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#ifndef EC_API_LIB
#define EC_API_LIB
#include <windows.h>
#include "WMX3Api.h"

#ifdef WIN32
#define ECAPIFUNC long __stdcall
#else
#define ECAPIFUNC HRESULT
#endif

namespace wmx3Api {
    namespace ecApi {

        namespace constants {
            static const int maxMasters = 2;
            static const int maxSlaves = 256;
            static const int maxSlaveAxes = 16;
            static const int maxEniFilePathLen = 256;
            static const int maxFoEFilePathLen = 256;
            static const int maxFoEFileNameLen = 64;
            static const int maxSdoInfoNameLen = 64;
            static const int maxSdoInfoODListSize = 450;
            static const int maxSdoInfoEDListSize = 256;
            static const int maxLogPdoSize = 256;
            static const int maxLogPdoDataSize = 8;
            static const int maxMappedRxPdo = 128;
            static const int maxMappedTxPdo = 128;
        }

        class EcStateMachine {
        public:
            enum T {
                None = 0x00,
                Init = 0x01,
                Preop = 0x02,
                Boot = 0x03,
                Safeop = 0x04,
                Op = 0x08
            };
        };

        class EcSdoType {
        public:
            enum T {
                Expedited = 0x00,
                Normal = 0x01
            };
        };

        class EcObjectDescriptionListType {
        public:
            enum T {
                Len = 0x00,
                AllObjects = 0x01,
                RxPdo = 0x02,
                TxPdo = 0x03,
                DevReplacement = 0x04,
                Startup = 0x05,
            };
        };

        class EcHotconnectState {
        public:
            enum T {
                Idle = 0x00,
                Running,
                Abort,

                Unknown
            };
        };

        class EcHotconnectAbortCode {
        public:
            enum T {
                None = 0x00,
                PortOpenError,
                Timeout,
                ScanNetworkFailed,
                ApplyNewTopologyError,
                InitNewSlavesError,
                RecalculateDcError,
                ClearDLEventError,

                Unknown
            };
        };

        class EcDiagnosisScanState {
        public:
            enum T {
                None = 0x00,
                Scanning,
                Done,
                MemoryAllocError,
                PortStateError,
                PortOpenError,

                Unknown
            };
        };

        class EcOperationMode {
        public:
            enum T {
                NONE = 0x00,
                PP = 0x01,
                VL = 0x02,
                PV = 0x03,
                TQ = 0x04,
                HM = 0x06,
                IP = 0x07,
                CSP = 0x08,
                CSV = 0x09,
                CST = 0x0a,
                CSTCA = 0x0b,

                Unknown
            };
        };

        class EcMasterMode {
        public:
            enum T {
                CyclicMode,
                PPMode
            };
        };

        class EcErrorCode: public ErrorCode {
        public:
            enum {
                EcError =  0x00002000,
                ScanNetworkFailed,
                HotconnectFailed,
                SharedMemoryNull,
                SlaveStateChangeError,
                SlaveStateBelowPreop,
                SlaveInvalidAddressingMode,
                SlaveInEmergencyState,
                SlaveMailboxInUse,
                SlaveSdoDownloadError,
                SlaveSdoUploadError,
                SlaveSdoInfoGetODListError,
                SlaveSdoInfoGetODError,
                SlaveSdoInfoGetEDError,
                SlaveActualSizeLargerThanBufferSize,
                SlaveRegWriteError,
                SlaveRegReadError,
                SlaveSIIWriteError,
                SlaveSIIWriteFailedToSetChecksum,
                SlaveSIIReadError,
                SlavePdoReadWriteNotAllowed,
                SlavePdoReadWriteTimeout,
                SlavePdoNotMapped,
                SlaveTxPdoWriteNotAllowed,
                SlaveFoENotInBootState,
                SlaveFoEFileOpenError,
                SlaveFoEReadError,
                SlaveFoEWriteError,
                SlaveFoEFilePathTooLong,
                SlaveFoEFileNameTooLong,
                SlaveAoEReadError,
                SlaveAoEWriteError,
                SlaveSoEReadError,
                SlaveSoEWriteError,
                SlaveVoEReadError,
                SlaveVoEWriteError,
                AxisNotServoOn,
                NotInPPMode,
                NotInHMMode,
                NotInPVMode,
                NotInTQMode,
                PdoNotMapped,
                SlaveNotSupportVirtualSerial,
                OpenComFailed,
                CreateComProcessThreadFailed
            };

            static int ConvertEcErrorCode(int errCode);
        };

        class EcLogInputPdo{
        public:
            enum DataType {
                Signed,
                Unsigned,
                Hexadecimal
            };

            int slaveId;
            DataType type;
            unsigned int index;
            unsigned int subIndex;
        };

        class EcLogInput : public LogInput {
        public:
            EcLogInput();
            unsigned int GetModuleId();
            WMX3APIFUNC GetInputData(unsigned char* buff, int buffSize, unsigned int* dataSize);
            WMX3APIFUNC SetInputData(int moduleId, unsigned char* data, unsigned int dataSize);

            int masterId;
            int numOfPdo;
            EcLogInputPdo pdo[constants::maxLogPdoSize];
        };

        class EcLogOutputPdo{
        public:
            EcLogOutputPdo();

            int slaveId;
            unsigned int index;
            unsigned int subIndex;
            int length;
            unsigned char data[constants::maxLogPdoDataSize];
        };

        class EcLogOutputData{
        public:
            EcLogOutputData();

            int masterId;
            int numOfPdo;
            EcLogOutputPdo pdo[constants::maxLogPdoSize];
        };

        class EcLogOutput : public LogOutput {
        public:
            EcLogOutput();

            unsigned int GetModuleId();
            WMX3APIFUNC SetOutputData(int moduleId, unsigned char* cfgData, unsigned int cfgDataSize, unsigned char* data, unsigned int dataSize, unsigned int dataIndex, unsigned int storeIndex);

            EcLogOutputData ecData[wmx3Api::constants::maxLogOutputDataSize];
        };

        class EcAoESender{
        public:
            unsigned char senderNetId[6];
            unsigned short senderPort;
        };

        class EcSlaveSdoInfoObjectDescription {
        public:
            unsigned short index;
            unsigned short dataType;
            unsigned char maxSubIndex;
            unsigned short objectCode;
            char name[constants::maxSdoInfoNameLen];
        };

        class EcSlaveSdoInfoObjectDescriptionList {
        public:
            unsigned short num;
            EcSlaveSdoInfoObjectDescription objects[constants::maxSdoInfoODListSize];
        };

        class EcSlaveSdoInfoEntryDescription {
        public:
            unsigned short index;
            unsigned char subIndex;
            unsigned char valueInfo;
            unsigned short dataType;
            unsigned short bitLen;
            unsigned short objectAccess;

            unsigned short unitType;
            int defaultValue;
            int minimumValue;
            int maximumValue;
            char name[constants::maxSdoInfoNameLen];
        };

        class EcSlaveSdoInfoEntryDescriptionList {
        public:
            unsigned short num;
            EcSlaveSdoInfoEntryDescription entry[constants::maxSdoInfoEDListSize];
        };

        class EcSlavePdo{
        public:
            bool enable;
            unsigned char size;
            unsigned short offset;
        };

        class EcSlavePdoInfo {
        public:
            EcSlavePdo statusWord;
            EcSlavePdo modesOfOperationDisplay;
            EcSlavePdo positionActualValue;
            EcSlavePdo velocityActualValue;
            EcSlavePdo torqueActualValue;
            EcSlavePdo errorCode;
            EcSlavePdo touchProbeStatus;
            EcSlavePdo touchProbePositionPos1;
            EcSlavePdo touchProbePositionPos2;
            EcSlavePdo followingError;
            EcSlavePdo digitalInput;

            EcSlavePdo controlWord;
            EcSlavePdo modesOfOperation;
            EcSlavePdo targetPosition;
            EcSlavePdo targetVelocity;
            EcSlavePdo targetTorque;
            EcSlavePdo maxTorque;
            EcSlavePdo positiveTorqueLimit;
            EcSlavePdo negativeTorqueLimit;
            EcSlavePdo touchProbeFunction;
            EcSlavePdo velocityOffset;
            EcSlavePdo torqueOffset;
            EcSlavePdo maxMotorSpeed;
            EcSlavePdo digitalOutput;
        };

        class EcSlaveAxisInfo {
        public:
            int axisIndex;
            short digitalInputAddr;
            unsigned short digitalInputSize;
            short digitalOutputAddr;
            unsigned short digitalOutputSize;
            EcSlavePdoInfo pdoInfo;
            EcOperationMode::T operationMode;
            unsigned char targetReached;
            unsigned char followingError;
            unsigned char homingError;
            unsigned char homingAttained;
            unsigned char halt;
        };

        class EcSlaveInfo {
        public:
            int id;

            short position;
            short address;

            unsigned int vendorId;
            unsigned int productCode;
            unsigned int revisionNo;
            unsigned int serialNo;
            unsigned int alias;
            unsigned int numOfAxes;
            EcSlaveAxisInfo axisInfo[constants::maxSlaveAxes];

            EcStateMachine::T state;
            unsigned short alStatusCode;

            unsigned char offline;
            unsigned char inaccessible;
            unsigned char newSlave;
            unsigned char reverseSlave;

            unsigned char dcSupport;
            unsigned char dcWidth;
            unsigned char portState[4];
            int neighbor[4];
            unsigned int propagaDelay;
            unsigned long long systemTime;
            unsigned long long systemTimeOffset;
            unsigned long long startTime;

            unsigned short inputAddr;
            unsigned short inputSize;
            unsigned short outputAddr;
            unsigned short outputSize;

            unsigned int rxLogicAddr;
            unsigned int rxPhyAddr;
            unsigned int rxSize;
            unsigned int txLogicAddr;
            unsigned int txPhyAddr;
            unsigned int txSize;
        };

        class EcMasterStatisticsInfo {
        public:
            long commPeriod;
            long long cycleCounter;
            long long interruptIntervalCount[9];
            long long cycleProcessTimeCount[6];
            long long processTimeCount[6];
            long long commandProcessTimeCount[6];
            long long feedbackProcessTimeCount[6];
            long long communicateProcessTimeCount[6];
            long long dcDiffCount[12];

            unsigned int txDelay;
            unsigned int minTxDelay;
            unsigned int maxTxDelay;
            unsigned int packetLoss;
            unsigned int packetTimeout;
            unsigned int packetLossMode[4];
            unsigned int packetTimeoutMode[4];

            unsigned int dlEventCount;

            unsigned long long minRefClockInterval;
            unsigned long long maxRefClockInterval;
            unsigned long long avgRefClockInterval;

            unsigned long long curRefClock;
            unsigned long long nextDcClock;

            int diffFromNextDcClock;
            int minDiffFromNextDcClock;
            int maxDiffFromNextDcClock;

            unsigned int totalAxesNum;

            unsigned int totalRxPdoSize;
            unsigned int totalTxPdoSize;
            unsigned int totalInputSize;
            unsigned int totalOutputSize;

            unsigned int overCycle;

            unsigned int ringNum;

            unsigned int numOfCyclicFrames;

            EcHotconnectState::T hcState;
            EcHotconnectAbortCode::T hcAbortCode;
            long hcErrorCode;

            EcDiagnosisScanState::T diagnosisScanState;
        };

        class EcMasterInfo {
        public:
            int id;
            EcStateMachine::T state;
            EcMasterMode::T mode;
            unsigned int numOfSlaves;
            EcSlaveInfo slaves[constants::maxSlaves];

            EcMasterStatisticsInfo statisticsInfo;

            int GetOnlineSlaveCount();
            int GetOfflineSlaveCount();
            int GetInaccessibleSlaveCount();
        };

        class EcMasterInfoList{
        public:
            unsigned int numOfMasters;
            EcMasterInfo masters[constants::maxMasters];
        };

        typedef int (*EcSdoDownloadCallBack)(int result, int masterid, int slaveid, int index, int subindex, EcSdoType::T sdoType, int len, unsigned char* data, unsigned int errorCode);

        typedef int (*EcSdoUploadCallBack)(int result, int masterid, int slaveid, int index, int subindex, EcSdoType::T sdoType, int len, unsigned char* data, unsigned int errorCode);

        typedef int (*EcRegisterWriteCallBack)(int result, int masterid, int slaveid, int off, int len, unsigned char* data);

        typedef int (*EcRegisterReadCallBack)(int result, int masterid, int slaveid, int off, int len, unsigned char* data);

        typedef int (*EcRegisterBroadcastWriteCallBack)(int result, int masterid, int off, int len, unsigned char* data, int wkc);

        typedef int (*EcRegisterBroadcastReadCallBack)(int result, int masterid, int off, int len, unsigned char* data, int wkc);

        typedef int (*EcSdoInfoGetODListCallBack)(int result, int masterid, int slaveid, EcObjectDescriptionListType::T type, EcSlaveSdoInfoObjectDescriptionList* list);

        typedef int (*EcSdoInfoGetEDListCallBack)(int result, int masterid, int slaveid, int index, EcSlaveSdoInfoEntryDescriptionList* list);

        typedef int (*EcFoEReadCallBack)(int result, int masterid, int slaveId, wchar_t* filePath, char* fileName, unsigned int password, unsigned int errorCode);

        typedef int (*EcFoEWriteCallBack)(int result, int masterid, int slaveId, wchar_t* filePath, char* fileName, unsigned int password, unsigned int errorCode);

        typedef int (*EcSIIWriteCallBack)(int result, int masterid, int slaveid, int addr, int len, unsigned char* data);

        typedef int (*EcSIIReadCallBack)(int result, int masterid, int slaveid, int addr, int len, unsigned char* data);

        typedef int (*EcAoEReadCallBack)(int result, int masterid, int slaveId, unsigned char targetNetId[6], unsigned short targetPort, unsigned char senderNetId[6], unsigned short senderPort, unsigned int indexGroup, unsigned int indexOffset, unsigned int readLength, unsigned char* aoeBuff, unsigned int errorCode);

        typedef int (*EcAoEWriteCallBack)(int result, int masterid, int slaveId, unsigned char targetNetId[6], unsigned short targetPort, unsigned char senderNetId[6], unsigned short senderPort, unsigned int indexGroup, unsigned int indexOffset, unsigned int writeLength, unsigned char* aoeData, unsigned int errorCode);

        typedef int (*EcAoEWriteControlCallBack)(int result, int masterid, int slaveId, unsigned char targetNetId[6], unsigned short targetPort, unsigned char senderNetId[6], unsigned short senderPort, unsigned short aoeState, unsigned short deviceState, unsigned int writeLength, unsigned char* aoeData, unsigned int errorCode);

        typedef int (*EcSoEReadCallBack)(int result, int masterid, int slaveId, unsigned char driveNo, unsigned char elementFlags, unsigned short idn, unsigned int buffSize, unsigned char* readSoEBuffer, unsigned int errorCode);

        typedef int (*EcSoEWriteCallBack)(int result, int masterid, int slaveId, unsigned char driveNo, unsigned char elementFlags, unsigned short idn, unsigned int dataSize, unsigned char* writeSoEData, unsigned int errorCode);

        typedef int (*EcVoEReadCallBack)(int result, int masterid, int slaveId, unsigned int vendorId, unsigned short vendorType, unsigned int readDataSize, unsigned char* readVoEBuffer);

        typedef int (*EcVoEWriteCallBack)(int result, int masterid, int slaveId, unsigned int vendorId, unsigned short vendorType, unsigned int writeDataSize, unsigned char* writeAoEData);

        class Ecat;

        class Ecat {
        private:
            WMX3Api *wmx3Api;
            int statChnlId;
            bool isSelfDev;
            void init(WMX3Api *f);
            void close();
            HANDLE ioHdl;
            void* ioData;

        public:
            Ecat(WMX3Api *f);
            Ecat(const Ecat& src);
            Ecat& operator=(const Ecat& src);
            Ecat();
            Ecat(DeviceType::T type);
            ~Ecat();

            static ECAPIFUNC ErrorToString(int errCode, char *pString, unsigned int size);

            static ECAPIFUNC ErrorToString(int errCode, wchar_t *pString, unsigned int size);

            static ECAPIFUNC ApiLogToString(unsigned char* pLogData, unsigned int logDataSize, char *pString, unsigned int size);

            static ECAPIFUNC ApiLogToString(unsigned char* pLogData, unsigned int logDataSize, wchar_t *pString, unsigned int size);

            static ECAPIFUNC GetLibVersion(int *pMajorVersion, int *pMinorVersion, int *pRevisionVersion, int *pFixVersion);


            bool IsDeviceValid();

            ECAPIFUNC GetVersion(int *pMajorVersion, int *pMinorVersion, int *pRevisionVersion, int *pFixVersion);

            ECAPIFUNC ScanNetwork();

            ECAPIFUNC ScanNetwork(int masterId);

            ECAPIFUNC ChangeSlaveState(int slaveId, EcStateMachine::T state, int* errorCode);

            ECAPIFUNC ChangeSlaveState(int masterId, int slaveId, EcStateMachine::T state, int* errorCode);

            ECAPIFUNC StartHotconnect();

            ECAPIFUNC StartHotconnect(int masterId);

            ECAPIFUNC ResetRefClockInfo();

            ECAPIFUNC ResetRefClockInfo(int masterId);

            ECAPIFUNC ResetTransmitStatisticsInfo();

            ECAPIFUNC ResetTransmitStatisticsInfo(int masterId);

            ECAPIFUNC SetUpdatePeriod(unsigned int period);

            ECAPIFUNC DiagnosisScan();

            ECAPIFUNC DiagnosisScan(int masterId);

            ECAPIFUNC GetMasterInfo(EcMasterInfo* master);

            ECAPIFUNC GetMasterInfo(int masterId, EcMasterInfo* master);

            ECAPIFUNC GetMasterInfoList(EcMasterInfoList* masters);

            ECAPIFUNC GetEniFilePath(int slaveId, char* path, int len);

            ECAPIFUNC GetEniFilePath(int slaveId, wchar_t* path, int len);

            ECAPIFUNC GetEniFilePath(int masterId, int slaveId, char* path, int len);

            ECAPIFUNC GetEniFilePath(int masterId, int slaveId, wchar_t* path, int len);

            ECAPIFUNC SetEniFilePath(int slaveId, char* path, unsigned char oneshot = 1);

            ECAPIFUNC SetEniFilePath(int slaveId, wchar_t* path, unsigned char oneshot = 1);

            ECAPIFUNC SetEniFilePath(int masterId, int slaveId, char* path, unsigned char oneshot = 1);

            ECAPIFUNC SetEniFilePath(int masterId, int slaveId, wchar_t* path, unsigned char oneshot = 1);

            ECAPIFUNC RegisterWrite(int slaveId, int regAddr, int len, unsigned char* data);

            ECAPIFUNC RegisterWrite(int masterId, int slaveId, int regAddr, int len, unsigned char* data);

            ECAPIFUNC RegisterRead(int slaveId, int regAddr, int len, unsigned char* buff);

            ECAPIFUNC RegisterRead(int masterId, int slaveId, int regAddr, int len, unsigned char* buff);

            ECAPIFUNC RegisterWrite(int slaveId, int regAddr, int len, unsigned char* data, EcRegisterWriteCallBack callbackFunc, unsigned int waitTime);

            ECAPIFUNC RegisterWrite(int masterId, int slaveId, int regAddr, int len, unsigned char* data, EcRegisterWriteCallBack callbackFunc, unsigned int waitTime);

            ECAPIFUNC RegisterRead(int slaveId, int regAddr, int len, EcRegisterReadCallBack callbackFunc, unsigned int waitTime);

            ECAPIFUNC RegisterRead(int masterId, int slaveId, int regAddr, int len, EcRegisterReadCallBack callbackFunc, unsigned int waitTime);

            ECAPIFUNC RegisterBroadcastWrite(int regAddr, int len, unsigned char* data, unsigned short* wkc);

            ECAPIFUNC RegisterBroadcastWrite(int masterId, int regAddr, int len, unsigned char* data, unsigned short* wkc);

            ECAPIFUNC RegisterBroadcastRead(int regAddr, int len, unsigned char* buff, unsigned short* wkc);

            ECAPIFUNC RegisterBroadcastRead(int masterId, int regAddr, int len, unsigned char* buff, unsigned short* wkc);

            ECAPIFUNC RegisterBroadcastWrite(int regAddr, int len, unsigned char* data, EcRegisterBroadcastWriteCallBack callbackFunc, unsigned int waitTime);

            ECAPIFUNC RegisterBroadcastWrite(int masterId, int regAddr, int len, unsigned char* data, EcRegisterBroadcastWriteCallBack callbackFunc, unsigned int waitTime);

            ECAPIFUNC RegisterBroadcastRead(int regAddr, int len, EcRegisterBroadcastReadCallBack callbackFunc, unsigned int waitTime);

            ECAPIFUNC RegisterBroadcastRead(int masterId, int regAddr, int len, EcRegisterBroadcastReadCallBack callbackFunc, unsigned int waitTime);

            ECAPIFUNC SdoDownload(int slaveId, int index, int subindex, int sdoDataSize, unsigned char* sdoData, unsigned int* errCode, unsigned int waitTime = 0);

            ECAPIFUNC SdoDownload(int masterId, int slaveId, int index, int subindex, int sdoDataSize, unsigned char* sdoData, unsigned int* errCode, unsigned int waitTime = 0);

            ECAPIFUNC SdoUpload(int slaveId, int index, int subindex, int sdoBuffSize, unsigned char* sdoBuff, unsigned int* actualSize, unsigned int* errCode, unsigned int waitTime = 0);

            ECAPIFUNC SdoUpload(int masterId, int slaveId, int index, int subindex, int sdoBuffSize, unsigned char* sdoBuff, unsigned int* actualSize, unsigned int* errCode, unsigned int waitTime = 0);

            ECAPIFUNC SdoDownload(int slaveId, int index, int subindex, int sdoDataSize, unsigned char* sdoData, EcSdoDownloadCallBack callbackFunc, unsigned int waitTime);

            ECAPIFUNC SdoDownload(int masterId, int slaveId, int index, int subindex, int sdoDataSize, unsigned char* sdoData, EcSdoDownloadCallBack callbackFunc, unsigned int waitTime);

            ECAPIFUNC SdoUpload(int slaveId, int index, int subindex, EcSdoUploadCallBack callbackFunc, unsigned int waitTime);

            ECAPIFUNC SdoUpload(int masterId, int slaveId, int index, int subindex, EcSdoUploadCallBack callbackFunc, unsigned int waitTime);
            ECAPIFUNC SdoDownload(int slaveId, int index, int subindex, EcSdoType::T sdoType, int sdoDataSize, unsigned char* sdoData, unsigned int* errCode, unsigned int waitTime = 0, BOOL complete = FALSE);

            ECAPIFUNC SdoDownload(int masterId, int slaveId, int index, int subindex, EcSdoType::T sdoType, int sdoDataSize, unsigned char* sdoData, unsigned int* errCode, unsigned int waitTime = 0, BOOL complete = FALSE);

            ECAPIFUNC SdoUpload(int slaveId, int index, int subindex, EcSdoType::T sdoType, int sdoBuffSize, unsigned char* sdoBuff, unsigned int* actualSize, unsigned int* errCode, unsigned int waitTime = 0, BOOL complete = FALSE);

            ECAPIFUNC SdoUpload(int masterId, int slaveId, int index, int subindex, EcSdoType::T sdoType, int sdoBuffSize, unsigned char* sdoBuff, unsigned int* actualSize, unsigned int* errCode, unsigned int waitTime = 0, BOOL complete = FALSE);

            ECAPIFUNC SdoDownload(int slaveId, int index, int subindex, EcSdoType::T sdoType, int sdoDataSize, unsigned char* sdoData, EcSdoDownloadCallBack callbackFunc, unsigned int waitTime, BOOL complete = FALSE);

            ECAPIFUNC SdoDownload(int masterId, int slaveId, int index, int subindex, EcSdoType::T sdoType, int sdoDataSize, unsigned char* sdoData, EcSdoDownloadCallBack callbackFunc, unsigned int waitTime, BOOL complete = FALSE);

            ECAPIFUNC SdoUpload(int slaveId, int index, int subindex, EcSdoType::T sdoType, EcSdoUploadCallBack callbackFunc, unsigned int waitTime, BOOL complete = FALSE);

            ECAPIFUNC SdoUpload(int masterId, int slaveId, int index, int subindex, EcSdoType::T sdoType, EcSdoUploadCallBack callbackFunc, unsigned int waitTime, BOOL complete = FALSE);

            ECAPIFUNC GetSdoInfoODList(int slaveId, EcObjectDescriptionListType::T type, EcSlaveSdoInfoObjectDescriptionList* list);

            ECAPIFUNC GetSdoInfoODList(int masterId, int slaveId, EcObjectDescriptionListType::T type, EcSlaveSdoInfoObjectDescriptionList* list);

            ECAPIFUNC GetSdoInfoEDList(int slaveId, int index, EcSlaveSdoInfoEntryDescriptionList* list);

            ECAPIFUNC GetSdoInfoEDList(int masterId, int slaveId, int index, EcSlaveSdoInfoEntryDescriptionList* list);

            ECAPIFUNC GetSdoInfoODList(int slaveId, EcObjectDescriptionListType::T type, EcSdoInfoGetODListCallBack callbackFunc, unsigned int waitTime);

            ECAPIFUNC GetSdoInfoODList(int masterId, int slaveId, EcObjectDescriptionListType::T type, EcSdoInfoGetODListCallBack callbackFunc, unsigned int waitTime);

            ECAPIFUNC GetSdoInfoEDList(int slaveId, int index, EcSdoInfoGetEDListCallBack callbackFunc, unsigned int waitTime);

            ECAPIFUNC GetSdoInfoEDList(int masterId, int slaveId, int index, EcSdoInfoGetEDListCallBack callbackFunc, unsigned int waitTime);

            ECAPIFUNC TxPdoWrite(int slaveId, int index, int subindex, int pdoDataSize, unsigned char* pdoData, unsigned int mask = 0);

            ECAPIFUNC TxPdoWrite(int masterId, int slaveId, int index, int subindex, int pdoDataSize, unsigned char* pdoData, unsigned int mask = 0);

            ECAPIFUNC ClearTxPdoWrite(int slaveId, int index, int subindex);

            ECAPIFUNC ClearTxPdoWrite(int masterId, int slaveId, int index, int subindex);

            ECAPIFUNC PdoRead(int slaveId, int index, int subindex, int pdoBuffSize, unsigned char* pdoBuff, unsigned int* actualSize);

            ECAPIFUNC PdoRead(int masterId, int slaveId, int index, int subindex, int pdoBuffSize, unsigned char* pdoBuff, unsigned int* actualSize);

            ECAPIFUNC SetOutputBit(int slaveId, int byte, int bit, unsigned char data);

            ECAPIFUNC SetOutputBit(int masterId, int slaveId, int byte, int bit, unsigned char data);

            ECAPIFUNC SetOutputByte(int slaveId, int byte, unsigned char data);

            ECAPIFUNC SetOutputByte(int masterId, int slaveId, int byte, unsigned char data);

            ECAPIFUNC SetOutputBytes(int slaveId, int byte, int size, unsigned char *pData);

            ECAPIFUNC SetOutputBytes(int masterId, int slaveId, int byte, int size, unsigned char *pData);

            ECAPIFUNC SetOutputBits(int slaveId, int *pByte, int *pBit, unsigned char *pData, int count);

            ECAPIFUNC SetOutputBits(int masterId, int slaveId, int *pByte, int *pBit, unsigned char *pData, int count);

            ECAPIFUNC GetInputBit(int slaveId, int byte, int bit, unsigned char *pData);

            ECAPIFUNC GetInputBit(int masterId, int slaveId, int byte, int bit, unsigned char *pData);

            ECAPIFUNC GetInputByte(int slaveId, int byte, unsigned char *pData);

            ECAPIFUNC GetInputByte(int masterId, int slaveId, int byte, unsigned char *pData);

            ECAPIFUNC GetInputBytes(int slaveId, int byte, int size,unsigned char *pData);

            ECAPIFUNC GetInputBytes(int masterId, int slaveId, int byte, int size, unsigned char *pData);

            ECAPIFUNC GetOutputBit(int slaveId, int byte, int bit, unsigned char *pData);

            ECAPIFUNC GetOutputBit(int masterId, int slaveId, int byte, int bit, unsigned char *pData);

            ECAPIFUNC GetOutputByte(int slaveId, int byte, unsigned char *pData);

            ECAPIFUNC GetOutputByte(int masterId, int slaveId, int byte, unsigned char *pData);

            ECAPIFUNC GetOutputBytes(int slaveId, int byte, int size, unsigned char *pData);

            ECAPIFUNC GetOutputBytes(int masterId, int slaveId, int byte, int size, unsigned char *pData);

            ECAPIFUNC FoERead(int slaveId, wchar_t* filePath, char* fileName, unsigned int password, unsigned int* errCode);

            ECAPIFUNC FoERead(int masterId, int slaveId, wchar_t* filePath, char* fileName, unsigned int password, unsigned int* errCode);

            ECAPIFUNC FoEWrite(int slaveId, wchar_t* filePath, char* fileName, unsigned int password, unsigned int* errCode);

            ECAPIFUNC FoEWrite(int masterId, int slaveId, wchar_t* filePath, char* fileName, unsigned int password, unsigned int* errCode);

            ECAPIFUNC FoERead(int slaveId, wchar_t* filePath, char* fileName, unsigned int password, EcFoEReadCallBack callbackFunc, unsigned int waitTime);

            ECAPIFUNC FoERead(int masterId, int slaveId, wchar_t* filePath, char* fileName, unsigned int password, EcFoEReadCallBack callbackFunc, unsigned int waitTime);

            ECAPIFUNC FoEWrite(int slaveId, wchar_t* filePath, char* fileName, unsigned int password, EcFoEWriteCallBack callbackFunc, unsigned int waitTime);

            ECAPIFUNC FoEWrite(int masterId, int slaveId, wchar_t* filePath, char* fileName, unsigned int password, EcFoEWriteCallBack callbackFunc, unsigned int waitTime);

            ECAPIFUNC FoERead(int slaveId, char* filePath, char* fileName, unsigned int password, unsigned int* errCode);

            ECAPIFUNC FoERead(int masterId, int slaveId, char* filePath, char* fileName, unsigned int password, unsigned int* errCode);

            ECAPIFUNC FoEWrite(int slaveId, char* filePath, char* fileName, unsigned int password, unsigned int* errCode);

            ECAPIFUNC FoEWrite(int masterId, int slaveId, char* filePath, char* fileName, unsigned int password, unsigned int* errCode);

            ECAPIFUNC FoERead(int slaveId, char* filePath, char* fileName, unsigned int password, EcFoEReadCallBack callbackFunc, unsigned int waitTime);

            ECAPIFUNC FoERead(int masterId, int slaveId, char* filePath, char* fileName, unsigned int password, EcFoEReadCallBack callbackFunc, unsigned int waitTime);

            ECAPIFUNC FoEWrite(int slaveId, char* filePath, char* fileName, unsigned int password, EcFoEWriteCallBack callbackFunc, unsigned int waitTime);

            ECAPIFUNC FoEWrite(int masterId, int slaveId, char* filePath, char* fileName, unsigned int password, EcFoEWriteCallBack callbackFunc, unsigned int waitTime);

            ECAPIFUNC SIIWrite(int slaveId, int siiAddr, int len, unsigned char* data, bool checkSum = false);

            ECAPIFUNC SIIWrite(int masterId, int slaveId, int siiAddr, int len, unsigned char* data, bool checkSum = false);

            ECAPIFUNC SIIRead(int slaveId, int siiAddr, int len, unsigned char* buff);

            ECAPIFUNC SIIRead(int masterId, int slaveId, int siiAddr, int len, unsigned char* buff);

            ECAPIFUNC SIIWrite(int slaveId, int siiAddr, int len, unsigned char* data, EcSIIWriteCallBack callbackFunc, unsigned int waitTime, bool checkSum = false);

            ECAPIFUNC SIIWrite(int masterId, int slaveId, int siiAddr, int len, unsigned char* data, EcSIIWriteCallBack callbackFunc, unsigned int waitTime, bool checkSum = false);

            ECAPIFUNC SIIRead(int slaveId, int siiAddr, int len, EcSIIReadCallBack callbackFunc, unsigned int waitTime);

            ECAPIFUNC SIIRead(int masterId, int slaveId, int siiAddr, int len, EcSIIReadCallBack callbackFunc, unsigned int waitTime);

            ECAPIFUNC AoERead(int slaveId, unsigned char targetNetId[6], unsigned short targetPort, unsigned int indexGroup, unsigned int indexOffset, unsigned int readLength, unsigned char* readAoEBuff, unsigned int* errCode, unsigned int waitTime = 0, EcAoESender* sender = NULL);

            ECAPIFUNC AoERead(int masterId, int slaveId, unsigned char targetNetId[6], unsigned short targetPort, unsigned int indexGroup, unsigned int indexOffset, unsigned int readLength, unsigned char* readAoEBuff, unsigned int* errCode, unsigned int waitTime = 0, EcAoESender* sender = NULL);

            ECAPIFUNC AoEWrite(int slaveId, unsigned char targetNetId[6], unsigned short targetPort, unsigned int indexGroup, unsigned int indexOffset, unsigned int writeLength, unsigned char* writeAoEData, unsigned int* errCode, unsigned int waitTime = 0, EcAoESender* sender = NULL);

            ECAPIFUNC AoEWrite(int masterId, int slaveId, unsigned char targetNetId[6], unsigned short targetPort, unsigned int indexGroup, unsigned int indexOffset, unsigned int writeLength, unsigned char* writeAoEData, unsigned int* errCode, unsigned int waitTime = 0, EcAoESender* sender = NULL);

            ECAPIFUNC AoEWriteControl(int slaveId, unsigned char targetNetId[6], unsigned short targetPort, unsigned short aoeState, unsigned short deviceState, unsigned int writeLength, unsigned char* writeAoEData, unsigned int* errCode, unsigned int waitTime = 0, EcAoESender* sender = NULL);

            ECAPIFUNC AoEWriteControl(int masterId, int slaveId, unsigned char targetNetId[6], unsigned short targetPort, unsigned short aoeState, unsigned short deviceState, unsigned int writeLength, unsigned char* writeAoEData, unsigned int* errCode, unsigned int waitTime = 0, EcAoESender* sender = NULL);

            ECAPIFUNC AoEReadWrite(int slaveId, unsigned char targetNetId[6], unsigned short targetPort, unsigned int indexGroup, unsigned int indexOffset, unsigned int readLength, unsigned char* readAoEBuff, unsigned int writeLength, unsigned char* writeAoEData, unsigned int* errCode, unsigned int waitTime = 0, EcAoESender* sender = NULL);

            ECAPIFUNC AoEReadWrite(int masterId, int slaveId, unsigned char targetNetId[6], unsigned short targetPort, unsigned int indexGroup, unsigned int indexOffset, unsigned int readLength, unsigned char* readAoEBuff, unsigned int writeLength, unsigned char* writeAoEData, unsigned int* errCode, unsigned int waitTime = 0, EcAoESender* sender = NULL);

            ECAPIFUNC AoERead(int slaveId, unsigned char targetNetId[6], unsigned short targetPort, unsigned int indexGroup, unsigned int indexOffset, unsigned int readLength, EcAoEReadCallBack callbackFunc, unsigned int waitTime, EcAoESender* sender = NULL);

            ECAPIFUNC AoERead(int masterId, int slaveId, unsigned char targetNetId[6], unsigned short targetPort, unsigned int indexGroup, unsigned int indexOffset, unsigned int readLength, EcAoEReadCallBack callbackFunc, unsigned int waitTime, EcAoESender* sender = NULL);

            ECAPIFUNC AoEWrite(int slaveId, unsigned char targetNetId[6], unsigned short targetPort, unsigned int indexGroup, unsigned int indexOffset, unsigned int writeLength, unsigned char* writeAoEData, EcAoEWriteCallBack callbackFunc, unsigned int waitTime, EcAoESender* sender = NULL);

            ECAPIFUNC AoEWrite(int masterId, int slaveId, unsigned char targetNetId[6], unsigned short targetPort, unsigned int indexGroup, unsigned int indexOffset, unsigned int writeLength, unsigned char* writeAoEData, EcAoEWriteCallBack callbackFunc, unsigned int waitTime, EcAoESender* sender = NULL);

            ECAPIFUNC AoEWriteControl(int slaveId, unsigned char targetNetId[6], unsigned short targetPort, unsigned short aoeState, unsigned short deviceState, unsigned int writeLength, unsigned char* writeAoEData, EcAoEWriteControlCallBack callbackFunc, unsigned int waitTime, EcAoESender* sender = NULL);

            ECAPIFUNC AoEWriteControl(int masterId, int slaveId, unsigned char targetNetId[6], unsigned short targetPort, unsigned short aoeState, unsigned short deviceState, unsigned int writeLength, unsigned char* writeAoEData, EcAoEWriteControlCallBack callbackFunc, unsigned int waitTime, EcAoESender* sender = NULL);

            ECAPIFUNC AoEReadWrite(int slaveId, unsigned char targetNetId[6], unsigned short targetPort, unsigned int indexGroup, unsigned int indexOffset, unsigned int readLength, unsigned int writeLength, unsigned char* writeAoEData, EcAoEReadCallBack callbackFunc, unsigned int waitTime, EcAoESender* sender = NULL);

            ECAPIFUNC AoEReadWrite(int masterId, int slaveId, unsigned char targetNetId[6], unsigned short targetPort, unsigned int indexGroup, unsigned int indexOffset, unsigned int readLength, unsigned int writeLength, unsigned char* writeAoEData, EcAoEReadCallBack callbackFunc, unsigned int waitTime, EcAoESender* sender = NULL);

            ECAPIFUNC SoERead(int slaveId, unsigned char driveNo, unsigned char elementFlags, unsigned short idn, unsigned int buffSize, unsigned char* readSoEBuffer, unsigned int* actualSize, unsigned int* errCode, unsigned int waitTime = 0);

            ECAPIFUNC SoERead(int masterId, int slaveId, unsigned char driveNo, unsigned char elementFlags, unsigned short idn, unsigned int buffSize, unsigned char* readSoEBuffer, unsigned int* actualSize, unsigned int* errCode, unsigned int waitTime = 0);

            ECAPIFUNC SoEWrite(int slaveId, unsigned char driveNo, unsigned char elementFlags, unsigned short idn, unsigned int dataSize, unsigned char* writeSoEData, unsigned int* errCode, unsigned int waitTime = 0);

            ECAPIFUNC SoEWrite(int masterId, int slaveId, unsigned char driveNo, unsigned char elementFlags, unsigned short idn, unsigned int dataSize, unsigned char* writeSoEData, unsigned int* errCode, unsigned int waitTime = 0);

            ECAPIFUNC SoERead(int slaveId, unsigned char driveNo, unsigned char elementFlags, unsigned short idn, EcSoEReadCallBack callbackFunc, unsigned int waitTime);

            ECAPIFUNC SoERead(int masterId, int slaveId, unsigned char driveNo, unsigned char elementFlags, unsigned short idn, EcSoEReadCallBack callbackFunc, unsigned int waitTime);

            ECAPIFUNC SoEWrite(int slaveId, unsigned char driveNo, unsigned char elementFlags, unsigned short idn, unsigned int dataSize, unsigned char* writeSoEData, EcSoEWriteCallBack callbackFunc, unsigned int waitTime);

            ECAPIFUNC SoEWrite(int masterId, int slaveId, unsigned char driveNo, unsigned char elementFlags, unsigned short idn, unsigned int dataSize, unsigned char* writeSoEData, EcSoEWriteCallBack callbackFunc, unsigned int waitTime);

            ECAPIFUNC VoERead(int slaveId, unsigned int* vendorId, unsigned short* vendorType, unsigned int buffSize, unsigned char* readVoEBuffer, unsigned int* actualSize, unsigned int waitTime = 0);

            ECAPIFUNC VoERead(int masterId, int slaveId, unsigned int* vendorId, unsigned short* vendorType, unsigned int buffSize, unsigned char* readVoEBuffer, unsigned int* actualSize, unsigned int waitTime = 0);

            ECAPIFUNC VoEWrite(int slaveId, unsigned int vendorId, unsigned short vendorType, unsigned int dataSize, unsigned char* writeVoEData, unsigned int waitTime = 0);

            ECAPIFUNC VoEWrite(int masterId, int slaveId, unsigned int vendorId, unsigned short vendorType, unsigned int dataSize, unsigned char* writeVoEData, unsigned int waitTime = 0);

            ECAPIFUNC VoERead(int slaveId, EcVoEReadCallBack callbackFunc, unsigned int waitTime);

            ECAPIFUNC VoERead(int masterId, int slaveId, EcVoEReadCallBack callbackFunc, unsigned int waitTime);

            ECAPIFUNC VoEWrite(int slaveId, unsigned int vendorId, unsigned short vendorType, unsigned int dataSize, unsigned char* writeVoEData, EcVoEWriteCallBack callbackFunc, unsigned int waitTime);

            ECAPIFUNC VoEWrite(int masterId, int slaveId, unsigned int vendorId, unsigned short vendorType, unsigned int dataSize, unsigned char* writeVoEData, EcVoEWriteCallBack callbackFunc, unsigned int waitTime);

            ECAPIFUNC SetAxisMode(int slaveId, int axisId, EcOperationMode::T mode);

            ECAPIFUNC SetAxisMode(int masterId, int slaveId, int axisId, EcOperationMode::T mode);

            ECAPIFUNC StartAxisPP(int slaveId, int axisIndex, int targetPos, unsigned int profileVel, unsigned int profileAcc, unsigned int profileDec, char immediately = -1, char relative = -1);

            ECAPIFUNC StartAxisPP(int masterId, int slaveId, int axisIndex, int targetPos, unsigned int profileVel, unsigned int profileAcc, unsigned int profileDec, char immediately = -1, char relative = -1);

            ECAPIFUNC StartAxisPV(int slaveId, int axisIndex, int targetVel, unsigned int profileAcc, unsigned int profileDec);

            ECAPIFUNC StartAxisPV(int masterId, int slaveId, int axisIndex, int targetVel, unsigned int profileAcc, unsigned int profileDec);

            ECAPIFUNC StartAxisPV(int slaveId, int axisIndex, int targetVel, unsigned int profileAcc, unsigned int profileDec, unsigned short maxTorque);

            ECAPIFUNC StartAxisPV(int masterId, int slaveId, int axisIndex, int targetVel, unsigned int profileAcc, unsigned int profileDec, unsigned short maxTorque);

            ECAPIFUNC StartAxisTQ(int slaveId, int axisIndex, short targetTrq);

            ECAPIFUNC StartAxisTQ(int masterId, int slaveId, int axisIndex, short targetTrq);

            ECAPIFUNC StartAxisTQ(int slaveId, int axisIndex, short targetTrq, unsigned int maxMotorSpeed);

            ECAPIFUNC StartAxisTQ(int masterId, int slaveId, int axisIndex, short targetTrq, unsigned int maxMotorSpeed);

            ECAPIFUNC StartAxisHM(int slaveId, int axisIndex, int method, unsigned int switchSpeed, unsigned int zeroSpeed, unsigned int hmAcc);

            ECAPIFUNC StartAxisHM(int masterId, int slaveId, int axisIndex, int method, unsigned int switchSpeed, unsigned int zeroSpeed, unsigned int hmAcc);

            ECAPIFUNC StartAxisHM(int slaveId, int axisIndex, int method, unsigned int switchSpeed, unsigned int zeroSpeed, unsigned int hmAcc, int homeOffset);

            ECAPIFUNC StartAxisHM(int masterId, int slaveId, int axisIndex, int method, unsigned int switchSpeed, unsigned int zeroSpeed, unsigned int hmAcc, int homeOffset);

            ECAPIFUNC HaltAxis(int slaveId, int axisIndex);

            ECAPIFUNC HaltAxis(int masterId, int slaveId, int axisIndex);

            ECAPIFUNC HaltAxisRelease(int slaveId, int axisIndex);

            ECAPIFUNC HaltAxisRelease(int masterId, int slaveId, int axisIndex);

            ECAPIFUNC OpenSerialChannel(int slaveId, int chnlId, wchar_t* comName, DCB* dcb, COMMTIMEOUTS* timeout, unsigned int* error = NULL);

            ECAPIFUNC OpenSerialChannel(int masterId, int slaveId, int chnlId, wchar_t* comName, DCB* dcb, COMMTIMEOUTS* timeout, unsigned int* error = NULL);

            ECAPIFUNC OpenSerialChannel(int slaveId, int chnlId, char* comName, DCB* dcb, COMMTIMEOUTS* timeout, unsigned int* error = NULL);

            ECAPIFUNC OpenSerialChannel(int masterId, int slaveId, int chnlId, char* comName, DCB* dcb, COMMTIMEOUTS* timeout, unsigned int* error = NULL);

            ECAPIFUNC CloseSerialChannel(int slaveId, int chnlId);

            ECAPIFUNC CloseSerialChannel(int masterId, int slaveId, int chnlId);


        };
    }

}

#endif