UnderAutomation.Fanuc 2.0.0.1__py3-none-any.whl

underautomation/fanuc/common/arm_front_back.py

@@ -0,0 +1,9 @@
+import clr
+import os
+clr.AddReference(os.path.realpath(os.path.join(os.path.dirname(__file__), "..",  'lib', 'UnderAutomation.Fanuc.dll')))
+from UnderAutomation.Fanuc.Common import ArmFrontBack as arm_front_back
+
+class ArmFrontBack(int):
+	Unknown = arm_front_back.Unknown
+	Front = arm_front_back.Front
+	Back = arm_front_back.Back

underautomation/fanuc/common/arm_left_right.py

@@ -0,0 +1,9 @@
+import clr
+import os
+clr.AddReference(os.path.realpath(os.path.join(os.path.dirname(__file__), "..",  'lib', 'UnderAutomation.Fanuc.dll')))
+from UnderAutomation.Fanuc.Common import ArmLeftRight as arm_left_right
+
+class ArmLeftRight(int):
+	Unknown = arm_left_right.Unknown
+	Left = arm_left_right.Left
+	Right = arm_left_right.Right

underautomation/fanuc/common/arm_up_down.py

@@ -0,0 +1,9 @@
+import clr
+import os
+clr.AddReference(os.path.realpath(os.path.join(os.path.dirname(__file__), "..",  'lib', 'UnderAutomation.Fanuc.dll')))
+from UnderAutomation.Fanuc.Common import ArmUpDown as arm_up_down
+
+class ArmUpDown(int):
+	Unknown = arm_up_down.Unknown
+	Up = arm_up_down.Up
+	Down = arm_up_down.Down

underautomation/fanuc/common/cartesian_position.py

@@ -0,0 +1,37 @@
+import typing
+from underautomation.fanuc.common.configuration import Configuration
+from underautomation.fanuc.common.xyz_position import XYZPosition
+import clr
+import os
+clr.AddReference(os.path.realpath(os.path.join(os.path.dirname(__file__), "..",  'lib', 'UnderAutomation.Fanuc.dll')))
+from UnderAutomation.Fanuc.Common import CartesianPosition as cartesian_position
+
+class CartesianPosition(XYZPosition):
+	def __init__(self, x: float, y: float, z: float, w: float, p: float, r: float, configuration: Configuration, _internal = 0):
+		if(_internal == 0):
+			self._instance = cartesian_position(x, y, z, w, p, r, configuration)
+		else:
+			self._instance = _internal
+	def __repr__(self):
+		return self._instance.ToString()
+	@property
+	def w(self) -> float:
+		return self._instance.W
+	@w.setter
+	def w(self, value: float):
+		self._instance.W = value
+	@property
+	def p(self) -> float:
+		return self._instance.P
+	@p.setter
+	def p(self, value: float):
+		self._instance.P = value
+	@property
+	def r(self) -> float:
+		return self._instance.R
+	@r.setter
+	def r(self, value: float):
+		self._instance.R = value
+	@property
+	def configuration(self) -> Configuration:
+		return Configuration(None, None, None, None, None, None, None, self._instance.Configuration)

underautomation/fanuc/common/cartesian_position_with_tool.py

@@ -0,0 +1,21 @@
+import typing
+from underautomation.fanuc.common.cartesian_position import CartesianPosition
+import clr
+import os
+clr.AddReference(os.path.realpath(os.path.join(os.path.dirname(__file__), "..",  'lib', 'UnderAutomation.Fanuc.dll')))
+from UnderAutomation.Fanuc.Common import CartesianPositionWithTool as cartesian_position_with_tool
+
+class CartesianPositionWithTool(CartesianPosition):
+	def __init__(self, x: float, y: float, z: float, w: float, p: float, r: float, tool: int, _internal = 0):
+		if(_internal == 0):
+			self._instance = cartesian_position_with_tool(x, y, z, w, p, r, tool)
+		else:
+			self._instance = _internal
+	def __repr__(self):
+		return self._instance.ToString()
+	@property
+	def tool(self) -> int:
+		return self._instance.Tool
+	@tool.setter
+	def tool(self, value: int):
+		self._instance.Tool = value

underautomation/fanuc/common/cartesian_position_with_user_frame.py

@@ -0,0 +1,18 @@
+import typing
+from underautomation.fanuc.common.cartesian_position_with_tool import CartesianPositionWithTool
+import clr
+import os
+clr.AddReference(os.path.realpath(os.path.join(os.path.dirname(__file__), "..",  'lib', 'UnderAutomation.Fanuc.dll')))
+from UnderAutomation.Fanuc.Common import CartesianPositionWithUserFrame as cartesian_position_with_user_frame
+
+class CartesianPositionWithUserFrame(CartesianPositionWithTool):
+	def __init__(self, x: float, y: float, z: float, w: float, p: float, r: float, tool: int, frame: int, _internal = 0):
+		if(_internal == 0):
+			self._instance = cartesian_position_with_user_frame(x, y, z, w, p, r, tool, frame)
+		else:
+			self._instance = _internal
+	def __repr__(self):
+		return self._instance.ToString()
+	@property
+	def frame(self) -> int:
+		return self._instance.Frame

underautomation/fanuc/common/configuration.py

@@ -0,0 +1,62 @@
+import typing
+from underautomation.fanuc.common.wrist_flip import WristFlip
+from underautomation.fanuc.common.arm_up_down import ArmUpDown
+from underautomation.fanuc.common.arm_left_right import ArmLeftRight
+from underautomation.fanuc.common.arm_front_back import ArmFrontBack
+import clr
+import os
+clr.AddReference(os.path.realpath(os.path.join(os.path.dirname(__file__), "..",  'lib', 'UnderAutomation.Fanuc.dll')))
+from UnderAutomation.Fanuc.Common import Configuration as configuration
+
+class Configuration:
+	def __init__(self, wristFlip: WristFlip, armUpDown: ArmUpDown, armLeftRight: ArmLeftRight, armFrontBack: ArmFrontBack, turnAxis1: int, turnAxis2: int, turnAxis3: int, _internal = 0):
+		if(_internal == 0):
+			self._instance = configuration(wristFlip, armUpDown, armLeftRight, armFrontBack, turnAxis1, turnAxis2, turnAxis3)
+		else:
+			self._instance = _internal
+	def __repr__(self):
+		return self._instance.ToString()
+	def from_string(self, value: str) -> None:
+		self._instance.FromString(value)
+	@property
+	def wrist_flip(self) -> WristFlip:
+		return WristFlip(self._instance.WristFlip)
+	@wrist_flip.setter
+	def wrist_flip(self, value: WristFlip):
+		self._instance.WristFlip = value
+	@property
+	def arm_up_down(self) -> ArmUpDown:
+		return ArmUpDown(self._instance.ArmUpDown)
+	@arm_up_down.setter
+	def arm_up_down(self, value: ArmUpDown):
+		self._instance.ArmUpDown = value
+	@property
+	def arm_left_right(self) -> ArmLeftRight:
+		return ArmLeftRight(self._instance.ArmLeftRight)
+	@arm_left_right.setter
+	def arm_left_right(self, value: ArmLeftRight):
+		self._instance.ArmLeftRight = value
+	@property
+	def arm_front_back(self) -> ArmFrontBack:
+		return ArmFrontBack(self._instance.ArmFrontBack)
+	@arm_front_back.setter
+	def arm_front_back(self, value: ArmFrontBack):
+		self._instance.ArmFrontBack = value
+	@property
+	def turn_axis1(self) -> int:
+		return self._instance.TurnAxis1
+	@turn_axis1.setter
+	def turn_axis1(self, value: int):
+		self._instance.TurnAxis1 = value
+	@property
+	def turn_axis2(self) -> int:
+		return self._instance.TurnAxis2
+	@turn_axis2.setter
+	def turn_axis2(self, value: int):
+		self._instance.TurnAxis2 = value
+	@property
+	def turn_axis3(self) -> int:
+		return self._instance.TurnAxis3
+	@turn_axis3.setter
+	def turn_axis3(self, value: int):
+		self._instance.TurnAxis3 = value

underautomation/fanuc/common/digital_ports.py

@@ -0,0 +1,15 @@
+import clr
+import os
+clr.AddReference(os.path.realpath(os.path.join(os.path.dirname(__file__), "..",  'lib', 'UnderAutomation.Fanuc.dll')))
+from UnderAutomation.Fanuc.Common import DigitalPorts as digital_ports
+
+class DigitalPorts(int):
+	DIN = digital_ports.DIN
+	DOUT = digital_ports.DOUT
+	UI = digital_ports.UI
+	UO = digital_ports.UO
+	SI = digital_ports.SI
+	SO = digital_ports.SO
+	RI = digital_ports.RI
+	RO = digital_ports.RO
+	FLG = digital_ports.FLG

underautomation/fanuc/common/extended_cartesian_position.py

@@ -0,0 +1,49 @@
+import typing
+from underautomation.fanuc.common.cartesian_position import CartesianPosition
+import clr
+import os
+clr.AddReference(os.path.realpath(os.path.join(os.path.dirname(__file__), "..",  'lib', 'UnderAutomation.Fanuc.dll')))
+from UnderAutomation.Fanuc.Common import ExtendedCartesianPosition as extended_cartesian_position
+
+class ExtendedCartesianPosition(CartesianPosition):
+	def __init__(self, x: float, y: float, z: float, w: float, p: float, r: float, e1: float, e2: float, e3: float, t4: int, t5: int, t6: int, _internal = 0):
+		if(_internal == 0):
+			self._instance = extended_cartesian_position(x, y, z, w, p, r, e1, e2, e3, t4, t5, t6)
+		else:
+			self._instance = _internal
+	@property
+	def e1(self) -> float:
+		return self._instance.E1
+	@e1.setter
+	def e1(self, value: float):
+		self._instance.E1 = value
+	@property
+	def e2(self) -> float:
+		return self._instance.E2
+	@e2.setter
+	def e2(self, value: float):
+		self._instance.E2 = value
+	@property
+	def e3(self) -> float:
+		return self._instance.E3
+	@e3.setter
+	def e3(self, value: float):
+		self._instance.E3 = value
+	@property
+	def t4(self) -> int:
+		return self._instance.T4
+	@t4.setter
+	def t4(self, value: int):
+		self._instance.T4 = value
+	@property
+	def t5(self) -> int:
+		return self._instance.T5
+	@t5.setter
+	def t5(self, value: int):
+		self._instance.T5 = value
+	@property
+	def t6(self) -> int:
+		return self._instance.T6
+	@t6.setter
+	def t6(self, value: int):
+		self._instance.T6 = value

underautomation/fanuc/common/ftp_connect_parameters.py

@@ -0,0 +1,19 @@
+import typing
+from underautomation.fanuc.ftp.internal.ftp_connect_parameters_base import FtpConnectParametersBase
+import clr
+import os
+clr.AddReference(os.path.realpath(os.path.join(os.path.dirname(__file__), "..",  'lib', 'UnderAutomation.Fanuc.dll')))
+from UnderAutomation.Fanuc.Common import FtpConnectParameters as ftp_connect_parameters
+
+class FtpConnectParameters(FtpConnectParametersBase):
+	def __init__(self, _internal = 0):
+		if(_internal == 0):
+			self._instance = ftp_connect_parameters()
+		else:
+			self._instance = _internal
+	@property
+	def enable(self) -> bool:
+		return self._instance.Enable
+	@enable.setter
+	def enable(self, value: bool):
+		self._instance.Enable = value

underautomation/fanuc/common/io_status.py

@@ -0,0 +1,27 @@
+import typing
+from underautomation.fanuc.common.digital_ports import DigitalPorts
+import clr
+import os
+clr.AddReference(os.path.realpath(os.path.join(os.path.dirname(__file__), "..",  'lib', 'UnderAutomation.Fanuc.dll')))
+from UnderAutomation.Fanuc.Common import IOStatus as io_status
+
+class IOStatus:
+	def __init__(self, _internal = 0):
+		if(_internal == 0):
+			self._instance = io_status()
+		else:
+			self._instance = _internal
+	def __repr__(self):
+		return self._instance.ToString()
+	@property
+	def port(self) -> DigitalPorts:
+		return DigitalPorts(self._instance.Port)
+	@property
+	def id(self) -> int:
+		return self._instance.Id
+	@property
+	def value(self) -> bool:
+		return self._instance.Value
+	@property
+	def name(self) -> str:
+		return self._instance.Name

underautomation/fanuc/common/joints_position.py

@@ -0,0 +1,71 @@
+import typing
+import clr
+import os
+clr.AddReference(os.path.realpath(os.path.join(os.path.dirname(__file__), "..",  'lib', 'UnderAutomation.Fanuc.dll')))
+from UnderAutomation.Fanuc.Common import JointsPosition as joints_position
+
+class JointsPosition:
+	def __init__(self, j1: float, j2: float, j3: float, j4: float, j5: float, j6: float, j7: float, j8: float, j9: float, _internal = 0):
+		if(_internal == 0):
+			self._instance = joints_position(j1, j2, j3, j4, j5, j6, j7, j8, j9)
+		else:
+			self._instance = _internal
+	def __repr__(self):
+		return self._instance.ToString()
+	@property
+	def values(self) -> typing.List[float]:
+		return self._instance.Values
+	@property
+	def j1(self) -> float:
+		return self._instance.J1
+	@j1.setter
+	def j1(self, value: float):
+		self._instance.J1 = value
+	@property
+	def j2(self) -> float:
+		return self._instance.J2
+	@j2.setter
+	def j2(self, value: float):
+		self._instance.J2 = value
+	@property
+	def j3(self) -> float:
+		return self._instance.J3
+	@j3.setter
+	def j3(self, value: float):
+		self._instance.J3 = value
+	@property
+	def j4(self) -> float:
+		return self._instance.J4
+	@j4.setter
+	def j4(self, value: float):
+		self._instance.J4 = value
+	@property
+	def j5(self) -> float:
+		return self._instance.J5
+	@j5.setter
+	def j5(self, value: float):
+		self._instance.J5 = value
+	@property
+	def j6(self) -> float:
+		return self._instance.J6
+	@j6.setter
+	def j6(self, value: float):
+		self._instance.J6 = value
+	@property
+	def j7(self) -> float:
+		return self._instance.J7
+	@j7.setter
+	def j7(self, value: float):
+		self._instance.J7 = value
+	@property
+	def j8(self) -> float:
+		return self._instance.J8
+	@j8.setter
+	def j8(self, value: float):
+		self._instance.J8 = value
+	@property
+	def j9(self) -> float:
+		return self._instance.J9
+	@j9.setter
+	def j9(self, value: float):
+		self._instance.J9 = value

underautomation/fanuc/common/position.py

@@ -0,0 +1,38 @@
+import typing
+from underautomation.fanuc.common.joints_position import JointsPosition
+from underautomation.fanuc.common.extended_cartesian_position import ExtendedCartesianPosition
+import clr
+import os
+clr.AddReference(os.path.realpath(os.path.join(os.path.dirname(__file__), "..",  'lib', 'UnderAutomation.Fanuc.dll')))
+from UnderAutomation.Fanuc.Common import Position as position
+
+class Position:
+	def __init__(self, userFrame: int, userTool: int, jointsPosition: JointsPosition, cartesianPosition: ExtendedCartesianPosition, _internal = 0):
+		if(_internal == 0):
+			self._instance = position(userFrame, userTool, jointsPosition, cartesianPosition)
+		else:
+			self._instance = _internal
+	@property
+	def user_frame(self) -> int:
+		return self._instance.UserFrame
+	@user_frame.setter
+	def user_frame(self, value: int):
+		self._instance.UserFrame = value
+	@property
+	def user_tool(self) -> int:
+		return self._instance.UserTool
+	@user_tool.setter
+	def user_tool(self, value: int):
+		self._instance.UserTool = value
+	@property
+	def joints_position(self) -> JointsPosition:
+		return JointsPosition(None, None, None, None, None, None, None, None, None, self._instance.JointsPosition)
+	@joints_position.setter
+	def joints_position(self, value: JointsPosition):
+		self._instance.JointsPosition = value
+	@property
+	def cartesian_position(self) -> ExtendedCartesianPosition:
+		return ExtendedCartesianPosition(None, None, None, None, None, None, None, None, None, None, None, None, self._instance.CartesianPosition)
+	@cartesian_position.setter
+	def cartesian_position(self, value: ExtendedCartesianPosition):
+		self._instance.CartesianPosition = value

underautomation/fanuc/common/program_type.py

@@ -0,0 +1,9 @@
+import clr
+import os
+clr.AddReference(os.path.realpath(os.path.join(os.path.dirname(__file__), "..",  'lib', 'UnderAutomation.Fanuc.dll')))
+from UnderAutomation.Fanuc.Common import ProgramType as program_type
+
+class ProgramType(int):
+	Unknown = program_type.Unknown
+	Karel = program_type.Karel
+	TP = program_type.TP

underautomation/fanuc/common/rmi_connect_parameters.py

@@ -0,0 +1,19 @@
+import typing
+from underautomation.fanuc.rmi.internal.rmi_connect_parameters_base import RmiConnectParametersBase
+import clr
+import os
+clr.AddReference(os.path.realpath(os.path.join(os.path.dirname(__file__), "..",  'lib', 'UnderAutomation.Fanuc.dll')))
+from UnderAutomation.Fanuc.Common import RmiConnectParameters as rmi_connect_parameters
+
+class RmiConnectParameters(RmiConnectParametersBase):
+	def __init__(self, _internal = 0):
+		if(_internal == 0):
+			self._instance = rmi_connect_parameters()
+		else:
+			self._instance = _internal
+	@property
+	def enable(self) -> bool:
+		return self._instance.Enable
+	@enable.setter
+	def enable(self, value: bool):
+		self._instance.Enable = value

underautomation/fanuc/common/snpx_connect_parameters.py

@@ -0,0 +1,19 @@
+import typing
+from underautomation.fanuc.snpx.internal.snpx_connect_parameters_base import SnpxConnectParametersBase
+import clr
+import os
+clr.AddReference(os.path.realpath(os.path.join(os.path.dirname(__file__), "..",  'lib', 'UnderAutomation.Fanuc.dll')))
+from UnderAutomation.Fanuc.Common import SnpxConnectParameters as snpx_connect_parameters
+
+class SnpxConnectParameters(SnpxConnectParametersBase):
+	def __init__(self, _internal = 0):
+		if(_internal == 0):
+			self._instance = snpx_connect_parameters()
+		else:
+			self._instance = _internal
+	@property
+	def enable(self) -> bool:
+		return self._instance.Enable
+	@enable.setter
+	def enable(self, value: bool):
+		self._instance.Enable = value

underautomation/fanuc/common/task_status.py

@@ -0,0 +1,10 @@
+import clr
+import os
+clr.AddReference(os.path.realpath(os.path.join(os.path.dirname(__file__), "..",  'lib', 'UnderAutomation.Fanuc.dll')))
+from UnderAutomation.Fanuc.Common import TaskStatus as task_status
+
+class TaskStatus(int):
+	Unknown = task_status.Unknown
+	Running = task_status.Running
+	Paused = task_status.Paused
+	Aborted = task_status.Aborted

underautomation/fanuc/common/telnet_connect_parameters.py

@@ -0,0 +1,19 @@
+import typing
+from underautomation.fanuc.telnet.internal.telnet_connect_parameters_base import TelnetConnectParametersBase
+import clr
+import os
+clr.AddReference(os.path.realpath(os.path.join(os.path.dirname(__file__), "..",  'lib', 'UnderAutomation.Fanuc.dll')))
+from UnderAutomation.Fanuc.Common import TelnetConnectParameters as telnet_connect_parameters
+
+class TelnetConnectParameters(TelnetConnectParametersBase):
+	def __init__(self, _internal = 0):
+		if(_internal == 0):
+			self._instance = telnet_connect_parameters()
+		else:
+			self._instance = _internal
+	@property
+	def enable(self) -> bool:
+		return self._instance.Enable
+	@enable.setter
+	def enable(self, value: bool):
+		self._instance.Enable = value

underautomation/fanuc/common/utils.py

@@ -0,0 +1,17 @@
+import typing
+from underautomation.fanuc.ftp.variables.generic_field import GenericField
+import clr
+import os
+clr.AddReference(os.path.realpath(os.path.join(os.path.dirname(__file__), "..",  'lib', 'UnderAutomation.Fanuc.dll')))
+from UnderAutomation.Fanuc.Common import Utils as utils
+
+T = typing.TypeVar('T')
+class Utils:
+	def __init__(self, _internal = 0):
+		if(_internal == 0):
+			self._instance = utils()
+		else:
+			self._instance = _internal
+	@staticmethod
+	def set_name(field: GenericField, name: str) -> None:
+		utils.SetName(field._instance, name)

underautomation/fanuc/common/wrist_flip.py

@@ -0,0 +1,9 @@
+import clr
+import os
+clr.AddReference(os.path.realpath(os.path.join(os.path.dirname(__file__), "..",  'lib', 'UnderAutomation.Fanuc.dll')))
+from UnderAutomation.Fanuc.Common import WristFlip as wrist_flip
+
+class WristFlip(int):
+	Unknown = wrist_flip.Unknown
+	Flip = wrist_flip.Flip
+	NoFlip = wrist_flip.NoFlip

underautomation/fanuc/common/xyz_position.py

@@ -0,0 +1,32 @@
+import typing
+import clr
+import os
+clr.AddReference(os.path.realpath(os.path.join(os.path.dirname(__file__), "..",  'lib', 'UnderAutomation.Fanuc.dll')))
+from UnderAutomation.Fanuc.Common import XYZPosition as xyz_position
+
+class XYZPosition:
+	def __init__(self, x: float, y: float, z: float, _internal = 0):
+		if(_internal == 0):
+			self._instance = xyz_position(x, y, z)
+		else:
+			self._instance = _internal
+	def __repr__(self):
+		return self._instance.ToString()
+	@property
+	def x(self) -> float:
+		return self._instance.X
+	@x.setter
+	def x(self, value: float):
+		self._instance.X = value
+	@property
+	def y(self) -> float:
+		return self._instance.Y
+	@y.setter
+	def y(self, value: float):
+		self._instance.Y = value
+	@property
+	def z(self) -> float:
+		return self._instance.Z
+	@z.setter
+	def z(self, value: float):
+		self._instance.Z = value

underautomation/fanuc/connection_parameters.py

@@ -0,0 +1,52 @@
+import typing
+from underautomation.fanuc.common.telnet_connect_parameters import TelnetConnectParameters
+from underautomation.fanuc.common.ftp_connect_parameters import FtpConnectParameters
+from underautomation.fanuc.common.snpx_connect_parameters import SnpxConnectParameters
+from underautomation.fanuc.common.rmi_connect_parameters import RmiConnectParameters
+import clr
+import os
+clr.AddReference(os.path.realpath(os.path.join(os.path.dirname(__file__),  'lib', 'UnderAutomation.Fanuc.dll')))
+from UnderAutomation.Fanuc import ConnectionParameters as connection_parameters
+
+class ConnectionParameters:
+	def __init__(self, address: str, _internal = 0):
+		if(_internal == 0):
+			self._instance = connection_parameters(address)
+		else:
+			self._instance = _internal
+	@property
+	def address(self) -> str:
+		return self._instance.Address
+	@address.setter
+	def address(self, value: str):
+		self._instance.Address = value
+	@property
+	def ping_before_connect(self) -> bool:
+		return self._instance.PingBeforeConnect
+	@ping_before_connect.setter
+	def ping_before_connect(self, value: bool):
+		self._instance.PingBeforeConnect = value
+	@property
+	def telnet(self) -> TelnetConnectParameters:
+		return TelnetConnectParameters(self._instance.Telnet)
+	@telnet.setter
+	def telnet(self, value: TelnetConnectParameters):
+		self._instance.Telnet = value
+	@property
+	def ftp(self) -> FtpConnectParameters:
+		return FtpConnectParameters(self._instance.Ftp)
+	@ftp.setter
+	def ftp(self, value: FtpConnectParameters):
+		self._instance.Ftp = value
+	@property
+	def snpx(self) -> SnpxConnectParameters:
+		return SnpxConnectParameters(self._instance.Snpx)
+	@snpx.setter
+	def snpx(self, value: SnpxConnectParameters):
+		self._instance.Snpx = value
+	@property
+	def rmi(self) -> RmiConnectParameters:
+		return RmiConnectParameters(self._instance.Rmi)
+	@rmi.setter
+	def rmi(self, value: RmiConnectParameters):
+		self._instance.Rmi = value

underautomation/fanuc/fanuc_robot.py

@@ -0,0 +1,46 @@
+import typing
+from underautomation.fanuc.connection_parameters import ConnectionParameters
+from underautomation.fanuc.telnet.internal.telnet_client_internal import TelnetClientInternal
+from underautomation.fanuc.ftp.internal.ftp_client_internal import FtpClientInternal
+from underautomation.fanuc.snpx.internal.snpx_client_internal import SnpxClientInternal
+from underautomation.fanuc.rmi.internal.rmi_client_internal import RmiClientInternal
+from underautomation.fanuc.license.license_info import LicenseInfo
+import clr
+import os
+clr.AddReference(os.path.realpath(os.path.join(os.path.dirname(__file__),  'lib', 'UnderAutomation.Fanuc.dll')))
+from UnderAutomation.Fanuc import FanucRobot as fanuc_robot
+
+class FanucRobot:
+	def __init__(self, _internal = 0):
+		if(_internal == 0):
+			self._instance = fanuc_robot()
+		else:
+			self._instance = _internal
+	def connect(self, parameters: ConnectionParameters) -> None:
+		self._instance.Connect(parameters._instance)
+	def disconnect(self) -> None:
+		self._instance.Disconnect()
+	@staticmethod
+	def register_license(licensee: str, key: str) -> LicenseInfo:
+		return LicenseInfo(None, None, fanuc_robot.RegisterLicense(licensee, key))
+	@property
+	def address(self) -> str:
+		return self._instance.Address
+	@property
+	def enabled(self) -> bool:
+		return self._instance.Enabled
+	@property
+	def telnet(self) -> TelnetClientInternal:
+		return TelnetClientInternal(self._instance.Telnet)
+	@property
+	def ftp(self) -> FtpClientInternal:
+		return FtpClientInternal(self._instance.Ftp)
+	@property
+	def snpx(self) -> SnpxClientInternal:
+		return SnpxClientInternal(self._instance.Snpx)
+	@property
+	def rmi(self) -> RmiClientInternal:
+		return RmiClientInternal(self._instance.Rmi)
+	@property
+	def license_info(self) -> LicenseInfo:
+		return LicenseInfo(None, None, self._instance.LicenseInfo)