Read and decode files

public class FtpListItem {
 
    // Gets the file permissions in the CHMOD format.
    public int Chmod { get; }
 
    // Gets the created date of the object.
    public DateTime Created { get; }
 
    // Gets the full path name to the object.
    public string FullName { get; }
 
    // Gets the last write time of the object.
    public DateTime Modified { get; }
 
    // Gets name to the object.
    public string Name { get; }
 
    // Gets the size of the object.
    public long Size { get; }
 
    // Gets the type of file system object.
    public FtpFileSystemObjectType Type { get; }
}

public class SafetyStatus : IFanucContent {
     public SafetyStatus()
     public bool BeltBroken { get; }
 
    // External emergency stop active
    public bool ExternalEStop { get; }
     public bool FenceOpen { get; }
     public bool HandBroken { get; }
     public bool LowAirAlarm { get; }
 
    // File name : sftysig.dg
    public string Name { get; }
     public bool NonTeacherEnb { get; }
     public bool OverTravel { get; }
 
    // Emergency stop active by SOP signal
    public bool SOPEStop { get; }
     public bool SVOFFDetect { get; }
 
    // The deadman switch of the teach pendant is active
    public bool TPDeadman { get; }
 
    // Emergency stop active on teach peandant
    public bool TPEStop { get; }
 
    // Teach pendant is enabled
    public bool TPEnable { get; }
}

public class IOState : IFanucContent {
     public IOState()
 
    // File name : iostate.dg
    public string Name { get; }
 
    // Status of all controller inputs and outputs
    public IOStatus[] States { get; }
}

public class IOStatus {
     public IOStatus()
 
    // Digital port ID
    public int Id { get; }
 
    // IO Name
    public string Name { get; }
 
    // Digital port type
    public DigitalPorts Port { get; }
 
    // String representation like : DIN[1]=True
    public override string ToString()
 
    // Digital port value
    public bool Value { get; }
}

public enum DigitalPorts {
 
    // Digital input
    DIN = 0
 
    // Digital outputs
    DOUT = 1
 
    // Flags
    FLG = 8
     RI = 6
     RO = 7
     SI = 4
     SO = 5
 
    // User inputs
    UI = 2
 
    // User outputs
    UO = 3
}

public class CurrentPosition : IFanucContent {
     public CurrentPosition()
 
    // Position of each robots handled by this controller
    public GroupPosition[] GroupsPosition { get; }
 
    // File name : curpos.dg
    public string Name { get; }
}

public class GroupPosition {
     public GroupPosition()
 
    // Group ID
    public int Id { get; }
 
    // Joint positions : the position of each robot angles
    public JointsPosition JointsPosition { get; }
 
    // Position of each tools in each user frames
    public CartesianPositionWithUserFrame[] UserFramePositions { get; }
 
    // Position of each tools in world coordinates
    public CartesianPositionWithTool[] WorldPositions { get; }
}

public class JointsPosition {
     public JointsPosition()
     public JointsPosition(double j1Deg, double j2Deg, double j3Deg, double j4Deg, double j5Deg, double j6Deg)
     public JointsPosition(double j1Deg, double j2Deg, double j3Deg, double j4Deg, double j5Deg, double j6Deg, double j7Deg, double j8Deg, double j9Deg)
     public JointsPosition(double[] values)
 
    // Check if joints position is near to expected joints position with a tolerance value
    public static bool IsNear(JointsPosition j1, JointsPosition j2, double degreesTolerance)
     public double this[int i] { get; set; }
 
    // 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 CartesianPositionWithUserFrame : CartesianPositionWithTool {
     public CartesianPositionWithUserFrame()
     public CartesianPositionWithUserFrame(double x, double y, double z, double w, double p, double r, int tool, int frame)
 
    // Frame ID in the controller
    public int Frame { get; }
     public override string ToString()
}

public class CartesianPositionWithTool : CartesianPosition {
     public CartesianPositionWithTool()
     public CartesianPositionWithTool(double x, double y, double z, double w, double p, double r, int tool)
     public override string ToString()
 
    // Tool ID
    public int Tool { get; set; }
}

public class CartesianPositionWithTool : CartesianPosition {
     public CartesianPositionWithTool()
     public CartesianPositionWithTool(double x, double y, double z, double w, double p, double r, int tool)
     public override string ToString()
 
    // Tool ID
    public int Tool { get; set; }
}

public class CartesianPosition : XYZPosition {
 
    // Default constructor
    public CartesianPosition()
 
    // Constructor with position and rotations
    public CartesianPosition(double x, double y, double z, double w, double p, double r)
     public CartesianPosition(double x, double y, double z, double w, double p, double r, Configuration configuration)
     public CartesianPosition(CartesianPosition position)
     public CartesianPosition(XYZPosition position, double w, double p, double r)
 
    // Position configuration
    public Configuration Configuration { get; }
 
    // Create a CartesianPosition with unknow configuration from a homogeneous rotation and translation 4x4 matrix
    public static CartesianPosition FromHomogeneousMatrix(double[,] R)
 
    // Check if two Cartesian positions are near each other within specified tolerances
    public static bool IsNear(CartesianPosition a, CartesianPosition b, double mmTolerance, double degreesTolerance)
 
    // Normalize an angle to the range ]-180, 180]
    public static double NormalizeAngle(double angle)
 
    // Normalize the W, P, R angles to the range ]-180, 180]
    public static void NormalizeAngles(CartesianPosition pose)
 
    // P rotation in degrees (Ry)
    public double P { get; set; }
 
    // R rotation in degrees (Rz)
    public double R { get; set; }
 
    // Convert position to a homogeneous rotation and translation 4x4 matrix
    public double[,] ToHomogeneousMatrix()
     public override string ToString()
 
    // W rotation in degrees (Rx)
    public double W { get; set; }
}

public class XYZPosition {
     public XYZPosition()
     public XYZPosition(double x, double y, double z)
     public override string ToString()
 
    // X coordinate in millimeters
    public double X { get; set; }
 
    // Y coordinate in millimeters
    public double Y { get; set; }
 
    // Z coordinate in millimeters
    public double Z { get; set; }
}