Update to new version : 4.0.0.0

Author: github-actions[bot]

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.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 @@ def rmi(self) -> RmiConnectParameters:
 	@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.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 @@ def snpx(self) -> SnpxClientInternal:
 	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/UnderAutomation.Fanuc.dll

@@ -1 +1 @@
-3.5.0.0
+4.0.0.0

underautomation/fanuc/lib/version.txt

@@ -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/__init__.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/__init__.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