Update to new version : 4.9.0.0

Author: github-actions[bot]

underautomation/fanuc/cgtp/__init__.py

@@ -0,0 +1,35 @@
+import typing
+from underautomation.fanuc.cgtp.cgtp_client_base import CgtpClientBase
+from UnderAutomation.Fanuc.Cgtp import CgtpClient as cgtp_client
+
+class CgtpClient(CgtpClientBase):
+	'''Standalone CGTP Web Server client for direct use without FanucRobot. Provides access to the COMET RPC sub-protocol.'''
+	def __init__(self, _internal = 0):
+		'''Creates a new instance of the CGTP Web Server client.'''
+		if(_internal == 0):
+			self._instance = cgtp_client()
+		else:
+			self._instance = _internal
+
+	def connect(self, ip: str, port: int=3080, requestTimeoutMs: int=3000) -> None:
+		'''Connect to the CGTP Web Server on the controller.
+
+		:param ip: Controller IP address or hostname.
+		:param port: HTTP port number (default: 3080).
+		:param requestTimeoutMs: Request timeout in milliseconds (default: 3000).
+		'''
+		self._instance.Connect(ip, port, requestTimeoutMs)
+
+	def __str__(self):
+		return self._instance.ToString() if self._instance is not None else ""
+
+	def __repr__(self):
+		return self.__str__()
+
+	def __eq__(self, other) -> bool:
+		if not isinstance(other, CgtpClient):
+			NotImplemented
+		return self._instance.Equals(other._instance)
+
+	def __hash__(self) -> int:
+		return self._instance.GetHashCode() if self._instance is not None else 0

underautomation/fanuc/cgtp/cgtp_client.py

@@ -0,0 +1,151 @@
+import typing
+from underautomation.fanuc.common.languages import Languages
+from underautomation.fanuc.cgtp.program_sub_type import ProgramSubType
+from UnderAutomation.Fanuc.Cgtp import CgtpClientBase as cgtp_client_base
+from UnderAutomation.Fanuc.Common import Languages as languages
+from UnderAutomation.Fanuc.Cgtp import ProgramSubType as program_sub_type
+
+class CgtpClientBase:
+	'''Base implementation for the CGTP Web Server client.'''
+	def __init__(self, _internal = 0):
+		if(_internal == 0):
+			self._instance = cgtp_client_base()
+		else:
+			self._instance = _internal
+
+	def disconnect(self) -> None:
+		'''Disconnect from the CGTP Web Server. After calling this method, the client must be reconnected before it can be used again.'''
+		self._instance.Disconnect()
+
+	def abort_task(self, progName: str="None") -> None:
+		'''Abort the task specified by progName. Set to null to abort all user tasks.'''
+		self._instance.AbortTask(progName)
+
+	def select_program(self, progName: str, lineNum: int=1) -> None:
+		'''Open the TP program progName and move cursor to lineNum.'''
+		self._instance.SelectProgram(progName, lineNum)
+
+	def delete_program(self, progName: str) -> None:
+		'''Delete the program progName from the controller.
+
+		:param progName: Program name
+		'''
+		self._instance.DeleteProgram(progName)
+
+	def get_program_comment(self, progName: str) -> str:
+		'''Get the comment of program progName.'''
+		return self._instance.GetProgramComment(progName)
+
+	def set_program_comment(self, progName: str, comment: str) -> None:
+		'''Set the comment of program progName.'''
+		self._instance.SetProgramComment(progName, comment)
+
+	def get_program_owner(self, progName: str) -> str:
+		'''Get the owner of program progName.'''
+		return self._instance.GetProgramOwner(progName)
+
+	def set_program_owner(self, progName: str, owner: str) -> None:
+		'''Set the owner of program progName.'''
+		self._instance.SetProgramOwner(progName, owner)
+
+	def get_program_stack_size(self, progName: str) -> int:
+		'''Get the stack size of program progName.'''
+		return self._instance.GetProgramStackSize(progName)
+
+	def set_program_stack_size(self, progName: str, stackSize: int) -> None:
+		'''Set the stack size of program progName.'''
+		self._instance.SetProgramStackSize(progName, stackSize)
+
+	def get_program_ignore_pause(self, progName: str) -> bool:
+		'''Get whether program progName ignores pause requests.'''
+		return self._instance.GetProgramIgnorePause(progName)
+
+	def set_program_ignore_pause(self, progName: str, ignorePause: bool) -> None:
+		'''Set whether program progName ignores pause requests.'''
+		self._instance.SetProgramIgnorePause(progName, ignorePause)
+
+	def get_program_write_protect(self, progName: str) -> bool:
+		'''Get whether program progName is write-protected.'''
+		return self._instance.GetProgramWriteProtect(progName)
+
+	def set_program_write_protect(self, progName: str, writeProtect: bool) -> None:
+		'''Set whether program progName is write-protected.'''
+		self._instance.SetProgramWriteProtect(progName, writeProtect)
+
+	def get_program_sub_type(self, progName: str) -> ProgramSubType:
+		'''Get the sub-type of program progName.'''
+		return ProgramSubType(int(self._instance.GetProgramSubType(progName)))
+
+	def set_program_sub_type(self, progName: str, subType: ProgramSubType) -> None:
+		'''Set the sub-type of program progName.'''
+		self._instance.SetProgramSubType(progName, program_sub_type(int(subType)))
+
+	def create_program(self, progName: str, owner: str="None", comment: str="None", defaultGroup: int=0, subType: ProgramSubType=ProgramSubType.None) -> None:
+		'''Create a new TP program on the controller.
+
+		:param progName: New program name
+		:param owner: Owner name (optional)
+		:param comment: Comment (optional)
+		:param defaultGroup: Default motion group (0 = omit)
+		:param subType: Program sub-type (default: None)
+		'''
+		self._instance.CreateProgram(progName, owner, comment, defaultGroup, program_sub_type(int(subType)))
+
+	def rename_program(self, sourceName: str, newName: str) -> None:
+		'''Rename program sourceName to newName.'''
+		self._instance.RenameProgram(sourceName, newName)
+
+	def run_program(self, progName: str, lineNum: int=1) -> None:
+		'''Run the specified program starting at lineNum.'''
+		self._instance.RunProgram(progName, lineNum)
+
+	def change_active_program(self, progName: str) -> None:
+		'''Change the active TP program to progName.'''
+		self._instance.ChangeActiveProgram(progName)
+
+	def pause_all_programs(self) -> None:
+		'''Pause program execution on the controller.'''
+		self._instance.PauseAllPrograms()
+
+	def read_variable_as_string(self, varName: str, progName: str="None") -> str:
+		'''Read the value of variable varName in program progName.'''
+		return self._instance.ReadVariableAsString(varName, progName)
+
+	def write_variable(self, varName: str, value: str, progName: str="None") -> None:
+		'''Write value to variable varName in program progName.'''
+		self._instance.WriteVariable(varName, value, progName)
+
+	def list_files(self, pathName: str="MD:") -> typing.List[str]:
+		'''List files at the specified path on the controller.'''
+		return self._instance.ListFiles(pathName)
+
+	def get_file_as_string(self, pathName: str) -> str:
+		return self._instance.GetFileAsString(pathName)
+
+	@property
+	def language(self) -> Languages:
+		'''Controller language (default is English)'''
+		return Languages(int(self._instance.Language))
+
+	@language.setter
+	def language(self, value: Languages):
+		self._instance.Language = languages(int(value))
+
+	@property
+	def enabled(self) -> bool:
+		'''Indicates whether the client is currently connected to the CGTP Web Server.'''
+		return self._instance.Enabled
+
+	def __str__(self):
+		return self._instance.ToString() if self._instance is not None else ""
+
+	def __repr__(self):
+		return self.__str__()
+
+	def __eq__(self, other) -> bool:
+		if not isinstance(other, CgtpClientBase):
+			NotImplemented
+		return self._instance.Equals(other._instance)
+
+	def __hash__(self) -> int:
+		return self._instance.GetHashCode() if self._instance is not None else 0

underautomation/fanuc/cgtp/cgtp_client_base.py

@@ -0,0 +1,30 @@
+import typing
+from UnderAutomation.Fanuc.Cgtp import CgtpException as cgtp_exception
+
+class CgtpException:
+	'''Represents an error returned by the FANUC COMET RPC interface.'''
+	def __init__(self, message: str, inner: typing.Any, _internal = 0):
+		'''Constructs a new CgtpException with a message and inner exception.'''
+		if(_internal == 0):
+			self._instance = cgtp_exception(message, inner)
+		else:
+			self._instance = _internal
+
+	@property
+	def status(self) -> int:
+		'''The RPC status code returned by the controller when available.'''
+		return self._instance.Status
+
+	def __str__(self):
+		return self._instance.ToString() if self._instance is not None else ""
+
+	def __repr__(self):
+		return self.__str__()
+
+	def __eq__(self, other) -> bool:
+		if not isinstance(other, CgtpException):
+			NotImplemented
+		return self._instance.Equals(other._instance)
+
+	def __hash__(self) -> int:
+		return self._instance.GetHashCode() if self._instance is not None else 0

underautomation/fanuc/cgtp/cgtp_exception.py

@@ -0,0 +1,25 @@
+import typing
+from underautomation.fanuc.cgtp.cgtp_client_base import CgtpClientBase
+from UnderAutomation.Fanuc.Cgtp.Internal import CgtpClientInternal as cgtp_client_internal
+
+class CgtpClientInternal(CgtpClientBase):
+	'''Internal CGTP Web Server client used by the library infrastructure.'''
+	def __init__(self, _internal = 0):
+		if(_internal == 0):
+			self._instance = cgtp_client_internal()
+		else:
+			self._instance = _internal
+
+	def __str__(self):
+		return self._instance.ToString() if self._instance is not None else ""
+
+	def __repr__(self):
+		return self.__str__()
+
+	def __eq__(self, other) -> bool:
+		if not isinstance(other, CgtpClientInternal):
+			NotImplemented
+		return self._instance.Equals(other._instance)
+
+	def __hash__(self) -> int:
+		return self._instance.GetHashCode() if self._instance is not None else 0

underautomation/fanuc/cgtp/internal/__init__.py

@@ -0,0 +1,48 @@
+import typing
+from UnderAutomation.Fanuc.Cgtp.Internal import CgtpConnectParametersBase as cgtp_connect_parameters_base
+
+class CgtpConnectParametersBase:
+	'''Base class for CGTP Web Server connection parameters.'''
+	def __init__(self, _internal = 0):
+		if(_internal == 0):
+			self._instance = cgtp_connect_parameters_base()
+		else:
+			self._instance = _internal
+
+	@property
+	def port(self) -> int:
+		'''HTTP port number of the CGTP Web Server.'''
+		return self._instance.Port
+
+	@port.setter
+	def port(self, value: int):
+		self._instance.Port = value
+
+	@property
+	def request_timeout_ms(self) -> int:
+		'''HTTP request timeout in milliseconds.'''
+		return self._instance.RequestTimeoutMs
+
+	@request_timeout_ms.setter
+	def request_timeout_ms(self, value: int):
+		self._instance.RequestTimeoutMs = value
+
+	def __str__(self):
+		return self._instance.ToString() if self._instance is not None else ""
+
+	def __repr__(self):
+		return self.__str__()
+
+	def __eq__(self, other) -> bool:
+		if not isinstance(other, CgtpConnectParametersBase):
+			NotImplemented
+		return self._instance.Equals(other._instance)
+
+	def __hash__(self) -> int:
+		return self._instance.GetHashCode() if self._instance is not None else 0
+
+# Default HTTP port for CGTP Web Server.
+CgtpConnectParametersBase.DEFAULT_PORT = cgtp_connect_parameters_base.DEFAULT_PORT
+
+# Default request timeout in milliseconds.
+CgtpConnectParametersBase.DEFAULT_REQUEST_TIMEOUT_MS = cgtp_connect_parameters_base.DEFAULT_REQUEST_TIMEOUT_MS

underautomation/fanuc/cgtp/internal/cgtp_client_internal.py

@@ -0,0 +1,13 @@
+from enum import IntEnum
+
+class IoPortType(IntEnum):
+	'''Type of I/O port on the controller.'''
+	DI = 1
+	DO = 2
+	AI = 3
+	AO = 4
+	RI = 8
+	RO = 9
+	GI = 18
+	GO = 19
+	Flag = 35

underautomation/fanuc/cgtp/internal/cgtp_connect_parameters_base.py

@@ -0,0 +1,8 @@
+from enum import IntEnum
+
+class ProgramSubType(IntEnum):
+	'''Sub-type of a TP program on the controller.'''
+	Job = 1 # Job program.
+	Process = 2 # Process program.
+	Macro = 3 # Macro program.
+	Condition = 4 # Condition handler program.

underautomation/fanuc/cgtp/io_port_type.py

@@ -0,0 +1,34 @@
+import typing
+from underautomation.fanuc.cgtp.internal.cgtp_connect_parameters_base import CgtpConnectParametersBase
+from UnderAutomation.Fanuc.Common import CgtpConnectParameters as cgtp_connect_parameters
+
+class CgtpConnectParameters(CgtpConnectParametersBase):
+	'''CGTP Web Server connection parameters'''
+	def __init__(self, _internal = 0):
+		if(_internal == 0):
+			self._instance = cgtp_connect_parameters()
+		else:
+			self._instance = _internal
+
+	@property
+	def enable(self) -> bool:
+		'''Should enable CGTP Web Server for this connection (default: true)'''
+		return self._instance.Enable
+
+	@enable.setter
+	def enable(self, value: bool):
+		self._instance.Enable = value
+
+	def __str__(self):
+		return self._instance.ToString() if self._instance is not None else ""
+
+	def __repr__(self):
+		return self.__str__()
+
+	def __eq__(self, other) -> bool:
+		if not isinstance(other, CgtpConnectParameters):
+			NotImplemented
+		return self._instance.Equals(other._instance)
+
+	def __hash__(self) -> int:
+		return self._instance.GetHashCode() if self._instance is not None else 0