SNPX

public class SnpxClient : SnpxClientBase {
     public SnpxClient()
     public void Connect(string ip, int port = 60008)
}

public class SnpxClientBase {
 
    // Analog Inputs
    public NumericIO AI { get; }
 
    // Analog Outputs
    public NumericIO AO { get; }
     public void ClearAlarms()
     public void ClearAssignments()
     protected void ConnectInternal(string ip, int port = 60008)
     public bool Connected { get; }
 
    // List of all digital signal accessors (SDI, SDO, RDI, RDO, ...)
    public DigitalSignals[] DigitalSignals { get; }
     public void Disconnect()
 
    // Group Inputs
    public NumericIO GI { get; }
 
    // Group Outputs
    public NumericIO GO { get; }
     public Assignment[] GetAssignments()
 
    // Integer variables
    public IntegerSystemVariables IntegerSystemVariables { get; }
     public string Ip { get; }
 
    // List of all Numeric IOs accessors (GI, GO, AI, AO, ...)
    public NumericIO[] NumericIOs { get; }
 
    // Number registers
    public NumericRegisters NumericRegisters { get; }
 
    // Programmable Machine Controller Data
    public NumericIO PMC_D { get; }
 
    // Programmable Machine Controller Constants
    public DigitalSignals PMC_K { get; }
 
    // Programmable Machine Controller Relays
    public DigitalSignals PMC_R { get; }
 
    // Position registers
    public PositionRegisters PositionRegisters { get; }
 
    // Position variables
    public PositionSystemVariables PositionSystemVariables { get; }
 
    // Remote Digital Inputs
    public DigitalSignals RDI { get; }
 
    // Remote Digital Outputs
    public DigitalSignals RDO { get; }
 
    // Safety Digital Inputs
    public DigitalSignals SDI { get; }
 
    // Safety Digital Outputs
    public DigitalSignals SDO { get; }
 
    // System Inputs
    public DigitalSignals SI { get; }
 
    // System Outputs
    public DigitalSignals SO { get; }
 
    // String registers
    public StringRegisters StringRegisters { get; }
 
    // String variables
    public StringSystemVariables StringSystemVariables { get; }
 
    // User Inputs
    public DigitalSignals UI { get; }
 
    // User Outputs
    public DigitalSignals UO { get; }
 
    // Weld Inputs
    public DigitalSignals WI { get; }
 
    // Weld Outputs
    public DigitalSignals WO { get; }
 
    // Weld System Inputs
    public DigitalSignals WSI { get; }
}

public class DigitalSignals : SnpxElements<bool, int> {
     public override bool Read(int index)
     public bool[] Read(int firstIndex, ushort count)
     public SegmentName SegmentName { get; }
     public SegmentOffset SegmentOffset { get; }
     public SegmentSelector SegmentSelector { get; }
     public void Write(int index, bool value)
     public void Write(int firstIndex, bool[] values)
}

public class NumericIO : SnpxElements<ushort, int> {
     public override ushort Read(int index)
     public ushort[] Read(int firstIndex, ushort count)
     public SegmentName SegmentName { get; }
     public SegmentOffset SegmentOffset { get; }
     public SegmentSelector SegmentSelector { get; }
     public void Write(int index, ushort value)
     public void Write(int firstIndex, ushort[] values)
}

public class NumericRegisters : SnpxWritableAssignableElements<float, int> {
     protected override int AssignmentSize { get; }
     protected override string GetAssignmentName(int index)
     protected override string GetAssignmentTarget(int index)
     protected override float ReadFromClient(int offset)
     protected override void WriteInClient(int offset, float value)
}

public class PositionRegisters : SnpxWritableAssignableElements<Position, int> {
     protected override int AssignmentSize { get; }
     protected override string GetAssignmentName(int index)
     protected override string GetAssignmentTarget(int index)
     protected override Position ReadFromClient(int offset)
     protected override void WriteInClient(int offset, Position value)
}

public class Position {
     public Position()
     public ExtendedCartesianPosition CartesianPosition { get; set; }
     public JointsPosition JointsPosition { get; set; }
     public short UserFrame { get; set; }
     public short UserTool { get; set; }
}

public class JointsPosition {
     public JointsPosition()
 
    // Joint 1 in degrees
    public double J1 { get; set; }
 
    // Joint 2 in degrees
    public double J2 { get; set; }
 
    // Joint 3 in degrees
    public double J3 { get; set; }
 
    // Joint 4 in degrees
    public double J4 { get; set; }
 
    // Joint 5 in degrees
    public double J5 { get; set; }
 
    // Joint 6 in degrees
    public double J6 { get; set; }
 
    // Joint 7 in degrees
    public double J7 { get; set; }
 
    // Joint 8 in degrees
    public double J8 { get; set; }
 
    // Joint 9 in degrees
    public double J9 { get; set; }
     public override string ToString()
 
    // Numeric values for each joints
    public double[] Values { get; }
}

public class ExtendedCartesianPosition : CartesianPosition {
     public ExtendedCartesianPosition()
     public double E1 { get; set; }
     public double E2 { get; set; }
     public double E3 { get; set; }
     public short T4 { get; set; }
     public short T5 { get; set; }
     public short T6 { get; set; }
}

public class CartesianPosition : XYZPosition {
     public CartesianPosition()
 
    // Position configuration
    public Configuration Configuration { get; }
 
    // P rotation in degrees
    public double P { get; set; }
 
    // R rotation in degrees
    public double R { get; set; }
 
    // W rotation in degrees
    public double W { get; set; }
}

public class XYZPosition {
     public XYZPosition()
 
    // X coordinate in meters
    public double X { get; set; }
 
    // Y coordinate in meters
    public double Y { get; set; }
 
    // Z coordinate in meters
    public double Z { get; set; }
}

public class PositionSystemVariables : SnpxWritableAssignableElements<Position, string> {
     protected override int AssignmentSize { get; }
     protected override string GetAssignmentName(string index)
     protected override string GetAssignmentTarget(string index)
     protected override Position ReadFromClient(int offset)
     protected override void WriteInClient(int offset, Position value)
}

public class StringRegisters : SnpxWritableAssignableElements<string, int> {
     protected override int AssignmentSize { get; }
     protected override string GetAssignmentName(int index)
     protected override string GetAssignmentTarget(int index)
     protected override string ReadFromClient(int offset)
     protected override void WriteInClient(int offset, string value)
}

public class StringSystemVariables : SnpxWritableAssignableElements<string, string> {
     protected override int AssignmentSize { get; }
     protected override string GetAssignmentName(string index)
     protected override string GetAssignmentTarget(string index)
     protected override string ReadFromClient(int offset)
     protected override void WriteInClient(int offset, string value)
}