import socket from pymodbus.client.tcp import ModbusTcpClient class HmiRequest: is_connected: bool def __init__(self) -> None: ... def close(self) -> None: ... @staticmethod def get_from_id(msg_id: str) -> str: ... def exec_cmd(self, cmd: str, **kwargs): ... class ModbusRequest: c: ModbusTcpClient def __init__(self) -> None: ... def r_clear_alarm(self) -> None: ... def r_reset_estop(self) -> None: ... def r_reset_estop_clear_alarm(self) -> None: ... def r_motor_on(self) -> None: ... def r_motor_off(self) -> None: ... def r_motor_on_off(self, action: bool): ... def r_motoron_pp2main_start(self) -> None: ... def r_motoron_start(self) -> None: ... def r_pulse_motoroff(self) -> None: ... def r_pp2main(self) -> None: ... def r_program_start(self) -> None: ... def r_program_stop(self) -> None: ... def r_program_start_stop(self, action: bool): ... def r_set_program_speed(self, speed: int): ... def r_soft_estop(self, action: bool): ... def r_switch_auto_motoron(self) -> None: ... def r_switch_auto(self) -> None: ... def r_switch_manual(self) -> None: ... def r_switch_auto_manual(self, action: bool): ... def r_reduced_mode(self, action: bool): ... def r_switch_safe_region(self, idx: int, enable: bool): ... @property def w_alarm_state(self): ... @property def w_sta_collision(self): ... @property def w_sta_collision_alarm(self): ... @property def w_sta_collision_open(self): ... @property def w_controller_is_running(self): ... @property def w_encoder_low_battery(self): ... @property def w_sta_error_code(self): ... @property def w_sta_estop(self): ... @property def w_sta_heartbeat(self): ... @property def w_sta_home(self): ... @property def w_sta_motor(self): ... @property def w_sta_operation_mode(self): ... @property def w_sta_program(self): ... @property def w_sta_program_full(self): ... @property def w_sta_program_not_run(self): ... @property def w_sta_program_reset(self): ... @property def w_sta_program_speed(self): ... @property def w_sta_reduce_mode(self): ... @property def w_sta_robot_is_busy(self): ... @property def w_sta_robot_is_moving(self): ... @property def w_safe_door_state(self): ... @property def w_sta_safe_jnt_pos(self): ... @property def w_sta_soft_estop(self): ... @property def w_sta_safe_region(self): ... @property def w_sta_on_path(self): ... @property def w_sta_near_path(self): ... @property def w_sta_cart_pose(self) -> list: ... @property def w_sta_cart_vel(self) -> list: ... @property def w_sta_jnt_pose(self) -> list: ... @property def w_sta_jnt_vel(self) -> list: ... @property def w_sta_tcp_pose(self) -> list: ... @property def w_sta_tcp_vel(self) -> list: ... @property def w_sta_tcp_vel_mag(self): ... def io_write_coils(self, addr, value: bool): ... def io_read_coils(self): ... def io_read_discretes(self): ... class EcRequest: def __init__(self) -> None: ... def s_string(self, directive: str): ... def r_string(self): ... def motor_on(self): ... def motor_off(self): ... def pp_to_main(self): ... def program_start(self): ... def program_stop(self): ... def clear_alarm(self): ... def switch_operation_auto(self): ... def switch_operation_manual(self): ... def open_drag_mode(self): ... def close_drag_mode(self): ... def get_project_list(self): ... def get_current_project(self): ... def load_project(self, project_name): ... def estop_reset(self): ... def estopreset_and_clearalarm(self): ... def motoron_pp2main_start(self): ... def motoron_start(self): ... def pause_motoroff(self): ... def set_program_speed(self, speed: int = 20): ... def set_soft_estop(self, enable: str): ... def switch_auto_motoron(self): ... def open_safe_region(self, number: int): ... def close_safe_region(self, number: int): ... def open_reduced_mode(self): ... def close_reduced_mode(self): ... def setdo_value(self, do_name: str, do_value: str): ... def set_robot_time(self, robot_time: str = ...): ... @property def motor_on_state(self): ... @property def robot_running_state(self): ... @property def estop_state(self): ... @property def operation_mode(self): ... @property def home_state(self): ... @property def fault_state(self): ... @property def collision_state(self): ... @property def task_state(self): ... @property def get_cart_pos(self): ... @property def get_joint_pos(self): ... @property def get_joint_vel(self): ... @property def get_joint_trq(self): ... @property def reduced_mode_state(self): ... def get_io_state(self, io_list: str): ... @property def alarm_state(self): ... @property def collision_alarm_state(self): ... @property def collision_open_state(self): ... @property def controller_is_running(self): ... @property def encoder_low_battery_state(self): ... @property def robot_error_code(self): ... @property def rl_pause_state(self): ... @property def program_reset_state(self): ... @property def program_speed_value(self): ... @property def robot_is_busy(self): ... @property def robot_is_moving(self): ... @property def safe_door_state(self): ... @property def soft_estop_state(self): ... @property def get_cart_vel(self): ... @property def get_tcp_pos(self): ... @property def get_tcp_vel(self): ... @property def get_tcp_vel_mag(self): ... @property def ext_estop_state(self): ... @property def hand_estop_state(self): ... @property def sta_on_path(self): ... @property def sta_near_path(self): ... class PreDos: def __init__(self) -> None: ... def push_prj_to_server(self, prj_file: str): ... def pull_prj_from_server(self, prj_name: str, local_prj_path: str): ... def push_file_to_server(self, local_file: str, server_file: str): ... def pull_file_from_server(self, server_file: str, local_file: str): ... class RobotInit: def __init__(self, hr: HmiRequest, pd: PreDos, conf_path: str = '') -> None: ... def robot_init(self) -> None: ... def fw_updater(self, fw_file: str): ... class UpgradeRequest: def __init__(self) -> None: ... def erase_cfg(self) -> None: ... def clear_rubbish(self) -> None: ... def soft_reboot(self) -> None: ... def version_query(self) -> None: ... def robot_reboot(self) -> None: ... def backup_origin(self) -> None: ... def origin_recovery(self) -> None: ... class PlotTrajectory: def __init__(self, hr: HmiRequest, md: ModbusRequest, prj_name: str, tasks: list, curve_name: str = 'hw_cart_pos_feedback_tcp_in_world') -> None: ... def draw_traj(self) -> None: ...