UnderAutomation.Fanuc 3.4.0.0__tar.gz → 4.0.0.0__tar.gz

{underautomation_fanuc-3.4.0.0 → underautomation_fanuc-4.0.0.0}/PKG-INFO

@@ -1,6 +1,6 @@
 Metadata-Version: 2.4
 Name: UnderAutomation.Fanuc
-Version: 3.4.0.0
+Version: 4.0.0.0
 Summary: Quickly create applications that communicate with your Fanuc robots
 Home-page: https://underautomation.com/fanuc
 Author: UnderAutomation

{underautomation_fanuc-3.4.0.0 → underautomation_fanuc-4.0.0.0}/UnderAutomation.Fanuc.egg-info/PKG-INFO

@@ -1,6 +1,6 @@
 Metadata-Version: 2.4
 Name: UnderAutomation.Fanuc
-Version: 3.4.0.0
+Version: 4.0.0.0
 Summary: Quickly create applications that communicate with your Fanuc robots
 Home-page: https://underautomation.com/fanuc
 Author: UnderAutomation

{underautomation_fanuc-3.4.0.0 → underautomation_fanuc-4.0.0.0}/UnderAutomation.Fanuc.egg-info/SOURCES.txt

@@ -23,6 +23,7 @@ setup.py
 ./underautomation/fanuc/common/program_type.py
 ./underautomation/fanuc/common/rmi_connect_parameters.py
 ./underautomation/fanuc/common/snpx_connect_parameters.py
+./underautomation/fanuc/common/stream_motion_connect_parameters.py
 ./underautomation/fanuc/common/string_utils.py
 ./underautomation/fanuc/common/task_status.py
 ./underautomation/fanuc/common/telnet_connect_parameters.py
@@ -637,6 +638,27 @@ setup.py
 ./underautomation/fanuc/snpx/internal/snpx_writable_assignable_elements_3.py
 ./underautomation/fanuc/snpx/internal/string_registers.py
 ./underautomation/fanuc/snpx/internal/string_system_variables.py
+./underautomation/fanuc/stream_motion/__init__.py
+./underautomation/fanuc/stream_motion/stream_motion_client.py
+./underautomation/fanuc/stream_motion/data/__init__.py
+./underautomation/fanuc/stream_motion/data/ack_packet.py
+./underautomation/fanuc/stream_motion/data/command_packet.py
+./underautomation/fanuc/stream_motion/data/data_style.py
+./underautomation/fanuc/stream_motion/data/io_read_result.py
+./underautomation/fanuc/stream_motion/data/io_type.py
+./underautomation/fanuc/stream_motion/data/motion_data.py
+./underautomation/fanuc/stream_motion/data/packet_type_from_robot.py
+./underautomation/fanuc/stream_motion/data/packet_type_to_robot.py
+./underautomation/fanuc/stream_motion/data/receive_error_event_args.py
+./underautomation/fanuc/stream_motion/data/robot_status.py
+./underautomation/fanuc/stream_motion/data/robot_status_flags.py
+./underautomation/fanuc/stream_motion/data/state_packet.py
+./underautomation/fanuc/stream_motion/data/state_received_event_args.py
+./underautomation/fanuc/stream_motion/data/threshold_type.py
+./underautomation/fanuc/stream_motion/internal/__init__.py
+./underautomation/fanuc/stream_motion/internal/stream_motion_client_base.py
+./underautomation/fanuc/stream_motion/internal/stream_motion_client_internal.py
+./underautomation/fanuc/stream_motion/internal/stream_motion_connect_parameters_base.py
 ./underautomation/fanuc/telnet/__init__.py
 ./underautomation/fanuc/telnet/abort_result.py
 ./underautomation/fanuc/telnet/add_breakpoint_result.py
@@ -705,6 +727,7 @@ underautomation/fanuc/common/position.py
 underautomation/fanuc/common/program_type.py
 underautomation/fanuc/common/rmi_connect_parameters.py
 underautomation/fanuc/common/snpx_connect_parameters.py
+underautomation/fanuc/common/stream_motion_connect_parameters.py
 underautomation/fanuc/common/string_utils.py
 underautomation/fanuc/common/task_status.py
 underautomation/fanuc/common/telnet_connect_parameters.py
@@ -1319,6 +1342,27 @@ underautomation/fanuc/snpx/internal/snpx_elements_2.py
 underautomation/fanuc/snpx/internal/snpx_writable_assignable_elements_3.py
 underautomation/fanuc/snpx/internal/string_registers.py
 underautomation/fanuc/snpx/internal/string_system_variables.py
+underautomation/fanuc/stream_motion/__init__.py
+underautomation/fanuc/stream_motion/stream_motion_client.py
+underautomation/fanuc/stream_motion/data/__init__.py
+underautomation/fanuc/stream_motion/data/ack_packet.py
+underautomation/fanuc/stream_motion/data/command_packet.py
+underautomation/fanuc/stream_motion/data/data_style.py
+underautomation/fanuc/stream_motion/data/io_read_result.py
+underautomation/fanuc/stream_motion/data/io_type.py
+underautomation/fanuc/stream_motion/data/motion_data.py
+underautomation/fanuc/stream_motion/data/packet_type_from_robot.py
+underautomation/fanuc/stream_motion/data/packet_type_to_robot.py
+underautomation/fanuc/stream_motion/data/receive_error_event_args.py
+underautomation/fanuc/stream_motion/data/robot_status.py
+underautomation/fanuc/stream_motion/data/robot_status_flags.py
+underautomation/fanuc/stream_motion/data/state_packet.py
+underautomation/fanuc/stream_motion/data/state_received_event_args.py
+underautomation/fanuc/stream_motion/data/threshold_type.py
+underautomation/fanuc/stream_motion/internal/__init__.py
+underautomation/fanuc/stream_motion/internal/stream_motion_client_base.py
+underautomation/fanuc/stream_motion/internal/stream_motion_client_internal.py
+underautomation/fanuc/stream_motion/internal/stream_motion_connect_parameters_base.py
 underautomation/fanuc/telnet/__init__.py
 underautomation/fanuc/telnet/abort_result.py
 underautomation/fanuc/telnet/add_breakpoint_result.py

underautomation_fanuc-4.0.0.0/underautomation/fanuc/common/stream_motion_connect_parameters.py

@@ -0,0 +1,25 @@
+import typing
+from underautomation.fanuc.stream_motion.internal.stream_motion_connect_parameters_base import StreamMotionConnectParametersBase
+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 StreamMotionConnectParameters as stream_motion_connect_parameters
+
+class StreamMotionConnectParameters(StreamMotionConnectParametersBase):
+	def __init__(self, _internal = 0):
+		if(_internal == 0):
+			self._instance = stream_motion_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
+	@property
+	def ip(self) -> str:
+		return self._instance.Ip
+	@ip.setter
+	def ip(self, value: str):
+		self._instance.Ip = value

{underautomation_fanuc-3.4.0.0 → underautomation_fanuc-4.0.0.0}/underautomation/fanuc/connection_parameters.py

@@ -4,6 +4,7 @@ from underautomation.fanuc.common.telnet_connect_parameters import TelnetConnect
 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
+from underautomation.fanuc.common.stream_motion_connect_parameters import StreamMotionConnectParameters
 import clr
 import os
 clr.AddReference(os.path.realpath(os.path.join(os.path.dirname(__file__),  'lib', 'UnderAutomation.Fanuc.dll')))
@@ -57,3 +58,9 @@ class ConnectionParameters:
 	@rmi.setter
 	def rmi(self, value: RmiConnectParameters):
 		self._instance.Rmi = value
+	@property
+	def stream_motion(self) -> StreamMotionConnectParameters:
+		return StreamMotionConnectParameters(self._instance.StreamMotion)
+	@stream_motion.setter
+	def stream_motion(self, value: StreamMotionConnectParameters):
+		self._instance.StreamMotion = value

{underautomation_fanuc-3.4.0.0 → underautomation_fanuc-4.0.0.0}/underautomation/fanuc/fanuc_robot.py

@@ -4,6 +4,7 @@ from underautomation.fanuc.telnet.internal.telnet_client_internal import TelnetC
 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.stream_motion.internal.stream_motion_client_internal import StreamMotionClientInternal
 from underautomation.fanuc.license.license_info import LicenseInfo
 import clr
 import os
@@ -42,5 +43,8 @@ class FanucRobot:
 	def rmi(self) -> RmiClientInternal:
 		return RmiClientInternal(self._instance.Rmi)
 	@property
+	def stream_motion(self) -> StreamMotionClientInternal:
+		return StreamMotionClientInternal(self._instance.StreamMotion)
+	@property
 	def license_info(self) -> LicenseInfo:
 		return LicenseInfo(None, None, self._instance.LicenseInfo)

underautomation_fanuc-4.0.0.0/underautomation/fanuc/lib/version.txt

@@ -0,0 +1 @@
+4.0.0.0

underautomation_fanuc-4.0.0.0/underautomation/fanuc/stream_motion/data/ack_packet.py

@@ -0,0 +1,40 @@
+import typing
+from underautomation.fanuc.stream_motion.data.packet_type_from_robot import PacketTypeFromRobot
+from underautomation.fanuc.stream_motion.data.threshold_type import ThresholdType
+import clr
+import os
+clr.AddReference(os.path.realpath(os.path.join(os.path.dirname(__file__), "..", "..",  'lib', 'UnderAutomation.Fanuc.dll')))
+from UnderAutomation.Fanuc.StreamMotion.Data import AckPacket as ack_packet
+
+class AckPacket:
+	def __init__(self, _internal = 0):
+		if(_internal == 0):
+			self._instance = ack_packet()
+		else:
+			self._instance = _internal
+	def __repr__(self):
+		return self._instance.ToString()
+	@property
+	def packet_type(self) -> PacketTypeFromRobot:
+		return PacketTypeFromRobot(self._instance.PacketType)
+	@property
+	def version_number(self) -> int:
+		return self._instance.VersionNumber
+	@property
+	def axis_number(self) -> int:
+		return self._instance.AxisNumber
+	@property
+	def threshold_type(self) -> ThresholdType:
+		return ThresholdType(self._instance.ThresholdType)
+	@property
+	def max_cartesian_speed(self) -> int:
+		return self._instance.MaxCartesianSpeed
+	@property
+	def unknown0(self) -> int:
+		return self._instance.Unknown0
+	@property
+	def thresholds_no_load(self) -> typing.List[float]:
+		return self._instance.ThresholdsNoLoad
+	@property
+	def thresholds_max_load(self) -> typing.List[float]:
+		return self._instance.ThresholdsMaxLoad

underautomation_fanuc-4.0.0.0/underautomation/fanuc/stream_motion/data/command_packet.py

@@ -0,0 +1,75 @@
+import typing
+from underautomation.fanuc.stream_motion.data.data_style import DataStyle
+from underautomation.fanuc.stream_motion.data.motion_data import MotionData
+from underautomation.fanuc.stream_motion.data.io_type import IOType
+import clr
+import os
+clr.AddReference(os.path.realpath(os.path.join(os.path.dirname(__file__), "..", "..",  'lib', 'UnderAutomation.Fanuc.dll')))
+from UnderAutomation.Fanuc.StreamMotion.Data import CommandPacket as command_packet
+
+class CommandPacket:
+	def __init__(self, dataStyle: DataStyle, motionData: MotionData, _internal = 0):
+		if(_internal == 0):
+			self._instance = command_packet(dataStyle, motionData)
+		else:
+			self._instance = _internal
+	@property
+	def is_last_data(self) -> bool:
+		return self._instance.IsLastData
+	@is_last_data.setter
+	def is_last_data(self, value: bool):
+		self._instance.IsLastData = value
+	@property
+	def read_io_type(self) -> IOType:
+		return IOType(self._instance.ReadIOType)
+	@read_io_type.setter
+	def read_io_type(self, value: IOType):
+		self._instance.ReadIOType = value
+	@property
+	def read_io_index(self) -> int:
+		return self._instance.ReadIOIndex
+	@read_io_index.setter
+	def read_io_index(self, value: int):
+		self._instance.ReadIOIndex = value
+	@property
+	def read_io_mask(self) -> int:
+		return self._instance.ReadIOMask
+	@read_io_mask.setter
+	def read_io_mask(self, value: int):
+		self._instance.ReadIOMask = value
+	@property
+	def data_style(self) -> DataStyle:
+		return DataStyle(self._instance.DataStyle)
+	@data_style.setter
+	def data_style(self, value: DataStyle):
+		self._instance.DataStyle = value
+	@property
+	def write_io_type(self) -> IOType:
+		return IOType(self._instance.WriteIOType)
+	@write_io_type.setter
+	def write_io_type(self, value: IOType):
+		self._instance.WriteIOType = value
+	@property
+	def write_io_index(self) -> int:
+		return self._instance.WriteIOIndex
+	@write_io_index.setter
+	def write_io_index(self, value: int):
+		self._instance.WriteIOIndex = value
+	@property
+	def write_io_mask(self) -> int:
+		return self._instance.WriteIOMask
+	@write_io_mask.setter
+	def write_io_mask(self, value: int):
+		self._instance.WriteIOMask = value
+	@property
+	def write_io_value(self) -> int:
+		return self._instance.WriteIOValue
+	@write_io_value.setter
+	def write_io_value(self, value: int):
+		self._instance.WriteIOValue = value
+	@property
+	def motion_data(self) -> MotionData:
+		return MotionData(None, self._instance.MotionData)
+	@motion_data.setter
+	def motion_data(self, value: MotionData):
+		self._instance.MotionData = value

underautomation_fanuc-4.0.0.0/underautomation/fanuc/stream_motion/data/data_style.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.StreamMotion.Data import DataStyle as data_style
+
+class DataStyle(int):
+	Cartesian = data_style.Cartesian
+	Joint = data_style.Joint

underautomation_fanuc-4.0.0.0/underautomation/fanuc/stream_motion/data/io_read_result.py

@@ -0,0 +1,27 @@
+import typing
+from underautomation.fanuc.stream_motion.data.io_type import IOType
+import clr
+import os
+clr.AddReference(os.path.realpath(os.path.join(os.path.dirname(__file__), "..", "..",  'lib', 'UnderAutomation.Fanuc.dll')))
+from UnderAutomation.Fanuc.StreamMotion.Data import IOReadResult as io_read_result
+
+class IOReadResult:
+	def __init__(self, _internal = 0):
+		if(_internal == 0):
+			self._instance = io_read_result()
+		else:
+			self._instance = _internal
+	def __repr__(self):
+		return self._instance.ToString()
+	@property
+	def type(self) -> IOType:
+		return IOType(self._instance.Type)
+	@property
+	def index(self) -> int:
+		return self._instance.Index
+	@property
+	def mask(self) -> int:
+		return self._instance.Mask
+	@property
+	def value(self) -> int:
+		return self._instance.Value

underautomation_fanuc-4.0.0.0/underautomation/fanuc/stream_motion/data/io_type.py

@@ -0,0 +1,20 @@
+import clr
+import os
+clr.AddReference(os.path.realpath(os.path.join(os.path.dirname(__file__), "..", "..",  'lib', 'UnderAutomation.Fanuc.dll')))
+from UnderAutomation.Fanuc.StreamMotion.Data import IOType as io_type
+
+class IOType(int):
+	DI = io_type.DI
+	DO = io_type.DO
+	RI = io_type.RI
+	RO = io_type.RO
+	SI = io_type.SI
+	SO = io_type.SO
+	WI = io_type.WI
+	WO = io_type.WO
+	UI = io_type.UI
+	UO = io_type.UO
+	WSI = io_type.WSI
+	WSO = io_type.WSO
+	F = io_type.F
+	M = io_type.M

underautomation_fanuc-4.0.0.0/underautomation/fanuc/stream_motion/data/motion_data.py

@@ -0,0 +1,179 @@
+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.StreamMotion.Data import MotionData as motion_data
+
+class MotionData:
+	def __init__(self, values: typing.List[float], _internal = 0):
+		if(_internal == 0):
+			self._instance = motion_data(values)
+		else:
+			self._instance = _internal
+	def __repr__(self):
+		return self._instance.ToString()
+	@property
+	def values(self) -> typing.List[float]:
+		return self._instance.Values
+	@property
+	def axis1(self) -> float:
+		return self._instance.Axis1
+	@axis1.setter
+	def axis1(self, value: float):
+		self._instance.Axis1 = value
+	@property
+	def axis2(self) -> float:
+		return self._instance.Axis2
+	@axis2.setter
+	def axis2(self, value: float):
+		self._instance.Axis2 = value
+	@property
+	def axis3(self) -> float:
+		return self._instance.Axis3
+	@axis3.setter
+	def axis3(self, value: float):
+		self._instance.Axis3 = value
+	@property
+	def axis4(self) -> float:
+		return self._instance.Axis4
+	@axis4.setter
+	def axis4(self, value: float):
+		self._instance.Axis4 = value
+	@property
+	def axis5(self) -> float:
+		return self._instance.Axis5
+	@axis5.setter
+	def axis5(self, value: float):
+		self._instance.Axis5 = value
+	@property
+	def axis6(self) -> float:
+		return self._instance.Axis6
+	@axis6.setter
+	def axis6(self, value: float):
+		self._instance.Axis6 = value
+	@property
+	def ext_axis1(self) -> float:
+		return self._instance.ExtAxis1
+	@ext_axis1.setter
+	def ext_axis1(self, value: float):
+		self._instance.ExtAxis1 = value
+	@property
+	def ext_axis2(self) -> float:
+		return self._instance.ExtAxis2
+	@ext_axis2.setter
+	def ext_axis2(self, value: float):
+		self._instance.ExtAxis2 = value
+	@property
+	def ext_axis3(self) -> float:
+		return self._instance.ExtAxis3
+	@ext_axis3.setter
+	def ext_axis3(self, value: float):
+		self._instance.ExtAxis3 = value
+	@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
+	@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
+	@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 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

underautomation_fanuc-4.0.0.0/underautomation/fanuc/stream_motion/data/packet_type_from_robot.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.StreamMotion.Data import PacketTypeFromRobot as packet_type_from_robot
+
+class PacketTypeFromRobot(int):
+	State = packet_type_from_robot.State
+	Ack = packet_type_from_robot.Ack

underautomation_fanuc-4.0.0.0/underautomation/fanuc/stream_motion/data/packet_type_to_robot.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.StreamMotion.Data import PacketTypeToRobot as packet_type_to_robot
+
+class PacketTypeToRobot(int):
+	Start = packet_type_to_robot.Start
+	Command = packet_type_to_robot.Command
+	Stop = packet_type_to_robot.Stop
+	Request = packet_type_to_robot.Request

underautomation_fanuc-4.0.0.0/underautomation/fanuc/stream_motion/data/receive_error_event_args.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.StreamMotion.Data import ReceiveErrorEventArgs as receive_error_event_args
+
+class ReceiveErrorEventArgs:
+	def __init__(self, exception: typing.Any, isStreaming: bool, _internal = 0):
+		if(_internal == 0):
+			self._instance = receive_error_event_args(exception, isStreaming)
+		else:
+			self._instance = _internal
+	@property
+	def exception(self) -> typing.Any:
+		return self._instance.Exception
+	@property
+	def is_streaming(self) -> bool:
+		return self._instance.IsStreaming

underautomation_fanuc-4.0.0.0/underautomation/fanuc/stream_motion/data/robot_status.py

@@ -0,0 +1,33 @@
+import typing
+from underautomation.fanuc.stream_motion.data.robot_status_flags import RobotStatusFlags
+import clr
+import os
+clr.AddReference(os.path.realpath(os.path.join(os.path.dirname(__file__), "..", "..",  'lib', 'UnderAutomation.Fanuc.dll')))
+from UnderAutomation.Fanuc.StreamMotion.Data import RobotStatus as robot_status
+
+class RobotStatus:
+	def __init__(self, _internal = 0):
+		if(_internal == 0):
+			self._instance = robot_status()
+		else:
+			self._instance = _internal
+	def __repr__(self):
+		return self._instance.ToString()
+	@property
+	def raw_value(self) -> int:
+		return self._instance.RawValue
+	@property
+	def flags(self) -> RobotStatusFlags:
+		return RobotStatusFlags(self._instance.Flags)
+	@property
+	def ready_for_commands(self) -> bool:
+		return self._instance.ReadyForCommands
+	@property
+	def command_received(self) -> bool:
+		return self._instance.CommandReceived
+	@property
+	def system_ready(self) -> bool:
+		return self._instance.SystemReady
+	@property
+	def in_motion(self) -> bool:
+		return self._instance.InMotion

underautomation_fanuc-4.0.0.0/underautomation/fanuc/stream_motion/data/robot_status_flags.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.StreamMotion.Data import RobotStatusFlags as robot_status_flags
+
+class RobotStatusFlags(int):
+	ReadyForCommands = robot_status_flags.ReadyForCommands
+	CommandReceived = robot_status_flags.CommandReceived
+	SystemReady = robot_status_flags.SystemReady
+	InMotion = robot_status_flags.InMotion

underautomation_fanuc-4.0.0.0/underautomation/fanuc/stream_motion/data/state_packet.py

@@ -0,0 +1,51 @@
+import typing
+from underautomation.fanuc.stream_motion.data.packet_type_from_robot import PacketTypeFromRobot
+from underautomation.fanuc.stream_motion.data.robot_status import RobotStatus
+from underautomation.fanuc.stream_motion.data.io_read_result import IOReadResult
+from underautomation.fanuc.stream_motion.data.motion_data import MotionData
+import clr
+import os
+clr.AddReference(os.path.realpath(os.path.join(os.path.dirname(__file__), "..", "..",  'lib', 'UnderAutomation.Fanuc.dll')))
+from UnderAutomation.Fanuc.StreamMotion.Data import StatePacket as state_packet
+
+class StatePacket:
+	def __init__(self, _internal = 0):
+		if(_internal == 0):
+			self._instance = state_packet()
+		else:
+			self._instance = _internal
+	def __repr__(self):
+		return self._instance.ToString()
+	@property
+	def received_at_ticks(self) -> int:
+		return self._instance.ReceivedAtTicks
+	@property
+	def received_at(self) -> typing.Any:
+		return self._instance.ReceivedAt
+	@property
+	def packet_type(self) -> PacketTypeFromRobot:
+		return PacketTypeFromRobot(self._instance.PacketType)
+	@property
+	def version_number(self) -> int:
+		return self._instance.VersionNumber
+	@property
+	def sequence_number(self) -> int:
+		return self._instance.SequenceNumber
+	@property
+	def status(self) -> RobotStatus:
+		return RobotStatus(self._instance.Status)
+	@property
+	def io_read(self) -> IOReadResult:
+		return IOReadResult(self._instance.IORead)
+	@property
+	def time_stamp(self) -> int:
+		return self._instance.TimeStamp
+	@property
+	def cartesian_position(self) -> MotionData:
+		return MotionData(None, self._instance.CartesianPosition)
+	@property
+	def joint_position(self) -> MotionData:
+		return MotionData(None, self._instance.JointPosition)
+	@property
+	def motor_currents(self) -> MotionData:
+		return MotionData(None, self._instance.MotorCurrents)

underautomation_fanuc-4.0.0.0/underautomation/fanuc/stream_motion/data/state_received_event_args.py

@@ -0,0 +1,16 @@
+import typing
+from underautomation.fanuc.stream_motion.data.state_packet import StatePacket
+import clr
+import os
+clr.AddReference(os.path.realpath(os.path.join(os.path.dirname(__file__), "..", "..",  'lib', 'UnderAutomation.Fanuc.dll')))
+from UnderAutomation.Fanuc.StreamMotion.Data import StateReceivedEventArgs as state_received_event_args
+
+class StateReceivedEventArgs:
+	def __init__(self, state: StatePacket, _internal = 0):
+		if(_internal == 0):
+			self._instance = state_received_event_args(state)
+		else:
+			self._instance = _internal
+	@property
+	def state(self) -> StatePacket:
+		return StatePacket(self._instance.State)