Diagnostics & variables

using UnderAutomation.Fanuc;
using UnderAutomation.Fanuc.Common.Files.Variables;

public class FtpDiagnosticsRegisters
{
  public static void Main()
  {
    // Create a FanucRobot instance
    FanucRobot robot = new FanucRobot();

    // Set connection parameters (example values)
    ConnectionParameters parameters = new ConnectionParameters("192.168.0.1");
    parameters.Ftp.Enable = true;
    parameters.Ftp.FtpUser = "user";
    parameters.Ftp.FtpPassword = "ftp password";

    // Connect to the robot with FTP enabled
    robot.Connect(parameters);

    // 1) Reading Numeric Registers
    ReadNumericRegisters(robot);

    // 2) Reading Position Registers
    ReadPositionRegisters(robot);

    // 3) Reading String Registers
    ReadStringRegisters(robot);
  }

  private static void ReadNumericRegisters(FanucRobot robot)
  {
    NumregFile numregFile = robot.Ftp.KnownVariableFiles.GetNumregFile();

    for (int i = 0; i < numregFile.Numreg.Length; i++)
    {
      double value = numregFile.Numreg[i];
      Console.WriteLine($"📊 Numeric R[{i}] = {value}");
    }
  }

  private static void ReadPositionRegisters(FanucRobot robot)
  {
    PosregFile posregFile = robot.Ftp.KnownVariableFiles.GetPosregFile();

    // posregFile.Posreg is a 3D array: dimension [1] = group, [2] = register index
    for (int group = 0; group < posregFile.Posreg.GetLength(1); group++)
    {
      Console.WriteLine($"\n🤖 Reading position registers for Group {group}:");

      for (int i = 0; i < posregFile.Posreg.GetLength(2); i++)
      {
        PositionRegister value = posregFile.Posreg[group, i];
        Console.WriteLine($" - PR[{i}] :");
        Console.WriteLine($"    X = {value.CartesianPosition.X}");
        Console.WriteLine($"    Y = {value.CartesianPosition.Y}");
        Console.WriteLine($"    Z = {value.CartesianPosition.Z}");
        Console.WriteLine($"    W = {value.CartesianPosition.W}");
        Console.WriteLine($"    P = {value.CartesianPosition.P}");
        Console.WriteLine($"    R = {value.CartesianPosition.R}");
        Console.WriteLine("    Configuration :");
        Console.WriteLine($"       ArmFrontBack = {value.CartesianPosition.Configuration.ArmFrontBack}");
        Console.WriteLine($"       ArmLeftRight = {value.CartesianPosition.Configuration.ArmLeftRight}");
        Console.WriteLine($"       ArmUpDown = {value.CartesianPosition.Configuration.ArmUpDown}");
        Console.WriteLine($"       WristFlip = {value.CartesianPosition.Configuration.WristFlip}");
      }
    }
  }

  private static void ReadStringRegisters(FanucRobot robot)
  {
    StrregFile strregFile = robot.Ftp.KnownVariableFiles.GetStrregFile();

    for (int i = 0; i < strregFile.Strreg.Length; i++)
    {
      string value = strregFile.Strreg[i];
      Console.WriteLine($"💬 String SR[{i}] = '{value}'");
    }
  }
}

using UnderAutomation.Fanuc;
using UnderAutomation.Fanuc.Common.Files.Diagnosis;

public class FtpDiagnostics
{
  static void Main()
  {
    FanucRobot robot = new FanucRobot();
    ConnectionParameters parameters = new ConnectionParameters("192.168.0.1");
    parameters.Ftp.Enable = true;
    parameters.Ftp.FtpUser = "";
    parameters.Ftp.FtpPassword = "";
    robot.Connect(parameters);

    
    // Read safety status
    SafetyStatus safetyStatus = robot.Ftp.GetSafetyStatus();
    Console.WriteLine($"Emergency Stop: {safetyStatus.ExternalEStop}");
    Console.WriteLine($"Teach Pendant Enabled: {safetyStatus.TPEnable}");

    // Read current position (joints, world, user frames)
    CurrentPosition currentPosition = robot.Ftp.GetCurrentPosition();

    // Read I/O state
    IOState ioState = robot.Ftp.GetIOState();

    // Read all errors
    var errors = robot.Ftp.GetAllErrorsList();

    // Read all variables from all files
    var allVariables = robot.Ftp.GetAllVariables();
    foreach (var file in allVariables)
      foreach (var variable in file.Variables)
        Console.WriteLine($"{variable.Name} = {variable.Value}");

    // Access well-known system variables
    int rmtMaster = robot.Ftp.KnownVariableFiles.GetSystemFile().RmtMaster;

    // Get installed features
    Features features = robot.Ftp.GetSummaryDiagnostic().Features;
    bool hasSnpx = features.HasSnpx;
    
  }
}