UnderAutomation.Fanuc 3.5.0.0__py3-none-any.whl → 4.0.0.0__py3-none-any.whl

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/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/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/lib/version.txt

@@ -1 +1 @@
-3.5.0.0
+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/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/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/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/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/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/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/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/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/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/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/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/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)

underautomation/fanuc/stream_motion/data/threshold_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.StreamMotion.Data import ThresholdType as threshold_type
+
+class ThresholdType(int):
+	Velocity = threshold_type.Velocity
+	Acceleration = threshold_type.Acceleration
+	Jerk = threshold_type.Jerk

underautomation/fanuc/stream_motion/internal/stream_motion_client_base.py

@@ -0,0 +1,77 @@
+import typing
+from underautomation.fanuc.stream_motion.data.state_packet import StatePacket
+from underautomation.fanuc.stream_motion.data.command_packet import CommandPacket
+from underautomation.fanuc.stream_motion.data.motion_data import MotionData
+from underautomation.fanuc.stream_motion.data.io_type import IOType
+from underautomation.fanuc.stream_motion.data.ack_packet import AckPacket
+from underautomation.fanuc.stream_motion.data.threshold_type import ThresholdType
+from underautomation.fanuc.stream_motion.data.state_received_event_args import StateReceivedEventArgs
+from underautomation.fanuc.stream_motion.data.receive_error_event_args import ReceiveErrorEventArgs
+import clr
+import os
+clr.AddReference(os.path.realpath(os.path.join(os.path.dirname(__file__), "..", "..",  'lib', 'UnderAutomation.Fanuc.dll')))
+from UnderAutomation.Fanuc.StreamMotion.Internal import StreamMotionClientBase as stream_motion_client_base
+
+class StreamMotionClientBase:
+	def __init__(self, _internal = 0):
+		if(_internal == 0):
+			self._instance = stream_motion_client_base()
+		else:
+			self._instance = _internal
+	def state_received(self, handler):
+		class Wrapper :
+			def __init__(self, _internal):
+				self._instance = _internal
+		self._instance.StateReceived+= lambda sender, e : handler(Wrapper(sender), Wrapper(e))
+	def receive_error(self, handler):
+		class Wrapper :
+			def __init__(self, _internal):
+				self._instance = _internal
+		self._instance.ReceiveError+= lambda sender, e : handler(Wrapper(sender), Wrapper(e))
+	def disconnect(self) -> None:
+		self._instance.Disconnect()
+	def start(self) -> None:
+		self._instance.Start()
+	def stop(self) -> None:
+		self._instance.Stop()
+	def send_command(self, command: CommandPacket) -> None:
+		self._instance.SendCommand(command._instance if command else None)
+	def send_joint_command(self, jointPositions: MotionData, readIOType: IOType, readIOIndex: int, readIOMask: int, isLastData: bool=False) -> None:
+		self._instance.SendJointCommand(jointPositions._instance if jointPositions else None, readIOType, readIOIndex, readIOMask, isLastData)
+	def send_cartesian_command(self, cartesianPosition: MotionData, isLastData: bool=False) -> None:
+		self._instance.SendCartesianCommand(cartesianPosition._instance if cartesianPosition else None, isLastData)
+	def request_threshold(self, axisNumber: int, thresholdType: ThresholdType) -> AckPacket:
+		return AckPacket(self._instance.RequestThreshold(axisNumber, thresholdType))
+	@property
+	def ip(self) -> str:
+		return self._instance.Ip
+	@property
+	def port(self) -> int:
+		return self._instance.Port
+	@property
+	def connected(self) -> bool:
+		return self._instance.Connected
+	@property
+	def is_connected(self) -> bool:
+		return self._instance.IsConnected
+	@property
+	def is_streaming(self) -> bool:
+		return self._instance.IsStreaming
+	@property
+	def last_state(self) -> StatePacket:
+		return StatePacket(self._instance.LastState)
+	@property
+	def send_timeout_ms(self) -> int:
+		return self._instance.SendTimeoutMs
+	@property
+	def receive_timeout_ms(self) -> int:
+		return self._instance.ReceiveTimeoutMs
+	@property
+	def robot_frequency(self) -> float:
+		return self._instance.RobotFrequency
+	@property
+	def measured_frequency(self) -> float:
+		return self._instance.MeasuredFrequency
+	@property
+	def packet_count(self) -> int:
+		return self._instance.PacketCount

underautomation/fanuc/stream_motion/internal/stream_motion_client_internal.py

@@ -0,0 +1,13 @@
+import typing
+from underautomation.fanuc.stream_motion.internal.stream_motion_client_base import StreamMotionClientBase
+import clr
+import os
+clr.AddReference(os.path.realpath(os.path.join(os.path.dirname(__file__), "..", "..",  'lib', 'UnderAutomation.Fanuc.dll')))
+from UnderAutomation.Fanuc.StreamMotion.Internal import StreamMotionClientInternal as stream_motion_client_internal
+
+class StreamMotionClientInternal(StreamMotionClientBase):
+	def __init__(self, _internal = 0):
+		if(_internal == 0):
+			self._instance = stream_motion_client_internal()
+		else:
+			self._instance = _internal

underautomation/fanuc/stream_motion/internal/stream_motion_connect_parameters_base.py

@@ -0,0 +1,36 @@
+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.Internal import StreamMotionConnectParametersBase as stream_motion_connect_parameters_base
+
+class StreamMotionConnectParametersBase:
+	def __init__(self, _internal = 0):
+		if(_internal == 0):
+			self._instance = stream_motion_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 send_timeout_ms(self) -> int:
+		return self._instance.SendTimeoutMs
+	@send_timeout_ms.setter
+	def send_timeout_ms(self, value: int):
+		self._instance.SendTimeoutMs = value
+	@property
+	def receive_timeout_ms(self) -> int:
+		return self._instance.ReceiveTimeoutMs
+	@receive_timeout_ms.setter
+	def receive_timeout_ms(self, value: int):
+		self._instance.ReceiveTimeoutMs = value
+
+StreamMotionConnectParametersBase.defaul_t__port = StreamMotionConnectParametersBase(stream_motion_connect_parameters_base.DEFAULT_PORT)
+
+StreamMotionConnectParametersBase.defaul_t__sen_d__timeou_t__ms = StreamMotionConnectParametersBase(stream_motion_connect_parameters_base.DEFAULT_SEND_TIMEOUT_MS)
+
+StreamMotionConnectParametersBase.defaul_t__receiv_e__timeou_t__ms = StreamMotionConnectParametersBase(stream_motion_connect_parameters_base.DEFAULT_RECEIVE_TIMEOUT_MS)

underautomation/fanuc/stream_motion/stream_motion_client.py

@@ -0,0 +1,15 @@
+import typing
+from underautomation.fanuc.stream_motion.internal.stream_motion_client_base import StreamMotionClientBase
+import clr
+import os
+clr.AddReference(os.path.realpath(os.path.join(os.path.dirname(__file__), "..",  'lib', 'UnderAutomation.Fanuc.dll')))
+from UnderAutomation.Fanuc.StreamMotion import StreamMotionClient as stream_motion_client
+
+class StreamMotionClient(StreamMotionClientBase):
+	def __init__(self, _internal = 0):
+		if(_internal == 0):
+			self._instance = stream_motion_client()
+		else:
+			self._instance = _internal
+	def connect(self, ip: str, port: int=60015, sendTimeoutMs: int=1000, receiveTimeoutMs: int=1000) -> None:
+		self._instance.Connect(ip, port, sendTimeoutMs, receiveTimeoutMs)

{underautomation_fanuc-3.5.0.0.dist-info → underautomation_fanuc-4.0.0.0.dist-info}/METADATA

@@ -1,6 +1,6 @@
 Metadata-Version: 2.4
 Name: UnderAutomation.Fanuc
-Version: 3.5.0.0
+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-3.5.0.0.dist-info → underautomation_fanuc-4.0.0.0.dist-info}/RECORD

@@ -1,7 +1,7 @@
 underautomation/__init__.py,sha256=47DEQpj8HBSa-_TImW-5JCeuQeRkm5NMpJWZG3hSuFU,0
 underautomation/fanuc/__init__.py,sha256=47DEQpj8HBSa-_TImW-5JCeuQeRkm5NMpJWZG3hSuFU,0
-underautomation/fanuc/connection_parameters.py,sha256=zlF-87Asko9yfRf6gtSXA-N0QnMBIsiOR4paxD10rqU,2153
-underautomation/fanuc/fanuc_robot.py,sha256=pPz9eyQqRHImoXaoKqub4uGI8J0TG8GKKo1rcsYAcnU,1851
+underautomation/fanuc/connection_parameters.py,sha256=1sBj3HgVs3baXXOP_hrKbsOimKi8jJUM3B0VTyR2m9Y,2520
+underautomation/fanuc/fanuc_robot.py,sha256=Unouwqru7CJk0vtkR8kQ5l86i0U32m-vN9T3YHI5oHs,2097
 underautomation/fanuc/common/__init__.py,sha256=47DEQpj8HBSa-_TImW-5JCeuQeRkm5NMpJWZG3hSuFU,0
 underautomation/fanuc/common/arm_front_back.py,sha256=mdtm_teWOjhSYnsFjV5LiRQbzOT2Ncx6rK2qVadq1pg,330
 underautomation/fanuc/common/arm_left_right.py,sha256=86i-CKS6XtWTbdMzP4SsYRQz6YV8lQDl77OgY8fu6TA,330
@@ -21,6 +21,7 @@ underautomation/fanuc/common/position.py,sha256=gXRj1-nLXEN7u9AjTjXwL-H_myrW8tRf
 underautomation/fanuc/common/program_type.py,sha256=X9wJjDECvu5Lk0_pDTRJbY3174jZ4-fk54cx15s-vNo,316
 underautomation/fanuc/common/rmi_connect_parameters.py,sha256=zl4NzotEmSgNSHaHiKzzwtpBnFbQuDvljvYvHjxYytM,687
 underautomation/fanuc/common/snpx_connect_parameters.py,sha256=5vU0Y-6hzMGIRU_uX8jcSAvp5du6OgmpjuhpdSndsVQ,695
+underautomation/fanuc/common/stream_motion_connect_parameters.py,sha256=iDxF-uIgNp_3NPs6Qf3q-W45kDIbjz1NF06_mlC0OS4,890
 underautomation/fanuc/common/string_utils.py,sha256=ba-Eb3XGfgosDfYFU-Wh2xfIMgSHXl1Ylpde_YH8DU0,548
 underautomation/fanuc/common/task_status.py,sha256=6oCcXB67NRqHyenNPO2p-PsuXN9cLfJNs5cLXxBbvak,353
 underautomation/fanuc/common/telnet_connect_parameters.py,sha256=oBc1fuUSOf5-z1eL-ZDAfpXxq-oyDEDRyb0lbws4InU,711
@@ -556,8 +557,8 @@ underautomation/fanuc/kinematics/internal/__init__.py,sha256=47DEQpj8HBSa-_TImW-
 underautomation/fanuc/kinematics/internal/arm_model_attribute.py,sha256=atvH3Tk28dY2xA66mOIzXyJw484Ddggc854Dkz6-DBs,1000
 underautomation/fanuc/kinematics/opw/__init__.py,sha256=47DEQpj8HBSa-_TImW-5JCeuQeRkm5NMpJWZG3hSuFU,0
 underautomation/fanuc/kinematics/opw/opw_kinematics_utils.py,sha256=RzdVOxa8Q-w5J3lGAfyGijc0hJBDVRHBFjiMH9JDnlI,925
-underautomation/fanuc/lib/UnderAutomation.Fanuc.dll,sha256=5zUvzEBbRFlqAWH_O8ms1HoBuM59LZSwXAypeBlmmA0,1755136
-underautomation/fanuc/lib/version.txt,sha256=8c4X7Re5IrV-sbwyGCYKmITk_D6areeaQlwX6dsYjiI,7
+underautomation/fanuc/lib/UnderAutomation.Fanuc.dll,sha256=v9a16Mml72M5qHq6Z5cDXFs1V6x-qVwXNGb5sIwMISU,1774080
+underautomation/fanuc/lib/version.txt,sha256=5u3igxEXp8B8UUxlXDIzllw5FaK4RLNX62D8ZObE4Yc,7
 underautomation/fanuc/license/__init__.py,sha256=47DEQpj8HBSa-_TImW-5JCeuQeRkm5NMpJWZG3hSuFU,0
 underautomation/fanuc/license/invalid_license_exception.py,sha256=5Gw6EBXyqE82SJxcjCYReZk9pKBJqJGJGBgdmtQJPC8,604
 underautomation/fanuc/license/license_info.py,sha256=2ugy8P-DTs31xDkcuPhn6RtDx9ZIj2aFmtTBwC0I0Qs,1602
@@ -635,6 +636,27 @@ underautomation/fanuc/snpx/internal/snpx_elements_2.py,sha256=Wu7l4uMsdqDYeV8E7i
 underautomation/fanuc/snpx/internal/snpx_writable_assignable_elements_3.py,sha256=FXZFlq_p24HFoBE9Ca8sySaUzBGM8zIfL7uWFXEGXOo,998
 underautomation/fanuc/snpx/internal/string_registers.py,sha256=tc-KSlQ42PkY961C1vusm6Go1rDJPmyBqrY9IBij6HY,905
 underautomation/fanuc/snpx/internal/string_system_variables.py,sha256=1rUhxuqwvFTgfJx6qMeXRwbk4nQzeiYNK08LROaZ7k0,754
+underautomation/fanuc/stream_motion/__init__.py,sha256=47DEQpj8HBSa-_TImW-5JCeuQeRkm5NMpJWZG3hSuFU,0
+underautomation/fanuc/stream_motion/stream_motion_client.py,sha256=p2cmaQBu_niWHFwvxZspqOiO0tmP0PobWIFnnvSH5hs,715
+underautomation/fanuc/stream_motion/data/__init__.py,sha256=47DEQpj8HBSa-_TImW-5JCeuQeRkm5NMpJWZG3hSuFU,0
+underautomation/fanuc/stream_motion/data/ack_packet.py,sha256=NyQyScoCN0BRFX8wIDB1sS3GkZnHRCW4E4EnzmegEYU,1375
+underautomation/fanuc/stream_motion/data/command_packet.py,sha256=HToqCaR3poLBi3Iomu-R-H7KGy--Q-G-64489ZsLo-s,2523
+underautomation/fanuc/stream_motion/data/data_style.py,sha256=4_P8feGflvIaeSPeRrc0vsECuTfiXgOKVq2FxdtPoQc,305
+underautomation/fanuc/stream_motion/data/io_read_result.py,sha256=rVpped5c9HKgz0jkiNpj-NXdfh25yZ6sufgfNoyPjAM,792
+underautomation/fanuc/stream_motion/data/io_type.py,sha256=cHsxdEyzRhjuzsWrJZqpSGXGfAq83wmTPYw9k3ah7dE,474
+underautomation/fanuc/stream_motion/data/motion_data.py,sha256=xDOvJBOq-utFQOs2qlA-aSKtzDNMm26uUTdc0nxUN_g,4256
+underautomation/fanuc/stream_motion/data/packet_type_from_robot.py,sha256=vss1NQQU6XhIr_qgMKXJi4MGC8sbMqT-D_aTsEwrxtM,349
+underautomation/fanuc/stream_motion/data/packet_type_to_robot.py,sha256=kcgT50esz9NLq3vNma4XiyRnI2gZs4JRQunbpncHmPs,421
+underautomation/fanuc/stream_motion/data/receive_error_event_args.py,sha256=RvcUrRxxMoXhmEh45rGGhEIQxYtHkHI4tQNJkwYPUfo,660
+underautomation/fanuc/stream_motion/data/robot_status.py,sha256=Wpszpvil9n8aGHInfiEf9c7y6RMB_HbxOZcvCxx6CYE,1039
+underautomation/fanuc/stream_motion/data/robot_status_flags.py,sha256=WNTOMnt1IwyPeG8UMnN1MxBWV9hgZIohGmQX7X2N224,463
+underautomation/fanuc/stream_motion/data/state_packet.py,sha256=ex_A6o8lIuFFXgLr_plSSB40wY3Jko4m-E2TV7n-Q0I,1820
+underautomation/fanuc/stream_motion/data/state_received_event_args.py,sha256=X2oW2ahTRp3mNVcOg8cwHIJlvId0cemjNgmnLxSCWTg,629
+underautomation/fanuc/stream_motion/data/threshold_type.py,sha256=3XJks5tSNYkZSs0CX1K5ljKG5G7oE4QKSnHLrusKRxY,365
+underautomation/fanuc/stream_motion/internal/__init__.py,sha256=47DEQpj8HBSa-_TImW-5JCeuQeRkm5NMpJWZG3hSuFU,0
+underautomation/fanuc/stream_motion/internal/stream_motion_client_base.py,sha256=6mZlQvBeGXareNvkru4777s6T0uijKYFTvqV1GqSqEw,3354
+underautomation/fanuc/stream_motion/internal/stream_motion_client_internal.py,sha256=QFxmemAvh10rWAqi5DhUHAr05yMAQeOJtiYBx6UQEqc,589
+underautomation/fanuc/stream_motion/internal/stream_motion_connect_parameters_base.py,sha256=QpH2zqcA8bsZIwRqyh16rh6mZ0Tcn2t7iiG-mv3iaGE,1489
 underautomation/fanuc/telnet/__init__.py,sha256=47DEQpj8HBSa-_TImW-5JCeuQeRkm5NMpJWZG3hSuFU,0
 underautomation/fanuc/telnet/abort_result.py,sha256=EGLZDU7u6dgJRdeWWN3puifBoFwjL2KuiDhDm9mIBEU,437
 underautomation/fanuc/telnet/add_breakpoint_result.py,sha256=akJu4p_LlB4ZFOKc-umSJgtY6C4r0IYex04bWIgmePw,471
@@ -675,7 +697,7 @@ underautomation/fanuc/telnet/internal/__init__.py,sha256=47DEQpj8HBSa-_TImW-5JCe
 underautomation/fanuc/telnet/internal/telnet_client_base.py,sha256=_MZb_ZPEXkeRKCSjBssyhTGVATFucR0yHYNmRYm4NEU,7574
 underautomation/fanuc/telnet/internal/telnet_client_internal.py,sha256=JJ6vapUoPfroaRj4Dy4JcgHKMFGvTkHPvy8OtHLYTQA,531
 underautomation/fanuc/telnet/internal/telnet_connect_parameters_base.py,sha256=l781dRqPnQOw2R1RsxgTT0J2Am6iw6WU5n6eDmrnwBk,665
-underautomation_fanuc-3.5.0.0.dist-info/METADATA,sha256=E9EE5d-w1nIL5QWrcRiGh8CiyOKDYPl5GDoukCqRY9w,6141
-underautomation_fanuc-3.5.0.0.dist-info/WHEEL,sha256=wUyA8OaulRlbfwMtmQsvNngGrxQHAvkKcvRmdizlJi0,92
-underautomation_fanuc-3.5.0.0.dist-info/top_level.txt,sha256=Ko5oLpVtiQ2okeu3dicHZqNT7g-Y4pHytT7zkT2EjG8,16
-underautomation_fanuc-3.5.0.0.dist-info/RECORD,,
+underautomation_fanuc-4.0.0.0.dist-info/METADATA,sha256=TClK6Uep1f-0GvGzGvxtCozOGWolPT1CP3ORs7JYxkQ,6141
+underautomation_fanuc-4.0.0.0.dist-info/WHEEL,sha256=wUyA8OaulRlbfwMtmQsvNngGrxQHAvkKcvRmdizlJi0,92
+underautomation_fanuc-4.0.0.0.dist-info/top_level.txt,sha256=Ko5oLpVtiQ2okeu3dicHZqNT7g-Y4pHytT7zkT2EjG8,16
+underautomation_fanuc-4.0.0.0.dist-info/RECORD,,