMLElement * element
)

inline unsigned int getSubIndex(
    const tinyxml2::XMLElement * element
)

inline unsigned int getCcs(
    const tinyxml2::XMLElement * element
)

inline unsigned int getAssignActivate(
    const tinyxml2::XMLElement * element
)

inline unsigned int getCycleTimeSync0(
    const tinyxml2::XMLElement * element
)

inline unsigned int getShiftTimeSync0(
    const tinyxml2::XMLElement * element
)

inline unsigned int getCycleTimeSync1(
    const tinyxml2::XMLElement * element
)

inline unsigned int getShiftTimeSync1(
    const tinyxml2::XMLElement * element
)

constexpr auto ETHERCAT_INFO_LIST(
    "EtherCATInfoList" 
)

constexpr auto ETHERCAT_INFO(
    "EtherCATInfo" 
)

constexpr auto VENDOR(
    "Vendor" 
)

constexpr auto VENDOR_ID(
    "VendorId" 
)

constexpr auto ID(
    "Id" 
)

constexpr auto POS(
    "Pos" 
)

constexpr auto ALIAS(
    "Alias" 
)

constexpr auto DELIMITER(
    ":" 
)

constexpr auto DESC(
    "Descriptions" 
)

constexpr auto DEVS(
    "Devices" 
)

constexpr auto DEV(
    "Device" 
)

constexpr auto TYPE(
    "Type" 
)

constexpr auto PROD_CODE(
    "ProductCode" 
)

constexpr auto SYNC_MANAGER(
    "Sm" 
)

constexpr auto CTRL_BYTE(
    "ControlByte" 
)

constexpr auto RX_PDO(
    "RxPdo" 
)

constexpr auto TX_PDO(
    "TxPdo" 
)

constexpr auto RX_SDO(
    "RxSdo" 
)

constexpr auto TX_SDO(
    "TxSdo" 
)

constexpr auto INDEX(
    "Index" 
)

constexpr auto SUB_INDEX(
    "SubIndex" 
)

constexpr auto NAME(
    "Name" 
)

constexpr auto ENTRY(
    "Entry" 
)

constexpr auto BITLEN(
    "BitLen" 
)

constexpr auto DATA_TYPE(
    "DataType" 
)

constexpr auto EL_INDEX(
    "Index" 
)

constexpr auto EL_OFFSET(
    "Offset" 
)

constexpr auto GAIN(
    "Gain" 
)

constexpr auto DIVIDE(
    "Divide" 
)

constexpr auto GAIN_OFFSET(
    "GainOffset" 
)

constexpr auto GAIN_INV_BOOL(
    "Invert" 
)

constexpr auto SIM_DEPRECATED(
    "Sim" 
)

constexpr auto SIMULATION(
    "Simulation" 
)

constexpr auto CLAMP(
    "Clamp" 
)

constexpr auto DC(
    "Dc" 
)

constexpr auto OP_MODE(
    "OpMode" 
)

constexpr auto ASSIGN_ACTIVATE(
    "AssignActivate" 
)

constexpr auto CYCLE_TIME_SYNC0(
    "CycleTimeSync0" 
)

constexpr auto SHIFT_TIME_SYNC0(
    "ShiftTimeSync0" 
)

constexpr auto CYCLE_TIME_SYNC1(
    "CycleTimeSync1" 
)

constexpr auto SHIFT_TIME_SYNC1(
    "ShiftTimeSync1" 
)

constexpr auto ETHERCAT_MAILBOX(
    "EtherCATMailbox" 
)

constexpr auto CSV(
    "CSV" 
)

constexpr auto COE(
    "CoE" 
)

constexpr auto SOE(
    "SoE" 
)

constexpr auto COMPLETE_ACCESS(
    "CompleteAccess" 
)

constexpr auto INITCMDS(
    "InitCmds" 
)

constexpr auto INITCMD(
    "InitCmd" 
)

constexpr auto TRANSITION(
    "Transition" 
)

constexpr auto COMMENT(
    "Comment" 
)

constexpr auto TIMEOUT(
    "Timeout" 
)

constexpr auto CCS(
    "Ccs" 
)

constexpr auto OPCODE(
    "OpCode" 
)

constexpr auto DRIVENO(
    "DriveNo" 
)

constexpr auto IDN(
    "IDN" 
)

constexpr auto ELEMENTS(
    "Elements" 
)

constexpr auto ATTRIBUTE(
    "Attribute" 
)

constexpr auto DATA(
    "Data" 
)

constexpr auto CONFIG(
    "Config" 
)

constexpr auto DOMAIN_ECAT(
    "Domain" 
)

constexpr auto MAP_ALL(
    "MapAll" 
)

constexpr auto DEVICE(
    "Device" 
)

constexpr auto LINK(
    "Link" 
)

constexpr auto LINK_TO(
    "LinkTo" 
)

constexpr auto LINK_FROM(
    "LinkFrom" 
)

constexpr auto UPLOAD(
    "Upload" 
)

constexpr auto READ(
    "Read" 
)

constexpr auto WRITE(
    "Write" 
)

constexpr auto PDO(
    "Pdo" 
)

constexpr auto SDO(
    "Sdo" 
)

constexpr auto MAILBOX(
    "Mailbox" 
)

constexpr auto FILE(
    "File" 
)

constexpr auto DEVICE_ID(
    "DeviceId" 
)

constexpr auto PDO_ENTRY_ID(
    "Entry" 
)

constexpr auto PDO_ID(
    "Index" 
)

constexpr auto PDO_ADDR_SEP(
    ":" 
)

constexpr auto GROUP(
    "Group" 
)

constexpr auto INCLUDED(
    "Included" 
)

constexpr auto VISIBLE(
    "Visible" 
)

constexpr auto SIZE(
    "Size" 
)

constexpr auto LINK_SYSTEM_MODE(
    "LinkSystemMode" 
)

constexpr auto LINK_SIMULATION(
    "LinkSimulation" 
)

constexpr auto MAP(
    "Map" 
)

constexpr auto MAP_OFFSET(
    "Offset" 
)

constexpr auto NO_ERROR_SEC(
    "NoErrorSec" 
)

constexpr auto ERROR_SEC(
    "ErrorSec" 
)

constexpr auto SDO_RECOVERY(
    "SdoRecovery" 
)

constexpr const char * transitionToStr(
    EcatAlState al_state
)

inline size_t getSdoHash(
    EcatSdoConfig sdo_config
)

constexpr const char UNDEFINED {"Undefined"};

constexpr auto PDO_UNDEFINED = ~0U;

constexpr std::pair< const char *, EcatAlState > TransitionToStr = {{"IP", EcatAlState::EC_AL_STATE_INIT},
                                                                   {"PS", EcatAlState::EC_AL_STATE_PREOP},
                                                                   {"SO", EcatAlState::EC_AL_STATE_SAFEOP},
                                                                   {0x0, EcatAlState::EC_AL_STATE_PREOP}};

constexpr std::pair< const char *, EcatWatchdogMode > EcatWdToStr {{"Default", EcatWatchdogMode::EC_WD_DEFAULT},
                                                                 {"Enable", EcatWatchdogMode::EC_WD_ENABLE},
                                                                 {"Disable", EcatWatchdogMode::EC_WD_DISABLE},
                                                                 {0x0, EcatWatchdogMode::EC_WD_COUNT}};

constexpr std::pair< const char *, EcatDirection > EcatDirToStr {{"Invalid", EcatDirection::EC_DIR_INVALID},
                                                               {"Output", EcatDirection::EC_DIR_OUTPUT},
                                                               {"Input", EcatDirection::EC_DIR_INPUT},
                                                               {"Both", EcatDirection::EC_DIR_BOTH},
                                                               {0x0, EcatDirection::EC_DIR_COUNT}};

constexpr std::pair< const char *, SdoType > SdoTypeToStr {{"Invalid", SdoType::EC_SDO_TYPE_INVALID},
                                                         {"COE", SdoType::EC_CAN_OVER_ETHERCAT},
                                                         {"SOE", SdoType::EC_SERCOS_OVER_ETHERCAT}};