UnderAutomation.Fanuc 2.0.0.1__py3-none-any.whl

underautomation/fanuc/rmi/data/joint_angles.py

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+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.Rmi.Data import JointAngles as joint_angles
+
+class JointAngles:
+	def __init__(self, _internal = 0):
+		if(_internal == 0):
+			self._instance = joint_angles()
+		else:
+			self._instance = _internal
+	@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/rmi/data/joint_angles_sample.py

@@ -0,0 +1,20 @@
+import typing
+from underautomation.fanuc.rmi.data.joint_angles import JointAngles
+from underautomation.fanuc.rmi.data.rmi_timed_response import RmiTimedResponse
+import clr
+import os
+clr.AddReference(os.path.realpath(os.path.join(os.path.dirname(__file__), "..", "..",  'lib', 'UnderAutomation.Fanuc.dll')))
+from UnderAutomation.Fanuc.Rmi.Data import JointAnglesSample as joint_angles_sample
+
+class JointAnglesSample(RmiTimedResponse):
+	def __init__(self, _internal = 0):
+		if(_internal == 0):
+			self._instance = joint_angles_sample()
+		else:
+			self._instance = _internal
+	@property
+	def joint_angle(self) -> JointAngles:
+		return JointAngles(self._instance.JointAngle)
+	@joint_angle.setter
+	def joint_angle(self, value: JointAngles):
+		self._instance.JointAngle = value

underautomation/fanuc/rmi/data/motion_configuration.py

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+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.Rmi.Data import MotionConfiguration as motion_configuration
+
+class MotionConfiguration:
+	def __init__(self, _internal = 0):
+		if(_internal == 0):
+			self._instance = motion_configuration()
+		else:
+			self._instance = _internal
+	@property
+	def u_tool_number(self) -> int:
+		return self._instance.UToolNumber
+	@u_tool_number.setter
+	def u_tool_number(self, value: int):
+		self._instance.UToolNumber = value
+	@property
+	def u_frame_number(self) -> int:
+		return self._instance.UFrameNumber
+	@u_frame_number.setter
+	def u_frame_number(self, value: int):
+		self._instance.UFrameNumber = value
+	@property
+	def front(self) -> int:
+		return self._instance.Front
+	@front.setter
+	def front(self, value: int):
+		self._instance.Front = value
+	@property
+	def up(self) -> int:
+		return self._instance.Up
+	@up.setter
+	def up(self, value: int):
+		self._instance.Up = value
+	@property
+	def left(self) -> int:
+		return self._instance.Left
+	@left.setter
+	def left(self, value: int):
+		self._instance.Left = value
+	@property
+	def flip(self) -> int:
+		return self._instance.Flip
+	@flip.setter
+	def flip(self, value: int):
+		self._instance.Flip = value
+	@property
+	def turn4(self) -> int:
+		return self._instance.Turn4
+	@turn4.setter
+	def turn4(self, value: int):
+		self._instance.Turn4 = value
+	@property
+	def turn5(self) -> int:
+		return self._instance.Turn5
+	@turn5.setter
+	def turn5(self, value: int):
+		self._instance.Turn5 = value
+	@property
+	def turn6(self) -> int:
+		return self._instance.Turn6
+	@turn6.setter
+	def turn6(self, value: int):
+		self._instance.Turn6 = value

underautomation/fanuc/rmi/data/on_off.py

@@ -0,0 +1,8 @@
+import clr
+import os
+clr.AddReference(os.path.realpath(os.path.join(os.path.dirname(__file__), "..", "..",  'lib', 'UnderAutomation.Fanuc.dll')))
+from UnderAutomation.Fanuc.Rmi.Data import OnOff as on_off
+
+class OnOff(int):
+	OFF = on_off.OFF
+	ON = on_off.ON

underautomation/fanuc/rmi/data/port_type.py

@@ -0,0 +1,8 @@
+import clr
+import os
+clr.AddReference(os.path.realpath(os.path.join(os.path.dirname(__file__), "..", "..",  'lib', 'UnderAutomation.Fanuc.dll')))
+from UnderAutomation.Fanuc.Rmi.Data import PortType as port_type
+
+class PortType(int):
+	DOUT = port_type.DOUT
+	ROUT = port_type.ROUT

underautomation/fanuc/rmi/data/position_register_data.py

@@ -0,0 +1,33 @@
+import typing
+from underautomation.fanuc.rmi.data.motion_configuration import MotionConfiguration
+from underautomation.fanuc.rmi.data.frame import Frame
+from underautomation.fanuc.rmi.data.rmi_response_base import RmiResponseBase
+import clr
+import os
+clr.AddReference(os.path.realpath(os.path.join(os.path.dirname(__file__), "..", "..",  'lib', 'UnderAutomation.Fanuc.dll')))
+from UnderAutomation.Fanuc.Rmi.Data import PositionRegisterData as position_register_data
+
+class PositionRegisterData(RmiResponseBase):
+	def __init__(self, _internal = 0):
+		if(_internal == 0):
+			self._instance = position_register_data()
+		else:
+			self._instance = _internal
+	@property
+	def register_number(self) -> int:
+		return self._instance.RegisterNumber
+	@register_number.setter
+	def register_number(self, value: int):
+		self._instance.RegisterNumber = value
+	@property
+	def configuration(self) -> MotionConfiguration:
+		return MotionConfiguration(self._instance.Configuration)
+	@configuration.setter
+	def configuration(self, value: MotionConfiguration):
+		self._instance.Configuration = value
+	@property
+	def position(self) -> Frame:
+		return Frame(self._instance.Position)
+	@position.setter
+	def position(self, value: Frame):
+		self._instance.Position = value

underautomation/fanuc/rmi/data/rmi_message_kind.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.Rmi.Data import RmiMessageKind as rmi_message_kind
+
+class RmiMessageKind(int):
+	Communication = rmi_message_kind.Communication
+	Command = rmi_message_kind.Command
+	Instruction = rmi_message_kind.Instruction

underautomation/fanuc/rmi/data/rmi_response_base.py

@@ -0,0 +1,18 @@
+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.Rmi.Data import RmiResponseBase as rmi_response_base
+
+class RmiResponseBase:
+	def __init__(self, _internal = 0):
+		if(_internal == 0):
+			self._instance = rmi_response_base()
+		else:
+			self._instance = _internal
+	@property
+	def error_id(self) -> int:
+		return self._instance.ErrorId
+	@error_id.setter
+	def error_id(self, value: int):
+		self._instance.ErrorId = value

underautomation/fanuc/rmi/data/rmi_sequence_response.py

@@ -0,0 +1,19 @@
+import typing
+from underautomation.fanuc.rmi.data.rmi_response_base import RmiResponseBase
+import clr
+import os
+clr.AddReference(os.path.realpath(os.path.join(os.path.dirname(__file__), "..", "..",  'lib', 'UnderAutomation.Fanuc.dll')))
+from UnderAutomation.Fanuc.Rmi.Data import RmiSequenceResponse as rmi_sequence_response
+
+class RmiSequenceResponse(RmiResponseBase):
+	def __init__(self, _internal = 0):
+		if(_internal == 0):
+			self._instance = rmi_sequence_response()
+		else:
+			self._instance = _internal
+	@property
+	def sequence_id(self) -> int:
+		return self._instance.SequenceId
+	@sequence_id.setter
+	def sequence_id(self, value: int):
+		self._instance.SequenceId = value

underautomation/fanuc/rmi/data/rmi_timed_response.py

@@ -0,0 +1,19 @@
+import typing
+from underautomation.fanuc.rmi.data.rmi_response_base import RmiResponseBase
+import clr
+import os
+clr.AddReference(os.path.realpath(os.path.join(os.path.dirname(__file__), "..", "..",  'lib', 'UnderAutomation.Fanuc.dll')))
+from UnderAutomation.Fanuc.Rmi.Data import RmiTimedResponse as rmi_timed_response
+
+class RmiTimedResponse(RmiResponseBase):
+	def __init__(self, _internal = 0):
+		if(_internal == 0):
+			self._instance = rmi_timed_response()
+		else:
+			self._instance = _internal
+	@property
+	def time_tag(self) -> int:
+		return self._instance.TimeTag
+	@time_tag.setter
+	def time_tag(self, value: int):
+		self._instance.TimeTag = value

underautomation/fanuc/rmi/data/speed_type.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.Rmi.Data import SpeedType as speed_type
+
+class SpeedType(int):
+	MmSec = speed_type.MmSec
+	InchMin = speed_type.InchMin
+	Time = speed_type.Time
+	Percent = speed_type.Percent

underautomation/fanuc/rmi/data/tcp_speed.py

@@ -0,0 +1,19 @@
+import typing
+from underautomation.fanuc.rmi.data.rmi_timed_response import RmiTimedResponse
+import clr
+import os
+clr.AddReference(os.path.realpath(os.path.join(os.path.dirname(__file__), "..", "..",  'lib', 'UnderAutomation.Fanuc.dll')))
+from UnderAutomation.Fanuc.Rmi.Data import TcpSpeed as tcp_speed
+
+class TcpSpeed(RmiTimedResponse):
+	def __init__(self, _internal = 0):
+		if(_internal == 0):
+			self._instance = tcp_speed()
+		else:
+			self._instance = _internal
+	@property
+	def speed(self) -> float:
+		return self._instance.Speed
+	@speed.setter
+	def speed(self, value: float):
+		self._instance.Speed = value

underautomation/fanuc/rmi/data/termination_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.Rmi.Data import TerminationType as termination_type
+
+class TerminationType(int):
+	Fine = termination_type.Fine
+	Cnt = termination_type.Cnt
+	Cr = termination_type.Cr

underautomation/fanuc/rmi/data/u_frame_u_tool_numbers.py

@@ -0,0 +1,25 @@
+import typing
+from underautomation.fanuc.rmi.data.rmi_response_base import RmiResponseBase
+import clr
+import os
+clr.AddReference(os.path.realpath(os.path.join(os.path.dirname(__file__), "..", "..",  'lib', 'UnderAutomation.Fanuc.dll')))
+from UnderAutomation.Fanuc.Rmi.Data import UFrameUToolNumbers as u_frame_u_tool_numbers
+
+class UFrameUToolNumbers(RmiResponseBase):
+	def __init__(self, _internal = 0):
+		if(_internal == 0):
+			self._instance = u_frame_u_tool_numbers()
+		else:
+			self._instance = _internal
+	@property
+	def u_frame_number(self) -> int:
+		return self._instance.UFrameNumber
+	@u_frame_number.setter
+	def u_frame_number(self, value: int):
+		self._instance.UFrameNumber = value
+	@property
+	def u_tool_number(self) -> int:
+		return self._instance.UToolNumber
+	@u_tool_number.setter
+	def u_tool_number(self, value: int):
+		self._instance.UToolNumber = value

underautomation/fanuc/rmi/internal/rmi_client_base.py

@@ -0,0 +1,119 @@
+import typing
+from underautomation.fanuc.rmi.data.controller_error_text import ControllerErrorText
+from underautomation.fanuc.rmi.data.controller_status import ControllerStatus
+from underautomation.fanuc.rmi.data.indexed_frame import IndexedFrame
+from underautomation.fanuc.rmi.data.frame import Frame
+from underautomation.fanuc.rmi.data.digital_input_value import DigitalInputValue
+from underautomation.fanuc.rmi.data.on_off import OnOff
+from underautomation.fanuc.rmi.data.cartesian_position import CartesianPosition
+from underautomation.fanuc.rmi.data.joint_angles_sample import JointAnglesSample
+from underautomation.fanuc.rmi.data.u_frame_u_tool_numbers import UFrameUToolNumbers
+from underautomation.fanuc.rmi.data.position_register_data import PositionRegisterData
+from underautomation.fanuc.rmi.data.motion_configuration import MotionConfiguration
+from underautomation.fanuc.rmi.data.tcp_speed import TcpSpeed
+from underautomation.fanuc.rmi.data.rmi_sequence_response import RmiSequenceResponse
+from underautomation.fanuc.rmi.data.speed_type import SpeedType
+from underautomation.fanuc.rmi.data.termination_type import TerminationType
+from underautomation.fanuc.rmi.data.joint_angles import JointAngles
+from underautomation.fanuc.rmi.data.port_type import PortType
+import clr
+import os
+clr.AddReference(os.path.realpath(os.path.join(os.path.dirname(__file__), "..", "..",  'lib', 'UnderAutomation.Fanuc.dll')))
+from UnderAutomation.Fanuc.Rmi.Internal import RmiClientBase as rmi_client_base
+
+class RmiClientBase:
+	def __init__(self, _internal = 0):
+		if(_internal == 0):
+			self._instance = rmi_client_base()
+		else:
+			self._instance = _internal
+	def disconnect(self) -> None:
+		self._instance.Disconnect()
+	def initialize(self) -> int:
+		return self._instance.Initialize()
+	def abort(self) -> None:
+		self._instance.Abort()
+	def pause(self) -> None:
+		self._instance.Pause()
+	def continue_(self) -> None:
+		self._instance.Continue()
+	def reset(self) -> None:
+		self._instance.Reset()
+	def read_error(self) -> ControllerErrorText:
+		return ControllerErrorText(self._instance.ReadError())
+	def set_u_frame_u_tool(self, uframe: int, utool: int) -> None:
+		self._instance.SetUFrameUTool(uframe, utool)
+	def get_status(self) -> ControllerStatus:
+		return ControllerStatus(self._instance.GetStatus())
+	def read_u_frame(self, number: int) -> IndexedFrame:
+		return IndexedFrame(self._instance.ReadUFrame(number))
+	def write_u_frame(self, number: int, frame: Frame) -> None:
+		self._instance.WriteUFrame(number, frame._instance)
+	def read_u_tool(self, number: int) -> IndexedFrame:
+		return IndexedFrame(self._instance.ReadUTool(number))
+	def write_u_tool(self, number: int, frame: Frame) -> None:
+		self._instance.WriteUTool(number, frame._instance)
+	def read_din(self, portNumber: int) -> DigitalInputValue:
+		return DigitalInputValue(self._instance.ReadDIN(portNumber))
+	def write_dout(self, portNumber: int, value: OnOff) -> None:
+		self._instance.WriteDOUT(portNumber, value._instance)
+	def read_cartesian_position(self) -> CartesianPosition:
+		return CartesianPosition(self._instance.ReadCartesianPosition())
+	def read_joint_angles(self) -> JointAnglesSample:
+		return JointAnglesSample(self._instance.ReadJointAngles())
+	def set_override(self, value: int) -> None:
+		self._instance.SetOverride(value)
+	def get_u_frame_u_tool(self) -> UFrameUToolNumbers:
+		return UFrameUToolNumbers(self._instance.GetUFrameUTool())
+	def read_position_register(self, number: int) -> PositionRegisterData:
+		return PositionRegisterData(self._instance.ReadPositionRegister(number))
+	def write_position_register(self, number: int, cfg: MotionConfiguration, frame: Frame) -> None:
+		self._instance.WritePositionRegister(number, cfg._instance, frame._instance)
+	def read_tcp_speed(self) -> TcpSpeed:
+		return TcpSpeed(self._instance.ReadTcpSpeed())
+	def wait_din(self, sequenceId: int, portNumber: int, value: OnOff) -> RmiSequenceResponse:
+		return RmiSequenceResponse(self._instance.WaitDin(sequenceId, portNumber, value._instance))
+	def set_u_frame_instruction(self, sequenceId: int, frameNumber: int) -> RmiSequenceResponse:
+		return RmiSequenceResponse(self._instance.SetUFrameInstruction(sequenceId, frameNumber))
+	def set_u_tool_instruction(self, sequenceId: int, toolNumber: int) -> RmiSequenceResponse:
+		return RmiSequenceResponse(self._instance.SetUToolInstruction(sequenceId, toolNumber))
+	def wait_time(self, sequenceId: int, seconds: float) -> RmiSequenceResponse:
+		return RmiSequenceResponse(self._instance.WaitTime(sequenceId, seconds))
+	def set_payload(self, sequenceId: int, scheduleNumber: int) -> RmiSequenceResponse:
+		return RmiSequenceResponse(self._instance.SetPayload(sequenceId, scheduleNumber))
+	def linear_motion(self, sequenceId: int, config: MotionConfiguration, position: Frame, speedType: SpeedType, speed: int, termType: TerminationType, termValue: int, acc: typing.Any, offsetPr: typing.Any, visionPr: typing.Any, wristJoint: bool, mrot: bool, lcbType: str, lcbValue: typing.Any, portType: typing.Any, portNumber: typing.Any, portValue: typing.Any) -> RmiSequenceResponse:
+		return RmiSequenceResponse(self._instance.LinearMotion(sequenceId, config._instance, position._instance, speedType._instance, speed, termType._instance, termValue, acc, offsetPr, visionPr, wristJoint, mrot, lcbType, lcbValue, portType, portNumber, portValue))
+	def linear_relative(self, sequenceId: int, config: MotionConfiguration, delta: Frame, speedType: SpeedType, speed: int, termType: TerminationType, termValue: int, acc: typing.Any, offsetPr: typing.Any, visionPr: typing.Any, wristJoint: bool, mrot: bool, lcbType: str, lcbValue: typing.Any, portType: typing.Any, portNumber: typing.Any, portValue: typing.Any) -> RmiSequenceResponse:
+		return RmiSequenceResponse(self._instance.LinearRelative(sequenceId, config._instance, delta._instance, speedType._instance, speed, termType._instance, termValue, acc, offsetPr, visionPr, wristJoint, mrot, lcbType, lcbValue, portType, portNumber, portValue))
+	def joint_motion(self, sequenceId: int, config: MotionConfiguration, position: Frame, speedType: SpeedType, speed: int, termType: TerminationType, termValue: int, acc: typing.Any, offsetPr: typing.Any, visionPr: typing.Any, mrot: bool, lcbType: str, lcbValue: typing.Any, portType: typing.Any, portNumber: typing.Any, portValue: typing.Any) -> RmiSequenceResponse:
+		return RmiSequenceResponse(self._instance.JointMotion(sequenceId, config._instance, position._instance, speedType._instance, speed, termType._instance, termValue, acc, offsetPr, visionPr, mrot, lcbType, lcbValue, portType, portNumber, portValue))
+	def joint_relative(self, sequenceId: int, config: MotionConfiguration, delta: Frame, speedType: SpeedType, speed: int, termType: TerminationType, termValue: int, acc: typing.Any, offsetPr: typing.Any, visionPr: typing.Any, mrot: bool, lcbType: str, lcbValue: typing.Any, portType: typing.Any, portNumber: typing.Any, portValue: typing.Any) -> RmiSequenceResponse:
+		return RmiSequenceResponse(self._instance.JointRelative(sequenceId, config._instance, delta._instance, speedType._instance, speed, termType._instance, termValue, acc, offsetPr, visionPr, mrot, lcbType, lcbValue, portType, portNumber, portValue))
+	def circular_motion(self, sequenceId: int, config: MotionConfiguration, position: Frame, viaConfig: MotionConfiguration, viaPosition: Frame, speedType: SpeedType, speed: int, termType: TerminationType, termValue: int, acc: typing.Any, offsetPr: typing.Any, visionPr: typing.Any, wristJoint: bool, mrot: bool, lcbType: str, lcbValue: typing.Any, portType: typing.Any, portNumber: typing.Any, portValue: typing.Any) -> RmiSequenceResponse:
+		return RmiSequenceResponse(self._instance.CircularMotion(sequenceId, config._instance, position._instance, viaConfig._instance, viaPosition._instance, speedType._instance, speed, termType._instance, termValue, acc, offsetPr, visionPr, wristJoint, mrot, lcbType, lcbValue, portType, portNumber, portValue))
+	def circular_relative(self, sequenceId: int, config: MotionConfiguration, delta: Frame, viaConfig: MotionConfiguration, viaDelta: Frame, speedType: SpeedType, speed: int, termType: TerminationType, termValue: int, acc: typing.Any, offsetPr: typing.Any, visionPr: typing.Any, wristJoint: bool, mrot: bool, lcbType: str, lcbValue: typing.Any, portType: typing.Any, portNumber: typing.Any, portValue: typing.Any) -> RmiSequenceResponse:
+		return RmiSequenceResponse(self._instance.CircularRelative(sequenceId, config._instance, delta._instance, viaConfig._instance, viaDelta._instance, speedType._instance, speed, termType._instance, termValue, acc, offsetPr, visionPr, wristJoint, mrot, lcbType, lcbValue, portType, portNumber, portValue))
+	def joint_motion_j_rep(self, sequenceId: int, joints: JointAngles, speedType: SpeedType, speed: int, termType: TerminationType, termValue: int, acc: typing.Any, offsetPr: typing.Any, visionPr: typing.Any, mrot: bool, lcbType: str, lcbValue: typing.Any, portType: typing.Any, portNumber: typing.Any, portValue: typing.Any) -> RmiSequenceResponse:
+		return RmiSequenceResponse(self._instance.JointMotionJRep(sequenceId, joints._instance, speedType._instance, speed, termType._instance, termValue, acc, offsetPr, visionPr, mrot, lcbType, lcbValue, portType, portNumber, portValue))
+	def joint_relative_j_rep(self, sequenceId: int, deltaJoints: JointAngles, speedType: SpeedType, speed: int, termType: TerminationType, termValue: int, acc: typing.Any, offsetPr: typing.Any, visionPr: typing.Any, mrot: bool, lcbType: str, lcbValue: typing.Any, portType: typing.Any, portNumber: typing.Any, portValue: typing.Any) -> RmiSequenceResponse:
+		return RmiSequenceResponse(self._instance.JointRelativeJRep(sequenceId, deltaJoints._instance, speedType._instance, speed, termType._instance, termValue, acc, offsetPr, visionPr, mrot, lcbType, lcbValue, portType, portNumber, portValue))
+	def dispose(self) -> None:
+		self._instance.Dispose()
+	@property
+	def read_timeout_ms(self) -> int:
+		return self._instance.ReadTimeoutMs
+	@property
+	def write_timeout_ms(self) -> int:
+		return self._instance.WriteTimeoutMs
+	@property
+	def connected(self) -> bool:
+		return self._instance.Connected
+	@property
+	def major_version(self) -> int:
+		return self._instance.MajorVersion
+	@property
+	def minor_version(self) -> int:
+		return self._instance.MinorVersion
+	@property
+	def working_port(self) -> int:
+		return self._instance.WorkingPort

underautomation/fanuc/rmi/internal/rmi_client_internal.py

@@ -0,0 +1,13 @@
+import typing
+from underautomation.fanuc.rmi.internal.rmi_client_base import RmiClientBase
+import clr
+import os
+clr.AddReference(os.path.realpath(os.path.join(os.path.dirname(__file__), "..", "..",  'lib', 'UnderAutomation.Fanuc.dll')))
+from UnderAutomation.Fanuc.Rmi.Internal import RmiClientInternal as rmi_client_internal
+
+class RmiClientInternal(RmiClientBase):
+	def __init__(self, _internal = 0):
+		if(_internal == 0):
+			self._instance = rmi_client_internal()
+		else:
+			self._instance = _internal

underautomation/fanuc/rmi/internal/rmi_connect_parameters_base.py

@@ -0,0 +1,48 @@
+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.Rmi.Internal import RmiConnectParametersBase as rmi_connect_parameters_base
+
+class RmiConnectParametersBase:
+	def __init__(self, _internal = 0):
+		if(_internal == 0):
+			self._instance = rmi_connect_parameters_base()
+		else:
+			self._instance = _internal
+	@property
+	def port(self) -> int:
+		return self._instance.Port
+	@port.setter
+	def port(self, value: int):
+		self._instance.Port = value
+	@property
+	def read_timeout_ms(self) -> int:
+		return self._instance.ReadTimeoutMs
+	@read_timeout_ms.setter
+	def read_timeout_ms(self, value: int):
+		self._instance.ReadTimeoutMs = value
+	@property
+	def write_timeout_ms(self) -> int:
+		return self._instance.WriteTimeoutMs
+	@write_timeout_ms.setter
+	def write_timeout_ms(self, value: int):
+		self._instance.WriteTimeoutMs = value
+	@property
+	def defaul_t__port(self) -> int:
+		return self._instance.DEFAULT_PORT
+	@defaul_t__port.setter
+	def defaul_t__port(self, value: int):
+		self._instance.DEFAULT_PORT = value
+	@property
+	def defaul_t__rea_d__timeou_t__ms(self) -> int:
+		return self._instance.DEFAULT_READ_TIMEOUT_MS
+	@defaul_t__rea_d__timeou_t__ms.setter
+	def defaul_t__rea_d__timeou_t__ms(self, value: int):
+		self._instance.DEFAULT_READ_TIMEOUT_MS = value
+	@property
+	def defaul_t__writ_e__timeou_t__ms(self) -> int:
+		return self._instance.DEFAULT_WRITE_TIMEOUT_MS
+	@defaul_t__writ_e__timeou_t__ms.setter
+	def defaul_t__writ_e__timeou_t__ms(self, value: int):
+		self._instance.DEFAULT_WRITE_TIMEOUT_MS = value

underautomation/fanuc/rmi/rmi_client.py

@@ -0,0 +1,15 @@
+import typing
+from underautomation.fanuc.rmi.internal.rmi_client_base import RmiClientBase
+import clr
+import os
+clr.AddReference(os.path.realpath(os.path.join(os.path.dirname(__file__), "..",  'lib', 'UnderAutomation.Fanuc.dll')))
+from UnderAutomation.Fanuc.Rmi import RmiClient as rmi_client
+
+class RmiClient(RmiClientBase):
+	def __init__(self, _internal = 0):
+		if(_internal == 0):
+			self._instance = rmi_client()
+		else:
+			self._instance = _internal
+	def connect(self, ip: str, port: int=16001, readTimeoutMs: int=3000, writeTimeoutMs: int=3000) -> None:
+		self._instance.Connect(ip, port, readTimeoutMs, writeTimeoutMs)

underautomation/fanuc/rmi/rmi_exception.py

@@ -0,0 +1,15 @@
+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.Rmi import RmiException as rmi_exception
+
+class RmiException:
+	def __init__(self, message: str, inner: typing.Any, _internal = 0):
+		if(_internal == 0):
+			self._instance = rmi_exception(message, inner)
+		else:
+			self._instance = _internal
+	@property
+	def error_id(self) -> int:
+		return self._instance.ErrorId

underautomation/fanuc/snpx/assignment/integer_system_variables_batch_assignment.py

@@ -0,0 +1,15 @@
+import typing
+from underautomation.fanuc.snpx.internal.batch_assignment_2 import BatchAssignment2
+import clr
+import os
+clr.AddReference(os.path.realpath(os.path.join(os.path.dirname(__file__), "..", "..",  'lib', 'UnderAutomation.Fanuc.dll')))
+from UnderAutomation.Fanuc.Snpx.Assignment import IntegerSystemVariablesBatchAssignment as integer_system_variables_batch_assignment
+
+class IntegerSystemVariablesBatchAssignment(BatchAssignment2[int, str]):
+	def __init__(self, _internal = 0):
+		if(_internal == 0):
+			self._instance = integer_system_variables_batch_assignment()
+		else:
+			self._instance = _internal
+	def read(self) -> typing.List[int]:
+		return self._instance.Read()

underautomation/fanuc/snpx/assignment/numeric_registers_batch_assignment.py

@@ -0,0 +1,15 @@
+import typing
+from underautomation.fanuc.snpx.internal.batch_assignment_2 import BatchAssignment2
+import clr
+import os
+clr.AddReference(os.path.realpath(os.path.join(os.path.dirname(__file__), "..", "..",  'lib', 'UnderAutomation.Fanuc.dll')))
+from UnderAutomation.Fanuc.Snpx.Assignment import NumericRegistersBatchAssignment as numeric_registers_batch_assignment
+
+class NumericRegistersBatchAssignment(BatchAssignment2[float, int]):
+	def __init__(self, _internal = 0):
+		if(_internal == 0):
+			self._instance = numeric_registers_batch_assignment()
+		else:
+			self._instance = _internal
+	def read(self) -> typing.List[float]:
+		return self._instance.Read()

underautomation/fanuc/snpx/assignment/position_registers_batch_assignment.py

@@ -0,0 +1,16 @@
+import typing
+from underautomation.fanuc.common.position import Position
+from underautomation.fanuc.snpx.internal.batch_assignment_2 import BatchAssignment2
+import clr
+import os
+clr.AddReference(os.path.realpath(os.path.join(os.path.dirname(__file__), "..", "..",  'lib', 'UnderAutomation.Fanuc.dll')))
+from UnderAutomation.Fanuc.Snpx.Assignment import PositionRegistersBatchAssignment as position_registers_batch_assignment
+
+class PositionRegistersBatchAssignment(BatchAssignment2[Position, int]):
+	def __init__(self, _internal = 0):
+		if(_internal == 0):
+			self._instance = position_registers_batch_assignment()
+		else:
+			self._instance = _internal
+	def read(self) -> typing.List[Position]:
+		return [Position(x) for x in self._instance.Read()]

underautomation/fanuc/snpx/assignment/position_system_variables_batch_assignment.py

@@ -0,0 +1,16 @@
+import typing
+from underautomation.fanuc.common.position import Position
+from underautomation.fanuc.snpx.internal.batch_assignment_2 import BatchAssignment2
+import clr
+import os
+clr.AddReference(os.path.realpath(os.path.join(os.path.dirname(__file__), "..", "..",  'lib', 'UnderAutomation.Fanuc.dll')))
+from UnderAutomation.Fanuc.Snpx.Assignment import PositionSystemVariablesBatchAssignment as position_system_variables_batch_assignment
+
+class PositionSystemVariablesBatchAssignment(BatchAssignment2[Position, str]):
+	def __init__(self, _internal = 0):
+		if(_internal == 0):
+			self._instance = position_system_variables_batch_assignment()
+		else:
+			self._instance = _internal
+	def read(self) -> typing.List[Position]:
+		return [Position(x) for x in self._instance.Read()]

underautomation/fanuc/snpx/assignment/real_system_variables_batch_assignment.py

@@ -0,0 +1,15 @@
+import typing
+from underautomation.fanuc.snpx.internal.batch_assignment_2 import BatchAssignment2
+import clr
+import os
+clr.AddReference(os.path.realpath(os.path.join(os.path.dirname(__file__), "..", "..",  'lib', 'UnderAutomation.Fanuc.dll')))
+from UnderAutomation.Fanuc.Snpx.Assignment import RealSystemVariablesBatchAssignment as real_system_variables_batch_assignment
+
+class RealSystemVariablesBatchAssignment(BatchAssignment2[float, str]):
+	def __init__(self, _internal = 0):
+		if(_internal == 0):
+			self._instance = real_system_variables_batch_assignment()
+		else:
+			self._instance = _internal
+	def read(self) -> typing.List[float]:
+		return self._instance.Read()