Update to new version : 3.1.1.0

github-actions[bot] · github-actions[bot] · commit 207cdff1dd8b · 2025-12-16T13:59:55.000Z
diff --git a/underautomation/fanuc/common/connect_exception.py b/underautomation/fanuc/common/connect_exception.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.Common import ConnectException as connect_exception
+
+class ConnectException:
+	def __init__(self, _internal = 0):
+		if(_internal == 0):
+			self._instance = connect_exception()
+		else:
+			self._instance = _internal
+	@property
+	def service(self) -> str:
+		return self._instance.Service
+	@property
+	def robot_ip(self) -> str:
+		return self._instance.RobotIp
diff --git a/underautomation/fanuc/common/languages.py b/underautomation/fanuc/common/languages.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 Languages as languages
+
+class Languages(int):
+	English = languages.English
+	Japanese = languages.Japanese
+	Chinese = languages.Chinese
diff --git a/underautomation/fanuc/connection_parameters.py b/underautomation/fanuc/connection_parameters.py
@@ -1,4 +1,5 @@
 import typing
+from underautomation.fanuc.common.languages import Languages
 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
@@ -27,6 +28,12 @@ def ping_before_connect(self) -> bool:
 	def ping_before_connect(self, value: bool):
 		self._instance.PingBeforeConnect = value
 	@property
+	def language(self) -> Languages:
+		return Languages(self._instance.Language)
+	@language.setter
+	def language(self, value: Languages):
+		self._instance.Language = value
+	@property
 	def telnet(self) -> TelnetConnectParameters:
 		return TelnetConnectParameters(self._instance.Telnet)
 	@telnet.setter
diff --git a/underautomation/fanuc/ftp/diagnosis/current_position_reader.py b/underautomation/fanuc/ftp/diagnosis/current_position_reader.py
@@ -17,5 +17,5 @@ def after_parse(self) -> None:
 	def parse_line(self, line: str) -> None:
 		self._instance.ParseLine(line)
 	@property
-	def section_start(self) -> str:
+	def section_start(self) -> typing.List[str]:
 		return self._instance.SectionStart
diff --git a/underautomation/fanuc/ftp/diagnosis/diagnosis_reader_2.py b/underautomation/fanuc/ftp/diagnosis/diagnosis_reader_2.py
@@ -1,4 +1,5 @@
 import typing
+from underautomation.fanuc.common.languages import Languages
 from underautomation.fanuc.ftp.internal.file_reader_1 import FileReader1
 import clr
 import os
@@ -13,5 +14,5 @@ def __init__(self, _internal = 0):
 			self._instance = diagnosis_reader_2()
 		else:
 			self._instance = _internal
-	def read_file(self, fileStream: typing.Any, fileName: str="None") -> T:
-		return self._instance.ReadFile(fileStream, fileName)
+	def read_file(self, fileStream: typing.Any, language: Languages, fileName: str="None") -> T:
+		return self._instance.ReadFile(fileStream, language, fileName)
diff --git a/underautomation/fanuc/ftp/diagnosis/features_parser.py b/underautomation/fanuc/ftp/diagnosis/features_parser.py
@@ -17,5 +17,5 @@ def parse_line(self, line: str) -> None:
 	def after_parse(self) -> None:
 		self._instance.AfterParse()
 	@property
-	def section_start(self) -> str:
+	def section_start(self) -> typing.List[str]:
 		return self._instance.SectionStart
diff --git a/underautomation/fanuc/ftp/diagnosis/io_state_parser.py b/underautomation/fanuc/ftp/diagnosis/io_state_parser.py
@@ -17,5 +17,5 @@ def parse_line(self, line: str) -> None:
 	def after_parse(self) -> None:
 		self._instance.AfterParse()
 	@property
-	def section_start(self) -> str:
+	def section_start(self) -> typing.List[str]:
 		return self._instance.SectionStart
diff --git a/underautomation/fanuc/ftp/diagnosis/program_states_parser.py b/underautomation/fanuc/ftp/diagnosis/program_states_parser.py
@@ -17,5 +17,5 @@ def parse_line(self, line: str) -> None:
 	def after_parse(self) -> None:
 		self._instance.AfterParse()
 	@property
-	def section_start(self) -> str:
+	def section_start(self) -> typing.List[str]:
 		return self._instance.SectionStart
diff --git a/underautomation/fanuc/ftp/diagnosis/safety_status_parser.py b/underautomation/fanuc/ftp/diagnosis/safety_status_parser.py
@@ -15,5 +15,5 @@ def __init__(self, _internal = 0):
 	def parse_line(self, line: str, start: str, setValue: typing.Any) -> None:
 		self._instance.ParseLine(line, start, setValue)
 	@property
-	def section_start(self) -> str:
+	def section_start(self) -> typing.List[str]:
 		return self._instance.SectionStart
diff --git a/underautomation/fanuc/ftp/diagnosis/summary_diagnosis_reader.py b/underautomation/fanuc/ftp/diagnosis/summary_diagnosis_reader.py
@@ -1,5 +1,6 @@
 import typing
 from underautomation.fanuc.ftp.diagnosis.summary_diagnosis import SummaryDiagnosis
+from underautomation.fanuc.common.languages import Languages
 from underautomation.fanuc.ftp.internal.file_reader_1 import FileReader1
 import clr
 import os
@@ -12,5 +13,5 @@ def __init__(self, _internal = 0):
 			self._instance = summary_diagnosis_reader()
 		else:
 			self._instance = _internal
-	def read_file(self, fileStream: typing.Any, fileName: str) -> SummaryDiagnosis:
-		return SummaryDiagnosis(self._instance.ReadFile(fileStream, fileName))
+	def read_file(self, fileStream: typing.Any, language: Languages, fileName: str) -> SummaryDiagnosis:
+		return SummaryDiagnosis(self._instance.ReadFile(fileStream, language, fileName))
diff --git a/underautomation/fanuc/ftp/fanuc_file_readers.py b/underautomation/fanuc/ftp/fanuc_file_readers.py
@@ -1,5 +1,6 @@
 import typing
 from underautomation.fanuc.ftp.internal.i_fanuc_content import IFanucContent
+from underautomation.fanuc.common.languages import Languages
 from underautomation.fanuc.ftp.internal.i_file_reader_1 import IFileReader1
 from underautomation.fanuc.ftp.variables.variable_reader import VariableReader
 from underautomation.fanuc.ftp.list.error_list_reader import ErrorListReader
@@ -25,8 +26,8 @@ def __init__(self, _internal = 0):
 		else:
 			self._instance = _internal
 	@staticmethod
-	def read_file(fileStream: typing.Any, fileName: str) -> IFanucContent:
-		return IFanucContent(fanuc_file_readers.ReadFile(fileStream, fileName))
+	def read_file(fileStream: typing.Any, fileName: str, language: Languages) -> IFanucContent:
+		return IFanucContent(fanuc_file_readers.ReadFile(fileStream, fileName, language))
 	@property
 	def readers(self) -> typing.List[IFileReader1]:
 		return [IFileReader1(x) for x in self._instance.Readers]
diff --git a/underautomation/fanuc/ftp/internal/file_reader_1.py b/underautomation/fanuc/ftp/internal/file_reader_1.py
@@ -1,6 +1,7 @@
 import typing
 from underautomation.fanuc.ftp.internal.i_file_reader_1 import IFileReader1
 from underautomation.fanuc.ftp.internal.i_file_reader import IFileReader
+from underautomation.fanuc.common.languages import Languages
 from underautomation.fanuc.ftp.internal.file_reader import FileReader
 import clr
 import os
@@ -14,5 +15,5 @@ def __init__(self, _internal = 0):
 			self._instance = file_reader_1()
 		else:
 			self._instance = _internal
-	def read_file(self, fileStream: typing.Any, fileName: str="None") -> T:
-		return self._instance.ReadFile(fileStream, fileName)
+	def read_file(self, fileStream: typing.Any, language: Languages, fileName: str="None") -> T:
+		return self._instance.ReadFile(fileStream, language, fileName)
diff --git a/underautomation/fanuc/ftp/internal/ftp_client_base.py b/underautomation/fanuc/ftp/internal/ftp_client_base.py
@@ -1,4 +1,5 @@
 import typing
+from underautomation.fanuc.common.languages import Languages
 from underautomation.fanuc.ftp.internal.ftp_direct_file_handling import FtpDirectFileHandling
 from underautomation.fanuc.ftp.internal.ftp_known_variable_files import FtpKnownVariableFiles
 from underautomation.fanuc.ftp.diagnosis.summary_diagnosis import SummaryDiagnosis
@@ -45,6 +46,12 @@ def get_all_variables(self, progress: typing.Any=None) -> VariableFileList:
 	def ip(self) -> str:
 		return self._instance.IP
 	@property
+	def language(self) -> Languages:
+		return Languages(self._instance.Language)
+	@language.setter
+	def language(self, value: Languages):
+		self._instance.Language = value
+	@property
 	def connected(self) -> bool:
 		return self._instance.Connected
 	@property
diff --git a/underautomation/fanuc/ftp/internal/i_file_reader_1.py b/underautomation/fanuc/ftp/internal/i_file_reader_1.py
@@ -1,5 +1,6 @@
 import typing
 from underautomation.fanuc.ftp.internal.i_file_reader import IFileReader
+from underautomation.fanuc.common.languages import Languages
 import clr
 import os
 clr.AddReference(os.path.realpath(os.path.join(os.path.dirname(__file__), "..", "..",  'lib', 'UnderAutomation.Fanuc.dll')))
@@ -12,5 +13,5 @@ def __init__(self, _internal = 0):
 			self._instance = i_file_reader_1()
 		else:
 			self._instance = _internal
-	def read_file(self, fileStream: typing.Any, fileName: str) -> T:
-		return self._instance.ReadFile(fileStream, fileName)
+	def read_file(self, fileStream: typing.Any, language: Languages, fileName: str) -> T:
+		return self._instance.ReadFile(fileStream, language, fileName)
diff --git a/underautomation/fanuc/ftp/internal/section_parser.py b/underautomation/fanuc/ftp/internal/section_parser.py
@@ -17,7 +17,7 @@ def parse_line(self, line: str) -> None:
 	def after_parse(self) -> None:
 		self._instance.AfterParse()
 	@property
-	def section_start(self) -> str:
+	def section_start(self) -> typing.List[str]:
 		return self._instance.SectionStart
 	@property
 	def end_of_file(self) -> bool:
diff --git a/underautomation/fanuc/ftp/list/error_list_reader.py b/underautomation/fanuc/ftp/list/error_list_reader.py
@@ -1,5 +1,6 @@
 import typing
 from underautomation.fanuc.ftp.list.error_list import ErrorList
+from underautomation.fanuc.common.languages import Languages
 from underautomation.fanuc.ftp.internal.file_reader_1 import FileReader1
 import clr
 import os
@@ -12,5 +13,5 @@ def __init__(self, _internal = 0):
 			self._instance = error_list_reader()
 		else:
 			self._instance = _internal
-	def read_file(self, fileStream: typing.Any, fileName: str="None") -> ErrorList:
-		return ErrorList(self._instance.ReadFile(fileStream, fileName))
+	def read_file(self, fileStream: typing.Any, language: Languages, fileName: str="None") -> ErrorList:
+		return ErrorList(self._instance.ReadFile(fileStream, language, fileName))
diff --git a/underautomation/fanuc/ftp/variables/variable_reader.py b/underautomation/fanuc/ftp/variables/variable_reader.py
@@ -1,5 +1,6 @@
 import typing
 from underautomation.fanuc.ftp.variables.generic_variable_file import GenericVariableFile
+from underautomation.fanuc.common.languages import Languages
 from underautomation.fanuc.ftp.variables.generic_variable import GenericVariable
 from underautomation.fanuc.ftp.variables.variable_reader_1 import VariableReader1
 from underautomation.fanuc.ftp.internal.file_reader_1 import FileReader1
@@ -49,14 +50,14 @@ def __init__(self, _internal = 0):
 			self._instance = variable_reader()
 		else:
 			self._instance = _internal
-	def read_file(self, fileStream: typing.Any, fileName: str) -> GenericVariableFile:
-		return GenericVariableFile(self._instance.ReadFile(fileStream, fileName))
+	def read_file(self, fileStream: typing.Any, language: Languages, fileName: str) -> GenericVariableFile:
+		return GenericVariableFile(self._instance.ReadFile(fileStream, language, fileName))
 	@staticmethod
-	def read_variable_file(fileStream: typing.Any, fileName: str) -> GenericVariableFile:
-		return GenericVariableFile(variable_reader.ReadVariableFile(fileStream, fileName))
+	def read_variable_file(fileStream: typing.Any, fileName: str, language: Languages) -> GenericVariableFile:
+		return GenericVariableFile(variable_reader.ReadVariableFile(fileStream, fileName, language))
 	@staticmethod
-	def parse_variable_file(stream: typing.Any) -> typing.List[GenericVariable]:
-		return [GenericVariable(x) for x in variable_reader.ParseVariableFile(stream)]
+	def parse_variable_file(stream: typing.Any, language: Languages) -> typing.List[GenericVariable]:
+		return [GenericVariable(x) for x in variable_reader.ParseVariableFile(stream, language)]
 
 VariableReader.aavmmain_file = VariableReader(variable_reader.AavmmainFile)
 
diff --git a/underautomation/fanuc/ftp/variables/variable_reader_1.py b/underautomation/fanuc/ftp/variables/variable_reader_1.py
@@ -1,4 +1,5 @@
 import typing
+from underautomation.fanuc.common.languages import Languages
 from underautomation.fanuc.ftp.internal.file_reader_1 import FileReader1
 import clr
 import os
@@ -12,5 +13,5 @@ def __init__(self, _internal = 0):
 			self._instance = variable_reader_1()
 		else:
 			self._instance = _internal
-	def read_file(self, fileStream: typing.Any, fileName: str) -> T:
-		return self._instance.ReadFile(fileStream, fileName)
+	def read_file(self, fileStream: typing.Any, language: Languages, fileName: str) -> T:
+		return self._instance.ReadFile(fileStream, language, fileName)
diff --git a/underautomation/fanuc/kinematics/crx/crx10ia_dhm_parameters.py b/underautomation/fanuc/kinematics/crx/crx10ia_dhm_parameters.py
diff --git a/underautomation/fanuc/kinematics/crx/crx10ia_l_dhm_parameters.py b/underautomation/fanuc/kinematics/crx/crx10ia_l_dhm_parameters.py
diff --git a/underautomation/fanuc/kinematics/crx/crx_dhm_parameters.py b/underautomation/fanuc/kinematics/crx/crx_dhm_parameters.py
diff --git a/underautomation/fanuc/kinematics/crx/i_crx_dhm_parameters.py b/underautomation/fanuc/kinematics/crx/i_crx_dhm_parameters.py
diff --git a/underautomation/fanuc/kinematics/opw/opw_kinematics_utils.py b/underautomation/fanuc/kinematics/opw/opw_kinematics_utils.py
@@ -1,7 +1,7 @@
 import typing
+from underautomation.fanuc.common.joints_position import JointsPosition
 from underautomation.fanuc.common.cartesian_position import CartesianPosition
 from underautomation.fanuc.kinematics.dh_parameters import DhParameters
-from underautomation.fanuc.common.joints_position import JointsPosition
 import clr
 import os
 clr.AddReference(os.path.realpath(os.path.join(os.path.dirname(__file__), "..", "..",  'lib', 'UnderAutomation.Fanuc.dll')))
@@ -14,8 +14,5 @@ def __init__(self, _internal = 0):
 		else:
 			self._instance = _internal
 	@staticmethod
-	def forward_kinematics(jointAnglesRad: typing.List[float], dhParameters: DhParameters) -> CartesianPosition:
-		return CartesianPosition(None, None, None, None, None, None, None, opw_kinematics_utils.ForwardKinematics(jointAnglesRad, dhParameters._instance if dhParameters else None))
-	@staticmethod
 	def inverse_kinematics(pose: CartesianPosition, dhParameters: DhParameters) -> typing.List[JointsPosition]:
 		return [JointsPosition(x) for x in opw_kinematics_utils.InverseKinematics(pose._instance if pose else None, dhParameters._instance if dhParameters else None)]
diff --git a/underautomation/fanuc/lib/UnderAutomation.Fanuc.dll b/underautomation/fanuc/lib/UnderAutomation.Fanuc.dll
diff --git a/underautomation/fanuc/lib/version.txt b/underautomation/fanuc/lib/version.txt
@@ -1 +1 @@
-3.0.0.0
+3.1.1.0
diff --git a/underautomation/fanuc/snpx/internal/robot_alarm.py b/underautomation/fanuc/snpx/internal/robot_alarm.py
diff --git a/underautomation/fanuc/snpx/internal/robot_task_status.py b/underautomation/fanuc/snpx/internal/robot_task_status.py
diff --git a/underautomation/fanuc/snpx/internal/snpx_client_base.py b/underautomation/fanuc/snpx/internal/snpx_client_base.py
diff --git a/underautomation/fanuc/telnet/internal/telnet_client_base.py b/underautomation/fanuc/telnet/internal/telnet_client_base.py
diff --git a/whatsNew.md b/whatsNew.md
